+ python -m lidar_slam --no-model /working/dd21d219-3608-42a3-beee-c46ef2a66c24 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/dd21d219-3608-42a3-beee-c46ef2a66c24 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 0.010385723 Adjusted end_distance from 9.223372036854776e+18 to 867.350385723 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010385723 meters Centerline goodness : 0.117278 Centerline is valid? [0, False] SLAMing on 0.040385723 meters Centerline goodness : 0.095024 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.00 [[ 9.99983122e-01 -4.99422408e-03 2.96874954e-03 1.85474957e-02] [ 4.98741462e-03 9.99984925e-01 2.29670713e-03 1.59637866e-04] [-2.98017506e-03 -2.28186198e-03 9.99992956e-01 -1.08443077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070385723 meters Centerline goodness : 0.086653 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99984032e-01 -4.76734438e-03 3.03447407e-03 1.99809166e-02] [ 4.75981776e-03 9.99985590e-01 2.48277855e-03 -9.38676300e-04] [-3.04626661e-03 -2.46829536e-03 9.99992314e-01 -2.21982718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100385723 meters Centerline goodness : 0.083678 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 0.99999363 -0.00157125 0.00320516 0.03286208] [ 0.00157452 0.99999824 -0.00101847 -0.00143965] [-0.00320355 0.00102351 0.99999434 -0.00310522] [ 0. 0. 0. 1. ]] SLAMing on 0.130385723 meters Centerline goodness : 0.081419 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.00 [[ 9.99994394e-01 -1.32072066e-03 3.07681376e-03 3.50614566e-02] [ 1.32166167e-03 9.99999080e-01 -3.03825812e-04 -4.30713262e-03] [-3.07640967e-03 3.07890616e-04 9.99995220e-01 -4.60106952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16038572299999998 meters Centerline goodness : 0.182240 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99998205 -0.00519785 0.00298013 0.0364173 ] [ 0.00520792 0.99998072 -0.00338118 -0.00524886] [-0.0029625 0.00339664 0.99998984 -0.00542741] [ 0. 0. 0. 1. ]] SLAMing on 0.190385723 meters Centerline goodness : 0.188044 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 0.99992407 -0.01147705 0.00448571 0.05767642] [ 0.01149934 0.9999215 -0.00497594 -0.00446956] [-0.00442825 0.00502715 0.99997756 -0.00542946] [ 0. 0. 0. 1. ]] SLAMing on 0.22038572299999998 meters Centerline goodness : 0.180162 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 0.99988254 -0.01445247 0.00510268 0.0575772 ] [ 0.01449569 0.99985849 -0.00853697 -0.00423242] [-0.00497858 0.00860993 0.99995054 -0.00549604] [ 0. 0. 0. 1. ]] SLAMing on 0.250385723 meters Centerline goodness : 0.186414 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.01 [[ 0.99986076 -0.01614632 0.00421389 0.06304613] [ 0.01619105 0.99981052 -0.01080611 -0.00719783] [-0.00403861 0.01087283 0.99993273 -0.00674696] [ 0. 0. 0. 1. ]] SLAMing on 0.28038572300000003 meters Centerline goodness : 0.185575 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.01 [[ 0.99984326 -0.01742948 0.00310983 0.068562 ] [ 0.01746962 0.99975779 -0.01338578 -0.00991658] [-0.00287577 0.01343801 0.99990557 -0.00845718] [ 0. 0. 0. 1. ]] SLAMing on 0.310385723 meters Centerline goodness : 0.184378 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.01 [[ 0.99979154 -0.02015213 0.00328201 0.07234637] [ 0.02020464 0.999654 -0.01684203 -0.0116795 ] [-0.00294147 0.01690483 0.99985278 -0.01133761] [ 0. 0. 0. 1. ]] SLAMing on 0.340385723 meters Centerline goodness : 0.183383 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99981287 -0.01914553 0.00276932 0.05478226] [ 0.01919403 0.99964087 -0.0187006 -0.01618826] [-0.00241029 0.01875025 0.99982129 -0.01442781] [ 0. 0. 0. 1. ]] SLAMing on 0.370385723 meters Centerline goodness : 0.183652 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99980209 -0.01970505 0.00273555 0.03788753] [ 0.01975366 0.99962326 -0.01905595 -0.0210626 ] [-0.00235903 0.01910622 0.99981468 -0.02180858] [ 0. 0. 0. 1. ]] SLAMing on 0.400385723 meters Centerline goodness : 0.182556 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.03 [[ 9.99838546e-01 -1.79665994e-02 2.88172313e-04 2.41691826e-02] [ 1.79687416e-02 9.99631080e-01 -2.03673549e-02 -2.57054574e-02] [ 7.78661052e-05 2.03692446e-02 9.99792522e-01 -2.80796200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430385723 meters Centerline goodness : 0.179941 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.03 [[ 9.99851237e-01 -1.72200023e-02 -9.87456726e-04 8.36284791e-03] [ 1.71910284e-02 9.99558519e-01 -2.42329344e-02 -2.86329011e-02] [ 1.40431197e-03 2.42123540e-02 9.99705852e-01 -3.17935647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46038572299999997 meters Centerline goodness : 0.177241 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:-0.04 [[ 0.9997891 -0.02035049 -0.00275846 -0.00395998] [ 0.02026383 0.99938951 -0.02846025 -0.03681401] [ 0.00333596 0.02839836 0.99959112 -0.03922871] [ 0. 0. 0. 1. ]] SLAMing on 0.490385723 meters Centerline goodness : 0.175500 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:-0.05 [[ 0.99979889 -0.01964488 -0.00403294 -0.01890021] [ 0.01951328 0.99934669 -0.0304207 -0.04276871] [ 0.00462792 0.03033588 0.99952905 -0.04506672] [ 0. 0. 0. 1. ]] SLAMing on 0.520385723 meters Centerline goodness : 0.175524 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.05 [[ 0.9997155 -0.02350659 -0.00404427 -0.0143208 ] [ 0.02336655 0.99922261 -0.03175181 -0.04629384] [ 0.0047875 0.03164828 0.9994876 -0.05143206] [ 0. 0. 0. 1. ]] SLAMing on 0.550385723 meters Centerline goodness : 0.175153 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.05 [[ 0.99971927 -0.02331078 -0.00424026 -0.011401 ] [ 0.02317307 0.99927971 -0.03005128 -0.05009553] [ 0.00493773 0.02994459 0.99953936 -0.05488711] [ 0. 0. 0. 1. ]] SLAMing on 0.5803857229999999 meters Centerline goodness : 0.173317 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.06 [[ 0.99961301 -0.02761116 -0.00338564 -0.00897411] [ 0.02749141 0.99912858 -0.03140561 -0.05448534] [ 0.00424984 0.03130038 0.99950099 -0.06011374] [ 0. 0. 0. 1. ]] SLAMing on 0.6103857229999999 meters Centerline goodness : 0.087923 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:-0.06 [[ 0.99950849 -0.0311759 -0.00329366 -0.00541232] [ 0.03105075 0.99897523 -0.0329292 -0.0559157 ] [ 0.00431688 0.03281075 0.99945226 -0.0643639 ] [ 0. 0. 0. 1. ]] SLAMing on 0.640385723 meters Centerline goodness : 0.171568 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.06, Z:-0.07 [[ 0.99951775 -0.03084849 -0.00355405 -0.00218547] [ 0.03071952 0.99901785 -0.03193189 -0.05881904] [ 0.00453561 0.03180731 0.99948373 -0.06757766] [ 0. 0. 0. 1. ]] SLAMing on 0.6703857229999999 meters Centerline goodness : 0.182042 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:-0.07 [[ 0.99947247 -0.03197457 -0.00569257 -0.01235169] [ 0.0317389 0.99879066 -0.03754809 -0.06286808] [ 0.00688627 0.0373476 0.99927861 -0.07435008] [ 0. 0. 0. 1. ]] SLAMing on 0.7003857229999999 meters Centerline goodness : 0.172286 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.08 [[ 0.99948125 -0.03171926 -0.00557835 -0.01033106] [ 0.03149642 0.99884432 -0.03630438 -0.06609853] [ 0.00672345 0.03610985 0.99932521 -0.07725857] [ 0. 0. 0. 1. ]] SLAMing on 0.7303857229999999 meters Centerline goodness : 0.174291 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.08 [[ 0.99936753 -0.03501206 -0.0062206 -0.00514217] [ 0.03475902 0.99871199 -0.03696173 -0.07057755] [ 0.00750669 0.03672213 0.99929732 -0.0828396 ] [ 0. 0. 0. 1. ]] SLAMing on 0.760385723 meters Centerline goodness : 0.175956 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:-0.09 [[ 0.99938439 -0.0343704 -0.00703645 -0.00118252] [ 0.0341031 0.99880123 -0.0351153 -0.07283723] [ 0.00823494 0.03485372 0.9993585 -0.08688458] [ 0. 0. 0. 1. ]] SLAMing on 0.790385723 meters Centerline goodness : 0.175956 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:-0.09 [[ 0.99938439 -0.0343704 -0.00703645 -0.00118252] [ 0.0341031 0.99880123 -0.0351153 -0.07283723] [ 0.00823494 0.03485372 0.9993585 -0.08688458] [ 0. 0. 0. 1. ]] SLAMing on 0.8203857229999999 meters Centerline goodness : 0.177707 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.09 [[ 0.99937216 -0.0340704 -0.00972048 0.00897734] [ 0.03373721 0.99889899 -0.03259762 -0.07568115] [ 0.01082039 0.03224921 0.99942129 -0.09499288] [ 0. 0. 0. 1. ]] SLAMing on 0.8503857229999999 meters Centerline goodness : 0.178585 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.10 [[ 0.99938821 -0.03338605 -0.01041975 0.01293905] [ 0.0330332 0.99892979 -0.03237409 -0.07625647] [ 0.01148944 0.03201009 0.99942151 -0.09928435] [ 0. 0. 0. 1. ]] SLAMing on 0.880385723 meters Centerline goodness : 0.183814 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.11 [[ 0.99948582 -0.02892161 -0.01384318 0.00114876] [ 0.02840069 0.99893172 -0.03645301 -0.08595668] [ 0.01488267 0.03604111 0.99923948 -0.10600095] [ 0. 0. 0. 1. ]] SLAMing on 0.9103857229999999 meters Centerline goodness : 0.188899 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.11 [[ 0.99954923 -0.02710525 -0.01290875 0.00183683] [ 0.02662395 0.99899345 -0.03610069 -0.08977971] [ 0.01387428 0.03574073 0.99926478 -0.11042935] [ 0. 0. 0. 1. ]] SLAMing on 0.9403857229999999 meters Centerline goodness : 0.197051 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:-0.12 [[ 0.999653 -0.02402723 -0.01079657 0.00123155] [ 0.02363376 0.99910072 -0.03520213 -0.09742485] [ 0.01163267 0.03493475 0.99932189 -0.11690259] [ 0. 0. 0. 1. ]] SLAMing on 0.9703857229999999 meters Centerline goodness : 0.204885 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:-0.12 [[ 9.99725169e-01 -2.17521733e-02 -8.74234784e-03 -7.54173385e-05] [ 2.14756193e-02 9.99301837e-01 -3.05718308e-02 -1.04619157e-01] [ 9.40124802e-03 3.03756814e-02 9.99494339e-01 -1.21714101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.000385723 meters Centerline goodness : 0.213958 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.12 [[ 0.99973565 -0.02131571 -0.00861779 0.0013982 ] [ 0.02106387 0.99937675 -0.02832711 -0.10964242] [ 0.00921623 0.02813809 0.99956156 -0.12389927] [ 0. 0. 0. 1. ]] SLAMing on 1.030385723 meters Centerline goodness : 0.231696 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:-0.13 [[ 0.99971824 -0.02117764 -0.01072155 0.00993871] [ 0.02092535 0.99951367 -0.02312052 -0.11890072] [ 0.01120597 0.02288965 0.99967519 -0.13108749] [ 0. 0. 0. 1. ]] SLAMing on 1.060385723 meters Centerline goodness : 0.107305 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.13 [[ 0.99945141 -0.02754415 -0.01839016 0.02903288] [ 0.02719219 0.99944732 -0.0191218 -0.12495106] [ 0.01890669 0.01861124 0.99964802 -0.13499898] [ 0. 0. 0. 1. ]] SLAMing on 1.090385723 meters Centerline goodness : 0.245916 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.14 [[ 0.99933733 -0.0308411 -0.01933188 0.0341196 ] [ 0.03043433 0.99931627 -0.02099411 -0.1284162 ] [ 0.01996615 0.02039185 0.99959268 -0.13936861] [ 0. 0. 0. 1. ]] SLAMing on 1.1203857229999998 meters Centerline goodness : 0.104276 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.15 [[ 0.99915114 -0.03500707 -0.02171401 0.05330069] [ 0.03443296 0.99906162 -0.02627273 -0.13295467] [ 0.02261337 0.02550275 0.99941895 -0.14767862] [ 0. 0. 0. 1. ]] SLAMing on 1.1503857229999999 meters Centerline goodness : 0.102731 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99900833 -0.03823902 -0.02280635 0.05844049] [ 0.03757185 0.99887311 -0.02899784 -0.13371277] [ 0.0238895 0.02811221 0.99931927 -0.15109426] [ 0. 0. 0. 1. ]] SLAMing on 1.1803857229999999 meters Centerline goodness : 0.107622 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.13, Z:-0.16 [[ 0.99885266 -0.0435602 -0.01989638 0.07929816] [ 0.04303419 0.99873153 -0.0261418 -0.1349563 ] [ 0.02100989 0.02525558 0.99946022 -0.15606307] [ 0. 0. 0. 1. ]] SLAMing on 1.210385723 meters Centerline goodness : 0.301934 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.16 [[ 0.99878451 -0.04705597 -0.0146708 0.0959421 ] [ 0.04675483 0.99870142 -0.02023497 -0.13635969] [ 0.01560392 0.01952445 0.99968761 -0.15958248] [ 0. 0. 0. 1. ]] SLAMing on 1.240385723 meters Centerline goodness : 0.303292 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.16 [[ 0.99876802 -0.04739655 -0.0146975 0.09713036] [ 0.0471106 0.99870462 -0.01922685 -0.13792569] [ 0.01558974 0.01851075 0.99970711 -0.16063226] [ 0. 0. 0. 1. ]] SLAMing on 1.270385723 meters Centerline goodness : 0.291309 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.16 [[ 0.99856254 -0.05146411 -0.01497645 0.10105105] [ 0.05113607 0.99845983 -0.0215192 -0.13903776] [ 0.01606085 0.02072243 0.99965626 -0.16316254] [ 0. 0. 0. 1. ]] SLAMing on 1.300385723 meters Centerline goodness : 0.151945 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.17 [[ 0.99855527 -0.05139335 -0.01568776 0.1042899 ] [ 0.05105968 0.99847528 -0.02097669 -0.14067574] [ 0.0167419 0.02014537 0.99965688 -0.16553587] [ 0. 0. 0. 1. ]] SLAMing on 1.3303857229999998 meters SLAMing on 1.3603857229999998 meters SLAMing on 1.3903857229999999 meters SLAMing on 1.4203857229999999 meters Centerline goodness : 0.203634 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:-0.18 [[ 0.99783466 -0.06030477 -0.02625516 0.17447932] [ 0.05991217 0.99808343 -0.01549219 -0.13385559] [ 0.0271391 0.01388564 0.99953522 -0.17569595] [ 0. 0. 0. 1. ]] SLAMing on 1.450385723 meters Centerline goodness : 0.204049 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.18 [[ 0.9977293 -0.06142852 -0.02761865 0.17892181] [ 0.06107842 0.99804373 -0.01334689 -0.13820916] [ 0.0283845 0.01162968 0.99952942 -0.17780001] [ 0. 0. 0. 1. ]] SLAMing on 1.480385723 meters Centerline goodness : 0.194892 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:-0.18 [[ 0.99740778 -0.06579549 -0.02913216 0.18586089] [ 0.06540673 0.99775902 -0.01410327 -0.14333811] [ 0.02999481 0.01216128 0.99947607 -0.18380041] [ 0. 0. 0. 1. ]] SLAMing on 1.510385723 meters Centerline goodness : 0.195229 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.19 [[ 0.99741833 -0.06535943 -0.02974588 0.18922547] [ 0.06501332 0.99780662 -0.01245896 -0.14789039] [ 0.03049495 0.01049292 0.99947984 -0.18686894] [ 0. 0. 0. 1. ]] SLAMing on 1.540385723 meters Centerline goodness : 0.195456 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.19 [[ 0.99750039 -0.0643229 -0.02924945 0.19125998] [ 0.06393249 0.99785471 -0.01409326 -0.15341976] [ 0.03009322 0.01218804 0.99947279 -0.1917112 ] [ 0. 0. 0. 1. ]] SLAMing on 1.570385723 meters Centerline goodness : 0.625402 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:-0.19 [[ 0.99771028 -0.06136042 -0.02844478 0.19088536] [ 0.06102463 0.99805764 -0.01252723 -0.15815571] [ 0.02915821 0.01076272 0.99951686 -0.19404972] [ 0. 0. 0. 1. ]] SLAMing on 1.6003857229999998 meters Centerline goodness : 0.354788 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:-0.20 [[ 0.99782163 -0.0614244 -0.02406333 0.20671662] [ 0.06130504 0.99810299 -0.00566768 -0.15993424] [ 0.02436582 0.00418013 0.99969437 -0.19603701] [ 0. 0. 0. 1. ]] SLAMing on 1.6303857229999998 meters Centerline goodness : 0.201489 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.16, Z:-0.20 [[ 0.99797233 -0.06122093 -0.01741314 0.23433466] [ 0.06112322 0.99811165 -0.00609013 -0.15711825] [ 0.0177531 0.00501344 0.99982983 -0.19542907] [ 0. 0. 0. 1. ]] SLAMing on 1.6603857229999999 meters Centerline goodness : 0.200833 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.19 [[ 0.99776396 -0.06590014 -0.01114708 0.24844287] [ 0.06584839 0.99781737 -0.00494776 -0.15598459] [ 0.01144881 0.00420268 0.99992563 -0.19474783] [ 0. 0. 0. 1. ]] SLAMing on 1.690385723 meters Centerline goodness : 0.623073 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.19 [[ 0.99708312 -0.07625401 -0.00325228 0.25882757] [ 0.07622495 0.99705626 -0.00828099 -0.15450042] [ 0.00387417 0.00800893 0.99996042 -0.19094796] [ 0. 0. 0. 1. ]] SLAMing on 1.720385723 meters Centerline goodness : 0.620744 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.19 [[ 0.99611863 -0.08797432 0.00286334 0.27328897] [ 0.08800346 0.99604176 -0.01249817 -0.15371064] [-0.00175249 0.01270165 0.9999178 -0.19044862] [ 0. 0. 0. 1. ]] SLAMing on 1.750385723 meters Centerline goodness : 0.626888 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.19 [[ 0.99568802 -0.09272569 0.0027058 0.27437331] [ 0.09275794 0.99555088 -0.01656541 -0.15362664] [-0.00115773 0.01674497 0.99985912 -0.1903468 ] [ 0. 0. 0. 1. ]] SLAMing on 1.780385723 meters Centerline goodness : 0.624901 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.15, Z:-0.19 [[ 0.99482555 -0.10141595 0.00607779 0.29148351] [ 0.10149892 0.99471639 -0.0154036 -0.15248046] [-0.00448351 0.01594079 0.99986289 -0.19313179] [ 0. 0. 0. 1. ]] SLAMing on 1.8103857229999998 meters Centerline goodness : 0.627344 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.15, Z:-0.19 [[ 0.99472035 -0.10250828 0.00484508 0.29426751] [ 0.10257192 0.99460461 -0.01551335 -0.15209821] [-0.00322869 0.01592841 0.99986792 -0.19408682] [ 0. 0. 0. 1. ]] SLAMing on 1.8403857229999998 meters Centerline goodness : 0.627337 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.15, Z:-0.19 [[ 0.99425078 -0.10673563 0.00853798 0.31082906] [ 0.10683356 0.99420474 -0.01198017 -0.15083505] [-0.00720979 0.01282343 0.99989178 -0.19454037] [ 0. 0. 0. 1. ]] SLAMing on 1.8703857229999998 meters Centerline goodness : 0.629172 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.15, Z:-0.19 [[ 0.99422896 -0.10696272 0.00823156 0.31141523] [ 0.10705777 0.99417878 -0.01213205 -0.15008336] [-0.00688596 0.01294329 0.99989252 -0.19417826] [ 0. 0. 0. 1. ]] SLAMing on 1.9003857229999999 meters Centerline goodness : 0.631693 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.15, Z:-0.19 [[ 0.99467715 -0.1027265 0.00803995 0.30909251] [ 0.10277764 0.99468485 -0.00622896 -0.15429448] [-0.00735733 0.00702213 0.99994828 -0.19091537] [ 0. 0. 0. 1. ]] SLAMing on 1.9303857229999999 meters Centerline goodness : 0.636308 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.16, Z:-0.19 [[ 0.99513082 -0.09821699 0.00825111 0.30741926] [ 0.09824148 0.99515917 -0.00261615 -0.15765544] [-0.00795422 0.00341401 0.99996254 -0.19027055] [ 0. 0. 0. 1. ]] SLAMing on 1.960385723 meters Centerline goodness : 0.565168 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.19 [[ 9.95861649e-01 -9.04059035e-02 9.29243144e-03 3.04516806e-01] [ 9.04099630e-02 9.95904633e-01 -1.68572004e-05 -1.60963583e-01] [-9.25285153e-03 8.56915822e-04 9.99956824e-01 -1.91424622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.990385723 meters Centerline goodness : 0.631898 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.19 [[ 0.9964929 -0.08316056 0.00928592 0.30398836] [ 0.08312835 0.99653159 0.00380318 -0.1630941 ] [-0.00956999 -0.00301792 0.99994965 -0.19282194] [ 0. 0. 0. 1. ]] SLAMing on 2.020385723 meters Centerline goodness : 0.639971 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.19 [[ 0.99684147 -0.07892463 0.00883079 0.30470093] [ 0.07885556 0.99685463 0.00791477 -0.16455184] [-0.00942768 -0.00719341 0.99992968 -0.19359367] [ 0. 0. 0. 1. ]] SLAMing on 2.050385723 meters Centerline goodness : 0.543503 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.19 [[ 9.97463664e-01 -7.11703154e-02 -1.01245960e-03 2.99029733e-01] [ 7.11765837e-02 9.97422502e-01 9.06901650e-03 -1.66432386e-01] [ 3.64405219e-04 -9.11807784e-03 9.99958363e-01 -1.87285093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.080385723 meters Centerline goodness : 0.478166 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.19 [[ 9.97703921e-01 -6.77143396e-02 -1.28592946e-03 2.99101327e-01] [ 6.77255905e-02 9.97610949e-01 1.36249001e-02 -1.69939882e-01] [ 3.60256199e-04 -1.36807066e-02 9.99906350e-01 -1.86944871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1103857230000003 meters Centerline goodness : 0.448805 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.18 [[ 9.97736668e-01 -6.72373597e-02 -8.24348230e-04 2.96552893e-01] [ 6.72421077e-02 9.97620229e-01 1.52439390e-02 -1.76287267e-01] [-2.02575740e-04 -1.52648678e-02 9.99883465e-01 -1.84049605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.140385723 meters Centerline goodness : 0.658672 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.18 [[ 9.97734070e-01 -6.72608218e-02 -1.64543763e-03 2.98404111e-01] [ 6.72783443e-02 9.97612134e-01 1.56094281e-02 -1.78728478e-01] [ 5.91605589e-04 -1.56847605e-02 9.99876812e-01 -1.84045020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1703857230000003 meters Centerline goodness : 0.662944 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.18 [[ 9.97543149e-01 -7.00350836e-02 -1.65894132e-03 2.98440805e-01] [ 7.00516493e-02 9.97441610e-01 1.42478280e-02 -1.84131343e-01] [ 6.56849277e-04 -1.43290348e-02 9.99897118e-01 -1.82839191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.200385723 meters Centerline goodness : 0.666502 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.18 [[ 0.99724565 -0.07411326 -0.00288831 0.30196938] [ 0.07414406 0.99716742 0.01264084 -0.18743724] [ 0.00194327 -0.01282018 0.99991593 -0.18287809] [ 0. 0. 0. 1. ]] SLAMing on 2.230385723 meters Centerline goodness : 0.668974 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.19, Z:-0.18 [[ 0.99716475 -0.07512888 -0.00425527 0.30553041] [ 0.07518291 0.99706562 0.01441086 -0.19076404] [ 0.00316011 -0.01468993 0.9998871 -0.18326577] [ 0. 0. 0. 1. ]] SLAMing on 2.260385723 meters Centerline goodness : 0.676204 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.20, Z:-0.18 [[ 0.99681579 -0.07953833 -0.00565187 0.30983557] [ 0.07960745 0.99673769 0.01328995 -0.19710464] [ 0.00457637 -0.01369756 0.99989571 -0.18329928] [ 0. 0. 0. 1. ]] SLAMing on 2.290385723 meters Centerline goodness : 0.678164 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.20, Z:-0.18 [[ 0.99674773 -0.08029933 -0.00678044 0.31246985] [ 0.08039932 0.99663347 0.01605246 -0.20138767] [ 0.00546861 -0.01654539 0.99984816 -0.18265295] [ 0. 0. 0. 1. ]] SLAMing on 2.3203857230000002 meters Centerline goodness : 0.683675 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.18 [[ 0.99656629 -0.0823175 -0.00891445 0.31659333] [ 0.0824855 0.99638169 0.0204856 -0.2064864 ] [ 0.00719587 -0.02115057 0.99975041 -0.18021076] [ 0. 0. 0. 1. ]] SLAMing on 2.350385723 meters Centerline goodness : 0.690806 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.18 [[ 0.99643233 -0.08375634 -0.01036795 0.31959981] [ 0.08398326 0.99618222 0.02382844 -0.21223296] [ 0.00833258 -0.02461416 0.9996623 -0.17831943] [ 0. 0. 0. 1. ]] SLAMing on 2.3803857230000003 meters Centerline goodness : 0.696730 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.18 [[ 0.99640768 -0.08396075 -0.01106036 0.32128806] [ 0.08422046 0.99611843 0.02559276 -0.21574369] [ 0.00886864 -0.02643234 0.99961126 -0.17778166] [ 0. 0. 0. 1. ]] SLAMing on 2.410385723 meters Centerline goodness : 0.702114 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.18 [[ 0.99627393 -0.08548092 -0.01145727 0.32305586] [ 0.08572601 0.9960544 0.02294977 -0.21829177] [ 0.0094503 -0.02384645 0.99967097 -0.17811626] [ 0. 0. 0. 1. ]] SLAMing on 2.440385723 meters Centerline goodness : 0.712202 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99640211 -0.08389123 -0.01204591 0.32522916] [ 0.08415829 0.99617043 0.02370359 -0.21922016] [ 0.01001126 -0.02463207 0.99964646 -0.17930727] [ 0. 0. 0. 1. ]] SLAMing on 2.470385723 meters Centerline goodness : 0.715458 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99643621 -0.08340187 -0.01260981 0.32647351] [ 0.0836884 0.99619759 0.02422015 -0.21906431] [ 0.01054185 -0.02518913 0.99962712 -0.17928397] [ 0. 0. 0. 1. ]] SLAMing on 2.500385723 meters Centerline goodness : 0.723811 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99672307 -0.07965604 -0.01407238 0.32861249] [ 0.08004026 0.99636221 0.0292559 -0.21882187] [ 0.01169078 -0.03028639 0.99947289 -0.17830406] [ 0. 0. 0. 1. ]] SLAMing on 2.530385723 meters Centerline goodness : 0.726262 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99693559 -0.07665668 -0.0155945 0.3306414 ] [ 0.07715139 0.99643684 0.03407765 -0.21867494] [ 0.01292665 -0.03517636 0.99929752 -0.17713231] [ 0. 0. 0. 1. ]] SLAMing on 2.560385723 meters Centerline goodness : 0.733617 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.21, Z:-0.18 [[ 0.99698629 -0.07586434 -0.01621541 0.33229372] [ 0.07636554 0.99653624 0.03292155 -0.21452027] [ 0.01366168 -0.03406064 0.99932639 -0.17803846] [ 0. 0. 0. 1. ]] SLAMing on 2.5903857230000003 meters Centerline goodness : 0.739567 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.18 [[ 0.99694094 -0.07619384 -0.01741465 0.33637119] [ 0.0767177 0.9965486 0.03170615 -0.21078706] [ 0.01493873 -0.03294517 0.99934551 -0.18032773] [ 0. 0. 0. 1. ]] SLAMing on 2.620385723 meters Centerline goodness : 0.745319 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.18 [[ 0.99686138 -0.07697644 -0.01849387 0.33926062] [ 0.07752133 0.99651437 0.03081469 -0.20699101] [ 0.01605741 -0.03215164 0.99935401 -0.18136763] [ 0. 0. 0. 1. ]] SLAMing on 2.650385723 meters Centerline goodness : 0.749850 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.20, Z:-0.18 [[ 0.99658901 -0.07971585 -0.02134788 0.3472256 ] [ 0.08033549 0.99631818 0.02993806 -0.19967066] [ 0.01888274 -0.03155094 0.99932376 -0.18377317] [ 0. 0. 0. 1. ]] SLAMing on 2.680385723 meters Centerline goodness : 0.751603 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.20, Z:-0.19 [[ 0.99644685 -0.0811281 -0.02262525 0.35153345] [ 0.08177058 0.9962267 0.02908492 -0.19718608] [ 0.02018027 -0.03083165 0.99932085 -0.1858216 ] [ 0. 0. 0. 1. ]] SLAMing on 2.710385723 meters Centerline goodness : 0.751603 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.20, Z:-0.19 [[ 0.99644685 -0.0811281 -0.02262525 0.35153345] [ 0.08177058 0.9962267 0.02908492 -0.19718608] [ 0.02018027 -0.03083165 0.99932085 -0.1858216 ] [ 0. 0. 0. 1. ]] SLAMing on 2.740385723 meters Centerline goodness : 0.760208 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.19, Z:-0.19 [[ 0.99620746 -0.08347767 -0.02453916 0.35762967] [ 0.08414797 0.99606862 0.0276842 -0.19184853] [ 0.02213167 -0.02964413 0.99931547 -0.18833109] [ 0. 0. 0. 1. ]] SLAMing on 2.770385723 meters Centerline goodness : 0.769695 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.18, Z:-0.19 [[ 0.99609022 -0.08377399 -0.02803925 0.36438707] [ 0.08468658 0.99585717 0.03311611 -0.18453385] [ 0.02514882 -0.03536119 0.99905812 -0.18717773] [ 0. 0. 0. 1. ]] SLAMing on 2.800385723 meters Centerline goodness : 0.772566 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.19 [[ 0.9961176 -0.08271203 -0.03014043 0.36781564] [ 0.08379798 0.99580496 0.03674764 -0.18123066] [ 0.02697451 -0.03913067 0.99886994 -0.18617109] [ 0. 0. 0. 1. ]] SLAMing on 2.830385723 meters Centerline goodness : 0.778106 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.19 [[ 0.99593704 -0.0836781 -0.0332775 0.3741591 ] [ 0.08493174 0.99565295 0.0382336 -0.17250049] [ 0.02993353 -0.04090457 0.99871457 -0.18609788] [ 0. 0. 0. 1. ]] SLAMing on 2.8603857230000003 meters Centerline goodness : 0.787406 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99522332 -0.09151195 -0.03400163 0.3764906 ] [ 0.09267363 0.99510485 0.03432106 -0.17053746] [ 0.0306944 -0.03730817 0.9988323 -0.18445296] [ 0. 0. 0. 1. ]] SLAMing on 2.890385723 meters Centerline goodness : 0.792977 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99466074 -0.09722402 -0.03460506 0.37789289] [ 0.09835793 0.99461282 0.03272693 -0.17266885] [ 0.03123679 -0.03595588 0.99886507 -0.18210898] [ 0. 0. 0. 1. ]] SLAMing on 2.920385723 meters Centerline goodness : 0.797640 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99434732 -0.09986056 -0.03607318 0.38068468] [ 0.10110809 0.99427391 0.03459101 -0.17354326] [ 0.03241235 -0.03804277 0.99875031 -0.1802638 ] [ 0. 0. 0. 1. ]] SLAMing on 2.950385723 meters Centerline goodness : 0.802899 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99357428 -0.10671686 -0.03770504 0.38361546] [ 0.1080694 0.99349633 0.03586157 -0.17397296] [ 0.03363279 -0.03970589 0.99864522 -0.17616668] [ 0. 0. 0. 1. ]] SLAMing on 2.980385723 meters Centerline goodness : 0.811288 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.17 [[ 0.99344323 -0.10784731 -0.03794086 0.38381805] [ 0.10922605 0.99335167 0.03636114 -0.17409953] [ 0.03376716 -0.04026685 0.99861822 -0.17473772] [ 0. 0. 0. 1. ]] SLAMing on 3.010385723 meters Centerline goodness : 0.819593 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.17 [[ 0.9938048 -0.10461758 -0.03751248 0.3827106 ] [ 0.10600793 0.99366869 0.03721369 -0.17377265] [ 0.03338177 -0.04095977 0.998603 -0.17484923] [ 0. 0. 0. 1. ]] SLAMing on 3.040385723 meters Centerline goodness : 0.822451 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99393156 -0.10359478 -0.0369888 0.38188707] [ 0.10493924 0.99380975 0.03646831 -0.17313383] [ 0.0329819 -0.04012858 0.99865003 -0.17534961] [ 0. 0. 0. 1. ]] SLAMing on 3.0703857230000002 meters Centerline goodness : 0.830844 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99440159 -0.09895344 -0.03706348 0.38239355] [ 0.10040881 0.99415353 0.03970943 -0.17301545] [ 0.03291741 -0.04320862 0.99852364 -0.17669835] [ 0. 0. 0. 1. ]] SLAMing on 3.100385723 meters Centerline goodness : 0.838375 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99443362 -0.09839963 -0.03767338 0.38451731] [ 0.09987621 0.99421348 0.03955119 -0.1721783 ] [ 0.03356356 -0.04309371 0.9985071 -0.1778403 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1303857230000003 meters Centerline goodness : 0.839801 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.18 [[ 0.99449123 -0.09778715 -0.03774746 0.38764492] [ 0.09924305 0.99430494 0.03883943 -0.17338307] [ 0.03373449 -0.04237164 0.99853224 -0.18133233] [ 0. 0. 0. 1. ]] SLAMing on 3.160385723 meters Centerline goodness : 0.844580 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.18 [[ 0.99452392 -0.09739311 -0.03790449 0.38957494] [ 0.09882812 0.99437767 0.03802696 -0.1732021 ] [ 0.03398782 -0.04156475 0.99855756 -0.18353786] [ 0. 0. 0. 1. ]] SLAMing on 3.190385723 meters Centerline goodness : 0.850878 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.19 [[ 0.99464625 -0.09636771 -0.03731093 0.39130245] [ 0.09771209 0.99456129 0.03605824 -0.17533377] [ 0.03363315 -0.03951092 0.99865294 -0.18714413] [ 0. 0. 0. 1. ]] SLAMing on 3.220385723 meters Centerline goodness : 0.856316 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.19 [[ 0.99481318 -0.09476555 -0.0369625 0.39146606] [ 0.09608342 0.99473385 0.03567278 -0.1755323 ] [ 0.0333873 -0.03903923 0.99867974 -0.18841368] [ 0. 0. 0. 1. ]] SLAMing on 3.250385723 meters Centerline goodness : 0.863666 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.19 [[ 0.99495916 -0.09329709 -0.03676843 0.39146753] [ 0.09460002 0.99488404 0.03544829 -0.17526727] [ 0.0332731 -0.0387479 0.9986949 -0.18922969] [ 0. 0. 0. 1. ]] SLAMing on 3.280385723 meters Centerline goodness : 0.871829 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.9952631 -0.09028865 -0.03604605 0.39104957] [ 0.09152299 0.99521548 0.03420063 -0.17370406] [ 0.03278566 -0.03733767 0.99876474 -0.19150331] [ 0. 0. 0. 1. ]] SLAMing on 3.310385723 meters Centerline goodness : 0.875229 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99536358 -0.08911187 -0.03619971 0.39232639] [ 0.09034171 0.99533407 0.03388904 -0.17340909] [ 0.03301089 -0.03700226 0.9987698 -0.19299354] [ 0. 0. 0. 1. ]] SLAMing on 3.3403857230000003 meters Centerline goodness : 0.879056 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99552879 -0.08731487 -0.03603537 0.3924606 ] [ 0.08852162 0.99551508 0.03337132 -0.17290511] [ 0.03295994 -0.03641202 0.99879318 -0.19381231] [ 0. 0. 0. 1. ]] SLAMing on 3.370385723 meters Centerline goodness : 0.888371 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99566974 -0.0862852 -0.03459225 0.38869883] [ 0.08741731 0.99563593 0.03266965 -0.17261553] [ 0.03162238 -0.03555214 0.99886739 -0.1923586 ] [ 0. 0. 0. 1. ]] SLAMing on 3.400385723 meters Centerline goodness : 0.890703 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99569076 -0.08617859 -0.03425142 0.38746415] [ 0.08729529 0.99565006 0.03256511 -0.17264491] [ 0.03129601 -0.03541477 0.99888255 -0.19125848] [ 0. 0. 0. 1. ]] SLAMing on 3.430385723 meters Centerline goodness : 0.897207 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99555052 -0.08762177 -0.03466391 0.38803897] [ 0.08876484 0.99550789 0.0329369 -0.17341462] [ 0.0316222 -0.03586729 0.99885613 -0.19011185] [ 0. 0. 0. 1. ]] SLAMing on 3.460385723 meters Centerline goodness : 0.134964 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.9951834 -0.09167849 -0.03471401 0.38884606] [ 0.09267539 0.99529452 0.02828592 -0.17150124] [ 0.03195746 -0.03136681 0.99899692 -0.18967776] [ 0. 0. 0. 1. ]] SLAMing on 3.490385723 meters Centerline goodness : 0.904024 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99476054 -0.09537045 -0.03682328 0.39379026] [ 0.0964628 0.99491049 0.02912108 -0.17242942] [ 0.03385858 -0.03252058 0.9988974 -0.18938619] [ 0. 0. 0. 1. ]] SLAMing on 3.520385723 meters Centerline goodness : 0.911342 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.19 [[ 0.99406761 -0.1018028 -0.03828547 0.39735075] [ 0.10281676 0.99437302 0.025515 -0.17048537] [ 0.03547254 -0.02930003 0.99894104 -0.1885947 ] [ 0. 0. 0. 1. ]] SLAMing on 3.550385723 meters Centerline goodness : 0.922568 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.19 [[ 0.99382036 -0.10359327 -0.03986888 0.40078134] [ 0.10469373 0.99414934 0.02657638 -0.17107497] [ 0.03688248 -0.03058617 0.99885142 -0.18822237] [ 0. 0. 0. 1. ]] SLAMing on 3.580385723 meters Centerline goodness : 0.915557 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.19 [[ 0.99362723 -0.10488481 -0.04128088 0.40395891] [ 0.10607659 0.99396876 0.0278182 -0.17198386] [ 0.03811419 -0.03201986 0.99876025 -0.18806773] [ 0. 0. 0. 1. ]] SLAMing on 3.610385723 meters Centerline goodness : 0.140413 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.19 [[ 0.99322413 -0.10798763 -0.0429476 0.4070345 ] [ 0.10920769 0.99364811 0.0271497 -0.16994583] [ 0.03974297 -0.03165595 0.99870836 -0.18712027] [ 0. 0. 0. 1. ]] SLAMing on 3.640385723 meters Centerline goodness : 0.128616 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.19 [[ 0.99314172 -0.10749119 -0.04599092 0.41248992] [ 0.10898591 0.99354964 0.03132394 -0.16770255] [ 0.04232722 -0.03612147 0.99845062 -0.18680204] [ 0. 0. 0. 1. ]] SLAMing on 3.670385723 meters Centerline goodness : 0.128996 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.19 [[ 0.99295156 -0.10906 -0.04640171 0.41309145] [ 0.11058548 0.99336158 0.03167994 -0.16867498] [ 0.04263866 -0.03658801 0.99842038 -0.18577524] [ 0. 0. 0. 1. ]] SLAMing on 3.700385723 meters Centerline goodness : 0.931191 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99264734 -0.11130446 -0.0475666 0.4160099 ] [ 0.11292894 0.99305682 0.03294238 -0.17038062] [ 0.04356971 -0.03807181 0.99832471 -0.18553348] [ 0. 0. 0. 1. ]] SLAMing on 3.730385723 meters Centerline goodness : 0.940201 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.9924206 -0.11292887 -0.04846054 0.41825314] [ 0.11458529 0.99286926 0.03287607 -0.17067055] [ 0.04440232 -0.03817975 0.9982839 -0.18560449] [ 0. 0. 0. 1. ]] SLAMing on 3.760385723 meters Centerline goodness : 0.136159 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99235564 -0.11341916 -0.04864546 0.41887102] [ 0.11508538 0.99280957 0.03293205 -0.17133687] [ 0.04456055 -0.03827868 0.99827306 -0.18563838] [ 0. 0. 0. 1. ]] SLAMing on 3.790385723 meters Centerline goodness : 0.133811 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99220817 -0.11424015 -0.04972058 0.42095578] [ 0.11594356 0.992713 0.03283288 -0.17079983] [ 0.04560744 -0.03834183 0.99822335 -0.18543298] [ 0. 0. 0. 1. ]] SLAMing on 3.8203857230000002 meters Centerline goodness : 0.135305 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99213429 -0.11457956 -0.05040906 0.42203938] [ 0.11627183 0.99270122 0.03201798 -0.16888277] [ 0.04637253 -0.03762729 0.9982153 -0.18519382] [ 0. 0. 0. 1. ]] SLAMing on 3.850385723 meters Centerline goodness : 0.947847 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.16, Z:-0.18 [[ 0.99295187 -0.10725097 -0.05043627 0.42547921] [ 0.10825107 0.99396909 0.01752602 -0.16399912] [ 0.04825241 -0.02286228 0.99857349 -0.18014868] [ 0. 0. 0. 1. ]] SLAMing on 3.880385723 meters Centerline goodness : 0.283373 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:-0.18 [[ 0.99365432 -0.10074798 -0.05000943 0.42382842] [ 0.1011964 0.99484516 0.00651088 -0.16077498] [ 0.04909568 -0.01153034 0.99872752 -0.17817501] [ 0. 0. 0. 1. ]] SLAMing on 3.910385723 meters Centerline goodness : 0.956321 Centerline is valid? [False, True] Translation: X:0.43, Y:-0.16, Z:-0.18 [[ 0.99382168 -0.09876772 -0.05063007 0.42620738] [ 0.09926472 0.99503361 0.00739152 -0.15982337] [ 0.04964858 -0.01237163 0.99869012 -0.17870405] [ 0. 0. 0. 1. ]] SLAMing on 3.940385723 meters Centerline goodness : 0.960708 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.16, Z:-0.16 [[ 0.99591371 -0.07097921 -0.05583759 0.4686833 ] [ 0.07021916 0.99741177 -0.01546049 -0.16237637] [ 0.05679044 0.01147645 0.99832016 -0.16303618] [ 0. 0. 0. 1. ]] SLAMing on 3.970385723 meters Centerline goodness : 0.960528 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.17, Z:-0.17 [[ 0.99615744 -0.06645876 -0.05704026 0.5116647 ] [ 0.0662552 0.9977878 -0.00545452 -0.1654326 ] [ 0.05727657 0.00165435 0.99835698 -0.16636946] [ 0. 0. 0. 1. ]] SLAMing on 4.000385723 meters Centerline goodness : 0.964230 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.18, Z:-0.19 [[ 9.97930514e-01 -4.68786408e-02 -4.40122898e-02 5.60107788e-01] [ 4.69162120e-02 9.98898812e-01 -1.79473498e-04 -1.79184497e-01] [ 4.39722375e-02 -1.88578784e-03 9.99030974e-01 -1.86519215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030385722999999 meters Centerline goodness : 0.963975 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.17, Z:-0.19 [[ 0.99723022 -0.05839367 -0.04606581 0.54442555] [ 0.0595248 0.99794837 0.02357646 -0.17355529] [ 0.04459458 -0.02625322 0.99866015 -0.18887914] [ 0. 0. 0. 1. ]] SLAMing on 4.060385723 meters Centerline goodness : 0.970478 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.15, Z:-0.15 [[ 0.99792759 -0.04497877 -0.04601567 0.57777001] [ 0.04333225 0.99840558 -0.03617482 -0.1482473 ] [ 0.0475694 0.03410589 0.9982855 -0.14834392] [ 0. 0. 0. 1. ]] SLAMing on 4.090385723 meters Centerline goodness : 0.973681 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.17, Z:-0.16 [[ 0.99743951 -0.04185507 -0.05798775 0.58761148] [ 0.0429284 0.99892682 0.01738859 -0.16594049] [ 0.05719772 -0.01983339 0.99816585 -0.16489759] [ 0. 0. 0. 1. ]] SLAMing on 4.120385722999999 meters Centerline goodness : 0.970785 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.15, Z:-0.15 [[ 0.99804812 -0.036382 -0.05075724 0.63747782] [ 0.03518307 0.99908498 -0.02431796 -0.15269641] [ 0.05159553 0.02248469 0.99841491 -0.15005844] [ 0. 0. 0. 1. ]] SLAMing on 4.150385722999999 meters Centerline goodness : 0.977351 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.17, Z:-0.17 [[ 0.99769229 -0.03971866 -0.05506833 0.64698146] [ 0.0413314 0.99873999 0.02846298 -0.16870485] [ 0.05386843 -0.03067335 0.99807682 -0.16988978] [ 0. 0. 0. 1. ]] SLAMing on 4.180385723 meters Centerline goodness : 0.979189 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 0.9984848 -0.04378561 -0.0333304 0.70982067] [ 0.04255227 0.99841426 -0.03685479 -0.13777122] [ 0.03489125 0.03538067 0.99876464 -0.14613909] [ 0. 0. 0. 1. ]] SLAMing on 4.210385723 meters Centerline goodness : 0.983272 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.18, Z:-0.18 [[ 0.99799511 -0.03605601 -0.05201659 0.69786704] [ 0.0382902 0.9983576 0.04261411 -0.18429112] [ 0.05039466 -0.0445204 0.99773659 -0.17629436] [ 0. 0. 0. 1. ]] SLAMing on 4.240385722999999 meters Centerline goodness : 0.989074 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.16, Z:-0.16 [[ 0.99867492 -0.03866213 -0.03396529 0.72621769] [ 0.0380701 0.9991146 -0.01790784 -0.16034027] [ 0.03462757 0.01659105 0.99926256 -0.16343189] [ 0. 0. 0. 1. ]] SLAMing on 4.2703857229999995 meters Centerline goodness : 0.988039 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.17, Z:-0.16 [[ 0.99795349 -0.04343495 -0.04692805 0.7521324 ] [ 0.04421608 0.99889804 0.01573695 -0.17027748] [ 0.04619281 -0.01777972 0.9987743 -0.16446425] [ 0. 0. 0. 1. ]] SLAMing on 4.300385723 meters Centerline goodness : 0.989071 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.16, Z:-0.14 [[ 0.99788072 -0.04587982 -0.04614227 0.7880014 ] [ 0.04482317 0.99871424 -0.02368008 -0.15726752] [ 0.04716938 0.02156165 0.99865417 -0.14288554] [ 0. 0. 0. 1. ]] SLAMing on 4.330385723 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.15, Z:-0.13 [[ 0.99672992 -0.05226432 -0.06162723 0.81215586] [ 0.05121407 0.99851631 -0.01850121 -0.15201194] [ 0.06250274 0.01528453 0.99792775 -0.13374017] [ 0. 0. 0. 1. ]] SLAMing on 4.360385722999999 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.16, Z:-0.14 [[ 0.99708574 -0.05818866 -0.04933659 0.85131084] [ 0.05748968 0.99822621 -0.01547128 -0.1562617 ] [ 0.05014933 0.01258985 0.99866238 -0.14012403] [ 0. 0. 0. 1. ]] SLAMing on 4.390385723 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.17, Z:-0.19 [[ 0.99633213 -0.08366395 -0.01796183 0.87544985] [ 0.0846781 0.99421128 0.06613284 -0.16731501] [ 0.01232492 -0.06741124 0.99764915 -0.19400459] [ 0. 0. 0. 1. ]] SLAMing on 4.420385723 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.14, Z:-0.15 [[ 0.99629982 -0.08338209 -0.02083499 0.91847774] [ 0.083091 0.99643693 -0.01446835 -0.13947925] [ 0.02196715 0.01268362 0.99967823 -0.14823795] [ 0. 0. 0. 1. ]] SLAMing on 4.450385722999999 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.15, Z:-0.16 [[ 0.99612708 -0.08593118 -0.01861923 0.93805846] [ 0.08618965 0.99618655 0.01355335 -0.14598113] [ 0.01738357 -0.01510564 0.99973478 -0.16298603] [ 0. 0. 0. 1. ]] SLAMing on 4.4803857229999995 meters Centerline goodness : 0.976325 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.13, Z:-0.14 [[ 0.99561049 -0.08762312 -0.03289287 0.98786466] [ 0.08733439 0.99612768 -0.01011703 -0.13346783] [ 0.03365199 0.00719995 0.99940768 -0.13678421] [ 0. 0. 0. 1. ]] SLAMing on 4.510385723 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.14, Z:-0.20 [[ 0.99518563 -0.09775109 0.00709179 0.99570372] [ 0.09738484 0.9944126 0.04074044 -0.14162649] [-0.01103459 -0.03985367 0.9991446 -0.20343371] [ 0. 0. 0. 1. ]] SLAMing on 4.540385723 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.10, Z:-0.18 [[ 0.99466013 -0.10210645 -0.01501635 1.02874905] [ 0.101888 0.99468788 -0.01465793 -0.09822345] [ 0.01643325 0.01304968 0.9997798 -0.18139262] [ 0. 0. 0. 1. ]] SLAMing on 4.570385722999999 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.11, Z:-0.21 [[ 0.99430199 -0.1062276 0.00890182 1.06633591] [ 0.10582003 0.99366289 0.03789694 -0.1149722 ] [-0.01287111 -0.03673901 0.999242 -0.21271797] [ 0. 0. 0. 1. ]] SLAMing on 4.600385723 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.09, Z:-0.20 [[ 0.99400637 -0.10843818 0.01387428 1.09536889] [ 0.10847605 0.99409704 -0.00200451 -0.08990801] [-0.01357501 0.00349752 0.99990174 -0.19624554] [ 0. 0. 0. 1. ]] SLAMing on 4.630385723 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.08, Z:-0.18 [[ 0.9933789 -0.11293058 0.02109617 1.12680269] [ 0.11323858 0.99346888 -0.0140217 -0.07832101] [-0.01937491 0.01631776 0.99967912 -0.18468299] [ 0. 0. 0. 1. ]] SLAMing on 4.660385722999999 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.05, Z:-0.12 [[ 0.99391949 -0.10688972 -0.02643161 1.1454214 ] [ 0.10436535 0.99104451 -0.08329858 -0.0471279 ] [ 0.03509867 0.08003354 0.99617404 -0.12274483] [ 0. 0. 0. 1. ]] SLAMing on 4.6903857229999995 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.12, Z:-0.22 [[ 0.99343206 -0.11439386 -0.00260423 1.181788 ] [ 0.11422779 0.99014549 0.08101797 -0.11714661] [-0.00668939 -0.08078333 0.99670924 -0.21626755] [ 0. 0. 0. 1. ]] SLAMing on 4.720385723 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.09, Z:-0.21 [[ 0.9933896 -0.11161058 0.02683621 1.20800511] [ 0.1107975 0.99338743 0.03008856 -0.09404323] [-0.03001695 -0.02691628 0.99918692 -0.20842197] [ 0. 0. 0. 1. ]] SLAMing on 4.750385723 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.06, Z:-0.18 [[ 0.99286567 -0.11609199 0.02721036 1.20385768] [ 0.11698584 0.99255317 -0.03394865 -0.06190972] [-0.02306656 0.03688968 0.99905309 -0.17550484] [ 0. 0. 0. 1. ]] SLAMing on 4.780385722999999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.08, Z:-0.19 [[ 9.92758734e-01 -1.17821978e-01 2.34110338e-02 1.23677639e+00] [ 1.17776339e-01 9.93034585e-01 3.32365944e-03 -7.53307480e-02] [-2.36395664e-02 -5.42326084e-04 9.99720399e-01 -1.92561583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810385723 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.06, Z:-0.18 [[ 0.99377942 -0.10963668 0.0195517 1.2666503 ] [ 0.11006153 0.99367759 -0.02216564 -0.0646385 ] [-0.01699791 0.02417964 0.99956311 -0.18380019] [ 0. 0. 0. 1. ]] SLAMing on 4.840385723 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.07, Z:-0.18 [[ 0.99375507 -0.11088519 0.01246359 1.29374142] [ 0.11100102 0.99377937 -0.00901883 -0.06547456] [-0.011386 0.01034598 0.99988165 -0.18470433] [ 0. 0. 0. 1. ]] SLAMing on 4.870385722999999 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.07, Z:-0.19 [[ 0.99416542 -0.10741345 0.00987227 1.32644289] [ 0.10747039 0.99419346 -0.00542896 -0.06721816] [-0.00923181 0.00645826 0.99993653 -0.1876567 ] [ 0. 0. 0. 1. ]] SLAMing on 4.900385722999999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.06, Z:-0.18 [[ 0.99463905 -0.10314119 0.00741926 1.35571255] [ 0.10323126 0.9945724 -0.01300159 -0.0600253 ] [-0.00603799 0.01369779 0.99988795 -0.1839279 ] [ 0. 0. 0. 1. ]] SLAMing on 4.930385723 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.08, Z:-0.21 [[ 0.99502151 -0.09920237 0.0095437 1.39592401] [ 0.09874844 0.99431068 0.03993772 -0.07877067] [-0.01345132 -0.03879647 0.99915659 -0.20640334] [ 0. 0. 0. 1. ]] SLAMing on 4.960385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:-0.18 [[ 0.99513767 -0.09809225 0.0088838 1.41337705] [ 0.09816868 0.99513247 -0.00861882 -0.04866251] [-0.00799511 0.00944903 0.99992339 -0.18083697] [ 0. 0. 0. 1. ]] SLAMing on 4.990385722999999 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.05, Z:-0.18 [[ 0.99625746 -0.08563744 0.01171769 1.45408422] [ 0.0858179 0.99618431 -0.01587777 -0.05364179] [-0.01031325 0.01682393 0.99980528 -0.18334747] [ 0. 0. 0. 1. ]] SLAMing on 5.0203857229999995 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.06, Z:-0.20 [[ 9.97283428e-01 -7.30457408e-02 9.49122926e-03 1.48822892e+00] [ 7.30387202e-02 9.97328516e-01 1.08468622e-03 -6.48323549e-02] [-9.54510531e-03 -3.88512358e-04 9.99954369e-01 -2.01618123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050385723 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.05, Z:-0.18 [[ 0.99710175 -0.07568538 0.00773503 1.51307776] [ 0.07578869 0.99702459 -0.01407238 -0.04727923] [-0.00664695 0.01461782 0.99987106 -0.18231111] [ 0. 0. 0. 1. ]] SLAMing on 5.080385722999999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.06, Z:-0.20 [[ 0.9974029 -0.07088179 0.01277597 1.55103584] [ 0.0705341 0.99717378 0.02587277 -0.06062008] [-0.01457377 -0.02490443 0.9995836 -0.20153497] [ 0. 0. 0. 1. ]] SLAMing on 5.110385722999999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.05, Z:-0.19 [[ 9.97633687e-01 -6.65484531e-02 1.72722536e-02 1.58161677e+00] [ 6.65778907e-02 9.97780586e-01 -1.13430770e-03 -4.62969576e-02] [-1.71584329e-02 2.28157378e-03 9.99850180e-01 -1.91529560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140385723 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.05, Z:-0.20 [[ 0.99825942 -0.0564751 0.01699113 1.61789964] [ 0.05637208 0.99838878 0.00648261 -0.04980081] [-0.01732986 -0.0055135 0.99983462 -0.19696979] [ 0. 0. 0. 1. ]] SLAMing on 5.170385723 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.03, Z:-0.18 [[ 0.99866702 -0.0505269 0.01054574 1.64194414] [ 0.05077685 0.99839813 -0.02495773 -0.03147945] [-0.00926781 0.02545994 0.99963288 -0.17885314] [ 0. 0. 0. 1. ]] SLAMing on 5.200385722999999 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.05, Z:-0.20 [[ 0.998566 -0.05268366 0.00950704 1.6774891 ] [ 0.05245776 0.99836685 0.02262327 -0.04660562] [-0.01068339 -0.02209211 0.99969886 -0.19749576] [ 0. 0. 0. 1. ]] SLAMing on 5.2303857229999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.02, Z:-0.18 [[ 0.99858686 -0.05118786 0.01428605 1.70877843] [ 0.05168028 0.99799494 -0.03654096 -0.01894958] [-0.01238696 0.03722763 0.99923004 -0.17603613] [ 0. 0. 0. 1. ]] SLAMing on 5.260385723 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.04, Z:-0.20 [[ 0.99864119 -0.05154384 0.00768155 1.73972103] [ 0.05146994 0.99862911 0.0095264 -0.04182367] [-0.00816205 -0.00911809 0.99992512 -0.19566425] [ 0. 0. 0. 1. ]] SLAMing on 5.290385722999999 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.04, Z:-0.19 [[ 9.98594581e-01 -5.19535470e-02 1.04733885e-02 1.77333451e+00] [ 5.19464077e-02 9.98649419e-01 9.52737088e-04 -3.87035806e-02] [-1.05087414e-02 -4.07343184e-04 9.99944699e-01 -1.92100221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.320385722999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.04, Z:-0.19 [[ 0.99868481 -0.05081273 0.00683506 1.80782587] [ 0.05074329 0.9986619 0.00997651 -0.03723702] [-0.00733284 -0.00961656 0.99992687 -0.19464968] [ 0. 0. 0. 1. ]] SLAMing on 5.350385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.03, Z:-0.19 [[ 0.99881532 -0.04753285 0.01042024 1.84033477] [ 0.04766252 0.99878439 -0.0125708 -0.02515288] [-0.00981004 0.01305257 0.99986669 -0.19092204] [ 0. 0. 0. 1. ]] SLAMing on 5.380385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.03, Z:-0.20 [[ 0.99887215 -0.04714511 0.0056365 1.87131379] [ 0.04709486 0.9988522 0.00873784 -0.03174024] [-0.00604198 -0.00846253 0.99994594 -0.19654184] [ 0. 0. 0. 1. ]] SLAMing on 5.410385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.03, Z:-0.19 [[ 0.99881946 -0.04836435 0.00453498 1.90346957] [ 0.04830615 0.99875845 0.0121685 -0.02915569] [-0.00511787 -0.01193507 0.99991568 -0.19356648] [ 0. 0. 0. 1. ]] SLAMing on 5.4403857229999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.02, Z:-0.19 [[ 0.99875727 -0.04962266 0.00463693 1.93367976] [ 0.04960583 0.9987621 0.00367736 -0.02056774] [-0.00481367 -0.00344277 0.99998249 -0.18665547] [ 0. 0. 0. 1. ]] SLAMing on 5.470385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.02, Z:-0.19 [[ 0.99873214 -0.05012392 0.00465796 1.96469525] [ 0.05010165 0.99873268 0.0047812 -0.01778317] [-0.00489171 -0.00454176 0.99997772 -0.1850206 ] [ 0. 0. 0. 1. ]] SLAMing on 5.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.01, Z:-0.19 [[ 9.98716328e-01 -5.03918593e-02 5.13396835e-03 1.99743879e+00] [ 5.03957223e-02 9.98729132e-01 -6.25785416e-04 -1.43726212e-02] [-5.09590927e-03 8.83712156e-04 9.99986625e-01 -1.86260167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.01, Z:-0.19 [[ 9.98717842e-01 -5.04735437e-02 3.88504956e-03 2.02952332e+00] [ 5.04728415e-02 9.98725395e-01 2.78639647e-04 -1.31690417e-02] [-3.89416159e-03 -8.21928962e-05 9.99992414e-01 -1.88196175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.01, Z:-0.19 [[ 9.98598769e-01 -5.28789772e-02 2.07654921e-03 2.06271570e+00] [ 5.28774860e-02 9.98600713e-01 7.66575619e-04 -1.07721219e-02] [-2.11417925e-03 -6.55698767e-04 9.99997550e-01 -1.89675025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.01, Z:-0.19 [[ 9.98606096e-01 -5.27652961e-02 1.29968120e-03 2.09375552e+00] [ 5.27644095e-02 9.98606738e-01 7.07274303e-04 -5.86587293e-03] [-1.33518994e-03 -6.37711519e-04 9.99998905e-01 -1.87701695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.620385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.00, Z:-0.19 [[ 9.98505028e-01 -5.45442875e-02 3.55383284e-03 2.12540439e+00] [ 5.45216979e-02 9.98493521e-01 6.17028248e-03 -1.04982396e-03] [-3.88503273e-03 -5.96729708e-03 9.99974649e-01 -1.85690572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:0.00, Z:-0.19 [[ 9.98091310e-01 -6.15730023e-02 4.74369738e-03 2.16397349e+00] [ 6.15014119e-02 9.98008901e-01 1.39932261e-02 3.74129210e-04] [-5.59585715e-03 -1.36747733e-02 9.99890838e-01 -1.86317331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.19, Y:0.01, Z:-0.18 [[ 0.99830897 -0.05788052 0.00538886 2.1879351 ] [ 0.05791681 0.99829798 -0.0068396 0.01240748] [-0.00498381 0.00714014 0.99996209 -0.17846634] [ 0. 0. 0. 1. ]] SLAMing on 5.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.22, Y:0.01, Z:-0.18 [[ 0.99811307 -0.06127713 0.0039263 2.21991648] [ 0.06129347 0.99811101 -0.00418508 0.0131803 ] [-0.00366244 0.00441784 0.99998353 -0.1815656 ] [ 0. 0. 0. 1. ]] SLAMing on 5.740385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:0.01, Z:-0.19 [[ 9.97844318e-01 -6.56225111e-02 -6.35187707e-04 2.25192195e+00] [ 6.56214062e-02 9.97843266e-01 -1.62709848e-03 1.32204023e-02] [ 7.40592064e-04 1.58190906e-03 9.99998475e-01 -1.86047108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7703857229999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:2.28, Y:0.01, Z:-0.19 [[ 9.97823305e-01 -6.59122246e-02 -2.05675552e-03 2.28313001e+00] [ 6.59196473e-02 9.97817782e-01 3.77807186e-03 1.28213338e-02] [ 1.80324611e-03 -3.90542875e-03 9.99990748e-01 -1.88485058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:0.02, Z:-0.19 [[ 9.97716297e-01 -6.75305662e-02 -1.34672686e-03 2.31387140e+00] [ 6.75270932e-02 9.97714368e-01 -2.47627812e-03 1.79097465e-02] [ 1.51087320e-03 2.37968249e-03 9.99996027e-01 -1.85698096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.35, Y:0.02, Z:-0.19 [[ 0.99773646 -0.06719362 -0.00264162 2.34682113] [ 0.067201 0.99773549 0.00281234 0.01787624] [ 0.00244666 -0.00298349 0.99999256 -0.18784014] [ 0. 0. 0. 1. ]] SLAMing on 5.860385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.38, Y:0.03, Z:-0.18 [[ 0.99801676 -0.06241788 0.00815845 2.38333952] [ 0.06267597 0.99736379 -0.03656758 0.03490474] [-0.00585447 0.03700639 0.99929788 -0.17866003] [ 0. 0. 0. 1. ]] SLAMing on 5.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.41, Y:0.01, Z:-0.20 [[ 9.98001570e-01 -6.31626394e-02 -1.82958830e-03 2.41252387e+00] [ 6.31889388e-02 9.97508496e-01 3.13680985e-02 8.68586891e-03] [-1.56262018e-04 -3.14210213e-02 9.99506226e-01 -1.97473598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.44, Y:0.04, Z:-0.18 [[ 0.99834119 -0.05740939 0.00436325 2.4433186 ] [ 0.0574697 0.9982307 -0.01525432 0.03550672] [-0.00347978 0.01547977 0.99987413 -0.17796727] [ 0. 0. 0. 1. ]] SLAMing on 5.950385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:0.02, Z:-0.19 [[ 9.98514703e-01 -5.44488327e-02 1.92680308e-03 2.47598175e+00] [ 5.43962856e-02 9.98296942e-01 2.10774872e-02 2.13354024e-02] [-3.07116620e-03 -2.09413700e-02 9.99775988e-01 -1.88863186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9803857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.51, Y:0.01, Z:-0.21 [[ 9.98159074e-01 -6.05409291e-02 -3.64116823e-03 2.50775163e+00] [ 6.06502790e-02 9.96433573e-01 5.86658108e-02 1.17006050e-02] [ 7.64995837e-05 -5.87786493e-02 9.98271038e-01 -2.07335169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.54, Y:0.06, Z:-0.15 [[ 9.98625598e-01 -5.23939647e-02 1.33682943e-03 2.53583674e+00] [ 5.24074388e-02 9.97934531e-01 -3.71501241e-02 5.77086281e-02] [ 6.12374038e-04 3.71691247e-02 9.99308802e-01 -1.54152538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.040385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.57, Y:0.03, Z:-0.19 [[ 9.99009048e-01 -4.45039361e-02 -5.66778624e-04 2.57481214e+00] [ 4.45021687e-02 9.98609445e-01 2.82618666e-02 2.54693078e-02] [-6.91773817e-04 -2.82590833e-02 9.99600393e-01 -1.93828940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.60, Y:0.05, Z:-0.17 [[ 0.99907125 -0.04292954 0.00369927 2.59896845] [ 0.04299624 0.99886739 -0.02037809 0.05256051] [-0.00282026 0.02051822 0.9997855 -0.16645418] [ 0. 0. 0. 1. ]] SLAMing on 6.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:0.04, Z:-0.19 [[ 9.99351064e-01 -3.50532149e-02 8.28990090e-03 2.63749443e+00] [ 3.50580030e-02 9.99385185e-01 -4.32930263e-04 4.10341386e-02] [-8.26962855e-03 7.23276690e-04 9.99965544e-01 -1.92138012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:0.06, Z:-0.17 [[ 0.99956343 -0.02829798 0.00849608 2.66351546] [ 0.02854942 0.99910857 -0.03109643 0.05780858] [-0.00760854 0.03132541 0.99948028 -0.17212255] [ 0. 0. 0. 1. ]] SLAMing on 6.160385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:0.05, Z:-0.18 [[ 9.99633384e-01 -2.68679260e-02 3.34859880e-03 2.69782688e+00] [ 2.68731644e-02 9.99637681e-01 -1.52930163e-03 4.52826594e-02] [-3.30629638e-03 1.61872841e-03 9.99993224e-01 -1.84031357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1903857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:0.04, Z:-0.18 [[ 9.99508723e-01 -3.12126784e-02 -2.84274136e-03 2.72785520e+00] [ 3.12624839e-02 9.99319152e-01 1.95930920e-02 3.96530935e-02] [ 2.22925301e-03 -1.96723375e-02 9.99803996e-01 -1.83736560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.77, Y:0.03, Z:-0.20 [[ 9.99483485e-01 -3.21301578e-02 -6.44990813e-04 2.76855705e+00] [ 3.21353012e-02 9.99058221e-01 2.91546411e-02 3.45192232e-02] [-2.92359845e-04 -2.91603093e-02 9.99574705e-01 -1.95562786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:0.07, Z:-0.16 [[ 0.99948825 -0.03091937 0.00819976 2.79069369] [ 0.03120759 0.99880076 -0.03772427 0.06715327] [-0.00702351 0.03796086 0.99925454 -0.16325872] [ 0. 0. 0. 1. ]] SLAMing on 6.280385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.83, Y:0.05, Z:-0.18 [[ 0.99931818 -0.0361344 0.00758146 2.83446893] [ 0.03608317 0.99932573 0.00678823 0.04779636] [-0.00782163 -0.00651003 0.99994822 -0.18376039] [ 0. 0. 0. 1. ]] SLAMing on 6.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:0.04, Z:-0.20 [[ 9.99649542e-01 -2.63995061e-02 1.96451791e-03 2.85016194e+00] [ 2.63694203e-02 9.99553892e-01 1.40239119e-02 4.22008794e-02] [-2.33386587e-03 -1.39671939e-02 9.99899730e-01 -1.97252231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:0.05, Z:-0.19 [[ 9.99586137e-01 -2.86220205e-02 2.88687494e-03 2.88341606e+00] [ 2.86234655e-02 9.99590159e-01 -4.60487158e-04 5.37654091e-02] [-2.87251171e-03 5.42928945e-04 9.99995727e-01 -1.87932951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.370385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:0.07, Z:-0.17 [[ 0.9992792 -0.03701792 0.00841097 2.91932612] [ 0.03725111 0.99887028 -0.02950446 0.07154911] [-0.00730928 0.02979651 0.99952926 -0.16942764] [ 0. 0. 0. 1. ]] SLAMing on 6.400385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:0.05, Z:-0.20 [[ 0.99896242 -0.04495814 0.00726997 2.95869916] [ 0.04485054 0.99889076 0.01434146 0.05324909] [-0.00790667 -0.01400052 0.99987073 -0.19675186] [ 0. 0. 0. 1. ]] SLAMing on 6.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:0.07, Z:-0.18 [[ 0.99908653 -0.04112174 0.01162347 2.98876404] [ 0.04134415 0.99895291 -0.01958932 0.06970563] [-0.01080576 0.02005199 0.99974054 -0.17617904] [ 0. 0. 0. 1. ]] SLAMing on 6.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:0.05, Z:-0.19 [[ 0.9989941 -0.04359375 0.01050589 3.01853923] [ 0.04333012 0.99876923 0.0241354 0.0520115 ] [-0.01154512 -0.0236559 0.99965349 -0.19408854] [ 0. 0. 0. 1. ]] SLAMing on 6.490385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:0.08, Z:-0.17 [[ 0.99908893 -0.04122684 0.01102979 3.04764898] [ 0.04144724 0.99892911 -0.02056116 0.0779077 ] [-0.01017031 0.02099958 0.99972775 -0.17171252] [ 0. 0. 0. 1. ]] SLAMing on 6.5203857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:0.07, Z:-0.18 [[ 9.99131902e-01 -4.06944053e-02 8.91109750e-03 3.08132761e+00] [ 4.06920325e-02 9.99171636e-01 4.47500722e-04 7.05271558e-02] [-8.92192664e-03 -8.45015789e-05 9.99960195e-01 -1.80750076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:0.07, Z:-0.18 [[ 0.99902308 -0.04389049 0.00514975 3.11545263] [ 0.04378391 0.9988556 0.01924728 0.06883604] [-0.00598863 -0.019003 0.99980149 -0.18160177] [ 0. 0. 0. 1. ]] SLAMing on 6.580385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:0.07, Z:-0.19 [[ 0.99870782 -0.0501367 0.00830663 3.14860643] [ 0.04999981 0.998622 0.01594118 0.07298405] [-0.00909443 -0.01550525 0.99983843 -0.18950271] [ 0. 0. 0. 1. ]] SLAMing on 6.610385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:0.09, Z:-0.17 [[ 0.99895656 -0.04506377 0.00741983 3.17608364] [ 0.04522868 0.99869303 -0.02380317 0.0936673 ] [-0.00633747 0.02411392 0.99968913 -0.16549917] [ 0. 0. 0. 1. ]] SLAMing on 6.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:0.09, Z:-0.18 [[ 0.99882416 -0.0481626 0.00553654 3.20953225] [ 0.04818745 0.99882841 -0.00444654 0.08677723] [-0.00531589 0.00470811 0.99997479 -0.17824339] [ 0. 0. 0. 1. ]] SLAMing on 6.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:0.09, Z:-0.18 [[ 9.98761749e-01 -4.96580721e-02 3.00746748e-03 3.24318537e+00] [ 4.96690500e-02 9.98758905e-01 -3.69264330e-03 8.91328184e-02] [-2.82036538e-03 3.83744893e-03 9.99988660e-01 -1.79060270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:0.08, Z:-0.19 [[ 9.98330742e-01 -5.77518940e-02 6.70291691e-04 3.28336882e+00] [ 5.77230469e-02 9.98088374e-01 2.20827231e-02 8.31135072e-02] [-1.94432943e-03 -2.20071700e-02 9.99755922e-01 -1.87386956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7303857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:0.11, Z:-0.17 [[ 9.98552130e-01 -5.37900802e-02 5.21297121e-04 3.30459886e+00] [ 5.37920973e-02 9.98453639e-01 -1.40264145e-02 1.06659265e-01] [ 2.33990953e-04 1.40341477e-02 9.99901489e-01 -1.69599722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:0.10, Z:-0.18 [[ 0.99853543 -0.05389374 -0.00473966 3.33467327] [ 0.05396636 0.99840095 0.01682755 0.09913559] [ 0.00382518 -0.01705868 0.99984717 -0.17578461] [ 0. 0. 0. 1. ]] SLAMing on 6.790385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:0.11, Z:-0.17 [[ 9.98443890e-01 -5.57650478e-02 -2.38694303e-04 3.37013175e+00] [ 5.57645954e-02 9.98392340e-01 1.01511282e-02 1.06577525e-01] [-3.27767584e-04 -1.01486426e-02 9.99948447e-01 -1.71610741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.11, Z:-0.17 [[ 9.98511055e-01 -5.44750836e-02 2.85268326e-03 3.40321570e+00] [ 5.44687458e-02 9.98512931e-01 2.25421768e-03 1.12810674e-01] [-2.97123983e-03 -2.09547920e-03 9.99993390e-01 -1.71560331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.43, Y:0.12, Z:-0.17 [[ 9.98893507e-01 -4.68870337e-02 3.65629224e-03 3.43361937e+00] [ 4.69474007e-02 9.98722616e-01 -1.86836119e-02 1.22805530e-01] [-2.77560261e-03 1.88345920e-02 9.99818761e-01 -1.67281953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.47, Y:0.11, Z:-0.18 [[ 9.98832492e-01 -4.82353367e-02 2.64674048e-03 3.47070704e+00] [ 4.82074483e-02 9.98789792e-01 9.74640458e-03 1.14111509e-01] [-3.11365848e-03 -9.60743297e-03 9.99949000e-01 -1.80923873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:0.13, Z:-0.17 [[ 9.99221680e-01 -3.94227255e-02 1.37232408e-03 3.49557540e+00] [ 3.94328096e-02 9.99187565e-01 -8.32244481e-03 1.26644712e-01] [-1.04311569e-03 8.37008188e-03 9.99964426e-01 -1.72459678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9403857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:0.12, Z:-0.18 [[ 9.99211584e-01 -3.95847137e-02 3.04305714e-03 3.52978316e+00] [ 3.95725728e-02 9.99208886e-01 3.95145081e-03 1.22856449e-01] [-3.19706678e-03 -3.82791382e-03 9.99987563e-01 -1.77275153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:0.13, Z:-0.17 [[ 9.99357468e-01 -3.55365749e-02 4.66932332e-03 3.56185930e+00] [ 3.55304533e-02 9.99367631e-01 1.38752611e-03 1.27830754e-01] [-4.71567851e-03 -1.22073141e-03 9.99988136e-01 -1.72670770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:0.13, Z:-0.17 [[ 9.99425834e-01 -3.34186531e-02 5.58539062e-03 3.59416080e+00] [ 3.34348834e-02 9.99436868e-01 -2.83815855e-03 1.31388650e-01] [-5.48739788e-03 3.02327586e-03 9.99980374e-01 -1.72298050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:0.13, Z:-0.18 [[ 9.99410302e-01 -3.42713539e-02 2.12673379e-03 3.62592450e+00] [ 3.42645097e-02 9.99407755e-01 3.17522130e-03 1.28919585e-01] [-2.23429338e-03 -3.10047739e-03 9.99992697e-01 -1.75140628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:0.13, Z:-0.18 [[ 9.99387957e-01 -3.47337283e-02 4.15682532e-03 3.65961272e+00] [ 3.47224074e-02 9.99393170e-01 2.76533193e-03 1.26313301e-01] [-4.25035312e-03 -2.61930445e-03 9.99987537e-01 -1.77750472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:0.13, Z:-0.17 [[ 0.99938015 -0.03452753 0.0068673 3.69307659] [ 0.03459741 0.99934792 -0.01033231 0.13296227] [-0.00650607 0.0105635 0.99992304 -0.17487934] [ 0. 0. 0. 1. ]] SLAMing on 7.120385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:0.14, Z:-0.18 [[ 0.9993845 -0.02837167 0.02063162 3.73736374] [ 0.02915001 0.99883495 -0.03845797 0.14099447] [-0.01951646 0.03903571 0.99904721 -0.17519281] [ 0. 0. 0. 1. ]] SLAMing on 7.150385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.11, Z:-0.19 [[ 0.99929907 -0.03665409 0.00760518 3.75906493] [ 0.03634734 0.9986478 0.03716783 0.11301577] [-0.00895724 -0.03686535 0.9992801 -0.19140924] [ 0. 0. 0. 1. ]] SLAMing on 7.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:0.14, Z:-0.17 [[ 0.99933256 -0.03518926 0.00980573 3.78896175] [ 0.03528454 0.99933004 -0.00972006 0.1357528 ] [-0.00945712 0.01005956 0.99990468 -0.17206764] [ 0. 0. 0. 1. ]] SLAMing on 7.210385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:0.13, Z:-0.18 [[ 9.99187796e-01 -3.89402280e-02 1.03636906e-02 3.82235457e+00] [ 3.88987582e-02 9.99234441e-01 4.17346860e-03 1.27142130e-01] [-1.05182724e-02 -3.76694420e-03 9.99937586e-01 -1.80103788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.13, Z:-0.18 [[ 9.99141355e-01 -4.01786177e-02 1.01109968e-02 3.85480664e+00] [ 4.01690871e-02 9.99192242e-01 1.14399575e-03 1.28620454e-01] [-1.01487937e-02 -7.36863947e-04 9.99948228e-01 -1.78432471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2703857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:0.13, Z:-0.18 [[ 0.99910397 -0.04154282 0.00809037 3.88552068] [ 0.04148874 0.99911623 0.00674139 0.12667492] [-0.00836328 -0.00639969 0.99994455 -0.1807762 ] [ 0. 0. 0. 1. ]] SLAMing on 7.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:0.13, Z:-0.18 [[ 9.98984160e-01 -4.41816411e-02 8.86742357e-03 3.92089227e+00] [ 4.41616930e-02 9.99021434e-01 2.43301890e-03 1.30130686e-01] [-8.96624098e-03 -2.03894691e-03 9.99957724e-01 -1.79542093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:0.13, Z:-0.18 [[ 9.98995225e-01 -4.39658263e-02 8.69171790e-03 3.95350944e+00] [ 4.39770290e-02 9.99031935e-01 -1.10190582e-03 1.32411193e-01] [-8.63485755e-03 1.48303459e-03 9.99961619e-01 -1.78402969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:0.13, Z:-0.18 [[ 9.99076802e-01 -4.19506951e-02 9.25653265e-03 3.98613645e+00] [ 4.19587211e-02 9.99119117e-01 -6.74492948e-04 1.34880326e-01] [-9.22008329e-03 1.06226253e-03 9.99956930e-01 -1.78466443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:0.14, Z:-0.18 [[ 9.99147096e-01 -4.01413109e-02 9.68279708e-03 4.01629789e+00] [ 4.01609327e-02 9.99191529e-01 -1.84052672e-03 1.38760750e-01] [-9.60108766e-03 2.22782709e-03 9.99951427e-01 -1.78362302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:0.14, Z:-0.18 [[ 9.99104041e-01 -4.15707861e-02 7.93633026e-03 4.04961552e+00] [ 4.15621616e-02 9.99135140e-01 1.24862517e-03 1.40722644e-01] [-7.98137278e-03 -9.17655409e-04 9.99967727e-01 -1.78826773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:0.14, Z:-0.18 [[ 0.99893227 -0.04544637 0.00830314 4.08585397] [ 0.04533631 0.99888726 0.01299473 0.13860783] [-0.00888446 -0.01260442 0.99988109 -0.18060805] [ 0. 0. 0. 1. ]] SLAMing on 7.4803857229999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.11, Y:0.15, Z:-0.18 [[ 0.99907581 -0.04184084 0.00984203 4.11008294] [ 0.04196161 0.99904226 -0.01240127 0.14958856] [-0.00931373 0.0128028 0.99987466 -0.17533331] [ 0. 0. 0. 1. ]] SLAMing on 7.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:0.15, Z:-0.18 [[ 9.98953296e-01 -4.51450159e-02 7.36475988e-03 4.14787489e+00] [ 4.51346043e-02 9.98979675e-01 1.57392961e-03 1.45262443e-01] [-7.42830051e-03 -1.23987665e-03 9.99971641e-01 -1.82923644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.540385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:0.15, Z:-0.18 [[ 0.99901262 -0.04408818 0.00547963 4.17863697] [ 0.04413068 0.99899459 -0.00789304 0.15232412] [-0.00512614 0.00812707 0.99995384 -0.17957237] [ 0. 0. 0. 1. ]] SLAMing on 7.570385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:0.15, Z:-0.19 [[ 9.99165895e-01 -4.06705296e-02 3.66361301e-03 4.20754229e+00] [ 4.06496245e-02 9.99157710e-01 5.61052694e-03 1.48849261e-01] [-3.88871029e-03 -5.45692268e-03 9.99977550e-01 -1.85787459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:0.16, Z:-0.18 [[ 9.99242379e-01 -3.86357084e-02 4.68516459e-03 4.23814603e+00] [ 3.86331203e-02 9.99253256e-01 6.41693201e-04 1.55208822e-01] [-4.70645825e-03 -4.60204513e-04 9.99988819e-01 -1.81470239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:0.16, Z:-0.18 [[ 9.99242693e-01 -3.87360503e-02 3.68216333e-03 4.27230329e+00] [ 3.87145330e-02 9.99233793e-01 5.74559709e-03 1.57016360e-01] [-3.90190377e-03 -5.59869268e-03 9.99976715e-01 -1.79838008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:0.16, Z:-0.18 [[ 9.99315002e-01 -3.69267013e-02 2.43830221e-03 4.30491213e+00] [ 3.69178413e-02 9.99311878e-01 3.58389580e-03 1.64010896e-01] [-2.56896580e-03 -3.49142398e-03 9.99990605e-01 -1.76007333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6903857229999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:4.34, Y:0.17, Z:-0.17 [[ 9.99448823e-01 -3.30981173e-02 2.56216443e-03 4.33537282e+00] [ 3.31152699e-02 9.99427237e-01 -6.96970271e-03 1.70029539e-01] [-2.33001288e-03 7.05070794e-03 9.99972429e-01 -1.73378296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:4.37, Y:0.17, Z:-0.18 [[ 9.99489324e-01 -3.18425512e-02 2.67265622e-03 4.37118287e+00] [ 3.18452435e-02 9.99492340e-01 -9.70906158e-04 1.67979842e-01] [-2.64038329e-03 1.05552173e-03 9.99995957e-01 -1.77504300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:0.17, Z:-0.18 [[ 9.99553513e-01 -2.96509055e-02 3.68758456e-03 4.40220780e+00] [ 2.96464618e-02 9.99559661e-01 1.25393869e-03 1.69866906e-01] [-3.72314119e-03 -1.14405499e-03 9.99992415e-01 -1.77683296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780385722999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.43, Y:0.17, Z:-0.18 [[ 9.99634459e-01 -2.69804238e-02 1.73346880e-03 4.43151745e+00] [ 2.69588317e-02 9.99570839e-01 1.14612193e-02 1.69450939e-01] [-2.04195342e-03 -1.14102975e-02 9.99932816e-01 -1.76545289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:4.46, Y:0.18, Z:-0.17 [[ 0.99973713 -0.02242814 0.00475874 4.46126702] [ 0.02245838 0.99972731 -0.00639739 0.17862429] [-0.00461396 0.00650258 0.99996821 -0.17198102] [ 0. 0. 0. 1. ]] SLAMing on 7.840385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:4.50, Y:0.18, Z:-0.17 [[ 9.99766815e-01 -2.15657472e-02 1.11115761e-03 4.49514281e+00] [ 2.15684555e-02 9.99764283e-01 -2.48597225e-03 1.77357363e-01] [-1.05728384e-03 2.50935851e-03 9.99996293e-01 -1.72033039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:0.18, Z:-0.17 [[ 9.99787570e-01 -2.05227289e-02 1.90611038e-03 4.53072966e+00] [ 2.05197538e-02 9.99788219e-01 1.56748281e-03 1.76409251e-01] [-1.93787572e-03 -1.52803691e-03 9.99996955e-01 -1.74805246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.56, Y:0.18, Z:-0.17 [[ 9.99805583e-01 -1.97072622e-02 6.47985383e-04 4.56342794e+00] [ 1.97113302e-02 9.99781047e-01 -7.02287137e-03 1.81755373e-01] [-5.09441937e-04 7.03427866e-03 9.99975129e-01 -1.71952207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.59, Y:0.18, Z:-0.18 [[ 9.99798171e-01 -1.99426194e-02 -2.43106083e-03 4.59381774e+00] [ 1.99548826e-02 9.99787725e-01 5.12904833e-03 1.77373902e-01] [ 2.32825812e-03 -5.17652467e-03 9.99983891e-01 -1.75528089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:0.18, Z:-0.18 [[ 9.99794708e-01 -2.00599526e-02 -2.85302003e-03 4.62519919e+00] [ 2.00728038e-02 9.99788170e-01 4.54946484e-03 1.78635504e-01] [ 2.76115363e-03 -4.60579898e-03 9.99985581e-01 -1.75740565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:0.18, Z:-0.17 [[ 9.99777235e-01 -2.10266972e-02 -1.83249493e-03 4.65851457e+00] [ 2.10080514e-02 9.99732628e-01 -9.66100828e-03 1.82399318e-01] [ 2.03514406e-03 9.62035900e-03 9.99951652e-01 -1.72102910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.70, Y:0.18, Z:-0.17 [[ 9.99721792e-01 -2.35868348e-02 -2.81889028e-05 4.69513409e+00] [ 2.35864325e-02 9.99710435e-01 -4.76714181e-03 1.78882195e-01] [ 1.40622527e-04 4.76515067e-03 9.99988637e-01 -1.73410140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.73, Y:0.18, Z:-0.18 [[ 9.99663492e-01 -2.58630504e-02 2.00144476e-03 4.72904332e+00] [ 2.58662312e-02 9.99664164e-01 -1.58002029e-03 1.77241958e-01] [-1.95990846e-03 1.63125844e-03 9.99996749e-01 -1.76063669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:0.17, Z:-0.18 [[ 9.99499748e-01 -3.15793541e-02 1.73124741e-03 4.76125234e+00] [ 3.15570906e-02 9.99434005e-01 1.16541597e-02 1.70977797e-01] [-2.09829837e-03 -1.15936966e-02 9.99930589e-01 -1.77630519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:0.18, Z:-0.17 [[ 9.99287311e-01 -3.77066122e-02 1.75561747e-03 4.79188612e+00] [ 3.77073399e-02 9.99288752e-01 -3.83245477e-04 1.80019573e-01] [-1.73991791e-03 4.49172007e-04 9.99998385e-01 -1.71605787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:0.18, Z:-0.17 [[ 9.99260911e-01 -3.83841633e-02 2.07079293e-03 4.82211050e+00] [ 3.83952537e-02 9.99246872e-01 -5.61188618e-03 1.82943488e-01] [-1.85382580e-03 5.68724712e-03 9.99982109e-01 -1.70245808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:0.18, Z:-0.17 [[ 9.99084407e-01 -4.27816475e-02 2.79196933e-04 4.85468165e+00] [ 4.27823217e-02 9.99079316e-01 -3.19266308e-03 1.82935892e-01] [-1.42352494e-04 3.20168460e-03 9.99994864e-01 -1.71896904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:0.17, Z:-0.18 [[ 9.98816090e-01 -4.85869268e-02 -2.39350785e-03 4.88616603e+00] [ 4.86208489e-02 9.98670849e-01 1.71040748e-02 1.74505420e-01] [ 1.55929208e-03 -1.72001995e-02 9.99850850e-01 -1.77690948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.19, Z:-0.17 [[ 9.98682852e-01 -5.12630203e-02 -2.15941219e-03 4.91679311e+00] [ 5.12513019e-02 9.98672399e-01 -5.17137776e-03 1.87313714e-01] [ 2.42164579e-03 5.05389361e-03 9.99984297e-01 -1.68761598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.95, Y:0.18, Z:-0.17 [[ 9.98702268e-01 -5.08023583e-02 -3.59177381e-03 4.94586565e+00] [ 5.08288681e-02 9.98677532e-01 7.72095798e-03 1.84705966e-01] [ 3.19478093e-03 -7.89350404e-03 9.99963742e-01 -1.72916184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:0.19, Z:-0.17 [[ 9.98612096e-01 -5.25512522e-02 -3.49974943e-03 4.98062074e+00] [ 5.25392382e-02 9.98612933e-01 -3.44063075e-03 1.93445815e-01] [ 3.67570450e-03 3.25198131e-03 9.99987957e-01 -1.70348539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320385723000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:5.01, Y:0.20, Z:-0.17 [[ 9.98706599e-01 -5.03514939e-02 -7.06096103e-03 5.00980936e+00] [ 5.03554386e-02 9.98731287e-01 3.81895266e-04 1.95744810e-01] [ 7.03277370e-03 -7.36959112e-04 9.99974998e-01 -1.71423940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:0.21, Z:-0.16 [[ 0.99844017 -0.05467426 -0.0113118 5.03820873] [ 0.05460741 0.99848904 -0.00613682 0.20645596] [ 0.01163024 0.00550954 0.99991719 -0.16335032] [ 0. 0. 0. 1. ]] SLAMing on 8.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:0.20, Z:-0.17 [[ 9.98596898e-01 -5.28261875e-02 -3.69175682e-03 5.07386530e+00] [ 5.28376987e-02 9.98598322e-01 3.09333540e-03 2.01680896e-01] [ 3.52317305e-03 -3.28405907e-03 9.99988401e-01 -1.71467095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410385723000001 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:5.11, Y:0.21, Z:-0.16 [[ 9.98680142e-01 -5.13150346e-02 -2.17721846e-03 5.10703487e+00] [ 5.12786092e-02 9.98580982e-01 -1.43710118e-02 2.10536535e-01] [ 2.91157792e-03 1.42403994e-02 9.99894361e-01 -1.64010331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440385723 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:5.14, Y:0.21, Z:-0.17 [[ 9.98701171e-01 -5.08348471e-02 -3.43354247e-03 5.14130437e+00] [ 5.08339204e-02 9.98707057e-01 -3.56698852e-04 2.05704692e-01] [ 3.44723583e-03 1.81695136e-04 9.99994042e-01 -1.69574626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:0.21, Z:-0.17 [[ 0.99827319 -0.05771716 -0.01092584 5.17293682] [ 0.0577967 0.99830306 0.00710967 0.21245671] [ 0.01049695 -0.00772887 0.99991504 -0.16884799] [ 0. 0. 0. 1. ]] SLAMing on 8.500385723 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:5.21, Y:0.22, Z:-0.16 [[ 0.99846376 -0.05509343 -0.00590279 5.20791624] [ 0.05503677 0.99844039 -0.00936694 0.22031158] [ 0.00640964 0.00902768 0.99993871 -0.16435593] [ 0. 0. 0. 1. ]] SLAMing on 8.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.21, Z:-0.18 [[ 0.99818959 -0.05933374 -0.00985102 5.23547947] [ 0.05951529 0.99804096 0.01929164 0.2138028 ] [ 0.00868708 -0.019843 0.99976537 -0.17793657] [ 0. 0. 0. 1. ]] SLAMing on 8.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:0.23, Z:-0.17 [[ 0.99818929 -0.05943307 -0.00926544 5.26895459] [ 0.05928727 0.9981239 -0.01528756 0.23118727] [ 0.01015665 0.01471056 0.99984021 -0.16620205] [ 0. 0. 0. 1. ]] SLAMing on 8.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:0.23, Z:-0.17 [[ 9.98150577e-01 -5.91077013e-02 -1.42023279e-02 5.30007074e+00] [ 5.91574905e-02 9.98243814e-01 3.11118217e-03 2.27621405e-01] [ 1.39934911e-02 -3.94560235e-03 9.99894302e-01 -1.71144074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620385723 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:5.33, Y:0.23, Z:-0.17 [[ 0.9985844 -0.05239971 -0.00913631 5.33445945] [ 0.05230466 0.99857754 -0.01034986 0.23426744] [ 0.00966565 0.00985734 0.9999047 -0.16589331] [ 0. 0. 0. 1. ]] SLAMing on 8.650385723000001 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:5.36, Y:0.24, Z:-0.17 [[ 0.99868385 -0.05045036 -0.00923702 5.36455638] [ 0.05038975 0.99870728 -0.00668146 0.2352711 ] [ 0.00956217 0.00620722 0.99993502 -0.16512087] [ 0. 0. 0. 1. ]] SLAMing on 8.680385723 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:5.40, Y:0.24, Z:-0.16 [[ 9.98968914e-01 -4.46406981e-02 -8.26535483e-03 5.39621790e+00] [ 4.46258687e-02 9.99001827e-01 -1.97007082e-03 2.37357214e-01] [ 8.34504991e-03 1.59919087e-03 9.99963901e-01 -1.63510774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710385723 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:5.43, Y:0.24, Z:-0.16 [[ 9.99108879e-01 -4.14011203e-02 -8.20949568e-03 5.42922255e+00] [ 4.14027965e-02 9.99142536e-01 3.42560344e-05 2.39623603e-01] [ 8.20103810e-03 -3.74121587e-04 9.99966301e-01 -1.62954723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740385723000001 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:5.46, Y:0.23, Z:-0.17 [[ 9.99266163e-01 -3.82984469e-02 6.02915794e-04 5.46450085e+00] [ 3.82684995e-02 9.98907191e-01 2.68317935e-02 2.28731931e-01] [-1.62987294e-03 -2.67890307e-02 9.99639781e-01 -1.74379073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770385723 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:5.49, Y:0.26, Z:-0.15 [[ 0.99942363 -0.03344734 -0.00580438 5.49216537] [ 0.03321354 0.99877983 -0.03654748 0.25706248] [ 0.00701971 0.03633363 0.99931506 -0.14504167] [ 0. 0. 0. 1. ]] SLAMing on 8.800385723 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:5.53, Y:0.23, Z:-0.17 [[ 0.99962994 -0.02643036 -0.00643512 5.52698024] [ 0.02648311 0.99961518 0.00825509 0.23492535] [ 0.00621446 -0.00842246 0.99994522 -0.16765481] [ 0. 0. 0. 1. ]] SLAMing on 8.830385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.24, Z:-0.17 [[ 0.99958132 -0.02744662 -0.00915773 5.55946251] [ 0.02758377 0.99950388 0.01520287 0.23649965] [ 0.00873592 -0.01544911 0.99984249 -0.16892774] [ 0. 0. 0. 1. ]] SLAMing on 8.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.24, Z:-0.16 [[ 0.99974074 -0.0198494 -0.01115611 5.58767429] [ 0.01994595 0.99976398 0.00861094 0.24074181] [ 0.01098256 -0.00883122 0.99990069 -0.16477673] [ 0. 0. 0. 1. ]] SLAMing on 8.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.25, Z:-0.16 [[ 9.99881188e-01 -1.25114616e-02 -9.00410221e-03 5.62104424e+00] [ 1.24608319e-02 9.99906357e-01 -5.65727303e-03 2.47584750e-01] [ 9.07403979e-03 5.54440227e-03 9.99943459e-01 -1.59502796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:0.25, Z:-0.16 [[ 9.99918096e-01 -1.04486574e-02 -7.39095574e-03 5.65301483e+00] [ 1.04142461e-02 9.99934822e-01 -4.67913181e-03 2.47282995e-01] [ 7.43936466e-03 4.60177734e-03 9.99961739e-01 -1.58443215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:0.25, Z:-0.16 [[ 0.99995697 -0.0062607 -0.00684593 5.68238675] [ 0.00619101 0.99992929 -0.01015355 0.24795537] [ 0.00690901 0.01011073 0.99992502 -0.16173618] [ 0. 0. 0. 1. ]] SLAMing on 8.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.71, Y:0.24, Z:-0.17 [[ 0.99993871 -0.00850373 -0.0070898 5.71413782] [ 0.00856878 0.99992101 0.00919501 0.23815344] [ 0.00701105 -0.0092552 0.99993259 -0.16955359] [ 0. 0. 0. 1. ]] SLAMing on 9.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.74, Y:0.25, Z:-0.16 [[ 0.99989635 -0.00990208 -0.01045218 5.74406611] [ 0.00977118 0.99987412 -0.01250092 0.24535731] [ 0.01057465 0.01239749 0.99986723 -0.16188996] [ 0. 0. 0. 1. ]] SLAMing on 9.040385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:5.77, Y:0.24, Z:-0.17 [[ 9.99899103e-01 -8.73204492e-03 -1.12042840e-02 5.77399335e+00] [ 8.78100382e-03 9.99952080e-01 4.32792967e-03 2.38930400e-01] [ 1.11659555e-02 -4.42587785e-03 9.99927864e-01 -1.68749691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070385723000001 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:5.80, Y:0.24, Z:-0.17 [[ 0.99982919 -0.01275671 -0.01337403 5.80343813] [ 0.01294305 0.99981906 0.01394012 0.23878918] [ 0.01319378 -0.01411084 0.99981339 -0.16559234] [ 0. 0. 0. 1. ]] SLAMing on 9.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:0.25, Z:-0.16 [[ 9.99802996e-01 -1.66028711e-02 -1.08771899e-02 5.83402439e+00] [ 1.66283715e-02 9.99859189e-01 2.25815993e-03 2.45798420e-01] [ 1.08381663e-02 -2.43858502e-03 9.99938292e-01 -1.58464384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:5.87, Y:0.24, Z:-0.16 [[ 9.99752351e-01 -2.20840571e-02 -2.74445714e-03 5.86694233e+00] [ 2.20879832e-02 9.99755038e-01 1.40857396e-03 2.43042481e-01] [ 2.71267782e-03 -1.46884466e-03 9.99995242e-01 -1.60468692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.25, Z:-0.16 [[ 9.99551310e-01 -2.96342761e-02 -4.35765727e-03 5.89846981e+00] [ 2.95905228e-02 9.99514221e-01 -9.78382766e-03 2.47335715e-01] [ 4.64547706e-03 9.65049239e-03 9.99942642e-01 -1.57745579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.25, Z:-0.16 [[ 9.99377944e-01 -3.47549208e-02 -5.98506031e-03 5.93174446e+00] [ 3.47352656e-02 9.99390909e-01 -3.35730565e-03 2.45567360e-01] [ 6.09809776e-03 3.14732456e-03 9.99976453e-01 -1.60514847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:0.25, Z:-0.16 [[ 9.98922496e-01 -4.52121622e-02 -1.04740947e-02 5.96471894e+00] [ 4.52184921e-02 9.98977053e-01 3.68189518e-04 2.46314849e-01] [ 1.04467336e-02 -8.41415561e-04 9.99945077e-01 -1.60669205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.99, Y:0.24, Z:-0.17 [[ 0.99871475 -0.04932114 -0.01167321 5.98916411] [ 0.04954002 0.99858624 0.01926917 0.23977253] [ 0.01070633 -0.0198227 0.99974619 -0.17282281] [ 0. 0. 0. 1. ]] SLAMing on 9.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:6.02, Y:0.25, Z:-0.15 [[ 0.99862802 -0.05035521 -0.01436746 6.02371999] [ 0.05024555 0.99870569 -0.00789478 0.25259044] [ 0.01474641 0.00716205 0.99986562 -0.15446428] [ 0. 0. 0. 1. ]] SLAMing on 9.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:0.25, Z:-0.16 [[ 9.98570995e-01 -5.21514579e-02 -1.16702154e-02 6.05965581e+00] [ 5.20979608e-02 9.98630239e-01 -4.84227201e-03 2.51609096e-01] [ 1.19067615e-02 4.22735795e-03 9.99920176e-01 -1.56684129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.26, Z:-0.15 [[ 9.98557405e-01 -5.16590099e-02 -1.46442926e-02 6.09043991e+00] [ 5.15762794e-02 9.98651201e-01 -5.97205854e-03 2.58097326e-01] [ 1.49330510e-02 5.20814515e-03 9.99874932e-01 -1.54759632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:6.12, Y:0.27, Z:-0.15 [[ 0.99863435 -0.04934702 -0.0171552 6.12002526] [ 0.04906438 0.99865893 -0.0165235 0.26620134] [ 0.01794757 0.01565923 0.9997163 -0.14887836] [ 0. 0. 0. 1. ]] SLAMing on 9.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.25, Z:-0.16 [[ 0.9986505 -0.04922446 -0.01655718 6.1545157 ] [ 0.04946713 0.99866932 0.0145807 0.25409639] [ 0.01581742 -0.01538006 0.9997566 -0.16235368] [ 0. 0. 0. 1. ]] SLAMing on 9.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.27, Z:-0.15 [[ 0.99869891 -0.0469687 -0.01986033 6.18582108] [ 0.04666938 0.99879358 -0.01527578 0.26994889] [ 0.02055385 0.01432903 0.99968606 -0.15124113] [ 0. 0. 0. 1. ]] SLAMing on 9.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:0.26, Z:-0.16 [[ 9.99018997e-01 -4.09923895e-02 -1.67531390e-02 6.21504085e+00] [ 4.10533535e-02 9.99151469e-01 3.31124884e-03 2.62502264e-01] [ 1.66031874e-02 -3.99577304e-03 9.99854173e-01 -1.60874337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:0.26, Z:-0.16 [[ 0.99916936 -0.03787481 -0.01503646 6.25411776] [ 0.03821209 0.99900915 0.02281566 0.25665014] [ 0.01415742 -0.02337128 0.99962661 -0.16399264] [ 0. 0. 0. 1. ]] SLAMing on 9.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:0.28, Z:-0.15 [[ 0.99926956 -0.03558737 -0.01392415 6.27847655] [ 0.03544383 0.99931731 -0.01042349 0.27757732] [ 0.01428559 0.00992235 0.99984872 -0.14937521] [ 0. 0. 0. 1. ]] SLAMing on 9.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:0.27, Z:-0.15 [[ 9.99490101e-01 -2.94026816e-02 -1.24507158e-02 6.30930039e+00] [ 2.94559855e-02 9.99557589e-01 4.11963710e-03 2.72232907e-01] [ 1.23240791e-02 -4.48428460e-03 9.99914000e-01 -1.54780188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.27, Z:-0.16 [[ 0.99942598 -0.03289293 -0.00810932 6.34737232] [ 0.03302685 0.9993103 0.01697478 0.26779074] [ 0.00754537 -0.01723286 0.99982303 -0.16017526] [ 0. 0. 0. 1. ]] SLAMing on 9.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:0.28, Z:-0.15 [[ 9.99461619e-01 -2.78655991e-02 -1.73199738e-02 6.36863365e+00] [ 2.78441669e-02 9.99611184e-01 -1.47739474e-03 2.79464892e-01] [ 1.73544080e-02 9.94339100e-04 9.99848906e-01 -1.45437347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:0.28, Z:-0.15 [[ 9.99563366e-01 -2.62937880e-02 -1.34801180e-02 6.40145354e+00] [ 2.62479852e-02 9.99649111e-01 -3.56357322e-03 2.80351142e-01] [ 1.35690878e-02 3.20819131e-03 9.99902789e-01 -1.45886272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.43, Y:0.28, Z:-0.14 [[ 9.99647883e-01 -2.29517527e-02 -1.33163967e-02 6.43191269e+00] [ 2.28817822e-02 9.99723684e-01 -5.38326130e-03 2.82341681e-01] [ 1.34362724e-02 5.07666288e-03 9.99896842e-01 -1.44423784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:0.28, Z:-0.15 [[ 9.99753739e-01 -1.84419967e-02 -1.23431528e-02 6.46396268e+00] [ 1.83674693e-02 9.99812547e-01 -6.12432749e-03 2.82523004e-01] [ 1.24537839e-02 5.89610683e-03 9.99905065e-01 -1.46415629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.28, Z:-0.16 [[ 0.99970063 -0.02039137 -0.01352181 6.50251436] [ 0.02057854 0.9996923 0.01385052 0.27577327] [ 0.01323522 -0.01412463 0.99981264 -0.16247576] [ 0. 0. 0. 1. ]] SLAMing on 9.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.29, Z:-0.14 [[ 0.99985611 -0.01330773 -0.01051936 6.52760031] [ 0.01315197 0.99980485 -0.01474046 0.29195523] [ 0.01071347 0.01459999 0.99983602 -0.13780321] [ 0. 0. 0. 1. ]] SLAMing on 9.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:0.29, Z:-0.14 [[ 9.99889581e-01 -1.12402437e-02 -9.72024019e-03 6.55897465e+00] [ 1.12122306e-02 9.99932843e-01 -2.93164703e-03 2.87024895e-01] [ 9.75253984e-03 2.82233775e-03 9.99948460e-01 -1.43852532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:0.28, Z:-0.15 [[ 9.99859175e-01 -1.29020491e-02 -1.07315567e-02 6.59147339e+00] [ 1.29702111e-02 9.99895996e-01 6.30638348e-03 2.81915162e-01] [ 1.06490754e-02 -6.44468594e-03 9.99922529e-01 -1.51315469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:0.28, Z:-0.16 [[ 9.99945837e-01 -9.15075792e-03 -4.95840744e-03 6.61989822e+00] [ 9.15672293e-03 9.99957378e-01 1.18164464e-03 2.77348360e-01] [ 4.94738316e-03 -1.22698340e-03 9.99987009e-01 -1.56159967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:0.29, Z:-0.14 [[ 9.99932100e-01 -1.06938393e-02 -4.62996497e-03 6.65052950e+00] [ 1.06272376e-02 9.99843008e-01 -1.41781733e-02 2.86011261e-01] [ 4.78085721e-03 1.41280069e-02 9.99888765e-01 -1.42630737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.68, Y:0.28, Z:-0.15 [[ 9.99886931e-01 -1.32750142e-02 -7.06397355e-03 6.68358278e+00] [ 1.33052103e-02 9.99902471e-01 4.24497770e-03 2.77197677e-01] [ 7.00693247e-03 -4.33848537e-03 9.99966040e-01 -1.48822550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:0.28, Z:-0.15 [[ 9.99846820e-01 -1.66288514e-02 -5.46051424e-03 6.71610413e+00] [ 1.66506864e-02 9.99853455e-01 3.97790733e-03 2.76137781e-01] [ 5.39356599e-03 -4.06821931e-03 9.99977179e-01 -1.48157847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:0.28, Z:-0.14 [[ 0.99979327 -0.0171397 -0.01093799 6.7461462 ] [ 0.01699573 0.99976945 -0.01312199 0.28484339] [ 0.01116037 0.01293338 0.99985408 -0.14029341] [ 0. 0. 0. 1. ]] SLAMing on 10.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:0.27, Z:-0.15 [[ 0.99970941 -0.02281496 -0.0077823 6.77918041] [ 0.02295814 0.999559 0.01883427 0.26729363] [ 0.00734917 -0.01900746 0.99979233 -0.1540937 ] [ 0. 0. 0. 1. ]] SLAMing on 10.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:0.27, Z:-0.15 [[ 9.99672279e-01 -2.45147174e-02 -7.37310091e-03 6.81233335e+00] [ 2.45110164e-02 9.99699385e-01 -5.91920367e-04 2.74907490e-01] [ 7.38539521e-03 4.11004185e-04 9.99972643e-01 -1.45835635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:0.28, Z:-0.14 [[ 0.99957414 -0.02820491 -0.00748533 6.83829325] [ 0.02814119 0.99956794 -0.00848594 0.27633833] [ 0.00772144 0.00827168 0.99993598 -0.14312866] [ 0. 0. 0. 1. ]] SLAMing on 10.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:0.27, Z:-0.15 [[ 9.99489369e-01 -3.10167018e-02 -7.67892047e-03 6.87229561e+00] [ 3.10657979e-02 9.99497113e-01 6.35907365e-03 2.69189562e-01] [ 7.47782134e-03 -6.59437830e-03 9.99950297e-01 -1.48575167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:0.27, Z:-0.14 [[ 9.99276557e-01 -3.69536786e-02 -8.98819623e-03 6.90808443e+00] [ 3.69483474e-02 9.99316889e-01 -7.58518387e-04 2.73286408e-01] [ 9.01008634e-03 4.25870646e-04 9.99959318e-01 -1.44320664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.28, Z:-0.14 [[ 9.99319375e-01 -3.56741035e-02 -9.38860324e-03 6.94002933e+00] [ 3.56407269e-02 9.99357823e-01 -3.69868509e-03 2.75342652e-01] [ 9.51452137e-03 3.36155103e-03 9.99949086e-01 -1.41626982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.28, Z:-0.14 [[ 9.99359678e-01 -3.44222525e-02 -9.76430436e-03 6.97253356e+00] [ 3.43629950e-02 9.99390353e-01 -6.17304330e-03 2.75811489e-01] [ 9.97084164e-03 5.83355982e-03 9.99933274e-01 -1.41969987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:0.27, Z:-0.15 [[ 9.99477367e-01 -3.17198518e-02 -6.23244333e-03 7.00404895e+00] [ 3.16839743e-02 9.99481262e-01 -5.77337815e-03 2.73365477e-01] [ 6.41234103e-03 5.57289222e-03 9.99963912e-01 -1.46545612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.04, Y:0.27, Z:-0.15 [[ 9.99548790e-01 -2.95760808e-02 -5.24129285e-03 7.03735730e+00] [ 2.95478969e-02 9.99548911e-01 -5.37552073e-03 2.74785492e-01] [ 5.39791540e-03 5.21822606e-03 9.99971816e-01 -1.46660524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.07, Y:0.27, Z:-0.15 [[ 0.99954088 -0.02886736 -0.00920315 7.06862456] [ 0.02895496 0.99953527 0.00953192 0.27476741] [ 0.00892371 -0.00979402 0.99991222 -0.1466112 ] [ 0. 0. 0. 1. ]] SLAMing on 10.300385723 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:7.10, Y:0.27, Z:-0.15 [[ 9.99547184e-01 -2.94601650e-02 -6.12579491e-03 7.10406175e+00] [ 2.95189062e-02 9.99516858e-01 9.73065755e-03 2.74955688e-01] [ 5.83616850e-03 -9.90707812e-03 9.99933892e-01 -1.45948008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:0.28, Z:-0.14 [[ 9.99614366e-01 -2.69642466e-02 -6.63686605e-03 7.13190210e+00] [ 2.69120988e-02 9.99607177e-01 -7.82505043e-03 2.84531812e-01] [ 6.84525552e-03 7.64342083e-03 9.99947359e-01 -1.40614831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:0.28, Z:-0.14 [[ 9.99625703e-01 -2.64942706e-02 -6.81962082e-03 7.16567771e+00] [ 2.64910715e-02 9.99648894e-01 -5.59017493e-04 2.82260886e-01] [ 6.83203717e-03 3.78149192e-04 9.99976590e-01 -1.43577930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:0.28, Z:-0.15 [[ 9.99620020e-01 -2.59923982e-02 -9.17661355e-03 7.19690269e+00] [ 2.60095583e-02 9.99660153e-01 1.75560179e-03 2.79754861e-01] [ 9.12786260e-03 -1.99361437e-03 9.99956353e-01 -1.45372925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:0.28, Z:-0.14 [[ 9.99643904e-01 -2.51304674e-02 -8.97357670e-03 7.22907740e+00] [ 2.51317997e-02 9.99684146e-01 3.57163103e-05 2.81599581e-01] [ 8.96984479e-03 -2.61225724e-04 9.99959736e-01 -1.44818846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:0.29, Z:-0.14 [[ 9.99641592e-01 -2.40375894e-02 -1.17848252e-02 7.26122646e+00] [ 2.40041366e-02 9.99707442e-01 -2.97192673e-03 2.88954157e-01] [ 1.18528154e-02 2.68797702e-03 9.99926140e-01 -1.40093246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:0.29, Z:-0.14 [[ 9.99654272e-01 -2.31571816e-02 -1.24531621e-02 7.29302963e+00] [ 2.31613626e-02 9.99731721e-01 1.91602556e-04 2.89286975e-01] [ 1.24453842e-02 -4.79968517e-04 9.99922438e-01 -1.41512833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:0.29, Z:-0.14 [[ 9.99727021e-01 -2.15867426e-02 -8.93849224e-03 7.32477658e+00] [ 2.15449038e-02 9.99756593e-01 -4.75088885e-03 2.90413234e-01] [ 9.03887277e-03 4.55701300e-03 9.99948765e-01 -1.41886347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.29, Z:-0.14 [[ 9.99769615e-01 -2.04801248e-02 -6.42505641e-03 7.35822328e+00] [ 2.04403549e-02 9.99771877e-01 -6.19559653e-03 2.89240240e-01] [ 6.55047730e-03 6.06283873e-03 9.99960166e-01 -1.43328249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.28, Z:-0.17 [[ 9.99676169e-01 -2.46255428e-02 -6.41403544e-03 7.38567124e+00] [ 2.48060131e-02 9.99248989e-01 2.97677485e-02 2.77299495e-01] [ 5.67617147e-03 -2.99172154e-02 9.99536263e-01 -1.65696565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.31, Z:-0.13 [[ 9.99767463e-01 -2.03778433e-02 -7.05438881e-03 7.42115555e+00] [ 2.01772910e-02 9.99420340e-01 -2.74200964e-02 3.06060838e-01] [ 7.60906209e-03 2.72713817e-02 9.99599107e-01 -1.29926992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:0.30, Z:-0.14 [[ 9.99788692e-01 -1.93077108e-02 -7.05576110e-03 7.45466208e+00] [ 1.92702458e-02 9.99800052e-01 -5.33980454e-03 2.97739064e-01] [ 7.15744971e-03 5.20270994e-03 9.99960851e-01 -1.40381316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:0.29, Z:-0.15 [[ 0.99970838 -0.02233166 -0.00918946 7.48587845] [ 0.02244582 0.99966974 0.01251377 0.2909747 ] [ 0.00890697 -0.01271639 0.99987947 -0.15203229] [ 0. 0. 0. 1. ]] SLAMing on 10.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:0.30, Z:-0.14 [[ 9.99691157e-01 -2.39996943e-02 -6.45022658e-03 7.51885636e+00] [ 2.39738054e-02 9.99704337e-01 -4.06144775e-03 2.95817714e-01] [ 6.54579299e-03 3.90555692e-03 9.99970949e-01 -1.44237248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:0.30, Z:-0.14 [[ 0.99966416 -0.02472864 -0.00774974 7.54956142] [ 0.02464848 0.99964339 -0.01027329 0.29953749] [ 0.00800103 0.01007882 0.9999172 -0.14223349] [ 0. 0. 0. 1. ]] SLAMing on 10.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.30, Z:-0.15 [[ 9.99627082e-01 -2.62367573e-02 -7.57158914e-03 7.58294833e+00] [ 2.62518588e-02 9.99653551e-01 1.90203147e-03 2.96042893e-01] [ 7.51906283e-03 -2.10009046e-03 9.99969526e-01 -1.46348775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:0.30, Z:-0.14 [[ 9.99433713e-01 -3.28137631e-02 -7.45048306e-03 7.61645647e+00] [ 3.28831846e-02 9.99415047e-01 9.39464748e-03 2.96827120e-01] [ 7.13785114e-03 -9.63432302e-03 9.99928113e-01 -1.44964812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:0.30, Z:-0.14 [[ 9.99363608e-01 -3.45191744e-02 -8.98922209e-03 7.64538913e+00] [ 3.44928357e-02 9.99400233e-01 -3.06881425e-03 3.03945929e-01] [ 9.08976359e-03 2.75679752e-03 9.99954887e-01 -1.37973523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:0.30, Z:-0.14 [[ 9.99313241e-01 -3.55423939e-02 -1.04778463e-02 7.67824934e+00] [ 3.55884875e-02 9.99357509e-01 4.24596054e-03 3.01545628e-01] [ 1.03202028e-02 -4.61593529e-03 9.99936091e-01 -1.39903736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:0.31, Z:-0.14 [[ 9.99215731e-01 -3.87121166e-02 -8.32437050e-03 7.70971824e+00] [ 3.86797954e-02 9.99243613e-01 -4.00935060e-03 3.06071987e-01] [ 8.47328450e-03 3.68422125e-03 9.99957314e-01 -1.36542785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:0.31, Z:-0.14 [[ 9.99201531e-01 -3.92958076e-02 -7.22082488e-03 7.74213187e+00] [ 3.92695653e-02 9.99221651e-01 -3.74084523e-03 3.08261871e-01] [ 7.36220409e-03 3.45429962e-03 9.99966932e-01 -1.36797451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:0.31, Z:-0.14 [[ 9.99151360e-01 -4.03458042e-02 -8.29312275e-03 7.77459224e+00] [ 4.04034006e-02 9.99159632e-01 6.89894232e-03 3.08714851e-01] [ 8.00781010e-03 -7.22815796e-03 9.99941813e-01 -1.37490357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:0.32, Z:-0.13 [[ 9.99197131e-01 -3.96431313e-02 -5.78918058e-03 7.80692281e+00] [ 3.95705062e-02 9.99142756e-01 -1.21625497e-02 3.16615206e-01] [ 6.26637939e-03 1.19237040e-02 9.99909275e-01 -1.33734499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:0.31, Z:-0.14 [[ 9.99231549e-01 -3.86422131e-02 -6.56438981e-03 7.83956559e+00] [ 3.86215776e-02 9.99248650e-01 -3.24179539e-03 3.12676040e-01] [ 6.68472780e-03 2.98577714e-03 9.99973199e-01 -1.39044550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.31, Z:-0.14 [[ 9.99245019e-01 -3.84805614e-02 -5.35146274e-03 7.87328192e+00] [ 3.85071164e-02 9.99246061e-01 4.95096574e-03 3.11794729e-01] [ 5.15691212e-03 -5.15329725e-03 9.99973425e-01 -1.44251389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:0.32, Z:-0.14 [[ 9.99360720e-01 -3.56449974e-02 -2.75434354e-03 7.90852368e+00] [ 3.56091285e-02 9.99292204e-01 -1.21276616e-02 3.22320543e-01] [ 3.18468449e-03 1.20218289e-02 9.99922664e-01 -1.43331449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:0.32, Z:-0.15 [[ 9.99291088e-01 -3.72064507e-02 -5.74476126e-03 7.93262401e+00] [ 3.73073167e-02 9.99131061e-01 1.85818906e-02 3.19087363e-01] [ 5.04840322e-03 -1.87830392e-02 9.99810838e-01 -1.45253638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:0.33, Z:-0.14 [[ 9.99337737e-01 -3.61922576e-02 -3.76921681e-03 7.96519596e+00] [ 3.61935718e-02 9.99344759e-01 2.81019429e-04 3.29507217e-01] [ 3.75657634e-03 -4.17254740e-04 9.99992857e-01 -1.38275416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.33, Z:-0.14 [[ 9.99436673e-01 -3.29854782e-02 -6.18833442e-03 7.99894404e+00] [ 3.29791308e-02 9.99455407e-01 -1.12499376e-03 3.28915741e-01] [ 6.22207276e-03 9.20274127e-04 9.99980219e-01 -1.38499343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:8.03, Y:0.33, Z:-0.13 [[ 9.99495912e-01 -3.07368642e-02 -7.94777237e-03 8.03375011e+00] [ 3.06012686e-02 9.99392920e-01 -1.66539262e-02 3.34896405e-01] [ 8.45483690e-03 1.64023192e-02 9.99829725e-01 -1.34693798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:0.33, Z:-0.14 [[ 9.99326972e-01 -3.58698645e-02 -7.67822334e-03 8.06576371e+00] [ 3.58803599e-02 9.99355331e-01 1.23350086e-03 3.25944512e-01] [ 7.62902792e-03 -1.50816810e-03 9.99969761e-01 -1.43180132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.33, Z:-0.14 [[ 9.99123080e-01 -4.06183078e-02 -1.01598862e-02 8.09656862e+00] [ 4.05850303e-02 9.99170096e-01 -3.46046865e-03 3.29359529e-01] [ 1.02920128e-02 3.04509481e-03 9.99942399e-01 -1.39593210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:0.32, Z:-0.15 [[ 9.98921229e-01 -4.62257297e-02 -4.42268274e-03 8.13605374e+00] [ 4.62728004e-02 9.98865946e-01 1.12093472e-02 3.23090658e-01] [ 3.89950693e-03 -1.14019048e-02 9.99927393e-01 -1.45272523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:0.33, Z:-0.14 [[ 9.98963117e-01 -4.52617467e-02 -4.90561648e-03 8.16736155e+00] [ 4.52803846e-02 9.98967252e-01 3.75721571e-03 3.27584460e-01] [ 4.73049207e-03 -3.97544812e-03 9.99980909e-01 -1.40498609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:8.19, Y:0.34, Z:-0.13 [[ 9.99127910e-01 -4.13049460e-02 -6.10911264e-03 8.19359745e+00] [ 4.11850295e-02 9.98978377e-01 -1.86009797e-02 3.39018374e-01] [ 6.87118389e-03 1.83331540e-02 9.99808323e-01 -1.31621984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:0.33, Z:-0.15 [[ 9.99316216e-01 -3.69386280e-02 -1.62446869e-03 8.23923124e+00] [ 3.69367708e-02 9.99316933e-01 -1.15882335e-03 3.29121553e-01] [ 1.66616442e-03 1.09802834e-03 9.99998009e-01 -1.45064126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.33, Z:-0.14 [[ 9.99159536e-01 -4.03206996e-02 -7.37995117e-03 8.25383382e+00] [ 4.02979650e-02 9.99182571e-01 -3.20385448e-03 3.30554401e-01] [ 7.50310023e-03 2.90376474e-03 9.99967635e-01 -1.41488764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:0.33, Z:-0.15 [[ 9.99174280e-01 -3.96807258e-02 -8.72919023e-03 8.29267459e+00] [ 3.96707338e-02 9.99211941e-01 -1.31492379e-03 3.29432217e-01] [ 8.77448824e-03 9.67544644e-04 9.99961035e-01 -1.45228207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:8.32, Y:0.31, Z:-0.15 [[ 0.9993118 -0.03468066 -0.01315964 8.32284604] [ 0.03494214 0.99918539 0.0201892 0.3138633 ] [ 0.01244874 -0.02063513 0.99970957 -0.14548649] [ 0. 0. 0. 1. ]] SLAMing on 11.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.34, Z:-0.14 [[ 9.99273675e-01 -3.73978222e-02 -7.31612107e-03 8.34646261e+00] [ 3.73460619e-02 9.99277255e-01 -7.08797802e-03 3.35072101e-01] [ 7.57590832e-03 6.80960154e-03 9.99948116e-01 -1.39669045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:0.34, Z:-0.13 [[ 9.99498730e-01 -3.08083743e-02 -7.28924797e-03 8.37965129e+00] [ 3.07781847e-02 9.99517338e-01 -4.21823949e-03 3.37987843e-01] [ 7.41568683e-03 3.99177520e-03 9.99964536e-01 -1.33961782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.33, Z:-0.13 [[ 9.99713313e-01 -2.30546083e-02 -6.46345836e-03 8.41745373e+00] [ 2.31183777e-02 9.99683005e-01 9.97142122e-03 3.28770335e-01] [ 6.23152226e-03 -1.01179872e-02 9.99929395e-01 -1.32688932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.34, Z:-0.13 [[ 9.99699749e-01 -2.42635293e-02 -3.41957613e-03 8.44870383e+00] [ 2.42672168e-02 9.99704966e-01 1.04101872e-03 3.37695245e-01] [ 3.39330845e-03 -1.12368975e-03 9.99993611e-01 -1.31438060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.34, Z:-0.13 [[ 9.99715450e-01 -2.31354790e-02 -5.81100043e-03 8.47558021e+00] [ 2.31315344e-02 9.99732153e-01 -7.45120226e-04 3.38160978e-01] [ 5.82668268e-03 6.10490846e-04 9.99982838e-01 -1.32741055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.34, Z:-0.13 [[ 9.99725837e-01 -2.23153400e-02 -7.09059090e-03 8.50509513e+00] [ 2.23086775e-02 9.99750613e-01 -1.01735274e-03 3.38690628e-01] [ 7.11152517e-03 8.58892118e-04 9.99974344e-01 -1.32734148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.33, Z:-0.14 [[ 9.99715417e-01 -2.30854927e-02 -6.01213883e-03 8.54010217e+00] [ 2.31162739e-02 9.99719766e-01 5.10169659e-03 3.33774905e-01] [ 5.89267884e-03 -5.23922298e-03 9.99968913e-01 -1.38193006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.34, Z:-0.13 [[ 9.99763300e-01 -2.07454537e-02 -6.55512983e-03 8.57566565e+00] [ 2.06373109e-02 9.99656491e-01 -1.61555110e-02 3.42430323e-01] [ 6.88803149e-03 1.60164068e-02 9.99848003e-01 -1.33122401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:0.33, Z:-0.14 [[ 0.99975835 -0.01890309 -0.01122159 8.60427777] [ 0.01900271 0.99978037 0.00883813 0.33255935] [ 0.01105206 -0.00904923 0.99989798 -0.14365781] [ 0. 0. 0. 1. ]] SLAMing on 11.740385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:0.33, Z:-0.14 [[ 9.99843485e-01 -1.25869131e-02 -1.24328083e-02 8.63763597e+00] [ 1.26003540e-02 9.99920109e-01 1.00334029e-03 3.29277649e-01] [ 1.24191861e-02 -1.15984104e-03 9.99922206e-01 -1.35879878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:0.33, Z:-0.13 [[ 9.99918653e-01 -9.79983289e-03 -8.16404195e-03 8.66676237e+00] [ 9.79869546e-03 9.99951976e-01 -1.79310144e-04 3.32752017e-01] [ 8.16540709e-03 9.92985965e-05 9.99966658e-01 -1.31005725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:0.34, Z:-0.12 [[ 9.99923947e-01 -4.50401673e-03 -1.14810237e-02 8.69312326e+00] [ 4.28352375e-03 9.99807297e-01 -1.91577704e-02 3.44073659e-01] [ 1.15650982e-02 1.91071341e-02 9.99750552e-01 -1.19741087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:0.33, Z:-0.14 [[ 9.99923507e-01 -1.10594462e-02 -5.53790258e-03 8.72253210e+00] [ 1.11525598e-02 9.99792008e-01 1.70751883e-02 3.34388370e-01] [ 5.34790861e-03 -1.71356439e-02 9.99838872e-01 -1.39628947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.35, Z:-0.13 [[ 9.99976148e-01 -6.74999081e-03 -1.46310969e-03 8.76054178e+00] [ 6.71728184e-03 9.99750281e-01 -2.13132261e-02 3.46045209e-01] [ 1.60660840e-03 2.13028896e-02 9.99771777e-01 -1.30955455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:8.79, Y:0.32, Z:-0.14 [[ 9.99939620e-01 -7.32825155e-03 -8.18862605e-03 8.79085416e+00] [ 7.49922905e-03 9.99750340e-01 2.10480079e-02 3.23791358e-01] [ 8.03233658e-03 -2.11081454e-02 9.99744931e-01 -1.41713079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:0.34, Z:-0.14 [[ 9.99914323e-01 -1.21260807e-02 -4.92990214e-03 8.81894208e+00] [ 1.21757194e-02 9.99874186e-01 1.01667804e-02 3.35613239e-01] [ 4.80599869e-03 -1.02259344e-02 9.99936164e-01 -1.41211456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:0.35, Z:-0.13 [[ 9.99906455e-01 -1.17617189e-02 -6.98163348e-03 8.84781489e+00] [ 1.16525474e-02 9.99812324e-01 -1.54769107e-02 3.49705933e-01] [ 7.16235826e-03 1.53941091e-02 9.99855851e-01 -1.27885098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:0.35, Z:-0.13 [[ 9.99878328e-01 -1.21134611e-02 -9.82817008e-03 8.87660657e+00] [ 1.20875411e-02 9.99923318e-01 -2.69245084e-03 3.51154733e-01] [ 9.86003133e-03 2.57332483e-03 9.99948078e-01 -1.28035329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:0.34, Z:-0.14 [[ 9.99863378e-01 -1.55567333e-02 -5.58693779e-03 8.91106307e+00] [ 1.56389903e-02 9.99765269e-01 1.49942737e-02 3.44377330e-01] [ 5.35236444e-03 -1.50795992e-02 9.99871971e-01 -1.36437546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:0.35, Z:-0.13 [[ 9.99873225e-01 -1.48693953e-02 -5.69514527e-03 8.94476217e+00] [ 1.48126411e-02 9.99841461e-01 -9.88117078e-03 3.53670496e-01] [ 5.84116940e-03 9.79555796e-03 9.99934962e-01 -1.27580105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:0.35, Z:-0.13 [[ 9.99909079e-01 -1.32525099e-02 -2.49074567e-03 8.97549767e+00] [ 1.32338176e-02 9.99885216e-01 -7.37702931e-03 3.51875357e-01] [ 2.58822393e-03 7.34339651e-03 9.99969687e-01 -1.32120309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.35, Z:-0.14 [[ 9.99837527e-01 -1.56536266e-02 -8.93780365e-03 9.00363496e+00] [ 1.57540950e-02 9.99812230e-01 1.12833069e-02 3.47790115e-01] [ 8.75950073e-03 -1.14222807e-02 9.99896396e-01 -1.35907593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:0.36, Z:-0.13 [[ 9.99927635e-01 -1.20210720e-02 4.68548126e-04 9.04198430e+00] [ 1.20296739e-02 9.99489461e-01 -2.95990649e-02 3.59762467e-01] [-1.12496424e-04 2.96025594e-02 9.99561742e-01 -1.27907986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:0.33, Z:-0.14 [[ 0.99987765 -0.01221696 -0.00976854 9.07248937] [ 0.01246807 0.99958233 0.02607129 0.33318709] [ 0.00944595 -0.0261899 0.99961236 -0.1411531 ] [ 0. 0. 0. 1. ]] SLAMing on 12.190385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:9.10, Y:0.35, Z:-0.13 [[ 9.99813944e-01 -1.80955027e-02 -6.68061388e-03 9.09751947e+00] [ 1.81091319e-02 9.99834045e-01 1.98528411e-03 3.53397325e-01] [ 6.64358048e-03 -2.10589485e-03 9.99975714e-01 -1.31876861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:9.13, Y:0.35, Z:-0.13 [[ 9.99820990e-01 -1.77306208e-02 -6.60396744e-03 9.13032353e+00] [ 1.77296694e-02 9.99842797e-01 -2.02589327e-04 3.54761432e-01] [ 6.60652130e-03 8.54669025e-05 9.99978173e-01 -1.30791619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.17, Y:0.36, Z:-0.12 [[ 9.99904795e-01 -1.37006810e-02 -1.64092804e-03 9.16588299e+00] [ 1.36658847e-02 9.99714258e-01 -1.96123874e-02 3.61792434e-01] [ 1.90916222e-03 1.95880955e-02 9.99806312e-01 -1.24452477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.35, Z:-0.14 [[ 9.99845132e-01 -1.71003972e-02 -4.15803354e-03 9.19526065e+00] [ 1.71775591e-02 9.99666365e-01 1.92896296e-02 3.48838223e-01] [ 3.82678595e-03 -1.93580671e-02 9.99805292e-01 -1.35884590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.35, Z:-0.13 [[ 9.99842971e-01 -1.69446639e-02 -5.18768881e-03 9.22787754e+00] [ 1.69861393e-02 9.99823253e-01 8.05810026e-03 3.53125439e-01] [ 5.05023010e-03 -8.14495371e-03 9.99954076e-01 -1.31362526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.36, Z:-0.12 [[ 9.99870288e-01 -1.49735830e-02 -5.93285893e-03 9.25330626e+00] [ 1.49349079e-02 9.99867273e-01 -6.51033742e-03 3.58970978e-01] [ 6.02955456e-03 6.42088625e-03 9.99961208e-01 -1.24938801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:9.29, Y:0.36, Z:-0.12 [[ 9.99945457e-01 -1.00939218e-02 -2.68245211e-03 9.29095146e+00] [ 1.00298695e-02 9.99687319e-01 -2.29055929e-02 3.63143289e-01] [ 2.91282062e-03 2.28774389e-02 9.99734034e-01 -1.23096414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:0.35, Z:-0.14 [[ 9.99864960e-01 -1.44021151e-02 -7.91454019e-03 9.31911544e+00] [ 1.46355252e-02 9.99434591e-01 3.02704576e-02 3.46091688e-01] [ 7.47410662e-03 -3.03822034e-02 9.99510410e-01 -1.38261780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:0.36, Z:-0.12 [[ 9.99906592e-01 -1.15627585e-02 -7.28763061e-03 9.34663784e+00] [ 1.15476986e-02 9.99931107e-01 -2.10520523e-03 3.61351835e-01] [ 7.31147052e-03 2.02085323e-03 9.99971229e-01 -1.23143509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.36, Z:-0.12 [[ 9.99937894e-01 -9.45000067e-03 -5.90801690e-03 9.37786819e+00] [ 9.37709375e-03 9.99881014e-01 -1.22485892e-02 3.63729821e-01] [ 6.02306310e-03 1.21924285e-02 9.99907529e-01 -1.21093571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490385723000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.41, Y:0.36, Z:-0.13 [[ 9.99986649e-01 -4.69692572e-03 -2.15429277e-03 9.40966949e+00] [ 4.69660532e-03 9.99988959e-01 -1.53763261e-04 3.55920630e-01] [ 2.15499120e-03 1.43643346e-04 9.99997668e-01 -1.26997557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.44, Y:0.36, Z:-0.12 [[ 9.99982620e-01 -4.64901786e-03 -3.62574080e-03 9.44313941e+00] [ 4.63230311e-03 9.99978668e-01 -4.60487384e-03 3.58505019e-01] [ 3.64707159e-03 4.58799827e-03 9.99982824e-01 -1.24760021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.47, Y:0.35, Z:-0.13 [[ 9.99995208e-01 -3.09523075e-03 5.72831880e-05 9.47401317e+00] [ 3.09504303e-03 9.99990622e-01 3.02927570e-03 3.54750029e-01] [-6.66589581e-05 -3.02908389e-03 9.99995410e-01 -1.30695673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580385723000001 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.51, Y:0.36, Z:-0.13 [[ 9.99988572e-01 -4.46072750e-03 -1.71961868e-03 9.50525905e+00] [ 4.45622473e-03 9.99986656e-01 -2.61346612e-03 3.57392712e-01] [ 1.73125369e-03 2.60577325e-03 9.99995106e-01 -1.30775752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:9.53, Y:0.35, Z:-0.13 [[ 9.99985986e-01 -3.72388410e-03 -3.76301883e-03 9.53379447e+00] [ 3.73907897e-03 9.99984853e-01 4.03901330e-03 3.54734228e-01] [ 3.74792102e-03 -4.05302692e-03 9.99984763e-01 -1.31149828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.36, Z:-0.13 [[ 9.99978090e-01 -4.30508722e-03 -5.02846652e-03 9.56399810e+00] [ 4.29333749e-03 9.99988034e-01 -2.34510585e-03 3.58830858e-01] [ 5.03850224e-03 2.32346556e-03 9.99984607e-01 -1.26628743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670385723 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:9.59, Y:0.36, Z:-0.13 [[ 9.99987166e-01 -4.98710117e-03 -8.92422058e-04 9.59428576e+00] [ 4.98769185e-03 9.99987343e-01 6.60882260e-04 3.57952210e-01] [ 8.89114875e-04 -6.65324904e-04 9.99999383e-01 -1.26656727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:0.36, Z:-0.13 [[ 9.99988612e-01 -4.68067683e-03 -9.30717933e-04 9.62482263e+00] [ 4.68082114e-03 9.99989033e-01 1.52927127e-04 3.56928857e-01] [ 9.29991924e-04 -1.57281909e-04 9.99999555e-01 -1.27946567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:9.66, Y:0.35, Z:-0.13 [[ 9.99981506e-01 -4.70478404e-03 -3.85396817e-03 9.65714847e+00] [ 4.72269040e-03 9.99978035e-01 4.65036560e-03 3.54124210e-01] [ 3.83200455e-03 -4.66848070e-03 9.99981760e-01 -1.30461947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:9.69, Y:0.36, Z:-0.13 [[ 9.99970750e-01 -6.09284009e-03 -4.62344108e-03 9.68621481e+00] [ 6.07775917e-03 9.99976187e-01 -3.26890752e-03 3.60726434e-01] [ 4.64324792e-03 3.24071174e-03 9.99983969e-01 -1.26042765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.72, Y:0.36, Z:-0.13 [[ 9.99961847e-01 -7.75147254e-03 -4.02722042e-03 9.72369296e+00] [ 7.75552882e-03 9.99969433e-01 9.92577370e-04 3.58894043e-01] [ 4.01940338e-03 -1.02377272e-03 9.99991398e-01 -1.30087723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:0.35, Z:-0.13 [[ 9.99963377e-01 -5.78035266e-03 -6.31127874e-03 9.74814966e+00] [ 5.83311806e-03 9.99947921e-01 8.37434270e-03 3.49700515e-01] [ 6.26254341e-03 -8.41085044e-03 9.99945018e-01 -1.33654282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:9.78, Y:0.36, Z:-0.13 [[ 9.99984409e-01 -4.36560056e-03 -3.48193986e-03 9.77912863e+00] [ 4.35096265e-03 9.99981712e-01 -4.20050725e-03 3.55256694e-01] [ 3.50021392e-03 4.18529197e-03 9.99985116e-01 -1.28968232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.81, Y:0.35, Z:-0.14 [[ 9.99981957e-01 -5.44935414e-03 -2.52790358e-03 9.80886123e+00] [ 5.49967188e-03 9.99777904e-01 2.03444407e-02 3.51134248e-01] [ 2.41647808e-03 -2.03579763e-02 9.99789835e-01 -1.37768127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.37, Z:-0.11 [[ 9.99988658e-01 -2.01300031e-03 -4.31650935e-03 9.83988906e+00] [ 1.89942130e-03 9.99656035e-01 -2.61572819e-02 3.73054622e-01] [ 4.36767924e-03 2.61487864e-02 9.99648520e-01 -1.12352518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:0.36, Z:-0.13 [[ 9.99996820e-01 -2.38675955e-03 -8.14686240e-04 9.86965163e+00] [ 2.39019224e-03 9.99988159e-01 4.23887409e-03 3.57978041e-01] [ 8.04559420e-04 -4.24080787e-03 9.99990684e-01 -1.27522581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.36, Z:-0.13 [[ 9.99995386e-01 -1.42247788e-03 2.68400705e-03 9.90191516e+00] [ 1.44041724e-03 9.99976559e-01 -6.69374638e-03 3.60672049e-01] [-2.67442243e-03 6.69758159e-03 9.99973995e-01 -1.25057148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:0.36, Z:-0.13 [[ 9.99987073e-01 -3.06376952e-03 4.05786714e-03 9.93344010e+00] [ 3.09511045e-03 9.99965257e-01 -7.73987052e-03 3.57173138e-01] [-4.03401298e-03 7.75233002e-03 9.99961813e-01 -1.29232415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:0.36, Z:-0.13 [[ 9.99983257e-01 -5.77906906e-03 2.97331244e-04 9.96714276e+00] [ 5.78000531e-03 9.99978012e-01 -3.25074446e-03 3.55878297e-01] [-2.78538429e-04 3.25240861e-03 9.99994672e-01 -1.29892202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.35, Z:-0.13 [[ 9.99980515e-01 -6.18735581e-03 8.28964387e-04 9.99825021e+00] [ 6.18184064e-03 9.99959778e-01 6.49817751e-03 3.53079948e-01] [-8.69137581e-04 -6.49292636e-03 9.99978543e-01 -1.32955631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.36, Z:-0.13 [[ 9.99990254e-01 -4.38649408e-03 5.00222312e-04 1.00333226e+01] [ 4.38355217e-03 9.99973930e-01 5.73801210e-03 3.55257597e-01] [-5.25379027e-04 -5.73576343e-03 9.99983412e-01 -1.32193045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:0.36, Z:-0.12 [[ 9.99998737e-01 -1.40396109e-03 -7.44551231e-04 1.00657471e+01] [ 1.39087934e-03 9.99849572e-01 -1.72886924e-02 3.62846394e-01] [ 7.68711881e-04 1.72876350e-02 9.99850262e-01 -1.23170508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.35, Z:-0.13 [[ 9.99994924e-01 -3.13354119e-03 5.76150868e-04 1.00881221e+01] [ 3.12614309e-03 9.99917958e-01 1.24219005e-02 3.53220703e-01] [-6.15028137e-04 -1.24200363e-02 9.99922679e-01 -1.34281337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.36, Z:-0.12 [[ 9.99996163e-01 -2.71070561e-03 -5.70408606e-04 1.01206654e+01] [ 2.70431167e-03 9.99936647e-01 -1.09265206e-02 3.64575771e-01] [ 5.99991049e-04 1.09249362e-02 9.99940141e-01 -1.23466288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.35, Z:-0.14 [[ 9.99971787e-01 -4.50125169e-03 6.01357037e-03 1.01533759e+01] [ 4.42618377e-03 9.99912841e-01 1.24386127e-02 3.54520041e-01] [-6.06903556e-03 -1.24116446e-02 9.99904554e-01 -1.35389436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.36, Z:-0.13 [[ 9.99990766e-01 -1.51203311e-03 4.02259371e-03 1.01794889e+01] [ 1.53424985e-03 9.99983557e-01 -5.52564793e-03 3.62749521e-01] [-4.01417260e-03 5.53176857e-03 9.99976643e-01 -1.27560908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.36, Z:-0.13 [[ 9.99994375e-01 -2.89208639e-03 1.69873683e-03 1.02137006e+01] [ 2.88792149e-03 9.99992831e-01 2.44912118e-03 3.60939498e-01] [-1.70580773e-03 -2.44420159e-03 9.99995558e-01 -1.31257548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:0.36, Z:-0.13 [[ 9.99977940e-01 -6.39847291e-03 1.78308845e-03 1.02461529e+01] [ 6.39475930e-03 9.99977389e-01 2.08065963e-03 3.59894407e-01] [-1.79636118e-03 -2.06921131e-03 9.99996246e-01 -1.30017607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.36, Z:-0.13 [[ 9.99963990e-01 -7.74179104e-03 3.47603969e-03 1.02797333e+01] [ 7.75117917e-03 9.99966326e-01 -2.69551312e-03 3.61517375e-01] [-3.45505454e-03 2.72235946e-03 9.99990326e-01 -1.29312881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:0.36, Z:-0.13 [[ 9.99946410e-01 -9.54151810e-03 4.01710242e-03 1.03121011e+01] [ 9.55282345e-03 9.99950438e-01 -2.80458779e-03 3.62766910e-01] [-3.99014330e-03 2.84281216e-03 9.99987999e-01 -1.29446717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:0.36, Z:-0.13 [[ 9.99885875e-01 -1.40230822e-02 5.62051792e-03 1.03450551e+01] [ 1.40441251e-02 9.99894449e-01 -3.72213540e-03 3.62226950e-01] [-5.56772885e-03 3.80064587e-03 9.99977277e-01 -1.29773485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.38, Y:0.36, Z:-0.13 [[ 9.99862752e-01 -1.58064754e-02 4.96305257e-03 1.03773911e+01] [ 1.57709309e-02 9.99850273e-01 7.12110230e-03 3.57247561e-01] [-5.07486899e-03 -7.04185298e-03 9.99962328e-01 -1.33012923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:0.36, Z:-0.13 [[ 9.99790939e-01 -1.92979323e-02 6.75788685e-03 1.04108402e+01] [ 1.93016728e-02 9.99813586e-01 -4.88706084e-04 3.59725376e-01] [-6.74719607e-03 6.19042435e-04 9.99977046e-01 -1.30315268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:0.36, Z:-0.13 [[ 9.99741056e-01 -2.19133382e-02 6.13404830e-03 1.04421885e+01] [ 2.19421403e-02 9.99748344e-01 -4.66819704e-03 3.62751338e-01] [-6.03020884e-03 4.80158238e-03 9.99970290e-01 -1.28325266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:0.36, Z:-0.13 [[ 9.99666258e-01 -2.54503812e-02 4.43300205e-03 1.04737858e+01] [ 2.54650281e-02 9.99670334e-01 -3.27955294e-03 3.63160894e-01] [-4.34807476e-03 3.39134493e-03 9.99984796e-01 -1.30642195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:0.36, Z:-0.14 [[ 9.99651917e-01 -2.59361569e-02 4.83318114e-03 1.05092875e+01] [ 2.58672439e-02 9.99569944e-01 1.38134737e-02 3.55392498e-01] [-5.18937102e-03 -1.36836444e-02 9.99892908e-01 -1.40414294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.37, Z:-0.13 [[ 9.99794235e-01 -2.02586756e-02 1.03604139e-03 1.05404377e+01] [ 2.02700580e-02 9.99716294e-01 -1.25082311e-02 3.65153949e-01] [-7.82347267e-04 1.25266580e-02 9.99921232e-01 -1.28986250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.36, Z:-0.14 [[ 9.99849842e-01 -1.72343240e-02 1.80869062e-03 1.05705739e+01] [ 1.72304286e-02 9.99849239e-01 2.14764464e-03 3.57280820e-01] [-1.84543114e-03 -2.11615764e-03 9.99996058e-01 -1.36370626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:0.36, Z:-0.13 [[ 9.99911716e-01 -1.22704774e-02 5.09858646e-03 1.06095497e+01] [ 1.23283815e-02 9.99858042e-01 -1.14850633e-02 3.60237926e-01] [-4.95693547e-03 1.15469067e-02 9.99921046e-01 -1.31671226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:0.35, Z:-0.14 [[ 9.99934126e-01 -1.14758144e-02 -2.22743205e-04 1.06378446e+01] [ 1.14775333e-02 9.99536850e-01 2.81842377e-02 3.45470622e-01] [-1.00797039e-04 -2.81849376e-02 9.99602721e-01 -1.35184021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:10.67, Y:0.36, Z:-0.12 [[ 9.99958314e-01 -9.10855088e-03 6.36358065e-04 1.06713659e+01] [ 9.10855412e-03 9.99958516e-01 -2.19519134e-06 3.58840820e-01] [-6.36311671e-04 7.99140170e-06 9.99999798e-01 -1.21713446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.37, Z:-0.12 [[ 9.99971481e-01 -6.24207104e-03 4.25130913e-03 1.06980871e+01] [ 6.29237439e-03 9.99909112e-01 -1.19236746e-02 3.66055291e-01] [-4.17649432e-03 1.19500853e-02 9.99919873e-01 -1.23692089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:10.73, Y:0.35, Z:-0.13 [[ 9.99995445e-01 -2.69246325e-03 1.36382716e-03 1.07321399e+01] [ 2.67581428e-03 9.99923627e-01 1.20656986e-02 3.47558358e-01] [-1.39620945e-03 -1.20619943e-02 9.99926277e-01 -1.31501005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:0.36, Z:-0.13 [[ 9.99999208e-01 -4.54676913e-05 1.25738949e-03 1.07582899e+01] [ 6.39078542e-05 9.99892398e-01 -1.46692849e-02 3.62402595e-01] [-1.25658722e-03 1.46693537e-02 9.99891610e-01 -1.27805905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:0.36, Z:-0.13 [[ 9.99992405e-01 3.78216288e-03 9.40547357e-04 1.07896710e+01] [-3.78407639e-03 9.99990757e-01 2.04108017e-03 3.57005663e-01] [-9.32818966e-04 -2.04462377e-03 9.99997475e-01 -1.32069381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840385723 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:10.82, Y:0.36, Z:-0.13 [[ 9.99963931e-01 8.33576197e-03 1.62819047e-03 1.08204762e+01] [-8.32661535e-03 9.99949954e-01 -5.54589474e-03 3.62337072e-01] [-1.67433825e-03 5.53213739e-03 9.99983296e-01 -1.26968724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.85, Y:0.36, Z:-0.12 [[ 9.99838397e-01 1.72633142e-02 -5.01568243e-03 1.08485158e+01] [-1.72699356e-02 9.99850044e-01 -1.27983525e-03 3.57603794e-01] [ 4.99283611e-03 1.36624894e-03 9.99986602e-01 -1.21277415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:0.36, Z:-0.12 [[ 9.99769471e-01 2.08099416e-02 -5.28694029e-03 1.08746143e+01] [-2.08947885e-02 9.99644940e-01 -1.65348718e-02 3.63937361e-01] [ 4.94097339e-03 1.66415295e-02 9.99849312e-01 -1.21198583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.91, Y:0.35, Z:-0.14 [[ 9.99755518e-01 2.21087271e-02 -3.27917016e-04 1.09128623e+01] [-2.21041126e-02 9.99701383e-01 1.04188844e-02 3.47867148e-01] [ 5.58167365e-04 -1.04090888e-02 9.99945668e-01 -1.37307093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:0.35, Z:-0.13 [[ 9.99756230e-01 2.16851664e-02 -4.15146111e-03 1.09351524e+01] [-2.16608438e-02 9.99748455e-01 5.81676883e-03 3.50552944e-01] [ 4.27655443e-03 -5.72542673e-03 9.99974465e-01 -1.33952631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:0.36, Z:-0.13 [[ 9.99700572e-01 2.42698339e-02 -3.12107528e-03 1.09629954e+01] [-2.42985121e-02 9.99659564e-01 -9.50470122e-03 3.55779909e-01] [ 2.88933523e-03 9.57769273e-03 9.99949959e-01 -1.29190568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.99, Y:0.35, Z:-0.13 [[ 9.99645196e-01 2.61237292e-02 -5.19928915e-03 1.09897968e+01] [-2.60897827e-02 9.99638515e-01 6.49319879e-03 3.49591509e-01] [ 5.36703626e-03 -6.35524665e-03 9.99965402e-01 -1.31568974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:11.02, Y:0.36, Z:-0.12 [[ 9.99570575e-01 2.92518654e-02 -1.73014808e-03 1.10190114e+01] [-2.92640870e-02 9.99543428e-01 -7.51986211e-03 3.55416401e-01] [ 1.50938815e-03 7.56726410e-03 9.99970229e-01 -1.24682891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:0.35, Z:-0.13 [[ 9.99548660e-01 3.00384445e-02 -4.09642843e-04 1.10479793e+01] [-3.00382806e-02 9.99548669e-01 4.00509614e-04 3.50296674e-01] [ 4.21488644e-04 -3.88023881e-04 9.99999836e-01 -1.27531550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.07, Y:0.34, Z:-0.13 [[ 9.99562109e-01 2.92447562e-02 4.50943411e-03 1.10742005e+01] [-2.92706179e-02 9.99554813e-01 5.77982416e-03 3.41746341e-01] [-4.33839702e-03 -5.90928714e-03 9.99973129e-01 -1.32178598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.10, Y:0.34, Z:-0.13 [[ 9.99562786e-01 2.92686623e-02 4.19304829e-03 1.11028432e+01] [-2.92689751e-02 9.99571572e-01 1.32439288e-05 3.44369349e-01] [-4.19086424e-03 -1.35964364e-04 9.99991209e-01 -1.29128948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:11.13, Y:0.34, Z:-0.13 [[ 9.99588812e-01 2.85441269e-02 2.72774585e-03 1.11336127e+01] [-2.85255878e-02 9.99571211e-01 -6.60951914e-03 3.44365243e-01] [-2.91523917e-03 6.52899083e-03 9.99974437e-01 -1.26311260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:11.16, Y:0.34, Z:-0.13 [[ 9.99651893e-01 2.63835727e-02 -5.56709474e-06 1.11600377e+01] [-2.63835533e-02 9.99651371e-01 1.02158765e-03 3.37556588e-01] [ 3.25182859e-05 -1.02108515e-03 9.99999478e-01 -1.30177415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:11.19, Y:0.33, Z:-0.13 [[ 9.99683396e-01 2.47452092e-02 -4.55884141e-03 1.11878249e+01] [-2.47292061e-02 9.99687940e-01 3.53390209e-03 3.34725110e-01] [ 4.64486592e-03 -3.42004672e-03 9.99983364e-01 -1.29704050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:0.32, Z:-0.13 [[ 0.99962308 0.02503738 -0.01126169 11.22013738] [-0.02478861 0.99945691 0.02171194 0.32187621] [ 0.01179918 -0.02142459 0.99970084 -0.12663855] [ 0. 0. 0. 1. ]] SLAMing on 14.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:0.34, Z:-0.12 [[ 9.99821577e-01 1.87410737e-02 -2.36365129e-03 1.12516167e+01] [-1.87918055e-02 9.99543290e-01 -2.36660182e-02 3.39603617e-01] [ 1.91904520e-03 2.37062129e-02 9.99717126e-01 -1.20749105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:0.31, Z:-0.13 [[ 9.99735125e-01 2.04921670e-02 -1.04762108e-02 1.12781830e+01] [-2.02528647e-02 9.99542585e-01 2.24597781e-02 3.12815505e-01] [ 1.09316684e-02 -2.22416558e-02 9.99692857e-01 -1.27518493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:0.32, Z:-0.12 [[ 9.99799366e-01 1.66731527e-02 -1.11010577e-02 1.13048594e+01] [-1.66736478e-02 9.99860984e-01 4.79584765e-05 3.19842250e-01] [ 1.11003141e-02 1.37146272e-04 9.99938380e-01 -1.18326096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.33, Y:0.33, Z:-0.11 [[ 0.99973518 0.01602378 -0.01651691 11.33057247] [-0.01636504 0.99965101 -0.02073736 0.32942614] [ 0.01617885 0.02100217 0.99964852 -0.10863408] [ 0. 0. 0. 1. ]] SLAMing on 14.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.36, Y:0.32, Z:-0.12 [[ 9.99870214e-01 1.41126119e-02 -7.77106695e-03 1.13617189e+01] [-1.41815848e-02 9.99859887e-01 -8.89321200e-03 3.24017906e-01] [ 7.64447167e-03 9.00226383e-03 9.99930258e-01 -1.24700259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.39, Y:0.32, Z:-0.13 [[ 9.99892928e-01 1.19381207e-02 -8.46249471e-03 1.13869741e+01] [-1.19347999e-02 9.99928680e-01 4.42805486e-04 3.17782295e-01] [ 8.46717743e-03 -3.41759892e-04 9.99964094e-01 -1.28756402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:0.30, Z:-0.13 [[ 9.99838152e-01 1.08757012e-02 -1.43314314e-02 1.14177151e+01] [-1.04879906e-02 9.99584289e-01 2.68561359e-02 3.02486929e-01] [ 1.46175530e-02 -2.67014814e-02 9.99536572e-01 -1.26615854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:0.33, Z:-0.11 [[ 9.99878993e-01 7.68667694e-03 -1.35245839e-02 1.14423138e+01] [-8.03356136e-03 9.99635261e-01 -2.57838568e-02 3.29736764e-01] [ 1.33214588e-02 2.58893874e-02 9.99576049e-01 -1.11679805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.47, Y:0.31, Z:-0.13 [[ 9.99930194e-01 7.40224450e-03 -9.20946676e-03 1.14721111e+01] [-7.38881364e-03 9.99971590e-01 1.49154539e-03 3.14926455e-01] [ 9.22024590e-03 -1.42339424e-03 9.99956480e-01 -1.25180032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.50, Y:0.32, Z:-0.12 [[ 9.99942770e-01 5.77724412e-03 -9.00445612e-03 1.14986850e+01] [-5.83108974e-03 9.99965207e-01 -5.96514840e-03 3.15637311e-01] [ 8.96968071e-03 6.01731280e-03 9.99941667e-01 -1.22963649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:11.53, Y:0.31, Z:-0.12 [[ 9.99945114e-01 4.33216549e-03 -9.53948831e-03 1.15269629e+01] [-4.33810548e-03 9.99990409e-01 -6.02069998e-04 3.11609914e-01] [ 9.53678855e-03 6.43420259e-04 9.99954317e-01 -1.24985484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:0.29, Z:-0.12 [[ 9.99823106e-01 1.20284846e-03 -1.87699116e-02 1.15596989e+01] [-6.58776809e-04 9.99580190e-01 2.89656781e-02 2.92883863e-01] [ 1.87968731e-02 -2.89481891e-02 9.99404162e-01 -1.23037470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.58, Y:0.32, Z:-0.11 [[ 9.99886184e-01 -4.17896317e-03 -1.44967383e-02 1.15812418e+01] [ 3.93848433e-03 9.99854826e-01 -1.65775513e-02 3.18064669e-01] [ 1.45639107e-02 1.65185694e-02 9.99757485e-01 -1.11618614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.30, Z:-0.12 [[ 9.99813511e-01 -4.61540782e-03 -1.87520987e-02 1.16154411e+01] [ 4.92169813e-03 9.99854699e-01 1.63204718e-02 2.96215195e-01] [ 1.86740483e-02 -1.64097204e-02 9.99690953e-01 -1.15385958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:0.30, Z:-0.11 [[ 9.99785253e-01 -7.68555287e-03 -1.92452799e-02 1.16428450e+01] [ 7.68860167e-03 9.99970439e-01 8.44300841e-05 3.02325400e-01] [ 1.92440621e-02 -2.32381244e-04 9.99814789e-01 -1.09325391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:0.32, Z:-0.11 [[ 9.99802678e-01 -1.15433623e-02 -1.61664928e-02 1.16681459e+01] [ 1.12436410e-02 9.99765463e-01 -1.85094284e-02 3.15719036e-01] [ 1.63763622e-02 1.83240058e-02 9.99697977e-01 -1.07909780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:0.31, Z:-0.11 [[ 9.99854342e-01 -8.82918679e-03 -1.46061573e-02 1.16995566e+01] [ 8.72557951e-03 9.99936426e-01 -7.14198269e-03 3.06099844e-01] [ 1.46682867e-02 7.01349521e-03 9.99867817e-01 -1.14376922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:0.30, Z:-0.12 [[ 9.99843555e-01 -8.61191153e-03 -1.54499230e-02 1.17275047e+01] [ 8.63320659e-03 9.99961872e-01 1.31216167e-03 3.01925573e-01] [ 1.54380337e-02 -1.44533877e-03 9.99879782e-01 -1.17059423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:0.30, Z:-0.12 [[ 9.99810889e-01 -8.20357575e-03 -1.76319823e-02 1.17554303e+01] [ 8.34426208e-03 9.99933819e-01 7.92033817e-03 3.01128435e-01] [ 1.75658403e-02 -8.06596623e-03 9.99813173e-01 -1.16573794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:0.31, Z:-0.11 [[ 9.99849781e-01 -6.99463383e-03 -1.58584704e-02 1.17854078e+01] [ 6.85067904e-03 9.99935002e-01 -9.11369480e-03 3.09409039e-01] [ 1.59211866e-02 9.00368445e-03 9.99832711e-01 -1.10105583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.82, Y:0.29, Z:-0.11 [[ 9.99740399e-01 -2.03066942e-03 -2.26938658e-02 1.18193440e+01] [ 2.62238074e-03 9.99656567e-01 2.60743567e-02 2.92787810e-01] [ 2.26331236e-02 -2.61270997e-02 9.99402380e-01 -1.10302655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.85, Y:0.31, Z:-0.10 [[ 9.99739803e-01 2.41827549e-04 -2.28093698e-02 1.18462343e+01] [-2.38807228e-04 9.99999962e-01 1.35139607e-04 3.05086205e-01] [ 2.28094016e-02 -1.29657402e-04 9.99739823e-01 -1.00264617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:11.87, Y:0.31, Z:-0.10 [[ 9.99728606e-01 1.87697275e-03 -2.32204925e-02 1.18738884e+01] [-1.87434041e-03 9.99998234e-01 1.35126884e-04 3.05154491e-01] [ 2.32207051e-02 -9.15671044e-05 9.99730359e-01 -1.01206299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:0.31, Z:-0.10 [[ 9.99676012e-01 6.93270710e-03 -2.44909897e-02 1.19009261e+01] [-6.93146858e-03 9.99975968e-01 1.35462833e-04 3.07289157e-01] [ 2.44913402e-02 3.43395809e-05 9.99700042e-01 -1.02012008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:0.32, Z:-0.10 [[ 9.99739845e-01 6.14735917e-03 -2.19647838e-02 1.19246337e+01] [-6.38735789e-03 9.99920485e-01 -1.08731243e-02 3.18159771e-01] [ 2.18961963e-02 1.10105925e-02 9.99699617e-01 -1.02749965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:11.96, Y:0.30, Z:-0.10 [[ 9.99623768e-01 1.30179260e-02 -2.41424219e-02 1.19585777e+01] [-1.27451652e-02 9.99853588e-01 1.14176586e-02 3.04922680e-01] [ 2.42875214e-02 -1.11056637e-02 9.99643327e-01 -1.04169579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:0.32, Z:-0.10 [[ 9.99706499e-01 1.16483709e-02 -2.12421953e-02 1.19798950e+01] [-1.18881386e-02 9.99866650e-01 -1.11961991e-02 3.22246522e-01] [ 2.11089452e-02 1.14454432e-02 9.99711666e-01 -9.86108572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.01, Y:0.32, Z:-0.10 [[ 9.99654617e-01 1.53454432e-02 -2.13345947e-02 1.20081572e+01] [-1.52859122e-02 9.99878810e-01 2.95064209e-03 3.19315067e-01] [ 2.13772881e-02 -2.62350425e-03 9.99768037e-01 -1.00870869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:0.33, Z:-0.10 [[ 9.99595314e-01 1.93336833e-02 -2.08666381e-02 1.20372065e+01] [-1.94360067e-02 9.99799999e-01 -4.71204978e-03 3.25203571e-01] [ 2.07713634e-02 5.11570700e-03 9.99771164e-01 -9.73689438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:12.07, Y:0.32, Z:-0.10 [[ 9.99549591e-01 2.07514321e-02 -2.16793121e-02 1.20650375e+01] [-2.06896307e-02 9.99781230e-01 3.07114858e-03 3.23607928e-01] [ 2.17383000e-02 -2.62122834e-03 9.99760259e-01 -9.91225096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:0.31, Z:-0.10 [[ 9.99355414e-01 2.67514463e-02 -2.39398657e-02 1.21003741e+01] [-2.65480748e-02 9.99609040e-01 8.77303513e-03 3.14424193e-01] [ 2.41651975e-02 -8.13182281e-03 9.99674906e-01 -9.93148736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:0.32, Z:-0.10 [[ 9.99312834e-01 2.77183705e-02 -2.46079628e-02 1.21270080e+01] [-2.77229349e-02 9.99615633e-01 1.55714770e-04 3.17615587e-01] [ 2.46028205e-02 5.26597183e-04 9.99697166e-01 -9.65856751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.32, Z:-0.09 [[ 9.99236703e-01 2.90449961e-02 -2.61227811e-02 1.21552440e+01] [-2.90506780e-02 9.99577927e-01 1.62055480e-04 3.19638423e-01] [ 2.61164623e-02 5.96952718e-04 9.99658729e-01 -9.46969922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.33, Z:-0.10 [[ 9.99358384e-01 2.75406142e-02 -2.28983431e-02 1.21764058e+01] [-2.75754329e-02 9.99618998e-01 -1.20615343e-03 3.28415828e-01] [ 2.28564006e-02 1.83681126e-03 9.99737071e-01 -9.55737118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:0.33, Z:-0.09 [[ 9.99192181e-01 3.12691068e-02 -2.52433956e-02 1.22069378e+01] [-3.12699174e-02 9.99510911e-01 3.62726617e-04 3.26490470e-01] [ 2.52423915e-02 4.26925297e-04 9.99681269e-01 -8.97220634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:0.33, Z:-0.09 [[ 9.99163292e-01 3.32855734e-02 -2.37652558e-02 1.22352620e+01] [-3.33064239e-02 9.99445071e-01 -4.81955380e-04 3.25684268e-01] [ 2.37360256e-02 1.27308781e-03 9.99717450e-01 -9.05973601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370385723 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:12.26, Y:0.33, Z:-0.08 [[ 0.99901939 0.03424724 -0.02806048 12.26180789] [-0.03462806 0.99931309 -0.01319984 0.33041928] [ 0.02758915 0.01415857 0.99951907 -0.08328174] [ 0. 0. 0. 1. ]] SLAMing on 15.400385723 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:12.29, Y:0.32, Z:-0.09 [[ 9.98961823e-01 3.41478380e-02 -3.01529620e-02 1.22901413e+01] [-3.42572606e-02 9.99408179e-01 -3.11965652e-03 3.24499866e-01] [ 3.00285873e-02 4.14937564e-03 9.99540428e-01 -8.85456388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430385723 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:12.32, Y:0.31, Z:-0.10 [[ 0.99917232 0.03223652 -0.02480873 12.32118425] [-0.03171569 0.99927401 0.02110862 0.3137398 ] [ 0.02547119 -0.02030433 0.99946934 -0.09953879] [ 0. 0. 0. 1. ]] SLAMing on 15.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:0.33, Z:-0.09 [[ 9.99246489e-01 3.16402857e-02 -2.24799289e-02 1.23477748e+01] [-3.17598904e-02 9.99483104e-01 -4.98346730e-03 3.27472253e-01] [ 2.23106308e-02 5.69367228e-03 9.99734874e-01 -9.20245854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.38, Y:0.33, Z:-0.08 [[ 9.99171190e-01 2.96712620e-02 -2.78666378e-02 1.23776035e+01] [-2.98744803e-02 9.99529810e-01 -6.90464313e-03 3.25907429e-01] [ 2.76486657e-02 7.73142181e-03 9.99587803e-01 -8.43624781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.41, Y:0.32, Z:-0.09 [[ 9.99292304e-01 2.78206958e-02 -2.53160226e-02 1.24055246e+01] [-2.76393863e-02 9.99589944e-01 7.48386542e-03 3.18769791e-01] [ 2.55138480e-02 -6.77884979e-03 9.99651485e-01 -9.12632838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.44, Y:0.34, Z:-0.08 [[ 0.99948442 0.02870314 -0.01438861 12.44229117] [-0.02928115 0.99870042 -0.04171422 0.33777549] [ 0.01317258 0.04211403 0.99902597 -0.08402488] [ 0. 0. 0. 1. ]] SLAMing on 15.580385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.31, Z:-0.10 [[ 0.99936002 0.02783887 -0.0224622 12.45946884] [-0.02711705 0.99912559 0.03182343 0.30512936] [ 0.02332849 -0.03119395 0.99924107 -0.10431894] [ 0. 0. 0. 1. ]] SLAMing on 15.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.32, Z:-0.09 [[ 9.99488999e-01 2.16284605e-02 -2.35361583e-02 1.24902865e+01] [-2.17585901e-02 9.99749275e-01 -5.28691812e-03 3.22602209e-01] [ 2.34159093e-02 5.79633012e-03 9.99709007e-01 -8.86955595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:0.31, Z:-0.10 [[ 9.99608843e-01 1.87008686e-02 -2.07951688e-02 1.25211521e+01] [-1.84404220e-02 9.99749978e-01 1.26464017e-02 3.13629764e-01] [ 2.10264683e-02 -1.22579832e-02 9.99703771e-01 -9.59863697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:0.32, Z:-0.09 [[ 9.99696195e-01 1.25512955e-02 -2.12128084e-02 1.25487562e+01] [-1.25528868e-02 9.99921208e-01 5.81405536e-05 3.20021772e-01] [ 2.12118667e-02 2.08159093e-04 9.99774981e-01 -8.92265640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:0.32, Z:-0.09 [[ 9.99740542e-01 6.02701274e-03 -2.19664150e-02 1.25756788e+01] [-6.02719286e-03 9.99981835e-01 5.80065943e-05 3.18925997e-01] [ 2.19663656e-02 7.44042759e-05 9.99758708e-01 -8.97114329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:0.32, Z:-0.09 [[ 9.99737249e-01 9.61295593e-05 -2.29221405e-02 1.25990468e+01] [ 3.26557830e-05 9.99984219e-01 5.61794152e-03 3.19283293e-01] [ 2.29223188e-02 -5.61721393e-03 9.99721468e-01 -9.30712622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:0.32, Z:-0.09 [[ 9.99761852e-01 -5.93827847e-03 -2.09994125e-02 1.26270851e+01] [ 5.81022424e-03 9.99964186e-01 -6.15375512e-03 3.23051548e-01] [ 2.10352032e-02 6.03027832e-03 9.99760549e-01 -8.97592936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.32, Z:-0.09 [[ 9.99715709e-01 -9.05489174e-03 -2.20569917e-02 1.26548258e+01] [ 9.17721772e-03 9.99943031e-01 5.45100705e-03 3.18053567e-01] [ 2.20063768e-02 -5.65187919e-03 9.99741855e-01 -9.17366932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:0.32, Z:-0.09 [[ 9.99726161e-01 -1.20048661e-02 -2.00869457e-02 1.26871541e+01] [ 1.18951138e-02 9.99913712e-01 -5.57445427e-03 3.18493049e-01] [ 2.01521330e-02 5.33399126e-03 9.99782696e-01 -8.64319721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:12.71, Y:0.32, Z:-0.09 [[ 9.99594373e-01 -1.87890984e-02 -2.14023283e-02 1.27136613e+01] [ 1.88414367e-02 9.99819961e-01 2.24641053e-03 3.18653334e-01] [ 2.13562670e-02 -2.64874994e-03 9.99768420e-01 -8.93079861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:0.32, Z:-0.09 [[ 9.99459745e-01 -2.16399402e-02 -2.47372428e-02 1.27421434e+01] [ 2.16212284e-02 9.99765710e-01 -1.02367005e-03 3.20105682e-01] [ 2.47535992e-02 4.88267426e-04 9.99693463e-01 -8.56794000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:12.77, Y:0.32, Z:-0.09 [[ 9.99479092e-01 -2.25643844e-02 -2.30736279e-02 1.27719191e+01] [ 2.27594646e-02 9.99707116e-01 8.22728834e-03 3.15349083e-01] [ 2.28812263e-02 -8.74814610e-03 9.99699915e-01 -8.85626823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:12.80, Y:0.32, Z:-0.09 [[ 9.99374198e-01 -2.52304645e-02 -2.47918391e-02 1.27999311e+01] [ 2.52020217e-02 9.99681314e-01 -1.45909784e-03 3.21556474e-01] [ 2.48207520e-02 8.33380265e-04 9.99691570e-01 -8.53650324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:0.33, Z:-0.08 [[ 0.99928786 -0.02103529 -0.03132549 12.82571612] [ 0.02021227 0.9994481 -0.0263621 0.32913482] [ 0.03186274 0.02571017 0.99916153 -0.076143 ] [ 0. 0. 0. 1. ]] SLAMing on 16.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:0.32, Z:-0.09 [[ 9.99326381e-01 -2.33136489e-02 -2.83418082e-02 1.28637084e+01] [ 2.33356801e-02 9.99727586e-01 4.46790486e-04 3.17247724e-01] [ 2.83236712e-02 -1.10786489e-03 9.99598190e-01 -8.71677303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:0.32, Z:-0.09 [[ 9.99317971e-01 -2.34369991e-02 -2.85359544e-02 1.28922212e+01] [ 2.34374344e-02 9.99725255e-01 -3.19267109e-04 3.17558519e-01] [ 2.85355970e-02 -3.49760199e-04 9.99592716e-01 -8.60653000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:12.92, Y:0.31, Z:-0.09 [[ 0.99928808 -0.02528388 -0.02800093 12.92257421] [ 0.02603942 0.99929744 0.02695505 0.30667946] [ 0.02729973 -0.02766499 0.9992444 -0.09493264] [ 0. 0. 0. 1. ]] SLAMing on 16.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:0.32, Z:-0.08 [[ 9.99272770e-01 -2.45477541e-02 -2.91777262e-02 1.29504037e+01] [ 2.46058233e-02 9.99695898e-01 1.63275755e-03 3.23930281e-01] [ 2.91287727e-02 -2.34951213e-03 9.99572906e-01 -7.83220799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.33, Z:-0.08 [[ 9.99276850e-01 -2.41935867e-02 -2.93333962e-02 1.29777829e+01] [ 2.42911754e-02 9.99700499e-01 2.97505742e-03 3.27489752e-01] [ 2.92526335e-02 -3.68544868e-03 9.99565256e-01 -7.54661677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:0.33, Z:-0.07 [[ 9.99417255e-01 -2.00612133e-02 -2.76169884e-02 1.30058062e+01] [ 2.01091155e-02 9.99796728e-01 1.45785529e-03 3.29561890e-01] [ 2.75821283e-02 -2.01235895e-03 9.99617515e-01 -7.45604168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.33, Z:-0.07 [[ 9.99516296e-01 -1.76969452e-02 -2.55732686e-02 1.30380450e+01] [ 1.74484366e-02 9.99798669e-01 -9.90821746e-03 3.31551756e-01] [ 2.57434651e-02 9.45721126e-03 9.99623847e-01 -7.40422930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:0.33, Z:-0.08 [[ 9.99475752e-01 -1.45540544e-02 -2.89205852e-02 1.30642847e+01] [ 1.44081622e-02 9.99882432e-01 -5.24659289e-03 3.30495337e-01] [ 2.89935443e-02 4.82714990e-03 9.99567943e-01 -7.70401164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.33, Z:-0.07 [[ 9.99515640e-01 -1.15174470e-02 -2.89107915e-02 1.30918443e+01] [ 1.15135187e-02 9.99933672e-01 -3.02347242e-04 3.32054419e-01] [ 2.89123562e-02 -3.06641411e-05 9.99581950e-01 -7.47146554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.33, Z:-0.07 [[ 9.99636649e-01 -9.28467513e-03 -2.53054273e-02 1.31185788e+01] [ 9.38926719e-03 9.99947849e-01 4.01750425e-03 3.30485280e-01] [ 2.52668064e-02 -4.25364390e-03 9.99671694e-01 -7.49696405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.33, Z:-0.07 [[ 9.99642070e-01 -5.04972668e-03 -2.62722606e-02 1.31477234e+01] [ 4.89950696e-03 9.99971298e-01 -5.77904082e-03 3.34048845e-01] [ 2.63006891e-02 5.64825121e-03 9.99638120e-01 -7.15241650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:0.33, Z:-0.08 [[ 9.99616388e-01 -2.38424666e-04 -2.76951254e-02 1.31746643e+01] [ 2.38139814e-04 9.99999972e-01 -1.35835340e-05 3.27869519e-01] [ 2.76951279e-02 6.98301116e-06 9.99616416e-01 -7.57658754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:0.33, Z:-0.07 [[ 9.99597892e-01 2.47251710e-03 -2.82478631e-02 1.32036055e+01] [-2.51717193e-03 9.99995638e-01 -1.54537123e-03 3.28212043e-01] [ 2.82439189e-02 1.61585455e-03 9.99599755e-01 -7.39511400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.33, Z:-0.07 [[ 9.99659089e-01 9.75447808e-03 -2.42189002e-02 1.32372733e+01] [-1.01392463e-02 9.99823518e-01 -1.58154635e-02 3.33689930e-01] [ 2.40603544e-02 1.60556332e-02 9.99581570e-01 -7.15594969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:13.26, Y:0.32, Z:-0.08 [[ 9.99629391e-01 1.02918885e-02 -2.52023452e-02 1.32588591e+01] [-9.99720698e-03 9.99880509e-01 1.17908389e-02 3.21789510e-01] [ 2.53206837e-02 -1.15345160e-02 9.99612834e-01 -7.92736517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:0.32, Z:-0.08 [[ 9.99588649e-01 1.76585748e-02 -2.25988385e-02 1.32919430e+01] [-1.78627862e-02 9.99801132e-01 -8.86661604e-03 3.22318510e-01] [ 2.24377726e-02 9.26664697e-03 9.99705294e-01 -7.52415359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:0.32, Z:-0.08 [[ 9.99422838e-01 2.08836964e-02 -2.67929425e-02 1.33164754e+01] [-2.08508200e-02 9.99781464e-01 1.50587461e-03 3.15833226e-01] [ 2.68185355e-02 -9.46350653e-04 9.99639870e-01 -7.50288501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:0.31, Z:-0.08 [[ 9.99462175e-01 2.18396185e-02 -2.44620393e-02 1.33487731e+01] [-2.16392257e-02 9.99730329e-01 8.42698968e-03 3.13404361e-01] [ 2.46394848e-02 -7.89311784e-03 9.99665241e-01 -7.54498169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.32, Z:-0.07 [[ 9.99327822e-01 2.59417725e-02 -2.59023072e-02 1.33722662e+01] [-2.59351833e-02 9.99663452e-01 5.90358619e-04 3.19402632e-01] [ 2.59089048e-02 8.18192922e-05 9.99664305e-01 -6.69262964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:0.32, Z:-0.06 [[ 9.99337018e-01 2.51600961e-02 -2.63152835e-02 1.34031777e+01] [-2.54173690e-02 9.99631898e-01 -9.48814337e-03 3.20802971e-01] [ 2.60668742e-02 1.01507182e-02 9.99608664e-01 -6.42541995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:0.31, Z:-0.08 [[ 9.99313275e-01 2.79061612e-02 -2.43767407e-02 1.34292745e+01] [-2.79700967e-02 9.99606147e-01 -2.28573010e-03 3.05154481e-01] [ 2.43033539e-02 2.96598022e-03 9.99700230e-01 -7.57320664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.30, Z:-0.08 [[ 9.99331063e-01 2.83688629e-02 -2.30788738e-02 1.34590183e+01] [-2.86135212e-02 9.99537061e-01 -1.03406564e-02 3.02902869e-01] [ 2.27748370e-02 1.09941070e-02 9.99680167e-01 -7.71244770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:0.29, Z:-0.08 [[ 9.99444906e-01 2.42560588e-02 -2.28368728e-02 1.34939134e+01] [-2.40497302e-02 9.99667815e-01 9.26663694e-03 2.94244850e-01] [ 2.30540588e-02 -8.71227246e-03 9.99696257e-01 -8.14015624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.30, Z:-0.07 [[ 9.99459592e-01 2.26871970e-02 -2.37868854e-02 1.35203478e+01] [-2.25035980e-02 9.99715088e-01 7.95801275e-03 3.00448333e-01] [ 2.39606533e-02 -7.41842166e-03 9.99685378e-01 -7.22011799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:0.31, Z:-0.06 [[ 9.99410008e-01 2.46799913e-02 -2.38858506e-02 1.35412456e+01] [-2.49448152e-02 9.99629913e-01 -1.08533045e-02 3.09618450e-01] [ 2.36091512e-02 1.14427292e-02 9.99655777e-01 -6.15730430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.30, Z:-0.07 [[ 0.99945663 0.02616143 -0.02005073 13.57191526] [-0.02645133 0.99954735 -0.01433223 0.29808076] [ 0.01966671 0.01485481 0.99969623 -0.06894248] [ 0. 0. 0. 1. ]] SLAMing on 16.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.29, Z:-0.08 [[ 9.99435363e-01 2.55698886e-02 -2.17976043e-02 1.36004413e+01] [-2.55839145e-02 9.99672612e-01 -3.64791095e-04 2.87715874e-01] [ 2.17811404e-02 9.22253165e-04 9.99762337e-01 -7.51312775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.29, Z:-0.07 [[ 9.99401500e-01 2.13974140e-02 -2.71807543e-02 1.36267552e+01] [-2.11374954e-02 9.99728407e-01 9.81422411e-03 2.87997824e-01] [ 2.73833712e-02 -9.23381722e-03 9.99582357e-01 -7.21412873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.30, Z:-0.06 [[ 9.99484664e-01 1.77766189e-02 -2.67282403e-02 1.36549806e+01] [-1.77704932e-02 9.99841983e-01 4.66717000e-04 2.96674152e-01] [ 2.67323135e-02 8.49752872e-06 9.99642628e-01 -6.34665704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:0.30, Z:-0.06 [[ 9.99516591e-01 1.53617444e-02 -2.70296197e-02 1.36853184e+01] [-1.54570007e-02 9.99875026e-01 -3.31872987e-03 2.95300683e-01] [ 2.69752603e-02 3.73492242e-03 9.99629124e-01 -6.29341977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.29, Z:-0.07 [[ 9.99502529e-01 1.62837203e-02 -2.70099217e-02 1.37128925e+01] [-1.63878092e-02 9.99859097e-01 -3.63684509e-03 2.86536942e-01] [ 2.69468946e-02 4.07766931e-03 9.99628550e-01 -6.89898501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.29, Z:-0.07 [[ 9.99505233e-01 1.68548210e-02 -2.65556727e-02 1.37423363e+01] [-1.70931267e-02 9.99815417e-01 -8.77250051e-03 2.86664027e-01] [ 2.64029121e-02 9.22207965e-03 9.99608843e-01 -6.82714646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.29, Z:-0.07 [[ 9.99440169e-01 1.58126283e-02 -2.94840526e-02 1.37681930e+01] [-1.55227554e-02 9.99829161e-01 1.00346312e-02 2.85402739e-01] [ 2.96376894e-02 -9.57133972e-03 9.99514881e-01 -6.55075349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990385723 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:13.80, Y:0.29, Z:-0.06 [[ 9.99522493e-01 1.71749708e-02 -2.56866830e-02 1.37990666e+01] [-1.69081428e-02 9.99801184e-01 1.05691755e-02 2.87967770e-01] [ 2.58631014e-02 -1.01298145e-02 9.99614169e-01 -6.37932045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:0.30, Z:-0.06 [[ 0.99955936 0.01753733 -0.0239483 13.82817732] [-0.01796847 0.99967817 -0.01790801 0.30292945] [ 0.02362654 0.01833043 0.99955279 -0.05537378] [ 0. 0. 0. 1. ]] SLAMing on 17.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.29, Z:-0.07 [[ 9.99504151e-01 1.87348699e-02 -2.53072379e-02 1.38612634e+01] [-1.87961399e-02 9.99820949e-01 -2.18532070e-03 2.90080210e-01] [ 2.52617649e-02 2.65991550e-03 9.99677332e-01 -6.51602401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.28, Z:-0.07 [[ 9.99455016e-01 1.92659310e-02 -2.68047393e-02 1.38842797e+01] [-1.89760231e-02 9.99759115e-01 1.10282219e-02 2.77946022e-01] [ 2.70107514e-02 -1.05135644e-02 9.99579854e-01 -6.98801572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:0.29, Z:-0.06 [[ 9.99359065e-01 2.08024622e-02 -2.91327522e-02 1.39129587e+01] [-2.08902662e-02 9.99778094e-01 -2.71278592e-03 2.87261981e-01] [ 2.90698549e-02 3.31963815e-03 9.99571870e-01 -5.86473308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:0.29, Z:-0.05 [[ 9.99322364e-01 1.94708636e-02 -3.12361673e-02 1.39414958e+01] [-1.93491292e-02 9.99803988e-01 4.19480290e-03 2.88332355e-01] [ 3.13117211e-02 -3.58756771e-03 9.99503229e-01 -5.45112257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:0.29, Z:-0.06 [[ 9.99448872e-01 1.98701243e-02 -2.65919363e-02 1.39711866e+01] [-1.97375613e-02 9.99791473e-01 5.23833587e-03 2.85341211e-01] [ 2.66904776e-02 -4.71058890e-03 9.99632647e-01 -5.65126964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:0.27, Z:-0.05 [[ 9.99137775e-01 2.46173311e-02 -3.34319351e-02 1.40024182e+01] [-2.43820640e-02 9.99675126e-01 7.42680174e-03 2.71470971e-01] [ 3.36039020e-02 -6.60525858e-03 9.99413402e-01 -5.02879195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:0.28, Z:-0.06 [[ 9.99508422e-01 1.75829692e-02 -2.59567690e-02 1.40295968e+01] [-1.74563600e-02 9.99834638e-01 5.09627300e-03 2.77152640e-01] [ 2.60420844e-02 -4.64065708e-03 9.99650076e-01 -5.52088301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:0.29, Z:-0.04 [[ 0.99939182 0.01985644 -0.02866536 14.05023159] [-0.02034162 0.99965303 -0.01673437 0.28633688] [ 0.02832312 0.01730729 0.99944898 -0.04397332] [ 0. 0. 0. 1. ]] SLAMing on 17.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.28, Z:-0.05 [[ 9.99338067e-01 2.18597033e-02 -2.90788740e-02 1.40786864e+01] [-2.18293865e-02 9.99760786e-01 1.35965732e-03 2.78038827e-01] [ 2.91016396e-02 -7.23983343e-04 9.99576195e-01 -4.83379283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:0.28, Z:-0.04 [[ 0.99933517 0.0227425 -0.02849567 14.10769579] [-0.02322471 0.99959066 -0.01670699 0.28376704] [ 0.02810404 0.01735768 0.99945429 -0.04455407] [ 0. 0. 0. 1. ]] SLAMing on 17.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.27, Z:-0.06 [[ 0.99927324 0.02135336 -0.03157574 14.13635445] [-0.02086726 0.99965984 0.01564506 0.26604429] [ 0.03189907 -0.01497479 0.99937891 -0.05531572] [ 0. 0. 0. 1. ]] SLAMing on 17.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:0.27, Z:-0.05 [[ 9.99316123e-01 2.26513994e-02 -2.92266927e-02 1.41622053e+01] [-2.26741071e-02 9.99742810e-01 -4.45727776e-04 2.69833190e-01] [ 2.92090795e-02 1.10811211e-03 9.99572710e-01 -4.95483578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:0.27, Z:-0.05 [[ 9.99351998e-01 2.08359965e-02 -2.93503786e-02 1.41929465e+01] [-2.10925955e-02 9.99741730e-01 -8.46027469e-03 2.73574048e-01] [ 2.91665200e-02 9.07386808e-03 9.99533381e-01 -4.57510914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:0.27, Z:-0.04 [[ 9.99340809e-01 2.06075400e-02 -2.98877346e-02 1.42171571e+01] [-2.05164281e-02 9.99783897e-01 3.35196793e-03 2.70429146e-01] [ 2.99503516e-02 -2.73656879e-03 9.99547642e-01 -4.48849837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.27, Z:-0.04 [[ 9.99375613e-01 1.94950870e-02 -2.94673606e-02 1.42449260e+01] [-1.95466570e-02 9.99807875e-01 -1.46300048e-03 2.71160522e-01] [ 2.94331778e-02 2.03807539e-03 9.99564672e-01 -4.37098483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:0.27, Z:-0.04 [[ 9.99391405e-01 1.76552246e-02 -3.00850756e-02 1.42728925e+01] [-1.76997341e-02 9.99842611e-01 -1.21376714e-03 2.66369826e-01] [ 3.00589112e-02 1.74552629e-03 9.99546605e-01 -4.47160236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:0.26, Z:-0.04 [[ 9.99367305e-01 1.81704788e-02 -3.05748943e-02 1.43031012e+01] [-1.82898698e-02 9.99826138e-01 -3.62971814e-03 2.63457939e-01] [ 3.05036248e-02 4.18663247e-03 9.99525888e-01 -4.40001190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:0.26, Z:-0.04 [[ 9.99386674e-01 1.68273728e-02 -3.07101914e-02 1.43291853e+01] [-1.67754760e-02 9.99857387e-01 1.94677678e-03 2.62341550e-01] [ 3.07385708e-02 -1.43040469e-03 9.99526435e-01 -4.46275643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:0.26, Z:-0.04 [[ 9.99292423e-01 1.25229739e-02 -3.54658831e-02 1.43587436e+01] [-1.23303053e-02 9.99908039e-01 5.64603365e-03 2.64098140e-01] [ 3.55333268e-02 -5.20473348e-03 9.99354939e-01 -4.00937226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:0.26, Z:-0.04 [[ 9.99360497e-01 2.10360102e-02 -2.89151143e-02 1.43888511e+01] [-2.11390569e-02 9.99771221e-01 -3.26268203e-03 2.61709068e-01] [ 2.88398654e-02 3.87183379e-03 9.99576546e-01 -3.91232368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:0.26, Z:-0.04 [[ 9.99302424e-01 2.23330482e-02 -2.99315834e-02 1.44169064e+01] [-2.23883207e-02 9.99748206e-01 -1.51272637e-03 2.56920560e-01] [ 2.98902630e-02 2.18178902e-03 9.99550805e-01 -3.99310863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.45, Y:0.25, Z:-0.04 [[ 9.99449581e-01 2.30661363e-02 -2.38429958e-02 1.44492898e+01] [-2.31760656e-02 9.99721959e-01 -4.34450896e-03 2.51868933e-01] [ 2.37361554e-02 4.89470449e-03 9.99706275e-01 -4.34990605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.48, Y:0.25, Z:-0.04 [[ 9.99390291e-01 2.09381482e-02 -2.79399310e-02 1.44771138e+01] [-2.11917386e-02 9.99736602e-01 -8.81121353e-03 2.54534101e-01] [ 2.77480811e-02 9.39793697e-03 9.99570769e-01 -4.09673785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.25, Z:-0.04 [[ 9.99422204e-01 1.67251669e-02 -2.95892963e-02 1.45057087e+01] [-1.66190696e-02 9.99854566e-01 3.82798094e-03 2.50194581e-01] [ 2.96490166e-02 -3.33402257e-03 9.99554811e-01 -4.16297408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.25, Z:-0.04 [[ 9.99446097e-01 1.48120145e-02 -2.98010754e-02 1.45352761e+01] [-1.48694196e-02 9.99887989e-01 -1.70557456e-03 2.51762576e-01] [ 2.97724743e-02 2.14775453e-03 9.99554394e-01 -3.92355548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.23, Z:-0.04 [[ 9.99223732e-01 1.36425849e-02 -3.69569045e-02 1.45668927e+01] [-1.29133224e-02 9.99718576e-01 1.99001320e-02 2.34992515e-01] [ 3.72179932e-02 -1.94074478e-02 9.99118698e-01 -3.83919384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.26, Z:-0.03 [[ 9.99593463e-01 1.09932009e-02 -2.63070162e-02 1.45979611e+01] [-1.20295041e-02 9.99144616e-01 -3.95642066e-02 2.61393061e-01] [ 2.58495764e-02 3.98645826e-02 9.98870670e-01 -3.12614496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.23, Z:-0.04 [[ 9.99378700e-01 5.30054025e-03 -3.48441942e-02 1.46222914e+01] [-4.21306750e-03 9.99503993e-01 3.12092517e-02 2.33575416e-01] [ 3.49923371e-02 -3.10430605e-02 9.98905333e-01 -4.43332459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.24, Z:-0.04 [[ 9.99342643e-01 2.84999518e-03 -3.61408307e-02 1.46609041e+01] [-1.93179349e-03 9.99675102e-01 2.54157304e-02 2.35292235e-01] [ 3.62015233e-02 -2.53292066e-02 9.99023464e-01 -3.57968131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.26, Z:-0.02 [[ 9.99371655e-01 -3.59519204e-03 -3.52614621e-02 1.46791388e+01] [ 2.64929958e-03 9.99636359e-01 -2.68352392e-02 2.60699798e-01] [ 3.53451175e-02 2.67249592e-02 9.99017767e-01 -2.26743159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.25, Z:-0.03 [[ 9.99370592e-01 -2.69736406e-03 -3.53715084e-02 1.47088429e+01] [ 2.67374778e-03 9.99996170e-01 -7.14949089e-04 2.48449146e-01] [ 3.53733014e-02 6.19924602e-04 9.99373977e-01 -3.13741618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.24, Z:-0.03 [[ 9.99416239e-01 -7.69475421e-03 -3.32862166e-02 1.47389149e+01] [ 7.70303677e-03 9.99970324e-01 1.20595641e-04 2.43363538e-01] [ 3.32843009e-02 -3.76930193e-04 9.99445853e-01 -3.28164768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:0.25, Z:-0.03 [[ 9.99348376e-01 -5.21584771e-03 -3.57157959e-02 1.47608535e+01] [ 4.54443779e-03 9.99811917e-01 -1.88541276e-02 2.52281225e-01] [ 3.58074187e-02 1.86795335e-02 9.99184119e-01 -2.58470961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.24, Z:-0.04 [[ 9.99539824e-01 -9.08117139e-03 -2.89425741e-02 1.48048231e+01] [ 9.72893738e-03 9.99703552e-01 2.23194060e-02 2.36415890e-01] [ 2.87313078e-02 -2.25907156e-02 9.99331863e-01 -3.74798339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.26, Z:-0.02 [[ 9.99401612e-01 -1.25308964e-02 -3.22396528e-02 1.48249427e+01] [ 1.22271576e-02 9.99879149e-01 -9.60125321e-03 2.55790125e-01] [ 3.23560689e-02 9.20130862e-03 9.99434050e-01 -2.14601178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.25, Z:-0.03 [[ 9.99321773e-01 -1.47046462e-02 -3.37604276e-02 1.48506917e+01] [ 1.49710311e-02 9.99858653e-01 7.65125472e-03 2.48688099e-01] [ 3.36431467e-02 -8.15149385e-03 9.99400666e-01 -2.65176425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.24, Z:-0.02 [[ 9.99244090e-01 -1.35224975e-02 -3.64470808e-02 1.48824586e+01] [ 1.38118258e-02 9.99874977e-01 7.69824211e-03 2.42190227e-01] [ 3.63384246e-02 -8.19582366e-03 9.99305933e-01 -2.44317349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.26, Z:-0.03 [[ 9.99451868e-01 -1.45367432e-02 -2.97430232e-02 1.49131766e+01] [ 1.38532706e-02 9.99638149e-01 -2.30577061e-02 2.55765365e-01] [ 3.00674446e-02 2.26330293e-02 9.99291596e-01 -2.51495792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.24, Z:-0.03 [[ 9.99211275e-01 -1.41585489e-02 -3.70993696e-02 1.49382761e+01] [ 1.50338604e-02 9.99612623e-01 2.34219250e-02 2.36566740e-01] [ 3.67533777e-02 -2.39611983e-02 9.99037061e-01 -2.92581642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.97, Y:0.26, Z:-0.02 [[ 9.99251387e-01 -1.16467541e-02 -3.68919834e-02 1.49658476e+01] [ 1.16545258e-02 9.99932084e-01 -4.39164312e-06 2.57894533e-01] [ 3.68895289e-02 -4.25570216e-04 9.99319259e-01 -1.51082605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.27, Z:-0.01 [[ 9.99338369e-01 -1.13201051e-02 -3.45641366e-02 1.49896761e+01] [ 1.11920316e-02 9.99929775e-01 -3.89662570e-03 2.66207776e-01] [ 3.46058196e-02 3.50720466e-03 9.99394885e-01 -1.42027070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.03, Y:0.27, Z:-0.01 [[ 9.99599569e-01 -2.40909294e-03 -2.81939350e-02 1.50259974e+01] [ 1.58699614e-03 9.99573941e-01 -2.91447741e-02 2.73461819e-01] [ 2.82521352e-02 2.90883599e-02 9.99177504e-01 -1.44668757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.25, Z:-0.03 [[ 9.99356616e-01 -2.63049905e-03 -3.57691769e-02 1.50475994e+01] [ 3.54281549e-03 9.99669405e-01 2.54662467e-02 2.52788062e-01] [ 3.56903628e-02 -2.55765857e-02 9.99035553e-01 -2.72154948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.26, Z:-0.02 [[ 9.99227452e-01 1.99967871e-03 -3.92492163e-02 1.50784073e+01] [-1.72116247e-03 9.99973110e-01 7.12860465e-03 2.64253006e-01] [ 3.92624158e-02 -7.05554318e-03 9.99204024e-01 -1.56459830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.27, Z:-0.01 [[ 9.99236463e-01 3.01034864e-03 -3.89541938e-02 1.51057496e+01] [-3.01421373e-03 9.99995456e-01 -4.04913626e-05 2.71131977e-01] [ 3.89538949e-02 1.57876712e-04 9.99240997e-01 -1.12469362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:0.29, Z:-0.01 [[ 9.99130001e-01 6.55145152e-03 -4.11864108e-02 1.51212320e+01] [-7.08931808e-03 9.99891313e-01 -1.29268588e-02 2.85124526e-01] [ 4.10972446e-02 1.32075960e-02 9.99067853e-01 -7.07049402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.27, Z:-0.02 [[ 9.99205195e-01 1.13745138e-02 -3.82047053e-02 1.51573387e+01] [-1.09122369e-02 9.99864970e-01 1.22868142e-02 2.74643596e-01] [ 3.83393031e-02 -1.18601498e-02 9.99194393e-01 -1.81056455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.19, Y:0.28, Z:-0.01 [[ 9.99188915e-01 1.37864629e-02 -3.78344578e-02 1.51855142e+01] [-1.39959940e-02 9.99888117e-01 -5.27882904e-03 2.83941032e-01] [ 3.77574484e-02 5.80407831e-03 9.99270077e-01 -1.23041752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.29, Z:-0.01 [[ 9.99069695e-01 1.72864944e-02 -3.95085095e-02 1.52148285e+01] [-1.73765043e-02 9.99847143e-01 -1.93595752e-03 2.89468535e-01] [ 3.94690044e-02 2.62067628e-03 9.99217359e-01 -1.23747476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.29, Z:-0.01 [[ 9.99036241e-01 1.85112240e-02 -3.97985311e-02 1.52436851e+01] [-1.85802723e-02 9.99826439e-01 -1.36573494e-03 2.93119099e-01] [ 3.97663422e-02 2.10388625e-03 9.99206791e-01 -1.05638995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.30, Z:-0.01 [[ 9.99012496e-01 1.66882290e-02 -4.11768829e-02 1.52700357e+01] [-1.64201461e-02 9.99841783e-01 6.84018562e-03 2.97667588e-01] [ 4.12845186e-02 -6.15730047e-03 9.99128458e-01 -8.69497671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.30, Z:-0.00 [[ 9.99123856e-01 1.57494930e-02 -3.87746622e-02 1.52988782e+01] [-1.59681571e-02 9.99858262e-01 -5.33611322e-03 3.04195400e-01] [ 3.86851252e-02 5.95059791e-03 9.99233732e-01 -4.69725081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.30, Z:-0.01 [[ 9.99142468e-01 1.26024162e-02 -3.94399223e-02 1.53253245e+01] [-1.23914656e-02 9.99907606e-01 5.58855952e-03 2.99860059e-01] [ 3.95067076e-02 -5.09504871e-03 9.99206315e-01 -9.47215395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.30, Z:-0.01 [[ 9.99194763e-01 1.03482249e-02 -3.87651988e-02 1.53530029e+01] [-1.04733757e-02 9.99940572e-01 -3.02674296e-03 3.04711345e-01] [ 3.87315737e-02 3.43030821e-03 9.99243763e-01 -6.75972169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:15.38, Y:0.31, Z:-0.01 [[ 9.99230113e-01 7.72373250e-03 -3.84645959e-02 1.53799716e+01] [-7.65041393e-03 9.99968628e-01 2.05295837e-03 3.06754547e-01] [ 3.84792457e-02 -1.75710774e-03 9.99257855e-01 -6.73008696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700385722999997 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:15.41, Y:0.31, Z:-0.00 [[ 9.99172132e-01 4.92642320e-03 -4.03829181e-02 1.54075988e+01] [-5.11763672e-03 9.99976172e-01 -4.63300307e-03 3.14157618e-01] [ 4.03591317e-02 4.83583266e-03 9.99173536e-01 -1.26011191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:0.32, Z:0.00 [[ 9.99198193e-01 -1.96977849e-03 -3.99886319e-02 1.54381699e+01] [ 1.62452415e-03 9.99961143e-01 -8.66447132e-03 3.24750360e-01] [ 4.00041452e-02 8.59256159e-03 9.99162567e-01 1.28522090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:0.32, Z:-0.00 [[ 9.99307716e-01 -2.24052138e-03 -3.71358218e-02 1.54739771e+01] [ 1.91713654e-03 9.99959955e-01 -8.74148747e-03 3.22992523e-01] [ 3.71539202e-02 8.66424143e-03 9.99271994e-01 -1.37385483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:0.32, Z:-0.00 [[ 9.99139331e-01 -1.24956587e-02 -3.95532098e-02 1.54925741e+01] [ 1.30810086e-02 9.99808210e-01 1.45749999e-02 3.17629206e-01] [ 3.93634997e-02 -1.50798515e-02 9.99111161e-01 -4.69965668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:0.32, Z:0.00 [[ 9.99111259e-01 -1.50844041e-02 -3.93592737e-02 1.55236513e+01] [ 1.52964481e-02 9.99870038e-01 5.09180570e-03 3.18897593e-01] [ 3.92773516e-02 -5.68933749e-03 9.99212150e-01 2.15745251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.33, Z:0.00 [[ 9.99071244e-01 -2.43446850e-02 -3.55525884e-02 1.55478495e+01] [ 2.40463581e-02 9.99672158e-01 -8.79482893e-03 3.27997506e-01] [ 3.57550401e-02 7.93175040e-03 9.99329107e-01 4.71730804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.32, Z:0.00 [[ 9.98978907e-01 -2.49779254e-02 -3.76463483e-02 1.55792236e+01] [ 2.53066364e-02 9.99645442e-01 8.28039509e-03 3.16823286e-01] [ 3.74261734e-02 -9.22464248e-03 9.99256818e-01 8.41178800e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:0.33, Z:0.01 [[ 9.98936550e-01 -3.00686226e-02 -3.49520541e-02 1.56103535e+01] [ 2.94919167e-02 9.99422140e-01 -1.69001112e-02 3.29591196e-01] [ 3.54400197e-02 1.58513357e-02 9.99246086e-01 7.58682019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:0.32, Z:0.00 [[ 9.98634386e-01 -3.42098125e-02 -3.94848408e-02 1.56361144e+01] [ 3.46745443e-02 9.99336507e-01 1.11454853e-02 3.20819900e-01] [ 3.90773579e-02 -1.24993837e-02 9.99158008e-01 9.77266234e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.33, Z:0.01 [[ 9.98641799e-01 -3.40896813e-02 -3.94011477e-02 1.56643373e+01] [ 3.39885244e-02 9.99416989e-01 -3.23456306e-03 3.27328242e-01] [ 3.94884416e-02 1.89098300e-03 9.99218238e-01 7.53213955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:0.32, Z:0.01 [[ 9.98653474e-01 -3.07073091e-02 -4.18126788e-02 1.56954638e+01] [ 3.11017249e-02 9.99477351e-01 8.81516584e-03 3.17987177e-01] [ 4.15201355e-02 -1.01037424e-02 9.99086579e-01 6.03525750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.33, Z:0.01 [[ 9.98717567e-01 -3.03110963e-02 -4.05519208e-02 1.57191356e+01] [ 2.99603686e-02 9.99508481e-01 -9.22894431e-03 3.28354172e-01] [ 4.08117282e-02 8.00215831e-03 9.99134810e-01 9.01165019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.33, Z:0.01 [[ 9.98771021e-01 -2.80005978e-02 -4.08951689e-02 1.57467244e+01] [ 2.78706315e-02 9.99604524e-01 -3.74482400e-03 3.25357958e-01] [ 4.09838531e-02 2.60044751e-03 9.99156425e-01 5.89226592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.32, Z:0.00 [[ 9.98785868e-01 -2.49501684e-02 -4.24768018e-02 1.57758366e+01] [ 2.50237663e-02 9.99686134e-01 1.20175543e-03 3.22965978e-01] [ 4.24334858e-02 -2.26322590e-03 9.99096731e-01 4.79735079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.33, Z:0.01 [[ 9.99124025e-01 -1.80410663e-02 -3.77584818e-02 1.58115015e+01] [ 1.74004277e-02 9.99700180e-01 -1.72271727e-02 3.29197752e-01] [ 3.80579576e-02 1.65550684e-02 9.99138390e-01 1.13317433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:0.32, Z:0.00 [[ 9.99006227e-01 -1.70459784e-02 -4.11824292e-02 1.58355859e+01] [ 1.77783875e-02 9.99689068e-01 1.74841938e-02 3.15570828e-01] [ 4.08715890e-02 -1.81989757e-02 9.98998654e-01 2.97372009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.32, Z:0.01 [[ 9.99109365e-01 -1.56307116e-02 -3.91938521e-02 1.58623174e+01] [ 1.55127077e-02 9.99874182e-01 -3.31310654e-03 3.24810116e-01] [ 3.92407070e-02 2.70215300e-03 9.99226133e-01 1.16190329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:0.32, Z:0.01 [[ 9.99352724e-01 -6.65474351e-03 -3.53531711e-02 1.58965911e+01] [ 6.28572359e-03 9.99924707e-01 -1.05390110e-02 3.21151812e-01] [ 3.54206436e-02 1.03099691e-02 9.99319310e-01 9.63791979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.31, Z:0.01 [[ 9.99100731e-01 -4.52360341e-03 -4.21576264e-02 1.59199991e+01] [ 5.48911750e-03 9.99724636e-01 2.28149358e-02 3.05312077e-01] [ 4.20428120e-02 -2.30258272e-02 9.98850446e-01 5.17789159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.33, Z:0.02 [[ 9.99176843e-01 -3.69039387e-04 -4.05647727e-02 1.59446399e+01] [-1.72002325e-04 9.99911091e-01 -1.33334241e-02 3.27865639e-01] [ 4.05660866e-02 1.33294258e-02 9.99087944e-01 1.92114258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.32, Z:0.02 [[ 9.99127705e-01 3.30843131e-03 -4.16279091e-02 1.59722672e+01] [-3.31136660e-03 9.99994517e-01 -1.56000105e-06 3.24450698e-01] [ 4.16276757e-02 1.39403908e-04 9.99133183e-01 1.65184215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.32, Z:0.02 [[ 9.99117520e-01 8.82035932e-03 -4.10655861e-02 1.59992181e+01] [-8.82837163e-03 9.99961029e-01 -1.37629132e-05 3.24295784e-01] [ 4.10638644e-02 3.76293023e-04 9.99156453e-01 1.89954226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.32, Z:0.02 [[ 9.99105973e-01 1.15376920e-02 -4.06710713e-02 1.60268613e+01] [-1.16074942e-02 9.99931535e-01 -1.48053142e-03 3.21878719e-01] [ 4.06512048e-02 1.95129701e-03 9.99171493e-01 1.84198824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.31, Z:0.01 [[ 9.99042819e-01 1.53500400e-02 -4.09612194e-02 1.60562404e+01] [-1.53873862e-02 9.99881429e-01 -5.96605192e-04 3.13665478e-01] [ 4.09472047e-02 1.22632023e-03 9.99160559e-01 1.48965655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:0.31, Z:0.02 [[ 9.98983736e-01 1.62718746e-02 -4.20323829e-02 1.60843016e+01] [-1.62973505e-02 9.99867155e-01 -2.63489098e-04 3.12656319e-01] [ 4.20225117e-02 9.48237799e-04 9.99116214e-01 1.62412052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.32, Z:0.02 [[ 9.98886531e-01 1.55549383e-02 -4.45392169e-02 1.61103728e+01] [-1.51988866e-02 9.99849861e-01 8.32165098e-03 3.15531796e-01] [ 4.46619725e-02 -7.63543857e-03 9.98972977e-01 2.16506746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.32, Z:0.03 [[ 9.98896271e-01 1.48512465e-02 -4.45609742e-02 1.61379077e+01] [-1.47461006e-02 9.99887659e-01 2.68740062e-03 3.21169755e-01] [ 4.45958794e-02 -2.02733385e-03 9.99003052e-01 2.87779356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.32, Z:0.03 [[ 9.98993403e-01 1.61142361e-02 -4.18630147e-02 1.61711339e+01] [-1.61220395e-02 9.99870020e-01 1.51217409e-04 3.15017071e-01] [ 4.18600101e-02 5.23851985e-04 9.99123348e-01 3.14120832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.31, Z:0.03 [[ 9.99244319e-01 1.20057285e-02 -3.69682708e-02 1.61987669e+01] [-1.24628584e-02 9.99848395e-01 -1.21599443e-02 3.12135022e-01] [ 3.68166772e-02 1.26114856e-02 9.99242454e-01 2.81584394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:0.31, Z:0.02 [[ 9.99234833e-01 8.50193598e-03 -3.81767587e-02 1.62260024e+01] [-8.48707217e-03 9.99963832e-01 5.51391607e-04 3.05005830e-01] [ 3.81800658e-02 -2.26960795e-04 9.99270850e-01 2.47358692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.30, Z:0.03 [[ 9.99066931e-01 8.40017127e-04 -4.31805673e-02 1.62552661e+01] [-3.74812160e-04 9.99941819e-01 1.07804470e-02 3.03637883e-01] [ 4.31871108e-02 -1.07542035e-02 9.99009119e-01 2.98284225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:0.31, Z:0.04 [[ 9.99011692e-01 -4.01277593e-03 -4.42666508e-02 1.62828377e+01] [ 4.00898614e-03 9.99991949e-01 -1.74388619e-04 3.11606166e-01] [ 4.42669942e-02 -3.24812026e-06 9.99019736e-01 3.72269969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:0.31, Z:0.04 [[ 9.98969288e-01 -1.12220037e-02 -4.39821451e-02 1.63091161e+01] [ 1.11002891e-02 9.99933858e-01 -3.01062271e-03 3.12537371e-01] [ 4.40130213e-02 2.51930509e-03 9.99027781e-01 3.68122502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:0.30, Z:0.04 [[ 9.98964271e-01 -1.26967238e-02 -4.36941379e-02 1.63386732e+01] [ 1.28099834e-02 9.99915273e-01 2.31307375e-03 3.03997081e-01] [ 4.36610673e-02 -2.87039921e-03 9.99042277e-01 3.54329522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:0.31, Z:0.04 [[ 9.99097159e-01 -1.54045311e-02 -3.95925167e-02 1.63648099e+01] [ 1.49134571e-02 9.99808527e-01 -1.26687806e-02 3.08458120e-01] [ 3.97800924e-02 1.20668814e-02 9.99135594e-01 3.59992084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:0.30, Z:0.03 [[ 9.99076293e-01 -2.03849207e-02 -3.78287775e-02 1.63925193e+01] [ 2.03445739e-02 9.99791974e-01 -1.45123974e-03 3.04739754e-01] [ 3.78504916e-02 6.80288861e-04 9.99283182e-01 3.47199164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:0.30, Z:0.04 [[ 9.98758328e-01 -2.56664122e-02 -4.26970401e-02 1.64215711e+01] [ 2.62356955e-02 9.99573493e-01 1.28265116e-02 3.02959871e-01] [ 4.23496190e-02 -1.39307719e-02 9.99005727e-01 3.89911747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:0.32, Z:0.05 [[ 9.98732344e-01 -3.00094743e-02 -4.04120754e-02 1.64479346e+01] [ 2.95163542e-02 9.99483050e-01 -1.27442910e-02 3.16344265e-01] [ 4.07736339e-02 1.15353185e-02 9.99101820e-01 4.51498841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:0.31, Z:0.04 [[ 9.98730896e-01 -2.97087113e-02 -4.06692839e-02 1.64766483e+01] [ 2.97061241e-02 9.99558452e-01 -6.68062035e-04 3.10875350e-01] [ 4.06711738e-02 -5.40912600e-04 9.99172439e-01 4.12267288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:0.30, Z:0.04 [[ 9.98370675e-01 -3.50616805e-02 -4.50186055e-02 1.65060717e+01] [ 3.56417097e-02 9.99290813e-01 1.21465882e-02 2.98475703e-01] [ 4.45607991e-02 -1.37313375e-02 9.98912301e-01 3.90186001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.30, Z:0.04 [[ 9.98303143e-01 -3.71180305e-02 -4.48674318e-02 1.65341198e+01] [ 3.71443545e-02 9.99309880e-01 -2.47144408e-04 3.02100359e-01] [ 4.48456414e-02 -1.41984675e-03 9.98992919e-01 4.48818701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.31, Z:0.05 [[ 9.98406509e-01 -3.91623740e-02 -4.06294328e-02 1.65610880e+01] [ 3.86266172e-02 9.99157185e-01 -1.38889777e-02 3.13242092e-01] [ 4.11391150e-02 1.22974682e-02 9.99077747e-01 4.90821748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.30, Z:0.05 [[ 9.98279227e-01 -3.84294935e-02 -4.42917393e-02 1.65905538e+01] [ 3.90490320e-02 9.99149999e-01 1.32080865e-02 3.03813131e-01] [ 4.37465112e-02 -1.49149079e-02 9.98931323e-01 4.68009505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:0.31, Z:0.05 [[ 9.98284769e-01 -3.80655143e-02 -4.44807370e-02 1.66177476e+01] [ 3.80910910e-02 9.99274234e-01 -2.72738047e-04 3.13702761e-01] [ 4.44588363e-02 -1.42204956e-03 9.99010205e-01 5.34105393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.31, Z:0.05 [[ 9.98300384e-01 -3.74430227e-02 -4.46582983e-02 1.66457478e+01] [ 3.74676406e-02 9.99297801e-01 -2.85955256e-04 3.13410619e-01] [ 4.46376463e-02 -1.38777183e-03 9.99002280e-01 5.23907337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050385722999998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:16.67, Y:0.32, Z:0.06 [[ 9.98341038e-01 -3.43365209e-02 -4.62187780e-02 1.66721464e+01] [ 3.40182534e-02 9.99391892e-01 -7.65537647e-03 3.15782004e-01] [ 4.64535310e-02 6.07039439e-03 9.98902007e-01 5.52877755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:0.31, Z:0.05 [[ 9.98434879e-01 -3.41179908e-02 -4.43142720e-02 1.67025858e+01] [ 3.44401794e-02 9.99385445e-01 6.52731074e-03 3.11132692e-01] [ 4.40643397e-02 -8.04328619e-03 9.98996316e-01 5.04825043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:0.32, Z:0.05 [[ 9.98462476e-01 -3.29832432e-02 -4.45509876e-02 1.67293825e+01] [ 3.30020067e-02 9.99455236e-01 -3.14465307e-04 3.16990510e-01] [ 4.45370899e-02 -1.15629018e-03 9.99007062e-01 5.49666625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:0.33, Z:0.06 [[ 9.98680409e-01 -2.78856195e-02 -4.31257791e-02 1.67559059e+01] [ 2.72209500e-02 9.99502605e-01 -1.59236505e-02 3.30930750e-01] [ 4.35483694e-02 1.47287131e-02 9.98942743e-01 5.80031919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.33, Z:0.06 [[ 9.98546840e-01 -1.98858989e-02 -5.00875233e-02 1.67768740e+01] [ 2.01325133e-02 9.99787533e-01 4.42392993e-03 3.26801944e-01] [ 4.99889075e-02 -5.42588898e-03 9.98735034e-01 5.65473978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.33, Z:0.06 [[ 9.98569147e-01 -1.65193096e-02 -5.08603092e-02 1.68052421e+01] [ 1.63619285e-02 9.99859977e-01 -3.50920971e-03 3.32565761e-01] [ 5.09111573e-02 2.67201580e-03 9.98699612e-01 6.15474595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:0.33, Z:0.06 [[ 9.98817139e-01 -1.43062437e-02 -4.64720858e-02 1.68392824e+01] [ 1.48658097e-02 9.99820836e-01 1.17176772e-02 3.29472526e-01] [ 4.62961237e-02 -1.23946620e-02 9.98850860e-01 5.62201790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.34, Z:0.06 [[ 9.98941148e-01 -1.19255531e-02 -4.44338112e-02 1.68671332e+01] [ 1.19178472e-02 9.99928884e-01 -4.38337123e-04 3.36485256e-01] [ 4.44358786e-02 -9.16823845e-05 9.99012234e-01 6.26133934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.34, Z:0.06 [[ 9.99098140e-01 -8.32644188e-03 -4.16362402e-02 1.68940230e+01] [ 8.31612258e-03 9.99965332e-01 -4.21042170e-04 3.37178159e-01] [ 4.16383025e-02 7.44103715e-05 9.99132747e-01 6.33744013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.34, Z:0.07 [[ 9.99121391e-01 -7.76517594e-03 -4.11843232e-02 1.69213522e+01] [ 7.75428349e-03 9.99969845e-01 -4.24221331e-04 3.37726090e-01] [ 4.11863755e-02 1.04493688e-04 9.99151476e-01 6.50254613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350385723 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:16.95, Y:0.34, Z:0.07 [[ 9.99139603e-01 -5.03617387e-03 -4.11666273e-02 1.69486565e+01] [ 5.08243993e-03 9.99986565e-01 1.01929185e-03 3.39791157e-01] [ 4.11609409e-02 -1.22764176e-03 9.99151775e-01 6.88383053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.34, Z:0.08 [[ 9.98985086e-01 -6.24901883e-03 -4.46065900e-02 1.69777179e+01] [ 5.86916460e-03 9.99945437e-01 -8.64154748e-03 3.44591507e-01] [ 4.46581574e-02 8.37097363e-03 9.98967255e-01 7.58571355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.34, Z:0.07 [[ 9.99188650e-01 -4.72354815e-03 -3.99966137e-02 1.70073590e+01] [ 4.24706954e-03 9.99919103e-01 -1.19895737e-02 3.43847885e-01] [ 4.00500114e-02 1.18099775e-02 9.99127880e-01 6.83680545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440385723 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:17.03, Y:0.33, Z:0.07 [[ 9.98892430e-01 -3.88497131e-03 -4.68915736e-02 1.70327283e+01] [ 4.31811392e-03 9.99948912e-01 9.13934939e-03 3.33593084e-01] [ 4.68536719e-02 -9.33171009e-03 9.98858174e-01 6.59632868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470385723 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:17.06, Y:0.34, Z:0.07 [[ 9.98913828e-01 -3.83240803e-03 -4.64378767e-02 1.70625905e+01] [ 3.91640603e-03 9.99990855e-01 1.71797597e-03 3.36985773e-01] [ 4.64308680e-02 -1.89797953e-03 9.98919703e-01 7.04503137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:0.34, Z:0.07 [[ 9.98917596e-01 -2.43953430e-03 -4.64508881e-02 1.70908761e+01] [ 2.46597831e-03 9.99996828e-01 5.11993653e-04 3.37916319e-01] [ 4.64494918e-02 -6.25986352e-04 9.98920444e-01 7.34118366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.34, Z:0.07 [[ 9.98994417e-01 -1.15297209e-03 -4.48199270e-02 1.71182778e+01] [ 1.29709817e-03 9.99994081e-01 3.18672007e-03 3.37355962e-01] [ 4.48159875e-02 -3.24165140e-03 9.98989999e-01 7.37133101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:0.36, Z:0.08 [[ 9.99578870e-01 6.08034433e-03 -2.83745046e-02 1.71524281e+01] [-7.77295758e-03 9.98172385e-01 -5.99288823e-02 3.59957783e-01] [ 2.79582587e-02 6.01241983e-02 9.97799287e-01 8.22207129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:0.31, Z:0.05 [[ 9.98873877e-01 1.06235305e-02 -4.62398036e-02 1.71771661e+01] [-7.84141781e-03 9.98171309e-01 5.99378831e-02 3.07619481e-01] [ 4.67919972e-02 -5.95078000e-02 9.97130548e-01 5.11388356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.34, Z:0.08 [[ 9.98876222e-01 1.04649922e-02 -4.62252782e-02 1.72023879e+01] [-1.05010579e-02 9.99944718e-01 -5.37442798e-04 3.36790780e-01] [ 4.62170985e-02 1.02225316e-03 9.98930896e-01 7.87862035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.34, Z:0.08 [[ 9.98883439e-01 1.29052915e-02 -4.54458859e-02 1.72289870e+01] [-1.29429131e-02 9.99916095e-01 -5.33663789e-04 3.37985166e-01] [ 4.54351857e-02 1.12127007e-03 9.98966659e-01 8.18168033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.34, Z:0.08 [[ 9.98915962e-01 1.32776807e-02 -4.46161845e-02 1.72561074e+01] [-1.33145337e-02 9.99911218e-01 -5.28919813e-04 3.37573343e-01] [ 4.46052005e-02 1.12239014e-03 9.99004062e-01 8.36891917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710385722999998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:17.29, Y:0.33, Z:0.08 [[ 9.99088489e-01 1.00724186e-02 -4.14817733e-02 1.72886276e+01] [-9.87759665e-03 9.99939215e-01 4.89885605e-03 3.32650342e-01] [ 4.15285952e-02 -4.48465046e-03 9.99127251e-01 8.23294160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740385723 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:17.31, Y:0.34, Z:0.10 [[ 9.98569990e-01 1.57060545e-02 -5.11008227e-02 1.73076029e+01] [-1.73151724e-02 9.99363161e-01 -3.12002655e-02 3.38101299e-01] [ 5.05782466e-02 3.20404684e-02 9.98206015e-01 1.04684382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770385722999997 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:17.34, Y:0.32, Z:0.08 [[ 9.98733184e-01 1.31276309e-02 -4.85766604e-02 1.73437356e+01] [-1.24045031e-02 9.99808164e-01 1.51579715e-02 3.17115627e-01] [ 4.87663299e-02 -1.45361998e-02 9.98704433e-01 8.47512479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:0.33, Z:0.09 [[ 9.99073076e-01 6.19878821e-03 -4.25976927e-02 1.73787517e+01] [-7.00231974e-03 9.99799870e-01 -1.87400168e-02 3.30212169e-01] [ 4.24730022e-02 1.90209289e-02 9.98916537e-01 9.09977150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.31, Z:0.09 [[ 9.98506527e-01 1.96892188e-03 -5.45970504e-02 1.74023520e+01] [-1.84431113e-04 9.99466158e-01 3.26705399e-02 3.08436621e-01] [ 5.46322299e-02 -3.26116780e-02 9.97973846e-01 8.67384781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860385722999997 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:17.43, Y:0.32, Z:0.11 [[ 9.98424435e-01 -3.12849644e-03 -5.60255228e-02 1.74276559e+01] [ 2.78109537e-03 9.99976428e-01 -6.27765895e-03 3.21260086e-01] [ 5.60438418e-02 6.11195577e-03 9.98409601e-01 1.05285213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.31, Z:0.10 [[ 9.98498706e-01 -6.45536149e-03 -5.43935959e-02 1.74581041e+01] [ 6.72008817e-03 9.99966443e-01 4.68537633e-03 3.14829804e-01] [ 5.43615248e-02 -5.04387196e-03 9.98508580e-01 1.00909605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:0.32, Z:0.11 [[ 9.98294232e-01 -1.14094644e-02 -5.72577571e-02 1.74839250e+01] [ 1.11619083e-02 9.99926931e-01 -4.64150296e-03 3.16907898e-01] [ 5.73065305e-02 3.99447980e-03 9.98348639e-01 1.06765743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:0.33, Z:0.11 [[ 9.98364445e-01 -1.59864323e-02 -5.48896045e-02 1.75146183e+01] [ 1.44985735e-02 9.99519443e-01 -2.73984411e-02 3.27041396e-01] [ 5.53012303e-02 2.65578084e-02 9.98116454e-01 1.08847789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:0.32, Z:0.10 [[ 9.98350221e-01 -2.03344642e-02 -5.36967986e-02 1.75431457e+01] [ 2.01170898e-02 9.99787115e-01 -4.58564246e-03 3.15899915e-01] [ 5.37786139e-02 3.49785384e-03 9.98546757e-01 9.94783278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:0.31, Z:0.10 [[ 9.98409267e-01 -2.10953330e-02 -5.22869257e-02 1.75695241e+01] [ 2.15793249e-02 9.99729205e-01 8.70920358e-03 3.08964547e-01] [ 5.20890430e-02 -9.82366612e-03 9.98594125e-01 9.76448602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:0.31, Z:0.10 [[ 9.98625421e-01 -2.17216070e-02 -4.77015779e-02 1.75974174e+01] [ 2.11639502e-02 9.99702009e-01 -1.21647003e-02 3.14870970e-01] [ 4.79516002e-02 1.11384252e-02 9.98787555e-01 1.04746618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:0.31, Z:0.10 [[ 9.98506090e-01 -2.15856198e-02 -5.01961025e-02 1.76253288e+01] [ 2.18413013e-02 9.99751094e-01 4.55065920e-03 3.07704445e-01] [ 5.00853795e-02 -5.64020913e-03 9.98729014e-01 1.02273854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100385723 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:17.65, Y:0.31, Z:0.11 [[ 9.98076383e-01 -2.18134949e-02 -5.80319322e-02 1.76538875e+01] [ 2.28392818e-02 9.99593374e-01 1.70720282e-02 3.06633855e-01] [ 5.76359343e-02 -1.83645958e-02 9.98168744e-01 1.09745425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.33, Z:0.12 [[ 0.99838345 -0.02180281 -0.05248929 17.68153819] [ 0.02052353 0.99948201 -0.02478911 0.32790059] [ 0.05300258 0.02367177 0.99831377 0.11988005] [ 0. 0. 0. 1. ]] SLAMing on 21.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:0.30, Z:0.11 [[ 0.99789969 -0.01857648 -0.0620574 17.71550965] [ 0.02077549 0.99917205 0.03497979 0.30081625] [ 0.06135622 -0.03619559 0.99745942 0.11468051] [ 0. 0. 0. 1. ]] SLAMing on 21.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.33, Z:0.13 [[ 0.99838005 -0.02065119 -0.05301706 17.73698878] [ 0.01896951 0.9993069 -0.03202939 0.33045125] [ 0.05364176 0.0309718 0.99807981 0.12742357] [ 0. 0. 0. 1. ]] SLAMing on 21.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:0.30, Z:0.12 [[ 9.97848527e-01 -1.54190485e-02 -6.37225968e-02 1.77688755e+01] [ 1.66234160e-02 9.99692258e-01 1.84133706e-02 3.03136297e-01] [ 6.34190700e-02 -1.94330420e-02 9.97797764e-01 1.20083696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:0.33, Z:0.13 [[ 9.98414149e-01 -1.80665841e-02 -5.33177721e-02 1.77962126e+01] [ 1.61345237e-02 9.99205319e-01 -3.64473260e-02 3.29644267e-01] [ 5.39338802e-02 3.55292691e-02 9.97912224e-01 1.27662009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:0.32, Z:0.12 [[ 9.98333363e-01 -1.55568928e-02 -5.55740882e-02 1.78256629e+01] [ 1.56967553e-02 9.99874633e-01 2.08104210e-03 3.18101297e-01] [ 5.55347465e-02 -2.94990662e-03 9.98452397e-01 1.17440199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:0.32, Z:0.12 [[ 9.98442770e-01 -1.48728478e-02 -5.37664665e-02 1.78549529e+01] [ 1.51135979e-02 9.99877484e-01 4.07385760e-03 3.19238917e-01] [ 5.36992894e-02 -4.88011842e-03 9.98545227e-01 1.18465471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:0.32, Z:0.12 [[ 9.98426376e-01 -1.39025931e-02 -5.43276229e-02 1.78837144e+01] [ 1.33996701e-02 9.99864034e-01 -9.61055903e-03 3.23524017e-01] [ 5.44538478e-02 8.86746339e-03 9.98476913e-01 1.22728220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:0.32, Z:0.12 [[ 9.98516427e-01 -1.14292481e-02 -5.32383104e-02 1.79109858e+01] [ 1.15401551e-02 9.99931833e-01 1.77626669e-03 3.16118402e-01] [ 5.32143798e-02 -2.38800982e-03 9.98580256e-01 1.18070542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.32, Z:0.12 [[ 9.98537930e-01 -1.04833705e-02 -5.30292418e-02 1.79395339e+01] [ 1.04281689e-02 9.99944757e-01 -1.31755939e-03 3.18563829e-01] [ 5.30401248e-02 7.62635133e-04 9.98592091e-01 1.22555997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:0.32, Z:0.13 [[ 9.98533182e-01 -1.12439384e-02 -5.29627930e-02 1.79681675e+01] [ 1.09289538e-02 9.99920850e-01 -6.23315620e-03 3.23978662e-01] [ 5.30286862e-02 5.64518538e-03 9.98577033e-01 1.29723725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:0.32, Z:0.13 [[ 9.98431331e-01 -1.24150942e-02 -5.45961853e-02 1.79946486e+01] [ 1.29616386e-02 9.99869254e-01 9.66798488e-03 3.20234917e-01] [ 5.44690182e-02 -1.03604750e-02 9.98461710e-01 1.28375316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:0.32, Z:0.13 [[ 9.98387662e-01 -1.51625541e-02 -5.47007541e-02 1.80214410e+01] [ 1.52395223e-02 9.99883381e-01 9.90209960e-04 3.22963732e-01] [ 5.46793608e-02 -1.82222677e-03 9.98502302e-01 1.32772573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:0.32, Z:0.13 [[ 9.98341236e-01 -1.63413809e-02 -5.52062962e-02 1.80495669e+01] [ 1.63807344e-02 9.99865793e-01 2.60384584e-04 3.21531276e-01] [ 5.51946321e-02 -1.16427234e-03 9.98474936e-01 1.33897115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.32, Z:0.14 [[ 9.98119048e-01 -2.01344324e-02 -5.79048428e-02 1.80775027e+01] [ 1.98025310e-02 9.99784061e-01 -6.30001212e-03 3.24539634e-01] [ 5.80191861e-02 5.14149965e-03 9.98302228e-01 1.38302185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.31, Z:0.14 [[ 9.97710634e-01 -1.71165241e-02 -6.54256493e-02 1.81108052e+01] [ 1.85106599e-02 9.99613068e-01 2.07622089e-02 3.10962087e-01] [ 6.50449572e-02 -2.19257485e-02 9.97641426e-01 1.41969022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:0.33, Z:0.16 [[ 9.97534588e-01 -1.94355310e-02 -6.74314901e-02 1.81350678e+01] [ 1.91457691e-02 9.99804495e-01 -4.94078355e-03 3.25341705e-01] [ 6.75143337e-02 3.63757474e-03 9.97711673e-01 1.55775035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:0.33, Z:0.15 [[ 9.98128949e-01 -2.44515036e-02 -5.60421679e-02 1.81628080e+01] [ 2.34253039e-02 9.99547002e-01 -1.88956480e-02 3.33919581e-01] [ 5.64788079e-02 1.75474885e-02 9.98249583e-01 1.49082206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:0.33, Z:0.15 [[ 9.97966429e-01 -2.54395848e-02 -5.84451387e-02 1.81929834e+01] [ 2.50074087e-02 9.99654335e-01 -8.11422175e-03 3.26425760e-01] [ 5.86313586e-02 6.63615943e-03 9.98257645e-01 1.45464329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:0.31, Z:0.15 [[ 0.99768088 -0.02401084 -0.06368943 18.22415343] [ 0.02541419 0.99944972 0.02131633 0.31093425] [ 0.06314256 -0.02288551 0.99774209 0.14632992] [ 0. 0. 0. 1. ]] SLAMing on 21.730385722999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:18.25, Y:0.34, Z:0.16 [[ 0.99778754 -0.03399938 -0.05713208 18.24566199] [ 0.03269816 0.99918758 -0.02355857 0.34176345] [ 0.05788664 0.02163833 0.99808863 0.16112107] [ 0. 0. 0. 1. ]] SLAMing on 21.760385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:18.28, Y:0.33, Z:0.15 [[ 9.97776062e-01 -3.25378366e-02 -5.81740442e-02 1.82760344e+01] [ 3.24453028e-02 9.99470298e-01 -2.53471861e-03 3.32573966e-01] [ 5.82257036e-02 6.41607071e-04 9.98303238e-01 1.54581823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:0.33, Z:0.15 [[ 9.97756875e-01 -3.22818051e-02 -5.86438703e-02 1.83108164e+01] [ 3.24398404e-02 9.99472167e-01 1.74456437e-03 3.27232817e-01] [ 5.85565984e-02 -3.64304889e-03 9.98277443e-01 1.54577780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820385722999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:18.34, Y:0.34, Z:0.17 [[ 0.9971682 -0.03708083 -0.06542621 18.34285388] [ 0.03532387 0.99898891 -0.02780991 0.34370762] [ 0.06639127 0.02542005 0.99746981 0.1654953 ] [ 0. 0. 0. 1. ]] SLAMing on 21.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:0.32, Z:0.15 [[ 9.97565581e-01 -3.48602220e-02 -6.03960008e-02 1.83661577e+01] [ 3.58897405e-02 9.99226932e-01 1.60457166e-02 3.19265182e-01] [ 5.97899534e-02 -1.81742514e-02 9.98045519e-01 1.47915786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.32, Z:0.15 [[ 9.97589729e-01 -3.78446203e-02 -5.81594128e-02 1.83947451e+01] [ 3.84344422e-02 9.99220086e-01 9.05614496e-03 3.24111332e-01] [ 5.77713270e-02 -1.12696418e-02 9.98266231e-01 1.53058960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:0.33, Z:0.16 [[ 9.97431898e-01 -3.75933204e-02 -6.09618874e-02 1.84257860e+01] [ 3.77405920e-02 9.99286768e-01 1.26575285e-03 3.30563081e-01] [ 6.08708236e-02 -3.56323998e-03 9.98139292e-01 1.61828655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:0.33, Z:0.17 [[ 9.97366032e-01 -3.79665986e-02 -6.18023945e-02 1.84535095e+01] [ 3.78399939e-02 9.99278629e-01 -3.21809736e-03 3.34636886e-01] [ 6.18799923e-02 8.71018766e-04 9.98083217e-01 1.66400647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.34, Z:0.17 [[ 9.97395513e-01 -3.67740862e-02 -6.20472180e-02 1.84820607e+01] [ 3.67287046e-02 9.99323520e-01 -1.87218784e-03 3.36116439e-01] [ 6.20740923e-02 -4.11602186e-04 9.98071459e-01 1.66943274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.34, Z:0.17 [[ 9.97378863e-01 -3.63967293e-02 -6.25354509e-02 1.85101537e+01] [ 3.60385812e-02 9.99326950e-01 -6.84593156e-03 3.39064855e-01] [ 6.27425309e-02 4.57429851e-03 9.98019264e-01 1.68934804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:0.34, Z:0.17 [[ 9.97530966e-01 -3.31404602e-02 -6.19167285e-02 1.85382752e+01] [ 3.32673489e-02 9.99445969e-01 1.01929402e-03 3.37493632e-01] [ 6.18486449e-02 -3.07658276e-03 9.98080798e-01 1.66912748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:0.34, Z:0.17 [[ 9.97696888e-01 -2.92913862e-02 -6.11795214e-02 1.85660320e+01] [ 2.96518128e-02 9.99547825e-01 4.99153999e-03 3.40015330e-01] [ 6.10056485e-02 -6.79412764e-03 9.98114297e-01 1.69274817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:0.33, Z:0.17 [[ 0.9973706 -0.02642443 -0.06748066 18.59369736] [ 0.02825884 0.9992526 0.02637581 0.3326731 ] [ 0.06673325 -0.02821338 0.99737189 0.17339439] [ 0. 0. 0. 1. ]] SLAMing on 22.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:0.36, Z:0.19 [[ 9.97550482e-01 -2.51656793e-02 -6.52665721e-02 1.86207439e+01] [ 2.39439975e-02 9.99524397e-01 -1.94335959e-02 3.59284347e-01] [ 6.57245908e-02 1.78232503e-02 9.97678611e-01 1.85551823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:0.35, Z:0.18 [[ 9.97600686e-01 -2.21130604e-02 -6.56039927e-02 1.86505059e+01] [ 2.19071749e-02 9.99752572e-01 -3.85611199e-03 3.53136974e-01] [ 6.56730309e-02 2.40966183e-03 9.97838287e-01 1.79858770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:0.35, Z:0.18 [[ 9.97249293e-01 -1.68282555e-02 -7.21848847e-02 1.86769170e+01] [ 1.79746071e-02 9.99721975e-01 1.52606385e-02 3.49330383e-01] [ 7.19080055e-02 -1.65161559e-02 9.97274514e-01 1.84866684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.37, Z:0.19 [[ 9.97663108e-01 -1.66034098e-02 -6.62770663e-02 1.87054786e+01] [ 1.56068107e-02 9.99757649e-01 -1.55264367e-02 3.66284787e-01] [ 6.65187958e-02 1.44557794e-02 9.97680450e-01 1.94042884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240385723 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:18.73, Y:0.36, Z:0.19 [[ 9.97423768e-01 -1.03683142e-02 -7.09811540e-02 1.87311574e+01] [ 1.07103210e-02 9.99932788e-01 4.43936799e-03 3.59095168e-01] [ 7.09303545e-02 -5.18816210e-03 9.97467778e-01 1.92608542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270385722999997 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:18.76, Y:0.36, Z:0.19 [[ 9.97518877e-01 -8.51832721e-03 -6.98822381e-02 1.87583774e+01] [ 8.58033197e-03 9.99963016e-01 5.87144205e-04 3.62583394e-01] [ 6.98746521e-02 -1.18530023e-03 9.97555075e-01 1.94904704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300385722999998 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:18.79, Y:0.37, Z:0.20 [[ 9.97588138e-01 -5.41743011e-03 -6.91994099e-02 1.87875278e+01] [ 5.42605832e-03 9.99985277e-01 -6.32799434e-05 3.66349422e-01] [ 6.91987339e-02 -3.12352713e-04 9.97602846e-01 1.96293090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330385723 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:18.81, Y:0.38, Z:0.20 [[ 9.97970884e-01 -6.43604389e-03 -6.33458202e-02 1.88137219e+01] [ 5.46015290e-03 9.99863921e-01 -1.55668435e-02 3.77914930e-01] [ 6.34373890e-02 1.51893787e-02 9.97870222e-01 1.97721409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360385722999997 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:18.84, Y:0.38, Z:0.20 [[ 9.97757708e-01 -5.66850736e-03 -6.66890107e-02 1.88427157e+01] [ 5.26960530e-03 9.99967167e-01 -6.15591585e-03 3.76641167e-01] [ 6.67217159e-02 5.79068773e-03 9.97754820e-01 1.99121624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390385722999998 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:18.87, Y:0.37, Z:0.20 [[ 9.97378895e-01 -2.81161667e-03 -7.23010019e-02 1.88735852e+01] [ 3.78306134e-03 9.99904359e-01 1.33026893e-02 3.65140238e-01] [ 7.22566849e-02 -1.35413407e-02 9.97294141e-01 1.99281861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420385723 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:18.90, Y:0.37, Z:0.20 [[ 9.97390452e-01 -5.00071920e-03 -7.20227740e-02 1.89014100e+01] [ 5.44330340e-03 9.99967483e-01 5.95009365e-03 3.66429594e-01] [ 7.19906773e-02 -6.32660840e-03 9.97385240e-01 2.01268136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450385722999997 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:18.93, Y:0.37, Z:0.21 [[ 9.97368211e-01 -5.92768928e-03 -7.22600482e-02 1.89291634e+01] [ 5.81876189e-03 9.99981595e-01 -1.71785182e-03 3.69329781e-01] [ 7.22689011e-02 1.29286678e-03 9.97384346e-01 2.06358361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480385722999998 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:18.96, Y:0.37, Z:0.21 [[ 9.97270115e-01 -7.32664232e-03 -7.34754303e-02 1.89550339e+01] [ 6.86573859e-03 9.99955152e-01 -6.52351152e-03 3.74576349e-01] [ 7.35199305e-02 6.00123999e-03 9.97275692e-01 2.12911267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.39, Z:0.22 [[ 9.96994808e-01 -5.66832732e-03 -7.72607481e-02 1.89897096e+01] [ 2.93964116e-03 9.99369397e-01 -3.53859617e-02 3.86328271e-01] [ 7.74126065e-02 3.50525013e-02 9.96382763e-01 2.24297955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.35, Z:0.20 [[ 9.96775038e-01 -5.63695296e-03 -8.00484077e-02 1.90209970e+01] [ 9.80781050e-03 9.98608953e-01 5.18070142e-02 3.46527471e-01] [ 7.96450229e-02 -5.24250382e-02 9.95443763e-01 2.02700814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.38, Z:0.22 [[ 9.97632354e-01 -9.32435619e-03 -6.81376688e-02 1.90500198e+01] [ 7.63315181e-03 9.99657339e-01 -2.50387475e-02 3.78112804e-01] [ 6.83477909e-02 2.44593595e-02 9.97361679e-01 2.24981104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:0.36, Z:0.22 [[ 9.97265495e-01 -1.05311762e-02 -7.31479761e-02 1.90796861e+01] [ 1.12398671e-02 9.99893735e-01 9.28357304e-03 3.61937707e-01] [ 7.30424361e-02 -1.00803606e-02 9.97277889e-01 2.16666374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.38, Z:0.23 [[ 9.97288995e-01 -1.28176375e-02 -7.24594305e-02 1.91028633e+01] [ 1.13009308e-02 9.99709190e-01 -2.13031769e-02 3.77422440e-01] [ 7.27114150e-02 2.04265649e-02 9.97143824e-01 2.28271186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.36, Z:0.22 [[ 9.96823233e-01 -1.67726957e-02 -7.78596162e-02 1.91293034e+01] [ 1.87675866e-02 9.99512245e-01 2.49609710e-02 3.60591904e-01] [ 7.74029770e-02 -2.63429129e-02 9.96651810e-01 2.20398754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:0.38, Z:0.24 [[ 9.97289578e-01 -2.00390805e-02 -7.07950088e-02 1.91594436e+01] [ 1.82070562e-02 9.99484869e-01 -2.64291294e-02 3.83298253e-01] [ 7.12881555e-02 2.50685266e-02 9.97140696e-01 2.36953968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720385723 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:19.17, Y:0.37, Z:0.24 [[ 9.96632315e-01 -1.56318493e-02 -8.04964165e-02 1.91705848e+01] [ 1.51294973e-02 9.99862100e-01 -6.84686034e-03 3.71510854e-01] [ 8.05923451e-02 5.60593195e-03 9.96731382e-01 2.36982972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:0.37, Z:0.22 [[ 9.97370183e-01 -1.93685513e-02 -6.98396527e-02 1.92190980e+01] [ 1.97022028e-02 9.99797520e-01 4.09165927e-03 3.66157078e-01] [ 6.97462621e-02 -5.45689395e-03 9.97549839e-01 2.23539007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:0.37, Z:0.23 [[ 9.97516857e-01 -1.92504995e-02 -6.77461252e-02 1.92441487e+01] [ 1.96512766e-02 9.99793088e-01 5.25437229e-03 3.67741083e-01] [ 6.76309584e-02 -6.57262278e-03 9.97688756e-01 2.26496683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.38, Z:0.24 [[ 9.97565548e-01 -1.83962887e-02 -6.72648089e-02 1.92742777e+01] [ 1.75808687e-02 9.99764854e-01 -1.26945119e-02 3.81324100e-01] [ 6.74825237e-02 1.14810340e-02 9.97654396e-01 2.38616148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:0.38, Z:0.24 [[ 9.97554720e-01 -1.66162905e-02 -6.78857887e-02 1.93027382e+01] [ 1.65817430e-02 9.99861938e-01 -1.07239535e-03 3.77746807e-01] [ 6.78942355e-02 -5.58916556e-05 9.97692523e-01 2.36050373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:0.37, Z:0.23 [[ 9.97289776e-01 -1.52170656e-02 -7.19829444e-02 1.93299439e+01] [ 1.62444853e-02 9.99774061e-01 1.37092428e-02 3.70453378e-01] [ 7.17580662e-02 -1.48414135e-02 9.97311643e-01 2.34135500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900385723 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:19.35, Y:0.38, Z:0.25 [[ 9.96704031e-01 -1.42866548e-02 -7.98559045e-02 1.93526654e+01] [ 1.43936800e-02 9.99896113e-01 7.64730959e-04 3.76179836e-01] [ 7.98366831e-02 -1.91163077e-03 9.96806124e-01 2.48960273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.39, Z:0.25 [[ 9.97161311e-01 -1.15830592e-02 -7.43986081e-02 1.93834888e+01] [ 1.04963768e-02 9.99832689e-01 -1.49806611e-02 3.86959053e-01] [ 7.45596822e-02 1.41572199e-02 9.97116055e-01 2.52622616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:0.38, Z:0.25 [[ 9.97201611e-01 -6.96468516e-03 -7.44341315e-02 1.94137416e+01] [ 7.45582324e-03 9.99952217e-01 6.32245677e-03 3.83517837e-01] [ 7.43865409e-02 -6.85973181e-03 9.97205890e-01 2.49068489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:0.38, Z:0.25 [[ 9.96521102e-01 -6.52620668e-03 -8.30849109e-02 1.94368527e+01] [ 7.34489924e-03 9.99927405e-01 9.55184478e-03 3.84982372e-01] [ 8.30165420e-02 -1.01288652e-02 9.96496693e-01 2.54972306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.39, Z:0.26 [[ 9.97147672e-01 -5.56781953e-03 -7.52696409e-02 1.94672849e+01] [ 4.52910007e-03 9.99892246e-01 -1.39636375e-02 3.92180996e-01] [ 7.53392773e-02 1.35829049e-02 9.97065443e-01 2.58400589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:0.37, Z:0.25 [[ 9.96261856e-01 -3.65510606e-03 -8.63073253e-02 1.94969209e+01] [ 5.74579824e-03 9.99695739e-01 2.39878324e-02 3.70851994e-01] [ 8.61933873e-02 -2.43940669e-02 9.95979733e-01 2.52092129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:0.39, Z:0.27 [[ 9.96891840e-01 -8.08840110e-03 -7.83660512e-02 1.95217966e+01] [ 6.31669534e-03 9.99719414e-01 -2.28296506e-02 3.94738078e-01] [ 7.85287181e-02 2.22636779e-02 9.96663217e-01 2.66283380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:0.38, Z:0.26 [[ 9.96548891e-01 -7.96820365e-03 -8.26245404e-02 1.95517680e+01] [ 8.77372557e-03 9.99917415e-01 9.39068340e-03 3.84626060e-01] [ 8.25428899e-02 -1.00832002e-02 9.96536502e-01 2.61965679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:0.40, Z:0.27 [[ 9.96612661e-01 -1.15893176e-02 -8.14180117e-02 1.95786035e+01] [ 1.06423680e-02 9.99870699e-01 -1.20550774e-02 3.96712607e-01] [ 8.15471944e-02 1.11477624e-02 9.96607135e-01 2.72038971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:0.39, Z:0.27 [[ 9.96695619e-01 -1.18767035e-02 -8.03541302e-02 1.96060738e+01] [ 1.19925807e-02 9.99927626e-01 9.59610927e-04 3.89228625e-01] [ 8.03369176e-02 -1.92009340e-03 9.96765917e-01 2.68384292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:0.39, Z:0.27 [[ 9.96692854e-01 -1.61239315e-02 -7.96453006e-02 1.96349955e+01] [ 1.57357519e-02 9.99861063e-01 -5.49912975e-03 3.88870464e-01] [ 7.97229025e-02 4.22766464e-03 9.96808099e-01 2.70955251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.39, Z:0.27 [[ 9.96469278e-01 -1.91842537e-02 -8.17370357e-02 1.96622832e+01] [ 1.92391821e-02 9.99814903e-01 -1.15600988e-04 3.86355624e-01] [ 8.17241242e-02 -1.45736088e-03 9.96653924e-01 2.71423042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:0.39, Z:0.27 [[ 9.96175614e-01 -2.64072542e-02 -8.32874702e-02 1.96892338e+01] [ 2.65224965e-02 9.99648178e-01 2.77359921e-04 3.87948975e-01] [ 8.32508435e-02 -2.48529082e-03 9.96525524e-01 2.73775141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.39, Z:0.28 [[ 9.95939887e-01 -3.11341666e-02 -8.44654137e-02 1.97166056e+01] [ 3.03592271e-02 9.99484488e-01 -1.04439361e-02 3.93463140e-01] [ 8.47470340e-02 7.83722786e-03 9.96371677e-01 2.81544680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:0.39, Z:0.28 [[ 9.95962116e-01 -3.61393230e-02 -8.21791568e-02 1.97437038e+01] [ 3.69323483e-02 9.99284534e-01 8.14991565e-03 3.87017084e-01] [ 8.18258280e-02 -1.11520765e-02 9.96584249e-01 2.78986609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.77, Y:0.39, Z:0.29 [[ 9.95792160e-01 -4.25895488e-02 -8.11424949e-02 1.97699410e+01] [ 4.27331956e-02 9.99086519e-01 3.37314918e-05 3.93381662e-01] [ 8.10669362e-02 -3.50106766e-03 9.96702510e-01 2.89097481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380385722999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.80, Y:0.39, Z:0.29 [[ 9.95588197e-01 -4.53824543e-02 -8.21253595e-02 1.97973285e+01] [ 4.54996913e-02 9.98964254e-01 -4.44368823e-04 3.94685360e-01] [ 8.20604650e-02 -3.29427015e-03 9.96621908e-01 2.93292468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410385722999997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.83, Y:0.39, Z:0.30 [[ 9.95634844e-01 -4.51068181e-02 -8.17106587e-02 1.98342958e+01] [ 4.48443923e-02 9.98981246e-01 -5.04494536e-03 3.94089564e-01] [ 8.18549770e-02 1.35865856e-03 9.96643325e-01 2.97291168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.40, Z:0.30 [[ 9.94938049e-01 -5.32791572e-02 -8.52033465e-02 1.98548232e+01] [ 5.30104468e-02 9.98579277e-01 -5.41471443e-03 3.97543976e-01] [ 8.53707876e-02 8.70637942e-04 9.96348870e-01 2.96413427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.89, Y:0.40, Z:0.30 [[ 9.95084412e-01 -5.23135764e-02 -8.40850906e-02 1.98906541e+01] [ 5.15972371e-02 9.98610959e-01 -1.06713842e-02 3.96364232e-01] [ 8.45265512e-02 6.28036975e-03 9.96401435e-01 2.96392365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.39, Z:0.29 [[ 9.95068425e-01 -5.42705986e-02 -8.30272904e-02 1.99174062e+01] [ 5.59179669e-02 9.98279445e-01 1.76445626e-02 3.85974977e-01] [ 8.19268564e-02 -2.22002643e-02 9.96391057e-01 2.85711995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:0.40, Z:0.30 [[ 9.95079865e-01 -5.29815125e-02 -8.37198962e-02 1.99451686e+01] [ 5.20138245e-02 9.98552397e-01 -1.36993339e-02 3.99951590e-01] [ 8.43245145e-02 9.27733939e-03 9.96395156e-01 3.02419650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:0.39, Z:0.30 [[ 9.94751472e-01 -4.84377774e-02 -9.01292961e-02 1.99724897e+01] [ 4.95480015e-02 9.98720468e-01 1.01204355e-02 3.90169613e-01] [ 8.95237614e-02 -1.45330446e-02 9.95878651e-01 3.03858865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590385722999997 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:19.99, Y:0.41, Z:0.32 [[ 0.99509321 -0.05197998 -0.08418783 19.99391537] [ 0.04950803 0.9982866 -0.03118997 0.41481176] [ 0.08566483 0.02686895 0.99596164 0.3194482 ] [ 0. 0. 0. 1. ]] SLAMing on 23.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:0.39, Z:0.31 [[ 0.9949664 -0.04438608 -0.08984287 20.02871163] [ 0.04687182 0.998569 0.0257485 0.38926565] [ 0.08857143 -0.02982999 0.99562306 0.30500072] [ 0. 0. 0. 1. ]] SLAMing on 23.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:0.40, Z:0.32 [[ 9.94890261e-01 -4.71532009e-02 -8.92745450e-02 2.00555511e+01] [ 4.71681040e-02 9.98885074e-01 -1.94390563e-03 4.02907199e-01] [ 8.92666719e-02 -2.27693824e-03 9.96005159e-01 3.19920772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.40, Z:0.32 [[ 9.94942447e-01 -4.65613303e-02 -8.90032045e-02 2.00832117e+01] [ 4.65717744e-02 9.98913023e-01 -1.96042454e-03 4.04073033e-01] [ 8.89977400e-02 -2.19452757e-03 9.96029410e-01 3.21903772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:0.40, Z:0.32 [[ 9.95011516e-01 -4.55218600e-02 -8.87684865e-02 2.01099380e+01] [ 4.55259033e-02 9.98961196e-01 -1.98013542e-03 4.03023196e-01] [ 8.87664129e-02 -2.07100799e-03 9.96050317e-01 3.20677776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:0.40, Z:0.32 [[ 9.95067780e-01 -4.50518539e-02 -8.83767126e-02 2.01373358e+01] [ 4.50531041e-02 9.98982628e-01 -1.98159765e-03 4.02484703e-01] [ 8.83760752e-02 -2.00982126e-03 9.96085152e-01 3.22317954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:0.41, Z:0.32 [[ 9.95553246e-01 -4.35378068e-02 -8.35355791e-02 2.01646045e+01] [ 4.17320728e-02 9.98858450e-01 -2.32428598e-02 4.12957857e-01] [ 8.44521622e-02 1.96533917e-02 9.96233696e-01 3.24803335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:0.41, Z:0.32 [[ 9.95491097e-01 -4.17344421e-02 -8.51804715e-02 2.01947711e+01] [ 4.15625568e-02 9.99128711e-01 -3.79105770e-03 4.05369086e-01] [ 8.52644724e-02 2.33646000e-04 9.96358327e-01 3.20646204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:0.40, Z:0.33 [[ 9.94964640e-01 -3.97569495e-02 -9.20040797e-02 2.02231314e+01] [ 4.16442204e-02 9.98957789e-01 1.86840889e-02 3.99942035e-01] [ 9.11653697e-02 -2.24214459e-02 9.95583324e-01 3.26909950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.41, Z:0.34 [[ 9.95115422e-01 -3.98662094e-02 -9.03104775e-02 2.02495928e+01] [ 3.98426522e-02 9.99203834e-01 -2.06434137e-03 4.10973009e-01] [ 9.03208728e-02 -1.54395101e-03 9.95911520e-01 3.37483090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.41, Z:0.33 [[ 9.95288633e-01 -3.77723817e-02 -8.92960460e-02 2.02772078e+01] [ 3.77385376e-02 9.99285508e-01 -2.06790942e-03 4.05092111e-01] [ 8.93103546e-02 -1.31173545e-03 9.96002982e-01 3.32863577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:0.40, Z:0.33 [[ 9.95236113e-01 -3.72945803e-02 -9.00788162e-02 2.03051024e+01] [ 3.72571859e-02 9.99303509e-01 -2.09714227e-03 4.03493356e-01] [ 9.00942892e-02 -1.26893147e-03 9.95932432e-01 3.34968220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:0.41, Z:0.34 [[ 9.94917429e-01 -3.68820192e-02 -9.36964559e-02 2.03316591e+01] [ 3.68370635e-02 9.99318842e-01 -2.20990496e-03 4.06132121e-01] [ 9.37141396e-02 -1.25282933e-03 9.95598358e-01 3.40966192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.41, Z:0.34 [[ 9.95303773e-01 -3.46711756e-02 -9.03786983e-02 2.03642069e+01] [ 3.35310889e-02 9.99338167e-01 -1.41029886e-02 4.12192941e-01] [ 9.08078499e-02 1.10062616e-02 9.95807610e-01 3.43728717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:0.41, Z:0.34 [[ 9.94920171e-01 -3.37976474e-02 -9.48238987e-02 2.03883412e+01] [ 3.49781911e-02 9.99329556e-01 1.08149938e-02 4.06060652e-01] [ 9.43948033e-02 -1.40768239e-02 9.95435314e-01 3.41411533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:0.41, Z:0.35 [[ 9.94991057e-01 -3.44751524e-02 -9.38310247e-02 2.04143234e+01] [ 3.44107447e-02 9.99405117e-01 -2.30478629e-03 4.12719986e-01] [ 9.38546641e-02 -9.35553689e-04 9.95585469e-01 3.52166302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:0.42, Z:0.35 [[ 9.96059292e-01 -3.27023539e-02 -8.24405417e-02 2.04436718e+01] [ 3.10103386e-02 9.99283001e-01 -2.17219636e-02 4.17608417e-01] [ 8.30917913e-02 1.90798545e-02 9.96359229e-01 3.52647877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:0.40, Z:0.34 [[ 9.95464263e-01 -3.28572222e-02 -8.92821579e-02 2.04730488e+01] [ 3.45418910e-02 9.99251951e-01 1.73895291e-02 3.95271181e-01] [ 8.86439989e-02 -2.03946293e-02 9.95854558e-01 3.42908525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:0.41, Z:0.35 [[ 9.95657512e-01 -3.57337679e-02 -8.59605506e-02 2.05007915e+01] [ 3.51061749e-02 9.99344826e-01 -8.80205318e-03 4.09281202e-01] [ 8.62187619e-02 5.74608425e-03 9.96259659e-01 3.53892381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160385722999997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.53, Y:0.41, Z:0.36 [[ 9.95717531e-01 -3.51035652e-02 -8.55239077e-02 2.05324293e+01] [ 3.45355145e-02 9.99370541e-01 -8.11295551e-03 4.10050921e-01] [ 8.57548676e-02 5.12459987e-03 9.96303087e-01 3.56768593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:0.41, Z:0.36 [[ 9.94970232e-01 -3.90401935e-02 -9.22502037e-02 2.05555020e+01] [ 4.02467853e-02 9.99126380e-01 1.12548931e-02 4.06537048e-01] [ 9.17302189e-02 -1.49110577e-02 9.95672249e-01 3.58770572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.58, Y:0.42, Z:0.37 [[ 9.95348862e-01 -4.17634178e-02 -8.68127905e-02 2.05827129e+01] [ 4.05298327e-02 9.99051416e-01 -1.59248290e-02 4.17366518e-01] [ 8.73955166e-02 1.23322526e-02 9.96097354e-01 3.65450408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:0.41, Z:0.36 [[ 9.95304970e-01 -4.31047958e-02 -8.66602176e-02 2.06117398e+01] [ 4.25796103e-02 9.99061839e-01 -7.90049805e-03 4.08239751e-01] [ 8.69194658e-02 4.17344668e-03 9.96206599e-01 3.59817748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:0.41, Z:0.36 [[ 9.95482937e-01 -4.27613313e-02 -8.47655052e-02 2.06402966e+01] [ 4.21402247e-02 9.99070228e-01 -9.10392056e-03 4.07305888e-01] [ 8.50759883e-02 5.49076014e-03 9.96359337e-01 3.60098894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:0.41, Z:0.36 [[ 9.95332348e-01 -4.28287160e-02 -8.64824751e-02 2.06688429e+01] [ 4.27901179e-02 9.99081434e-01 -2.30088721e-03 4.06945220e-01] [ 8.65015793e-02 -1.41044785e-03 9.96250715e-01 3.61599872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:0.41, Z:0.36 [[ 9.95363114e-01 -4.24144998e-02 -8.63323856e-02 2.06975972e+01] [ 4.21952891e-02 9.99099855e-01 -4.36320839e-03 4.09144229e-01] [ 8.64397372e-02 7.00156723e-04 9.96256835e-01 3.64108934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:0.41, Z:0.37 [[ 9.95546944e-01 -4.06848290e-02 -8.50354510e-02 2.07258431e+01] [ 4.07737012e-02 9.99168167e-01 -6.92092660e-04 4.10101869e-01] [ 8.49928734e-02 -2.77819934e-03 9.96377686e-01 3.66796585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:0.41, Z:0.37 [[ 9.95562669e-01 -3.93164974e-02 -8.54937782e-02 2.07520447e+01] [ 3.98115750e-02 9.99198822e-01 4.09292823e-03 4.09449917e-01] [ 8.52643628e-02 -7.47840851e-03 9.96330298e-01 3.70364118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:0.41, Z:0.37 [[ 9.95548935e-01 -3.69628423e-02 -8.66952486e-02 2.07796793e+01] [ 3.78317751e-02 9.99248810e-01 8.40077436e-03 4.08649003e-01] [ 8.63196075e-02 -1.16432171e-02 9.96199458e-01 3.74257983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:0.41, Z:0.38 [[ 9.95362552e-01 -3.74918107e-02 -8.85875458e-02 2.08066821e+01] [ 3.76679536e-02 9.99290261e-01 3.16852357e-04 4.13740964e-01] [ 8.85127924e-02 -3.65229453e-03 9.96068344e-01 3.81824107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.41, Z:0.38 [[ 9.94929294e-01 -3.90514755e-02 -9.26859341e-02 2.08322882e+01] [ 3.93234074e-02 9.99225921e-01 1.10872651e-03 4.14611587e-01] [ 9.25708904e-02 -4.74783122e-03 9.95694777e-01 3.84122850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520385722999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:20.87, Y:0.41, Z:0.39 [[ 9.94831490e-01 -3.80598619e-02 -9.41368907e-02 2.08651638e+01] [ 3.80296689e-02 9.99274372e-01 -2.11535010e-03 4.12945571e-01] [ 9.41490923e-02 -1.47557789e-03 9.95557015e-01 3.85157755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550385722999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:20.89, Y:0.42, Z:0.39 [[ 9.94380525e-01 -4.26708602e-02 -9.68843128e-02 2.08876233e+01] [ 4.29167835e-02 9.99078547e-01 4.54899440e-04 4.16454086e-01] [ 9.67756275e-02 -4.61030622e-03 9.95295546e-01 3.87948730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:0.42, Z:0.39 [[ 9.94296480e-01 -4.32920695e-02 -9.74695112e-02 2.09152840e+01] [ 4.32680983e-02 9.99060708e-01 -2.36061180e-03 4.19525092e-01] [ 9.74801547e-02 -1.87017239e-03 9.95235712e-01 3.93264377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:0.43, Z:0.40 [[ 9.94375654e-01 -4.46928307e-02 -9.60188005e-02 2.09422440e+01] [ 4.39254439e-02 9.98983837e-01 -1.00920184e-02 4.25303281e-01] [ 9.63722707e-02 5.81758891e-03 9.95328358e-01 3.99506012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:0.42, Z:0.40 [[ 9.94326574e-01 -4.45528843e-02 -9.65903954e-02 2.09702922e+01] [ 4.44825094e-02 9.99006004e-01 -2.88287204e-03 4.23008150e-01] [ 9.66228251e-02 -1.43006689e-03 9.95320041e-01 4.00167762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:0.43, Z:0.40 [[ 9.94375292e-01 -4.58160321e-02 -9.54917225e-02 2.09987508e+01] [ 4.53948026e-02 9.98947454e-01 -6.58003069e-03 4.25668253e-01] [ 9.56926840e-02 2.20819205e-03 9.95408476e-01 4.04434486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:0.42, Z:0.41 [[ 9.94296359e-01 -4.49742757e-02 -9.67060744e-02 2.10325240e+01] [ 4.49222317e-02 9.98986794e-01 -2.71643791e-03 4.21069907e-01] [ 9.67302610e-02 -1.64330836e-03 9.95309277e-01 4.06899472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:0.43, Z:0.41 [[ 9.94007590e-01 -4.91263013e-02 -9.76499784e-02 2.10548422e+01] [ 4.89961961e-02 9.98791995e-01 -3.73134475e-03 4.26830316e-01] [ 9.77153239e-02 -1.07549249e-03 9.95213826e-01 4.08497152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.43, Z:0.41 [[ 9.93911632e-01 -5.07409909e-02 -9.78009150e-02 2.10825305e+01] [ 5.03278533e-02 9.98710356e-01 -6.68822250e-03 4.29487086e-01] [ 9.80141536e-02 1.72539204e-03 9.95183525e-01 4.11909701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:0.42, Z:0.41 [[ 9.94136663e-01 -4.89884604e-02 -9.63972287e-02 2.11176324e+01] [ 4.91498340e-02 9.98791170e-01 -7.01157781e-04 4.22352697e-01] [ 9.63150495e-02 -4.04086113e-03 9.95342696e-01 4.13533780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:0.43, Z:0.42 [[ 9.94037389e-01 -5.27694101e-02 -9.54204277e-02 2.11392090e+01] [ 5.25740055e-02 9.98606608e-01 -4.56248762e-03 4.28809052e-01] [ 9.55282294e-02 -4.81350802e-04 9.95426605e-01 4.16086387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.43, Z:0.42 [[ 9.94480408e-01 -4.75837600e-02 -9.35120512e-02 2.11735496e+01] [ 4.75450609e-02 9.98865598e-01 -2.64296737e-03 4.25439304e-01] [ 9.35317332e-02 -1.81765690e-03 9.95614640e-01 4.21904569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.20, Y:0.43, Z:0.43 [[ 9.94556224e-01 -4.61771856e-02 -9.34108441e-02 2.12011054e+01] [ 4.61276158e-02 9.98931931e-01 -2.69088409e-03 4.29178795e-01] [ 9.34353323e-02 -1.63258402e-03 9.95624012e-01 4.27184438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:0.43, Z:0.43 [[ 9.94719036e-01 -4.35679254e-02 -9.29294073e-02 2.12279772e+01] [ 4.35050656e-02 9.99049550e-01 -2.70312036e-03 4.33736829e-01] [ 9.29588519e-02 -1.35405468e-03 9.95669031e-01 4.30833552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:0.44, Z:0.43 [[ 9.94616574e-01 -4.51676960e-02 -9.32617272e-02 2.12486928e+01] [ 4.47241401e-02 9.98975947e-01 -6.84172281e-03 4.40492545e-01] [ 9.34752470e-02 2.63384036e-03 9.95618120e-01 4.31643366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:0.44, Z:0.43 [[ 9.94951448e-01 -4.36021713e-02 -9.03906343e-02 2.12789713e+01] [ 4.26277498e-02 9.99010510e-01 -1.26836816e-02 4.38357004e-01] [ 9.08542297e-02 8.76649808e-03 9.95825616e-01 4.29721324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:0.43, Z:0.43 [[ 9.94979800e-01 -4.29687676e-02 -9.03818694e-02 2.13084999e+01] [ 4.26516172e-02 9.99075204e-01 -5.43839894e-03 4.33671964e-01] [ 9.05319659e-02 1.55616419e-03 9.95892334e-01 4.28075893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:0.44, Z:0.43 [[ 9.94570995e-01 -4.63260132e-02 -9.31795898e-02 2.13330714e+01] [ 4.60528011e-02 9.98926083e-01 -5.08139941e-03 4.35798785e-01] [ 9.33149236e-02 7.62631354e-04 9.95636351e-01 4.31609726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:0.43, Z:0.43 [[ 9.94303206e-01 -4.42776767e-02 -9.69568032e-02 2.13667561e+01] [ 4.53754400e-02 9.98928139e-01 9.14560053e-03 4.26669537e-01] [ 9.64479331e-02 -1.34929575e-02 9.95246571e-01 4.33000027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:0.43, Z:0.44 [[ 9.93923544e-01 -4.61745721e-02 -9.99194583e-02 2.13926287e+01] [ 4.61087116e-02 9.98932014e-01 -2.96963503e-03 4.32828461e-01] [ 9.99498673e-02 -1.65556730e-03 9.94991097e-01 4.41428159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:0.44, Z:0.44 [[ 9.94337667e-01 -4.79644996e-02 -9.48262166e-02 2.14179711e+01] [ 4.59465716e-02 9.98670924e-01 -2.33516053e-02 4.44002013e-01] [ 9.58202335e-02 1.88624412e-02 9.95219921e-01 4.44944882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:0.42, Z:0.44 [[ 9.94057675e-01 -4.31413835e-02 -9.99407807e-02 2.14494468e+01] [ 4.50427699e-02 9.98843005e-01 1.68463964e-02 4.24160822e-01] [ 9.90983729e-02 -2.12478993e-02 9.94850762e-01 4.37519904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180385722999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.47, Y:0.43, Z:0.45 [[ 9.94194489e-01 -4.20400527e-02 -9.90452066e-02 2.14739784e+01] [ 4.19294806e-02 9.99115453e-01 -3.19861790e-03 4.33825885e-01] [ 9.90920665e-02 -9.72865786e-04 9.95077794e-01 4.48734828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210385722999998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:21.50, Y:0.45, Z:0.46 [[ 9.94628932e-01 -4.26352906e-02 -9.43160668e-02 2.14990820e+01] [ 4.08086443e-02 9.98941774e-01 -2.12128714e-02 4.46315971e-01] [ 9.51206761e-02 1.72500248e-02 9.95316278e-01 4.55127877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:0.43, Z:0.45 [[ 9.94694024e-01 -3.59979410e-02 -9.63739910e-02 2.15340327e+01] [ 3.74350196e-02 9.99212610e-01 1.31445602e-02 4.28270298e-01] [ 9.58249300e-02 -1.66825777e-02 9.95258396e-01 4.48992369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270385722999997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:21.55, Y:0.45, Z:0.46 [[ 9.94708637e-01 -3.95164030e-02 -9.48323873e-02 2.15545226e+01] [ 3.79288270e-02 9.99109438e-01 -1.84860832e-02 4.48358426e-01] [ 9.54784367e-02 1.47913854e-02 9.95321598e-01 4.61358386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300385722999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:21.59, Y:0.44, Z:0.46 [[ 9.94779199e-01 -3.51148975e-02 -9.58190447e-02 2.15904726e+01] [ 3.43245188e-02 9.99361853e-01 -9.88500437e-03 4.40580456e-01] [ 9.61050090e-02 6.54445412e-03 9.95349686e-01 4.59810978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:0.43, Z:0.45 [[ 9.94755166e-01 -3.71876586e-02 -9.52850343e-02 2.16206133e+01] [ 3.92612116e-02 9.99029220e-01 1.99793755e-02 4.28859436e-01] [ 9.44495472e-02 -2.36155929e-02 9.95249510e-01 4.52342158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:0.44, Z:0.47 [[ 9.94145729e-01 -3.64287820e-02 -1.01721258e-01 2.16459682e+01] [ 3.63177097e-02 9.99335957e-01 -2.94427890e-03 4.40041073e-01] [ 1.01760967e-01 -7.67240818e-04 9.94808583e-01 4.73440973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:0.45, Z:0.48 [[ 0.99448079 -0.03948457 -0.09720557 21.67087273] [ 0.03627634 0.99874423 -0.03455429 0.45370256] [ 0.09844786 0.03083731 0.9946643 0.47845972] [ 0. 0. 0. 1. ]] SLAMing on 25.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:0.42, Z:0.46 [[ 0.99424739 -0.03508761 -0.10119773 21.70525339] [ 0.03808125 0.99888779 0.02780304 0.42291896] [ 0.10010963 -0.03149684 0.99447776 0.46412827] [ 0. 0. 0. 1. ]] SLAMing on 25.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:0.44, Z:0.48 [[ 9.94049798e-01 -4.09588374e-02 -1.00932513e-01 2.17304065e+01] [ 4.08673301e-02 9.99160153e-01 -2.97502664e-03 4.37405157e-01] [ 1.00969599e-01 -1.16751770e-03 9.94888826e-01 4.81207642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:0.44, Z:0.48 [[ 9.93940808e-01 -4.26873472e-02 -1.01288996e-01 2.17585120e+01] [ 4.26028742e-02 9.99087587e-01 -2.99799104e-03 4.38371515e-01] [ 1.01324555e-01 -1.33537671e-03 9.94852527e-01 4.84423233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:0.45, Z:0.49 [[ 0.99444464 -0.04668841 -0.09434004 21.78589411] [ 0.04420238 0.99862244 -0.02827306 0.44964143] [ 0.09553011 0.02394593 0.99513848 0.48704299] [ 0. 0. 0. 1. ]] SLAMing on 25.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:0.43, Z:0.48 [[ 0.99371707 -0.04441189 -0.10273253 21.81601329] [ 0.04689394 0.9986604 0.02187149 0.42727433] [ 0.10162356 -0.0265516 0.99446853 0.47957279] [ 0. 0. 0. 1. ]] SLAMing on 25.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:0.44, Z:0.49 [[ 9.93668841e-01 -4.70831342e-02 -1.02006928e-01 2.18428326e+01] [ 4.70130251e-02 9.98889489e-01 -3.09262972e-03 4.39941929e-01] [ 1.02039259e-01 -1.72260450e-03 9.94778881e-01 4.93196858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:21.87, Y:0.44, Z:0.50 [[ 9.93632690e-01 -4.89365887e-02 -1.01485408e-01 2.18699724e+01] [ 4.88750466e-02 9.98800108e-01 -3.09429734e-03 4.42154640e-01] [ 1.01515060e-01 -1.88550904e-03 9.94832216e-01 4.97763966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:0.45, Z:0.50 [[ 9.93990002e-01 -5.12847753e-02 -9.67147766e-02 2.18949155e+01] [ 4.94534397e-02 9.98550561e-01 -2.12399446e-02 4.52991857e-01] [ 9.76638801e-02 1.63294142e-02 9.95085482e-01 5.00517796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:0.43, Z:0.49 [[ 9.93619446e-01 -4.84821948e-02 -1.01832576e-01 2.19262915e+01] [ 5.01739185e-02 9.98640732e-01 1.41161769e-02 4.33584272e-01] [ 1.01009775e-01 -1.91354473e-02 9.94701392e-01 4.94304198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:0.44, Z:0.50 [[ 9.93528364e-01 -5.12972620e-02 -1.01340912e-01 2.19535486e+01] [ 5.12409543e-02 9.98681319e-01 -3.16037951e-03 4.41346071e-01] [ 1.01369395e-01 -2.05287836e-03 9.94846738e-01 5.03486412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:0.44, Z:0.51 [[ 9.93471762e-01 -5.27166453e-02 -1.01167258e-01 2.19816745e+01] [ 5.26649839e-02 9.98607163e-01 -3.18329585e-03 4.42125991e-01] [ 1.01194162e-01 -2.16545750e-03 9.94864339e-01 5.06819806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:0.44, Z:0.51 [[ 9.93361197e-01 -5.38669229e-02 -1.01645890e-01 2.20086062e+01] [ 5.38178446e-02 9.98545555e-01 -3.22706536e-03 4.44467412e-01] [ 1.01671884e-01 -2.26472121e-03 9.94815410e-01 5.10458269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:0.45, Z:0.51 [[ 9.93113905e-01 -5.56661458e-02 -1.03082743e-01 2.20359552e+01] [ 5.56232397e-02 9.98446399e-01 -3.29298614e-03 4.46199986e-01] [ 1.03105901e-01 -2.46348579e-03 9.94667334e-01 5.12905212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:0.45, Z:0.52 [[ 9.92740324e-01 -5.64171745e-02 -1.06225007e-01 2.20639136e+01] [ 5.52747214e-02 9.98377589e-01 -1.36709604e-02 4.50955932e-01] [ 1.06823944e-01 7.70015596e-03 9.94248134e-01 5.19147986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:0.45, Z:0.51 [[ 9.93064999e-01 -5.76507064e-02 -1.02461231e-01 2.20882789e+01] [ 5.74096645e-02 9.98336624e-01 -5.30232984e-03 4.49660734e-01] [ 1.02596483e-01 -6.16706715e-04 9.94722867e-01 5.13234878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:0.45, Z:0.53 [[ 9.92701675e-01 -5.62066392e-02 -1.06696763e-01 2.21182188e+01] [ 5.49489892e-02 9.98381052e-01 -1.46929484e-02 4.50641964e-01] [ 1.07349867e-01 8.72283522e-03 9.94183041e-01 5.25057403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:0.45, Z:0.52 [[ 9.93183470e-01 -5.53540838e-02 -1.02579341e-01 2.21444236e+01] [ 5.63382787e-02 9.98389123e-01 6.71998785e-03 4.46548407e-01] [ 1.02042120e-01 -1.24533244e-02 9.94702127e-01 5.15780782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:0.45, Z:0.52 [[ 9.93279798e-01 -5.36082329e-02 -1.02573875e-01 2.21775755e+01] [ 5.44400609e-02 9.98502840e-01 5.32533138e-03 4.45834722e-01] [ 1.02134823e-01 -1.08736721e-02 9.94711134e-01 5.23227227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:0.45, Z:0.53 [[ 9.93249885e-01 -5.43254763e-02 -1.02486137e-01 2.22050991e+01] [ 5.42685062e-02 9.98520772e-01 -3.34610204e-03 4.53338877e-01] [ 1.02516315e-01 -2.23825407e-03 9.94728805e-01 5.30266253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:0.45, Z:0.53 [[ 9.93204530e-01 -5.46965096e-02 -1.02728055e-01 2.22318400e+01] [ 5.46382781e-02 9.98500483e-01 -3.38277547e-03 4.54833453e-01] [ 1.02759039e-01 -2.25309614e-03 9.94703726e-01 5.33244466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:0.46, Z:0.54 [[ 9.93150641e-01 -5.54169579e-02 -1.02862845e-01 2.22594250e+01] [ 5.53594729e-02 9.98460646e-01 -3.41576747e-03 4.56068460e-01] [ 1.02893794e-01 -2.30206122e-03 9.94689684e-01 5.36158844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:0.46, Z:0.54 [[ 9.93111976e-01 -5.62165839e-02 -1.02802236e-01 2.22867791e+01] [ 5.61604580e-02 9.98415821e-01 -3.44256500e-03 4.57446125e-01] [ 1.02832908e-01 -2.35456811e-03 9.94695858e-01 5.39342225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:0.46, Z:0.54 [[ 9.93011981e-01 -5.70231671e-02 -1.03322619e-01 2.23147353e+01] [ 5.69678494e-02 9.98369918e-01 -3.48866186e-03 4.58290266e-01] [ 1.03353129e-01 -2.42178439e-03 9.94641778e-01 5.42052037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:0.46, Z:0.54 [[ 9.92894025e-01 -5.72724127e-02 -1.04313593e-01 2.23418102e+01] [ 5.72144312e-02 9.98355599e-01 -3.55051555e-03 4.58371747e-01] [ 1.04345406e-01 -2.44295719e-03 9.94538118e-01 5.43774470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:0.46, Z:0.55 [[ 9.92750041e-01 -5.74351753e-02 -1.05586724e-01 2.23697669e+01] [ 5.73752723e-02 9.98346165e-01 -3.60730048e-03 4.58127497e-01] [ 1.05619287e-01 -2.47691935e-03 9.94403555e-01 5.46164093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:0.46, Z:0.55 [[ 9.92755162e-01 -5.72356236e-02 -1.05646921e-01 2.23975558e+01] [ 5.71714417e-02 9.98357746e-01 -3.63838538e-03 4.60470197e-01] [ 1.05681667e-01 -2.42796091e-03 9.94397049e-01 5.50609578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:0.46, Z:0.55 [[ 9.92864442e-01 -5.66164529e-02 -1.04951306e-01 2.24241025e+01] [ 5.65466603e-02 9.98393312e-01 -3.64282758e-03 4.62706465e-01] [ 1.04988926e-01 -2.31781189e-03 9.94470690e-01 5.54046268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:0.46, Z:0.56 [[ 9.92895377e-01 -5.66313962e-02 -1.04650160e-01 2.24505264e+01] [ 5.65606989e-02 9.98392507e-01 -3.64552817e-03 4.61996597e-01] [ 1.04688387e-01 -2.29945816e-03 9.94502415e-01 5.55786029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:0.46, Z:0.56 [[ 9.93073277e-01 -5.56526906e-02 -1.03480645e-01 2.24780434e+01] [ 5.55753555e-02 9.98447887e-01 -3.63266885e-03 4.60942954e-01] [ 1.03522200e-01 -2.14346729e-03 9.94624834e-01 5.58027133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:0.46, Z:0.56 [[ 9.93205295e-01 -5.51912082e-02 -1.02455710e-01 2.25055143e+01] [ 5.51100874e-02 9.98473706e-01 -3.62439077e-03 4.62018114e-01] [ 1.02499367e-01 -2.04657905e-03 9.94730964e-01 5.61138199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:0.46, Z:0.56 [[ 9.93415119e-01 -5.37977536e-02 -1.01154349e-01 2.25335404e+01] [ 5.37087277e-02 9.98550136e-01 -3.60530296e-03 4.62907836e-01] [ 1.01201646e-01 -1.85130890e-03 9.94864212e-01 5.64790943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:0.46, Z:0.57 [[ 9.93381738e-01 -5.35542398e-02 -1.01610363e-01 2.25607817e+01] [ 5.34603345e-02 9.98563307e-01 -3.64902489e-03 4.63665901e-01] [ 1.01659800e-01 -1.80724929e-03 9.94817581e-01 5.67473509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:0.46, Z:0.57 [[ 9.93213520e-01 -5.29960891e-02 -1.03529310e-01 2.25877775e+01] [ 5.28926930e-02 9.98593177e-01 -3.74575191e-03 4.64691762e-01] [ 1.03582173e-01 -1.75561259e-03 9.94619350e-01 5.70280596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:0.47, Z:0.57 [[ 9.93143075e-01 -5.29276794e-02 -1.04237682e-01 2.26154143e+01] [ 5.28211705e-02 9.98596818e-01 -3.78397297e-03 4.65714981e-01] [ 1.04291694e-01 -1.74792981e-03 9.94545216e-01 5.72588064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:0.48, Z:0.58 [[ 9.93703933e-01 -5.34194799e-02 -9.84827499e-02 2.26426562e+01] [ 5.15151297e-02 9.98434660e-01 -2.17812080e-02 4.76105355e-01] [ 9.94921317e-02 1.65707204e-02 9.94900360e-01 5.75521088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:0.46, Z:0.57 [[ 9.93198520e-01 -5.05031280e-02 -1.04910123e-01 2.26724731e+01] [ 5.22713607e-02 9.98532347e-01 1.41724285e-02 4.61220228e-01] [ 1.04040399e-01 -1.95598299e-02 9.94380716e-01 5.71643838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:0.48, Z:0.58 [[ 9.93834893e-01 -5.27370953e-02 -9.75243763e-02 2.26980386e+01] [ 5.07148055e-02 9.98445948e-01 -2.31018735e-02 4.80226980e-01] [ 9.85911441e-02 1.80135182e-02 9.94964974e-01 5.81109192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:0.46, Z:0.57 [[ 9.93274888e-01 -4.98189619e-02 -1.04513481e-01 2.27282926e+01] [ 5.16945632e-02 9.98545535e-01 1.53129483e-02 4.61486961e-01] [ 1.03598594e-01 -2.06127457e-02 9.94405574e-01 5.74095515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:0.47, Z:0.58 [[ 9.93164485e-01 -5.35148907e-02 -1.03732643e-01 2.27552334e+01] [ 5.34042846e-02 9.98565569e-01 -3.84535199e-03 4.70932801e-01] [ 1.03789629e-01 -1.72070056e-03 9.94597784e-01 5.84589057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:0.48, Z:0.59 [[ 9.93064809e-01 -5.55310856e-02 -1.03627138e-01 2.27822487e+01] [ 5.54287244e-02 9.98455149e-01 -3.86947551e-03 4.76471738e-01] [ 1.03681926e-01 -1.90128014e-03 9.94608689e-01 5.90832876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:0.48, Z:0.59 [[ 9.92980239e-01 -5.71299660e-02 -1.03568397e-01 2.28087000e+01] [ 5.70335261e-02 9.98364667e-01 -3.89476992e-03 4.77831509e-01] [ 1.03621536e-01 -2.03944132e-03 9.94614708e-01 5.93481262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:0.47, Z:0.59 [[ 9.92788353e-01 -6.12726264e-02 -1.03038589e-01 2.28366479e+01] [ 6.11981239e-02 9.98118069e-01 -3.88719375e-03 4.74524263e-01] [ 1.03082856e-01 -2.44660766e-03 9.94669764e-01 5.92882435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:0.47, Z:0.60 [[ 9.92565656e-01 -6.33459998e-02 -1.03926429e-01 2.28643245e+01] [ 6.32784435e-02 9.97988093e-01 -3.95033043e-03 4.74651536e-01] [ 1.03967577e-01 -2.65534037e-03 9.94577142e-01 5.96021287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710385722999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:22.89, Y:0.48, Z:0.60 [[ 9.92377277e-01 -6.52754570e-02 -1.04529688e-01 2.28918391e+01] [ 6.52146880e-02 9.97863228e-01 -4.00272671e-03 4.76711613e-01] [ 1.04567612e-01 -2.84465597e-03 9.94513712e-01 6.00085487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.93, Y:0.50, Z:0.61 [[ 0.99368594 -0.06471371 -0.09165363 22.92842145] [ 0.06083716 0.9971562 -0.04447877 0.49525505] [ 0.09427137 0.03862198 0.99479709 0.60763083] [ 0. 0. 0. 1. ]] SLAMing on 26.770385722999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.95, Y:0.46, Z:0.59 [[ 0.99267256 -0.06060216 -0.10453977 22.95085276] [ 0.06503231 0.99710107 0.03949996 0.45844477] [ 0.10184293 -0.04600899 0.99373598 0.58667479] [ 0. 0. 0. 1. ]] SLAMing on 26.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:0.48, Z:0.61 [[ 9.92670740e-01 -6.50251862e-02 -1.01865240e-01 2.29755460e+01] [ 6.49568923e-02 9.97880090e-01 -3.99088461e-03 4.79451839e-01] [ 1.01908803e-01 -2.65521503e-03 9.94790202e-01 6.07401604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:23.00, Y:0.48, Z:0.61 [[ 9.92826121e-01 -6.48598277e-02 -1.00446483e-01 2.30021995e+01] [ 6.47897489e-02 9.97891067e-01 -3.96318088e-03 4.81691655e-01] [ 1.00491699e-01 -2.57315292e-03 9.94934569e-01 6.11730087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:0.48, Z:0.62 [[ 9.92856289e-01 -6.53662002e-02 -9.98180834e-02 2.30296167e+01] [ 6.52983623e-02 9.97857966e-01 -3.95012473e-03 4.83786548e-01] [ 9.98624743e-02 -2.59605119e-03 9.94997863e-01 6.15647477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:0.48, Z:0.62 [[ 9.92702605e-01 -6.51151541e-02 -1.01496579e-01 2.30576786e+01] [ 6.50408248e-02 9.97874406e-01 -4.04495899e-03 4.84567149e-01] [ 1.01544226e-01 -2.58597986e-03 9.94827665e-01 6.18418738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:0.48, Z:0.62 [[ 9.92467827e-01 -6.59322793e-02 -1.03249925e-01 2.30846292e+01] [ 6.58567931e-02 9.97820481e-01 -4.14363810e-03 4.84707563e-01] [ 1.03298089e-01 -2.68728144e-03 9.94646813e-01 6.19378708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:0.48, Z:0.62 [[ 9.92166376e-01 -6.72185403e-02 -1.05297432e-01 2.31123849e+01] [ 6.71458485e-02 9.97734165e-01 -4.23923924e-03 4.84255517e-01] [ 1.05343801e-01 -2.86425479e-03 9.94431737e-01 6.19736288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:0.49, Z:0.62 [[ 9.92135311e-01 -6.71394827e-02 -1.05640023e-01 2.31405205e+01] [ 6.70627980e-02 9.97739568e-01 -4.28198025e-03 4.85537108e-01] [ 1.05688721e-01 -2.83621174e-03 9.94395218e-01 6.22529598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.17, Y:0.49, Z:0.62 [[ 9.92394704e-01 -6.58922275e-02 -1.03975793e-01 2.31684163e+01] [ 6.58081661e-02 9.97823274e-01 -4.24255128e-03 4.85339055e-01] [ 1.04029017e-01 -2.63217082e-03 9.94570779e-01 6.24132488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:0.49, Z:0.63 [[ 9.92444664e-01 -6.56667235e-02 -1.03641068e-01 2.31948686e+01] [ 6.55789019e-02 9.97838301e-01 -4.25835541e-03 4.85010367e-01] [ 1.03696660e-01 -2.57048535e-03 9.94605648e-01 6.26409112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:0.49, Z:0.63 [[ 9.92384370e-01 -6.47207528e-02 -1.04806896e-01 2.32214911e+01] [ 6.46225494e-02 9.97900358e-01 -4.33611177e-03 4.87314746e-01] [ 1.04867476e-01 -2.46979930e-03 9.94483138e-01 6.30513011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:0.50, Z:0.64 [[ 9.92272020e-01 -6.72707074e-02 -1.04263560e-01 2.32439915e+01] [ 6.59648064e-02 9.97694831e-01 -1.59269959e-02 5.00146975e-01] [ 1.05094636e-01 8.92618680e-03 9.94422164e-01 6.35239563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:0.49, Z:0.63 [[ 9.92269921e-01 -6.31040842e-02 -1.06856340e-01 2.32788810e+01] [ 6.40458808e-02 9.97932336e-01 5.40159691e-03 4.89077223e-01] [ 1.06294534e-01 -1.22035506e-02 9.94259798e-01 6.33555135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:0.49, Z:0.64 [[ 9.92442045e-01 -6.41837717e-02 -1.04590779e-01 2.33057179e+01] [ 6.40771928e-02 9.97935323e-01 -4.38234353e-03 4.92736321e-01] [ 1.04656108e-01 -2.35266151e-03 9.94505688e-01 6.38718149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:23.33, Y:0.49, Z:0.64 [[ 9.92965272e-01 -6.29979419e-02 -1.00255814e-01 2.33331605e+01] [ 6.28921259e-02 9.98011414e-01 -4.21888916e-03 4.89750213e-01] [ 1.00322228e-01 -2.11609087e-03 9.94952749e-01 6.41219892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:0.49, Z:0.65 [[ 9.93163428e-01 -6.25243492e-02 -9.85754070e-02 2.33608777e+01] [ 6.24186223e-02 9.98041390e-01 -4.15920679e-03 4.90414059e-01] [ 9.86423879e-02 -2.02216902e-03 9.95120892e-01 6.45288963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:0.50, Z:0.65 [[ 9.93069769e-01 -6.43961060e-02 -9.83136590e-02 2.33806840e+01] [ 6.36104301e-02 9.97912980e-01 -1.11084759e-02 4.99549009e-01] [ 9.88238190e-02 4.77771750e-03 9.95093476e-01 6.47875741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:0.50, Z:0.65 [[ 9.92996230e-01 -6.28301576e-02 -1.00054278e-01 2.34088169e+01] [ 6.26973997e-02 9.98022555e-01 -4.47390037e-03 4.97948300e-01] [ 1.00137522e-01 -1.83057683e-03 9.94971922e-01 6.48259923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:0.49, Z:0.65 [[ 9.93120992e-01 -5.84797598e-02 -1.01443640e-01 2.34440114e+01] [ 5.86907152e-02 9.98275803e-01 -9.06392842e-04 4.92902996e-01] [ 1.01321737e-01 -5.05364201e-03 9.94840875e-01 6.52987546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:0.50, Z:0.66 [[ 9.93183232e-01 -5.90857763e-02 -1.00478551e-01 2.34716334e+01] [ 5.89563642e-02 9.98251473e-01 -4.25952468e-03 4.95919742e-01] [ 1.00554539e-01 -1.69336154e-03 9.94930107e-01 6.57192170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:23.50, Y:0.50, Z:0.66 [[ 9.93365450e-01 -6.08363538e-02 -9.75910945e-02 2.35008602e+01] [ 5.95295204e-02 9.98094272e-01 -1.62499200e-02 5.02083968e-01] [ 9.83936983e-02 1.03325580e-02 9.95093924e-01 6.59483410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:0.49, Z:0.65 [[ 9.93630952e-01 -5.82242434e-02 -9.64752214e-02 2.35266763e+01] [ 5.85203572e-02 9.98286186e-01 2.40272227e-04 4.94567148e-01] [ 9.62958912e-02 -5.88450634e-03 9.95335358e-01 6.54118883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:0.50, Z:0.66 [[ 9.93219112e-01 -6.21563763e-02 -9.82465239e-02 2.35475634e+01] [ 6.22007093e-02 9.98060237e-01 -2.61459005e-03 5.01268772e-01] [ 9.82184623e-02 -3.51414266e-03 9.95158673e-01 6.61433913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:0.50, Z:0.67 [[ 9.93214894e-01 -6.23447739e-02 -9.81697713e-02 2.35757596e+01] [ 6.20139862e-02 9.98054631e-01 -6.42026117e-03 5.04152897e-01] [ 9.83790646e-02 2.88800174e-04 9.95148972e-01 6.66056410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.60, Y:0.50, Z:0.67 [[ 9.93061586e-01 -6.16369626e-02 -1.00147752e-01 2.36030217e+01] [ 6.16231745e-02 9.98094246e-01 -3.23412472e-03 5.04330584e-01] [ 1.00156236e-01 -2.95973735e-03 9.94967320e-01 6.69201517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:0.51, Z:0.67 [[ 9.92946112e-01 -6.15263915e-02 -1.01353450e-01 2.36329284e+01] [ 6.11742840e-02 9.98105401e-01 -6.58148532e-03 5.05504687e-01] [ 1.01566361e-01 3.34835540e-04 9.94828710e-01 6.71402729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:0.51, Z:0.68 [[ 9.93577127e-01 -5.87014002e-02 -9.67400541e-02 2.36723219e+01] [ 5.66442830e-02 9.98108854e-01 -2.38776307e-02 5.09186511e-01] [ 9.79587549e-02 1.82444967e-02 9.95023226e-01 6.76318017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:23.70, Y:0.49, Z:0.67 [[ 9.92923825e-01 -5.65762313e-02 -1.04409805e-01 2.36984202e+01] [ 5.85528199e-02 9.98156699e-01 1.59615816e-02 4.90234178e-01] [ 1.03314300e-01 -2.19621231e-02 9.94406265e-01 6.67381315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610385722999997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:23.72, Y:0.50, Z:0.68 [[ 9.92853227e-01 -5.82454487e-02 -1.04163030e-01 2.37246538e+01] [ 5.81087899e-02 9.98300785e-01 -4.34873621e-03 5.00995043e-01] [ 1.04239329e-01 -1.73513086e-03 9.94550729e-01 6.78404216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640385722999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:23.75, Y:0.50, Z:0.68 [[ 9.92968875e-01 -5.73296452e-02 -1.03567006e-01 2.37517997e+01] [ 5.71866228e-02 9.98354020e-01 -4.35220836e-03 5.02255566e-01] [ 1.03646047e-01 -1.60103987e-03 9.94612957e-01 6.81891453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:0.51, Z:0.68 [[ 9.92836229e-01 -6.03315158e-02 -1.03132591e-01 2.37723555e+01] [ 6.01670784e-02 9.98177220e-01 -4.70743016e-03 5.09432302e-01] [ 1.03228609e-01 -1.53147948e-03 9.94656478e-01 6.84296708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:0.51, Z:0.69 [[ 9.93395210e-01 -5.96895877e-02 -9.79954561e-02 2.38005030e+01] [ 5.90921265e-02 9.98212047e-01 -8.99052040e-03 5.12277053e-01] [ 9.83568853e-02 3.14038001e-03 9.95146251e-01 6.88763155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:0.52, Z:0.69 [[ 9.93706635e-01 -5.74277370e-02 -9.61726448e-02 2.38328875e+01] [ 5.56258777e-02 9.98224133e-01 -2.13153038e-02 5.15755791e-01] [ 9.72259446e-02 1.58314710e-02 9.95136413e-01 6.94948534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:0.50, Z:0.69 [[ 9.93543187e-01 -5.72033858e-02 -9.79781004e-02 2.38564918e+01] [ 5.88211663e-02 9.98174509e-01 1.37010975e-02 5.02719561e-01] [ 9.70154931e-02 -1.93758183e-02 9.95094253e-01 6.86948177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790385722999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:23.88, Y:0.51, Z:0.70 [[ 9.93548798e-01 -5.85874738e-02 -9.70994017e-02 2.38847681e+01] [ 5.80241034e-02 9.98277984e-01 -8.61804563e-03 5.13940310e-01] [ 9.74371045e-02 2.92834315e-03 9.95237376e-01 6.98602135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:0.52, Z:0.70 [[ 9.93434203e-01 -5.82738020e-02 -9.84512458e-02 2.39128308e+01] [ 5.73409561e-02 9.98279119e-01 -1.22807244e-02 5.17708235e-01] [ 9.89974674e-02 6.55480305e-03 9.95066096e-01 7.01117133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.95, Y:0.51, Z:0.70 [[ 9.93539486e-01 -5.55991163e-02 -9.89344611e-02 2.39458899e+01] [ 5.52463002e-02 9.98452854e-01 -6.30433183e-03 5.12868808e-01] [ 9.91319103e-02 7.97839678e-04 9.95073981e-01 7.00364568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:0.51, Z:0.70 [[ 9.93336601e-01 -5.74383078e-02 -9.99161522e-02 2.39683701e+01] [ 5.74602736e-02 9.98344249e-01 -2.66034421e-03 5.10388910e-01] [ 9.99035217e-02 -3.09859217e-03 9.94992304e-01 6.98399661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:0.51, Z:0.70 [[ 9.93308691e-01 -5.78399367e-02 -9.99619224e-02 2.39965121e+01] [ 5.76578976e-02 9.98325282e-01 -4.71159716e-03 5.10717433e-01] [ 1.00067033e-01 -1.08352387e-03 9.94980108e-01 7.02043073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:0.51, Z:0.71 [[ 9.93241340e-01 -5.88754655e-02 -1.00026601e-01 2.40239623e+01] [ 5.90469023e-02 9.98254429e-01 -1.24836635e-03 5.11435448e-01] [ 9.99254958e-02 -4.66633189e-03 9.94983980e-01 7.07758515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.05, Y:0.52, Z:0.72 [[ 9.93182335e-01 -6.05320687e-02 -9.96228757e-02 2.40503505e+01] [ 5.90123508e-02 9.98092527e-01 -1.81341993e-02 5.24080596e-01] [ 1.00530548e-01 1.21315863e-02 9.94860007e-01 7.21327065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.08, Y:0.52, Z:0.71 [[ 9.93350739e-01 -5.74119833e-02 -9.97906480e-02 2.40791681e+01] [ 5.81217124e-02 9.98300597e-01 4.21711662e-03 5.15574462e-01] [ 9.93789504e-02 -9.98907926e-03 9.94999519e-01 7.14890128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.11, Y:0.52, Z:0.72 [[ 9.92964024e-01 -5.90413428e-02 -1.02647783e-01 2.41068655e+01] [ 5.78455364e-02 9.98218924e-01 -1.45901745e-02 5.23657214e-01] [ 1.03326383e-01 8.54980226e-03 9.94610758e-01 7.23167653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.14, Y:0.51, Z:0.71 [[ 9.93166299e-01 -5.58848118e-02 -1.02457750e-01 2.41365788e+01] [ 5.58434231e-02 9.98434169e-01 -3.27451762e-03 5.12837410e-01] [ 1.02480314e-01 -2.46945093e-03 9.94731967e-01 7.14256784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090385722999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.16, Y:0.51, Z:0.72 [[ 9.92841074e-01 -5.63836990e-02 -1.05297109e-01 2.41640155e+01] [ 5.65428876e-02 9.98399081e-01 -1.47517854e-03 5.13328215e-01] [ 1.05211713e-01 -4.48918475e-03 9.94439713e-01 7.17516914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:0.52, Z:0.72 [[ 9.92968263e-01 -5.34196064e-02 -1.05642676e-01 2.41972554e+01] [ 5.35516084e-02 9.98563819e-01 -1.58873935e-03 5.15927254e-01] [ 1.05575824e-01 -4.07976746e-03 9.94402887e-01 7.23038851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:0.52, Z:0.73 [[ 9.92842004e-01 -5.60055041e-02 -1.05489990e-01 2.42185851e+01] [ 5.55223614e-02 9.98429174e-01 -7.51347721e-03 5.22586386e-01] [ 1.05745080e-01 1.60264241e-03 9.94391980e-01 7.29115081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.25, Y:0.52, Z:0.73 [[ 9.92605774e-01 -5.71590087e-02 -1.07082326e-01 2.42506325e+01] [ 5.66048625e-02 9.98362905e-01 -8.20976370e-03 5.23053910e-01] [ 1.07376284e-01 2.08767852e-03 9.94216262e-01 7.33720639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:0.52, Z:0.73 [[ 9.92731307e-01 -5.41705491e-02 -1.07471410e-01 2.42746682e+01] [ 5.48159160e-02 9.98491795e-01 3.05780969e-03 5.17530024e-01] [ 1.07143678e-01 -8.92672721e-03 9.94203473e-01 7.33289568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:0.52, Z:0.74 [[ 9.92580018e-01 -5.53814341e-02 -1.08248806e-01 2.43018218e+01] [ 5.54971173e-02 9.98456951e-01 -1.94596199e-03 5.22281601e-01] [ 1.08189543e-01 -4.07597372e-03 9.94121929e-01 7.40460000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:0.53, Z:0.75 [[ 9.92570153e-01 -5.88646968e-02 -1.06486799e-01 2.43323496e+01] [ 5.66702887e-02 9.98115873e-01 -2.35198265e-02 5.34005351e-01] [ 1.07670652e-01 1.73104402e-02 9.94035905e-01 7.50020064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:0.52, Z:0.74 [[ 9.92564615e-01 -5.55632988e-02 -1.08296833e-01 2.43606796e+01] [ 5.75837850e-02 9.98218516e-01 1.56173885e-02 5.16128287e-01] [ 1.07236150e-01 -2.17374088e-02 9.93995922e-01 7.39771254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:0.52, Z:0.75 [[ 9.92814092e-01 -5.57224113e-02 -1.05901803e-01 2.43928355e+01] [ 5.47850179e-02 9.98429125e-01 -1.17423928e-02 5.23915085e-01] [ 1.06389759e-01 5.85618085e-03 9.94307259e-01 7.53171408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:0.52, Z:0.75 [[ 9.92698839e-01 -5.49787174e-02 -1.07360871e-01 2.44205605e+01] [ 5.48242669e-02 9.98486360e-01 -4.39185482e-03 5.20005535e-01] [ 1.07439824e-01 -1.52619186e-03 9.94210418e-01 7.51826549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:0.53, Z:0.76 [[ 9.92654764e-01 -5.77124135e-02 -1.06328721e-01 2.44418369e+01] [ 5.64027080e-02 9.98291072e-01 -1.52862773e-02 5.33925187e-01] [ 1.07029220e-01 9.17676824e-03 9.94213525e-01 7.56679729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:0.54, Z:0.76 [[ 9.92667763e-01 -5.67474345e-02 -1.06726005e-01 2.44698915e+01] [ 5.60939778e-02 9.98383865e-01 -9.11717395e-03 5.35016682e-01] [ 1.07070898e-01 3.06363851e-03 9.94246668e-01 7.58289071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:0.53, Z:0.76 [[ 9.92387092e-01 -5.53865342e-02 -1.10000866e-01 2.44981894e+01] [ 5.66154673e-02 9.98363379e-01 8.07785973e-03 5.32817214e-01] [ 1.09373432e-01 -1.42441142e-02 9.93898666e-01 7.59168241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:0.55, Z:0.77 [[ 9.92759746e-01 -5.69067982e-02 -1.05781395e-01 2.45264743e+01] [ 5.52777316e-02 9.98303827e-01 -1.82713387e-02 5.45110894e-01] [ 1.06641734e-01 1.22916940e-02 9.94221532e-01 7.69264552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:0.53, Z:0.76 [[ 9.92775765e-01 -5.48436012e-02 -1.06716727e-01 2.45568549e+01] [ 5.50868925e-02 9.98481340e-01 -6.68879495e-04 5.32646934e-01] [ 1.06591344e-01 -5.21464552e-03 9.94289240e-01 7.61218255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:0.54, Z:0.77 [[ 9.92477987e-01 -5.65203114e-02 -1.08595118e-01 2.45819305e+01] [ 5.50780294e-02 9.98350015e-01 -1.62375804e-02 5.39887024e-01] [ 1.09333691e-01 1.01342360e-02 9.93953440e-01 7.69943177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:0.54, Z:0.77 [[ 9.92441210e-01 -5.53698382e-02 -1.09519982e-01 2.46099476e+01] [ 5.43625353e-02 9.98447166e-01 -1.21643345e-02 5.40005875e-01] [ 1.10023453e-01 6.11860298e-03 9.93910158e-01 7.71754754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:0.53, Z:0.77 [[ 9.92477914e-01 -5.21387974e-02 -1.10766136e-01 2.46456246e+01] [ 5.40098759e-02 9.98442851e-01 1.39573290e-02 5.32353018e-01] [ 1.09865938e-01 -1.98348060e-02 9.93748487e-01 7.74600431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:0.54, Z:0.79 [[ 9.92465623e-01 -5.35591531e-02 -1.10197117e-01 2.46714549e+01] [ 5.33746807e-02 9.98563844e-01 -4.62532993e-03 5.44931353e-01] [ 1.10286586e-01 -1.29125500e-03 9.93898990e-01 7.86856922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:0.55, Z:0.79 [[ 9.92812085e-01 -5.12073755e-02 -1.08175640e-01 2.46981533e+01] [ 5.10125588e-02 9.98687559e-01 -4.56927235e-03 5.45084939e-01] [ 1.08267646e-01 -9.81887390e-04 9.94121297e-01 7.87450470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:0.54, Z:0.79 [[ 9.92959001e-01 -5.04801052e-02 -1.07164276e-01 2.47262506e+01] [ 5.02832892e-02 9.98724678e-01 -4.53959359e-03 5.44203395e-01] [ 1.07256766e-01 -8.80941940e-04 9.94230964e-01 7.87940127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:0.54, Z:0.79 [[ 9.93035165e-01 -4.96973023e-02 -1.06823874e-01 2.47541760e+01] [ 4.94940298e-02 9.98764033e-01 -4.55484429e-03 5.43592911e-01] [ 1.06918206e-01 -7.64023427e-04 9.94267526e-01 7.90000849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:0.55, Z:0.79 [[ 9.93127938e-01 -4.94845909e-02 -1.06057409e-01 2.47812125e+01] [ 4.92799245e-02 9.98774637e-01 -4.55116277e-03 5.45223049e-01] [ 1.06152662e-01 -7.06614194e-04 9.94349593e-01 7.93768704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:0.55, Z:0.80 [[ 9.93112131e-01 -4.98878063e-02 -1.06016521e-01 2.48089870e+01] [ 4.96842155e-02 9.98754557e-01 -4.56227750e-03 5.47891358e-01] [ 1.06112086e-01 -7.36494568e-04 9.94353902e-01 7.97449569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:0.55, Z:0.80 [[ 9.92779164e-01 -5.08556631e-02 -1.08642684e-01 2.48353823e+01] [ 5.07353130e-02 9.98704623e-01 -3.87347106e-03 5.49411624e-01] [ 1.08698939e-01 -1.66651922e-03 9.94073319e-01 7.98884587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:0.56, Z:0.80 [[ 9.92447839e-01 -5.57124775e-02 -1.09285897e-01 2.48572190e+01] [ 5.49447898e-02 9.98439059e-01 -1.00257737e-02 5.56435340e-01] [ 1.09673869e-01 3.94536684e-03 9.93959796e-01 8.00512384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:0.55, Z:0.80 [[ 9.92531541e-01 -5.34756112e-02 -1.09642599e-01 2.48926785e+01] [ 5.35347806e-02 9.98563087e-01 -2.40611863e-03 5.46567666e-01] [ 1.09613721e-01 -3.48154385e-03 9.93968164e-01 8.03031273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:0.55, Z:0.81 [[ 9.92575647e-01 -5.42377078e-02 -1.08866227e-01 2.49197068e+01] [ 5.40442724e-02 9.98527343e-01 -4.72879053e-03 5.49122824e-01] [ 1.08962383e-01 -1.18991370e-03 9.94045162e-01 8.08534460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:0.55, Z:0.81 [[ 9.92564452e-01 -5.47921440e-02 -1.08690525e-01 2.49477523e+01] [ 5.45994000e-02 9.98497038e-01 -4.75082769e-03 5.49972343e-01] [ 1.08787476e-01 -1.21893478e-03 9.94064283e-01 8.11135122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:0.55, Z:0.81 [[ 9.92459231e-01 -5.54199095e-02 -1.09331184e-01 2.49760902e+01] [ 5.52252827e-02 9.98462335e-01 -4.80970455e-03 5.49301816e-01] [ 1.09429623e-01 -1.26440987e-03 9.93993742e-01 8.12648760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:0.55, Z:0.81 [[ 9.92414204e-01 -5.67114294e-02 -1.09077322e-01 2.50032542e+01] [ 5.65221628e-02 9.98389668e-01 -4.82875802e-03 5.47482006e-01] [ 1.09175517e-01 -1.37315808e-03 9.94021539e-01 8.13794937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:0.55, Z:0.82 [[ 9.92299739e-01 -5.96737634e-02 -1.08536951e-01 2.50276891e+01] [ 5.93709194e-02 9.98217823e-01 -6.02252478e-03 5.53396366e-01] [ 1.08702906e-01 -4.67788793e-04 9.94074172e-01 8.16514764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:0.56, Z:0.82 [[ 9.92131320e-01 -6.26036291e-02 -1.08426149e-01 2.50508207e+01] [ 6.23330328e-02 9.98038046e-01 -5.88649150e-03 5.57083735e-01] [ 1.08581938e-01 -9.18358132e-04 9.94087078e-01 8.22551936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:0.56, Z:0.82 [[ 9.92541549e-01 -6.30643969e-02 -1.04327158e-01 2.50798161e+01] [ 6.30647358e-02 9.98003987e-01 -3.29874820e-03 5.57066583e-01] [ 1.04326954e-01 -3.30522003e-03 9.94537562e-01 8.24571598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:0.57, Z:0.84 [[ 9.92216475e-01 -6.49505657e-02 -1.06244488e-01 2.51036313e+01] [ 6.22209020e-02 9.97646450e-01 -2.88118215e-02 5.67134127e-01] [ 1.07865780e-01 2.19769361e-02 9.93922526e-01 8.36681322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:0.55, Z:0.82 [[ 9.92325868e-01 -6.40873347e-02 -1.05745855e-01 2.51318514e+01] [ 6.48082582e-02 9.97891971e-01 3.39185190e-03 5.52698883e-01] [ 1.05305565e-01 -1.02190271e-02 9.94387404e-01 8.24989529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.16, Y:0.55, Z:0.83 [[ 9.91867426e-01 -6.71774157e-02 -1.08102743e-01 2.51592636e+01] [ 6.71427492e-02 9.97735503e-01 -3.96462381e-03 5.54052602e-01] [ 1.08124278e-01 -3.32593417e-03 9.94131822e-01 8.30048722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.19, Y:0.55, Z:0.83 [[ 9.92030188e-01 -6.52699698e-02 -1.07777255e-01 2.51915545e+01] [ 6.49378377e-02 9.97867536e-01 -6.59219489e-03 5.54283507e-01] [ 1.07977696e-01 -4.59165559e-04 9.94153211e-01 8.34482531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:0.56, Z:0.84 [[ 9.92081164e-01 -6.61056532e-02 -1.06794225e-01 2.52193945e+01] [ 6.57016084e-02 9.97812603e-01 -7.30119741e-03 5.57299139e-01] [ 1.07043274e-01 2.26828070e-04 9.94254337e-01 8.39740281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:0.56, Z:0.84 [[ 9.92322971e-01 -6.60359170e-02 -1.04567584e-01 2.52488889e+01] [ 6.50164255e-02 9.97797780e-01 -1.31321661e-02 5.57316366e-01] [ 1.05204497e-01 6.23273960e-03 9.94431077e-01 8.42039881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:0.55, Z:0.84 [[ 9.92402807e-01 -6.51395293e-02 -1.04371984e-01 2.52775288e+01] [ 6.49478014e-02 9.97874914e-01 -5.23820546e-03 5.50043044e-01] [ 1.04491399e-01 -1.58032109e-03 9.94524535e-01 8.40113877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:0.55, Z:0.85 [[ 9.92846625e-01 -6.34899525e-02 -1.01116788e-01 2.53074804e+01] [ 6.22330555e-02 9.97940662e-01 -1.55397153e-02 5.51371971e-01] [ 1.01895170e-01 9.13574720e-03 9.94753192e-01 8.46934084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:0.55, Z:0.85 [[ 9.92663863e-01 -6.14924989e-02 -1.04101527e-01 2.53350349e+01] [ 6.18653738e-02 9.98084441e-01 3.53640747e-04 5.48396296e-01] [ 1.03880368e-01 -6.79132626e-03 9.94566613e-01 8.48320816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:0.55, Z:0.85 [[ 9.92631011e-01 -6.21917193e-02 -1.03999360e-01 2.53629872e+01] [ 6.19079882e-02 9.98064083e-01 -5.95707840e-03 5.52525932e-01] [ 1.04168507e-01 -5.25210418e-04 9.94559524e-01 8.54012124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:0.56, Z:0.86 [[ 9.92604662e-01 -6.01612302e-02 -1.05435346e-01 2.53918006e+01] [ 5.95935656e-02 9.98186286e-01 -8.52905584e-03 5.56539534e-01] [ 1.05757235e-01 2.18271236e-03 9.94389583e-01 8.57066336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:0.54, Z:0.85 [[ 9.92415415e-01 -5.45809481e-02 -1.10147922e-01 2.54252665e+01] [ 5.57409485e-02 9.98417265e-01 7.47735924e-03 5.42057752e-01] [ 1.09565465e-01 -1.35603962e-02 9.93887078e-01 8.54586123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:0.55, Z:0.86 [[ 9.92463137e-01 -5.78226403e-02 -1.08043806e-01 2.54472355e+01] [ 5.66660782e-02 9.98298542e-01 -1.37468667e-02 5.54783523e-01] [ 1.08654855e-01 7.52083970e-03 9.94051085e-01 8.60118165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:0.55, Z:0.86 [[ 9.92255190e-01 -5.56505551e-02 -1.11052483e-01 2.54763873e+01] [ 5.60464337e-02 9.98428065e-01 4.43832023e-04 5.48294549e-01] [ 1.10853217e-01 -6.66449027e-03 9.93814444e-01 8.58434281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:0.56, Z:0.87 [[ 9.92470712e-01 -5.44989195e-02 -1.09689348e-01 2.55031309e+01] [ 5.34095819e-02 9.98490045e-01 -1.28470335e-02 5.57212428e-01] [ 1.10223871e-01 6.89184223e-03 9.93882891e-01 8.67708750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:0.55, Z:0.87 [[ 9.92545055e-01 -5.18017417e-02 -1.10321775e-01 2.55309025e+01] [ 5.21114496e-02 9.98641272e-01 -7.61022604e-05 5.54943102e-01] [ 1.10175820e-01 -5.67349271e-03 9.93895920e-01 8.69279516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:0.56, Z:0.88 [[ 9.92733201e-01 -5.11960637e-02 -1.08902501e-01 2.55577841e+01] [ 5.09108902e-02 9.98688605e-01 -5.39927327e-03 5.61045964e-01] [ 1.09036109e-01 -1.84285451e-04 9.94037772e-01 8.77342875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:0.56, Z:0.88 [[ 9.92832620e-01 -5.13676421e-02 -1.07910857e-01 2.55867009e+01] [ 5.05199449e-02 9.98667048e-01 -1.05765285e-02 5.63410216e-01] [ 1.08310309e-01 5.04907195e-03 9.94104312e-01 8.80647424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:0.56, Z:0.88 [[ 9.92750741e-01 -5.23182349e-02 -1.08207062e-01 2.56157119e+01] [ 5.20495179e-02 9.98630398e-01 -5.30817696e-03 5.57922422e-01] [ 1.08336576e-01 -3.62428791e-04 9.94114206e-01 8.79178766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:0.56, Z:0.89 [[ 9.92264814e-01 -5.33100329e-02 -1.12109677e-01 2.56449797e+01] [ 5.16304618e-02 9.98507009e-01 -1.78338843e-02 5.61218203e-01] [ 1.12893023e-01 1.19076615e-02 9.93535793e-01 8.88932499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:0.55, Z:0.88 [[ 9.92644706e-01 -5.29718150e-02 -1.08859885e-01 2.56765110e+01] [ 5.45547193e-02 9.98443258e-01 1.16121902e-02 5.49636423e-01] [ 1.08075300e-01 -1.74655996e-02 9.93989277e-01 8.80829736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:0.56, Z:0.89 [[ 9.92406747e-01 -5.78100177e-02 -1.08567265e-01 2.56971070e+01] [ 5.78550845e-02 9.98321239e-01 -2.73740260e-03 5.63111904e-01] [ 1.08543256e-01 -3.56455147e-03 9.94085336e-01 8.89466069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:0.57, Z:0.89 [[ 9.92692773e-01 -5.66157799e-02 -1.06563180e-01 2.57239668e+01] [ 5.55849081e-02 9.98374185e-01 -1.26215878e-02 5.67455687e-01] [ 1.07104509e-01 6.60605441e-03 9.94225821e-01 8.94401714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:0.56, Z:0.89 [[ 9.92894846e-01 -5.42430021e-02 -1.05912800e-01 2.57538926e+01] [ 5.35817201e-02 9.98522173e-01 -9.08130603e-03 5.64664171e-01] [ 1.06248877e-01 3.34179192e-03 9.94333952e-01 8.94213778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:0.56, Z:0.90 [[ 9.92845751e-01 -5.30625179e-02 -1.06965803e-01 2.57817586e+01] [ 5.30807048e-02 9.98586632e-01 -2.67906996e-03 5.61764618e-01] [ 1.06956779e-01 -3.01791699e-03 9.94259091e-01 8.95791527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.81, Y:0.56, Z:0.90 [[ 9.92722136e-01 -5.25910602e-02 -1.08337166e-01 2.58085120e+01] [ 5.32985717e-02 9.98571974e-01 3.64337740e-03 5.63122421e-01] [ 1.07990849e-01 -9.39107762e-03 9.94107532e-01 9.01989614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:0.57, Z:0.91 [[ 9.92750576e-01 -5.38722907e-02 -1.07443332e-01 2.58352791e+01] [ 5.30441589e-02 9.98536407e-01 -1.05527654e-02 5.73661625e-01] [ 1.07854580e-01 4.77702279e-03 9.94155204e-01 9.11125958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:0.57, Z:0.91 [[ 9.92686634e-01 -5.32464427e-02 -1.08342344e-01 2.58646993e+01] [ 5.26736673e-02 9.98578572e-01 -8.14373393e-03 5.73931414e-01] [ 1.08621968e-01 2.37738722e-03 9.94080286e-01 9.11528638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:0.57, Z:0.91 [[ 9.92861637e-01 -5.32359361e-02 -1.06731931e-01 2.58929140e+01] [ 5.21279653e-02 9.98553884e-01 -1.31459609e-02 5.73991663e-01] [ 1.07277422e-01 7.48840181e-03 9.94200925e-01 9.12294313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:0.56, Z:0.91 [[ 9.92544418e-01 -5.34723138e-02 -1.09527575e-01 2.59218773e+01] [ 5.36724781e-02 9.98557963e-01 -1.12196589e-03 5.64174226e-01] [ 1.09429626e-01 -4.76501538e-03 9.93983124e-01 9.08631486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.95, Y:0.57, Z:0.92 [[ 9.92542681e-01 -5.55808297e-02 -1.08488699e-01 2.59492680e+01] [ 5.44804875e-02 9.98429128e-01 -1.30825623e-02 5.70716362e-01] [ 1.09045417e-01 7.07448423e-03 9.94011594e-01 9.15388645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:0.57, Z:0.92 [[ 9.92310691e-01 -5.61856810e-02 -1.10284461e-01 2.59755000e+01] [ 5.64326350e-02 9.98406018e-01 -8.83307044e-04 5.71425903e-01] [ 1.10158299e-01 -5.34712770e-03 9.93899672e-01 9.19276604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:0.58, Z:0.93 [[ 9.92396709e-01 -5.65026318e-02 -1.09344523e-01 2.60028855e+01] [ 5.60955622e-02 9.98402262e-01 -6.79781774e-03 5.76903005e-01] [ 1.09553914e-01 6.12389475e-04 9.93980666e-01 9.26020613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:0.57, Z:0.93 [[ 9.92652135e-01 -5.29646842e-02 -1.08795595e-01 2.60381323e+01] [ 5.25244543e-02 9.98595730e-01 -6.91016780e-03 5.72229005e-01] [ 1.09008812e-01 1.14496354e-03 9.94040124e-01 9.29001308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:0.58, Z:0.93 [[ 9.92606946e-01 -5.54636482e-02 -1.07959408e-01 2.60610438e+01] [ 5.37758229e-02 9.98381921e-01 -1.84851725e-02 5.77760824e-01] [ 1.08809976e-01 1.25429047e-02 9.93983433e-01 9.31202151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:0.58, Z:0.93 [[ 9.92735206e-01 -5.30928008e-02 -1.07972060e-01 2.60891389e+01] [ 5.16330924e-02 9.98533543e-01 -1.62723015e-02 5.76688763e-01] [ 1.08677666e-01 1.05791552e-02 9.94020747e-01 9.33194691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.12, Y:0.57, Z:0.93 [[ 9.93055962e-01 -5.14798837e-02 -1.05781273e-01 2.61204114e+01] [ 5.21715770e-02 9.98630981e-01 3.78033754e-03 5.69835161e-01] [ 1.05441845e-01 -9.27286259e-03 9.94382236e-01 9.28748876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.15, Y:0.57, Z:0.94 [[ 9.92500510e-01 -5.11486441e-02 -1.11025012e-01 2.61510479e+01] [ 5.15416609e-02 9.98670620e-01 6.70809179e-04 5.70413079e-01] [ 1.10843107e-01 -6.38819198e-03 9.93817386e-01 9.38410340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:0.58, Z:0.94 [[ 9.92874439e-01 -5.56158285e-02 -1.05390839e-01 2.61759042e+01] [ 5.39832116e-02 9.98374449e-01 -1.82831007e-02 5.80557940e-01] [ 1.06236351e-01 1.24634873e-02 9.94262792e-01 9.40579577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:0.58, Z:0.94 [[ 9.91961695e-01 -5.92298993e-02 -1.11820455e-01 2.62048222e+01] [ 5.70196360e-02 9.98111202e-01 -2.28646109e-02 5.82490041e-01] [ 1.12963517e-01 1.63048565e-02 9.93465347e-01 9.43560969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:0.57, Z:0.94 [[ 9.92168225e-01 -5.68444241e-02 -1.11224657e-01 2.62358327e+01] [ 5.80683403e-02 9.98282192e-01 7.79310803e-03 5.69494611e-01] [ 1.10590600e-01 -1.41907054e-02 9.93764732e-01 9.35986400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:0.58, Z:0.94 [[ 9.92144195e-01 -5.99369241e-02 -1.09806471e-01 2.62618198e+01] [ 5.97459851e-02 9.98200934e-01 -5.03122737e-03 5.77377172e-01] [ 1.09910478e-01 -1.56879275e-03 9.93940253e-01 9.43867803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:0.58, Z:0.95 [[ 9.91944586e-01 -6.43011134e-02 -1.09138923e-01 2.62892106e+01] [ 6.34300176e-02 9.97920739e-01 -1.14381917e-02 5.83112244e-01] [ 1.09647483e-01 4.42336855e-03 9.93960695e-01 9.50154869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:0.58, Z:0.95 [[ 9.91989727e-01 -6.36952025e-02 -1.09083925e-01 2.63166022e+01] [ 6.41753586e-02 9.97938237e-01 8.93058363e-04 5.79154069e-01] [ 1.08802136e-01 -7.88640471e-03 9.94032142e-01 9.49198184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:0.57, Z:0.95 [[ 9.91276197e-01 -6.37186898e-02 -1.15375173e-01 2.63489570e+01] [ 6.56584173e-02 9.97756336e-01 1.30868688e-02 5.73761049e-01] [ 1.14282432e-01 -2.05480528e-02 9.93235774e-01 9.54893022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460385722999998 meters Centerline goodness : 0.987565 Centerline is valid? [True, True] Translation: X:26.37, Y:0.59, Z:0.98 [[ 9.90290409e-01 -6.68305185e-02 -1.21895809e-01 2.63739897e+01] [ 6.46071372e-02 9.97665884e-01 -2.21065846e-02 5.93085099e-01] [ 1.23088685e-01 1.40165995e-02 9.92296685e-01 9.80438325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:0.59, Z:0.97 [[ 9.90908470e-01 -6.58360923e-02 -1.17328654e-01 2.64040905e+01] [ 6.60662647e-02 9.97813370e-01 -1.93057640e-03 5.88212046e-01] [ 1.17199202e-01 -5.83844143e-03 9.93091265e-01 9.72684245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:0.59, Z:0.98 [[ 9.90971598e-01 -6.70915793e-02 -1.16077608e-01 2.64297154e+01] [ 6.67681804e-02 9.97746177e-01 -6.67653580e-03 5.93205468e-01] [ 1.16263929e-01 -1.13403333e-03 9.93217707e-01 9.78088399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:0.60, Z:0.98 [[ 9.90897153e-01 -6.83742800e-02 -1.15964606e-01 2.64575946e+01] [ 6.82100738e-02 9.97656429e-01 -5.38847299e-03 5.96638349e-01] [ 1.16061268e-01 -2.57053181e-03 9.93238730e-01 9.79815472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:0.60, Z:0.98 [[ 9.90706237e-01 -6.92153732e-02 -1.17091347e-01 2.64855969e+01] [ 6.88878844e-02 9.97600915e-01 -6.84647428e-03 6.00340430e-01] [ 1.17284316e-01 -1.28333038e-03 9.93097549e-01 9.83074683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610385722999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.51, Y:0.60, Z:0.98 [[ 9.90403906e-01 -7.04627984e-02 -1.18891111e-01 2.65135005e+01] [ 7.00444573e-02 9.97514160e-01 -7.69893599e-03 6.04164124e-01] [ 1.19138055e-01 -7.02607042e-04 9.92877450e-01 9.84718331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640385722999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:26.55, Y:0.59, Z:0.99 [[ 9.90215453e-01 -6.63700192e-02 -1.22753320e-01 2.65499076e+01] [ 6.78124385e-02 9.97669098e-01 7.60555694e-03 5.93678802e-01] [ 1.21962413e-01 -1.58553420e-02 9.92408070e-01 9.85657183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.56, Y:0.62, Z:1.00 [[ 9.89480284e-01 -7.36949478e-02 -1.24490251e-01 2.65648848e+01] [ 6.98186241e-02 9.96937606e-01 -3.52245482e-02 6.23465760e-01] [ 1.26704884e-01 2.61622579e-02 9.91595386e-01 1.00289325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700385722999997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:26.60, Y:0.61, Z:0.99 [[ 9.89942893e-01 -6.99436578e-02 -1.22967282e-01 2.65962400e+01] [ 7.08558788e-02 9.97481883e-01 3.05562709e-03 6.09559479e-01] [ 1.22443914e-01 -1.17378511e-02 9.92406021e-01 9.90025249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:0.62, Z:1.00 [[ 9.90135725e-01 -6.80870743e-02 -1.22455688e-01 2.66235602e+01] [ 6.85178881e-02 9.97649646e-01 -6.94428837e-04 6.17837203e-01] [ 1.22215155e-01 -7.70282633e-03 9.92473739e-01 9.99467507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:0.62, Z:1.01 [[ 9.90202434e-01 -6.34576635e-02 -1.24387555e-01 2.66588498e+01] [ 6.32998452e-02 9.97980878e-01 -5.22459025e-03 6.18343755e-01] [ 1.24467942e-01 -2.70031100e-03 9.92219955e-01 1.00995859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:0.63, Z:1.01 [[ 9.90503483e-01 -6.24020461e-02 -1.22510546e-01 2.66774691e+01] [ 6.24748530e-02 9.98041244e-01 -3.25079123e-03 6.27686428e-01] [ 1.22473434e-01 -4.43390834e-03 9.92461888e-01 1.00893379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820385722999998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:26.70, Y:0.63, Z:1.01 [[ 9.90542435e-01 -6.06441623e-02 -1.23077093e-01 2.67044509e+01] [ 5.97112071e-02 9.98152206e-01 -1.12581462e-02 6.31713062e-01] [ 1.23532413e-01 3.80258970e-03 9.92333252e-01 1.01380039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:0.62, Z:1.01 [[ 9.90535220e-01 -5.37033113e-02 -1.26316790e-01 2.67417294e+01] [ 5.43326045e-02 9.98521707e-01 1.53927554e-03 6.20624351e-01] [ 1.26047393e-01 -8.38782684e-03 9.91988760e-01 1.01228270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:0.62, Z:1.02 [[ 9.90419001e-01 -5.48393674e-02 -1.26739284e-01 2.67692606e+01] [ 5.46965461e-02 9.98492384e-01 -4.60940141e-03 6.24448407e-01] [ 1.26800986e-01 -2.36696234e-03 9.91925354e-01 1.01864255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:0.63, Z:1.03 [[ 9.90283285e-01 -5.37804792e-02 -1.28244594e-01 2.67956668e+01] [ 5.27112509e-02 9.98541026e-01 -1.17193571e-02 6.31647126e-01] [ 1.28687761e-01 4.84555044e-03 9.91673324e-01 1.02799210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:0.63, Z:1.03 [[ 9.90674935e-01 -5.21660928e-02 -1.25864495e-01 2.68237193e+01] [ 5.28533752e-02 9.98600023e-01 2.12492548e-03 6.26350004e-01] [ 1.25577438e-01 -8.75747378e-03 9.92045167e-01 1.02649986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:0.63, Z:1.04 [[ 9.90425085e-01 -5.04788833e-02 -1.28491377e-01 2.68497755e+01] [ 4.84774378e-02 9.98649987e-01 -1.86585725e-02 6.34307861e-01] [ 1.29259776e-01 1.22509855e-02 9.91535084e-01 1.03649875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:0.62, Z:1.03 [[ 9.91043475e-01 -4.64148314e-02 -1.25213791e-01 2.68810537e+01] [ 4.78703261e-02 9.98816201e-01 8.63873522e-03 6.21167970e-01] [ 1.24664598e-01 -1.45553872e-02 9.92092172e-01 1.02821975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:0.63, Z:1.04 [[ 9.91250960e-01 -4.42893189e-02 -1.24338210e-01 2.69061551e+01] [ 4.40537926e-02 9.99018365e-01 -4.64441841e-03 6.29664184e-01] [ 1.24421854e-01 -8.73785520e-04 9.92229025e-01 1.03845141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:0.65, Z:1.05 [[ 9.90387890e-01 -4.76929990e-02 -1.29835298e-01 2.69247405e+01] [ 4.49360128e-02 9.98699524e-01 -2.40835310e-02 6.46957684e-01] [ 1.30815066e-01 1.80177568e-02 9.91243047e-01 1.04875354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:0.63, Z:1.04 [[ 9.90710630e-01 -4.59892739e-02 -1.27974347e-01 2.69608710e+01] [ 4.75869259e-02 9.98822368e-01 9.45312812e-03 6.31800856e-01] [ 1.27388898e-01 -1.54552203e-02 9.91732426e-01 1.03866032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:0.64, Z:1.05 [[ 9.90792478e-01 -4.54101522e-02 -1.27546788e-01 2.69835979e+01] [ 4.50999374e-02 9.98968311e-01 -5.32059107e-03 6.38398922e-01] [ 1.27656809e-01 -4.80750553e-04 9.91818284e-01 1.04762764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:0.64, Z:1.05 [[ 9.90686809e-01 -4.53199163e-02 -1.28396856e-01 2.70115060e+01] [ 4.52505352e-02 9.98969682e-01 -3.45891717e-03 6.36847955e-01] [ 1.28421324e-01 -2.38332283e-03 9.91716836e-01 1.04965012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:0.64, Z:1.05 [[ 9.90795534e-01 -4.69471886e-02 -1.26965234e-01 2.70386219e+01] [ 4.56013261e-02 9.98868659e-01 -1.34878267e-02 6.38237957e-01] [ 1.27454809e-01 7.57389542e-03 9.91815461e-01 1.05366382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:0.64, Z:1.06 [[ 9.90772854e-01 -4.95626477e-02 -1.26145532e-01 2.70668513e+01] [ 4.91351198e-02 9.98770987e-01 -6.50036217e-03 6.35561239e-01] [ 1.26312673e-01 2.42206549e-04 9.91990449e-01 1.05598479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:0.64, Z:1.06 [[ 9.90597542e-01 -5.23423613e-02 -1.26399315e-01 2.70936248e+01] [ 5.21899011e-02 9.98626950e-01 -4.51984160e-03 6.36689894e-01] [ 1.26462342e-01 -2.11942377e-03 9.91969145e-01 1.06091771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:0.64, Z:1.07 [[ 9.90594234e-01 -5.26122772e-02 -1.26313152e-01 2.71217226e+01] [ 5.21455250e-02 9.98614954e-01 -7.00125338e-03 6.38805388e-01] [ 1.26506554e-01 3.48735603e-04 9.91965710e-01 1.06548048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:0.64, Z:1.07 [[ 9.90399934e-01 -5.48896105e-02 -1.26866474e-01 2.71491987e+01] [ 5.45727901e-02 9.98491922e-01 -5.97435213e-03 6.40510711e-01] [ 1.27003079e-01 -1.00645947e-03 9.91901812e-01 1.07004651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.18, Y:0.64, Z:1.07 [[ 9.90209135e-01 -5.95591434e-02 -1.26248075e-01 2.71768807e+01] [ 5.87185713e-02 9.98220688e-01 -1.03724621e-02 6.42213041e-01] [ 1.26641215e-01 2.85780013e-03 9.91944472e-01 1.07423976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:0.64, Z:1.07 [[ 9.90106338e-01 -6.12931575e-02 -1.26224356e-01 2.72042848e+01] [ 6.08519868e-02 9.98119726e-01 -7.35176446e-03 6.40166136e-01] [ 1.26437633e-01 -4.01974273e-04 9.91974477e-01 1.07498289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:0.64, Z:1.08 [[ 9.89671179e-01 -6.49039914e-02 -1.27821862e-01 2.72317404e+01] [ 6.50592348e-02 9.97877000e-01 -2.96467695e-03 6.38405724e-01] [ 1.27742916e-01 -5.38193723e-03 9.91792711e-01 1.07690001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:0.64, Z:1.08 [[ 9.89804757e-01 -6.61726154e-02 -1.26125840e-01 2.72599447e+01] [ 6.51777929e-02 9.97801479e-01 -1.20026476e-02 6.44432855e-01] [ 1.26642797e-01 3.65967384e-03 9.91941636e-01 1.08390738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:0.65, Z:1.09 [[ 9.89956756e-01 -6.60442155e-02 -1.24995134e-01 2.72867869e+01] [ 6.60436237e-02 9.97808093e-01 -4.15313237e-03 6.45931378e-01] [ 1.24995447e-01 -4.14371016e-03 9.92148662e-01 1.08804397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:0.64, Z:1.09 [[ 9.90408022e-01 -6.24815293e-02 -1.23239636e-01 2.73221368e+01] [ 6.21546835e-02 9.98045370e-01 -6.49875288e-03 6.42740721e-01] [ 1.23404800e-01 -1.22350358e-03 9.92355661e-01 1.09365077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:0.65, Z:1.10 [[ 9.89949693e-01 -6.35797885e-02 -1.26321877e-01 2.73490714e+01] [ 6.34762378e-02 9.97971570e-01 -4.84903593e-03 6.48053571e-01] [ 1.26373943e-01 -3.21813589e-03 9.91977454e-01 1.09518433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:0.65, Z:1.10 [[ 9.89973645e-01 -6.32752638e-02 -1.26287068e-01 2.73750193e+01] [ 6.35597825e-02 9.97976447e-01 -1.77938527e-03 6.47867240e-01] [ 1.26144110e-01 -6.26523404e-03 9.91992142e-01 1.09597718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:0.65, Z:1.10 [[ 9.89474557e-01 -6.31494430e-02 -1.30200799e-01 2.73999721e+01] [ 6.31651433e-02 9.97995019e-01 -4.01324250e-03 6.54216222e-01] [ 1.30193183e-01 -4.25315076e-03 9.91479524e-01 1.10129042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:27.43, Y:0.66, Z:1.11 [[ 9.89234294e-01 -6.26629512e-02 -1.32245479e-01 2.74283906e+01] [ 6.31177902e-02 9.98005800e-01 -7.53947039e-04 6.56289763e-01] [ 1.32029000e-01 -7.60121216e-03 9.91216709e-01 1.10539011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:0.66, Z:1.11 [[ 9.89283262e-01 -6.49067904e-02 -1.30788901e-01 2.74561370e+01] [ 6.44196420e-02 9.97891177e-01 -7.95663800e-03 6.60299780e-01] [ 1.31029530e-01 -5.54005382e-04 9.91378311e-01 1.11159109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:0.66, Z:1.11 [[ 9.89407197e-01 -6.62989133e-02 -1.29142758e-01 2.74833294e+01] [ 6.52395605e-02 9.97792325e-01 -1.24207982e-02 6.61302561e-01] [ 1.29681138e-01 3.86401034e-03 9.91548220e-01 1.11392708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:0.66, Z:1.11 [[ 9.89508479e-01 -6.42637884e-02 -1.29395269e-01 2.75149952e+01] [ 6.39614716e-02 9.97931233e-01 -6.49500651e-03 6.56792076e-01] [ 1.29544974e-01 -1.84944777e-03 9.91571823e-01 1.11370888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:0.66, Z:1.12 [[ 9.89459517e-01 -6.38816317e-02 -1.29957689e-01 2.75417279e+01] [ 6.37455998e-02 9.97952578e-01 -5.21053173e-03 6.58465415e-01] [ 1.30024468e-01 -3.12862064e-03 9.91505849e-01 1.11810991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:0.66, Z:1.12 [[ 9.89829005e-01 -6.20802508e-02 -1.28002280e-01 2.75722913e+01] [ 6.12932527e-02 9.98068880e-01 -1.00820625e-02 6.61672703e-01] [ 1.28380989e-01 2.13384178e-03 9.91722627e-01 1.12355506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:0.66, Z:1.13 [[ 9.89774228e-01 -6.06141440e-02 -1.29123594e-01 2.75977990e+01] [ 6.11053096e-02 9.98131312e-01 -1.58099351e-04 6.60280123e-01] [ 1.28891886e-01 -7.73365456e-03 9.91628495e-01 1.12513340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.63, Y:0.66, Z:1.13 [[ 9.90021861e-01 -5.88948703e-02 -1.28016052e-01 2.76265546e+01] [ 5.79568949e-02 9.98258008e-01 -1.10430132e-02 6.63840898e-01] [ 1.28443425e-01 3.51341166e-03 9.91710614e-01 1.13265455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.66, Y:0.66, Z:1.13 [[ 9.89926853e-01 -5.80396564e-02 -1.29136451e-01 2.76550054e+01] [ 5.79016018e-02 9.98310629e-01 -4.82633156e-03 6.61916686e-01] [ 1.29198410e-01 -2.69949216e-03 9.91615088e-01 1.13291475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:0.66, Z:1.13 [[ 9.89607824e-01 -5.98691715e-02 -1.30736516e-01 2.76815949e+01] [ 5.97388909e-02 9.98201904e-01 -4.92170984e-03 6.62427288e-01] [ 1.30796098e-01 -2.93949190e-03 9.91404932e-01 1.13494181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:0.67, Z:1.14 [[ 9.89519355e-01 -6.23080086e-02 -1.30265722e-01 2.77086357e+01] [ 6.20049836e-02 9.98055418e-01 -6.38475075e-03 6.66483326e-01] [ 1.30410231e-01 -1.75928951e-03 9.91458560e-01 1.13695218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.74, Y:0.66, Z:1.14 [[ 9.89417071e-01 -6.12291338e-02 -1.31547914e-01 2.77376622e+01] [ 6.12132528e-02 9.98116006e-01 -4.16837681e-03 6.63824956e-01] [ 1.31555304e-01 -3.92821251e-03 9.91301050e-01 1.14163273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:0.67, Z:1.15 [[ 9.89299735e-01 -6.18741835e-02 -1.32127289e-01 2.77649036e+01] [ 6.17488547e-02 9.98078945e-01 -5.04963228e-03 6.65003588e-01] [ 1.32185907e-01 -3.16310891e-03 9.91219895e-01 1.14557849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:0.66, Z:1.15 [[ 9.89528984e-01 -5.96778258e-02 -1.31418976e-01 2.77893913e+01] [ 6.01529875e-02 9.98189106e-01 -3.54826449e-04 6.63319004e-01] [ 1.31202166e-01 -7.55413297e-03 9.91326852e-01 1.14657432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:0.67, Z:1.15 [[ 9.89350807e-01 -6.25650947e-02 -1.31417615e-01 2.78194517e+01] [ 6.17553955e-02 9.98038867e-01 -1.02318539e-02 6.68947964e-01] [ 1.31800045e-01 2.00714614e-03 9.91274291e-01 1.15474892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.85, Y:0.67, Z:1.16 [[ 9.89740420e-01 -6.52052641e-02 -1.27130541e-01 2.78464323e+01] [ 6.39699802e-02 9.97856682e-01 -1.37798002e-02 6.73865865e-01] [ 1.27756575e-01 5.50588706e-03 9.91790272e-01 1.15567920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.88, Y:0.66, Z:1.16 [[ 9.89524849e-01 -6.25586287e-02 -1.30103773e-01 2.78752416e+01] [ 6.35285100e-02 9.97974523e-01 3.31367484e-03 6.64627097e-01] [ 1.29632952e-01 -1.15442624e-02 9.91494845e-01 1.15747465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:0.67, Z:1.17 [[ 9.89685247e-01 -6.50053132e-02 -1.27661354e-01 2.79005028e+01] [ 6.47551795e-02 9.97882456e-01 -6.11317132e-03 6.74076557e-01] [ 1.27788414e-01 -2.21661843e-03 9.91798976e-01 1.16552493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:0.67, Z:1.17 [[ 9.89651491e-01 -6.31618786e-02 -1.28842938e-01 2.79290462e+01] [ 6.31428131e-02 9.97995508e-01 -4.23687930e-03 6.72591707e-01] [ 1.28852283e-01 -3.94247165e-03 9.91655962e-01 1.17098343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.96, Y:0.67, Z:1.17 [[ 9.89684233e-01 -6.26797939e-02 -1.28826868e-01 2.79570524e+01] [ 6.25539848e-02 9.98028924e-01 -5.02655110e-03 6.74875075e-01] [ 1.28888003e-01 -3.08393553e-03 9.91654361e-01 1.17450132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:0.68, Z:1.18 [[ 9.89904336e-01 -6.63186758e-02 -1.25264675e-01 2.79800996e+01] [ 6.47800609e-02 9.97766087e-01 -1.63211413e-02 6.84739312e-01] [ 1.26067241e-01 8.04171529e-03 9.91989104e-01 1.17701234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:0.68, Z:1.17 [[ 9.89624028e-01 -6.47518175e-02 -1.28263341e-01 2.80083160e+01] [ 6.61873488e-02 9.97782960e-01 6.95701997e-03 6.76011938e-01] [ 1.27528497e-01 -1.53742446e-02 9.91715743e-01 1.17383470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:0.68, Z:1.19 [[ 9.90020228e-01 -6.29651886e-02 -1.26076695e-01 2.80413851e+01] [ 6.22793734e-02 9.98014696e-01 -9.37797523e-03 6.79182246e-01] [ 1.26416880e-01 1.43240764e-03 9.91976169e-01 1.18602073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:0.68, Z:1.19 [[ 9.90136593e-01 -6.26303927e-02 -1.25327415e-01 2.80682556e+01] [ 6.25030239e-02 9.98032489e-01 -4.95211275e-03 6.78886231e-01] [ 1.25390985e-01 -2.93007440e-03 9.92103077e-01 1.18804976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:0.69, Z:1.19 [[ 9.89927741e-01 -6.71098438e-02 -1.24656871e-01 2.80896224e+01] [ 6.62262576e-02 9.97741509e-01 -1.12233460e-02 6.90659779e-01] [ 1.25128532e-01 2.85474344e-03 9.92136433e-01 1.19164443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:0.69, Z:1.20 [[ 9.89492226e-01 -6.87086760e-02 -1.27217346e-01 2.81173723e+01] [ 6.77388521e-02 9.97631646e-01 -1.19392680e-02 6.93278490e-01] [ 1.27736382e-01 3.19625581e-03 9.91803005e-01 1.19556212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:0.69, Z:1.19 [[ 9.89344484e-01 -6.85577301e-02 -1.28441932e-01 2.81448212e+01] [ 6.91987323e-02 9.97602754e-01 5.29451273e-04 6.89742732e-01] [ 1.28097727e-01 -9.41182856e-03 9.91716890e-01 1.19404290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:0.69, Z:1.20 [[ 9.89072830e-01 -7.00696350e-02 -1.29711924e-01 2.81731074e+01] [ 7.02804052e-02 9.97522891e-01 -2.95752035e-03 6.93632696e-01] [ 1.29597845e-01 -6.19100352e-03 9.91547311e-01 1.20120534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:0.70, Z:1.21 [[ 9.89163318e-01 -7.24556154e-02 -1.27695394e-01 2.82005204e+01] [ 7.11321311e-02 9.97355602e-01 -1.49004519e-02 6.99476979e-01] [ 1.28437338e-01 5.65573499e-03 9.91701499e-01 1.20828494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:0.70, Z:1.21 [[ 9.89348421e-01 -6.98347611e-02 -1.27721600e-01 2.82302175e+01] [ 6.87273773e-02 9.97549960e-01 -1.30623241e-02 6.97558952e-01] [ 1.28320882e-01 4.14521912e-03 9.91724038e-01 1.20935589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:0.70, Z:1.21 [[ 9.89957551e-01 -6.65561071e-02 -1.24717008e-01 2.82643610e+01] [ 6.53167982e-02 9.97766302e-01 -1.40043707e-02 6.96040887e-01] [ 1.25370505e-01 5.71761690e-03 9.92093516e-01 1.21031877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:0.69, Z:1.21 [[ 9.89868388e-01 -6.55326513e-02 -1.25960497e-01 2.82893754e+01] [ 6.57734294e-02 9.97832044e-01 -2.25103027e-03 6.92956173e-01] [ 1.25834936e-01 -6.05663013e-03 9.92032704e-01 1.21023962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:0.70, Z:1.22 [[ 9.90498459e-01 -6.35118350e-02 -1.21979707e-01 2.83187131e+01] [ 6.24410950e-02 9.97969308e-01 -1.25845003e-02 6.99210843e-01] [ 1.22531269e-01 4.84838173e-03 9.92452811e-01 1.21866835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:0.70, Z:1.22 [[ 9.90651121e-01 -6.16963503e-02 -1.21671349e-01 2.83455730e+01] [ 6.14692829e-02 9.98093140e-01 -5.62244089e-03 6.98280960e-01] [ 1.21786223e-01 -1.90917322e-03 9.92554518e-01 1.22020598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:0.70, Z:1.22 [[ 9.90548224e-01 -5.99452252e-02 -1.23372546e-01 2.83736008e+01] [ 6.02514961e-02 9.98182445e-01 -1.25035164e-03 6.98774774e-01] [ 1.23223263e-01 -6.19484690e-03 9.92359638e-01 1.22334755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:0.70, Z:1.23 [[ 9.90186232e-01 -5.98710501e-02 -1.26280178e-01 2.84016913e+01] [ 6.02173789e-02 9.98184707e-01 -1.07655105e-03 7.01061747e-01] [ 1.26115397e-01 -6.53827530e-03 9.91994031e-01 1.22897013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:28.43, Y:0.70, Z:1.24 [[ 9.89899789e-01 -5.74392474e-02 -1.29611502e-01 2.84341105e+01] [ 5.81078297e-02 9.98309360e-01 1.37942997e-03 6.98121911e-01] [ 1.29313143e-01 -8.89694055e-03 9.91563894e-01 1.23609586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710385722999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:28.46, Y:0.70, Z:1.24 [[ 9.89762769e-01 -5.88689422e-02 -1.30015803e-01 2.84617753e+01] [ 5.87098870e-02 9.98262267e-01 -5.05925706e-03 7.01614955e-01] [ 1.30087703e-01 -2.62574882e-03 9.91499014e-01 1.24202461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740385722999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.49, Y:0.71, Z:1.25 [[ 9.90313673e-01 -6.19754578e-02 -1.24249235e-01 2.84860556e+01] [ 5.92514993e-02 9.97917243e-01 -2.55036425e-02 7.13077529e-01] [ 1.25571054e-01 1.78946524e-02 9.91923229e-01 1.24569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:28.52, Y:0.69, Z:1.24 [[ 9.89654797e-01 -5.68343609e-02 -1.31731689e-01 2.85194272e+01] [ 5.91862372e-02 9.98148722e-01 1.40042144e-02 6.92808132e-01] [ 1.30691897e-01 -2.16560409e-02 9.91186483e-01 1.24033136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:0.71, Z:1.25 [[ 9.90157524e-01 -6.07616025e-02 -1.26079759e-01 2.85428341e+01] [ 5.89941583e-02 9.98101241e-01 -1.77088001e-02 7.11117548e-01] [ 1.26916379e-01 1.00965323e-02 9.91862033e-01 1.25328863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:0.70, Z:1.25 [[ 9.89825753e-01 -5.64182507e-02 -1.30621433e-01 2.85739401e+01] [ 5.77151433e-02 9.98314079e-01 6.16132555e-03 6.99652564e-01] [ 1.30053604e-01 -1.36374734e-02 9.91413173e-01 1.25298240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:0.72, Z:1.26 [[ 9.90510305e-01 -6.03253866e-02 -1.23491630e-01 2.85985007e+01] [ 5.71680584e-02 9.97944565e-01 -2.89561382e-02 7.17633271e-01] [ 1.24984591e-01 2.16215766e-02 9.91923061e-01 1.26232506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:0.71, Z:1.26 [[ 9.90587381e-01 -5.71548685e-02 -1.24378299e-01 2.86288304e+01] [ 5.67415491e-02 9.98365292e-01 -6.86594367e-03 7.07488513e-01] [ 1.24567399e-01 -2.56100207e-04 9.92211115e-01 1.25540422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.66, Y:0.71, Z:1.26 [[ 9.90853246e-01 -5.70442982e-02 -1.22293883e-01 2.86571317e+01] [ 5.59625552e-02 9.98357533e-01 -1.22649256e-02 7.10382093e-01] [ 1.22792663e-01 5.30886320e-03 9.92418147e-01 1.25966753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:0.71, Z:1.26 [[ 9.91002686e-01 -5.56877826e-02 -1.21706805e-01 2.86864809e+01] [ 5.52186331e-02 9.98448134e-01 -7.22678453e-03 7.10292497e-01] [ 1.21920376e-01 4.41279498e-04 9.92539786e-01 1.26232908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:0.71, Z:1.27 [[ 9.91077915e-01 -5.54053616e-02 -1.21222164e-01 2.87151266e+01] [ 5.51283464e-02 9.98463345e-01 -5.64035577e-03 7.11949238e-01] [ 1.21348393e-01 -1.09274541e-03 9.92609376e-01 1.26655598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:0.72, Z:1.27 [[ 9.91318148e-01 -5.54571429e-02 -1.19217590e-01 2.87435219e+01] [ 5.48039128e-02 9.98458767e-01 -8.75338187e-03 7.15115134e-01] [ 1.19519286e-01 2.14379588e-03 9.92829565e-01 1.27178429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:0.71, Z:1.27 [[ 9.91815641e-01 -5.58222156e-02 -1.14828631e-01 2.87744595e+01] [ 5.63921389e-02 9.98407219e-01 1.71823350e-03 7.10549777e-01] [ 1.14549819e-01 -8.17960299e-03 9.93383830e-01 1.27082712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:0.70, Z:1.28 [[ 9.90563481e-01 -5.54414687e-02 -1.25340475e-01 2.88005652e+01] [ 5.88116304e-02 9.97996054e-01 2.33466990e-02 6.99934600e-01] [ 1.23794924e-01 -3.04978651e-02 9.91839048e-01 1.27766921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:0.73, Z:1.29 [[ 0.99139963 -0.06694468 -0.11245078 28.82579171] [ 0.06291094 0.99725495 -0.03904849 0.72612861] [ 0.11475618 0.03163827 0.99288974 1.29242876] [ 0. 0. 0. 1. ]] SLAMing on 33.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:0.71, Z:1.28 [[ 9.91041003e-01 -6.58905677e-02 -1.16172991e-01 2.88549156e+01] [ 6.63187975e-02 9.97798469e-01 -1.79560047e-04 7.09944389e-01] [ 1.15929064e-01 -7.52650169e-03 9.93228979e-01 1.28038255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:0.70, Z:1.29 [[ 9.89736091e-01 -6.56954523e-02 -1.26911696e-01 2.88839707e+01] [ 6.93458631e-02 9.97290364e-01 2.45577199e-02 6.98895195e-01] [ 1.24954481e-01 -3.31064628e-02 9.91609974e-01 1.28700179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:0.71, Z:1.30 [[ 9.89617351e-01 -6.96227971e-02 -1.25738481e-01 2.89099518e+01] [ 6.95221211e-02 9.97566888e-01 -5.19411184e-03 7.13854719e-01] [ 1.25794173e-01 -3.60142268e-03 9.92049825e-01 1.30330407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:0.72, Z:1.31 [[ 9.89505134e-01 -7.33057279e-02 -1.24522525e-01 2.89344622e+01] [ 7.26260961e-02 9.97309157e-01 -9.99480718e-03 7.22230436e-01] [ 1.24920131e-01 8.46328129e-04 9.92166440e-01 1.30583970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:0.72, Z:1.31 [[ 9.89289264e-01 -7.03701362e-02 -1.27885868e-01 2.89649594e+01] [ 7.07327410e-02 9.97493838e-01 -1.70961736e-03 7.16446418e-01] [ 1.27685671e-01 -7.35441185e-03 9.91787418e-01 1.31084410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:0.72, Z:1.31 [[ 9.89420356e-01 -7.02356070e-02 -1.26942188e-01 2.89913250e+01] [ 7.01289222e-02 9.97523776e-01 -5.31505545e-03 7.17016224e-01] [ 1.27001157e-01 -3.64349475e-03 9.91895877e-01 1.31386202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:0.73, Z:1.32 [[ 9.90703378e-01 -7.30018472e-02 -1.14793500e-01 2.90169288e+01] [ 6.94758556e-02 9.96989380e-01 -3.44279214e-02 7.29167879e-01] [ 1.16961202e-01 2.61324814e-02 9.92792612e-01 1.31536865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:0.71, Z:1.31 [[ 9.90463940e-01 -6.90584942e-02 -1.19214547e-01 2.90470228e+01] [ 7.00578317e-02 9.97534060e-01 4.20717079e-03 7.13928839e-01] [ 1.18630030e-01 -1.25189636e-02 9.92859603e-01 1.30577460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:0.71, Z:1.32 [[ 9.89811887e-01 -6.67517594e-02 -1.25764191e-01 2.90758540e+01] [ 6.89422251e-02 9.97534100e-01 1.31410825e-02 7.12539231e-01] [ 1.24576878e-01 -2.16776628e-02 9.91973125e-01 1.31692139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:0.73, Z:1.32 [[ 9.89873870e-01 -6.97126768e-02 -1.23652192e-01 2.90995255e+01] [ 7.00338164e-02 9.97543078e-01 -1.75292673e-03 7.25073712e-01] [ 1.23470589e-01 -6.92465854e-03 9.92324071e-01 1.32406353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:0.73, Z:1.33 [[ 9.89987836e-01 -6.76754655e-02 -1.23871365e-01 2.91294175e+01] [ 6.69767465e-02 9.97706396e-01 -9.80113861e-03 7.27346625e-01] [ 1.24250550e-01 1.40650698e-03 9.92249879e-01 1.33444540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:0.73, Z:1.33 [[ 9.90149918e-01 -6.81120610e-02 -1.22326970e-01 2.91548203e+01] [ 6.83514307e-02 9.97658784e-01 -2.24343423e-03 7.29429645e-01] [ 1.22193382e-01 -6.13988722e-03 9.92487319e-01 1.33124299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:0.73, Z:1.34 [[ 9.90388414e-01 -6.65367607e-02 -1.21258600e-01 2.91830311e+01] [ 6.64003418e-02 9.97779668e-01 -5.16992436e-03 7.32299989e-01] [ 1.21333356e-01 -2.93137932e-03 9.92607487e-01 1.33647531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:0.73, Z:1.34 [[ 9.90463386e-01 -6.44049269e-02 -1.21796083e-01 2.92120466e+01] [ 6.36369810e-02 9.97921102e-01 -1.01886360e-02 7.32753892e-01] [ 1.22199080e-01 2.34073595e-03 9.92502849e-01 1.34453095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:0.74, Z:1.35 [[ 9.90351038e-01 -6.24941442e-02 -1.23690354e-01 2.92339144e+01] [ 6.05555751e-02 9.97976780e-01 -1.93744141e-02 7.38972978e-01] [ 1.24650889e-01 1.16973306e-02 9.92131709e-01 1.34630662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:0.72, Z:1.34 [[ 9.90780195e-01 -5.96831447e-02 -1.21624532e-01 2.92698518e+01] [ 6.09680439e-02 9.98116095e-01 6.86722616e-03 7.24400213e-01] [ 1.20985545e-01 -1.42191215e-02 9.92552424e-01 1.34199581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:0.73, Z:1.35 [[ 9.90893348e-01 -5.97722549e-02 -1.20655087e-01 2.92954182e+01] [ 5.95837959e-02 9.98209907e-01 -5.17234759e-03 7.30747713e-01] [ 1.20748266e-01 -2.06384326e-03 9.92681015e-01 1.35016746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640385722999994 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:29.32, Y:0.74, Z:1.35 [[ 9.91794196e-01 -5.83201845e-02 -1.13767431e-01 2.93207550e+01] [ 5.68519612e-02 9.98252629e-01 -1.61103429e-02 7.41101923e-01] [ 1.14508195e-01 9.51024303e-03 9.93376781e-01 1.35320037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:0.74, Z:1.36 [[ 9.91882127e-01 -5.60137095e-02 -1.14159144e-01 2.93468019e+01] [ 5.51523662e-02 9.98420701e-01 -1.06920980e-02 7.41729322e-01] [ 1.14577757e-01 4.30915395e-03 9.93404937e-01 1.35602730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:0.73, Z:1.36 [[ 9.91788559e-01 -5.16178163e-02 -1.17008786e-01 2.93781758e+01] [ 5.32757886e-02 9.98518315e-01 1.10844901e-02 7.32272038e-01] [ 1.16263259e-01 -1.72272058e-02 9.93069020e-01 1.35807058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:0.75, Z:1.37 [[ 9.92534222e-01 -5.39349199e-02 -1.09393065e-01 2.94029639e+01] [ 5.21966555e-02 9.98461839e-01 -1.86939857e-02 7.48974771e-01] [ 1.10233059e-01 1.28444685e-02 9.93822767e-01 1.36572529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:0.73, Z:1.36 [[ 9.92314111e-01 -4.66825162e-02 -1.14601259e-01 2.94338301e+01] [ 4.78873094e-02 9.98822438e-01 7.78096347e-03 7.34699829e-01] [ 1.14103074e-01 -1.32091058e-02 9.93381099e-01 1.36483652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:0.75, Z:1.37 [[ 9.92885237e-01 -5.04630795e-02 -1.07853529e-01 2.94597542e+01] [ 4.81932861e-02 9.98560349e-01 -2.35507180e-02 7.51702390e-01] [ 1.08886700e-01 1.81853442e-02 9.93887811e-01 1.37254304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:29.49, Y:0.73, Z:1.36 [[ 9.92416915e-01 -4.30597782e-02 -1.15128285e-01 2.94897339e+01] [ 4.62945216e-02 9.98600490e-01 2.55710462e-02 7.31194445e-01] [ 1.13866078e-01 -3.07069477e-02 9.93021450e-01 1.36395363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850385722999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.51, Y:0.76, Z:1.39 [[ 9.93219113e-01 -4.71782209e-02 -1.06254451e-01 2.95129182e+01] [ 4.44589565e-02 9.98623827e-01 -2.78182247e-02 7.56627174e-01] [ 1.07420641e-01 2.29056304e-02 9.93949766e-01 1.38508955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880385722999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.54, Y:0.74, Z:1.38 [[ 9.92932302e-01 -4.16846739e-02 -1.11120794e-01 2.95429979e+01] [ 4.33007504e-02 9.98987968e-01 1.21689739e-02 7.41317691e-01] [ 1.10501077e-01 -1.68945810e-02 9.93732401e-01 1.37701606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:0.76, Z:1.39 [[ 9.94161478e-01 -4.23172228e-02 -9.92582920e-02 2.95697465e+01] [ 3.97952136e-02 9.98836126e-01 -2.72531637e-02 7.57554356e-01] [ 1.00296046e-01 2.31440406e-02 9.94688422e-01 1.39082557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:0.74, Z:1.38 [[ 9.93912065e-01 -3.69957355e-02 -1.03779199e-01 2.95983373e+01] [ 3.79672877e-02 9.99251573e-01 7.40127521e-03 7.41382032e-01] [ 1.03427713e-01 -1.12964315e-02 9.94572822e-01 1.38494912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:0.75, Z:1.39 [[ 9.94110738e-01 -4.11342316e-02 -1.00258742e-01 2.96247154e+01] [ 3.99099393e-02 9.99102554e-01 -1.41874572e-02 7.54330045e-01] [ 1.00752356e-01 1.01025833e-02 9.94860242e-01 1.39436308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:0.74, Z:1.39 [[ 9.93590939e-01 -3.92362498e-02 -1.06007370e-01 2.96523917e+01] [ 4.17895382e-02 9.98884807e-01 2.19721773e-02 7.40766290e-01] [ 1.05027046e-01 -2.62613554e-02 9.94122558e-01 1.38968563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:0.75, Z:1.41 [[ 9.93488578e-01 -4.28534310e-02 -1.05565280e-01 2.96763771e+01] [ 4.25941270e-02 9.99081353e-01 -4.71068791e-03 7.53873491e-01] [ 1.05670172e-01 1.83553672e-04 9.94401217e-01 1.40511920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060385722999996 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:29.71, Y:0.76, Z:1.42 [[ 9.93625374e-01 -4.41800915e-02 -1.03714682e-01 2.97074459e+01] [ 4.18815624e-02 9.98828560e-01 -2.42372049e-02 7.59690548e-01] [ 1.04663988e-01 1.97389688e-02 9.94311733e-01 1.41617903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:0.75, Z:1.40 [[ 9.94338865e-01 -4.50614680e-02 -9.62272581e-02 2.97384867e+01] [ 4.45921224e-02 9.98980587e-01 -7.02349256e-03 7.50441662e-01] [ 9.64456517e-02 2.69275395e-03 9.95334610e-01 1.40370110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:0.75, Z:1.41 [[ 9.94210847e-01 -4.59120711e-02 -9.71435755e-02 2.97638763e+01] [ 4.50166318e-02 9.98921297e-01 -1.13905831e-02 7.53493465e-01] [ 9.75617517e-02 6.95156470e-03 9.95205195e-01 1.40937718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:0.75, Z:1.41 [[ 9.94214545e-01 -4.59382771e-02 -9.70933210e-02 2.97916829e+01] [ 4.53447075e-02 9.98936816e-01 -8.31229771e-03 7.53865155e-01] [ 9.73719456e-02 3.86153906e-03 9.95240570e-01 1.41190597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:0.75, Z:1.41 [[ 9.94165426e-01 -4.58664850e-02 -9.76287418e-02 2.98195147e+01] [ 4.56714174e-02 9.98947548e-01 -4.23306205e-03 7.53573539e-01] [ 9.77201479e-02 -2.50479085e-04 9.95213902e-01 1.41328829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:0.75, Z:1.42 [[ 9.93873228e-01 -5.01443422e-02 -9.84964568e-02 2.98490598e+01] [ 4.98289855e-02 9.98741723e-01 -5.66063083e-03 7.53536789e-01] [ 9.86563696e-02 7.17970917e-04 9.95121302e-01 1.41713102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:0.75, Z:1.42 [[ 9.93390763e-01 -4.90787634e-02 -1.03759662e-01 2.98783169e+01] [ 4.92833954e-02 9.98784660e-01 -5.92198123e-04 7.47987875e-01] [ 1.03662623e-01 -4.52534428e-03 9.94602223e-01 1.42353225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:0.74, Z:1.42 [[ 9.92981043e-01 -5.17424788e-02 -1.06354893e-01 2.99038460e+01] [ 5.36979161e-02 9.98435310e-01 1.56033713e-02 7.41795801e-01] [ 1.05381123e-01 -2.12048880e-02 9.94205799e-01 1.42047897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:0.76, Z:1.44 [[ 9.92633417e-01 -5.61136215e-02 -1.07378584e-01 2.99269251e+01] [ 5.49191156e-02 9.98391929e-01 -1.40515672e-02 7.56200131e-01] [ 1.07994396e-01 8.05091837e-03 9.94118903e-01 1.43564713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:0.77, Z:1.44 [[ 0.99322062 -0.05927671 -0.0999954 29.95952265] [ 0.05537895 0.99761017 -0.04131723 0.76616855] [ 0.10220558 0.03549948 0.99412967 1.44042513] [ 0. 0. 0. 1. ]] SLAMing on 34.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:0.75, Z:1.43 [[ 9.92670626e-01 -5.74817994e-02 -1.06305558e-01 2.99904677e+01] [ 5.72302797e-02 9.98346305e-01 -5.41763255e-03 7.47806183e-01] [ 1.06441176e-01 -7.05972113e-04 9.94318751e-01 1.42628442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:0.74, Z:1.43 [[ 9.92554598e-01 -5.83597397e-02 -1.06908887e-01 3.00210345e+01] [ 5.93441167e-02 9.98219270e-01 6.04682393e-03 7.42896123e-01] [ 1.06365620e-01 -1.23462163e-02 9.94250434e-01 1.42588403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:0.75, Z:1.43 [[ 9.92417345e-01 -6.05800115e-02 -1.06948006e-01 3.00477778e+01] [ 5.98576357e-02 9.98157287e-01 -9.95459384e-03 7.50882447e-01] [ 1.07353981e-01 3.47745678e-03 9.94214781e-01 1.43395711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:0.74, Z:1.43 [[ 9.91888784e-01 -6.10868405e-02 -1.11467655e-01 3.00780405e+01] [ 6.15110147e-02 9.98106337e-01 3.67128739e-04 7.44335488e-01] [ 1.11234146e-01 -7.22063945e-03 9.93767995e-01 1.43314231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.11, Y:0.75, Z:1.44 [[ 9.91973075e-01 -6.37029185e-02 -1.09230749e-01 3.01050166e+01] [ 6.21675695e-02 9.97913904e-01 -1.74078553e-02 7.52789233e-01] [ 1.10111814e-01 1.04775136e-02 9.93863980e-01 1.44037181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:0.74, Z:1.44 [[ 9.91193197e-01 -6.02245037e-02 -1.17936658e-01 3.01377547e+01] [ 6.16699902e-02 9.98059177e-01 8.64240320e-03 7.38007978e-01] [ 1.17187279e-01 -1.58394438e-02 9.92983511e-01 1.44089014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:0.75, Z:1.45 [[ 9.90980025e-01 -6.59105431e-02 -1.16680722e-01 3.01651338e+01] [ 6.49825935e-02 9.97817296e-01 -1.17433952e-02 7.48533232e-01] [ 1.17200056e-01 4.05525411e-03 9.93100046e-01 1.44639251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:0.74, Z:1.45 [[ 9.90232601e-01 -6.53123070e-02 -1.23181568e-01 3.01925488e+01] [ 6.59213457e-02 9.97824443e-01 8.70660472e-04 7.40165214e-01] [ 1.22856715e-01 -8.98245114e-03 9.92383768e-01 1.44846191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:0.74, Z:1.45 [[ 9.89795451e-01 -6.80130548e-02 -1.25216567e-01 3.02189020e+01] [ 6.78245854e-02 9.97680561e-01 -5.77269096e-03 7.43221828e-01] [ 1.25318753e-01 -2.77897850e-03 9.92112638e-01 1.45295856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:0.76, Z:1.46 [[ 9.88992152e-01 -7.55858123e-02 -1.27205774e-01 3.02418951e+01] [ 7.14401368e-02 9.96763972e-01 -3.68495838e-02 7.58543141e-01] [ 1.29579439e-01 2.73563513e-02 9.91191606e-01 1.45684621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.28, Y:0.74, Z:1.44 [[ 9.88857478e-01 -7.22128712e-02 -1.30177527e-01 3.02753553e+01] [ 7.34913106e-02 9.97283135e-01 5.03737854e-03 7.37930708e-01] [ 1.29460088e-01 -1.45481665e-02 9.91477905e-01 1.44330073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:0.74, Z:1.45 [[ 9.88105807e-01 -7.65681821e-02 -1.33357516e-01 3.03024862e+01] [ 7.64766677e-02 9.97054409e-01 -5.81597575e-03 7.43622698e-01] [ 1.33410018e-01 -4.45193902e-03 9.91050931e-01 1.45119503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:0.75, Z:1.46 [[ 9.87878176e-01 -7.76285479e-02 -1.34426627e-01 3.03286901e+01] [ 7.71944062e-02 9.96980279e-01 -8.44670534e-03 7.45904573e-01] [ 1.34676401e-01 -2.03266779e-03 9.90887549e-01 1.45574480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:0.75, Z:1.46 [[ 9.87851277e-01 -7.74554630e-02 -1.34723812e-01 3.03562175e+01] [ 7.72037372e-02 9.96990058e-01 -7.09982977e-03 7.46249550e-01] [ 1.34868222e-01 -3.38760590e-03 9.90857753e-01 1.46002204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:0.75, Z:1.46 [[ 9.87813946e-01 -7.64129303e-02 -1.35590086e-01 3.03837521e+01] [ 7.65324058e-02 9.97057653e-01 -4.33895469e-03 7.45800743e-01] [ 1.35522685e-01 -6.09095552e-03 9.90755521e-01 1.46412915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:0.75, Z:1.47 [[ 9.87770019e-01 -7.51663433e-02 -1.36603115e-01 3.04115130e+01] [ 7.46887450e-02 9.97169589e-01 -8.62563478e-03 7.47259511e-01] [ 1.36864830e-01 -1.68257183e-03 9.90588304e-01 1.46834569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:0.75, Z:1.47 [[ 9.87496793e-01 -7.45942953e-02 -1.38873230e-01 3.04397439e+01] [ 7.43670339e-02 9.97207535e-01 -6.83202825e-03 7.46464553e-01] [ 1.38995062e-01 -3.58098423e-03 9.90286600e-01 1.47058163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:0.75, Z:1.47 [[ 9.87203853e-01 -7.41618503e-02 -1.41168598e-01 3.04684191e+01] [ 7.40824872e-02 9.97235106e-01 -5.82483576e-03 7.45298517e-01] [ 1.41210262e-01 -4.70782053e-03 9.89968433e-01 1.47294968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.49, Y:0.75, Z:1.48 [[ 9.86789296e-01 -7.57374933e-02 -1.43215630e-01 3.04938617e+01] [ 7.33613296e-02 9.97066972e-01 -2.18075244e-02 7.52821978e-01] [ 1.44447222e-01 1.10129426e-02 9.89451219e-01 1.48014156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:0.74, Z:1.47 [[ 9.86499834e-01 -7.27190695e-02 -1.46731096e-01 3.05260571e+01] [ 7.49333552e-02 9.97142210e-01 9.61274631e-03 7.40386298e-01] [ 1.45612739e-01 -2.04780259e-02 9.89129709e-01 1.47418531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.55, Y:0.75, Z:1.49 [[ 9.85568406e-01 -7.51348624e-02 -1.51689384e-01 3.05516586e+01] [ 7.59289646e-02 9.97113073e-01 -5.58805798e-04 7.49507823e-01] [ 1.51293454e-01 -1.09668765e-02 9.88428054e-01 1.48597718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.58, Y:0.75, Z:1.50 [[ 9.85511703e-01 -7.42744553e-02 -1.52479471e-01 3.05828448e+01] [ 7.33285087e-02 9.97237726e-01 -1.18257586e-02 7.52898825e-01] [ 1.52936632e-01 4.73331287e-04 9.88235884e-01 1.49534684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.61, Y:0.75, Z:1.49 [[ 9.85285746e-01 -7.40456821e-02 -1.54042969e-01 3.06107129e+01] [ 7.38162166e-02 9.97245750e-01 -7.21666071e-03 7.49938492e-01] [ 1.54153059e-01 -4.26039621e-03 9.88037795e-01 1.49411226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:0.75, Z:1.49 [[ 9.85181670e-01 -7.62905378e-02 -1.53612598e-01 3.06331399e+01] [ 7.64012812e-02 9.97063639e-01 -5.19084609e-03 7.53058894e-01] [ 1.53557548e-01 -6.62227286e-03 9.88117516e-01 1.49385890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:0.76, Z:1.50 [[ 9.85177341e-01 -7.68099142e-02 -1.53381370e-01 3.06610234e+01] [ 7.62734739e-02 9.97042743e-01 -9.38751118e-03 7.56416705e-01] [ 1.53648836e-01 -2.45056660e-03 9.88122477e-01 1.49933397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:0.76, Z:1.50 [[ 9.84906204e-01 -7.90666247e-02 -1.53974799e-01 3.06920876e+01] [ 7.81705682e-02 9.96869276e-01 -1.18747442e-02 7.55173974e-01] [ 1.54431642e-01 -3.40788316e-04 9.88003417e-01 1.50192809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:0.76, Z:1.51 [[ 9.84954500e-01 -7.93282276e-02 -1.53530664e-01 3.07189307e+01] [ 7.80248969e-02 9.96845878e-01 -1.45055285e-02 7.56880543e-01] [ 1.54197108e-01 2.30807136e-03 9.88037411e-01 1.50602240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:0.75, Z:1.51 [[ 9.84564426e-01 -8.22731302e-02 -1.54479847e-01 3.07480543e+01] [ 8.29687780e-02 9.96550240e-01 -1.94977090e-03 7.54596730e-01] [ 1.54107342e-01 -1.08973290e-02 9.87994016e-01 1.50936199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:0.76, Z:1.52 [[ 9.84312098e-01 -8.31874558e-02 -1.55594155e-01 3.07736292e+01] [ 8.31619411e-02 9.96513625e-01 -6.68488080e-03 7.58449071e-01] [ 1.55607793e-01 -6.35950286e-03 9.87798447e-01 1.51734668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:0.76, Z:1.52 [[ 9.84160236e-01 -8.38650886e-02 -1.56189871e-01 3.08008844e+01] [ 8.36891834e-02 9.96462051e-01 -7.71376258e-03 7.59066142e-01] [ 1.56284195e-01 -5.47982437e-03 9.87696928e-01 1.52212331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:0.76, Z:1.53 [[ 9.84411204e-01 -8.57093237e-02 -1.53585458e-01 3.08279142e+01] [ 8.39572877e-02 9.96309117e-01 -1.78694392e-02 7.63646269e-01] [ 1.54550170e-01 4.69625765e-03 9.87973780e-01 1.52759369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:0.75, Z:1.53 [[ 9.84551398e-01 -8.23084035e-02 -1.54544077e-01 3.08613014e+01] [ 8.25452098e-02 9.96575299e-01 -4.89517386e-03 7.49978955e-01] [ 1.54417723e-01 -7.93732298e-03 9.87973768e-01 1.52856224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:0.75, Z:1.53 [[ 9.84657470e-01 -8.41331618e-02 -1.52876674e-01 3.08881997e+01] [ 8.39163446e-02 9.96441632e-01 -7.88170894e-03 7.54408350e-01] [ 1.52995796e-01 -5.06806808e-03 9.88213844e-01 1.53233844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:0.76, Z:1.54 [[ 9.84222055e-01 -8.71061533e-02 -1.54011249e-01 3.09124643e+01] [ 8.60126353e-02 9.96198991e-01 -1.37621722e-02 7.61081125e-01] [ 1.54624621e-01 2.98119959e-04 9.87973247e-01 1.53877515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:0.76, Z:1.54 [[ 9.84016121e-01 -8.65460698e-02 -1.55634349e-01 3.09416710e+01] [ 8.71912620e-02 9.96187960e-01 -2.68928591e-03 7.58805490e-01] [ 1.55273812e-01 -1.09236546e-02 9.87811074e-01 1.54070736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:0.76, Z:1.55 [[ 9.84020513e-01 -8.80286467e-02 -1.54772694e-01 3.09680047e+01] [ 8.72626474e-02 9.96116046e-01 -1.17495687e-02 7.64209823e-01] [ 1.55205863e-01 -1.94405838e-03 9.87880236e-01 1.54828461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:0.76, Z:1.55 [[ 9.83021561e-01 -8.78473080e-02 -1.61094573e-01 3.09973242e+01] [ 8.65238559e-02 9.96133421e-01 -1.52259848e-02 7.62749640e-01] [ 1.61809250e-01 1.02894777e-03 9.86821518e-01 1.55434169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:0.76, Z:1.55 [[ 9.83799945e-01 -8.92427384e-02 -1.55477977e-01 3.10262980e+01] [ 8.81383043e-02 9.96009904e-01 -1.39967889e-02 7.63443932e-01] [ 1.56106717e-01 6.64748823e-05 9.87740193e-01 1.55314743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:0.76, Z:1.56 [[ 9.83797812e-01 -8.92336917e-02 -1.55496670e-01 3.10536227e+01] [ 8.90665866e-02 9.95993097e-01 -8.05565810e-03 7.60609543e-01] [ 1.55592446e-01 -5.92441880e-03 9.87803570e-01 1.55530644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:0.77, Z:1.57 [[ 9.83727061e-01 -9.04934998e-02 -1.55215963e-01 3.10764552e+01] [ 8.73251400e-02 9.95810494e-01 -2.71252605e-02 7.70523208e-01] [ 1.57020345e-01 1.31295971e-02 9.87508089e-01 1.56563351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:0.76, Z:1.56 [[ 9.84397488e-01 -8.83817218e-02 -1.52152083e-01 3.11105293e+01] [ 9.00686700e-02 9.95926629e-01 4.21724304e-03 7.59264456e-01] [ 1.51159584e-01 -1.78555792e-02 9.88348096e-01 1.56292068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:0.77, Z:1.57 [[ 9.84533082e-01 -9.06524544e-02 -1.49922459e-01 3.11386894e+01] [ 8.93759427e-02 9.95881289e-01 -1.52446200e-02 7.69018551e-01] [ 1.50686934e-01 1.60937163e-03 9.88580223e-01 1.57333534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:0.77, Z:1.57 [[ 9.84506891e-01 -9.17819121e-02 -1.49406364e-01 3.11680207e+01] [ 9.07819338e-02 9.95779099e-01 -1.35139509e-02 7.65800345e-01] [ 1.50016070e-01 -2.58820831e-04 9.88683525e-01 1.57499383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:0.77, Z:1.58 [[ 9.84651200e-01 -9.23265290e-02 -1.48114237e-01 3.11980253e+01] [ 9.11966145e-02 9.95728547e-01 -1.44166067e-02 7.65728226e-01] [ 1.48812609e-01 6.87812099e-04 9.88865175e-01 1.57807296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:0.76, Z:1.58 [[ 9.84617111e-01 -9.26268413e-02 -1.48153344e-01 3.12251881e+01] [ 9.26402924e-02 9.95676251e-01 -6.82488181e-03 7.63575310e-01] [ 1.48144933e-01 -7.00507367e-03 9.88940851e-01 1.58003442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:0.77, Z:1.59 [[ 9.84675845e-01 -9.67251741e-02 -1.45112787e-01 3.12559778e+01] [ 9.49839551e-02 9.95299440e-01 -1.88963730e-02 7.70822200e-01] [ 1.46258431e-01 4.82341554e-03 9.89234657e-01 1.58641608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:0.74, Z:1.58 [[ 0.98253582 -0.09254052 -0.16142992 31.28348319] [ 0.10071444 0.99397743 0.0431912 0.74283861] [ 0.15646076 -0.05869523 0.98593859 1.58441142] [ 0. 0. 0. 1. ]] SLAMing on 35.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:0.79, Z:1.61 [[ 0.98395814 -0.10519472 -0.14408488 31.30903688] [ 0.09767235 0.99350708 -0.058342 0.79195872] [ 0.14928662 0.04333297 0.987844 1.6107794 ] [ 0. 0. 0. 1. ]] SLAMing on 35.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:0.77, Z:1.60 [[ 9.83840808e-01 -9.92233773e-02 -1.49036863e-01 3.13428761e+01] [ 9.97064535e-02 9.95007838e-01 -4.24566367e-03 7.69127999e-01] [ 1.48714116e-01 -1.06828799e-02 9.88822526e-01 1.59642666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:0.77, Z:1.60 [[ 9.83188606e-01 -1.00246252e-01 -1.52613414e-01 3.13704885e+01] [ 1.01923024e-01 9.94787194e-01 3.18365686e-03 7.68732221e-01] [ 1.51498721e-01 -1.86849559e-02 9.88280836e-01 1.60107041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:0.78, Z:1.61 [[ 9.83312009e-01 -1.02212805e-01 -1.50499285e-01 3.13985879e+01] [ 1.01588087e-01 9.94755922e-01 -1.18539217e-02 7.76265260e-01] [ 1.50921678e-01 -3.63283099e-03 9.88539048e-01 1.61068460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:0.76, Z:1.61 [[ 0.98214 -0.09727874 -0.16105237 31.42693915] [ 0.10390419 0.99403235 0.03322055 0.75527754] [ 0.15685961 -0.04936124 0.9863866 1.61392168] [ 0. 0. 0. 1. ]] SLAMing on 35.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:0.78, Z:1.63 [[ 9.81981977e-01 -1.02804057e-01 -1.58564571e-01 3.14513409e+01] [ 1.02848791e-01 9.94665263e-01 -7.94607343e-03 7.77352682e-01] [ 1.58535559e-01 -8.50527350e-03 9.87316634e-01 1.63468887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:0.78, Z:1.64 [[ 9.82134102e-01 -9.97192402e-02 -1.59589095e-01 3.14776247e+01] [ 9.97173887e-02 9.94983315e-01 -8.04022519e-03 7.84163968e-01] [ 1.59590252e-01 -8.01722844e-03 9.87150787e-01 1.64203351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:0.79, Z:1.65 [[ 9.82291462e-01 -9.75326994e-02 -1.59971424e-01 3.15049305e+01] [ 9.74984094e-02 9.95202861e-01 -8.08248351e-03 7.88698166e-01] [ 1.59992326e-01 -7.65760487e-03 9.87088556e-01 1.64649773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:0.79, Z:1.65 [[ 9.82404095e-01 -9.51845083e-02 -1.60692573e-01 3.15319184e+01] [ 9.51113968e-02 9.95433153e-01 -8.16459317e-03 7.92345356e-01] [ 1.60735858e-01 -7.26276534e-03 9.86970737e-01 1.65147955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:0.80, Z:1.66 [[ 9.83190700e-01 -8.91279053e-02 -1.59349500e-01 3.15583838e+01] [ 8.89702336e-02 9.96001040e-01 -8.13796121e-03 7.96022564e-01] [ 1.59437587e-01 -6.17619442e-03 9.87188690e-01 1.65591882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:0.80, Z:1.66 [[ 9.83673139e-01 -8.58091714e-02 -1.58189573e-01 3.15854532e+01] [ 8.56075856e-02 9.96296000e-01 -8.10073458e-03 7.98579232e-01] [ 1.58298756e-01 -5.57375239e-03 9.87375530e-01 1.65988590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:0.80, Z:1.66 [[ 9.84012327e-01 -8.20092529e-02 -1.58095611e-01 3.16130503e+01] [ 8.17521828e-02 9.96619448e-01 -8.13976249e-03 8.01600563e-01] [ 1.58228697e-01 -4.91503467e-03 9.87390258e-01 1.66406709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:0.80, Z:1.67 [[ 9.84384857e-01 -7.82586607e-02 -1.57676999e-01 3.16404629e+01] [ 7.79481255e-02 9.96924004e-01 -8.16214824e-03 8.04941593e-01] [ 1.57830744e-01 -4.25593141e-03 9.87457008e-01 1.66799362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:0.81, Z:1.67 [[ 9.85134698e-01 -7.03330729e-02 -1.56725508e-01 3.16669189e+01] [ 6.99198144e-02 9.97519277e-01 -8.15541005e-03 8.11312167e-01] [ 1.56910311e-01 -2.92404104e-03 9.87608528e-01 1.67259793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:0.82, Z:1.68 [[ 9.85516619e-01 -6.65787697e-02 -1.55962370e-01 3.16943650e+01] [ 6.61178731e-02 9.97778560e-01 -8.14687723e-03 8.16356248e-01] [ 1.56158318e-01 -2.28301725e-03 9.87729400e-01 1.67773711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:0.83, Z:1.68 [[ 9.86573415e-01 -6.13522714e-02 -1.51356516e-01 3.17237832e+01] [ 5.92632529e-02 9.98075023e-01 -1.82788293e-02 8.27006951e-01] [ 1.52186606e-01 9.06352756e-03 9.88310219e-01 1.67934226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:0.82, Z:1.68 [[ 9.86755879e-01 -5.82535914e-02 -1.51391394e-01 3.17537734e+01] [ 5.76601482e-02 9.98301678e-01 -8.31069539e-03 8.24418164e-01] [ 1.51618411e-01 -5.28622703e-04 9.88438960e-01 1.67704127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:0.82, Z:1.68 [[ 9.85750392e-01 -5.75032078e-02 -1.58080818e-01 3.17787305e+01] [ 5.88434291e-02 9.98259966e-01 3.80680629e-03 8.21896976e-01] [ 1.57586849e-01 -1.30545782e-02 9.87418839e-01 1.68358763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:0.84, Z:1.69 [[ 9.87338415e-01 -6.00840695e-02 -1.46808579e-01 3.18072270e+01] [ 5.64557334e-02 9.97990745e-01 -2.87614723e-02 8.40757598e-01] [ 1.48241710e-01 2.01091205e-02 9.88746691e-01 1.69210307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:0.84, Z:1.69 [[ 9.87493009e-01 -5.71769927e-02 -1.46929738e-01 3.18365661e+01] [ 5.68247331e-02 9.98362372e-01 -6.59724424e-03 8.35335134e-01] [ 1.47066332e-01 -1.83451057e-03 9.89124931e-01 1.68896572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:0.84, Z:1.69 [[ 9.87153146e-01 -5.76043349e-02 -1.49031566e-01 3.18624545e+01] [ 5.82419948e-02 9.98302491e-01 -8.57711254e-05 8.38133465e-01] [ 1.48783524e-01 -8.59522645e-03 9.88832435e-01 1.69397802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:0.84, Z:1.70 [[ 9.86977209e-01 -5.94257699e-02 -1.49480990e-01 3.18889376e+01] [ 5.91910455e-02 9.98228504e-01 -6.02273594e-03 8.44872093e-01] [ 1.49574091e-01 -2.90363297e-03 9.88746257e-01 1.70078275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:0.85, Z:1.70 [[ 9.86943519e-01 -6.06027583e-02 -1.49230684e-01 3.19179082e+01] [ 5.85677451e-02 9.98121182e-01 -1.79979098e-02 8.49781107e-01] [ 1.50041029e-01 9.02281581e-03 9.88638598e-01 1.70499918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:0.84, Z:1.70 [[ 9.86121558e-01 -6.18519573e-02 -1.54073386e-01 3.19431695e+01] [ 6.48927733e-02 9.97782768e-01 1.47809149e-02 8.40074796e-01] [ 1.52817541e-01 -2.45740281e-02 9.87948843e-01 1.70059351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:0.85, Z:1.71 [[ 9.86450485e-01 -6.56627715e-02 -1.50345737e-01 3.19715887e+01] [ 6.47367985e-02 9.97841188e-01 -1.10503407e-02 8.53932940e-01] [ 1.50746764e-01 1.16771229e-03 9.88571722e-01 1.71432791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:0.86, Z:1.72 [[ 9.86103018e-01 -7.19009200e-02 -1.49770143e-01 3.19977018e+01] [ 7.10173347e-02 9.97411676e-01 -1.12466278e-02 8.62630136e-01] [ 1.50191133e-01 4.54057181e-04 9.88656876e-01 1.72453643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:0.86, Z:1.73 [[ 9.85846270e-01 -7.48610770e-02 -1.50009838e-01 3.20257960e+01] [ 7.43661037e-02 9.97191163e-01 -8.91447188e-03 8.64865345e-01] [ 1.50255831e-01 -2.36734829e-03 9.88644315e-01 1.72775386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:0.87, Z:1.73 [[ 9.85553638e-01 -8.12987351e-02 -1.48575039e-01 3.20522165e+01] [ 8.02137049e-02 9.96689080e-01 -1.32906092e-02 8.65684898e-01] [ 1.49163629e-01 1.18085390e-03 9.88811821e-01 1.72946105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:0.86, Z:1.73 [[ 9.85343961e-01 -8.34989444e-02 -1.48745435e-01 3.20800374e+01] [ 8.33268548e-02 9.96494798e-01 -7.39955790e-03 8.63502304e-01] [ 1.48841908e-01 -5.10337960e-03 9.88847836e-01 1.73063360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:0.86, Z:1.74 [[ 9.84814485e-01 -8.81011856e-02 -1.49594825e-01 3.21077843e+01] [ 8.85135692e-02 9.96067288e-01 -3.91232736e-03 8.63894005e-01] [ 1.49351192e-01 -9.38825526e-03 9.88739643e-01 1.73574812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:0.87, Z:1.74 [[ 9.85029883e-01 -9.04002811e-02 -1.46778469e-01 3.21346681e+01] [ 8.94921646e-02 9.95905369e-01 -1.27925362e-02 8.69815183e-01] [ 1.47333914e-01 -5.34492534e-04 9.89086666e-01 1.74346637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:0.87, Z:1.75 [[ 9.84686690e-01 -9.15678290e-02 -1.48349102e-01 3.21628816e+01] [ 9.08726635e-02 9.95796445e-01 -1.14717003e-02 8.71884684e-01] [ 1.48775947e-01 -2.18484747e-03 9.88868517e-01 1.74735350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:0.87, Z:1.75 [[ 9.84253358e-01 -9.10025699e-02 -1.51538311e-01 3.21912247e+01] [ 9.19914798e-02 9.95759675e-01 -4.86784929e-04 8.69732108e-01] [ 1.50940038e-01 -1.34611138e-02 9.88451265e-01 1.74993812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:0.88, Z:1.76 [[ 9.84507351e-01 -9.31881232e-02 -1.48530301e-01 3.22161707e+01] [ 9.09307007e-02 9.95615679e-01 -2.19323150e-02 8.82681078e-01] [ 1.49922928e-01 8.08656100e-03 9.88664616e-01 1.76030276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:0.88, Z:1.76 [[ 9.84577167e-01 -9.14104875e-02 -1.49170790e-01 3.22452042e+01] [ 9.07766976e-02 9.95809783e-01 -1.10664690e-02 8.79547058e-01] [ 1.49557324e-01 -2.64543896e-03 9.88749518e-01 1.75972727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:0.88, Z:1.76 [[ 9.84606968e-01 -9.00410955e-02 -1.49805607e-01 3.22728693e+01] [ 8.98257153e-02 9.95923598e-01 -8.21749357e-03 8.79438520e-01] [ 1.49934852e-01 -5.36539442e-03 9.88681320e-01 1.76203574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:0.88, Z:1.77 [[ 9.85010390e-01 -8.80147835e-02 -1.48350695e-01 3.23011431e+01] [ 8.69396643e-02 9.96118972e-01 -1.37291098e-02 8.81861195e-01] [ 1.48983307e-01 6.25756147e-04 9.88839513e-01 1.76671110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:0.87, Z:1.77 [[ 9.84758289e-01 -8.32037215e-02 -1.52735894e-01 3.23322204e+01] [ 8.45753036e-02 9.96413970e-01 2.49372164e-03 8.72423357e-01] [ 1.51980692e-01 -1.53733977e-02 9.88263896e-01 1.76782919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.36, Y:0.89, Z:1.78 [[ 9.85508383e-01 -8.42396024e-02 -1.47230825e-01 3.23583603e+01] [ 8.13966279e-02 9.96362151e-01 -2.52399063e-02 8.88157775e-01] [ 1.48821421e-01 1.28900466e-02 9.88780072e-01 1.77767515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:0.88, Z:1.77 [[ 9.85940004e-01 -7.84151307e-02 -1.47558043e-01 3.23896642e+01] [ 7.98893809e-02 9.96795378e-01 4.08176077e-03 8.77799170e-01] [ 1.46765104e-01 -1.58126920e-02 9.89044975e-01 1.77127746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:0.89, Z:1.79 [[ 9.85498145e-01 -7.98056975e-02 -1.49747980e-01 3.24142441e+01] [ 7.77719240e-02 9.96782444e-01 -1.93981342e-02 8.92565841e-01] [ 1.50814239e-01 7.47063674e-03 9.88533892e-01 1.78663817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:0.89, Z:1.79 [[ 9.85571115e-01 -7.70333078e-02 -1.50716442e-01 3.24404465e+01] [ 7.64064301e-02 9.97027063e-01 -9.95460140e-03 8.91792058e-01] [ 1.51035207e-01 -1.70473768e-03 9.88526914e-01 1.78713407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:0.89, Z:1.79 [[ 9.85521354e-01 -7.71851011e-02 -1.50963972e-01 3.24686221e+01] [ 7.65770015e-02 9.97015052e-01 -9.84630464e-03 8.93356813e-01] [ 1.51273340e-01 -1.85662480e-03 9.88490227e-01 1.79128726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:0.89, Z:1.79 [[ 9.86261260e-01 -7.16980557e-02 -1.48822432e-01 3.24978639e+01] [ 7.19781885e-02 9.97400031e-01 -3.50984798e-03 8.90030367e-01] [ 1.48687148e-01 -7.25034201e-03 9.88857707e-01 1.79036301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:0.89, Z:1.80 [[ 9.86290866e-01 -7.10773838e-02 -1.48923915e-01 3.25246277e+01] [ 6.96819721e-02 9.97462798e-01 -1.45735726e-02 8.94603962e-01] [ 1.49581916e-01 3.99646947e-03 9.88741260e-01 1.79780659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:0.89, Z:1.80 [[ 9.86405332e-01 -6.80929607e-02 -1.49558920e-01 3.25526735e+01] [ 6.69964284e-02 9.97676608e-01 -1.23638223e-02 8.94656571e-01] [ 1.50053325e-01 2.17582673e-03 9.88675511e-01 1.80234479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:0.90, Z:1.81 [[ 9.86458019e-01 -6.66714533e-02 -1.49851571e-01 3.25797187e+01] [ 6.59674460e-02 9.97774923e-01 -9.66948889e-03 8.95852667e-01] [ 1.50162818e-01 -3.46780543e-04 9.88661220e-01 1.80546466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:0.89, Z:1.81 [[ 9.85565673e-01 -6.34948911e-02 -1.56935345e-01 3.26094253e+01] [ 6.55712292e-02 9.97815149e-01 8.08351056e-03 8.89387375e-01] [ 1.56079203e-01 -1.82572740e-02 9.87575797e-01 1.81057350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:0.90, Z:1.82 [[ 9.85734284e-01 -6.43837479e-02 -1.55507729e-01 3.26347170e+01] [ 6.37414966e-02 9.97924786e-01 -9.11825612e-03 8.99389756e-01] [ 1.55772085e-01 -9.24117716e-04 9.87792591e-01 1.82303522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:0.90, Z:1.83 [[ 9.86017794e-01 -6.38243019e-02 -1.53933003e-01 3.26623365e+01] [ 6.31851153e-02 9.97960825e-01 -9.04617585e-03 9.00078093e-01] [ 1.54196472e-01 -8.06584186e-04 9.88039876e-01 1.82714026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:0.90, Z:1.83 [[ 9.86407846e-01 -6.27902654e-02 -1.51845132e-01 3.26890313e+01] [ 6.21498014e-02 9.98026568e-01 -8.96506386e-03 8.99768013e-01] [ 1.52108395e-01 -5.93935472e-04 9.88363639e-01 1.83171853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300385723 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:32.70, Y:0.91, Z:1.85 [[ 9.85723274e-01 -6.21606105e-02 -1.56479028e-01 3.27036204e+01] [ 5.71139226e-02 9.97698467e-01 -3.65481758e-02 9.10881177e-01] [ 1.58390743e-01 2.70892565e-02 9.87004835e-01 1.84995156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:0.89, Z:1.83 [[ 9.86334533e-01 -5.91182575e-02 -1.53783029e-01 3.27455777e+01] [ 6.18276983e-02 9.98003574e-01 1.28919408e-02 8.92792066e-01] [ 1.52713863e-01 -2.22238171e-02 9.88020535e-01 1.83324919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:0.90, Z:1.85 [[ 9.86124004e-01 -6.41751935e-02 -1.53104520e-01 3.27707138e+01] [ 6.35555045e-02 9.97938232e-01 -8.94337093e-03 9.03698739e-01] [ 1.53362796e-01 -9.11362257e-04 9.88169531e-01 1.84634328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:0.91, Z:1.85 [[ 9.86779133e-01 -6.75387008e-02 -1.47327753e-01 3.27970142e+01] [ 6.45274181e-02 9.97599481e-01 -2.51294354e-02 9.13382185e-01] [ 1.48671299e-01 1.52905229e-02 9.88768448e-01 1.85039390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:0.90, Z:1.84 [[ 9.85705444e-01 -6.40158276e-02 -1.55842074e-01 3.28275407e+01] [ 6.72229881e-02 9.97619252e-01 1.53914998e-02 8.96966768e-01] [ 1.54485753e-01 -2.56476550e-02 9.87662063e-01 1.84493872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:0.91, Z:1.86 [[ 9.85380828e-01 -6.90067856e-02 -1.55764848e-01 3.28514107e+01] [ 6.69216719e-02 9.97584900e-01 -1.85972313e-02 9.11353947e-01] [ 1.56671995e-01 7.90131116e-03 9.87619084e-01 1.86139586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:0.91, Z:1.86 [[ 9.85734660e-01 -6.84465077e-02 -1.53760387e-01 3.28841544e+01] [ 6.75518953e-02 9.97654664e-01 -1.10414206e-02 9.05541773e-01] [ 1.54155513e-01 4.97105455e-04 9.88046472e-01 1.86209540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:0.91, Z:1.87 [[ 9.85596021e-01 -7.00667505e-02 -1.53919243e-01 3.29110726e+01] [ 6.94933617e-02 9.97540825e-01 -9.10908352e-03 9.05440428e-01] [ 1.54178973e-01 -1.71848917e-03 9.88041442e-01 1.86685530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:0.91, Z:1.87 [[ 9.85643094e-01 -7.12760207e-02 -1.53060184e-01 3.29378419e+01] [ 7.07189395e-02 9.97454883e-01 -9.08780133e-03 9.07581195e-01] [ 1.53318370e-01 -1.86692527e-03 9.88175082e-01 1.87245540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:0.91, Z:1.88 [[ 9.85639312e-01 -7.21245745e-02 -1.52686580e-01 3.29642646e+01] [ 7.15758765e-02 9.97393696e-01 -9.09443494e-03 9.09183734e-01] [ 1.52944565e-01 -1.96484323e-03 9.88232816e-01 1.87725490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:0.91, Z:1.88 [[ 9.85383028e-01 -7.37667250e-02 -1.53553762e-01 3.29913415e+01] [ 7.32286539e-02 9.97273067e-01 -9.16483813e-03 9.08986474e-01] [ 1.53811092e-01 -2.21365936e-03 9.88097793e-01 1.88157316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:0.92, Z:1.88 [[ 9.86180064e-01 -7.57600303e-02 -1.47340759e-01 3.30216561e+01] [ 7.29444806e-02 9.97036813e-01 -2.44273658e-02 9.15529318e-01] [ 1.48754779e-01 1.33420860e-02 9.88784104e-01 1.88396348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:0.90, Z:1.88 [[ 9.85283366e-01 -7.28041101e-02 -1.54648797e-01 3.30492999e+01] [ 7.47984995e-02 9.97173328e-01 7.10901428e-03 9.01033112e-01] [ 1.53694090e-01 -1.85718914e-02 9.87943931e-01 1.88105018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:0.91, Z:1.89 [[ 9.85292267e-01 -7.48172192e-02 -1.53627903e-01 3.30759142e+01] [ 7.42776110e-02 9.97194635e-01 -9.25726274e-03 9.07089816e-01] [ 1.53889523e-01 -2.29000424e-03 9.88085406e-01 1.89061375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:0.91, Z:1.90 [[ 9.85327588e-01 -7.46665568e-02 -1.53474592e-01 3.31030325e+01] [ 7.41197199e-02 9.97206081e-01 -9.28974437e-03 9.08822468e-01] [ 1.53739430e-01 -2.22205234e-03 9.88108926e-01 1.89537592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:0.91, Z:1.90 [[ 9.85521033e-01 -7.35727747e-02 -1.52759090e-01 3.31306266e+01] [ 7.30114740e-02 9.97287847e-01 -9.28842110e-03 9.11057441e-01] [ 1.53028159e-01 -1.99923194e-03 9.88219806e-01 1.90122734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:0.91, Z:1.91 [[ 9.85606004e-01 -7.34184949e-02 -1.52284369e-01 3.31585057e+01] [ 7.28523612e-02 9.97299360e-01 -9.30163288e-03 9.11845973e-01] [ 1.52556016e-01 -1.92653066e-03 9.88292948e-01 1.90537113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:0.92, Z:1.91 [[ 9.86384117e-01 -7.45718044e-02 -1.46579053e-01 3.31868906e+01] [ 7.23763553e-02 9.97171556e-01 -2.02620691e-02 9.17327415e-01] [ 1.47675442e-01 9.37732549e-03 9.88991420e-01 1.90808535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:0.91, Z:1.91 [[ 9.85936828e-01 -7.23684316e-02 -1.50636584e-01 3.32153323e+01] [ 7.35241339e-02 9.97291207e-01 2.10938713e-03 9.06531889e-01] [ 1.50075888e-01 -1.31551468e-02 9.88586956e-01 1.90934982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:0.91, Z:1.92 [[ 9.86031779e-01 -7.51583847e-02 -1.48635624e-01 3.32424221e+01] [ 7.46285200e-02 9.97169453e-01 -9.14688553e-03 9.12729466e-01] [ 1.48902369e-01 -2.07333686e-03 9.88849729e-01 1.91519579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:0.91, Z:1.92 [[ 9.85703589e-01 -7.57868317e-02 -1.50481861e-01 3.32691647e+01] [ 7.52441489e-02 9.97121723e-01 -9.30523209e-03 9.12344817e-01] [ 1.50753947e-01 -2.15067888e-03 9.88568977e-01 1.92099373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:0.91, Z:1.92 [[ 9.85344106e-01 -7.76740468e-02 -1.51867495e-01 3.32970052e+01] [ 7.71404165e-02 9.96975818e-01 -9.41143817e-03 9.13215024e-01] [ 1.52139244e-01 -2.44161669e-03 9.88356054e-01 1.92481729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:0.91, Z:1.93 [[ 9.85082594e-01 -7.88725910e-02 -1.52942467e-01 3.33234304e+01] [ 7.83390800e-02 9.96881308e-01 -9.52088456e-03 9.14761904e-01] [ 1.53216423e-01 -2.60251449e-03 9.88189230e-01 1.92870935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990385722999996 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:33.35, Y:0.91, Z:1.93 [[ 9.84835014e-01 -7.97421546e-02 -1.54081744e-01 3.33501199e+01] [ 7.94307546e-02 9.96806773e-01 -8.18611881e-03 9.14894620e-01] [ 1.54242505e-01 -4.17685276e-03 9.88024192e-01 1.93282269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:0.92, Z:1.94 [[ 9.84552016e-01 -8.35390909e-02 -1.53878356e-01 3.33792055e+01] [ 8.27182609e-02 9.96503815e-01 -1.17403922e-02 9.18593249e-01] [ 1.54321151e-01 -1.16952324e-03 9.88020048e-01 1.93801220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:33.41, Y:0.92, Z:1.94 [[ 9.84654047e-01 -8.21019768e-02 -1.53998937e-01 3.34069630e+01] [ 8.20182120e-02 9.96606889e-01 -6.90804283e-03 9.17278866e-01] [ 1.54043566e-01 -5.82868516e-03 9.88046864e-01 1.94058037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:0.92, Z:1.95 [[ 9.84651677e-01 -8.58394245e-02 -1.51962723e-01 3.34339096e+01] [ 8.49071311e-02 9.96308874e-01 -1.26256712e-02 9.20554561e-01] [ 1.52485590e-01 -4.70830568e-04 9.88305582e-01 1.94728876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:0.93, Z:1.95 [[ 9.85337643e-01 -8.73948150e-02 -1.46532847e-01 3.34618268e+01] [ 8.46927970e-02 9.96103632e-01 -2.45903341e-02 9.28139354e-01] [ 1.48110969e-01 1.18195051e-02 9.88900116e-01 1.94872248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:0.93, Z:1.95 [[ 9.85565662e-01 -8.56497501e-02 -1.46028921e-01 3.34913381e+01] [ 8.42271473e-02 9.96319577e-01 -1.59087564e-02 9.25641058e-01] [ 1.46854054e-01 3.37952456e-03 9.89152398e-01 1.94806549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:0.92, Z:1.95 [[ 9.84877235e-01 -8.35596921e-02 -1.51771569e-01 3.35202526e+01] [ 8.58074504e-02 9.96277084e-01 8.30984400e-03 9.17917645e-01] [ 1.50512169e-01 -2.12073076e-02 9.88380664e-01 1.94828936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:0.93, Z:1.96 [[ 9.85596104e-01 -8.66942589e-02 -1.45204771e-01 3.35487667e+01] [ 8.37489197e-02 9.96140103e-01 -2.62871456e-02 9.33799553e-01] [ 1.46923240e-01 1.37477655e-02 9.89052355e-01 1.96176592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:0.93, Z:1.96 [[ 9.85776176e-01 -8.32428814e-02 -1.45999844e-01 3.35756283e+01] [ 8.27799900e-02 9.96524882e-01 -9.25384975e-03 9.29119756e-01] [ 1.46262794e-01 -2.96364099e-03 9.89241331e-01 1.96090245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:0.93, Z:1.97 [[ 9.85794860e-01 -8.20386876e-02 -1.46554248e-01 3.36033133e+01] [ 8.15732002e-02 9.96624950e-01 -9.19360207e-03 9.30772689e-01] [ 1.46813851e-01 -2.89189338e-03 9.89159911e-01 1.96599905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:0.93, Z:1.97 [[ 9.85949993e-01 -7.97017274e-02 -1.46800022e-01 3.36318386e+01] [ 7.89915641e-02 9.96818177e-01 -1.06702880e-02 9.31774031e-01] [ 1.47183371e-01 -1.07559296e-03 9.89108638e-01 1.97043740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:0.93, Z:1.97 [[ 9.85940010e-01 -7.72365218e-02 -1.48178326e-01 3.36609164e+01] [ 7.66078469e-02 9.97011613e-01 -9.95400510e-03 9.32838139e-01] [ 1.48504324e-01 -1.53757059e-03 9.88910563e-01 1.97481251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:0.93, Z:1.98 [[ 9.85919950e-01 -7.03415910e-02 -1.51703369e-01 3.36907711e+01] [ 7.18625049e-02 9.97404127e-01 4.55945120e-03 9.28747839e-01] [ 1.50988847e-01 -1.53970380e-02 9.88415550e-01 1.97603684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:0.93, Z:1.99 [[ 9.85458353e-01 -7.00884210e-02 -1.54788398e-01 3.37174410e+01] [ 6.98758983e-02 9.97532378e-01 -6.82015984e-03 9.34205393e-01] [ 1.54884453e-01 -4.09499488e-03 9.87924105e-01 1.99013595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:0.95, Z:1.99 [[ 9.87095391e-01 -6.81545418e-02 -1.44905652e-01 3.37449855e+01] [ 6.37121064e-02 9.97351377e-01 -3.50855853e-02 9.46791535e-01] [ 1.46913093e-01 2.54005752e-02 9.88823217e-01 1.99450848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:0.93, Z:1.99 [[ 9.85863899e-01 -6.11637786e-02 -1.55985140e-01 3.37770516e+01] [ 6.43356582e-02 9.97810056e-01 1.53628067e-02 9.25047560e-01] [ 1.54703894e-01 -2.51810432e-02 9.87639924e-01 1.98581897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:0.94, Z:2.00 [[ 9.85602107e-01 -6.35669456e-02 -1.56677153e-01 3.38012676e+01] [ 6.27579846e-02 9.97977568e-01 -1.01098588e-02 9.35826451e-01] [ 1.57002937e-01 1.31555816e-04 9.87598127e-01 2.00208799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:0.95, Z:2.01 [[ 9.86789184e-01 -6.25170147e-02 -1.49461461e-01 3.38269393e+01] [ 5.83952709e-02 9.97786514e-01 -3.18129661e-02 9.46389889e-01] [ 1.51119482e-01 2.26648484e-02 9.88255638e-01 2.00735525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:0.94, Z:2.01 [[ 9.86892659e-01 -5.95342417e-02 -1.49995176e-01 3.38587996e+01] [ 5.85018721e-02 9.98223458e-01 -1.12897530e-02 9.39959587e-01] [ 1.50400830e-01 2.36677574e-03 9.88622268e-01 2.00653350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:0.93, Z:2.01 [[ 9.85743523e-01 -5.71506534e-02 -1.58251410e-01 3.38855755e+01] [ 5.96157205e-02 9.98162216e-01 1.08699661e-02 9.32637979e-01] [ 1.57339352e-01 -2.01492705e-02 9.87339017e-01 2.01343139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.91, Y:0.95, Z:2.02 [[ 9.86920690e-01 -6.22547838e-02 -1.48700687e-01 3.39122647e+01] [ 5.83711377e-02 9.97833667e-01 -3.03444179e-02 9.47351668e-01] [ 1.50267637e-01 2.12677055e-02 9.88416573e-01 2.02146474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:0.94, Z:2.02 [[ 9.86777076e-01 -5.98070733e-02 -1.50645665e-01 3.39427035e+01] [ 5.89669194e-02 9.98209427e-01 -1.00419756e-02 9.36378992e-01] [ 1.50976504e-01 1.02608052e-03 9.88536819e-01 2.01588398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.96, Y:0.94, Z:2.02 [[ 9.86646422e-01 -6.50792339e-02 -1.49310183e-01 3.39642943e+01] [ 6.34112402e-02 9.97860654e-01 -1.59100575e-02 9.40601081e-01] [ 1.50026171e-01 6.22965742e-03 9.88662399e-01 2.02110655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:0.93, Z:2.02 [[ 9.85486296e-01 -6.26704247e-02 -1.57763044e-01 3.39982907e+01] [ 6.54926278e-02 9.97771607e-01 1.27489732e-02 9.28045030e-01] [ 1.56612502e-01 -2.28962547e-02 9.87394696e-01 2.02410737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:0.94, Z:2.04 [[ 9.85239257e-01 -6.82038265e-02 -1.57009060e-01 3.40236736e+01] [ 6.74122710e-02 9.97671339e-01 -1.03674731e-02 9.39740624e-01] [ 1.57350541e-01 -3.69895839e-04 9.87542744e-01 2.03765842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.05, Y:0.94, Z:2.04 [[ 9.84893246e-01 -7.31166932e-02 -1.56968924e-01 3.40514939e+01] [ 7.23803599e-02 9.97322776e-01 -1.04098047e-02 9.36932642e-01] [ 1.57309813e-01 -1.10892084e-03 9.87548679e-01 2.04131157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.08, Y:0.94, Z:2.04 [[ 9.84568556e-01 -7.67966310e-02 -1.57248325e-01 3.40791619e+01] [ 7.60971293e-02 9.97045405e-01 -1.04731628e-02 9.35343127e-01] [ 1.57588024e-01 -1.65459938e-03 9.87503558e-01 2.04451412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:0.93, Z:2.05 [[ 9.84207464e-01 -8.07340363e-02 -1.57536292e-01 3.41074045e+01] [ 8.00748874e-02 9.96733154e-01 -1.05371836e-02 9.34092223e-01] [ 1.57872355e-01 -2.24392613e-03 9.87456978e-01 2.04805755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:0.93, Z:2.05 [[ 9.83615575e-01 -8.87175261e-02 -1.56938209e-01 3.41338760e+01] [ 8.81574252e-02 9.96050789e-01 -1.05401067e-02 9.32340908e-01] [ 1.57253519e-01 -3.46785529e-03 9.87552178e-01 2.05210742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:0.94, Z:2.06 [[ 9.82989357e-01 -9.30889266e-02 -1.58323645e-01 3.41595592e+01] [ 9.12992094e-02 9.95650601e-01 -1.85562593e-02 9.36517058e-01] [ 1.59362415e-01 3.78578171e-03 9.87212889e-01 2.05997871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:0.94, Z:2.06 [[ 9.82969517e-01 -9.22544584e-02 -1.58934084e-01 3.41882245e+01] [ 9.16053581e-02 9.95729888e-01 -1.14213822e-02 9.35334316e-01] [ 1.59309092e-01 -3.33234314e-03 9.87223130e-01 2.06169516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:0.93, Z:2.06 [[ 9.82722411e-01 -9.75139398e-02 -1.57313998e-01 3.42174564e+01] [ 9.82078496e-02 9.95160202e-01 -3.37501583e-03 9.31301115e-01] [ 1.56881742e-01 -1.21327658e-02 9.87542868e-01 2.06169862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:0.94, Z:2.07 [[ 9.82459130e-01 -1.00528348e-01 -1.57060846e-01 3.42446089e+01] [ 1.00097667e-01 9.94920403e-01 -1.06699881e-02 9.35176859e-01] [ 1.57335677e-01 -5.23859717e-03 9.87531287e-01 2.06729783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.27, Y:0.94, Z:2.08 [[ 9.81803237e-01 -1.02511351e-01 -1.59855641e-01 3.42712684e+01] [ 1.00350270e-01 9.94718650e-01 -2.15552799e-02 9.40579945e-01] [ 1.61221048e-01 5.12148683e-03 9.86905033e-01 2.07596377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:0.93, Z:2.07 [[ 9.82236158e-01 -1.00314748e-01 -1.58584617e-01 3.43000802e+01] [ 1.01648803e-01 9.94820300e-01 3.02563432e-04 9.32801960e-01] [ 1.57732845e-01 -1.64171253e-02 9.87345344e-01 2.07214146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:0.95, Z:2.08 [[ 9.82710544e-01 -1.05812987e-01 -1.51932878e-01 3.43296491e+01] [ 1.02806546e-01 9.94320289e-01 -2.75313888e-02 9.48383794e-01] [ 1.53983121e-01 1.14356917e-02 9.88007299e-01 2.08335953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:0.94, Z:2.08 [[ 9.81809268e-01 -1.03352432e-01 -1.59275974e-01 3.43568173e+01] [ 1.05976426e-01 9.94336087e-01 8.04631113e-03 9.35563558e-01] [ 1.57542243e-01 -2.47794413e-02 9.87201307e-01 2.08240721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:0.94, Z:2.09 [[ 9.81548972e-01 -1.07702345e-01 -1.57993100e-01 3.43820576e+01] [ 1.07319639e-01 9.94163969e-01 -1.09771160e-02 9.44320758e-01] [ 1.58253309e-01 -6.18118565e-03 9.87379199e-01 2.09225366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:0.95, Z:2.10 [[ 9.81316100e-01 -1.08542913e-01 -1.58862042e-01 3.44100590e+01] [ 1.08163542e-01 9.94071604e-01 -1.10586686e-02 9.46136442e-01] [ 1.59120585e-01 -6.33103161e-03 9.87238855e-01 2.09527017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:0.95, Z:2.10 [[ 9.80898854e-01 -1.09225154e-01 -1.60957462e-01 3.44370941e+01] [ 1.08837408e-01 9.93995897e-01 -1.12505859e-02 9.51465125e-01] [ 1.61219904e-01 -6.48250616e-03 9.86897218e-01 2.10050703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:0.96, Z:2.10 [[ 9.81949806e-01 -1.10604002e-01 -1.53431855e-01 3.44667621e+01] [ 1.07503464e-01 9.93799420e-01 -2.83851603e-02 9.62759105e-01] [ 1.55620001e-01 1.13783468e-02 9.87751461e-01 2.10462160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:0.95, Z:2.10 [[ 9.81237415e-01 -1.06423616e-01 -1.60770489e-01 3.44933639e+01] [ 1.08967652e-01 9.94020186e-01 7.06544146e-03 9.50689231e-01] [ 1.59057181e-01 -2.44516582e-02 9.86966529e-01 2.10429809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:0.97, Z:2.11 [[ 9.83000643e-01 -1.09561297e-01 -1.47329763e-01 3.45222825e+01] [ 1.04596407e-01 9.93666854e-01 -4.10581973e-02 9.71372284e-01] [ 1.50895091e-01 2.49500706e-02 9.88234874e-01 2.11398881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:0.96, Z:2.11 [[ 9.83132927e-01 -1.03138596e-01 -1.51036680e-01 3.45539893e+01] [ 1.03205501e-01 9.94632400e-01 -7.41716166e-03 9.58415751e-01] [ 1.50990971e-01 -8.29576036e-03 9.88500332e-01 2.10700621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:0.96, Z:2.11 [[ 9.82705887e-01 -1.01753548e-01 -1.54710554e-01 3.45792309e+01] [ 1.03089957e-01 9.94671844e-01 6.18694769e-04 9.60256774e-01] [ 1.53823277e-01 -1.65570994e-02 9.87959646e-01 2.11283964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:0.97, Z:2.12 [[ 9.82808580e-01 -1.00891289e-01 -1.54622905e-01 3.46047303e+01] [ 1.00547221e-01 9.94881382e-01 -1.00644433e-02 9.74531671e-01] [ 1.54846864e-01 -5.65548219e-03 9.87922297e-01 2.12423537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:0.98, Z:2.13 [[ 9.83169951e-01 -1.00930496e-01 -1.52282245e-01 3.46321734e+01] [ 9.90636509e-02 9.94883761e-01 -1.98165371e-02 9.82794024e-01] [ 1.53503225e-01 4.39738864e-03 9.88138362e-01 2.13035446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.66, Y:0.98, Z:2.13 [[ 9.83663750e-01 -9.52479936e-02 -1.52752895e-01 3.46614432e+01] [ 9.45999560e-02 9.95448694e-01 -1.15215057e-02 9.80525129e-01] [ 1.53155070e-01 -3.11712964e-03 9.88197252e-01 2.12856038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:0.98, Z:2.13 [[ 9.83818203e-01 -9.29747694e-02 -1.53158202e-01 3.46891538e+01] [ 9.23751829e-02 9.95663047e-01 -1.10418877e-02 9.81631876e-01] [ 1.53520579e-01 -3.28480684e-03 9.88139991e-01 2.13149274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:0.98, Z:2.14 [[ 9.83953077e-01 -9.07004662e-02 -1.53654705e-01 3.47176353e+01] [ 9.02218168e-02 9.95870482e-01 -1.00998069e-02 9.84006516e-01] [ 1.53936243e-01 -3.92527062e-03 9.88072986e-01 2.13562027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.74, Y:0.99, Z:2.14 [[ 9.84304516e-01 -8.76135187e-02 -1.53194292e-01 3.47422769e+01] [ 8.69994054e-02 9.96150676e-01 -1.07207535e-02 9.93702756e-01] [ 1.53543880e-01 -2.77532620e-03 9.88137933e-01 2.14395273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.77, Y:1.00, Z:2.15 [[ 9.84532224e-01 -8.66497819e-02 -1.52276444e-01 3.47700837e+01] [ 8.57198855e-02 9.96238668e-01 -1.26734888e-02 1.00120915e+00] [ 1.52801837e-01 -5.75661278e-04 9.88256681e-01 2.15191984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:1.00, Z:2.16 [[ 9.84719594e-01 -8.42658432e-02 -1.52402722e-01 3.47972736e+01] [ 8.42963298e-02 9.96420985e-01 -6.27289945e-03 1.00414895e+00] [ 1.52385862e-01 -6.66994313e-03 9.88298569e-01 2.15544369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:1.00, Z:2.16 [[ 9.83350105e-01 -8.25070263e-02 -1.61910970e-01 3.48249094e+01] [ 8.59288456e-02 9.96199589e-01 1.42342030e-02 9.96053200e-01] [ 1.60121220e-01 -2.79100277e-02 9.86702704e-01 2.15910680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:1.01, Z:2.17 [[ 9.83334310e-01 -8.63286256e-02 -1.60003137e-01 3.48503714e+01] [ 8.55450365e-02 9.96264519e-01 -1.17921265e-02 1.00777900e+00] [ 1.60423446e-01 -2.09187159e-03 9.87046069e-01 2.17065044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:1.01, Z:2.17 [[ 9.83304868e-01 -8.68020379e-02 -1.59927928e-01 3.48766495e+01] [ 8.60182031e-02 9.96223317e-01 -1.18309313e-02 1.01003939e+00] [ 1.60350880e-01 -2.12330070e-03 9.87057793e-01 2.17430324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:1.02, Z:2.18 [[ 9.83181785e-01 -8.73247327e-02 -1.60399406e-01 3.49034255e+01] [ 8.65381144e-02 9.96177505e-01 -1.18967810e-02 1.01982972e+00] [ 1.60825164e-01 -2.18396381e-03 9.86980495e-01 2.18221531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:1.03, Z:2.19 [[ 9.83124252e-01 -8.78074532e-02 -1.60488490e-01 3.49301314e+01] [ 8.70191679e-02 9.96134993e-01 -1.19474140e-02 1.02629116e+00] [ 1.60917273e-01 -2.21978243e-03 9.86965402e-01 2.18874265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:1.03, Z:2.19 [[ 9.82804503e-01 -9.02846471e-02 -1.61071388e-01 3.49561069e+01] [ 8.95163673e-02 9.95912633e-01 -1.20352337e-02 1.03180362e+00] [ 1.61499627e-01 -2.59024367e-03 9.86869374e-01 2.19301623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:1.04, Z:2.20 [[ 9.83357859e-01 -9.48305922e-02 -1.54966064e-01 3.49834687e+01] [ 9.14724740e-02 9.95394654e-01 -2.86752355e-02 1.04094249e+00] [ 1.56971681e-01 1.40228890e-02 9.87503544e-01 2.19532799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.01, Y:1.03, Z:2.19 [[ 9.82495002e-01 -9.50561355e-02 -1.60212052e-01 3.50106197e+01] [ 9.54627056e-02 9.95419555e-01 -5.17504721e-03 1.03296410e+00] [ 1.59970129e-01 -1.02098179e-02 9.87069054e-01 2.19115073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:1.04, Z:2.20 [[ 9.81166884e-01 -1.01333249e-01 -1.64447918e-01 3.50392482e+01] [ 1.02191990e-01 9.94759378e-01 -3.25211722e-03 1.03550756e+00] [ 1.63915657e-01 -1.36143902e-02 9.86380406e-01 2.19898629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:1.05, Z:2.21 [[ 9.81121456e-01 -1.09218953e-01 -1.59599215e-01 3.50625554e+01] [ 1.06847937e-01 9.94000239e-01 -2.33889720e-02 1.05075492e+00] [ 1.61196177e-01 5.89457538e-03 9.86904781e-01 2.20723583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.09, Y:1.04, Z:2.21 [[ 9.80252722e-01 -1.09168142e-01 -1.64884556e-01 3.50914702e+01] [ 1.10955267e-01 9.93824050e-01 1.63919051e-03 1.04420327e+00] [ 1.63687290e-01 -1.99016309e-02 9.86311511e-01 2.20610584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.12, Y:1.05, Z:2.22 [[ 9.80305151e-01 -1.12942705e-01 -1.62005418e-01 3.51195743e+01] [ 1.11512393e-01 9.93601379e-01 -1.79244269e-02 1.05499859e+00] [ 1.62993240e-01 -4.94203773e-04 9.86627062e-01 2.22016234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.15, Y:1.06, Z:2.22 [[ 9.80451988e-01 -1.10524312e-01 -1.62782907e-01 3.51477500e+01] [ 1.10003300e-01 9.93855867e-01 -1.22388861e-02 1.05556996e+00] [ 1.63135442e-01 -5.90701678e-03 9.86586000e-01 2.22172594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:1.06, Z:2.23 [[ 9.81014782e-01 -1.07386336e-01 -1.61487376e-01 3.51754023e+01] [ 1.06823922e-01 9.94203266e-01 -1.21867064e-02 1.05925080e+00] [ 1.61859962e-01 -5.29537584e-03 9.86799530e-01 2.22580815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:1.06, Z:2.23 [[ 9.81409337e-01 -1.05936632e-01 -1.60041065e-01 3.52022486e+01] [ 1.05357757e-01 9.94360491e-01 -1.21226036e-02 1.06267702e+00] [ 1.60422740e-01 -4.96433138e-03 9.87035916e-01 2.23068623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:1.07, Z:2.24 [[ 9.81751549e-01 -1.03764299e-01 -1.59363945e-01 3.52281007e+01] [ 1.03154733e-01 9.94591532e-01 -1.21155049e-02 1.06664356e+00] [ 1.59759187e-01 -4.54472945e-03 9.87145555e-01 2.23559234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:1.07, Z:2.24 [[ 9.82014088e-01 -1.00385540e-01 -1.59909585e-01 3.52556206e+01] [ 9.97240394e-02 9.94940618e-01 -1.21771292e-02 1.07212051e+00] [ 1.60322949e-01 -3.98871730e-03 9.87056555e-01 2.24012639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.28, Y:1.09, Z:2.24 [[ 9.82568430e-01 -1.03270849e-01 -1.54578176e-01 3.52786338e+01] [ 9.99068093e-02 9.94562459e-01 -2.93963406e-02 1.08507491e+00] [ 1.56773436e-01 1.34405039e-02 9.87543135e-01 2.24377518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:1.07, Z:2.24 [[ 9.82104993e-01 -9.74278710e-02 -1.61175657e-01 3.53136448e+01] [ 9.92616217e-02 9.95055747e-01 3.34524042e-03 1.06767524e+00] [ 1.60052844e-01 -1.92839344e-02 9.86920066e-01 2.23937412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.34, Y:1.08, Z:2.25 [[ 9.81929966e-01 -1.00401430e-01 -1.60415379e-01 3.53392050e+01] [ 9.97229874e-02 9.94939272e-01 -1.22951811e-02 1.07711936e+00] [ 1.60838014e-01 -3.92409402e-03 9.86973016e-01 2.25076876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:1.08, Z:2.26 [[ 9.81768179e-01 -1.00848815e-01 -1.61123428e-01 3.53661564e+01] [ 1.00162818e-01 9.94893845e-01 -1.23954520e-02 1.08073650e+00] [ 1.61550773e-01 -3.96911624e-03 9.86856420e-01 2.25577996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:1.08, Z:2.26 [[ 9.81325075e-01 -1.00290574e-01 -1.64142918e-01 3.53922790e+01] [ 9.95630592e-02 9.94950528e-01 -1.26745200e-02 1.08476274e+00] [ 1.64585218e-01 -3.90474677e-03 9.86355138e-01 2.25958895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:1.09, Z:2.26 [[ 9.81136581e-01 -1.00531807e-01 -1.65119244e-01 3.54203438e+01] [ 9.97935162e-02 9.94926058e-01 -1.27825512e-02 1.08608755e+00] [ 1.65566491e-01 -3.93640132e-03 9.86190774e-01 2.26295885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:1.09, Z:2.27 [[ 9.80955519e-01 -1.00389792e-01 -1.66277355e-01 3.54471731e+01] [ 9.96313314e-02 9.94940563e-01 -1.29180063e-02 1.08655178e+00] [ 1.66732921e-01 -3.89444465e-03 9.85994405e-01 2.26566628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.47, Y:1.09, Z:2.27 [[ 9.80931227e-01 -1.00133078e-01 -1.66575194e-01 3.54735246e+01] [ 9.93629969e-02 9.94966694e-01 -1.29719879e-02 1.08956605e+00] [ 1.67035695e-01 -3.82678244e-03 9.85943422e-01 2.27016279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:1.09, Z:2.28 [[ 9.80931059e-01 -9.98726731e-02 -1.66732437e-01 3.55002369e+01] [ 9.90937562e-02 9.94993105e-01 -1.30057342e-02 1.09338010e+00] [ 1.67196543e-01 -3.76441487e-03 9.85916399e-01 2.27534080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.53, Y:1.10, Z:2.28 [[ 9.81240256e-01 -9.88251417e-02 -1.65532934e-01 3.55258282e+01] [ 9.80352299e-02 9.95098606e-01 -1.29560124e-02 1.09762647e+00] [ 1.66001972e-01 -3.51509829e-03 9.86119156e-01 2.28137338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:1.10, Z:2.29 [[ 9.81305975e-01 -9.89071030e-02 -1.65093817e-01 3.55536404e+01] [ 9.81173116e-02 9.95090558e-01 -1.29527578e-02 1.09966053e+00] [ 1.65564418e-01 -3.48794277e-03 9.86192810e-01 2.28568622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:1.10, Z:2.29 [[ 9.81355782e-01 -9.93169940e-02 -1.64550793e-01 3.55812827e+01] [ 9.85307760e-02 9.95049687e-01 -1.29540369e-02 1.10042995e+00] [ 1.65022771e-01 -3.50079835e-03 9.86283544e-01 2.28961837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:1.10, Z:2.29 [[ 9.81416255e-01 -9.96884163e-02 -1.63964493e-01 3.56085939e+01] [ 9.89054108e-02 9.95012531e-01 -1.29530829e-02 1.10203761e+00] [ 1.64437998e-01 -3.50460948e-03 9.86381195e-01 2.29374624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:1.10, Z:2.30 [[ 9.81579400e-01 -1.00267789e-01 -1.62629186e-01 3.56358541e+01] [ 9.94978715e-02 9.94954240e-01 -1.28931379e-02 1.10359574e+00] [ 1.63101364e-01 -3.52561925e-03 9.86603018e-01 2.29866413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:1.11, Z:2.30 [[ 9.81642296e-01 -1.01013159e-01 -1.61786110e-01 3.56628606e+01] [ 1.00253801e-01 9.94878633e-01 -1.28716986e-02 1.10687194e+00] [ 1.62257755e-01 -3.58426868e-03 9.86741898e-01 2.30469665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.69, Y:1.11, Z:2.31 [[ 9.81648130e-01 -1.01935975e-01 -1.61170736e-01 3.56898985e+01] [ 1.01187182e-01 9.94784171e-01 -1.28688736e-02 1.10961308e+00] [ 1.61641898e-01 -3.67570695e-03 9.86842635e-01 2.31040678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.72, Y:1.11, Z:2.31 [[ 9.81554802e-01 -1.03948669e-01 -1.60452000e-01 3.57175707e+01] [ 1.03225702e-01 9.94574851e-01 -1.28577309e-02 1.10926890e+00] [ 1.60918068e-01 -3.94220286e-03 9.86959895e-01 2.31407541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:1.11, Z:2.32 [[ 9.81445456e-01 -1.05395241e-01 -1.60176965e-01 3.57457013e+01] [ 1.04686311e-01 9.94421855e-01 -1.28821696e-02 1.11002585e+00] [ 1.60641194e-01 -4.12518887e-03 9.87004250e-01 2.31764704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.77, Y:1.11, Z:2.32 [[ 9.81170547e-01 -1.07546485e-01 -1.60431015e-01 3.57720156e+01] [ 1.06856403e-01 9.94190149e-01 -1.29482504e-02 1.11072837e+00] [ 1.60891474e-01 -4.43863921e-03 9.86962123e-01 2.32183295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.80, Y:1.11, Z:2.33 [[ 9.80951203e-01 -1.08490477e-01 -1.61135203e-01 3.57990524e+01] [ 1.07803520e-01 9.94086878e-01 -1.30261265e-02 1.11268711e+00] [ 1.61595602e-01 -4.59294761e-03 9.86846374e-01 2.32604653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.83, Y:1.11, Z:2.33 [[ 9.80687350e-01 -1.09712311e-01 -1.61912109e-01 3.58261092e+01] [ 1.09027687e-01 9.93951930e-01 -1.31348379e-02 1.11490942e+00] [ 1.62373907e-01 -4.77173345e-03 9.86717764e-01 2.33028336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:1.12, Z:2.33 [[ 9.80522854e-01 -1.11499549e-01 -1.61687300e-01 3.58536364e+01] [ 1.10833451e-01 9.93751832e-01 -1.31621312e-02 1.11613804e+00] [ 1.62144622e-01 -5.01459099e-03 9.86754263e-01 2.33403617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:1.12, Z:2.34 [[ 9.79591944e-01 -1.15117490e-01 -1.64765245e-01 3.58743612e+01] [ 1.16109131e-01 9.93229819e-01 -3.63276773e-03 1.11936118e+00] [ 1.64067949e-01 -1.55721195e-02 9.86326121e-01 2.33676774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:1.13, Z:2.35 [[ 9.80575484e-01 -1.13833734e-01 -1.59729778e-01 3.59081685e+01] [ 1.11045057e-01 9.93467129e-01 -2.63070085e-02 1.12519148e+00] [ 1.61680909e-01 8.05880528e-03 9.86810184e-01 2.34974357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.94, Y:1.12, Z:2.35 [[ 9.80614137e-01 -1.11951308e-01 -1.60819213e-01 3.59374858e+01] [ 1.11285148e-01 9.93701216e-01 -1.31723128e-02 1.12179623e+00] [ 1.61280905e-01 -4.97983382e-03 9.86895978e-01 2.34868061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.96, Y:1.13, Z:2.35 [[ 9.79738926e-01 -1.15859744e-01 -1.63365101e-01 3.59574353e+01] [ 1.15907290e-01 9.93216746e-01 -9.27342454e-03 1.12764044e+00] [ 1.63331371e-01 -9.84967123e-03 9.86522097e-01 2.35138535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:1.13, Z:2.36 [[ 9.79733750e-01 -1.17042248e-01 -1.62551198e-01 3.59847123e+01] [ 1.15191518e-01 9.93125564e-01 -2.07973300e-02 1.13375149e+00] [ 1.63867917e-01 1.65132689e-03 9.86480907e-01 2.35926062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:1.14, Z:2.36 [[ 9.80132021e-01 -1.17424025e-01 -1.59852491e-01 3.60146172e+01] [ 1.14531582e-01 9.93046573e-01 -2.72216877e-02 1.13703702e+00] [ 1.61937448e-01 8.37268914e-03 9.86765505e-01 2.36308077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:1.13, Z:2.36 [[ 9.80280830e-01 -1.11445974e-01 -1.63184829e-01 3.60498234e+01] [ 1.11949245e-01 9.93694970e-01 -6.13785742e-03 1.12642536e+00] [ 1.62839983e-01 -1.22515943e-02 9.86576423e-01 2.36328426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:1.13, Z:2.37 [[ 9.80290112e-01 -1.12399890e-01 -1.62473265e-01 3.60765106e+01] [ 1.11717537e-01 9.93650197e-01 -1.33595874e-02 1.13259582e+00] [ 1.62943208e-01 -5.05484148e-03 9.86622501e-01 2.37089417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:1.14, Z:2.37 [[ 9.80405288e-01 -1.16987464e-01 -1.58491022e-01 3.60970608e+01] [ 1.14524539e-01 9.93115366e-01 -2.46170651e-02 1.14326793e+00] [ 1.60279757e-01 5.98358954e-03 9.87053492e-01 2.37425855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:1.14, Z:2.37 [[ 9.80379983e-01 -1.15514414e-01 -1.59723227e-01 3.61267111e+01] [ 1.14836121e-01 9.93292686e-01 -1.35020278e-02 1.14007221e+00] [ 1.60211592e-01 -5.10487807e-03 9.87069494e-01 2.37415722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:1.13, Z:2.38 [[ 9.80344159e-01 -1.12060570e-01 -1.62381523e-01 3.61603719e+01] [ 1.12410436e-01 9.93636772e-01 -7.06107813e-03 1.13445566e+00] [ 1.62139520e-01 -1.13310911e-02 9.86702783e-01 2.38091323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:1.14, Z:2.39 [[ 9.80134670e-01 -1.13603297e-01 -1.62574044e-01 3.61873576e+01] [ 1.12922158e-01 9.93512735e-01 -1.34547909e-02 1.14083454e+00] [ 1.63047891e-01 -5.17070477e-03 9.86604606e-01 2.38862716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:1.15, Z:2.39 [[ 9.79723417e-01 -1.12495616e-01 -1.65791325e-01 3.62145062e+01] [ 1.11763576e-01 9.93639438e-01 -1.37684381e-02 1.14547201e+00] [ 1.66285687e-01 -5.04017011e-03 9.86064738e-01 2.39355037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:1.15, Z:2.40 [[ 9.79725461e-01 -1.12730955e-01 -1.65619303e-01 3.62410836e+01] [ 1.11995954e-01 9.93612828e-01 -1.38005418e-02 1.14766284e+00] [ 1.66117212e-01 -5.02794965e-03 9.86093196e-01 2.39677837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:1.15, Z:2.40 [[ 9.80206473e-01 -1.10268186e-01 -1.64426875e-01 3.62663956e+01] [ 1.10853303e-01 9.93820765e-01 -5.64194883e-03 1.14512716e+00] [ 1.64032970e-01 -1.26969874e-02 9.86373140e-01 2.39649435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:1.15, Z:2.41 [[ 9.79924928e-01 -1.13576212e-01 -1.63852310e-01 3.62951568e+01] [ 1.11411854e-01 9.93522526e-01 -2.23693669e-02 1.15293818e+00] [ 1.65331589e-01 3.66521060e-03 9.86231226e-01 2.40762469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:1.15, Z:2.41 [[ 9.80204277e-01 -1.12125749e-01 -1.63179018e-01 3.63237400e+01] [ 1.11395615e-01 9.93682430e-01 -1.36471501e-02 1.15121247e+00] [ 1.63678320e-01 -4.80043211e-03 9.86502085e-01 2.40865104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:1.15, Z:2.41 [[ 9.80713159e-01 -1.11073462e-01 -1.60824086e-01 3.63499527e+01] [ 1.10342768e-01 9.93801963e-01 -1.34956121e-02 1.15340176e+00] [ 1.61326297e-01 -4.51045054e-03 9.86890816e-01 2.41438736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:1.16, Z:2.42 [[ 9.80868126e-01 -1.10497096e-01 -1.60275109e-01 3.63771653e+01] [ 1.09760358e-01 9.93866799e-01 -1.34703283e-02 1.15608234e+00] [ 1.60780542e-01 -4.37923756e-03 9.86980466e-01 2.41950467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:1.17, Z:2.42 [[ 9.81208686e-01 -1.11742988e-01 -1.57299141e-01 3.64046742e+01] [ 1.09973344e-01 9.93734563e-01 -1.99369704e-02 1.16532934e+00] [ 1.58541410e-01 2.26361595e-03 9.87349734e-01 2.42439899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:1.17, Z:2.43 [[ 9.81270994e-01 -1.12180221e-01 -1.56597686e-01 3.64316024e+01] [ 1.10648107e-01 9.93687538e-01 -1.84952245e-02 1.16750449e+00] [ 1.57683967e-01 8.21589772e-04 9.87489287e-01 2.42654943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:1.17, Z:2.43 [[ 9.81876352e-01 -1.13949744e-01 -1.51440699e-01 3.64604883e+01] [ 1.10166112e-01 9.93359482e-01 -3.31717906e-02 1.17485748e+00] [ 1.54214971e-01 1.58869638e-02 9.87909584e-01 2.43155390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:1.17, Z:2.43 [[ 9.81299322e-01 -1.13394582e-01 -1.55541988e-01 3.64893332e+01] [ 1.12948113e-01 9.93531594e-01 -1.17344060e-02 1.16807202e+00] [ 1.55866498e-01 -6.05320944e-03 9.87759583e-01 2.42725715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:1.16, Z:2.43 [[ 9.79841447e-01 -1.13161148e-01 -1.64636855e-01 3.65121739e+01] [ 1.16862334e-01 9.93063827e-01 1.29394800e-02 1.16175977e+00] [ 1.62030658e-01 -3.19184859e-02 9.86269373e-01 2.42855408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:1.19, Z:2.45 [[ 9.81299642e-01 -1.19995939e-01 -1.50505771e-01 3.65415258e+01] [ 1.13099299e-01 9.92136541e-01 -5.36062754e-02 1.18938012e+00] [ 1.55754810e-01 3.55817217e-02 9.87154689e-01 2.45072957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:1.17, Z:2.44 [[ 9.81848488e-01 -1.13005750e-01 -1.52326122e-01 3.65733393e+01] [ 1.11681309e-01 9.93594331e-01 -1.72508076e-02 1.17407217e+00] [ 1.53299812e-01 -7.43014101e-05 9.88179722e-01 2.43888346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:1.15, Z:2.44 [[ 9.81279290e-01 -1.01373949e-01 -1.63750658e-01 3.66061616e+01] [ 1.07257897e-01 9.93851490e-01 2.74765427e-02 1.15386858e+00] [ 1.59958429e-01 -4.45257134e-02 9.86119040e-01 2.43969148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:1.19, Z:2.46 [[ 9.81574839e-01 -1.13300911e-01 -1.53862725e-01 3.66207107e+01] [ 1.09361705e-01 9.93425256e-01 -3.38567257e-02 1.19060494e+00] [ 1.56687115e-01 1.64062200e-02 9.87512017e-01 2.46320089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:1.19, Z:2.46 [[ 9.82357903e-01 -1.09230067e-01 -1.51795067e-01 3.66512080e+01] [ 1.06009360e-01 9.93937027e-01 -2.91753576e-02 1.19147483e+00] [ 1.54061564e-01 1.25689452e-02 9.87981304e-01 2.46314212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:1.17, Z:2.46 [[ 9.82254160e-01 -9.62347092e-02 -1.60983369e-01 3.66824816e+01] [ 9.93904110e-02 9.94980346e-01 1.16471686e-02 1.17372322e+00] [ 1.59054427e-01 -2.74406831e-02 9.86888392e-01 2.45870312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:1.19, Z:2.47 [[ 9.82223361e-01 -1.00821461e-01 -1.58342358e-01 3.67097504e+01] [ 1.00158601e-01 9.94896912e-01 -1.21814669e-02 1.18696203e+00] [ 1.58762476e-01 -3.89442767e-03 9.87309126e-01 2.47207868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:1.20, Z:2.48 [[ 9.82600610e-01 -1.06136238e-01 -1.52417649e-01 3.67280126e+01] [ 1.02288310e-01 9.94210868e-01 -3.28915028e-02 1.20099925e+00] [ 1.55026263e-01 1.67286670e-02 9.87768702e-01 2.47610743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:1.19, Z:2.47 [[ 9.82562561e-01 -1.01560551e-01 -1.55744238e-01 3.67586282e+01] [ 1.02461994e-01 9.94734375e-01 -2.25017963e-03 1.18879550e+00] [ 1.55152677e-01 -1.37469229e-02 9.87794852e-01 2.47034463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:1.20, Z:2.48 [[ 9.82829349e-01 -1.03878417e-01 -1.52498344e-01 3.67827999e+01] [ 1.01250572e-01 9.94548822e-01 -2.49191153e-02 1.20135077e+00] [ 1.54255607e-01 9.05069339e-03 9.87989521e-01 2.48452039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:1.20, Z:2.49 [[ 9.82779576e-01 -1.05368315e-01 -1.51795335e-01 3.68180347e+01] [ 1.02631121e-01 9.94385418e-01 -2.57777796e-02 1.20484411e+00] [ 1.53659229e-01 9.75494985e-03 9.88075747e-01 2.49003259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.84, Y:1.21, Z:2.49 [[ 9.82596997e-01 -1.02328769e-01 -1.55022467e-01 3.68401463e+01] [ 1.00075861e-01 9.94730129e-01 -2.22888278e-02 1.20526031e+00] [ 1.56486307e-01 6.38692845e-03 9.87659477e-01 2.49240924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:1.20, Z:2.49 [[ 9.82214951e-01 -1.01585580e-01 -1.57905540e-01 3.68729173e+01] [ 1.02451656e-01 9.94734410e-01 -2.66693382e-03 1.19768964e+00] [ 1.57344996e-01 -1.35581819e-02 9.87450620e-01 2.49077690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:1.21, Z:2.50 [[ 9.82618196e-01 -1.03855918e-01 -1.53868217e-01 3.68995622e+01] [ 1.02413498e-01 9.94591587e-01 -1.72930815e-02 1.20570866e+00] [ 1.54832023e-01 1.23431416e-03 9.87940039e-01 2.50047244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:1.20, Z:2.50 [[ 9.81802405e-01 -1.03758181e-01 -1.59054326e-01 3.69278813e+01] [ 1.04473301e-01 9.94520115e-01 -3.88206538e-03 1.20165489e+00] [ 1.58585522e-01 -1.28055094e-02 9.87262200e-01 2.50235334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:1.21, Z:2.51 [[ 9.81329965e-01 -1.09542582e-01 -1.58088335e-01 3.69538607e+01] [ 1.07717184e-01 9.93978460e-01 -2.00955159e-02 1.21031316e+00] [ 1.59337715e-01 2.69150171e-03 9.87220466e-01 2.51208065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:1.21, Z:2.51 [[ 9.80986118e-01 -1.10895072e-01 -1.59274980e-01 3.69804670e+01] [ 1.10237811e-01 9.93820427e-01 -1.29839980e-02 1.20889862e+00] [ 1.59730590e-01 -4.82100332e-03 9.87148872e-01 2.51327487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:1.21, Z:2.52 [[ 9.80699570e-01 -1.13198796e-01 -1.59418899e-01 3.70132742e+01] [ 1.11914178e-01 9.93571719e-01 -1.70427486e-02 1.20718294e+00] [ 1.60323328e-01 -1.12741871e-03 9.87063908e-01 2.52026924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:1.22, Z:2.52 [[ 9.79734659e-01 -1.20437960e-01 -1.60045919e-01 3.70356230e+01] [ 1.18693433e-01 9.92720311e-01 -2.04512522e-02 1.21605109e+00] [ 1.61343942e-01 1.04040107e-03 9.86897690e-01 2.52378191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:1.21, Z:2.53 [[ 9.79921805e-01 -1.17510886e-01 -1.61072802e-01 3.70698286e+01] [ 1.16295862e-01 9.93069396e-01 -1.69837097e-02 1.21219546e+00] [ 1.61952241e-01 -2.08939287e-03 9.86796385e-01 2.52927334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:1.21, Z:2.53 [[ 9.78777135e-01 -1.19770262e-01 -1.66284109e-01 3.70963055e+01] [ 1.22042224e-01 9.92518825e-01 3.47536846e-03 1.21317521e+00] [ 1.64623863e-01 -2.36952937e-02 9.86071760e-01 2.53067027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:1.23, Z:2.54 [[ 9.80026644e-01 -1.25769920e-01 -1.54044488e-01 3.71272073e+01] [ 1.22194069e-01 9.91973847e-01 -3.25037811e-02 1.22666602e+00] [ 1.56896102e-01 1.30312486e-02 9.87529139e-01 2.54372084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:1.22, Z:2.54 [[ 9.80400135e-01 -1.23372536e-01 -1.53605968e-01 3.71551163e+01] [ 1.22641328e-01 9.92348554e-01 -1.42636633e-02 1.22066045e+00] [ 1.54190404e-01 -4.85434240e-03 9.88029228e-01 2.53884729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:1.22, Z:2.54 [[ 9.80141349e-01 -1.25724208e-01 -1.53350446e-01 3.71854801e+01] [ 1.25133711e-01 9.92047552e-01 -1.35354571e-02 1.22188065e+00] [ 1.53832669e-01 -5.92264923e-03 9.88079163e-01 2.54343198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:1.22, Z:2.55 [[ 9.80289596e-01 -1.25206801e-01 -1.52825272e-01 3.72131456e+01] [ 1.24627578e-01 9.92113073e-01 -1.34021417e-02 1.22334582e+00] [ 1.53297990e-01 -5.90826349e-03 9.88162344e-01 2.54722478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:1.22, Z:2.55 [[ 9.79073452e-01 -1.23174606e-01 -1.61997509e-01 3.72375733e+01] [ 1.28251400e-01 9.91514574e-01 2.12233122e-02 1.21765798e+00] [ 1.58008717e-01 -4.15555888e-02 9.86562911e-01 2.54697817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:1.24, Z:2.57 [[ 9.79427881e-01 -1.29053233e-01 -1.55133130e-01 3.72619687e+01] [ 1.27461592e-01 9.91637667e-01 -2.02059348e-02 1.23937751e+00] [ 1.56443497e-01 1.67401378e-05 9.87686910e-01 2.56681505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280385722999995 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:37.29, Y:1.24, Z:2.58 [[ 9.79859275e-01 -1.28421542e-01 -1.52917325e-01 3.72915786e+01] [ 1.24375790e-01 9.91590012e-01 -3.57758485e-02 1.24473316e+00] [ 1.56225682e-01 1.60360839e-02 9.87591201e-01 2.57547292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:1.24, Z:2.57 [[ 9.79408132e-01 -1.27893301e-01 -1.56214643e-01 3.73209357e+01] [ 1.26690394e-01 9.91784832e-01 -1.76746166e-02 1.23876439e+00] [ 1.57191779e-01 -2.48023147e-03 9.87564982e-01 2.57040397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:1.24, Z:2.57 [[ 9.78067287e-01 -1.29556298e-01 -1.63093678e-01 3.73411337e+01] [ 1.31799283e-01 9.91272000e-01 2.96171392e-03 1.23697245e+00] [ 1.61286488e-01 -2.43923854e-02 9.86606142e-01 2.56885941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:1.25, Z:2.58 [[ 9.78327343e-01 -1.31994769e-01 -1.59539933e-01 3.73725516e+01] [ 1.28122117e-01 9.91162763e-01 -3.43671277e-02 1.25016452e+00] [ 1.62666322e-01 1.31817067e-02 9.86593082e-01 2.58446944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:1.25, Z:2.58 [[ 9.77422980e-01 -1.31120913e-01 -1.65685316e-01 3.73974320e+01] [ 1.31690995e-01 9.91261768e-01 -7.58874400e-03 1.24787306e+00] [ 1.65232562e-01 -1.44018512e-02 9.86149475e-01 2.58125537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:1.26, Z:2.59 [[ 9.77550368e-01 -1.28805699e-01 -1.66746423e-01 3.74227717e+01] [ 1.29153960e-01 9.91585506e-01 -8.79996601e-03 1.25661110e+00] [ 1.66476822e-01 -1.29335508e-02 9.85960542e-01 2.58989870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:1.27, Z:2.60 [[ 9.79140657e-01 -1.25248297e-01 -1.59988871e-01 3.74547396e+01] [ 1.21081285e-01 9.92004973e-01 -3.55732534e-02 1.26519904e+00] [ 1.63165245e-01 1.54595606e-02 9.86477625e-01 2.59987922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:1.26, Z:2.59 [[ 9.78198446e-01 -1.22778281e-01 -1.67491177e-01 3.74789658e+01] [ 1.25210911e-01 9.92122080e-01 4.00066023e-03 1.25628535e+00] [ 1.65680501e-01 -2.48851626e-02 9.85865457e-01 2.59109184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:1.27, Z:2.60 [[ 9.79261259e-01 -1.21266469e-01 -1.62301665e-01 3.75049557e+01] [ 1.19105914e-01 9.92614816e-01 -2.30132366e-02 1.27019693e+00] [ 1.63893771e-01 3.20488289e-03 9.86472788e-01 2.60345727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:1.27, Z:2.61 [[ 9.80325100e-01 -1.14602399e-01 -1.60713995e-01 3.75396276e+01] [ 1.13186673e-01 9.93411273e-01 -1.79671876e-02 1.26961309e+00] [ 1.61714177e-01 -5.76997460e-04 9.86837470e-01 2.60512699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:1.27, Z:2.61 [[ 9.80526651e-01 -1.11980178e-01 -1.61331727e-01 3.75628413e+01] [ 1.12424230e-01 9.93639671e-01 -6.40291592e-03 1.27129152e+00] [ 1.61022604e-01 -1.18593655e-02 9.86879464e-01 2.61086778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:1.28, Z:2.62 [[ 9.81560415e-01 -1.10692468e-01 -1.55840720e-01 3.75926042e+01] [ 1.08384961e-01 9.93836990e-01 -2.32537562e-02 1.28013793e+00] [ 1.57454288e-01 5.93417626e-03 9.87508447e-01 2.62172999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:1.28, Z:2.62 [[ 9.82135288e-01 -1.05555456e-01 -1.55782931e-01 3.76200273e+01] [ 1.04556564e-01 9.94411538e-01 -1.46156722e-02 1.27801480e+00] [ 1.56455108e-01 -1.93356056e-03 9.87683178e-01 2.62206594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:1.28, Z:2.63 [[ 9.82943195e-01 -1.03031678e-01 -1.52338927e-01 3.76498860e+01] [ 9.95661176e-02 9.94571763e-01 -3.02257625e-02 1.28215545e+00] [ 1.54626206e-01 1.45424120e-02 9.87866010e-01 2.62980780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:1.28, Z:2.63 [[ 9.82952208e-01 -1.00702444e-01 -1.53830996e-01 3.76795597e+01] [ 9.97970281e-02 9.94914643e-01 -1.36164169e-02 1.27740486e+00] [ 1.54419917e-01 -1.96758916e-03 9.88003349e-01 2.62720998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:1.28, Z:2.63 [[ 9.82979995e-01 -9.80669279e-02 -1.55348662e-01 3.77060968e+01] [ 9.71041800e-02 9.95178650e-01 -1.37925005e-02 1.28033188e+00] [ 1.55952260e-01 -1.52725239e-03 9.87763413e-01 2.63085173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:1.29, Z:2.63 [[ 9.82513156e-01 -9.89128298e-02 -1.57747111e-01 3.77274965e+01] [ 9.86841913e-02 9.95075335e-01 -9.30096926e-03 1.28560737e+00] [ 1.57890245e-01 -6.42882143e-03 9.87435740e-01 2.63421908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:1.29, Z:2.64 [[ 9.82663206e-01 -9.95107683e-02 -1.56430912e-01 3.77549899e+01] [ 9.80151716e-02 9.95035145e-01 -1.72651870e-02 1.29087326e+00] [ 1.57372327e-01 1.63326137e-03 9.87537991e-01 2.64012056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:1.29, Z:2.64 [[ 9.81934407e-01 -9.83577951e-02 -1.61649513e-01 3.77821783e+01] [ 9.84389021e-02 9.95114630e-01 -7.52700066e-03 1.28676128e+00] [ 1.61600134e-01 -8.52157963e-03 9.86819527e-01 2.64176322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:1.29, Z:2.65 [[ 9.82105616e-01 -9.93985166e-02 -1.59964039e-01 3.78093973e+01] [ 9.74701139e-02 9.95039947e-01 -1.98766445e-02 1.29274275e+00] [ 1.61146317e-01 3.92925115e-03 9.86922705e-01 2.64994528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:1.29, Z:2.65 [[ 9.82125547e-01 -9.86121246e-02 -1.60327974e-01 3.78374985e+01] [ 9.70584746e-02 9.95124598e-01 -1.75124985e-02 1.29276131e+00] [ 1.61273255e-01 1.63828355e-03 9.86908432e-01 2.65302190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:1.29, Z:2.66 [[ 9.82920332e-01 -9.72221632e-02 -1.56254513e-01 3.78705834e+01] [ 9.45153154e-02 9.95217470e-01 -2.46787765e-02 1.29101238e+00] [ 1.57906545e-01 9.48882668e-03 9.87408469e-01 2.65963418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:1.29, Z:2.66 [[ 9.82869581e-01 -9.69941057e-02 -1.56714803e-01 3.78987399e+01] [ 9.60155393e-02 9.95283881e-01 -1.38207558e-02 1.28738067e+00] [ 1.57316249e-01 -1.46305586e-03 9.87547192e-01 2.65969982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:1.29, Z:2.66 [[ 9.82783067e-01 -1.00535537e-01 -1.55016286e-01 3.79263088e+01] [ 9.96151034e-02 9.94931530e-01 -1.37142922e-02 1.28876511e+00] [ 1.55609364e-01 -1.96378921e-03 9.87816718e-01 2.66215667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:1.29, Z:2.67 [[ 9.82589340e-01 -1.01926680e-01 -1.55335573e-01 3.79537343e+01] [ 1.01012309e-01 9.94789609e-01 -1.37894006e-02 1.28939157e+00] [ 1.55931722e-01 -2.14148685e-03 9.87765515e-01 2.66717708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:1.29, Z:2.68 [[ 9.81814605e-01 -1.05397750e-01 -1.57896786e-01 3.79809309e+01] [ 1.04489719e-01 9.94426508e-01 -1.40647877e-02 1.29211768e+00] [ 1.58499146e-01 -2.68957672e-03 9.87355451e-01 2.67547309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:1.30, Z:2.68 [[ 9.81671045e-01 -1.11967598e-01 -1.54224565e-01 3.80038250e+01] [ 1.10566769e-01 9.93711818e-01 -1.76582075e-02 1.29567867e+00] [ 1.55231920e-01 2.82439181e-04 9.87878014e-01 2.67832293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:1.29, Z:2.68 [[ 9.81348012e-01 -1.11920014e-01 -1.56300958e-01 3.80351781e+01] [ 1.11499515e-01 9.93698137e-01 -1.14835038e-02 1.29020236e+00] [ 1.56601205e-01 -6.15816730e-03 9.87642719e-01 2.68117085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:1.30, Z:2.68 [[ 9.81108517e-01 -1.19966953e-01 -1.51769586e-01 3.80620470e+01] [ 1.17170855e-01 9.92737368e-01 -2.72673477e-02 1.29665034e+00] [ 1.53938520e-01 8.96925502e-03 9.88039718e-01 2.68330383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:1.29, Z:2.68 [[ 9.80794957e-01 -1.20260581e-01 -1.53553397e-01 3.80905036e+01] [ 1.19428735e-01 9.92734477e-01 -1.46641124e-02 1.29324382e+00] [ 1.54201266e-01 -3.95620048e-03 9.88031537e-01 2.68269853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:1.30, Z:2.69 [[ 9.80245133e-01 -1.24290899e-01 -1.53854647e-01 3.81182729e+01] [ 1.23178866e-01 9.92242658e-01 -1.67771819e-02 1.29939406e+00] [ 1.54746395e-01 -2.50589011e-03 9.87951048e-01 2.69061462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:1.30, Z:2.69 [[ 9.80060315e-01 -1.24889202e-01 -1.54545997e-01 3.81454013e+01] [ 1.25729463e-01 9.92054965e-01 -4.36437155e-03 1.29772791e+00] [ 1.53863187e-01 -1.51536379e-02 9.87975955e-01 2.69239170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:1.30, Z:2.70 [[ 9.79208385e-01 -1.27358486e-01 -1.57894760e-01 3.81717835e+01] [ 1.27580544e-01 9.91789432e-01 -8.77078876e-03 1.30128247e+00] [ 1.57715389e-01 -1.15558695e-02 9.87416993e-01 2.69976343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:1.31, Z:2.71 [[ 9.79303148e-01 -1.32563515e-01 -1.52945281e-01 3.82014388e+01] [ 1.30171140e-01 9.91161096e-01 -2.55960244e-02 1.30600224e+00] [ 1.54986511e-01 5.15720567e-03 9.87903125e-01 2.70643996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:1.30, Z:2.71 [[ 9.79770484e-01 -1.32753015e-01 -1.49754588e-01 3.82289347e+01] [ 1.32003146e-01 9.91136081e-01 -1.49812864e-02 1.30322926e+00] [ 1.50415986e-01 -5.08985459e-03 9.88609693e-01 2.70603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:1.30, Z:2.72 [[ 9.78702240e-01 -1.32076520e-01 -1.57155076e-01 3.82571918e+01] [ 1.32729300e-01 9.91131787e-01 -6.38079801e-03 1.30279530e+00] [ 1.56604145e-01 -1.46141818e-02 9.87553324e-01 2.71529981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.28, Y:1.32, Z:2.72 [[ 9.79044759e-01 -1.37144683e-01 -1.50541345e-01 3.82802091e+01] [ 1.35430226e-01 9.90550711e-01 -2.16320015e-02 1.31581026e+00] [ 1.52085550e-01 7.90849330e-04 9.88367017e-01 2.72061750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:1.32, Z:2.72 [[ 9.78181488e-01 -1.37608414e-01 -1.55643503e-01 3.83075814e+01] [ 1.35720420e-01 9.90486073e-01 -2.27443794e-02 1.31865743e+00] [ 1.57292540e-01 1.12412923e-03 9.87551413e-01 2.72288853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:1.32, Z:2.72 [[ 9.78123756e-01 -1.36420186e-01 -1.57046014e-01 3.83367897e+01] [ 1.35439326e-01 9.90640104e-01 -1.69815500e-02 1.31762583e+00] [ 1.57892706e-01 -4.66014898e-03 9.87445278e-01 2.72331736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:1.31, Z:2.72 [[ 9.78006791e-01 -1.35277219e-01 -1.58753872e-01 3.83654532e+01] [ 1.36542231e-01 9.90629819e-01 -2.96318665e-03 1.31419174e+00] [ 1.57667171e-01 -1.87785911e-02 9.87313743e-01 2.72393353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:1.33, Z:2.74 [[ 9.77721582e-01 -1.37524397e-01 -1.58579783e-01 3.83906765e+01] [ 1.34592451e-01 9.90472629e-01 -2.91349033e-02 1.32843767e+00] [ 1.61075694e-01 7.14218211e-03 9.86916212e-01 2.73607476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:1.33, Z:2.74 [[ 9.77622363e-01 -1.32762499e-01 -1.63182827e-01 3.84185818e+01] [ 1.32955423e-01 9.91073686e-01 -9.78794623e-03 1.32563245e+00] [ 1.63025678e-01 -1.21271267e-02 9.86547293e-01 2.73642547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:1.33, Z:2.74 [[ 9.78267339e-01 -1.29215056e-01 -1.62161900e-01 3.84441580e+01] [ 1.28884728e-01 9.91579528e-01 -1.26002711e-02 1.33256705e+00] [ 1.62424565e-01 -8.57375872e-03 9.86683714e-01 2.74425992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:1.34, Z:2.75 [[ 9.78976207e-01 -1.26981272e-01 -1.59628767e-01 3.84705330e+01] [ 1.25391699e-01 9.91905032e-01 -2.00331870e-02 1.33801928e+00] [ 1.60880417e-01 -4.04108832e-04 9.86973823e-01 2.75042361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:1.33, Z:2.75 [[ 9.79716601e-01 -1.19857300e-01 -1.60591436e-01 3.85036646e+01] [ 1.19852370e-01 9.92743819e-01 -9.75293346e-03 1.33194217e+00] [ 1.60595116e-01 -9.69215332e-03 9.86972781e-01 2.75365789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:1.34, Z:2.76 [[ 9.80132458e-01 -1.17680252e-01 -1.59661276e-01 3.85300995e+01] [ 1.16830444e-01 9.93042599e-01 -1.47323927e-02 1.33793906e+00] [ 1.60284160e-01 -4.21360152e-03 9.87061920e-01 2.76078319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:1.35, Z:2.77 [[ 9.80891546e-01 -1.14478602e-01 -1.57309964e-01 3.85517968e+01] [ 1.12399122e-01 9.93417747e-01 -2.20820504e-02 1.35226864e+00] [ 1.58802432e-01 3.97859471e-03 9.87302364e-01 2.76828010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:1.36, Z:2.77 [[ 9.81122861e-01 -1.11197464e-01 -1.58218381e-01 3.85785686e+01] [ 1.09779801e-01 9.93798332e-01 -1.76994760e-02 1.35511990e+00] [ 1.59205300e-01 -3.82185856e-06 9.87245498e-01 2.77148084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:1.36, Z:2.77 [[ 9.81529156e-01 -1.06147419e-01 -1.59164193e-01 3.86076985e+01] [ 1.05180790e-01 9.94347262e-01 -1.45094433e-02 1.35527755e+00] [ 1.59804620e-01 -2.49957386e-03 9.87145499e-01 2.77237979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:1.36, Z:2.78 [[ 9.81948798e-01 -1.04500145e-01 -1.57658739e-01 3.86365821e+01] [ 1.02583424e-01 9.94517877e-01 -2.02690444e-02 1.35902258e+00] [ 1.58912552e-01 3.72999055e-03 9.87285616e-01 2.77653488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.67, Y:1.36, Z:2.78 [[ 9.82372354e-01 -1.02310958e-01 -1.56451354e-01 3.86662801e+01] [ 1.00310579e-01 9.94741867e-01 -2.06495736e-02 1.36136796e+00] [ 1.57741389e-01 4.59184431e-03 9.87469781e-01 2.77978751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:1.37, Z:2.78 [[ 9.82457949e-01 -1.00262393e-01 -1.57238137e-01 3.86922846e+01] [ 9.90576377e-02 9.94960970e-01 -1.55000847e-02 1.36594782e+00] [ 1.57999885e-01 -3.47457002e-04 9.87439069e-01 2.78479710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:1.37, Z:2.79 [[ 9.82585130e-01 -9.98702670e-02 -1.56692031e-01 3.87212285e+01] [ 9.85688954e-02 9.95000406e-01 -1.60737294e-02 1.37041986e+00] [ 1.57513922e-01 3.48847092e-04 9.87516705e-01 2.79068014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.75, Y:1.38, Z:2.80 [[ 9.82308724e-01 -1.02041909e-01 -1.57025540e-01 3.87469252e+01] [ 1.00745169e-01 9.94780095e-01 -1.62164760e-02 1.37582489e+00] [ 1.57860642e-01 1.10021276e-04 9.87461394e-01 2.79650268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.77, Y:1.38, Z:2.80 [[ 9.82002744e-01 -1.04031288e-01 -1.57632805e-01 3.87744820e+01] [ 1.02791333e-01 9.94573914e-01 -1.60209927e-02 1.37849728e+00] [ 1.58444160e-01 -4.70627274e-04 9.87367827e-01 2.80017341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:1.38, Z:2.80 [[ 9.81691996e-01 -1.06447810e-01 -1.57954707e-01 3.88020486e+01] [ 1.04853849e-01 9.94317136e-01 -1.84147569e-02 1.38146451e+00] [ 1.59017282e-01 1.51546052e-03 9.87274636e-01 2.80445571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:1.38, Z:2.81 [[ 9.81163996e-01 -1.10512117e-01 -1.58443317e-01 3.88310482e+01] [ 1.09545285e-01 9.93870871e-01 -1.48500129e-02 1.38280955e+00] [ 1.59113304e-01 -2.78642029e-03 9.87256396e-01 2.80694909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:1.39, Z:2.81 [[ 9.80910604e-01 -1.14084049e-01 -1.57477671e-01 3.88581291e+01] [ 1.12476219e-01 9.93470561e-01 -1.91140010e-02 1.38909229e+00] [ 1.58630033e-01 1.03663328e-03 9.87337550e-01 2.81357775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:1.39, Z:2.82 [[ 9.80485231e-01 -1.16550193e-01 -1.58318553e-01 3.88860476e+01] [ 1.15803175e-01 9.93173969e-01 -1.39675004e-02 1.39140146e+00] [ 1.58865781e-01 -4.63886333e-03 9.87289291e-01 2.81693235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:1.40, Z:2.82 [[ 9.80349866e-01 -1.22067503e-01 -1.54963429e-01 3.89136085e+01] [ 1.20207712e-01 9.92519126e-01 -2.13515995e-02 1.39740476e+00] [ 1.56410504e-01 2.30423848e-03 9.87689448e-01 2.82185457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:1.40, Z:2.82 [[ 9.79938171e-01 -1.23631884e-01 -1.56321266e-01 3.89421205e+01] [ 1.22597290e-01 9.92322956e-01 -1.62805281e-02 1.39858146e+00] [ 1.57133973e-01 -3.21065261e-03 9.87572076e-01 2.82479236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:1.40, Z:2.83 [[ 9.79527166e-01 -1.26437336e-01 -1.56652903e-01 3.89691463e+01] [ 1.25704617e-01 9.91960035e-01 -1.46163699e-02 1.40296268e+00] [ 1.57241474e-01 -5.37486178e-03 9.87545558e-01 2.83035723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:1.40, Z:2.83 [[ 9.78767467e-01 -1.24531147e-01 -1.62807370e-01 3.89999005e+01] [ 1.26443187e-01 9.91972871e-01 1.39403575e-03 1.39725454e+00] [ 1.61326894e-01 -2.19503197e-02 9.86656889e-01 2.83471802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:1.41, Z:2.84 [[ 9.78534524e-01 -1.27501918e-01 -1.61905673e-01 3.90253559e+01] [ 1.26721705e-01 9.91822156e-01 -1.51796009e-02 1.40694574e+00] [ 1.62517062e-01 -5.66319949e-03 9.86689481e-01 2.84476374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:1.41, Z:2.85 [[ 9.78350091e-01 -1.28726334e-01 -1.62051323e-01 3.90515262e+01] [ 1.27953902e-01 9.91663039e-01 -1.52386081e-02 1.40802636e+00] [ 1.62661917e-01 -5.82640538e-03 9.86664661e-01 2.84853568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:1.41, Z:2.85 [[ 9.78129038e-01 -1.29899404e-01 -1.62449159e-01 3.90793884e+01] [ 1.29134021e-01 9.91508994e-01 -1.53075066e-02 1.41048327e+00] [ 1.63058238e-01 -6.00499638e-03 9.86598171e-01 2.85267036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:1.41, Z:2.86 [[ 9.77874010e-01 -1.31167545e-01 -1.62964710e-01 3.91063932e+01] [ 1.30407234e-01 9.91340883e-01 -1.54015249e-02 1.41266835e+00] [ 1.63573759e-01 -6.19102601e-03 9.86511681e-01 2.85672548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:1.42, Z:2.86 [[ 9.77968992e-01 -1.31354062e-01 -1.62242907e-01 3.91335327e+01] [ 1.30595416e-01 9.91316456e-01 -1.53792598e-02 1.41577451e+00] [ 1.62854191e-01 -6.14774066e-03 9.86630994e-01 2.86119071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:1.42, Z:2.87 [[ 9.78163542e-01 -1.30517952e-01 -1.61744088e-01 3.91598707e+01] [ 1.29745139e-01 9.91428129e-01 -1.53774084e-02 1.41958488e+00] [ 1.62364667e-01 -5.94388885e-03 9.86712919e-01 2.86624811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:1.42, Z:2.87 [[ 9.78165346e-01 -1.30593986e-01 -1.61671787e-01 3.91877314e+01] [ 1.29819540e-01 9.91418180e-01 -1.53909118e-02 1.42240001e+00] [ 1.62294309e-01 -5.93330044e-03 9.86724558e-01 2.86995906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:1.42, Z:2.87 [[ 9.77974095e-01 -1.31094084e-01 -1.62422321e-01 3.92152048e+01] [ 1.30311732e-01 9.91351780e-01 -1.55080603e-02 1.42466073e+00] [ 1.63050672e-01 -5.99905281e-03 9.86599458e-01 2.87400890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:1.43, Z:2.88 [[ 9.78459688e-01 -1.33461452e-01 -1.57495013e-01 3.92443126e+01] [ 1.30241616e-01 9.91008802e-01 -3.06378104e-02 1.43371313e+00] [ 1.60167911e-01 9.46545735e-03 9.87044399e-01 2.87790070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:1.43, Z:2.88 [[ 9.78299880e-01 -1.31470341e-01 -1.60140231e-01 3.92729439e+01] [ 1.30852207e-01 9.91296630e-01 -1.44461350e-02 1.42951821e+00] [ 1.60645710e-01 -6.82205062e-03 9.86988559e-01 2.87603029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:1.43, Z:2.88 [[ 9.78108578e-01 -1.32167626e-01 -1.60733722e-01 3.93010741e+01] [ 1.31347312e-01 9.91211040e-01 -1.57656827e-02 1.43330157e+00] [ 1.61404753e-01 -5.69139295e-03 9.86871883e-01 2.88102003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:1.43, Z:2.88 [[ 9.76836566e-01 -1.32106973e-01 -1.68339154e-01 3.93268132e+01] [ 1.34157468e-01 9.90959691e-01 8.15234501e-04 1.42838887e+00] [ 1.66709618e-01 -2.33803056e-02 9.85728799e-01 2.88412450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.35, Y:1.44, Z:2.89 [[ 9.76719328e-01 -1.34924251e-01 -1.66777698e-01 3.93521651e+01] [ 1.34115449e-01 9.90834015e-01 -1.61555542e-02 1.43743794e+00] [ 1.67428792e-01 -6.58802374e-03 9.85862160e-01 2.89476162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:1.45, Z:2.90 [[ 9.77988446e-01 -1.35189803e-01 -1.58941234e-01 3.93826170e+01] [ 1.31498832e-01 9.90747962e-01 -3.35638695e-02 1.44618562e+00] [ 1.62008197e-01 1.19244899e-02 9.86717361e-01 2.89887857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:1.44, Z:2.90 [[ 9.77273828e-01 -1.30866054e-01 -1.66763131e-01 3.94086393e+01] [ 1.33281320e-01 9.91072667e-01 3.32553400e-03 1.43740485e+00] [ 1.64839182e-01 -2.54763676e-02 9.85991379e-01 2.89967500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:1.45, Z:2.91 [[ 9.77132755e-01 -1.34239636e-01 -1.64897843e-01 3.94343238e+01] [ 1.33418410e-01 9.90929057e-01 -1.60975911e-02 1.44885012e+00] [ 1.65562999e-01 -6.27092439e-03 9.86179278e-01 2.91244595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:1.45, Z:2.92 [[ 9.77287363e-01 -1.33401267e-01 -1.64661809e-01 3.94609016e+01] [ 1.32563560e-01 9.91043472e-01 -1.61164435e-02 1.45310489e+00] [ 1.65336965e-01 -6.07775896e-03 9.86218408e-01 2.91918262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:1.46, Z:2.92 [[ 9.77695520e-01 -1.31530060e-01 -1.63741604e-01 3.94872002e+01] [ 1.30668334e-01 9.91295887e-01 -1.60702119e-02 1.45631578e+00] [ 1.64430095e-01 -5.68406853e-03 9.86372361e-01 2.92301445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:1.46, Z:2.93 [[ 9.79499971e-01 -1.30471340e-01 -1.53483018e-01 3.95212940e+01] [ 1.26309963e-01 9.91315367e-01 -3.66010479e-02 1.46371723e+00] [ 1.56925462e-01 1.64642910e-02 9.87473203e-01 2.92592445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:1.46, Z:2.92 [[ 9.80062482e-01 -1.28309116e-01 -1.51704655e-01 3.95493651e+01] [ 1.26045500e-01 9.91722240e-01 -2.44853298e-02 1.46036857e+00] [ 1.53590571e-01 4.87546407e-03 9.88122546e-01 2.92123390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.58, Y:1.46, Z:2.92 [[ 9.79976514e-01 -1.27084466e-01 -1.53282647e-01 3.95813318e+01] [ 1.25760818e-01 9.91891042e-01 -1.83406016e-02 1.45789483e+00] [ 1.54370490e-01 -1.30359229e-03 9.88012172e-01 2.92115671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:1.46, Z:2.92 [[ 9.80159232e-01 -1.24759326e-01 -1.54022693e-01 3.96048872e+01] [ 1.23714226e-01 9.92182528e-01 -1.63896846e-02 1.46030096e+00] [ 1.54863391e-01 -2.99029750e-03 9.87931368e-01 2.92444993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:1.46, Z:2.93 [[ 9.79855275e-01 -1.24367315e-01 -1.56257517e-01 3.96384434e+01] [ 1.24597682e-01 9.92172138e-01 -8.35856695e-03 1.46075075e+00] [ 1.56073888e-01 -1.12791385e-02 9.87680982e-01 2.92978407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:1.46, Z:2.94 [[ 9.77790688e-01 -1.24712174e-01 -1.68440625e-01 3.96586789e+01] [ 1.29774440e-01 9.91354844e-01 1.93434448e-02 1.45840632e+00] [ 1.64572066e-01 -4.07731280e-02 9.85521987e-01 2.93948118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:1.48, Z:2.96 [[ 9.77599637e-01 -1.30987221e-01 -1.64746159e-01 3.96821879e+01] [ 1.30050447e-01 9.91369955e-01 -1.65073706e-02 1.47690134e+00] [ 1.65486647e-01 -5.28771210e-03 9.86197855e-01 2.95953792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:1.48, Z:2.96 [[ 9.77520280e-01 -1.31608098e-01 -1.64722223e-01 3.97101590e+01] [ 1.30672411e-01 9.91287418e-01 -1.65522272e-02 1.47895083e+00] [ 1.65465474e-01 -5.34451232e-03 9.86201102e-01 2.96331319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:1.49, Z:2.97 [[ 9.79826000e-01 -1.33137773e-01 -1.49048121e-01 3.97442726e+01] [ 1.26113634e-01 9.90452626e-01 -5.56681929e-02 1.49360921e+00] [ 1.55036642e-01 3.57481426e-02 9.87261723e-01 2.96826753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:1.46, Z:2.95 [[ 9.77229910e-01 -1.25974373e-01 -1.70740035e-01 3.97710290e+01] [ 1.32340410e-01 9.90853101e-01 2.63846099e-02 1.46478644e+00] [ 1.65854509e-01 -4.83796363e-02 9.84962787e-01 2.95332388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:1.50, Z:2.98 [[ 9.79542198e-01 -1.34063261e-01 -1.50080394e-01 3.97992708e+01] [ 1.27208470e-01 9.90381842e-01 -5.44225314e-02 1.50223403e+00] [ 1.55932959e-01 3.42176687e-02 9.87174789e-01 2.97866351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:1.49, Z:2.97 [[ 9.79462635e-01 -1.28731008e-01 -1.55181421e-01 3.98319308e+01] [ 1.28081223e-01 9.91661718e-01 -1.42210359e-02 1.48870055e+00] [ 1.55718163e-01 -5.94685282e-03 9.87783624e-01 2.96661246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:1.48, Z:2.97 [[ 9.76666184e-01 -1.28018846e-01 -1.72436482e-01 3.98544871e+01] [ 1.34024825e-01 9.90696900e-01 2.36008106e-02 1.47867924e+00] [ 1.67810939e-01 -4.61608829e-02 9.84737864e-01 2.96983313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:1.51, Z:2.99 [[ 9.78660761e-01 -1.36810947e-01 -1.53316274e-01 3.98819794e+01] [ 1.30153484e-01 9.90092445e-01 -5.26974548e-02 1.51176293e+00] [ 1.59006874e-01 3.16182840e-02 9.86771047e-01 2.99313058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:1.49, Z:2.98 [[ 9.75690883e-01 -1.31808076e-01 -1.75082645e-01 3.99087922e+01] [ 1.37687619e-01 9.90235427e-01 2.18155747e-02 1.48528962e+00] [ 1.70497568e-01 -4.53919699e-02 9.84312018e-01 2.98070032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:1.52, Z:3.00 [[ 9.77797036e-01 -1.40123132e-01 -1.55815479e-01 3.99360884e+01] [ 1.33533990e-01 9.89677341e-01 -5.20330103e-02 1.51792441e+00] [ 1.61498077e-01 3.00710606e-02 9.86414772e-01 3.00486676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:1.50, Z:2.99 [[ 9.78184793e-01 -1.33513273e-01 -1.59149983e-01 3.99694637e+01] [ 1.33163083e-01 9.91010031e-01 -1.29116579e-02 1.50324949e+00] [ 1.59443107e-01 -8.56291505e-03 9.87169981e-01 2.99286695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:1.50, Z:3.00 [[ 9.78249275e-01 -1.33525320e-01 -1.58743012e-01 3.99949433e+01] [ 1.33770617e-01 9.90969728e-01 -9.18806246e-03 1.50445863e+00] [ 1.58536359e-01 -1.22469353e-02 9.87277183e-01 2.99573233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:1.51, Z:3.01 [[ 9.78266026e-01 -1.34501336e-01 -1.57813095e-01 4.00225968e+01] [ 1.33415354e-01 9.90905616e-01 -1.75043820e-02 1.50934478e+00] [ 1.58732245e-01 -3.93074775e-03 9.87313843e-01 3.00505602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:1.51, Z:3.01 [[ 9.78482785e-01 -1.33536588e-01 -1.57287696e-01 4.00505600e+01] [ 1.32546186e-01 9.91034150e-01 -1.68173257e-02 1.51296084e+00] [ 1.58123207e-01 -4.39242048e-03 9.87409620e-01 3.01072825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:1.51, Z:3.01 [[ 9.76129485e-01 -1.31232912e-01 -1.73058230e-01 4.00753122e+01] [ 1.35957988e-01 9.90590422e-01 1.56856796e-02 1.50522099e+00] [ 1.69371347e-01 -3.88399031e-02 9.84786682e-01 3.01476030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.10, Y:1.54, Z:3.04 [[ 9.77933665e-01 -1.38948749e-01 -1.56009588e-01 4.01002562e+01] [ 1.32379852e-01 9.89845352e-01 -5.17856581e-02 1.53716123e+00] [ 1.61620917e-01 2.99904123e-02 9.86397108e-01 3.03569373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.13, Y:1.51, Z:3.02 [[ 9.75711255e-01 -1.30358713e-01 -1.76051565e-01 4.01307701e+01] [ 1.35594691e-01 9.90600985e-01 1.79935706e-02 1.51082840e+00] [ 1.72051235e-01 -4.14281869e-02 9.84216479e-01 3.02343708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.16, Y:1.54, Z:3.04 [[ 9.77405574e-01 -1.37855208e-01 -1.60231977e-01 4.01574850e+01] [ 1.32313848e-01 9.90194704e-01 -4.48050685e-02 1.53858062e+00] [ 1.64837467e-01 2.25918143e-02 9.86061976e-01 3.04310974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430385723 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:40.19, Y:1.52, Z:3.03 [[ 9.76839244e-01 -1.28318615e-01 -1.71229160e-01 4.01858219e+01] [ 1.32082731e-01 9.91180658e-01 1.07263556e-02 1.51664274e+00] [ 1.68342640e-01 -3.30943401e-02 9.85172838e-01 3.02883145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:1.53, Z:3.05 [[ 9.76413012e-01 -1.33627832e-01 -1.69591368e-01 4.02107528e+01] [ 1.31714137e-01 9.91031529e-01 -2.25365092e-02 1.53471312e+00] [ 1.71081898e-01 -3.32639888e-04 9.85256755e-01 3.04747849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:1.55, Z:3.05 [[ 9.78449372e-01 -1.34700749e-01 -1.56500910e-01 4.02398168e+01] [ 1.28532695e-01 9.90497323e-01 -4.89326023e-02 1.54869991e+00] [ 1.61604990e-01 2.77625902e-02 9.86464934e-01 3.05038980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:1.53, Z:3.04 [[ 9.77021236e-01 -1.23306372e-01 -1.73853511e-01 4.02702295e+01] [ 1.27842301e-01 9.91679638e-01 1.50944573e-02 1.52684723e+00] [ 1.70545744e-01 -3.69734381e-02 9.84655835e-01 3.04195445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:1.54, Z:3.06 [[ 9.77139590e-01 -1.27704622e-01 -1.69969853e-01 4.02940700e+01] [ 1.26519168e-01 9.91803856e-01 -1.78328636e-02 1.54484456e+00] [ 1.70854095e-01 -4.07924731e-03 9.85287896e-01 3.06075784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:1.55, Z:3.06 [[ 9.77569920e-01 -1.25109746e-01 -1.69424328e-01 4.03214245e+01] [ 1.23885006e-01 9.92136501e-01 -1.78232376e-02 1.54741823e+00] [ 1.70321921e-01 -3.56567291e-03 9.85382022e-01 3.06492662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:1.55, Z:3.07 [[ 9.77831856e-01 -1.23832668e-01 -1.68850030e-01 4.03491964e+01] [ 1.22589237e-01 9.92297680e-01 -1.78099361e-02 1.55076960e+00] [ 1.69754945e-01 -3.28407343e-03 9.85480834e-01 3.06934536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:1.56, Z:3.07 [[ 9.79185117e-01 -1.24802144e-01 -1.60065400e-01 4.03759816e+01] [ 1.20988033e-01 9.92092036e-01 -3.33959279e-02 1.56145227e+00] [ 1.62967492e-01 1.33347977e-02 9.86541322e-01 3.07175105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:1.55, Z:3.07 [[ 9.78095361e-01 -1.19038157e-01 -1.70761185e-01 4.04049452e+01] [ 1.20524919e-01 9.92708895e-01 -1.67118574e-03 1.55069943e+00] [ 1.69715082e-01 -1.89463990e-02 9.85311029e-01 3.07285004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700385723 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:40.43, Y:1.56, Z:3.08 [[ 9.78417344e-01 -1.20433644e-01 -1.67914379e-01 4.04296339e+01] [ 1.20189574e-01 9.92682557e-01 -1.16536389e-02 1.55774325e+00] [ 1.68089165e-01 -8.77943523e-03 9.85732699e-01 3.08219791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:40.46, Y:1.56, Z:3.09 [[ 9.78582617e-01 -1.21538621e-01 -1.66145796e-01 4.04555392e+01] [ 1.20207835e-01 9.92584088e-01 -1.80805217e-02 1.56314373e+00] [ 1.67111155e-01 -2.27874217e-03 9.85935429e-01 3.08824589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:1.57, Z:3.09 [[ 9.78397201e-01 -1.22023011e-01 -1.66881099e-01 4.04828894e+01] [ 1.19750545e-01 9.92522253e-01 -2.36513006e-02 1.56597318e+00] [ 1.68519207e-01 3.15626373e-03 9.85693317e-01 3.09402347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:1.58, Z:3.09 [[ 9.79318727e-01 -1.24905309e-01 -1.59164992e-01 4.05074938e+01] [ 1.20370109e-01 9.92006828e-01 -3.78614524e-02 1.57606988e+00] [ 1.62621855e-01 1.79197219e-02 9.86525730e-01 3.09429324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:1.56, Z:3.09 [[ 9.78839907e-01 -1.21905157e-01 -1.64351969e-01 4.05381073e+01] [ 1.23181742e-01 9.92381127e-01 -2.44093384e-03 1.56438354e+00] [ 1.63397355e-01 -1.78558784e-02 9.86398739e-01 3.08952517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:1.58, Z:3.10 [[ 9.78856413e-01 -1.26667402e-01 -1.60609750e-01 4.05634449e+01] [ 1.24346352e-01 9.91937285e-01 -2.44623690e-02 1.57674323e+00] [ 1.62413384e-01 3.97391035e-03 9.86714802e-01 3.10234253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:1.58, Z:3.11 [[ 9.78673696e-01 -1.28079624e-01 -1.60603260e-01 4.05908800e+01] [ 1.24850249e-01 9.91719436e-01 -3.00828131e-02 1.58165933e+00] [ 1.63126370e-01 9.38990091e-03 9.86560499e-01 3.10845309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:1.58, Z:3.11 [[ 9.77641948e-01 -1.30404383e-01 -1.64957320e-01 4.06195793e+01] [ 1.30312954e-01 9.91407098e-01 -1.14236824e-02 1.57710635e+00] [ 1.65029557e-01 -1.03278047e-02 9.86234547e-01 3.10856685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:1.58, Z:3.12 [[ 9.77367396e-01 -1.34506106e-01 -1.63282214e-01 4.06470247e+01] [ 1.32964603e-01 9.90911151e-01 -2.03839258e-02 1.58325486e+00] [ 1.64539929e-01 -1.78817011e-03 9.86368802e-01 3.11638652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.68, Y:1.58, Z:3.12 [[ 9.77126546e-01 -1.36375124e-01 -1.63173340e-01 4.06763126e+01] [ 1.35759338e-01 9.90628708e-01 -1.49721728e-02 1.58319940e+00] [ 1.63686027e-01 -7.52259710e-03 9.86483804e-01 3.11902487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:1.58, Z:3.13 [[ 9.76152897e-01 -1.39154121e-01 -1.66618282e-01 4.07053824e+01] [ 1.38820980e-01 9.90222692e-01 -1.37023748e-02 1.58137845e+00] [ 1.66895945e-01 -9.75450023e-03 9.85926262e-01 3.12537271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030385722999995 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:40.73, Y:1.59, Z:3.13 [[ 9.75685492e-01 -1.41677423e-01 -1.67228375e-01 4.07320080e+01] [ 1.40241482e-01 9.89906611e-01 -2.04261862e-02 1.58638436e+00] [ 1.68434403e-01 -3.52282160e-03 9.85706570e-01 3.13271565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:1.59, Z:3.14 [[ 9.74993000e-01 -1.44885761e-01 -1.68513398e-01 4.07604117e+01] [ 1.44213432e-01 9.89412551e-01 -1.62877452e-02 1.58813672e+00] [ 1.69089133e-01 -8.42145795e-03 9.85564784e-01 3.13519336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:1.60, Z:3.14 [[ 9.74378895e-01 -1.49375759e-01 -1.68144731e-01 4.07850804e+01] [ 1.48082589e-01 9.88767128e-01 -2.02759284e-02 1.59776031e+00] [ 1.69284715e-01 -5.14287044e-03 9.85553771e-01 3.14042310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:1.61, Z:3.15 [[ 9.75052800e-01 -1.49977619e-01 -1.63642141e-01 4.08115612e+01] [ 1.47164063e-01 9.88679417e-01 -2.92531843e-02 1.60586354e+00] [ 1.66176939e-01 4.44115703e-03 9.86085950e-01 3.14700341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:1.60, Z:3.15 [[ 9.75306363e-01 -1.48093111e-01 -1.63847271e-01 4.08412018e+01] [ 1.47532081e-01 9.88933348e-01 -1.56562793e-02 1.60439427e+00] [ 1.64352617e-01 -8.90306007e-03 9.86361472e-01 3.14784984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:1.62, Z:3.15 [[ 9.74596644e-01 -1.50330073e-01 -1.66018827e-01 4.08762646e+01] [ 1.46760829e-01 9.88600062e-01 -3.36329793e-02 1.61598786e+00] [ 1.69182271e-01 8.41352804e-03 9.85548868e-01 3.15466105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:1.59, Z:3.15 [[ 9.75618724e-01 -1.40240829e-01 -1.68821254e-01 4.09030488e+01] [ 1.43090725e-01 9.89698063e-01 4.77377147e-03 1.59446330e+00] [ 1.66412590e-01 -2.88141364e-02 9.85635123e-01 3.15025109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:1.61, Z:3.16 [[ 9.75977846e-01 -1.46702709e-01 -1.61076252e-01 4.09253197e+01] [ 1.44192481e-01 9.89174958e-01 -2.72292085e-02 1.61275084e+00] [ 1.63327194e-01 3.34911966e-03 9.86566273e-01 3.16035427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270385723 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:40.96, Y:1.61, Z:3.16 [[ 9.75745708e-01 -1.41914467e-01 -1.66675127e-01 4.09561053e+01] [ 1.41490641e-01 9.89833741e-01 -1.44763154e-02 1.60798678e+00] [ 1.67035063e-01 -9.45776800e-03 9.85905593e-01 3.16387321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.98, Y:1.62, Z:3.17 [[ 9.76062800e-01 -1.44308632e-01 -1.62715795e-01 4.09802769e+01] [ 1.41813972e-01 9.89527597e-01 -2.69060026e-02 1.62019738e+00] [ 1.64894538e-01 3.18657504e-03 9.86306056e-01 3.17079644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:1.62, Z:3.17 [[ 9.75908249e-01 -1.42780227e-01 -1.64975439e-01 4.10087407e+01] [ 1.41869588e-01 9.89733263e-01 -1.73519136e-02 1.62167997e+00] [ 1.65759190e-01 -6.47112182e-03 9.86145028e-01 3.17323524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:1.62, Z:3.18 [[ 9.75481586e-01 -1.38825589e-01 -1.70772159e-01 4.10376346e+01] [ 1.39432010e-01 9.90195190e-01 -8.49712483e-03 1.62170006e+00] [ 1.70277389e-01 -1.55223166e-02 9.85273905e-01 3.17918707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390385722999994 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:41.06, Y:1.63, Z:3.19 [[ 9.75195096e-01 -1.41222843e-01 -1.70442463e-01 4.10629899e+01] [ 1.38796483e-01 9.89976151e-01 -2.61296231e-02 1.63196757e+00] [ 1.72424073e-01 1.82466601e-03 9.85021121e-01 3.19077829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420385722999995 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:41.09, Y:1.63, Z:3.19 [[ 9.75263681e-01 -1.40858329e-01 -1.70351649e-01 4.10935209e+01] [ 1.40387603e-01 9.89984989e-01 -1.48674816e-02 1.62733116e+00] [ 1.70739784e-01 -9.41554492e-03 9.85271168e-01 3.18825176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:1.63, Z:3.19 [[ 9.75298547e-01 -1.41618543e-01 -1.69519712e-01 4.11207844e+01] [ 1.40916433e-01 9.89888483e-01 -1.62280393e-02 1.62918466e+00] [ 1.70103802e-01 -8.06092997e-03 9.85393179e-01 3.19180825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480385723 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:41.15, Y:1.63, Z:3.20 [[ 9.74998832e-01 -1.43048258e-01 -1.70042564e-01 4.11473151e+01] [ 1.41109664e-01 9.89715118e-01 -2.34956833e-02 1.63428520e+00] [ 1.71654713e-01 -1.08638538e-03 9.85156576e-01 3.19955685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510385723 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:41.17, Y:1.64, Z:3.20 [[ 9.74987392e-01 -1.42463339e-01 -1.70598306e-01 4.11747364e+01] [ 1.41227608e-01 9.89786639e-01 -1.94208992e-02 1.63555794e+00] [ 1.71622690e-01 -5.15805883e-03 9.85149251e-01 3.20248544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540385723 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:41.20, Y:1.64, Z:3.21 [[ 9.74867391e-01 -1.41947487e-01 -1.71710457e-01 4.12026807e+01] [ 1.40914280e-01 9.89853495e-01 -1.82544503e-02 1.64053557e+00] [ 1.72559370e-01 -6.40078710e-03 9.84978322e-01 3.20924716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:1.64, Z:3.21 [[ 9.75106892e-01 -1.41088815e-01 -1.71056994e-01 4.12308091e+01] [ 1.40747160e-01 9.89943945e-01 -1.41852861e-02 1.64485056e+00] [ 1.71338221e-01 -1.02436159e-02 9.85159014e-01 3.21356123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600385722999995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:41.26, Y:1.65, Z:3.22 [[ 9.75353324e-01 -1.39749191e-01 -1.70751446e-01 4.12554346e+01] [ 1.38021149e-01 9.90184706e-01 -2.20093261e-02 1.65444119e+00] [ 1.72151256e-01 -2.10044141e-03 9.85068289e-01 3.22207446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630385722999996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:41.28, Y:1.65, Z:3.22 [[ 9.75505638e-01 -1.38936576e-01 -1.70544359e-01 4.12844087e+01] [ 1.38040948e-01 9.90277901e-01 -1.71573995e-02 1.65460118e+00] [ 1.71270100e-01 -6.80496493e-03 9.85200612e-01 3.22325136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:1.66, Z:3.23 [[ 9.75367695e-01 -1.40511354e-01 -1.70042405e-01 4.13133706e+01] [ 1.39315184e-01 9.90065668e-01 -1.90066568e-02 1.65697260e+00] [ 1.71023798e-01 -5.15100997e-03 9.85253433e-01 3.22641749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690385723 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:41.34, Y:1.66, Z:3.23 [[ 9.75710970e-01 -1.40554986e-01 -1.68024994e-01 4.13392926e+01] [ 1.38696490e-01 9.90072314e-01 -2.28056149e-02 1.65746712e+00] [ 1.69562337e-01 -1.05278831e-03 9.85518902e-01 3.23129077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:1.66, Z:3.23 [[ 9.75981492e-01 -1.40824884e-01 -1.66218167e-01 4.13682441e+01] [ 1.40225233e-01 9.89999895e-01 -1.53977655e-02 1.65795801e+00] [ 1.66724356e-01 -8.28004701e-03 9.85968777e-01 3.23432336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750385722999994 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:41.39, Y:1.67, Z:3.25 [[ 9.76516121e-01 -1.39264677e-01 -1.64382525e-01 4.13896228e+01] [ 1.36606250e-01 9.90245752e-01 -2.74241429e-02 1.66861320e+00] [ 1.66598311e-01 4.32443736e-03 9.86015366e-01 3.24960410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:1.67, Z:3.25 [[ 9.76776874e-01 -1.38567384e-01 -1.63419762e-01 4.14223414e+01] [ 1.38613224e-01 9.90283501e-01 -1.11785909e-02 1.66742573e+00] [ 1.63380883e-01 -1.17331511e-02 9.86493295e-01 3.24874073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:1.67, Z:3.26 [[ 9.76777353e-01 -1.39862715e-01 -1.62309656e-01 4.14484425e+01] [ 1.38742675e-01 9.90159885e-01 -1.82721585e-02 1.67357214e+00] [ 1.63268104e-01 -4.67144510e-03 9.86570679e-01 3.25581369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:1.68, Z:3.26 [[ 9.77672317e-01 -1.42246770e-01 -1.54669636e-01 4.14747606e+01] [ 1.38263924e-01 9.89731206e-01 -3.62660494e-02 1.68334724e+00] [ 1.58240094e-01 1.40710818e-02 9.87300399e-01 3.25703332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:1.68, Z:3.25 [[ 9.76777605e-01 -1.43108621e-01 -1.59453545e-01 4.15053070e+01] [ 1.41624915e-01 9.89704144e-01 -2.06903534e-02 1.67657505e+00] [ 1.60772802e-01 -2.37272097e-03 9.86988590e-01 3.25229055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:1.67, Z:3.26 [[ 9.75412364e-01 -1.41677023e-01 -1.68814518e-01 4.15350322e+01] [ 1.43731168e-01 9.89616769e-01 -5.21277482e-05 1.66953770e+00] [ 1.67069063e-01 -2.42130618e-02 9.85647836e-01 3.25700677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:1.68, Z:3.27 [[ 9.75456855e-01 -1.47504036e-01 -1.63482362e-01 4.15570952e+01] [ 1.45374083e-01 9.89061269e-01 -2.49836298e-02 1.68487548e+00] [ 1.65379258e-01 6.04354478e-04 9.86229859e-01 3.26597508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:1.68, Z:3.27 [[ 9.75537162e-01 -1.45695634e-01 -1.64620864e-01 4.15849089e+01] [ 1.44968725e-01 9.89298862e-01 -1.64872561e-02 1.68400360e+00] [ 1.65261354e-01 -7.78094576e-03 9.86219114e-01 3.26765588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990385722999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.61, Y:1.69, Z:3.28 [[ 9.75353052e-01 -1.44591384e-01 -1.66672599e-01 4.16123329e+01] [ 1.43003797e-01 9.89487450e-01 -2.15522523e-02 1.68824982e+00] [ 1.68036715e-01 -2.81375943e-03 9.85776722e-01 3.27880293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:1.70, Z:3.28 [[ 9.76530926e-01 -1.41833019e-01 -1.62082528e-01 4.16398229e+01] [ 1.39805678e-01 9.89890361e-01 -2.39049224e-02 1.69712528e+00] [ 1.63834439e-01 6.83838259e-04 9.86487612e-01 3.28301557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:1.70, Z:3.29 [[ 9.76622692e-01 -1.40497782e-01 -1.62691395e-01 4.16684237e+01] [ 1.39429089e-01 9.90067966e-01 -1.80264041e-02 1.70110116e+00] [ 1.63608208e-01 -5.07891766e-03 9.86512321e-01 3.28781440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:1.71, Z:3.29 [[ 9.76868893e-01 -1.41300014e-01 -1.60503803e-01 4.16949521e+01] [ 1.39406216e-01 9.89966810e-01 -2.30569532e-02 1.70765049e+00] [ 1.62151386e-01 1.48392519e-04 9.86765882e-01 3.29251805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:1.71, Z:3.30 [[ 9.76675433e-01 -1.42014885e-01 -1.61049282e-01 4.17239696e+01] [ 1.40082463e-01 9.89864492e-01 -2.33493275e-02 1.70908498e+00] [ 1.62732918e-01 2.44534495e-04 9.86670126e-01 3.29564126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:1.71, Z:3.30 [[ 9.76512565e-01 -1.41831959e-01 -1.62194037e-01 4.17534242e+01] [ 1.40764091e-01 9.89877403e-01 -1.81162494e-02 1.70806273e+00] [ 1.63121676e-01 -5.14035105e-03 9.86592568e-01 3.29728478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:1.71, Z:3.30 [[ 9.75807576e-01 -1.40260639e-01 -1.67709652e-01 4.17840416e+01] [ 1.40541216e-01 9.90021716e-01 -1.02551947e-02 1.70655960e+00] [ 1.67474597e-01 -1.35630217e-02 9.85783092e-01 3.30463651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:1.72, Z:3.31 [[ 9.76256610e-01 -1.42682325e-01 -1.62987074e-01 4.18042305e+01] [ 1.39819503e-01 9.89753329e-01 -2.89629846e-02 1.72226560e+00] [ 1.65449505e-01 5.48653347e-03 9.86203001e-01 3.31237821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:1.72, Z:3.32 [[ 9.76262356e-01 -1.40495932e-01 -1.64841455e-01 4.18343248e+01] [ 1.38448613e-01 9.90081123e-01 -2.39029760e-02 1.72475252e+00] [ 1.66564683e-01 5.13504950e-04 9.86030396e-01 3.31697475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:1.73, Z:3.32 [[ 9.76952978e-01 -1.37578583e-01 -1.63202366e-01 4.18634437e+01] [ 1.35962043e-01 9.90489583e-01 -2.10881158e-02 1.72819021e+00] [ 1.64551516e-01 -1.58722949e-03 9.86367213e-01 3.32158826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:1.73, Z:3.33 [[ 9.77254568e-01 -1.37139038e-01 -1.61760295e-01 4.18917103e+01] [ 1.35490421e-01 9.90551120e-01 -2.12326187e-02 1.73109790e+00] [ 1.63143662e-01 -1.16729688e-03 9.86601633e-01 3.32627449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:1.73, Z:3.33 [[ 9.77523901e-01 -1.35730456e-01 -1.61320384e-01 4.19175470e+01] [ 1.33959967e-01 9.90745770e-01 -2.18528202e-02 1.73296372e+00] [ 1.62793582e-01 -2.48819315e-04 9.86660118e-01 3.32992026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:1.73, Z:3.33 [[ 9.77162498e-01 -1.36599808e-01 -1.62769608e-01 4.19476802e+01] [ 1.35442243e-01 9.90617318e-01 -1.82408423e-02 1.73286642e+00] [ 1.63734088e-01 -4.22161390e-03 9.86495477e-01 3.33167324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:1.74, Z:3.34 [[ 9.77083276e-01 -1.37707061e-01 -1.62311545e-01 4.19775887e+01] [ 1.35499628e-01 9.90470799e-01 -2.46464456e-02 1.73807798e+00] [ 1.64158835e-01 2.08847593e-03 9.86431708e-01 3.33730214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:1.74, Z:3.34 [[ 9.77010018e-01 -1.36273960e-01 -1.63953748e-01 4.20041304e+01] [ 1.35470588e-01 9.90650148e-01 -1.61246523e-02 1.73771789e+00] [ 1.64618175e-01 -6.45696381e-03 9.86336233e-01 3.33798237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:1.74, Z:3.34 [[ 9.75931708e-01 -1.34169715e-01 -1.71917971e-01 4.20313477e+01] [ 1.36280555e-01 9.90670167e-01 4.80353451e-04 1.73519876e+00] [ 1.70249556e-01 -2.38978687e-02 9.85111151e-01 3.34393743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:1.75, Z:3.36 [[ 9.75717018e-01 -1.39004478e-01 -1.69275091e-01 4.20572530e+01] [ 1.37653426e-01 9.90283546e-01 -1.97492541e-02 1.74781495e+00] [ 1.70375572e-01 -4.03161299e-03 9.85370951e-01 3.35689613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:1.75, Z:3.36 [[ 9.75688238e-01 -1.38444098e-01 -1.69899072e-01 4.20844653e+01] [ 1.37188655e-01 9.90359523e-01 -1.91647540e-02 1.74950198e+00] [ 1.70914411e-01 -4.60940009e-03 9.85275097e-01 3.36033162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:1.75, Z:3.36 [[ 9.75807757e-01 -1.37529088e-01 -1.69955791e-01 4.21117407e+01] [ 1.36250452e-01 9.90487951e-01 -1.92206260e-02 1.75027128e+00] [ 1.70982558e-01 -4.40091732e-03 9.85264227e-01 3.36412116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:1.75, Z:3.37 [[ 9.75785130e-01 -1.37684693e-01 -1.69959717e-01 4.21383375e+01] [ 1.36404621e-01 9.90466307e-01 -1.92424918e-02 1.75409618e+00] [ 1.70988770e-01 -4.40675343e-03 9.85263123e-01 3.36970969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:1.76, Z:3.38 [[ 9.75829897e-01 -1.38018931e-01 -1.69430771e-01 4.21640215e+01] [ 1.36743408e-01 9.90419808e-01 -1.92313193e-02 1.75976201e+00] [ 1.70461878e-01 -4.40204485e-03 9.85354439e-01 3.37779747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:1.76, Z:3.38 [[ 9.76192099e-01 -1.38466516e-01 -1.66961101e-01 4.21919621e+01] [ 1.36658701e-01 9.90366588e-01 -2.23253605e-02 1.76499844e+00] [ 1.68444011e-01 -1.02284668e-03 9.85710692e-01 3.38130925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:1.77, Z:3.38 [[ 9.76680730e-01 -1.38881170e-01 -1.63727736e-01 4.22206049e+01] [ 1.36339671e-01 9.90301880e-01 -2.67148026e-02 1.76950881e+00] [ 1.65850068e-01 3.76924729e-03 9.86143776e-01 3.38363723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:1.77, Z:3.38 [[ 9.76695656e-01 -1.36525681e-01 -1.65608977e-01 4.22499096e+01] [ 1.36031287e-01 9.90600197e-01 -1.43784448e-02 1.76526104e+00] [ 1.66015312e-01 -8.48463755e-03 9.86086673e-01 3.38284541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:1.77, Z:3.39 [[ 9.76172527e-01 -1.35917193e-01 -1.69155889e-01 4.22758960e+01] [ 1.35985504e-01 9.90647107e-01 -1.12361546e-02 1.76537786e+00] [ 1.69100979e-01 -1.20343234e-02 9.85525258e-01 3.39143189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.30, Y:1.77, Z:3.40 [[ 9.76397354e-01 -1.36469752e-01 -1.67404343e-01 4.23008822e+01] [ 1.35173067e-01 9.90636522e-01 -1.91709196e-02 1.77150013e+00] [ 1.68453106e-01 -3.91012332e-03 9.85701913e-01 3.39942554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:1.78, Z:3.41 [[ 9.77759158e-01 -1.35912372e-01 -1.59733707e-01 4.23288094e+01] [ 1.33072857e-01 9.90699513e-01 -2.83917270e-02 1.78142202e+00] [ 1.62106892e-01 6.50405028e-03 9.86751769e-01 3.40524319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:1.78, Z:3.41 [[ 9.77219065e-01 -1.32969106e-01 -1.65414980e-01 4.23555924e+01] [ 1.33427447e-01 9.91023081e-01 -8.38864285e-03 1.77799176e+00] [ 1.65045494e-01 -1.38733569e-02 9.86188377e-01 3.40935718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:1.79, Z:3.42 [[ 9.76948252e-01 -1.35582890e-01 -1.64892067e-01 4.23807952e+01] [ 1.34296337e-01 9.90759455e-01 -1.89788320e-02 1.78822920e+00] [ 1.65941579e-01 -3.60306378e-03 9.86129003e-01 3.42031295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:1.79, Z:3.42 [[ 9.76961495e-01 -1.35298520e-01 -1.65047106e-01 4.24086189e+01] [ 1.33996845e-01 9.90798675e-01 -1.90481139e-02 1.78735980e+00] [ 1.66105636e-01 -3.50651770e-03 9.86101730e-01 3.42129471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:1.79, Z:3.42 [[ 9.76362043e-01 -1.36591566e-01 -1.67510912e-01 4.24370201e+01] [ 1.35263447e-01 9.90620358e-01 -1.93676401e-02 1.78908308e+00] [ 1.68585176e-01 -3.74827472e-03 9.85679963e-01 3.42155046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:1.79, Z:3.43 [[ 9.75905629e-01 -1.38418745e-01 -1.68666695e-01 4.24640059e+01] [ 1.37090604e-01 9.90365544e-01 -1.95513589e-02 1.79406250e+00] [ 1.69747958e-01 -4.04233793e-03 9.85479219e-01 3.42730250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:1.80, Z:3.43 [[ 9.76473571e-01 -1.40258057e-01 -1.63789629e-01 4.24940068e+01] [ 1.37229218e-01 9.90093354e-01 -2.97202328e-02 1.80283955e+00] [ 1.66335525e-01 6.54429919e-03 9.86047496e-01 3.43300119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:1.80, Z:3.43 [[ 9.76055257e-01 -1.39583760e-01 -1.66830783e-01 4.25213149e+01] [ 1.39459774e-01 9.90148623e-01 -1.25170127e-02 1.80009526e+00] [ 1.66934441e-01 -1.10488871e-02 9.85906088e-01 3.43209306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:1.81, Z:3.44 [[ 9.76187096e-01 -1.42959926e-01 -1.63160086e-01 4.25488175e+01] [ 1.40364797e-01 9.89721063e-01 -2.73850420e-02 1.80735521e+00] [ 1.65397937e-01 3.83099225e-03 9.86219471e-01 3.43874089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:1.80, Z:3.44 [[ 9.75818729e-01 -1.42437379e-01 -1.65799281e-01 4.25772777e+01] [ 1.41937087e-01 9.89763171e-01 -1.49240944e-02 1.80366954e+00] [ 1.66227771e-01 -8.96985612e-03 9.86046586e-01 3.43825698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:1.80, Z:3.44 [[ 9.75189044e-01 -1.42638501e-01 -1.69294375e-01 4.26040197e+01] [ 1.43018607e-01 9.89669370e-01 -1.00108308e-02 1.80447696e+00] [ 1.68973388e-01 -1.44497932e-02 9.85514687e-01 3.44424017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:1.82, Z:3.46 [[ 9.75010219e-01 -1.46708456e-01 -1.66828360e-01 4.26315195e+01] [ 1.44769154e-01 9.89179318e-01 -2.37943078e-02 1.81700266e+00] [ 1.68513990e-01 -9.51907439e-04 9.85698802e-01 3.45690113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:1.83, Z:3.46 [[ 9.75462203e-01 -1.49618649e-01 -1.61517026e-01 4.26575278e+01] [ 1.45553687e-01 9.88666404e-01 -3.67813322e-02 1.82727842e+00] [ 1.65189630e-01 1.23694007e-02 9.86184255e-01 3.46324169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:1.82, Z:3.46 [[ 9.75539946e-01 -1.46812872e-01 -1.63608661e-01 4.26867382e+01] [ 1.46142955e-01 9.89130988e-01 -1.61902809e-02 1.82284114e+00] [ 1.64207338e-01 -8.11598741e-03 9.86392458e-01 3.46003761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:1.83, Z:3.46 [[ 9.75667411e-01 -1.48404452e-01 -1.61397711e-01 4.27137178e+01] [ 1.46779353e-01 9.88924277e-01 -2.20135354e-02 1.82633667e+00] [ 1.62877021e-01 -2.21196251e-03 9.86643899e-01 3.46491798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:1.83, Z:3.47 [[ 9.75146155e-01 -1.49591509e-01 -1.63439154e-01 4.27411292e+01] [ 1.48855386e-01 9.88716049e-01 -1.68121751e-02 1.82693482e+00] [ 1.64109873e-01 -7.93447056e-03 9.86410155e-01 3.46825762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:1.83, Z:3.47 [[ 9.74461420e-01 -1.49801257e-01 -1.67285756e-01 4.27696735e+01] [ 1.50172146e-01 9.88604063e-01 -1.05039898e-02 1.82727683e+00] [ 1.66952889e-01 -1.48859283e-02 9.85852495e-01 3.47275281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:1.84, Z:3.48 [[ 9.74286770e-01 -1.52573854e-01 -1.65790560e-01 4.27964579e+01] [ 1.50317231e-01 9.88291915e-01 -2.61499622e-02 1.83690565e+00] [ 1.67839270e-01 5.56384311e-04 9.85814217e-01 3.48194333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:1.84, Z:3.48 [[ 9.74224960e-01 -1.50845253e-01 -1.67724289e-01 4.28213781e+01] [ 1.50070820e-01 9.88522874e-01 -1.73573237e-02 1.83665816e+00] [ 1.68417566e-01 -8.26058359e-03 9.85681128e-01 3.48367056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:1.84, Z:3.49 [[ 9.74240598e-01 -1.50311909e-01 -1.68111830e-01 4.28486423e+01] [ 1.49905685e-01 9.88583782e-01 -1.51786522e-02 1.83963572e+00] [ 1.68474161e-01 -1.04132598e-02 9.85651065e-01 3.49030606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:1.85, Z:3.50 [[ 9.74485005e-01 -1.51105362e-01 -1.65970315e-01 4.28756176e+01] [ 1.49385575e-01 9.88514485e-01 -2.28705702e-02 1.84563198e+00] [ 1.67519926e-01 -2.50654335e-03 9.85865504e-01 3.49915330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:1.85, Z:3.50 [[ 9.74290002e-01 -1.51325732e-01 -1.66911698e-01 4.29021368e+01] [ 1.50106641e-01 9.88468101e-01 -1.99701981e-02 1.84718557e+00] [ 1.68008894e-01 -5.59778990e-03 9.85769586e-01 3.50339509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:1.85, Z:3.51 [[ 9.73910113e-01 -1.53065322e-01 -1.67541333e-01 4.29307658e+01] [ 1.51599209e-01 9.88206372e-01 -2.15834693e-02 1.84881584e+00] [ 1.68869094e-01 -4.37877454e-03 9.85628762e-01 3.50742243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:1.85, Z:3.51 [[ 9.73875825e-01 -1.52989946e-01 -1.67809281e-01 4.29577807e+01] [ 1.51664758e-01 9.88213903e-01 -2.07625605e-02 1.85171881e+00] [ 1.69007927e-01 -5.23059812e-03 9.85600812e-01 3.51193805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:1.85, Z:3.52 [[ 9.73665471e-01 -1.54622139e-01 -1.67533712e-01 4.29859840e+01] [ 1.52902214e-01 9.87969034e-01 -2.31969951e-02 1.85469850e+00] [ 1.69104889e-01 -3.03016242e-03 9.85593402e-01 3.51688537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:1.85, Z:3.52 [[ 9.72341846e-01 -1.51525363e-01 -1.77739694e-01 4.30139630e+01] [ 1.53042084e-01 9.88205849e-01 -5.22690019e-03 1.84744902e+00] [ 1.76435413e-01 -2.21193194e-02 9.84063657e-01 3.51892833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.04, Y:1.86, Z:3.53 [[ 9.71622391e-01 -1.57168486e-01 -1.76771030e-01 4.30400757e+01] [ 1.55451447e-01 9.87561367e-01 -2.36091749e-02 1.85888244e+00] [ 1.78282859e-01 -4.54010950e-03 9.83968805e-01 3.53456239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:1.86, Z:3.54 [[ 9.71786642e-01 -1.57556870e-01 -1.75517961e-01 4.30679393e+01] [ 1.56289757e-01 9.87485675e-01 -2.11081195e-02 1.86260223e+00] [ 1.76647202e-01 -6.91907087e-03 9.84249914e-01 3.53697260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:1.87, Z:3.54 [[ 9.71869968e-01 -1.56099132e-01 -1.76357102e-01 4.30935652e+01] [ 1.54563588e-01 9.87726666e-01 -2.24973397e-02 1.86696661e+00] [ 1.77704427e-01 -5.39389760e-03 9.84069125e-01 3.54173796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:1.87, Z:3.55 [[ 9.72617410e-01 -1.53364962e-01 -1.74626923e-01 4.31208869e+01] [ 1.52177764e-01 9.88145672e-01 -2.02499175e-02 1.86922355e+00] [ 1.75662466e-01 -6.87891231e-03 9.84426421e-01 3.55002859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670385722999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:43.15, Y:1.87, Z:3.56 [[ 9.72499797e-01 -1.52436378e-01 -1.76088886e-01 4.31466751e+01] [ 1.51051896e-01 9.88295887e-01 -2.13205225e-02 1.87476885e+00] [ 1.77277945e-01 -5.86435621e-03 9.84143353e-01 3.55872231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:1.87, Z:3.55 [[ 9.73284516e-01 -1.45708584e-01 -1.77443681e-01 4.31738806e+01] [ 1.48033607e-01 9.88982322e-01 -1.37489922e-04 1.86927949e+00] [ 1.75508697e-01 -2.61338113e-02 9.84130947e-01 3.55328854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:1.89, Z:3.57 [[ 9.73615159e-01 -1.50786447e-01 -1.71280384e-01 4.31999523e+01] [ 1.45437006e-01 9.88413582e-01 -4.34357864e-02 1.89089772e+00] [ 1.75845386e-01 1.73792339e-02 9.84264376e-01 3.57491498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:1.88, Z:3.56 [[ 9.75530285e-01 -1.39982659e-01 -1.69545034e-01 4.32287217e+01] [ 1.39425202e-01 9.90115181e-01 -1.52493335e-02 1.88210357e+00] [ 1.70003754e-01 -8.76266388e-03 9.85404455e-01 3.56418907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:1.89, Z:3.58 [[ 9.75715820e-01 -1.37973079e-01 -1.70123688e-01 4.32570067e+01] [ 1.35232738e-01 9.90428019e-01 -2.76486000e-02 1.89001133e+00] [ 1.72310029e-01 3.97088442e-03 9.85034764e-01 3.57652907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:1.89, Z:3.58 [[ 9.75660078e-01 -1.35508221e-01 -1.72409205e-01 4.32847274e+01] [ 1.33888524e-01 9.90772936e-01 -2.10440649e-02 1.89370575e+00] [ 1.73670018e-01 -2.55175998e-03 9.84800596e-01 3.58048529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:1.90, Z:3.58 [[ 9.76216140e-01 -1.32206503e-01 -1.71824006e-01 4.33122826e+01] [ 1.30537881e-01 9.91220365e-01 -2.10249546e-02 1.89656928e+00] [ 1.73095090e-01 -1.90464169e-03 9.84903276e-01 3.58374565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:1.90, Z:3.59 [[ 9.77131061e-01 -1.27483514e-01 -1.70184736e-01 4.33396156e+01] [ 1.25766688e-01 9.91840180e-01 -2.08757511e-02 1.89889542e+00] [ 1.71457373e-01 -1.00522571e-03 9.85191027e-01 3.58630333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:1.90, Z:3.59 [[ 9.77571070e-01 -1.25555386e-01 -1.69087693e-01 4.33665302e+01] [ 1.23823340e-01 9.92086423e-01 -2.07920434e-02 1.90304104e+00] [ 1.70360157e-01 -6.11302728e-04 9.85381674e-01 3.59225875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:1.91, Z:3.60 [[ 9.78033848e-01 -1.24100736e-01 -1.67477756e-01 4.33954246e+01] [ 1.20714357e-01 9.92225014e-01 -3.02913498e-02 1.90969036e+00] [ 1.69934798e-01 9.40899576e-03 9.85410389e-01 3.59729731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:1.90, Z:3.60 [[ 9.77151230e-01 -1.21288569e-01 -1.74540989e-01 4.34222858e+01] [ 1.21235850e-01 9.92562727e-01 -1.10045981e-02 1.90274791e+00] [ 1.74577612e-01 -1.04074686e-02 9.84588412e-01 3.59613038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000385722999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:43.45, Y:1.92, Z:3.61 [[ 9.79052762e-01 -1.25428311e-01 -1.60385250e-01 4.34538786e+01] [ 1.19334726e-01 9.91735501e-01 -4.71160212e-02 1.91953560e+00] [ 1.64969430e-01 2.69895407e-02 9.85929334e-01 3.60652607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:1.91, Z:3.60 [[ 9.78749492e-01 -1.22373131e-01 -1.64542544e-01 4.34843387e+01] [ 1.20548062e-01 9.92483852e-01 -2.10705521e-02 1.90771166e+00] [ 1.65884287e-01 7.87507381e-04 9.86144910e-01 3.59684860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:1.91, Z:3.60 [[ 9.78566768e-01 -1.23838742e-01 -1.64532811e-01 4.35132177e+01] [ 1.23687551e-01 9.92257959e-01 -1.12041488e-02 1.90855024e+00] [ 1.64646499e-01 -9.38665279e-03 9.86307975e-01 3.60037683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:1.91, Z:3.61 [[ 9.75935368e-01 -1.26339408e-01 -1.77731570e-01 4.35345672e+01] [ 1.29122490e-01 9.91620040e-01 4.13272644e-03 1.90714305e+00] [ 1.75720060e-01 -2.69824167e-02 9.84070328e-01 3.61114815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:1.93, Z:3.63 [[ 9.76718899e-01 -1.36413789e-01 -1.65564101e-01 4.35611221e+01] [ 1.32213661e-01 9.90560631e-01 -3.61826453e-02 1.92778370e+00] [ 1.68937092e-01 1.34504375e-02 9.85535055e-01 3.62846283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:1.92, Z:3.63 [[ 9.75312085e-01 -1.34697281e-01 -1.74994229e-01 4.35889643e+01] [ 1.35910867e-01 9.90708010e-01 -5.08682017e-03 1.91528397e+00] [ 1.74053365e-01 -1.88223802e-02 9.84556318e-01 3.62579206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:1.93, Z:3.64 [[ 9.75266872e-01 -1.45678545e-01 -1.66229633e-01 4.36164866e+01] [ 1.41525924e-01 9.89256849e-01 -3.66237549e-02 1.92794235e+00] [ 1.69779098e-01 1.21921326e-02 9.85406723e-01 3.63536765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:1.92, Z:3.63 [[ 9.73489633e-01 -1.44730766e-01 -1.77118432e-01 4.36451670e+01] [ 1.46049558e-01 9.89261202e-01 -5.63917142e-03 1.91559893e+00] [ 1.76032554e-01 -2.03783938e-02 9.84173390e-01 3.63321081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:1.93, Z:3.65 [[ 9.73926847e-01 -1.52557740e-01 -1.67906617e-01 4.36717230e+01] [ 1.48290832e-01 9.88223436e-01 -3.77394981e-02 1.93335561e+00] [ 1.71686706e-01 1.18564985e-02 9.85080250e-01 3.64566525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:1.93, Z:3.64 [[ 9.73585991e-01 -1.54273713e-01 -1.68315002e-01 4.36993179e+01] [ 1.53886644e-01 9.87968160e-01 -1.54212977e-02 1.92884733e+00] [ 1.68668963e-01 -1.08874713e-02 9.85612624e-01 3.64431525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:1.93, Z:3.65 [[ 9.72294876e-01 -1.57576434e-01 -1.72662508e-01 4.37259635e+01] [ 1.56844961e-01 9.87459938e-01 -1.79591040e-02 1.93352668e+00] [ 1.73327241e-01 -9.61969954e-03 9.84817307e-01 3.65260494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:1.94, Z:3.66 [[ 9.72434544e-01 -1.61176372e-01 -1.68502921e-01 4.37513508e+01] [ 1.59089991e-01 9.86924288e-01 -2.59002832e-02 1.93828234e+00] [ 1.70474139e-01 -1.62079800e-03 9.85360818e-01 3.66074208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:1.94, Z:3.66 [[ 9.72343766e-01 -1.61251109e-01 -1.68954672e-01 4.37786911e+01] [ 1.59839111e-01 9.86897533e-01 -2.20163085e-02 1.93926698e+00] [ 1.70291103e-01 -5.59814430e-03 9.85377898e-01 3.66437839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:1.94, Z:3.67 [[ 9.72163493e-01 -1.62137865e-01 -1.69143302e-01 4.38051474e+01] [ 1.60453468e-01 9.86759489e-01 -2.36726626e-02 1.94276575e+00] [ 1.70741993e-01 -4.12593109e-03 9.85307134e-01 3.67035194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:1.95, Z:3.68 [[ 9.71719778e-01 -1.63340522e-01 -1.70530194e-01 4.38330220e+01] [ 1.61427907e-01 9.86564815e-01 -2.51176724e-02 1.94741061e+00] [ 1.72341823e-01 -3.12099318e-03 9.85032261e-01 3.67671582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.86, Y:1.95, Z:3.68 [[ 9.71334021e-01 -1.63845786e-01 -1.72234658e-01 4.38608576e+01] [ 1.62279155e-01 9.86471289e-01 -2.32351616e-02 1.94965790e+00] [ 1.73711528e-01 -5.38099181e-03 9.84781879e-01 3.68053189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.89, Y:1.95, Z:3.68 [[ 9.70720948e-01 -1.65258609e-01 -1.74328522e-01 4.38889879e+01] [ 1.63403595e-01 9.86241424e-01 -2.50423338e-02 1.94969083e+00] [ 1.76068471e-01 -4.17678924e-03 9.84369061e-01 3.68262178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:1.95, Z:3.69 [[ 9.70797789e-01 -1.65779113e-01 -1.73403976e-01 4.39172057e+01] [ 1.63023098e-01 9.86162433e-01 -3.01185171e-02 1.95259924e+00] [ 1.75997508e-01 9.70136444e-04 9.84390134e-01 3.68705653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:1.95, Z:3.69 [[ 9.71136913e-01 -1.63400607e-01 -1.73762302e-01 4.39463362e+01] [ 1.63160253e-01 9.86473609e-01 -1.57654619e-02 1.94846450e+00] [ 1.73988011e-01 -1.30406790e-02 9.84661420e-01 3.68680641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:1.96, Z:3.70 [[ 9.69850199e-01 -1.64453119e-01 -1.79849280e-01 4.39699234e+01] [ 1.62895029e-01 9.86363461e-01 -2.35017420e-02 1.95884484e+00] [ 1.81261694e-01 -6.50338457e-03 9.83413394e-01 3.69996274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.00, Y:1.96, Z:3.71 [[ 9.70032685e-01 -1.61796070e-01 -1.81269471e-01 4.39985249e+01] [ 1.60788189e-01 9.86779306e-01 -2.03410702e-02 1.96287463e+00] [ 1.82164068e-01 -9.41448715e-03 9.83223077e-01 3.70661483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:1.97, Z:3.71 [[ 9.70280835e-01 -1.59962394e-01 -1.81568537e-01 4.40246465e+01] [ 1.59006307e-01 9.87076858e-01 -1.99065582e-02 1.96698462e+00] [ 1.82406401e-01 -9.55559056e-03 9.83176787e-01 3.71239863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:1.97, Z:3.72 [[ 9.71356925e-01 -1.58710391e-01 -1.76852299e-01 4.40503900e+01] [ 1.55496153e-01 9.87318752e-01 -3.19785493e-02 1.97381659e+00] [ 1.79684919e-01 3.56273313e-03 9.83717763e-01 3.71960872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:1.97, Z:3.72 [[ 9.72106431e-01 -1.52571107e-01 -1.78132376e-01 4.40847072e+01] [ 1.51134658e-01 9.88275245e-01 -2.16876616e-02 1.96707547e+00] [ 1.79352728e-01 -5.83926041e-03 9.83767504e-01 3.72362972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:1.98, Z:3.73 [[ 9.72033762e-01 -1.53293085e-01 -1.77908954e-01 4.41067984e+01] [ 1.51212605e-01 9.88178018e-01 -2.52775356e-02 1.97616843e+00] [ 1.79680589e-01 -2.33145840e-03 9.83722242e-01 3.72656206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:1.99, Z:3.73 [[ 9.71972351e-01 -1.54509405e-01 -1.77190835e-01 4.41332110e+01] [ 1.50481470e-01 9.87955957e-01 -3.60326694e-02 1.98505069e+00] [ 1.80624127e-01 8.35882115e-03 9.83516677e-01 3.73387291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.16, Y:1.98, Z:3.73 [[ 9.71720358e-01 -1.52022779e-01 -1.80689291e-01 4.41635183e+01] [ 1.49835301e-01 9.88374913e-01 -2.57762267e-02 1.98374927e+00] [ 1.82507336e-01 -2.02635008e-03 9.83202403e-01 3.73388277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:1.98, Z:3.74 [[ 9.71807584e-01 -1.46314283e-01 -1.84884152e-01 4.41976338e+01] [ 1.46208395e-01 9.89150716e-01 -1.42816461e-02 1.97691325e+00] [ 1.84967900e-01 -1.31526031e-02 9.82656545e-01 3.73979758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:2.00, Z:3.75 [[ 9.72237014e-01 -1.51822414e-01 -1.78059380e-01 4.42165112e+01] [ 1.46903461e-01 9.88318485e-01 -4.05702636e-02 1.99593895e+00] [ 1.82138852e-01 1.32863728e-02 9.83183051e-01 3.74929413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:1.99, Z:3.75 [[ 9.72433400e-01 -1.49004482e-01 -1.79362611e-01 4.42458579e+01] [ 1.46586065e-01 9.88836478e-01 -2.67384656e-02 1.99471390e+00] [ 1.81344444e-01 -2.90682355e-04 9.83419599e-01 3.74996634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:2.00, Z:3.76 [[ 9.72683170e-01 -1.49146413e-01 -1.77884226e-01 4.42734335e+01] [ 1.46170219e-01 9.88810630e-01 -2.97960486e-02 1.99915024e+00] [ 1.80337787e-01 2.98073883e-03 9.83600223e-01 3.75555287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:2.00, Z:3.76 [[ 9.72849292e-01 -1.47283724e-01 -1.78526635e-01 4.43056373e+01] [ 1.45191212e-01 9.89092664e-01 -2.48034915e-02 1.99810729e+00] [ 1.80232535e-01 -1.79043923e-03 9.83622401e-01 3.75896674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:1.99, Z:3.77 [[ 9.72090473e-01 -1.44575997e-01 -1.84764426e-01 4.43389010e+01] [ 1.46067457e-01 9.89258855e-01 -5.58712066e-03 1.98852473e+00] [ 1.83587608e-01 -2.15568832e-02 9.82766957e-01 3.76539146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:2.01, Z:3.78 [[ 9.72148272e-01 -1.54069183e-01 -1.76608111e-01 4.43552493e+01] [ 1.48710196e-01 9.87933708e-01 -4.32696992e-02 2.01249826e+00] [ 1.81143633e-01 1.58011366e-02 9.83329705e-01 3.77761053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.39, Y:2.00, Z:3.78 [[ 9.71668745e-01 -1.47014393e-01 -1.85058420e-01 4.43927553e+01] [ 1.48400415e-01 9.88906539e-01 -6.41662174e-03 1.99534362e+00] [ 1.83948818e-01 -2.12279156e-02 9.82706573e-01 3.77634444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:2.00, Z:3.79 [[ 9.71121418e-01 -1.52759551e-01 -1.83269506e-01 4.44173420e+01] [ 1.51085382e-01 9.88249653e-01 -2.31480026e-02 2.00336605e+00] [ 1.84652104e-01 -5.20982213e-03 9.82790139e-01 3.78696498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:2.02, Z:3.79 [[ 9.71355596e-01 -1.59426786e-01 -1.76214091e-01 4.44369758e+01] [ 1.53410445e-01 9.87027780e-01 -4.73433942e-02 2.01945380e+00] [ 1.81476008e-01 1.89541889e-02 9.83212692e-01 3.79300827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:2.00, Z:3.79 [[ 9.70590797e-01 -1.51887330e-01 -1.86771905e-01 4.44747459e+01] [ 1.54188745e-01 9.88038896e-01 -2.22952700e-03 1.99924292e+00] [ 1.84876544e-01 -2.66341672e-02 9.82400776e-01 3.78939261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:2.01, Z:3.80 [[ 9.70142700e-01 -1.57001630e-01 -1.84861111e-01 4.44981488e+01] [ 1.55354593e-01 9.87580323e-01 -2.34532623e-02 2.01243171e+00] [ 1.86247396e-01 -5.96601146e-03 9.82484765e-01 3.80484371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:2.03, Z:3.81 [[ 9.70498301e-01 -1.60722020e-01 -1.79726128e-01 4.45182513e+01] [ 1.55946288e-01 9.86935421e-01 -4.04874164e-02 2.02626054e+00] [ 1.83885301e-01 1.12653463e-02 9.82883151e-01 3.81053207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:2.03, Z:3.81 [[ 9.71618661e-01 -1.56944999e-01 -1.76989954e-01 4.45503541e+01] [ 1.52692786e-01 9.87562679e-01 -3.74815813e-02 2.02560792e+00] [ 1.80671220e-01 9.39271465e-03 9.83498697e-01 3.81351686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:2.02, Z:3.81 [[ 9.72476498e-01 -1.53901150e-01 -1.74939696e-01 4.45809100e+01] [ 1.51023060e-01 9.88083110e-01 -2.97288221e-02 2.02373863e+00] [ 1.77430259e-01 2.49065264e-03 9.84130225e-01 3.81452380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:2.02, Z:3.82 [[ 9.72537708e-01 -1.52283733e-01 -1.76011566e-01 4.46089283e+01] [ 1.50677981e-01 9.88326078e-01 -2.25324221e-02 2.02342890e+00] [ 1.77388142e-01 -4.60743720e-03 9.84130184e-01 3.81809080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:2.02, Z:3.82 [[ 9.71661154e-01 -1.51739992e-01 -1.81244520e-01 4.46349751e+01] [ 1.52119133e-01 9.88290646e-01 -1.18898037e-02 2.02179052e+00] [ 1.80926422e-01 -1.60178988e-02 9.83366186e-01 3.82216413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:2.03, Z:3.83 [[ 9.71536099e-01 -1.54068887e-01 -1.79945511e-01 4.46611950e+01] [ 1.52074318e-01 9.88055049e-01 -2.49122757e-02 2.03104766e+00] [ 1.81634277e-01 -3.16191566e-03 9.83361069e-01 3.83273716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350385722999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:44.69, Y:2.03, Z:3.84 [[ 9.71067066e-01 -1.54964096e-01 -1.81699978e-01 4.46879664e+01] [ 1.52778018e-01 9.87917040e-01 -2.60537688e-02 2.03382743e+00] [ 1.83541904e-01 -2.45980583e-03 9.83008809e-01 3.83796299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:2.04, Z:3.85 [[ 9.70864165e-01 -1.55526055e-01 -1.82303100e-01 4.47188321e+01] [ 1.51559079e-01 9.87807589e-01 -3.55810654e-02 2.03843280e+00] [ 1.85614168e-01 6.91469138e-03 9.82598376e-01 3.84532887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:2.04, Z:3.85 [[ 9.70630753e-01 -1.54122191e-01 -1.84722203e-01 4.47498064e+01] [ 1.52442157e-01 9.88036515e-01 -2.33502354e-02 2.03652733e+00] [ 1.86111071e-01 -5.49499444e-03 9.82513346e-01 3.84739666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:2.04, Z:3.85 [[ 9.70968389e-01 -1.54033206e-01 -1.83014097e-01 4.47773455e+01] [ 1.51265829e-01 9.88065522e-01 -2.90718720e-02 2.04212146e+00] [ 1.85307953e-01 5.44089708e-04 9.82680348e-01 3.85479694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.81, Y:2.04, Z:3.86 [[ 9.71249426e-01 -1.50209909e-01 -1.84693087e-01 4.48074447e+01] [ 1.49137377e-01 9.88618896e-01 -1.97666472e-02 2.04166119e+00] [ 1.85560222e-01 -8.34629768e-03 9.82597447e-01 3.85842347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:2.05, Z:3.87 [[ 9.71335617e-01 -1.50680230e-01 -1.83854801e-01 4.48336283e+01] [ 1.48147195e-01 9.88582424e-01 -2.75172588e-02 2.04765156e+00] [ 1.85901932e-01 -5.09079497e-04 9.82568172e-01 3.86613036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:2.03, Z:3.87 [[ 9.70088915e-01 -1.42076858e-01 -1.96829021e-01 4.48663883e+01] [ 1.46322207e-01 9.89211358e-01 7.12043773e-03 2.03320355e+00] [ 1.93693853e-01 -3.57079143e-02 9.80411973e-01 3.87074581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:2.05, Z:3.89 [[ 9.69888948e-01 -1.47969330e-01 -1.93443805e-01 4.48898107e+01] [ 1.46018857e-01 9.88981265e-01 -2.43834077e-02 2.05087240e+00] [ 1.94920296e-01 -4.59724583e-03 9.80808311e-01 3.88805565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:2.07, Z:3.89 [[ 9.71149584e-01 -1.54230468e-01 -1.81883062e-01 4.49124877e+01] [ 1.46071229e-01 9.87600707e-01 -5.75155579e-02 2.07163595e+00] [ 1.88498492e-01 2.92883278e-02 9.81636650e-01 3.89246304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:2.05, Z:3.89 [[ 9.69583351e-01 -1.42620019e-01 -1.98916201e-01 4.49489286e+01] [ 1.47037017e-01 9.89102289e-01 7.53511956e-03 2.04531708e+00] [ 1.95673810e-01 -3.65539713e-02 9.79987534e-01 3.88589918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:2.08, Z:3.90 [[ 9.70573953e-01 -1.55370794e-01 -1.83973143e-01 4.49692020e+01] [ 1.48590637e-01 9.87625331e-01 -5.01699871e-02 2.07633605e+00] [ 1.89491487e-01 2.13569962e-02 9.81650068e-01 3.90175292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:2.06, Z:3.90 [[ 9.68970758e-01 -1.49063974e-01 -1.97168966e-01 4.50035649e+01] [ 1.52062920e-01 9.88370813e-01 7.12209954e-05 2.05858421e+00] [ 1.94865435e-01 -3.00510998e-02 9.80369519e-01 3.90128904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.03, Y:2.07, Z:3.92 [[ 9.68860525e-01 -1.55295012e-01 -1.92854201e-01 4.50261695e+01] [ 1.53474650e-01 9.87850385e-01 -2.44366353e-02 2.07357917e+00] [ 1.94305984e-01 -5.92253959e-03 9.80923090e-01 3.91599967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:2.08, Z:3.92 [[ 9.68682485e-01 -1.57095657e-01 -1.92289358e-01 4.50534384e+01] [ 1.55316055e-01 9.87563684e-01 -2.43904471e-02 2.07735547e+00] [ 1.93729620e-01 -6.23902567e-03 9.81035121e-01 3.92098648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:2.08, Z:3.92 [[ 9.68528356e-01 -1.58911081e-01 -1.91572679e-01 4.50808248e+01] [ 1.57169211e-01 9.87271357e-01 -2.43537901e-02 2.08040685e+00] [ 1.93004306e-01 -6.52199056e-03 9.81176234e-01 3.92486900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:2.08, Z:3.93 [[ 9.67551100e-01 -1.62884978e-01 -1.93166644e-01 4.51080161e+01] [ 1.61181206e-01 9.86617898e-01 -2.46118098e-02 2.08498968e+00] [ 1.94590562e-01 -7.32164905e-03 9.80857230e-01 3.92869148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:2.09, Z:3.93 [[ 9.67120086e-01 -1.64879528e-01 -1.93632332e-01 4.51339151e+01] [ 1.63196087e-01 9.86283759e-01 -2.47261791e-02 2.09099359e+00] [ 1.95053265e-01 -7.68685439e-03 9.80762528e-01 3.93467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:2.10, Z:3.94 [[ 9.66795327e-01 -1.67960138e-01 -1.92603705e-01 4.51601797e+01] [ 1.66347445e-01 9.85759481e-01 -2.46327829e-02 2.10062263e+00] [ 1.93998254e-01 -8.22427494e-03 9.80967399e-01 3.94243030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:2.11, Z:3.95 [[ 9.66834147e-01 -1.69089438e-01 -1.91417067e-01 4.51858237e+01] [ 1.67507584e-01 9.85565413e-01 -2.45362079e-02 2.10539210e+00] [ 1.92802854e-01 -8.34136689e-03 9.81202059e-01 3.94717516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:2.11, Z:3.95 [[ 9.66619601e-01 -1.71836671e-01 -1.90049221e-01 4.52141133e+01] [ 1.70325033e-01 9.85086158e-01 -2.43853157e-02 2.10845735e+00] [ 1.91405148e-01 -8.79881569e-03 9.81471676e-01 3.94942696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:2.12, Z:3.95 [[ 9.66945500e-01 -1.75715134e-01 -1.84771727e-01 4.52410935e+01] [ 1.72344914e-01 9.84440201e-01 -3.42741970e-02 2.11796031e+00] [ 1.87919211e-01 1.29681310e-03 9.82183633e-01 3.95119926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:2.12, Z:3.95 [[ 9.66509711e-01 -1.75479438e-01 -1.87259033e-01 4.52695116e+01] [ 1.73951868e-01 9.84444566e-01 -2.46909811e-02 2.11843493e+00] [ 1.88678897e-01 -8.70998565e-03 9.82000209e-01 3.95269970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:2.13, Z:3.96 [[ 9.65597782e-01 -1.78547110e-01 -1.89055157e-01 4.52956522e+01] [ 1.77111746e-01 9.83883254e-01 -2.46002416e-02 2.12831117e+00] [ 1.90400505e-01 -9.72995021e-03 9.81658278e-01 3.95972515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:2.13, Z:3.97 [[ 9.64935266e-01 -1.77026855e-01 -1.93807701e-01 4.53225510e+01] [ 1.77566711e-01 9.83998598e-01 -1.47248807e-02 2.12833881e+00] [ 1.93313206e-01 -2.02052394e-02 9.80929025e-01 3.96717337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:2.14, Z:3.98 [[ 9.65706166e-01 -1.76044225e-01 -1.90840331e-01 4.53485580e+01] [ 1.74561246e-01 9.84336709e-01 -2.46903896e-02 2.13733510e+00] [ 1.92197744e-01 -9.46966442e-03 9.81310528e-01 3.97513227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:2.15, Z:3.98 [[ 9.66697141e-01 -1.75620075e-01 -1.86156457e-01 4.53766752e+01] [ 1.72921055e-01 9.84454978e-01 -3.07685692e-02 2.14573468e+00] [ 1.88666229e-01 -2.44648300e-03 9.82038222e-01 3.97837454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:2.15, Z:3.98 [[ 9.66907139e-01 -1.73280684e-01 -1.87254879e-01 4.54035227e+01] [ 1.72289195e-01 9.84807708e-01 -2.16843563e-02 2.14731462e+00] [ 1.88167528e-01 -1.12952334e-02 9.82071993e-01 3.98038422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:2.15, Z:3.99 [[ 9.66894022e-01 -1.72339056e-01 -1.88189267e-01 4.54339251e+01] [ 1.71165773e-01 9.84983147e-01 -2.25937636e-02 2.15246993e+00] [ 1.89257044e-01 -1.03657864e-02 9.81872864e-01 3.98794969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:2.16, Z:3.99 [[ 9.66756865e-01 -1.71276976e-01 -1.89856158e-01 4.54578684e+01] [ 1.69574242e-01 9.85192563e-01 -2.53019946e-02 2.16109660e+00] [ 1.91378524e-01 -7.73383715e-03 9.81485837e-01 3.99258266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:2.17, Z:4.00 [[ 9.66585405e-01 -1.69005737e-01 -1.92742617e-01 4.54833159e+01] [ 1.67352515e-01 9.85581435e-01 -2.49473552e-02 2.16739360e+00] [ 1.94179791e-01 -8.14221218e-03 9.80932165e-01 3.99676385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:2.17, Z:4.00 [[ 9.66555988e-01 -1.67843166e-01 -1.93902536e-01 4.55097401e+01] [ 1.66381593e-01 9.85771308e-01 -2.39184718e-02 2.17254602e+00] [ 1.95158109e-01 -9.14327068e-03 9.80729174e-01 4.00147306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:2.18, Z:4.01 [[ 9.66412327e-01 -1.67184895e-01 -1.95183056e-01 4.55356571e+01] [ 1.65544366e-01 9.85890303e-01 -2.48067154e-02 2.17701056e+00] [ 1.96576390e-01 -8.33793975e-03 9.80453059e-01 4.01017977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:2.19, Z:4.02 [[ 9.67129486e-01 -1.65133089e-01 -1.93369127e-01 4.55587528e+01] [ 1.60858003e-01 9.86256667e-01 -3.77159058e-02 2.18706779e+00] [ 1.96939735e-01 5.37119290e-03 9.80400883e-01 4.01627812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:2.18, Z:4.02 [[ 9.67585853e-01 -1.57976862e-01 -1.97030274e-01 4.55926898e+01] [ 1.57298934e-01 9.87364614e-01 -1.91876107e-02 2.18261364e+00] [ 1.97571919e-01 -1.24269914e-02 9.80209624e-01 4.01583191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:2.19, Z:4.03 [[ 9.68546924e-01 -1.60631745e-01 -1.90037623e-01 4.56168595e+01] [ 1.56556173e-01 9.86999234e-01 -3.63686356e-02 2.19376410e+00] [ 1.93408945e-01 5.47316720e-03 9.81102963e-01 4.02545087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:2.19, Z:4.03 [[ 9.68946868e-01 -1.57315202e-01 -1.90771836e-01 4.56446892e+01] [ 1.54384674e-01 9.87548429e-01 -3.02237210e-02 2.19499741e+00] [ 1.93151078e-01 -1.67067868e-04 9.81169014e-01 4.02953645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:2.20, Z:4.03 [[ 9.69086266e-01 -1.54830944e-01 -1.92091615e-01 4.56716046e+01] [ 1.53734367e-01 9.87895515e-01 -2.06928955e-02 2.19520200e+00] [ 1.92970346e-01 -9.47788200e-03 9.81158813e-01 4.03295056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:2.20, Z:4.04 [[ 9.69203808e-01 -1.55849489e-01 -1.90669651e-01 4.56987133e+01] [ 1.53332465e-01 9.87778538e-01 -2.79770383e-02 2.20319714e+00] [ 1.92699597e-01 -2.12039553e-03 9.81255507e-01 4.04237330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:2.21, Z:4.05 [[ 9.69941007e-01 -1.54019440e-01 -1.88394415e-01 4.57265418e+01] [ 1.51295436e-01 9.88067677e-01 -2.88436479e-02 2.20771209e+00] [ 1.90588915e-01 -5.26578327e-04 9.81669796e-01 4.04681926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520385723 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:45.75, Y:2.21, Z:4.05 [[ 9.69753994e-01 -1.55732441e-01 -1.87948391e-01 4.57497546e+01] [ 1.52480642e-01 9.87797020e-01 -3.17285479e-02 2.21437897e+00] [ 1.90596025e-01 2.11039476e-03 9.81666288e-01 4.05155455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:2.21, Z:4.05 [[ 9.70466465e-01 -1.48654239e-01 -1.89991465e-01 4.57811695e+01] [ 1.47486185e-01 9.88854666e-01 -2.03537585e-02 2.21106319e+00] [ 1.90899619e-01 -8.26847632e-03 9.81574739e-01 4.05222306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:2.22, Z:4.06 [[ 9.70747561e-01 -1.49931308e-01 -1.87536067e-01 4.58078463e+01] [ 1.46254498e-01 9.88683935e-01 -3.33721297e-02 2.22019661e+00] [ 1.90417423e-01 4.96792016e-03 9.81690646e-01 4.06230145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:2.22, Z:4.06 [[ 9.70634304e-01 -1.47686102e-01 -1.89889083e-01 4.58374756e+01] [ 1.46621911e-01 9.88996015e-01 -1.97205116e-02 2.21838859e+00] [ 1.90711992e-01 -8.70049518e-03 9.81607476e-01 4.06435656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640385722999994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:45.86, Y:2.22, Z:4.08 [[ 9.70143746e-01 -1.47493113e-01 -1.92527642e-01 4.58616962e+01] [ 1.46460630e-01 9.89021030e-01 -1.96643263e-02 2.22009917e+00] [ 1.93314239e-01 -9.12049655e-03 9.81094502e-01 4.07551767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670385722999995 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:45.89, Y:2.22, Z:4.08 [[ 9.70445252e-01 -1.48221537e-01 -1.90437360e-01 4.58896867e+01] [ 1.47101693e-01 9.88917453e-01 -2.00839052e-02 2.22283013e+00] [ 1.91303696e-01 -8.52332758e-03 9.81493886e-01 4.08111679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700385723 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:45.92, Y:2.23, Z:4.09 [[ 9.70314133e-01 -1.50003986e-01 -1.89708425e-01 4.59165894e+01] [ 1.47559611e-01 9.88683811e-01 -2.70274546e-02 2.22792390e+00] [ 1.91615875e-01 -1.76818032e-03 9.81468405e-01 4.08898280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:2.23, Z:4.09 [[ 9.70581554e-01 -1.51772064e-01 -1.86913582e-01 4.59448528e+01] [ 1.48886057e-01 9.88415219e-01 -2.94668638e-02 2.23124332e+00] [ 1.89220476e-01 7.71168299e-04 9.81934324e-01 4.09162335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:45.97, Y:2.23, Z:4.10 [[ 9.69763537e-01 -1.50063243e-01 -1.92457021e-01 4.59730712e+01] [ 1.49096101e-01 9.88628778e-01 -1.95829616e-02 2.22902429e+00] [ 1.93207233e-01 -9.70374933e-03 9.81109985e-01 4.09650048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790385723 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:46.00, Y:2.24, Z:4.10 [[ 9.69728824e-01 -1.50790063e-01 -1.92063437e-01 4.60006175e+01] [ 1.48964569e-01 9.88551372e-01 -2.39946128e-02 2.23538252e+00] [ 1.93482724e-01 -5.34237943e-03 9.81089137e-01 4.10412677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820385722999994 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:46.03, Y:2.24, Z:4.11 [[ 9.69879365e-01 -1.49915136e-01 -1.91988202e-01 4.60270427e+01] [ 1.47753323e-01 9.88692577e-01 -2.56113841e-02 2.23936175e+00] [ 1.93656845e-01 -3.52694194e-03 9.81062988e-01 4.10996445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850385722999995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:46.06, Y:2.24, Z:4.11 [[ 9.70003313e-01 -1.49906809e-01 -1.91367501e-01 4.60551946e+01] [ 1.47680703e-01 9.88695230e-01 -2.59259025e-02 2.24310246e+00] [ 1.93090605e-01 -3.11307583e-03 9.81175992e-01 4.11424255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880385722999996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:46.08, Y:2.25, Z:4.12 [[ 9.70246888e-01 -1.48851808e-01 -1.90955794e-01 4.60827580e+01] [ 1.46210831e-01 9.88859171e-01 -2.79272601e-02 2.24559677e+00] [ 1.92985411e-01 -8.23468093e-04 9.81201281e-01 4.11985375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910385723 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:46.11, Y:2.25, Z:4.12 [[ 9.70643556e-01 -1.46807983e-01 -1.90521663e-01 4.61097475e+01] [ 1.45493481e-01 9.89137426e-01 -2.09475458e-02 2.24586353e+00] [ 1.91527374e-01 -7.38705956e-03 9.81459473e-01 4.12234480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:2.26, Z:4.13 [[ 9.70667282e-01 -1.49018204e-01 -1.88675917e-01 4.61359654e+01] [ 1.46394136e-01 9.88834277e-01 -2.78483359e-02 2.25647868e+00] [ 1.90719123e-01 -5.89579326e-04 9.81644471e-01 4.13227492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970385723 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:46.16, Y:2.26, Z:4.14 [[ 9.70771236e-01 -1.46505668e-01 -1.90103386e-01 4.61641377e+01] [ 1.45178511e-01 9.89183299e-01 -2.09666849e-02 2.25675403e+00] [ 1.91118832e-01 -7.24507180e-03 9.81540168e-01 4.13602126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000385722999994 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:46.19, Y:2.26, Z:4.14 [[ 9.70731251e-01 -1.47583282e-01 -1.89472989e-01 4.61907329e+01] [ 1.45296964e-01 9.89046934e-01 -2.59798972e-02 2.26306776e+00] [ 1.91231878e-01 -2.31035196e-03 9.81542170e-01 4.14291352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030385722999995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:46.22, Y:2.27, Z:4.15 [[ 9.70160475e-01 -1.49387433e-01 -1.90976564e-01 4.62177433e+01] [ 1.46341085e-01 9.88778017e-01 -3.00386279e-02 2.26668056e+00] [ 1.93320822e-01 1.19457198e-03 9.81134870e-01 4.14783865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:2.27, Z:4.15 [[ 9.69876591e-01 -1.50141352e-01 -1.91825372e-01 4.62466862e+01] [ 1.48515232e-01 9.88644673e-01 -2.29114664e-02 2.26773757e+00] [ 1.93087090e-01 -6.26769473e-03 9.81161603e-01 4.14797841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:2.27, Z:4.15 [[ 9.69270154e-01 -1.55347207e-01 -1.90742273e-01 4.62737307e+01] [ 1.52673212e-01 9.87859107e-01 -2.87275886e-02 2.27316306e+00] [ 1.92889242e-01 -1.27644126e-03 9.81219706e-01 4.15377336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:2.28, Z:4.16 [[ 9.68729717e-01 -1.58893109e-01 -1.90566827e-01 4.63034918e+01] [ 1.56279785e-01 9.87293929e-01 -2.87632957e-02 2.27702660e+00] [ 1.92715761e-01 -1.91788356e-03 9.81252749e-01 4.15872715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:2.28, Z:4.16 [[ 9.68135684e-01 -1.60115086e-01 -1.92552475e-01 4.63290023e+01] [ 1.58322161e-01 9.87076890e-01 -2.47650285e-02 2.27866421e+00] [ 1.94029353e-01 -6.50941614e-03 9.80974127e-01 4.16276881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:2.29, Z:4.17 [[ 9.67690732e-01 -1.66248017e-01 -1.89568574e-01 4.63552758e+01] [ 1.63227723e-01 9.86083884e-01 -3.15481381e-02 2.28509426e+00] [ 1.92175331e-01 -4.14005901e-04 9.81360520e-01 4.17085121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.38, Y:2.29, Z:4.17 [[ 9.67514806e-01 -1.68123737e-01 -1.88810774e-01 4.63831246e+01] [ 1.65941522e-01 9.85754217e-01 -2.74232425e-02 2.28681760e+00] [ 1.90731515e-01 -4.79915414e-03 9.81630510e-01 4.17460880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:2.29, Z:4.18 [[ 9.67479039e-01 -1.68114338e-01 -1.89002324e-01 4.64109187e+01] [ 1.66114877e-01 9.85750614e-01 -2.64872411e-02 2.29017007e+00] [ 1.90762042e-01 -5.77024738e-03 9.81619350e-01 4.17963843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:2.29, Z:4.18 [[ 9.66869396e-01 -1.70770340e-01 -1.89739456e-01 4.64388737e+01] [ 1.70544465e-01 9.85192037e-01 -1.76418547e-02 2.29002074e+00] [ 1.89942507e-01 -1.53016446e-02 9.81675967e-01 4.18252070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:2.30, Z:4.20 [[ 9.65680726e-01 -1.75439411e-01 -1.91524800e-01 4.64667155e+01] [ 1.72719857e-01 9.84485014e-01 -3.09371667e-02 2.29753101e+00] [ 1.93980894e-01 -3.20471049e-03 9.81000073e-01 4.19605510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:2.31, Z:4.20 [[ 9.65520239e-01 -1.76721648e-01 -1.91154722e-01 4.64895592e+01] [ 1.72665863e-01 9.84254660e-01 -3.78056086e-02 2.30549720e+00] [ 1.94825995e-01 3.49618531e-03 9.80831590e-01 4.19988037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:2.30, Z:4.20 [[ 9.65709840e-01 -1.75151572e-01 -1.91641413e-01 4.65209109e+01] [ 1.75473355e-01 9.84363303e-01 -1.54269075e-02 2.30000991e+00] [ 1.91346821e-01 -1.87300453e-02 9.81343762e-01 4.19616564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390385722999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.55, Y:2.31, Z:4.21 [[ 9.65127127e-01 -1.78657670e-01 -1.91340185e-01 4.65485345e+01] [ 1.75551267e-01 9.83910088e-01 -3.32067929e-02 2.31164150e+00] [ 1.94194186e-01 -1.54123523e-03 9.80961897e-01 4.20780210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:2.32, Z:4.21 [[ 9.65072956e-01 -1.77555339e-01 -1.92635124e-01 4.65730886e+01] [ 1.74153403e-01 9.84110804e-01 -3.45907186e-02 2.31662168e+00] [ 1.95716074e-01 -1.65495358e-04 9.80660589e-01 4.21121632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:2.32, Z:4.21 [[ 9.65138665e-01 -1.75676932e-01 -1.94023124e-01 4.66058331e+01] [ 1.74493299e-01 9.84382367e-01 -2.33118860e-02 2.31568675e+00] [ 1.95088303e-01 -1.13565324e-02 9.80719931e-01 4.21266269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.63, Y:2.32, Z:4.22 [[ 9.65771518e-01 -1.75375715e-01 -1.91124915e-01 4.66342656e+01] [ 1.72699086e-01 9.84495874e-01 -3.07066689e-02 2.32150044e+00] [ 1.93546894e-01 -3.35147192e-03 9.81085301e-01 4.22050096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:2.32, Z:4.23 [[ 9.66654861e-01 -1.71652787e-01 -1.90036050e-01 4.66624395e+01] [ 1.69919735e-01 9.85127888e-01 -2.55015276e-02 2.32406484e+00] [ 1.91587220e-01 -7.63969956e-03 9.81445858e-01 4.22589578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:2.33, Z:4.23 [[ 9.67259191e-01 -1.69337542e-01 -1.89035590e-01 4.66883504e+01] [ 1.67900878e-01 9.85518760e-01 -2.37080051e-02 2.32800570e+00] [ 1.90312776e-01 -8.80745569e-03 9.81684000e-01 4.23113122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:2.34, Z:4.24 [[ 9.67777993e-01 -1.66887321e-01 -1.88558687e-01 4.67153721e+01] [ 1.64785441e-01 9.85963016e-01 -2.68828942e-02 2.33548754e+00] [ 1.90398306e-01 -5.05505307e-03 9.81693909e-01 4.23874531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:2.34, Z:4.24 [[ 9.67724611e-01 -1.63971027e-01 -1.91370269e-01 4.67395752e+01] [ 1.63966329e-01 9.86336641e-01 -1.59710329e-02 2.33654705e+00] [ 1.91374295e-01 -1.59227188e-02 9.81387969e-01 4.24052385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:2.35, Z:4.25 [[ 9.67929953e-01 -1.64961385e-01 -1.89471231e-01 4.67705470e+01] [ 1.61151642e-01 9.86292785e-01 -3.54498259e-02 2.34772069e+00] [ 1.92721960e-01 3.77934837e-03 9.81246127e-01 4.25254882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:2.35, Z:4.25 [[ 9.67841355e-01 -1.61582441e-01 -1.92806191e-01 4.67993845e+01] [ 1.59654725e-01 9.86840939e-01 -2.55994010e-02 2.34632754e+00] [ 1.94405456e-01 -6.00626037e-03 9.80902872e-01 4.24910621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:2.35, Z:4.25 [[ 9.67904663e-01 -1.61216015e-01 -1.92795121e-01 4.68258335e+01] [ 1.58830612e-01 9.86912408e-01 -2.78699796e-02 2.35001754e+00] [ 1.94764985e-01 -3.64628383e-03 9.80843160e-01 4.25312616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:2.35, Z:4.26 [[ 9.68879502e-01 -1.54457311e-01 -1.93430738e-01 4.68530367e+01] [ 1.54886190e-01 9.87846817e-01 -1.29974634e-02 2.34754005e+00] [ 1.93087492e-01 -1.73667742e-02 9.81027836e-01 4.25626552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:2.36, Z:4.27 [[ 9.68137481e-01 -1.53272769e-01 -1.98033525e-01 4.68781843e+01] [ 1.53038322e-01 9.88081125e-01 -1.65820152e-02 2.35507338e+00] [ 1.98214760e-01 -1.42530479e-02 9.80054978e-01 4.27171271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780385722999995 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:46.90, Y:2.36, Z:4.29 [[ 9.68728521e-01 -1.50777212e-01 -1.97056552e-01 4.69010534e+01] [ 1.48973801e-01 9.88549092e-01 -2.40312053e-02 2.36236146e+00] [ 1.98423434e-01 -6.07654971e-03 9.80097555e-01 4.28562526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:2.37, Z:4.29 [[ 9.69484293e-01 -1.51164304e-01 -1.93001448e-01 4.69287367e+01] [ 1.47775035e-01 9.88505669e-01 -3.19230582e-02 2.37307980e+00] [ 1.95608653e-01 2.42810780e-03 9.80679030e-01 4.29199101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:2.37, Z:4.30 [[ 9.69662641e-01 -1.44709812e-01 -1.97011249e-01 4.69568980e+01] [ 1.42471885e-01 9.89468698e-01 -2.55628284e-02 2.37093895e+00] [ 1.98635656e-01 -3.28124425e-03 9.80067911e-01 4.29802016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870385723 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:46.98, Y:2.37, Z:4.30 [[ 9.70360382e-01 -1.43450314e-01 -1.94480683e-01 4.69824790e+01] [ 1.40038672e-01 9.89652692e-01 -3.12525117e-02 2.37321157e+00] [ 1.96951514e-01 3.09138269e-03 9.80408356e-01 4.30095781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:2.37, Z:4.30 [[ 9.69652200e-01 -1.42751968e-01 -1.98485482e-01 4.70126817e+01] [ 1.40688735e-01 9.89749854e-01 -2.45337793e-02 2.37291034e+00] [ 1.99953222e-01 -4.13543814e-03 9.79796717e-01 4.30449583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:2.38, Z:4.31 [[ 9.69705442e-01 -1.42631989e-01 -1.98311553e-01 4.70383313e+01] [ 1.39991453e-01 9.89775009e-01 -2.73463840e-02 2.37680086e+00] [ 2.00184289e-01 -1.24398517e-03 9.79757472e-01 4.31068412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:2.38, Z:4.32 [[ 9.70087463e-01 -1.40885658e-01 -1.97690527e-01 4.70648441e+01] [ 1.38220823e-01 9.90025504e-01 -2.72856153e-02 2.38079337e+00] [ 1.99562816e-01 -8.55513915e-04 9.79884662e-01 4.31729743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:2.39, Z:4.32 [[ 9.70332202e-01 -1.40380575e-01 -1.96846927e-01 4.70921210e+01] [ 1.37717405e-01 9.90097375e-01 -2.72232140e-02 2.38510656e+00] [ 1.98719236e-01 -6.93686832e-04 9.80056215e-01 4.32330720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:2.39, Z:4.33 [[ 9.71229201e-01 -1.41393319e-01 -1.91629249e-01 4.71190477e+01] [ 1.37800820e-01 9.89942401e-01 -3.20152668e-02 2.39241855e+00] [ 1.94228663e-01 4.68749429e-03 9.80945082e-01 4.32650294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.15, Y:2.39, Z:4.33 [[ 9.71477284e-01 -1.39932823e-01 -1.91443704e-01 4.71463702e+01] [ 1.38370240e-01 9.90145552e-01 -2.15745794e-02 2.39079768e+00] [ 1.92576123e-01 -5.53089732e-03 9.81266450e-01 4.33150970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:2.40, Z:4.34 [[ 9.72088313e-01 -1.41676928e-01 -1.87007914e-01 4.71737074e+01] [ 1.38875106e-01 9.89912079e-01 -2.80674451e-02 2.39625363e+00] [ 1.89097902e-01 1.31329149e-03 9.81957361e-01 4.33717291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:2.39, Z:4.35 [[ 9.70831755e-01 -1.43709896e-01 -1.91919693e-01 4.72006339e+01] [ 1.41588926e-01 9.89614995e-01 -2.47939248e-02 2.39382434e+00] [ 1.93489738e-01 -3.10297361e-03 9.81097392e-01 4.34586890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:2.40, Z:4.35 [[ 9.71582572e-01 -1.48670730e-01 -1.84185560e-01 4.72260200e+01] [ 1.43696499e-01 9.88807305e-01 -4.01426129e-02 2.40350818e+00] [ 1.88092059e-01 1.25350429e-02 9.82071408e-01 4.34759675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:2.40, Z:4.35 [[ 9.71236700e-01 -1.49627505e-01 -1.85231971e-01 4.72550874e+01] [ 1.46114468e-01 9.88731964e-01 -3.25524973e-02 2.39964918e+00] [ 1.88015519e-01 4.55110920e-03 9.82155513e-01 4.34527132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:47.29, Y:2.39, Z:4.35 [[ 9.69876283e-01 -1.47826323e-01 -1.93616565e-01 4.72859459e+01] [ 1.49864484e-01 9.88697793e-01 -4.16054989e-03 2.39070377e+00] [ 1.92043309e-01 -2.49810278e-02 9.81068456e-01 4.34599558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:2.41, Z:4.36 [[ 9.70238921e-01 -1.55493712e-01 -1.85629042e-01 4.73117694e+01] [ 1.51022251e-01 9.87796687e-01 -3.80786704e-02 2.41081768e+00] [ 1.89284746e-01 8.91129238e-03 9.81881802e-01 4.36022555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260385723 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:47.34, Y:2.40, Z:4.37 [[ 9.69617480e-01 -1.52872271e-01 -1.90976466e-01 4.73364820e+01] [ 1.50917988e-01 9.88234534e-01 -2.48247261e-02 2.40470215e+00] [ 1.92524551e-01 -4.75129568e-03 9.81280654e-01 4.36508328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:47.37, Y:2.41, Z:4.37 [[ 9.69125858e-01 -1.58867423e-01 -1.88563554e-01 4.73667007e+01] [ 1.57316527e-01 9.87274243e-01 -2.32611246e-02 2.40848592e+00] [ 1.89859375e-01 -7.12120615e-03 9.81785469e-01 4.36975737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320385722999994 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:47.39, Y:2.42, Z:4.38 [[ 9.69636836e-01 -1.63471167e-01 -1.81883434e-01 4.73868777e+01] [ 1.58105521e-01 9.86453882e-01 -4.37193739e-02 2.42126811e+00] [ 1.86566477e-01 1.36351402e-02 9.82347715e-01 4.37825946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:2.41, Z:4.38 [[ 9.69182358e-01 -1.62714614e-01 -1.84958136e-01 4.74237271e+01] [ 1.60250878e-01 9.86670685e-01 -2.82951366e-02 2.41498407e+00] [ 1.87096803e-01 -2.21655646e-03 9.82338981e-01 4.38020338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:2.42, Z:4.38 [[ 9.68022352e-01 -1.66522404e-01 -1.87624666e-01 4.74511896e+01] [ 1.65688464e-01 9.85970584e-01 -2.02321741e-02 2.41644594e+00] [ 1.88361512e-01 -1.15020460e-02 9.82032405e-01 4.38385909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:2.42, Z:4.39 [[ 9.67210031e-01 -1.69510102e-01 -1.89132445e-01 4.74784967e+01] [ 1.68688308e-01 9.85455101e-01 -2.05547569e-02 2.41826604e+00] [ 1.89865772e-01 -1.20236650e-02 9.81736431e-01 4.38896322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:2.43, Z:4.40 [[ 9.66801506e-01 -1.74954065e-01 -1.86241573e-01 4.75055626e+01] [ 1.71109838e-01 9.84570149e-01 -3.66475673e-02 2.42791929e+00] [ 1.89779534e-01 3.56315780e-03 9.81820265e-01 4.39854256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:2.42, Z:4.40 [[ 9.65454910e-01 -1.72755638e-01 -1.95070003e-01 4.75346386e+01] [ 1.73417348e-01 9.84751537e-01 -1.38142714e-02 2.41926474e+00] [ 1.94481979e-01 -2.04914666e-02 9.80692031e-01 4.40114265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:2.44, Z:4.41 [[ 9.65976726e-01 -1.83007187e-01 -1.82749376e-01 4.75578784e+01] [ 1.76832281e-01 9.82986727e-01 -4.96733210e-02 2.43699381e+00] [ 1.88730786e-01 1.56672830e-02 9.81903879e-01 4.41150135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530385722999995 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:47.59, Y:2.42, Z:4.41 [[ 9.65057094e-01 -1.76975983e-01 -1.93246752e-01 4.75867231e+01] [ 1.78191662e-01 9.83931890e-01 -1.12146074e-02 2.42348577e+00] [ 1.92126358e-01 -2.36122235e-02 9.81086095e-01 4.40700955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:2.44, Z:4.42 [[ 9.64394564e-01 -1.82326145e-01 -1.91573231e-01 4.76125033e+01] [ 1.80612064e-01 9.83196721e-01 -2.65234079e-02 2.43787976e+00] [ 1.93190083e-01 -9.02140621e-03 9.81119873e-01 4.42124660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:2.45, Z:4.42 [[ 9.65155617e-01 -1.84504127e-01 -1.85560942e-01 4.76383914e+01] [ 1.80562683e-01 9.82826402e-01 -3.80707226e-02 2.44887526e+00] [ 1.89398398e-01 3.23879014e-03 9.81894983e-01 4.42441642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:2.45, Z:4.42 [[ 9.64958625e-01 -1.82285691e-01 -1.88750573e-01 4.76687494e+01] [ 1.80776795e-01 9.83197951e-01 -2.53286107e-02 2.44617319e+00] [ 1.90196220e-01 -9.68066232e-03 9.81698366e-01 4.42449602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:2.45, Z:4.43 [[ 9.64965855e-01 -1.83361595e-01 -1.87668391e-01 4.76956283e+01] [ 1.80951745e-01 9.83032983e-01 -3.00436350e-02 2.44904463e+00] [ 1.89993067e-01 -4.96784078e-03 9.81772863e-01 4.42883159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:2.45, Z:4.43 [[ 9.65242553e-01 -1.84501751e-01 -1.85110557e-01 4.77221528e+01] [ 1.81117964e-01 9.82832092e-01 -3.51761425e-02 2.45460758e+00] [ 1.88422656e-01 4.26662263e-04 9.82087939e-01 4.43423047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:2.45, Z:4.43 [[ 9.65796372e-01 -1.80424000e-01 -1.86237881e-01 4.77510130e+01] [ 1.79979024e-01 9.83478384e-01 -1.94375926e-02 2.45367880e+00] [ 1.86667938e-01 -1.47461555e-02 9.82312390e-01 4.43457740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:2.47, Z:4.45 [[ 9.66158753e-01 -1.81701784e-01 -1.83089392e-01 4.77772021e+01] [ 1.77987028e-01 9.83349594e-01 -3.66632414e-02 2.46580289e+00] [ 1.86702656e-01 2.83497490e-03 9.82412378e-01 4.44882929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:2.46, Z:4.45 [[ 9.66197658e-01 -1.75390418e-01 -1.88945198e-01 4.78066021e+01] [ 1.75147168e-01 9.84375547e-01 -1.81177136e-02 2.46239885e+00] [ 1.89170706e-01 -1.55879240e-02 9.81820483e-01 4.45051387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800385723 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:47.83, Y:2.47, Z:4.46 [[ 9.65876274e-01 -1.65977422e-01 -1.98832890e-01 4.78334595e+01] [ 1.64135398e-01 9.86099590e-01 -2.58296378e-02 2.46518045e+00] [ 2.00356168e-01 -7.68728112e-03 9.79692968e-01 4.46275200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:2.48, Z:4.47 [[ 9.68382410e-01 -1.67710107e-01 -1.84685755e-01 4.78591873e+01] [ 1.64962133e-01 9.85835667e-01 -3.02577591e-02 2.47634249e+00] [ 1.87144336e-01 -1.16507436e-03 9.82331736e-01 4.46696736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:2.48, Z:4.47 [[ 9.69628298e-01 -1.63704342e-01 -1.81719155e-01 4.78894671e+01] [ 1.59990745e-01 9.86497400e-01 -3.50120160e-02 2.48071744e+00] [ 1.84997093e-01 4.87525849e-03 9.82726975e-01 4.47140518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:2.48, Z:4.47 [[ 9.69644972e-01 -1.62246014e-01 -1.82934031e-01 4.79130238e+01] [ 1.59436644e-01 9.86750339e-01 -3.00620376e-02 2.48479439e+00] [ 1.85387662e-01 -1.68841895e-05 9.82665464e-01 4.47439024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:2.49, Z:4.48 [[ 9.69071102e-01 -1.57681168e-01 -1.89836372e-01 4.79402822e+01] [ 1.57286171e-01 9.87402526e-01 -1.72427464e-02 2.48561467e+00] [ 1.90163769e-01 -1.31491887e-02 9.81664321e-01 4.47914525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:2.50, Z:4.49 [[ 9.69873488e-01 -1.56290189e-01 -1.86865711e-01 4.79662257e+01] [ 1.53693165e-01 9.87710479e-01 -2.83975641e-02 2.49686643e+00] [ 1.89007481e-01 -1.17793800e-03 9.81974941e-01 4.48945017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:2.50, Z:4.49 [[ 9.69818278e-01 -1.55975953e-01 -1.87414009e-01 4.79935109e+01] [ 1.53029262e-01 9.87760676e-01 -3.01809722e-02 2.50114256e+00] [ 1.89827694e-01 5.90230952e-04 9.81817243e-01 4.49448002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:2.51, Z:4.50 [[ 9.69962730e-01 -1.56936483e-01 -1.85858124e-01 4.80208436e+01] [ 1.52331300e-01 9.87563815e-01 -3.88958422e-02 2.50618152e+00] [ 1.89650934e-01 9.41550764e-03 9.81806433e-01 4.50030735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:2.51, Z:4.50 [[ 9.70052159e-01 -1.56622088e-01 -1.85656486e-01 4.80490726e+01] [ 1.53466928e-01 9.87656766e-01 -3.13371201e-02 2.50631503e+00] [ 1.88272970e-01 1.90651030e-03 9.82114888e-01 4.50150235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:2.51, Z:4.51 [[ 9.69556190e-01 -1.57413118e-01 -1.87568399e-01 4.80775695e+01] [ 1.54649120e-01 9.87532699e-01 -2.93737648e-02 2.50867393e+00] [ 1.89853743e-01 -5.27772338e-04 9.81812242e-01 4.50565460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:2.51, Z:4.51 [[ 9.68244501e-01 -1.62016454e-01 -1.90402874e-01 4.81038479e+01] [ 1.59476588e-01 9.86784673e-01 -2.86919244e-02 2.51400950e+00] [ 1.92535201e-01 -2.58400262e-03 9.81286665e-01 4.51163905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:2.52, Z:4.52 [[ 9.68184701e-01 -1.62345501e-01 -1.90426685e-01 4.81313670e+01] [ 1.59584662e-01 9.86732852e-01 -2.98498674e-02 2.51855084e+00] [ 1.92746258e-01 -1.48899327e-03 9.81247503e-01 4.51766236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:2.52, Z:4.52 [[ 9.67723619e-01 -1.63811297e-01 -1.91512026e-01 4.81600220e+01] [ 1.61871596e-01 9.86473476e-01 -2.58392828e-02 2.52174413e+00] [ 1.93154301e-01 -5.99507300e-03 9.81150078e-01 4.52209770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:2.52, Z:4.53 [[ 9.66357482e-01 -1.65058150e-01 -1.97253704e-01 4.81864168e+01] [ 1.65796516e-01 9.86075835e-01 -1.28826436e-02 2.52019977e+00] [ 1.96633496e-01 -2.02547379e-02 9.80267828e-01 4.52751136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:2.53, Z:4.54 [[ 9.66580472e-01 -1.69600225e-01 -1.92244519e-01 4.82144712e+01] [ 1.65484738e-01 9.85503462e-01 -3.73862036e-02 2.53137637e+00] [ 1.95798348e-01 4.32324042e-03 9.80634650e-01 4.54335449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250385722999994 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:48.24, Y:2.53, Z:4.54 [[ 9.66554570e-01 -1.72793702e-01 -1.89511477e-01 4.82433820e+01] [ 1.70615553e-01 9.84943288e-01 -2.78756466e-02 2.53042874e+00] [ 1.91474793e-01 -5.39027174e-03 9.81482730e-01 4.54469387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:2.53, Z:4.55 [[ 9.66317078e-01 -1.74334778e-01 -1.89311091e-01 4.82705757e+01] [ 1.72178663e-01 9.84670355e-01 -2.79070015e-02 2.53400404e+00] [ 1.91274180e-01 -5.62831849e-03 9.81520509e-01 4.55014732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:2.54, Z:4.55 [[ 9.64739299e-01 -1.79517871e-01 -1.92487451e-01 4.82931339e+01] [ 1.78687405e-01 9.83664095e-01 -2.18119268e-02 2.54013259e+00] [ 1.93258625e-01 -1.33522601e-02 9.81056992e-01 4.55332668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:2.55, Z:4.56 [[ 9.64165196e-01 -1.82442016e-01 -1.92614605e-01 4.83196247e+01] [ 1.80670236e-01 9.83176453e-01 -2.68761557e-02 2.54772449e+00] [ 1.94277484e-01 -8.88667219e-03 9.80906360e-01 4.56142323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:2.55, Z:4.57 [[ 9.63994223e-01 -1.83104428e-01 -1.92841661e-01 4.83490052e+01] [ 1.81331603e-01 9.83052447e-01 -2.69580654e-02 2.55192655e+00] [ 1.94509608e-01 -8.98086815e-03 9.80859499e-01 4.56737728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:2.56, Z:4.58 [[ 9.63204395e-01 -1.88598359e-01 -1.91488778e-01 4.83718714e+01] [ 1.85557931e-01 9.82049955e-01 -3.38546971e-02 2.56110971e+00] [ 1.94436486e-01 -2.92326847e-03 9.80910754e-01 4.57525303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:2.56, Z:4.58 [[ 9.63360126e-01 -1.90173161e-01 -1.89133381e-01 4.83990832e+01] [ 1.87627882e-01 9.81736810e-01 -3.14422145e-02 2.56482386e+00] [ 1.91658668e-01 -5.19651999e-03 9.81447885e-01 4.57941306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:2.57, Z:4.58 [[ 9.62934822e-01 -1.89322737e-01 -1.92128680e-01 4.84220750e+01] [ 1.87428389e-01 9.81874612e-01 -2.81575174e-02 2.56836272e+00] [ 1.93977131e-01 -8.89651494e-03 9.80965710e-01 4.58458232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:2.58, Z:4.59 [[ 9.62696539e-01 -1.91439953e-01 -1.91222695e-01 4.84493959e+01] [ 1.88079406e-01 9.81503100e-01 -3.57463539e-02 2.57577234e+00] [ 1.94528948e-01 -1.55215967e-03 9.80895550e-01 4.59189086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:2.58, Z:4.60 [[ 9.63347037e-01 -1.92650657e-01 -1.86676753e-01 4.84778833e+01] [ 1.87023247e-01 9.81207755e-01 -4.74725845e-02 2.58445183e+00] [ 1.92314303e-01 1.08196811e-02 9.81273735e-01 4.59693259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:2.58, Z:4.59 [[ 9.62980765e-01 -1.89302897e-01 -1.91917845e-01 4.85099607e+01] [ 1.88201389e-01 9.81834148e-01 -2.41235066e-02 2.58064609e+00] [ 1.92998143e-01 -1.28887321e-02 9.81114467e-01 4.59426414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:2.59, Z:4.60 [[ 9.62358247e-01 -1.87941405e-01 -1.96327869e-01 4.85356033e+01] [ 1.87642904e-01 9.82027677e-01 -2.02924086e-02 2.58607543e+00] [ 1.96613185e-01 -1.73109646e-02 9.80328305e-01 4.60142069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:2.60, Z:4.61 [[ 9.62982141e-01 -1.88998804e-01 -1.92210426e-01 4.85633385e+01] [ 1.85812157e-01 9.81974489e-01 -3.46402362e-02 2.59669568e+00] [ 1.95292698e-01 -2.35710512e-03 9.80742171e-01 4.61233610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:2.60, Z:4.62 [[ 9.63454779e-01 -1.89127213e-01 -1.89699198e-01 4.85875068e+01] [ 1.86409406e-01 9.81943163e-01 -3.22359853e-02 2.60142896e+00] [ 1.92370532e-01 -4.30380078e-03 9.81312924e-01 4.61666339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:2.61, Z:4.62 [[ 9.63286638e-01 -1.87655610e-01 -1.92000588e-01 4.86189402e+01] [ 1.85048316e-01 9.82221638e-01 -3.15875599e-02 2.60634389e+00] [ 1.94514715e-01 -5.10151118e-03 9.80886334e-01 4.62379315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:2.61, Z:4.63 [[ 9.63047415e-01 -1.87789967e-01 -1.93066321e-01 4.86461669e+01] [ 1.85633359e-01 9.82180133e-01 -2.93673616e-02 2.61039963e+00] [ 1.95140801e-01 -7.55738802e-03 9.80746121e-01 4.62809105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:2.62, Z:4.63 [[ 9.62449862e-01 -1.88705866e-01 -1.95141895e-01 4.86710214e+01] [ 1.86897299e-01 9.81985704e-01 -2.78114691e-02 2.61567691e+00] [ 1.96874739e-01 -9.70434854e-03 9.80380621e-01 4.63250647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:2.62, Z:4.64 [[ 9.62989135e-01 -1.86881149e-01 -1.94235329e-01 4.86986207e+01] [ 1.84724167e-01 9.82352816e-01 -2.93245146e-02 2.62106422e+00] [ 1.96287821e-01 -7.64077037e-03 9.80516553e-01 4.63818606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:2.63, Z:4.65 [[ 9.63062588e-01 -1.88049523e-01 -1.92737717e-01 4.87266457e+01] [ 1.83590738e-01 9.82151369e-01 -4.09039035e-02 2.63150914e+00] [ 1.96989572e-01 4.00815937e-03 9.80397390e-01 4.64709979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:2.63, Z:4.65 [[ 9.63366652e-01 -1.83130320e-01 -1.95928508e-01 4.87531639e+01] [ 1.81251053e-01 9.83048465e-01 -2.76364085e-02 2.63387160e+00] [ 1.97668284e-01 -8.88825404e-03 9.80228672e-01 4.64865728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:2.64, Z:4.66 [[ 9.64210189e-01 -1.82542848e-01 -1.92293580e-01 4.87773358e+01] [ 1.79561656e-01 9.83194084e-01 -3.29697427e-02 2.64207553e+00] [ 1.95080301e-01 -2.73879193e-03 9.80783450e-01 4.65578187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:2.65, Z:4.66 [[ 9.64661031e-01 -1.80124852e-01 -1.92312590e-01 4.88029843e+01] [ 1.76510201e-01 9.83643509e-01 -3.59109582e-02 2.64901295e+00] [ 1.95635487e-01 6.96768104e-04 9.80676435e-01 4.66314412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:2.65, Z:4.67 [[ 9.64886850e-01 -1.78058097e-01 -1.93102772e-01 4.88305104e+01] [ 1.75893838e-01 9.83998327e-01 -2.84367671e-02 2.65107620e+00] [ 1.95076201e-01 -6.52732501e-03 9.80766369e-01 4.66568459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:2.66, Z:4.68 [[ 9.65702369e-01 -1.77434719e-01 -1.89567547e-01 4.88570954e+01] [ 1.73108809e-01 9.84119293e-01 -3.92754100e-02 2.66199542e+00] [ 1.93525902e-01 5.11254407e-03 9.81081845e-01 4.67572109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:2.66, Z:4.67 [[ 9.66939690e-01 -1.72397436e-01 -1.87900930e-01 4.88900558e+01] [ 1.70171433e-01 9.85015470e-01 -2.80393993e-02 2.66113587e+00] [ 1.89919244e-01 -4.86296243e-03 9.81787672e-01 4.67475308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:2.67, Z:4.68 [[ 9.66661977e-01 -1.73411121e-01 -1.88396406e-01 4.89122391e+01] [ 1.70500973e-01 9.84848372e-01 -3.16717952e-02 2.66714692e+00] [ 1.91034136e-01 -1.50585047e-03 9.81582239e-01 4.68357460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:2.67, Z:4.69 [[ 9.67288777e-01 -1.71566955e-01 -1.86861449e-01 4.89408606e+01] [ 1.69093066e-01 9.85166827e-01 -2.92208349e-02 2.66757075e+00] [ 1.89103031e-01 -3.33198971e-03 9.81951598e-01 4.68666784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:2.68, Z:4.69 [[ 9.67564967e-01 -1.73263765e-01 -1.83841513e-01 4.89676420e+01] [ 1.68655759e-01 9.84841207e-01 -4.05343250e-02 2.67507531e+00] [ 1.88077827e-01 8.21366290e-03 9.82119782e-01 4.69442455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:2.67, Z:4.69 [[ 9.67334359e-01 -1.71450224e-01 -1.86732588e-01 4.89965012e+01] [ 1.69530628e-01 9.85173314e-01 -2.63231225e-02 2.67191730e+00] [ 1.88477068e-01 -6.19363204e-03 9.82058060e-01 4.69483072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:2.68, Z:4.70 [[ 9.67586912e-01 -1.72284031e-01 -1.84645010e-01 4.90236737e+01] [ 1.69220434e-01 9.85047314e-01 -3.23455513e-02 2.67765362e+00] [ 1.87456693e-01 5.14233667e-05 9.82272867e-01 4.70251736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:2.68, Z:4.71 [[ 9.67414385e-01 -1.72156244e-01 -1.85665384e-01 4.90501944e+01] [ 1.69169921e-01 9.85069520e-01 -3.19308476e-02 2.68147660e+00] [ 1.88390405e-01 -5.18637042e-04 9.82094082e-01 4.70830188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.08, Y:2.68, Z:4.71 [[ 9.67610730e-01 -1.72302657e-01 -1.84502763e-01 4.90781709e+01] [ 1.69879248e-01 9.85038539e-01 -2.89847936e-02 2.68262043e+00] [ 1.86736489e-01 -3.29719322e-03 9.82404505e-01 4.71251440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:2.68, Z:4.72 [[ 9.66756234e-01 -1.74410713e-01 -1.86984724e-01 4.91061046e+01] [ 1.71226090e-01 9.84672991e-01 -3.31771957e-02 2.68499270e+00] [ 1.89905266e-01 5.75976569e-05 9.81802417e-01 4.71860949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:2.69, Z:4.72 [[ 9.66444818e-01 -1.74349131e-01 -1.88644622e-01 4.91348070e+01] [ 1.71591469e-01 9.84680907e-01 -3.09819293e-02 2.68685238e+00] [ 1.91156430e-01 -2.42748292e-03 9.81556583e-01 4.72147494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:2.69, Z:4.73 [[ 9.66348032e-01 -1.75145216e-01 -1.88402852e-01 4.91622461e+01] [ 1.71554326e-01 9.84540928e-01 -3.53309306e-02 2.69197315e+00] [ 1.91678362e-01 1.82065097e-03 9.81456107e-01 4.72777172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.19, Y:2.70, Z:4.73 [[ 9.66991692e-01 -1.73715448e-01 -1.86413550e-01 4.91903952e+01] [ 1.69179236e-01 9.84769300e-01 -4.00975369e-02 2.69681666e+00] [ 1.90539903e-01 7.23668300e-03 9.81652778e-01 4.73244419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:2.70, Z:4.73 [[ 9.67547547e-01 -1.70724534e-01 -1.86292451e-01 4.92182011e+01] [ 1.68258940e-01 9.85313594e-01 -2.90869530e-02 2.69625711e+00] [ 1.88522341e-01 -3.20236034e-03 9.82063680e-01 4.73300090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:2.70, Z:4.74 [[ 9.68316198e-01 -1.69167388e-01 -1.83701212e-01 4.92467256e+01] [ 1.65375512e-01 9.85577661e-01 -3.58833279e-02 2.70299041e+00] [ 1.87122100e-01 4.36672563e-03 9.82326958e-01 4.74026310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:2.70, Z:4.74 [[ 9.68617295e-01 -1.67022391e-01 -1.84076225e-01 4.92743253e+01] [ 1.64579779e-01 9.85949642e-01 -2.85797199e-02 2.70357726e+00] [ 1.86263341e-01 -2.61241337e-03 9.82496383e-01 4.74217120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:2.71, Z:4.75 [[ 9.69251879e-01 -1.65742338e-01 -1.81879832e-01 4.93029415e+01] [ 1.63982295e-01 9.86151995e-01 -2.47800412e-02 2.70561326e+00] [ 1.83468261e-01 -5.80697081e-03 9.83008482e-01 4.74669460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:2.71, Z:4.76 [[ 9.69293536e-01 -1.66381656e-01 -1.81072322e-01 4.93281707e+01] [ 1.63121053e-01 9.86058716e-01 -3.28592442e-02 2.71291087e+00] [ 1.84015117e-01 2.31354513e-03 9.82920691e-01 4.75590297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:2.72, Z:4.76 [[ 9.69333219e-01 -1.65724924e-01 -1.81461732e-01 4.93567342e+01] [ 1.62811573e-01 9.86171916e-01 -3.09409563e-02 2.71588468e+00] [ 1.84080152e-01 4.48026665e-04 9.82911134e-01 4.76037195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:2.71, Z:4.76 [[ 9.69112652e-01 -1.61708369e-01 -1.86201693e-01 4.93864109e+01] [ 1.62838889e-01 9.86608741e-01 -9.31067133e-03 2.71114878e+00] [ 1.85213832e-01 -2.12977874e-02 9.82467425e-01 4.76102557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:2.73, Z:4.77 [[ 9.69352728e-01 -1.69369996e-01 -1.77958123e-01 4.94088801e+01] [ 1.64223646e-01 9.85469190e-01 -4.33712915e-02 2.72986048e+00] [ 1.82718043e-01 1.28171478e-02 9.83081806e-01 4.77499842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:2.72, Z:4.77 [[ 9.68433555e-01 -1.64941151e-01 -1.86898010e-01 4.94385164e+01] [ 1.66153805e-01 9.86056287e-01 -9.26889544e-03 2.71841887e+00] [ 1.85820780e-01 -2.20775062e-02 9.82335595e-01 4.76797206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:2.74, Z:4.79 [[ 9.69074023e-01 -1.71965467e-01 -1.76984225e-01 4.94654603e+01] [ 1.66153829e-01 9.84966537e-01 -4.72633667e-02 2.73719315e+00] [ 1.82451206e-01 1.63950942e-02 9.83078206e-01 4.78806231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:2.72, Z:4.79 [[ 9.67111350e-01 -1.66920070e-01 -1.91920107e-01 4.94985179e+01] [ 1.67143506e-01 9.85816288e-01 -1.51424575e-02 2.72475641e+00] [ 1.91725548e-01 -1.74337571e-02 9.81293727e-01 4.78619716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:2.74, Z:4.80 [[ 9.67704714e-01 -1.73803873e-01 -1.82591897e-01 4.95201215e+01] [ 1.68748603e-01 9.84721184e-01 -4.29895170e-02 2.74253665e+00] [ 1.87273853e-01 1.07890307e-02 9.82248492e-01 4.79512158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:2.74, Z:4.79 [[ 9.66924168e-01 -1.71498413e-01 -1.88801346e-01 4.95500412e+01] [ 1.69997799e-01 9.85146333e-01 -2.42373913e-02 2.73877248e+00] [ 1.90153628e-01 -8.66009396e-03 9.81716151e-01 4.79260777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.58, Y:2.76, Z:4.81 [[ 9.65569136e-01 -1.77512593e-01 -1.90172353e-01 4.95791126e+01] [ 1.70844798e-01 9.83975320e-01 -5.10355278e-02 2.75723822e+00] [ 1.96184351e-01 1.67883733e-02 9.80423302e-01 4.80898865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:2.73, Z:4.79 [[ 9.67249360e-01 -1.61261104e-01 -1.96019214e-01 4.96084788e+01] [ 1.67087899e-01 9.85850265e-01 1.34495032e-02 2.72898390e+00] [ 1.91076712e-01 -4.57614620e-02 9.80507817e-01 4.79035158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:2.76, Z:4.82 [[ 9.67645925e-01 -1.72403561e-01 -1.84223714e-01 4.96277071e+01] [ 1.67498427e-01 9.84977959e-01 -4.19844861e-02 2.76070982e+00] [ 1.88694573e-01 9.76893465e-03 9.81987233e-01 4.81787952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:2.76, Z:4.82 [[ 9.67308449e-01 -1.70840779e-01 -1.87424100e-01 4.96567173e+01] [ 1.68152008e-01 9.85296120e-01 -3.02730451e-02 2.76123368e+00] [ 1.89840110e-01 -2.23236660e-03 9.81812482e-01 4.81932563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:2.76, Z:4.82 [[ 9.67506064e-01 -1.67658522e-01 -1.89268686e-01 4.96885095e+01] [ 1.65659984e-01 9.85828261e-01 -2.64463680e-02 2.76026129e+00] [ 1.91020378e-01 -5.76722605e-03 9.81569129e-01 4.82481426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:2.77, Z:4.83 [[ 9.67125468e-01 -1.69060611e-01 -1.89965361e-01 4.97121645e+01] [ 1.68171724e-01 9.85535920e-01 -2.09098487e-02 2.76561531e+00] [ 1.90752718e-01 -1.17243550e-02 9.81568103e-01 4.82750030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:2.77, Z:4.84 [[ 9.66162740e-01 -1.66911348e-01 -1.96647305e-01 4.97351045e+01] [ 1.65092034e-01 9.85942554e-01 -2.57274276e-02 2.77114833e+00] [ 1.98177146e-01 -7.60802157e-03 9.80136693e-01 4.83915017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:2.78, Z:4.84 [[ 9.67189789e-01 -1.70474080e-01 -1.88367994e-01 4.97639443e+01] [ 1.67250202e-01 9.85362075e-01 -3.29992671e-02 2.78044537e+00] [ 1.91236197e-01 4.11969181e-04 9.81543961e-01 4.84357913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:2.79, Z:4.85 [[ 9.67131652e-01 -1.70272641e-01 -1.88848075e-01 4.97912596e+01] [ 1.67348486e-01 9.85396267e-01 -3.14433062e-02 2.78613344e+00] [ 1.91444123e-01 -1.19362262e-03 9.81502788e-01 4.84807784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:2.79, Z:4.85 [[ 9.66935763e-01 -1.70846775e-01 -1.89332007e-01 4.98176335e+01] [ 1.68961602e-01 9.85274973e-01 -2.61764276e-02 2.78971752e+00] [ 1.91016247e-01 -6.67891532e-03 9.81564153e-01 4.85159607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:2.80, Z:4.86 [[ 9.65985352e-01 -1.73201516e-01 -1.92024826e-01 4.98465242e+01] [ 1.70070023e-01 9.84885927e-01 -3.28008862e-02 2.79650295e+00] [ 1.94803712e-01 -9.72491021e-04 9.80841765e-01 4.86000880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:2.80, Z:4.86 [[ 9.65999222e-01 -1.72751673e-01 -1.92359979e-01 4.98745894e+01] [ 1.70227888e-01 9.84957061e-01 -2.96993840e-02 2.79916771e+00] [ 1.94596938e-01 -4.05545110e-03 9.80874908e-01 4.86383157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:2.80, Z:4.87 [[ 9.66582419e-01 -1.73954983e-01 -1.88303190e-01 4.99006202e+01] [ 1.70800823e-01 9.84753564e-01 -3.29772252e-02 2.80461998e+00] [ 1.91168790e-01 -2.87133768e-04 9.81557136e-01 4.86874751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:2.81, Z:4.87 [[ 9.65771821e-01 -1.77044226e-01 -1.89578829e-01 4.99289188e+01] [ 1.73732000e-01 9.84202897e-01 -3.40859259e-02 2.80668034e+00] [ 1.92618749e-01 -1.66823518e-05 9.81273671e-01 4.87369244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:2.80, Z:4.87 [[ 9.65548669e-01 -1.78063355e-01 -1.89760929e-01 4.99591061e+01] [ 1.75761132e-01 9.84004642e-01 -2.90325362e-02 2.80316466e+00] [ 1.91895266e-01 -5.32026899e-03 9.81400989e-01 4.87409096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:2.81, Z:4.88 [[ 9.65732173e-01 -1.79509660e-01 -1.87450399e-01 4.99877754e+01] [ 1.76193460e-01 9.83756201e-01 -3.43453398e-02 2.80717423e+00] [ 1.90570813e-01 1.40865169e-04 9.81673441e-01 4.87942154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:2.81, Z:4.88 [[ 9.65559591e-01 -1.79362321e-01 -1.88477674e-01 5.00159521e+01] [ 1.77097789e-01 9.83768008e-01 -2.89288610e-02 2.80775395e+00] [ 1.90607053e-01 -5.44644001e-03 9.81651307e-01 4.88199176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:2.81, Z:4.89 [[ 9.65224902e-01 -1.77243370e-01 -1.92160550e-01 5.00446038e+01] [ 1.75861020e-01 9.84113413e-01 -2.43657836e-02 2.81022113e+00] [ 1.93426448e-01 -1.02750892e-02 9.81060972e-01 4.88989070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:2.82, Z:4.90 [[ 9.65140819e-01 -1.77596402e-01 -1.92256905e-01 5.00698881e+01] [ 1.75506302e-01 9.84080394e-01 -2.79877709e-02 2.81783477e+00] [ 1.94166779e-01 -6.73015829e-03 9.80945446e-01 4.89848539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:2.82, Z:4.90 [[ 9.65434991e-01 -1.76453431e-01 -1.91831866e-01 5.00969057e+01] [ 1.74345154e-01 9.84287795e-01 -2.79518063e-02 2.82389269e+00] [ 1.93749956e-01 -6.45930420e-03 9.81029679e-01 4.90408345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:2.83, Z:4.91 [[ 9.67699558e-01 -1.76166593e-01 -1.80341056e-01 5.01211398e+01] [ 1.72383583e-01 9.84350990e-01 -3.65654007e-02 2.83128975e+00] [ 1.83960499e-01 4.29648468e-03 9.82924247e-01 4.90607168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:2.82, Z:4.91 [[ 9.65721453e-01 -1.73951470e-01 -1.92673197e-01 5.01533101e+01] [ 1.73366057e-01 9.84653813e-01 -2.00269533e-02 2.82414847e+00] [ 1.93200116e-01 -1.40625341e-02 9.81058592e-01 4.90720272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:2.83, Z:4.92 [[ 9.65634742e-01 -1.75361505e-01 -1.91827752e-01 5.01788758e+01] [ 1.73205277e-01 9.84485185e-01 -2.80865053e-02 2.83162386e+00] [ 1.93776872e-01 -6.10427360e-03 9.81026637e-01 4.91597498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:2.84, Z:4.92 [[ 9.65700431e-01 -1.75264239e-01 -1.91585814e-01 5.02057998e+01] [ 1.73100666e-01 9.84503017e-01 -2.81063834e-02 2.83676743e+00] [ 1.93542856e-01 -6.02128544e-03 9.81073344e-01 4.92178064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:2.84, Z:4.93 [[ 9.66051251e-01 -1.74814265e-01 -1.90223431e-01 5.02322419e+01] [ 1.72662209e-01 9.84584152e-01 -2.79608642e-02 2.84216420e+00] [ 1.92178933e-01 -5.83277003e-03 9.81342568e-01 4.92725949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:2.85, Z:4.93 [[ 9.66123342e-01 -1.74830215e-01 -1.89842261e-01 5.02585502e+01] [ 1.72676407e-01 9.84581696e-01 -2.79596450e-02 2.84583564e+00] [ 1.91803406e-01 -5.76881389e-03 9.81416412e-01 4.93169692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:2.86, Z:4.94 [[ 9.67272883e-01 -1.78615855e-01 -1.80220825e-01 5.02850016e+01] [ 1.72865197e-01 9.83811222e-01 -4.72557243e-02 2.85885397e+00] [ 1.85743892e-01 1.45552723e-02 9.82490382e-01 4.93702913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:2.85, Z:4.93 [[ 9.65921111e-01 -1.72358280e-01 -1.93103677e-01 5.03169304e+01] [ 1.74039307e-01 9.84703256e-01 -8.35571508e-03 2.84554440e+00] [ 1.91589997e-01 -2.55366686e-02 9.81142779e-01 4.93406576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:2.86, Z:4.95 [[ 9.65695539e-01 -1.77204157e-01 -1.89817843e-01 5.03403157e+01] [ 1.75074647e-01 9.84155033e-01 -2.80666855e-02 2.85800134e+00] [ 1.91783719e-01 -6.12841884e-03 9.81418080e-01 4.94764827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:2.86, Z:4.95 [[ 9.65341569e-01 -1.78093285e-01 -1.90783743e-01 5.03656602e+01] [ 1.77346464e-01 9.83921768e-01 -2.11231091e-02 2.86123296e+00] [ 1.91478161e-01 -1.34438070e-02 9.81404798e-01 4.94939027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:2.87, Z:4.96 [[ 9.65547678e-01 -1.80753951e-01 -1.87204943e-01 5.03932695e+01] [ 1.77118752e-01 9.83526865e-01 -3.61089133e-02 2.86962072e+00] [ 1.90647920e-01 1.70737159e-03 9.81656995e-01 4.96173999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:2.87, Z:4.96 [[ 9.65406017e-01 -1.79907836e-01 -1.88744252e-01 5.04208391e+01] [ 1.77835676e-01 9.83661769e-01 -2.79999440e-02 2.86982948e+00] [ 1.90697914e-01 -6.53414713e-03 9.81627022e-01 4.96371209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:2.87, Z:4.97 [[ 9.64916402e-01 -1.81576730e-01 -1.89647644e-01 5.04483272e+01] [ 1.79511525e-01 9.83352765e-01 -2.81594000e-02 2.87340805e+00] [ 1.91603627e-01 -6.87247093e-03 9.81448327e-01 4.96820372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:2.88, Z:4.97 [[ 9.63937986e-01 -1.83336891e-01 -1.92901903e-01 5.04728476e+01] [ 1.82916872e-01 9.82922039e-01 -2.01415867e-02 2.87685013e+00] [ 1.93300228e-01 -1.58697721e-02 9.81011301e-01 4.96985987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:2.88, Z:4.98 [[ 9.63525919e-01 -1.84828653e-01 -1.93535971e-01 5.04996613e+01] [ 1.83392576e-01 9.82709737e-01 -2.54702870e-02 2.88312911e+00] [ 1.94897322e-01 -1.09517785e-02 9.80762506e-01 4.97817147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:2.89, Z:4.99 [[ 9.64569783e-01 -1.85407383e-01 -1.87694528e-01 5.05294306e+01] [ 1.80356198e-01 9.82625919e-01 -4.37943604e-02 2.89201975e+00] [ 1.92553305e-01 8.39084537e-03 9.81250640e-01 4.98866950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:2.89, Z:4.99 [[ 9.64142294e-01 -1.84626041e-01 -1.90638040e-01 5.05531559e+01] [ 1.83439846e-01 9.82737723e-01 -2.40081198e-02 2.89167259e+00] [ 1.91779717e-01 -1.18233690e-02 9.81366775e-01 4.98531735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:2.90, Z:5.00 [[ 9.65024727e-01 -1.82900105e-01 -1.87815939e-01 5.05832371e+01] [ 1.79436393e-01 9.83131381e-01 -3.54297792e-02 2.89931189e+00] [ 1.91127854e-01 4.89598411e-04 9.81565028e-01 4.99780675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:2.90, Z:5.00 [[ 9.65233080e-01 -1.81198353e-01 -1.88393889e-01 5.06107406e+01] [ 1.79122737e-01 9.83424473e-01 -2.81309738e-02 2.90137412e+00] [ 1.90368447e-01 -6.59268262e-03 9.81690578e-01 5.00045659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:2.91, Z:5.01 [[ 9.65353844e-01 -1.80741022e-01 -1.88214343e-01 5.06377325e+01] [ 1.78650205e-01 9.83509630e-01 -2.81587118e-02 2.90586960e+00] [ 1.90200053e-01 -6.44141020e-03 9.81724222e-01 5.00611717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.66, Y:2.91, Z:5.01 [[ 9.65130714e-01 -1.80818984e-01 -1.89280745e-01 5.06610315e+01] [ 1.80049218e-01 9.83424764e-01 -2.14012105e-02 2.90953723e+00] [ 1.90013118e-01 -1.34248846e-02 9.81689761e-01 5.00739445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:2.92, Z:5.02 [[ 9.66052000e-01 -1.80596582e-01 -1.84738755e-01 5.06903067e+01] [ 1.76807773e-01 9.83552667e-01 -3.69210410e-02 2.91652373e+00] [ 1.88368109e-01 3.00439760e-03 9.82093900e-01 5.01827670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:2.92, Z:5.02 [[ 9.66624359e-01 -1.77213454e-01 -1.85020919e-01 5.07188069e+01] [ 1.75107854e-01 9.84156887e-01 -2.77932049e-02 2.91665875e+00] [ 1.87014942e-01 -5.53302727e-03 9.82341487e-01 5.01883300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:2.92, Z:5.02 [[ 9.66887851e-01 -1.76448786e-01 -1.84373833e-01 5.07449984e+01] [ 1.74334200e-01 9.84295484e-01 -2.77486435e-02 2.92049822e+00] [ 1.86374546e-01 -5.31283835e-03 9.82464403e-01 5.02372595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:2.92, Z:5.03 [[ 9.66929510e-01 -1.76167337e-01 -1.84424488e-01 5.07719764e+01] [ 1.74042050e-01 9.84346305e-01 -2.77797902e-02 2.92468454e+00] [ 1.86431455e-01 -5.23651690e-03 9.82454015e-01 5.02927485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:2.93, Z:5.03 [[ 9.66461623e-01 -1.78503167e-01 -1.84630852e-01 5.07942007e+01] [ 1.76307068e-01 9.83925999e-01 -2.83803700e-02 2.93302081e+00] [ 1.86729081e-01 -5.12318576e-03 9.82398088e-01 5.03404036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:2.93, Z:5.04 [[ 9.66431184e-01 -1.77214899e-01 -1.86025930e-01 5.08236224e+01] [ 1.75799406e-01 9.84128205e-01 -2.42124971e-02 2.93479352e+00] [ 1.87364180e-01 -9.30353564e-03 9.82246460e-01 5.03871283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:2.94, Z:5.05 [[ 9.66473031e-01 -1.81692289e-01 -1.81432609e-01 5.08472410e+01] [ 1.77664639e-01 9.83343575e-01 -3.83495706e-02 2.94330935e+00] [ 1.85378411e-01 4.82966683e-03 9.82655341e-01 5.04573289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:2.94, Z:5.05 [[ 9.66262300e-01 -1.80891796e-01 -1.83344829e-01 5.08759388e+01] [ 1.78838111e-01 9.83485236e-01 -2.78158177e-02 2.94157420e+00] [ 1.85348586e-01 -5.91166702e-03 9.82655053e-01 5.04614737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:2.94, Z:5.05 [[ 9.66437952e-01 -1.79371763e-01 -1.83911542e-01 5.09079934e+01] [ 1.76964077e-01 9.83773320e-01 -2.95596187e-02 2.94214570e+00] [ 1.86229429e-01 -3.97819889e-03 9.82498231e-01 5.05377086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:2.95, Z:5.06 [[ 9.65141326e-01 -1.84582190e-01 -1.85557635e-01 5.09301296e+01] [ 1.82331504e-01 9.82801241e-01 -2.92735778e-02 2.94912488e+00] [ 1.87769655e-01 -5.57986290e-03 9.82197242e-01 5.05733589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:2.95, Z:5.06 [[ 9.64754473e-01 -1.85417444e-01 -1.86732907e-01 5.09610670e+01] [ 1.83555250e-01 9.82628318e-01 -2.73689472e-02 2.95235503e+00] [ 1.88563723e-01 -7.87149118e-03 9.82029410e-01 5.06303898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:2.96, Z:5.07 [[ 9.64467283e-01 -1.89051783e-01 -1.84559703e-01 5.09848107e+01] [ 1.85743957e-01 9.81967067e-01 -3.52116705e-02 2.96007609e+00] [ 1.87888379e-01 -3.20345303e-04 9.82190335e-01 5.06963072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:2.96, Z:5.07 [[ 9.64257349e-01 -1.89841764e-01 -1.84845530e-01 5.10118570e+01] [ 1.87419712e-01 9.81801526e-01 -3.06531558e-02 2.96162862e+00] [ 1.87300873e-01 -5.08616523e-03 9.82289425e-01 5.07246519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:2.96, Z:5.08 [[ 9.63678807e-01 -1.90232416e-01 -1.87442749e-01 5.10407576e+01] [ 1.89225199e-01 9.81654351e-01 -2.34213632e-02 2.96260006e+00] [ 1.88459492e-01 -1.28982201e-02 9.81996261e-01 5.07713489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.07, Y:2.97, Z:5.09 [[ 9.63852889e-01 -1.93086810e-01 -1.83589467e-01 5.10663808e+01] [ 1.89625388e-01 9.81181640e-01 -3.63978144e-02 2.97246537e+00] [ 1.87162552e-01 2.68914752e-04 9.82328920e-01 5.08648010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:2.98, Z:5.09 [[ 9.64421522e-01 -1.92331574e-01 -1.81382728e-01 5.10951461e+01] [ 1.89068486e-01 9.81329961e-01 -3.52790944e-02 2.97517203e+00] [ 1.84781589e-01 -2.69839898e-04 9.82779574e-01 5.08991991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:2.97, Z:5.09 [[ 9.64683018e-01 -1.87755840e-01 -1.84755025e-01 5.11278198e+01] [ 1.86740081e-01 9.82139068e-01 -2.30432722e-02 2.97026351e+00] [ 1.85781638e-01 -1.22717151e-02 9.82514421e-01 5.09325032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:2.98, Z:5.10 [[ 9.64849265e-01 -1.91535989e-01 -1.79944048e-01 5.11500668e+01] [ 1.87744936e-01 9.81481276e-01 -3.80308425e-02 2.98276906e+00] [ 1.83895988e-01 2.91044680e-03 9.82941399e-01 5.10014562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:2.98, Z:5.10 [[ 9.64705713e-01 -1.90041714e-01 -1.82282843e-01 5.11768201e+01] [ 1.88067934e-01 9.81750624e-01 -2.82163768e-02 2.98326261e+00] [ 1.84318584e-01 -7.06105769e-03 9.82841188e-01 5.10198605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.20, Y:2.99, Z:5.11 [[ 9.65038274e-01 -1.90212772e-01 -1.80333668e-01 5.12041438e+01] [ 1.87306216e-01 9.81741303e-01 -3.31722133e-02 2.98950913e+00] [ 1.83350789e-01 -1.76516153e-03 9.83045967e-01 5.10898005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.23, Y:2.99, Z:5.11 [[ 9.65894326e-01 -1.89597724e-01 -1.76354343e-01 5.12335742e+01] [ 1.86295883e-01 9.81861130e-01 -3.52500491e-02 2.99334229e+00] [ 1.79838803e-01 1.19373446e-03 9.83695369e-01 5.11332657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.26, Y:2.99, Z:5.12 [[ 9.65793850e-01 -1.88916056e-01 -1.77631536e-01 5.12621647e+01] [ 1.87148366e-01 9.81965731e-01 -2.68102847e-02 2.99308822e+00] [ 1.79492974e-01 -7.35024365e-03 9.83731796e-01 5.11505188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:2.99, Z:5.12 [[ 9.65985832e-01 -1.88354471e-01 -1.77183426e-01 5.12882384e+01] [ 1.87413277e-01 9.82030537e-01 -2.21875838e-02 2.99380589e+00] [ 1.78178665e-01 -1.17736348e-02 9.83927713e-01 5.11717458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:3.00, Z:5.13 [[ 9.64862230e-01 -1.91697299e-01 -1.79702593e-01 5.13164630e+01] [ 1.88344267e-01 9.81453913e-01 -3.57022933e-02 3.00244900e+00] [ 1.83213847e-01 6.01841115e-04 9.83072899e-01 5.12651021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:3.00, Z:5.13 [[ 9.64701526e-01 -1.90921955e-01 -1.81382946e-01 5.13452625e+01] [ 1.88597117e-01 9.81591820e-01 -3.01434251e-02 3.00395316e+00] [ 1.83799058e-01 -5.12889238e-03 9.82950457e-01 5.12863284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:3.01, Z:5.13 [[ 9.64949604e-01 -1.90703021e-01 -1.80290375e-01 5.13717784e+01] [ 1.88313784e-01 9.81637097e-01 -3.04389425e-02 3.00874945e+00] [ 1.82784519e-01 -4.57911720e-03 9.83142335e-01 5.13405466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:3.01, Z:5.14 [[ 9.65134282e-01 -1.90480315e-01 -1.79535699e-01 5.14002143e+01] [ 1.88051929e-01 9.81681951e-01 -3.06107556e-02 3.01374306e+00] [ 1.82077701e-01 -4.21854485e-03 9.83275096e-01 5.13967887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:3.02, Z:5.14 [[ 9.65016597e-01 -1.89191899e-01 -1.81519678e-01 5.14281241e+01] [ 1.87979188e-01 9.81879191e-01 -2.40224786e-02 3.01566068e+00] [ 1.82775253e-01 -1.09398311e-02 9.83093855e-01 5.14362790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:3.02, Z:5.15 [[ 9.65201984e-01 -1.89167539e-01 -1.80556840e-01 5.14558143e+01] [ 1.87008953e-01 9.81928201e-01 -2.90630293e-02 3.02146804e+00] [ 1.82791635e-01 -5.71405205e-03 9.83135071e-01 5.15122421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:3.02, Z:5.16 [[ 9.64646157e-01 -1.88290979e-01 -1.84402544e-01 5.14836476e+01] [ 1.87449351e-01 9.82024555e-01 -2.21475726e-02 3.02373336e+00] [ 1.85258014e-01 -1.32015665e-02 9.82601235e-01 5.15611719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:3.03, Z:5.16 [[ 9.64177022e-01 -1.88111925e-01 -1.87020249e-01 5.15094572e+01] [ 1.87289911e-01 9.82053372e-01 -2.22185613e-02 3.02914929e+00] [ 1.87843443e-01 -1.36043796e-02 9.82104761e-01 5.16343012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:3.04, Z:5.17 [[ 9.64182928e-01 -1.87309292e-01 -1.87793796e-01 5.15355543e+01] [ 1.85584785e-01 9.82260398e-01 -2.68849079e-02 3.03771749e+00] [ 1.89498202e-01 -8.92970192e-03 9.81840462e-01 5.17132629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:3.05, Z:5.18 [[ 9.64566197e-01 -1.87808669e-01 -1.85310428e-01 5.15616802e+01] [ 1.84604442e-01 9.82205239e-01 -3.45552816e-02 3.04529326e+00] [ 1.88502655e-01 -8.78271708e-04 9.82072287e-01 5.17836441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:3.05, Z:5.18 [[ 9.64552252e-01 -1.87172610e-01 -1.86025181e-01 5.15899284e+01] [ 1.84735870e-01 9.82314617e-01 -3.05065780e-02 3.04776048e+00] [ 1.88445251e-01 -4.94033518e-03 9.82071271e-01 5.18198294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.62, Y:3.05, Z:5.19 [[ 9.65182065e-01 -1.85840711e-01 -1.84083710e-01 5.16182859e+01] [ 1.83261812e-01 9.82572770e-01 -3.10782959e-02 3.05257556e+00] [ 1.86651253e-01 -3.73930046e-03 9.82419120e-01 5.18773680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:3.05, Z:5.20 [[ 9.65017323e-01 -1.82751695e-01 -1.87998364e-01 5.16481942e+01] [ 1.81555788e-01 9.83094733e-01 -2.37116347e-02 3.05185649e+00] [ 1.89153543e-01 -1.12500529e-02 9.81883075e-01 5.19520415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:3.06, Z:5.20 [[ 9.65432167e-01 -1.82687695e-01 -1.85919169e-01 5.16733661e+01] [ 1.80531854e-01 9.83153017e-01 -2.86075905e-02 3.05978165e+00] [ 1.88013246e-01 -5.94564413e-03 9.82148496e-01 5.20466042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.70, Y:3.07, Z:5.21 [[ 9.65739803e-01 -1.82948055e-01 -1.84056085e-01 5.17006309e+01] [ 1.80829902e-01 9.83104995e-01 -2.83745722e-02 3.06657135e+00] [ 1.86137529e-01 -5.88038995e-03 9.82506102e-01 5.20748757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.73, Y:3.07, Z:5.21 [[ 9.65562436e-01 -1.81690586e-01 -1.86219530e-01 5.17261120e+01] [ 1.79487799e-01 9.83339528e-01 -2.87663658e-02 3.07031929e+00] [ 1.88343602e-01 -5.64841122e-03 9.82086953e-01 5.21473122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:3.08, Z:5.22 [[ 9.65932826e-01 -1.81122424e-01 -1.84847079e-01 5.17528361e+01] [ 1.78937168e-01 9.83445341e-01 -2.85788625e-02 3.07534332e+00] [ 1.86963271e-01 -5.47075137e-03 9.82351671e-01 5.21855291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:3.08, Z:5.22 [[ 9.65969802e-01 -1.81398061e-01 -1.84382984e-01 5.17801187e+01] [ 1.79224305e-01 9.83394451e-01 -2.85307246e-02 3.07990985e+00] [ 1.86496621e-01 -5.48609375e-03 9.82440285e-01 5.22400591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:3.08, Z:5.23 [[ 9.65985416e-01 -1.81792594e-01 -1.83912012e-01 5.18075451e+01] [ 1.79626895e-01 9.83321550e-01 -2.85115363e-02 3.08429671e+00] [ 1.86027831e-01 -5.49381550e-03 9.82529116e-01 5.22867398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:3.09, Z:5.23 [[ 9.66066693e-01 -1.82786905e-01 -1.82494086e-01 5.18352550e+01] [ 1.80662246e-01 9.83136681e-01 -2.83446602e-02 3.08924768e+00] [ 1.84597663e-01 -5.58695933e-03 9.82798295e-01 5.23030171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:3.09, Z:5.24 [[ 9.65429719e-01 -1.82691269e-01 -1.85928369e-01 5.18611663e+01] [ 1.80472533e-01 9.83154277e-01 -2.89367089e-02 3.09174209e+00] [ 1.88082755e-01 -5.61860504e-03 9.82137113e-01 5.23730379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:3.10, Z:5.24 [[ 9.65385909e-01 -1.85707574e-01 -1.83146783e-01 5.18865511e+01] [ 1.81585776e-01 9.82594463e-01 -3.91755975e-02 3.10148160e+00] [ 1.87234220e-01 4.56271921e-03 9.82304702e-01 5.24006621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:3.10, Z:5.24 [[ 9.64571723e-01 -1.82442143e-01 -1.90568246e-01 5.19177092e+01] [ 1.81981082e-01 9.83097204e-01 -2.00692143e-02 3.09865703e+00] [ 1.91008580e-01 -1.53216189e-02 9.81468782e-01 5.24153829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:3.11, Z:5.25 [[ 9.65409789e-01 -1.84400033e-01 -1.84338188e-01 5.19412854e+01] [ 1.80580539e-01 9.82847104e-01 -3.74464910e-02 3.11161612e+00] [ 1.88081389e-01 2.86331951e-03 9.82149272e-01 5.25189523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:3.11, Z:5.25 [[ 9.65420859e-01 -1.83765474e-01 -1.84912996e-01 5.19711271e+01] [ 1.81730829e-01 9.82948410e-01 -2.80415480e-02 3.11236833e+00] [ 1.86913003e-01 -6.53249672e-03 9.82354750e-01 5.25323172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:3.12, Z:5.26 [[ 9.65370641e-01 -1.82814273e-01 -1.86114121e-01 5.19955678e+01] [ 1.81174406e-01 9.83109086e-01 -2.59298978e-02 3.11505344e+00] [ 1.87710839e-01 -8.68715336e-03 9.82185916e-01 5.25787755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:3.12, Z:5.26 [[ 9.65621476e-01 -1.81938228e-01 -1.85670800e-01 5.20258838e+01] [ 1.80163587e-01 9.83278775e-01 -2.65317360e-02 3.11723129e+00] [ 1.87393293e-01 -7.83150320e-03 9.82253746e-01 5.26380457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:3.12, Z:5.27 [[ 9.65528493e-01 -1.80888097e-01 -1.87174320e-01 5.20518066e+01] [ 1.78561533e-01 9.83490596e-01 -2.93603039e-02 3.11978520e+00] [ 1.89395113e-01 -5.07392356e-03 9.81887848e-01 5.27311507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.08, Y:3.12, Z:5.28 [[ 9.65789777e-01 -1.79279439e-01 -1.87373929e-01 5.20773898e+01] [ 1.76913054e-01 9.83786780e-01 -2.94167049e-02 3.12428272e+00] [ 1.89609804e-01 -4.73854104e-03 9.81848088e-01 5.27865192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:3.13, Z:5.28 [[ 9.65869342e-01 -1.78518714e-01 -1.87689860e-01 5.21040022e+01] [ 1.76122792e-01 9.83925952e-01 -2.95039412e-02 3.12892579e+00] [ 1.89939930e-01 -4.55950988e-03 9.81785126e-01 5.28455054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:3.13, Z:5.29 [[ 9.65958782e-01 -1.78054438e-01 -1.87670584e-01 5.21308778e+01] [ 1.75639716e-01 9.84010744e-01 -2.95558001e-02 3.13381784e+00] [ 1.89932413e-01 -4.41272342e-03 9.81787251e-01 5.29017862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:3.14, Z:5.30 [[ 9.66071456e-01 -1.77450732e-01 -1.87662407e-01 5.21569095e+01] [ 1.75014457e-01 9.84120554e-01 -2.96087075e-02 3.13773934e+00] [ 1.89936519e-01 -4.23950709e-03 9.81787220e-01 5.29620055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:3.14, Z:5.30 [[ 9.66111039e-01 -1.77199886e-01 -1.87695658e-01 5.21841470e+01] [ 1.74753399e-01 9.84166062e-01 -2.96380095e-02 3.14119601e+00] [ 1.89975548e-01 -4.16684594e-03 9.81779980e-01 5.30133935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:3.14, Z:5.31 [[ 9.66334169e-01 -1.76887647e-01 -1.86839592e-01 5.22111160e+01] [ 1.74447435e-01 9.84222791e-01 -2.95565688e-02 3.14349879e+00] [ 1.89119976e-01 -4.03216514e-03 9.81945709e-01 5.30605092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:3.15, Z:5.31 [[ 9.66366548e-01 -1.77110040e-01 -1.86461067e-01 5.22377361e+01] [ 1.74679335e-01 9.84182749e-01 -2.95202679e-02 3.14717621e+00] [ 1.88740101e-01 -4.04349570e-03 9.82018750e-01 5.31154086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:3.15, Z:5.32 [[ 9.66276550e-01 -1.77549946e-01 -1.86509104e-01 5.22647479e+01] [ 1.75115726e-01 9.84103348e-01 -2.95818124e-02 3.15100067e+00] [ 1.88796483e-01 -4.07646553e-03 9.82007775e-01 5.31685072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:3.15, Z:5.32 [[ 9.66115751e-01 -1.78165219e-01 -1.86755218e-01 5.22913034e+01] [ 1.75725618e-01 9.83991840e-01 -2.96743173e-02 3.15444692e+00] [ 1.89052542e-01 -4.14885092e-03 9.81958209e-01 5.32129954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:3.16, Z:5.32 [[ 9.66007156e-01 -1.81517319e-01 -1.84069651e-01 5.23175437e+01] [ 1.78113636e-01 9.83387212e-01 -3.50017686e-02 3.16070525e+00] [ 1.87365168e-01 1.02664415e-03 9.82289794e-01 5.32326450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:3.16, Z:5.33 [[ 9.66031973e-01 -1.80640328e-01 -1.84800702e-01 5.23454399e+01] [ 1.78826141e-01 9.83521604e-01 -2.65794202e-02 3.16114194e+00] [ 1.86556798e-01 -7.37062661e-03 9.82416528e-01 5.32568217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:3.16, Z:5.34 [[ 9.64499919e-01 -1.82643428e-01 -1.90738783e-01 5.23721240e+01] [ 1.80413147e-01 9.83159025e-01 -2.91449331e-02 3.16474138e+00] [ 1.92849687e-01 -6.30149856e-03 9.81208076e-01 5.33686363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:52.40, Y:3.17, Z:5.34 [[ 9.64268050e-01 -1.84064798e-01 -1.90544688e-01 5.23979825e+01] [ 1.81609547e-01 9.82899991e-01 -3.04233297e-02 3.16915199e+00] [ 1.92886236e-01 -5.26848978e-03 9.81206983e-01 5.34075043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:3.17, Z:5.35 [[ 9.63824385e-01 -1.85881616e-01 -1.91025077e-01 5.24249191e+01] [ 1.83444401e-01 9.82556062e-01 -3.05243777e-02 3.17094327e+00] [ 1.93366768e-01 -5.62234117e-03 9.81110433e-01 5.34776696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:3.17, Z:5.35 [[ 9.63646771e-01 -1.86640067e-01 -1.91181551e-01 5.24519514e+01] [ 1.84202916e-01 9.82411679e-01 -3.06035601e-02 3.17450787e+00] [ 1.93530839e-01 -5.72517739e-03 9.81077488e-01 5.35309514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:3.19, Z:5.36 [[ 9.65109328e-01 -1.89648832e-01 -1.80547238e-01 5.24774436e+01] [ 1.84707020e-01 9.81810029e-01 -4.39588974e-02 3.18583430e+00] [ 1.85599843e-01 9.07679961e-03 9.82583488e-01 5.35577104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:3.19, Z:5.36 [[ 9.65539722e-01 -1.86860476e-01 -1.81152443e-01 5.25060667e+01] [ 1.84047949e-01 9.82384240e-01 -3.23660054e-02 3.18540738e+00] [ 1.84009232e-01 -2.09007166e-03 9.82922293e-01 5.35749113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:3.19, Z:5.36 [[ 9.65173632e-01 -1.86611953e-01 -1.83346226e-01 5.25329397e+01] [ 1.83865150e-01 9.82429703e-01 -3.20231890e-02 3.18947500e+00] [ 1.86100688e-01 -2.80304369e-03 9.82526680e-01 5.36323700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:3.19, Z:5.37 [[ 9.65205558e-01 -1.85995714e-01 -1.83803770e-01 5.25613303e+01] [ 1.83506657e-01 9.82541661e-01 -3.06135904e-02 3.19239570e+00] [ 1.86288858e-01 -4.18080777e-03 9.82486123e-01 5.36725297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:3.19, Z:5.37 [[ 9.64359527e-01 -1.81378661e-01 -1.92646006e-01 5.25929423e+01] [ 1.81895196e-01 9.83201147e-01 -1.51539230e-02 3.18591001e+00] [ 1.92158372e-01 -2.04275529e-02 9.81151301e-01 5.37345531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:3.20, Z:5.38 [[ 9.64645773e-01 -1.86477862e-01 -1.86237858e-01 5.26158682e+01] [ 1.83560321e-01 9.82456218e-01 -3.29452191e-02 3.19921410e+00] [ 1.89114095e-01 -2.40541460e-03 9.81952174e-01 5.38235219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:3.20, Z:5.39 [[ 9.64502088e-01 -1.84308343e-01 -1.89119424e-01 5.26455417e+01] [ 1.82221201e-01 9.82843869e-01 -2.85195198e-02 3.19868770e+00] [ 1.91131252e-01 -6.95443224e-03 9.81539852e-01 5.39005564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:3.21, Z:5.40 [[ 9.64485217e-01 -1.86973858e-01 -1.86571817e-01 5.26696162e+01] [ 1.84232078e-01 9.82358915e-01 -3.20858813e-02 3.20718509e+00] [ 1.89279709e-01 -3.42615535e-03 9.81917233e-01 5.39560161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:3.21, Z:5.40 [[ 9.64411289e-01 -1.85569529e-01 -1.88347594e-01 5.26987618e+01] [ 1.83335177e-01 9.82611554e-01 -2.93725490e-02 3.20756491e+00] [ 1.90523172e-01 -6.20352173e-03 9.81663098e-01 5.40279935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:3.21, Z:5.40 [[ 9.63926832e-01 -1.88629285e-01 -1.87787260e-01 5.27270007e+01] [ 1.86030351e-01 9.82037877e-01 -3.15327876e-02 3.21075390e+00] [ 1.90362209e-01 -4.53882987e-03 9.81703432e-01 5.40418240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:3.21, Z:5.41 [[ 9.63354118e-01 -1.88572964e-01 -1.90759219e-01 5.27543364e+01] [ 1.86342392e-01 9.82034909e-01 -2.97313182e-02 3.20970139e+00] [ 1.92938735e-01 -6.90474132e-03 9.81186511e-01 5.40916170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:3.21, Z:5.41 [[ 9.62842019e-01 -1.89741992e-01 -1.92180183e-01 5.27805661e+01] [ 1.87284139e-01 9.81815040e-01 -3.10463997e-02 3.21343990e+00] [ 1.94576200e-01 -6.09952199e-03 9.80868441e-01 5.41496185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.81, Y:3.22, Z:5.42 [[ 9.62582794e-01 -1.89704492e-01 -1.93511166e-01 5.28077391e+01] [ 1.87206418e-01 9.81822220e-01 -3.12871272e-02 3.21986079e+00] [ 1.95928871e-01 -6.11008193e-03 9.80599074e-01 5.41907910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:3.23, Z:5.43 [[ 9.62348878e-01 -1.89696863e-01 -1.94678551e-01 5.28333321e+01] [ 1.87156725e-01 9.81823823e-01 -3.15331840e-02 3.22539655e+00] [ 1.97121785e-01 -6.08947578e-03 9.80360097e-01 5.42802407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:3.24, Z:5.43 [[ 9.63226334e-01 -1.91507540e-01 -1.88467214e-01 5.28578302e+01] [ 1.85526503e-01 9.81414316e-01 -4.90495292e-02 3.23813257e+00] [ 1.94357777e-01 1.22801350e-02 9.80853839e-01 5.43202223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:3.23, Z:5.43 [[ 9.63571775e-01 -1.87242921e-01 -1.90969954e-01 5.28888022e+01] [ 1.84309812e-01 9.82308312e-01 -3.31703724e-02 3.23412739e+00] [ 1.93802291e-01 -3.23560177e-03 9.81035271e-01 5.43046187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:3.24, Z:5.44 [[ 9.63994543e-01 -1.85437565e-01 -1.90597563e-01 5.29158929e+01] [ 1.83295791e-01 9.82631015e-01 -2.89644841e-02 3.23651267e+00] [ 1.92658180e-01 -7.01412654e-03 9.81240861e-01 5.43631255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:3.25, Z:5.45 [[ 9.64572125e-01 -1.85354663e-01 -1.87734557e-01 5.29425411e+01] [ 1.80817785e-01 9.82654810e-01 -4.11637363e-02 3.24756034e+00] [ 1.92108156e-01 5.75964587e-03 9.81356858e-01 5.44771037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:3.24, Z:5.45 [[ 9.63540337e-01 -1.78091017e-01 -1.99683771e-01 5.29733298e+01] [ 1.80080291e-01 9.83616840e-01 -8.30663031e-03 3.23756259e+00] [ 1.97891657e-01 -2.79553382e-02 9.79825184e-01 5.45042008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:3.26, Z:5.46 [[ 9.65044079e-01 -1.84851342e-01 -1.85795338e-01 5.29942570e+01] [ 1.78721061e-01 9.82660446e-01 -4.93683012e-02 3.26183868e+00] [ 1.91699527e-01 1.44370466e-02 9.81347473e-01 5.46493711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:3.25, Z:5.46 [[ 9.64622998e-01 -1.75878463e-01 -1.96390523e-01 5.30266976e+01] [ 1.76602369e-01 9.84183253e-01 -1.39616258e-02 3.24835375e+00] [ 1.95739813e-01 -2.12153262e-02 9.80426354e-01 5.46299990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:3.26, Z:5.47 [[ 9.64725924e-01 -1.78895474e-01 -1.93132857e-01 5.30505590e+01] [ 1.76125387e-01 9.83861620e-01 -3.15620238e-02 3.25905445e+00] [ 1.95662308e-01 -3.56689657e-03 9.80664845e-01 5.47460476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:3.26, Z:5.48 [[ 9.64652763e-01 -1.78912784e-01 -1.93481942e-01 5.30781974e+01] [ 1.76127982e-01 9.83858525e-01 -3.16438976e-02 3.26255917e+00] [ 1.96020356e-01 -3.55221083e-03 9.80593393e-01 5.47953954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.10, Y:3.28, Z:5.49 [[ 9.66039609e-01 -1.83481167e-01 -1.81939921e-01 5.31026282e+01] [ 1.76162723e-01 9.82781513e-01 -5.57421958e-02 3.27935205e+00] [ 1.89034834e-01 2.17981372e-02 9.81728411e-01 5.48535440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:3.27, Z:5.48 [[ 9.65350608e-01 -1.78491889e-01 -1.90365041e-01 5.31319516e+01] [ 1.77175667e-01 9.83885269e-01 -2.40532725e-02 3.27175926e+00] [ 1.91590674e-01 -1.05082120e-02 9.81418663e-01 5.48075932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:3.28, Z:5.49 [[ 9.65476959e-01 -1.81194792e-01 -1.87143498e-01 5.31583961e+01] [ 1.77092260e-01 9.83438750e-01 -3.85558816e-02 3.28312099e+00] [ 1.91030293e-01 4.08315014e-03 9.81575649e-01 5.49083707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:3.27, Z:5.49 [[ 9.63788108e-01 -1.77224304e-01 -1.99258698e-01 5.31902009e+01] [ 1.79102738e-01 9.83791856e-01 -8.70596315e-03 3.27179795e+00] [ 1.97571993e-01 -2.72970746e-02 9.79908250e-01 5.49311971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740385722999996 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:53.21, Y:3.30, Z:5.51 [[ 9.63960519e-01 -1.88275105e-01 -1.87969688e-01 5.32073647e+01] [ 1.81501689e-01 9.81973328e-01 -5.27780255e-02 3.29687516e+00] [ 1.94518008e-01 1.67591170e-02 9.80755768e-01 5.51005809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:3.28, Z:5.50 [[ 9.62743243e-01 -1.81538253e-01 -2.00422831e-01 5.32443265e+01] [ 1.82436311e-01 9.83116002e-01 -1.41392853e-02 3.28101123e+00] [ 1.99605713e-01 -2.29519004e-02 9.79607457e-01 5.50465421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:3.29, Z:5.52 [[ 9.62365959e-01 -1.86093206e-01 -1.98043127e-01 5.32679252e+01] [ 1.83280350e-01 9.82519787e-01 -3.26064727e-02 3.29353279e+00] [ 2.00649134e-01 -4.91805418e-03 9.79650824e-01 5.51728177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:3.30, Z:5.52 [[ 9.61868042e-01 -1.87578594e-01 -1.99058133e-01 5.32953328e+01] [ 1.84760070e-01 9.82235744e-01 -3.28124940e-02 3.29780955e+00] [ 2.01676935e-01 -5.21670504e-03 9.79438206e-01 5.52259626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:3.30, Z:5.53 [[ 9.61835271e-01 -1.87756236e-01 -1.99049008e-01 5.33228331e+01] [ 1.84930045e-01 9.82201909e-01 -3.28677559e-02 3.30245358e+00] [ 2.01677442e-01 -5.19677510e-03 9.79438208e-01 5.52806068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:3.31, Z:5.53 [[ 9.61689122e-01 -1.87837266e-01 -1.99677727e-01 5.33493215e+01] [ 1.84987244e-01 9.82186429e-01 -3.30081566e-02 3.30622367e+00] [ 2.02320916e-01 -5.19424731e-03 9.79305502e-01 5.53331447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:3.32, Z:5.54 [[ 9.61938597e-01 -1.91281867e-01 -1.95154767e-01 5.33729601e+01] [ 1.86463844e-01 9.81522816e-01 -4.29441104e-02 3.31711992e+00] [ 1.99763286e-01 4.92028916e-03 9.79831833e-01 5.53746972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:3.31, Z:5.54 [[ 9.62279933e-01 -1.85091473e-01 -1.99395277e-01 5.34045649e+01] [ 1.83935342e-01 9.82633634e-01 -2.44730880e-02 3.31128994e+00] [ 2.00462266e-01 -1.31258770e-02 9.79613491e-01 5.54166941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:3.33, Z:5.55 [[ 9.62968181e-01 -1.90567775e-01 -1.90725473e-01 5.34255883e+01] [ 1.85483845e-01 9.81646797e-01 -4.43318082e-02 3.32713321e+00] [ 1.95673264e-01 7.31362674e-03 9.80641874e-01 5.55051578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:3.32, Z:5.55 [[ 9.63008966e-01 -1.88043757e-01 -1.93011078e-01 5.34534540e+01] [ 1.86046659e-01 9.82124916e-01 -2.85882994e-02 3.32441365e+00] [ 1.94936840e-01 -8.37827749e-03 9.80780013e-01 5.55180460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:3.33, Z:5.56 [[ 9.62450947e-01 -1.89469867e-01 -1.94394815e-01 5.34794029e+01] [ 1.88233450e-01 9.81806415e-01 -2.49866172e-02 3.32553789e+00] [ 1.95592288e-01 -1.25432133e-02 9.80605081e-01 5.56006444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:3.34, Z:5.57 [[ 9.62457135e-01 -1.93132607e-01 -1.90725090e-01 5.35053994e+01] [ 1.89027520e-01 9.81170366e-01 -3.96649747e-02 3.33539603e+00] [ 1.94794406e-01 2.12354727e-03 9.80841797e-01 5.57109253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:3.34, Z:5.58 [[ 9.61566788e-01 -1.93823830e-01 -1.94477853e-01 5.35336704e+01] [ 1.90233311e-01 9.81035532e-01 -3.71560531e-02 3.33716877e+00] [ 1.97991413e-01 -1.26813938e-03 9.80202934e-01 5.57508036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:3.34, Z:5.58 [[ 9.60810308e-01 -1.93463232e-01 -1.98533450e-01 5.35614899e+01] [ 1.90998069e-01 9.81079014e-01 -3.16813276e-02 3.33861539e+00] [ 2.00906173e-01 -7.47975946e-03 9.79581933e-01 5.57852400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:3.34, Z:5.59 [[ 9.61182518e-01 -1.92036902e-01 -1.98116116e-01 5.35935025e+01] [ 1.88611312e-01 9.81384339e-01 -3.62015593e-02 3.34030038e+00] [ 2.01380089e-01 -2.57063473e-03 9.79509802e-01 5.58560491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:3.35, Z:5.59 [[ 9.61775035e-01 -1.93722493e-01 -1.93546837e-01 5.36162268e+01] [ 1.89091113e-01 9.81047844e-01 -4.23045990e-02 3.34696016e+00] [ 1.98074060e-01 4.08952019e-03 9.80178526e-01 5.58849606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:3.34, Z:5.59 [[ 9.62110216e-01 -1.87802074e-01 -1.97672235e-01 5.36491054e+01] [ 1.86489707e-01 9.82128361e-01 -2.54061506e-02 3.33989002e+00] [ 1.98910836e-01 -1.24203201e-02 9.79938883e-01 5.59123085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:3.35, Z:5.60 [[ 9.62444318e-01 -1.87873729e-01 -1.95970400e-01 5.36751682e+01] [ 1.85068182e-01 9.82181482e-01 -3.27002316e-02 3.34719453e+00] [ 1.98622012e-01 -4.79573348e-03 9.80064435e-01 5.60074927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:3.36, Z:5.61 [[ 9.62599304e-01 -1.91900562e-01 -1.91250501e-01 5.36970128e+01] [ 1.86555690e-01 9.81378807e-01 -4.57450685e-02 3.36043251e+00] [ 1.96467693e-01 8.35530195e-03 9.80474699e-01 5.60690323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:3.36, Z:5.61 [[ 9.62235398e-01 -1.89453633e-01 -1.95474702e-01 5.37260049e+01] [ 1.86847537e-01 9.81872142e-01 -3.18605420e-02 3.35921822e+00] [ 1.97967259e-01 -5.86662525e-03 9.80191077e-01 5.60860169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:3.36, Z:5.62 [[ 9.61298721e-01 -1.90247069e-01 -1.99275746e-01 5.37525985e+01] [ 1.88123852e-01 9.81695689e-01 -2.97151512e-02 3.36199575e+00] [ 2.01281361e-01 -8.92338411e-03 9.79492821e-01 5.61529000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:3.37, Z:5.62 [[ 9.61024091e-01 -1.91931907e-01 -1.98984522e-01 5.37785646e+01] [ 1.88582176e-01 9.81403391e-01 -3.58350017e-02 3.36833164e+00] [ 2.02161965e-01 -3.08663424e-03 9.79347238e-01 5.62357075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:3.37, Z:5.63 [[ 9.60821468e-01 -1.93917899e-01 -1.98035239e-01 5.38050665e+01] [ 1.89641271e-01 9.81016789e-01 -4.05246567e-02 3.37431165e+00] [ 2.02134351e-01 1.38130575e-03 9.79356828e-01 5.63057593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:3.38, Z:5.63 [[ 9.60227063e-01 -1.93639436e-01 -2.01165993e-01 5.38331844e+01] [ 1.91379618e-01 9.81032295e-01 -3.08136147e-02 3.37511262e+00] [ 2.03317067e-01 -8.91100414e-03 9.79072400e-01 5.63352049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:3.38, Z:5.64 [[ 9.60751550e-01 -1.92250260e-01 -1.99990741e-01 5.38662315e+01] [ 1.89052280e-01 9.81337632e-01 -3.51523472e-02 3.37678943e+00] [ 2.03016488e-01 -4.03603349e-03 9.79167001e-01 5.64114065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490385722999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.89, Y:3.38, Z:5.64 [[ 9.59241068e-01 -1.96594014e-01 -2.02995976e-01 5.38880706e+01] [ 1.94099147e-01 9.80449077e-01 -3.23284578e-02 3.38259257e+00] [ 2.05382798e-01 -8.39056137e-03 9.78645750e-01 5.63981292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.92, Y:3.39, Z:5.65 [[ 9.59869985e-01 -1.96755229e-01 -1.99842416e-01 5.39209347e+01] [ 1.92915333e-01 9.80451643e-01 -3.87072461e-02 3.38581030e+00] [ 2.03551678e-01 -1.39874239e-03 9.79063204e-01 5.64890014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:3.39, Z:5.66 [[ 9.58811756e-01 -2.02549221e-01 -1.99132692e-01 5.39423396e+01] [ 1.99258099e-01 9.79261555e-01 -3.66472034e-02 3.39372048e+00] [ 2.02425852e-01 -4.54103231e-03 9.79287064e-01 5.65554961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:3.39, Z:5.66 [[ 9.59202925e-01 -2.00736306e-01 -1.99084613e-01 5.39761437e+01] [ 1.98042362e-01 9.79618617e-01 -3.35646703e-02 3.39332913e+00] [ 2.01764641e-01 -7.23185713e-03 9.79407336e-01 5.66312482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61038572299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.00, Y:3.40, Z:5.67 [[ 9.58443068e-01 -2.05564149e-01 -1.97813714e-01 5.39970911e+01] [ 2.02303696e-01 9.78632022e-01 -3.67774490e-02 3.40308565e+00] [ 2.01146960e-01 -4.76935440e-03 9.79549465e-01 5.66668533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:3.40, Z:5.68 [[ 9.58439247e-01 -2.05664366e-01 -1.97728043e-01 5.40296462e+01] [ 2.03181159e-01 9.78585198e-01 -3.29913067e-02 3.40288121e+00] [ 2.00278873e-01 -8.55445000e-03 9.79701584e-01 5.67573311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670385722999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.06, Y:3.41, Z:5.68 [[ 9.57891217e-01 -2.07544767e-01 -1.98417708e-01 5.40574215e+01] [ 2.05017047e-01 9.78187239e-01 -3.34325717e-02 3.40754591e+00] [ 2.01028426e-01 -8.65424584e-03 9.79547179e-01 5.67864873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.08, Y:3.42, Z:5.68 [[ 9.57383101e-01 -2.11707225e-01 -1.96462845e-01 5.40825527e+01] [ 2.08045013e-01 9.77327857e-01 -3.93386755e-02 3.41712671e+00] [ 2.00336893e-01 -3.21093214e-03 9.79721807e-01 5.68241475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:3.41, Z:5.69 [[ 9.56956634e-01 -2.10912359e-01 -1.99373963e-01 5.41118645e+01] [ 2.09474088e-01 9.77397961e-01 -2.85277557e-02 3.41308690e+00] [ 2.00884561e-01 -1.44638540e-02 9.79508137e-01 5.68720789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.13, Y:3.42, Z:5.69 [[ 9.56489081e-01 -2.15686177e-01 -1.96489468e-01 5.41347739e+01] [ 2.12623234e-01 9.76440639e-01 -3.68108626e-02 3.42465696e+00] [ 1.99799896e-01 -6.56903787e-03 9.79814702e-01 5.69338433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:3.43, Z:5.70 [[ 9.56298914e-01 -2.16495348e-01 -1.96525191e-01 5.41599873e+01] [ 2.13636861e-01 9.76253586e-01 -3.58918971e-02 3.42992364e+00] [ 1.99628851e-01 -7.66164274e-03 9.79841631e-01 5.69906524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:3.43, Z:5.71 [[ 9.57038831e-01 -2.12384589e-01 -1.97406845e-01 5.41927257e+01] [ 2.10160637e-01 9.77129941e-01 -3.23973102e-02 3.42948529e+00] [ 1.99772828e-01 -1.04816644e-02 9.79786177e-01 5.70538865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:3.43, Z:5.71 [[ 9.56934189e-01 -2.12515970e-01 -1.97772397e-01 5.42193091e+01] [ 2.10068049e-01 9.77111769e-01 -3.35262017e-02 3.43422358e+00] [ 2.00370590e-01 -9.46329306e-03 9.79674473e-01 5.71112810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:3.44, Z:5.72 [[ 9.56802585e-01 -2.12581720e-01 -1.98337654e-01 5.42449218e+01] [ 2.10109222e-01 9.77097621e-01 -3.36801725e-02 3.43891701e+00] [ 2.00955039e-01 -9.44729400e-03 9.79554910e-01 5.71624142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:3.45, Z:5.72 [[ 9.56286466e-01 -2.12815011e-01 -2.00564121e-01 5.42717555e+01] [ 2.10285797e-01 9.77045549e-01 -3.40863434e-02 3.44545859e+00] [ 2.03214368e-01 -9.57947734e-03 9.79087409e-01 5.72307347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:3.45, Z:5.73 [[ 9.56272039e-01 -2.12479162e-01 -2.00988540e-01 5.42982308e+01] [ 2.09919759e-01 9.77119700e-01 -3.42167717e-02 3.45068262e+00] [ 2.03660213e-01 -9.47092397e-03 9.78995822e-01 5.72862543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.32, Y:3.46, Z:5.73 [[ 9.56443935e-01 -2.11823774e-01 -2.00862362e-01 5.43242229e+01] [ 2.09241278e-01 9.77263938e-01 -3.42532269e-02 3.45562059e+00] [ 2.03551191e-01 -9.26740635e-03 9.79020443e-01 5.73209748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:3.47, Z:5.74 [[ 9.57527992e-01 -2.13883840e-01 -1.93374887e-01 5.43474917e+01] [ 2.08193207e-01 9.76832806e-01 -4.95303635e-02 3.46902075e+00] [ 1.99488678e-01 7.16737164e-03 9.79873918e-01 5.73883338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:3.46, Z:5.74 [[ 9.57462210e-01 -2.05479821e-01 -2.02593584e-01 5.43798772e+01] [ 2.05874868e-01 9.78386883e-01 -1.93557750e-02 3.45720909e+00] [ 2.02192126e-01 -2.31765041e-02 9.79071598e-01 5.73811571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060385722999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.41, Y:3.47, Z:5.75 [[ 9.57845592e-01 -2.05605059e-01 -2.00644915e-01 5.44054447e+01] [ 2.02872526e-01 9.78603677e-01 -3.43159055e-02 3.46817735e+00] [ 2.03407375e-01 -7.83600176e-03 9.79062836e-01 5.74520117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.43, Y:3.47, Z:5.75 [[ 9.58248859e-01 -2.04112627e-01 -2.00242752e-01 5.44315148e+01] [ 2.01346796e-01 9.78919101e-01 -3.43054194e-02 3.47387950e+00] [ 2.03023624e-01 -7.44510748e-03 9.79145535e-01 5.75157676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.46, Y:3.48, Z:5.76 [[ 9.58805138e-01 -2.02297067e-01 -1.99420670e-01 5.44579492e+01] [ 1.99503175e-01 9.79299386e-01 -3.42227492e-02 3.48017317e+00] [ 2.02215701e-01 -6.97210913e-03 9.79316190e-01 5.75809777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:3.49, Z:5.77 [[ 9.60063572e-01 -1.98614510e-01 -1.97053836e-01 5.44828935e+01] [ 1.95798594e-01 9.80058938e-01 -3.38731207e-02 3.48632968e+00] [ 1.99852067e-01 -6.06251478e-03 9.79807327e-01 5.76810075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:3.49, Z:5.77 [[ 9.60300032e-01 -1.98003111e-01 -1.96516200e-01 5.45096886e+01] [ 1.95184628e-01 9.80183682e-01 -3.38069513e-02 3.49080567e+00] [ 1.99315854e-01 -5.89212491e-03 9.79917585e-01 5.77414270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:3.49, Z:5.78 [[ 9.60672727e-01 -1.98637749e-01 -1.94038542e-01 5.45362180e+01] [ 1.95891785e-01 9.80055289e-01 -3.34370792e-02 3.49468634e+00] [ 1.96810365e-01 -5.88846617e-03 9.80423891e-01 5.78031154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240385722999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.56, Y:3.51, Z:5.79 [[ 9.61796622e-01 -2.06049225e-01 -1.80252529e-01 5.45592256e+01] [ 1.97766482e-01 9.78224258e-01 -6.29739633e-02 3.51426117e+00] [ 1.89303133e-01 2.49202368e-02 9.81602417e-01 5.78590925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:3.50, Z:5.78 [[ 9.60927238e-01 -2.00076700e-01 -1.91280313e-01 5.45901371e+01] [ 1.99480483e-01 9.79641829e-01 -2.25704106e-02 3.50231901e+00] [ 1.91902009e-01 -1.64681670e-02 9.81275913e-01 5.78016964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:3.52, Z:5.79 [[ 9.60611238e-01 -2.04951915e-01 -1.87671952e-01 5.46165424e+01] [ 1.99926766e-01 9.78752287e-01 -4.55329450e-02 3.51612492e+00] [ 1.93016417e-01 6.21881219e-03 9.81175820e-01 5.78990635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:3.50, Z:5.79 [[ 9.59114747e-01 -1.96980756e-01 -2.03217822e-01 5.46510757e+01] [ 1.99864606e-01 9.79802348e-01 -6.44193472e-03 3.50187947e+00] [ 2.00382237e-01 -3.44374954e-02 9.79112362e-01 5.78946275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:3.53, Z:5.81 [[ 9.59942804e-01 -2.10456124e-01 -1.84981171e-01 5.46685437e+01] [ 2.02342003e-01 9.77355537e-01 -6.19182368e-02 3.53325096e+00] [ 1.93823443e-01 2.20085053e-02 9.80789528e-01 5.80636196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:3.53, Z:5.80 [[ 9.59872165e-01 -2.05961003e-01 -1.90329954e-01 5.47001422e+01] [ 2.03632125e-01 9.78526616e-01 -3.19314639e-02 3.52542404e+00] [ 1.92819562e-01 -8.10716966e-03 9.81200739e-01 5.80205787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420385722999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.72, Y:3.53, Z:5.81 [[ 9.59277956e-01 -2.08850991e-01 -1.90176410e-01 5.47241567e+01] [ 2.06310403e-01 9.77920206e-01 -3.32879487e-02 3.53253780e+00] [ 1.92929575e-01 -7.30297619e-03 9.81185429e-01 5.80596467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.76, Y:3.53, Z:5.81 [[ 9.58451369e-01 -2.07009384e-01 -1.96260256e-01 5.47566166e+01] [ 2.08217436e-01 9.77972234e-01 -1.46904068e-02 3.52880488e+00] [ 1.94978133e-01 -2.67847668e-02 9.80441790e-01 5.81197441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:3.54, Z:5.83 [[ 9.57983088e-01 -2.11931228e-01 -1.93270684e-01 5.47793640e+01] [ 2.09393957e-01 9.77250332e-01 -3.37039912e-02 3.54144526e+00] [ 1.96016768e-01 -8.18185960e-03 9.80566410e-01 5.82786616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:3.55, Z:5.83 [[ 9.57330467e-01 -2.13755643e-01 -1.94491393e-01 5.48064140e+01] [ 2.11218018e-01 9.76849434e-01 -3.39430685e-02 3.54640118e+00] [ 1.97244329e-01 -8.58535288e-03 9.80316768e-01 5.83208633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:3.55, Z:5.83 [[ 9.56050638e-01 -2.18327377e-01 -1.95704710e-01 5.48336978e+01] [ 2.15840528e-01 9.75829038e-01 -3.42133793e-02 3.55205475e+00] [ 1.98444056e-01 -9.53128489e-03 9.80065871e-01 5.83480074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570385722999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.86, Y:3.56, Z:5.84 [[ 9.55090321e-01 -2.22906751e-01 -1.95230786e-01 5.48608863e+01] [ 2.20514567e-01 9.74784316e-01 -3.41886492e-02 3.55796259e+00] [ 1.97928789e-01 -1.03979843e-02 9.80161250e-01 5.83581333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600385722999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.88, Y:3.57, Z:5.84 [[ 9.55423159e-01 -2.29052767e-01 -1.86283162e-01 5.48831657e+01] [ 2.23479511e-01 9.73390344e-01 -5.06768884e-02 3.57236791e+00] [ 1.92933913e-01 6.78740270e-03 9.81188278e-01 5.84323539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630385722999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.92, Y:3.56, Z:5.84 [[ 9.54458747e-01 -2.23609932e-01 -1.97502146e-01 5.49183966e+01] [ 2.24404120e-01 9.74317767e-01 -1.86461465e-02 3.56142762e+00] [ 1.96599314e-01 -2.65233177e-02 9.80125106e-01 5.83952734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:3.57, Z:5.86 [[ 9.54320531e-01 -2.27547090e-01 -1.93635342e-01 5.49412721e+01] [ 2.25270523e-01 9.73702936e-01 -3.39968161e-02 3.57293015e+00] [ 1.96279178e-01 -1.11764752e-02 9.80484355e-01 5.85602412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.97, Y:3.58, Z:5.86 [[ 9.53702192e-01 -2.28510814e-01 -1.95537561e-01 5.49678112e+01] [ 2.26203903e-01 9.73473866e-01 -3.43573226e-02 3.58073033e+00] [ 1.98201725e-01 -1.14647057e-02 9.80094198e-01 5.86131399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.99, Y:3.59, Z:5.86 [[ 9.53319267e-01 -2.28562827e-01 -1.97335779e-01 5.49948122e+01] [ 2.26202373e-01 9.73460920e-01 -3.47321680e-02 3.58747298e+00] [ 2.00037152e-01 -1.15269767e-02 9.79720504e-01 5.86473797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750385722999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:55.02, Y:3.59, Z:5.87 [[ 9.53257806e-01 -2.28827740e-01 -1.97325673e-01 5.50222175e+01] [ 2.26461056e-01 9.73398727e-01 -3.47894978e-02 3.59239257e+00] [ 2.00037361e-01 -1.15232199e-02 9.79720506e-01 5.87021559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780385722999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:55.05, Y:3.60, Z:5.87 [[ 9.53401997e-01 -2.26367206e-01 -1.99455559e-01 5.50492292e+01] [ 2.23884348e-01 9.73979076e-01 -3.52215708e-02 3.59940713e+00] [ 2.02238549e-01 -1.10746617e-02 9.79273670e-01 5.87325932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810385722999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:55.07, Y:3.62, Z:5.88 [[ 9.54647175e-01 -2.28291034e-01 -1.91133397e-01 5.50720745e+01] [ 2.22120138e-01 9.73555574e-01 -5.34058763e-02 3.61511672e+00] [ 1.98271066e-01 8.52919241e-03 9.80110115e-01 5.87960682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:3.61, Z:5.88 [[ 9.55767726e-01 -2.22526219e-01 -1.92328199e-01 5.51009742e+01] [ 2.19826433e-01 9.74891304e-01 -3.55427161e-02 3.61315251e+00] [ 1.95408275e-01 -8.30824099e-03 9.80686790e-01 5.88119896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:3.62, Z:5.89 [[ 9.57512422e-01 -2.17336646e-01 -1.89564617e-01 5.51272468e+01] [ 2.14012582e-01 9.76088096e-01 -3.80873166e-02 3.62138154e+00] [ 1.93309535e-01 -4.10013434e-03 9.81129254e-01 5.88752830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.15, Y:3.63, Z:5.89 [[ 9.57627792e-01 -2.14267744e-01 -1.92453489e-01 5.51529205e+01] [ 2.10655803e-01 9.76770599e-01 -3.92852354e-02 3.62768697e+00] [ 1.96400469e-01 -2.92081113e-03 9.80519416e-01 5.89352040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:3.62, Z:5.90 [[ 9.58368690e-01 -2.03457230e-01 -2.00336242e-01 5.51868552e+01] [ 2.05460476e-01 9.78603959e-01 -1.09673823e-02 3.62332113e+00] [ 1.98281232e-01 -3.06503836e-02 9.79665814e-01 5.89740388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960385722999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.21, Y:3.65, Z:5.91 [[ 9.58829683e-01 -2.08802089e-01 -1.92476822e-01 5.52050379e+01] [ 2.03659006e-01 9.77943838e-01 -4.63557963e-02 3.64871269e+00] [ 1.97910709e-01 5.24767515e-03 9.80206005e-01 5.91129751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:3.64, Z:5.91 [[ 9.58887112e-01 -2.01475259e-01 -1.99858018e-01 5.52379276e+01] [ 2.00465785e-01 9.79369022e-01 -2.54909462e-02 3.64384958e+00] [ 2.00870546e-01 -1.56217546e-02 9.79493228e-01 5.91462560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:3.66, Z:5.92 [[ 9.59531044e-01 -2.03325013e-01 -1.94830988e-01 5.52568475e+01] [ 1.98485411e-01 9.79103932e-01 -4.42609595e-02 3.66149577e+00] [ 1.99759146e-01 3.79865598e-03 9.79837667e-01 5.92392110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:3.66, Z:5.93 [[ 9.59838908e-01 -2.00145311e-01 -1.96598893e-01 5.52852607e+01] [ 1.96714085e-01 9.79761233e-01 -3.70337024e-02 3.66352333e+00] [ 2.00032096e-01 -3.12738287e-03 9.79784354e-01 5.92547356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:3.67, Z:5.93 [[ 9.59981062e-01 -1.97495977e-01 -1.98574169e-01 5.53143165e+01] [ 1.94868323e-01 9.80277823e-01 -3.28896086e-02 3.66714280e+00] [ 2.01153419e-01 -7.12241387e-03 9.79533855e-01 5.92991728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:3.67, Z:5.94 [[ 9.60543306e-01 -1.93420705e-01 -1.99862423e-01 5.53462669e+01] [ 1.89947853e-01 9.81111884e-01 -3.65962412e-02 3.67445909e+00] [ 2.03165869e-01 -2.81116354e-03 9.79140300e-01 5.93888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140385722999994 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:55.37, Y:3.68, Z:5.94 [[ 9.60549480e-01 -1.92510535e-01 -2.00709715e-01 5.53734031e+01] [ 1.89222256e-01 9.81287717e-01 -3.56279901e-02 3.68216760e+00] [ 2.03812742e-01 -3.75629767e-03 9.79002685e-01 5.94231154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170385722999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:55.40, Y:3.69, Z:5.95 [[ 9.60819718e-01 -1.92276322e-01 -1.99637889e-01 5.53991633e+01] [ 1.89006156e-01 9.81334123e-01 -3.54966400e-02 3.68922958e+00] [ 2.02736636e-01 -3.62691823e-03 9.79226584e-01 5.95032735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.43, Y:3.70, Z:5.95 [[ 9.61050715e-01 -1.92308856e-01 -1.98491380e-01 5.54251150e+01] [ 1.89065264e-01 9.81328014e-01 -3.53504544e-02 3.69524879e+00] [ 2.01583357e-01 -3.55424567e-03 9.79464914e-01 5.95473040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:3.70, Z:5.96 [[ 9.60861050e-01 -1.93889335e-01 -1.97871089e-01 5.54525332e+01] [ 1.90693725e-01 9.81015869e-01 -3.52671064e-02 3.69986973e+00] [ 2.00952594e-01 -3.84598614e-03 9.79593417e-01 5.96031393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:3.71, Z:5.97 [[ 9.59971556e-01 -1.98589159e-01 -1.97527105e-01 5.54788197e+01] [ 1.95491074e-01 9.80071257e-01 -3.52643057e-02 3.70597344e+00] [ 2.00593747e-01 -4.76205553e-03 9.79662938e-01 5.96594244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:3.71, Z:5.97 [[ 9.59369551e-01 -2.01368247e-01 -1.97638289e-01 5.55052756e+01] [ 1.98312933e-01 9.79501338e-01 -3.53427377e-02 3.71225228e+00] [ 2.00703874e-01 -5.28748237e-03 9.79637687e-01 5.97188071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:3.72, Z:5.98 [[ 9.58801732e-01 -2.03700428e-01 -1.98003471e-01 5.55305175e+01] [ 2.00670684e-01 9.79016514e-01 -3.54674740e-02 3.71828624e+00] [ 2.01073408e-01 -5.72721656e-03 9.79559433e-01 5.97695274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:3.72, Z:5.98 [[ 9.58123712e-01 -2.06979076e-01 -1.97885359e-01 5.55569973e+01] [ 2.04010052e-01 9.78324745e-01 -3.55048199e-02 3.72357766e+00] [ 2.00944898e-01 -6.35259249e-03 9.79581948e-01 5.98111487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:3.73, Z:5.99 [[ 9.58102219e-01 -2.08709231e-01 -1.96164714e-01 5.55843706e+01] [ 2.05819552e-01 9.77955370e-01 -3.52364300e-02 3.72810797e+00] [ 1.99194504e-01 -6.61443181e-03 9.79937651e-01 5.98663474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:55.61, Y:3.73, Z:5.99 [[ 9.56649645e-01 -2.11252347e-01 -2.00484170e-01 5.56057591e+01] [ 2.10455477e-01 9.77270021e-01 -2.55303374e-02 3.73312635e+00] [ 2.01320513e-01 -1.77694035e-02 9.79364232e-01 5.98900688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:3.75, Z:6.01 [[ 9.57299981e-01 -2.15147485e-01 -1.93101804e-01 5.56303648e+01] [ 2.10301578e-01 9.76577116e-01 -4.55014566e-02 3.74629617e+00] [ 1.98368327e-01 2.94892945e-03 9.80123110e-01 6.00672538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.66, Y:3.75, Z:6.01 [[ 9.56956159e-01 -2.14147545e-01 -1.95897264e-01 5.56576426e+01] [ 2.11051367e-01 9.76782087e-01 -3.67977553e-02 3.74856687e+00] [ 1.99229088e-01 -6.13054692e-03 9.79933767e-01 6.00885935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500385722999994 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:55.69, Y:3.75, Z:6.01 [[ 9.56372796e-01 -2.15898256e-01 -1.96822299e-01 5.56855411e+01] [ 2.12213521e-01 9.76409134e-01 -3.98826289e-02 3.75403981e+00] [ 2.00789681e-01 -3.62569171e-03 9.79627663e-01 6.01264488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:3.76, Z:6.02 [[ 9.56640885e-01 -2.17244908e-01 -1.94017698e-01 5.57140716e+01] [ 2.12740739e-01 9.76116775e-01 -4.40161407e-02 3.75792669e+00] [ 1.98946212e-01 8.32171377e-04 9.80010057e-01 6.01831144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:3.75, Z:6.02 [[ 9.56803313e-01 -2.14826324e-01 -1.95900666e-01 5.57473787e+01] [ 2.11898042e-01 9.76626988e-01 -3.60409070e-02 3.75418201e+00] [ 1.99064413e-01 -7.02690830e-03 9.79961215e-01 6.01970343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.77, Y:3.76, Z:6.02 [[ 9.56187762e-01 -2.16409808e-01 -1.97159221e-01 5.57742610e+01] [ 2.13620023e-01 9.76268982e-01 -3.55719158e-02 3.75692823e+00] [ 2.00178543e-01 -8.10372675e-03 9.79725921e-01 6.02381980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:3.77, Z:6.03 [[ 9.56292703e-01 -2.20104935e-01 -1.92504762e-01 5.57986084e+01] [ 2.15211993e-01 9.75472223e-01 -4.62356974e-02 3.76841411e+00] [ 1.97959753e-01 2.78552663e-03 9.80206191e-01 6.03006629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:55.83, Y:3.76, Z:6.03 [[ 9.55562565e-01 -2.15290235e-01 -2.01371049e-01 5.58297283e+01] [ 2.14475533e-01 9.76379982e-01 -2.61223528e-02 3.76405718e+00] [ 2.02238549e-01 -1.82276205e-02 9.79166647e-01 6.03105408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.85, Y:3.77, Z:6.04 [[ 9.55813132e-01 -2.17060957e-01 -1.98256899e-01 5.58528887e+01] [ 2.14233287e-01 9.76123704e-01 -3.58693987e-02 3.77446802e+00] [ 2.01309104e-01 -8.18878482e-03 9.79493537e-01 6.04433399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:3.78, Z:6.05 [[ 9.56055780e-01 -2.17110344e-01 -1.97029045e-01 5.58788415e+01] [ 2.14313410e-01 9.76113294e-01 -3.56735154e-02 3.77999861e+00] [ 2.00067759e-01 -8.12009591e-03 9.79748415e-01 6.05162586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:3.79, Z:6.05 [[ 9.55916757e-01 -2.20558479e-01 -1.93848167e-01 5.59007007e+01] [ 2.16678972e-01 9.75370401e-01 -4.12650364e-02 3.78859053e+00] [ 1.98175118e-01 -2.55688178e-03 9.80163295e-01 6.05465073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:3.78, Z:6.06 [[ 9.56347883e-01 -2.16230779e-01 -1.96578170e-01 5.59346667e+01] [ 2.14021736e-01 9.76282280e-01 -3.26742478e-02 3.78414310e+00] [ 1.98980962e-01 -1.08240536e-02 9.79943578e-01 6.05752677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:55.96, Y:3.79, Z:6.06 [[ 9.56233466e-01 -2.16571790e-01 -1.96759292e-01 5.59614836e+01] [ 2.13745425e-01 9.76234976e-01 -3.57514346e-02 3.78912082e+00] [ 1.99826055e-01 -7.86968040e-03 9.79799784e-01 6.06200590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:55.99, Y:3.80, Z:6.07 [[ 9.56188186e-01 -2.16227719e-01 -1.97356853e-01 5.59879126e+01] [ 2.13365242e-01 9.76312073e-01 -3.59167111e-02 3.79509593e+00] [ 2.00448066e-01 -7.76595781e-03 9.79673549e-01 6.06836284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86038572299999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:56.01, Y:3.80, Z:6.08 [[ 9.56306250e-01 -2.15639134e-01 -1.97428774e-01 5.60129741e+01] [ 2.12750254e-01 9.76443646e-01 -3.59879903e-02 3.80126335e+00] [ 2.00538491e-01 -7.58748164e-03 9.79656442e-01 6.07569400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890385722999994 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:56.04, Y:3.81, Z:6.08 [[ 9.56607831e-01 -2.13693134e-01 -1.98082562e-01 5.60396314e+01] [ 2.10738098e-01 9.76874474e-01 -3.61346936e-02 3.80689352e+00] [ 2.01223535e-01 -7.17681159e-03 9.79519057e-01 6.08256999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920385722999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:56.07, Y:3.81, Z:6.09 [[ 9.56874773e-01 -2.12955028e-01 -1.97587510e-01 5.60657376e+01] [ 2.09987320e-01 9.77037318e-01 -3.61026917e-02 3.81073354e+00] [ 2.00738620e-01 -6.94511666e-03 9.79620218e-01 6.08826260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:3.81, Z:6.09 [[ 9.57002419e-01 -2.12590648e-01 -1.97361563e-01 5.60928823e+01] [ 2.09616530e-01 9.77117456e-01 -3.60886216e-02 3.81448633e+00] [ 2.00517532e-01 -6.83334776e-03 9.79666282e-01 6.09393446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:56.12, Y:3.82, Z:6.10 [[ 9.57295075e-01 -2.11807857e-01 -1.96783055e-01 5.61201548e+01] [ 2.08823067e-01 9.77289102e-01 -3.60407927e-02 3.81810614e+00] [ 1.99947658e-01 -6.59116766e-03 9.79784410e-01 6.09892660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:56.15, Y:3.82, Z:6.10 [[ 9.57295349e-01 -2.11609006e-01 -1.96995542e-01 5.61468998e+01] [ 2.08601392e-01 9.77332804e-01 -3.61392983e-02 3.82258897e+00] [ 2.00177606e-01 -6.49756217e-03 9.79738081e-01 6.10362899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:56.17, Y:3.83, Z:6.11 [[ 9.56894902e-01 -2.11940330e-01 -1.98578558e-01 5.61729930e+01] [ 2.08878775e-01 9.77260572e-01 -3.64887988e-02 3.82626630e+00] [ 2.01796443e-01 -6.56290044e-03 9.79405495e-01 6.10864606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070385722999994 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:56.20, Y:3.83, Z:6.11 [[ 9.56277917e-01 -2.12603115e-01 -2.00829430e-01 5.62004825e+01] [ 2.09479820e-01 9.77115299e-01 -3.69309941e-02 3.83088335e+00] [ 2.04085153e-01 -6.75341878e-03 9.78929845e-01 6.11285791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100385722999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:56.23, Y:3.84, Z:6.12 [[ 9.55866094e-01 -2.13485384e-01 -2.01851433e-01 5.62264958e+01] [ 2.10337256e-01 9.76921746e-01 -3.71771591e-02 3.83519840e+00] [ 2.05129834e-01 -6.92049072e-03 9.78710303e-01 6.11814270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130385722999996 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:56.25, Y:3.84, Z:6.13 [[ 9.55788894e-01 -2.15134266e-01 -2.00461561e-01 5.62535457e+01] [ 2.12059657e-01 9.76557979e-01 -3.69488233e-02 3.83908879e+00] [ 2.03711295e-01 -7.19453486e-03 9.79004570e-01 6.12515072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.28, Y:3.84, Z:6.13 [[ 9.55918354e-01 -2.16322458e-01 -1.98556526e-01 5.62807214e+01] [ 2.13319592e-01 9.76294564e-01 -3.66561956e-02 3.84190805e+00] [ 2.01779215e-01 -7.31566686e-03 9.79403711e-01 6.13138293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:56.31, Y:3.85, Z:6.14 [[ 9.55650923e-01 -2.16741095e-01 -1.99385583e-01 5.63070293e+01] [ 2.13710074e-01 9.76201233e-01 -3.68667318e-02 3.84573237e+00] [ 2.02630988e-01 -7.37898151e-03 9.79227365e-01 6.13606825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:56.33, Y:3.85, Z:6.14 [[ 9.55456468e-01 -2.17760982e-01 -1.99206155e-01 5.63342570e+01] [ 2.14751715e-01 9.75972841e-01 -3.68607564e-02 3.84970131e+00] [ 2.02446632e-01 -7.56101532e-03 9.79264108e-01 6.14142688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250385722999994 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:56.36, Y:3.85, Z:6.15 [[ 9.55279439e-01 -2.18636586e-01 -1.99096048e-01 5.63613181e+01] [ 2.15637531e-01 9.75776096e-01 -3.68980443e-02 3.85426076e+00] [ 2.02340427e-01 -7.68463717e-03 9.79285095e-01 6.14695305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:3.86, Z:6.15 [[ 9.55279744e-01 -2.19644400e-01 -1.97982189e-01 5.63874713e+01] [ 2.16688779e-01 9.75548851e-01 -3.67479561e-02 3.85781073e+00] [ 2.01212780e-01 -7.79594078e-03 9.79516534e-01 6.15415979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310385722999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:56.41, Y:3.86, Z:6.16 [[ 9.54874126e-01 -2.19734394e-01 -1.99830429e-01 5.64148602e+01] [ 2.16719301e-01 9.75528042e-01 -3.71185217e-02 3.86210372e+00] [ 2.03096403e-01 -7.86359493e-03 9.79127170e-01 6.15736912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.44, Y:3.86, Z:6.16 [[ 9.55223310e-01 -2.20348165e-01 -1.97471806e-01 5.64407648e+01] [ 2.17405643e-01 9.75389779e-01 -3.67364352e-02 3.86476774e+00] [ 2.00706787e-01 -7.83998558e-03 9.79619988e-01 6.16331751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.47, Y:3.87, Z:6.17 [[ 9.55605773e-01 -2.20194037e-01 -1.95786088e-01 5.64680629e+01] [ 2.17290656e-01 9.75425705e-01 -3.64618259e-02 3.86891055e+00] [ 1.99003459e-01 -7.69935602e-03 9.79968542e-01 6.16917684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.49, Y:3.87, Z:6.17 [[ 9.55678437e-01 -2.19617678e-01 -1.96078560e-01 5.64943639e+01] [ 2.16682365e-01 9.75556908e-01 -3.65714595e-02 3.87314200e+00] [ 1.99317532e-01 -7.53621072e-03 9.79905979e-01 6.17426158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43038572299999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:56.52, Y:3.88, Z:6.18 [[ 9.55750928e-01 -2.19209457e-01 -1.96182002e-01 5.65209939e+01] [ 2.16257320e-01 9.75649534e-01 -3.66163574e-02 3.87754326e+00] [ 1.99431530e-01 -7.42967644e-03 9.79883597e-01 6.17992552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460385722999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.54, Y:3.89, Z:6.18 [[ 9.55925620e-01 -2.22475742e-01 -1.91600504e-01 5.65438372e+01] [ 2.17218270e-01 9.74927624e-01 -4.82944256e-02 3.88810770e+00] [ 1.97540962e-01 4.54674865e-03 9.80284089e-01 6.18482100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490385722999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:56.57, Y:3.88, Z:6.18 [[ 9.55009525e-01 -2.19824315e-01 -1.99083095e-01 5.65711417e+01] [ 2.18229925e-01 9.75430098e-01 -3.01964142e-02 3.88410306e+00] [ 2.00829549e-01 -1.46080258e-02 9.79517278e-01 6.18435026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.60, Y:3.89, Z:6.19 [[ 9.55821889e-01 -2.17221174e-01 -1.98039084e-01 5.66024060e+01] [ 2.14250122e-01 9.76093823e-01 -3.65750538e-02 3.88702462e+00] [ 2.01249603e-01 -7.47066085e-03 9.79511504e-01 6.19425043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:56.62, Y:3.90, Z:6.20 [[ 9.55423982e-01 -2.20808282e-01 -1.95981419e-01 5.66226436e+01] [ 2.16238203e-01 9.75317179e-01 -4.46927336e-02 3.89799736e+00] [ 2.01012571e-01 3.21839575e-04 9.79588609e-01 6.19834749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.65, Y:3.90, Z:6.20 [[ 9.55556018e-01 -2.18437651e-01 -1.97984063e-01 5.66501262e+01] [ 2.14878590e-01 9.75839375e-01 -3.95563738e-02 3.90035961e+00] [ 2.01841245e-01 -4.74420518e-03 9.79406761e-01 6.20094006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:56.68, Y:3.91, Z:6.21 [[ 9.56865264e-01 -2.13596153e-01 -1.96940473e-01 5.66766098e+01] [ 2.09264259e-01 9.76922011e-01 -4.28001585e-02 3.90590171e+00] [ 2.01537432e-01 -2.58617203e-04 9.79480779e-01 6.20737637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640385722999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:56.70, Y:3.91, Z:6.21 [[ 9.57601692e-01 -2.09949593e-01 -1.97281951e-01 5.67043827e+01] [ 2.06211623e-01 9.77708154e-01 -3.95415290e-02 3.91017827e+00] [ 2.01185900e-01 -2.81679633e-03 9.79549028e-01 6.21266321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670385722999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:56.73, Y:3.92, Z:6.22 [[ 9.57612047e-01 -2.10051357e-01 -1.97123297e-01 5.67307864e+01] [ 2.06020099e-01 9.77689393e-01 -4.09776789e-02 3.91571534e+00] [ 2.01332774e-01 -1.37064209e-03 9.79521942e-01 6.21861797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.77, Y:3.91, Z:6.23 [[ 9.59657295e-01 -1.98864215e-01 -1.98773489e-01 5.67650043e+01] [ 1.96176781e-01 9.80001977e-01 -3.33286163e-02 3.91351518e+00] [ 2.01426281e-01 -7.01069352e-03 9.79478587e-01 6.22670521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:56.78, Y:3.93, Z:6.23 [[ 9.59801772e-01 -2.02178794e-01 -1.94690251e-01 5.67844487e+01] [ 1.96783714e-01 9.79325872e-01 -4.68722301e-02 3.92824571e+00] [ 2.00141771e-01 6.67617880e-03 9.79744201e-01 6.23150806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.82, Y:3.92, Z:6.23 [[ 9.61023870e-01 -1.91510832e-01 -1.99390878e-01 5.68200088e+01] [ 1.89163464e-01 9.81458034e-01 -3.09404375e-02 3.91970354e+00] [ 2.01619208e-01 -7.98297010e-03 9.79431451e-01 6.23411850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.84, Y:3.93, Z:6.24 [[ 9.61364697e-01 -1.95357186e-01 -1.93941972e-01 5.68397354e+01] [ 1.90075974e-01 9.80706933e-01 -4.56621915e-02 3.93494323e+00] [ 1.99120674e-01 7.03430969e-03 9.79949731e-01 6.24137914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820385722999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.87, Y:3.94, Z:6.25 [[ 9.62384267e-01 -1.92296559e-01 -1.91933729e-01 5.68697383e+01] [ 1.86540472e-01 9.81283892e-01 -4.77972314e-02 3.94000070e+00] [ 1.97532720e-01 1.01958951e-02 9.80243270e-01 6.24585869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850385722999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.90, Y:3.94, Z:6.25 [[ 9.61701412e-01 -1.88392969e-01 -1.99094158e-01 5.68965057e+01] [ 1.85663535e-01 9.82076934e-01 -3.24645670e-02 3.93933504e+00] [ 2.01641876e-01 -5.74330520e-03 9.79442478e-01 6.24726673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880385722999996 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:56.92, Y:3.95, Z:6.26 [[ 9.61918689e-01 -1.90358660e-01 -1.96153040e-01 5.69207164e+01] [ 1.84363724e-01 9.81658005e-01 -4.85548970e-02 3.94933224e+00] [ 2.01798047e-01 1.05423578e-02 9.79370413e-01 6.25795110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:56.95, Y:3.95, Z:6.26 [[ 9.61745825e-01 -1.89147937e-01 -1.98161616e-01 5.69541632e+01] [ 1.84320142e-01 9.81938080e-01 -4.27047135e-02 3.94937621e+00] [ 2.02659945e-01 4.54590280e-03 9.79238623e-01 6.26038998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.98, Y:3.95, Z:6.27 [[ 9.61546746e-01 -1.89074654e-01 -1.99194955e-01 5.69820584e+01] [ 1.85286346e-01 9.81962473e-01 -3.76652665e-02 3.95139344e+00] [ 2.02723518e-01 -6.91191006e-04 9.79235772e-01 6.26582494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.01, Y:3.96, Z:6.27 [[ 9.61660509e-01 -1.90334853e-01 -1.97437859e-01 5.70094226e+01] [ 1.85200712e-01 9.81700519e-01 -4.43259105e-02 3.95857212e+00] [ 2.02261615e-01 6.06084552e-03 9.79312772e-01 6.27308923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:57.04, Y:3.96, Z:6.28 [[ 9.60600682e-01 -1.88615576e-01 -2.04133522e-01 5.70354403e+01] [ 1.87088680e-01 9.81973733e-01 -2.69334913e-02 3.95722292e+00] [ 2.05533833e-01 -1.23187410e-02 9.78572477e-01 6.27598434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:57.06, Y:3.97, Z:6.29 [[ 9.61675289e-01 -1.94003360e-01 -1.93761023e-01 5.70626702e+01] [ 1.86492505e-01 9.80832754e-01 -5.64593228e-02 3.97141149e+00] [ 2.01000456e-01 1.81605571e-02 9.79422795e-01 6.28929230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.09, Y:3.97, Z:6.29 [[ 9.61198249e-01 -1.93997493e-01 -1.96119603e-01 5.70944940e+01] [ 1.89917438e-01 9.81001696e-01 -3.95858475e-02 3.96613047e+00] [ 2.00073218e-01 8.03314786e-04 9.79780619e-01 6.28718871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:57.12, Y:3.97, Z:6.29 [[ 9.59804270e-01 -1.95640853e-01 -2.01247163e-01 5.71209758e+01] [ 1.93532151e-01 9.80625973e-01 -3.02986484e-02 3.96732984e+00] [ 2.03275849e-01 -9.86702416e-03 9.79071791e-01 6.29202231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:57.15, Y:3.98, Z:6.30 [[ 9.59468429e-01 -2.00462649e-01 -1.98078419e-01 5.71464103e+01] [ 1.94997244e-01 9.79680427e-01 -4.69290601e-02 3.97842717e+00] [ 2.03461074e-01 6.40220580e-03 9.79062104e-01 6.30139431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:57.18, Y:3.97, Z:6.31 [[ 9.57275810e-01 -1.98272027e-01 -2.10502319e-01 5.71799461e+01] [ 1.99306205e-01 9.79798158e-01 -1.65107827e-02 3.96721942e+00] [ 2.09523411e-01 -2.61490456e-02 9.77453921e-01 6.30504424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:57.20, Y:3.98, Z:6.32 [[ 9.56688442e-01 -2.05412301e-01 -2.06283812e-01 5.72032986e+01] [ 2.01648568e-01 9.78667517e-01 -3.93413933e-02 3.98115244e+00] [ 2.09964473e-01 -3.95937910e-03 9.77700999e-01 6.31921825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:57.23, Y:3.98, Z:6.32 [[ 9.56144367e-01 -2.07777420e-01 -2.06437624e-01 5.72300426e+01] [ 2.04049479e-01 9.78166138e-01 -3.94311674e-02 3.98487549e+00] [ 2.10123199e-01 -4.42160098e-03 9.77664917e-01 6.32369221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:57.25, Y:4.00, Z:6.33 [[ 9.55601996e-01 -2.17785456e-01 -1.98480024e-01 5.72509333e+01] [ 2.10728391e-01 9.75923493e-01 -5.62750442e-02 3.99947793e+00] [ 2.05957204e-01 1.19511686e-02 9.78488017e-01 6.32868673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27038572299999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:57.28, Y:4.01, Z:6.33 [[ 9.56317954e-01 -2.19087301e-01 -1.93537401e-01 5.72818267e+01] [ 2.11544891e-01 9.75581293e-01 -5.90753777e-02 4.00539561e+00] [ 2.01754133e-01 1.55529959e-02 9.79312705e-01 6.33085757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30038572299999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:57.31, Y:4.00, Z:6.33 [[ 9.55285781e-01 -2.19578282e-01 -1.98026399e-01 5.73122188e+01] [ 2.16344739e-01 9.75573557e-01 -3.80944800e-02 4.00241937e+00] [ 2.01554039e-01 -6.45085447e-03 9.79456153e-01 6.32950550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33038572299999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:57.34, Y:4.01, Z:6.34 [[ 9.53923424e-01 -2.21656416e-01 -2.02233863e-01 5.73390440e+01] [ 2.19319006e-01 9.75054114e-01 -3.41854872e-02 4.00500751e+00] [ 2.04766392e-01 -1.17433927e-02 9.78740424e-01 6.33585151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:57.37, Y:4.00, Z:6.34 [[ 9.52932898e-01 -2.17090560e-01 -2.11637854e-01 5.73729606e+01] [ 2.18741268e-01 9.75653772e-01 -1.58736877e-02 3.99868395e+00] [ 2.09931298e-01 -3.11673732e-02 9.77219241e-01 6.34314219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:57.40, Y:4.01, Z:6.36 [[ 9.52377208e-01 -2.23212231e-01 -2.07735296e-01 5.73951379e+01] [ 2.19773780e-01 9.74738997e-01 -3.97916335e-02 4.01416437e+00] [ 2.11369673e-01 -7.75812641e-03 9.77375400e-01 6.35697625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:57.42, Y:4.02, Z:6.36 [[ 9.52041671e-01 -2.25671742e-01 -2.06612974e-01 5.74212700e+01] [ 2.22321620e-01 9.74168645e-01 -3.96049100e-02 4.02132163e+00] [ 2.10213590e-01 -8.22900637e-03 9.77620852e-01 6.36287936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:57.45, Y:4.03, Z:6.37 [[ 9.52208779e-01 -2.26849213e-01 -2.04543090e-01 5.74477314e+01] [ 2.23580070e-01 9.73894188e-01 -3.92691114e-02 4.02701870e+00] [ 2.08111494e-01 -8.33936579e-03 9.78069558e-01 6.36802865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.47, Y:4.03, Z:6.37 [[ 9.52859602e-01 -2.28516281e-01 -1.99596813e-01 5.74746118e+01] [ 2.25427949e-01 9.73503633e-01 -3.83785898e-02 4.03173314e+00] [ 2.03078355e-01 -8.42529238e-03 9.79126241e-01 6.37468449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510385723 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:57.49, Y:4.05, Z:6.38 [[ 9.50758962e-01 -2.35873487e-01 -2.01049980e-01 5.74858989e+01] [ 2.32169082e-01 9.71761391e-01 -4.21582339e-02 4.04647660e+00] [ 2.05316618e-01 -6.59527056e-03 9.78673382e-01 6.37823060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:57.52, Y:4.06, Z:6.39 [[ 9.51391564e-01 -2.35022810e-01 -1.99043638e-01 5.75176567e+01] [ 2.27948455e-01 9.71939623e-01 -5.80764310e-02 4.05577917e+00] [ 2.07107685e-01 9.88173669e-03 9.78268245e-01 6.39013068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:57.55, Y:4.06, Z:6.39 [[ 9.50581447e-01 -2.33560904e-01 -2.04558587e-01 5.75476308e+01] [ 2.28536742e-01 9.72341722e-01 -4.81926718e-02 4.05917613e+00] [ 2.10156773e-01 -9.38093378e-04 9.77667249e-01 6.39241584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:57.58, Y:4.06, Z:6.40 [[ 9.50198691e-01 -2.33184770e-01 -2.06754226e-01 5.75758035e+01] [ 2.29382687e-01 9.72407090e-01 -4.25209885e-02 4.06227611e+00] [ 2.10964522e-01 -7.02245236e-03 9.77468493e-01 6.39545381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:57.60, Y:4.07, Z:6.40 [[ 9.49235244e-01 -2.35814674e-01 -2.08191959e-01 5.76008533e+01] [ 2.32537669e-01 9.71746322e-01 -4.04390757e-02 4.06667846e+00] [ 2.11845898e-01 -1.00262771e-02 9.77251651e-01 6.40022925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.63, Y:4.07, Z:6.41 [[ 9.48890615e-01 -2.37536965e-01 -2.07804693e-01 5.76274681e+01] [ 2.33393013e-01 9.71358876e-01 -4.46053392e-02 4.07388185e+00] [ 2.12448350e-01 -6.17457573e-03 9.77152789e-01 6.40827745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.65, Y:4.08, Z:6.42 [[ 9.48469186e-01 -2.38318245e-01 -2.08831554e-01 5.76520606e+01] [ 2.33641881e-01 9.71178601e-01 -4.71550140e-02 4.07977466e+00] [ 2.14050636e-01 -4.06671933e-03 9.76814100e-01 6.41520164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.69, Y:4.08, Z:6.42 [[ 9.49530775e-01 -2.36526203e-01 -2.06025880e-01 5.76914058e+01] [ 2.32870084e-01 9.71592769e-01 -4.21783780e-02 4.07974729e+00] [ 2.10149547e-01 -7.92759616e-03 9.77637111e-01 6.41974849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.72, Y:4.08, Z:6.42 [[ 9.49442793e-01 -2.36747143e-01 -2.06177528e-01 5.77184109e+01] [ 2.33679340e-01 9.71512312e-01 -3.94688932e-02 4.08389998e+00] [ 2.09648155e-01 -1.07059724e-02 9.77718279e-01 6.42469791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:57.75, Y:4.09, Z:6.43 [[ 9.49812688e-01 -2.36156281e-01 -2.05148894e-01 5.77455877e+01] [ 2.33092537e-01 9.71658788e-01 -3.93327837e-02 4.08993241e+00] [ 2.08623410e-01 -1.04598993e-02 9.77940112e-01 6.42933966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810385723 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:57.77, Y:4.09, Z:6.44 [[ 9.49931552e-01 -2.30249640e-01 -2.11222987e-01 5.77672165e+01] [ 2.26595196e-01 9.73096518e-01 -4.16867352e-02 4.09254113e+00] [ 2.15138709e-01 -8.26256907e-03 9.76548548e-01 6.43942351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840385723 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:57.79, Y:4.10, Z:6.44 [[ 9.50127984e-01 -2.30958931e-01 -2.09558551e-01 5.77911197e+01] [ 2.26878294e-01 9.72944546e-01 -4.36480206e-02 4.10284750e+00] [ 2.13969749e-01 -6.07308082e-03 9.76821408e-01 6.44366599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:57.83, Y:4.11, Z:6.45 [[ 9.52922766e-01 -2.26967016e-01 -2.01057642e-01 5.78297085e+01] [ 2.22402255e-01 9.73901240e-01 -4.53167893e-02 4.10663402e+00] [ 2.06095704e-01 -1.53227277e-03 9.78530640e-01 6.45300394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:57.84, Y:4.12, Z:6.46 [[ 9.51423945e-01 -2.30960430e-01 -2.03592134e-01 5.78391473e+01] [ 2.26202935e-01 9.72961738e-01 -4.66657167e-02 4.12154722e+00] [ 2.08865290e-01 -1.65425790e-03 9.77943022e-01 6.45733914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.87, Y:4.13, Z:6.47 [[ 9.53539302e-01 -2.25991867e-01 -1.99224688e-01 5.78653920e+01] [ 2.20188432e-01 9.74116980e-01 -5.11191181e-02 4.13036476e+00] [ 2.05620656e-01 4.87711638e-03 9.78619619e-01 6.46638986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:57.89, Y:4.13, Z:6.47 [[ 9.54555370e-01 -2.19747692e-01 -2.01333049e-01 5.78945498e+01] [ 2.15351066e-01 9.75555460e-01 -4.37660096e-02 4.13208208e+00] [ 2.06029035e-01 -1.58020732e-03 9.78544603e-01 6.46757089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:57.92, Y:4.13, Z:6.47 [[ 9.54977399e-01 -2.16636280e-01 -2.02699014e-01 5.79235923e+01] [ 2.12851794e-01 9.76242409e-01 -4.05570346e-02 4.13488704e+00] [ 2.06669499e-01 -4.41379756e-03 9.78400857e-01 6.47190757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02038572299999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:57.95, Y:4.13, Z:6.47 [[ 9.53789363e-01 -2.11359963e-01 -2.13571574e-01 5.79514249e+01] [ 2.12926929e-01 9.76938558e-01 -1.59115618e-02 4.13070481e+00] [ 2.12009372e-01 -3.02988609e-02 9.76797832e-01 6.47245266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05038572299999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:57.97, Y:4.16, Z:6.50 [[ 9.56166489e-01 -2.17337977e-01 -1.96239267e-01 5.79748119e+01] [ 2.06379793e-01 9.75599808e-01 -7.49159254e-02 4.15871739e+00] [ 2.07733067e-01 3.11322780e-02 9.77690009e-01 6.49704160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:4.15, Z:6.49 [[ 9.56490138e-01 -2.10660399e-01 -2.01863351e-01 5.80067491e+01] [ 2.06512354e-01 9.77557539e-01 -4.16402044e-02 4.15030510e+00] [ 2.06104983e-01 -1.85883091e-03 9.78528120e-01 6.49217801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:4.16, Z:6.50 [[ 9.57048535e-01 -2.10313687e-01 -1.99565166e-01 5.80330422e+01] [ 2.04317668e-01 9.77605351e-01 -5.04189226e-02 4.15800227e+00] [ 2.05699764e-01 7.47866651e-03 9.78586571e-01 6.49972891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:58.06, Y:4.16, Z:6.50 [[ 9.57325963e-01 -2.05444840e-01 -2.03271783e-01 5.80619610e+01] [ 2.01736752e-01 9.78661908e-01 -3.90275944e-02 4.15877228e+00] [ 2.06952368e-01 -3.64525989e-03 9.78344228e-01 6.50104454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:58.09, Y:4.16, Z:6.51 [[ 9.57082111e-01 -2.05676067e-01 -2.04184204e-01 5.80911215e+01] [ 2.02742751e-01 9.78591381e-01 -3.54158947e-02 4.16294426e+00] [ 2.07097105e-01 -7.50094801e-03 9.78291636e-01 6.50681233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:58.11, Y:4.17, Z:6.52 [[ 9.57461028e-01 -2.05683556e-01 -2.02392329e-01 5.81149636e+01] [ 1.99713941e-01 9.78592215e-01 -4.97153789e-02 4.17316674e+00] [ 2.08285194e-01 7.17996804e-03 9.78041781e-01 6.51729580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.14, Y:4.18, Z:6.52 [[ 9.57296658e-01 -2.06024116e-01 -2.02823006e-01 5.81408789e+01] [ 1.98134127e-01 9.78416101e-01 -5.86924289e-02 4.18050741e+00] [ 2.10537350e-01 1.59999069e-02 9.77454872e-01 6.52470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:58.17, Y:4.18, Z:6.52 [[ 9.58667229e-01 -2.01080163e-01 -2.01305521e-01 5.81746562e+01] [ 1.96942128e-01 9.79574515e-01 -4.05902388e-02 4.17753704e+00] [ 2.05355650e-01 -7.33005901e-04 9.78687141e-01 6.52105452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.20, Y:4.18, Z:6.53 [[ 9.58743936e-01 -2.01433896e-01 -2.00585270e-01 5.82005040e+01] [ 1.96149169e-01 9.79490117e-01 -4.60935379e-02 4.18387737e+00] [ 2.05756091e-01 4.84726593e-03 9.78591301e-01 6.52848999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.23, Y:4.19, Z:6.54 [[ 9.58082118e-01 -2.02721902e-01 -2.02441313e-01 5.82259363e+01] [ 1.95241542e-01 9.79127738e-01 -5.64766539e-02 4.19166833e+00] [ 2.09664960e-01 1.45843182e-02 9.77664514e-01 6.53635252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.26, Y:4.19, Z:6.54 [[ 9.58943804e-01 -1.99398552e-01 -2.01660604e-01 5.82567129e+01] [ 1.94731673e-01 9.79916638e-01 -4.29296898e-02 4.19174824e+00] [ 2.06170699e-01 1.89745326e-03 9.78514202e-01 6.53730348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:4.20, Z:6.55 [[ 9.58443254e-01 -2.00130819e-01 -2.03308100e-01 5.82859354e+01] [ 1.95824321e-01 9.79769157e-01 -4.12944916e-02 4.19882243e+00] [ 2.07459306e-01 -2.34243615e-04 9.78243621e-01 6.54556076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.32, Y:4.20, Z:6.55 [[ 9.59029178e-01 -1.97910829e-01 -2.02717387e-01 5.83165207e+01] [ 1.92147944e-01 9.80194948e-01 -4.79273647e-02 4.20426695e+00] [ 2.08187903e-01 7.01201198e-03 9.78063714e-01 6.55189100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.34, Y:4.20, Z:6.55 [[ 9.58897806e-01 -1.97451624e-01 -2.03783840e-01 5.83438621e+01] [ 1.93782502e-01 9.80307911e-01 -3.80097551e-02 4.20477435e+00] [ 2.07275999e-01 -3.04227150e-03 9.78277775e-01 6.55189009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:4.21, Z:6.56 [[ 9.58759648e-01 -1.98304233e-01 -2.03605914e-01 5.83721740e+01] [ 1.95630419e-01 9.80109289e-01 -3.33844390e-02 4.20880872e+00] [ 2.06176323e-01 -7.82385729e-03 9.78483577e-01 6.56056817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:4.22, Z:6.57 [[ 9.57732826e-01 -2.01872794e-01 -2.04927328e-01 5.83948112e+01] [ 1.99314184e-01 9.79370596e-01 -3.32729767e-02 4.21626359e+00] [ 2.07416708e-01 -8.97830104e-03 9.78211480e-01 6.56961116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:4.23, Z:6.58 [[ 9.57553523e-01 -2.07788878e-01 -1.99787469e-01 5.84204745e+01] [ 2.01882115e-01 9.78146578e-01 -4.97280939e-02 4.22921638e+00] [ 2.05754374e-01 7.28379489e-03 9.78576560e-01 6.58116138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:4.23, Z:6.58 [[ 9.57536579e-01 -2.05681720e-01 -2.02036457e-01 5.84505548e+01] [ 2.01791760e-01 9.78615571e-01 -3.98954837e-02 4.23021756e+00] [ 2.05921794e-01 -2.56790725e-03 9.78565082e-01 6.58327050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:4.23, Z:6.58 [[ 9.55995036e-01 -2.08292517e-01 -2.06610062e-01 5.84801482e+01] [ 2.09320204e-01 9.77697208e-01 -1.71237393e-02 4.22693844e+00] [ 2.05568827e-01 -2.68774504e-02 9.78273510e-01 6.57703946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.51, Y:4.24, Z:6.60 [[ 9.55760203e-01 -2.13277383e-01 -2.02571449e-01 5.85079755e+01] [ 2.08335495e-01 9.76990618e-01 -4.56689550e-02 4.24186242e+00] [ 2.07650560e-01 1.44574658e-03 9.78202001e-01 6.59783046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:4.25, Z:6.60 [[ 9.54479884e-01 -2.17495637e-01 -2.04117122e-01 5.85304626e+01] [ 2.10643190e-01 9.76015150e-01 -5.49897492e-02 4.25059997e+00] [ 2.11181434e-01 9.49072777e-03 9.77400802e-01 6.60347789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:58.56, Y:4.24, Z:6.60 [[ 9.53420985e-01 -2.16068097e-01 -2.10482786e-01 5.85648603e+01] [ 2.16793670e-01 9.76014467e-01 -1.99063977e-02 4.24040734e+00] [ 2.09735382e-01 -2.66521584e-02 9.77394870e-01 6.59504463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710385723 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:58.58, Y:4.25, Z:6.62 [[ 9.51390596e-01 -2.22304786e-01 -2.13158427e-01 5.85830282e+01] [ 2.17934329e-01 9.74966821e-01 -4.40945233e-02 4.25478615e+00] [ 2.17624818e-01 -4.50342395e-03 9.76022109e-01 6.61934283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:58.61, Y:4.27, Z:6.62 [[ 9.51718200e-01 -2.25787206e-01 -2.07972606e-01 5.86136833e+01] [ 2.19721711e-01 9.74168770e-01 -5.21303919e-02 4.26880085e+00] [ 2.14370793e-01 3.91734605e-03 9.76744500e-01 6.62352685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.65, Y:4.27, Z:6.63 [[ 9.51665615e-01 -2.24839035e-01 -2.09236628e-01 5.86479739e+01] [ 2.23115684e-01 9.74262633e-01 -3.21203089e-02 4.26674040e+00] [ 2.11073327e-01 -1.61161799e-02 9.77337362e-01 6.62710602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.67, Y:4.28, Z:6.64 [[ 9.51645389e-01 -2.24006610e-01 -2.10219155e-01 5.86652633e+01] [ 2.20339703e-01 9.74560395e-01 -4.10177096e-02 4.27593085e+00] [ 2.14059501e-01 -7.28531202e-03 9.76793455e-01 6.63567874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:58.70, Y:4.28, Z:6.64 [[ 9.50431005e-01 -2.24470327e-01 -2.15160353e-01 5.86960972e+01] [ 2.19417560e-01 9.74478548e-01 -4.74077380e-02 4.28488122e+00] [ 2.20310778e-01 -2.15217554e-03 9.75427357e-01 6.64408151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:58.72, Y:4.29, Z:6.65 [[ 9.50106505e-01 -2.24218063e-01 -2.16849924e-01 5.87232989e+01] [ 2.20557409e-01 9.74500835e-01 -4.12619946e-02 4.28719280e+00] [ 2.20572116e-01 -8.62456783e-03 9.75332537e-01 6.64607834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:58.75, Y:4.30, Z:6.65 [[ 9.50210921e-01 -2.25268236e-01 -2.15298463e-01 5.87528678e+01] [ 2.19938247e-01 9.74296213e-01 -4.87242918e-02 4.29500445e+00] [ 2.20740513e-01 -1.05401244e-03 9.75332002e-01 6.65323038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:58.78, Y:4.29, Z:6.65 [[ 9.50956400e-01 -2.22064234e-01 -2.15335555e-01 5.87798413e+01] [ 2.21799504e-01 9.74753301e-01 -2.57095805e-02 4.28905876e+00] [ 2.15608221e-01 -2.33126291e-02 9.76201627e-01 6.64928650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:58.80, Y:4.31, Z:6.67 [[ 9.49762969e-01 -2.28012735e-01 -2.14383989e-01 5.88035803e+01] [ 2.20763935e-01 9.73630918e-01 -5.74988751e-02 4.30769077e+00] [ 2.21841356e-01 7.28204944e-03 9.75055580e-01 6.66835207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:58.83, Y:4.30, Z:6.67 [[ 9.50368492e-01 -2.23603480e-01 -2.16335882e-01 5.88344225e+01] [ 2.21329562e-01 9.74570626e-01 -3.50045537e-02 4.30403644e+00] [ 2.18661736e-01 -1.46143013e-02 9.75691277e-01 6.66767759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.86, Y:4.31, Z:6.68 [[ 9.50101180e-01 -2.24895360e-01 -2.16170823e-01 5.88600107e+01] [ 2.20345165e-01 9.74371868e-01 -4.52489882e-02 4.31430556e+00] [ 2.20807056e-01 -4.64107846e-03 9.75306467e-01 6.67856285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:58.89, Y:4.31, Z:6.68 [[ 9.49291581e-01 -2.18607664e-01 -2.25956156e-01 5.88917457e+01] [ 2.21656009e-01 9.75049678e-01 -1.21136307e-02 4.30593198e+00] [ 2.22966609e-01 -3.85851720e-02 9.74062152e-01 6.68241373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:58.91, Y:4.32, Z:6.70 [[ 9.49870587e-01 -2.17557318e-01 -2.24532139e-01 5.89113474e+01] [ 2.17058225e-01 9.75779207e-01 -2.72151867e-02 4.31870448e+00] [ 2.25014655e-01 -2.28856420e-02 9.74086573e-01 6.70166303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:58.94, Y:4.34, Z:6.71 [[ 9.49534062e-01 -2.25297431e-01 -2.18234121e-01 5.89390601e+01] [ 2.18320253e-01 9.74274883e-01 -5.58991940e-02 4.33777086e+00] [ 2.25213967e-01 5.43326012e-03 9.74294180e-01 6.71279897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:58.97, Y:4.34, Z:6.71 [[ 9.51700752e-01 -2.25047826e-01 -2.08851991e-01 5.89691742e+01] [ 2.17008616e-01 9.74265193e-01 -6.09474708e-02 4.34450126e+00] [ 2.17193322e-01 1.26810721e-02 9.76046234e-01 6.70896703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:59.00, Y:4.33, Z:6.71 [[ 9.50380387e-01 -2.15749354e-01 -2.24119022e-01 5.90001654e+01] [ 2.17314880e-01 9.75936258e-01 -1.79628557e-02 4.33036286e+00] [ 2.22601355e-01 -3.16328526e-02 9.74396223e-01 6.70593970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:59.02, Y:4.35, Z:6.72 [[ 9.52139414e-01 -2.24348172e-01 -2.07601624e-01 5.90229508e+01] [ 2.16014200e-01 9.74401838e-01 -6.22810023e-02 4.35491444e+00] [ 2.16260033e-01 1.44552984e-02 9.76228786e-01 6.72112892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:59.05, Y:4.34, Z:6.72 [[ 9.50644055e-01 -2.14562533e-01 -2.24140137e-01 5.90546913e+01] [ 2.16371057e-01 9.76167299e-01 -1.67621461e-02 4.34167933e+00] [ 2.22394801e-01 -3.25626037e-02 9.74412761e-01 6.71903973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:59.08, Y:4.36, Z:6.74 [[ 9.50408320e-01 -2.19254435e-01 -2.20570891e-01 5.90763976e+01] [ 2.15647140e-01 9.75626496e-01 -4.06109781e-02 4.35967557e+00] [ 2.24098943e-01 -8.96847051e-03 9.74525131e-01 6.73707774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:59.10, Y:4.37, Z:6.74 [[ 9.50285596e-01 -2.19393672e-01 -2.20960865e-01 5.91023135e+01] [ 2.15762471e-01 9.75595329e-01 -4.07469134e-02 4.36591530e+00] [ 2.24508003e-01 -8.95385724e-03 9.74431109e-01 6.74251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:59.13, Y:4.38, Z:6.75 [[ 9.52007284e-01 -2.24229493e-01 -2.08334503e-01 5.91268152e+01] [ 2.15637279e-01 9.74414472e-01 -6.33798178e-02 4.38219196e+00] [ 2.17215779e-01 1.54133629e-02 9.76001913e-01 6.74899850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:59.16, Y:4.37, Z:6.74 [[ 9.50246825e-01 -2.14204576e-01 -2.26157848e-01 5.91602390e+01] [ 2.15933792e-01 9.76253554e-01 -1.73665343e-02 4.36692995e+00] [ 2.24507394e-01 -3.23326277e-02 9.73935846e-01 6.74376394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:59.18, Y:4.39, Z:6.76 [[ 9.52410482e-01 -2.24556950e-01 -2.06127265e-01 5.91831478e+01] [ 2.14757300e-01 9.74223976e-01 -6.90430778e-02 4.39315015e+00] [ 2.16318226e-01 2.14900161e-02 9.76086371e-01 6.75866350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:59.22, Y:4.37, Z:6.75 [[ 9.50433910e-01 -2.12906621e-01 -2.26596895e-01 5.92174183e+01] [ 2.16069024e-01 9.76315520e-01 -1.10535970e-02 4.37225289e+00] [ 2.23583449e-01 -3.84548566e-02 9.73925903e-01 6.75091632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:59.24, Y:4.39, Z:6.77 [[ 9.50277153e-01 -2.19260848e-01 -2.21128951e-01 5.92397204e+01] [ 2.15575017e-01 9.75627200e-01 -4.09753398e-02 4.38963120e+00] [ 2.24723707e-01 -8.73194823e-03 9.74383399e-01 6.76770744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:59.27, Y:4.39, Z:6.78 [[ 9.50213228e-01 -2.19723769e-01 -2.20944080e-01 5.92656034e+01] [ 2.16041496e-01 9.75522720e-01 -4.10060394e-02 4.39459155e+00] [ 2.24545971e-01 -8.76860833e-03 9.74424044e-01 6.77571869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:59.29, Y:4.40, Z:6.78 [[ 9.50190367e-01 -2.20474074e-01 -2.20294005e-01 5.92926551e+01] [ 2.16818565e-01 9.75352654e-01 -4.09500995e-02 4.39917054e+00] [ 2.23892777e-01 -8.85343990e-03 9.74573569e-01 6.78241147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:59.32, Y:4.42, Z:6.79 [[ 9.52700541e-01 -2.27505579e-01 -2.01501590e-01 5.93190826e+01] [ 2.16663727e-01 9.73390295e-01 -7.46201185e-02 4.41624999e+00] [ 2.13116185e-01 2.74325419e-02 9.76641668e-01 6.78962653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:59.35, Y:4.40, Z:6.78 [[ 9.52383289e-01 -2.20613220e-01 -2.10465861e-01 5.93522024e+01] [ 2.18410532e-01 9.75266116e-01 -3.39535261e-02 4.40477681e+00] [ 2.12750820e-01 -1.36311898e-02 9.77011402e-01 6.77945589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58038572299999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:59.38, Y:4.41, Z:6.79 [[ 9.52465216e-01 -2.21916344e-01 -2.08717868e-01 5.93800394e+01] [ 2.18959155e-01 9.75014306e-01 -3.74698664e-02 4.40923740e+00] [ 2.11818083e-01 -1.00119436e-02 9.77257827e-01 6.78586580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:59.41, Y:4.40, Z:6.79 [[ 9.50408498e-01 -2.17829863e-01 -2.21977111e-01 5.94083825e+01] [ 2.20853810e-01 9.75240057e-01 -1.14204131e-02 4.40213586e+00] [ 2.18968678e-01 -3.81704331e-02 9.74984993e-01 6.79288303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:59.43, Y:4.42, Z:6.81 [[ 9.50001860e-01 -2.24352625e-01 -2.17168980e-01 5.94301165e+01] [ 2.20852017e-01 9.74462615e-01 -4.05832298e-02 4.41869334e+00] [ 2.20728006e-01 -9.40806335e-03 9.75290026e-01 6.80974850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:59.46, Y:4.42, Z:6.81 [[ 9.49584273e-01 -2.24719246e-01 -2.18611455e-01 5.94573728e+01] [ 2.21166551e-01 9.74377293e-01 -4.09175819e-02 4.42449722e+00] [ 2.22205006e-01 -9.49484924e-03 9.74953734e-01 6.81318447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:59.49, Y:4.43, Z:6.82 [[ 9.50063708e-01 -2.26312331e-01 -2.14852692e-01 5.94852937e+01] [ 2.21412529e-01 9.74050222e-01 -4.69324704e-02 4.43340601e+00] [ 2.19898709e-01 -2.98224113e-03 9.75518152e-01 6.81768143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:59.51, Y:4.43, Z:6.82 [[ 9.49399101e-01 -2.23959125e-01 -2.20190048e-01 5.95125149e+01] [ 2.21901809e-01 9.74463296e-01 -3.43638096e-02 4.43079828e+00] [ 2.22263209e-01 -1.62356001e-02 9.74851512e-01 6.82084731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:59.54, Y:4.44, Z:6.83 [[ 9.49294561e-01 -2.25499569e-01 -2.19065702e-01 5.95375798e+01] [ 2.21922351e-01 9.74196295e-01 -4.11345248e-02 4.43721445e+00] [ 2.22688813e-01 -9.56679508e-03 9.74842638e-01 6.82864578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:59.57, Y:4.44, Z:6.83 [[ 9.49294126e-01 -2.25371500e-01 -2.19199335e-01 5.95650486e+01] [ 2.21779551e-01 9.74226463e-01 -4.11901546e-02 4.44188149e+00] [ 2.22832880e-01 -9.51235837e-03 9.74810249e-01 6.83346876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:59.59, Y:4.45, Z:6.84 [[ 9.49309882e-01 -2.24990135e-01 -2.19522633e-01 5.95918124e+01] [ 2.21362563e-01 9.74315964e-01 -4.13160692e-02 4.44772208e+00] [ 2.23180114e-01 -9.37233975e-03 9.74732166e-01 6.83988673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:59.62, Y:4.46, Z:6.85 [[ 9.49826139e-01 -2.23512810e-01 -2.18797460e-01 5.96183861e+01] [ 2.19855906e-01 9.74660092e-01 -4.12442173e-02 4.45540972e+00] [ 2.22471763e-01 -8.92907804e-03 9.74898244e-01 6.84658708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:59.64, Y:4.46, Z:6.85 [[ 9.50238757e-01 -2.22676962e-01 -2.17856089e-01 5.96437089e+01] [ 2.19015770e-01 9.74854077e-01 -4.11293125e-02 4.46047354e+00] [ 2.21536447e-01 -8.63125222e-03 9.75113893e-01 6.85347073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91038572299999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:59.67, Y:4.46, Z:6.86 [[ 9.51056905e-01 -2.20639286e-01 -2.16354034e-01 5.96712142e+01] [ 2.16970177e-01 9.75322105e-01 -4.08746170e-02 4.46412597e+00] [ 2.20033418e-01 -8.06828627e-03 9.75458968e-01 6.85821135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:59.70, Y:4.47, Z:6.87 [[ 9.51207617e-01 -2.20542937e-01 -2.15788978e-01 5.96966670e+01] [ 2.15154698e-01 9.75377208e-01 -4.84536648e-02 4.47178777e+00] [ 2.21161765e-01 -3.38517447e-04 9.75237078e-01 6.86506193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:59.73, Y:4.47, Z:6.87 [[ 9.51474876e-01 -2.19466526e-01 -2.15708144e-01 5.97260935e+01] [ 2.17318143e-01 9.75510891e-01 -3.39311853e-02 4.47166061e+00] [ 2.17872403e-01 -1.45926230e-02 9.75868163e-01 6.86658081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:4.48, Z:6.88 [[ 9.51459966e-01 -2.19536537e-01 -2.15702672e-01 5.97507241e+01] [ 2.15831762e-01 9.75574243e-01 -4.08845642e-02 4.48117690e+00] [ 2.19409627e-01 -7.65546189e-03 9.75602793e-01 6.87909701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:59.78, Y:4.49, Z:6.88 [[ 9.50692033e-01 -2.21524927e-01 -2.17051528e-01 5.97794179e+01] [ 2.16470866e-01 9.75152213e-01 -4.71012331e-02 4.48945311e+00] [ 2.22092375e-01 -2.20656513e-03 9.75023132e-01 6.88353427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:59.81, Y:4.49, Z:6.88 [[ 9.51123785e-01 -2.18513649e-01 -2.18209374e-01 5.98064561e+01] [ 2.16269447e-01 9.75726826e-01 -3.44193006e-02 4.48886693e+00] [ 2.20433826e-01 -1.44550050e-02 9.75294817e-01 6.88420046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:59.83, Y:4.50, Z:6.89 [[ 9.50978225e-01 -2.20342240e-01 -2.17001643e-01 5.98326246e+01] [ 2.16578880e-01 9.75391918e-01 -4.12819050e-02 4.49620837e+00] [ 2.20757796e-01 -7.73977996e-03 9.75297950e-01 6.89151294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:59.86, Y:4.50, Z:6.90 [[ 9.50211685e-01 -2.23474337e-01 -2.17156566e-01 5.98610508e+01] [ 2.17952184e-01 9.74709726e-01 -4.93740457e-02 4.50372790e+00] [ 2.22698449e-01 -4.13952603e-04 9.74887291e-01 6.89972943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:59.89, Y:4.50, Z:6.90 [[ 9.51044454e-01 -2.18703877e-01 -2.18364511e-01 5.98885744e+01] [ 2.17015549e-01 9.75643809e-01 -3.19907748e-02 4.50085381e+00] [ 2.20042490e-01 -1.69638452e-02 9.75342776e-01 6.89730466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:59.91, Y:4.51, Z:6.91 [[ 9.51001573e-01 -2.20045128e-01 -2.17200712e-01 5.99130095e+01] [ 2.16224919e-01 9.75460925e-01 -4.15062462e-02 4.51033975e+00] [ 2.21004054e-01 -7.49170076e-03 9.75244114e-01 6.90771106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:59.94, Y:4.52, Z:6.91 [[ 9.50955272e-01 -2.19858721e-01 -2.17591850e-01 5.99396802e+01] [ 2.16013152e-01 9.75503404e-01 -4.16104070e-02 4.51684153e+00] [ 2.21410001e-01 -7.43306556e-03 9.75152481e-01 6.91420989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:59.97, Y:4.52, Z:6.92 [[ 9.51089908e-01 -2.19540974e-01 -2.17324062e-01 5.99653841e+01] [ 2.15682525e-01 9.75576067e-01 -4.16219290e-02 4.52392244e+00] [ 2.21153873e-01 -7.28680597e-03 9.75211704e-01 6.92233914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:59.99, Y:4.53, Z:6.93 [[ 9.51350519e-01 -2.19290051e-01 -2.16434895e-01 5.99912008e+01] [ 2.15442792e-01 9.75633624e-01 -4.15142639e-02 4.52844958e+00] [ 2.20264826e-01 -7.13472165e-03 9.75414016e-01 6.92627106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30038572299999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:60.02, Y:4.53, Z:6.93 [[ 9.51428114e-01 -2.19396471e-01 -2.15985492e-01 6.00187382e+01] [ 2.15558128e-01 9.75609952e-01 -4.14718473e-02 4.53256892e+00] [ 2.19816373e-01 -7.09994702e-03 9.75515429e-01 6.93103716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:60.05, Y:4.54, Z:6.93 [[ 9.51740254e-01 -2.19263887e-01 -2.14741325e-01 6.00454616e+01] [ 2.15452925e-01 9.75640729e-01 -4.12941330e-02 4.53658936e+00] [ 2.18564695e-01 -6.96535787e-03 9.75797601e-01 6.93452564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:60.07, Y:4.54, Z:6.94 [[ 9.52123549e-01 -2.17898824e-01 -2.14431457e-01 6.00718420e+01] [ 2.14058477e-01 9.75948954e-01 -4.12626608e-02 4.54171573e+00] [ 2.18265241e-01 -6.61372000e-03 9.75867072e-01 6.94140135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:60.10, Y:4.55, Z:6.95 [[ 9.52837369e-01 -2.19584469e-01 -2.09484151e-01 6.00969105e+01] [ 2.13216680e-01 9.75577164e-01 -5.28000457e-02 4.55443141e+00] [ 2.15962024e-01 5.64434143e-03 9.76385449e-01 6.94580415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:60.13, Y:4.55, Z:6.95 [[ 9.52667569e-01 -2.13076086e-01 -2.16848069e-01 6.01267447e+01] [ 2.11604350e-01 9.76886746e-01 -3.02635988e-02 4.55104248e+00] [ 2.18284454e-01 -1.70548456e-02 9.75736147e-01 6.94964434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:60.15, Y:4.56, Z:6.96 [[ 9.52701424e-01 -2.15201413e-01 -2.14588791e-01 6.01512505e+01] [ 2.11254775e-01 9.76552150e-01 -4.14405494e-02 4.56177356e+00] [ 2.18475210e-01 -5.85243642e-03 9.75824949e-01 6.96074896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:60.18, Y:4.57, Z:6.97 [[ 9.52647938e-01 -2.15449194e-01 -2.14577609e-01 6.01784552e+01] [ 2.11495745e-01 9.76497535e-01 -4.14983701e-02 4.56714409e+00] [ 2.18475297e-01 -5.84891470e-03 9.75824951e-01 6.96678835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:60.20, Y:4.57, Z:6.97 [[ 9.52864977e-01 -2.15542667e-01 -2.13517435e-01 6.02041999e+01] [ 2.11618573e-01 9.76477288e-01 -4.13483416e-02 4.57234016e+00] [ 2.17407258e-01 -5.78486847e-03 9.76063840e-01 6.97279804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:60.23, Y:4.57, Z:6.98 [[ 9.53039211e-01 -2.15229723e-01 -2.13054992e-01 6.02294362e+01] [ 2.11306218e-01 9.76547040e-01 -4.12984329e-02 4.57478645e+00] [ 2.16946872e-01 -5.66081869e-03 9.76166999e-01 6.97632392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:60.26, Y:4.58, Z:6.98 [[ 9.52520076e-01 -2.18131111e-01 -2.12424867e-01 6.02587380e+01] [ 2.14104975e-01 9.75904463e-01 -4.20658762e-02 4.57940388e+00] [ 2.16482252e-01 -5.41262913e-03 9.76271549e-01 6.98087577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:60.28, Y:4.59, Z:6.99 [[ 9.52439663e-01 -2.21775245e-01 -2.08984278e-01 6.02823279e+01] [ 2.16449299e-01 9.75097495e-01 -4.83174551e-02 4.58826210e+00] [ 2.14495661e-01 7.84960239e-04 9.76724626e-01 6.98667612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:60.31, Y:4.59, Z:6.99 [[ 9.52108295e-01 -2.19419850e-01 -2.12943005e-01 6.03128350e+01] [ 2.16911829e-01 9.75550258e-01 -3.53688038e-02 4.58557476e+00] [ 2.15497221e-01 -1.25149254e-02 9.76424254e-01 6.98908382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:60.34, Y:4.59, Z:7.00 [[ 9.51750681e-01 -2.21515318e-01 -2.12371386e-01 6.03379486e+01] [ 2.17739595e-01 9.75132300e-01 -4.13093973e-02 4.59461073e+00] [ 2.16240863e-01 -6.92541271e-03 9.76315486e-01 6.99800702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69038572299999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:60.36, Y:4.60, Z:7.00 [[ 9.51127541e-01 -2.22986881e-01 -2.13619408e-01 6.03630097e+01] [ 2.19189219e-01 9.74794536e-01 -4.16136860e-02 4.60149102e+00] [ 2.17514338e-01 -7.24314835e-03 9.76030250e-01 7.00430474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72038572299999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:60.39, Y:4.61, Z:7.01 [[ 9.50814507e-01 -2.24213322e-01 -2.13729172e-01 6.03894397e+01] [ 2.20436076e-01 9.74511230e-01 -4.16629155e-02 4.60667615e+00] [ 2.17622859e-01 -7.49991559e-03 9.76004120e-01 7.01058572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.42, Y:4.61, Z:7.02 [[ 9.50267222e-01 -2.26430906e-01 -2.13825281e-01 6.04154584e+01] [ 2.22691858e-01 9.73994786e-01 -4.17431885e-02 4.61034256e+00] [ 2.17716656e-01 -7.94996522e-03 9.75979639e-01 7.01777541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:60.44, Y:4.61, Z:7.02 [[ 9.49859107e-01 -2.27234207e-01 -2.14784292e-01 6.04422155e+01] [ 2.23472097e-01 9.73806200e-01 -4.19726810e-02 4.61496557e+00] [ 2.18695904e-01 -8.13016276e-03 9.75759193e-01 7.01982829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:4.63, Z:7.03 [[ 9.49764545e-01 -2.31012888e-01 -2.11140605e-01 6.04646529e+01] [ 2.25432894e-01 9.72950633e-01 -5.04685758e-02 4.62502107e+00] [ 2.17088276e-01 3.35226480e-04 9.76151918e-01 7.02951234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:60.50, Y:4.62, Z:7.03 [[ 9.49509421e-01 -2.27587265e-01 -2.15953458e-01 6.04974157e+01] [ 2.25387753e-01 9.73636736e-01 -3.50979646e-02 4.62181172e+00] [ 2.18248070e-01 -1.53474167e-02 9.75772636e-01 7.03003499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:60.52, Y:4.63, Z:7.04 [[ 9.49343019e-01 -2.29375389e-01 -2.14790045e-01 6.05219568e+01] [ 2.25644061e-01 9.73300736e-01 -4.20765385e-02 4.63159262e+00] [ 2.18706632e-01 -8.52102990e-03 9.75753453e-01 7.03859872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:60.55, Y:4.64, Z:7.05 [[ 9.49292436e-01 -2.29775187e-01 -2.14586193e-01 6.05479910e+01] [ 2.26054518e-01 9.73205952e-01 -4.20657804e-02 4.63748447e+00] [ 2.18502233e-01 -8.57545136e-03 9.75798768e-01 7.04595002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:60.57, Y:4.64, Z:7.05 [[ 9.49642281e-01 -2.29475460e-01 -2.13355458e-01 6.05739303e+01] [ 2.25776006e-01 9.73278269e-01 -4.18880183e-02 4.64254650e+00] [ 2.17266504e-01 -8.39191004e-03 9.76076248e-01 7.05216122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:60.60, Y:4.65, Z:7.06 [[ 9.49569522e-01 -2.29355841e-01 -2.13807439e-01 6.06008383e+01] [ 2.25631104e-01 9.73306790e-01 -4.20059186e-02 4.64795120e+00] [ 2.17734535e-01 -8.35406859e-03 9.75972275e-01 7.05681823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:60.63, Y:4.65, Z:7.06 [[ 9.49686313e-01 -2.29589990e-01 -2.13036014e-01 6.06272030e+01] [ 2.25883949e-01 9.73251939e-01 -4.19178318e-02 4.65310109e+00] [ 2.16961629e-01 -8.31262518e-03 9.76144739e-01 7.06276557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02038572299999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:60.65, Y:4.66, Z:7.07 [[ 9.49542020e-01 -2.30085202e-01 -2.13144907e-01 6.06536005e+01] [ 2.26373651e-01 9.73134515e-01 -4.20022095e-02 4.65713987e+00] [ 2.17082752e-01 -8.36752799e-03 9.76117341e-01 7.06828471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:60.68, Y:4.66, Z:7.07 [[ 9.49382109e-01 -2.31066773e-01 -2.12795106e-01 6.06799253e+01] [ 2.27385494e-01 9.72900335e-01 -4.19615915e-02 4.66196474e+00] [ 2.16724360e-01 -8.54893605e-03 9.76195404e-01 7.07473682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:60.71, Y:4.67, Z:7.08 [[ 9.49189406e-01 -2.31683387e-01 -2.12984224e-01 6.07065415e+01] [ 2.27996742e-01 9.72752924e-01 -4.20622692e-02 4.66715409e+00] [ 2.16926155e-01 -8.63464887e-03 9.76149828e-01 7.08077075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:60.73, Y:4.67, Z:7.09 [[ 9.49206170e-01 -2.31821397e-01 -2.12759222e-01 6.07330898e+01] [ 2.28131871e-01 9.72720411e-01 -4.20814873e-02 4.67207485e+00] [ 2.16710627e-01 -8.59315209e-03 9.76198065e-01 7.08615288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:60.76, Y:4.68, Z:7.09 [[ 9.49178531e-01 -2.31591889e-01 -2.13132150e-01 6.07603598e+01] [ 2.27869451e-01 9.72775959e-01 -4.22190228e-02 4.67700953e+00] [ 2.17107415e-01 -8.49291610e-03 9.76110773e-01 7.09116312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:60.79, Y:4.68, Z:7.10 [[ 9.48853707e-01 -2.31908768e-01 -2.14231103e-01 6.07875438e+01] [ 2.28141242e-01 9.72699983e-01 -4.25007895e-02 4.68173098e+00] [ 2.18238896e-01 -8.54791821e-03 9.75857939e-01 7.09743393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:60.81, Y:4.69, Z:7.10 [[ 9.48412688e-01 -2.32556276e-01 -2.15478423e-01 6.08147251e+01] [ 2.28746500e-01 9.72544154e-01 -4.28124726e-02 4.68657924e+00] [ 2.19518590e-01 -8.68604289e-03 9.75569650e-01 7.10216280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:60.84, Y:4.69, Z:7.11 [[ 9.48203739e-01 -2.33529113e-01 -2.15345819e-01 6.08404007e+01] [ 2.29734583e-01 9.72309602e-01 -4.28492563e-02 4.69109359e+00] [ 2.19389356e-01 -8.84255689e-03 9.75597314e-01 7.10784098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:60.87, Y:4.70, Z:7.11 [[ 9.47675746e-01 -2.34653174e-01 -2.16445300e-01 6.08669552e+01] [ 2.30841756e-01 9.72036356e-01 -4.30976451e-02 4.69569005e+00] [ 2.20505700e-01 -9.12202019e-03 9.75343029e-01 7.11314787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:60.89, Y:4.70, Z:7.12 [[ 9.47243244e-01 -2.36207646e-01 -2.16647605e-01 6.08939446e+01] [ 2.32414425e-01 9.71656859e-01 -4.32028089e-02 4.70003488e+00] [ 2.20711965e-01 -9.42845975e-03 9.75293460e-01 7.11928278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:60.92, Y:4.71, Z:7.13 [[ 9.47151720e-01 -2.36524242e-01 -2.16702335e-01 6.09193552e+01] [ 2.32722713e-01 9.71579721e-01 -4.32779814e-02 4.70567221e+00] [ 2.20779886e-01 -9.44074085e-03 9.75277968e-01 7.12579236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:60.95, Y:4.71, Z:7.13 [[ 9.47068768e-01 -2.36404127e-01 -2.17195389e-01 6.09452023e+01] [ 2.32575231e-01 9.71609299e-01 -4.34065856e-02 4.71300243e+00] [ 2.21290556e-01 -9.40524623e-03 9.75162567e-01 7.13284823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.97, Y:4.72, Z:7.14 [[ 9.48596660e-01 -2.37638792e-01 -2.09026749e-01 6.09737975e+01] [ 2.31153987e-01 9.71344807e-01 -5.52910430e-02 4.72343003e+00] [ 2.16176344e-01 4.13153235e-03 9.76345594e-01 7.14048117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41038572299999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:61.00, Y:4.72, Z:7.14 [[ 9.47583548e-01 -2.33183944e-01 -2.18427718e-01 6.10008970e+01] [ 2.32588458e-01 9.72148507e-01 -2.88078208e-02 4.71703858e+00] [ 2.19061701e-01 -2.35059489e-02 9.75427825e-01 7.13809723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44038572299999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:61.02, Y:4.73, Z:7.15 [[ 9.47972309e-01 -2.36633276e-01 -2.12962891e-01 6.10248634e+01] [ 2.32923319e-01 9.71556358e-01 -4.27196840e-02 4.72739093e+00] [ 2.17014350e-01 -9.10694597e-03 9.76125932e-01 7.15038418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:61.05, Y:4.73, Z:7.16 [[ 9.48105427e-01 -2.36994182e-01 -2.11966643e-01 6.10504719e+01] [ 2.33314025e-01 9.71468619e-01 -4.25827265e-02 4.73291122e+00] [ 2.16010800e-01 -9.08187654e-03 9.76348736e-01 7.15702857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:61.08, Y:4.74, Z:7.16 [[ 9.47769890e-01 -2.37875108e-01 -2.12479807e-01 6.10767440e+01] [ 2.34192506e-01 9.71251438e-01 -4.27143418e-02 4.73898988e+00] [ 2.16531997e-01 -9.27781149e-03 9.76231436e-01 7.16189667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:61.10, Y:4.74, Z:7.17 [[ 9.47506982e-01 -2.38867104e-01 -2.12539468e-01 6.11031553e+01] [ 2.35192946e-01 9.71006341e-01 -4.27897687e-02 4.74439603e+00] [ 2.16598239e-01 -9.44417893e-03 9.76215145e-01 7.16902154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:61.13, Y:4.75, Z:7.17 [[ 9.47318085e-01 -2.39264476e-01 -2.12934158e-01 6.11298257e+01] [ 2.35572361e-01 9.70908050e-01 -4.29327482e-02 4.74954794e+00] [ 2.17011770e-01 -9.49043352e-03 9.76122853e-01 7.17400583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:61.15, Y:4.76, Z:7.18 [[ 9.47144297e-01 -2.39969620e-01 -2.12913745e-01 6.11549373e+01] [ 2.36281893e-01 9.70733040e-01 -4.29910754e-02 4.75525587e+00] [ 2.16998959e-01 -9.58891101e-03 9.76124738e-01 7.18042933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:61.18, Y:4.76, Z:7.19 [[ 9.47114402e-01 -2.40574941e-01 -2.12362912e-01 6.11818909e+01] [ 2.36915141e-01 9.70582364e-01 -4.29079294e-02 4.76105946e+00] [ 2.16438270e-01 -9.67327148e-03 9.76248382e-01 7.18680432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:61.21, Y:4.77, Z:7.19 [[ 9.46772324e-01 -2.41928407e-01 -2.12350683e-01 6.12089009e+01] [ 2.38288601e-01 9.70243398e-01 -4.29684825e-02 4.76523134e+00] [ 2.16427145e-01 -9.91937733e-03 9.76248379e-01 7.19143233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.23, Y:4.77, Z:7.20 [[ 9.46628542e-01 -2.42897849e-01 -2.11884495e-01 6.12341908e+01] [ 2.39283973e-01 9.69999763e-01 -4.29376264e-02 4.76945829e+00] [ 2.15957367e-01 -1.00545811e-02 9.76351024e-01 7.19804130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.26, Y:4.78, Z:7.20 [[ 9.47303791e-01 -2.45640071e-01 -2.05612461e-01 6.12600412e+01] [ 2.38626807e-01 9.69339431e-01 -5.86371419e-02 4.78070282e+00] [ 2.13711898e-01 6.48254167e-03 9.76875223e-01 7.20244763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.29, Y:4.77, Z:7.20 [[ 9.46312926e-01 -2.40413253e-01 -2.16086359e-01 6.12906243e+01] [ 2.40345378e-01 9.70311912e-01 -2.69980294e-02 4.77235875e+00] [ 2.16161852e-01 -2.63867733e-02 9.76000918e-01 7.20194445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.31, Y:4.78, Z:7.21 [[ 9.46203834e-01 -2.42725024e-01 -2.13969313e-01 6.13139429e+01] [ 2.39008350e-01 9.70043586e-01 -4.34792998e-02 4.78440708e+00] [ 2.18113074e-01 -1.00001722e-02 9.75872268e-01 7.21370308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.34, Y:4.79, Z:7.22 [[ 9.46334828e-01 -2.41650050e-01 -2.14605793e-01 6.13407313e+01] [ 2.37877397e-01 9.70314439e-01 -4.36375328e-02 4.79054335e+00] [ 2.18780112e-01 -9.75415034e-03 9.75725432e-01 7.21861292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83038572299999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:61.37, Y:4.80, Z:7.23 [[ 9.47105939e-01 -2.38612821e-01 -2.14602568e-01 6.13657045e+01] [ 2.34749939e-01 9.71073147e-01 -4.36967828e-02 4.79833506e+00] [ 2.18821404e-01 -8.99245729e-03 9.75723490e-01 7.22537434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:61.39, Y:4.80, Z:7.23 [[ 9.47763433e-01 -2.36756361e-01 -2.13754299e-01 6.13925566e+01] [ 2.32871471e-01 9.71531862e-01 -4.35513271e-02 4.80428906e+00] [ 2.17980166e-01 -8.50092272e-03 9.75916176e-01 7.23120977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:61.42, Y:4.81, Z:7.24 [[ 9.48444426e-01 -2.35063037e-01 -2.12599480e-01 6.14196683e+01] [ 2.31164041e-01 9.71947191e-01 -4.33802197e-02 4.80927471e+00] [ 2.16832553e-01 -8.00162737e-03 9.76176018e-01 7.23783056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:4.82, Z:7.25 [[ 9.50085356e-01 -2.35419998e-01 -2.04732121e-01 6.14432052e+01] [ 2.28212755e-01 9.71853565e-01 -5.84772339e-02 4.82020037e+00] [ 2.12736352e-01 8.83588225e-03 9.77069686e-01 7.24562438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.48, Y:4.81, Z:7.24 [[ 9.49649549e-01 -2.27441086e-01 -2.15490802e-01 6.14767083e+01] [ 2.26610591e-01 9.73556797e-01 -2.88929731e-02 4.81214721e+00] [ 2.16363984e-01 -2.13942989e-02 9.76078332e-01 7.24222347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.50, Y:4.83, Z:7.26 [[ 9.49849676e-01 -2.32491641e-01 -2.09124915e-01 6.14967579e+01] [ 2.26231528e-01 9.72591312e-01 -5.37162513e-02 4.83071269e+00] [ 2.15881655e-01 3.71171471e-03 9.76412482e-01 7.25519170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.53, Y:4.83, Z:7.26 [[ 9.50598167e-01 -2.23988691e-01 -2.14923690e-01 6.15286739e+01] [ 2.21647036e-01 9.74489409e-01 -3.52559575e-02 4.82767358e+00] [ 2.17337795e-01 -1.41229502e-02 9.75994275e-01 7.25826863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.55, Y:4.84, Z:7.27 [[ 9.51098422e-01 -2.23859984e-01 -2.12834442e-01 6.15529331e+01] [ 2.19624475e-01 9.74607313e-01 -4.36540537e-02 4.83608303e+00] [ 2.17202399e-01 -5.22435097e-03 9.76112608e-01 7.26778320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:61.58, Y:4.84, Z:7.27 [[ 9.52000046e-01 -2.20065281e-01 -2.12760860e-01 6.15802024e+01] [ 2.15729489e-01 9.75475610e-01 -4.36820531e-02 4.84023133e+00] [ 2.17155933e-01 -4.31347498e-03 9.76127397e-01 7.27398645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.61, Y:4.85, Z:7.28 [[ 9.52149748e-01 -2.18709545e-01 -2.13487688e-01 6.16073103e+01] [ 2.14296244e-01 9.75781985e-01 -4.38934853e-02 4.84559149e+00] [ 2.17917364e-01 -3.95643885e-03 9.75959205e-01 7.28007805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.63, Y:4.85, Z:7.29 [[ 9.52255952e-01 -2.17637818e-01 -2.14108343e-01 6.16328405e+01] [ 2.13157951e-01 9.76022735e-01 -4.40829669e-02 4.85085940e+00] [ 2.18568732e-01 -3.66062814e-03 9.75814690e-01 7.28611879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16038572299999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:61.65, Y:4.86, Z:7.29 [[ 9.51892741e-01 -2.18711648e-01 -2.14628575e-01 6.16532434e+01] [ 2.13067034e-01 9.75788696e-01 -4.93848074e-02 4.86073756e+00] [ 2.20233170e-01 1.27876584e-03 9.75446419e-01 7.29203414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19038572299999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:61.68, Y:4.87, Z:7.30 [[ 9.52159084e-01 -2.17452713e-01 -2.14726327e-01 6.16808963e+01] [ 2.11850632e-01 9.76070096e-01 -4.90558699e-02 4.86514786e+00] [ 2.20255278e-01 1.21908411e-03 9.75441503e-01 7.29726237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22038572299999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:61.72, Y:4.86, Z:7.30 [[ 9.53339271e-01 -2.12974703e-01 -2.13976658e-01 6.17151055e+01] [ 2.08695446e-01 9.77049600e-01 -4.26648591e-02 4.86234604e+00] [ 2.18152343e-01 -3.98186838e-03 9.75906604e-01 7.30287006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.74, Y:4.87, Z:7.31 [[ 9.53545810e-01 -2.12949265e-01 -2.13079794e-01 6.17421252e+01] [ 2.08377903e-01 9.77060095e-01 -4.39570236e-02 4.86723715e+00] [ 2.17552380e-01 -2.48608485e-03 9.76045481e-01 7.30985171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.77, Y:4.87, Z:7.32 [[ 9.53754670e-01 -2.12681055e-01 -2.12411862e-01 6.17690381e+01] [ 2.08117989e-01 9.77118841e-01 -4.38824924e-02 4.87224636e+00] [ 2.16884608e-01 -2.35359763e-03 9.76194411e-01 7.31618810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.80, Y:4.88, Z:7.32 [[ 9.53794548e-01 -2.13291797e-01 -2.11618927e-01 6.17950410e+01] [ 2.08764088e-01 9.76985544e-01 -4.37813093e-02 4.87803821e+00] [ 2.16086827e-01 -2.42005812e-03 9.76371152e-01 7.32466698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.82, Y:4.88, Z:7.33 [[ 9.53333290e-01 -2.15027737e-01 -2.11940344e-01 6.18210718e+01] [ 2.10514540e-01 9.76604056e-01 -4.39106656e-02 4.88383199e+00] [ 2.16423811e-01 -2.75502474e-03 9.76295623e-01 7.33197060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.85, Y:4.89, Z:7.34 [[ 9.53295921e-01 -2.15205577e-01 -2.11927927e-01 6.18482384e+01] [ 2.10683417e-01 9.76564945e-01 -4.39705146e-02 4.88957310e+00] [ 2.16424085e-01 -2.73278779e-03 9.76295625e-01 7.33802972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:61.88, Y:4.89, Z:7.34 [[ 9.52125416e-01 -2.18756097e-01 -2.13548503e-01 6.18761744e+01] [ 2.14242851e-01 9.75773196e-01 -4.43471711e-02 4.89267453e+00] [ 2.18076119e-01 -3.52717146e-03 9.75925389e-01 7.34233218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.90, Y:4.90, Z:7.35 [[ 9.51424358e-01 -2.21377041e-01 -2.13971721e-01 6.19036164e+01] [ 2.16896753e-01 9.75179790e-01 -4.44991654e-02 4.89647086e+00] [ 2.18511991e-01 -4.07218153e-03 9.75825767e-01 7.34760061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:61.93, Y:4.90, Z:7.35 [[ 9.50874887e-01 -2.24002573e-01 -2.13681531e-01 6.19297955e+01] [ 2.19585640e-01 9.74577674e-01 -4.45028475e-02 4.90026200e+00] [ 2.18218002e-01 -4.60475555e-03 9.75889184e-01 7.35273249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490385723 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:61.95, Y:4.91, Z:7.36 [[ 9.48869469e-01 -2.34693884e-01 -2.11105453e-01 6.19468806e+01] [ 2.27804127e-01 9.72052328e-01 -5.67410993e-02 4.91218275e+00] [ 2.18522335e-01 5.74920352e-03 9.75815011e-01 7.35749384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:61.98, Y:4.90, Z:7.36 [[ 9.49154600e-01 -2.30348752e-01 -2.14580982e-01 6.19847776e+01] [ 2.27541888e-01 9.73024998e-01 -3.80400174e-02 4.90495484e+00] [ 2.17555130e-01 -1.27203041e-02 9.75965143e-01 7.36085788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55038572299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.01, Y:4.91, Z:7.37 [[ 9.48552862e-01 -2.34510512e-01 -2.12725851e-01 6.20097224e+01] [ 2.30363831e-01 9.72089425e-01 -4.44370862e-02 4.91256941e+00] [ 2.17209514e-01 -6.85341673e-03 9.76100946e-01 7.37021305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58038572299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:62.04, Y:4.92, Z:7.38 [[ 9.47647519e-01 -2.38693245e-01 -2.12107790e-01 6.20362193e+01] [ 2.34664208e-01 9.71064144e-01 -4.43524323e-02 4.91716410e+00] [ 2.16556896e-01 -7.74363423e-03 9.76239288e-01 7.37631242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:62.06, Y:4.92, Z:7.38 [[ 9.47431587e-01 -2.40163481e-01 -2.11411660e-01 6.20629344e+01] [ 2.36183005e-01 9.70699587e-01 -4.42707517e-02 4.92230038e+00] [ 2.15849429e-01 -7.98833257e-03 9.76393983e-01 7.38298916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.09, Y:4.93, Z:7.39 [[ 9.47443479e-01 -2.42192916e-01 -2.09029772e-01 6.20890768e+01] [ 2.38337247e-01 9.70192706e-01 -4.38345684e-02 4.92691817e+00] [ 2.13415582e-01 -8.28880449e-03 9.76926346e-01 7.38995258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.12, Y:4.93, Z:7.40 [[ 9.47423900e-01 -2.43260173e-01 -2.07876026e-01 6.21151044e+01] [ 2.39458937e-01 9.69924549e-01 -4.36553164e-02 4.93180303e+00] [ 2.12243661e-01 -8.41768217e-03 9.77180521e-01 7.39637223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.14, Y:4.94, Z:7.40 [[ 9.47292472e-01 -2.44060916e-01 -2.07536122e-01 6.21425937e+01] [ 2.40285258e-01 9.69722163e-01 -4.36110266e-02 4.93577352e+00] [ 2.11896124e-01 -8.55547343e-03 9.77254745e-01 7.40091112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730385723 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:62.16, Y:4.95, Z:7.41 [[ 9.45760718e-01 -2.53423201e-01 -2.03256844e-01 6.21599860e+01] [ 2.45633720e-01 9.67306289e-01 -6.31079994e-02 4.94988574e+00] [ 2.12604655e-01 9.75833195e-03 9.77089574e-01 7.40650069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.20, Y:4.94, Z:7.41 [[ 9.45469098e-01 -2.46984645e-01 -2.12336456e-01 6.21995235e+01] [ 2.46345205e-01 9.68721028e-01 -2.98933146e-02 4.93817579e+00] [ 2.13077979e-01 -2.40448626e-02 9.76739279e-01 7.40513700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.22, Y:4.95, Z:7.42 [[ 9.44494467e-01 -2.51866852e-01 -2.10934328e-01 6.22224890e+01] [ 2.48122592e-01 9.67706825e-01 -4.44823614e-02 4.95075389e+00] [ 2.15326221e-01 -1.03242279e-02 9.76487598e-01 7.41607103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.25, Y:4.96, Z:7.42 [[ 9.43451195e-01 -2.54176063e-01 -2.12824745e-01 6.22480811e+01] [ 2.50411869e-01 9.67096448e-01 -4.49261234e-02 4.95912381e+00] [ 2.17241200e-01 -1.09082374e-02 9.76057002e-01 7.42369764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850385723 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:62.27, Y:4.98, Z:7.43 [[ 9.43030977e-01 -2.58802010e-01 -2.09079163e-01 6.22669114e+01] [ 2.50231998e-01 9.65870080e-01 -6.69248530e-02 4.97530773e+00] [ 2.19263595e-01 1.07939126e-02 9.75605949e-01 7.42821488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88038572299999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:62.30, Y:4.97, Z:7.43 [[ 9.43429495e-01 -2.54745276e-01 -2.12239564e-01 6.22983460e+01] [ 2.49930203e-01 9.66988478e-01 -4.96807545e-02 4.97218271e+00] [ 2.17889151e-01 -6.17478827e-03 9.75953990e-01 7.42643121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91038572299999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:62.32, Y:4.98, Z:7.44 [[ 9.43801326e-01 -2.55549928e-01 -2.09602701e-01 6.23236285e+01] [ 2.49975951e-01 9.66793239e-01 -5.31305611e-02 4.98044097e+00] [ 2.16219985e-01 -2.25094046e-03 9.76342077e-01 7.43511160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94038572299999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.36, Y:4.97, Z:7.44 [[ 9.43973803e-01 -2.48169280e-01 -2.17544174e-01 6.23594705e+01] [ 2.48794092e-01 9.68234605e-01 -2.49649495e-02 4.97431430e+00] [ 2.16829331e-01 -3.05574470e-02 9.75731153e-01 7.43845841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97038572299999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:62.38, Y:4.99, Z:7.45 [[ 9.44916038e-01 -2.48452928e-01 -2.13084078e-01 6.23811606e+01] [ 2.44488006e-01 9.68598453e-01 -4.51956963e-02 4.99318853e+00] [ 2.17621912e-01 -9.39036319e-03 9.75987974e-01 7.45347947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:62.41, Y:5.00, Z:7.46 [[ 9.45731300e-01 -2.45567155e-01 -2.12812311e-01 6.24074966e+01] [ 2.41526195e-01 9.69340976e-01 -4.52014383e-02 4.99998302e+00] [ 2.17387682e-01 -8.65133293e-03 9.76047002e-01 7.45945529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.43, Y:5.01, Z:7.46 [[ 9.47609607e-01 -2.39087477e-01 -2.11832979e-01 6.24333309e+01] [ 2.34909936e-01 9.70972323e-01 -4.50563034e-02 5.00659599e+00] [ 2.16456358e-01 -7.06588563e-03 9.76266725e-01 7.46405174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:5.01, Z:7.47 [[ 9.48330709e-01 -2.36684831e-01 -2.11303471e-01 6.24595123e+01] [ 2.32463218e-01 9.71564923e-01 -4.49716783e-02 5.01346030e+00] [ 2.15939154e-01 -6.47226117e-03 9.76385370e-01 7.47165154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.49, Y:5.02, Z:7.48 [[ 9.49319248e-01 -2.33953250e-01 -2.09901982e-01 6.24862825e+01] [ 2.29708315e-01 9.72230855e-01 -4.47353719e-02 5.02036141e+00] [ 2.14539169e-01 -5.74808103e-03 9.76698472e-01 7.47675676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.51, Y:5.03, Z:7.49 [[ 9.51075023e-01 -2.29472709e-01 -2.06878167e-01 6.25104413e+01] [ 2.25232182e-01 9.73304207e-01 -4.41518350e-02 5.02958717e+00] [ 2.11487032e-01 -4.60391362e-03 9.77369960e-01 7.48598334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:62.54, Y:5.04, Z:7.49 [[ 9.51679495e-01 -2.27529099e-01 -2.06244147e-01 6.25371470e+01] [ 2.23263974e-01 9.73762514e-01 -4.40427586e-02 5.03670164e+00] [ 2.10853828e-01 -4.13229748e-03 9.77508868e-01 7.49188417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.56, Y:5.04, Z:7.50 [[ 9.51658417e-01 -2.25986083e-01 -2.08030159e-01 6.25624906e+01] [ 2.21595563e-01 9.74123272e-01 -4.44888356e-02 5.04302529e+00] [ 2.12700877e-01 -3.76038541e-03 9.77110125e-01 7.49736714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:62.59, Y:5.05, Z:7.50 [[ 9.51303877e-01 -2.26196152e-01 -2.09418802e-01 6.25898703e+01] [ 2.21745061e-01 9.74074339e-01 -4.48141754e-02 5.04820407e+00] [ 2.14126276e-01 -3.80568634e-03 9.76798574e-01 7.50091813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.62, Y:5.08, Z:7.52 [[ 9.54739339e-01 -2.33664927e-01 -1.84047537e-01 6.26234200e+01] [ 2.17486477e-01 9.70512232e-01 -1.03950181e-01 5.07664084e+00] [ 2.02909897e-01 5.92174766e-02 9.77405169e-01 7.51800223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27038572299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:62.66, Y:5.03, Z:7.49 [[ 9.50164300e-01 -2.15385964e-01 -2.25381209e-01 6.26573722e+01] [ 2.26284314e-01 9.73780755e-01 2.33762617e-02 5.03059392e+00] [ 2.14436966e-01 -7.32115217e-02 9.73990175e-01 7.48561331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30038572299999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:62.67, Y:5.07, Z:7.52 [[ 9.49305256e-01 -2.32185041e-01 -2.11918943e-01 6.26710676e+01] [ 2.27720520e-01 9.72658869e-01 -4.55860734e-02 5.06696301e+00] [ 2.16709244e-01 -4.98319279e-03 9.76223474e-01 7.51854307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:5.07, Z:7.53 [[ 9.48824307e-01 -2.33976549e-01 -2.12102355e-01 6.26960804e+01] [ 2.29534325e-01 9.72227608e-01 -4.56888565e-02 5.07385470e+00] [ 2.16901886e-01 -5.33407327e-03 9.76178836e-01 7.52768503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:62.72, Y:5.08, Z:7.53 [[ 9.48628003e-01 -2.33998809e-01 -2.12954149e-01 6.27228680e+01] [ 2.29511248e-01 9.72222340e-01 -4.59163284e-02 5.08054050e+00] [ 2.17783147e-01 -5.31785752e-03 9.75982695e-01 7.53058369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:62.75, Y:5.09, Z:7.54 [[ 9.48780761e-01 -2.33596741e-01 -2.12714904e-01 6.27489926e+01] [ 2.29095420e-01 9.72319890e-01 -4.59273448e-02 5.08642499e+00] [ 2.17555410e-01 -5.15702916e-03 9.76034348e-01 7.53592227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:62.78, Y:5.09, Z:7.54 [[ 9.48945679e-01 -2.33446145e-01 -2.12143809e-01 6.27752270e+01] [ 2.28955927e-01 9.72356540e-01 -4.58469580e-02 5.09273177e+00] [ 2.16982215e-01 -5.06530958e-03 9.76162415e-01 7.54236451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:5.10, Z:7.55 [[ 9.49053396e-01 -2.33650883e-01 -2.11435373e-01 6.28011357e+01] [ 2.29182057e-01 9.72307536e-01 -4.57563219e-02 5.10002488e+00] [ 2.16271212e-01 -5.03200108e-03 9.76320358e-01 7.55180019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:62.83, Y:5.11, Z:7.55 [[ 9.49132097e-01 -2.33548617e-01 -2.11194946e-01 6.28284246e+01] [ 2.29073371e-01 9.72332582e-01 -4.57683347e-02 5.10656292e+00] [ 2.16040858e-01 -4.93894272e-03 9.76371832e-01 7.55499251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:5.11, Z:7.56 [[ 9.49105448e-01 -2.33989976e-01 -2.10825851e-01 6.28535217e+01] [ 2.29527168e-01 9.72226323e-01 -4.57521113e-02 5.11295364e+00] [ 2.15675977e-01 -4.96668242e-03 9.76452357e-01 7.56335112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:62.88, Y:5.12, Z:7.57 [[ 9.49077743e-01 -2.33598807e-01 -2.11383619e-01 6.28800780e+01] [ 2.29096309e-01 9.72320907e-01 -4.59013619e-02 5.11943324e+00] [ 2.16255216e-01 -4.86324589e-03 9.76324757e-01 7.56544145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:62.91, Y:5.13, Z:7.57 [[ 9.49199267e-01 -2.33955328e-01 -2.10441575e-01 6.29067017e+01] [ 2.29492372e-01 9.72235108e-01 -4.57399756e-02 5.12556047e+00] [ 2.15299798e-01 -4.87838495e-03 9.76535815e-01 7.57160897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:62.93, Y:5.13, Z:7.58 [[ 9.49268333e-01 -2.34039917e-01 -2.10035592e-01 6.29331251e+01] [ 2.29582676e-01 9.72215012e-01 -4.57139499e-02 5.13185943e+00] [ 2.14898645e-01 -4.82572822e-03 9.76624434e-01 7.57693382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:62.96, Y:5.14, Z:7.58 [[ 9.49201740e-01 -2.35396063e-01 -2.08817507e-01 6.29585989e+01] [ 2.31009796e-01 9.71886458e-01 -4.55102883e-02 5.13868968e+00] [ 2.13659850e-01 -5.04044496e-03 9.76895113e-01 7.58287713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:62.98, Y:5.14, Z:7.59 [[ 9.48996700e-01 -2.36842503e-01 -2.08112693e-01 6.29846419e+01] [ 2.32514615e-01 9.71533488e-01 -4.53832007e-02 5.14469930e+00] [ 2.12937121e-01 -5.32073504e-03 9.77051417e-01 7.58945082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:5.15, Z:7.60 [[ 9.48849875e-01 -2.38153352e-01 -2.07284575e-01 6.30106206e+01] [ 2.33877482e-01 9.71211823e-01 -4.52649755e-02 5.15079049e+00] [ 2.12097235e-01 -5.52952804e-03 9.77232924e-01 7.59695240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:63.04, Y:5.16, Z:7.60 [[ 9.48320229e-01 -2.39864221e-01 -2.07735167e-01 6.30376971e+01] [ 2.35596393e-01 9.70788742e-01 -4.54263975e-02 5.15701305e+00] [ 2.12563129e-01 -5.86288439e-03 9.77129747e-01 7.59994983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:5.16, Z:7.61 [[ 9.47982178e-01 -2.40885749e-01 -2.08095763e-01 6.30642185e+01] [ 2.36613461e-01 9.70534684e-01 -4.55685915e-02 5.16332785e+00] [ 2.12940980e-01 -6.04004599e-03 9.77046394e-01 7.60789426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:5.17, Z:7.61 [[ 9.47557249e-01 -2.40700836e-01 -2.10234077e-01 6.30909252e+01] [ 2.36320857e-01 9.70580815e-01 -4.61013385e-02 5.17040874e+00] [ 2.15145792e-01 -5.99903970e-03 9.76563515e-01 7.61262473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:63.12, Y:5.18, Z:7.62 [[ 9.47517764e-01 -2.39623125e-01 -2.11638476e-01 6.31165030e+01] [ 2.35143135e-01 9.70849069e-01 -4.64735459e-02 5.17749308e+00] [ 2.16605154e-01 -5.73082457e-03 9.76242472e-01 7.61591589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:5.19, Z:7.62 [[ 9.47531792e-01 -2.39053028e-01 -2.12219586e-01 6.31418268e+01] [ 2.34527691e-01 9.70990434e-01 -4.66298153e-02 5.18568062e+00] [ 2.17210186e-01 -5.58813701e-03 9.76108861e-01 7.62440527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:63.17, Y:5.19, Z:7.63 [[ 9.47783538e-01 -2.37546849e-01 -2.12785947e-01 6.31681162e+01] [ 2.32945387e-01 9.71362196e-01 -4.68180643e-02 5.19362902e+00] [ 2.17813709e-01 -5.19411411e-03 9.75976542e-01 7.62890057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:5.20, Z:7.64 [[ 9.48515028e-01 -2.34960094e-01 -2.12398199e-01 6.31935193e+01] [ 2.30297306e-01 9.71994472e-01 -4.67963349e-02 5.20209383e+00] [ 2.17445146e-01 -4.52770598e-03 9.76062041e-01 7.63655829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:63.22, Y:5.21, Z:7.64 [[ 9.49089323e-01 -2.33448051e-01 -2.11498142e-01 6.32203944e+01] [ 2.28773954e-01 9.72360633e-01 -4.66612964e-02 5.20777715e+00] [ 2.16545456e-01 -4.09952799e-03 9.76263929e-01 7.63938095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:63.25, Y:5.21, Z:7.65 [[ 9.49919348e-01 -2.31238888e-01 -2.10194694e-01 6.32463011e+01] [ 2.26555342e-01 9.72890674e-01 -4.64372087e-02 5.21497167e+00] [ 2.15234546e-01 -3.50912774e-03 9.76556079e-01 7.64503332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:63.27, Y:5.22, Z:7.65 [[ 9.50095794e-01 -2.30450837e-01 -2.10262678e-01 6.32713127e+01] [ 2.25730971e-01 9.73078483e-01 -4.65165988e-02 5.22202799e+00] [ 2.15321877e-01 -3.26757351e-03 9.76537666e-01 7.65053987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:63.30, Y:5.23, Z:7.66 [[ 9.50159246e-01 -2.30279804e-01 -2.10163316e-01 6.32959596e+01] [ 2.25554143e-01 9.73119199e-01 -4.65226016e-02 5.22954327e+00] [ 2.15227173e-01 -3.19932659e-03 9.76558768e-01 7.65691634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:5.24, Z:7.67 [[ 9.49964479e-01 -2.31348519e-01 -2.09869843e-01 6.33214700e+01] [ 2.26655853e-01 9.72864966e-01 -4.64852867e-02 5.23796836e+00] [ 2.14929320e-01 -3.40885717e-03 9.76623657e-01 7.66678739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.35, Y:5.24, Z:7.67 [[ 9.49943954e-01 -2.31304153e-01 -2.10011604e-01 6.33477017e+01] [ 2.26589940e-01 9.72875763e-01 -4.65805722e-02 5.24284238e+00] [ 2.15089479e-01 -3.33758395e-03 9.76588642e-01 7.66888896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:63.37, Y:5.25, Z:7.67 [[ 9.49805999e-01 -2.32295288e-01 -2.09541076e-01 6.33749180e+01] [ 2.27620092e-01 9.72638919e-01 -4.65040511e-02 5.24839010e+00] [ 2.14610477e-01 -3.52593221e-03 9.76693356e-01 7.67460583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.40, Y:5.25, Z:7.68 [[ 9.49656834e-01 -2.34140704e-01 -2.08158660e-01 6.34014242e+01] [ 2.29557848e-01 9.72195082e-01 -4.62592428e-02 5.25363158e+00] [ 2.13201998e-01 -3.85404790e-03 9.77000540e-01 7.68038071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.43, Y:5.26, Z:7.69 [[ 9.49243006e-01 -2.35862862e-01 -2.08101961e-01 6.34264376e+01] [ 2.31309546e-01 9.71777376e-01 -4.63101051e-02 5.26056964e+00] [ 2.13151612e-01 -4.17642697e-03 9.77010209e-01 7.68889250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.45, Y:5.27, Z:7.69 [[ 9.48388817e-01 -2.38682295e-01 -2.08780779e-01 6.34530124e+01] [ 2.34160291e-01 9.71085854e-01 -4.64889458e-02 5.26809799e+00] [ 2.13840150e-01 -4.79857171e-03 9.76856880e-01 7.69387276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:5.27, Z:7.70 [[ 9.47848925e-01 -2.40253677e-01 -2.09429192e-01 6.34786320e+01] [ 2.35727339e-01 9.70696702e-01 -4.66961966e-02 5.27413886e+00] [ 2.14511159e-01 -5.10724655e-03 9.76708185e-01 7.70204076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.51, Y:5.28, Z:7.71 [[ 9.47538073e-01 -2.41350854e-01 -2.09574247e-01 6.35058589e+01] [ 2.36830736e-01 9.70423471e-01 -4.67919788e-02 5.27950116e+00] [ 2.14669052e-01 -5.29644175e-03 9.76672486e-01 7.70652675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.53, Y:5.29, Z:7.71 [[ 9.47474423e-01 -2.41612250e-01 -2.09560824e-01 6.35328837e+01] [ 2.37085176e-01 9.70358443e-01 -4.68520163e-02 5.28563347e+00] [ 2.14669136e-01 -5.29267772e-03 9.76672488e-01 7.71260699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.56, Y:5.29, Z:7.72 [[ 9.47151586e-01 -2.42274436e-01 -2.10254537e-01 6.35591994e+01] [ 2.37720123e-01 9.70192717e-01 -4.70662932e-02 5.29009782e+00] [ 2.15390380e-01 -5.40281989e-03 9.76513079e-01 7.71661832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:63.59, Y:5.30, Z:7.72 [[ 9.47016474e-01 -2.41865466e-01 -2.11331243e-01 6.35870486e+01] [ 2.37247659e-01 9.70295263e-01 -4.73355227e-02 5.29597371e+00] [ 2.16502532e-01 -5.31032288e-03 9.76267614e-01 7.71905313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.61, Y:5.32, Z:7.73 [[ 9.49869536e-01 -2.45133840e-01 -1.94054797e-01 6.36149907e+01] [ 2.32763615e-01 9.68852778e-01 -8.45304274e-02 5.31757426e+00] [ 2.08731797e-01 3.51239818e-02 9.77341978e-01 7.72620298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41038572299999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:63.65, Y:5.29, Z:7.71 [[ 9.46842623e-01 -2.31890665e-01 -2.22970328e-01 6.36480207e+01] [ 2.36320673e-01 9.71649994e-01 -6.98782746e-03 5.29314028e+00] [ 2.18269530e-01 -4.60761250e-02 9.74800186e-01 7.71478209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44038572299999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:63.67, Y:5.33, Z:7.74 [[ 9.49881622e-01 -2.43328607e-01 -1.96255173e-01 6.36670880e+01] [ 2.32229393e-01 9.69522650e-01 -7.80726618e-02 5.32962803e+00] [ 2.09271147e-01 2.85835670e-02 9.77439802e-01 7.73942096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47038572299999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:63.70, Y:5.31, Z:7.73 [[ 9.48181206e-01 -2.29470658e-01 -2.19762640e-01 6.36990314e+01] [ 2.32158033e-01 9.72579032e-01 -1.38807363e-02 5.31110697e+00] [ 2.16921758e-01 -3.78582089e-02 9.75454616e-01 7.73218396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:5.34, Z:7.76 [[ 9.51766043e-01 -2.40336353e-01 -1.90734990e-01 6.37224076e+01] [ 2.29199463e-01 9.70185977e-01 -7.87830974e-02 5.34382089e+00] [ 2.03982855e-01 3.12667196e-02 9.78475031e-01 7.75507868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:63.76, Y:5.33, Z:7.74 [[ 9.51624285e-01 -2.25824945e-01 -2.08361019e-01 6.37553273e+01] [ 2.24307102e-01 9.74018812e-01 -3.12038152e-02 5.32865749e+00] [ 2.09994152e-01 -1.70425479e-02 9.77554095e-01 7.74263078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.78, Y:5.34, Z:7.75 [[ 9.51210846e-01 -2.26567520e-01 -2.09439932e-01 6.37781449e+01] [ 2.23781897e-01 9.73928055e-01 -3.72264069e-02 5.33799537e+00] [ 2.12413720e-01 -1.14587032e-02 9.77112639e-01 7.75410489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:63.80, Y:5.36, Z:7.77 [[ 9.52537220e-01 -2.28631331e-01 -2.00998906e-01 6.38014661e+01] [ 2.20806598e-01 9.73418575e-01 -6.08335690e-02 5.35597662e+00] [ 2.09564528e-01 1.35643541e-02 9.77700730e-01 7.76882773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:63.83, Y:5.35, Z:7.77 [[ 9.50565474e-01 -2.21042220e-01 -2.18095432e-01 6.38320043e+01] [ 2.21468690e-01 9.74900782e-01 -2.28053514e-02 5.34590052e+00] [ 2.17662353e-01 -2.66233300e-02 9.75660955e-01 7.76905485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.85, Y:5.37, Z:7.79 [[ 9.53304804e-01 -2.30419416e-01 -1.95235353e-01 6.38532108e+01] [ 2.19023974e-01 9.72566612e-01 -7.83752732e-02 5.37376518e+00] [ 2.07938571e-01 3.19543014e-02 9.77619800e-01 7.78648340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:63.89, Y:5.36, Z:7.77 [[ 9.52616443e-01 -2.21548235e-01 -2.08418550e-01 6.38869714e+01] [ 2.18628836e-01 9.75097209e-01 -3.72406457e-02 5.36041882e+00] [ 2.11478945e-01 -1.00902535e-02 9.77330467e-01 7.77480394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:63.91, Y:5.37, Z:7.79 [[ 9.52080863e-01 -2.23910329e-01 -2.08341536e-01 6.39119204e+01] [ 2.18877233e-01 9.74609532e-01 -4.72124612e-02 5.36823321e+00] [ 2.13623005e-01 -6.51138032e-04 9.76915957e-01 7.78598941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.94, Y:5.37, Z:7.79 [[ 9.52029383e-01 -2.24428301e-01 -2.08019212e-01 6.39392935e+01] [ 2.19064466e-01 9.74490215e-01 -4.87809483e-02 5.37485513e+00] [ 2.13660511e-01 8.71278558e-04 9.76907584e-01 7.79364385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.97, Y:5.37, Z:7.80 [[ 9.50033131e-01 -2.20746895e-01 -2.20698569e-01 6.39672260e+01] [ 2.20674978e-01 9.75019183e-01 -2.53011032e-02 5.36995054e+00] [ 2.20770479e-01 -2.46657657e-02 9.75013844e-01 7.80048059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:63.99, Y:5.38, Z:7.82 [[ 9.50069564e-01 -2.26050587e-01 -2.15102201e-01 6.39879992e+01] [ 2.20660046e-01 9.74115205e-01 -4.90786241e-02 5.38480735e+00] [ 2.20628576e-01 -8.36354488e-04 9.75357541e-01 7.81708122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:64.01, Y:5.39, Z:7.82 [[ 9.50036505e-01 -2.25995991e-01 -2.15305484e-01 6.40147637e+01] [ 2.20587504e-01 9.74127906e-01 -4.91525809e-02 5.38910217e+00] [ 2.20843367e-01 -7.96953139e-04 9.75308962e-01 7.82186072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:64.04, Y:5.39, Z:7.83 [[ 9.49696442e-01 -2.26090992e-01 -2.16701478e-01 6.40411996e+01] [ 2.20599564e-01 9.74105888e-01 -4.95333295e-02 5.39185488e+00] [ 2.22289225e-01 -7.62624830e-04 9.74980471e-01 7.82681362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:64.07, Y:5.40, Z:7.83 [[ 9.49356903e-01 -2.27090488e-01 -2.17143689e-01 6.40674877e+01] [ 2.21595784e-01 9.73873178e-01 -4.96622684e-02 5.39691517e+00] [ 2.22748244e-01 -9.70908658e-04 9.74875519e-01 7.83363038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:64.09, Y:5.41, Z:7.84 [[ 9.49325451e-01 -2.30575818e-01 -2.13578981e-01 6.40891408e+01] [ 2.23692223e-01 9.73038404e-01 -5.61965664e-02 5.40687306e+00] [ 2.20778120e-01 5.57287368e-03 9.75308138e-01 7.83911809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:64.12, Y:5.41, Z:7.84 [[ 9.49379336e-01 -2.31949512e-01 -2.11844992e-01 6.41162894e+01] [ 2.25502565e-01 9.72719928e-01 -5.44475338e-02 5.41065357e+00] [ 2.18694925e-01 3.91977438e-03 9.75785409e-01 7.84487338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.14, Y:5.41, Z:7.85 [[ 9.49090676e-01 -2.31944859e-01 -2.13139558e-01 6.41438064e+01] [ 2.26720615e-01 9.72727211e-01 -4.89850591e-02 5.41409506e+00] [ 2.18688481e-01 -1.83186890e-03 9.75793007e-01 7.85163541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:64.17, Y:5.42, Z:7.86 [[ 9.48774646e-01 -2.33183609e-01 -2.13194923e-01 6.41713445e+01] [ 2.27404819e-01 9.72432612e-01 -5.15932505e-02 5.41804966e+00] [ 2.19348396e-01 4.68815194e-04 9.75646484e-01 7.85623153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:64.20, Y:5.42, Z:7.86 [[ 9.48191713e-01 -2.33104626e-01 -2.15858077e-01 6.41988898e+01] [ 2.28455415e-01 9.72438170e-01 -4.66061048e-02 5.42112595e+00] [ 2.20772732e-01 -5.12242439e-03 9.75311828e-01 7.86165671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:64.22, Y:5.43, Z:7.87 [[ 9.48815880e-01 -2.36048582e-01 -2.09832057e-01 6.42248735e+01] [ 2.27642062e-01 9.71658502e-01 -6.37090845e-02 5.43215663e+00] [ 2.18923541e-01 1.26815890e-02 9.75659603e-01 7.87089546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.25, Y:5.43, Z:7.87 [[ 9.49256299e-01 -2.33069760e-01 -2.11165729e-01 6.42544051e+01] [ 2.26884242e-01 9.72456012e-01 -5.34120440e-02 5.43338704e+00] [ 2.17798115e-01 2.79154289e-03 9.75989851e-01 7.87363830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13038572299999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:64.29, Y:5.43, Z:7.88 [[ 9.49021528e-01 -2.28160326e-01 -2.17487941e-01 6.42875267e+01] [ 2.25368739e-01 9.73536137e-01 -3.78988209e-02 5.42944895e+00] [ 2.20379377e-01 -1.30481861e-02 9.75326958e-01 7.88104150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16038572299999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:64.31, Y:5.44, Z:7.89 [[ 9.49063838e-01 -2.30348370e-01 -2.14982463e-01 6.43119056e+01] [ 2.25029421e-01 9.73106843e-01 -4.92425729e-02 5.43905001e+00] [ 2.20543852e-01 -1.64303388e-03 9.75375676e-01 7.89171699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19038572299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:64.34, Y:5.44, Z:7.90 [[ 9.49067328e-01 -2.29633748e-01 -2.15730270e-01 6.43379455e+01] [ 2.24244384e-01 9.73276082e-01 -4.94785258e-02 5.44176606e+00] [ 2.21327052e-01 -1.41784947e-03 9.75198608e-01 7.89870435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22038572299999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:64.36, Y:5.44, Z:7.90 [[ 9.48954644e-01 -2.29061697e-01 -2.16831322e-01 6.43643049e+01] [ 2.23595304e-01 9.73411087e-01 -4.97593855e-02 5.44416667e+00] [ 2.22463983e-01 -1.26306551e-03 9.74940091e-01 7.90268839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250385723 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:64.38, Y:5.46, Z:7.91 [[ 9.49001445e-01 -2.35116099e-01 -2.10039703e-01 6.43807400e+01] [ 2.24821366e-01 9.71738804e-01 -7.19656112e-02 5.46213331e+00] [ 2.21024003e-01 2.10740561e-02 9.75040653e-01 7.91077915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.42, Y:5.45, Z:7.91 [[ 9.48898246e-01 -2.24111143e-01 -2.22185317e-01 6.44213301e+01] [ 2.22281526e-01 9.74405384e-01 -3.35420644e-02 5.44763883e+00] [ 2.24015719e-01 -1.75596853e-02 9.74427327e-01 7.91072348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.44, Y:5.46, Z:7.92 [[ 9.49130533e-01 -2.26800467e-01 -2.18432552e-01 6.44446644e+01] [ 2.21162682e-01 9.73941055e-01 -5.02582208e-02 5.45972355e+00] [ 2.24139018e-01 -6.07517189e-04 9.74556993e-01 7.92367685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:64.47, Y:5.46, Z:7.93 [[ 9.49998509e-01 -2.24046576e-01 -2.17499344e-01 6.44724932e+01] [ 2.18371160e-01 9.74578432e-01 -5.01090449e-02 5.46217328e+00] [ 2.23196930e-01 1.07933754e-04 9.74773368e-01 7.92865013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.50, Y:5.47, Z:7.94 [[ 9.50298514e-01 -2.22783436e-01 -2.17486266e-01 6.44992771e+01] [ 2.17061014e-01 9.74867847e-01 -5.01716708e-02 5.46622959e+00] [ 2.23197785e-01 4.70274732e-04 9.74773065e-01 7.93539566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.52, Y:5.47, Z:7.94 [[ 9.51047692e-01 -2.20273370e-01 -2.16766996e-01 6.45247413e+01] [ 2.14510101e-01 9.75437536e-01 -5.00702460e-02 5.46929698e+00] [ 2.22471807e-01 1.12048160e-03 9.74938480e-01 7.94249775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:64.55, Y:5.47, Z:7.95 [[ 9.51174763e-01 -2.19697870e-01 -2.16793486e-01 6.45507599e+01] [ 2.13908259e-01 9.75567095e-01 -5.01208575e-02 5.47495537e+00] [ 2.22508037e-01 1.29977771e-03 9.74929989e-01 7.94913622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:64.58, Y:5.48, Z:7.96 [[ 9.51114301e-01 -2.19347863e-01 -2.17412283e-01 6.45760175e+01] [ 2.13500595e-01 9.75645636e-01 -5.03298010e-02 5.48037380e+00] [ 2.23157080e-01 1.45174181e-03 9.74781417e-01 7.95618136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.60, Y:5.49, Z:7.96 [[ 9.52885698e-01 -2.22514122e-01 -2.06146338e-01 6.46032143e+01] [ 2.12677300e-01 9.74683365e-01 -6.89978592e-02 5.49039866e+00] [ 2.16280404e-01 2.19044267e-02 9.76085541e-01 7.95815199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52038572299999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:64.63, Y:5.49, Z:7.95 [[ 9.52520854e-01 -2.19304635e-01 -2.11209613e-01 6.46348978e+01] [ 2.13112772e-01 9.75646246e-01 -5.19360080e-02 5.48559390e+00] [ 2.17455673e-01 4.45866463e-03 9.76060014e-01 7.95438465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55038572299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:64.67, Y:5.47, Z:7.96 [[ 9.51185960e-01 -2.16239013e-01 -2.20195273e-01 6.46665568e+01] [ 2.15322570e-01 9.76128380e-01 -2.84530691e-02 5.47465345e+00] [ 2.21091519e-01 -2.03488523e-02 9.75040750e-01 7.96384570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58038572299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:64.69, Y:5.50, Z:7.98 [[ 9.52917746e-01 -2.23711563e-01 -2.04697106e-01 6.46880915e+01] [ 2.13832691e-01 9.74397445e-01 -6.94636600e-02 5.49671691e+00] [ 2.14996161e-01 2.24222214e-02 9.76357463e-01 7.97501492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.72, Y:5.49, Z:7.98 [[ 9.53087222e-01 -2.18871790e-01 -2.09093011e-01 6.47182500e+01] [ 2.13062739e-01 9.75748065e-01 -5.01994350e-02 5.49321135e+00] [ 2.15009341e-01 3.29451045e-03 9.76606435e-01 7.97779564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:5.49, Z:7.99 [[ 9.53739597e-01 -2.15810202e-01 -2.09300592e-01 6.47476896e+01] [ 2.11363651e-01 9.76431875e-01 -4.36600619e-02 5.49256962e+00] [ 2.13790056e-01 -2.59820750e-03 9.76876175e-01 7.98602117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.77, Y:5.50, Z:7.99 [[ 9.53698373e-01 -2.15112909e-01 -2.10204306e-01 6.47737185e+01] [ 2.09323536e-01 9.76583320e-01 -4.96857750e-02 5.49727134e+00] [ 2.15970071e-01 3.38453412e-03 9.76394118e-01 7.99209199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:64.81, Y:5.50, Z:7.99 [[ 9.54268046e-01 -2.14518070e-01 -2.08217419e-01 6.48050656e+01] [ 2.07583760e-01 9.76677293e-01 -5.48675446e-02 5.49598284e+00] [ 2.15131305e-01 9.13578995e-03 9.76542400e-01 7.99466564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:64.84, Y:5.50, Z:8.00 [[ 9.54914313e-01 -2.13540883e-01 -2.06249716e-01 6.48354346e+01] [ 2.06645996e-01 9.76887092e-01 -5.46721367e-02 5.49683639e+00] [ 2.13157422e-01 9.58652776e-03 9.76970835e-01 7.99733506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:64.87, Y:5.50, Z:8.00 [[ 9.55278915e-01 -2.12878938e-01 -2.05243153e-01 6.48655043e+01] [ 2.06230005e-01 9.77038993e-01 -5.35162714e-02 5.49833500e+00] [ 2.11923051e-01 8.79566917e-03 9.77246774e-01 8.00211148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:5.50, Z:8.01 [[ 9.55349464e-01 -2.12964163e-01 -2.04825941e-01 6.48932596e+01] [ 2.07406928e-01 9.77052472e-01 -4.84853838e-02 5.49661935e+00] [ 2.10451341e-01 3.83816633e-03 9.77596799e-01 8.01122855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:64.92, Y:5.49, Z:8.02 [[ 9.52939395e-01 -2.11648902e-01 -2.17051267e-01 6.49198018e+01] [ 2.10693406e-01 9.77156552e-01 -2.78093947e-02 5.49150950e+00] [ 2.17978895e-01 -1.92306030e-02 9.75764001e-01 8.01611439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.95, Y:5.50, Z:8.03 [[ 9.52142767e-01 -2.20024395e-01 -2.12163654e-01 6.49453791e+01] [ 2.13422747e-01 9.75476113e-01 -5.38245661e-02 5.49835829e+00] [ 2.18803294e-01 5.96812137e-03 9.75750737e-01 8.03070014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88038572299999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:64.97, Y:5.50, Z:8.03 [[ 9.51891186e-01 -2.20770589e-01 -2.12517100e-01 6.49749742e+01] [ 2.14829015e-01 9.75321608e-01 -5.09534572e-02 5.49770691e+00] [ 2.18521544e-01 2.84730775e-03 9.75827970e-01 8.03392491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91038572299999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:65.00, Y:5.48, Z:8.04 [[ 9.50160404e-01 -2.19409568e-01 -2.21482839e-01 6.50030722e+01] [ 2.18595236e-01 9.75399449e-01 -2.84962674e-02 5.48499716e+00] [ 2.22286593e-01 -2.13390686e-02 9.74747821e-01 8.04000680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:5.51, Z:8.06 [[ 9.52910567e-01 -2.30962722e-01 -1.96513798e-01 6.50286512e+01] [ 2.16702057e-01 9.71938893e-01 -9.15150627e-02 5.51301307e+00] [ 2.12135971e-01 4.46207261e-02 9.76220938e-01 8.05955156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97038572299999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:65.07, Y:5.49, Z:8.05 [[ 9.52354850e-01 -2.20282378e-01 -2.10940544e-01 6.50659668e+01] [ 2.17029692e-01 9.75395725e-01 -3.87465110e-02 5.49414540e+00] [ 2.14285678e-01 -8.87993352e-03 9.76730666e-01 8.04972258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:65.09, Y:5.49, Z:8.06 [[ 9.52425979e-01 -2.16380254e-01 -2.14626047e-01 6.50936810e+01] [ 2.15364468e-01 9.76120794e-01 -2.83961393e-02 5.48914895e+00] [ 2.15645311e-01 -1.91776036e-02 9.76283422e-01 8.05755032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:65.12, Y:5.50, Z:8.07 [[ 9.53004572e-01 -2.18835188e-01 -2.09507628e-01 6.51177617e+01] [ 2.13489818e-01 9.75761219e-01 -4.80847311e-02 5.49986584e+00] [ 2.14952050e-01 1.09722332e-03 9.76623987e-01 8.06909583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:5.50, Z:8.08 [[ 9.54344808e-01 -2.13704950e-01 -2.08701179e-01 6.51455805e+01] [ 2.07833232e-01 9.76888877e-01 -4.99346594e-02 5.49714132e+00] [ 2.14549145e-01 4.27984216e-03 9.76703818e-01 8.07685614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:5.49, Z:8.08 [[ 9.53803441e-01 -2.07572009e-01 -2.17193131e-01 6.51742035e+01] [ 2.05193900e-01 9.78140881e-01 -3.37028155e-02 5.49148199e+00] [ 2.19441242e-01 -1.24208441e-02 9.75546649e-01 8.08329998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:5.50, Z:8.09 [[ 9.54954056e-01 -2.10288666e-01 -2.09383446e-01 6.51987428e+01] [ 2.02095933e-01 9.77524057e-01 -6.00329164e-02 5.50443245e+00] [ 2.17301597e-01 1.50131343e-02 9.75989048e-01 8.09478930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:5.51, Z:8.10 [[ 9.55846540e-01 -2.06869726e-01 -2.08715855e-01 6.52127579e+01] [ 1.96073579e-01 9.77987210e-01 -7.13874551e-02 5.50521567e+00] [ 2.18889340e-01 2.73117872e-02 9.75367379e-01 8.09786514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:5.51, Z:8.10 [[ 9.55725706e-01 -2.04008839e-01 -2.12058410e-01 6.52427932e+01] [ 1.95611915e-01 9.78839281e-01 -6.00802854e-02 5.50688349e+00] [ 2.19828011e-01 1.59391214e-02 9.75408422e-01 8.10176647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:5.50, Z:8.11 [[ 9.57804472e-01 -1.97021324e-01 -2.09268229e-01 6.52905288e+01] [ 1.93425564e-01 9.80389559e-01 -3.77208648e-02 5.49767443e+00] [ 2.12596202e-01 -4.34861229e-03 9.77130464e-01 8.10997130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:5.50, Z:8.12 [[ 9.58293631e-01 -1.98450033e-01 -2.05647516e-01 6.53158937e+01] [ 1.92487810e-01 9.80084624e-01 -4.88115960e-02 5.50134796e+00] [ 2.11238631e-01 7.19120167e-03 9.77408066e-01 8.11761346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:5.51, Z:8.12 [[ 9.58629145e-01 -2.01393745e-01 -2.01173362e-01 6.53435938e+01] [ 1.91678847e-01 9.79177415e-01 -6.68641080e-02 5.50792361e+00] [ 2.10450426e-01 2.55372046e-02 9.77270929e-01 8.12424146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:5.49, Z:8.12 [[ 9.58651645e-01 -1.96949709e-01 -2.05421119e-01 6.53793271e+01] [ 1.92190781e-01 9.80411920e-01 -4.30716868e-02 5.48769119e+00] [ 2.09880270e-01 1.81069810e-03 9.77725418e-01 8.12412614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:5.49, Z:8.13 [[ 9.57949681e-01 -1.98100629e-01 -2.07577815e-01 6.54072095e+01] [ 1.93285940e-01 9.80180560e-01 -4.34351878e-02 5.48667850e+00] [ 2.12068277e-01 1.48685122e-03 9.77253721e-01 8.13147810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:5.48, Z:8.14 [[ 9.57356389e-01 -2.01387051e-01 -2.07152116e-01 6.54366125e+01] [ 1.95702130e-01 9.79497835e-01 -4.77981930e-02 5.48102015e+00] [ 2.12530986e-01 5.21979527e-03 9.77140386e-01 8.13779792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:5.47, Z:8.15 [[ 9.54431890e-01 -1.98048027e-01 -2.23241452e-01 6.54612359e+01] [ 1.98907461e-01 9.79836717e-01 -1.88634520e-02 5.46899507e+00] [ 2.22476040e-01 -2.64005102e-02 9.74580640e-01 8.15219706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:5.49, Z:8.16 [[ 9.57268190e-01 -2.09338673e-01 -1.99536795e-01 6.54891543e+01] [ 1.97643275e-01 9.77240341e-01 -7.70613555e-02 5.49256913e+00] [ 2.11127327e-01 3.43312787e-02 9.76855473e-01 8.15662656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:5.47, Z:8.17 [[ 9.54607077e-01 -1.99525746e-01 -2.21166917e-01 6.55180890e+01] [ 1.99853136e-01 9.79597950e-01 -2.11324261e-02 5.46856650e+00] [ 2.20871122e-01 -2.40277385e-02 9.75006982e-01 8.16660987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:5.49, Z:8.17 [[ 9.57578507e-01 -2.13998995e-01 -1.92996976e-01 6.55473945e+01] [ 2.00006202e-01 9.75696798e-01 -8.95169118e-02 5.48918384e+00] [ 2.07463060e-01 4.71188786e-02 9.77107410e-01 8.16837713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:5.45, Z:8.18 [[ 9.54395142e-01 -1.97178533e-01 -2.24166322e-01 6.55800620e+01] [ 2.00453526e-01 9.79668163e-01 -8.28697164e-03 5.45280095e+00] [ 2.21242622e-01 -3.70258841e-02 9.74515667e-01 8.18019142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:5.48, Z:8.18 [[ 9.58050183e-01 -2.13430083e-01 -1.91278454e-01 6.56064391e+01] [ 1.99207194e-01 9.75726671e-01 -9.09612927e-02 5.48103610e+00] [ 2.06049365e-01 4.90414390e-02 9.77311924e-01 8.18127676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:5.44, Z:8.20 [[ 9.55381384e-01 -1.94745688e-01 -2.22082257e-01 6.56379141e+01] [ 1.98263720e-01 9.80126725e-01 -6.56507375e-03 5.44328711e+00] [ 2.18947275e-01 -3.77587052e-02 9.75005831e-01 8.19595746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:5.46, Z:8.21 [[ 9.55909483e-01 -2.03606286e-01 -2.11616493e-01 6.56602425e+01] [ 1.97346007e-01 9.79031033e-01 -5.05251403e-02 5.46016559e+00] [ 2.17466350e-01 6.53579080e-03 9.76045936e-01 8.20797229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:5.45, Z:8.22 [[ 9.56337874e-01 -2.00656770e-01 -2.12496426e-01 6.56891617e+01] [ 1.94258008e-01 9.79634413e-01 -5.07960847e-02 5.44976369e+00] [ 2.18361390e-01 7.29908720e-03 9.75840677e-01 8.21505730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66038572299999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.72, Y:5.47, Z:8.21 [[ 9.59576647e-01 -2.07410457e-01 -1.90246054e-01 6.57184336e+01] [ 1.93983117e-01 9.77149761e-01 -8.68843778e-02 5.46588713e+00] [ 2.03919615e-01 4.64676975e-02 9.77884218e-01 8.20731866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:5.44, Z:8.21 [[ 9.59772514e-01 -1.97378850e-01 -1.99695547e-01 6.57529556e+01] [ 1.91880773e-01 9.80305589e-01 -4.67196113e-02 5.43870021e+00] [ 2.04984124e-01 6.52246279e-03 9.78743565e-01 8.21128886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:5.44, Z:8.22 [[ 9.60551178e-01 -1.97412621e-01 -1.95881830e-01 6.57808343e+01] [ 1.90699769e-01 9.80230057e-01 -5.27506681e-02 5.43856347e+00] [ 2.02422905e-01 1.33150968e-02 9.79207678e-01 8.21769281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:5.43, Z:8.23 [[ 9.60196332e-01 -1.93490731e-01 -2.01455557e-01 6.58120139e+01] [ 1.89014709e-01 9.81100656e-01 -4.14118754e-02 5.43066925e+00] [ 2.05660993e-01 1.68546735e-03 9.78621845e-01 8.22711145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780385723 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:65.84, Y:5.42, Z:8.23 [[ 9.60266967e-01 -1.95173042e-01 -1.99486428e-01 6.58379172e+01] [ 1.88649666e-01 9.80698835e-01 -5.13916275e-02 5.42210088e+00] [ 2.05666367e-01 1.17166343e-02 9.78552025e-01 8.23223034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810385723 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:65.87, Y:5.43, Z:8.24 [[ 9.58898420e-01 -1.99802596e-01 -2.01476406e-01 6.58656796e+01] [ 1.89552516e-01 9.79432726e-01 -6.91475138e-02 5.42645213e+00] [ 2.11148438e-01 2.81150820e-02 9.77049579e-01 8.24143148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840385723 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:65.90, Y:5.39, Z:8.25 [[ 9.58237611e-01 -1.92559201e-01 -2.11427612e-01 6.59014596e+01] [ 1.91944899e-01 9.81121290e-01 -2.36256295e-02 5.39338667e+00] [ 2.11985464e-01 -1.79434848e-02 9.77108077e-01 8.24962979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:5.39, Z:8.26 [[ 9.57192319e-01 -1.96229789e-01 -2.12783302e-01 6.59294613e+01] [ 1.95185771e-01 9.80418524e-01 -2.61157673e-02 5.39116528e+00] [ 2.13741383e-01 -1.65344609e-02 9.76750343e-01 8.26215136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:5.40, Z:8.27 [[ 9.56540779e-01 -2.05478514e-01 -2.06901713e-01 6.59558993e+01] [ 1.99429886e-01 9.78640176e-01 -4.99111878e-02 5.39868781e+00] [ 2.12738006e-01 6.47970129e-03 9.77087793e-01 8.26882242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930385723 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:65.98, Y:5.41, Z:8.27 [[ 9.56263958e-01 -2.14670296e-01 -1.98685446e-01 6.59836222e+01] [ 2.04428756e-01 9.76306981e-01 -7.09476109e-02 5.40713274e+00] [ 2.09208333e-01 2.72276246e-02 9.77491959e-01 8.27074312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:5.39, Z:8.28 [[ 9.54786821e-01 -2.17983944e-01 -2.02151248e-01 6.60187451e+01] [ 2.12045205e-01 9.75935767e-01 -5.08547938e-02 5.39219255e+00] [ 2.08372161e-01 5.69028406e-03 9.78033058e-01 8.27531556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:5.38, Z:8.30 [[ 9.52364879e-01 -2.12658653e-01 -2.18580498e-01 6.60484010e+01] [ 2.13180918e-01 9.76776701e-01 -2.14749155e-02 5.37609978e+00] [ 2.18071164e-01 -2.61452359e-02 9.75582592e-01 8.29846813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:5.40, Z:8.28 [[ 9.53095457e-01 -2.34288643e-01 -1.91619103e-01 6.60746269e+01] [ 2.22250584e-01 9.71502856e-01 -8.23825162e-02 5.40052109e+00] [ 2.05459794e-01 3.59309444e-02 9.78005747e-01 8.28364349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:5.37, Z:8.31 [[ 9.50815249e-01 -2.19519275e-01 -2.18544391e-01 6.61077574e+01] [ 2.20933374e-01 9.75117972e-01 -1.82588467e-02 5.36848156e+00] [ 2.17114732e-01 -3.09229599e-02 9.75656171e-01 8.31183393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:5.38, Z:8.32 [[ 9.50410106e-01 -2.28885488e-01 -2.10551809e-01 6.61315234e+01] [ 2.23188694e-01 9.73452548e-01 -5.07636124e-02 5.38362162e+00] [ 2.16581249e-01 1.25346693e-03 9.76263792e-01 8.31563177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:5.38, Z:8.32 [[ 9.50088638e-01 -2.29687743e-01 -2.11128210e-01 6.61586179e+01] [ 2.23968974e-01 9.73263731e-01 -5.09471117e-02 5.38136314e+00] [ 2.17185357e-01 1.11810336e-03 9.76129741e-01 8.32191848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:5.38, Z:8.33 [[ 9.50080575e-01 -2.29158071e-01 -2.11739176e-01 6.61854878e+01] [ 2.23386685e-01 9.73388394e-01 -5.11216506e-02 5.38332486e+00] [ 2.17819396e-01 1.26997452e-03 9.75988267e-01 8.32774272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170385723 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:66.21, Y:5.40, Z:8.32 [[ 9.51053274e-01 -2.35579680e-01 -1.99999712e-01 6.62117060e+01] [ 2.23376917e-01 9.71288465e-01 -8.18625040e-02 5.40008156e+00] [ 2.13542556e-01 3.31802833e-02 9.76370138e-01 8.32294147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:5.37, Z:8.34 [[ 9.50788621e-01 -2.19138666e-01 -2.19041648e-01 6.62452846e+01] [ 2.19957467e-01 9.75284423e-01 -2.09524999e-02 5.36958515e+00] [ 2.18219410e-01 -2.82584476e-02 9.75490517e-01 8.34276712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.27, Y:5.38, Z:8.35 [[ 9.51337931e-01 -2.25287755e-01 -2.10241691e-01 6.62698829e+01] [ 2.19482097e-01 9.74289683e-01 -5.08647534e-02 5.38467639e+00] [ 2.16295516e-01 2.24528216e-03 9.76325360e-01 8.34679016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:5.38, Z:8.36 [[ 9.52159778e-01 -2.23984305e-01 -2.07900909e-01 6.62981270e+01] [ 2.18264367e-01 9.74589350e-01 -5.03613344e-02 5.38289384e+00] [ 2.13898160e-01 2.57467668e-03 9.76852572e-01 8.35516995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:5.39, Z:8.36 [[ 9.52687538e-01 -2.23490850e-01 -2.06005570e-01 6.63254828e+01] [ 2.17851221e-01 9.74702228e-01 -4.99641131e-02 5.38562618e+00] [ 2.11960610e-01 2.72162291e-03 9.77274420e-01 8.36205757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:5.39, Z:8.37 [[ 9.53039816e-01 -2.23624115e-01 -2.04223811e-01 6.63528941e+01] [ 2.18072480e-01 9.74671639e-01 -4.95942489e-02 5.38923726e+00] [ 2.10141626e-01 2.72970098e-03 9.77667145e-01 8.36897357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350385723 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:66.38, Y:5.39, Z:8.38 [[ 9.53218773e-01 -2.23703978e-01 -2.03299046e-01 6.63793949e+01] [ 2.18191229e-01 9.74653218e-01 -4.94337097e-02 5.39231115e+00] [ 2.09204587e-01 2.76307133e-03 9.77867990e-01 8.37515148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38038572299999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:66.41, Y:5.39, Z:8.38 [[ 9.53371324e-01 -2.24213958e-01 -2.02017870e-01 6.64080382e+01] [ 2.18774103e-01 9.74536276e-01 -4.91623794e-02 5.39132921e+00] [ 2.07896634e-01 2.67372454e-03 9.78147147e-01 8.38118220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41038572299999 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:66.44, Y:5.41, Z:8.36 [[ 9.55022089e-01 -2.36650106e-01 -1.78688377e-01 6.64372319e+01] [ 2.23423597e-01 9.70452423e-01 -9.11262345e-02 5.41455714e+00] [ 1.94973602e-01 4.71043670e-02 9.79676719e-01 8.36222020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44038572299999 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:66.47, Y:5.40, Z:8.37 [[ 9.55345397e-01 -2.26541310e-01 -1.89721394e-01 6.64696664e+01] [ 2.21300238e-01 9.73991173e-01 -4.86559375e-02 5.39833610e+00] [ 1.95809543e-01 4.49783617e-03 9.80631629e-01 8.37480959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47038572299999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:66.49, Y:5.38, Z:8.40 [[ 9.54165700e-01 -2.15783051e-01 -2.07377654e-01 6.64944432e+01] [ 2.19462827e-01 9.75606038e-01 -5.37832894e-03 5.38144836e+00] [ 2.03479444e-01 -4.03798693e-02 9.78246177e-01 8.40329832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:66.52, Y:5.40, Z:8.40 [[ 9.55160438e-01 -2.25398810e-01 -1.91999777e-01 6.65190147e+01] [ 2.20475850e-01 9.74263423e-01 -4.69167578e-02 5.40006002e+00] [ 1.97633341e-01 2.48171681e-03 9.80272872e-01 8.40470006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530385723 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:66.55, Y:5.41, Z:8.40 [[ 9.56964438e-01 -2.26153593e-01 -1.81861530e-01 6.65511930e+01] [ 2.19272519e-01 9.73975890e-01 -5.73631196e-02 5.40723275e+00] [ 1.90101622e-01 1.50172297e-02 9.81649559e-01 8.40356357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560385723 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:66.57, Y:5.40, Z:8.42 [[ 9.56428351e-01 -2.21660389e-01 -1.90030210e-01 6.65736738e+01] [ 2.19701717e-01 9.75055635e-01 -3.15858251e-02 5.40053564e+00] [ 1.92291353e-01 -1.15403847e-02 9.81270021e-01 8.42095776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:5.41, Z:8.42 [[ 9.57168723e-01 -2.24605659e-01 -1.82702858e-01 6.65980529e+01] [ 2.18164096e-01 9.74367242e-01 -5.48899330e-02 5.40954020e+00] [ 1.90348269e-01 1.26797232e-02 9.81634739e-01 8.42304820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620385723 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:66.63, Y:5.40, Z:8.43 [[ 9.58406804e-01 -2.19979923e-01 -1.81838477e-01 6.66284477e+01] [ 2.17128029e-01 9.75490170e-01 -3.56980126e-02 5.40375219e+00] [ 1.85234493e-01 -5.26901194e-03 9.82680223e-01 8.43301503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650385723 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:66.66, Y:5.40, Z:8.44 [[ 9.60068065e-01 -2.19076683e-01 -1.73996312e-01 6.66559121e+01] [ 2.14894711e-01 9.75700781e-01 -4.27580387e-02 5.40332759e+00] [ 1.79135627e-01 3.65974014e-03 9.83817581e-01 8.43772873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680385723 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:66.68, Y:5.41, Z:8.44 [[ 9.60664287e-01 -2.18575831e-01 -1.71314720e-01 6.66839678e+01] [ 2.14512496e-01 9.75812923e-01 -4.21132922e-02 5.40542430e+00] [ 1.76376066e-01 3.70758755e-03 9.84315873e-01 8.44276434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710385723 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:66.71, Y:5.41, Z:8.45 [[ 9.61205564e-01 -2.18487075e-01 -1.68366451e-01 6.67117748e+01] [ 2.14553739e-01 9.75832806e-01 -4.14370381e-02 5.40748089e+00] [ 1.73350964e-01 3.70585995e-03 9.84853141e-01 8.44795464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:5.40, Z:8.45 [[ 9.62101479e-01 -2.19173602e-01 -1.62245728e-01 6.67413511e+01] [ 2.15525214e-01 9.75679622e-01 -3.99769518e-02 5.40296081e+00] [ 1.67061743e-01 3.49383915e-03 9.85940245e-01 8.45361609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:5.39, Z:8.47 [[ 9.62710407e-01 -2.08962329e-01 -1.71823796e-01 6.67772386e+01] [ 2.09616869e-01 9.77675598e-01 -1.45324979e-02 5.38763746e+00] [ 1.71024677e-01 -2.20265792e-02 9.85020502e-01 8.47354293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:5.39, Z:8.48 [[ 9.62957831e-01 -2.12132859e-01 -1.66468815e-01 6.68058734e+01] [ 2.10209156e-01 9.77217318e-01 -2.92988799e-02 5.38745220e+00] [ 1.68891464e-01 -6.77968331e-03 9.85611338e-01 8.48116694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:5.41, Z:8.47 [[ 9.62683814e-01 -2.27511987e-01 -1.46554326e-01 6.68248795e+01] [ 2.19432529e-01 9.73160724e-01 -6.93366501e-02 5.41239662e+00] [ 1.58395833e-01 3.45904843e-02 9.86769608e-01 8.46563919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:5.40, Z:8.48 [[ 9.63411476e-01 -2.20713597e-01 -1.52065236e-01 6.68549448e+01] [ 2.17504322e-01 9.75333464e-01 -3.76364604e-02 5.39985789e+00] [ 1.56621192e-01 3.18455191e-03 9.87653614e-01 8.47862500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:5.38, Z:8.50 [[ 9.64479849e-01 -2.08136602e-01 -1.62658465e-01 6.68902081e+01] [ 2.09842356e-01 9.77711469e-01 -6.81685583e-03 5.37854376e+00] [ 1.60451884e-01 -2.75579154e-02 9.86658884e-01 8.50222996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.92, Y:5.40, Z:8.50 [[ 9.64350700e-01 -2.17442991e-01 -1.50818675e-01 6.69166444e+01] [ 2.13350482e-01 9.76028769e-01 -4.30048067e-02 5.39790712e+00] [ 1.56554460e-01 9.29447847e-03 9.87625594e-01 8.49547253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:5.39, Z:8.50 [[ 9.64650036e-01 -2.16943699e-01 -1.49618645e-01 6.69474189e+01] [ 2.14042166e-01 9.76181748e-01 -3.54280450e-02 5.39272453e+00] [ 1.53740881e-01 2.15096614e-03 9.88108858e-01 8.49984066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:5.41, Z:8.49 [[ 9.64536647e-01 -2.24083087e-01 -1.39484142e-01 6.69716385e+01] [ 2.18419004e-01 9.74311238e-01 -5.48702953e-02 5.40661309e+00] [ 1.48196472e-01 2.24584232e-02 9.88702900e-01 8.49332193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:5.40, Z:8.50 [[ 9.64807024e-01 -2.20332787e-01 -1.43530031e-01 6.70006121e+01] [ 2.17272054e-01 9.75414943e-01 -3.68584137e-02 5.40093998e+00] [ 1.48122454e-01 4.37619176e-03 9.88959346e-01 8.50253643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040385723 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:67.03, Y:5.40, Z:8.51 [[ 9.64928735e-01 -2.19728549e-01 -1.43638091e-01 6.70274663e+01] [ 2.16930058e-01 9.75557398e-01 -3.50587016e-02 5.39626795e+00] [ 1.47830600e-01 2.66972922e-03 9.89009093e-01 8.50543433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:5.40, Z:8.51 [[ 9.64380600e-01 -2.21581791e-01 -1.44469955e-01 6.70578702e+01] [ 2.18807413e-01 9.75139392e-01 -3.50211825e-02 5.39874447e+00] [ 1.48638400e-01 2.16265196e-03 9.88889250e-01 8.51085904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:5.41, Z:8.52 [[ 9.64301205e-01 -2.22077947e-01 -1.44237900e-01 6.70848014e+01] [ 2.19169810e-01 9.75024126e-01 -3.59520273e-02 5.40603502e+00] [ 1.48619585e-01 3.05599016e-03 9.88889721e-01 8.51701848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:5.41, Z:8.52 [[ 9.63195841e-01 -2.25561200e-01 -1.46205054e-01 6.71133396e+01] [ 2.21845726e-01 9.74200177e-01 -4.14546576e-02 5.40762434e+00] [ 1.51783552e-01 7.49398744e-03 9.88385347e-01 8.51829183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:5.41, Z:8.52 [[ 9.62746448e-01 -2.25689179e-01 -1.48941839e-01 6.71417301e+01] [ 2.22830896e-01 9.74198486e-01 -3.58287750e-02 5.40935187e+00] [ 1.53185081e-01 1.30518243e-03 9.88196654e-01 8.52401253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:5.39, Z:8.54 [[ 9.61699363e-01 -2.18102363e-01 -1.66029199e-01 6.71745242e+01] [ 2.20168047e-01 9.75442954e-01 -6.08894070e-03 5.39164782e+00] [ 1.63280024e-01 -3.06985940e-02 9.86102038e-01 8.54320339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:5.41, Z:8.53 [[ 9.60562770e-01 -2.29922325e-01 -1.56380592e-01 6.72015304e+01] [ 2.26106090e-01 9.73196139e-01 -4.20156186e-02 5.41195669e+00] [ 1.61849317e-01 5.00003497e-03 9.86802816e-01 8.53312224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:5.41, Z:8.54 [[ 9.59675528e-01 -2.31995740e-01 -1.58747780e-01 6.72275437e+01] [ 2.28403186e-01 9.72712574e-01 -4.07704944e-02 5.41473705e+00] [ 1.63874542e-01 2.86794708e-03 9.86477019e-01 8.53570359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:5.43, Z:8.52 [[ 9.56783470e-01 -2.47672115e-01 -1.52393949e-01 6.72522238e+01] [ 2.40262585e-01 9.68492248e-01 -6.55488853e-02 5.43336215e+00] [ 1.63826990e-01 2.61015257e-02 9.86143716e-01 8.51972032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310385723 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:67.28, Y:5.43, Z:8.53 [[ 9.56638980e-01 -2.43052798e-01 -1.60521646e-01 6.72811161e+01] [ 2.40252791e-01 9.70007656e-01 -3.69289108e-02 5.42513157e+00] [ 1.64682901e-01 -3.23813792e-03 9.86341248e-01 8.53188384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:5.42, Z:8.54 [[ 9.56271310e-01 -2.38771591e-01 -1.68918053e-01 6.73116079e+01] [ 2.38212102e-01 9.70919696e-01 -2.38733660e-02 5.42348576e+00] [ 1.69706146e-01 -1.74089094e-02 9.85340933e-01 8.54485784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:5.45, Z:8.54 [[ 9.54970531e-01 -2.46187837e-01 -1.65598413e-01 6.73385129e+01] [ 2.41427693e-01 9.69200758e-01 -4.86061795e-02 5.44517201e+00] [ 1.72464358e-01 6.43742630e-03 9.84994723e-01 8.53541607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:5.46, Z:8.53 [[ 9.54391602e-01 -2.49985492e-01 -1.63229664e-01 6.73609601e+01] [ 2.44583804e-01 9.68193798e-01 -5.27212637e-02 5.45708490e+00] [ 1.71217500e-01 1.03933992e-02 9.85178433e-01 8.53266302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:5.45, Z:8.55 [[ 9.54439167e-01 -2.39810265e-01 -1.77586357e-01 6.73945694e+01] [ 2.37987288e-01 9.70746918e-01 -3.18193736e-02 5.44928107e+00] [ 1.80022021e-01 -1.18936391e-02 9.83590674e-01 8.54813652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:5.48, Z:8.53 [[ 9.54355789e-01 -2.50989308e-01 -1.61893162e-01 6.74168803e+01] [ 2.42856256e-01 9.67638163e-01 -6.85363048e-02 5.48115602e+00] [ 1.73855881e-01 2.60912521e-02 9.84425406e-01 8.52781081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:5.47, Z:8.55 [[ 9.54143124e-01 -2.37524089e-01 -1.82190029e-01 6.74497946e+01] [ 2.35685284e-01 9.71302422e-01 -3.20008185e-02 5.46653517e+00] [ 1.84562581e-01 -1.24061477e-02 9.82742459e-01 8.55186591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:5.48, Z:8.55 [[ 9.54581922e-01 -2.31125504e-01 -1.88027538e-01 6.74763101e+01] [ 2.28264719e-01 9.72894507e-01 -3.70337189e-02 5.47683106e+00] [ 1.91490396e-01 -7.56833475e-03 9.81465307e-01 8.55205698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:5.49, Z:8.55 [[ 9.54377952e-01 -2.29367784e-01 -1.91188765e-01 6.75021895e+01] [ 2.24686258e-01 9.73339255e-01 -4.61170263e-02 5.48841423e+00] [ 1.96669290e-01 1.05558488e-03 9.80469314e-01 8.55340250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:5.51, Z:8.54 [[ 9.54645350e-01 -2.26926080e-01 -1.92761016e-01 6.75279474e+01] [ 2.18542989e-01 9.73727548e-01 -6.39814422e-02 5.50614565e+00] [ 2.02215770e-01 1.89530177e-02 9.79157580e-01 8.54402871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:5.50, Z:8.56 [[ 9.54700198e-01 -2.19756967e-01 -2.00635008e-01 6.75570323e+01] [ 2.15576632e-01 9.75551555e-01 -4.27303195e-02 5.50181967e+00] [ 2.05120080e-01 -2.45757476e-03 9.78733730e-01 8.55639371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.58, Y:5.52, Z:8.56 [[ 9.54177531e-01 -2.23023039e-01 -1.99514319e-01 6.75831625e+01] [ 2.15389590e-01 9.74715951e-01 -5.94654393e-02 5.51757686e+00] [ 2.07731953e-01 1.37672787e-02 9.78088901e-01 8.55522868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:5.52, Z:8.56 [[ 9.54142806e-01 -2.19406074e-01 -2.03647935e-01 6.76092109e+01] [ 2.14482685e-01 9.75633536e-01 -4.62210066e-02 5.51627014e+00] [ 2.08826924e-01 4.22485062e-04 9.77952523e-01 8.56277554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:5.53, Z:8.56 [[ 9.55050455e-01 -2.19268673e-01 -1.99499065e-01 6.76376182e+01] [ 2.12058069e-01 9.75587987e-01 -5.70916405e-02 5.52784153e+00] [ 2.07147300e-01 1.22200107e-02 9.78233442e-01 8.55799339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:5.53, Z:8.57 [[ 9.53508830e-01 -2.16608905e-01 -2.09526834e-01 6.76667965e+01] [ 2.09061199e-01 9.76192972e-01 -5.77987599e-02 5.53058007e+00] [ 2.17058349e-01 1.13076967e-02 9.76093136e-01 8.56973325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:5.53, Z:8.58 [[ 9.54359076e-01 -2.12485417e-01 -2.09877824e-01 6.76893941e+01] [ 2.09614336e-01 9.77117627e-01 -3.60967264e-02 5.52668050e+00] [ 2.12745349e-01 -9.54416221e-03 9.77061065e-01 8.57949400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:5.54, Z:8.58 [[ 9.54262188e-01 -2.15979834e-01 -2.06727813e-01 6.77149651e+01] [ 2.09334642e-01 9.76364789e-01 -5.37662121e-02 5.54064129e+00] [ 2.13454175e-01 8.03177057e-03 9.76920061e-01 8.57864523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:5.55, Z:8.58 [[ 9.54069197e-01 -2.16831508e-01 -2.06727027e-01 6.77460841e+01] [ 2.08530018e-01 9.76086357e-01 -6.14056612e-02 5.54672789e+00] [ 2.15098112e-01 1.54764593e-02 9.76469806e-01 8.57717197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:5.54, Z:8.59 [[ 9.52647605e-01 -2.13312874e-01 -2.16702926e-01 6.77724108e+01] [ 2.07832133e-01 9.76983662e-01 -4.80492297e-02 5.53799321e+00] [ 2.21964737e-01 7.36152271e-04 9.75054416e-01 8.59033067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:5.55, Z:8.59 [[ 9.52482200e-01 -2.14750040e-01 -2.16009444e-01 6.77987104e+01] [ 2.07424699e-01 9.76629166e-01 -5.63068874e-02 5.54570296e+00] [ 2.23053029e-01 8.82561419e-03 9.74766359e-01 8.59307616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:5.55, Z:8.60 [[ 9.52090755e-01 -2.14619351e-01 -2.17857129e-01 6.78256726e+01] [ 2.07155619e-01 9.76656609e-01 -5.68191584e-02 5.55004332e+00] [ 2.24966096e-01 8.96666699e-03 9.74325333e-01 8.59853708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.86, Y:5.54, Z:8.61 [[ 9.50586931e-01 -2.08877458e-01 -2.29683901e-01 6.78585734e+01] [ 2.04428855e-01 9.77924505e-01 -4.32724585e-02 5.54263997e+00] [ 2.33652157e-01 -5.81978336e-03 9.72302833e-01 8.61320525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:5.57, Z:8.60 [[ 9.50445388e-01 -2.18366756e-01 -2.21290587e-01 6.78794700e+01] [ 2.07513302e-01 9.75618874e-01 -7.14565754e-02 5.56562777e+00] [ 2.31499014e-01 2.19948322e-02 9.72586466e-01 8.60424693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:5.56, Z:8.61 [[ 9.49637093e-01 -2.16488990e-01 -2.26543394e-01 6.79061857e+01] [ 2.08418258e-01 9.76243053e-01 -5.92564800e-02 5.56302531e+00] [ 2.33989790e-01 9.05637176e-03 9.72196873e-01 8.61351085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:5.56, Z:8.63 [[ 9.48279643e-01 -2.13319871e-01 -2.35075202e-01 6.79394419e+01] [ 2.07547712e-01 9.76980341e-01 -4.93291096e-02 5.55717710e+00] [ 2.40186730e-01 -2.01152981e-03 9.70724620e-01 8.62660217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.96, Y:5.58, Z:8.62 [[ 9.48289201e-01 -2.20167348e-01 -2.28634930e-01 6.79612479e+01] [ 2.09713001e-01 9.75299054e-01 -6.93701164e-02 5.57520251e+00] [ 2.38260465e-01 1.78352149e-02 9.71037515e-01 8.62144570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:5.57, Z:8.63 [[ 9.48615269e-01 -2.16243842e-01 -2.31014440e-01 6.79896483e+01] [ 2.07801445e-01 9.76293578e-01 -6.05756527e-02 5.57149490e+00] [ 2.38637026e-01 9.45785469e-03 9.71062778e-01 8.63138939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.02, Y:5.58, Z:8.64 [[ 9.49202315e-01 -2.14197581e-01 -2.30508917e-01 6.80164228e+01] [ 2.05716557e-01 9.76738977e-01 -6.05117327e-02 5.57539681e+00] [ 2.38108511e-01 1.00183761e-02 9.71186887e-01 8.63839412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:5.54, Z:8.69 [[ 9.46290787e-01 -1.90438566e-01 -2.61279349e-01 6.80528877e+01] [ 1.97832715e-01 9.80233674e-01 2.03988866e-03 5.53872982e+00] [ 2.55726343e-01 -5.36199310e-02 9.65261074e-01 8.69341291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:5.58, Z:8.66 [[ 9.49998294e-01 -2.06409285e-01 -2.34304179e-01 6.80796863e+01] [ 1.95396728e-01 9.78255462e-01 -6.95440074e-02 5.58430344e+00] [ 2.43563872e-01 2.02844184e-02 9.69672719e-01 8.66353672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:5.61, Z:8.64 [[ 9.52100828e-01 -2.15594400e-01 -2.16848031e-01 6.80961848e+01] [ 1.97610523e-01 9.74989131e-01 -1.01716644e-01 5.61231063e+00] [ 2.33354012e-01 5.39930479e-02 9.70891681e-01 8.64393974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:5.59, Z:8.67 [[ 9.51496527e-01 -2.05731036e-01 -2.28755548e-01 6.81259866e+01] [ 1.97002020e-01 9.78527295e-01 -6.06179654e-02 5.59376217e+00] [ 2.36314545e-01 1.26124783e-02 9.71594752e-01 8.66680163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.16, Y:5.58, Z:8.70 [[ 9.49589225e-01 -1.93515651e-01 -2.46641434e-01 6.81613111e+01] [ 1.92675840e-01 9.80869271e-01 -2.77757654e-02 5.57754292e+00] [ 2.47298049e-01 -2.11462778e-02 9.68708682e-01 8.69843287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.18, Y:5.63, Z:8.67 [[ 9.51372427e-01 -2.12832294e-01 -2.22694676e-01 6.81779177e+01] [ 1.96928304e-01 9.76129100e-01 -9.16036151e-02 5.62541825e+00] [ 2.36874961e-01 4.32942688e-02 9.70575015e-01 8.66706068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:5.62, Z:8.68 [[ 9.50281849e-01 -2.07965156e-01 -2.31764756e-01 6.82061043e+01] [ 1.99018848e-01 9.78057423e-01 -6.16049918e-02 5.61711861e+00] [ 2.39490932e-01 1.24165508e-02 9.70819202e-01 8.68355595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.24, Y:5.61, Z:8.70 [[ 9.48411544e-01 -2.06417175e-01 -2.40639759e-01 6.82384841e+01] [ 2.00270966e-01 9.78463773e-01 -5.00018447e-02 5.61329318e+00] [ 2.45778526e-01 -7.70830170e-04 9.69325705e-01 8.69886537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.26, Y:5.62, Z:8.70 [[ 9.47799061e-01 -2.11002272e-01 -2.39071079e-01 6.82648266e+01] [ 2.02464742e-01 9.77448792e-01 -6.00157238e-02 5.62454691e+00] [ 2.46343191e-01 8.47938237e-03 9.69145568e-01 8.70101190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:5.64, Z:8.70 [[ 9.46380533e-01 -2.21927430e-01 -2.34759671e-01 6.82862055e+01] [ 2.07756944e-01 9.74585341e-01 -8.37882124e-02 5.64404046e+00] [ 2.47388236e-01 3.05225814e-02 9.68435559e-01 8.69638515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:5.64, Z:8.71 [[ 9.45907210e-01 -2.18984756e-01 -2.39385103e-01 6.83144075e+01] [ 2.10196935e-01 9.75692966e-01 -6.19716494e-02 5.63858684e+00] [ 2.47137208e-01 8.30141513e-03 9.68944935e-01 8.71073073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:5.64, Z:8.72 [[ 9.46166160e-01 -2.20150514e-01 -2.37283266e-01 6.83411110e+01] [ 2.13704091e-01 9.75465687e-01 -5.28890783e-02 5.64071576e+00] [ 2.43105242e-01 -6.66548688e-04 9.69999689e-01 8.71972178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:5.64, Z:8.73 [[ 9.46452791e-01 -2.21553252e-01 -2.34821785e-01 6.83731604e+01] [ 2.16337080e-01 9.75133920e-01 -4.80843682e-02 5.64238638e+00] [ 2.39635936e-01 -5.29107498e-03 9.70848404e-01 8.73381636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:5.67, Z:8.73 [[ 9.46697254e-01 -2.32385662e-01 -2.23072217e-01 6.83919371e+01] [ 2.22267753e-01 9.72483753e-01 -6.98025489e-02 5.66565562e+00] [ 2.33155218e-01 1.65001209e-02 9.72299537e-01 8.72659799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:5.66, Z:8.74 [[ 9.45420556e-01 -2.36211049e-01 -2.24464503e-01 6.84180766e+01] [ 2.28556980e-01 9.71687276e-01 -5.98794172e-02 5.66498870e+00] [ 2.32253481e-01 5.30830292e-03 9.72640808e-01 8.73819263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:5.67, Z:8.75 [[ 9.45165648e-01 -2.36872903e-01 -2.24840223e-01 6.84521214e+01] [ 2.29214907e-01 9.71527053e-01 -5.99642578e-02 5.66766584e+00] [ 2.32642267e-01 5.13942589e-03 9.72548797e-01 8.74637567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:5.67, Z:8.76 [[ 9.43860276e-01 -2.38576515e-01 -2.28492945e-01 6.84783352e+01] [ 2.33789764e-01 9.71091410e-01 -4.82060119e-02 5.66803875e+00] [ 2.33388359e-01 -7.91957205e-03 9.72351353e-01 8.75883592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:68.50, Y:5.68, Z:8.76 [[ 9.43218504e-01 -2.47966112e-01 -2.21024118e-01 6.84979088e+01] [ 2.39084603e-01 9.68718225e-01 -6.65098003e-02 5.68432407e+00] [ 2.30602268e-01 9.88981084e-03 9.72997834e-01 8.75521926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:5.69, Z:8.76 [[ 9.43183087e-01 -2.46657798e-01 -2.22633318e-01 6.85253675e+01] [ 2.39255593e-01 9.69096712e-01 -6.00693207e-02 5.68667934e+00] [ 2.30569783e-01 3.39010085e-03 9.73049887e-01 8.76400698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:5.69, Z:8.77 [[ 9.43580025e-01 -2.41005713e-01 -2.27096857e-01 6.85600056e+01] [ 2.34027963e-01 9.70522968e-01 -5.75854246e-02 5.68568895e+00] [ 2.34281132e-01 1.18944151e-03 9.72168163e-01 8.77307038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.59, Y:5.69, Z:8.78 [[ 9.43643418e-01 -2.39410365e-01 -2.28516469e-01 6.85864916e+01] [ 2.30880542e-01 9.70890155e-01 -6.37689833e-02 5.69214540e+00] [ 2.37131346e-01 7.41517519e-03 9.71449299e-01 8.77667287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:5.69, Z:8.79 [[ 9.43182242e-01 -2.35489431e-01 -2.34418399e-01 6.86122490e+01] [ 2.29710215e-01 9.71865352e-01 -5.20668278e-02 5.69174721e+00] [ 2.40084307e-01 -4.73979349e-03 9.70740470e-01 8.78845747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:5.71, Z:8.79 [[ 9.44046225e-01 -2.35853455e-01 -2.30542563e-01 6.86322824e+01] [ 2.26938331e-01 9.71747888e-01 -6.48462562e-02 5.70776840e+00] [ 2.39323462e-01 8.89891877e-03 9.70899114e-01 8.78747994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:5.71, Z:8.80 [[ 9.44779419e-01 -2.29587375e-01 -2.33840730e-01 6.86654242e+01] [ 2.22452916e-01 9.73286642e-01 -5.68138355e-02 5.70823527e+00] [ 2.40637798e-01 1.65799016e-03 9.70613569e-01 8.79925125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.69, Y:5.72, Z:8.81 [[ 9.45980284e-01 -2.26899145e-01 -2.31598963e-01 6.86907278e+01] [ 2.19048194e-01 9.73902830e-01 -5.94236111e-02 5.71838966e+00] [ 2.39038052e-01 5.48222990e-03 9.70994724e-01 8.80518635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.71, Y:5.73, Z:8.81 [[ 9.46512410e-01 -2.28337540e-01 -2.27982949e-01 6.87096641e+01] [ 2.19359075e-01 9.73521281e-01 -6.43265990e-02 5.73108525e+00] [ 2.36634430e-01 1.08757955e-02 9.71537886e-01 8.80832972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:5.74, Z:8.82 [[ 9.47883011e-01 -2.23764980e-01 -2.26819378e-01 6.87426056e+01] [ 2.15061744e-01 9.74584783e-01 -6.27132090e-02 5.73508954e+00] [ 2.35087735e-01 1.06646144e-02 9.71915646e-01 8.81625173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:5.75, Z:8.82 [[ 9.49345697e-01 -2.19044527e-01 -2.25304776e-01 6.87615199e+01] [ 2.11716549e-01 9.75696821e-01 -5.64961563e-02 5.74609540e+00] [ 2.32204327e-01 5.93363336e-03 9.72648931e-01 8.82432604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:5.76, Z:8.83 [[ 9.49361524e-01 -2.20230712e-01 -2.24078404e-01 6.87882216e+01] [ 2.11869048e-01 9.75391890e-01 -6.10095719e-02 5.75583277e+00] [ 2.32000440e-01 1.04448618e-02 9.72659602e-01 8.82856235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:5.77, Z:8.83 [[ 9.49900824e-01 -2.20150438e-01 -2.21860788e-01 6.88145023e+01] [ 2.09389914e-01 9.75235794e-01 -7.12110281e-02 5.77062041e+00] [ 2.32043721e-01 2.11880029e-02 9.72474565e-01 8.83008024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:5.77, Z:8.85 [[ 9.52025663e-01 -2.10849420e-01 -2.21787418e-01 6.88410183e+01] [ 2.04976298e-01 9.77517225e-01 -4.94448407e-02 5.76734874e+00] [ 2.27226437e-01 1.61159337e-03 9.73840618e-01 8.84525310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:5.78, Z:8.85 [[ 9.52746427e-01 -2.11239956e-01 -2.18293211e-01 6.88658229e+01] [ 2.03051459e-01 9.77355399e-01 -5.95527401e-02 5.77876554e+00] [ 2.25929967e-01 1.24139052e-02 9.74064446e-01 8.84828361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.89, Y:5.78, Z:8.85 [[ 9.53078532e-01 -2.09502272e-01 -2.18517986e-01 6.88922523e+01] [ 2.01240967e-01 9.77723248e-01 -5.96600642e-02 5.78485835e+00] [ 2.26149034e-01 1.28859557e-02 9.74007478e-01 8.85492933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:5.79, Z:8.86 [[ 9.53179089e-01 -2.07660826e-01 -2.19833131e-01 6.89176948e+01] [ 1.99234353e-01 9.78108093e-01 -6.00851899e-02 5.79079950e+00] [ 2.27497905e-01 1.34736349e-02 9.73685352e-01 8.86221874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.94, Y:5.80, Z:8.87 [[ 9.53269654e-01 -2.07061270e-01 -2.20005904e-01 6.89441380e+01] [ 1.98590364e-01 9.78232140e-01 -6.01975746e-02 5.79815902e+00] [ 2.27681433e-01 1.36934686e-02 9.73639386e-01 8.86838189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:5.81, Z:8.87 [[ 9.53468052e-01 -2.06507617e-01 -2.19666287e-01 6.89687730e+01] [ 1.98033231e-01 9.78346673e-01 -6.01716407e-02 5.80816015e+00] [ 2.27335683e-01 1.38705125e-02 9.73717668e-01 8.87235457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:5.82, Z:8.88 [[ 9.53447176e-01 -2.06661341e-01 -2.19612322e-01 6.89947183e+01] [ 1.98179838e-01 9.78313845e-01 -6.02226902e-02 5.81718460e+00] [ 2.27295477e-01 1.38964196e-02 9.73726684e-01 8.87708153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:5.83, Z:8.88 [[ 9.53199512e-01 -2.07410023e-01 -2.19981302e-01 6.90207409e+01] [ 1.98903825e-01 9.78156649e-01 -6.03890600e-02 5.82540408e+00] [ 2.27701469e-01 1.38077001e-02 9.73633087e-01 8.88245909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:5.83, Z:8.89 [[ 9.52901905e-01 -2.08428491e-01 -2.20307794e-01 6.90461907e+01] [ 1.99908316e-01 9.77942352e-01 -6.05427227e-02 5.83194426e+00] [ 2.28067150e-01 1.36499157e-02 9.73549719e-01 8.88910167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:5.84, Z:8.90 [[ 9.52290145e-01 -2.11983173e-01 -2.19560045e-01 6.90721430e+01] [ 2.03607178e-01 9.77189684e-01 -6.03691840e-02 5.83709393e+00] [ 2.27349063e-01 1.27849779e-02 9.73729402e-01 8.89863194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:5.85, Z:8.91 [[ 9.51935779e-01 -2.14730471e-01 -2.18424124e-01 6.90986354e+01] [ 2.06498202e-01 9.76598029e-01 -6.01230629e-02 5.84566299e+00] [ 2.26222823e-01 1.21291058e-02 9.74000061e-01 8.90514024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:5.86, Z:8.91 [[ 9.51688648e-01 -2.18522568e-01 -2.15723443e-01 6.91241866e+01] [ 2.10576944e-01 9.75768229e-01 -5.94450564e-02 5.85701344e+00] [ 2.23486168e-01 1.11468021e-02 9.74643361e-01 8.91119917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:5.87, Z:8.92 [[ 9.51518357e-01 -2.19990278e-01 -2.14981612e-01 6.91491549e+01] [ 2.12122725e-01 9.75441995e-01 -5.93031566e-02 5.86536341e+00] [ 2.22748211e-01 1.08255566e-02 9.74815902e-01 8.91761680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:5.88, Z:8.92 [[ 9.50820881e-01 -2.23839528e-01 -2.14092312e-01 6.91769824e+01] [ 2.13595435e-01 9.74400396e-01 -7.01488303e-02 5.87867860e+00] [ 2.24313715e-01 2.09698321e-02 9.74291344e-01 8.92121761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:5.88, Z:8.94 [[ 9.51570104e-01 -2.19602456e-01 -2.15149015e-01 6.92029808e+01] [ 2.14399942e-01 9.75589025e-01 -4.75259943e-02 5.87634718e+00] [ 2.20333842e-01 -9.03620940e-04 9.75424103e-01 8.93686360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:5.89, Z:8.94 [[ 9.51978339e-01 -2.21980214e-01 -2.10860208e-01 6.92274501e+01] [ 2.14436198e-01 9.74997014e-01 -5.82918432e-02 5.89067796e+00] [ 2.18527709e-01 1.02765108e-02 9.75776631e-01 8.93841997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:5.90, Z:8.94 [[ 9.51927808e-01 -2.21887639e-01 -2.11185522e-01 6.92530361e+01] [ 2.14311043e-01 9.75017371e-01 -5.84114923e-02 5.90363005e+00] [ 2.18870341e-01 1.03441342e-02 9.75699120e-01 8.94354904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:5.91, Z:8.95 [[ 9.51758645e-01 -2.21469134e-01 -2.12383861e-01 6.92788454e+01] [ 2.13780046e-01 9.75110125e-01 -5.88076145e-02 5.91404051e+00] [ 2.20121725e-01 1.05672241e-02 9.75415173e-01 8.94823981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:5.92, Z:8.95 [[ 9.51729344e-01 -2.20641398e-01 -2.13374389e-01 6.93042559e+01] [ 2.12844157e-01 9.75294362e-01 -5.91461879e-02 5.92470932e+00] [ 2.21152936e-01 1.08756707e-02 9.75178496e-01 8.95340937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.33, Y:5.94, Z:8.96 [[ 9.50813349e-01 -2.23826880e-01 -2.14138982e-01 6.93313250e+01] [ 2.13099094e-01 9.74356195e-01 -7.22411399e-02 5.93880769e+00] [ 2.24817153e-01 2.30550170e-02 9.74128181e-01 8.95698234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:5.93, Z:8.97 [[ 9.51329806e-01 -2.17742152e-01 -2.18082451e-01 6.93585356e+01] [ 2.12586318e-01 9.76005135e-01 -4.71278549e-02 5.93351977e+00] [ 2.23111312e-01 -1.52721205e-03 9.74791778e-01 8.97197441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680385723 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:69.38, Y:5.95, Z:8.97 [[ 9.50913538e-01 -2.23930002e-01 -2.13585575e-01 6.93836623e+01] [ 2.14265510e-01 9.74427829e-01 -6.76808453e-02 5.95287966e+00] [ 2.23279500e-01 1.85946099e-02 9.74577090e-01 8.97282967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:5.95, Z:8.98 [[ 9.51457016e-01 -2.20877737e-01 -2.14342184e-01 6.94090500e+01] [ 2.15006630e-01 9.75299270e-01 -5.06308556e-02 5.95358865e+00] [ 2.20231004e-01 2.08809220e-03 9.75445511e-01 8.98393505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.43, Y:5.97, Z:8.99 [[ 9.50909432e-01 -2.25460987e-01 -2.11987251e-01 6.94343685e+01] [ 2.17833636e-01 9.74201763e-01 -5.89867137e-02 5.96888161e+00] [ 2.19817557e-01 9.91306858e-03 9.75490632e-01 8.98649489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:5.98, Z:8.99 [[ 9.50387925e-01 -2.27486709e-01 -2.12161704e-01 6.94605836e+01] [ 2.19881980e-01 9.73734685e-01 -5.90988878e-02 5.97629979e+00] [ 2.20033422e-01 9.51633380e-03 9.75445915e-01 8.99252040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:5.98, Z:9.00 [[ 9.49813729e-01 -2.30228336e-01 -2.11775337e-01 6.94874820e+01] [ 2.22704537e-01 9.73095682e-01 -5.90549071e-02 5.98307008e+00] [ 2.19673779e-01 8.92783316e-03 9.75532534e-01 8.99943616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.51, Y:5.99, Z:9.01 [[ 9.48474717e-01 -2.36594748e-01 -2.10757292e-01 6.95121932e+01] [ 2.29285216e-01 9.71579646e-01 -5.88326548e-02 5.98983778e+00] [ 2.18686992e-01 7.47775446e-03 9.75766408e-01 9.00719573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:6.01, Z:9.00 [[ 9.48687864e-01 -2.45458248e-01 -1.99352917e-01 6.95401380e+01] [ 2.34834469e-01 9.69085418e-01 -7.56718217e-02 6.01034775e+00] [ 2.11764278e-01 2.49740025e-02 9.77001633e-01 8.99765958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890385723 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:69.57, Y:6.01, Z:9.01 [[ 9.48721476e-01 -2.43867035e-01 -2.01137838e-01 6.95673971e+01] [ 2.36377062e-01 9.69755381e-01 -6.08307912e-02 6.00966315e+00] [ 2.09889125e-01 1.01671067e-02 9.77672330e-01 9.00703740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920385723 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:69.59, Y:6.02, Z:9.01 [[ 9.48043664e-01 -2.47974470e-01 -1.99303470e-01 6.95915821e+01] [ 2.42174171e-01 9.68763761e-01 -5.33708323e-02 6.01553048e+00] [ 2.06312583e-01 2.33172692e-03 9.78483358e-01 9.01394714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:69.62, Y:6.02, Z:9.02 [[ 9.46302778e-01 -2.52690612e-01 -2.01639548e-01 6.96186040e+01] [ 2.48068725e-01 9.67537522e-01 -4.83016605e-02 6.02434040e+00] [ 2.07299205e-01 -4.31247013e-03 9.78268083e-01 9.02459361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:6.03, Z:9.04 [[ 9.44945174e-01 -2.54107446e-01 -2.06174743e-01 6.96428908e+01] [ 2.51068216e-01 9.67091167e-01 -4.12240936e-02 6.02534041e+00] [ 2.09865122e-01 -1.28094166e-02 9.77646434e-01 9.04412915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.67, Y:6.04, Z:9.05 [[ 9.44627582e-01 -2.58923816e-01 -2.01586679e-01 6.96679125e+01] [ 2.52720813e-01 9.65894970e-01 -5.63834894e-02 6.04070575e+00] [ 2.09310587e-01 2.31624987e-03 9.77846467e-01 9.04561743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:6.06, Z:9.04 [[ 9.45003312e-01 -2.63975920e-01 -1.93094416e-01 6.96942361e+01] [ 2.55632788e-01 9.64423071e-01 -6.73796582e-02 6.05838457e+00] [ 2.04011317e-01 1.43127361e-02 9.78863897e-01 9.03843426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.72, Y:6.05, Z:9.06 [[ 9.44208072e-01 -2.57583993e-01 -2.05235480e-01 6.97197328e+01] [ 2.53925189e-01 9.66202532e-01 -4.44372137e-02 6.05484192e+00] [ 2.09745355e-01 -1.01564822e-02 9.77703294e-01 9.05974912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.74, Y:6.09, Z:9.04 [[ 9.44803920e-01 -2.66464930e-01 -1.90635762e-01 6.97442956e+01] [ 2.56797594e-01 9.63612501e-01 -7.42020492e-02 6.08602042e+00] [ 2.03471247e-01 2.11515820e-02 9.78852421e-01 9.04244150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:6.08, Z:9.06 [[ 9.44139977e-01 -2.62747820e-01 -1.98905221e-01 6.97708916e+01] [ 2.56458962e-01 9.64859833e-01 -5.72215221e-02 6.08467729e+00] [ 2.06950489e-01 3.01409999e-03 9.78346774e-01 9.05586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:6.10, Z:9.06 [[ 9.43261675e-01 -2.63833559e-01 -2.01616630e-01 6.97967822e+01] [ 2.56361258e-01 9.64538657e-01 -6.28019453e-02 6.09783994e+00] [ 2.11036294e-01 7.55197535e-03 9.77449053e-01 9.05934239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:6.10, Z:9.06 [[ 9.43148585e-01 -2.61949511e-01 -2.04580546e-01 6.98198572e+01] [ 2.55564971e-01 9.65079586e-01 -5.75146829e-02 6.10488070e+00] [ 2.12502451e-01 1.96127066e-03 9.77158565e-01 9.06474097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.85, Y:6.11, Z:9.07 [[ 9.42533433e-01 -2.61080926e-01 -2.08488555e-01 6.98477366e+01] [ 2.55018581e-01 9.65316814e-01 -5.59372149e-02 6.11295626e+00] [ 2.15861648e-01 -4.45760381e-04 9.76423858e-01 9.07366532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:6.11, Z:9.09 [[ 9.42513873e-01 -2.55449247e-01 -2.15437416e-01 6.98747804e+01] [ 2.53816822e-01 9.66593502e-01 -3.56934583e-02 6.11201363e+00] [ 2.17358274e-01 -2.10400607e-02 9.75865102e-01 9.09457199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:6.14, Z:9.08 [[ 9.43776528e-01 -2.64539456e-01 -1.98254232e-01 6.98992684e+01] [ 2.54644537e-01 9.64174465e-01 -7.43220056e-02 6.14366324e+00] [ 2.10812771e-01 1.96590073e-02 9.77328757e-01 9.07832230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.92, Y:6.16, Z:9.07 [[ 9.44236328e-01 -2.68511671e-01 -1.90576072e-01 6.99202720e+01] [ 2.57618407e-01 9.62906197e-01 -8.02770916e-02 6.15961781e+00] [ 2.05062216e-01 2.67046422e-02 9.78384561e-01 9.07410557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:6.15, Z:9.10 [[ 9.44568757e-01 -2.52912215e-01 -2.09344872e-01 6.99536240e+01] [ 2.49957432e-01 9.67392380e-01 -4.09055604e-02 6.14563966e+00] [ 2.12864150e-01 -1.36891922e-02 9.76985906e-01 9.10268335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:6.15, Z:9.12 [[ 9.45033080e-01 -2.48280767e-01 -2.12765456e-01 6.99791599e+01] [ 2.46286433e-01 9.68518422e-01 -3.62637347e-02 6.14955202e+00] [ 2.15070851e-01 -1.81308163e-02 9.76430132e-01 9.11804798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:6.18, Z:9.10 [[ 9.47358263e-01 -2.52134845e-01 -1.97333075e-01 7.00028063e+01] [ 2.42045696e-01 9.67432325e-01 -7.40849378e-02 6.18025632e+00] [ 2.09585790e-01 2.24213564e-02 9.77533160e-01 9.10156177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:6.18, Z:9.11 [[ 9.47754894e-01 -2.46405718e-01 -2.02595366e-01 7.00303976e+01] [ 2.39706823e-01 9.69149420e-01 -5.73588837e-02 6.18026249e+00] [ 2.10478738e-01 5.79867135e-03 9.77581238e-01 9.11243199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:6.19, Z:9.13 [[ 9.46945405e-01 -2.42647163e-01 -2.10752826e-01 7.00563957e+01] [ 2.34983755e-01 9.70079067e-01 -6.10674919e-02 6.18642392e+00] [ 2.19264758e-01 8.30409051e-03 9.75630057e-01 9.12591393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:6.19, Z:9.13 [[ 9.49129019e-01 -2.40319199e-01 -2.03471835e-01 7.00832531e+01] [ 2.33740798e-01 9.70677059e-01 -5.61363133e-02 6.19426962e+00] [ 2.10996077e-01 5.72093469e-03 9.77470167e-01 9.12500414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:6.19, Z:9.14 [[ 9.48675317e-01 -2.34020325e-01 -2.12719604e-01 7.01117339e+01] [ 2.29890445e-01 9.72207435e-01 -4.43067291e-02 6.19054612e+00] [ 2.17176255e-01 -6.86950402e-03 9.76108234e-01 9.14454869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:6.23, Z:9.12 [[ 9.49311581e-01 -2.46333515e-01 -1.95262188e-01 7.01300748e+01] [ 2.31975800e-01 9.68204156e-01 -9.36372797e-02 6.22573941e+00] [ 2.12119662e-01 4.35948519e-02 9.76270832e-01 9.12091085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.17, Y:6.20, Z:9.16 [[ 9.48463601e-01 -2.29738176e-01 -2.18259408e-01 7.01680990e+01] [ 2.27074499e-01 9.73152716e-01 -3.75627909e-02 6.19545995e+00] [ 2.21029342e-01 -1.39342058e-02 9.75167610e-01 9.16061079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:6.21, Z:9.16 [[ 9.49416988e-01 -2.30868740e-01 -2.12854428e-01 7.01935049e+01] [ 2.25308198e-01 9.72984895e-01 -5.03647758e-02 6.20826963e+00] [ 2.18731795e-01 -1.40673889e-04 9.75785008e-01 9.16147880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:6.22, Z:9.16 [[ 9.49613827e-01 -2.31281824e-01 -2.11523751e-01 7.02201781e+01] [ 2.23609433e-01 9.72840154e-01 -5.98402561e-02 6.21694390e+00] [ 2.19618762e-01 9.52642864e-03 9.75539259e-01 9.16337312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.24, Y:6.24, Z:9.15 [[ 9.50099797e-01 -2.41714193e-01 -1.97191846e-01 7.02426203e+01] [ 2.27998094e-01 9.69504912e-01 -8.98726566e-02 6.24297725e+00] [ 2.12901960e-01 4.04286277e-02 9.76236796e-01 9.14651698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.27, Y:6.23, Z:9.16 [[ 9.49610328e-01 -2.37227691e-01 -2.04849329e-01 7.02737992e+01] [ 2.28711572e-01 9.71345272e-01 -6.46481244e-02 6.23448015e+00] [ 2.14315753e-01 1.45391144e-02 9.76656220e-01 9.16257414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:6.23, Z:9.17 [[ 9.50046878e-01 -2.35806465e-01 -2.04465746e-01 7.03014739e+01] [ 2.29794849e-01 9.71794158e-01 -5.30136012e-02 6.23063878e+00] [ 2.11199568e-01 3.38023099e-03 9.77437117e-01 9.17319398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.33, Y:6.24, Z:9.18 [[ 9.50039342e-01 -2.37583528e-01 -2.02433486e-01 7.03290462e+01] [ 2.29878901e-01 9.71298785e-01 -6.11094161e-02 6.24001432e+00] [ 2.11141990e-01 1.15211621e-02 9.77387499e-01 9.17697663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.36, Y:6.23, Z:9.20 [[ 9.49297665e-01 -2.27391540e-01 -2.17087609e-01 7.03607388e+01] [ 2.24999901e-01 9.73693075e-01 -3.60116671e-02 6.22713584e+00] [ 2.19565450e-01 -1.46588991e-02 9.75487637e-01 9.20483794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.39, Y:6.26, Z:9.19 [[ 9.48094919e-01 -2.39615402e-01 -2.09046606e-01 7.03887166e+01] [ 2.26402165e-01 9.70286184e-01 -8.53626476e-02 6.25859254e+00] [ 2.23289239e-01 3.36032883e-02 9.74172847e-01 9.19375481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.42, Y:6.24, Z:9.22 [[ 9.49216908e-01 -2.27533379e-01 -2.17292022e-01 7.04162823e+01] [ 2.25665298e-01 9.73621314e-01 -3.37151407e-02 6.23870461e+00] [ 2.19231464e-01 -1.70322872e-02 9.75524201e-01 9.21778865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:6.26, Z:9.21 [[ 9.49554142e-01 -2.32838925e-01 -2.10078479e-01 7.04417905e+01] [ 2.25296892e-01 9.72472175e-01 -5.94909995e-02 6.25659523e+00] [ 2.18147295e-01 9.15989670e-03 9.75872868e-01 9.21499764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:6.26, Z:9.22 [[ 9.49496099e-01 -2.33090236e-01 -2.10062134e-01 7.04686199e+01] [ 2.25541537e-01 9.72411936e-01 -5.95486575e-02 6.26431368e+00] [ 2.18147137e-01 9.16348136e-03 9.75872869e-01 9.22108001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.50, Y:6.28, Z:9.22 [[ 9.48467854e-01 -2.36611411e-01 -2.10769473e-01 7.04970977e+01] [ 2.25643864e-01 9.71318138e-01 -7.50061377e-02 6.27566318e+00] [ 2.22471520e-01 2.35820722e-02 9.74653943e-01 9.22284469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97038572299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:70.52, Y:6.27, Z:9.24 [[ 9.48951536e-01 -2.30194024e-01 -2.15642512e-01 7.05246446e+01] [ 2.25624495e-01 9.73131504e-01 -4.59201929e-02 6.26789498e+00] [ 2.20419076e-01 -5.07819528e-03 9.75392046e-01 9.23856516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:6.28, Z:9.24 [[ 9.48730114e-01 -2.33969954e-01 -2.12530542e-01 7.05501169e+01] [ 2.26219416e-01 9.72199745e-01 -6.04353492e-02 6.28101036e+00] [ 2.20762195e-01 9.25830067e-03 9.75283721e-01 9.23898348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.58, Y:6.29, Z:9.24 [[ 9.48348489e-01 -2.35140014e-01 -2.12942052e-01 7.05773081e+01] [ 2.27381332e-01 9.71919527e-01 -6.05818737e-02 6.28752432e+00] [ 2.21207761e-01 9.03368101e-03 9.75184864e-01 9.24494626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:6.29, Z:9.25 [[ 9.47676311e-01 -2.37412902e-01 -2.13412097e-01 7.06035066e+01] [ 2.29661415e-01 9.71370869e-01 -6.07805027e-02 6.29324382e+00] [ 2.21732369e-01 8.58771861e-03 9.75069745e-01 9.25105591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:6.30, Z:9.26 [[ 9.45480183e-01 -2.45458267e-01 -2.14050139e-01 7.06313496e+01] [ 2.37855632e-01 9.69383630e-01 -6.09924351e-02 6.29560980e+00] [ 2.22467798e-01 6.75410769e-03 9.74916643e-01 9.25819461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:6.30, Z:9.26 [[ 9.44064988e-01 -2.51179836e-01 -2.13658579e-01 7.06579915e+01] [ 2.43734804e-01 9.67925029e-01 -6.09465583e-02 6.30055371e+00] [ 2.22114033e-01 5.46147979e-03 9.75005399e-01 9.26455505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.69, Y:6.30, Z:9.27 [[ 9.40858313e-01 -2.63316126e-01 -2.13190647e-01 7.06855354e+01] [ 2.56195820e-01 9.64705938e-01 -6.08781987e-02 6.30474615e+00] [ 2.21696495e-01 2.65920655e-03 9.75112092e-01 9.27080373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:6.32, Z:9.26 [[ 9.39226402e-01 -2.75597458e-01 -2.04694426e-01 7.07075530e+01] [ 2.66229172e-01 9.61176431e-01 -7.25389246e-02 6.32119505e+00] [ 2.16739001e-01 1.36348456e-02 9.76134364e-01 9.26143637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:6.32, Z:9.28 [[ 9.37064146e-01 -2.79725327e-01 -2.08960586e-01 7.07355316e+01] [ 2.73043947e-01 9.60080064e-01 -6.07723056e-02 6.31692567e+00] [ 2.17618446e-01 -1.07874646e-04 9.76033913e-01 9.27585235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:6.31, Z:9.29 [[ 9.36616025e-01 -2.76373649e-01 -2.15332365e-01 7.07672342e+01] [ 2.71561910e-01 9.61002736e-01 -5.22290131e-02 6.31485346e+00] [ 2.21369715e-01 -9.55753773e-03 9.75143119e-01 9.29404007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:6.33, Z:9.28 [[ 9.36332336e-01 -2.84402087e-01 -2.05905828e-01 7.07888156e+01] [ 2.76182550e-01 9.58679309e-01 -6.82435448e-02 6.33490962e+00] [ 2.16806264e-01 7.03104094e-03 9.76189330e-01 9.28486914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30038572299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.82, Y:6.33, Z:9.30 [[ 9.36982186e-01 -2.77883724e-01 -2.11766424e-01 7.08189571e+01] [ 2.72767454e-01 9.60585192e-01 -5.36097507e-02 6.33346686e+00] [ 2.18316968e-01 -7.53160683e-03 9.75848849e-01 9.30385329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.84, Y:6.35, Z:9.31 [[ 9.37502649e-01 -2.78011100e-01 -2.09281176e-01 7.08444588e+01] [ 2.71462791e-01 9.60577690e-01 -5.99871211e-02 6.34547109e+00] [ 2.17707914e-01 -5.73967179e-04 9.76013798e-01 9.30683299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:70.87, Y:6.36, Z:9.30 [[ 9.38122644e-01 -2.81386371e-01 -2.01860384e-01 7.08681549e+01] [ 2.72977222e-01 9.59546777e-01 -6.89450383e-02 6.36263474e+00] [ 2.13094675e-01 9.57561486e-03 9.76984630e-01 9.30062408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390385723 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:70.89, Y:6.36, Z:9.32 [[ 9.38640581e-01 -2.71285692e-01 -2.12974021e-01 7.08928754e+01] [ 2.64653872e-01 9.62498785e-01 -5.96189384e-02 6.35986767e+00] [ 2.21161001e-01 -4.03644225e-04 9.75237227e-01 9.31700067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:6.37, Z:9.32 [[ 9.38584706e-01 -2.71179905e-01 -2.13354653e-01 7.09234414e+01] [ 2.64653800e-01 9.62528206e-01 -5.91423611e-02 6.36786208e+00] [ 2.21398091e-01 -9.55004140e-04 9.75183046e-01 9.32471740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.95, Y:6.38, Z:9.33 [[ 9.39285326e-01 -2.67648774e-01 -2.14725894e-01 7.09485072e+01] [ 2.60314203e-01 9.63513023e-01 -6.22829808e-02 6.37777056e+00] [ 2.23561158e-01 2.60529014e-03 9.74686422e-01 9.32872879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:6.39, Z:9.33 [[ 9.39784190e-01 -2.65960068e-01 -2.14641372e-01 7.09747948e+01] [ 2.58580921e-01 9.63979266e-01 -6.22886922e-02 6.38783967e+00] [ 2.23476137e-01 3.03576458e-03 9.74704673e-01 9.33323860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:6.40, Z:9.34 [[ 9.40403669e-01 -2.64484885e-01 -2.13749117e-01 7.10008507e+01] [ 2.57115475e-01 9.64383712e-01 -6.20941936e-02 6.39694152e+00] [ 2.22559143e-01 3.43540161e-03 9.74913138e-01 9.33808531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:6.40, Z:9.34 [[ 9.41348525e-01 -2.62682755e-01 -2.11803504e-01 7.10270249e+01] [ 2.55389167e-01 9.64874422e-01 -6.15932017e-02 6.40331036e+00] [ 2.20543256e-01 3.88834905e-03 9.75369444e-01 9.34486712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.05, Y:6.41, Z:9.35 [[ 9.41451664e-01 -2.62737011e-01 -2.11277132e-01 7.10526784e+01] [ 2.55466761e-01 9.64859481e-01 -6.15054196e-02 6.40894112e+00] [ 2.20012494e-01 3.93009498e-03 9.75489137e-01 9.35187700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:6.41, Z:9.36 [[ 9.41026706e-01 -2.64703705e-01 -2.10714704e-01 7.10796107e+01] [ 2.57514605e-01 9.64323477e-01 -6.13714964e-02 6.41291193e+00] [ 2.19442398e-01 3.49010336e-03 9.75619215e-01 9.36013539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:6.42, Z:9.37 [[ 9.40660759e-01 -2.65877491e-01 -2.10870806e-01 7.11063361e+01] [ 2.58692136e-01 9.64001236e-01 -6.14816662e-02 6.41978409e+00] [ 2.19626309e-01 3.28277147e-03 9.75578550e-01 9.36681506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:6.43, Z:9.37 [[ 9.40595575e-01 -2.66993851e-01 -2.09748058e-01 7.11319924e+01] [ 2.59899019e-01 9.63693349e-01 -6.12178759e-02 6.42762948e+00] [ 2.18477605e-01 3.06794847e-03 9.75837140e-01 9.37189538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:6.45, Z:9.36 [[ 9.41647709e-01 -2.71221695e-01 -1.99344889e-01 7.11609858e+01] [ 2.60745234e-01 9.62286401e-01 -7.75680635e-02 6.44595471e+00] [ 2.12865017e-01 2.10635596e-02 9.76854549e-01 9.36297676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:6.45, Z:9.37 [[ 9.41596967e-01 -2.69681858e-01 -2.01660228e-01 7.11872537e+01] [ 2.61934099e-01 9.62915527e-01 -6.46855138e-02 6.44821568e+00] [ 2.11626274e-01 8.08599355e-03 9.77317214e-01 9.37111970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:6.45, Z:9.38 [[ 9.41598998e-01 -2.66824697e-01 -2.05416424e-01 7.12160296e+01] [ 2.60627387e-01 9.63745035e-01 -5.71740586e-02 6.45035995e+00] [ 2.13224510e-01 2.97890446e-04 9.77003183e-01 9.38251132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:6.45, Z:9.41 [[ 9.41317279e-01 -2.59479851e-01 -2.15851771e-01 7.12403216e+01] [ 2.57183443e-01 9.65568531e-01 -3.91674335e-02 6.44860067e+00] [ 2.18582837e-01 -1.86445197e-02 9.75640264e-01 9.40559392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.26, Y:6.47, Z:9.40 [[ 9.41814460e-01 -2.62951757e-01 -2.09384565e-01 7.12646991e+01] [ 2.55735704e-01 9.64799805e-01 -6.13236214e-02 6.46842125e+00] [ 2.18139342e-01 4.20836426e-03 9.75908560e-01 9.40259795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.29, Y:6.48, Z:9.41 [[ 9.42649728e-01 -2.58688484e-01 -2.10930696e-01 7.12900650e+01] [ 2.51243988e-01 9.65946266e-01 -6.18406798e-02 6.47643192e+00] [ 2.19745189e-01 5.29903081e-03 9.75542911e-01 9.40800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:6.48, Z:9.41 [[ 9.42676980e-01 -2.57473209e-01 -2.12291446e-01 7.13162789e+01] [ 2.49893805e-01 9.66268922e-01 -6.22692212e-02 6.48344939e+00] [ 2.21163283e-01 5.64944439e-03 9.75220430e-01 9.41414798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:6.49, Z:9.42 [[ 9.42435052e-01 -2.57108039e-01 -2.13802779e-01 7.13416777e+01] [ 2.49394625e-01 9.66365005e-01 -6.27773637e-02 6.48978405e+00] [ 2.22752089e-01 5.84232408e-03 9.74857617e-01 9.41924287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:6.51, Z:9.40 [[ 9.42977882e-01 -2.63440343e-01 -2.03449996e-01 7.13706401e+01] [ 2.50321068e-01 9.64136558e-01 -8.82046470e-02 6.51017351e+00] [ 2.19390241e-01 3.22472109e-02 9.75104117e-01 9.40221012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:6.50, Z:9.42 [[ 9.42526310e-01 -2.57884423e-01 -2.12461244e-01 7.13996031e+01] [ 2.50481375e-01 9.66163955e-01 -6.15328630e-02 6.50208669e+00] [ 2.21140762e-01 4.77875795e-03 9.75230192e-01 9.41774380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:6.51, Z:9.42 [[ 9.42328607e-01 -2.58907571e-01 -2.12093532e-01 7.14277252e+01] [ 2.50269356e-01 9.65848860e-01 -6.70911989e-02 6.50797360e+00] [ 2.22220715e-01 1.01414444e-02 9.74943642e-01 9.42173954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:6.51, Z:9.43 [[ 9.41913566e-01 -2.58583556e-01 -2.14320736e-01 7.14570777e+01] [ 2.51178111e-01 9.65979882e-01 -6.15826670e-02 6.51162443e+00] [ 2.22953785e-01 4.17287191e-03 9.74820084e-01 9.43164449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:6.50, Z:9.46 [[ 9.40048059e-01 -2.52479358e-01 -2.29268010e-01 7.14815013e+01] [ 2.50730640e-01 9.67340873e-01 -3.72260867e-02 6.50209477e+00] [ 2.31179135e-01 -2.24902043e-02 9.72651221e-01 9.46142465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08038572299999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:71.51, Y:6.53, Z:9.44 [[ 9.41612757e-01 -2.65848002e-01 -2.06616201e-01 7.15128854e+01] [ 2.51225301e-01 9.63300133e-01 -9.45447052e-02 6.53445076e+00] [ 2.24167935e-01 3.71172832e-02 9.73843439e-01 9.43556929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:71.54, Y:6.52, Z:9.45 [[ 9.41299822e-01 -2.59819891e-01 -2.15518607e-01 7.15423475e+01] [ 2.51978006e-01 9.65641111e-01 -6.35950469e-02 6.52412415e+00] [ 2.24636885e-01 5.55605757e-03 9.74426703e-01 9.45446758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:6.52, Z:9.47 [[ 9.40984351e-01 -2.58797753e-01 -2.18110463e-01 7.15685402e+01] [ 2.52735932e-01 9.65927853e-01 -5.57488170e-02 6.52413308e+00] [ 2.25106640e-01 -2.66558681e-03 9.74330486e-01 9.46612094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:6.53, Z:9.47 [[ 9.41214468e-01 -2.59674714e-01 -2.16065658e-01 7.15945270e+01] [ 2.52413476e-01 9.65691724e-01 -6.10486047e-02 6.53248837e+00] [ 2.24505596e-01 2.92194646e-03 9.74468419e-01 9.47053445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:6.54, Z:9.48 [[ 9.40990274e-01 -2.59081641e-01 -2.17747578e-01 7.16221952e+01] [ 2.51939941e-01 9.65853315e-01 -6.04453465e-02 6.53771795e+00] [ 2.25972500e-01 2.01917125e-03 9.74131589e-01 9.47888027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:6.53, Z:9.50 [[ 9.40342868e-01 -2.52008621e-01 -2.28575909e-01 7.16456499e+01] [ 2.50098709e-01 9.67482989e-01 -3.77796441e-02 6.53032950e+00] [ 2.30664099e-01 -2.16407209e-02 9.72792759e-01 9.50491158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:6.55, Z:9.50 [[ 9.40744815e-01 -2.57817763e-01 -2.20293427e-01 7.16701805e+01] [ 2.49479182e-01 9.66171462e-01 -6.53669905e-02 6.55050541e+00] [ 2.29693994e-01 6.53503345e-03 9.73240958e-01 9.49944609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.70, Y:6.55, Z:9.51 [[ 9.40903705e-01 -2.57596722e-01 -2.19873025e-01 7.16976023e+01] [ 2.49273460e-01 9.66229825e-01 -6.52891062e-02 6.55452010e+00] [ 2.29266134e-01 6.62225219e-03 9.73341248e-01 9.50736943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.72, Y:6.56, Z:9.51 [[ 9.40656571e-01 -2.58312885e-01 -2.20090138e-01 7.17248790e+01] [ 2.49976436e-01 9.66039301e-01 -6.54205691e-02 6.56019209e+00] [ 2.29514699e-01 6.52093990e-03 9.73283350e-01 9.51421789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:6.57, Z:9.52 [[ 9.40346830e-01 -2.59096849e-01 -2.20491863e-01 7.17509518e+01] [ 2.50735095e-01 9.65830093e-01 -6.56059660e-02 6.56591710e+00] [ 2.29955976e-01 6.40731378e-03 9.73179940e-01 9.52100518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.78, Y:6.57, Z:9.53 [[ 9.39470465e-01 -2.61971914e-01 -2.20830167e-01 7.17776396e+01] [ 2.53654854e-01 9.65058402e-01 -6.57380903e-02 6.57216852e+00] [ 2.30335541e-01 5.74435067e-03 9.73094313e-01 9.52582442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.80, Y:6.58, Z:9.53 [[ 9.39131876e-01 -2.63431167e-01 -2.20534213e-01 7.18046266e+01] [ 2.55160386e-01 9.64662823e-01 -6.57176991e-02 6.57963084e+00] [ 2.30053247e-01 5.44599098e-03 9.73162805e-01 9.53109683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:6.58, Z:9.54 [[ 9.38048880e-01 -2.66343048e-01 -2.21643134e-01 7.18323020e+01] [ 2.58051234e-01 9.63866221e-01 -6.61170762e-02 6.58426522e+00] [ 2.31244154e-01 4.82576505e-03 9.72883782e-01 9.53693880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:6.59, Z:9.54 [[ 9.37532967e-01 -2.67771711e-01 -2.22104137e-01 7.18582074e+01] [ 2.59468217e-01 9.63471642e-01 -6.63222345e-02 6.58973285e+00] [ 2.31750256e-01 4.55031691e-03 9.72764675e-01 9.54322187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:6.60, Z:9.54 [[ 9.37829023e-01 -2.72411271e-01 -2.15101890e-01 7.18890108e+01] [ 2.61626125e-01 9.62038120e-01 -7.76815733e-02 6.60258605e+00] [ 2.28097554e-01 1.65757598e-02 9.73497175e-01 9.53770063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:6.60, Z:9.56 [[ 9.36471232e-01 -2.68449858e-01 -2.25735033e-01 7.19116123e+01] [ 2.63540296e-01 9.63235224e-01 -5.21959438e-02 6.59596180e+00] [ 2.31447929e-01 -1.06102775e-02 9.72789432e-01 9.56225617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.94, Y:6.62, Z:9.55 [[ 9.37487708e-01 -2.76158730e-01 -2.11785629e-01 7.19431787e+01] [ 2.64619677e-01 9.60894324e-01 -8.15997850e-02 6.62023777e+00] [ 2.26038102e-01 2.04561506e-02 9.73903651e-01 9.54639705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:6.62, Z:9.56 [[ 9.37262541e-01 -2.71007387e-01 -2.19303273e-01 7.19686045e+01] [ 2.64365791e-01 9.62575076e-01 -5.96653377e-02 6.61732699e+00] [ 2.27265612e-01 -2.05419710e-03 9.73830643e-01 9.56383413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:6.62, Z:9.58 [[ 9.36405769e-01 -2.68762386e-01 -2.25634694e-01 7.19901820e+01] [ 2.63928534e-01 9.63144354e-01 -5.19103345e-02 6.62256888e+00] [ 2.31270327e-01 -1.09422975e-02 9.72827992e-01 9.58082150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:6.64, Z:9.58 [[ 9.36438958e-01 -2.72024132e-01 -2.21551235e-01 7.20140042e+01] [ 2.63802171e-01 9.62282879e-01 -6.64836493e-02 6.63852463e+00] [ 2.31280117e-01 3.81218264e-03 9.72879733e-01 9.58010341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:6.65, Z:9.59 [[ 9.36257651e-01 -2.72546291e-01 -2.21675731e-01 7.20399929e+01] [ 2.64321843e-01 9.62135492e-01 -6.65526687e-02 6.64654983e+00] [ 2.31420772e-01 3.71670747e-03 9.72846654e-01 9.58744336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:6.65, Z:9.59 [[ 9.36421851e-01 -2.72623405e-01 -2.20885936e-01 7.20647974e+01] [ 2.64445222e-01 9.62113526e-01 -6.63798752e-02 6.65429673e+00] [ 2.30614054e-01 3.74733514e-03 9.73038085e-01 9.59419956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:6.66, Z:9.60 [[ 9.36635014e-01 -2.72576775e-01 -2.20038068e-01 7.20903844e+01] [ 2.64453792e-01 9.62126635e-01 -6.61553443e-02 6.66280319e+00] [ 2.29736896e-01 3.77351037e-03 9.73245457e-01 9.60088881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:6.67, Z:9.61 [[ 9.37261330e-01 -2.71227728e-01 -2.19035885e-01 7.21156842e+01] [ 2.63127705e-01 9.62506257e-01 -6.59205334e-02 6.67362996e+00] [ 2.28702887e-01 4.15035695e-03 9.73487424e-01 9.60558336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:6.68, Z:9.61 [[ 9.37191201e-01 -2.71485024e-01 -2.19017203e-01 7.21423789e+01] [ 2.63377444e-01 9.62433699e-01 -6.59825479e-02 6.68177392e+00] [ 2.28702811e-01 4.15407214e-03 9.73487426e-01 9.61181162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:6.69, Z:9.62 [[ 9.37558486e-01 -2.70714680e-01 -2.18397912e-01 7.21676374e+01] [ 2.62618452e-01 9.62649618e-01 -6.58578904e-02 6.69050715e+00] [ 2.28069364e-01 4.39030255e-03 9.73634988e-01 9.61737326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:6.70, Z:9.62 [[ 9.38102530e-01 -2.68589056e-01 -2.18685992e-01 7.21938145e+01] [ 2.60406839e-01 9.63242165e-01 -6.59758302e-02 6.69943669e+00] [ 2.28367954e-01 4.94476546e-03 9.73562338e-01 9.62299663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:6.71, Z:9.63 [[ 9.38350412e-01 -2.67422515e-01 -2.19051826e-01 7.22196241e+01] [ 2.59165173e-01 9.63564764e-01 -6.61540489e-02 6.70735456e+00] [ 2.28761704e-01 5.30507449e-03 9.73467996e-01 9.62892659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:6.72, Z:9.62 [[ 9.39378444e-01 -2.70931165e-01 -2.10153379e-01 7.22504570e+01] [ 2.59178483e-01 9.62331514e-01 -8.21253411e-02 6.72493205e+00] [ 2.24487534e-01 2.26795411e-02 9.74213008e-01 9.61957385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:6.71, Z:9.65 [[ 9.39004961e-01 -2.59596000e-01 -2.25565070e-01 7.22740915e+01] [ 2.55381144e-01 9.65638370e-01 -4.81976084e-02 6.71414984e+00] [ 2.30326193e-01 -1.23472724e-02 9.73035143e-01 9.64970724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:6.73, Z:9.65 [[ 9.39213818e-01 -2.63005828e-01 -2.20692860e-01 7.22982305e+01] [ 2.54465449e-01 9.64771776e-01 -6.68038522e-02 6.73175216e+00] [ 2.30488045e-01 6.58439331e-03 9.73052880e-01 9.64706181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:6.74, Z:9.65 [[ 9.39118105e-01 -2.62809315e-01 -2.21333341e-01 7.23239741e+01] [ 2.54205450e-01 9.64824635e-01 -6.70299449e-02 6.74105943e+00] [ 2.31163954e-01 6.68489338e-03 9.72891843e-01 9.65155089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:6.75, Z:9.66 [[ 9.39030665e-01 -2.63377535e-01 -2.21028695e-01 7.23494384e+01] [ 2.54797793e-01 9.64670262e-01 -6.70027664e-02 6.74840793e+00] [ 2.30866832e-01 6.60002862e-03 9.72962972e-01 9.65747907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:6.75, Z:9.67 [[ 9.39271490e-01 -2.61980608e-01 -2.21664677e-01 7.23804480e+01] [ 2.54281768e-01 9.65068739e-01 -6.31119012e-02 6.75224179e+00] [ 2.30455745e-01 2.91392340e-03 9.73078444e-01 9.66528797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:6.76, Z:9.67 [[ 9.38627057e-01 -2.64948727e-01 -2.20865163e-01 7.24022881e+01] [ 2.56012386e-01 9.64229889e-01 -6.86904562e-02 6.76188437e+00] [ 2.31164240e-01 7.93050343e-03 9.72882419e-01 9.66989548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:6.77, Z:9.67 [[ 9.38019702e-01 -2.66579920e-01 -2.21481791e-01 7.24270595e+01] [ 2.56253623e-01 9.63721249e-01 -7.46688305e-02 6.77140479e+00] [ 2.33351920e-01 1.32853226e-02 9.72301590e-01 9.67405223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:6.78, Z:9.68 [[ 9.37214729e-01 -2.66430809e-01 -2.25040388e-01 7.24568481e+01] [ 2.56515908e-01 9.63797192e-01 -7.27637317e-02 6.77861184e+00] [ 2.36279794e-01 1.04688014e-02 9.71628665e-01 9.68204308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:6.78, Z:9.69 [[ 9.38239574e-01 -2.60885812e-01 -2.27255573e-01 7.24812233e+01] [ 2.54674279e-01 9.65358680e-01 -5.67770284e-02 6.77976302e+00] [ 2.34195461e-01 -4.60569423e-03 9.72178622e-01 9.69380602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:6.80, Z:9.69 [[ 9.37297190e-01 -2.67720047e-01 -2.23159035e-01 7.25088009e+01] [ 2.54391590e-01 9.63177454e-01 -8.70293738e-02 6.80473116e+00] [ 2.38241259e-01 2.48026058e-02 9.70889249e-01 9.68670286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:6.80, Z:9.70 [[ 9.37487469e-01 -2.63335908e-01 -2.27533394e-01 7.25378362e+01] [ 2.55287200e-01 9.64700887e-01 -6.46579052e-02 6.80333330e+00] [ 2.36528415e-01 2.52961279e-03 9.71621279e-01 9.70129765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:6.80, Z:9.71 [[ 9.39250434e-01 -2.61124139e-01 -2.22761768e-01 7.25605401e+01] [ 2.56226002e-01 9.65262900e-01 -5.11445942e-02 6.80253347e+00] [ 2.28378759e-01 -9.03977489e-03 9.73530393e-01 9.71363505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:6.82, Z:9.71 [[ 9.40348021e-01 -2.67097956e-01 -2.10723235e-01 7.25896118e+01] [ 2.57581536e-01 9.63577016e-01 -7.19102662e-02 6.82100174e+00] [ 2.22255151e-01 1.33422619e-02 9.74897242e-01 9.70681862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:6.82, Z:9.72 [[ 9.39745777e-01 -2.64559307e-01 -2.16532327e-01 7.26112284e+01] [ 2.58503856e-01 9.64364719e-01 -5.63599658e-02 6.82169587e+00] [ 2.23726690e-01 -3.01040144e-03 9.74647273e-01 9.72490277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:6.84, Z:9.72 [[ 9.40716699e-01 -2.67042171e-01 -2.09142465e-01 7.26413881e+01] [ 2.57933031e-01 9.63608930e-01 -7.02024381e-02 6.83652417e+00] [ 2.20278558e-01 1.20958561e-02 9.75362008e-01 9.72150444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:6.84, Z:9.74 [[ 9.39698747e-01 -2.64515763e-01 -2.16789472e-01 7.26636968e+01] [ 2.58102126e-01 9.64380147e-01 -5.79156658e-02 6.83805086e+00] [ 2.24387069e-01 -1.53054489e-03 9.74498897e-01 9.73770225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:6.85, Z:9.74 [[ 9.38861002e-01 -2.66692942e-01 -2.17749611e-01 7.26895523e+01] [ 2.58323299e-01 9.63761197e-01 -6.65839881e-02 6.84919151e+00] [ 2.27616105e-01 6.26331196e-03 9.73730804e-01 9.73910545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:6.87, Z:9.73 [[ 9.39409565e-01 -2.73166012e-01 -2.07099009e-01 7.27181923e+01] [ 2.60692519e-01 9.61597524e-01 -8.58464470e-02 6.86999347e+00] [ 2.22596226e-01 2.66558109e-02 9.74546247e-01 9.72623661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:6.86, Z:9.75 [[ 9.38406492e-01 -2.67098159e-01 -2.19207275e-01 7.27456081e+01] [ 2.60548980e-01 9.63667414e-01 -5.88161913e-02 6.86252067e+00] [ 2.26952604e-01 -1.92073608e-03 9.73903910e-01 9.74648447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:6.88, Z:9.75 [[ 9.37933275e-01 -2.70405010e-01 -2.17168833e-01 7.27721696e+01] [ 2.61729876e-01 9.62719371e-01 -6.83292386e-02 6.87587670e+00] [ 2.27549211e-01 7.24869475e-03 9.73739602e-01 9.74803572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:6.87, Z:9.77 [[ 9.36018588e-01 -2.67164990e-01 -2.29111484e-01 7.27961583e+01] [ 2.62179438e-01 9.63589033e-01 -5.25177814e-02 6.87420243e+00] [ 2.34800226e-01 -1.09107006e-02 9.71982413e-01 9.77020980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:6.89, Z:9.77 [[ 9.36036120e-01 -2.72116475e-01 -2.23134503e-01 7.28216452e+01] [ 2.63404075e-01 9.62249401e-01 -6.85155641e-02 6.89070138e+00] [ 2.33355256e-01 5.35850539e-03 9.72376785e-01 9.76786739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:6.90, Z:9.77 [[ 9.36083623e-01 -2.75965905e-01 -2.18151943e-01 7.28465541e+01] [ 2.67115275e-01 9.61142282e-01 -6.96774234e-02 6.89923998e+00] [ 2.28903649e-01 6.95217872e-03 9.73424258e-01 9.77285862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:6.90, Z:9.79 [[ 9.35668258e-01 -2.75983175e-01 -2.19904973e-01 7.28723191e+01] [ 2.68149680e-01 9.61160055e-01 -6.53230315e-02 6.90364262e+00] [ 2.29391934e-01 2.15323885e-03 9.73331755e-01 9.78541547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:6.91, Z:9.79 [[ 9.35685615e-01 -2.77389167e-01 -2.18054303e-01 7.28988099e+01] [ 2.69177040e-01 9.60748853e-01 -6.71219936e-02 6.91186559e+00] [ 2.28114336e-01 4.10987190e-03 9.73625677e-01 9.79222321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:6.92, Z:9.80 [[ 9.35926076e-01 -2.77034393e-01 -2.17472585e-01 7.29257245e+01] [ 2.68841510e-01 9.60850600e-01 -6.70102045e-02 6.91852291e+00] [ 2.27522795e-01 4.25093968e-03 9.73763476e-01 9.79940095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:6.94, Z:9.80 [[ 9.35703853e-01 -2.77935191e-01 -2.17279378e-01 7.29530931e+01] [ 2.66456685e-01 9.60432004e-01 -8.10629430e-02 6.93620327e+00] [ 2.31212313e-01 1.79553653e-02 9.72737617e-01 9.79834672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:6.92, Z:9.82 [[ 9.37129144e-01 -2.64214814e-01 -2.27990130e-01 7.29827869e+01] [ 2.62413260e-01 9.64177194e-01 -3.87507298e-02 6.92410055e+00] [ 2.30061400e-01 -2.35131949e-02 9.72892020e-01 9.82350039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.00, Y:6.96, Z:9.80 [[ 9.38672712e-01 -2.74290544e-01 -2.08945538e-01 7.30041650e+01] [ 2.62297607e-01 9.61354373e-01 -8.36524602e-02 6.95865350e+00] [ 2.23815786e-01 2.37163671e-02 9.74342870e-01 9.80422248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:6.96, Z:9.82 [[ 9.39613737e-01 -2.67672977e-01 -2.13253847e-01 7.30301970e+01] [ 2.59450033e-01 9.63485342e-01 -6.61942348e-02 6.95573514e+00] [ 2.23185363e-01 6.86829472e-03 9.74751825e-01 9.82021767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:6.96, Z:9.83 [[ 9.39443743e-01 -2.67324510e-01 -2.14436610e-01 7.30551653e+01] [ 2.58992851e-01 9.63580982e-01 -6.65912439e-02 6.96276478e+00] [ 2.24428511e-01 7.02117858e-03 9.74465262e-01 9.82713435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88038572299999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:73.08, Y:6.97, Z:9.83 [[ 9.39371534e-01 -2.65611677e-01 -2.16867604e-01 7.30805305e+01] [ 2.57034759e-01 9.64050537e-01 -6.73772554e-02 6.97179056e+00] [ 2.26967516e-01 7.54976355e-03 9.73873066e-01 9.83250034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:6.97, Z:9.85 [[ 9.38996282e-01 -2.59479371e-01 -2.25735330e-01 7.31091582e+01] [ 2.56316712e-01 9.65602714e-01 -4.37394799e-02 6.96881772e+00] [ 2.29320140e-01 -1.67885284e-02 9.73206257e-01 9.84963590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:7.01, Z:9.82 [[ 9.40119413e-01 -2.72120382e-01 -2.05246163e-01 7.31292561e+01] [ 2.57809816e-01 9.61608386e-01 -9.40394107e-02 7.00704140e+00] [ 2.22956472e-01 3.54937999e-02 9.74182017e-01 9.82277800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:7.00, Z:9.84 [[ 9.39230232e-01 -2.66443254e-01 -2.16459151e-01 7.31567456e+01] [ 2.57760097e-01 9.63817256e-01 -6.79413646e-02 7.00138559e+00] [ 2.26729584e-01 8.01805171e-03 9.73924744e-01 9.83874477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:7.01, Z:9.84 [[ 9.38848128e-01 -2.67336708e-01 -2.17014461e-01 7.31818307e+01] [ 2.58624632e-01 9.63571173e-01 -6.81461228e-02 7.00846138e+00] [ 2.27326839e-01 7.85357470e-03 9.73786850e-01 9.84455874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:7.00, Z:9.87 [[ 9.37320354e-01 -2.64655337e-01 -2.26689452e-01 7.32122072e+01] [ 2.60764251e-01 9.64232819e-01 -4.75087030e-02 7.00240652e+00] [ 2.31154841e-01 -1.45816307e-02 9.72807697e-01 9.86758762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:7.03, Z:9.85 [[ 9.37666339e-01 -2.77736872e-01 -2.08911624e-01 7.32341607e+01] [ 2.64968326e-01 9.60289302e-01 -8.73855964e-02 7.03227524e+00] [ 2.24885800e-01 2.65835691e-02 9.74022428e-01 9.85067600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:7.03, Z:9.87 [[ 9.36963977e-01 -2.75716745e-01 -2.14659688e-01 7.32622387e+01] [ 2.67381839e-01 9.61220919e-01 -6.75373723e-02 7.02938749e+00] [ 2.24956567e-01 5.88398288e-03 9.74351026e-01 9.86600856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:7.04, Z:9.87 [[ 9.36299421e-01 -2.78719167e-01 -2.13679716e-01 7.32869628e+01] [ 2.70523558e-01 9.60358563e-01 -6.72936504e-02 7.03681150e+00] [ 2.23965175e-01 5.20160890e-03 9.74583267e-01 9.87259440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:7.05, Z:9.88 [[ 9.36298016e-01 -2.79436326e-01 -2.12747185e-01 7.33134190e+01] [ 2.71324480e-01 9.60151014e-01 -6.70302633e-02 7.04546631e+00] [ 2.23000116e-01 5.03678319e-03 9.74805406e-01 9.87830278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:7.06, Z:9.88 [[ 9.34866182e-01 -2.86070846e-01 -2.10211068e-01 7.33408178e+01] [ 2.73115709e-01 9.57863532e-01 -8.89115495e-02 7.06456100e+00] [ 2.26788519e-01 2.57084560e-02 9.73604665e-01 9.87721522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:7.05, Z:9.90 [[ 9.36073033e-01 -2.76125187e-01 -2.17995775e-01 7.33680528e+01] [ 2.72899167e-01 9.60971277e-01 -4.53899749e-02 7.05152375e+00] [ 2.22020994e-01 -1.70025339e-02 9.74893631e-01 9.90014027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:7.07, Z:9.90 [[ 9.36089933e-01 -2.80935963e-01 -2.11685194e-01 7.33931560e+01] [ 2.72902220e-01 9.59714335e-01 -6.68787943e-02 7.07164208e+00] [ 2.21945974e-01 4.83520674e-03 9.75046976e-01 9.89568601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:7.08, Z:9.90 [[ 9.36505212e-01 -2.79844223e-01 -2.11294104e-01 7.34190866e+01] [ 2.71798182e-01 9.60031614e-01 -6.68210188e-02 7.08268061e+00] [ 2.21548496e-01 5.14887898e-03 9.75135761e-01 9.89976691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:7.09, Z:9.91 [[ 9.36764067e-01 -2.78782326e-01 -2.11550225e-01 7.34442395e+01] [ 2.70674923e-01 9.60338733e-01 -6.69671872e-02 7.09104442e+00] [ 2.21829143e-01 5.47111390e-03 9.75070202e-01 9.90512808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:7.10, Z:9.91 [[ 9.36942921e-01 -2.76193587e-01 -2.14137959e-01 7.34706206e+01] [ 2.67809633e-01 9.61082071e-01 -6.78177976e-02 7.09993102e+00] [ 2.24534994e-01 6.19319729e-03 9.74446346e-01 9.91121283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:7.11, Z:9.92 [[ 9.36946908e-01 -2.74970089e-01 -2.15689455e-01 7.34952191e+01] [ 2.66415111e-01 9.61430123e-01 -6.83747473e-02 7.10899085e+00] [ 2.26171350e-01 6.60057792e-03 9.74065169e-01 9.91657937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390385723 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:73.52, Y:7.13, Z:9.92 [[ 9.34679766e-01 -2.82340613e-01 -2.16003503e-01 7.35240167e+01] [ 2.67815100e-01 9.58832196e-01 -9.44240011e-02 7.13318149e+00] [ 2.33770844e-01 3.04072034e-02 9.71816132e-01 9.91597702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:7.12, Z:9.94 [[ 9.36483196e-01 -2.67085681e-01 -2.27298181e-01 7.35510495e+01] [ 2.64070339e-01 9.63491960e-01 -4.41599275e-02 7.11560105e+00] [ 2.30794455e-01 -1.86676778e-02 9.72823436e-01 9.94147750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:7.14, Z:9.94 [[ 9.36645007e-01 -2.72879631e-01 -2.19619758e-01 7.35759699e+01] [ 2.63889100e-01 9.62019036e-01 -6.98707243e-02 7.13710246e+00] [ 2.30344685e-01 7.48880475e-03 9.73080286e-01 9.93602443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:7.15, Z:9.94 [[ 9.36719206e-01 -2.73155727e-01 -2.18959078e-01 7.35999290e+01] [ 2.64211546e-01 9.61940868e-01 -6.97282199e-02 7.14930012e+00] [ 2.29672348e-01 7.46424627e-03 9.73239383e-01 9.93990306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.63, Y:7.16, Z:9.95 [[ 9.36798088e-01 -2.73620331e-01 -2.18039575e-01 7.36258723e+01] [ 2.64753476e-01 9.61809581e-01 -6.94832847e-02 7.15954779e+00] [ 2.28724592e-01 7.36507303e-03 9.73463311e-01 9.94534032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:7.17, Z:9.95 [[ 9.36957293e-01 -2.74574371e-01 -2.16147971e-01 7.36513988e+01] [ 2.65872850e-01 9.61539418e-01 -6.89461721e-02 7.16828671e+00] [ 2.26765646e-01 7.13174183e-03 9.73923241e-01 9.95172291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:7.17, Z:9.96 [[ 9.36814807e-01 -2.77190556e-01 -2.13409029e-01 7.36772370e+01] [ 2.68763063e-01 9.60793129e-01 -6.81394069e-02 7.17403188e+00] [ 2.23929529e-01 6.47754099e-03 9.74583812e-01 9.96163483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:7.18, Z:9.97 [[ 9.36499606e-01 -2.79386804e-01 -2.11923339e-01 7.37020052e+01] [ 2.71118325e-01 9.60160051e-01 -6.77313031e-02 7.18179568e+00] [ 2.22403556e-01 5.97403809e-03 9.74936392e-01 9.96900792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.73, Y:7.19, Z:9.97 [[ 9.35874881e-01 -2.83499277e-01 -2.09204127e-01 7.37258080e+01] [ 2.75536013e-01 9.58959556e-01 -6.69064602e-02 7.19289876e+00] [ 2.19586230e-01 4.97280437e-03 9.75580422e-01 9.97431109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.75, Y:7.20, Z:9.98 [[ 9.35742103e-01 -2.84303141e-01 -2.08706592e-01 7.37517629e+01] [ 2.76391491e-01 9.58722420e-01 -6.67762321e-02 7.20311147e+00] [ 2.19076382e-01 4.80060546e-03 9.75695902e-01 9.97954244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:7.21, Z:9.98 [[ 9.35955430e-01 -2.83745342e-01 -2.08509024e-01 7.37777563e+01] [ 2.75820521e-01 9.58886685e-01 -6.67784836e-02 7.21470005e+00] [ 2.18884610e-01 4.99061684e-03 9.75737988e-01 9.98393978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:7.22, Z:9.99 [[ 9.35906046e-01 -2.83922220e-01 -2.08489918e-01 7.38042927e+01] [ 2.75988462e-01 9.58834208e-01 -6.68380834e-02 7.22331870e+00] [ 2.18884082e-01 5.01335456e-03 9.75737990e-01 9.99005345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:7.23, Z:9.99 [[ 9.36123664e-01 -2.82983750e-01 -2.08788608e-01 7.38291864e+01] [ 2.74994555e-01 9.59110162e-01 -6.69753030e-02 7.23240121e+00] [ 2.19204198e-01 5.28143583e-03 9.75664710e-01 9.99498130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:7.24, Z:10.00 [[ 9.36336932e-01 -2.81117662e-01 -2.10347356e-01 7.38543860e+01] [ 2.72950027e-01 9.59655730e-01 -6.75215742e-02 7.24365506e+00] [ 2.20842552e-01 5.80862719e-03 9.75292175e-01 1.00006607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:7.25, Z:10.01 [[ 9.36452750e-01 -2.80660441e-01 -2.10442305e-01 7.38802808e+01] [ 2.72459079e-01 9.59788472e-01 -6.76175924e-02 7.25377156e+00] [ 2.20957681e-01 5.98376388e-03 9.75265040e-01 1.00065160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:7.26, Z:10.01 [[ 9.36689018e-01 -2.79825796e-01 -2.10502276e-01 7.39063953e+01] [ 2.71584151e-01 9.60030471e-01 -6.77018740e-02 7.26311892e+00] [ 2.21033330e-01 6.24651981e-03 9.75246250e-01 1.00128985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:7.27, Z:10.02 [[ 9.37078070e-01 -2.78330847e-01 -2.10752534e-01 7.39306420e+01] [ 2.70017051e-01 9.60462087e-01 -6.78481473e-02 7.27296081e+00] [ 2.21304051e-01 6.67223305e-03 9.75182033e-01 1.00202235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:7.28, Z:10.03 [[ 9.37227935e-01 -2.78013333e-01 -2.10505071e-01 7.39558650e+01] [ 2.69704645e-01 9.60553369e-01 -6.77984465e-02 7.28238993e+00] [ 2.21050228e-01 6.76840249e-03 9.75238938e-01 1.00265848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:7.30, Z:10.02 [[ 9.37516328e-01 -2.81440185e-01 -2.04583864e-01 7.39797752e+01] [ 2.72150290e-01 9.59496286e-01 -7.28086302e-02 7.29882776e+00] [ 2.16788732e-01 1.25817216e-02 9.76137463e-01 1.00238958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:7.30, Z:10.04 [[ 9.37119619e-01 -2.77570894e-01 -2.11568475e-01 7.40074372e+01] [ 2.70430425e-01 9.60704106e-01 -6.25700039e-02 7.30085354e+00] [ 2.20622314e-01 1.42102565e-03 9.75358280e-01 1.00406491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:7.33, Z:10.02 [[ 9.36706009e-01 -2.87782990e-01 -1.99406127e-01 7.40299857e+01] [ 2.73957765e-01 9.57099929e-01 -9.43762107e-02 7.33010687e+00] [ 2.18011458e-01 3.37739069e-02 9.75361639e-01 1.00240702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:7.31, Z:10.06 [[ 9.35792754e-01 -2.75962618e-01 -2.19400443e-01 7.40607159e+01] [ 2.73426501e-01 9.60955026e-01 -4.24663069e-02 7.31036463e+00] [ 2.22553071e-01 -2.02502330e-02 9.74710243e-01 1.00620658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:7.34, Z:10.04 [[ 9.36115861e-01 -2.89545545e-01 -1.99625830e-01 7.40835004e+01] [ 2.77998738e-01 9.56878568e-01 -8.42621370e-02 7.34455923e+00] [ 2.15415405e-01 2.33833941e-02 9.76242501e-01 1.00393650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:7.34, Z:10.06 [[ 9.35179459e-01 -2.84223702e-01 -2.11320295e-01 7.41102865e+01] [ 2.78312959e-01 9.58746430e-01 -5.78548197e-02 7.33869391e+00] [ 2.19046289e-01 -4.70853747e-03 9.75703107e-01 1.00600268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:7.35, Z:10.07 [[ 9.35379466e-01 -2.82668989e-01 -2.12517049e-01 7.41366968e+01] [ 2.75762711e-01 9.59217378e-01 -6.21043342e-02 7.34685452e+00] [ 2.21405016e-01 -5.13158611e-04 9.75181806e-01 1.00724274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:7.37, Z:10.06 [[ 9.35395186e-01 -2.90586182e-01 -2.01483291e-01 7.41589233e+01] [ 2.80722524e-01 9.56730369e-01 -7.65628140e-02 7.36843179e+00] [ 2.15013279e-01 1.50555897e-02 9.76495069e-01 1.00627989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:7.37, Z:10.08 [[ 9.35432159e-01 -2.83243755e-01 -2.11517496e-01 7.41875109e+01] [ 2.77022543e-01 9.59042332e-01 -5.91296495e-02 7.36746273e+00] [ 2.19602337e-01 -3.28333897e-03 9.75583945e-01 1.00842951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.21, Y:7.40, Z:10.06 [[ 9.35374057e-01 -2.95061700e-01 -1.94971708e-01 7.42060492e+01] [ 2.83528200e-01 9.55164294e-01 -8.52814858e-02 7.39843024e+00] [ 2.11393314e-01 2.44901118e-02 9.77094213e-01 1.00644395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:7.40, Z:10.08 [[ 9.35473398e-01 -2.91343300e-01 -2.00021508e-01 7.42336451e+01] [ 2.82745620e-01 9.56568329e-01 -7.09362119e-02 7.39988778e+00] [ 2.12001030e-01 9.80373403e-03 9.77220267e-01 1.00763661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:7.39, Z:10.11 [[ 9.35253776e-01 -2.80324618e-01 -2.16144586e-01 7.42655067e+01] [ 2.76167869e-01 9.59816176e-01 -4.98419172e-02 7.39119650e+00] [ 2.21430987e-01 -1.30773486e-02 9.75088356e-01 1.01067571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:7.41, Z:10.11 [[ 9.35180022e-01 -2.84287637e-01 -2.11231785e-01 7.42898571e+01] [ 2.75997762e-01 9.58722365e-01 -6.83861222e-02 7.40906880e+00] [ 2.21953965e-01 5.65383536e-03 9.75040754e-01 1.01063577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:7.44, Z:10.09 [[ 9.34446390e-01 -2.95813813e-01 -1.98252696e-01 7.43080069e+01] [ 2.83632308e-01 9.54893590e-01 -8.79258023e-02 7.43615783e+00] [ 2.15319895e-01 2.59310788e-02 9.76199222e-01 1.00899913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:74.33, Y:7.44, Z:10.10 [[ 9.33738469e-01 -2.92712377e-01 -2.06038678e-01 7.43347332e+01] [ 2.84230029e-01 9.56174228e-01 -7.03145576e-02 7.43692571e+00] [ 2.17590815e-01 7.09302784e-03 9.76014306e-01 1.01030775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38038572299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:74.36, Y:7.46, Z:10.10 [[ 9.33362267e-01 -2.96979292e-01 -2.01589133e-01 7.43564871e+01] [ 2.85835032e-01 9.54677627e-01 -8.29997737e-02 7.45766543e+00] [ 2.17101849e-01 1.98476208e-02 9.75947160e-01 1.00981346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:7.46, Z:10.11 [[ 9.33585914e-01 -2.93590536e-01 -2.05479777e-01 7.43860053e+01] [ 2.85466841e-01 9.55914954e-01 -6.88133977e-02 7.46099696e+00] [ 2.16624154e-01 5.58555592e-03 9.76239099e-01 1.01110518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:7.47, Z:10.12 [[ 9.33157684e-01 -2.95767324e-01 -2.04299845e-01 7.44109758e+01] [ 2.85466273e-01 9.55137811e-01 -7.88718566e-02 7.47409206e+00] [ 2.18462225e-01 1.52791636e-02 9.75725783e-01 1.01150346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.44, Y:7.47, Z:10.13 [[ 9.33478283e-01 -2.89818014e-01 -2.11243494e-01 7.44394936e+01] [ 2.83656640e-01 9.57072165e-01 -5.95968208e-02 7.47168479e+00] [ 2.19447500e-01 -4.28828171e-03 9.75614886e-01 1.01321731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.46, Y:7.49, Z:10.13 [[ 9.33295167e-01 -2.92277632e-01 -2.08647829e-01 7.44636471e+01] [ 2.83646944e-01 9.56308366e-01 -7.08429263e-02 7.48649824e+00] [ 2.20237467e-01 6.93504183e-03 9.75421634e-01 1.01338391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:7.48, Z:10.16 [[ 9.33696583e-01 -2.81708249e-01 -2.21022971e-01 7.44975872e+01] [ 2.77127678e-01 9.59417709e-01 -5.21335716e-02 7.48408737e+00] [ 2.26739810e-01 -1.25746451e-02 9.73874189e-01 1.01623809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.51, Y:7.52, Z:10.14 [[ 9.33802696e-01 -2.95571882e-01 -2.01617923e-01 7.45142923e+01] [ 2.84190241e-01 9.55088207e-01 -8.39191554e-02 7.51910227e+00] [ 2.17367043e-01 2.10660874e-02 9.75862587e-01 1.01415925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:7.51, Z:10.17 [[ 9.33903253e-01 -2.84175442e-01 -2.16953986e-01 7.45488873e+01] [ 2.78545291e-01 9.58743652e-01 -5.67726256e-02 7.50653683e+00] [ 2.24136642e-01 -7.41137136e-03 9.74529547e-01 1.01736264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:7.53, Z:10.16 [[ 9.33244889e-01 -2.95205619e-01 -2.04713507e-01 7.45679586e+01] [ 2.84931677e-01 9.55314703e-01 -7.86623060e-02 7.53080681e+00] [ 2.18787378e-01 1.50818319e-02 9.75655995e-01 1.01613806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.60, Y:7.52, Z:10.19 [[ 9.32858334e-01 -2.88135328e-01 -2.16225254e-01 7.46013555e+01] [ 2.81419467e-01 9.57584734e-01 -6.19238315e-02 7.52333433e+00] [ 2.24896446e-01 -3.08383350e-03 9.74377790e-01 1.01855871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:74.63, Y:7.54, Z:10.19 [[ 9.32826150e-01 -2.89852084e-01 -2.14058737e-01 7.46257498e+01] [ 2.81419203e-01 9.57060156e-01 -6.95635653e-02 7.53581747e+00] [ 2.25030233e-01 4.65047350e-03 9.74340683e-01 1.01888465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.64, Y:7.56, Z:10.18 [[ 9.32636901e-01 -2.98521319e-01 -2.02665815e-01 7.46448898e+01] [ 2.87180634e-01 9.54191673e-01 -8.39376895e-02 7.56027369e+00] [ 2.18439223e-01 2.00816894e-02 9.75643906e-01 1.01761682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.67, Y:7.57, Z:10.18 [[ 9.32729113e-01 -2.95644853e-01 -2.06423162e-01 7.46708203e+01] [ 2.86758688e-01 9.55261359e-01 -7.24236921e-02 7.56626558e+00] [ 2.18599762e-01 8.35805115e-03 9.75778811e-01 1.01832980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.70, Y:7.57, Z:10.20 [[ 9.32690814e-01 -2.92018465e-01 -2.11690957e-01 7.46995037e+01] [ 2.84383625e-01 9.56411185e-01 -6.63596182e-02 7.56950233e+00] [ 2.21841833e-01 1.69156452e-03 9.75081197e-01 1.01953272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.73, Y:7.57, Z:10.22 [[ 9.32967631e-01 -2.83180403e-01 -2.22216695e-01 7.47325242e+01] [ 2.76073473e-01 9.59063443e-01 -6.30931813e-02 7.56613497e+00] [ 2.30986661e-01 -2.48423869e-03 9.72953746e-01 1.02155289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.75, Y:7.59, Z:10.20 [[ 9.33270252e-01 -2.92245133e-01 -2.08804740e-01 7.47517723e+01] [ 2.79834534e-01 9.56064138e-01 -8.73727554e-02 7.59258139e+00] [ 2.25164986e-01 2.31116163e-02 9.74046499e-01 1.02001872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.78, Y:7.58, Z:10.23 [[ 9.33682450e-01 -2.79493192e-01 -2.23876391e-01 7.47844026e+01] [ 2.73738884e-01 9.60113781e-01 -5.69960635e-02 7.58095694e+00] [ 2.30876820e-01 -8.06744929e-03 9.72949541e-01 1.02297518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:74.80, Y:7.61, Z:10.21 [[ 9.34257520e-01 -2.90567849e-01 -2.06720128e-01 7.48041992e+01] [ 2.78655096e-01 9.56600600e-01 -8.52445297e-02 7.60968005e+00] [ 2.22517918e-01 2.20367261e-02 9.74679516e-01 1.02138993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:74.84, Y:7.60, Z:10.24 [[ 9.33957258e-01 -2.79824150e-01 -2.22311237e-01 7.48366142e+01] [ 2.73910114e-01 9.60025435e-01 -5.76577346e-02 7.59591794e+00] [ 2.29558468e-01 -7.04343643e-03 9.73269387e-01 1.02428236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.86, Y:7.60, Z:10.25 [[ 9.33771620e-01 -2.83928500e-01 -2.17842073e-01 7.48628552e+01] [ 2.75018415e-01 9.58825124e-01 -7.08466847e-02 7.60392831e+00] [ 2.28987846e-01 6.24404182e-03 9.73409255e-01 1.02467100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:7.62, Z:10.24 [[ 9.33908636e-01 -2.90264466e-01 -2.08713200e-01 7.48848916e+01] [ 2.79685203e-01 9.56819429e-01 -7.92008114e-02 7.61942361e+00] [ 2.22690026e-01 1.55923281e-02 9.74764603e-01 1.02419841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:7.63, Z:10.24 [[ 9.34327724e-01 -2.92781893e-01 -2.03249764e-01 7.49119391e+01] [ 2.81922401e-01 9.56000070e-01 -8.11395515e-02 7.62935232e+00] [ 2.18062980e-01 1.85102711e-02 9.75759144e-01 1.02428258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:74.94, Y:7.63, Z:10.25 [[ 9.34032354e-01 -2.91814651e-01 -2.05980027e-01 7.49389202e+01] [ 2.82396543e-01 9.56407777e-01 -7.44066983e-02 7.63342112e+00] [ 2.18713864e-01 1.13302162e-02 9.75723256e-01 1.02497919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:74.97, Y:7.64, Z:10.25 [[ 9.34478669e-01 -2.91334311e-01 -2.04631221e-01 7.49669648e+01] [ 2.81826251e-01 9.56542751e-01 -7.48326827e-02 7.63716411e+00] [ 2.17539839e-01 1.22590958e-02 9.75974453e-01 1.02539182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:74.99, Y:7.64, Z:10.27 [[ 9.34902653e-01 -2.87388554e-01 -2.08242282e-01 7.49945422e+01] [ 2.79926736e-01 9.57810601e-01 -6.51143252e-02 7.63595404e+00] [ 2.18169777e-01 2.58297316e-03 9.75907412e-01 1.02669600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13038572299999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:75.03, Y:7.62, Z:10.30 [[ 9.35718309e-01 -2.75672230e-01 -2.20081958e-01 7.50261181e+01] [ 2.71988565e-01 9.61127961e-01 -4.74896167e-02 7.62408470e+00] [ 2.24618492e-01 -1.54228722e-02 9.74324724e-01 1.02968796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16038572299999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:75.05, Y:7.66, Z:10.27 [[ 9.37120672e-01 -2.88881188e-01 -1.95837959e-01 7.50468711e+01] [ 2.75247503e-01 9.56747972e-01 -9.41919839e-02 7.66283055e+00] [ 2.14577862e-01 3.43653461e-02 9.76102128e-01 1.02682304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19038572299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:75.08, Y:7.64, Z:10.31 [[ 9.36374313e-01 -2.71835671e-01 -2.22055205e-01 7.50792065e+01] [ 2.68545286e-01 9.62192737e-01 -4.54814888e-02 7.64125672e+00] [ 2.26023397e-01 -1.70441807e-02 9.73972751e-01 1.03075300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:7.68, Z:10.28 [[ 9.38163554e-01 -2.81222869e-01 -2.01898105e-01 7.51017235e+01] [ 2.67432815e-01 9.59060070e-01 -9.31851437e-02 7.67678382e+00] [ 2.19838204e-01 3.34287271e-02 9.74963427e-01 1.02798779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.13, Y:7.66, Z:10.30 [[ 9.38021865e-01 -2.72666116e-01 -2.13934966e-01 7.51324503e+01] [ 2.64226085e-01 9.62083602e-01 -6.76736245e-02 7.66429676e+00] [ 2.24275627e-01 6.95214101e-03 9.74500955e-01 1.02997641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.16, Y:7.67, Z:10.31 [[ 9.38017438e-01 -2.73552951e-01 -2.12819334e-01 7.51578749e+01] [ 2.64829431e-01 9.61820224e-01 -6.90451176e-02 7.67111828e+00] [ 2.23581436e-01 8.40470110e-03 9.74649015e-01 1.03050508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.18, Y:7.68, Z:10.31 [[ 9.37821172e-01 -2.75564606e-01 -2.11081967e-01 7.51843731e+01] [ 2.65328833e-01 9.61162065e-01 -7.59479768e-02 7.68128618e+00] [ 2.23812554e-01 1.52194886e-02 9.74513370e-01 1.03093979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:7.69, Z:10.31 [[ 9.36949813e-01 -2.78293292e-01 -2.11371455e-01 7.52133821e+01] [ 2.67712444e-01 9.60358921e-01 -7.77225134e-02 7.68869404e+00] [ 2.24622117e-01 1.62353255e-02 9.74310689e-01 1.03140110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.24, Y:7.69, Z:10.32 [[ 9.36344613e-01 -2.77494391e-01 -2.15071219e-01 7.52402489e+01] [ 2.68598124e-01 9.60694647e-01 -7.01487167e-02 7.69085316e+00] [ 2.26083645e-01 7.91564696e-03 9.74075730e-01 1.03237933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:7.70, Z:10.33 [[ 9.35276818e-01 -2.81430302e-01 -2.14602561e-01 7.52688973e+01] [ 2.71398993e-01 9.59502084e-01 -7.54873316e-02 7.69665493e+00] [ 2.27156027e-01 1.23586321e-02 9.73779956e-01 1.03281980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.30, Y:7.70, Z:10.34 [[ 9.34358012e-01 -2.81747712e-01 -2.18158962e-01 7.52969489e+01] [ 2.73232140e-01 9.59476616e-01 -6.89116863e-02 7.69940411e+00] [ 2.28734133e-01 4.78014608e-03 9.73477194e-01 1.03399250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.32, Y:7.71, Z:10.34 [[ 9.34292741e-01 -2.84871710e-01 -2.14348272e-01 7.53222055e+01] [ 2.74773077e-01 9.58487118e-01 -7.61721731e-02 7.71078488e+00] [ 2.27149355e-01 1.22699742e-02 9.73782634e-01 1.03403148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.35, Y:7.71, Z:10.35 [[ 9.33564116e-01 -2.85689983e-01 -2.16423834e-01 7.53499870e+01] [ 2.77674265e-01 9.58318318e-01 -6.72532887e-02 7.71435484e+00] [ 2.26616515e-01 2.68992806e-03 9.73980349e-01 1.03498926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52038572299999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:75.38, Y:7.72, Z:10.36 [[ 9.33251231e-01 -2.87217000e-01 -2.15751095e-01 7.53770269e+01] [ 2.78249325e-01 9.57841970e-01 -7.15267371e-02 7.72320455e+00] [ 2.27199149e-01 6.71981883e-03 9.73825134e-01 1.03553802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.40, Y:7.73, Z:10.36 [[ 9.32084822e-01 -2.90374282e-01 -2.16565603e-01 7.54041848e+01] [ 2.81532935e-01 9.56897301e-01 -7.13215349e-02 7.72684543e+00] [ 2.27940980e-01 5.50737045e-03 9.73659375e-01 1.03636131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:75.43, Y:7.73, Z:10.37 [[ 9.30940782e-01 -2.91995435e-01 -2.19289594e-01 7.54305230e+01] [ 2.84143141e-01 9.56419663e-01 -6.72614580e-02 7.73100320e+00] [ 2.29372918e-01 3.06800409e-04 9.73338569e-01 1.03729515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:75.46, Y:7.74, Z:10.38 [[ 9.30831316e-01 -2.93215536e-01 -2.18123154e-01 7.54567979e+01] [ 2.84329448e-01 9.56034237e-01 -7.18004344e-02 7.74211688e+00] [ 2.29586206e-01 4.81525680e-03 9.73276419e-01 1.03775235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:7.74, Z:10.40 [[ 9.28020140e-01 -2.91426988e-01 -2.32053724e-01 7.54831746e+01] [ 2.87291275e-01 9.56419550e-01 -5.22050594e-02 7.73558742e+00] [ 2.37154681e-01 -1.82196638e-02 9.71301035e-01 1.04046027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:7.76, Z:10.38 [[ 9.28816450e-01 -3.02150604e-01 -2.14487794e-01 7.55124459e+01] [ 2.89170347e-01 9.53009972e-01 -9.02912158e-02 7.76480720e+00] [ 2.31690552e-01 2.18404568e-02 9.72544335e-01 1.03833450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:75.54, Y:7.76, Z:10.41 [[ 9.27396314e-01 -2.95214903e-01 -2.29748204e-01 7.55375510e+01] [ 2.90378058e-01 9.55307621e-01 -5.53889270e-02 7.75507482e+00] [ 2.35831846e-01 -1.53463504e-02 9.71672697e-01 1.04133630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.56, Y:7.77, Z:10.41 [[ 9.27695906e-01 -3.00587355e-01 -2.21421653e-01 7.55627421e+01] [ 2.91560910e-01 9.53748454e-01 -7.31855368e-02 7.77416706e+00] [ 2.33179206e-01 3.33602433e-03 9.72428058e-01 1.04093534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:7.79, Z:10.40 [[ 9.28753431e-01 -3.04064214e-01 -2.12042490e-01 7.55937312e+01] [ 2.92270507e-01 9.52488695e-01 -8.56926831e-02 7.79140858e+00] [ 2.28024153e-01 1.76136073e-02 9.73496146e-01 1.04023604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:7.79, Z:10.42 [[ 9.28775506e-01 -2.99793463e-01 -2.17944807e-01 7.56191621e+01] [ 2.91629559e-01 9.54003622e-01 -6.94930941e-02 7.79169182e+00] [ 2.28753711e-01 9.84335732e-04 9.73483832e-01 1.04160591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:7.80, Z:10.42 [[ 9.28784509e-01 -2.98644654e-01 -2.19478259e-01 7.56460350e+01] [ 2.90771015e-01 9.54364226e-01 -6.81259244e-02 7.79998249e+00] [ 2.29807642e-01 -5.43613007e-04 9.73235918e-01 1.04246343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:7.81, Z:10.43 [[ 9.29490420e-01 -2.99627200e-01 -2.15107185e-01 7.56671458e+01] [ 2.90273606e-01 9.54031403e-01 -7.46010487e-02 7.81352645e+00] [ 2.27571513e-01 6.90102180e-03 9.73736916e-01 1.04264772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.69, Y:7.81, Z:10.45 [[ 9.28701916e-01 -2.94417137e-01 -2.25457979e-01 7.56904717e+01] [ 2.89635381e-01 9.55568126e-01 -5.47804919e-02 7.81108720e+00] [ 2.31568774e-01 -1.44258598e-02 9.72711569e-01 1.04509920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:7.83, Z:10.45 [[ 9.28940006e-01 -3.00172698e-01 -2.16718287e-01 7.57152215e+01] [ 2.91435946e-01 9.53877640e-01 -7.19898453e-02 7.83042758e+00] [ 2.28332114e-01 3.71474840e-03 9.73576215e-01 1.04487526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:7.85, Z:10.44 [[ 9.29590170e-01 -3.03940842e-01 -2.08523572e-01 7.57469561e+01] [ 2.92517505e-01 9.52531504e-01 -8.43637504e-02 7.84747216e+00] [ 2.24266861e-01 1.74269182e-02 9.74371940e-01 1.04429992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:7.85, Z:10.45 [[ 9.29681758e-01 -3.02895231e-01 -2.09633749e-01 7.57732409e+01] [ 2.94315875e-01 9.53010687e-01 -7.17551074e-02 7.85318113e+00] [ 2.21517483e-01 5.01087417e-03 9.75143526e-01 1.04512075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:7.86, Z:10.46 [[ 9.29761019e-01 -3.02754000e-01 -2.09486186e-01 7.57998458e+01] [ 2.94851877e-01 9.53066296e-01 -6.87532303e-02 7.86070669e+00] [ 2.20469539e-01 2.15667835e-03 9.75391476e-01 1.04594432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:7.87, Z:10.47 [[ 9.29535641e-01 -3.02853300e-01 -2.10341081e-01 7.58253700e+01] [ 2.95413372e-01 9.53037179e-01 -6.67163814e-02 7.86734598e+00] [ 2.20668147e-01 -1.22313636e-04 9.75348940e-01 1.04679441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:7.87, Z:10.48 [[ 9.28720205e-01 -3.02703740e-01 -2.14124326e-01 7.58538231e+01] [ 2.95625163e-01 9.53080576e-01 -6.51396919e-02 7.87356929e+00] [ 2.23795764e-01 -2.80399063e-03 9.74632030e-01 1.04793299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:7.88, Z:10.49 [[ 9.28211553e-01 -3.03393078e-01 -2.15350770e-01 7.58801671e+01] [ 2.95917477e-01 9.52864180e-01 -6.69529772e-02 7.88405946e+00] [ 2.25513104e-01 -1.57952952e-03 9.74238854e-01 1.04852130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:7.90, Z:10.49 [[ 9.27686007e-01 -3.03821082e-01 -2.17005580e-01 7.59069098e+01] [ 2.95086138e-01 9.52723980e-01 -7.23960620e-02 7.89903735e+00] [ 2.28741869e-01 3.12547529e-03 9.73482095e-01 1.04855329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:7.91, Z:10.49 [[ 9.27764292e-01 -3.03864449e-01 -2.16609823e-01 7.59312777e+01] [ 2.94646398e-01 9.52700749e-01 -7.44632969e-02 7.91085924e+00] [ 2.28991089e-01 5.26108383e-03 9.73414301e-01 1.04872337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:7.91, Z:10.50 [[ 9.27779000e-01 -2.99554569e-01 -2.22470643e-01 7.59581506e+01] [ 2.92358151e-01 9.54069234e-01 -6.54110787e-02 7.91402795e+00] [ 2.31846584e-01 -4.35408066e-03 9.72742619e-01 1.04995350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:7.93, Z:10.50 [[ 9.28282762e-01 -3.01652007e-01 -2.17479152e-01 7.59819680e+01] [ 2.92245332e-01 9.53398882e-01 -7.49882553e-02 7.92863245e+00] [ 2.29964738e-01 6.05303782e-03 9.73180138e-01 1.05008076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:7.93, Z:10.52 [[ 9.27575816e-01 -2.97439052e-01 -2.26126327e-01 7.60046170e+01] [ 2.92175413e-01 9.54652234e-01 -5.72069953e-02 7.92655432e+00] [ 2.32887598e-01 -1.30047278e-02 9.72416703e-01 1.05237844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:7.95, Z:10.51 [[ 9.28714588e-01 -3.04856215e-01 -2.11073216e-01 7.60354059e+01] [ 2.92222790e-01 9.52158160e-01 -8.94465207e-02 7.95070296e+00] [ 2.28243412e-01 2.13898846e-02 9.73369107e-01 1.05104556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:7.95, Z:10.53 [[ 9.28589186e-01 -2.98853449e-01 -2.20019862e-01 7.60640448e+01] [ 2.91266913e-01 9.54297073e-01 -6.69378899e-02 7.94617637e+00] [ 2.29968929e-01 -1.92670528e-03 9.73196064e-01 1.05293761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:7.95, Z:10.54 [[ 9.28537421e-01 -2.95820848e-01 -2.24295082e-01 7.60844859e+01] [ 2.90014253e-01 9.55190164e-01 -5.91902320e-02 7.95173452e+00] [ 2.31754161e-01 -1.00884253e-02 9.72722074e-01 1.05441439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:7.97, Z:10.53 [[ 9.29484025e-01 -3.01912451e-01 -2.11915831e-01 7.61154694e+01] [ 2.90165644e-01 9.53170131e-01 -8.52678140e-02 7.97402779e+00] [ 2.27735256e-01 1.77643772e-02 9.73561031e-01 1.05339504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:7.97, Z:10.55 [[ 9.28435667e-01 -2.97633092e-01 -2.22310041e-01 7.61357841e+01] [ 2.92030314e-01 9.54620949e-01 -5.84563110e-02 7.97020987e+00] [ 2.29620355e-01 -1.06483470e-02 9.73222023e-01 1.05548572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:8.00, Z:10.54 [[ 9.28674758e-01 -3.06227086e-01 -2.09256221e-01 7.61656477e+01] [ 2.93167995e-01 9.51663012e-01 -9.15971513e-02 7.99512291e+00] [ 2.27190935e-01 2.37167354e-02 9.73561398e-01 1.05418140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:7.98, Z:10.57 [[ 9.27579274e-01 -2.96867156e-01 -2.26862472e-01 7.61900284e+01] [ 2.92424195e-01 9.54776619e-01 -5.37559049e-02 7.98263469e+00] [ 2.32561347e-01 -1.64772125e-02 9.72442143e-01 1.05708010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:8.00, Z:10.57 [[ 9.27647137e-01 -3.01274099e-01 -2.20691426e-01 7.62134881e+01] [ 2.91874606e-01 9.53524436e-01 -7.48355878e-02 8.00117117e+00] [ 2.32980692e-01 5.00679579e-03 9.72468472e-01 1.05683239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:8.02, Z:10.57 [[ 9.26875412e-01 -3.04996804e-01 -2.18812522e-01 7.62407497e+01] [ 2.92206084e-01 9.52164765e-01 -8.94307849e-02 8.01767999e+00] [ 2.35621677e-01 1.89528456e-02 9.71660031e-01 1.05683901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.27, Y:8.02, Z:10.58 [[ 9.27720548e-01 -3.00157463e-01 -2.21901063e-01 7.62658316e+01] [ 2.91024223e-01 9.53882583e-01 -7.35725390e-02 8.01937021e+00] [ 2.33750906e-01 3.67617179e-03 9.72289566e-01 1.05805615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:8.02, Z:10.59 [[ 9.29111712e-01 -2.95827485e-01 -2.21895305e-01 7.62965688e+01] [ 2.88826472e-01 9.55230784e-01 -6.41359355e-02 8.02390492e+00] [ 2.30934399e-01 -4.49978927e-03 9.72958918e-01 1.05907017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:8.04, Z:10.59 [[ 9.29275842e-01 -2.97794386e-01 -2.18551855e-01 7.63160698e+01] [ 2.89180791e-01 9.54625534e-01 -7.11657255e-02 8.03962588e+00] [ 2.29827935e-01 2.93159113e-03 9.73226863e-01 1.05931911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:8.05, Z:10.59 [[ 9.30085291e-01 -2.98769520e-01 -2.13724413e-01 7.63477632e+01] [ 2.88288095e-01 9.54246999e-01 -7.93891609e-02 8.05309343e+00] [ 2.27664941e-01 1.22244871e-02 9.73662794e-01 1.05938050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66038572299999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:76.37, Y:8.06, Z:10.60 [[ 9.29007456e-01 -3.00510427e-01 -2.15959786e-01 7.63694094e+01] [ 2.89876660e-01 9.53705258e-01 -8.01111907e-02 8.06151139e+00] [ 2.30036232e-01 1.18221920e-02 9.73110255e-01 1.06028553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:8.06, Z:10.62 [[ 9.30635417e-01 -2.94187892e-01 -2.17649272e-01 7.63961194e+01] [ 2.88820309e-01 9.55695504e-01 -5.68236966e-02 8.05812556e+00] [ 2.24723274e-01 -9.97938540e-03 9.74371522e-01 1.06171592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:8.08, Z:10.61 [[ 9.30687944e-01 -3.01318359e-01 -2.07429982e-01 7.64263673e+01] [ 2.88531079e-01 9.53221246e-01 -9.01059001e-02 8.08292986e+00] [ 2.24877227e-01 2.40104785e-02 9.74091233e-01 1.06062698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:8.08, Z:10.63 [[ 9.31264123e-01 -2.93623853e-01 -2.15713157e-01 7.64545875e+01] [ 2.87326676e-01 9.55905634e-01 -6.07272652e-02 8.07594572e+00] [ 2.24032396e-01 -5.42702110e-03 9.74566587e-01 1.06253941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:8.09, Z:10.62 [[ 9.29659117e-01 -2.98328445e-01 -2.16180630e-01 7.64798189e+01] [ 2.88446697e-01 9.54421609e-01 -7.66674283e-02 8.09418609e+00] [ 2.29199540e-01 8.91798487e-03 9.73338605e-01 1.06244596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.51, Y:8.10, Z:10.64 [[ 9.30359997e-01 -2.92790976e-01 -2.20689193e-01 7.65053542e+01] [ 2.86654963e-01 9.56148109e-01 -6.00810016e-02 8.09558748e+00] [ 2.28602730e-01 -7.36469200e-03 9.73491938e-01 1.06375526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:8.12, Z:10.63 [[ 9.29002933e-01 -2.98712911e-01 -2.18458569e-01 7.65261745e+01] [ 2.86525521e-01 9.54181852e-01 -8.62561231e-02 8.11916891e+00] [ 2.34215020e-01 1.75382361e-02 9.72026612e-01 1.06332824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:8.11, Z:10.65 [[ 9.30421340e-01 -2.89859607e-01 -2.24271128e-01 7.65509286e+01] [ 2.84729832e-01 9.56992645e-01 -5.56237467e-02 8.11239452e+00] [ 2.30748898e-01 -1.21031597e-02 9.72938055e-01 1.06522410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:8.13, Z:10.65 [[ 9.30758719e-01 -2.93391700e-01 -2.18196053e-01 7.65745236e+01] [ 2.83879678e-01 9.55963913e-01 -7.44669404e-02 8.12967325e+00] [ 2.30435535e-01 7.36932891e-03 9.73059689e-01 1.06519366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930385723 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:76.60, Y:8.15, Z:10.65 [[ 9.28655805e-01 -3.00537290e-01 -2.17429834e-01 7.66027734e+01] [ 2.86506956e-01 9.53438028e-01 -9.41790380e-02 8.14917307e+00] [ 2.35610185e-01 2.51647503e-02 9.71521784e-01 1.06537900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:76.63, Y:8.14, Z:10.67 [[ 9.30553767e-01 -2.88997365e-01 -2.24833739e-01 7.66298548e+01] [ 2.83941607e-01 9.57249102e-01 -5.52387553e-02 8.13809140e+00] [ 2.31185750e-01 -1.24370215e-02 9.72830134e-01 1.06744988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:8.16, Z:10.67 [[ 9.31369058e-01 -2.95279219e-01 -2.12983239e-01 7.66545137e+01] [ 2.84687338e-01 9.55316638e-01 -7.95188058e-02 8.16110420e+00] [ 2.26946682e-01 1.34277241e-02 9.73814613e-01 1.06667720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:8.16, Z:10.68 [[ 9.31217906e-01 -2.92169652e-01 -2.17876356e-01 7.66801628e+01] [ 2.84052012e-01 9.56364769e-01 -6.84169785e-02 8.16450648e+00] [ 2.28358636e-01 1.82289814e-03 9.73575375e-01 1.06806956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:8.18, Z:10.68 [[ 9.31500618e-01 -2.93442978e-01 -2.14936774e-01 7.67060902e+01] [ 2.84156240e-01 9.55947126e-01 -7.36228510e-02 8.17626696e+00] [ 2.27072300e-01 7.50410563e-03 9.73848992e-01 1.06846554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:8.18, Z:10.69 [[ 9.31526713e-01 -2.93132648e-01 -2.15246911e-01 7.67320893e+01] [ 2.83794507e-01 9.56041107e-01 -7.37975586e-02 8.18409688e+00] [ 2.27417369e-01 7.65850608e-03 9.73767266e-01 1.06916062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:8.19, Z:10.70 [[ 9.31368942e-01 -2.93241131e-01 -2.15781214e-01 7.67583737e+01] [ 2.83842367e-01 9.56007340e-01 -7.40505053e-02 8.19161249e+00] [ 2.28003078e-01 7.72049022e-03 9.73629801e-01 1.06984972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:8.20, Z:10.71 [[ 9.31524722e-01 -2.93145802e-01 -2.15237617e-01 7.67833734e+01] [ 2.83776613e-01 9.56036008e-01 -7.39322981e-02 8.19930026e+00] [ 2.27447855e-01 7.79036157e-03 9.73759099e-01 1.07050865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:8.21, Z:10.70 [[ 9.31897118e-01 -2.94625719e-01 -2.11573740e-01 7.68093148e+01] [ 2.83845592e-01 9.55497789e-01 -8.03470881e-02 8.21357315e+00] [ 2.25830560e-01 1.48209461e-02 9.74053847e-01 1.07040601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:8.23, Z:10.71 [[ 9.30234201e-01 -2.97135455e-01 -2.15348213e-01 7.68358579e+01] [ 2.84420729e-01 9.54601762e-01 -8.85456111e-02 8.22726758e+00] [ 2.31881824e-01 2.11186601e-02 9.72514690e-01 1.07094163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:8.22, Z:10.73 [[ 9.32185126e-01 -2.84757972e-01 -2.23481070e-01 7.68612909e+01] [ 2.80768028e-01 9.58465632e-01 -5.01293027e-02 8.21613923e+00] [ 2.28473644e-01 -1.60165489e-02 9.73418340e-01 1.07301504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:8.23, Z:10.73 [[ 9.32328130e-01 -2.88957890e-01 -2.17411120e-01 7.68863179e+01] [ 2.79309620e-01 9.57301404e-01 -7.45664627e-02 8.23442321e+00] [ 2.29674539e-01 8.79539336e-03 9.73227747e-01 1.07276034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:8.24, Z:10.73 [[ 9.31937476e-01 -2.89587845e-01 -2.18246238e-01 7.69111338e+01] [ 2.79865208e-01 9.57111526e-01 -7.49199119e-02 8.24217986e+00] [ 2.30581885e-01 8.74114501e-03 9.73013662e-01 1.07343446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:8.25, Z:10.74 [[ 9.31262683e-01 -2.92770934e-01 -2.16875529e-01 7.69362301e+01] [ 2.83250074e-01 9.56149730e-01 -7.44787835e-02 8.24964657e+00] [ 2.29170702e-01 7.92930218e-03 9.73353952e-01 1.07409510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:8.26, Z:10.75 [[ 9.31053760e-01 -2.94381839e-01 -2.15588099e-01 7.69618887e+01] [ 2.85010984e-01 9.55658336e-01 -7.40667505e-02 8.25811237e+00] [ 2.27832470e-01 7.51515020e-03 9.73671345e-01 1.07473640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:8.27, Z:10.75 [[ 9.30623168e-01 -2.97136179e-01 -2.13660034e-01 7.69870103e+01] [ 2.87990571e-01 9.54810592e-01 -7.34722063e-02 8.26679308e+00] [ 2.25836114e-01 6.84286222e-03 9.74141276e-01 1.07530616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:8.28, Z:10.76 [[ 9.30552636e-01 -2.98231053e-01 -2.12438298e-01 7.70128116e+01] [ 2.89208706e-01 9.54471005e-01 -7.30987287e-02 8.27537648e+00] [ 2.24566506e-01 6.58320950e-03 9.74436527e-01 1.07590730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:8.28, Z:10.77 [[ 9.30038571e-01 -3.00615997e-01 -2.11325056e-01 7.70376949e+01] [ 2.91734812e-01 9.53726139e-01 -7.27822186e-02 8.28404578e+00] [ 2.23425729e-01 6.03939491e-03 9.74702246e-01 1.07654606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:8.29, Z:10.77 [[ 9.29783532e-01 -3.01763574e-01 -2.10811123e-01 7.70633324e+01] [ 2.92948484e-01 9.53365282e-01 -7.26348701e-02 8.29342019e+00] [ 2.22898564e-01 5.77790705e-03 9.74824521e-01 1.07712808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:8.30, Z:10.78 [[ 9.29694603e-01 -3.02999026e-01 -2.09426683e-01 7.70896534e+01] [ 2.94316882e-01 9.52974945e-01 -7.22241462e-02 8.30206425e+00] [ 2.21462227e-01 5.50859077e-03 9.75153392e-01 1.07779871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:8.31, Z:10.78 [[ 9.29614447e-01 -3.03258337e-01 -2.09407164e-01 7.71159912e+01] [ 2.94569957e-01 9.52892461e-01 -7.22806963e-02 8.31127936e+00] [ 2.21462231e-01 5.50812037e-03 9.75153393e-01 1.07842548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:8.32, Z:10.79 [[ 9.29625677e-01 -3.03437454e-01 -2.09097615e-01 7.71411731e+01] [ 2.94765198e-01 9.52835375e-01 -7.22372868e-02 8.31899937e+00] [ 2.21155103e-01 5.51893668e-03 9.75223032e-01 1.07916143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:8.34, Z:10.79 [[ 9.28467426e-01 -3.08231832e-01 -2.07223013e-01 7.71694893e+01] [ 2.95731924e-01 9.51058771e-01 -8.96093951e-02 8.33679658e+00] [ 2.24701732e-01 2.19169441e-02 9.74181081e-01 1.07926582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:8.34, Z:10.81 [[ 9.29067145e-01 -2.99563986e-01 -2.17015340e-01 7.71951431e+01] [ 2.92166650e-01 9.54074297e-01 -6.61882426e-02 8.33568725e+00] [ 2.26876371e-01 -1.91132326e-03 9.73921690e-01 1.08081872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:8.35, Z:10.81 [[ 9.29991364e-01 -2.95691604e-01 -2.18363317e-01 7.72191251e+01] [ 2.88796821e-01 9.55275438e-01 -6.36021517e-02 8.34506802e+00] [ 2.27403736e-01 -3.91317998e-03 9.73792703e-01 1.08142885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:8.36, Z:10.81 [[ 9.30636540e-01 -2.93890625e-01 -2.18045709e-01 7.72430265e+01] [ 2.84136380e-01 9.55802528e-01 -7.55516102e-02 8.36223544e+00] [ 2.30612550e-01 8.35637056e-03 9.73009775e-01 1.08122277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:8.37, Z:10.82 [[ 9.30861630e-01 -2.93114917e-01 -2.18129024e-01 7.72685117e+01] [ 2.83324629e-01 9.56038690e-01 -7.56120154e-02 8.37175074e+00] [ 2.30702796e-01 8.58299921e-03 9.72986409e-01 1.08175498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:8.38, Z:10.82 [[ 9.30772486e-01 -2.93437728e-01 -2.18075400e-01 7.72937278e+01] [ 2.83645400e-01 9.55939815e-01 -7.56594866e-02 8.38103643e+00] [ 2.30668305e-01 8.56568423e-03 9.72994739e-01 1.08237051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:8.39, Z:10.83 [[ 9.30264551e-01 -2.96073380e-01 -2.16675838e-01 7.73203449e+01] [ 2.86467968e-01 9.55132497e-01 -7.52197911e-02 8.38811121e+00] [ 2.29224712e-01 7.90361830e-03 9.73341443e-01 1.08314319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:8.40, Z:10.84 [[ 9.29669812e-01 -2.98887559e-01 -2.15360786e-01 7.73467241e+01] [ 2.89459436e-01 9.54260968e-01 -7.48280735e-02 8.39591529e+00] [ 2.27875572e-01 7.22718957e-03 9.73663439e-01 1.08392354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:8.40, Z:10.85 [[ 9.28900139e-01 -3.03772440e-01 -2.11817933e-01 7.73725888e+01] [ 2.94766675e-01 9.52725798e-01 -7.36624811e-02 8.40266864e+00] [ 2.24181041e-01 5.98822090e-03 9.74529118e-01 1.08471230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:8.41, Z:10.85 [[ 9.29022556e-01 -3.06647357e-01 -2.07085705e-01 7.74024051e+01] [ 2.96502621e-01 9.51745786e-01 -7.91590504e-02 8.41356498e+00] [ 2.21366861e-01 1.21390891e-02 9.75115047e-01 1.08493181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:8.41, Z:10.86 [[ 9.27642093e-01 -3.07106805e-01 -2.12521901e-01 7.74248641e+01] [ 3.00235288e-01 9.51667559e-01 -6.47118830e-02 8.41422645e+00] [ 2.22123659e-01 -3.77710767e-03 9.75011187e-01 1.08645285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.45, Y:8.43, Z:10.87 [[ 9.27371553e-01 -3.09708565e-01 -2.09910952e-01 7.74504416e+01] [ 3.00983425e-01 9.50820155e-01 -7.31437733e-02 8.42752836e+00] [ 2.22240817e-01 4.65173746e-03 9.74980708e-01 1.08665616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:8.44, Z:10.87 [[ 9.27068080e-01 -3.09966780e-01 -2.10868136e-01 7.74757015e+01] [ 3.01152124e-01 9.50735886e-01 -7.35436857e-02 8.43751355e+00] [ 2.23276003e-01 4.67661658e-03 9.74744046e-01 1.08712809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:8.45, Z:10.88 [[ 9.26976991e-01 -3.10058473e-01 -2.11133612e-01 7.75012261e+01] [ 3.01216897e-01 9.50705924e-01 -7.36656475e-02 8.44679774e+00] [ 2.23566633e-01 4.68934889e-03 9.74677367e-01 1.08766408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:8.46, Z:10.88 [[ 9.26913767e-01 -3.09937594e-01 -2.11588175e-01 7.75271231e+01] [ 3.01039340e-01 9.50744824e-01 -7.38890752e-02 8.45617486e+00] [ 2.24067364e-01 4.79243658e-03 9.74561875e-01 1.08827497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:8.47, Z:10.89 [[ 9.27186672e-01 -3.08740648e-01 -2.12141671e-01 7.75527017e+01] [ 2.99749080e-01 9.51132268e-01 -7.41478145e-02 8.46589390e+00] [ 2.24667233e-01 5.15959476e-03 9.74421887e-01 1.08874312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:8.47, Z:10.89 [[ 9.27356689e-01 -3.07948084e-01 -2.12550108e-01 7.75782263e+01] [ 2.98885456e-01 9.51387682e-01 -7.43569961e-02 8.47474385e+00] [ 2.25115649e-01 5.42732182e-03 9.74316934e-01 1.08931442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.60, Y:8.48, Z:10.90 [[ 9.27635913e-01 -3.06591769e-01 -2.13291117e-01 7.76048511e+01] [ 2.97414935e-01 9.51823194e-01 -7.46790704e-02 8.48167550e+00] [ 2.25911421e-01 5.83902385e-03 9.74130348e-01 1.08995150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:8.49, Z:10.91 [[ 9.27433305e-01 -3.06844088e-01 -2.13808724e-01 7.76312273e+01] [ 2.97612601e-01 9.51741756e-01 -7.49290918e-02 8.48995209e+00] [ 2.26482240e-01 5.85956471e-03 9.73997670e-01 1.09060522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:8.50, Z:10.91 [[ 9.27113213e-01 -3.06984458e-01 -2.14992172e-01 7.76570663e+01] [ 2.97637098e-01 9.51696089e-01 -7.54102879e-02 8.49830611e+00] [ 2.27756995e-01 5.92422823e-03 9.73699982e-01 1.09100011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:8.51, Z:10.92 [[ 9.27000561e-01 -3.06694825e-01 -2.15889424e-01 7.76819556e+01] [ 2.97253422e-01 9.51788672e-01 -7.57543876e-02 8.50636327e+00] [ 2.28714587e-01 6.05048956e-03 9.73474719e-01 1.09156099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:8.51, Z:10.92 [[ 9.27147315e-01 -3.06383901e-01 -2.15700630e-01 7.77080041e+01] [ 2.96943835e-01 9.51888159e-01 -7.57184995e-02 8.51427422e+00] [ 2.28521805e-01 6.15123127e-03 9.73519361e-01 1.09217783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:8.52, Z:10.93 [[ 9.27018386e-01 -3.06667068e-01 -2.15852312e-01 7.77334315e+01] [ 2.97205019e-01 9.51796960e-01 -7.58401260e-02 8.52195210e+00] [ 2.28705243e-01 6.15280083e-03 9.73476273e-01 1.09291918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:8.53, Z:10.94 [[ 9.27172882e-01 -3.06764142e-01 -2.15049314e-01 7.77594197e+01] [ 2.97364961e-01 9.51765689e-01 -7.56052476e-02 8.53082661e+00] [ 2.27869538e-01 6.15100437e-03 9.73672244e-01 1.09362050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:8.54, Z:10.94 [[ 9.27378448e-01 -3.06821148e-01 -2.14079421e-01 7.77854542e+01] [ 2.97493578e-01 9.51747164e-01 -7.53319725e-02 8.53974062e+00] [ 2.26862924e-01 6.17399490e-03 9.73907129e-01 1.09431072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:8.55, Z:10.95 [[ 9.27539489e-01 -3.07001392e-01 -2.13121188e-01 7.78109203e+01] [ 2.97747461e-01 9.51689085e-01 -7.50622006e-02 8.54903301e+00] [ 2.25869309e-01 6.16686241e-03 9.74138093e-01 1.09498788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:8.56, Z:10.96 [[ 9.27888333e-01 -3.07806704e-01 -2.10424036e-01 7.78358448e+01] [ 2.98794107e-01 9.51430268e-01 -7.41790229e-02 8.56021530e+00] [ 2.23036597e-01 5.95638794e-03 9.74791874e-01 1.09555933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:8.57, Z:10.96 [[ 9.28117179e-01 -3.07550991e-01 -2.09787727e-01 7.78612733e+01] [ 2.98570936e-01 9.51512252e-01 -7.40258772e-02 8.56959398e+00] [ 2.22382324e-01 6.06817036e-03 9.74940654e-01 1.09625012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:8.58, Z:10.97 [[ 9.28585540e-01 -3.07313162e-01 -2.08056520e-01 7.78859008e+01] [ 2.98462060e-01 9.51588654e-01 -7.34808276e-02 8.58009777e+00] [ 2.20565849e-01 6.13625647e-03 9.75352784e-01 1.09675594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:8.59, Z:10.97 [[ 9.28566090e-01 -3.07461396e-01 -2.07924279e-01 7.79119131e+01] [ 2.98618374e-01 9.51540828e-01 -7.34650842e-02 8.58984049e+00] [ 2.20436118e-01 6.12717581e-03 9.75382169e-01 1.09730973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:8.60, Z:10.98 [[ 9.28090426e-01 -3.07695000e-01 -2.09694891e-01 7.79372395e+01] [ 2.98688709e-01 9.51464887e-01 -7.41594473e-02 8.59768615e+00] [ 2.22335817e-01 6.19317684e-03 9.74950475e-01 1.09788868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:8.61, Z:10.98 [[ 9.27755494e-01 -3.07939599e-01 -2.10814960e-01 7.79636725e+01] [ 2.98826060e-01 9.51385476e-01 -7.46234655e-02 8.60659546e+00] [ 2.23545811e-01 6.23532617e-03 9.74673479e-01 1.09848278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:8.62, Z:10.99 [[ 9.27327680e-01 -3.08849158e-01 -2.11365966e-01 7.79887663e+01] [ 2.99694696e-01 9.51091473e-01 -7.48872388e-02 8.61591254e+00] [ 2.24157228e-01 6.09975061e-03 9.74533904e-01 1.09893824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:8.63, Z:11.00 [[ 9.27040594e-01 -3.09652783e-01 -2.11449500e-01 7.80140272e+01] [ 3.00504818e-01 9.50831168e-01 -7.49462712e-02 8.62504062e+00] [ 2.24260097e-01 5.93664210e-03 9.74511244e-01 1.09953229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:8.63, Z:11.00 [[ 9.26626326e-01 -3.10748624e-01 -2.11657612e-01 7.80400446e+01] [ 3.01603802e-01 9.50475004e-01 -7.50494001e-02 8.63387796e+00] [ 2.24496767e-01 5.70600943e-03 9.74458128e-01 1.10008424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:8.64, Z:11.01 [[ 9.25787331e-01 -3.10160419e-01 -2.16144240e-01 7.80655662e+01] [ 3.00584391e-01 9.50664972e-01 -7.67146302e-02 8.64420691e+00] [ 2.29274600e-01 6.05184799e-03 9.73342968e-01 1.10085848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670385723 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:78.09, Y:8.66, Z:11.01 [[ 9.25671393e-01 -3.12620694e-01 -2.13074572e-01 7.80933035e+01] [ 3.02245654e-01 9.49824088e-01 -8.05094196e-02 8.65676285e+00] [ 2.27552272e-01 1.01244031e-02 9.73713233e-01 1.10117769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:8.66, Z:11.02 [[ 9.26306349e-01 -3.09261383e-01 -2.15206751e-01 7.81185397e+01] [ 3.01261884e-01 9.50977070e-01 -6.98848363e-02 8.65934815e+00] [ 2.26269366e-01 -9.88235662e-05 9.74064764e-01 1.10217946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:8.67, Z:11.03 [[ 9.25927606e-01 -3.11396530e-01 -2.13752824e-01 7.81439674e+01] [ 3.02015455e-01 9.50261784e-01 -7.60868343e-02 8.67088786e+00] [ 2.26814316e-01 5.89424402e-03 9.73920184e-01 1.10255659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:8.68, Z:11.03 [[ 9.25470558e-01 -3.12328475e-01 -2.14371569e-01 7.81702885e+01] [ 3.02900910e-01 9.49956770e-01 -7.63752143e-02 8.67885193e+00] [ 2.27497878e-01 5.74966887e-03 9.73761602e-01 1.10318409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:8.69, Z:11.04 [[ 9.25414958e-01 -3.13145223e-01 -2.13417957e-01 7.81960452e+01] [ 3.03808311e-01 9.49688810e-01 -7.61030565e-02 8.68793767e+00] [ 2.26511954e-01 5.58875791e-03 9.73992351e-01 1.10381992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:8.70, Z:11.04 [[ 9.25578322e-01 -3.15021239e-01 -2.09919960e-01 7.82207487e+01] [ 3.06024888e-01 9.49070893e-01 -7.49213456e-02 8.69751532e+00] [ 2.22830739e-01 5.10484106e-03 9.74843784e-01 1.10447903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.25, Y:8.71, Z:11.05 [[ 9.25712480e-01 -3.15642254e-01 -2.08389953e-01 7.82450500e+01] [ 3.06787417e-01 9.48865381e-01 -7.44041017e-02 8.70681795e+00] [ 2.21219090e-01 4.94539025e-03 9.75211596e-01 1.10508305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:8.72, Z:11.06 [[ 9.25536280e-01 -3.16995073e-01 -2.07115229e-01 7.82708687e+01] [ 3.08276957e-01 9.48415936e-01 -7.39765526e-02 8.71711476e+00] [ 2.19881586e-01 4.61913084e-03 9.75515634e-01 1.10573441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:8.73, Z:11.06 [[ 9.25254595e-01 -3.18674799e-01 -2.05791903e-01 7.82960409e+01] [ 3.10095555e-01 9.47854558e-01 -7.35695769e-02 8.72775979e+00] [ 2.18505564e-01 4.25543453e-03 9.75826424e-01 1.10625383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:8.74, Z:11.07 [[ 9.24933692e-01 -3.19274555e-01 -2.06304202e-01 7.83222584e+01] [ 3.10651765e-01 9.47653001e-01 -7.38191768e-02 8.73724171e+00] [ 2.19073381e-01 4.18907920e-03 9.75699393e-01 1.10686026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:8.75, Z:11.07 [[ 9.24342346e-01 -3.19198012e-01 -2.09054672e-01 7.83474611e+01] [ 3.10323211e-01 9.47678144e-01 -7.48708213e-02 8.74625901e+00] [ 2.22015161e-01 4.33175367e-03 9.75033591e-01 1.10745218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:8.76, Z:11.08 [[ 9.24145101e-01 -3.18514342e-01 -2.10960768e-01 7.83733906e+01] [ 3.09450135e-01 9.47907034e-01 -7.55835259e-02 8.75663817e+00] [ 2.24045633e-01 4.56830691e-03 9.74567948e-01 1.10805718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:8.77, Z:11.09 [[ 9.24209171e-01 -3.17469492e-01 -2.12251102e-01 7.83988213e+01] [ 3.08249750e-01 9.48255734e-01 -7.61127776e-02 8.76788830e+00] [ 2.25431809e-01 4.91777809e-03 9.74246537e-01 1.10852274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.42, Y:8.78, Z:11.09 [[ 9.24142599e-01 -3.15916341e-01 -2.14842554e-01 7.84230590e+01] [ 3.06409153e-01 9.48771502e-01 -7.71107522e-02 8.77987565e+00] [ 2.28197039e-01 5.43160603e-03 9.73599820e-01 1.10890586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:8.79, Z:11.10 [[ 9.23868459e-01 -3.16248149e-01 -2.15532317e-01 7.84481929e+01] [ 3.06680333e-01 9.48661142e-01 -7.73899875e-02 8.78993768e+00] [ 2.28941574e-01 5.39864567e-03 9.73425195e-01 1.10952290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:8.80, Z:11.10 [[ 9.23589489e-01 -3.17190096e-01 -2.15343676e-01 7.84741178e+01] [ 3.07648310e-01 9.48347571e-01 -7.73912272e-02 8.79962485e+00] [ 2.28768383e-01 5.22760579e-03 9.73466845e-01 1.11019884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:8.81, Z:11.11 [[ 9.23319253e-01 -3.18504221e-01 -2.14561455e-01 7.84996342e+01] [ 3.09051683e-01 9.47908520e-01 -7.71783364e-02 8.80892067e+00] [ 2.27966257e-01 4.94966509e-03 9.73656452e-01 1.11087817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:8.82, Z:11.12 [[ 9.22780365e-01 -3.21368963e-01 -2.12599126e-01 7.85246291e+01] [ 3.12150703e-01 9.46944453e-01 -7.65384935e-02 8.81544588e+00] [ 2.25916659e-01 4.26525226e-03 9.74137296e-01 1.11170979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.55, Y:8.82, Z:11.12 [[ 9.22358374e-01 -3.23095550e-01 -2.11811934e-01 7.85509797e+01] [ 3.13984408e-01 9.46358491e-01 -7.62849821e-02 8.82346017e+00] [ 2.25097360e-01 3.85644757e-03 9.74328644e-01 1.11244178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:8.84, Z:11.12 [[ 9.21079032e-01 -3.30237886e-01 -2.06291918e-01 7.85702776e+01] [ 3.20385621e-01 9.43863659e-01 -8.04639424e-02 8.83991261e+00] [ 2.21283687e-01 8.02068579e-03 9.75176496e-01 1.11217486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:8.84, Z:11.14 [[ 9.21855167e-01 -3.24861151e-01 -2.11301406e-01 7.86023156e+01] [ 3.16423446e-01 9.45761238e-01 -7.35655087e-02 8.84326135e+00] [ 2.23739255e-01 9.56025107e-04 9.74648568e-01 1.11370769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.63, Y:8.86, Z:11.14 [[ 9.22267671e-01 -3.23931415e-01 -2.10928381e-01 7.86274901e+01] [ 3.14880175e-01 9.46072938e-01 -7.61345607e-02 8.85600988e+00] [ 2.24216009e-01 3.79927823e-03 9.74532065e-01 1.11409573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:8.87, Z:11.15 [[ 9.22615566e-01 -3.23231904e-01 -2.10479579e-01 7.86532223e+01] [ 3.14186509e-01 9.46311227e-01 -7.60388056e-02 8.86552683e+00] [ 2.23757357e-01 4.02474152e-03 9.74636572e-01 1.11472423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:8.87, Z:11.15 [[ 9.23233634e-01 -3.22383678e-01 -2.09065590e-01 7.86775073e+01] [ 3.13424151e-01 9.46599473e-01 -7.55959011e-02 8.87363677e+00] [ 2.22272262e-01 4.26647359e-03 9.74975302e-01 1.11545832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:8.88, Z:11.16 [[ 9.23329844e-01 -3.22575729e-01 -2.08343221e-01 7.87027122e+01] [ 3.13673270e-01 9.46534120e-01 -7.53806241e-02 8.88300607e+00] [ 2.21519927e-01 4.24948048e-03 9.75146586e-01 1.11608820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:8.89, Z:11.17 [[ 9.23248048e-01 -3.22823328e-01 -2.08322203e-01 7.87289065e+01] [ 3.13914000e-01 9.46449686e-01 -7.54386673e-02 8.89260039e+00] [ 2.21519845e-01 4.25334642e-03 9.75146588e-01 1.11671564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:8.92, Z:11.16 [[ 9.22145591e-01 -3.31731686e-01 -1.99001503e-01 7.87461291e+01] [ 3.20319412e-01 9.43213175e-01 -8.80021678e-02 8.91672840e+00] [ 2.16893946e-01 1.74067668e-02 9.76039969e-01 1.11556404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:8.91, Z:11.18 [[ 9.22898663e-01 -3.20486676e-01 -2.13415903e-01 7.87818940e+01] [ 3.13575313e-01 9.47236419e-01 -6.64356000e-02 8.90834882e+00] [ 2.23447041e-01 -5.60863218e-03 9.74699935e-01 1.11834344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:8.93, Z:11.17 [[ 9.22377296e-01 -3.29924280e-01 -2.00923102e-01 7.87997832e+01] [ 3.18304428e-01 9.43840405e-01 -8.85865727e-02 8.93435806e+00] [ 2.18866203e-01 1.77555305e-02 9.75593320e-01 1.11693040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:8.93, Z:11.20 [[ 9.23190842e-01 -3.18492736e-01 -2.15130301e-01 7.88326323e+01] [ 3.11484712e-01 9.47909567e-01 -6.66687930e-02 8.92742988e+00] [ 2.25157597e-01 -5.46178072e-03 9.74307049e-01 1.11954524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:8.95, Z:11.18 [[ 9.22280169e-01 -3.27695778e-01 -2.04975040e-01 7.88504216e+01] [ 3.16651130e-01 9.44680226e-01 -8.55063310e-02 8.95403817e+00] [ 2.21655931e-01 1.39552152e-02 9.75025077e-01 1.11820694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:8.96, Z:11.19 [[ 9.22147981e-01 -3.25556926e-01 -2.08939678e-01 7.88760672e+01] [ 3.16052959e-01 9.45502115e-01 -7.83343978e-02 8.96119820e+00] [ 2.23055214e-01 6.19990308e-03 9.74786096e-01 1.11895717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.90, Y:8.97, Z:11.20 [[ 9.22038689e-01 -3.26501393e-01 -2.07945896e-01 7.89037037e+01] [ 3.16041818e-01 9.45138565e-01 -8.26478177e-02 8.96975503e+00] [ 2.23522313e-01 1.04848866e-02 9.74642418e-01 1.11968731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:8.97, Z:11.22 [[ 9.21910178e-01 -3.21359324e-01 -2.16355747e-01 7.89355936e+01] [ 3.13650843e-01 9.46951620e-01 -7.00412546e-02 8.96668583e+00] [ 2.27386836e-01 -3.28841708e-03 9.73798959e-01 1.12173340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:8.98, Z:11.22 [[ 9.21361262e-01 -3.24630664e-01 -2.13795129e-01 7.89602097e+01] [ 3.15301537e-01 9.45832946e-01 -7.73626412e-02 8.97874657e+00] [ 2.27328762e-01 3.86900794e-03 9.73810384e-01 1.12211268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:8.99, Z:11.23 [[ 9.20803043e-01 -3.26463035e-01 -2.13409566e-01 7.89853562e+01] [ 3.17209484e-01 9.45203711e-01 -7.72534007e-02 8.98914522e+00] [ 2.26935893e-01 3.43962812e-03 9.73903624e-01 1.12271337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:9.00, Z:11.23 [[ 9.20706501e-01 -3.27118733e-01 -2.12821225e-01 7.90103969e+01] [ 3.17920142e-01 9.44977389e-01 -7.71006953e-02 8.99965489e+00] [ 2.26332327e-01 3.32695723e-03 9.74044459e-01 1.12333211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:9.01, Z:11.24 [[ 9.20771524e-01 -3.27778899e-01 -2.11520198e-01 7.90338331e+01] [ 3.18695809e-01 9.44749012e-01 -7.66960558e-02 9.01148450e+00] [ 2.24972847e-01 3.20894350e-03 9.74359749e-01 1.12384097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:9.02, Z:11.24 [[ 9.20709870e-01 -3.28345241e-01 -2.10909314e-01 7.90597128e+01] [ 3.19323118e-01 9.44552728e-01 -7.65041901e-02 9.02212072e+00] [ 2.24334754e-01 3.08994323e-03 9.74507245e-01 1.12442019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:9.03, Z:11.25 [[ 9.20237962e-01 -3.29830120e-01 -2.10651812e-01 7.90843600e+01] [ 3.20853337e-01 9.44036182e-01 -7.64776036e-02 9.03205771e+00] [ 2.24087550e-01 2.78925708e-03 9.74565026e-01 1.12510062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:9.04, Z:11.26 [[ 9.19886673e-01 -3.30559954e-01 -2.11041764e-01 7.91085548e+01] [ 3.21553075e-01 9.43781187e-01 -7.66856610e-02 9.04169493e+00] [ 2.24526456e-01 2.68098924e-03 9.74464306e-01 1.12570630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:9.05, Z:11.26 [[ 9.19497506e-01 -3.31450767e-01 -2.11340310e-01 7.91336281e+01] [ 3.22430648e-01 9.43469173e-01 -7.68400705e-02 9.05255768e+00] [ 2.24861768e-01 2.51166018e-03 9.74387437e-01 1.12631496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:9.06, Z:11.27 [[ 9.19516557e-01 -3.31517196e-01 -2.11153142e-01 7.91585520e+01] [ 3.22499746e-01 9.43445711e-01 -7.68381682e-02 9.06485290e+00] [ 2.24684701e-01 2.55713314e-03 9.74428164e-01 1.12695984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:9.08, Z:11.28 [[ 9.19355736e-01 -3.31088866e-01 -2.12521041e-01 7.91829689e+01] [ 3.21925867e-01 9.43595587e-01 -7.74022186e-02 9.07742230e+00] [ 2.26160929e-01 2.74415326e-03 9.74086086e-01 1.12752733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:9.09, Z:11.28 [[ 9.19057150e-01 -3.31227381e-01 -2.13593952e-01 7.92083471e+01] [ 3.21958475e-01 9.43546843e-01 -7.78594656e-02 9.08851731e+00] [ 2.27325086e-01 2.78891555e-03 9.73814935e-01 1.12799955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:9.10, Z:11.28 [[ 9.18659288e-01 -3.31609473e-01 -2.14709734e-01 7.92342481e+01] [ 3.22236656e-01 9.43412668e-01 -7.83331092e-02 9.09960182e+00] [ 2.28535884e-01 2.77409176e-03 9.73531537e-01 1.12849924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:9.11, Z:11.29 [[ 9.18045087e-01 -3.32982322e-01 -2.15211502e-01 7.92595288e+01] [ 3.23585811e-01 9.42929739e-01 -7.85858101e-02 9.11099792e+00] [ 2.29097011e-01 2.50592837e-03 9.73400370e-01 1.12901811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:9.12, Z:11.30 [[ 9.17500091e-01 -3.34810026e-01 -2.14699392e-01 7.92838683e+01] [ 3.25492163e-01 9.42283287e-01 -7.84669322e-02 9.11891520e+00] [ 2.28579165e-01 2.11044781e-03 9.73523041e-01 1.12987078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:9.13, Z:11.31 [[ 9.17232662e-01 -3.35542649e-01 -2.14698335e-01 7.93090118e+01] [ 3.26237298e-01 9.42022980e-01 -7.84979620e-02 9.12794406e+00] [ 2.28590179e-01 1.95829005e-03 9.73520773e-01 1.13064289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.33, Y:9.14, Z:11.31 [[ 9.16991717e-01 -3.36427129e-01 -2.14343131e-01 7.93345861e+01] [ 3.27160734e-01 9.41707780e-01 -7.84366707e-02 9.13849123e+00] [ 2.28236818e-01 1.80112113e-03 9.73603980e-01 1.13131001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.36, Y:9.16, Z:11.31 [[ 9.16374291e-01 -3.41636740e-01 -2.08668389e-01 7.93571503e+01] [ 3.30534745e-01 9.39769952e-01 -8.70587095e-02 9.15828452e+00] [ 2.25842736e-01 1.08062105e-02 9.74103837e-01 1.13088199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:9.16, Z:11.33 [[ 9.15763470e-01 -3.38839552e-01 -2.15789306e-01 7.93859120e+01] [ 3.31581788e-01 9.40815683e-01 -7.01382111e-02 9.15740613e+00] [ 2.26783564e-01 -7.32179240e-03 9.73917659e-01 1.13279507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:9.17, Z:11.33 [[ 9.14477479e-01 -3.42488755e-01 -2.15481769e-01 7.94121084e+01] [ 3.33261105e-01 9.39521842e-01 -7.89667292e-02 9.16513938e+00] [ 2.29495045e-01 4.01602850e-04 9.73309747e-01 1.13327672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:9.17, Z:11.34 [[ 9.13584537e-01 -3.44609396e-01 -2.15888067e-01 7.94381762e+01] [ 3.35389672e-01 9.38746164e-01 -7.91795960e-02 9.17434355e+00] [ 2.29950128e-01 -6.93733983e-05 9.73202412e-01 1.13385312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:9.19, Z:11.34 [[ 9.11680921e-01 -3.50884406e-01 -2.13817753e-01 7.94615923e+01] [ 3.41997402e-01 9.36417464e-01 -7.84863692e-02 9.18888022e+00] [ 2.27762321e-01 -1.57059069e-03 9.73715492e-01 1.13417210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:9.20, Z:11.34 [[ 9.11675366e-01 -3.51202726e-01 -2.13318241e-01 7.94876498e+01] [ 3.41647422e-01 9.36298527e-01 -8.13763311e-02 9.20019469e+00] [ 2.28309144e-01 1.30916934e-03 9.73587809e-01 1.13449194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:9.20, Z:11.36 [[ 9.11947063e-01 -3.47657218e-01 -2.17915153e-01 7.95197371e+01] [ 3.40337947e-01 9.37579086e-01 -7.15230012e-02 9.20401591e+00] [ 2.29178177e-01 -8.93960483e-03 9.73343437e-01 1.13591958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:9.22, Z:11.36 [[ 9.12424846e-01 -3.48864148e-01 -2.13950243e-01 7.95440673e+01] [ 3.39228161e-01 9.37171700e-01 -8.14460601e-02 9.21585911e+00] [ 2.28921723e-01 1.73546165e-03 9.73443287e-01 1.13616113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:9.22, Z:11.37 [[ 9.12549102e-01 -3.47895531e-01 -2.14994967e-01 7.95715697e+01] [ 3.39255093e-01 9.37529747e-01 -7.70970550e-02 9.22248138e+00] [ 2.28385898e-01 -2.58328922e-03 9.73567259e-01 1.13704905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:9.23, Z:11.38 [[ 9.13303702e-01 -3.46186647e-01 -2.14548722e-01 7.95988010e+01] [ 3.37325416e-01 9.38164780e-01 -7.78357862e-02 9.23243091e+00] [ 2.28227764e-01 -1.28502509e-03 9.73606921e-01 1.13769330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.62, Y:9.24, Z:11.38 [[ 9.13670393e-01 -3.44740510e-01 -2.15314641e-01 7.96238087e+01] [ 3.36282082e-01 9.38693208e-01 -7.59567147e-02 9.24271731e+00] [ 2.28299747e-01 -3.00705436e-03 9.73586248e-01 1.13833131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:9.26, Z:11.39 [[ 9.13564066e-01 -3.43558211e-01 -2.17642950e-01 7.96414225e+01] [ 3.35894430e-01 9.39106164e-01 -7.24882351e-02 9.25748222e+00] [ 2.29293764e-01 -6.88240781e-03 9.73332935e-01 1.13887278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:9.27, Z:11.38 [[ 9.15370397e-01 -3.42906314e-01 -2.10979374e-01 7.96714541e+01] [ 3.31864492e-01 9.39321872e-01 -8.68353572e-02 9.27451216e+00] [ 2.27953933e-01 9.46995263e-03 9.73625865e-01 1.13847116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:9.27, Z:11.40 [[ 9.15997865e-01 -3.35963607e-01 -2.19263233e-01 7.97005189e+01] [ 3.28408144e-01 9.41850343e-01 -7.11760014e-02 9.27393119e+00] [ 2.30425697e-01 -6.81076582e-03 9.73066088e-01 1.14014383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:9.28, Z:11.41 [[ 9.16090179e-01 -3.36269694e-01 -2.18406678e-01 7.97186708e+01] [ 3.27461003e-01 9.41764600e-01 -7.64769870e-02 9.28436273e+00] [ 2.31404571e-01 -1.45985321e-03 9.72856512e-01 1.14085121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:9.30, Z:11.41 [[ 9.18442913e-01 -3.34852914e-01 -2.10561492e-01 7.97518595e+01] [ 3.22792535e-01 9.42151391e-01 -9.03091170e-02 9.29959486e+00] [ 2.28621074e-01 1.49760907e-02 9.73400288e-01 1.14053258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:9.30, Z:11.43 [[ 9.17545313e-01 -3.30704250e-01 -2.20783374e-01 7.97715689e+01] [ 3.24361081e-01 9.43664016e-01 -6.54836968e-02 9.30016520e+00] [ 2.30001062e-01 -1.15292746e-02 9.73122082e-01 1.14258818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:9.33, Z:11.41 [[ 9.19347809e-01 -3.34637501e-01 -2.06923536e-01 7.98042710e+01] [ 3.21976230e-01 9.42155342e-01 -9.31376298e-02 9.32500321e+00] [ 2.26121459e-01 1.90014159e-02 9.73913770e-01 1.14148975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:9.32, Z:11.43 [[ 9.20114831e-01 -3.28832830e-01 -2.12738495e-01 7.98297168e+01] [ 3.20180629e-01 9.44387773e-01 -7.49406344e-02 9.32488795e+00] [ 2.25550575e-01 8.39243894e-04 9.74231099e-01 1.14283933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:9.34, Z:11.43 [[ 9.19814344e-01 -3.30101082e-01 -2.12072742e-01 7.98575246e+01] [ 3.20126849e-01 9.43923757e-01 -8.07882509e-02 9.33538077e+00] [ 2.26848789e-01 6.42001328e-03 9.73908831e-01 1.14327211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:9.34, Z:11.44 [[ 9.20785213e-01 -3.25026871e-01 -2.15666696e-01 7.98765225e+01] [ 3.15806738e-01 9.45700889e-01 -7.69151059e-02 9.33850025e+00] [ 2.28955662e-01 2.71329644e-03 9.73433070e-01 1.14400914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:9.35, Z:11.45 [[ 9.19628199e-01 -3.29434202e-01 -2.13909051e-01 7.99098594e+01] [ 3.19534815e-01 9.44162315e-01 -8.03431737e-02 9.35130158e+00] [ 2.28432654e-01 5.53445913e-03 9.73543986e-01 1.14478953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:9.36, Z:11.46 [[ 9.19229508e-01 -3.29469430e-01 -2.15562072e-01 7.99366746e+01] [ 3.21177950e-01 9.44164715e-01 -7.34691462e-02 9.35916690e+00] [ 2.27731940e-01 -1.69877744e-03 9.73722382e-01 1.14574595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:9.37, Z:11.46 [[ 9.19021631e-01 -3.30827404e-01 -2.14365276e-01 7.99606788e+01] [ 3.22085307e-01 9.43691198e-01 -7.55511572e-02 9.37021065e+00] [ 2.27289018e-01 3.89241845e-04 9.73827270e-01 1.14617347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.99, Y:9.38, Z:11.47 [[ 9.18470859e-01 -3.34220595e-01 -2.11442369e-01 7.99857301e+01] [ 3.24866443e-01 9.42488385e-01 -7.85966790e-02 9.38051224e+00] [ 2.25550606e-01 3.49822886e-03 9.74225172e-01 1.14659611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:9.39, Z:11.47 [[ 9.17664908e-01 -3.35952718e-01 -2.12195400e-01 8.00120465e+01] [ 3.27154701e-01 9.41878611e-01 -7.63837953e-02 9.38803824e+00] [ 2.25523653e-01 6.74005654e-04 9.74237460e-01 1.14734529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:9.40, Z:11.48 [[ 9.16984423e-01 -3.37642902e-01 -2.12454324e-01 8.00386528e+01] [ 3.28978136e-01 9.41274259e-01 -7.60010256e-02 9.39677243e+00] [ 2.25638993e-01 -2.01070711e-04 9.74210965e-01 1.14800309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:9.41, Z:11.48 [[ 9.15687062e-01 -3.44650205e-01 -2.06720684e-01 8.00651040e+01] [ 3.33700101e-01 9.38672206e-01 -8.68258689e-02 9.41408137e+00] [ 2.23967514e-01 1.05226116e-02 9.74539803e-01 1.14770093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:9.42, Z:11.49 [[ 9.15332869e-01 -3.42583243e-01 -2.11665919e-01 8.00897792e+01] [ 3.34682774e-01 9.39479811e-01 -7.32470154e-02 9.41624389e+00] [ 2.23949058e-01 -3.79553618e-03 9.74593461e-01 1.14876230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:9.43, Z:11.49 [[ 9.14395934e-01 -3.45413614e-01 -2.11114925e-01 8.01148214e+01] [ 3.36150768e-01 9.38449003e-01 -7.94740852e-02 9.42783630e+00] [ 2.25572022e-01 1.70433611e-03 9.74225004e-01 1.14906840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:9.44, Z:11.49 [[ 9.13442315e-01 -3.49009563e-01 -2.09321434e-01 8.01441377e+01] [ 3.37919330e-01 9.37071407e-01 -8.77935298e-02 9.44358954e+00] [ 2.26789912e-01 9.46056638e-03 9.73897753e-01 1.14928342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:9.44, Z:11.51 [[ 9.13729050e-01 -3.44985266e-01 -2.14672748e-01 8.01676162e+01] [ 3.37951959e-01 9.38567569e-01 -6.98526482e-02 9.44193668e+00] [ 2.25583013e-01 -8.72268166e-03 9.74184900e-01 1.15064931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:9.45, Z:11.51 [[ 9.13752325e-01 -3.45896659e-01 -2.13101361e-01 8.01924107e+01] [ 3.37658647e-01 9.38266743e-01 -7.51142940e-02 9.45403025e+00] [ 2.25927703e-01 -3.31965638e-03 9.74138416e-01 1.15113522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:9.47, Z:11.51 [[ 9.13213225e-01 -3.49421800e-01 -2.09633042e-01 8.02210571e+01] [ 3.38500971e-01 9.36926252e-01 -8.70993120e-02 9.47261878e+00] [ 2.26845099e-01 8.57925523e-03 9.73893063e-01 1.15133006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:9.48, Z:11.52 [[ 9.13471977e-01 -3.46944973e-01 -2.12598526e-01 8.02474217e+01] [ 3.37566063e-01 9.37884385e-01 -8.01375938e-02 9.47967924e+00] [ 2.27196173e-01 1.43739903e-03 9.73847952e-01 1.15222915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.27, Y:9.49, Z:11.53 [[ 9.13377143e-01 -3.47293509e-01 -2.12436844e-01 8.02715952e+01] [ 3.38256129e-01 9.37756481e-01 -7.87119692e-02 9.48881972e+00] [ 2.26550183e-01 3.56490257e-05 9.73999493e-01 1.15271239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:9.50, Z:11.53 [[ 9.13155392e-01 -3.46965419e-01 -2.13921079e-01 8.02966431e+01] [ 3.38185129e-01 9.37876714e-01 -7.75763334e-02 9.49742865e+00] [ 2.27547904e-01 -1.50568061e-03 9.73765724e-01 1.15343554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:9.51, Z:11.54 [[ 9.12357977e-01 -3.47225734e-01 -2.16880639e-01 8.03236183e+01] [ 3.38601719e-01 9.37776088e-01 -7.69732680e-02 9.50699355e+00] [ 2.30112577e-01 -3.20898232e-03 9.73158725e-01 1.15427470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.35, Y:9.52, Z:11.55 [[ 9.11751991e-01 -3.48365096e-01 -2.17600704e-01 8.03490489e+01] [ 3.39101855e-01 9.37358368e-01 -7.98074005e-02 9.51821973e+00] [ 2.31771953e-01 -1.02424582e-03 9.72769609e-01 1.15486915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.37, Y:9.53, Z:11.56 [[ 9.11535992e-01 -3.48805326e-01 -2.17800321e-01 8.03744901e+01] [ 3.39257296e-01 9.37195201e-01 -8.10533315e-02 9.52859094e+00] [ 2.32393249e-01 -7.31893444e-06 9.72621909e-01 1.15551486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:9.54, Z:11.56 [[ 9.11119082e-01 -3.49415146e-01 -2.18565950e-01 8.04000283e+01] [ 3.40094287e-01 9.36967136e-01 -8.01776971e-02 9.53749912e+00] [ 2.32804414e-01 -1.28160113e-03 9.72522731e-01 1.15627609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:9.55, Z:11.57 [[ 9.11118851e-01 -3.49821876e-01 -2.17915336e-01 8.04285509e+01] [ 3.39609146e-01 9.36812951e-01 -8.39471400e-02 9.54861700e+00] [ 2.33512455e-01 2.47978058e-03 9.72350649e-01 1.15700255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:80.45, Y:9.55, Z:11.60 [[ 9.08869206e-01 -3.44895401e-01 -2.34529164e-01 8.04473618e+01] [ 3.38611467e-01 9.38473990e-01 -6.78884760e-02 9.54559433e+00] [ 2.43513943e-01 -1.77125189e-02 9.69735648e-01 1.15969796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:9.55, Z:11.60 [[ 9.11040332e-01 -3.42452468e-01 -2.29634103e-01 8.04723462e+01] [ 3.37416046e-01 9.39303115e-01 -6.21294629e-02 9.55406187e+00] [ 2.36972417e-01 -2.08797847e-02 9.71291979e-01 1.16022633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:9.58, Z:11.60 [[ 9.11546351e-01 -3.46407810e-01 -2.21551077e-01 8.04944224e+01] [ 3.36063428e-01 9.38081533e-01 -8.40500429e-02 9.57584127e+00] [ 2.36948566e-01 2.16029538e-03 9.71519794e-01 1.15986475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:9.61, Z:11.57 [[ 9.13624836e-01 -3.56208051e-01 -1.95973172e-01 8.05223283e+01] [ 3.39109732e-01 9.33571620e-01 -1.15968189e-01 9.60756147e+00] [ 2.24263794e-01 3.94950082e-02 9.73727834e-01 1.15731810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.55, Y:9.60, Z:11.59 [[ 9.13163307e-01 -3.49145750e-01 -2.10309343e-01 8.05498211e+01] [ 3.38839794e-01 9.37050394e-01 -8.44046953e-02 9.59907338e+00] [ 2.26539993e-01 5.81409635e-03 9.73984511e-01 1.15926464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.58, Y:9.60, Z:11.61 [[ 9.12895292e-01 -3.46776311e-01 -2.15333172e-01 8.05784348e+01] [ 3.39282583e-01 9.37919707e-01 -7.20690807e-02 9.60326348e+00] [ 2.26957076e-01 -7.26727033e-03 9.73877648e-01 1.16056273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.60, Y:9.63, Z:11.60 [[ 9.11575352e-01 -3.53438414e-01 -2.10027769e-01 8.06012431e+01] [ 3.41002335e-01 9.35352172e-01 -9.39878823e-02 9.62510605e+00] [ 2.29668858e-01 1.40570772e-02 9.73167310e-01 1.16020880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.63, Y:9.62, Z:11.62 [[ 9.12452180e-01 -3.47433440e-01 -2.16150467e-01 8.06276316e+01] [ 3.41960854e-01 9.37568143e-01 -6.34724465e-02 9.62160133e+00] [ 2.24708242e-01 -1.59994259e-02 9.74294732e-01 1.16212254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.65, Y:9.64, Z:11.62 [[ 9.11267115e-01 -3.54897185e-01 -2.08902448e-01 8.06532734e+01] [ 3.44591449e-01 9.34888865e-01 -8.50855068e-02 9.64316772e+00] [ 2.25497179e-01 5.54962723e-03 9.74228014e-01 1.16191180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.68, Y:9.64, Z:11.63 [[ 9.11503434e-01 -3.51508911e-01 -2.13548531e-01 8.06800405e+01] [ 3.44196727e-01 9.36149709e-01 -7.17797781e-02 9.64378265e+00] [ 2.25144626e-01 -8.07519093e-03 9.74291891e-01 1.16340393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:80.70, Y:9.66, Z:11.64 [[ 9.11721631e-01 -3.52527431e-01 -2.10921970e-01 8.07043179e+01] [ 3.43617326e-01 9.35801241e-01 -7.87602101e-02 9.65690274e+00] [ 2.25146175e-01 -6.69056001e-04 9.74324767e-01 1.16384800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:80.73, Y:9.67, Z:11.64 [[ 9.12233265e-01 -3.52354966e-01 -2.08989110e-01 8.07285369e+01] [ 3.42747942e-01 9.35861736e-01 -8.17719922e-02 9.67326068e+00] [ 2.24397679e-01 2.96454420e-03 9.74493147e-01 1.16415302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.76, Y:9.69, Z:11.64 [[ 9.11234849e-01 -3.55023324e-01 -2.08828854e-01 8.07561599e+01] [ 3.43052635e-01 9.34774857e-01 -9.22543062e-02 9.69169856e+00] [ 2.27960392e-01 1.24260502e-02 9.73591112e-01 1.16434932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.78, Y:9.69, Z:11.66 [[ 9.12452380e-01 -3.46808226e-01 -2.17151350e-01 8.07796668e+01] [ 3.40878385e-01 9.37826897e-01 -6.54418629e-02 9.68781541e+00] [ 2.26346153e-01 -1.43096180e-02 9.73941812e-01 1.16595345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.81, Y:9.71, Z:11.66 [[ 9.11695064e-01 -3.50514644e-01 -2.14363231e-01 8.08052840e+01] [ 3.39655641e-01 9.36535877e-01 -8.68020515e-02 9.70846530e+00] [ 2.31184247e-01 6.32732096e-03 9.72889412e-01 1.16605048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88038572299999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.83, Y:9.71, Z:11.67 [[ 9.13106191e-01 -3.46918019e-01 -2.14207776e-01 8.08296384e+01] [ 3.38241917e-01 9.37893263e-01 -7.71273797e-02 9.71320653e+00] [ 2.27660908e-01 -2.02856101e-03 9.73738361e-01 1.16694659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:9.73, Z:11.67 [[ 9.12681219e-01 -3.49381827e-01 -2.12003140e-01 8.08540615e+01] [ 3.38721137e-01 9.36957256e-01 -8.59016426e-02 9.72819006e+00] [ 2.28650354e-01 6.59087115e-03 9.73486300e-01 1.16731353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:9.74, Z:11.68 [[ 9.12467903e-01 -3.48999547e-01 -2.13545411e-01 8.08816905e+01] [ 3.39227187e-01 9.37119759e-01 -8.20455536e-02 9.73778461e+00] [ 2.28751485e-01 2.42352507e-03 9.73481836e-01 1.16823463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.91, Y:9.75, Z:11.69 [[ 9.12318760e-01 -3.49007227e-01 -2.14169175e-01 8.09078718e+01] [ 3.38623809e-01 9.37108322e-01 -8.46280636e-02 9.75089824e+00] [ 2.30235522e-01 4.68498803e-03 9.73123659e-01 1.16886147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.93, Y:9.76, Z:11.70 [[ 9.12243631e-01 -3.48516591e-01 -2.15285262e-01 8.09340480e+01] [ 3.38769935e-01 9.37300981e-01 -8.18645313e-02 9.75926882e+00] [ 2.30318235e-01 1.74822294e-03 9.73113793e-01 1.16973879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.96, Y:9.78, Z:11.70 [[ 9.11972759e-01 -3.50928767e-01 -2.12496325e-01 8.09594646e+01] [ 3.38449774e-01 9.36303867e-01 -9.37380355e-02 9.77627742e+00] [ 2.31856504e-01 1.35672017e-02 9.72655382e-01 1.16994512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:9.79, Z:11.71 [[ 9.10893565e-01 -3.51855428e-01 -2.15570568e-01 8.09858440e+01] [ 3.38929068e-01 9.35950492e-01 -9.55183938e-02 9.78806626e+00] [ 2.35372045e-01 1.39439586e-02 9.71805313e-01 1.17058023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:81.01, Y:9.79, Z:11.72 [[ 9.09812539e-01 -3.49713505e-01 -2.23476194e-01 8.10145195e+01] [ 3.40548724e-01 9.36849528e-01 -7.96211535e-02 9.79117813e+00] [ 2.37208160e-01 -3.66420911e-03 9.71451935e-01 1.17210462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.04, Y:9.80, Z:11.73 [[ 9.10054135e-01 -3.48567249e-01 -2.24281839e-01 8.10378200e+01] [ 3.41322172e-01 9.37214638e-01 -7.16093401e-02 9.79790875e+00] [ 2.35160893e-01 -1.13839882e-02 9.71889788e-01 1.17293870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:81.06, Y:9.82, Z:11.73 [[ 9.07803566e-01 -3.57484152e-01 -2.19312031e-01 8.10626749e+01] [ 3.43963649e-01 9.33816313e-01 -9.83671786e-02 9.81978942e+00] [ 2.39961859e-01 1.38627092e-02 9.70683332e-01 1.17291026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.09, Y:9.82, Z:11.74 [[ 9.07036756e-01 -3.56378098e-01 -2.24229738e-01 8.10891367e+01] [ 3.46952834e-01 9.34333839e-01 -8.15107902e-02 9.82111956e+00] [ 2.38554092e-01 -3.86386038e-03 9.71121525e-01 1.17414308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:81.11, Y:9.83, Z:11.75 [[ 9.05923835e-01 -3.58814722e-01 -2.24842166e-01 8.11140686e+01] [ 3.49096376e-01 9.33403001e-01 -8.30093899e-02 9.83215864e+00] [ 2.39653344e-01 -3.29140036e-03 9.70852945e-01 1.17478944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.14, Y:9.85, Z:11.75 [[ 9.04748277e-01 -3.62947463e-01 -2.22934282e-01 8.11377256e+01] [ 3.52490357e-01 9.31809548e-01 -8.64957517e-02 9.84504457e+00] [ 2.39125706e-01 -3.25302205e-04 9.70988564e-01 1.17523314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:81.16, Y:9.85, Z:11.76 [[ 9.05064128e-01 -3.61643603e-01 -2.23769589e-01 8.11645287e+01] [ 3.52587730e-01 9.32297666e-01 -8.06408978e-02 9.85251975e+00] [ 2.37783130e-01 -5.91322755e-03 9.71300271e-01 1.17620596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:81.19, Y:9.87, Z:11.76 [[ 9.04965046e-01 -3.65614902e-01 -2.17632740e-01 8.11893839e+01] [ 3.53966430e-01 9.30746904e-01 -9.17494844e-02 9.86919069e+00] [ 2.36105978e-01 5.99539222e-03 9.71708816e-01 1.17624824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33038572299999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:81.22, Y:9.85, Z:11.80 [[ 9.04000869e-01 -3.51818657e-01 -2.42911633e-01 8.12199255e+01] [ 3.47384430e-01 9.35648422e-01 -6.23384928e-02 9.85451110e+00] [ 2.49211731e-01 -2.80296675e-02 9.68043310e-01 1.18011844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:81.24, Y:9.89, Z:11.77 [[ 9.05462180e-01 -3.66644066e-01 -2.13799835e-01 8.12379741e+01] [ 3.49978087e-01 9.29965575e-01 -1.12602699e-01 9.89384357e+00] [ 2.40111598e-01 2.71322287e-02 9.70366046e-01 1.17721362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:81.27, Y:9.90, Z:11.78 [[ 9.05098242e-01 -3.62968684e-01 -2.21474392e-01 8.12680185e+01] [ 3.49547236e-01 9.31727521e-01 -9.84913999e-02 9.89906211e+00] [ 2.42103080e-01 1.17286314e-02 9.70179642e-01 1.17839250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420385723 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:81.29, Y:9.90, Z:11.80 [[ 9.07433958e-01 -3.53572563e-01 -2.27046371e-01 8.12941620e+01] [ 3.44193047e-01 9.35395703e-01 -8.10310134e-02 9.90225858e+00] [ 2.41028543e-01 -4.61748884e-03 9.70507043e-01 1.17958748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:81.32, Y:9.92, Z:11.79 [[ 9.07713500e-01 -3.57419879e-01 -2.19789062e-01 8.13189325e+01] [ 3.43071987e-01 9.33791289e-01 -1.01663365e-01 9.92235263e+00] [ 2.41573619e-01 1.68777383e-02 9.70235708e-01 1.17942273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.34, Y:9.92, Z:11.81 [[ 9.08461570e-01 -3.49346867e-01 -2.29465342e-01 8.13443982e+01] [ 3.39835751e-01 9.36983493e-01 -8.10777216e-02 9.91679919e+00] [ 2.43329485e-01 -4.32453257e-03 9.69934049e-01 1.18113918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.37, Y:9.91, Z:11.84 [[ 9.07645143e-01 -3.41625855e-01 -2.43868959e-01 8.13718938e+01] [ 3.35236762e-01 9.39633766e-01 -6.85908097e-02 9.91083231e+00] [ 2.52579902e-01 -1.94977249e-02 9.67379570e-01 1.18388954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:9.95, Z:11.81 [[ 9.08794758e-01 -3.57826490e-01 -2.14597976e-01 8.13946958e+01] [ 3.40746513e-01 9.33313568e-01 -1.13214832e-01 9.95247130e+00] [ 2.40798469e-01 2.97655336e-02 9.70118606e-01 1.18124354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:9.94, Z:11.84 [[ 9.08693032e-01 -3.46559653e-01 -2.32751759e-01 8.14251369e+01] [ 3.38636381e-01 9.37962168e-01 -7.45142499e-02 9.94024979e+00] [ 2.44135976e-01 -1.11076336e-02 9.69677392e-01 1.18391861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:81.45, Y:9.97, Z:11.83 [[ 9.09158190e-01 -3.55722770e-01 -2.16547215e-01 8.14477091e+01] [ 3.40363729e-01 9.34320624e-01 -1.05818255e-01 9.96826731e+00] [ 2.39966492e-01 2.25007156e-02 9.70520376e-01 1.18288015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:9.94, Z:11.87 [[ 9.07908696e-01 -3.38320375e-01 -2.47469441e-01 8.14794153e+01] [ 3.34425320e-01 9.40576671e-01 -5.89511006e-02 9.94460104e+00] [ 2.52708341e-01 -2.92378299e-02 9.67100638e-01 1.18743127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:9.99, Z:11.84 [[ 9.09453383e-01 -3.57427876e-01 -2.12461426e-01 8.15000011e+01] [ 3.39318484e-01 9.33289333e-01 -1.17617967e-01 9.98845553e+00] [ 2.40327923e-01 3.48759692e-02 9.70065027e-01 1.18414298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:9.98, Z:11.86 [[ 9.09598411e-01 -3.48642385e-01 -2.26007120e-01 8.15303638e+01] [ 3.37655380e-01 9.37251907e-01 -8.68775407e-02 9.98013124e+00] [ 2.42114798e-01 2.71115280e-03 9.70243822e-01 1.18621441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:9.97, Z:11.88 [[ 9.10200348e-01 -3.39440144e-01 -2.37309323e-01 8.15538674e+01] [ 3.33737389e-01 9.40416034e-01 -6.50925406e-02 9.97441176e+00] [ 2.45264513e-01 -1.99517405e-02 9.69250869e-01 1.18821787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:9.99, Z:11.89 [[ 9.08281098e-01 -3.44793948e-01 -2.36944255e-01 8.15816010e+01] [ 3.33156214e-01 9.38676759e-01 -8.88418819e-02 9.99343097e+00] [ 2.53046208e-01 1.75395131e-03 9.67452604e-01 1.18907184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:10.00, Z:11.89 [[ 9.09868487e-01 -3.43154091e-01 -2.33205076e-01 8.16089172e+01] [ 3.30037589e-01 9.39236807e-01 -9.43896735e-02 1.00044366e+01] [ 2.51424993e-01 8.91574853e-03 9.67835721e-01 1.18917420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:10.01, Z:11.91 [[ 9.10624268e-01 -3.37387802e-01 -2.38606189e-01 8.16339965e+01] [ 3.25905932e-01 9.41364174e-01 -8.72858259e-02 1.00059569e+01] [ 2.54064491e-01 1.72141876e-03 9.67185748e-01 1.19062410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.66, Y:10.02, Z:11.91 [[ 9.10886003e-01 -3.37388056e-01 -2.37604693e-01 8.16598852e+01] [ 3.24701815e-01 9.41342917e-01 -9.18816781e-02 1.00165134e+01] [ 2.54667276e-01 6.54305925e-03 9.67006601e-01 1.19113674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:10.02, Z:11.92 [[ 9.11357667e-01 -3.35920791e-01 -2.37874809e-01 8.16888562e+01] [ 3.23353838e-01 9.41869633e-01 -9.12353556e-02 1.00241042e+01] [ 2.54694912e-01 6.23030850e-03 9.67001388e-01 1.19160366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:10.04, Z:11.92 [[ 9.11670621e-01 -3.36585165e-01 -2.35726759e-01 8.17147004e+01] [ 3.21975328e-01 9.41541410e-01 -9.91547312e-02 1.00364779e+01] [ 2.55320517e-01 1.44982547e-02 9.66747761e-01 1.19165370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.74, Y:10.05, Z:11.92 [[ 9.11605183e-01 -3.36353949e-01 -2.36309144e-01 8.17376415e+01] [ 3.22405791e-01 9.41660927e-01 -9.65878019e-02 1.00455964e+01] [ 2.55010776e-01 1.18625042e-02 9.66865443e-01 1.19218453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.76, Y:10.05, Z:11.93 [[ 9.11485071e-01 -3.36178196e-01 -2.37021487e-01 8.17632237e+01] [ 3.22705272e-01 9.41746788e-01 -9.47327531e-02 1.00533488e+01] [ 2.55061311e-01 9.85940647e-03 9.66874614e-01 1.19267250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:10.06, Z:11.93 [[ 9.11625101e-01 -3.36555582e-01 -2.35944943e-01 8.17918338e+01] [ 3.23134700e-01 9.41610277e-01 -9.46258536e-02 1.00608012e+01] [ 2.54015042e-01 1.00213052e-02 9.67148351e-01 1.19329644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:10.05, Z:11.96 [[ 9.09874815e-01 -3.31652071e-01 -2.49268378e-01 8.18196633e+01] [ 3.22232717e-01 9.43363500e-01 -7.89391107e-02 1.00524237e+01] [ 2.61331009e-01 -8.49771802e-03 9.65211838e-01 1.19604892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05038572299999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:81.84, Y:10.08, Z:11.94 [[ 9.10450047e-01 -3.43051363e-01 -2.31076770e-01 8.18423123e+01] [ 3.26167908e-01 9.39014983e-01 -1.08928227e-01 1.00802975e+01] [ 2.54352526e-01 2.38038831e-02 9.66818580e-01 1.19445556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.87, Y:10.07, Z:11.98 [[ 9.09496519e-01 -3.33743714e-01 -2.47853213e-01 8.18709418e+01] [ 3.24484481e-01 9.42621306e-01 -7.85804984e-02 1.00690636e+01] [ 2.59857467e-01 -8.95583161e-03 9.65605453e-01 1.19759327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:10.10, Z:11.96 [[ 9.10106995e-01 -3.45774498e-01 -2.28353354e-01 8.18953140e+01] [ 3.29128784e-01 9.38018658e-01 -1.08605898e-01 1.00970095e+01] [ 2.51752857e-01 2.36853255e-02 9.67501682e-01 1.19590468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:10.09, Z:11.99 [[ 9.09265841e-01 -3.34786292e-01 -2.47292883e-01 8.19228740e+01] [ 3.25946501e-01 9.42235966e-01 -7.71379469e-02 1.00860866e+01] [ 2.58832976e-01 -1.04653499e-02 9.65865398e-01 1.19911609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:10.12, Z:11.97 [[ 9.09911689e-01 -3.46844217e-01 -2.27507820e-01 8.19455445e+01] [ 3.29900328e-01 9.37589477e-01 -1.09962475e-01 1.01175697e+01] [ 2.51448787e-01 2.50012365e-02 9.67547645e-01 1.19710879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:10.12, Z:11.98 [[ 9.09464529e-01 -3.44002811e-01 -2.33530163e-01 8.19711943e+01] [ 3.30225740e-01 9.38902809e-01 -9.70179105e-02 1.01191317e+01] [ 2.52636560e-01 1.11166774e-02 9.67497384e-01 1.19835842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:10.13, Z:11.99 [[ 9.09325910e-01 -3.43480148e-01 -2.34835641e-01 8.19972882e+01] [ 3.30299905e-01 9.39121730e-01 -9.46168510e-02 1.01278519e+01] [ 2.53038263e-01 8.47136423e-03 9.67419182e-01 1.19920000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:10.12, Z:12.02 [[ 9.08252367e-01 -3.34092322e-01 -2.51912602e-01 8.20277536e+01] [ 3.26114789e-01 9.42423069e-01 -7.40803857e-02 1.01200645e+01] [ 2.62157935e-01 -1.48687392e-02 9.64910430e-01 1.20231868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:10.16, Z:12.00 [[ 9.08968390e-01 -3.48655563e-01 -2.28507691e-01 8.20500626e+01] [ 3.30964576e-01 9.36861290e-01 -1.12930832e-01 1.01550967e+01] [ 2.53453973e-01 2.70226059e-02 9.66969939e-01 1.19988562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:10.16, Z:12.01 [[ 9.08140440e-01 -3.49225083e-01 -2.30917262e-01 8.20762802e+01] [ 3.34729927e-01 9.36933980e-01 -1.00551443e-01 1.01608623e+01] [ 2.51469315e-01 1.40199136e-02 9.67763724e-01 1.20076929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:10.15, Z:12.05 [[ 9.06717860e-01 -3.37057486e-01 -2.53485650e-01 8.21057119e+01] [ 3.30572554e-01 9.41246867e-01 -6.91094908e-02 1.01475980e+01] [ 2.61886445e-01 -2.11325890e-02 9.64867298e-01 1.20459246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:10.17, Z:12.04 [[ 9.06081784e-01 -3.45476875e-01 -2.44257097e-01 8.21293491e+01] [ 3.32153526e-01 9.38413482e-01 -9.51534191e-02 1.01679391e+01] [ 2.62087459e-01 5.08592384e-03 9.65030724e-01 1.20414049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:10.18, Z:12.05 [[ 9.05702534e-01 -3.46271016e-01 -2.44538960e-01 8.21547772e+01] [ 3.32934646e-01 9.38121736e-01 -9.53002103e-02 1.01763905e+01] [ 2.62407015e-01 4.89814981e-03 9.64944852e-01 1.20489149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:10.20, Z:12.03 [[ 9.05787982e-01 -3.56404106e-01 -2.29181685e-01 8.21750077e+01] [ 3.39112639e-01 9.34024692e-01 -1.12251913e-01 1.02008943e+01] [ 2.54068396e-01 2.39580277e-02 9.66889478e-01 1.20344478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:10.19, Z:12.07 [[ 9.05155927e-01 -3.43334122e-01 -2.50628067e-01 8.22059140e+01] [ 3.34435676e-01 9.39128748e-01 -7.86763825e-02 1.01872458e+01] [ 2.62384309e-01 -1.26045731e-02 9.64881132e-01 1.20712128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:10.22, Z:12.05 [[ 9.06013095e-01 -3.55208299e-01 -2.30146335e-01 8.22272251e+01] [ 3.38356800e-01 9.34525827e-01 -1.10345613e-01 1.02190069e+01] [ 2.54273372e-01 2.21029930e-02 9.66879781e-01 1.20511053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:10.21, Z:12.09 [[ 9.05532464e-01 -3.43162823e-01 -2.49499966e-01 8.22564575e+01] [ 3.34041783e-01 9.39206422e-01 -7.94190402e-02 1.02080358e+01] [ 2.61585632e-01 -1.14268943e-02 9.65112627e-01 1.20853739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:10.23, Z:12.09 [[ 9.06209259e-01 -3.46526158e-01 -2.42289910e-01 8.22807295e+01] [ 3.33385486e-01 9.38026978e-01 -9.46546665e-02 1.02270161e+01] [ 2.60074790e-01 5.00099553e-03 9.65575524e-01 1.20854382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:10.24, Z:12.09 [[ 9.07261637e-01 -3.44713776e-01 -2.40933052e-01 8.23051861e+01] [ 3.31638748e-01 9.38691350e-01 -9.42034550e-02 1.02383285e+01] [ 2.58635001e-01 5.56444489e-03 9.65959095e-01 1.20929270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:10.25, Z:12.10 [[ 9.07550041e-01 -3.44512976e-01 -2.40132738e-01 8.23306116e+01] [ 3.31498339e-01 9.38764381e-01 -9.39696099e-02 1.02482894e+01] [ 2.57801811e-01 5.67851979e-03 9.66181132e-01 1.21006180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:10.26, Z:12.11 [[ 9.07944322e-01 -3.43689434e-01 -2.39822185e-01 8.23544556e+01] [ 3.30660166e-01 9.39064330e-01 -9.39257031e-02 1.02574378e+01] [ 2.57489732e-01 5.97966516e-03 9.66262533e-01 1.21080721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:10.27, Z:12.11 [[ 9.07931305e-01 -3.43428734e-01 -2.40244561e-01 8.23794570e+01] [ 3.30329140e-01 9.39158813e-01 -9.41455453e-02 1.02676557e+01] [ 2.57960082e-01 6.11790874e-03 9.66136205e-01 1.21146761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:10.28, Z:12.12 [[ 9.07883277e-01 -3.43712994e-01 -2.40019443e-01 8.24035502e+01] [ 3.30627791e-01 9.39054898e-01 -9.41337444e-02 1.02780807e+01] [ 2.57746425e-01 6.10535423e-03 9.66193306e-01 1.21203260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.43, Y:10.29, Z:12.13 [[ 9.07789215e-01 -3.43925672e-01 -2.40070559e-01 8.24277129e+01] [ 3.30832705e-01 9.38977188e-01 -9.41889704e-02 1.02883536e+01] [ 2.57814783e-01 6.08053904e-03 9.66175225e-01 1.21264818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77038572299999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.45, Y:10.30, Z:12.13 [[ 9.07196535e-01 -3.44919063e-01 -2.40884384e-01 8.24532939e+01] [ 3.31749356e-01 9.38613928e-01 -9.45846671e-02 1.02996437e+01] [ 2.58721493e-01 5.89364291e-03 9.65933980e-01 1.21326197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:10.31, Z:12.14 [[ 9.06800236e-01 -3.45594623e-01 -2.41407723e-01 8.24781370e+01] [ 3.32369503e-01 9.38366053e-01 -9.48665553e-02 1.03098526e+01] [ 2.59314184e-01 5.78844965e-03 9.65775672e-01 1.21392660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.50, Y:10.32, Z:12.15 [[ 9.06527785e-01 -3.45876808e-01 -2.42026049e-01 8.25025254e+01] [ 3.32572050e-01 9.38262027e-01 -9.51850883e-02 1.03191296e+01] [ 2.60006166e-01 5.79682791e-03 9.65589556e-01 1.21465253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:82.52, Y:10.34, Z:12.13 [[ 9.05668760e-01 -3.56912790e-01 -2.28861001e-01 8.25209399e+01] [ 3.39967232e-01 9.33860738e-01 -1.11024335e-01 1.03442487e+01] [ 2.53350308e-01 2.27460314e-02 9.67107150e-01 1.21335830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:10.33, Z:12.17 [[ 9.05408595e-01 -3.44160054e-01 -2.48574200e-01 8.25540802e+01] [ 3.34451988e-01 9.38866128e-01 -8.16839111e-02 1.03328133e+01] [ 2.61490236e-01 -9.17882011e-03 9.65162476e-01 1.21679005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:10.35, Z:12.17 [[ 9.04746190e-01 -3.49780132e-01 -2.43080628e-01 8.25775159e+01] [ 3.36484442e-01 9.36819849e-01 -9.56388582e-02 1.03514182e+01] [ 2.61175330e-01 4.73604320e-03 9.65279761e-01 1.21677719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:10.36, Z:12.17 [[ 9.04353428e-01 -3.51015295e-01 -2.42761486e-01 8.26027029e+01] [ 3.37777672e-01 9.36359154e-01 -9.55917276e-02 1.03613411e+01] [ 2.60866098e-01 4.44929702e-03 9.65364741e-01 1.21747527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:10.37, Z:12.18 [[ 9.03808194e-01 -3.52301398e-01 -2.42928947e-01 8.26269045e+01] [ 3.39069554e-01 9.35877365e-01 -9.57360708e-02 1.03695132e+01] [ 2.61079655e-01 4.15723529e-03 9.65308309e-01 1.21823350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:10.39, Z:12.17 [[ 9.02703124e-01 -3.62901590e-01 -2.31148235e-01 8.26450173e+01] [ 3.46808391e-01 9.31661057e-01 -1.08312577e-01 1.03887547e+01] [ 2.54658616e-01 1.76099545e-02 9.66870663e-01 1.21732611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:10.38, Z:12.20 [[ 9.03417209e-01 -3.51468516e-01 -2.45575301e-01 8.26794350e+01] [ 3.41118194e-01 9.36173395e-01 -8.49573519e-02 1.03807408e+01] [ 2.59760898e-01 -7.01826940e-03 9.65647462e-01 1.22040754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:10.41, Z:12.19 [[ 9.03183774e-01 -3.62434675e-01 -2.30000384e-01 8.26963865e+01] [ 3.46732331e-01 9.31858580e-01 -1.06846978e-01 1.04140364e+01] [ 2.53052882e-01 1.67538876e-02 9.67307369e-01 1.21861942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:10.42, Z:12.19 [[ 9.03557617e-01 -3.59415650e-01 -2.33246700e-01 8.27225047e+01] [ 3.45619907e-01 9.33135560e-01 -9.90197234e-02 1.04217229e+01] [ 2.53240028e-01 8.85532264e-03 9.67362947e-01 1.21949339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:10.43, Z:12.20 [[ 9.03602086e-01 -3.56998157e-01 -2.36760609e-01 8.27461090e+01] [ 3.43747187e-01 9.34086789e-01 -9.65388097e-02 1.04285733e+01] [ 2.55619134e-01 5.84687652e-03 9.66759883e-01 1.22032532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:10.44, Z:12.21 [[ 9.04131669e-01 -3.55417069e-01 -2.37117340e-01 8.27724755e+01] [ 3.41229723e-01 9.34660829e-01 -9.98569491e-02 1.04377904e+01] [ 2.57115154e-01 9.37234599e-03 9.66335323e-01 1.22111265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:10.45, Z:12.22 [[ 9.04126402e-01 -3.54107546e-01 -2.39088467e-01 8.27966866e+01] [ 3.40301182e-01 9.35175281e-01 -9.81952060e-02 1.04458004e+01] [ 2.58361288e-01 7.41879028e-03 9.66019879e-01 1.22202926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:10.44, Z:12.25 [[ 9.05795803e-01 -3.42968842e-01 -2.48809842e-01 8.28313497e+01] [ 3.31329718e-01 9.39344275e-01 -8.86168735e-02 1.04435583e+01] [ 2.64110927e-01 -2.16930278e-03 9.64489872e-01 1.22457456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:10.46, Z:12.25 [[ 9.05925698e-01 -3.44901884e-01 -2.45644704e-01 8.28553129e+01] [ 3.31208207e-01 9.38619711e-01 -9.64062337e-02 1.04580499e+01] [ 2.63817652e-01 5.97734260e-03 9.64554051e-01 1.22489811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:10.47, Z:12.25 [[ 9.06155215e-01 -3.45118990e-01 -2.44490507e-01 8.28797709e+01] [ 3.31554083e-01 9.38540269e-01 -9.59898571e-02 1.04705790e+01] [ 2.62592109e-01 5.91988373e-03 9.64888770e-01 1.22548449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:10.49, Z:12.24 [[ 9.05409954e-01 -3.54585027e-01 -2.33457221e-01 8.28957440e+01] [ 3.38315036e-01 9.34838397e-01 -1.07796609e-01 1.04937040e+01] [ 2.56467838e-01 1.86180349e-02 9.66373436e-01 1.22436603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:10.48, Z:12.28 [[ 9.06774325e-01 -3.40217588e-01 -2.49022722e-01 8.29319789e+01] [ 3.28625000e-01 9.40344678e-01 -8.80766451e-02 1.04832839e+01] [ 2.64132415e-01 -1.96945147e-03 9.64484416e-01 1.22753470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:10.50, Z:12.28 [[ 9.07124557e-01 -3.41294681e-01 -2.46257951e-01 8.29565075e+01] [ 3.27386302e-01 9.39929564e-01 -9.66986266e-02 1.04962310e+01] [ 2.64467855e-01 7.09621890e-03 9.64368393e-01 1.22795169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:10.51, Z:12.29 [[ 9.07731243e-01 -3.40183147e-01 -2.45559397e-01 8.29813579e+01] [ 3.26292845e-01 9.40329471e-01 -9.65062987e-02 1.05065129e+01] [ 2.63736554e-01 7.47750819e-03 9.64565766e-01 1.22860892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:10.52, Z:12.29 [[ 9.07950207e-01 -3.39678847e-01 -2.45447964e-01 8.30053188e+01] [ 3.25761424e-01 9.40509976e-01 -9.65426302e-02 1.05166413e+01] [ 2.63639748e-01 7.69842283e-03 9.64590492e-01 1.22927418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:10.54, Z:12.28 [[ 9.08954907e-01 -3.44484946e-01 -2.34800127e-01 8.30209025e+01] [ 3.30007271e-01 9.38700096e-01 -9.96861612e-02 1.05355851e+01] [ 2.54747283e-01 1.31244763e-02 9.66918595e-01 1.22822757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:10.56, Z:12.28 [[ 9.08709906e-01 -3.48512642e-01 -2.29750397e-01 8.30468531e+01] [ 3.29674144e-01 9.36801573e-01 -1.17122894e-01 1.05553176e+01] [ 2.56049343e-01 3.06879689e-02 9.66176476e-01 1.22836343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:10.56, Z:12.30 [[ 9.08560580e-01 -3.43768633e-01 -2.37362168e-01 8.30743673e+01] [ 3.29012151e-01 9.38961221e-01 -1.00512838e-01 1.05562157e+01] [ 2.57427032e-01 1.32269651e-02 9.66207209e-01 1.22993036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:10.55, Z:12.33 [[ 9.08810337e-01 -3.32005514e-01 -2.52658089e-01 8.31074495e+01] [ 3.22935172e-01 9.43214990e-01 -7.78354483e-02 1.05465321e+01] [ 2.64152695e-01 -1.08545235e-02 9.64419791e-01 1.23316299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:10.55, Z:12.34 [[ 9.11802827e-01 -3.26583364e-01 -2.48915469e-01 8.31256898e+01] [ 3.19289185e-01 9.45043799e-01 -7.03323126e-02 1.05503941e+01] [ 2.58205384e-01 -1.53468160e-02 9.65968144e-01 1.23375793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:10.60, Z:12.31 [[ 9.10968716e-01 -3.49152280e-01 -2.19610298e-01 8.31437988e+01] [ 3.26131024e-01 9.35669193e-01 -1.34765409e-01 1.06037905e+01] [ 2.52536240e-01 5.11453406e-02 9.66234755e-01 1.23056438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.17, Y:10.59, Z:12.33 [[ 9.10781116e-01 -3.39813641e-01 -2.34530270e-01 8.31724957e+01] [ 3.26008753e-01 9.40422668e-01 -9.65582601e-02 1.05936700e+01] [ 2.53369396e-01 1.14845190e-02 9.67301429e-01 1.23286571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:10.59, Z:12.36 [[ 9.10968964e-01 -3.30565288e-01 -2.46702527e-01 8.32038986e+01] [ 3.21103846e-01 9.43754339e-01 -7.88674031e-02 1.05880799e+01] [ 2.58897407e-01 -7.37137384e-03 9.65876698e-01 1.23550627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:10.60, Z:12.36 [[ 9.10704840e-01 -3.34791101e-01 -2.41933077e-01 8.32276339e+01] [ 3.21372065e-01 9.42258268e-01 -9.41772350e-02 1.06021432e+01] [ 2.59493142e-01 8.01713131e-03 9.65711673e-01 1.23569654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:10.61, Z:12.37 [[ 9.10149085e-01 -3.36402120e-01 -2.41789694e-01 8.32527772e+01] [ 3.23045665e-01 9.41687871e-01 -9.41565303e-02 1.06105850e+01] [ 2.59364879e-01 7.58736729e-03 9.65749601e-01 1.23652878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:10.62, Z:12.37 [[ 9.10085775e-01 -3.37145822e-01 -2.40990823e-01 8.32773395e+01] [ 3.23884522e-01 9.41423172e-01 -9.39213883e-02 1.06209459e+01] [ 2.58539549e-01 7.42332188e-03 9.65972151e-01 1.23715724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:10.63, Z:12.38 [[ 9.09842128e-01 -3.38121920e-01 -2.40542863e-01 8.33022356e+01] [ 3.24934862e-01 9.41075029e-01 -9.37823249e-02 1.06323309e+01] [ 2.58078741e-01 7.16634804e-03 9.66097307e-01 1.23779272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:10.65, Z:12.38 [[ 9.09524272e-01 -3.38680570e-01 -2.40958647e-01 8.33269777e+01] [ 3.25444998e-01 9.40874640e-01 -9.40237477e-02 1.06451527e+01] [ 2.58555897e-01 7.09809423e-03 9.65970220e-01 1.23829241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:10.67, Z:12.37 [[ 9.09332364e-01 -3.45632249e-01 -2.31631171e-01 8.33496156e+01] [ 3.28821265e-01 9.38091325e-01 -1.08909332e-01 1.06666489e+01] [ 2.54933769e-01 2.28695254e-02 9.66688036e-01 1.23742140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:10.65, Z:12.41 [[ 9.08712676e-01 -3.36851373e-01 -2.46520639e-01 8.33793103e+01] [ 3.27277874e-01 9.41524939e-01 -8.01247960e-02 1.06540971e+01] [ 2.59095477e-01 -7.87033291e-03 9.65819647e-01 1.24063778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:10.67, Z:12.41 [[ 9.08562460e-01 -3.41613390e-01 -2.40446561e-01 8.34034402e+01] [ 3.28493888e-01 9.39818759e-01 -9.39812023e-02 1.06699800e+01] [ 2.58081426e-01 6.40256666e-03 9.66101954e-01 1.24082347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:10.68, Z:12.42 [[ 9.08211738e-01 -3.42900683e-01 -2.39938661e-01 8.34286753e+01] [ 3.29860514e-01 9.39351853e-01 -9.38623270e-02 1.06805689e+01] [ 2.57572282e-01 6.10057686e-03 9.66239775e-01 1.24155353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:10.70, Z:12.41 [[ 9.07778352e-01 -3.47698641e-01 -2.34614830e-01 8.34534406e+01] [ 3.33204711e-01 9.37519710e-01 -1.00156947e-01 1.07009639e+01] [ 2.54780462e-01 1.27455411e-02 9.66914923e-01 1.24116679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:10.70, Z:12.43 [[ 9.07157437e-01 -3.43837789e-01 -2.42571557e-01 8.34778441e+01] [ 3.32674824e-01 9.39027245e-01 -8.69212034e-02 1.07021902e+01] [ 2.57668095e-01 -1.84623377e-03 9.66231724e-01 1.24315379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:10.71, Z:12.44 [[ 9.06961079e-01 -3.46705383e-01 -2.39200707e-01 8.35026532e+01] [ 3.33827339e-01 9.37959754e-01 -9.37593085e-02 1.07144884e+01] [ 2.56867493e-01 5.18430834e-03 9.66432726e-01 1.24366890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:10.72, Z:12.45 [[ 9.06647998e-01 -3.47824117e-01 -2.38763044e-01 8.35285431e+01] [ 3.35012012e-01 9.37546833e-01 -9.36636972e-02 1.07230602e+01] [ 2.56430028e-01 4.93151587e-03 9.66550216e-01 1.24451059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:10.74, Z:12.44 [[ 9.06316530e-01 -3.53039350e-01 -2.32279066e-01 8.35561047e+01] [ 3.37941571e-01 9.35487002e-01 -1.03245167e-01 1.07391141e+01] [ 2.53743654e-01 1.50760494e-02 9.67154006e-01 1.24430274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:10.74, Z:12.46 [[ 9.05326365e-01 -3.48207413e-01 -2.43178476e-01 8.35806036e+01] [ 3.38316165e-01 9.37388543e-01 -8.27338638e-02 1.07383162e+01] [ 2.56761262e-01 -7.37006125e-03 9.66446758e-01 1.24643672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:10.75, Z:12.47 [[ 9.05320694e-01 -3.51223296e-01 -2.38823446e-01 8.36055550e+01] [ 3.38473964e-01 9.36282569e-01 -9.38633382e-02 1.07540923e+01] [ 2.56573221e-01 4.14090402e-03 9.66515926e-01 1.24664172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:10.77, Z:12.46 [[ 9.05867513e-01 -3.54279198e-01 -2.32142840e-01 8.36333276e+01] [ 3.39226165e-01 9.35023073e-01 -1.03234985e-01 1.07747799e+01] [ 2.53632919e-01 1.47682935e-02 9.67187800e-01 1.24598190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:10.77, Z:12.48 [[ 9.05014482e-01 -3.48956038e-01 -2.43266254e-01 8.36566775e+01] [ 3.39148744e-01 9.37106457e-01 -8.25204108e-02 1.07729863e+01] [ 2.56762373e-01 -7.82127783e-03 9.66442917e-01 1.24827847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:10.79, Z:12.49 [[ 9.05223602e-01 -3.52065579e-01 -2.37949698e-01 8.36811326e+01] [ 3.39390117e-01 9.35966493e-01 -9.37073719e-02 1.07868567e+01] [ 2.55704084e-01 4.06834900e-03 9.66746539e-01 1.24862933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:10.80, Z:12.49 [[ 9.05182806e-01 -3.52510614e-01 -2.37445479e-01 8.37061004e+01] [ 3.39884333e-01 9.35799228e-01 -9.35865640e-02 1.07960533e+01] [ 2.55191553e-01 4.00895065e-03 9.66882206e-01 1.24940280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:10.81, Z:12.49 [[ 9.06426871e-01 -3.55315460e-01 -2.28344589e-01 8.37342835e+01] [ 3.39799902e-01 9.34574359e-01 -1.05388776e-01 1.08131111e+01] [ 2.50851260e-01 1.79357491e-02 9.67859470e-01 1.24889012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:10.81, Z:12.51 [[ 9.05434153e-01 -3.49298947e-01 -2.41203730e-01 8.37568372e+01] [ 3.40673714e-01 9.36940208e-01 -7.80029937e-02 1.08101448e+01] [ 2.53239836e-01 -1.15451958e-02 9.67334634e-01 1.25148604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:10.83, Z:12.51 [[ 9.05451586e-01 -3.53297304e-01 -2.35241237e-01 8.37799337e+01] [ 3.40888029e-01 9.35502876e-01 -9.28962849e-02 1.08285748e+01] [ 2.52888861e-01 3.92216682e-03 9.67487385e-01 1.25142064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:10.84, Z:12.52 [[ 9.05966057e-01 -3.52991895e-01 -2.33713984e-01 8.38035585e+01] [ 3.40722934e-01 9.35617706e-01 -9.23438727e-02 1.08408325e+01] [ 2.51263580e-01 4.02869989e-03 9.67910318e-01 1.25183812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:10.85, Z:12.53 [[ 9.06097586e-01 -3.53159455e-01 -2.32949704e-01 8.38288729e+01] [ 3.40969024e-01 9.35554595e-01 -9.20745620e-02 1.08516025e+01] [ 2.50454168e-01 3.99990527e-03 9.68120194e-01 1.25257324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:10.86, Z:12.53 [[ 9.06350082e-01 -3.52869728e-01 -2.32405861e-01 8.38530937e+01] [ 3.40708000e-01 9.35663285e-01 -9.19362561e-02 1.08611610e+01] [ 2.49895153e-01 4.14389696e-03 9.68264034e-01 1.25325465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:10.87, Z:12.54 [[ 9.06790825e-01 -3.51438687e-01 -2.32854565e-01 8.38778064e+01] [ 3.39168964e-01 9.36199604e-01 -9.21667773e-02 1.08720598e+01] [ 2.50389323e-01 4.59894660e-03 9.68134307e-01 1.25401582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:10.89, Z:12.54 [[ 9.08187783e-01 -3.52848824e-01 -2.25150301e-01 8.39081338e+01] [ 3.37539679e-01 9.35488584e-01 -1.04537430e-01 1.08900088e+01] [ 2.47511445e-01 1.89424568e-02 9.68699782e-01 1.25352032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.93, Y:10.90, Z:12.54 [[ 9.08799008e-01 -3.48375301e-01 -2.29606213e-01 8.39321990e+01] [ 3.35483415e-01 9.37315085e-01 -9.42937464e-02 1.08973978e+01] [ 2.48062979e-01 8.66498687e-03 9.68705155e-01 1.25448586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:10.90, Z:12.57 [[ 9.07550188e-01 -3.42290643e-01 -2.43289483e-01 8.39526322e+01] [ 3.34770883e-01 9.39470675e-01 -7.29610014e-02 1.08964068e+01] [ 2.53537203e-01 -1.52304643e-02 9.67205728e-01 1.25708659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:10.92, Z:12.57 [[ 9.07755357e-01 -3.47369644e-01 -2.35190436e-01 8.39749065e+01] [ 3.34662060e-01 9.37709256e-01 -9.32880302e-02 1.09163979e+01] [ 2.52945679e-01 5.97339322e-03 9.67462042e-01 1.25694667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:10.94, Z:12.56 [[ 9.08574042e-01 -3.51400530e-01 -2.25855879e-01 8.40080021e+01] [ 3.34667505e-01 9.35911935e-01 -1.09847672e-01 1.09355580e+01] [ 2.49981743e-01 2.42181198e-02 9.67947628e-01 1.25609862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:10.94, Z:12.58 [[ 9.07781829e-01 -3.47615565e-01 -2.34724457e-01 8.40362138e+01] [ 3.35595972e-01 9.37630413e-01 -9.06893176e-02 1.09378108e+01] [ 2.51609808e-01 3.55353237e-03 9.67822234e-01 1.25766205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:10.95, Z:12.58 [[ 9.07407998e-01 -3.49758693e-01 -2.32979789e-01 8.40633977e+01] [ 3.37229532e-01 9.36821986e-01 -9.29559563e-02 1.09528303e+01] [ 2.50772742e-01 5.78131310e-03 9.68028723e-01 1.25810655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:10.96, Z:12.59 [[ 9.04408097e-01 -3.51938404e-01 -2.41216403e-01 8.40797105e+01] [ 3.38510338e-01 9.36006557e-01 -9.64493427e-02 1.09626660e+01] [ 2.59724363e-01 5.57532043e-03 9.65666698e-01 1.25944404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:10.97, Z:12.60 [[ 9.07229078e-01 -3.49403020e-01 -2.34207025e-01 8.41111065e+01] [ 3.38363732e-01 9.36972514e-01 -8.71349152e-02 1.09689278e+01] [ 2.49890747e-01 -1.95834252e-04 9.68274019e-01 1.25983360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:10.98, Z:12.60 [[ 9.07159582e-01 -3.50546212e-01 -2.32763497e-01 8.41356459e+01] [ 3.38472774e-01 9.36536736e-01 -9.12968977e-02 1.09819914e+01] [ 2.49995347e-01 4.03674910e-03 9.68238623e-01 1.26034751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:10.99, Z:12.61 [[ 9.07201900e-01 -3.50447273e-01 -2.32747547e-01 8.41587117e+01] [ 3.38897752e-01 9.36580125e-01 -8.92523551e-02 1.09930322e+01] [ 2.49264971e-01 2.09228569e-03 9.68433062e-01 1.26105261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.19, Y:11.01, Z:12.62 [[ 9.06857138e-01 -3.52329306e-01 -2.31244875e-01 8.41876131e+01] [ 3.39728419e-01 9.35854759e-01 -9.35973879e-02 1.10072940e+01] [ 2.49388719e-01 6.31900359e-03 9.68382846e-01 1.26165136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:11.02, Z:12.62 [[ 9.06645427e-01 -3.52661373e-01 -2.31568621e-01 8.42115234e+01] [ 3.41082022e-01 9.35748177e-01 -8.96571462e-02 1.10160389e+01] [ 2.48308528e-01 2.30334796e-03 9.68678259e-01 1.26245852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:11.03, Z:12.63 [[ 9.06374647e-01 -3.54250491e-01 -2.30199020e-01 8.42364692e+01] [ 3.42639608e-01 9.35146695e-01 -8.99930969e-02 1.10265547e+01] [ 2.47149952e-01 2.69215938e-03 9.68973505e-01 1.26313817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:11.03, Z:12.64 [[ 9.06077340e-01 -3.54574161e-01 -2.30870133e-01 8.42559285e+01] [ 3.41968789e-01 9.35007780e-01 -9.39031313e-02 1.10347672e+01] [ 2.49160994e-01 6.13311986e-03 9.68442659e-01 1.26373955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:11.05, Z:12.65 [[ 9.04667028e-01 -3.60201169e-01 -2.27667930e-01 8.42870057e+01] [ 3.48100422e-01 9.32863282e-01 -9.26940871e-02 1.10459474e+01] [ 2.45771571e-01 4.60598173e-03 9.69316831e-01 1.26462229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:11.06, Z:12.65 [[ 9.04204081e-01 -3.61643666e-01 -2.27219803e-01 8.43120316e+01] [ 3.49438372e-01 9.32303220e-01 -9.32927120e-02 1.10566388e+01] [ 2.45576472e-01 4.95633283e-03 9.69364550e-01 1.26523782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.34, Y:11.07, Z:12.66 [[ 9.03306423e-01 -3.63246569e-01 -2.28231103e-01 8.43357256e+01] [ 3.51199661e-01 9.31685638e-01 -9.28475628e-02 1.10701306e+01] [ 2.46366199e-01 3.71511389e-03 9.69169693e-01 1.26567873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:11.08, Z:12.66 [[ 9.02979173e-01 -3.63772294e-01 -2.28688286e-01 8.43600304e+01] [ 3.51684372e-01 9.31480905e-01 -9.30667816e-02 1.10813849e+01] [ 2.46873888e-01 3.61126939e-03 9.69040888e-01 1.26616732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:11.10, Z:12.66 [[ 9.03034962e-01 -3.67279429e-01 -2.22786174e-01 8.43849302e+01] [ 3.52423201e-01 9.29973575e-01 -1.04628090e-01 1.10981682e+01] [ 2.45613000e-01 1.59678068e-02 9.69236444e-01 1.26593749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.41, Y:11.10, Z:12.67 [[ 9.01902393e-01 -3.66506304e-01 -2.28572095e-01 8.44122213e+01] [ 3.54590941e-01 9.30411981e-01 -9.27297741e-02 1.11004505e+01] [ 2.46652262e-01 2.58361111e-03 9.69100607e-01 1.26718303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:84.44, Y:11.10, Z:12.69 [[ 9.00580854e-01 -3.63691784e-01 -2.38080681e-01 8.44386118e+01] [ 3.55521427e-01 9.31408036e-01 -7.79973382e-02 1.11015957e+01] [ 2.50117251e-01 -1.43998742e-02 9.68108467e-01 1.26919326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:11.12, Z:12.69 [[ 9.00290561e-01 -3.70315418e-01 -2.28786794e-01 8.44598744e+01] [ 3.58230211e-01 9.28902573e-01 -9.38675967e-02 1.11214721e+01] [ 2.47281260e-01 2.54976951e-03 9.68940389e-01 1.26898558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:11.13, Z:12.70 [[ 9.00314165e-01 -3.70926531e-01 -2.27701368e-01 8.44846113e+01] [ 3.59028155e-01 9.28659664e-01 -9.32202304e-02 1.11323905e+01] [ 2.46034933e-01 2.17629170e-03 9.69258518e-01 1.26970593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:11.15, Z:12.70 [[ 8.98894477e-01 -3.76492471e-01 -2.24147581e-01 8.45102620e+01] [ 3.59102008e-01 9.26126292e-01 -1.15480900e-01 1.11547520e+01] [ 2.51066657e-01 2.33132971e-02 9.67689012e-01 1.26955875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:11.15, Z:12.72 [[ 8.99894148e-01 -3.67196467e-01 -2.35281271e-01 8.45388627e+01] [ 3.57963149e-01 9.30089273e-01 -8.24398474e-02 1.11488409e+01] [ 2.49104207e-01 -1.00348885e-02 9.68424698e-01 1.27182826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:11.17, Z:12.72 [[ 8.99733772e-01 -3.69802220e-01 -2.31787530e-01 8.45636226e+01] [ 3.56923671e-01 9.29100068e-01 -9.68429444e-02 1.11660928e+01] [ 2.51166545e-01 4.40241166e-03 9.67933874e-01 1.27211953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.59, Y:11.15, Z:12.77 [[ 8.99848860e-01 -3.51984271e-01 -2.57641421e-01 8.45890276e+01] [ 3.51189099e-01 9.34930587e-01 -5.07051642e-02 1.11494149e+01] [ 2.58724266e-01 -4.48538744e-02 9.64909262e-01 1.27661033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:11.21, Z:12.72 [[ 9.00928653e-01 -3.75908688e-01 -2.16841466e-01 8.46123356e+01] [ 3.53504061e-01 9.25532279e-01 -1.35738278e-01 1.12070549e+01] [ 2.51718974e-01 4.56361654e-02 9.66723796e-01 1.27230186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:11.20, Z:12.75 [[ 9.01598302e-01 -3.63447230e-01 -2.34577518e-01 8.46419863e+01] [ 3.51154663e-01 9.31612303e-01 -9.37492372e-02 1.11953170e+01] [ 2.52608202e-01 2.15116395e-03 9.67566261e-01 1.27489734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:11.20, Z:12.77 [[ 9.02523302e-01 -3.56708049e-01 -2.41269678e-01 8.46678646e+01] [ 3.49660879e-01 9.34032184e-01 -7.29462043e-02 1.11977561e+01] [ 2.51374143e-01 -1.85269186e-02 9.67712661e-01 1.27661466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:11.23, Z:12.76 [[ 9.03095004e-01 -3.63987897e-01 -2.27886429e-01 8.46911066e+01] [ 3.48086459e-01 9.31226550e-01 -1.07948737e-01 1.12260600e+01] [ 2.51505927e-01 1.81637853e-02 9.67685303e-01 1.27575587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:11.23, Z:12.78 [[ 9.03267201e-01 -3.57456260e-01 -2.37346552e-01 8.47174459e+01] [ 3.46701855e-01 9.33922878e-01 -8.70969685e-02 1.12250393e+01] [ 2.52796731e-01 -3.61665468e-03 9.67512652e-01 1.27761032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:11.24, Z:12.78 [[ 9.02916038e-01 -3.58788400e-01 -2.36671738e-01 8.47434095e+01] [ 3.46028850e-01 9.33411191e-01 -9.49082907e-02 1.12386398e+01] [ 2.54964043e-01 3.79896854e-03 9.66943072e-01 1.27819999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:11.24, Z:12.79 [[ 9.02836866e-01 -3.56245712e-01 -2.40779122e-01 8.47686417e+01] [ 3.45241966e-01 9.34384850e-01 -8.79371165e-02 1.12435833e+01] [ 2.56307584e-01 -3.73418648e-03 9.66588060e-01 1.27941262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:11.26, Z:12.80 [[ 9.02545459e-01 -3.59191441e-01 -2.37472533e-01 8.47943528e+01] [ 3.45533781e-01 9.33239873e-01 -9.83348657e-02 1.12591371e+01] [ 2.56939878e-01 6.69690431e-03 9.66404186e-01 1.27972641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:11.27, Z:12.81 [[ 9.02078300e-01 -3.59601679e-01 -2.38623914e-01 8.48231337e+01] [ 3.48654039e-01 9.33098592e-01 -8.81327338e-02 1.12665313e+01] [ 2.54352317e-01 -3.69456467e-03 9.67104570e-01 1.28097603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.85, Y:11.28, Z:12.82 [[ 9.01821753e-01 -3.61265435e-01 -2.37075541e-01 8.48486644e+01] [ 3.49628321e-01 9.32462625e-01 -9.09587314e-02 1.12775796e+01] [ 2.53924327e-01 -8.59760741e-04 9.67223706e-01 1.28170712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:84.87, Y:11.29, Z:12.82 [[ 9.00494077e-01 -3.63167396e-01 -2.39206731e-01 8.48740250e+01] [ 3.50043691e-01 9.31717550e-01 -9.68081704e-02 1.12887850e+01] [ 2.58030680e-01 3.44237702e-03 9.66130591e-01 1.28244132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:11.29, Z:12.84 [[ 9.00634306e-01 -3.61199100e-01 -2.41646553e-01 8.49004553e+01] [ 3.50282337e-01 9.32474574e-01 -8.82805389e-02 1.12935372e+01] [ 2.57216118e-01 -5.13603741e-03 9.66340256e-01 1.28367992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:11.31, Z:12.84 [[ 8.99573876e-01 -3.67565107e-01 -2.35929509e-01 8.49251562e+01] [ 3.53436268e-01 9.29966163e-01 -1.01221246e-01 1.13113551e+01] [ 2.56611859e-01 7.66994379e-03 9.66484105e-01 1.28376797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.95, Y:11.31, Z:12.85 [[ 8.99624888e-01 -3.63238626e-01 -2.42348432e-01 8.49498590e+01] [ 3.53386632e-01 9.31647055e-01 -8.45674433e-02 1.13125525e+01] [ 2.56501365e-01 -9.56371943e-03 9.66496552e-01 1.28533044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:11.33, Z:12.86 [[ 8.99195584e-01 -3.67517009e-01 -2.37441677e-01 8.49739087e+01] [ 3.54826151e-01 9.30014941e-01 -9.57633096e-02 1.13277061e+01] [ 2.56018953e-01 1.85942858e-03 9.66669974e-01 1.28552508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:11.33, Z:12.86 [[ 8.97222158e-01 -3.70116081e-01 -2.40845357e-01 8.50000799e+01] [ 3.57957180e-01 9.28983811e-01 -9.41049228e-02 1.13348980e+01] [ 2.58571183e-01 -1.77930307e-03 9.65990568e-01 1.28649784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:11.35, Z:12.87 [[ 8.96255953e-01 -3.74273897e-01 -2.38000664e-01 8.50247296e+01] [ 3.60251721e-01 9.27302802e-01 -1.01627803e-01 1.13489677e+01] [ 2.58735316e-01 5.34437449e-03 9.65933473e-01 1.28671317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.05, Y:11.36, Z:12.87 [[ 8.95156486e-01 -3.77621692e-01 -2.36847469e-01 8.50512711e+01] [ 3.63724419e-01 9.25947445e-01 -1.01616319e-01 1.13613901e+01] [ 2.57680835e-01 4.81529930e-03 9.66218091e-01 1.28719155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:11.37, Z:12.89 [[ 8.95834223e-01 -3.75045900e-01 -2.38372854e-01 8.50771948e+01] [ 3.65012010e-01 9.26958998e-01 -8.66789999e-02 1.13674102e+01] [ 2.53470465e-01 -9.35894017e-03 9.67297851e-01 1.28854600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:11.39, Z:12.88 [[ 8.94777649e-01 -3.81915425e-01 -2.31329995e-01 8.50997659e+01] [ 3.65552439e-01 9.24069955e-01 -1.11651833e-01 1.13919077e+01] [ 2.56406655e-01 1.53403206e-02 9.66447258e-01 1.28781836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:11.40, Z:12.89 [[ 8.94518618e-01 -3.77545595e-01 -2.39365340e-01 8.51270028e+01] [ 3.64575394e-01 9.25990863e-01 -9.81106688e-02 1.13969185e+01] [ 2.58691368e-01 4.95106758e-04 9.65959901e-01 1.28895499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:11.40, Z:12.91 [[ 8.95472792e-01 -3.72476692e-01 -2.43699800e-01 8.51542434e+01] [ 3.63716277e-01 9.27913569e-01 -8.17733420e-02 1.13987192e+01] [ 2.56591015e-01 -1.54117809e-02 9.66397190e-01 1.29062781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:11.42, Z:12.90 [[ 8.94456479e-01 -3.78743157e-01 -2.37699871e-01 8.51767626e+01] [ 3.63677455e-01 9.25463219e-01 -1.06096843e-01 1.14211622e+01] [ 2.60165941e-01 8.45292436e-03 9.65526919e-01 1.29018200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:11.43, Z:12.91 [[ 8.94287234e-01 -3.77361973e-01 -2.40516703e-01 8.52028532e+01] [ 3.63894674e-01 9.26064005e-01 -9.99305993e-02 1.14285392e+01] [ 2.60443869e-01 1.84391223e-03 9.65487230e-01 1.29122575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.23, Y:11.44, Z:12.92 [[ 8.93789041e-01 -3.78749523e-01 -2.40187321e-01 8.52280478e+01] [ 3.65184196e-01 9.25496845e-01 -1.00479312e-01 1.14407238e+01] [ 2.60349099e-01 2.09469424e-03 9.65512278e-01 1.29179973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:11.45, Z:12.92 [[ 8.92780081e-01 -3.82668906e-01 -2.37714608e-01 8.52534396e+01] [ 3.69097477e-01 9.23882262e-01 -1.01037705e-01 1.14543326e+01] [ 2.58284298e-01 2.46458799e-03 9.66065809e-01 1.29223053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:11.47, Z:12.93 [[ 8.91328023e-01 -3.85821190e-01 -2.38067984e-01 8.52785362e+01] [ 3.71425767e-01 9.22561443e-01 -1.04514515e-01 1.14659968e+01] [ 2.59956258e-01 4.73213289e-03 9.65608798e-01 1.29282951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.30, Y:11.47, Z:12.94 [[ 8.91639941e-01 -3.84208993e-01 -2.39502955e-01 8.53023073e+01] [ 3.71694173e-01 9.23243345e-01 -9.72890908e-02 1.14733570e+01] [ 2.58498853e-01 -2.27501388e-03 9.66008886e-01 1.29386922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:11.49, Z:12.94 [[ 8.91537012e-01 -3.85392153e-01 -2.37980347e-01 8.53266279e+01] [ 3.71834846e-01 9.22751017e-01 -1.01338087e-01 1.14869735e+01] [ 2.58651510e-01 1.85726961e-03 9.65968916e-01 1.29441320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:11.50, Z:12.95 [[ 8.91517105e-01 -3.85041347e-01 -2.38621903e-01 8.53515850e+01] [ 3.71347183e-01 9.22896837e-01 -1.01797340e-01 1.14989105e+01] [ 2.59419585e-01 2.14249853e-03 9.65762336e-01 1.29512768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:11.51, Z:12.96 [[ 8.92054716e-01 -3.82648446e-01 -2.40454880e-01 8.53762454e+01] [ 3.68960416e-01 9.23892315e-01 -1.01445557e-01 1.15109182e+01] [ 2.60972401e-01 1.77665494e-03 9.65344627e-01 1.29572276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:11.52, Z:12.97 [[ 8.92015852e-01 -3.80156918e-01 -2.44516744e-01 8.54025293e+01] [ 3.67075862e-01 9.24920700e-01 -9.88787708e-02 1.15202826e+01] [ 2.63748047e-01 -1.55476360e-03 9.64590354e-01 1.29669140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.43, Y:11.53, Z:12.98 [[ 8.92054736e-01 -3.76466667e-01 -2.50022392e-01 8.54271957e+01] [ 3.65221053e-01 9.26382346e-01 -9.18113958e-02 1.15259843e+01] [ 2.66180260e-01 -9.41265085e-03 9.63877311e-01 1.29772658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:11.55, Z:12.97 [[ 8.92234752e-01 -3.83004160e-01 -2.39217393e-01 8.54514351e+01] [ 3.65080807e-01 9.23588287e-01 -1.17049904e-01 1.15531896e+01] [ 2.65768983e-01 1.71023134e-02 9.63885034e-01 1.29726572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:11.55, Z:12.99 [[ 8.91936755e-01 -3.77295194e-01 -2.49193022e-01 8.54777482e+01] [ 3.64016291e-01 9.26090450e-01 -9.92402046e-02 1.15542470e+01] [ 2.68218130e-01 -2.19433362e-03 9.63355708e-01 1.29898626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:11.57, Z:12.99 [[ 8.91811802e-01 -3.80594994e-01 -2.44579559e-01 8.55031595e+01] [ 3.62736000e-01 9.24621956e-01 -1.16175868e-01 1.15746247e+01] [ 2.70359584e-01 1.48891995e-02 9.62644279e-01 1.29893703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:11.58, Z:13.00 [[ 8.91883150e-01 -3.79132344e-01 -2.46582872e-01 8.55284295e+01] [ 3.62989917e-01 9.25304351e-01 -1.09773304e-01 1.15843782e+01] [ 2.69782814e-01 8.39786390e-03 9.62884577e-01 1.29971789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:11.60, Z:13.00 [[ 8.93021318e-01 -3.76184089e-01 -2.46978657e-01 8.55520554e+01] [ 3.60099060e-01 9.26505525e-01 -1.09161253e-01 1.15986658e+01] [ 2.69891817e-01 8.54654398e-03 9.62852722e-01 1.30026768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:11.60, Z:13.02 [[ 8.93723046e-01 -3.71745604e-01 -2.51126112e-01 8.55767304e+01] [ 3.59678467e-01 9.28314072e-01 -9.41508619e-02 1.16022861e+01] [ 2.68124072e-01 -6.17985989e-03 9.63364568e-01 1.30168158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:11.62, Z:13.02 [[ 8.92678301e-01 -3.75237065e-01 -2.49644942e-01 8.56014012e+01] [ 3.57404144e-01 9.26830227e-01 -1.15099989e-01 1.16246736e+01] [ 2.74568260e-01 1.35231256e-02 9.61472514e-01 1.30190932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:11.63, Z:13.03 [[ 8.93149649e-01 -3.70299639e-01 -2.55268253e-01 8.56276251e+01] [ 3.57128837e-01 9.28905077e-01 -9.79507581e-02 1.16263752e+01] [ 2.73391107e-01 -3.67896915e-03 9.61895924e-01 1.30330328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:11.64, Z:13.04 [[ 8.92635010e-01 -3.70713856e-01 -2.56464375e-01 8.56544272e+01] [ 3.56778199e-01 9.28745735e-01 -1.00700930e-01 1.16378446e+01] [ 2.75521425e-01 -1.61172251e-03 9.61293580e-01 1.30437316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:11.65, Z:13.05 [[ 8.92794162e-01 -3.71866815e-01 -2.54231502e-01 8.56778755e+01] [ 3.56689076e-01 9.28280419e-01 -1.05206306e-01 1.16521907e+01] [ 2.75120859e-01 3.24597638e-03 9.61404169e-01 1.30501536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:11.66, Z:13.07 [[ 8.92819021e-01 -3.67845819e-01 -2.59930086e-01 8.57047717e+01] [ 3.54746456e-01 9.29872138e-01 -9.74307934e-02 1.16589579e+01] [ 2.77541254e-01 -5.22121111e-03 9.60699532e-01 1.30651225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:11.68, Z:13.06 [[ 8.93343683e-01 -3.70573278e-01 -2.54189908e-01 8.57256236e+01] [ 3.53202299e-01 9.28739778e-01 -1.12652390e-01 1.16800748e+01] [ 2.77822245e-01 1.08568413e-02 9.60571148e-01 1.30648472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.75, Y:11.68, Z:13.08 [[ 8.93633825e-01 -3.66156684e-01 -2.59514680e-01 8.57525159e+01] [ 3.52572424e-01 9.30547872e-01 -9.88602220e-02 1.16843562e+01] [ 2.77689164e-01 -3.15288140e-03 9.60665804e-01 1.30797612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.78, Y:11.70, Z:13.08 [[ 8.94139457e-01 -3.67917821e-01 -2.55247153e-01 8.57766808e+01] [ 3.51022846e-01 9.29811837e-01 -1.10602481e-01 1.17013850e+01] [ 2.78024448e-01 9.29646017e-03 9.60529012e-01 1.30826351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:11.71, Z:13.09 [[ 8.93883701e-01 -3.67309036e-01 -2.57013621e-01 8.58001206e+01] [ 3.51126156e-01 9.30077595e-01 -1.08009672e-01 1.17107216e+01] [ 2.78715539e-01 6.30388028e-03 9.60353013e-01 1.30906731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:11.72, Z:13.10 [[ 8.93190946e-01 -3.66809123e-01 -2.60117284e-01 8.58257700e+01] [ 3.51222788e-01 9.30290811e-01 -1.05837420e-01 1.17214399e+01] [ 2.80806850e-01 3.17390735e-03 9.59759053e-01 1.31009439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:11.73, Z:13.11 [[ 8.92820383e-01 -3.67963658e-01 -2.59758560e-01 8.58503268e+01] [ 3.51408368e-01 9.29818725e-01 -1.09312840e-01 1.17345497e+01] [ 2.81751525e-01 6.31539979e-03 9.59466619e-01 1.31070620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:11.75, Z:13.11 [[ 8.92956762e-01 -3.68320984e-01 -2.58781517e-01 8.58739304e+01] [ 3.50729702e-01 9.29644171e-01 -1.12917635e-01 1.17477390e+01] [ 2.82164663e-01 1.00682012e-02 9.59313157e-01 1.31113587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:11.76, Z:13.12 [[ 8.92490051e-01 -3.67565364e-01 -2.61452124e-01 8.58993640e+01] [ 3.50773031e-01 9.29975099e-01 -1.10020891e-01 1.17568372e+01] [ 2.83583833e-01 6.48219648e-03 9.58925540e-01 1.31208990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:11.76, Z:13.13 [[ 8.91888481e-01 -3.66183313e-01 -2.65414241e-01 8.59252974e+01] [ 3.50572332e-01 9.30541822e-01 -1.05787323e-01 1.17646653e+01] [ 2.85716604e-01 1.30360549e-03 9.58313270e-01 1.31329164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:11.78, Z:13.13 [[ 8.91444572e-01 -3.70921509e-01 -2.60276410e-01 8.59481332e+01] [ 3.52940457e-01 9.28607657e-01 -1.14546295e-01 1.17806466e+01] [ 2.84182352e-01 1.02495981e-02 9.58715462e-01 1.31348411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:11.78, Z:13.15 [[ 8.90534785e-01 -3.68012934e-01 -2.67421535e-01 8.59757830e+01] [ 3.53105969e-01 9.29818349e-01 -1.03701559e-01 1.17830585e+01] [ 2.86816965e-01 -2.07829398e-03 9.57983147e-01 1.31512731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:11.79, Z:13.16 [[ 8.89858941e-01 -3.72795206e-01 -2.63011027e-01 8.60015072e+01] [ 3.56061024e-01 9.27901657e-01 -1.10539866e-01 1.17934174e+01] [ 2.85257099e-01 4.71691223e-03 9.58439428e-01 1.31584763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:11.80, Z:13.17 [[ 8.89682155e-01 -3.73840927e-01 -2.62123301e-01 8.60264938e+01] [ 3.57276307e-01 9.27482712e-01 -1.10133827e-01 1.18017750e+01] [ 2.84287362e-01 4.33365601e-03 9.58729323e-01 1.31672689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:11.81, Z:13.17 [[ 8.89646331e-01 -3.75395663e-01 -2.60014426e-01 8.60519662e+01] [ 3.58440480e-01 9.26843998e-01 -1.11716722e-01 1.18135628e+01] [ 2.82930783e-01 6.18867578e-03 9.59120364e-01 1.31744446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:11.82, Z:13.19 [[ 8.90357446e-01 -3.73136489e-01 -2.60830940e-01 8.60776998e+01] [ 3.57770144e-01 9.27775871e-01 -1.05983285e-01 1.18213702e+01] [ 2.81538884e-01 1.04548346e-03 9.59549250e-01 1.31853852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.10, Y:11.84, Z:13.18 [[ 8.91924908e-01 -3.74836966e-01 -2.52917391e-01 8.61006618e+01] [ 3.56329446e-01 9.26978461e-01 -1.17218851e-01 1.18374534e+01] [ 2.78386932e-01 1.44284989e-02 9.60360627e-01 1.31841258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:11.84, Z:13.20 [[ 8.92048856e-01 -3.67690425e-01 -2.62778594e-01 8.61276821e+01] [ 3.53606814e-01 9.29943502e-01 -1.00833051e-01 1.18367524e+01] [ 2.81444593e-01 -2.97229392e-03 9.59572877e-01 1.32021267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:11.85, Z:13.21 [[ 8.92765627e-01 -3.68268748e-01 -2.59514288e-01 8.61514532e+01] [ 3.51526146e-01 9.29693196e-01 -1.09999681e-01 1.18513015e+01] [ 2.81778112e-01 6.97787672e-03 9.59454222e-01 1.32056468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:11.86, Z:13.21 [[ 8.93389393e-01 -3.67624423e-01 -2.58278293e-01 8.61770083e+01] [ 3.50099739e-01 9.29918585e-01 -1.12612601e-01 1.18638782e+01] [ 2.81576927e-01 1.01837399e-02 9.59484615e-01 1.32116289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:11.87, Z:13.22 [[ 8.94292335e-01 -3.62788407e-01 -2.61965250e-01 8.62036664e+01] [ 3.46526877e-01 9.31855960e-01 -1.07534148e-01 1.18705583e+01] [ 2.83126022e-01 5.38896432e-03 9.59067576e-01 1.32231330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:11.88, Z:13.23 [[ 8.94610562e-01 -3.61824907e-01 -2.62211134e-01 8.62300152e+01] [ 3.44479235e-01 9.32202407e-01 -1.11052822e-01 1.18794164e+01] [ 2.84615527e-01 9.02273682e-03 9.58599286e-01 1.32311750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:11.89, Z:13.24 [[ 8.94638842e-01 -3.61364321e-01 -2.62749252e-01 8.62566886e+01] [ 3.44152798e-01 9.32386428e-01 -1.10518782e-01 1.18876431e+01] [ 2.84921381e-01 8.44850493e-03 9.58513656e-01 1.32401801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:11.90, Z:13.25 [[ 8.94754016e-01 -3.61615874e-01 -2.62009945e-01 8.62817757e+01] [ 3.44116988e-01 9.32277291e-01 -1.11546187e-01 1.18969554e+01] [ 2.84602794e-01 9.64432564e-03 9.58597015e-01 1.32480024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:11.90, Z:13.26 [[ 8.93722172e-01 -3.60147552e-01 -2.67496580e-01 8.63057123e+01] [ 3.43221572e-01 9.32877048e-01 -1.09267402e-01 1.19032005e+01] [ 2.88893808e-01 5.84410286e-03 9.57343311e-01 1.32594879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:11.91, Z:13.27 [[ 8.94073238e-01 -3.62028556e-01 -2.63758166e-01 8.63276854e+01] [ 3.45552075e-01 9.32150656e-01 -1.08115301e-01 1.19142639e+01] [ 2.85003173e-01 5.52081619e-03 9.58510674e-01 1.32664007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:11.92, Z:13.27 [[ 8.93863937e-01 -3.65606856e-01 -2.59497379e-01 8.63526782e+01] [ 3.48352631e-01 9.30724397e-01 -1.11366698e-01 1.19243007e+01] [ 2.82236970e-01 9.15008049e-03 9.59301083e-01 1.32741060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:11.93, Z:13.28 [[ 8.93656005e-01 -3.67042735e-01 -2.58183218e-01 8.63772823e+01] [ 3.50000393e-01 9.30163092e-01 -1.10888897e-01 1.19329660e+01] [ 2.80853465e-01 8.73230130e-03 9.59710935e-01 1.32826518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:11.94, Z:13.29 [[ 8.93367494e-01 -3.68343508e-01 -2.57327768e-01 8.64023162e+01] [ 3.51452050e-01 9.29652258e-01 -1.10580905e-01 1.19421711e+01] [ 2.79957099e-01 8.35101427e-03 9.59976189e-01 1.32909173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:11.95, Z:13.30 [[ 8.92818074e-01 -3.70535370e-01 -2.56084803e-01 8.64263828e+01] [ 3.53873765e-01 9.28786383e-01 -1.10132707e-01 1.19516871e+01] [ 2.78656141e-01 7.70677774e-03 9.60360016e-01 1.32980339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.45, Y:11.95, Z:13.31 [[ 8.91549927e-01 -3.68239592e-01 -2.63701212e-01 8.64541931e+01] [ 3.54653552e-01 9.29717198e-01 -9.92309945e-02 1.19528560e+01] [ 2.81708333e-01 -5.05318564e-03 9.59486780e-01 1.33149847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:11.97, Z:13.31 [[ 8.91458510e-01 -3.76664478e-01 -2.51844387e-01 8.64757692e+01] [ 3.57167177e-01 9.26177497e-01 -1.20941524e-01 1.19746201e+01] [ 2.78806980e-01 1.78638022e-02 9.60181000e-01 1.33096143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.51, Y:11.97, Z:13.33 [[ 8.90191530e-01 -3.68966029e-01 -2.67251023e-01 8.65064923e+01] [ 3.56435111e-01 9.29389867e-01 -9.58565917e-02 1.19675577e+01] [ 2.83748219e-01 -9.92692217e-03 9.58847435e-01 1.33349759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:11.99, Z:13.32 [[ 8.89694612e-01 -3.80749484e-01 -2.51939135e-01 8.65267531e+01] [ 3.60221124e-01 9.24451482e-01 -1.25020797e-01 1.19945243e+01] [ 2.80507111e-01 2.04765305e-02 9.59633509e-01 1.33235280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:12.00, Z:13.34 [[ 8.89092711e-01 -3.77538459e-01 -2.58802750e-01 8.65531385e+01] [ 3.60732617e-01 9.25975676e-01 -1.11539348e-01 1.19987970e+01] [ 2.81755445e-01 5.81022820e-03 9.59468661e-01 1.33360675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.58, Y:12.00, Z:13.35 [[ 8.87571506e-01 -3.72332948e-01 -2.71265548e-01 8.65819434e+01] [ 3.59256901e-01 9.28043456e-01 -9.83352562e-02 1.20002521e+01] [ 2.88359673e-01 -1.01744488e-02 9.57468109e-01 1.33549868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:12.03, Z:13.34 [[ 8.88055721e-01 -3.81695692e-01 -2.56252679e-01 8.66020020e+01] [ 3.60657460e-01 9.24072291e-01 -1.26556694e-01 1.20277416e+01] [ 2.85102145e-01 1.99699555e-02 9.58289084e-01 1.33445670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:12.03, Z:13.36 [[ 8.87659991e-01 -3.77826490e-01 -2.63262008e-01 8.66270237e+01] [ 3.60371076e-01 9.25856767e-01 -1.13674690e-01 1.20302370e+01] [ 2.86692220e-01 6.03246115e-03 9.58003748e-01 1.33578481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:12.04, Z:13.37 [[ 8.87609463e-01 -3.77657033e-01 -2.63675190e-01 8.66517819e+01] [ 3.60113078e-01 9.25924939e-01 -1.13936731e-01 1.20397909e+01] [ 2.87172442e-01 6.17843617e-03 9.57858975e-01 1.33663555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:12.05, Z:13.37 [[ 8.87792977e-01 -3.78077347e-01 -2.62452184e-01 8.66769686e+01] [ 3.60690948e-01 9.25753926e-01 -1.13497615e-01 1.20502940e+01] [ 2.85877017e-01 6.09825864e-03 9.58246911e-01 1.33747942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.70, Y:12.06, Z:13.38 [[ 8.88679170e-01 -3.78311922e-01 -2.59093463e-01 8.67002360e+01] [ 3.61362407e-01 9.25658590e-01 -1.12131107e-01 1.20601120e+01] [ 2.82252624e-01 6.02194195e-03 9.59321214e-01 1.33838915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:12.07, Z:13.39 [[ 8.88829050e-01 -3.78566199e-01 -2.58206416e-01 8.67248770e+01] [ 3.61734341e-01 9.25555051e-01 -1.11786018e-01 1.20718449e+01] [ 2.81302660e-01 5.95653246e-03 9.59600611e-01 1.33914268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:12.09, Z:13.40 [[ 8.89162393e-01 -3.79067958e-01 -2.56315669e-01 8.67482151e+01] [ 3.60552813e-01 9.25288406e-01 -1.17656425e-01 1.20876380e+01] [ 2.81765697e-01 1.22003330e-02 9.59405672e-01 1.33953374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:12.09, Z:13.41 [[ 8.90102264e-01 -3.75164375e-01 -2.58784951e-01 8.67744730e+01] [ 3.59889578e-01 9.26957539e-01 -1.05967977e-01 1.20932821e+01] [ 2.79638072e-01 1.18832970e-03 9.60104753e-01 1.34085416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:12.11, Z:13.41 [[ 8.90046003e-01 -3.76860925e-01 -2.56503325e-01 8.67991913e+01] [ 3.60130135e-01 9.26246093e-01 -1.11240554e-01 1.21070376e+01] [ 2.79507421e-01 6.63463396e-03 9.60120609e-01 1.34141162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:12.12, Z:13.42 [[ 8.90310219e-01 -3.76150847e-01 -2.56628632e-01 8.68240381e+01] [ 3.59350057e-01 9.26532433e-01 -1.11378576e-01 1.21177030e+01] [ 2.79669896e-01 6.94197091e-03 9.60071121e-01 1.34221662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:12.13, Z:13.43 [[ 8.90059106e-01 -3.76142527e-01 -2.57510365e-01 8.68465654e+01] [ 3.58125131e-01 9.26501338e-01 -1.15506108e-01 1.21296451e+01] [ 2.82030457e-01 1.05863304e-02 9.59347044e-01 1.34262182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:12.14, Z:13.44 [[ 8.90631917e-01 -3.74016589e-01 -2.58624013e-01 8.68744843e+01] [ 3.57268084e-01 9.27400414e-01 -1.10851197e-01 1.21383587e+01] [ 2.81308204e-01 6.32950808e-03 9.59596599e-01 1.34374928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:12.16, Z:13.44 [[ 8.89775783e-01 -3.76914840e-01 -2.57360175e-01 8.69001470e+01] [ 3.56022669e-01 9.26034289e-01 -1.25332977e-01 1.21578633e+01] [ 2.85564206e-01 1.98921912e-02 9.58153112e-01 1.34389774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:12.16, Z:13.46 [[ 8.90594062e-01 -3.69472581e-01 -2.65202243e-01 8.69258349e+01] [ 3.55468804e-01 9.29230976e-01 -1.00854957e-01 1.21567338e+01] [ 2.83697280e-01 -4.45029826e-03 9.58903566e-01 1.34563862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:12.18, Z:13.46 [[ 8.90310111e-01 -3.74234471e-01 -2.59415625e-01 8.69492103e+01] [ 3.56795596e-01 9.27297575e-01 -1.13208258e-01 1.21754906e+01] [ 2.82921913e-01 8.23210392e-03 9.59107618e-01 1.34573665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:12.18, Z:13.47 [[ 8.89983035e-01 -3.74517085e-01 -2.60129103e-01 8.69743532e+01] [ 3.57051335e-01 9.27185746e-01 -1.13317856e-01 1.21847418e+01] [ 2.83627469e-01 7.97152591e-03 9.58901410e-01 1.34662730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:12.19, Z:13.47 [[ 8.88644452e-01 -3.77348854e-01 -2.60612510e-01 8.69991988e+01] [ 3.59943820e-01 9.26044307e-01 -1.13500611e-01 1.21945393e+01] [ 2.84168056e-01 7.05582585e-03 9.58748523e-01 1.34743607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:12.20, Z:13.48 [[ 8.87991122e-01 -3.78556025e-01 -2.61088305e-01 8.70238624e+01] [ 3.61110898e-01 9.25553639e-01 -1.13795349e-01 1.22048040e+01] [ 2.84729146e-01 6.76742733e-03 9.58584120e-01 1.34822920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:12.22, Z:13.49 [[ 8.87395734e-01 -3.79462372e-01 -2.61795949e-01 8.70486377e+01] [ 3.61932841e-01 9.25183771e-01 -1.14191106e-01 1.22155378e+01] [ 2.85540592e-01 6.58014881e-03 9.58344026e-01 1.34902830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:12.23, Z:13.50 [[ 8.86434691e-01 -3.81195429e-01 -2.62533014e-01 8.70720570e+01] [ 3.63613160e-01 9.24474197e-01 -1.14598994e-01 1.22255680e+01] [ 2.86389610e-01 6.12406530e-03 9.58093673e-01 1.34983406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:12.24, Z:13.50 [[ 8.86321699e-01 -3.82005533e-01 -2.61735779e-01 8.70945773e+01] [ 3.63614649e-01 9.24117000e-01 -1.17440014e-01 1.22372224e+01] [ 2.86737219e-01 8.91866927e-03 9.57967758e-01 1.35039723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.12, Y:12.25, Z:13.51 [[ 8.85074913e-01 -3.85618370e-01 -2.60654697e-01 8.71208337e+01] [ 3.68608883e-01 9.22648636e-01 -1.13344547e-01 1.22480067e+01] [ 2.84200440e-01 4.23877869e-03 9.58755518e-01 1.35143147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:12.26, Z:13.52 [[ 8.84472635e-01 -3.87634278e-01 -2.59707190e-01 8.71450250e+01] [ 3.70659547e-01 9.21803902e-01 -1.13530026e-01 1.22586672e+01] [ 2.83407231e-01 4.15125224e-03 9.58990672e-01 1.35226978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:12.27, Z:13.53 [[ 8.83965029e-01 -3.89346616e-01 -2.58872632e-01 8.71697328e+01] [ 3.72530834e-01 9.21084009e-01 -1.13247632e-01 1.22689365e+01] [ 2.82536025e-01 3.66890907e-03 9.59249672e-01 1.35306746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:12.28, Z:13.54 [[ 8.83274847e-01 -3.91408841e-01 -2.58117537e-01 8.71938628e+01] [ 3.74753928e-01 9.20211723e-01 -1.13003890e-01 1.22788516e+01] [ 2.81753505e-01 3.08293276e-03 9.59481869e-01 1.35395377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:12.29, Z:13.55 [[ 8.83285966e-01 -3.91580320e-01 -2.57819232e-01 8.72180496e+01] [ 3.74960547e-01 9.20138838e-01 -1.12911947e-01 1.22896486e+01] [ 2.81443585e-01 3.06149761e-03 9.59572892e-01 1.35474625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:12.30, Z:13.56 [[ 8.83907360e-01 -3.89767148e-01 -2.58436353e-01 8.72413956e+01] [ 3.72964915e-01 9.20905888e-01 -1.13267455e-01 1.23003062e+01] [ 2.82143492e-01 3.73024463e-03 9.59364964e-01 1.35551373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.27, Y:12.31, Z:13.56 [[ 8.84046430e-01 -3.88561920e-01 -2.59772100e-01 8.72655627e+01] [ 3.71519088e-01 9.21413154e-01 -1.13891912e-01 1.23115293e+01] [ 2.83611490e-01 4.17544467e-03 9.58930179e-01 1.35624808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:12.32, Z:13.57 [[ 8.85020135e-01 -3.86373179e-01 -2.59721248e-01 8.72911483e+01] [ 3.69212099e-01 9.22329085e-01 -1.13980198e-01 1.23245236e+01] [ 2.83587352e-01 4.98254294e-03 9.58933464e-01 1.35678595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:12.33, Z:13.58 [[ 8.85648985e-01 -3.84436587e-01 -2.60450351e-01 8.73152951e+01] [ 3.67594976e-01 9.23142761e-01 -1.12611615e-01 1.23344894e+01] [ 2.83724881e-01 3.99412227e-03 9.58897408e-01 1.35764421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.34, Y:12.35, Z:13.58 [[ 8.86322841e-01 -3.87277774e-01 -2.53865607e-01 8.73376487e+01] [ 3.67821614e-01 9.21843386e-01 -1.22114834e-01 1.23520385e+01] [ 2.81316692e-01 1.48559091e-02 9.59499985e-01 1.35767593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:12.35, Z:13.60 [[ 8.86181227e-01 -3.81139256e-01 -2.63468593e-01 8.73659808e+01] [ 3.65900192e-01 9.24515816e-01 -1.06712489e-01 1.23519730e+01] [ 2.84253200e-01 -1.83660458e-03 9.58747488e-01 1.35966055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:12.39, Z:13.58 [[ 8.87680440e-01 -3.92971327e-01 -2.39993692e-01 8.73841713e+01] [ 3.68857941e-01 9.18847708e-01 -1.40223784e-01 1.23874326e+01] [ 2.75621580e-01 3.59503315e-02 9.60593732e-01 1.35761295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:12.38, Z:13.60 [[ 8.87909413e-01 -3.84956061e-01 -2.51844606e-01 8.74119196e+01] [ 3.68014314e-01 9.22901564e-01 -1.13217343e-01 1.23844543e+01] [ 2.76011484e-01 7.84432491e-03 9.61122327e-01 1.35956163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.44, Y:12.38, Z:13.63 [[ 8.87314653e-01 -3.72520053e-01 -2.71848335e-01 8.74397558e+01] [ 3.62207736e-01 9.27822489e-01 -8.91682913e-02 1.23772787e+01] [ 2.85443975e-01 -1.93452383e-02 9.58200135e-01 1.36283110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:12.42, Z:13.60 [[ 8.88805155e-01 -3.89760665e-01 -2.41064349e-01 8.74584378e+01] [ 3.65815629e-01 9.20233708e-01 -1.39100140e-01 1.24181988e+01] [ 2.76051303e-01 3.54478153e-02 9.60489006e-01 1.36023544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.49, Y:12.40, Z:13.65 [[ 8.87370578e-01 -3.72298052e-01 -2.71969885e-01 8.74904445e+01] [ 3.61587758e-01 9.27937607e-01 -9.04770203e-02 1.23972421e+01] [ 2.86055502e-01 -1.80543352e-02 9.58042948e-01 1.36471541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:12.42, Z:13.64 [[ 8.87258817e-01 -3.80662559e-01 -2.60514505e-01 8.75116929e+01] [ 3.63030088e-01 9.24685754e-01 -1.14740631e-01 1.24208687e+01] [ 2.84571513e-01 7.23003300e-03 9.58627550e-01 1.36441394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:12.43, Z:13.65 [[ 8.86859954e-01 -3.82485581e-01 -2.59199154e-01 8.75361510e+01] [ 3.65100426e-01 9.23937577e-01 -1.14197340e-01 1.24326235e+01] [ 2.83162675e-01 6.64332651e-03 9.59048886e-01 1.36519614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.56, Y:12.44, Z:13.66 [[ 8.86547608e-01 -3.83591545e-01 -2.58632684e-01 8.75600219e+01] [ 3.66304724e-01 9.23480969e-01 -1.14033981e-01 1.24440746e+01] [ 2.82584833e-01 6.35817943e-03 9.59221239e-01 1.36598514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:12.46, Z:13.67 [[ 8.86424233e-01 -3.84342179e-01 -2.57940241e-01 8.75846990e+01] [ 3.67155352e-01 9.23169991e-01 -1.13816147e-01 1.24551840e+01] [ 2.81867036e-01 6.18525033e-03 9.59433540e-01 1.36676511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:12.47, Z:13.68 [[ 8.85658606e-01 -3.85718328e-01 -2.58515385e-01 8.76095345e+01] [ 3.68484094e-01 9.22598061e-01 -1.14159055e-01 1.24656040e+01] [ 2.82539033e-01 5.84714218e-03 9.59237982e-01 1.36767909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:12.48, Z:13.68 [[ 8.85271480e-01 -3.86198653e-01 -2.59123538e-01 8.76335138e+01] [ 3.68875338e-01 9.22397439e-01 -1.14516157e-01 1.24763802e+01] [ 2.83240873e-01 5.79360504e-03 9.59031304e-01 1.36844062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.66, Y:12.49, Z:13.69 [[ 8.84276124e-01 -3.86716485e-01 -2.61736693e-01 8.76584302e+01] [ 3.69043567e-01 9.22180858e-01 -1.15712189e-01 1.24886234e+01] [ 2.86116379e-01 5.72928337e-03 9.58177746e-01 1.36913649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.68, Y:12.53, Z:13.67 [[ 8.85274595e-01 -4.01129971e-01 -2.35337285e-01 8.76800403e+01] [ 3.74162422e-01 9.14846532e-01 -1.51849615e-01 1.25268233e+01] [ 2.76208931e-01 4.63742380e-02 9.59978154e-01 1.36659187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.71, Y:12.51, Z:13.69 [[ 8.83962256e-01 -3.89793984e-01 -2.58208016e-01 8.77104625e+01] [ 3.73161836e-01 9.20896297e-01 -1.12695408e-01 1.25140390e+01] [ 2.81710798e-01 3.26511003e-03 9.59493807e-01 1.36935403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.73, Y:12.52, Z:13.70 [[ 8.83625023e-01 -3.90446241e-01 -2.58376763e-01 8.77349715e+01] [ 3.73512093e-01 9.20616770e-01 -1.13813352e-01 1.25246359e+01] [ 2.82303976e-01 4.06148026e-03 9.59316407e-01 1.37017448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13038572299999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.76, Y:12.54, Z:13.71 [[ 8.83388681e-01 -3.90555880e-01 -2.59018420e-01 8.77610038e+01] [ 3.72961486e-01 9.20560204e-01 -1.16054471e-01 1.25362474e+01] [ 2.83767806e-01 5.91731170e-03 9.58874766e-01 1.37110493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:87.79, Y:12.55, Z:13.72 [[ 8.83343552e-01 -3.89987407e-01 -2.60026907e-01 8.77859764e+01] [ 3.72717981e-01 9.20808991e-01 -1.14856906e-01 1.25485838e+01] [ 2.84227860e-01 4.54140346e-03 9.58746003e-01 1.37200008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.81, Y:12.56, Z:13.73 [[ 8.83017115e-01 -3.89974463e-01 -2.61152624e-01 8.78109975e+01] [ 3.73165431e-01 9.20822050e-01 -1.13288626e-01 1.25584045e+01] [ 2.84654766e-01 2.58266360e-03 9.58626619e-01 1.37303406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.84, Y:12.57, Z:13.74 [[ 8.82852675e-01 -3.90794104e-01 -2.60482483e-01 8.78353897e+01] [ 3.73957925e-01 9.20473865e-01 -1.13504771e-01 1.25685515e+01] [ 2.84124313e-01 2.79850172e-03 9.58783366e-01 1.37392161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.86, Y:12.58, Z:13.75 [[ 8.82446320e-01 -3.91894383e-01 -2.60206233e-01 8.78612501e+01] [ 3.74837340e-01 9.20003831e-01 -1.14411181e-01 1.25791886e+01] [ 2.84227831e-01 3.42671372e-03 9.58750644e-01 1.37492598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280385723 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:87.89, Y:12.59, Z:13.75 [[ 8.82423286e-01 -3.94806861e-01 -2.55845045e-01 8.78872846e+01] [ 3.76466609e-01 9.18720754e-01 -1.19268892e-01 1.25918880e+01] [ 2.82138329e-01 8.92853095e-03 9.59332187e-01 1.37546435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:12.60, Z:13.77 [[ 8.80596652e-01 -3.94304133e-01 -2.62818924e-01 8.79103863e+01] [ 3.80251538e-01 9.18946829e-01 -1.04620707e-01 1.25976280e+01] [ 2.82768994e-01 -7.80865542e-03 9.59156255e-01 1.37692322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.93, Y:12.61, Z:13.78 [[ 8.79240148e-01 -3.98987110e-01 -2.60280710e-01 8.79328057e+01] [ 3.83885150e-01 9.16946720e-01 -1.08815921e-01 1.26112350e+01] [ 2.82079693e-01 -4.24257342e-03 9.59381596e-01 1.37760681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.96, Y:12.62, Z:13.80 [[ 8.77774428e-01 -3.97550857e-01 -2.67330078e-01 8.79557363e+01] [ 3.84625160e-01 9.17477236e-01 -1.01484024e-01 1.26168934e+01] [ 2.85614322e-01 -1.37417929e-02 9.58246118e-01 1.37958324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:87.98, Y:12.64, Z:13.79 [[ 8.78276308e-01 -4.07344528e-01 -2.50402001e-01 8.79818492e+01] [ 3.87527721e-01 9.13169364e-01 -1.26269470e-01 1.26435946e+01] [ 2.80094613e-01 1.38617668e-02 9.59872314e-01 1.37854211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.00, Y:12.64, Z:13.81 [[ 8.75824459e-01 -4.02606986e-01 -2.66156218e-01 8.80043845e+01] [ 3.89642033e-01 9.15264508e-01 -1.02322848e-01 1.26406126e+01] [ 2.84799234e-01 -1.40887966e-02 9.58483647e-01 1.38123603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.03, Y:12.66, Z:13.81 [[ 8.74996345e-01 -4.07918933e-01 -2.60736535e-01 8.80273959e+01] [ 3.91065118e-01 9.13018051e-01 -1.16043577e-01 1.26601459e+01] [ 2.85393536e-01 -4.27257935e-04 9.58410323e-01 1.38138027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.05, Y:12.68, Z:13.82 [[ 8.73485518e-01 -4.09513315e-01 -2.63290513e-01 8.80514982e+01] [ 3.92364305e-01 9.12303723e-01 -1.17269642e-01 1.26750838e+01] [ 2.88224395e-01 -8.72464873e-04 9.57562498e-01 1.38193772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:12.70, Z:13.81 [[ 8.74381580e-01 -4.15412520e-01 -2.50777371e-01 8.80785543e+01] [ 3.93990668e-01 9.09468141e-01 -1.32812100e-01 1.26983417e+01] [ 2.83245839e-01 1.73245103e-02 9.58890847e-01 1.38109477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:12.70, Z:13.82 [[ 8.73769518e-01 -4.12218372e-01 -2.58075266e-01 8.81030964e+01] [ 3.95332099e-01 9.11085075e-01 -1.16775503e-01 1.27021790e+01] [ 2.83265531e-01 9.43833792e-06 9.59041521e-01 1.38249421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:12.72, Z:13.83 [[ 8.73157905e-01 -4.13551989e-01 -2.58011675e-01 8.81268864e+01] [ 3.96775686e-01 9.10480330e-01 -1.16595982e-01 1.27158230e+01] [ 2.83133055e-01 -5.66056331e-04 9.59080472e-01 1.38324590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:12.73, Z:13.84 [[ 8.73199588e-01 -4.13444602e-01 -2.58042712e-01 8.81505492e+01] [ 3.97287132e-01 9.10525698e-01 -1.14480952e-01 1.27282582e+01] [ 2.82286052e-01 -2.55232880e-03 9.59326884e-01 1.38408449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:12.75, Z:13.85 [[ 8.73325738e-01 -4.15173795e-01 -2.54819300e-01 8.81735754e+01] [ 3.98728455e-01 9.09741942e-01 -1.15694502e-01 1.27461334e+01] [ 2.79853130e-01 -5.64719248e-04 9.60042659e-01 1.38473486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.20, Y:12.74, Z:13.88 [[ 8.72009090e-01 -4.07491056e-01 -2.71203221e-01 8.81954046e+01] [ 3.97379910e-01 9.12841218e-01 -9.38622251e-02 1.27436911e+01] [ 2.85813495e-01 -2.59219980e-02 9.57934599e-01 1.38763766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.22, Y:12.78, Z:13.86 [[ 8.73633568e-01 -4.19723570e-01 -2.46163591e-01 8.82197407e+01] [ 3.98645075e-01 9.07480538e-01 -1.32518590e-01 1.27788483e+01] [ 2.79009844e-01 1.76407855e-02 9.60126195e-01 1.38625870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:12.78, Z:13.88 [[ 8.73936917e-01 -4.13673811e-01 -2.55163171e-01 8.82451841e+01] [ 3.98414557e-01 9.10414997e-01 -1.11401858e-01 1.27806690e+01] [ 2.78388409e-01 -4.30252527e-03 9.60458944e-01 1.38791329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:12.80, Z:13.88 [[ 8.74153717e-01 -4.15058441e-01 -2.52154258e-01 8.82658118e+01] [ 3.98844502e-01 9.09794739e-01 -1.14876438e-01 1.28030265e+01] [ 2.77089053e-01 -1.50673786e-04 9.60844230e-01 1.38818378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:12.82, Z:13.89 [[ 8.74785633e-01 -4.13319582e-01 -2.52818153e-01 8.82891307e+01] [ 3.97635027e-01 9.10584139e-01 -1.12795882e-01 1.28161172e+01] [ 2.76832948e-01 -1.85713581e-03 9.60916266e-01 1.38895791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:12.84, Z:13.89 [[ 8.75087971e-01 -4.13342376e-01 -2.51732244e-01 8.83122171e+01] [ 3.96923655e-01 9.10575116e-01 -1.15345440e-01 1.28356876e+01] [ 2.76898276e-01 1.01892482e-03 9.60898697e-01 1.38941019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:12.85, Z:13.90 [[ 8.74896576e-01 -4.12596318e-01 -2.53614392e-01 8.83375304e+01] [ 3.97044449e-01 9.10910553e-01 -1.12239338e-01 1.28452889e+01] [ 2.77329564e-01 -2.49837390e-03 9.60771602e-01 1.39036961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.36, Y:12.86, Z:13.91 [[ 8.75023991e-01 -4.11437817e-01 -2.55052816e-01 8.83629162e+01] [ 3.95601454e-01 9.11435721e-01 -1.13068189e-01 1.28576384e+01] [ 2.78984776e-01 -1.96188719e-03 9.60293521e-01 1.39120635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.39, Y:12.87, Z:13.92 [[ 8.75108522e-01 -4.10109440e-01 -2.56895548e-01 8.83854363e+01] [ 3.94734136e-01 9.12027573e-01 -1.11313375e-01 1.28705026e+01] [ 2.79946489e-01 -3.99415915e-03 9.60007297e-01 1.39210210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.41, Y:12.88, Z:13.93 [[ 8.75117415e-01 -4.09440496e-01 -2.57930205e-01 8.84107149e+01] [ 3.94023611e-01 9.12327317e-01 -1.11374415e-01 1.28842798e+01] [ 2.80917968e-01 -4.16490025e-03 9.59722746e-01 1.39308681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:12.89, Z:13.95 [[ 8.73436137e-01 -4.03176188e-01 -2.73053614e-01 8.84289601e+01] [ 3.93670425e-01 9.14702606e-01 -9.13385978e-02 1.28869825e+01] [ 2.86588400e-01 -2.77147004e-02 9.57652852e-01 1.39542175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:12.93, Z:13.93 [[ 8.75125069e-01 -4.15683048e-01 -2.47717011e-01 8.84522023e+01] [ 3.92842114e-01 9.09209628e-01 -1.37887368e-01 1.29294562e+01] [ 2.82544133e-01 2.33550186e-02 9.58969945e-01 1.39346887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.48, Y:12.93, Z:13.96 [[ 8.75537345e-01 -4.06295442e-01 -2.61454339e-01 8.84803332e+01] [ 3.90386462e-01 9.13735240e-01 -1.12633576e-01 1.29281962e+01] [ 2.84662551e-01 -3.45333251e-03 9.58621566e-01 1.39551208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.50, Y:12.94, Z:13.96 [[ 8.74190457e-01 -4.07773616e-01 -2.63650761e-01 8.84995301e+01] [ 3.92934969e-01 9.13047579e-01 -1.09298802e-01 1.29416648e+01] [ 2.85294857e-01 -8.04963397e-03 9.58405993e-01 1.39638999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:12.95, Z:13.98 [[ 8.73631080e-01 -4.03472421e-01 -2.71990334e-01 8.85222872e+01] [ 3.90400268e-01 9.14850410e-01 -1.03132718e-01 1.29491802e+01] [ 2.90441676e-01 -1.60851519e-02 9.56757493e-01 1.39841257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:12.99, Z:13.96 [[ 8.73490960e-01 -4.19420348e-01 -2.47184373e-01 8.85392291e+01] [ 3.94198056e-01 9.07279833e-01 -1.46462272e-01 1.29926284e+01] [ 2.85694654e-01 3.04938712e-02 9.57835418e-01 1.39620052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:12.99, Z:13.99 [[ 8.73223611e-01 -4.07795439e-01 -2.66802182e-01 8.85689371e+01] [ 3.93621051e-01 9.13001933e-01 -1.07191134e-01 1.29856050e+01] [ 2.87302964e-01 -1.14171262e-02 9.57771714e-01 1.39876577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.59, Y:13.00, Z:14.00 [[ 8.71914270e-01 -4.09146384e-01 -2.69006956e-01 8.85901100e+01] [ 3.90572084e-01 9.12467963e-01 -1.21883815e-01 1.30015082e+01] [ 2.95328551e-01 1.20562984e-03 9.55394993e-01 1.39991729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:13.02, Z:14.00 [[ 8.73517896e-01 -4.10485620e-01 -2.61663985e-01 8.86165985e+01] [ 3.92883608e-01 9.11866437e-01 -1.18920443e-01 1.30159800e+01] [ 2.87417738e-01 1.07564431e-03 9.57804723e-01 1.40003479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.64, Y:13.03, Z:14.01 [[ 8.74318602e-01 -4.09444753e-01 -2.60618451e-01 8.86385042e+01] [ 3.90583999e-01 9.12316966e-01 -1.22971106e-01 1.30311843e+01] [ 2.88116508e-01 5.72252871e-03 9.57578263e-01 1.40081008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:13.04, Z:14.02 [[ 8.75644104e-01 -4.05187129e-01 -2.62813228e-01 8.86635646e+01] [ 3.88926063e-01 9.14229837e-01 -1.13667599e-01 1.30414088e+01] [ 2.86328343e-01 -2.68255164e-03 9.58127802e-01 1.40187357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.68, Y:13.07, Z:14.02 [[ 8.77543463e-01 -4.06534722e-01 -2.54257724e-01 8.86826772e+01] [ 3.86740074e-01 9.13554554e-01 -1.25897546e-01 1.30660828e+01] [ 2.83460026e-01 1.21489179e-02 9.58907095e-01 1.40168009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:13.07, Z:14.03 [[ 8.77234269e-01 -4.01842236e-01 -2.62645874e-01 8.87109003e+01] [ 3.82764958e-01 9.15682411e-01 -1.22542683e-01 1.30737128e+01] [ 2.89743033e-01 6.96700384e-03 9.57079117e-01 1.40326890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:13.07, Z:14.06 [[ 8.78014133e-01 -3.88180109e-01 -2.80013188e-01 8.87359827e+01] [ 3.76815103e-01 9.21332769e-01 -9.56885958e-02 1.30664676e+01] [ 2.95129736e-01 -2.14972590e-02 9.55215320e-01 1.40590493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:13.10, Z:14.04 [[ 8.79606974e-01 -4.00381714e-01 -2.56877508e-01 8.87553780e+01] [ 3.77923812e-01 9.16116490e-01 -1.33806461e-01 1.31014306e+01] [ 2.88903381e-01 2.06169694e-02 9.57136237e-01 1.40436731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:13.10, Z:14.07 [[ 8.79159851e-01 -3.88538092e-01 -2.75891478e-01 8.87826742e+01] [ 3.73043476e-01 9.21404479e-01 -1.08868503e-01 1.30967236e+01] [ 2.96507204e-01 -7.20669944e-03 9.55003425e-01 1.40692891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:13.12, Z:14.07 [[ 8.80057535e-01 -3.91503089e-01 -2.68745354e-01 8.88035326e+01] [ 3.69269349e-01 9.20036094e-01 -1.31048592e-01 1.31217827e+01] [ 2.98561355e-01 1.60908794e-02 9.54254788e-01 1.40685008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.83, Y:13.13, Z:14.08 [[ 8.81541681e-01 -3.86476169e-01 -2.71146522e-01 8.88289740e+01] [ 3.66919676e-01 9.22266984e-01 -1.21628789e-01 1.31274915e+01] [ 2.97076113e-01 7.73185338e-03 9.54822497e-01 1.40794344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:13.14, Z:14.08 [[ 8.83262469e-01 -3.86822825e-01 -2.64982100e-01 8.88568042e+01] [ 3.66494091e-01 9.22065639e-01 -1.24406744e-01 1.31397551e+01] [ 2.92454257e-01 1.27694337e-02 9.56194253e-01 1.40827995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:13.15, Z:14.09 [[ 8.83536653e-01 -3.85743737e-01 -2.65640267e-01 8.88821354e+01] [ 3.66143379e-01 9.22547479e-01 -1.21840777e-01 1.31473564e+01] [ 2.92065075e-01 1.03883676e-02 9.56342027e-01 1.40914956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.90, Y:13.15, Z:14.11 [[ 8.81853224e-01 -3.82009688e-01 -2.76411812e-01 8.89046385e+01] [ 3.66420536e-01 9.24139565e-01 -1.08176042e-01 1.31460879e+01] [ 2.96767387e-01 -5.88757306e-03 9.54931649e-01 1.41107762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.93, Y:13.16, Z:14.11 [[ 8.81871341e-01 -3.86561234e-01 -2.69950645e-01 8.89280093e+01] [ 3.66749854e-01 9.22219611e-01 -1.22497079e-01 1.31635922e+01] [ 2.96306401e-01 9.02230332e-03 9.55050321e-01 1.41140987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.94, Y:13.20, Z:14.09 [[ 8.82838397e-01 -4.01919307e-01 -2.43016943e-01 8.89440294e+01] [ 3.73817410e-01 9.14540331e-01 -1.54520310e-01 1.31998880e+01] [ 2.84353491e-01 4.55724990e-02 9.57635755e-01 1.40917944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:13.17, Z:14.14 [[ 8.81326618e-01 -3.77754533e-01 -2.83839575e-01 8.89825142e+01] [ 3.67351691e-01 9.25597942e-01 -9.12205256e-02 1.31698672e+01] [ 2.97180293e-01 -2.38738704e-02 9.54522871e-01 1.41404617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69038572299999 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:89.00, Y:13.20, Z:14.13 [[ 8.81029069e-01 -3.91880223e-01 -2.64986170e-01 8.90002301e+01] [ 3.67517908e-01 9.19693855e-01 -1.38180316e-01 1.32004026e+01] [ 2.97856285e-01 2.43537124e-02 9.54300021e-01 1.41337799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.03, Y:13.20, Z:14.15 [[ 8.81497476e-01 -3.85227004e-01 -2.73061082e-01 8.90312946e+01] [ 3.69811379e-01 9.22803960e-01 -1.08038856e-01 1.31963191e+01] [ 2.93601333e-01 -5.74511649e-03 9.55910692e-01 1.41523925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.05, Y:13.22, Z:14.14 [[ 8.81628231e-01 -3.98637022e-01 -2.52626577e-01 8.90516268e+01] [ 3.75161573e-01 9.16731950e-01 -1.37318336e-01 1.32248793e+01] [ 2.86331028e-01 2.62879374e-02 9.57770060e-01 1.41398225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.08, Y:13.22, Z:14.16 [[ 8.79330695e-01 -3.91373854e-01 -2.71300638e-01 8.90812446e+01] [ 3.73002242e-01 9.20226742e-01 -1.18541432e-01 1.32186478e+01] [ 2.96052119e-01 3.04137311e-03 9.55166945e-01 1.41647525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:13.24, Z:14.16 [[ 8.80196101e-01 -3.99315235e-01 -2.56519330e-01 8.91064723e+01] [ 3.75621122e-01 9.16475065e-01 -1.37776006e-01 1.32430835e+01] [ 2.90109628e-01 2.49158248e-02 9.56669016e-01 1.41569274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.14, Y:13.24, Z:14.17 [[ 8.80613955e-01 -3.91672696e-01 -2.66667510e-01 8.91378884e+01] [ 3.75515137e-01 9.20102272e-01 -1.11356150e-01 1.32386557e+01] [ 2.88976545e-01 -2.07590675e-03 9.57333927e-01 1.41745529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.16, Y:13.25, Z:14.18 [[ 8.80307717e-01 -3.94823550e-01 -2.63007011e-01 8.91618150e+01] [ 3.76137788e-01 9.18731005e-01 -1.20223561e-01 1.32535626e+01] [ 2.89099789e-01 6.90685356e-03 9.57274050e-01 1.41793280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.19, Y:13.26, Z:14.19 [[ 8.80246443e-01 -3.94793238e-01 -2.63257477e-01 8.91881679e+01] [ 3.75935017e-01 9.18740582e-01 -1.20783302e-01 1.32639635e+01] [ 2.89549758e-01 7.35136791e-03 9.57134732e-01 1.41876289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:13.27, Z:14.20 [[ 8.79907975e-01 -3.95142442e-01 -2.63864372e-01 8.92138412e+01] [ 3.76153120e-01 9.18589766e-01 -1.21250449e-01 1.32731120e+01] [ 2.90294310e-01 7.43583065e-03 9.56908523e-01 1.41952993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.24, Y:13.28, Z:14.20 [[ 8.79887777e-01 -3.94310648e-01 -2.65172799e-01 8.92411997e+01] [ 3.75110658e-01 9.18945039e-01 -1.21786742e-01 1.32814778e+01] [ 2.91701037e-01 7.68952236e-03 9.56478634e-01 1.42036757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:13.29, Z:14.21 [[ 8.79706448e-01 -3.96190753e-01 -2.62962836e-01 8.92649954e+01] [ 3.75923363e-01 9.18094047e-01 -1.25638155e-01 1.32939004e+01] [ 2.91201290e-01 1.16708213e-02 9.56590613e-01 1.42082471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02038572299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.29, Y:13.29, Z:14.24 [[ 8.77648699e-01 -3.86975904e-01 -2.82811618e-01 8.92905330e+01] [ 3.74680059e-01 9.21886791e-01 -9.86893960e-02 1.32855493e+01] [ 2.98910713e-01 -1.93492538e-02 9.54084898e-01 1.42377955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05038572299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.31, Y:13.31, Z:14.24 [[ 8.77081121e-01 -3.96137342e-01 -2.71668758e-01 8.93143271e+01] [ 3.76155550e-01 9.18165078e-01 -1.24418213e-01 1.33055764e+01] [ 2.98723467e-01 6.93515499e-03 9.54314515e-01 1.42368723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08038572299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:89.34, Y:13.31, Z:14.24 [[ 8.75754735e-01 -3.98603716e-01 -2.72339349e-01 8.93392469e+01] [ 3.78607721e-01 9.17102303e-01 -1.24818106e-01 1.33132672e+01] [ 2.99516005e-01 6.20026733e-03 9.54071129e-01 1.42431319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.36, Y:13.32, Z:14.25 [[ 8.75155981e-01 -3.99908445e-01 -2.72351326e-01 8.93645398e+01] [ 3.79958734e-01 9.16536767e-01 -1.24866788e-01 1.33227442e+01] [ 2.99555287e-01 5.79565153e-03 9.54061340e-01 1.42504152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:13.33, Z:14.26 [[ 8.74810579e-01 -4.00913594e-01 -2.71982980e-01 8.93896034e+01] [ 3.81037248e-01 9.16099161e-01 -1.24791600e-01 1.33315090e+01] [ 2.99194028e-01 5.53336520e-03 9.54176250e-01 1.42590163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.42, Y:13.34, Z:14.27 [[ 8.75091289e-01 -4.01454182e-01 -2.70277218e-01 8.94151681e+01] [ 3.81829490e-01 9.15863193e-01 -1.24100168e-01 1.33357980e+01] [ 2.97357488e-01 5.39916332e-03 9.54750948e-01 1.42692726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.44, Y:13.36, Z:14.26 [[ 8.76004667e-01 -4.10955417e-01 -2.52450923e-01 8.94390108e+01] [ 3.86280529e-01 9.11233748e-01 -1.42969961e-01 1.33608883e+01] [ 2.88796081e-01 2.77254770e-02 9.56989092e-01 1.42584256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.47, Y:13.36, Z:14.27 [[ 8.75973259e-01 -4.05255152e-01 -2.61608699e-01 8.94676008e+01] [ 3.86538836e-01 9.14186293e-01 -1.21865297e-01 1.33601679e+01] [ 2.88545627e-01 5.62881903e-03 9.57449601e-01 1.42745763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.49, Y:13.37, Z:14.28 [[ 8.75604498e-01 -4.07000129e-01 -2.60130079e-01 8.94918044e+01] [ 3.87486930e-01 9.13388758e-01 -1.24799265e-01 1.33724701e+01] [ 2.88393207e-01 8.47779197e-03 9.57474535e-01 1.42787841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:13.38, Z:14.28 [[ 8.75034901e-01 -4.06985399e-01 -2.62062601e-01 8.95183788e+01] [ 3.86698567e-01 9.13379463e-01 -1.27287766e-01 1.33793940e+01] [ 2.91166860e-01 1.00420056e-02 9.56619579e-01 1.42848761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.55, Y:13.39, Z:14.30 [[ 8.74519853e-01 -4.05996666e-01 -2.65295560e-01 8.95453798e+01] [ 3.86908461e-01 9.13860700e-01 -1.23127833e-01 1.33860662e+01] [ 2.92432676e-01 5.03263715e-03 9.56272870e-01 1.42955945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:13.38, Z:14.33 [[ 8.72624491e-01 -3.97392029e-01 -2.83912087e-01 8.95731095e+01] [ 3.85130784e-01 9.17390433e-01 -1.00344765e-01 1.33768342e+01] [ 3.00334442e-01 -2.17799856e-02 9.53585264e-01 1.43274922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:13.42, Z:14.30 [[ 8.73312256e-01 -4.16754793e-01 -2.52271969e-01 8.95930109e+01] [ 3.90946771e-01 9.08517488e-01 -1.47501172e-01 1.34186263e+01] [ 2.90665316e-01 3.01896699e-02 9.56348398e-01 1.43015021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:13.41, Z:14.32 [[ 8.72146528e-01 -4.11847783e-01 -2.64086799e-01 8.96215375e+01] [ 3.93590836e-01 9.11250820e-01 -1.21277355e-01 1.34142671e+01] [ 2.90597122e-01 1.82948000e-03 9.56843752e-01 1.43218872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.65, Y:13.42, Z:14.33 [[ 8.71482609e-01 -4.13688875e-01 -2.63400034e-01 8.96482460e+01] [ 3.94666661e-01 9.10408758e-01 -1.24073043e-01 1.34215745e+01] [ 2.91129335e-01 4.17228732e-03 9.56674606e-01 1.43323085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:13.41, Z:14.37 [[ 8.71456635e-01 -4.01616917e-01 -2.81544286e-01 8.96738117e+01] [ 3.90533120e-01 9.15456622e-01 -9.70724280e-02 1.34106827e+01] [ 2.96727510e-01 -2.53579570e-02 9.54625455e-01 1.43655166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:13.45, Z:14.34 [[ 8.71969199e-01 -4.20072278e-01 -2.51413996e-01 8.96944580e+01] [ 3.94956575e-01 9.07065059e-01 -1.45747322e-01 1.34517215e+01] [ 2.89273260e-01 2.77895654e-02 9.56843102e-01 1.43369891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:13.45, Z:14.35 [[ 8.71895924e-01 -4.14175515e-01 -2.61258761e-01 8.97218339e+01] [ 3.94831461e-01 9.10176951e-01 -1.25243901e-01 1.34530336e+01] [ 2.89664660e-01 6.04646887e-03 9.57109098e-01 1.43521304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:13.46, Z:14.36 [[ 8.71843239e-01 -4.14173213e-01 -2.61438169e-01 8.97457441e+01] [ 3.95331884e-01 9.10187518e-01 -1.23577438e-01 1.34645007e+01] [ 2.89140222e-01 4.38530981e-03 9.57276711e-01 1.43575299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590385723 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:89.77, Y:13.47, Z:14.38 [[ 8.70552180e-01 -4.09837089e-01 -2.72346217e-01 8.97727408e+01] [ 3.93062762e-01 9.12139722e-01 -1.16201521e-01 1.34659985e+01] [ 2.96041496e-01 -5.88966894e-03 9.55156921e-01 1.43797767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:13.48, Z:14.38 [[ 8.70808627e-01 -4.17479675e-01 -2.59620984e-01 8.97976810e+01] [ 3.97436394e-01 9.08647931e-01 -1.28075172e-01 1.34825327e+01] [ 2.89372852e-01 8.34613729e-03 9.57180074e-01 1.43754240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:13.49, Z:14.39 [[ 8.70334943e-01 -4.15150301e-01 -2.64891138e-01 8.98238469e+01] [ 3.97490693e-01 9.09752260e-01 -1.19799724e-01 1.34865768e+01] [ 2.90720203e-01 -1.02587651e-03 9.56807562e-01 1.43906997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:13.50, Z:14.40 [[ 8.70161599e-01 -4.16990916e-01 -2.62559266e-01 8.98481069e+01] [ 3.98158621e-01 9.08904623e-01 -1.23943936e-01 1.34999305e+01] [ 2.90324826e-01 3.31101829e-03 9.56922428e-01 1.43972238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:13.51, Z:14.41 [[ 8.69986355e-01 -4.16481783e-01 -2.63944440e-01 8.98736275e+01] [ 3.97755391e-01 9.09140724e-01 -1.23506246e-01 1.35103781e+01] [ 2.91400741e-01 2.46342488e-03 9.56597899e-01 1.44057889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:13.52, Z:14.41 [[ 8.70596387e-01 -4.17136843e-01 -2.60880786e-01 8.98995546e+01] [ 3.97072575e-01 9.08809369e-01 -1.28058193e-01 1.35214140e+01] [ 2.90508693e-01 7.89839505e-03 9.56839754e-01 1.44111787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:13.53, Z:14.42 [[ 8.70424550e-01 -4.15792873e-01 -2.63585638e-01 8.99241131e+01] [ 3.97187310e-01 9.09456227e-01 -1.23010616e-01 1.35298168e+01] [ 2.90866537e-01 2.37858980e-03 9.56760681e-01 1.44216169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:13.54, Z:14.43 [[ 8.69960375e-01 -4.14461729e-01 -2.67189859e-01 8.99493775e+01] [ 3.96982492e-01 9.10063469e-01 -1.19119195e-01 1.35383081e+01] [ 2.92530078e-01 -2.44071637e-03 9.56253207e-01 1.44336052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:13.55, Z:14.44 [[ 8.69802138e-01 -4.15669239e-01 -2.65825741e-01 8.99740797e+01] [ 3.96806384e-01 9.09513156e-01 -1.23816452e-01 1.35513456e+01] [ 2.93238698e-01 2.21446351e-03 9.56036695e-01 1.44402250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:13.56, Z:14.45 [[ 8.69788597e-01 -4.15033605e-01 -2.66861206e-01 8.99985595e+01] [ 3.96025258e-01 9.09803092e-01 -1.24186669e-01 1.35619582e+01] [ 2.94332791e-01 2.33237118e-03 9.55700145e-01 1.44474453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:13.57, Z:14.46 [[ 8.69661398e-01 -4.12972970e-01 -2.70448475e-01 9.00231597e+01] [ 3.95198222e-01 9.10739504e-01 -1.19882945e-01 1.35703463e+01] [ 2.95816526e-01 -2.62318736e-03 9.55241175e-01 1.44591414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:13.59, Z:14.46 [[ 8.69410653e-01 -4.14839719e-01 -2.68389872e-01 9.00470760e+01] [ 3.93833099e-01 9.09860913e-01 -1.30570326e-01 1.35850574e+01] [ 2.98363211e-01 7.81841715e-03 9.54420382e-01 1.44635616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:13.59, Z:14.48 [[ 8.69656428e-01 -4.10870487e-01 -2.73647840e-01 9.00729702e+01] [ 3.92665362e-01 9.11690945e-01 -1.20969147e-01 1.35887100e+01] [ 2.99184910e-01 -2.25043140e-03 9.54192499e-01 1.44788982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:13.59, Z:14.50 [[ 8.70761727e-01 -4.07137639e-01 -2.75704475e-01 9.00989875e+01] [ 3.88604563e-01 9.13365762e-01 -1.21447428e-01 1.35942603e+01] [ 3.01264847e-01 -1.38824483e-03 9.53539493e-01 1.44956865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.12, Y:13.61, Z:14.50 [[ 8.71327890e-01 -4.08079295e-01 -2.72505041e-01 9.01218375e+01] [ 3.88050726e-01 9.12936142e-01 -1.26349652e-01 1.36086262e+01] [ 3.00340378e-01 4.34619647e-03 9.53822189e-01 1.45005146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:13.62, Z:14.51 [[ 8.71829528e-01 -4.07527569e-01 -2.71725146e-01 9.01458285e+01] [ 3.87576813e-01 9.13181504e-01 -1.26030764e-01 1.36207014e+01] [ 2.99495388e-01 4.56297577e-03 9.54086837e-01 1.45076918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:13.63, Z:14.52 [[ 8.72569810e-01 -4.06133300e-01 -2.71436309e-01 9.01705054e+01] [ 3.86130166e-01 9.13799460e-01 -1.25992227e-01 1.36319603e+01] [ 2.99207992e-01 5.12726683e-03 9.54174140e-01 1.45155145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:13.64, Z:14.52 [[ 8.72859969e-01 -4.05780419e-01 -2.71030857e-01 9.01943309e+01] [ 3.85792634e-01 9.13955060e-01 -1.25897550e-01 1.36416364e+01] [ 2.98796783e-01 5.32922341e-03 9.54301882e-01 1.45237037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:13.65, Z:14.53 [[ 8.71891124e-01 -4.08593462e-01 -2.69920822e-01 9.02210243e+01] [ 3.86134810e-01 9.12626867e-01 -1.34209201e-01 1.36534185e+01] [ 3.01173996e-01 1.27899861e-02 9.53483424e-01 1.45303627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:13.66, Z:14.54 [[ 8.71482688e-01 -4.05887258e-01 -2.75269794e-01 9.02450413e+01] [ 3.87886553e-01 9.13919522e-01 -1.19562237e-01 1.36571300e+01] [ 3.00103227e-01 -2.57703182e-03 9.53903251e-01 1.45418460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:13.67, Z:14.54 [[ 8.71912729e-01 -4.07713032e-01 -2.71179418e-01 9.02693786e+01] [ 3.86887813e-01 9.13079869e-01 -1.28852525e-01 1.36729188e+01] [ 3.00143321e-01 7.43214433e-03 9.53865163e-01 1.45449070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:13.68, Z:14.56 [[ 8.73197899e-01 -4.03518898e-01 -2.73309215e-01 9.02958933e+01] [ 3.83061396e-01 9.14950268e-01 -1.27003834e-01 1.36807924e+01] [ 3.01312787e-01 6.20527158e-03 9.53505165e-01 1.45571862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:13.69, Z:14.57 [[ 8.73531378e-01 -4.02675785e-01 -2.73487010e-01 9.03206070e+01] [ 3.82075696e-01 9.15317947e-01 -1.27323281e-01 1.36923608e+01] [ 3.01597570e-01 6.72814149e-03 9.53411578e-01 1.45650586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:13.70, Z:14.57 [[ 8.74370090e-01 -4.00274653e-01 -2.74330362e-01 9.03452043e+01] [ 3.79398601e-01 9.16363102e-01 -1.27809890e-01 1.37029078e+01] [ 3.02545281e-01 7.67258945e-03 9.53104131e-01 1.45726330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:13.71, Z:14.58 [[ 8.74492090e-01 -3.99685947e-01 -2.74799433e-01 9.03685423e+01] [ 3.78676859e-01 9.16617354e-01 -1.28126745e-01 1.37130856e+01] [ 3.03096389e-01 7.98563903e-03 9.52926445e-01 1.45811681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:13.73, Z:14.59 [[ 8.73411957e-01 -4.01863325e-01 -2.75058944e-01 9.03923966e+01] [ 3.80385208e-01 9.15656929e-01 -1.29921059e-01 1.37270292e+01] [ 3.04070136e-01 8.84625243e-03 9.52608574e-01 1.45877900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:13.74, Z:14.59 [[ 8.73771620e-01 -4.03784463e-01 -2.71074275e-01 9.04161334e+01] [ 3.81927007e-01 9.14783005e-01 -1.31543965e-01 1.37394880e+01] [ 3.01089549e-01 1.14087969e-02 9.53527620e-01 1.45921158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:13.75, Z:14.60 [[ 8.73415151e-01 -4.06342418e-01 -2.68387432e-01 9.04400458e+01] [ 3.84360655e-01 9.13635259e-01 -1.32429229e-01 1.37505979e+01] [ 2.99019834e-01 1.25081261e-02 9.54164915e-01 1.45993984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:13.75, Z:14.62 [[ 8.73736511e-01 -3.99812643e-01 -2.77009675e-01 9.04675027e+01] [ 3.80801406e-01 9.16596386e-01 -1.21825099e-01 1.37526364e+01] [ 3.02613282e-01 9.57363458e-04 9.53112945e-01 1.46200306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:13.76, Z:14.64 [[ 8.72695504e-01 -3.96127931e-01 -2.85456159e-01 9.04939184e+01] [ 3.80275030e-01 9.18126561e-01 -1.11510175e-01 1.37598322e+01] [ 3.06257176e-01 -1.12374213e-02 9.51882483e-01 1.46374474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:13.79, Z:14.63 [[ 8.73834280e-01 -4.07125962e-01 -2.65823440e-01 9.05138536e+01] [ 3.81707424e-01 9.13055600e-01 -1.43627694e-01 1.37898272e+01] [ 3.01186144e-01 2.40400223e-02 9.53262285e-01 1.46250051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:13.80, Z:14.63 [[ 8.72909664e-01 -4.09866592e-01 -2.64647116e-01 9.05369700e+01] [ 3.86833279e-01 9.11991170e-01 -1.36499524e-01 1.38012864e+01] [ 2.97302428e-01 1.67774422e-02 9.54635943e-01 1.46295855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:13.80, Z:14.65 [[ 8.72794909e-01 -4.02173309e-01 -2.76560439e-01 9.05644339e+01] [ 3.84143851e-01 9.15560672e-01 -1.19088863e-01 1.37995998e+01] [ 3.01102224e-01 -2.29883883e-03 9.53589097e-01 1.46533781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58038572299999 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:90.59, Y:13.83, Z:14.64 [[ 8.71873157e-01 -4.12634205e-01 -2.63761654e-01 9.05872550e+01] [ 3.83832375e-01 9.10257487e-01 -1.55254676e-01 1.38291895e+01] [ 3.04154411e-01 3.41221227e-02 9.52011436e-01 1.46445834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:13.82, Z:14.68 [[ 8.70271774e-01 -4.02257611e-01 -2.84281295e-01 9.06159255e+01] [ 3.87196822e-01 9.15413917e-01 -1.09981737e-01 1.38181426e+01] [ 3.04476044e-01 -1.43588126e-02 9.52411761e-01 1.46773627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:13.84, Z:14.68 [[ 8.70181423e-01 -4.09649918e-01 -2.73808758e-01 9.06384756e+01] [ 3.87647382e-01 9.12194349e-01 -1.32781690e-01 1.38412560e+01] [ 3.04160810e-01 9.40291173e-03 9.52574295e-01 1.46754216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:13.85, Z:14.69 [[ 8.70142076e-01 -4.06272521e-01 -2.78918278e-01 9.06634384e+01] [ 3.86610582e-01 9.13751594e-01 -1.24861053e-01 1.38474158e+01] [ 3.05589636e-01 8.14098311e-04 9.52162965e-01 1.46912354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:13.86, Z:14.70 [[ 8.70790387e-01 -4.06719042e-01 -2.76231285e-01 9.06878400e+01] [ 3.85627235e-01 9.13532407e-01 -1.29422474e-01 1.38612775e+01] [ 3.04984815e-01 6.17753936e-03 9.52337178e-01 1.46974205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:13.89, Z:14.69 [[ 8.69797773e-01 -4.14275866e-01 -2.68006234e-01 9.07081117e+01] [ 3.87661608e-01 9.09807236e-01 -1.48220348e-01 1.38857582e+01] [ 3.05238124e-01 2.50260014e-02 9.51947156e-01 1.46893691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:13.87, Z:14.72 [[ 8.70414876e-01 -4.01136439e-01 -2.85425124e-01 9.07384207e+01] [ 3.84974508e-01 9.15948851e-01 -1.13279875e-01 1.38741361e+01] [ 3.06875500e-01 -1.12809083e-02 9.51682809e-01 1.47224892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:13.90, Z:14.71 [[ 8.70037176e-01 -4.11989980e-01 -2.70738932e-01 9.07608863e+01] [ 3.87672184e-01 9.11024174e-01 -1.40517728e-01 1.39015071e+01] [ 3.04541608e-01 1.72976941e-02 9.52341955e-01 1.47130185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:13.90, Z:14.74 [[ 8.69812147e-01 -4.04639250e-01 -2.82301092e-01 9.07877502e+01] [ 3.86385109e-01 9.14465403e-01 -1.20247970e-01 1.38998445e+01] [ 3.06811630e-01 -4.48379333e-03 9.51759696e-01 1.47367163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85038572299999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:90.81, Y:13.93, Z:14.73 [[ 8.67762325e-01 -4.13576189e-01 -2.75578090e-01 9.08112414e+01] [ 3.87697165e-01 9.10266491e-01 -1.45278436e-01 1.39264870e+01] [ 3.10933203e-01 1.92263091e-02 9.50237282e-01 1.47333777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:13.93, Z:14.74 [[ 8.68601095e-01 -4.10769352e-01 -2.77129349e-01 9.08377738e+01] [ 3.89516350e-01 9.11723113e-01 -1.30529604e-01 1.39340287e+01] [ 3.06282794e-01 5.43174430e-03 9.51925074e-01 1.47433763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91038572299999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:90.86, Y:13.94, Z:14.76 [[ 8.67383576e-01 -4.11975144e-01 -2.79145504e-01 9.08598838e+01] [ 3.88360416e-01 9.11125843e-01 -1.37934350e-01 1.39447558e+01] [ 3.11162207e-01 1.12329259e-02 9.50290431e-01 1.47570967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94038572299999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:90.88, Y:13.95, Z:14.76 [[ 8.69865252e-01 -4.09406991e-01 -2.75173327e-01 9.08848696e+01] [ 3.88634978e-01 9.12337359e-01 -1.28854168e-01 1.39527620e+01] [ 3.03804704e-01 5.14378300e-03 9.52720443e-01 1.47618530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:13.95, Z:14.79 [[ 8.68943940e-01 -4.04556175e-01 -2.85080218e-01 9.09093137e+01] [ 3.89695697e-01 9.14378213e-01 -1.09771341e-01 1.39537720e+01] [ 3.05079814e-01 -1.57093927e-02 9.52197207e-01 1.47854339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:90.93, Y:13.99, Z:14.77 [[ 8.69832610e-01 -4.18419626e-01 -2.61373769e-01 9.09317650e+01] [ 3.92676244e-01 9.07912177e-01 -1.46631667e-01 1.39899878e+01] [ 2.98657995e-01 2.49097359e-02 9.54035066e-01 1.47660639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:90.96, Y:13.99, Z:14.78 [[ 8.69631434e-01 -4.12731987e-01 -2.70912303e-01 9.09560857e+01] [ 3.91728606e-01 9.10824971e-01 -1.30178994e-01 1.39915104e+01] [ 3.00482725e-01 7.08364601e-03 9.53760952e-01 1.47812654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:14.00, Z:14.79 [[ 8.69930247e-01 -4.11283995e-01 -2.72152238e-01 9.09831143e+01] [ 3.91213857e-01 9.11498531e-01 -1.26973015e-01 1.40020252e+01] [ 3.00288334e-01 3.98793947e-03 9.53840140e-01 1.47919790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:14.02, Z:14.80 [[ 8.70062379e-01 -4.11958922e-01 -2.70705197e-01 9.10083208e+01] [ 3.90748240e-01 9.11167628e-01 -1.30726306e-01 1.40154578e+01] [ 3.00511680e-01 7.96246165e-03 9.53744897e-01 1.47995236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:91.03, Y:14.01, Z:14.83 [[ 8.69268984e-01 -4.04017620e-01 -2.84852938e-01 9.10309419e+01] [ 3.89400695e-01 9.14606859e-01 -1.08910021e-01 1.40121408e+01] [ 3.04530019e-01 -1.62498291e-02 9.52364117e-01 1.48286737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:14.03, Z:14.83 [[ 8.69355877e-01 -4.11225020e-01 -2.74069958e-01 9.10527474e+01] [ 3.90301949e-01 9.11515904e-01 -1.29626950e-01 1.40348308e+01] [ 3.03124971e-01 5.72191194e-03 9.52933635e-01 1.48273374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:14.05, Z:14.84 [[ 8.69056433e-01 -4.12257658e-01 -2.73467621e-01 9.10768375e+01] [ 3.91448565e-01 9.11051060e-01 -1.29437198e-01 1.40465410e+01] [ 3.02504442e-01 5.43972169e-03 9.53132453e-01 1.48366911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:14.06, Z:14.84 [[ 8.69124348e-01 -4.12285582e-01 -2.73209565e-01 9.11004731e+01] [ 3.91488851e-01 9.11037985e-01 -1.29407378e-01 1.40579136e+01] [ 3.02257088e-01 5.51260388e-03 9.53210503e-01 1.48447457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:14.07, Z:14.85 [[ 8.68592161e-01 -4.12573638e-01 -2.74464298e-01 9.11240367e+01] [ 3.91580249e-01 9.10907755e-01 -1.30046028e-01 1.40695339e+01] [ 3.03665221e-01 5.48216165e-03 9.52763024e-01 1.48535302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:14.08, Z:14.86 [[ 8.68257468e-01 -4.13002464e-01 -2.74878035e-01 9.11480593e+01] [ 3.91934143e-01 9.10713699e-01 -1.30338734e-01 1.40802158e+01] [ 3.04165410e-01 5.43349243e-03 9.52603737e-01 1.48621406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:14.09, Z:14.87 [[ 8.67310283e-01 -4.13972563e-01 -2.76404759e-01 9.11726975e+01] [ 3.92679599e-01 9.10274398e-01 -1.31161168e-01 1.40898881e+01] [ 3.05901300e-01 5.21892022e-03 9.52048926e-01 1.48715436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33038572299999 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:91.20, Y:14.11, Z:14.88 [[ 8.66348062e-01 -4.17005772e-01 -2.74858548e-01 9.11958254e+01] [ 3.92134872e-01 9.08764996e-01 -1.42746013e-01 1.41063016e+01] [ 3.09307739e-01 1.58861102e-02 9.50829298e-01 1.48762573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:14.11, Z:14.89 [[ 8.66500272e-01 -4.11739726e-01 -2.82219199e-01 9.12211598e+01] [ 3.93041808e-01 9.11290088e-01 -1.22753869e-01 1.41088488e+01] [ 3.07726203e-01 -4.55768345e-03 9.51464036e-01 1.48915513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:14.13, Z:14.89 [[ 8.66675589e-01 -4.15107312e-01 -2.76693589e-01 9.12435866e+01] [ 3.93744005e-01 9.09758357e-01 -1.31549953e-01 1.41284675e+01] [ 3.06331653e-01 5.06469137e-03 9.51911376e-01 1.48935704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:14.14, Z:14.90 [[ 8.66656782e-01 -4.18361591e-01 -2.71808022e-01 9.12700381e+01] [ 3.95795732e-01 9.08223025e-01 -1.35928934e-01 1.41448673e+01] [ 3.03729749e-01 1.02232781e-02 9.52703377e-01 1.48965138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:14.15, Z:14.91 [[ 8.66151941e-01 -4.17612733e-01 -2.74554948e-01 9.12951621e+01] [ 3.97349896e-01 9.08622389e-01 -1.28523984e-01 1.41525784e+01] [ 3.03140025e-01 2.22691838e-03 9.52943422e-01 1.49090143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:14.16, Z:14.93 [[ 8.65601868e-01 -4.16995990e-01 -2.77214268e-01 9.13176881e+01] [ 3.97544437e-01 9.08907475e-01 -1.25879398e-01 1.41585652e+01] [ 3.04453325e-01 -1.24354848e-03 9.52526444e-01 1.49265825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:14.18, Z:14.92 [[ 8.65675504e-01 -4.23823047e-01 -2.66420618e-01 9.13423231e+01] [ 4.00535778e-01 9.05639462e-01 -1.39241717e-01 1.41794307e+01] [ 3.00294874e-01 1.38271537e-02 9.53746192e-01 1.49223253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:14.18, Z:14.95 [[ 8.65466874e-01 -4.16083604e-01 -2.79000940e-01 9.13668534e+01] [ 3.98096507e-01 9.09305246e-01 -1.21174013e-01 1.41779175e+01] [ 3.04115538e-01 -6.19720593e-03 9.52614998e-01 1.49474297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:14.20, Z:14.95 [[ 8.65590196e-01 -4.18119860e-01 -2.75552888e-01 9.13885201e+01] [ 3.96908533e-01 9.08380679e-01 -1.31560470e-01 1.41978363e+01] [ 3.05314965e-01 4.50816076e-03 9.52240751e-01 1.49489255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:14.23, Z:14.94 [[ 8.65641084e-01 -4.26569862e-01 -2.62113843e-01 9.14092347e+01] [ 4.00787104e-01 9.04164009e-01 -1.47841615e-01 1.42255245e+01] [ 3.00058680e-01 2.29259280e-02 9.53645212e-01 1.49357986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:14.23, Z:14.95 [[ 8.65796646e-01 -4.21495654e-01 -2.69699059e-01 9.14354132e+01] [ 3.99759293e-01 9.06794481e-01 -1.33851700e-01 1.42293774e+01] [ 3.00979527e-01 8.07364748e-03 9.53596424e-01 1.49500016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:14.24, Z:14.96 [[ 8.65668519e-01 -4.20937210e-01 -2.70979485e-01 9.14602382e+01] [ 3.99789975e-01 9.07071095e-01 -1.31871166e-01 1.42400449e+01] [ 3.01307138e-01 5.82183513e-03 9.53509368e-01 1.49597413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:14.25, Z:14.97 [[ 8.65322920e-01 -4.21042112e-01 -2.71918709e-01 9.14825876e+01] [ 3.99592361e-01 9.07019366e-01 -1.32822496e-01 1.42499586e+01] [ 3.02559400e-01 6.27771082e-03 9.53109857e-01 1.49676747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72038572299999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:91.51, Y:14.25, Z:14.99 [[ 8.63540847e-01 -4.19137869e-01 -2.80393745e-01 9.15084881e+01] [ 3.98733086e-01 9.07922566e-01 -1.29184134e-01 1.42548687e+01] [ 3.08721771e-01 -2.46487076e-04 9.51152358e-01 1.49895696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:14.28, Z:14.98 [[ 8.64212795e-01 -4.27632066e-01 -2.65079350e-01 9.15310698e+01] [ 4.02104975e-01 9.03722304e-01 -1.46961170e-01 1.42810650e+01] [ 3.02403430e-01 2.04159981e-02 9.52961359e-01 1.49799946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:14.28, Z:15.00 [[ 8.63794222e-01 -4.21461588e-01 -2.76097214e-01 9.15582366e+01] [ 4.01390223e-01 9.06846235e-01 -1.28513789e-01 1.42828528e+01] [ 3.04541344e-01 1.86746176e-04 9.52499100e-01 1.50010902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:14.30, Z:15.00 [[ 8.63331070e-01 -4.25999717e-01 -2.70524868e-01 9.15811658e+01] [ 4.02120011e-01 9.04627697e-01 -1.41238193e-01 1.43024129e+01] [ 3.04891719e-01 1.31518574e-02 9.52296208e-01 1.50033774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:91.61, Y:14.29, Z:15.04 [[ 8.64712875e-01 -4.07794666e-01 -2.93215202e-01 9.16076570e+01] [ 3.94958843e-01 9.12722005e-01 -1.04623390e-01 1.42875929e+01] [ 3.10288827e-01 -2.53387442e-02 9.50304578e-01 1.50447068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870385723 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:91.63, Y:14.32, Z:15.04 [[ 8.64829174e-01 -4.17655232e-01 -2.78629875e-01 9.16283205e+01] [ 3.94043006e-01 9.08547602e-01 -1.38821339e-01 1.43166096e+01] [ 3.11127963e-01 1.02645906e-02 9.50312595e-01 1.50390925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.66, Y:14.33, Z:15.05 [[ 8.66351205e-01 -4.15738460e-01 -2.76761853e-01 9.16553022e+01] [ 3.92880077e-01 9.09436383e-01 -1.36274392e-01 1.43289487e+01] [ 3.08351805e-01 9.32726574e-03 9.51226664e-01 1.50476768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:14.34, Z:15.06 [[ 8.66774306e-01 -4.10569287e-01 -2.83081548e-01 9.16775770e+01] [ 3.89555006e-01 9.11826908e-01 -1.29686495e-01 1.43364705e+01] [ 3.11366665e-01 2.13308754e-03 9.50287457e-01 1.50622314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:14.37, Z:15.04 [[ 8.68443166e-01 -4.20809565e-01 -2.62156018e-01 9.16985150e+01] [ 3.91254537e-01 9.06456170e-01 -1.58924822e-01 1.43689944e+01] [ 3.04510026e-01 3.54474441e-02 9.51849317e-01 1.50441832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:14.35, Z:15.08 [[ 8.68652068e-01 -4.01994493e-01 -2.89558306e-01 9.17267365e+01] [ 3.84908489e-01 9.15583792e-01 -1.16412091e-01 1.43544139e+01] [ 3.11911911e-01 -1.03318462e-02 9.50054847e-01 1.50838813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:14.38, Z:15.08 [[ 8.68807723e-01 -4.07865233e-01 -2.80747380e-01 9.17489917e+01] [ 3.83892633e-01 9.12957900e-01 -1.38326855e-01 1.43782690e+01] [ 3.12729254e-01 1.24025886e-02 9.49761333e-01 1.50819095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:14.39, Z:15.08 [[ 8.71151034e-01 -4.08985368e-01 -2.71710956e-01 9.17734044e+01] [ 3.85030926e-01 9.12394098e-01 -1.38881948e-01 1.43942196e+01] [ 3.04708158e-01 1.63700320e-02 9.52305078e-01 1.50767451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:14.40, Z:15.10 [[ 8.66920279e-01 -4.08986483e-01 -2.84919790e-01 9.17997159e+01] [ 3.84808245e-01 9.12476204e-01 -1.38959677e-01 1.44000575e+01] [ 3.16815158e-01 1.08274772e-02 9.48425496e-01 1.51016779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:14.41, Z:15.11 [[ 8.68442612e-01 -4.07895030e-01 -2.81831642e-01 9.18279937e+01] [ 3.87734194e-01 9.13028550e-01 -1.26653314e-01 1.44097826e+01] [ 3.08981592e-01 7.15370329e-04 9.51067749e-01 1.51059709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:14.43, Z:15.10 [[ 8.67009900e-01 -4.15483288e-01 -2.75077210e-01 9.18479994e+01] [ 3.88279773e-01 9.09311774e-01 -1.49635945e-01 1.44333980e+01] [ 3.12302180e-01 2.29289296e-02 9.49706066e-01 1.51042717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:14.44, Z:15.12 [[ 8.66361493e-01 -4.11457485e-01 -2.83055649e-01 9.18763834e+01] [ 3.88813279e-01 9.11404214e-01 -1.34783507e-01 1.44372611e+01] [ 3.13435794e-01 6.71544494e-03 9.49585650e-01 1.51191847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:14.44, Z:15.13 [[ 8.66958762e-01 -4.07513696e-01 -2.86906068e-01 9.19013011e+01] [ 3.88229567e-01 9.13190613e-01 -1.23938321e-01 1.44416356e+01] [ 3.12506492e-01 -3.93600538e-03 9.49907469e-01 1.51342958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:14.47, Z:15.13 [[ 8.65231228e-01 -4.17667598e-01 -2.77360234e-01 9.19229825e+01] [ 3.89611816e-01 9.08289083e-01 -1.52360015e-01 1.44678077e+01] [ 3.15559114e-01 2.37638185e-02 9.48608310e-01 1.51310289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:14.46, Z:15.15 [[ 8.65435940e-01 -4.09054061e-01 -2.89301588e-01 9.19505095e+01] [ 3.91381908e-01 9.12456028e-01 -1.19349066e-01 1.44648019e+01] [ 3.12795198e-01 -9.93843641e-03 9.49768599e-01 1.51542636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:14.48, Z:15.16 [[ 8.65222893e-01 -4.13720658e-01 -2.83239408e-01 9.19723743e+01] [ 3.92177974e-01 9.10399091e-01 -1.31795042e-01 1.44828365e+01] [ 3.12387231e-01 2.95183018e-03 9.49950264e-01 1.51580653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:14.50, Z:15.16 [[ 8.63818186e-01 -4.21664246e-01 -2.75712541e-01 9.19966280e+01] [ 3.95739965e-01 9.06582272e-01 -1.46623547e-01 1.45021613e+01] [ 3.11782009e-01 1.75456147e-02 9.49991647e-01 1.51597555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:14.49, Z:15.20 [[ 8.62772651e-01 -4.09296226e-01 -2.96816362e-01 9.20195313e+01] [ 3.94302381e-01 9.12167469e-01 -1.11696647e-01 1.44901801e+01] [ 3.16463246e-01 -2.06665859e-02 9.48379621e-01 1.51951290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:14.52, Z:15.18 [[ 8.63418764e-01 -4.26452615e-01 -2.69529599e-01 9.20440651e+01] [ 3.99342308e-01 9.04215333e-01 -1.51394694e-01 1.45241368e+01] [ 3.08275459e-01 2.30824469e-02 9.51017057e-01 1.51766420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:14.53, Z:15.19 [[ 8.62883207e-01 -4.23191908e-01 -2.76299078e-01 9.20691427e+01] [ 4.00751051e-01 9.06014924e-01 -1.36145339e-01 1.45278878e+01] [ 3.07946693e-01 6.75038066e-03 9.51379665e-01 1.51912682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:14.53, Z:15.21 [[ 8.61262656e-01 -4.17771303e-01 -2.89298765e-01 9.20889890e+01] [ 3.98292674e-01 9.08529006e-01 -1.26245754e-01 1.45322688e+01] [ 3.15578173e-01 -6.49482468e-03 9.48877355e-01 1.52094450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:14.56, Z:15.20 [[ 8.62658747e-01 -4.27675593e-01 -2.70024949e-01 9.21152463e+01] [ 4.00801013e-01 9.03667684e-01 -1.50808705e-01 1.45639018e+01] [ 3.08510023e-01 2.18701755e-02 9.50969643e-01 1.51972943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:14.57, Z:15.21 [[ 8.63375816e-01 -4.23426493e-01 -2.74394253e-01 9.21408667e+01] [ 3.98766443e-01 9.05820401e-01 -1.43089923e-01 1.45693269e+01] [ 3.09139976e-01 1.41211592e-02 9.50911704e-01 1.52086622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:14.57, Z:15.23 [[ 8.62718804e-01 -4.17403836e-01 -2.85465064e-01 9.21667079e+01] [ 3.96729105e-01 9.08720143e-01 -1.29744823e-01 1.45705582e+01] [ 3.13563840e-01 -1.31900111e-03 9.49566205e-01 1.52278933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:14.57, Z:15.26 [[ 8.60917073e-01 -4.09268581e-01 -3.02193684e-01 9.21909447e+01] [ 3.92013616e-01 9.12268897e-01 -1.18704605e-01 1.45697380e+01] [ 3.24263964e-01 -1.62692174e-02 9.45826725e-01 1.52570915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:14.59, Z:15.25 [[ 8.61504489e-01 -4.15879690e-01 -2.91297270e-01 9.22116691e+01] [ 3.91283529e-01 9.09388028e-01 -1.41104975e-01 1.45945163e+01] [ 3.23584943e-01 7.58274595e-03 9.46168741e-01 1.52535926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:14.62, Z:15.24 [[ 8.63635496e-01 -4.25158379e-01 -2.70876507e-01 9.22352583e+01] [ 3.94426238e-01 9.04510308e-01 -1.62138968e-01 1.46242624e+01] [ 3.13945334e-01 3.31881663e-02 9.48860829e-01 1.52384103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650385723 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:92.26, Y:14.62, Z:15.27 [[ 8.61988467e-01 -4.15325891e-01 -2.90654927e-01 9.22590674e+01] [ 3.92753029e-01 9.09669835e-01 -1.35077199e-01 1.46150338e+01] [ 3.20501078e-01 2.27938476e-03 9.47245408e-01 1.52678187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:14.62, Z:15.28 [[ 8.63418218e-01 -4.12640360e-01 -2.90235962e-01 9.22857603e+01] [ 3.94052843e-01 9.10855360e-01 -1.22739031e-01 1.46202430e+01] [ 3.15010060e-01 -8.39319022e-03 9.49051219e-01 1.52815922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:14.66, Z:15.26 [[ 8.65624577e-01 -4.27453690e-01 -2.60724826e-01 9.23086182e+01] [ 3.98293728e-01 9.03413104e-01 -1.58766717e-01 1.46557035e+01] [ 3.03407643e-01 3.35873100e-02 9.52268709e-01 1.52605273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:14.64, Z:15.31 [[ 8.63987835e-01 -4.11081102e-01 -2.90753071e-01 9.23350603e+01] [ 3.96232717e-01 9.11397158e-01 -1.11152396e-01 1.46356096e+01] [ 3.10684172e-01 -1.91715611e-02 9.50319839e-01 1.53061184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:14.68, Z:15.28 [[ 8.65858958e-01 -4.29042165e-01 -2.57315150e-01 9.23576844e+01] [ 4.00258789e-01 9.02645132e-01 -1.58191867e-01 1.46806221e+01] [ 3.00135248e-01 3.39791947e-02 9.53291271e-01 1.52765889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:14.68, Z:15.30 [[ 8.65803425e-01 -4.20280234e-01 -2.71567589e-01 9.23838870e+01] [ 3.99132051e-01 9.07376524e-01 -1.31762856e-01 1.46787574e+01] [ 3.01791378e-01 5.68940292e-03 9.53357013e-01 1.52965462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:14.70, Z:15.30 [[ 8.65781520e-01 -4.22762338e-01 -2.67758035e-01 9.24082551e+01] [ 3.99414360e-01 9.06138793e-01 -1.39214432e-01 1.46966275e+01] [ 3.01480561e-01 1.35828783e-02 9.53375570e-01 1.52988416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.43, Y:14.71, Z:15.31 [[ 8.65324379e-01 -4.20515022e-01 -2.72728501e-01 9.24331815e+01] [ 3.98645713e-01 9.07256465e-01 -1.34042166e-01 1.47055867e+01] [ 3.03801440e-01 7.26790618e-03 9.52707648e-01 1.53090163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:14.72, Z:15.32 [[ 8.64552897e-01 -4.18828628e-01 -2.77724448e-01 9.24580249e+01] [ 3.97962272e-01 9.08062222e-01 -1.30571938e-01 1.47155524e+01] [ 3.06878345e-01 2.36249479e-03 9.51745817e-01 1.53216507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:14.73, Z:15.32 [[ 8.64547525e-01 -4.21322207e-01 -2.73943745e-01 9.24791784e+01] [ 3.98157117e-01 9.06851589e-01 -1.38170567e-01 1.47308658e+01] [ 3.06640649e-01 1.03823694e-02 9.51768732e-01 1.53247935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:14.74, Z:15.33 [[ 8.64528587e-01 -4.20773283e-01 -2.74845713e-01 9.25050730e+01] [ 3.97245761e-01 9.07097420e-01 -1.39176420e-01 1.47442487e+01] [ 3.07873556e-01 1.11406990e-02 9.51362054e-01 1.53348183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:14.75, Z:15.35 [[ 8.64975119e-01 -4.14130126e-01 -2.83397746e-01 9.25253407e+01] [ 3.94246349e-01 9.10215376e-01 -1.26798205e-01 1.47481270e+01] [ 3.10463943e-01 -2.05123422e-03 9.50582944e-01 1.53474482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:14.75, Z:15.38 [[ 8.61666431e-01 -4.10309518e-01 -2.98625284e-01 9.25520691e+01] [ 3.93451721e-01 9.11801987e-01 -1.17528204e-01 1.47529016e+01] [ 3.20510069e-01 -1.62245241e-02 9.47106151e-01 1.53773570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:14.78, Z:15.37 [[ 8.61786752e-01 -4.17797250e-01 -2.87696110e-01 9.25737316e+01] [ 3.93384561e-01 9.08502287e-01 -1.40968727e-01 1.47775353e+01] [ 3.20268920e-01 8.30977345e-03 9.47290223e-01 1.53732237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:14.81, Z:15.36 [[ 8.61465212e-01 -4.31390003e-01 -2.67918559e-01 9.25956999e+01] [ 3.99373226e-01 9.01403083e-01 -1.67252829e-01 1.48080221e+01] [ 3.13653814e-01 3.70829949e-02 9.48813015e-01 1.53570818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:14.78, Z:15.41 [[ 8.58923859e-01 -4.16074258e-01 -2.98549855e-01 9.26253085e+01] [ 4.01330023e-01 9.09029408e-01 -1.12248601e-01 1.47838202e+01] [ 3.18094351e-01 -2.34040193e-02 9.47770139e-01 1.54093305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:14.81, Z:15.41 [[ 8.58668486e-01 -4.26949071e-01 -2.83554088e-01 9.26468961e+01] [ 4.03737243e-01 9.04262803e-01 -1.38942511e-01 1.48101284e+01] [ 3.15728790e-01 4.82420959e-03 9.48837214e-01 1.54056885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:14.84, Z:15.39 [[ 8.59646681e-01 -4.38854675e-01 -2.61561003e-01 9.26709871e+01] [ 4.09666938e-01 8.98034155e-01 -1.60336070e-01 1.48407334e+01] [ 3.05254948e-01 3.06794756e-02 9.51776332e-01 1.53893952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:14.82, Z:15.43 [[ 8.57841844e-01 -4.22304290e-01 -2.92859110e-01 9.26967905e+01] [ 4.07723289e-01 9.06162454e-01 -1.12389175e-01 1.48222108e+01] [ 3.12840361e-01 -2.29933419e-02 9.49527364e-01 1.54343439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:14.86, Z:15.41 [[ 8.58956306e-01 -4.39091866e-01 -2.63424368e-01 9.27194768e+01] [ 4.12073321e-01 8.98141845e-01 -1.53417094e-01 1.48614039e+01] [ 3.03956646e-01 2.32284265e-02 9.52402645e-01 1.54119908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:14.87, Z:15.43 [[ 8.58762880e-01 -4.36348492e-01 -2.68563417e-01 9.27437853e+01] [ 4.13630407e-01 8.99737888e-01 -1.39217886e-01 1.48653555e+01] [ 3.02384196e-01 8.46915776e-03 9.53148504e-01 1.54255416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:14.86, Z:15.46 [[ 8.57324180e-01 -4.24379366e-01 -2.91371593e-01 9.27677204e+01] [ 4.09917219e-01 9.05187472e-01 -1.12265376e-01 1.48569881e+01] [ 3.11389024e-01 -2.31904121e-02 9.49999516e-01 1.54606917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:14.88, Z:15.46 [[ 8.57276799e-01 -4.32055340e-01 -2.80008344e-01 9.27880057e+01] [ 4.09566606e-01 9.01841087e-01 -1.37614857e-01 1.48820740e+01] [ 3.11980263e-01 3.29195732e-03 9.50082880e-01 1.54570320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:14.90, Z:15.46 [[ 8.57770355e-01 -4.29621337e-01 -2.82233102e-01 9.28112837e+01] [ 4.06620075e-01 9.02999102e-01 -1.38754228e-01 1.48972648e+01] [ 3.14468015e-01 4.25761861e-03 9.49258521e-01 1.54621164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:14.91, Z:15.47 [[ 8.57858775e-01 -4.28737270e-01 -2.83306681e-01 9.28341154e+01] [ 4.02360803e-01 9.03327552e-01 -1.48677902e-01 1.49129500e+01] [ 3.19662488e-01 1.35531392e-02 9.47434539e-01 1.54674615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:14.92, Z:15.48 [[ 8.59325459e-01 -4.25744660e-01 -2.83374735e-01 9.28633544e+01] [ 4.02250917e-01 9.04823621e-01 -1.39600911e-01 1.49210632e+01] [ 3.15838496e-01 5.97487003e-03 9.48794153e-01 1.54762964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:14.93, Z:15.49 [[ 8.58699437e-01 -4.21953686e-01 -2.90844226e-01 9.28843894e+01] [ 4.00933688e-01 9.06610115e-01 -1.31568531e-01 1.49273395e+01] [ 3.19198144e-01 -3.63142474e-03 9.47681042e-01 1.54945071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:14.95, Z:15.49 [[ 8.61066768e-01 -4.23651111e-01 -2.81218344e-01 9.29121103e+01] [ 3.98804739e-01 9.05754647e-01 -1.43399092e-01 1.49477023e+01] [ 3.15466006e-01 1.13249846e-02 9.48869297e-01 1.54947067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:14.96, Z:15.50 [[ 8.62045221e-01 -4.22281707e-01 -2.80278784e-01 9.29363855e+01] [ 3.98474933e-01 9.06419277e-01 -1.40077918e-01 1.49595885e+01] [ 3.13202435e-01 9.06942989e-03 9.49643081e-01 1.55027750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.96, Y:14.97, Z:15.51 [[ 8.63233838e-01 -4.20063865e-01 -2.79953015e-01 9.29607092e+01] [ 3.97740520e-01 9.07478599e-01 -1.35222305e-01 1.49700740e+01] [ 3.10853374e-01 5.37981175e-03 9.50442654e-01 1.55135220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:14.98, Z:15.52 [[ 8.63417196e-01 -4.18906803e-01 -2.81118900e-01 9.29811397e+01] [ 3.95169244e-01 9.07982649e-01 -1.39315386e-01 1.49805589e+01] [ 3.13611247e-01 9.19775689e-03 9.49506918e-01 1.55213609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:14.99, Z:15.53 [[ 8.63286195e-01 -4.19013066e-01 -2.81362748e-01 9.30054844e+01] [ 3.95318565e-01 9.07936225e-01 -1.39194267e-01 1.49926290e+01] [ 3.13783647e-01 8.93657140e-03 9.49452453e-01 1.55304597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:15.00, Z:15.55 [[ 8.63990962e-01 -4.15769275e-01 -2.83999169e-01 9.30324307e+01] [ 3.94554231e-01 9.09469289e-01 -1.31120446e-01 1.49998590e+01] [ 3.12804375e-01 1.23380648e-03 9.49816772e-01 1.55468622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:15.02, Z:15.55 [[ 8.65060355e-01 -4.19963589e-01 -2.74410580e-01 9.30574223e+01] [ 3.94755693e-01 9.07391665e-01 -1.44250856e-01 1.50209336e+01] [ 3.09577980e-01 1.64605586e-02 9.50731573e-01 1.55473162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.08, Y:15.03, Z:15.56 [[ 8.64534825e-01 -4.15909388e-01 -2.82132803e-01 9.30798270e+01] [ 3.94893659e-01 9.09404908e-01 -1.30543907e-01 1.50257042e+01] [ 3.10867392e-01 1.44729921e-03 9.50452192e-01 1.55614710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:15.05, Z:15.56 [[ 8.64799181e-01 -4.20443578e-01 -2.74498768e-01 9.31026368e+01] [ 3.96040418e-01 9.07211389e-01 -1.41843161e-01 1.50469842e+01] [ 3.08665455e-01 1.39532427e-02 9.51068317e-01 1.55618194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:15.05, Z:15.58 [[ 8.63413506e-01 -4.15713171e-01 -2.85831554e-01 9.31214491e+01] [ 3.94816539e-01 9.09495644e-01 -1.30144434e-01 1.50490034e+01] [ 3.14065309e-01 -4.82562858e-04 9.49401258e-01 1.55801199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:15.08, Z:15.57 [[ 8.62218948e-01 -4.29749045e-01 -2.68131020e-01 9.31466563e+01] [ 3.94253197e-01 9.01709793e-01 -1.77436932e-01 1.50848165e+01] [ 3.18029719e-01 4.72779734e-02 9.46901204e-01 1.55666633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:15.07, Z:15.60 [[ 8.61998710e-01 -4.13776986e-01 -2.92825595e-01 9.31817316e+01] [ 3.95268514e-01 9.10324261e-01 -1.22770280e-01 1.50703109e+01] [ 3.17365760e-01 -9.91691484e-03 9.48251353e-01 1.56016788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:15.09, Z:15.60 [[ 8.61849318e-01 -4.18746962e-01 -2.86123634e-01 9.32037199e+01] [ 3.94239453e-01 9.08057316e-01 -1.41446682e-01 1.50928085e+01] [ 3.19047028e-01 9.10450169e-03 9.47695152e-01 1.55996591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:15.10, Z:15.61 [[ 8.61670849e-01 -4.18233052e-01 -2.87409920e-01 9.32288949e+01] [ 3.93787478e-01 9.08300536e-01 -1.41143753e-01 1.51046785e+01] [ 3.20085566e-01 8.44102959e-03 9.47351033e-01 1.56094321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:15.11, Z:15.62 [[ 8.61259515e-01 -4.15803246e-01 -2.92129610e-01 9.32527161e+01] [ 3.92273126e-01 9.09444797e-01 -1.37956355e-01 1.51113512e+01] [ 3.23038454e-01 4.22162832e-03 9.46376424e-01 1.56225583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:15.13, Z:15.63 [[ 8.58797562e-01 -4.19523220e-01 -2.94052742e-01 9.32695517e+01] [ 3.91676866e-01 9.07628794e-01 -1.50994056e-01 1.51264578e+01] [ 3.30236248e-01 1.44996702e-02 9.43786936e-01 1.56295337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:15.13, Z:15.64 [[ 8.59215373e-01 -4.16752796e-01 -2.96759245e-01 9.32955100e+01] [ 3.92563009e-01 9.09012056e-01 -1.39969163e-01 1.51343631e+01] [ 3.28090271e-01 3.76695468e-03 9.44638864e-01 1.56435208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.32, Y:15.16, Z:15.64 [[ 8.60293607e-01 -4.23560189e-01 -2.83710551e-01 9.33193126e+01] [ 3.92847886e-01 9.05474641e-01 -1.60580862e-01 1.51582849e+01] [ 3.24908369e-01 2.66915992e-02 9.45368769e-01 1.56381837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:15.17, Z:15.65 [[ 8.59682701e-01 -4.22711298e-01 -2.86811458e-01 9.33492821e+01] [ 3.94742866e-01 9.06092422e-01 -1.52232033e-01 1.51666483e+01] [ 3.24227889e-01 1.76544684e-02 9.45814250e-01 1.56510119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:15.16, Z:15.69 [[ 8.58175639e-01 -4.12109210e-01 -3.06105490e-01 9.33706837e+01] [ 3.95294158e-01 9.10923550e-01 -1.18155893e-01 1.51554327e+01] [ 3.27531831e-01 -1.96032026e-02 9.44636763e-01 1.56850197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:15.18, Z:15.68 [[ 8.58337802e-01 -4.22293211e-01 -2.91418361e-01 9.33916759e+01] [ 3.96308836e-01 9.06404283e-01 -1.46186807e-01 1.51815820e+01] [ 3.25876547e-01 9.98599116e-03 9.45359591e-01 1.56807278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:15.19, Z:15.69 [[ 8.58113961e-01 -4.23717269e-01 -2.90007079e-01 9.34147261e+01] [ 3.98055029e-01 9.05745323e-01 -1.45525267e-01 1.51926421e+01] [ 3.24334125e-01 9.43848693e-03 9.45895497e-01 1.56891702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:15.20, Z:15.70 [[ 8.57938438e-01 -4.24126540e-01 -2.89928119e-01 9.34389200e+01] [ 3.98485414e-01 9.05554918e-01 -1.45532351e-01 1.52043620e+01] [ 3.24269967e-01 9.32567164e-03 9.45918612e-01 1.56987544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:15.22, Z:15.71 [[ 8.57324344e-01 -4.25121428e-01 -2.90287341e-01 9.34632042e+01] [ 3.99434142e-01 9.05090962e-01 -1.45817409e-01 1.52160685e+01] [ 3.24726554e-01 9.06213975e-03 9.45764528e-01 1.57079699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:93.49, Y:15.24, Z:15.70 [[ 8.58058723e-01 -4.33059945e-01 -2.76033172e-01 9.34862106e+01] [ 4.03564849e-01 9.01015502e-01 -1.59080099e-01 1.52393142e+01] [ 3.17601386e-01 2.51027811e-02 9.47891982e-01 1.56996261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:15.23, Z:15.73 [[ 8.57155390e-01 -4.20751405e-01 -2.97073884e-01 9.35121594e+01] [ 3.99669832e-01 9.07156850e-01 -1.31645260e-01 1.52326039e+01] [ 3.24882537e-01 -5.89102541e-03 9.45736027e-01 1.57333354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:15.27, Z:15.72 [[ 8.58577030e-01 -4.32696038e-01 -2.74990222e-01 9.35358781e+01] [ 4.01996728e-01 9.01068370e-01 -1.62709629e-01 1.52661944e+01] [ 3.18188803e-01 2.91535803e-02 9.47578996e-01 1.57179243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:15.26, Z:15.75 [[ 8.57003088e-01 -4.18269626e-01 -3.00992073e-01 9.35600794e+01] [ 3.98773127e-01 9.08251105e-01 -1.26727753e-01 1.52552925e+01] [ 3.26382753e-01 -1.14214738e-02 9.45168688e-01 1.57537848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:15.28, Z:15.75 [[ 8.56730055e-01 -4.25608902e-01 -2.91325722e-01 9.35818062e+01] [ 3.98325728e-01 9.04815518e-01 -1.50484192e-01 1.52802423e+01] [ 3.27643446e-01 1.28817994e-02 9.44713624e-01 1.57514052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33038572299999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:93.61, Y:15.30, Z:15.76 [[ 8.54411128e-01 -4.32112651e-01 -2.88548578e-01 9.36064212e+01] [ 4.00101177e-01 9.01452523e-01 -1.65234368e-01 1.53023088e+01] [ 3.31512705e-01 2.57294573e-02 9.43099847e-01 1.57565409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:15.31, Z:15.76 [[ 8.56592564e-01 -4.26965674e-01 -2.89740388e-01 9.36326122e+01] [ 4.01493179e-01 9.04229644e-01 -1.45505940e-01 1.53098091e+01] [ 3.24117889e-01 8.31051664e-03 9.45980195e-01 1.57641685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:15.31, Z:15.80 [[ 8.55092196e-01 -4.17010461e-01 -3.08090265e-01 9.36560054e+01] [ 3.97768211e-01 9.08782142e-01 -1.26077231e-01 1.53059162e+01] [ 3.32562455e-01 -1.47408573e-02 9.42966023e-01 1.57962740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:15.33, Z:15.80 [[ 8.55016502e-01 -4.25443433e-01 -2.96554660e-01 9.36777060e+01] [ 3.98275687e-01 9.04928816e-01 -1.49934371e-01 1.53283293e+01] [ 3.32149451e-01 1.00858503e-02 9.43172846e-01 1.57965290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.70, Y:15.34, Z:15.81 [[ 8.54858783e-01 -4.25767725e-01 -2.96543934e-01 9.37013830e+01] [ 3.98582373e-01 9.04776519e-01 -1.50038469e-01 1.53396008e+01] [ 3.32187526e-01 1.00645182e-02 9.43159665e-01 1.58061026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:15.36, Z:15.80 [[ 8.55131700e-01 -4.33119806e-01 -2.84880694e-01 9.37221944e+01] [ 4.02449761e-01 9.01023665e-01 -1.61834930e-01 1.53627866e+01] [ 3.26778160e-01 2.37400115e-02 9.44802861e-01 1.58004387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.75, Y:15.36, Z:15.83 [[ 8.55058737e-01 -4.21818803e-01 -3.01568325e-01 9.37493460e+01] [ 3.98147260e-01 9.06679665e-01 -1.39322449e-01 1.53612222e+01] [ 3.32194696e-01 -9.39724614e-04 9.43210369e-01 1.58279936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:15.38, Z:15.83 [[ 8.55376451e-01 -4.24718255e-01 -2.96556118e-01 9.37722010e+01] [ 3.97394721e-01 9.05262628e-01 -1.50256480e-01 1.53797222e+01] [ 3.32277840e-01 1.06760189e-02 9.43121127e-01 1.58319699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:15.39, Z:15.84 [[ 8.55191037e-01 -4.23929520e-01 -2.98214775e-01 9.37948242e+01] [ 3.96203131e-01 9.05626447e-01 -1.51207860e-01 1.53924720e+01] [ 3.34172663e-01 1.11579788e-02 9.42445824e-01 1.58404900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:15.42, Z:15.83 [[ 8.55757760e-01 -4.30769974e-01 -2.86558693e-01 9.38178874e+01] [ 3.98923817e-01 9.02068334e-01 -1.64719486e-01 1.54165276e+01] [ 3.29451732e-01 2.66448904e-02 9.43796380e-01 1.58327352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:15.42, Z:15.85 [[ 8.55903778e-01 -4.26820956e-01 -2.91980468e-01 9.38428901e+01] [ 3.98445349e-01 9.04206869e-01 -1.53789602e-01 1.54236625e+01] [ 3.29651370e-01 1.52908420e-02 9.43978900e-01 1.58480680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:15.42, Z:15.88 [[ 8.55286421e-01 -4.17900522e-01 -3.06340156e-01 9.38672542e+01] [ 3.95456622e-01 9.08476201e-01 -1.35222231e-01 1.54206030e+01] [ 3.34812183e-01 -5.49050501e-03 9.42268888e-01 1.58772713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:15.44, Z:15.88 [[ 8.55221897e-01 -4.23983664e-01 -2.98049258e-01 9.38892746e+01] [ 3.96270978e-01 9.05600734e-01 -1.51184070e-01 1.54410873e+01] [ 3.34013202e-01 1.11876565e-02 9.42501998e-01 1.58795968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:15.48, Z:15.87 [[ 8.50517678e-01 -4.42858691e-01 -2.83717923e-01 9.39130776e+01] [ 3.99632609e-01 8.94859830e-01 -1.98795528e-01 1.54808099e+01] [ 3.41926100e-01 5.56961773e-02 9.38074879e-01 1.58735058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:15.45, Z:15.92 [[ 8.52137611e-01 -4.12627293e-01 -3.21869864e-01 9.39450438e+01] [ 4.00219370e-01 9.10128710e-01 -1.07192290e-01 1.54456021e+01] [ 3.37173469e-01 -3.74759721e-02 9.40696340e-01 1.59174977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.96, Y:15.49, Z:15.89 [[ 8.51900521e-01 -4.36085802e-01 -2.89990821e-01 9.39621845e+01] [ 4.04632905e-01 8.99623479e-01 -1.64163967e-01 1.54907383e+01] [ 3.32472126e-01 2.25115406e-02 9.42844375e-01 1.58945207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:15.48, Z:15.92 [[ 8.50301188e-01 -4.26212201e-01 -3.08757265e-01 9.39879523e+01] [ 4.03083131e-01 9.04599425e-01 -1.38650169e-01 1.54842990e+01] [ 3.38396039e-01 -6.56044138e-03 9.40980915e-01 1.59247385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:15.52, Z:15.91 [[ 8.49863802e-01 -4.42495577e-01 -2.86232742e-01 9.40065323e+01] [ 4.10262158e-01 8.96420104e-01 -1.67678142e-01 1.55171769e+01] [ 3.30781621e-01 2.50731209e-02 9.43374188e-01 1.59103029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:15.52, Z:15.93 [[ 8.49071759e-01 -4.39204619e-01 -2.93558258e-01 9.40324406e+01] [ 4.11371534e-01 8.98329548e-01 -1.54199497e-01 1.55225417e+01] [ 3.31437188e-01 1.01649271e-02 9.43422527e-01 1.59267139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:15.52, Z:15.95 [[ 8.47480716e-01 -4.32473290e-01 -3.07803980e-01 9.40578782e+01] [ 4.09487361e-01 9.01611685e-01 -1.39343001e-01 1.55224006e+01] [ 3.37781791e-01 -7.95133341e-03 9.41190862e-01 1.59529434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:15.56, Z:15.94 [[ 8.46890264e-01 -4.48747234e-01 -2.85311761e-01 9.40771849e+01] [ 4.16079973e-01 8.93302533e-01 -1.69964824e-01 1.55558107e+01] [ 3.31140964e-01 2.52290448e-02 9.43243954e-01 1.59369575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:15.55, Z:15.97 [[ 8.45317803e-01 -4.35281670e-01 -3.09786506e-01 9.41049225e+01] [ 4.12954604e-01 9.00224509e-01 -1.38073634e-01 1.55453766e+01] [ 3.38978327e-01 -1.12116631e-02 9.40727374e-01 1.59736525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:15.58, Z:15.96 [[ 8.45910845e-01 -4.50127181e-01 -2.86042591e-01 9.41262029e+01] [ 4.17362660e-01 8.92621146e-01 -1.70399239e-01 1.55824333e+01] [ 3.32028994e-01 2.47590676e-02 9.42944185e-01 1.59568854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:15.59, Z:15.97 [[ 8.45712140e-01 -4.44923434e-01 -2.94642349e-01 9.41515352e+01] [ 4.17669020e-01 8.95543299e-01 -1.53475694e-01 1.55867489e+01] [ 3.32149914e-01 6.73327640e-03 9.43202575e-01 1.59727641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.17, Y:15.61, Z:15.98 [[ 8.45778914e-01 -4.47759238e-01 -2.90120137e-01 9.41722637e+01] [ 4.18429809e-01 8.94045702e-01 -1.59996177e-01 1.56059385e+01] [ 3.31020428e-01 1.39264794e-02 9.43520815e-01 1.59753463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:94.20, Y:15.59, Z:16.01 [[ 8.44349741e-01 -4.32651213e-01 -3.16048165e-01 9.41967140e+01] [ 4.13602928e-01 9.01294635e-01 -1.28843313e-01 1.55949745e+01] [ 3.40596731e-01 -2.19296286e-02 9.39953700e-01 1.60133015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:94.22, Y:15.64, Z:15.99 [[ 8.46645112e-01 -4.53538846e-01 -2.78378464e-01 9.42156423e+01] [ 4.17797559e-01 8.90500281e-01 -1.80151182e-01 1.56435073e+01] [ 3.29601660e-01 3.62182753e-02 9.43425133e-01 1.59853704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.24, Y:15.64, Z:16.01 [[ 8.46814062e-01 -4.42823496e-01 -2.94640961e-01 9.42427274e+01] [ 4.16607324e-01 8.96597937e-01 -1.50168164e-01 1.56397545e+01] [ 3.30672469e-01 4.41493094e-03 9.43735252e-01 1.60101268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:94.26, Y:15.64, Z:16.04 [[ 8.46022122e-01 -4.30965310e-01 -3.13871742e-01 9.42649012e+01] [ 4.11860484e-01 9.02135116e-01 -1.28542500e-01 1.56363269e+01] [ 3.38552079e-01 -2.05215691e-02 9.40723846e-01 1.60439655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.29, Y:15.66, Z:16.04 [[ 8.46237583e-01 -4.39410936e-01 -3.01330354e-01 9.42857307e+01] [ 4.11316732e-01 8.98258738e-01 -1.54757182e-01 1.56628275e+01] [ 3.38674621e-01 7.01912731e-03 9.40877374e-01 1.60423854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:94.31, Y:15.68, Z:16.05 [[ 8.46222710e-01 -4.39126429e-01 -3.01786520e-01 9.43087488e+01] [ 4.10885872e-01 8.98395999e-01 -1.55104577e-01 1.56753030e+01] [ 3.39234321e-01 7.25319830e-03 9.40673943e-01 1.60512820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:94.33, Y:15.70, Z:16.04 [[ 8.46674526e-01 -4.46599933e-01 -2.89293531e-01 9.43291556e+01] [ 4.13501098e-01 8.94391023e-01 -1.70533106e-01 1.57009948e+01] [ 3.34901611e-01 2.47628435e-02 9.41927658e-01 1.60435881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:94.36, Y:15.69, Z:16.08 [[ 8.45549149e-01 -4.34286841e-01 -3.10550442e-01 9.43569112e+01] [ 4.10634586e-01 9.00740786e-01 -1.41581332e-01 1.56937944e+01] [ 3.41212358e-01 -7.80877699e-03 9.39953802e-01 1.60765487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.38, Y:15.73, Z:16.06 [[ 8.46579679e-01 -4.50217536e-01 -2.83913751e-01 9.43781271e+01] [ 4.15480665e-01 8.92373509e-01 -1.76196869e-01 1.57319988e+01] [ 3.32684030e-01 3.12040148e-02 9.42521960e-01 1.60588572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.40, Y:15.73, Z:16.08 [[ 8.45462429e-01 -4.42319106e-01 -2.99244198e-01 9.44017507e+01] [ 4.17072709e-01 8.96857700e-01 -1.47297727e-01 1.57291901e+01] [ 3.33532062e-01 -2.71894811e-04 9.42738718e-01 1.60813884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:94.43, Y:15.75, Z:16.09 [[ 8.44844537e-01 -4.47006928e-01 -2.93977065e-01 9.44262401e+01] [ 4.18847334e-01 8.94485134e-01 -1.56407339e-01 1.57473732e+01] [ 3.32873279e-01 9.00837648e-03 9.42928539e-01 1.60893705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:15.76, Z:16.10 [[ 8.43925008e-01 -4.47712448e-01 -2.95540429e-01 9.44513303e+01] [ 4.20738928e-01 8.94164244e-01 -1.53130858e-01 1.57580126e+01] [ 3.32820276e-01 4.88559720e-03 9.42977622e-01 1.61016780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:15.76, Z:16.13 [[ 8.41569231e-01 -4.41697235e-01 -3.10909605e-01 9.44743213e+01] [ 4.19817090e-01 8.97049372e-01 -1.38043600e-01 1.57574784e+01] [ 3.39874742e-01 -1.43519193e-02 9.40361198e-01 1.61296229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:15.78, Z:16.13 [[ 8.41572100e-01 -4.47851520e-01 -3.01969232e-01 9.44965226e+01] [ 4.19993231e-01 8.94098660e-01 -1.55541868e-01 1.57791155e+01] [ 3.39649947e-01 4.07466274e-03 9.40543093e-01 1.61315828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:94.52, Y:15.81, Z:16.12 [[ 8.39513415e-01 -4.60506183e-01 -2.88359639e-01 9.45168378e+01] [ 4.25607498e-01 8.87258464e-01 -1.77850148e-01 1.58088341e+01] [ 3.37750623e-01 2.65795610e-02 9.40860268e-01 1.61209459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:15.81, Z:16.14 [[ 8.39241284e-01 -4.51747068e-01 -3.02652695e-01 9.45445718e+01] [ 4.26700070e-01 8.92134220e-01 -1.48403449e-01 1.58072860e+01] [ 3.37047649e-01 -4.59562478e-03 9.41476374e-01 1.61438768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:94.57, Y:15.82, Z:16.15 [[ 8.37389505e-01 -4.56174719e-01 -3.01136918e-01 9.45674152e+01] [ 4.29156023e-01 8.89890189e-01 -1.54662729e-01 1.58247646e+01] [ 3.38532015e-01 2.78223951e-04 9.40954833e-01 1.61505329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:15.83, Z:16.16 [[ 8.35953599e-01 -4.56260897e-01 -3.04971432e-01 9.45910150e+01] [ 4.30965502e-01 8.89825175e-01 -1.49932962e-01 1.58347290e+01] [ 3.39779806e-01 -6.09516681e-03 9.40485264e-01 1.61635946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:15.85, Z:16.17 [[ 8.34411139e-01 -4.59789802e-01 -3.03893715e-01 9.46130494e+01] [ 4.32710780e-01 8.88026013e-01 -1.55470836e-01 1.58502384e+01] [ 3.41349429e-01 -1.77148933e-03 9.39934801e-01 1.61720319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:15.87, Z:16.17 [[ 8.33722546e-01 -4.64335992e-01 -2.98829053e-01 9.46335302e+01] [ 4.34669009e-01 8.85636228e-01 -1.63435994e-01 1.58709846e+01] [ 3.40543050e-01 6.36854475e-03 9.40207356e-01 1.61743157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.66, Y:15.88, Z:16.19 [[ 8.33815296e-01 -4.61558768e-01 -3.02845762e-01 9.46573780e+01] [ 4.33703486e-01 8.87109573e-01 -1.57917354e-01 1.58812455e+01] [ 3.41545515e-01 3.28642604e-04 9.39865178e-01 1.61859364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.68, Y:15.90, Z:16.19 [[ 8.34211738e-01 -4.61514425e-01 -3.01819833e-01 9.46786566e+01] [ 4.32873499e-01 8.87128005e-01 -1.60076349e-01 1.58971707e+01] [ 3.41630370e-01 2.88776228e-03 9.39829958e-01 1.61933306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.70, Y:15.91, Z:16.20 [[ 8.35240135e-01 -4.58013693e-01 -3.04298167e-01 9.47018776e+01] [ 4.30026822e-01 8.88944758e-01 -1.57651987e-01 1.59121155e+01] [ 3.42711029e-01 8.20893602e-04 9.39440513e-01 1.62043303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.72, Y:15.93, Z:16.21 [[ 8.36028410e-01 -4.57396527e-01 -3.03059260e-01 9.47234393e+01] [ 4.28936673e-01 8.89258416e-01 -1.58848359e-01 1.59263344e+01] [ 3.42154685e-01 2.80851047e-03 9.39639444e-01 1.62129847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:15.94, Z:16.22 [[ 8.37965241e-01 -4.56054064e-01 -2.99714775e-01 9.47470146e+01] [ 4.25730837e-01 8.89899591e-01 -1.63804677e-01 1.59449312e+01] [ 3.41419844e-01 9.66480377e-03 9.39861203e-01 1.62201713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:15.95, Z:16.24 [[ 8.38140020e-01 -4.50136962e-01 -3.08055225e-01 9.47701643e+01] [ 4.23280889e-01 8.92957248e-01 -1.53168671e-01 1.59518630e+01] [ 3.44027026e-01 -2.01709637e-03 9.38957580e-01 1.62366297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:15.97, Z:16.25 [[ 8.38590522e-01 -4.49112302e-01 -3.08324630e-01 9.47918685e+01] [ 4.20756544e-01 8.93473112e-01 -1.57066001e-01 1.59669123e+01] [ 3.46020040e-01 1.98445389e-03 9.38225023e-01 1.62474060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.81, Y:15.97, Z:16.27 [[ 8.39174260e-01 -4.41078305e-01 -3.18176822e-01 9.48141112e+01] [ 4.15323877e-01 8.97438403e-01 -1.48695629e-01 1.59737628e+01] [ 3.51130515e-01 -7.36488722e-03 9.36297559e-01 1.62693321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:16.00, Z:16.27 [[ 8.40524661e-01 -4.46475589e-01 -3.06884087e-01 9.48378214e+01] [ 4.15050846e-01 8.94725091e-01 -1.64923637e-01 1.59972078e+01] [ 3.48211271e-01 1.12498843e-02 9.37348575e-01 1.62690087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:16.01, Z:16.28 [[ 8.41768325e-01 -4.43355437e-01 -3.07996823e-01 9.48597280e+01] [ 4.14173673e-01 8.96327886e-01 -1.58292420e-01 1.60101993e+01] [ 3.46245946e-01 5.68136924e-03 9.38126573e-01 1.62824853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.88, Y:16.02, Z:16.30 [[ 8.41571950e-01 -4.41562064e-01 -3.11094193e-01 9.48785864e+01] [ 4.14078559e-01 8.97230677e-01 -1.53349468e-01 1.60215950e+01] [ 3.46836561e-01 2.37175520e-04 9.37925553e-01 1.62973766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:16.04, Z:16.31 [[ 8.41520814e-01 -4.43554563e-01 -3.08386234e-01 9.48987467e+01] [ 4.13738073e-01 8.96219384e-01 -1.60036317e-01 1.60387584e+01] [ 3.47366559e-01 7.08276540e-03 9.37702676e-01 1.63052818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.92, Y:16.06, Z:16.30 [[ 8.41575083e-01 -4.49468001e-01 -2.99549488e-01 9.49227842e+01] [ 4.15785160e-01 8.93069893e-01 -1.71897837e-01 1.60598722e+01] [ 3.44781207e-01 2.01167046e-02 9.38467494e-01 1.63037390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:16.06, Z:16.33 [[ 8.40300999e-01 -4.39561438e-01 -3.17301078e-01 9.49467446e+01] [ 4.13785150e-01 8.98188663e-01 -1.48455294e-01 1.60560410e+01] [ 3.50251454e-01 -6.54734249e-03 9.36632826e-01 1.63297368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.97, Y:16.09, Z:16.31 [[ 8.40679594e-01 -4.54800798e-01 -2.93962676e-01 9.49664301e+01] [ 4.18218626e-01 8.90110998e-01 -1.81095533e-01 1.60940716e+01] [ 3.44021804e-01 2.93026525e-02 9.38504317e-01 1.63148359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13038572299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.99, Y:16.10, Z:16.33 [[ 8.40069680e-01 -4.49103772e-01 -3.04283971e-01 9.49920593e+01] [ 4.19183986e-01 8.93443618e-01 -1.61379328e-01 1.60987273e+01] [ 3.44336637e-01 8.01891224e-03 9.38812003e-01 1.63303107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:16.12, Z:16.33 [[ 8.39457133e-01 -4.54080134e-01 -2.98534678e-01 9.50128327e+01] [ 4.22073747e-01 8.90832122e-01 -1.68142449e-01 1.61193922e+01] [ 3.42294426e-01 1.51447286e-02 9.39470682e-01 1.63315086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:16.12, Z:16.35 [[ 8.39036162e-01 -4.47791884e-01 -3.09031952e-01 9.50387117e+01] [ 4.20279004e-01 8.94137787e-01 -1.54541825e-01 1.61210177e+01] [ 3.45519720e-01 -2.13461287e-04 9.38411465e-01 1.63509091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:16.14, Z:16.36 [[ 8.38752157e-01 -4.52292705e-01 -3.03193220e-01 9.50617215e+01] [ 4.21474595e-01 8.91812260e-01 -1.64408208e-01 1.61387983e+01] [ 3.44752064e-01 1.01094996e-02 9.38639341e-01 1.63557053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:16.15, Z:16.36 [[ 8.38305027e-01 -4.54378754e-01 -3.01304878e-01 9.50843339e+01] [ 4.23035904e-01 8.90728912e-01 -1.66260729e-01 1.61516107e+01] [ 3.43926309e-01 1.19144232e-02 9.38921051e-01 1.63625079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:16.16, Z:16.37 [[ 8.37973334e-01 -4.54156505e-01 -3.02560011e-01 9.51086843e+01] [ 4.22663084e-01 8.90844900e-01 -1.66587158e-01 1.61643357e+01] [ 3.45190684e-01 1.17146491e-02 9.38459460e-01 1.63719565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.13, Y:16.18, Z:16.38 [[ 8.38122545e-01 -4.54919969e-01 -3.00995718e-01 9.51313295e+01] [ 4.23335530e-01 8.90443684e-01 -1.67024173e-01 1.61778200e+01] [ 3.44002368e-01 1.25645428e-02 9.38884713e-01 1.63782339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:16.19, Z:16.39 [[ 8.38292719e-01 -4.52336786e-01 -3.04395711e-01 9.51560493e+01] [ 4.22055224e-01 8.91810376e-01 -1.62922195e-01 1.61870074e+01] [ 3.45158955e-01 8.10468971e-03 9.38509249e-01 1.63913219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:16.20, Z:16.40 [[ 8.39377728e-01 -4.50944832e-01 -3.03469584e-01 9.51805581e+01] [ 4.20620164e-01 8.92506198e-01 -1.62823105e-01 1.61971314e+01] [ 3.44272722e-01 9.02466158e-03 9.38826314e-01 1.64030300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:16.21, Z:16.41 [[ 8.39944260e-01 -4.50968334e-01 -3.01862885e-01 9.52036571e+01] [ 4.20915134e-01 8.92493340e-01 -1.62129849e-01 1.62081794e+01] [ 3.42526042e-01 9.12137952e-03 9.39464055e-01 1.64122752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:16.22, Z:16.42 [[ 8.40045738e-01 -4.50097379e-01 -3.02878702e-01 9.52280214e+01] [ 4.20240303e-01 8.92940772e-01 -1.61415198e-01 1.62197481e+01] [ 3.43105300e-01 8.31431172e-03 9.39260148e-01 1.64237426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.25, Y:16.23, Z:16.44 [[ 8.39572807e-01 -4.48717201e-01 -3.06219489e-01 9.52527260e+01] [ 4.19493328e-01 8.93657782e-01 -1.59377278e-01 1.62311245e+01] [ 3.45170755e-01 5.35179624e-03 9.38524644e-01 1.64359182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49038572299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.28, Y:16.24, Z:16.45 [[ 8.39426731e-01 -4.47034835e-01 -3.09067337e-01 9.52772092e+01] [ 4.18082453e-01 8.94509019e-01 -1.58305647e-01 1.62388978e+01] [ 3.47231659e-01 3.67036105e-03 9.37772202e-01 1.64480349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.30, Y:16.25, Z:16.46 [[ 8.39374632e-01 -4.49094001e-01 -3.06210394e-01 9.53022640e+01] [ 4.17307318e-01 8.93405695e-01 -1.66375679e-01 1.62524749e+01] [ 3.48288430e-01 1.18676857e-02 9.37312289e-01 1.64571073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:16.24, Z:16.49 [[ 8.37351003e-01 -4.35826473e-01 -3.29997854e-01 9.53281973e+01] [ 4.14367883e-01 8.99758577e-01 -1.36871328e-01 1.62410141e+01] [ 3.56570547e-01 -2.21311679e-02 9.34006240e-01 1.64937588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:16.27, Z:16.49 [[ 8.37335498e-01 -4.47134901e-01 -3.14546728e-01 9.53490231e+01] [ 4.15874104e-01 8.94440377e-01 -1.64393253e-01 1.62653911e+01] [ 3.54849255e-01 6.84046736e-03 9.34898505e-01 1.64925688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:16.28, Z:16.50 [[ 8.37224001e-01 -4.47647520e-01 -3.14114102e-01 9.53721201e+01] [ 4.16490101e-01 8.94185259e-01 -1.64221552e-01 1.62778951e+01] [ 3.54389570e-01 6.66481056e-03 9.35074121e-01 1.65022930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:16.29, Z:16.51 [[ 8.37066887e-01 -4.48842519e-01 -3.12824904e-01 9.53949357e+01] [ 4.17986045e-01 8.93589072e-01 -1.63665013e-01 1.62907556e+01] [ 3.52996733e-01 6.24211839e-03 9.35603732e-01 1.65105250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:16.30, Z:16.52 [[ 8.36491161e-01 -4.49682783e-01 -3.13157999e-01 9.54177496e+01] [ 4.18795239e-01 8.93168547e-01 -1.63891715e-01 1.63008128e+01] [ 3.53402157e-01 5.94489159e-03 9.35452604e-01 1.65203859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.44, Y:16.33, Z:16.50 [[ 8.36447409e-01 -4.63683673e-01 -2.92152670e-01 9.54381392e+01] [ 4.22477295e-01 8.85104318e-01 -1.95200619e-01 1.63306591e+01] [ 3.49096930e-01 3.98471824e-02 9.36239038e-01 1.65036986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:16.32, Z:16.53 [[ 8.35439807e-01 -4.54254933e-01 -3.09342505e-01 9.54677148e+01] [ 4.24451398e-01 8.90863039e-01 -1.61876674e-01 1.63241902e+01] [ 3.49115082e-01 3.93735879e-03 9.37071586e-01 1.65272666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:16.34, Z:16.54 [[ 8.33217949e-01 -4.61393593e-01 -3.04735626e-01 9.54956120e+01] [ 4.29026617e-01 8.87127251e-01 -1.70121730e-01 1.63418633e+01] [ 3.48832354e-01 1.10087844e-02 9.37120481e-01 1.65351454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.52, Y:16.35, Z:16.55 [[ 8.32813826e-01 -4.61047479e-01 -3.06359843e-01 9.55204868e+01] [ 4.30658629e-01 8.87360081e-01 -1.64697394e-01 1.63495913e+01] [ 3.47784813e-01 5.22575698e-03 9.37559819e-01 1.65460489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:16.36, Z:16.56 [[ 8.31640890e-01 -4.60725376e-01 -3.10008965e-01 9.55462003e+01] [ 4.32227442e-01 8.87541758e-01 -1.59527632e-01 1.63580887e+01] [ 3.48644330e-01 -1.32467978e-03 9.37254168e-01 1.65600534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85038572299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:95.57, Y:16.35, Z:16.59 [[ 8.29655162e-01 -4.52183143e-01 -3.27418262e-01 9.55703206e+01] [ 4.31680006e-01 8.91505110e-01 -1.37371803e-01 1.63510791e+01] [ 3.54012267e-01 -2.73686919e-02 9.34840237e-01 1.65920175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:16.38, Z:16.59 [[ 8.29706281e-01 -4.62246249e-01 -3.12915152e-01 9.55915302e+01] [ 4.32280315e-01 8.86751416e-01 -1.63724329e-01 1.63764828e+01] [ 3.53158911e-01 5.76043594e-04 9.35563174e-01 1.65914176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:16.39, Z:16.60 [[ 8.29413200e-01 -4.62073802e-01 -3.13945132e-01 9.56150027e+01] [ 4.31846435e-01 8.86841145e-01 -1.64381992e-01 1.63890414e+01] [ 3.54376073e-01 7.64508028e-04 9.35102676e-01 1.65990521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.64, Y:16.40, Z:16.61 [[ 8.29277159e-01 -4.61465656e-01 -3.15196514e-01 9.56388373e+01] [ 4.30900781e-01 8.87157340e-01 -1.65155596e-01 1.64015445e+01] [ 3.55842536e-01 1.14133875e-03 9.34545230e-01 1.66079477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:16.41, Z:16.62 [[ 8.29442348e-01 -4.60826616e-01 -3.15696408e-01 9.56628795e+01] [ 4.30071601e-01 8.87488867e-01 -1.65535280e-01 1.64133491e+01] [ 3.56460110e-01 1.52991142e-03 9.34309290e-01 1.66175508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.69, Y:16.42, Z:16.63 [[ 8.30415065e-01 -4.59166342e-01 -3.15558378e-01 9.56867667e+01] [ 4.28278945e-01 8.88347194e-01 -1.65579008e-01 1.64217468e+01] [ 3.56353707e-01 2.35229315e-03 9.34348170e-01 1.66287319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:16.43, Z:16.64 [[ 8.31222572e-01 -4.57660461e-01 -3.15619926e-01 9.57111825e+01] [ 4.26635492e-01 8.89121817e-01 -1.65663969e-01 1.64324925e+01] [ 3.56442411e-01 3.04896800e-03 9.34312320e-01 1.66385420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:16.44, Z:16.65 [[ 8.31740929e-01 -4.56921289e-01 -3.15325169e-01 9.57352762e+01] [ 4.25860161e-01 8.89500346e-01 -1.65626863e-01 1.64449355e+01] [ 3.56160287e-01 3.47421342e-03 9.34418418e-01 1.66476464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:16.46, Z:16.66 [[ 8.32142776e-01 -4.56293776e-01 -3.15173588e-01 9.57580623e+01] [ 4.25175108e-01 8.89820849e-01 -1.65665279e-01 1.64570913e+01] [ 3.56040065e-01 3.85320114e-03 9.34462747e-01 1.66567720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:16.50, Z:16.63 [[ 8.34830956e-01 -4.71272848e-01 -2.84533263e-01 9.57790374e+01] [ 4.29271885e-01 8.80869452e-01 -1.99485982e-01 1.64953800e+01] [ 3.44648986e-01 4.43949425e-02 9.37681271e-01 1.66330678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:16.46, Z:16.69 [[ 8.33445569e-01 -4.40768950e-01 -3.33303490e-01 9.58103536e+01] [ 4.22324818e-01 8.97041803e-01 -1.30221936e-01 1.64603201e+01] [ 3.56384950e-01 -3.22294405e-02 9.33783182e-01 1.66928538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180385723 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:95.84, Y:16.51, Z:16.67 [[ 8.35825052e-01 -4.62526217e-01 -2.95746481e-01 9.58359976e+01] [ 4.21426724e-01 8.85800514e-01 -1.94311516e-01 1.65055962e+01] [ 3.51846555e-01 3.77749620e-02 9.35295169e-01 1.66679794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:16.48, Z:16.71 [[ 8.34183655e-01 -4.39523878e-01 -3.33101171e-01 9.58589372e+01] [ 4.20093111e-01 8.97750483e-01 -1.32536213e-01 1.64803293e+01] [ 3.57294568e-01 -2.93739642e-02 9.33529733e-01 1.67126385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.88, Y:16.53, Z:16.68 [[ 8.37204384e-01 -4.64177767e-01 -2.89184750e-01 9.58808734e+01] [ 4.22291486e-01 8.84687449e-01 -1.97479159e-01 1.65335053e+01] [ 3.47503554e-01 4.32101596e-02 9.36682530e-01 1.66799330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:16.53, Z:16.70 [[ 8.37543470e-01 -4.52223239e-01 -3.06618783e-01 9.59085951e+01] [ 4.21777493e-01 8.91873743e-01 -1.63294131e-01 1.65269868e+01] [ 3.47310643e-01 7.44103122e-03 9.37720613e-01 1.67024494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:16.51, Z:16.74 [[ 8.36466698e-01 -4.35788955e-01 -3.32282185e-01 9.59310977e+01] [ 4.17734105e-01 8.99492326e-01 -1.28108442e-01 1.65132692e+01] [ 3.54713520e-01 -3.16471555e-02 9.34439285e-01 1.67409881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:16.54, Z:16.74 [[ 8.37940325e-01 -4.47555865e-01 -3.12329570e-01 9.59529218e+01] [ 4.16211078e-01 8.94219764e-01 -1.64740259e-01 1.65407655e+01] [ 3.53021743e-01 8.04747909e-03 9.35580508e-01 1.67362438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:16.55, Z:16.75 [[ 8.38481956e-01 -4.46758550e-01 -3.12017319e-01 9.59776328e+01] [ 4.15381071e-01 8.94614322e-01 -1.64692988e-01 1.65502127e+01] [ 3.52713163e-01 8.48601051e-03 9.35693012e-01 1.67468516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:16.56, Z:16.76 [[ 8.38365807e-01 -4.47010735e-01 -3.11968231e-01 9.60013032e+01] [ 4.15615580e-01 8.94488283e-01 -1.64785925e-01 1.65628400e+01] [ 3.52713004e-01 8.49202738e-03 9.35693017e-01 1.67567420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:16.60, Z:16.74 [[ 8.39454843e-01 -4.59705641e-01 -2.89803884e-01 9.60255462e+01] [ 4.18941885e-01 8.87116278e-01 -1.93681196e-01 1.65967206e+01] [ 3.46126081e-01 4.11756323e-02 9.37284003e-01 1.67417224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:16.57, Z:16.79 [[ 8.38233609e-01 -4.35558969e-01 -3.28104863e-01 9.60512367e+01] [ 4.15632162e-01 8.99807936e-01 -1.32648350e-01 1.65706351e+01] [ 3.53007537e-01 -2.51806285e-02 9.35281570e-01 1.67892905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480385723 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:96.07, Y:16.62, Z:16.76 [[ 8.38720540e-01 -4.58830460e-01 -2.93295867e-01 9.60749095e+01] [ 4.18170298e-01 8.87663514e-01 -1.92839539e-01 1.66181744e+01] [ 3.48828694e-01 3.90908624e-02 9.36370892e-01 1.67622121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.10, Y:16.61, Z:16.79 [[ 8.37585497e-01 -4.49091000e-01 -3.11075246e-01 9.61029714e+01] [ 4.18645317e-01 8.93465859e-01 -1.62649491e-01 1.66121493e+01] [ 3.50979534e-01 6.00266010e-03 9.36363890e-01 1.67858869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540385723 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:96.13, Y:16.63, Z:16.79 [[ 8.35918857e-01 -4.53790211e-01 -3.08729832e-01 9.61263450e+01] [ 4.18353235e-01 8.90914002e-01 -1.76784647e-01 1.66266496e+01] [ 3.55274873e-01 1.86194961e-02 9.34576417e-01 1.67919916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:16.61, Z:16.83 [[ 8.35533149e-01 -4.36030619e-01 -3.34307726e-01 9.61501285e+01] [ 4.18885436e-01 8.99259244e-01 -1.25967466e-01 1.66077657e+01] [ 3.55554985e-01 -3.47866444e-02 9.34007785e-01 1.68326070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:16.64, Z:16.82 [[ 8.34762350e-01 -4.54409851e-01 -3.10939715e-01 9.61705166e+01] [ 4.20483467e-01 8.90690225e-01 -1.72813709e-01 1.66417439e+01] [ 3.55479216e-01 1.35133690e-02 9.34586495e-01 1.68210031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:16.66, Z:16.81 [[ 8.35871436e-01 -4.60891801e-01 -2.98157156e-01 9.61956035e+01] [ 4.24045707e-01 8.87073395e-01 -1.82444594e-01 1.66646907e+01] [ 3.48574499e-01 2.60679625e-02 9.36918503e-01 1.68131000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66038572299999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:96.22, Y:16.67, Z:16.82 [[ 8.35496714e-01 -4.59559977e-01 -3.01247187e-01 9.62238567e+01] [ 4.23578237e-01 8.87861232e-01 -1.79677236e-01 1.66741259e+01] [ 3.50038165e-01 2.25179879e-02 9.36464748e-01 1.68247941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:16.65, Z:16.87 [[ 8.34401757e-01 -4.41774784e-01 -3.29558414e-01 9.62484788e+01] [ 4.23981864e-01 8.96531893e-01 -1.28335280e-01 1.66538529e+01] [ 3.52154920e-01 -3.26436076e-02 9.35372283e-01 1.68674307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.27, Y:16.68, Z:16.86 [[ 8.35357238e-01 -4.53882414e-01 -3.10111335e-01 9.62688420e+01] [ 4.22905463e-01 8.91036896e-01 -1.64937015e-01 1.66824831e+01] [ 3.51182652e-01 6.63355166e-03 9.36283473e-01 1.68596679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.29, Y:16.69, Z:16.87 [[ 8.33632137e-01 -4.55845290e-01 -3.11869413e-01 9.62928381e+01] [ 4.24607874e-01 8.90039367e-01 -1.65946007e-01 1.66919003e+01] [ 3.53221761e-01 5.91571603e-03 9.35520920e-01 1.68695996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:96.32, Y:16.70, Z:16.88 [[ 8.35149005e-01 -4.54483493e-01 -3.09791695e-01 9.63174406e+01] [ 4.23553272e-01 8.90731267e-01 -1.64925545e-01 1.67032335e+01] [ 3.50897087e-01 6.52411907e-03 9.36391302e-01 1.68776833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810385723 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:96.34, Y:16.73, Z:16.88 [[ 8.30609865e-01 -4.65752283e-01 -3.05224611e-01 9.63390056e+01] [ 4.25127605e-01 8.84398275e-01 -1.92629723e-01 1.67300145e+01] [ 3.59657853e-01 3.02407405e-02 9.32594084e-01 1.68800718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:16.71, Z:16.91 [[ 8.33444762e-01 -4.48270589e-01 -3.23145953e-01 9.63674027e+01] [ 4.25586240e-01 8.93693683e-01 -1.42084317e-01 1.67146816e+01] [ 3.52485717e-01 -1.91070410e-02 9.35622114e-01 1.69099576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870385723 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:96.39, Y:16.74, Z:16.91 [[ 8.34007619e-01 -4.56947717e-01 -3.09241129e-01 9.63865824e+01] [ 4.23815519e-01 8.89416002e-01 -1.71229617e-01 1.67386796e+01] [ 3.53286991e-01 1.17456154e-02 9.35441255e-01 1.69059001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900385723 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:96.41, Y:16.75, Z:16.92 [[ 8.32353244e-01 -4.60919582e-01 -3.07800610e-01 9.64137787e+01] [ 4.25792686e-01 8.87288899e-01 -1.77254051e-01 1.67537483e+01] [ 3.54807927e-01 1.64787357e-02 9.34793981e-01 1.69160049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:16.75, Z:16.93 [[ 8.33584160e-01 -4.52523921e-01 -3.16795754e-01 9.64390560e+01] [ 4.25864071e-01 8.91723129e-01 -1.53198086e-01 1.67524071e+01] [ 3.51819899e-01 -7.20843159e-03 9.36039955e-01 1.69346901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:16.77, Z:16.94 [[ 8.33657540e-01 -4.57248819e-01 -3.09739606e-01 9.64608203e+01] [ 4.26222517e-01 8.89317904e-01 -1.65674473e-01 1.67704185e+01] [ 3.51211435e-01 6.09777934e-03 9.36276319e-01 1.69373815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99038572299999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:96.48, Y:16.79, Z:16.94 [[ 8.31826025e-01 -4.61118388e-01 -3.08926038e-01 9.64842439e+01] [ 4.26950723e-01 8.87236949e-01 -1.74710263e-01 1.67857424e+01] [ 3.54652710e-01 1.34323480e-02 9.34901614e-01 1.69431454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:16.79, Z:16.96 [[ 8.31877868e-01 -4.57738225e-01 -3.13775285e-01 9.65092564e+01] [ 4.28988299e-01 8.89085242e-01 -1.59676148e-01 1.67913035e+01] [ 3.52062852e-01 -1.77487200e-03 9.35974678e-01 1.69581137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05038572299999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:96.53, Y:16.81, Z:16.96 [[ 8.31126642e-01 -4.63295768e-01 -3.07547617e-01 9.65299152e+01] [ 4.28153672e-01 8.86058727e-01 -1.77719909e-01 1.68121733e+01] [ 3.54842132e-01 1.60301099e-02 9.34788798e-01 1.69602711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08038572299999 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:96.55, Y:16.83, Z:16.97 [[ 8.28741493e-01 -4.69023645e-01 -3.05293890e-01 9.65524565e+01] [ 4.29566113e-01 8.82789843e-01 -1.90144807e-01 1.68323754e+01] [ 3.58692756e-01 2.64369816e-02 9.33081236e-01 1.69683362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.58, Y:16.82, Z:17.00 [[ 8.33255379e-01 -4.47930678e-01 -3.24104274e-01 9.65795919e+01] [ 4.28156357e-01 8.93665419e-01 -1.34328896e-01 1.68192544e+01] [ 3.49810816e-01 -2.68370301e-02 9.36435885e-01 1.69983854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:16.85, Z:16.99 [[ 8.34120070e-01 -4.57607569e-01 -3.07959450e-01 9.65997055e+01] [ 4.26772646e-01 8.89131103e-01 -1.65260371e-01 1.68501366e+01] [ 3.49440722e-01 6.41832281e-03 9.36936490e-01 1.69927307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:16.88, Z:16.98 [[ 8.35504355e-01 -4.65168944e-01 -2.92489874e-01 9.66196942e+01] [ 4.28855840e-01 8.84817482e-01 -1.82155680e-01 1.68799783e+01] [ 3.43533319e-01 2.67558737e-02 9.38759278e-01 1.69806428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.65, Y:16.87, Z:17.02 [[ 8.35465326e-01 -4.47638184e-01 -3.18775383e-01 9.66470272e+01] [ 4.21909872e-01 8.94166504e-01 -1.49861012e-01 1.68681423e+01] [ 3.52121781e-01 -9.29080157e-03 9.35908079e-01 1.70190683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:16.89, Z:17.02 [[ 8.36717467e-01 -4.51562647e-01 -3.09830690e-01 9.66681341e+01] [ 4.19839047e-01 8.92191436e-01 -1.66522120e-01 1.68889057e+01] [ 3.51623458e-01 9.25294480e-03 9.36095789e-01 1.70207447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260385723 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:96.69, Y:16.91, Z:17.02 [[ 8.35964427e-01 -4.55672994e-01 -3.05819554e-01 9.66906477e+01] [ 4.18926552e-01 8.89850710e-01 -1.80738090e-01 1.69089322e+01] [ 3.54491214e-01 2.29746827e-02 9.34777055e-01 1.70248115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290385723 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:96.71, Y:16.90, Z:17.05 [[ 8.37801131e-01 -4.41580674e-01 -3.21085305e-01 9.67139153e+01] [ 4.17665857e-01 8.97120292e-01 -1.43980601e-01 1.69006153e+01] [ 3.51631194e-01 -1.34792587e-02 9.36041566e-01 1.70467280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:16.94, Z:17.04 [[ 8.36593472e-01 -4.56907803e-01 -3.02236037e-01 9.67362833e+01] [ 4.20127448e-01 8.89171299e-01 -1.81293486e-01 1.69373155e+01] [ 3.51574018e-01 2.46912918e-02 9.35834414e-01 1.70409761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:16.94, Z:17.06 [[ 8.36634325e-01 -4.51861070e-01 -3.09620056e-01 9.67598839e+01] [ 4.20079277e-01 8.92038460e-01 -1.66735682e-01 1.69410868e+01] [ 3.51534362e-01 9.43182523e-03 9.36127466e-01 1.70575951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:16.95, Z:17.07 [[ 8.36693015e-01 -4.51917677e-01 -3.09378753e-01 9.67829137e+01] [ 4.20166689e-01 8.92009470e-01 -1.66670507e-01 1.69533203e+01] [ 3.51290125e-01 9.46140238e-03 9.36218847e-01 1.70674838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:16.97, Z:17.08 [[ 8.36814336e-01 -4.52258787e-01 -3.08551060e-01 9.68060314e+01] [ 4.20663765e-01 8.91837245e-01 -1.66337986e-01 1.69653492e+01] [ 3.50405144e-01 9.39776088e-03 9.36551076e-01 1.70769327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:16.98, Z:17.08 [[ 8.35174170e-01 -4.58039500e-01 -3.04440341e-01 9.68279312e+01] [ 4.22327591e-01 8.88695445e-01 -1.78493172e-01 1.69821405e+01] [ 3.52311667e-01 2.04993309e-02 9.35658200e-01 1.70811536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47038572299999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:96.85, Y:16.99, Z:17.09 [[ 8.34425325e-01 -4.56941717e-01 -3.08121151e-01 9.68522240e+01] [ 4.24745176e-01 8.89440863e-01 -1.68779404e-01 1.69867135e+01] [ 3.51177893e-01 9.96083632e-03 9.36255771e-01 1.70944062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:16.99, Z:17.11 [[ 8.34921039e-01 -4.54363584e-01 -3.10581056e-01 9.68779323e+01] [ 4.26864449e-01 8.90812576e-01 -1.55691030e-01 1.69940356e+01] [ 3.47409845e-01 -2.58629520e-03 9.37709822e-01 1.71098038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:17.02, Z:17.11 [[ 8.34139272e-01 -4.62188737e-01 -3.00987121e-01 9.68969558e+01] [ 4.26303758e-01 8.86515287e-01 -1.79877047e-01 1.70176739e+01] [ 3.49966829e-01 2.17305686e-02 9.36510011e-01 1.71076199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:17.02, Z:17.13 [[ 8.35041929e-01 -4.53824382e-01 -3.11044060e-01 9.69243129e+01] [ 4.27340588e-01 8.91075492e-01 -1.52854474e-01 1.70184610e+01] [ 3.46532826e-01 -5.28185659e-03 9.38022976e-01 1.71292612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:17.04, Z:17.13 [[ 8.35034190e-01 -4.57835491e-01 -3.05130406e-01 9.69467331e+01] [ 4.27092201e-01 8.89004810e-01 -1.65114201e-01 1.70377293e+01] [ 3.46857540e-01 7.55718689e-03 9.37887379e-01 1.71327430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:17.05, Z:17.14 [[ 8.34584609e-01 -4.57915054e-01 -3.06239013e-01 9.69691826e+01] [ 4.26901982e-01 8.88962905e-01 -1.65830187e-01 1.70492830e+01] [ 3.48171261e-01 7.66528064e-03 9.37399603e-01 1.71411279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:17.06, Z:17.15 [[ 8.33544256e-01 -4.59443469e-01 -3.06782777e-01 9.69919400e+01] [ 4.28392053e-01 8.88178611e-01 -1.66189664e-01 1.70624870e+01] [ 3.48832656e-01 7.10313634e-03 9.37158110e-01 1.71498392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:17.07, Z:17.16 [[ 8.33052547e-01 -4.59756012e-01 -3.07648930e-01 9.70152615e+01] [ 4.28500379e-01 8.88016863e-01 -1.66773730e-01 1.70739878e+01] [ 3.49872663e-01 7.10359699e-03 9.36770334e-01 1.71605702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710385723 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:97.04, Y:17.10, Z:17.16 [[ 8.32000298e-01 -4.66013075e-01 -3.01010495e-01 9.70379744e+01] [ 4.28637805e-01 8.84439347e-01 -1.84490307e-01 1.70958474e+01] [ 3.52200421e-01 2.44715123e-02 9.35604622e-01 1.71646963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:17.09, Z:17.18 [[ 8.33576016e-01 -4.55914532e-01 -3.11918203e-01 9.70612913e+01] [ 4.29875269e-01 8.89993289e-01 -1.52049989e-01 1.70928257e+01] [ 3.46926907e-01 -7.34069735e-03 9.37863442e-01 1.71838810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77038572299999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:97.09, Y:17.11, Z:17.19 [[ 8.34388064e-01 -4.57577183e-01 -3.07277856e-01 9.70866085e+01] [ 4.26823368e-01 8.89145684e-01 -1.65050792e-01 1.71103820e+01] [ 3.48738256e-01 6.56304166e-03 9.37197181e-01 1.71924045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:17.13, Z:17.20 [[ 8.33484786e-01 -4.61558138e-01 -3.03755161e-01 9.71047865e+01] [ 4.29992076e-01 8.87059817e-01 -1.68022903e-01 1.71252747e+01] [ 3.47001336e-01 9.43222124e-03 9.37817203e-01 1.71959367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:17.14, Z:17.21 [[ 8.34226570e-01 -4.58011884e-01 -3.07068631e-01 9.71327701e+01] [ 4.26064231e-01 8.88894257e-01 -1.68333806e-01 1.71350073e+01] [ 3.50050426e-01 9.59757384e-03 9.36681688e-01 1.72113469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:17.14, Z:17.23 [[ 8.32562469e-01 -4.54402809e-01 -3.16793027e-01 9.71522431e+01] [ 4.27540407e-01 8.90767578e-01 -1.54085439e-01 1.71391971e+01] [ 3.52205814e-01 -7.15606599e-03 9.35895216e-01 1.72285158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:17.17, Z:17.22 [[ 8.34713676e-01 -4.62848077e-01 -2.98370135e-01 9.71780298e+01] [ 4.25699589e-01 8.86050185e-01 -1.83561787e-01 1.71694192e+01] [ 3.49332133e-01 2.62054899e-02 9.36632443e-01 1.72225166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.20, Y:17.16, Z:17.25 [[ 8.32571352e-01 -4.53185597e-01 -3.18508648e-01 9.71985720e+01] [ 4.27409197e-01 8.91355521e-01 -1.51018917e-01 1.71633021e+01] [ 3.52344040e-01 -1.03995018e-02 9.35812763e-01 1.72489699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:17.18, Z:17.25 [[ 8.31940640e-01 -4.59409646e-01 -3.11155184e-01 9.72200238e+01] [ 4.27629433e-01 8.88198968e-01 -1.68034704e-01 1.71842071e+01] [ 3.53564477e-01 6.73578458e-03 9.35385904e-01 1.72529510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:17.20, Z:17.26 [[ 8.32019851e-01 -4.62049847e-01 -3.07006363e-01 9.72436069e+01] [ 4.28641381e-01 8.86768758e-01 -1.72938536e-01 1.71997117e+01] [ 3.52149875e-01 1.22926634e-02 9.35862894e-01 1.72598181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:17.21, Z:17.27 [[ 8.31617256e-01 -4.61315354e-01 -3.09193926e-01 9.72682623e+01] [ 4.28642892e-01 8.87185449e-01 -1.70784223e-01 1.72095661e+01] [ 3.53097737e-01 9.49332830e-03 9.35538276e-01 1.72723301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:17.22, Z:17.28 [[ 8.31178746e-01 -4.60926551e-01 -3.10947917e-01 9.72921518e+01] [ 4.29208908e-01 8.87415949e-01 -1.68144723e-01 1.72202063e+01] [ 3.53442508e-01 6.29670371e-03 9.35435056e-01 1.72839858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:17.24, Z:17.28 [[ 8.32350498e-01 -4.68454290e-01 -2.96214831e-01 9.73174660e+01] [ 4.29663119e-01 8.82975053e-01 -1.89062580e-01 1.72449670e+01] [ 3.50117483e-01 3.00937448e-02 9.36222257e-01 1.72796780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10038572299999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.34, Y:17.25, Z:17.30 [[ 8.31832172e-01 -4.61223573e-01 -3.08752415e-01 9.73425770e+01] [ 4.29923655e-01 8.87261703e-01 -1.67129656e-01 1.72459236e+01] [ 3.51028331e-01 6.28385751e-03 9.36343753e-01 1.72996604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:17.26, Z:17.31 [[ 8.31885074e-01 -4.61100512e-01 -3.08793688e-01 9.73646490e+01] [ 4.29738317e-01 8.87324459e-01 -1.67273080e-01 1.72603505e+01] [ 3.51129895e-01 6.45149845e-03 9.36304531e-01 1.73082179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.39, Y:17.27, Z:17.32 [[ 8.31808780e-01 -4.61334029e-01 -3.08650395e-01 9.73871784e+01] [ 4.29972666e-01 8.87202989e-01 -1.67315162e-01 1.72727346e+01] [ 3.51023731e-01 6.46298742e-03 9.36344258e-01 1.73178313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.41, Y:17.28, Z:17.33 [[ 8.31507996e-01 -4.61846538e-01 -3.08694392e-01 9.74095085e+01] [ 4.30485057e-01 8.86937398e-01 -1.67405697e-01 1.72839167e+01] [ 3.51108343e-01 6.31085289e-03 9.36313572e-01 1.73280263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.43, Y:17.29, Z:17.34 [[ 8.30432797e-01 -4.63433577e-01 -3.09209783e-01 9.74319021e+01] [ 4.32044973e-01 8.86113241e-01 -1.67751202e-01 1.72949318e+01] [ 3.51736422e-01 5.71356760e-03 9.36081644e-01 1.73388174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.45, Y:17.31, Z:17.35 [[ 8.29919142e-01 -4.64320455e-01 -3.09258359e-01 9.74547381e+01] [ 4.32938075e-01 8.85650520e-01 -1.67892166e-01 1.73076397e+01] [ 3.51850593e-01 5.44720379e-03 9.36040324e-01 1.73480811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.48, Y:17.32, Z:17.36 [[ 8.29798130e-01 -4.64569871e-01 -3.09208504e-01 9.74782611e+01] [ 4.33170053e-01 8.85519679e-01 -1.67983939e-01 1.73205586e+01] [ 3.51850492e-01 5.45289444e-03 9.36040329e-01 1.73579755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:17.33, Z:17.37 [[ 8.29448487e-01 -4.65453344e-01 -3.08817733e-01 9.75003814e+01] [ 4.34153158e-01 8.85057283e-01 -1.67882818e-01 1.73326097e+01] [ 3.51463003e-01 5.17595567e-03 9.36187464e-01 1.73672724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:17.35, Z:17.37 [[ 8.28800957e-01 -4.69421542e-01 -3.04519935e-01 9.75206601e+01] [ 4.36797006e-01 8.82920663e-01 -1.72219275e-01 1.73497233e+01] [ 3.49710380e-01 9.72210428e-03 9.36807414e-01 1.73712313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:17.36, Z:17.39 [[ 8.28784493e-01 -4.65672098e-01 -3.10267240e-01 9.75463146e+01] [ 4.35283928e-01 8.84954872e-01 -1.65477419e-01 1.73561596e+01] [ 3.51630722e-01 2.09077585e-03 9.36136456e-01 1.73885378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:17.37, Z:17.40 [[ 8.28974587e-01 -4.66792690e-01 -3.08067719e-01 9.75678456e+01] [ 4.35664837e-01 8.84353837e-01 -1.67673613e-01 1.73698685e+01] [ 3.50709686e-01 4.78289169e-03 9.36472018e-01 1.73964146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.59, Y:17.38, Z:17.41 [[ 8.29474275e-01 -4.66307890e-01 -3.07456304e-01 9.75900470e+01] [ 4.35246389e-01 8.84608074e-01 -1.67419047e-01 1.73844483e+01] [ 3.50047151e-01 5.05054653e-03 9.36718466e-01 1.74056258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.61, Y:17.40, Z:17.41 [[ 8.29736711e-01 -4.65885355e-01 -3.07388722e-01 9.76127039e+01] [ 4.34766977e-01 8.84829001e-01 -1.67497206e-01 1.73974946e+01] [ 3.50020951e-01 5.33611515e-03 9.36726673e-01 1.74148082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:17.41, Z:17.42 [[ 8.30418080e-01 -4.64717517e-01 -3.07316515e-01 9.76353027e+01] [ 4.33494311e-01 8.85439105e-01 -1.67571695e-01 1.74091020e+01] [ 3.49983562e-01 5.93460425e-03 9.36737042e-01 1.74249095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:17.42, Z:17.44 [[ 8.30503355e-01 -4.64226337e-01 -3.07828012e-01 9.76587146e+01] [ 4.32838887e-01 8.85694813e-01 -1.67914252e-01 1.74217636e+01] [ 3.50591892e-01 6.21341558e-03 9.36507725e-01 1.74351676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:17.44, Z:17.44 [[ 8.30778058e-01 -4.62857295e-01 -3.09145504e-01 9.76809565e+01] [ 4.31054283e-01 8.86405666e-01 -1.68751893e-01 1.74357462e+01] [ 3.52136371e-01 6.93687612e-03 9.35922997e-01 1.74435342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:17.46, Z:17.44 [[ 8.30438955e-01 -4.70160406e-01 -2.98865078e-01 9.76983474e+01] [ 4.34940003e-01 8.82373632e-01 -1.79566056e-01 1.74594295e+01] [ 3.48135514e-01 1.91302701e-02 9.37249005e-01 1.74377500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:17.47, Z:17.45 [[ 8.30759934e-01 -4.68354767e-01 -3.00801836e-01 9.77236080e+01] [ 4.34469338e-01 8.83410399e-01 -1.75563268e-01 1.74703877e+01] [ 3.47957364e-01 1.51617544e-02 9.37387750e-01 1.74478458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:17.47, Z:17.48 [[ 8.29994928e-01 -4.58488474e-01 -3.17642469e-01 9.77513720e+01] [ 4.30882011e-01 8.88675141e-01 -1.56834902e-01 1.74662861e+01] [ 3.54187961e-01 -6.69425276e-03 9.35150296e-01 1.74787481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:17.49, Z:17.48 [[ 8.29755559e-01 -4.64103614e-01 -3.10021851e-01 9.77718262e+01] [ 4.32050677e-01 8.85754839e-01 -1.69618919e-01 1.74853156e+01] [ 3.53324108e-01 6.79709018e-03 9.35476282e-01 1.74821148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:17.50, Z:17.49 [[ 8.29460921e-01 -4.64727039e-01 -3.09876362e-01 9.77944464e+01] [ 4.32722576e-01 8.85429472e-01 -1.69604901e-01 1.74977586e+01] [ 3.53193646e-01 6.59013952e-03 9.35527027e-01 1.74922474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:17.51, Z:17.50 [[ 8.29436641e-01 -4.65369706e-01 -3.08975558e-01 9.78174956e+01] [ 4.33557371e-01 8.85093223e-01 -1.69227639e-01 1.75110337e+01] [ 3.52225589e-01 6.40497372e-03 9.35893215e-01 1.75020744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:17.52, Z:17.51 [[ 8.29787916e-01 -4.65286568e-01 -3.08156494e-01 9.78400738e+01] [ 4.33600203e-01 8.85136023e-01 -1.68893709e-01 1.75243625e+01] [ 3.51344388e-01 6.52923994e-03 9.36223526e-01 1.75113217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.86, Y:17.54, Z:17.52 [[ 8.29923165e-01 -4.65089158e-01 -3.08090272e-01 9.78629862e+01] [ 4.33359978e-01 8.85238328e-01 -1.68974059e-01 1.75376112e+01] [ 3.51321320e-01 6.72149223e-03 9.36230822e-01 1.75208225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:17.55, Z:17.53 [[ 8.30583546e-01 -4.64393268e-01 -3.07359506e-01 9.78850577e+01] [ 4.32730509e-01 8.85600583e-01 -1.68688807e-01 1.75494749e+01] [ 3.50535704e-01 7.10631174e-03 9.36522408e-01 1.75299251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:17.56, Z:17.54 [[ 8.31408265e-01 -4.64272690e-01 -3.05305039e-01 9.79083331e+01] [ 4.32837885e-01 8.85659580e-01 -1.68102568e-01 1.75619813e+01] [ 3.48441764e-01 7.61427724e-03 9.37299504e-01 1.75380507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:17.57, Z:17.55 [[ 8.31853003e-01 -4.62672521e-01 -3.06520341e-01 9.79303804e+01] [ 4.30968445e-01 8.86492450e-01 -1.68515089e-01 1.75732338e+01] [ 3.49695269e-01 8.07918816e-03 9.36828664e-01 1.75505940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:17.59, Z:17.56 [[ 8.31966235e-01 -4.62075100e-01 -3.07113638e-01 9.79535193e+01] [ 4.30218998e-01 8.86801851e-01 -1.68801928e-01 1.75867149e+01] [ 3.50348110e-01 8.31138268e-03 9.36582683e-01 1.75599339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:17.60, Z:17.57 [[ 8.32014771e-01 -4.61078474e-01 -3.08477004e-01 9.79765252e+01] [ 4.28822430e-01 8.87314979e-01 -1.69656863e-01 1.76013518e+01] [ 3.51941393e-01 8.87515747e-03 9.35979961e-01 1.75675632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:17.61, Z:17.58 [[ 8.31881805e-01 -4.61183128e-01 -3.08679096e-01 9.79985622e+01] [ 4.28847587e-01 8.87259890e-01 -1.69881238e-01 1.76138364e+01] [ 3.52224941e-01 8.94482529e-03 9.35872631e-01 1.75762642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:17.63, Z:17.59 [[ 8.31031317e-01 -4.62822663e-01 -3.08516018e-01 9.80218974e+01] [ 4.30602558e-01 8.86411859e-01 -1.69868932e-01 1.76255590e+01] [ 3.52091448e-01 8.31861527e-03 9.35928636e-01 1.75862813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:17.64, Z:17.60 [[ 8.30678431e-01 -4.63544488e-01 -3.08382640e-01 9.80446191e+01] [ 4.31358479e-01 8.86036470e-01 -1.69909492e-01 1.76376499e+01] [ 3.51998874e-01 8.11668401e-03 9.35965230e-01 1.75966115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:17.65, Z:17.61 [[ 8.30388045e-01 -4.63849836e-01 -3.08705401e-01 9.80665398e+01] [ 4.31571108e-01 8.85876759e-01 -1.70202077e-01 1.76505536e+01] [ 3.52423145e-01 8.10543799e-03 9.35805658e-01 1.76052818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.09, Y:17.66, Z:17.61 [[ 8.30223047e-01 -4.63828049e-01 -3.09181555e-01 9.80888223e+01] [ 4.31420237e-01 8.85887390e-01 -1.70528917e-01 1.76635371e+01] [ 3.52996135e-01 8.18985698e-03 9.35588935e-01 1.76140446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:17.68, Z:17.62 [[ 8.29866697e-01 -4.64364432e-01 -3.09333056e-01 9.81115610e+01] [ 4.31935699e-01 8.85607844e-01 -1.70676006e-01 1.76760407e+01] [ 3.53203647e-01 8.02634338e-03 9.35512032e-01 1.76234742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:17.69, Z:17.63 [[ 8.29121351e-01 -4.65836926e-01 -3.09117687e-01 9.81343509e+01] [ 4.33509867e-01 8.84838772e-01 -1.70673790e-01 1.76868808e+01] [ 3.53025468e-01 7.50371627e-03 9.35583622e-01 1.76330649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:17.70, Z:17.64 [[ 8.28835354e-01 -4.66652582e-01 -3.08654052e-01 9.81578653e+01] [ 4.34455871e-01 8.84411351e-01 -1.70483603e-01 1.76987805e+01] [ 3.52533761e-01 7.20627293e-03 9.35771349e-01 1.76431281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:17.71, Z:17.65 [[ 8.28582841e-01 -4.68097937e-01 -3.07139702e-01 9.81803862e+01] [ 4.36280034e-01 8.83651461e-01 -1.69764037e-01 1.77112724e+01] [ 3.50870642e-01 6.66464891e-03 9.36400222e-01 1.76528105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:17.71, Z:17.66 [[ 8.31529582e-01 -4.60759469e-01 -3.10256774e-01 9.81973361e+01] [ 4.33065700e-01 8.87518136e-01 -1.57371086e-01 1.77129898e+01] [ 3.47868731e-01 -3.50285383e-03 9.37536706e-01 1.76645260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:17.74, Z:17.67 [[ 8.29349949e-01 -4.73756816e-01 -2.96197807e-01 9.82240476e+01] [ 4.37058802e-01 8.80344557e-01 -1.84317835e-01 1.77418465e+01] [ 3.48077958e-01 2.34081287e-02 9.37173300e-01 1.76651876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:17.74, Z:17.68 [[ 8.28930698e-01 -4.69137950e-01 -3.04603810e-01 9.82475299e+01] [ 4.38154391e-01 8.83107170e-01 -1.67757134e-01 1.77449335e+01] [ 3.47699046e-01 5.59554122e-03 9.37589496e-01 1.76824603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:17.76, Z:17.69 [[ 8.28951481e-01 -4.69956738e-01 -3.03282223e-01 9.82704588e+01] [ 4.39280717e-01 8.82673628e-01 -1.67091948e-01 1.77578927e+01] [ 3.46225207e-01 5.28508597e-03 9.38136544e-01 1.76920389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:98.29, Y:17.77, Z:17.70 [[ 8.28894779e-01 -4.70749730e-01 -3.02205455e-01 9.82925066e+01] [ 4.40307830e-01 8.82252391e-01 -1.66612524e-01 1.77704751e+01] [ 3.45054286e-01 5.04082331e-03 9.38569193e-01 1.77017306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:17.78, Z:17.71 [[ 8.28482805e-01 -4.70718544e-01 -3.03381434e-01 9.83158564e+01] [ 4.40005641e-01 8.82268484e-01 -1.67324108e-01 1.77829716e+01] [ 3.46426438e-01 5.13560385e-03 9.38063083e-01 1.77106973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:17.80, Z:17.72 [[ 8.28278003e-01 -4.70450401e-01 -3.04355008e-01 9.83390188e+01] [ 4.39477735e-01 8.82410142e-01 -1.67963276e-01 1.77957408e+01] [ 3.47584336e-01 5.36303743e-03 9.37633386e-01 1.77198465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:17.81, Z:17.73 [[ 8.28112594e-01 -4.70240142e-01 -3.05129055e-01 9.83614224e+01] [ 4.39048207e-01 8.82520902e-01 -1.68503798e-01 1.78085193e+01] [ 3.48520019e-01 5.57375264e-03 9.37284764e-01 1.77285559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:17.82, Z:17.74 [[ 8.27411944e-01 -4.70242823e-01 -3.07019808e-01 9.83833182e+01] [ 4.38620287e-01 8.82518762e-01 -1.69625701e-01 1.78223159e+01] [ 3.50716009e-01 5.68521471e-03 9.36464606e-01 1.77362866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:17.84, Z:17.74 [[ 8.27089871e-01 -4.70003882e-01 -3.08251029e-01 9.84043993e+01] [ 4.38078352e-01 8.82644815e-01 -1.70368684e-01 1.78368829e+01] [ 3.52150115e-01 5.87210981e-03 9.35925112e-01 1.77439490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:17.85, Z:17.75 [[ 8.26952783e-01 -4.70196105e-01 -3.08325668e-01 9.84270161e+01] [ 4.38243727e-01 8.82542568e-01 -1.70473023e-01 1.78499319e+01] [ 3.52266278e-01 5.85135068e-03 9.35881526e-01 1.77536075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:17.86, Z:17.76 [[ 8.26858210e-01 -4.70605230e-01 -3.07954895e-01 9.84501943e+01] [ 4.38716250e-01 8.82324954e-01 -1.70384058e-01 1.78622764e+01] [ 3.51899917e-01 5.77864097e-03 9.36019794e-01 1.77642913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:17.87, Z:17.78 [[ 8.27028406e-01 -4.71246285e-01 -3.06514201e-01 9.84720794e+01] [ 4.39665158e-01 8.81983984e-01 -1.69702094e-01 1.78735947e+01] [ 3.50312097e-01 5.58483735e-03 9.36616380e-01 1.77755408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:17.89, Z:17.79 [[ 8.27392447e-01 -4.71351819e-01 -3.05367323e-01 9.84947423e+01] [ 4.39992601e-01 8.81927553e-01 -1.69145804e-01 1.78867846e+01] [ 3.49039039e-01 5.59059821e-03 9.37091508e-01 1.77852724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:17.90, Z:17.79 [[ 8.28028177e-01 -4.71193487e-01 -3.03884906e-01 9.85175902e+01] [ 4.40096520e-01 8.82011246e-01 -1.68437572e-01 1.79008559e+01] [ 3.47396591e-01 5.73236609e-03 9.37700778e-01 1.77946053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:17.91, Z:17.80 [[ 8.28120586e-01 -4.71683208e-01 -3.02871668e-01 9.85394966e+01] [ 4.40789895e-01 8.81750213e-01 -1.67990566e-01 1.79132021e+01] [ 3.46295487e-01 5.61367478e-03 9.38108694e-01 1.78039830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:17.93, Z:17.81 [[ 8.28113369e-01 -4.72426030e-01 -3.01731495e-01 9.85625628e+01] [ 4.41792222e-01 8.81354068e-01 -1.67435479e-01 1.79256542e+01] [ 3.45033159e-01 5.35293135e-03 9.38575232e-01 1.78140444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:17.95, Z:17.80 [[ 8.26132114e-01 -4.84644614e-01 -2.87446219e-01 9.85758449e+01] [ 4.51151803e-01 8.74540667e-01 -1.77878253e-01 1.79514876e+01] [ 3.37591145e-01 1.72690569e-02 9.41134421e-01 1.78033217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:17.95, Z:17.84 [[ 8.27959918e-01 -4.70289726e-01 -3.05466770e-01 9.86092233e+01] [ 4.41697090e-01 8.82511238e-01 -1.61485593e-01 1.79467740e+01] [ 3.45522873e-01 -1.22018513e-03 9.38409535e-01 1.78367926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:17.97, Z:17.84 [[ 8.28348831e-01 -4.70760959e-01 -3.03681303e-01 9.86310530e+01] [ 4.39555205e-01 8.82238848e-01 -1.68658938e-01 1.79651032e+01] [ 3.47317486e-01 6.22373636e-03 9.37726948e-01 1.78410894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:17.98, Z:17.85 [[ 8.28768428e-01 -4.68873468e-01 -3.05451409e-01 9.86542229e+01] [ 4.37122295e-01 8.83236239e-01 -1.69758199e-01 1.79797903e+01] [ 3.49380869e-01 7.17061511e-03 9.36953355e-01 1.78489241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:18.00, Z:17.85 [[ 8.26776142e-01 -4.73049592e-01 -3.04409748e-01 9.86696354e+01] [ 4.42244476e-01 8.81025552e-01 -1.67969639e-01 1.79966305e+01] [ 3.47650736e-01 4.24976059e-03 9.37614476e-01 1.78515445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:18.01, Z:17.86 [[ 8.29082313e-01 -4.70405361e-01 -3.02227258e-01 9.87002284e+01] [ 4.35620051e-01 8.82302906e-01 -1.78260354e-01 1.80087916e+01] [ 3.50510614e-01 1.61362528e-02 9.36419741e-01 1.78644379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:18.02, Z:17.88 [[ 8.29129551e-01 -4.67293424e-01 -3.06889302e-01 9.87241449e+01] [ 4.35088494e-01 8.84066318e-01 -1.70659742e-01 1.80166934e+01] [ 3.51058670e-01 7.97503144e-03 9.36319502e-01 1.78784184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:18.03, Z:17.89 [[ 8.26962560e-01 -4.69279702e-01 -3.09692567e-01 9.87385928e+01] [ 4.39405313e-01 8.83049564e-01 -1.64761764e-01 1.80315327e+01] [ 3.50793238e-01 1.71250687e-04 9.36452922e-01 1.78852580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:18.05, Z:17.89 [[ 8.29744040e-01 -4.70007608e-01 -3.01027701e-01 9.87678610e+01] [ 4.33359684e-01 8.82398564e-01 -1.83227071e-01 1.80515186e+01] [ 3.51744529e-01 2.15783003e-02 9.35847297e-01 1.78899636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:18.06, Z:17.90 [[ 8.29759284e-01 -4.65729053e-01 -3.07564594e-01 9.87920824e+01] [ 4.33201285e-01 8.84883225e-01 -1.71225945e-01 1.80572966e+01] [ 3.51903647e-01 8.83894036e-03 9.35994496e-01 1.79048963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:18.07, Z:17.92 [[ 8.30509306e-01 -4.65217195e-01 -3.06312347e-01 9.88158103e+01] [ 4.32886000e-01 8.85149537e-01 -1.70645857e-01 1.80683691e+01] [ 3.50519619e-01 9.12464590e-03 9.36510938e-01 1.79163847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:18.07, Z:17.94 [[ 8.27686864e-01 -4.60434326e-01 -3.20834359e-01 9.88325897e+01] [ 4.36086989e-01 8.87534108e-01 -1.48698839e-01 1.80707786e+01] [ 3.53217486e-01 -1.68356141e-02 9.35389742e-01 1.79393498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:18.10, Z:17.93 [[ 8.28438931e-01 -4.74339415e-01 -2.97810438e-01 9.88508485e+01] [ 4.38162815e-01 8.80090706e-01 -1.82903517e-01 1.81044985e+01] [ 3.48858546e-01 2.10349338e-02 9.36939297e-01 1.79290869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:18.12, Z:17.94 [[ 8.31111053e-01 -4.73254793e-01 -2.92034791e-01 9.88820846e+01] [ 4.34162934e-01 8.80344804e-01 -1.91038148e-01 1.81192968e+01] [ 3.47501029e-01 3.19832345e-02 9.37133986e-01 1.79352498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:18.12, Z:17.95 [[ 8.30894793e-01 -4.65359726e-01 -3.05047813e-01 9.89074258e+01] [ 4.33194136e-01 8.85072515e-01 -1.70262983e-01 1.81223608e+01] [ 3.49222970e-01 9.32570188e-03 9.36993249e-01 1.79533890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:18.14, Z:17.96 [[ 8.30777409e-01 -4.65601688e-01 -3.04998302e-01 9.89308046e+01] [ 4.33419361e-01 8.84945185e-01 -1.70351631e-01 1.81355577e+01] [ 3.49222786e-01 9.33211725e-03 9.36993254e-01 1.79632426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:18.14, Z:17.98 [[ 8.28057227e-01 -4.64428823e-01 -3.14049514e-01 9.89444467e+01] [ 4.37843161e-01 8.85564334e-01 -1.55142440e-01 1.81424676e+01] [ 3.50163669e-01 -9.03761351e-03 9.36644931e-01 1.79774139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:18.17, Z:17.97 [[ 8.31995401e-01 -4.71432484e-01 -2.92463784e-01 9.89743747e+01] [ 4.31386660e-01 8.81221750e-01 -1.93271253e-01 1.81696648e+01] [ 3.48839795e-01 3.46358185e-02 9.36542128e-01 1.79743610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:18.16, Z:18.01 [[ 8.28977595e-01 -4.57192028e-01 -3.22135991e-01 9.89922845e+01] [ 4.32538255e-01 8.89226610e-01 -1.48951984e-01 1.81591593e+01] [ 3.54551555e-01 -1.58582819e-02 9.34901979e-01 1.80084261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:18.20, Z:17.99 [[ 8.32028253e-01 -4.71171109e-01 -2.92791346e-01 9.90179867e+01] [ 4.28337466e-01 8.81064180e-01 -2.00631317e-01 1.82046321e+01] [ 3.52499647e-01 4.15174207e-02 9.34890530e-01 1.79868450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:18.20, Z:18.01 [[ 8.29031997e-01 -4.63423092e-01 -3.12961635e-01 9.90336203e+01] [ 4.33308843e-01 8.86136922e-01 -1.64331377e-01 1.82035556e+01] [ 3.53481815e-01 6.26925489e-04 9.35441186e-01 1.80060102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:18.24, Z:17.99 [[ 8.30177682e-01 -4.76762737e-01 -2.88967659e-01 9.90504042e+01] [ 4.35505715e-01 8.78196252e-01 -1.97752662e-01 1.82394741e+01] [ 3.48051415e-01 3.83227793e-02 9.36691826e-01 1.79911772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:18.23, Z:18.02 [[ 8.29815032e-01 -4.64979448e-01 -3.08546795e-01 9.90803577e+01] [ 4.31719198e-01 8.85260868e-01 -1.73007890e-01 1.82306927e+01] [ 3.53589517e-01 1.03589733e-02 9.35343330e-01 1.80212710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:18.25, Z:18.03 [[ 8.30094417e-01 -4.68691375e-01 -3.02111989e-01 9.91024717e+01] [ 4.32099462e-01 8.83107872e-01 -1.82785503e-01 1.82476807e+01] [ 3.52467465e-01 2.11867977e-02 9.35584206e-01 1.80265504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:18.26, Z:18.04 [[ 8.30226478e-01 -4.70242850e-01 -2.99325335e-01 9.91254069e+01] [ 4.33612307e-01 8.82252302e-01 -1.83333692e-01 1.82604620e+01] [ 3.50291824e-01 2.24173363e-02 9.36372309e-01 1.80358641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:18.27, Z:18.05 [[ 8.30509377e-01 -4.69694320e-01 -2.99401772e-01 9.91494154e+01] [ 4.34061929e-01 8.82602533e-01 -1.80563039e-01 1.82730089e+01] [ 3.49062196e-01 2.00003866e-02 9.36886102e-01 1.80467789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:18.29, Z:18.05 [[ 8.31708437e-01 -4.73087164e-01 -2.90602151e-01 9.91702554e+01] [ 4.35890740e-01 8.80569696e-01 -1.86000737e-01 1.82925373e+01] [ 3.43890009e-01 2.80275958e-02 9.38591559e-01 1.80484276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:18.28, Z:18.08 [[ 8.32558684e-01 -4.58848484e-01 -3.10329030e-01 9.92060404e+01] [ 4.28136852e-01 8.88502611e-01 -1.65111920e-01 1.82848610e+01] [ 3.51489507e-01 4.60206896e-03 9.36180510e-01 1.80830688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:18.30, Z:18.09 [[ 8.32706217e-01 -4.61167058e-01 -3.06472349e-01 9.92286706e+01] [ 4.28408273e-01 8.87243169e-01 -1.71072822e-01 1.83007456e+01] [ 3.50808649e-01 1.11581126e-02 9.36380686e-01 1.80906875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:18.33, Z:18.08 [[ 8.32367892e-01 -4.71733407e-01 -2.90914567e-01 9.92412259e+01] [ 4.35242287e-01 8.81346058e-01 -1.83829479e-01 1.83273128e+01] [ 3.43114914e-01 2.63954343e-02 9.38922487e-01 1.80810609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:18.34, Z:18.09 [[ 8.32076760e-01 -4.71273863e-01 -2.92487969e-01 9.92654735e+01] [ 4.35750752e-01 8.81683264e-01 -1.80985920e-01 1.83387446e+01] [ 3.43175681e-01 2.31423254e-02 9.38986094e-01 1.80910167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:18.35, Z:18.11 [[ 8.31020781e-01 -4.68826126e-01 -2.99343491e-01 9.92902761e+01] [ 4.35776196e-01 8.83184334e-01 -1.73448954e-01 1.83471172e+01] [ 3.45692883e-01 1.36929178e-02 9.38247800e-01 1.81059961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:18.36, Z:18.12 [[ 8.29939019e-01 -4.69619644e-01 -3.01095690e-01 9.93135951e+01] [ 4.35186764e-01 8.82722695e-01 -1.77237482e-01 1.83621083e+01] [ 3.49018202e-01 1.60634429e-02 9.36978260e-01 1.81151547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:18.37, Z:18.13 [[ 8.29077522e-01 -4.67520269e-01 -3.06684302e-01 9.93372641e+01] [ 4.34277899e-01 8.83918415e-01 -1.73467409e-01 1.83722172e+01] [ 3.52183431e-01 1.06317151e-02 9.35870609e-01 1.81286701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:18.39, Z:18.14 [[ 8.28439446e-01 -4.68654731e-01 -3.06677074e-01 9.93601001e+01] [ 4.34001495e-01 8.83272524e-01 -1.77404485e-01 1.83871865e+01] [ 3.54020884e-01 1.38705647e-02 9.35134654e-01 1.81368701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.38, Y:18.40, Z:18.14 [[ 8.26521043e-01 -4.73653565e-01 -3.04163220e-01 9.93841532e+01] [ 4.36999441e-01 8.80508618e-01 -1.83673793e-01 1.84043710e+01] [ 3.54816084e-01 1.88910980e-02 9.34745245e-01 1.81425565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:18.41, Z:18.16 [[ 8.25569018e-01 -4.71873642e-01 -3.09469000e-01 9.94091160e+01] [ 4.37662212e-01 8.81604358e-01 -1.76707510e-01 1.84107776e+01] [ 3.56212836e-01 1.04413587e-02 9.34346506e-01 1.81580797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.43, Y:18.42, Z:18.17 [[ 8.23779265e-01 -4.77485443e-01 -3.05606568e-01 9.94323266e+01] [ 4.42497583e-01 8.78544234e-01 -1.79877510e-01 1.84247189e+01] [ 3.54377781e-01 1.29491956e-02 9.35012677e-01 1.81672445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:18.43, Z:18.18 [[ 8.22790988e-01 -4.78033197e-01 -3.07407306e-01 9.94554166e+01] [ 4.44621459e-01 8.78305960e-01 -1.75756645e-01 1.84342722e+01] [ 3.54015180e-01 7.93109839e-03 9.35206047e-01 1.81803700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:18.44, Z:18.21 [[ 8.19573005e-01 -4.74404961e-01 -3.21309855e-01 9.94819475e+01] [ 4.46070694e-01 8.80241940e-01 -1.61848890e-01 1.84351556e+01] [ 3.59612326e-01 -1.06799287e-02 9.33040682e-01 1.82104868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:18.46, Z:18.21 [[ 8.18979457e-01 -4.83681985e-01 -3.08746476e-01 9.95020487e+01] [ 4.49580697e-01 8.75212335e-01 -1.78551297e-01 1.84602123e+01] [ 3.56580769e-01 7.42338817e-03 9.34235007e-01 1.82066650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:18.48, Z:18.20 [[ 8.18158650e-01 -4.91010783e-01 -2.99207009e-01 9.95235496e+01] [ 4.54467087e-01 8.70993164e-01 -1.86629511e-01 1.84808989e+01] [ 3.52244361e-01 1.67128108e-02 9.35758832e-01 1.82045840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:18.49, Z:18.22 [[ 8.16965040e-01 -4.89006443e-01 -3.05680916e-01 9.95489513e+01] [ 4.55932757e-01 8.72265164e-01 -1.76858150e-01 1.84884585e+01] [ 3.53119589e-01 5.11698253e-03 9.35564200e-01 1.82197077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:18.49, Z:18.25 [[ 8.14149727e-01 -4.81827716e-01 -3.24040545e-01 9.95722783e+01] [ 4.55751632e-01 8.76051080e-01 -1.57559370e-01 1.84863847e+01] [ 3.59792541e-01 -1.94050887e-02 9.32830515e-01 1.82503955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:18.53, Z:18.23 [[ 8.14239004e-01 -4.99169896e-01 -2.96385322e-01 9.95934276e+01] [ 4.60859882e-01 8.66262883e-01 -1.92864685e-01 1.85253558e+01] [ 3.53019849e-01 2.04458441e-02 9.35392406e-01 1.82302927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:18.53, Z:18.25 [[ 8.12968790e-01 -4.95295262e-01 -3.06209650e-01 9.96195717e+01] [ 4.62420312e-01 8.68720591e-01 -1.77459828e-01 1.85300668e+01] [ 3.53905640e-01 2.67173962e-03 9.35277317e-01 1.82477860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.64, Y:18.52, Z:18.28 [[ 8.09072393e-01 -4.85820102e-01 -3.30727519e-01 9.96414208e+01] [ 4.61274815e-01 8.73634125e-01 -1.54883700e-01 1.85244376e+01] [ 3.64180462e-01 -2.72441493e-02 9.30929830e-01 1.82838731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:18.55, Z:18.28 [[ 8.08258615e-01 -4.95211996e-01 -3.18564106e-01 9.96613028e+01] [ 4.61953792e-01 8.68767216e-01 -1.78443881e-01 1.85514428e+01] [ 3.65125602e-01 -2.93309236e-03 9.30953646e-01 1.82824861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:18.57, Z:18.29 [[ 8.07250071e-01 -4.96105054e-01 -3.19729728e-01 9.96818934e+01] [ 4.62614699e-01 8.68256460e-01 -1.79215956e-01 1.85667160e+01] [ 3.66517343e-01 -3.23957832e-03 9.30405579e-01 1.82904600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:18.58, Z:18.30 [[ 8.06749310e-01 -4.96681460e-01 -3.20098546e-01 9.97035697e+01] [ 4.63127931e-01 8.67926077e-01 -1.79490514e-01 1.85808487e+01] [ 3.66971486e-01 -3.44272880e-03 9.30225820e-01 1.82991613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:18.60, Z:18.31 [[ 8.06526719e-01 -4.97223885e-01 -3.19817228e-01 9.97260921e+01] [ 4.63739760e-01 8.67614769e-01 -1.79415850e-01 1.85957898e+01] [ 3.66687996e-01 -3.60828708e-03 9.30336978e-01 1.83086718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:18.61, Z:18.32 [[ 8.06073845e-01 -4.99170237e-01 -3.17921422e-01 9.97479336e+01] [ 4.66196526e-01 8.66492990e-01 -1.78467638e-01 1.86111482e+01] [ 3.64562417e-01 -4.35576742e-03 9.31168767e-01 1.83188089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:18.62, Z:18.33 [[ 8.05586008e-01 -5.00562117e-01 -3.16968060e-01 9.97700303e+01] [ 4.67849564e-01 8.65687000e-01 -1.78052814e-01 1.86237045e+01] [ 3.63521622e-01 -4.85651313e-03 9.31573102e-01 1.83297966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:18.64, Z:18.34 [[ 8.05329283e-01 -5.02397481e-01 -3.14708623e-01 9.97910355e+01] [ 4.70254697e-01 8.64619108e-01 -1.76901999e-01 1.86354611e+01] [ 3.60978207e-01 -5.52884830e-03 9.32557862e-01 1.83415681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:18.65, Z:18.35 [[ 8.05376881e-01 -5.02935578e-01 -3.13725809e-01 9.98127485e+01] [ 4.71013294e-01 8.64305192e-01 -1.76417151e-01 1.86492353e+01] [ 3.59881307e-01 -5.68673225e-03 9.32980764e-01 1.83517068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:18.67, Z:18.36 [[ 8.06086794e-01 -5.02494641e-01 -3.12607127e-01 9.98341072e+01] [ 4.70730227e-01 8.64563716e-01 -1.75905187e-01 1.86659330e+01] [ 3.58660193e-01 -5.35877542e-03 9.33452811e-01 1.83613145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:18.70, Z:18.35 [[ 8.08264522e-01 -5.11025625e-01 -2.92508586e-01 9.98619354e+01] [ 4.71740117e-01 8.59288919e-01 -1.97696272e-01 1.86977795e+01] [ 3.52377247e-01 2.18028483e-02 9.35604036e-01 1.83483640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:18.70, Z:18.37 [[ 8.08600072e-01 -5.02028843e-01 -3.06810960e-01 9.98860267e+01] [ 4.71809566e-01 8.64830348e-01 -1.71651399e-01 1.86973660e+01] [ 3.51513382e-01 -5.95901226e-03 9.36163892e-01 1.83678254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:18.71, Z:18.38 [[ 8.09942895e-01 -4.99524847e-01 -3.07355551e-01 9.99082777e+01] [ 4.68864457e-01 8.66287882e-01 -1.72370029e-01 1.87119508e+01] [ 3.52361502e-01 -4.49821352e-03 9.35853161e-01 1.83773106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:18.73, Z:18.39 [[ 8.10882328e-01 -4.98792289e-01 -3.06065519e-01 9.99330759e+01] [ 4.66153081e-01 8.66720672e-01 -1.77472762e-01 1.87319043e+01] [ 3.53795358e-01 1.23614177e-03 9.35322039e-01 1.83864333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:18.74, Z:18.40 [[ 8.11486060e-01 -4.93327822e-01 -3.13237985e-01 9.99535931e+01] [ 4.65018678e-01 8.69765243e-01 -1.65124351e-01 1.87381098e+01] [ 3.53903948e-01 -1.16654044e-02 9.35209021e-01 1.84013966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:18.76, Z:18.41 [[ 8.11736525e-01 -4.95503819e-01 -3.09127449e-01 9.99765427e+01] [ 4.63856899e-01 8.68603588e-01 -1.74254366e-01 1.87578722e+01] [ 3.54852916e-01 -1.94226655e-03 9.34920123e-01 1.84084205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:18.77, Z:18.42 [[ 8.12705814e-01 -4.93166000e-01 -3.10316863e-01 9.99994710e+01] [ 4.61643594e-01 8.69932316e-01 -1.73502038e-01 1.87722868e+01] [ 3.55519974e-01 -2.24967656e-03 9.34665976e-01 1.84190849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.02, Y:18.79, Z:18.43 [[ 8.12216103e-01 -4.94686974e-01 -3.09176001e-01 1.00023268e+02] [ 4.61818871e-01 8.69070352e-01 -1.77313434e-01 1.87898664e+01] [ 3.56410342e-01 1.23351507e-03 9.34328714e-01 1.84277697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:18.81, Z:18.44 [[ 8.12134096e-01 -4.94798971e-01 -3.09212206e-01 1.00047743e+02] [ 4.61303859e-01 8.69003238e-01 -1.78975197e-01 1.88068639e+01] [ 3.57263152e-01 2.71107557e-03 9.33999834e-01 1.84355940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:18.81, Z:18.45 [[ 8.11771231e-01 -4.91262743e-01 -3.15734676e-01 1.00068713e+02] [ 4.61808138e-01 8.70958790e-01 -1.67821425e-01 1.88127942e+01] [ 3.57436305e-01 -9.57623858e-03 9.33888421e-01 1.84491076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:18.83, Z:18.46 [[ 8.10528149e-01 -4.95243603e-01 -3.12694569e-01 1.00091461e+02] [ 4.63475511e-01 8.68747314e-01 -1.74552443e-01 1.88310758e+01] [ 3.58098548e-01 -3.44660634e-03 9.33677434e-01 1.84588902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:18.84, Z:18.47 [[ 8.11201032e-01 -4.94234122e-01 -3.12546827e-01 1.00108514e+02] [ 4.62046899e-01 8.69326347e-01 -1.75454741e-01 1.88407957e+01] [ 3.58420911e-01 -2.08222513e-03 9.33557773e-01 1.84672468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:18.84, Z:18.50 [[ 8.08149814e-01 -4.86016788e-01 -3.32688382e-01 1.00127113e+02] [ 4.61648169e-01 8.73480849e-01 -1.54635620e-01 1.88366272e+01] [ 3.65752438e-01 -2.86162350e-02 9.30272146e-01 1.85022877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:18.88, Z:18.48 [[ 8.10312865e-01 -5.07515135e-01 -2.92952979e-01 1.00154829e+02] [ 4.67324134e-01 8.61287712e-01 -1.99478399e-01 1.88814536e+01] [ 3.53555108e-01 2.47359154e-02 9.35086584e-01 1.84821789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:100.17, Y:18.86, Z:18.53 [[ 8.08895883e-01 -4.85933312e-01 -3.30992849e-01 1.00174813e+02] [ 4.65163988e-01 8.73233178e-01 -1.45211160e-01 1.88621583e+01] [ 3.59596877e-01 -3.65052441e-02 9.32393400e-01 1.85269070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:18.89, Z:18.52 [[ 8.09360178e-01 -4.96781477e-01 -3.13279853e-01 1.00193561e+02] [ 4.63910544e-01 8.67874362e-01 -1.77710716e-01 1.88940132e+01] [ 3.60170944e-01 -1.50185022e-03 9.32885114e-01 1.85213753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:18.92, Z:18.52 [[ 8.08981443e-01 -5.00047052e-01 -3.09033930e-01 1.00211238e+02] [ 4.60229910e-01 8.65840565e-01 -1.96235943e-01 1.89153947e+01] [ 3.65701318e-01 1.65245787e-02 9.30585560e-01 1.85216614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:18.92, Z:18.54 [[ 8.11036652e-01 -4.88442730e-01 -3.21936716e-01 1.00240780e+02] [ 4.59484333e-01 8.72497170e-01 -1.66201188e-01 1.89160086e+01] [ 3.62068636e-01 -1.31296226e-02 9.32058966e-01 1.85449933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:18.96, Z:18.53 [[ 8.13828031e-01 -5.01614516e-01 -2.93371459e-01 1.00265105e+02] [ 4.60199272e-01 8.64600343e-01 -2.01699968e-01 1.89558734e+01] [ 3.54824696e-01 2.91397561e-02 9.34478630e-01 1.85270734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:18.96, Z:18.54 [[ 8.12665504e-01 -4.96516613e-01 -3.05034475e-01 1.00289073e+02] [ 4.61258888e-01 8.67982511e-01 -1.83974450e-01 1.89606699e+01] [ 3.56110961e-01 8.80982662e-03 9.34402146e-01 1.85419571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:18.95, Z:18.58 [[ 8.10336699e-01 -4.80280257e-01 -3.35686326e-01 1.00311964e+02] [ 4.57585625e-01 8.76513218e-01 -1.49465630e-01 1.89491323e+01] [ 3.66018893e-01 -3.24877521e-02 9.30040169e-01 1.85833648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:18.97, Z:18.58 [[ 8.10981803e-01 -4.88532230e-01 -3.21939086e-01 1.00330607e+02] [ 4.58366139e-01 8.72485638e-01 -1.69320094e-01 1.89730894e+01] [ 3.63605552e-01 -1.02504601e-02 9.31496608e-01 1.85848528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:18.99, Z:18.59 [[ 8.10931922e-01 -4.92448802e-01 -3.16043662e-01 1.00352516e+02] [ 4.58476738e-01 8.70340993e-01 -1.79737689e-01 1.89920691e+01] [ 3.63577364e-01 8.56362530e-04 9.31563614e-01 1.85904874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:19.00, Z:18.60 [[ 8.10261576e-01 -4.93729621e-01 -3.15764534e-01 1.00375633e+02] [ 4.59868454e-01 8.69615381e-01 -1.79694449e-01 1.90047105e+01] [ 3.63314167e-01 3.89359643e-04 9.31666606e-01 1.86007897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:19.02, Z:18.61 [[ 8.08334171e-01 -4.97270375e-01 -3.15147650e-01 1.00397314e+02] [ 4.63758094e-01 8.67594949e-01 -1.79464297e-01 1.90186069e+01] [ 3.62662788e-01 -1.08514995e-03 9.31919806e-01 1.86099407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:19.03, Z:18.62 [[ 8.07090647e-01 -4.99364435e-01 -3.15023566e-01 1.00419743e+02] [ 4.66006290e-01 8.66389818e-01 -1.79462587e-01 1.90315461e+01] [ 3.62550444e-01 -1.96038815e-03 9.31962088e-01 1.86197061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:19.07, Z:18.60 [[ 8.06895287e-01 -5.19174201e-01 -2.81741275e-01 1.00444879e+02] [ 4.76416681e-01 8.53968765e-01 -2.09199653e-01 1.90705647e+01] [ 3.49209311e-01 3.45759707e-02 9.36406621e-01 1.85988613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:19.04, Z:18.66 [[ 8.05003530e-01 -4.90342346e-01 -3.33966615e-01 1.00470853e+02] [ 4.71728545e-01 8.70412755e-01 -1.40903569e-01 1.90357078e+01] [ 3.59779788e-01 -4.41137151e-02 9.31993822e-01 1.86569003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:19.10, Z:18.62 [[ 8.06703794e-01 -5.21709212e-01 -2.77576092e-01 1.00487522e+02] [ 4.79086709e-01 8.52356542e-01 -2.09676539e-01 1.90990615e+01] [ 3.45983980e-01 3.61638429e-02 9.37543205e-01 1.86154613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:100.52, Y:19.09, Z:18.64 [[ 8.07543027e-01 -5.08435923e-01 -2.98943426e-01 1.00516208e+02] [ 4.77875788e-01 8.61095777e-01 -1.73634078e-01 1.90904596e+01] [ 3.45700725e-01 -2.64083651e-03 9.38341108e-01 1.86411050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:19.11, Z:18.65 [[ 8.07956192e-01 -5.07531946e-01 -2.99362850e-01 1.00539562e+02] [ 4.76443994e-01 8.61631937e-01 -1.74904331e-01 1.91059596e+01] [ 3.46710128e-01 -1.31459475e-03 9.37971406e-01 1.86509208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:19.12, Z:18.66 [[ 8.08430128e-01 -5.06972953e-01 -2.99030356e-01 1.00562881e+02] [ 4.76526764e-01 8.61958080e-01 -1.73062163e-01 1.91195342e+01] [ 3.45489467e-01 -2.58730152e-03 9.38419061e-01 1.86613725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.58, Y:19.14, Z:18.67 [[ 8.10526965e-01 -5.02919523e-01 -3.00196589e-01 1.00583362e+02] [ 4.71879992e-01 8.64332984e-01 -1.73947594e-01 1.91357098e+01] [ 3.46951455e-01 -6.67548470e-04 9.37882851e-01 1.86683327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:19.15, Z:18.68 [[ 8.11169418e-01 -5.02119122e-01 -2.99800870e-01 1.00605156e+02] [ 4.69969790e-01 8.64794801e-01 -1.76800306e-01 1.91516748e+01] [ 3.48041048e-01 2.51764924e-03 9.37475915e-01 1.86760543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.63, Y:19.16, Z:18.69 [[ 8.12122429e-01 -4.99288245e-01 -3.01941069e-01 1.00629691e+02] [ 4.67145368e-01 8.66433411e-01 -1.76262162e-01 1.91642200e+01] [ 3.49617456e-01 2.09608373e-03 9.36890197e-01 1.86869952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:19.17, Z:18.71 [[ 8.13703991e-01 -4.91243346e-01 -3.10750367e-01 1.00655446e+02] [ 4.60641116e-01 8.71012135e-01 -1.70726752e-01 1.91720040e+01] [ 3.54535721e-01 -4.22335594e-03 9.35032933e-01 1.87068039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:19.19, Z:18.71 [[ 8.14223747e-01 -4.93367114e-01 -3.05987877e-01 1.00675296e+02] [ 4.60573653e-01 8.69815645e-01 -1.76897298e-01 1.91902250e+01] [ 3.53428352e-01 3.10402654e-03 9.35456447e-01 1.87129668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:100.70, Y:19.21, Z:18.72 [[ 8.15593720e-01 -4.91234302e-01 -3.05770739e-01 1.00697600e+02] [ 4.58216651e-01 8.71016664e-01 -1.77108642e-01 1.92054660e+01] [ 3.53333249e-01 4.33945202e-03 9.35487458e-01 1.87229227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:19.22, Z:18.74 [[ 8.14997487e-01 -4.90268466e-01 -3.08894688e-01 1.00719908e+02] [ 4.58762334e-01 8.71571123e-01 -1.72918764e-01 1.92186205e+01] [ 3.54000307e-01 -7.80889878e-04 9.35244980e-01 1.87350528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:19.24, Z:18.74 [[ 8.16351580e-01 -4.91285179e-01 -3.03659302e-01 1.00742097e+02] [ 4.57114322e-01 8.70959136e-01 -1.80212876e-01 1.92351210e+01] [ 3.53010758e-01 8.31004988e-03 9.35582358e-01 1.87404557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:19.22, Z:18.78 [[ 8.14113140e-01 -4.74996581e-01 -3.34062932e-01 1.00765969e+02] [ 4.53144782e-01 8.79388613e-01 -1.46066679e-01 1.92220073e+01] [ 3.63152312e-01 -3.24640717e-02 9.31164047e-01 1.87820040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.78, Y:19.27, Z:18.75 [[ 8.16622047e-01 -4.98934248e-01 -2.90160382e-01 1.00782384e+02] [ 4.56870564e-01 8.65994559e-01 -2.03279885e-01 1.92746579e+01] [ 3.52700609e-01 3.34370983e-02 9.35138621e-01 1.87519488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69038572299999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:100.81, Y:19.27, Z:18.77 [[ 8.18401139e-01 -4.88987538e-01 -3.01845595e-01 1.00812056e+02] [ 4.53540393e-01 8.72192796e-01 -1.83250755e-01 1.92744750e+01] [ 3.52874889e-01 1.30734566e-02 9.35579178e-01 1.87711242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72038572299999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:100.84, Y:19.28, Z:18.78 [[ 8.19362217e-01 -4.84891993e-01 -3.05819085e-01 1.00837585e+02] [ 4.51403048e-01 8.74544738e-01 -1.77219610e-01 1.92849858e+01] [ 3.53384842e-01 7.15938518e-03 9.35450638e-01 1.87835137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:19.28, Z:18.82 [[ 8.17154372e-01 -4.72650918e-01 -3.29939149e-01 1.00858328e+02] [ 4.50089772e-01 8.80793753e-01 -1.47042723e-01 1.92763151e+01] [ 3.60108219e-01 -2.83456322e-02 9.32479810e-01 1.88162598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:19.31, Z:18.81 [[ 8.17874364e-01 -4.83819294e-01 -3.11448899e-01 1.00877446e+02] [ 4.49313160e-01 8.75140477e-01 -1.79574025e-01 1.93052974e+01] [ 3.59442916e-01 6.93090280e-03 9.33141336e-01 1.88127932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.90, Y:19.32, Z:18.82 [[ 8.18558191e-01 -4.82319806e-01 -3.11977711e-01 1.00900294e+02] [ 4.47538929e-01 8.75961187e-01 -1.80002517e-01 1.93174932e+01] [ 3.60099145e-01 7.72036397e-03 9.32882094e-01 1.88208573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:100.92, Y:19.33, Z:18.83 [[ 8.18812403e-01 -4.81626736e-01 -3.12381074e-01 1.00922061e+02] [ 4.46682581e-01 8.76339127e-01 -1.80289783e-01 1.93304854e+01] [ 3.60584138e-01 8.08832574e-03 9.32691620e-01 1.88292737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:100.95, Y:19.34, Z:18.84 [[ 8.19162860e-01 -4.80190972e-01 -3.13669952e-01 1.00945357e+02] [ 4.44817545e-01 8.77119548e-01 -1.81103978e-01 1.93423341e+01] [ 3.62090542e-01 8.82775452e-03 9.32101127e-01 1.88386037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:19.35, Z:18.85 [[ 8.19089349e-01 -4.79724346e-01 -3.14574620e-01 1.00968894e+02] [ 4.44057292e-01 8.77371234e-01 -1.81749385e-01 1.93533504e+01] [ 3.63188327e-01 9.17983168e-03 9.31670526e-01 1.88495576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:100.99, Y:19.37, Z:18.84 [[ 8.19419773e-01 -4.87590563e-01 -3.01341465e-01 1.00990005e+02] [ 4.47164722e-01 8.72686598e-01 -1.96116837e-01 1.93740499e+01] [ 3.58601377e-01 2.59527417e-02 9.33129952e-01 1.88444879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.02, Y:19.37, Z:18.88 [[ 8.18838510e-01 -4.74443565e-01 -3.23120409e-01 1.01018848e+02] [ 4.43299565e-01 8.80273109e-01 -1.69129389e-01 1.93652177e+01] [ 3.64676557e-01 -4.74947957e-03 9.31122146e-01 1.88773300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.04, Y:19.39, Z:18.88 [[ 8.19046369e-01 -4.79502684e-01 -3.15024160e-01 1.01040364e+02] [ 4.43604563e-01 8.77488373e-01 -1.82288633e-01 1.93850328e+01] [ 3.63837927e-01 9.55668831e-03 9.31413245e-01 1.88813378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:19.40, Z:18.89 [[ 8.19319074e-01 -4.79523098e-01 -3.14283079e-01 1.01064058e+02] [ 4.43754680e-01 8.77476353e-01 -1.81980862e-01 1.93956451e+01] [ 3.63039997e-01 9.63580476e-03 9.31723732e-01 1.88912302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:19.41, Z:18.90 [[ 8.19299624e-01 -4.79545741e-01 -3.14299233e-01 1.01086911e+02] [ 4.43727770e-01 8.77462820e-01 -1.82111687e-01 1.94067263e+01] [ 3.63116775e-01 9.74073875e-03 9.31692720e-01 1.89011725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.11, Y:19.42, Z:18.91 [[ 8.19671609e-01 -4.78949330e-01 -3.14238751e-01 1.01111615e+02] [ 4.43076343e-01 8.77784809e-01 -1.82146050e-01 1.94176913e+01] [ 3.63072731e-01 1.00681892e-02 9.31706404e-01 1.89109252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.13, Y:19.43, Z:18.92 [[ 8.19882717e-01 -4.78598080e-01 -3.14223181e-01 1.01134460e+02] [ 4.42655970e-01 8.77973223e-01 -1.82260009e-01 1.94296796e+01] [ 3.63108830e-01 1.03390643e-02 9.31689370e-01 1.89200823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:19.44, Z:18.93 [[ 8.20484730e-01 -4.77431028e-01 -3.14427132e-01 1.01159192e+02] [ 4.41330392e-01 8.78601250e-01 -1.82448154e-01 1.94391106e+01] [ 3.63362480e-01 1.09296746e-02 9.31583732e-01 1.89307333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:19.45, Z:18.94 [[ 8.21224729e-01 -4.75688856e-01 -3.15134981e-01 1.01183583e+02] [ 4.39246799e-01 8.79533824e-01 -1.82982244e-01 1.94504919e+01] [ 3.64214489e-01 1.18475122e-02 9.31239734e-01 1.89402212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:19.46, Z:18.95 [[ 8.21740656e-01 -4.74603759e-01 -3.15426009e-01 1.01206298e+02] [ 4.37966483e-01 8.80111404e-01 -1.83273775e-01 1.94634579e+01] [ 3.64592450e-01 1.24574918e-02 9.31083861e-01 1.89496919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:19.48, Z:18.96 [[ 8.22457683e-01 -4.73588111e-01 -3.15083579e-01 1.01228186e+02] [ 4.36913741e-01 8.80650385e-01 -1.83197389e-01 1.94758500e+01] [ 3.64238580e-01 1.30077551e-02 9.31214828e-01 1.89586928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:19.50, Z:18.95 [[ 8.24307908e-01 -4.82505239e-01 -2.96150583e-01 1.01249049e+02] [ 4.39118982e-01 8.75081832e-01 -2.03485397e-01 1.95048187e+01] [ 3.57338765e-01 3.76892791e-02 9.33214083e-01 1.89470132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:19.49, Z:18.99 [[ 8.23068728e-01 -4.63068439e-01 -3.28824405e-01 1.01277760e+02] [ 4.33159623e-01 8.86290490e-01 -1.63896027e-01 1.94876017e+01] [ 3.67329020e-01 -7.53576080e-03 9.30060537e-01 1.89882529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:19.51, Z:18.99 [[ 8.23076086e-01 -4.69945490e-01 -3.18899659e-01 1.01298512e+02] [ 4.31988531e-01 8.82567446e-01 -1.85635699e-01 1.95106081e+01] [ 3.68689117e-01 1.50313089e-02 9.29431221e-01 1.89873514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:19.52, Z:19.00 [[ 8.22861691e-01 -4.69964262e-01 -3.19424842e-01 1.01321450e+02] [ 4.31848048e-01 8.82555876e-01 -1.86017174e-01 1.95230372e+01] [ 3.69331695e-01 1.51234120e-02 9.29174570e-01 1.89965933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:19.53, Z:19.01 [[ 8.22608281e-01 -4.70743643e-01 -3.18929519e-01 1.01344840e+02] [ 4.32755213e-01 8.82144704e-01 -1.85859215e-01 1.95331918e+01] [ 3.68834030e-01 1.48709173e-02 9.29376304e-01 1.90066840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:19.54, Z:19.02 [[ 8.22315697e-01 -4.71686093e-01 -3.18290943e-01 1.01368133e+02] [ 4.33888211e-01 8.81647299e-01 -1.85577641e-01 1.95447305e+01] [ 3.68154742e-01 1.45007194e-02 9.29651448e-01 1.90171071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:19.56, Z:19.03 [[ 8.21862003e-01 -4.72758809e-01 -3.17870974e-01 1.01390932e+02] [ 4.35092830e-01 8.81078783e-01 -1.85457294e-01 1.95563231e+01] [ 3.67745940e-01 1.41169216e-02 9.29819141e-01 1.90278992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:19.57, Z:19.04 [[ 8.20935910e-01 -4.75240419e-01 -3.16560857e-01 1.01413964e+02] [ 4.38023481e-01 8.79758943e-01 -1.84823244e-01 1.95668717e+01] [ 3.66332721e-01 1.30669495e-02 9.30392171e-01 1.90380313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:19.58, Z:19.05 [[ 8.20272983e-01 -4.76638102e-01 -3.16177726e-01 1.01437255e+02] [ 4.39563567e-01 8.79010037e-01 -1.84730144e-01 1.95784952e+01] [ 3.65972819e-01 1.25489373e-02 9.30540929e-01 1.90482887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:19.59, Z:19.06 [[ 8.19151196e-01 -4.79191308e-01 -3.15225330e-01 1.01460547e+02] [ 4.42479980e-01 8.77635250e-01 -1.84303651e-01 1.95886930e+01] [ 3.64969569e-01 1.14916581e-02 9.30948525e-01 1.90579293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:19.61, Z:19.05 [[ 8.18532479e-01 -4.88047170e-01 -3.03009144e-01 1.01480502e+02] [ 4.47933827e-01 8.72484534e-01 -1.95258864e-01 1.96125257e+01] [ 3.59666328e-01 2.40976767e-02 9.32769765e-01 1.90536455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:19.61, Z:19.08 [[ 8.16231918e-01 -4.80374185e-01 -3.20945633e-01 1.01508915e+02] [ 4.47509387e-01 8.77062974e-01 -1.74630717e-01 1.96085372e+01] [ 3.65377620e-01 -1.08701848e-03 9.30858750e-01 1.90823681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:19.62, Z:19.09 [[ 8.15888048e-01 -4.84326140e-01 -3.15839964e-01 1.01530138e+02] [ 4.48422643e-01 8.74852637e-01 -1.83166580e-01 1.96247036e+01] [ 3.65025788e-01 7.81363151e-03 9.30964619e-01 1.90874628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:19.65, Z:19.08 [[ 8.14144997e-01 -4.95301845e-01 -3.03057761e-01 1.01552300e+02] [ 4.54641432e-01 8.68407117e-01 -1.97914746e-01 1.96484572e+01] [ 3.61205056e-01 2.33486855e-02 9.32194050e-01 1.90809542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:19.64, Z:19.11 [[ 8.12620360e-01 -4.84253139e-01 -3.24263854e-01 1.01578957e+02] [ 4.52687288e-01 8.74900520e-01 -1.72114207e-01 1.96408271e+01] [ 3.67045460e-01 -6.92661617e-03 9.30177216e-01 1.91144890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.60, Y:19.66, Z:19.12 [[ 8.12046391e-01 -4.90679856e-01 -3.15933439e-01 1.01599908e+02] [ 4.54495332e-01 8.71314304e-01 -1.85055066e-01 1.96610714e+01] [ 3.66080118e-01 6.68302578e-03 9.30559340e-01 1.91180371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:19.67, Z:19.13 [[ 8.10918813e-01 -4.93723261e-01 -3.14082825e-01 1.01621977e+02] [ 4.58150792e-01 8.69602402e-01 -1.84091050e-01 1.96730417e+01] [ 3.64017212e-01 5.38560080e-03 9.31376650e-01 1.91282233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:19.69, Z:19.14 [[ 8.10163753e-01 -4.95186325e-01 -3.13727903e-01 1.01643744e+02] [ 4.59770935e-01 8.68773545e-01 -1.83965253e-01 1.96854381e+01] [ 3.63655580e-01 4.79900797e-03 9.31521115e-01 1.91384826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:19.70, Z:19.15 [[ 8.08816659e-01 -4.97569627e-01 -3.13432735e-01 1.01666814e+02] [ 4.62369353e-01 8.67415773e-01 -1.83859887e-01 1.96982531e+01] [ 3.63359593e-01 3.78724830e-03 9.31641274e-01 1.91486306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:19.71, Z:19.16 [[ 8.07682890e-01 -4.99681462e-01 -3.12996462e-01 1.01689092e+02] [ 4.64687532e-01 8.66204217e-01 -1.83727383e-01 1.97099961e+01] [ 3.62924023e-01 2.94790984e-03 9.31814071e-01 1.91586343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:19.72, Z:19.17 [[ 8.07127413e-01 -5.00895726e-01 -3.12488098e-01 1.01711437e+02] [ 4.66080328e-01 8.65504136e-01 -1.83498552e-01 1.97229478e+01] [ 3.62373382e-01 2.46215618e-03 9.32029758e-01 1.91690252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:19.74, Z:19.18 [[ 8.06248917e-01 -5.02552633e-01 -3.12095395e-01 1.01733016e+02] [ 4.67900639e-01 8.64544684e-01 -1.83388878e-01 1.97355576e+01] [ 3.61982978e-01 1.82744986e-03 9.32182913e-01 1.91788066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:19.75, Z:19.19 [[ 8.03921755e-01 -5.06158048e-01 -3.12272066e-01 1.01755792e+02] [ 4.71700402e-01 8.62440698e-01 -1.83561360e-01 1.97473587e+01] [ 3.62227198e-01 2.70111379e-04 9.32089794e-01 1.91902502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:19.76, Z:19.20 [[ 8.02974808e-01 -5.07718186e-01 -3.12175755e-01 1.01777759e+02] [ 4.73348363e-01 8.61523152e-01 -1.83627846e-01 1.97597685e+01] [ 3.62177837e-01 -3.19347752e-04 9.32108959e-01 1.92004826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:19.77, Z:19.21 [[ 8.01500608e-01 -5.10044054e-01 -3.12172771e-01 1.01799722e+02] [ 4.75811703e-01 8.60147311e-01 -1.83711258e-01 1.97747148e+01] [ 3.62215404e-01 -1.29077288e-03 9.32093523e-01 1.92104131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:19.79, Z:19.22 [[ 8.01369142e-01 -5.10283671e-01 -3.12118686e-01 1.01822723e+02] [ 4.76033081e-01 8.60005189e-01 -1.83803105e-01 1.97883927e+01] [ 3.62215413e-01 -1.28468282e-03 9.32093528e-01 1.92205097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.85, Y:19.81, Z:19.23 [[ 8.00086694e-01 -5.13231674e-01 -3.10571298e-01 1.01845109e+02] [ 4.77584059e-01 8.58247659e-01 -1.87947926e-01 1.98057272e+01] [ 3.63007918e-01 2.05073357e-03 9.31783798e-01 1.92283996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.87, Y:19.81, Z:19.24 [[ 7.99945310e-01 -5.11121917e-01 -3.14391296e-01 1.01867015e+02] [ 4.78593544e-01 8.59481083e-01 -1.79556365e-01 1.98147185e+01] [ 3.61988565e-01 -6.83037268e-03 9.32157511e-01 1.92414045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.89, Y:19.83, Z:19.25 [[ 7.98453502e-01 -5.14617128e-01 -3.12475945e-01 1.01887434e+02] [ 4.80497980e-01 8.57414842e-01 -1.84286406e-01 1.98305532e+01] [ 3.62758454e-01 -2.99993450e-03 9.31878374e-01 1.92492404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:19.84, Z:19.26 [[ 7.97596797e-01 -5.15699661e-01 -3.12878904e-01 1.01909938e+02] [ 4.81542331e-01 8.56762555e-01 -1.84593901e-01 1.98445203e+01] [ 3.63257942e-01 -3.43293258e-03 9.31682286e-01 1.92600006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:101.93, Y:19.86, Z:19.27 [[ 7.96503548e-01 -5.17903954e-01 -3.12021781e-01 1.01931674e+02] [ 4.84055580e-01 8.55427905e-01 -1.84209921e-01 1.98586345e+01] [ 3.62315185e-01 -4.31202926e-03 9.32045660e-01 1.92708945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:19.88, Z:19.28 [[ 7.95962565e-01 -5.21172658e-01 -3.07932875e-01 1.01955675e+02] [ 4.86543997e-01 8.53450515e-01 -1.86807808e-01 1.98764401e+01] [ 3.60164593e-01 -1.13086946e-03 9.32888089e-01 1.92753479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:19.89, Z:19.29 [[ 7.95861262e-01 -5.21366525e-01 -3.07866525e-01 1.01979834e+02] [ 4.87745010e-01 8.53325506e-01 -1.84229170e-01 1.98903953e+01] [ 3.58761280e-01 -3.53950197e-03 9.33422635e-01 1.92872902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:19.90, Z:19.31 [[ 7.94719294e-01 -5.19807196e-01 -3.13403451e-01 1.01998197e+02] [ 4.89144056e-01 8.54182748e-01 -1.76380062e-01 1.99003023e+01] [ 3.59387446e-01 -1.31267965e-02 9.33096110e-01 1.93058267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.02, Y:19.92, Z:19.31 [[ 7.92971069e-01 -5.26966736e-01 -3.05782509e-01 1.02020399e+02] [ 4.89920725e-01 8.49875851e-01 -1.94135833e-01 1.99245911e+01] [ 3.62180296e-01 4.13491075e-03 9.32098887e-01 1.93084771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:19.93, Z:19.32 [[ 7.94308800e-01 -5.22545398e-01 -3.09870678e-01 1.02045712e+02] [ 4.91035338e-01 8.52553010e-01 -1.78990675e-01 1.99328148e+01] [ 3.57711933e-01 -9.98358464e-03 9.33778615e-01 1.93219622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:102.07, Y:19.95, Z:19.33 [[ 7.94375660e-01 -5.22803657e-01 -3.09263071e-01 1.02067238e+02] [ 4.89639689e-01 8.52433438e-01 -1.83330872e-01 1.99492157e+01] [ 3.59472233e-01 -5.79389131e-03 9.33137795e-01 1.93300148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:102.09, Y:19.96, Z:19.35 [[ 7.94535193e-01 -5.18155583e-01 -3.16589037e-01 1.02086113e+02] [ 4.87910607e-01 8.55148879e-01 -1.75110353e-01 1.99586688e+01] [ 3.61465167e-01 -1.53358112e-02 9.32259484e-01 1.93487465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.11, Y:19.99, Z:19.34 [[ 7.95692498e-01 -5.25623768e-01 -3.00986882e-01 1.02105780e+02] [ 4.87549412e-01 8.50661548e-01 -1.96648166e-01 1.99924044e+01] [ 3.59400917e-01 9.72549326e-03 9.33132571e-01 1.93382275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:19.99, Z:19.37 [[ 7.96928596e-01 -5.11433404e-01 -3.21466462e-01 1.02127930e+02] [ 4.81335262e-01 8.59167157e-01 -1.73632262e-01 1.99892938e+01] [ 3.64994765e-01 -1.63606285e-02 9.30865808e-01 1.93689254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:20.03, Z:19.35 [[ 7.98142664e-01 -5.24101961e-01 -2.97128629e-01 1.02147823e+02] [ 4.83026957e-01 8.51430811e-01 -2.04329470e-01 2.00266240e+01] [ 3.60073946e-01 1.95629299e-02 9.32718631e-01 1.93532499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49038572299999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:102.18, Y:20.03, Z:19.37 [[ 8.01858531e-01 -5.12728403e-01 -3.06810171e-01 1.02175355e+02] [ 4.76950006e-01 8.58538540e-01 -1.88229297e-01 2.00302402e+01] [ 3.59918862e-01 4.60015494e-03 9.32972267e-01 1.93715635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.20, Y:20.03, Z:19.40 [[ 8.01589732e-01 -5.00448358e-01 -3.27116710e-01 1.02195499e+02] [ 4.74152454e-01 8.65399599e-01 -1.62058583e-01 2.00273594e+01] [ 3.64188622e-01 -2.51986947e-02 9.30984250e-01 1.94022732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.21, Y:20.05, Z:19.40 [[ 8.02861004e-01 -5.07196723e-01 -3.13314048e-01 1.02214158e+02] [ 4.71661975e-01 8.61828068e-01 -1.86513707e-01 2.00546532e+01] [ 3.64621982e-01 1.96625911e-03 9.31153556e-01 1.94017458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58038572299999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:102.23, Y:20.08, Z:19.41 [[ 8.04156688e-01 -5.07017402e-01 -3.10266621e-01 1.02233922e+02] [ 4.67348396e-01 8.61830619e-01 -1.97062072e-01 2.00760387e+01] [ 3.67311174e-01 1.34661752e-02 9.30000626e-01 1.94070484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.26, Y:20.08, Z:19.42 [[ 8.06688534e-01 -4.98338910e-01 -3.17666397e-01 1.02257630e+02] [ 4.64407456e-01 8.66980610e-01 -1.80749373e-01 2.00801739e+01] [ 3.65485052e-01 -1.71819637e-03 9.30815623e-01 1.94234871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.28, Y:20.10, Z:19.43 [[ 8.07145182e-01 -5.00120595e-01 -3.13681441e-01 1.02279617e+02] [ 4.64604669e-01 8.65947876e-01 -1.85139886e-01 2.00960044e+01] [ 3.64224048e-01 3.69690459e-03 9.31304019e-01 1.94326758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:20.11, Z:19.44 [[ 8.07357979e-01 -5.01651072e-01 -3.10675549e-01 1.02301139e+02] [ 4.63150001e-01 8.64986586e-01 -1.93106921e-01 2.01121408e+01] [ 3.65602476e-01 1.20170324e-02 9.30693516e-01 1.94407664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:20.12, Z:19.46 [[ 8.08185192e-01 -4.97518244e-01 -3.15138529e-01 1.02324283e+02] [ 4.63738524e-01 8.67453363e-01 -1.80197791e-01 2.01185277e+01] [ 3.63019665e-01 -5.08690000e-04 9.31781339e-01 1.94575344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:20.13, Z:19.47 [[ 8.08433729e-01 -4.99357287e-01 -3.11572152e-01 1.02345868e+02] [ 4.63553826e-01 8.66377088e-01 -1.85764884e-01 2.01349468e+01] [ 3.62702022e-01 5.74813504e-03 9.31887441e-01 1.94651183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:20.15, Z:19.47 [[ 8.09429425e-01 -4.97739418e-01 -3.11575796e-01 1.02367467e+02] [ 4.61771524e-01 8.67301604e-01 -1.85889717e-01 2.01491313e+01] [ 3.62754828e-01 6.58777679e-03 9.31861329e-01 1.94744766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790385723 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:102.39, Y:20.17, Z:19.48 [[ 8.07923564e-01 -5.02313817e-01 -3.08123912e-01 1.02390634e+02] [ 4.61889336e-01 8.64501413e-01 -1.98231047e-01 2.01704584e+01] [ 3.65947751e-01 1.78363851e-02 9.30464458e-01 1.94817777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820385723 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:102.42, Y:20.17, Z:19.50 [[ 8.12508946e-01 -4.88935807e-01 -3.17444466e-01 1.02415889e+02] [ 4.57604352e-01 8.72303814e-01 -1.72291364e-01 2.01687715e+01] [ 3.61147436e-01 -5.27569501e-03 9.32493805e-01 1.95002747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:102.43, Y:20.21, Z:19.48 [[ 8.11727545e-01 -5.07859920e-01 -2.88403699e-01 1.02433085e+02] [ 4.62901325e-01 8.60556046e-01 -2.12522129e-01 2.02116231e+01] [ 3.56119018e-01 3.90076116e-02 9.33626077e-01 1.94814075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.46, Y:20.21, Z:19.50 [[ 8.12138101e-01 -4.99045196e-01 -3.02300508e-01 1.02460024e+02] [ 4.61594928e-01 8.66446459e-01 -1.90264699e-01 2.02134226e+01] [ 3.56877889e-01 1.49808303e-02 9.34030913e-01 1.95010442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.48, Y:20.23, Z:19.51 [[ 8.13096484e-01 -4.96586077e-01 -3.03770268e-01 1.02481783e+02] [ 4.59247983e-01 8.67865425e-01 -1.89475314e-01 2.02271345e+01] [ 3.57722515e-01 1.45558290e-02 9.33714480e-01 1.95106519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.51, Y:20.21, Z:19.56 [[ 8.11992893e-01 -4.75766487e-01 -3.38103226e-01 1.02509555e+02] [ 4.50358648e-01 8.79188999e-01 -1.55575683e-01 2.02109168e+01] [ 3.71274333e-01 -2.59413633e-02 9.28160770e-01 1.95603613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97038572299999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:102.52, Y:20.29, Z:19.51 [[ 8.08837617e-01 -5.15848861e-01 -2.82279403e-01 1.02524918e+02] [ 4.57648904e-01 8.53653397e-01 -2.48663142e-01 2.02872447e+01] [ 3.69241370e-01 7.19432441e-02 9.26544646e-01 1.95124499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000385723 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:102.56, Y:20.27, Z:19.56 [[ 8.05341251e-01 -5.01499314e-01 -3.16107429e-01 1.02558658e+02] [ 4.54234844e-01 8.64665659e-01 -2.14532060e-01 2.02745924e+01] [ 3.80914920e-01 2.91845091e-02 9.24149386e-01 1.95552091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.59, Y:20.24, Z:19.60 [[ 8.07545509e-01 -4.68494281e-01 -3.58306238e-01 1.02590582e+02] [ 4.55252984e-01 8.81351925e-01 -1.26346765e-01 2.02395297e+01] [ 3.74986630e-01 -6.10892212e-02 9.25015208e-01 1.96001265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:102.61, Y:20.29, Z:19.58 [[ 8.07817442e-01 -4.95175770e-01 -3.19737293e-01 1.02605936e+02] [ 4.56170095e-01 8.68735645e-01 -1.92891738e-01 2.02875249e+01] [ 3.73282499e-01 9.96671938e-03 9.27664185e-01 1.95780021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:102.63, Y:20.30, Z:19.59 [[ 8.06243624e-01 -4.97458425e-01 -3.20166103e-01 1.02629166e+02] [ 4.58486643e-01 8.67441190e-01 -1.93224690e-01 2.03021611e+01] [ 3.73846516e-01 8.99429279e-03 9.27446972e-01 1.95851161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:102.65, Y:20.31, Z:19.60 [[ 8.05271783e-01 -5.00223824e-01 -3.18297786e-01 1.02651286e+02] [ 4.61880621e-01 8.65861204e-01 -1.92225565e-01 2.03130327e+01] [ 3.71757511e-01 7.77824422e-03 9.28297286e-01 1.95973200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.67, Y:20.32, Z:19.61 [[ 8.03561528e-01 -5.04168246e-01 -3.16390979e-01 1.02673348e+02] [ 4.66566961e-01 8.63584752e-01 -1.91145618e-01 2.03244856e+01] [ 3.69599976e-01 5.97968675e-03 9.29171729e-01 1.96070874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.69, Y:20.36, Z:19.59 [[ 8.03604219e-01 -5.18252024e-01 -2.92634752e-01 1.02694163e+02] [ 4.74003461e-01 8.54644822e-01 -2.11903157e-01 2.03579793e+01] [ 3.59918016e-01 3.15763861e-02 9.32449438e-01 1.95908742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:20.34, Z:19.64 [[ 8.00909592e-01 -5.00314408e-01 -3.28982247e-01 1.02721409e+02] [ 4.72014862e-01 8.65580920e-01 -1.67247244e-01 2.03387178e+01] [ 3.68436962e-01 -2.13345877e-02 9.29407898e-01 1.96379839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:20.37, Z:19.64 [[ 8.00536441e-01 -5.10035046e-01 -3.14651646e-01 1.02740661e+02] [ 4.73216193e-01 8.60146728e-01 -1.90299872e-01 2.03653879e+01] [ 3.67706188e-01 3.44372813e-03 9.29935643e-01 1.96366184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:102.76, Y:20.38, Z:19.65 [[ 8.00232689e-01 -5.10947138e-01 -3.13943730e-01 1.02763078e+02] [ 4.74317505e-01 8.59606420e-01 -1.89999230e-01 2.03789018e+01] [ 3.66947608e-01 3.13458787e-03 9.30236329e-01 1.96465226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:20.39, Z:19.66 [[ 8.00215780e-01 -5.10802086e-01 -3.14222747e-01 1.02784192e+02] [ 4.74043546e-01 8.59691915e-01 -1.90295894e-01 2.03927730e+01] [ 3.67338294e-01 3.32251213e-03 9.30081469e-01 1.96564307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.81, Y:20.41, Z:19.66 [[ 8.00227356e-01 -5.10634749e-01 -3.14465153e-01 1.02805850e+02] [ 4.73776733e-01 8.59790745e-01 -1.90513732e-01 2.04078215e+01] [ 3.67657160e-01 3.46802761e-03 9.29954937e-01 1.96646273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.83, Y:20.45, Z:19.65 [[ 8.01428386e-01 -5.23720509e-01 -2.88841427e-01 1.02826307e+02] [ 4.78440083e-01 8.51179460e-01 -2.15843956e-01 2.04455101e+01] [ 3.58897796e-01 3.47901571e-02 9.32728265e-01 1.96462022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:20.42, Z:19.70 [[ 8.00535211e-01 -4.98814620e-01 -3.32155612e-01 1.02852850e+02] [ 4.72313153e-01 8.66297649e-01 -1.62630469e-01 2.04219396e+01] [ 3.68868081e-01 -2.66900474e-02 9.29098477e-01 1.96986923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:20.45, Z:19.69 [[ 8.00365402e-01 -5.09033630e-01 -3.16701730e-01 1.02871502e+02] [ 4.71423240e-01 8.60735209e-01 -1.92080787e-01 2.04523642e+01] [ 3.70371910e-01 4.43426067e-03 9.28872965e-01 1.96947275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:20.47, Z:19.70 [[ 8.00057687e-01 -5.09289894e-01 -3.17067030e-01 1.02893584e+02] [ 4.71557910e-01 8.60583580e-01 -1.92429308e-01 2.04667557e+01] [ 3.70864981e-01 4.43908104e-03 9.28676187e-01 1.97043821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:20.48, Z:19.71 [[ 7.99714825e-01 -5.09860172e-01 -3.17015463e-01 1.02915218e+02] [ 4.72133337e-01 8.60246585e-01 -1.92525131e-01 2.04813972e+01] [ 3.70872366e-01 4.29163297e-03 9.28673931e-01 1.97139091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.94, Y:20.50, Z:19.72 [[ 7.99703945e-01 -5.10401786e-01 -3.16170234e-01 1.02936504e+02] [ 4.72873006e-01 8.59926050e-01 -1.92141375e-01 2.04952477e+01] [ 3.69952322e-01 4.14784671e-03 9.29041482e-01 1.97236160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:102.95, Y:20.54, Z:19.70 [[ 8.01013258e-01 -5.27069067e-01 -2.83859047e-01 1.02954772e+02] [ 4.79510814e-01 8.48763796e-01 -2.22866325e-01 2.05375415e+01] [ 3.58395228e-01 4.24053992e-02 9.32606371e-01 1.96991105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:102.98, Y:20.51, Z:19.76 [[ 7.99914763e-01 -4.98926189e-01 -3.33480180e-01 1.02984722e+02] [ 4.74531982e-01 8.66042307e-01 -1.57448786e-01 2.05071824e+01] [ 3.67363267e-01 -3.23014022e-02 9.29516460e-01 1.97613706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:20.54, Z:19.76 [[ 8.00113734e-01 -5.11808656e-01 -3.12841671e-01 1.03002751e+02] [ 4.75174026e-01 8.59092280e-01 -1.90184385e-01 2.05389129e+01] [ 3.66097879e-01 3.51490215e-03 9.30569712e-01 1.97565214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:20.55, Z:19.77 [[ 8.00308287e-01 -5.12248655e-01 -3.11621503e-01 1.03025091e+02] [ 4.75892854e-01 8.58830398e-01 -1.89568825e-01 2.05522920e+01] [ 3.64736395e-01 3.41505491e-03 9.31104559e-01 1.97671599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:20.57, Z:19.78 [[ 8.00370230e-01 -5.12215763e-01 -3.11516464e-01 1.03044793e+02] [ 4.75833822e-01 8.58849491e-01 -1.89630496e-01 2.05688378e+01] [ 3.64677486e-01 3.54453422e-03 9.31127149e-01 1.97750390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:20.60, Z:19.76 [[ 8.01323654e-01 -5.20700558e-01 -2.94535788e-01 1.03069584e+02] [ 4.77892484e-01 8.53335674e-01 -2.08415452e-01 2.06005613e+01] [ 3.59859937e-01 2.62517926e-02 9.32636944e-01 1.97646662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:20.60, Z:19.80 [[ 7.99497586e-01 -5.08548683e-01 -3.19658953e-01 1.03090466e+02] [ 4.74465192e-01 8.61017144e-01 -1.83118158e-01 2.05956361e+01] [ 3.68356337e-01 -5.26452105e-03 9.29669777e-01 1.97956308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:20.61, Z:19.81 [[ 8.01099472e-01 -5.05799585e-01 -3.20010024e-01 1.03113038e+02] [ 4.74208869e-01 8.62586583e-01 -1.76267794e-01 2.06069993e+01] [ 3.65192530e-01 -1.05435543e-02 9.30872306e-01 1.98069695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:20.64, Z:19.79 [[ 8.01678158e-01 -5.18177408e-01 -2.98000512e-01 1.03137704e+02] [ 4.74703418e-01 8.54864422e-01 -2.09436112e-01 2.06437234e+01] [ 3.63275097e-01 2.64384953e-02 9.31306722e-01 1.97930088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:20.65, Z:19.81 [[ 7.99234434e-01 -5.15547911e-01 -3.08925024e-01 1.03160167e+02] [ 4.72953352e-01 8.56659701e-01 -2.06032241e-01 2.06543281e+01] [ 3.70863110e-01 1.85609359e-02 9.28502044e-01 1.98064874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:20.65, Z:19.83 [[ 7.99731212e-01 -5.03890331e-01 -3.26380949e-01 1.03189949e+02] [ 4.73430116e-01 8.63620430e-01 -1.73273422e-01 2.06524272e+01] [ 3.69180057e-01 -1.59464069e-02 9.29221070e-01 1.98335252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:20.68, Z:19.84 [[ 7.99459824e-01 -5.09998683e-01 -3.17435557e-01 1.03207841e+02] [ 4.73870719e-01 8.60175129e-01 -1.88534585e-01 2.06762039e+01] [ 3.69202561e-01 3.02410592e-04 9.29348900e-01 1.98364707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:20.69, Z:19.85 [[ 7.99233338e-01 -5.10655141e-01 -3.16950150e-01 1.03230380e+02] [ 4.74086835e-01 8.59784476e-01 -1.89769145e-01 2.06908696e+01] [ 3.69415408e-01 1.40793377e-03 9.29263296e-01 1.98466241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.25, Y:20.70, Z:19.86 [[ 7.98719023e-01 -5.09530808e-01 -3.20041058e-01 1.03253576e+02] [ 4.73856076e-01 8.60449989e-01 -1.87313203e-01 2.07028601e+01] [ 3.70821173e-01 -2.04278134e-03 9.28702043e-01 1.98604845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.26, Y:20.75, Z:19.83 [[ 7.98260759e-01 -5.33580374e-01 -2.79413215e-01 1.03260605e+02] [ 4.84656705e-01 8.44465237e-01 -2.28005133e-01 2.07512908e+01] [ 3.57613812e-01 4.65880626e-02 9.32706768e-01 1.98284898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.29, Y:20.75, Z:19.86 [[ 7.98088469e-01 -5.21874671e-01 -3.01167102e-01 1.03287765e+02] [ 4.83817086e-01 8.52955586e-01 -1.95928036e-01 2.07460505e+01] [ 3.59132041e-01 1.06581166e-02 9.33225901e-01 1.98555294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:20.74, Z:19.90 [[ 7.97307969e-01 -5.06324607e-01 -3.28535228e-01 1.03320799e+02] [ 4.77693872e-01 8.62063040e-01 -1.69280474e-01 2.07366356e+01] [ 3.68928947e-01 -2.19705942e-02 9.29197893e-01 1.98971596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:103.34, Y:20.76, Z:19.90 [[ 7.96082344e-01 -5.14434022e-01 -3.18764080e-01 1.03341738e+02] [ 4.78057948e-01 8.57529227e-01 -1.90011112e-01 2.07621436e+01] [ 3.71097696e-01 -1.12321024e-03 9.28593150e-01 1.98983496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:20.78, Z:19.91 [[ 7.96248276e-01 -5.18038183e-01 -3.12450195e-01 1.03361786e+02] [ 4.80480265e-01 8.55347638e-01 -1.93698561e-01 2.07803166e+01] [ 3.67596787e-01 4.10599252e-03 9.29976206e-01 1.99064765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:20.79, Z:19.92 [[ 7.96299220e-01 -5.19372817e-01 -3.10095839e-01 1.03383856e+02] [ 4.82074704e-01 8.54536176e-01 -1.93318140e-01 2.07949435e+01] [ 3.65392300e-01 4.44972435e-03 9.30842987e-01 1.99152581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:20.81, Z:19.93 [[ 7.95631745e-01 -5.20074446e-01 -3.10632735e-01 1.03404980e+02] [ 4.84003364e-01 8.54120261e-01 -1.90313749e-01 2.08057278e+01] [ 3.64295030e-01 1.07237144e-03 9.31282976e-01 1.99268412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:20.82, Z:19.94 [[ 7.95264508e-01 -5.17917922e-01 -3.15143440e-01 1.03430299e+02] [ 4.82666554e-01 8.55425941e-01 -1.87828266e-01 2.08171433e+01] [ 3.66861499e-01 -2.73604506e-03 9.30271549e-01 1.99427129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:20.84, Z:19.94 [[ 7.95404637e-01 -5.23506259e-01 -3.05405731e-01 1.03446211e+02] [ 4.84765261e-01 8.51970761e-01 -1.97859710e-01 2.08412570e+01] [ 3.63777549e-01 9.32844203e-03 9.31439142e-01 1.99410443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:20.84, Z:19.96 [[ 7.95687854e-01 -5.15469323e-01 -3.18075804e-01 1.03473937e+02] [ 4.80646795e-01 8.56895454e-01 -1.86303081e-01 2.08449347e+01] [ 3.68591233e-01 -4.64301665e-03 9.29579983e-01 1.99639269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:20.86, Z:19.97 [[ 7.95727983e-01 -5.17339037e-01 -3.14924275e-01 1.03496054e+02] [ 4.79550925e-01 8.55773602e-01 -1.94119684e-01 2.08632357e+01] [ 3.69929571e-01 3.44423733e-03 9.29053416e-01 1.99710307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:20.87, Z:19.99 [[ 7.95815168e-01 -5.11563826e-01 -3.24007207e-01 1.03521584e+02] [ 4.75213645e-01 8.59239212e-01 -1.89420083e-01 2.08714609e+01] [ 3.75300159e-01 -3.22927061e-03 9.26897709e-01 1.99894407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:20.89, Z:20.00 [[ 7.96236621e-01 -5.12089766e-01 -3.22135554e-01 1.03544242e+02] [ 4.73625768e-01 8.58928352e-01 -1.94732426e-01 2.08882057e+01] [ 3.76411843e-01 2.48138940e-03 9.26449118e-01 1.99984716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:20.90, Z:20.01 [[ 7.98219598e-01 -5.08538494e-01 -3.22853022e-01 1.03565725e+02] [ 4.70275087e-01 8.61035141e-01 -1.93545419e-01 2.09006111e+01] [ 3.76413093e-01 2.66201393e-03 9.26448108e-01 2.00088602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:20.92, Z:20.02 [[ 7.98744324e-01 -5.08958538e-01 -3.20887380e-01 1.03588439e+02] [ 4.69856169e-01 8.60773102e-01 -1.95716240e-01 2.09169515e+01] [ 3.75822677e-01 5.55632140e-03 9.26674939e-01 2.00183656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.61, Y:20.93, Z:20.03 [[ 8.00128673e-01 -5.06363905e-01 -3.21542692e-01 1.03612016e+02] [ 4.68360563e-01 8.62313097e-01 -1.92495471e-01 2.09279829e+01] [ 3.74743233e-01 3.42322909e-03 9.27122317e-01 2.00318623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:20.94, Z:20.04 [[ 8.00221276e-01 -5.07160273e-01 -3.20053694e-01 1.03633966e+02] [ 4.68890170e-01 8.61839304e-01 -1.93326205e-01 2.09419271e+01] [ 3.73882224e-01 4.63371147e-03 9.27464615e-01 2.00419755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:20.95, Z:20.05 [[ 8.00944785e-01 -5.06419700e-01 -3.19415933e-01 1.03656355e+02] [ 4.68291824e-01 8.62273347e-01 -1.92840461e-01 2.09542533e+01] [ 3.73082054e-01 4.87469165e-03 9.27785546e-01 2.00527702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:20.97, Z:20.06 [[ 8.01977257e-01 -5.05522336e-01 -3.18244633e-01 1.03679200e+02] [ 4.67238145e-01 8.62791613e-01 -1.93078091e-01 2.09678045e+01] [ 3.72184088e-01 6.14820545e-03 9.28138570e-01 2.00618195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:20.98, Z:20.08 [[ 8.01812995e-01 -5.03571246e-01 -3.21732686e-01 1.03702292e+02] [ 4.66380843e-01 8.63950778e-01 -1.89941998e-01 2.09791558e+01] [ 3.73610533e-01 2.24800094e-03 9.27582943e-01 2.00757834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:103.72, Y:21.00, Z:20.08 [[ 8.01665658e-01 -5.05588594e-01 -3.18923730e-01 1.03719923e+02] [ 4.67062577e-01 8.62751621e-01 -1.93680636e-01 2.09953827e+01] [ 3.73074686e-01 6.30977557e-03 9.27779858e-01 2.00827563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.74, Y:21.00, Z:20.11 [[ 8.01946565e-01 -4.97214146e-01 -3.31149211e-01 1.03741558e+02] [ 4.62656076e-01 8.67599286e-01 -1.82265834e-01 2.09996246e+01] [ 3.77929970e-01 -7.04073502e-03 9.25807413e-01 2.01067684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:21.04, Z:20.09 [[ 8.04412179e-01 -5.10856422e-01 -3.03227247e-01 1.03762058e+02] [ 4.63928693e-01 8.59014452e-01 -2.16481729e-01 2.10380190e+01] [ 3.71067669e-01 3.34647193e-02 9.28002639e-01 2.00929761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.79, Y:21.03, Z:20.13 [[ 8.03072612e-01 -4.92907361e-01 -3.34838338e-01 1.03786067e+02] [ 4.59362286e-01 8.70023717e-01 -1.79011233e-01 2.10264887e+01] [ 3.79553250e-01 -1.00530859e-02 9.25115272e-01 2.01291644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:21.07, Z:20.11 [[ 8.03391014e-01 -5.11719148e-01 -3.04477244e-01 1.03802646e+02] [ 4.59679466e-01 8.58019542e-01 -2.29122792e-01 2.10699586e+01] [ 3.78493946e-01 4.41132551e-02 9.24551975e-01 2.01079641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:103.83, Y:21.06, Z:20.14 [[ 8.00631168e-01 -4.96867950e-01 -3.34831260e-01 1.03829907e+02] [ 4.57214192e-01 8.67822102e-01 -1.94525017e-01 2.10590268e+01] [ 3.87227214e-01 2.65318722e-03 9.21980501e-01 2.01414608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74038572299999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:103.85, Y:21.08, Z:20.15 [[ 8.02050896e-01 -4.99666240e-01 -3.27181921e-01 1.03854869e+02] [ 4.60777093e-01 8.66207404e-01 -1.93311160e-01 2.10755046e+01] [ 3.79998462e-01 4.28745445e-03 9.24977181e-01 2.01450865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77038572299999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:103.87, Y:21.09, Z:20.16 [[ 7.99758351e-01 -5.01105403e-01 -3.30575188e-01 1.03874252e+02] [ 4.58760853e-01 8.65331099e-01 -2.01842932e-01 2.10900776e+01] [ 3.87201574e-01 9.77061532e-03 9.21943315e-01 2.01574843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.90, Y:21.10, Z:20.16 [[ 7.99696237e-01 -5.05182545e-01 -3.24463441e-01 1.03899160e+02] [ 4.62847204e-01 8.62929116e-01 -2.02794988e-01 2.11044006e+01] [ 3.82437438e-01 1.19973924e-02 9.23903495e-01 2.01646910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:21.11, Z:20.18 [[ 7.98588452e-01 -5.03029730e-01 -3.30480823e-01 1.03921163e+02] [ 4.62377221e-01 8.64251868e-01 -1.98181771e-01 2.11111553e+01] [ 3.85309991e-01 5.45886914e-03 9.22771050e-01 2.01839786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:21.13, Z:20.18 [[ 7.98299899e-01 -5.12596262e-01 -3.16168221e-01 1.03941095e+02] [ 4.67662674e-01 8.58385561e-01 -2.10869279e-01 2.11317016e+01] [ 3.79485040e-01 2.04768486e-02 9.24971244e-01 2.01819007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:21.14, Z:20.19 [[ 7.98055665e-01 -5.12232641e-01 -3.17371828e-01 1.03964251e+02] [ 4.69844742e-01 8.58730988e-01 -2.04516524e-01 2.11422940e+01] [ 3.77297063e-01 1.41000859e-02 9.25984943e-01 2.01932758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:21.16, Z:20.20 [[ 7.97932841e-01 -5.16374121e-01 -3.10903439e-01 1.03984735e+02] [ 4.71818557e-01 8.56089922e-01 -2.10943820e-01 2.11613827e+01] [ 3.75087231e-01 2.16289898e-02 9.26737156e-01 2.01972212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:21.16, Z:20.22 [[ 7.97602890e-01 -5.08783837e-01 -3.23988638e-01 1.04011125e+02] [ 4.69581690e-01 8.60884548e-01 -1.95884742e-01 2.11634491e+01] [ 3.78579803e-01 4.09910385e-03 9.25559577e-01 2.02195720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:21.18, Z:20.23 [[ 7.97586320e-01 -5.12525726e-01 -3.18077730e-01 1.04034546e+02] [ 4.69523953e-01 8.58540951e-01 -2.06045365e-01 2.11806586e+01] [ 3.78686307e-01 1.49938517e-02 9.25403623e-01 2.02260755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010385723 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:104.06, Y:21.19, Z:20.25 [[ 7.95512404e-01 -5.11027998e-01 -3.25592384e-01 1.04058186e+02] [ 4.68698000e-01 8.59510705e-01 -2.03871362e-01 2.11903831e+01] [ 3.84034113e-01 9.57769765e-03 9.23269228e-01 2.02458064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.08, Y:21.20, Z:20.25 [[ 7.97232473e-01 -5.09187393e-01 -3.24266223e-01 1.04080136e+02] [ 4.69206687e-01 8.60637515e-01 -1.97858920e-01 2.12009392e+01] [ 3.79822944e-01 5.59167572e-03 9.25042304e-01 2.02526890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:21.22, Z:20.27 [[ 7.95766433e-01 -5.11725320e-01 -3.23871859e-01 1.04103403e+02] [ 4.67277693e-01 8.59016521e-01 -2.09146299e-01 2.12188062e+01] [ 3.85236734e-01 1.50935089e-02 9.22694340e-01 2.02661084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:104.13, Y:21.22, Z:20.28 [[ 7.97150464e-01 -5.05111575e-01 -3.30777017e-01 1.04125563e+02] [ 4.67568230e-01 8.63050941e-01 -1.91109979e-01 2.12227735e+01] [ 3.82009278e-01 -2.31741618e-03 9.24155583e-01 2.02789058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.14, Y:21.25, Z:20.27 [[ 7.97372289e-01 -5.17271000e-01 -3.10850681e-01 1.04142024e+02] [ 4.70164753e-01 8.55389944e-01 -2.17377894e-01 2.12537695e+01] [ 3.78341827e-01 2.71800752e-02 9.25266829e-01 2.02713422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16038572299999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:104.17, Y:21.26, Z:20.28 [[ 7.97104502e-01 -5.14617379e-01 -3.15900880e-01 1.04166852e+02] [ 4.70331084e-01 8.57219131e-01 -2.09676018e-01 2.12621913e+01] [ 3.78699201e-01 1.85556948e-02 9.25333778e-01 2.02846270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.19, Y:21.27, Z:20.30 [[ 7.97017231e-01 -5.09533542e-01 -3.24251604e-01 1.04191840e+02] [ 4.68773255e-01 8.60420158e-01 -1.99821890e-01 2.12683380e+01] [ 3.80808572e-01 7.26100916e-03 9.24625389e-01 2.03031034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22038572299999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:104.21, Y:21.29, Z:20.31 [[ 7.96736015e-01 -5.15435918e-01 -3.15495701e-01 1.04213581e+02] [ 4.71056258e-01 8.56722771e-01 -2.10076403e-01 2.12896531e+01] [ 3.78573275e-01 1.87592113e-02 9.25381201e-01 2.03058711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.24, Y:21.30, Z:20.32 [[ 7.96284893e-01 -5.16353849e-01 -3.15133418e-01 1.04235172e+02] [ 4.71942584e-01 8.56169665e-01 -2.10341869e-01 2.13035832e+01] [ 3.78418507e-01 1.87671726e-02 9.25444340e-01 2.03167343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:104.26, Y:21.31, Z:20.34 [[ 7.95815934e-01 -5.10636347e-01 -3.25465084e-01 1.04264593e+02] [ 4.70755315e-01 8.59786223e-01 -1.97881489e-01 2.13074978e+01] [ 3.80875876e-01 4.26282381e-03 9.24616350e-01 2.03399351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:104.29, Y:21.32, Z:20.35 [[ 7.94182804e-01 -5.16131307e-01 -3.20752472e-01 1.04286065e+02] [ 4.75017284e-01 8.56471316e-01 -2.02028376e-01 2.13227041e+01] [ 3.78988462e-01 8.08449383e-03 9.25366083e-01 2.03479711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.31, Y:21.34, Z:20.36 [[ 7.92387270e-01 -5.19418645e-01 -3.19885427e-01 1.04309547e+02] [ 4.78180366e-01 8.54483604e-01 -2.02981053e-01 2.13357342e+01] [ 3.78768996e-01 7.87667177e-03 9.25457728e-01 2.03582689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.33, Y:21.35, Z:20.37 [[ 7.91063128e-01 -5.20963851e-01 -3.20649021e-01 1.04330705e+02] [ 4.80248113e-01 8.53559081e-01 -2.01986743e-01 2.13484595e+01] [ 3.78920675e-01 5.79317719e-03 9.25411023e-01 2.03690244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.35, Y:21.36, Z:20.38 [[ 7.89906246e-01 -5.23914194e-01 -3.18687999e-01 1.04352111e+02] [ 4.82889169e-01 8.51744436e-01 -2.03345683e-01 2.13639007e+01] [ 3.77976420e-01 6.73304201e-03 9.25790739e-01 2.03769396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:104.38, Y:21.38, Z:20.39 [[ 7.89164194e-01 -5.25256492e-01 -3.18316656e-01 1.04378166e+02] [ 4.83242546e-01 8.50898800e-01 -2.06028818e-01 2.13780072e+01] [ 3.79073235e-01 8.76641496e-03 9.25325150e-01 2.03887010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.40, Y:21.39, Z:20.40 [[ 7.87427125e-01 -5.27967038e-01 -3.18134138e-01 1.04399401e+02] [ 4.84268872e-01 8.49182786e-01 -2.10647229e-01 2.13927988e+01] [ 3.81368827e-01 1.18068814e-02 9.24347562e-01 2.03978473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:21.40, Z:20.42 [[ 7.88607570e-01 -5.22195408e-01 -3.24669149e-01 1.04424342e+02] [ 4.84224374e-01 8.52820474e-01 -1.95509578e-01 2.13981908e+01] [ 3.78978702e-01 -3.03238259e-03 9.25400426e-01 2.04151732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.45, Y:21.42, Z:20.42 [[ 7.88434291e-01 -5.26701140e-01 -3.17737750e-01 1.04445627e+02] [ 4.84951363e-01 8.50012203e-01 -2.05673114e-01 2.14190785e+01] [ 3.78409229e-01 8.07238113e-03 9.25603204e-01 2.04194502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55038572299999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:104.47, Y:21.43, Z:20.43 [[ 7.87349323e-01 -5.25560795e-01 -3.22283873e-01 1.04465882e+02] [ 4.85280438e-01 8.50752405e-01 -2.01800003e-01 2.14311445e+01] [ 3.80241950e-01 2.48903645e-03 9.24883703e-01 2.04305333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:21.45, Z:20.44 [[ 7.87246209e-01 -5.25900794e-01 -3.21980995e-01 1.04488581e+02] [ 4.84460848e-01 8.50530323e-01 -2.04684772e-01 2.14462101e+01] [ 3.81498484e-01 5.15012526e-03 9.24355117e-01 2.04403627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610385723 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:104.51, Y:21.45, Z:20.46 [[ 7.89365060e-01 -5.19027745e-01 -3.27891753e-01 1.04512770e+02] [ 4.80701276e-01 8.54751827e-01 -1.95769246e-01 2.14516545e+01] [ 3.81875745e-01 -3.08458099e-03 9.24208527e-01 2.04581953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:21.47, Z:20.47 [[ 7.86600582e-01 -5.24198226e-01 -3.26306213e-01 1.04531893e+02] [ 4.82762802e-01 8.51590396e-01 -2.04288706e-01 2.14687957e+01] [ 3.84967015e-01 3.16511303e-03 9.22924905e-01 2.04670190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:21.48, Z:20.48 [[ 7.87299426e-01 -5.23880839e-01 -3.25128405e-01 1.04553628e+02] [ 4.82671544e-01 8.51784626e-01 -2.03693721e-01 2.14825551e+01] [ 3.83650614e-01 3.43772015e-03 9.23471921e-01 2.04778360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:21.50, Z:20.49 [[ 7.86091423e-01 -5.25921050e-01 -3.24757330e-01 1.04575455e+02] [ 4.84924854e-01 8.50529555e-01 -2.03586253e-01 2.14974098e+01] [ 3.83286003e-01 2.55450633e-03 9.23626177e-01 2.04886528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:21.51, Z:20.50 [[ 7.85216569e-01 -5.27999001e-01 -3.23499605e-01 1.04596086e+02] [ 4.87444481e-01 8.49243365e-01 -2.02937391e-01 2.15117184e+01] [ 3.81880633e-01 1.66170464e-03 9.24210160e-01 2.04988830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.62, Y:21.52, Z:20.51 [[ 7.84665780e-01 -5.29165752e-01 -3.22929126e-01 1.04618515e+02] [ 4.88816794e-01 8.48517662e-01 -2.02671948e-01 2.15248956e+01] [ 3.81258121e-01 1.17656235e-03 9.24467880e-01 2.05104218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:21.55, Z:20.51 [[ 7.84361306e-01 -5.36303844e-01 -3.11697816e-01 1.04643532e+02] [ 4.92457000e-01 8.43918262e-01 -2.12809939e-01 2.15478130e+01] [ 3.77178268e-01 1.34221098e-02 9.26043412e-01 2.05101048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:21.55, Z:20.53 [[ 7.84117799e-01 -5.31467885e-01 -3.20470225e-01 1.04667845e+02] [ 4.92692909e-01 8.47076873e-01 -1.99284895e-01 2.15540838e+01] [ 3.77376438e-01 -1.63057374e-03 9.26058511e-01 2.05275603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:21.57, Z:20.53 [[ 7.83718378e-01 -5.34191604e-01 -3.16898776e-01 1.04689244e+02] [ 4.94375073e-01 8.45361200e-01 -2.02380160e-01 2.15713606e+01] [ 3.76003712e-01 1.94219566e-03 9.26616122e-01 2.05344414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.71, Y:21.58, Z:20.55 [[ 7.82691057e-01 -5.33172290e-01 -3.21126171e-01 1.04709803e+02] [ 4.95803409e-01 8.45987666e-01 -1.96173009e-01 2.15817154e+01] [ 3.76262792e-01 -5.67259053e-03 9.26495620e-01 2.05490081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:21.59, Z:20.57 [[ 7.82479197e-01 -5.28643903e-01 -3.29031807e-01 1.04729936e+02] [ 4.93376026e-01 8.48737772e-01 -1.90326804e-01 2.15905246e+01] [ 3.79876827e-01 -1.34096408e-02 9.24939878e-01 2.05709278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94038572299999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:104.75, Y:21.62, Z:20.56 [[ 7.82911445e-01 -5.39162533e-01 -3.10408493e-01 1.04751163e+02] [ 4.95436990e-01 8.42100701e-01 -2.13092935e-01 2.16229259e+01] [ 3.76286936e-01 1.30450479e-02 9.26411339e-01 2.05598993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:21.64, Z:20.57 [[ 7.82798204e-01 -5.41551799e-01 -3.06510393e-01 1.04767902e+02] [ 4.97728196e-01 8.40535199e-01 -2.13932750e-01 2.16393050e+01] [ 3.73488440e-01 1.49073075e-02 9.27515044e-01 2.05664132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.80, Y:21.63, Z:20.61 [[ 7.81602458e-01 -5.24810371e-01 -3.37152299e-01 1.04795250e+02] [ 4.93342810e-01 8.50850068e-01 -1.80740239e-01 2.16282243e+01] [ 3.81720408e-01 -2.50646475e-02 9.23937927e-01 2.06087146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:21.67, Z:20.59 [[ 7.80128655e-01 -5.44614698e-01 -3.07886526e-01 1.04813830e+02] [ 4.96389312e-01 8.38374432e-01 -2.25224250e-01 2.16718620e+01] [ 3.80784628e-01 2.28723104e-02 9.24380833e-01 2.05901341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:21.67, Z:20.61 [[ 7.78347409e-01 -5.36724748e-01 -3.25732798e-01 1.04838964e+02] [ 4.99971163e-01 8.43689585e-01 -1.95490971e-01 2.16699575e+01] [ 3.79742212e-01 -1.06971153e-02 9.25030499e-01 2.06147948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:21.69, Z:20.62 [[ 7.75613564e-01 -5.43099391e-01 -3.21662324e-01 1.04863331e+02] [ 5.02979069e-01 8.39663482e-01 -2.04883609e-01 2.16880023e+01] [ 3.81360271e-01 -2.87890963e-03 9.24422012e-01 2.06244281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.88, Y:21.70, Z:20.64 [[ 7.73963414e-01 -5.44269437e-01 -3.23653232e-01 1.04884423e+02] [ 5.05745048e-01 8.38873249e-01 -2.01279952e-01 2.16998861e+01] [ 3.81054564e-01 -7.90270078e-03 9.24518776e-01 2.06365527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.91, Y:21.72, Z:20.65 [[ 7.71108312e-01 -5.48631399e-01 -3.23103017e-01 1.04905782e+02] [ 5.10069521e-01 8.36017496e-01 -2.02246954e-01 2.17178782e+01] [ 3.81078804e-01 -8.85069332e-03 9.24500195e-01 2.06471950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:21.73, Z:20.66 [[ 7.69964920e-01 -5.51055545e-01 -3.21701428e-01 1.04926491e+02] [ 5.12422706e-01 8.34423860e-01 -2.02878762e-01 2.17346956e+01] [ 3.80232814e-01 -8.63758680e-03 9.24850474e-01 2.06559296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:21.75, Z:20.67 [[ 7.68649467e-01 -5.51738403e-01 -3.23670716e-01 1.04948907e+02] [ 5.13361064e-01 8.33950559e-01 -2.02452175e-01 2.17482465e+01] [ 3.81626014e-01 -1.05451865e-02 9.24256666e-01 2.06698100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:21.76, Z:20.68 [[ 7.68071541e-01 -5.52983870e-01 -3.22916316e-01 1.04969410e+02] [ 5.14556286e-01 8.33127200e-01 -2.02807538e-01 2.17629378e+01] [ 3.81179664e-01 -1.03879219e-02 9.24442619e-01 2.06808902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27038572299999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:104.99, Y:21.78, Z:20.69 [[ 7.67205997e-01 -5.55015264e-01 -3.21485639e-01 1.04991850e+02] [ 5.15474503e-01 8.31803947e-01 -2.05884024e-01 2.17803003e+01] [ 3.81681799e-01 -7.76219190e-03 9.24261193e-01 2.06886202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.01, Y:21.79, Z:20.70 [[ 7.67770542e-01 -5.53144754e-01 -3.23356267e-01 1.05011316e+02] [ 5.15482545e-01 8.32993390e-01 -2.00996909e-01 2.17943797e+01] [ 3.80534019e-01 -1.23650057e-02 9.24684253e-01 2.07041531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:105.03, Y:21.81, Z:20.71 [[ 7.67853921e-01 -5.53979755e-01 -3.21724707e-01 1.05031638e+02] [ 5.15276852e-01 8.32476994e-01 -2.03646310e-01 2.18118587e+01] [ 3.80644350e-01 -9.40667681e-03 9.24673668e-01 2.07132481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.05, Y:21.83, Z:20.72 [[ 7.68444927e-01 -5.53437396e-01 -3.21246701e-01 1.05051563e+02] [ 5.14364552e-01 8.32850897e-01 -2.04422336e-01 2.18309696e+01] [ 3.80685568e-01 -8.15060812e-03 9.24668625e-01 2.07230127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:105.07, Y:21.84, Z:20.74 [[ 7.68746623e-01 -5.49476650e-01 -3.27267538e-01 1.05073728e+02] [ 5.12071051e-01 8.35391455e-01 -1.99760746e-01 2.18437710e+01] [ 3.83160370e-01 -1.40188325e-02 9.23575445e-01 2.07389050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:21.86, Z:20.75 [[ 7.69582643e-01 -5.50621713e-01 -3.23354736e-01 1.05090234e+02] [ 5.09440790e-01 8.34745743e-01 -2.08972788e-01 2.18611103e+01] [ 3.84983943e-01 -3.90826184e-03 9.22914996e-01 2.07470176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:21.88, Z:20.76 [[ 7.69674198e-01 -5.50462082e-01 -3.23408604e-01 1.05113642e+02] [ 5.11052790e-01 8.34824261e-01 -2.04679015e-01 2.18763781e+01] [ 3.82657386e-01 -7.74271276e-03 9.23857876e-01 2.07592189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:105.14, Y:21.89, Z:20.78 [[ 7.68513112e-01 -5.46268595e-01 -3.33133934e-01 1.05139152e+02] [ 5.08967501e-01 8.37446475e-01 -1.99086627e-01 2.18872743e+01] [ 3.87736611e-01 -1.65536629e-02 9.21621558e-01 2.07766071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:105.15, Y:21.91, Z:20.78 [[ 7.66702503e-01 -5.52368322e-01 -3.27194908e-01 1.05154171e+02] [ 5.12845570e-01 8.33536675e-01 -2.05441070e-01 2.19086935e+01] [ 3.86208095e-01 -1.02882763e-02 9.22354302e-01 2.07809306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:105.17, Y:21.92, Z:20.80 [[ 7.65270614e-01 -5.53208836e-01 -3.29121362e-01 1.05174034e+02] [ 5.14864093e-01 8.32921545e-01 -2.02871057e-01 2.19217196e+01] [ 3.86362335e-01 -1.42015134e-02 9.22237748e-01 2.07981667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:21.94, Z:20.81 [[ 7.63710421e-01 -5.57646229e-01 -3.25233878e-01 1.05195400e+02] [ 5.17716707e-01 8.30019163e-01 -2.07455057e-01 2.19409492e+01] [ 3.85636881e-01 -9.94342326e-03 9.22597054e-01 2.08075478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:105.22, Y:21.96, Z:20.82 [[ 7.60310108e-01 -5.63153540e-01 -3.23707631e-01 1.05215025e+02] [ 5.24119961e-01 8.26254202e-01 -2.06403150e-01 2.19594727e+01] [ 3.83701455e-01 -1.27312298e-02 9.23369433e-01 2.08161139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.24, Y:21.97, Z:20.83 [[ 7.59273330e-01 -5.64804955e-01 -3.23263628e-01 1.05235602e+02] [ 5.26381425e-01 8.25100335e-01 -2.05260891e-01 2.19741763e+01] [ 3.82657296e-01 -1.43108493e-02 9.23779516e-01 2.08285724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.26, Y:21.99, Z:20.84 [[ 7.58292267e-01 -5.66865658e-01 -3.21956772e-01 1.05255916e+02] [ 5.28655763e-01 8.23679755e-01 -2.05121293e-01 2.19896838e+01] [ 3.81465492e-01 -1.46624129e-02 9.24266786e-01 2.08401025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.28, Y:22.00, Z:20.86 [[ 7.55945788e-01 -5.62924638e-01 -3.34158373e-01 1.05279576e+02] [ 5.29103888e-01 8.25971137e-01 -1.94475593e-01 2.19984871e+01] [ 3.85480274e-01 -2.97914894e-02 9.22235016e-01 2.08640984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72038572299999 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:105.30, Y:22.04, Z:20.86 [[ 7.55245654e-01 -5.76455976e-01 -3.11933502e-01 1.05296215e+02] [ 5.31358323e-01 8.17122412e-01 -2.23538135e-01 2.20361616e+01] [ 3.83747749e-01 3.07774254e-03 9.23432831e-01 2.08560470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750385723 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:105.32, Y:22.03, Z:20.89 [[ 7.55247118e-01 -5.62438205e-01 -3.36548743e-01 1.05324328e+02] [ 5.30542817e-01 8.26095080e-01 -1.89976942e-01 2.20331288e+01] [ 3.84871551e-01 -3.50739802e-02 9.22303478e-01 2.08862341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.34, Y:22.05, Z:20.90 [[ 7.52791277e-01 -5.65000472e-01 -3.37756953e-01 1.05337726e+02] [ 5.33595769e-01 8.24234889e-01 -1.89505681e-01 2.20499453e+01] [ 3.85461864e-01 -3.75674567e-02 9.21958696e-01 2.08973261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810385723 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:105.36, Y:22.09, Z:20.90 [[ 7.51887036e-01 -5.77158555e-01 -3.18675206e-01 1.05355180e+02] [ 5.33964478e-01 8.16614311e-01 -2.19141512e-01 2.20860959e+01] [ 3.86714133e-01 -5.39157783e-03 9.22183881e-01 2.08970109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840385723 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:105.37, Y:22.10, Z:20.91 [[ 7.49272930e-01 -5.78348221e-01 -3.22650604e-01 1.05374233e+02] [ 5.37506065e-01 8.15683732e-01 -2.13886135e-01 2.21029477e+01] [ 3.86881515e-01 -1.31675658e-02 9.22035416e-01 2.09089986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:105.40, Y:22.10, Z:20.95 [[ 7.46908375e-01 -5.61481343e-01 -3.56183354e-01 1.05401022e+02] [ 5.34482021e-01 8.25633200e-01 -1.80717429e-01 2.20990977e+01] [ 3.95546267e-01 -5.53942373e-02 9.16774034e-01 2.09471212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:105.41, Y:22.15, Z:20.93 [[ 7.45182644e-01 -5.84951277e-01 -3.20210604e-01 1.05409916e+02] [ 5.39542930e-01 8.11056774e-01 -2.26009593e-01 2.21471442e+01] [ 3.91913580e-01 -4.34894129e-03 9.19991757e-01 2.09310040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.43, Y:22.14, Z:20.97 [[ 7.41503303e-01 -5.68254807e-01 -3.56734252e-01 1.05432141e+02] [ 5.39972197e-01 8.21003615e-01 -1.85426779e-01 2.21413974e+01] [ 3.98249769e-01 -5.51320091e-02 9.15618689e-01 2.09689919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96038572299999 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:105.45, Y:22.18, Z:20.96 [[ 7.40489223e-01 -5.86628025e-01 -3.27937908e-01 1.05447266e+02] [ 5.41128474e-01 8.09799966e-01 -2.26724479e-01 2.21827710e+01] [ 3.98567040e-01 -9.56950631e-03 9.17089275e-01 2.09621780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99038572299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.46, Y:22.21, Z:20.97 [[ 7.38395094e-01 -5.90919735e-01 -3.24940843e-01 1.05461720e+02] [ 5.46905488e-01 8.06637760e-01 -2.24120307e-01 2.22058710e+01] [ 3.94546666e-01 -1.22225955e-02 9.18794611e-01 2.09669853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02038572299999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:105.49, Y:22.20, Z:21.01 [[ 7.36821134e-01 -5.71199563e-01 -3.61698321e-01 1.05488588e+02] [ 5.41118441e-01 8.18967482e-01 -1.91005489e-01 2.21965830e+01] [ 4.05321416e-01 -5.49847506e-02 9.12519165e-01 2.10112355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05038572299999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:105.50, Y:22.23, Z:21.01 [[ 7.35871643e-01 -5.81979893e-01 -3.46110284e-01 1.05502385e+02] [ 5.40106866e-01 8.12779002e-01 -2.18345752e-01 2.22347019e+01] [ 4.08384009e-01 -2.62620930e-02 9.12432356e-01 2.10138753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:22.25, Z:21.02 [[ 7.36674865e-01 -5.82049402e-01 -3.44279882e-01 1.05519111e+02] [ 5.40679295e-01 8.12730921e-01 -2.17104465e-01 2.22545245e+01] [ 4.06172430e-01 -2.62096015e-02 9.13420502e-01 2.10244255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.54, Y:22.27, Z:21.04 [[ 7.38227665e-01 -5.75071847e-01 -3.52579474e-01 1.05535147e+02] [ 5.36894981e-01 8.17353248e-01 -2.08991501e-01 2.22717413e+01] [ 4.08367107e-01 -3.50148426e-02 9.12145968e-01 2.10436834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:105.55, Y:22.29, Z:21.06 [[ 7.37985184e-01 -5.73276695e-01 -3.55993959e-01 1.05553316e+02] [ 5.34966008e-01 8.18567566e-01 -2.09185351e-01 2.22897498e+01] [ 4.11326195e-01 -3.60689771e-02 9.10774281e-01 2.10581753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:22.33, Z:21.06 [[ 7.40197718e-01 -5.79949048e-01 -3.40244675e-01 1.05563366e+02] [ 5.34751418e-01 8.14506966e-01 -2.24987387e-01 2.23250505e+01] [ 4.07612879e-01 -1.54111720e-02 9.13024773e-01 2.10608311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:22.34, Z:21.08 [[ 7.40772503e-01 -5.73492901e-01 -3.49802790e-01 1.05583782e+02] [ 5.31349184e-01 8.18830316e-01 -2.17220990e-01 2.23372169e+01] [ 4.11003824e-01 -2.49560904e-02 9.11291967e-01 2.10784431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.60, Y:22.36, Z:21.08 [[ 7.41768763e-01 -5.75340211e-01 -3.44619710e-01 1.05601335e+02] [ 5.29648262e-01 8.17768089e-01 -2.25228931e-01 2.23618764e+01] [ 4.11402262e-01 -1.54594446e-02 9.11322766e-01 2.10839783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.62, Y:22.39, Z:21.09 [[ 7.45629174e-01 -5.72548341e-01 -3.40918660e-01 1.05616205e+02] [ 5.25311911e-01 8.19819875e-01 -2.27909564e-01 2.23897060e+01] [ 4.09981136e-01 -9.15261240e-03 9.12048079e-01 2.10904519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:22.41, Z:21.10 [[ 7.50086027e-01 -5.67717307e-01 -3.39216761e-01 1.05633081e+02] [ 5.22826310e-01 8.23147705e-01 -2.21541202e-01 2.24131138e+01] [ 4.04998274e-01 -1.11764877e-02 9.14249137e-01 2.10997034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320385723 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:105.65, Y:22.44, Z:21.10 [[ 7.51759557e-01 -5.68230082e-01 -3.34622388e-01 1.05649434e+02] [ 5.20090678e-01 8.22867392e-01 -2.28899413e-01 2.24358660e+01] [ 4.05417384e-01 -1.95666370e-03 9.14129595e-01 2.11029383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:22.44, Z:21.12 [[ 7.54600997e-01 -5.58110019e-01 -3.45094976e-01 1.05672111e+02] [ 5.15783983e-01 8.29600374e-01 -2.13845979e-01 2.24434444e+01] [ 4.05640504e-01 -1.66260721e-02 9.13881477e-01 2.11237537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38038572299999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:105.69, Y:22.47, Z:21.13 [[ 7.58886676e-01 -5.56016467e-01 -3.39023159e-01 1.05688285e+02] [ 5.07328061e-01 8.31170998e-01 -2.27536832e-01 2.24733522e+01] [ 4.08300443e-01 6.78708474e-04 9.12847352e-01 2.11278850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:22.49, Z:21.14 [[ 7.65606157e-01 -5.45091743e-01 -3.41646316e-01 1.05707894e+02] [ 5.00678634e-01 8.38354982e-01 -2.15596450e-01 2.24883605e+01] [ 4.03940735e-01 -5.99304108e-03 9.14765525e-01 2.11418216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:22.51, Z:21.15 [[ 7.68162924e-01 -5.42428502e-01 -3.40142680e-01 1.05728076e+02] [ 4.96970344e-01 8.40099447e-01 -2.17378461e-01 2.25054207e+01] [ 4.03665951e-01 -2.05875046e-03 9.14904127e-01 2.11532048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:22.53, Z:21.16 [[ 7.72147894e-01 -5.39123272e-01 -3.36353575e-01 1.05747505e+02] [ 4.90892766e-01 8.42197159e-01 -2.22998290e-01 2.25261792e+01] [ 4.03499593e-01 7.07412310e-03 9.14952477e-01 2.11615873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:22.54, Z:21.17 [[ 7.74481471e-01 -5.32719277e-01 -3.41157769e-01 1.05768651e+02] [ 4.85868615e-01 8.46284979e-01 -2.18479802e-01 2.25365315e+01] [ 4.05105097e-01 3.45070601e-03 9.14263612e-01 2.11743017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:22.56, Z:21.18 [[ 7.75331834e-01 -5.33796651e-01 -3.37522861e-01 1.05793011e+02] [ 4.84922834e-01 8.45559661e-01 -2.23335407e-01 2.25552124e+01] [ 4.04611409e-01 9.48650827e-03 9.14439508e-01 2.11849534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.82, Y:22.56, Z:21.20 [[ 7.78595703e-01 -5.24837857e-01 -3.43997029e-01 1.05815751e+02] [ 4.77435394e-01 8.51184276e-01 -2.18038469e-01 2.25644785e+01] [ 4.07239704e-01 5.52745798e-03 9.13304588e-01 2.11988154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.84, Y:22.58, Z:21.21 [[ 7.80587338e-01 -5.22860334e-01 -3.42491576e-01 1.05837523e+02] [ 4.73643181e-01 8.52349201e-01 -2.21727258e-01 2.25789329e+01] [ 4.07854809e-01 1.08586908e-02 9.12982225e-01 2.12090694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:105.85, Y:22.60, Z:21.21 [[ 7.80597774e-01 -5.30704215e-01 -3.30181996e-01 1.05853185e+02] [ 4.78399282e-01 8.47265965e-01 -2.30812719e-01 2.26010211e+01] [ 4.02245250e-01 2.22130648e-02 9.15262442e-01 2.12063788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:22.60, Z:21.24 [[ 7.78827742e-01 -5.22331166e-01 -3.47271508e-01 1.05886727e+02] [ 4.76350941e-01 8.52741448e-01 -2.14293732e-01 2.26012929e+01] [ 4.08065104e-01 1.47479343e-03 9.12951640e-01 2.12352771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:22.60, Z:21.26 [[ 7.78660728e-01 -5.13213384e-01 -3.60970212e-01 1.05909614e+02] [ 4.73309032e-01 8.58114431e-01 -1.99043171e-01 2.25963100e+01] [ 4.11905367e-01 -1.58633617e-02 9.11088537e-01 2.12593733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:22.62, Z:21.27 [[ 7.78998987e-01 -5.22734865e-01 -3.46278558e-01 1.05926803e+02] [ 4.73241287e-01 8.52445322e-01 -2.22215340e-01 2.26222427e+01] [ 4.11343243e-01 9.23221434e-03 9.11433762e-01 2.12654180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74038572299999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:105.95, Y:22.63, Z:21.27 [[ 7.78094219e-01 -5.23553815e-01 -3.47074616e-01 1.05950017e+02] [ 4.73861263e-01 8.51946118e-01 -2.22807798e-01 2.26333693e+01] [ 4.12340745e-01 8.90024354e-03 9.10986222e-01 2.12744751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:22.66, Z:21.27 [[ 7.77660218e-01 -5.35240875e-01 -3.29790527e-01 1.05972286e+02] [ 4.80300126e-01 8.44285612e-01 -2.37683811e-01 2.26562621e+01] [ 4.05655488e-01 2.64388128e-02 9.13643592e-01 2.12719494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.00, Y:22.65, Z:21.30 [[ 7.74812775e-01 -5.22391101e-01 -3.56051543e-01 1.06002000e+02] [ 4.78853511e-01 8.52662748e-01 -2.08963042e-01 2.26471942e+01] [ 4.12752321e-01 -8.58929720e-03 9.10802803e-01 2.13030105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83038572299999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.02, Y:22.67, Z:21.31 [[ 7.73342542e-01 -5.31863721e-01 -3.45054046e-01 1.06021018e+02] [ 4.80382178e-01 8.46758703e-01 -2.28544661e-01 2.26674916e+01] [ 4.13732130e-01 1.09854947e-02 9.10332381e-01 2.13080169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.05, Y:22.67, Z:21.32 [[ 7.71579513e-01 -5.32015063e-01 -3.48747800e-01 1.06048522e+02] [ 4.85859395e-01 8.46732047e-01 -2.16761363e-01 2.26695727e+01] [ 4.10616249e-01 -2.19376823e-03 9.11805617e-01 2.13236486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:22.68, Z:21.33 [[ 7.70315533e-01 -5.36516270e-01 -3.44621924e-01 1.06071169e+02] [ 4.88768277e-01 8.43887593e-01 -2.21267490e-01 2.26826564e+01] [ 4.09535775e-01 2.00552096e-03 9.12291854e-01 2.13335334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:22.69, Z:21.34 [[ 7.67822410e-01 -5.40771716e-01 -3.43532674e-01 1.06096507e+02] [ 4.93679517e-01 8.41169386e-01 -2.20713839e-01 2.26893237e+01] [ 4.08324969e-01 -1.26012743e-04 9.12836625e-01 2.13445794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:22.71, Z:21.35 [[ 7.64650683e-01 -5.49424301e-01 -3.36811923e-01 1.06118098e+02] [ 4.95991571e-01 8.35426499e-01 -2.36759217e-01 2.27083053e+01] [ 4.11462873e-01 1.39822224e-02 9.11319265e-01 2.13521085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:22.70, Z:21.37 [[ 7.63886349e-01 -5.41076888e-01 -3.51729224e-01 1.06148729e+02] [ 5.00965343e-01 8.40750847e-01 -2.05357586e-01 2.27017128e+01] [ 4.06830887e-01 -1.93342944e-02 9.13298864e-01 2.13709451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:22.72, Z:21.38 [[ 7.62840217e-01 -5.48560882e-01 -3.42280241e-01 1.06168117e+02] [ 5.02423070e-01 8.36101230e-01 -2.20240305e-01 2.27199917e+01] [ 4.06996146e-01 -3.96132763e-03 9.13421286e-01 2.13777545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:106.20, Y:22.73, Z:21.38 [[ 7.61798529e-01 -5.50835370e-01 -3.40944859e-01 1.06199086e+02] [ 5.03435409e-01 8.34612837e-01 -2.23549103e-01 2.27303181e+01] [ 4.07695709e-01 -1.34433705e-03 9.13116861e-01 2.13848455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.22, Y:22.74, Z:21.40 [[ 7.59722463e-01 -5.49900907e-01 -3.47031369e-01 1.06216756e+02] [ 5.06938085e-01 8.35117468e-01 -2.13524221e-01 2.27365796e+01] [ 4.07229121e-01 -1.37042707e-02 9.13223213e-01 2.14020447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:22.75, Z:21.41 [[ 7.58248371e-01 -5.54406204e-01 -3.43064381e-01 1.06238400e+02] [ 5.08480532e-01 8.32218145e-01 -2.21044129e-01 2.27523934e+01] [ 4.08052639e-01 -6.83520827e-03 9.12932815e-01 2.14116317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:22.78, Z:21.41 [[ 7.58873862e-01 -5.61973188e-01 -3.29084484e-01 1.06262642e+02] [ 5.10837389e-01 8.27097511e-01 -2.34424551e-01 2.27767839e+01] [ 4.03925270e-01 9.79000527e-03 9.14739598e-01 2.14093211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:22.78, Z:21.43 [[ 7.58573919e-01 -5.56043902e-01 -3.39677478e-01 1.06288700e+02] [ 5.11392119e-01 8.31114546e-01 -2.18464442e-01 2.27806095e+01] [ 4.03786713e-01 -7.98695770e-03 9.14818287e-01 2.14258820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:22.78, Z:21.45 [[ 7.56957472e-01 -5.49971302e-01 -3.52912103e-01 1.06309609e+02] [ 5.11329446e-01 8.34781475e-01 -2.04161912e-01 2.27803006e+01] [ 4.06887679e-01 -2.59124652e-02 9.13110596e-01 2.14508456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:22.81, Z:21.45 [[ 7.57962586e-01 -5.63403188e-01 -3.28739357e-01 1.06330813e+02] [ 5.12770407e-01 8.26138567e-01 -2.33584198e-01 2.28140953e+01] [ 4.03186343e-01 8.48026855e-03 9.15078607e-01 2.14451516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:22.82, Z:21.46 [[ 7.57818701e-01 -5.57904029e-01 -3.38310376e-01 1.06355182e+02] [ 5.13949889e-01 8.29854055e-01 -2.17250454e-01 2.28207023e+01] [ 4.01953141e-01 -9.23812367e-03 9.15613636e-01 2.14607114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.37, Y:22.84, Z:21.46 [[ 7.59442398e-01 -5.61628304e-01 -3.28360917e-01 1.06374003e+02] [ 5.14427824e-01 8.27386617e-01 -2.25378350e-01 2.28413668e+01] [ 3.98260289e-01 2.24388225e-03 9.17269703e-01 2.14634899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:106.40, Y:22.85, Z:21.48 [[ 7.60416510e-01 -5.53845126e-01 -3.39149388e-01 1.06399653e+02] [ 5.11013352e-01 8.32550849e-01 -2.13832733e-01 2.28471036e+01] [ 4.00789328e-01 -1.07079255e-02 9.16107665e-01 2.14813611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.42, Y:22.85, Z:21.51 [[ 7.63101305e-01 -5.41326866e-01 -3.53046205e-01 1.06419473e+02] [ 5.03725867e-01 8.40430361e-01 -1.99842587e-01 2.28477509e+01] [ 4.04890910e-01 -2.53383668e-02 9.14013850e-01 2.15082205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:22.87, Z:21.51 [[ 7.65275970e-01 -5.46709696e-01 -3.39795817e-01 1.06437787e+02] [ 5.00498789e-01 8.37320469e-01 -2.19989531e-01 2.28719772e+01] [ 4.04788403e-01 -1.71469339e-03 9.14408776e-01 2.15135844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:22.88, Z:21.52 [[ 7.69936074e-01 -5.40463416e-01 -3.39260576e-01 1.06458899e+02] [ 4.93759889e-01 8.41365786e-01 -2.19783498e-01 2.28849173e+01] [ 4.04227181e-01 1.70597895e-03 9.14657026e-01 2.15246267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:22.94, Z:21.49 [[ 7.72696127e-01 -5.66893512e-01 -2.85608895e-01 1.06465258e+02] [ 5.02542098e-01 8.21193017e-01 -2.70358037e-01 2.29430272e+01] [ 3.87804248e-01 6.53741148e-02 9.19420519e-01 2.14886298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:22.88, Z:21.56 [[ 7.74292939e-01 -5.12171619e-01 -3.71686262e-01 1.06512254e+02] [ 4.85537967e-01 8.57499614e-01 -1.70139047e-01 2.28842988e+01] [ 4.05861217e-01 -4.87303290e-02 9.12634663e-01 2.15636121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:22.92, Z:21.56 [[ 7.75778532e-01 -5.31303544e-01 -3.40417705e-01 1.06525809e+02] [ 4.83340799e-01 8.47155204e-01 -2.20702817e-01 2.29230511e+01] [ 4.05646819e-01 6.67874207e-03 9.14005499e-01 2.15587889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:22.93, Z:21.57 [[ 7.78326514e-01 -5.27913865e-01 -3.39874665e-01 1.06548831e+02] [ 4.79741147e-01 8.49254783e-01 -2.20487517e-01 2.29331830e+01] [ 4.05038602e-01 8.55941934e-03 9.14259518e-01 2.15694888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:22.95, Z:21.58 [[ 7.79175328e-01 -5.26806155e-01 -3.39648470e-01 1.06571614e+02] [ 4.78566480e-01 8.49935678e-01 -2.20416575e-01 2.29460642e+01] [ 4.04796161e-01 9.19878408e-03 9.14360679e-01 2.15807905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58038572299999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:106.60, Y:22.96, Z:21.59 [[ 7.79485036e-01 -5.25996934e-01 -3.40191569e-01 1.06595677e+02] [ 4.77461418e-01 8.50430424e-01 -2.20904252e-01 2.29573796e+01] [ 4.05504219e-01 9.76320950e-03 9.14041032e-01 2.15890418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:22.97, Z:21.60 [[ 7.80195433e-01 -5.25506735e-01 -3.39319552e-01 1.06617997e+02] [ 4.77155062e-01 8.50730003e-01 -2.20412133e-01 2.29688669e+01] [ 4.04497384e-01 1.00564972e-02 9.14483862e-01 2.16027571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:22.98, Z:21.61 [[ 7.79655121e-01 -5.26016462e-01 -3.39771356e-01 1.06640806e+02] [ 4.77516514e-01 8.50416391e-01 -2.20839175e-01 2.29806373e+01] [ 4.05112172e-01 9.93196039e-03 9.14213041e-01 2.16144578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:22.99, Z:21.63 [[ 7.79454352e-01 -5.26822577e-01 -3.38982132e-01 1.06665733e+02] [ 4.78573224e-01 8.49920953e-01 -2.20458713e-01 2.29892759e+01] [ 4.04250644e-01 9.60973144e-03 9.14597764e-01 2.16256514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.69, Y:23.00, Z:21.64 [[ 7.79517844e-01 -5.27519905e-01 -3.37749434e-01 1.06689810e+02] [ 4.79639554e-01 8.49491360e-01 -2.19796105e-01 2.29970504e+01] [ 4.02862046e-01 9.33699821e-03 9.15213086e-01 2.16365307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.71, Y:23.01, Z:21.65 [[ 7.79494055e-01 -5.27585125e-01 -3.37702465e-01 1.06712801e+02] [ 4.79690807e-01 8.49450459e-01 -2.19842324e-01 2.30077663e+01] [ 4.02847053e-01 9.37301667e-03 9.15219317e-01 2.16480526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760385723 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:106.74, Y:23.03, Z:21.65 [[ 7.80054312e-01 -5.33939148e-01 -3.26227308e-01 1.06740730e+02] [ 4.79868918e-01 8.45081173e-01 -2.35719392e-01 2.30293093e+01] [ 4.01548368e-01 2.73275830e-02 9.15430014e-01 2.16504018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790385723 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:106.77, Y:23.03, Z:21.67 [[ 7.79990617e-01 -5.23937043e-01 -3.42205512e-01 1.06770915e+02] [ 4.79404993e-01 8.51756599e-01 -2.11380106e-01 2.30256624e+01] [ 4.02225670e-01 8.19467946e-04 9.15540190e-01 2.16701430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:23.04, Z:21.68 [[ 7.79288056e-01 -5.26075018e-01 -3.40521953e-01 1.06790889e+02] [ 4.80994480e-01 8.50435153e-01 -2.13082989e-01 2.30399728e+01] [ 4.01689477e-01 2.26384874e-03 9.15773138e-01 2.16812565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85038572299999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:106.81, Y:23.05, Z:21.68 [[ 7.79147115e-01 -5.32247792e-01 -3.31122426e-01 1.06813718e+02] [ 4.83425766e-01 8.46476790e-01 -2.23106638e-01 2.30549973e+01] [ 3.99035463e-01 1.37597811e-02 9.16832246e-01 2.16841248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88038572299999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:106.84, Y:23.06, Z:21.70 [[ 7.79115766e-01 -5.27048374e-01 -3.39409245e-01 1.06841513e+02] [ 4.81851334e-01 8.49830532e-01 -2.13558793e-01 2.30577315e+01] [ 4.00996154e-01 2.84222447e-03 9.16075328e-01 2.17018985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:23.06, Z:21.72 [[ 7.79237776e-01 -5.20496506e-01 -3.49101527e-01 1.06860995e+02] [ 4.81702602e-01 8.53747027e-01 -1.97683122e-01 2.30553272e+01] [ 4.00937765e-01 -1.41209575e-02 9.15996456e-01 2.17216784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:23.08, Z:21.72 [[ 7.79321525e-01 -5.29739584e-01 -3.34714704e-01 1.06879995e+02] [ 4.82458489e-01 8.48110980e-01 -2.18955641e-01 2.30788932e+01] [ 3.99864686e-01 9.15089408e-03 9.16528502e-01 2.17247489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.91, Y:23.11, Z:21.71 [[ 7.81374006e-01 -5.39795885e-01 -3.13169387e-01 1.06905080e+02] [ 4.85186211e-01 8.41071285e-01 -2.39151488e-01 2.31059805e+01] [ 3.92490768e-01 3.49212884e-02 9.19092760e-01 2.17137157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:23.08, Z:21.76 [[ 7.80667048e-01 -5.16949647e-01 -3.51172353e-01 1.06930298e+02] [ 4.81388711e-01 8.55757120e-01 -1.89590770e-01 2.30841438e+01] [ 3.98527123e-01 -2.10431396e-02 9.16915110e-01 2.17566151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.96, Y:23.12, Z:21.74 [[ 7.82874410e-01 -5.35668723e-01 -3.16491195e-01 1.06955150e+02] [ 4.81909145e-01 8.43809201e-01 -2.36113549e-01 2.31247901e+01] [ 3.93536826e-01 3.23272545e-02 9.18740287e-01 2.17425908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.98, Y:23.11, Z:21.78 [[ 7.80973833e-01 -5.17380565e-01 -3.49853145e-01 1.06978718e+02] [ 4.79924103e-01 8.55597955e-01 -1.93971635e-01 2.31057316e+01] [ 3.99690790e-01 -1.64161853e-02 9.16503018e-01 2.17783062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.00, Y:23.13, Z:21.78 [[ 7.81317164e-01 -5.27567350e-01 -3.33490900e-01 1.06997587e+02] [ 4.80341428e-01 8.49448700e-01 -2.18423943e-01 2.31312961e+01] [ 3.98516752e-01 1.04688809e-02 9.17101303e-01 2.17794034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.02, Y:23.14, Z:21.79 [[ 7.81635010e-01 -5.27645996e-01 -3.32620525e-01 1.07020415e+02] [ 4.80622322e-01 8.49399089e-01 -2.17998559e-01 2.31419737e+01] [ 3.97553638e-01 1.05304570e-02 9.17518509e-01 2.17888165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:23.15, Z:21.80 [[ 7.81615665e-01 -5.27810193e-01 -3.32405402e-01 1.07042953e+02] [ 4.80830139e-01 8.49297292e-01 -2.17936887e-01 2.31546555e+01] [ 3.97340319e-01 1.05123494e-02 9.17611117e-01 2.17993089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:23.16, Z:21.81 [[ 7.81817982e-01 -5.27723428e-01 -3.32067202e-01 1.07067465e+02] [ 4.80773194e-01 8.49349138e-01 -2.17860454e-01 2.31637934e+01] [ 3.97011057e-01 1.06782107e-02 9.17751707e-01 2.18101522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:23.17, Z:21.82 [[ 7.81677112e-01 -5.27934862e-01 -3.32062755e-01 1.07091375e+02] [ 4.80941147e-01 8.49217388e-01 -2.18003304e-01 2.31746220e+01] [ 3.97085010e-01 1.07055508e-02 9.17719394e-01 2.18220917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:23.18, Z:21.83 [[ 7.81485397e-01 -5.27962958e-01 -3.32469079e-01 1.07115255e+02] [ 4.80787137e-01 8.49198175e-01 -2.18417465e-01 2.31836914e+01] [ 3.97648466e-01 1.08432022e-02 9.17473772e-01 2.18331073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:23.20, Z:21.84 [[ 7.81248382e-01 -5.28033307e-01 -3.32914092e-01 1.07137455e+02] [ 4.80687703e-01 8.49153487e-01 -2.18809705e-01 2.31969568e+01] [ 3.98233975e-01 1.09170182e-02 9.17218905e-01 2.18435952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:23.21, Z:21.85 [[ 7.81339841e-01 -5.27995195e-01 -3.32759864e-01 1.07160192e+02] [ 4.80629106e-01 8.49175268e-01 -2.18853893e-01 2.32107130e+01] [ 3.98125251e-01 1.10651901e-02 9.17264327e-01 2.18531501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:23.24, Z:21.84 [[ 7.82134823e-01 -5.41145492e-01 -3.08912083e-01 1.07186680e+02] [ 4.83108298e-01 8.39744138e-01 -2.47863179e-01 2.32433218e+01] [ 3.93537153e-01 4.46244326e-02 9.18225010e-01 2.18411450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:23.21, Z:21.89 [[ 7.80581948e-01 -5.14074213e-01 -3.55555235e-01 1.07212767e+02] [ 4.79770118e-01 8.57377578e-01 -1.86344634e-01 2.32130132e+01] [ 4.00640057e-01 -2.51275200e-02 9.15890906e-01 2.18905946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:23.24, Z:21.89 [[ 7.80567793e-01 -5.28206348e-01 -3.34233412e-01 1.07233308e+02] [ 4.80233274e-01 8.49039425e-01 -2.20245447e-01 2.32406925e+01] [ 4.00112387e-01 1.14064967e-02 9.16395095e-01 2.18876137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.26, Y:23.25, Z:21.90 [[ 7.80030448e-01 -5.28743108e-01 -3.34638948e-01 1.07255370e+02] [ 4.80632501e-01 8.48706953e-01 -2.20655627e-01 2.32529545e+01] [ 4.00680545e-01 1.12797528e-02 9.16148388e-01 2.18981353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:107.28, Y:23.27, Z:21.91 [[ 7.78915697e-01 -5.32015441e-01 -3.32039015e-01 1.07276943e+02] [ 4.80558623e-01 8.46525083e-01 -2.29038628e-01 2.32694474e+01] [ 4.02931441e-01 1.88375708e-02 9.15036283e-01 2.19060247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:23.30, Z:21.90 [[ 7.78530071e-01 -5.44089007e-01 -3.12822762e-01 1.07303272e+02] [ 4.86534743e-01 8.38076074e-01 -2.46804453e-01 2.32994281e+01] [ 3.96452862e-01 3.99455464e-02 9.17185631e-01 2.18994924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:23.29, Z:21.93 [[ 7.77664114e-01 -5.32794446e-01 -3.33719350e-01 1.07331498e+02] [ 4.86000051e-01 8.46209512e-01 -2.18479776e-01 2.32929915e+01] [ 3.98801299e-01 7.71626011e-03 9.17004898e-01 2.19269127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:23.30, Z:21.94 [[ 7.77904732e-01 -5.32851459e-01 -3.33066887e-01 1.07357516e+02] [ 4.87494871e-01 8.46193873e-01 -2.15185224e-01 2.33013967e+01] [ 3.96500919e-01 5.02520442e-03 9.18020571e-01 2.19417571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:23.31, Z:21.95 [[ 7.76783646e-01 -5.34273808e-01 -3.33404657e-01 1.07378729e+02] [ 4.87952604e-01 8.45287117e-01 -2.17696912e-01 2.33123717e+01] [ 3.98132420e-01 6.41773047e-03 9.17305505e-01 2.19546278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:23.33, Z:21.97 [[ 7.73785672e-01 -5.38943626e-01 -3.32859583e-01 1.07400973e+02] [ 4.92365392e-01 8.42322124e-01 -2.19248169e-01 2.33256879e+01] [ 3.98537394e-01 5.76255333e-03 9.17133981e-01 2.19662714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:23.34, Z:21.98 [[ 7.73476844e-01 -5.39349130e-01 -3.32920542e-01 1.07422731e+02] [ 4.92484406e-01 8.42059440e-01 -2.19988656e-01 2.33404640e+01] [ 3.98989576e-01 6.19795596e-03 9.16934514e-01 2.19780951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:23.34, Z:22.00 [[ 7.71952983e-01 -5.31734076e-01 -3.48349630e-01 1.07442781e+02] [ 4.90245926e-01 8.46832320e-01 -2.06237613e-01 2.33398072e+01] [ 4.04657292e-01 -1.15712464e-02 9.14395200e-01 2.20044890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:23.37, Z:22.00 [[ 7.69710020e-01 -5.47553695e-01 -3.28224674e-01 1.07464390e+02] [ 4.96010722e-01 8.36614826e-01 -2.32484399e-01 2.33730942e+01] [ 4.01895320e-01 1.61426136e-02 9.15543318e-01 2.19951257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:107.49, Y:23.38, Z:22.01 [[ 7.68244053e-01 -5.45441568e-01 -3.35103822e-01 1.07488489e+02] [ 4.96074974e-01 8.38109960e-01 -2.26894943e-01 2.33836238e+01] [ 4.04611784e-01 8.07407060e-03 9.14452904e-01 2.20098450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750385723 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:107.51, Y:23.40, Z:22.02 [[ 7.68668107e-01 -5.47684817e-01 -3.30440134e-01 1.07513119e+02] [ 4.94989768e-01 8.36510169e-01 -2.35023119e-01 2.34015614e+01] [ 4.05135126e-01 1.70902911e-02 9.14097069e-01 2.20164623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:23.40, Z:22.04 [[ 7.66416727e-01 -5.36890228e-01 -3.52639027e-01 1.07538849e+02] [ 4.97345416e-01 8.43423069e-01 -2.03187262e-01 2.33980289e+01] [ 4.06513146e-01 -1.96572875e-02 9.13433442e-01 2.20426572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:107.56, Y:23.43, Z:22.04 [[ 7.62253353e-01 -5.51546673e-01 -3.38771448e-01 1.07556490e+02] [ 5.00852005e-01 8.34119030e-01 -2.31068634e-01 2.34258031e+01] [ 4.10020848e-01 6.45848256e-03 9.12053284e-01 2.20413937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:23.44, Z:22.05 [[ 7.60255276e-01 -5.53149833e-01 -3.40642302e-01 1.07577527e+02] [ 5.02915990e-01 8.33073044e-01 -2.30358004e-01 2.34395812e+01] [ 4.11202411e-01 3.81642675e-03 9.11536073e-01 2.20531220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:23.45, Z:22.07 [[ 7.59061587e-01 -5.53538292e-01 -3.42667284e-01 1.07599821e+02] [ 5.05990958e-01 8.32818323e-01 -2.24470022e-01 2.34535167e+01] [ 4.09632345e-01 -2.99997594e-03 9.12245768e-01 2.20666010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:23.47, Z:22.08 [[ 7.58729466e-01 -5.55527193e-01 -3.40175155e-01 1.07618959e+02] [ 5.06543998e-01 8.31498037e-01 -2.28088126e-01 2.34698464e+01] [ 4.09564130e-01 7.43499098e-04 9.12281026e-01 2.20762555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:23.48, Z:22.09 [[ 7.59615940e-01 -5.54716961e-01 -3.39518360e-01 1.07640007e+02] [ 5.06666144e-01 8.32038981e-01 -2.25833019e-01 2.34828267e+01] [ 4.07765917e-01 -4.76097065e-04 9.13086376e-01 2.20883649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:23.50, Z:22.10 [[ 7.58441597e-01 -5.58607187e-01 -3.35744478e-01 1.07657687e+02] [ 5.07528809e-01 8.29405592e-01 -2.33454219e-01 2.35023395e+01] [ 4.08877552e-01 6.66139567e-03 9.12564942e-01 2.20953297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:23.51, Z:22.11 [[ 7.58466188e-01 -5.54514081e-01 -3.42407908e-01 1.07679796e+02] [ 5.07536138e-01 8.32163045e-01 -2.23409344e-01 2.35133652e+01] [ 4.08822835e-01 -4.33595367e-03 9.12603468e-01 2.21119975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:23.53, Z:22.12 [[ 7.58508708e-01 -5.57653663e-01 -3.37174928e-01 1.07699213e+02] [ 5.08290417e-01 8.30069590e-01 -2.29402109e-01 2.35325995e+01] [ 4.07805581e-01 2.62071236e-03 9.13065025e-01 2.21191951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05038572299999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:107.72, Y:23.54, Z:22.13 [[ 7.58270202e-01 -5.55281875e-01 -3.41596751e-01 1.07720892e+02] [ 5.07522126e-01 8.31658396e-01 -2.25312238e-01 2.35439468e+01] [ 4.09203607e-01 -2.52035281e-03 9.12439617e-01 2.21319746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:23.56, Z:22.14 [[ 7.59812545e-01 -5.59198554e-01 -3.31635152e-01 1.07738650e+02] [ 5.08695968e-01 8.28996579e-01 -2.32364120e-01 2.35648765e+01] [ 4.04862086e-01 7.85170882e-03 9.14344050e-01 2.21415099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:23.56, Z:22.18 [[ 7.60419351e-01 -5.43725600e-01 -3.55140651e-01 1.07764788e+02] [ 5.01987525e-01 8.39053086e-01 -2.09758060e-01 2.35580607e+01] [ 4.12032686e-01 -1.87720884e-02 9.10975672e-01 2.21805832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:23.61, Z:22.16 [[ 7.61197538e-01 -5.65631010e-01 -3.17237872e-01 1.07775698e+02] [ 5.08815029e-01 8.24188123e-01 -2.48638702e-01 2.36079488e+01] [ 4.02101447e-01 2.78477708e-02 9.15171529e-01 2.21556979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:107.80, Y:23.61, Z:22.18 [[ 7.62119017e-01 -5.56853212e-01 -3.30286396e-01 1.07800172e+02] [ 5.06525949e-01 8.30560568e-01 -2.31518048e-01 2.36124230e+01] [ 4.03244426e-01 9.14567740e-03 9.15046605e-01 2.21756866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200385723 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:107.82, Y:23.62, Z:22.20 [[ 7.62277383e-01 -5.45653043e-01 -3.48132083e-01 1.07822355e+02] [ 4.99423885e-01 8.37987902e-01 -2.19891015e-01 2.36156951e+01] [ 4.11714675e-01 -6.24752994e-03 9.11291388e-01 2.22032868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:107.84, Y:23.65, Z:22.20 [[ 7.62816498e-01 -5.56580766e-01 -3.29133470e-01 1.07838575e+02] [ 5.01544255e-01 8.30561914e-01 -2.42116228e-01 2.36491469e+01] [ 4.08122960e-01 1.96152519e-02 9.12716216e-01 2.21964341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:23.66, Z:22.21 [[ 7.63326817e-01 -5.52415049e-01 -3.34917579e-01 1.07860493e+02] [ 4.99955847e-01 8.33480687e-01 -2.35274511e-01 2.36609618e+01] [ 4.09116514e-01 1.21473419e-02 9.12401293e-01 2.22106301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.88, Y:23.67, Z:22.23 [[ 7.65483710e-01 -5.46894327e-01 -3.39029916e-01 1.07881163e+02] [ 4.99017512e-01 8.37198957e-01 -2.23784335e-01 2.36696315e+01] [ 4.06221876e-01 2.12139766e-03 9.13772011e-01 2.22261503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:23.69, Z:22.24 [[ 7.64940947e-01 -5.49589632e-01 -3.35881801e-01 1.07902196e+02] [ 4.98540753e-01 8.35379093e-01 -2.31514338e-01 2.36876299e+01] [ 4.07826514e-01 9.64403048e-03 9.13008503e-01 2.22375217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:23.70, Z:22.25 [[ 7.65021491e-01 -5.48765276e-01 -3.37044196e-01 1.07923880e+02] [ 4.98966741e-01 8.35950060e-01 -2.28516278e-01 2.37009682e+01] [ 4.07153915e-01 6.64601966e-03 9.13335382e-01 2.22536523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:107.95, Y:23.72, Z:22.27 [[ 7.64191426e-01 -5.48407733e-01 -3.39500254e-01 1.07945298e+02] [ 4.98235974e-01 8.36189349e-01 -2.29234130e-01 2.37151709e+01] [ 4.09600266e-01 6.02751701e-03 9.12245192e-01 2.22670582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:107.97, Y:23.73, Z:22.28 [[ 7.63923924e-01 -5.45358968e-01 -3.44969323e-01 1.07966510e+02] [ 4.96500544e-01 8.38201903e-01 -2.25620876e-01 2.37267922e+01] [ 4.12198311e-01 1.07972817e-03 9.11093511e-01 2.22843442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:23.75, Z:22.29 [[ 7.63695457e-01 -5.47954214e-01 -3.41343563e-01 1.07983628e+02] [ 4.95262308e-01 8.36446554e-01 -2.34675114e-01 2.37452511e+01] [ 4.14106865e-01 1.01657178e-02 9.10171502e-01 2.22913646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47038572299999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:108.01, Y:23.74, Z:22.32 [[ 7.63012969e-01 -5.36013968e-01 -3.61248163e-01 1.08008166e+02] [ 4.92638565e-01 8.44051479e-01 -2.11859260e-01 2.37426392e+01] [ 4.18471568e-01 -1.63134136e-02 9.08083377e-01 2.23230486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:23.77, Z:22.33 [[ 7.62726097e-01 -5.44593220e-01 -3.48808149e-01 1.08026603e+02] [ 4.92815166e-01 8.38685917e-01 -2.31817050e-01 2.37680990e+01] [ 4.18786476e-01 4.91496756e-03 9.08071435e-01 2.23260880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:23.79, Z:22.32 [[ 7.63166447e-01 -5.52405887e-01 -3.35297942e-01 1.08045385e+02] [ 4.96144744e-01 8.33344632e-01 -2.43674204e-01 2.37939559e+01] [ 4.14025804e-01 1.96076645e-02 9.10053939e-01 2.23232538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:23.79, Z:22.35 [[ 7.61985726e-01 -5.39855334e-01 -3.57678588e-01 1.08069405e+02] [ 4.92871567e-01 8.41716668e-01 -2.20432916e-01 2.37915425e+01] [ 4.20065914e-01 -8.32287081e-03 9.07455430e-01 2.23533351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:108.09, Y:23.82, Z:22.35 [[ 7.62790580e-01 -5.48475963e-01 -3.42526858e-01 1.08090479e+02] [ 4.94378901e-01 8.36079155e-01 -2.37825878e-01 2.38190330e+01] [ 4.16821344e-01 1.20732881e-02 9.08908248e-01 2.23526724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:108.11, Y:23.83, Z:22.37 [[ 7.63067840e-01 -5.45522917e-01 -3.46600950e-01 1.08112811e+02] [ 4.93434928e-01 8.38070241e-01 -2.32723533e-01 2.38305717e+01] [ 4.17431962e-01 6.55882865e-03 9.08684510e-01 2.23669983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:108.13, Y:23.84, Z:22.38 [[ 7.62889641e-01 -5.43593624e-01 -3.50007668e-01 1.08134139e+02] [ 4.92650707e-01 8.39343657e-01 -2.29777078e-01 2.38419911e+01] [ 4.18682070e-01 2.86302753e-03 9.08128365e-01 2.23809638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:23.86, Z:22.39 [[ 7.63098977e-01 -5.44137695e-01 -3.48703484e-01 1.08155375e+02] [ 4.90894668e-01 8.38957139e-01 -2.34890068e-01 2.38597699e+01] [ 4.20359817e-01 8.06768932e-03 9.07321628e-01 2.23902463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.18, Y:23.87, Z:22.40 [[ 7.63280914e-01 -5.41200511e-01 -3.52851601e-01 1.08175316e+02] [ 4.89815667e-01 8.40888691e-01 -2.30188665e-01 2.38707404e+01] [ 4.21287144e-01 2.86637242e-03 9.06922778e-01 2.24031921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.20, Y:23.89, Z:22.41 [[ 7.63539119e-01 -5.43699083e-01 -3.48424052e-01 1.08197499e+02] [ 4.89209267e-01 8.39209702e-01 -2.37489725e-01 2.38907067e+01] [ 4.21523791e-01 1.08804201e-02 9.06752067e-01 2.24105147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:23.91, Z:22.42 [[ 7.64646892e-01 -5.42848201e-01 -3.47319681e-01 1.08216650e+02] [ 4.89229792e-01 8.39769814e-01 -2.35458852e-01 2.39052103e+01] [ 4.19486998e-01 1.01237437e-02 9.07704890e-01 2.24194161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80038572299999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:108.24, Y:23.92, Z:22.43 [[ 7.64835194e-01 -5.40036027e-01 -3.51266586e-01 1.08240623e+02] [ 4.87583415e-01 8.41617839e-01 -2.32253796e-01 2.39168212e+01] [ 4.21057643e-01 6.36411563e-03 9.07011554e-01 2.24347793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83038572299999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:108.26, Y:23.93, Z:22.45 [[ 7.64035713e-01 -5.42117071e-01 -3.49797815e-01 1.08258505e+02] [ 4.88782595e-01 8.40262071e-01 -2.34629980e-01 2.39340038e+01] [ 4.21118754e-01 8.29059983e-03 9.06967619e-01 2.24455814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:108.28, Y:23.95, Z:22.45 [[ 7.64041619e-01 -5.44370484e-01 -3.46267497e-01 1.08279471e+02] [ 4.90239727e-01 8.38769294e-01 -2.36919990e-01 2.39509300e+01] [ 4.19410794e-01 1.12626495e-02 9.07726687e-01 2.24549132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:108.30, Y:23.96, Z:22.47 [[ 7.63682598e-01 -5.43560614e-01 -3.48325636e-01 1.08301722e+02] [ 4.91940332e-01 8.39353483e-01 -2.31258384e-01 2.39600181e+01] [ 4.18071285e-01 5.25257446e-03 9.08399037e-01 2.24722368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:23.99, Z:22.46 [[ 7.63009496e-01 -5.56465322e-01 -3.28881216e-01 1.08314806e+02] [ 4.98070050e-01 8.30444170e-01 -2.49577054e-01 2.39890931e+01] [ 4.11998464e-01 2.66237780e-02 9.10795498e-01 2.24641929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:23.97, Z:22.52 [[ 7.59941735e-01 -5.29786005e-01 -3.76583786e-01 1.08343815e+02] [ 4.90016340e-01 8.47606951e-01 -2.03583998e-01 2.39652001e+01] [ 4.27050988e-01 -2.98202320e-02 9.03735696e-01 2.25190940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.36, Y:24.01, Z:22.50 [[ 7.60754353e-01 -5.54404606e-01 -3.37473477e-01 1.08360609e+02] [ 4.93550132e-01 8.31821453e-01 -2.53931758e-01 2.40146511e+01] [ 4.21498614e-01 2.66196107e-02 9.06438257e-01 2.24987967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:24.02, Z:22.52 [[ 7.59494107e-01 -5.46353511e-01 -3.53081495e-01 1.08384009e+02] [ 4.93090608e-01 8.37541833e-01 -2.35340881e-01 2.40195656e+01] [ 4.24299840e-01 4.63884271e-03 9.05509871e-01 2.25184762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:24.03, Z:22.54 [[ 7.59256895e-01 -5.42610644e-01 -3.59308582e-01 1.08405812e+02] [ 4.91622764e-01 8.39981239e-01 -2.29648808e-01 2.40291098e+01] [ 4.26422356e-01 -2.28183746e-03 9.04521292e-01 2.25357446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.43, Y:24.05, Z:22.54 [[ 7.59968198e-01 -5.47233738e-01 -3.50690141e-01 1.08427144e+02] [ 4.90979566e-01 8.36898136e-01 -2.41951595e-01 2.40495173e+01] [ 4.25896001e-01 1.16938245e-02 9.04696552e-01 2.25422731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.45, Y:24.06, Z:22.56 [[ 7.59240733e-01 -5.42416545e-01 -3.59635649e-01 1.08448549e+02] [ 4.90409267e-01 8.40109593e-01 -2.31764153e-01 2.40562773e+01] [ 4.27846070e-01 -4.03869790e-04 9.03851524e-01 2.25602004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:24.08, Z:22.57 [[ 7.59552487e-01 -5.44581223e-01 -3.55684286e-01 1.08468989e+02] [ 4.89859305e-01 8.38682556e-01 -2.38011411e-01 2.40753347e+01] [ 4.27922752e-01 6.54690196e-03 9.03791600e-01 2.25698281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.49, Y:24.10, Z:22.58 [[ 7.59809439e-01 -5.47217740e-01 -3.51058913e-01 1.08487280e+02] [ 4.91594418e-01 8.36927780e-01 -2.40596797e-01 2.40963900e+01] [ 4.25469793e-01 1.02291152e-02 9.04914814e-01 2.25755393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.51, Y:24.11, Z:22.59 [[ 7.59976307e-01 -5.47469066e-01 -3.50305060e-01 1.08507769e+02] [ 4.92557975e-01 8.36775299e-01 -2.39152128e-01 2.41110351e+01] [ 4.24055013e-01 9.20439983e-03 9.05589656e-01 2.25865666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.53, Y:24.13, Z:22.60 [[ 7.60974084e-01 -5.47866873e-01 -3.47505875e-01 1.08529473e+02] [ 4.93045644e-01 8.36498048e-01 -2.39117143e-01 2.41254181e+01] [ 4.21692347e-01 1.06256904e-02 9.06676711e-01 2.25995869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.55, Y:24.13, Z:22.62 [[ 7.60594370e-01 -5.43540056e-01 -3.55049872e-01 1.08550682e+02] [ 4.92544356e-01 8.39383229e-01 -2.29860505e-01 2.41322706e+01] [ 4.22961300e-01 -4.72050306e-05 9.06147745e-01 2.26191305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.57, Y:24.16, Z:22.63 [[ 7.61898013e-01 -5.48859984e-01 -3.43895530e-01 1.08569055e+02] [ 4.93376912e-01 8.35799586e-01 -2.40869832e-01 2.41560411e+01] [ 4.19631554e-01 1.38481320e-02 9.07588887e-01 2.26251301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.59, Y:24.17, Z:22.64 [[ 7.62074352e-01 -5.46531861e-01 -3.47196784e-01 1.08590987e+02] [ 4.92907232e-01 8.37390888e-01 -2.36260369e-01 2.41691964e+01] [ 4.19863243e-01 8.91216176e-03 9.07543625e-01 2.26397185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.61, Y:24.19, Z:22.65 [[ 7.62723145e-01 -5.46166138e-01 -3.46346580e-01 1.08612224e+02] [ 4.92067909e-01 8.37610900e-01 -2.37228061e-01 2.41860730e+01] [ 4.19669605e-01 1.05132950e-02 9.07616050e-01 2.26506308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:24.20, Z:22.67 [[ 7.63402303e-01 -5.41098143e-01 -3.52745976e-01 1.08633415e+02] [ 4.89230572e-01 8.40950274e-01 -2.31205717e-01 2.41971904e+01] [ 4.21746810e-01 3.92886125e-03 9.06705130e-01 2.26676658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:108.65, Y:24.22, Z:22.68 [[ 7.64271718e-01 -5.41428784e-01 -3.50347845e-01 1.08653846e+02] [ 4.87146244e-01 8.40686131e-01 -2.36506587e-01 2.42153932e+01] [ 4.22584048e-01 1.00846589e-02 9.06267633e-01 2.26779788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:24.23, Z:22.69 [[ 7.64159840e-01 -5.38592902e-01 -3.54932986e-01 1.08675118e+02] [ 4.85756785e-01 8.42548742e-01 -2.32705744e-01 2.42263339e+01] [ 4.24382003e-01 5.41327797e-03 9.05467069e-01 2.26937956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:24.25, Z:22.70 [[ 7.63828012e-01 -5.43212870e-01 -3.48549203e-01 1.08694101e+02] [ 4.87173385e-01 8.39477361e-01 -2.40706987e-01 2.42476958e+01] [ 4.23354298e-01 1.40548443e-02 9.05855176e-01 2.26992617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49038572299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:108.72, Y:24.26, Z:22.71 [[ 7.63461944e-01 -5.41687318e-01 -3.51711116e-01 1.08715411e+02] [ 4.86272025e-01 8.40502788e-01 -2.38944724e-01 2.42613780e+01] [ 4.25047500e-01 1.13979273e-02 9.05099282e-01 2.27102228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52038572299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:108.74, Y:24.28, Z:22.72 [[ 7.63299102e-01 -5.42043651e-01 -3.51515522e-01 1.08735965e+02] [ 4.86353472e-01 8.40265574e-01 -2.39612324e-01 2.42757255e+01] [ 4.25246730e-01 1.19350768e-02 9.04998769e-01 2.27219293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:24.29, Z:22.73 [[ 7.64506372e-01 -5.43464267e-01 -3.46664964e-01 1.08757391e+02] [ 4.85892591e-01 8.39235279e-01 -2.44115825e-01 2.42927267e+01] [ 4.23601696e-01 1.81861664e-02 9.05665979e-01 2.27317194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.78, Y:24.30, Z:22.75 [[ 7.62648433e-01 -5.40029293e-01 -3.55999621e-01 1.08778157e+02] [ 4.87830391e-01 8.41640872e-01 -2.31650926e-01 2.42995359e+01] [ 4.24722117e-01 3.00078158e-03 9.05318794e-01 2.27499309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:24.32, Z:22.76 [[ 7.62210766e-01 -5.45409812e-01 -3.48658695e-01 1.08797940e+02] [ 4.89285919e-01 8.38062942e-01 -2.41349944e-01 2.43200767e+01] [ 4.23832559e-01 1.33657359e-02 9.05641938e-01 2.27570817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.82, Y:24.33, Z:22.77 [[ 7.61294998e-01 -5.45432649e-01 -3.50618241e-01 1.08816694e+02] [ 4.91269832e-01 8.38113963e-01 -2.37105329e-01 2.43335430e+01] [ 4.23183031e-01 8.25893621e-03 9.06006574e-01 2.27684855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.84, Y:24.35, Z:22.78 [[ 7.61149155e-01 -5.47018583e-01 -3.48457507e-01 1.08838406e+02] [ 4.91365532e-01 8.37034696e-01 -2.40692400e-01 2.43499383e+01] [ 4.23334239e-01 1.19828087e-02 9.05894328e-01 2.27808615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.86, Y:24.36, Z:22.80 [[ 7.60694512e-01 -5.46257310e-01 -3.50637718e-01 1.08860702e+02] [ 4.90635323e-01 8.37547350e-01 -2.40398453e-01 2.43622196e+01] [ 4.24995104e-01 1.08345337e-02 9.05130805e-01 2.27953461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:24.38, Z:22.80 [[ 7.60333048e-01 -5.48190604e-01 -3.48397356e-01 1.08879963e+02] [ 4.92232821e-01 8.36264432e-01 -2.41596044e-01 2.43777415e+01] [ 4.23792999e-01 1.22008430e-02 9.05676892e-01 2.28038992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:24.40, Z:22.81 [[ 7.60787888e-01 -5.49991389e-01 -3.44545005e-01 1.08902806e+02] [ 4.91378559e-01 8.34949026e-01 -2.47804835e-01 2.43951998e+01] [ 4.23968042e-01 1.92248890e-02 9.05473083e-01 2.28131704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.93, Y:24.40, Z:22.83 [[ 7.60491052e-01 -5.45314714e-01 -3.52541093e-01 1.08927239e+02] [ 4.90243948e-01 8.38184076e-01 -2.38973486e-01 2.44033805e+01] [ 4.25810089e-01 8.90606101e-03 9.04768728e-01 2.28300679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:24.42, Z:22.84 [[ 7.59484432e-01 -5.45536258e-01 -3.54363640e-01 1.08947031e+02] [ 4.90929630e-01 8.38059718e-01 -2.38000014e-01 2.44175583e+01] [ 4.26815529e-01 6.78969524e-03 9.04313222e-01 2.28431927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:24.44, Z:22.85 [[ 7.57057814e-01 -5.49825602e-01 -3.52923892e-01 1.08966590e+02] [ 4.92125362e-01 8.35190772e-01 -2.45497460e-01 2.44369847e+01] [ 4.29739566e-01 1.21729722e-02 9.02870823e-01 2.28546749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.99, Y:24.45, Z:22.87 [[ 7.58087345e-01 -5.44175853e-01 -3.59410931e-01 1.08988816e+02] [ 4.90524036e-01 8.38967960e-01 -2.35624556e-01 2.44450620e+01] [ 4.29755449e-01 2.32429366e-03 9.02942330e-01 2.28701081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:24.47, Z:22.87 [[ 7.56309667e-01 -5.54159208e-01 -3.47711461e-01 1.09007603e+02] [ 4.89979176e-01 8.31990965e-01 -2.60214220e-01 2.44729728e+01] [ 4.33492900e-01 2.64311549e-02 9.00769282e-01 2.28726821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:24.46, Z:22.91 [[ 7.59208856e-01 -5.34213004e-01 -3.71777326e-01 1.09034450e+02] [ 4.85520813e-01 8.45276756e-01 -2.23107027e-01 2.44618377e+01] [ 4.33441408e-01 -1.11207991e-02 9.01113131e-01 2.29060687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:24.50, Z:22.90 [[ 7.58763248e-01 -5.49649000e-01 -3.49520113e-01 1.09047434e+02] [ 4.86559769e-01 8.35025882e-01 -2.56887850e-01 2.44993036e+01] [ 4.33056491e-01 2.48546337e-02 9.01024041e-01 2.28953711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.08, Y:24.50, Z:22.92 [[ 7.59899296e-01 -5.37957050e-01 -3.64904470e-01 1.09075462e+02] [ 4.83234235e-01 8.42965713e-01 -2.36418022e-01 2.44983441e+01] [ 4.34784698e-01 3.31955554e-03 9.00528315e-01 2.29231741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:24.52, Z:22.93 [[ 7.58584036e-01 -5.44420355e-01 -3.57989856e-01 1.09090504e+02] [ 4.87111945e-01 8.38750260e-01 -2.43351502e-01 2.45187646e+01] [ 4.32749596e-01 1.02214292e-02 9.01456216e-01 2.29262208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:24.54, Z:22.94 [[ 7.59425560e-01 -5.46037803e-01 -3.53716747e-01 1.09112993e+02] [ 4.85373650e-01 8.37549253e-01 -2.50845907e-01 2.45354284e+01] [ 4.33226544e-01 1.88140049e-02 9.01088672e-01 2.29369801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.14, Y:24.54, Z:22.95 [[ 7.59460612e-01 -5.42771549e-01 -3.58634388e-01 1.09135295e+02] [ 4.84619565e-01 8.39793820e-01 -2.44724779e-01 2.45441962e+01] [ 4.34008590e-01 1.20575890e-02 9.00828041e-01 2.29531566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.16, Y:24.56, Z:22.96 [[ 7.60693672e-01 -5.42187851e-01 -3.56899805e-01 1.09159291e+02] [ 4.81693823e-01 8.40066840e-01 -2.49517065e-01 2.45590672e+01] [ 4.35104813e-01 1.78896209e-02 9.00202068e-01 2.29637184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:24.57, Z:22.98 [[ 7.61235709e-01 -5.39667061e-01 -3.59554806e-01 1.09179406e+02] [ 4.81010568e-01 8.41768699e-01 -2.45059771e-01 2.45700835e+01] [ 4.34912668e-01 1.35985872e-02 9.00369952e-01 2.29788563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:24.58, Z:22.99 [[ 7.61427445e-01 -5.39133633e-01 -3.59948846e-01 1.09200238e+02] [ 4.80239713e-01 8.42103735e-01 -2.45420286e-01 2.45847066e+01] [ 4.35428598e-01 1.40080107e-02 9.00114277e-01 2.29902648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:24.60, Z:23.00 [[ 7.60114671e-01 -5.41580808e-01 -3.59048624e-01 1.09216885e+02] [ 4.83512533e-01 8.40561984e-01 -2.44276854e-01 2.46002746e+01] [ 4.34098280e-01 1.20739107e-02 9.00784605e-01 2.29981952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.24, Y:24.62, Z:23.01 [[ 7.61424193e-01 -5.44638123e-01 -3.51571492e-01 1.09236009e+02] [ 4.83754623e-01 8.38404923e-01 -2.51114814e-01 2.46185296e+01] [ 4.31525970e-01 2.11305595e-02 9.01853001e-01 2.30057344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.26, Y:24.63, Z:23.02 [[ 7.61451924e-01 -5.44005919e-01 -3.52489046e-01 1.09257627e+02] [ 4.83911539e-01 8.38860671e-01 -2.49283769e-01 2.46313412e+01] [ 4.31301043e-01 1.92440892e-02 9.02002813e-01 2.30191432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.28, Y:24.65, Z:23.03 [[ 7.62073820e-01 -5.43102978e-01 -3.52537443e-01 1.09280305e+02] [ 4.82846158e-01 8.39431147e-01 -2.49429222e-01 2.46463541e+01] [ 4.31396663e-01 1.98621298e-02 9.01943687e-01 2.30321907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33038572299999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.30, Y:24.67, Z:23.04 [[ 7.60554104e-01 -5.48564373e-01 -3.47324897e-01 1.09300058e+02] [ 4.83126603e-01 8.35524665e-01 -2.61700629e-01 2.46692674e+01] [ 4.33758159e-01 3.12355899e-02 9.00487755e-01 2.30387919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.33, Y:24.67, Z:23.07 [[ 7.62695288e-01 -5.35374398e-01 -3.62863820e-01 1.09328631e+02] [ 4.78757375e-01 8.44565118e-01 -2.39793946e-01 2.46678281e+01] [ 4.34841664e-01 9.16598326e-03 9.00460278e-01 2.30652440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.34, Y:24.68, Z:23.07 [[ 7.61239272e-01 -5.40095328e-01 -3.58903620e-01 1.09344685e+02] [ 4.83488848e-01 8.41546015e-01 -2.40912512e-01 2.46841373e+01] [ 4.32149633e-01 9.86616704e-03 9.01747943e-01 2.30706904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.37, Y:24.70, Z:23.08 [[ 7.59485128e-01 -5.44668417e-01 -3.55694610e-01 1.09366478e+02] [ 4.84635018e-01 8.38482305e-01 -2.49151207e-01 2.47005942e+01] [ 4.33948430e-01 1.68445720e-02 9.00780229e-01 2.30813339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.39, Y:24.71, Z:23.09 [[ 7.58548019e-01 -5.46575385e-01 -3.54767885e-01 1.09387400e+02] [ 4.86363187e-01 8.37235884e-01 -2.49973849e-01 2.47143866e+01] [ 4.33653956e-01 1.70711290e-02 9.00917767e-01 2.30927194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.41, Y:24.73, Z:23.10 [[ 7.56993560e-01 -5.48911550e-01 -3.54481113e-01 1.09407209e+02] [ 4.89379845e-01 8.35744538e-01 -2.49075157e-01 2.47278818e+01] [ 4.32975885e-01 1.50723778e-02 9.01279483e-01 2.31037012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:24.74, Z:23.12 [[ 7.55530888e-01 -5.51415755e-01 -3.53714209e-01 1.09429562e+02] [ 4.90907372e-01 8.34067201e-01 -2.51678080e-01 2.47422390e+01] [ 4.33800679e-01 1.65096499e-02 9.00857593e-01 2.31162939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.45, Y:24.75, Z:23.13 [[ 7.51994533e-01 -5.56214572e-01 -3.53736586e-01 1.09451002e+02] [ 4.97078787e-01 8.30951168e-01 -2.49865638e-01 2.47548933e+01] [ 4.32916738e-01 1.20626411e-02 9.01353200e-01 2.31268200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:24.77, Z:23.14 [[ 7.49191699e-01 -5.63873467e-01 -3.47503255e-01 1.09472849e+02] [ 5.03551014e-01 8.25716180e-01 -2.54222671e-01 2.47704164e+01] [ 4.30288479e-01 1.54758980e-02 9.02558763e-01 2.31363684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.50, Y:24.78, Z:23.15 [[ 7.47333482e-01 -5.67499745e-01 -3.45596160e-01 1.09495242e+02] [ 5.06303929e-01 8.23197651e-01 -2.56908464e-01 2.47847648e+01] [ 4.30289435e-01 1.70196028e-02 9.02530518e-01 2.31483523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.52, Y:24.79, Z:23.17 [[ 7.46881092e-01 -5.61893127e-01 -3.55590703e-01 1.09519366e+02] [ 5.08071523e-01 8.27208599e-01 -2.39977625e-01 2.47871227e+01] [ 4.28989466e-01 -1.43075941e-03 9.03308359e-01 2.31695482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:24.80, Z:23.18 [[ 7.44724427e-01 -5.68565299e-01 -3.49455331e-01 1.09539874e+02] [ 5.11910943e-01 8.22620350e-01 -2.47473123e-01 2.48039082e+01] [ 4.28173697e-01 5.40927130e-03 9.03680267e-01 2.31783942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:109.56, Y:24.82, Z:23.19 [[ 7.42674521e-01 -5.71069294e-01 -3.49734782e-01 1.09561272e+02] [ 5.14319000e-01 8.20889656e-01 -2.48225982e-01 2.48187083e+01] [ 4.28847901e-01 4.47586896e-03 9.03365620e-01 2.31884717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.58, Y:24.83, Z:23.20 [[ 7.40970333e-01 -5.71477281e-01 -3.52670786e-01 1.09582070e+02] [ 5.16501810e-01 8.20617351e-01 -2.44567052e-01 2.48306888e+01] [ 4.29172281e-01 -9.38169278e-04 9.03222162e-01 2.32022779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.60, Y:24.85, Z:23.21 [[ 7.40423647e-01 -5.74870837e-01 -3.48276245e-01 1.09603421e+02] [ 5.16994084e-01 8.18221216e-01 -2.51458064e-01 2.48497341e+01] [ 4.29522921e-01 6.12873890e-03 9.03035159e-01 2.32108905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:24.86, Z:23.23 [[ 7.39432804e-01 -5.72291502e-01 -3.54572369e-01 1.09626865e+02] [ 5.17858205e-01 8.20042903e-01 -2.43623721e-01 2.48566970e+01] [ 4.30188340e-01 -3.47483943e-03 9.02732473e-01 2.32288026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.65, Y:24.87, Z:23.24 [[ 7.39018418e-01 -5.74605225e-01 -3.51682546e-01 1.09647928e+02] [ 5.18773019e-01 8.18430702e-01 -2.47074365e-01 2.48727727e+01] [ 4.29798014e-01 1.49090274e-04 9.02925050e-01 2.32397368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:24.89, Z:23.25 [[ 7.38069826e-01 -5.75638269e-01 -3.51985107e-01 1.09669665e+02] [ 5.20372202e-01 8.17703065e-01 -2.46118811e-01 2.48872621e+01] [ 4.29494707e-01 -1.51039714e-03 9.03068112e-01 2.32534220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:24.90, Z:23.27 [[ 7.37646799e-01 -5.76360880e-01 -3.51689260e-01 1.09690190e+02] [ 5.21626351e-01 8.17191128e-01 -2.45162417e-01 2.49025258e+01] [ 4.28699369e-01 -2.60711352e-03 9.03443443e-01 2.32654297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.71, Y:24.91, Z:23.29 [[ 7.37469155e-01 -5.70879999e-01 -3.60881244e-01 1.09712979e+02] [ 5.19385484e-01 8.20939021e-01 -2.37271664e-01 2.49084964e+01] [ 4.31715143e-01 -1.24559458e-02 9.01923991e-01 2.32892540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:24.93, Z:23.30 [[ 7.36698171e-01 -5.74276469e-01 -3.57046693e-01 1.09732259e+02] [ 5.19997064e-01 8.18638971e-01 -2.43789436e-01 2.49261130e+01] [ 4.32294874e-01 -6.06400032e-03 9.01711911e-01 2.32981957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:24.95, Z:23.30 [[ 7.35290048e-01 -5.82005925e-01 -3.47300517e-01 1.09751364e+02] [ 5.23922359e-01 8.13172487e-01 -2.53487411e-01 2.49507074e+01] [ 4.29946400e-01 4.42826444e-03 9.02843554e-01 2.32986366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.77, Y:24.96, Z:23.32 [[ 7.32503698e-01 -5.78366133e-01 -3.59069559e-01 1.09772262e+02] [ 5.26425025e-01 8.15669166e-01 -2.39917705e-01 2.49560485e+01] [ 4.31642243e-01 -1.32825954e-02 9.01947087e-01 2.33175602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:24.98, Z:23.33 [[ 7.31677046e-01 -5.83170351e-01 -3.52932065e-01 1.09792227e+02] [ 5.27718148e-01 8.12336763e-01 -2.48238876e-01 2.49778577e+01] [ 4.31465244e-01 -4.61796874e-03 9.02117741e-01 2.33255374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:24.99, Z:23.34 [[ 7.30609422e-01 -5.82986414e-01 -3.55438762e-01 1.09811529e+02] [ 5.29584871e-01 8.12420351e-01 -2.43952941e-01 2.49925321e+01] [ 4.30986934e-01 -1.00006742e-02 9.02302748e-01 2.33387813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:25.00, Z:23.36 [[ 7.29921333e-01 -5.79594699e-01 -3.62332489e-01 1.09831970e+02] [ 5.28555216e-01 8.14717946e-01 -2.38461849e-01 2.50013395e+01] [ 4.33410004e-01 -1.74543363e-02 9.01027810e-01 2.33604287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:25.02, Z:23.37 [[ 7.28272811e-01 -5.84042245e-01 -3.58487613e-01 1.09849476e+02] [ 5.29995923e-01 8.11647192e-01 -2.45628089e-01 2.50217876e+01] [ 4.34422645e-01 -1.11127143e-02 9.00640590e-01 2.33693667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:25.04, Z:23.38 [[ 7.27700415e-01 -5.84824100e-01 -3.58375332e-01 1.09868814e+02] [ 5.30834387e-01 8.11079367e-01 -2.45693130e-01 2.50367973e+01] [ 4.34358101e-01 -1.14469574e-02 9.00667534e-01 2.33807929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:25.07, Z:23.38 [[ 7.26634444e-01 -5.93825235e-01 -3.45505390e-01 1.09886457e+02] [ 5.34559823e-01 8.04587572e-01 -2.58620638e-01 2.50665266e+01] [ 4.31564805e-01 3.22936347e-03 9.02076156e-01 2.33774477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:25.07, Z:23.39 [[ 7.26402942e-01 -5.88945862e-01 -3.54233733e-01 1.09908307e+02] [ 5.35218521e-01 8.08099038e-01 -2.46002196e-01 2.50748181e+01] [ 4.31137914e-01 -1.08957352e-02 9.02220251e-01 2.33939116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:25.09, Z:23.41 [[ 7.26814858e-01 -5.88053597e-01 -3.54870581e-01 1.09928128e+02] [ 5.34588942e-01 8.08740902e-01 -2.45260711e-01 2.50910784e+01] [ 4.31224797e-01 -1.14507595e-02 9.02171854e-01 2.34071588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.95, Y:25.11, Z:23.42 [[ 7.26159914e-01 -5.87993088e-01 -3.56308726e-01 1.09947490e+02] [ 5.35366322e-01 8.08746406e-01 -2.43540862e-01 2.51074677e+01] [ 4.31363745e-01 -1.39060807e-02 9.02070918e-01 2.34201341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:25.13, Z:23.43 [[ 7.25980518e-01 -5.91580610e-01 -3.50691700e-01 1.09965664e+02] [ 5.36362608e-01 8.06216755e-01 -2.49659162e-01 2.51298425e+01] [ 4.30427044e-01 -6.85022725e-03 9.02599377e-01 2.34275987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:25.13, Z:23.46 [[ 7.25151633e-01 -5.79868750e-01 -3.71358778e-01 1.09985745e+02] [ 5.34032261e-01 8.14051350e-01 -2.28319828e-01 2.51257543e+01] [ 4.34700648e-01 -3.27510720e-02 8.99979285e-01 2.34606133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:25.17, Z:23.45 [[ 7.25354729e-01 -5.96164798e-01 -3.44162827e-01 1.10003797e+02] [ 5.36787087e-01 8.02854854e-01 -2.59391029e-01 2.51660818e+01] [ 4.30952596e-01 3.40834775e-03 9.02368130e-01 2.34510258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.03, Y:25.16, Z:23.48 [[ 7.24200454e-01 -5.82204778e-01 -3.69555542e-01 1.10025165e+02] [ 5.35456180e-01 8.12456975e-01 -2.30651996e-01 2.51599060e+01] [ 4.34534672e-01 -3.08425185e-02 9.00126857e-01 2.34842010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:25.19, Z:23.49 [[ 7.23416220e-01 -5.92147715e-01 -3.55007122e-01 1.10039225e+02] [ 5.34838865e-01 8.05807301e-01 -2.54208541e-01 2.51914101e+01] [ 4.36596337e-01 -5.97302447e-03 8.99637683e-01 2.34850587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:25.20, Z:23.50 [[ 7.24345243e-01 -5.87292946e-01 -3.61124584e-01 1.10062191e+02] [ 5.35979945e-01 8.09148936e-01 -2.40839153e-01 2.52014779e+01] [ 4.33646708e-01 -1.91048402e-02 9.00880424e-01 2.35025001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:25.22, Z:23.51 [[ 7.24131171e-01 -5.89824724e-01 -3.57408509e-01 1.10082457e+02] [ 5.36126345e-01 8.07421773e-01 -2.46249107e-01 2.52193283e+01] [ 4.33823224e-01 -1.32994635e-02 9.00899847e-01 2.35126684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:25.23, Z:23.52 [[ 7.24554954e-01 -5.89274946e-01 -3.57456509e-01 1.10101283e+02] [ 5.35425756e-01 8.07830575e-01 -2.46432592e-01 2.52345474e+01] [ 4.33980850e-01 -1.28374659e-02 9.00830629e-01 2.35240256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530385723 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:110.12, Y:25.26, Z:23.53 [[ 7.26854984e-01 -5.91792406e-01 -3.48516257e-01 1.10122772e+02] [ 5.34629868e-01 8.06088211e-01 -2.53757167e-01 2.52588424e+01] [ 4.31106411e-01 -1.88253853e-03 9.02299129e-01 2.35262159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.560385723 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:110.14, Y:25.26, Z:23.55 [[ 7.27511258e-01 -5.80975337e-01 -3.64958940e-01 1.10143269e+02] [ 5.30356536e-01 8.13666172e-01 -2.38053158e-01 2.52592791e+01] [ 4.35257757e-01 -2.03720069e-02 9.00075367e-01 2.35519724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590385723 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:110.16, Y:25.28, Z:23.56 [[ 7.30734668e-01 -5.81016132e-01 -3.58395172e-01 1.10161574e+02] [ 5.25768727e-01 8.13856078e-01 -2.47397513e-01 2.52811217e+01] [ 4.35424035e-01 -7.65103385e-03 9.00192964e-01 2.35596157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.620385723 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:110.18, Y:25.30, Z:23.57 [[ 7.32554177e-01 -5.78797091e-01 -3.58271273e-01 1.10181021e+02] [ 5.23262207e-01 8.15448141e-01 -2.47469174e-01 2.52964015e+01] [ 4.35386081e-01 -6.18524000e-03 9.00222585e-01 2.35707362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650385723 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:110.20, Y:25.32, Z:23.57 [[ 7.34752710e-01 -5.84308338e-01 -3.44560911e-01 1.10200663e+02] [ 5.23335111e-01 8.11460010e-01 -2.60101931e-01 2.53244447e+01] [ 4.31577127e-01 1.07897761e-02 9.02011510e-01 2.35707101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.680385723 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:110.22, Y:25.32, Z:23.60 [[ 7.38439725e-01 -5.64410214e-01 -3.68982226e-01 1.10223537e+02] [ 5.14595077e-01 8.25294886e-01 -2.32551625e-01 2.53182901e+01] [ 4.35773656e-01 -1.81510792e-02 8.99873246e-01 2.35994182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710385723 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:110.24, Y:25.34, Z:23.60 [[ 7.41824127e-01 -5.66868284e-01 -3.58269889e-01 1.10241192e+02] [ 5.09819254e-01 8.23807565e-01 -2.47841530e-01 2.53407046e+01] [ 4.35638948e-01 1.20193856e-03 9.00120693e-01 2.36040291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.740385723 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:110.26, Y:25.35, Z:23.62 [[ 7.43846283e-01 -5.64374043e-01 -3.58014869e-01 1.10261751e+02] [ 5.07082060e-01 8.25514563e-01 -2.47777100e-01 2.53529347e+01] [ 4.35385451e-01 2.76515762e-03 9.00239892e-01 2.36173579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770385723 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:110.28, Y:25.37, Z:23.63 [[ 7.45185872e-01 -5.62653077e-01 -3.57937886e-01 1.10283073e+02] [ 5.05155298e-01 8.26684142e-01 -2.47813346e-01 2.53662092e+01] [ 4.35334516e-01 3.85278499e-03 9.00260526e-01 2.36297277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.800385723 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:110.31, Y:25.38, Z:23.64 [[ 7.47900160e-01 -5.58949499e-01 -3.58079332e-01 1.10305244e+02] [ 5.00920623e-01 8.29178775e-01 -2.48074765e-01 2.53791973e+01] [ 4.35573048e-01 6.16583448e-03 9.00132269e-01 2.36409470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830385723 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:110.33, Y:25.39, Z:23.65 [[ 7.49330631e-01 -5.57168096e-01 -3.57864945e-01 1.10327291e+02] [ 4.98940038e-01 8.30367211e-01 -2.48090979e-01 2.53933754e+01] [ 4.35387694e-01 7.34902095e-03 9.00213057e-01 2.36521788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.860385723 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:110.35, Y:25.41, Z:23.66 [[ 7.52051701e-01 -5.53355442e-01 -3.58072610e-01 1.10350021e+02] [ 4.94564641e-01 8.32888519e-01 -2.48399941e-01 2.54053780e+01] [ 4.35688025e-01 9.71954675e-03 9.00045263e-01 2.36632011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890385723 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:110.37, Y:25.42, Z:23.67 [[ 7.51793500e-01 -5.57057107e-01 -3.52836950e-01 1.10370375e+02] [ 4.92141407e-01 8.30146180e-01 -2.62019380e-01 2.54249949e+01] [ 4.38866004e-01 2.33387939e-02 8.98249370e-01 2.36701067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.920385723 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:110.40, Y:25.42, Z:23.69 [[ 7.54430209e-01 -5.44288794e-01 -3.66857968e-01 1.10398133e+02] [ 4.89958583e-01 8.38897420e-01 -2.37047896e-01 2.54214508e+01] [ 4.36778716e-01 -9.09116591e-04 8.99568523e-01 2.36922433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.950385723 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:110.42, Y:25.44, Z:23.70 [[ 7.55122088e-01 -5.48952890e-01 -3.58387161e-01 1.10418585e+02] [ 4.89377184e-01 8.35757301e-01 -2.49037560e-01 2.54407447e+01] [ 4.36234574e-01 1.26672629e-02 8.99743817e-01 2.36996150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980385723 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:110.44, Y:25.45, Z:23.71 [[ 7.55554394e-01 -5.48249605e-01 -3.58552546e-01 1.10440509e+02] [ 4.88461577e-01 8.36210073e-01 -2.49315065e-01 2.54520803e+01] [ 4.36512137e-01 1.32319507e-02 8.99601061e-01 2.37114567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010385723 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:110.46, Y:25.46, Z:23.72 [[ 7.55949035e-01 -5.46973330e-01 -3.59668225e-01 1.10464702e+02] [ 4.86608292e-01 8.37031154e-01 -2.50182369e-01 2.54606065e+01] [ 4.37896593e-01 1.41075792e-02 8.98914651e-01 2.37238759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040385723 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:110.49, Y:25.47, Z:23.74 [[ 7.55787698e-01 -5.46329183e-01 -3.60983905e-01 1.10488703e+02] [ 4.85344765e-01 8.37441570e-01 -2.51260971e-01 2.54702476e+01] [ 4.39574129e-01 1.46983020e-02 8.98086045e-01 2.37357215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07038572300002 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:110.51, Y:25.50, Z:23.73 [[ 7.55483834e-01 -5.56655832e-01 -3.45511883e-01 1.10505516e+02] [ 4.91134379e-01 8.30218987e-01 -2.63673007e-01 2.54970255e+01] [ 4.33625643e-01 2.95079304e-02 9.00609840e-01 2.37287229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10038572300002 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:110.53, Y:25.50, Z:23.74 [[ 7.55239933e-01 -5.52105157e-01 -3.53259874e-01 1.10529868e+02] [ 4.90346080e-01 8.33559257e-01 -2.54439949e-01 2.55028817e+01] [ 4.34940646e-01 1.89436155e-02 9.00259837e-01 2.37445809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13038572300002 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:110.55, Y:25.51, Z:23.76 [[ 7.54084896e-01 -5.53105073e-01 -3.54162037e-01 1.10551747e+02] [ 4.91310382e-01 8.32915910e-01 -2.54686464e-01 2.55111596e+01] [ 4.35855571e-01 1.80517298e-02 8.99835572e-01 2.37565902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16038572300002 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:110.58, Y:25.52, Z:23.77 [[ 7.54363370e-01 -5.54474257e-01 -3.51417421e-01 1.10579659e+02] [ 4.90503617e-01 8.31869833e-01 -2.59612755e-01 2.55229128e+01] [ 4.36282141e-01 2.34708368e-02 8.99503759e-01 2.37682838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19038572300002 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:110.61, Y:25.52, Z:23.80 [[ 7.54260140e-01 -5.42089824e-01 -3.70446033e-01 1.10608343e+02] [ 4.84055269e-01 8.40306935e-01 -2.44079396e-01 2.55172262e+01] [ 4.43601327e-01 4.78300524e-03 8.96211463e-01 2.38014399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22038572300002 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:110.62, Y:25.56, Z:23.79 [[ 7.52891019e-01 -5.61337942e-01 -3.43591078e-01 1.10622685e+02] [ 4.88786356e-01 8.26505060e-01 -2.79244131e-01 2.55571419e+01] [ 4.40730090e-01 4.22977673e-02 8.96642564e-01 2.37861040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25038572300002 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:110.65, Y:25.54, Z:23.82 [[ 7.52091175e-01 -5.46461561e-01 -3.68427233e-01 1.10648173e+02] [ 4.90949819e-01 8.37484093e-01 -2.39976392e-01 2.55414880e+01] [ 4.39689821e-01 -3.95156668e-04 8.98149601e-01 2.38168961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.280385723 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:110.67, Y:25.56, Z:23.82 [[ 7.50622220e-01 -5.54783887e-01 -3.58860866e-01 1.10667237e+02] [ 4.91390759e-01 8.31812405e-01 -2.58114790e-01 2.55633230e+01] [ 4.41702847e-01 1.74057833e-02 8.96992550e-01 2.38227414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310385723 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:110.69, Y:25.59, Z:23.83 [[ 7.50032185e-01 -5.62223545e-01 -3.48362464e-01 1.10691730e+02] [ 4.94535555e-01 8.26457588e-01 -2.69077014e-01 2.55852664e+01] [ 4.39188235e-01 2.95387961e-02 8.97909324e-01 2.38272240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.340385723 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:110.71, Y:25.58, Z:23.85 [[ 7.47979997e-01 -5.52020056e-01 -3.68510219e-01 1.10714605e+02] [ 4.93962406e-01 8.33827656e-01 -2.46439813e-01 2.55819494e+01] [ 4.43313732e-01 2.30185656e-03 8.96363563e-01 2.38538440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370385723 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:110.74, Y:25.60, Z:23.87 [[ 7.49517911e-01 -5.54292278e-01 -3.61915696e-01 1.10739892e+02] [ 4.88679497e-01 8.32087291e-01 -2.62341550e-01 2.56020264e+01] [ 4.46559346e-01 1.97689099e-02 8.94535600e-01 2.38684356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.400385723 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:110.75, Y:25.63, Z:23.86 [[ 7.46774654e-01 -5.65729863e-01 -3.49681767e-01 1.10754421e+02] [ 4.94434501e-01 8.23890397e-01 -2.77018298e-01 2.56339678e+01] [ 4.44816974e-01 3.39755137e-02 8.94976829e-01 2.38627376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430385723 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:110.78, Y:25.62, Z:23.90 [[ 7.46574700e-01 -5.46753928e-01 -3.79059836e-01 1.10778173e+02] [ 4.91651488e-01 8.37258035e-01 -2.39327802e-01 2.56228019e+01] [ 4.48224309e-01 -7.68925072e-03 8.93888049e-01 2.38975846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.460385723 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:110.80, Y:25.65, Z:23.90 [[ 7.46983771e-01 -5.54262872e-01 -3.67161974e-01 1.10795590e+02] [ 4.90619646e-01 8.32244382e-01 -2.58189176e-01 2.56479375e+01] [ 4.48673164e-01 1.27262467e-02 8.93605301e-01 2.39035840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490385723 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:110.82, Y:25.66, Z:23.92 [[ 7.47450206e-01 -5.49675653e-01 -3.73061478e-01 1.10815596e+02] [ 4.89360099e-01 8.35365573e-01 -2.50381816e-01 2.56558290e+01] [ 4.49271503e-01 4.58653842e-03 8.93383501e-01 2.39234136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.520385723 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:110.84, Y:25.67, Z:23.94 [[ 7.47443253e-01 -5.48161320e-01 -3.75296884e-01 1.10837630e+02] [ 4.86363087e-01 8.36347200e-01 -2.52931430e-01 2.56682761e+01] [ 4.52525725e-01 6.52133954e-03 8.91727504e-01 2.39417341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550385723 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:110.85, Y:25.71, Z:23.93 [[ 7.49739009e-01 -5.62943636e-01 -3.47830247e-01 1.10854487e+02] [ 4.89561595e-01 8.25514577e-01 -2.80811553e-01 2.57063316e+01] [ 4.45220016e-01 4.02510454e-02 8.94516065e-01 2.39298774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.580385723 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:110.88, Y:25.71, Z:23.95 [[ 7.50903790e-01 -5.52110425e-01 -3.62377672e-01 1.10878588e+02] [ 4.87687203e-01 8.33574613e-01 -2.59450489e-01 2.57072326e+01] [ 4.45314148e-01 1.80954019e-02 8.95191525e-01 2.39518430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610385723 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:110.90, Y:25.72, Z:23.96 [[ 7.52087282e-01 -5.52618612e-01 -3.59134222e-01 1.10899724e+02] [ 4.87256701e-01 8.33149988e-01 -2.61614229e-01 2.57235385e+01] [ 4.43785565e-01 2.17661785e-02 8.95868632e-01 2.39626219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.640385723 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:110.92, Y:25.73, Z:23.98 [[ 7.51760185e-01 -5.49027557e-01 -3.65274372e-01 1.10921672e+02] [ 4.87279836e-01 8.35712198e-01 -2.53265638e-01 2.57328121e+01] [ 4.44314062e-01 1.24041867e-02 8.95785214e-01 2.39805784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.670385723 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:110.94, Y:25.74, Z:24.00 [[ 7.50848679e-01 -5.47972378e-01 -3.68717417e-01 1.10941432e+02] [ 4.86802352e-01 8.36441922e-01 -2.51770493e-01 2.57446723e+01] [ 4.46373981e-01 9.54903621e-03 8.94795555e-01 2.39960616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.700385723 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:110.96, Y:25.77, Z:24.00 [[ 7.50971595e-01 -5.53511608e-01 -3.60092436e-01 1.10960864e+02] [ 4.87704620e-01 8.32560617e-01 -2.62653808e-01 2.57678470e+01] [ 4.45180713e-01 2.16268047e-02 8.95179543e-01 2.40011068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730385723 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:110.98, Y:25.78, Z:24.02 [[ 7.50229958e-01 -5.49951924e-01 -3.67025736e-01 1.10982828e+02] [ 4.87910487e-01 8.35117241e-01 -2.54012893e-01 2.57766830e+01] [ 4.46204399e-01 1.14923760e-02 8.94857284e-01 2.40182526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760385723 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:111.00, Y:25.80, Z:24.02 [[ 7.50719711e-01 -5.55217824e-01 -3.57984753e-01 1.11003294e+02] [ 4.89092197e-01 8.31388547e-01 -2.63783825e-01 2.57995577e+01] [ 4.44081905e-01 2.29401676e-02 8.95692475e-01 2.40225051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790385723 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:111.03, Y:25.81, Z:24.04 [[ 7.50516756e-01 -5.52492873e-01 -3.62596504e-01 1.11026024e+02] [ 4.89260789e-01 8.33372099e-01 -2.57128032e-01 2.58107742e+01] [ 4.44239215e-01 1.55746449e-02 8.95772823e-01 2.40381989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82038572300002 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:111.05, Y:25.82, Z:24.05 [[ 7.50421488e-01 -5.51693803e-01 -3.64007609e-01 1.11046415e+02] [ 4.89307080e-01 8.33939215e-01 -2.55193979e-01 2.58240796e+01] [ 4.44349156e-01 1.33915457e-02 8.95753590e-01 2.40511371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85038572300002 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:111.07, Y:25.84, Z:24.06 [[ 7.51027867e-01 -5.51586725e-01 -3.62917661e-01 1.11066535e+02] [ 4.88054158e-01 8.33958649e-01 -2.57519147e-01 2.58397356e+01] [ 4.44702465e-01 1.62805825e-02 8.95530379e-01 2.40620632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88038572300002 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:111.09, Y:25.85, Z:24.07 [[ 7.51616000e-01 -5.49583628e-01 -3.64734458e-01 1.11088380e+02] [ 4.85732950e-01 8.35276125e-01 -2.57637916e-01 2.58549322e+01] [ 4.46247565e-01 1.64812357e-02 8.94757777e-01 2.40735603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91038572300002 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:111.11, Y:25.87, Z:24.09 [[ 7.51455441e-01 -5.47449641e-01 -3.68257533e-01 1.11110287e+02] [ 4.84549712e-01 8.36733310e-01 -2.55125351e-01 2.58677262e+01] [ 4.47801626e-01 1.32762520e-02 8.94034364e-01 2.40883554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94038572300002 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:111.13, Y:25.88, Z:24.10 [[ 7.51527315e-01 -5.47143126e-01 -3.68566268e-01 1.11131268e+02] [ 4.84230395e-01 8.36934632e-01 -2.55071259e-01 2.58829772e+01] [ 4.48026360e-01 1.32220290e-02 8.93922569e-01 2.41012446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97038572300002 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:111.15, Y:25.89, Z:24.12 [[ 7.51475551e-01 -5.45608482e-01 -3.70939187e-01 1.11150956e+02] [ 4.83295874e-01 8.37965478e-01 -2.53454049e-01 2.58940868e+01] [ 4.49120912e-01 1.11911423e-02 8.93400898e-01 2.41166977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00038572300002 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:111.17, Y:25.91, Z:24.13 [[ 7.51457702e-01 -5.46938845e-01 -3.69011140e-01 1.11171283e+02] [ 4.82942453e-01 8.37037472e-01 -2.57166985e-01 2.59102501e+01] [ 4.49530766e-01 1.50389667e-02 8.93138243e-01 2.41281828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030385723 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:111.19, Y:25.92, Z:24.14 [[ 7.51976303e-01 -5.48141866e-01 -3.66158620e-01 1.11192586e+02] [ 4.86109428e-01 8.36288693e-01 -2.53611604e-01 2.59246576e+01] [ 4.45229451e-01 1.27167593e-02 8.95326209e-01 2.41423015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.060385723 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:111.22, Y:25.94, Z:24.16 [[ 7.52169445e-01 -5.47246724e-01 -3.67099646e-01 1.11215565e+02] [ 4.86464000e-01 8.36910236e-01 -2.50866565e-01 2.59381106e+01] [ 4.44515357e-01 1.01134027e-02 8.95714137e-01 2.41563977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090385723 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:111.23, Y:25.96, Z:24.16 [[ 7.52806133e-01 -5.49644714e-01 -3.62178980e-01 1.11232290e+02] [ 4.86969968e-01 8.35247467e-01 -2.55385824e-01 2.59560957e+01] [ 4.42880544e-01 1.58857288e-02 8.96439885e-01 2.41644596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.120385723 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:111.25, Y:25.97, Z:24.18 [[ 7.52898627e-01 -5.48591612e-01 -3.63580666e-01 1.11252677e+02] [ 4.86546591e-01 8.35969768e-01 -2.53824669e-01 2.59703430e+01] [ 4.43188529e-01 1.42053115e-02 8.96315869e-01 2.41768388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150385723 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:111.27, Y:25.99, Z:24.18 [[ 7.52948571e-01 -5.50521617e-01 -3.60547361e-01 1.11269564e+02] [ 4.83109890e-01 8.34431519e-01 -2.65195918e-01 2.59891309e+01] [ 4.46848167e-01 2.54948914e-02 8.94246457e-01 2.41838328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.180385723 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:111.29, Y:26.00, Z:24.20 [[ 7.52935015e-01 -5.49662744e-01 -3.61883587e-01 1.11290611e+02] [ 4.81785777e-01 8.34987532e-01 -2.65853882e-01 2.60039622e+01] [ 4.48298258e-01 2.58203315e-02 8.93511042e-01 2.41964980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210385723 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:111.31, Y:26.01, Z:24.21 [[ 7.53769734e-01 -5.45015654e-01 -3.67136384e-01 1.11311498e+02] [ 4.80978674e-01 8.38252470e-01 -2.56889688e-01 2.60097570e+01] [ 4.47761882e-01 1.70509007e-02 8.93990248e-01 2.42115633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.240385723 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:111.33, Y:26.03, Z:24.22 [[ 7.53686712e-01 -5.48510094e-01 -3.62067697e-01 1.11331859e+02] [ 4.81663511e-01 8.35792850e-01 -2.63534768e-01 2.60292699e+01] [ 4.47165072e-01 2.42278548e-02 8.94123263e-01 2.42212321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270385723 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:111.36, Y:26.02, Z:24.25 [[ 7.52977916e-01 -5.33567065e-01 -3.85136917e-01 1.11359154e+02] [ 4.81917547e-01 8.45659589e-01 -2.29380333e-01 2.60230439e+01] [ 4.48084518e-01 -1.28859132e-02 8.93898326e-01 2.42523707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.300385723 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:111.37, Y:26.07, Z:24.23 [[ 7.55244040e-01 -5.58230091e-01 -3.43490329e-01 1.11371299e+02] [ 4.86442525e-01 8.28613586e-01 -2.77079763e-01 2.60740860e+01] [ 4.39295014e-01 4.21745369e-02 8.97352327e-01 2.42296550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330385723 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:111.40, Y:26.07, Z:24.26 [[ 7.53283356e-01 -5.44691047e-01 -3.68613414e-01 1.11395855e+02] [ 4.85975872e-01 8.38613651e-01 -2.46078436e-01 2.60656559e+01] [ 4.43160962e-01 6.22956481e-03 8.96420412e-01 2.42603057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.360385723 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:111.42, Y:26.09, Z:24.27 [[ 7.53461971e-01 -5.48951551e-01 -3.61866348e-01 1.11415385e+02] [ 4.86137240e-01 8.35689045e-01 -2.55527697e-01 2.60862178e+01] [ 4.42680068e-01 1.66136941e-02 8.96525707e-01 2.42682595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390385723 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:111.44, Y:26.10, Z:24.28 [[ 7.52005591e-01 -5.51895558e-01 -3.60414879e-01 1.11436565e+02] [ 4.87743825e-01 8.33698147e-01 -2.58946637e-01 2.61003464e+01] [ 4.43388715e-01 1.89391874e-02 8.96129318e-01 2.42798094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.420385723 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:111.46, Y:26.12, Z:24.29 [[ 7.50982119e-01 -5.54419950e-01 -3.58670289e-01 1.11458836e+02] [ 4.89610035e-01 8.31988600e-01 -2.60915665e-01 2.61169645e+01] [ 4.43066442e-01 2.03344257e-02 8.96258132e-01 2.42904336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.450385723 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:111.48, Y:26.13, Z:24.30 [[ 7.47767779e-01 -5.56331889e-01 -3.62406096e-01 1.11480132e+02] [ 4.94831234e-01 8.30887729e-01 -2.54494857e-01 2.61263000e+01] [ 4.42702383e-01 1.09731986e-02 8.96601466e-01 2.43029128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480385723 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:111.50, Y:26.14, Z:24.32 [[ 7.46560431e-01 -5.58217293e-01 -3.61995823e-01 1.11502833e+02] [ 4.95949160e-01 8.29608750e-01 -2.56483434e-01 2.61405390e+01] [ 4.43488391e-01 1.19488591e-02 8.96200464e-01 2.43162455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510385723 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:111.52, Y:26.15, Z:24.33 [[ 7.44871645e-01 -5.59860586e-01 -3.62935749e-01 1.11524440e+02] [ 4.98841735e-01 8.28544477e-01 -2.54304882e-01 2.61522470e+01] [ 4.43083690e-01 8.37699684e-03 8.96441113e-01 2.43299514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540385723 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:111.54, Y:26.17, Z:24.34 [[ 7.41488999e-01 -5.69558520e-01 -3.54678949e-01 1.11543389e+02] [ 5.07088263e-01 8.21853044e-01 -2.59651820e-01 2.61696835e+01] [ 4.39380880e-01 1.26754361e-02 8.98211431e-01 2.43350824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57038572300002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:111.57, Y:26.17, Z:24.36 [[ 7.39543366e-01 -5.66293004e-01 -3.63851404e-01 1.11569218e+02] [ 5.08090373e-01 8.24203998e-01 -2.50063878e-01 2.61730352e+01] [ 4.41497206e-01 6.36868557e-05 8.97262622e-01 2.43593337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60038572300002 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:111.58, Y:26.20, Z:24.35 [[ 7.38396258e-01 -5.80421459e-01 -3.43339332e-01 1.11583555e+02] [ 5.15840700e-01 8.14072753e-01 -2.66821897e-01 2.62049016e+01] [ 4.34372350e-01 1.99118887e-02 9.00513286e-01 2.43508706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63038572300002 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:111.61, Y:26.22, Z:24.36 [[ 7.37445266e-01 -5.79533061e-01 -3.46865841e-01 1.11605037e+02] [ 5.17849960e-01 8.14853491e-01 -2.60471126e-01 2.62163873e+01] [ 4.33596470e-01 1.24587363e-02 9.01021021e-01 2.43637201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66038572300002 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:111.63, Y:26.23, Z:24.38 [[ 7.35086895e-01 -5.79298316e-01 -3.52222541e-01 1.11628171e+02] [ 5.18479967e-01 8.15082056e-01 -2.58495194e-01 2.62285330e+01] [ 4.36836103e-01 7.39609802e-03 8.99510710e-01 2.43767800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69038572300002 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:111.65, Y:26.23, Z:24.40 [[ 7.32880042e-01 -5.75190750e-01 -3.63376451e-01 1.11650697e+02] [ 5.18048819e-01 8.18003827e-01 -2.49990318e-01 2.62340747e+01] [ 4.41035447e-01 -5.03382665e-03 8.97475568e-01 2.43970749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72038572300002 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:111.67, Y:26.25, Z:24.41 [[ 7.30747143e-01 -5.76072117e-01 -3.66264289e-01 1.11672096e+02] [ 5.15479900e-01 8.17398409e-01 -2.57177591e-01 2.62494578e+01] [ 4.47536686e-01 -8.70089355e-04 8.94265150e-01 2.44143422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75038572300002 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:111.69, Y:26.27, Z:24.41 [[ 7.30964343e-01 -5.82391030e-01 -3.55684997e-01 1.11690381e+02] [ 5.19857737e-01 8.12878025e-01 -2.62635204e-01 2.62723189e+01] [ 4.42084905e-01 7.07137160e-03 8.96945334e-01 2.44148441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.780385723 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:111.71, Y:26.28, Z:24.43 [[ 7.30100793e-01 -5.81398495e-01 -3.59066321e-01 1.11711087e+02] [ 5.20847195e-01 8.13617367e-01 -2.58350497e-01 2.62849396e+01] [ 4.42347185e-01 1.60321603e-03 8.96842460e-01 2.44296193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810385723 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:111.73, Y:26.30, Z:24.45 [[ 7.29906859e-01 -5.80715493e-01 -3.60562747e-01 1.11732694e+02] [ 5.20607404e-01 8.14106571e-01 -2.57290540e-01 2.62997496e+01] [ 4.42949104e-01 8.64945298e-05 8.96546755e-01 2.44455095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.840385723 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:111.75, Y:26.32, Z:24.46 [[ 7.29856294e-01 -5.83241743e-01 -3.56565363e-01 1.11751822e+02] [ 5.20118487e-01 8.12266444e-01 -2.64007543e-01 2.63171872e+01] [ 4.43606299e-01 7.23132943e-03 8.96192590e-01 2.44562918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870385723 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:111.77, Y:26.33, Z:24.47 [[ 7.30171334e-01 -5.79705252e-01 -3.61651273e-01 1.11773368e+02] [ 5.19078532e-01 8.14825922e-01 -2.58101131e-01 2.63279682e+01] [ 4.44305414e-01 7.32635439e-04 8.95875082e-01 2.44728199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.900385723 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:111.79, Y:26.34, Z:24.49 [[ 7.30612607e-01 -5.78349041e-01 -3.62929201e-01 1.11793947e+02] [ 5.17972613e-01 8.15789426e-01 -2.57278031e-01 2.63441071e+01] [ 4.44870307e-01 -1.68137396e-05 8.95595003e-01 2.44858258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930385723 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:111.81, Y:26.36, Z:24.50 [[ 7.30094770e-01 -5.77340055e-01 -3.65568172e-01 1.11812601e+02] [ 5.17191857e-01 8.16501958e-01 -2.56587480e-01 2.63579468e+01] [ 4.46625358e-01 -1.73570407e-03 8.94719384e-01 2.45006104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.960385723 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:111.84, Y:26.37, Z:24.52 [[ 7.31192182e-01 -5.73073737e-01 -3.70060108e-01 1.11836413e+02] [ 5.13851991e-01 8.19490822e-01 -2.53753668e-01 2.63698334e+01] [ 4.48680426e-01 -4.61342501e-03 8.93680363e-01 2.45212355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:111.86, Y:26.39, Z:24.53 [[ 7.31378672e-01 -5.74815296e-01 -3.66977675e-01 1.11855875e+02] [ 5.13767619e-01 8.18283188e-01 -2.57789562e-01 2.63872155e+01] [ 4.48473046e-01 5.41224127e-07 8.93796357e-01 2.45326423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.020385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:111.87, Y:26.40, Z:24.55 [[ 7.31962070e-01 -5.74036139e-01 -3.67034111e-01 1.11874558e+02] [ 5.12788762e-01 8.18829717e-01 -2.58003064e-01 2.64004829e+01] [ 4.48641520e-01 6.37489453e-04 8.93711575e-01 2.45470096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050385723 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:111.89, Y:26.42, Z:24.56 [[ 7.31586146e-01 -5.75262946e-01 -3.65860976e-01 1.11893337e+02] [ 5.14525404e-01 8.17968546e-01 -2.57276245e-01 2.64168541e+01] [ 4.47264262e-01 -2.50300559e-05 8.94401856e-01 2.45595433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.080385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:111.91, Y:26.43, Z:24.57 [[ 7.32219361e-01 -5.74544173e-01 -3.65723667e-01 1.11912665e+02] [ 5.13682726e-01 8.18473374e-01 -2.57354606e-01 2.64309300e+01] [ 4.47196673e-01 5.74094766e-04 8.94435468e-01 2.45725689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110385723 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:111.93, Y:26.45, Z:24.58 [[ 7.31969567e-01 -5.76001469e-01 -3.63926999e-01 1.11932288e+02] [ 5.14700347e-01 8.17446304e-01 -2.58582854e-01 2.64499104e+01] [ 4.46434885e-01 1.96142664e-03 8.94813973e-01 2.45826801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.140385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:111.95, Y:26.46, Z:24.60 [[ 7.31034349e-01 -5.74896648e-01 -3.67535883e-01 1.11952217e+02] [ 5.14651223e-01 8.18223934e-01 -2.56210289e-01 2.64623305e+01] [ 4.48021092e-01 -1.85427041e-03 8.94021064e-01 2.45988418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.170385723 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:111.97, Y:26.48, Z:24.61 [[ 7.30113705e-01 -5.76663972e-01 -3.66596019e-01 1.11969966e+02] [ 5.15585147e-01 8.16981321e-01 -2.58289523e-01 2.64787971e+01] [ 4.48448362e-01 -4.30742105e-04 8.93808638e-01 2.46105166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.200385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:111.99, Y:26.50, Z:24.62 [[ 7.28233564e-01 -5.78949192e-01 -3.66733839e-01 1.11989439e+02] [ 5.18011820e-01 8.15361875e-01 -2.58551285e-01 2.64954736e+01] [ 4.48708849e-01 -1.68673968e-03 8.93676409e-01 2.46226160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230385723 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:112.01, Y:26.51, Z:24.64 [[ 7.27391488e-01 -5.80188432e-01 -3.66446457e-01 1.12007870e+02] [ 5.19412861e-01 8.14479061e-01 -2.58522995e-01 2.65109610e+01] [ 4.48455017e-01 -2.28957679e-03 8.93802470e-01 2.46359103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260385723 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:112.03, Y:26.53, Z:24.65 [[ 7.26060031e-01 -5.81675644e-01 -3.66729159e-01 1.12026409e+02] [ 5.20920707e-01 8.13414907e-01 -2.58839345e-01 2.65259922e+01] [ 4.48863507e-01 -3.10390996e-03 8.93594941e-01 2.46482182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:112.05, Y:26.54, Z:24.66 [[ 7.24481165e-01 -5.83845204e-01 -3.66403903e-01 1.12046016e+02] [ 5.23390664e-01 8.11853577e-01 -2.58758541e-01 2.65422484e+01] [ 4.48541252e-01 -4.30669265e-03 8.93751754e-01 2.46606429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32038572300002 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:112.06, Y:26.56, Z:24.67 [[ 7.21612074e-01 -5.87957789e-01 -3.65488241e-01 1.12063643e+02] [ 5.28236876e-01 8.08863934e-01 -2.58272994e-01 2.65579649e+01] [ 4.47483875e-01 -6.69145580e-03 8.94266966e-01 2.46741546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35038572300002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:112.08, Y:26.57, Z:24.69 [[ 7.20379734e-01 -5.89860759e-01 -3.64852469e-01 1.12083264e+02] [ 5.30533376e-01 8.07467730e-01 -2.57934489e-01 2.65730367e+01] [ 4.46752029e-01 -7.75563347e-03 8.94624209e-01 2.46873082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38038572300002 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:112.10, Y:26.59, Z:24.70 [[ 7.17480891e-01 -5.93774371e-01 -3.64215825e-01 1.12100328e+02] [ 5.35059756e-01 8.04569151e-01 -2.57642268e-01 2.65906026e+01] [ 4.46018193e-01 -1.00238268e-02 8.94967762e-01 2.46997717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41038572300002 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:112.12, Y:26.61, Z:24.71 [[ 7.16017197e-01 -5.95605410e-01 -3.64106535e-01 1.12119003e+02] [ 5.37096128e-01 8.03201000e-01 -2.57674026e-01 2.66074425e+01] [ 4.45922777e-01 -1.10611758e-02 8.95003088e-01 2.47119103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44038572300002 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:112.14, Y:26.63, Z:24.72 [[ 7.13417420e-01 -5.98002197e-01 -3.65279286e-01 1.12135456e+02] [ 5.39311004e-01 8.01397516e-01 -2.58661288e-01 2.66262401e+01] [ 4.47413931e-01 -1.24656704e-02 8.94240114e-01 2.47238026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47038572300002 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:112.15, Y:26.64, Z:24.74 [[ 7.12179025e-01 -5.99109954e-01 -3.65880171e-01 1.12154771e+02] [ 5.40281357e-01 8.00560222e-01 -2.59228444e-01 2.66429239e+01] [ 4.48215452e-01 -1.30611741e-02 8.93830137e-01 2.47366909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50038572300002 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:112.17, Y:26.66, Z:24.75 [[ 7.10912296e-01 -6.00363760e-01 -3.66288224e-01 1.12172093e+02] [ 5.41475299e-01 7.99609150e-01 -2.59672308e-01 2.66610889e+01] [ 4.48785259e-01 -1.37317891e-02 8.93534123e-01 2.47502762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:112.19, Y:26.68, Z:24.76 [[ 7.10871310e-01 -6.00615055e-01 -3.65955649e-01 1.12190398e+02] [ 5.41792588e-01 7.99420344e-01 -2.59591805e-01 2.66786337e+01] [ 4.48467136e-01 -1.37356916e-02 8.93693772e-01 2.47630267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.560385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:112.20, Y:26.70, Z:24.77 [[ 7.11283531e-01 -6.00487249e-01 -3.65363932e-01 1.12204198e+02] [ 5.41772341e-01 7.99520530e-01 -2.59325379e-01 2.67011383e+01] [ 4.47837548e-01 -1.34902015e-02 8.94013168e-01 2.47738431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.22, Y:26.72, Z:24.79 [[ 7.11345550e-01 -6.00308382e-01 -3.65537077e-01 1.12221704e+02] [ 5.41459422e-01 7.99658180e-01 -2.59554405e-01 2.67194892e+01] [ 4.48117399e-01 -1.32906228e-02 8.93875918e-01 2.47860296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.620385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:112.24, Y:26.74, Z:24.80 [[ 7.11849591e-01 -5.99787744e-01 -3.65410485e-01 1.12239026e+02] [ 5.40841124e-01 8.00056421e-01 -2.59616259e-01 2.67367055e+01] [ 4.48063655e-01 -1.28212901e-02 8.93909713e-01 2.47981977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.25, Y:26.76, Z:24.81 [[ 7.12606389e-01 -5.98971702e-01 -3.65273917e-01 1.12254054e+02] [ 5.39902558e-01 8.00677547e-01 -2.59654951e-01 2.67565383e+01] [ 4.47992592e-01 -1.21805446e-02 8.93954290e-01 2.48116372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.680385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:112.27, Y:26.78, Z:24.81 [[ 7.11670053e-01 -6.04665979e-01 -3.57637792e-01 1.12266036e+02] [ 5.43176467e-01 7.96462473e-01 -2.65719504e-01 2.67822632e+01] [ 4.45516624e-01 -5.15581906e-03 8.95258820e-01 2.48140982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.29, Y:26.79, Z:24.84 [[ 7.13994535e-01 -5.96351984e-01 -3.66846174e-01 1.12287762e+02] [ 5.38409323e-01 8.02598293e-01 -2.56810012e-01 2.67945978e+01] [ 4.47579273e-01 -1.41524555e-02 8.94132262e-01 2.48373157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.740385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.30, Y:26.82, Z:24.85 [[ 7.15315945e-01 -5.95687868e-01 -3.65347866e-01 1.12302292e+02] [ 5.36073195e-01 8.03154812e-01 -2.59938218e-01 2.68187449e+01] [ 4.48272939e-01 -9.91524563e-03 8.93841742e-01 2.48469775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.32, Y:26.84, Z:24.86 [[ 7.15655450e-01 -5.95338745e-01 -3.65252045e-01 1.12320186e+02] [ 5.35647788e-01 8.03417770e-01 -2.60002565e-01 2.68372765e+01] [ 4.48239584e-01 -9.57419732e-03 8.93862187e-01 2.48587679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.34, Y:26.86, Z:24.87 [[ 7.15847237e-01 -5.95206669e-01 -3.65091433e-01 1.12338057e+02] [ 5.35481919e-01 8.03518201e-01 -2.60033872e-01 2.68555336e+01] [ 4.48131506e-01 -9.35533225e-03 8.93918694e-01 2.48702338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.35, Y:26.88, Z:24.88 [[ 7.15014255e-01 -5.95601611e-01 -3.66078319e-01 1.12354214e+02] [ 5.35510835e-01 8.03223751e-01 -2.60882641e-01 2.68758431e+01] [ 4.49424922e-01 -9.50409889e-03 8.93267548e-01 2.48818600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:26.89, Z:24.89 [[ 7.14227376e-01 -5.96519747e-01 -3.66119444e-01 1.12372531e+02] [ 5.36461988e-01 8.02536537e-01 -2.61043372e-01 2.68928886e+01] [ 4.49541757e-01 -9.96484195e-03 8.93203734e-01 2.48942099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:26.91, Z:24.91 [[ 7.12656240e-01 -5.98303593e-01 -3.66270248e-01 1.12388545e+02] [ 5.38342314e-01 8.01194465e-01 -2.61294819e-01 2.69129671e+01] [ 4.49787324e-01 -1.09653894e-02 8.93068375e-01 2.49068014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.920385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.41, Y:26.93, Z:24.92 [[ 7.11693821e-01 -5.99648025e-01 -3.65942824e-01 1.12406736e+02] [ 5.39894778e-01 8.00178719e-01 -2.61204223e-01 2.69301259e+01] [ 4.49450257e-01 -1.16731879e-02 8.93229088e-01 2.49188459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.42, Y:26.95, Z:24.93 [[ 7.10138703e-01 -6.01587758e-01 -3.65780251e-01 1.12422876e+02] [ 5.42056126e-01 7.98704834e-01 -2.61238864e-01 2.69491933e+01] [ 4.49308557e-01 -1.27575979e-02 8.93285545e-01 2.49312218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.44, Y:26.97, Z:24.94 [[ 7.09731416e-01 -6.02056923e-01 -3.65798822e-01 1.12441161e+02] [ 5.42502226e-01 7.98348603e-01 -2.61401689e-01 2.69670614e+01] [ 4.49413675e-01 -1.29216843e-02 8.93230306e-01 2.49427699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.46, Y:26.99, Z:24.95 [[ 7.10112086e-01 -6.01604437e-01 -3.65804494e-01 1.12457192e+02] [ 5.41920755e-01 7.98696187e-01 -2.61545973e-01 2.69860138e+01] [ 4.49513872e-01 -1.25100909e-02 8.93185746e-01 2.49545527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:27.00, Z:24.97 [[ 7.11179164e-01 -6.00781209e-01 -3.65083739e-01 1.12476543e+02] [ 5.41168898e-01 7.99326000e-01 -2.61178425e-01 2.70024338e+01] [ 4.48732015e-01 -1.18273104e-02 8.93588101e-01 2.49674797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.49, Y:27.02, Z:24.98 [[ 7.14435839e-01 -5.97669550e-01 -3.63830373e-01 1.12493733e+02] [ 5.38026189e-01 8.01684099e-01 -2.60442749e-01 2.70206324e+01] [ 4.47335726e-01 -9.68063485e-03 8.94313722e-01 2.49801447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.51, Y:27.04, Z:24.99 [[ 7.15911089e-01 -5.95911436e-01 -3.63814339e-01 1.12511218e+02] [ 5.35978968e-01 8.03005847e-01 -2.60591932e-01 2.70379001e+01] [ 4.47434754e-01 -8.43617984e-03 8.94276787e-01 2.49922765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:27.06, Z:25.00 [[ 7.17724373e-01 -5.93779561e-01 -3.63727312e-01 1.12529651e+02] [ 5.33573399e-01 8.04597122e-01 -2.60620220e-01 2.70557326e+01] [ 4.47404908e-01 -7.02173378e-03 8.94303944e-01 2.50038398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.55, Y:27.07, Z:25.02 [[ 7.22213172e-01 -5.88704745e-01 -3.63090701e-01 1.12546695e+02] [ 5.28031381e-01 8.08339622e-01 -2.60326556e-01 2.70746977e+01] [ 4.46756079e-01 -3.71201620e-03 8.94648102e-01 2.50152691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:27.09, Z:25.03 [[ 7.27236408e-01 -5.82420418e-01 -3.63199207e-01 1.12565213e+02] [ 5.20917592e-01 8.12887690e-01 -2.60496576e-01 2.70924475e+01] [ 4.46958689e-01 2.45737671e-04 8.94554565e-01 2.50275174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:27.11, Z:25.04 [[ 7.29362118e-01 -5.79290253e-01 -3.63941897e-01 1.12585090e+02] [ 5.17068472e-01 8.15118033e-01 -2.61194923e-01 2.71086187e+01] [ 4.47963276e-01 2.32280180e-03 8.94048940e-01 2.50397062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:27.12, Z:25.05 [[ 7.31442281e-01 -5.76318793e-01 -3.64484346e-01 1.12604768e+02] [ 5.13467573e-01 8.17213635e-01 -2.61749739e-01 2.71244729e+01] [ 4.48712871e-01 4.30393343e-03 8.93665617e-01 2.50512302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:27.14, Z:25.06 [[ 7.31298672e-01 -5.76550334e-01 -3.64406317e-01 1.12625532e+02] [ 5.13672160e-01 8.17050258e-01 -2.61858333e-01 2.71395621e+01] [ 4.48712785e-01 4.31127147e-03 8.93665625e-01 2.50637334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:27.16, Z:25.08 [[ 7.34540572e-01 -5.71637007e-01 -3.65624507e-01 1.12645355e+02] [ 5.07655413e-01 8.20472427e-01 -2.62889667e-01 2.71561883e+01] [ 4.50262289e-01 7.49186622e-03 8.92864907e-01 2.50752470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:27.17, Z:25.09 [[ 7.35974013e-01 -5.69851631e-01 -3.65528891e-01 1.12665210e+02] [ 5.05614745e-01 8.21701195e-01 -2.62984555e-01 2.71712022e+01] [ 4.50217704e-01 8.73300093e-03 8.92876113e-01 2.50864012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:27.19, Z:25.10 [[ 7.37688236e-01 -5.68165590e-01 -3.64697037e-01 1.12685994e+02] [ 5.03997326e-01 8.22855638e-01 -2.62479131e-01 2.71854185e+01] [ 4.49224624e-01 9.82143628e-03 8.93364862e-01 2.50983909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:27.20, Z:25.11 [[ 7.38449262e-01 -5.67631650e-01 -3.63987633e-01 1.12706560e+02] [ 5.03586078e-01 8.23218574e-01 -2.62130199e-01 2.71981470e+01] [ 4.48434778e-01 1.02707471e-02 8.93756545e-01 2.51106153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:27.21, Z:25.12 [[ 7.38660004e-01 -5.67497901e-01 -3.63768513e-01 1.12729106e+02] [ 5.03473148e-01 8.23308801e-01 -2.62063746e-01 2.72087905e+01] [ 4.48214444e-01 1.04283297e-02 8.93865237e-01 2.51240852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:27.22, Z:25.14 [[ 7.38399760e-01 -5.67867535e-01 -3.63720025e-01 1.12750617e+02] [ 5.03823861e-01 8.23054906e-01 -2.62187220e-01 2.72218729e+01] [ 4.48249161e-01 1.03481531e-02 8.93848760e-01 2.51368409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:27.24, Z:25.15 [[ 7.38313724e-01 -5.68002149e-01 -3.63684483e-01 1.12771811e+02] [ 5.03900622e-01 8.22961053e-01 -2.62334267e-01 2.72353321e+01] [ 4.48304592e-01 1.04241522e-02 8.93820077e-01 2.51493378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:27.25, Z:25.16 [[ 7.37659678e-01 -5.68151469e-01 -3.64776792e-01 1.12794050e+02] [ 5.03570513e-01 8.22856620e-01 -2.63293984e-01 2.72471971e+01] [ 4.49749862e-01 1.05305195e-02 8.93092476e-01 2.51607884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:27.26, Z:25.17 [[ 7.37118390e-01 -5.68510909e-01 -3.65310588e-01 1.12816024e+02] [ 5.03721067e-01 8.22609728e-01 -2.63777031e-01 2.72598638e+01] [ 4.50468163e-01 1.04202612e-02 8.92731680e-01 2.51726039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.580385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.84, Y:27.27, Z:25.19 [[ 7.36917541e-01 -5.69081450e-01 -3.64827138e-01 1.12840020e+02] [ 5.04454935e-01 8.22217767e-01 -2.63596589e-01 2.72694813e+01] [ 4.49975284e-01 1.02100997e-02 8.92982641e-01 2.51854087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:27.29, Z:25.19 [[ 7.36492555e-01 -5.75860454e-01 -3.54913305e-01 1.12858205e+02] [ 5.08375106e-01 8.17320205e-01 -2.71187083e-01 2.72903104e+01] [ 4.46243732e-01 1.92981785e-02 8.94703365e-01 2.51879475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:27.29, Z:25.21 [[ 7.37237467e-01 -5.66508611e-01 -3.68169678e-01 1.12886614e+02] [ 5.04718881e-01 8.24046720e-01 -2.57304984e-01 2.72869417e+01] [ 4.49154504e-01 3.87268645e-03 8.93445708e-01 2.52141840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:27.30, Z:25.22 [[ 7.37769462e-01 -5.68791005e-01 -3.63556066e-01 1.12907159e+02] [ 5.04422930e-01 8.22412702e-01 -2.63049149e-01 2.73030386e+01] [ 4.48613116e-01 1.06836128e-02 8.93662203e-01 2.52246662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.700385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.93, Y:27.33, Z:25.22 [[ 7.38353948e-01 -5.75620098e-01 -3.51418484e-01 1.12927175e+02] [ 5.07055189e-01 8.17372435e-01 -2.73491021e-01 2.73255993e+01] [ 4.44666710e-01 2.37446095e-02 8.95381322e-01 2.52234402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:27.32, Z:25.25 [[ 7.37805423e-01 -5.64125719e-01 -3.70682250e-01 1.12954825e+02] [ 5.03625610e-01 8.25688482e-01 -2.54164860e-01 2.73217461e+01] [ 4.49448999e-01 8.39137615e-04 8.93305599e-01 2.52511780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.98, Y:27.34, Z:25.26 [[ 7.37340146e-01 -5.68739744e-01 -3.64505986e-01 1.12978255e+02] [ 5.03822503e-01 8.22442802e-01 -2.64103620e-01 2.73360611e+01] [ 4.49991549e-01 1.10878834e-02 8.92963977e-01 2.52600133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.99, Y:27.37, Z:25.25 [[ 7.37298458e-01 -5.82398920e-01 -3.42348480e-01 1.12993450e+02] [ 5.10202747e-01 8.12195390e-01 -2.82898930e-01 2.73678372e+01] [ 4.42813888e-01 3.39138099e-02 8.95971938e-01 2.52495375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82038572300002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:113.03, Y:27.35, Z:25.29 [[ 7.36022579e-01 -5.61289875e-01 -3.78450049e-01 1.13027141e+02] [ 5.03348215e-01 8.27584370e-01 -2.48484778e-01 2.73505370e+01] [ 4.52671336e-01 -7.60174926e-03 8.91645039e-01 2.52902930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:27.40, Z:25.27 [[ 7.36852458e-01 -5.83358789e-01 -3.41673790e-01 1.13038371e+02] [ 5.09048859e-01 8.11331849e-01 -2.87419361e-01 2.73950301e+01] [ 4.44879438e-01 3.78570093e-02 8.94789993e-01 2.52712219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.07, Y:27.37, Z:25.32 [[ 7.36630197e-01 -5.58702569e-01 -3.81087120e-01 1.13073717e+02] [ 5.01360726e-01 8.29315755e-01 -2.46724140e-01 2.73723976e+01] [ 4.53886963e-01 -9.31766329e-03 8.91010553e-01 2.53169362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:27.40, Z:25.32 [[ 7.37429769e-01 -5.67215001e-01 -3.66693986e-01 1.13091756e+02] [ 5.01030200e-01 8.23473743e-01 -2.66194916e-01 2.73954922e+01] [ 4.52952619e-01 1.25752941e-02 8.91445897e-01 2.53227898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94038572300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.11, Y:27.40, Z:25.34 [[ 7.38368918e-01 -5.66792664e-01 -3.65455081e-01 1.13114854e+02] [ 5.00948520e-01 8.23758887e-01 -2.65465394e-01 2.74042258e+01] [ 4.51510709e-01 1.29372137e-02 8.92171905e-01 2.53364136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:27.42, Z:25.35 [[ 7.38362044e-01 -5.67011746e-01 -3.65128980e-01 1.13136299e+02] [ 5.01258288e-01 8.23608720e-01 -2.65346575e-01 2.74169195e+01] [ 4.51178036e-01 1.28979120e-02 8.92340755e-01 2.53494219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:27.43, Z:25.36 [[ 7.37959387e-01 -5.67803079e-01 -3.64713046e-01 1.13159788e+02] [ 5.02215307e-01 8.23068722e-01 -2.65212489e-01 2.74285457e+01] [ 4.50772368e-01 1.25515715e-02 8.92550688e-01 2.53611154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.18, Y:27.44, Z:25.37 [[ 7.37222781e-01 -5.68611468e-01 -3.64943241e-01 1.13181364e+02] [ 5.02942049e-01 8.22515370e-01 -2.65551805e-01 2.74408290e+01] [ 4.51167226e-01 1.22255388e-02 8.92355686e-01 2.53730598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.20, Y:27.45, Z:25.39 [[ 7.36441417e-01 -5.69593986e-01 -3.64988671e-01 1.13203564e+02] [ 5.03960661e-01 8.21842422e-01 -2.65704131e-01 2.74527870e+01] [ 4.51306649e-01 1.17355950e-02 8.92291760e-01 2.53858587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.22, Y:27.48, Z:25.38 [[ 7.35045546e-01 -5.84692757e-01 -3.43281844e-01 1.13222012e+02] [ 5.12677411e-01 8.10624470e-01 -2.82930806e-01 2.74798139e+01] [ 4.43700256e-01 3.19741815e-02 8.95604676e-01 2.53770545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:27.48, Z:25.40 [[ 7.32680161e-01 -5.80494386e-01 -3.55254908e-01 1.13250361e+02] [ 5.15164994e-01 8.14156469e-01 -2.67869879e-01 2.74796721e+01] [ 4.44730043e-01 1.32480532e-02 8.95566680e-01 2.53967300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.28, Y:27.47, Z:25.43 [[ 7.30895787e-01 -5.67868935e-01 -3.78571290e-01 1.13276537e+02] [ 5.11522048e-01 8.23014103e-01 -2.46967572e-01 2.74711335e+01] [ 4.51814722e-01 -1.31400036e-02 8.92015021e-01 2.54331741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:27.49, Z:25.44 [[ 7.30274787e-01 -5.77902382e-01 -3.64317955e-01 1.13295178e+02] [ 5.13315011e-01 8.16076488e-01 -2.65568947e-01 2.74943280e+01] [ 4.50784244e-01 6.92843100e-03 8.92606051e-01 2.54380341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:27.52, Z:25.43 [[ 7.28329569e-01 -5.93746008e-01 -3.42055138e-01 1.13314598e+02] [ 5.22393994e-01 8.04170485e-01 -2.83574233e-01 2.75241816e+01] [ 4.43441715e-01 2.78479489e-02 8.95870491e-01 2.54285518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:27.52, Z:25.45 [[ 7.24858041e-01 -5.90204889e-01 -3.55301294e-01 1.13342316e+02] [ 5.25701797e-01 8.07216080e-01 -2.68402350e-01 2.75242734e+01] [ 4.45217297e-01 7.77107304e-03 8.95388837e-01 2.54494838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.36, Y:27.53, Z:25.46 [[ 7.23065202e-01 -5.89918600e-01 -3.59406121e-01 1.13364383e+02] [ 5.28347515e-01 8.07462705e-01 -2.62398329e-01 2.75323252e+01] [ 4.45000693e-01 -1.60229749e-04 8.95530210e-01 2.54647020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:27.55, Z:25.48 [[ 7.21671229e-01 -5.93178446e-01 -3.56833251e-01 1.13386765e+02] [ 5.29037178e-01 8.05056268e-01 -2.68335741e-01 2.75475123e+01] [ 4.46441823e-01 4.87212801e-03 8.94799397e-01 2.54772010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:27.56, Z:25.49 [[ 7.19798193e-01 -5.94532647e-01 -3.58359447e-01 1.13409147e+02] [ 5.32147907e-01 8.04071461e-01 -2.65118258e-01 2.75572809e+01] [ 4.45768064e-01 1.31413169e-04 8.95148488e-01 2.54915307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.43, Y:27.57, Z:25.50 [[ 7.18988120e-01 -5.96465725e-01 -3.56769845e-01 1.13430379e+02] [ 5.33339680e-01 8.02636670e-01 -2.67063965e-01 2.75722561e+01] [ 4.45651061e-01 1.73630310e-03 8.95205070e-01 2.55026807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:27.58, Z:25.51 [[ 7.18281522e-01 -5.98275764e-01 -3.55158789e-01 1.13453642e+02] [ 5.34581457e-01 8.01284297e-01 -2.68637564e-01 2.75847083e+01] [ 4.45302505e-01 3.09609528e-03 8.95374834e-01 2.55135022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:27.58, Z:25.55 [[ 7.17456429e-01 -5.83886438e-01 -3.79911700e-01 1.13477431e+02] [ 5.30481871e-01 8.11433065e-01 -2.45286295e-01 2.75758649e+01] [ 4.51492256e-01 -2.55540401e-02 8.91909039e-01 2.55515619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:27.62, Z:25.53 [[ 7.18363017e-01 -6.05792812e-01 -3.42008252e-01 1.13494626e+02] [ 5.34165587e-01 7.95282338e-01 -2.86693438e-01 2.76193440e+01] [ 4.45669947e-01 2.32609244e-02 8.94895093e-01 2.55313135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480385723 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:113.52, Y:27.63, Z:25.55 [[ 7.21374120e-01 -5.98805959e-01 -3.47923558e-01 1.13524867e+02] [ 5.30911903e-01 8.00746543e-01 -2.77376144e-01 2.76272265e+01] [ 4.44693074e-01 1.53752141e-02 8.95551044e-01 2.55480977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510385723 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:113.55, Y:27.63, Z:25.57 [[ 7.22419758e-01 -5.90329032e-01 -3.60029620e-01 1.13549978e+02] [ 5.29276459e-01 8.07160965e-01 -2.61452875e-01 2.76320273e+01] [ 4.44945078e-01 -1.67647948e-03 8.95556289e-01 2.55678170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:27.64, Z:25.59 [[ 7.22726678e-01 -5.82961657e-01 -3.71243662e-01 1.13566706e+02] [ 5.25673491e-01 8.12399138e-01 -2.52339100e-01 2.76395858e+01] [ 4.48702050e-01 -1.27807525e-02 8.93590019e-01 2.55853102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:27.64, Z:25.62 [[ 7.25594646e-01 -5.68086160e-01 -3.88317556e-01 1.13588818e+02] [ 5.14251893e-01 8.22627676e-01 -2.42546278e-01 2.76369986e+01] [ 4.57227952e-01 -2.37027577e-02 8.89033621e-01 2.56190588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:27.67, Z:25.62 [[ 7.27770088e-01 -5.78332627e-01 -3.68621854e-01 1.13606078e+02] [ 5.11261226e-01 8.15758088e-01 -2.70463863e-01 2.76661721e+01] [ 4.57124335e-01 8.37344827e-03 8.89363383e-01 2.56179354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63038572300002 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:113.63, Y:27.69, Z:25.63 [[ 7.28319369e-01 -5.80483711e-01 -3.64128490e-01 1.13628132e+02] [ 5.09315241e-01 8.14077493e-01 -2.79062398e-01 2.76855559e+01] [ 4.58419985e-01 1.77903598e-02 8.88557607e-01 2.56262496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:27.69, Z:25.65 [[ 7.31392759e-01 -5.69729261e-01 -3.74797547e-01 1.13650401e+02] [ 5.06778804e-01 8.21832319e-01 -2.60320733e-01 2.76869498e+01] [ 4.56333076e-01 4.57246591e-04 8.89808921e-01 2.56460200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:27.71, Z:25.65 [[ 7.32160988e-01 -5.73798104e-01 -3.67009568e-01 1.13670660e+02] [ 5.06612515e-01 8.18915927e-01 -2.69667319e-01 2.77065215e+01] [ 4.55284577e-01 1.15082506e-02 8.90271596e-01 2.56539627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:27.75, Z:25.63 [[ 7.33494122e-01 -5.93700415e-01 -3.30917195e-01 1.13687492e+02] [ 5.11674252e-01 8.02788710e-01 -3.06136810e-01 2.77490149e+01] [ 4.47410139e-01 5.52277419e-02 8.92622016e-01 2.56309494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:27.74, Z:25.66 [[ 7.31986733e-01 -5.78791345e-01 -3.59438454e-01 1.13716472e+02] [ 5.13082121e-01 8.15389777e-01 -2.68116110e-01 2.77391265e+01] [ 4.48265725e-01 1.18359907e-02 8.93821990e-01 2.56635218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.780385723 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:113.74, Y:27.72, Z:25.70 [[ 7.32667668e-01 -5.61888629e-01 -3.84030283e-01 1.13741210e+02] [ 5.07186390e-01 8.27035087e-01 -2.42435415e-01 2.77237711e+01] [ 4.53828221e-01 -1.71503426e-02 8.90924133e-01 2.57013505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.76, Y:27.78, Z:25.67 [[ 7.33303187e-01 -5.92816894e-01 -3.32918259e-01 1.13755377e+02] [ 5.14776758e-01 8.03967871e-01 -2.97725632e-01 2.77817810e+01] [ 4.44152368e-01 4.69445728e-02 8.94720560e-01 2.56725466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:27.77, Z:25.70 [[ 7.32701166e-01 -5.78883213e-01 -3.57831282e-01 1.13782209e+02] [ 5.13967490e-01 8.15330465e-01 -2.66596422e-01 2.77721320e+01] [ 4.46078939e-01 1.14218630e-02 8.94920735e-01 2.57020126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870385723 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:113.81, Y:27.77, Z:25.74 [[ 7.30711268e-01 -5.69070715e-01 -3.77120093e-01 1.13805818e+02] [ 5.08040362e-01 8.22277765e-01 -2.56425951e-01 2.77688356e+01] [ 4.56021966e-01 -4.21889628e-03 8.89958520e-01 2.57364003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:27.78, Z:25.75 [[ 7.29441433e-01 -5.72945982e-01 -3.73695194e-01 1.13828092e+02] [ 5.11437801e-01 8.19588600e-01 -2.58274856e-01 2.77798162e+01] [ 4.54253862e-01 -2.72546748e-03 8.90868116e-01 2.57465030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:27.84, Z:25.71 [[ 7.28201766e-01 -6.03608474e-01 -3.24621316e-01 1.13840109e+02] [ 5.24183828e-01 7.95653599e-01 -3.03589632e-01 2.78374344e+01] [ 4.41535393e-01 5.09132618e-02 8.95798156e-01 2.57085264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:27.83, Z:25.74 [[ 7.24292403e-01 -5.92268043e-01 -3.53014279e-01 1.13869358e+02] [ 5.27790555e-01 8.05697001e-01 -2.68867018e-01 2.78284218e+01] [ 4.43663888e-01 8.42073657e-03 8.96153695e-01 2.57404727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:27.84, Z:25.75 [[ 7.23922504e-01 -5.93814927e-01 -3.51169533e-01 1.13889857e+02] [ 5.30249958e-01 8.04567879e-01 -2.67405143e-01 2.78427021e+01] [ 4.41328891e-01 7.37297017e-03 8.97315134e-01 2.57509593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.020385723 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:113.91, Y:27.84, Z:25.79 [[ 7.21853227e-01 -5.80474089e-01 -3.76799349e-01 1.13914311e+02] [ 5.22815373e-01 8.14147357e-01 -2.52642372e-01 2.78358610e+01] [ 4.53422545e-01 -1.46257809e-02 8.91175674e-01 2.57908343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:27.86, Z:25.80 [[ 7.22800560e-01 -5.84699716e-01 -3.68355252e-01 1.13931471e+02] [ 5.23036591e-01 8.11241198e-01 -2.61381796e-01 2.78562739e+01] [ 4.51654818e-01 -3.73636738e-03 8.92184939e-01 2.57973740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.080385723 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:113.95, Y:27.89, Z:25.80 [[ 7.20622670e-01 -5.94674432e-01 -3.56462183e-01 1.13947186e+02] [ 5.22718337e-01 8.03755160e-01 -2.84153451e-01 2.78868951e+01] [ 4.55487111e-01 1.84380994e-02 8.90051419e-01 2.57997494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:27.89, Z:25.82 [[ 7.20215122e-01 -5.87370812e-01 -3.69168941e-01 1.13967804e+02] [ 5.22833268e-01 8.09317908e-01 -2.67674985e-01 2.78924561e+01] [ 4.55999508e-01 -2.30231261e-04 8.89979997e-01 2.58210716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.140385723 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:113.99, Y:27.91, Z:25.83 [[ 7.21226895e-01 -5.89027762e-01 -3.64524433e-01 1.13988273e+02] [ 5.23237457e-01 8.08100860e-01 -2.70546788e-01 2.79112518e+01] [ 4.53932076e-01 4.39278266e-03 8.91025462e-01 2.58314253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.170385723 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:114.01, Y:27.93, Z:25.84 [[ 7.20880916e-01 -5.88790603e-01 -3.65590387e-01 1.14008204e+02] [ 5.23515370e-01 8.08280536e-01 -2.69470283e-01 2.79255623e+01] [ 4.54161164e-01 2.86379803e-03 8.90914943e-01 2.58444866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:27.93, Z:25.86 [[ 7.22726406e-01 -5.82979369e-01 -3.71216374e-01 1.14028261e+02] [ 5.24549776e-01 8.12416407e-01 -2.54611695e-01 2.79319959e+01] [ 4.50015638e-01 -1.07068709e-02 8.92956487e-01 2.58613951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230385723 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:114.05, Y:27.96, Z:25.86 [[ 7.22335180e-01 -5.92169699e-01 -3.57165137e-01 1.14046015e+02] [ 5.23765667e-01 8.05713007e-01 -2.76579239e-01 2.79594691e+01] [ 4.51554441e-01 1.27120786e-02 8.92153008e-01 2.58628669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260385723 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:114.07, Y:27.97, Z:25.88 [[ 7.21451029e-01 -5.91428362e-01 -3.60167885e-01 1.14068204e+02] [ 5.24899311e-01 8.06321385e-01 -2.72628938e-01 2.79735920e+01] [ 4.51651554e-01 7.63655369e-03 8.92161732e-01 2.58783521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:27.99, Z:25.90 [[ 7.20100154e-01 -5.91096977e-01 -3.63400787e-01 1.14088765e+02] [ 5.27983203e-01 8.06600347e-01 -2.65762334e-01 2.79850442e+01] [ 4.50210513e-01 -4.94013517e-04 8.92922309e-01 2.58957652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:28.00, Z:25.91 [[ 7.19560206e-01 -5.93758808e-01 -3.60116077e-01 1.14107896e+02] [ 5.28441017e-01 8.04630265e-01 -2.70777081e-01 2.80028934e+01] [ 4.50536571e-01 4.54030623e-03 8.92746427e-01 2.59065013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35038572300002 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:114.13, Y:28.01, Z:25.92 [[ 7.19951480e-01 -5.92494051e-01 -3.61414813e-01 1.14127202e+02] [ 5.29835977e-01 8.05574624e-01 -2.65185526e-01 2.80148414e+01] [ 4.48267448e-01 -5.69858716e-04 8.93899306e-01 2.59187674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:28.05, Z:25.91 [[ 7.20506088e-01 -6.03550087e-01 -3.41464889e-01 1.14143233e+02] [ 5.34259821e-01 7.97063849e-01 -2.81523825e-01 2.80488009e+01] [ 4.42083048e-01 2.04086592e-02 8.96741917e-01 2.59113631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:28.04, Z:25.96 [[ 7.20398304e-01 -5.83684571e-01 -3.74617946e-01 1.14169963e+02] [ 5.26126683e-01 8.11847174e-01 -2.53169664e-01 2.80356151e+01] [ 4.51903748e-01 -1.47135008e-02 8.91945355e-01 2.59567284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44038572300002 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:114.19, Y:28.07, Z:25.95 [[ 7.19734491e-01 -5.93825052e-01 -3.59658268e-01 1.14185598e+02] [ 5.23785136e-01 8.04485762e-01 -2.80092466e-01 2.80672126e+01] [ 4.55665879e-01 1.32085533e-02 8.90052886e-01 2.59541575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47038572300002 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:114.21, Y:28.10, Z:25.95 [[ 7.20592683e-01 -6.02578282e-01 -3.42995042e-01 1.14206767e+02] [ 5.25188072e-01 7.97328114e-01 -2.97397659e-01 2.80994222e+01] [ 4.52684961e-01 3.41656724e-02 8.91015731e-01 2.59497315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:28.07, Z:26.01 [[ 7.16609159e-01 -5.76178622e-01 -3.93051536e-01 1.14232272e+02] [ 5.24929784e-01 8.16602704e-01 -2.40018219e-01 2.80747042e+01] [ 4.59260314e-01 -3.43252038e-02 8.87638296e-01 2.60052950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530385723 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:114.25, Y:28.11, Z:26.00 [[ 7.18701195e-01 -5.90265956e-01 -3.67497883e-01 1.14249001e+02] [ 5.25559547e-01 8.07208833e-01 -2.68702553e-01 2.81069111e+01] [ 4.55253506e-01 -2.51747534e-05 8.90361861e-01 2.59998189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.560385723 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:114.27, Y:28.12, Z:26.01 [[ 7.16875789e-01 -5.93283786e-01 -3.66201384e-01 1.14268668e+02] [ 5.27068859e-01 8.04990249e-01 -2.72376792e-01 2.81238017e+01] [ 4.56385277e-01 2.24698183e-03 8.89779428e-01 2.60135095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:114.28, Y:28.15, Z:26.01 [[ 7.16861262e-01 -6.00551958e-01 -3.54185370e-01 1.14283487e+02] [ 5.33629605e-01 7.99539593e-01 -2.75637234e-01 2.81450358e+01] [ 4.48719707e-01 8.58985641e-03 8.93631266e-01 2.60116525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.31, Y:28.16, Z:26.03 [[ 7.14945988e-01 -6.02251447e-01 -3.55169578e-01 1.14306756e+02] [ 5.34531260e-01 7.98259978e-01 -2.77592037e-01 2.81608039e+01] [ 4.50697866e-01 8.61407077e-03 8.92634993e-01 2.60263921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650385723 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:114.33, Y:28.16, Z:26.05 [[ 7.15442473e-01 -5.92432535e-01 -3.70358960e-01 1.14330420e+02] [ 5.31539533e-01 8.05563278e-01 -2.61789095e-01 2.81610183e+01] [ 4.53439956e-01 -9.56539134e-03 8.91235496e-01 2.60540801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.680385723 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:114.35, Y:28.20, Z:26.04 [[ 7.15376193e-01 -6.08856836e-01 -3.42826859e-01 1.14347383e+02] [ 5.33812674e-01 7.92806971e-01 -2.94110752e-01 2.82008199e+01] [ 4.50866866e-01 2.73945077e-02 8.92170729e-01 2.60424027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:28.19, Z:26.07 [[ 7.13489566e-01 -5.95859997e-01 -3.68623797e-01 1.14367614e+02] [ 5.37239898e-01 8.02968233e-01 -2.58099417e-01 2.81945345e+01] [ 4.49784317e-01 -1.38881705e-02 8.93029220e-01 2.60696073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.740385723 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:114.39, Y:28.21, Z:26.09 [[ 7.13029394e-01 -5.96459583e-01 -3.68544500e-01 1.14389836e+02] [ 5.34251331e-01 8.02606094e-01 -2.65328048e-01 2.82103328e+01] [ 4.54053518e-01 -7.70869217e-03 8.90941063e-01 2.60888331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770385723 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:114.41, Y:28.23, Z:26.10 [[ 7.13163661e-01 -6.00299617e-01 -3.61991659e-01 1.14408118e+02] [ 5.34598586e-01 7.99774267e-01 -2.73066794e-01 2.82299081e+01] [ 4.53433506e-01 1.22108541e-03 8.91289271e-01 2.60985046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.800385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.42, Y:28.26, Z:26.10 [[ 7.12572611e-01 -6.08466367e-01 -3.49297801e-01 1.14423813e+02] [ 5.38020816e-01 7.93440631e-01 -2.84579632e-01 2.82572876e+01] [ 4.50304203e-01 1.48541638e-02 8.92751633e-01 2.60984869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.45, Y:28.27, Z:26.12 [[ 7.13057311e-01 -6.04262325e-01 -3.55550718e-01 1.14445065e+02] [ 5.35956389e-01 7.96739774e-01 -2.79206880e-01 2.82687340e+01] [ 4.51995597e-01 8.53082889e-03 8.91979375e-01 2.61157282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:28.28, Z:26.13 [[ 7.13898810e-01 -5.99045394e-01 -3.62619780e-01 1.14465725e+02] [ 5.34689230e-01 8.00714375e-01 -2.70118341e-01 2.82786500e+01] [ 4.52168019e-01 -1.05172926e-03 8.91932159e-01 2.61320040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:114.48, Y:28.31, Z:26.13 [[ 7.14871326e-01 -6.09169986e-01 -3.43323340e-01 1.14482432e+02] [ 5.34755210e-01 7.92620165e-01 -2.92899539e-01 2.83125557e+01] [ 4.50550610e-01 2.57915368e-02 8.92378252e-01 2.61272506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.920385723 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:114.51, Y:28.30, Z:26.17 [[ 7.15220083e-01 -5.89442838e-01 -3.75522800e-01 1.14508986e+02] [ 5.27603645e-01 8.07748033e-01 -2.63016175e-01 2.83017905e+01] [ 4.58360804e-01 -1.00127479e-02 8.88709806e-01 2.61653273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.950385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.53, Y:28.32, Z:26.18 [[ 7.16553610e-01 -5.90782294e-01 -3.70846607e-01 1.14526712e+02] [ 5.24582321e-01 8.06830994e-01 -2.71729895e-01 2.83198554e+01] [ 4.59743747e-01 1.69463285e-04 8.88051608e-01 2.61751015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.55, Y:28.34, Z:26.19 [[ 7.16290077e-01 -5.93314727e-01 -3.67295740e-01 1.14547743e+02] [ 5.25095815e-01 8.04954927e-01 -2.76264276e-01 2.83394033e+01] [ 4.59568180e-01 5.01990392e-03 8.88128307e-01 2.61865643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.56, Y:28.36, Z:26.18 [[ 7.18371600e-01 -5.98694308e-01 -3.54270193e-01 1.14564136e+02] [ 5.31839282e-01 8.00924868e-01 -2.75075143e-01 2.83632185e+01] [ 4.48429730e-01 9.19136558e-03 8.93770830e-01 2.61824834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:28.37, Z:26.20 [[ 7.19894531e-01 -5.94221594e-01 -3.58681699e-01 1.14586057e+02] [ 5.28004991e-01 8.04271604e-01 -2.72686479e-01 2.83743476e+01] [ 4.50513700e-01 6.91977778e-03 8.92742697e-01 2.62006801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.61, Y:28.39, Z:26.21 [[ 7.22072288e-01 -5.96356685e-01 -3.50671237e-01 1.14606821e+02] [ 5.26443972e-01 8.02515016e-01 -2.80760384e-01 2.83932950e+01] [ 4.48852265e-01 1.81205339e-02 8.93422235e-01 2.62093225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.63, Y:28.40, Z:26.23 [[ 7.21348625e-01 -5.93290369e-01 -3.57299173e-01 1.14627313e+02] [ 5.24628692e-01 8.04889775e-01 -2.77339476e-01 2.84041883e+01] [ 4.52129291e-01 1.26090512e-02 8.91863283e-01 2.62275121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.65, Y:28.42, Z:26.24 [[ 7.21320882e-01 -5.92175247e-01 -3.59200030e-01 1.14648204e+02] [ 5.22986915e-01 8.05708896e-01 -2.78060894e-01 2.84181642e+01] [ 4.54071438e-01 1.27142136e-02 8.90874558e-01 2.62423385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:28.44, Z:26.25 [[ 7.20032814e-01 -5.97593248e-01 -3.52753536e-01 1.14666871e+02] [ 5.25755174e-01 8.01560637e-01 -2.84749087e-01 2.84406132e+01] [ 4.52917481e-01 1.95666898e-02 8.91337702e-01 2.62467658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:28.44, Z:26.27 [[ 7.19239804e-01 -5.89544338e-01 -3.67602474e-01 1.14689870e+02] [ 5.24228542e-01 8.07734995e-01 -2.69719509e-01 2.84428288e+01] [ 4.55936991e-01 1.28529736e-03 8.90011128e-01 2.62717413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:28.46, Z:26.28 [[ 7.19781879e-01 -5.90930827e-01 -3.64300430e-01 1.14709867e+02] [ 5.24144598e-01 8.06703352e-01 -2.72950804e-01 2.84594362e+01] [ 4.55177423e-01 5.51894045e-03 8.90383656e-01 2.62844121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.73, Y:28.47, Z:26.30 [[ 7.18479339e-01 -5.93015080e-01 -3.63483913e-01 1.14729560e+02] [ 5.24312921e-01 8.05145651e-01 -2.77193869e-01 2.84748975e+01] [ 4.57037636e-01 8.57875603e-03 8.89405984e-01 2.62979468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.75, Y:28.48, Z:26.32 [[ 7.18840191e-01 -5.88016429e-01 -3.70817285e-01 1.14754430e+02] [ 5.18180091e-01 8.08812102e-01 -2.78051031e-01 2.84842626e+01] [ 4.63420083e-01 7.72412158e-03 8.86105053e-01 2.63224400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:28.51, Z:26.32 [[ 7.18552180e-01 -5.92890219e-01 -3.63543605e-01 1.14768690e+02] [ 5.22359445e-01 8.05196762e-01 -2.80711214e-01 2.85055691e+01] [ 4.59155066e-01 1.18052190e-02 8.88277694e-01 2.63224260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.340385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.79, Y:28.51, Z:26.34 [[ 7.20987135e-01 -5.82300193e-01 -3.75638173e-01 1.14786325e+02] [ 5.21401286e-01 8.12925910e-01 -2.59407330e-01 2.85060916e+01] [ 4.56418942e-01 -8.82887868e-03 8.89721193e-01 2.63427309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:28.54, Z:26.34 [[ 7.21133981e-01 -5.95178953e-01 -3.54581154e-01 1.14804725e+02] [ 5.21650368e-01 8.03283467e-01 -2.87430974e-01 2.85414861e+01] [ 4.55902045e-01 2.23088533e-02 8.89750325e-01 2.63417393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:28.55, Z:26.36 [[ 7.21355202e-01 -5.91525636e-01 -3.60200077e-01 1.14828898e+02] [ 5.21573985e-01 8.06170526e-01 -2.79373694e-01 2.85513696e+01] [ 4.55639388e-01 1.36566784e-02 8.90059685e-01 2.63604972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:28.56, Z:26.38 [[ 7.20449292e-01 -5.87658486e-01 -3.68253067e-01 1.14850412e+02] [ 5.21596586e-01 8.09103669e-01 -2.70718034e-01 2.85578861e+01] [ 4.57044658e-01 2.95907327e-03 8.89438826e-01 2.63816363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:28.58, Z:26.39 [[ 7.18179967e-01 -5.92595875e-01 -3.64756993e-01 1.14868344e+02] [ 5.21270156e-01 8.05403073e-01 -2.82140594e-01 2.85770032e+01] [ 4.60971755e-01 1.24907884e-02 8.87326896e-01 2.63927946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:28.59, Z:26.41 [[ 7.19288009e-01 -5.88534680e-01 -3.69122866e-01 1.14891563e+02] [ 5.18330541e-01 8.08418577e-01 -2.78913703e-01 2.85866172e+01] [ 4.62556170e-01 9.29162720e-03 8.86541288e-01 2.64123863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.520385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:114.91, Y:28.61, Z:26.42 [[ 7.19593725e-01 -5.91352694e-01 -3.63987449e-01 1.14910137e+02] [ 5.22944880e-01 8.06369072e-01 -2.76220152e-01 2.86059467e+01] [ 4.56851752e-01 8.42091542e-03 8.89502987e-01 2.64172811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:28.61, Z:26.44 [[ 7.19533212e-01 -5.82636194e-01 -3.77898165e-01 1.14932739e+02] [ 5.17561244e-01 8.12727378e-01 -2.67590297e-01 2.86091984e+01] [ 4.63035977e-01 -3.04533819e-03 8.86334254e-01 2.64448997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:28.64, Z:26.44 [[ 7.19037956e-01 -5.95476951e-01 -3.58317762e-01 1.14946846e+02] [ 5.22355924e-01 8.03151274e-01 -2.86517575e-01 2.86427237e+01] [ 4.58397979e-01 1.88476059e-02 8.88547163e-01 2.64359327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:28.64, Z:26.47 [[ 7.19725527e-01 -5.82915648e-01 -3.77100137e-01 1.14972778e+02] [ 5.16173739e-01 8.12532626e-01 -2.70842028e-01 2.86414904e+01] [ 4.64284221e-01 2.82733307e-04 8.85686221e-01 2.64685045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:28.67, Z:26.47 [[ 7.18587563e-01 -5.91628814e-01 -3.65523270e-01 1.14990799e+02] [ 5.15921802e-01 8.05962532e-01 -2.90256942e-01 2.86685278e+01] [ 4.66322430e-01 1.99936047e-02 8.84388855e-01 2.64725063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.670385723 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:115.01, Y:28.68, Z:26.49 [[ 7.19081758e-01 -5.87864711e-01 -3.70589404e-01 1.15011219e+02] [ 5.14922031e-01 8.08849146e-01 -2.83933726e-01 2.86790461e+01] [ 4.66665541e-01 1.33469145e-02 8.84333157e-01 2.64873187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:28.68, Z:26.51 [[ 7.19958048e-01 -5.79602779e-01 -3.81734237e-01 1.15033373e+02] [ 5.17188327e-01 8.14850014e-01 -2.61793218e-01 2.86816103e+01] [ 4.62792225e-01 -8.94835787e-03 8.86421617e-01 2.65094352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:28.70, Z:26.52 [[ 7.20140649e-01 -5.86838445e-01 -3.70159540e-01 1.15051749e+02] [ 5.17652707e-01 8.09669029e-01 -2.76535241e-01 2.87048779e+01] [ 4.61988226e-01 7.53018047e-03 8.86854089e-01 2.65157066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:28.72, Z:26.53 [[ 7.20020529e-01 -5.87276719e-01 -3.69697841e-01 1.15071965e+02] [ 5.18242214e-01 8.09352482e-01 -2.76357681e-01 2.87180130e+01] [ 4.61514297e-01 7.39017600e-03 8.87101989e-01 2.65302456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:28.73, Z:26.54 [[ 7.19953263e-01 -5.87574869e-01 -3.69354942e-01 1.15091411e+02] [ 5.18618098e-01 8.09136346e-01 -2.76285434e-01 2.87332356e+01] [ 4.61196886e-01 7.35844225e-03 8.87267313e-01 2.65419513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:28.75, Z:26.55 [[ 7.19626004e-01 -5.87856810e-01 -3.69544024e-01 1.15111308e+02] [ 5.18775548e-01 8.08931791e-01 -2.76588662e-01 2.87491145e+01] [ 4.61530438e-01 7.32998991e-03 8.87094091e-01 2.65539988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:28.77, Z:26.57 [[ 7.19162904e-01 -5.88131215e-01 -3.70008636e-01 1.15131928e+02] [ 5.18805482e-01 8.08732320e-01 -2.77115331e-01 2.87652488e+01] [ 4.62218119e-01 7.32855758e-03 8.86735983e-01 2.65652689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:28.78, Z:26.58 [[ 7.18510845e-01 -5.88610846e-01 -3.70512399e-01 1.15151520e+02] [ 5.19050319e-01 8.08384501e-01 -2.77671145e-01 2.87794043e+01] [ 4.62956728e-01 7.19515082e-03 8.86351678e-01 2.65776978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:28.79, Z:26.59 [[ 7.17423115e-01 -5.89983341e-01 -3.70437216e-01 1.15172659e+02] [ 5.20561133e-01 8.07389898e-01 -2.77736674e-01 2.87929669e+01] [ 4.62947277e-01 6.41949312e-03 8.86362572e-01 2.65912511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:28.81, Z:26.60 [[ 7.16735601e-01 -5.90978170e-01 -3.70182227e-01 1.15191980e+02] [ 5.21690513e-01 8.06665735e-01 -2.77721805e-01 2.88060038e+01] [ 4.62740843e-01 5.93254896e-03 8.86473755e-01 2.66044401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:28.82, Z:26.62 [[ 7.15772388e-01 -5.92805442e-01 -3.69122738e-01 1.15211695e+02] [ 5.24086172e-01 8.05330938e-01 -2.77084399e-01 2.88189473e+01] [ 4.61523101e-01 4.87723865e-03 8.87114784e-01 2.66175580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:28.83, Z:26.63 [[ 7.15568597e-01 -5.93395329e-01 -3.68569622e-01 1.15230525e+02] [ 5.24887563e-01 8.04897847e-01 -2.76825760e-01 2.88334865e+01] [ 4.60928008e-01 4.63020999e-03 8.87425452e-01 2.66294675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:28.85, Z:26.64 [[ 7.15604778e-01 -5.93420187e-01 -3.68459338e-01 1.15250245e+02] [ 5.24897627e-01 8.04878999e-01 -2.76861477e-01 2.88487463e+01] [ 4.60860372e-01 4.71996355e-03 8.87460106e-01 2.66421368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:28.86, Z:26.66 [[ 7.15453393e-01 -5.93655796e-01 -3.68373776e-01 1.15270518e+02] [ 5.25104042e-01 8.04705187e-01 -2.76975280e-01 2.88641567e+01] [ 4.60860269e-01 4.72834488e-03 8.87460115e-01 2.66551615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:28.88, Z:26.67 [[ 7.15230595e-01 -5.94004033e-01 -3.68245034e-01 1.15290550e+02] [ 5.25460353e-01 8.04448607e-01 -2.77044864e-01 2.88803882e+01] [ 4.60799971e-01 4.65279742e-03 8.87491824e-01 2.66670848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:28.90, Z:26.68 [[ 7.14845966e-01 -5.94218826e-01 -3.68645129e-01 1.15310431e+02] [ 5.25450634e-01 8.04289789e-01 -2.77523994e-01 2.88962381e+01] [ 4.61407495e-01 4.68209131e-03 8.87175970e-01 2.66794389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:115.33, Y:28.91, Z:26.69 [[ 7.14737242e-01 -5.94191779e-01 -3.68899451e-01 1.15330749e+02] [ 5.25225697e-01 8.04308678e-01 -2.77894796e-01 2.89119007e+01] [ 4.61831833e-01 4.86628886e-03 8.86954157e-01 2.66905804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:28.93, Z:26.70 [[ 7.14655275e-01 -5.94135720e-01 -3.69148458e-01 1.15349942e+02] [ 5.24968459e-01 8.04348819e-01 -2.78264432e-01 2.89261145e+01] [ 4.62250965e-01 5.07184753e-03 8.86734640e-01 2.67047218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:115.37, Y:28.94, Z:26.72 [[ 7.15286623e-01 -5.93249642e-01 -3.69350659e-01 1.15368996e+02] [ 5.23800093e-01 8.04997612e-01 -2.78589854e-01 2.89428999e+01] [ 4.62599730e-01 5.80568634e-03 8.86548241e-01 2.67167740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:28.96, Z:26.73 [[ 7.15741238e-01 -5.92639444e-01 -3.69449550e-01 1.15387377e+02] [ 5.22977079e-01 8.05442677e-01 -2.78849543e-01 2.89585734e+01] [ 4.62827673e-01 6.37047064e-03 8.86425384e-01 2.67282890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:28.98, Z:26.74 [[ 7.16759575e-01 -5.91508445e-01 -3.69287789e-01 1.15406141e+02] [ 5.21674117e-01 8.06266082e-01 -2.78910597e-01 2.89757312e+01] [ 4.62722192e-01 7.26395959e-03 8.86473580e-01 2.67402926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:28.99, Z:26.75 [[ 7.17128743e-01 -5.91001632e-01 -3.69382508e-01 1.15425626e+02] [ 5.20969092e-01 8.06633016e-01 -2.79167304e-01 2.89912507e+01] [ 4.62944459e-01 7.76202805e-03 8.86353304e-01 2.67533305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:29.01, Z:26.77 [[ 7.17501345e-01 -5.90535779e-01 -3.69403997e-01 1.15444225e+02] [ 5.20340142e-01 8.06969481e-01 -2.79367845e-01 2.90057661e+01] [ 4.63074460e-01 8.23107633e-03 8.86281160e-01 2.67656661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:29.02, Z:26.78 [[ 7.18012933e-01 -5.89773319e-01 -3.69628004e-01 1.15464252e+02] [ 5.19327031e-01 8.07520431e-01 -2.79660845e-01 2.90205190e+01] [ 4.63418670e-01 8.84229005e-03 8.86095339e-01 2.67789813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.48, Y:29.03, Z:26.79 [[ 7.18398394e-01 -5.89380926e-01 -3.69504901e-01 1.15483448e+02] [ 5.18847823e-01 8.07802359e-01 -2.79736099e-01 2.90349091e+01] [ 4.63358051e-01 9.24515104e-03 8.86122928e-01 2.67914865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.50, Y:29.05, Z:26.80 [[ 7.18810502e-01 -5.88798436e-01 -3.69632065e-01 1.15502320e+02] [ 5.18055777e-01 8.08220812e-01 -2.79995234e-01 2.90510422e+01] [ 4.63605084e-01 9.77348801e-03 8.85988039e-01 2.68031332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:29.07, Z:26.81 [[ 7.18547458e-01 -5.88969745e-01 -3.69870504e-01 1.15521591e+02] [ 5.18060532e-01 8.08095318e-01 -2.80348430e-01 2.90673699e+01] [ 4.64007366e-01 9.82834199e-03 8.85776816e-01 2.68147157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:29.08, Z:26.83 [[ 7.18389711e-01 -5.89179552e-01 -3.69842776e-01 1.15541417e+02] [ 5.18214725e-01 8.07942048e-01 -2.80505161e-01 2.90832908e+01] [ 4.64079435e-01 9.85404899e-03 8.85738774e-01 2.68274114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:29.10, Z:26.84 [[ 7.18307038e-01 -5.89536348e-01 -3.69434559e-01 1.15561374e+02] [ 5.18690874e-01 8.07682752e-01 -2.80371806e-01 2.90980464e+01] [ 4.63675292e-01 9.77070678e-03 8.85951329e-01 2.68407513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:29.11, Z:26.85 [[ 7.18158594e-01 -5.90122154e-01 -3.68787306e-01 1.15581868e+02] [ 5.19523402e-01 8.07257721e-01 -2.80054294e-01 2.91130461e+01] [ 4.62972643e-01 9.52976194e-03 8.86321339e-01 2.68538207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.60, Y:29.13, Z:26.87 [[ 7.17798562e-01 -5.90819842e-01 -3.68370926e-01 1.15601003e+02] [ 5.20387278e-01 8.06750784e-01 -2.79911153e-01 2.91277970e+01] [ 4.62560596e-01 9.22427952e-03 8.86539682e-01 2.68663505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:29.14, Z:26.88 [[ 7.17967210e-01 -5.91181506e-01 -3.67460900e-01 1.15620654e+02] [ 5.21083607e-01 8.06487161e-01 -2.79374898e-01 2.91440456e+01] [ 4.61513771e-01 9.10416454e-03 8.87086328e-01 2.68779247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63038572300002 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:115.64, Y:29.16, Z:26.89 [[ 7.17910221e-01 -5.91495217e-01 -3.67067191e-01 1.15639687e+02] [ 5.21506949e-01 8.06257759e-01 -2.79247075e-01 2.91590854e+01] [ 4.61124080e-01 9.04623888e-03 8.87289552e-01 2.68895208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:29.17, Z:26.90 [[ 7.17395016e-01 -5.92213983e-01 -3.66915507e-01 1.15658590e+02] [ 5.22289689e-01 8.05733440e-01 -2.79297519e-01 2.91740558e+01] [ 4.61039990e-01 8.73046224e-03 8.87336411e-01 2.69014063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.67, Y:29.21, Z:26.89 [[ 7.18342253e-01 -6.06534202e-01 -3.40735483e-01 1.15671569e+02] [ 5.29662644e-01 7.94365901e-01 -2.97389137e-01 2.92110641e+01] [ 4.51045332e-01 3.31523261e-02 8.91885100e-01 2.68876183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:115.70, Y:29.20, Z:26.93 [[ 7.17477002e-01 -5.84546341e-01 -3.78856603e-01 1.15699699e+02] [ 5.22147308e-01 8.11308600e-01 -2.62945896e-01 2.91953052e+01] [ 4.61073682e-01 -9.16132243e-03 8.87314561e-01 2.69338505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.71, Y:29.24, Z:26.91 [[ 7.18747193e-01 -6.07025353e-01 -3.39002497e-01 1.15708379e+02] [ 5.28943088e-01 7.93851406e-01 -3.00031922e-01 2.92440273e+01] [ 4.51244592e-01 3.63340749e-02 8.91660335e-01 2.69097000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:29.22, Z:26.96 [[ 7.18069367e-01 -5.82441600e-01 -3.80970033e-01 1.15737860e+02] [ 5.20357538e-01 8.12808461e-01 -2.61859578e-01 2.92233471e+01] [ 4.62173578e-01 -1.02072870e-02 8.86730734e-01 2.69609624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:29.27, Z:26.94 [[ 7.18002556e-01 -6.02771525e-01 -3.48050024e-01 1.15749457e+02] [ 5.25851021e-01 7.97364756e-01 -2.96125228e-01 2.92688112e+01] [ 4.56018677e-01 2.95962098e-02 8.89477954e-01 2.69406137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:29.26, Z:26.98 [[ 7.17631667e-01 -5.84672065e-01 -3.78369352e-01 1.15776629e+02] [ 5.19350416e-01 8.11260968e-01 -2.68571755e-01 2.92583244e+01] [ 4.63982689e-01 -3.77068391e-03 8.85836241e-01 2.69810896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:115.79, Y:29.28, Z:26.99 [[ 7.14755897e-01 -5.90393172e-01 -3.74913203e-01 1.15788639e+02] [ 5.23943892e-01 8.07113479e-01 -2.72122454e-01 2.92782137e+01] [ 4.63256739e-01 -1.93235398e-03 8.86222015e-01 2.69865698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:29.31, Z:26.99 [[ 7.17109231e-01 -6.00453014e-01 -3.53850998e-01 1.15812584e+02] [ 5.22827534e-01 7.99180856e-01 -2.96582753e-01 2.93063570e+01] [ 4.60874951e-01 2.76791857e-02 8.87033338e-01 2.69916840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:29.31, Z:27.01 [[ 7.12663477e-01 -5.98207541e-01 -3.66413028e-01 1.15827138e+02] [ 5.32101936e-01 8.01341195e-01 -2.73349260e-01 2.93074727e+01] [ 4.57141443e-01 -1.63047550e-04 8.89393993e-01 2.70090072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.960385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:115.85, Y:29.33, Z:27.02 [[ 7.11475275e-01 -6.06014040e-01 -3.55738550e-01 1.15845630e+02] [ 5.33769668e-01 7.95321038e-01 -2.87322793e-01 2.93310766e+01] [ 4.57048000e-01 1.45406156e-02 8.89323167e-01 2.70169146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:29.35, Z:27.03 [[ 7.14243909e-01 -6.05332804e-01 -3.51322978e-01 1.15875725e+02] [ 5.29616607e-01 7.95610224e-01 -2.94126880e-01 2.93487943e+01] [ 4.57560802e-01 2.40118483e-02 8.88854062e-01 2.70337402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:29.36, Z:27.05 [[ 7.13282987e-01 -5.99679137e-01 -3.62784115e-01 1.15897222e+02] [ 5.31336580e-01 8.00221034e-01 -2.78078650e-01 2.93556818e+01] [ 4.57065444e-01 5.58829908e-03 8.89415511e-01 2.70526757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:29.37, Z:27.06 [[ 7.11787735e-01 -6.00785989e-01 -3.63887917e-01 1.15917601e+02] [ 5.32053667e-01 7.99394011e-01 -2.79084416e-01 2.93706405e+01] [ 4.58559828e-01 5.04096390e-03 8.88649241e-01 2.70647628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:29.39, Z:27.08 [[ 7.10852223e-01 -6.01551689e-01 -3.64451208e-01 1.15938125e+02] [ 5.32597827e-01 7.98819982e-01 -2.79689456e-01 2.93859142e+01] [ 4.59378572e-01 4.71194985e-03 8.88228082e-01 2.70773434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:29.40, Z:27.09 [[ 7.09979448e-01 -6.02450607e-01 -3.64667587e-01 1.15957922e+02] [ 5.33429618e-01 7.98144623e-01 -2.80032147e-01 2.94004793e+01] [ 4.59763011e-01 4.29257788e-03 8.88031276e-01 2.70896813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.140385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:115.97, Y:29.43, Z:27.07 [[ 7.06220572e-01 -6.19619954e-01 -3.42525352e-01 1.15965601e+02] [ 5.45786109e-01 7.84628139e-01 -2.94068372e-01 2.94344326e+01] [ 4.50965660e-01 2.07315546e-02 8.92300497e-01 2.70749163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.170385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:116.00, Y:29.42, Z:27.12 [[ 7.07483131e-01 -6.02736551e-01 -3.69020690e-01 1.15998689e+02] [ 5.36985516e-01 7.97927784e-01 -2.73784233e-01 2.94247120e+01] [ 4.59471626e-01 -4.46103943e-03 8.88181245e-01 2.71190513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.200385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:116.01, Y:29.46, Z:27.11 [[ 7.03394445e-01 -6.18454688e-01 -3.50357039e-01 1.16006512e+02] [ 5.49035231e-01 7.85780074e-01 -2.84798157e-01 2.94567662e+01] [ 4.51438335e-01 7.96708371e-03 8.92266751e-01 2.71099812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:116.03, Y:29.47, Z:27.13 [[ 7.02564263e-01 -6.18774725e-01 -3.51455967e-01 1.16026771e+02] [ 5.49963994e-01 7.85545609e-01 -2.83650670e-01 2.94700855e+01] [ 4.51600556e-01 5.99469680e-03 8.92200090e-01 2.71252697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260385723 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:116.05, Y:29.48, Z:27.14 [[ 7.01127780e-01 -6.19044101e-01 -3.53842107e-01 1.16047036e+02] [ 5.52292518e-01 7.85355975e-01 -2.79622902e-01 2.94816186e+01] [ 4.50990921e-01 6.27036308e-04 8.92528317e-01 2.71425139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290385723 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:116.08, Y:29.49, Z:27.16 [[ 7.02751031e-01 -6.17230870e-01 -3.53789543e-01 1.16075339e+02] [ 5.47633863e-01 7.86756077e-01 -2.84801735e-01 2.94949463e+01] [ 4.54134496e-01 6.39757874e-03 8.90910170e-01 2.71621826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32038572300002 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:116.09, Y:29.51, Z:27.17 [[ 6.99505132e-01 -6.20892032e-01 -3.53815847e-01 1.16087971e+02] [ 5.54218657e-01 7.83896037e-01 -2.79908348e-01 2.95127625e+01] [ 4.51147703e-01 -2.94017678e-04 8.92449250e-01 2.71668651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:116.12, Y:29.52, Z:27.19 [[ 7.00034492e-01 -6.17990432e-01 -3.57826125e-01 1.16115344e+02] [ 5.50582582e-01 7.86185433e-01 -2.80662227e-01 2.95225344e+01] [ 4.54764258e-01 -5.39592160e-04 8.90611688e-01 2.71895210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38038572300002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:116.14, Y:29.54, Z:27.20 [[ 6.99366352e-01 -6.17302685e-01 -3.60311116e-01 1.16135207e+02] [ 5.51462362e-01 7.86711912e-01 -2.77441219e-01 2.95359995e+01] [ 4.54726257e-01 -4.66496587e-03 8.90619037e-01 2.72045232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.15, Y:29.55, Z:27.22 [[ 6.98232294e-01 -6.18673417e-01 -3.60159502e-01 1.16153097e+02] [ 5.52973638e-01 7.85629715e-01 -2.77499741e-01 2.95531699e+01] [ 4.54633719e-01 -5.39942964e-03 8.90662129e-01 2.72156210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:29.58, Z:27.22 [[ 6.94510328e-01 -6.25004161e-01 -3.56405952e-01 1.16168121e+02] [ 5.54756075e-01 7.80618249e-01 -2.87890339e-01 2.95780353e+01] [ 4.58149650e-01 2.22444704e-03 8.88872291e-01 2.72202334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:116.19, Y:29.58, Z:27.24 [[ 6.97260546e-01 -6.17310640e-01 -3.64356013e-01 1.16190846e+02] [ 5.54233558e-01 7.86624848e-01 -2.72114886e-01 2.95841509e+01] [ 4.54590908e-01 -1.22033555e-02 8.90616744e-01 2.72421459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:116.20, Y:29.61, Z:27.24 [[ 6.94520821e-01 -6.25835866e-01 -3.54922946e-01 1.16203971e+02] [ 5.59342204e-01 7.79946761e-01 -2.80747838e-01 2.96114944e+01] [ 4.52523069e-01 -3.53816342e-03 8.91745678e-01 2.72400587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:29.62, Z:27.26 [[ 6.96630717e-01 -6.19752097e-01 -3.61404180e-01 1.16226757e+02] [ 5.52479481e-01 7.84787338e-01 -2.80847393e-01 2.96217478e+01] [ 4.57681185e-01 -4.02147322e-03 8.89107283e-01 2.72622265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.560385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.24, Y:29.65, Z:27.26 [[ 6.92476233e-01 -6.31802496e-01 -3.48284758e-01 1.16238432e+02] [ 5.56433177e-01 7.75009239e-01 -2.99571025e-01 2.96529915e+01] [ 4.59193626e-01 1.36486205e-02 8.88231349e-01 2.72563306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:29.64, Z:27.30 [[ 6.94626489e-01 -6.14265862e-01 -3.74394834e-01 1.16267508e+02] [ 5.52949655e-01 7.88829163e-01 -2.68319270e-01 2.96444356e+01] [ 4.60152931e-01 -2.06398216e-02 8.87599728e-01 2.72952467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:29.67, Z:27.30 [[ 6.94144602e-01 -6.20637916e-01 -3.64653054e-01 1.16284709e+02] [ 5.53261316e-01 7.84070536e-01 -2.81309991e-01 2.96686865e+01] [ 4.60505362e-01 -6.47861669e-03 8.87633280e-01 2.73015610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:29.69, Z:27.31 [[ 6.92033205e-01 -6.25003152e-01 -3.61193996e-01 1.16299401e+02] [ 5.58328058e-01 7.80588873e-01 -2.80981834e-01 2.96900388e+01] [ 4.57558546e-01 -7.21598332e-03 8.89150216e-01 2.73066436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:29.70, Z:27.33 [[ 6.94395872e-01 -6.22817598e-01 -3.60433923e-01 1.16322405e+02] [ 5.54470023e-01 7.82361828e-01 -2.83677570e-01 2.97031879e+01] [ 4.58669125e-01 -2.86527220e-03 8.88602512e-01 2.73251512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:29.72, Z:27.34 [[ 6.94493256e-01 -6.21356454e-01 -3.62760630e-01 1.16341560e+02] [ 5.54636736e-01 7.83500126e-01 -2.80188585e-01 2.97156089e+01] [ 4.58319985e-01 -6.61128939e-03 8.88762669e-01 2.73398819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:29.73, Z:27.36 [[ 6.94456956e-01 -6.17837039e-01 -3.68791174e-01 1.16357705e+02] [ 5.54909363e-01 7.86149877e-01 -2.72110214e-01 2.97268356e+01] [ 4.58044905e-01 -1.56768443e-02 8.88790809e-01 2.73560844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:29.75, Z:27.36 [[ 6.97642107e-01 -6.23790699e-01 -3.52392755e-01 1.16378310e+02] [ 5.51431403e-01 7.81537012e-01 -2.91758987e-01 2.97545195e+01] [ 4.57404523e-01 9.22292243e-03 8.89210908e-01 2.73602853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:29.77, Z:27.38 [[ 6.98912973e-01 -6.16190124e-01 -3.63084547e-01 1.16398306e+02] [ 5.48490308e-01 7.87592165e-01 -2.80814820e-01 2.97661627e+01] [ 4.58997863e-01 -2.88323406e-03 8.88432692e-01 2.73781230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:116.42, Y:29.78, Z:27.39 [[ 7.02554768e-01 -6.12528492e-01 -3.62250802e-01 1.16419313e+02] [ 5.44606311e-01 7.90448443e-01 -2.80348399e-01 2.97795731e+01] [ 4.58061965e-01 -3.23968731e-04 8.88920205e-01 2.73888957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.44, Y:29.79, Z:27.40 [[ 7.05572821e-01 -6.09239719e-01 -3.61930877e-01 1.16436979e+02] [ 5.40953830e-01 7.92983694e-01 -2.80260263e-01 2.97928863e+01] [ 4.57750967e-01 1.95613055e-03 8.89078301e-01 2.74045223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:29.81, Z:27.42 [[ 7.04172862e-01 -6.08620613e-01 -3.65679545e-01 1.16451672e+02] [ 5.38064045e-01 7.93453424e-01 -2.84462208e-01 2.98069776e+01] [ 4.63279250e-01 3.55155194e-03 8.86205237e-01 2.74167652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:29.82, Z:27.43 [[ 7.05437301e-01 -6.07976513e-01 -3.64311368e-01 1.16471658e+02] [ 5.37168488e-01 7.93937890e-01 -2.84802812e-01 2.98228328e+01] [ 4.62394020e-01 5.21394069e-03 8.86659227e-01 2.74298955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:29.84, Z:27.44 [[ 7.10088318e-01 -6.06387675e-01 -3.57866690e-01 1.16492932e+02] [ 5.33820026e-01 7.95055516e-01 -2.87963378e-01 2.98411067e+01] [ 4.59141330e-01 1.34430252e-02 8.88261518e-01 2.74399788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:29.85, Z:27.46 [[ 7.09945349e-01 -6.04642687e-01 -3.61088385e-01 1.16513681e+02] [ 5.33925854e-01 7.96448771e-01 -2.83888248e-01 2.98540894e+01] [ 4.59239354e-01 8.75071728e-03 8.88269464e-01 2.74551030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:29.87, Z:27.47 [[ 7.08883249e-01 -6.04422383e-01 -3.63535587e-01 1.16533676e+02] [ 5.34712263e-01 7.96645660e-01 -2.81848342e-01 2.98714547e+01] [ 4.59964494e-01 5.41063219e-03 8.87920824e-01 2.74701466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:29.89, Z:27.48 [[ 7.10330988e-01 -6.02212595e-01 -3.64376011e-01 1.16552585e+02] [ 5.32891206e-01 7.98319366e-01 -2.80558643e-01 2.98864405e+01] [ 4.59844375e-01 5.11672629e-03 8.87984780e-01 2.74810162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:29.90, Z:27.49 [[ 7.12157440e-01 -6.01774818e-01 -3.61522957e-01 1.16573748e+02] [ 5.30275748e-01 7.98589287e-01 -2.84715263e-01 2.99028823e+01] [ 4.60042836e-01 1.10552362e-02 8.87827895e-01 2.74935738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:29.92, Z:27.50 [[ 7.09309211e-01 -6.05739685e-01 -3.60499483e-01 1.16588921e+02] [ 5.32267382e-01 7.95549347e-01 -2.89469636e-01 2.99216282e+01] [ 4.62138374e-01 1.34413630e-02 8.86705956e-01 2.74983357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:29.93, Z:27.52 [[ 7.09401536e-01 -6.02830329e-01 -3.65164424e-01 1.16611447e+02] [ 5.31567791e-01 7.97832606e-01 -2.84427173e-01 2.99324630e+01] [ 4.62801409e-01 7.66342691e-03 8.86428862e-01 2.75160050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:29.94, Z:27.53 [[ 7.10342263e-01 -6.01210035e-01 -3.66005961e-01 1.16634494e+02] [ 5.29299803e-01 7.99041401e-01 -2.85262263e-01 2.99446441e+01] [ 4.63956450e-01 8.90695808e-03 8.85813230e-01 2.75327923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:29.96, Z:27.54 [[ 7.07625170e-01 -6.05868119e-01 -3.63580035e-01 1.16650732e+02] [ 5.34382795e-01 7.95526732e-01 -2.85608555e-01 2.99600898e+01] [ 4.62278755e-01 7.81288715e-03 8.86700238e-01 2.75413970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:29.95, Z:27.58 [[ 7.06456092e-01 -5.90623795e-01 -3.89978618e-01 1.16677094e+02] [ 5.28861814e-01 8.06700404e-01 -2.63703698e-01 2.99536850e+01] [ 4.70345588e-01 -1.99497153e-02 8.82256786e-01 2.75815807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:30.00, Z:27.56 [[ 7.08391303e-01 -6.14087812e-01 -3.47962529e-01 1.16692142e+02] [ 5.33120038e-01 7.88606983e-01 -3.06401780e-01 2.99992597e+01] [ 4.62563279e-01 3.15465592e-02 8.86024846e-01 2.75633158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:30.00, Z:27.58 [[ 7.05968398e-01 -6.09177668e-01 -3.61263325e-01 1.16711689e+02] [ 5.38024319e-01 7.92999270e-01 -2.85800614e-01 3.00040744e+01] [ 4.60584905e-01 7.39774703e-03 8.87584824e-01 2.75799553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:30.01, Z:27.60 [[ 7.05551360e-01 -6.03425579e-01 -3.71584241e-01 1.16735124e+02] [ 5.35440105e-01 7.97414987e-01 -2.78268276e-01 3.00113570e+01] [ 4.64221038e-01 -2.62854395e-03 8.85715484e-01 2.76037889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:30.03, Z:27.61 [[ 7.05905116e-01 -6.09552384e-01 -3.60754567e-01 1.16755594e+02] [ 5.35092208e-01 7.92634900e-01 -2.92243468e-01 3.00333627e+01] [ 4.64084362e-01 1.32592011e-02 8.85691762e-01 2.76096399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:30.04, Z:27.63 [[ 7.04528788e-01 -6.06614844e-01 -3.68317280e-01 1.16776626e+02] [ 5.35458878e-01 7.94987544e-01 -2.85094011e-01 3.00429483e+01] [ 4.65749909e-01 3.63818021e-03 8.84908914e-01 2.76260509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:30.06, Z:27.64 [[ 7.03677407e-01 -6.07045832e-01 -3.69233619e-01 1.16796108e+02] [ 5.35480882e-01 7.94659066e-01 -2.85967121e-01 3.00580402e+01] [ 4.67009991e-01 3.51105838e-03 8.84245068e-01 2.76391903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:30.08, Z:27.64 [[ 7.01849526e-01 -6.13360209e-01 -3.62210570e-01 1.16812185e+02] [ 5.38982822e-01 7.89735127e-01 -2.92943589e-01 3.00807670e+01] [ 4.65730351e-01 1.03770438e-02 8.84865841e-01 2.76420541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:30.10, Z:27.66 [[ 7.01662552e-01 -6.12359832e-01 -3.64259658e-01 1.16832852e+02] [ 5.39046283e-01 7.90542860e-01 -2.90639108e-01 3.00953917e+01] [ 4.65938587e-01 7.57776338e-03 8.84784613e-01 2.76569783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.85, Y:30.10, Z:27.68 [[ 7.02163304e-01 -6.04743940e-01 -3.75834353e-01 1.16854677e+02] [ 5.35295361e-01 7.96411867e-01 -2.81401874e-01 3.01002574e+01] [ 4.69495017e-01 -3.59231587e-03 8.82927814e-01 2.76828263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:30.14, Z:27.67 [[ 7.02013946e-01 -6.18838524e-01 -3.52441911e-01 1.16867263e+02] [ 5.40102187e-01 7.85202076e-01 -3.02898213e-01 3.01379444e+01] [ 4.64183203e-01 2.22841226e-02 8.85458848e-01 2.76722132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:30.13, Z:27.71 [[ 7.02064732e-01 -6.01863021e-01 -3.80612684e-01 1.16893143e+02] [ 5.36035070e-01 7.98513641e-01 -2.73938622e-01 3.01288843e+01] [ 4.68797947e-01 -1.16991013e-02 8.83227952e-01 2.77123923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:30.15, Z:27.72 [[ 7.01776661e-01 -6.08784385e-01 -3.69987960e-01 1.16909385e+02] [ 5.36784217e-01 7.93330226e-01 -2.87210475e-01 3.01524974e+01] [ 4.68371885e-01 2.95391060e-03 8.83526486e-01 2.77199591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:30.17, Z:27.73 [[ 7.01248839e-01 -6.09356033e-01 -3.70047687e-01 1.16929016e+02] [ 5.37307577e-01 7.92892000e-01 -2.87441898e-01 3.01678451e+01] [ 4.68562305e-01 2.73887129e-03 8.83426208e-01 2.77338725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:30.18, Z:27.75 [[ 7.00336171e-01 -6.10208699e-01 -3.70370885e-01 1.16947163e+02] [ 5.38040327e-01 7.92237268e-01 -2.87876219e-01 3.01826867e+01] [ 4.69086191e-01 2.33565685e-03 8.83149302e-01 2.77476005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:30.21, Z:27.74 [[ 6.99398405e-01 -6.20671566e-01 -3.54413146e-01 1.16960235e+02] [ 5.43910917e-01 7.83893487e-01 -2.99452693e-01 3.02128996e+01] [ 4.63683929e-01 1.66675565e-02 8.85843895e-01 2.77413814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:116.99, Y:30.21, Z:27.78 [[ 6.99693120e-01 -6.06737590e-01 -3.77225444e-01 1.16986959e+02] [ 5.38465720e-01 7.94867666e-01 -2.79714250e-01 3.02101224e+01] [ 4.69557458e-01 -7.40883403e-03 8.82870830e-01 2.77777791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:30.23, Z:27.79 [[ 6.99226009e-01 -6.10946225e-01 -3.71251531e-01 1.17003807e+02] [ 5.38379543e-01 7.91669407e-01 -2.88802731e-01 3.02326325e+01] [ 4.70351418e-01 2.06415166e-03 8.82476789e-01 2.77860227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:30.25, Z:27.80 [[ 6.98908236e-01 -6.11193011e-01 -3.71443644e-01 1.17022524e+02] [ 5.38481575e-01 7.91478899e-01 -2.89134477e-01 3.02480171e+01] [ 4.70706778e-01 2.06290941e-03 8.82287296e-01 2.77986052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:30.26, Z:27.81 [[ 6.98532740e-01 -6.11141802e-01 -3.72233406e-01 1.17041296e+02] [ 5.38004619e-01 7.91517927e-01 -2.89914473e-01 3.02642786e+01] [ 4.71808268e-01 2.25145932e-03 8.81698298e-01 2.78117082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82038572300002 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:117.06, Y:30.29, Z:27.82 [[ 6.95880892e-01 -6.20117836e-01 -3.62220450e-01 1.17057613e+02] [ 5.36227534e-01 7.84168500e-01 -3.12313617e-01 3.02928074e+01] [ 4.77713111e-01 2.31004995e-02 8.78212133e-01 2.78181197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:30.28, Z:27.85 [[ 6.99537638e-01 -5.99486527e-01 -3.88925438e-01 1.17080953e+02] [ 5.35887692e-01 8.00136750e-01 -2.69454195e-01 3.02846042e+01] [ 4.72727696e-01 -1.99270044e-02 8.80983224e-01 2.78479869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:30.31, Z:27.85 [[ 7.00937144e-01 -6.08293246e-01 -3.72379441e-01 1.17096105e+02] [ 5.34449706e-01 7.93698909e-01 -2.90526338e-01 3.03136824e+01] [ 4.72282365e-01 4.62261890e-03 8.81435193e-01 2.78507379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:30.33, Z:27.86 [[ 7.02187070e-01 -6.06990914e-01 -3.72149632e-01 1.17114227e+02] [ 5.32975017e-01 7.94688616e-01 -2.90529920e-01 3.03298640e+01] [ 4.72092098e-01 5.65989656e-03 8.81531064e-01 2.78638506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:30.35, Z:27.88 [[ 7.05067936e-01 -6.04159289e-01 -3.71309520e-01 1.17130771e+02] [ 5.30063261e-01 7.96826832e-01 -2.89999897e-01 3.03473693e+01] [ 4.71075519e-01 7.65209425e-03 8.82059692e-01 2.78769350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:30.36, Z:27.89 [[ 7.06492255e-01 -6.02646074e-01 -3.71061186e-01 1.17148860e+02] [ 5.28373839e-01 7.97960064e-01 -2.89966935e-01 3.03645875e+01] [ 4.70839442e-01 8.80037039e-03 8.82175024e-01 2.78892915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:30.40, Z:27.88 [[ 7.09552816e-01 -6.12409716e-01 -3.48552924e-01 1.17162375e+02] [ 5.31655381e-01 7.89911993e-01 -3.05584029e-01 3.04030794e+01] [ 4.62468763e-01 3.15179712e-02 8.86075200e-01 2.78788915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030385723 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:117.18, Y:30.40, Z:27.91 [[ 7.09420418e-01 -5.98298753e-01 -3.72506741e-01 1.17183734e+02] [ 5.26085260e-01 8.01248922e-01 -2.85016603e-01 3.03994128e+01] [ 4.68995703e-01 6.22629202e-03 8.83178501e-01 2.79106686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:30.41, Z:27.93 [[ 7.13071496e-01 -5.93055175e-01 -3.73917907e-01 1.17202376e+02] [ 5.24246141e-01 8.05160039e-01 -2.77278371e-01 3.04142767e+01] [ 4.65505129e-01 1.69428268e-03 8.85043561e-01 2.79250901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:30.44, Z:27.93 [[ 7.14205390e-01 -5.96804436e-01 -3.65698135e-01 1.17219243e+02] [ 5.23193187e-01 8.02264881e-01 -2.87471650e-01 3.04370599e+01] [ 4.64951126e-01 1.39830289e-02 8.85225918e-01 2.79329671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:30.45, Z:27.95 [[ 7.15586299e-01 -5.95423612e-01 -3.65249190e-01 1.17236223e+02] [ 5.21740995e-01 8.03271465e-01 -2.87299995e-01 3.04545593e+01] [ 4.64459453e-01 1.50224646e-02 8.85466963e-01 2.79453039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:30.47, Z:27.96 [[ 7.16038025e-01 -5.94922443e-01 -3.65180549e-01 1.17253800e+02] [ 5.21122521e-01 8.03633798e-01 -2.87409179e-01 3.04703895e+01] [ 4.64457602e-01 1.54920932e-02 8.85459841e-01 2.79576480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:30.49, Z:27.97 [[ 7.16421837e-01 -5.93748955e-01 -3.66335817e-01 1.17271573e+02] [ 5.19221156e-01 8.04481956e-01 -2.88475604e-01 3.04887830e+01] [ 4.65992642e-01 1.64609158e-02 8.84635459e-01 2.79703066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:30.51, Z:27.98 [[ 7.16347439e-01 -5.93504520e-01 -3.66876998e-01 1.17289828e+02] [ 5.18619032e-01 8.04655110e-01 -2.89075167e-01 3.05063913e+01] [ 4.66776870e-01 1.68088619e-02 8.84215367e-01 2.79822958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:30.52, Z:27.99 [[ 7.15819736e-01 -5.93727493e-01 -3.67545603e-01 1.17308206e+02] [ 5.18484697e-01 8.04489515e-01 -2.89776188e-01 3.05240068e+01] [ 4.67734673e-01 1.68607437e-02 8.83708091e-01 2.79938344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:30.54, Z:28.01 [[ 7.14461082e-01 -5.94644911e-01 -3.68704208e-01 1.17325606e+02] [ 5.18912639e-01 8.03819358e-01 -2.90867862e-01 3.05409880e+01] [ 4.69334673e-01 1.64884934e-02 8.82866408e-01 2.80058290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:30.56, Z:28.02 [[ 7.12941854e-01 -5.96915639e-01 -3.67975044e-01 1.17343580e+02] [ 5.21702284e-01 8.02161844e-01 -2.90453272e-01 3.05583432e+01] [ 4.68551640e-01 1.51028728e-02 8.83307004e-01 2.80184385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:30.58, Z:28.03 [[ 7.11997559e-01 -5.98479565e-01 -3.67262422e-01 1.17361682e+02] [ 5.23679720e-01 8.01012230e-01 -2.90067161e-01 3.05751004e+01] [ 4.67780960e-01 1.41992284e-02 8.83730364e-01 2.80311907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:30.59, Z:28.04 [[ 7.10923079e-01 -6.00222968e-01 -3.66497974e-01 1.17379349e+02] [ 5.25874413e-01 7.99724000e-01 -2.89650868e-01 3.05915238e+01] [ 4.66952330e-01 1.31875801e-02 8.84184149e-01 2.80435948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:30.61, Z:28.06 [[ 7.08424405e-01 -6.03769097e-01 -3.65510246e-01 1.17396716e+02] [ 5.30201925e-01 7.97083801e-01 -2.89038636e-01 3.06083430e+01] [ 4.65854892e-01 1.09677878e-02 8.84793155e-01 2.80575656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:30.62, Z:28.07 [[ 7.06805516e-01 -6.05779591e-01 -3.65317738e-01 1.17415599e+02] [ 5.32451836e-01 7.95572146e-01 -2.89067471e-01 3.06242191e+01] [ 4.65747791e-01 9.80038258e-03 8.84863237e-01 2.80711421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:30.64, Z:28.08 [[ 7.03804032e-01 -6.09174883e-01 -3.65466614e-01 1.17432989e+02] [ 5.36116028e-01 7.92998287e-01 -2.89367106e-01 3.06409255e+01] [ 4.66089572e-01 7.72522621e-03 8.84703810e-01 2.80836831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:30.66, Z:28.10 [[ 7.02416458e-01 -6.11066743e-01 -3.64977473e-01 1.17451876e+02] [ 5.38390973e-01 7.91551807e-01 -2.89103608e-01 3.06584404e+01] [ 4.65560179e-01 6.57055559e-03 8.84991835e-01 2.80961579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.47, Y:30.68, Z:28.11 [[ 6.99412861e-01 -6.14770467e-01 -3.64525614e-01 1.17469792e+02] [ 5.42697169e-01 7.88694863e-01 -2.88860168e-01 3.06768932e+01] [ 4.65082180e-01 4.20549822e-03 8.85257522e-01 2.81086498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:30.69, Z:28.12 [[ 6.97770533e-01 -6.16574963e-01 -3.64625284e-01 1.17488131e+02] [ 5.44594407e-01 7.87289831e-01 -2.89122213e-01 3.06937787e+01] [ 4.65331296e-01 3.16807002e-03 8.85130922e-01 2.81210404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:30.71, Z:28.13 [[ 6.96084873e-01 -6.18201550e-01 -3.65092720e-01 1.17505678e+02] [ 5.46139374e-01 7.86016415e-01 -2.89672193e-01 3.07096313e+01] [ 4.66044670e-01 2.24492196e-03 8.84758343e-01 2.81335859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:30.73, Z:28.15 [[ 6.93469956e-01 -6.21227754e-01 -3.64932182e-01 1.17522898e+02] [ 5.49560666e-01 7.83629998e-01 -2.89667224e-01 3.07257161e+01] [ 4.65921124e-01 3.23143676e-04 8.84826199e-01 2.81462972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:30.74, Z:28.16 [[ 6.90391312e-01 -6.24543614e-01 -3.65109726e-01 1.17540315e+02] [ 5.53171192e-01 7.80987852e-01 -2.89930349e-01 3.07436198e+01] [ 4.66220408e-01 -1.80278800e-03 8.84666763e-01 2.81597530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:30.76, Z:28.17 [[ 6.88764562e-01 -6.26336834e-01 -3.65110323e-01 1.17558087e+02] [ 5.55107215e-01 7.79547298e-01 -2.90106859e-01 3.07606921e+01] [ 4.66325378e-01 -2.86005132e-03 8.84608649e-01 2.81718125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:30.78, Z:28.18 [[ 6.86939062e-01 -6.28162247e-01 -3.65413351e-01 1.17576335e+02] [ 5.56964562e-01 7.78072293e-01 -2.90506425e-01 3.07776676e+01] [ 4.66803172e-01 -3.96207563e-03 8.84352362e-01 2.81843414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:30.79, Z:28.20 [[ 6.83643257e-01 -6.31952414e-01 -3.65058960e-01 1.17593860e+02] [ 5.61313289e-01 7.74980908e-01 -2.90399695e-01 3.07946544e+01] [ 4.66432513e-01 -6.38265228e-03 8.84533760e-01 2.81962960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.61, Y:30.81, Z:28.21 [[ 6.81985037e-01 -6.33944730e-01 -3.64706030e-01 1.17611870e+02] [ 5.63634159e-01 7.73341042e-01 -2.90276022e-01 3.08107643e+01] [ 4.66061095e-01 -7.59687291e-03 8.84719924e-01 2.82083694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:30.84, Z:28.21 [[ 6.79734003e-01 -6.45187299e-01 -3.48848154e-01 1.17627653e+02] [ 5.71026239e-01 7.64008289e-01 -3.00367057e-01 3.08418527e+01] [ 4.60315892e-01 4.96825263e-03 8.87741289e-01 2.82054135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.65, Y:30.84, Z:28.24 [[ 6.79432616e-01 -6.32390522e-01 -3.72093466e-01 1.17650408e+02] [ 5.68575470e-01 7.74313216e-01 -2.77778649e-01 3.08375381e+01] [ 4.63781473e-01 -2.28313426e-02 8.85655393e-01 2.82398408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.66, Y:30.88, Z:28.23 [[ 6.78940200e-01 -6.49565877e-01 -3.42205167e-01 1.17659736e+02] [ 5.74080356e-01 7.60239520e-01 -3.04084883e-01 3.08803062e+01] [ 4.57681056e-01 1.00021875e-02 8.89060182e-01 2.82252406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.68, Y:30.89, Z:28.24 [[ 6.78994363e-01 -6.42974714e-01 -3.54330597e-01 1.17682913e+02] [ 5.74135172e-01 7.65856868e-01 -2.89537669e-01 3.08869916e+01] [ 4.57531921e-01 -6.83921251e-03 8.89166895e-01 2.82442390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:30.89, Z:28.28 [[ 6.79929288e-01 -6.30394967e-01 -3.74564213e-01 1.17705091e+02] [ 5.68755103e-01 7.75795990e-01 -2.73236554e-01 3.08850084e+01] [ 4.62832363e-01 -2.72537714e-02 8.86026769e-01 2.82792332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:30.93, Z:28.26 [[ 6.79988628e-01 -6.48767960e-01 -3.41636650e-01 1.17715146e+02] [ 5.72987496e-01 7.60902467e-01 -3.04487708e-01 3.09297404e+01] [ 4.57494039e-01 1.12946499e-02 8.89140954e-01 2.82629750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.74, Y:30.92, Z:28.30 [[ 6.83423414e-01 -6.27241958e-01 -3.73496938e-01 1.17740703e+02] [ 5.65120603e-01 7.78444378e-01 -2.73245410e-01 3.09195374e+01] [ 4.62137577e-01 -2.43285037e-02 8.86474469e-01 2.83040021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.75, Y:30.95, Z:28.31 [[ 6.86925613e-01 -6.30562255e-01 -3.61281670e-01 1.17754834e+02] [ 5.60786609e-01 7.76125486e-01 -2.88353272e-01 3.09473305e+01] [ 4.62224601e-01 -4.52467422e-03 8.86751344e-01 2.83100939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:30.98, Z:28.31 [[ 6.88462972e-01 -6.37840339e-01 -3.45222303e-01 1.17770033e+02] [ 5.61911391e-01 7.70040769e-01 -3.02146988e-01 3.09791562e+01] [ 4.58556785e-01 1.40326688e-02 8.88554308e-01 2.83050334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.79, Y:30.97, Z:28.34 [[ 6.90268646e-01 -6.20245961e-01 -3.72591122e-01 1.17794608e+02] [ 5.55922705e-01 7.84225056e-01 -2.75573961e-01 3.09728031e+01] [ 4.63118930e-01 -1.69117995e-02 8.86134780e-01 2.83400458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.080385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.81, Y:31.00, Z:28.35 [[ 6.93534575e-01 -6.22356268e-01 -3.62880792e-01 1.17809659e+02] [ 5.50646198e-01 7.82732977e-01 -2.90030777e-01 3.09970606e+01] [ 4.64541235e-01 1.32744276e-03 8.85550495e-01 2.83462998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:31.01, Z:28.36 [[ 6.95201135e-01 -6.20449510e-01 -3.62957004e-01 1.17828517e+02] [ 5.48373101e-01 7.84241555e-01 -2.90262166e-01 3.10133396e+01] [ 4.64738984e-01 2.75472982e-03 8.85443441e-01 2.83587335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:31.03, Z:28.37 [[ 6.98598269e-01 -6.17027765e-01 -3.62266747e-01 1.17846324e+02] [ 5.44725541e-01 7.86924424e-01 -2.89868996e-01 3.10299417e+01] [ 4.63933770e-01 5.16602862e-03 8.85854824e-01 2.83706784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:31.05, Z:28.38 [[ 6.99929579e-01 -6.15490132e-01 -3.62312687e-01 1.17865908e+02] [ 5.42886352e-01 7.88119120e-01 -2.90073544e-01 3.10460357e+01] [ 4.64082960e-01 6.33644069e-03 8.85769076e-01 2.83837113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.200385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.89, Y:31.06, Z:28.40 [[ 7.02711708e-01 -6.12681200e-01 -3.61687715e-01 1.17886068e+02] [ 5.39911185e-01 7.90286385e-01 -2.89729774e-01 3.10611557e+01] [ 4.63348862e-01 8.31726198e-03 8.86136928e-01 2.83964249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.91, Y:31.08, Z:28.41 [[ 7.03725742e-01 -6.11627368e-01 -3.61499713e-01 1.17905985e+02] [ 5.38716011e-01 7.91092937e-01 -2.89753385e-01 3.10763950e+01] [ 4.63200970e-01 9.16123255e-03 8.86205920e-01 2.84095091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:31.09, Z:28.42 [[ 7.05979907e-01 -6.09309778e-01 -3.61017956e-01 1.17925562e+02] [ 5.36222253e-01 7.92858268e-01 -2.89553904e-01 3.10898373e+01] [ 4.62664096e-01 1.08333762e-02 8.86467468e-01 2.84224896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.95, Y:31.10, Z:28.44 [[ 7.06936347e-01 -6.08117839e-01 -3.61156053e-01 1.17945117e+02] [ 5.34768926e-01 7.93760339e-01 -2.89770116e-01 3.11044967e+01] [ 4.62885728e-01 1.17139929e-02 8.86340558e-01 2.84353742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:31.12, Z:28.45 [[ 7.08793498e-01 -6.05587389e-01 -3.61767455e-01 1.17964955e+02] [ 5.31565646e-01 7.95663237e-01 -2.90444446e-01 3.11198367e+01] [ 4.63734559e-01 1.35619841e-02 8.85870381e-01 2.84468593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:31.14, Z:28.46 [[ 7.09674980e-01 -6.04483238e-01 -3.61885946e-01 1.17984883e+02] [ 5.30208110e-01 7.96487634e-01 -2.90666147e-01 3.11352572e+01] [ 4.63940495e-01 1.44036284e-02 8.85749261e-01 2.84592243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.99, Y:31.19, Z:28.43 [[ 7.10902010e-01 -6.31250872e-01 -3.10065586e-01 1.17986970e+02] [ 5.39595954e-01 7.72324228e-01 -3.35188744e-01 3.11918573e+01] [ 4.51059351e-01 7.09762160e-02 8.89667263e-01 2.84271138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:31.14, Z:28.50 [[ 7.10941321e-01 -5.83095079e-01 -3.93144461e-01 1.18034663e+02] [ 5.26436483e-01 8.11933818e-01 -2.52246120e-01 3.11394279e+01] [ 4.66290754e-01 -2.76333977e-02 8.84199823e-01 2.85030095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:31.18, Z:28.50 [[ 7.12083050e-01 -6.01125815e-01 -3.62747136e-01 1.18046320e+02] [ 5.25951204e-01 7.98977118e-01 -2.91566280e-01 3.11759044e+01] [ 4.65094679e-01 1.68321129e-02 8.85100909e-01 2.84998062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.06, Y:31.21, Z:28.49 [[ 7.12114184e-01 -6.15098143e-01 -3.38448908e-01 1.18060411e+02] [ 5.33696531e-01 7.87490877e-01 -3.08263089e-01 3.12082225e+01] [ 4.56137480e-01 3.88895097e-02 8.89059168e-01 2.84886257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.500385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.08, Y:31.22, Z:28.50 [[ 7.12101114e-01 -6.11960779e-01 -3.44116271e-01 1.18083584e+02] [ 5.34404802e-01 7.90338990e-01 -2.99626081e-01 3.12184621e+01] [ 4.55327916e-01 2.94666785e-02 8.89836054e-01 2.85017712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:31.21, Z:28.54 [[ 7.09621488e-01 -5.93660402e-01 -3.79479473e-01 1.18112611e+02] [ 5.27542463e-01 8.04685930e-01 -2.72359145e-01 3.12053984e+01] [ 4.67050632e-01 -6.91963434e-03 8.84203498e-01 2.85438406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.560385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.13, Y:31.23, Z:28.55 [[ 7.09701043e-01 -6.03465765e-01 -3.63529227e-01 1.18128011e+02] [ 5.27673676e-01 7.97222356e-01 -2.93252462e-01 3.12319080e+01] [ 4.66781449e-01 1.62967749e-02 8.84222536e-01 2.85477110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:31.25, Z:28.56 [[ 7.09081424e-01 -6.04173625e-01 -3.63562600e-01 1.18149664e+02] [ 5.28366273e-01 7.96692405e-01 -2.93445555e-01 3.12457872e+01] [ 4.66939627e-01 1.59825764e-02 8.84144752e-01 2.85603229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:31.26, Z:28.57 [[ 7.08611192e-01 -6.04826028e-01 -3.63394627e-01 1.18169537e+02] [ 5.29076847e-01 7.96202662e-01 -2.93494482e-01 3.12592676e+01] [ 4.66848871e-01 1.57097911e-02 8.84197565e-01 2.85729041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:31.27, Z:28.59 [[ 7.07875660e-01 -6.05730801e-01 -3.63321136e-01 1.18189913e+02] [ 5.30038506e-01 7.95523322e-01 -2.93601475e-01 3.12728151e+01] [ 4.66873893e-01 1.52591457e-02 8.84192245e-01 2.85862328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.21, Y:31.29, Z:28.60 [[ 7.06212661e-01 -6.07557412e-01 -3.63507454e-01 1.18211825e+02] [ 5.31911788e-01 7.94148333e-01 -2.93935834e-01 3.12850901e+01] [ 4.67261733e-01 1.42273074e-02 8.84004557e-01 2.85996841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:31.30, Z:28.61 [[ 7.04534194e-01 -6.09237893e-01 -3.63951588e-01 1.18232732e+02] [ 5.33507850e-01 7.92875993e-01 -2.94477561e-01 3.12973719e+01] [ 4.67975366e-01 1.32984822e-02 8.83641447e-01 2.86118862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:31.31, Z:28.62 [[ 7.04064386e-01 -6.09865863e-01 -3.63808974e-01 1.18253416e+02] [ 5.34191056e-01 7.92397661e-01 -2.94526506e-01 3.13124597e+01] [ 4.67903042e-01 1.30221239e-02 8.83683862e-01 2.86245215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:31.33, Z:28.63 [[ 7.03139343e-01 -6.13469069e-01 -3.59514626e-01 1.18272455e+02] [ 5.34519998e-01 7.89465963e-01 -3.01714873e-01 3.13314800e+01] [ 4.68917302e-01 1.99798404e-02 8.83016064e-01 2.86342033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:31.34, Z:28.65 [[ 7.04444203e-01 -6.06952763e-01 -3.67922151e-01 1.18296101e+02] [ 5.35172289e-01 7.94723248e-01 -2.86366163e-01 3.13361624e+01] [ 4.66207020e-01 4.82724349e-03 8.84662485e-01 2.86529447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:31.35, Z:28.66 [[ 7.04161492e-01 -6.10974813e-01 -3.61754573e-01 1.18317220e+02] [ 5.36075889e-01 7.91548790e-01 -2.93382264e-01 3.13511061e+01] [ 4.65595569e-01 1.26605886e-02 8.84907044e-01 2.86642112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:31.36, Z:28.68 [[ 7.03626936e-01 -6.11586325e-01 -3.61761388e-01 1.18337507e+02] [ 5.36661627e-01 7.91080153e-01 -2.93575354e-01 3.13637985e+01] [ 4.65728926e-01 1.24240719e-02 8.84840217e-01 2.86772317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:31.38, Z:28.69 [[ 7.03390765e-01 -6.11780647e-01 -3.61892072e-01 1.18357546e+02] [ 5.36733595e-01 7.90929453e-01 -2.93849704e-01 3.13770807e+01] [ 4.66002661e-01 1.24515356e-02 8.84695699e-01 2.86900108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:31.39, Z:28.70 [[ 7.03491354e-01 -6.11772888e-01 -3.61709620e-01 1.18379066e+02] [ 5.36740060e-01 7.90933735e-01 -2.93826368e-01 3.13916781e+01] [ 4.65843347e-01 1.25602660e-02 8.84778060e-01 2.87020858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:31.41, Z:28.71 [[ 7.03762994e-01 -6.11649971e-01 -3.61388932e-01 1.18398936e+02] [ 5.36651909e-01 7.91025208e-01 -2.93741125e-01 3.14071056e+01] [ 4.65534506e-01 1.27840736e-02 8.84937394e-01 2.87144230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:31.42, Z:28.73 [[ 7.04306271e-01 -6.11117790e-01 -3.61230845e-01 1.18420143e+02] [ 5.36031892e-01 7.91428169e-01 -2.93787789e-01 3.14205321e+01] [ 4.65427210e-01 1.32853288e-02 8.84986447e-01 2.87265668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:31.43, Z:28.74 [[ 7.04074909e-01 -6.11207391e-01 -3.61530149e-01 1.18440378e+02] [ 5.35902912e-01 7.91356972e-01 -2.94214568e-01 3.14334878e+01] [ 4.65925522e-01 1.34040352e-02 8.84722408e-01 2.87388098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:31.47, Z:28.72 [[ 7.03403217e-01 -6.27365441e-01 -3.34120515e-01 1.18455751e+02] [ 5.44183963e-01 7.77721961e-01 -3.14662305e-01 3.14692459e+01] [ 4.57261118e-01 3.95114513e-02 8.88454341e-01 2.87236122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:31.45, Z:28.77 [[ 7.01650754e-01 -6.03475257e-01 -3.78818998e-01 1.18487395e+02] [ 5.36379278e-01 7.97330414e-01 -2.76697453e-01 3.14485873e+01] [ 4.69023975e-01 -9.04568451e-03 8.83139109e-01 2.87740272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:31.50, Z:28.75 [[ 7.01822520e-01 -6.27377922e-01 -3.37404940e-01 1.18496707e+02] [ 5.44810013e-01 7.77883628e-01 -3.13175847e-01 3.14974611e+01] [ 4.58941391e-01 3.59722728e-02 8.87738022e-01 2.87503125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:31.48, Z:28.80 [[ 6.99578606e-01 -6.06818873e-01 -3.77307074e-01 1.18529096e+02] [ 5.38132715e-01 7.94811064e-01 -2.80514802e-01 3.14788617e+01] [ 4.70109513e-01 -6.79912651e-03 8.82581904e-01 2.87975233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.55, Y:31.50, Z:28.80 [[ 6.98577904e-01 -6.16184085e-01 -3.63739036e-01 1.18548333e+02] [ 5.40272602e-01 7.87530882e-01 -2.96480397e-01 3.14992444e+01] [ 4.69142226e-01 1.05964193e-02 8.83059051e-01 2.88044503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:31.51, Z:28.82 [[ 6.98009697e-01 -6.17230625e-01 -3.63054843e-01 1.18568605e+02] [ 5.41658190e-01 7.86718274e-01 -2.96109378e-01 3.15131306e+01] [ 4.68389655e-01 1.00355880e-02 8.83465007e-01 2.88175459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.59, Y:31.53, Z:28.83 [[ 6.97562310e-01 -6.18073942e-01 -3.62479553e-01 1.18587965e+02] [ 5.42765713e-01 7.86061154e-01 -2.95826374e-01 3.15270539e+01] [ 4.67773669e-01 9.61585611e-03 8.83795978e-01 2.88299751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:31.54, Z:28.84 [[ 6.97119981e-01 -6.19304766e-01 -3.61227545e-01 1.18608687e+02] [ 5.44618496e-01 7.85100253e-01 -2.94971671e-01 3.15416286e+01] [ 4.66277198e-01 8.89944321e-03 8.84593904e-01 2.88419306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:31.56, Z:28.85 [[ 6.96849946e-01 -6.19837383e-01 -3.60834825e-01 1.18627779e+02] [ 5.45290877e-01 7.84682046e-01 -2.94842240e-01 3.15562800e+01] [ 4.65894852e-01 8.70086101e-03 8.84797311e-01 2.88541604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:31.57, Z:28.87 [[ 6.96474614e-01 -6.20367273e-01 -3.60648802e-01 1.18648528e+02] [ 5.45878395e-01 7.84265446e-01 -2.94863507e-01 3.15690595e+01] [ 4.65768063e-01 8.49455819e-03 8.84866065e-01 2.88676587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.340385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.67, Y:31.58, Z:28.88 [[ 6.96290042e-01 -6.20603691e-01 -3.60598440e-01 1.18668675e+02] [ 5.46065473e-01 7.84078257e-01 -2.95014891e-01 3.15825993e+01] [ 4.65824727e-01 8.50557296e-03 8.84836131e-01 2.88811164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.68, Y:31.61, Z:28.88 [[ 6.94883792e-01 -6.30198571e-01 -3.46390353e-01 1.18683611e+02] [ 5.51905000e-01 7.76157648e-01 -3.04926510e-01 3.16094400e+01] [ 4.61017773e-01 2.07139216e-02 8.87149112e-01 2.88788659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:31.61, Z:28.91 [[ 6.95115749e-01 -6.17974908e-01 -3.67316087e-01 1.18709782e+02] [ 5.46696941e-01 7.86197641e-01 -2.88124493e-01 3.16074853e+01] [ 4.66836749e-01 -5.30708206e-04 8.84343354e-01 2.89107416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:31.63, Z:28.92 [[ 6.94655463e-01 -6.21951694e-01 -3.61427556e-01 1.18727007e+02] [ 5.47057004e-01 7.83015808e-01 -2.95998107e-01 3.16278710e+01] [ 4.67100014e-01 7.89522579e-03 8.84169239e-01 2.89183496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:31.64, Z:28.93 [[ 6.93355877e-01 -6.22896405e-01 -3.62295041e-01 1.18747321e+02] [ 5.47648077e-01 7.82269028e-01 -2.96878344e-01 3.16425262e+01] [ 4.68336643e-01 7.43216229e-03 8.83518846e-01 2.89307079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:118.77, Y:31.66, Z:28.94 [[ 6.91234258e-01 -6.24755776e-01 -3.63146556e-01 1.18767406e+02] [ 5.49268253e-01 7.80794310e-01 -2.97766069e-01 3.16550687e+01] [ 4.69573836e-01 6.36123311e-03 8.82870289e-01 2.89434961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:31.67, Z:28.96 [[ 6.89900872e-01 -6.26135239e-01 -3.63306274e-01 1.18787759e+02] [ 5.50664686e-01 7.79694524e-01 -2.98068538e-01 3.16700047e+01] [ 4.69899128e-01 5.57780857e-03 8.82702497e-01 2.89567964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.81, Y:31.68, Z:28.97 [[ 6.87687848e-01 -6.28536470e-01 -3.63355652e-01 1.18807252e+02] [ 5.53257191e-01 7.77769273e-01 -2.98297565e-01 3.16829518e+01] [ 4.70097760e-01 4.10648334e-03 8.82604800e-01 2.89702123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:31.70, Z:28.98 [[ 6.86988016e-01 -6.29440418e-01 -3.63114619e-01 1.18826729e+02] [ 5.54295635e-01 7.77040249e-01 -2.98269678e-01 3.16978614e+01] [ 4.69897664e-01 3.63484580e-03 8.82713415e-01 2.89836483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:31.71, Z:29.00 [[ 6.86887978e-01 -6.30260053e-01 -3.61880051e-01 1.18846141e+02] [ 5.55667336e-01 7.76377400e-01 -2.97442336e-01 3.17124611e+01] [ 4.68421516e-01 3.22464074e-03 8.83499228e-01 2.89977297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:31.73, Z:29.01 [[ 6.87209750e-01 -6.30279990e-01 -3.61233849e-01 1.18865712e+02] [ 5.55875091e-01 7.76360608e-01 -2.97097777e-01 3.17284685e+01] [ 4.67702515e-01 3.36758973e-03 8.83879526e-01 2.90106408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.88, Y:31.74, Z:29.02 [[ 6.87885816e-01 -6.29596593e-01 -3.61138802e-01 1.18884227e+02] [ 5.55046253e-01 7.76911944e-01 -2.97206136e-01 3.17438248e+01] [ 4.67693020e-01 3.99514669e-03 8.83881937e-01 2.90235721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.90, Y:31.76, Z:29.04 [[ 6.88132576e-01 -6.29337665e-01 -3.61120010e-01 1.18903472e+02] [ 5.54673082e-01 7.77119972e-01 -2.97358909e-01 3.17595479e+01] [ 4.67772734e-01 4.31880272e-03 8.83838230e-01 2.90366031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.92, Y:31.78, Z:29.05 [[ 6.88486869e-01 -6.28955703e-01 -3.61110170e-01 1.18922681e+02] [ 5.54150220e-01 7.77426703e-01 -2.97531939e-01 3.17752923e+01] [ 4.67871099e-01 4.73755313e-03 8.83784018e-01 2.90494064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.94, Y:31.79, Z:29.06 [[ 6.88839438e-01 -6.27904095e-01 -3.62266029e-01 1.18942144e+02] [ 5.52352600e-01 7.78270322e-01 -2.98666890e-01 3.17910538e+01] [ 4.69475063e-01 5.63494975e-03 8.82927751e-01 2.90622715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.96, Y:31.81, Z:29.08 [[ 6.88681579e-01 -6.28129691e-01 -3.62175061e-01 1.18961695e+02] [ 5.52549501e-01 7.78088203e-01 -2.98777169e-01 3.18073588e+01] [ 4.69474953e-01 5.64268367e-03 8.82927760e-01 2.90753019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.98, Y:31.82, Z:29.09 [[ 6.89032689e-01 -6.27461053e-01 -3.62665934e-01 1.18981099e+02] [ 5.51481630e-01 7.78622758e-01 -2.99356999e-01 3.18232160e+01] [ 4.70214808e-01 6.26315768e-03 8.82529777e-01 2.90884564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85038572300002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:118.99, Y:31.85, Z:29.09 [[ 6.88001297e-01 -6.32685161e-01 -3.55476725e-01 1.18992349e+02] [ 5.54420697e-01 7.74303164e-01 -3.05077534e-01 3.18460226e+01] [ 4.68264782e-01 1.28100856e-02 8.83495329e-01 2.90899616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:119.02, Y:31.86, Z:29.11 [[ 6.90753564e-01 -6.25488773e-01 -3.62799269e-01 1.19019348e+02] [ 5.47731954e-01 7.80168685e-01 -3.02202796e-01 3.18561706e+01] [ 4.72069084e-01 1.00309052e-02 8.81504487e-01 2.91138416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.04, Y:31.87, Z:29.13 [[ 6.92435842e-01 -6.22885864e-01 -3.64068407e-01 1.19038856e+02] [ 5.45494307e-01 7.82252217e-01 -3.00861146e-01 3.18719962e+01] [ 4.72195474e-01 9.72979793e-03 8.81440166e-01 2.91272736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94038572300002 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:119.05, Y:31.89, Z:29.13 [[ 6.90454457e-01 -6.26992459e-01 -3.60767375e-01 1.19050247e+02] [ 5.48570966e-01 7.78934507e-01 -3.03860049e-01 3.18924928e+01] [ 4.71532117e-01 1.18950179e-02 8.81768661e-01 2.91321998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:31.91, Z:29.15 [[ 6.92870335e-01 -6.23462088e-01 -3.62250913e-01 1.19075750e+02] [ 5.43116269e-01 7.81696793e-01 -3.06553165e-01 3.19068706e+01] [ 4.74294653e-01 1.56572298e-02 8.80226921e-01 2.91508166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.000385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.09, Y:31.92, Z:29.16 [[ 6.90818939e-01 -6.25388126e-01 -3.62848296e-01 1.19088342e+02] [ 5.46768023e-01 7.80229567e-01 -3.03787016e-01 3.19230665e+01] [ 4.73089762e-01 1.14679785e-02 8.80939591e-01 2.91594043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:31.94, Z:29.18 [[ 6.92408759e-01 -6.24063834e-01 -3.62097283e-01 1.19114757e+02] [ 5.43504301e-01 7.81212867e-01 -3.07098570e-01 3.19380450e+01] [ 4.74524167e-01 1.58363093e-02 8.80100009e-01 2.91781600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:31.95, Z:29.19 [[ 6.91938229e-01 -6.22697259e-01 -3.65334929e-01 1.19134312e+02] [ 5.44512222e-01 7.82396140e-01 -3.02262667e-01 3.19491708e+01] [ 4.74054773e-01 1.02177608e-02 8.80436068e-01 2.91936734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.15, Y:31.96, Z:29.21 [[ 6.91459948e-01 -6.23483974e-01 -3.64898445e-01 1.19153906e+02] [ 5.45509080e-01 7.81774503e-01 -3.02073618e-01 3.19635116e+01] [ 4.73606360e-01 9.81639315e-03 8.80681926e-01 2.92082399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:31.98, Z:29.22 [[ 6.88647463e-01 -6.25493139e-01 -3.66773778e-01 1.19167250e+02] [ 5.49509708e-01 7.80218135e-01 -2.98828953e-01 3.19752439e+01] [ 4.73079013e-01 4.24204920e-03 8.81009791e-01 2.92230265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:32.00, Z:29.23 [[ 6.90589536e-01 -6.29157404e-01 -3.56717050e-01 1.19189559e+02] [ 5.47803935e-01 7.77053660e-01 -3.09997512e-01 3.19975884e+01] [ 4.72225520e-01 1.86700340e-02 8.81280028e-01 2.92319703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.180385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:119.20, Y:32.01, Z:29.24 [[ 6.88357256e-01 -6.30618898e-01 -3.58446780e-01 1.19203121e+02] [ 5.52774093e-01 7.76015803e-01 -3.03710841e-01 3.20136744e+01] [ 4.69686162e-01 1.09214675e-02 8.82765898e-01 2.92410423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:32.03, Z:29.26 [[ 6.90571210e-01 -6.26592540e-01 -3.61238416e-01 1.19227979e+02] [ 5.48150698e-01 7.79258073e-01 -3.03788853e-01 3.20259223e+01] [ 4.71849781e-01 1.17747465e-02 8.81600329e-01 2.92605206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:32.04, Z:29.28 [[ 6.90610559e-01 -6.25341528e-01 -3.63324964e-01 1.19247834e+02] [ 5.47953246e-01 7.80297995e-01 -3.01466880e-01 3.20397775e+01] [ 4.72021500e-01 9.11111729e-03 8.81539954e-01 2.92755802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:32.05, Z:29.29 [[ 6.88756662e-01 -6.25074844e-01 -3.67281499e-01 1.19262906e+02] [ 5.50057420e-01 7.80560882e-01 -2.96920099e-01 3.20534998e+01] [ 4.72282856e-01 2.47978271e-03 8.81443563e-01 2.92890858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.300385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:119.28, Y:32.07, Z:29.30 [[ 6.89722274e-01 -6.27583959e-01 -3.61139252e-01 1.19280511e+02] [ 5.48145639e-01 7.78439997e-01 -3.05888098e-01 3.20748741e+01] [ 4.73095702e-01 1.30209285e-02 8.80914816e-01 2.92993257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:32.09, Z:29.31 [[ 6.92062133e-01 -6.27620332e-01 -3.56570784e-01 1.19302612e+02] [ 5.45264788e-01 7.78231898e-01 -3.11514726e-01 3.20942220e+01] [ 4.73007733e-01 2.11620530e-02 8.80804094e-01 2.93105864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.360385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:119.32, Y:32.11, Z:29.33 [[ 6.92124507e-01 -6.22447632e-01 -3.65407462e-01 1.19321343e+02] [ 5.43456678e-01 7.82575309e-01 -3.03695118e-01 3.21062812e+01] [ 4.74993164e-01 1.16117084e-02 8.79912872e-01 2.93267307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:32.13, Z:29.33 [[ 6.91372248e-01 -6.28802159e-01 -3.55826166e-01 1.19333917e+02] [ 5.47386869e-01 7.77318270e-01 -3.10070835e-01 3.21310961e+01] [ 4.71563390e-01 1.95997999e-02 8.81614324e-01 2.93269340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.36, Y:32.14, Z:29.35 [[ 6.92453526e-01 -6.19978280e-01 -3.68964833e-01 1.19359105e+02] [ 5.41353098e-01 7.84560146e-01 -3.02327968e-01 3.21366991e+01] [ 4.76911877e-01 9.60781194e-03 8.78898602e-01 2.93532168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:32.17, Z:29.35 [[ 6.92157523e-01 -6.30298142e-01 -3.51627951e-01 1.19370801e+02] [ 5.46357143e-01 7.75912070e-01 -3.15363809e-01 3.21673905e+01] [ 4.71605594e-01 2.61669902e-02 8.81421268e-01 2.93485083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:119.39, Y:32.18, Z:29.37 [[ 6.92227519e-01 -6.26582538e-01 -3.58071758e-01 1.19391482e+02] [ 5.46109552e-01 7.79159766e-01 -3.07692079e-01 3.21788950e+01] [ 4.71789591e-01 1.74465170e-02 8.81538542e-01 2.93657988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:119.42, Y:32.18, Z:29.40 [[ 6.92198864e-01 -6.18374925e-01 -3.72119853e-01 1.19416267e+02] [ 5.41832907e-01 7.85869328e-01 -2.98037750e-01 3.21816411e+01] [ 4.76736650e-01 4.67461052e-03 8.79033739e-01 2.93959992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:32.20, Z:29.41 [[ 6.91801787e-01 -6.22824430e-01 -3.65376542e-01 1.19434805e+02] [ 5.43581413e-01 7.82271562e-01 -3.04253925e-01 3.22010056e+01] [ 4.75320455e-01 1.18715117e-02 8.79732648e-01 2.94064837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.45, Y:32.22, Z:29.42 [[ 6.91236174e-01 -6.23718859e-01 -3.64921002e-01 1.19453347e+02] [ 5.44701356e-01 7.81565507e-01 -3.04065439e-01 3.22170432e+01] [ 4.74861016e-01 1.14080656e-02 8.79986859e-01 2.94189740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:119.46, Y:32.26, Z:29.40 [[ 6.91245128e-01 -6.40670744e-01 -3.34247171e-01 1.19463222e+02] [ 5.53670311e-01 7.66803219e-01 -3.24749150e-01 3.22581449e+01] [ 4.64359086e-01 3.94185326e-02 8.84769359e-01 2.94003635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:32.24, Z:29.45 [[ 6.90569305e-01 -6.16270237e-01 -3.78582924e-01 1.19494664e+02] [ 5.47285607e-01 7.87452441e-01 -2.83543853e-01 3.22382611e+01] [ 4.72855685e-01 -1.13863037e-02 8.81066316e-01 2.94540848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:32.27, Z:29.46 [[ 6.90673096e-01 -6.25884369e-01 -3.62269831e-01 1.19510503e+02] [ 5.48186243e-01 7.79850061e-01 -3.02201464e-01 3.22653972e+01] [ 4.71659323e-01 1.01310831e-02 8.81722657e-01 2.94573545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:32.28, Z:29.47 [[ 6.90160142e-01 -6.26965059e-01 -3.61377632e-01 1.19529282e+02] [ 5.49712889e-01 7.78989063e-01 -3.01648437e-01 3.22806574e+01] [ 4.70632253e-01 9.53178589e-03 8.82277976e-01 2.94701605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:32.30, Z:29.48 [[ 6.89472102e-01 -6.27817504e-01 -3.61211022e-01 1.19548407e+02] [ 5.50680272e-01 7.78307816e-01 -3.01642472e-01 3.22969011e+01] [ 4.70509786e-01 9.06228578e-03 8.82348240e-01 2.94832384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:32.31, Z:29.50 [[ 6.88355220e-01 -6.28909571e-01 -3.61441340e-01 1.19566470e+02] [ 5.51707002e-01 7.77432097e-01 -3.02024367e-01 3.23123402e+01] [ 4.70942114e-01 8.49033127e-03 8.82123256e-01 2.94951472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:32.33, Z:29.51 [[ 6.87809810e-01 -6.29542162e-01 -3.61378377e-01 1.19585590e+02] [ 5.52380854e-01 7.76923366e-01 -3.02101764e-01 3.23292777e+01] [ 4.70949103e-01 8.17006040e-03 8.82122550e-01 2.95074487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:32.34, Z:29.52 [[ 6.86594480e-01 -6.30913340e-01 -3.61298182e-01 1.19604426e+02] [ 5.53862743e-01 7.75818025e-01 -3.02229142e-01 3.23449733e+01] [ 4.70982039e-01 7.39925814e-03 8.82111767e-01 2.95195975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:32.36, Z:29.53 [[ 6.85833480e-01 -6.31738378e-01 -3.61301895e-01 1.19623598e+02] [ 5.54690025e-01 7.75150035e-01 -3.02425859e-01 3.23604169e+01] [ 4.71117198e-01 7.00322226e-03 8.82042823e-01 2.95325939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:32.38, Z:29.54 [[ 6.84386506e-01 -6.33092245e-01 -3.61675711e-01 1.19641792e+02] [ 5.55946677e-01 7.74051122e-01 -3.02932587e-01 3.23758995e+01] [ 4.71739761e-01 6.25056532e-03 8.81715673e-01 2.95443949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.900385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:119.66, Y:32.39, Z:29.56 [[ 6.83608214e-01 -6.34005404e-01 -3.61548002e-01 1.19661230e+02] [ 5.56945632e-01 7.73307095e-01 -3.02997855e-01 3.23929464e+01] [ 4.71689912e-01 5.76924173e-03 8.81745622e-01 2.95565423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:32.41, Z:29.57 [[ 6.82525173e-01 -6.34896438e-01 -3.62030249e-01 1.19679574e+02] [ 5.57636392e-01 7.72578916e-01 -3.03584376e-01 3.24091004e+01] [ 4.72441577e-01 5.32273684e-03 8.81345917e-01 2.95686264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:32.42, Z:29.58 [[ 6.82229220e-01 -6.35146457e-01 -3.62149512e-01 1.19699025e+02] [ 5.57770213e-01 7.72373496e-01 -3.03861107e-01 3.24249133e+01] [ 4.72710990e-01 5.30671534e-03 8.81201542e-01 2.95817323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:119.72, Y:32.44, Z:29.59 [[ 6.81779935e-01 -6.35786373e-01 -3.61872640e-01 1.19718296e+02] [ 5.58519979e-01 7.71848724e-01 -3.03817346e-01 3.24396429e+01] [ 4.72473864e-01 5.02347120e-03 8.81330365e-01 2.95944985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.020385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:119.74, Y:32.46, Z:29.61 [[ 6.81370144e-01 -6.36400836e-01 -3.61564245e-01 1.19737780e+02] [ 5.59265024e-01 7.71343953e-01 -3.03728726e-01 3.24553566e+01] [ 4.72183609e-01 4.74144972e-03 8.81487469e-01 2.96077618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:119.76, Y:32.50, Z:29.60 [[ 6.82407525e-01 -6.50852518e-01 -3.32732581e-01 1.19757641e+02] [ 5.63898172e-01 7.58374901e-01 -3.26934796e-01 3.24954400e+01] [ 4.65122373e-01 3.54754704e-02 8.84535284e-01 2.95961409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.080385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:119.78, Y:32.49, Z:29.63 [[ 6.82419628e-01 -6.37004086e-01 -3.58509756e-01 1.19782224e+02] [ 5.64389778e-01 7.70860032e-01 -2.95362472e-01 3.24919927e+01] [ 4.64507944e-01 -7.78093530e-04 8.85568611e-01 2.96254519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.80, Y:32.49, Z:29.66 [[ 6.81914247e-01 -6.23994930e-01 -3.81606195e-01 1.19797814e+02] [ 5.61073853e-01 7.80962034e-01 -2.74398311e-01 3.24880083e+01] [ 4.69243105e-01 -2.69931406e-02 8.82656377e-01 2.96597354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:32.52, Z:29.66 [[ 6.83731199e-01 -6.35851756e-01 -3.58056128e-01 1.19812047e+02] [ 5.59918620e-01 7.71791036e-01 -3.01379722e-01 3.25216336e+01] [ 4.67977335e-01 5.58042561e-03 8.83722848e-01 2.96589947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170385723 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:119.83, Y:32.56, Z:29.65 [[ 6.84793857e-01 -6.49772800e-01 -3.29928298e-01 1.19831494e+02] [ 5.62772727e-01 7.59163863e-01 -3.27042944e-01 3.25625870e+01] [ 4.62973250e-01 3.82823516e-02 8.85545160e-01 2.96464486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:32.54, Z:29.70 [[ 6.84585714e-01 -6.19836639e-01 -3.83594763e-01 1.19854625e+02] [ 5.57493681e-01 7.84251167e-01 -2.72306632e-01 3.25360506e+01] [ 4.69620268e-01 -2.74344264e-02 8.82442155e-01 2.97014932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.87, Y:32.57, Z:29.70 [[ 6.85657305e-01 -6.33391329e-01 -3.58733165e-01 1.19868980e+02] [ 5.56560085e-01 7.73793032e-01 -3.02465230e-01 3.25714420e+01] [ 4.69164078e-01 7.73093397e-03 8.83077177e-01 2.96982690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.89, Y:32.59, Z:29.71 [[ 6.86149310e-01 -6.32871692e-01 -3.58709556e-01 1.19887202e+02] [ 5.55882371e-01 7.74212690e-01 -3.02637574e-01 3.25887536e+01] [ 4.69248243e-01 8.25424463e-03 8.83027720e-01 2.97103125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:32.61, Z:29.72 [[ 6.87581468e-01 -6.31725270e-01 -3.57987302e-01 1.19904111e+02] [ 5.54820526e-01 7.75137991e-01 -3.02217272e-01 3.26080771e+01] [ 4.68407846e-01 9.18029252e-03 8.83464664e-01 2.97213813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:32.63, Z:29.73 [[ 6.88402124e-01 -6.31210846e-01 -3.57316923e-01 1.19922179e+02] [ 5.54448645e-01 7.75550960e-01 -3.01840037e-01 3.26251950e+01] [ 4.67642187e-01 9.67343873e-03 8.83864927e-01 2.97335123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:32.64, Z:29.75 [[ 6.89913080e-01 -6.29990440e-01 -3.56555727e-01 1.19940765e+02] [ 5.53324619e-01 7.76530017e-01 -3.01385133e-01 3.26418954e+01] [ 4.66745978e-01 1.06384831e-02 8.84327437e-01 2.97472255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.96, Y:32.66, Z:29.76 [[ 6.91645098e-01 -6.28892856e-01 -3.55134952e-01 1.19959332e+02] [ 5.52642850e-01 7.77407088e-01 -3.00373267e-01 3.26583905e+01] [ 4.64987031e-01 1.14889052e-02 8.85242942e-01 2.97610034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:32.68, Z:29.77 [[ 6.92558745e-01 -6.28245058e-01 -3.54500398e-01 1.19978030e+02] [ 5.52104811e-01 7.77921938e-01 -3.00029560e-01 3.26755381e+01] [ 4.64265725e-01 1.20667201e-02 8.85613759e-01 2.97735865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:32.69, Z:29.79 [[ 6.93341885e-01 -6.27772467e-01 -3.53806105e-01 1.19995617e+02] [ 5.51792300e-01 7.78296185e-01 -2.99633619e-01 3.26921147e+01] [ 4.63467678e-01 1.25210540e-02 8.86025358e-01 2.97852504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:32.71, Z:29.80 [[ 6.94894805e-01 -6.26503328e-01 -3.53008200e-01 1.20013279e+02] [ 5.50644378e-01 7.79302131e-01 -2.99130335e-01 3.27102988e+01] [ 4.62506193e-01 1.34821346e-02 8.86513538e-01 2.97971987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:32.73, Z:29.81 [[ 6.95516695e-01 -6.26037863e-01 -3.52609019e-01 1.20031495e+02] [ 5.50208339e-01 7.79668115e-01 -2.98978952e-01 3.27272888e+01] [ 4.62090154e-01 1.39364302e-02 8.86723444e-01 2.98096235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:120.05, Y:32.74, Z:29.82 [[ 6.96709299e-01 -6.24935170e-01 -3.52210428e-01 1.20049452e+02] [ 5.49057621e-01 7.80536092e-01 -2.98829613e-01 3.27445093e+01] [ 4.61662086e-01 1.48135507e-02 8.86932172e-01 2.98214485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:32.76, Z:29.83 [[ 6.97633076e-01 -6.24250066e-01 -3.51596282e-01 1.20066693e+02] [ 5.48475205e-01 7.81072799e-01 -2.98496620e-01 3.27610491e+01] [ 4.60958827e-01 1.53992725e-02 8.87287903e-01 2.98344297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.09, Y:32.78, Z:29.85 [[ 6.97630164e-01 -6.24372914e-01 -3.51383862e-01 1.20085515e+02] [ 5.48621993e-01 7.80973471e-01 -2.98486761e-01 3.27785475e+01] [ 4.60788523e-01 1.54564533e-02 8.87375363e-01 2.98456431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:32.81, Z:29.85 [[ 6.97323372e-01 -6.31366338e-01 -3.39288466e-01 1.20100890e+02] [ 5.51528267e-01 7.74976916e-01 -3.08589290e-01 3.28067388e+01] [ 4.57773619e-01 2.80593445e-02 8.88625898e-01 2.98460633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:32.81, Z:29.88 [[ 6.96736239e-01 -6.20567699e-01 -3.59797642e-01 1.20124514e+02] [ 5.48639042e-01 7.84138908e-01 -2.90036850e-01 3.28089986e+01] [ 4.62118831e-01 4.68015008e-03 8.86805662e-01 2.98758401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:32.83, Z:29.88 [[ 6.96757214e-01 -6.25018127e-01 -3.51968360e-01 1.20142087e+02] [ 5.48912367e-01 7.80459558e-01 -2.99295994e-01 3.28312274e+01] [ 4.61762492e-01 1.53368573e-02 8.86871006e-01 2.98843336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:32.85, Z:29.90 [[ 6.96219266e-01 -6.25743774e-01 -3.51743461e-01 1.20160480e+02] [ 5.49739219e-01 7.79884520e-01 -2.99277341e-01 3.28475399e+01] [ 4.61590213e-01 1.49954752e-02 8.86966522e-01 2.98965306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:32.86, Z:29.91 [[ 6.94749178e-01 -6.27214304e-01 -3.52030961e-01 1.20178613e+02] [ 5.51167816e-01 7.78717631e-01 -2.99687987e-01 3.28634744e+01] [ 4.62101308e-01 1.41798466e-02 8.86713772e-01 2.99093160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:32.88, Z:29.92 [[ 6.94484019e-01 -6.28171791e-01 -3.50844906e-01 1.20197231e+02] [ 5.52692505e-01 7.77955043e-01 -2.98859408e-01 3.28801361e+01] [ 4.60676614e-01 1.36437325e-02 8.87463186e-01 2.99219454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:32.90, Z:29.94 [[ 6.94001581e-01 -6.29816312e-01 -3.48845550e-01 1.20215064e+02] [ 5.55355471e-01 7.76641621e-01 -2.97334985e-01 3.28963704e+01] [ 4.58194397e-01 1.26176650e-02 8.88762448e-01 2.99358485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:32.91, Z:29.95 [[ 6.93741281e-01 -6.30539199e-01 -3.48056538e-01 1.20233582e+02] [ 5.56432401e-01 7.76060587e-01 -2.96838251e-01 3.29130854e+01] [ 4.57281114e-01 1.22590132e-02 8.89237707e-01 2.99490770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:32.93, Z:29.96 [[ 6.93558743e-01 -6.30898127e-01 -3.47769786e-01 1.20251182e+02] [ 5.56873993e-01 7.75770342e-01 -2.96768820e-01 3.29309169e+01] [ 4.57020378e-01 1.21626605e-02 8.89373062e-01 2.99598355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:32.95, Z:29.97 [[ 6.93978951e-01 -6.31793428e-01 -3.45297379e-01 1.20271007e+02] [ 5.57585397e-01 7.75012797e-01 -2.97411649e-01 3.29514366e+01] [ 4.55512613e-01 1.38646476e-02 8.90121358e-01 2.99703300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:32.98, Z:29.97 [[ 6.93147239e-01 -6.38290328e-01 -3.34861707e-01 1.20285009e+02] [ 5.62546533e-01 7.69504148e-01 -3.02332208e-01 3.29762351e+01] [ 4.50653197e-01 2.11854425e-02 8.92447686e-01 2.99699196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:32.98, Z:30.00 [[ 6.92883589e-01 -6.26134511e-01 -3.57586224e-01 1.20308659e+02] [ 5.57237569e-01 7.79713776e-01 -2.85539348e-01 3.29762034e+01] [ 4.57600944e-01 -1.41494989e-03 8.89156552e-01 3.00030651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:33.00, Z:30.01 [[ 6.92691945e-01 -6.32126671e-01 -3.47266096e-01 1.20323389e+02] [ 5.58036316e-01 7.74770927e-01 -2.97196031e-01 3.30008481e+01] [ 4.56917213e-01 1.20782038e-02 8.89427219e-01 3.00086401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.34, Y:33.02, Z:30.02 [[ 6.92192552e-01 -6.32906718e-01 -3.46840823e-01 1.20342077e+02] [ 5.59015753e-01 7.74139774e-01 -2.96999995e-01 3.30188675e+01] [ 4.56476569e-01 1.16917007e-02 8.89658612e-01 3.00202397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:33.03, Z:30.03 [[ 6.92345127e-01 -6.33013588e-01 -3.46340906e-01 1.20358773e+02] [ 5.59276242e-01 7.74051570e-01 -2.96739367e-01 3.30346902e+01] [ 4.55925773e-01 1.17458145e-02 8.89940293e-01 3.00338658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:33.06, Z:30.03 [[ 6.92337389e-01 -6.40499693e-01 -3.32308717e-01 1.20371099e+02] [ 5.63339058e-01 7.67567969e-01 -3.05758923e-01 3.30642812e+01] [ 4.50908023e-01 2.44858547e-02 8.92234497e-01 3.00314518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:33.08, Z:30.05 [[ 6.92731346e-01 -6.37011427e-01 -3.38141573e-01 1.20390247e+02] [ 5.61592185e-01 7.70625397e-01 -3.01248594e-01 3.30790411e+01] [ 4.52479281e-01 1.87866788e-02 8.91577008e-01 3.00475963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.41, Y:33.10, Z:30.05 [[ 6.92728679e-01 -6.39440058e-01 -3.33531692e-01 1.20407274e+02] [ 5.62871813e-01 7.68495280e-01 -3.04286585e-01 3.30999729e+01] [ 4.50890563e-01 2.30524558e-02 8.92281505e-01 3.00547578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.43, Y:33.09, Z:30.09 [[ 6.92293998e-01 -6.23489866e-01 -3.63303463e-01 1.20433260e+02] [ 5.55979450e-01 7.81803712e-01 -2.82258405e-01 3.30937980e+01] [ 4.60017251e-01 -6.58345968e-03 8.87885571e-01 3.00946867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.44, Y:33.14, Z:30.08 [[ 6.91987472e-01 -6.39335678e-01 -3.35265907e-01 1.20443288e+02] [ 5.59921165e-01 7.68466724e-01 -3.09753424e-01 3.31355589e+01] [ 4.55677109e-01 2.66230121e-02 8.89746923e-01 3.00825048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22038572300002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.47, Y:33.14, Z:30.11 [[ 6.91534708e-01 -6.26843805e-01 -3.58952074e-01 1.20467069e+02] [ 5.55345679e-01 7.79143065e-01 -2.90735725e-01 3.31361170e+01] [ 4.61920908e-01 1.71136172e-03 8.86919470e-01 3.01133659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:33.16, Z:30.12 [[ 6.92353069e-01 -6.30946926e-01 -3.50075999e-01 1.20482480e+02] [ 5.55379555e-01 7.75715876e-01 -2.99697231e-01 3.31585768e+01] [ 4.60652556e-01 1.30712453e-02 8.87484290e-01 3.01228016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:33.19, Z:30.13 [[ 6.92718831e-01 -6.35987660e-01 -3.40088691e-01 1.20497599e+02] [ 5.58794676e-01 7.71418116e-01 -3.04405323e-01 3.31853333e+01] [ 4.55948606e-01 2.08275490e-02 8.89762374e-01 3.01269444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:33.19, Z:30.15 [[ 6.92624674e-01 -6.28912957e-01 -3.53184871e-01 1.20518819e+02] [ 5.56679486e-01 7.77451593e-01 -2.92706289e-01 3.31911788e+01] [ 4.58670918e-01 6.12482575e-03 8.88585097e-01 3.01522764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.54, Y:33.21, Z:30.16 [[ 6.92328513e-01 -6.32062506e-01 -3.48106619e-01 1.20535809e+02] [ 5.57296443e-01 7.74814318e-01 -2.98468505e-01 3.32116226e+01] [ 4.58368743e-01 1.26396757e-02 8.88672231e-01 3.01631344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:33.23, Z:30.18 [[ 6.91154107e-01 -6.32972533e-01 -3.48786142e-01 1.20553552e+02] [ 5.57910732e-01 7.74077751e-01 -2.99231099e-01 3.32283016e+01] [ 4.59392659e-01 1.22232708e-02 8.88149186e-01 3.01771543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:33.25, Z:30.19 [[ 6.90226361e-01 -6.33685032e-01 -3.49329144e-01 1.20571641e+02] [ 5.58366812e-01 7.73499188e-01 -2.99875825e-01 3.32460766e+01] [ 4.60232631e-01 1.19283991e-02 8.87718220e-01 3.01901699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.58, Y:33.28, Z:30.18 [[ 6.88732039e-01 -6.45586163e-01 -3.29949519e-01 1.20582478e+02] [ 5.64216108e-01 7.63058785e-01 -3.15279995e-01 3.32832732e+01] [ 4.55311281e-01 3.09806002e-02 8.89793144e-01 3.01802085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.460385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.61, Y:33.29, Z:30.20 [[ 6.87338537e-01 -6.39419161e-01 -3.44541540e-01 1.20605502e+02] [ 5.64184450e-01 7.68754574e-01 -3.01184845e-01 3.32924381e+01] [ 4.57451245e-01 1.26309715e-02 8.89144992e-01 3.01990200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.62, Y:33.30, Z:30.22 [[ 6.86964600e-01 -6.36994722e-01 -3.49738991e-01 1.20623221e+02] [ 5.66442493e-01 7.70865386e-01 -2.91392278e-01 3.33044846e+01] [ 4.55217025e-01 2.06915344e-03 8.90378110e-01 3.02186651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:33.33, Z:30.23 [[ 6.84807951e-01 -6.44085600e-01 -3.40869197e-01 1.20638703e+02] [ 5.66858429e-01 7.64775474e-01 -3.06251523e-01 3.33293473e+01] [ 4.57940598e-01 1.64989008e-02 8.88829677e-01 3.02259164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:33.34, Z:30.24 [[ 6.81880610e-01 -6.45491861e-01 -3.44062627e-01 1.20657067e+02] [ 5.70853940e-01 7.63712458e-01 -3.01444955e-01 3.33432645e+01] [ 4.57345179e-01 9.13996332e-03 8.89242289e-01 3.02422851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.68, Y:33.36, Z:30.26 [[ 6.80654759e-01 -6.45399186e-01 -3.46653991e-01 1.20675410e+02] [ 5.71797803e-01 7.63825323e-01 -2.99362904e-01 3.33574137e+01] [ 4.57991672e-01 5.54679488e-03 8.88939178e-01 3.02578055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:33.38, Z:30.27 [[ 6.78508995e-01 -6.49751991e-01 -3.42706717e-01 1.20691159e+02] [ 5.74479817e-01 7.60090756e-01 -3.03702128e-01 3.33794002e+01] [ 4.57819270e-01 9.18653387e-03 8.88997820e-01 3.02675928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:33.37, Z:30.30 [[ 6.80539055e-01 -6.32627660e-01 -3.69660435e-01 1.20713515e+02] [ 5.72816407e-01 7.73948981e-01 -2.69970997e-01 3.33731582e+01] [ 4.56889437e-01 -2.80217557e-02 8.89082012e-01 3.02950507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.72, Y:33.44, Z:30.28 [[ 6.74272727e-01 -6.68168965e-01 -3.14494077e-01 1.20719009e+02] [ 5.75416770e-01 7.42289757e-01 -3.43367816e-01 3.34417213e+01] [ 4.62873450e-01 5.05583874e-02 8.84981366e-01 3.02802568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.75, Y:33.43, Z:30.31 [[ 6.74512787e-01 -6.49738724e-01 -3.50531155e-01 1.20747195e+02] [ 5.73287867e-01 7.60138932e-01 -3.05826463e-01 3.34346765e+01] [ 4.65159673e-01 5.32860151e-03 8.85210757e-01 3.03111040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:33.45, Z:30.32 [[ 6.74756394e-01 -6.49528455e-01 -3.50451987e-01 1.20762889e+02] [ 5.72143650e-01 7.60304936e-01 -3.07551700e-01 3.34543485e+01] [ 4.66213956e-01 7.01359720e-03 8.84644198e-01 3.03237464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.78, Y:33.47, Z:30.34 [[ 6.74104984e-01 -6.48473374e-01 -3.53644955e-01 1.20781495e+02] [ 5.71747538e-01 7.61226382e-01 -3.06005145e-01 3.34712870e+01] [ 4.67640058e-01 4.08396073e-03 8.83909553e-01 3.03371958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.79, Y:33.49, Z:30.35 [[ 6.78187740e-01 -6.45906549e-01 -3.50522636e-01 1.20793651e+02] [ 5.73119719e-01 7.63415657e-01 -2.97876355e-01 3.34877712e+01] [ 4.59994757e-01 1.12465781e-03 8.87920919e-01 3.03478454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:33.52, Z:30.35 [[ 6.76731070e-01 -6.53596748e-01 -3.38889879e-01 1.20807924e+02] [ 5.70641381e-01 7.56498601e-01 -3.19496920e-01 3.35157821e+01] [ 4.65191867e-01 2.28289039e-02 8.84915458e-01 3.03542892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.83, Y:33.51, Z:30.39 [[ 6.77350859e-01 -6.38824259e-01 -3.64827877e-01 1.20831253e+02] [ 5.65428266e-01 7.69337213e-01 -2.97340088e-01 3.35143204e+01] [ 4.70623724e-01 -4.88042952e-03 8.82320516e-01 3.03869345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:33.56, Z:30.37 [[ 6.77477783e-01 -6.57767017e-01 -3.29190530e-01 1.20837871e+02] [ 5.72639015e-01 7.52549576e-01 -3.25197931e-01 3.35573232e+01] [ 4.61636667e-01 3.18070321e-02 8.86498675e-01 3.03717163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91038572300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:120.87, Y:33.56, Z:30.40 [[ 6.76717946e-01 -6.43106218e-01 -3.58423234e-01 1.20866896e+02] [ 5.68606393e-01 7.65776836e-01 -3.00454000e-01 3.35550530e+01] [ 4.67696046e-01 -4.79128336e-04 8.83889235e-01 3.04029215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:33.58, Z:30.41 [[ 6.78838152e-01 -6.46734729e-01 -3.47725400e-01 1.20879653e+02] [ 5.68775744e-01 7.62630837e-01 -3.08039541e-01 3.35788036e+01] [ 4.64405982e-01 1.13312198e-02 8.85549935e-01 3.04125048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.90, Y:33.60, Z:30.42 [[ 6.78914844e-01 -6.46197887e-01 -3.48572697e-01 1.20898598e+02] [ 5.67025555e-01 7.63060070e-01 -3.10195662e-01 3.35988311e+01] [ 4.66429688e-01 1.29468122e-02 8.84463524e-01 3.04247007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.000385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.92, Y:33.61, Z:30.44 [[ 6.78718727e-01 -6.43001600e-01 -3.54809573e-01 1.20917895e+02] [ 5.65761057e-01 7.65835525e-01 -3.05631109e-01 3.36115599e+01] [ 4.68247068e-01 6.70011847e-03 8.83572177e-01 3.04412825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:33.63, Z:30.45 [[ 6.79651614e-01 -6.45239665e-01 -3.48911820e-01 1.20935179e+02] [ 5.65004922e-01 7.63835018e-01 -3.11970356e-01 3.36321582e+01] [ 4.67806715e-01 1.48942604e-02 8.83705290e-01 3.04508373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:33.65, Z:30.47 [[ 6.80093626e-01 -6.43235201e-01 -3.51740154e-01 1.20955609e+02] [ 5.64544354e-01 7.65586279e-01 -3.08492012e-01 3.36465997e+01] [ 4.67720357e-01 1.12305335e-02 8.83805150e-01 3.04658932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:33.66, Z:30.48 [[ 6.80318006e-01 -6.44428899e-01 -3.49111450e-01 1.20973943e+02] [ 5.65239118e-01 7.64546316e-01 -3.09796174e-01 3.36647892e+01] [ 4.66553481e-01 1.34284672e-02 8.84391048e-01 3.04770258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.00, Y:33.68, Z:30.50 [[ 6.81071546e-01 -6.41442605e-01 -3.53118866e-01 1.20995646e+02] [ 5.63919334e-01 7.67116382e-01 -3.05822564e-01 3.36768161e+01] [ 4.67050889e-01 9.15649095e-03 8.84183027e-01 3.04954773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:33.69, Z:30.51 [[ 6.80478121e-01 -6.43501852e-01 -3.50506624e-01 1.21014677e+02] [ 5.64837027e-01 7.65350864e-01 -3.08540415e-01 3.36946382e+01] [ 4.66806876e-01 1.19758819e-02 8.84278191e-01 3.05066117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.04, Y:33.71, Z:30.52 [[ 6.79630895e-01 -6.41237425e-01 -3.56253297e-01 1.21035353e+02] [ 5.63804862e-01 7.67312419e-01 -3.05541697e-01 3.37071437e+01] [ 4.69282350e-01 6.79823549e-03 8.83022004e-01 3.05232151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.06, Y:33.71, Z:30.55 [[ 6.77820205e-01 -6.34475180e-01 -3.71484880e-01 1.21056471e+02] [ 5.60596953e-01 7.72913361e-01 -2.97213715e-01 3.37128170e+01] [ 4.75700353e-01 -6.79583036e-03 8.79581145e-01 3.05469442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.240385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.07, Y:33.75, Z:30.54 [[ 6.78883120e-01 -6.50874684e-01 -3.39823271e-01 1.21071277e+02] [ 5.65324278e-01 7.58680548e-01 -3.23747258e-01 3.37486594e+01] [ 4.68536200e-01 2.76762029e-02 8.83010678e-01 3.05408922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.10, Y:33.76, Z:30.56 [[ 6.80619678e-01 -6.44603903e-01 -3.48199171e-01 1.21096963e+02] [ 5.64179286e-01 7.64348271e-01 -3.12207390e-01 3.37555372e+01] [ 4.67395536e-01 1.60477339e-02 8.83902644e-01 3.05583306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:33.75, Z:30.59 [[ 6.77986535e-01 -6.30463627e-01 -3.77954855e-01 1.21117716e+02] [ 5.62044486e-01 7.76001456e-01 -2.86230214e-01 3.37486617e+01] [ 4.73751257e-01 -1.83672115e-02 8.80467144e-01 3.05918946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:33.81, Z:30.56 [[ 6.79056405e-01 -6.62010040e-01 -3.17214604e-01 1.21121943e+02] [ 5.71627306e-01 7.47974082e-01 -3.37308458e-01 3.38095040e+01] [ 4.60569888e-01 4.77229392e-02 8.86339607e-01 3.05606952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:33.80, Z:30.59 [[ 6.79622167e-01 -6.43966638e-01 -3.51312794e-01 1.21154153e+02] [ 5.66637477e-01 7.65001065e-01 -3.06096947e-01 3.38021401e+01] [ 4.65870884e-01 8.96327522e-03 8.84807312e-01 3.05933128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.17, Y:33.82, Z:30.61 [[ 6.79396893e-01 -6.43667730e-01 -3.52294927e-01 1.21174353e+02] [ 5.65620288e-01 7.65245389e-01 -3.07364903e-01 3.38173125e+01] [ 4.67432938e-01 9.55760181e-03 8.83976867e-01 3.06076497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:33.83, Z:30.62 [[ 6.79330972e-01 -6.42524025e-01 -3.54502901e-01 1.21196429e+02] [ 5.63645210e-01 7.66202460e-01 -3.08606332e-01 3.38299757e+01] [ 4.69907977e-01 9.83197738e-03 8.82660651e-01 3.06225773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:33.84, Z:30.64 [[ 6.79356936e-01 -6.41798736e-01 -3.55764720e-01 1.21217294e+02] [ 5.62463854e-01 7.66808034e-01 -3.09256935e-01 3.38444512e+01] [ 4.71283956e-01 9.99104786e-03 8.81924947e-01 3.06371080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:33.86, Z:30.65 [[ 6.79560650e-01 -6.43325979e-01 -3.52603186e-01 1.21236766e+02] [ 5.62002091e-01 7.65448632e-01 -3.13435865e-01 3.38629271e+01] [ 4.71541062e-01 1.48349527e-02 8.81719316e-01 3.06484100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:33.87, Z:30.66 [[ 6.80903266e-01 -6.38174819e-01 -3.59309954e-01 1.21256926e+02] [ 5.59905436e-01 7.69856019e-01 -3.06312933e-01 3.38713666e+01] [ 4.72098131e-01 7.38988049e-03 8.81515028e-01 3.06639438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:33.89, Z:30.68 [[ 6.81057954e-01 -6.41866122e-01 -3.52374723e-01 1.21277995e+02] [ 5.59661865e-01 7.66624929e-01 -3.14745634e-01 3.38902760e+01] [ 4.72163807e-01 1.71493227e-02 8.81343997e-01 3.06756028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:33.90, Z:30.69 [[ 6.81449319e-01 -6.39041396e-01 -3.56725273e-01 1.21299600e+02] [ 5.59427287e-01 7.69092704e-01 -3.09091448e-01 3.39013852e+01] [ 4.71877035e-01 1.10683047e-02 8.81594894e-01 3.06926875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:33.92, Z:30.71 [[ 6.81153134e-01 -6.39649620e-01 -3.56200466e-01 1.21318463e+02] [ 5.59483219e-01 7.68571966e-01 -3.10283193e-01 3.39185482e+01] [ 4.72238219e-01 1.20621859e-02 8.81388432e-01 3.07060360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:33.93, Z:30.72 [[ 6.82139344e-01 -6.38238926e-01 -3.56843088e-01 1.21340488e+02] [ 5.58922108e-01 7.69761410e-01 -3.08339826e-01 3.39307732e+01] [ 4.71478518e-01 1.08832359e-02 8.81810389e-01 3.07226393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:33.95, Z:30.73 [[ 6.83036160e-01 -6.38503278e-01 -3.54647951e-01 1.21357794e+02] [ 5.58446185e-01 7.69499123e-01 -3.09853123e-01 3.39459745e+01] [ 4.70743522e-01 1.35890921e-02 8.82165446e-01 3.07329399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:33.97, Z:30.74 [[ 6.81795392e-01 -6.42456924e-01 -3.49863036e-01 1.21378195e+02] [ 5.60225804e-01 7.66091367e-01 -3.15041372e-01 3.39656961e+01] [ 4.70427562e-01 1.87914546e-02 8.82238511e-01 3.07432211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.40, Y:33.96, Z:30.78 [[ 6.79915784e-01 -6.25401187e-01 -3.82867971e-01 1.21402068e+02] [ 5.53969155e-01 7.80168537e-01 -2.90611817e-01 3.39554841e+01] [ 4.80450520e-01 -1.45054850e-02 8.76901869e-01 3.07836746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.42, Y:34.01, Z:30.76 [[ 6.82394976e-01 -6.50288513e-01 -3.33859170e-01 1.21415260e+02] [ 5.59322606e-01 7.58559602e-01 -3.34283642e-01 3.40054110e+01] [ 4.70632892e-01 4.13784968e-02 8.81358327e-01 3.07639750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:34.01, Z:30.79 [[ 6.81801388e-01 -6.40545289e-01 -3.53339213e-01 1.21440154e+02] [ 5.59572206e-01 7.67772528e-01 -3.12096606e-01 3.40072468e+01] [ 4.71196151e-01 1.50690962e-02 8.81899716e-01 3.07869159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:34.02, Z:30.80 [[ 6.81564129e-01 -6.40102779e-01 -3.54596631e-01 1.21459420e+02] [ 5.60517023e-01 7.68194231e-01 -3.09351402e-01 3.40210046e+01] [ 4.70415779e-01 1.20853710e-02 8.82362136e-01 3.07998226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.48, Y:34.04, Z:30.81 [[ 6.79526294e-01 -6.41834445e-01 -3.55376646e-01 1.21480053e+02] [ 5.60769390e-01 7.66731815e-01 -3.12506026e-01 3.40370929e+01] [ 4.73055712e-01 1.30717167e-02 8.80935539e-01 3.08124452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.50, Y:34.05, Z:30.83 [[ 6.78640483e-01 -6.40850690e-01 -3.58827937e-01 1.21504892e+02] [ 5.60100020e-01 7.67594050e-01 -3.11588417e-01 3.40485866e+01] [ 4.75115842e-01 1.04769795e-02 8.79860881e-01 3.08263962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.900385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.52, Y:34.06, Z:30.84 [[ 6.77507578e-01 -6.42275695e-01 -3.58420722e-01 1.21521394e+02] [ 5.62415211e-01 7.66424947e-01 -3.10293298e-01 3.40632157e+01] [ 4.73996426e-01 8.64479466e-03 8.80484330e-01 3.08408309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:34.08, Z:30.86 [[ 6.77075894e-01 -6.41507948e-01 -3.60604751e-01 1.21541319e+02] [ 5.61582039e-01 7.67079633e-01 -3.10184544e-01 3.40753347e+01] [ 4.75598410e-01 7.50932606e-03 8.79630469e-01 3.08579479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.960385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.56, Y:34.09, Z:30.87 [[ 6.76294025e-01 -6.43404030e-01 -3.58688786e-01 1.21561041e+02] [ 5.62188957e-01 7.65460447e-01 -3.13071687e-01 3.40904396e+01] [ 4.75993664e-01 1.00776373e-02 8.79390967e-01 3.08717021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:34.09, Z:30.90 [[ 6.74922392e-01 -6.33252103e-01 -3.78776369e-01 1.21581908e+02] [ 5.58013208e-01 7.73890820e-01 -2.99523385e-01 3.40890664e+01] [ 4.82805369e-01 -9.20717692e-03 8.75679281e-01 3.09042588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.60, Y:34.11, Z:30.91 [[ 6.74659682e-01 -6.42223997e-01 -3.63844269e-01 1.21599426e+02] [ 5.58787958e-01 7.66446864e-01 -3.16725786e-01 3.41132171e+01] [ 4.82276199e-01 1.03703224e-02 8.75957833e-01 3.09098972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:34.13, Z:30.92 [[ 6.74405717e-01 -6.42628476e-01 -3.63600842e-01 1.21619239e+02] [ 5.59256427e-01 7.66109398e-01 -3.16715391e-01 3.41286373e+01] [ 4.82088351e-01 1.02485629e-02 8.76062663e-01 3.09232908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:34.14, Z:30.94 [[ 6.74279849e-01 -6.43255802e-01 -3.62723943e-01 1.21639718e+02] [ 5.60290066e-01 7.65586760e-01 -3.16151791e-01 3.41426668e+01] [ 4.81063122e-01 9.94415927e-03 8.76629561e-01 3.09368601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.66, Y:34.16, Z:30.95 [[ 6.73895672e-01 -6.44119322e-01 -3.61904578e-01 1.21658823e+02] [ 5.61562105e-01 7.64866340e-01 -3.15638219e-01 3.41580591e+01] [ 4.80117305e-01 9.47533339e-03 8.77153117e-01 3.09477836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:34.17, Z:30.96 [[ 6.74519965e-01 -6.43996998e-01 -3.60958007e-01 1.21678124e+02] [ 5.61787867e-01 7.64966684e-01 -3.14992642e-01 3.41712146e+01] [ 4.78975166e-01 9.68699726e-03 8.77775001e-01 3.09644060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:34.19, Z:30.98 [[ 6.74246886e-01 -6.44141494e-01 -3.61210289e-01 1.21697108e+02] [ 5.61718280e-01 7.64843975e-01 -3.15414437e-01 3.41867588e+01] [ 4.79441040e-01 9.76878001e-03 8.77519721e-01 3.09778348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:34.21, Z:30.98 [[ 6.73595608e-01 -6.51577919e-01 -3.48877015e-01 1.21712704e+02] [ 5.66062458e-01 7.58309927e-01 -3.23325452e-01 3.42127346e+01] [ 4.75228630e-01 2.03044238e-02 8.79628035e-01 3.09776900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:34.21, Z:31.01 [[ 6.73780354e-01 -6.40559059e-01 -3.68380410e-01 1.21737008e+02] [ 5.60729715e-01 7.67906050e-01 -3.09681264e-01 3.42135991e+01] [ 4.81250684e-01 2.09530934e-03 8.76580509e-01 3.10079813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:34.23, Z:31.02 [[ 6.73865127e-01 -6.43725628e-01 -3.62661145e-01 1.21753961e+02] [ 5.60291045e-01 7.65184304e-01 -3.17122888e-01 3.42329182e+01] [ 4.81642746e-01 1.05022631e-02 8.76304723e-01 3.10169773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:34.25, Z:31.03 [[ 6.72519585e-01 -6.45483838e-01 -3.62033179e-01 1.21771538e+02] [ 5.62521806e-01 7.63716784e-01 -3.16711054e-01 3.42505467e+01] [ 4.80922682e-01 9.34282873e-03 8.76713229e-01 3.10291062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:34.26, Z:31.04 [[ 6.73996856e-01 -6.44055897e-01 -3.61829020e-01 1.21790516e+02] [ 5.60883454e-01 7.64905779e-01 -3.16747376e-01 3.42633812e+01] [ 4.80768124e-01 1.05428253e-02 8.76784386e-01 3.10435048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:34.28, Z:31.06 [[ 6.73053529e-01 -6.45575166e-01 -3.60876228e-01 1.21808252e+02] [ 5.63619645e-01 7.63648764e-01 -3.14918182e-01 3.42792389e+01] [ 4.78886043e-01 8.55986166e-03 8.77835342e-01 3.10554919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:34.28, Z:31.08 [[ 6.71526573e-01 -6.39391701e-01 -3.74473383e-01 1.21827050e+02] [ 5.60809187e-01 7.68871966e-01 -3.07130193e-01 3.42841262e+01] [ 4.84298583e-01 -3.76202689e-03 8.74894696e-01 3.10805270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41038572300002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:121.85, Y:34.32, Z:31.08 [[ 6.73970750e-01 -6.52883387e-01 -3.45697426e-01 1.21846404e+02] [ 5.60077191e-01 7.56710884e-01 -3.37197537e-01 3.43230693e+01] [ 4.81743675e-01 3.36440336e-02 8.75666096e-01 3.10769975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:34.32, Z:31.10 [[ 6.72336249e-01 -6.40588875e-01 -3.70958032e-01 1.21866256e+02] [ 5.59080868e-01 7.67878732e-01 -3.12715264e-01 3.43218989e+01] [ 4.85172702e-01 2.85426933e-03 8.74413691e-01 3.11036736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:34.34, Z:31.11 [[ 6.73154874e-01 -6.42680988e-01 -3.65819167e-01 1.21884047e+02] [ 5.56521483e-01 7.66024143e-01 -3.21699941e-01 3.43421324e+01] [ 4.86976750e-01 1.29676576e-02 8.73318662e-01 3.11124105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:34.36, Z:31.13 [[ 6.73297710e-01 -6.42353252e-01 -3.66131799e-01 1.21902972e+02] [ 5.55872954e-01 7.66291497e-01 -3.22184111e-01 3.43583136e+01] [ 4.87519695e-01 1.34030594e-02 8.73009109e-01 3.11258163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:34.37, Z:31.14 [[ 6.74220637e-01 -6.41576336e-01 -3.65795486e-01 1.21920988e+02] [ 5.55043455e-01 7.66928995e-01 -3.22097312e-01 3.43739789e+01] [ 4.87189178e-01 1.41322644e-02 8.73182102e-01 3.11389997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:34.39, Z:31.15 [[ 6.74286413e-01 -6.41627932e-01 -3.65583685e-01 1.21939933e+02] [ 5.55129836e-01 7.66884381e-01 -3.22054671e-01 3.43904132e+01] [ 4.86999691e-01 1.42106774e-02 8.73286527e-01 3.11526245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:34.40, Z:31.17 [[ 6.73176047e-01 -6.41526679e-01 -3.67800938e-01 1.21957123e+02] [ 5.55732170e-01 7.67014658e-01 -3.20702774e-01 3.44048781e+01] [ 4.87848097e-01 1.14906127e-02 8.72852909e-01 3.11670745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:34.42, Z:31.18 [[ 6.74072036e-01 -6.43671042e-01 -3.62373398e-01 1.21976824e+02] [ 5.54862299e-01 7.65060608e-01 -3.26818137e-01 3.44238792e+01] [ 4.87600983e-01 1.92316304e-02 8.72854756e-01 3.11778041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:34.44, Z:31.19 [[ 6.73435303e-01 -6.42198367e-01 -3.66150447e-01 1.21996655e+02] [ 5.55133490e-01 7.66403485e-01 -3.23191129e-01 3.44381472e+01] [ 4.88171794e-01 1.43859404e-02 8.72628984e-01 3.11926873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:34.45, Z:31.20 [[ 6.71531457e-01 -6.43445673e-01 -3.67454987e-01 1.22015706e+02] [ 5.55766047e-01 7.65368660e-01 -3.24553409e-01 3.44532282e+01] [ 4.90071018e-01 1.37288181e-02 8.71574390e-01 3.12048028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:34.47, Z:31.22 [[ 6.70449628e-01 -6.44307760e-01 -3.67919567e-01 1.22035314e+02] [ 5.56403741e-01 7.64650891e-01 -3.25152105e-01 3.44685254e+01] [ 4.90828049e-01 1.32862844e-02 8.71155153e-01 3.12184955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.740385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:122.05, Y:34.48, Z:31.23 [[ 6.68029725e-01 -6.48340877e-01 -3.65226497e-01 1.22052451e+02] [ 5.60403308e-01 7.61233953e-01 -3.26298945e-01 3.44846459e+01] [ 4.89575754e-01 1.33032579e-02 8.71859280e-01 3.12286600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:34.54, Z:31.20 [[ 6.68676591e-01 -6.72980412e-01 -3.16178717e-01 1.22058782e+02] [ 5.70523983e-01 7.37070260e-01 -3.62256563e-01 3.45368033e+01] [ 4.76837500e-01 6.18449428e-02 8.76813094e-01 3.12024249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.09, Y:34.52, Z:31.25 [[ 6.67768010e-01 -6.49966411e-01 -3.62807868e-01 1.22090869e+02] [ 5.67277158e-01 7.59938604e-01 -3.17316789e-01 3.45192704e+01] [ 4.81956959e-01 6.08138484e-03 8.76173788e-01 3.12480467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:122.11, Y:34.53, Z:31.27 [[ 6.67241593e-01 -6.46952345e-01 -3.69108820e-01 1.22111249e+02] [ 5.64521811e-01 7.62526363e-01 -3.16020046e-01 3.45312730e+01] [ 4.85905116e-01 2.49173957e-03 8.74008015e-01 3.12703827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:122.13, Y:34.55, Z:31.28 [[ 6.67494355e-01 -6.51738594e-01 -3.60122327e-01 1.22128582e+02] [ 5.64244031e-01 7.58300285e-01 -3.26510875e-01 3.45547179e+01] [ 4.85880602e-01 1.47472929e-02 8.73900771e-01 3.12793724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:34.56, Z:31.31 [[ 6.66366610e-01 -6.42888548e-01 -3.77690158e-01 1.22150884e+02] [ 5.61102103e-01 7.65954584e-01 -3.13812054e-01 3.45568867e+01] [ 4.91039684e-01 -2.80886759e-03 8.71132676e-01 3.13097555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:34.60, Z:31.30 [[ 6.67197657e-01 -6.60778889e-01 -3.43829241e-01 1.22162513e+02] [ 5.67035565e-01 7.49879976e-01 -3.40808876e-01 3.45976987e+01] [ 4.83029973e-01 3.24234753e-02 8.75003294e-01 3.12976867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:34.60, Z:31.32 [[ 6.66865451e-01 -6.51417704e-01 -3.61863848e-01 1.22185533e+02] [ 5.65798738e-01 7.58644453e-01 -3.23002139e-01 3.46017199e+01] [ 4.84935313e-01 1.06568590e-02 8.74485090e-01 3.13226966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:34.60, Z:31.35 [[ 6.65748587e-01 -6.41451965e-01 -3.81206238e-01 1.22206828e+02] [ 5.60871618e-01 7.67135322e-01 -3.11330091e-01 3.46038760e+01] [ 4.92140069e-01 -6.54019156e-03 8.70491458e-01 3.13534399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:34.63, Z:31.36 [[ 6.65592578e-01 -6.48548392e-01 -3.69285126e-01 1.22221553e+02] [ 5.60403340e-01 7.61101847e-01 -3.26606914e-01 3.46310051e+01] [ 4.92883980e-01 1.04385197e-02 8.70032425e-01 3.13582970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:34.65, Z:31.37 [[ 6.65636543e-01 -6.48360821e-01 -3.69535165e-01 1.22238216e+02] [ 5.59943457e-01 7.61257068e-01 -3.27033641e-01 3.46472688e+01] [ 4.93347056e-01 1.07667449e-02 8.69765922e-01 3.13715262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.25, Y:34.69, Z:31.36 [[ 6.66825377e-01 -6.62702224e-01 -3.40836734e-01 1.22251335e+02] [ 5.66008774e-01 7.47900593e-01 -3.46812300e-01 3.46859788e+01] [ 4.84745278e-01 3.83466605e-02 8.73814368e-01 3.13605536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:34.68, Z:31.39 [[ 6.66221370e-01 -6.48376305e-01 -3.68452512e-01 1.22276459e+02] [ 5.63796544e-01 7.61299259e-01 -3.20245054e-01 3.46828870e+01] [ 4.88141930e-01 5.62184564e-03 8.72746155e-01 3.13930706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:34.71, Z:31.39 [[ 6.66641434e-01 -6.57269101e-01 -3.51548755e-01 1.22290095e+02] [ 5.65859113e-01 7.53254965e-01 -3.35276634e-01 3.47136782e+01] [ 4.85172817e-01 2.45822296e-02 8.74072681e-01 3.13938571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:122.29, Y:34.76, Z:31.37 [[ 6.65364197e-01 -6.79168615e-01 -3.09871710e-01 1.22293536e+02] [ 5.77372901e-01 7.31301027e-01 -3.63096875e-01 3.47630674e+01] [ 4.73213502e-01 6.26801329e-02 8.78715075e-01 3.13694093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:34.70, Z:31.47 [[ 6.63099780e-01 -6.18889520e-01 -4.21039718e-01 1.22338994e+02] [ 5.57610999e-01 7.83670130e-01 -2.73735458e-01 3.46977767e+01] [ 4.99368257e-01 -5.32624556e-02 8.64751094e-01 3.14719056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:34.75, Z:31.46 [[ 6.64110802e-01 -6.47709547e-01 -3.73402176e-01 1.22347259e+02] [ 5.57148373e-01 7.61801121e-01 -3.30521924e-01 3.47486032e+01] [ 4.98540402e-01 1.14627652e-02 8.66790674e-01 3.14566099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:34.80, Z:31.43 [[ 6.65225996e-01 -6.73471453e-01 -3.22351635e-01 1.22353644e+02] [ 5.68238247e-01 7.36720435e-01 -3.66535531e-01 3.48046603e+01] [ 4.84334253e-01 6.06564361e-02 8.72777823e-01 3.14268094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:34.76, Z:31.50 [[ 6.63130026e-01 -6.29868773e-01 -4.04380881e-01 1.22389663e+02] [ 5.57895162e-01 7.76096510e-01 -2.93985025e-01 3.47590785e+01] [ 4.99010578e-01 -3.06518405e-02 8.66053640e-01 3.15032424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:34.83, Z:31.46 [[ 6.65992540e-01 -6.68864352e-01 -3.30264160e-01 1.22392565e+02] [ 5.66933111e-01 7.41589960e-01 -3.58651890e-01 3.48306739e+01] [ 4.84810049e-01 5.16217962e-02 8.73094729e-01 3.14632518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:34.82, Z:31.50 [[ 6.65645058e-01 -6.52870231e-01 -3.61492901e-01 1.22418944e+02] [ 5.66029580e-01 7.57373141e-01 -3.25570944e-01 3.48240770e+01] [ 4.86340592e-01 1.20990152e-02 8.73685551e-01 3.14960126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:34.81, Z:31.54 [[ 6.64119710e-01 -6.34291940e-01 -3.95750863e-01 1.22441506e+02] [ 5.59517689e-01 7.72767630e-01 -2.99616665e-01 3.48126612e+01] [ 4.95867892e-01 -2.24482760e-02 8.68107775e-01 3.15420207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:34.85, Z:31.54 [[ 6.64691329e-01 -6.48856757e-01 -3.70365151e-01 1.22454559e+02] [ 5.59727618e-01 7.60831427e-01 -3.28390825e-01 3.48467915e+01] [ 4.94864052e-01 1.09749297e-02 8.68901100e-01 3.15411837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:34.86, Z:31.55 [[ 6.64512845e-01 -6.49408143e-01 -3.69718463e-01 1.22472075e+02] [ 5.60574652e-01 7.60364430e-01 -3.28027428e-01 3.48622771e+01] [ 4.94144451e-01 1.07236409e-02 8.69313675e-01 3.15544485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:34.88, Z:31.57 [[ 6.64490646e-01 -6.49716303e-01 -3.69216613e-01 1.22489550e+02] [ 5.61079637e-01 7.60102290e-01 -3.27771490e-01 3.48774541e+01] [ 4.93600874e-01 1.06411662e-02 8.69623449e-01 3.15680319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:34.89, Z:31.58 [[ 6.64384934e-01 -6.49875232e-01 -3.69127134e-01 1.22508151e+02] [ 5.61205504e-01 7.59965907e-01 -3.27872234e-01 3.48941754e+01] [ 4.93600082e-01 1.06771935e-02 8.69623457e-01 3.15818206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:34.91, Z:31.60 [[ 6.64272455e-01 -6.50185773e-01 -3.68782546e-01 1.22525722e+02] [ 5.61668145e-01 7.59702118e-01 -3.27691298e-01 3.49095496e+01] [ 4.93225101e-01 1.05428947e-02 8.69837828e-01 3.15958972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.54, Y:34.93, Z:31.61 [[ 6.63929722e-01 -6.50586123e-01 -3.68693668e-01 1.22544097e+02] [ 5.62094088e-01 7.59361784e-01 -3.27749777e-01 3.49268833e+01] [ 4.93201338e-01 1.03622874e-02 8.69853472e-01 3.16091445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:34.94, Z:31.62 [[ 6.63604586e-01 -6.50977142e-01 -3.68588813e-01 1.22562296e+02] [ 5.62483409e-01 7.59028254e-01 -3.27854426e-01 3.49439755e+01] [ 4.93195060e-01 1.02406083e-02 8.69858473e-01 3.16224963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:34.96, Z:31.64 [[ 6.63091488e-01 -6.51169861e-01 -3.69171357e-01 1.22580987e+02] [ 5.62285105e-01 7.58862152e-01 -3.28578294e-01 3.49604936e+01] [ 4.94110452e-01 1.02979151e-02 8.69338147e-01 3.16356368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:34.98, Z:31.65 [[ 6.62773024e-01 -6.51190356e-01 -3.69706692e-01 1.22599559e+02] [ 5.61913434e-01 7.58842053e-01 -3.29259824e-01 3.49762215e+01] [ 4.94959807e-01 1.04813721e-02 8.68852652e-01 3.16493776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:34.99, Z:31.66 [[ 6.62691741e-01 -6.51260725e-01 -3.69728447e-01 1.22618051e+02] [ 5.61865883e-01 7.58779892e-01 -3.29484149e-01 3.49917482e+01] [ 4.95122597e-01 1.06086244e-02 8.68758350e-01 3.16622404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:35.01, Z:31.68 [[ 6.62799923e-01 -6.51444562e-01 -3.69210299e-01 1.22636132e+02] [ 5.62241832e-01 7.58622013e-01 -3.29206262e-01 3.50077761e+01] [ 4.94550690e-01 1.06124102e-02 8.69083996e-01 3.16757862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:35.02, Z:31.69 [[ 6.63376045e-01 -6.51741798e-01 -3.67647727e-01 1.22654758e+02] [ 5.63276618e-01 7.58368047e-01 -3.28020359e-01 3.50231695e+01] [ 4.92596868e-01 1.05134806e-02 8.70194112e-01 3.16896580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:35.04, Z:31.70 [[ 6.63293914e-01 -6.51896328e-01 -3.67521919e-01 1.22672825e+02] [ 5.63399344e-01 7.58234326e-01 -3.28118708e-01 3.50382879e+01] [ 4.92567115e-01 1.05775338e-02 8.70210178e-01 3.17039382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.69, Y:35.05, Z:31.72 [[ 6.63623067e-01 -6.51777310e-01 -3.67138615e-01 1.22691706e+02] [ 5.63354795e-01 7.58333260e-01 -3.27966524e-01 3.50535324e+01] [ 4.92174562e-01 1.08168517e-02 8.70429317e-01 3.17184223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.71, Y:35.07, Z:31.73 [[ 6.63764564e-01 -6.51706648e-01 -3.67008241e-01 1.22710162e+02] [ 5.63223634e-01 7.58390682e-01 -3.28059007e-01 3.50699641e+01] [ 4.92133866e-01 1.10462287e-02 8.70449447e-01 3.17319032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.73, Y:35.09, Z:31.74 [[ 6.63976310e-01 -6.51577649e-01 -3.66854232e-01 1.22727514e+02] [ 5.63037566e-01 7.58497497e-01 -3.28131448e-01 3.50860745e+01] [ 4.92061133e-01 1.13187941e-02 8.70487062e-01 3.17441239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:35.10, Z:31.76 [[ 6.64042117e-01 -6.51331904e-01 -3.67171374e-01 1.22746401e+02] [ 5.62483915e-01 7.58703059e-01 -3.28605406e-01 3.51031474e+01] [ 4.92605229e-01 1.16798372e-02 8.70174505e-01 3.17567693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.76, Y:35.13, Z:31.76 [[ 6.61188171e-01 -6.58758090e-01 -3.58981869e-01 1.22764202e+02] [ 5.62180250e-01 7.51909727e-01 -3.44361917e-01 3.51277075e+01] [ 4.96773157e-01 2.58755090e-02 8.67494604e-01 3.17644893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:35.15, Z:31.77 [[ 6.63977222e-01 -6.60250231e-01 -3.51004104e-01 1.22788723e+02] [ 5.66944285e-01 7.50582926e-01 -3.39410444e-01 3.51503587e+01] [ 4.87553512e-01 2.63610324e-02 8.72695061e-01 3.17678470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.81, Y:35.13, Z:31.81 [[ 6.60700515e-01 -6.38605506e-01 -3.94534963e-01 1.22807806e+02] [ 5.63956470e-01 7.69162610e-01 -3.00569426e-01 3.51324601e+01] [ 4.95406832e-01 -2.39141708e-02 8.68331839e-01 3.18140083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.000385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:122.82, Y:35.19, Z:31.79 [[ 6.63479852e-01 -6.69682583e-01 -3.33646106e-01 1.22821961e+02] [ 5.68837843e-01 7.41175754e-01 -3.56485638e-01 3.51949301e+01] [ 4.86022627e-01 4.67305070e-02 8.72695975e-01 3.17855521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.85, Y:35.19, Z:31.82 [[ 6.62791254e-01 -6.51754224e-01 -3.68678974e-01 1.22847987e+02] [ 5.68534376e-01 7.58428534e-01 -3.18676672e-01 3.51856572e+01] [ 4.87315521e-01 1.60944036e-03 8.73224480e-01 3.18194742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:35.18, Z:31.85 [[ 6.60247080e-01 -6.39794087e-01 -3.93366646e-01 1.22862829e+02] [ 5.65770181e-01 7.68151021e-01 -2.99746745e-01 3.51810447e+01] [ 4.93941186e-01 -2.46482056e-02 8.69145886e-01 3.18546261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:35.22, Z:31.85 [[ 6.60400100e-01 -6.55187257e-01 -3.66880589e-01 1.22876104e+02] [ 5.66260855e-01 7.55400320e-01 -3.29725644e-01 3.52156303e+01] [ 4.93173754e-01 1.00007320e-02 8.69873343e-01 3.18530781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:122.89, Y:35.23, Z:31.87 [[ 6.59829946e-01 -6.56124260e-01 -3.66231345e-01 1.22894773e+02] [ 5.67551103e-01 7.54593539e-01 -3.29354424e-01 3.52311941e+01] [ 4.92453234e-01 9.46290818e-03 8.70287461e-01 3.18664198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.91, Y:35.27, Z:31.85 [[ 6.61129439e-01 -6.71227272e-01 -3.35204139e-01 1.22914041e+02] [ 5.72210684e-01 7.40071245e-01 -3.53368768e-01 3.52729512e+01] [ 4.85265698e-01 4.18151056e-02 8.73366303e-01 3.18547589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:35.24, Z:31.91 [[ 6.59282817e-01 -6.41330309e-01 -3.92481340e-01 1.22937282e+02] [ 5.68175902e-01 7.66819676e-01 -2.98602961e-01 3.52444909e+01] [ 4.92465543e-01 -2.61346378e-02 8.69939463e-01 3.19100016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:35.28, Z:31.91 [[ 6.59900646e-01 -6.56668276e-01 -3.65127256e-01 1.22950374e+02] [ 5.68465106e-01 7.54120281e-01 -3.28861712e-01 3.52802493e+01] [ 4.91302922e-01 9.45395178e-03 8.70937462e-01 3.19076912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:35.30, Z:31.92 [[ 6.59649933e-01 -6.57582405e-01 -3.63933163e-01 1.22968606e+02] [ 5.70010359e-01 7.53329843e-01 -3.27997466e-01 3.52971722e+01] [ 4.89847075e-01 8.91783357e-03 8.71762763e-01 3.19203066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:35.31, Z:31.93 [[ 6.59023555e-01 -6.58591531e-01 -3.63242549e-01 1.22987160e+02] [ 5.71402029e-01 7.52454536e-01 -3.27584940e-01 3.53136290e+01] [ 4.89068171e-01 8.32866234e-03 8.72205800e-01 3.19336274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:35.33, Z:31.95 [[ 6.57974929e-01 -6.60413010e-01 -3.61833731e-01 1.23005592e+02] [ 5.74090680e-01 7.50868832e-01 -3.26520886e-01 3.53287511e+01] [ 4.87328312e-01 7.11718391e-03 8.73189820e-01 3.19469596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:35.34, Z:31.96 [[ 6.57583630e-01 -6.60896403e-01 -3.61662430e-01 1.23024074e+02] [ 5.74626782e-01 7.50445295e-01 -3.26551560e-01 3.53441666e+01] [ 4.87224620e-01 6.91404202e-03 8.73249315e-01 3.19605957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:35.36, Z:31.97 [[ 6.57442345e-01 -6.61168552e-01 -3.61421788e-01 1.23041873e+02] [ 5.74947970e-01 7.50205845e-01 -3.26536402e-01 3.53594118e+01] [ 4.87036338e-01 6.88013462e-03 8.73354607e-01 3.19735793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.06, Y:35.38, Z:31.99 [[ 6.57259109e-01 -6.61168789e-01 -3.61754470e-01 1.23060361e+02] [ 5.74675253e-01 7.50204100e-01 -3.27020124e-01 3.53769613e+01] [ 4.87605186e-01 7.04561422e-03 8.73035820e-01 3.19863605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.08, Y:35.40, Z:32.00 [[ 6.57882977e-01 -6.60476328e-01 -3.61885353e-01 1.23077303e+02] [ 5.73700720e-01 7.50806949e-01 -3.27347537e-01 3.53953868e+01] [ 4.87911337e-01 7.74248452e-03 8.72858855e-01 3.19974358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:35.41, Z:32.01 [[ 6.57638259e-01 -6.60514985e-01 -3.62259403e-01 1.23095357e+02] [ 5.73446956e-01 7.50771454e-01 -3.27873166e-01 3.54124732e+01] [ 4.88539158e-01 7.88538650e-03 8.72506339e-01 3.20113309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:35.43, Z:32.02 [[ 6.57541605e-01 -6.60713087e-01 -3.62073548e-01 1.23113169e+02] [ 5.73654965e-01 7.50596877e-01 -3.27908994e-01 3.54286549e+01] [ 4.88425038e-01 7.90851725e-03 8.72570019e-01 3.20246517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:35.44, Z:32.04 [[ 6.57068808e-01 -6.61497036e-01 -3.61500004e-01 1.23131043e+02] [ 5.74743404e-01 7.49910592e-01 -3.27573082e-01 3.54445704e+01] [ 4.87781305e-01 7.46831250e-03 8.72933917e-01 3.20395218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:123.15, Y:35.48, Z:32.04 [[ 6.59019651e-01 -6.70533628e-01 -3.40701854e-01 1.23152737e+02] [ 5.76646702e-01 7.41276168e-01 -3.43494139e-01 3.54776045e+01] [ 4.82878536e-01 2.99047871e-02 8.75176567e-01 3.20387577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:35.46, Z:32.08 [[ 6.56614805e-01 -6.50846715e-01 -3.81124063e-01 1.23170641e+02] [ 5.77053208e-01 7.58897233e-01 -3.01802229e-01 3.54630444e+01] [ 4.85660986e-01 -2.17610515e-02 8.73876343e-01 3.20786237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:35.50, Z:32.08 [[ 6.56564292e-01 -6.63298190e-01 -3.59108398e-01 1.23183851e+02] [ 5.77717137e-01 7.48326530e-01 -3.25960603e-01 3.54951065e+01] [ 4.84939419e-01 6.55101722e-03 8.74523209e-01 3.20790844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:35.51, Z:32.09 [[ 6.56092941e-01 -6.64026914e-01 -3.58622797e-01 1.23200625e+02] [ 5.78682115e-01 7.47683153e-01 -3.25725209e-01 3.55120364e+01] [ 4.84426529e-01 6.17741182e-03 8.74810138e-01 3.20921277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:35.53, Z:32.11 [[ 6.55889476e-01 -6.64501295e-01 -3.58115936e-01 1.23218735e+02] [ 5.79379358e-01 7.47263235e-01 -3.25449254e-01 3.55289581e+01] [ 4.83868324e-01 5.97375933e-03 8.75120425e-01 3.21055588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:35.55, Z:32.12 [[ 6.54421789e-01 -6.65939973e-01 -3.58128573e-01 1.23236453e+02] [ 5.80897376e-01 7.45987973e-01 -3.25668822e-01 3.55450724e+01] [ 4.84035495e-01 5.08882489e-03 8.75033567e-01 3.21189334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:35.56, Z:32.13 [[ 6.53394711e-01 -6.66862374e-01 -3.58287490e-01 1.23254021e+02] [ 5.81764617e-01 7.45166900e-01 -3.26000341e-01 3.55610544e+01] [ 4.84381340e-01 4.56791415e-03 8.74845044e-01 3.21323925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:35.58, Z:32.15 [[ 6.51351969e-01 -6.68567650e-01 -3.58828525e-01 1.23271844e+02] [ 5.83331273e-01 7.43643245e-01 -3.26679276e-01 3.55785886e+01] [ 4.85247605e-01 3.46728920e-03 8.74369910e-01 3.21452598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:35.59, Z:32.16 [[ 6.50593473e-01 -6.69221079e-01 -3.58986464e-01 1.23289063e+02] [ 5.83881706e-01 7.43056642e-01 -3.27030549e-01 3.55948514e+01] [ 4.85603013e-01 3.15831195e-03 8.74173746e-01 3.21575605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:35.64, Z:32.14 [[ 6.49988302e-01 -6.85659679e-01 -3.27698051e-01 1.23303395e+02] [ 5.91343194e-01 7.27182874e-01 -3.48594742e-01 3.56360135e+01] [ 4.77313770e-01 3.28004920e-02 8.78120546e-01 3.21430934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:35.61, Z:32.20 [[ 6.49383044e-01 -6.58562144e-01 -3.80259864e-01 1.23330031e+02] [ 5.85030710e-01 7.52097512e-01 -3.03460707e-01 3.56117228e+01] [ 4.85840231e-01 -2.54014603e-02 8.73678451e-01 3.21973958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:35.64, Z:32.20 [[ 6.49412609e-01 -6.70843714e-01 -3.58094924e-01 1.23342579e+02] [ 5.85889938e-01 7.41594884e-01 -3.26756805e-01 3.56431516e+01] [ 4.84764112e-01 2.39577685e-03 8.74641650e-01 3.21976404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:35.66, Z:32.21 [[ 6.49138685e-01 -6.71254159e-01 -3.57822332e-01 1.23360262e+02] [ 5.86394610e-01 7.41223864e-01 -3.26693349e-01 3.56601568e+01] [ 4.84520721e-01 2.24420430e-03 8.74776906e-01 3.22109604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:35.68, Z:32.22 [[ 6.49823043e-01 -6.71091632e-01 -3.56883783e-01 1.23378070e+02] [ 5.86574353e-01 7.41370103e-01 -3.26038188e-01 3.56760824e+01] [ 4.83384466e-01 2.52825347e-03 8.75404516e-01 3.22245950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.960385723 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:123.39, Y:35.70, Z:32.23 [[ 6.47430843e-01 -6.78810574e-01 -3.46481613e-01 1.23394029e+02] [ 5.85813309e-01 7.34056834e-01 -3.43487019e-01 3.57030271e+01] [ 4.87499816e-01 1.94105497e-02 8.72907303e-01 3.22339886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.42, Y:35.70, Z:32.26 [[ 6.50531865e-01 -6.62712270e-01 -3.70972695e-01 1.23417160e+02] [ 5.86515080e-01 7.48690425e-01 -3.08970401e-01 3.56984357e+01] [ 4.82502180e-01 -1.65859888e-02 8.75737718e-01 3.22607841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:35.73, Z:32.26 [[ 6.51137517e-01 -6.70261326e-01 -3.56047312e-01 1.23431947e+02] [ 5.85785887e-01 7.42116693e-01 -3.25757131e-01 3.57261901e+01] [ 4.82571060e-01 3.54519965e-03 8.75849646e-01 3.22649329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050385723 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:123.45, Y:35.75, Z:32.27 [[ 6.48681568e-01 -6.77741885e-01 -3.46234257e-01 1.23446765e+02] [ 5.84794929e-01 7.35024551e-01 -3.43152737e-01 3.57522112e+01] [ 4.87059662e-01 2.01208178e-02 8.73136895e-01 3.22725842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:35.77, Z:32.28 [[ 6.50345642e-01 -6.74869990e-01 -3.48713411e-01 1.23468318e+02] [ 5.88394321e-01 7.37870704e-01 -3.30664404e-01 3.57675973e+01] [ 4.80460893e-01 9.86516284e-03 8.76960666e-01 3.22805581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110385723 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:123.49, Y:35.77, Z:32.31 [[ 6.48464126e-01 -6.69593635e-01 -3.62130697e-01 1.23485916e+02] [ 5.82584659e-01 7.42721263e-01 -3.30091260e-01 3.57748479e+01] [ 4.89989175e-01 3.08055179e-03 8.71723075e-01 3.23072160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:35.80, Z:32.30 [[ 6.49520897e-01 -6.75409424e-01 -3.49205834e-01 1.23502551e+02] [ 5.86345614e-01 7.37325724e-01 -3.35484124e-01 3.58049382e+01] [ 4.84067583e-01 1.31486400e-02 8.74931819e-01 3.23044117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:35.82, Z:32.32 [[ 6.50517435e-01 -6.72048140e-01 -3.53805545e-01 1.23520478e+02] [ 5.85348484e-01 7.40466961e-01 -3.30266305e-01 3.58194550e+01] [ 4.83936173e-01 7.74445089e-03 8.75069028e-01 3.23188881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.200385723 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:123.54, Y:35.82, Z:32.35 [[ 6.49292989e-01 -6.64068084e-01 -3.70718483e-01 1.23540495e+02] [ 5.78337984e-01 7.47667959e-01 -3.26370646e-01 3.58229987e+01] [ 4.93906662e-01 -2.49040789e-03 8.69511361e-01 3.23493098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230385723 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:123.56, Y:35.84, Z:32.36 [[ 6.49283992e-01 -6.65962047e-01 -3.67321180e-01 1.23558421e+02] [ 5.78756250e-01 7.45984442e-01 -3.29466865e-01 3.58410825e+01] [ 4.93428314e-01 1.32813293e-03 8.69785453e-01 3.23624690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:123.58, Y:35.86, Z:32.36 [[ 6.51537539e-01 -6.70893145e-01 -3.54120350e-01 1.23575028e+02] [ 5.81814654e-01 7.41460968e-01 -3.34256400e-01 3.58649821e+01] [ 4.86816746e-01 1.17481836e-02 8.73425118e-01 3.23644521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:35.89, Z:32.37 [[ 6.51789387e-01 -6.74795106e-01 -3.46153378e-01 1.23592927e+02] [ 5.81684304e-01 7.37675672e-01 -3.42750599e-01 3.58873398e+01] [ 4.86635352e-01 2.20492158e-02 8.73326895e-01 3.23725662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:35.87, Z:32.42 [[ 6.52599898e-01 -6.52451536e-01 -3.85253639e-01 1.23616958e+02] [ 5.75922038e-01 7.57530971e-01 -3.07344488e-01 3.58732747e+01] [ 4.92368947e-01 -2.13030798e-02 8.70125852e-01 3.24197932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:123.62, Y:35.92, Z:32.40 [[ 6.53876747e-01 -6.75302028e-01 -3.41192573e-01 1.23624071e+02] [ 5.82119606e-01 7.37088350e-01 -3.43274714e-01 3.59233062e+01] [ 4.83303181e-01 2.58444675e-02 8.75071482e-01 3.23992934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:35.94, Z:32.42 [[ 6.53222379e-01 -6.72499085e-01 -3.47915944e-01 1.23645270e+02] [ 5.81997289e-01 7.39880794e-01 -3.37424903e-01 3.59351733e+01] [ 4.84334264e-01 1.79273613e-02 8.74699337e-01 3.24163855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:35.95, Z:32.43 [[ 6.52979901e-01 -6.69123926e-01 -3.54810401e-01 1.23665587e+02] [ 5.81862799e-01 7.43091656e-01 -3.30530596e-01 3.59475834e+01] [ 4.84822579e-01 9.37886283e-03 8.74562236e-01 3.24346176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:35.96, Z:32.45 [[ 6.51798867e-01 -6.69318103e-01 -3.56611152e-01 1.23684152e+02] [ 5.82336867e-01 7.42938592e-01 -3.30039424e-01 3.59604212e+01] [ 4.85841548e-01 7.45150167e-03 8.74015140e-01 3.24522763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:123.70, Y:35.97, Z:32.47 [[ 6.52421145e-01 -6.64192202e-01 -3.64959407e-01 1.23704132e+02] [ 5.82115065e-01 7.47552354e-01 -3.19855482e-01 3.59685556e+01] [ 4.85271781e-01 -3.76788921e-03 8.74355249e-01 3.24721673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:35.99, Z:32.48 [[ 6.51985062e-01 -6.70177215e-01 -3.54651913e-01 1.23717920e+02] [ 5.81344759e-01 7.42114447e-01 -3.33623169e-01 3.59925190e+01] [ 4.86778955e-01 1.13422914e-02 8.73451545e-01 3.24823728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:36.01, Z:32.49 [[ 6.51054454e-01 -6.71293046e-01 -3.54250963e-01 1.23735929e+02] [ 5.82502669e-01 7.41110524e-01 -3.33835038e-01 3.60106307e+01] [ 4.86640256e-01 1.09926572e-02 8.73533298e-01 3.24939234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:36.04, Z:32.50 [[ 6.48611758e-01 -6.78995135e-01 -3.43901722e-01 1.23749972e+02] [ 5.80961774e-01 7.33572430e-01 -3.52639911e-01 3.60406990e+01] [ 4.91717606e-01 2.89326381e-02 8.70273922e-01 3.24993134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:36.04, Z:32.53 [[ 6.49954312e-01 -6.64587396e-01 -3.68623094e-01 1.23773663e+02] [ 5.81536422e-01 7.47192107e-01 -3.21744224e-01 3.60382719e+01] [ 4.89259422e-01 -5.24870954e-03 8.72122508e-01 3.25263780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:36.05, Z:32.54 [[ 6.51244054e-01 -6.65191320e-01 -3.65241961e-01 1.23788794e+02] [ 5.80561081e-01 7.46672727e-01 -3.24697812e-01 3.60549328e+01] [ 4.88702377e-01 -5.87748143e-04 8.72450366e-01 3.25419605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:36.08, Z:32.55 [[ 6.50861276e-01 -6.72371862e-01 -3.52555921e-01 1.23802454e+02] [ 5.79996056e-01 7.40014171e-01 -3.40563654e-01 3.60811853e+01] [ 4.89881795e-01 1.71786504e-02 8.71619596e-01 3.25478189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:36.09, Z:32.57 [[ 6.51903340e-01 -6.62273569e-01 -3.69345035e-01 1.23824776e+02] [ 5.76284930e-01 7.49262110e-01 -3.26346395e-01 3.60870822e+01] [ 4.92866832e-01 -1.01672534e-04 8.70104750e-01 3.25740456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:36.12, Z:32.57 [[ 6.52057248e-01 -6.72429249e-01 -3.50228854e-01 1.23838050e+02] [ 5.78481009e-01 7.39852935e-01 -3.43478320e-01 3.61182839e+01] [ 4.90082715e-01 2.13667875e-02 8.71414019e-01 3.25745316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:36.12, Z:32.61 [[ 6.52162140e-01 -6.60353057e-01 -3.72314899e-01 1.23861811e+02] [ 5.75499285e-01 7.50949023e-01 -3.23845857e-01 3.61186609e+01] [ 4.93442111e-01 -3.06695084e-03 8.69773233e-01 3.26056503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:36.15, Z:32.61 [[ 6.52102099e-01 -6.70397920e-01 -3.54019043e-01 1.23875107e+02] [ 5.76592014e-01 7.41751814e-01 -3.42557873e-01 3.61480347e+01] [ 4.92244352e-01 1.92581548e-02 8.70244001e-01 3.26071158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.90, Y:36.16, Z:32.63 [[ 6.52553210e-01 -6.65230987e-01 -3.62825085e-01 1.23895398e+02] [ 5.75617081e-01 7.46585404e-01 -3.33579391e-01 3.61588234e+01] [ 4.92787260e-01 8.82998645e-03 8.70105021e-01 3.26263752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:36.18, Z:32.63 [[ 6.53018299e-01 -6.70441407e-01 -3.52243411e-01 1.23911411e+02] [ 5.77555977e-01 7.41712750e-01 -3.41015089e-01 3.61849363e+01] [ 4.89894065e-01 1.92488057e-02 8.71569440e-01 3.26317308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:36.19, Z:32.66 [[ 6.52999887e-01 -6.61395901e-01 -3.68980501e-01 1.23932034e+02] [ 5.73551175e-01 7.50028992e-01 -3.29386643e-01 3.61907770e+01] [ 4.94601048e-01 3.46024085e-03 8.69113243e-01 3.26586841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:36.22, Z:32.66 [[ 6.52866470e-01 -6.70130268e-01 -3.53115841e-01 1.23946608e+02] [ 5.76335819e-01 7.41971236e-01 -3.42513809e-01 3.62220087e+01] [ 4.91530667e-01 2.01024742e-02 8.70628218e-01 3.26580582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:36.23, Z:32.68 [[ 6.51353115e-01 -6.67187932e-01 -3.61385366e-01 1.23965495e+02] [ 5.76971384e-01 7.44824883e-01 -3.35171473e-01 3.62333089e+01] [ 4.92791175e-01 9.80596877e-03 8.70092352e-01 3.26754016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.99, Y:36.24, Z:32.70 [[ 6.51059105e-01 -6.60391883e-01 -3.74171889e-01 1.23986417e+02] [ 5.73279085e-01 7.50920377e-01 -3.27825681e-01 3.62382971e+01] [ 4.97466715e-01 -1.07102346e-03 8.67482404e-01 3.27004019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:36.27, Z:32.70 [[ 6.50082159e-01 -6.71723343e-01 -3.55219562e-01 1.23999024e+02] [ 5.77592035e-01 7.40581712e-01 -3.43403799e-01 3.62693892e+01] [ 4.93741459e-01 1.80686935e-02 8.69421011e-01 3.26990031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:124.02, Y:36.29, Z:32.71 [[ 6.48987456e-01 -6.72149838e-01 -3.56412510e-01 1.24018390e+02] [ 5.79188169e-01 7.40260426e-01 -3.41402352e-01 3.62865913e+01] [ 4.93311612e-01 1.51359351e-02 8.69720965e-01 3.27114352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:36.31, Z:32.72 [[ 6.47587113e-01 -6.78171344e-01 -3.47440010e-01 1.24033179e+02] [ 5.83628485e-01 7.34594509e-01 -3.46047250e-01 3.63106923e+01] [ 4.89906852e-01 2.13198528e-02 8.71514051e-01 3.27208203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:36.31, Z:32.74 [[ 6.47702263e-01 -6.69424870e-01 -3.63802311e-01 1.24053460e+02] [ 5.82909528e-01 7.42878896e-01 -3.29161704e-01 3.63144966e+01] [ 4.90610091e-01 1.13494698e-03 8.71378477e-01 3.27424698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:36.33, Z:32.76 [[ 6.46337567e-01 -6.70249943e-01 -3.64709149e-01 1.24071171e+02] [ 5.81734212e-01 7.42129343e-01 -3.32910416e-01 3.63300390e+01] [ 4.93794548e-01 3.00871917e-03 8.69573396e-01 3.27592728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.09, Y:36.35, Z:32.76 [[ 6.44798800e-01 -6.78511321e-01 -3.51933082e-01 1.24085325e+02] [ 5.84308591e-01 7.34392533e-01 -3.45327495e-01 3.63545077e+01] [ 4.92765642e-01 1.70292307e-02 8.69995418e-01 3.27625098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:36.37, Z:32.78 [[ 6.44452694e-01 -6.74722992e-01 -3.59763267e-01 1.24107885e+02] [ 5.83004938e-01 7.38013468e-01 -3.39766630e-01 3.63656102e+01] [ 4.94758494e-01 9.21975880e-03 8.68981605e-01 3.27838789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:36.38, Z:32.80 [[ 6.43088022e-01 -6.75027709e-01 -3.61628799e-01 1.24126239e+02] [ 5.83396800e-01 7.37754706e-01 -3.39655955e-01 3.63815111e+01] [ 4.96070529e-01 7.45559229e-03 8.68250220e-01 3.27987430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:36.40, Z:32.81 [[ 6.42646910e-01 -6.75339032e-01 -3.61831647e-01 1.24144729e+02] [ 5.83036476e-01 7.37462700e-01 -3.40906488e-01 3.63987634e+01] [ 4.97064801e-01 8.12145234e-03 8.67675415e-01 3.28131386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:36.41, Z:32.83 [[ 6.41994875e-01 -6.75354477e-01 -3.62958552e-01 1.24162656e+02] [ 5.83396787e-01 7.37462701e-01 -3.40289514e-01 3.64149138e+01] [ 4.97484441e-01 6.71527142e-03 8.67446907e-01 3.28274956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:36.43, Z:32.84 [[ 6.41728728e-01 -6.76522480e-01 -3.61250017e-01 1.24180214e+02] [ 5.84667287e-01 7.36386202e-01 -3.40440193e-01 3.64326535e+01] [ 4.96334972e-01 7.25918475e-03 8.68100743e-01 3.28408691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:36.43, Z:32.87 [[ 6.42916878e-01 -6.66158050e-01 -3.78009710e-01 1.24201676e+02] [ 5.79618467e-01 7.45768308e-01 -3.28438829e-01 3.64343895e+01] [ 5.00699831e-01 -7.94254225e-03 8.65584540e-01 3.28722416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:36.46, Z:32.88 [[ 6.44205844e-01 -6.70067956e-01 -3.68792305e-01 1.24217674e+02] [ 5.79619737e-01 7.42294358e-01 -3.36214287e-01 3.64559167e+01] [ 4.99038868e-01 2.83190966e-03 8.66574976e-01 3.28820289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:36.48, Z:32.89 [[ 6.43395085e-01 -6.73296935e-01 -3.64299330e-01 1.24234562e+02] [ 5.79465663e-01 7.39310162e-01 -3.42986923e-01 3.64758928e+01] [ 5.00262241e-01 9.57714788e-03 8.65820980e-01 3.28936163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.25, Y:36.50, Z:32.89 [[ 6.42221628e-01 -6.79118633e-01 -3.55456415e-01 1.24246336e+02] [ 5.84598035e-01 7.33888222e-01 -3.45909258e-01 3.64996720e+01] [ 4.95778699e-01 1.43512851e-02 8.68330307e-01 3.28949899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:36.51, Z:32.92 [[ 6.44591251e-01 -6.69645980e-01 -3.68885323e-01 1.24270536e+02] [ 5.77740920e-01 7.42662564e-01 -3.38626262e-01 3.65068813e+01] [ 5.00717034e-01 5.15537970e-03 8.65595676e-01 3.29229665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:36.52, Z:32.94 [[ 6.45274081e-01 -6.68860307e-01 -3.69116851e-01 1.24288790e+02] [ 5.77689837e-01 7.43375584e-01 -3.37145656e-01 3.65231313e+01] [ 4.99895802e-01 4.31629969e-03 8.66074799e-01 3.29370830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:36.55, Z:32.94 [[ 6.44843951e-01 -6.77615642e-01 -3.53572227e-01 1.24299564e+02] [ 5.81776848e-01 7.35179659e-01 -3.47917474e-01 3.65512923e+01] [ 4.95693432e-01 1.86523426e-02 8.68297249e-01 3.29368159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:36.55, Z:32.97 [[ 6.46042297e-01 -6.67652041e-01 -3.69959596e-01 1.24324470e+02] [ 5.76569947e-01 7.44461666e-01 -3.36665893e-01 3.65542207e+01] [ 5.00196408e-01 4.19282230e-03 8.65901827e-01 3.29674184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:36.57, Z:32.98 [[ 6.45868980e-01 -6.69197060e-01 -3.67462318e-01 1.24341950e+02] [ 5.76671455e-01 7.43047800e-01 -3.39602708e-01 3.65727114e+01] [ 5.00303201e-01 7.43382477e-03 8.65818367e-01 3.29804944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:36.60, Z:32.98 [[ 6.43960745e-01 -6.75665494e-01 -3.58874211e-01 1.24354672e+02] [ 5.81158426e-01 7.37083897e-01 -3.44908991e-01 3.65965203e+01] [ 4.97563506e-01 1.35450794e-02 8.67321791e-01 3.29841937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:36.61, Z:33.00 [[ 6.43617412e-01 -6.76146517e-01 -3.58584041e-01 1.24371973e+02] [ 5.81658203e-01 7.36643881e-01 -3.45006562e-01 3.66132347e+01] [ 4.97423724e-01 1.34788814e-02 8.67402997e-01 3.29969147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:36.63, Z:33.01 [[ 6.43187193e-01 -6.76721923e-01 -3.58270393e-01 1.24390160e+02] [ 5.82047825e-01 7.36111584e-01 -3.45485260e-01 3.66326857e+01] [ 4.97524436e-01 1.36811913e-02 8.67342067e-01 3.30082395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:36.65, Z:33.03 [[ 6.42970889e-01 -6.74134363e-01 -3.63498690e-01 1.24408403e+02] [ 5.80578466e-01 7.38549748e-01 -3.42743221e-01 3.66466495e+01] [ 4.99516848e-01 9.33440147e-03 8.66253881e-01 3.30251983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.43, Y:36.67, Z:33.04 [[ 6.42665002e-01 -6.76942054e-01 -3.58791235e-01 1.24427152e+02] [ 5.81665658e-01 7.35902518e-01 -3.46572570e-01 3.66680552e+01] [ 4.98644921e-01 1.40335217e-02 8.66692739e-01 3.30368981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:36.68, Z:33.05 [[ 6.42162630e-01 -6.76256979e-01 -3.60975975e-01 1.24444336e+02] [ 5.82731106e-01 7.36596586e-01 -3.43292771e-01 3.66830711e+01] [ 4.98047803e-01 1.00978592e-02 8.67090779e-01 3.30519365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.46, Y:36.70, Z:33.07 [[ 6.41487050e-01 -6.74776095e-01 -3.64926823e-01 1.24463384e+02] [ 5.86525587e-01 7.38022508e-01 -3.33632303e-01 3.66958002e+01] [ 4.94451312e-01 -1.81173630e-05 8.69205327e-01 3.30682744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:36.71, Z:33.09 [[ 6.40802922e-01 -6.75728654e-01 -3.64365751e-01 1.24483854e+02] [ 5.81385155e-01 7.37096484e-01 -3.44499747e-01 3.67127077e+01] [ 5.01361064e-01 8.91960605e-03 8.65192189e-01 3.30888870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.50, Y:36.74, Z:33.09 [[ 6.37013217e-01 -6.85497527e-01 -3.52572406e-01 1.24497768e+02] [ 5.88552590e-01 7.27885304e-01 -3.51836373e-01 3.67405750e+01] [ 4.97815236e-01 1.66170168e-02 8.67123904e-01 3.30912699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:36.73, Z:33.12 [[ 6.39998236e-01 -6.68162228e-01 -3.79422582e-01 1.24523163e+02] [ 5.85755269e-01 7.43837985e-01 -3.21863042e-01 3.67318091e+01] [ 4.97285655e-01 -1.62569976e-02 8.67434543e-01 3.31247411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:36.77, Z:33.12 [[ 6.37537127e-01 -6.86869775e-01 -3.48935988e-01 1.24531631e+02] [ 5.90993448e-01 7.26576865e-01 -3.50446577e-01 3.67723291e+01] [ 4.94239977e-01 1.72038213e-02 8.69155264e-01 3.31159275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:36.79, Z:33.14 [[ 6.35257723e-01 -6.83781982e-01 -3.59012292e-01 1.24552307e+02] [ 5.90138099e-01 7.29646808e-01 -3.45474399e-01 3.67850790e+01] [ 4.98181342e-01 7.59844849e-03 8.67039569e-01 3.31359062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:36.79, Z:33.16 [[ 6.36294000e-01 -6.76915891e-01 -3.70020029e-01 1.24572372e+02] [ 5.89569988e-01 7.36031837e-01 -3.32662537e-01 3.67942564e+01] [ 4.97531079e-01 -6.48152722e-03 8.67421936e-01 3.31555030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:124.59, Y:36.81, Z:33.17 [[ 6.34857645e-01 -6.79414452e-01 -3.67901853e-01 1.24589126e+02] [ 5.89497777e-01 7.33750710e-01 -3.37790270e-01 3.68135065e+01] [ 4.99447837e-01 -2.42858942e-03 8.66340557e-01 3.31663618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.60, Y:36.84, Z:33.17 [[ 6.35952533e-01 -6.86088386e-01 -3.53337095e-01 1.24604935e+02] [ 5.90919942e-01 7.27400914e-01 -3.48857468e-01 3.68394473e+01] [ 4.96364782e-01 1.30628548e-02 8.68015763e-01 3.31749573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:36.85, Z:33.19 [[ 6.35897995e-01 -6.82514446e-01 -3.60288456e-01 1.24624079e+02] [ 5.91349526e-01 7.30862949e-01 -3.40800656e-01 3.68515303e+01] [ 4.95922854e-01 3.65804656e-03 8.68358878e-01 3.31926309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.64, Y:36.87, Z:33.20 [[ 6.35459448e-01 -6.82786964e-01 -3.60545768e-01 1.24640283e+02] [ 5.92485956e-01 7.30614704e-01 -3.39356076e-01 3.68680718e+01] [ 4.95127945e-01 2.02872100e-03 8.68817704e-01 3.32047316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:36.89, Z:33.21 [[ 6.36565067e-01 -6.87451028e-01 -3.49565443e-01 1.24657235e+02] [ 5.89736937e-01 7.25980731e-01 -3.53782876e-01 3.68942582e+01] [ 4.96986178e-01 1.90541666e-02 8.67549237e-01 3.32140047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:36.89, Z:33.25 [[ 6.38243341e-01 -6.67710001e-01 -3.83156355e-01 1.24680057e+02] [ 5.86371591e-01 7.44141575e-01 -3.20033864e-01 3.68860280e+01] [ 4.98812385e-01 -2.04125187e-02 8.66469580e-01 3.32496481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:36.93, Z:33.24 [[ 6.37812678e-01 -6.87113990e-01 -3.47950215e-01 1.24686614e+02] [ 5.91816020e-01 7.26350485e-01 -3.49526496e-01 3.69301201e+01] [ 4.92898353e-01 1.70099188e-02 8.69920615e-01 3.32360846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:36.94, Z:33.26 [[ 6.40765356e-01 -6.78942559e-01 -3.58408649e-01 1.24710169e+02] [ 5.86851078e-01 7.34142111e-01 -3.41527704e-01 3.69389249e+01] [ 4.95000576e-01 8.50661890e-03 8.68851004e-01 3.32584887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:36.94, Z:33.29 [[ 6.41543636e-01 -6.70163694e-01 -3.73232349e-01 1.24730769e+02] [ 5.81308419e-01 7.42207179e-01 -3.33480173e-01 3.69430242e+01] [ 5.00502033e-01 -3.02102418e-03 8.65730090e-01 3.32861681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:36.97, Z:33.28 [[ 6.41390029e-01 -6.80688796e-01 -3.53951401e-01 1.24740183e+02] [ 5.85380988e-01 7.32401540e-01 -3.47731336e-01 3.69746682e+01] [ 4.95931376e-01 1.58349904e-02 8.68217325e-01 3.32818906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.76, Y:36.98, Z:33.31 [[ 6.42728154e-01 -6.68333141e-01 -3.74474744e-01 1.24762437e+02] [ 5.79357528e-01 7.43856830e-01 -3.33199447e-01 3.69774279e+01] [ 5.01243829e-01 -2.79809608e-03 8.65301563e-01 3.33111755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.300385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.77, Y:37.01, Z:33.31 [[ 6.42220763e-01 -6.80657715e-01 -3.52501868e-01 1.24771555e+02] [ 5.80540929e-01 7.32205421e-01 -3.56156497e-01 3.70091199e+01] [ 5.00524446e-01 2.40893349e-02 8.65387186e-01 3.33101572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.79, Y:37.02, Z:33.33 [[ 6.42202013e-01 -6.78560744e-01 -3.56555594e-01 1.24790707e+02] [ 5.80437059e-01 7.34296047e-01 -3.51997352e-01 3.70231258e+01] [ 5.00668949e-01 1.90953277e-02 8.65428202e-01 3.33263596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.360385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:124.82, Y:37.03, Z:33.35 [[ 6.44660381e-01 -6.72314160e-01 -3.63877264e-01 1.24816898e+02] [ 5.74864375e-01 7.40097457e-01 -3.48979520e-01 3.70339344e+01] [ 5.03928511e-01 1.57931940e-02 8.63600968e-01 3.33529211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.84, Y:37.04, Z:33.37 [[ 6.44083365e-01 -6.69394219e-01 -3.70226956e-01 1.24835964e+02] [ 5.73437549e-01 7.42837062e-01 -3.45488752e-01 3.70448837e+01] [ 5.06286477e-01 1.02215198e-02 8.62304774e-01 3.33705526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:37.03, Z:33.42 [[ 6.42211341e-01 -6.45985195e-01 -4.12635095e-01 1.24859251e+02] [ 5.69430271e-01 7.62423916e-01 -3.07341729e-01 3.70272513e+01] [ 5.13141072e-01 -3.75885702e-02 8.57480810e-01 3.34175180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:37.09, Z:33.39 [[ 6.46983074e-01 -6.77052415e-01 -3.50731989e-01 1.24869392e+02] [ 5.74892782e-01 7.35298712e-01 -3.58934665e-01 3.70865197e+01] [ 5.00910362e-01 3.05913646e-02 8.64958368e-01 3.33939288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:124.89, Y:37.08, Z:33.43 [[ 6.41424298e-01 -6.64947662e-01 -3.82647980e-01 1.24893962e+02] [ 5.69241805e-01 7.46885308e-01 -3.43694782e-01 3.70819065e+01] [ 5.14333197e-01 2.63495721e-03 8.57586392e-01 3.34283217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:37.10, Z:33.44 [[ 6.44203584e-01 -6.64841992e-01 -3.78136044e-01 1.24909060e+02] [ 5.70159818e-01 7.46969164e-01 -3.41986623e-01 3.70971314e+01] [ 5.09823032e-01 4.71102934e-03 8.60266402e-01 3.34399997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:37.11, Z:33.45 [[ 6.44469436e-01 -6.66220284e-01 -3.75246157e-01 1.24928698e+02] [ 5.71470150e-01 7.45728455e-01 -3.42506847e-01 3.71143290e+01] [ 5.08016746e-01 6.29321715e-03 8.61324202e-01 3.34511107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.95, Y:37.12, Z:33.48 [[ 6.44813017e-01 -6.57585902e-01 -3.89611287e-01 1.24950152e+02] [ 5.71671148e-01 7.53267214e-01 -3.25239300e-01 3.71185099e+01] [ 5.07354187e-01 -1.30109976e-02 8.61639392e-01 3.34752269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:37.15, Z:33.48 [[ 6.45674901e-01 -6.68265899e-01 -3.69492370e-01 1.24966283e+02] [ 5.71291311e-01 7.43810168e-01 -3.46947651e-01 3.71478114e+01] [ 5.06685465e-01 1.29276101e-02 8.62034057e-01 3.34756984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.99, Y:37.16, Z:33.49 [[ 6.45611038e-01 -6.67276138e-01 -3.71387860e-01 1.24985690e+02] [ 5.72313941e-01 7.44755647e-01 -3.43213897e-01 3.71623590e+01] [ 5.05611650e-01 9.03223087e-03 8.62713903e-01 3.34894345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:37.17, Z:33.51 [[ 6.45757884e-01 -6.63086195e-01 -3.78567635e-01 1.25008257e+02] [ 5.70743513e-01 7.48540615e-01 -3.37548204e-01 3.71712389e+01] [ 5.07196804e-01 1.90939219e-03 8.61828148e-01 3.35108012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:37.19, Z:33.52 [[ 6.46713126e-01 -6.68309085e-01 -3.67593662e-01 1.25024523e+02] [ 5.72036015e-01 7.43763569e-01 -3.45818668e-01 3.71942862e+01] [ 5.04516531e-01 1.33686586e-02 8.63298528e-01 3.35162925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:37.21, Z:33.53 [[ 6.46607891e-01 -6.67676440e-01 -3.68926019e-01 1.25042897e+02] [ 5.72174956e-01 7.44362218e-01 -3.44297414e-01 3.72109031e+01] [ 5.04493861e-01 1.15351962e-02 8.63338221e-01 3.35281340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:37.22, Z:33.55 [[ 6.46260618e-01 -6.63816752e-01 -3.76423344e-01 1.25062374e+02] [ 5.70867131e-01 7.47884240e-01 -3.38791799e-01 3.72235146e+01] [ 5.06416758e-01 4.06008247e-03 8.62279295e-01 3.35461902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:37.25, Z:33.55 [[ 6.47123584e-01 -6.71702847e-01 -3.60619401e-01 1.25076618e+02] [ 5.71174955e-01 7.40455462e-01 -3.54238450e-01 3.72538967e+01] [ 5.04965581e-01 2.32592850e-02 8.62826036e-01 3.35456223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:37.26, Z:33.57 [[ 6.47208093e-01 -6.65131338e-01 -3.72454008e-01 1.25097072e+02] [ 5.72379849e-01 7.46701308e-01 -3.38848736e-01 3.72627406e+01] [ 5.03490808e-01 6.12047510e-03 8.63978904e-01 3.35661225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.11, Y:37.29, Z:33.57 [[ 6.47876850e-01 -6.70881469e-01 -3.60795846e-01 1.25110762e+02] [ 5.72221052e-01 7.41271785e-01 -3.50826464e-01 3.72884099e+01] [ 5.02810754e-01 2.08373657e-02 8.64145329e-01 3.35706442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:37.32, Z:33.57 [[ 6.48688147e-01 -6.79073075e-01 -3.43603619e-01 1.25125805e+02] [ 5.78782304e-01 7.33351325e-01 -3.56660733e-01 3.73187801e+01] [ 4.94180870e-01 3.24898954e-02 8.68751791e-01 3.35686905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:37.31, Z:33.60 [[ 6.48205000e-01 -6.64884351e-01 -3.71159101e-01 1.25150354e+02] [ 5.76718067e-01 7.46946204e-01 -3.30858942e-01 3.73139729e+01] [ 4.97218815e-01 4.10261605e-04 8.67625081e-01 3.36030733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:37.34, Z:33.60 [[ 6.48536146e-01 -6.74617501e-01 -3.52550840e-01 1.25163298e+02] [ 5.79295999e-01 7.37886312e-01 -3.46323456e-01 3.73448591e+01] [ 4.93778304e-01 2.03719887e-02 8.69349164e-01 3.36019791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:37.36, Z:33.62 [[ 6.48583350e-01 -6.70770813e-01 -3.59730669e-01 1.25181674e+02] [ 5.79092418e-01 7.41577768e-01 -3.38695120e-01 3.73569568e+01] [ 4.93955067e-01 1.13547128e-02 8.69413286e-01 3.36188100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:37.38, Z:33.62 [[ 6.49851719e-01 -6.75376110e-01 -3.48654347e-01 1.25198034e+02] [ 5.79700003e-01 7.37095830e-01 -3.47329302e-01 3.73831389e+01] [ 4.91569579e-01 2.35976180e-02 8.70518525e-01 3.36233392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.22, Y:37.39, Z:33.65 [[ 6.48407044e-01 -6.65630014e-01 -3.69465816e-01 1.25219263e+02] [ 5.78207502e-01 7.46281883e-01 -3.29756631e-01 3.73858427e+01] [ 4.95221556e-01 1.88616088e-04 8.68766698e-01 3.36498813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:125.23, Y:37.42, Z:33.64 [[ 6.48821316e-01 -6.80924934e-01 -3.39664739e-01 1.25233069e+02] [ 5.81257443e-01 7.31576045e-01 -3.56281173e-01 3.74249390e+01] [ 4.91091321e-01 3.37301622e-02 8.70454818e-01 3.36421169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:37.43, Z:33.67 [[ 6.49093042e-01 -6.71869532e-01 -3.56748587e-01 1.25255516e+02] [ 5.82260510e-01 7.40602367e-01 -3.35381622e-01 3.74263611e+01] [ 4.89541542e-01 9.97326314e-03 8.71922940e-01 3.36672932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110385723 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:125.28, Y:37.44, Z:33.69 [[ 6.49136991e-01 -6.67623032e-01 -3.64555419e-01 1.25278653e+02] [ 5.80110238e-01 7.44493324e-01 -3.30456961e-01 3.74370657e+01] [ 4.92029754e-01 3.02950633e-03 8.70573112e-01 3.36890983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.29, Y:37.45, Z:33.70 [[ 6.45894938e-01 -6.67403155e-01 -3.70665292e-01 1.25290718e+02] [ 5.81999172e-01 7.44681646e-01 -3.26689776e-01 3.74488846e+01] [ 4.94061427e-01 -4.71962032e-03 8.69414189e-01 3.37049304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.31, Y:37.47, Z:33.71 [[ 6.44788591e-01 -6.75002613e-01 -3.58635114e-01 1.25305847e+02] [ 5.83805440e-01 7.37758289e-01 -3.38945299e-01 3.74734200e+01] [ 4.93374991e-01 9.17493148e-03 8.69768325e-01 3.37122799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:125.32, Y:37.49, Z:33.73 [[ 6.44336069e-01 -6.75543181e-01 -3.58430524e-01 1.25323776e+02] [ 5.84415269e-01 7.37266285e-01 -3.38964921e-01 3.74898712e+01] [ 4.93244182e-01 8.93505399e-03 8.69845010e-01 3.37258566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:125.34, Y:37.51, Z:33.74 [[ 6.43379425e-01 -6.76425447e-01 -3.58485048e-01 1.25341563e+02] [ 5.85274549e-01 7.36462740e-01 -3.39229030e-01 3.75052457e+01] [ 4.93474029e-01 8.44080371e-03 8.69719573e-01 3.37400618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:37.52, Z:33.75 [[ 6.42905809e-01 -6.76845868e-01 -3.58541199e-01 1.25360022e+02] [ 5.85605205e-01 7.36077987e-01 -3.39493360e-01 3.75221716e+01] [ 4.93698961e-01 8.29866103e-03 8.69593277e-01 3.37538309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:37.54, Z:33.77 [[ 6.41516910e-01 -6.77863946e-01 -3.59105173e-01 1.25377574e+02] [ 5.86349735e-01 7.35147062e-01 -3.40224611e-01 3.75390894e+01] [ 4.94621110e-01 7.69861783e-03 8.69074616e-01 3.37669531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.40, Y:37.56, Z:33.78 [[ 6.40693396e-01 -6.78508695e-01 -3.59357655e-01 1.25395423e+02] [ 5.86829457e-01 7.34555229e-01 -3.40675510e-01 3.75567644e+01] [ 4.95119340e-01 7.38689187e-03 8.68793573e-01 3.37799773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:37.57, Z:33.79 [[ 6.39168847e-01 -6.79793833e-01 -3.59643615e-01 1.25413230e+02] [ 5.88027942e-01 7.33373794e-01 -3.41153951e-01 3.75737656e+01] [ 4.95667555e-01 6.57448279e-03 8.68487450e-01 3.37928552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:37.59, Z:33.81 [[ 6.38567733e-01 -6.80486681e-01 -3.59401066e-01 1.25430630e+02] [ 5.88834924e-01 7.32734127e-01 -3.41136528e-01 3.75892242e+01] [ 4.95484290e-01 6.21087998e-03 8.68594694e-01 3.38059484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:37.61, Z:33.82 [[ 6.37891085e-01 -6.81214496e-01 -3.59223850e-01 1.25449175e+02] [ 5.89658634e-01 7.32060883e-01 -3.41159139e-01 3.76054556e+01] [ 4.95376280e-01 5.80292927e-03 8.68659120e-01 3.38202576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:37.62, Z:33.83 [[ 6.36820741e-01 -6.82273302e-01 -3.59113472e-01 1.25467349e+02] [ 5.90814441e-01 7.31079042e-01 -3.41264897e-01 3.76203884e+01] [ 4.95376261e-01 5.15513917e-03 8.68663217e-01 3.38344930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:37.64, Z:33.85 [[ 6.36355038e-01 -6.82372720e-01 -3.59749548e-01 1.25484804e+02] [ 5.90469955e-01 7.30985569e-01 -3.42060418e-01 3.76373008e+01] [ 4.96384426e-01 5.25057065e-03 8.68086939e-01 3.38459851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.500385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:125.50, Y:37.65, Z:33.86 [[ 6.35367711e-01 -6.82822276e-01 -3.60640558e-01 1.25502811e+02] [ 5.90370596e-01 7.30566725e-01 -3.43125078e-01 3.76548999e+01] [ 4.97765438e-01 5.09901375e-03 8.67296702e-01 3.38576572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:125.52, Y:37.67, Z:33.87 [[ 6.35061264e-01 -6.82867815e-01 -3.61093807e-01 1.25520744e+02] [ 5.90053846e-01 7.30523124e-01 -3.43762164e-01 3.76713263e+01] [ 4.98531494e-01 5.24524495e-03 8.66855719e-01 3.38707333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:37.69, Z:33.89 [[ 6.35550620e-01 -6.82743204e-01 -3.60467928e-01 1.25539577e+02] [ 5.90135136e-01 7.30637638e-01 -3.43379036e-01 3.76859968e+01] [ 4.97811139e-01 5.50996949e-03 8.67267957e-01 3.38860986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:37.70, Z:33.90 [[ 6.35492941e-01 -6.83464942e-01 -3.59199658e-01 1.25556932e+02] [ 5.91543820e-01 7.29965523e-01 -3.42383182e-01 3.77018534e+01] [ 4.96210268e-01 5.09975768e-03 8.68187400e-01 3.38992630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:37.72, Z:33.91 [[ 6.35753029e-01 -6.83812563e-01 -3.58076059e-01 1.25574698e+02] [ 5.92434668e-01 7.29640617e-01 -3.41534383e-01 3.77195295e+01] [ 4.94812339e-01 4.99484769e-03 8.68985501e-01 3.39127962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:37.74, Z:33.93 [[ 6.37139114e-01 -6.83493641e-01 -3.56216495e-01 1.25590745e+02] [ 5.92966725e-01 7.29936589e-01 -3.39975057e-01 3.77370742e+01] [ 4.92386243e-01 5.38687895e-03 8.70360138e-01 3.39255996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:37.75, Z:33.94 [[ 6.37645384e-01 -6.83176046e-01 -3.55919731e-01 1.25608003e+02] [ 5.92655893e-01 7.30230775e-01 -3.39885285e-01 3.77540549e+01] [ 4.92105026e-01 5.78835751e-03 8.70516593e-01 3.39393874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.63, Y:37.77, Z:33.95 [[ 6.39364586e-01 -6.82118242e-01 -3.54862834e-01 1.25625321e+02] [ 5.91902267e-01 7.31210657e-01 -3.39090963e-01 3.77692736e+01] [ 4.90779617e-01 6.75863744e-03 8.71257533e-01 3.39534403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:37.79, Z:33.97 [[ 6.39872181e-01 -6.82082667e-01 -3.54015293e-01 1.25642820e+02] [ 5.92205242e-01 7.31242115e-01 -3.38493604e-01 3.77860683e+01] [ 4.89751512e-01 6.94292915e-03 8.71834418e-01 3.39670202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.66, Y:37.80, Z:33.98 [[ 6.40812831e-01 -6.81714230e-01 -3.53022130e-01 1.25660092e+02] [ 5.92208010e-01 7.31581380e-01 -3.37754876e-01 3.78042152e+01] [ 4.88516722e-01 7.37512535e-03 8.72523363e-01 3.39794479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:37.82, Z:33.99 [[ 6.41170468e-01 -6.81524587e-01 -3.52738811e-01 1.25677710e+02] [ 5.92028842e-01 7.31754837e-01 -3.37693217e-01 3.78225538e+01] [ 4.88264561e-01 7.68736812e-03 8.72661803e-01 3.39921503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:37.84, Z:34.00 [[ 6.42279704e-01 -6.80497083e-01 -3.52704554e-01 1.25694412e+02] [ 5.90753425e-01 7.32699724e-01 -3.37877945e-01 3.78417388e+01] [ 4.88351485e-01 8.65072304e-03 8.72604144e-01 3.40033419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.860385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:125.71, Y:37.86, Z:34.02 [[ 6.42905146e-01 -6.79629096e-01 -3.53238254e-01 1.25711614e+02] [ 5.89360169e-01 7.33494481e-01 -3.38585937e-01 3.78593616e+01] [ 4.89211165e-01 9.49408424e-03 8.72113696e-01 3.40159968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.73, Y:37.88, Z:34.03 [[ 6.43616085e-01 -6.78154455e-01 -3.54774395e-01 1.25729221e+02] [ 5.86706599e-01 7.34839198e-01 -3.40274477e-01 3.78770442e+01] [ 4.91460784e-01 1.08576483e-02 8.70832021e-01 3.40283988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:37.89, Z:34.04 [[ 6.44018980e-01 -6.77414710e-01 -3.55455853e-01 1.25746808e+02] [ 5.85359573e-01 7.35509310e-01 -3.41145461e-01 3.78938297e+01] [ 4.92538043e-01 1.16346655e-02 8.70213141e-01 3.40411273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.76, Y:37.91, Z:34.05 [[ 6.44142172e-01 -6.76957828e-01 -3.56102459e-01 1.25764811e+02] [ 5.84390155e-01 7.35921671e-01 -3.41917303e-01 3.79111166e+01] [ 4.93527111e-01 1.21405829e-02 8.69645673e-01 3.40544553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:37.93, Z:34.07 [[ 6.45206958e-01 -6.75813516e-01 -3.56348247e-01 1.25781781e+02] [ 5.82819793e-01 7.36954175e-01 -3.42373528e-01 3.79274806e+01] [ 4.93992986e-01 1.32149712e-02 8.69365455e-01 3.40668329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:37.94, Z:34.08 [[ 6.46023616e-01 -6.75311271e-01 -3.55820426e-01 1.25798391e+02] [ 5.82432418e-01 7.37404861e-01 -3.42062201e-01 3.79440149e+01] [ 4.93382171e-01 1.37389090e-02 8.69704131e-01 3.40798787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:37.96, Z:34.09 [[ 6.47420328e-01 -6.74577225e-01 -3.54672366e-01 1.25815481e+02] [ 5.82157989e-01 7.38064542e-01 -3.41105274e-01 3.79616875e+01] [ 4.91872946e-01 1.43631373e-02 8.70548508e-01 3.40929097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:37.98, Z:34.11 [[ 6.47845215e-01 -6.74341007e-01 -3.54345572e-01 1.25832627e+02] [ 5.81951136e-01 7.38273598e-01 -3.41005821e-01 3.79784412e+01] [ 4.91558189e-01 1.47071808e-02 8.70720533e-01 3.41064109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:38.00, Z:34.12 [[ 6.47949634e-01 -6.74716786e-01 -3.53438157e-01 1.25851117e+02] [ 5.82769213e-01 7.37933233e-01 -3.40344807e-01 3.79953381e+01] [ 4.90450116e-01 1.45534165e-02 8.71347739e-01 3.41199879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:38.01, Z:34.13 [[ 6.47460896e-01 -6.75307425e-01 -3.53205705e-01 1.25869303e+02] [ 5.83450994e-01 7.37398175e-01 -3.40336405e-01 3.80120708e+01] [ 4.90284944e-01 1.42762940e-02 8.71445271e-01 3.41332595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:38.03, Z:34.15 [[ 6.46142399e-01 -6.76699494e-01 -3.52955797e-01 1.25887552e+02] [ 5.85056551e-01 7.36137574e-01 -3.40309131e-01 3.80276593e+01] [ 4.90111041e-01 1.33890569e-02 8.71557170e-01 3.41461508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:38.04, Z:34.16 [[ 6.45576014e-01 -6.77585385e-01 -3.52292004e-01 1.25905188e+02] [ 5.86354317e-01 7.35332563e-01 -3.39815591e-01 3.80441937e+01] [ 4.89305861e-01 1.28088569e-02 8.72018181e-01 3.41595110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:38.06, Z:34.17 [[ 6.45406579e-01 -6.77801528e-01 -3.52186650e-01 1.25923119e+02] [ 5.86541019e-01 7.35133181e-01 -3.39924754e-01 3.80617088e+01] [ 4.89305610e-01 1.28177556e-02 8.72018191e-01 3.41732720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:38.08, Z:34.19 [[ 6.45183087e-01 -6.78726879e-01 -3.50811357e-01 1.25940671e+02] [ 5.88250701e-01 7.34289136e-01 -3.38792825e-01 3.80783899e+01] [ 4.87544765e-01 1.22183741e-02 8.73012494e-01 3.41868389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:38.09, Z:34.20 [[ 6.44878898e-01 -6.79212400e-01 -3.50430766e-01 1.25957976e+02] [ 5.88893955e-01 7.33843398e-01 -3.38641074e-01 3.80949310e+01] [ 4.87170521e-01 1.20159226e-02 8.73224199e-01 3.42004089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:38.11, Z:34.21 [[ 6.44547693e-01 -6.79775122e-01 -3.49948646e-01 1.25975896e+02] [ 5.89692989e-01 7.33326746e-01 -3.38369714e-01 3.81116192e+01] [ 4.86642015e-01 1.17331556e-02 8.73522686e-01 3.42141098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:38.13, Z:34.23 [[ 6.43884138e-01 -6.80239981e-01 -3.50266734e-01 1.25992732e+02] [ 5.89925522e-01 7.32898053e-01 -3.38892789e-01 3.81277048e+01] [ 4.87238232e-01 1.15764051e-02 8.73192357e-01 3.42272324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:126.00, Y:38.15, Z:34.23 [[ 6.41805193e-01 -6.88040507e-01 -3.38653740e-01 1.26004308e+02] [ 5.94896750e-01 7.25374149e-01 -3.46309400e-01 3.81542507e+01] [ 4.83925564e-01 2.07991620e-02 8.74861957e-01 3.42263961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:38.17, Z:34.24 [[ 6.41778586e-01 -6.87138635e-01 -3.40530091e-01 1.26023934e+02] [ 5.95021093e-01 7.26297108e-01 -3.44154630e-01 3.81713618e+01] [ 4.83807963e-01 1.82484852e-02 8.74983913e-01 3.42399726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:38.18, Z:34.27 [[ 6.42528054e-01 -6.77919045e-01 -3.57188282e-01 1.26048585e+02] [ 5.90018014e-01 7.35126891e-01 -3.33867037e-01 3.81752911e+01] [ 4.88913534e-01 3.77141678e-03 8.72324098e-01 3.42693016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:38.20, Z:34.28 [[ 6.42982369e-01 -6.80855062e-01 -3.50727897e-01 1.26065400e+02] [ 5.90156398e-01 7.32328669e-01 -3.39720688e-01 3.81962360e+01] [ 4.88148645e-01 1.14501007e-02 8.72685394e-01 3.42801885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:38.22, Z:34.28 [[ 6.42668763e-01 -6.88338020e-01 -3.36403971e-01 1.26077181e+02] [ 5.95194929e-01 7.25042494e-01 -3.46491527e-01 3.82242216e+01] [ 4.82410466e-01 2.24533432e-02 8.75657461e-01 3.42800660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:38.23, Z:34.31 [[ 6.44315894e-01 -6.77832980e-01 -3.54117890e-01 1.26101785e+02] [ 5.90643317e-01 7.35197927e-01 -3.32602585e-01 3.82265249e+01] [ 4.85795740e-01 5.14376621e-03 8.74057230e-01 3.43113701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:38.25, Z:34.32 [[ 6.44437892e-01 -6.80599062e-01 -3.48546583e-01 1.26117778e+02] [ 5.90849652e-01 7.32559583e-01 -3.38013530e-01 3.82474315e+01] [ 4.85382831e-01 1.18900999e-02 8.74220872e-01 3.43224035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.13, Y:38.27, Z:34.34 [[ 6.44509851e-01 -6.80760016e-01 -3.48098912e-01 1.26133931e+02] [ 5.91160778e-01 7.32409367e-01 -3.37794986e-01 3.82656417e+01] [ 4.84908224e-01 1.19297720e-02 8.74483673e-01 3.43350651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.15, Y:38.28, Z:34.35 [[ 6.44489649e-01 -6.80782804e-01 -3.48091749e-01 1.26150777e+02] [ 5.91083367e-01 7.32385817e-01 -3.37981461e-01 3.82833317e+01] [ 4.85029427e-01 1.20743104e-02 8.74414470e-01 3.43475855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:126.17, Y:38.30, Z:34.36 [[ 6.44578924e-01 -6.80557103e-01 -3.48367680e-01 1.26167831e+02] [ 5.90567124e-01 7.32589810e-01 -3.38441491e-01 3.83026763e+01] [ 4.85539373e-01 1.24177527e-02 8.74126602e-01 3.43599772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:38.32, Z:34.37 [[ 6.45025850e-01 -6.80012315e-01 -3.48604222e-01 1.26185441e+02] [ 5.89698672e-01 7.33085134e-01 -3.38882965e-01 3.83200005e+01] [ 4.86001162e-01 1.30168257e-02 8.73861221e-01 3.43736107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:38.34, Z:34.39 [[ 6.44830090e-01 -6.80020284e-01 -3.48950668e-01 1.26202240e+02] [ 5.89391966e-01 7.33074247e-01 -3.39439623e-01 3.83359649e+01] [ 4.86632578e-01 1.32121622e-02 8.73506825e-01 3.43874476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:38.35, Z:34.40 [[ 6.44645619e-01 -6.80153801e-01 -3.49031277e-01 1.26219591e+02] [ 5.89388620e-01 7.32949125e-01 -3.39715520e-01 3.83530023e+01] [ 4.86880971e-01 1.32810591e-02 8.73367353e-01 3.44012894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:38.37, Z:34.41 [[ 6.43924899e-01 -6.80863240e-01 -3.48978470e-01 1.26236186e+02] [ 5.90105460e-01 7.32296572e-01 -3.39878325e-01 3.83719976e+01] [ 4.86966395e-01 1.29220155e-02 8.73325112e-01 3.44140374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:38.39, Z:34.43 [[ 6.43118258e-01 -6.81585869e-01 -3.49055310e-01 1.26253395e+02] [ 5.90764368e-01 7.31630354e-01 -3.40168321e-01 3.83897662e+01] [ 4.87233380e-01 1.25590187e-02 8.73181484e-01 3.44269763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:38.41, Z:34.44 [[ 6.41203843e-01 -6.83123058e-01 -3.49571908e-01 1.26270530e+02] [ 5.92101723e-01 7.30211169e-01 -3.40891770e-01 3.84067305e+01] [ 4.88132340e-01 1.15989838e-02 8.72692547e-01 3.44399902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:38.42, Z:34.45 [[ 6.40310486e-01 -6.84032505e-01 -3.49430987e-01 1.26288111e+02] [ 5.93105907e-01 7.29367593e-01 -3.40952046e-01 3.84235987e+01] [ 4.88085920e-01 1.10655882e-02 8.72725437e-01 3.44531478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:38.44, Z:34.47 [[ 6.38361416e-01 -6.86444632e-01 -3.48264941e-01 1.26304877e+02] [ 5.96383308e-01 7.27121792e-01 -3.40030661e-01 3.84405899e+01] [ 4.86643250e-01 9.36305663e-03 8.73550617e-01 3.44666241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:38.46, Z:34.48 [[ 6.37483269e-01 -6.87802442e-01 -3.47192862e-01 1.26322371e+02] [ 5.98416071e-01 7.25848689e-01 -3.39178251e-01 3.84583406e+01] [ 4.85297113e-01 8.45467136e-03 8.74308430e-01 3.44802057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:38.48, Z:34.49 [[ 6.36779932e-01 -6.88968429e-01 -3.46170222e-01 1.26338750e+02] [ 6.00189687e-01 7.24750305e-01 -3.38392280e-01 3.84753247e+01] [ 4.84028572e-01 7.71361564e-03 8.75018195e-01 3.44931609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:38.49, Z:34.51 [[ 6.35581707e-01 -6.90512254e-01 -3.45295121e-01 1.26355476e+02] [ 6.02321905e-01 7.23289896e-01 -3.37727773e-01 3.84938046e+01] [ 4.82953638e-01 6.67478001e-03 8.75620483e-01 3.45069744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:38.51, Z:34.52 [[ 6.34802019e-01 -6.91275662e-01 -3.45201906e-01 1.26372116e+02] [ 6.03125915e-01 7.22563978e-01 -3.37846753e-01 3.85118048e+01] [ 4.82975700e-01 6.26558537e-03 8.75611338e-01 3.45198113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:38.54, Z:34.52 [[ 6.33391173e-01 -6.98189493e-01 -3.33687059e-01 1.26382837e+02] [ 6.07409044e-01 7.15743072e-01 -3.44624591e-01 3.85392115e+01] [ 4.79447469e-01 1.55976364e-02 8.77431956e-01 3.45193278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:38.54, Z:34.55 [[ 6.33519497e-01 -6.89890783e-01 -3.50290957e-01 1.26406318e+02] [ 6.02660553e-01 7.23911654e-01 -3.35785908e-01 3.85447803e+01] [ 4.85235309e-01 1.62037843e-03 8.74382107e-01 3.45480603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:38.57, Z:34.55 [[ 6.32379892e-01 -6.98026059e-01 -3.35939419e-01 1.26416891e+02] [ 6.06151886e-01 7.15904855e-01 -3.46496941e-01 3.85747513e+01] [ 4.82364555e-01 1.54873857e-02 8.75833647e-01 3.45464800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:38.58, Z:34.57 [[ 6.32339590e-01 -6.90092667e-01 -3.52020957e-01 1.26440023e+02] [ 6.02689216e-01 7.23720908e-01 -3.36145441e-01 3.85805975e+01] [ 4.86736430e-01 3.98835951e-04 8.73548790e-01 3.45742198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:38.60, Z:34.58 [[ 6.31223987e-01 -6.93148303e-01 -3.47996706e-01 1.26455407e+02] [ 6.03223513e-01 7.20773013e-01 -3.41478634e-01 3.86028143e+01] [ 4.87521970e-01 5.62970952e-03 8.73092570e-01 3.45847706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:38.62, Z:34.60 [[ 6.30796099e-01 -6.93550731e-01 -3.47970782e-01 1.26472929e+02] [ 6.03580151e-01 7.20386859e-01 -3.41663249e-01 3.86206838e+01] [ 4.87634374e-01 5.49158724e-03 8.73030675e-01 3.45984354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:38.64, Z:34.61 [[ 6.30263582e-01 -6.94051728e-01 -3.47936799e-01 1.26489556e+02] [ 6.04057286e-01 7.19905833e-01 -3.41833860e-01 3.86380844e+01] [ 4.87732112e-01 5.27167432e-03 8.72977432e-01 3.46116424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:38.67, Z:34.61 [[ 6.26766395e-01 -7.04118539e-01 -3.33737876e-01 1.26499381e+02] [ 6.05077579e-01 7.09667693e-01 -3.60905651e-01 3.86681889e+01] [ 4.90963348e-01 2.42662280e-02 8.70842202e-01 3.46135767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:38.67, Z:34.64 [[ 6.27701307e-01 -6.94945225e-01 -3.50773721e-01 1.26523430e+02] [ 6.08020856e-01 7.19059821e-01 -3.36546598e-01 3.86724007e+01] [ 4.86108741e-01 -2.02699883e-03 8.73895980e-01 3.46373556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:38.68, Z:34.66 [[ 6.27909216e-01 -6.92185183e-01 -3.55822552e-01 1.26542387e+02] [ 6.05389263e-01 7.21704848e-01 -3.35627700e-01 3.86835623e+01] [ 4.89115382e-01 -4.66742683e-03 8.72206603e-01 3.46605934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:38.71, Z:34.66 [[ 6.26740021e-01 -6.99785652e-01 -3.42778336e-01 1.26554691e+02] [ 6.08620393e-01 7.14309281e-01 -3.45461240e-01 3.87113971e+01] [ 4.86598566e-01 7.89249921e-03 8.73590032e-01 3.46630203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:38.72, Z:34.69 [[ 6.27189945e-01 -6.95180291e-01 -3.51222344e-01 1.26574433e+02] [ 6.07029465e-01 7.18835075e-01 -3.38808741e-01 3.87213033e+01] [ 4.88004100e-01 -7.04875648e-04 8.72841052e-01 3.46852275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:38.74, Z:34.70 [[ 6.27540211e-01 -6.96530990e-01 -3.47904963e-01 1.26589719e+02] [ 6.06945188e-01 7.17519148e-01 -3.41736463e-01 3.87410417e+01] [ 4.87658509e-01 3.29412885e-03 8.73028251e-01 3.46964744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:38.76, Z:34.71 [[ 6.27693447e-01 -6.96387428e-01 -3.47915918e-01 1.26606597e+02] [ 6.06660687e-01 7.17657144e-01 -3.41951802e-01 3.87587600e+01] [ 4.87815280e-01 3.57399559e-03 8.72939562e-01 3.47102921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450385723 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:126.62, Y:38.77, Z:34.72 [[ 6.32807854e-01 -6.88728927e-01 -3.53845565e-01 1.26623065e+02] [ 6.02853646e-01 7.25014417e-01 -3.33048909e-01 3.87675655e+01] [ 4.85923554e-01 -2.56112340e-03 8.73997563e-01 3.47238921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.63, Y:38.81, Z:34.72 [[ 6.28568598e-01 -7.06313314e-01 -3.25611762e-01 1.26631712e+02] [ 6.06383527e-01 7.07218202e-01 -3.63512632e-01 3.88102806e+01] [ 4.87032376e-01 3.10470168e-02 8.72831912e-01 3.47207288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:38.81, Z:34.76 [[ 6.29310866e-01 -6.90774442e-01 -3.56087777e-01 1.26658881e+02] [ 6.01721811e-01 7.23069906e-01 -3.39265049e-01 3.88067462e+01] [ 4.91831981e-01 -7.62600633e-04 8.70689796e-01 3.47568638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:38.83, Z:34.77 [[ 6.29096992e-01 -6.93236693e-01 -3.51653042e-01 1.26673693e+02] [ 6.01186800e-01 7.20686851e-01 -3.45231654e-01 3.88272477e+01] [ 4.92758973e-01 5.77502798e-03 8.70146679e-01 3.47674745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:38.86, Z:34.77 [[ 6.28426346e-01 -7.00105046e-01 -3.39018070e-01 1.26686315e+02] [ 6.05250577e-01 7.13856689e-01 -3.52250432e-01 3.88559668e+01] [ 4.88622622e-01 1.61725694e-02 8.72345334e-01 3.47676218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:38.86, Z:34.80 [[ 6.28301529e-01 -6.90424859e-01 -3.58539681e-01 1.26709156e+02] [ 6.01062182e-01 7.23401202e-01 -3.39727765e-01 3.88593470e+01] [ 4.93924530e-01 -2.05316875e-03 8.69502354e-01 3.47976749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:38.88, Z:34.81 [[ 6.28047045e-01 -6.93759554e-01 -3.52497646e-01 1.26723978e+02] [ 6.01039117e-01 7.20183528e-01 -3.46536673e-01 3.88799094e+01] [ 4.94276126e-01 5.77645939e-03 8.69285766e-01 3.48079457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.74, Y:38.90, Z:34.82 [[ 6.27762893e-01 -6.94050008e-01 -3.52432030e-01 1.26740567e+02] [ 6.01291165e-01 7.19904079e-01 -3.46680042e-01 3.88970356e+01] [ 4.94330542e-01 5.71860093e-03 8.69255206e-01 3.48218969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.76, Y:38.91, Z:34.84 [[ 6.27839047e-01 -6.94134486e-01 -3.52129873e-01 1.26757958e+02] [ 6.01434966e-01 7.19821759e-01 -3.46601525e-01 3.89148784e+01] [ 4.94058816e-01 5.82675313e-03 8.69408958e-01 3.48358853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.77, Y:38.94, Z:34.84 [[ 6.28456298e-01 -7.00686382e-01 -3.37759197e-01 1.26772901e+02] [ 6.05177667e-01 7.13246749e-01 -3.53608634e-01 3.89437822e+01] [ 4.88674404e-01 1.78232502e-02 8.72284161e-01 3.48373246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.79, Y:38.94, Z:34.87 [[ 6.28372561e-01 -6.89599392e-01 -3.60000838e-01 1.26794451e+02] [ 6.01529459e-01 7.24176196e-01 -3.37240488e-01 3.89437975e+01] [ 4.93264873e-01 -4.63844011e-03 8.69866800e-01 3.48684210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:38.97, Z:34.88 [[ 6.29458145e-01 -6.93165462e-01 -3.51146816e-01 1.26809137e+02] [ 6.00642056e-01 7.20745329e-01 -3.46056774e-01 3.89661422e+01] [ 4.92962031e-01 6.91470912e-03 8.70023346e-01 3.48780306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:38.99, Z:34.88 [[ 6.30355733e-01 -6.95932392e-01 -3.43990923e-01 1.26826431e+02] [ 6.01672081e-01 7.17977490e-01 -3.49998615e-01 3.89891153e+01] [ 4.90553113e-01 1.36538994e-02 8.71304318e-01 3.48846491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.84, Y:39.00, Z:34.91 [[ 6.31412321e-01 -6.88470017e-01 -3.56829815e-01 1.26844809e+02] [ 5.97891011e-01 7.25261500e-01 -3.41353330e-01 3.89968952e+01] [ 4.93806459e-01 2.18935959e-03 8.69569081e-01 3.49076108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:39.02, Z:34.92 [[ 6.32073455e-01 -6.90624508e-01 -3.51455455e-01 1.26860559e+02] [ 5.97262152e-01 7.23153148e-01 -3.46882468e-01 3.90186054e+01] [ 4.93721652e-01 9.34415887e-03 8.69569789e-01 3.49182982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:39.04, Z:34.92 [[ 6.33253821e-01 -6.93239541e-01 -3.44105415e-01 1.26877753e+02] [ 5.97271940e-01 7.20492106e-01 -3.52359694e-01 3.90429193e+01] [ 4.92194908e-01 1.76086137e-02 8.70306905e-01 3.49245366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:39.05, Z:34.95 [[ 6.32312488e-01 -6.86551067e-01 -3.58926942e-01 1.26896246e+02] [ 5.95585221e-01 7.27078332e-01 -3.41519171e-01 3.90493463e+01] [ 4.95438354e-01 2.17525416e-03 8.68640378e-01 3.49475883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:39.07, Z:34.96 [[ 6.33129977e-01 -6.90439879e-01 -3.49913141e-01 1.26917135e+02] [ 5.94586816e-01 7.23247720e-01 -3.51253831e-01 3.90726681e+01] [ 4.95593534e-01 1.43355894e-02 8.68436261e-01 3.49569480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.93, Y:39.08, Z:34.98 [[ 6.30696419e-01 -6.87228520e-01 -3.60470511e-01 1.26932127e+02] [ 5.95380896e-01 7.26438924e-01 -3.43231814e-01 3.90823582e+01] [ 4.97738502e-01 1.85782013e-03 8.67325160e-01 3.49753808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:39.11, Z:34.98 [[ 6.30723899e-01 -6.93562074e-01 -3.48079033e-01 1.26949866e+02] [ 5.97612427e-01 7.20257623e-01 -3.52261754e-01 3.91073926e+01] [ 4.95021969e-01 1.41635512e-02 8.68765011e-01 3.49820497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.97, Y:39.12, Z:35.00 [[ 6.29189220e-01 -6.89776811e-01 -3.58230200e-01 1.26966338e+02] [ 5.98387348e-01 7.24020463e-01 -3.43113611e-01 3.91173328e+01] [ 4.96037808e-01 1.52296589e-03 8.68299587e-01 3.50022249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.98, Y:39.14, Z:35.01 [[ 6.27471679e-01 -6.94523411e-01 -3.52017788e-01 1.26982699e+02] [ 6.00770868e-01 7.19433824e-01 -3.48553206e-01 3.91384199e+01] [ 4.95331865e-01 7.22523319e-03 8.68673782e-01 3.50125526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:39.16, Z:35.03 [[ 6.26395785e-01 -6.95333194e-01 -3.52335167e-01 1.27000833e+02] [ 6.01394762e-01 7.18655620e-01 -3.49082282e-01 3.91554804e+01] [ 4.95936146e-01 6.77114664e-03 8.68332592e-01 3.50266032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:39.17, Z:35.04 [[ 6.26223253e-01 -6.95542652e-01 -3.52228416e-01 1.27018474e+02] [ 6.01574520e-01 7.18452825e-01 -3.49189970e-01 3.91731773e+01] [ 4.95936018e-01 6.77923912e-03 8.68332602e-01 3.50404917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:39.19, Z:35.05 [[ 6.24877738e-01 -6.96804183e-01 -3.52124613e-01 1.27036254e+02] [ 6.02967094e-01 7.17236791e-01 -3.49287946e-01 3.91890188e+01] [ 4.95942029e-01 5.94270688e-03 8.68335297e-01 3.50540034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.04, Y:39.23, Z:35.03 [[ 6.23481156e-01 -7.16834748e-01 -3.12120477e-01 1.27039630e+02] [ 6.13321928e-01 6.96015705e-01 -3.73360886e-01 3.92342238e+01] [ 4.84878810e-01 4.13531440e-02 8.73603146e-01 3.50326118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:127.07, Y:39.22, Z:35.08 [[ 6.22238391e-01 -6.94680842e-01 -3.60884903e-01 1.27069273e+02] [ 6.08417662e-01 7.19236436e-01 -3.35450290e-01 3.92174368e+01] [ 4.92592461e-01 -1.08386998e-02 8.70192616e-01 3.50772244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.08, Y:39.24, Z:35.09 [[ 6.21199967e-01 -7.01844689e-01 -3.48603835e-01 1.27084682e+02] [ 6.11123956e-01 7.12328714e-01 -3.45130865e-01 3.92439692e+01] [ 4.90548786e-01 1.35512674e-03 8.71412676e-01 3.50857362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:39.26, Z:35.10 [[ 6.20991781e-01 -7.03528561e-01 -3.45567319e-01 1.27100999e+02] [ 6.11926768e-01 7.10655060e-01 -3.47152729e-01 3.92617514e+01] [ 4.89811023e-01 4.11709870e-03 8.71818909e-01 3.50973292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:39.30, Z:35.09 [[ 6.19716879e-01 -7.18455506e-01 -3.15868130e-01 1.27108712e+02] [ 6.17735508e-01 6.94782611e-01 -3.68347615e-01 3.92987559e+01] [ 4.84101056e-01 3.31482740e-02 8.74383988e-01 3.50850407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.14, Y:39.28, Z:35.14 [[ 6.18890216e-01 -6.95436722e-01 -3.65161151e-01 1.27141489e+02] [ 6.12223137e-01 7.18334379e-01 -3.30421777e-01 3.92807544e+01] [ 4.92095246e-01 -1.90653003e-02 8.70332570e-01 3.51362318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:39.31, Z:35.14 [[ 6.18120954e-01 -7.05258643e-01 -3.47184004e-01 1.27153633e+02] [ 6.12863364e-01 7.08943988e-01 -3.48994152e-01 3.93096322e+01] [ 4.92265155e-01 2.94424165e-03 8.70440319e-01 3.51395163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.16, Y:39.35, Z:35.13 [[ 6.16422172e-01 -7.21201118e-01 -3.16057990e-01 1.27160352e+02] [ 6.21099215e-01 6.92057047e-01 -3.67821707e-01 3.93488407e+01] [ 4.84003585e-01 3.04300856e-02 8.74536757e-01 3.51251173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.19, Y:39.34, Z:35.17 [[ 6.14146499e-01 -7.04690957e-01 -3.55295276e-01 1.27192102e+02] [ 6.18889553e-01 7.09399342e-01 -3.37236258e-01 3.93391449e+01] [ 4.89693577e-01 -1.27760672e-02 8.71800994e-01 3.51663025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:39.36, Z:35.18 [[ 6.12228117e-01 -7.08237089e-01 -3.51535146e-01 1.27209323e+02] [ 6.19456389e-01 7.05934657e-01 -3.43409439e-01 3.93550619e+01] [ 4.91376144e-01 -7.51577730e-03 8.70915035e-01 3.51825992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:39.37, Z:35.19 [[ 6.10925676e-01 -7.12100722e-01 -3.45951413e-01 1.27225529e+02] [ 6.21108704e-01 7.02074221e-01 -3.48304128e-01 3.93742936e+01] [ 4.90911189e-01 -2.08549893e-03 8.71207125e-01 3.51930927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:39.39, Z:35.21 [[ 6.08664401e-01 -7.14349762e-01 -3.45299964e-01 1.27243357e+02] [ 6.23931672e-01 6.99779040e-01 -3.47877225e-01 3.93903225e+01] [ 4.90139690e-01 -3.70310166e-03 8.71636032e-01 3.52060807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.26, Y:39.41, Z:35.21 [[ 6.07667613e-01 -7.19184647e-01 -3.36917670e-01 1.27260503e+02] [ 6.26727427e-01 6.94811568e-01 -3.52774174e-01 3.94143265e+01] [ 4.87804064e-01 3.21389621e-03 8.72947230e-01 3.52110512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:39.42, Z:35.24 [[ 6.07218446e-01 -7.12749285e-01 -3.51104280e-01 1.27279531e+02] [ 6.25988568e-01 7.01303923e-01 -3.41044161e-01 3.94191525e+01] [ 4.89309791e-01 -1.26989598e-02 8.72017583e-01 3.52357732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:39.44, Z:35.25 [[ 6.06712966e-01 -7.16558904e-01 -3.44155072e-01 1.27295623e+02] [ 6.26758276e-01 6.97508968e-01 -3.47354721e-01 3.94381344e+01] [ 4.88951367e-01 -4.95742638e-03 8.72296959e-01 3.52459763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.31, Y:39.45, Z:35.26 [[ 6.06784880e-01 -7.16370471e-01 -3.44420466e-01 1.27312976e+02] [ 6.26268419e-01 6.97704727e-01 -3.47844766e-01 3.94544651e+01] [ 4.89489506e-01 -4.63271565e-03 8.71996881e-01 3.52581303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.680385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.33, Y:39.47, Z:35.27 [[ 6.07268163e-01 -7.15878532e-01 -3.44591506e-01 1.27330136e+02] [ 6.25521344e-01 6.98212703e-01 -3.48169600e-01 3.94717761e+01] [ 4.89845309e-01 -4.11702884e-03 8.71799646e-01 3.52713546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:39.49, Z:35.28 [[ 6.07771459e-01 -7.15444353e-01 -3.44605907e-01 1.27346696e+02] [ 6.24891040e-01 6.98660488e-01 -3.48403087e-01 3.94891068e+01] [ 4.90025552e-01 -3.59169166e-03 8.71700670e-01 3.52837165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.36, Y:39.52, Z:35.28 [[ 6.10930308e-01 -7.22848427e-01 -3.22884360e-01 1.27362788e+02] [ 6.25699617e-01 6.90733755e-01 -3.62473267e-01 3.95242481e+01] [ 4.85040358e-01 1.94172843e-02 8.74276170e-01 3.52783566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:39.51, Z:35.32 [[ 6.10304191e-01 -7.04103086e-01 -3.62998125e-01 1.27385964e+02] [ 6.22004598e-01 7.09695937e-01 -3.30820129e-01 3.95125528e+01] [ 4.90549768e-01 -2.38855913e-02 8.71085761e-01 3.53194668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:39.57, Z:35.29 [[ 6.12889997e-01 -7.29089328e-01 -3.04622066e-01 1.27388821e+02] [ 6.27979060e-01 6.83425621e-01 -3.72252229e-01 3.95705008e+01] [ 4.79591652e-01 3.68533887e-02 8.76717557e-01 3.52907058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:39.54, Z:35.35 [[ 6.12782644e-01 -6.98322049e-01 -3.69923976e-01 1.27422260e+02] [ 6.19739130e-01 7.15106796e-01 -3.23335246e-01 3.95420936e+01] [ 4.90327280e-01 -3.11221367e-02 8.70982532e-01 3.53515478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.42, Y:39.61, Z:35.31 [[ 6.14203603e-01 -7.29225923e-01 -3.01634694e-01 1.27420851e+02] [ 6.27615021e-01 6.83098625e-01 -3.73464394e-01 3.96079021e+01] [ 4.78386162e-01 4.00727115e-02 8.77234779e-01 3.53136531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:39.59, Z:35.37 [[ 6.12194252e-01 -7.05792190e-01 -3.56476622e-01 1.27451946e+02] [ 6.20093579e-01 7.08270598e-01 -3.37396967e-01 3.95886497e+01] [ 4.90614055e-01 -1.44963799e-02 8.71256394e-01 3.53659106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.920385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:127.47, Y:39.60, Z:35.38 [[ 6.15217739e-01 -7.03928630e-01 -3.54952980e-01 1.27468033e+02] [ 6.18570168e-01 7.10156964e-01 -3.36226164e-01 3.96043363e+01] [ 4.88751554e-01 -1.27110234e-02 8.72330413e-01 3.53786065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:39.66, Z:35.35 [[ 6.16094252e-01 -7.30005650e-01 -2.95837157e-01 1.27470032e+02] [ 6.28216828e-01 6.81965193e-01 -3.74522486e-01 3.96644138e+01] [ 4.75154175e-01 4.48912707e-02 8.78756669e-01 3.53456677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.51, Y:39.63, Z:35.41 [[ 6.14987348e-01 -6.96010293e-01 -3.70621415e-01 1.27506042e+02] [ 6.18959011e-01 7.17290515e-01 -3.19975092e-01 3.96285054e+01] [ 4.88549183e-01 -3.26188316e-02 8.71926435e-01 3.54145729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:39.67, Z:35.41 [[ 6.14526563e-01 -7.10898972e-01 -3.42023033e-01 1.27515847e+02] [ 6.19593049e-01 7.03290454e-01 -3.48549840e-01 3.96652159e+01] [ 4.88325257e-01 2.27804092e-03 8.72658727e-01 3.54125067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:39.68, Z:35.43 [[ 6.13384084e-01 -7.12133481e-01 -3.41505301e-01 1.27532794e+02] [ 6.21179116e-01 7.02042551e-01 -3.48242390e-01 3.96818089e+01] [ 4.87746318e-01 1.47037830e-03 8.72984173e-01 3.54252076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:39.70, Z:35.44 [[ 6.12838413e-01 -7.12785222e-01 -3.41125060e-01 1.27550188e+02] [ 6.22032082e-01 7.01381492e-01 -3.48051851e-01 3.96988934e+01] [ 4.87345020e-01 1.10881282e-03 8.73208796e-01 3.54387804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:39.71, Z:35.45 [[ 6.12239273e-01 -7.13643010e-01 -3.40406709e-01 1.27567411e+02] [ 6.23299533e-01 7.00509309e-01 -3.47540503e-01 3.97143706e+01] [ 4.86477918e-01 6.02602304e-04 8.73692664e-01 3.54529628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:39.73, Z:35.47 [[ 6.11836923e-01 -7.14099239e-01 -3.40173274e-01 1.27584680e+02] [ 6.23843465e-01 7.00044368e-01 -3.47501388e-01 3.97315506e+01] [ 4.86286861e-01 3.99306419e-04 8.73799135e-01 3.54662012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:39.75, Z:35.48 [[ 6.10919634e-01 -7.14547053e-01 -3.40880786e-01 1.27601789e+02] [ 6.23830892e-01 6.99587351e-01 -3.48443047e-01 3.97499172e+01] [ 4.87454838e-01 2.18734301e-04 8.73148174e-01 3.54785698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.62, Y:39.79, Z:35.47 [[ 6.10743486e-01 -7.24730036e-01 -3.18996502e-01 1.27615121e+02] [ 6.28743854e-01 6.88745421e-01 -3.60986027e-01 3.97857327e+01] [ 4.81324797e-01 1.99027746e-02 8.76316335e-01 3.54706323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.64, Y:39.78, Z:35.51 [[ 6.10734788e-01 -7.07071004e-01 -3.56445809e-01 1.27641570e+02] [ 6.22556167e-01 7.06940203e-01 -3.35647684e-01 3.97751792e+01] [ 4.89312617e-01 -1.69158196e-02 8.71944389e-01 3.55124993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:39.80, Z:35.52 [[ 6.11394123e-01 -7.13739634e-01 -3.41720589e-01 1.27655530e+02] [ 6.22112969e-01 7.00409888e-01 -3.49859176e-01 3.98018473e+01] [ 4.89052839e-01 1.31303376e-03 8.72253172e-01 3.55185452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.67, Y:39.82, Z:35.53 [[ 6.12725761e-01 -7.12796906e-01 -3.41302964e-01 1.27673587e+02] [ 6.21151938e-01 7.01366924e-01 -3.49649407e-01 3.98184685e+01] [ 4.88607625e-01 2.23820147e-03 8.72500762e-01 3.55327115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.69, Y:39.84, Z:35.55 [[ 6.13765665e-01 -7.12120457e-01 -3.40846245e-01 1.27690150e+02] [ 6.20518741e-01 7.02051110e-01 -3.49400531e-01 3.98352343e+01] [ 4.88106751e-01 2.94856674e-03 8.72778956e-01 3.55456253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:39.85, Z:35.56 [[ 6.15626777e-01 -7.10639290e-01 -3.40581077e-01 1.27707508e+02] [ 6.18856744e-01 7.03543419e-01 -3.49346517e-01 3.98527335e+01] [ 4.87872936e-01 4.29617381e-03 8.72904085e-01 3.55593201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:39.87, Z:35.57 [[ 6.16784862e-01 -7.09736795e-01 -3.40367619e-01 1.27725127e+02] [ 6.17827248e-01 7.04447882e-01 -3.49346065e-01 3.98703709e+01] [ 4.87715005e-01 5.18297523e-03 8.72987520e-01 3.55727723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:39.89, Z:35.59 [[ 6.19675395e-01 -7.07345288e-01 -3.40095646e-01 1.27742717e+02] [ 6.15135024e-01 7.06831142e-01 -3.49283035e-01 3.98877038e+01] [ 4.87453903e-01 7.23735883e-03 8.73118728e-01 3.55864532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:39.91, Z:35.60 [[ 6.21008621e-01 -7.06387206e-01 -3.39654836e-01 1.27760007e+02] [ 6.14178309e-01 7.07778668e-01 -3.49047793e-01 3.99056049e+01] [ 4.86963343e-01 8.15305568e-03 8.73384354e-01 3.55999052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:39.92, Z:35.61 [[ 6.22961773e-01 -7.04878744e-01 -3.39211712e-01 1.27776696e+02] [ 6.12595052e-01 7.09264218e-01 -3.48814523e-01 3.99222118e+01] [ 4.86462673e-01 9.49869709e-03 8.73649725e-01 3.56126158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:39.92, Z:35.65 [[ 6.20292466e-01 -6.90359825e-01 -3.72344690e-01 1.27797472e+02] [ 6.09666735e-01 7.23017331e-01 -3.24888307e-01 3.99172716e+01] [ 4.93501498e-01 -2.54804023e-02 8.69371624e-01 3.56493946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.81, Y:39.96, Z:35.64 [[ 6.21329796e-01 -7.05894905e-01 -3.40090676e-01 1.27807307e+02] [ 6.09270497e-01 7.08168850e-01 -3.56772114e-01 3.99550746e+01] [ 4.92685241e-01 1.44659298e-02 8.70087346e-01 3.56448087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.82, Y:39.99, Z:35.64 [[ 6.24041949e-01 -7.17047409e-01 -3.10507100e-01 1.27822088e+02] [ 6.12011617e-01 6.95583436e-01 -3.76305015e-01 3.99922725e+01] [ 4.85812132e-01 4.47961623e-02 8.72914587e-01 3.56374083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.580385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.85, Y:39.99, Z:35.67 [[ 6.22523155e-01 -7.05514024e-01 -3.38695858e-01 1.27847488e+02] [ 6.13287759e-01 7.08632706e-01 -3.48880800e-01 3.99901810e+01] [ 4.86151259e-01 9.46835260e-03 8.73823382e-01 3.56665671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.86, Y:40.00, Z:35.69 [[ 6.19541564e-01 -6.99838519e-01 -3.55519758e-01 1.27863679e+02] [ 6.13863355e-01 7.14231958e-01 -3.36220897e-01 3.99962697e+01] [ 4.89223907e-01 -9.93773077e-03 8.72101606e-01 3.56909533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:40.04, Z:35.68 [[ 6.19128401e-01 -7.17902959e-01 -3.18269326e-01 1.27870625e+02] [ 6.18341319e-01 6.95506100e-01 -3.65958028e-01 4.00396474e+01] [ 4.84080609e-01 2.97759340e-02 8.74516642e-01 3.56783095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:40.05, Z:35.70 [[ 6.18136868e-01 -7.13511253e-01 -3.29861340e-01 1.27890741e+02] [ 6.18697363e-01 7.00465112e-01 -3.55755814e-01 4.00503627e+01] [ 4.84892137e-01 1.58214431e-02 8.74430842e-01 3.56963727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.700385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.92, Y:40.06, Z:35.72 [[ 6.19696268e-01 -7.09793566e-01 -3.34917347e-01 1.27916397e+02] [ 6.13860437e-01 7.04240495e-01 -3.56680093e-01 4.00646526e+01] [ 4.89031594e-01 1.54408135e-02 8.72129395e-01 3.57158221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.94, Y:40.08, Z:35.73 [[ 6.19130912e-01 -7.07277084e-01 -3.41227255e-01 1.27935148e+02] [ 6.13754919e-01 7.06888310e-01 -3.51587565e-01 4.00785277e+01] [ 4.89879385e-01 8.24882364e-03 8.71751194e-01 3.57320099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.94, Y:40.10, Z:35.73 [[ 6.15377419e-01 -7.12920061e-01 -3.36237445e-01 1.27940652e+02] [ 6.19813808e-01 7.01194649e-01 -3.52359061e-01 4.01004190e+01] [ 4.86971740e-01 8.42919855e-03 8.73377051e-01 3.57342830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.95, Y:40.12, Z:35.74 [[ 6.14847742e-01 -7.15948345e-01 -3.30726806e-01 1.27954744e+02] [ 6.19869822e-01 6.97981901e-01 -3.58584258e-01 4.01213729e+01] [ 4.87569131e-01 1.54671547e-02 8.72947370e-01 3.57448225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82038572300002 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:127.97, Y:40.14, Z:35.76 [[ 6.13684428e-01 -7.18752614e-01 -3.26781430e-01 1.27971001e+02] [ 6.20948314e-01 6.94990991e-01 -3.62506156e-01 4.01422755e+01] [ 4.87662397e-01 1.95500052e-02 8.72813373e-01 3.57567899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85038572300002 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:127.99, Y:40.14, Z:35.79 [[ 6.13235577e-01 -7.08168572e-01 -3.49913419e-01 1.27991130e+02] [ 6.17494923e-01 7.06034971e-01 -3.46719830e-01 4.01423497e+01] [ 4.92587197e-01 -3.44882438e-03 8.70256260e-01 3.57872247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:128.00, Y:40.19, Z:35.77 [[ 6.14644432e-01 -7.26002872e-01 -3.08434844e-01 1.27995959e+02] [ 6.21561000e-01 6.86515902e-01 -3.77303379e-01 4.01882436e+01] [ 4.85668762e-01 4.01963504e-02 8.73218247e-01 3.57726497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.02, Y:40.19, Z:35.80 [[ 6.14864355e-01 -7.18387848e-01 -3.25362452e-01 1.28016872e+02] [ 6.21289242e-01 6.95356486e-01 -3.61218820e-01 4.01942966e+01] [ 4.85738102e-01 1.99563856e-02 8.73876558e-01 3.57957362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.04, Y:40.21, Z:35.82 [[ 6.18118358e-01 -7.12862541e-01 -3.31295476e-01 1.28038459e+02] [ 6.17729535e-01 7.01133041e-01 -3.56121723e-01 4.02082733e+01] [ 4.86148041e-01 1.54743742e-02 8.73739450e-01 3.58152967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.05, Y:40.23, Z:35.82 [[ 6.17833570e-01 -7.16539150e-01 -3.23810633e-01 1.28050571e+02] [ 6.18788017e-01 6.97157276e-01 -3.62040221e-01 4.02301996e+01] [ 4.85162932e-01 2.33104632e-02 8.74113009e-01 3.58228359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.000385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.07, Y:40.25, Z:35.84 [[ 6.18038440e-01 -7.15868489e-01 -3.24901205e-01 1.28068398e+02] [ 6.18591898e-01 6.97884882e-01 -3.60971959e-01 4.02471610e+01] [ 4.85152090e-01 2.21132940e-02 8.74150131e-01 3.58369631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.09, Y:40.26, Z:35.85 [[ 6.19323398e-01 -7.14649716e-01 -3.25137374e-01 1.28085634e+02] [ 6.17708427e-01 6.99131380e-01 -3.60071677e-01 4.02646969e+01] [ 4.84638863e-01 2.21607185e-02 8.74433574e-01 3.58511117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:40.28, Z:35.87 [[ 6.23895255e-01 -7.10565628e-01 -3.25347812e-01 1.28115406e+02] [ 6.11276296e-01 7.03081116e-01 -3.63343135e-01 4.02825373e+01] [ 4.86925046e-01 2.78106525e-02 8.73000897e-01 3.58721953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:40.28, Z:35.90 [[ 6.20041196e-01 -6.97427745e-01 -3.59365351e-01 1.28129899e+02] [ 6.13000778e-01 7.16520791e-01 -3.32908399e-01 4.02777365e+01] [ 4.89672299e-01 -1.38743179e-02 8.71796159e-01 3.59029769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:40.33, Z:35.89 [[ 6.24979357e-01 -7.14747690e-01 -3.13905309e-01 1.28145316e+02] [ 6.11051992e-01 6.98158595e-01 -3.73081813e-01 4.03271717e+01] [ 4.85815054e-01 4.13559674e-02 8.73082709e-01 3.58929905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:40.33, Z:35.92 [[ 6.24643278e-01 -7.02890627e-01 -3.40243356e-01 1.28167814e+02] [ 6.10446948e-01 7.11227085e-01 -3.48583645e-01 4.03287355e+01] [ 4.87006467e-01 1.00399126e-02 8.73340656e-01 3.59182849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:40.35, Z:35.93 [[ 6.24250096e-01 -7.03068807e-01 -3.40596640e-01 1.28184847e+02] [ 6.10331633e-01 7.11050422e-01 -3.49145520e-01 4.03465993e+01] [ 4.87654709e-01 1.00772208e-02 8.72978427e-01 3.59311983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.20, Y:40.36, Z:35.94 [[ 6.23280053e-01 -7.03451642e-01 -3.41581268e-01 1.28202177e+02] [ 6.10067522e-01 7.10672866e-01 -3.50373653e-01 4.03626871e+01] [ 4.89223460e-01 9.99327126e-03 8.72101221e-01 3.59440620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.240385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.20, Y:40.41, Z:35.92 [[ 6.19509695e-01 -7.25812224e-01 -2.99005606e-01 1.28198479e+02] [ 6.23179709e-01 6.86357945e-01 -3.74913085e-01 4.04099193e+01] [ 4.77341374e-01 4.59280643e-02 8.77516852e-01 3.59209109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:40.38, Z:35.98 [[ 6.18468163e-01 -6.97224370e-01 -3.62457322e-01 1.28234529e+02] [ 6.16600224e-01 7.16522819e-01 -3.26188922e-01 4.03819076e+01] [ 4.87135808e-01 -2.17538020e-02 8.73055254e-01 3.59797077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:40.42, Z:35.97 [[ 6.19455087e-01 -7.15409618e-01 -3.23209645e-01 1.28242148e+02] [ 6.19455334e-01 6.98362049e-01 -3.58560368e-01 4.04249967e+01] [ 4.82234885e-01 2.18981054e-02 8.75768228e-01 3.59731504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:128.26, Y:40.45, Z:35.98 [[ 6.19238557e-01 -7.20488709e-01 -3.12153215e-01 1.28256675e+02] [ 6.22793113e-01 6.92785713e-01 -3.63561128e-01 4.04514063e+01] [ 4.78196976e-01 3.07241959e-02 8.77715031e-01 3.59760679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:40.45, Z:36.02 [[ 6.20657711e-01 -7.05006181e-01 -3.43147622e-01 1.28288173e+02] [ 6.17403433e-01 7.09200896e-01 -3.40363173e-01 4.04474917e+01] [ 4.83318742e-01 -6.11491893e-04 8.75444241e-01 3.60161179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:40.47, Z:36.02 [[ 6.18872970e-01 -7.12030726e-01 -3.31675283e-01 1.28297179e+02] [ 6.20722719e-01 7.02075644e-01 -3.48988676e-01 4.04743123e+01] [ 4.81351798e-01 1.01012750e-02 8.76469287e-01 3.60187127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:40.49, Z:36.04 [[ 6.19780545e-01 -7.08915281e-01 -3.36617291e-01 1.28319560e+02] [ 6.17428832e-01 7.05246931e-01 -3.48437087e-01 4.04892116e+01] [ 4.84410687e-01 8.11730679e-03 8.74803061e-01 3.60375857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:40.52, Z:36.03 [[ 6.18698355e-01 -7.18853388e-01 -3.16957650e-01 1.28328888e+02] [ 6.21093662e-01 6.94608795e-01 -3.62989372e-01 4.05225781e+01] [ 4.81097711e-01 2.77205400e-02 8.76228603e-01 3.60317513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.35, Y:40.53, Z:36.05 [[ 6.18617562e-01 -7.13908858e-01 -3.28095192e-01 1.28350051e+02] [ 6.20387591e-01 7.00074037e-01 -3.53575423e-01 4.05336141e+01] [ 4.82111552e-01 1.51817805e-02 8.75978290e-01 3.60502207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:40.53, Z:36.08 [[ 6.18062773e-01 -7.01689001e-01 -3.54444572e-01 1.28375029e+02] [ 6.15445738e-01 7.12416729e-01 -3.37177918e-01 4.05327479e+01] [ 4.89106278e-01 -9.74428216e-03 8.72169764e-01 3.60843946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:40.58, Z:36.07 [[ 6.18037341e-01 -7.19333731e-01 -3.17157419e-01 1.28381329e+02] [ 6.19680114e-01 6.94017130e-01 -3.66519821e-01 4.05774412e+01] [ 4.83762752e-01 2.99867900e-02 8.74685310e-01 3.60702514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57038572300002 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:128.41, Y:40.58, Z:36.09 [[ 6.19328882e-01 -7.09478417e-01 -3.36261968e-01 1.28407600e+02] [ 6.17438939e-01 7.04671150e-01 -3.49582216e-01 4.05830428e+01] [ 4.84975145e-01 8.88513030e-03 8.74482797e-01 3.60946660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60038572300002 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:128.43, Y:40.60, Z:36.11 [[ 6.20216340e-01 -7.07726932e-01 -3.38310924e-01 1.28427087e+02] [ 6.15654513e-01 7.06437628e-01 -3.49163855e-01 4.06005411e+01] [ 4.86108231e-01 8.27448105e-03 8.73859440e-01 3.61092252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:40.60, Z:36.14 [[ 6.18704191e-01 -6.99892309e-01 -3.56869557e-01 1.28443916e+02] [ 6.14668038e-01 7.14145338e-01 -3.34932292e-01 4.06038880e+01] [ 4.89273265e-01 -1.21322972e-02 8.72046145e-01 3.61356148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66038572300002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:128.46, Y:40.64, Z:36.13 [[ 6.20783560e-01 -7.13871609e-01 -3.24060330e-01 1.28456745e+02] [ 6.14942961e-01 6.99778977e-01 -3.63530656e-01 4.06445459e+01] [ 4.86284821e-01 2.63952358e-02 8.73401606e-01 3.61286788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:40.64, Z:36.16 [[ 6.20194939e-01 -6.99050448e-01 -3.55930765e-01 1.28478238e+02] [ 6.12778162e-01 7.15010789e-01 -3.36544940e-01 4.06375139e+01] [ 4.89756228e-01 -9.38313131e-03 8.71808921e-01 3.61638884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72038572300002 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:128.49, Y:40.68, Z:36.16 [[ 6.23595442e-01 -7.12490616e-01 -3.21692162e-01 1.28493049e+02] [ 6.12608196e-01 7.01014235e-01 -3.65089360e-01 4.06797451e+01] [ 4.85633528e-01 3.05968055e-02 8.73626872e-01 3.61566209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750385723 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:128.51, Y:40.68, Z:36.18 [[ 6.23002702e-01 -7.02747884e-01 -3.43530268e-01 1.28513621e+02] [ 6.13268263e-01 7.11432130e-01 -3.43171039e-01 4.06825669e+01] [ 4.85561191e-01 3.12027395e-03 8.74197114e-01 3.61810780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:40.69, Z:36.21 [[ 6.23242494e-01 -6.96414996e-01 -3.55773731e-01 1.28527705e+02] [ 6.11395039e-01 7.17574934e-01 -3.33590048e-01 4.06890103e+01] [ 4.87611423e-01 -9.61080104e-03 8.73007865e-01 3.62054438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:40.72, Z:36.21 [[ 6.24163197e-01 -7.04456899e-01 -3.37876874e-01 1.28539549e+02] [ 6.11283818e-01 7.09643087e-01 -3.50340953e-01 4.07184479e+01] [ 4.86572088e-01 1.21312635e-02 8.73556200e-01 3.62096074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:40.74, Z:36.22 [[ 6.25588617e-01 -7.03420958e-01 -3.37398634e-01 1.28555586e+02] [ 6.10270029e-01 7.10652944e-01 -3.50061259e-01 4.07365432e+01] [ 4.86013758e-01 1.30900643e-02 8.73853121e-01 3.62229988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870385723 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:128.57, Y:40.77, Z:36.22 [[ 6.26480240e-01 -7.10222050e-01 -3.21103018e-01 1.28573510e+02] [ 6.10479372e-01 7.03238731e-01 -3.64376486e-01 4.07694383e+01] [ 4.84600294e-01 3.22478995e-02 8.74141080e-01 3.62245097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:40.76, Z:36.26 [[ 6.27018206e-01 -6.91897441e-01 -3.57947065e-01 1.28591865e+02] [ 6.07756214e-01 7.21925142e-01 -3.30842068e-01 4.07596243e+01] [ 4.87319766e-01 -1.01005529e-02 8.73165176e-01 3.62589082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:40.79, Z:36.26 [[ 6.27703747e-01 -7.01457874e-01 -3.37557189e-01 1.28602159e+02] [ 6.07593066e-01 7.12550112e-01 -3.50860378e-01 4.07911250e+01] [ 4.86640188e-01 1.51389664e-02 8.73471316e-01 3.62604822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:40.81, Z:36.27 [[ 6.28314858e-01 -7.00729601e-01 -3.37932635e-01 1.28617462e+02] [ 6.06413282e-01 7.13249462e-01 -3.51479923e-01 4.08091614e+01] [ 4.87322657e-01 1.59132197e-02 8.73076971e-01 3.62732136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:40.83, Z:36.29 [[ 6.28871040e-01 -7.00205750e-01 -3.37983907e-01 1.28634261e+02] [ 6.05662105e-01 7.13750263e-01 -3.51758407e-01 4.08266101e+01] [ 4.87539362e-01 1.65066308e-02 8.72944959e-01 3.62871095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.020385723 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:128.65, Y:40.85, Z:36.30 [[ 6.30067299e-01 -7.00718986e-01 -3.34676114e-01 1.28649549e+02] [ 6.02624399e-01 7.13029668e-01 -3.58374840e-01 4.08462917e+01] [ 4.89754053e-01 2.41162751e-02 8.71527035e-01 3.62983073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:40.86, Z:36.32 [[ 6.29170902e-01 -6.98145461e-01 -3.41667807e-01 1.28667945e+02] [ 6.04200596e-01 7.15822755e-01 -3.50056314e-01 4.08598657e+01] [ 4.88963818e-01 1.38093539e-02 8.72194753e-01 3.63164661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.080385723 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:128.68, Y:40.88, Z:36.33 [[ 6.29145873e-01 -6.99767850e-01 -3.38379117e-01 1.28683412e+02] [ 6.04367839e-01 7.14151294e-01 -3.53167730e-01 4.08810125e+01] [ 4.88789307e-01 1.76885644e-02 8.72222522e-01 3.63272727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110385723 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:128.70, Y:40.90, Z:36.34 [[ 6.28908923e-01 -7.01413173e-01 -3.35399951e-01 1.28698030e+02] [ 6.04032690e-01 7.12413087e-01 -3.57228361e-01 4.09003147e+01] [ 4.89507993e-01 2.20715693e-02 8.71719433e-01 3.63380141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.72, Y:40.91, Z:36.36 [[ 6.27825280e-01 -6.99131200e-01 -3.42127145e-01 1.28717078e+02] [ 6.05838431e-01 7.14894136e-01 -3.49121999e-01 4.09130971e+01] [ 4.88666772e-01 1.19138442e-02 8.72389160e-01 3.63561182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170385723 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:128.73, Y:40.94, Z:36.37 [[ 6.26990567e-01 -7.03697540e-01 -3.34204431e-01 1.28731489e+02] [ 6.05723998e-01 7.10140708e-01 -3.58885237e-01 4.09354832e+01] [ 4.89878830e-01 2.25820144e-02 8.71498012e-01 3.63653116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:128.75, Y:40.95, Z:36.38 [[ 6.25067831e-01 -7.01755789e-01 -3.41802603e-01 1.28750577e+02] [ 6.08863413e-01 7.12346272e-01 -3.49067521e-01 4.09474808e+01] [ 4.88441963e-01 1.00797785e-02 8.72538163e-01 3.63811364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:40.97, Z:36.39 [[ 6.24448785e-01 -7.04291212e-01 -3.37694542e-01 1.28765988e+02] [ 6.09364302e-01 7.09754171e-01 -3.53446126e-01 4.09670660e+01] [ 4.88609110e-01 1.49300057e-02 8.72375053e-01 3.63948653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260385723 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:128.78, Y:40.99, Z:36.40 [[ 6.20399976e-01 -7.14189337e-01 -3.24094834e-01 1.28777929e+02] [ 6.09715580e-01 6.99121848e-01 -3.73464260e-01 4.09949109e+01] [ 4.93305971e-01 3.40915481e-02 8.69187543e-01 3.64014401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:41.01, Z:36.42 [[ 6.19172719e-01 -7.09154742e-01 -3.37230925e-01 1.28800409e+02] [ 6.15451155e-01 7.04971823e-01 -3.52469295e-01 4.10051004e+01] [ 4.87693572e-01 1.06902093e-02 8.72949425e-01 3.64167992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:41.02, Z:36.43 [[ 6.18364042e-01 -7.11531963e-01 -3.33688743e-01 1.28817366e+02] [ 6.15728075e-01 7.02488386e-01 -3.56915963e-01 4.10246012e+01] [ 4.88369582e-01 1.52424695e-02 8.72503764e-01 3.64301483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.84, Y:41.02, Z:36.47 [[ 6.20279708e-01 -6.94058484e-01 -3.65425650e-01 1.28841480e+02] [ 6.11016838e-01 7.19674376e-01 -3.29738102e-01 4.10150882e+01] [ 4.91845004e-01 -1.87513715e-02 8.70480832e-01 3.64672719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:41.08, Z:36.44 [[ 6.16353762e-01 -7.25535880e-01 -3.06113912e-01 1.28840341e+02] [ 6.15910260e-01 6.86379685e-01 -3.86700763e-01 4.10776418e+01] [ 4.90675649e-01 4.98057709e-02 8.69917693e-01 3.64421360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41038572300002 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:128.87, Y:41.06, Z:36.48 [[ 6.17034313e-01 -7.05119003e-01 -3.49393543e-01 1.28870584e+02] [ 6.13170960e-01 7.09088743e-01 -3.48158768e-01 4.10646509e+01] [ 4.93244392e-01 5.87931938e-04 8.69890582e-01 3.64819743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.88, Y:41.11, Z:36.47 [[ 6.16064733e-01 -7.22402868e-01 -3.14003728e-01 1.28877442e+02] [ 6.17973715e-01 6.90449126e-01 -3.76016611e-01 4.11075030e+01] [ 4.88439078e-01 3.76045224e-02 8.71787341e-01 3.64741987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:128.91, Y:41.09, Z:36.52 [[ 6.16512969e-01 -7.01000187e-01 -3.58483608e-01 1.28908290e+02] [ 6.10563755e-01 7.13131370e-01 -3.44464149e-01 4.10939257e+01] [ 4.97115339e-01 -6.51048294e-03 8.67660045e-01 3.65209203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:41.13, Z:36.52 [[ 6.16489978e-01 -7.12854315e-01 -3.34333415e-01 1.28917868e+02] [ 6.08973810e-01 7.00852778e-01 -3.71424666e-01 4.11288827e+01] [ 4.99090179e-01 2.53792902e-02 8.66178322e-01 3.65232351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:128.94, Y:41.14, Z:36.54 [[ 6.16190811e-01 -7.04028124e-01 -3.53062722e-01 1.28939012e+02] [ 6.12921810e-01 7.10165953e-01 -3.46397422e-01 4.11357425e+01] [ 4.94606652e-01 -2.95293415e-03 8.69111926e-01 3.65395807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.95, Y:41.16, Z:36.55 [[ 6.18374780e-01 -7.08381618e-01 -3.40305912e-01 1.28954913e+02] [ 6.09169706e-01 7.05636741e-01 -3.61924106e-01 4.11592747e+01] [ 4.96512739e-01 1.65006869e-02 8.67872587e-01 3.65535894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:128.97, Y:41.18, Z:36.56 [[ 6.17787057e-01 -7.10868818e-01 -3.36161682e-01 1.28971565e+02] [ 6.07824944e-01 7.02919079e-01 -3.69396272e-01 4.11816982e+01] [ 4.98886751e-01 2.38807800e-02 8.66338109e-01 3.65627748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.620385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.99, Y:41.20, Z:36.57 [[ 6.17842869e-01 -7.11942118e-01 -3.33779283e-01 1.28986128e+02] [ 6.14301597e-01 7.02018647e-01 -3.60282344e-01 4.12001570e+01] [ 4.90819455e-01 1.75567307e-02 8.71084395e-01 3.65701069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:129.00, Y:41.22, Z:36.58 [[ 6.16469565e-01 -7.16055213e-01 -3.27460237e-01 1.29002689e+02] [ 6.14922217e-01 6.97583151e-01 -3.67761355e-01 4.12230961e+01] [ 4.91768180e-01 2.53511078e-02 8.70357041e-01 3.65792876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.03, Y:41.21, Z:36.62 [[ 6.19668859e-01 -6.96807235e-01 -3.61206566e-01 1.29030705e+02] [ 6.08181135e-01 7.17203611e-01 -3.40198011e-01 4.12131041e+01] [ 4.96111089e-01 -8.86890625e-03 8.68213758e-01 3.66228267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:41.25, Z:36.62 [[ 6.18223229e-01 -7.12354901e-01 -3.32190509e-01 1.29039523e+02] [ 6.06751350e-01 7.01181172e-01 -3.74429917e-01 4.12538263e+01] [ 4.99652717e-01 2.99242323e-02 8.65708786e-01 3.66221831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.740385723 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:129.06, Y:41.27, Z:36.63 [[ 6.24552170e-01 -7.08596998e-01 -3.28366991e-01 1.29059577e+02] [ 6.08807359e-01 7.05090046e-01 -3.63595417e-01 4.12746153e+01] [ 4.89170918e-01 2.71720665e-02 8.71764585e-01 3.66253890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:129.08, Y:41.27, Z:36.66 [[ 6.21766037e-01 -6.91616164e-01 -3.67524254e-01 1.29081854e+02] [ 6.05886577e-01 7.22107478e-01 -3.33859621e-01 4.12666711e+01] [ 4.96294723e-01 -1.50954390e-02 8.68022855e-01 3.66622252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.800385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.09, Y:41.30, Z:36.66 [[ 6.23168241e-01 -7.03144540e-01 -3.42416559e-01 1.29091591e+02] [ 6.05480738e-01 7.10874276e-01 -3.57841922e-01 4.13008841e+01] [ 4.95029717e-01 1.56690901e-02 8.68734746e-01 3.66641371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:129.10, Y:41.33, Z:36.67 [[ 6.21416698e-01 -7.10376685e-01 -3.30463693e-01 1.29104998e+02] [ 6.04207785e-01 7.03028182e-01 -3.75079094e-01 4.13292787e+01] [ 4.98772733e-01 3.34116760e-02 8.66088575e-01 3.66738360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.13, Y:41.33, Z:36.70 [[ 6.23670298e-01 -6.95129906e-01 -3.57532898e-01 1.29129769e+02] [ 6.05271174e-01 7.18877016e-01 -3.41851782e-01 4.13274076e+01] [ 4.94653580e-01 -3.20155397e-03 8.69084337e-01 3.67010786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:41.36, Z:36.71 [[ 6.25138693e-01 -7.02131235e-01 -3.40900783e-01 1.29140122e+02] [ 6.04840756e-01 7.11845081e-01 -3.56993334e-01 4.13559242e+01] [ 4.93324716e-01 1.69796589e-02 8.69679490e-01 3.67079635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.16, Y:41.38, Z:36.72 [[ 6.25245739e-01 -7.02190308e-01 -3.40582643e-01 1.29156254e+02] [ 6.04989537e-01 7.11784468e-01 -3.56862062e-01 4.13751823e+01] [ 4.93006517e-01 1.70775480e-02 8.69857995e-01 3.67214599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.17, Y:41.39, Z:36.74 [[ 6.25128749e-01 -7.02348712e-01 -3.40470754e-01 1.29173352e+02] [ 6.05111878e-01 7.11626938e-01 -3.56968789e-01 4.13933327e+01] [ 4.93004729e-01 1.71285548e-02 8.69858005e-01 3.67353891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:41.41, Z:36.75 [[ 6.25001294e-01 -7.02212694e-01 -3.40984919e-01 1.29188208e+02] [ 6.04559818e-01 7.11754943e-01 -3.57648330e-01 4.14126705e+01] [ 4.93842899e-01 1.73848887e-02 8.69377339e-01 3.67476033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.21, Y:41.43, Z:36.76 [[ 6.24395151e-01 -7.02573627e-01 -3.41351716e-01 1.29205060e+02] [ 6.04616745e-01 7.11400573e-01 -3.58256635e-01 4.14323592e+01] [ 4.94539470e-01 1.73067420e-02 8.68982848e-01 3.67592871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:41.45, Z:36.77 [[ 6.24104576e-01 -7.02616712e-01 -3.41794140e-01 1.29220713e+02] [ 6.04260506e-01 7.11353541e-01 -3.58950388e-01 4.14499072e+01] [ 4.95341013e-01 1.74898793e-02 8.68522530e-01 3.67733393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:41.47, Z:36.79 [[ 6.23409497e-01 -7.03045333e-01 -3.42181032e-01 1.29236477e+02] [ 6.04391196e-01 7.10933524e-01 -3.59561966e-01 4.14694440e+01] [ 4.96056329e-01 1.73431409e-02 8.68117120e-01 3.67867405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:41.49, Z:36.80 [[ 6.21862773e-01 -7.04419666e-01 -3.42169003e-01 1.29250715e+02] [ 6.05849064e-01 7.09593879e-01 -3.59754692e-01 4.14882078e+01] [ 4.96219311e-01 1.64152801e-02 8.68042012e-01 3.67998272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:41.51, Z:36.81 [[ 6.20927228e-01 -7.05243418e-01 -3.42171155e-01 1.29266869e+02] [ 6.06654841e-01 7.08785861e-01 -3.59989594e-01 4.15061775e+01] [ 4.96406368e-01 1.59475531e-02 8.67943773e-01 3.68140285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:41.52, Z:36.83 [[ 6.18682442e-01 -7.07187158e-01 -3.42225598e-01 1.29282604e+02] [ 6.08711659e-01 7.06876098e-01 -3.60272534e-01 4.15240238e+01] [ 4.96691205e-01 1.45775801e-02 8.67804898e-01 3.68287346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:41.56, Z:36.82 [[ 6.16472238e-01 -7.21281648e-01 -3.15776447e-01 1.29288313e+02] [ 6.18092707e-01 6.91756134e-01 -3.73409769e-01 4.15620377e+01] [ 4.87773908e-01 3.50176367e-02 8.72267379e-01 3.68173944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:41.55, Z:36.86 [[ 6.16119699e-01 -7.03688200e-01 -3.53863582e-01 1.29318375e+02] [ 6.11211562e-01 7.10507460e-01 -3.48711306e-01 4.15530471e+01] [ 4.96806746e-01 -1.43760800e-03 8.67860006e-01 3.68620018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.33, Y:41.60, Z:36.85 [[ 6.14875097e-01 -7.20323577e-01 -3.21033581e-01 1.29326492e+02] [ 6.17914278e-01 6.92989060e-01 -3.71413661e-01 4.15956022e+01] [ 4.90010776e-01 3.00017773e-02 8.71199938e-01 3.68514915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:41.60, Z:36.89 [[ 6.12376803e-01 -7.10311688e-01 -3.47061892e-01 1.29349303e+02] [ 6.14158758e-01 7.03866499e-01 -3.56904711e-01 4.15958789e+01] [ 4.97798826e-01 5.40906546e-03 8.67275660e-01 3.68861837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:41.61, Z:36.90 [[ 6.12975868e-01 -7.08725631e-01 -3.49239982e-01 1.29364412e+02] [ 6.16849806e-01 7.05482602e-01 -3.48985122e-01 4.16105225e+01] [ 4.93717432e-01 -1.50915691e-03 8.69621078e-01 3.69007138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:41.64, Z:36.91 [[ 6.12969124e-01 -7.13850485e-01 -3.38653715e-01 1.29377851e+02] [ 6.17892353e-01 7.00227346e-01 -3.57618098e-01 4.16359481e+01] [ 4.92420444e-01 9.95731142e-03 8.70300499e-01 3.69092526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:129.39, Y:41.66, Z:36.92 [[ 6.12628245e-01 -7.15403492e-01 -3.35982853e-01 1.29393077e+02] [ 6.17838350e-01 6.98580652e-01 -3.60916674e-01 4.16590258e+01] [ 4.92912170e-01 1.35246571e-02 8.69973952e-01 3.69182191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.41, Y:41.67, Z:36.94 [[ 6.13322679e-01 -7.13768560e-01 -3.38185948e-01 1.29408852e+02] [ 6.17320130e-01 7.00293804e-01 -3.58475167e-01 4.16731429e+01] [ 4.92697827e-01 1.10919562e-02 8.70129772e-01 3.69357570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:41.71, Z:36.93 [[ 6.14504868e-01 -7.21367876e-01 -3.19393419e-01 1.29420008e+02] [ 6.17944212e-01 6.91803491e-01 -3.73567773e-01 4.17067201e+01] [ 4.90437273e-01 3.21919008e-02 8.70881716e-01 3.69347652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.44, Y:41.70, Z:36.97 [[ 6.16281778e-01 -7.03436111e-01 -3.54082487e-01 1.29444659e+02] [ 6.13913715e-01 7.10735575e-01 -3.43460175e-01 4.17025668e+01] [ 4.93261310e-01 -5.70784740e-03 8.69862461e-01 3.69711771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.46, Y:41.73, Z:36.97 [[ 6.16903367e-01 -7.11964587e-01 -3.35464847e-01 1.29455491e+02] [ 6.12040672e-01 7.01947702e-01 -3.64246673e-01 4.17349853e+01] [ 4.94809510e-01 1.93868683e-02 8.68785185e-01 3.69740408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.520385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:129.47, Y:41.75, Z:36.99 [[ 6.18360415e-01 -7.07387303e-01 -3.42393927e-01 1.29474034e+02] [ 6.11717466e-01 7.06750904e-01 -3.55394008e-01 4.17503654e+01] [ 4.93388426e-01 1.03132408e-02 8.69747951e-01 3.69915042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:41.78, Z:36.99 [[ 6.18919040e-01 -7.17497792e-01 -3.19587452e-01 1.29482483e+02] [ 6.17024155e-01 6.95905381e-01 -3.67419234e-01 4.17829759e+01] [ 4.86025117e-01 3.02095823e-02 8.73422559e-01 3.69883447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:41.80, Z:37.01 [[ 6.19646584e-01 -7.14130226e-01 -3.25662602e-01 1.29503300e+02] [ 6.16136836e-01 6.99616751e-01 -3.61817359e-01 4.17970533e+01] [ 4.86223724e-01 2.35461659e-02 8.73517068e-01 3.70064047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.53, Y:41.80, Z:37.04 [[ 6.17682086e-01 -7.03829283e-01 -3.50846378e-01 1.29525003e+02] [ 6.12816449e-01 7.10368175e-01 -3.46169115e-01 4.17982586e+01] [ 4.92874061e-01 -1.18197076e-03 8.70099858e-01 3.70369345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:41.82, Z:37.05 [[ 6.17605345e-01 -7.10490072e-01 -3.37294374e-01 1.29537277e+02] [ 6.13517685e-01 7.03556878e-01 -3.58613676e-01 4.18244372e+01] [ 4.92097234e-01 1.45456596e-02 8.70418713e-01 3.70463112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670385723 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:129.55, Y:41.86, Z:37.04 [[ 6.18855234e-01 -7.22169278e-01 -3.09014130e-01 1.29551212e+02] [ 6.18988129e-01 6.90542444e-01 -3.74172193e-01 4.18619590e+01] [ 4.83603035e-01 4.02823419e-02 8.74360016e-01 3.70423513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.58, Y:41.85, Z:37.08 [[ 6.15319048e-01 -7.02134577e-01 -3.58314812e-01 1.29575227e+02] [ 6.18095352e-01 7.11858364e-01 -3.33490338e-01 4.18459781e+01] [ 4.89224494e-01 -1.62697625e-02 8.72006129e-01 3.70847911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:129.58, Y:41.88, Z:37.08 [[ 6.12192926e-01 -7.16600659e-01 -3.34220462e-01 1.29584536e+02] [ 6.22005031e-01 6.97411334e-01 -3.55987602e-01 4.18805731e+01] [ 4.88190088e-01 1.00462829e-02 8.72679500e-01 3.70834180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:41.92, Z:37.08 [[ 6.10836183e-01 -7.30641179e-01 -3.05028893e-01 1.29591457e+02] [ 6.30951333e-01 6.81938406e-01 -3.69946518e-01 4.19167336e+01] [ 4.78309077e-01 3.35183322e-02 8.77551678e-01 3.70757338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:129.62, Y:41.93, Z:37.09 [[ 6.09083801e-01 -7.25929162e-01 -3.19442915e-01 1.29616423e+02] [ 6.31003063e-01 6.87552283e-01 -3.59314615e-01 4.19287069e+01] [ 4.80470663e-01 1.72832530e-02 8.76840482e-01 3.70933120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82038572300002 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:129.64, Y:41.94, Z:37.11 [[ 6.09812297e-01 -7.22207277e-01 -3.26413252e-01 1.29637777e+02] [ 6.30330044e-01 6.91614235e-01 -3.52638322e-01 4.19414149e+01] [ 4.80430013e-01 9.29510585e-03 8.76983810e-01 3.71129145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85038572300002 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:129.66, Y:41.96, Z:37.13 [[ 6.07059254e-01 -7.22349452e-01 -3.31195307e-01 1.29656556e+02] [ 6.30973401e-01 6.91513456e-01 -3.51684101e-01 4.19594977e+01] [ 4.83064829e-01 4.51765851e-03 8.75572933e-01 3.71282573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88038572300002 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:129.67, Y:41.98, Z:37.14 [[ 6.05336920e-01 -7.22063045e-01 -3.34951000e-01 1.29674129e+02] [ 6.31283212e-01 6.91826878e-01 -3.50509738e-01 4.19766404e+01] [ 4.84818234e-01 7.27542547e-04 8.74614630e-01 3.71439047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:41.99, Z:37.16 [[ 6.01047523e-01 -7.23205683e-01 -3.40169685e-01 1.29685021e+02] [ 6.34264937e-01 6.90598522e-01 -3.47536575e-01 4.19911771e+01] [ 4.86261108e-01 -6.87170581e-03 8.73786538e-01 3.71573733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94038572300002 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:129.70, Y:42.02, Z:37.17 [[ 6.04291213e-01 -7.28471070e-01 -3.22741428e-01 1.29704544e+02] [ 6.30645755e-01 6.84864396e-01 -3.65029713e-01 4.20199445e+01] [ 4.86947699e-01 1.70487369e-02 8.73264724e-01 3.71657299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:42.02, Z:37.19 [[ 6.01069935e-01 -7.20539587e-01 -3.45742155e-01 1.29719021e+02] [ 6.32763973e-01 6.93318499e-01 -3.44846653e-01 4.20208053e+01] [ 4.88185096e-01 -1.14962247e-02 8.72664396e-01 3.71866464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.000385723 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:129.74, Y:42.06, Z:37.19 [[ 6.03038906e-01 -7.30123330e-01 -3.21347166e-01 1.29737411e+02] [ 6.31048319e-01 6.83052197e-01 -3.67719616e-01 4.20563960e+01] [ 4.87977558e-01 1.89636461e-02 8.72650150e-01 3.71922282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030385723 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:129.76, Y:42.06, Z:37.21 [[ 6.02811580e-01 -7.22595452e-01 -3.38340083e-01 1.29759302e+02] [ 6.30798892e-01 6.91270506e-01 -3.52473894e-01 4.20640941e+01] [ 4.88580553e-01 -9.49204249e-04 8.72518276e-01 3.72139701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.060385723 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:129.78, Y:42.08, Z:37.23 [[ 6.03203197e-01 -7.22754477e-01 -3.37300858e-01 1.29775088e+02] [ 6.30695774e-01 6.91104862e-01 -3.52982875e-01 4.20821309e+01] [ 4.88230217e-01 1.86172710e-04 8.72714857e-01 3.72263619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090385723 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:129.79, Y:42.10, Z:37.24 [[ 6.03271996e-01 -7.21548513e-01 -3.39750854e-01 1.29791780e+02] [ 6.30082167e-01 6.92361129e-01 -3.51614178e-01 4.20990805e+01] [ 4.88936972e-01 -1.95196706e-03 8.72316931e-01 3.72425056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.120385723 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:129.81, Y:42.12, Z:37.25 [[ 6.04965684e-01 -7.21182465e-01 -3.37509072e-01 1.29807567e+02] [ 6.28535836e-01 6.92742834e-01 -3.53624190e-01 4.21169505e+01] [ 4.88834557e-01 1.79395322e-03 8.72374666e-01 3.72549202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:42.11, Z:37.28 [[ 6.03842006e-01 -7.10321159e-01 -3.61688654e-01 1.29822840e+02] [ 6.25982092e-01 7.03494961e-01 -3.36513389e-01 4.21149305e+01] [ 4.93478726e-01 -2.32097004e-02 8.69448134e-01 3.72843396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:42.17, Z:37.26 [[ 6.04607819e-01 -7.33655378e-01 -3.10159914e-01 1.29825508e+02] [ 6.31002077e-01 6.78796991e-01 -3.75594227e-01 4.21679923e+01] [ 4.86092341e-01 3.13756564e-02 8.73344035e-01 3.72633806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:42.18, Z:37.28 [[ 6.04691332e-01 -7.27291510e-01 -3.24646657e-01 1.29846527e+02] [ 6.30537746e-01 6.86172273e-01 -3.62753033e-01 4.21773934e+01] [ 4.86590735e-01 1.46516437e-02 8.73507176e-01 3.72819395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.240385723 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:129.87, Y:42.20, Z:37.29 [[ 6.08704795e-01 -7.25295740e-01 -3.21596895e-01 1.29867871e+02] [ 6.26953938e-01 6.88125965e-01 -3.65255275e-01 4.21958892e+01] [ 4.86217268e-01 2.07061975e-02 8.73592595e-01 3.72927115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:42.19, Z:37.33 [[ 6.08222282e-01 -7.09793513e-01 -3.55329180e-01 1.29888699e+02] [ 6.24567929e-01 7.04214861e-01 -3.37633428e-01 4.21879036e+01] [ 4.89878106e-01 -1.65710356e-02 8.71633433e-01 3.73284086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.300385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.90, Y:42.22, Z:37.33 [[ 6.09447914e-01 -7.19953023e-01 -3.32025428e-01 1.29900816e+02] [ 6.23342587e-01 6.93906191e-01 -3.60469440e-01 4.22200123e+01] [ 4.89915563e-01 1.27217591e-02 8.71677061e-01 3.73297205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330385723 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:129.91, Y:42.26, Z:37.32 [[ 6.11718651e-01 -7.31496303e-01 -3.01186737e-01 1.29914311e+02] [ 6.26073547e-01 6.80395252e-01 -3.80912346e-01 4.22583525e+01] [ 4.83561998e-01 4.44461378e-02 8.74180951e-01 3.73239790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:42.23, Z:37.37 [[ 6.10187503e-01 -7.06772985e-01 -3.57970892e-01 1.29944318e+02] [ 6.23028131e-01 7.07183434e-01 -3.34256695e-01 4.22347359e+01] [ 4.89394687e-01 -1.90666778e-02 8.71853945e-01 3.73718367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:129.96, Y:42.27, Z:37.37 [[ 6.09865995e-01 -7.20085909e-01 -3.30967902e-01 1.29955215e+02] [ 6.23761553e-01 6.93760846e-01 -3.60024184e-01 4.22707262e+01] [ 4.88860913e-01 1.31214550e-02 8.72263054e-01 3.73681887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:42.28, Z:37.38 [[ 6.10577890e-01 -7.19773992e-01 -3.30333227e-01 1.29973456e+02] [ 6.23686042e-01 6.94077074e-01 -3.59545180e-01 4.22849759e+01] [ 4.88067989e-01 1.35061139e-02 8.72701107e-01 3.73843153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:42.30, Z:37.40 [[ 6.10444301e-01 -7.19850528e-01 -3.30413336e-01 1.29990612e+02] [ 6.23600806e-01 6.93995418e-01 -3.59850517e-01 4.23010805e+01] [ 4.88343926e-01 1.36226745e-02 8.72544918e-01 3.73971435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.01, Y:42.32, Z:37.41 [[ 6.10533504e-01 -7.19845340e-01 -3.30259786e-01 1.30008352e+02] [ 6.23562784e-01 6.93997273e-01 -3.59912822e-01 4.23180601e+01] [ 4.88280959e-01 1.38011247e-02 8.72577351e-01 3.74103059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:42.36, Z:37.40 [[ 6.09176284e-01 -7.33453738e-01 -3.01578960e-01 1.30016908e+02] [ 6.31686741e-01 6.78692378e-01 -3.74631176e-01 4.23559191e+01] [ 4.79453978e-01 3.77129976e-02 8.76756302e-01 3.73970045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:42.34, Z:37.45 [[ 6.09775889e-01 -7.12957663e-01 -3.46214871e-01 1.30050918e+02] [ 6.23151295e-01 7.01192631e-01 -3.46426554e-01 4.23403242e+01] [ 4.89750783e-01 -4.50168544e-03 8.71850851e-01 3.74461927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:42.39, Z:37.42 [[ 6.08868324e-01 -7.33925767e-01 -3.01052043e-01 1.30053613e+02] [ 6.31472703e-01 6.78117929e-01 -3.76029653e-01 4.23894512e+01] [ 4.80126639e-01 3.88463971e-02 8.76338615e-01 3.74241084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:42.37, Z:37.47 [[ 6.09708301e-01 -7.12606724e-01 -3.47055392e-01 1.30086081e+02] [ 6.23336566e-01 7.01540188e-01 -3.45388027e-01 4.23731057e+01] [ 4.89599136e-01 -5.74636908e-03 8.71928704e-01 3.74733981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:42.40, Z:37.48 [[ 6.10651971e-01 -7.19841246e-01 -3.30049619e-01 1.30099750e+02] [ 6.23298552e-01 6.93990400e-01 -3.60383463e-01 4.23998892e+01] [ 4.88470148e-01 1.43494218e-02 8.72462612e-01 3.74785684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:42.42, Z:37.49 [[ 6.10896433e-01 -7.19740730e-01 -3.29816358e-01 1.30116865e+02] [ 6.23211778e-01 6.94089705e-01 -3.60342282e-01 4.24172416e+01] [ 4.88275156e-01 1.45863761e-02 8.72567825e-01 3.74918236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:42.43, Z:37.50 [[ 6.10683041e-01 -7.19747653e-01 -3.30196212e-01 1.30134256e+02] [ 6.22859966e-01 6.94078576e-01 -3.60971457e-01 4.24335347e+01] [ 4.88990476e-01 1.47731457e-02 8.72164015e-01 3.75043519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:42.45, Z:37.52 [[ 6.10087492e-01 -7.19873364e-01 -3.31022042e-01 1.30152109e+02] [ 6.22351796e-01 6.93945442e-01 -3.62102149e-01 4.24512784e+01] [ 4.90378929e-01 1.49018298e-02 8.71381915e-01 3.75177931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:130.17, Y:42.47, Z:37.53 [[ 6.09109425e-01 -7.20513256e-01 -3.31430771e-01 1.30169072e+02] [ 6.22692907e-01 6.93287657e-01 -3.62775094e-01 4.24697202e+01] [ 4.91161127e-01 1.45901387e-02 8.70946540e-01 3.75279566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:42.49, Z:37.54 [[ 6.09097310e-01 -7.20396216e-01 -3.31707339e-01 1.30185701e+02] [ 6.22248484e-01 6.93402876e-01 -3.63317046e-01 4.24859050e+01] [ 4.91739048e-01 1.48910466e-02 8.70615280e-01 3.75439624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:42.50, Z:37.56 [[ 6.08979034e-01 -7.20547499e-01 -3.31595897e-01 1.30202469e+02] [ 6.22365439e-01 6.93244605e-01 -3.63418738e-01 4.25045114e+01] [ 4.91737529e-01 1.49405659e-02 8.70615290e-01 3.75576913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.22, Y:42.52, Z:37.57 [[ 6.08312401e-01 -7.21098954e-01 -3.31620749e-01 1.30220412e+02] [ 6.22897377e-01 6.92678042e-01 -3.63587661e-01 4.25222895e+01] [ 4.91889093e-01 1.46091879e-02 8.70535290e-01 3.75702465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:42.54, Z:37.58 [[ 6.07625043e-01 -7.21829539e-01 -3.31291297e-01 1.30236268e+02] [ 6.23810907e-01 6.91925591e-01 -3.63454164e-01 4.25405463e+01] [ 4.91580878e-01 1.41807272e-02 8.70716456e-01 3.75821681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:42.56, Z:37.60 [[ 6.07481198e-01 -7.22155599e-01 -3.30844201e-01 1.30253164e+02] [ 6.24331740e-01 6.91587278e-01 -3.63203683e-01 4.25592083e+01] [ 4.91097214e-01 1.40828724e-02 8.70990929e-01 3.75955136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:42.58, Z:37.61 [[ 6.06893029e-01 -7.22883366e-01 -3.30333908e-01 1.30270726e+02] [ 6.25360908e-01 6.90835397e-01 -3.62863872e-01 4.25761817e+01] [ 4.90514613e-01 1.36416425e-02 8.71326184e-01 3.76102709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.960385723 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:130.28, Y:42.62, Z:37.60 [[ 6.05587151e-01 -7.36332163e-01 -3.01793221e-01 1.30281407e+02] [ 6.27556586e-01 6.75089748e-01 -3.87848636e-01 4.26161708e+01] [ 4.89322934e-01 4.54838268e-02 8.70915775e-01 3.76045366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990385723 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:130.31, Y:42.59, Z:37.65 [[ 6.06875302e-01 -7.10144849e-01 -3.56926689e-01 1.30312862e+02] [ 6.25553313e-01 7.03800301e-01 -3.36672226e-01 4.25936370e+01] [ 4.90291159e-01 -1.89586140e-02 8.71352483e-01 3.76519734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:42.63, Z:37.65 [[ 6.04822234e-01 -7.24787283e-01 -3.29959785e-01 1.30319165e+02] [ 6.27362663e-01 6.88856586e-01 -3.63170336e-01 4.26291069e+01] [ 4.90516212e-01 1.26490451e-02 8.71340259e-01 3.76501594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:42.65, Z:37.66 [[ 6.04589781e-01 -7.25124268e-01 -3.29645252e-01 1.30335290e+02] [ 6.27815350e-01 6.88503767e-01 -3.63057088e-01 4.26477585e+01] [ 4.90223503e-01 1.25442568e-02 8.71506488e-01 3.76626611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.080385723 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:130.35, Y:42.68, Z:37.67 [[ 5.99934702e-01 -7.37164969e-01 -3.10911822e-01 1.30346440e+02] [ 6.27738119e-01 6.74655275e-01 -3.88310589e-01 4.26822680e+01] [ 4.96007264e-01 3.77897954e-02 8.67495663e-01 3.76667184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:42.67, Z:37.70 [[ 6.02028583e-01 -7.14512871e-01 -3.56416809e-01 1.30376064e+02] [ 6.29695188e-01 6.99313917e-01 -3.38295752e-01 4.26663270e+01] [ 4.90963904e-01 -2.07702368e-02 8.70932284e-01 3.77027619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:42.70, Z:37.70 [[ 6.01325380e-01 -7.28223946e-01 -3.28782104e-01 1.30385919e+02] [ 6.31417232e-01 6.85256415e-01 -3.62954439e-01 4.27002764e+01] [ 4.89612160e-01 1.06550299e-02 8.71875222e-01 3.77022144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:42.72, Z:37.72 [[ 6.00863764e-01 -7.28696171e-01 -3.28579712e-01 1.30402005e+02] [ 6.31950817e-01 6.84757427e-01 -3.62967536e-01 4.27175182e+01] [ 4.89490452e-01 1.04478226e-02 8.71946065e-01 3.77159626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:42.74, Z:37.73 [[ 6.00692047e-01 -7.29020336e-01 -3.28174365e-01 1.30418462e+02] [ 6.32458255e-01 6.84414037e-01 -3.62731280e-01 4.27357623e+01] [ 4.89045621e-01 1.03332086e-02 8.72196999e-01 3.77291817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:42.75, Z:37.74 [[ 6.00582674e-01 -7.29211772e-01 -3.27949146e-01 1.30433848e+02] [ 6.32696172e-01 6.84209965e-01 -3.62701363e-01 4.27539360e+01] [ 4.88872177e-01 1.03399854e-02 8.72294147e-01 3.77413572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:130.45, Y:42.77, Z:37.75 [[ 6.00752608e-01 -7.29331581e-01 -3.27370966e-01 1.30449391e+02] [ 6.33060034e-01 6.84081150e-01 -3.62309222e-01 4.27725237e+01] [ 4.88191865e-01 1.04127352e-02 8.72674211e-01 3.77534103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290385723 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:130.47, Y:42.76, Z:37.77 [[ 6.08168432e-01 -7.11836249e-01 -3.51312273e-01 1.30471394e+02] [ 6.31596035e-01 7.02007931e-01 -3.29046067e-01 4.27641565e+01] [ 4.80850920e-01 -2.17720084e-02 8.76532014e-01 3.77722358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:42.83, Z:37.76 [[ 6.00723126e-01 -7.46766051e-01 -2.85433338e-01 1.30467544e+02] [ 6.34101208e-01 6.62504998e-01 -3.98751534e-01 4.28329456e+01] [ 4.86875121e-01 5.85456437e-02 8.71507329e-01 3.77588223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35038572300002 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:130.50, Y:42.79, Z:37.80 [[ 6.09866482e-01 -7.08847939e-01 -3.54397340e-01 1.30501508e+02] [ 6.31915064e-01 7.04830125e-01 -3.22331891e-01 4.27928630e+01] [ 4.78274217e-01 -2.73696015e-02 8.77783959e-01 3.78000442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:42.87, Z:37.77 [[ 6.07446755e-01 -7.47470183e-01 -2.68880578e-01 1.30491657e+02] [ 6.35594214e-01 6.60380029e-01 -3.99897753e-01 4.28725283e+01] [ 4.76475011e-01 7.20176530e-02 8.76233429e-01 3.77650951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:42.85, Z:37.81 [[ 6.09079311e-01 -7.19304178e-01 -3.34101619e-01 1.30526716e+02] [ 6.34806931e-01 6.94669076e-01 -3.38312038e-01 4.28452605e+01] [ 4.75439326e-01 -6.03116058e-03 8.79727840e-01 3.78070396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:42.89, Z:37.80 [[ 6.06427985e-01 -7.37904264e-01 -2.96213430e-01 1.30532892e+02] [ 6.35711533e-01 6.73706787e-01 -3.76815620e-01 4.28913999e+01] [ 4.77614852e-01 4.02052433e-02 8.77648900e-01 3.78029961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:42.89, Z:37.83 [[ 6.06020178e-01 -7.28650511e-01 -3.19073623e-01 1.30558033e+02] [ 6.35775243e-01 6.84762019e-01 -3.56217375e-01 4.28940509e+01] [ 4.78047470e-01 1.30158069e-02 8.78237556e-01 3.78287073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:42.89, Z:37.86 [[ 6.04849648e-01 -7.20489653e-01 -3.39192517e-01 1.30581165e+02] [ 6.32601437e-01 6.93440069e-01 -3.44900410e-01 4.28941111e+01] [ 4.83706859e-01 -5.96078195e-03 8.75209771e-01 3.78638381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:42.92, Z:37.87 [[ 6.03413542e-01 -7.27482081e-01 -3.26591363e-01 1.30594722e+02] [ 6.35169038e-01 6.86094851e-01 -3.54731093e-01 4.29184697e+01] [ 4.82133167e-01 6.60882363e-03 8.76073018e-01 3.78716052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:42.94, Z:37.89 [[ 6.01383303e-01 -7.29490260e-01 -3.25855924e-01 1.30612040e+02] [ 6.37785012e-01 6.83971842e-01 -3.54136694e-01 4.29358194e+01] [ 4.81215546e-01 5.14587041e-03 8.76587200e-01 3.78859281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:42.95, Z:37.90 [[ 5.97209237e-01 -7.33427626e-01 -3.24692232e-01 1.30629062e+02] [ 6.42840847e-01 6.79764158e-01 -3.53095361e-01 4.29514756e+01] [ 4.79684035e-01 2.14638148e-03 8.77438670e-01 3.78998055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:42.97, Z:37.91 [[ 5.94813794e-01 -7.35464928e-01 -3.24480955e-01 1.30645577e+02] [ 6.45164615e-01 6.77562454e-01 -3.53088856e-01 4.29686740e+01] [ 4.79540582e-01 6.78491769e-04 8.77519441e-01 3.79134984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.66, Y:42.99, Z:37.92 [[ 5.89214613e-01 -7.42912229e-01 -3.17659504e-01 1.30660823e+02] [ 6.47775096e-01 6.69333487e-01 -3.63840775e-01 4.29922944e+01] [ 4.82921904e-01 8.60838584e-03 8.75621111e-01 3.79212071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:43.01, Z:37.93 [[ 5.85753001e-01 -7.42886377e-01 -3.24057482e-01 1.30678028e+02] [ 6.54779420e-01 6.69385013e-01 -3.50980932e-01 4.30070243e+01] [ 4.77658175e-01 -6.59803545e-03 8.78520992e-01 3.79322450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.69, Y:43.03, Z:37.94 [[ 5.80579657e-01 -7.48944765e-01 -3.19388480e-01 1.30693135e+02] [ 6.59350737e-01 6.62618183e-01 -3.55237595e-01 4.30280291e+01] [ 4.77685951e-01 -4.34530887e-03 8.78519920e-01 3.79439034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:43.04, Z:37.97 [[ 5.80837207e-01 -7.45468569e-01 -3.26962920e-01 1.30714956e+02] [ 6.56623220e-01 6.66471464e-01 -3.53074689e-01 4.30396348e+01] [ 4.81117539e-01 -9.61252918e-03 8.76603396e-01 3.79687827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:43.07, Z:37.97 [[ 5.74188841e-01 -7.54663792e-01 -3.17473994e-01 1.30723731e+02] [ 6.65367269e-01 6.56077137e-01 -3.56158936e-01 4.30672454e+01] [ 4.77067682e-01 -6.73431743e-03 8.78840757e-01 3.79705546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.74, Y:43.08, Z:37.99 [[ 5.71979129e-01 -7.54727662e-01 -3.21288083e-01 1.30739726e+02] [ 6.66534610e-01 6.55936764e-01 -3.54229553e-01 4.30835590e+01] [ 4.78091508e-01 -1.15377153e-02 8.78234246e-01 3.79861675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:43.11, Z:38.00 [[ 5.70247887e-01 -7.57724784e-01 -3.17286147e-01 1.30757130e+02] [ 6.64742434e-01 6.52564782e-01 -3.63698641e-01 4.31057297e+01] [ 4.82633239e-01 -3.51518405e-03 8.75815506e-01 3.80019023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:43.12, Z:38.02 [[ 5.66143938e-01 -7.54786450e-01 -3.31328322e-01 1.30771152e+02] [ 6.67397810e-01 6.55628542e-01 -3.53173298e-01 4.31173216e+01] [ 4.83798724e-01 -2.11808748e-02 8.74922948e-01 3.80187460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:43.13, Z:38.04 [[ 5.68207453e-01 -7.51240884e-01 -3.35823503e-01 1.30786237e+02] [ 6.67731808e-01 6.59434044e-01 -3.45370779e-01 4.31305067e+01] [ 4.80910099e-01 -2.79977842e-02 8.76322772e-01 3.80356482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:43.16, Z:38.04 [[ 5.68695993e-01 -7.57425742e-01 -3.20766447e-01 1.30795071e+02] [ 6.66386216e-01 6.52860077e-01 -3.60143208e-01 4.31619617e+01] [ 4.82197344e-01 -8.94233945e-03 8.76016984e-01 3.80411536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:43.21, Z:38.03 [[ 5.69384284e-01 -7.69258296e-01 -2.89902072e-01 1.30802326e+02] [ 6.64285255e-01 6.38283475e-01 -3.88997822e-01 4.32083933e+01] [ 4.84279504e-01 2.89115738e-02 8.74435523e-01 3.80336158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:43.20, Z:38.07 [[ 5.72950374e-01 -7.51175805e-01 -3.27815160e-01 1.30829032e+02] [ 6.63121483e-01 6.59931585e-01 -3.53214103e-01 4.32031546e+01] [ 4.81661466e-01 -1.50071229e-02 8.76228862e-01 3.80659970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:43.22, Z:38.08 [[ 5.79280856e-01 -7.46895655e-01 -3.26466797e-01 1.30839728e+02] [ 6.58108561e-01 6.64863527e-01 -3.53340646e-01 4.32209149e+01] [ 4.80964460e-01 -1.01671221e-02 8.76681138e-01 3.80789031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:43.25, Z:38.09 [[ 5.81568865e-01 -7.49198827e-01 -3.16983868e-01 1.30856339e+02] [ 6.52932688e-01 6.62310961e-01 -3.67454890e-01 4.32468097e+01] [ 4.85238662e-01 6.73119402e-03 8.74355838e-01 3.80948650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:43.26, Z:38.10 [[ 5.85507584e-01 -7.42230902e-01 -3.25997175e-01 1.30866949e+02] [ 6.50694306e-01 6.70137307e-01 -3.57089498e-01 4.32613161e+01] [ 4.83505729e-01 -3.04589584e-03 8.75335897e-01 3.81040219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.88, Y:43.29, Z:38.12 [[ 5.86298548e-01 -7.44535711e-01 -3.19250039e-01 1.30881243e+02] [ 6.46433705e-01 6.67503340e-01 -3.69543984e-01 4.32871036e+01] [ 4.88239161e-01 1.02891154e-02 8.72649217e-01 3.81170258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:43.30, Z:38.13 [[ 5.90593018e-01 -7.41115996e-01 -3.19291352e-01 1.30897915e+02] [ 6.48164736e-01 6.71356070e-01 -3.59393243e-01 4.33043208e+01] [ 4.80710268e-01 5.30174514e-03 8.76863461e-01 3.81272673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:43.33, Z:38.14 [[ 5.91930918e-01 -7.42803677e-01 -3.12826606e-01 1.30911443e+02] [ 6.45719008e-01 6.69329206e-01 -3.67485207e-01 4.33287315e+01] [ 4.82353347e-01 1.55277707e-02 8.75839105e-01 3.81375055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:43.33, Z:38.16 [[ 5.95233761e-01 -7.31801525e-01 -3.31908568e-01 1.30932241e+02] [ 6.43283314e-01 6.81493005e-01 -3.48932461e-01 4.33333223e+01] [ 4.81542674e-01 -5.81486266e-03 8.76403355e-01 3.81637575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:43.36, Z:38.18 [[ 5.96228277e-01 -7.34016003e-01 -3.25165111e-01 1.30946397e+02] [ 6.41238664e-01 6.79117385e-01 -3.57228992e-01 4.33559825e+01] [ 4.83037077e-01 4.48158508e-03 8.75588430e-01 3.81765180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.96, Y:43.37, Z:38.19 [[ 5.95930313e-01 -7.33601000e-01 -3.26644508e-01 1.30961612e+02] [ 6.40561741e-01 6.79569482e-01 -3.57583522e-01 4.33720711e+01] [ 4.84301269e-01 3.85888581e-03 8.74892788e-01 3.81914006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:43.39, Z:38.21 [[ 5.98266610e-01 -7.34237998e-01 -3.20891922e-01 1.30981035e+02] [ 6.36323937e-01 6.78722894e-01 -3.66642988e-01 4.33933273e+01] [ 4.86999908e-01 1.51590462e-02 8.73270458e-01 3.82057143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:43.42, Z:38.20 [[ 5.96765001e-01 -7.40263591e-01 -3.09647137e-01 1.30991272e+02] [ 6.42198095e-01 6.71981166e-01 -3.68812852e-01 4.34203204e+01] [ 4.81095770e-01 2.12398001e-02 8.76410709e-01 3.82047772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:43.42, Z:38.23 [[ 5.95938658e-01 -7.30816783e-01 -3.32812177e-01 1.31013471e+02] [ 6.40594202e-01 6.82564387e-01 -3.51773969e-01 4.34222805e+01] [ 4.84248060e-01 -3.56184407e-03 8.74923499e-01 3.82317485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:43.45, Z:38.24 [[ 5.95745914e-01 -7.36561119e-01 -3.20256967e-01 1.31026654e+02] [ 6.40813265e-01 6.76277827e-01 -3.63327207e-01 4.34482059e+01] [ 4.84195379e-01 1.12257861e-02 8.74887888e-01 3.82389185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.04, Y:43.47, Z:38.25 [[ 5.94533048e-01 -7.38058540e-01 -3.19061194e-01 1.31043956e+02] [ 6.42072623e-01 6.74636246e-01 -3.64154750e-01 4.34671646e+01] [ 4.84017770e-01 1.16415758e-02 8.74980727e-01 3.82492922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:43.48, Z:38.27 [[ 5.94670087e-01 -7.37860470e-01 -3.19263863e-01 1.31061349e+02] [ 6.42499287e-01 6.74868126e-01 -3.62970631e-01 4.34832719e+01] [ 4.83282685e-01 1.07209726e-02 8.75398713e-01 3.82652900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:43.50, Z:38.28 [[ 5.93318795e-01 -7.37808075e-01 -3.21888260e-01 1.31079776e+02] [ 6.43482096e-01 6.74973465e-01 -3.61028550e-01 4.34983517e+01] [ 4.83635814e-01 7.07569222e-03 8.75240729e-01 3.82801683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:43.52, Z:38.29 [[ 5.91477563e-01 -7.43412414e-01 -3.12237532e-01 1.31094662e+02] [ 6.43895220e-01 6.68563033e-01 -3.72051631e-01 4.35237569e+01] [ 4.85338273e-01 1.90119380e-02 8.74119733e-01 3.82873790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:43.53, Z:38.31 [[ 5.90758631e-01 -7.35535283e-01 -3.31650550e-01 1.31117850e+02] [ 6.44378670e-01 6.77473575e-01 -3.54690972e-01 4.35275220e+01] [ 4.85572208e-01 -4.17178759e-03 8.74186609e-01 3.83105443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:43.55, Z:38.32 [[ 5.89649859e-01 -7.40895316e-01 -3.21538761e-01 1.31131788e+02] [ 6.45109836e-01 6.71579062e-01 -3.64437734e-01 4.35519415e+01] [ 4.85948910e-01 7.46284064e-03 8.73955355e-01 3.83181092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:43.58, Z:38.32 [[ 5.88127948e-01 -7.46244607e-01 -3.11808441e-01 1.31146592e+02] [ 6.48344855e-01 6.65495037e-01 -3.69817934e-01 4.35757027e+01] [ 4.83481609e-01 1.53408643e-02 8.75220082e-01 3.83232929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:43.59, Z:38.34 [[ 5.88097973e-01 -7.42209989e-01 -3.21348885e-01 1.31167767e+02] [ 6.47263999e-01 6.70143708e-01 -3.63258483e-01 4.35862529e+01] [ 4.84964009e-01 5.63401265e-03 8.74515962e-01 3.83441652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:43.60, Z:38.36 [[ 5.87743326e-01 -7.43335842e-01 -3.19389432e-01 1.31185027e+02] [ 6.48072939e-01 6.68881415e-01 -3.64141619e-01 4.36043180e+01] [ 4.84313172e-01 7.03415871e-03 8.74866431e-01 3.83573850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:43.62, Z:38.37 [[ 5.87937100e-01 -7.44121075e-01 -3.17196773e-01 1.31202421e+02] [ 6.48418445e-01 6.67983850e-01 -3.65172695e-01 4.36238139e+01] [ 4.83615020e-01 9.02233690e-03 8.75234317e-01 3.83703041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:43.64, Z:38.39 [[ 5.87683939e-01 -7.41549654e-01 -3.23622771e-01 1.31220907e+02] [ 6.48248297e-01 6.70895470e-01 -3.60101949e-01 4.36372406e+01] [ 4.84150527e-01 1.83822145e-03 8.74982793e-01 3.83878399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:43.66, Z:38.40 [[ 5.87481879e-01 -7.42420775e-01 -3.21988252e-01 1.31236878e+02] [ 6.47849847e-01 6.69919177e-01 -3.62627733e-01 4.36564623e+01] [ 4.84928467e-01 4.43718206e-03 8.74542562e-01 3.84000110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:43.68, Z:38.41 [[ 5.87363177e-01 -7.42783217e-01 -3.21368311e-01 1.31253566e+02] [ 6.47730953e-01 6.69510206e-01 -3.63594138e-01 4.36753425e+01] [ 4.85230987e-01 5.40160563e-03 8.74369322e-01 3.84136598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:43.69, Z:38.43 [[ 5.87052975e-01 -7.43320253e-01 -3.20692698e-01 1.31270086e+02] [ 6.47429012e-01 6.68901213e-01 -3.65249013e-01 4.36939069e+01] [ 4.86008723e-01 6.79476235e-03 8.73927544e-01 3.84260079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:43.71, Z:38.44 [[ 5.86678645e-01 -7.43194695e-01 -3.21667240e-01 1.31287792e+02] [ 6.46784561e-01 6.69041134e-01 -3.66133436e-01 4.37112577e+01] [ 4.87317042e-01 6.75326383e-03 8.73199000e-01 3.84395879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:43.71, Z:38.48 [[ 5.87652596e-01 -7.30024178e-01 -3.48897015e-01 1.31314272e+02] [ 6.37832585e-01 6.83283992e-01 -3.55376673e-01 4.37083981e+01] [ 4.97829309e-01 -1.36998601e-02 8.67166820e-01 3.84781930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.32, Y:43.75, Z:38.47 [[ 5.87475850e-01 -7.44347004e-01 -3.17521124e-01 1.31320972e+02] [ 6.43592717e-01 6.67612586e-01 -3.74275099e-01 4.37483574e+01] [ 4.90571647e-01 1.55232994e-02 8.71262582e-01 3.84663336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:43.75, Z:38.50 [[ 5.88641760e-01 -7.31202295e-01 -3.44737702e-01 1.31346499e+02] [ 6.36864755e-01 6.82113432e-01 -3.59339045e-01 4.37464435e+01] [ 4.97899751e-01 -8.02932400e-03 8.67197421e-01 3.85036289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:43.79, Z:38.49 [[ 5.89680779e-01 -7.43588854e-01 -3.15201832e-01 1.31353291e+02] [ 6.42185155e-01 6.68369594e-01 -3.75340262e-01 4.37857956e+01] [ 4.89770156e-01 1.89130012e-02 8.71646427e-01 3.84923029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:43.80, Z:38.51 [[ 5.92087988e-01 -7.39807830e-01 -3.19556239e-01 1.31372313e+02] [ 6.40432416e-01 6.72655371e-01 -3.70649528e-01 4.38011050e+01] [ 4.89160644e-01 1.48029593e-02 8.72068081e-01 3.85065378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:43.81, Z:38.53 [[ 5.92817294e-01 -7.32405796e-01 -3.34887153e-01 1.31393168e+02] [ 6.38331184e-01 6.80867799e-01 -3.59099345e-01 4.38082759e+01] [ 4.91020321e-01 -8.88610580e-04 8.71147665e-01 3.85288757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:43.82, Z:38.56 [[ 5.94235587e-01 -7.27855351e-01 -3.42214341e-01 1.31414556e+02] [ 6.29995305e-01 6.85729935e-01 -3.64527601e-01 4.38212327e+01] [ 4.99989983e-01 1.02184477e-03 8.66030584e-01 3.85568342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:43.84, Z:38.57 [[ 5.95342576e-01 -7.29159994e-01 -3.37480251e-01 1.31430271e+02] [ 6.28867483e-01 6.84301855e-01 -3.69129598e-01 4.38418037e+01] [ 5.00092898e-01 7.52821023e-03 8.65939039e-01 3.85680754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:131.45, Y:43.86, Z:38.58 [[ 5.95821368e-01 -7.28780627e-01 -3.37454732e-01 1.31447988e+02] [ 6.28314795e-01 6.84700188e-01 -3.69332061e-01 4.38603650e+01] [ 5.00217369e-01 8.02813368e-03 8.65862652e-01 3.85796017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:43.88, Z:38.60 [[ 5.96813934e-01 -7.28118594e-01 -3.37129711e-01 1.31465437e+02] [ 6.27629982e-01 6.85395257e-01 -3.69207187e-01 4.38751093e+01] [ 4.99893723e-01 8.75527976e-03 8.66042500e-01 3.85963538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:43.89, Z:38.61 [[ 5.96433849e-01 -7.28421518e-01 -3.37147972e-01 1.31482154e+02] [ 6.27831464e-01 6.85074182e-01 -3.69460443e-01 4.38919147e+01] [ 5.00094308e-01 8.68660929e-03 8.65927379e-01 3.86102427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:43.91, Z:38.62 [[ 5.95928592e-01 -7.29117704e-01 -3.36536011e-01 1.31500489e+02] [ 6.28925119e-01 6.84338962e-01 -3.68962572e-01 4.39084310e+01] [ 4.99321847e-01 8.21939522e-03 8.66377593e-01 3.86236277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:43.93, Z:38.64 [[ 5.95703287e-01 -7.29429306e-01 -3.36259545e-01 1.31517867e+02] [ 6.29327001e-01 6.84007858e-01 -3.68891280e-01 4.39253453e+01] [ 4.99084281e-01 8.13253717e-03 8.66515287e-01 3.86377505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:43.94, Z:38.65 [[ 5.94877883e-01 -7.30191907e-01 -3.36065593e-01 1.31536317e+02] [ 6.30193859e-01 6.83199055e-01 -3.68910221e-01 4.39416090e+01] [ 4.98974954e-01 7.67005852e-03 8.66582463e-01 3.86512073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:43.96, Z:38.67 [[ 5.93653985e-01 -7.31264010e-01 -3.35898637e-01 1.31554607e+02] [ 6.31396529e-01 6.82059109e-01 -3.68963135e-01 4.39581996e+01] [ 4.98912187e-01 6.95120227e-03 8.66624665e-01 3.86654092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:43.98, Z:38.68 [[ 5.92944629e-01 -7.31952102e-01 -3.35652778e-01 1.31571844e+02] [ 6.32208981e-01 6.81324588e-01 -3.68929004e-01 4.39750809e+01] [ 4.98726851e-01 6.55177026e-03 8.66734448e-01 3.86787708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:43.99, Z:38.69 [[ 5.91925036e-01 -7.32876458e-01 -3.35435313e-01 1.31589345e+02] [ 6.33267561e-01 6.80335602e-01 -3.68938565e-01 4.39925305e+01] [ 4.98594974e-01 5.96367095e-03 8.66814563e-01 3.86927505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:44.01, Z:38.71 [[ 5.90339190e-01 -7.34312638e-01 -3.35088930e-01 1.31606724e+02] [ 6.35006212e-01 6.78793537e-01 -3.68790517e-01 4.40085660e+01] [ 4.98263737e-01 4.92794355e-03 8.67011513e-01 3.87057406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:44.03, Z:38.72 [[ 5.88957270e-01 -7.35280283e-01 -3.35398628e-01 1.31624904e+02] [ 6.35780171e-01 6.77749475e-01 -3.69376804e-01 4.40250602e+01] [ 4.98911725e-01 4.30735715e-03 8.66642105e-01 3.87188950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:44.04, Z:38.73 [[ 5.88165955e-01 -7.35826317e-01 -3.35589692e-01 1.31642155e+02] [ 6.36155845e-01 6.77158353e-01 -3.69813882e-01 4.40425385e+01] [ 4.99366150e-01 4.02459048e-03 8.66381701e-01 3.87320691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:44.06, Z:38.75 [[ 5.87142106e-01 -7.36443822e-01 -3.36027743e-01 1.31658521e+02] [ 6.36459694e-01 6.76488709e-01 -3.70515971e-01 4.40592251e+01] [ 5.00183172e-01 3.67741359e-03 8.65911815e-01 3.87453787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:44.08, Z:38.76 [[ 5.86697592e-01 -7.36634004e-01 -3.36387098e-01 1.31675657e+02] [ 6.36304739e-01 6.76281414e-01 -3.71159976e-01 4.40767048e+01] [ 5.00901402e-01 3.71395967e-03 8.65496385e-01 3.87590538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:131.69, Y:44.10, Z:38.77 [[ 5.87068664e-01 -7.36390344e-01 -3.36273171e-01 1.31691889e+02] [ 6.35965463e-01 6.76544505e-01 -3.71261986e-01 4.40952221e+01] [ 5.00897508e-01 4.09815506e-03 8.65496905e-01 3.87726965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:44.11, Z:38.79 [[ 5.87579953e-01 -7.35894104e-01 -3.36466442e-01 1.31706847e+02] [ 6.35136946e-01 6.77080312e-01 -3.71703257e-01 4.41142759e+01] [ 5.01349039e-01 4.70311390e-03 8.65232351e-01 3.87858671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.72, Y:44.13, Z:38.80 [[ 5.87765095e-01 -7.35756564e-01 -3.36443860e-01 1.31722347e+02] [ 6.34861552e-01 6.77227659e-01 -3.71905241e-01 4.41329159e+01] [ 5.01480810e-01 4.99764806e-03 8.65154333e-01 3.87994413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:44.15, Z:38.81 [[ 5.88222066e-01 -7.35647101e-01 -3.35884124e-01 1.31737161e+02] [ 6.34965551e-01 6.77344591e-01 -3.71514542e-01 4.41523045e+01] [ 5.00812890e-01 5.25820308e-03 8.65539601e-01 3.88131913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:44.17, Z:38.83 [[ 5.88497104e-01 -7.35656425e-01 -3.35381547e-01 1.31753073e+02] [ 6.35161601e-01 6.77333118e-01 -3.71200201e-01 4.41706514e+01] [ 5.00240841e-01 5.42876322e-03 8.65869291e-01 3.88272285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:44.16, Z:38.88 [[ 5.85729081e-01 -7.16074248e-01 -3.79682915e-01 1.31776985e+02] [ 6.32261355e-01 6.96780371e-01 -3.38736910e-01 4.41605183e+01] [ 5.07116380e-01 -4.16507749e-02 8.60870600e-01 3.88751885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:44.23, Z:38.84 [[ 5.89019315e-01 -7.52195810e-01 -2.95394162e-01 1.31773644e+02] [ 6.36665933e-01 6.57063970e-01 -4.03637745e-01 4.42330706e+01] [ 4.97707481e-01 4.96830282e-02 8.65920816e-01 3.88362376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:44.18, Z:38.92 [[ 5.82908130e-01 -7.05095935e-01 -4.03804203e-01 1.31813105e+02] [ 6.32318571e-01 7.05739910e-01 -3.19537798e-01 4.41837242e+01] [ 5.10285545e-01 -6.90717164e-02 8.57226785e-01 3.89234325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:44.29, Z:38.85 [[ 5.87663036e-01 -7.62146137e-01 -2.71634722e-01 1.31799197e+02] [ 6.40000651e-01 6.43262486e-01 -4.20252948e-01 4.42868215e+01] [ 4.95026587e-01 7.31207240e-02 8.65795610e-01 3.88526486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:44.27, Z:38.90 [[ 5.85808734e-01 -7.39571236e-01 -3.31455147e-01 1.31832092e+02] [ 6.41626308e-01 6.73072469e-01 -3.67816711e-01 4.42669644e+01] [ 4.95119993e-01 2.79989923e-03 8.68820092e-01 3.88955570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:44.29, Z:38.91 [[ 5.85258190e-01 -7.40031405e-01 -3.31400620e-01 1.31848222e+02] [ 6.42047672e-01 6.72567277e-01 -3.68005496e-01 4.42850281e+01] [ 4.95224837e-01 2.60323415e-03 8.68760948e-01 3.89093262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:44.30, Z:38.92 [[ 5.84507741e-01 -7.40764246e-01 -3.31087649e-01 1.31863848e+02] [ 6.42954993e-01 6.71761608e-01 -3.67892945e-01 4.43046829e+01] [ 4.94933912e-01 2.16181690e-03 8.68927931e-01 3.89217758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:44.26, Z:39.00 [[ 5.78849960e-01 -7.00090694e-01 -4.18097769e-01 1.31890861e+02] [ 6.35636683e-01 7.08563666e-01 -3.06436843e-01 4.42644912e+01] [ 5.10782470e-01 -8.83773251e-02 8.55155376e-01 3.90019012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:44.40, Z:38.91 [[ 5.84958470e-01 -7.72023609e-01 -2.48602364e-01 1.31870878e+02] [ 6.42780408e-01 6.28202566e-01 -4.38400369e-01 4.43961153e+01] [ 4.94628078e-01 9.66492797e-02 8.63714062e-01 3.89063552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:44.36, Z:38.96 [[ 5.83514734e-01 -7.41654649e-01 -3.30845791e-01 1.31912106e+02] [ 6.43752381e-01 6.70779169e-01 -3.68290888e-01 4.43633324e+01] [ 4.95069114e-01 1.92039372e-03 8.68851474e-01 3.89593225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:44.38, Z:38.97 [[ 5.83270005e-01 -7.41795217e-01 -3.30962171e-01 1.31928373e+02] [ 6.43706689e-01 6.70623536e-01 -3.68654000e-01 4.43816628e+01] [ 4.95416795e-01 1.98225726e-03 8.68653135e-01 3.89724493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:44.40, Z:38.98 [[ 5.82638259e-01 -7.42135789e-01 -3.31311228e-01 1.31943406e+02] [ 6.43742158e-01 6.70246934e-01 -3.69276429e-01 4.44002530e+01] [ 4.96113589e-01 1.87557086e-03 8.68255601e-01 3.89848431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:44.38, Z:39.04 [[ 5.78792396e-01 -7.17012981e-01 -3.88447869e-01 1.31966484e+02] [ 6.38361089e-01 6.94789487e-01 -3.31304527e-01 4.43806834e+01] [ 5.07439142e-01 -5.62134641e-02 8.59852059e-01 3.90408946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:44.43, Z:39.03 [[ 5.81881410e-01 -7.39907262e-01 -3.37566689e-01 1.31971928e+02] [ 6.38004764e-01 6.72703558e-01 -3.74726358e-01 4.44311195e+01] [ 5.04345066e-01 2.67714586e-03 8.63498053e-01 3.90271313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:44.45, Z:39.05 [[ 5.82958847e-01 -7.37172589e-01 -3.41665856e-01 1.31989677e+02] [ 6.37221460e-01 6.75702492e-01 -3.70641272e-01 4.44470531e+01] [ 5.04091056e-01 -1.64820678e-03 8.63648939e-01 3.90454021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:44.51, Z:39.01 [[ 5.88773497e-01 -7.60495279e-01 -2.73847949e-01 1.31992046e+02] [ 6.43452972e-01 6.46025226e-01 -4.10633267e-01 4.45091299e+01] [ 4.89197344e-01 6.55617076e-02 8.69705479e-01 3.90135852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:44.49, Z:39.05 [[ 5.89093652e-01 -7.39420748e-01 -3.25922732e-01 1.32023811e+02] [ 6.43544060e-01 6.73226624e-01 -3.64166110e-01 4.44943024e+01] [ 4.88691838e-01 4.78230567e-03 8.72443360e-01 3.90533172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:44.48, Z:39.11 [[ 5.87197778e-01 -7.16504069e-01 -3.76590876e-01 1.32045240e+02] [ 6.37081418e-01 6.96094816e-01 -3.31027602e-01 4.44791208e+01] [ 4.99325580e-01 -4.55403768e-02 8.65216758e-01 3.91051128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:44.56, Z:39.06 [[ 5.93461309e-01 -7.55173582e-01 -2.78417916e-01 1.32041351e+02] [ 6.40744164e-01 6.52624870e-01 -4.04385578e-01 4.45622156e+01] [ 4.87083762e-01 6.15925395e-02 8.71180675e-01 3.90565849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:44.55, Z:39.09 [[ 5.93811904e-01 -7.35827171e-01 -3.25493160e-01 1.32070531e+02] [ 6.39437787e-01 6.77120678e-01 -3.64179768e-01 4.45523379e+01] [ 4.88371517e-01 8.12165524e-03 8.72598017e-01 3.90918579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:44.54, Z:39.14 [[ 5.90943640e-01 -7.12456488e-01 -3.78406352e-01 1.32092550e+02] [ 6.32181697e-01 7.00373787e-01 -3.31395323e-01 4.45378138e+01] [ 5.01130638e-01 -4.33856110e-02 8.64283387e-01 3.91416431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.09, Y:44.62, Z:39.09 [[ 5.98276138e-01 -7.51765188e-01 -2.77335112e-01 1.32088120e+02] [ 6.35568324e-01 6.55988256e-01 -4.07102337e-01 4.46222681e+01] [ 4.87973941e-01 6.72942018e-02 8.70260262e-01 3.90925444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:44.61, Z:39.13 [[ 5.98056084e-01 -7.32134747e-01 -3.26048512e-01 1.32118536e+02] [ 6.34602659e-01 6.81061889e-01 -3.65286420e-01 4.46106735e+01] [ 4.89498097e-01 1.15505129e-02 8.71927864e-01 3.91294407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:44.63, Z:39.14 [[ 5.99603863e-01 -7.30992258e-01 -3.25769128e-01 1.32133312e+02] [ 6.33352517e-01 6.82268468e-01 -3.65204500e-01 4.46296464e+01] [ 4.89223666e-01 1.26513317e-02 8.72066596e-01 3.91421991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:44.65, Z:39.16 [[ 6.00078013e-01 -7.30630824e-01 -3.25706889e-01 1.32149288e+02] [ 6.32844878e-01 6.82646402e-01 -3.65378230e-01 4.46490653e+01] [ 4.89299233e-01 1.31335056e-02 8.72017071e-01 3.91555802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:44.67, Z:39.17 [[ 6.00332782e-01 -7.30523456e-01 -3.25478157e-01 1.32165080e+02] [ 6.32790908e-01 6.82757682e-01 -3.65263759e-01 4.46679501e+01] [ 4.89056455e-01 1.33201898e-02 8.72150420e-01 3.91685131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:44.69, Z:39.18 [[ 6.00421289e-01 -7.30801153e-01 -3.24690545e-01 1.32180929e+02] [ 6.33488963e-01 6.82462211e-01 -3.64605355e-01 4.46877045e+01] [ 4.88043041e-01 1.32289409e-02 8.72719305e-01 3.91814780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47038572300002 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:132.19, Y:44.72, Z:39.19 [[ 5.98200213e-01 -7.38687592e-01 -3.10639899e-01 1.32190421e+02] [ 6.31413679e-01 6.73184953e-01 -3.84888016e-01 4.47152816e+01] [ 4.93430107e-01 3.40978113e-02 8.69116833e-01 3.91864795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:44.72, Z:39.21 [[ 5.96636352e-01 -7.29864768e-01 -3.33650241e-01 1.32213760e+02] [ 6.32658598e-01 6.83564539e-01 -3.63981620e-01 4.47200750e+01] [ 4.93728834e-01 6.07797184e-03 8.69594674e-01 3.92121798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:132.20, Y:44.79, Z:39.17 [[ 5.94130987e-01 -7.61243874e-01 -2.59838670e-01 1.32201813e+02] [ 6.49427899e-01 6.44572137e-01 -4.03447845e-01 4.47887210e+01] [ 4.74606967e-01 7.09543847e-02 8.77333290e-01 3.91722595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:44.72, Z:39.28 [[ 5.95528728e-01 -7.06446756e-01 -3.82463743e-01 1.32261973e+02] [ 6.30672037e-01 7.06041475e-01 -3.22115224e-01 4.47217290e+01] [ 4.97592520e-01 -4.93803178e-02 8.66004196e-01 3.92764079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:44.77, Z:39.26 [[ 5.95720308e-01 -7.31872220e-01 -3.30878176e-01 1.32264767e+02] [ 6.32721894e-01 6.81370710e-01 -3.67963260e-01 4.47723234e+01] [ 4.94752786e-01 9.84931987e-03 8.68977947e-01 3.92640231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:44.79, Z:39.28 [[ 5.95543437e-01 -7.32065790e-01 -3.30768340e-01 1.32281310e+02] [ 6.32888515e-01 6.81162617e-01 -3.68061975e-01 4.47909648e+01] [ 4.94752608e-01 9.85741009e-03 8.68977956e-01 3.92780290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:132.26, Y:44.88, Z:39.22 [[ 5.89317585e-01 -7.74637155e-01 -2.29438579e-01 1.32257181e+02] [ 6.58328632e-01 6.25058574e-01 -4.19410528e-01 4.48795385e+01] [ 4.68303530e-01 9.61200136e-02 8.78323828e-01 3.92157682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.680385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:132.30, Y:44.85, Z:39.26 [[ 5.91371789e-01 -7.48965529e-01 -2.98881320e-01 1.32300027e+02] [ 6.54030846e-01 6.62285739e-01 -3.65542409e-01 4.48545214e+01] [ 4.71723500e-01 2.06938657e-02 8.81503661e-01 3.92632794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:44.85, Z:39.30 [[ 5.92255301e-01 -7.33092561e-01 -3.34378460e-01 1.32327586e+02] [ 6.46373557e-01 6.80036936e-01 -3.46050561e-01 4.48474505e+01] [ 4.81076796e-01 -1.11831156e-02 8.76607127e-01 3.93024174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:44.85, Z:39.35 [[ 5.92822529e-01 -7.19887903e-01 -3.61002570e-01 1.32352796e+02] [ 6.33243821e-01 6.93637298e-01 -3.43321368e-01 4.48462467e+01] [ 4.97557748e-01 -2.50740051e-02 8.67068384e-01 3.93476316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:44.88, Z:39.35 [[ 5.92459613e-01 -7.33291127e-01 -3.33580170e-01 1.32360471e+02] [ 6.32051428e-01 6.79848392e-01 -3.71910145e-01 4.48848126e+01] [ 4.99502351e-01 9.50191773e-03 8.66260420e-01 3.93452414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:44.90, Z:39.36 [[ 5.91868409e-01 -7.33597949e-01 -3.33954843e-01 1.32376339e+02] [ 6.32019632e-01 6.79518099e-01 -3.72567226e-01 4.49031224e+01] [ 5.00242912e-01 9.44475413e-03 8.65833601e-01 3.93581684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:44.96, Z:39.33 [[ 5.89806360e-01 -7.54895469e-01 -2.86812287e-01 1.32376333e+02] [ 6.40062082e-01 6.53562082e-01 -4.03951899e-01 4.49560561e+01] [ 4.92391093e-01 5.46757297e-02 8.68655039e-01 3.93331165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:44.92, Z:39.40 [[ 5.87516290e-01 -7.22398797e-01 -3.64643096e-01 1.32417990e+02] [ 6.35847558e-01 6.90840052e-01 -3.44148088e-01 4.49184670e+01] [ 5.00522220e-01 -2.96648145e-02 8.65215295e-01 3.94027725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:44.96, Z:39.40 [[ 5.86974389e-01 -7.37741039e-01 -3.33465481e-01 1.32426092e+02] [ 6.36689555e-01 6.75052803e-01 -3.72733315e-01 4.49564066e+01] [ 5.00087471e-01 6.47092152e-03 8.65950720e-01 3.93998790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:44.97, Z:39.41 [[ 5.83860270e-01 -7.41300878e-01 -3.31028992e-01 1.32441373e+02] [ 6.42229500e-01 6.71163342e-01 -3.70244564e-01 4.49735518e+01] [ 4.96637145e-01 3.57450735e-03 8.67950903e-01 3.94139930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:45.01, Z:39.40 [[ 5.80433148e-01 -7.54308185e-01 -3.06784164e-01 1.32447270e+02] [ 6.50991319e-01 6.56157914e-01 -3.81663588e-01 4.50097254e+01] [ 4.89190825e-01 2.18163699e-02 8.71903884e-01 3.94021604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:45.01, Z:39.43 [[ 5.79169725e-01 -7.47117298e-01 -3.26156668e-01 1.32470425e+02] [ 6.51482425e-01 6.64691881e-01 -3.65725791e-01 4.50134652e+01] [ 4.90033754e-01 -6.68031600e-04 8.71703203e-01 3.94299827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:45.02, Z:39.46 [[ 5.80595390e-01 -7.42239255e-01 -3.34648893e-01 1.32491718e+02] [ 6.46429857e-01 6.70119636e-01 -3.64785024e-01 4.50223345e+01] [ 4.95012559e-01 -4.53453265e-03 8.68873987e-01 3.94582420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:45.04, Z:39.47 [[ 5.79592144e-01 -7.45160312e-01 -3.29862177e-01 1.32505580e+02] [ 6.47714103e-01 6.66885368e-01 -3.68415997e-01 4.50436130e+01] [ 4.94509239e-01 -1.25366114e-04 8.69172363e-01 3.94684823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:45.06, Z:39.48 [[ 5.79214400e-01 -7.45451255e-01 -3.29868315e-01 1.32521105e+02] [ 6.47946551e-01 6.66560101e-01 -3.68595847e-01 4.50626073e+01] [ 4.94647294e-01 -2.41014393e-04 8.69093779e-01 3.94813484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.53, Y:45.09, Z:39.49 [[ 5.77925209e-01 -7.48945020e-01 -3.24166331e-01 1.32534964e+02] [ 6.46558735e-01 6.62572085e-01 -3.78100561e-01 4.50874652e+01] [ 4.97960093e-01 8.92127285e-03 8.67154056e-01 3.94906092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:45.09, Z:39.51 [[ 5.79294701e-01 -7.40910283e-01 -3.39808185e-01 1.32554437e+02] [ 6.46678862e-01 6.71526696e-01 -3.61743481e-01 4.50939663e+01] [ 4.96209732e-01 -1.01906881e-02 8.68142875e-01 3.95126437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:45.12, Z:39.52 [[ 5.79132271e-01 -7.44988838e-01 -3.31055045e-01 1.32567527e+02] [ 6.46318355e-01 6.67076651e-01 -3.70514947e-01 4.51181758e+01] [ 4.96868591e-01 6.10210661e-04 8.67825576e-01 3.95213960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19038572300002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:132.58, Y:45.14, Z:39.53 [[ 5.78112066e-01 -7.45133720e-01 -3.32508915e-01 1.32583313e+02] [ 6.45415031e-01 6.66914756e-01 -3.72376350e-01 4.51377866e+01] [ 4.99225277e-01 6.69009410e-04 8.66471970e-01 3.95334842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:45.16, Z:39.55 [[ 5.77498954e-01 -7.45533332e-01 -3.32678536e-01 1.32598988e+02] [ 6.45638871e-01 6.66468159e-01 -3.72787663e-01 4.51563066e+01] [ 4.99645280e-01 4.94290960e-04 8.66229964e-01 3.95457902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:132.61, Y:45.17, Z:39.56 [[ 5.77443434e-01 -7.45735236e-01 -3.32322191e-01 1.32614866e+02] [ 6.45958062e-01 6.66242220e-01 -3.72638546e-01 4.51747773e+01] [ 4.99296769e-01 5.11483212e-04 8.66430883e-01 3.95601342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:45.20, Z:39.56 [[ 5.74425608e-01 -7.52752075e-01 -3.21557979e-01 1.32625038e+02] [ 6.51024075e-01 6.58258197e-01 -3.77973280e-01 4.52032841e+01] [ 4.96188346e-01 7.77554526e-03 8.68180088e-01 3.95607728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:45.22, Z:39.57 [[ 5.74871081e-01 -7.53314503e-01 -3.19437786e-01 1.32641663e+02] [ 6.52314302e-01 6.57608285e-01 -3.76878489e-01 4.52226101e+01] [ 4.93972967e-01 8.28270802e-03 8.69437810e-01 3.95734584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.340385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:132.66, Y:45.24, Z:39.59 [[ 5.75393921e-01 -7.52967918e-01 -3.19313560e-01 1.32658987e+02] [ 6.52816037e-01 6.58014592e-01 -3.75297240e-01 4.52413323e+01] [ 4.92699763e-01 7.49073767e-03 8.70167129e-01 3.95880071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.68, Y:45.24, Z:39.62 [[ 5.78126160e-01 -7.40768427e-01 -3.42099811e-01 1.32681684e+02] [ 6.48423061e-01 6.71602091e-01 -3.58466408e-01 4.52402850e+01] [ 4.95295546e-01 -1.45865984e-02 8.68602068e-01 3.96241510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:45.29, Z:39.61 [[ 5.77986784e-01 -7.56134588e-01 -3.06906764e-01 1.32687282e+02] [ 6.52669309e-01 6.54089195e-01 -3.82348137e-01 4.52854458e+01] [ 4.89851049e-01 2.06835444e-02 8.71560750e-01 3.96126089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.71, Y:45.29, Z:39.64 [[ 5.78837536e-01 -7.48491390e-01 -3.23585763e-01 1.32709106e+02] [ 6.51324238e-01 6.63138914e-01 -3.68813661e-01 4.52936761e+01] [ 4.90636162e-01 2.72394050e-03 8.71360280e-01 3.96360235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:45.30, Z:39.67 [[ 5.80000043e-01 -7.41284786e-01 -3.37782203e-01 1.32728120e+02] [ 6.45303037e-01 6.71160601e-01 -3.64866329e-01 4.53014266e+01] [ 4.97175964e-01 -6.34939472e-03 8.67626501e-01 3.96658698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:45.32, Z:39.68 [[ 5.82406861e-01 -7.39412645e-01 -3.37744264e-01 1.32741480e+02] [ 6.44507228e-01 6.73220417e-01 -3.62470279e-01 4.53184591e+01] [ 4.95391442e-01 -6.57344146e-03 8.68644984e-01 3.96790560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:45.35, Z:39.68 [[ 5.83239477e-01 -7.47212009e-01 -3.18599946e-01 1.32752355e+02] [ 6.44875753e-01 6.64419794e-01 -3.77732181e-01 4.53533413e+01] [ 4.93930132e-01 1.48509398e-02 8.69374761e-01 3.96780141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.77, Y:45.37, Z:39.70 [[ 5.83007744e-01 -7.43407810e-01 -3.27790786e-01 1.32769730e+02] [ 6.45188868e-01 6.68827437e-01 -3.69325311e-01 4.53660360e+01] [ 4.93794791e-01 3.83255019e-03 8.69570018e-01 3.96952971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:45.39, Z:39.71 [[ 5.84025106e-01 -7.42956892e-01 -3.27001121e-01 1.32786744e+02] [ 6.43197050e-01 6.69303819e-01 -3.71927349e-01 4.53854634e+01] [ 4.95189086e-01 6.88875340e-03 8.68757914e-01 3.97114128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:45.40, Z:39.73 [[ 5.84028775e-01 -7.39690131e-01 -3.34318562e-01 1.32801385e+02] [ 6.42467687e-01 6.72947266e-01 -3.66575025e-01 4.53994663e+01] [ 4.96130690e-01 -6.98510196e-04 8.68247574e-01 3.97292468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.82, Y:45.42, Z:39.75 [[ 5.85986717e-01 -7.39298792e-01 -3.31748192e-01 1.32815051e+02] [ 6.39839369e-01 6.73360563e-01 -3.70393215e-01 4.54172651e+01] [ 4.97217406e-01 4.77995047e-03 8.67612819e-01 3.97465980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:45.44, Z:39.75 [[ 5.84533028e-01 -7.45124479e-01 -3.21108471e-01 1.32828257e+02] [ 6.43270210e-01 6.66790910e-01 -3.76288877e-01 4.54445040e+01] [ 4.94494263e-01 1.33937626e-02 8.69077690e-01 3.97512043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.85, Y:45.45, Z:39.78 [[ 5.85615854e-01 -7.38300227e-01 -3.34614475e-01 1.32847678e+02] [ 6.40355070e-01 6.74471587e-01 -3.67468995e-01 4.54521123e+01] [ 4.96990399e-01 9.23593829e-04 8.67755548e-01 3.97758335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.86, Y:45.48, Z:39.78 [[ 5.83743072e-01 -7.46556215e-01 -3.19214416e-01 1.32857457e+02] [ 6.45290776e-01 6.65189296e-01 -3.75663433e-01 4.54803221e+01] [ 4.92791883e-01 1.33048084e-02 8.70045483e-01 3.97780577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:45.49, Z:39.80 [[ 5.83814907e-01 -7.42901956e-01 -3.27500899e-01 1.32875782e+02] [ 6.44109943e-01 6.69380159e-01 -3.70206138e-01 4.54938308e+01] [ 4.94249468e-01 5.18527692e-03 8.69304651e-01 3.97978477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.89, Y:45.52, Z:39.81 [[ 5.84313964e-01 -7.45186455e-01 -3.21363252e-01 1.32888590e+02] [ 6.43771223e-01 6.66738255e-01 -3.75524582e-01 4.55182642e+01] [ 4.94101006e-01 1.25398434e-02 8.69314068e-01 3.98073942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:45.54, Z:39.82 [[ 5.84319318e-01 -7.43862956e-01 -3.24405361e-01 1.32904461e+02] [ 6.43440524e-01 6.68265622e-01 -3.73370259e-01 4.55359350e+01] [ 4.94525255e-01 9.43189967e-03 8.69112083e-01 3.98223498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:45.55, Z:39.85 [[ 5.87199868e-01 -7.38757856e-01 -3.30806809e-01 1.32924823e+02] [ 6.37692453e-01 6.73922139e-01 -3.73064720e-01 4.55498494e+01] [ 4.98542526e-01 8.11054888e-03 8.66827301e-01 3.98452899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:45.57, Z:39.86 [[ 5.86846816e-01 -7.39030849e-01 -3.30823546e-01 1.32940629e+02] [ 6.37516922e-01 6.73617650e-01 -3.73913675e-01 4.55681567e+01] [ 4.99182320e-01 8.52444066e-03 8.66455045e-01 3.98591503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.95, Y:45.59, Z:39.86 [[ 5.82219641e-01 -7.44371786e-01 -3.27002956e-01 1.32949666e+02] [ 6.42484410e-01 6.67707105e-01 -3.76006654e-01 4.55897946e+01] [ 4.98230942e-01 8.82415819e-03 8.66999459e-01 3.98643863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:45.61, Z:39.88 [[ 5.80481970e-01 -7.46673440e-01 -3.24837585e-01 1.32964509e+02] [ 6.43179155e-01 6.65094355e-01 -3.79433885e-01 4.56100011e+01] [ 4.99360848e-01 1.13257655e-02 8.66320074e-01 3.98779005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:45.62, Z:39.90 [[ 5.79774157e-01 -7.43968525e-01 -3.32223961e-01 1.32981170e+02] [ 6.42249705e-01 6.68200487e-01 -3.75530859e-01 4.56235187e+01] [ 5.01375352e-01 4.35234629e-03 8.65218940e-01 3.98969918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.00, Y:45.65, Z:39.91 [[ 5.82225723e-01 -7.47417390e-01 -3.19969457e-01 1.33000696e+02] [ 6.40136359e-01 6.64050136e-01 -3.86345516e-01 4.56483944e+01] [ 5.01237119e-01 2.01162136e-02 8.65076117e-01 3.99094995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.01, Y:45.66, Z:39.93 [[ 5.77195053e-01 -7.43791173e-01 -3.37076493e-01 1.33013477e+02] [ 6.44685499e-01 6.68404462e-01 -3.70966415e-01 4.56564572e+01] [ 5.01224978e-01 -3.18834775e-03 8.65311133e-01 3.99266776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:45.69, Z:39.93 [[ 5.78552068e-01 -7.52560499e-01 -3.14531715e-01 1.33024040e+02] [ 6.45412105e-01 6.58180153e-01 -3.87610759e-01 4.56886856e+01] [ 4.98719079e-01 2.12504298e-02 8.66503145e-01 3.99282042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090385723 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:133.04, Y:45.71, Z:39.94 [[ 5.81065756e-01 -7.52880784e-01 -3.09084313e-01 1.33044379e+02] [ 6.43911878e-01 6.57549642e-01 -3.91159765e-01 4.57132786e+01] [ 4.97734950e-01 2.82664842e-02 8.66868459e-01 3.99416561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:45.70, Z:39.97 [[ 5.78560865e-01 -7.37109038e-01 -3.49195634e-01 1.33064003e+02] [ 6.44986498e-01 6.75520398e-01 -3.57301846e-01 4.57027111e+01] [ 4.99259194e-01 -1.85056040e-02 8.66255043e-01 3.99709775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:45.74, Z:39.97 [[ 5.79961035e-01 -7.49443977e-01 -3.19341390e-01 1.33071949e+02] [ 6.44455410e-01 6.61868007e-01 -3.82894197e-01 4.57377373e+01] [ 4.98319599e-01 1.62624277e-02 8.66840880e-01 3.99716893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:45.75, Z:39.99 [[ 5.83463100e-01 -7.45926753e-01 -3.21191672e-01 1.33095727e+02] [ 6.40168342e-01 6.65784101e-01 -3.83296262e-01 4.57542999e+01] [ 4.99755245e-01 1.80224853e-02 8.65979148e-01 3.99917283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.11, Y:45.77, Z:40.00 [[ 5.80195583e-01 -7.44248692e-01 -3.30857929e-01 1.33105313e+02] [ 6.44531635e-01 6.67897269e-01 -3.72145415e-01 4.57672694e+01] [ 4.97947845e-01 2.66872434e-03 8.67202872e-01 4.00027336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.240385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.12, Y:45.79, Z:40.01 [[ 5.81470809e-01 -7.47353215e-01 -3.21488523e-01 1.33120054e+02] [ 6.43126530e-01 6.64262786e-01 -3.80976662e-01 4.57918321e+01] [ 4.98276995e-01 1.47690099e-02 8.66892100e-01 4.00132901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:45.81, Z:40.03 [[ 5.84787851e-01 -7.44524242e-01 -3.22035437e-01 1.33143538e+02] [ 6.38665557e-01 6.67343060e-01 -3.83092086e-01 4.58093093e+01] [ 5.00129459e-01 1.83546555e-02 8.65756103e-01 4.00329615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:45.81, Z:40.07 [[ 5.81563768e-01 -7.31939161e-01 -3.55033306e-01 1.33163792e+02] [ 6.37234675e-01 6.81167748e-01 -3.60475337e-01 4.58074209e+01] [ 5.05683253e-01 -1.66001383e-02 8.62559495e-01 4.00660749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:45.85, Z:40.06 [[ 5.84603906e-01 -7.49961553e-01 -3.09509197e-01 1.33172871e+02] [ 6.38618740e-01 6.60656828e-01 -3.94586695e-01 4.58528101e+01] [ 5.00404215e-01 3.30185498e-02 8.65162064e-01 4.00552737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:45.86, Z:40.08 [[ 5.83232557e-01 -7.41578560e-01 -3.31513232e-01 1.33196488e+02] [ 6.39846794e-01 6.70833984e-01 -3.74937124e-01 4.58560778e+01] [ 5.00435675e-01 6.55785928e-03 8.65748884e-01 4.00811249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:45.87, Z:40.09 [[ 5.79403631e-01 -7.42840608e-01 -3.35379283e-01 1.33205749e+02] [ 6.43496605e-01 6.69467852e-01 -3.71113075e-01 4.58707964e+01] [ 5.00203511e-01 -7.91167190e-04 8.65907513e-01 4.00922569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:45.89, Z:40.10 [[ 5.79319816e-01 -7.46326088e-01 -3.27697911e-01 1.33219340e+02] [ 6.43534002e-01 6.65530753e-01 -3.78064550e-01 4.58929441e+01] [ 5.00252475e-01 8.13553722e-03 8.65841368e-01 4.01035021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:45.90, Z:40.14 [[ 5.80126324e-01 -7.37720757e-01 -3.45284714e-01 1.33243527e+02] [ 6.38988703e-01 6.75072572e-01 -3.68741725e-01 4.58991734e+01] [ 5.05120665e-01 -6.71625017e-03 8.63022599e-01 4.01354563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:45.94, Z:40.13 [[ 5.83042030e-01 -7.52742887e-01 -3.05679794e-01 1.33253969e+02] [ 6.41730744e-01 6.57431179e-01 -3.94925180e-01 4.59408339e+01] [ 4.98240548e-01 3.40938570e-02 8.66368262e-01 4.01258646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:45.94, Z:40.15 [[ 5.83119638e-01 -7.42344255e-01 -3.29994689e-01 1.33276763e+02] [ 6.41819982e-01 6.69994054e-01 -3.73061763e-01 4.59426456e+01] [ 4.98034736e-01 5.74245473e-03 8.67138066e-01 4.01514236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:45.96, Z:40.16 [[ 5.80882692e-01 -7.42844381e-01 -3.32802530e-01 1.33287906e+02] [ 6.43939816e-01 6.69463624e-01 -3.70351144e-01 4.59598321e+01] [ 4.97912454e-01 8.25769803e-04 8.67226906e-01 4.01635398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:45.98, Z:40.17 [[ 5.80960372e-01 -7.46321939e-01 -3.24790100e-01 1.33301457e+02] [ 6.43973849e-01 6.65508931e-01 -3.77353342e-01 4.59825955e+01] [ 4.97777790e-01 1.00710066e-02 8.67246128e-01 4.01733264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:46.00, Z:40.19 [[ 5.84707643e-01 -7.44788476e-01 -3.21569741e-01 1.33321392e+02] [ 6.40571239e-01 6.67099301e-01 -3.80324876e-01 4.60034605e+01] [ 4.97780534e-01 1.63905347e-02 8.67148136e-01 4.01878044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:46.02, Z:40.21 [[ 5.84874562e-01 -7.41014652e-01 -3.29877299e-01 1.33339982e+02] [ 6.40056461e-01 6.71449219e-01 -3.73475130e-01 4.60163608e+01] [ 4.98246398e-01 7.29600721e-03 8.67004784e-01 4.02057260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:46.03, Z:40.22 [[ 5.83217200e-01 -7.42447811e-01 -3.29589055e-01 1.33352247e+02] [ 6.41397922e-01 6.69870095e-01 -3.74009039e-01 4.60344615e+01] [ 4.98464044e-01 6.73076969e-03 8.66884244e-01 4.02163942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:46.06, Z:40.22 [[ 5.83772492e-01 -7.46358243e-01 -3.19623295e-01 1.33365900e+02] [ 6.42134510e-01 6.65325822e-01 -3.80794987e-01 4.60594591e+01] [ 4.96863109e-01 1.70564908e-02 8.67661298e-01 4.02238834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:46.07, Z:40.24 [[ 5.85206938e-01 -7.43242080e-01 -3.24228392e-01 1.33383339e+02] [ 6.40846542e-01 6.68902924e-01 -3.76675706e-01 4.60748679e+01] [ 4.96838554e-01 1.26525927e-02 8.67750749e-01 4.02407661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:46.09, Z:40.26 [[ 5.87281543e-01 -7.38487794e-01 -3.31264499e-01 1.33404140e+02] [ 6.37125403e-01 6.74215830e-01 -3.73502659e-01 4.60876234e+01] [ 4.99170923e-01 8.29419017e-03 8.66463846e-01 4.02630892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:46.11, Z:40.26 [[ 5.85887087e-01 -7.45084999e-01 -3.18723493e-01 1.33414499e+02] [ 6.41074724e-01 6.66715700e-01 -3.80149147e-01 4.61143540e+01] [ 4.95741384e-01 1.83989009e-02 8.68275279e-01 4.02646448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:46.12, Z:40.29 [[ 5.86786219e-01 -7.36954520e-01 -3.35529386e-01 1.33438696e+02] [ 6.36578265e-01 6.75928637e-01 -3.71333530e-01 4.61207248e+01] [ 5.00449843e-01 4.30268356e-03 8.65754839e-01 4.02932296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:46.15, Z:40.29 [[ 5.84383059e-01 -7.45569399e-01 -3.20347799e-01 1.33449762e+02] [ 6.41242325e-01 6.66208935e-01 -3.80754431e-01 4.61487942e+01] [ 4.97297418e-01 1.70858717e-02 8.67411870e-01 4.02939657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:46.16, Z:40.31 [[ 5.83281901e-01 -7.44289818e-01 -3.25292009e-01 1.33467826e+02] [ 6.41683011e-01 6.67760745e-01 -3.77277749e-01 4.61638716e+01] [ 4.98021222e-01 1.13249268e-02 8.67090888e-01 4.03106866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:46.17, Z:40.34 [[ 5.82365812e-01 -7.39945228e-01 -3.36646878e-01 1.33489418e+02] [ 6.39393814e-01 6.72665136e-01 -3.72420683e-01 4.61725582e+01] [ 5.02021526e-01 1.63514239e-03 8.64853580e-01 4.03354717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:46.19, Z:40.35 [[ 5.81694109e-01 -7.42726693e-01 -3.31645930e-01 1.33504907e+02] [ 6.40205121e-01 6.69560742e-01 -3.76597684e-01 4.61932286e+01] [ 5.01766248e-01 6.74323155e-03 8.64976971e-01 4.03470080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:46.21, Z:40.36 [[ 5.80143401e-01 -7.44145735e-01 -3.31180857e-01 1.33522073e+02] [ 6.42008180e-01 6.67993040e-01 -3.76312098e-01 4.62108744e+01] [ 5.01257550e-01 5.69416060e-03 8.65279403e-01 4.03607720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:46.23, Z:40.37 [[ 5.79573350e-01 -7.44708908e-01 -3.30912941e-01 1.33538129e+02] [ 6.42694614e-01 6.67367670e-01 -3.76249952e-01 4.62285213e+01] [ 5.01037289e-01 5.38848034e-03 8.65408920e-01 4.03739866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:46.25, Z:40.39 [[ 5.79489340e-01 -7.44922893e-01 -3.30578263e-01 1.33554848e+02] [ 6.43015915e-01 6.67128771e-01 -3.76124628e-01 4.62458682e+01] [ 5.00722116e-01 5.39312805e-03 8.65591287e-01 4.03878879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.57, Y:46.26, Z:40.40 [[ 5.79431100e-01 -7.44979711e-01 -3.30552310e-01 1.33570306e+02] [ 6.42955960e-01 6.67064173e-01 -3.76341631e-01 4.62635684e+01] [ 5.00866483e-01 5.53346740e-03 8.65506873e-01 4.04008294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:46.28, Z:40.41 [[ 5.79094822e-01 -7.45147884e-01 -3.30762479e-01 1.33586142e+02] [ 6.42881028e-01 6.66876058e-01 -3.76802743e-01 4.62817957e+01] [ 5.01351345e-01 5.56359511e-03 8.65225910e-01 4.04143234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:46.30, Z:40.43 [[ 5.78362476e-01 -7.45517327e-01 -3.31211053e-01 1.33603185e+02] [ 6.42864901e-01 6.66464030e-01 -3.77558494e-01 4.63003949e+01] [ 5.02216652e-01 5.44170406e-03 8.64724709e-01 4.04274549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:46.32, Z:40.43 [[ 5.77569513e-01 -7.50020767e-01 -3.22307783e-01 1.33620605e+02] [ 6.44988079e-01 6.61279896e-01 -3.83013415e-01 4.63243581e+01] [ 5.00403673e-01 1.33321940e-02 8.65689561e-01 4.04341150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:46.33, Z:40.46 [[ 5.76114089e-01 -7.43343818e-01 -3.39900758e-01 1.33639858e+02] [ 6.44070696e-01 6.68890168e-01 -3.71158836e-01 4.63295113e+01] [ 5.03254902e-01 -5.09028302e-03 8.64123020e-01 4.04596811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:46.35, Z:40.47 [[ 5.75543606e-01 -7.47610137e-01 -3.31404044e-01 1.33653962e+02] [ 6.44778108e-01 6.64125113e-01 -3.78416472e-01 4.63517258e+01] [ 5.03001738e-01 4.11310806e-03 8.64275612e-01 4.04691125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:46.37, Z:40.48 [[ 5.73827386e-01 -7.49146790e-01 -3.30909682e-01 1.33671372e+02] [ 6.46752497e-01 6.62397527e-01 -3.78075025e-01 4.63694449e+01] [ 5.02427446e-01 2.93313988e-03 8.64614399e-01 4.04831770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:46.39, Z:40.50 [[ 5.71941811e-01 -7.50610597e-01 -3.30856912e-01 1.33687732e+02] [ 6.48335375e-01 6.60742278e-01 -3.78260338e-01 4.63865052e+01] [ 5.02537369e-01 1.83666239e-03 8.64553538e-01 4.04965838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:46.40, Z:40.51 [[ 5.71154404e-01 -7.51171146e-01 -3.30944944e-01 1.33704586e+02] [ 6.48773103e-01 6.60105695e-01 -3.78621092e-01 4.64041950e+01] [ 5.02867882e-01 1.54292610e-03 8.64361911e-01 4.05104594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:46.42, Z:40.52 [[ 5.70520685e-01 -7.51626246e-01 -3.31004735e-01 1.33720873e+02] [ 6.49117653e-01 6.59587919e-01 -3.78932777e-01 4.64216860e+01] [ 5.03142545e-01 1.32797031e-03 8.64202416e-01 4.05241148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:46.44, Z:40.54 [[ 5.69677491e-01 -7.52281567e-01 -3.30968278e-01 1.33738433e+02] [ 6.49750244e-01 6.58841066e-01 -3.79147820e-01 4.64391282e+01] [ 5.03281409e-01 9.45258808e-04 8.64122057e-01 4.05383849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:46.46, Z:40.55 [[ 5.69409994e-01 -7.52475176e-01 -3.30988473e-01 1.33754360e+02] [ 6.49818755e-01 6.58619912e-01 -3.79414546e-01 4.64565457e+01] [ 5.03495626e-01 9.59916722e-04 8.63997242e-01 4.05519347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:46.47, Z:40.57 [[ 5.70313833e-01 -7.51984805e-01 -3.30546495e-01 1.33771100e+02] [ 6.49398823e-01 6.59178534e-01 -3.79163328e-01 4.64741062e+01] [ 5.03014215e-01 1.58558644e-03 8.64276684e-01 4.05662629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:46.49, Z:40.58 [[ 5.72457722e-01 -7.50608379e-01 -3.29968509e-01 1.33786164e+02] [ 6.48057628e-01 6.60740660e-01 -3.78738815e-01 4.64922099e+01] [ 5.02308139e-01 2.97335020e-03 8.64683580e-01 4.05801456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:46.51, Z:40.59 [[ 5.73790664e-01 -7.49741676e-01 -3.29623563e-01 1.33801608e+02] [ 6.47187020e-01 6.61719352e-01 -3.78518771e-01 4.65110271e+01] [ 5.01909589e-01 3.86244526e-03 8.64911467e-01 4.05939998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.82, Y:46.55, Z:40.59 [[ 5.77311461e-01 -7.54577930e-01 -3.11967346e-01 1.33817322e+02] [ 6.46708970e-01 6.55803918e-01 -3.89472373e-01 4.65452792e+01] [ 4.98476664e-01 2.30947835e-02 8.66595434e-01 4.05944452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:46.54, Z:40.63 [[ 5.77737662e-01 -7.38566004e-01 -3.47475829e-01 1.33836926e+02] [ 6.43583713e-01 6.74032848e-01 -3.62601329e-01 4.65393977e+01] [ 5.02015137e-01 -1.41413405e-02 8.64743213e-01 4.06297933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:46.57, Z:40.63 [[ 5.79563858e-01 -7.45431599e-01 -3.29298444e-01 1.33847308e+02] [ 6.42091155e-01 6.66533265e-01 -3.78751047e-01 4.65690319e+01] [ 5.01821366e-01 8.07079962e-03 8.64933627e-01 4.06336862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:46.60, Z:40.64 [[ 5.82819861e-01 -7.48814470e-01 -3.15591348e-01 1.33864406e+02] [ 6.39813028e-01 6.62296315e-01 -3.89875467e-01 4.66005663e+01] [ 5.00959378e-01 2.53077094e-02 8.65100700e-01 4.06361844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:46.60, Z:40.67 [[ 5.82383418e-01 -7.35060931e-01 -3.47152679e-01 1.33882869e+02] [ 6.37127320e-01 6.77957984e-01 -3.66662994e-01 4.65966892e+01] [ 5.04874572e-01 -7.64200847e-03 8.63158888e-01 4.06677524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:46.63, Z:40.67 [[ 5.83318875e-01 -7.41319434e-01 -3.31940638e-01 1.33894449e+02] [ 6.35179468e-01 6.71040823e-01 -3.82428109e-01 4.66256545e+01] [ 5.06247108e-01 1.22356566e-02 8.62301661e-01 4.06727762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:46.64, Z:40.69 [[ 5.83234713e-01 -7.41544104e-01 -3.31586505e-01 1.33909595e+02] [ 6.35541051e-01 6.70792975e-01 -3.82262158e-01 4.66434802e+01] [ 5.05890148e-01 1.22117238e-02 8.62511468e-01 4.06854755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:46.66, Z:40.70 [[ 5.83362204e-01 -7.41827832e-01 -3.30726483e-01 1.33925691e+02] [ 6.36313708e-01 6.70480840e-01 -3.81523667e-01 4.66620699e+01] [ 5.04770644e-01 1.21206924e-02 8.63168399e-01 4.06994764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:46.68, Z:40.71 [[ 5.83271988e-01 -7.42260115e-01 -3.29914701e-01 1.33942044e+02] [ 6.37231887e-01 6.70006347e-01 -3.80824129e-01 4.66804001e+01] [ 5.03715505e-01 1.18918790e-02 8.63787748e-01 4.07136179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:46.70, Z:40.73 [[ 5.83166902e-01 -7.42903383e-01 -3.28650160e-01 1.33958208e+02] [ 6.38703057e-01 6.69300562e-01 -3.79598687e-01 4.66971969e+01] [ 5.01970885e-01 1.14595288e-02 8.64808597e-01 4.07284764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:46.71, Z:40.74 [[ 5.82339382e-01 -7.43684609e-01 -3.28350493e-01 1.33973833e+02] [ 6.39662028e-01 6.68440719e-01 -3.79499004e-01 4.67146304e+01] [ 5.01710408e-01 1.09638738e-02 8.64966161e-01 4.07419908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.99, Y:46.73, Z:40.75 [[ 5.82333098e-01 -7.43792448e-01 -3.28117291e-01 1.33988415e+02] [ 6.39465216e-01 6.68311703e-01 -3.80057501e-01 4.67318295e+01] [ 5.01968525e-01 1.15004682e-02 8.64809424e-01 4.07539979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:46.75, Z:40.77 [[ 5.79781392e-01 -7.47666191e-01 -3.23803650e-01 1.34002625e+02] [ 6.41340372e-01 6.63898026e-01 -3.84606211e-01 4.67534842e+01] [ 5.02529665e-01 1.53191711e-02 8.64424235e-01 4.07657408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:46.77, Z:40.78 [[ 5.79028463e-01 -7.46183996e-01 -3.28535361e-01 1.34019302e+02] [ 6.42980492e-01 6.65691103e-01 -3.78723438e-01 4.67681553e+01] [ 5.01300435e-01 8.04982246e-03 8.65235849e-01 4.07810276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:46.79, Z:40.79 [[ 5.79000723e-01 -7.46311460e-01 -3.28294635e-01 1.34034575e+02] [ 6.44173154e-01 6.65562576e-01 -3.76918301e-01 4.67851239e+01] [ 4.99799070e-01 6.75737820e-03 8.66115020e-01 4.07940987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:134.05, Y:46.80, Z:40.81 [[ 5.77218098e-01 -7.48813634e-01 -3.25725972e-01 1.34050407e+02] [ 6.46667980e-01 6.62740057e-01 -3.77619041e-01 4.68046602e+01] [ 4.98637936e-01 7.33198793e-03 8.66779355e-01 4.08064508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.07, Y:46.82, Z:40.82 [[ 5.75768565e-01 -7.49924808e-01 -3.25735080e-01 1.34066195e+02] [ 6.47808819e-01 6.61490725e-01 -3.77854146e-01 4.68221875e+01] [ 4.98832931e-01 6.54248225e-03 8.66673469e-01 4.08200328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:46.84, Z:40.83 [[ 5.72048256e-01 -7.53962508e-01 -3.22957165e-01 1.34081884e+02] [ 6.50011005e-01 6.56860251e-01 -3.82126033e-01 4.68421746e+01] [ 5.00246426e-01 8.66881961e-03 8.65839688e-01 4.08326590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:46.86, Z:40.84 [[ 5.71294883e-01 -7.55756763e-01 -3.20084163e-01 1.34094717e+02] [ 6.48094161e-01 6.54684742e-01 -3.89052499e-01 4.68619568e+01] [ 5.03583275e-01 1.48190245e-02 8.63819589e-01 4.08431196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:134.12, Y:46.87, Z:40.87 [[ 5.70369611e-01 -7.49373964e-01 -3.36328961e-01 1.34115256e+02] [ 6.52222029e-01 6.62088140e-01 -3.69114777e-01 4.68703298e+01] [ 4.99284420e-01 -8.82930553e-03 8.66393162e-01 4.08652634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:46.90, Z:40.87 [[ 5.68951904e-01 -7.57789548e-01 -3.19450671e-01 1.34125896e+02] [ 6.51218245e-01 6.52378243e-01 -3.87707912e-01 4.69009951e+01] [ 5.02203671e-01 1.25550493e-02 8.64658224e-01 4.08696764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.14, Y:46.93, Z:40.87 [[ 5.68230009e-01 -7.61620007e-01 -3.11527884e-01 1.34141550e+02] [ 6.57417180e-01 6.47876031e-01 -3.84784744e-01 4.69266701e+01] [ 4.94891208e-01 1.38424555e-02 8.68844680e-01 4.08721305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:46.94, Z:40.89 [[ 5.69269184e-01 -7.56895918e-01 -3.21000258e-01 1.34164607e+02] [ 6.55225499e-01 6.53513173e-01 -3.78946010e-01 4.69397963e+01] [ 4.96600585e-01 5.39473181e-03 8.67962416e-01 4.08944670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:46.94, Z:40.93 [[ 5.65124878e-01 -7.48699007e-01 -3.46530906e-01 1.34180429e+02] [ 6.56237479e-01 6.62500527e-01 -3.61172291e-01 4.69383958e+01] [ 4.99986243e-01 -2.32991211e-02 8.65719878e-01 4.09259054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:134.19, Y:46.98, Z:40.92 [[ 5.64281062e-01 -7.64127409e-01 -3.12563889e-01 1.34189253e+02] [ 6.61298985e-01 6.44996824e-01 -3.82965729e-01 4.69796640e+01] [ 4.94237326e-01 9.40212562e-03 8.69276173e-01 4.09180273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:46.98, Z:40.95 [[ 5.62218661e-01 -7.57121092e-01 -3.32682775e-01 1.34207828e+02] [ 6.60615353e-01 6.53169579e-01 -3.70076826e-01 4.69837664e+01] [ 4.97491239e-01 -1.17112515e-02 8.67389944e-01 4.09478981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:47.01, Z:40.96 [[ 5.61332916e-01 -7.61629645e-01 -3.23767882e-01 1.34221083e+02] [ 6.61592510e-01 6.48008148e-01 -3.77333793e-01 4.70081591e+01] [ 4.97192828e-01 -2.39252755e-03 8.67636772e-01 4.09572924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:47.04, Z:40.96 [[ 5.59820107e-01 -7.66267689e-01 -3.15333596e-01 1.34236030e+02] [ 6.64683709e-01 6.42509911e-01 -3.81282810e-01 4.70365433e+01] [ 4.94769658e-01 3.85267879e-03 8.69015617e-01 4.09620562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:47.06, Z:40.97 [[ 5.59537615e-01 -7.68259641e-01 -3.10957846e-01 1.34250590e+02] [ 6.66152767e-01 6.40099775e-01 -3.82769865e-01 4.70611852e+01] [ 4.93110686e-01 7.02870773e-03 8.69938186e-01 4.09701617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:47.08, Z:40.99 [[ 5.58484135e-01 -7.66836748e-01 -3.16317677e-01 1.34265701e+02] [ 6.64482602e-01 6.41832185e-01 -3.82771888e-01 4.70767942e+01] [ 4.96546415e-01 3.58443374e-03 8.68002770e-01 4.09856238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:134.29, Y:47.09, Z:41.01 [[ 5.59066971e-01 -7.61574195e-01 -3.27793939e-01 1.34285915e+02] [ 6.66508983e-01 6.47959683e-01 -3.68665192e-01 4.70891588e+01] [ 4.93163154e-01 -1.23690729e-02 8.69848900e-01 4.10054074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:134.30, Y:47.11, Z:41.02 [[ 5.58752394e-01 -7.64515211e-01 -3.21422238e-01 1.34299476e+02] [ 6.66538116e-01 6.44586308e-01 -3.74480216e-01 4.71114740e+01] [ 4.93480195e-01 -4.99845580e-03 8.69742670e-01 4.10161667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:47.12, Z:41.05 [[ 5.58581796e-01 -7.57520255e-01 -3.37860088e-01 1.34314800e+02] [ 6.64977909e-01 6.52452812e-01 -3.63468993e-01 4.71180737e+01] [ 4.95772889e-01 -2.16423318e-02 8.68182499e-01 4.10450210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.32, Y:47.16, Z:41.03 [[ 5.58774829e-01 -7.72081397e-01 -3.02755689e-01 1.34319945e+02] [ 6.68613461e-01 6.35381489e-01 -3.86324220e-01 4.71615667e+01] [ 4.90639104e-01 1.34417215e-02 8.71259198e-01 4.10343256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:47.16, Z:41.07 [[ 5.59304057e-01 -7.57860763e-01 -3.35895869e-01 1.34342103e+02] [ 6.64725269e-01 6.52127685e-01 -3.64513100e-01 4.71579102e+01] [ 4.95297172e-01 -1.94048159e-02 8.68506859e-01 4.10708889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:47.19, Z:41.08 [[ 5.59789640e-01 -7.63952881e-01 -3.20954131e-01 1.34352280e+02] [ 6.65082440e-01 6.45264882e-01 -3.75897035e-01 4.71870494e+01] [ 4.94268052e-01 -3.03769088e-03 8.69304242e-01 4.10771427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:47.22, Z:41.07 [[ 5.61165848e-01 -7.71393610e-01 -3.00074640e-01 1.34362140e+02] [ 6.69273877e-01 6.36191595e-01 -3.83839461e-01 4.72232273e+01] [ 4.86996271e-01 1.45654790e-02 8.73282588e-01 4.10746355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:47.23, Z:41.10 [[ 5.61823532e-01 -7.65144224e-01 -3.14497433e-01 1.34381423e+02] [ 6.69073320e-01 6.43856203e-01 -3.71200864e-01 4.72349727e+01] [ 4.86513320e-01 -1.87246122e-03 8.73671153e-01 4.10959452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:47.25, Z:41.11 [[ 5.61754267e-01 -7.64600593e-01 -3.15939989e-01 1.34395975e+02] [ 6.69131836e-01 6.44494552e-01 -3.69985620e-01 4.72527933e+01] [ 4.86512826e-01 -3.56450434e-03 8.73666163e-01 4.11094995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.41, Y:47.27, Z:41.13 [[ 5.60885085e-01 -7.62260274e-01 -3.23059123e-01 1.34413147e+02] [ 6.68366553e-01 6.47189104e-01 -3.66650262e-01 4.72686453e+01] [ 4.88563273e-01 -1.02732492e-02 8.72467987e-01 4.11278286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.43, Y:47.28, Z:41.15 [[ 5.59782465e-01 -7.60252669e-01 -3.29635360e-01 1.34425565e+02] [ 6.67300349e-01 6.49433877e-01 -3.64617449e-01 4.72833282e+01] [ 4.91277759e-01 -1.58593364e-02 8.70858568e-01 4.11480453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:47.32, Z:41.14 [[ 5.59700698e-01 -7.72910756e-01 -2.98904820e-01 1.34433338e+02] [ 6.71024531e-01 6.34354629e-01 -3.83823245e-01 4.73242859e+01] [ 4.86272770e-01 1.42536717e-02 8.73690807e-01 4.11416214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:47.33, Z:41.17 [[ 5.58818715e-01 -7.63485103e-01 -3.23747033e-01 1.34455577e+02] [ 6.69810810e-01 6.45714352e-01 -3.66614858e-01 4.73295330e+01] [ 4.88953088e-01 -1.19780189e-02 8.72227840e-01 4.11691979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:47.35, Z:41.18 [[ 5.58229479e-01 -7.65460174e-01 -3.20079007e-01 1.34469183e+02] [ 6.69251934e-01 6.43447526e-01 -3.71587312e-01 4.73513435e+01] [ 4.90389334e-01 -6.78250267e-03 8.71477079e-01 4.11811317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:47.38, Z:41.18 [[ 5.56637660e-01 -7.72423046e-01 -3.05805746e-01 1.34477710e+02] [ 6.69437793e-01 6.35031989e-01 -3.85470381e-01 4.73803687e+01] [ 4.91942637e-01 9.84940694e-03 8.70571899e-01 4.11842978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:47.38, Z:41.22 [[ 5.57065707e-01 -7.57990681e-01 -3.39305063e-01 1.34501676e+02] [ 6.67200758e-01 6.51766800e-01 -3.60615011e-01 4.73758897e+01] [ 4.94490593e-01 -2.54983395e-02 8.68808890e-01 4.12204877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.51, Y:47.41, Z:41.22 [[ 5.56139136e-01 -7.66687569e-01 -3.20779415e-01 1.34511707e+02] [ 6.67216242e-01 6.42008032e-01 -3.77687932e-01 4.74081372e+01] [ 4.95511603e-01 -3.98219554e-03 8.68592190e-01 4.12234435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.52, Y:47.43, Z:41.23 [[ 5.56732362e-01 -7.69391855e-01 -3.13185649e-01 1.34523223e+02] [ 6.66376003e-01 6.38753981e-01 -3.84624980e-01 4.74319920e+01] [ 4.95975906e-01 5.43377291e-03 8.68319281e-01 4.12296764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.55, Y:47.45, Z:41.25 [[ 5.55388145e-01 -7.65695876e-01 -3.24428473e-01 1.34545003e+02] [ 6.67955546e-01 6.43143314e-01 -3.74435664e-01 4.74453692e+01] [ 4.95357847e-01 -8.74666856e-03 8.68644979e-01 4.12511308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.56, Y:47.47, Z:41.26 [[ 5.54667551e-01 -7.71528654e-01 -3.11588582e-01 1.34555117e+02] [ 6.71108778e-01 6.36191402e-01 -3.80622527e-01 4.74726813e+01] [ 4.91891162e-01 2.00913280e-03 8.70654379e-01 4.12560873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:47.48, Z:41.28 [[ 5.55017753e-01 -7.65339616e-01 -3.25899626e-01 1.34575864e+02] [ 6.70218594e-01 6.43491325e-01 -3.69764724e-01 4.74811514e+01] [ 4.92709174e-01 -1.31980033e-02 8.70093950e-01 4.12813385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:134.59, Y:47.50, Z:41.30 [[ 5.54109622e-01 -7.66083313e-01 -3.25697536e-01 1.34592782e+02] [ 6.70240893e-01 6.42618004e-01 -3.71240148e-01 4.75007549e+01] [ 4.93699983e-01 -1.25880691e-02 8.69541182e-01 4.12950387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.60, Y:47.53, Z:41.31 [[ 5.54913597e-01 -7.69811425e-01 -3.15374807e-01 1.34604997e+02] [ 6.71045030e-01 6.38267275e-01 -3.77244554e-01 4.75256684e+01] [ 4.91700587e-01 -2.29256433e-03 8.70761321e-01 4.13058694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:47.55, Z:41.31 [[ 5.55450009e-01 -7.71827725e-01 -3.09446684e-01 1.34615590e+02] [ 6.71607469e-01 6.35822382e-01 -3.80359443e-01 4.75465646e+01] [ 4.90325091e-01 3.44395193e-03 8.71532813e-01 4.13118917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:47.56, Z:41.33 [[ 5.57473526e-01 -7.67270648e-01 -3.17047347e-01 1.34634418e+02] [ 6.70106456e-01 6.41310283e-01 -3.73735813e-01 4.75602214e+01] [ 4.90082243e-01 -4.10765305e-03 8.71666520e-01 4.13302974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:47.58, Z:41.35 [[ 5.57162707e-01 -7.68320316e-01 -3.15045409e-01 1.34647542e+02] [ 6.67256222e-01 6.40062380e-01 -3.80905873e-01 4.75803587e+01] [ 4.94306435e-01 2.01053822e-03 8.69285400e-01 4.13454715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:47.60, Z:41.36 [[ 5.60640836e-01 -7.65769678e-01 -3.15085152e-01 1.34662823e+02] [ 6.66440395e-01 6.43113227e-01 -3.77177117e-01 4.75989780e+01] [ 4.91466228e-01 1.47542132e-03 8.70895384e-01 4.13556978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.68, Y:47.61, Z:41.38 [[ 5.61448301e-01 -7.61636063e-01 -3.23552642e-01 1.34681356e+02] [ 6.63673356e-01 6.47986341e-01 -3.73699583e-01 4.76130559e+01] [ 4.94280772e-01 -4.92027198e-03 8.69288392e-01 4.13763609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:47.63, Z:41.39 [[ 5.63974960e-01 -7.58653251e-01 -3.26155622e-01 1.34698935e+02] [ 6.61218845e-01 6.51468219e-01 -3.71993009e-01 4.76307739e+01] [ 4.94693728e-01 -5.86550118e-03 8.69047589e-01 4.13926861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:47.66, Z:41.40 [[ 5.65618850e-01 -7.62685157e-01 -3.13666491e-01 1.34709756e+02] [ 6.58588244e-01 6.46675118e-01 -3.84802307e-01 4.76563550e+01] [ 4.96323324e-01 1.10743750e-02 8.68067115e-01 4.13992841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:47.67, Z:41.42 [[ 5.67838212e-01 -7.57088719e-01 -3.23073423e-01 1.34729366e+02] [ 6.57116219e-01 6.53310947e-01 -3.76009416e-01 4.76684262e+01] [ 4.95739891e-01 1.21572845e-03 8.68470196e-01 4.14197242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:47.69, Z:41.43 [[ 5.67674918e-01 -7.58906784e-01 -3.19070024e-01 1.34744429e+02] [ 6.56996431e-01 6.51171284e-01 -3.79910053e-01 4.76902656e+01] [ 4.96085554e-01 6.03754156e-03 8.68252654e-01 4.14330769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.76, Y:47.71, Z:41.45 [[ 5.68671670e-01 -7.58584137e-01 -3.18060748e-01 1.34759815e+02] [ 6.59446018e-01 6.51565784e-01 -3.74957302e-01 4.77089311e+01] [ 4.91674162e-01 3.48370088e-03 8.70772291e-01 4.14455382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:134.78, Y:47.73, Z:41.46 [[ 5.68452503e-01 -7.59400498e-01 -3.16500608e-01 1.34776057e+02] [ 6.59433031e-01 6.50601068e-01 -3.76651467e-01 4.77285356e+01] [ 4.91944946e-01 5.39751420e-03 8.70609578e-01 4.14582691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.420385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:134.79, Y:47.75, Z:41.47 [[ 5.67886646e-01 -7.59210246e-01 -3.17969432e-01 1.34790776e+02] [ 6.57427221e-01 6.50811674e-01 -3.79781008e-01 4.77455967e+01] [ 4.95271851e-01 6.63080327e-03 8.68712741e-01 4.14726130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:47.75, Z:41.50 [[ 5.66503951e-01 -7.54579247e-01 -3.31184893e-01 1.34809973e+02] [ 6.57135241e-01 6.56166330e-01 -3.70970379e-01 4.77549930e+01] [ 4.97238925e-01 -7.47707859e-03 8.67581434e-01 4.14965832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:47.78, Z:41.51 [[ 5.65623608e-01 -7.60016015e-01 -3.20071228e-01 1.34822822e+02] [ 6.56786075e-01 6.49875495e-01 -3.82483846e-01 4.77805910e+01] [ 4.98700296e-01 6.12356703e-03 8.66752858e-01 4.15056399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:47.79, Z:41.53 [[ 5.62474991e-01 -7.55938573e-01 -3.34930976e-01 1.34844969e+02] [ 6.56686883e-01 6.54576959e-01 -3.74554859e-01 4.77904011e+01] [ 5.02378565e-01 -9.26703757e-03 8.64598114e-01 4.15286561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:134.86, Y:47.81, Z:41.54 [[ 5.61093024e-01 -7.55239794e-01 -3.38802999e-01 1.34862782e+02] [ 6.58158868e-01 6.55277523e-01 -3.70726681e-01 4.78051364e+01] [ 5.01997532e-01 -1.49740435e-02 8.64739415e-01 4.15440991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:47.82, Z:41.56 [[ 5.59811128e-01 -7.57387316e-01 -3.36118960e-01 1.34879109e+02] [ 6.57552537e-01 6.52880970e-01 -3.75993483e-01 4.78241616e+01] [ 5.04218368e-01 -1.05305389e-02 8.63511983e-01 4.15605230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:47.87, Z:41.54 [[ 5.58746772e-01 -7.77436216e-01 -2.88781882e-01 1.34880599e+02] [ 6.63187524e-01 6.27927318e-01 -4.07295460e-01 4.78724238e+01] [ 4.97980274e-01 3.60584830e-02 8.66438361e-01 4.15430471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:47.87, Z:41.58 [[ 5.58747013e-01 -7.60759778e-01 -3.30221647e-01 1.34910398e+02] [ 6.63617577e-01 6.48936822e-01 -3.72146089e-01 4.78650919e+01] [ 4.97406762e-01 -1.12053733e-02 8.67445072e-01 4.15772191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:47.89, Z:41.59 [[ 5.59021904e-01 -7.63655767e-01 -3.22992847e-01 1.34925699e+02] [ 6.62766042e-01 6.45620539e-01 -3.79361693e-01 4.78872568e+01] [ 4.98232561e-01 -1.99719497e-03 8.67041133e-01 4.15895285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:47.90, Z:41.61 [[ 5.59509062e-01 -7.57738860e-01 -3.35829465e-01 1.34946351e+02] [ 6.59450205e-01 6.52437695e-01 -3.73430692e-01 4.78970865e+01] [ 5.02070749e-01 -1.25249537e-02 8.64735849e-01 4.16123237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:47.92, Z:41.62 [[ 5.60494269e-01 -7.61899476e-01 -3.24584907e-01 1.34959544e+02] [ 6.59002784e-01 6.47695158e-01 -3.82369341e-01 4.79216779e+01] [ 5.01559074e-01 4.13467016e-04 8.65123300e-01 4.16203439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:47.94, Z:41.63 [[ 5.62082542e-01 -7.63419705e-01 -3.18203661e-01 1.34974696e+02] [ 6.59672225e-01 6.45874005e-01 -3.84290679e-01 4.79419784e+01] [ 4.98894550e-01 6.09296477e-03 8.66641278e-01 4.16296162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:47.95, Z:41.65 [[ 5.63289009e-01 -7.57339259e-01 -3.30367581e-01 1.34996268e+02] [ 6.58028120e-01 6.52992416e-01 -3.74966528e-01 4.79527933e+01] [ 4.99704398e-01 -6.17663415e-03 8.66173980e-01 4.16520982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:47.97, Z:41.67 [[ 5.65181864e-01 -7.57265328e-01 -3.27289907e-01 1.35013607e+02] [ 6.57463567e-01 6.53101336e-01 -3.75766287e-01 4.79713233e+01] [ 4.98308257e-01 -2.80489904e-03 8.66995394e-01 4.16666144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:135.03, Y:47.99, Z:41.68 [[ 5.65868211e-01 -7.60221105e-01 -3.19150497e-01 1.35028918e+02] [ 6.59114054e-01 6.49652006e-01 -3.78841570e-01 4.79943112e+01] [ 4.95340117e-01 4.01782398e-03 8.68689833e-01 4.16753326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:48.01, Z:41.69 [[ 5.66584451e-01 -7.61708299e-01 -3.14296878e-01 1.35046123e+02] [ 6.61333534e-01 6.47889394e-01 -3.77991125e-01 4.80139559e+01] [ 4.91548590e-01 6.30882932e-03 8.70827298e-01 4.16854015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:48.04, Z:41.69 [[ 5.66429353e-01 -7.67838297e-01 -2.99302754e-01 1.35057600e+02] [ 6.65340852e-01 6.40385050e-01 -3.83703712e-01 4.80405664e+01] [ 4.86291414e-01 1.82026962e-02 8.73607076e-01 4.16852106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:48.05, Z:41.71 [[ 5.65710566e-01 -7.62551174e-01 -3.13826804e-01 1.35078846e+02] [ 6.65523959e-01 6.46925606e-01 -3.72243362e-01 4.80502901e+01] [ 4.86877208e-01 1.72274518e-03 8.73468727e-01 4.17058558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:48.07, Z:41.72 [[ 5.63253504e-01 -7.64366385e-01 -3.13830400e-01 1.35095308e+02] [ 6.66867350e-01 6.44781177e-01 -3.73557455e-01 4.80695722e+01] [ 4.87886696e-01 1.12429885e-03 8.72906243e-01 4.17183816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:48.10, Z:41.72 [[ 5.61979426e-01 -7.68951046e-01 -3.04784207e-01 1.35108224e+02] [ 6.68539819e-01 6.39232256e-01 -3.80048198e-01 4.80958467e+01] [ 4.87066356e-01 9.81889006e-03 8.73309770e-01 4.17239671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:48.10, Z:41.75 [[ 5.60471349e-01 -7.63184198e-01 -3.21592517e-01 1.35124978e+02] [ 6.67700639e-01 6.46137262e-01 -3.69705959e-01 4.81039805e+01] [ 4.89946654e-01 -7.51793143e-03 8.71719999e-01 4.17456966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:48.14, Z:41.74 [[ 5.61188384e-01 -7.73140527e-01 -2.95501817e-01 1.35133952e+02] [ 6.69949010e-01 6.33954679e-01 -3.86354485e-01 4.81402378e+01] [ 4.86041069e-01 1.88464994e-02 8.73732733e-01 4.17435564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:48.14, Z:41.78 [[ 5.59962958e-01 -7.61557987e-01 -3.26298818e-01 1.35154951e+02] [ 6.66964566e-01 6.47991446e-01 -3.67784384e-01 4.81409206e+01] [ 4.91527978e-01 -1.16841176e-02 8.70783399e-01 4.17757702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:135.16, Y:48.18, Z:41.77 [[ 5.59413760e-01 -7.72681049e-01 -3.00033733e-01 1.35162638e+02] [ 6.69994944e-01 6.34630079e-01 -3.85164170e-01 4.81781111e+01] [ 4.88019486e-01 1.44450524e-02 8.72713195e-01 4.17717808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:48.19, Z:41.79 [[ 5.59726342e-01 -7.69271076e-01 -3.08104582e-01 1.35180835e+02] [ 6.69826419e-01 6.38899812e-01 -3.78337943e-01 4.81929203e+01] [ 4.87892396e-01 5.38912367e-03 8.72887145e-01 4.17904007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:48.21, Z:41.81 [[ 5.59149104e-01 -7.67924358e-01 -3.12481136e-01 1.35196159e+02] [ 6.69889412e-01 6.40540257e-01 -3.75441546e-01 4.82087151e+01] [ 4.88467455e-01 6.00000012e-04 8.72581907e-01 4.18058214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:48.23, Z:41.82 [[ 5.59467709e-01 -7.69603846e-01 -3.07743080e-01 1.35210884e+02] [ 6.69837632e-01 6.38494396e-01 -3.79001916e-01 4.82290895e+01] [ 4.88173564e-01 5.90143792e-03 8.72726615e-01 4.18175977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:48.24, Z:41.84 [[ 5.59354683e-01 -7.67219049e-01 -3.13842746e-01 1.35230269e+02] [ 6.68558504e-01 6.41384781e-01 -3.76370947e-01 4.82444255e+01] [ 4.90052920e-01 7.02614772e-04 8.71692401e-01 4.18377685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.24, Y:48.26, Z:41.85 [[ 5.58104434e-01 -7.65797683e-01 -3.19489201e-01 1.35244496e+02] [ 6.67434148e-01 6.43071063e-01 -3.75488037e-01 4.82596017e+01] [ 4.93002129e-01 -3.67646489e-03 8.70020336e-01 4.18542450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.26, Y:48.28, Z:41.86 [[ 5.57670118e-01 -7.68642122e-01 -3.13358146e-01 1.35257822e+02] [ 6.67588794e-01 6.39670706e-01 -3.80981088e-01 4.82826879e+01] [ 4.93284138e-01 3.26738179e-03 8.69862106e-01 4.18646708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:48.31, Z:41.87 [[ 5.56333656e-01 -7.74058928e-01 -3.02201322e-01 1.35272055e+02] [ 6.69620371e-01 6.32963144e-01 -3.88543715e-01 4.83114246e+01] [ 4.92038030e-01 1.37997839e-02 8.70464326e-01 4.18699024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.29, Y:48.32, Z:41.89 [[ 5.55886023e-01 -7.69018764e-01 -3.15596054e-01 1.35292138e+02] [ 6.69844042e-01 6.39224649e-01 -3.77757603e-01 4.83219204e+01] [ 4.92239462e-01 -1.40996529e-03 8.70458686e-01 4.18908836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.31, Y:48.34, Z:41.90 [[ 5.55716171e-01 -7.70458209e-01 -3.12367869e-01 1.35306828e+02] [ 6.69912703e-01 6.37486624e-01 -3.80562446e-01 4.83431781e+01] [ 4.92337799e-01 2.22550161e-03 8.70401367e-01 4.19034974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:48.36, Z:41.92 [[ 5.55639293e-01 -7.71062735e-01 -3.11010025e-01 1.35322454e+02] [ 6.70319538e-01 6.36750811e-01 -3.81077581e-01 4.83623442e+01] [ 4.91870607e-01 3.26558132e-03 8.70662186e-01 4.19163973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:48.37, Z:41.94 [[ 5.55120697e-01 -7.66704016e-01 -3.22499555e-01 1.35339150e+02] [ 6.67923117e-01 6.41968839e-01 -3.76503280e-01 4.83726608e+01] [ 4.95701242e-01 -6.40014503e-03 8.68469526e-01 4.19380266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:48.41, Z:41.94 [[ 5.54737655e-01 -7.75090011e-01 -3.02492329e-01 1.35348216e+02] [ 6.70802311e-01 6.31724906e-01 -3.88520145e-01 4.84054494e+01] [ 4.92230021e-01 1.26142004e-02 8.70373764e-01 4.19360135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:48.43, Z:41.95 [[ 5.57190613e-01 -7.72754773e-01 -3.03955066e-01 1.35367617e+02] [ 6.68609847e-01 6.34576257e-01 -3.87651709e-01 4.84250583e+01] [ 4.92442376e-01 1.27685432e-02 8.70251384e-01 4.19500741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:48.43, Z:41.98 [[ 5.57479079e-01 -7.61890794e-01 -3.29756720e-01 1.35387415e+02] [ 6.64895122e-01 6.47598702e-01 -3.72196720e-01 4.84258542e+01] [ 4.97123279e-01 -1.17617502e-02 8.67600200e-01 4.19805488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:48.45, Z:41.99 [[ 5.58292731e-01 -7.67771329e-01 -3.14382590e-01 1.35397891e+02] [ 6.64946158e-01 6.40702382e-01 -3.83858130e-01 4.84534756e+01] [ 4.96140941e-01 5.25770826e-03 8.68226078e-01 4.19870650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:48.47, Z:42.00 [[ 5.59387633e-01 -7.67066697e-01 -3.14156264e-01 1.35413317e+02] [ 6.64147680e-01 6.41538636e-01 -3.83843767e-01 4.84723111e+01] [ 4.95977152e-01 6.07130248e-03 8.68314347e-01 4.20016362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:48.49, Z:42.02 [[ 5.59480548e-01 -7.67098777e-01 -3.13912381e-01 1.35428383e+02] [ 6.64213927e-01 6.41498841e-01 -3.83795644e-01 4.84906345e+01] [ 4.95783598e-01 6.22122187e-03 8.68423814e-01 4.20152753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.44, Y:48.51, Z:42.03 [[ 5.59363151e-01 -7.67291604e-01 -3.13650217e-01 1.35443412e+02] [ 6.64469289e-01 6.41268019e-01 -3.83739355e-01 4.85096480e+01] [ 4.95573838e-01 6.23871815e-03 8.68543407e-01 4.20289518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:48.54, Z:42.03 [[ 5.57015024e-01 -7.73985199e-01 -3.01133153e-01 1.35450053e+02] [ 6.70016635e-01 6.33044317e-01 -3.87727484e-01 4.85369551e+01] [ 4.90725965e-01 1.42058119e-02 8.71198153e-01 4.20295051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.47, Y:48.55, Z:42.06 [[ 5.58628280e-01 -7.67477203e-01 -3.14504670e-01 1.35472902e+02] [ 6.65591980e-01 6.41062880e-01 -3.82133093e-01 4.85476076e+01] [ 4.94895707e-01 4.13856639e-03 8.68942525e-01 4.20578674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:48.57, Z:42.07 [[ 5.57726793e-01 -7.68961276e-01 -3.12473007e-01 1.35487418e+02] [ 6.67003045e-01 6.39275784e-01 -3.82666186e-01 4.85692942e+01] [ 4.94011906e-01 5.00273747e-03 8.69440745e-01 4.20699158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:48.59, Z:42.08 [[ 5.57577063e-01 -7.69195631e-01 -3.12163259e-01 1.35501316e+02] [ 6.67340446e-01 6.38993951e-01 -3.82548638e-01 4.85890819e+01] [ 4.93725175e-01 4.98117731e-03 8.69603725e-01 4.20835271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:48.61, Z:42.10 [[ 5.58020606e-01 -7.69939401e-01 -3.09525964e-01 1.35515980e+02] [ 6.67827937e-01 6.38077076e-01 -3.83227728e-01 4.86104039e+01] [ 4.92563550e-01 7.13888282e-03 8.70247198e-01 4.20957387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:48.63, Z:42.11 [[ 5.59697023e-01 -7.67464395e-01 -3.12630206e-01 1.35530929e+02] [ 6.65997522e-01 6.41069949e-01 -3.81413977e-01 4.86266479e+01] [ 4.93139477e-01 5.26532429e-03 8.69934327e-01 4.21129467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.55, Y:48.65, Z:42.13 [[ 5.59109827e-01 -7.68179864e-01 -3.11922904e-01 1.35545123e+02] [ 6.65927495e-01 6.40201946e-01 -3.82990913e-01 4.86471214e+01] [ 4.93899558e-01 6.41594526e-03 8.69495292e-01 4.21264018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:48.67, Z:42.14 [[ 5.60394612e-01 -7.67399508e-01 -3.11537919e-01 1.35559758e+02] [ 6.65159186e-01 6.41127866e-01 -3.82777111e-01 4.86669149e+01] [ 4.93478608e-01 7.28392156e-03 8.69727433e-01 4.21387271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:48.69, Z:42.15 [[ 5.59168448e-01 -7.68361568e-01 -3.11369793e-01 1.35574561e+02] [ 6.66247103e-01 6.39981965e-01 -3.82802667e-01 4.86875245e+01] [ 4.93401909e-01 6.60195034e-03 8.69776391e-01 4.21505294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:48.70, Z:42.17 [[ 5.58106786e-01 -7.68155591e-01 -3.13773490e-01 1.35590894e+02] [ 6.64151409e-01 6.40224399e-01 -3.86025420e-01 4.87045531e+01] [ 4.97413029e-01 7.05030126e-03 8.67485200e-01 4.21660013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.61, Y:48.72, Z:42.18 [[ 5.57618626e-01 -7.68633135e-01 -3.13471803e-01 1.35606724e+02] [ 6.64763591e-01 6.39653595e-01 -3.85917927e-01 4.87241369e+01] [ 4.97142672e-01 6.81038307e-03 8.67642082e-01 4.21778897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:48.74, Z:42.19 [[ 5.57463735e-01 -7.68480956e-01 -3.14119730e-01 1.35622215e+02] [ 6.63973754e-01 6.39832602e-01 -3.86979450e-01 4.87421259e+01] [ 4.98370382e-01 7.15975345e-03 8.66934657e-01 4.21916760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:48.76, Z:42.20 [[ 5.56811227e-01 -7.68570203e-01 -3.15057297e-01 1.35637474e+02] [ 6.63297698e-01 6.39724474e-01 -3.88315285e-01 4.87607624e+01] [ 4.99997421e-01 7.24153041e-03 8.65996616e-01 4.22039175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:48.78, Z:42.22 [[ 5.56298213e-01 -7.67150717e-01 -3.19393293e-01 1.35654582e+02] [ 6.62672633e-01 6.41458062e-01 -3.86518482e-01 4.87776518e+01] [ 5.01395333e-01 3.36634668e-03 8.65211759e-01 4.22197311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:48.80, Z:42.23 [[ 5.56948073e-01 -7.69237249e-01 -3.13181895e-01 1.35666939e+02] [ 6.62449020e-01 6.38878935e-01 -3.91145756e-01 4.87994226e+01] [ 5.00969200e-01 1.03808355e-02 8.65402853e-01 4.22283558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:48.82, Z:42.24 [[ 5.57360625e-01 -7.68235900e-01 -3.14901153e-01 1.35683941e+02] [ 6.62701437e-01 6.40117457e-01 -3.88685537e-01 4.88158520e+01] [ 5.00175908e-01 7.95256778e-03 8.65887301e-01 4.22439774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:48.83, Z:42.26 [[ 5.57422388e-01 -7.68451274e-01 -3.14265683e-01 1.35699657e+02] [ 6.63261759e-01 6.39859221e-01 -3.88154629e-01 4.88339285e+01] [ 4.99363715e-01 7.92567052e-03 8.66356199e-01 4.22585961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:48.85, Z:42.27 [[ 5.57497999e-01 -7.68823874e-01 -3.13218505e-01 1.35715770e+02] [ 6.64300125e-01 6.39413715e-01 -3.87111671e-01 4.88527488e+01] [ 4.97896903e-01 7.74288989e-03 8.67201662e-01 4.22728358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:48.87, Z:42.29 [[ 5.57101346e-01 -7.69545776e-01 -3.12149627e-01 1.35730384e+02] [ 6.65753240e-01 6.38550519e-01 -3.86038676e-01 4.88705457e+01] [ 4.96397738e-01 7.24804031e-03 8.68064947e-01 4.22871186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:48.90, Z:42.29 [[ 5.57219438e-01 -7.72933290e-01 -3.03447900e-01 1.35744334e+02] [ 6.68171283e-01 6.34335193e-01 -3.88800720e-01 4.88953430e+01] [ 4.93004701e-01 1.38921462e-02 8.69915727e-01 4.22945081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.280385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:135.76, Y:48.91, Z:42.32 [[ 5.56271546e-01 -7.67657802e-01 -3.18219211e-01 1.35761345e+02] [ 6.66682764e-01 6.40859809e-01 -3.80569045e-01 4.89052095e+01] [ 4.96080699e-01 -4.51531698e-04 8.68276302e-01 4.23163328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.77, Y:48.94, Z:42.32 [[ 5.56348722e-01 -7.76064108e-01 -2.96985859e-01 1.35772097e+02] [ 6.68779632e-01 6.30313345e-01 -3.94257392e-01 4.89398977e+01] [ 4.93163161e-01 2.07265030e-02 8.69689892e-01 4.23163151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.79, Y:48.94, Z:42.35 [[ 5.55698483e-01 -7.65263509e-01 -3.24916847e-01 1.35793672e+02] [ 6.66281551e-01 6.43676120e-01 -3.76496942e-01 4.89420757e+01] [ 4.97260586e-01 -7.26732137e-03 8.67570801e-01 4.23458119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.79, Y:49.00, Z:42.32 [[ 5.55607786e-01 -7.85692685e-01 -2.72005501e-01 1.35791258e+02] [ 6.73803196e-01 6.17156472e-01 -4.06333782e-01 4.89959526e+01] [ 4.87123435e-01 4.24840367e-02 8.72299183e-01 4.23233981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:135.83, Y:48.97, Z:42.38 [[ 5.55931960e-01 -7.58835852e-01 -3.39275412e-01 1.35827990e+02] [ 6.64869058e-01 6.50914549e-01 -3.66414227e-01 4.89719970e+01] [ 4.98887554e-01 -2.18723442e-02 8.66390679e-01 4.23798567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:49.02, Z:42.38 [[ 5.57658034e-01 -7.73052583e-01 -3.02336271e-01 1.35835782e+02] [ 6.65332064e-01 6.34069161e-01 -3.94067943e-01 4.90152247e+01] [ 4.96337347e-01 1.86011396e-02 8.67930433e-01 4.23754819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:49.02, Z:42.40 [[ 5.56431967e-01 -7.66171159e-01 -3.21504621e-01 1.35852148e+02] [ 6.62466811e-01 6.42635461e-01 -3.84912183e-01 4.90243633e+01] [ 5.01518883e-01 1.19130173e-03 8.65145878e-01 4.23981551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:49.06, Z:42.40 [[ 5.57972622e-01 -7.71973383e-01 -3.04505580e-01 1.35865565e+02] [ 6.64321026e-01 6.35418619e-01 -3.93599737e-01 4.90551638e+01] [ 4.97337036e-01 1.73284173e-02 8.67384343e-01 4.24023863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:49.06, Z:42.43 [[ 5.56881223e-01 -7.62528601e-01 -3.29292326e-01 1.35884712e+02] [ 6.61968297e-01 6.46914726e-01 -3.78548956e-01 4.90576701e+01] [ 5.01678461e-01 -7.17427516e-03 8.65024423e-01 4.24294159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:49.08, Z:42.44 [[ 5.56954683e-01 -7.68806069e-01 -3.14227163e-01 1.35894836e+02] [ 6.61917437e-01 6.39405675e-01 -3.91184982e-01 4.90840416e+01] [ 5.01664019e-01 9.87986917e-03 8.65006127e-01 4.24362988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.91, Y:49.10, Z:42.45 [[ 5.56616156e-01 -7.69085368e-01 -3.14143521e-01 1.35910693e+02] [ 6.62143111e-01 6.39070563e-01 -3.91350630e-01 4.91026069e+01] [ 5.01741920e-01 9.82411534e-03 8.64961579e-01 4.24505219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:49.12, Z:42.46 [[ 5.57039204e-01 -7.68938636e-01 -3.13752609e-01 1.35926153e+02] [ 6.62115696e-01 6.39242385e-01 -3.91116324e-01 4.91211952e+01] [ 5.01308418e-01 1.01265984e-02 8.65209409e-01 4.24643681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:49.14, Z:42.48 [[ 5.57994350e-01 -7.68608419e-01 -3.12863234e-01 1.35940720e+02] [ 6.62245540e-01 6.39632224e-01 -3.90258201e-01 4.91405400e+01] [ 5.00073145e-01 1.05695896e-02 8.65918664e-01 4.24767899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:49.16, Z:42.49 [[ 5.58444577e-01 -7.68548273e-01 -3.12206992e-01 1.35955874e+02] [ 6.62551038e-01 6.39701804e-01 -3.89625107e-01 4.91595362e+01] [ 4.99165079e-01 1.07309616e-02 8.66440460e-01 4.24905429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:49.18, Z:42.50 [[ 5.58138179e-01 -7.68875381e-01 -3.11949390e-01 1.35970591e+02] [ 6.62970913e-01 6.39310609e-01 -3.89552966e-01 4.91784512e+01] [ 4.98950240e-01 1.06110110e-02 8.66565672e-01 4.25041298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.99, Y:49.20, Z:42.52 [[ 5.58084892e-01 -7.69074255e-01 -3.11554239e-01 1.35985529e+02] [ 6.63382879e-01 6.39072356e-01 -3.89242443e-01 4.91977242e+01] [ 4.98462044e-01 1.05505788e-02 8.66847320e-01 4.25172096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760385723 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:136.00, Y:49.22, Z:42.53 [[ 5.55506933e-01 -7.73213039e-01 -3.05865400e-01 1.35997880e+02] [ 6.62772932e-01 6.33869171e-01 -3.98675199e-01 4.92225451e+01] [ 5.02139510e-01 1.87475289e-02 8.64583393e-01 4.25272028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:49.23, Z:42.55 [[ 5.57072623e-01 -7.64850675e-01 -3.23532899e-01 1.36018409e+02] [ 6.62238467e-01 6.44206705e-01 -3.82672098e-01 4.92285754e+01] [ 5.01109075e-01 -1.07978123e-03 8.65383458e-01 4.25464870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:49.25, Z:42.55 [[ 5.57535201e-01 -7.68701104e-01 -3.13453526e-01 1.36030556e+02] [ 6.61076152e-01 6.39503230e-01 -3.92446099e-01 4.92530090e+01] [ 5.02128291e-01 1.15858639e-02 8.64715530e-01 4.25540266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.05, Y:49.27, Z:42.57 [[ 5.57465734e-01 -7.68676538e-01 -3.13637268e-01 1.36045857e+02] [ 6.60760082e-01 6.39528663e-01 -3.92936642e-01 4.92716788e+01] [ 5.02621200e-01 1.18097267e-02 8.64426087e-01 4.25675395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:49.29, Z:42.58 [[ 5.57486418e-01 -7.68666677e-01 -3.13624668e-01 1.36061245e+02] [ 6.60619074e-01 6.39537068e-01 -3.93159991e-01 4.92903552e+01] [ 5.02783585e-01 1.19949179e-02 8.64329098e-01 4.25814040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:49.31, Z:42.59 [[ 5.57328619e-01 -7.68875415e-01 -3.13393373e-01 1.36076151e+02] [ 6.60890377e-01 6.39286499e-01 -3.93111538e-01 4.93094395e+01] [ 5.02601949e-01 1.19736458e-02 8.64435025e-01 4.25946816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:49.33, Z:42.61 [[ 5.57863003e-01 -7.70444249e-01 -3.08552312e-01 1.36093446e+02] [ 6.62770333e-01 6.37335453e-01 -3.93114495e-01 4.93326155e+01] [ 4.99524129e-01 1.48047146e-02 8.66173461e-01 4.26068543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:49.35, Z:42.62 [[ 5.56554054e-01 -7.70089174e-01 -3.11785582e-01 1.36107620e+02] [ 6.65087171e-01 6.37876347e-01 -3.88294761e-01 4.93491540e+01] [ 4.97902239e-01 8.74243290e-03 8.67189097e-01 4.26207904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:49.36, Z:42.64 [[ 5.55685116e-01 -7.67716659e-01 -3.19100586e-01 1.36122465e+02] [ 6.63399144e-01 6.40782335e-01 -3.86393032e-01 4.93620378e+01] [ 5.01114386e-01 3.02180089e-03 8.65375780e-01 4.26397303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:136.14, Y:49.39, Z:42.64 [[ 5.54482198e-01 -7.75649843e-01 -3.01524151e-01 1.36136335e+02] [ 6.67291235e-01 6.30898642e-01 -3.95840007e-01 4.93931047e+01] [ 4.97264417e-01 1.82818142e-02 8.67406407e-01 4.26449565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:136.15, Y:49.41, Z:42.66 [[ 5.53792244e-01 -7.74313829e-01 -3.06189883e-01 1.36152239e+02] [ 6.68721197e-01 6.32697065e-01 -3.90520659e-01 4.94098204e+01] [ 4.96110987e-01 1.15116472e-02 8.68182798e-01 4.26588383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:49.43, Z:42.68 [[ 5.54192644e-01 -7.72323777e-01 -3.10461747e-01 1.36170343e+02] [ 6.70438650e-01 6.35214213e-01 -3.83425247e-01 4.94252328e+01] [ 4.93338149e-01 4.34589714e-03 8.69826755e-01 4.26772752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:49.45, Z:42.69 [[ 5.54328038e-01 -7.75164867e-01 -3.03050912e-01 1.36182412e+02] [ 6.69465555e-01 6.31606820e-01 -3.91009841e-01 4.94482734e+01] [ 4.94506114e-01 1.38655710e-02 8.69063547e-01 4.26870206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:49.47, Z:42.70 [[ 5.53718531e-01 -7.74689203e-01 -3.05372605e-01 1.36196916e+02] [ 6.68634759e-01 6.32217289e-01 -3.91444580e-01 4.94669278e+01] [ 4.96309730e-01 1.25673789e-02 8.68054556e-01 4.27013040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.21, Y:49.48, Z:42.72 [[ 5.55009903e-01 -7.71845093e-01 -3.10192134e-01 1.36212597e+02] [ 6.68389432e-01 6.35772722e-01 -3.86068145e-01 4.94846166e+01] [ 4.95196501e-01 6.94249916e-03 8.68753260e-01 4.27151557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:49.51, Z:42.73 [[ 5.55179608e-01 -7.73189884e-01 -3.06517546e-01 1.36225842e+02] [ 6.68956707e-01 6.34091297e-01 -3.87846815e-01 4.95062554e+01] [ 4.94239342e-01 1.02776746e-02 8.69265116e-01 4.27264337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:49.53, Z:42.74 [[ 5.54964625e-01 -7.73290870e-01 -3.06652076e-01 1.36241200e+02] [ 6.68942699e-01 6.33968860e-01 -3.88071062e-01 4.95258131e+01] [ 4.94499676e-01 1.02330442e-02 8.69117573e-01 4.27407724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:49.55, Z:42.75 [[ 5.54633893e-01 -7.74311515e-01 -3.04668544e-01 1.36255026e+02] [ 6.68698178e-01 6.32672945e-01 -3.90599144e-01 4.95472202e+01] [ 4.95200960e-01 1.29082233e-02 8.68682558e-01 4.27532075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.300385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.27, Y:49.57, Z:42.77 [[ 5.53998430e-01 -7.74333605e-01 -3.05766591e-01 1.36270015e+02] [ 6.69351852e-01 6.32680251e-01 -3.89466044e-01 4.95668224e+01] [ 4.95029129e-01 1.10981432e-02 8.68805498e-01 4.27659907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:49.59, Z:42.78 [[ 5.53920015e-01 -7.73998061e-01 -3.06756612e-01 1.36285578e+02] [ 6.66834391e-01 6.33049801e-01 -3.93166434e-01 4.95859999e+01] [ 4.98502269e-01 1.32268985e-02 8.66787481e-01 4.27817493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:49.59, Z:42.81 [[ 5.54113952e-01 -7.64306628e-01 -3.29838000e-01 1.36305360e+02] [ 6.61829340e-01 6.44820896e-01 -3.82345311e-01 4.95894373e+01] [ 5.04915490e-01 -6.43359479e-03 8.63144807e-01 4.28118035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:49.62, Z:42.82 [[ 5.54162672e-01 -7.71312523e-01 -3.13018729e-01 1.36314488e+02] [ 6.62068222e-01 6.36340552e-01 -3.95899446e-01 4.96192991e+01] [ 5.04548711e-01 1.21529417e-02 8.63297692e-01 4.28181355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:49.65, Z:42.82 [[ 5.53148091e-01 -7.78830769e-01 -2.95719162e-01 1.36324185e+02] [ 6.66343662e-01 6.26676025e-01 -4.04058516e-01 4.96519730e+01] [ 5.00013313e-01 2.64536081e-02 8.65613593e-01 4.28185423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:49.67, Z:42.83 [[ 5.52549784e-01 -7.75827079e-01 -3.04599868e-01 1.36342124e+02] [ 6.67544333e-01 6.30760714e-01 -3.95633018e-01 4.96664452e+01] [ 4.99072439e-01 1.52730230e-02 8.66425666e-01 4.28349491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:49.68, Z:42.86 [[ 5.51319326e-01 -7.73259965e-01 -3.13234779e-01 1.36358478e+02] [ 6.63361838e-01 6.33987276e-01 -3.97506234e-01 4.96783533e+01] [ 5.05962521e-01 1.13648709e-02 8.62480590e-01 4.28583177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:136.38, Y:49.69, Z:42.88 [[ 5.50758507e-01 -7.68219256e-01 -3.26349875e-01 1.36378213e+02] [ 6.66320673e-01 6.40150206e-01 -3.82393088e-01 4.96876985e+01] [ 5.02674674e-01 -6.84742155e-03 8.64448544e-01 4.28783732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:49.72, Z:42.88 [[ 5.48913035e-01 -7.79514158e-01 -3.01748500e-01 1.36387969e+02] [ 6.70078998e-01 6.26164009e-01 -3.98638647e-01 4.97225650e+01] [ 4.99688519e-01 1.66226174e-02 8.66045653e-01 4.28799728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.41, Y:49.73, Z:42.90 [[ 5.47096277e-01 -7.76453533e-01 -3.12738828e-01 1.36405718e+02] [ 6.71305163e-01 6.30164655e-01 -3.90181861e-01 4.97337898e+01] [ 5.00035040e-01 3.52385354e-03 8.65998003e-01 4.28972391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:49.76, Z:42.91 [[ 5.46260471e-01 -7.78486443e-01 -3.09125147e-01 1.36418855e+02] [ 6.72404486e-01 6.27627971e-01 -3.92371427e-01 4.97556099e+01] [ 4.99471426e-01 6.47986501e-03 8.66306127e-01 4.29119539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:49.78, Z:42.93 [[ 5.45778496e-01 -7.78863594e-01 -3.09026431e-01 1.36433649e+02] [ 6.73230412e-01 6.27167171e-01 -3.91691400e-01 4.97758290e+01] [ 4.98885405e-01 5.73075160e-03 8.66649013e-01 4.29254634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:49.80, Z:42.94 [[ 5.45023751e-01 -7.79288261e-01 -3.09287760e-01 1.36447710e+02] [ 6.73985954e-01 6.26647468e-01 -3.91223573e-01 4.97958813e+01] [ 4.98690330e-01 4.77053334e-03 8.66767095e-01 4.29384132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.46, Y:49.82, Z:42.95 [[ 5.44689695e-01 -7.80059999e-01 -3.07927807e-01 1.36462777e+02] [ 6.74376862e-01 6.25676764e-01 -3.92102583e-01 4.98167460e+01] [ 4.98526814e-01 5.91484795e-03 8.66854100e-01 4.29514255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.48, Y:49.83, Z:42.97 [[ 5.43913932e-01 -7.77070249e-01 -3.16732479e-01 1.36479505e+02] [ 6.72233659e-01 6.29413230e-01 -3.89795964e-01 4.98291471e+01] [ 5.02254459e-01 -9.02777548e-04 8.64719401e-01 4.29707466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:49.86, Z:42.98 [[ 5.44041920e-01 -7.83126038e-01 -3.01217525e-01 1.36490842e+02] [ 6.74230202e-01 6.21710531e-01 -3.98609646e-01 4.98585204e+01] [ 4.99431700e-01 1.37704050e-02 8.66243818e-01 4.29757499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:49.87, Z:42.99 [[ 5.43194509e-01 -7.81369505e-01 -3.07248146e-01 1.36507548e+02] [ 6.75002756e-01 6.24035551e-01 -3.93638045e-01 4.98741439e+01] [ 4.99310530e-01 6.42867933e-03 8.66399254e-01 4.29921704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:49.89, Z:43.01 [[ 5.43731659e-01 -7.79986130e-01 -3.09802389e-01 1.36523577e+02] [ 6.74518226e-01 6.25783981e-01 -3.91688107e-01 4.98913857e+01] [ 4.99380663e-01 4.00586633e-03 8.66373422e-01 4.30085312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:49.91, Z:43.02 [[ 5.43194165e-01 -7.81429068e-01 -3.07097233e-01 1.36537138e+02] [ 6.75068175e-01 6.23960075e-01 -3.93645505e-01 4.99120151e+01] [ 4.99222453e-01 6.51437263e-03 8.66449367e-01 4.30208298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:49.93, Z:43.03 [[ 5.42413759e-01 -7.81867685e-01 -3.07360111e-01 1.36552149e+02] [ 6.75469956e-01 6.23415527e-01 -3.93819018e-01 4.99309876e+01] [ 4.99527429e-01 6.00033319e-03 8.66277290e-01 4.30344855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:49.95, Z:43.05 [[ 5.41784286e-01 -7.82017114e-01 -3.08089306e-01 1.36567223e+02] [ 6.75666211e-01 6.23235501e-01 -3.93767295e-01 4.99496216e+01] [ 4.99944956e-01 5.17139907e-03 8.66041741e-01 4.30489844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:136.58, Y:49.96, Z:43.07 [[ 5.41328797e-01 -7.78957613e-01 -3.16525151e-01 1.36583920e+02] [ 6.74278811e-01 6.27072405e-01 -3.90036261e-01 4.99616269e+01] [ 5.02305902e-01 -2.28834281e-03 8.64686963e-01 4.30686659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:49.99, Z:43.07 [[ 5.40558109e-01 -7.86643350e-01 -2.98310526e-01 1.36594097e+02] [ 6.76562366e-01 6.17218637e-01 -4.01627339e-01 4.99932499e+01] [ 5.00060291e-01 1.52772399e-02 8.65855826e-01 4.30712633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:50.00, Z:43.10 [[ 5.40732399e-01 -7.78626002e-01 -3.18355182e-01 1.36614845e+02] [ 6.75208255e-01 6.27466187e-01 -3.87788597e-01 4.99975779e+01] [ 5.01699397e-01 -5.26618813e-03 8.65026001e-01 4.30982014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.62, Y:50.03, Z:43.10 [[ 5.40052898e-01 -7.88474187e-01 -2.94365969e-01 1.36622463e+02] [ 6.78597042e-01 6.14825265e-01 -4.01865584e-01 5.00322519e+01] [ 4.97844275e-01 1.72727971e-02 8.67094417e-01 4.30967471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:50.04, Z:43.13 [[ 5.40962612e-01 -7.78447422e-01 -3.18400791e-01 1.36644531e+02] [ 6.76083990e-01 6.27676178e-01 -3.85918456e-01 5.00350797e+01] [ 5.00269819e-01 -6.49822118e-03 8.65845183e-01 4.31261137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:50.06, Z:43.14 [[ 5.41220233e-01 -7.82591464e-01 -3.07621945e-01 1.36655807e+02] [ 6.76012585e-01 6.22511712e-01 -3.94317327e-01 5.00603153e+01] [ 5.00087637e-01 5.45620921e-03 8.65957612e-01 4.31351562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:50.08, Z:43.15 [[ 5.41199803e-01 -7.82595243e-01 -3.07648272e-01 1.36670967e+02] [ 6.75848195e-01 6.22505333e-01 -3.94609084e-01 5.00794362e+01] [ 5.00331881e-01 5.63882935e-03 8.65815345e-01 4.31490000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:50.11, Z:43.15 [[ 5.40059722e-01 -7.87553041e-01 -2.96809205e-01 1.36681702e+02] [ 6.79088680e-01 6.16088433e-01 -3.99090977e-01 5.01069570e+01] [ 4.97166030e-01 1.39731912e-02 8.67542903e-01 4.31529396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:50.13, Z:43.17 [[ 5.39408779e-01 -7.87533833e-01 -2.98041324e-01 1.36697402e+02] [ 6.79399359e-01 6.16145628e-01 -3.98473433e-01 5.01267505e+01] [ 4.97448169e-01 1.24509834e-02 8.67404342e-01 4.31652268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:50.14, Z:43.19 [[ 5.38985732e-01 -7.83518894e-01 -3.09180405e-01 1.36715913e+02] [ 6.77804202e-01 6.21363760e-01 -3.93050304e-01 5.01383504e+01] [ 5.00075839e-01 2.28472827e-03 8.65978600e-01 4.31855543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:50.16, Z:43.20 [[ 5.38399589e-01 -7.86371481e-01 -3.02895652e-01 1.36728840e+02] [ 6.77852030e-01 6.17683046e-01 -3.98728328e-01 5.01623967e+01] [ 5.00642095e-01 9.35673552e-03 8.65603803e-01 4.31954933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:50.18, Z:43.21 [[ 5.38322629e-01 -7.86282805e-01 -3.03262424e-01 1.36743243e+02] [ 6.77620777e-01 6.17797323e-01 -3.98944294e-01 5.01824967e+01] [ 5.01037752e-01 9.26382132e-03 8.65375845e-01 4.32091293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:136.76, Y:50.19, Z:43.24 [[ 5.39479239e-01 -7.78900153e-01 -3.19807291e-01 1.36763432e+02] [ 6.72633140e-01 6.27139648e-01 -3.92760131e-01 5.01900497e+01] [ 5.06484758e-01 -3.22704572e-03 8.62242875e-01 4.32363360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:136.78, Y:50.22, Z:43.24 [[ 5.39695676e-01 -7.82073357e-01 -3.11592429e-01 1.36775933e+02] [ 6.71688351e-01 6.23147771e-01 -4.00651488e-01 5.02150790e+01] [ 5.07506982e-01 6.93687076e-03 8.61619721e-01 4.32449943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:136.78, Y:50.25, Z:43.24 [[ 5.39216735e-01 -7.89267920e-01 -2.93771107e-01 1.36783944e+02] [ 6.76209327e-01 6.13685333e-01 -4.07592025e-01 5.02461816e+01] [ 5.01982329e-01 2.11296781e-02 8.64619730e-01 4.32439473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:50.25, Z:43.28 [[ 5.41774919e-01 -7.78717328e-01 -3.16353062e-01 1.36806177e+02] [ 6.70716856e-01 6.27371181e-01 -3.95656798e-01 5.02485009e+01] [ 5.06575598e-01 2.17359826e-03 8.62192808e-01 4.32764763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:50.27, Z:43.28 [[ 5.43123472e-01 -7.83184601e-01 -3.02718970e-01 1.36815723e+02] [ 6.74126406e-01 6.21662401e-01 -3.98860186e-01 5.02741615e+01] [ 5.00570157e-01 1.25594778e-02 8.65604862e-01 4.32790885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:50.28, Z:43.30 [[ 5.43638164e-01 -7.77536676e-01 -3.16060538e-01 1.36835997e+02] [ 6.72067257e-01 6.28837573e-01 -3.91010113e-01 5.02833830e+01] [ 5.02775445e-01 1.54080897e-04 8.64417045e-01 4.33047648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:50.32, Z:43.30 [[ 5.43093827e-01 -7.87712329e-01 -2.90789241e-01 1.36841377e+02] [ 6.74834824e-01 6.15542154e-01 -4.07069794e-01 5.03188015e+01] [ 4.99646931e-01 2.48423855e-02 8.65872855e-01 4.33026099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:50.32, Z:43.33 [[ 5.44274744e-01 -7.77467462e-01 -3.15133857e-01 1.36865177e+02] [ 6.70962021e-01 6.28918833e-01 -3.92773557e-01 5.03215522e+01] [ 5.03562279e-01 2.33387767e-03 8.63955777e-01 4.33334476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:50.35, Z:43.33 [[ 5.45128328e-01 -7.84964753e-01 -2.94389950e-01 1.36871739e+02] [ 6.74265942e-01 6.19188012e-01 -4.02457011e-01 5.03542035e+01] [ 4.98197296e-01 2.08936007e-02 8.66811924e-01 4.33325429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.89, Y:50.37, Z:43.35 [[ 5.45481157e-01 -7.82181821e-01 -3.01067944e-01 1.36890164e+02] [ 6.74761142e-01 6.22919562e-01 -3.95813872e-01 5.03694066e+01] [ 4.97139527e-01 1.27600589e-02 8.67576782e-01 4.33505360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:50.38, Z:43.37 [[ 5.45403796e-01 -7.78473859e-01 -3.10665657e-01 1.36909316e+02] [ 6.71859368e-01 6.27650541e-01 -3.93268087e-01 5.03812477e+01] [ 5.01138393e-01 5.76627537e-03 8.65347942e-01 4.33737701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:50.41, Z:43.38 [[ 5.45476398e-01 -7.82575616e-01 -3.00051503e-01 1.36920481e+02] [ 6.75068056e-01 6.22409057e-01 -3.96093531e-01 5.04069341e+01] [ 4.96727912e-01 1.35044878e-02 8.67801250e-01 4.33784418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:50.43, Z:43.39 [[ 5.44207215e-01 -7.85605805e-01 -2.94384149e-01 1.36933442e+02] [ 6.76438242e-01 6.18450204e-01 -3.99938307e-01 5.04312413e+01] [ 4.96255792e-01 1.85166162e-02 8.67978873e-01 4.33869875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:50.44, Z:43.42 [[ 5.45148688e-01 -7.76055322e-01 -3.17097847e-01 1.36955653e+02] [ 6.72091036e-01 6.30662830e-01 -3.88018084e-01 5.04355957e+01] [ 5.01105325e-01 -1.59107156e-03 8.65384840e-01 4.34162180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:136.96, Y:50.47, Z:43.42 [[ 5.44069630e-01 -7.85047061e-01 -2.96123876e-01 1.36963606e+02] [ 6.74800527e-01 6.19154391e-01 -4.01611864e-01 5.04704704e+01] [ 4.98630611e-01 1.86802708e-02 8.66613271e-01 4.34151281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:50.48, Z:43.44 [[ 5.44671279e-01 -7.78317780e-01 -3.12337368e-01 1.36983958e+02] [ 6.71860514e-01 6.27856679e-01 -3.92936942e-01 5.04796105e+01] [ 5.01932911e-01 4.17432179e-03 8.64896484e-01 4.34426442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:50.51, Z:43.44 [[ 5.45096687e-01 -7.85211609e-01 -2.93789602e-01 1.36990706e+02] [ 6.74293123e-01 6.18852999e-01 -4.02926482e-01 5.05115751e+01] [ 4.98195128e-01 2.15335820e-02 8.66797508e-01 4.34424931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:50.52, Z:43.47 [[ 5.45928758e-01 -7.74906290e-01 -3.18562447e-01 1.37013455e+02] [ 6.68539950e-01 6.32075433e-01 -3.91835402e-01 5.05156231e+01] [ 5.04991215e-01 9.42492408e-04 8.63123968e-01 4.34741170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.02, Y:50.55, Z:43.47 [[ 5.45433844e-01 -7.84251634e-01 -2.95721654e-01 1.37018385e+02] [ 6.72443108e-01 6.20067455e-01 -4.04149252e-01 5.05503653e+01] [ 5.00322084e-01 2.15806913e-02 8.65570382e-01 4.34712388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:137.03, Y:50.57, Z:43.48 [[ 5.46226286e-01 -7.85112282e-01 -2.91951277e-01 1.37030622e+02] [ 6.73179083e-01 6.18866410e-01 -4.04764486e-01 5.05738128e+01] [ 4.98464408e-01 2.45575090e-02 8.66562267e-01 4.34801563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:50.59, Z:43.50 [[ 5.46853812e-01 -7.82944408e-01 -2.96561902e-01 1.37046196e+02] [ 6.71758585e-01 6.21736746e-01 -4.02720527e-01 5.05904922e+01] [ 4.99691217e-01 2.10112518e-02 8.65948737e-01 4.34960283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:50.60, Z:43.51 [[ 5.47760027e-01 -7.79907142e-01 -3.02826358e-01 1.37061748e+02] [ 6.71599037e-01 6.25739949e-01 -3.96742046e-01 5.06048290e+01] [ 4.98912505e-01 1.39415430e-02 8.66540216e-01 4.35118449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:50.63, Z:43.52 [[ 5.47285575e-01 -7.83469797e-01 -2.94369796e-01 1.37073735e+02] [ 6.73062121e-01 6.21052271e-01 -4.01598628e-01 5.06303598e+01] [ 4.97459426e-01 2.16599772e-02 8.67216792e-01 4.35227725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.09, Y:50.65, Z:43.54 [[ 5.46482077e-01 -7.82672659e-01 -2.97961154e-01 1.37088953e+02] [ 6.73749201e-01 6.22198313e-01 -3.98661853e-01 5.06474382e+01] [ 4.97412660e-01 1.71104680e-02 8.67345305e-01 4.35383243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:137.11, Y:50.66, Z:43.56 [[ 5.46604523e-01 -7.79628332e-01 -3.05619307e-01 1.37106406e+02] [ 6.77120460e-01 6.26227758e-01 -3.86453978e-01 5.06610517e+01] [ 4.92677764e-01 4.29640698e-03 8.70201219e-01 4.35555263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:50.70, Z:43.56 [[ 5.46338708e-01 -7.89854614e-01 -2.78646202e-01 1.37110270e+02] [ 6.75262879e-01 6.12201619e-01 -4.11374795e-01 5.06966748e+01] [ 4.95513936e-01 3.65905378e-02 8.67828942e-01 4.35576359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:50.70, Z:43.58 [[ 5.47715329e-01 -7.81061108e-01 -2.99919096e-01 1.37132085e+02] [ 6.73689435e-01 6.24284769e-01 -3.95488398e-01 5.07039440e+01] [ 4.96135530e-01 1.45627318e-02 8.68122954e-01 4.35828181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10038572300002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:137.14, Y:50.73, Z:43.59 [[ 5.47140233e-01 -7.83256388e-01 -2.95206702e-01 1.37144239e+02] [ 6.73807261e-01 6.21381735e-01 -3.99835610e-01 5.07268172e+01] [ 4.96609848e-01 1.98537294e-02 8.67746788e-01 4.35943461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:50.74, Z:43.61 [[ 5.47972397e-01 -7.78955084e-01 -3.04885602e-01 1.37160877e+02] [ 6.73783986e-01 6.27017716e-01 -3.90978163e-01 5.07389137e+01] [ 4.95723101e-01 8.81820500e-03 8.68435862e-01 4.36115148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:50.77, Z:43.62 [[ 5.45969130e-01 -7.88157429e-01 -2.84122468e-01 1.37168618e+02] [ 6.72250448e-01 6.14511113e-01 -4.12862480e-01 5.07746564e+01] [ 4.99997045e-01 3.44087130e-02 8.65343282e-01 4.36170269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.19, Y:50.78, Z:43.64 [[ 5.45641291e-01 -7.81735780e-01 -3.01935013e-01 1.37189924e+02] [ 6.71841573e-01 6.23419907e-01 -3.99970649e-01 5.07840631e+01] [ 5.00903665e-01 1.53880072e-02 8.65366239e-01 4.36388839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:50.80, Z:43.66 [[ 5.43307893e-01 -7.81280662e-01 -3.07273592e-01 1.37204109e+02] [ 6.72114977e-01 6.24100473e-01 -3.98447057e-01 5.08010684e+01] [ 5.03068575e-01 9.95624798e-03 8.64189147e-01 4.36555204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:50.82, Z:43.67 [[ 5.41827298e-01 -7.83243391e-01 -3.04881895e-01 1.37217900e+02] [ 6.72280493e-01 6.21581426e-01 -4.02088882e-01 5.08212025e+01] [ 5.04442382e-01 1.28965821e-02 8.63349038e-01 4.36697807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.23, Y:50.84, Z:43.68 [[ 5.40703779e-01 -7.86056549e-01 -2.99590597e-01 1.37231410e+02] [ 6.73715738e-01 6.17911780e-01 -4.05329664e-01 5.08443899e+01] [ 5.03732595e-01 1.73243814e-02 8.63685902e-01 4.36812618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:50.86, Z:43.70 [[ 5.38287028e-01 -7.86903961e-01 -3.01710510e-01 1.37246301e+02] [ 6.75685352e-01 6.16930851e-01 -4.03541362e-01 5.08632052e+01] [ 5.03682818e-01 1.33597080e-02 8.63785354e-01 4.36961556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:50.88, Z:43.71 [[ 5.37371741e-01 -7.87307768e-01 -3.02288093e-01 1.37261915e+02] [ 6.75948273e-01 6.16429476e-01 -4.03867098e-01 5.08828371e+01] [ 5.04306994e-01 1.26956515e-02 8.63431107e-01 4.37117162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:50.91, Z:43.72 [[ 5.36591844e-01 -7.90264406e-01 -2.95890793e-01 1.37277928e+02] [ 6.77037537e-01 6.12483222e-01 -4.08025094e-01 5.09064380e+01] [ 5.03675854e-01 1.86137638e-02 8.63692168e-01 4.37229388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:50.92, Z:43.75 [[ 5.34523566e-01 -7.85375362e-01 -3.12202016e-01 1.37297939e+02] [ 6.77664209e-01 6.19019510e-01 -3.96971115e-01 5.09164499e+01] [ 5.05030472e-01 6.22284236e-04 8.63101289e-01 4.37451584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:137.31, Y:50.94, Z:43.76 [[ 5.29954324e-01 -7.90913093e-01 -3.05949168e-01 1.37307161e+02] [ 6.80374439e-01 6.11903050e-01 -4.03317840e-01 5.09400032e+01] [ 5.06200589e-01 5.58004012e-03 8.62397719e-01 4.37560705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:50.96, Z:43.77 [[ 5.28856269e-01 -7.93784817e-01 -3.00360968e-01 1.37319380e+02] [ 6.81773181e-01 6.08111561e-01 -4.06676357e-01 5.09621633e+01] [ 5.05466495e-01 1.02952883e-02 8.62784811e-01 4.37666914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:50.97, Z:43.79 [[ 5.26970510e-01 -7.90432805e-01 -3.12278822e-01 1.37337692e+02] [ 6.81503584e-01 6.12546093e-01 -4.00424961e-01 5.09734035e+01] [ 5.07794197e-01 -1.80699048e-03 8.61476516e-01 4.37888606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:50.98, Z:43.82 [[ 5.27592787e-01 -7.84573141e-01 -3.25715886e-01 1.37358200e+02] [ 6.75114880e-01 6.19971621e-01 -3.99818818e-01 5.09806867e+01] [ 5.15621712e-01 -8.95411676e-03 8.56769557e-01 4.38209582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.550385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:137.36, Y:51.02, Z:43.81 [[ 5.24852931e-01 -7.98987367e-01 -2.93510797e-01 1.37359981e+02] [ 6.82905704e-01 6.01094956e-01 -4.15120046e-01 5.10207023e+01] [ 5.08103532e-01 1.74367756e-02 8.61119480e-01 4.38111305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:51.02, Z:43.85 [[ 5.25740668e-01 -7.86179806e-01 -3.24835439e-01 1.37386367e+02] [ 6.76846254e-01 6.17924259e-01 -4.00060944e-01 5.10185301e+01] [ 5.15243533e-01 -9.53534218e-03 8.56990769e-01 4.38498539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:51.06, Z:43.84 [[ 5.24312065e-01 -7.98947398e-01 -2.94584307e-01 1.37387898e+02] [ 6.83149429e-01 6.01184594e-01 -4.14588882e-01 5.10606777e+01] [ 5.08334255e-01 1.61288523e-02 8.61008795e-01 4.38404195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.40, Y:51.08, Z:43.86 [[ 5.24703847e-01 -7.95697249e-01 -3.02575217e-01 1.37404700e+02] [ 6.82833848e-01 6.05644691e-01 -4.08573671e-01 5.10766719e+01] [ 5.08354020e-01 7.77157715e-03 8.61113113e-01 4.38567147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.670385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:137.43, Y:51.08, Z:43.89 [[ 5.25764724e-01 -7.85515553e-01 -3.26399709e-01 1.37427672e+02] [ 6.76025514e-01 6.18756798e-01 -4.00161878e-01 5.10798150e+01] [ 5.16295418e-01 -1.02635317e-02 8.56349053e-01 4.38899573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:51.12, Z:43.88 [[ 5.25917684e-01 -7.97116405e-01 -2.96674952e-01 1.37428137e+02] [ 6.79292112e-01 6.03556536e-01 -4.17470639e-01 5.11203800e+01] [ 5.11832801e-01 1.80262374e-02 8.58895942e-01 4.38823633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.45, Y:51.13, Z:43.90 [[ 5.26942819e-01 -7.92318386e-01 -3.07510717e-01 1.37445748e+02] [ 6.78034390e-01 6.10061243e-01 -4.09993470e-01 5.11334520e+01] [ 5.12445735e-01 7.54027360e-03 8.58686505e-01 4.39004512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.760385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:137.47, Y:51.14, Z:43.93 [[ 5.28492041e-01 -7.83871921e-01 -3.25946274e-01 1.37466955e+02] [ 6.71663037e-01 6.20899705e-01 -4.04168679e-01 5.11426004e+01] [ 5.19196424e-01 -5.32613377e-03 8.54638348e-01 4.39314672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.790385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:137.47, Y:51.18, Z:43.93 [[ 5.29847546e-01 -7.93608822e-01 -2.99076272e-01 1.37469099e+02] [ 6.75210924e-01 6.08123655e-01 -4.17463565e-01 5.11802529e+01] [ 5.13178124e-01 1.92524797e-02 8.58066172e-01 4.39281347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:51.19, Z:43.95 [[ 5.30280597e-01 -7.88360634e-01 -3.11913450e-01 1.37486558e+02] [ 6.74571635e-01 6.15184413e-01 -4.08045645e-01 5.11913549e+01] [ 5.13571415e-01 5.97072228e-03 8.58026079e-01 4.39478647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:51.21, Z:43.96 [[ 5.31503364e-01 -7.89282247e-01 -3.07469850e-01 1.37499767e+02] [ 6.73440671e-01 6.13916918e-01 -4.11805391e-01 5.12138678e+01] [ 5.13791627e-01 1.18132490e-02 8.57833673e-01 4.39616014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:51.23, Z:43.98 [[ 5.33811661e-01 -7.86970765e-01 -3.09389924e-01 1.37513790e+02] [ 6.71329392e-01 6.16881255e-01 -4.10821573e-01 5.12318936e+01] [ 5.14161412e-01 1.15987966e-02 8.57615013e-01 4.39776976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:51.25, Z:44.00 [[ 5.33557426e-01 -7.85154203e-01 -3.14403165e-01 1.37530810e+02] [ 6.71058414e-01 6.19265890e-01 -4.07664522e-01 5.12491982e+01] [ 5.14778669e-01 6.52954356e-03 8.57298248e-01 4.39966373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.54, Y:51.27, Z:44.01 [[ 5.34695022e-01 -7.84414619e-01 -3.14316620e-01 1.37542502e+02] [ 6.70102706e-01 6.20192196e-01 -4.07828399e-01 5.12681697e+01] [ 5.14843273e-01 7.43939675e-03 8.57252040e-01 4.40105816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:51.29, Z:44.02 [[ 5.35093229e-01 -7.86736901e-01 -3.07766608e-01 1.37555260e+02] [ 6.70176577e-01 6.17120879e-01 -4.12341093e-01 5.12922803e+01] [ 5.14333153e-01 1.43829550e-02 8.57469847e-01 4.40223667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:51.31, Z:44.04 [[ 5.35247602e-01 -7.87191736e-01 -3.06331808e-01 1.37569640e+02] [ 6.70674961e-01 6.16518414e-01 -4.12431985e-01 5.13135117e+01] [ 5.13522250e-01 1.53041579e-02 8.57939789e-01 4.40357021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.030385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:137.59, Y:51.33, Z:44.05 [[ 5.33772317e-01 -7.85356667e-01 -3.13531528e-01 1.37585442e+02] [ 6.70361133e-01 6.18988481e-01 -4.09230024e-01 5.13283451e+01] [ 5.15463932e-01 8.25630776e-03 8.56871500e-01 4.40534656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:51.34, Z:44.08 [[ 5.33411293e-01 -7.81609479e-01 -3.23355863e-01 1.37602313e+02] [ 6.68433787e-01 6.23768081e-01 -4.05104497e-01 5.13404829e+01] [ 5.18332581e-01 -5.46701821e-05 8.55179123e-01 4.40769010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.090385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.61, Y:51.37, Z:44.08 [[ 5.32077232e-01 -7.89614947e-01 -3.05617496e-01 1.37611028e+02] [ 6.72173040e-01 6.13414886e-01 -4.14614980e-01 5.13725278e+01] [ 5.14856507e-01 1.51793495e-02 8.57141975e-01 4.40787631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.63, Y:51.39, Z:44.09 [[ 5.30657126e-01 -7.90284097e-01 -3.06356100e-01 1.37625996e+02] [ 6.73881906e-01 6.12608357e-01 -4.13030481e-01 5.13922961e+01] [ 5.14087728e-01 1.27297350e-02 8.57643144e-01 4.40921149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.65, Y:51.40, Z:44.12 [[ 5.31362124e-01 -7.82061228e-01 -3.25629435e-01 1.37646279e+02] [ 6.70782850e-01 6.23183420e-01 -4.02110425e-01 5.13961690e+01] [ 5.17401838e-01 -4.76039044e-03 8.55729325e-01 4.41205057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:51.43, Z:44.12 [[ 5.30351767e-01 -7.94970595e-01 -2.94531419e-01 1.37650612e+02] [ 6.75516875e-01 6.06186004e-01 -4.19780275e-01 5.14345049e+01] [ 5.12253799e-01 2.36702667e-02 8.58507871e-01 4.41158752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:51.45, Z:44.13 [[ 5.30420374e-01 -7.90951675e-01 -3.05040448e-01 1.37668447e+02] [ 6.75934363e-01 6.11765342e-01 -4.10920800e-01 5.14469979e+01] [ 5.11631669e-01 1.17734434e-02 8.59124218e-01 4.41333801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:51.47, Z:44.15 [[ 5.29892422e-01 -7.92523528e-01 -3.01861688e-01 1.37682923e+02] [ 6.75452918e-01 6.09633004e-01 -4.14862575e-01 5.14688909e+01] [ 5.12813199e-01 1.59391767e-02 8.58352239e-01 4.41474451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.70, Y:51.48, Z:44.16 [[ 5.29505688e-01 -7.90201571e-01 -3.08553404e-01 1.37699452e+02] [ 6.75547448e-01 6.12785641e-01 -4.10035857e-01 5.14838900e+01] [ 5.13088074e-01 8.67385378e-03 8.58292137e-01 4.41640687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:51.50, Z:44.18 [[ 5.29493762e-01 -7.91582393e-01 -3.05014213e-01 1.37712767e+02] [ 6.75527384e-01 6.10933729e-01 -4.12822884e-01 5.15041023e+01] [ 5.13126797e-01 1.25416885e-02 8.58221182e-01 4.41752252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:51.51, Z:44.20 [[ 5.28780938e-01 -7.86071625e-01 -3.20128286e-01 1.37734033e+02] [ 6.72713868e-01 6.18135336e-01 -4.06650658e-01 5.15137366e+01] [ 5.17539149e-01 -3.25620537e-04 8.55659467e-01 4.41997623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.75, Y:51.54, Z:44.21 [[ 5.28991825e-01 -7.90162841e-01 -3.09532444e-01 1.37746540e+02] [ 6.72736630e-01 6.12796542e-01 -4.14615273e-01 5.15387781e+01] [ 5.17293993e-01 1.10942775e-02 8.55735848e-01 4.42092759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.390385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.76, Y:51.55, Z:44.22 [[ 5.29134262e-01 -7.88809369e-01 -3.12724658e-01 1.37762179e+02] [ 6.72739864e-01 6.14591035e-01 -4.11945306e-01 5.15548966e+01] [ 5.17144088e-01 7.59203185e-03 8.55864682e-01 4.42241851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:51.58, Z:44.24 [[ 5.29238754e-01 -7.89406236e-01 -3.11037193e-01 1.37776659e+02] [ 6.72699141e-01 6.13798528e-01 -4.13191520e-01 5.15750620e+01] [ 5.17090134e-01 9.44251308e-03 8.55878865e-01 4.42381430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:51.59, Z:44.25 [[ 5.30246587e-01 -7.90007953e-01 -3.07775879e-01 1.37791802e+02] [ 6.73243448e-01 6.12977948e-01 -4.13523029e-01 5.15949704e+01] [ 5.15346308e-01 1.20610807e-02 8.56897143e-01 4.42509717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:51.62, Z:44.26 [[ 5.30063218e-01 -7.91993990e-01 -3.02949672e-01 1.37805731e+02] [ 6.72786883e-01 6.10267080e-01 -4.18248611e-01 5.16158737e+01] [ 5.16130599e-01 1.78776393e-02 8.56323301e-01 4.42618000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:51.63, Z:44.28 [[ 5.29638021e-01 -7.88492527e-01 -3.12670917e-01 1.37823222e+02] [ 6.74199870e-01 6.15017249e-01 -4.08911138e-01 5.16286846e+01] [ 5.14721384e-01 5.77219428e-03 8.57338078e-01 4.42778287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:51.65, Z:44.29 [[ 5.30407935e-01 -7.92000903e-01 -3.02327624e-01 1.37836932e+02] [ 6.73959959e-01 6.10281216e-01 -4.16334974e-01 5.16526761e+01] [ 5.14242546e-01 1.70706610e-02 8.57474896e-01 4.42861745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:51.67, Z:44.30 [[ 5.30582564e-01 -7.90225662e-01 -3.06635851e-01 1.37854240e+02] [ 6.71858330e-01 6.12635971e-01 -4.16273408e-01 5.16684066e+01] [ 5.16806082e-01 1.48515612e-02 8.55973659e-01 4.43033280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:51.68, Z:44.33 [[ 5.31406546e-01 -7.85378235e-01 -3.17471434e-01 1.37874236e+02] [ 6.69993581e-01 6.18995351e-01 -4.09821128e-01 5.16796035e+01] [ 5.18377936e-01 5.07780750e-03 8.55136557e-01 4.43253903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:51.70, Z:44.33 [[ 5.34221483e-01 -7.88140164e-01 -3.05683643e-01 1.37888194e+02] [ 6.67700821e-01 6.15175825e-01 -4.19206773e-01 5.17022875e+01] [ 5.18442882e-01 1.98440444e-02 8.54881976e-01 4.43345791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:51.72, Z:44.35 [[ 5.33906506e-01 -7.85606297e-01 -3.12676493e-01 1.37908076e+02] [ 6.67990913e-01 6.18610584e-01 -4.13653341e-01 5.17172173e+01] [ 5.18393657e-01 1.19871540e-02 8.55058082e-01 4.43519504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:51.72, Z:44.38 [[ 5.34689115e-01 -7.79087238e-01 -3.27308150e-01 1.37929116e+02] [ 6.63889191e-01 6.26915131e-01 -4.07711368e-01 5.17234604e+01] [ 5.22837156e-01 7.02487663e-04 8.52432293e-01 4.43794864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:51.75, Z:44.39 [[ 5.35732997e-01 -7.83770571e-01 -3.14155771e-01 1.37942967e+02] [ 6.62419862e-01 6.20831204e-01 -4.19247590e-01 5.17467760e+01] [ 5.23631628e-01 1.65017451e-02 8.51784955e-01 4.43877089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:51.76, Z:44.40 [[ 5.35645192e-01 -7.83165901e-01 -3.15809120e-01 1.37959896e+02] [ 6.62026378e-01 6.21627126e-01 -4.18689372e-01 5.17636838e+01] [ 5.24218755e-01 1.51949811e-02 8.51448066e-01 4.44029047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:51.78, Z:44.42 [[ 5.36103312e-01 -7.81537499e-01 -3.19049175e-01 1.37977575e+02] [ 6.62087481e-01 6.23752839e-01 -4.15418541e-01 5.17793737e+01] [ 5.23672997e-01 1.14687911e-02 8.51842156e-01 4.44191442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:51.80, Z:44.43 [[ 5.36926157e-01 -7.81633265e-01 -3.17426750e-01 1.37995612e+02] [ 6.61637646e-01 6.23591254e-01 -4.16376721e-01 5.17981350e+01] [ 5.23398441e-01 1.35420647e-02 8.51980448e-01 4.44333568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:51.82, Z:44.45 [[ 5.37639527e-01 -7.81422593e-01 -3.16737228e-01 1.38011071e+02] [ 6.60974890e-01 6.23824681e-01 -4.17079084e-01 5.18171299e+01] [ 5.23503519e-01 1.48828471e-02 8.51893518e-01 4.44473998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:51.84, Z:44.46 [[ 5.39887187e-01 -7.81939988e-01 -3.11595380e-01 1.38025656e+02] [ 6.58596198e-01 6.22940679e-01 -4.22132632e-01 5.18386618e+01] [ 5.24187823e-01 2.26884666e-02 8.51300394e-01 4.44583361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:51.85, Z:44.47 [[ 5.37307379e-01 -7.81392841e-01 -3.17373609e-01 1.38041326e+02] [ 6.61391095e-01 6.23887137e-01 -4.16325186e-01 5.18529900e+01] [ 5.23318832e-01 1.37865155e-02 8.52025429e-01 4.44716790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:51.87, Z:44.49 [[ 5.38626531e-01 -7.80654224e-01 -3.16954953e-01 1.38059084e+02] [ 6.59873053e-01 6.24766447e-01 -4.17413992e-01 5.18713581e+01] [ 5.23878816e-01 1.56802179e-02 8.51648470e-01 4.44908507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:51.89, Z:44.50 [[ 5.38900499e-01 -7.82215831e-01 -3.12609414e-01 1.38071662e+02] [ 6.58705549e-01 6.22628599e-01 -4.22422333e-01 5.18928507e+01] [ 5.25064997e-01 2.17260502e-02 8.50784771e-01 4.45020455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:51.91, Z:44.52 [[ 5.37708707e-01 -7.82105372e-01 -3.14929411e-01 1.38088259e+02] [ 6.58774520e-01 6.22842741e-01 -4.21998877e-01 5.19122443e+01] [ 5.26199086e-01 1.94449995e-02 8.50139056e-01 4.45170062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:51.93, Z:44.54 [[ 5.36971075e-01 -7.79426472e-01 -3.22732767e-01 1.38106503e+02] [ 6.60634355e-01 6.26429973e-01 -4.13700058e-01 5.19251899e+01] [ 5.24618255e-01 8.93661110e-03 8.51290681e-01 4.45357897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:51.95, Z:44.55 [[ 5.36697247e-01 -7.83527963e-01 -3.13113392e-01 1.38118406e+02] [ 6.60516872e-01 6.21046431e-01 -4.21922733e-01 5.19501393e+01] [ 5.25046214e-01 1.96280913e-02 8.50847349e-01 4.45460832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:51.97, Z:44.56 [[ 5.36393792e-01 -7.82379580e-01 -3.16486798e-01 1.38134252e+02] [ 6.60627362e-01 6.22598556e-01 -4.19455035e-01 5.19677946e+01] [ 5.25217278e-01 1.59132385e-02 8.50819358e-01 4.45623236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:52.00, Z:44.56 [[ 5.35054331e-01 -7.89112875e-01 -3.01691454e-01 1.38144361e+02] [ 6.66435956e-01 6.13720862e-01 -4.23331808e-01 5.19979740e+01] [ 5.19210919e-01 2.54474849e-02 8.54267199e-01 4.45641053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:52.00, Z:44.60 [[ 5.35381430e-01 -7.78345184e-01 -3.27941304e-01 1.38167600e+02] [ 6.61930899e-01 6.27832891e-01 -4.09479360e-01 5.19978860e+01] [ 5.24608624e-01 2.15316330e-03 8.51340798e-01 4.45976099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:52.03, Z:44.61 [[ 5.34798984e-01 -7.84806606e-01 -3.13159125e-01 1.38177055e+02] [ 6.61690748e-01 6.19458743e-01 -4.22417115e-01 5.20262165e+01] [ 5.25504900e-01 1.86937485e-02 8.50585177e-01 4.46053082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:52.05, Z:44.62 [[ 5.34068171e-01 -7.84568094e-01 -3.14998563e-01 1.38192053e+02] [ 6.60750902e-01 6.19781447e-01 -4.23413751e-01 5.20451141e+01] [ 5.27427185e-01 1.79962227e-02 8.49409619e-01 4.46197366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:52.06, Z:44.64 [[ 5.33586731e-01 -7.83088189e-01 -3.19465318e-01 1.38208082e+02] [ 6.59986158e-01 6.21748982e-01 -4.21718478e-01 5.20619983e+01] [ 5.28869995e-01 1.41806961e-02 8.48584372e-01 4.46365642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:52.08, Z:44.65 [[ 5.34840803e-01 -7.79452165e-01 -3.26189573e-01 1.38224818e+02] [ 6.59823655e-01 6.26425592e-01 -4.14998460e-01 5.20763232e+01] [ 5.27804944e-01 6.73051356e-03 8.49338943e-01 4.46547506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:52.11, Z:44.65 [[ 5.33076084e-01 -7.90000014e-01 -3.02869389e-01 1.38228524e+02] [ 6.64023471e-01 6.12489419e-01 -4.28870076e-01 5.21115447e+01] [ 5.24311662e-01 2.75079978e-02 8.51082012e-01 4.46506007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:52.11, Z:44.68 [[ 5.35592748e-01 -7.79621283e-01 -3.24547476e-01 1.38252883e+02] [ 6.60065480e-01 6.26199864e-01 -4.14954565e-01 5.21147282e+01] [ 5.26738996e-01 8.02407006e-03 8.49989202e-01 4.46841192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.27, Y:52.14, Z:44.70 [[ 5.35592893e-01 -7.82820866e-01 -3.16751867e-01 1.38265411e+02] [ 6.60668720e-01 6.22046697e-01 -4.20207983e-01 5.21381567e+01] [ 5.25982029e-01 1.57923587e-02 8.50349050e-01 4.46959480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:52.16, Z:44.71 [[ 5.35557283e-01 -7.84739630e-01 -3.12029021e-01 1.38278734e+02] [ 6.60574996e-01 6.19468493e-01 -4.24145566e-01 5.21580261e+01] [ 5.26135982e-01 2.10356782e-02 8.50140241e-01 4.47091214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:52.17, Z:44.73 [[ 5.34967093e-01 -7.82517994e-01 -3.18552662e-01 1.38296883e+02] [ 6.62268714e-01 6.22510214e-01 -4.16990627e-01 5.21737303e+01] [ 5.24604955e-01 1.21088018e-02 8.51259666e-01 4.47286062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:52.19, Z:44.74 [[ 5.34344116e-01 -7.84147364e-01 -3.15577688e-01 1.38311059e+02] [ 6.62911019e-01 6.20399363e-01 -4.19110499e-01 5.21940884e+01] [ 5.24428590e-01 1.47493024e-02 8.51326678e-01 4.47422004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:52.21, Z:44.76 [[ 5.33765427e-01 -7.84495734e-01 -3.15691166e-01 1.38325562e+02] [ 6.63045090e-01 6.19961818e-01 -4.19545651e-01 5.22130218e+01] [ 5.24848243e-01 1.46214851e-02 8.51070229e-01 4.47567955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.500385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:138.34, Y:52.23, Z:44.77 [[ 5.33322399e-01 -7.84583330e-01 -3.16221785e-01 1.38340200e+02] [ 6.62524754e-01 6.19847285e-01 -4.20535721e-01 5.22322490e+01] [ 5.25954531e-01 1.47763592e-02 8.50384319e-01 4.47701512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:52.25, Z:44.78 [[ 5.33283341e-01 -7.84599235e-01 -3.16248192e-01 1.38353801e+02] [ 6.62335037e-01 6.19822231e-01 -4.20871358e-01 5.22503258e+01] [ 5.26233006e-01 1.49814258e-02 8.50208434e-01 4.47847715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:52.27, Z:44.80 [[ 5.33256960e-01 -7.84675974e-01 -3.16102247e-01 1.38367482e+02] [ 6.62363325e-01 6.19721881e-01 -4.20974603e-01 5.22681213e+01] [ 5.26224136e-01 1.51131012e-02 8.50211593e-01 4.47999151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.590385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:138.38, Y:52.29, Z:44.81 [[ 5.31881302e-01 -7.89011593e-01 -3.07510955e-01 1.38379221e+02] [ 6.61786364e-01 6.13852938e-01 -4.30375858e-01 5.22937954e+01] [ 5.28338044e-01 2.54023147e-02 8.48654013e-01 4.48102110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.620385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:138.40, Y:52.31, Z:44.83 [[ 5.30459812e-01 -7.85307944e-01 -3.19223780e-01 1.38396700e+02] [ 6.63069289e-01 6.18996304e-01 -4.20930746e-01 5.23053060e+01] [ 5.28158599e-01 1.16193594e-02 8.49066243e-01 4.48306200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.650385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:138.41, Y:52.32, Z:44.85 [[ 5.29425111e-01 -7.84869383e-01 -3.22007924e-01 1.38412973e+02] [ 6.66006441e-01 6.19637556e-01 -4.15312798e-01 5.23214518e+01] [ 5.25494503e-01 5.41767279e-03 8.50779746e-01 4.48483198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.680385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:138.42, Y:52.35, Z:44.86 [[ 5.27339922e-01 -7.92010822e-01 -3.07622276e-01 1.38423502e+02] [ 6.66854766e-01 6.10164407e-01 -4.27789806e-01 5.23484902e+01] [ 5.26514319e-01 2.04512623e-02 8.49920242e-01 4.48560208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.710385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:138.44, Y:52.36, Z:44.88 [[ 5.24578053e-01 -7.88086682e-01 -3.22082671e-01 1.38444286e+02] [ 6.71653208e-01 6.15564275e-01 -4.12265195e-01 5.23554604e+01] [ 5.23163296e-01 -6.25860651e-05 8.52232458e-01 4.48796888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.740385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:138.46, Y:52.38, Z:44.89 [[ 5.20294137e-01 -7.94557017e-01 -3.13006642e-01 1.38457003e+02] [ 6.75674794e-01 6.07159380e-01 -4.18116084e-01 5.23775631e+01] [ 5.22261987e-01 6.05264926e-03 8.52763615e-01 4.48910252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.770385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:138.46, Y:52.41, Z:44.89 [[ 5.15079042e-01 -8.03388681e-01 -2.98764469e-01 1.38461672e+02] [ 6.83373219e-01 5.95301446e-01 -4.22631318e-01 5.24062624e+01] [ 5.17392138e-01 1.35208975e-02 8.55641608e-01 4.48899169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.800385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:138.48, Y:52.43, Z:44.90 [[ 5.13572220e-01 -8.06520444e-01 -2.92862337e-01 1.38475480e+02] [ 6.85707871e-01 5.90949353e-01 -4.24951265e-01 5.24297819e+01] [ 5.15798692e-01 1.74251545e-02 8.56532588e-01 4.49002693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:52.45, Z:44.91 [[ 5.11154768e-01 -8.09484906e-01 -2.88885773e-01 1.38490303e+02] [ 6.88516373e-01 5.86836260e-01 -4.26108446e-01 5.24513588e+01] [ 5.14457002e-01 1.89047798e-02 8.57307764e-01 4.49114482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.860385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:138.52, Y:52.44, Z:44.96 [[ 5.12780715e-01 -7.93732188e-01 -3.27177554e-01 1.38521303e+02] [ 6.80546634e-01 6.08126640e-01 -4.08703155e-01 5.24446562e+01] [ 5.23366236e-01 -1.30844872e-02 8.52007382e-01 4.49571954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.890385723 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:138.53, Y:52.47, Z:44.97 [[ 5.11829468e-01 -7.99674253e-01 -3.13929427e-01 1.38530367e+02] [ 6.80905371e-01 6.00433447e-01 -4.19341808e-01 5.24727081e+01] [ 5.23830575e-01 8.75261090e-04 8.51822025e-01 4.49659213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.920385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:138.54, Y:52.49, Z:44.98 [[ 5.11312181e-01 -7.99926224e-01 -3.14130369e-01 1.38542921e+02] [ 6.80859869e-01 6.00097796e-01 -4.19895790e-01 5.24920745e+01] [ 5.24394596e-01 8.19070237e-04 8.51474977e-01 4.49793607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.950385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:138.54, Y:52.53, Z:44.97 [[ 5.08238200e-01 -8.11212321e-01 -2.89185930e-01 1.38543136e+02] [ 6.88276176e-01 5.84429990e-01 -4.29787729e-01 5.25318009e+01] [ 5.17658031e-01 1.93947558e-02 8.55367761e-01 4.49701532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.980385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:138.56, Y:52.55, Z:44.98 [[ 5.07423470e-01 -8.11175266e-01 -2.90716547e-01 1.38557200e+02] [ 6.89890489e-01 5.84581475e-01 -4.26984323e-01 5.25517119e+01] [ 5.16306630e-01 1.60992862e-02 8.56252461e-01 4.49819838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.010385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:138.58, Y:52.57, Z:45.00 [[ 5.05637171e-01 -8.08095404e-01 -3.02180193e-01 1.38575436e+02] [ 6.89102048e-01 5.89028623e-01 -4.22118050e-01 5.25652891e+01] [ 5.19104439e-01 5.20558652e-03 8.54694965e-01 4.50027188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.040385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:138.59, Y:52.59, Z:45.01 [[ 5.03562112e-01 -8.12914276e-01 -2.92567222e-01 1.38586027e+02] [ 6.91596779e-01 5.82240583e-01 -4.27422273e-01 5.25918669e+01] [ 5.17802178e-01 1.28951139e-02 8.55403192e-01 4.50098783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:138.60, Y:52.61, Z:45.03 [[ 5.02120961e-01 -8.10848705e-01 -3.00664127e-01 1.38602344e+02] [ 6.92261157e-01 5.85243062e-01 -4.22214458e-01 5.26060765e+01] [ 5.18313641e-01 3.86463330e-03 8.55181872e-01 4.50279327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10038572300002 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:138.63, Y:52.60, Z:45.08 [[ 4.98864922e-01 -7.96826003e-01 -3.40884307e-01 1.38630439e+02] [ 6.86857576e-01 6.03360763e-01 -4.05194349e-01 5.25970790e+01] [ 5.28545609e-01 -3.20017217e-02 8.48301497e-01 4.50783556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13038572300002 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:138.64, Y:52.63, Z:45.08 [[ 4.95624163e-01 -8.09315794e-01 -3.15221564e-01 1.38635337e+02] [ 6.90142433e-01 5.87319313e-01 -4.22799534e-01 5.26321819e+01] [ 5.27314053e-01 -7.99811152e-03 8.49632814e-01 4.50819852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16038572300002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:138.65, Y:52.65, Z:45.10 [[ 4.94072715e-01 -8.10556073e-01 -3.14469402e-01 1.38648506e+02] [ 6.92057431e-01 5.85590350e-01 -4.22066884e-01 5.26517428e+01] [ 5.26259123e-01 -9.09915512e-03 8.50275567e-01 4.50966281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19038572300002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:138.66, Y:52.67, Z:45.11 [[ 4.92865541e-01 -8.11666552e-01 -3.13497953e-01 1.38661832e+02] [ 6.93996936e-01 5.84034556e-01 -4.21036686e-01 5.26712922e+01] [ 5.24835033e-01 -1.00521443e-02 8.51144607e-01 4.51114750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.220385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:138.67, Y:52.69, Z:45.13 [[ 4.91610895e-01 -8.12969157e-01 -3.12089537e-01 1.38674530e+02] [ 6.96511079e-01 5.82199403e-01 -4.19423620e-01 5.26903307e+01] [ 5.22676808e-01 -1.11805991e-02 8.52457593e-01 4.51271072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.250385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:138.69, Y:52.71, Z:45.14 [[ 4.91736453e-01 -8.13131145e-01 -3.11469104e-01 1.38688007e+02] [ 6.97033989e-01 5.81974067e-01 -4.18867286e-01 5.27095745e+01] [ 5.21860978e-01 -1.11322386e-02 8.52957908e-01 4.51416314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:138.70, Y:52.73, Z:45.16 [[ 4.92937198e-01 -8.12493314e-01 -3.11235496e-01 1.38700769e+02] [ 6.96298627e-01 5.82880290e-01 -4.18830263e-01 5.27287263e+01] [ 5.21709825e-01 -1.02558322e-02 8.53061356e-01 4.51561697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.310385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:138.71, Y:52.75, Z:45.17 [[ 4.94029092e-01 -8.11873110e-01 -3.11122660e-01 1.38714012e+02] [ 6.95477126e-01 5.83758342e-01 -4.18972272e-01 5.27492882e+01] [ 5.21772770e-01 -9.39420235e-03 8.53032781e-01 4.51699364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.340385723 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:138.72, Y:52.79, Z:45.16 [[ 4.99933668e-01 -8.18939886e-01 -2.81786784e-01 1.38723468e+02] [ 6.93717763e-01 5.73442395e-01 -4.35797527e-01 5.27925124e+01] [ 5.18480466e-01 2.23893587e-02 8.54796305e-01 4.51646745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.75, Y:52.77, Z:45.21 [[ 5.01266248e-01 -7.94569297e-01 -3.42624840e-01 1.38748494e+02] [ 6.89652042e-01 6.06008785e-01 -3.96400573e-01 5.27724965e+01] [ 5.22601387e-01 -3.75896921e-02 8.51748088e-01 4.52094907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.75, Y:52.81, Z:45.21 [[ 5.08053042e-01 -8.03094730e-01 -3.11321316e-01 1.38752051e+02] [ 6.84418912e-01 5.95851244e-01 -4.20157172e-01 5.28100210e+01] [ 5.22927203e-01 3.87932912e-04 8.52377258e-01 4.52097309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.77, Y:52.83, Z:45.22 [[ 5.11065474e-01 -8.01262626e-01 -3.11111372e-01 1.38765815e+02] [ 6.82274077e-01 5.98307728e-01 -4.20154671e-01 5.28295012e+01] [ 5.22794573e-01 2.46332185e-03 8.52455141e-01 4.52238208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.460385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:138.78, Y:52.85, Z:45.24 [[ 5.16186100e-01 -7.97859446e-01 -3.11403622e-01 1.38779558e+02] [ 6.77878319e-01 6.02812318e-01 -4.20830481e-01 5.28489821e+01] [ 5.23481514e-01 6.13308067e-03 8.52014959e-01 4.52388520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:52.87, Z:45.25 [[ 5.18013027e-01 -7.96745756e-01 -3.11221310e-01 1.38793531e+02] [ 6.76559298e-01 6.04268685e-01 -4.20864435e-01 5.28683265e+01] [ 5.23383244e-01 7.45358914e-03 8.52064800e-01 4.52531934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:52.89, Z:45.27 [[ 5.21146886e-01 -7.94773166e-01 -3.11033018e-01 1.38807951e+02] [ 6.74244688e-01 6.06830110e-01 -4.20893477e-01 5.28872303e+01] [ 5.23259042e-01 9.63496522e-03 8.52119207e-01 4.52672790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:138.82, Y:52.91, Z:45.28 [[ 5.22252195e-01 -7.94043659e-01 -3.11042302e-01 1.38821954e+02] [ 6.73213597e-01 6.07768838e-01 -4.21189377e-01 5.29056055e+01] [ 5.23484572e-01 1.05691699e-02 8.51969598e-01 4.52813528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:52.92, Z:45.30 [[ 5.23131931e-01 -7.93500026e-01 -3.10951268e-01 1.38836068e+02] [ 6.72474867e-01 6.08464883e-01 -4.21364498e-01 5.29246527e+01] [ 5.23555667e-01 1.13223111e-02 8.51916233e-01 4.52956159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:52.96, Z:45.29 [[ 5.24835818e-01 -8.01755031e-01 -2.85895494e-01 1.38844056e+02] [ 6.76698307e-01 5.96748385e-01 -4.31243279e-01 5.29622705e+01] [ 5.16359143e-01 3.28669222e-02 8.55741200e-01 4.52891463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.87, Y:52.95, Z:45.33 [[ 5.24763454e-01 -7.85973746e-01 -3.26907615e-01 1.38869846e+02] [ 6.72001278e-01 6.18233159e-01 -4.07678849e-01 5.29533953e+01] [ 5.22529999e-01 -5.74737408e-03 8.52601529e-01 4.53322177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:52.98, Z:45.34 [[ 5.24516062e-01 -7.93033091e-01 -3.09808680e-01 1.38878729e+02] [ 6.72535258e-01 6.09057279e-01 -4.20411177e-01 5.29812965e+01] [ 5.22091206e-01 1.21551546e-02 8.52803040e-01 4.53394004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:53.00, Z:45.35 [[ 5.22585293e-01 -7.95627250e-01 -3.06401519e-01 1.38895274e+02] [ 6.75634552e-01 6.05654248e-01 -4.20358044e-01 5.30030676e+01] [ 5.20021696e-01 1.26574782e-02 8.54059263e-01 4.53494801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:53.02, Z:45.37 [[ 5.20766702e-01 -7.94587561e-01 -3.12142035e-01 1.38909773e+02] [ 6.75106607e-01 6.07102857e-01 -4.19114769e-01 5.30167274e+01] [ 5.22525703e-01 7.53186627e-03 8.52590265e-01 4.53692725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:53.06, Z:45.36 [[ 5.18057647e-01 -8.07629123e-01 -2.81693936e-01 1.38919797e+02] [ 6.82384938e-01 5.88811368e-01 -4.33188145e-01 5.30577094e+01] [ 5.15719954e-01 3.21927323e-02 8.56152181e-01 4.53610865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:53.05, Z:45.40 [[ 5.15160545e-01 -7.91825690e-01 -3.28057448e-01 1.38945562e+02] [ 6.80769297e-01 6.10566369e-01 -4.04675022e-01 5.30462047e+01] [ 5.20732924e-01 -1.48588336e-02 8.53590322e-01 4.54000832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:53.09, Z:45.39 [[ 5.14713813e-01 -8.09733289e-01 -2.81783057e-01 1.38949214e+02] [ 6.83591559e-01 5.85959940e-01 -4.35147709e-01 5.30926427e+01] [ 5.17467169e-01 3.13520175e-02 8.55128516e-01 4.53878075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:53.10, Z:45.42 [[ 5.12421228e-01 -8.00670446e-01 -3.10405093e-01 1.38974725e+02] [ 6.84573296e-01 5.99104961e-01 -4.15250103e-01 5.30951132e+01] [ 5.18443716e-01 2.87930321e-04 8.55111706e-01 4.54175945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:53.11, Z:45.43 [[ 5.11244201e-01 -8.01092390e-01 -3.11256084e-01 1.38990044e+02] [ 6.84738527e-01 5.98540451e-01 -4.15791389e-01 5.31135884e+01] [ 5.19386675e-01 -5.58096279e-04 8.54539157e-01 4.54341322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91038572300002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:139.01, Y:53.13, Z:45.45 [[ 5.09175153e-01 -8.01915789e-01 -3.12524767e-01 1.39006468e+02] [ 6.85816988e-01 5.97430905e-01 -4.15609639e-01 5.31309634e+01] [ 5.19995887e-01 -2.71669262e-03 8.54164444e-01 4.54517362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94038572300002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:139.02, Y:53.15, Z:45.46 [[ 5.07847874e-01 -8.04444538e-01 -3.08155031e-01 1.39019535e+02] [ 6.87478838e-01 5.94027691e-01 -4.17736699e-01 5.31521480e+01] [ 5.19098627e-01 2.96632071e-04 8.54714296e-01 4.54633434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.970385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:139.03, Y:53.17, Z:45.48 [[ 5.07560567e-01 -8.04945739e-01 -3.07318448e-01 1.39033659e+02] [ 6.87564782e-01 5.93347326e-01 -4.18561371e-01 5.31724759e+01] [ 5.19265772e-01 1.14390499e-03 8.54612046e-01 4.54778864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.05, Y:53.18, Z:45.50 [[ 5.06490646e-01 -8.00637118e-01 -3.20074102e-01 1.39050224e+02] [ 6.85964636e-01 5.99059782e-01 -4.13013190e-01 5.31785406e+01] [ 5.22417212e-01 -1.03721976e-02 8.52626926e-01 4.55045092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.030385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:139.06, Y:53.21, Z:45.50 [[ 5.06680811e-01 -8.09480776e-01 -2.96673944e-01 1.39061123e+02] [ 6.89259654e-01 5.87049668e-01 -4.24610195e-01 5.32130180e+01] [ 5.17876130e-01 1.06564581e-02 8.55389241e-01 4.55048161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.060385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.08, Y:53.22, Z:45.53 [[ 5.06238140e-01 -8.04719999e-01 -3.10078490e-01 1.39079961e+02] [ 6.89486061e-01 5.93642875e-01 -4.14966394e-01 5.32218607e+01] [ 5.18007642e-01 -3.72298134e-03 8.55367887e-01 4.55257883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:53.24, Z:45.54 [[ 5.05357606e-01 -8.06556837e-01 -3.06724238e-01 1.39093541e+02] [ 6.90076878e-01 5.91156179e-01 -4.17526375e-01 5.32434433e+01] [ 5.18080681e-01 -6.63174560e-04 8.55331496e-01 4.55384955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.10, Y:53.27, Z:45.54 [[ 5.03683618e-01 -8.11583661e-01 -2.96031710e-01 1.39104625e+02] [ 6.92105538e-01 5.84172167e-01 -4.23949057e-01 5.32692442e+01] [ 5.17003613e-01 8.65100855e-03 8.55939498e-01 4.55449997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:53.28, Z:45.56 [[ 5.01332107e-01 -8.09635646e-01 -3.05215069e-01 1.39121408e+02] [ 6.93138287e-01 5.86930076e-01 -4.18416541e-01 5.32829301e+01] [ 5.17904851e-01 -1.79060419e-03 8.55436356e-01 4.55634999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.14, Y:53.30, Z:45.58 [[ 4.98271586e-01 -8.09588112e-01 -3.10310354e-01 1.39140997e+02] [ 6.93771811e-01 5.86952492e-01 -4.17333735e-01 5.32986777e+01] [ 5.20005866e-01 -7.33903384e-03 8.54131160e-01 4.55837298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:53.32, Z:45.59 [[ 4.95612478e-01 -8.15733288e-01 -2.98240631e-01 1.39148537e+02] [ 6.97176519e-01 5.78424843e-01 -4.23520487e-01 5.33244250e+01] [ 5.17989550e-01 1.97567272e-03 8.55384664e-01 4.55882692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:53.34, Z:45.61 [[ 4.92652018e-01 -8.15574770e-01 -3.03532178e-01 1.39167295e+02] [ 6.98601316e-01 5.78632614e-01 -4.20880624e-01 5.33404083e+01] [ 5.18893236e-01 -4.70029035e-03 8.54826133e-01 4.56084305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:53.36, Z:45.62 [[ 4.90956322e-01 -8.16287024e-01 -3.04363903e-01 1.39181626e+02] [ 7.00069524e-01 5.77604738e-01 -4.19851673e-01 5.33592740e+01] [ 5.18521505e-01 -6.94706000e-03 8.55036366e-01 4.56231382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:53.37, Z:45.65 [[ 4.88022467e-01 -8.13749107e-01 -3.15668279e-01 1.39197263e+02] [ 7.00164509e-01 5.80923465e-01 -4.15087446e-01 5.33709501e+01] [ 5.21156149e-01 -1.84477261e-02 8.53261947e-01 4.56460772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:53.40, Z:45.66 [[ 4.86989055e-01 -8.17459096e-01 -3.07574847e-01 1.39209065e+02] [ 7.00966501e-01 5.75886951e-01 -4.20713898e-01 5.33958277e+01] [ 5.21044744e-01 -1.07166001e-02 8.53462084e-01 4.56576650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.22, Y:53.41, Z:45.67 [[ 4.85353219e-01 -8.18032084e-01 -3.08635323e-01 1.39221236e+02] [ 7.00794345e-01 5.75059454e-01 -4.22130205e-01 5.34141273e+01] [ 5.22799712e-01 -1.14076355e-02 8.52379216e-01 4.56731048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:53.44, Z:45.69 [[ 4.84862788e-01 -8.18784932e-01 -3.07407404e-01 1.39234693e+02] [ 7.01513128e-01 5.73997769e-01 -4.22381217e-01 5.34353396e+01] [ 5.22290540e-01 -1.08533946e-02 8.52698537e-01 4.56866828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:53.46, Z:45.70 [[ 4.83677210e-01 -8.19448293e-01 -3.07507482e-01 1.39246003e+02] [ 7.02032841e-01 5.73040267e-01 -4.22817624e-01 5.34558416e+01] [ 5.22691350e-01 -1.13731026e-02 8.52446131e-01 4.57002088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:53.48, Z:45.71 [[ 4.83317652e-01 -8.19883664e-01 -3.06911753e-01 1.39258296e+02] [ 7.02218296e-01 5.72426180e-01 -4.23341154e-01 5.34761174e+01] [ 5.22774819e-01 -1.09107958e-02 8.52400987e-01 4.57142121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.27, Y:53.50, Z:45.72 [[ 4.83434124e-01 -8.22216455e-01 -3.00418955e-01 1.39267554e+02] [ 7.02952868e-01 5.69153104e-01 -4.26523164e-01 5.34996872e+01] [ 5.21678745e-01 -4.98451367e-03 8.53127447e-01 4.57243664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:53.52, Z:45.74 [[ 4.83647977e-01 -8.20240268e-01 -3.05434995e-01 1.39281999e+02] [ 7.02853567e-01 5.71929734e-01 -4.22957732e-01 5.35177089e+01] [ 5.21614319e-01 -1.01134242e-02 8.53121457e-01 4.57405163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:53.54, Z:45.75 [[ 4.84607790e-01 -8.22560162e-01 -2.97573638e-01 1.39291824e+02] [ 7.02907337e-01 5.68674131e-01 -4.27236479e-01 5.35442132e+01] [ 5.20650137e-01 -2.12456741e-03 8.53767487e-01 4.57502203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:53.56, Z:45.77 [[ 4.85345352e-01 -8.20323312e-01 -3.02505459e-01 1.39306122e+02] [ 7.02347244e-01 5.71860446e-01 -4.23891471e-01 5.35617575e+01] [ 5.20718962e-01 -6.73011996e-03 8.53701627e-01 4.57666435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:53.57, Z:45.79 [[ 4.86874222e-01 -8.14458486e-01 -3.15611894e-01 1.39322637e+02] [ 6.97645572e-01 5.80016759e-01 -4.20560596e-01 5.35733600e+01] [ 5.25589333e-01 -1.54251274e-02 8.50598565e-01 4.57933665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:53.61, Z:45.79 [[ 4.87277822e-01 -8.23726709e-01 -2.89887276e-01 1.39325979e+02] [ 6.97927743e-01 5.66881503e-01 -4.37655376e-01 5.36140080e+01] [ 5.24840157e-01 1.09393863e-02 8.51130506e-01 4.57899090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:53.62, Z:45.82 [[ 4.89485444e-01 -8.13442657e-01 -3.14189503e-01 1.39347032e+02] [ 6.97386605e-01 5.81475866e-01 -4.18972244e-01 5.36203307e+01] [ 5.23503508e-01 -1.40307355e-02 8.51907985e-01 4.58161475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:53.65, Z:45.83 [[ 4.92379255e-01 -8.14547434e-01 -3.06716721e-01 1.39356472e+02] [ 6.94038354e-01 5.80089563e-01 -4.26388159e-01 5.36465339e+01] [ 5.25236550e-01 -2.92848383e-03 8.50951227e-01 4.58271659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:53.66, Z:45.85 [[ 4.93833553e-01 -8.09137029e-01 -3.18474002e-01 1.39372131e+02] [ 6.89889885e-01 5.87519763e-01 -4.22933180e-01 5.36578762e+01] [ 5.29320667e-01 -1.08533979e-02 8.48352424e-01 4.58522010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:53.69, Z:45.85 [[ 4.97437331e-01 -8.14407632e-01 -2.98824885e-01 1.39378375e+02] [ 6.90224715e-01 5.80226312e-01 -4.32350865e-01 5.36920130e+01] [ 5.25495904e-01 8.81113941e-03 8.50750503e-01 4.58543424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:53.71, Z:45.87 [[ 4.98991205e-01 -8.10468284e-01 -3.06836989e-01 1.39393126e+02] [ 6.89422601e-01 5.85781529e-01 -4.26094446e-01 5.37072917e+01] [ 5.25075475e-01 1.07702592e-03 8.51054984e-01 4.58722987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:53.73, Z:45.88 [[ 4.99675316e-01 -8.12054406e-01 -3.01483367e-01 1.39403943e+02] [ 6.88334714e-01 5.83529653e-01 -4.30915845e-01 5.37310226e+01] [ 5.25851595e-01 7.79654408e-03 8.50540601e-01 4.58835209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:53.75, Z:45.90 [[ 5.03946470e-01 -8.07696356e-01 -3.06046650e-01 1.39415716e+02] [ 6.87803955e-01 5.89591568e-01 -4.23447165e-01 5.37483435e+01] [ 5.22459257e-01 2.89460803e-03 8.52659338e-01 4.58972775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.43, Y:53.77, Z:45.92 [[ 5.06322528e-01 -8.04736327e-01 -3.09898276e-01 1.39428436e+02] [ 6.84882196e-01 5.93629988e-01 -4.22539721e-01 5.37678798e+01] [ 5.23997973e-01 1.69756740e-03 8.51717819e-01 4.59163105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.44, Y:53.80, Z:45.92 [[ 5.06456850e-01 -8.09324674e-01 -2.97481144e-01 1.39436864e+02] [ 6.85969136e-01 5.87205026e-01 -4.29693614e-01 5.37955082e+01] [ 5.22444067e-01 1.35583908e-02 8.52565755e-01 4.59233587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:53.81, Z:45.94 [[ 5.06450639e-01 -8.06854297e-01 -3.04128088e-01 1.39452251e+02] [ 6.85347542e-01 5.90706019e-01 -4.25869870e-01 5.38116586e+01] [ 5.23265227e-01 7.24863035e-03 8.52139050e-01 4.59412344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:53.83, Z:45.96 [[ 5.05020586e-01 -8.07442437e-01 -3.04944124e-01 1.39464341e+02] [ 6.85376893e-01 5.89909392e-01 -4.26925549e-01 5.38329581e+01] [ 5.24607208e-01 6.60453465e-03 8.51318775e-01 4.59560920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:53.84, Z:45.99 [[ 5.02018787e-01 -8.01329425e-01 -3.25343342e-01 1.39481302e+02] [ 6.82471113e-01 5.98119633e-01 -4.20102468e-01 5.38389026e+01] [ 5.31234710e-01 -1.11381009e-02 8.47151478e-01 4.59870971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:53.88, Z:45.98 [[ 5.00835710e-01 -8.15283866e-01 -2.90647225e-01 1.39484339e+02] [ 6.87806569e-01 5.78731673e-01 -4.38168659e-01 5.38807601e+01] [ 5.25438593e-01 1.95414409e-02 8.50607088e-01 4.59807886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.50, Y:53.90, Z:46.00 [[ 4.96959317e-01 -8.14861242e-01 -2.98383298e-01 1.39500657e+02] [ 6.88366482e-01 5.79544308e-01 -4.36210937e-01 5.38986564e+01] [ 5.28377728e-01 1.13820282e-02 8.48933110e-01 4.59991303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.52, Y:53.91, Z:46.02 [[ 4.95098838e-01 -8.09881248e-01 -3.14594192e-01 1.39518695e+02] [ 6.91898392e-01 5.86521496e-01 -4.21033431e-01 5.39079949e+01] [ 5.25503336e-01 -9.21405331e-03 8.50741644e-01 4.60209710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:53.93, Z:46.04 [[ 4.93389428e-01 -8.11643002e-01 -3.12733928e-01 1.39530959e+02] [ 6.91605875e-01 5.84115625e-01 -4.24841442e-01 5.39283575e+01] [ 5.27492357e-01 -6.67634633e-03 8.49533542e-01 4.60377099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:53.94, Z:46.06 [[ 4.90691412e-01 -8.10173422e-01 -3.20688266e-01 1.39543800e+02] [ 6.90580061e-01 5.86035391e-01 -4.23865191e-01 5.39418345e+01] [ 5.31338986e-01 -1.34739130e-02 8.47052145e-01 4.60609311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.55, Y:53.98, Z:46.06 [[ 4.90341468e-01 -8.18267158e-01 -3.00006839e-01 1.39552489e+02] [ 6.92723999e-01 5.74809258e-01 -4.35577523e-01 5.39757693e+01] [ 5.28865490e-01 5.75978499e-03 8.48686113e-01 4.60641416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:53.99, Z:46.08 [[ 4.88261138e-01 -8.15971551e-01 -3.09502002e-01 1.39567335e+02] [ 6.93466328e-01 5.78073303e-01 -4.30041519e-01 5.39924878e+01] [ 5.29816490e-01 -4.65665535e-03 8.48099524e-01 4.60817079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:54.00, Z:46.10 [[ 4.86951850e-01 -8.12110087e-01 -3.21488882e-01 1.39580982e+02] [ 6.91417519e-01 5.83318442e-01 -4.26241024e-01 5.40037937e+01] [ 5.33685029e-01 -1.47241898e-02 8.45555136e-01 4.61040157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:54.05, Z:46.10 [[ 4.87141052e-01 -8.23737620e-01 -2.90086070e-01 1.39585774e+02] [ 6.94820005e-01 5.66796063e-01 -4.42682036e-01 5.40450001e+01] [ 5.29073489e-01 1.40909882e-02 8.48459008e-01 4.61000703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:54.04, Z:46.14 [[ 4.86185528e-01 -8.09331468e-01 -3.29554559e-01 1.39608703e+02] [ 6.91330012e-01 5.86904178e-01 -4.21433626e-01 5.40403371e+01] [ 5.34496443e-01 -2.29360273e-02 8.44859451e-01 4.61376601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.61, Y:54.09, Z:46.13 [[ 4.86741290e-01 -8.24990842e-01 -2.87181175e-01 1.39609391e+02] [ 6.95626940e-01 5.64912277e-01 -4.43821224e-01 5.40883041e+01] [ 5.28380617e-01 1.62551533e-02 8.48851986e-01 4.61282758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.63, Y:54.08, Z:46.17 [[ 4.85533905e-01 -8.08839603e-01 -3.31715729e-01 1.39632823e+02] [ 6.91846289e-01 5.87468729e-01 -4.19796623e-01 5.40813415e+01] [ 5.34420751e-01 -2.56708028e-02 8.44828663e-01 4.61678710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:54.13, Z:46.16 [[ 4.86349500e-01 -8.26128180e-01 -2.84563514e-01 1.39632178e+02] [ 6.96336759e-01 5.63187450e-01 -4.44898882e-01 5.41317358e+01] [ 5.27806103e-01 1.82243140e-02 8.49169354e-01 4.61565654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:54.14, Z:46.18 [[ 4.86680660e-01 -8.18362677e-01 -3.05654156e-01 1.39653568e+02] [ 6.96167329e-01 5.74691994e-01 -4.30209440e-01 5.41409808e+01] [ 5.27724345e-01 -3.41182342e-03 8.49408838e-01 4.61797814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:54.16, Z:46.19 [[ 4.89718822e-01 -8.18066013e-01 -3.01568356e-01 1.39666526e+02] [ 6.95033792e-01 5.75121829e-01 -4.31466000e-01 5.41642616e+01] [ 5.26406215e-01 1.69682321e-03 8.50231508e-01 4.61917815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:54.18, Z:46.21 [[ 4.89650520e-01 -8.16419783e-01 -3.06106364e-01 1.39679311e+02] [ 6.94631747e-01 5.77453122e-01 -4.28992572e-01 5.41835250e+01] [ 5.27000098e-01 -2.57476195e-03 8.49861322e-01 4.62070989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.500385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:139.69, Y:54.20, Z:46.22 [[ 4.93446787e-01 -8.13497162e-01 -3.07786673e-01 1.39692743e+02] [ 6.90490083e-01 5.81568815e-01 -4.30117611e-01 5.42046477e+01] [ 5.28898586e-01 -2.83492139e-04 8.48684986e-01 4.62223468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.530385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.71, Y:54.22, Z:46.24 [[ 4.92983821e-01 -8.10952985e-01 -3.15154261e-01 1.39705299e+02] [ 6.89446242e-01 5.85072231e-01 -4.27029700e-01 5.42225956e+01] [ 5.30689016e-01 -6.76318786e-03 8.47539632e-01 4.62398220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.560385723 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:139.72, Y:54.25, Z:46.25 [[ 4.99381670e-01 -8.13399310e-01 -2.98327856e-01 1.39715225e+02] [ 6.85417923e-01 5.81528609e-01 -4.38208567e-01 5.42522157e+01] [ 5.29924729e-01 1.43540666e-02 8.47923194e-01 4.62469006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.590385723 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:139.73, Y:54.26, Z:46.27 [[ 5.01050971e-01 -8.06570684e-01 -3.13674442e-01 1.39733386e+02] [ 6.83120188e-01 5.91137361e-01 -4.28839631e-01 5.42620492e+01] [ 5.31314157e-01 5.93169821e-04 8.47174666e-01 4.62677794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.620385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:139.75, Y:54.28, Z:46.29 [[ 5.01180425e-01 -8.04482427e-01 -3.18788654e-01 1.39745725e+02] [ 6.80226524e-01 5.93974344e-01 -4.29518747e-01 5.42809703e+01] [ 5.34892566e-01 -1.58210931e-03 8.44918600e-01 4.62871548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.75, Y:54.31, Z:46.30 [[ 5.01310685e-01 -8.08341084e-01 -3.08662096e-01 1.39754129e+02] [ 6.80562935e-01 5.88651058e-01 -4.36261416e-01 5.43053390e+01] [ 5.34342295e-01 8.63852718e-03 8.45224046e-01 4.62960148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.680385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.77, Y:54.33, Z:46.31 [[ 5.01656770e-01 -8.10454940e-01 -3.02495082e-01 1.39766115e+02] [ 6.80759805e-01 5.85613603e-01 -4.40025904e-01 5.43282951e+01] [ 5.33766402e-01 1.48154808e-02 8.45502176e-01 4.63063316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.710385723 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:139.79, Y:54.34, Z:46.32 [[ 5.04312144e-01 -8.06473297e-01 -3.08658522e-01 1.39786026e+02] [ 6.79529981e-01 5.91196688e-01 -4.34425460e-01 5.43409708e+01] [ 5.32830429e-01 9.34331537e-03 8.46170453e-01 4.63237672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.740385723 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:139.80, Y:54.36, Z:46.34 [[ 5.01121477e-01 -8.08599288e-01 -3.08292811e-01 1.39800546e+02] [ 6.80385152e-01 5.88287080e-01 -4.37029011e-01 5.43616525e+01] [ 5.34746025e-01 9.24677238e-03 8.44962239e-01 4.63413479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.82, Y:54.37, Z:46.36 [[ 4.98473346e-01 -8.05199059e-01 -3.21214567e-01 1.39815453e+02] [ 6.82030171e-01 5.92977081e-01 -4.28033909e-01 5.43725608e+01] [ 5.35125378e-01 -5.71453154e-03 8.44753322e-01 4.63612874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.83, Y:54.37, Z:46.39 [[ 4.96284058e-01 -7.98144730e-01 -3.41565696e-01 1.39829949e+02] [ 6.78519155e-01 6.02031698e-01 -4.20915182e-01 5.43748442e+01] [ 5.41584610e-01 -2.28653726e-02 8.40335222e-01 4.63925221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.83, Y:54.41, Z:46.40 [[ 4.96484650e-01 -8.09966713e-01 -3.12180902e-01 1.39833834e+02] [ 6.78948355e-01 5.86429671e-01 -4.41734504e-01 5.44081125e+01] [ 5.40862388e-01 7.35969086e-03 8.41078898e-01 4.63955828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.85, Y:54.43, Z:46.41 [[ 4.96371697e-01 -8.10172461e-01 -3.11826428e-01 1.39848539e+02] [ 6.79303852e-01 5.86145442e-01 -4.41565168e-01 5.44267529e+01] [ 5.40519579e-01 7.35555787e-03 8.41299281e-01 4.64102756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.86, Y:54.45, Z:46.43 [[ 4.96168619e-01 -8.10351112e-01 -3.11685380e-01 1.39862421e+02] [ 6.79452311e-01 5.85898314e-01 -4.41664717e-01 5.44466868e+01] [ 5.40519433e-01 7.36482084e-03 8.41299294e-01 4.64253253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.88, Y:54.46, Z:46.44 [[ 4.95866378e-01 -8.10594188e-01 -3.11534265e-01 1.39877759e+02] [ 6.79697785e-01 5.85562897e-01 -4.41731836e-01 5.44638243e+01] [ 5.40488165e-01 7.29081561e-03 8.41320027e-01 4.64404985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.89, Y:54.48, Z:46.46 [[ 4.95334044e-01 -8.10719519e-01 -3.12054556e-01 1.39892693e+02] [ 6.79161734e-01 5.85388095e-01 -4.42786763e-01 5.44809374e+01] [ 5.41648893e-01 7.39184486e-03 8.40572327e-01 4.64554247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.91, Y:54.50, Z:46.47 [[ 4.95119497e-01 -8.10837503e-01 -3.12088494e-01 1.39907142e+02] [ 6.79067796e-01 5.85223515e-01 -4.43148244e-01 5.45002959e+01] [ 5.41962741e-01 7.48208997e-03 8.40369208e-01 4.64706078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.010385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.92, Y:54.52, Z:46.49 [[ 4.95368344e-01 -8.10777104e-01 -3.11850430e-01 1.39921728e+02] [ 6.79027378e-01 5.85303772e-01 -4.43104181e-01 5.45196221e+01] [ 5.41785957e-01 7.74480437e-03 8.40480812e-01 4.64854350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.040385723 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:139.93, Y:54.56, Z:46.48 [[ 4.97922251e-01 -8.23730473e-01 -2.71185433e-01 1.39928948e+02] [ 6.82384019e-01 5.65127477e-01 -4.63662577e-01 5.45646881e+01] [ 5.35187333e-01 4.58153084e-02 8.43490057e-01 4.64758516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07038572300002 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:139.96, Y:54.56, Z:46.51 [[ 4.96747005e-01 -8.08381071e-01 -3.15851954e-01 1.39959285e+02] [ 6.81035556e-01 5.88658239e-01 -4.35513546e-01 5.45594889e+01] [ 5.37989762e-01 1.23363842e-03 8.42950470e-01 4.65086843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:54.57, Z:46.53 [[ 4.94172611e-01 -8.06683477e-01 -3.24122198e-01 1.39972412e+02] [ 6.80856058e-01 5.90943946e-01 -4.32689591e-01 5.45731927e+01] [ 5.40581594e-01 -6.85721705e-03 8.41263644e-01 4.65282670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13038572300002 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:139.98, Y:54.61, Z:46.53 [[ 4.96540074e-01 -8.16810729e-01 -2.93714468e-01 1.39980147e+02] [ 6.81203414e-01 5.76404831e-01 -4.51352833e-01 5.46083888e+01] [ 5.37968274e-01 2.40354708e-02 8.42622354e-01 4.65293005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16038572300002 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:140.00, Y:54.61, Z:46.56 [[ 4.95092851e-01 -8.06439284e-01 -3.23324527e-01 1.40002215e+02] [ 6.80047896e-01 5.91293489e-01 -4.33482259e-01 5.46071863e+01] [ 5.40756810e-01 -5.26219683e-03 8.41162518e-01 4.65591852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19038572300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:140.01, Y:54.63, Z:46.57 [[ 4.96210614e-01 -8.11841391e-01 -3.07715100e-01 1.40012378e+02] [ 6.79075342e-01 5.83757056e-01 -4.45066714e-01 5.46339088e+01] [ 5.40954441e-01 1.18850907e-02 8.40967917e-01 4.65707495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:54.63, Z:46.61 [[ 4.97690966e-01 -8.01520460e-01 -3.31464409e-01 1.40034728e+02] [ 6.72016554e-01 5.97943663e-01 -4.36871980e-01 5.46337028e+01] [ 5.48358874e-01 -5.32233174e-03 8.36226177e-01 4.66064565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:54.66, Z:46.61 [[ 4.98277898e-01 -8.07485612e-01 -3.15731094e-01 1.40043351e+02] [ 6.71745684e-01 5.89779862e-01 -4.48238162e-01 5.46600693e+01] [ 5.48157707e-01 1.12561695e-02 8.36299245e-01 4.66144471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.04, Y:54.70, Z:46.60 [[ 4.97871914e-01 -8.20576184e-01 -2.80674694e-01 1.40044983e+02] [ 6.79989269e-01 5.70230456e-01 -4.60924963e-01 5.47028469e+01] [ 5.38273306e-01 3.86258134e-02 8.41884728e-01 4.66000431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.06, Y:54.72, Z:46.62 [[ 4.97750335e-01 -8.15756592e-01 -2.94594276e-01 1.40064500e+02] [ 6.80127439e-01 5.77890482e-01 -4.51075668e-01 5.47156232e+01] [ 5.38211177e-01 2.41614144e-02 8.42463622e-01 4.66180842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.08, Y:54.73, Z:46.64 [[ 4.97290611e-01 -8.13493621e-01 -3.01546311e-01 1.40083296e+02] [ 6.78962283e-01 5.81286598e-01 -4.48459708e-01 5.47300175e+01] [ 5.40103941e-01 1.82762306e-02 8.41399853e-01 4.66366114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:54.72, Z:46.68 [[ 4.97087111e-01 -7.98200053e-01 -3.40266189e-01 1.40110326e+02] [ 6.69954178e-01 6.02269254e-01 -4.34088868e-01 5.47216638e+01] [ 5.51421621e-01 -1.21827735e-02 8.34137744e-01 4.66831955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.12, Y:54.75, Z:46.69 [[ 4.95212864e-01 -8.09784617e-01 -3.14663461e-01 1.40118586e+02] [ 6.71137458e-01 5.86576279e-01 -4.53324146e-01 5.47540687e+01] [ 5.51669042e-01 1.33095138e-02 8.33956908e-01 4.66886590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:54.79, Z:46.68 [[ 4.93546920e-01 -8.19676713e-01 -2.90760250e-01 1.40124020e+02] [ 6.80549242e-01 5.72140196e-01 -4.57720794e-01 5.47892169e+01] [ 5.41538702e-01 2.80300205e-02 8.40208398e-01 4.66813973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:54.80, Z:46.70 [[ 4.89688210e-01 -8.20263146e-01 -2.95590641e-01 1.40140479e+02] [ 6.84984735e-01 5.71681012e-01 -4.51637834e-01 5.48037655e+01] [ 5.39445428e-01 1.86866460e-02 8.41813186e-01 4.66954600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.490385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.17, Y:54.79, Z:46.74 [[ 4.89137571e-01 -8.04209562e-01 -3.37626149e-01 1.40170461e+02] [ 6.76442918e-01 5.94143660e-01 -4.35222116e-01 5.47939280e+01] [ 5.50608223e-01 -1.55013287e-02 8.34619850e-01 4.67445169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.520385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:140.18, Y:54.82, Z:46.75 [[ 4.85600324e-01 -8.14974389e-01 -3.16242109e-01 1.40180066e+02] [ 6.79220735e-01 5.79483753e-01 -4.50397350e-01 5.48238088e+01] [ 5.50319469e-01 3.91490188e-03 8.34945001e-01 4.67471398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.18, Y:54.86, Z:46.74 [[ 4.82349324e-01 -8.27495448e-01 -2.87385479e-01 1.40182847e+02] [ 6.88438195e-01 5.60962894e-01 -4.59753720e-01 5.48606521e+01] [ 5.41656700e-01 2.39147552e-02 8.40259545e-01 4.67397140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:140.20, Y:54.87, Z:46.76 [[ 4.79555625e-01 -8.24614820e-01 -3.00061329e-01 1.40202990e+02] [ 6.90528145e-01 5.65623115e-01 -4.50822995e-01 5.48722620e+01] [ 5.41476946e-01 8.99391050e-03 8.40667489e-01 4.67591941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.21, Y:54.91, Z:46.76 [[ 4.76848043e-01 -8.33819640e-01 -2.78138010e-01 1.40207603e+02] [ 6.96588789e-01 5.51465627e-01 -4.58965926e-01 5.49070172e+01] [ 5.36078355e-01 2.51091841e-02 8.43794718e-01 4.67568953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:54.89, Z:46.81 [[ 4.77447680e-01 -8.15353376e-01 -3.27479138e-01 1.40242614e+02] [ 6.88609631e-01 5.78717013e-01 -4.36924930e-01 5.48927718e+01] [ 5.45765965e-01 -1.68964942e-02 8.37767282e-01 4.68063551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:54.91, Z:46.83 [[ 4.79369961e-01 -8.16079850e-01 -3.22828313e-01 1.40257743e+02] [ 6.82999668e-01 5.77904186e-01 -4.46696994e-01 5.49105096e+01] [ 5.51104250e-01 -6.35851009e-03 8.34412174e-01 4.68290260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:54.93, Z:46.84 [[ 4.79228921e-01 -8.18534809e-01 -3.16765541e-01 1.40271390e+02] [ 6.83067224e-01 5.74456885e-01 -4.51019350e-01 5.49318173e+01] [ 5.51143184e-01 -2.30642202e-04 8.34410653e-01 4.68415312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:54.95, Z:46.86 [[ 4.79163636e-01 -8.18580879e-01 -3.16745251e-01 1.40285860e+02] [ 6.82933621e-01 5.74391277e-01 -4.51305140e-01 5.49505622e+01] [ 5.51365468e-01 -6.69687743e-05 8.34263817e-01 4.68567743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:54.98, Z:46.85 [[ 4.77873854e-01 -8.25282790e-01 -3.00906789e-01 1.40292343e+02] [ 6.88368003e-01 5.64622632e-01 -4.55357855e-01 5.49803915e+01] [ 5.45697785e-01 1.04690077e-02 8.37916659e-01 4.68544948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:54.99, Z:46.89 [[ 4.81629985e-01 -8.15735393e-01 -3.20325344e-01 1.40316075e+02] [ 6.80243065e-01 5.78424275e-01 -4.50216316e-01 5.49859165e+01] [ 5.52541338e-01 -1.06141572e-03 8.33484819e-01 4.68880521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:55.02, Z:46.88 [[ 4.80566756e-01 -8.23423222e-01 -3.01711435e-01 1.40320165e+02] [ 6.85519571e-01 5.67290625e-01 -4.56337884e-01 5.50173393e+01] [ 5.46917280e-01 1.24717227e-02 8.37093750e-01 4.68847652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:55.02, Z:46.92 [[ 4.87035985e-01 -8.12656061e-01 -3.19978243e-01 1.40344805e+02] [ 6.76548359e-01 5.82736924e-01 -4.50222162e-01 5.50217954e+01] [ 5.52338906e-01 2.79363859e-03 8.33614976e-01 4.69184224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:55.04, Z:46.93 [[ 4.90833434e-01 -8.11752981e-01 -3.16448477e-01 1.40357860e+02] [ 6.74454505e-01 5.83941550e-01 -4.51800162e-01 5.50410819e+01] [ 5.51537543e-01 8.32852430e-03 8.34108491e-01 4.69323711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:55.07, Z:46.93 [[ 4.90472887e-01 -8.18436759e-01 -2.99328613e-01 1.40362176e+02] [ 6.79658734e-01 5.74233637e-01 -4.56420568e-01 5.50715618e+01] [ 5.45435929e-01 2.04206074e-02 8.37903722e-01 4.69301326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:55.08, Z:46.96 [[ 4.94548751e-01 -8.07944835e-01 -3.20385200e-01 1.40386260e+02] [ 6.72523618e-01 5.89227672e-01 -4.47797647e-01 5.50756587e+01] [ 5.50575622e-01 5.99115301e-03 8.34763793e-01 4.69639399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:55.11, Z:46.96 [[ 4.95812049e-01 -8.16068224e-01 -2.96990011e-01 1.40389340e+02] [ 6.77468990e-01 5.77426959e-01 -4.55646656e-01 5.51093803e+01] [ 5.43328796e-01 2.47135795e-02 8.39156159e-01 4.69589304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:55.12, Z:46.98 [[ 4.98874364e-01 -8.10907419e-01 -3.05865211e-01 1.40406199e+02] [ 6.75080670e-01 5.84903131e-01 -4.49615854e-01 5.51219645e+01] [ 5.43498351e-01 1.78181315e-02 8.39221101e-01 4.69796251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:55.15, Z:46.99 [[ 5.00669490e-01 -8.13566207e-01 -2.95702703e-01 1.40418166e+02] [ 6.74795649e-01 5.80776156e-01 -4.55356881e-01 5.51464329e+01] [ 5.42200050e-01 2.84444002e-02 8.39767838e-01 4.69891682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:55.16, Z:47.01 [[ 5.01051883e-01 -8.08503397e-01 -3.08657202e-01 1.40435535e+02] [ 6.73002627e-01 5.88248011e-01 -4.48365633e-01 5.51580330e+01] [ 5.44072123e-01 1.69273368e-02 8.38867684e-01 4.70111849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.090385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.45, Y:55.19, Z:47.02 [[ 5.03602199e-01 -8.11413741e-01 -2.96635409e-01 1.40447508e+02] [ 6.71623438e-01 5.83671210e-01 -4.56344033e-01 5.51852622e+01] [ 5.43421367e-01 3.05885653e-02 8.38902591e-01 4.70205387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:55.19, Z:47.06 [[ 5.06548542e-01 -8.00544040e-01 -3.20215264e-01 1.40473248e+02] [ 6.64554126e-01 5.99123975e-01 -4.46562735e-01 5.51888693e+01] [ 5.49341778e-01 1.34053273e-02 8.35490220e-01 4.70553164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.150385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.47, Y:55.22, Z:47.05 [[ 5.03238697e-01 -8.11814177e-01 -2.96156303e-01 1.40473860e+02] [ 6.71060505e-01 5.83053459e-01 -4.57959019e-01 5.52246550e+01] [ 5.44452581e-01 3.17239022e-02 8.38191495e-01 4.70468755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.180385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.49, Y:55.25, Z:47.06 [[ 5.02158260e-01 -8.12307972e-01 -2.96635873e-01 1.40489446e+02] [ 6.70457311e-01 5.82351485e-01 -4.59732250e-01 5.52453424e+01] [ 5.46190513e-01 3.19766567e-02 8.37050427e-01 4.70622049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.51, Y:55.25, Z:47.08 [[ 5.01041868e-01 -8.07606728e-01 -3.11011927e-01 1.40506964e+02] [ 6.70138429e-01 5.89459426e-01 -4.51056616e-01 5.52537732e+01] [ 5.47605270e-01 1.75772054e-02 8.36552156e-01 4.70819695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:55.26, Z:47.11 [[ 5.03197813e-01 -8.02888739e-01 -3.19627335e-01 1.40530557e+02] [ 6.63703980e-01 5.95931500e-01 -4.52064901e-01 5.52645358e+01] [ 5.53433816e-01 1.53401346e-02 8.32751879e-01 4.71123526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.270385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.54, Y:55.29, Z:47.11 [[ 4.96309871e-01 -8.14727713e-01 -2.99825394e-01 1.40535603e+02] [ 6.73203394e-01 5.79247866e-01 -4.59640186e-01 5.52949167e+01] [ 5.48154817e-01 2.62804888e-02 8.35963894e-01 4.71092095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.300385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.56, Y:55.30, Z:47.14 [[ 4.97370730e-01 -8.06126187e-01 -3.20597768e-01 1.40562383e+02] [ 6.67510000e-01 5.91644092e-01 -4.52092544e-01 5.52986441e+01] [ 5.54123414e-01 1.08553824e-02 8.32363744e-01 4.71446101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:55.32, Z:47.16 [[ 4.94086912e-01 -8.09398550e-01 -3.17414729e-01 1.40577769e+02] [ 6.69850874e-01 5.87138314e-01 -4.54497972e-01 5.53176836e+01] [ 5.54236348e-01 1.19409654e-02 8.32273683e-01 4.71589995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.360385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:140.59, Y:55.34, Z:47.17 [[ 4.92838345e-01 -8.10304033e-01 -3.17045327e-01 1.40592632e+02] [ 6.71074371e-01 5.85904028e-01 -4.54285878e-01 5.53365701e+01] [ 5.53867813e-01 1.11285074e-02 8.32530241e-01 4.71743326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:55.35, Z:47.19 [[ 4.91038791e-01 -8.11621626e-01 -3.16466809e-01 1.40607279e+02] [ 6.72992546e-01 5.84100616e-01 -4.53770321e-01 5.53539184e+01] [ 5.53138264e-01 9.83902648e-03 8.33031364e-01 4.71894585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:55.37, Z:47.21 [[ 4.90551715e-01 -8.12098132e-01 -3.15999428e-01 1.40621642e+02] [ 6.73857306e-01 5.83444462e-01 -4.53330885e-01 5.53731587e+01] [ 5.52517281e-01 9.44372016e-03 8.33447941e-01 4.72050055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:55.39, Z:47.22 [[ 4.89708148e-01 -8.12850627e-01 -3.15372459e-01 1.40636155e+02] [ 6.75151581e-01 5.82405922e-01 -4.52740196e-01 5.53912170e+01] [ 5.51684940e-01 8.78634881e-03 8.34006312e-01 4.72205517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.480385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.65, Y:55.41, Z:47.24 [[ 4.89108661e-01 -8.13363200e-01 -3.14980988e-01 1.40649964e+02] [ 6.75933006e-01 5.81695440e-01 -4.52487554e-01 5.54093157e+01] [ 5.51259729e-01 8.40953561e-03 8.34291310e-01 4.72360716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.510385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.66, Y:55.43, Z:47.25 [[ 4.88204202e-01 -8.14064035e-01 -3.14573369e-01 1.40664393e+02] [ 6.76943679e-01 5.80722336e-01 -4.52226519e-01 5.54267030e+01] [ 5.50821126e-01 7.83043305e-03 8.34586587e-01 4.72523808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:55.45, Z:47.27 [[ 4.86365714e-01 -8.16823154e-01 -3.10239144e-01 1.40676950e+02] [ 6.77263733e-01 5.76762192e-01 -4.56792305e-01 5.54483586e+01] [ 5.52052741e-01 1.20543949e-02 8.33722054e-01 4.72657863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:55.47, Z:47.28 [[ 4.85031191e-01 -8.16628158e-01 -3.12830936e-01 1.40691038e+02] [ 6.77483686e-01 5.77089834e-01 -4.56051728e-01 5.54654978e+01] [ 5.52956236e-01 9.26145762e-03 8.33158824e-01 4.72816749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:55.49, Z:47.29 [[ 4.81577693e-01 -8.20856104e-01 -3.07047525e-01 1.40703469e+02] [ 6.77519292e-01 5.70930875e-01 -4.63686905e-01 5.54898446e+01] [ 5.55923138e-01 1.52706480e-02 8.31093420e-01 4.72948922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:55.49, Z:47.32 [[ 4.81316646e-01 -8.10427302e-01 -3.33978853e-01 1.40725395e+02] [ 6.81580671e-01 5.85608197e-01 -4.38760560e-01 5.54893890e+01] [ 5.51164291e-01 -1.64507692e-02 8.34234557e-01 4.73224180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66038572300002 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:140.73, Y:55.52, Z:47.33 [[ 4.79899915e-01 -8.19310756e-01 -3.13729115e-01 1.40733400e+02] [ 6.82764723e-01 5.73341107e-01 -4.52893264e-01 5.55197670e+01] [ 5.50934120e-01 3.14026603e-03 8.34542829e-01 4.73282699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:55.54, Z:47.34 [[ 4.76423342e-01 -8.21444038e-01 -3.13449344e-01 1.40746787e+02] [ 6.85372980e-01 5.70288422e-01 -4.52807899e-01 5.55383942e+01] [ 5.50712881e-01 8.98542338e-04 8.34694265e-01 4.73431068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.720385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:140.76, Y:55.56, Z:47.36 [[ 4.74873078e-01 -8.22367650e-01 -3.13379973e-01 1.40759642e+02] [ 6.86323566e-01 5.68956452e-01 -4.53043616e-01 5.55572246e+01] [ 5.50867972e-01 5.81557624e-05 8.34592400e-01 4.73578181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:55.58, Z:47.37 [[ 4.72614946e-01 -8.23769597e-01 -3.13111425e-01 1.40772843e+02] [ 6.88041231e-01 5.66923136e-01 -4.52987221e-01 5.55771726e+01] [ 5.50667211e-01 -1.34503945e-03 8.34723795e-01 4.73733731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:55.60, Z:47.39 [[ 4.72401509e-01 -8.23949410e-01 -3.12960355e-01 1.40786423e+02] [ 6.88187788e-01 5.66661794e-01 -4.53091580e-01 5.55970852e+01] [ 5.50667216e-01 -1.33434873e-03 8.34723809e-01 4.73887765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:55.62, Z:47.40 [[ 4.71330811e-01 -8.24609994e-01 -3.12834819e-01 1.40799274e+02] [ 6.88901170e-01 5.65698460e-01 -4.53211242e-01 5.56159590e+01] [ 5.50692695e-01 -1.89985032e-03 8.34705904e-01 4.74036422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.840385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:140.81, Y:55.64, Z:47.41 [[ 4.67559838e-01 -8.31307796e-01 -3.00524784e-01 1.40807172e+02] [ 6.88190276e-01 5.55697770e-01 -4.66469862e-01 5.56442640e+01] [ 5.54780985e-01 1.12843390e-02 8.31919901e-01 4.74119911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.870385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:140.83, Y:55.65, Z:47.44 [[ 4.68242644e-01 -8.20096865e-01 -3.28922421e-01 1.40827174e+02] [ 6.90521610e-01 5.71883450e-01 -4.42864793e-01 5.56459535e+01] [ 5.51297317e-01 -1.97598583e-02 8.34074826e-01 4.74402508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.900385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.83, Y:55.68, Z:47.45 [[ 4.66728611e-01 -8.27214571e-01 -3.12858527e-01 1.40833434e+02] [ 6.91281115e-01 5.61870341e-01 -4.54348039e-01 5.56756199e+01] [ 5.51629245e-01 -4.21596236e-03 8.34078774e-01 4.74476142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.930385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.84, Y:55.69, Z:47.46 [[ 4.66801587e-01 -8.28398283e-01 -3.09600651e-01 1.40842449e+02] [ 6.91071887e-01 5.60139057e-01 -4.56797421e-01 5.56944632e+01] [ 5.51829616e-01 -7.22544665e-04 8.33956565e-01 4.74576648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:55.72, Z:47.48 [[ 4.65052336e-01 -8.29159542e-01 -3.10194743e-01 1.40855745e+02] [ 6.93503759e-01 5.58999429e-01 -4.54502118e-01 5.57156739e+01] [ 5.50253452e-01 -3.75394835e-03 8.34989249e-01 4.74770008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.990385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:140.85, Y:55.77, Z:47.45 [[ 4.61691607e-01 -8.49721045e-01 -2.54587913e-01 1.40845464e+02] [ 7.05788587e-01 5.25748251e-01 -4.74817067e-01 5.57740582e+01] [ 5.37311204e-01 3.95338117e-02 8.42456971e-01 4.74453169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.020385723 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:140.88, Y:55.75, Z:47.50 [[ 4.63657095e-01 -8.21746670e-01 -3.31292181e-01 1.40880505e+02] [ 7.00255144e-01 5.68950541e-01 -4.31205305e-01 5.57462717e+01] [ 5.42830389e-01 -3.20576547e-02 8.39230287e-01 4.75024013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.88, Y:55.78, Z:47.50 [[ 4.62667031e-01 -8.33625915e-01 -3.01673751e-01 1.40883918e+02] [ 7.01120766e-01 5.52322042e-01 -4.50965668e-01 5.57838992e+01] [ 5.42557729e-01 -2.86278430e-03 8.40013640e-01 4.75048274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.90, Y:55.80, Z:47.52 [[ 4.63528081e-01 -8.32002518e-01 -3.04817204e-01 1.40895853e+02] [ 6.99918646e-01 5.54750837e-01 -4.49850418e-01 5.58037563e+01] [ 5.43374280e-01 -4.82894409e-03 8.39476666e-01 4.75213700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.86, Y:55.90, Z:47.45 [[ 4.56248240e-01 -8.69547259e-01 -1.89010866e-01 1.40857621e+02] [ 7.22644178e-01 4.86006913e-01 -4.91510602e-01 5.58960216e+01] [ 5.19252285e-01 8.76632449e-02 8.50113063e-01 4.74509750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:55.82, Z:47.57 [[ 4.63465402e-01 -8.11887229e-01 -3.55019646e-01 1.40928704e+02] [ 7.03232426e-01 5.80764423e-01 -4.10093697e-01 5.58182003e+01] [ 5.39132615e-01 -5.95970865e-02 8.40109642e-01 4.75650873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:55.93, Z:47.49 [[ 4.60870022e-01 -8.64376343e-01 -2.01127722e-01 1.40885230e+02] [ 7.17836287e-01 4.96339084e-01 -4.88219806e-01 5.59285057e+01] [ 5.21833199e-01 8.06290954e-02 8.49228509e-01 4.74878976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.96, Y:55.85, Z:47.61 [[ 4.69473591e-01 -8.00696816e-01 -3.72127876e-01 1.40958386e+02] [ 6.92158773e-01 5.95415805e-01 -4.07916967e-01 5.58455599e+01] [ 5.48188635e-01 -6.60653304e-02 8.33741322e-01 4.76138251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.230385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:140.95, Y:55.90, Z:47.60 [[ 4.71670706e-01 -8.26534269e-01 -3.07193501e-01 1.40952849e+02] [ 6.90574052e-01 5.62882563e-01 -4.54170341e-01 5.59014224e+01] [ 5.48301216e-01 2.07898440e-03 8.36278335e-01 4.75989935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.96, Y:55.93, Z:47.61 [[ 4.72047871e-01 -8.29112966e-01 -2.99570521e-01 1.40963367e+02] [ 6.87970769e-01 5.58943220e-01 -4.62902471e-01 5.59281165e+01] [ 5.51241352e-01 1.24163645e-02 8.34253442e-01 4.76117867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.290385723 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:140.98, Y:55.94, Z:47.63 [[ 4.74310188e-01 -8.23397951e-01 -3.11521523e-01 1.40978904e+02] [ 6.86705004e-01 5.67462190e-01 -4.54337870e-01 5.59387326e+01] [ 5.50877557e-01 1.57369213e-03 8.34584591e-01 4.76296291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:55.96, Z:47.65 [[ 4.77206626e-01 -8.21220567e-01 -3.12842797e-01 1.40991562e+02] [ 6.85335608e-01 5.70608872e-01 -4.52460627e-01 5.59577444e+01] [ 5.50080848e-01 1.51490100e-03 8.35110032e-01 4.76455988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35038572300002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:141.00, Y:55.98, Z:47.66 [[ 4.79604392e-01 -8.20060901e-01 -3.12217464e-01 1.41004269e+02] [ 6.85129446e-01 5.72271902e-01 -4.50668961e-01 5.59767780e+01] [ 5.48249277e-01 2.23343501e-03 8.36311989e-01 4.76607583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38038572300002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:141.02, Y:56.00, Z:47.67 [[ 4.83315253e-01 -8.20077843e-01 -3.06396308e-01 1.41015296e+02] [ 6.83077315e-01 5.72163029e-01 -4.53910619e-01 5.59995116e+01] [ 5.47550681e-01 1.00895584e-02 8.36711690e-01 4.76741912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41038572300002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:141.00, Y:56.08, Z:47.63 [[ 4.81109295e-01 -8.47903082e-01 -2.22697575e-01 1.40997584e+02] [ 6.95946567e-01 5.23880211e-01 -4.91129210e-01 5.60760472e+01] [ 5.33096823e-01 8.13012153e-02 8.42138878e-01 4.76296836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.06, Y:56.00, Z:47.74 [[ 4.85998408e-01 -7.93658251e-01 -3.65940061e-01 1.41058421e+02] [ 6.78940441e-01 6.06516339e-01 -4.13736399e-01 5.60046267e+01] [ 5.50313933e-01 -4.73762750e-02 8.33612658e-01 4.77357337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.470385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:141.03, Y:56.10, Z:47.67 [[ 4.87124606e-01 -8.40576532e-01 -2.36940313e-01 1.41032141e+02] [ 6.93087978e-01 5.37157463e-01 -4.80719164e-01 5.61028861e+01] [ 5.31355505e-01 6.99496509e-02 8.44256107e-01 4.76723312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:56.10, Z:47.70 [[ 4.86663022e-01 -8.29743705e-01 -2.73284625e-01 1.41057054e+02] [ 6.93281720e-01 5.57169303e-01 -4.57080764e-01 5.61031137e+01] [ 5.31525691e-01 3.29810708e-02 8.46399840e-01 4.76994880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.08, Y:56.11, Z:47.72 [[ 4.89037298e-01 -8.22249944e-01 -2.91114326e-01 1.41077082e+02] [ 6.90654104e-01 5.68863189e-01 -4.46532844e-01 5.61140437e+01] [ 5.32765830e-01 1.73119116e-02 8.46085615e-01 4.77235466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.11, Y:56.09, Z:47.79 [[ 4.90441484e-01 -7.93723578e-01 -3.59819445e-01 1.41109000e+02] [ 6.73036803e-01 6.07264596e-01 -4.22198025e-01 5.60856792e+01] [ 5.53614137e-01 -3.51083034e-02 8.32032929e-01 4.77937501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:56.13, Z:47.79 [[ 4.91877820e-01 -8.13674503e-01 -3.09822550e-01 1.41107962e+02] [ 6.72812143e-01 5.81078567e-01 -4.57899028e-01 5.61318534e+01] [ 5.52612007e-01 1.67780022e-02 8.33269745e-01 4.77858506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.620385723 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:141.12, Y:56.16, Z:47.80 [[ 4.90029956e-01 -8.19674005e-01 -2.96656649e-01 1.41117365e+02] [ 6.69838256e-01 5.71857739e-01 -4.73598393e-01 5.61605003e+01] [ 5.57841692e-01 3.33654270e-02 8.29276429e-01 4.77954585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:56.16, Z:47.82 [[ 4.90580301e-01 -8.07276898e-01 -3.28077701e-01 1.41140334e+02] [ 6.71033383e-01 5.90172864e-01 -4.48787465e-01 5.61611774e+01] [ 5.55918309e-01 1.52005499e-05 8.31236930e-01 4.78230731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.15, Y:56.19, Z:47.83 [[ 4.90020147e-01 -8.14504518e-01 -3.10584361e-01 1.41149284e+02] [ 6.72027028e-01 5.79909666e-01 -4.60526278e-01 5.61881469e+01] [ 5.55211607e-01 1.69460697e-02 8.31536471e-01 4.78302609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:56.24, Z:47.80 [[ 4.86500813e-01 -8.34726586e-01 -2.57969930e-01 1.41144770e+02] [ 6.86971551e-01 5.47909628e-01 -4.77352205e-01 5.62420669e+01] [ 5.39802785e-01 5.50142329e-02 8.39991897e-01 4.78028784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:141.19, Y:56.21, Z:47.88 [[ 4.86965438e-01 -8.04829704e-01 -3.39284260e-01 1.41186763e+02] [ 6.74343769e-01 5.93322866e-01 -4.39577591e-01 5.62075208e+01] [ 5.55090212e-01 -1.47351327e-02 8.31659625e-01 4.78754189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:56.24, Z:47.88 [[ 4.86409284e-01 -8.17004877e-01 -3.09691848e-01 1.41192287e+02] [ 6.75450710e-01 5.76448425e-01 -4.59862536e-01 5.62421046e+01] [ 5.54231312e-01 1.44998282e-02 8.32236389e-01 4.78781782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:56.26, Z:47.89 [[ 4.84581285e-01 -8.18164632e-01 -3.09495741e-01 1.41206798e+02] [ 6.76809543e-01 5.74828198e-01 -4.59892798e-01 5.62601343e+01] [ 5.54174901e-01 1.33857718e-02 8.32292617e-01 4.78926290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.830385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:141.22, Y:56.28, Z:47.91 [[ 4.83332217e-01 -8.18873008e-01 -3.09575458e-01 1.41220728e+02] [ 6.77411770e-01 5.73833265e-01 -4.60248495e-01 5.62794608e+01] [ 5.54529766e-01 1.27428664e-02 8.32066318e-01 4.79077065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.860385723 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:141.23, Y:56.30, Z:47.92 [[ 4.81635445e-01 -8.21961563e-01 -3.03984354e-01 1.41231970e+02] [ 6.76881201e-01 5.69225261e-01 -4.66705949e-01 5.62988571e+01] [ 5.56649924e-01 1.90208325e-02 8.30529391e-01 4.79179870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.890385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.24, Y:56.33, Z:47.91 [[ 4.78898122e-01 -8.32429346e-01 -2.78779433e-01 1.41235935e+02] [ 6.84040962e-01 5.52882831e-01 -4.75824061e-01 5.63331407e+01] [ 5.50222274e-01 3.71746976e-02 8.34190320e-01 4.79118589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.920385723 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:141.26, Y:56.33, Z:47.96 [[ 4.78574637e-01 -8.18603957e-01 -3.17574998e-01 1.41263787e+02] [ 6.78111612e-01 5.74343668e-01 -4.58578230e-01 5.63269334e+01] [ 5.57791143e-01 4.11261598e-03 8.29971160e-01 4.79565890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.950385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:141.27, Y:56.37, Z:47.94 [[ 4.77651754e-01 -8.32112952e-01 -2.81845414e-01 1.41265296e+02] [ 6.86067030e-01 5.53678151e-01 -4.71966667e-01 5.63692324e+01] [ 5.48781225e-01 3.20708603e-02 8.35350602e-01 4.79443247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.980385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:141.30, Y:56.35, Z:48.01 [[ 4.80949972e-01 -8.07806387e-01 -3.40787272e-01 1.41300247e+02] [ 6.73372075e-01 5.89263456e-01 -4.46473548e-01 5.63460675e+01] [ 5.61477670e-01 -1.47451920e-02 8.27360505e-01 4.80099528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.010385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:141.29, Y:56.41, Z:47.98 [[ 4.78183039e-01 -8.34589803e-01 -2.73497426e-01 1.41289232e+02] [ 6.86176307e-01 5.49393971e-01 -4.76789619e-01 5.64092003e+01] [ 5.48181591e-01 4.03252549e-02 8.35386627e-01 4.79754354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.040385723 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:141.32, Y:56.40, Z:48.02 [[ 4.79392194e-01 -8.15561876e-01 -3.24101761e-01 1.41318100e+02] [ 6.80073246e-01 5.78651595e-01 -4.50180753e-01 5.63967886e+01] [ 5.54692260e-01 -4.59979739e-03 8.32042870e-01 4.80212798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.33, Y:56.42, Z:48.03 [[ 4.79238105e-01 -8.21550735e-01 -3.08844990e-01 1.41326563e+02] [ 6.80546296e-01 5.70040036e-01 -4.60338025e-01 5.64244042e+01] [ 5.54245052e-01 1.04282089e-02 8.32288216e-01 4.80297411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10038572300002 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:141.34, Y:56.45, Z:48.04 [[ 4.79428879e-01 -8.24313204e-01 -3.01090838e-01 1.41337845e+02] [ 6.78851220e-01 5.65780943e-01 -4.68030924e-01 5.64482295e+01] [ 5.56155528e-01 1.99916587e-02 8.30837747e-01 4.80407912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13038572300002 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:141.35, Y:56.46, Z:48.06 [[ 4.80145018e-01 -8.19687248e-01 -3.12367694e-01 1.41354933e+02] [ 6.78512837e-01 5.72741956e-01 -4.59985850e-01 5.64619109e+01] [ 5.55950620e-01 8.91442378e-03 8.31167517e-01 4.80612052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.37, Y:56.47, Z:48.09 [[ 4.79867565e-01 -8.11613690e-01 -3.33182140e-01 1.41372647e+02] [ 6.78015173e-01 5.84076215e-01 -4.46262703e-01 5.64694606e+01] [ 5.56796683e-01 -1.17555495e-02 8.30565627e-01 4.80863286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19038572300002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:141.37, Y:56.52, Z:48.08 [[ 4.80781185e-01 -8.29352115e-01 -2.84648064e-01 1.41372596e+02] [ 6.77793222e-01 5.57462542e-01 -4.79407825e-01 5.65154533e+01] [ 5.56278527e-01 3.75577338e-02 8.30146744e-01 4.80775722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.220385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.39, Y:56.52, Z:48.10 [[ 4.77775815e-01 -8.19710042e-01 -3.15920429e-01 1.41394492e+02] [ 6.80235937e-01 5.72767170e-01 -4.57402273e-01 5.65208683e+01] [ 5.55886086e-01 3.63531489e-03 8.31250530e-01 4.81046832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.250385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:141.39, Y:56.57, Z:48.09 [[ 4.76381406e-01 -8.35226264e-01 -2.74695913e-01 1.41392803e+02] [ 6.87425747e-01 5.48600336e-01 -4.75902840e-01 5.65664489e+01] [ 5.48184821e-01 3.78782209e-02 8.35499038e-01 4.80870485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.280385723 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:141.42, Y:56.56, Z:48.13 [[ 4.75737480e-01 -8.19614524e-01 -3.19227008e-01 1.41421788e+02] [ 6.84607246e-01 5.72900369e-01 -4.50664050e-01 5.65566995e+01] [ 5.52256071e-01 -4.14734289e-03 8.33664220e-01 4.81313522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.310385723 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:141.43, Y:56.59, Z:48.14 [[ 4.72372621e-01 -8.32025401e-01 -2.90857075e-01 1.41426297e+02] [ 6.84894072e-01 5.54207304e-01 -4.73047962e-01 5.65914344e+01] [ 5.54783036e-01 2.42486192e-02 8.31641622e-01 4.81355607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.340385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:141.44, Y:56.61, Z:48.15 [[ 4.71396256e-01 -8.29504833e-01 -2.99511772e-01 1.41442001e+02] [ 6.91818303e-01 5.58433687e-01 -4.57754577e-01 5.66081525e+01] [ 5.46967098e-01 8.57606801e-03 8.37110175e-01 4.81471490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.46, Y:56.62, Z:48.18 [[ 4.71736535e-01 -8.24293259e-01 -3.13057924e-01 1.41461255e+02] [ 6.87903216e-01 5.66161971e-01 -4.54147319e-01 5.66167259e+01] [ 5.51592066e-01 -1.11567005e-03 8.34113271e-01 4.81777421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:56.63, Z:48.19 [[ 4.70608460e-01 -8.27399620e-01 -3.06492328e-01 1.41472796e+02] [ 6.86611679e-01 5.61571776e-01 -4.61737525e-01 5.66349847e+01] [ 5.54158894e-01 6.85637392e-03 8.32382671e-01 4.81947806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.430385723 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:141.48, Y:56.66, Z:48.21 [[ 4.70205798e-01 -8.29173254e-01 -3.02288310e-01 1.41484785e+02] [ 6.87357134e-01 5.58896159e-01 -4.63869866e-01 5.66560196e+01] [ 5.53576262e-01 1.03342739e-02 8.32734367e-01 4.82095097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.460385723 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:141.50, Y:56.67, Z:48.23 [[ 4.70420116e-01 -8.27198197e-01 -3.07324027e-01 1.41497948e+02] [ 6.87554915e-01 5.61887426e-01 -4.59946474e-01 5.66712668e+01] [ 5.53148401e-01 5.06592877e-03 8.33067334e-01 4.82260328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.490385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.51, Y:56.70, Z:48.23 [[ 4.71895910e-01 -8.29546675e-01 -2.98607711e-01 1.41507205e+02] [ 6.90187686e-01 5.58326321e-01 -4.60339742e-01 5.66953903e+01] [ 5.48593847e-01 1.11370764e-02 8.36014806e-01 4.82305850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:56.72, Z:48.25 [[ 4.72841091e-01 -8.28141202e-01 -3.01004072e-01 1.41521217e+02] [ 6.87243968e-01 5.60397518e-01 -4.62223270e-01 5.67170326e+01] [ 5.51468069e-01 1.16949219e-02 8.34114019e-01 4.82473722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.550385723 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:141.54, Y:56.73, Z:48.27 [[ 4.73582251e-01 -8.22504663e-01 -3.14969729e-01 1.41537404e+02] [ 6.82552541e-01 5.68753426e-01 -4.58957045e-01 5.67256215e+01] [ 5.56634422e-01 2.37052120e-03 8.30754176e-01 4.82728541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:56.76, Z:48.27 [[ 4.73685245e-01 -8.30809041e-01 -2.92196212e-01 1.41542507e+02] [ 6.84862549e-01 5.56084724e-01 -4.70885408e-01 5.67613792e+01] [ 5.53701704e-01 2.29372276e-02 8.32399127e-01 4.82683408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:56.78, Z:48.29 [[ 4.73853680e-01 -8.28571291e-01 -2.98215201e-01 1.41557755e+02] [ 6.83957225e-01 5.59600223e-01 -4.68027889e-01 5.67770049e+01] [ 5.54675765e-01 1.78102967e-02 8.31875946e-01 4.82866624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.640385723 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:141.58, Y:56.78, Z:48.32 [[ 4.74167884e-01 -8.21033232e-01 -3.17913905e-01 1.41578156e+02] [ 6.80431250e-01 5.70878306e-01 -4.59468468e-01 5.67804638e+01] [ 5.58729033e-01 1.54663560e-03 8.29348827e-01 4.83197834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.670385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.59, Y:56.80, Z:48.33 [[ 4.73768441e-01 -8.22527260e-01 -3.14630532e-01 1.41589695e+02] [ 6.82198164e-01 5.68717403e-01 -4.59528215e-01 5.68005558e+01] [ 5.56910343e-01 3.06959503e-03 8.30566943e-01 4.83344032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.700385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.60, Y:56.82, Z:48.35 [[ 4.73648761e-01 -8.25090350e-01 -3.08030463e-01 1.41600958e+02] [ 6.82373128e-01 5.64920115e-01 -4.63931221e-01 5.68241371e+01] [ 5.56797778e-01 9.54873747e-03 8.30593195e-01 4.83471201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.730385723 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:141.61, Y:56.86, Z:48.34 [[ 4.74001549e-01 -8.34033798e-01 -2.82329868e-01 1.41607326e+02] [ 6.86680284e-01 5.50842316e-01 -4.74386899e-01 5.68583116e+01] [ 5.51173946e-01 3.09897712e-02 8.33814677e-01 4.83425986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.760385723 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:141.63, Y:56.85, Z:48.38 [[ 4.71874577e-01 -8.20971915e-01 -3.21464615e-01 1.41630344e+02] [ 6.83983773e-01 5.70941057e-01 -4.54084251e-01 5.68531611e+01] [ 5.56327764e-01 -5.60576654e-03 8.30944038e-01 4.83839131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.790385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:141.63, Y:56.90, Z:48.37 [[ 4.68915357e-01 -8.36697568e-01 -2.82940926e-01 1.41631442e+02] [ 6.88521896e-01 5.46922653e-01 -4.76249106e-01 5.68979187e+01] [ 5.53223271e-01 2.85094965e-02 8.32545027e-01 4.83742757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:141.65, Y:56.91, Z:48.39 [[ 4.67958992e-01 -8.33980656e-01 -2.92387839e-01 1.41647433e+02] [ 6.89076880e-01 5.51482366e-01 -4.70149182e-01 5.69125041e+01] [ 5.53342060e-01 1.85328377e-02 8.32747920e-01 4.83924439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:56.90, Z:48.45 [[ 4.69606380e-01 -8.14771803e-01 -3.40024640e-01 1.41674933e+02] [ 6.81643182e-01 5.79367234e-01 -4.46873786e-01 5.68969769e+01] [ 5.61099296e-01 -2.19206967e-02 8.27458194e-01 4.84470374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:56.93, Z:48.45 [[ 4.69405608e-01 -8.26410327e-01 -3.10973223e-01 1.41679891e+02] [ 6.81871241e-01 5.63022923e-01 -4.66965522e-01 5.69327055e+01] [ 5.60990183e-01 7.15253757e-03 8.27791553e-01 4.84490283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91038572300002 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:141.69, Y:56.97, Z:48.45 [[ 4.68282854e-01 -8.35270038e-01 -2.88158172e-01 1.41686655e+02] [ 6.81011594e-01 5.48982618e-01 -4.84604265e-01 5.69665786e+01] [ 5.62969250e-01 3.06928121e-02 8.25907728e-01 4.84495957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:56.98, Z:48.47 [[ 4.66864002e-01 -8.29204843e-01 -3.07339116e-01 1.41702626e+02] [ 6.84054592e-01 5.58878601e-01 -4.68747292e-01 5.69753718e+01] [ 5.60452781e-01 8.60450282e-03 8.28141681e-01 4.84685424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.970385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:141.71, Y:57.00, Z:48.48 [[ 4.65554032e-01 -8.31096845e-01 -3.04199733e-01 1.41713121e+02] [ 6.84666955e-01 5.56016590e-01 -4.71250158e-01 5.69970067e+01] [ 5.60794618e-01 1.11169059e-02 8.27880312e-01 4.84832237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.000385723 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:141.73, Y:57.01, Z:48.51 [[ 4.66004021e-01 -8.25868188e-01 -3.17461790e-01 1.41730580e+02] [ 6.79435920e-01 5.63854724e-01 -4.69504719e-01 5.70055139e+01] [ 5.66751341e-01 3.09614357e-03 8.23883081e-01 4.85135675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.030385723 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:141.74, Y:57.03, Z:48.53 [[ 4.64512788e-01 -8.29431704e-01 -3.10275551e-01 1.41741120e+02] [ 6.79704439e-01 5.58519342e-01 -4.75455591e-01 5.70305501e+01] [ 5.67652838e-01 9.95953260e-03 8.23207788e-01 4.85277994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.060385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:141.75, Y:57.04, Z:48.54 [[ 4.63283021e-01 -8.25469124e-01 -3.22443123e-01 1.41752706e+02] [ 6.81207473e-01 5.64435440e-01 -4.66228499e-01 5.70423225e+01] [ 5.66855556e-01 -3.65491732e-03 8.23809092e-01 4.85431267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.090385723 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:141.76, Y:57.06, Z:48.56 [[ 4.65294902e-01 -8.25675509e-01 -3.18999387e-01 1.41762128e+02] [ 6.80641723e-01 5.64145218e-01 -4.67404554e-01 5.70617571e+01] [ 5.65886472e-01 3.56664373e-04 8.24483095e-01 4.85576374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.120385723 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:141.77, Y:57.09, Z:48.57 [[ 4.66807427e-01 -8.29166866e-01 -3.07527453e-01 1.41771386e+02] [ 6.78849335e-01 5.58836255e-01 -4.76304125e-01 5.70868528e+01] [ 5.66793089e-01 1.35774966e-02 8.23748290e-01 4.85696482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.150385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:141.79, Y:57.10, Z:48.59 [[ 4.70845876e-01 -8.22214574e-01 -3.19792675e-01 1.41785216e+02] [ 6.77071329e-01 5.69169060e-01 -4.66498656e-01 5.70977233e+01] [ 5.65578090e-01 3.12651699e-03 8.24688819e-01 4.85903094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.180385723 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:141.79, Y:57.13, Z:48.60 [[ 4.68924699e-01 -8.31424377e-01 -2.98065650e-01 1.41792581e+02] [ 6.75380225e-01 5.55009878e-01 -4.85618767e-01 5.71322211e+01] [ 5.69184661e-01 2.64109886e-02 8.21785423e-01 4.85964811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.210385723 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:141.81, Y:57.14, Z:48.63 [[ 4.75693632e-01 -8.19934955e-01 -3.18468584e-01 1.41814723e+02] [ 6.71071476e-01 5.72361310e-01 -4.71238373e-01 5.71364710e+01] [ 5.68663910e-01 1.04499106e-02 8.22503591e-01 4.86257329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.240385723 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:141.82, Y:57.17, Z:48.63 [[ 4.70087871e-01 -8.26369878e-01 -3.10048736e-01 1.41821296e+02] [ 6.75634821e-01 5.62946159e-01 -4.76034883e-01 5.71666872e+01] [ 5.67921633e-01 1.42985028e-02 8.22958426e-01 4.86300707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.270385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:141.84, Y:57.18, Z:48.66 [[ 4.77080221e-01 -8.19702999e-01 -3.16988101e-01 1.41839120e+02] [ 6.69618169e-01 5.72632369e-01 -4.72973231e-01 5.71770772e+01] [ 5.69215223e-01 1.33851815e-02 8.22079599e-01 4.86561154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.300385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:141.84, Y:57.20, Z:48.66 [[ 4.73201482e-01 -8.23265355e-01 -3.13551450e-01 1.41843769e+02] [ 6.73926524e-01 5.67518593e-01 -4.73017639e-01 5.72001929e+01] [ 5.67365312e-01 1.25220096e-02 8.23370999e-01 4.86613061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.330385723 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:141.85, Y:57.23, Z:48.67 [[ 4.73169067e-01 -8.27675892e-01 -3.01767547e-01 1.41851659e+02] [ 6.73519382e-01 5.60663644e-01 -4.81692766e-01 5.72261209e+01] [ 5.67875582e-01 2.46758252e-02 8.22744448e-01 4.86709510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.360385723 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:141.87, Y:57.25, Z:48.69 [[ 4.78206094e-01 -8.24836718e-01 -3.01601262e-01 1.41870664e+02] [ 6.70137942e-01 5.64664572e-01 -4.81735466e-01 5.72460701e+01] [ 5.67656648e-01 2.82543860e-02 8.22780420e-01 4.86919375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.390385723 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:141.88, Y:57.25, Z:48.72 [[ 4.75672907e-01 -8.15429050e-01 -3.29864746e-01 1.41884950e+02] [ 6.73494170e-01 5.78846538e-01 -4.59719793e-01 5.72476722e+01] [ 5.65809940e-01 -3.48573285e-03 8.24528327e-01 4.87165565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.420385723 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:141.89, Y:57.28, Z:48.72 [[ 4.76097905e-01 -8.23725122e-01 -3.07908604e-01 1.41892507e+02] [ 6.73409482e-01 5.66681519e-01 -4.74754385e-01 5.72786436e+01] [ 5.65553229e-01 1.86809946e-02 8.24500192e-01 4.87243639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.450385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:141.89, Y:57.33, Z:48.71 [[ 4.74548910e-01 -8.39294840e-01 -2.65306434e-01 1.41891718e+02] [ 6.82457017e-01 5.41175543e-01 -4.91305865e-01 5.73251725e+01] [ 5.55927830e-01 5.20884247e-02 8.29596916e-01 4.87095147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.480385723 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:141.92, Y:57.32, Z:48.74 [[ 4.72082871e-01 -8.28952203e-01 -2.99960010e-01 1.41917283e+02] [ 6.82446295e-01 5.59042693e-01 -4.70890987e-01 5.73249127e+01] [ 5.58036573e-01 1.75929715e-02 8.29629840e-01 4.87426065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.510385723 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:141.94, Y:57.34, Z:48.77 [[ 4.72967092e-01 -8.26168512e-01 -3.06182494e-01 1.41938199e+02] [ 6.75789496e-01 5.63134715e-01 -4.75592105e-01 5.73383418e+01] [ 5.65341213e-01 1.80245017e-02 8.24660191e-01 4.87736164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.540385723 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:141.95, Y:57.35, Z:48.79 [[ 4.70405219e-01 -8.23690329e-01 -3.16627814e-01 1.41950714e+02] [ 6.81487219e-01 5.67036861e-01 -4.62649294e-01 5.73537988e+01] [ 5.60619391e-01 1.85483347e-03 8.28071530e-01 4.87888849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57038572300002 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:141.96, Y:57.38, Z:48.81 [[ 4.72883039e-01 -8.26182757e-01 -3.06273871e-01 1.41964805e+02] [ 6.77774965e-01 5.63176361e-01 -4.72708667e-01 5.73760020e+01] [ 5.63029953e-01 1.59511489e-02 8.26282538e-01 4.88052609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60038572300002 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:141.98, Y:57.39, Z:48.82 [[ 4.72253266e-01 -8.25219944e-01 -3.09820750e-01 1.41978554e+02] [ 6.79025993e-01 5.64701481e-01 -4.69079885e-01 5.73920921e+01] [ 5.62050313e-01 1.11481659e-02 8.27027910e-01 4.88218371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63038572300002 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:141.98, Y:57.43, Z:48.81 [[ 4.68793726e-01 -8.36333747e-01 -2.84215245e-01 1.41978659e+02] [ 6.87727757e-01 5.47503867e-01 -4.76728484e-01 5.74302160e+01] [ 5.54313065e-01 2.80246097e-02 8.31836310e-01 4.88137714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66038572300002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:142.01, Y:57.42, Z:48.86 [[ 4.70846045e-01 -8.21997989e-01 -3.20348728e-01 1.42007579e+02] [ 6.79488947e-01 5.69490377e-01 -4.62574839e-01 5.74242254e+01] [ 5.62671105e-01 1.28113401e-04 8.26680840e-01 4.88577511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69038572300002 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:142.01, Y:57.47, Z:48.85 [[ 4.67904163e-01 -8.36165177e-01 -2.86170389e-01 1.42005758e+02] [ 6.87794425e-01 5.47861127e-01 -4.76221603e-01 5.74670392e+01] [ 5.54981553e-01 2.59996720e-02 8.31456248e-01 4.88457876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.720385723 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:142.02, Y:57.48, Z:48.86 [[ 4.67101633e-01 -8.33866102e-01 -2.94080580e-01 1.42021374e+02] [ 6.87144229e-01 5.51647923e-01 -4.72776245e-01 5.74825073e+01] [ 5.56461025e-01 1.87587829e-02 8.30661926e-01 4.88637156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.750385723 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:142.03, Y:57.50, Z:48.88 [[ 4.67696840e-01 -8.32406193e-01 -2.97253420e-01 1.42034323e+02] [ 6.86053192e-01 5.53914735e-01 -4.71709109e-01 5.74997626e+01] [ 5.57306633e-01 1.66852025e-02 8.30139097e-01 4.88802396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.780385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:142.06, Y:57.50, Z:48.92 [[ 4.70337529e-01 -8.22308437e-01 -3.20298989e-01 1.42059201e+02] [ 6.76747542e-01 5.69034394e-01 -4.67132340e-01 5.75026075e+01] [ 5.66388005e-01 2.94831658e-03 8.24133445e-01 4.89177667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.810385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.07, Y:57.53, Z:48.93 [[ 4.69542150e-01 -8.25946054e-01 -3.11998855e-01 1.42069878e+02] [ 6.77153608e-01 5.63644907e-01 -4.73040601e-01 5.75266606e+01] [ 5.66562583e-01 1.08413502e-02 8.23947392e-01 4.89290885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:57.56, Z:48.92 [[ 4.64218640e-01 -8.37616944e-01 -2.87921707e-01 1.42069474e+02] [ 6.87182585e-01 5.45695947e-01 -4.79579011e-01 5.75629731e+01] [ 5.58821215e-01 2.47747336e-02 8.28918007e-01 4.89208699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:57.56, Z:48.96 [[ 4.66789923e-01 -8.25238409e-01 -3.17944549e-01 1.42097837e+02] [ 6.79058446e-01 5.64776593e-01 -4.68942455e-01 5.75604295e+01] [ 5.66556965e-01 2.99468154e-03 8.24017134e-01 4.89634636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:57.59, Z:48.97 [[ 4.64621739e-01 -8.30928967e-01 -3.06077918e-01 1.42107854e+02] [ 6.79856714e-01 5.56202969e-01 -4.77946761e-01 5.75871905e+01] [ 5.67381255e-01 1.39753277e-02 8.23336627e-01 4.89748719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:57.60, Z:49.00 [[ 4.65171560e-01 -8.26128267e-01 -3.18005513e-01 1.42124280e+02] [ 6.82381813e-01 5.63481976e-01 -4.65664176e-01 5.75964764e+01] [ 5.63888713e-01 -3.87447476e-04 8.25850694e-01 4.89969045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:57.62, Z:49.01 [[ 4.64383772e-01 -8.29294304e-01 -3.10835438e-01 1.42135205e+02] [ 6.83272352e-01 5.58781197e-01 -4.70002623e-01 5.76194423e+01] [ 5.63459497e-01 5.87632999e-03 8.26122790e-01 4.90092718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:57.64, Z:49.02 [[ 4.64396240e-01 -8.30017216e-01 -3.08881133e-01 1.42146248e+02] [ 6.82982445e-01 5.57678815e-01 -4.71730134e-01 5.76387854e+01] [ 5.63800597e-01 8.10930943e-03 8.25871132e-01 4.90224920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:57.68, Z:49.01 [[ 4.59217446e-01 -8.41177846e-01 -2.85550642e-01 1.42146063e+02] [ 6.88408450e-01 5.40146397e-01 -4.84082303e-01 5.76772194e+01] [ 5.61438459e-01 2.57235635e-02 8.27118586e-01 4.90148019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:57.67, Z:49.05 [[ 4.60834351e-01 -8.28842985e-01 -3.17255429e-01 1.42165810e+02] [ 6.85139711e-01 5.59476090e-01 -4.66444082e-01 5.76733878e+01] [ 5.64105732e-01 -2.41083741e-03 8.25699044e-01 4.90472974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.080385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:142.17, Y:57.70, Z:49.06 [[ 4.60426566e-01 -8.35300490e-01 -3.00467085e-01 1.42172839e+02] [ 6.84911537e-01 5.49603543e-01 -4.78364016e-01 5.77013260e+01] [ 5.64715471e-01 1.44581283e-02 8.25159015e-01 4.90563574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.18, Y:57.72, Z:49.07 [[ 4.60337638e-01 -8.37136958e-01 -2.95450458e-01 1.42184438e+02] [ 6.85598407e-01 5.46672259e-01 -4.80733051e-01 5.77244374e+01] [ 5.63953973e-01 1.87391536e-02 8.25593581e-01 4.90697019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.140385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:142.20, Y:57.74, Z:49.09 [[ 4.60526051e-01 -8.35270822e-01 -3.00397089e-01 1.42197557e+02] [ 6.84468190e-01 5.49635140e-01 -4.78961908e-01 5.77410172e+01] [ 5.65171703e-01 1.49621848e-02 8.24837608e-01 4.90870582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.21, Y:57.76, Z:49.10 [[ 4.61156209e-01 -8.34203036e-01 -3.02390882e-01 1.42211203e+02] [ 6.82906982e-01 5.51265847e-01 -4.79316201e-01 5.77586947e+01] [ 5.66544796e-01 1.45347977e-02 8.23902745e-01 4.91049173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.200385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:142.23, Y:57.77, Z:49.13 [[ 4.60470025e-01 -8.31634408e-01 -3.10405489e-01 1.42226649e+02] [ 6.81060818e-01 5.55260131e-01 -4.77328345e-01 5.77747686e+01] [ 5.69318468e-01 8.39037837e-03 8.22074257e-01 4.91261380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.230385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:142.24, Y:57.80, Z:49.14 [[ 4.60415645e-01 -8.34951093e-01 -3.01453324e-01 1.42237426e+02] [ 6.81463629e-01 5.50066755e-01 -4.82735836e-01 5.77998965e+01] [ 5.68880266e-01 1.68296559e-02 8.22248141e-01 4.91367735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:57.81, Z:49.16 [[ 4.63024702e-01 -8.31095219e-01 -3.08040357e-01 1.42257484e+02] [ 6.77719614e-01 5.55952097e-01 -4.81262289e-01 5.78138107e+01] [ 5.71230470e-01 1.40713361e-02 8.20669086e-01 4.91598811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:57.83, Z:49.18 [[ 4.62840714e-01 -8.28745362e-01 -3.14578444e-01 1.42271705e+02] [ 6.77726690e-01 5.59574361e-01 -4.77035710e-01 5.78285096e+01] [ 5.71371164e-01 7.59334053e-03 8.20656648e-01 4.91785683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:57.87, Z:49.17 [[ 4.59829903e-01 -8.40324962e-01 -2.87072149e-01 1.42269987e+02] [ 6.86759705e-01 5.41466558e-01 -4.84948528e-01 5.78659537e+01] [ 5.62954322e-01 2.58442500e-02 8.26083837e-01 4.91700679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:57.87, Z:49.20 [[ 4.59384077e-01 -8.31636155e-01 -3.12005728e-01 1.42290022e+02] [ 6.84666856e-01 5.55311413e-01 -4.72081064e-01 5.78693345e+01] [ 5.65860023e-01 3.24654290e-03 8.24494933e-01 4.92007629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:57.90, Z:49.21 [[ 4.61122909e-01 -8.36218533e-01 -2.96823563e-01 1.42299457e+02] [ 6.84114174e-01 5.48072099e-01 -4.81253333e-01 5.78979954e+01] [ 5.65113670e-01 1.88557299e-02 8.24797552e-01 4.92121401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:57.91, Z:49.23 [[ 4.61781390e-01 -8.34383100e-01 -3.00936520e-01 1.42311705e+02] [ 6.84586747e-01 5.50997962e-01 -4.77223462e-01 5.79144102e+01] [ 5.64002601e-01 1.43557604e-02 8.25648217e-01 4.92283257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:57.94, Z:49.24 [[ 4.62133101e-01 -8.37326313e-01 -2.92091840e-01 1.42321819e+02] [ 6.85372646e-01 5.46246684e-01 -4.81538054e-01 5.79404101e+01] [ 5.62758682e-01 2.23429165e-02 8.26319224e-01 4.92390427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:57.95, Z:49.27 [[ 4.62944932e-01 -8.30854171e-01 -3.08809547e-01 1.42339074e+02] [ 6.81315263e-01 5.56404012e-01 -4.75630200e-01 5.79495745e+01] [ 5.67002206e-01 9.79393309e-03 8.23658046e-01 4.92652181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:57.98, Z:49.27 [[ 4.63715540e-01 -8.37114157e-01 -2.90185779e-01 1.42344208e+02] [ 6.82224460e-01 5.46344730e-01 -4.85877785e-01 5.79815347e+01] [ 5.65276644e-01 2.73372429e-02 8.24448295e-01 4.92679038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:57.99, Z:49.29 [[ 4.64519513e-01 -8.30365769e-01 -3.07756904e-01 1.42360416e+02] [ 6.78350197e-01 5.57048168e-01 -4.79101606e-01 5.79903781e+01] [ 5.69264993e-01 1.37850883e-02 8.22038526e-01 4.92925520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:58.02, Z:49.30 [[ 4.64919754e-01 -8.36262147e-01 -2.90715057e-01 1.42366987e+02] [ 6.79598315e-01 5.47540716e-01 -4.88206200e-01 5.80211505e+01] [ 5.67446695e-01 2.94072439e-02 8.22884841e-01 4.92967663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:58.04, Z:49.32 [[ 4.64933840e-01 -8.34289400e-01 -2.96306802e-01 1.42381730e+02] [ 6.79309861e-01 5.50796337e-01 -4.84934540e-01 5.80375792e+01] [ 5.67780448e-01 2.41783454e-02 8.22824872e-01 4.93154402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.39, Y:58.06, Z:49.33 [[ 4.63722844e-01 -8.35740851e-01 -2.94106026e-01 1.42392611e+02] [ 6.77214132e-01 5.48393850e-01 -4.90556015e-01 5.80601780e+01] [ 5.71263637e-01 2.83092734e-02 8.20278271e-01 4.93310258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:58.06, Z:49.37 [[ 4.69061404e-01 -8.21100145e-01 -3.25232150e-01 1.42422707e+02] [ 6.69613952e-01 5.70761059e-01 -4.75235698e-01 5.80584348e+01] [ 5.75845947e-01 5.13473851e-03 8.17542097e-01 4.93736062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:58.10, Z:49.36 [[ 4.61186609e-01 -8.39566539e-01 -2.87114853e-01 1.42417145e+02] [ 6.76476617e-01 5.42083548e-01 -4.98522631e-01 5.81037122e+01] [ 5.74183158e-01 3.56854776e-02 8.17948805e-01 4.93611046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:58.10, Z:49.39 [[ 4.60022558e-01 -8.30512245e-01 -3.14051997e-01 1.42434457e+02] [ 6.78816849e-01 5.56956903e-01 -4.78546438e-01 5.81043407e+01] [ 5.72352105e-01 6.95836958e-03 8.19978445e-01 4.93856876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:58.12, Z:49.42 [[ 4.65356994e-01 -8.25570934e-01 -3.19179420e-01 1.42459121e+02] [ 6.70941715e-01 5.64214066e-01 -4.81144160e-01 5.81164309e+01] [ 5.77304151e-01 9.75301192e-03 8.16470940e-01 4.94204687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:58.14, Z:49.44 [[ 4.64422802e-01 -8.26844633e-01 -3.17237156e-01 1.42471476e+02] [ 6.72147480e-01 5.62333027e-01 -4.81663090e-01 5.81367231e+01] [ 5.76653471e-01 1.04651667e-02 8.16921817e-01 4.94359681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:58.15, Z:49.45 [[ 4.63345769e-01 -8.27589328e-01 -3.16870010e-01 1.42483602e+02] [ 6.73203775e-01 5.61249173e-01 -4.81452015e-01 5.81544716e+01] [ 5.76287581e-01 9.76066733e-03 8.17188689e-01 4.94516911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:58.17, Z:49.47 [[ 4.61434654e-01 -8.29041857e-01 -3.15860190e-01 1.42496749e+02] [ 6.75801384e-01 5.59127020e-01 -4.80280610e-01 5.81722508e+01] [ 5.74778696e-01 8.15936401e-03 8.18268218e-01 4.94684195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:58.19, Z:49.48 [[ 4.59465895e-01 -8.30491580e-01 -3.14920350e-01 1.42509094e+02] [ 6.78330244e-01 5.56992627e-01 -4.79194422e-01 5.81894981e+01] [ 5.73375246e-01 6.55349616e-03 8.19266672e-01 4.94847083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:58.21, Z:49.50 [[ 4.58663022e-01 -8.31119993e-01 -3.14432488e-01 1.42521743e+02] [ 6.79363496e-01 5.56060752e-01 -4.78812782e-01 5.82080902e+01] [ 5.72794442e-01 5.99976334e-03 8.19677089e-01 4.95011815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:58.23, Z:49.52 [[ 4.57943625e-01 -8.31586659e-01 -3.14247141e-01 1.42534083e+02] [ 6.79891654e-01 5.55366373e-01 -4.78869012e-01 5.82265493e+01] [ 5.72743377e-01 5.64100279e-03 8.19715318e-01 4.95171543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.55, Y:58.25, Z:49.53 [[ 4.57328662e-01 -8.31904962e-01 -3.14300220e-01 1.42546066e+02] [ 6.79955135e-01 5.54890863e-01 -4.79329891e-01 5.82457758e+01] [ 5.73159235e-01 5.50124898e-03 8.19425547e-01 4.95326956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:58.26, Z:49.55 [[ 4.57193465e-01 -8.31880418e-01 -3.14561767e-01 1.42557645e+02] [ 6.79376944e-01 5.54924646e-01 -4.80109993e-01 5.82645765e+01] [ 5.73952179e-01 5.79713948e-03 8.18868298e-01 4.95477342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:58.29, Z:49.56 [[ 4.57508022e-01 -8.31430055e-01 -3.15294266e-01 1.42569177e+02] [ 6.77773109e-01 5.55589750e-01 -4.81605276e-01 5.82855034e+01] [ 5.75595363e-01 6.64030194e-03 8.17707701e-01 4.95628874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:58.31, Z:49.58 [[ 4.57835015e-01 -8.30855154e-01 -3.16333387e-01 1.42581064e+02] [ 6.75693900e-01 5.56436294e-01 -4.83545659e-01 5.83061290e+01] [ 5.77775781e-01 7.63959429e-03 8.16159778e-01 4.95783818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:58.32, Z:49.59 [[ 4.58028479e-01 -8.30625876e-01 -3.16655282e-01 1.42592827e+02] [ 6.74815489e-01 5.56770832e-01 -4.84386515e-01 5.83246717e+01] [ 5.78648398e-01 8.17892998e-03 8.15536104e-01 4.95938375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:58.34, Z:49.61 [[ 4.58205580e-01 -8.30508371e-01 -3.16707267e-01 1.42605091e+02] [ 6.74354870e-01 5.56940056e-01 -4.84833253e-01 5.83441163e+01] [ 5.79045038e-01 8.58021431e-03 8.15250405e-01 4.96100167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:58.36, Z:49.63 [[ 4.59215769e-01 -8.30180857e-01 -3.16102233e-01 1.42616729e+02] [ 6.74376105e-01 5.57418163e-01 -4.84253922e-01 5.83636829e+01] [ 5.78219462e-01 9.20524425e-03 8.15829343e-01 4.96273659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:58.38, Z:49.64 [[ 4.59533981e-01 -8.30205160e-01 -3.15575528e-01 1.42627913e+02] [ 6.74737248e-01 5.57378883e-01 -4.83795852e-01 5.83824825e+01] [ 5.77544948e-01 9.39007095e-03 8.16304881e-01 4.96428370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:58.40, Z:49.66 [[ 4.60004341e-01 -8.30105298e-01 -3.15152662e-01 1.42638654e+02] [ 6.74819791e-01 5.57521446e-01 -4.83516376e-01 5.84025169e+01] [ 5.77073874e-01 9.74837785e-03 8.16633769e-01 4.96588657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:58.42, Z:49.67 [[ 4.59972029e-01 -8.30159397e-01 -3.15057308e-01 1.42649918e+02] [ 6.74737467e-01 5.57437858e-01 -4.83727594e-01 5.84219593e+01] [ 5.77195879e-01 9.92019270e-03 8.16545472e-01 4.96744309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:58.42, Z:49.71 [[ 4.56855133e-01 -8.18750748e-01 -3.47750773e-01 1.42662808e+02] [ 6.72331106e-01 5.73795799e-01 -4.67685007e-01 5.84220497e+01] [ 5.82455382e-01 -2.01393655e-02 8.12613152e-01 4.97091011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.66, Y:58.48, Z:49.69 [[ 4.61661733e-01 -8.42132849e-01 -2.78712591e-01 1.42662805e+02] [ 6.74724211e-01 5.37344314e-01 -5.05972655e-01 5.84814886e+01] [ 5.75860820e-01 4.55340798e-02 8.16278729e-01 4.96907263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:58.48, Z:49.72 [[ 4.60663956e-01 -8.30017156e-01 -3.14420484e-01 1.42684413e+02] [ 6.74713819e-01 5.57637096e-01 -4.83530900e-01 5.84801245e+01] [ 5.76671468e-01 1.06014120e-02 8.16907356e-01 4.97224096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:58.50, Z:49.74 [[ 4.59957456e-01 -8.30447887e-01 -3.14317428e-01 1.42696245e+02] [ 6.75089681e-01 5.57000960e-01 -4.83739447e-01 5.85006390e+01] [ 5.76795511e-01 1.03071132e-02 8.16823544e-01 4.97383489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:58.52, Z:49.75 [[ 4.58500355e-01 -8.31282541e-01 -3.14239974e-01 1.42706604e+02] [ 6.75937235e-01 5.55768997e-01 -4.83972806e-01 5.85211359e+01] [ 5.76962979e-01 9.49520440e-03 8.16715104e-01 4.97537592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:58.54, Z:49.77 [[ 4.57626930e-01 -8.31880654e-01 -3.13930199e-01 1.42718715e+02] [ 6.76740904e-01 5.54881890e-01 -4.83867583e-01 5.85413448e+01] [ 5.76714263e-01 8.98142984e-03 8.16896562e-01 4.97699645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:58.55, Z:49.79 [[ 4.51793133e-01 -8.27782869e-01 -3.32653703e-01 1.42728160e+02] [ 6.78602665e-01 5.60930630e-01 -4.74189046e-01 5.85496952e+01] [ 5.79121221e-01 -1.15043353e-02 8.15160268e-01 4.97934322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.460385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.72, Y:58.60, Z:49.78 [[ 4.48564997e-01 -8.49756811e-01 -2.76952712e-01 1.42724040e+02] [ 6.85751586e-01 5.25961154e-01 -5.03100017e-01 5.86013207e+01] [ 5.73179034e-01 3.57522959e-02 8.18649845e-01 4.97781091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.74, Y:58.61, Z:49.80 [[ 4.44410752e-01 -8.46552373e-01 -2.92998573e-01 1.42741976e+02] [ 6.88918477e-01 5.32036543e-01 -4.92268676e-01 5.86129793e+01] [ 5.72617164e-01 1.69173622e-02 8.19648331e-01 4.97995619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.520385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.75, Y:58.65, Z:49.80 [[ 4.42493633e-01 -8.55269961e-01 -2.69652884e-01 1.42745780e+02] [ 6.94815363e-01 5.17077388e-01 -4.99862567e-01 5.86481488e+01] [ 5.66948847e-01 3.38270366e-02 8.23058161e-01 4.97965211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.78, Y:58.63, Z:49.86 [[ 4.44988884e-01 -8.32580698e-01 -3.29839771e-01 1.42784760e+02] [ 6.84432350e-01 5.53708789e-01 -4.74298360e-01 5.86283205e+01] [ 5.77526840e-01 -1.46955114e-02 8.16239420e-01 4.98578856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.79, Y:58.66, Z:49.87 [[ 4.43235195e-01 -8.39888624e-01 -3.13256543e-01 1.42790850e+02] [ 6.86317238e-01 5.42758631e-01 -4.84129856e-01 5.86554604e+01] [ 5.76637851e-01 -4.09974268e-04 8.16999768e-01 4.98660853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.80, Y:58.67, Z:49.88 [[ 4.42073917e-01 -8.40594100e-01 -3.13005129e-01 1.42802460e+02] [ 6.87251755e-01 5.41664349e-01 -4.84029707e-01 5.86747177e+01] [ 5.76416236e-01 -1.13641582e-03 8.17155451e-01 4.98820153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.81, Y:58.69, Z:49.90 [[ 4.40923702e-01 -8.41298062e-01 -3.12736088e-01 1.42812975e+02] [ 6.88147856e-01 5.40568494e-01 -4.83981644e-01 5.86935754e+01] [ 5.76228095e-01 -1.80969098e-03 8.17286919e-01 4.98967392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.82, Y:58.71, Z:49.91 [[ 4.40495351e-01 -8.41567439e-01 -3.12614924e-01 1.42824142e+02] [ 6.88339417e-01 5.40148691e-01 -4.84177899e-01 5.87128644e+01] [ 5.76326897e-01 -1.90706061e-03 8.17217028e-01 4.99115814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.84, Y:58.73, Z:49.93 [[ 4.40135333e-01 -8.41762387e-01 -3.12597140e-01 1.42835306e+02] [ 6.88330671e-01 5.39844819e-01 -4.84529110e-01 5.87331272e+01] [ 5.76612327e-01 -1.91181806e-03 8.17015648e-01 4.99266275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.85, Y:58.75, Z:49.94 [[ 4.40610061e-01 -8.41458014e-01 -3.12747797e-01 1.42846722e+02] [ 6.87529400e-01 5.40321019e-01 -4.85135570e-01 5.87540170e+01] [ 5.77205422e-01 -1.26769245e-03 8.16598000e-01 4.99425674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.86, Y:58.77, Z:49.96 [[ 4.40516627e-01 -8.41510723e-01 -3.12737596e-01 1.42858429e+02] [ 6.87357316e-01 5.40239283e-01 -4.85470326e-01 5.87737677e+01] [ 5.77481620e-01 -1.10472413e-03 8.16402939e-01 4.99590435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:58.79, Z:49.97 [[ 4.40667249e-01 -8.41291838e-01 -3.13114068e-01 1.42869434e+02] [ 6.86425439e-01 5.40580892e-01 -4.86407664e-01 5.87935170e+01] [ 5.78474279e-01 -5.85534551e-04 8.15700414e-01 4.99749874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.88, Y:58.81, Z:49.99 [[ 4.40300214e-01 -8.41439048e-01 -3.13234817e-01 1.42880890e+02] [ 6.86220581e-01 5.40351768e-01 -4.86951005e-01 5.88127365e+01] [ 5.78996578e-01 -5.43546272e-04 8.15329791e-01 4.99904124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:142.89, Y:58.83, Z:50.01 [[ 4.39548672e-01 -8.41855030e-01 -3.13172594e-01 1.42892644e+02] [ 6.86533699e-01 5.39703065e-01 -4.87228983e-01 5.88322065e+01] [ 5.79196379e-01 -8.42687453e-04 8.15187613e-01 5.00058655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:58.85, Z:50.02 [[ 4.38704269e-01 -8.42378213e-01 -3.12949693e-01 1.42904594e+02] [ 6.87166540e-01 5.38885214e-01 -4.87242109e-01 5.88512795e+01] [ 5.79086099e-01 -1.29336399e-03 8.15265366e-01 5.00211937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.92, Y:58.87, Z:50.04 [[ 4.36522332e-01 -8.43742439e-01 -3.12325072e-01 1.42916686e+02] [ 6.89275989e-01 5.36740676e-01 -4.86629282e-01 5.88708616e+01] [ 5.78227348e-01 -2.85362430e-03 8.15870695e-01 5.00367295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.93, Y:58.89, Z:50.05 [[ 4.34492449e-01 -8.44981756e-01 -3.11804655e-01 1.42928734e+02] [ 6.91128276e-01 5.34778139e-01 -4.86162574e-01 5.88896329e+01] [ 5.77544819e-01 -4.26304644e-03 8.16347848e-01 5.00529362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:58.91, Z:50.07 [[ 4.33451282e-01 -8.45608796e-01 -3.11553769e-01 1.42940984e+02] [ 6.91903960e-01 5.33781164e-01 -4.86154892e-01 5.89092568e+01] [ 5.77398386e-01 -4.84082526e-03 8.16448204e-01 5.00685088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:58.95, Z:50.06 [[ 4.33998990e-01 -8.55682732e-01 -2.81872204e-01 1.42946400e+02] [ 6.96925711e-01 5.17144989e-01 -4.96845665e-01 5.89494969e+01] [ 5.70911053e-01 1.91865304e-02 8.20787699e-01 5.00603233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:58.95, Z:50.09 [[ 4.32451799e-01 -8.45989555e-01 -3.11908824e-01 1.42967411e+02] [ 6.97286663e-01 5.33100441e-01 -4.79160964e-01 5.89510791e+01] [ 5.71643902e-01 -1.02758422e-02 8.20437479e-01 5.00904742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.98, Y:58.98, Z:50.10 [[ 4.32497742e-01 -8.51304639e-01 -2.97028810e-01 1.42976325e+02] [ 6.98276282e-01 5.24661926e-01 -4.86970325e-01 5.89783105e+01] [ 5.70399804e-01 3.20539302e-03 8.21360937e-01 5.00977603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.090385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:142.99, Y:58.99, Z:50.12 [[ 4.32705363e-01 -8.48632156e-01 -3.04285281e-01 1.42993126e+02] [ 6.97270887e-01 5.28975719e-01 -4.83733397e-01 5.89947377e+01] [ 5.71471240e-01 -2.85523229e-03 8.20617127e-01 5.01199787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:59.01, Z:50.14 [[ 4.32885688e-01 -8.46969525e-01 -3.08630206e-01 1.43006756e+02] [ 6.97047388e-01 5.31597487e-01 -4.81174656e-01 5.90118046e+01] [ 5.71607312e-01 -6.83625656e-03 8.20498840e-01 5.01388216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:59.02, Z:50.17 [[ 4.32236978e-01 -8.41043069e-01 -3.25296405e-01 1.43022322e+02] [ 6.95235402e-01 5.40545647e-01 -4.73770133e-01 5.90205290e+01] [ 5.74298643e-01 -2.13766061e-02 8.18366733e-01 5.01661535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:59.06, Z:50.17 [[ 4.32021524e-01 -8.50650078e-01 -2.99586128e-01 1.43028020e+02] [ 6.97100744e-01 5.25729314e-01 -4.87503067e-01 5.90563507e+01] [ 5.72195732e-01 1.77010532e-03 8.20115182e-01 5.01681217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:59.07, Z:50.19 [[ 4.31061937e-01 -8.47548345e-01 -3.09592326e-01 1.43043389e+02] [ 6.98465671e-01 5.30637513e-01 -4.80176568e-01 5.90706206e+01] [ 5.71254157e-01 -9.25377059e-03 8.20721058e-01 5.01875955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:59.07, Z:50.22 [[ 4.27127712e-01 -8.39747034e-01 -3.35241459e-01 1.43055417e+02] [ 6.98221236e-01 5.41895734e-01 -4.67799229e-01 5.90690943e+01] [ 5.74498932e-01 -3.42626918e-02 8.17787898e-01 5.02213807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:59.12, Z:50.21 [[ 4.27423982e-01 -8.56717103e-01 -2.88694552e-01 1.43061731e+02] [ 7.01684714e-01 5.15731411e-01 -4.91588928e-01 5.91188444e+01] [ 5.70041491e-01 7.54434267e-03 8.21581269e-01 5.02129713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.08, Y:59.13, Z:50.24 [[ 4.25151528e-01 -8.49891972e-01 -3.11335534e-01 1.43081542e+02] [ 7.03295720e-01 5.26714680e-01 -4.77437720e-01 5.91275282e+01] [ 5.69755481e-01 -1.59775722e-02 8.21658937e-01 5.02406012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.330385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:143.09, Y:59.14, Z:50.26 [[ 4.20039457e-01 -8.49199004e-01 -3.20043600e-01 1.43094076e+02] [ 7.05448600e-01 5.27388146e-01 -4.73501865e-01 5.91422685e+01] [ 5.70884513e-01 -2.68848430e-02 8.20590079e-01 5.02603840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.360385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:143.10, Y:59.17, Z:50.27 [[ 4.17361087e-01 -8.52637811e-01 -3.14354078e-01 1.43104127e+02] [ 7.06894144e-01 5.21995676e-01 -4.77306174e-01 5.91656770e+01] [ 5.71060761e-01 -2.30060331e-02 8.20585358e-01 5.02737833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:59.19, Z:50.29 [[ 4.12852259e-01 -8.56549022e-01 -3.09639767e-01 1.43113350e+02] [ 7.10338148e-01 5.15590943e-01 -4.79151015e-01 5.91899100e+01] [ 5.70063793e-01 -2.21303596e-02 8.21302331e-01 5.02868567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:59.21, Z:50.31 [[ 4.11243010e-01 -8.54894686e-01 -3.16281934e-01 1.43126930e+02] [ 7.10379218e-01 5.18005375e-01 -4.76478540e-01 5.92059515e+01] [ 5.71174714e-01 -2.87316439e-02 8.20325508e-01 5.03074890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:59.23, Z:50.32 [[ 4.09202903e-01 -8.58127353e-01 -3.10113578e-01 1.43135498e+02] [ 7.12373433e-01 5.12834092e-01 -4.79087973e-01 5.92296032e+01] [ 5.70155309e-01 -2.48724848e-02 8.21160327e-01 5.03188462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:59.25, Z:50.33 [[ 4.06775926e-01 -8.59997738e-01 -3.08118867e-01 1.43142764e+02] [ 7.14743891e-01 5.09665054e-01 -4.78939144e-01 5.92513665e+01] [ 5.68924000e-01 -2.54051643e-02 8.21997604e-01 5.03291743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:59.27, Z:50.35 [[ 4.06272035e-01 -8.58893081e-01 -3.11842444e-01 1.43155416e+02] [ 7.14926939e-01 5.11322119e-01 -4.76895337e-01 5.92682219e+01] [ 5.69054044e-01 -2.91953248e-02 8.21781679e-01 5.03463155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:59.29, Z:50.36 [[ 4.04706988e-01 -8.58352836e-01 -3.15345308e-01 1.43165862e+02] [ 7.14673290e-01 5.12028257e-01 -4.76517736e-01 5.92875872e+01] [ 5.70486058e-01 -3.25188111e-02 8.20663259e-01 5.03647318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:59.31, Z:50.38 [[ 4.05667009e-01 -8.58974831e-01 -3.12404413e-01 1.43174823e+02] [ 7.13350101e-01 5.11229716e-01 -4.79349363e-01 5.93120551e+01] [ 5.71459457e-01 -2.83974975e-02 8.20138812e-01 5.03800899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:59.33, Z:50.40 [[ 4.06765234e-01 -8.58300734e-01 -3.12828857e-01 1.43184729e+02] [ 7.12641215e-01 5.12381248e-01 -4.79174244e-01 5.93314448e+01] [ 5.71563246e-01 -2.80233135e-02 8.20079356e-01 5.03956371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:59.36, Z:50.41 [[ 4.08087936e-01 -8.58880026e-01 -3.09498525e-01 1.43194049e+02] [ 7.12453655e-01 5.11590508e-01 -4.80296723e-01 5.93553077e+01] [ 5.70853770e-01 -2.45000570e-02 8.20686128e-01 5.04102055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:59.38, Z:50.43 [[ 4.13934652e-01 -8.55708552e-01 -3.10517273e-01 1.43202208e+02] [ 7.09838105e-01 5.16973467e-01 -4.78401818e-01 5.93769508e+01] [ 5.69901718e-01 -2.23899029e-02 8.21407769e-01 5.04278467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.21, Y:59.38, Z:50.46 [[ 4.15703503e-01 -8.45927224e-01 -3.34062462e-01 1.43209034e+02] [ 7.05174322e-01 5.31750433e-01 -4.69010291e-01 5.93790095e+01] [ 5.74386432e-01 -4.06030492e-02 8.17576675e-01 5.04586474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:59.43, Z:50.45 [[ 4.20447158e-01 -8.63222296e-01 -2.79412698e-01 1.43210979e+02] [ 7.06481484e-01 5.04699656e-01 -4.96147327e-01 5.94347319e+01] [ 5.69304927e-01 1.12038358e-02 8.22050104e-01 5.04471882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:59.45, Z:50.47 [[ 4.27957284e-01 -8.52521853e-01 -3.00098405e-01 1.43223715e+02] [ 7.04327489e-01 5.22659488e-01 -4.80364286e-01 5.94466890e+01] [ 5.66370330e-01 -5.79216143e-03 8.24130511e-01 5.04661023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:59.47, Z:50.48 [[ 4.34651194e-01 -8.47704349e-01 -3.04098136e-01 1.43233311e+02] [ 6.99244440e-01 5.30451280e-01 -4.79248008e-01 5.94677981e+01] [ 5.67569866e-01 -4.33321187e-03 8.23313835e-01 5.04840181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:59.49, Z:50.50 [[ 4.37176850e-01 -8.46454823e-01 -3.03958277e-01 1.43243696e+02] [ 6.97101810e-01 5.32456858e-01 -4.80144521e-01 5.94901645e+01] [ 5.68265315e-01 -1.98179604e-03 8.22843001e-01 5.05007020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:59.51, Z:50.52 [[ 4.40193506e-01 -8.43899065e-01 -3.06698623e-01 1.43255785e+02] [ 6.93908540e-01 5.36500123e-01 -4.80269254e-01 5.95106667e+01] [ 5.69842624e-01 -1.40938719e-03 8.21752638e-01 5.05204660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:59.53, Z:50.54 [[ 4.44530883e-01 -8.40248426e-01 -3.10443032e-01 1.43264802e+02] [ 6.90245520e-01 5.42200079e-01 -4.79145276e-01 5.95296181e+01] [ 5.70923301e-01 -1.28703929e-03 8.21002392e-01 5.05368818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:59.55, Z:50.55 [[ 4.44721198e-01 -8.40573699e-01 -3.09287752e-01 1.43274167e+02] [ 6.89364675e-01 5.41696761e-01 -4.80979172e-01 5.95517456e+01] [ 5.71838615e-01 6.89583094e-04 8.20365847e-01 5.05526129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.28, Y:59.56, Z:50.58 [[ 4.45035266e-01 -8.32400641e-01 -3.30231412e-01 1.43282285e+02] [ 6.82023235e-01 5.54027132e-01 -4.77386892e-01 5.95551990e+01] [ 5.80334317e-01 -1.27714936e-02 8.14278189e-01 5.05829493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.29, Y:59.60, Z:50.58 [[ 4.47851043e-01 -8.45826317e-01 -2.89840104e-01 1.43288212e+02] [ 6.85887458e-01 5.32957571e-01 -4.95494322e-01 5.96012449e+01] [ 5.73574615e-01 2.31099569e-02 8.18827266e-01 5.05809852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:59.60, Z:50.62 [[ 4.45985829e-01 -8.32058866e-01 -3.29810071e-01 1.43303632e+02] [ 6.82724113e-01 5.54535616e-01 -4.75792010e-01 5.95958602e+01] [ 5.78778392e-01 -1.29727944e-02 8.15381678e-01 5.06155371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.31, Y:59.63, Z:50.62 [[ 4.45735400e-01 -8.41493765e-01 -3.05300174e-01 1.43305167e+02] [ 6.83458350e-01 5.40170437e-01 -4.91019941e-01 5.96294722e+01] [ 5.78104347e-01 1.02050163e-02 8.15899026e-01 5.06221144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:59.65, Z:50.64 [[ 4.45290860e-01 -8.41856224e-01 -3.04949418e-01 1.43315028e+02] [ 6.84050810e-01 5.39610082e-01 -4.90811012e-01 5.96486058e+01] [ 5.77746086e-01 9.95276088e-03 8.16155869e-01 5.06365152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:59.67, Z:50.65 [[ 4.43261135e-01 -8.42846827e-01 -3.05170104e-01 1.43324980e+02] [ 6.84778203e-01 5.38080294e-01 -4.91475748e-01 5.96697267e+01] [ 5.78444794e-01 8.87826245e-03 8.15673217e-01 5.06520137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.34, Y:59.69, Z:50.67 [[ 4.41903497e-01 -8.43496263e-01 -3.05344648e-01 1.43335737e+02] [ 6.85106217e-01 5.37071269e-01 -4.92121859e-01 5.96890891e+01] [ 5.79094787e-01 8.27685390e-03 8.15218205e-01 5.06672642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.35, Y:59.71, Z:50.68 [[ 4.40425432e-01 -8.44178986e-01 -3.05593323e-01 1.43347064e+02] [ 6.85458801e-01 5.36008026e-01 -4.92789639e-01 5.97093203e+01] [ 5.79803131e-01 7.56545696e-03 8.14721482e-01 5.06836464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.170385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.36, Y:59.73, Z:50.70 [[ 4.36942253e-01 -8.45806598e-01 -3.06092579e-01 1.43357465e+02] [ 6.86602546e-01 5.33459525e-01 -4.93961414e-01 5.97299239e+01] [ 5.81083825e-01 5.66866867e-03 8.13823970e-01 5.06987575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.200385723 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:143.37, Y:59.75, Z:50.71 [[ 4.34979220e-01 -8.46817243e-01 -3.06094162e-01 1.43368722e+02] [ 6.87559823e-01 5.31864303e-01 -4.94349930e-01 5.97506273e+01] [ 5.81424603e-01 4.57389889e-03 8.13587433e-01 5.07147680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.230385723 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:143.38, Y:59.77, Z:50.73 [[ 4.30762141e-01 -8.48875645e-01 -3.06356192e-01 1.43378888e+02] [ 6.89517493e-01 5.28588635e-01 -4.95136024e-01 5.97712031e+01] [ 5.82245313e-01 2.04790063e-03 8.13010579e-01 5.07306740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.260385723 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:143.39, Y:59.79, Z:50.75 [[ 4.28294785e-01 -8.50049485e-01 -3.06560680e-01 1.43389914e+02] [ 6.90461009e-01 5.26702375e-01 -4.95830821e-01 5.97916038e+01] [ 5.82946972e-01 6.93558471e-04 8.12509906e-01 5.07471966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.290385723 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:143.40, Y:59.81, Z:50.76 [[ 4.26447195e-01 -8.50963112e-01 -3.06601651e-01 1.43400800e+02] [ 6.91269415e-01 5.25225367e-01 -4.96271005e-01 5.98108905e+01] [ 5.83343283e-01 -3.10965864e-04 8.12225657e-01 5.07627075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32038572300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:143.41, Y:59.83, Z:50.78 [[ 4.24253274e-01 -8.52120608e-01 -3.06430465e-01 1.43411206e+02] [ 6.92612159e-01 5.23342879e-01 -4.96387579e-01 5.98311420e+01] [ 5.83350287e-01 -1.64341041e-03 8.12219024e-01 5.07799974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35038572300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:143.42, Y:59.85, Z:50.80 [[ 4.23581148e-01 -8.52588600e-01 -3.06058311e-01 1.43421730e+02] [ 6.93354923e-01 5.22578700e-01 -4.96155674e-01 5.98509846e+01] [ 5.82956226e-01 -2.04484696e-03 8.12500989e-01 5.07966856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38038572300002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:143.43, Y:59.87, Z:50.81 [[ 4.23291523e-01 -8.52963863e-01 -3.05412730e-01 1.43431381e+02] [ 6.94302356e-01 5.21964823e-01 -4.95476500e-01 5.98721600e+01] [ 5.82038251e-01 -2.31777570e-03 8.13158104e-01 5.08134734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41038572300002 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:143.44, Y:59.89, Z:50.83 [[ 4.23431373e-01 -8.53075971e-01 -3.04905328e-01 1.43441883e+02] [ 6.94764315e-01 5.21781961e-01 -4.95021344e-01 5.98918246e+01] [ 5.81384914e-01 -2.22977416e-03 8.13625595e-01 5.08293687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44038572300002 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:143.45, Y:59.91, Z:50.85 [[ 4.23580395e-01 -8.53074152e-01 -3.04703365e-01 1.43452500e+02] [ 6.94718027e-01 5.21785960e-01 -4.95082090e-01 5.99113910e+01] [ 5.81331671e-01 -1.97585318e-03 8.13664294e-01 5.08455737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.470385723 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:143.46, Y:59.93, Z:50.86 [[ 4.25178741e-01 -8.52471662e-01 -3.04162956e-01 1.43461611e+02] [ 6.94329409e-01 5.22772659e-01 -4.94586108e-01 5.99328089e+01] [ 5.80628719e-01 -9.01786280e-04 8.14167967e-01 5.08609445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.500385723 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:143.47, Y:59.96, Z:50.87 [[ 4.27874943e-01 -8.55309123e-01 -2.92180316e-01 1.43467554e+02] [ 6.95554889e-01 5.18025551e-01 -4.97848295e-01 5.99618836e+01] [ 5.77171058e-01 9.78936324e-03 8.16564596e-01 5.08686255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.530385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:143.48, Y:59.97, Z:50.90 [[ 4.29997774e-01 -8.47590434e-01 -3.10953969e-01 1.43484772e+02] [ 6.91237548e-01 5.30635765e-01 -4.90526592e-01 5.99709809e+01] [ 5.80768945e-01 -4.01771627e-03 8.14058530e-01 5.08952361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.560385723 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:143.49, Y:59.99, Z:50.91 [[ 4.31691420e-01 -8.49229409e-01 -3.04059086e-01 1.43493099e+02] [ 6.89840274e-01 5.28008400e-01 -4.95305488e-01 5.99935400e+01] [ 5.81173738e-01 4.06692651e-03 8.13769344e-01 5.09078191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.590385723 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:143.50, Y:60.01, Z:50.92 [[ 4.34128135e-01 -8.47639106e-01 -3.05025751e-01 1.43503586e+02] [ 6.86457454e-01 5.30533332e-01 -4.97303276e-01 6.00140001e+01] [ 5.83360032e-01 6.50614318e-03 8.12187628e-01 5.09231538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.620385723 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:143.51, Y:60.03, Z:50.94 [[ 4.36255446e-01 -8.46498129e-01 -3.05159145e-01 1.43514705e+02] [ 6.84620990e-01 5.32326978e-01 -4.97917752e-01 6.00339842e+01] [ 5.83930891e-01 8.30097489e-03 8.11760930e-01 5.09388364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.650385723 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:143.52, Y:60.05, Z:50.95 [[ 4.40215079e-01 -8.44419055e-01 -3.05232934e-01 1.43524846e+02] [ 6.81725364e-01 5.35563405e-01 -4.98419870e-01 6.00545318e+01] [ 5.84346825e-01 1.13269094e-02 8.11424975e-01 5.09544244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.680385723 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:143.54, Y:60.07, Z:50.97 [[ 4.41835637e-01 -8.43590431e-01 -3.05182657e-01 1.43536134e+02] [ 6.80502050e-01 5.36837521e-01 -4.98720800e-01 6.00748259e+01] [ 5.84549596e-01 1.26751986e-02 8.11258965e-01 5.09707571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.710385723 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:143.55, Y:60.09, Z:50.99 [[ 4.43469701e-01 -8.42787196e-01 -3.05031746e-01 1.43547284e+02] [ 6.79431274e-01 5.38065330e-01 -4.98857540e-01 6.00947760e+01] [ 5.84557754e-01 1.39800965e-02 8.11231649e-01 5.09866237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.740385723 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:143.56, Y:60.11, Z:51.00 [[ 4.45966140e-01 -8.41520396e-01 -3.04889530e-01 1.43557958e+02] [ 6.77783487e-01 5.39991428e-01 -4.99017838e-01 6.01149729e+01] [ 5.84571421e-01 1.58959702e-02 8.11186521e-01 5.10014557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.770385723 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:143.57, Y:60.14, Z:51.02 [[ 4.46585287e-01 -8.41249487e-01 -3.04730837e-01 1.43569752e+02] [ 6.77438600e-01 5.40397391e-01 -4.99046693e-01 6.01350316e+01] [ 5.84498524e-01 1.64304787e-02 8.11228399e-01 5.10178275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.800385723 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:143.58, Y:60.15, Z:51.03 [[ 4.47637055e-01 -8.40928409e-01 -3.04073146e-01 1.43582177e+02] [ 6.77564311e-01 5.40877620e-01 -4.98355300e-01 6.01533066e+01] [ 5.83547489e-01 1.70531875e-02 8.11899943e-01 5.10340154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.830385723 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:143.58, Y:60.19, Z:51.03 [[ 4.46456962e-01 -8.51048636e-01 -2.76391752e-01 1.43584229e+02] [ 6.84975022e-01 5.23798128e-01 -5.06403732e-01 6.01896524e+01] [ 5.75747688e-01 3.67660252e-02 8.16800379e-01 5.10313293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.860385723 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:143.61, Y:60.18, Z:51.07 [[ 4.46886000e-01 -8.35723257e-01 -3.19154415e-01 1.43613197e+02] [ 6.78593353e-01 5.49149013e-01 -4.87797522e-01 6.01821715e+01] [ 5.82927066e-01 1.41381863e-03 8.12523253e-01 5.10731577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.890385723 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:143.61, Y:60.23, Z:51.06 [[ 4.45554312e-01 -8.51832611e-01 -2.75431584e-01 1.43609170e+02] [ 6.85979855e-01 5.22529104e-01 -5.06354594e-01 6.02282971e+01] [ 5.75250375e-01 3.66679548e-02 8.17155106e-01 5.10620369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.920385723 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:143.64, Y:60.22, Z:51.10 [[ 4.46733100e-01 -8.36213283e-01 -3.18083139e-01 1.43637144e+02] [ 6.78351365e-01 5.48397862e-01 -4.88977720e-01 6.02213526e+01] [ 5.83325777e-01 2.67040107e-03 8.12233899e-01 5.11046847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.950385723 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:143.65, Y:60.25, Z:51.11 [[ 4.48425643e-01 -8.40774379e-01 -3.03336260e-01 1.43645075e+02] [ 6.77220386e-01 5.41080996e-01 -4.98601950e-01 6.02479150e+01] [ 5.83341231e-01 1.81604011e-02 8.12024143e-01 5.11147593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.980385723 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:143.66, Y:60.27, Z:51.13 [[ 4.49361640e-01 -8.40268636e-01 -3.03352495e-01 1.43657223e+02] [ 6.76316791e-01 5.41834681e-01 -4.99009795e-01 6.02664075e+01] [ 5.83669182e-01 1.90734741e-02 8.11767509e-01 5.11297063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.010385723 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:143.67, Y:60.29, Z:51.15 [[ 4.52137407e-01 -8.38601509e-01 -3.03840870e-01 1.43670528e+02] [ 6.73512512e-01 5.44322070e-01 -5.00094370e-01 6.02858033e+01] [ 5.84767185e-01 2.14707438e-02 8.10916979e-01 5.11456506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.040385723 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:143.68, Y:60.31, Z:51.16 [[ 4.53031142e-01 -8.38057432e-01 -3.04010732e-01 1.43682602e+02] [ 6.72378151e-01 5.45120108e-01 -5.00751125e-01 6.03052014e+01] [ 5.85380565e-01 2.24456805e-02 8.10447892e-01 5.11613442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07038572300002 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:143.70, Y:60.32, Z:51.18 [[ 4.54475957e-01 -8.37238047e-01 -3.04111916e-01 1.43695167e+02] [ 6.70995344e-01 5.46321765e-01 -5.01296097e-01 6.03246500e+01] [ 5.85847124e-01 2.37693433e-02 8.10072939e-01 5.11769753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10038572300002 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:143.71, Y:60.34, Z:51.19 [[ 4.55626231e-01 -8.36447951e-01 -3.04564547e-01 1.43708888e+02] [ 6.69213570e-01 5.47471379e-01 -5.02422419e-01 6.03431999e+01] [ 5.86990576e-01 2.50981051e-02 8.09204640e-01 5.11932469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13038572300002 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:143.72, Y:60.36, Z:51.21 [[ 4.56019028e-01 -8.36271680e-01 -3.04460710e-01 1.43722129e+02] [ 6.68854536e-01 5.47718805e-01 -5.02630798e-01 6.03617949e+01] [ 5.87094758e-01 2.55692813e-02 8.09114304e-01 5.12094403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16038572300002 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:143.74, Y:60.38, Z:51.23 [[ 4.55488247e-01 -8.36704118e-01 -3.04066895e-01 1.43736271e+02] [ 6.69584474e-01 5.47074144e-01 -5.02360939e-01 6.03787576e+01] [ 5.86674603e-01 2.52210317e-02 8.09429929e-01 5.12258277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19038572300002 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:143.75, Y:60.40, Z:51.24 [[ 4.54488485e-01 -8.37379969e-01 -3.03702164e-01 1.43749134e+02] [ 6.70643610e-01 5.46072156e-01 -5.02038195e-01 6.03972491e+01] [ 5.86240024e-01 2.44946636e-02 8.09767032e-01 5.12418122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.220385723 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:143.76, Y:60.41, Z:51.26 [[ 4.52687132e-01 -8.38580825e-01 -3.03078472e-01 1.43763840e+02] [ 6.72582848e-01 5.44286203e-01 -5.01382929e-01 6.04147824e+01] [ 5.85411541e-01 2.31242187e-02 8.10406440e-01 5.12578899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.250385723 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:143.78, Y:60.43, Z:51.27 [[ 4.51495871e-01 -8.39353916e-01 -3.02715184e-01 1.43777003e+02] [ 6.73687186e-01 5.43126257e-01 -5.01158103e-01 6.04333532e+01] [ 5.85061581e-01 2.23354740e-02 8.10681240e-01 5.12738523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.280385723 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:143.79, Y:60.45, Z:51.29 [[ 4.50516837e-01 -8.40009355e-01 -3.02355525e-01 1.43789881e+02] [ 6.74638388e-01 5.42137587e-01 -5.00948982e-01 6.04506877e+01] [ 5.84720126e-01 2.17053071e-02 8.10944668e-01 5.12896979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.310385723 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:143.80, Y:60.47, Z:51.31 [[ 4.48628929e-01 -8.41219672e-01 -3.01797196e-01 1.43804490e+02] [ 6.76574681e-01 5.40313636e-01 -5.00307781e-01 6.04672706e+01] [ 5.83933888e-01 2.02642025e-02 8.11548259e-01 5.13058379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.340385723 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:143.82, Y:60.49, Z:51.32 [[ 4.47950393e-01 -8.41724404e-01 -3.01397535e-01 1.43817418e+02] [ 6.77387873e-01 5.39543155e-01 -5.00038851e-01 6.04856875e+01] [ 5.83511881e-01 1.98295646e-02 8.11862472e-01 5.13219415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.370385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:143.83, Y:60.50, Z:51.34 [[ 4.46747343e-01 -8.42396079e-01 -3.01306585e-01 1.43831069e+02] [ 6.78044095e-01 5.38517076e-01 -5.00255498e-01 6.05033363e+01] [ 5.83672011e-01 1.91886638e-02 8.11762760e-01 5.13367059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.400385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:143.84, Y:60.52, Z:51.35 [[ 4.46519874e-01 -8.42585016e-01 -3.01115415e-01 1.43842574e+02] [ 6.78194558e-01 5.38220629e-01 -5.00370558e-01 6.05228918e+01] [ 5.83671263e-01 1.92105622e-02 8.11762780e-01 5.13526859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.430385723 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:143.86, Y:60.54, Z:51.37 [[ 4.45912282e-01 -8.42856304e-01 -3.01256515e-01 1.43855585e+02] [ 6.78074252e-01 5.37798853e-01 -5.00986729e-01 6.05416670e+01] [ 5.84275231e-01 1.91218493e-02 8.11330271e-01 5.13681327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.460385723 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:143.87, Y:60.56, Z:51.38 [[ 4.46165637e-01 -8.42559865e-01 -3.01710287e-01 1.43869945e+02] [ 6.76864697e-01 5.38237723e-01 -5.02149715e-01 6.05582540e+01] [ 5.85483054e-01 1.98249055e-02 8.10442205e-01 5.13822364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.490385723 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:143.88, Y:60.58, Z:51.40 [[ 4.46484583e-01 -8.42366619e-01 -3.01778059e-01 1.43883010e+02] [ 6.76239068e-01 5.38519801e-01 -5.02689911e-01 6.05776209e+01] [ 5.85962660e-01 2.03691822e-02 8.10082006e-01 5.13982189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.520385723 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:143.90, Y:60.60, Z:51.41 [[ 4.47148989e-01 -8.42046295e-01 -3.01688280e-01 1.43895412e+02] [ 6.75691293e-01 5.38995126e-01 -5.02917022e-01 6.05959946e+01] [ 5.86087928e-01 2.10306937e-02 8.09974476e-01 5.14129757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.550385723 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:143.91, Y:60.61, Z:51.43 [[ 4.48530287e-01 -8.41246059e-01 -3.01870253e-01 1.43909831e+02] [ 6.74213550e-01 5.40189752e-01 -5.03618031e-01 6.06142954e+01] [ 5.86733901e-01 2.23629252e-02 8.09470956e-01 5.14289622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.580385723 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:143.92, Y:60.63, Z:51.45 [[ 4.49201195e-01 -8.40967892e-01 -3.01647629e-01 1.43923279e+02] [ 6.73882939e-01 5.40597985e-01 -5.03622480e-01 6.06329355e+01] [ 5.86600435e-01 2.29526290e-02 8.09551176e-01 5.14452236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.610385723 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:143.94, Y:60.65, Z:51.46 [[ 4.50959155e-01 -8.40305102e-01 -3.00870698e-01 1.43938251e+02] [ 6.73780556e-01 5.41583300e-01 -5.02700001e-01 6.06497665e+01] [ 5.85367921e-01 2.39763417e-02 8.10413186e-01 5.14608658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.640385723 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:143.95, Y:60.67, Z:51.48 [[ 4.51648401e-01 -8.40134262e-01 -3.00313410e-01 1.43951512e+02] [ 6.73982789e-01 5.41829585e-01 -5.02163221e-01 6.06689520e+01] [ 5.84603218e-01 2.43951459e-02 8.10952498e-01 5.14771823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.670385723 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:143.97, Y:60.69, Z:51.49 [[ 4.52681797e-01 -8.39825654e-01 -2.99619863e-01 1.43965564e+02] [ 6.74185782e-01 5.42281342e-01 -5.01402510e-01 6.06866657e+01] [ 5.83568952e-01 2.49763374e-02 8.11679408e-01 5.14931243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.700385723 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:143.98, Y:60.71, Z:51.51 [[ 4.53240236e-01 -8.39680950e-01 -2.99180866e-01 1.43978396e+02] [ 6.74254198e-01 5.42486191e-01 -5.01088824e-01 6.07050192e+01] [ 5.83056228e-01 2.53896622e-02 8.12034974e-01 5.15088117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.730385723 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:143.99, Y:60.72, Z:51.53 [[ 4.53818983e-01 -8.39416574e-01 -2.99045393e-01 1.43993292e+02] [ 6.73804183e-01 5.42866617e-01 -5.01282115e-01 6.07225561e+01] [ 5.83126276e-01 2.59933029e-02 8.11965575e-01 5.15253212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.760385723 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:144.01, Y:60.74, Z:51.54 [[ 4.54005666e-01 -8.39395414e-01 -2.98821341e-01 1.44006290e+02] [ 6.73776956e-01 5.42886855e-01 -5.01296795e-01 6.07409661e+01] [ 5.83012408e-01 2.62526519e-02 8.12038995e-01 5.15414191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.790385723 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:144.02, Y:60.76, Z:51.56 [[ 4.54350389e-01 -8.39386737e-01 -2.98321353e-01 1.44020732e+02] [ 6.74109016e-01 5.42890269e-01 -5.00846473e-01 6.07594782e+01] [ 5.82359647e-01 2.64586761e-02 8.12500573e-01 5.15576901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82038572300002 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:144.03, Y:60.78, Z:51.57 [[ 4.54453139e-01 -8.39414302e-01 -2.98087192e-01 1.44032771e+02] [ 6.74155581e-01 5.42838227e-01 -5.00840206e-01 6.07777305e+01] [ 5.82225554e-01 2.66512593e-02 8.12590373e-01 5.15729977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85038572300002 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:144.04, Y:60.80, Z:51.59 [[ 4.53524214e-01 -8.42289462e-01 -2.91314692e-01 1.44042851e+02] [ 6.73899234e-01 5.37993418e-01 -5.06382173e-01 6.08011431e+01] [ 5.83245754e-01 3.33398290e-02 8.11611265e-01 5.15861828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88038572300002 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:144.06, Y:60.81, Z:51.61 [[ 4.52988331e-01 -8.37721164e-01 -3.04999710e-01 1.44060711e+02] [ 6.75749150e-01 5.45790421e-01 -4.95455247e-01 6.08113958e+01] [ 5.81519267e-01 1.83321504e-02 8.13326057e-01 5.16061271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91038572300002 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:144.07, Y:60.84, Z:51.62 [[ 4.51382250e-01 -8.43158537e-01 -2.92126250e-01 1.44069392e+02] [ 6.76069970e-01 5.36808629e-01 -5.04743391e-01 6.08375212e+01] [ 5.82394591e-01 3.03344225e-02 8.12340054e-01 5.16176049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94038572300002 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:144.09, Y:60.85, Z:51.64 [[ 4.50010318e-01 -8.39779041e-01 -3.03746401e-01 1.44086696e+02] [ 6.77985287e-01 5.42655836e-01 -4.95843317e-01 6.08468695e+01] [ 5.81228583e-01 1.71990180e-02 8.13558559e-01 5.16372129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.970385723 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:144.10, Y:60.87, Z:51.65 [[ 4.47497545e-01 -8.45821970e-01 -2.90398249e-01 1.44095706e+02] [ 6.78444943e-01 5.32654807e-01 -5.05955845e-01 6.08734689e+01] [ 5.82630592e-01 2.93947748e-02 8.12205356e-01 5.16485456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.000385723 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:144.11, Y:60.88, Z:51.67 [[ 4.45552678e-01 -8.41525822e-01 -3.05478482e-01 1.44114319e+02] [ 6.80313838e-01 5.40061800e-01 -4.95485957e-01 6.08821246e+01] [ 5.81941486e-01 1.29438563e-02 8.13127643e-01 5.16699727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.030385723 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:144.12, Y:60.90, Z:51.68 [[ 4.44377506e-01 -8.45296313e-01 -2.96652617e-01 1.44124013e+02] [ 6.80923691e-01 5.33894030e-01 -5.01298406e-01 6.09047905e+01] [ 5.82126756e-01 2.07679410e-02 8.12832783e-01 5.16818441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.060385723 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:144.14, Y:60.93, Z:51.69 [[ 4.41051706e-01 -8.50528456e-01 -2.86486890e-01 1.44135698e+02] [ 6.80599318e-01 5.25050366e-01 -5.10985990e-01 6.09287811e+01] [ 5.85028172e-01 3.03884611e-02 8.10443446e-01 5.16937786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.090385723 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:144.16, Y:60.93, Z:51.72 [[ 4.40906294e-01 -8.42420504e-01 -3.09724611e-01 1.44155656e+02] [ 6.82637516e-01 5.38784568e-01 -4.93677234e-01 6.09325310e+01] [ 5.82758665e-01 6.23576055e-03 8.12621347e-01 5.17185758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.120385723 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:144.16, Y:60.96, Z:51.73 [[ 4.40128305e-01 -8.47750195e-01 -2.95984260e-01 1.44164442e+02] [ 6.83914786e-01 5.30083520e-01 -5.01270414e-01 6.09583957e+01] [ 5.81848470e-01 1.81952855e-02 8.13093654e-01 5.17293532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.150385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:144.18, Y:60.98, Z:51.75 [[ 4.39117620e-01 -8.48506213e-01 -2.95318342e-01 1.44178561e+02] [ 6.85373370e-01 5.28899693e-01 -5.00528179e-01 6.09767294e+01] [ 5.80895050e-01 1.73874157e-02 8.13792737e-01 5.17457654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.180385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:144.19, Y:61.00, Z:51.76 [[ 4.38117503e-01 -8.51714416e-01 -2.87464097e-01 1.44188953e+02] [ 6.85217689e-01 5.23413394e-01 -5.06473234e-01 6.10010093e+01] [ 5.81833113e-01 2.49193042e-02 8.12926354e-01 5.17588374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.210385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:144.21, Y:61.01, Z:51.78 [[ 4.39421101e-01 -8.45230642e-01 -3.04128685e-01 1.44207529e+02] [ 6.85437662e-01 5.34327666e-01 -4.94640431e-01 6.10084874e+01] [ 5.80589620e-01 8.89418816e-03 8.14147767e-01 5.17817008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.240385723 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:144.22, Y:61.03, Z:51.79 [[ 4.40340926e-01 -8.48161160e-01 -2.94486869e-01 1.44217315e+02] [ 6.85010505e-01 5.29409608e-01 -5.00485839e-01 6.10323859e+01] [ 5.80396827e-01 1.86577992e-02 8.14120021e-01 5.17941377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.270385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:144.23, Y:61.05, Z:51.81 [[ 4.42479572e-01 -8.46891753e-01 -2.94934207e-01 1.44229889e+02] [ 6.82648332e-01 5.31365037e-01 -5.01639763e-01 6.10506594e+01] [ 5.81552304e-01 2.06290033e-02 8.13247417e-01 5.18099335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.300385723 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:144.24, Y:61.07, Z:51.82 [[ 4.44273213e-01 -8.45887783e-01 -2.95118910e-01 1.44241268e+02] [ 6.80913636e-01 5.32897034e-01 -5.02371747e-01 6.10694543e+01] [ 5.82218115e-01 2.22398201e-02 8.12728403e-01 5.18245561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.330385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:144.25, Y:61.09, Z:51.84 [[ 4.44003778e-01 -8.46798487e-01 -2.92904367e-01 1.44250753e+02] [ 6.79779921e-01 5.31308531e-01 -5.05579375e-01 6.10895776e+01] [ 5.83746439e-01 2.53686450e-02 8.11539603e-01 5.18381255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.360385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:144.27, Y:61.10, Z:51.86 [[ 4.46864102e-01 -8.38438991e-01 -3.11981621e-01 1.44267934e+02] [ 6.80548452e-01 5.44956190e-01 -4.89771943e-01 6.10951354e+01] [ 5.80660209e-01 6.54289032e-03 8.14119716e-01 5.18585948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.390385723 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:144.27, Y:61.14, Z:51.86 [[ 4.45043356e-01 -8.52954547e-01 -2.72772712e-01 1.44267224e+02] [ 6.81019592e-01 5.20159799e-01 -5.15408672e-01 6.11368929e+01] [ 5.81505569e-01 4.36156444e-02 8.12372420e-01 5.18604941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.420385723 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:144.29, Y:61.15, Z:51.88 [[ 4.42501001e-01 -8.48455968e-01 -2.90371030e-01 1.44286040e+02] [ 6.80586650e-01 5.28582988e-01 -5.07347846e-01 6.11485793e+01] [ 5.83947495e-01 2.68792829e-02 8.11346306e-01 5.18843037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.450385723 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.30, Y:61.16, Z:51.90 [[ 4.42651742e-01 -8.43820872e-01 -3.03357498e-01 1.44300960e+02] [ 6.81281924e-01 5.36447427e-01 -4.98075393e-01 6.11590518e+01] [ 5.83021762e-01 1.38019601e-02 8.12339296e-01 5.19046747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.480385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:144.31, Y:61.18, Z:51.92 [[ 4.41210094e-01 -8.47416498e-01 -2.95328514e-01 1.44309999e+02] [ 6.82193043e-01 5.30532053e-01 -5.03138543e-01 6.11818553e+01] [ 5.83049145e-01 2.05187463e-02 8.12177737e-01 5.19171593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.510385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:144.32, Y:61.20, Z:51.93 [[ 4.40374291e-01 -8.47962586e-01 -2.95008367e-01 1.44321215e+02] [ 6.82943048e-01 5.29676967e-01 -5.03021971e-01 6.11999437e+01] [ 5.82802949e-01 2.00440299e-02 8.12366272e-01 5.19320551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.540385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:144.33, Y:61.22, Z:51.95 [[ 4.39321452e-01 -8.48589173e-01 -2.94776317e-01 1.44333425e+02] [ 6.83667781e-01 5.28693575e-01 -5.03072031e-01 6.12194320e+01] [ 5.82747824e-01 1.94812649e-02 8.12419506e-01 5.19490359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57038572300002 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:144.34, Y:61.25, Z:51.96 [[ 4.35650778e-01 -8.55405294e-01 -2.80160993e-01 1.44342096e+02] [ 6.83990607e-01 5.16931595e-01 -5.14721843e-01 6.12474871e+01] [ 5.85119858e-01 3.26114842e-02 8.10290838e-01 5.19610363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60038572300002 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:144.36, Y:61.25, Z:51.99 [[ 4.36251729e-01 -8.43747893e-01 -3.12688220e-01 1.44364396e+02] [ 6.86654995e-01 5.36739085e-01 -4.90322416e-01 6.12458293e+01] [ 5.81540494e-01 -8.04926309e-04 8.13517059e-01 5.19922430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63038572300002 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:144.37, Y:61.28, Z:52.00 [[ 4.35714861e-01 -8.51022705e-01 -2.93109050e-01 1.44370413e+02] [ 6.87739192e-01 5.24855413e-01 -5.01539230e-01 6.12750293e+01] [ 5.80661144e-01 1.69455145e-02 8.13968971e-01 5.20004040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66038572300002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:144.37, Y:61.30, Z:52.01 [[ 4.30572211e-01 -8.55217215e-01 -2.88463320e-01 1.44372121e+02] [ 6.92950650e-01 5.18021818e-01 -5.01470630e-01 6.12952147e+01] [ 5.78296609e-01 1.60284723e-02 8.15669124e-01 5.20065595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69038572300002 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:144.37, Y:61.33, Z:52.01 [[ 4.29793961e-01 -8.64098243e-01 -2.61937738e-01 1.44373666e+02] [ 6.96653461e-01 5.01898917e-01 -5.12612361e-01 6.13296392e+01] [ 5.74413707e-01 3.78378654e-02 8.17690155e-01 5.20074159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.720385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:144.40, Y:61.34, Z:52.05 [[ 4.34984723e-01 -8.53367309e-01 -2.87319555e-01 1.44402898e+02] [ 6.88752283e-01 5.20867803e-01 -5.04298547e-01 6.13360648e+01] [ 5.80007399e-01 2.14701643e-02 8.14328219e-01 5.20460515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.750385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:144.42, Y:61.35, Z:52.06 [[ 4.34963263e-01 -8.51391563e-01 -2.93154169e-01 1.44415679e+02] [ 6.88026750e-01 5.24269553e-01 -5.01757539e-01 6.13532857e+01] [ 5.80883940e-01 1.65481865e-02 8.13818165e-01 5.20642305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.780385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:144.43, Y:61.37, Z:52.08 [[ 4.35230701e-01 -8.51217750e-01 -2.93261963e-01 1.44426970e+02] [ 6.87397572e-01 5.24535746e-01 -5.02341348e-01 6.13733726e+01] [ 5.81428255e-01 1.70468160e-02 8.13419074e-01 5.20803131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.43, Y:61.40, Z:52.08 [[ 4.30579018e-01 -8.55492622e-01 -2.87635330e-01 1.44426948e+02] [ 6.92133584e-01 5.17517523e-01 -5.03117000e-01 6.13960321e+01] [ 5.79269205e-01 1.75495522e-02 8.14947361e-01 5.20844832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.840385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:144.43, Y:61.42, Z:52.10 [[ 4.30749044e-01 -8.58202596e-01 -2.79183748e-01 1.44433824e+02] [ 6.90033318e-01 5.12575757e-01 -5.10999132e-01 6.14198321e+01] [ 5.81643603e-01 2.74662993e-02 8.12979902e-01 5.20969553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.870385723 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:144.44, Y:61.46, Z:52.11 [[ 4.32723728e-01 -8.64746182e-01 -2.54880790e-01 1.44443437e+02] [ 6.89531676e-01 4.99597285e-01 -5.24355434e-01 6.14607685e+01] [ 5.80772110e-01 5.11526594e-02 8.12457483e-01 5.21052452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.900385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:144.47, Y:61.45, Z:52.15 [[ 4.29413270e-01 -8.47191727e-01 -3.12842488e-01 1.44468944e+02] [ 6.86632567e-01 5.31284539e-01 -4.96258457e-01 6.14476000e+01] [ 5.86634436e-01 -1.70787383e-03 8.09850062e-01 5.21490888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.930385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:144.47, Y:61.48, Z:52.16 [[ 4.29253924e-01 -8.54840101e-01 -2.91529536e-01 1.44473089e+02] [ 6.86757215e-01 5.18563814e-01 -5.09368333e-01 6.14784742e+01] [ 5.86605145e-01 1.84383436e-02 8.09663159e-01 5.21562381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.960385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:144.48, Y:61.50, Z:52.17 [[ 4.28464700e-01 -8.55306958e-01 -2.91321143e-01 1.44484035e+02] [ 6.87298687e-01 5.17807515e-01 -5.09407394e-01 6.14968276e+01] [ 5.86547966e-01 1.80384468e-02 8.09713590e-01 5.21726823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.990385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:144.49, Y:61.51, Z:52.19 [[ 4.23565174e-01 -8.53272093e-01 -3.04169819e-01 1.44491960e+02] [ 6.89163696e-01 5.21454302e-01 -5.03129020e-01 6.15083163e+01] [ 5.87916613e-01 3.48513372e-03 8.08914032e-01 5.21927513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:61.54, Z:52.20 [[ 4.23316682e-01 -8.60895956e-01 -2.82243050e-01 1.44495757e+02] [ 6.90797331e-01 5.08273526e-01 -5.14253896e-01 6.15379187e+01] [ 5.86175770e-01 2.27195071e-02 8.09865292e-01 5.22014850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:61.56, Z:52.22 [[ 4.22737782e-01 -8.61465496e-01 -2.81371583e-01 1.44506336e+02] [ 6.91549630e-01 5.07304497e-01 -5.14199627e-01 6.15580195e+01] [ 5.85706306e-01 2.27891958e-02 8.10202923e-01 5.22176406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.080385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:144.52, Y:61.58, Z:52.24 [[ 4.22651293e-01 -8.61317361e-01 -2.81954406e-01 1.44518873e+02] [ 6.91729815e-01 5.07587736e-01 -5.13677479e-01 6.15770745e+01] [ 5.85555930e-01 2.20701816e-02 8.10331512e-01 5.22361914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.53, Y:61.59, Z:52.26 [[ 4.22464857e-01 -8.60160866e-01 -2.85738918e-01 1.44532346e+02] [ 6.91294850e-01 5.09674202e-01 -5.12194922e-01 6.15948546e+01] [ 5.86203782e-01 1.88545116e-02 8.09944216e-01 5.22558429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:61.62, Z:52.26 [[ 4.21270566e-01 -8.65515774e-01 -2.70949361e-01 1.44536082e+02] [ 6.94785009e-01 5.00010129e-01 -5.16975495e-01 6.16216147e+01] [ 5.82927870e-01 2.95350052e-02 8.11986934e-01 5.22593728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.55, Y:61.64, Z:52.28 [[ 4.21462637e-01 -8.62644560e-01 -2.79666961e-01 1.44549918e+02] [ 6.93652048e-01 5.05316326e-01 -5.13324700e-01 6.16385392e+01] [ 5.84137041e-01 2.23556209e-02 8.11347116e-01 5.22808733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.56, Y:61.66, Z:52.30 [[ 4.22312006e-01 -8.60650616e-01 -2.84487411e-01 1.44561437e+02] [ 6.91470649e-01 5.08808727e-01 -5.12817726e-01 6.16569770e+01] [ 5.86106570e-01 1.98543877e-02 8.09990674e-01 5.22995142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.57, Y:61.68, Z:52.32 [[ 4.22760395e-01 -8.60618923e-01 -2.83916743e-01 1.44572253e+02] [ 6.90523562e-01 5.08804352e-01 -5.14096627e-01 6.16782717e+01] [ 5.86899360e-01 2.12884927e-02 8.09379973e-01 5.23157785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:61.70, Z:52.33 [[ 4.26926264e-01 -8.61128970e-01 -2.76026922e-01 1.44586515e+02] [ 6.88280304e-01 5.07418499e-01 -5.18456064e-01 6.17025409e+01] [ 5.86518703e-01 3.13586166e-02 8.09328393e-01 5.23307654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:61.72, Z:52.35 [[ 4.26042304e-01 -8.57707549e-01 -2.87794570e-01 1.44600288e+02] [ 6.86721866e-01 5.13688467e-01 -5.14331836e-01 6.17156214e+01] [ 5.88983050e-01 2.14922965e-02 8.07859547e-01 5.23505263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:61.73, Z:52.37 [[ 4.25694880e-01 -8.56614384e-01 -2.91540163e-01 1.44612555e+02] [ 6.86801210e-01 5.15648777e-01 -5.12260126e-01 6.17334976e+01] [ 5.89141721e-01 1.78363761e-02 8.07832839e-01 5.23681223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:61.75, Z:52.38 [[ 4.24440384e-01 -8.54977477e-01 -2.98100443e-01 1.44617519e+02] [ 6.88370267e-01 5.18567453e-01 -5.07182583e-01 6.17492521e+01] [ 5.88214873e-01 1.00652883e-02 8.08642043e-01 5.23826930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.63, Y:61.78, Z:52.40 [[ 4.29763307e-01 -8.59276307e-01 -2.77394537e-01 1.44629581e+02] [ 6.85505687e-01 5.10448750e-01 -5.19157035e-01 6.17804116e+01] [ 5.87695034e-01 3.29591110e-02 8.08410938e-01 5.23953648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:61.80, Z:52.41 [[ 4.27094316e-01 -8.58284326e-01 -2.84496854e-01 1.44632773e+02] [ 6.88313204e-01 5.12641470e-01 -5.13248142e-01 6.17976400e+01] [ 5.86357722e-01 2.33824231e-02 8.09714693e-01 5.24054842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44038572300002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:144.65, Y:61.82, Z:52.43 [[ 4.31194834e-01 -8.56123335e-01 -2.84822489e-01 1.44652328e+02] [ 6.83633179e-01 5.16021692e-01 -5.16107828e-01 6.18174974e+01] [ 5.88826537e-01 2.78289253e-02 8.07780205e-01 5.24275721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.66, Y:61.83, Z:52.45 [[ 4.31038610e-01 -8.53984781e-01 -2.91403003e-01 1.44664521e+02] [ 6.83727187e-01 5.19853394e-01 -5.12122624e-01 6.18314980e+01] [ 5.88831767e-01 2.15044684e-02 8.07969497e-01 5.24483555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:61.85, Z:52.46 [[ 4.30601043e-01 -8.54328313e-01 -2.91042737e-01 1.44674435e+02] [ 6.84298462e-01 5.19298113e-01 -5.11922928e-01 6.18497118e+01] [ 5.88488196e-01 2.12744489e-02 8.08225860e-01 5.24644841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:61.87, Z:52.48 [[ 4.30105641e-01 -8.54717429e-01 -2.90632506e-01 1.44685356e+02] [ 6.85060329e-01 5.18672042e-01 -5.11538521e-01 6.18696526e+01] [ 5.87963845e-01 2.09148032e-02 8.08616774e-01 5.24813318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:61.86, Z:52.52 [[ 4.24549576e-01 -8.43498461e-01 -3.29041036e-01 1.44697392e+02] [ 6.83295296e-01 5.36928478e-01 -4.94788185e-01 6.18649334e+01] [ 5.94024575e-01 -1.47700785e-02 8.04311288e-01 5.25179847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:61.93, Z:52.50 [[ 4.29662592e-01 -8.69213759e-01 -2.44657921e-01 1.44689799e+02] [ 6.87580868e-01 4.90560180e-01 -5.35334717e-01 6.19327764e+01] [ 5.85339736e-01 6.17911963e-02 8.08430109e-01 5.24964976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:61.93, Z:52.53 [[ 4.27367196e-01 -8.56310691e-01 -2.89981518e-01 1.44715134e+02] [ 6.87271644e-01 5.16105493e-01 -5.11168082e-01 6.19308524e+01] [ 5.87379747e-01 1.91603952e-02 8.09084613e-01 5.25303541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.650385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:144.73, Y:61.95, Z:52.54 [[ 4.25888884e-01 -8.57029111e-01 -2.90034069e-01 1.44726250e+02] [ 6.87778861e-01 5.14938206e-01 -5.11662860e-01 6.19522263e+01] [ 5.87859589e-01 1.84322225e-02 8.08752964e-01 5.25449588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.73, Y:61.97, Z:52.56 [[ 4.20558289e-01 -8.59494081e-01 -2.90517901e-01 1.44728718e+02] [ 6.90560769e-01 5.10934975e-01 -5.11928975e-01 6.19716482e+01] [ 5.88435681e-01 1.46757083e-02 8.08410832e-01 5.25564799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:62.00, Z:52.57 [[ 4.22389670e-01 -8.62096342e-01 -2.79958683e-01 1.44743246e+02] [ 6.88009717e-01 5.06019019e-01 -5.20180143e-01 6.19977875e+01] [ 5.90109817e-01 2.71044242e-02 8.06867867e-01 5.25739567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:62.01, Z:52.59 [[ 4.18911581e-01 -8.59977774e-01 -2.91464090e-01 1.44756734e+02] [ 6.88944930e-01 5.10113878e-01 -5.14916221e-01 6.20130914e+01] [ 5.91496383e-01 1.49016615e-02 8.06169939e-01 5.25948751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.77, Y:62.02, Z:52.62 [[ 4.13711859e-01 -8.57195215e-01 -3.06690172e-01 1.44766324e+02] [ 6.89928745e-01 5.14990362e-01 -5.08707434e-01 6.20239149e+01] [ 5.94004061e-01 -1.13606737e-03 8.04461239e-01 5.26176863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:62.06, Z:52.62 [[ 4.15486603e-01 -8.68145267e-01 -2.71467637e-01 1.44772153e+02] [ 6.91401816e-01 4.95352411e-01 -5.25917786e-01 6.20633797e+01] [ 5.91045185e-01 3.08185777e-02 8.06049505e-01 5.26206237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:62.07, Z:52.65 [[ 4.13200815e-01 -8.62997763e-01 -2.90688747e-01 1.44788679e+02] [ 6.93226918e-01 5.05089663e-01 -5.14121457e-01 6.20729345e+01] [ 5.90509549e-01 1.09221408e-02 8.06956739e-01 5.26452428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:62.09, Z:52.66 [[ 4.11973916e-01 -8.63724594e-01 -2.90271113e-01 1.44798687e+02] [ 6.94361836e-01 5.03862563e-01 -5.13793886e-01 6.20927065e+01] [ 5.90033163e-01 1.01164960e-02 8.07315628e-01 5.26616018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:62.11, Z:52.68 [[ 4.11028202e-01 -8.64400382e-01 -2.89599372e-01 1.44809117e+02] [ 6.95751605e-01 5.02716559e-01 -5.13035832e-01 6.21128404e+01] [ 5.89054769e-01 9.38296775e-03 8.08038637e-01 5.26774993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:62.13, Z:52.69 [[ 4.09536288e-01 -8.65289819e-01 -2.89056324e-01 1.44819552e+02] [ 6.97257043e-01 5.01202700e-01 -5.12472896e-01 6.21330623e+01] [ 5.88313389e-01 8.32968939e-03 8.08590114e-01 5.26942123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:62.15, Z:52.71 [[ 4.08778341e-01 -8.65749775e-01 -2.88751787e-01 1.44830244e+02] [ 6.97922531e-01 5.00414651e-01 -5.12337113e-01 6.21531964e+01] [ 5.88051366e-01 7.90593720e-03 8.08784945e-01 5.27107046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:62.17, Z:52.73 [[ 4.08150564e-01 -8.66219510e-01 -2.88230599e-01 1.44840211e+02] [ 6.98881464e-01 4.99607965e-01 -5.11816940e-01 6.21739620e+01] [ 5.87348122e-01 7.45935050e-03 8.09300032e-01 5.27269993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:62.20, Z:52.74 [[ 4.07703339e-01 -8.66428566e-01 -2.88235194e-01 1.44849215e+02] [ 6.98838819e-01 4.99246105e-01 -5.12228105e-01 6.21964779e+01] [ 5.87709361e-01 7.40716589e-03 8.09038220e-01 5.27420227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:62.22, Z:52.76 [[ 4.07465662e-01 -8.66489129e-01 -2.88389187e-01 1.44858786e+02] [ 6.98416799e-01 4.99138442e-01 -5.12908170e-01 6.22177383e+01] [ 5.88375483e-01 7.57661386e-03 8.08552340e-01 5.27572860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:62.24, Z:52.77 [[ 4.07521596e-01 -8.66440046e-01 -2.88457615e-01 1.44868479e+02] [ 6.97968347e-01 4.99218567e-01 -5.13440365e-01 6.22384577e+01] [ 5.88868691e-01 7.90375234e-03 8.08190074e-01 5.27721065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:62.27, Z:52.78 [[ 4.08975304e-01 -8.69951655e-01 -2.75541866e-01 1.44876433e+02] [ 6.99562562e-01 4.92775573e-01 -5.17478943e-01 6.22688960e+01] [ 5.85961964e-01 1.88773344e-02 8.10118648e-01 5.27796240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:62.28, Z:52.80 [[ 4.08967790e-01 -8.64356344e-01 -2.92631947e-01 1.44892302e+02] [ 6.98855780e-01 5.02867539e-01 -5.08650014e-01 6.22787609e+01] [ 5.86809974e-01 3.51394469e-03 8.09717053e-01 5.28035277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:62.31, Z:52.81 [[ 4.08915905e-01 -8.70811782e-01 -2.72900389e-01 1.44895906e+02] [ 7.01447972e-01 4.91220062e-01 -5.16404486e-01 6.23116695e+01] [ 5.83745257e-01 1.97405835e-02 8.11696855e-01 5.28075842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:62.31, Z:52.84 [[ 4.06408144e-01 -8.60022542e-01 -3.08534678e-01 1.44912130e+02] [ 6.99087054e-01 5.10113557e-01 -5.01060325e-01 6.23106514e+01] [ 5.88310897e-01 -1.20576024e-02 8.08544930e-01 5.28423945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:62.35, Z:52.84 [[ 4.08191253e-01 -8.72372603e-01 -2.68972011e-01 1.44914870e+02] [ 7.01363995e-01 4.88284782e-01 -5.19294251e-01 6.23534827e+01] [ 5.84353017e-01 2.33240870e-02 8.11164310e-01 5.28406082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:62.35, Z:52.87 [[ 4.05719003e-01 -8.60682706e-01 -3.07599367e-01 1.44931723e+02] [ 6.99980758e-01 5.08998617e-01 -5.00946451e-01 6.23507590e+01] [ 5.87723600e-01 -1.20701436e-02 8.08971744e-01 5.28729501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:62.40, Z:52.86 [[ 4.06935505e-01 -8.77432607e-01 -2.53999047e-01 1.44928183e+02] [ 7.05126152e-01 4.78504611e-01 -5.23288111e-01 6.24020285e+01] [ 5.80689766e-01 3.38431411e-02 8.13421193e-01 5.28586625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.96, Y:62.40, Z:52.90 [[ 4.07257286e-01 -8.63216573e-01 -2.98326417e-01 1.44957365e+02] [ 7.00332136e-01 5.04822347e-01 -5.04667512e-01 6.24000844e+01] [ 5.86239202e-01 -3.39805572e-03 8.10130885e-01 5.29011783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.96, Y:62.41, Z:52.92 [[ 4.04646832e-01 -8.62040069e-01 -3.05201346e-01 1.44963078e+02] [ 6.99940373e-01 5.06742064e-01 -5.03285164e-01 6.24132140e+01] [ 5.88510337e-01 -9.96999680e-03 8.08428217e-01 5.29205324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:62.46, Z:52.92 [[ 4.06971190e-01 -8.73687777e-01 -2.66541027e-01 1.44966143e+02] [ 7.03199408e-01 4.85904310e-01 -5.19044886e-01 6.24568017e+01] [ 5.82996607e-01 2.38048230e-02 8.12125783e-01 5.29169601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:144.99, Y:62.47, Z:52.94 [[ 4.08823808e-01 -8.66780194e-01 -2.85578693e-01 1.44985326e+02] [ 7.02664066e-01 4.98643511e-01 -5.07560696e-01 6.24666534e+01] [ 5.82345520e-01 6.83701079e-03 8.12912634e-01 5.29406630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:62.48, Z:52.96 [[ 4.07530332e-01 -8.62065959e-01 -3.01266179e-01 1.44998450e+02] [ 7.01909546e-01 5.06740924e-01 -5.00536338e-01 6.24783298e+01] [ 5.84159240e-01 -7.47786691e-03 8.11604623e-01 5.29644050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:62.51, Z:52.97 [[ 4.07444911e-01 -8.68135461e-01 -2.83424534e-01 1.45001394e+02] [ 7.03577316e-01 4.96265637e-01 -5.08624987e-01 6.25095776e+01] [ 5.82209244e-01 7.82558967e-03 8.13001326e-01 5.29692209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:62.53, Z:52.99 [[ 4.08004698e-01 -8.66401029e-01 -2.87891338e-01 1.45013318e+02] [ 7.02835678e-01 4.99329672e-01 -5.06647696e-01 6.25274376e+01] [ 5.82712773e-01 4.37433638e-03 8.12666407e-01 5.29871434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:62.55, Z:53.00 [[ 4.10954476e-01 -8.67396100e-01 -2.80607241e-01 1.45023242e+02] [ 7.01608928e-01 4.97454080e-01 -5.10180703e-01 6.25515277e+01] [ 5.82117969e-01 1.27844984e-02 8.13003829e-01 5.29995500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.550385723 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:145.04, Y:62.55, Z:53.02 [[ 4.14973536e-01 -8.58745962e-01 -3.00586655e-01 1.45035440e+02] [ 6.97612876e-01 5.12398120e-01 -5.00783827e-01 6.25530789e+01] [ 5.84066126e-01 -1.88108559e-03 8.11703901e-01 5.30162885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.580385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:145.04, Y:62.59, Z:53.03 [[ 4.12122257e-01 -8.69882732e-01 -2.71033720e-01 1.45039169e+02] [ 6.99651952e-01 4.92692828e-01 -5.17436878e-01 6.25939879e+01] [ 5.83645775e-01 2.36179827e-02 8.11664832e-01 5.30266918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.610385723 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:145.06, Y:62.61, Z:53.05 [[ 4.12241129e-01 -8.64971765e-01 -2.86148734e-01 1.45056627e+02] [ 6.99169524e-01 5.01722708e-01 -5.09348899e-01 6.26067292e+01] [ 5.84139734e-01 9.90809113e-03 8.11592633e-01 5.30479878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.640385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:145.06, Y:62.63, Z:53.06 [[ 4.12845514e-01 -8.67748218e-01 -2.76715760e-01 1.45063121e+02] [ 7.00829055e-01 4.96697947e-01 -5.11986118e-01 6.26307655e+01] [ 5.81719192e-01 1.74407275e-02 8.13202683e-01 5.30570165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.670385723 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:145.08, Y:62.64, Z:53.08 [[ 4.13047761e-01 -8.62502281e-01 -2.92371961e-01 1.45079367e+02] [ 6.98759916e-01 5.06032692e-01 -5.05633755e-01 6.26431377e+01] [ 5.84060037e-01 4.55308339e-03 8.11697692e-01 5.30824113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.700385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:145.09, Y:62.65, Z:53.11 [[ 4.13318027e-01 -8.58051819e-01 -3.04820085e-01 1.45087496e+02] [ 6.94658443e-01 5.13550800e-01 -5.03701523e-01 6.26532877e+01] [ 5.88742606e-01 -3.55692611e-03 8.08312744e-01 5.31094712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.730385723 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:145.09, Y:62.70, Z:53.11 [[ 4.15453583e-01 -8.69690771e-01 -2.66526326e-01 1.45091825e+02] [ 6.98373542e-01 4.92711949e-01 -5.19142881e-01 6.26978334e+01] [ 5.82814478e-01 2.95448360e-02 8.12067969e-01 5.31064558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.760385723 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:145.11, Y:62.71, Z:53.13 [[ 4.16630497e-01 -8.63026554e-01 -2.85664482e-01 1.45108257e+02] [ 6.97307799e-01 5.04998165e-01 -5.08663628e-01 6.27072156e+01] [ 5.83250257e-01 1.27287086e-02 8.12192784e-01 5.31309127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.790385723 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:145.12, Y:62.73, Z:53.15 [[ 4.19644000e-01 -8.62017893e-01 -2.84295736e-01 1.45122462e+02] [ 6.96032882e-01 5.06636889e-01 -5.08780197e-01 6.27280082e+01] [ 5.82612341e-01 1.56273769e-02 8.12599930e-01 5.31474487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82038572300002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:145.13, Y:62.74, Z:53.17 [[ 4.17289315e-01 -8.58556265e-01 -2.97910671e-01 1.45132111e+02] [ 6.96357326e-01 5.12715006e-01 -5.02204935e-01 6.27411863e+01] [ 5.83914465e-01 2.11247446e-03 8.11812439e-01 5.31672210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85038572300002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:145.14, Y:62.76, Z:53.19 [[ 4.18018983e-01 -8.56651735e-01 -3.02337452e-01 1.45139901e+02] [ 6.91721520e-01 5.15890825e-01 -5.05349379e-01 6.27557208e+01] [ 5.88881540e-01 2.11231131e-03 8.08216598e-01 5.31901463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88038572300002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:145.14, Y:62.80, Z:53.19 [[ 4.20877015e-01 -8.66968571e-01 -2.66885808e-01 1.45143601e+02] [ 6.92589045e-01 4.97122400e-01 -5.22675554e-01 6.27986668e+01] [ 5.85818192e-01 3.51399399e-02 8.09680327e-01 5.31900892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91038572300002 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:145.16, Y:62.81, Z:53.21 [[ 4.20168367e-01 -8.61459063e-01 -2.85213650e-01 1.45156707e+02] [ 6.90430695e-01 5.07444648e-01 -5.15563172e-01 6.28084479e+01] [ 5.88866708e-01 1.97030775e-02 8.07989969e-01 5.32082763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94038572300002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:145.17, Y:62.81, Z:53.24 [[ 4.19492677e-01 -8.52542916e-01 -3.11763484e-01 1.45171919e+02] [ 6.88726261e-01 5.22642475e-01 -5.02494757e-01 6.28124621e+01] [ 5.91339184e-01 -3.92682762e-03 8.06413386e-01 5.32421420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.970385723 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:145.17, Y:62.85, Z:53.25 [[ 4.20503305e-01 -8.61355443e-01 -2.85032930e-01 1.45173928e+02] [ 6.89271456e-01 5.07571413e-01 -5.16987543e-01 6.28457571e+01] [ 5.89984602e-01 2.09299073e-02 8.07143177e-01 5.32483913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.000385723 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:145.18, Y:62.86, Z:53.26 [[ 4.20398057e-01 -8.61566899e-01 -2.84548683e-01 1.45184149e+02] [ 6.89880519e-01 5.07216062e-01 -5.16523703e-01 6.28648069e+01] [ 5.89347387e-01 2.08409682e-02 8.07610866e-01 5.32644659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.030385723 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:145.20, Y:62.90, Z:53.27 [[ 4.21040114e-01 -8.67169609e-01 -2.65973854e-01 1.45195481e+02] [ 6.93279502e-01 4.96750567e-01 -5.22113403e-01 6.28977880e+01] [ 5.84883539e-01 3.54364661e-02 8.10342831e-01 5.32728422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.060385723 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:145.21, Y:62.91, Z:53.30 [[ 4.17411356e-01 -8.61657054e-01 -2.88643174e-01 1.45211113e+02] [ 6.95452315e-01 5.07356927e-01 -5.08856588e-01 6.29073225e+01] [ 5.84904982e-01 1.16649546e-02 8.11017935e-01 5.32954567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.090385723 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:145.22, Y:62.93, Z:53.31 [[ 4.15359602e-01 -8.64907763e-01 -2.81799509e-01 1.45218079e+02] [ 6.93794182e-01 5.01565513e-01 -5.16799448e-01 6.29301417e+01] [ 5.88324769e-01 1.91467531e-02 8.08398026e-01 5.33099465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.120385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:145.24, Y:62.95, Z:53.33 [[ 4.17541985e-01 -8.60352324e-01 -2.92322714e-01 1.45236552e+02] [ 6.93729090e-01 5.09607113e-01 -5.08960254e-01 6.29459093e+01] [ 5.86854872e-01 9.71950408e-03 8.09633800e-01 5.33311931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.150385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:145.24, Y:62.96, Z:53.35 [[ 4.13836925e-01 -8.57257212e-01 -3.06347959e-01 1.45244637e+02] [ 6.93907896e-01 5.14870813e-01 -5.03388397e-01 6.29556006e+01] [ 5.89262956e-01 -4.25656136e-03 8.07930102e-01 5.33498940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.180385723 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:145.24, Y:62.99, Z:53.35 [[ 4.12078715e-01 -8.70808500e-01 -2.68111335e-01 1.45241522e+02] [ 6.92531306e-01 4.90561563e-01 -5.28913738e-01 6.29935843e+01] [ 5.92107695e-01 3.22786005e-02 8.05212127e-01 5.33521324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.210385723 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:145.26, Y:63.01, Z:53.38 [[ 4.11256590e-01 -8.65259687e-01 -2.86694422e-01 1.45258797e+02] [ 6.92402516e-01 5.01100052e-01 -5.19112217e-01 6.30053928e+01] [ 5.92829464e-01 1.49803815e-02 8.05188683e-01 5.33755195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.240385723 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:145.27, Y:63.02, Z:53.40 [[ 4.12382679e-01 -8.59812489e-01 -3.01102990e-01 1.45274515e+02] [ 6.95178931e-01 5.10609477e-01 -5.05968592e-01 6.30157500e+01] [ 5.88784154e-01 -6.67771253e-04 8.08290031e-01 5.33963501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.270385723 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:145.28, Y:63.05, Z:53.41 [[ 4.11636493e-01 -8.66629653e-01 -2.81972413e-01 1.45278164e+02] [ 6.96557645e-01 4.98697408e-01 -5.15856902e-01 6.30452735e+01] [ 5.87675799e-01 1.59354863e-02 8.08939562e-01 5.34050407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.300385723 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:145.29, Y:63.07, Z:53.42 [[ 4.11080251e-01 -8.66977428e-01 -2.81714690e-01 1.45289037e+02] [ 6.97011827e-01 4.98100512e-01 -5.15820117e-01 6.30660450e+01] [ 5.87526630e-01 1.56849926e-02 8.09052804e-01 5.34209050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.330385723 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:145.30, Y:63.10, Z:53.42 [[ 4.10418012e-01 -8.73837221e-01 -2.60702064e-01 1.45296283e+02] [ 7.01252652e-01 4.85193434e-01 -5.22333275e-01 6.30996954e+01] [ 5.82925187e-01 3.15569707e-02 8.11912793e-01 5.34240467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.360385723 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:145.31, Y:63.11, Z:53.45 [[ 4.09874691e-01 -8.69266014e-01 -2.76368115e-01 1.45313418e+02] [ 7.01555270e-01 4.94065896e-01 -5.13535875e-01 6.31124154e+01] [ 5.82943343e-01 1.65978507e-02 8.12343259e-01 5.34467670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.390385723 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:145.33, Y:63.13, Z:53.46 [[ 4.09444673e-01 -8.68960349e-01 -2.77962178e-01 1.45329046e+02] [ 7.01278490e-01 4.94646333e-01 -5.13355125e-01 6.31309947e+01] [ 5.83578221e-01 1.52616251e-02 8.11913507e-01 5.34616658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.420385723 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:145.34, Y:63.15, Z:53.48 [[ 4.08991423e-01 -8.68062654e-01 -2.81412943e-01 1.45341182e+02] [ 7.01848903e-01 4.96322238e-01 -5.10952398e-01 6.31478911e+01] [ 5.83210197e-01 1.14657830e-02 8.12240360e-01 5.34811724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.450385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:145.35, Y:63.15, Z:53.51 [[ 4.06636004e-01 -8.62170341e-01 -3.02174559e-01 1.45354703e+02] [ 7.00039172e-01 5.06571965e-01 -5.03318985e-01 6.31529232e+01] [ 5.87019861e-01 -6.86640755e-03 8.09543411e-01 5.35074821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.480385723 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:145.36, Y:63.18, Z:53.51 [[ 4.04761847e-01 -8.70449727e-01 -2.80151959e-01 1.45359677e+02] [ 7.01264660e-01 4.92103117e-01 -5.15812367e-01 6.31819015e+01] [ 5.86852386e-01 1.23204982e-02 8.09600199e-01 5.35144090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.510385723 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:145.36, Y:63.22, Z:53.51 [[ 4.03189829e-01 -8.81240095e-01 -2.46685746e-01 1.45363338e+02] [ 7.08359901e-01 4.71206769e-01 -5.25538230e-01 6.32210209e+01] [ 5.79365353e-01 3.71493785e-02 8.14220923e-01 5.35091875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.540385723 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:145.39, Y:63.22, Z:53.54 [[ 4.01165679e-01 -8.71079888e-01 -2.83347714e-01 1.45386545e+02] [ 7.06955434e-01 4.91126258e-01 -5.08929281e-01 6.32218109e+01] [ 5.82477564e-01 3.85075410e-03 8.12837659e-01 5.35423868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57038572300002 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:145.40, Y:63.23, Z:53.57 [[ 4.02103314e-01 -8.66602928e-01 -2.95486533e-01 1.45401963e+02] [ 7.01927533e-01 4.98989071e-01 -5.08239753e-01 6.32313497e+01] [ 5.87886608e-01 -3.04524460e-03 8.08937614e-01 5.35709345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60038572300002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:145.41, Y:63.27, Z:53.57 [[ 4.04509053e-01 -8.75864303e-01 -2.63123829e-01 1.45406730e+02] [ 7.03695748e-01 4.81853791e-01 -5.22139079e-01 6.32700095e+01] [ 5.84110195e-01 2.60508648e-02 8.11256207e-01 5.35726131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63038572300002 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:145.42, Y:63.28, Z:53.59 [[ 4.05636924e-01 -8.69850425e-01 -2.80747083e-01 1.45424005e+02] [ 7.04068372e-01 4.93222627e-01 -5.10900350e-01 6.32803634e+01] [ 5.82877700e-01 9.57490547e-03 8.12503482e-01 5.35933666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66038572300002 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:145.43, Y:63.30, Z:53.61 [[ 4.03213830e-01 -8.70250568e-01 -2.82988617e-01 1.45431109e+02] [ 7.05580109e-01 4.92575876e-01 -5.09436666e-01 6.32975416e+01] [ 5.82730913e-01 5.74076985e-03 8.12644896e-01 5.36082301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69038572300002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:145.45, Y:63.31, Z:53.64 [[ 4.04621518e-01 -8.65752966e-01 -2.94539012e-01 1.45447924e+02] [ 6.99267735e-01 5.00471249e-01 -5.10444084e-01 6.33061091e+01] [ 5.89326787e-01 5.75032143e-04 8.07894552e-01 5.36384032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.720385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:145.46, Y:63.33, Z:53.65 [[ 4.04191822e-01 -8.70218430e-01 -2.81689286e-01 1.45455115e+02] [ 6.99479983e-01 4.92513261e-01 -5.17840170e-01 6.33318392e+01] [ 5.89369769e-01 1.22707448e-02 8.07770205e-01 5.36499535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.750385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:145.46, Y:63.36, Z:53.66 [[ 4.02726056e-01 -8.74464331e-01 -2.70414235e-01 1.45460801e+02] [ 7.02996848e-01 4.84697863e-01 -5.20445399e-01 6.33597614e+01] [ 5.86180140e-01 1.94965684e-02 8.09946127e-01 5.36560663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.780385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:145.48, Y:63.37, Z:53.68 [[ 4.03361268e-01 -8.69190904e-01 -2.86018984e-01 1.45478404e+02] [ 6.98763226e-01 4.94400443e-01 -5.17008855e-01 6.33709105e+01] [ 5.90787307e-01 8.68179889e-03 8.06780630e-01 5.36826063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.810385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:145.49, Y:63.39, Z:53.70 [[ 4.00857342e-01 -8.70919778e-01 -2.84274748e-01 1.45487983e+02] [ 7.00229025e-01 4.91350664e-01 -5.17932271e-01 6.33918646e+01] [ 5.90756045e-01 8.55952378e-03 8.06804828e-01 5.36955276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.840385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:145.50, Y:63.42, Z:53.71 [[ 4.00180409e-01 -8.74015024e-01 -2.75596406e-01 1.45498402e+02] [ 7.00275021e-01 4.85622073e-01 -5.23245732e-01 6.34172794e+01] [ 5.91160329e-01 1.63994120e-02 8.06387329e-01 5.37113035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.870385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:145.51, Y:63.43, Z:53.73 [[ 3.97227505e-01 -8.72523586e-01 -2.84451930e-01 1.45512623e+02] [ 7.02105707e-01 4.88534275e-01 -5.18055826e-01 6.34276503e+01] [ 5.90980444e-01 6.07070016e-03 8.06663041e-01 5.37293421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.900385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:145.52, Y:63.45, Z:53.74 [[ 3.96711203e-01 -8.76484846e-01 -2.72753619e-01 1.45522132e+02] [ 7.01873655e-01 4.81131560e-01 -5.25248317e-01 6.34536060e+01] [ 5.91602564e-01 1.69333121e-02 8.06051902e-01 5.37443531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.930385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:145.54, Y:63.47, Z:53.76 [[ 3.94432001e-01 -8.74578698e-01 -2.82020384e-01 1.45536388e+02] [ 7.02827732e-01 4.84831470e-01 -5.20549349e-01 6.34672749e+01] [ 5.91993729e-01 7.10957480e-03 8.05911210e-01 5.37644206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.960385723 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:145.54, Y:63.49, Z:53.78 [[ 3.93731768e-01 -8.76056160e-01 -2.78389835e-01 1.45544703e+02] [ 7.05577404e-01 4.82141896e-01 -5.19326216e-01 6.34884417e+01] [ 5.89182333e-01 8.04965150e-03 8.07960012e-01 5.37752538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.990385723 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:145.56, Y:63.51, Z:53.79 [[ 3.95215876e-01 -8.75832845e-01 -2.76985992e-01 1.45558577e+02] [ 7.04117792e-01 4.82492180e-01 -5.20979301e-01 6.35086245e+01] [ 5.89934358e-01 1.08685263e-02 8.07378058e-01 5.37942755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.020385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:145.57, Y:63.52, Z:53.81 [[ 3.94391626e-01 -8.74957277e-01 -2.80900353e-01 1.45570180e+02] [ 7.04133030e-01 4.84148603e-01 -5.19419683e-01 6.35247812e+01] [ 5.90467545e-01 7.06355710e-03 8.07030473e-01 5.38141022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.050385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:145.58, Y:63.54, Z:53.83 [[ 3.94911520e-01 -8.71445552e-01 -2.90908132e-01 1.45584991e+02] [ 7.03874057e-01 4.90488724e-01 -5.13791907e-01 6.35375876e+01] [ 5.90428830e-01 -1.86034396e-03 8.07087564e-01 5.38338337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.080385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:145.59, Y:63.57, Z:53.84 [[ 3.95897321e-01 -8.78223885e-01 -2.68306018e-01 1.45588971e+02] [ 7.03659780e-01 4.77856681e-01 -5.25847797e-01 6.35696748e+01] [ 5.90023918e-01 1.93855802e-02 8.07153006e-01 5.38412322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:145.60, Y:63.58, Z:53.86 [[ 3.98780035e-01 -8.72992645e-01 -2.80817245e-01 1.45604886e+02] [ 7.01162691e-01 4.87619408e-01 -5.20190536e-01 6.35833412e+01] [ 5.91054451e-01 1.05430250e-02 8.06562757e-01 5.38607566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.140385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:145.62, Y:63.60, Z:53.88 [[ 4.00064687e-01 -8.72383247e-01 -2.80883812e-01 1.45615839e+02] [ 6.99982517e-01 4.88681702e-01 -5.20782747e-01 6.36037996e+01] [ 5.91584924e-01 1.17330291e-02 8.06157314e-01 5.38772523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.170385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:145.63, Y:63.62, Z:53.90 [[ 4.02716695e-01 -8.67506861e-01 -2.91977927e-01 1.45629954e+02] [ 6.96133833e-01 4.97397796e-01 -5.17680518e-01 6.36174465e+01] [ 5.94320579e-01 5.22287398e-03 8.04211273e-01 5.39001371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.63, Y:63.65, Z:53.91 [[ 4.04098609e-01 -8.73215329e-01 -2.72395492e-01 1.45634533e+02] [ 6.97070079e-01 4.86798696e-01 -5.26422201e-01 6.36483305e+01] [ 5.92281706e-01 2.28477322e-02 8.05406954e-01 5.39062582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:145.65, Y:63.66, Z:53.93 [[ 4.04747749e-01 -8.67677502e-01 -2.88643400e-01 1.45650558e+02] [ 6.94765066e-01 4.97029388e-01 -5.19868532e-01 6.36585124e+01] [ 5.94542481e-01 9.87626740e-03 8.04003543e-01 5.39303846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:145.66, Y:63.68, Z:53.95 [[ 4.04870233e-01 -8.69127767e-01 -2.84072207e-01 1.45661162e+02] [ 6.94278648e-01 4.94373908e-01 -5.23040724e-01 6.36801462e+01] [ 5.95027104e-01 1.45383518e-02 8.03574130e-01 5.39458504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.290385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:145.67, Y:63.70, Z:53.96 [[ 4.03741809e-01 -8.70995109e-01 -2.79928692e-01 1.45672643e+02] [ 6.95456932e-01 4.90992326e-01 -5.24658167e-01 6.37014936e+01] [ 5.94417536e-01 1.71480878e-02 8.03973716e-01 5.39609367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.69, Y:63.72, Z:53.98 [[ 4.02956219e-01 -8.69871904e-01 -2.84515652e-01 1.45686140e+02] [ 6.95634879e-01 4.93116849e-01 -5.22425007e-01 6.37184590e+01] [ 5.94742297e-01 1.25953940e-02 8.03817738e-01 5.39802842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.69, Y:63.74, Z:53.99 [[ 4.02173705e-01 -8.73551617e-01 -2.74160326e-01 1.45693932e+02] [ 6.97839227e-01 4.86313684e-01 -5.25851133e-01 6.37436905e+01] [ 5.92686025e-01 2.01636686e-02 8.05181161e-01 5.39900791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:63.76, Z:54.01 [[ 4.00898680e-01 -8.72237243e-01 -2.80147176e-01 1.45707641e+02] [ 6.98766384e-01 4.88893948e-01 -5.22214752e-01 6.37589175e+01] [ 5.92457415e-01 1.35977757e-02 8.05487003e-01 5.40085656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:63.78, Z:54.02 [[ 3.99724657e-01 -8.72821951e-01 -2.80003643e-01 1.45719758e+02] [ 6.99364039e-01 4.87866075e-01 -5.22375950e-01 6.37778084e+01] [ 5.92545474e-01 1.29820685e-02 8.05432385e-01 5.40248845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:63.80, Z:54.04 [[ 3.99322431e-01 -8.73105744e-01 -2.79692609e-01 1.45731433e+02] [ 6.99794482e-01 4.87362118e-01 -5.22269900e-01 6.37977942e+01] [ 5.92308432e-01 1.28267416e-02 8.05609208e-01 5.40413309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:63.82, Z:54.06 [[ 3.98493233e-01 -8.73615701e-01 -2.79282564e-01 1.45744011e+02] [ 7.00681168e-01 4.86461167e-01 -5.21920908e-01 6.38168875e+01] [ 5.91818422e-01 1.22939170e-02 8.05977553e-01 5.40575399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:63.83, Z:54.08 [[ 3.96753681e-01 -8.73987839e-01 -2.80591829e-01 1.45755582e+02] [ 7.01050153e-01 4.85836507e-01 -5.22007252e-01 6.38343338e+01] [ 5.92549744e-01 1.03993547e-02 8.05466731e-01 5.40759441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.530385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:145.77, Y:63.85, Z:54.09 [[ 3.96106833e-01 -8.75129777e-01 -2.77933896e-01 1.45766773e+02] [ 7.01711912e-01 4.83735438e-01 -5.23068274e-01 6.38544196e+01] [ 5.92199096e-01 1.21613923e-02 8.05699901e-01 5.40896046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:63.87, Z:54.11 [[ 3.94846585e-01 -8.75367055e-01 -2.78977943e-01 1.45777110e+02] [ 7.02269919e-01 4.83345734e-01 -5.22679503e-01 6.38724910e+01] [ 5.92379216e-01 1.04603991e-02 8.05591363e-01 5.41050384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:63.89, Z:54.12 [[ 3.92166395e-01 -8.76451491e-01 -2.79353364e-01 1.45787318e+02] [ 7.02731940e-01 4.81403683e-01 -5.23849515e-01 6.38924601e+01] [ 5.93610427e-01 9.12564468e-03 8.04700804e-01 5.41219370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:63.91, Z:54.14 [[ 3.92044744e-01 -8.76522961e-01 -2.79299870e-01 1.45797926e+02] [ 7.02134008e-01 4.81263695e-01 -5.24779088e-01 6.39117918e+01] [ 5.94397807e-01 9.63094627e-03 8.04113482e-01 5.41383192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:63.93, Z:54.15 [[ 3.93322310e-01 -8.75755762e-01 -2.79909641e-01 1.45808169e+02] [ 7.01613078e-01 4.82655152e-01 -5.24197571e-01 6.39326139e+01] [ 5.94168873e-01 9.79033489e-03 8.04280734e-01 5.41535952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.82, Y:63.95, Z:54.17 [[ 3.93658298e-01 -8.75794497e-01 -2.79315491e-01 1.45817909e+02] [ 7.01258869e-01 4.82565522e-01 -5.24753766e-01 6.39524510e+01] [ 5.94364486e-01 1.07012096e-02 8.04124581e-01 5.41686186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:63.97, Z:54.19 [[ 3.94317636e-01 -8.74288882e-01 -2.83076937e-01 1.45829069e+02] [ 6.99985000e-01 4.85332686e-01 -5.23901884e-01 6.39699551e+01] [ 5.95428082e-01 8.43414226e-03 8.03364341e-01 5.41875981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.84, Y:63.99, Z:54.20 [[ 3.95679776e-01 -8.76172252e-01 -2.75244800e-01 1.45837782e+02] [ 7.00470781e-01 4.81747340e-01 -5.26555017e-01 6.39932016e+01] [ 5.93951346e-01 1.55462309e-02 8.04350741e-01 5.41995068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:64.01, Z:54.22 [[ 3.97007520e-01 -8.74562803e-01 -2.78432995e-01 1.45849190e+02] [ 7.00028727e-01 4.84730385e-01 -5.24400834e-01 6.40108699e+01] [ 5.93586397e-01 1.32799792e-02 8.04660694e-01 5.42179025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:64.03, Z:54.23 [[ 3.98839179e-01 -8.73864481e-01 -2.78007513e-01 1.45858119e+02] [ 6.99463146e-01 4.85951946e-01 -5.24024821e-01 6.40302179e+01] [ 5.93024971e-01 1.45456196e-02 8.05052675e-01 5.42330276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.830385723 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:145.87, Y:64.05, Z:54.25 [[ 4.00023799e-01 -8.73317571e-01 -2.78024064e-01 1.45867448e+02] [ 6.98401730e-01 4.86899424e-01 -5.24560744e-01 6.40496889e+01] [ 5.93477872e-01 1.56642944e-02 8.04697860e-01 5.42486352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:64.07, Z:54.27 [[ 3.99338997e-01 -8.71357646e-01 -2.85068796e-01 1.45878133e+02] [ 6.97487154e-01 4.90551094e-01 -5.22370839e-01 6.40652198e+01] [ 5.95012634e-01 9.77122402e-03 8.03656947e-01 5.42678763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:64.09, Z:54.28 [[ 4.00287951e-01 -8.72483216e-01 -2.80254517e-01 1.45886206e+02] [ 6.98089073e-01 4.88445672e-01 -5.23538414e-01 6.40887400e+01] [ 5.93667585e-01 1.39235033e-02 8.04589917e-01 5.42817334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:64.11, Z:54.29 [[ 4.00762325e-01 -8.75338290e-01 -2.70504042e-01 1.45892764e+02] [ 6.99324584e-01 4.83010218e-01 -5.26921489e-01 6.41146386e+01] [ 5.91890772e-01 2.20001547e-02 8.05717883e-01 5.42921786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:64.13, Z:54.31 [[ 4.00887199e-01 -8.73850369e-01 -2.75090869e-01 1.45904360e+02] [ 6.98931605e-01 4.85857010e-01 -5.24821472e-01 6.41309150e+01] [ 5.92270264e-01 1.81245072e-02 8.05535497e-01 5.43100686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:64.15, Z:54.32 [[ 4.01758887e-01 -8.75303200e-01 -2.69135850e-01 1.45915380e+02] [ 6.99082497e-01 4.82994271e-01 -5.27257240e-01 6.41537084e+01] [ 5.91501023e-01 2.36821195e-02 8.05956387e-01 5.43239002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:64.17, Z:54.34 [[ 4.01287943e-01 -8.73389139e-01 -2.75969924e-01 1.45928635e+02] [ 6.99084596e-01 4.86716484e-01 -5.23820382e-01 6.41703846e+01] [ 5.91818143e-01 1.72764802e-02 8.05886350e-01 5.43434766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:64.19, Z:54.36 [[ 3.99587836e-01 -8.73140548e-01 -2.79204485e-01 1.45939033e+02] [ 6.99037087e-01 4.87268668e-01 -5.23370228e-01 6.41885224e+01] [ 5.93023365e-01 1.39580870e-02 8.05064258e-01 5.43628185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:64.21, Z:54.38 [[ 3.99388081e-01 -8.75496407e-01 -2.72020589e-01 1.45946999e+02] [ 6.99266981e-01 4.82796363e-01 -5.27193856e-01 6.42122900e+01] [ 5.92886878e-01 2.03399262e-02 8.05028843e-01 5.43757082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:64.23, Z:54.39 [[ 3.99681799e-01 -8.74180432e-01 -2.75795272e-01 1.45958827e+02] [ 6.99466691e-01 4.85311635e-01 -5.24613158e-01 6.42305812e+01] [ 5.92453211e-01 1.67687244e-02 8.05430321e-01 5.43938140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:64.25, Z:54.41 [[ 3.99443864e-01 -8.74348942e-01 -2.75605746e-01 1.45969541e+02] [ 6.99602857e-01 4.85007632e-01 -5.24712722e-01 6.42512827e+01] [ 5.92452903e-01 1.67787094e-02 8.05430340e-01 5.44103908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:64.27, Z:54.42 [[ 3.97895596e-01 -8.76121546e-01 -2.72195025e-01 1.45976601e+02] [ 7.01912405e-01 4.81765797e-01 -5.24614804e-01 6.42726216e+01] [ 5.90760586e-01 1.76848550e-02 8.06653070e-01 5.44205634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19038572300002 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:145.99, Y:64.30, Z:54.44 [[ 3.99894918e-01 -8.77594868e-01 -2.64407457e-01 1.45989612e+02] [ 7.00570384e-01 4.78675825e-01 -5.29216960e-01 6.42996261e+01] [ 5.91003546e-01 2.63951390e-02 8.06237003e-01 5.44377829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.220385723 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:146.01, Y:64.31, Z:54.46 [[ 3.98098167e-01 -8.73158855e-01 -2.81267600e-01 1.46005033e+02] [ 7.00437515e-01 4.87321001e-01 -5.21445616e-01 6.43093343e+01] [ 5.92372465e-01 1.05761648e-02 8.05594816e-01 5.44608835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:64.33, Z:54.47 [[ 3.95566141e-01 -8.75127570e-01 -2.78709820e-01 1.46012061e+02] [ 7.01546760e-01 4.83756554e-01 -5.23270236e-01 6.43287944e+01] [ 5.92755913e-01 1.14600167e-02 8.05300625e-01 5.44744977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:64.35, Z:54.49 [[ 3.95207485e-01 -8.76902452e-01 -2.73593008e-01 1.46020712e+02] [ 7.01378310e-01 4.80394725e-01 -5.26582732e-01 6.43506753e+01] [ 5.93194327e-01 1.62172354e-02 8.04895951e-01 5.44885376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:64.37, Z:54.50 [[ 3.94503488e-01 -8.77136337e-01 -2.73859167e-01 1.46031395e+02] [ 7.00924996e-01 4.79968976e-01 -5.27573626e-01 6.43708532e+01] [ 5.94197902e-01 1.61749002e-02 8.04156220e-01 5.45049503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:64.39, Z:54.52 [[ 3.94381762e-01 -8.77167257e-01 -2.73935447e-01 1.46041127e+02] [ 7.00534690e-01 4.79905122e-01 -5.28149809e-01 6.43895450e+01] [ 5.94738744e-01 1.63913688e-02 8.03751920e-01 5.45199469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:64.41, Z:54.54 [[ 3.94683994e-01 -8.77000255e-01 -2.74034849e-01 1.46051086e+02] [ 6.99908142e-01 4.80193407e-01 -5.28718153e-01 6.44097456e+01] [ 5.95275683e-01 1.68773701e-02 8.03344270e-01 5.45360125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:64.43, Z:54.55 [[ 3.94526513e-01 -8.77103453e-01 -2.73931311e-01 1.46061143e+02] [ 6.99858882e-01 4.80001456e-01 -5.28957604e-01 6.44302511e+01] [ 5.95437969e-01 1.69745380e-02 8.03221943e-01 5.45515829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:64.45, Z:54.56 [[ 3.91915270e-01 -8.80444659e-01 -2.66870050e-01 1.46064943e+02] [ 7.03020784e-01 4.73715529e-01 -5.30429425e-01 6.44547458e+01] [ 5.93434241e-01 2.02681993e-02 8.04627244e-01 5.45600610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:64.48, Z:54.57 [[ 3.91417056e-01 -8.86178574e-01 -2.47952057e-01 1.46068643e+02] [ 7.06100172e-01 4.62022944e-01 -5.36616573e-01 6.44846372e+01] [ 5.90097649e-01 3.49618894e-02 8.06574504e-01 5.45653331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:64.50, Z:54.59 [[ 3.89756747e-01 -8.83032630e-01 -2.61425041e-01 1.46084342e+02] [ 7.06611558e-01 4.68802489e-01 -5.30022954e-01 6.44987619e+01] [ 5.90584273e-01 2.18540665e-02 8.06679996e-01 5.45877718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:64.51, Z:54.62 [[ 3.90676242e-01 -8.75637159e-01 -2.83957108e-01 1.46105582e+02] [ 7.01503119e-01 4.82937632e-01 -5.24084553e-01 6.45052842e+01] [ 5.96041482e-01 5.55058640e-03 8.02934457e-01 5.46220645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:64.53, Z:54.63 [[ 3.89618427e-01 -8.79406598e-01 -2.73571775e-01 1.46112732e+02] [ 7.02624862e-01 4.75868508e-01 -5.29025015e-01 6.45287206e+01] [ 5.95412281e-01 1.38995633e-02 8.03300079e-01 5.46344865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:64.55, Z:54.65 [[ 3.88965081e-01 -8.79708667e-01 -2.73530306e-01 1.46122706e+02] [ 7.02717361e-01 4.75315561e-01 -5.29399120e-01 6.45475314e+01] [ 5.95730205e-01 1.37032769e-02 8.03067708e-01 5.46502505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:64.57, Z:54.67 [[ 3.88323653e-01 -8.80076495e-01 -2.73258309e-01 1.46133440e+02] [ 7.03188583e-01 4.74642317e-01 -5.29377452e-01 6.45681134e+01] [ 5.95592610e-01 1.34176625e-02 8.03174582e-01 5.46667428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.640385723 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:146.14, Y:64.60, Z:54.67 [[ 3.89356525e-01 -8.85450337e-01 -2.53730559e-01 1.46141681e+02] [ 7.06118307e-01 4.63818396e-01 -5.35041524e-01 6.46003188e+01] [ 5.91437599e-01 2.91581160e-02 8.05823412e-01 5.46721100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.15, Y:64.61, Z:54.70 [[ 3.85581919e-01 -8.80593329e-01 -2.75466826e-01 1.46154360e+02] [ 7.07381733e-01 4.73815267e-01 -5.24509463e-01 6.46077963e+01] [ 5.92399922e-01 7.38116455e-03 8.05610235e-01 5.46961877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:64.62, Z:54.73 [[ 3.86952056e-01 -8.76567760e-01 -2.86176639e-01 1.46170869e+02] [ 7.02366032e-01 4.81274559e-01 -5.24458536e-01 6.46182305e+01] [ 5.97452980e-01 1.93955842e-03 8.01901599e-01 5.47262761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.18, Y:64.64, Z:54.74 [[ 3.86375462e-01 -8.80549634e-01 -2.74492885e-01 1.46178022e+02] [ 7.03662464e-01 4.73816081e-01 -5.29487920e-01 6.46432088e+01] [ 5.96299538e-01 1.14308000e-02 8.02680633e-01 5.47383083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:64.66, Z:54.75 [[ 3.85302917e-01 -8.82061264e-01 -2.71126519e-01 1.46186993e+02] [ 7.03424405e-01 4.70914224e-01 -5.32385105e-01 6.46648967e+01] [ 5.97273613e-01 1.44125242e-02 8.01908044e-01 5.47533173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:64.68, Z:54.77 [[ 3.85426480e-01 -8.79488601e-01 -2.79188520e-01 1.46199272e+02] [ 7.03769882e-01 4.75870977e-01 -5.27498594e-01 6.46800587e+01] [ 5.96786714e-01 6.82745407e-03 8.02370864e-01 5.47731203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:64.70, Z:54.79 [[ 3.85390787e-01 -8.81067799e-01 -2.74214285e-01 1.46207712e+02] [ 7.03590656e-01 4.72850308e-01 -5.30445827e-01 6.47020111e+01] [ 5.97021047e-01 1.14943261e-02 8.02143223e-01 5.47872719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:64.72, Z:54.80 [[ 3.84999337e-01 -8.81329667e-01 -2.73922488e-01 1.46217429e+02] [ 7.03988677e-01 4.72365631e-01 -5.30349557e-01 6.47230247e+01] [ 5.96804368e-01 1.13458980e-02 8.02306561e-01 5.48037071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:64.74, Z:54.82 [[ 3.84649457e-01 -8.81613032e-01 -2.73501840e-01 1.46226794e+02] [ 7.04621109e-01 4.71841461e-01 -5.29976158e-01 6.47420803e+01] [ 5.96283396e-01 1.11398712e-02 8.02696715e-01 5.48185138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:64.76, Z:54.83 [[ 3.83284192e-01 -8.82337470e-01 -2.73082070e-01 1.46236579e+02] [ 7.05739726e-01 4.70504699e-01 -5.29676097e-01 6.47626313e+01] [ 5.95839465e-01 1.02916099e-02 8.03037617e-01 5.48346681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:64.78, Z:54.85 [[ 3.82472207e-01 -8.82758650e-01 -2.72859263e-01 1.46246692e+02] [ 7.06250855e-01 4.69722758e-01 -5.29688833e-01 6.47820652e+01] [ 5.95755604e-01 9.88416914e-03 8.03104952e-01 5.48508863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:64.80, Z:54.87 [[ 3.80770693e-01 -8.83593899e-01 -2.72535322e-01 1.46256776e+02] [ 7.07400331e-01 4.68170609e-01 -5.29529085e-01 6.48029118e+01] [ 5.95481697e-01 8.83757936e-03 8.03320264e-01 5.48672523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:64.82, Z:54.88 [[ 3.79525524e-01 -8.84152273e-01 -2.72461253e-01 1.46266688e+02] [ 7.07864794e-01 4.67126552e-01 -5.29830367e-01 6.48228716e+01] [ 5.95724609e-01 8.21841852e-03 8.03146716e-01 5.48833132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.030385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:146.28, Y:64.84, Z:54.90 [[ 3.76224018e-01 -8.85302883e-01 -2.73302567e-01 1.46277290e+02] [ 7.07706288e-01 4.64966431e-01 -5.31937992e-01 6.48444763e+01] [ 5.98002757e-01 6.70990337e-03 8.01465957e-01 5.48973590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:64.86, Z:54.91 [[ 3.76204363e-01 -8.85388723e-01 -2.73051434e-01 1.46286553e+02] [ 7.07851776e-01 4.64801368e-01 -5.31888664e-01 6.48630353e+01] [ 5.97842905e-01 6.81889356e-03 8.01584283e-01 5.49145074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.30, Y:64.88, Z:54.93 [[ 3.74670265e-01 -8.85972875e-01 -2.73265909e-01 1.46296278e+02] [ 7.07891689e-01 4.63695863e-01 -5.32799685e-01 6.48831347e+01] [ 5.98758340e-01 6.18153348e-03 8.00905886e-01 5.49300737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.31, Y:64.90, Z:54.95 [[ 3.74567529e-01 -8.86168648e-01 -2.72771504e-01 1.46305908e+02] [ 7.08492099e-01 4.63322220e-01 -5.32326466e-01 6.49026829e+01] [ 5.98112124e-01 6.13575416e-03 8.01388944e-01 5.49452110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:64.92, Z:54.96 [[ 3.74843884e-01 -8.86335327e-01 -2.71848765e-01 1.46315421e+02] [ 7.09666359e-01 4.63003300e-01 -5.31038230e-01 6.49232094e+01] [ 5.96544819e-01 6.13450971e-03 8.02556320e-01 5.49621197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:64.95, Z:54.97 [[ 3.73034948e-01 -8.89254592e-01 -2.64709650e-01 1.46322018e+02] [ 7.12260373e-01 4.57301050e-01 -5.32504376e-01 6.49488038e+01] [ 5.94583962e-01 1.01005481e-02 8.03970081e-01 5.49727079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:64.96, Z:55.00 [[ 3.74148337e-01 -8.85886227e-01 -2.74260121e-01 1.46335596e+02] [ 7.11218548e-01 4.63895520e-01 -5.28175277e-01 6.49625497e+01] [ 5.95131245e-01 2.55701683e-03 8.03624454e-01 5.49959471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:64.98, Z:55.01 [[ 3.73708791e-01 -8.87241474e-01 -2.70452040e-01 1.46343518e+02] [ 7.12023359e-01 4.61275211e-01 -5.29384469e-01 6.49832113e+01] [ 5.94444678e-01 5.26746003e-03 8.04119256e-01 5.50098244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.270385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:146.35, Y:65.00, Z:55.02 [[ 3.72825715e-01 -8.87748378e-01 -2.70007043e-01 1.46352966e+02] [ 7.12918583e-01 4.60304618e-01 -5.29024340e-01 6.50047490e+01] [ 5.93925989e-01 4.74083948e-03 8.04505714e-01 5.50241613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:65.02, Z:55.04 [[ 3.73409365e-01 -8.87698843e-01 -2.69362601e-01 1.46361721e+02] [ 7.13442395e-01 4.60396588e-01 -5.28237571e-01 6.50241241e+01] [ 5.92929503e-01 5.07415670e-03 8.05238386e-01 5.50414173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:65.05, Z:55.06 [[ 3.72580969e-01 -8.88108310e-01 -2.69159898e-01 1.46370787e+02] [ 7.13909853e-01 4.59610458e-01 -5.28290591e-01 6.50457826e+01] [ 5.92887969e-01 4.67511685e-03 8.05271383e-01 5.50574413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.36, Y:65.10, Z:55.04 [[ 3.70095421e-01 -9.01912264e-01 -2.22673857e-01 1.46364005e+02] [ 7.22890038e-01 4.30140404e-01 -5.40748764e-01 6.50958873e+01] [ 5.83488965e-01 3.91599292e-02 8.11176385e-01 5.50420304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:65.07, Z:55.10 [[ 3.70610542e-01 -8.78826791e-01 -3.00518380e-01 1.46398700e+02] [ 7.14424692e-01 4.76496061e-01 -5.12395222e-01 6.50731415e+01] [ 5.93502473e-01 -2.47986804e-02 8.04450023e-01 5.51013055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.38, Y:65.14, Z:55.07 [[ 3.69311982e-01 -9.02481272e-01 -2.21666898e-01 1.46382791e+02] [ 7.22220941e-01 4.28837450e-01 -5.42674261e-01 6.51377180e+01] [ 5.84812425e-01 4.03236309e-02 8.10165682e-01 5.50748455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.42, Y:65.11, Z:55.13 [[ 3.70074731e-01 -8.78084910e-01 -3.03334114e-01 1.46417799e+02] [ 7.15703969e-01 4.77653251e-01 -5.09524484e-01 6.51124524e+01] [ 5.92294287e-01 -2.85352927e-02 8.05216254e-01 5.51347862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:65.15, Z:55.14 [[ 3.70727345e-01 -8.89352656e-01 -2.67606222e-01 1.46415894e+02] [ 7.16078755e-01 4.57205169e-01 -5.27441609e-01 6.51497626e+01] [ 5.91432543e-01 3.90989720e-03 8.06345000e-01 5.51376003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:65.17, Z:55.15 [[ 3.71237213e-01 -8.89357595e-01 -2.66881996e-01 1.46424167e+02] [ 7.16807209e-01 4.57193543e-01 -5.26461290e-01 6.51706744e+01] [ 5.90229072e-01 4.13908285e-03 8.07225192e-01 5.51526199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.540385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:146.41, Y:65.23, Z:55.13 [[ 3.69822106e-01 -9.07814913e-01 -1.97746540e-01 1.46410005e+02] [ 7.27372578e-01 4.15313150e-01 -5.46300394e-01 6.52327187e+01] [ 5.78066382e-01 5.81985516e-02 8.13911657e-01 5.51259687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:65.19, Z:55.20 [[ 3.72444442e-01 -8.72634930e-01 -3.15900960e-01 1.46457312e+02] [ 7.15566692e-01 4.86777185e-01 -5.01011259e-01 6.51885601e+01] [ 5.90973305e-01 -3.94493458e-02 8.05725947e-01 5.52034772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60038572300002 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:146.44, Y:65.26, Z:55.17 [[ 3.74151194e-01 -9.01184262e-01 -2.18809984e-01 1.46437967e+02] [ 7.20655650e-01 4.31043475e-01 -5.43007327e-01 6.52613362e+01] [ 5.83666273e-01 4.54801891e-02 8.10718961e-01 5.51731751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63038572300002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:146.47, Y:65.23, Z:55.23 [[ 3.76248285e-01 -8.73872113e-01 -3.07871334e-01 1.46472465e+02] [ 7.13746853e-01 4.85247282e-01 -5.05074752e-01 6.52331658e+01] [ 5.90764469e-01 -2.97086865e-02 8.06296928e-01 5.52313508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:65.27, Z:55.23 [[ 3.77812664e-01 -8.86859264e-01 -2.65966609e-01 1.46468474e+02] [ 7.13232895e-01 4.61942491e-01 -5.27169776e-01 6.52737846e+01] [ 5.90386677e-01 9.47528290e-03 8.07064923e-01 5.52311373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69038572300002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:146.48, Y:65.30, Z:55.25 [[ 3.79996712e-01 -8.85917324e-01 -2.65994350e-01 1.46477472e+02] [ 7.11706639e-01 4.63707757e-01 -5.27682458e-01 6.52959486e+01] [ 5.90826674e-01 1.12076548e-02 8.06720664e-01 5.52451927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.49, Y:65.32, Z:55.26 [[ 3.82123598e-01 -8.85138916e-01 -2.65538427e-01 1.46486746e+02] [ 7.11076035e-01 4.65154622e-01 -5.27258998e-01 6.53153082e+01] [ 5.90213884e-01 1.26600935e-02 8.07147628e-01 5.52628383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:65.34, Z:55.28 [[ 3.85058536e-01 -8.83895940e-01 -2.65439055e-01 1.46496246e+02] [ 7.09351333e-01 4.67447811e-01 -5.27554007e-01 6.53357882e+01] [ 5.90381750e-01 1.48496261e-02 8.06987533e-01 5.52794350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:65.36, Z:55.29 [[ 3.86199931e-01 -8.83453022e-01 -2.65255296e-01 1.46505386e+02] [ 7.08750396e-01 4.68254028e-01 -5.27646702e-01 6.53554890e+01] [ 5.90357934e-01 1.57773240e-02 8.06987352e-01 5.52949212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:65.38, Z:55.31 [[ 3.87938714e-01 -8.82805727e-01 -2.64872803e-01 1.46513974e+02] [ 7.08201411e-01 4.69430863e-01 -5.27338057e-01 6.53770146e+01] [ 5.89876525e-01 1.69915546e-02 8.07314667e-01 5.53107030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:65.40, Z:55.33 [[ 3.88299765e-01 -8.82770905e-01 -2.64459490e-01 1.46523957e+02] [ 7.08440242e-01 4.69486267e-01 -5.26967806e-01 6.53979141e+01] [ 5.89351946e-01 1.72677294e-02 8.07691841e-01 5.53265828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:65.42, Z:55.34 [[ 3.87424586e-01 -8.83290946e-01 -2.64006240e-01 1.46534616e+02] [ 7.09414050e-01 4.68527946e-01 -5.26510465e-01 6.54181708e+01] [ 5.88756228e-01 1.66933626e-02 8.08138253e-01 5.53431436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:65.44, Z:55.36 [[ 3.86418504e-01 -8.83778612e-01 -2.63848640e-01 1.46545182e+02] [ 7.09907492e-01 4.67624821e-01 -5.26648250e-01 6.54385816e+01] [ 5.88822633e-01 1.61985026e-02 8.08099942e-01 5.53599035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.930385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:146.56, Y:65.46, Z:55.37 [[ 3.84305845e-01 -8.84686175e-01 -2.63892759e-01 1.46555626e+02] [ 7.10610588e-01 4.65943179e-01 -5.27190237e-01 6.54594573e+01] [ 5.89356946e-01 1.50773010e-02 8.07732051e-01 5.53737862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:65.48, Z:55.39 [[ 3.83046064e-01 -8.85437292e-01 -2.63204320e-01 1.46565037e+02] [ 7.12191481e-01 4.64543655e-01 -5.26291257e-01 6.54793745e+01] [ 5.88267803e-01 1.41419201e-02 8.08542515e-01 5.53907122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:65.51, Z:55.39 [[ 3.80005197e-01 -8.90955277e-01 -2.48585489e-01 1.46567456e+02] [ 7.18020618e-01 4.53551173e-01 -5.27956178e-01 6.55080991e+01] [ 5.83131583e-01 2.21365849e-02 8.12076061e-01 5.53948152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:65.53, Z:55.41 [[ 3.79864660e-01 -8.89833495e-01 -2.52782895e-01 1.46579260e+02] [ 7.17897548e-01 4.55915511e-01 -5.26083793e-01 6.55268934e+01] [ 5.83374623e-01 1.83684210e-02 8.11995474e-01 5.54131124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:65.54, Z:55.44 [[ 3.80820389e-01 -8.85274867e-01 -2.66953631e-01 1.46596329e+02] [ 7.14091847e-01 4.64987543e-01 -5.23315793e-01 6.55385411e+01] [ 5.87408432e-01 8.65991214e-03 8.09244302e-01 5.54414575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:65.56, Z:55.46 [[ 3.79861401e-01 -8.87135788e-01 -2.62098092e-01 1.46605007e+02] [ 7.15156689e-01 4.61352070e-01 -5.25076355e-01 6.55611814e+01] [ 5.86733523e-01 1.20150362e-02 8.09690936e-01 5.54563320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:65.58, Z:55.47 [[ 3.78301701e-01 -8.87905275e-01 -2.61748058e-01 1.46615011e+02] [ 7.16285086e-01 4.59893520e-01 -5.24817707e-01 6.55819693e+01] [ 5.86364646e-01 1.10532006e-02 8.09971807e-01 5.54728854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.140385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:146.62, Y:65.60, Z:55.49 [[ 3.76761826e-01 -8.88522702e-01 -2.61873889e-01 1.46624052e+02] [ 7.16526077e-01 4.58715772e-01 -5.25519002e-01 6.56032073e+01] [ 5.87061247e-01 1.03560283e-02 8.09476278e-01 5.54882842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:65.62, Z:55.50 [[ 3.76247651e-01 -8.88781787e-01 -2.61733913e-01 1.46633351e+02] [ 7.16723815e-01 4.58217160e-01 -5.25684323e-01 6.56245159e+01] [ 5.87149622e-01 1.01965631e-02 8.09414202e-01 5.55040195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.200385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:146.64, Y:65.65, Z:55.52 [[ 3.74895253e-01 -8.89333354e-01 -2.61800944e-01 1.46642711e+02] [ 7.16966641e-01 4.57158744e-01 -5.26274376e-01 6.56462879e+01] [ 5.87717946e-01 9.59522161e-03 8.09008991e-01 5.55181553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:65.68, Z:55.52 [[ 3.72772279e-01 -8.94642504e-01 -2.46283613e-01 1.46643922e+02] [ 7.21601129e-01 4.46354561e-01 -5.29206402e-01 6.56773322e+01] [ 5.83380354e-01 1.95549435e-02 8.11963649e-01 5.55227742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:65.69, Z:55.54 [[ 3.71745147e-01 -8.92431228e-01 -2.55679581e-01 1.46656543e+02] [ 7.21256050e-01 4.51049084e-01 -5.25684729e-01 6.56934454e+01] [ 5.84461509e-01 1.10103020e-02 8.11346731e-01 5.55436212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:65.72, Z:55.56 [[ 3.70220022e-01 -8.93350886e-01 -2.54678876e-01 1.46666362e+02] [ 7.22518962e-01 4.49236101e-01 -5.25502878e-01 6.57150165e+01] [ 5.83869407e-01 1.05413702e-02 8.11779154e-01 5.55600718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.68, Y:65.73, Z:55.59 [[ 3.69000332e-01 -8.89973565e-01 -2.67928739e-01 1.46680250e+02] [ 7.20808014e-01 4.56011841e-01 -5.22004796e-01 6.57275226e+01] [ 5.86749147e-01 -5.05238948e-04 8.09768599e-01 5.55865151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:65.76, Z:55.59 [[ 3.67550226e-01 -8.95817311e-01 -2.49836300e-01 1.46682480e+02] [ 7.24288039e-01 4.44236350e-01 -5.27314804e-01 6.57589430e+01] [ 5.83364096e-01 1.28612318e-02 8.12108934e-01 5.55930941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:65.77, Z:55.62 [[ 3.67563514e-01 -8.90859012e-01 -2.66959331e-01 1.46697667e+02] [ 7.22400585e-01 4.54278213e-01 -5.21314397e-01 6.57691680e+01] [ 5.85691436e-01 -1.23542520e-03 8.10533167e-01 5.56202579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:65.80, Z:55.63 [[ 3.65628356e-01 -8.96822147e-01 -2.49050080e-01 1.46699307e+02] [ 7.26015164e-01 4.42235643e-01 -5.26620943e-01 6.58019201e+01] [ 5.82424147e-01 1.17334149e-02 8.12800369e-01 5.56256169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:65.82, Z:55.64 [[ 3.64260080e-01 -8.96577218e-01 -2.51920399e-01 1.46707788e+02] [ 7.26525628e-01 4.42808387e-01 -5.25434339e-01 6.58212311e+01] [ 5.82644923e-01 8.36812829e-03 8.12683745e-01 5.56405748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:65.84, Z:55.66 [[ 3.65179593e-01 -8.94631877e-01 -2.57444499e-01 1.46718403e+02] [ 7.26409552e-01 4.46788733e-01 -5.22215464e-01 6.58403718e+01] [ 5.82213902e-01 3.69228738e-03 8.13027268e-01 5.56601429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.73, Y:65.87, Z:55.67 [[ 3.65462281e-01 -8.96093097e-01 -2.51901733e-01 1.46725829e+02] [ 7.27205171e-01 4.43790501e-01 -5.23662707e-01 6.58653431e+01] [ 5.81042133e-01 8.19472444e-03 8.13832223e-01 5.56734748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.530385723 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:146.73, Y:65.88, Z:55.69 [[ 3.64819937e-01 -8.96664205e-01 -2.50798160e-01 1.46731087e+02] [ 7.23303606e-01 4.42549198e-01 -5.30077449e-01 6.58845595e+01] [ 5.86291999e-01 1.19796082e-02 8.10011223e-01 5.56924408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.560385723 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:146.74, Y:65.91, Z:55.70 [[ 3.66824302e-01 -8.95216337e-01 -2.53036838e-01 1.46743832e+02] [ 7.26592767e-01 4.45560033e-01 -5.23009759e-01 6.59061442e+01] [ 5.80949983e-01 7.99795397e-03 8.13899963e-01 5.57049468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.76, Y:65.91, Z:55.73 [[ 3.66115690e-01 -8.89308371e-01 -2.74025407e-01 1.46755079e+02] [ 7.23995433e-01 4.57213657e-01 -5.16513586e-01 6.59145862e+01] [ 5.84628014e-01 -9.28941502e-03 8.11248292e-01 5.57304930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.76, Y:65.94, Z:55.74 [[ 3.65696249e-01 -8.95117410e-01 -2.55011913e-01 1.46757289e+02] [ 7.24065281e-01 4.45761678e-01 -5.26332590e-01 6.59448592e+01] [ 5.84804003e-01 7.83258196e-03 8.11136813e-01 5.57401092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.650385723 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:146.77, Y:65.96, Z:55.76 [[ 3.66812775e-01 -8.91910174e-01 -2.64470470e-01 1.46766672e+02] [ 7.24175848e-01 4.52212281e-01 -5.20647091e-01 6.59605223e+01] [ 5.83967232e-01 -5.43122792e-04 8.11777049e-01 5.57557770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:65.99, Z:55.77 [[ 3.65955641e-01 -8.95126460e-01 -2.54607718e-01 1.46771585e+02] [ 7.23971376e-01 4.45734273e-01 -5.26484953e-01 6.59868307e+01] [ 5.84757998e-01 8.34143865e-03 8.11164906e-01 5.57686036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.78, Y:66.01, Z:55.79 [[ 3.66642432e-01 -8.93119298e-01 -2.60597863e-01 1.46780570e+02] [ 7.23685344e-01 4.49807684e-01 -5.23404786e-01 6.60052922e+01] [ 5.84681836e-01 3.31154977e-03 8.11255930e-01 5.57856288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:66.03, Z:55.80 [[ 3.67137471e-01 -8.93896428e-01 -2.57214412e-01 1.46787966e+02] [ 7.23212789e-01 4.48220768e-01 -5.25415459e-01 6.60269980e+01] [ 5.84955843e-01 6.87895016e-03 8.11035968e-01 5.58001860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.770385723 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:146.79, Y:66.05, Z:55.81 [[ 3.68067368e-01 -8.94705543e-01 -2.53038346e-01 1.46794847e+02] [ 7.21877916e-01 4.46496905e-01 -5.28708605e-01 6.60482102e+01] [ 5.86019358e-01 1.19375909e-02 8.10209113e-01 5.58143808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:66.07, Z:55.83 [[ 3.69269950e-01 -8.92271603e-01 -2.59790473e-01 1.46804049e+02] [ 7.22091754e-01 4.51459539e-01 -5.24182968e-01 6.60655698e+01] [ 5.84998464e-01 5.97246010e-03 8.11012409e-01 5.58315135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.81, Y:66.09, Z:55.84 [[ 3.72366089e-01 -8.92620168e-01 -2.54111650e-01 1.46808643e+02] [ 7.19781410e-01 4.50600212e-01 -5.28085382e-01 6.60903064e+01] [ 5.85882426e-01 1.37362470e-02 8.10279642e-01 5.58443755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.80, Y:66.13, Z:55.83 [[ 3.71342810e-01 -9.03451862e-01 -2.14194421e-01 1.46798513e+02] [ 7.26647394e-01 4.26384870e-01 -5.38683123e-01 6.61335406e+01] [ 5.78003531e-01 4.43922869e-02 8.14825898e-01 5.58335893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:66.12, Z:55.89 [[ 3.77984636e-01 -8.80518300e-01 -2.86033459e-01 1.46837725e+02] [ 7.14034046e-01 4.73917875e-01 -5.15322451e-01 6.61163937e+01] [ 5.89307217e-01 -9.45365872e-03 8.07853719e-01 5.58924749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:66.16, Z:55.90 [[ 3.78744023e-01 -8.92294348e-01 -2.45690376e-01 1.46832375e+02] [ 7.11720891e-01 4.50504071e-01 -5.38980015e-01 6.61551187e+01] [ 5.91613336e-01 2.92724862e-02 8.05690252e-01 5.58954067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.85, Y:66.16, Z:55.92 [[ 3.80586097e-01 -8.82703991e-01 -2.75659004e-01 1.46853090e+02] [ 7.12690090e-01 4.69926153e-01 -5.20809222e-01 6.61623918e+01] [ 5.89259754e-01 1.75330820e-03 8.07941748e-01 5.59210290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:66.19, Z:55.93 [[ 3.83137349e-01 -8.86613103e-01 -2.59081024e-01 1.46854850e+02] [ 7.11812459e-01 4.62152622e-01 -5.28902616e-01 6.61906585e+01] [ 5.88666964e-01 1.82252452e-02 8.08170184e-01 5.59334983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:66.21, Z:55.95 [[ 3.83902739e-01 -8.86369231e-01 -2.58782289e-01 1.46862865e+02] [ 7.11643293e-01 4.62596158e-01 -5.28742488e-01 6.62114354e+01] [ 5.88372765e-01 1.88250085e-02 8.08370650e-01 5.59488319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:66.23, Z:55.96 [[ 3.85132950e-01 -8.85802342e-01 -2.58895387e-01 1.46871046e+02] [ 7.10441425e-01 4.63632457e-01 -5.29450589e-01 6.62333433e+01] [ 5.89020876e-01 1.99788599e-02 8.07870814e-01 5.59642002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07038572300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:146.88, Y:66.26, Z:55.98 [[ 3.83075930e-01 -8.89848875e-01 -2.47834244e-01 1.46877330e+02] [ 7.09012537e-01 4.55228130e-01 -5.38580144e-01 6.62612945e+01] [ 5.92076055e-01 3.05995034e-02 8.05300947e-01 5.59753362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10038572300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:146.90, Y:66.27, Z:56.00 [[ 3.85047607e-01 -8.81044107e-01 -2.74771946e-01 1.46895784e+02] [ 7.08226237e-01 4.72979140e-01 -5.24124347e-01 6.62665934e+01] [ 5.91738066e-01 7.21212434e-03 8.06098038e-01 5.60020742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13038572300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:146.89, Y:66.30, Z:56.00 [[ 3.82171015e-01 -8.90431603e-01 -2.47137361e-01 1.46893295e+02] [ 7.13496383e-01 4.54283648e-01 -5.33431607e-01 6.63021123e+01] [ 5.87254823e-01 2.75304855e-02 8.08933771e-01 5.60000010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16038572300002 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:146.90, Y:66.33, Z:56.02 [[ 3.85069600e-01 -8.91741758e-01 -2.37735233e-01 1.46903186e+02] [ 7.12598708e-01 4.50985536e-01 -5.37415229e-01 6.63285397e+01] [ 5.86450752e-01 3.75324476e-02 8.09114844e-01 5.60173823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:146.92, Y:66.33, Z:56.05 [[ 3.82257180e-01 -8.80817011e-01 -2.79357908e-01 1.46922498e+02] [ 7.10368140e-01 4.73456440e-01 -5.20784125e-01 6.63262133e+01] [ 5.90979317e-01 6.26513609e-04 8.06686466e-01 5.60486492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.220385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.91, Y:66.37, Z:56.04 [[ 3.79358108e-01 -8.96543234e-01 -2.28686805e-01 1.46909967e+02] [ 7.18493817e-01 4.41175929e-01 -5.37708503e-01 6.63729028e+01] [ 5.82970034e-01 3.96740248e-02 8.11524437e-01 5.60361902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.250385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:146.94, Y:66.37, Z:56.08 [[ 3.80779755e-01 -8.84238881e-01 -2.70422596e-01 1.46939747e+02] [ 7.11527702e-01 4.66974519e-01 -5.25036311e-01 6.63705768e+01] [ 5.90537981e-01 7.51002940e-03 8.06974902e-01 5.60768437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.280385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:146.93, Y:66.41, Z:56.07 [[ 3.78418854e-01 -8.96754639e-01 -2.29412921e-01 1.46930771e+02] [ 7.19240770e-01 4.40877078e-01 -5.36954483e-01 6.64096730e+01] [ 5.82659322e-01 3.81905743e-02 8.11818695e-01 5.60717546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.310385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.95, Y:66.42, Z:56.09 [[ 3.77266003e-01 -8.93247702e-01 -2.44497252e-01 1.46946127e+02] [ 7.18366553e-01 4.48876596e-01 -5.31469000e-01 6.64235932e+01] [ 5.84482557e-01 2.48665372e-02 8.11025151e-01 5.60932955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:66.43, Z:56.13 [[ 3.77638604e-01 -8.86416518e-01 -2.67684221e-01 1.46967960e+02] [ 7.11851583e-01 4.62801996e-01 -5.28281777e-01 6.64307667e+01] [ 5.92162485e-01 8.94815611e-03 8.05768901e-01 5.61267232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:66.46, Z:56.13 [[ 3.75270760e-01 -8.92751930e-01 -2.49330799e-01 1.46968918e+02] [ 7.15614752e-01 4.50008594e-01 -5.34216989e-01 6.64599001e+01] [ 5.89124251e-01 2.20512174e-02 8.07741519e-01 5.61320756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:66.48, Z:56.15 [[ 3.73568724e-01 -8.93837079e-01 -2.47995331e-01 1.46979027e+02] [ 7.16923172e-01 4.47862030e-01 -5.34266569e-01 6.64810083e+01] [ 5.88614962e-01 2.17916816e-02 8.08119762e-01 5.61480134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:66.50, Z:56.16 [[ 3.73069758e-01 -8.94608467e-01 -2.45956596e-01 1.46988315e+02] [ 7.16513302e-01 4.46216326e-01 -5.36189965e-01 6.65005269e+01] [ 5.89429931e-01 2.38050872e-02 8.07468683e-01 5.61642332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.460385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:147.01, Y:66.52, Z:56.19 [[ 3.71317204e-01 -8.91670545e-01 -2.58934691e-01 1.47006586e+02] [ 7.15810911e-01 4.52522442e-01 -5.31825328e-01 6.65157663e+01] [ 5.91386738e-01 1.21276163e-02 8.06296873e-01 5.61873941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.01, Y:66.54, Z:56.20 [[ 3.68164760e-01 -8.96004704e-01 -2.48254468e-01 1.47009757e+02] [ 7.19846455e-01 4.43686507e-01 -5.33819599e-01 6.65396851e+01] [ 5.88452030e-01 1.78284660e-02 8.08335546e-01 5.61990128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.02, Y:66.56, Z:56.22 [[ 3.65416583e-01 -8.96781643e-01 -2.49506324e-01 1.47020867e+02] [ 7.20519352e-01 4.42204954e-01 -5.34141032e-01 6.65595731e+01] [ 5.89340805e-01 1.54098559e-02 8.07737551e-01 5.62167664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:66.58, Z:56.23 [[ 3.63104211e-01 -8.97491175e-01 -2.50329629e-01 1.47031388e+02] [ 7.21380998e-01 4.40830131e-01 -5.34114455e-01 6.65794895e+01] [ 5.89715853e-01 1.33561701e-02 8.07500357e-01 5.62338418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:66.60, Z:56.26 [[ 3.58412028e-01 -8.97666886e-01 -2.56388339e-01 1.47045234e+02] [ 7.21625379e-01 4.40628799e-01 -5.33950441e-01 6.65959292e+01] [ 5.92281716e-01 6.35792822e-03 8.05705868e-01 5.62550469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:66.62, Z:56.27 [[ 3.55570125e-01 -9.01237800e-01 -2.47669770e-01 1.47052199e+02] [ 7.23736275e-01 4.33165211e-01 -5.37190566e-01 6.66198517e+01] [ 5.91418371e-01 1.17613194e-02 8.06279096e-01 5.62668286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.07, Y:66.63, Z:56.29 [[ 3.54026716e-01 -8.98922301e-01 -2.58077084e-01 1.47067667e+02] [ 7.22860676e-01 4.38100230e-01 -5.34360020e-01 6.66332314e+01] [ 5.93411769e-01 2.62394710e-03 8.04894768e-01 5.62903353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:66.65, Z:56.31 [[ 3.48873515e-01 -9.01523751e-01 -2.56012102e-01 1.47078477e+02] [ 7.25229973e-01 4.32728059e-01 -5.35525829e-01 6.66530723e+01] [ 5.93572874e-01 1.16312801e-03 8.04779405e-01 5.63070478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:66.68, Z:56.32 [[ 3.43598142e-01 -9.05113380e-01 -2.50419818e-01 1.47087987e+02] [ 7.28897852e-01 4.25166279e-01 -5.36601860e-01 6.66763115e+01] [ 5.92155586e-01 1.84493446e-03 8.05821543e-01 5.63201796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.730385723 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:147.10, Y:66.70, Z:56.34 [[ 3.42886700e-01 -9.05280078e-01 -2.50792129e-01 1.47100658e+02] [ 7.29833228e-01 4.24814785e-01 -5.35607933e-01 6.66959737e+01] [ 5.91415396e-01 6.16407885e-04 8.06366821e-01 5.63370361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.11, Y:66.72, Z:56.35 [[ 3.38005520e-01 -9.08789314e-01 -2.44651285e-01 1.47107248e+02] [ 7.33268461e-01 4.17250178e-01 -5.36860926e-01 6.67198395e+01] [ 5.89974265e-01 2.06688557e-03 8.07419405e-01 5.63488368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.790385723 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:147.12, Y:66.74, Z:56.37 [[ 3.38695134e-01 -9.06550674e-01 -2.51895776e-01 1.47122790e+02] [ 7.33257699e-01 4.22076600e-01 -5.33089571e-01 6.67363955e+01] [ 5.89592023e-01 -4.14967339e-03 8.07690551e-01 5.63681496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:147.13, Y:66.76, Z:56.39 [[ 3.35244610e-01 -9.06993745e-01 -2.54898801e-01 1.47130673e+02] [ 7.33733916e-01 4.21063015e-01 -5.33235856e-01 6.67551119e+01] [ 5.90970044e-01 -8.26344933e-03 8.06651178e-01 5.63857365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.15, Y:66.76, Z:56.42 [[ 3.34730564e-01 -8.99080629e-01 -2.82151506e-01 1.47147643e+02] [ 7.28706590e-01 4.36817488e-01 -5.27425055e-01 6.67575607e+01] [ 5.97446362e-01 -2.90603751e-02 8.01382143e-01 5.64190980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.14, Y:66.81, Z:56.41 [[ 3.36760474e-01 -9.13265454e-01 -2.29212988e-01 1.47141544e+02] [ 7.30582067e-01 4.07002683e-01 -5.48268784e-01 6.68073354e+01] [ 5.94005240e-01 1.71763570e-02 8.04277780e-01 5.64121565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91038572300002 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:147.17, Y:66.82, Z:56.44 [[ 3.39016862e-01 -9.04486050e-01 -2.58790558e-01 1.47166352e+02] [ 7.28814689e-01 4.26445768e-01 -5.35698754e-01 6.68156732e+01] [ 5.94892188e-01 -6.99944908e-03 8.03775026e-01 5.64392408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94038572300002 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:147.18, Y:66.83, Z:56.46 [[ 3.38218275e-01 -9.02837079e-01 -2.65506322e-01 1.47177586e+02] [ 7.28988056e-01 4.29775498e-01 -5.32793989e-01 6.68326129e+01] [ 5.95134281e-01 -1.33502731e-02 8.03515375e-01 5.64576344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.970385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.18, Y:66.86, Z:56.47 [[ 3.36498398e-01 -9.04389034e-01 -2.62391508e-01 1.47182839e+02] [ 7.29126792e-01 4.26561121e-01 -5.35181961e-01 6.68551094e+01] [ 5.95938713e-01 -1.12288061e-02 8.02951409e-01 5.64741096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.000385723 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:147.19, Y:66.88, Z:56.49 [[ 3.40463909e-01 -9.03757261e-01 -2.59436195e-01 1.47193285e+02] [ 7.27365385e-01 4.28002285e-01 -5.36426733e-01 6.68751813e+01] [ 5.95838840e-01 -6.07096556e-03 8.03081080e-01 5.64888093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.030385723 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:147.20, Y:66.89, Z:56.51 [[ 3.40707176e-01 -9.01990171e-01 -2.65202473e-01 1.47204249e+02] [ 7.26937942e-01 4.31621129e-01 -5.34101516e-01 6.68930724e+01] [ 5.96221309e-01 -1.08135205e-02 8.02747294e-01 5.65078635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.21, Y:66.90, Z:56.53 [[ 3.39986825e-01 -8.95344433e-01 -2.87693075e-01 1.47213493e+02] [ 7.25551920e-01 4.44357268e-01 -5.25472198e-01 6.68974812e+01] [ 5.98317116e-01 -3.00826391e-02 8.00694488e-01 5.65327014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.090385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:147.21, Y:66.93, Z:56.54 [[ 3.41149380e-01 -9.04910130e-01 -2.54469558e-01 1.47211272e+02] [ 7.25152532e-01 4.25602675e-01 -5.41309678e-01 6.69323493e+01] [ 5.98139536e-01 1.38216847e-04 8.01391962e-01 5.65378043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:66.95, Z:56.55 [[ 3.43702459e-01 -9.04143536e-01 -2.53757929e-01 1.47220201e+02] [ 7.24969685e-01 4.27225331e-01 -5.40275368e-01 6.69508886e+01] [ 5.96898296e-01 1.72716653e-03 8.02315051e-01 5.65536460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.23, Y:66.97, Z:56.57 [[ 3.43541568e-01 -9.04219725e-01 -2.53704317e-01 1.47229518e+02] [ 7.24714398e-01 4.27063296e-01 -5.40745765e-01 6.69707371e+01] [ 5.97300789e-01 1.90547647e-03 8.02015048e-01 5.65702422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.24, Y:66.99, Z:56.59 [[ 3.45356995e-01 -9.03623780e-01 -2.53362605e-01 1.47238634e+02] [ 7.24079341e-01 4.28314739e-01 -5.40606689e-01 6.69900895e+01] [ 5.97023998e-01 3.24767357e-03 8.02216803e-01 5.65867923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:67.01, Z:56.60 [[ 3.46420684e-01 -9.03296425e-01 -2.53077612e-01 1.47247829e+02] [ 7.23752247e-01 4.28997615e-01 -5.40503221e-01 6.70109776e+01] [ 5.96804319e-01 4.07600515e-03 8.02376465e-01 5.66031477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:67.03, Z:56.62 [[ 3.49936208e-01 -9.02051119e-01 -2.52682466e-01 1.47256007e+02] [ 7.22493194e-01 4.31581019e-01 -5.40130919e-01 6.70314359e+01] [ 5.96278656e-01 6.45000403e-03 8.02751619e-01 5.66185028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.270385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.27, Y:67.05, Z:56.63 [[ 3.50972543e-01 -9.01677157e-01 -2.52579847e-01 1.47265437e+02] [ 7.21804347e-01 4.32347136e-01 -5.40439117e-01 6.70532738e+01] [ 5.96503779e-01 7.36605988e-03 8.02576465e-01 5.66340960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.300385723 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:147.27, Y:67.09, Z:56.64 [[ 3.56380427e-01 -9.05457618e-01 -2.30520048e-01 1.47273064e+02] [ 7.21420227e-01 4.23446462e-01 -5.47947032e-01 6.70879383e+01] [ 5.93755713e-01 2.89757715e-02 8.04123472e-01 5.66410618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:67.08, Z:56.68 [[ 3.56178008e-01 -8.91260474e-01 -2.80699118e-01 1.47294597e+02] [ 7.18337611e-01 4.53285888e-01 -5.27752765e-01 6.70800605e+01] [ 5.97602128e-01 -1.36628050e-02 8.01676384e-01 5.66769462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.360385723 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:147.29, Y:67.12, Z:56.68 [[ 3.60715133e-01 -9.01572953e-01 -2.38853098e-01 1.47294390e+02] [ 7.18709306e-01 4.31910765e-01 -5.44894507e-01 6.71222948e+01] [ 5.94425374e-01 2.48857504e-02 8.03765621e-01 5.66789052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.390385723 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:147.31, Y:67.14, Z:56.70 [[ 3.62646795e-01 -8.96748629e-01 -2.53632013e-01 1.47310947e+02] [ 7.18737999e-01 4.42371299e-01 -5.36398473e-01 6.71370170e+01] [ 5.93214119e-01 1.22282218e-02 8.04951850e-01 5.66995146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.420385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.31, Y:67.16, Z:56.71 [[ 3.62458079e-01 -8.97720525e-01 -2.50443607e-01 1.47313582e+02] [ 7.20290585e-01 4.40346729e-01 -5.35981559e-01 6.71564084e+01] [ 5.91443669e-01 1.38786740e-02 8.06226872e-01 5.67100140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.34, Y:67.16, Z:56.75 [[ 3.64624585e-01 -8.87782000e-01 -2.80877257e-01 1.47335669e+02] [ 7.11311402e-01 4.60223984e-01 -5.31253210e-01 6.71566015e+01] [ 6.00903488e-01 -6.08321430e-03 7.99298438e-01 5.67503692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.34, Y:67.19, Z:56.76 [[ 3.65870895e-01 -8.94988408e-01 -2.55214100e-01 1.47337762e+02] [ 7.10802840e-01 4.45739141e-01 -5.44128607e-01 6.71869847e+01] [ 6.00747710e-01 1.76739136e-02 7.99243281e-01 5.67578402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.510385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:147.35, Y:67.21, Z:56.77 [[ 3.65605051e-01 -8.95070480e-01 -2.55307233e-01 1.47348123e+02] [ 7.10359160e-01 4.45567722e-01 -5.44847932e-01 6.72080850e+01] [ 6.01433962e-01 1.78393247e-02 7.98723324e-01 5.67731779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.540385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.36, Y:67.23, Z:56.79 [[ 3.66722798e-01 -8.94733968e-01 -2.54883338e-01 1.47358114e+02] [ 7.10275944e-01 4.46211301e-01 -5.44429571e-01 6.72273461e+01] [ 6.00851456e-01 1.86172327e-02 7.99143871e-01 5.67906831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.37, Y:67.25, Z:56.81 [[ 3.67830895e-01 -8.94327528e-01 -2.54712988e-01 1.47368654e+02] [ 7.09695380e-01 4.46986235e-01 -5.44550982e-01 6.72469536e+01] [ 6.00860133e-01 1.95340441e-02 7.99115462e-01 5.68066531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:147.38, Y:67.27, Z:56.82 [[ 3.68351307e-01 -8.94103123e-01 -2.54748740e-01 1.47381161e+02] [ 7.08977999e-01 4.47405731e-01 -5.45140632e-01 6.72658371e+01] [ 6.01387988e-01 2.01920126e-02 7.98701929e-01 5.68223922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:67.31, Z:56.81 [[ 3.65004931e-01 -9.05068342e-01 -2.18226252e-01 1.47375396e+02] [ 7.19063461e-01 4.22947001e-01 -5.51419598e-01 6.73053019e+01] [ 5.91370560e-01 4.43523485e-02 8.05179315e-01 5.68122608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:67.30, Z:56.86 [[ 3.66686151e-01 -8.90018730e-01 -2.70938973e-01 1.47410513e+02] [ 7.09183559e-01 4.55895945e-01 -5.37789519e-01 6.72955019e+01] [ 6.02162724e-01 5.05450342e-03 7.98357380e-01 5.68615568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:67.32, Z:56.87 [[ 3.65294890e-01 -8.95482778e-01 -2.54303435e-01 1.47415866e+02] [ 7.10071742e-01 4.44696708e-01 -5.45933109e-01 6.73220617e+01] [ 6.01961597e-01 1.88528920e-02 7.98302451e-01 5.68721921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:67.35, Z:56.87 [[ 3.59685316e-01 -9.02885756e-01 -2.35422567e-01 1.47418755e+02] [ 7.17635732e-01 4.28942047e-01 -5.48641665e-01 6.73512728e+01] [ 5.96343382e-01 2.83907045e-02 8.02227236e-01 5.68721321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.44, Y:67.36, Z:56.91 [[ 3.61806123e-01 -8.95702131e-01 -2.58484084e-01 1.47442463e+02] [ 7.11523341e-01 4.44464851e-01 -5.44229300e-01 6.73565557e+01] [ 6.02354434e-01 1.29880341e-02 7.98123078e-01 5.69073141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.45, Y:67.38, Z:56.91 [[ 3.56044724e-01 -9.02263635e-01 -2.43212842e-01 1.47446427e+02] [ 7.18199571e-01 4.30725157e-01 -5.46502713e-01 6.73823280e+01] [ 5.97847414e-01 1.99040490e-02 8.01362775e-01 5.69103293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:67.40, Z:56.93 [[ 3.54973758e-01 -9.03636040e-01 -2.39657128e-01 1.47456846e+02] [ 7.18946679e-01 4.27726489e-01 -5.47873820e-01 6.74030013e+01] [ 5.97586231e-01 2.21801328e-02 8.01497809e-01 5.69256655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:67.42, Z:56.95 [[ 3.56983734e-01 -9.00145687e-01 -2.49600393e-01 1.47479683e+02] [ 7.15570886e-01 4.35279037e-01 -5.46342811e-01 6.74158209e+01] [ 6.00433943e-01 1.64287224e-02 7.99505583e-01 5.69544488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:67.43, Z:56.97 [[ 3.55779025e-01 -8.99762605e-01 -2.52682687e-01 1.47492174e+02] [ 7.16374053e-01 4.36194088e-01 -5.44557558e-01 6.74343939e+01] [ 6.00191221e-01 1.27268364e-02 7.99755291e-01 5.69725026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:67.45, Z:56.99 [[ 3.53777642e-01 -9.00615476e-01 -2.52454243e-01 1.47505139e+02] [ 7.17422483e-01 4.34463648e-01 -5.44560666e-01 6.74520068e+01] [ 6.00121955e-01 1.15370389e-02 7.99825316e-01 5.69886427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.52, Y:67.47, Z:57.01 [[ 3.52664705e-01 -9.01105075e-01 -2.52264247e-01 1.47516480e+02] [ 7.17943573e-01 4.33461867e-01 -5.44672228e-01 6.74718486e+01] [ 6.00153840e-01 1.09751762e-02 7.99809299e-01 5.70050046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.53, Y:67.49, Z:57.02 [[ 3.50607732e-01 -9.01912805e-01 -2.52244941e-01 1.47529651e+02] [ 7.18600843e-01 4.31805592e-01 -5.45120866e-01 6.74894840e+01] [ 6.00572266e-01 9.86016273e-03 7.99509682e-01 5.70214034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.990385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:147.54, Y:67.51, Z:57.04 [[ 3.48581961e-01 -9.02635295e-01 -2.52468099e-01 1.47541133e+02] [ 7.18735530e-01 4.30313988e-01 -5.46121881e-01 6.75102406e+01] [ 6.01589440e-01 8.91044370e-03 7.98755751e-01 5.70358793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:67.53, Z:57.05 [[ 3.44061726e-01 -9.04660347e-01 -2.51418349e-01 1.47549400e+02] [ 7.22275972e-01 4.26093400e-01 -5.44758511e-01 6.75288527e+01] [ 5.99949122e-01 5.83712139e-03 8.00016862e-01 5.70487472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:67.55, Z:57.07 [[ 3.45479404e-01 -9.05910476e-01 -2.44888120e-01 1.47562320e+02] [ 7.19839818e-01 4.23244514e-01 -5.50176988e-01 6.75508434e+01] [ 6.02058650e-01 1.37945986e-02 7.98332694e-01 5.70662585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:147.58, Y:67.57, Z:57.08 [[ 3.44035862e-01 -9.04341442e-01 -2.52598262e-01 1.47577517e+02] [ 7.19560055e-01 4.26756967e-01 -5.47824623e-01 6.75659285e+01] [ 6.03218578e-01 6.71169675e-03 7.97547679e-01 5.70847363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:67.58, Z:57.11 [[ 3.41429428e-01 -9.02130394e-01 -2.63792906e-01 1.47587316e+02] [ 7.19298731e-01 4.31446386e-01 -5.44484482e-01 6.75786937e+01] [ 6.05008496e-01 -3.84287759e-03 7.96209741e-01 5.71065312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:67.61, Z:57.11 [[ 3.40307996e-01 -9.10432099e-01 -2.35167730e-01 1.47588845e+02] [ 7.22699589e-01 4.13240996e-01 -5.54019118e-01 6.76127126e+01] [ 6.01577736e-01 1.85815139e-02 7.98598119e-01 5.71077029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:67.63, Z:57.13 [[ 3.40616106e-01 -9.08472406e-01 -2.42195284e-01 1.47602537e+02] [ 7.22333090e-01 4.17749684e-01 -5.51108074e-01 6.76304862e+01] [ 6.01843481e-01 1.27706186e-02 7.98511951e-01 5.71282202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:67.65, Z:57.15 [[ 3.39463629e-01 -9.08417799e-01 -2.44011367e-01 1.47613933e+02] [ 7.23973424e-01 4.17952382e-01 -5.48797128e-01 6.76483216e+01] [ 6.00522211e-01 9.63892023e-03 7.99549976e-01 5.71455033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:67.66, Z:57.18 [[ 3.39102632e-01 -9.03240531e-01 -2.62994199e-01 1.47631144e+02] [ 7.21400892e-01 4.29100632e-01 -5.43556254e-01 6.76572815e+01] [ 6.03813016e-01 -5.40289314e-03 7.97107678e-01 5.71764179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:67.69, Z:57.18 [[ 3.40639729e-01 -9.11477974e-01 -2.30591581e-01 1.47634651e+02] [ 7.23368368e-01 4.10746548e-01 -5.55000430e-01 6.76934982e+01] [ 6.00585364e-01 2.22525401e-02 7.99250928e-01 5.71795001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:147.65, Y:67.70, Z:57.20 [[ 3.40077645e-01 -9.06352311e-01 -2.50744259e-01 1.47650548e+02] [ 7.23401484e-01 4.22500736e-01 -5.46061737e-01 6.77045679e+01] [ 6.00863951e-01 4.31462094e-03 7.99339663e-01 5.72036711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:67.72, Z:57.22 [[ 3.37948573e-01 -9.03403930e-01 -2.63916845e-01 1.47658258e+02] [ 7.22741516e-01 4.28724049e-01 -5.42070467e-01 6.77164194e+01] [ 6.02856088e-01 -7.55172011e-03 7.97814207e-01 5.72247227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:67.76, Z:57.22 [[ 3.38719756e-01 -9.14130643e-01 -2.22787106e-01 1.47653816e+02] [ 7.25958621e-01 4.04542698e-01 -5.56173791e-01 6.77591412e+01] [ 5.98542402e-01 2.66528309e-02 8.00647625e-01 5.72189607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:67.77, Z:57.24 [[ 3.39625309e-01 -9.09251888e-01 -2.40656712e-01 1.47667920e+02] [ 7.24919555e-01 4.16073624e-01 -5.48975754e-01 6.77714432e+01] [ 5.99288151e-01 1.19893036e-02 8.00443607e-01 5.72412217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:67.78, Z:57.27 [[ 3.41850593e-01 -9.05165725e-01 -2.52612712e-01 1.47683783e+02] [ 7.21082271e-01 4.25030656e-01 -5.47164784e-01 6.77847070e+01] [ 6.02642955e-01 4.89405725e-03 7.97995938e-01 5.72676370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:67.81, Z:57.28 [[ 3.42627914e-01 -9.05322929e-01 -2.50991050e-01 1.47691088e+02] [ 7.20117833e-01 4.24661793e-01 -5.48719117e-01 6.78055521e+01] [ 6.03354307e-01 7.26335567e-03 7.97440170e-01 5.72829378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.470385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:147.70, Y:67.83, Z:57.30 [[ 3.42119762e-01 -9.05479496e-01 -2.51119395e-01 1.47699997e+02] [ 7.19665381e-01 4.24327273e-01 -5.49570837e-01 6.78270293e+01] [ 6.04181933e-01 7.29710916e-03 7.96812992e-01 5.72977384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:67.85, Z:57.31 [[ 3.41422950e-01 -9.07715811e-01 -2.43890090e-01 1.47703267e+02] [ 7.22233101e-01 4.19424433e-01 -5.49965901e-01 6.78505109e+01] [ 6.01506207e-01 1.16254838e-02 7.98783532e-01 5.73089121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:67.87, Z:57.33 [[ 3.41984196e-01 -9.08972838e-01 -2.38359370e-01 1.47711502e+02] [ 7.18463786e-01 4.16409107e-01 -5.57147417e-01 6.78717725e+01] [ 6.05686881e-01 1.92830354e-02 7.95469400e-01 5.73261489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:67.88, Z:57.35 [[ 3.42096078e-01 -9.02313629e-01 -2.62298281e-01 1.47728433e+02] [ 7.21697451e-01 4.31061444e-01 -5.41607627e-01 6.78799349e+01] [ 6.01766619e-01 -4.01815563e-03 7.98661875e-01 5.73523567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:67.91, Z:57.36 [[ 3.41909874e-01 -9.06171297e-01 -2.48900020e-01 1.47732790e+02] [ 7.22123013e-01 4.22845144e-01 -5.47485469e-01 6.79053623e+01] [ 6.01361782e-01 7.45425545e-03 7.98942076e-01 5.73633327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:67.92, Z:57.38 [[ 3.41192882e-01 -9.06493466e-01 -2.48710703e-01 1.47741441e+02] [ 7.22528843e-01 4.22160225e-01 -5.47478599e-01 6.79240907e+01] [ 6.01281539e-01 7.09514468e-03 7.99005738e-01 5.73790684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:67.96, Z:57.38 [[ 3.38907659e-01 -9.12008065e-01 -2.31047371e-01 1.47741874e+02] [ 7.26248579e-01 4.09719085e-01 -5.51990283e-01 6.79559652e+01] [ 5.98084108e-01 1.92759099e-02 8.01201497e-01 5.73802390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:67.96, Z:57.41 [[ 3.41708956e-01 -9.03500697e-01 -2.58691864e-01 1.47762422e+02] [ 7.21668802e-01 4.28585602e-01 -5.43606956e-01 6.79601954e+01] [ 6.02020871e-01 -9.34482300e-04 7.98479804e-01 5.74149275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:67.99, Z:57.43 [[ 3.42612979e-01 -9.06008688e-01 -2.48524856e-01 1.47767918e+02] [ 7.21477571e-01 4.23174237e-01 -5.48081818e-01 6.79856001e+01] [ 6.01736206e-01 8.47483479e-03 7.98649933e-01 5.74269145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:68.01, Z:57.44 [[ 3.44995440e-01 -9.05155293e-01 -2.48338562e-01 1.47776701e+02] [ 7.20348274e-01 4.24957886e-01 -5.48187157e-01 6.80061465e+01] [ 6.01727937e-01 1.02318152e-02 7.98635586e-01 5.74426406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:68.03, Z:57.45 [[ 3.47792015e-01 -9.06463330e-01 -2.39509802e-01 1.47780866e+02] [ 7.17081183e-01 4.21749824e-01 -5.54906896e-01 6.80282062e+01] [ 6.04015970e-01 2.12442160e-02 7.96689018e-01 5.74528058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:68.04, Z:57.48 [[ 3.49446106e-01 -9.02658572e-01 -2.51187025e-01 1.47794623e+02] [ 7.18837199e-01 4.30235271e-01 -5.46050083e-01 6.80438849e+01] [ 6.00966306e-01 1.02524971e-02 7.99208600e-01 5.74753102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:68.07, Z:57.49 [[ 3.50866215e-01 -9.03183746e-01 -2.47289343e-01 1.47801996e+02] [ 7.18451673e-01 4.29011185e-01 -5.47518581e-01 6.80651205e+01] [ 6.00599777e-01 1.44403298e-02 7.99419405e-01 5.74896813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:68.09, Z:57.51 [[ 3.50606574e-01 -9.03341557e-01 -2.47081084e-01 1.47810673e+02] [ 7.18578620e-01 4.28678489e-01 -5.47612564e-01 6.80850312e+01] [ 6.00599532e-01 1.44493809e-02 7.99419425e-01 5.75056230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:68.10, Z:57.52 [[ 3.52111062e-01 -9.02738995e-01 -2.47143901e-01 1.47819401e+02] [ 7.17338103e-01 4.29899533e-01 -5.48281349e-01 6.81045308e+01] [ 6.01202001e-01 1.57701911e-02 7.98941459e-01 5.75210666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:68.14, Z:57.51 [[ 3.50340926e-01 -9.10230771e-01 -2.20774047e-01 1.47816413e+02] [ 7.21840937e-01 4.12594745e-01 -5.55617888e-01 6.81421205e+01] [ 5.96830710e-01 3.52919401e-02 8.01590657e-01 5.75144637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:68.14, Z:57.56 [[ 3.51642621e-01 -8.97838974e-01 -2.65014421e-01 1.47842123e+02] [ 7.16113848e-01 4.40323454e-01 -5.41568290e-01 6.81354979e+01] [ 6.02933184e-01 6.57996187e-04 7.97791416e-01 5.75583108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:68.16, Z:57.57 [[ 3.51831211e-01 -9.02916000e-01 -2.46895718e-01 1.47843813e+02] [ 7.16731237e-01 4.29506658e-01 -5.49381801e-01 6.81634159e+01] [ 6.02088973e-01 1.63317910e-02 7.98261950e-01 5.75662595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:68.18, Z:57.58 [[ 3.51786448e-01 -9.03030004e-01 -2.46542304e-01 1.47852813e+02] [ 7.17039026e-01 4.29263931e-01 -5.49169840e-01 6.81845115e+01] [ 6.01748561e-01 1.64100535e-02 7.98516988e-01 5.75831834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:68.20, Z:57.60 [[ 3.51595332e-01 -9.03219113e-01 -2.46121833e-01 1.47861849e+02] [ 7.17607692e-01 4.28869555e-01 -5.48735004e-01 6.82048415e+01] [ 6.01182104e-01 1.63137454e-02 7.98945517e-01 5.75998061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:68.22, Z:57.62 [[ 3.51345177e-01 -9.03360873e-01 -2.45958735e-01 1.47870259e+02] [ 7.17680244e-01 4.28570468e-01 -5.48873775e-01 6.82240762e+01] [ 6.01241743e-01 1.63244285e-02 7.98900419e-01 5.76158214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:68.24, Z:57.63 [[ 3.51076521e-01 -9.03586580e-01 -2.45512871e-01 1.47878413e+02] [ 7.18271681e-01 4.28098763e-01 -5.48468086e-01 6.82439313e+01] [ 6.00692158e-01 1.62093249e-02 7.99316076e-01 5.76307837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:68.26, Z:57.65 [[ 3.50752894e-01 -9.03783375e-01 -2.45250929e-01 1.47887588e+02] [ 7.18518952e-01 4.27685047e-01 -5.48466969e-01 6.82649323e+01] [ 6.00585483e-01 1.61589362e-02 7.99397252e-01 5.76475382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:68.29, Z:57.66 [[ 3.49632107e-01 -9.04371483e-01 -2.44682673e-01 1.47896102e+02] [ 7.19826938e-01 4.26469437e-01 -5.47697908e-01 6.82856557e+01] [ 5.99672051e-01 1.53635947e-02 8.00098363e-01 5.76637392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:68.31, Z:57.68 [[ 3.49108773e-01 -9.06387606e-01 -2.37875118e-01 1.47902381e+02] [ 7.19370075e-01 4.21898257e-01 -5.51822939e-01 6.83077231e+01] [ 6.00524570e-01 2.15259876e-02 7.99316503e-01 5.76769385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:68.32, Z:57.70 [[ 3.47794857e-01 -9.03876920e-01 -2.49088842e-01 1.47915607e+02] [ 7.22209523e-01 4.27694447e-01 -5.43590715e-01 6.83229380e+01] [ 5.97873016e-01 9.16372126e-03 8.01538448e-01 5.76984645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:68.35, Z:57.71 [[ 3.47170616e-01 -9.05721760e-01 -2.43188521e-01 1.47922562e+02] [ 7.22692693e-01 4.23646607e-01 -5.46112465e-01 6.83461017e+01] [ 5.97651935e-01 1.38436336e-02 8.01636151e-01 5.77126740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:68.37, Z:57.73 [[ 3.46291675e-01 -9.06016331e-01 -2.43344374e-01 1.47930780e+02] [ 7.22408463e-01 4.23023610e-01 -5.46970783e-01 6.83668282e+01] [ 5.98504878e-01 1.36173938e-02 8.01003419e-01 5.77280270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:68.39, Z:57.74 [[ 3.45965955e-01 -9.06112172e-01 -2.43450797e-01 1.47939110e+02] [ 7.21943939e-01 4.22814203e-01 -5.47745469e-01 6.83875287e+01] [ 5.99253291e-01 1.37434576e-02 8.00441510e-01 5.77438126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:68.41, Z:57.76 [[ 3.45480506e-01 -9.06210420e-01 -2.43774269e-01 1.47946222e+02] [ 7.21087744e-01 4.22598488e-01 -5.49038235e-01 6.84082095e+01] [ 6.00562807e-01 1.38993697e-02 7.99456767e-01 5.77586829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:68.43, Z:57.77 [[ 3.45102240e-01 -9.06364206e-01 -2.43738323e-01 1.47954523e+02] [ 7.20892134e-01 4.22267157e-01 -5.49549798e-01 6.84289243e+01] [ 6.01014955e-01 1.39418260e-02 7.99116168e-01 5.77743083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:68.45, Z:57.79 [[ 3.44146894e-01 -9.06717536e-01 -2.43774949e-01 1.47962279e+02] [ 7.20845256e-01 4.21518430e-01 -5.50185723e-01 6.84484174e+01] [ 6.01618676e-01 1.36206923e-02 7.98667293e-01 5.77895026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:68.47, Z:57.81 [[ 3.43140381e-01 -9.07173081e-01 -2.43498830e-01 1.47971122e+02] [ 7.21444180e-01 4.20553544e-01 -5.50139084e-01 6.84690428e+01] [ 6.01475664e-01 1.31041213e-02 7.98783643e-01 5.78057549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:68.49, Z:57.82 [[ 3.40796328e-01 -9.08234799e-01 -2.42832065e-01 1.47980256e+02] [ 7.23478304e-01 4.18303550e-01 -5.49182378e-01 6.84891505e+01] [ 6.00364061e-01 1.14756071e-02 7.99644486e-01 5.78225210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:68.51, Z:57.84 [[ 3.39441549e-01 -9.08871015e-01 -2.42348744e-01 1.47988964e+02] [ 7.24704893e-01 4.16942937e-01 -5.48599495e-01 6.85083721e+01] [ 5.99651776e-01 1.05861420e-02 8.00191028e-01 5.78385011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:68.53, Z:57.86 [[ 3.37763955e-01 -9.09630264e-01 -2.41843530e-01 1.47998253e+02] [ 7.26052243e-01 4.15309644e-01 -5.48056604e-01 6.85285716e+01] [ 5.98968823e-01 9.52272898e-03 8.00715721e-01 5.78550143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:68.55, Z:57.87 [[ 3.36970961e-01 -9.09946947e-01 -2.41758403e-01 1.48006743e+02] [ 7.26204199e-01 4.14622156e-01 -5.48375719e-01 6.85483852e+01] [ 5.99231202e-01 9.22072521e-03 8.00522920e-01 5.78706931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:68.57, Z:57.89 [[ 3.36899290e-01 -9.09992591e-01 -2.41686474e-01 1.48015060e+02] [ 7.26046386e-01 4.14518653e-01 -5.48662858e-01 6.85693848e+01] [ 5.99462688e-01 9.36853629e-03 8.00347872e-01 5.78859521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:68.59, Z:57.90 [[ 3.36865231e-01 -9.10062555e-01 -2.41470416e-01 1.48023388e+02] [ 7.26070526e-01 4.14361342e-01 -5.48749733e-01 6.85897505e+01] [ 5.99452590e-01 9.53015378e-03 8.00353527e-01 5.79013621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:68.61, Z:57.92 [[ 3.37365801e-01 -9.09853644e-01 -2.41558819e-01 1.48032442e+02] [ 7.25229046e-01 4.14803781e-01 -5.49527665e-01 6.86101720e+01] [ 6.00189260e-01 1.02063688e-02 7.99792900e-01 5.79166581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:68.63, Z:57.93 [[ 3.37762999e-01 -9.09718551e-01 -2.41512556e-01 1.48041506e+02] [ 7.24709638e-01 4.15086434e-01 -5.49999267e-01 6.86305833e+01] [ 6.00593122e-01 1.07429245e-02 7.99482640e-01 5.79327785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:68.65, Z:57.95 [[ 3.38899591e-01 -9.09321880e-01 -2.41414138e-01 1.48049452e+02] [ 7.23960879e-01 4.15927779e-01 -5.50349642e-01 6.86501661e+01] [ 6.00855817e-01 1.17388774e-02 7.99271222e-01 5.79481410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:68.67, Z:57.96 [[ 3.39461203e-01 -9.09164655e-01 -2.41217167e-01 1.48057416e+02] [ 7.23771854e-01 4.16257022e-01 -5.50349339e-01 6.86704456e+01] [ 6.00766507e-01 1.22360525e-02 7.99330897e-01 5.79636526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:68.69, Z:57.98 [[ 3.40857170e-01 -9.08723765e-01 -2.40909752e-01 1.48064957e+02] [ 7.23317134e-01 4.17186073e-01 -5.50243677e-01 6.86912087e+01] [ 6.00523699e-01 1.33003510e-02 7.99496334e-01 5.79786937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:68.73, Z:57.98 [[ 3.40549249e-01 -9.14465749e-01 -2.18583170e-01 1.48065057e+02] [ 7.28194742e-01 4.03588611e-01 -5.53939212e-01 6.87268413e+01] [ 5.94776115e-01 2.94724677e-02 8.03350949e-01 5.79787861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:68.73, Z:58.01 [[ 3.40036238e-01 -9.08626835e-01 -2.42430672e-01 1.48081282e+02] [ 7.22801953e-01 4.17435421e-01 -5.50731338e-01 6.87323578e+01] [ 6.01608422e-01 1.20392487e-02 7.98700421e-01 5.80101258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.09, Y:68.75, Z:58.03 [[ 3.40701859e-01 -9.05216695e-01 -2.53978303e-01 1.48093494e+02] [ 7.25620851e-01 4.24950263e-01 -5.41194655e-01 6.87458064e+01] [ 5.97826583e-01 9.40723092e-05 8.01625453e-01 5.80294273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.10, Y:68.77, Z:58.04 [[ 3.39402125e-01 -9.09941773e-01 -2.38353032e-01 1.48096948e+02] [ 7.27237997e-01 4.14552617e-01 -5.47056692e-01 6.87728912e+01] [ 5.96599609e-01 1.23328228e-02 8.02444271e-01 5.80396859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:68.79, Z:58.06 [[ 3.38068965e-01 -9.10516679e-01 -2.38051995e-01 1.48105386e+02] [ 7.28061642e-01 4.13310326e-01 -5.46901107e-01 6.87934054e+01] [ 5.96351927e-01 1.15737647e-02 8.02639662e-01 5.80559956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:68.81, Z:58.07 [[ 3.35659150e-01 -9.11493198e-01 -2.37724809e-01 1.48113489e+02] [ 7.29424789e-01 4.11191210e-01 -5.46682052e-01 6.88140096e+01] [ 5.96047324e-01 1.00964647e-02 8.02885825e-01 5.80716700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:68.83, Z:58.09 [[ 3.34535079e-01 -9.11964931e-01 -2.37499990e-01 1.48121323e+02] [ 7.29967058e-01 4.10157350e-01 -5.46734893e-01 6.88336273e+01] [ 5.96015415e-01 9.53483167e-03 8.02916379e-01 5.80866847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:68.87, Z:58.09 [[ 3.32293334e-01 -9.18061296e-01 -2.16204987e-01 1.48122964e+02] [ 7.34314789e-01 3.95679604e-01 -5.51560914e-01 6.88687317e+01] [ 5.91914631e-01 2.45174956e-02 8.05627682e-01 5.80889761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:68.87, Z:58.13 [[ 3.29388486e-01 -9.09153866e-01 -2.54838130e-01 1.48143540e+02] [ 7.32325762e-01 4.16360104e-01 -5.38835080e-01 6.88675069e+01] [ 5.95988426e-01 -9.13845650e-03 8.02941022e-01 5.81257514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:68.89, Z:58.13 [[ 3.27860146e-01 -9.14522052e-01 -2.36974981e-01 1.48145453e+02] [ 7.33067945e-01 4.04497897e-01 -5.46802377e-01 6.88948729e+01] [ 5.95918713e-01 5.55594431e-03 8.03025541e-01 5.81344491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:68.91, Z:58.15 [[ 3.24570266e-01 -9.15674488e-01 -2.37053527e-01 1.48152105e+02] [ 7.33913056e-01 4.01903166e-01 -5.47581475e-01 6.89148180e+01] [ 5.96678950e-01 3.75198687e-03 8.02471279e-01 5.81501650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:68.96, Z:58.14 [[ 3.23186691e-01 -9.24470874e-01 -2.02247287e-01 1.48148962e+02] [ 7.39733480e-01 3.80082427e-01 -5.55276263e-01 6.89569273e+01] [ 5.90207372e-01 2.98488085e-02 8.06699639e-01 5.81448635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.18, Y:68.94, Z:58.19 [[ 3.20323074e-01 -9.09510997e-01 -2.64920508e-01 1.48175967e+02] [ 7.35082743e-01 4.15042167e-01 -5.36090814e-01 6.89445007e+01] [ 5.97533672e-01 -2.30162356e-02 8.01513421e-01 5.81917799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:68.98, Z:58.20 [[ 3.19390838e-01 -9.17568672e-01 -2.36764069e-01 1.48173906e+02] [ 7.35462903e-01 3.97575790e-01 -5.48660012e-01 6.89772955e+01] [ 5.97564900e-01 1.10579152e-03 8.01819785e-01 5.81970704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:69.00, Z:58.21 [[ 3.18149991e-01 -9.18030926e-01 -2.36642775e-01 1.48181085e+02] [ 7.35963083e-01 3.96508558e-01 -5.48761609e-01 6.89976124e+01] [ 5.97611014e-01 4.28155029e-04 8.01786064e-01 5.82130635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:69.02, Z:58.23 [[ 3.18165242e-01 -9.18089051e-01 -2.36396643e-01 1.48188797e+02] [ 7.36033216e-01 3.96373727e-01 -5.48764953e-01 6.90185158e+01] [ 5.97516513e-01 6.02152595e-04 8.01856380e-01 5.82302149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:69.04, Z:58.25 [[ 3.19301571e-01 -9.17844147e-01 -2.35814820e-01 1.48194114e+02] [ 7.36346998e-01 3.96938778e-01 -5.47934946e-01 6.90390664e+01] [ 5.96522929e-01 1.31495408e-03 8.02594957e-01 5.82457603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.20, Y:69.06, Z:58.26 [[ 3.20158096e-01 -9.17659608e-01 -2.35371276e-01 1.48200860e+02] [ 7.36428202e-01 3.97362566e-01 -5.47518489e-01 6.90596574e+01] [ 5.95963336e-01 1.95843109e-03 8.03009257e-01 5.82612735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:69.08, Z:58.28 [[ 3.23242506e-01 -9.16705681e-01 -2.34872257e-01 1.48206499e+02] [ 7.35663543e-01 3.99542971e-01 -5.46959383e-01 6.90805523e+01] [ 5.95242333e-01 4.01356477e-03 8.03536220e-01 5.82776468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:69.10, Z:58.29 [[ 3.24753218e-01 -9.16253406e-01 -2.34552857e-01 1.48213796e+02] [ 7.35235118e-01 4.00566459e-01 -5.46786826e-01 6.91012501e+01] [ 5.94949299e-01 5.11928340e-03 8.03746928e-01 5.82937909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:69.14, Z:58.30 [[ 3.29157445e-01 -9.19505322e-01 -2.14861211e-01 1.48216226e+02] [ 7.35675765e-01 3.92364560e-01 -5.52115224e-01 6.91358520e+01] [ 5.91976811e-01 2.36646505e-02 8.05607497e-01 5.82990522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.420385723 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:148.23, Y:69.15, Z:58.32 [[ 3.33791362e-01 -9.12021098e-01 -2.38329277e-01 1.48232377e+02] [ 7.33123370e-01 4.10093796e-01 -5.42543272e-01 6.91464085e+01] [ 5.92548269e-01 6.37149530e-03 8.05509748e-01 5.83235524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:69.17, Z:58.34 [[ 3.32336636e-01 -9.13112224e-01 -2.36174568e-01 1.48237254e+02] [ 7.33196750e-01 4.07635092e-01 -5.44294184e-01 6.91696863e+01] [ 5.93274714e-01 7.72647262e-03 8.04962990e-01 5.83393480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:69.18, Z:58.37 [[ 3.32438331e-01 -9.07519116e-01 -2.56697897e-01 1.48247839e+02] [ 7.30621239e-01 4.19923347e-01 -5.38383681e-01 6.91764213e+01] [ 5.96386922e-01 -8.56956367e-03 8.02651357e-01 5.83657897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.25, Y:69.21, Z:58.37 [[ 3.34464320e-01 -9.13216734e-01 -2.32741952e-01 1.48246211e+02] [ 7.30654141e-01 4.07259445e-01 -5.47981998e-01 6.92085211e+01] [ 5.95212689e-01 1.32265552e-02 8.03459342e-01 5.83742746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.25, Y:69.23, Z:58.39 [[ 3.35050159e-01 -9.13073530e-01 -2.32461006e-01 1.48253496e+02] [ 7.30584982e-01 4.07563960e-01 -5.47847791e-01 6.92288076e+01] [ 5.94968045e-01 1.37239697e-02 8.03632179e-01 5.83899925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57038572300002 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:148.26, Y:69.27, Z:58.40 [[ 3.37277423e-01 -9.17227343e-01 -2.11985709e-01 1.48258514e+02] [ 7.31029418e-01 3.97061065e-01 -5.54922067e-01 6.92652778e+01] [ 5.93160965e-01 3.21948960e-02 8.04439904e-01 5.83974170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.28, Y:69.26, Z:58.43 [[ 3.35431928e-01 -9.04739065e-01 -2.62550272e-01 1.48277405e+02] [ 7.28923572e-01 4.25809105e-01 -5.36056930e-01 6.92586804e+01] [ 5.96787942e-01 -1.15684728e-02 8.02315600e-01 5.84316147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63038572300002 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:148.27, Y:69.31, Z:58.43 [[ 3.38652486e-01 -9.17036890e-01 -2.10613000e-01 1.48272788e+02] [ 7.30247457e-01 3.97314841e-01 -5.55769349e-01 6.93095265e+01] [ 5.93340666e-01 3.44130640e-02 8.04215516e-01 5.84281301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:69.31, Z:58.46 [[ 3.34863985e-01 -9.08302657e-01 -2.50703800e-01 1.48290273e+02] [ 7.30375191e-01 4.18307350e-01 -5.39973186e-01 6.93109789e+01] [ 5.95330321e-01 -2.29026288e-03 8.03477793e-01 5.84559907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.690385723 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:148.29, Y:69.34, Z:58.47 [[ 3.36517634e-01 -9.12731201e-01 -2.31684347e-01 1.48294148e+02] [ 7.27623833e-01 4.08209156e-01 -5.51297418e-01 6.93384980e+01] [ 5.97762027e-01 1.69422501e-02 8.01494554e-01 5.84659274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.720385723 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:148.31, Y:69.35, Z:58.49 [[ 3.35740630e-01 -9.10641949e-01 -2.40851551e-01 1.48305508e+02] [ 7.27581156e-01 4.13105940e-01 -5.47694389e-01 6.93548327e+01] [ 5.98250693e-01 8.64420925e-03 8.01262370e-01 5.84854106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.750385723 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:148.31, Y:69.38, Z:58.50 [[ 3.34040117e-01 -9.11638539e-01 -2.39441799e-01 1.48313935e+02] [ 7.29093380e-01 4.10909972e-01 -5.47335215e-01 6.93781635e+01] [ 5.97360899e-01 8.25648866e-03 8.01930039e-01 5.85015545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.780385723 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:148.32, Y:69.40, Z:58.52 [[ 3.31148875e-01 -9.11145596e-01 -2.45263380e-01 1.48322558e+02] [ 7.29386464e-01 4.12080031e-01 -5.46063580e-01 6.93964646e+01] [ 5.98611567e-01 1.93655067e-03 8.01037104e-01 5.85212244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.810385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:148.33, Y:69.41, Z:58.54 [[ 3.27759601e-01 -9.09233426e-01 -2.56648050e-01 1.48329104e+02] [ 7.29203462e-01 4.16186866e-01 -5.43185792e-01 6.94088534e+01] [ 6.00696225e-01 -9.11428768e-03 7.99425403e-01 5.85395326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.32, Y:69.45, Z:58.54 [[ 3.26938010e-01 -9.18973221e-01 -2.20453524e-01 1.48322622e+02] [ 7.32581389e-01 3.93811765e-01 -5.55190780e-01 6.94458007e+01] [ 5.97022651e-01 2.00128203e-02 8.01974714e-01 5.85418799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:69.46, Z:58.57 [[ 3.28053188e-01 -9.14285896e-01 -2.37618194e-01 1.48338065e+02] [ 7.29589612e-01 4.05001630e-01 -5.51065039e-01 6.94564930e+01] [ 6.00066749e-01 7.41487710e-03 7.99915568e-01 5.85695136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:69.48, Z:58.58 [[ 3.27695427e-01 -9.17109432e-01 -2.26993385e-01 1.48342026e+02] [ 7.28561499e-01 3.98262280e-01 -5.57301802e-01 6.94810790e+01] [ 6.01509642e-01 1.72466110e-02 7.98679351e-01 5.85814150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:69.51, Z:58.59 [[ 3.25885926e-01 -9.19015538e-01 -2.21830576e-01 1.48348389e+02] [ 7.30873350e-01 3.93736339e-01 -5.57490665e-01 6.95077088e+01] [ 5.99685342e-01 1.95483050e-02 7.99997096e-01 5.85928161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:69.52, Z:58.62 [[ 3.26574796e-01 -9.14477918e-01 -2.38912201e-01 1.48363339e+02] [ 7.29494543e-01 4.04593984e-01 -5.51490181e-01 6.95178710e+01] [ 6.00988032e-01 5.81764712e-03 7.99236849e-01 5.86191826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.36, Y:69.55, Z:58.63 [[ 3.25928260e-01 -9.18982226e-01 -2.21906369e-01 1.48364513e+02] [ 7.32089323e-01 3.93855349e-01 -5.55808588e-01 6.95474029e+01] [ 5.98177225e-01 1.86984423e-02 8.01145665e-01 5.86262186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:69.57, Z:58.65 [[ 3.27289232e-01 -9.17088910e-01 -2.27661348e-01 1.48376282e+02] [ 7.30986599e-01 3.98404000e-01 -5.54015203e-01 6.95654976e+01] [ 5.98782390e-01 1.49058158e-02 8.00773043e-01 5.86468891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:69.59, Z:58.66 [[ 3.27781427e-01 -9.16861893e-01 -2.27867515e-01 1.48384896e+02] [ 7.31028328e-01 3.98927249e-01 -5.53583448e-01 6.95864031e+01] [ 5.98462130e-01 1.48767638e-02 8.01012960e-01 5.86638405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.080385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.40, Y:69.60, Z:58.69 [[ 3.30099146e-01 -9.14026244e-01 -2.35776546e-01 1.48397270e+02] [ 7.27254252e-01 4.05496712e-01 -5.53781247e-01 6.96023601e+01] [ 6.01777207e-01 1.13332210e-02 7.98583591e-01 5.86854520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:69.62, Z:58.70 [[ 3.31552512e-01 -9.14686172e-01 -2.31132296e-01 1.48403576e+02] [ 7.25784343e-01 4.03811335e-01 -5.56932217e-01 6.96233633e+01] [ 6.02752038e-01 1.69000744e-02 7.97749565e-01 5.87013408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:69.64, Z:58.72 [[ 3.31920482e-01 -9.14604020e-01 -2.30929165e-01 1.48411753e+02] [ 7.25607985e-01 4.03979196e-01 -5.57040269e-01 6.96426107e+01] [ 6.02761848e-01 1.73290285e-02 7.97732950e-01 5.87166663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.42, Y:69.66, Z:58.73 [[ 3.32092030e-01 -9.14609647e-01 -2.30660089e-01 1.48420199e+02] [ 7.25639254e-01 4.03954522e-01 -5.57017429e-01 6.96626112e+01] [ 6.02629701e-01 1.76050339e-02 7.97826740e-01 5.87321723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.42, Y:69.69, Z:58.74 [[ 3.30909024e-01 -9.18052458e-01 -2.18354990e-01 1.48422325e+02] [ 7.29377363e-01 3.95643352e-01 -5.58099454e-01 6.96886874e+01] [ 5.98755276e-01 2.54169593e-02 8.00528636e-01 5.87385139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:69.71, Z:58.76 [[ 3.32272057e-01 -9.16828929e-01 -2.21404594e-01 1.48433789e+02] [ 7.28662260e-01 3.98574541e-01 -5.56946718e-01 6.97073407e+01] [ 5.98871098e-01 2.37286600e-02 8.00493822e-01 5.87577368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:69.73, Z:58.77 [[ 3.32951619e-01 -9.17427582e-01 -2.17875769e-01 1.48442368e+02] [ 7.29118395e-01 3.97002328e-01 -5.57472437e-01 6.97315481e+01] [ 5.97937777e-01 2.67541199e-02 8.01095894e-01 5.87744418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.46, Y:69.74, Z:58.80 [[ 3.36972150e-01 -9.10717925e-01 -2.38835991e-01 1.48461734e+02] [ 7.23789085e-01 4.12809806e-01 -5.52917195e-01 6.97400811e+01] [ 6.02145440e-01 1.34508121e-02 7.98273102e-01 5.88038380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.46, Y:69.77, Z:58.80 [[ 3.35798433e-01 -9.17287341e-01 -2.14063884e-01 1.48458392e+02] [ 7.28912662e-01 3.96997478e-01 -5.57744864e-01 6.97738752e+01] [ 5.96595125e-01 3.12559757e-02 8.01933489e-01 5.88041383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.47, Y:69.79, Z:58.83 [[ 3.38387913e-01 -9.14531936e-01 -2.21641508e-01 1.48472783e+02] [ 7.27131390e-01 4.03628523e-01 -5.55305284e-01 6.97917277e+01] [ 5.97305251e-01 2.67460982e-02 8.01567891e-01 5.88253493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:69.82, Z:58.84 [[ 3.38580597e-01 -9.15518779e-01 -2.17229242e-01 1.48479368e+02] [ 7.27706789e-01 4.01133011e-01 -5.56358820e-01 6.98153933e+01] [ 5.96494768e-01 3.02931068e-02 8.02045086e-01 5.88389806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.49, Y:69.83, Z:58.86 [[ 3.38848792e-01 -9.14595824e-01 -2.20671646e-01 1.48490200e+02] [ 7.27346488e-01 4.03425242e-01 -5.55171290e-01 6.98339775e+01] [ 5.96781855e-01 2.76143739e-02 8.01928216e-01 5.88566952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.50, Y:69.86, Z:58.87 [[ 3.38551998e-01 -9.15223394e-01 -2.18514722e-01 1.48498142e+02] [ 7.27191701e-01 4.01865261e-01 -5.56503856e-01 6.98560528e+01] [ 5.97138824e-01 2.95033998e-02 8.01595143e-01 5.88714819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:69.88, Z:58.88 [[ 3.38356123e-01 -9.18667464e-01 -2.03875511e-01 1.48502893e+02] [ 7.29833582e-01 3.92952007e-01 -5.59402952e-01 6.98836595e+01] [ 5.94018583e-01 4.04822199e-02 8.03432084e-01 5.88800402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:69.90, Z:58.90 [[ 3.38016607e-01 -9.16494314e-01 -2.13969499e-01 1.48516973e+02] [ 7.29152465e-01 3.98767650e-01 -5.56166382e-01 6.99011253e+01] [ 5.95047441e-01 3.19770862e-02 8.03054176e-01 5.89005201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:69.92, Z:58.92 [[ 3.36986004e-01 -9.16230792e-01 -2.16706179e-01 1.48529843e+02] [ 7.28296832e-01 3.99542282e-01 -5.56731254e-01 6.99204757e+01] [ 5.96677599e-01 2.97842164e-02 8.01928141e-01 5.89187781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.54, Y:69.94, Z:58.93 [[ 3.36402280e-01 -9.17259896e-01 -2.13231773e-01 1.48538375e+02] [ 7.28532642e-01 3.96964667e-01 -5.58264491e-01 6.99432463e+01] [ 5.96719109e-01 3.24551410e-02 8.01793595e-01 5.89332839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:69.96, Z:58.96 [[ 3.33805150e-01 -9.15258678e-01 -2.25556365e-01 1.48553805e+02] [ 7.27830918e-01 4.02307906e-01 -5.55347191e-01 6.99578368e+01] [ 5.99029445e-01 2.12108567e-02 8.00446015e-01 5.89554782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.57, Y:69.97, Z:58.98 [[ 3.31678352e-01 -9.14187203e-01 -2.32918929e-01 1.48569425e+02] [ 7.26360327e-01 4.05014527e-01 -5.55305238e-01 6.99725606e+01] [ 6.01988493e-01 1.49996569e-02 7.98363867e-01 5.89797598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.58, Y:70.00, Z:58.99 [[ 3.30356098e-01 -9.16717914e-01 -2.24706731e-01 1.48577304e+02] [ 7.27109066e-01 3.98973284e-01 -5.58688397e-01 6.99965942e+01] [ 6.01811645e-01 2.11798175e-02 7.98357163e-01 5.89947277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:70.01, Z:59.01 [[ 3.28334136e-01 -9.16889999e-01 -2.26956877e-01 1.48592041e+02] [ 7.27882326e-01 3.98735554e-01 -5.57850587e-01 7.00133254e+01] [ 6.01983401e-01 1.79634915e-02 7.98306519e-01 5.90144932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:70.03, Z:59.03 [[ 3.26905728e-01 -9.16143814e-01 -2.31976632e-01 1.48604107e+02] [ 7.28329480e-01 4.00646288e-01 -5.55894523e-01 7.00305473e+01] [ 6.02219905e-01 1.27696840e-02 7.98228114e-01 5.90337455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:70.04, Z:59.06 [[ 3.23597335e-01 -9.14758166e-01 -2.41872411e-01 1.48613873e+02] [ 7.28115179e-01 4.03990103e-01 -5.53751102e-01 7.00432760e+01] [ 6.04262403e-01 3.08140685e-03 7.96779426e-01 5.90552406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.770385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:148.62, Y:70.07, Z:59.07 [[ 3.20536043e-01 -9.18994709e-01 -2.29576501e-01 1.48620089e+02] [ 7.29623672e-01 3.94098191e-01 -5.58870211e-01 7.00689784e+01] [ 6.04074451e-01 1.16335962e-02 7.96842969e-01 5.90665407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.800385723 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:148.63, Y:70.09, Z:59.08 [[ 3.18570208e-01 -9.19655799e-01 -2.29665482e-01 1.48629413e+02] [ 7.29838624e-01 3.92580352e-01 -5.59657261e-01 7.00894468e+01] [ 6.04854201e-01 1.06713907e-02 7.96264728e-01 5.90825331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.830385723 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:148.64, Y:70.11, Z:59.10 [[ 3.16623476e-01 -9.20267545e-01 -2.29906982e-01 1.48640453e+02] [ 7.29684261e-01 3.91166531e-01 -5.60847238e-01 7.01090040e+01] [ 6.06061428e-01 9.81789563e-03 7.95357250e-01 5.91000216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.860385723 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:148.65, Y:70.13, Z:59.12 [[ 3.15199279e-01 -9.20716470e-01 -2.30066502e-01 1.48650814e+02] [ 7.29515996e-01 3.90122821e-01 -5.61792307e-01 7.01289872e+01] [ 6.07005623e-01 9.23933710e-03 7.94643825e-01 5.91167514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.890385723 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:148.66, Y:70.15, Z:59.13 [[ 3.14489848e-01 -9.20952544e-01 -2.30092473e-01 1.48659339e+02] [ 7.29334823e-01 3.89569456e-01 -5.62411198e-01 7.01483302e+01] [ 6.07591023e-01 9.05815924e-03 7.94198400e-01 5.91324177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.920385723 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:148.67, Y:70.18, Z:59.14 [[ 3.18017390e-01 -9.24914802e-01 -2.08320786e-01 1.48666675e+02] [ 7.30945748e-01 3.79128432e-01 -5.67432767e-01 7.01831235e+01] [ 6.03807298e-01 2.81822947e-02 7.96631976e-01 5.91406301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.950385723 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:148.69, Y:70.18, Z:59.17 [[ 3.14567910e-01 -9.13301315e-01 -2.58703959e-01 1.48686304e+02] [ 7.29338181e-01 4.06982227e-01 -5.49937528e-01 7.01762260e+01] [ 6.07546581e-01 -1.56899763e-02 7.94129068e-01 5.91748531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.980385723 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:148.68, Y:70.22, Z:59.17 [[ 3.19416099e-01 -9.24547213e-01 -2.07811951e-01 1.48684369e+02] [ 7.30908726e-01 3.79947441e-01 -5.66932426e-01 7.02234951e+01] [ 6.03113414e-01 2.91957760e-02 7.97120955e-01 5.91733176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.010385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:148.71, Y:70.21, Z:59.21 [[ 3.16160811e-01 -9.12136520e-01 -2.60862628e-01 1.48705043e+02] [ 7.29226161e-01 4.09537454e-01 -5.48186356e-01 7.02135577e+01] [ 6.06853811e-01 -1.69128096e-02 7.94633506e-01 5.92096972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.040385723 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:148.70, Y:70.25, Z:59.21 [[ 3.17052652e-01 -9.20424150e-01 -2.28685374e-01 1.48703192e+02] [ 7.29202503e-01 3.90756420e-01 -5.61758960e-01 7.02469866e+01] [ 6.06416791e-01 1.13492211e-02 7.95065954e-01 5.92142850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07038572300002 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:148.71, Y:70.27, Z:59.23 [[ 3.17139443e-01 -9.20453761e-01 -2.28445723e-01 1.48711435e+02] [ 7.29225093e-01 3.90680037e-01 -5.61782763e-01 7.02670502e+01] [ 6.06344240e-01 1.15751184e-02 7.95118029e-01 5.92304308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10038572300002 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:148.72, Y:70.29, Z:59.25 [[ 3.17278461e-01 -9.20417242e-01 -2.28399824e-01 1.48719662e+02] [ 7.28937386e-01 3.90757714e-01 -5.62102033e-01 7.02871980e+01] [ 6.06617396e-01 1.18536973e-02 7.94905545e-01 5.92476457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13038572300002 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:148.73, Y:70.31, Z:59.26 [[ 3.18608106e-01 -9.19957224e-01 -2.28402233e-01 1.48728362e+02] [ 7.27890843e-01 3.91801858e-01 -5.62731041e-01 7.03071642e+01] [ 6.07176906e-01 1.30387774e-02 7.94459687e-01 5.92638812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16038572300002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:148.74, Y:70.33, Z:59.28 [[ 3.19564248e-01 -9.19667583e-01 -2.28232837e-01 1.48736810e+02] [ 7.27377405e-01 3.92452231e-01 -5.62941700e-01 7.03264079e+01] [ 6.07289718e-01 1.38846325e-02 7.94359122e-01 5.92799660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.190385723 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:148.75, Y:70.35, Z:59.30 [[ 3.21181356e-01 -9.19108196e-01 -2.28216260e-01 1.48745143e+02] [ 7.26219898e-01 3.93709255e-01 -5.63558055e-01 7.03468898e+01] [ 6.07821681e-01 1.52691514e-02 7.93926733e-01 5.92965012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.220385723 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:148.75, Y:70.37, Z:59.31 [[ 3.22067603e-01 -9.18808506e-01 -2.28174030e-01 1.48753373e+02] [ 7.25458950e-01 3.94373510e-01 -5.64073441e-01 7.03673588e+01] [ 6.08261268e-01 1.61388893e-02 7.93572785e-01 5.93122401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.250385723 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:148.76, Y:70.39, Z:59.33 [[ 3.23288209e-01 -9.18331181e-01 -2.28369385e-01 1.48762166e+02] [ 7.24016405e-01 3.95431370e-01 -5.65185171e-01 7.03869310e+01] [ 6.09331584e-01 1.73745203e-02 7.92725140e-01 5.93284501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.280385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:148.77, Y:70.41, Z:59.34 [[ 3.21588508e-01 -9.20795684e-01 -2.20717329e-01 1.48767638e+02] [ 7.22970569e-01 3.89307803e-01 -5.70747747e-01 7.04114101e+01] [ 6.11469041e-01 2.39737835e-02 7.90905095e-01 5.93428479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.310385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:148.78, Y:70.42, Z:59.37 [[ 3.23951862e-01 -9.14877390e-01 -2.40945124e-01 1.48782681e+02] [ 7.23877643e-01 4.03673871e-01 -5.59507430e-01 7.04197163e+01] [ 6.09143948e-01 6.83868514e-03 7.93030191e-01 5.93651295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.340385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:148.79, Y:70.45, Z:59.38 [[ 3.24311248e-01 -9.18220282e-01 -2.27362550e-01 1.48785672e+02] [ 7.24328368e-01 3.95640899e-01 -5.64638552e-01 7.04457796e+01] [ 6.08416494e-01 1.84334885e-02 7.93403792e-01 5.93767330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.370385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:148.79, Y:70.47, Z:59.39 [[ 3.24862662e-01 -9.18206571e-01 -2.26629530e-01 1.48792838e+02] [ 7.25265067e-01 3.95661736e-01 -5.63420245e-01 7.04668089e+01] [ 6.07004805e-01 1.86677198e-02 7.94478875e-01 5.93934263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.400385723 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:148.80, Y:70.49, Z:59.41 [[ 3.24440523e-01 -9.18466517e-01 -2.26180470e-01 1.48800209e+02] [ 7.25984768e-01 3.95069245e-01 -5.62908881e-01 7.04870460e+01] [ 6.06369907e-01 1.84268764e-02 7.94969173e-01 5.94089103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.430385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:148.81, Y:70.51, Z:59.43 [[ 3.23706783e-01 -9.18781607e-01 -2.25951936e-01 1.48808642e+02] [ 7.26322308e-01 3.94349861e-01 -5.62977879e-01 7.05068796e+01] [ 6.06357835e-01 1.81258266e-02 7.94985302e-01 5.94256364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.460385723 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:148.82, Y:70.53, Z:59.44 [[ 3.22514209e-01 -9.19270515e-01 -2.25668575e-01 1.48817084e+02] [ 7.27011191e-01 3.93238559e-01 -5.62866026e-01 7.05268356e+01] [ 6.06167727e-01 1.74687114e-02 7.95144975e-01 5.94418910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.490385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:148.82, Y:70.55, Z:59.46 [[ 3.21656969e-01 -9.19602662e-01 -2.25538775e-01 1.48824837e+02] [ 7.27197334e-01 3.92476019e-01 -5.63157716e-01 7.05479254e+01] [ 6.06399895e-01 1.71324084e-02 7.94975250e-01 5.94574418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.520385723 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:148.83, Y:70.57, Z:59.47 [[ 3.21353596e-01 -9.19767934e-01 -2.25297167e-01 1.48832184e+02] [ 7.27392777e-01 3.92090025e-01 -5.63174182e-01 7.05682886e+01] [ 6.06326326e-01 1.70985169e-02 7.95032092e-01 5.94735225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.550385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:148.84, Y:70.59, Z:59.49 [[ 3.20453768e-01 -9.20127233e-01 -2.25111655e-01 1.48839516e+02] [ 7.27706532e-01 3.91262869e-01 -5.63344096e-01 7.05889435e+01] [ 6.06426077e-01 1.67105167e-02 7.94964258e-01 5.94884107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.580385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:148.85, Y:70.61, Z:59.50 [[ 3.19985464e-01 -9.20354722e-01 -2.24847701e-01 1.48847898e+02] [ 7.27987450e-01 3.90733137e-01 -5.63348815e-01 7.06091694e+01] [ 6.06336190e-01 1.65771276e-02 7.95035612e-01 5.95048497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.610385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:148.86, Y:70.63, Z:59.52 [[ 3.19549935e-01 -9.20544034e-01 -2.24692058e-01 1.48855402e+02] [ 7.28044970e-01 3.90289912e-01 -5.63581677e-01 7.06283762e+01] [ 6.06496794e-01 1.65065653e-02 7.94914569e-01 5.95204745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.640385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:148.86, Y:70.65, Z:59.54 [[ 3.19342137e-01 -9.20730980e-01 -2.24221013e-01 1.48863122e+02] [ 7.28716089e-01 3.89853123e-01 -5.63016344e-01 7.06486611e+01] [ 6.05799852e-01 1.64013823e-02 7.95448008e-01 5.95366494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.670385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:148.87, Y:70.67, Z:59.55 [[ 3.19084622e-01 -9.20871859e-01 -2.24008979e-01 1.48871173e+02] [ 7.28829158e-01 3.89519766e-01 -5.63100711e-01 7.06694793e+01] [ 6.05799524e-01 1.64125016e-02 7.95448029e-01 5.95531746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.700385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:148.88, Y:70.69, Z:59.57 [[ 3.19220048e-01 -9.20905431e-01 -2.23677778e-01 1.48878748e+02] [ 7.29071112e-01 3.89432644e-01 -5.62847696e-01 7.06900440e+01] [ 6.05436929e-01 1.65952619e-02 7.95720254e-01 5.95693417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.730385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:148.89, Y:70.71, Z:59.59 [[ 3.19277791e-01 -9.20958968e-01 -2.23374732e-01 1.48886140e+02] [ 7.29260155e-01 3.89299056e-01 -5.62695184e-01 7.07107666e+01] [ 6.05178749e-01 1.67577834e-02 7.95913223e-01 5.95854633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.760385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:148.89, Y:70.73, Z:59.60 [[ 3.19938748e-01 -9.20836563e-01 -2.22933223e-01 1.48893963e+02] [ 7.29503127e-01 3.89567584e-01 -5.62194170e-01 7.07314679e+01] [ 6.04536504e-01 1.72372161e-02 7.96390917e-01 5.96018159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.790385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:148.90, Y:70.75, Z:59.62 [[ 3.19555150e-01 -9.21042016e-01 -2.22634480e-01 1.48901446e+02] [ 7.29846672e-01 3.89086458e-01 -5.62081457e-01 7.07520491e+01] [ 6.04324699e-01 1.71269897e-02 7.96554031e-01 5.96173175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82038572300002 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:148.91, Y:70.78, Z:59.63 [[ 3.21182889e-01 -9.22938508e-01 -2.12193457e-01 1.48911004e+02] [ 7.30464206e-01 3.84042056e-01 -5.64742192e-01 7.07820243e+01] [ 6.02713527e-01 2.63858033e-02 7.97521281e-01 5.96300833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85038572300002 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:148.92, Y:70.78, Z:59.66 [[ 3.18946115e-01 -9.16345399e-01 -2.42042321e-01 1.48924871e+02] [ 7.29926880e-01 4.00388698e-01 -5.53981624e-01 7.07848708e+01] [ 6.04549522e-01 1.70908622e-05 7.96567558e-01 5.96563326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88038572300002 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:148.93, Y:70.82, Z:59.66 [[ 3.20975923e-01 -9.22949584e-01 -2.12458283e-01 1.48926860e+02] [ 7.30161474e-01 3.84023411e-01 -5.65146212e-01 7.08211991e+01] [ 6.03190416e-01 2.62694742e-02 7.97164498e-01 5.96622424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91038572300002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:148.94, Y:70.83, Z:59.69 [[ 3.19677054e-01 -9.15340653e-01 -2.44863370e-01 1.48942270e+02] [ 7.29548423e-01 4.02675824e-01 -5.52821200e-01 7.08254725e+01] [ 6.04620277e-01 -1.91543324e-03 7.96511551e-01 5.96899973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.940385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:148.94, Y:70.86, Z:59.70 [[ 3.20696547e-01 -9.21879871e-01 -2.17465464e-01 1.48938876e+02] [ 7.30104649e-01 3.86858097e-01 -5.63283245e-01 7.08576679e+01] [ 6.03407761e-01 2.18704455e-02 7.97132835e-01 5.96950329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.970385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:148.95, Y:70.88, Z:59.71 [[ 3.21086649e-01 -9.21099420e-01 -2.20179979e-01 1.48947418e+02] [ 7.30186384e-01 3.88832805e-01 -5.61815712e-01 7.08761952e+01] [ 6.03101325e-01 1.96191020e-02 7.97423277e-01 5.97118435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:70.89, Z:59.73 [[ 3.21347915e-01 -9.19246422e-01 -2.27423686e-01 1.48959771e+02] [ 7.28216983e-01 3.93407250e-01 -5.61186922e-01 7.08938776e+01] [ 6.05339198e-01 1.47224570e-02 7.95831455e-01 5.97334227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.030385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:148.95, Y:70.93, Z:59.73 [[ 3.19942341e-01 -9.28465202e-01 -1.88651178e-01 1.48951990e+02] [ 7.33938829e-01 3.68800811e-01 -5.70368089e-01 7.09348719e+01] [ 5.99141630e-01 4.40264770e-02 7.99431658e-01 5.97256071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:70.93, Z:59.77 [[ 3.20138392e-01 -9.15182715e-01 -2.44850992e-01 1.48982768e+02] [ 7.27848631e-01 4.03038750e-01 -5.54793778e-01 7.09273949e+01] [ 6.06422114e-01 -6.03671919e-04 7.95142664e-01 5.97723624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.090385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:148.98, Y:70.96, Z:59.78 [[ 3.20244958e-01 -9.22200293e-01 -2.16771277e-01 1.48979987e+02] [ 7.28721447e-01 3.86017268e-01 -5.65646288e-01 7.09594633e+01] [ 6.05316628e-01 2.31794933e-02 7.95647215e-01 5.97766666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:70.98, Z:59.79 [[ 3.19346096e-01 -9.21699119e-01 -2.20201740e-01 1.48988937e+02] [ 7.28895628e-01 3.87402037e-01 -5.64473937e-01 7.09766221e+01] [ 6.05581733e-01 1.97584627e-02 7.95537786e-01 5.97940459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:71.00, Z:59.81 [[ 3.18599642e-01 -9.22017708e-01 -2.19949117e-01 1.48996800e+02] [ 7.29292255e-01 3.86659678e-01 -5.64470638e-01 7.09966307e+01] [ 6.05497378e-01 1.94329562e-02 7.95610008e-01 5.98102253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:71.02, Z:59.82 [[ 3.17381627e-01 -9.25321034e-01 -2.07484667e-01 1.49001775e+02] [ 7.32668600e-01 3.78181015e-01 -5.65840828e-01 7.10242818e+01] [ 6.02051182e-01 2.75699821e-02 7.97981372e-01 5.98209394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:149.01, Y:71.04, Z:59.84 [[ 3.15965579e-01 -9.25349225e-01 -2.09510296e-01 1.49011226e+02] [ 7.34981498e-01 3.78367397e-01 -5.62708015e-01 7.10438620e+01] [ 5.99973291e-01 2.38101724e-02 7.99665634e-01 5.98378182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:149.02, Y:71.07, Z:59.85 [[ 3.15553463e-01 -9.28037316e-01 -1.97921077e-01 1.49016290e+02] [ 7.37744727e-01 3.71116035e-01 -5.63919859e-01 7.10714331e+01] [ 5.96790357e-01 3.19316334e-02 8.01761586e-01 5.98465420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:71.09, Z:59.86 [[ 3.12607463e-01 -9.28966722e-01 -1.98235729e-01 1.49022629e+02] [ 7.39469065e-01 3.68991797e-01 -5.63054665e-01 7.10921952e+01] [ 5.96206404e-01 2.94259009e-02 8.02291743e-01 5.98607143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:71.11, Z:59.89 [[ 3.13241528e-01 -9.25775025e-01 -2.11708168e-01 1.49036871e+02] [ 7.36425372e-01 3.77548849e-01 -5.61368451e-01 7.11067459e+01] [ 5.99631066e-01 1.99366449e-02 8.00028196e-01 5.98866412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:71.13, Z:59.90 [[ 3.13155058e-01 -9.27161798e-01 -2.05681574e-01 1.49041918e+02] [ 7.35925190e-01 3.73797988e-01 -5.64525624e-01 7.11313043e+01] [ 6.00289951e-01 2.54178027e-02 7.99378453e-01 5.99003340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:71.13, Z:59.95 [[ 3.13919260e-01 -9.15464814e-01 -2.51751609e-01 1.49067520e+02] [ 7.26908301e-01 4.02312663e-01 -5.56550846e-01 7.11272172e+01] [ 6.10785577e-01 -8.28830420e-03 7.91752666e-01 5.99469637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:71.16, Z:59.95 [[ 3.15845955e-01 -9.21163022e-01 -2.27376382e-01 1.49066169e+02] [ 7.27158542e-01 3.88948944e-01 -5.65649338e-01 7.11582248e+01] [ 6.09493057e-01 1.33193774e-02 7.92679511e-01 5.99537514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:71.18, Z:59.97 [[ 3.15687453e-01 -9.22633922e-01 -2.21558296e-01 1.49071750e+02] [ 7.27608433e-01 3.85257790e-01 -5.67593520e-01 7.11813443e+01] [ 6.09038095e-01 1.79744677e-02 7.92937272e-01 5.99683267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:71.20, Z:59.98 [[ 3.14959239e-01 -9.22986622e-01 -2.21125242e-01 1.49079238e+02] [ 7.28422869e-01 3.84431949e-01 -5.67108631e-01 7.12008766e+01] [ 6.08441288e-01 1.75434201e-02 7.93404958e-01 5.99838738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:71.22, Z:60.00 [[ 3.14445598e-01 -9.23195819e-01 -2.20982908e-01 1.49087272e+02] [ 7.28458616e-01 3.83934034e-01 -5.67399949e-01 7.12207770e+01] [ 6.08664120e-01 1.74395129e-02 7.93236316e-01 5.99999378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.510385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:149.10, Y:71.24, Z:60.02 [[ 3.14003828e-01 -9.23334385e-01 -2.21032146e-01 1.49095302e+02] [ 7.28051973e-01 3.83598933e-01 -5.68148029e-01 7.12415734e+01] [ 6.09378307e-01 1.74777658e-02 7.92686954e-01 6.00163575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.540385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:149.10, Y:71.26, Z:60.03 [[ 3.13948341e-01 -9.23355948e-01 -2.21020886e-01 1.49102530e+02] [ 7.27626053e-01 3.83535297e-01 -5.68736321e-01 7.12615656e+01] [ 6.09915376e-01 1.77332692e-02 7.92268114e-01 6.00317029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:149.11, Y:71.28, Z:60.05 [[ 3.14551571e-01 -9.23126933e-01 -2.21119820e-01 1.49109731e+02] [ 7.26647933e-01 3.84049797e-01 -5.69638952e-01 7.12826808e+01] [ 6.10770080e-01 1.85045675e-02 7.91591745e-01 6.00470666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60038572300002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:149.12, Y:71.30, Z:60.06 [[ 3.14712991e-01 -9.23083563e-01 -2.21071186e-01 1.49116995e+02] [ 7.26190477e-01 3.84134852e-01 -5.70164719e-01 7.13023133e+01] [ 6.11230828e-01 1.88984537e-02 7.91226721e-01 6.00622908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:149.12, Y:71.32, Z:60.08 [[ 3.15522846e-01 -9.22869621e-01 -2.20809865e-01 1.49124685e+02] [ 7.25929030e-01 3.84612882e-01 -5.70175389e-01 7.13230135e+01] [ 6.11123864e-01 1.96110697e-02 7.91292000e-01 6.00788773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66038572300002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:149.13, Y:71.34, Z:60.09 [[ 3.15630323e-01 -9.22968996e-01 -2.20240168e-01 1.49131804e+02] [ 7.26708418e-01 3.84372261e-01 -5.69344220e-01 7.13427081e+01] [ 6.10141274e-01 1.96519160e-02 7.92048880e-01 6.00940840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.690385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:149.14, Y:71.36, Z:60.11 [[ 3.15901819e-01 -9.23098838e-01 -2.19304754e-01 1.49138675e+02] [ 7.28240296e-01 3.84063134e-01 -5.67592794e-01 7.13629291e+01] [ 6.08171120e-01 1.95970372e-02 7.93564014e-01 6.01109594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.720385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:149.14, Y:71.38, Z:60.12 [[ 3.11917781e-01 -9.24085400e-01 -2.20847166e-01 1.49140934e+02] [ 7.31450443e-01 3.81904454e-01 -5.64915248e-01 7.13816350e+01] [ 6.06372450e-01 1.46683533e-02 7.95045465e-01 6.01228313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:71.41, Z:60.14 [[ 3.16373512e-01 -9.26447590e-01 -2.03967310e-01 1.49148192e+02] [ 7.30246883e-01 3.75086178e-01 -5.71007748e-01 7.14095432e+01] [ 6.05514071e-01 3.17052345e-02 7.95202797e-01 6.01394543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.780385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:149.15, Y:71.44, Z:60.15 [[ 3.14143662e-01 -9.27894207e-01 -2.00813594e-01 1.49149245e+02] [ 7.35350311e-01 3.71605239e-01 -5.66718154e-01 7.14350136e+01] [ 6.00477876e-01 3.03625779e-02 7.99064725e-01 6.01450492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:149.16, Y:71.45, Z:60.17 [[ 3.12945373e-01 -9.25445470e-01 -2.13578735e-01 1.49158433e+02] [ 7.34287098e-01 3.78376088e-01 -5.63608015e-01 7.14497634e+01] [ 6.02401570e-01 1.95504113e-02 7.97953714e-01 6.01666644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.840385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:149.17, Y:71.47, Z:60.19 [[ 3.18766247e-01 -9.24150826e-01 -2.10554817e-01 1.49171379e+02] [ 7.27594035e-01 3.80951152e-01 -5.70511297e-01 7.14720972e+01] [ 6.07449586e-01 2.86613157e-02 7.93840998e-01 6.01913030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.870385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:149.18, Y:71.49, Z:60.21 [[ 3.18876594e-01 -9.22227264e-01 -2.18665480e-01 1.49180735e+02] [ 7.26999698e-01 3.86015742e-01 -5.67858508e-01 7.14893883e+01] [ 6.08102916e-01 2.21070488e-02 7.93550327e-01 6.02093607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.900385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:149.18, Y:71.51, Z:60.22 [[ 3.15227058e-01 -9.22075248e-01 -2.24519796e-01 1.49182661e+02] [ 7.29007507e-01 3.86744231e-01 -5.64780448e-01 7.15070864e+01] [ 6.07601808e-01 1.43574621e-02 7.94112024e-01 6.02220906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.930385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:149.17, Y:71.55, Z:60.22 [[ 3.15527367e-01 -9.30638905e-01 -1.85347535e-01 1.49174700e+02] [ 7.31428293e-01 3.62961586e-01 -5.77296752e-01 7.15494083e+01] [ 6.04528852e-01 4.65844930e-02 7.95219939e-01 6.02203145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.960385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:149.20, Y:71.55, Z:60.26 [[ 3.19574140e-01 -9.22287123e-01 -2.17390966e-01 1.49200350e+02] [ 7.25607071e-01 3.85736954e-01 -5.69825747e-01 7.15538352e+01] [ 6.09398677e-01 2.43611510e-02 7.92489613e-01 6.02582300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:71.56, Z:60.29 [[ 3.15622574e-01 -9.17129558e-01 -2.43425072e-01 1.49212183e+02] [ 7.23617793e-01 3.98585607e-01 -5.63477421e-01 7.15608641e+01] [ 6.13807528e-01 1.69948072e-03 7.89453881e-01 6.02875312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.020385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:149.19, Y:71.61, Z:60.27 [[ 3.12534814e-01 -9.32341345e-01 -1.81828510e-01 1.49194625e+02] [ 7.31427281e-01 3.58334451e-01 -5.80181484e-01 7.16122179e+01] [ 6.06082604e-01 4.83325793e-02 7.93931886e-01 6.02723547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.050385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:149.22, Y:71.62, Z:60.31 [[ 3.14702108e-01 -9.24895737e-01 -2.13378674e-01 1.49220174e+02] [ 7.27839275e-01 3.79433536e-01 -5.71209403e-01 7.16182761e+01] [ 6.09272166e-01 2.44554236e-02 7.92583976e-01 6.03081963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.080385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:149.23, Y:71.63, Z:60.33 [[ 3.09358215e-01 -9.23347714e-01 -2.27434592e-01 1.49226008e+02] [ 7.29036234e-01 3.83847043e-01 -5.66716523e-01 7.16329460e+01] [ 6.10576502e-01 9.51035375e-03 7.91900176e-01 6.03277084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.110385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:149.22, Y:71.67, Z:60.33 [[ 3.08664876e-01 -9.29391934e-01 -2.02377439e-01 1.49222721e+02] [ 7.32565550e-01 3.67992168e-01 -5.72651272e-01 7.16655684e+01] [ 6.06690785e-01 2.85025940e-02 7.94426770e-01 6.03309388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.140385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:149.23, Y:71.69, Z:60.35 [[ 3.07477624e-01 -9.31059257e-01 -1.96433630e-01 1.49226783e+02] [ 7.34173770e-01 3.63451532e-01 -5.73490941e-01 7.16899967e+01] [ 6.05348153e-01 3.21192132e-02 7.95312498e-01 6.03451028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.170385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:149.24, Y:71.71, Z:60.37 [[ 3.07012662e-01 -9.29009114e-01 -2.06604189e-01 1.49237550e+02] [ 7.34292232e-01 3.69331577e-01 -5.69569227e-01 7.17068186e+01] [ 6.05440454e-01 2.31571132e-02 7.95553647e-01 6.03664885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.200385723 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:149.24, Y:71.73, Z:60.38 [[ 3.04739945e-01 -9.32491681e-01 -1.93888708e-01 1.49239853e+02] [ 7.33564846e-01 3.59634204e-01 -5.76667890e-01 7.17346624e+01] [ 6.07467022e-01 3.35038008e-02 7.93638024e-01 6.03797454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.230385723 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:149.26, Y:71.74, Z:60.41 [[ 3.06215195e-01 -9.26016763e-01 -2.20737872e-01 1.49259934e+02] [ 7.30828757e-01 3.77263227e-01 -5.68824916e-01 7.17415205e+01] [ 6.10017690e-01 1.28612478e-02 7.92283413e-01 6.04125842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.260385723 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:149.26, Y:71.77, Z:60.42 [[ 3.02564000e-01 -9.29997231e-01 -2.08710746e-01 1.49257586e+02] [ 7.34272982e-01 3.67047087e-01 -5.71068844e-01 7.17709662e+01] [ 6.07699115e-01 1.95342114e-02 7.93927075e-01 6.04196652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.290385723 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:149.26, Y:71.79, Z:60.43 [[ 3.02499779e-01 -9.30981080e-01 -2.04372486e-01 1.49261557e+02] [ 7.33790640e-01 3.64310425e-01 -5.73436319e-01 7.17928459e+01] [ 6.08313390e-01 2.34977430e-02 7.93349025e-01 6.04330745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32038572300002 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:149.27, Y:71.81, Z:60.45 [[ 3.01571266e-01 -9.30933453e-01 -2.05955525e-01 1.49268885e+02] [ 7.33456312e-01 3.64528015e-01 -5.73725688e-01 7.18149376e+01] [ 6.09176994e-01 2.19598024e-02 7.92730192e-01 6.04519159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35038572300002 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:149.28, Y:71.83, Z:60.47 [[ 3.03081769e-01 -9.28945702e-01 -2.12606031e-01 1.49279219e+02] [ 7.32421711e-01 3.69800001e-01 -5.71669832e-01 7.18325232e+01] [ 6.09671943e-01 1.75454310e-02 7.92459639e-01 6.04721085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38038572300002 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:149.28, Y:71.86, Z:60.48 [[ 3.00975907e-01 -9.32811285e-01 -1.98183272e-01 1.49280571e+02] [ 7.33514041e-01 3.59253581e-01 -5.76969685e-01 7.18622765e+01] [ 6.09401883e-01 2.82837615e-02 7.92356847e-01 6.04843646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41038572300002 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:149.29, Y:71.88, Z:60.50 [[ 3.01173567e-01 -9.29937529e-01 -2.10975533e-01 1.49291225e+02] [ 7.34451829e-01 3.67328261e-01 -5.70657919e-01 7.18760834e+01] [ 6.08173490e-01 1.69157153e-02 7.93623881e-01 6.05032721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.440385723 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:149.29, Y:71.90, Z:60.52 [[ 2.98440451e-01 -9.33798361e-01 -1.97367469e-01 1.49294821e+02] [ 7.36336673e-01 3.56836531e-01 -5.74870415e-01 7.19046191e+01] [ 6.07240974e-01 2.62356801e-02 7.94084434e-01 6.05159611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.470385723 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:149.31, Y:71.91, Z:60.54 [[ 3.00079557e-01 -9.29064111e-01 -2.16314902e-01 1.49308413e+02] [ 7.35593104e-01 3.69748840e-01 -5.67616579e-01 7.19133091e+01] [ 6.07334377e-01 1.12103813e-02 7.94367221e-01 6.05402673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.500385723 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:149.31, Y:71.94, Z:60.55 [[ 2.97936555e-01 -9.32483385e-01 -2.04226704e-01 1.49310541e+02] [ 7.36429449e-01 3.60651521e-01 -5.72365396e-01 7.19393683e+01] [ 6.07375893e-01 2.01300152e-02 7.94159497e-01 6.05535645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.530385723 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:149.32, Y:71.96, Z:60.57 [[ 2.97817173e-01 -9.32053929e-01 -2.06350198e-01 1.49319464e+02] [ 7.36298317e-01 3.61854652e-01 -5.71774431e-01 7.19598011e+01] [ 6.07593384e-01 1.83489411e-02 7.94036269e-01 6.05715613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.560385723 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:149.32, Y:71.98, Z:60.58 [[ 2.96811582e-01 -9.33566616e-01 -2.00888672e-01 1.49324770e+02] [ 7.37326190e-01 3.57730189e-01 -5.73043804e-01 7.19828809e+01] [ 6.06838508e-01 2.19655585e-02 7.94521579e-01 6.05834073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.590385723 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:149.33, Y:72.00, Z:60.60 [[ 2.95607488e-01 -9.33513402e-01 -2.02901310e-01 1.49333072e+02] [ 7.38654355e-01 3.58040942e-01 -5.71136085e-01 7.20027237e+01] [ 6.05810166e-01 1.89581671e-02 7.95383323e-01 6.05995987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.620385723 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:149.34, Y:72.03, Z:60.61 [[ 2.94254046e-01 -9.35050901e-01 -1.97722958e-01 1.49337744e+02] [ 7.38726686e-01 3.53782935e-01 -5.73690263e-01 7.20266558e+01] [ 6.06380606e-01 2.27474553e-02 7.94849114e-01 6.06127920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.650385723 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:149.35, Y:72.05, Z:60.63 [[ 2.93261222e-01 -9.34661679e-01 -2.01010950e-01 1.49347242e+02] [ 7.38803097e-01 3.55004150e-01 -5.72836834e-01 7.20467390e+01] [ 6.06768358e-01 1.94833178e-02 7.94639893e-01 6.06310407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.680385723 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:149.36, Y:72.07, Z:60.65 [[ 2.92537548e-01 -9.33666008e-01 -2.06614540e-01 1.49356948e+02] [ 7.38402263e-01 3.57845359e-01 -5.71584462e-01 7.20657338e+01] [ 6.07605037e-01 1.46452729e-02 7.94104297e-01 6.06497030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.710385723 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:149.37, Y:72.09, Z:60.67 [[ 2.90888763e-01 -9.33946101e-01 -2.07673804e-01 1.49365394e+02] [ 7.37304952e-01 3.57151755e-01 -5.73431802e-01 7.20856267e+01] [ 6.09725459e-01 1.36859430e-02 7.92494517e-01 6.06673255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.740385723 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:149.38, Y:72.11, Z:60.69 [[ 2.87915926e-01 -9.34047598e-01 -2.11327955e-01 1.49375982e+02] [ 7.36598445e-01 3.57016207e-01 -5.74423327e-01 7.21056723e+01] [ 6.11986233e-01 9.72178101e-03 7.90808660e-01 6.06895475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.770385723 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:149.38, Y:72.13, Z:60.70 [[ 2.84494192e-01 -9.37850637e-01 -1.98744148e-01 1.49379006e+02] [ 7.40209788e-01 3.46632497e-01 -5.76138336e-01 7.21314417e+01] [ 6.09222886e-01 1.67956471e-02 7.92821153e-01 6.06973584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.800385723 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:149.39, Y:72.15, Z:60.71 [[ 2.81922765e-01 -9.39048841e-01 -1.96740511e-01 1.49386369e+02] [ 7.43361389e-01 3.43430876e-01 -5.73993971e-01 7.21535487e+01] [ 6.06575139e-01 1.55726680e-02 7.94873633e-01 6.07099501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.830385723 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:149.41, Y:72.14, Z:60.76 [[ 2.82347356e-01 -9.26549776e-01 -2.48566860e-01 1.49414937e+02] [ 7.36995105e-01 3.75374078e-01 -5.62078746e-01 7.21438493e+01] [ 6.14099492e-01 -2.44911110e-02 7.88848528e-01 6.07596297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.860385723 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:149.40, Y:72.19, Z:60.75 [[ 2.83645135e-01 -9.39667559e-01 -1.91233666e-01 1.49400442e+02] [ 7.39722626e-01 3.41312645e-01 -5.79927680e-01 7.21884595e+01] [ 6.10209696e-01 2.30337952e-02 7.91905026e-01 6.07465582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.890385723 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:149.42, Y:72.21, Z:60.77 [[ 2.80649807e-01 -9.37692245e-01 -2.04863219e-01 1.49415456e+02] [ 7.43066762e-01 3.47367632e-01 -5.72003074e-01 7.22054547e+01] [ 6.07525698e-01 8.30550368e-03 7.94256599e-01 6.07708641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.920385723 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:149.42, Y:72.23, Z:60.79 [[ 2.81831322e-01 -9.37110143e-01 -2.05902126e-01 1.49424329e+02] [ 7.43993156e-01 3.48955205e-01 -5.69828438e-01 7.22262925e+01] [ 6.05842628e-01 7.40572940e-03 7.95550040e-01 6.07889818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.950385723 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:149.43, Y:72.25, Z:60.80 [[ 2.82192418e-01 -9.36487406e-01 -2.08227704e-01 1.49432823e+02] [ 7.45001534e-01 3.50665537e-01 -5.67456074e-01 7.22464097e+01] [ 6.04433746e-01 5.00184303e-03 7.96639710e-01 6.08048614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.980385723 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:149.44, Y:72.27, Z:60.82 [[ 2.84050284e-01 -9.36577910e-01 -2.05273610e-01 1.49437831e+02] [ 7.43718777e-01 3.50342468e-01 -5.69335171e-01 7.22656669e+01] [ 6.05142807e-01 9.05397883e-03 7.96065455e-01 6.08166078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.010385723 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:149.45, Y:72.29, Z:60.84 [[ 2.85590078e-01 -9.35059196e-01 -2.10006206e-01 1.49448210e+02] [ 7.42615094e-01 3.54435079e-01 -5.68241672e-01 7.22870619e+01] [ 6.05773167e-01 6.33040548e-03 7.95612215e-01 6.08387330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.040385723 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:149.45, Y:72.31, Z:60.85 [[ 2.89661284e-01 -9.34580076e-01 -2.06534312e-01 1.49452797e+02] [ 7.39129552e-01 3.55513053e-01 -5.72099620e-01 7.23056131e+01] [ 6.08098550e-01 1.30594971e-02 7.93754120e-01 6.08508356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07038572300002 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:149.46, Y:72.33, Z:60.87 [[ 2.90719003e-01 -9.34873795e-01 -2.03699409e-01 1.49460896e+02] [ 7.39335250e-01 3.54628447e-01 -5.72382785e-01 7.23284610e+01] [ 6.07343271e-01 1.58003995e-02 7.94282380e-01 6.08676825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10038572300002 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:149.48, Y:72.33, Z:60.89 [[ 2.94395602e-01 -9.29233039e-01 -2.23287234e-01 1.49475317e+02] [ 7.34163361e-01 3.69474952e-01 -5.69642362e-01 7.23338775e+01] [ 6.11829543e-01 3.77090038e-03 7.90980651e-01 6.08946094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13038572300002 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:149.48, Y:72.36, Z:60.91 [[ 2.94761474e-01 -9.29950647e-01 -2.19789597e-01 1.49482213e+02] [ 7.36053108e-01 3.67639205e-01 -5.68390040e-01 7.23569668e+01] [ 6.09377958e-01 5.76266975e-03 7.92858938e-01 6.09099922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16038572300002 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:149.47, Y:72.40, Z:60.89 [[ 2.95755750e-01 -9.39770503e-01 -1.71347419e-01 1.49469416e+02] [ 7.41487159e-01 3.38934807e-01 -5.79068209e-01 7.24011988e+01] [ 6.02266826e-01 4.42108414e-02 7.97069678e-01 6.08927409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.190385723 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:149.51, Y:72.39, Z:60.95 [[ 2.96875445e-01 -9.25065827e-01 -2.36892773e-01 1.49505635e+02] [ 7.35279895e-01 3.79732410e-01 -5.61397161e-01 7.23894750e+01] [ 6.09285193e-01 -7.51746153e-03 7.92915532e-01 6.09485298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.220385723 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:149.49, Y:72.45, Z:60.92 [[ 2.96568856e-01 -9.41120405e-01 -1.62293858e-01 1.49485759e+02] [ 7.44118270e-01 3.34236621e-01 -5.78423617e-01 7.24485134e+01] [ 5.98610820e-01 5.07766051e-02 7.99429060e-01 6.09234030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.250385723 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:149.53, Y:72.43, Z:60.98 [[ 2.98319524e-01 -9.22365741e-01 -2.45452440e-01 1.49528203e+02] [ 7.36155759e-01 3.86032364e-01 -5.55925995e-01 7.24266082e+01] [ 6.07519679e-01 -1.48476488e-02 7.94165844e-01 6.09845705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.280385723 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:149.51, Y:72.49, Z:60.96 [[ 2.96066362e-01 -9.40673227e-01 -1.65766672e-01 1.49506705e+02] [ 7.46459068e-01 3.36141570e-01 -5.74288869e-01 7.24874040e+01] [ 5.95939233e-01 4.62895806e-02 8.01694272e-01 6.09610411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.310385723 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:149.54, Y:72.47, Z:61.01 [[ 2.97733307e-01 -9.25507325e-01 -2.34074924e-01 1.49543471e+02] [ 7.38656561e-01 3.78667510e-01 -5.57671411e-01 7.24701710e+01] [ 6.04765544e-01 -6.86362425e-03 7.96373987e-01 6.10102011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.340385723 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:149.54, Y:72.50, Z:61.02 [[ 2.96518590e-01 -9.32861509e-01 -2.04563270e-01 1.49541585e+02] [ 7.38745121e-01 3.59791656e-01 -5.69917197e-01 7.25023460e+01] [ 6.05253974e-01 1.78709262e-02 7.95831802e-01 6.10177465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.370385723 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:149.55, Y:72.52, Z:61.04 [[ 2.97271519e-01 -9.31511069e-01 -2.09563290e-01 1.49553295e+02] [ 7.38363627e-01 3.63437833e-01 -5.68095147e-01 7.25184259e+01] [ 6.05350145e-01 1.41445965e-02 7.95833608e-01 6.10358059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.400385723 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:149.55, Y:72.56, Z:61.03 [[ 2.97619623e-01 -9.37222980e-01 -1.81757104e-01 1.49551190e+02] [ 7.45589964e-01 3.47089438e-01 -5.68880064e-01 7.25553025e+01] [ 5.96253440e-01 3.37935976e-02 8.02084676e-01 6.10291866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.430385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:149.58, Y:72.55, Z:61.08 [[ 2.97891844e-01 -9.25497422e-01 -2.33912317e-01 1.49579930e+02] [ 7.38983294e-01 3.78691680e-01 -5.57221951e-01 7.25471034e+01] [ 6.04288127e-01 -6.86541943e-03 7.96736296e-01 6.10768468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.460385723 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:149.57, Y:72.60, Z:61.06 [[ 2.96844145e-01 -9.40234913e-01 -1.66858811e-01 1.49565145e+02] [ 7.45458491e-01 3.37369724e-01 -5.74868079e-01 7.26022406e+01] [ 5.96804149e-01 4.62599055e-02 8.01052326e-01 6.10589165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.490385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:149.60, Y:72.58, Z:61.11 [[ 2.95715595e-01 -9.25019844e-01 -2.38517453e-01 1.49601204e+02] [ 7.39701818e-01 3.79724681e-01 -5.55563126e-01 7.25828624e+01] [ 6.04477880e-01 -1.21431136e-02 7.96529370e-01 6.11103776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.520385723 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:149.60, Y:72.61, Z:61.12 [[ 2.93968425e-01 -9.32321800e-01 -2.10614876e-01 1.49601207e+02] [ 7.41995456e-01 3.61499720e-01 -5.64588961e-01 7.26146776e+01] [ 6.02515815e-01 9.69604665e-03 7.98048043e-01 6.11174152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.550385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:149.61, Y:72.63, Z:61.13 [[ 2.90615592e-01 -9.34258892e-01 -2.06646804e-01 1.49611093e+02] [ 7.44143611e-01 3.56443304e-01 -5.64976510e-01 7.26345726e+01] [ 6.01492197e-01 1.04160841e-02 7.98810767e-01 6.11318570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.580385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:149.62, Y:72.65, Z:61.15 [[ 2.89256457e-01 -9.34772536e-01 -2.06230473e-01 1.49619846e+02] [ 7.45108435e-01 3.55116197e-01 -5.64540438e-01 7.26545402e+01] [ 6.00952678e-01 9.63290188e-03 7.99226555e-01 6.11478027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.610385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:149.63, Y:72.67, Z:61.16 [[ 2.86929215e-01 -9.35551509e-01 -2.05949023e-01 1.49630254e+02] [ 7.46153982e-01 3.53093181e-01 -5.64428419e-01 7.26740798e+01] [ 6.00771055e-01 8.28131959e-03 7.99378233e-01 6.11632569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.640385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:149.63, Y:72.70, Z:61.17 [[ 2.85737632e-01 -9.38535367e-01 -1.93663034e-01 1.49633757e+02] [ 7.43825306e-01 3.44627138e-01 -5.72674472e-01 7.26981912e+01] [ 6.04216783e-01 1.95831818e-02 7.96579298e-01 6.11727616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.670385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:149.65, Y:72.71, Z:61.20 [[ 2.83689354e-01 -9.34292953e-01 -2.15909767e-01 1.49651685e+02] [ 7.45492790e-01 3.56504197e-01 -5.63156512e-01 7.27101660e+01] [ 6.03125899e-01 -1.19766708e-03 7.97645106e-01 6.11969105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.700385723 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:149.66, Y:72.73, Z:61.21 [[ 2.82657688e-01 -9.36719127e-01 -2.06547592e-01 1.49657926e+02] [ 7.44611832e-01 3.50014674e-01 -5.68368672e-01 7.27349765e+01] [ 6.04696495e-01 6.85599415e-03 7.96426484e-01 6.12079466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.730385723 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:149.66, Y:72.76, Z:61.22 [[ 2.82231011e-01 -9.38080337e-01 -2.00875427e-01 1.49664017e+02] [ 7.43273287e-01 3.46200928e-01 -5.72441908e-01 7.27572701e+01] [ 6.06539758e-01 1.22555193e-02 7.94958694e-01 6.12209586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.760385723 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:149.68, Y:72.77, Z:61.24 [[ 2.81173700e-01 -9.36167874e-01 -2.11023845e-01 1.49675810e+02] [ 7.44556845e-01 3.51544779e-01 -5.67495703e-01 7.27729611e+01] [ 6.05455577e-01 2.44561839e-03 7.95875344e-01 6.12406871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.790385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:149.68, Y:72.79, Z:61.25 [[ 2.81006538e-01 -9.37295351e-01 -2.06186204e-01 1.49683057e+02] [ 7.45627509e-01 3.48486736e-01 -5.67975890e-01 7.27939017e+01] [ 6.04214319e-01 5.86683295e-03 7.96800249e-01 6.12531829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82038572300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:149.69, Y:72.82, Z:61.27 [[ 2.79810569e-01 -9.38739873e-01 -2.01180257e-01 1.49688954e+02] [ 7.45993168e-01 3.44498534e-01 -5.69925393e-01 7.28165670e+01] [ 6.04317995e-01 9.39205090e-03 7.96687863e-01 6.12687025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85038572300002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:149.70, Y:72.83, Z:61.29 [[ 2.79851722e-01 -9.37045368e-01 -2.08875541e-01 1.49700226e+02] [ 7.47098039e-01 3.49200499e-01 -5.65600152e-01 7.28339343e+01] [ 6.02932446e-01 2.23366964e-03 7.97789118e-01 6.12853720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88038572300002 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:149.70, Y:72.86, Z:61.30 [[ 2.78920545e-01 -9.40345275e-01 -1.94818104e-01 1.49702787e+02] [ 7.45329500e-01 3.39900920e-01 -5.73542763e-01 7.28612785e+01] [ 6.05547080e-01 1.47691804e-02 7.95672423e-01 6.12952288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91038572300002 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:149.72, Y:72.87, Z:61.32 [[ 2.80492886e-01 -9.35894485e-01 -2.13132009e-01 1.49717623e+02] [ 7.45426012e-01 3.52280416e-01 -5.65896254e-01 7.28711544e+01] [ 6.04701416e-01 -1.44269710e-04 7.96452244e-01 6.13192623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.940385723 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:149.72, Y:72.90, Z:61.33 [[ 2.80273867e-01 -9.37897511e-01 -2.04437812e-01 1.49722233e+02] [ 7.44746709e-01 3.46830490e-01 -5.70141168e-01 7.28963352e+01] [ 6.05639248e-01 7.54128205e-03 7.95703607e-01 6.13287659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.970385723 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:149.73, Y:72.92, Z:61.34 [[ 2.82006949e-01 -9.37524759e-01 -2.03763115e-01 1.49729355e+02] [ 7.43822424e-01 3.47791684e-01 -5.70761899e-01 7.29150364e+01] [ 6.05970529e-01 9.39524788e-03 7.95431611e-01 6.13434325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.000385723 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:149.74, Y:72.93, Z:61.36 [[ 2.82334265e-01 -9.36800699e-01 -2.06619971e-01 1.49737974e+02] [ 7.44623713e-01 3.49800292e-01 -5.68485076e-01 7.29338451e+01] [ 6.04832943e-01 6.64868554e-03 7.96324624e-01 6.13606426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.030385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:149.74, Y:72.96, Z:61.37 [[ 2.81077486e-01 -9.39608891e-01 -1.95270528e-01 1.49740807e+02] [ 7.43865543e-01 3.41868360e-01 -5.74273523e-01 7.29592221e+01] [ 6.06349323e-01 1.61603409e-02 7.95034176e-01 6.13732037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.060385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:149.75, Y:72.98, Z:61.39 [[ 2.79506132e-01 -9.38398389e-01 -2.03186577e-01 1.49750809e+02] [ 7.44701837e-01 3.45455746e-01 -5.71033713e-01 7.29768736e+01] [ 6.06049087e-01 8.29400722e-03 7.95384004e-01 6.13929589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.090385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:149.76, Y:73.00, Z:61.41 [[ 2.77619116e-01 -9.38800284e-01 -2.03915800e-01 1.49758198e+02] [ 7.46505993e-01 3.44412672e-01 -5.69305467e-01 7.29965512e+01] [ 6.04695319e-01 5.82571378e-03 7.96435579e-01 6.14093967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.120385723 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:149.77, Y:73.01, Z:61.42 [[ 2.80147566e-01 -9.36077609e-01 -2.12781698e-01 1.49768389e+02] [ 7.47627842e-01 3.51791243e-01 -5.63289918e-01 7.30072678e+01] [ 6.02137818e-01 -1.27722224e-03 7.98391143e-01 6.14243691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.150385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:149.76, Y:73.04, Z:61.43 [[ 2.74640237e-01 -9.44004034e-01 -1.82836333e-01 1.49764092e+02] [ 7.48727285e-01 3.29257731e-01 -5.75323212e-01 7.30443315e+01] [ 6.03307709e-01 2.11123520e-02 7.97228999e-01 6.14324818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.180385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:149.78, Y:73.06, Z:61.45 [[ 2.73277517e-01 -9.41699966e-01 -1.96266587e-01 1.49775657e+02] [ 7.47769799e-01 3.36314441e-01 -5.72479629e-01 7.30590803e+01] [ 6.05111334e-01 9.68358522e-03 7.96081969e-01 6.14528455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.210385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:149.78, Y:73.07, Z:61.47 [[ 2.71286691e-01 -9.40003695e-01 -2.06873355e-01 1.49783000e+02] [ 7.51731419e-01 3.41155768e-01 -5.64369219e-01 7.30745671e+01] [ 6.01085190e-01 -2.40734306e-03 7.99181331e-01 6.14683733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.240385723 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:149.79, Y:73.10, Z:61.48 [[ 2.72419403e-01 -9.41914353e-01 -1.96430699e-01 1.49790457e+02] [ 7.49763229e-01 3.35756543e-01 -5.70195268e-01 7.31013973e+01] [ 6.03028000e-01 8.05573914e-03 7.97679344e-01 6.14840913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.270385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:149.80, Y:73.12, Z:61.50 [[ 2.72842743e-01 -9.40254437e-01 -2.03662544e-01 1.49798273e+02] [ 7.50395603e-01 3.40468087e-01 -5.66557959e-01 7.31172745e+01] [ 6.02049232e-01 1.75374997e-03 7.98457041e-01 6.15046650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.300385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:149.80, Y:73.14, Z:61.52 [[ 2.72918247e-01 -9.40279462e-01 -2.03445727e-01 1.49804473e+02] [ 7.50352662e-01 3.40397640e-01 -5.66657153e-01 7.31380974e+01] [ 6.02068528e-01 1.99503432e-03 7.98441925e-01 6.15206040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.330385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:149.81, Y:73.17, Z:61.53 [[ 2.71771768e-01 -9.43735937e-01 -1.88421303e-01 1.49805251e+02] [ 7.47547713e-01 3.30324566e-01 -5.76244824e-01 7.31673961e+01] [ 6.06063134e-01 1.57531606e-02 7.95260533e-01 6.15304286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.360385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:149.82, Y:73.17, Z:61.56 [[ 2.74147126e-01 -9.36039109e-01 -2.20622165e-01 1.49821986e+02] [ 7.48851765e-01 3.51716988e-01 -5.61708282e-01 7.31724625e+01] [ 6.03377483e-01 -1.12225862e-02 7.97376741e-01 6.15582567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.390385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:149.81, Y:73.21, Z:61.55 [[ 2.72290561e-01 -9.43555773e-01 -1.88574533e-01 1.49813177e+02] [ 7.52714975e-01 3.30957651e-01 -5.69110885e-01 7.32093999e+01] [ 5.99398045e-01 1.30206479e-02 8.00345204e-01 6.15538910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:149.83, Y:73.22, Z:61.58 [[ 2.75516627e-01 -9.38710035e-01 -2.07157087e-01 1.49828996e+02] [ 7.45925771e-01 3.44698803e-01 -5.69892515e-01 7.32207766e+01] [ 6.06370623e-01 2.49105330e-03 7.95178258e-01 6.15846387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.450385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:149.83, Y:73.24, Z:61.60 [[ 2.75278463e-01 -9.39386066e-01 -2.04390772e-01 1.49834636e+02] [ 7.45042159e-01 3.42821363e-01 -5.72176280e-01 7.32446549e+01] [ 6.07563947e-01 5.22806511e-03 7.94253560e-01 6.15976162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.480385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:149.84, Y:73.27, Z:61.61 [[ 2.75012402e-01 -9.39511136e-01 -2.04173954e-01 1.49841929e+02] [ 7.45140505e-01 3.42478295e-01 -5.72253655e-01 7.32657203e+01] [ 6.07563829e-01 5.23856917e-03 7.94253581e-01 6.16141861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:73.28, Z:61.63 [[ 2.76271974e-01 -9.39147708e-01 -2.04145486e-01 1.49847051e+02] [ 7.44253513e-01 3.43455467e-01 -5.72822006e-01 7.32846207e+01] [ 6.08079358e-01 6.31867129e-03 7.93851100e-01 6.16311436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.540385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:149.85, Y:73.31, Z:61.65 [[ 2.76325468e-01 -9.39202343e-01 -2.03821480e-01 1.49853414e+02] [ 7.44471951e-01 3.43302787e-01 -5.72629646e-01 7.33060043e+01] [ 6.07787587e-01 6.49277969e-03 7.94073103e-01 6.16471884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:149.86, Y:73.33, Z:61.66 [[ 2.76711789e-01 -9.39178822e-01 -2.03405324e-01 1.49859541e+02] [ 7.44823780e-01 3.43360864e-01 -5.72137094e-01 7.33263240e+01] [ 6.07180470e-01 6.81595645e-03 7.94534719e-01 6.16632128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:73.35, Z:61.67 [[ 2.73521770e-01 -9.43246839e-01 -1.88338107e-01 1.49856293e+02] [ 7.50524768e-01 3.31754669e-01 -5.71534261e-01 7.33547823e+01] [ 6.01579931e-01 1.49746485e-02 7.98672240e-01 6.16654364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63038572300002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:149.87, Y:73.37, Z:61.70 [[ 2.76927663e-01 -9.39194437e-01 -2.03039108e-01 1.49873880e+02] [ 7.45904337e-01 3.43322197e-01 -5.70750899e-01 7.33668919e+01] [ 6.05753902e-01 6.60896127e-03 7.95624617e-01 6.16974385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.88, Y:73.39, Z:61.72 [[ 2.78615258e-01 -9.38938454e-01 -2.01911162e-01 1.49879926e+02] [ 7.46210849e-01 3.43989122e-01 -5.69948114e-01 7.33871002e+01] [ 6.04601445e-01 8.12794116e-03 7.96486679e-01 6.17152410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.89, Y:73.41, Z:61.73 [[ 2.79620507e-01 -9.38708329e-01 -2.01591281e-01 1.49886587e+02] [ 7.46094445e-01 3.44597462e-01 -5.69732979e-01 7.34076916e+01] [ 6.04280937e-01 8.90288967e-03 7.96721587e-01 6.17317593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:73.43, Z:61.75 [[ 2.82305691e-01 -9.37985192e-01 -2.01214503e-01 1.49891897e+02] [ 7.45483478e-01 3.46509069e-01 -5.69373208e-01 7.34278588e+01] [ 6.03786288e-01 1.07352090e-02 7.97073945e-01 6.17476006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:73.45, Z:61.76 [[ 2.83419304e-01 -9.37713354e-01 -2.00915815e-01 1.49898266e+02] [ 7.45236010e-01 3.47215842e-01 -5.69266589e-01 7.34488949e+01] [ 6.03570036e-01 1.16114402e-02 7.97225430e-01 6.17638070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:73.47, Z:61.78 [[ 2.84541103e-01 -9.37400085e-01 -2.00792038e-01 1.49904798e+02] [ 7.44588073e-01 3.48027314e-01 -5.69618811e-01 7.34695828e+01] [ 6.03841835e-01 1.25726079e-02 7.97004999e-01 6.17800646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:73.51, Z:61.77 [[ 2.82762785e-01 -9.43659521e-01 -1.71906709e-01 1.49894234e+02] [ 7.50716029e-01 3.29279565e-01 -5.72713203e-01 7.35061135e+01] [ 5.97051633e-01 3.28888587e-02 8.01528335e-01 6.17710099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:73.51, Z:61.82 [[ 2.86594381e-01 -9.34171870e-01 -2.12571347e-01 1.49922508e+02] [ 7.42407908e-01 3.56792485e-01 -5.67035821e-01 7.35056191e+01] [ 6.05552772e-01 4.69463111e-03 7.95791305e-01 6.18168337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:73.53, Z:61.83 [[ 2.87491974e-01 -9.36393877e-01 -2.01283064e-01 1.49925789e+02] [ 7.41245584e-01 3.50614753e-01 -5.72384730e-01 7.35307841e+01] [ 6.06550369e-01 1.53558337e-02 7.94896753e-01 6.18294475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:73.55, Z:61.85 [[ 2.87378632e-01 -9.36459141e-01 -2.01141241e-01 1.49933309e+02] [ 7.41103832e-01 3.50433648e-01 -5.72679115e-01 7.35511611e+01] [ 6.06777251e-01 1.55091961e-02 7.94720600e-01 6.18459307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.930385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:149.94, Y:73.57, Z:61.86 [[ 2.86459989e-01 -9.36748999e-01 -2.01101934e-01 1.49941191e+02] [ 7.41007245e-01 3.49671630e-01 -5.73269583e-01 7.35715082e+01] [ 6.07329349e-01 1.52008086e-02 7.94304726e-01 6.18616907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:73.60, Z:61.86 [[ 2.82422600e-01 -9.41665309e-01 -1.83040764e-01 1.49936276e+02] [ 7.46991247e-01 3.35594183e-01 -5.73916912e-01 7.36015481e+01] [ 6.01865062e-01 2.53572583e-02 7.98195125e-01 6.18624287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.990385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:149.96, Y:73.61, Z:61.90 [[ 2.84686118e-01 -9.36741760e-01 -2.03638624e-01 1.49957429e+02] [ 7.42024639e-01 3.49825813e-01 -5.71857793e-01 7.36107379e+01] [ 6.06921123e-01 1.16950982e-02 7.94676019e-01 6.18961872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:73.63, Z:61.91 [[ 2.82486047e-01 -9.38113020e-01 -2.00363658e-01 1.49964471e+02] [ 7.43102539e-01 3.46089017e-01 -5.72731183e-01 7.36312292e+01] [ 6.06630241e-01 1.28978249e-02 7.94879485e-01 6.19119905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:73.66, Z:61.91 [[ 2.76781828e-01 -9.43429322e-01 -1.82573092e-01 1.49961853e+02] [ 7.48797743e-01 3.30826043e-01 -5.74330975e-01 7.36605751e+01] [ 6.02240616e-01 2.22540580e-02 7.98004385e-01 6.19115265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:73.67, Z:61.95 [[ 2.78616191e-01 -9.38240341e-01 -2.05129427e-01 1.49984432e+02] [ 7.44076015e-01 3.45920931e-01 -5.71567663e-01 7.36674967e+01] [ 6.07226401e-01 6.61611832e-03 7.94501306e-01 6.19470335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:73.69, Z:61.96 [[ 2.75636005e-01 -9.40186191e-01 -2.00186710e-01 1.49992037e+02] [ 7.45278875e-01 3.40547164e-01 -5.73225111e-01 7.36890233e+01] [ 6.07111350e-01 8.80655325e-03 7.94567966e-01 6.19616932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:73.71, Z:61.98 [[ 2.74338249e-01 -9.40626659e-01 -1.99900010e-01 1.49999901e+02] [ 7.45925752e-01 3.39345975e-01 -5.73096050e-01 7.37087491e+01] [ 6.06904686e-01 8.11160181e-03 7.94733228e-01 6.19777708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:73.73, Z:61.99 [[ 2.73210767e-01 -9.41014229e-01 -1.99619883e-01 1.50009012e+02] [ 7.46468981e-01 3.38282873e-01 -5.73017241e-01 7.37289555e+01] [ 6.06745365e-01 7.54442932e-03 7.94860456e-01 6.19943667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.200385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:150.02, Y:73.75, Z:62.01 [[ 2.72549152e-01 -9.41221901e-01 -1.99545215e-01 1.50016829e+02] [ 7.46363923e-01 3.37708443e-01 -5.73492722e-01 7.37505855e+01] [ 6.07172014e-01 7.37160550e-03 7.94536220e-01 6.20088305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:73.77, Z:62.03 [[ 2.72770927e-01 -9.41197279e-01 -1.99358229e-01 1.50024831e+02] [ 7.46209333e-01 3.37769407e-01 -5.73657964e-01 7.37682246e+01] [ 6.07262426e-01 7.71424318e-03 7.94463868e-01 6.20263857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.260385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:150.03, Y:73.79, Z:62.04 [[ 2.72410733e-01 -9.41338748e-01 -1.99182714e-01 1.50032382e+02] [ 7.46209898e-01 3.37375234e-01 -5.73889135e-01 7.37892263e+01] [ 6.07423395e-01 7.70144743e-03 7.94340927e-01 6.20400748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:73.81, Z:62.06 [[ 2.72757047e-01 -9.41283092e-01 -1.98971692e-01 1.50039667e+02] [ 7.46050320e-01 3.37520611e-01 -5.74011113e-01 7.38081985e+01] [ 6.07464002e-01 8.12268150e-03 7.94305677e-01 6.20580547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:73.83, Z:62.07 [[ 2.73268940e-01 -9.41173630e-01 -1.98787031e-01 1.50047439e+02] [ 7.45799474e-01 3.37812729e-01 -5.74165224e-01 7.38286855e+01] [ 6.07541958e-01 8.64625851e-03 7.94240525e-01 6.20739335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:73.85, Z:62.09 [[ 2.73517973e-01 -9.41115280e-01 -1.98720778e-01 1.50055456e+02] [ 7.45350434e-01 3.37964336e-01 -5.74658888e-01 7.38488648e+01] [ 6.07980796e-01 9.06291641e-03 7.93900003e-01 6.20896421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:73.87, Z:62.11 [[ 2.73387859e-01 -9.41171537e-01 -1.98633372e-01 1.50062628e+02] [ 7.45062424e-01 3.37802883e-01 -5.75127114e-01 7.38693838e+01] [ 6.08392195e-01 9.23850931e-03 7.93582753e-01 6.21055930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:150.07, Y:73.89, Z:62.12 [[ 2.73444020e-01 -9.41193566e-01 -1.98451605e-01 1.50069795e+02] [ 7.44971018e-01 3.37735157e-01 -5.75285273e-01 7.38903452e+01] [ 6.08478882e-01 9.46762358e-03 7.93513588e-01 6.21214884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.440385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:150.08, Y:73.91, Z:62.14 [[ 2.74729843e-01 -9.40873311e-01 -1.98194163e-01 1.50077471e+02] [ 7.44630587e-01 3.38597465e-01 -5.75219128e-01 7.39121187e+01] [ 6.08316367e-01 1.04484247e-02 7.93625874e-01 6.21358344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:73.93, Z:62.15 [[ 2.75202091e-01 -9.40778328e-01 -1.97989762e-01 1.50084480e+02] [ 7.44417466e-01 3.38845437e-01 -5.75348943e-01 7.39317532e+01] [ 6.08363744e-01 1.09501948e-02 7.93582792e-01 6.21534882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:73.95, Z:62.17 [[ 2.75926309e-01 -9.40588608e-01 -1.97883155e-01 1.50091411e+02] [ 7.43863309e-01 3.39347664e-01 -5.75769520e-01 7.39520484e+01] [ 6.08713437e-01 1.16719399e-02 7.93304303e-01 6.21690584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:73.97, Z:62.18 [[ 2.76051513e-01 -9.40595720e-01 -1.97674617e-01 1.50098089e+02] [ 7.43758254e-01 3.39317841e-01 -5.75922792e-01 7.39728172e+01] [ 6.08785037e-01 1.19622299e-02 7.93245034e-01 6.21849063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:73.99, Z:62.20 [[ 2.77075440e-01 -9.40279978e-01 -1.97744186e-01 1.50104453e+02] [ 7.42659132e-01 3.40154744e-01 -5.76846742e-01 7.39932903e+01] [ 6.09661065e-01 1.29735395e-02 7.92556038e-01 6.21998549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:74.01, Z:62.22 [[ 2.77193201e-01 -9.40264979e-01 -1.97650445e-01 1.50110988e+02] [ 7.42269202e-01 3.40182710e-01 -5.77331928e-01 7.40140768e+01] [ 6.10082258e-01 1.33226470e-02 7.92226070e-01 6.22159576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:74.03, Z:62.23 [[ 2.78158197e-01 -9.39983762e-01 -1.97632345e-01 1.50117504e+02] [ 7.41402806e-01 3.40921376e-01 -5.78009078e-01 7.40342468e+01] [ 6.10696239e-01 1.42527875e-02 7.91736674e-01 6.22321170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:74.05, Z:62.25 [[ 2.78430394e-01 -9.39962705e-01 -1.97349004e-01 1.50124221e+02] [ 7.41439159e-01 3.40965046e-01 -5.77936685e-01 7.40546026e+01] [ 6.10528042e-01 1.45928591e-02 7.91860189e-01 6.22484661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.680385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:150.13, Y:74.08, Z:62.26 [[ 2.78616022e-01 -9.40006104e-01 -1.96879750e-01 1.50131130e+02] [ 7.42021119e-01 3.40838786e-01 -5.77263874e-01 7.40753482e+01] [ 6.09735821e-01 1.47460315e-02 7.92467528e-01 6.22642873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:74.10, Z:62.28 [[ 2.77393401e-01 -9.40437712e-01 -1.96544680e-01 1.50137453e+02] [ 7.42777811e-01 3.39675159e-01 -5.76976524e-01 7.40950918e+01] [ 6.09371828e-01 1.40604537e-02 7.92759913e-01 6.22821372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.740385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:150.13, Y:74.13, Z:62.28 [[ 2.71582066e-01 -9.46029951e-01 -1.76834704e-01 1.50131485e+02] [ 7.50619471e-01 3.23206014e-01 -5.76288368e-01 7.41271239e+01] [ 6.02340096e-01 2.37740140e-02 7.97885459e-01 6.22801496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:150.14, Y:74.15, Z:62.30 [[ 2.70868630e-01 -9.45931570e-01 -1.78447891e-01 1.50138818e+02] [ 7.51555208e-01 3.23647126e-01 -5.74819369e-01 7.41466231e+01] [ 6.01493935e-01 2.15870933e-02 7.98585652e-01 6.22973606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:74.15, Z:62.33 [[ 2.74557371e-01 -9.40478370e-01 -2.00296493e-01 1.50160415e+02] [ 7.45039462e-01 3.39750478e-01 -5.74008549e-01 7.41544056e+01] [ 6.07893454e-01 8.36948651e-03 7.93974496e-01 6.23343904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:74.18, Z:62.35 [[ 2.74353066e-01 -9.41518320e-01 -1.95636522e-01 1.50165637e+02] [ 7.45117673e-01 3.36742078e-01 -5.75677363e-01 7.41765005e+01] [ 6.07889833e-01 1.21666191e-02 7.93928161e-01 6.23479219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:74.20, Z:62.36 [[ 2.74254803e-01 -9.41528808e-01 -1.95723801e-01 1.50172248e+02] [ 7.44348392e-01 3.36701474e-01 -5.76695403e-01 7.41977609e+01] [ 6.08875828e-01 1.24747876e-02 7.93167451e-01 6.23637331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:74.22, Z:62.38 [[ 2.74107017e-01 -9.41533822e-01 -1.95906622e-01 1.50178596e+02] [ 7.43544776e-01 3.36679094e-01 -5.77744194e-01 7.42185528e+01] [ 6.09923364e-01 1.26983925e-02 7.92358657e-01 6.23788962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:74.24, Z:62.39 [[ 2.74215567e-01 -9.41525416e-01 -1.95795079e-01 1.50185736e+02] [ 7.43351499e-01 3.36693100e-01 -5.77984693e-01 7.42395023e+01] [ 6.10110131e-01 1.29478347e-02 7.92210819e-01 6.23949702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:74.27, Z:62.40 [[ 2.69352459e-01 -9.45880089e-01 -1.80997543e-01 1.50180416e+02] [ 7.49045310e-01 3.23893489e-01 -5.77948208e-01 7.42676504e+01] [ 6.05293628e-01 2.00964104e-02 7.95748553e-01 6.23960062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:74.28, Z:62.43 [[ 2.72803767e-01 -9.42740142e-01 -1.91883114e-01 1.50199618e+02] [ 7.43847168e-01 3.33175824e-01 -5.79383517e-01 7.42824891e+01] [ 6.10138914e-01 1.53262951e-02 7.92146205e-01 6.24285794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:74.30, Z:62.45 [[ 2.72606934e-01 -9.42092343e-01 -1.95313793e-01 1.50208001e+02] [ 7.44336296e-01 3.35135761e-01 -5.77622281e-01 7.43015087e+01] [ 6.09630165e-01 1.20846939e-02 7.92593857e-01 6.24466228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.040385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:150.21, Y:74.32, Z:62.46 [[ 2.72107336e-01 -9.42299434e-01 -1.95011219e-01 1.50214264e+02] [ 7.44744903e-01 3.34560048e-01 -5.77429307e-01 7.43219686e+01] [ 6.09354271e-01 1.18891392e-02 7.92808943e-01 6.24625074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:74.34, Z:62.48 [[ 2.72043821e-01 -9.42363650e-01 -1.94789400e-01 1.50220716e+02] [ 7.44765251e-01 3.34373875e-01 -5.77510894e-01 7.43426273e+01] [ 6.09357760e-01 1.20358939e-02 7.92804047e-01 6.24783131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:74.36, Z:62.49 [[ 2.71901212e-01 -9.42429419e-01 -1.94670286e-01 1.50227506e+02] [ 7.44547706e-01 3.34182841e-01 -5.77901844e-01 7.43635584e+01] [ 6.09687169e-01 1.21908974e-02 7.92548382e-01 6.24945868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:74.38, Z:62.51 [[ 2.71459589e-01 -9.42624724e-01 -1.94340733e-01 1.50234551e+02] [ 7.44971354e-01 3.33637171e-01 -5.77671117e-01 7.43836456e+01] [ 6.09366370e-01 1.20360852e-02 7.92797427e-01 6.25114005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:74.40, Z:62.53 [[ 2.71057850e-01 -9.42790837e-01 -1.94095545e-01 1.50240863e+02] [ 7.45168304e-01 3.33170488e-01 -5.77686442e-01 7.44037637e+01] [ 6.09304391e-01 1.19525972e-02 7.92846325e-01 6.25269945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.190385723 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:150.25, Y:74.43, Z:62.54 [[ 2.70105123e-01 -9.43080733e-01 -1.94015343e-01 1.50247240e+02] [ 7.45109439e-01 3.32360814e-01 -5.78228513e-01 7.44256397e+01] [ 6.09799267e-01 1.16198198e-02 7.92470715e-01 6.25412977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:74.45, Z:62.56 [[ 2.70832467e-01 -9.42957547e-01 -1.93599691e-01 1.50252948e+02] [ 7.45350837e-01 3.32690566e-01 -5.77727546e-01 7.44450537e+01] [ 6.09181340e-01 1.21676848e-02 7.92937603e-01 6.25590249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:74.47, Z:62.57 [[ 2.70967693e-01 -9.42951135e-01 -1.93441635e-01 1.50259073e+02] [ 7.45136786e-01 3.32697214e-01 -5.77999769e-01 7.44656980e+01] [ 6.09383032e-01 1.24787857e-02 7.92777775e-01 6.25749505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:74.49, Z:62.58 [[ 2.69083291e-01 -9.45659252e-01 -1.82545231e-01 1.50255990e+02] [ 7.48307014e-01 3.24599799e-01 -5.78508067e-01 7.44935203e+01] [ 6.06325651e-01 1.90669776e-02 7.94987833e-01 6.25802988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:74.51, Z:62.61 [[ 2.73507837e-01 -9.42374863e-01 -1.92673510e-01 1.50271038e+02] [ 7.43022353e-01 3.34202700e-01 -5.79850272e-01 7.45088417e+01] [ 6.10828328e-01 1.54328683e-02 7.91612646e-01 6.26079687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:74.53, Z:62.62 [[ 2.73222599e-01 -9.42331975e-01 -1.93286988e-01 1.50278191e+02] [ 7.43113366e-01 3.34354953e-01 -5.79645832e-01 7.45296859e+01] [ 6.10845264e-01 1.47381965e-02 7.91612815e-01 6.26248872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.370385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:150.28, Y:74.56, Z:62.64 [[ 2.72952651e-01 -9.43927934e-01 -1.85733425e-01 1.50281760e+02] [ 7.41784137e-01 3.29439629e-01 -5.84145380e-01 7.45559419e+01] [ 6.12579093e-01 2.16699223e-02 7.90112188e-01 6.26364757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:74.57, Z:62.66 [[ 2.73795038e-01 -9.40721335e-01 -2.00199018e-01 1.50293423e+02] [ 7.43158580e-01 3.39056753e-01 -5.76849931e-01 7.45694625e+01] [ 6.10533867e-01 9.15903100e-03 7.91937188e-01 6.26607814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:74.60, Z:62.66 [[ 2.71292614e-01 -9.45546940e-01 -1.79836877e-01 1.50286776e+02] [ 7.48162587e-01 3.24711902e-01 -5.78631941e-01 7.46009615e+01] [ 6.05518836e-01 2.24313490e-02 7.95514786e-01 6.26626354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.460385723 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:150.30, Y:74.62, Z:62.69 [[ 2.74167287e-01 -9.42149068e-01 -1.92840432e-01 1.50303490e+02] [ 7.43484708e-01 3.34843063e-01 -5.78887392e-01 7.46157007e+01] [ 6.09969497e-01 1.53380737e-02 7.92276439e-01 6.26901812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:74.63, Z:62.71 [[ 2.75210910e-01 -9.42036235e-01 -1.91902808e-01 1.50309566e+02] [ 7.43474483e-01 3.35100046e-01 -5.78751805e-01 7.46346743e+01] [ 6.09511811e-01 1.66039697e-02 7.92603091e-01 6.27087633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:74.66, Z:62.71 [[ 2.72112477e-01 -9.45558138e-01 -1.78534610e-01 1.50306365e+02] [ 7.47868827e-01 3.24562772e-01 -5.79095177e-01 7.46635691e+01] [ 6.05513846e-01 2.40585539e-02 7.95471036e-01 6.27127959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:74.69, Z:62.73 [[ 2.73288284e-01 -9.45428153e-01 -1.77423564e-01 1.50312846e+02] [ 7.47272405e-01 3.24803641e-01 -5.79729720e-01 7.46860366e+01] [ 6.05720618e-01 2.58496067e-02 7.95257399e-01 6.27302240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:74.71, Z:62.74 [[ 2.73122356e-01 -9.47336306e-01 -1.67206766e-01 1.50315020e+02] [ 7.49712641e-01 3.18528272e-01 -5.80060941e-01 7.47132738e+01] [ 6.02772871e-01 3.30705847e-02 7.97227196e-01 6.27390105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:74.72, Z:62.78 [[ 2.77091986e-01 -9.39043284e-01 -2.03513491e-01 1.50339442e+02] [ 7.42250287e-01 3.43697646e-01 -5.75270753e-01 7.47159915e+01] [ 6.10151245e-01 8.34496837e-03 7.92241011e-01 6.27815875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:74.76, Z:62.77 [[ 2.74145507e-01 -9.47684768e-01 -1.63517039e-01 1.50326507e+02] [ 7.49444432e-01 3.17080987e-01 -5.81199356e-01 7.47575892e+01] [ 6.02641921e-01 3.67862578e-02 7.97163400e-01 6.27712125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:74.76, Z:62.82 [[ 2.77695087e-01 -9.38660183e-01 -2.04456594e-01 1.50352238e+02] [ 7.41877361e-01 3.44750098e-01 -5.75122032e-01 7.47582722e+01] [ 6.10330583e-01 8.02684422e-03 7.92106148e-01 6.28151620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:74.78, Z:62.83 [[ 2.78051474e-01 -9.41229620e-01 -1.91765954e-01 1.50353411e+02] [ 7.41449277e-01 3.37225972e-01 -5.80113449e-01 7.47838169e+01] [ 6.10688421e-01 1.91166716e-02 7.91640199e-01 6.28266882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:74.81, Z:62.84 [[ 2.78231768e-01 -9.41203666e-01 -1.91631791e-01 1.50358481e+02] [ 7.41135959e-01 3.37277394e-01 -5.80483806e-01 7.48053832e+01] [ 6.10986557e-01 1.94838248e-02 7.91401167e-01 6.28424376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:74.83, Z:62.86 [[ 2.78245107e-01 -9.41226313e-01 -1.91501142e-01 1.50364802e+02] [ 7.40871948e-01 3.37198973e-01 -5.80866258e-01 7.48254511e+01] [ 6.11300595e-01 1.97453694e-02 7.91152137e-01 6.28589758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.790385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:150.37, Y:74.85, Z:62.87 [[ 2.77636287e-01 -9.41376854e-01 -1.91644752e-01 1.50371036e+02] [ 7.40249933e-01 3.36781616e-01 -5.81900490e-01 7.48460984e+01] [ 6.12330081e-01 1.96916771e-02 7.90356951e-01 6.28744159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:150.38, Y:74.87, Z:62.89 [[ 2.77910720e-01 -9.41387065e-01 -1.91196301e-01 1.50377111e+02] [ 7.40726443e-01 3.36739023e-01 -5.81318473e-01 7.48663387e+01] [ 6.11628947e-01 1.99304797e-02 7.90893676e-01 6.28923628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:74.89, Z:62.91 [[ 2.77467713e-01 -9.41552566e-01 -1.91024696e-01 1.50381566e+02] [ 7.40750154e-01 3.36280111e-01 -5.81553864e-01 7.48877896e+01] [ 6.11801339e-01 1.98608479e-02 7.90762081e-01 6.29071737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:74.91, Z:62.92 [[ 2.77078949e-01 -9.41678535e-01 -1.90968042e-01 1.50387652e+02] [ 7.40421569e-01 3.35924153e-01 -5.82177691e-01 7.49085579e+01] [ 6.12375013e-01 1.99123255e-02 7.90316610e-01 6.29233498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.39, Y:74.93, Z:62.94 [[ 2.76079951e-01 -9.41962201e-01 -1.91015896e-01 1.50394311e+02] [ 7.40068188e-01 3.35145698e-01 -5.83074986e-01 7.49299019e+01] [ 6.13252752e-01 1.96105259e-02 7.89643267e-01 6.29397310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:74.95, Z:62.96 [[ 2.75169721e-01 -9.42235719e-01 -1.90980298e-01 1.50400973e+02] [ 7.39889442e-01 3.34392774e-01 -5.83733746e-01 7.49505909e+01] [ 6.13877218e-01 1.93215454e-02 7.89165027e-01 6.29561925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:74.97, Z:62.97 [[ 2.74367426e-01 -9.42515451e-01 -1.90754136e-01 1.50407791e+02] [ 7.40180611e-01 3.33622856e-01 -5.83805150e-01 7.49713061e+01] [ 6.13885314e-01 1.89846038e-02 7.89166907e-01 6.29733518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.000385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:150.41, Y:74.99, Z:62.99 [[ 2.71853328e-01 -9.43262462e-01 -1.90661205e-01 1.50414607e+02] [ 7.40752907e-01 3.31581562e-01 -5.84242072e-01 7.49926956e+01] [ 6.14313356e-01 1.75953101e-02 7.88865962e-01 6.29871455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:75.01, Z:63.01 [[ 2.71983936e-01 -9.43355411e-01 -1.90013968e-01 1.50421597e+02] [ 7.41803192e-01 3.31315195e-01 -5.83059402e-01 7.50116674e+01] [ 6.12986757e-01 1.76298234e-02 7.89896465e-01 6.30064303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.060385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:150.43, Y:75.03, Z:63.02 [[ 2.70510310e-01 -9.43876411e-01 -1.89529660e-01 1.50428652e+02] [ 7.43010706e-01 3.29876097e-01 -5.82337403e-01 7.50320900e+01] [ 6.12175843e-01 1.67057049e-02 7.90545164e-01 6.30226350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:75.05, Z:63.04 [[ 2.70324997e-01 -9.44050788e-01 -1.88924603e-01 1.50435192e+02] [ 7.44060375e-01 3.29383996e-01 -5.81274756e-01 7.50520305e+01] [ 6.10981632e-01 1.65617856e-02 7.91471511e-01 6.30403654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:75.07, Z:63.06 [[ 2.69853357e-01 -9.44219549e-01 -1.88755419e-01 1.50441529e+02] [ 7.44100422e-01 3.28904751e-01 -5.81494821e-01 7.50715705e+01] [ 6.11141332e-01 1.64653425e-02 7.91350216e-01 6.30562348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.150385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:150.45, Y:75.09, Z:63.07 [[ 2.68524615e-01 -9.44630686e-01 -1.88593210e-01 1.50447975e+02] [ 7.44372065e-01 3.27752732e-01 -5.81797538e-01 7.50935782e+01] [ 6.11395747e-01 1.58434425e-02 7.91166371e-01 6.30712712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:75.11, Z:63.09 [[ 2.68364881e-01 -9.44746617e-01 -1.88239531e-01 1.50455298e+02] [ 7.44774937e-01 3.27418088e-01 -5.81470283e-01 7.51131059e+01] [ 6.10975110e-01 1.58501179e-02 7.91491118e-01 6.30896284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.210385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:150.46, Y:75.13, Z:63.11 [[ 2.66889666e-01 -9.45158785e-01 -1.88267834e-01 1.50461562e+02] [ 7.44670862e-01 3.26257289e-01 -5.82255519e-01 7.51337917e+01] [ 6.11747672e-01 1.52004103e-02 7.90906906e-01 6.31058418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.240385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:150.47, Y:75.16, Z:63.12 [[ 2.65655957e-01 -9.45544910e-01 -1.88073753e-01 1.50467687e+02] [ 7.45009930e-01 3.25163602e-01 -5.82433547e-01 7.51550457e+01] [ 6.11871814e-01 1.46101278e-02 7.90821995e-01 6.31202717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.270385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:150.47, Y:75.18, Z:63.14 [[ 2.64479141e-01 -9.45931504e-01 -1.87788110e-01 1.50474363e+02] [ 7.45544169e-01 3.24063374e-01 -5.82363136e-01 7.51768311e+01] [ 6.11730886e-01 1.40185712e-02 7.90941719e-01 6.31367078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:75.20, Z:63.15 [[ 2.64008602e-01 -9.46148159e-01 -1.87358266e-01 1.50480856e+02] [ 7.46304791e-01 3.23441527e-01 -5.81734250e-01 7.51972211e+01] [ 6.11006233e-01 1.37564739e-02 7.91506249e-01 6.31536074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:75.22, Z:63.17 [[ 2.62829700e-01 -9.47191445e-01 -1.83708777e-01 1.50486398e+02] [ 7.46228010e-01 3.20254234e-01 -5.83593165e-01 7.52184584e+01] [ 6.11607967e-01 1.62969818e-02 7.90993112e-01 6.31672816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:75.24, Z:63.19 [[ 2.59085627e-01 -9.47799398e-01 -1.85878828e-01 1.50495379e+02] [ 7.48005311e-01 3.18648804e-01 -5.82194979e-01 7.52380657e+01] [ 6.11034117e-01 1.18000006e-02 7.91516309e-01 6.31864157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:75.26, Z:63.20 [[ 2.57931910e-01 -9.47957867e-01 -1.86673543e-01 1.50502672e+02] [ 7.48375319e-01 3.18225839e-01 -5.81950768e-01 7.52581393e+01] [ 6.11069154e-01 1.04018004e-02 7.91508870e-01 6.32034456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:75.28, Z:63.22 [[ 2.56750425e-01 -9.48339531e-01 -1.86363497e-01 1.50509486e+02] [ 7.49004767e-01 3.17106490e-01 -5.81751952e-01 7.52795051e+01] [ 6.10795447e-01 9.77791360e-03 7.91728056e-01 6.32198114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:75.30, Z:63.23 [[ 2.54761912e-01 -9.48957254e-01 -1.85947569e-01 1.50515334e+02] [ 7.50196125e-01 3.15288211e-01 -5.81204885e-01 7.52998806e+01] [ 6.10165668e-01 8.57172155e-03 7.92227482e-01 6.32349610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:75.32, Z:63.25 [[ 2.53604562e-01 -9.49336401e-01 -1.85593978e-01 1.50521135e+02] [ 7.50875903e-01 3.14160582e-01 -5.80937610e-01 7.53206892e+01] [ 6.09811532e-01 7.97038260e-03 7.92506384e-01 6.32508724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:75.34, Z:63.27 [[ 2.51861149e-01 -9.49888189e-01 -1.85144240e-01 1.50527117e+02] [ 7.52084257e-01 3.12513676e-01 -5.80262417e-01 7.53423120e+01] [ 6.09044523e-01 6.90149071e-03 7.93106007e-01 6.32672510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:75.36, Z:63.28 [[ 2.50899390e-01 -9.50217966e-01 -1.84757445e-01 1.50533332e+02] [ 7.52828471e-01 3.11520469e-01 -5.79831260e-01 7.53625528e+01] [ 6.08521807e-01 6.38864426e-03 7.93511434e-01 6.32832106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:75.38, Z:63.30 [[ 2.49824694e-01 -9.50565091e-01 -1.84427845e-01 1.50539502e+02] [ 7.53430264e-01 3.10470301e-01 -5.79612827e-01 7.53835090e+01] [ 6.08219088e-01 5.84807790e-03 7.93747656e-01 6.33003700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:75.40, Z:63.32 [[ 2.49410677e-01 -9.50762162e-01 -1.83971804e-01 1.50545081e+02] [ 7.54177747e-01 3.09869921e-01 -5.78961621e-01 7.54044337e+01] [ 6.07462131e-01 5.65176898e-03 7.94328532e-01 6.33177518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:75.43, Z:63.33 [[ 2.49377283e-01 -9.50799921e-01 -1.83821875e-01 1.50550020e+02] [ 7.53986919e-01 3.09750204e-01 -5.79274147e-01 7.54255564e+01] [ 6.07712676e-01 5.85852368e-03 7.94135367e-01 6.33338775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:75.45, Z:63.35 [[ 2.49593539e-01 -9.50744060e-01 -1.83817294e-01 1.50555506e+02] [ 7.53329009e-01 3.09912960e-01 -5.80042552e-01 7.54456536e+01] [ 6.08439373e-01 6.29997302e-03 7.93575352e-01 6.33496214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.56, Y:75.47, Z:63.36 [[ 2.49703649e-01 -9.50660171e-01 -1.84101404e-01 1.50559862e+02] [ 7.51896314e-01 3.10158660e-01 -5.81767598e-01 7.54681737e+01] [ 6.10163929e-01 6.84432474e-03 7.92245628e-01 6.33647008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:75.49, Z:63.38 [[ 2.49696214e-01 -9.50656372e-01 -1.84131105e-01 1.50565545e+02] [ 7.51218430e-01 3.10163170e-01 -5.82640265e-01 7.54890392e+01] [ 6.11001367e-01 7.16038866e-03 7.91597157e-01 6.33808375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.750385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:150.57, Y:75.51, Z:63.39 [[ 2.48281815e-01 -9.51018593e-01 -1.84173225e-01 1.50569728e+02] [ 7.50959402e-01 3.09063647e-01 -5.83557743e-01 7.55111928e+01] [ 6.11895512e-01 6.58016061e-03 7.90911237e-01 6.33940936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.780385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:150.55, Y:75.56, Z:63.37 [[ 2.45347772e-01 -9.60343590e-01 -1.32456258e-01 1.50552529e+02] [ 7.60303902e-01 2.75384155e-01 -5.88303955e-01 7.55627018e+01] [ 6.01450287e-01 4.36320550e-02 7.97717868e-01 6.33739485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:150.59, Y:75.54, Z:63.44 [[ 2.48664303e-01 -9.43374961e-01 -2.19567182e-01 1.50593407e+02] [ 7.51157935e-01 3.30937069e-01 -5.71176341e-01 7.55380639e+01] [ 6.11496378e-01 -2.28984644e-02 7.90915824e-01 6.34425262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:75.57, Z:63.45 [[ 2.49667138e-01 -9.50816925e-01 -1.83339834e-01 1.50586058e+02] [ 7.51439386e-01 3.09657855e-01 -5.82624118e-01 7.55722415e+01] [ 6.10741492e-01 7.69332403e-03 7.91792677e-01 6.34460665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:75.59, Z:63.46 [[ 2.50471312e-01 -9.50692215e-01 -1.82889132e-01 1.50590710e+02] [ 7.51762146e-01 3.10025190e-01 -5.82012077e-01 7.55932870e+01] [ 6.10014588e-01 8.28820214e-03 7.92346836e-01 6.34623400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:75.61, Z:63.48 [[ 2.50988896e-01 -9.50596806e-01 -1.82675361e-01 1.50595961e+02] [ 7.51568722e-01 3.10303206e-01 -5.82113715e-01 7.56134535e+01] [ 6.10040188e-01 8.81099127e-03 7.92321485e-01 6.34781192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:150.60, Y:75.64, Z:63.49 [[ 2.52528004e-01 -9.50228880e-01 -1.82468308e-01 1.50600072e+02] [ 7.51001188e-01 3.11392022e-01 -5.82264737e-01 7.56360577e+01] [ 6.10103944e-01 1.00042360e-02 7.92258224e-01 6.34924765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:75.66, Z:63.51 [[ 2.53305003e-01 -9.50056149e-01 -1.82290674e-01 1.50605734e+02] [ 7.50623967e-01 3.11895059e-01 -5.82481873e-01 7.56562350e+01] [ 6.10246046e-01 1.07138238e-02 7.92139494e-01 6.35097606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:75.68, Z:63.53 [[ 2.53504691e-01 -9.50012094e-01 -1.82242674e-01 1.50610265e+02] [ 7.50070118e-01 3.12014594e-01 -5.83130956e-01 7.56774596e+01] [ 6.10843835e-01 1.11316486e-02 7.91672847e-01 6.35254122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.020385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:150.62, Y:75.70, Z:63.54 [[ 2.52966551e-01 -9.50198990e-01 -1.82015941e-01 1.50615742e+02] [ 7.50217790e-01 3.11450018e-01 -5.83242791e-01 7.56994535e+01] [ 6.10885580e-01 1.09893198e-02 7.91642623e-01 6.35409415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:75.72, Z:63.56 [[ 2.52532334e-01 -9.50420439e-01 -1.81461867e-01 1.50621118e+02] [ 7.51290641e-01 3.10783760e-01 -5.82216306e-01 7.57195016e+01] [ 6.09745679e-01 1.06978404e-02 7.92524929e-01 6.35584847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.080385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:150.63, Y:75.74, Z:63.57 [[ 2.51353143e-01 -9.50817725e-01 -1.81017266e-01 1.50626444e+02] [ 7.52273712e-01 3.09589227e-01 -5.81582988e-01 7.57409137e+01] [ 6.09020410e-01 1.00081812e-02 7.93091405e-01 6.35724786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:75.76, Z:63.59 [[ 2.49346781e-01 -9.51449546e-01 -1.80471448e-01 1.50631886e+02] [ 7.53771137e-01 3.07680332e-01 -5.80656428e-01 7.57607793e+01] [ 6.07992810e-01 8.75064267e-03 7.93894306e-01 6.35907291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:75.78, Z:63.61 [[ 2.47970826e-01 -9.51862392e-01 -1.80190054e-01 1.50637478e+02] [ 7.54377035e-01 3.06420610e-01 -5.80535699e-01 7.57823957e+01] [ 6.07804046e-01 8.02467798e-03 7.94046501e-01 6.36068252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.170385723 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:150.63, Y:75.82, Z:63.60 [[ 2.45969288e-01 -9.58224392e-01 -1.45962751e-01 1.50630964e+02] [ 7.59359292e-01 2.84090338e-01 -5.85376926e-01 7.58239878e+01] [ 6.02389056e-01 3.31465745e-02 7.97514094e-01 6.36031088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:75.81, Z:63.65 [[ 2.44500432e-01 -9.46139593e-01 -2.12224902e-01 1.50659073e+02] [ 7.56430851e-01 3.23045716e-01 -5.68730018e-01 7.58117771e+01] [ 6.06656333e-01 -2.14787278e-02 7.94673995e-01 6.36497521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.65, Y:75.85, Z:63.65 [[ 2.42359453e-01 -9.53585898e-01 -1.78705990e-01 1.50652029e+02] [ 7.58301320e-01 3.01085662e-01 -5.78209766e-01 7.58477239e+01] [ 6.05178490e-01 4.62161420e-03 7.96076401e-01 6.36544388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:75.87, Z:63.67 [[ 2.41457084e-01 -9.53863154e-01 -1.78447640e-01 1.50657284e+02] [ 7.58742230e-01 3.00212512e-01 -5.78085353e-01 7.58680331e+01] [ 6.04986533e-01 4.18704339e-03 7.96224694e-01 6.36708422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:75.89, Z:63.69 [[ 2.41179196e-01 -9.53966117e-01 -1.78272944e-01 1.50663662e+02] [ 7.58830452e-01 2.99885600e-01 -5.78139233e-01 7.58893152e+01] [ 6.04986728e-01 4.15621609e-03 7.96224708e-01 6.36875044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32038572300002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:150.67, Y:75.91, Z:63.70 [[ 2.38997226e-01 -9.54497327e-01 -1.78368098e-01 1.50667774e+02] [ 7.58682839e-01 2.98203328e-01 -5.79202145e-01 7.59121791e+01] [ 6.06036860e-01 3.10289115e-03 7.95430510e-01 6.37014465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:75.93, Z:63.72 [[ 2.38710973e-01 -9.54589988e-01 -1.78255505e-01 1.50673572e+02] [ 7.58469135e-01 2.97905931e-01 -5.79634909e-01 7.59328109e+01] [ 6.06417054e-01 3.16391428e-03 7.95140457e-01 6.37191622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38038572300002 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:150.67, Y:75.96, Z:63.73 [[ 2.38266978e-01 -9.56828572e-01 -1.66456996e-01 1.50672782e+02] [ 7.55227194e-01 2.90300385e-01 -5.87671313e-01 7.59581655e+01] [ 6.10623233e-01 1.43098181e-02 7.91791952e-01 6.37297649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41038572300002 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:150.69, Y:75.97, Z:63.75 [[ 2.37241624e-01 -9.53032678e-01 -1.88268760e-01 1.50685010e+02] [ 7.56062774e-01 3.02831184e-01 -5.80226125e-01 7.59724829e+01] [ 6.09988109e-01 -4.68921270e-03 7.92396692e-01 6.37523949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.440385723 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:150.69, Y:75.99, Z:63.76 [[ 2.38878905e-01 -9.54179802e-01 -1.80215909e-01 1.50686811e+02] [ 7.55942967e-01 2.99220246e-01 -5.82252072e-01 7.59937257e+01] [ 6.09497415e-01 2.85478837e-03 7.92782916e-01 6.37627829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.470385723 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:150.69, Y:76.02, Z:63.77 [[ 2.36115688e-01 -9.57264718e-01 -1.67013899e-01 1.50687493e+02] [ 7.58646269e-01 2.88997666e-01 -5.83897412e-01 7.60239207e+01] [ 6.07211018e-01 1.11628674e-02 7.94462189e-01 6.37722386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.500385723 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:150.70, Y:76.04, Z:63.80 [[ 2.36374068e-01 -9.54703866e-01 -1.80742436e-01 1.50697829e+02] [ 7.55702578e-01 2.97554690e-01 -5.83416507e-01 7.60378960e+01] [ 6.10770754e-01 1.31700847e-03 7.91806385e-01 6.37967248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.530385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:150.70, Y:76.06, Z:63.81 [[ 2.36229404e-01 -9.55046310e-01 -1.79115088e-01 1.50702867e+02] [ 7.56066426e-01 2.96446780e-01 -5.83509096e-01 7.60579254e+01] [ 6.10376300e-01 2.41910171e-03 7.92107897e-01 6.38144199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.560385723 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:150.71, Y:76.08, Z:63.83 [[ 2.35872506e-01 -9.55194752e-01 -1.78793584e-01 1.50707005e+02] [ 7.56449930e-01 2.95968880e-01 -5.83254597e-01 7.60798174e+01] [ 6.10039067e-01 2.32532916e-03 7.92367925e-01 6.38306368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.590385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:150.70, Y:76.11, Z:63.83 [[ 2.35200880e-01 -9.58766558e-01 -1.59521886e-01 1.50702619e+02] [ 7.61447648e-01 2.83765704e-01 -5.82816012e-01 7.61113477e+01] [ 6.04051343e-01 1.56112740e-02 7.96792485e-01 6.38317002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.620385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:150.70, Y:76.14, Z:63.83 [[ 2.32620304e-01 -9.62372309e-01 -1.40454022e-01 1.50698250e+02] [ 7.66978422e-01 2.70324029e-01 -5.81952764e-01 7.61446994e+01] [ 5.98023322e-01 2.76488248e-02 8.01001653e-01 6.38346761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.650385723 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:150.72, Y:76.14, Z:63.87 [[ 2.32399877e-01 -9.55150765e-01 -1.83513795e-01 1.50720630e+02] [ 7.61276182e-01 2.96066309e-01 -5.76891078e-01 7.61436474e+01] [ 6.05350206e-01 -5.63526565e-03 7.95939301e-01 6.38729251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.680385723 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:150.72, Y:76.17, Z:63.88 [[ 2.32326774e-01 -9.56200386e-01 -1.78059237e-01 1.50724710e+02] [ 7.65430279e-01 2.92695970e-01 -5.73101698e-01 7.61697785e+01] [ 6.00117286e-01 -3.14506311e-03 7.99905839e-01 6.38832803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.710385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:150.73, Y:76.20, Z:63.90 [[ 2.32124339e-01 -9.57996645e-01 -1.68406410e-01 1.50726764e+02] [ 7.65556368e-01 2.86739826e-01 -5.75937253e-01 7.61951485e+01] [ 6.00034781e-01 4.76445414e-03 7.99959725e-01 6.38972365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.740385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:150.73, Y:76.22, Z:63.91 [[ 2.31958996e-01 -9.59620068e-01 -1.59136262e-01 1.50726700e+02] [ 7.68349494e-01 2.81080037e-01 -5.75007016e-01 7.62235657e+01] [ 5.96518298e-01 1.11057839e-02 8.02522636e-01 6.39067116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.770385723 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:150.74, Y:76.23, Z:63.94 [[ 2.32414450e-01 -9.55321340e-01 -1.82605206e-01 1.50740784e+02] [ 7.64287683e-01 2.95501044e-01 -5.73187117e-01 7.62335555e+01] [ 6.01537913e-01 -6.34594111e-03 7.98819046e-01 6.39394592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.800385723 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:150.74, Y:76.26, Z:63.95 [[ 2.33528101e-01 -9.57015365e-01 -1.72006446e-01 1.50742180e+02] [ 7.63533068e-01 2.90017193e-01 -5.76981180e-01 7.62589320e+01] [ 6.02064681e-01 3.40871016e-03 7.98440042e-01 6.39518445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.830385723 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:150.74, Y:76.29, Z:63.96 [[ 2.32283319e-01 -9.61322058e-01 -1.48001217e-01 1.50737387e+02] [ 7.62896428e-01 2.74459494e-01 -5.85372554e-01 7.62940700e+01] [ 6.03351887e-01 2.30626799e-02 7.97141526e-01 6.39586608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.860385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:150.76, Y:76.30, Z:63.99 [[ 2.33565041e-01 -9.54663524e-01 -1.84566864e-01 1.50757040e+02] [ 7.63301014e-01 2.97605849e-01 -5.73412871e-01 7.63011795e+01] [ 6.02344531e-01 -6.95087366e-03 7.98205958e-01 6.39855289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.890385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:150.76, Y:76.32, Z:64.01 [[ 2.32766894e-01 -9.53664482e-01 -1.90640050e-01 1.50762390e+02] [ 7.59104819e-01 3.00694913e-01 -5.77358158e-01 7.63159009e+01] [ 6.07930462e-01 -1.03259150e-02 7.93923125e-01 6.40090552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.920385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:150.76, Y:76.34, Z:64.02 [[ 2.31918974e-01 -9.57278693e-01 -1.72716804e-01 1.50761183e+02] [ 7.58877839e-01 2.89135530e-01 -5.83528123e-01 7.63433304e+01] [ 6.08537604e-01 4.26028915e-03 7.93513601e-01 6.40195350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.950385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.77, Y:76.36, Z:64.04 [[ 2.30976891e-01 -9.56981199e-01 -1.75603703e-01 1.50767489e+02] [ 7.59535082e-01 2.90147886e-01 -5.82168930e-01 7.63634615e+01] [ 6.08075764e-01 1.09039610e-03 7.93878250e-01 6.40371549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.980385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.77, Y:76.39, Z:64.05 [[ 2.29079642e-01 -9.57807186e-01 -1.73573938e-01 1.50771590e+02] [ 7.60587047e-01 2.87408411e-01 -5.82154403e-01 7.63854489e+01] [ 6.07478280e-01 1.34163349e-03 7.94335155e-01 6.40532342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.010385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:150.78, Y:76.41, Z:64.07 [[ 2.28642582e-01 -9.58017252e-01 -1.72989929e-01 1.50776094e+02] [ 7.61730487e-01 2.86708563e-01 -5.81003326e-01 7.64064211e+01] [ 6.06208904e-01 1.07039782e-03 7.95304734e-01 6.40693012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.77, Y:76.44, Z:64.07 [[ 2.26526704e-01 -9.62553690e-01 -1.48916237e-01 1.50769072e+02] [ 7.67353828e-01 2.70530683e-01 -5.81361550e-01 7.64410762e+01] [ 5.99878117e-01 1.74224710e-02 7.99901683e-01 6.40683184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.78, Y:76.46, Z:64.09 [[ 2.28460004e-01 -9.61079520e-01 -1.55345370e-01 1.50776267e+02] [ 7.67119931e-01 2.75959425e-01 -5.79114330e-01 7.64626290e+01] [ 5.99443941e-01 1.31359322e-02 8.00308946e-01 6.40853687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.79, Y:76.48, Z:64.11 [[ 2.30416811e-01 -9.59073996e-01 -1.64575705e-01 1.50786315e+02] [ 7.65224021e-01 2.83061742e-01 -5.78193954e-01 7.64809470e+01] [ 6.01115872e-01 7.28832465e-03 7.99128644e-01 6.41064030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13038572300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:150.79, Y:76.51, Z:64.12 [[ 2.32504278e-01 -9.59962486e-01 -1.56249117e-01 1.50789241e+02] [ 7.65256905e-01 2.79714271e-01 -5.79777368e-01 7.65063104e+01] [ 6.00269632e-01 1.52300028e-02 7.99652685e-01 6.41185099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16038572300002 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:150.80, Y:76.52, Z:64.14 [[ 2.37853963e-01 -9.56098626e-01 -1.71175083e-01 1.50802283e+02] [ 7.63838154e-01 2.92982947e-01 -5.75075880e-01 7.65209868e+01] [ 5.99980639e-01 6.03401752e-03 7.99991765e-01 6.41420149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.190385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:150.80, Y:76.54, Z:64.15 [[ 2.40014382e-01 -9.56569806e-01 -1.65430659e-01 1.50803092e+02] [ 7.61530512e-01 2.91213648e-01 -5.79021495e-01 7.65428031e+01] [ 6.02050144e-01 1.29929922e-02 7.98352558e-01 6.41547602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.81, Y:76.56, Z:64.17 [[ 2.40445415e-01 -9.55973545e-01 -1.68227774e-01 1.50808510e+02] [ 7.60482104e-01 2.93232309e-01 -5.79380517e-01 7.65619319e+01] [ 6.03202265e-01 1.13751771e-02 7.97507137e-01 6.41731832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.83, Y:76.57, Z:64.21 [[ 2.45500148e-01 -9.50207770e-01 -1.91924130e-01 1.50826616e+02] [ 7.54014017e-01 3.11604887e-01 -5.78243251e-01 7.65676143e+01] [ 6.09255727e-01 -2.75468059e-03 7.92969023e-01 6.42087184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:76.59, Z:64.22 [[ 2.46372183e-01 -9.53810929e-01 -1.71887929e-01 1.50825170e+02] [ 7.54387756e-01 3.00073252e-01 -5.83828021e-01 7.65945838e+01] [ 6.08440516e-01 1.41688348e-02 7.93472988e-01 6.42186001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.310385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.83, Y:76.62, Z:64.24 [[ 2.47521041e-01 -9.53615278e-01 -1.71322021e-01 1.50832470e+02] [ 7.54962757e-01 3.00658637e-01 -5.82782653e-01 7.66153043e+01] [ 6.07259887e-01 1.49092237e-02 7.94363358e-01 6.42354008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.340385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:150.84, Y:76.64, Z:64.25 [[ 2.47745552e-01 -9.53613085e-01 -1.71009433e-01 1.50839432e+02] [ 7.55144648e-01 3.00651669e-01 -5.82550543e-01 7.66361161e+01] [ 6.06942092e-01 1.51874478e-02 7.94600930e-01 6.42518509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.370385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:150.85, Y:76.66, Z:64.27 [[ 2.46607320e-01 -9.54806340e-01 -1.65920712e-01 1.50846953e+02] [ 7.54660290e-01 2.96613579e-01 -5.85242028e-01 7.66593587e+01] [ 6.08007135e-01 1.91111956e-02 7.93701509e-01 6.42678625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:76.69, Z:64.26 [[ 2.45015278e-01 -9.58614842e-01 -1.45000337e-01 1.50842334e+02] [ 7.63088377e-01 2.82933214e-01 -5.81072220e-01 7.66940486e+01] [ 5.98049866e-01 3.17235002e-02 8.00830804e-01 6.42624155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.430385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:150.85, Y:76.72, Z:64.28 [[ 2.45639417e-01 -9.57940330e-01 -1.48363072e-01 1.50851643e+02] [ 7.62828776e-01 2.85463828e-01 -5.80174681e-01 7.67161862e+01] [ 5.98125016e-01 2.93381496e-02 8.00865618e-01 6.42803364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.88, Y:76.71, Z:64.33 [[ 2.49023676e-01 -9.47624294e-01 -1.99988514e-01 1.50882104e+02] [ 7.52469766e-01 3.19309714e-01 -5.76047357e-01 7.67100386e+01] [ 6.09734746e-01 -7.03588022e-03 7.92574310e-01 6.43281150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.490385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.88, Y:76.74, Z:64.34 [[ 2.49973332e-01 -9.52520774e-01 -1.73831837e-01 1.50878823e+02] [ 7.53298944e-01 3.04112568e-01 -5.83143419e-01 7.67405232e+01] [ 6.08320668e-01 1.48229643e-02 7.93552925e-01 6.43356078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.520385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:150.89, Y:76.76, Z:64.35 [[ 2.51050033e-01 -9.52758202e-01 -1.70955226e-01 1.50886148e+02] [ 7.52059936e-01 3.03174844e-01 -5.85227193e-01 7.67626429e+01] [ 6.09409332e-01 1.83527300e-02 7.92643327e-01 6.43504927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.550385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:150.89, Y:76.78, Z:64.37 [[ 2.51465402e-01 -9.52656406e-01 -1.70912037e-01 1.50893478e+02] [ 7.51426722e-01 3.03460743e-01 -5.85892020e-01 7.67831635e+01] [ 6.10018879e-01 1.89037007e-02 7.92161358e-01 6.43668407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.580385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:150.90, Y:76.80, Z:64.38 [[ 2.52351897e-01 -9.52418738e-01 -1.70930010e-01 1.50902526e+02] [ 7.50440504e-01 3.04148371e-01 -5.86798789e-01 7.68030452e+01] [ 6.10866246e-01 1.98069854e-02 7.91486016e-01 6.43834030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.610385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.90, Y:76.84, Z:64.38 [[ 2.50480512e-01 -9.57236726e-01 -1.44766581e-01 1.50899129e+02] [ 7.55364748e-01 2.86767645e-01 -5.89226964e-01 7.68398839e+01] [ 6.05544062e-01 3.82383001e-02 7.94892585e-01 6.43820376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.640385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:150.93, Y:76.84, Z:64.42 [[ 2.52585561e-01 -9.48660743e-01 -1.90376810e-01 1.50925263e+02] [ 7.50062129e-01 3.16271154e-01 -5.80843662e-01 7.68377840e+01] [ 6.11234273e-01 3.91828669e-03 7.91440023e-01 6.44229874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.670385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:150.92, Y:76.87, Z:64.43 [[ 2.53254830e-01 -9.52301778e-01 -1.70244867e-01 1.50924106e+02] [ 7.50536787e-01 3.04450641e-01 -5.86518830e-01 7.68662105e+01] [ 6.10374083e-01 2.07636910e-02 7.91841113e-01 6.44323548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.700385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:150.93, Y:76.89, Z:64.45 [[ 2.53961953e-01 -9.52164824e-01 -1.69957272e-01 1.50931742e+02] [ 7.50504656e-01 3.04837555e-01 -5.86358957e-01 7.68866680e+01] [ 6.10119733e-01 2.13591416e-02 7.92021274e-01 6.44478962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.730385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.94, Y:76.91, Z:64.46 [[ 2.54148597e-01 -9.52158537e-01 -1.69713321e-01 1.50940184e+02] [ 7.50481478e-01 3.04835724e-01 -5.86389574e-01 7.69061453e+01] [ 6.10070522e-01 2.16633829e-02 7.92050918e-01 6.44639399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.760385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:150.95, Y:76.93, Z:64.48 [[ 2.53204462e-01 -9.52440761e-01 -1.69540842e-01 1.50946607e+02] [ 7.50619136e-01 3.03979601e-01 -5.86657749e-01 7.69282951e+01] [ 6.10293710e-01 2.12837591e-02 7.91889253e-01 6.44789572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.790385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:150.95, Y:76.95, Z:64.50 [[ 2.54143070e-01 -9.52257775e-01 -1.69163915e-01 1.50954608e+02] [ 7.50789445e-01 3.04504048e-01 -5.86167634e-01 7.69479397e+01] [ 6.09693783e-01 2.19639599e-02 7.92332680e-01 6.44966027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82038572300002 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:150.96, Y:76.97, Z:64.51 [[ 2.55167598e-01 -9.52055583e-01 -1.68759191e-01 1.50963081e+02] [ 7.51014431e-01 3.05083248e-01 -5.85577951e-01 7.69668846e+01] [ 6.08988359e-01 2.26799316e-02 7.92854841e-01 6.45128700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85038572300002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:150.97, Y:76.99, Z:64.53 [[ 2.55243953e-01 -9.52105430e-01 -1.68362037e-01 1.50969829e+02] [ 7.51493120e-01 3.04918138e-01 -5.85049588e-01 7.69879135e+01] [ 6.08365528e-01 2.28074570e-02 7.93329190e-01 6.45290351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:150.98, Y:77.01, Z:64.55 [[ 2.56130796e-01 -9.51943235e-01 -1.67931811e-01 1.50977926e+02] [ 7.51842749e-01 3.05378207e-01 -5.84360019e-01 7.70079119e+01] [ 6.07560282e-01 2.34142822e-02 7.93928382e-01 6.45451180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91038572300002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.99, Y:77.03, Z:64.56 [[ 2.56724546e-01 -9.51838674e-01 -1.67617558e-01 1.50986231e+02] [ 7.51906987e-01 3.05664245e-01 -5.84127771e-01 7.70276977e+01] [ 6.07230097e-01 2.39271239e-02 7.94165664e-01 6.45606924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:150.99, Y:77.05, Z:64.58 [[ 2.56677289e-01 -9.51906639e-01 -1.67303678e-01 1.50993388e+02] [ 7.52143967e-01 3.05443089e-01 -5.83938330e-01 7.70485848e+01] [ 6.06956525e-01 2.40472558e-02 7.94371139e-01 6.45773500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.970385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:151.00, Y:77.07, Z:64.59 [[ 2.56061576e-01 -9.52102861e-01 -1.67130525e-01 1.51000053e+02] [ 7.52182237e-01 3.04844113e-01 -5.84201976e-01 7.70695088e+01] [ 6.07169129e-01 2.38790666e-02 7.94213724e-01 6.45927264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:151.01, Y:77.09, Z:64.61 [[ 2.55443984e-01 -9.52312452e-01 -1.66881292e-01 1.51008409e+02] [ 7.52409869e-01 3.04204445e-01 -5.84242283e-01 7.70884702e+01] [ 6.07147231e-01 2.36780456e-02 7.94236482e-01 6.46086651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.02, Y:77.11, Z:64.62 [[ 2.54689571e-01 -9.52540661e-01 -1.66731856e-01 1.51015614e+02] [ 7.52407643e-01 3.03507345e-01 -5.84607587e-01 7.71090234e+01] [ 6.07466840e-01 2.34431324e-02 7.93999029e-01 6.46246321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.02, Y:77.13, Z:64.64 [[ 2.53067228e-01 -9.53016423e-01 -1.66483261e-01 1.51023833e+02] [ 7.53002409e-01 3.02076147e-01 -5.84583077e-01 7.71290270e+01] [ 6.07407895e-01 2.25765219e-02 7.94069235e-01 6.46402617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.090385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:151.03, Y:77.15, Z:64.66 [[ 2.51070623e-01 -9.53598101e-01 -1.66175220e-01 1.51031968e+02] [ 7.54030286e-01 3.00323523e-01 -5.84161031e-01 7.71490578e+01] [ 6.06961177e-01 2.13645249e-02 7.94444263e-01 6.46555887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.04, Y:77.17, Z:64.67 [[ 2.49836835e-01 -9.53979177e-01 -1.65847175e-01 1.51039083e+02] [ 7.54719998e-01 2.99157292e-01 -5.83868683e-01 7.71698006e+01] [ 6.06612958e-01 2.07037243e-02 7.94727674e-01 6.46716539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.04, Y:77.19, Z:64.69 [[ 2.49576599e-01 -9.54084258e-01 -1.65634388e-01 1.51044925e+02] [ 7.54806374e-01 2.98821344e-01 -5.83929057e-01 7.71912235e+01] [ 6.06612611e-01 2.07131366e-02 7.94727693e-01 6.46883263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:77.21, Z:64.71 [[ 2.48219422e-01 -9.54497090e-01 -1.65294960e-01 1.51051968e+02] [ 7.55639561e-01 2.97553369e-01 -5.83498798e-01 7.72119912e+01] [ 6.06131977e-01 1.99323233e-02 7.95114287e-01 6.47050790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:77.23, Z:64.72 [[ 2.45184927e-01 -9.55369405e-01 -1.64783649e-01 1.51060171e+02] [ 7.57441121e-01 2.94864088e-01 -5.82527353e-01 7.72311258e+01] [ 6.05117592e-01 1.80130143e-02 7.95932303e-01 6.47208709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.07, Y:77.25, Z:64.74 [[ 2.43630961e-01 -9.55810055e-01 -1.64532955e-01 1.51067202e+02] [ 7.57986200e-01 2.93481025e-01 -5.82516788e-01 7.72515135e+01] [ 6.05062704e-01 1.72054157e-02 7.95991896e-01 6.47378201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:77.27, Z:64.75 [[ 2.41869103e-01 -9.56295655e-01 -1.64310553e-01 1.51074241e+02] [ 7.58518296e-01 2.91947963e-01 -5.82594526e-01 7.72712388e+01] [ 6.05102745e-01 1.62790543e-02 7.95980942e-01 6.47540477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:77.29, Z:64.77 [[ 2.41421762e-01 -9.56458969e-01 -1.64017601e-01 1.51080320e+02] [ 7.58823603e-01 2.91419189e-01 -5.82461669e-01 7.72922328e+01] [ 6.04898563e-01 1.61584952e-02 7.96138575e-01 6.47697628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:77.31, Z:64.79 [[ 2.40758395e-01 -9.56662686e-01 -1.63804461e-01 1.51086376e+02] [ 7.59004086e-01 2.90762527e-01 -5.82554677e-01 7.73132302e+01] [ 6.04936520e-01 1.59266740e-02 7.96114406e-01 6.47852471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:77.33, Z:64.80 [[ 2.38815260e-01 -9.57201338e-01 -1.63501895e-01 1.51092587e+02] [ 7.59803168e-01 2.89041679e-01 -5.82369345e-01 7.73336912e+01] [ 6.04703579e-01 1.48494286e-02 7.96312173e-01 6.48001500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.390385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.10, Y:77.35, Z:64.82 [[ 2.37298601e-01 -9.57639475e-01 -1.63144139e-01 1.51099379e+02] [ 7.60639841e-01 2.87628935e-01 -5.81976484e-01 7.73544500e+01] [ 6.04248630e-01 1.40082731e-02 7.96672682e-01 6.48162256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.11, Y:77.37, Z:64.83 [[ 2.33489170e-01 -9.58633309e-01 -1.62803522e-01 1.51107251e+02] [ 7.62148180e-01 2.84402807e-01 -5.81588510e-01 7.73745860e+01] [ 6.03831896e-01 1.17142109e-02 7.97025607e-01 6.48330866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:77.39, Z:64.85 [[ 2.31550656e-01 -9.59152524e-01 -1.62513780e-01 1.51113789e+02] [ 7.62924067e-01 2.82689296e-01 -5.81406596e-01 7.73947040e+01] [ 6.03598510e-01 1.06394051e-02 7.97217437e-01 6.48494530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:77.42, Z:64.87 [[ 2.28561535e-01 -9.59972746e-01 -1.61901053e-01 1.51120890e+02] [ 7.64923543e-01 2.79956823e-01 -5.80100121e-01 7.74156441e+01] [ 6.02205611e-01 8.74664743e-03 7.98293116e-01 6.48657127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:77.44, Z:64.88 [[ 2.27404150e-01 -9.60303207e-01 -1.61570738e-01 1.51127319e+02] [ 7.65596419e-01 2.78839553e-01 -5.79750487e-01 7.74371168e+01] [ 6.01788564e-01 8.13968847e-03 7.98613968e-01 6.48820981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:77.46, Z:64.90 [[ 2.25438258e-01 -9.60812239e-01 -1.61299204e-01 1.51134997e+02] [ 7.66334744e-01 2.77110190e-01 -5.79604178e-01 7.74578288e+01] [ 6.01588441e-01 7.05577234e-03 7.98775040e-01 6.48981334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:77.48, Z:64.91 [[ 2.24573383e-01 -9.61051338e-01 -1.61081101e-01 1.51141189e+02] [ 7.66567673e-01 2.76288608e-01 -5.79688372e-01 7.74783745e+01] [ 6.01615159e-01 6.70301424e-03 7.98757955e-01 6.49141294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:77.50, Z:64.93 [[ 2.24114409e-01 -9.61194322e-01 -1.60867049e-01 1.51148149e+02] [ 7.66639865e-01 2.75792746e-01 -5.79829009e-01 7.74988732e+01] [ 6.01694316e-01 6.62094301e-03 7.98699013e-01 6.49302766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:77.52, Z:64.95 [[ 2.24199252e-01 -9.61198681e-01 -1.60722713e-01 1.51154536e+02] [ 7.66391608e-01 2.75770796e-01 -5.80167537e-01 7.75196080e+01] [ 6.01978902e-01 6.89658900e-03 7.98482209e-01 6.49468195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:77.54, Z:64.96 [[ 2.24645665e-01 -9.61101022e-01 -1.60683387e-01 1.51161172e+02] [ 7.65710837e-01 2.76096255e-01 -5.80911156e-01 7.75392798e+01] [ 6.02678387e-01 7.46216230e-03 7.97949295e-01 6.49623834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:77.56, Z:64.98 [[ 2.24699469e-01 -9.61114373e-01 -1.60528222e-01 1.51167549e+02] [ 7.65451608e-01 2.76042225e-01 -5.81278355e-01 7.75608226e+01] [ 6.02987550e-01 7.73635152e-03 7.97713084e-01 6.49783578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:77.57, Z:64.99 [[ 2.21577246e-01 -9.59838820e-01 -1.72084178e-01 1.51172188e+02] [ 7.64636806e-01 2.80535740e-01 -5.80198460e-01 7.75744971e+01] [ 6.05172767e-01 -3.02311904e-03 7.96088426e-01 6.49949495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:77.61, Z:65.00 [[ 2.25129991e-01 -9.64235667e-01 -1.39878756e-01 1.51172681e+02] [ 7.64003320e-01 2.63798092e-01 -5.88820426e-01 7.76107027e+01] [ 6.04661405e-01 2.56933029e-02 7.96068112e-01 6.50016389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:77.61, Z:65.03 [[ 2.21039150e-01 -9.59056206e-01 -1.77067469e-01 1.51186963e+02] [ 7.63376265e-01 2.83133331e-01 -5.80596412e-01 7.76134400e+01] [ 6.06958295e-01 -6.83456524e-03 7.94704296e-01 6.50284455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:77.65, Z:65.03 [[ 2.25037801e-01 -9.65129844e-01 -1.33724988e-01 1.51183984e+02] [ 7.63500420e-01 2.59936731e-01 -5.91185254e-01 7.76540593e+01] [ 6.05330569e-01 3.09399452e-02 7.95372631e-01 6.50310902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:77.65, Z:65.06 [[ 2.20087898e-01 -9.59091000e-01 -1.78061142e-01 1.51200641e+02] [ 7.64428606e-01 2.82966693e-01 -5.79291599e-01 7.76527546e+01] [ 6.05978732e-01 -8.61996055e-03 7.95434141e-01 6.50618485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:77.69, Z:65.07 [[ 2.20535022e-01 -9.64299135e-01 -1.46599735e-01 1.51195143e+02] [ 7.65727830e-01 2.64265360e-01 -5.86365680e-01 7.76858549e+01] [ 6.04173150e-01 1.70586711e-02 7.96670451e-01 6.50666710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:77.72, Z:65.08 [[ 2.25770614e-01 -9.65279350e-01 -1.31390283e-01 1.51203462e+02] [ 7.65692738e-01 2.59215408e-01 -5.88661196e-01 7.77154683e+01] [ 6.02280882e-01 3.22978144e-02 7.97630610e-01 6.50811431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:77.73, Z:65.09 [[ 2.19953834e-01 -9.63613265e-01 -1.51887412e-01 1.51206157e+02] [ 7.69893692e-01 2.67092223e-01 -5.79590758e-01 7.77272249e+01] [ 5.99069290e-01 1.05460486e-02 8.00627733e-01 6.50941360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.960385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:151.21, Y:77.75, Z:65.11 [[ 2.21630254e-01 -9.64301421e-01 -1.44923431e-01 1.51208034e+02] [ 7.69022370e-01 2.64224711e-01 -5.82056609e-01 7.77497678e+01] [ 5.99570367e-01 1.75519934e-02 8.00129554e-01 6.51071161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:77.78, Z:65.12 [[ 2.18706170e-01 -9.66497041e-01 -1.34354310e-01 1.51209287e+02] [ 7.68053605e-01 2.55433669e-01 -5.87237005e-01 7.77779108e+01] [ 6.01881442e-01 2.52410438e-02 7.98186457e-01 6.51204732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:77.80, Z:65.14 [[ 2.18028968e-01 -9.67222916e-01 -1.30166050e-01 1.51214023e+02] [ 7.65945547e-01 2.52240524e-01 -5.91356184e-01 7.78036558e+01] [ 6.04806405e-01 2.92326723e-02 7.95835827e-01 6.51384284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.23, Y:77.82, Z:65.16 [[ 2.19401546e-01 -9.64299149e-01 -1.48290637e-01 1.51226728e+02] [ 7.65531107e-01 2.64380254e-01 -5.86570717e-01 7.78154236e+01] [ 6.04834760e-01 1.51734266e-02 7.96206431e-01 6.51618241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.23, Y:77.84, Z:65.18 [[ 2.19582750e-01 -9.64460136e-01 -1.46969593e-01 1.51229827e+02] [ 7.65613848e-01 2.63723913e-01 -5.86758156e-01 7.78352388e+01] [ 6.04664248e-01 1.63200139e-02 7.96313258e-01 6.51765720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:77.86, Z:65.19 [[ 2.20256308e-01 -9.65645329e-01 -1.37899447e-01 1.51231093e+02] [ 7.64638948e-01 2.58700016e-01 -5.90255521e-01 7.78593582e+01] [ 6.05652076e-01 2.45642138e-02 7.95350339e-01 6.51904094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.24, Y:77.87, Z:65.21 [[ 2.24399920e-01 -9.61316651e-01 -1.59734070e-01 1.51242997e+02] [ 7.64492597e-01 2.75308707e-01 -5.82886083e-01 7.78687276e+01] [ 6.04314277e-01 8.68407602e-03 7.96698714e-01 6.52135645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:77.90, Z:65.23 [[ 2.26130915e-01 -9.63037559e-01 -1.46367581e-01 1.51244908e+02] [ 7.62065443e-01 2.68491907e-01 -5.89209943e-01 7.78953876e+01] [ 6.06729816e-01 2.16969077e-02 7.94611965e-01 6.52298163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.24, Y:77.92, Z:65.24 [[ 2.25813831e-01 -9.64990744e-01 -1.33420301e-01 1.51244780e+02] [ 7.63599881e-01 2.60380061e-01 -5.90861613e-01 7.79229190e+01] [ 6.04915974e-01 3.15449985e-02 7.95664237e-01 6.52391999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:77.94, Z:65.26 [[ 2.24904137e-01 -9.63839481e-01 -1.42939091e-01 1.51255852e+02] [ 7.59996263e-01 2.65326722e-01 -5.93302124e-01 7.79414685e+01] [ 6.09773572e-01 2.48029276e-02 7.92187481e-01 6.52643886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:77.92, Z:65.34 [[ 2.25171139e-01 -9.45746413e-01 -2.34225706e-01 1.51298351e+02] [ 7.46987809e-01 3.21915233e-01 -5.81704218e-01 7.79172261e+01] [ 6.25545500e-01 -4.39807455e-02 7.78947060e-01 6.53415704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:77.98, Z:65.31 [[ 2.25203412e-01 -9.65908630e-01 -1.27686890e-01 1.51266600e+02] [ 7.51309241e-01 2.55601345e-01 -6.08442583e-01 7.79840091e+01] [ 6.20336882e-01 4.10910052e-02 7.83258375e-01 6.53112893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.27, Y:78.00, Z:65.32 [[ 2.23387478e-01 -9.64640876e-01 -1.39878570e-01 1.51274358e+02] [ 7.56113154e-01 2.62055088e-01 -5.99683274e-01 7.80005992e+01] [ 6.15134890e-01 2.81977074e-02 7.87917480e-01 6.53216218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:78.02, Z:65.34 [[ 2.20872983e-01 -9.63906546e-01 -1.48658323e-01 1.51284199e+02] [ 7.58841355e-01 2.65594782e-01 -5.94658902e-01 7.80177913e+01] [ 6.12678483e-01 1.85360022e-02 7.90114861e-01 6.53398474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:151.29, Y:78.04, Z:65.35 [[ 2.20027673e-01 -9.64685750e-01 -1.44807549e-01 1.51288616e+02] [ 7.61903959e-01 2.62647895e-01 -5.92045979e-01 7.80420591e+01] [ 6.09171717e-01 1.99370543e-02 7.92787697e-01 6.53511442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41038572300002 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:151.29, Y:78.07, Z:65.36 [[ 2.21032611e-01 -9.66438456e-01 -1.30924768e-01 1.51292546e+02] [ 7.61347225e-01 2.54886482e-01 -5.96140323e-01 7.80711328e+01] [ 6.09503887e-01 3.20872437e-02 7.92133462e-01 6.53641847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:78.07, Z:65.40 [[ 2.17731231e-01 -9.58515661e-01 -1.83958798e-01 1.51315201e+02] [ 7.62744517e-01 2.84701447e-01 -5.80659873e-01 7.80663900e+01] [ 6.08944917e-01 -1.38857759e-02 7.93090961e-01 6.53990475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:78.10, Z:65.40 [[ 2.18264337e-01 -9.64247764e-01 -1.50289481e-01 1.51309541e+02] [ 7.62744470e-01 2.64623718e-01 -5.90080639e-01 7.81016365e+01] [ 6.08754099e-01 1.41610888e-02 7.93232571e-01 6.54043421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:78.11, Z:65.44 [[ 2.18655216e-01 -9.60213038e-01 -1.73726271e-01 1.51325908e+02] [ 7.58381702e-01 2.79252738e-01 -5.88961037e-01 7.81114877e+01] [ 6.14041604e-01 -2.97142188e-03 7.89268066e-01 6.54373872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:78.15, Z:65.44 [[ 2.18343737e-01 -9.64768539e-01 -1.46791276e-01 1.51321301e+02] [ 7.59876933e-01 2.62462089e-01 -5.94727415e-01 7.81455955e+01] [ 6.12301444e-01 1.83117016e-02 7.90412312e-01 6.54404638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:78.13, Z:65.51 [[ 2.17697490e-01 -9.48491434e-01 -2.30156040e-01 1.51359259e+02] [ 7.48907712e-01 3.13551094e-01 -5.83800438e-01 7.81288578e+01] [ 6.25895392e-01 -4.52737432e-02 7.78591835e-01 6.55091916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:78.22, Z:65.45 [[ 2.16920826e-01 -9.72872254e-01 -8.04048033e-02 1.51309421e+02] [ 7.61625401e-01 2.20189289e-01 -6.09461586e-01 7.82211125e+01] [ 6.10632544e-01 7.09665703e-02 7.88727863e-01 6.54456185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:78.19, Z:65.52 [[ 2.14289726e-01 -9.55376488e-01 -2.03311779e-01 1.51361666e+02] [ 7.56614288e-01 2.93995758e-01 -5.84038795e-01 7.81876943e+01] [ 6.17749733e-01 -2.86750830e-02 7.85851772e-01 6.55165029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:78.22, Z:65.53 [[ 2.13818895e-01 -9.61251937e-01 -1.74000555e-01 1.51358945e+02] [ 7.55496446e-01 2.75636684e-01 -5.94347995e-01 7.82202022e+01] [ 6.19279097e-01 -4.37396898e-03 7.85158754e-01 6.55254129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:78.24, Z:65.54 [[ 2.11190226e-01 -9.62574299e-01 -1.69851130e-01 1.51364548e+02] [ 7.55598622e-01 2.71007326e-01 -5.96343652e-01 7.82421921e+01] [ 6.20055974e-01 -2.39732904e-03 7.84553913e-01 6.55427979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:78.27, Z:65.55 [[ 2.09219911e-01 -9.65834770e-01 -1.52938636e-01 1.51363543e+02] [ 7.59214538e-01 2.59008901e-01 -5.97082637e-01 7.82717815e+01] [ 6.16295639e-01 8.80834061e-03 7.87465617e-01 6.55498577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:78.29, Z:65.57 [[ 2.08989907e-01 -9.63785202e-01 -1.65654167e-01 1.51374882e+02] [ 7.60461310e-01 2.66670416e-01 -5.92102596e-01 7.82891919e+01] [ 6.14834786e-01 -2.23011887e-03 7.88652783e-01 6.55721119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:78.32, Z:65.58 [[ 2.09604567e-01 -9.65897549e-01 -1.52012664e-01 1.51374517e+02] [ 7.61614462e-01 2.58776491e-01 -5.94119634e-01 7.83165603e+01] [ 6.13196002e-01 8.75514524e-03 7.89882277e-01 6.55814974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:78.33, Z:65.60 [[ 2.08923811e-01 -9.63505610e-01 -1.67355256e-01 1.51385790e+02] [ 7.63584955e-01 2.67641056e-01 -5.87627673e-01 7.83337029e+01] [ 6.10973697e-01 -5.02054202e-03 7.91634977e-01 6.56046349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.39, Y:78.36, Z:65.62 [[ 2.09096647e-01 -9.65200186e-01 -1.57057929e-01 1.51387105e+02] [ 7.65704729e-01 2.61499094e-01 -5.87634659e-01 7.83621263e+01] [ 6.08255588e-01 2.61243823e-03 7.93736930e-01 6.56154092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:78.38, Z:65.63 [[ 2.08809330e-01 -9.64570673e-01 -1.61251605e-01 1.51393874e+02] [ 7.66709160e-01 2.63820769e-01 -5.85282552e-01 7.83828178e+01] [ 6.07087908e-01 -1.42062566e-03 7.94633409e-01 6.56319889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:78.41, Z:65.64 [[ 2.08065207e-01 -9.65752060e-01 -1.55022027e-01 1.51396581e+02] [ 7.68367469e-01 2.59453487e-01 -5.85060101e-01 7.84095833e+01] [ 6.05244003e-01 2.61676900e-03 7.96035709e-01 6.56436138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:78.43, Z:65.66 [[ 2.08361298e-01 -9.65413492e-01 -1.56723829e-01 1.51402072e+02] [ 7.68797572e-01 2.60720919e-01 -5.83930558e-01 7.84324231e+01] [ 6.04595620e-01 1.17962974e-03 7.96531698e-01 6.56593248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.41, Y:78.44, Z:65.69 [[ 2.06203906e-01 -9.61114519e-01 -1.83681328e-01 1.51412208e+02] [ 7.65386962e-01 2.75377473e-01 -5.81678645e-01 7.84389033e+01] [ 6.09641491e-01 -2.06428848e-02 7.92408433e-01 6.56881325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:78.50, Z:65.67 [[ 2.06720351e-01 -9.71578476e-01 -1.15334129e-01 1.51393170e+02] [ 7.71151454e-01 2.34345468e-01 -5.91952394e-01 7.84970661e+01] [ 6.02156235e-01 3.34285249e-02 7.97678132e-01 6.56701066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.010385723 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:151.41, Y:78.50, Z:65.70 [[ 2.04908379e-01 -9.65587318e-01 -1.60167685e-01 1.51414822e+02] [ 7.70134197e-01 2.60048352e-01 -5.82467315e-01 7.85037756e+01] [ 6.04074395e-01 -3.99817869e-03 7.96917900e-01 6.56986018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.040385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:151.41, Y:78.54, Z:65.70 [[ 2.01852465e-01 -9.68954394e-01 -1.42768923e-01 1.51411385e+02] [ 7.72379107e-01 2.47115317e-01 -5.85119248e-01 7.85354778e+01] [ 6.02234254e-01 7.83602912e-03 7.98280966e-01 6.57035282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:78.55, Z:65.72 [[ 1.98717872e-01 -9.68060434e-01 -1.52873158e-01 1.51418176e+02] [ 7.73666080e-01 2.50703041e-01 -5.81883822e-01 7.85495909e+01] [ 6.01624471e-01 -2.64206149e-03 7.98774696e-01 6.57235917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:78.57, Z:65.74 [[ 1.98553182e-01 -9.69044633e-01 -1.46728091e-01 1.51421392e+02] [ 7.73035831e-01 2.46871915e-01 -5.84354226e-01 7.85733539e+01] [ 6.02488372e-01 2.59931912e-03 7.98123428e-01 6.57387552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13038572300002 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:151.44, Y:78.58, Z:65.76 [[ 1.96946703e-01 -9.65880199e-01 -1.68188699e-01 1.51437264e+02] [ 7.72357056e-01 2.58517023e-01 -5.80201281e-01 7.85848862e+01] [ 6.03884570e-01 -1.56329992e-02 7.96918462e-01 6.57628539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16038572300002 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:151.43, Y:78.62, Z:65.77 [[ 1.90624529e-01 -9.72431329e-01 -1.34311578e-01 1.51426041e+02] [ 7.73203518e-01 2.33031593e-01 -5.89790298e-01 7.86246008e+01] [ 6.04829404e-01 8.57831353e-03 7.96308862e-01 6.57713693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:78.59, Z:65.84 [[ 1.91376873e-01 -9.55801189e-01 -2.23201657e-01 1.51462544e+02] [ 7.64570017e-01 2.87768035e-01 -5.76734121e-01 7.85937005e+01] [ 6.15473461e-01 -6.02797221e-02 7.85849078e-01 6.58423556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:78.68, Z:65.80 [[ 1.86948185e-01 -9.77478362e-01 -9.79103051e-02 1.51420161e+02] [ 7.76001488e-01 2.08056356e-01 -5.95427782e-01 7.86781448e+01] [ 6.02388634e-01 3.53356008e-02 7.97420422e-01 6.57960900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.250385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:151.47, Y:78.64, Z:65.87 [[ 1.87480640e-01 -9.59050677e-01 -2.12303575e-01 1.51466942e+02] [ 7.67392467e-01 2.77923667e-01 -5.77812459e-01 7.86427757e+01] [ 6.13155618e-01 -5.45915141e-02 7.88073572e-01 6.58706713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:151.45, Y:78.68, Z:65.87 [[ 1.87755545e-01 -9.69187596e-01 -1.59446726e-01 1.51450192e+02] [ 7.67100030e-01 2.46074697e-01 -5.92456571e-01 7.86849893e+01] [ 6.13437364e-01 -1.10745816e-02 7.89665723e-01 6.58676793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.45, Y:78.70, Z:65.88 [[ 1.88401801e-01 -9.69104741e-01 -1.59187818e-01 1.51454031e+02] [ 7.67024621e-01 2.46426369e-01 -5.92408032e-01 7.87047666e+01] [ 6.13333508e-01 -1.04902359e-02 7.89754369e-01 6.58844711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.340385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:151.44, Y:78.76, Z:65.87 [[ 1.86161300e-01 -9.75478879e-01 -1.17409228e-01 1.51442275e+02] [ 7.72645188e-01 2.19164075e-01 -5.95807454e-01 7.87565207e+01] [ 6.06929472e-01 2.02006157e-02 7.94498931e-01 6.58722117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.370385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:151.46, Y:78.76, Z:65.91 [[ 1.86184888e-01 -9.68358639e-01 -1.66182830e-01 1.51464982e+02] [ 7.73623385e-01 2.48755276e-01 -5.82775832e-01 7.87573863e+01] [ 6.05674867e-01 -2.00588703e-02 7.95459362e-01 6.59062021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.400385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:151.47, Y:78.76, Z:65.94 [[ 1.87230290e-01 -9.63104740e-01 -1.93323766e-01 1.51474345e+02] [ 7.67096349e-01 2.66283188e-01 -5.83657823e-01 7.87597250e+01] [ 6.13602485e-01 -3.90195314e-02 7.88650408e-01 6.59423209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:151.46, Y:78.79, Z:65.95 [[ 1.87490284e-01 -9.69391993e-01 -1.58513587e-01 1.51464926e+02] [ 7.67182875e-01 2.45294019e-01 -5.92672997e-01 7.87935553e+01] [ 6.13414892e-01 -1.04884811e-02 7.89691181e-01 6.59477184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.47, Y:78.81, Z:65.96 [[ 1.87552622e-01 -9.69451206e-01 -1.58077113e-01 1.51468261e+02] [ 7.67810704e-01 2.45065749e-01 -5.91953969e-01 7.88134777e+01] [ 6.12609775e-01 -1.03507808e-02 7.90317737e-01 6.59639747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.47, Y:78.84, Z:65.98 [[ 1.87094741e-01 -9.69640510e-01 -1.57457418e-01 1.51469654e+02] [ 7.69104231e-01 2.44304744e-01 -5.90587736e-01 7.88356261e+01] [ 6.11125388e-01 -1.06053065e-02 7.91462752e-01 6.59807818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:78.86, Z:66.00 [[ 1.86106957e-01 -9.69919148e-01 -1.56910955e-01 1.51470385e+02] [ 7.70332929e-01 2.43170776e-01 -5.89453266e-01 7.88572657e+01] [ 6.09878168e-01 -1.11723217e-02 7.92416431e-01 6.59969305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:78.91, Z:65.98 [[ 1.81089664e-01 -9.78568753e-01 -9.80292216e-02 1.51448640e+02] [ 7.82597277e-01 2.03751678e-01 -5.88240390e-01 7.89126267e+01] [ 5.95607283e-01 2.98068528e-02 8.02722565e-01 6.59755560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.47, Y:78.92, Z:66.01 [[ 1.82230301e-01 -9.72062611e-01 -1.47940518e-01 1.51471830e+02] [ 7.82991819e-01 2.34471057e-01 -5.76148536e-01 7.89170451e+01] [ 5.94740220e-01 -1.08444946e-02 8.03844803e-01 6.60101729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.610385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:151.46, Y:78.95, Z:66.00 [[ 1.80210696e-01 -9.76490292e-01 -1.18282772e-01 1.51460416e+02] [ 7.89368884e-01 2.15318106e-01 -5.74921628e-01 7.89520648e+01] [ 5.86873811e-01 1.02382871e-02 8.09613678e-01 6.60040543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.640385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:151.48, Y:78.95, Z:66.04 [[ 1.84400586e-01 -9.69414006e-01 -1.61965767e-01 1.51481984e+02] [ 7.82725581e-01 2.44510617e-01 -5.72324404e-01 7.89544627e+01] [ 5.94421643e-01 -2.12377936e-02 8.03873041e-01 6.60449338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.670385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:151.46, Y:79.00, Z:66.04 [[ 1.80636507e-01 -9.76494161e-01 -1.17599347e-01 1.51463780e+02] [ 7.87447894e-01 2.15224468e-01 -5.77584836e-01 7.89989292e+01] [ 5.89318476e-01 1.17295491e-02 8.07815667e-01 6.60387901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.700385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:151.48, Y:79.01, Z:66.07 [[ 1.82926366e-01 -9.72111069e-01 -1.46758354e-01 1.51477325e+02] [ 7.83833441e-01 2.34314446e-01 -5.75066845e-01 7.90074859e+01] [ 5.93416448e-01 -9.83921706e-03 8.04835455e-01 6.60656900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.730385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:151.49, Y:79.02, Z:66.10 [[ 1.82510854e-01 -9.69150282e-01 -1.65642742e-01 1.51487492e+02] [ 7.81669536e-01 2.45218209e-01 -5.73463832e-01 7.90237438e+01] [ 5.96391252e-01 -2.48145116e-02 8.02310236e-01 6.60962375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.760385723 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:151.50, Y:79.02, Z:66.14 [[ 1.85459486e-01 -9.61247888e-01 -2.03978621e-01 1.51503226e+02] [ 7.69912182e-01 2.71130414e-01 -5.77688091e-01 7.90198064e+01] [ 6.10606265e-01 -4.99078885e-02 7.90360166e-01 6.61446761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.790385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:151.49, Y:79.06, Z:66.15 [[ 1.85786243e-01 -9.70107049e-01 -1.56127466e-01 1.51488042e+02] [ 7.69353172e-01 2.42458153e-01 -5.91024315e-01 7.90587960e+01] [ 6.11211231e-01 -1.03129740e-02 7.91400324e-01 6.61458697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82038572300002 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:151.47, Y:79.11, Z:66.13 [[ 1.84675494e-01 -9.76598956e-01 -1.10224503e-01 1.51469071e+02] [ 7.76820531e-01 2.13751499e-01 -5.92334500e-01 7.91080884e+01] [ 6.02033907e-01 2.37650096e-02 7.98116783e-01 6.61336116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85038572300002 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:151.48, Y:79.12, Z:66.16 [[ 1.85005215e-01 -9.72955884e-01 -1.38310946e-01 1.51483126e+02] [ 7.78239670e-01 2.30990677e-01 -5.83940342e-01 7.91229150e+01] [ 6.00096731e-01 3.92943145e-04 7.99927346e-01 6.61557253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88038572300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:151.51, Y:79.11, Z:66.21 [[ 1.92204950e-01 -9.61597775e-01 -1.95925944e-01 1.51509069e+02] [ 7.66418772e-01 2.71777794e-01 -5.82012969e-01 7.91147947e+01] [ 6.12910697e-01 -3.82955477e-02 7.89223624e-01 6.62089106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:79.18, Z:66.19 [[ 1.93850086e-01 -9.74559536e-01 -1.12498242e-01 1.51475417e+02] [ 7.74548336e-01 2.22417060e-01 -5.92119520e-01 7.91752907e+01] [ 6.02077253e-01 2.76470938e-02 7.97959034e-01 6.61862075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.50, Y:79.18, Z:66.22 [[ 1.96584119e-01 -9.68644247e-01 -1.51930927e-01 1.51496084e+02] [ 7.72832590e-01 2.48438036e-01 -5.83959185e-01 7.91836732e+01] [ 6.03394127e-01 -2.62006996e-03 7.97438815e-01 6.62161729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.970385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.50, Y:79.20, Z:66.23 [[ 1.99250693e-01 -9.68443838e-01 -1.49718716e-01 1.51498496e+02] [ 7.71055273e-01 2.49228425e-01 -5.85968394e-01 7.92032458e+01] [ 6.04791640e-01 1.31320328e-03 7.96382664e-01 6.62317136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.52, Y:79.21, Z:66.27 [[ 2.01501415e-01 -9.63004637e-01 -1.78939234e-01 1.51515930e+02] [ 7.65440757e-01 2.68803229e-01 -5.84675356e-01 7.92092172e+01] [ 6.11144523e-01 -1.91544710e-02 7.91287229e-01 6.62716734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.030385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:151.51, Y:79.25, Z:66.27 [[ 2.02521482e-01 -9.68512868e-01 -1.44802876e-01 1.51506140e+02] [ 7.68402669e-01 2.48830329e-01 -5.89610723e-01 7.92472155e+01] [ 6.07076920e-01 8.14192135e-03 7.94601360e-01 6.62735879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.060385723 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:151.51, Y:79.27, Z:66.29 [[ 2.05208036e-01 -9.68708235e-01 -1.39620981e-01 1.51511300e+02] [ 7.67776974e-01 2.47804222e-01 -5.90856654e-01 7.92741670e+01] [ 6.06966375e-01 1.40507587e-02 7.94603295e-01 6.62883554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.090385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.53, Y:79.28, Z:66.32 [[ 2.02370646e-01 -9.61954439e-01 -1.83547756e-01 1.51529614e+02] [ 7.67318295e-01 2.72211271e-01 -5.80623508e-01 7.92765696e+01] [ 6.08497129e-01 -2.33383971e-02 7.93212811e-01 6.63172103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.53, Y:79.30, Z:66.33 [[ 2.01942964e-01 -9.66034837e-01 -1.61231925e-01 1.51525632e+02] [ 7.66496764e-01 2.58366469e-01 -5.87987651e-01 7.93042646e+01] [ 6.09673478e-01 -4.84377927e-03 7.92637867e-01 6.63308944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.150385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:151.52, Y:79.33, Z:66.34 [[ 2.00039106e-01 -9.68143099e-01 -1.50609747e-01 1.51523963e+02] [ 7.67379273e-01 2.50385030e-01 -5.90285005e-01 7.93294334e+01] [ 6.09190780e-01 2.50528618e-03 7.93019745e-01 6.63413815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.180385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.53, Y:79.35, Z:66.36 [[ 1.96722709e-01 -9.67055183e-01 -1.61568711e-01 1.51534345e+02] [ 7.68163632e-01 2.54423867e-01 -5.87531386e-01 7.93471429e+01] [ 6.09282208e-01 -8.53044188e-03 7.92907575e-01 6.63646404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.210385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:151.53, Y:79.37, Z:66.38 [[ 1.95053934e-01 -9.69707480e-01 -1.47042056e-01 1.51532165e+02] [ 7.69576583e-01 2.44261577e-01 -5.89989970e-01 7.93724471e+01] [ 6.08034411e-01 1.91974187e-03 7.93908351e-01 6.63756179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.240385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:151.54, Y:79.40, Z:66.39 [[ 1.90240356e-01 -9.70136587e-01 -1.50477939e-01 1.51539817e+02] [ 7.72245938e-01 2.42517643e-01 -5.87214956e-01 7.93956306e+01] [ 6.06172269e-01 -4.49399479e-03 7.95320681e-01 6.63913315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.270385723 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:151.55, Y:79.42, Z:66.41 [[ 1.92284840e-01 -9.71312304e-01 -1.39924794e-01 1.51546333e+02] [ 7.72919608e-01 2.37755650e-01 -5.88275047e-01 7.94229548e+01] [ 6.04666702e-01 4.96575568e-03 7.96463132e-01 6.64068323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.56, Y:79.42, Z:66.43 [[ 1.87573323e-01 -9.64408776e-01 -1.86365129e-01 1.51562285e+02] [ 7.72920028e-01 2.62001545e-01 -5.77883917e-01 7.94234282e+01] [ 6.06144273e-01 -3.56497339e-02 7.94555358e-01 6.64341497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.330385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.55, Y:79.46, Z:66.44 [[ 1.90927166e-01 -9.70578021e-01 -1.46714426e-01 1.51548871e+02] [ 7.71232566e-01 2.40785981e-01 -5.89255836e-01 7.94578995e+01] [ 6.07245540e-01 -6.45996502e-04 7.94513963e-01 6.64382367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.360385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.55, Y:79.48, Z:66.45 [[ 1.93089118e-01 -9.69473855e-01 -1.51119283e-01 1.51554996e+02] [ 7.70808976e-01 2.45176985e-01 -5.87998103e-01 7.94797788e+01] [ 6.07099758e-01 -2.94806516e-03 7.94620157e-01 6.64538101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.390385723 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:151.55, Y:79.51, Z:66.47 [[ 1.94070588e-01 -9.71297412e-01 -1.37542521e-01 1.51552836e+02] [ 7.68069525e-01 2.37668100e-01 -5.94628522e-01 7.95068684e+01] [ 6.10250614e-01 9.75768803e-03 7.92148330e-01 6.64678209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.420385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:151.57, Y:79.51, Z:66.49 [[ 2.00927253e-01 -9.63234647e-01 -1.78345883e-01 1.51573449e+02] [ 7.68103973e-01 2.67906199e-01 -5.81586241e-01 7.95128802e+01] [ 6.07983985e-01 -2.01316554e-02 7.93694016e-01 6.64922130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:79.55, Z:66.50 [[ 2.07220728e-01 -9.68538945e-01 -1.37811038e-01 1.51561046e+02] [ 7.67673663e-01 2.48305903e-01 -5.90780269e-01 7.95478785e+01] [ 6.06412993e-01 1.66280126e-02 7.94975969e-01 6.64970595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.480385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:151.57, Y:79.57, Z:66.51 [[ 2.11032874e-01 -9.65990465e-01 -1.49424054e-01 1.51571397e+02] [ 7.66549410e-01 2.58402162e-01 -5.87903330e-01 7.95671004e+01] [ 6.06520510e-01 9.52600898e-03 7.95010771e-01 6.65136635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.510385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.58, Y:79.59, Z:66.53 [[ 2.12159732e-01 -9.65715322e-01 -1.49606699e-01 1.51576460e+02] [ 7.64942748e-01 2.59385227e-01 -5.89560765e-01 7.95873431e+01] [ 6.08153632e-01 1.06404941e-02 7.93748033e-01 6.65325947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.56, Y:79.62, Z:66.53 [[ 2.11901705e-01 -9.70525314e-01 -1.14796697e-01 1.51564239e+02] [ 7.72653050e-01 2.38297306e-01 -5.88406032e-01 7.96223211e+01] [ 5.98418693e-01 3.59862238e-02 8.00374949e-01 6.65257102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:151.58, Y:79.64, Z:66.55 [[ 2.12820439e-01 -9.68647925e-01 -1.28174327e-01 1.51575018e+02] [ 7.72302368e-01 2.47119461e-01 -5.85218784e-01 7.96387274e+01] [ 5.98545331e-01 2.55571818e-02 8.00681158e-01 6.65454763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60038572300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:151.60, Y:79.64, Z:66.58 [[ 2.14962946e-01 -9.62604268e-01 -1.64875577e-01 1.51601244e+02] [ 7.66118971e-01 2.70909506e-01 -5.82811944e-01 7.96446178e+01] [ 6.05683625e-01 -1.03133537e-03 7.95704897e-01 6.65831282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63038572300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:151.60, Y:79.67, Z:66.60 [[ 2.15006662e-01 -9.64505466e-01 -1.53301475e-01 1.51603949e+02] [ 7.65062846e-01 2.63909188e-01 -5.87393210e-01 7.96692726e+01] [ 6.07001629e-01 9.00819103e-03 7.94649530e-01 6.66001998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.61, Y:79.69, Z:66.62 [[ 2.12692047e-01 -9.66047229e-01 -1.46679394e-01 1.51608343e+02] [ 7.66563907e-01 2.58056577e-01 -5.88036206e-01 7.96904272e+01] [ 6.05922330e-01 1.26314948e-02 7.95423520e-01 6.66171353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.690385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.61, Y:79.72, Z:66.63 [[ 2.12782071e-01 -9.67470563e-01 -1.36837498e-01 1.51612259e+02] [ 7.67882243e-01 2.52173835e-01 -5.88867742e-01 7.97161456e+01] [ 6.04219042e-01 2.02254130e-02 7.96561537e-01 6.66294643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.60, Y:79.75, Z:66.62 [[ 2.02735796e-01 -9.73170773e-01 -1.08797260e-01 1.51601793e+02] [ 7.77981937e-01 2.27545036e-01 -5.85634153e-01 7.97485056e+01] [ 5.94678318e-01 3.40867033e-02 8.03240807e-01 6.66218571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.750385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.64, Y:79.75, Z:66.67 [[ 2.05196438e-01 -9.65057927e-01 -1.62965086e-01 1.51636316e+02] [ 7.69885954e-01 2.61966703e-01 -5.81935619e-01 7.97477992e+01] [ 6.04293008e-01 -6.05341448e-03 7.96739177e-01 6.66676256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.780385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.63, Y:79.78, Z:66.67 [[ 2.02104627e-01 -9.71012316e-01 -1.27627592e-01 1.51629411e+02] [ 7.73067244e-01 2.38178239e-01 -5.87909995e-01 7.97816373e+01] [ 6.01265961e-01 2.01546194e-02 7.98794740e-01 6.66697471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:79.79, Z:66.70 [[ 2.05401049e-01 -9.66828007e-01 -1.51835486e-01 1.51650324e+02] [ 7.68645328e-01 2.55400673e-01 -5.86476646e-01 7.97939311e+01] [ 6.05800932e-01 3.75528147e-03 7.95607396e-01 6.67001227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.840385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:151.66, Y:79.82, Z:66.71 [[ 2.06427099e-01 -9.67083519e-01 -1.48786157e-01 1.51657848e+02] [ 7.67681586e-01 2.54357342e-01 -5.88189872e-01 7.98161552e+01] [ 6.06673582e-01 7.19793636e-03 7.94918458e-01 6.67133745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.65, Y:79.85, Z:66.72 [[ 2.05865072e-01 -9.70089953e-01 -1.28627583e-01 1.51654526e+02] [ 7.71861802e-01 2.41767385e-01 -5.88028817e-01 7.98453827e+01] [ 6.01538802e-01 2.17718763e-02 7.98546840e-01 6.67162387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.67, Y:79.86, Z:66.74 [[ 2.08441005e-01 -9.67665679e-01 -1.42040419e-01 1.51668359e+02] [ 7.69770757e-01 2.51905429e-01 -5.86512264e-01 7.98607975e+01] [ 6.03328541e-01 1.29146452e-02 7.97388164e-01 6.67392932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.930385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.67, Y:79.89, Z:66.75 [[ 2.10193933e-01 -9.68575295e-01 -1.32967698e-01 1.51671910e+02] [ 7.70432850e-01 2.47830647e-01 -5.87378238e-01 7.98864078e+01] [ 6.01873521e-01 2.10206596e-02 7.98314723e-01 6.67526268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.68, Y:79.91, Z:66.77 [[ 2.10128648e-01 -9.68150760e-01 -1.36125155e-01 1.51678823e+02] [ 7.70255387e-01 2.49686655e-01 -5.86824687e-01 7.99073964e+01] [ 6.02123401e-01 1.84575446e-02 7.98189658e-01 6.67709322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.990385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.69, Y:79.93, Z:66.79 [[ 2.15089560e-01 -9.66800623e-01 -1.37960269e-01 1.51689580e+02] [ 7.68448900e-01 2.54728448e-01 -5.87026155e-01 7.99273143e+01] [ 6.02679658e-01 2.02477811e-02 7.97726305e-01 6.67899479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.70, Y:79.95, Z:66.81 [[ 2.16638161e-01 -9.66809803e-01 -1.35450033e-01 1.51696217e+02] [ 7.67886537e-01 2.54427994e-01 -5.87891710e-01 7.99495716e+01] [ 6.02841748e-01 2.33495222e-02 7.97519044e-01 6.68052222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.72, Y:79.96, Z:66.84 [[ 2.21852624e-01 -9.62622986e-01 -1.55365378e-01 1.51718721e+02] [ 7.61134813e-01 2.70555366e-01 -5.89468906e-01 7.99606415e+01] [ 6.09471255e-01 1.25212250e-02 7.92709284e-01 6.68373329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:79.99, Z:66.84 [[ 2.19033016e-01 -9.66923560e-01 -1.30703353e-01 1.51713169e+02] [ 7.65571967e-01 2.53358727e-01 -5.91361918e-01 7.99917781e+01] [ 6.04916607e-01 2.94649617e-02 7.95743498e-01 6.68381974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.73, Y:80.01, Z:66.85 [[ 2.17481944e-01 -9.66712916e-01 -1.34787769e-01 1.51725189e+02] [ 7.66124350e-01 2.54632201e-01 -5.90098232e-01 8.00100420e+01] [ 6.04776888e-01 2.50715189e-02 7.96000210e-01 6.68536050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:80.05, Z:66.85 [[ 2.12788132e-01 -9.71328988e-01 -1.06024559e-01 1.51720526e+02] [ 7.72687018e-01 2.33695076e-01 -5.90204528e-01 8.00460442e+01] [ 5.98060184e-01 4.36647191e-02 8.00260838e-01 6.68511465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:80.03, Z:66.91 [[ 2.19216691e-01 -9.58498135e-01 -1.82278270e-01 1.51768585e+02] [ 7.59503195e-01 2.84914651e-01 -5.84789311e-01 8.00302091e+01] [ 6.12453214e-01 -1.02453502e-02 7.90440443e-01 6.69119324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:80.06, Z:66.92 [[ 2.19599880e-01 -9.64042382e-01 -1.49660207e-01 1.51767026e+02] [ 7.59819881e-01 2.65227464e-01 -5.93572354e-01 8.00615847e+01] [ 6.11922904e-01 1.66336171e-02 7.90742488e-01 6.69182050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:80.08, Z:66.94 [[ 2.20105279e-01 -9.63959555e-01 -1.49451136e-01 1.51775375e+02] [ 7.59609451e-01 2.65495043e-01 -5.93722043e-01 8.00828972e+01] [ 6.12002572e-01 1.71568605e-02 7.90669649e-01 6.69352141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:80.12, Z:66.93 [[ 2.17334886e-01 -9.68903731e-01 -1.18284014e-01 1.51768106e+02] [ 7.67051954e-01 2.44473228e-01 -5.93181373e-01 8.01172420e+01] [ 6.03652920e-01 3.81890220e-02 7.96332060e-01 6.69280784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:80.11, Z:66.98 [[ 2.23410563e-01 -9.59299222e-01 -1.72721518e-01 1.51805532e+02] [ 7.59234595e-01 2.82391543e-01 -5.86359827e-01 8.01135471e+01] [ 6.11269622e-01 -1.37172607e-04 7.91422410e-01 6.69780567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:80.15, Z:66.98 [[ 2.23669942e-01 -9.64954225e-01 -1.37241034e-01 1.51800432e+02] [ 7.57760111e-01 2.60720736e-01 -5.98184179e-01 8.01471243e+01] [ 6.13001934e-01 2.98000395e-02 7.89519212e-01 6.69828474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:80.17, Z:66.98 [[ 2.19544911e-01 -9.67343771e-01 -1.26673051e-01 1.51801762e+02] [ 7.66009004e-01 2.51328479e-01 -5.91662236e-01 8.01720290e+01] [ 6.04177324e-01 3.28637352e-02 7.96171927e-01 6.69819236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:80.18, Z:67.02 [[ 2.23224608e-01 -9.62913804e-01 -1.51551247e-01 1.51828598e+02] [ 7.57919187e-01 2.69222914e-01 -5.94203273e-01 8.01804323e+01] [ 6.12967602e-01 1.77771950e-02 7.89908027e-01 6.70230677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:80.22, Z:67.01 [[ 2.11965180e-01 -9.70824963e-01 -1.12114467e-01 1.51816145e+02] [ 7.68295380e-01 2.36438669e-01 -5.94826836e-01 8.02169816e+01] [ 6.03980936e-01 3.99455496e-02 7.95997099e-01 6.70088878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.440385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:151.83, Y:80.23, Z:67.03 [[ 2.09612166e-01 -9.69402942e-01 -1.27752397e-01 1.51832268e+02] [ 7.66998227e-01 2.44050829e-01 -5.93424732e-01 8.02317562e+01] [ 6.06445760e-01 2.64031817e-02 7.94686361e-01 6.70331734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:80.23, Z:67.08 [[ 2.09332461e-01 -9.63560155e-01 -1.66528522e-01 1.51866031e+02] [ 7.61284573e-01 2.67473457e-01 -5.90680751e-01 8.02332057e+01] [ 6.13698395e-01 -3.12693938e-03 7.89534358e-01 6.70799536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:80.27, Z:67.09 [[ 2.05456496e-01 -9.68901649e-01 -1.37902946e-01 1.51860887e+02] [ 7.61215898e-01 2.46772918e-01 -5.99711167e-01 8.02662625e+01] [ 6.15091851e-01 1.82406404e-02 7.88244438e-01 6.70862941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:80.28, Z:67.11 [[ 2.01457433e-01 -9.68077758e-01 -1.49132011e-01 1.51869119e+02] [ 7.62179937e-01 2.50563517e-01 -5.96908425e-01 8.02832684e+01] [ 6.15220811e-01 6.58621274e-03 7.88327327e-01 6.71068068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.560385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:151.88, Y:80.30, Z:67.13 [[ 2.00752423e-01 -9.66508765e-01 -1.59872676e-01 1.51878221e+02] [ 7.64581442e-01 2.56609156e-01 -5.91241879e-01 8.03002116e+01] [ 6.12465251e-01 -3.54244131e-03 7.90489575e-01 6.71260439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:80.35, Z:67.11 [[ 1.94658560e-01 -9.75541093e-01 -1.02115725e-01 1.51851963e+02] [ 7.70451033e-01 2.16499921e-01 -5.99610698e-01 8.03453421e+01] [ 6.07052922e-01 3.80441891e-02 7.93750206e-01 6.71098687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:151.89, Y:80.34, Z:67.16 [[ 2.00482422e-01 -9.66245430e-01 -1.61791742e-01 1.51888528e+02] [ 7.62161221e-01 2.57588450e-01 -5.93934731e-01 8.03395740e+01] [ 6.15562403e-01 -4.23791781e-03 7.88076753e-01 6.71647276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.89, Y:80.36, Z:67.18 [[ 2.01643219e-01 -9.67953045e-01 -1.49689398e-01 1.51889364e+02] [ 7.62614957e-01 2.51058287e-01 -5.96144415e-01 8.03641876e+01] [ 6.14620565e-01 6.05310527e-03 7.88799671e-01 6.71778766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.88, Y:80.39, Z:67.18 [[ 1.97997733e-01 -9.71117288e-01 -1.33146951e-01 1.51882609e+02] [ 7.67444216e-01 2.38086930e-01 -5.95267997e-01 8.03937008e+01] [ 6.09775592e-01 1.56788562e-02 7.92419018e-01 6.71795416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.710385723 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:151.90, Y:80.41, Z:67.21 [[ 2.02560181e-01 -9.67412463e-01 -1.51929259e-01 1.51901245e+02] [ 7.60643748e-01 2.53145481e-01 -5.97777930e-01 8.04079004e+01] [ 6.16758025e-01 5.52196483e-03 7.87133436e-01 6.72110132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.740385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:151.91, Y:80.43, Z:67.23 [[ 2.02645451e-01 -9.67695144e-01 -1.50003095e-01 1.51905474e+02] [ 7.60033951e-01 2.52015070e-01 -5.99029881e-01 8.04294092e+01] [ 6.17481348e-01 7.38323570e-03 7.86550871e-01 6.72261722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:80.47, Z:67.22 [[ 1.96901496e-01 -9.73894726e-01 -1.12955142e-01 1.51887698e+02] [ 7.67925992e-01 2.24823840e-01 -5.99786555e-01 8.04673275e+01] [ 6.09523971e-01 3.13576806e-02 7.92147224e-01 6.72151863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:80.46, Z:67.27 [[ 2.01773541e-01 -9.65658831e-01 -1.63677918e-01 1.51922456e+02] [ 7.58169288e-01 2.59790917e-01 -5.98070238e-01 8.04646028e+01] [ 6.20053843e-01 -3.42082141e-03 7.84551802e-01 6.72669990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:151.92, Y:80.49, Z:67.28 [[ 2.01075882e-01 -9.67972250e-01 -1.50327019e-01 1.51923056e+02] [ 7.58278284e-01 2.50959714e-01 -6.01692003e-01 8.04906993e+01] [ 6.20147188e-01 6.99603619e-03 7.84454282e-01 6.72794404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:80.51, Z:67.30 [[ 2.00492004e-01 -9.68146245e-01 -1.49986018e-01 1.51928270e+02] [ 7.58782424e-01 2.50294243e-01 -6.01333539e-01 8.05106508e+01] [ 6.19719444e-01 6.75581195e-03 7.84794349e-01 6.72956279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.890385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:151.90, Y:80.55, Z:67.28 [[ 1.92502368e-01 -9.76100840e-01 -1.00846363e-01 1.51904829e+02] [ 7.70708219e-01 2.14003240e-01 -6.00176186e-01 8.05540194e+01] [ 6.07413928e-01 3.78122162e-02 7.93485070e-01 6.72753307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:80.54, Z:67.34 [[ 1.99926938e-01 -9.65073306e-01 -1.69300719e-01 1.51947966e+02] [ 7.59309272e-01 2.61809592e-01 -5.95739177e-01 8.05432708e+01] [ 6.19256530e-01 -9.44729585e-03 7.85131899e-01 6.73383937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:80.59, Z:67.33 [[ 1.96182334e-01 -9.73048523e-01 -1.21198444e-01 1.51928557e+02] [ 7.66999738e-01 2.29283531e-01 -5.99283292e-01 8.05854073e+01] [ 6.10920529e-01 2.46096204e-02 7.91309341e-01 6.73253479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:80.59, Z:67.37 [[ 2.02290737e-01 -9.66431746e-01 -1.58392357e-01 1.51955514e+02] [ 7.59397262e-01 2.56922704e-01 -5.97751222e-01 8.05890457e+01] [ 6.18380349e-01 6.36812863e-04 7.85878705e-01 6.73696847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.010385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:151.96, Y:80.61, Z:67.38 [[ 2.03793212e-01 -9.67723650e-01 -1.48254054e-01 1.51956839e+02] [ 7.59334735e-01 2.51827003e-01 -5.99994935e-01 8.06131876e+01] [ 6.17963662e-01 9.70044261e-03 7.86146814e-01 6.73825550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:80.63, Z:67.40 [[ 2.04439245e-01 -9.67292727e-01 -1.50164497e-01 1.51961309e+02] [ 7.58915447e-01 2.53514743e-01 -5.99814654e-01 8.06336259e+01] [ 6.18265266e-01 8.66349890e-03 7.85921755e-01 6.73996085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:151.97, Y:80.65, Z:67.42 [[ 2.04299108e-01 -9.67501786e-01 -1.49003920e-01 1.51965491e+02] [ 7.58529648e-01 2.52678471e-01 -6.00654945e-01 8.06539407e+01] [ 6.18784815e-01 9.68937789e-03 7.85500776e-01 6.74155197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:151.97, Y:80.67, Z:67.43 [[ 2.04937581e-01 -9.67733985e-01 -1.46599871e-01 1.51968773e+02] [ 7.58173069e-01 2.51682103e-01 -6.01522831e-01 8.06733727e+01] [ 6.19010650e-01 1.21265599e-02 7.85288967e-01 6.74294470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:80.70, Z:67.45 [[ 2.03486158e-01 -9.68003503e-01 -1.46842096e-01 1.51973437e+02] [ 7.58886614e-01 2.50701343e-01 -6.01032398e-01 8.06951151e+01] [ 6.18614977e-01 1.08652721e-02 7.85619154e-01 6.74477343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:80.72, Z:67.46 [[ 2.02894795e-01 -9.67906888e-01 -1.48290119e-01 1.51978667e+02] [ 7.59253408e-01 2.51139701e-01 -6.00385804e-01 8.07150502e+01] [ 6.18359091e-01 9.22537604e-03 7.85841541e-01 6.74649762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:80.74, Z:67.48 [[ 2.02150928e-01 -9.68113692e-01 -1.47955678e-01 1.51983296e+02] [ 7.59792418e-01 2.50353750e-01 -6.00032067e-01 8.07360572e+01] [ 6.17940518e-01 8.88143659e-03 7.86174685e-01 6.74816341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:80.76, Z:67.50 [[ 2.01946385e-01 -9.68216366e-01 -1.47562617e-01 1.51988784e+02] [ 7.60379656e-01 2.49957354e-01 -5.99453167e-01 8.07568796e+01] [ 6.17284729e-01 8.85378817e-03 7.86690011e-01 6.74983889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:80.78, Z:67.52 [[ 2.01833535e-01 -9.68273896e-01 -1.47339356e-01 1.51994199e+02] [ 7.60366277e-01 2.49729881e-01 -5.99564935e-01 8.07770314e+01] [ 6.17338116e-01 8.98043234e-03 7.86646682e-01 6.75150167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:80.80, Z:67.53 [[ 2.01484195e-01 -9.68390447e-01 -1.47051223e-01 1.52000201e+02] [ 7.60594909e-01 2.49279149e-01 -5.99462501e-01 8.07976414e+01] [ 6.17170563e-01 8.93580801e-03 7.86778652e-01 6.75320964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:80.81, Z:67.55 [[ 1.97591496e-01 -9.66719953e-01 -1.62511948e-01 1.52005936e+02] [ 7.60394513e-01 2.55775279e-01 -5.96975034e-01 8.08096243e+01] [ 6.18674216e-01 -5.61600347e-03 7.85627568e-01 6.75532978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.340385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.00, Y:80.85, Z:67.56 [[ 2.00630444e-01 -9.72021340e-01 -1.22155391e-01 1.52000361e+02] [ 7.61333262e-01 2.33172205e-01 -6.04981311e-01 8.08492848e+01] [ 6.16537987e-01 2.83767070e-02 7.86813620e-01 6.75565642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.370385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:152.01, Y:80.86, Z:67.58 [[ 1.99282384e-01 -9.68936919e-01 -1.46450599e-01 1.52014791e+02] [ 7.61380257e-01 2.47180757e-01 -5.99334446e-01 8.08623353e+01] [ 6.16917041e-01 7.93220264e-03 7.86988211e-01 6.75804131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.02, Y:80.88, Z:67.60 [[ 1.99595583e-01 -9.68921965e-01 -1.46122653e-01 1.52018649e+02] [ 7.61637988e-01 2.47228549e-01 -5.98987162e-01 8.08821297e+01] [ 6.16497509e-01 8.26262844e-03 7.87313502e-01 6.75977051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.430385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:152.02, Y:80.90, Z:67.61 [[ 1.99206956e-01 -9.69049991e-01 -1.45803647e-01 1.52023342e+02] [ 7.62006826e-01 2.46729451e-01 -5.98723788e-01 8.09031121e+01] [ 6.16167336e-01 8.16656902e-03 7.87572931e-01 6.76144878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:80.92, Z:67.62 [[ 1.95926044e-01 -9.70609690e-01 -1.39749115e-01 1.52021102e+02] [ 7.65823815e-01 2.40458429e-01 -5.96400560e-01 8.09245877e+01] [ 6.12476016e-01 9.82720233e-03 7.90428084e-01 6.76249204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.490385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:152.03, Y:80.95, Z:67.65 [[ 1.99022284e-01 -9.70254713e-01 -1.37825699e-01 1.52031262e+02] [ 7.63306766e-01 2.41679064e-01 -5.99127708e-01 8.09470948e+01] [ 6.14616069e-01 1.40364764e-02 7.88701506e-01 6.76479292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:80.97, Z:67.66 [[ 1.95516423e-01 -9.71789271e-01 -1.31905048e-01 1.52028919e+02] [ 7.67416276e-01 2.35348935e-01 -5.96391766e-01 8.09710321e+01] [ 6.10610832e-01 1.53783045e-02 7.91781485e-01 6.76552521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:80.99, Z:67.68 [[ 1.97641139e-01 -9.69456648e-01 -1.45230121e-01 1.52045013e+02] [ 7.64313882e-01 2.45166331e-01 -5.96420791e-01 8.09854290e+01] [ 6.13809636e-01 6.87588676e-03 7.89424127e-01 6.76847520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:81.01, Z:67.70 [[ 1.95367987e-01 -9.70048208e-01 -1.44353124e-01 1.52050657e+02] [ 7.65335661e-01 2.42839039e-01 -5.96062519e-01 8.10057586e+01] [ 6.13263952e-01 5.97294077e-03 7.89855461e-01 6.77008751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.610385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:152.04, Y:81.04, Z:67.69 [[ 1.89775635e-01 -9.75292222e-01 -1.13094167e-01 1.52038174e+02] [ 7.72218278e-01 2.19404132e-01 -5.96272385e-01 8.10426681e+01] [ 6.06353147e-01 2.58245873e-02 7.94776039e-01 6.76935160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:81.04, Z:67.74 [[ 1.91258843e-01 -9.68316717e-01 -1.60570204e-01 1.52067691e+02] [ 7.67031199e-01 2.49520639e-01 -5.91102859e-01 8.10406061e+01] [ 6.12440360e-01 -1.01087075e-02 7.90452161e-01 6.77399491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:81.07, Z:67.75 [[ 1.89651751e-01 -9.71314074e-01 -1.43461438e-01 1.52066092e+02] [ 7.68009887e-01 2.37786080e-01 -5.94658384e-01 8.10680489e+01] [ 6.11713190e-01 2.59820094e-03 7.91075358e-01 6.77505853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:81.10, Z:67.75 [[ 1.85396127e-01 -9.75663763e-01 -1.17083292e-01 1.52056883e+02] [ 7.74228182e-01 2.18404888e-01 -5.94028642e-01 8.11031973e+01] [ 6.05143784e-01 1.94814248e-02 7.95877802e-01 6.77473823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:81.10, Z:67.79 [[ 1.86723295e-01 -9.69572060e-01 -1.58317501e-01 1.52080807e+02] [ 7.71343066e-01 2.44491755e-01 -5.87582894e-01 8.11044078e+01] [ 6.08411281e-01 -1.24016930e-02 7.93524991e-01 6.77895876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.07, Y:81.15, Z:67.78 [[ 1.82371102e-01 -9.76774809e-01 -1.12480019e-01 1.52065994e+02] [ 7.78545382e-01 2.13326611e-01 -5.90219320e-01 8.11492420e+01] [ 6.00506344e-01 2.00681483e-02 7.99368126e-01 6.77810951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.08, Y:81.16, Z:67.81 [[ 1.82269649e-01 -9.73925967e-01 -1.35077703e-01 1.52079996e+02] [ 7.79291310e-01 2.26862841e-01 -5.84156063e-01 8.11614500e+01] [ 5.99568870e-01 1.20904042e-03 8.00322253e-01 6.78061788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:81.17, Z:67.84 [[ 1.82963788e-01 -9.70252859e-01 -1.58535932e-01 1.52094643e+02] [ 7.76416558e-01 2.41524915e-01 -5.82102263e-01 8.11673863e+01] [ 6.03076762e-01 -1.65862879e-02 7.97510698e-01 6.78383545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.09, Y:81.19, Z:67.85 [[ 1.81237852e-01 -9.73303594e-01 -1.40829527e-01 1.52092540e+02] [ 7.77807092e-01 2.29494879e-01 -5.85105314e-01 8.11946801e+01] [ 6.01804760e-01 -3.49497462e-03 7.98635597e-01 6.78485432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.09, Y:81.22, Z:67.85 [[ 1.80993496e-01 -9.75306020e-01 -1.26568248e-01 1.52091172e+02] [ 7.81379108e-01 2.20754643e-01 -5.83707185e-01 8.12232404e+01] [ 5.97233660e-01 6.74941924e-03 8.02038902e-01 6.78533554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.10, Y:81.24, Z:67.87 [[ 1.80901118e-01 -9.74581248e-01 -1.32159660e-01 1.52098424e+02] [ 7.81312793e-01 2.24024265e-01 -5.82549095e-01 8.12425199e+01] [ 5.97348395e-01 2.12575013e-03 8.01979037e-01 6.78723911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:81.27, Z:67.89 [[ 1.77959733e-01 -9.75105877e-01 -1.32283268e-01 1.52104324e+02] [ 7.81178270e-01 2.21739167e-01 -5.83602820e-01 8.12651633e+01] [ 5.98406921e-01 5.20987656e-04 8.01192165e-01 6.78918913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:81.28, Z:67.92 [[ 1.79623255e-01 -9.72300162e-01 -1.49558958e-01 1.52116538e+02] [ 7.79172515e-01 2.33425380e-01 -5.81723975e-01 8.12761702e+01] [ 6.00521172e-01 -1.20410755e-02 7.99518189e-01 6.79203743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:81.30, Z:67.93 [[ 1.78810234e-01 -9.74015335e-01 -1.39000102e-01 1.52116853e+02] [ 7.79433416e-01 2.26448602e-01 -5.84127196e-01 8.13013502e+01] [ 6.00425225e-01 -3.89340335e-03 7.99671427e-01 6.79332885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:81.32, Z:67.95 [[ 1.78522500e-01 -9.74122026e-01 -1.38621775e-01 1.52121046e+02] [ 7.80019974e-01 2.25988120e-01 -5.83522245e-01 8.13229581e+01] [ 5.99748746e-01 -3.95590316e-03 8.00178601e-01 6.79494043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:81.34, Z:67.97 [[ 1.78292320e-01 -9.74202713e-01 -1.38350725e-01 1.52125686e+02] [ 7.80242655e-01 2.25640336e-01 -5.83359099e-01 8.13444215e+01] [ 5.99527521e-01 -3.93868972e-03 8.00344450e-01 6.79658755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:81.37, Z:67.98 [[ 1.77696009e-01 -9.74359942e-01 -1.38010258e-01 1.52130476e+02] [ 7.80750028e-01 2.24956349e-01 -5.82944281e-01 8.13661334e+01] [ 5.99043839e-01 -4.16464035e-03 8.00705398e-01 6.79816120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:81.39, Z:68.00 [[ 1.76878499e-01 -9.74533203e-01 -1.37836982e-01 1.52135166e+02] [ 7.80754068e-01 2.24198980e-01 -5.83230574e-01 8.13864281e+01] [ 5.99280470e-01 -4.45583628e-03 8.00526742e-01 6.79969989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:81.41, Z:68.01 [[ 1.75942021e-01 -9.74720104e-01 -1.37713922e-01 1.52140089e+02] [ 7.80578828e-01 2.23378202e-01 -5.83779815e-01 8.14083550e+01] [ 5.99784210e-01 -4.78517088e-03 8.00147488e-01 6.80124187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.180385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:152.14, Y:81.43, Z:68.03 [[ 1.74619660e-01 -9.74965028e-01 -1.37663239e-01 1.52144891e+02] [ 7.80316920e-01 2.22293927e-01 -5.84543339e-01 8.14315050e+01] [ 6.00511015e-01 -5.34819566e-03 7.99598598e-01 6.80269560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:81.45, Z:68.04 [[ 1.74684082e-01 -9.74990848e-01 -1.37398388e-01 1.52148241e+02] [ 7.80432370e-01 2.22185579e-01 -5.84430393e-01 8.14512617e+01] [ 6.00342225e-01 -5.13946251e-03 7.99726703e-01 6.80437052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.240385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:152.15, Y:81.47, Z:68.06 [[ 1.74111697e-01 -9.75103972e-01 -1.37322103e-01 1.52152568e+02] [ 7.80018694e-01 2.21686502e-01 -5.85171712e-01 8.14734939e+01] [ 6.01045717e-01 -5.22856723e-03 7.99197540e-01 6.80583287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:81.49, Z:68.08 [[ 1.74789719e-01 -9.74993815e-01 -1.37242906e-01 1.52155086e+02] [ 7.79377156e-01 2.22185093e-01 -5.85837036e-01 8.14943089e+01] [ 6.01680814e-01 -4.56569527e-03 7.98723577e-01 6.80757832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:81.52, Z:68.09 [[ 1.75045185e-01 -9.74969989e-01 -1.37086487e-01 1.52158211e+02] [ 7.79058433e-01 2.22297140e-01 -5.86218339e-01 8.15150519e+01] [ 6.02019221e-01 -4.18368606e-03 7.98470635e-01 6.80909221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:81.54, Z:68.11 [[ 1.75744694e-01 -9.74860926e-01 -1.36967064e-01 1.52161237e+02] [ 7.78695183e-01 2.22785475e-01 -5.86515510e-01 8.15361372e+01] [ 6.02285326e-01 -3.57860378e-03 7.98272873e-01 6.81062566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:81.56, Z:68.12 [[ 1.77277423e-01 -9.74583422e-01 -1.36966673e-01 1.52162908e+02] [ 7.77744379e-01 2.24011951e-01 -5.87309396e-01 8.15589019e+01] [ 6.03064173e-01 -2.40836380e-03 7.97689039e-01 6.81213679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:81.58, Z:68.14 [[ 1.79411046e-01 -9.74178118e-01 -1.37071772e-01 1.52165258e+02] [ 7.76117211e-01 2.25779610e-01 -5.88783188e-01 8.15819788e+01] [ 6.04527710e-01 -7.49553900e-04 7.96583760e-01 6.81367421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.16, Y:81.61, Z:68.14 [[ 1.78242787e-01 -9.76830088e-01 -1.18458805e-01 1.52160711e+02] [ 7.77929562e-01 2.13610323e-01 -5.90928275e-01 8.16142486e+01] [ 6.02540542e-01 1.31760964e-02 7.97979502e-01 6.81406655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:81.62, Z:68.17 [[ 1.80919403e-01 -9.71596019e-01 -1.52542927e-01 1.52178365e+02] [ 7.73631742e-01 2.36358776e-01 -5.87901741e-01 8.16207788e+01] [ 6.07257851e-01 -1.16492184e-02 7.94419409e-01 6.81745698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:81.65, Z:68.19 [[ 1.80826702e-01 -9.73895064e-01 -1.37222840e-01 1.52176375e+02] [ 7.73064217e-01 2.26996371e-01 -5.92321166e-01 8.16484073e+01] [ 6.08007746e-01 1.02541531e-03 7.93930431e-01 6.81857116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:81.67, Z:68.20 [[ 1.80306802e-01 -9.73959384e-01 -1.37450268e-01 1.52178802e+02] [ 7.71653727e-01 2.26719960e-01 -5.94263060e-01 8.16704817e+01] [ 6.09950803e-01 1.08566067e-03 7.92438540e-01 6.82008057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:81.69, Z:68.22 [[ 1.79898712e-01 -9.74054457e-01 -1.37311207e-01 1.52182223e+02] [ 7.71363678e-01 2.26311146e-01 -5.94795210e-01 8.16926321e+01] [ 6.10437982e-01 1.08601427e-03 7.92063313e-01 6.82164321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57038572300002 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:152.18, Y:81.73, Z:68.23 [[ 1.81152783e-01 -9.76205968e-01 -1.19187153e-01 1.52182930e+02] [ 7.70799200e-01 2.16202097e-01 -5.99270595e-01 8.17289754e+01] [ 6.10780044e-01 1.66901739e-02 7.91624391e-01 6.82263401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60038572300002 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:152.20, Y:81.74, Z:68.26 [[ 1.80457762e-01 -9.71463721e-01 -1.53926069e-01 1.52201440e+02] [ 7.69618229e-01 2.36910878e-01 -5.92925811e-01 8.17388753e+01] [ 6.12472675e-01 -1.14662441e-02 7.90408596e-01 6.82559058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63038572300002 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:152.20, Y:81.76, Z:68.27 [[ 1.79904365e-01 -9.71269826e-01 -1.55786214e-01 1.52203893e+02] [ 7.68615339e-01 2.37631713e-01 -5.93937395e-01 8.17595049e+01] [ 6.13893216e-01 -1.28877440e-02 7.89283869e-01 6.82702486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66038572300002 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:152.20, Y:81.78, Z:68.28 [[ 1.77903488e-01 -9.72644569e-01 -1.49375001e-01 1.52203246e+02] [ 7.68314915e-01 2.32137332e-01 -5.96493463e-01 8.17844300e+01] [ 6.14851641e-01 -8.64877351e-03 7.88595370e-01 6.82836498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:81.80, Z:68.30 [[ 1.74267239e-01 -9.72081366e-01 -1.57126532e-01 1.52202427e+02] [ 7.66837882e-01 2.34074242e-01 -5.97636104e-01 8.18013411e+01] [ 6.17730194e-01 -1.63421831e-02 7.86220288e-01 6.83009356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:81.83, Z:68.31 [[ 1.73575612e-01 -9.74731510e-01 -1.40605800e-01 1.52197763e+02] [ 7.66506146e-01 2.23355937e-01 -6.02146538e-01 8.18296970e+01] [ 6.18336344e-01 -3.25725665e-03 7.85906837e-01 6.83113493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.750385723 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:152.21, Y:81.85, Z:68.33 [[ 1.84605343e-01 -9.71411579e-01 -1.49266242e-01 1.52210313e+02] [ 7.68806340e-01 2.37346057e-01 -5.93804396e-01 8.18467139e+01] [ 6.12256220e-01 -5.13736927e-03 7.90642732e-01 6.83251698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:81.87, Z:68.34 [[ 1.80116074e-01 -9.74405017e-01 -1.34510455e-01 1.52201280e+02] [ 7.66030658e-01 2.24733925e-01 -6.02238901e-01 8.18712923e+01] [ 6.17053669e-01 5.43377433e-03 7.86902309e-01 6.83379777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:81.89, Z:68.36 [[ 1.84435714e-01 -9.73515862e-01 -1.35093795e-01 1.52201984e+02] [ 7.62306020e-01 2.28453752e-01 -6.05556286e-01 8.18888576e+01] [ 6.20381334e-01 8.70339256e-03 7.84252033e-01 6.83609407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.840385723 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:152.20, Y:81.93, Z:68.37 [[ 1.86833968e-01 -9.75651237e-01 -1.14881382e-01 1.52199823e+02] [ 7.62253733e-01 2.17743174e-01 -6.09554884e-01 8.19252165e+01] [ 6.19727613e-01 2.63167950e-02 7.84375619e-01 6.83697609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:81.92, Z:68.40 [[ 1.88677970e-01 -9.67298194e-01 -1.69513502e-01 1.52221596e+02] [ 7.59227937e-01 2.53163284e-01 -5.99567587e-01 8.19201274e+01] [ 6.22875239e-01 -1.55741909e-02 7.82166147e-01 6.84044569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:81.95, Z:68.41 [[ 1.89575050e-01 -9.72388934e-01 -1.36092107e-01 1.52211169e+02] [ 7.59079637e-01 2.33061101e-01 -6.07849182e-01 8.19531878e+01] [ 6.22783594e-01 1.19282914e-02 7.82303209e-01 6.84090713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:81.98, Z:68.42 [[ 1.89613640e-01 -9.72406306e-01 -1.35914106e-01 1.52213836e+02] [ 7.59037394e-01 2.32979311e-01 -6.07933281e-01 8.19757732e+01] [ 6.22823331e-01 1.21085536e-02 7.82268804e-01 6.84242609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.960385723 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:152.21, Y:82.00, Z:68.44 [[ 1.87854685e-01 -9.75337046e-01 -1.15880388e-01 1.52208793e+02] [ 7.56227913e-01 2.18911945e-01 -6.16601090e-01 8.20040235e+01] [ 6.26761487e-01 2.81994192e-02 7.78700733e-01 6.84357595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.23, Y:82.01, Z:68.46 [[ 1.88780220e-01 -9.68972588e-01 -1.59543573e-01 1.52232194e+02] [ 7.59749723e-01 2.47049157e-01 -6.01454132e-01 8.20084597e+01] [ 6.22207672e-01 -7.67054156e-03 7.82814650e-01 6.84637129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:82.04, Z:68.47 [[ 1.88744175e-01 -9.72724655e-01 -1.34842061e-01 1.52226527e+02] [ 7.60297941e-01 2.31651064e-01 -6.06864751e-01 8.20381260e+01] [ 6.21548612e-01 1.20220448e-02 7.83283341e-01 6.84730030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.050385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:152.23, Y:82.06, Z:68.49 [[ 1.86653734e-01 -9.73109346e-01 -1.34976233e-01 1.52231617e+02] [ 7.59373441e-01 2.30075877e-01 -6.08618984e-01 8.20609414e+01] [ 6.23307597e-01 1.11036395e-02 7.81897914e-01 6.84884709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.24, Y:82.08, Z:68.51 [[ 1.88139147e-01 -9.72959471e-01 -1.33990779e-01 1.52235653e+02] [ 7.61877970e-01 2.30674946e-01 -6.05252863e-01 8.20811434e+01] [ 6.19794822e-01 1.17871349e-02 7.84675374e-01 6.85058733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:82.10, Z:68.52 [[ 1.88421512e-01 -9.72944378e-01 -1.33703293e-01 1.52240619e+02] [ 7.62258768e-01 2.30725952e-01 -6.04753756e-01 8.21028612e+01] [ 6.19240587e-01 1.20321096e-02 7.85109116e-01 6.85220637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.26, Y:82.11, Z:68.55 [[ 1.88931588e-01 -9.68399923e-01 -1.62808000e-01 1.52258418e+02] [ 7.58350898e-01 2.49215033e-01 -6.02325314e-01 8.21118149e+01] [ 6.23865988e-01 -9.66731468e-03 7.81471543e-01 6.85541561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:82.16, Z:68.55 [[ 1.89829932e-01 -9.76056776e-01 -1.06196835e-01 1.52240413e+02] [ 7.62377619e-01 2.14693695e-01 -6.10480944e-01 8.21579098e+01] [ 6.18663853e-01 3.49254662e-02 7.84879130e-01 6.85450488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.200385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:152.27, Y:82.16, Z:68.59 [[ 1.92127020e-01 -9.67831921e-01 -1.62445626e-01 1.52270398e+02] [ 7.57329073e-01 2.51493543e-01 -6.02663815e-01 8.21566552e+01] [ 6.24131304e-01 -7.23679274e-03 7.81285956e-01 6.85866179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:82.20, Z:68.58 [[ 1.93272450e-01 -9.75866704e-01 -1.01636297e-01 1.52248653e+02] [ 7.62814024e-01 2.14604827e-01 -6.09966829e-01 8.22027315e+01] [ 6.17057959e-01 4.03601911e-02 7.85882008e-01 6.85751205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.26, Y:82.22, Z:68.59 [[ 1.93874304e-01 -9.73461255e-01 -1.21597445e-01 1.52264505e+02] [ 7.63565019e-01 2.27556836e-01 -6.04306502e-01 8.22191512e+01] [ 6.15939296e-01 2.43119469e-02 7.87418385e-01 6.85939789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.27, Y:82.24, Z:68.61 [[ 1.94755058e-01 -9.72493832e-01 -1.27774072e-01 1.52273356e+02] [ 7.62772217e-01 2.32060584e-01 -6.03594591e-01 8.22376094e+01] [ 6.16643343e-01 2.00905879e-02 7.86986249e-01 6.86139136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:82.25, Z:68.64 [[ 1.96920055e-01 -9.71035447e-01 -1.35324252e-01 1.52284536e+02] [ 7.58750621e-01 2.38351374e-01 -6.06206332e-01 8.22546598e+01] [ 6.20902558e-01 1.66968242e-02 7.83709914e-01 6.86405465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:82.27, Z:68.66 [[ 1.97297907e-01 -9.70297652e-01 -1.39985726e-01 1.52293742e+02] [ 7.58361247e-01 2.41548853e-01 -6.05427429e-01 8.22723728e+01] [ 6.21258204e-01 1.32898147e-02 7.83493220e-01 6.86578660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:82.31, Z:68.66 [[ 1.96783194e-01 -9.73969304e-01 -1.12517423e-01 1.52286892e+02] [ 7.61983594e-01 2.24142348e-01 -6.07569922e-01 8.23060061e+01] [ 6.16974373e-01 3.38231196e-02 7.86256078e-01 6.86604840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:82.32, Z:68.69 [[ 1.99526406e-01 -9.70972086e-01 -1.31918239e-01 1.52307412e+02] [ 7.58069048e-01 2.38257844e-01 -6.07095148e-01 8.23198464e+01] [ 6.20902997e-01 2.11283793e-02 7.83602616e-01 6.86896595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:82.34, Z:68.70 [[ 1.96744826e-01 -9.71513331e-01 -1.32111021e-01 1.52310562e+02] [ 7.59898779e-01 2.36241496e-01 -6.05593759e-01 8.23397989e+01] [ 6.19552515e-01 1.87564346e-02 7.84731086e-01 6.87019184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:82.36, Z:68.72 [[ 1.96600561e-01 -9.71887514e-01 -1.29548755e-01 1.52317763e+02] [ 7.59052285e-01 2.34501263e-01 -6.07329224e-01 8.23604983e+01] [ 6.20635036e-01 2.10669877e-02 7.83816518e-01 6.87198212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:82.38, Z:68.74 [[ 1.95441456e-01 -9.72186047e-01 -1.29061720e-01 1.52323070e+02] [ 7.58485046e-01 2.33263196e-01 -6.08513530e-01 8.23811611e+01] [ 6.21693712e-01 2.10373859e-02 7.82977877e-01 6.87384747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:82.41, Z:68.75 [[ 1.96380413e-01 -9.73916439e-01 -1.13672790e-01 1.52326296e+02] [ 7.59588476e-01 2.24414709e-01 -6.10461617e-01 8.24104717e+01] [ 6.20048450e-01 3.35381628e-02 7.83846357e-01 6.87512710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:82.42, Z:68.77 [[ 1.91498006e-01 -9.72313155e-01 -1.33924019e-01 1.52334995e+02] [ 7.61808001e-01 2.33279397e-01 -6.04342033e-01 8.24224701e+01] [ 6.18851423e-01 1.37059051e-02 7.85388480e-01 6.87714321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:82.45, Z:68.79 [[ 1.93589541e-01 -9.74050643e-01 -1.17253718e-01 1.52336778e+02] [ 7.62062231e-01 2.24564564e-01 -6.07315332e-01 8.24526230e+01] [ 6.17886919e-01 2.82152665e-02 7.85760557e-01 6.87876261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:82.47, Z:68.81 [[ 1.92321692e-01 -9.72517508e-01 -1.31232857e-01 1.52347034e+02] [ 7.62595091e-01 2.32277016e-01 -6.03735136e-01 8.24685863e+01] [ 6.17625367e-01 1.60338303e-02 7.86308987e-01 6.88090132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.34, Y:82.49, Z:68.82 [[ 1.87193048e-01 -9.74578020e-01 -1.23111519e-01 1.52344225e+02] [ 7.67733435e-01 2.23331446e-01 -6.00590075e-01 8.24932240e+01] [ 6.12816559e-01 1.79094571e-02 7.90022225e-01 6.88170850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:82.52, Z:68.84 [[ 1.88689543e-01 -9.74833956e-01 -1.18722427e-01 1.52350817e+02] [ 7.64430215e-01 2.21692658e-01 -6.05391453e-01 8.25156077e+01] [ 6.16476035e-01 2.34760263e-02 7.87023617e-01 6.88388506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:82.53, Z:68.86 [[ 1.87668489e-01 -9.72605170e-01 -1.37184989e-01 1.52364587e+02] [ 7.66177267e-01 2.32347558e-01 -5.99155246e-01 8.25284645e+01] [ 6.14616087e-01 7.33453963e-03 7.88792286e-01 6.88621717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:82.55, Z:68.88 [[ 1.84715676e-01 -9.74294629e-01 -1.28957728e-01 1.52365407e+02] [ 7.66750047e-01 2.24948015e-01 -6.01242676e-01 8.25524086e+01] [ 6.14796295e-01 1.21806032e-02 7.88591877e-01 6.88750876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:82.57, Z:68.89 [[ 1.84431690e-01 -9.74381543e-01 -1.28707270e-01 1.52369800e+02] [ 7.66818787e-01 2.24570029e-01 -6.01296307e-01 8.25739793e+01] [ 6.14795819e-01 1.22029414e-02 7.88591903e-01 6.88920220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:82.59, Z:68.90 [[ 1.78834482e-01 -9.75739620e-01 -1.26294982e-01 1.52367520e+02] [ 7.67338173e-01 2.18663114e-01 -6.02808901e-01 8.25922657e+01] [ 6.15800582e-01 1.08920564e-02 7.87826761e-01 6.89034914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.830385723 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:152.37, Y:82.62, Z:68.92 [[ 1.80184696e-01 -9.77475458e-01 -1.09887236e-01 1.52367832e+02] [ 7.68013445e-01 2.09605108e-01 -6.05162000e-01 8.26215465e+01] [ 6.14563929e-01 2.46460567e-02 7.88481927e-01 6.89169559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.39, Y:82.62, Z:68.95 [[ 1.77919666e-01 -9.73199843e-01 -1.45693711e-01 1.52387791e+02] [ 7.68151801e-01 2.29892931e-01 -5.97571795e-01 8.26247877e+01] [ 6.15050732e-01 -5.59511261e-03 7.88467686e-01 6.89452479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:82.66, Z:68.95 [[ 1.78352817e-01 -9.76771085e-01 -1.18779288e-01 1.52382398e+02] [ 7.68543886e-01 2.13666787e-01 -6.03064507e-01 8.26561017e+01] [ 6.14435162e-01 1.62711577e-02 7.88799519e-01 6.89538839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:82.67, Z:68.98 [[ 1.78597264e-01 -9.74363656e-01 -1.36815505e-01 1.52395909e+02] [ 7.66929809e-01 2.24965899e-01 -6.01006666e-01 8.26702994e+01] [ 6.16377876e-01 2.41025753e-03 7.87446827e-01 6.89820088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:82.70, Z:68.99 [[ 1.77699474e-01 -9.78211533e-01 -1.07354991e-01 1.52387504e+02] [ 7.66495054e-01 2.06000037e-01 -6.08316790e-01 8.27037339e+01] [ 6.17177631e-01 2.58105043e-02 7.86400400e-01 6.89868548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.980385723 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:152.39, Y:82.73, Z:69.00 [[ 1.76462281e-01 -9.78476398e-01 -1.06981318e-01 1.52392783e+02] [ 7.71404738e-01 2.04984089e-01 -6.02425309e-01 8.27281265e+01] [ 6.11388415e-01 2.37794485e-02 7.90973289e-01 6.90014911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.010385723 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:152.40, Y:82.74, Z:69.02 [[ 1.73839520e-01 -9.77849361e-01 -1.16578079e-01 1.52400873e+02] [ 7.71241227e-01 2.08798385e-01 -6.01323710e-01 8.27444853e+01] [ 6.12345320e-01 1.46240043e-02 7.90455152e-01 6.90221988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:82.74, Z:69.06 [[ 1.71728378e-01 -9.70391202e-01 -1.69853699e-01 1.52428554e+02] [ 7.73389199e-01 2.39595800e-01 -5.86909703e-01 8.27425355e+01] [ 6.10228245e-01 -3.05739646e-02 7.91635473e-01 6.90606195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:82.78, Z:69.07 [[ 1.68780897e-01 -9.76295430e-01 -1.35499974e-01 1.52420782e+02] [ 7.75197766e-01 2.16387482e-01 -5.93502217e-01 8.27762868e+01] [ 6.08754000e-01 -4.86744025e-03 7.93344109e-01 6.90667765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:82.82, Z:69.05 [[ 1.65211875e-01 -9.82470644e-01 -8.63508570e-02 1.52402823e+02] [ 7.82897127e-01 1.83890341e-01 -5.94353793e-01 8.28197524e+01] [ 5.99814242e-01 3.05904665e-02 7.99554312e-01 6.90529939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:82.81, Z:69.11 [[ 1.66661482e-01 -9.71876706e-01 -1.66371928e-01 1.52442421e+02] [ 7.75849311e-01 2.33388984e-01 -5.86163312e-01 8.28076813e+01] [ 6.08507844e-01 -3.13886999e-02 7.92926827e-01 6.91113225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:82.84, Z:69.11 [[ 1.67607960e-01 -9.77644565e-01 -1.26959348e-01 1.52431951e+02] [ 7.76584053e-01 2.10262238e-01 -5.93891404e-01 8.28448211e+01] [ 6.07309460e-01 9.46321472e-04 7.94464804e-01 6.91140305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:82.87, Z:69.13 [[ 1.67204611e-01 -9.78109460e-01 -1.23872932e-01 1.52433475e+02] [ 7.77556515e-01 2.08070850e-01 -5.93390586e-01 8.28677276e+01] [ 6.06175292e-01 2.89943690e-03 7.95325788e-01 6.91264237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:82.88, Z:69.15 [[ 1.67681781e-01 -9.75973924e-01 -1.39132024e-01 1.52443997e+02] [ 7.77303442e-01 2.17694235e-01 -5.90261450e-01 8.28840417e+01] [ 6.06368023e-01 -9.17170997e-03 7.95131247e-01 6.91501648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:82.93, Z:69.14 [[ 1.64137849e-01 -9.82449899e-01 -8.86056588e-02 1.52423835e+02] [ 7.84365843e-01 1.84456999e-01 -5.92237993e-01 8.29280034e+01] [ 5.98188090e-01 2.77094180e-02 8.00876518e-01 6.91356419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.45, Y:82.93, Z:69.18 [[ 1.64371363e-01 -9.76314293e-01 -1.40685664e-01 1.52451145e+02] [ 7.80730953e-01 2.15938321e-01 -5.86370037e-01 8.29287927e+01] [ 6.02860874e-01 -1.34552102e-02 7.97732865e-01 6.91764707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:82.96, Z:69.19 [[ 1.63850768e-01 -9.78546396e-01 -1.24899463e-01 1.52448315e+02] [ 7.81019389e-01 2.06024379e-01 -5.89544459e-01 8.29554990e+01] [ 6.02628941e-01 -9.51589957e-04 7.98020961e-01 6.91879105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:82.97, Z:69.22 [[ 1.64511179e-01 -9.75239974e-01 -1.47793992e-01 1.52460916e+02] [ 7.78207479e-01 2.20393185e-01 -5.88064592e-01 8.29661753e+01] [ 6.06076886e-01 -1.82711905e-02 7.95196185e-01 6.92180124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:83.02, Z:69.20 [[ 1.63256079e-01 -9.84047737e-01 -7.06930276e-02 1.52431575e+02] [ 7.85661076e-01 1.73013598e-01 -5.93972195e-01 8.30220652e+01] [ 5.96727849e-01 4.14288114e-02 8.01373525e-01 6.91959847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:83.03, Z:69.23 [[ 1.63570767e-01 -9.79546586e-01 -1.17188268e-01 1.52455650e+02] [ 7.85276669e-01 2.01182501e-01 -5.85547738e-01 8.30275064e+01] [ 5.97147517e-01 3.75327959e-03 8.02122656e-01 6.92273875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:83.05, Z:69.24 [[ 1.62803338e-01 -9.80654969e-01 -1.08677987e-01 1.52455369e+02] [ 7.83548981e-01 1.95442510e-01 -5.89790827e-01 8.30516147e+01] [ 5.99621604e-01 1.08653895e-02 8.00209894e-01 6.92395373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:83.07, Z:69.26 [[ 1.60836206e-01 -9.79842394e-01 -1.18493030e-01 1.52463918e+02] [ 7.83501430e-01 1.99763994e-01 -5.88404501e-01 8.30684251e+01] [ 6.00214315e-01 1.79728958e-03 7.99837199e-01 6.92590139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.46, Y:83.09, Z:69.27 [[ 1.58732879e-01 -9.81372174e-01 -1.08224443e-01 1.52461248e+02] [ 7.86343552e-01 1.91945061e-01 -5.87214536e-01 8.30936574e+01] [ 5.97049153e-01 8.10866110e-03 8.02163673e-01 6.92652808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:83.11, Z:69.29 [[ 1.58182309e-01 -9.79538610e-01 -1.24428570e-01 1.52473839e+02] [ 7.85378494e-01 2.01191138e-01 -5.85408188e-01 8.31085567e+01] [ 5.98463848e-01 -5.12230393e-03 8.01133437e-01 6.92927569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.47, Y:83.14, Z:69.30 [[ 1.56361007e-01 -9.81940223e-01 -1.06511196e-01 1.52469707e+02] [ 7.88386045e-01 1.89040160e-01 -5.85415462e-01 8.31395562e+01] [ 5.94977882e-01 7.56421102e-03 8.03706478e-01 6.92991444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.48, Y:83.15, Z:69.32 [[ 1.57208258e-01 -9.80094756e-01 -1.21242866e-01 1.52479383e+02] [ 7.85906220e-01 1.98504131e-01 -5.85617216e-01 8.31528956e+01] [ 5.98027572e-01 -3.22166002e-03 8.01469054e-01 6.93231422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.48, Y:83.18, Z:69.34 [[ 1.55402724e-01 -9.80746892e-01 -1.18260422e-01 1.52479575e+02] [ 7.85390630e-01 1.95276674e-01 -5.87391334e-01 8.31763848e+01] [ 5.99175727e-01 -1.59841394e-03 8.00615946e-01 6.93385183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:83.20, Z:69.35 [[ 1.56779681e-01 -9.80389242e-01 -1.19402960e-01 1.52481731e+02] [ 7.85612272e-01 1.97062172e-01 -5.86497962e-01 8.31970521e+01] [ 5.98526098e-01 -1.85346730e-03 8.01101163e-01 6.93523383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:83.22, Z:69.37 [[ 1.60573987e-01 -9.81441699e-01 -1.04824554e-01 1.52482402e+02] [ 7.83648876e-01 1.91336157e-01 -5.91003311e-01 8.32246748e+01] [ 6.00092021e-01 1.27541141e-02 7.99829294e-01 6.93671266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:83.24, Z:69.39 [[ 1.62167419e-01 -9.79919123e-01 -1.16018276e-01 1.52489184e+02] [ 7.81751154e-01 1.99329538e-01 -5.90874664e-01 8.32432088e+01] [ 6.02135252e-01 5.12319840e-03 7.98377662e-01 6.93857550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:83.27, Z:69.40 [[ 1.62414616e-01 -9.79884604e-01 -1.15964026e-01 1.52492190e+02] [ 7.81003656e-01 1.99487742e-01 -5.91809032e-01 8.32652255e+01] [ 6.03037961e-01 5.55010866e-03 7.97693183e-01 6.94015266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.49, Y:83.29, Z:69.41 [[ 1.59885038e-01 -9.81611729e-01 -1.04284169e-01 1.52486122e+02] [ 7.82614925e-01 1.90435457e-01 -5.92661974e-01 8.32944618e+01] [ 6.01623348e-01 1.31434356e-02 7.98671771e-01 6.94071324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:83.31, Z:69.44 [[ 1.62629915e-01 -9.79328245e-01 -1.20281750e-01 1.52500537e+02] [ 7.78747313e-01 2.02256616e-01 -5.93839107e-01 8.33096607e+01] [ 6.05891190e-01 2.90691417e-03 7.95542215e-01 6.94353141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.50, Y:83.34, Z:69.44 [[ 1.59591046e-01 -9.81349433e-01 -1.07163371e-01 1.52495703e+02] [ 7.81005152e-01 1.91908684e-01 -5.94308010e-01 8.33382084e+01] [ 6.03789410e-01 1.11510919e-02 7.97065870e-01 6.94414409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:83.36, Z:69.45 [[ 1.58311801e-01 -9.82032904e-01 -1.02707100e-01 1.52497572e+02] [ 7.80849478e-01 1.88181666e-01 -5.95702739e-01 8.33637390e+01] [ 6.04327284e-01 1.41079880e-02 7.96611259e-01 6.94544905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:83.38, Z:69.48 [[ 1.57725920e-01 -9.80792230e-01 -1.14756851e-01 1.52507198e+02] [ 7.79563507e-01 1.95005362e-01 -5.95192110e-01 8.33813818e+01] [ 6.06137999e-01 4.41696981e-03 7.95347231e-01 6.94765719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:83.41, Z:69.49 [[ 1.56095006e-01 -9.81592702e-01 -1.10045972e-01 1.52508342e+02] [ 7.78769317e-01 1.90835877e-01 -5.97578462e-01 8.34060468e+01] [ 6.07579377e-01 7.57858703e-03 7.94222806e-01 6.94910111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:83.42, Z:69.52 [[ 1.57598185e-01 -9.80008452e-01 -1.21434122e-01 1.52519806e+02] [ 7.75924784e-01 1.98955824e-01 -5.98629526e-01 8.34206873e+01] [ 6.10822021e-01 1.19182233e-04 7.91767924e-01 6.95170777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:83.45, Z:69.52 [[ 1.54226330e-01 -9.82344765e-01 -1.05891463e-01 1.52515163e+02] [ 7.78335239e-01 1.86810700e-01 -5.99413062e-01 8.34503774e+01] [ 6.08611942e-01 1.00262195e-02 7.93404676e-01 6.95233347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:83.47, Z:69.54 [[ 1.53924970e-01 -9.81801349e-01 -1.11234949e-01 1.52521380e+02] [ 7.78011456e-01 1.89826988e-01 -5.98885540e-01 8.34708776e+01] [ 6.09102026e-01 5.64137438e-03 7.93071810e-01 6.95417689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:83.49, Z:69.57 [[ 1.56525195e-01 -9.80095479e-01 -1.22117632e-01 1.52532139e+02] [ 7.74972975e-01 1.98525392e-01 -6.00003798e-01 8.34859283e+01] [ 6.12304460e-01 -7.22152739e-04 7.90621734e-01 6.95669610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.53, Y:83.51, Z:69.57 [[ 1.55273178e-01 -9.82010206e-01 -1.07453224e-01 1.52526784e+02] [ 7.80291279e-01 1.88625303e-01 -5.96293565e-01 8.35149728e+01] [ 6.05834763e-01 8.74358312e-03 7.95542450e-01 6.95687978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.53, Y:83.54, Z:69.58 [[ 1.56490897e-01 -9.81972632e-01 -1.06020511e-01 1.52529872e+02] [ 7.79603884e-01 1.88714549e-01 -5.97163799e-01 8.35354707e+01] [ 6.06406121e-01 1.07966959e-02 7.95081787e-01 6.95846827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:83.55, Z:69.61 [[ 1.60648877e-01 -9.80038165e-01 -1.17120166e-01 1.52540866e+02] [ 7.74847211e-01 1.98729003e-01 -6.00098812e-01 8.35502909e+01] [ 6.11394912e-01 5.65496607e-03 7.91305430e-01 6.96140713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:83.57, Z:69.63 [[ 1.63160432e-01 -9.79816470e-01 -1.15491812e-01 1.52544869e+02] [ 7.74979604e-01 1.99725692e-01 -5.99596749e-01 8.35710871e+01] [ 6.10561452e-01 8.32666624e-03 7.91925110e-01 6.96305327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:83.59, Z:69.65 [[ 1.63937101e-01 -9.79717558e-01 -1.15230783e-01 1.52549194e+02] [ 7.74955201e-01 2.00182187e-01 -5.99476045e-01 8.35913138e+01] [ 6.10384357e-01 8.97767015e-03 7.92054505e-01 6.96473153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.56, Y:83.61, Z:69.67 [[ 1.66214676e-01 -9.77961780e-01 -1.26346500e-01 1.52558096e+02] [ 7.76260282e-01 2.08782490e-01 -5.94835982e-01 8.36063009e+01] [ 6.08105793e-01 7.92700802e-04 7.93855602e-01 6.96661281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:83.64, Z:69.67 [[ 1.66127517e-01 -9.81251844e-01 -9.77060206e-02 1.52549290e+02] [ 7.75222105e-01 1.91195075e-01 -6.02059076e-01 8.36384517e+01] [ 6.09452489e-01 2.42747125e-02 7.92450883e-01 6.96747015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:83.65, Z:69.70 [[ 1.66020480e-01 -9.79482465e-01 -1.14242289e-01 1.52560944e+02] [ 7.75498325e-01 2.01242222e-01 -5.98417844e-01 8.36543431e+01] [ 6.09130158e-01 1.07549141e-02 7.92997341e-01 6.96968876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.300385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:152.57, Y:83.68, Z:69.71 [[ 1.65387671e-01 -9.79645470e-01 -1.13761471e-01 1.52565730e+02] [ 7.76676819e-01 2.00465675e-01 -5.97148752e-01 8.36751779e+01] [ 6.07799339e-01 1.04051437e-02 7.94022478e-01 6.97136179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:83.70, Z:69.73 [[ 1.64559510e-01 -9.79827133e-01 -1.13397339e-01 1.52570131e+02] [ 7.77408397e-01 1.99596482e-01 -5.96487576e-01 8.36961289e+01] [ 6.07088421e-01 1.00016597e-02 7.94571341e-01 6.97304618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:83.72, Z:69.75 [[ 1.63183381e-01 -9.80116379e-01 -1.12885194e-01 1.52575360e+02] [ 7.78869392e-01 1.98211112e-01 -5.95041868e-01 8.37162850e+01] [ 6.05585381e-01 9.17812169e-03 7.95727408e-01 6.97477406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:83.74, Z:69.76 [[ 1.62319628e-01 -9.80304884e-01 -1.12492991e-01 1.52580168e+02] [ 7.79729882e-01 1.97296634e-01 -5.94218268e-01 8.37375470e+01] [ 6.04709558e-01 8.73914152e-03 7.96398127e-01 6.97647390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:83.76, Z:69.78 [[ 1.60258693e-01 -9.80674571e-01 -1.12225387e-01 1.52584299e+02] [ 7.80311780e-01 1.95497207e-01 -5.94049130e-01 8.37581682e+01] [ 6.04508625e-01 7.63074554e-03 7.96562047e-01 6.97807170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:83.78, Z:69.80 [[ 1.59203240e-01 -9.80875986e-01 -1.11967087e-01 1.52587530e+02] [ 7.80600723e-01 1.94501850e-01 -5.93996247e-01 8.37796956e+01] [ 6.04414460e-01 7.16453772e-03 7.96637829e-01 6.97966980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:83.80, Z:69.81 [[ 1.57539199e-01 -9.81179814e-01 -1.11658289e-01 1.52590656e+02] [ 7.81274958e-01 1.92994141e-01 -5.93601467e-01 8.38009194e+01] [ 6.03979173e-01 6.27967511e-03 7.96975360e-01 6.98121391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.59, Y:83.82, Z:69.83 [[ 1.55609741e-01 -9.81504332e-01 -1.11511683e-01 1.52594456e+02] [ 7.81272116e-01 1.91365668e-01 -5.94132193e-01 8.38222593e+01] [ 6.04482828e-01 5.33178807e-03 7.96600328e-01 6.98291765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.60, Y:83.84, Z:69.85 [[ 1.54493889e-01 -9.81699329e-01 -1.11346597e-01 1.52597982e+02] [ 7.81226755e-01 1.90375406e-01 -5.94509851e-01 8.38429757e+01] [ 6.04827576e-01 4.86119801e-03 7.96341618e-01 6.98455311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:83.86, Z:69.86 [[ 1.52830895e-01 -9.81974973e-01 -1.11210924e-01 1.52600227e+02] [ 7.81114660e-01 1.88966898e-01 -5.95106209e-01 8.38642065e+01] [ 6.05394587e-01 4.08213155e-03 7.95915027e-01 6.98620704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.60, Y:83.89, Z:69.88 [[ 1.52320353e-01 -9.82075691e-01 -1.11021833e-01 1.52602859e+02] [ 7.81022224e-01 1.88444946e-01 -5.95392969e-01 8.38862035e+01] [ 6.05642465e-01 3.97994839e-03 7.95726941e-01 6.98784369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:152.60, Y:83.91, Z:69.89 [[ 1.51171522e-01 -9.82767825e-01 -1.06369980e-01 1.52603862e+02] [ 7.80520989e-01 1.84701685e-01 -5.97220456e-01 8.39102395e+01] [ 6.06575763e-01 7.25872345e-03 7.94992550e-01 6.98929696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.61, Y:83.93, Z:69.91 [[ 1.50978736e-01 -9.81437634e-01 -1.18260694e-01 1.52611416e+02] [ 7.81472873e-01 1.91761487e-01 -5.93740416e-01 8.39269391e+01] [ 6.05397035e-01 -2.77534686e-03 7.95918794e-01 6.99131875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.61, Y:83.95, Z:69.93 [[ 1.50709373e-01 -9.82399542e-01 -1.10353178e-01 1.52611934e+02] [ 7.81553868e-01 1.86759666e-01 -5.95226326e-01 8.39513887e+01] [ 6.05359593e-01 3.45923307e-03 7.95944594e-01 6.99273183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:83.97, Z:69.94 [[ 1.49151074e-01 -9.82663786e-01 -1.10117400e-01 1.52615598e+02] [ 7.81911488e-01 1.85377319e-01 -5.95188772e-01 8.39715064e+01] [ 6.05283721e-01 2.67098471e-03 7.96005329e-01 6.99439076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:83.99, Z:69.96 [[ 1.48447143e-01 -9.82794946e-01 -1.09897863e-01 1.52619355e+02] [ 7.81934473e-01 1.84683780e-01 -5.95374152e-01 8.39920288e+01] [ 6.05427060e-01 2.44866407e-03 7.95897028e-01 6.99598279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.780385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.62, Y:84.01, Z:69.98 [[ 1.46964954e-01 -9.83031797e-01 -1.09771530e-01 1.52622686e+02] [ 7.81721185e-01 1.83426537e-01 -5.96042527e-01 8.40134267e+01] [ 6.06063768e-01 1.78663162e-03 7.95414054e-01 6.99761420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:84.04, Z:69.99 [[ 1.46346465e-01 -9.83144693e-01 -1.09586613e-01 1.52626692e+02] [ 7.81639922e-01 1.82822066e-01 -5.96334742e-01 8.40352587e+01] [ 6.06318188e-01 1.61420953e-03 7.95220504e-01 6.99927854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:84.06, Z:70.00 [[ 1.41711512e-01 -9.84866565e-01 -9.97782344e-02 1.52621070e+02] [ 7.85034040e-01 1.73212053e-01 -5.94742920e-01 8.40601250e+01] [ 6.03025210e-01 5.95260824e-03 7.97699920e-01 6.99988520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:152.63, Y:84.08, Z:70.02 [[ 1.44741943e-01 -9.83755561e-01 -1.06182706e-01 1.52631910e+02] [ 7.81260574e-01 1.79477581e-01 -5.97845895e-01 8.40807118e+01] [ 6.07191638e-01 3.57701500e-03 7.94547368e-01 7.00244711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:152.64, Y:84.10, Z:70.04 [[ 1.43708347e-01 -9.82744541e-01 -1.16452040e-01 1.52635574e+02] [ 7.80585676e-01 1.84897800e-01 -5.97075210e-01 8.40983625e+01] [ 6.08304130e-01 -5.09610287e-03 7.93687669e-01 7.00431203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.930385723 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:152.63, Y:84.13, Z:70.05 [[ 1.44397177e-01 -9.85308338e-01 -9.11972325e-02 1.52628150e+02] [ 7.78738455e-01 1.70016867e-01 -6.03871413e-01 8.41300906e+01] [ 6.10504606e-01 1.61785357e-02 7.91847448e-01 7.00528244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:152.64, Y:84.14, Z:70.08 [[ 1.44918177e-01 -9.81944131e-01 -1.21591305e-01 1.52643991e+02] [ 7.78396616e-01 1.89006464e-01 -5.98644523e-01 8.41413820e+01] [ 6.10817018e-01 -7.89178695e-03 7.91732461e-01 7.00767431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:84.17, Z:70.09 [[ 1.45971054e-01 -9.83321660e-01 -1.08494074e-01 1.52641760e+02] [ 7.78257602e-01 1.81845089e-01 -6.01038658e-01 8.41655428e+01] [ 6.10743445e-01 3.29790874e-03 7.91821677e-01 7.00889660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.65, Y:84.19, Z:70.11 [[ 1.47031054e-01 -9.83166616e-01 -1.08467846e-01 1.52646123e+02] [ 7.77362343e-01 1.82663295e-01 -6.01948426e-01 8.41861252e+01] [ 6.11628692e-01 4.18629225e-03 7.91133882e-01 7.01061409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.65, Y:84.21, Z:70.12 [[ 1.47445063e-01 -9.83126768e-01 -1.08266853e-01 1.52650015e+02] [ 7.77121170e-01 1.82866323e-01 -6.02198136e-01 8.42083366e+01] [ 6.11835468e-01 4.65467862e-03 7.90971361e-01 7.01236037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.080385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:152.65, Y:84.23, Z:70.14 [[ 1.44515517e-01 -9.82974604e-01 -1.13473317e-01 1.52651345e+02] [ 7.78225406e-01 1.83735139e-01 -6.00505301e-01 8.42266374e+01] [ 6.11130496e-01 -1.52548388e-03 7.91528389e-01 7.01383396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:84.26, Z:70.15 [[ 1.49613539e-01 -9.84364553e-01 -9.29635228e-02 1.52648125e+02] [ 7.76697394e-01 1.75188460e-01 -6.05020795e-01 8.42575970e+01] [ 6.11847161e-01 1.83147763e-02 7.90763948e-01 7.01503752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.66, Y:84.27, Z:70.17 [[ 1.50998148e-01 -9.82636274e-01 -1.07821671e-01 1.52658645e+02] [ 7.76060338e-01 1.85396908e-01 -6.02792118e-01 8.42746622e+01] [ 6.12315205e-01 7.34437134e-03 7.90579629e-01 7.01710654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:84.30, Z:70.19 [[ 1.51786283e-01 -9.82531201e-01 -1.07672484e-01 1.52662922e+02] [ 7.75520271e-01 1.85922688e-01 -6.03325006e-01 8.42959417e+01] [ 6.12804400e-01 8.07426663e-03 7.90193377e-01 7.01876061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.66, Y:84.32, Z:70.20 [[ 1.53608473e-01 -9.83178228e-01 -9.88180617e-02 1.52663650e+02] [ 7.76563975e-01 1.81953905e-01 -6.03192481e-01 8.43219593e+01] [ 6.11026046e-01 1.59169290e-02 7.91450455e-01 7.01966582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:84.34, Z:70.22 [[ 1.54350538e-01 -9.81532825e-01 -1.13000995e-01 1.52673482e+02] [ 7.73941399e-01 1.91208090e-01 -6.03700404e-01 8.43359979e+01] [ 6.14158467e-01 5.72533413e-03 7.89161959e-01 7.02203907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:84.36, Z:70.23 [[ 1.56000861e-01 -9.81921541e-01 -1.07209228e-01 1.52673863e+02] [ 7.73166810e-01 1.88935464e-01 -6.05406040e-01 8.43595122e+01] [ 6.14716857e-01 1.15532468e-02 7.88663241e-01 7.02335681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:84.39, Z:70.24 [[ 1.54543856e-01 -9.83467968e-01 -9.43766532e-02 1.52668620e+02] [ 7.76193341e-01 1.79959693e-01 -6.04266834e-01 8.43877180e+01] [ 6.11261069e-01 2.01311971e-02 7.91172953e-01 7.02393496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.68, Y:84.40, Z:70.27 [[ 1.57219564e-01 -9.81222715e-01 -1.11731789e-01 1.52681885e+02] [ 7.71325026e-01 1.92659345e-01 -6.06580647e-01 8.44016604e+01] [ 6.16716882e-01 9.18482013e-03 7.87131454e-01 7.02670266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.68, Y:84.43, Z:70.27 [[ 1.55615692e-01 -9.83265457e-01 -9.47248538e-02 1.52675894e+02] [ 7.74089782e-01 1.80954806e-01 -6.06663306e-01 8.44312664e+01] [ 6.13651991e-01 2.10807886e-02 7.89295151e-01 7.02729764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:84.44, Z:70.30 [[ 1.57539327e-01 -9.80963666e-01 -1.13541383e-01 1.52691667e+02] [ 7.70125766e-01 1.94014288e-01 -6.07671590e-01 8.44428663e+01] [ 6.18132401e-01 8.29102869e-03 7.86030275e-01 7.03017954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:84.47, Z:70.32 [[ 1.57685442e-01 -9.81689126e-01 -1.06872636e-01 1.52692084e+02] [ 7.70260256e-01 1.89998615e-01 -6.08768974e-01 8.44664411e+01] [ 6.17927535e-01 1.36742609e-02 7.86116134e-01 7.03154966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.69, Y:84.49, Z:70.33 [[ 1.57556344e-01 -9.81730300e-01 -1.06684662e-01 1.52694836e+02] [ 7.70068389e-01 1.89775920e-01 -6.09081092e-01 8.44882625e+01] [ 6.18199543e-01 1.38101043e-02 7.85899870e-01 7.03314290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:84.52, Z:70.34 [[ 1.55674982e-01 -9.83668307e-01 -9.03435722e-02 1.52688581e+02] [ 7.72262214e-01 1.78223473e-01 -6.09792970e-01 8.45174553e+01] [ 6.15935364e-01 2.51605827e-02 7.87394801e-01 7.03368399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:84.53, Z:70.36 [[ 1.55844261e-01 -9.82484610e-01 -1.02159473e-01 1.52698438e+02] [ 7.72594584e-01 1.85681898e-01 -6.07140710e-01 8.45340084e+01] [ 6.15475568e-01 1.56915395e-02 7.87999747e-01 7.03570378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:84.56, Z:70.37 [[ 1.56043576e-01 -9.82453107e-01 -1.02158183e-01 1.52702892e+02] [ 7.73419572e-01 1.85859842e-01 -6.06034887e-01 8.45552890e+01] [ 6.14387962e-01 1.55567124e-02 7.88850696e-01 7.03743545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:84.57, Z:70.40 [[ 1.59558976e-01 -9.81114343e-01 -1.09341569e-01 1.52714994e+02] [ 7.71276105e-01 1.93027953e-01 -6.06525663e-01 8.45704280e+01] [ 6.16177006e-01 1.24440744e-02 7.87509392e-01 7.04015454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.590385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:152.72, Y:84.59, Z:70.42 [[ 1.60204120e-01 -9.81407673e-01 -1.05705340e-01 1.52717783e+02] [ 7.71744636e-01 1.91301237e-01 -6.06476755e-01 8.45924326e+01] [ 6.15422503e-01 1.55825460e-02 7.88043354e-01 7.04170995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:84.62, Z:70.42 [[ 1.58982329e-01 -9.83315047e-01 -8.84089236e-02 1.52711863e+02] [ 7.75823570e-01 1.79810834e-01 -6.04785790e-01 8.46236883e+01] [ 6.10591850e-01 2.75605265e-02 7.91465735e-01 7.04208117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:84.63, Z:70.45 [[ 1.60720567e-01 -9.80105498e-01 -1.16456482e-01 1.52730073e+02] [ 7.71305940e-01 1.98340145e-01 -6.04771307e-01 8.46316597e+01] [ 6.15837679e-01 7.37561130e-03 7.87838533e-01 7.04533743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:84.67, Z:70.45 [[ 1.57200199e-01 -9.83853911e-01 -8.55545401e-02 1.52719218e+02] [ 7.76379175e-01 1.76659941e-01 -6.05001357e-01 8.46666962e+01] [ 6.10347011e-01 2.86835704e-02 7.91614666e-01 7.04521169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:84.68, Z:70.48 [[ 1.57840566e-01 -9.81287737e-01 -1.10275712e-01 1.52736243e+02] [ 7.72169544e-01 1.92263751e-01 -6.05630948e-01 8.46761156e+01] [ 6.15500245e-01 1.04415854e-02 7.88067524e-01 7.04831906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:84.70, Z:70.49 [[ 1.55919205e-01 -9.82800958e-01 -9.89518980e-02 1.52734976e+02] [ 7.76356327e-01 1.83867272e-01 -6.02879491e-01 8.47041178e+01] [ 6.10704557e-01 1.71785589e-02 7.91672181e-01 7.04940380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:84.72, Z:70.52 [[ 1.56710385e-01 -9.81295154e-01 -1.11810895e-01 1.52744695e+02] [ 7.74194732e-01 1.92345666e-01 -6.03013815e-01 8.47188548e+01] [ 6.13240876e-01 7.93512127e-03 7.89856102e-01 7.05201027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:84.74, Z:70.53 [[ 1.56748310e-01 -9.82184918e-01 -1.03647257e-01 1.52744500e+02] [ 7.74961393e-01 1.87372860e-01 -6.03594442e-01 8.47413600e+01] [ 6.12262041e-01 1.42897864e-02 7.90525771e-01 7.05337344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:84.77, Z:70.54 [[ 1.54392320e-01 -9.83742900e-01 -9.17219617e-02 1.52741637e+02] [ 7.78293207e-01 1.78282878e-01 -6.02058883e-01 8.47685277e+01] [ 6.08623607e-01 2.15666881e-02 7.93165924e-01 7.05417985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:84.79, Z:70.56 [[ 1.53643993e-01 -9.83170622e-01 -9.88385139e-02 1.52752111e+02] [ 7.79031774e-01 1.82057654e-01 -5.99970420e-01 8.47870071e+01] [ 6.07867599e-01 1.51835081e-02 7.93893219e-01 7.05637010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:84.81, Z:70.58 [[ 1.50242649e-01 -9.83467686e-01 -1.01086384e-01 1.52757103e+02] [ 7.80671956e-01 1.80751460e-01 -5.98230897e-01 8.48063991e+01] [ 6.06612268e-01 1.09644898e-02 7.94922221e-01 7.05807760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.77, Y:84.83, Z:70.60 [[ 1.49942041e-01 -9.83076366e-01 -1.05253233e-01 1.52765192e+02] [ 7.79769342e-01 1.83034374e-01 -5.98713781e-01 8.48252282e+01] [ 6.07846328e-01 7.69912189e-03 7.94017358e-01 7.06044113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:84.85, Z:70.61 [[ 1.43874476e-01 -9.85258150e-01 -9.25554640e-02 1.52764462e+02] [ 7.84394441e-01 1.70564213e-01 -5.96349906e-01 8.48535310e+01] [ 6.03345255e-01 1.31995387e-02 7.97370852e-01 7.06137281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.980385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:152.78, Y:84.87, Z:70.64 [[ 1.42457468e-01 -9.83815744e-01 -1.08685102e-01 1.52777249e+02] [ 7.83285530e-01 1.79182792e-01 -5.95279182e-01 8.48678249e+01] [ 6.05119532e-01 -3.29502038e-04 7.96134564e-01 7.06387682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:84.89, Z:70.66 [[ 1.39172123e-01 -9.85131208e-01 -1.00735407e-01 1.52778885e+02] [ 7.86737965e-01 1.71772672e-01 -5.92905999e-01 8.48899952e+01] [ 6.01393793e-01 3.26361718e-03 7.98946090e-01 7.06560255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:84.91, Z:70.67 [[ 1.37401596e-01 -9.85429591e-01 -1.00246311e-01 1.52782260e+02] [ 7.88315638e-01 1.70069380e-01 -5.91299299e-01 8.49105268e+01] [ 5.99732654e-01 2.21973248e-03 8.00197361e-01 7.06722219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:84.93, Z:70.69 [[ 1.35805359e-01 -9.85687967e-01 -9.98806152e-02 1.52785944e+02] [ 7.89427498e-01 1.68574961e-01 -5.90242923e-01 8.49317433e+01] [ 5.98632717e-01 1.30964769e-03 8.01022568e-01 7.06891826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:84.96, Z:70.70 [[ 1.31331225e-01 -9.87284556e-01 -8.95617979e-02 1.52784825e+02] [ 7.92118988e-01 1.58831797e-01 -5.89338586e-01 8.49593825e+01] [ 5.96070145e-01 6.45495758e-03 8.02906418e-01 7.06996204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:84.97, Z:70.72 [[ 1.28934620e-01 -9.85589592e-01 -1.09494380e-01 1.52795893e+02] [ 7.91418738e-01 1.68802284e-01 -5.87505038e-01 8.49716964e+01] [ 5.97521753e-01 -1.09061650e-02 8.01778530e-01 7.07249815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.79, Y:85.00, Z:70.74 [[ 1.26281505e-01 -9.87025377e-01 -9.91659542e-02 1.52794362e+02] [ 7.91587243e-01 1.60513417e-01 -5.89597388e-01 8.49969494e+01] [ 5.97865051e-01 -4.04325892e-03 8.01586573e-01 7.07367360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.02, Z:70.75 [[ 1.21946680e-01 -9.87584531e-01 -9.90242509e-02 1.52797298e+02] [ 7.92111092e-01 1.56953640e-01 -5.89852163e-01 8.50188400e+01] [ 5.98071088e-01 -6.50769454e-03 8.01416636e-01 7.07532118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.04, Z:70.77 [[ 1.19447833e-01 -9.87911950e-01 -9.88038208e-02 1.52800628e+02] [ 7.92452057e-01 1.54818287e-01 -5.89958503e-01 8.50401463e+01] [ 5.98123694e-01 -7.82802606e-03 8.01365565e-01 7.07695709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.06, Z:70.78 [[ 1.14887640e-01 -9.88456282e-01 -9.87674475e-02 1.52803073e+02] [ 7.92253215e-01 1.51153782e-01 -5.91174574e-01 8.50611151e+01] [ 5.99279295e-01 -1.03301764e-02 8.00473369e-01 7.07845499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.09, Z:70.79 [[ 1.10538654e-01 -9.89778641e-01 -9.01079831e-02 1.52800903e+02] [ 7.93980078e-01 1.42476757e-01 -5.91012699e-01 8.50892997e+01] [ 5.97810039e-01 -6.21419520e-03 8.01613711e-01 7.07937902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.310385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:152.81, Y:85.11, Z:70.82 [[ 1.07444290e-01 -9.88651732e-01 -1.04992752e-01 1.52809470e+02] [ 7.91927239e-01 1.48951899e-01 -5.92169385e-01 8.51053639e+01] [ 6.01088158e-01 -1.95214007e-02 7.98944267e-01 7.08168255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.14, Z:70.83 [[ 1.05158406e-01 -9.90637584e-01 -8.70568067e-02 1.52804806e+02] [ 7.93201916e-01 1.36356353e-01 -5.93496137e-01 8.51365500e+01] [ 5.99810328e-01 -6.64251802e-03 8.00114646e-01 7.08261665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:85.15, Z:70.85 [[ 1.00089110e-01 -9.89305611e-01 -1.06097021e-01 1.52813233e+02] [ 7.93268983e-01 1.43708774e-01 -5.91668918e-01 8.51514555e+01] [ 6.00588453e-01 -2.49438610e-02 7.99169140e-01 7.08487116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.81, Y:85.17, Z:70.87 [[ 9.72042802e-02 -9.89598546e-01 -1.06047377e-01 1.52814163e+02] [ 7.91977074e-01 1.41440718e-01 -5.93941780e-01 8.51713904e+01] [ 6.02763339e-01 -2.62534081e-02 7.97488004e-01 7.08667599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.430385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:152.81, Y:85.20, Z:70.87 [[ 9.46784378e-02 -9.91351006e-01 -9.08800071e-02 1.52809466e+02] [ 7.92645260e-01 1.30301196e-01 -5.95596415e-01 8.52023416e+01] [ 6.02286879e-01 -1.56454687e-02 7.98126390e-01 7.08743416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:85.22, Z:70.89 [[ 9.41851013e-02 -9.90897635e-01 -9.61823469e-02 1.52813299e+02] [ 7.93172220e-01 1.33075554e-01 -5.94280006e-01 8.52229508e+01] [ 6.01670172e-01 -2.03168431e-02 7.98486212e-01 7.08930040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.81, Y:85.25, Z:70.91 [[ 9.44135474e-02 -9.90993951e-01 -9.49582630e-02 1.52813287e+02] [ 7.91369678e-01 1.32580044e-01 -5.96788542e-01 8.52482415e+01] [ 6.04003406e-01 -1.88021668e-02 7.96759916e-01 7.09073626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.520385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:152.81, Y:85.27, Z:70.92 [[ 9.66624432e-02 -9.90875101e-01 -9.39303261e-02 1.52813421e+02] [ 7.88427426e-01 1.33827642e-01 -6.00393501e-01 8.52727324e+01] [ 6.07485445e-01 -1.60217426e-02 7.94169212e-01 7.09212282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:152.82, Y:85.29, Z:70.94 [[ 9.74566452e-02 -9.90366353e-01 -9.83701684e-02 1.52815528e+02] [ 7.88442700e-01 1.37145331e-01 -5.99624271e-01 8.52939912e+01] [ 6.07338712e-01 -1.91218713e-02 7.94212845e-01 7.09376355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:85.31, Z:70.96 [[ 1.03759476e-01 -9.88469640e-01 -1.10280288e-01 1.52819915e+02] [ 7.84565221e-01 1.49491539e-01 -6.01755511e-01 8.53078411e+01] [ 6.11303023e-01 -2.40842417e-02 7.91030065e-01 7.09626192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:85.33, Z:70.98 [[ 1.03607535e-01 -9.89735495e-01 -9.84333689e-02 1.52818042e+02] [ 7.84410429e-01 1.42157318e-01 -6.03731378e-01 8.53333813e+01] [ 6.11527398e-01 -1.46610415e-02 7.91087413e-01 7.09756960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:85.37, Z:70.98 [[ 1.05106704e-01 -9.90983726e-01 -8.30893283e-02 1.52812576e+02] [ 7.86519235e-01 1.33967566e-01 -6.02860004e-01 8.53664902e+01] [ 6.08555728e-01 -1.98672659e-03 7.93508651e-01 7.09817029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.82, Y:85.38, Z:71.00 [[ 1.10597058e-01 -9.89013245e-01 -9.80871667e-02 1.52817555e+02] [ 7.84420420e-01 1.47466747e-01 -6.02443494e-01 8.53848058e+01] [ 6.10289190e-01 -1.03130984e-02 7.92111573e-01 7.10018557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:85.40, Z:71.03 [[ 1.14506607e-01 -9.86963520e-01 -1.13098400e-01 1.52824861e+02] [ 7.80822822e-01 1.59800624e-01 -6.03969769e-01 8.53973444e+01] [ 6.14169324e-01 -1.91512832e-02 7.88941867e-01 7.10275457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:85.43, Z:71.04 [[ 1.21414182e-01 -9.87710359e-01 -9.84217658e-02 1.52815809e+02] [ 7.78154071e-01 1.56271570e-01 -6.08321821e-01 8.54251389e+01] [ 6.16226288e-01 -2.72840117e-03 7.87564421e-01 7.10384066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.760385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:152.82, Y:85.45, Z:71.05 [[ 1.23521279e-01 -9.87459244e-01 -9.83195569e-02 1.52815870e+02] [ 7.77191876e-01 1.57869785e-01 -6.09138670e-01 8.54494310e+01] [ 6.17021298e-01 -1.17157308e-03 7.86945580e-01 7.10525373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:85.48, Z:71.06 [[ 1.28735862e-01 -9.87531426e-01 -9.06022134e-02 1.52810125e+02] [ 7.76317136e-01 1.57205797e-01 -6.10424477e-01 8.54781772e+01] [ 6.17056547e-01 8.24747043e-03 7.86875592e-01 7.10646207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82038572300002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:152.82, Y:85.49, Z:71.09 [[ 1.28452716e-01 -9.85656850e-01 -1.09455348e-01 1.52816718e+02] [ 7.74424467e-01 1.68639061e-01 -6.09776690e-01 8.54924568e+01] [ 6.19489019e-01 -6.43742781e-03 7.84978927e-01 7.10863955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.81, Y:85.52, Z:71.10 [[ 1.28615055e-01 -9.86796964e-01 -9.84373875e-02 1.52807589e+02] [ 7.72818814e-01 1.61937180e-01 -6.13618310e-01 8.55178424e+01] [ 6.21457359e-01 2.84628794e-03 7.83442819e-01 7.10987023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88038572300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.81, Y:85.54, Z:71.11 [[ 1.26754130e-01 -9.87049165e-01 -9.83226189e-02 1.52807422e+02] [ 7.72403074e-01 1.60406171e-01 -6.14543206e-01 8.55400195e+01] [ 6.22355912e-01 1.95119600e-03 7.82731954e-01 7.11125139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.56, Z:71.13 [[ 1.23738447e-01 -9.87457074e-01 -9.80679545e-02 1.52803540e+02] [ 7.72953960e-01 1.57887528e-01 -6.14502811e-01 8.55617027e+01] [ 6.22278855e-01 2.35609574e-04 7.82795613e-01 7.11299624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.58, Z:71.15 [[ 1.21117230e-01 -9.87803627e-01 -9.78499459e-02 1.52802211e+02] [ 7.73260864e-01 1.55700087e-01 -6.14674808e-01 8.55833762e+01] [ 6.22413250e-01 -1.21582380e-03 7.82687848e-01 7.11455006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:85.61, Z:71.16 [[ 1.16489055e-01 -9.88699831e-01 -9.43554102e-02 1.52794854e+02] [ 7.72752592e-01 1.49904975e-01 -6.16751109e-01 8.56078752e+01] [ 6.23926063e-01 -1.06863370e-03 7.81482646e-01 7.11598990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.000385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:152.79, Y:85.63, Z:71.17 [[ 1.11773678e-01 -9.88583748e-01 -1.01038692e-01 1.52792780e+02] [ 7.72885706e-01 1.50392076e-01 -6.16465660e-01 8.56323689e+01] [ 6.24623351e-01 -9.18672672e-03 7.80872124e-01 7.11749884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:85.65, Z:71.19 [[ 1.11853987e-01 -9.88851975e-01 -9.82876244e-02 1.52790687e+02] [ 7.71807379e-01 1.48750640e-01 -6.18212436e-01 8.56523531e+01] [ 6.25940936e-01 -6.70958810e-03 7.79841604e-01 7.11934871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:85.68, Z:71.21 [[ 1.11663088e-01 -9.88923850e-01 -9.77802346e-02 1.52784480e+02] [ 7.70673958e-01 1.48296095e-01 -6.19733748e-01 8.56752454e+01] [ 6.27369911e-01 -6.15529658e-03 7.78697057e-01 7.12087668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:85.70, Z:71.23 [[ 1.11896102e-01 -9.88900814e-01 -9.77468323e-02 1.52782672e+02] [ 7.69467588e-01 1.48467646e-01 -6.21189978e-01 8.56974932e+01] [ 6.28807517e-01 -5.70428218e-03 7.77540075e-01 7.12261785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.120385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:152.79, Y:85.72, Z:71.25 [[ 1.12155324e-01 -9.86945799e-01 -1.15581888e-01 1.52785508e+02] [ 7.67529685e-01 1.59917043e-01 -6.20745295e-01 8.57161048e+01] [ 6.31125475e-01 -1.90926403e-02 7.75445747e-01 7.12498593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.150385723 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:152.77, Y:85.75, Z:71.25 [[ 1.12404127e-01 -9.90224959e-01 -8.25823405e-02 1.52768040e+02] [ 7.69140645e-01 1.39323737e-01 -6.23707916e-01 8.57490962e+01] [ 6.29116825e-01 6.58990907e-03 7.77282827e-01 7.12536032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:85.77, Z:71.28 [[ 1.13702489e-01 -9.88743662e-01 -9.72507886e-02 1.52772201e+02] [ 7.68390729e-01 1.49566630e-01 -6.22258396e-01 8.57650100e+01] [ 6.29799517e-01 -3.97427622e-03 7.76747561e-01 7.12764848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.210385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:152.77, Y:85.79, Z:71.29 [[ 1.14653281e-01 -9.88652958e-01 -9.70564427e-02 1.52769283e+02] [ 7.67976288e-01 1.50184540e-01 -6.22621092e-01 8.57869702e+01] [ 6.30132562e-01 -3.15149538e-03 7.76481180e-01 7.12916079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:85.81, Z:71.31 [[ 1.16423396e-01 -9.88477671e-01 -9.67341006e-02 1.52769367e+02] [ 7.68063980e-01 1.51355373e-01 -6.22229278e-01 8.58073387e+01] [ 6.29700973e-01 -1.85593295e-03 7.76835401e-01 7.13100266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.270385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:152.77, Y:85.83, Z:71.33 [[ 1.17492133e-01 -9.88374795e-01 -9.64928167e-02 1.52769794e+02] [ 7.67893270e-01 1.52033868e-01 -6.22274561e-01 8.58296857e+01] [ 6.29710667e-01 -9.83819066e-04 7.76829137e-01 7.13255341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:85.85, Z:71.34 [[ 1.21490531e-01 -9.87940142e-01 -9.59912817e-02 1.52769656e+02] [ 7.68669805e-01 1.54827869e-01 -6.20624735e-01 8.58506743e+01] [ 6.28002215e-01 1.61442901e-03 7.78209876e-01 7.13449690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:85.87, Z:71.36 [[ 1.23205942e-01 -9.87771914e-01 -9.55350272e-02 1.52771724e+02] [ 7.69656155e-01 1.55881593e-01 -6.19136764e-01 8.58717731e+01] [ 6.26458059e-01 2.75220665e-03 7.79450271e-01 7.13623037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.360385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.77, Y:85.89, Z:71.38 [[ 1.26000350e-01 -9.87476014e-01 -9.49475264e-02 1.52774661e+02] [ 7.71106402e-01 1.57704706e-01 -6.16866389e-01 8.58924873e+01] [ 6.24114435e-01 4.51073572e-03 7.81319925e-01 7.13797293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:85.91, Z:71.40 [[ 1.26793407e-01 -9.86421602e-01 -1.04383213e-01 1.52781895e+02] [ 7.70741176e-01 1.64215361e-01 -6.15622738e-01 8.59082509e+01] [ 6.24404894e-01 -2.39553574e-03 7.81097170e-01 7.14016953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:85.94, Z:71.41 [[ 1.29169984e-01 -9.88047920e-01 -8.41214752e-02 1.52774384e+02] [ 7.73791693e-01 1.53483163e-01 -6.14564345e-01 8.59363601e+01] [ 6.20130253e-01 1.42907679e-02 7.84368691e-01 7.14140165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:85.95, Z:71.43 [[ 1.31543702e-01 -9.86879584e-01 -9.36212641e-02 1.52785471e+02] [ 7.74524794e-01 1.61262374e-01 -6.11641881e-01 8.59535714e+01] [ 6.18714472e-01 7.94564681e-03 7.85575756e-01 7.14339436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:85.98, Z:71.45 [[ 1.31603558e-01 -9.87874575e-01 -8.23670321e-02 1.52785483e+02] [ 7.72548365e-01 1.54273005e-01 -6.15929268e-01 8.59770435e+01] [ 6.21167874e-01 1.74259669e-02 7.83483764e-01 7.14489862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:85.99, Z:71.47 [[ 1.29142449e-01 -9.85864620e-01 -1.06738835e-01 1.52800334e+02] [ 7.74316723e-01 1.67499789e-01 -6.10227362e-01 8.59895831e+01] [ 6.19480298e-01 -3.84340887e-03 7.85002795e-01 7.14698712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:86.01, Z:71.48 [[ 1.29801494e-01 -9.87751166e-01 -8.65979551e-02 1.52800661e+02] [ 7.74857070e-01 1.55541521e-01 -6.12701687e-01 8.60142840e+01] [ 6.18666383e-01 1.24285566e-02 7.85555496e-01 7.14847631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:86.03, Z:71.50 [[ 1.28001548e-01 -9.87410732e-01 -9.29282022e-02 1.52811263e+02] [ 7.75175475e-01 1.58053456e-01 -6.11655203e-01 8.60317685e+01] [ 6.18642535e-01 6.25714944e-03 7.85647670e-01 7.15027436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:86.05, Z:71.52 [[ 1.27162942e-01 -9.87535413e-01 -9.27544810e-02 1.52817025e+02] [ 7.74938319e-01 1.57283931e-01 -6.12153876e-01 8.60523459e+01] [ 6.19112420e-01 5.96428645e-03 7.85279720e-01 7.15190945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:86.07, Z:71.54 [[ 1.26038529e-01 -9.87701484e-01 -9.25206388e-02 1.52824141e+02] [ 7.75141347e-01 1.56256824e-01 -6.12159862e-01 8.60733627e+01] [ 6.19088185e-01 5.43915614e-03 7.85302639e-01 7.15354807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66038572300002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:152.84, Y:86.09, Z:71.56 [[ 1.24876780e-01 -9.86286890e-01 -1.07907185e-01 1.52837792e+02] [ 7.72976687e-01 1.64895339e-01 -6.12630859e-01 8.60900714e+01] [ 6.22023176e-01 -6.90636893e-03 7.82968371e-01 7.15578446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:86.12, Z:71.57 [[ 1.25864650e-01 -9.88929222e-01 -7.85944204e-02 1.52834882e+02] [ 7.75386421e-01 1.47485283e-01 -6.14022793e-01 8.61171729e+01] [ 6.18816603e-01 1.63427177e-02 7.85365474e-01 7.15681186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:86.13, Z:71.59 [[ 1.26538996e-01 -9.87724723e-01 -9.15846843e-02 1.52847205e+02] [ 7.76115623e-01 1.56080251e-01 -6.10969308e-01 8.61343211e+01] [ 6.17764050e-01 6.23113822e-03 7.86338827e-01 7.15875170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.750385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:152.86, Y:86.16, Z:71.60 [[ 1.26724864e-01 -9.87731022e-01 -9.12591751e-02 1.52855287e+02] [ 7.76392225e-01 1.56028194e-01 -6.10631080e-01 8.61559135e+01] [ 6.17378265e-01 6.52922647e-03 7.86639338e-01 7.16034061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.86, Y:86.18, Z:71.62 [[ 1.27404268e-01 -9.87667074e-01 -9.10049592e-02 1.52861651e+02] [ 7.76411267e-01 1.56406503e-01 -6.10510074e-01 8.61759729e+01] [ 6.17214466e-01 7.12431310e-03 7.86762701e-01 7.16217214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:86.20, Z:71.64 [[ 1.27115808e-01 -9.87722465e-01 -9.08069529e-02 1.52871377e+02] [ 7.76287945e-01 1.56055400e-01 -6.10756693e-01 8.61961549e+01] [ 6.17429022e-01 7.14448792e-03 7.86594151e-01 7.16382735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.840385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:152.88, Y:86.22, Z:71.65 [[ 1.26278604e-01 -9.87856323e-01 -9.05185015e-02 1.52880462e+02] [ 7.76694482e-01 1.55222073e-01 -6.10452119e-01 8.62158498e+01] [ 6.17089455e-01 6.78182073e-03 7.86863782e-01 7.16541303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.88, Y:86.24, Z:71.67 [[ 1.25833176e-01 -9.88871849e-01 -7.93629541e-02 1.52881807e+02] [ 7.74820772e-01 1.47923217e-01 -6.14631184e-01 8.62396245e+01] [ 6.19531099e-01 1.58489284e-02 7.84812098e-01 7.16679603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.90, Y:86.25, Z:71.69 [[ 1.25528236e-01 -9.86845451e-01 -1.01875988e-01 1.52900652e+02] [ 7.76984576e-01 1.61642537e-01 -6.08413230e-01 8.62535882e+01] [ 6.16877322e-01 -2.78303171e-03 7.87054397e-01 7.16914159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:86.28, Z:71.70 [[ 1.24613873e-01 -9.88719306e-01 -8.30994339e-02 1.52897129e+02] [ 7.76534394e-01 1.49318703e-01 -6.12126016e-01 8.62813811e+01] [ 6.17629110e-01 1.17498254e-02 7.86381729e-01 7.17035660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:86.30, Z:71.72 [[ 1.23483831e-01 -9.87498358e-01 -9.79731450e-02 1.52910376e+02] [ 7.77835896e-01 1.57625578e-01 -6.08379402e-01 8.62967117e+01] [ 6.16216734e-01 -1.08200991e-03 7.87575880e-01 7.17223005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:86.32, Z:71.74 [[ 1.22427460e-01 -9.88457978e-01 -8.92319644e-02 1.52912183e+02] [ 7.77773471e-01 1.51403156e-01 -6.10037304e-01 8.63202306e+01] [ 6.16506241e-01 5.28306284e-03 7.87332296e-01 7.17366600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:86.34, Z:71.75 [[ 1.20495781e-01 -9.88712418e-01 -8.90422465e-02 1.52918252e+02] [ 7.77789845e-01 1.49764118e-01 -6.10420893e-01 8.63406034e+01] [ 6.16866050e-01 4.29698737e-03 7.87056422e-01 7.17518335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.92, Y:86.36, Z:71.77 [[ 1.19420230e-01 -9.88864021e-01 -8.88074093e-02 1.52922140e+02] [ 7.78215095e-01 1.48774624e-01 -6.10120789e-01 8.63623723e+01] [ 6.16538785e-01 3.74949859e-03 7.87315608e-01 7.17676477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.080385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.93, Y:86.38, Z:71.78 [[ 1.16694113e-01 -9.89221883e-01 -8.84451871e-02 1.52929545e+02] [ 7.79314045e-01 1.46408131e-01 -6.09289979e-01 8.63826002e+01] [ 6.15672075e-01 2.17397717e-03 7.87999473e-01 7.17848361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.110385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.94, Y:86.40, Z:71.80 [[ 1.14702249e-01 -9.89480533e-01 -8.81570720e-02 1.52935071e+02] [ 7.79881617e-01 1.44661904e-01 -6.08980785e-01 8.64029586e+01] [ 6.15327602e-01 1.09938570e-03 7.88270724e-01 7.18016694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.94, Y:86.42, Z:71.82 [[ 1.11315165e-01 -9.89898135e-01 -8.78101197e-02 1.52941290e+02] [ 7.80970674e-01 1.41777746e-01 -6.08263000e-01 8.64227954e+01] [ 6.14567930e-01 -8.68231887e-04 7.88863427e-01 7.18174038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:86.44, Z:71.83 [[ 1.09620208e-01 -9.90112397e-01 -8.75262852e-02 1.52945681e+02] [ 7.81402525e-01 1.40265537e-01 -6.08058938e-01 8.64445577e+01] [ 6.14323615e-01 -1.73771328e-03 7.89052265e-01 7.18341050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:86.46, Z:71.85 [[ 1.07336278e-01 -9.90382720e-01 -8.72982953e-02 1.52951770e+02] [ 7.81689791e-01 1.38323086e-01 -6.08134684e-01 8.64643823e+01] [ 6.14361452e-01 -2.96527295e-03 7.89019147e-01 7.18498260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.96, Y:86.49, Z:71.87 [[ 1.06423615e-01 -9.90505069e-01 -8.70271383e-02 1.52956500e+02] [ 7.81962357e-01 1.37435440e-01 -6.07985503e-01 8.64855963e+01] [ 6.14173335e-01 -3.34793087e-03 7.89164055e-01 7.18656637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.96, Y:86.51, Z:71.88 [[ 1.04946106e-01 -9.90679793e-01 -8.68323828e-02 1.52962469e+02] [ 7.81963460e-01 1.36150773e-01 -6.08273059e-01 8.65057013e+01] [ 6.14426124e-01 -4.06386131e-03 7.88963892e-01 7.18825182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.97, Y:86.53, Z:71.90 [[ 1.04604575e-01 -9.90747675e-01 -8.64692311e-02 1.52967122e+02] [ 7.82685780e-01 1.35653754e-01 -6.07454548e-01 8.65261051e+01] [ 6.13564057e-01 -4.13571288e-03 7.89634120e-01 7.18978340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:86.55, Z:71.91 [[ 1.04692303e-01 -9.90761515e-01 -8.62040677e-02 1.52970539e+02] [ 7.82819562e-01 1.35559551e-01 -6.07303171e-01 8.65480819e+01] [ 6.13378395e-01 -3.90226269e-03 7.89779537e-01 7.19143676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.97, Y:86.57, Z:71.93 [[ 1.05335348e-01 -9.90718153e-01 -8.59186030e-02 1.52974378e+02] [ 7.83015269e-01 1.35891095e-01 -6.06976687e-01 8.65698120e+01] [ 6.13018395e-01 -3.33947746e-03 7.90061577e-01 7.19305327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.98, Y:86.59, Z:71.95 [[ 1.07398399e-01 -9.90510982e-01 -8.57530035e-02 1.52979391e+02] [ 7.82335105e-01 1.37421252e-01 -6.07508999e-01 8.65911158e+01] [ 6.13528620e-01 -1.84209121e-03 7.89670335e-01 7.19462097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:86.61, Z:71.96 [[ 1.06916775e-01 -9.90555601e-01 -8.58394059e-02 1.52982052e+02] [ 7.80576161e-01 1.37099792e-01 -6.09839737e-01 8.66124911e+01] [ 6.15848732e-01 -1.80209593e-03 7.87862356e-01 7.19645501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.99, Y:86.64, Z:71.98 [[ 1.09170523e-01 -9.90360922e-01 -8.52469388e-02 1.52987488e+02] [ 7.82350669e-01 1.38510229e-01 -6.07241589e-01 8.66356740e+01] [ 6.13195914e-01 -4.00117542e-04 7.89930764e-01 7.19788315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:86.66, Z:71.99 [[ 1.08286410e-01 -9.90483983e-01 -8.49442973e-02 1.52991074e+02] [ 7.82853050e-01 1.37625776e-01 -6.06795062e-01 8.66573885e+01] [ 6.12711315e-01 -7.91243013e-04 7.90306408e-01 7.19945856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:86.68, Z:72.01 [[ 1.07998581e-01 -9.90535597e-01 -8.47085458e-02 1.52993928e+02] [ 7.82892822e-01 1.37253857e-01 -6.06827989e-01 8.66793409e+01] [ 6.12711299e-01 -7.81150433e-04 7.90306430e-01 7.20113357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.00, Y:86.70, Z:72.03 [[ 1.06200194e-01 -9.90749831e-01 -8.44765672e-02 1.52997376e+02] [ 7.83188737e-01 1.35690149e-01 -6.06797813e-01 8.66996421e+01] [ 6.12647469e-01 -1.71905041e-03 7.90354429e-01 7.20271318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:86.72, Z:72.04 [[ 1.04733073e-01 -9.90927000e-01 -8.42298232e-02 1.53001295e+02] [ 7.83384513e-01 1.34379248e-01 -6.06836817e-01 8.67205216e+01] [ 6.12649727e-01 -2.42845422e-03 7.90350817e-01 7.20436624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:86.74, Z:72.06 [[ 1.02542081e-01 -9.91215050e-01 -8.35335092e-02 1.53005582e+02] [ 7.83161770e-01 1.32223358e-01 -6.07597420e-01 8.67415710e+01] [ 6.13304788e-01 -3.11594701e-03 7.89840191e-01 7.20599290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:86.76, Z:72.08 [[ 9.95366411e-02 -9.91551752e-01 -8.31719949e-02 1.53008555e+02] [ 7.83795558e-01 1.29625160e-01 -6.07339971e-01 8.67636966e+01] [ 6.12990195e-01 -4.73725947e-03 7.90076312e-01 7.20772596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.01, Y:86.79, Z:72.09 [[ 9.81327982e-02 -9.91662089e-01 -8.35239814e-02 1.53011551e+02] [ 7.84583705e-01 1.28725090e-01 -6.06513199e-01 8.67855328e+01] [ 6.12207778e-01 -6.01271740e-03 7.90674069e-01 7.20938963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.680385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.01, Y:86.81, Z:72.10 [[ 9.34859706e-02 -9.93057727e-01 -7.13913411e-02 1.53007977e+02] [ 7.86944000e-01 1.17627178e-01 -6.05708665e-01 8.68119243e+01] [ 6.09901233e-01 4.44274963e-04 7.92477311e-01 7.21015848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:86.83, Z:72.13 [[ 9.37816089e-02 -9.91722515e-01 -8.77009901e-02 1.53020972e+02] [ 7.84331996e-01 1.27850759e-01 -6.07023478e-01 8.68265540e+01] [ 6.13211488e-01 -1.18590542e-02 7.89829750e-01 7.21278195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:86.85, Z:72.14 [[ 9.32901771e-02 -9.92455535e-01 -7.95547258e-02 1.53020676e+02] [ 7.83924895e-01 1.22477905e-01 -6.08655011e-01 8.68514159e+01] [ 6.13806731e-01 -5.58339634e-03 7.89436586e-01 7.21414817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.770385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.01, Y:86.88, Z:72.15 [[ 9.23552916e-02 -9.93637427e-01 -6.44605612e-02 1.53013827e+02] [ 7.85760314e-01 1.12490790e-01 -6.08215876e-01 8.68806656e+01] [ 6.11597277e-01 5.52140377e-03 7.91149976e-01 7.21463501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:86.89, Z:72.18 [[ 9.55437481e-02 -9.91071653e-01 -9.29966132e-02 1.53031711e+02] [ 7.81989836e-01 1.32535949e-01 -6.09037042e-01 8.68910170e+01] [ 6.15924742e-01 -1.45327246e-02 7.87670941e-01 7.21791860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.02, Y:86.92, Z:72.18 [[ 9.36261542e-02 -9.93339724e-01 -6.71590295e-02 1.53018321e+02] [ 7.82628285e-01 1.15125835e-01 -6.11750775e-01 8.69202419e+01] [ 6.15408085e-01 4.71531629e-03 7.88194554e-01 7.21800208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:86.93, Z:72.21 [[ 9.66617022e-02 -9.91223255e-01 -9.01829995e-02 1.53036082e+02] [ 7.82094486e-01 1.31683679e-01 -6.09087534e-01 8.69337271e+01] [ 6.15617358e-01 -1.16561887e-02 7.87959011e-01 7.22114619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:86.97, Z:72.21 [[ 9.28077906e-02 -9.93786102e-01 -6.14483365e-02 1.53023059e+02] [ 7.86977743e-01 1.11021179e-01 -6.06910479e-01 8.69681033e+01] [ 6.09961266e-01 7.96754756e-03 7.92391174e-01 7.22113391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:86.98, Z:72.23 [[ 9.16046198e-02 -9.92500729e-01 -8.09376040e-02 1.53033961e+02] [ 7.87239730e-01 1.21953509e-01 -6.04467492e-01 8.69833806e+01] [ 6.09805051e-01 -8.34528274e-03 7.92507511e-01 7.22343006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.03, Y:87.01, Z:72.25 [[ 9.02819822e-02 -9.93152387e-01 -7.41451263e-02 1.53032253e+02] [ 7.87807291e-01 1.16763826e-01 -6.04752744e-01 8.70073909e+01] [ 6.09269100e-01 -3.81379466e-03 7.92954361e-01 7.22478302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:87.03, Z:72.26 [[ 8.98824693e-02 -9.93567739e-01 -6.88788063e-02 1.53032859e+02] [ 7.88266701e-01 1.13239320e-01 -6.04824326e-01 8.70312727e+01] [ 6.08733727e-01 6.82345310e-05 7.93374593e-01 7.22627816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.010385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.04, Y:87.05, Z:72.28 [[ 8.76193202e-02 -9.93654531e-01 -7.05232422e-02 1.53036322e+02] [ 7.89600018e-01 1.12439593e-01 -6.03232252e-01 8.70513368e+01] [ 6.07334065e-01 -2.83035348e-03 7.94441516e-01 7.22790434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:87.06, Z:72.31 [[ 9.04017422e-02 -9.91715686e-01 -9.12552642e-02 1.53052523e+02] [ 7.85211491e-01 1.27339463e-01 -6.05993049e-01 8.70622231e+01] [ 6.12593208e-01 -1.68718547e-02 7.90218262e-01 7.23124408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:87.09, Z:72.32 [[ 8.83835546e-02 -9.93753642e-01 -6.81325637e-02 1.53042295e+02] [ 7.88512177e-01 1.11595820e-01 -6.04809821e-01 8.70948818e+01] [ 6.08635271e-01 -2.68114302e-04 7.93450083e-01 7.23158799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:87.11, Z:72.34 [[ 9.14845528e-02 -9.91842526e-01 -8.87636168e-02 1.53052491e+02] [ 7.86965486e-01 1.26629212e-01 -6.03862871e-01 8.71076237e+01] [ 6.10176942e-01 -1.46097781e-02 7.92130452e-01 7.23441634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.04, Y:87.13, Z:72.35 [[ 9.31197733e-02 -9.93416238e-01 -6.67299524e-02 1.53043403e+02] [ 7.84602789e-01 1.14476857e-01 -6.09338586e-01 8.71345090e+01] [ 6.12965881e-01 4.38496424e-03 7.90097210e-01 7.23525282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:87.15, Z:72.38 [[ 9.44811859e-02 -9.91451115e-01 -8.99888473e-02 1.53055562e+02] [ 7.85601732e-01 1.29774548e-01 -6.04969822e-01 8.71510115e+01] [ 6.11476266e-01 -1.35371281e-02 7.91146966e-01 7.23772751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.05, Y:87.17, Z:72.39 [[ 9.56935033e-02 -9.92198591e-01 -7.99043724e-02 1.53053769e+02] [ 7.84717509e-01 1.24582602e-01 -6.07204748e-01 8.71747942e+01] [ 6.12422391e-01 -4.59681051e-03 7.90517353e-01 7.23909053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:87.20, Z:72.41 [[ 9.84607261e-02 -9.91933150e-01 -7.98380383e-02 1.53055789e+02] [ 7.83339241e-01 1.26734942e-01 -6.08537500e-01 8.71957436e+01] [ 6.13746788e-01 -2.62322427e-03 7.89498575e-01 7.24069236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.250385723 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:153.05, Y:87.22, Z:72.42 [[ 1.00997156e-01 -9.92285789e-01 -7.18921980e-02 1.53054356e+02] [ 7.81865172e-01 1.23849292e-01 -6.11022263e-01 8.72187654e+01] [ 6.15212506e-01 5.50150539e-03 7.88342125e-01 7.24195643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:87.24, Z:72.44 [[ 1.02605455e-01 -9.91171666e-01 -8.39693371e-02 1.53061410e+02] [ 7.83774608e-01 1.32537039e-01 -6.06738245e-01 8.72377581e+01] [ 6.12510804e-01 -3.55838083e-03 7.90454207e-01 7.24399987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.06, Y:87.26, Z:72.45 [[ 1.03800061e-01 -9.92240600e-01 -6.84407711e-02 1.53056591e+02] [ 7.82356781e-01 1.23944837e-01 -6.10373283e-01 8.72635446e+01] [ 6.14120033e-01 9.81168252e-03 7.89151643e-01 7.24506821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.07, Y:87.28, Z:72.47 [[ 1.04849316e-01 -9.90634937e-01 -8.74588072e-02 1.53068970e+02] [ 7.83801426e-01 1.36444617e-01 -6.05836769e-01 8.72796108e+01] [ 6.12096353e-01 -5.02876707e-03 7.90767201e-01 7.24729923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.07, Y:87.30, Z:72.49 [[ 1.05179935e-01 -9.91351813e-01 -7.84777892e-02 1.53068485e+02] [ 7.83839516e-01 1.31210443e-01 -6.06942693e-01 8.73038159e+01] [ 6.11990845e-01 2.32420090e-03 7.90861432e-01 7.24865744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:87.33, Z:72.50 [[ 1.06084668e-01 -9.91275811e-01 -7.82196309e-02 1.53072573e+02] [ 7.83882701e-01 1.31768521e-01 -6.06765991e-01 8.73253017e+01] [ 6.11779335e-01 3.05355301e-03 7.91022580e-01 7.25027438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:87.35, Z:72.52 [[ 1.06586472e-01 -9.91237803e-01 -7.80188589e-02 1.53076199e+02] [ 7.83597470e-01 1.32041165e-01 -6.07075066e-01 8.73457117e+01] [ 6.12057456e-01 3.57060924e-03 7.90805236e-01 7.25191116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:87.37, Z:72.53 [[ 1.08129526e-01 -9.91087347e-01 -7.78066618e-02 1.53080688e+02] [ 7.83173551e-01 1.33129271e-01 -6.07384381e-01 8.73664323e+01] [ 6.12329318e-01 4.74006541e-03 7.90588602e-01 7.25347459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.08, Y:87.39, Z:72.55 [[ 1.09471965e-01 -9.90952064e-01 -7.76524086e-02 1.53083883e+02] [ 7.82479515e-01 1.34090682e-01 -6.08067017e-01 8.73882325e+01] [ 6.12977730e-01 5.80487196e-03 7.90078860e-01 7.25507881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.09, Y:87.41, Z:72.57 [[ 1.12623521e-01 -9.90602592e-01 -7.76044316e-02 1.53087558e+02] [ 7.80956310e-01 1.36535442e-01 -6.09479544e-01 8.74110766e+01] [ 6.14347771e-01 8.03606180e-03 7.88994447e-01 7.25661056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.550385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:153.09, Y:87.43, Z:72.58 [[ 1.13627528e-01 -9.90501407e-01 -7.74322126e-02 1.53091192e+02] [ 7.80469404e-01 1.37215964e-01 -6.09950235e-01 8.74329156e+01] [ 6.14781502e-01 8.87366450e-03 7.88647553e-01 7.25824940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.10, Y:87.45, Z:72.60 [[ 1.16017648e-01 -9.90243126e-01 -7.71910361e-02 1.53097409e+02] [ 7.80142492e-01 1.38950680e-01 -6.09975738e-01 8.74523609e+01] [ 6.14750029e-01 1.05479431e-02 7.88651471e-01 7.25989873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:87.47, Z:72.62 [[ 1.16786571e-01 -9.90175817e-01 -7.68943946e-02 1.53101309e+02] [ 7.80321156e-01 1.39378938e-01 -6.09649412e-01 8.74739294e+01] [ 6.14377564e-01 1.11965412e-02 7.88932726e-01 7.26156020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:87.50, Z:72.63 [[ 1.18788999e-01 -9.89956372e-01 -7.66521756e-02 1.53104800e+02] [ 7.80070875e-01 1.40808392e-01 -6.09641228e-01 8.74959394e+01] [ 6.14311488e-01 1.26245418e-02 7.88962621e-01 7.26308611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.11, Y:87.52, Z:72.65 [[ 1.19569689e-01 -9.89882034e-01 -7.63979556e-02 1.53107834e+02] [ 7.80059490e-01 1.41269139e-01 -6.09549197e-01 8.75176688e+01] [ 6.14174472e-01 1.32886574e-02 7.89058381e-01 7.26465014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.11, Y:87.54, Z:72.66 [[ 1.21891242e-01 -9.89621726e-01 -7.61010165e-02 1.53114077e+02] [ 7.80106690e-01 1.42924818e-01 -6.09102659e-01 8.75388261e+01] [ 6.13657949e-01 1.48773677e-02 7.89431812e-01 7.26636096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.12, Y:87.56, Z:72.68 [[ 1.23174059e-01 -9.89476193e-01 -7.59276883e-02 1.53119215e+02] [ 7.79496749e-01 1.43818353e-01 -6.09672945e-01 8.75583397e+01] [ 6.14176660e-01 1.59105053e-02 7.89008166e-01 7.26802733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:87.58, Z:72.70 [[ 1.25937052e-01 -9.89139456e-01 -7.57825550e-02 1.53126455e+02] [ 7.78827239e-01 1.45897702e-01 -6.10034418e-01 8.75788800e+01] [ 6.14465613e-01 1.78044183e-02 7.88742678e-01 7.26979018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:87.60, Z:72.71 [[ 1.28265638e-01 -9.88853454e-01 -7.56093380e-02 1.53130678e+02] [ 7.78023104e-01 1.47609687e-01 -6.10648369e-01 8.76007711e+01] [ 6.15002420e-01 1.94993911e-02 7.88284084e-01 7.27141958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.13, Y:87.62, Z:72.73 [[ 1.29425065e-01 -9.88881934e-01 -7.32234441e-02 1.53133049e+02] [ 7.77532590e-01 1.47036582e-01 -6.11410921e-01 8.76230497e+01] [ 6.15379739e-01 2.21982838e-02 7.87918151e-01 7.27288374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:87.64, Z:72.75 [[ 1.30019311e-01 -9.88528892e-01 -7.68479520e-02 1.53138289e+02] [ 7.77685493e-01 1.49751993e-01 -6.10556807e-01 8.76434616e+01] [ 6.15061178e-01 1.96206381e-02 7.88235230e-01 7.27457924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.14, Y:87.66, Z:72.76 [[ 1.31970420e-01 -9.88401549e-01 -7.51411044e-02 1.53144541e+02] [ 7.76629158e-01 1.50204714e-01 -6.11788929e-01 8.76645875e+01] [ 6.15979674e-01 2.23812693e-02 7.87444043e-01 7.27622415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:87.69, Z:72.78 [[ 1.32198506e-01 -9.88387098e-01 -7.49299671e-02 1.53149454e+02] [ 7.76449444e-01 1.50247890e-01 -6.12006399e-01 8.76854602e+01] [ 6.16157298e-01 2.27269999e-02 7.87295159e-01 7.27793161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:87.71, Z:72.80 [[ 1.30919406e-01 -9.88572589e-01 -7.47284834e-02 1.53154469e+02] [ 7.76397177e-01 1.49109457e-01 -6.12351037e-01 8.77056249e+01] [ 6.16496174e-01 2.21496503e-02 7.87046289e-01 7.27951094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:87.73, Z:72.81 [[ 1.29351586e-01 -9.88793631e-01 -7.45340433e-02 1.53157180e+02] [ 7.76686016e-01 1.47759503e-01 -6.12311981e-01 8.77277844e+01] [ 6.16463300e-01 2.13139765e-02 7.87095111e-01 7.28107655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:87.75, Z:72.83 [[ 1.25685007e-01 -9.89291221e-01 -7.42034927e-02 1.53161404e+02] [ 7.77855371e-01 1.44694083e-01 -6.11559191e-01 8.77480825e+01] [ 6.15746945e-01 1.91442360e-02 7.87711367e-01 7.28263918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:87.77, Z:72.84 [[ 1.23742240e-01 -9.89553387e-01 -7.39726516e-02 1.53165467e+02] [ 7.78447089e-01 1.43032856e-01 -6.11196967e-01 8.77689925e+01] [ 6.15392548e-01 1.80470863e-02 7.88014159e-01 7.28435203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:87.79, Z:72.86 [[ 1.22231985e-01 -9.89763462e-01 -7.36724550e-02 1.53169745e+02] [ 7.79104311e-01 1.41671720e-01 -6.10676343e-01 8.77899980e+01] [ 6.14862435e-01 1.72456545e-02 7.88445796e-01 7.28612434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:87.81, Z:72.88 [[ 1.18296695e-01 -9.90678278e-01 -6.75458529e-02 1.53172839e+02] [ 7.78933530e-01 1.34770261e-01 -6.12453698e-01 8.78119627e+01] [ 6.15847747e-01 1.98375189e-02 7.87615405e-01 7.28769393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:87.83, Z:72.90 [[ 1.17088816e-01 -9.89854586e-01 -8.04866914e-02 1.53182233e+02] [ 7.79904194e-01 1.41823150e-01 -6.09619260e-01 8.78280959e+01] [ 6.14849297e-01 8.60768894e-03 7.88597648e-01 7.28973969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:87.85, Z:72.91 [[ 1.14778385e-01 -9.90706533e-01 -7.29827885e-02 1.53182827e+02] [ 7.79907816e-01 1.35372919e-01 -6.11079349e-01 8.78523089e+01] [ 6.15280197e-01 1.32188538e-02 7.88197654e-01 7.29104669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:87.87, Z:72.93 [[ 1.13513543e-01 -9.90866912e-01 -7.27835070e-02 1.53186051e+02] [ 7.79809290e-01 1.34248713e-01 -6.11452986e-01 8.78736815e+01] [ 6.15639624e-01 1.26509400e-02 7.87926270e-01 7.29264706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:87.89, Z:72.95 [[ 1.10848630e-01 -9.89967165e-01 -8.76218768e-02 1.53196773e+02] [ 7.77550053e-01 1.41297447e-01 -6.12740521e-01 8.78865935e+01] [ 6.18973744e-01 -2.08947395e-04 7.85411650e-01 7.29501440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:87.92, Z:72.95 [[ 1.10574349e-01 -9.92398862e-01 -5.40167704e-02 1.53186398e+02] [ 7.79436204e-01 1.20310780e-01 -6.14820722e-01 8.79216134e+01] [ 6.16646185e-01 2.58807749e-02 7.86814888e-01 7.29540105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:87.94, Z:72.98 [[ 1.08982269e-01 -9.91424168e-01 -7.21178552e-02 1.53198266e+02] [ 7.79770951e-01 1.30260665e-01 -6.12363800e-01 8.79377423e+01] [ 6.16506390e-01 1.05013881e-02 7.87279869e-01 7.29769169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:87.96, Z:72.99 [[ 1.06646871e-01 -9.91702626e-01 -7.17798406e-02 1.53201879e+02] [ 7.80752037e-01 1.28225137e-01 -6.11542780e-01 8.79586332e+01] [ 6.15672561e-01 9.17686734e-03 7.87948655e-01 7.29940557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.330385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.21, Y:87.98, Z:73.01 [[ 1.06226237e-01 -9.91458416e-01 -7.56716340e-02 1.53206427e+02] [ 7.81779915e-01 1.30302186e-01 -6.09788082e-01 8.79788793e+01] [ 6.14439705e-01 5.61692960e-03 7.88943787e-01 7.30121890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:88.00, Z:73.03 [[ 1.05809199e-01 -9.92144130e-01 -6.67415779e-02 1.53204170e+02] [ 7.81021166e-01 1.24461258e-01 -6.11976579e-01 8.80027866e+01] [ 6.15475712e-01 1.26261669e-02 7.88054711e-01 7.30260856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:88.02, Z:73.04 [[ 1.05865759e-01 -9.91837153e-01 -7.10739315e-02 1.53207691e+02] [ 7.80718348e-01 1.27172853e-01 -6.11805465e-01 8.80232067e+01] [ 6.15850065e-01 9.28052739e-03 7.87808714e-01 7.30431270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:88.05, Z:73.06 [[ 1.05582072e-01 -9.91884227e-01 -7.08385960e-02 1.53210026e+02] [ 7.80756909e-01 1.26804419e-01 -6.11832730e-01 8.80452339e+01] [ 6.15849881e-01 9.29084391e-03 7.87808736e-01 7.30598833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:88.07, Z:73.07 [[ 1.06878549e-01 -9.91755630e-01 -7.06947441e-02 1.53210334e+02] [ 7.80048692e-01 1.27727124e-01 -6.12543729e-01 8.80676822e+01] [ 6.16523328e-01 1.03224424e-02 7.87268971e-01 7.30747604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:88.09, Z:73.09 [[ 1.07707644e-01 -9.91675806e-01 -7.05560727e-02 1.53212411e+02] [ 7.79265863e-01 1.28281494e-01 -6.13423649e-01 8.80897474e+01] [ 6.17368430e-01 1.10884770e-02 7.86596000e-01 7.30912604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:88.11, Z:73.11 [[ 1.09665612e-01 -9.91467309e-01 -7.04700518e-02 1.53214742e+02] [ 7.77957191e-01 1.29745480e-01 -6.14775341e-01 8.81107101e+01] [ 6.18672824e-01 1.25970303e-02 7.85547740e-01 7.31082087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:88.13, Z:73.12 [[ 1.10360976e-01 -9.91398348e-01 -7.03546086e-02 1.53216163e+02] [ 7.77485541e-01 1.30211408e-01 -6.15273291e-01 8.81325485e+01] [ 6.19141897e-01 1.32024698e-02 7.85168139e-01 7.31246624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:88.16, Z:73.14 [[ 1.12142245e-01 -9.91218744e-01 -7.00679566e-02 1.53215101e+02] [ 7.77547200e-01 1.31437286e-01 -6.14934624e-01 8.81550813e+01] [ 6.18744268e-01 1.44790061e-02 7.85459031e-01 7.31401816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:88.18, Z:73.16 [[ 1.12821078e-01 -9.91160961e-01 -6.97950914e-02 1.53216023e+02] [ 7.77680701e-01 1.31805937e-01 -6.14686849e-01 8.81763433e+01] [ 6.18453015e-01 1.50713371e-02 7.85677239e-01 7.31563112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.17, Z:73.22 [[ 1.12444283e-01 -9.84469072e-01 -1.34821846e-01 1.53246657e+02] [ 7.66276335e-01 1.72291269e-01 -6.18980046e-01 8.81659111e+01] [ 6.32595338e-01 -3.37100227e-02 7.73748521e-01 7.32153493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:88.24, Z:73.17 [[ 1.13975005e-01 -9.93437156e-01 -9.60810851e-03 1.53192073e+02] [ 7.80194166e-01 9.54891065e-02 -6.18206191e-01 8.82380864e+01] [ 6.15066469e-01 6.29638637e-02 7.85957244e-01 7.31716824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:88.24, Z:73.20 [[ 1.10706370e-01 -9.92171503e-01 -5.77910706e-02 1.53216906e+02] [ 7.78651591e-01 1.22723464e-01 -6.15337836e-01 8.82447392e+01] [ 6.17612986e-01 2.31227092e-02 7.86142188e-01 7.32040821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:88.26, Z:73.23 [[ 1.09209469e-01 -9.91189695e-01 -7.49418399e-02 1.53227177e+02] [ 7.79726483e-01 1.32183122e-01 -6.12008361e-01 8.82608652e+01] [ 6.16522427e-01 8.40297106e-03 7.87292504e-01 7.32267858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:88.28, Z:73.24 [[ 1.06783922e-01 -9.91475829e-01 -7.46516889e-02 1.53229341e+02] [ 7.80417599e-01 1.30100054e-01 -6.11573664e-01 8.82820882e+01] [ 6.16072695e-01 7.04674246e-03 7.87657780e-01 7.32437272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:88.31, Z:73.26 [[ 1.05376620e-01 -9.92085885e-01 -6.82741870e-02 1.53228699e+02] [ 7.80327039e-01 1.25052304e-01 -6.12741082e-01 8.83050505e+01] [ 6.16429623e-01 1.12923902e-02 7.87329030e-01 7.32569033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:88.33, Z:73.27 [[ 1.02687746e-01 -9.92512558e-01 -6.61365984e-02 1.53231331e+02] [ 7.80114164e-01 1.21607040e-01 -6.13704831e-01 8.83275852e+01] [ 6.17152427e-01 1.14258683e-02 7.86760657e-01 7.32734223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:88.35, Z:73.29 [[ 1.00981568e-01 -9.92410376e-01 -7.01738403e-02 1.53235647e+02] [ 7.80860819e-01 1.22767407e-01 -6.12523098e-01 8.83466449e+01] [ 6.16489338e-01 7.05754071e-03 7.87331625e-01 7.32917588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:88.37, Z:73.31 [[ 9.74302613e-02 -9.92941693e-01 -6.76323727e-02 1.53237286e+02] [ 7.81626547e-01 1.18408219e-01 -6.12404634e-01 8.83688970e+01] [ 6.16090323e-01 6.80348556e-03 7.87646130e-01 7.33082807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:88.39, Z:73.32 [[ 9.55126656e-02 -9.93142838e-01 -6.74139084e-02 1.53239464e+02] [ 7.81717365e-01 1.16762643e-01 -6.12604641e-01 8.83904183e+01] [ 6.16275338e-01 5.81287941e-03 7.87509313e-01 7.33247486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:88.41, Z:73.33 [[ 8.92519835e-02 -9.94313773e-01 -5.80878942e-02 1.53231719e+02] [ 7.83700829e-01 1.06100511e-01 -6.12009553e-01 8.84111522e+01] [ 6.14692683e-01 9.09953569e-03 7.88714209e-01 7.33321214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:88.44, Z:73.36 [[ 9.38832182e-02 -9.93848818e-01 -5.87406953e-02 1.53241487e+02] [ 7.81057831e-01 1.10111915e-01 -6.14673923e-01 8.84357038e+01] [ 6.17361002e-01 1.18276859e-02 7.86591062e-01 7.33557815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.45, Z:73.38 [[ 9.41439743e-02 -9.93285493e-01 -6.72372081e-02 1.53248119e+02] [ 7.80461506e-01 1.15564291e-01 -6.14430413e-01 8.84539959e+01] [ 6.18075036e-01 5.36886831e-03 7.86100773e-01 7.33755120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.48, Z:73.39 [[ 9.64058914e-02 -9.93076977e-01 -6.71120102e-02 1.53249725e+02] [ 7.79423633e-01 1.17255313e-01 -6.15426675e-01 8.84754033e+01] [ 6.19035301e-01 7.02207032e-03 7.85331768e-01 7.33926260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.25, Y:88.50, Z:73.41 [[ 9.95848031e-02 -9.92770373e-01 -6.70063625e-02 1.53249091e+02] [ 7.78097124e-01 1.19670568e-01 -6.16639134e-01 8.84972116e+01] [ 6.20199753e-01 9.27042874e-03 7.84389142e-01 7.34089242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.52, Z:73.43 [[ 1.00585533e-01 -9.92680306e-01 -6.68457953e-02 1.53250329e+02] [ 7.77428629e-01 1.20346249e-01 -6.17350393e-01 8.85189552e+01] [ 6.20876218e-01 1.01286835e-02 7.83843181e-01 7.34256246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.54, Z:73.44 [[ 1.01479209e-01 -9.92605779e-01 -6.66013356e-02 1.53251384e+02] [ 7.77381747e-01 1.20895160e-01 -6.17302178e-01 8.85409169e+01] [ 6.20789489e-01 1.08686744e-02 7.83901960e-01 7.34424201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.56, Z:73.46 [[ 1.01300698e-01 -9.92638313e-01 -6.63878618e-02 1.53253138e+02] [ 7.77223262e-01 1.20619419e-01 -6.17555630e-01 8.85627012e+01] [ 6.21017044e-01 1.09606258e-02 7.83720419e-01 7.34591946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.170385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:153.26, Y:88.58, Z:73.48 [[ 1.02025138e-01 -9.91674241e-01 -7.85688911e-02 1.53260901e+02] [ 7.77844855e-01 1.28761398e-01 -6.15124283e-01 8.85776371e+01] [ 6.20119547e-01 1.64373239e-03 7.84505606e-01 7.34784264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:88.61, Z:73.49 [[ 1.01294159e-01 -9.93579724e-01 -5.03867525e-02 1.53250110e+02] [ 7.76021681e-01 1.10603343e-01 -6.20932565e-01 8.86080636e+01] [ 6.22518950e-01 2.37956294e-02 7.82242881e-01 7.34863937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:88.63, Z:73.49 [[ 9.70820097e-02 -9.94288687e-01 -4.43293436e-02 1.53243819e+02] [ 7.79746396e-01 1.03662734e-01 -6.17454125e-01 8.86326369e+01] [ 6.18522952e-01 2.53780414e-02 7.85356806e-01 7.34919636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.27, Y:88.64, Z:73.53 [[ 1.01296007e-01 -9.92182414e-01 -7.28915440e-02 1.53265165e+02] [ 7.74363271e-01 1.24632160e-01 -6.20345346e-01 8.86444201e+01] [ 6.24580374e-01 6.39397208e-03 7.80934360e-01 7.35281989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.26, Y:88.67, Z:73.54 [[ 1.01214558e-01 -9.92678659e-01 -6.59142898e-02 1.53262806e+02] [ 7.73945076e-01 1.20196124e-01 -6.21741032e-01 8.86677724e+01] [ 6.25111696e-01 1.19152039e-02 7.80444357e-01 7.35415624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.26, Y:88.69, Z:73.56 [[ 1.01386490e-01 -9.92676479e-01 -6.56824722e-02 1.53264451e+02] [ 7.73790538e-01 1.20182360e-01 -6.21936013e-01 8.86900377e+01] [ 6.25275126e-01 1.22314340e-02 7.80308534e-01 7.35579539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:88.71, Z:73.58 [[ 1.03642728e-01 -9.92452833e-01 -6.55405214e-02 1.53267129e+02] [ 7.72767407e-01 1.21835491e-01 -6.22885742e-01 8.87097817e+01] [ 6.26169880e-01 1.39099986e-02 7.79562565e-01 7.35751801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.27, Y:88.73, Z:73.59 [[ 1.05268591e-01 -9.92294361e-01 -6.53484935e-02 1.53269459e+02] [ 7.72600315e-01 1.22981669e-01 -6.22867773e-01 8.87306670e+01] [ 6.26104846e-01 1.50801461e-02 7.79593042e-01 7.35927504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.410385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:153.27, Y:88.75, Z:73.61 [[ 1.08915548e-01 -9.91924718e-01 -6.49827419e-02 1.53269824e+02] [ 7.73153245e-01 1.25619609e-01 -6.21654063e-01 8.87508010e+01] [ 6.24797137e-01 1.74661751e-02 7.80591743e-01 7.36092443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.440385723 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:153.27, Y:88.77, Z:73.62 [[ 1.10681188e-01 -9.91751548e-01 -6.46416350e-02 1.53270221e+02] [ 7.73667565e-01 1.26804169e-01 -6.20773068e-01 8.87730011e+01] [ 6.23849480e-01 1.86967643e-02 7.81320842e-01 7.36248900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.470385723 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:153.27, Y:88.80, Z:73.64 [[ 1.14117503e-01 -9.91385527e-01 -6.42801076e-02 1.53269178e+02] [ 7.74179959e-01 1.29290515e-01 -6.19620331e-01 8.87953276e+01] [ 6.22593437e-01 2.09451538e-02 7.82265117e-01 7.36393534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.500385723 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:153.25, Y:88.83, Z:73.63 [[ 1.10805813e-01 -9.93400447e-01 -2.96247116e-02 1.53249206e+02] [ 7.80541252e-01 1.05437554e-01 -6.16147933e-01 8.88327307e+01] [ 6.15205190e-01 4.51494633e-02 7.87073123e-01 7.36328187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.530385723 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:153.29, Y:88.83, Z:73.68 [[ 1.15237306e-01 -9.88946414e-01 -9.33024886e-02 1.53286722e+02] [ 7.74790646e-01 1.48266113e-01 -6.14586540e-01 8.88305690e+01] [ 6.21626752e-01 -1.46659801e-03 7.83312218e-01 7.36836355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.560385723 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:153.27, Y:88.86, Z:73.69 [[ 1.16608072e-01 -9.91603500e-01 -5.59021967e-02 1.53272487e+02] [ 7.74537956e-01 1.26026278e-01 -6.19845410e-01 8.88631171e+01] [ 6.21686024e-01 2.89806052e-02 7.82730230e-01 7.36880320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.590385723 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:153.25, Y:88.90, Z:73.67 [[ 1.10429295e-01 -9.93777999e-01 -1.45140854e-02 1.53246209e+02] [ 7.83792334e-01 9.60564047e-02 -6.13549300e-01 8.89028071e+01] [ 6.11125967e-01 5.63777877e-02 7.89523019e-01 7.36739614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.620385723 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:153.29, Y:88.89, Z:73.74 [[ 1.16117298e-01 -9.88804735e-01 -9.37121649e-02 1.53291692e+02] [ 7.72120466e-01 1.49213939e-01 -6.17709629e-01 8.88945697e+01] [ 6.24777367e-01 -6.30307337e-04 7.80802692e-01 7.37352281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.650385723 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:153.28, Y:88.93, Z:73.74 [[ 1.18273953e-01 -9.90956456e-01 -6.33764549e-02 1.53279266e+02] [ 7.73688862e-01 1.31973117e-01 -6.19668171e-01 8.89258682e+01] [ 6.22428163e-01 2.42569468e-02 7.82300954e-01 7.37410464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.680385723 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:153.28, Y:88.95, Z:73.76 [[ 1.18877660e-01 -9.90901249e-01 -6.31095671e-02 1.53281114e+02] [ 7.73788521e-01 1.32284737e-01 -6.19477258e-01 8.89474701e+01] [ 6.22189221e-01 2.48085486e-02 7.82473712e-01 7.37568754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.710385723 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:153.28, Y:88.97, Z:73.77 [[ 1.18771248e-01 -9.90929465e-01 -6.28664120e-02 1.53282868e+02] [ 7.73792924e-01 1.32049234e-01 -6.19522001e-01 8.89680532e+01] [ 6.22204067e-01 2.49358165e-02 7.82457861e-01 7.37724127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.740385723 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:153.28, Y:88.99, Z:73.79 [[ 1.18282401e-01 -9.91005106e-01 -6.25951598e-02 1.53284644e+02] [ 7.73981100e-01 1.31502836e-01 -6.19403148e-01 8.89891988e+01] [ 6.22063124e-01 2.48170210e-02 7.82573693e-01 7.37885758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.770385723 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:153.29, Y:89.01, Z:73.81 [[ 1.18659553e-01 -9.90978488e-01 -6.23020642e-02 1.53285898e+02] [ 7.74257023e-01 1.31627425e-01 -6.19031731e-01 8.90108380e+01] [ 6.21647789e-01 2.52162178e-02 7.82890905e-01 7.38052782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.800385723 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:153.29, Y:89.03, Z:73.82 [[ 1.18877324e-01 -9.90969150e-01 -6.20348678e-02 1.53287041e+02] [ 7.74460286e-01 1.31640195e-01 -6.18774696e-01 8.90319794e+01] [ 6.21352917e-01 2.55147383e-02 7.83115286e-01 7.38211175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.830385723 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:153.29, Y:89.05, Z:73.84 [[ 1.18874224e-01 -9.90989604e-01 -6.17132418e-02 1.53286216e+02] [ 7.75147429e-01 1.31465358e-01 -6.17950907e-01 8.90546215e+01] [ 6.20496078e-01 2.56215738e-02 7.83790885e-01 7.38369594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.860385723 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:153.27, Y:89.09, Z:73.83 [[ 1.12470844e-01 -9.93133951e-01 -3.21755363e-02 1.53266889e+02] [ 7.82481664e-01 1.08479674e-01 -6.13151373e-01 8.90908153e+01] [ 6.12431837e-01 4.37848853e-02 7.89309907e-01 7.38302925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.890385723 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:153.30, Y:89.09, Z:73.88 [[ 1.16435846e-01 -9.90202571e-01 -7.70815294e-02 1.53295168e+02] [ 7.76477308e-01 1.39146629e-01 -6.14590275e-01 8.90937880e+01] [ 6.19294505e-01 1.17082799e-02 7.85071482e-01 7.38750507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.920385723 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:153.29, Y:89.12, Z:73.89 [[ 1.13537422e-01 -9.91670115e-01 -6.08246401e-02 1.53288771e+02] [ 7.77989275e-01 1.26815445e-01 -6.15345863e-01 8.91206525e+01] [ 6.17933606e-01 2.25438653e-02 7.85907013e-01 7.38862317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.950385723 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:153.29, Y:89.14, Z:73.90 [[ 1.12227503e-01 -9.91839894e-01 -6.04864586e-02 1.53290671e+02] [ 7.78922883e-01 1.25605147e-01 -6.14412313e-01 8.91425006e+01] [ 6.16996054e-01 2.18396731e-02 7.86663142e-01 7.39032103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.980385723 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:153.29, Y:89.16, Z:73.92 [[ 1.10430655e-01 -9.92057942e-01 -6.02171962e-02 1.53292060e+02] [ 7.79385771e-01 1.24035217e-01 -6.14144189e-01 8.91635512e+01] [ 6.16735673e-01 2.08879193e-02 7.86893134e-01 7.39189677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.010385723 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:153.29, Y:89.19, Z:73.93 [[ 1.07126843e-01 -9.92430145e-01 -6.00520329e-02 1.53292874e+02] [ 7.79614739e-01 1.21331713e-01 -6.14393583e-01 8.91859078e+01] [ 6.17028928e-01 1.90005950e-02 7.86711052e-01 7.39346326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.040385723 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:153.29, Y:89.21, Z:73.95 [[ 1.05550892e-01 -9.92610057e-01 -5.98688882e-02 1.53294421e+02] [ 7.79295175e-01 1.19965213e-01 -6.15066971e-01 8.92080758e+01] [ 6.17703845e-01 1.82653319e-02 7.86198663e-01 7.39511660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07038572300002 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:153.29, Y:89.23, Z:73.97 [[ 1.02536800e-01 -9.92936699e-01 -5.96901724e-02 1.53294989e+02] [ 7.79114709e-01 1.17473464e-01 -6.15776141e-01 8.92308706e+01] [ 6.18438740e-01 1.66342237e-02 7.85656940e-01 7.39663491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10038572300002 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:153.30, Y:89.25, Z:73.98 [[ 1.00637958e-01 -9.93146467e-01 -5.94314414e-02 1.53295602e+02] [ 7.79460123e-01 1.15826123e-01 -6.15651058e-01 8.92525886e+01] [ 6.18315387e-01 1.56334269e-02 7.85774572e-01 7.39819652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13038572300002 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:153.30, Y:89.27, Z:74.00 [[ 9.97055968e-02 -9.93253162e-01 -5.92195130e-02 1.53297440e+02] [ 7.79744412e-01 1.14967316e-01 -6.15452003e-01 8.92743573e+01] [ 6.18107956e-01 1.51879249e-02 7.85946488e-01 7.39989044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.160385723 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:153.30, Y:89.30, Z:74.02 [[ 9.77379858e-02 -9.93466029e-01 -5.89282250e-02 1.53299072e+02] [ 7.80392841e-01 1.13251803e-01 -6.14948001e-01 8.92957623e+01] [ 6.17603676e-01 1.41166140e-02 7.86362779e-01 7.40157598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.190385723 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:153.30, Y:89.32, Z:74.03 [[ 9.66633521e-02 -9.93589485e-01 -5.86185336e-02 1.53300373e+02] [ 7.81211827e-01 1.12231341e-01 -6.14094624e-01 8.93175785e+01] [ 6.16736798e-01 1.35669531e-02 7.87052514e-01 7.40318794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.220385723 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:153.30, Y:89.34, Z:74.05 [[ 9.45796617e-02 -9.93804170e-01 -5.83777328e-02 1.53301315e+02] [ 7.81446682e-01 1.10444180e-01 -6.14119830e-01 8.93388842e+01] [ 6.16762329e-01 1.24641603e-02 7.87050744e-01 7.40477755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.250385723 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:153.29, Y:89.37, Z:74.05 [[ 8.95018805e-02 -9.95288568e-01 -3.72837797e-02 1.53288108e+02] [ 7.85278764e-01 9.35436290e-02 -6.12035009e-01 8.93707631e+01] [ 6.12639108e-01 2.55001238e-02 7.89951307e-01 7.40469286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.280385723 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:153.31, Y:89.38, Z:74.08 [[ 9.39595497e-02 -9.93197098e-01 -6.87831993e-02 1.53308224e+02] [ 7.81804715e-01 1.16383964e-01 -6.12565230e-01 8.93806578e+01] [ 6.16403270e-01 3.78132368e-03 7.87421558e-01 7.40843053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.310385723 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:153.31, Y:89.41, Z:74.10 [[ 9.38158583e-02 -9.93902838e-01 -5.79286940e-02 1.53305310e+02] [ 7.81956696e-01 1.09574598e-01 -6.13626216e-01 8.94057229e+01] [ 6.16232351e-01 1.22701399e-02 7.87468814e-01 7.40977307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.340385723 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:153.31, Y:89.43, Z:74.11 [[ 9.39924939e-02 -9.93900242e-01 -5.76863984e-02 1.53306027e+02] [ 7.82070698e-01 1.09566691e-01 -6.13482325e-01 8.94265769e+01] [ 6.16060739e-01 1.25478918e-02 7.87598703e-01 7.41132569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.370385723 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:153.30, Y:89.45, Z:74.13 [[ 9.51032196e-02 -9.93813591e-01 -5.73578572e-02 1.53304817e+02] [ 7.82608358e-01 1.10252269e-01 -6.12673319e-01 8.94483819e+01] [ 6.15206905e-01 1.33784668e-02 7.88252168e-01 7.41282674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.400385723 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:153.30, Y:89.47, Z:74.14 [[ 9.51726284e-02 -9.93819886e-01 -5.71332212e-02 1.53304683e+02] [ 7.82479935e-01 1.10165768e-01 -6.12852882e-01 8.94696036e+01] [ 6.15359507e-01 1.36212204e-02 7.88128885e-01 7.41439079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.430385723 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:153.31, Y:89.49, Z:74.16 [[ 9.57561140e-02 -9.93779180e-01 -5.68657018e-02 1.53305110e+02] [ 7.82570209e-01 1.10463760e-01 -6.12683953e-01 8.94909433e+01] [ 6.15154156e-01 1.41668304e-02 7.88279561e-01 7.41595822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.460385723 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:153.30, Y:89.51, Z:74.18 [[ 9.66110714e-02 -9.93706801e-01 -5.66841629e-02 1.53304236e+02] [ 7.81912855e-01 1.11011470e-01 -6.13423786e-01 8.95135014e+01] [ 6.15855980e-01 1.49414535e-02 7.87717059e-01 7.41757393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.490385723 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:153.30, Y:89.53, Z:74.19 [[ 9.63924147e-02 -9.93741713e-01 -5.64438713e-02 1.53304275e+02] [ 7.82016995e-01 1.10693023e-01 -6.13348575e-01 8.95342454e+01] [ 6.15758006e-01 1.49820836e-02 7.87792876e-01 7.41912797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.520385723 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:153.30, Y:89.56, Z:74.21 [[ 9.55877225e-02 -9.93838395e-01 -5.61091057e-02 1.53304911e+02] [ 7.82904788e-01 1.09872204e-01 -6.12362794e-01 8.95552799e+01] [ 6.14754487e-01 1.46062773e-02 7.88583272e-01 7.42069978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.550385723 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:153.30, Y:89.58, Z:74.22 [[ 9.45176273e-02 -9.93961172e-01 -5.57459067e-02 1.53304116e+02] [ 7.84067315e-01 1.08829491e-01 -6.11060216e-01 8.95762930e+01] [ 6.13436928e-01 1.40474184e-02 7.89618772e-01 7.42228023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.580385723 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:153.30, Y:89.60, Z:74.24 [[ 9.39828536e-02 -9.94028412e-01 -5.54503266e-02 1.53304692e+02] [ 7.84533812e-01 1.08235192e-01 -6.10566820e-01 8.95984196e+01] [ 6.12922443e-01 1.38801559e-02 7.90021152e-01 7.42395642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.610385723 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:153.30, Y:89.62, Z:74.26 [[ 9.30210040e-02 -9.94138677e-01 -5.50943250e-02 1.53304748e+02] [ 7.85631308e-01 1.07279255e-01 -6.09323074e-01 8.96197251e+01] [ 6.11662113e-01 1.33960175e-02 7.91005693e-01 7.42560760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.640385723 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:153.31, Y:89.64, Z:74.27 [[ 9.21972297e-02 -9.94231319e-01 -5.48065304e-02 1.53305351e+02] [ 7.86138027e-01 1.06460807e-01 -6.08812860e-01 8.96409105e+01] [ 6.11135560e-01 1.30453615e-02 7.91418439e-01 7.42723192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.670385723 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:153.31, Y:89.66, Z:74.29 [[ 9.16513983e-02 -9.94288979e-01 -5.46758421e-02 1.53306789e+02] [ 7.85719502e-01 1.05939165e-01 -6.09443810e-01 8.96614546e+01] [ 6.11755577e-01 1.28965020e-02 7.90941714e-01 7.42880204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.700385723 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:153.29, Y:89.69, Z:74.28 [[ 8.43872761e-02 -9.96069906e-01 -2.68985043e-02 1.53287101e+02] [ 7.91767200e-01 8.34192060e-02 -6.05099939e-01 8.96932513e+01] [ 6.04965692e-01 2.97653822e-02 7.95695001e-01 7.42809738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.730385723 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:153.31, Y:89.70, Z:74.32 [[ 9.00851193e-02 -9.93890197e-01 -6.37726171e-02 1.53312317e+02] [ 7.83956810e-01 1.10258116e-01 -6.10945880e-01 8.97027421e+01] [ 6.14244570e-01 5.04215496e-03 7.89099604e-01 7.43233168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.760385723 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:153.31, Y:89.73, Z:74.34 [[ 9.05176898e-02 -9.94408331e-01 -5.43931884e-02 1.53308594e+02] [ 7.84131012e-01 1.04834967e-01 -6.11676536e-01 8.97268142e+01] [ 6.13958552e-01 1.27161611e-02 7.89235830e-01 7.43369570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.790385723 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:153.29, Y:89.76, Z:74.33 [[ 8.36434398e-02 -9.96055100e-01 -2.96312792e-02 1.53290079e+02] [ 7.90719306e-01 8.44378457e-02 -6.06327658e-01 8.97551398e+01] [ 6.06437758e-01 2.72853065e-02 7.94662670e-01 7.43312886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82038572300002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:153.31, Y:89.77, Z:74.37 [[ 9.06538403e-02 -9.94197204e-01 -5.79120159e-02 1.53314625e+02] [ 7.84564837e-01 1.07113674e-01 -6.10724715e-01 8.97669379e+01] [ 6.13383973e-01 9.92880957e-03 7.89722433e-01 7.43722781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85038572300002 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:153.31, Y:89.79, Z:74.39 [[ 9.15920830e-02 -9.94341103e-01 -5.38206387e-02 1.53314605e+02] [ 7.85275250e-01 1.05358080e-01 -6.10116757e-01 8.97883970e+01] [ 6.12334608e-01 1.36178491e-02 7.90481424e-01 7.43883603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88038572300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:153.31, Y:89.81, Z:74.40 [[ 9.25795458e-02 -9.94262506e-01 -5.35826219e-02 1.53314319e+02] [ 7.85073064e-01 1.05989558e-01 -6.10267563e-01 8.98106617e+01] [ 6.12445355e-01 1.44320206e-02 7.90381177e-01 7.44040637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.910385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:153.31, Y:89.83, Z:74.42 [[ 9.30227997e-02 -9.94231369e-01 -5.33923554e-02 1.53314918e+02] [ 7.84603043e-01 1.06212486e-01 -6.10833016e-01 8.98330069e+01] [ 6.12980280e-01 1.49295927e-02 7.89957140e-01 7.44202989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.940385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:153.32, Y:89.85, Z:74.44 [[ 9.42807429e-02 -9.94118681e-01 -5.32840478e-02 1.53315932e+02] [ 7.83311860e-01 1.07108682e-01 -6.12331823e-01 8.98545952e+01] [ 6.14437688e-01 1.59930725e-02 7.88803239e-01 7.44359907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.970385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:153.32, Y:89.88, Z:74.45 [[ 9.41946084e-02 -9.94137235e-01 -5.30898639e-02 1.53317900e+02] [ 7.82832631e-01 1.06908381e-01 -6.12979339e-01 8.98759663e+01] [ 6.15061337e-01 1.61788710e-02 7.88313260e-01 7.44526191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.000385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:153.32, Y:89.90, Z:74.47 [[ 9.48580910e-02 -9.94087147e-01 -5.28458760e-02 1.53319459e+02] [ 7.82822208e-01 1.07282047e-01 -6.12927364e-01 8.98968272e+01] [ 6.14972629e-01 1.67721944e-02 7.88370065e-01 7.44688430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.030385723 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:153.32, Y:89.92, Z:74.49 [[ 9.45032849e-02 -9.94128371e-01 -5.27058907e-02 1.53320433e+02] [ 7.82449599e-01 1.06905182e-01 -6.13468750e-01 8.99189744e+01] [ 6.15501222e-01 1.67351090e-02 7.87958236e-01 7.44853630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.060385723 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:153.32, Y:89.94, Z:74.50 [[ 9.42807928e-02 -9.94162774e-01 -5.24548417e-02 1.53320962e+02] [ 7.82586557e-01 1.06578228e-01 -6.13350929e-01 8.99401436e+01] [ 6.15361205e-01 1.67767578e-02 7.88066703e-01 7.45007724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.090385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:153.32, Y:89.96, Z:74.52 [[ 9.39895954e-02 -9.94204809e-01 -5.21800083e-02 1.53322110e+02] [ 7.82849135e-01 1.06185761e-01 -6.13083857e-01 8.99612500e+01] [ 6.15071693e-01 1.67744294e-02 7.88292732e-01 7.45170610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.120385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:153.32, Y:89.98, Z:74.53 [[ 9.45660028e-02 -9.94165771e-01 -5.18815138e-02 1.53324202e+02] [ 7.83317697e-01 1.06470485e-01 -6.12435647e-01 8.99824302e+01] [ 6.14386407e-01 1.72758832e-02 7.88816130e-01 7.45348370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.150385723 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:153.31, Y:90.01, Z:74.54 [[ 8.87353645e-02 -9.95365814e-01 -3.70530897e-02 1.53311349e+02] [ 7.87827213e-01 9.28984124e-02 -6.08849873e-01 9.00072530e+01] [ 6.09470523e-01 2.48350830e-02 7.92419649e-01 7.45363939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.180385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:153.33, Y:90.03, Z:74.57 [[ 9.53437248e-02 -9.94301213e-01 -4.76935185e-02 1.53327507e+02] [ 7.82517185e-01 1.04477813e-01 -6.13800653e-01 9.00261939e+01] [ 6.15285648e-01 2.12010426e-02 7.88019091e-01 7.45677109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.210385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:153.33, Y:90.05, Z:74.58 [[ 9.52191503e-02 -9.94122110e-01 -5.15222734e-02 1.53330842e+02] [ 7.82384092e-01 1.06738450e-01 -6.13581319e-01 9.00460643e+01] [ 6.15474163e-01 1.81144848e-02 7.87948869e-01 7.45847473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.240385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:153.32, Y:90.07, Z:74.59 [[ 8.98435871e-02 -9.95105647e-01 -4.11446432e-02 1.53320001e+02] [ 7.86189644e-01 9.62217216e-02 -6.10448379e-01 9.00689664e+01] [ 6.11419638e-01 2.24973798e-02 7.90986659e-01 7.45884178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.270385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:153.33, Y:90.09, Z:74.62 [[ 9.59199734e-02 -9.94479247e-01 -4.25486301e-02 1.53331108e+02] [ 7.81793008e-01 1.01726410e-01 -6.15184062e-01 9.00917967e+01] [ 6.16116102e-01 2.57442174e-02 7.87234516e-01 7.46162639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.300385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.34, Y:90.11, Z:74.64 [[ 9.55875742e-02 -9.94105810e-01 -5.11532459e-02 1.53338824e+02] [ 7.82179824e-01 1.06795632e-01 -6.13831749e-01 9.01102960e+01] [ 6.15676651e-01 1.86636509e-02 7.87777843e-01 7.46364505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.330385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:153.32, Y:90.14, Z:74.63 [[ 8.86526447e-02 -9.95922947e-01 -1.66790878e-02 1.53317849e+02] [ 7.90787929e-01 8.05541751e-02 -6.06766411e-01 9.01439120e+01] [ 6.05636162e-01 4.06018257e-02 7.94705185e-01 7.46294095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.360385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:153.33, Y:90.16, Z:74.65 [[ 8.84965599e-02 -9.95357319e-01 -3.78439635e-02 1.53330537e+02] [ 7.90054324e-01 9.32797605e-02 -6.05898549e-01 9.01585443e+01] [ 6.06615631e-01 2.37211503e-02 7.94641292e-01 7.46530291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.390385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:153.33, Y:90.19, Z:74.66 [[ 8.81878455e-02 -9.95823676e-01 -2.36243390e-02 1.53325985e+02] [ 7.91557536e-01 8.44566383e-02 -6.05230323e-01 9.01855847e+01] [ 6.04697917e-01 3.46739346e-02 7.95699785e-01 7.46644812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.420385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:153.33, Y:90.21, Z:74.68 [[ 8.89172665e-02 -9.95590228e-01 -2.98967831e-02 1.53333021e+02] [ 7.91175237e-01 8.88315256e-02 -6.05103879e-01 9.02058153e+01] [ 6.05091285e-01 3.01505883e-02 7.95584991e-01 7.46826635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.450385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:153.37, Y:90.21, Z:74.73 [[ 9.85756802e-02 -9.92511692e-01 -7.21344373e-02 1.53366472e+02] [ 7.80825053e-01 1.22081728e-01 -6.12705711e-01 9.02104298e+01] [ 6.16923879e-01 4.07350640e-03 7.87012284e-01 7.47290938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.480385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:153.34, Y:90.25, Z:74.72 [[ 9.62094478e-02 -9.94981567e-01 -2.74849603e-02 1.53342784e+02] [ 7.86657774e-01 9.29258600e-02 -6.10355906e-01 9.02467167e+01] [ 6.09846939e-01 3.71007470e-02 7.91650330e-01 7.47215679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.510385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:153.34, Y:90.27, Z:74.74 [[ 9.97987788e-02 -9.94536015e-01 -3.06319983e-02 1.53344990e+02] [ 7.86515113e-01 9.77062905e-02 -6.09792963e-01 9.02703591e+01] [ 6.09454002e-01 3.67640634e-02 7.91968574e-01 7.47373291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.540385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:153.37, Y:90.28, Z:74.78 [[ 1.04721829e-01 -9.92226518e-01 -6.72300209e-02 1.53369596e+02] [ 7.78971184e-01 1.23864733e-01 -6.14704337e-01 9.02786071e+01] [ 6.18253373e-01 1.20027135e-02 7.85887207e-01 7.47766216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57038572300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.34, Y:90.32, Z:74.76 [[ 9.88624535e-02 -9.94988883e-01 -1.49445154e-02 1.53344767e+02] [ 7.86173123e-01 8.73036774e-02 -6.11808703e-01 9.03188943e+01] [ 6.10047569e-01 4.87359331e-02 7.90864573e-01 7.47630059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60038572300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:153.38, Y:90.32, Z:74.81 [[ 1.02355058e-01 -9.92139509e-01 -7.19905329e-02 1.53382409e+02] [ 7.77613016e-01 1.24935635e-01 -6.16205391e-01 9.03191766e+01] [ 6.20355897e-01 7.09096304e-03 7.84288391e-01 7.48120406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.38, Y:90.35, Z:74.82 [[ 1.00679992e-01 -9.93612377e-01 -5.09704192e-02 1.53377558e+02] [ 7.78454830e-01 1.10574969e-01 -6.17884499e-01 9.03462285e+01] [ 6.19573738e-01 2.25304371e-02 7.84615041e-01 7.48228438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.38, Y:90.37, Z:74.84 [[ 9.77495190e-02 -9.94119563e-01 -4.65974916e-02 1.53382528e+02] [ 7.79267742e-01 1.05578737e-01 -6.17733694e-01 9.03659294e+01] [ 6.19020854e-01 2.40712494e-02 7.85005578e-01 7.48375591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.39, Y:90.39, Z:74.86 [[ 9.41194634e-02 -9.94254385e-01 -5.09876825e-02 1.53389971e+02] [ 7.81274401e-01 1.05507264e-01 -6.15206086e-01 9.03856772e+01] [ 6.17050920e-01 1.80674956e-02 7.86715786e-01 7.48569148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.39, Y:90.41, Z:74.87 [[ 9.37458367e-02 -9.94337572e-01 -5.00450947e-02 1.53392847e+02] [ 7.81761048e-01 1.04643862e-01 -6.14735167e-01 9.04070954e+01] [ 6.16491185e-01 1.85055568e-02 7.87144309e-01 7.48730921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.750385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.40, Y:90.43, Z:74.89 [[ 9.43805121e-02 -9.94295359e-01 -4.96896223e-02 1.53397975e+02] [ 7.82828351e-01 1.04958215e-01 -6.13321731e-01 9.04281791e+01] [ 6.15038285e-01 1.89871740e-02 7.88268606e-01 7.48899142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.40, Y:90.45, Z:74.91 [[ 9.52488344e-02 -9.94227089e-01 -4.93979246e-02 1.53401516e+02] [ 7.83251761e-01 1.05478428e-01 -6.12691587e-01 9.04498214e+01] [ 6.14364988e-01 1.96671481e-02 7.88776816e-01 7.49068962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.810385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.40, Y:90.47, Z:74.92 [[ 9.57435254e-02 -9.94192303e-01 -4.91410512e-02 1.53404471e+02] [ 7.83367654e-01 1.05715363e-01 -6.12502555e-01 9.04707873e+01] [ 6.14140290e-01 2.01476439e-02 7.88939654e-01 7.49231918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:90.49, Z:74.94 [[ 9.68636530e-02 -9.94096843e-01 -4.88763675e-02 1.53409086e+02] [ 7.83382405e-01 1.06439458e-01 -6.12358269e-01 9.04927806e+01] [ 6.13945796e-01 2.10263725e-02 7.89068090e-01 7.49395327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.41, Y:90.51, Z:74.96 [[ 9.75870881e-02 -9.94032071e-01 -4.87545173e-02 1.53413837e+02] [ 7.82204440e-01 1.06895692e-01 -6.13782963e-01 9.05140871e+01] [ 6.15331597e-01 2.17612922e-02 7.87967938e-01 7.49556571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.42, Y:90.54, Z:74.97 [[ 9.77462298e-02 -9.94024757e-01 -4.85845307e-02 1.53416852e+02] [ 7.81561232e-01 1.06893536e-01 -6.14602159e-01 9.05360794e+01] [ 6.16123134e-01 2.21032582e-02 7.87339654e-01 7.49717760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:90.56, Z:74.99 [[ 9.77254727e-02 -9.94031609e-01 -4.84859939e-02 1.53421138e+02] [ 7.80080191e-01 1.06762694e-01 -6.16503546e-01 9.05574612e+01] [ 6.18000508e-01 2.24251371e-02 7.85857803e-01 7.49872441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.42, Y:90.58, Z:75.00 [[ 9.66995690e-02 -9.94140674e-01 -4.83064547e-02 1.53423974e+02] [ 7.79531758e-01 1.05822846e-01 -6.17358699e-01 9.05787467e+01] [ 6.18853320e-01 2.20419045e-02 7.85197251e-01 7.50033542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:90.60, Z:75.02 [[ 9.46275283e-02 -9.94351381e-01 -4.80724605e-02 1.53427747e+02] [ 7.79638156e-01 1.04048951e-01 -6.17525838e-01 9.05992426e+01] [ 6.19039560e-01 2.09558193e-02 7.85080173e-01 7.50193675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:90.62, Z:75.04 [[ 9.31944501e-02 -9.94500370e-01 -4.77892129e-02 1.53429908e+02] [ 7.80193282e-01 1.02762693e-01 -6.17039928e-01 9.06199379e+01] [ 6.18557384e-01 2.02198739e-02 7.85479420e-01 7.50351286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:90.64, Z:75.05 [[ 9.06159638e-02 -9.94757811e-01 -4.73882387e-02 1.53432727e+02] [ 7.81965291e-01 1.00536951e-01 -6.15160634e-01 9.06417988e+01] [ 6.16700115e-01 1.86874159e-02 7.86976333e-01 7.50518103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:90.66, Z:75.07 [[ 8.92111775e-02 -9.94899534e-01 -4.70774070e-02 1.53434832e+02] [ 7.82895200e-01 9.92634783e-02 -6.14183904e-01 9.06629485e+01] [ 6.15724347e-01 1.79353933e-02 7.87757482e-01 7.50681543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:90.68, Z:75.08 [[ 8.61888250e-02 -9.95180103e-01 -4.67765763e-02 1.53439050e+02] [ 7.83849533e-01 9.67166990e-02 -6.13372472e-01 9.06831467e+01] [ 6.14940156e-01 1.62000551e-02 7.88407358e-01 7.50849889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.140385723 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:153.44, Y:90.70, Z:75.10 [[ 8.48032145e-02 -9.95428784e-01 -4.39312110e-02 1.53441020e+02] [ 7.83754610e-01 9.38649632e-02 -6.13936544e-01 9.07032253e+01] [ 6.15253708e-01 1.76325033e-02 7.88131949e-01 7.51000025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:90.72, Z:75.12 [[ 8.09142657e-02 -9.95608741e-01 -4.70756489e-02 1.53445861e+02] [ 7.84934124e-01 9.27580665e-02 -6.12596410e-01 9.07236784e+01] [ 6.14272987e-01 1.26165054e-02 7.88992726e-01 7.51185885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.200385723 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:153.45, Y:90.74, Z:75.13 [[ 8.01497083e-02 -9.95888755e-01 -4.22091564e-02 1.53445403e+02] [ 7.84455520e-01 8.91460272e-02 -6.13744673e-01 9.07437706e+01] [ 6.14984196e-01 1.60802508e-02 7.88375459e-01 7.51318552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.230385723 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:153.45, Y:90.76, Z:75.15 [[ 7.98284428e-02 -9.95918445e-01 -4.21173516e-02 1.53446617e+02] [ 7.84451344e-01 8.88355374e-02 -6.13795028e-01 9.07644497e+01] [ 6.15031308e-01 1.59592882e-02 7.88341165e-01 7.51478142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:90.79, Z:75.16 [[ 7.88119263e-02 -9.96229634e-01 -3.62656456e-02 1.53445624e+02] [ 7.82525911e-01 8.43618640e-02 -6.16876224e-01 9.07856433e+01] [ 6.17609812e-01 2.02383961e-02 7.86224222e-01 7.51628083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:90.80, Z:75.18 [[ 7.72922295e-02 -9.95798650e-01 -4.91015237e-02 1.53452211e+02] [ 7.83562960e-01 9.11236637e-02 -6.14593822e-01 9.08041459e+01] [ 6.16486009e-01 9.02919149e-03 7.87314089e-01 7.51827703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:90.83, Z:75.20 [[ 7.62083502e-02 -9.95999587e-01 -4.66595188e-02 1.53452212e+02] [ 7.83949346e-01 8.87683403e-02 -6.14445770e-01 9.08265377e+01] [ 6.16129621e-01 1.02471991e-02 7.87578114e-01 7.51966974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.45, Y:90.85, Z:75.21 [[ 7.54560125e-02 -9.96137494e-01 -4.49052693e-02 1.53453170e+02] [ 7.83843536e-01 8.70907859e-02 -6.14820710e-01 9.08488342e+01] [ 6.16356797e-01 1.11932141e-02 7.87387459e-01 7.52124545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.46, Y:90.87, Z:75.23 [[ 7.46413381e-02 -9.96208219e-01 -4.46973722e-02 1.53456571e+02] [ 7.83537052e-01 8.63147549e-02 -6.15320609e-01 9.08684831e+01] [ 6.16845491e-01 1.09063063e-02 7.87008700e-01 7.52289517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:90.89, Z:75.25 [[ 7.36901523e-02 -9.96290148e-01 -4.44488639e-02 1.53459069e+02] [ 7.83580624e-01 8.54124751e-02 -6.15391025e-01 9.08894398e+01] [ 6.16904504e-01 1.05189899e-02 7.86967715e-01 7.52465565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:90.91, Z:75.26 [[ 7.18499986e-02 -9.96438312e-01 -4.41391962e-02 1.53461302e+02] [ 7.84507224e-01 8.37858564e-02 -6.14433354e-01 9.09105528e+01] [ 6.15943174e-01 9.51951733e-03 7.87733067e-01 7.52643722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:90.93, Z:75.28 [[ 7.05352500e-02 -9.96544794e-01 -4.38549031e-02 1.53462101e+02] [ 7.85248944e-01 8.25845515e-02 -6.13648016e-01 9.09317561e+01] [ 6.15149473e-01 8.84679990e-03 7.88360869e-01 7.52799370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:90.95, Z:75.30 [[ 6.86429144e-02 -9.96690997e-01 -4.35339840e-02 1.53463111e+02] [ 7.86297730e-01 8.09072511e-02 -6.12527466e-01 9.09537421e+01] [ 6.14022825e-01 7.81499755e-03 7.89249578e-01 7.52960184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:90.98, Z:75.31 [[ 6.74459647e-02 -9.96784849e-01 -4.32551406e-02 1.53464740e+02] [ 7.86844160e-01 7.97969218e-02 -6.11971175e-01 9.09752826e+01] [ 6.13455222e-01 7.23993156e-03 7.89696317e-01 7.53124151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.00, Z:75.33 [[ 6.52515946e-02 -9.96943807e-01 -4.29566557e-02 1.53467611e+02] [ 7.87724590e-01 7.78884423e-02 -6.11083759e-01 9.09963480e+01] [ 6.12561997e-01 6.03617575e-03 7.90399497e-01 7.53294615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.02, Z:75.35 [[ 6.43722852e-02 -9.97011619e-01 -4.27087943e-02 1.53469810e+02] [ 7.87884712e-01 7.70425855e-02 -6.10984551e-01 9.10171288e+01] [ 6.12449092e-01 5.68086571e-03 7.90489619e-01 7.53456918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.04, Z:75.36 [[ 6.34018399e-02 -9.97084388e-01 -4.24609164e-02 1.53471387e+02] [ 7.87914900e-01 7.61234035e-02 -6.11060829e-01 9.10386054e+01] [ 6.12511483e-01 5.28679221e-03 7.90444010e-01 7.53623055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.06, Z:75.38 [[ 6.27106935e-02 -9.97137582e-01 -4.22375689e-02 1.53472415e+02] [ 7.87828917e-01 7.54392253e-02 -6.11256511e-01 9.10604085e+01] [ 6.12693208e-01 5.05634156e-03 7.90304667e-01 7.53780673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.08, Z:75.39 [[ 6.25878508e-02 -9.97155448e-01 -4.19973053e-02 1.53473120e+02] [ 7.87819706e-01 7.51947275e-02 -6.11298506e-01 9.10826901e+01] [ 6.12717612e-01 5.17355496e-03 7.90284988e-01 7.53944801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.710385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:153.47, Y:91.10, Z:75.41 [[ 6.27572211e-02 -9.97151782e-01 -4.18312696e-02 1.53472949e+02] [ 7.86952814e-01 7.52191458e-02 -6.12411095e-01 9.11046179e+01] [ 6.13813327e-01 5.51398320e-03 7.89431945e-01 7.54092604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.13, Z:75.43 [[ 6.34158092e-02 -9.97120604e-01 -4.15804675e-02 1.53473676e+02] [ 7.86890485e-01 7.55847333e-02 -6.12446171e-01 9.11259260e+01] [ 6.13825545e-01 6.11949530e-03 7.89417984e-01 7.54265032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.15, Z:75.44 [[ 6.44417355e-02 -9.97059181e-01 -4.14759340e-02 1.53472484e+02] [ 7.85305392e-01 7.63131523e-02 -6.14387292e-01 9.11487583e+01] [ 6.15745649e-01 7.02090875e-03 7.87913703e-01 7.54419467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.17, Z:75.46 [[ 6.42961189e-02 -9.97075267e-01 -4.13149114e-02 1.53472805e+02] [ 7.84436513e-01 7.60890836e-02 -6.15524012e-01 9.11708631e+01] [ 6.16867382e-01 7.16687998e-03 7.87034478e-01 7.54582977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.830385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:153.47, Y:91.19, Z:75.48 [[ 6.40265359e-02 -9.97101327e-01 -4.11040994e-02 1.53474571e+02] [ 7.84166215e-01 7.57434660e-02 -6.15910931e-01 9.11922350e+01] [ 6.17238973e-01 7.20219722e-03 7.86742765e-01 7.54752569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.860385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:153.48, Y:91.21, Z:75.49 [[ 6.26162447e-02 -9.97199330e-01 -4.08986882e-02 1.53476006e+02] [ 7.83825090e-01 7.45027273e-02 -6.16496206e-01 9.12144819e+01] [ 6.17816667e-01 6.54525937e-03 7.86294935e-01 7.54917681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.890385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:153.48, Y:91.23, Z:75.51 [[ 6.08058355e-02 -9.97325867e-01 -4.05433755e-02 1.53478077e+02] [ 7.85307107e-01 7.28723022e-02 -6.14802713e-01 9.12337822e+01] [ 6.16113138e-01 5.54459172e-03 7.87638152e-01 7.55096109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.920385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.48, Y:91.26, Z:75.53 [[ 5.94201139e-02 -9.97419695e-01 -4.02889811e-02 1.53479548e+02] [ 7.86203332e-01 7.16305934e-02 -6.13802394e-01 9.12550899e+01] [ 6.15104520e-01 4.79687699e-03 7.88430986e-01 7.55267581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.28, Z:75.54 [[ 5.59276668e-02 -9.97635146e-01 -3.99526058e-02 1.53480013e+02] [ 7.87612970e-01 6.86759888e-02 -6.12331135e-01 9.12750428e+01] [ 6.13626846e-01 2.77906112e-03 7.89591268e-01 7.55433071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.48, Y:91.30, Z:75.56 [[ 5.43604661e-02 -9.97732397e-01 -3.96863291e-02 1.53480631e+02] [ 7.87896949e-01 6.72758435e-02 -6.12121196e-01 9.12972844e+01] [ 6.13403079e-01 2.00645589e-03 7.89767458e-01 7.55598246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.32, Z:75.58 [[ 5.13680479e-02 -9.97898222e-01 -3.95026770e-02 1.53480651e+02] [ 7.87392884e-01 6.47996032e-02 -6.13036261e-01 9.13195758e+01] [ 6.14307553e-01 3.86349290e-04 7.89066589e-01 7.55754275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.34, Z:75.59 [[ 4.98014651e-02 -9.97985238e-01 -3.93100254e-02 1.53481791e+02] [ 7.86878616e-01 6.34455107e-02 -6.13837691e-01 9.13409017e+01] [ 6.15094999e-01 -3.62202004e-04 7.88452922e-01 7.55909569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.37, Z:75.61 [[ 4.79074071e-02 -9.98291979e-01 -3.34365761e-02 1.53480569e+02] [ 7.84870666e-01 5.83280460e-02 -6.16908321e-01 9.13660489e+01] [ 6.17804919e-01 3.31109030e-03 7.86324436e-01 7.56072249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:91.38, Z:75.63 [[ 4.68547354e-02 -9.97778610e-01 -4.73548284e-02 1.53487623e+02] [ 7.84679445e-01 6.61007591e-02 -6.16367470e-01 9.13821797e+01] [ 6.18128467e-01 -8.27862576e-03 7.86033499e-01 7.56284468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.41, Z:75.64 [[ 4.58995580e-02 -9.98192920e-01 -3.87830613e-02 1.53484206e+02] [ 7.84762559e-01 6.00532830e-02 -6.16880320e-01 9.14061692e+01] [ 6.18094617e-01 -2.12096048e-03 7.86100849e-01 7.56422944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.160385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.48, Y:91.43, Z:75.66 [[ 4.38963277e-02 -9.98293605e-01 -3.85096076e-02 1.53482711e+02] [ 7.85340902e-01 5.83069934e-02 -6.16311579e-01 9.14279109e+01] [ 6.17505287e-01 -3.18935499e-03 7.86560263e-01 7.56595080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.45, Z:75.68 [[ 4.29880397e-02 -9.98344609e-01 -3.82108749e-02 1.53482369e+02] [ 7.86117561e-01 5.74038629e-02 -6.15405538e-01 9.14495854e+01] [ 6.16580253e-01 -3.58316213e-03 7.87283909e-01 7.56764113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:91.49, Z:75.67 [[ 3.63606378e-02 -9.99338282e-01 -9.50066310e-04 1.53457292e+02] [ 7.92963680e-01 2.94303099e-02 -6.08557688e-01 9.14862288e+01] [ 6.08182955e-01 2.13741776e-02 7.93509066e-01 7.56664645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:91.49, Z:75.72 [[ 4.16283895e-02 -9.97447920e-01 -5.80062491e-02 1.53490715e+02] [ 7.86403673e-01 6.85216670e-02 -6.13900679e-01 9.14865145e+01] [ 6.16308640e-01 -2.00606307e-02 7.87249154e-01 7.57175704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.52, Z:75.71 [[ 3.92697369e-02 -9.99114878e-01 -1.50780838e-02 1.53466309e+02] [ 7.89895858e-01 4.02811865e-02 -6.11916628e-01 9.15232989e+01] [ 6.11982370e-01 1.21196890e-02 7.90778535e-01 7.57113455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.54, Z:75.73 [[ 4.05159667e-02 -9.98816296e-01 -2.69158428e-02 1.53472054e+02] [ 7.89440583e-01 4.85123640e-02 -6.11906951e-01 9.15422548e+01] [ 6.12488385e-01 3.54354296e-03 7.90471645e-01 7.57329213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.57, Z:75.75 [[ 4.21279071e-02 -9.98796825e-01 -2.51026189e-02 1.53471097e+02] [ 7.89090162e-01 4.86727683e-02 -6.12346045e-01 9.15662709e+01] [ 6.12831099e-01 5.98862771e-03 7.90191230e-01 7.57503920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:91.57, Z:75.79 [[ 4.65923674e-02 -9.97310646e-01 -5.65740819e-02 1.53488431e+02] [ 7.83834288e-01 7.16097144e-02 -6.16827251e-01 9.15743991e+01] [ 6.19219638e-01 -1.56052633e-02 7.85062746e-01 7.57882921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.60, Z:75.80 [[ 4.94428357e-02 -9.98063083e-01 -3.77556308e-02 1.53477448e+02] [ 7.84029305e-01 6.22029636e-02 -6.17599255e-01 9.16008249e+01] [ 6.18751529e-01 9.34337561e-04 7.85586197e-01 7.57991308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:91.64, Z:75.80 [[ 4.90800780e-02 -9.98749126e-01 -9.55665242e-03 1.53459945e+02] [ 7.88896121e-01 4.46322195e-02 -6.12903642e-01 9.16361789e+01] [ 6.12563512e-01 2.25421526e-02 7.90099864e-01 7.57980943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.64, Z:75.84 [[ 5.27773205e-02 -9.96856497e-01 -5.90904372e-02 1.53484959e+02] [ 7.83866450e-01 7.80158468e-02 -6.16008861e-01 9.16383064e+01] [ 6.18682425e-01 -1.38077141e-02 7.85519830e-01 7.58411614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.67, Z:75.85 [[ 5.41911862e-02 -9.97835156e-01 -3.72601186e-02 1.53474367e+02] [ 7.83570649e-01 6.56250039e-02 -6.17827158e-01 9.16657472e+01] [ 6.18934854e-01 4.28485124e-03 7.85430638e-01 7.58503866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.69, Z:75.87 [[ 5.55405627e-02 -9.97769627e-01 -3.70272407e-02 1.53472928e+02] [ 7.83338157e-01 6.65391788e-02 -6.18024165e-01 9.16877594e+01] [ 6.19109504e-01 5.32055939e-03 7.85286645e-01 7.58667103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.71, Z:75.88 [[ 5.83346838e-02 -9.97617416e-01 -3.68314459e-02 1.53469514e+02] [ 7.82504083e-01 6.86038880e-02 -6.18854480e-01 9.17090614e+01] [ 6.19906788e-01 7.27992364e-03 7.84641687e-01 7.58817563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.580385723 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:153.46, Y:91.74, Z:75.89 [[ 5.84638937e-02 -9.98197816e-01 -1.35311677e-02 1.53458921e+02] [ 7.83840385e-01 5.42943754e-02 -6.18584167e-01 9.17412733e+01] [ 6.18204031e-01 2.55585633e-02 7.85602022e-01 7.58873266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.76, Z:75.91 [[ 5.77283654e-02 -9.97549396e-01 -3.95302097e-02 1.53468258e+02] [ 7.82517317e-01 6.98019916e-02 -6.18703750e-01 9.17552908e+01] [ 6.19946840e-01 4.78368256e-03 7.84629232e-01 7.59125705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.47, Y:91.78, Z:75.93 [[ 5.78245110e-02 -9.97704838e-01 -3.52332486e-02 1.53465043e+02] [ 7.82157512e-01 6.72072069e-02 -6.19445572e-01 9.17766236e+01] [ 6.20391773e-01 8.26118719e-03 7.84248558e-01 7.59271465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:91.79, Z:75.96 [[ 5.96525789e-02 -9.96592784e-01 -5.69595714e-02 1.53475709e+02] [ 7.77719589e-01 8.21711598e-02 -6.23217571e-01 9.17860725e+01] [ 6.25774568e-01 -7.12203912e-03 7.79971452e-01 7.59591344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:91.81, Z:75.97 [[ 5.93633064e-02 -9.97572663e-01 -3.63975140e-02 1.53463765e+02] [ 7.77270406e-01 6.90706888e-02 -6.25363859e-01 9.18142371e+01] [ 6.26359892e-01 8.83295590e-03 7.79483973e-01 7.59687220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:91.83, Z:75.98 [[ 5.85844706e-02 -9.97627512e-01 -3.61553266e-02 1.53464201e+02] [ 7.77244202e-01 6.83109359e-02 -6.25479869e-01 9.18348520e+01] [ 6.26465730e-01 8.54188904e-03 7.79402159e-01 7.59847408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:91.86, Z:76.00 [[ 5.51334333e-02 -9.97835330e-01 -3.58463342e-02 1.53464606e+02] [ 7.78164147e-01 6.54356654e-02 -6.24642885e-01 9.18561899e+01] [ 6.25636368e-01 6.54437474e-03 7.80087371e-01 7.60020154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.47, Y:91.88, Z:76.02 [[ 5.27031165e-02 -9.97976658e-01 -3.55664304e-02 1.53465040e+02] [ 7.78775361e-01 6.33689013e-02 -6.24093998e-01 9.18770534e+01] [ 6.25085049e-01 5.19343902e-03 7.80539371e-01 7.60188933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:91.90, Z:76.04 [[ 4.90509295e-02 -9.98171889e-01 -3.53112741e-02 1.53465154e+02] [ 7.79107963e-01 6.03597423e-02 -6.23977149e-01 9.18975160e+01] [ 6.24967829e-01 3.09536434e-03 7.80644369e-01 7.60365456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85038572300002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.47, Y:91.92, Z:76.05 [[ 4.74743487e-02 -9.98254802e-01 -3.51217349e-02 1.53465280e+02] [ 7.78380570e-01 5.90076466e-02 -6.25013429e-01 9.19190487e+01] [ 6.25995108e-01 2.33402942e-03 7.79823491e-01 7.60523349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:91.95, Z:76.06 [[ 4.70331407e-02 -9.98798937e-01 -1.37320122e-02 1.53456212e+02] [ 7.81589525e-01 4.53583473e-02 -6.22141812e-01 9.19521402e+01] [ 6.22017442e-01 1.85284865e-02 7.82784132e-01 7.60574654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.47, Y:91.96, Z:76.09 [[ 4.73158343e-02 -9.97291448e-01 -5.63114477e-02 1.53474554e+02] [ 7.78511941e-01 7.21398420e-02 -6.23470128e-01 9.19567428e+01] [ 6.25843726e-01 -1.43391251e-02 7.79816658e-01 7.60928789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.940385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:153.47, Y:91.98, Z:76.10 [[ 4.75797828e-02 -9.98275089e-01 -3.43949279e-02 1.53465297e+02] [ 7.79094728e-01 5.86381664e-02 -6.24157809e-01 9.19842437e+01] [ 6.25098048e-01 2.90038599e-03 7.80540850e-01 7.61030469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.46, Y:92.01, Z:76.12 [[ 4.73130513e-02 -9.98296363e-01 -3.41444965e-02 1.53464705e+02] [ 7.79189245e-01 5.82737886e-02 -6.24073943e-01 9.20056265e+01] [ 6.25000477e-01 2.92181797e-03 7.80618900e-01 7.61189789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.000385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:153.46, Y:92.03, Z:76.13 [[ 4.68344094e-02 -9.98325846e-01 -3.39417784e-02 1.53464776e+02] [ 7.78421171e-01 5.77698872e-02 -6.25078492e-01 9.20277672e+01] [ 6.25992827e-01 2.85418310e-03 7.79823592e-01 7.61349044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.47, Y:92.05, Z:76.15 [[ 4.65137394e-02 -9.98348848e-01 -3.37053265e-02 1.53465766e+02] [ 7.78340311e-01 5.73713524e-02 -6.25215873e-01 9.20487026e+01] [ 6.26117267e-01 2.84691385e-03 7.79723710e-01 7.61521972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.060385723 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:153.47, Y:92.07, Z:76.17 [[ 4.72522434e-02 -9.98281612e-01 -3.46561470e-02 1.53468234e+02] [ 7.77528224e-01 5.85393630e-02 -6.26117405e-01 9.20672211e+01] [ 6.27070241e-01 2.63931960e-03 7.78958245e-01 7.61672961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.090385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:153.47, Y:92.09, Z:76.18 [[ 4.75090851e-02 -9.98530427e-01 -2.60743721e-02 1.53465492e+02] [ 7.75914679e-01 5.33311865e-02 -6.28579506e-01 9.20900941e+01] [ 6.29046340e-01 9.63174919e-03 7.77308131e-01 7.61813725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.120385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:153.47, Y:92.11, Z:76.20 [[ 4.71850651e-02 -9.98433110e-01 -3.00814626e-02 1.53468369e+02] [ 7.75882561e-01 5.56010562e-02 -6.28422449e-01 9.21109048e+01] [ 6.29110341e-01 6.31247196e-03 7.77290378e-01 7.61996873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.150385723 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:153.45, Y:92.15, Z:76.19 [[ 4.42789972e-02 -9.98942715e-01 1.23621158e-02 1.53446906e+02] [ 7.83336974e-01 2.70369763e-02 -6.21009007e-01 9.21538904e+01] [ 6.20018189e-01 3.71813585e-02 7.83705934e-01 7.61939879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:92.14, Z:76.25 [[ 4.47885446e-02 -9.96241685e-01 -7.41383230e-02 1.53488530e+02] [ 7.77877104e-01 8.13434784e-02 -6.23129561e-01 9.21440867e+01] [ 6.26818313e-01 -2.97614379e-02 7.78596853e-01 7.62467227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.210385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.44, Y:92.20, Z:76.22 [[ 4.13443861e-02 -9.98857951e-01 2.39465101e-02 1.53440199e+02] [ 7.86483484e-01 1.77534283e-02 -6.17356092e-01 9.22010991e+01] [ 6.16225909e-01 4.43577433e-02 7.86319286e-01 7.62178284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:92.19, Z:76.28 [[ 4.37880324e-02 -9.96006558e-01 -7.78045230e-02 1.53492511e+02] [ 7.79713793e-01 8.27614191e-02 -6.20642368e-01 9.21856872e+01] [ 6.24603082e-01 -3.34885516e-02 7.80224011e-01 7.62811848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:92.22, Z:76.28 [[ 4.38465717e-02 -9.98531629e-01 -3.18129488e-02 1.53473068e+02] [ 7.80566729e-01 5.41153724e-02 -6.22725547e-01 9.22187789e+01] [ 6.23532725e-01 2.47225099e-03 7.81793342e-01 7.62840985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.47, Y:92.24, Z:76.30 [[ 4.30224087e-02 -9.98576967e-01 -3.15137078e-02 1.53474290e+02] [ 7.81584966e-01 5.32878532e-02 -6.21518580e-01 9.22401093e+01] [ 6.22313436e-01 2.10858608e-03 7.82765317e-01 7.63009998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.330385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.48, Y:92.26, Z:76.32 [[ 4.23113888e-02 -9.98614427e-01 -3.12885400e-02 1.53475169e+02] [ 7.81309840e-01 5.25902594e-02 -6.21923789e-01 9.22618223e+01] [ 6.22707540e-01 1.86841507e-03 7.82452445e-01 7.63171066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.28, Z:76.33 [[ 4.22122635e-02 -9.98626859e-01 -3.10245237e-02 1.53476587e+02] [ 7.81646830e-01 5.23493436e-02 -6.21520538e-01 9.22827961e+01] [ 6.22291216e-01 1.98556807e-03 7.82783304e-01 7.63344010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.31, Z:76.35 [[ 4.29391360e-02 -9.98604053e-01 -3.07599786e-02 1.53477255e+02] [ 7.81914981e-01 5.27549218e-02 -6.21148839e-01 9.23050931e+01] [ 6.21904489e-01 2.61990637e-03 7.83088720e-01 7.63509467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.33, Z:76.37 [[ 4.33234486e-02 -9.98594987e-01 -3.05144463e-02 1.53477627e+02] [ 7.81914184e-01 5.29032073e-02 -6.21137231e-01 9.23260842e+01] [ 6.21878837e-01 3.05012856e-03 7.83107533e-01 7.63664822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.35, Z:76.38 [[ 4.38271125e-02 -9.98580513e-01 -3.02678468e-02 1.53477940e+02] [ 7.81733815e-01 5.31433089e-02 -6.21343731e-01 9.23479971e+01] [ 6.22070275e-01 3.57030230e-03 7.82953272e-01 7.63823796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.37, Z:76.40 [[ 4.49590866e-02 -9.98537282e-01 -3.00329368e-02 1.53477807e+02] [ 7.81499249e-01 5.38820334e-02 -6.21575137e-01 9.23695960e+01] [ 6.22284183e-01 4.47473291e-03 7.82778623e-01 7.63975290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.39, Z:76.41 [[ 4.52011285e-02 -9.98533876e-01 -2.97818228e-02 1.53478977e+02] [ 7.81390587e-01 5.39144066e-02 -6.21708924e-01 9.23912376e+01] [ 6.22403091e-01 4.83070900e-03 7.82681964e-01 7.64141918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.41, Z:76.43 [[ 4.41144877e-02 -9.98589366e-01 -2.95497890e-02 1.53481628e+02] [ 7.81211688e-01 5.29179398e-02 -6.22019285e-01 9.24114139e+01] [ 6.22705557e-01 4.35542152e-03 7.82444132e-01 7.64306307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.48, Y:92.43, Z:76.45 [[ 4.26313937e-02 -9.98660893e-01 -2.93084548e-02 1.53482952e+02] [ 7.81012160e-01 5.16057384e-02 -6.22379991e-01 9.24323526e+01] [ 6.23059042e-01 3.64266688e-03 7.82166326e-01 7.64467163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:92.45, Z:76.46 [[ 4.11709787e-02 -9.98729158e-01 -2.90692106e-02 1.53484312e+02] [ 7.80847243e-01 5.03133696e-02 -6.22692660e-01 9.24540496e+01] [ 6.23363886e-01 2.93825325e-03 7.81926360e-01 7.64629544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:92.48, Z:76.48 [[ 4.00239914e-02 -9.98782858e-01 -2.88250231e-02 1.53486221e+02] [ 7.81003484e-01 4.92647377e-02 -6.22580552e-01 9.24758216e+01] [ 6.23242841e-01 2.40571524e-03 7.82024663e-01 7.64795213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:92.50, Z:76.50 [[ 3.72712034e-02 -9.98897553e-01 -2.85400644e-02 1.53489875e+02] [ 7.81864658e-01 4.69355378e-02 -6.21678947e-01 9.24970576e+01] [ 6.22333122e-01 8.56254751e-04 7.82752037e-01 7.64958306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:92.52, Z:76.51 [[ 3.56358989e-02 -9.98965777e-01 -2.82393213e-02 1.53491613e+02] [ 7.82975603e-01 4.54684126e-02 -6.20388449e-01 9.25177655e+01] [ 6.21030826e-01 -2.59954765e-06 7.83786140e-01 7.65114192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.49, Y:92.54, Z:76.53 [[ 3.43630508e-02 -9.99011139e-01 -2.82121534e-02 1.53493821e+02] [ 7.84252013e-01 4.44522820e-02 -6.18847941e-01 9.25389513e+01] [ 6.19490081e-01 -8.59934903e-04 7.85004013e-01 7.65266641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.49, Y:92.56, Z:76.54 [[ 3.17655251e-02 -9.99210541e-01 -2.38588857e-02 1.53493863e+02] [ 7.84478494e-01 3.97165831e-02 -6.18882934e-01 9.25625080e+01] [ 6.19341944e-01 9.42358597e-04 7.85120798e-01 7.65421479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:92.58, Z:76.56 [[ 3.08670822e-02 -9.99145967e-01 -2.74692479e-02 1.53499043e+02] [ 7.84826847e-01 4.12459024e-02 -6.18341003e-01 9.25824404e+01] [ 6.18945913e-01 -2.47222062e-03 7.85429720e-01 7.65601312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.810385723 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:153.50, Y:92.60, Z:76.57 [[ 3.34079209e-02 -9.99090473e-01 -2.64978693e-02 1.53504331e+02] [ 7.84130501e-01 4.26405608e-02 -6.19129340e-01 9.25989786e+01] [ 6.19696109e-01 -9.39634997e-05 7.84841846e-01 7.65727652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.50, Y:92.63, Z:76.59 [[ 3.11950916e-02 -9.99344297e-01 -1.83804981e-02 1.53501736e+02] [ 7.84562587e-01 3.58757540e-02 -6.19010887e-01 9.26259267e+01] [ 6.19264413e-01 4.88945017e-03 7.85167294e-01 7.65896504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.870385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:153.51, Y:92.65, Z:76.61 [[ 3.37625155e-02 -9.99056828e-01 -2.73046911e-02 1.53507947e+02] [ 7.84001293e-01 4.34189331e-02 -6.19238863e-01 9.26453373e+01] [ 6.19840355e-01 -4.99851408e-04 7.84727778e-01 7.66078785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:92.67, Z:76.63 [[ 3.60287920e-02 -9.98984822e-01 -2.70416678e-02 1.53509822e+02] [ 7.84123088e-01 4.50346851e-02 -6.18969191e-01 9.26666969e+01] [ 6.19558640e-01 1.09671615e-03 7.84949609e-01 7.66254016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:92.69, Z:76.64 [[ 4.02879808e-02 -9.98828727e-01 -2.67964968e-02 1.53511040e+02] [ 7.83938788e-01 4.82258160e-02 -6.18962234e-01 9.26887964e+01] [ 6.19529544e-01 3.92992541e-03 7.84963503e-01 7.66403239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:153.51, Y:92.71, Z:76.66 [[ 4.20031370e-02 -9.98762465e-01 -2.66322284e-02 1.53511724e+02] [ 7.83375097e-01 4.94661631e-02 -6.19577725e-01 9.27110439e+01] [ 6.20128369e-01 5.16118351e-03 7.84483376e-01 7.66550128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:92.73, Z:76.67 [[ 4.43770143e-02 -9.98665698e-01 -2.64102923e-02 1.53514188e+02] [ 7.82863967e-01 5.11860591e-02 -6.20083862e-01 9.27325804e+01] [ 6.20608322e-01 6.84180420e-03 7.84090875e-01 7.66723962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:92.75, Z:76.69 [[ 4.77312501e-02 -9.98516468e-01 -2.62028772e-02 1.53518129e+02] [ 7.82011468e-01 5.36766500e-02 -6.20948373e-01 9.27541253e+01] [ 6.21433659e-01 9.14769163e-03 7.83413382e-01 7.66890254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:92.77, Z:76.71 [[ 4.86209642e-02 -9.98479677e-01 -2.59679988e-02 1.53520540e+02] [ 7.81707746e-01 5.42233031e-02 -6.21283215e-01 9.27745196e+01] [ 6.21746734e-01 9.90800313e-03 7.83155687e-01 7.67052925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:92.81, Z:76.71 [[ 4.71757912e-02 -9.98886411e-01 6.18559822e-04 1.53508417e+02] [ 7.85980952e-01 3.67384355e-02 -6.17158189e-01 9.28075015e+01] [ 6.16448204e-01 2.96011021e-02 7.86838857e-01 7.67054510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.52, Y:92.82, Z:76.73 [[ 4.74917525e-02 -9.98713547e-01 -1.77703102e-02 1.53519276e+02] [ 7.86007215e-01 4.83433247e-02 -6.16324249e-01 9.28246400e+01] [ 6.16390453e-01 1.53027267e-02 7.87291964e-01 7.67284309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:92.85, Z:76.74 [[ 4.71264152e-02 -9.98772977e-01 -1.52197451e-02 1.53519855e+02] [ 7.86786959e-01 4.65028110e-02 -6.15470365e-01 9.28478384e+01] [ 6.15422930e-01 1.70302150e-02 7.88013064e-01 7.67440892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:92.87, Z:76.75 [[ 4.57161978e-02 -9.98942598e-01 -4.86990562e-03 1.53518637e+02] [ 7.88999282e-01 3.90973660e-02 -6.13148864e-01 9.28725462e+01] [ 6.12690919e-01 2.41884827e-02 7.89952375e-01 7.67535747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:92.89, Z:76.78 [[ 4.52361133e-02 -9.98795849e-01 -1.89880272e-02 1.53528339e+02] [ 7.88094232e-01 4.73608702e-02 -6.13729931e-01 9.28903165e+01] [ 6.13890198e-01 1.27984020e-02 7.89287670e-01 7.67773558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:92.89, Z:76.82 [[ 4.84090634e-02 -9.97132211e-01 -5.81714452e-02 1.53556575e+02] [ 7.80530407e-01 7.41048538e-02 -6.20709880e-01 9.28929409e+01] [ 6.23240601e-01 -1.53565978e-02 7.81879357e-01 7.68217505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:92.92, Z:76.83 [[ 4.77776369e-02 -9.98531742e-01 -2.55275816e-02 1.53544667e+02] [ 7.80980596e-01 5.32769040e-02 -6.22278780e-01 9.29239266e+01] [ 6.22725145e-01 9.79446373e-03 7.82379359e-01 7.68279100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:92.94, Z:76.84 [[ 4.70237815e-02 -9.98573943e-01 -2.52753815e-02 1.53547270e+02] [ 7.81075832e-01 5.25309666e-02 -6.22222663e-01 9.29447909e+01] [ 6.22663078e-01 9.51727293e-03 7.82432178e-01 7.68444982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:92.98, Z:76.84 [[ 4.41429669e-02 -9.99008393e-01 5.79910796e-03 1.53533384e+02] [ 7.86396536e-01 3.11671077e-02 -6.16935248e-01 9.29821462e+01] [ 6.16142749e-01 3.17937507e-02 7.86992548e-01 7.68416721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:92.98, Z:76.89 [[ 4.67007172e-02 -9.97625611e-01 -5.06180185e-02 1.53562913e+02] [ 7.81379698e-01 6.80526672e-02 -6.20334267e-01 9.29811404e+01] [ 6.22306043e-01 -1.05818368e-02 7.82702507e-01 7.68855681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:93.01, Z:76.89 [[ 4.82841966e-02 -9.98532156e-01 -2.45391581e-02 1.53552798e+02] [ 7.80850371e-01 5.30552814e-02 -6.22461112e-01 9.30104036e+01] [ 6.22849368e-01 1.08936240e-02 7.82265935e-01 7.68917987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.03, Z:76.91 [[ 4.85173026e-02 -9.98526444e-01 -2.43107560e-02 1.53555559e+02] [ 7.80175233e-01 5.30832280e-02 -6.23304723e-01 9.30319759e+01] [ 6.23676741e-01 1.12744141e-02 7.81601056e-01 7.69089137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.05, Z:76.93 [[ 4.69283636e-02 -9.98607624e-01 -2.40944290e-02 1.53557778e+02] [ 7.79695771e-01 5.16972524e-02 -6.24020752e-01 9.30532161e+01] [ 6.24397497e-01 1.04979484e-02 7.81036209e-01 7.69251740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.08, Z:76.94 [[ 4.42810706e-02 -9.98733875e-01 -2.38711878e-02 1.53560603e+02] [ 7.79394558e-01 4.94844544e-02 -6.24576186e-01 9.30752218e+01] [ 6.24966647e-01 9.05182829e-03 7.80598972e-01 7.69418785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.10, Z:76.96 [[ 4.28834259e-02 -9.98801230e-01 -2.36032652e-02 1.53561601e+02] [ 7.79916921e-01 4.82322817e-02 -6.24021829e-01 9.30969116e+01] [ 6.24412210e-01 8.35160795e-03 7.81050346e-01 7.69585112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:93.12, Z:76.96 [[ 3.72836413e-02 -9.99258363e-01 -9.62567877e-03 1.53550729e+02] [ 7.84869660e-01 3.52439384e-02 -6.18657807e-01 9.31235675e+01] [ 6.18538234e-01 1.55109125e-02 7.85601594e-01 7.69603270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:93.14, Z:76.98 [[ 3.69189653e-02 -9.99267435e-01 -1.00789039e-02 1.53552055e+02] [ 7.84704345e-01 3.52337952e-02 -6.18868056e-01 9.31449822e+01] [ 6.18769813e-01 1.49390086e-02 7.85430293e-01 7.69789061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:93.16, Z:77.01 [[ 4.08211390e-02 -9.98761770e-01 -2.84352315e-02 1.53566748e+02] [ 7.81024273e-01 4.96453935e-02 -6.22524233e-01 9.31589380e+01] [ 6.23165082e-01 3.20354223e-03 7.82083766e-01 7.70122187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.18, Z:77.03 [[ 4.10931916e-02 -9.98873979e-01 -2.37091316e-02 1.53564328e+02] [ 7.80323621e-01 4.69041614e-02 -6.23614502e-01 9.31804615e+01] [ 6.24024356e-01 7.12551476e-03 7.81372402e-01 7.70267091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.650385723 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:153.57, Y:93.20, Z:77.04 [[ 4.18406914e-02 -9.98681120e-01 -2.97552904e-02 1.53568195e+02] [ 7.80785320e-01 5.12646122e-02 -6.22692720e-01 9.32000793e+01] [ 6.23396856e-01 2.82139996e-03 7.81900505e-01 7.70444906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.22, Z:77.06 [[ 4.09819164e-02 -9.99045039e-01 -1.51490020e-02 1.53561470e+02] [ 7.79538198e-01 4.14544009e-02 -6.24981384e-01 9.32249975e+01] [ 6.25012544e-01 1.38037091e-02 7.80492651e-01 7.70568375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.24, Z:77.08 [[ 4.10706520e-02 -9.98894285e-01 -2.28781498e-02 1.53564380e+02] [ 7.79744056e-01 4.63605088e-02 -6.24379620e-01 9.32440458e+01] [ 6.24749876e-01 7.80457670e-03 7.80785938e-01 7.70757644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:93.27, Z:77.09 [[ 4.05151668e-02 -9.98923258e-01 -2.26018832e-02 1.53564743e+02] [ 7.80319832e-01 4.57609498e-02 -6.23704172e-01 9.32650341e+01] [ 6.24066888e-01 7.63278088e-03 7.81333642e-01 7.70911656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:93.28, Z:77.11 [[ 3.69433138e-02 -9.99067775e-01 -2.23332196e-02 1.53565516e+02] [ 7.80054824e-01 4.27991251e-02 -6.24245710e-01 9.32845396e+01] [ 6.24619614e-01 5.64056945e-03 7.80908779e-01 7.71070981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:93.31, Z:77.12 [[ 3.44525697e-02 -9.99164243e-01 -2.19962567e-02 1.53565680e+02] [ 7.80617108e-01 4.06470029e-02 -6.23686421e-01 9.33061236e+01] [ 6.24059253e-01 4.31694555e-03 7.81365096e-01 7.71240059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:93.33, Z:77.14 [[ 3.22087159e-02 -9.99244534e-01 -2.17476611e-02 1.53566179e+02] [ 7.80795474e-01 3.87391914e-02 -6.23584560e-01 9.33281020e+01] [ 6.23955950e-01 3.10438263e-03 7.81453348e-01 7.71408442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.860385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.57, Y:93.35, Z:77.16 [[ 2.84172196e-02 -9.99364103e-01 -2.15372119e-02 1.53569704e+02] [ 7.80083029e-01 3.56438890e-02 -6.24659892e-01 9.33491180e+01] [ 6.25030343e-01 9.50283866e-04 7.80599877e-01 7.71588733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.890385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.57, Y:93.37, Z:77.17 [[ 2.63131905e-02 -9.99426844e-01 -2.12978664e-02 1.53571059e+02] [ 7.79944652e-01 3.38519594e-02 -6.24932304e-01 9.33697325e+01] [ 6.25295095e-01 -1.67194266e-04 7.80388375e-01 7.71749865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.920385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:93.39, Z:77.19 [[ 2.32623251e-02 -9.99508087e-01 -2.10344414e-02 1.53568931e+02] [ 7.80199815e-01 3.13058552e-02 -6.24746502e-01 9.33924408e+01] [ 6.25097683e-01 -1.87801105e-03 7.80544272e-01 7.71897613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.950385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:93.41, Z:77.21 [[ 2.21797229e-02 -9.99538027e-01 -2.07796386e-02 1.53568339e+02] [ 7.80637040e-01 3.02999947e-02 -6.24249728e-01 9.34146542e+01] [ 6.24590964e-01 -2.37566963e-03 7.80948452e-01 7.72059942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.980385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.57, Y:93.44, Z:77.22 [[ 2.11741079e-02 -9.99565033e-01 -2.05280806e-02 1.53568609e+02] [ 7.81033131e-01 2.93558495e-02 -6.23799233e-01 9.34363575e+01] [ 6.24130520e-01 -2.82471881e-03 7.81314991e-01 7.72229579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.010385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:153.57, Y:93.46, Z:77.24 [[ 1.89094205e-02 -9.99615650e-01 -2.02727749e-02 1.53569248e+02] [ 7.81341122e-01 2.74253507e-02 -6.23501325e-01 9.34560828e+01] [ 6.23817670e-01 -4.04990393e-03 7.81559411e-01 7.72401714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.040385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:153.57, Y:93.48, Z:77.26 [[ 1.86979511e-02 -9.99624773e-01 -2.00175082e-02 1.53569721e+02] [ 7.81345888e-01 2.71008435e-02 -6.23509540e-01 9.34779418e+01] [ 6.23818074e-01 -3.98224684e-03 7.81559436e-01 7.72572569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:93.50, Z:77.27 [[ 1.74732750e-02 -9.99650465e-01 -1.98401697e-02 1.53570525e+02] [ 7.81570420e-01 2.60315487e-02 -6.23273645e-01 9.34985214e+01] [ 6.23572259e-01 -4.61585797e-03 7.81752091e-01 7.72744628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.57, Y:93.52, Z:77.29 [[ 1.60651674e-02 -9.99678856e-01 -1.95983707e-02 1.53570999e+02] [ 7.81638011e-01 2.47795902e-02 -6.23239916e-01 9.35197336e+01] [ 6.23525405e-01 -5.30637791e-03 7.81785080e-01 7.72922748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13038572300002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:153.57, Y:93.54, Z:77.31 [[ 1.47716701e-02 -9.99830981e-01 -1.09456352e-02 1.53567460e+02] [ 7.80048558e-01 1.83716642e-02 -6.25449222e-01 9.35443577e+01] [ 6.25544599e-01 7.00802589e-04 7.80188095e-01 7.73071837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.160385723 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:153.57, Y:93.56, Z:77.33 [[ 1.50804103e-02 -9.99674926e-01 -2.05578174e-02 1.53572230e+02] [ 7.80365346e-01 2.46215583e-02 -6.24838944e-01 9.35627652e+01] [ 6.25141990e-01 -6.61978064e-03 7.80482973e-01 7.73252823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.190385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:153.58, Y:93.58, Z:77.34 [[ 1.67259179e-02 -9.99332535e-01 -3.24765899e-02 1.53576299e+02] [ 7.80716462e-01 3.33456892e-02 -6.23995089e-01 9.35804646e+01] [ 6.24661548e-01 -1.49181177e-02 7.80753098e-01 7.73441079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.220385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:153.57, Y:93.60, Z:77.36 [[ 1.76728199e-02 -9.99665529e-01 -1.88812609e-02 1.53570307e+02] [ 7.80304015e-01 2.55971868e-02 -6.24876331e-01 9.36046338e+01] [ 6.25150635e-01 -3.68979681e-03 7.80495400e-01 7.73555278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.250385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:93.63, Z:77.37 [[ 1.81956245e-02 -9.99659812e-01 -1.86863312e-02 1.53570930e+02] [ 7.80380148e-01 2.58829585e-02 -6.24769476e-01 9.36252009e+01] [ 6.25040594e-01 -3.21437119e-03 7.80585629e-01 7.73724486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.280385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:153.57, Y:93.65, Z:77.39 [[ 2.06361219e-02 -9.99617123e-01 -1.84325408e-02 1.53571499e+02] [ 7.80248371e-01 2.76296229e-02 -6.24859251e-01 9.36459293e+01] [ 6.25129291e-01 -1.48728828e-03 7.80519800e-01 7.73904328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.310385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:153.56, Y:93.67, Z:77.40 [[ 1.79389048e-02 -9.99722597e-01 -1.52618519e-02 1.53563094e+02] [ 7.80269854e-01 2.35423713e-02 -6.24999769e-01 9.36691922e+01] [ 6.25185692e-01 -6.96551612e-04 7.80475730e-01 7.74011573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.340385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:93.69, Z:77.42 [[ 2.58697158e-02 -9.99540549e-01 -1.57939507e-02 1.53569735e+02] [ 7.79218640e-01 3.00594774e-02 -6.26030941e-01 9.36898160e+01] [ 6.26218068e-01 3.88830174e-03 7.79638257e-01 7.74232404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:93.71, Z:77.44 [[ 2.72559218e-02 -9.99469505e-01 -1.78275757e-02 1.53571503e+02] [ 7.79390210e-01 3.24149042e-02 -6.25699748e-01 9.37103683e+01] [ 6.25945697e-01 3.15938542e-03 7.79860245e-01 7.74404061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.400385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:93.73, Z:77.46 [[ 2.83802955e-02 -9.99388962e-01 -2.04024803e-02 1.53573484e+02] [ 7.79669688e-01 3.49045707e-02 -6.25217441e-01 9.37309130e+01] [ 6.25547549e-01 1.83666027e-03 7.80183883e-01 7.74589281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.57, Y:93.75, Z:77.47 [[ 3.11833457e-02 -9.99402297e-01 -1.49213672e-02 1.53568987e+02] [ 7.79271557e-01 3.36579333e-02 -6.25781898e-01 9.37548937e+01] [ 6.25910089e-01 7.88617622e-03 7.79855351e-01 7.74730541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.460385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:153.57, Y:93.78, Z:77.49 [[ 3.34708040e-02 -9.99292486e-01 -1.71532140e-02 1.53568410e+02] [ 7.78964484e-01 3.68362871e-02 -6.25985160e-01 9.37758223e+01] [ 6.26174128e-01 7.59048212e-03 7.79646296e-01 7.74901336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.490385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:153.57, Y:93.80, Z:77.51 [[ 3.43600752e-02 -9.99174307e-01 -2.16815548e-02 1.53571755e+02] [ 7.80821797e-01 4.03797483e-02 -6.23447510e-01 9.37966669e+01] [ 6.23808229e-01 4.49227276e-03 7.81564529e-01 7.75102529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.520385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:153.57, Y:93.82, Z:77.52 [[ 3.49625163e-02 -9.99283694e-01 -1.44817917e-02 1.53569208e+02] [ 7.79272622e-01 3.63316147e-02 -6.25631037e-01 9.38189951e+01] [ 6.25709040e-01 1.05883716e-02 7.79984669e-01 7.75246147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.550385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:153.57, Y:93.84, Z:77.54 [[ 3.50472698e-02 -9.99249753e-01 -1.64808776e-02 1.53570738e+02] [ 7.79102953e-01 3.76468252e-02 -6.25764576e-01 9.38386443e+01] [ 6.25915551e-01 9.09103949e-03 7.79837852e-01 7.75421356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.57, Y:93.86, Z:77.56 [[ 3.54105085e-02 -9.99242230e-01 -1.61573802e-02 1.53569445e+02] [ 7.79383128e-01 3.77319395e-02 -6.25410458e-01 9.38611392e+01] [ 6.25546190e-01 9.55331284e-03 7.80128642e-01 7.75597549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.610385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:153.57, Y:93.88, Z:77.58 [[ 3.44162097e-02 -9.99244422e-01 -1.80585203e-02 1.53568724e+02] [ 7.82087125e-01 3.81776942e-02 -6.21998547e-01 9.38835026e+01] [ 6.22218011e-01 7.28349621e-03 7.82810128e-01 7.75767906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.640385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:153.57, Y:93.91, Z:77.59 [[ 3.43249995e-02 -9.99284326e-01 -1.58943582e-02 1.53567467e+02] [ 7.82105902e-01 3.67593428e-02 -6.22060374e-01 9.39066065e+01] [ 6.22199447e-01 8.92115065e-03 7.82807934e-01 7.75927688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.670385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:153.57, Y:93.93, Z:77.61 [[ 3.44407398e-02 -9.99294818e-01 -1.49566551e-02 1.53567291e+02] [ 7.78897386e-01 3.62157751e-02 -6.26104847e-01 9.39272062e+01] [ 6.26204997e-01 9.91381460e-03 7.79595420e-01 7.76082889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.700385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.57, Y:93.95, Z:77.62 [[ 3.32778888e-02 -9.99325332e-01 -1.55390558e-02 1.53568324e+02] [ 7.78862515e-01 3.56732039e-02 -6.26179371e-01 9.39476995e+01] [ 6.26311236e-01 8.73513938e-03 7.79524171e-01 7.76246562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.730385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:153.57, Y:93.97, Z:77.64 [[ 2.95560026e-02 -9.99392603e-01 -1.84626040e-02 1.53569606e+02] [ 7.80793019e-01 3.46156744e-02 -6.23830119e-01 9.39699826e+01] [ 6.24090302e-01 4.02245231e-03 7.81341868e-01 7.76425466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.54, Y:94.00, Z:77.63 [[ 1.78636178e-02 -9.99790007e-01 1.00415266e-02 1.53544382e+02] [ 7.87136816e-01 7.86987100e-03 -6.16728220e-01 9.40016327e+01] [ 6.16519687e-01 1.89210525e-02 7.87112108e-01 7.76315184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.57, Y:94.01, Z:77.67 [[ 2.50443101e-02 -9.99512738e-01 -1.86297884e-02 1.53568927e+02] [ 7.80057662e-01 3.11935117e-02 -6.24929603e-01 9.40132969e+01] [ 6.25206227e-01 1.11862157e-03 7.80458790e-01 7.76740234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.04, Z:77.69 [[ 2.02352222e-02 -9.99722154e-01 -1.20893037e-02 1.53566602e+02] [ 7.80688373e-01 2.33534682e-02 -6.24484011e-01 9.40374058e+01] [ 6.24592827e-01 3.19859383e-03 7.80944024e-01 7.76889782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85038572300002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:153.58, Y:94.04, Z:77.73 [[ 1.53795546e-02 -9.98497188e-01 -5.26007036e-02 1.53584038e+02] [ 7.77675820e-01 4.50113314e-02 -6.27052071e-01 9.40433266e+01] [ 6.28477357e-01 -3.12625137e-02 7.77199374e-01 7.77254087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88038572300002 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:153.55, Y:94.08, Z:77.71 [[ 9.43380232e-03 -9.99917743e-01 8.68968428e-03 1.53553347e+02] [ 7.81151726e-01 1.94408894e-03 -6.24338211e-01 9.40817054e+01] [ 6.24269961e-01 1.26778451e-02 7.81105811e-01 7.77137123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.910385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.57, Y:94.10, Z:77.74 [[ 6.89698554e-03 -9.99888238e-01 -1.32643401e-02 1.53566208e+02] [ 7.80150174e-01 1.36782983e-02 -6.25442731e-01 9.40955376e+01] [ 6.25554264e-01 -6.03450773e-03 7.80157322e-01 7.77427458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:94.14, Z:77.75 [[ 8.71075039e-03 -9.99559297e-01 2.83784056e-02 1.53550286e+02] [ 7.81951576e-01 -1.08800871e-02 -6.23244219e-01 9.41357620e+01] [ 6.23278313e-01 2.76194638e-02 7.81512194e-01 7.77451581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.15, Z:77.77 [[ 6.98075009e-03 -9.99871237e-01 -1.44491945e-02 1.53569242e+02] [ 7.82916410e-01 1.44540113e-02 -6.21958983e-01 9.41463734e+01] [ 6.22087746e-01 -6.97077128e-03 7.82916499e-01 7.77746778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.17, Z:77.79 [[ 5.15366976e-03 -9.99885874e-01 -1.42013515e-02 1.53567749e+02] [ 7.83101195e-01 1.28671624e-02 -6.21761172e-01 9.41679601e+01] [ 6.21872944e-01 -7.91674358e-03 7.83078136e-01 7.77910518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.19, Z:77.81 [[ 4.30226429e-03 -9.99893338e-01 -1.39572176e-02 1.53568801e+02] [ 7.83122015e-01 1.20484019e-02 -6.21751353e-01 9.41885322e+01] [ 6.21853198e-01 -8.25526576e-03 7.83090321e-01 7.78082654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.20, Z:77.83 [[-6.01496810e-04 -9.99522725e-01 -3.08862522e-02 1.53571975e+02] [ 7.82923828e-01 1.87441767e-02 -6.21835135e-01 9.41976640e+01] [ 6.22117286e-01 -2.45556146e-02 7.82538883e-01 7.78303882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:94.24, Z:77.83 [[ 3.25457799e-03 -9.99856793e-01 1.66072369e-02 1.53554196e+02] [ 7.84324069e-01 -7.74998329e-03 -6.20302904e-01 9.42372119e+01] [ 6.20342779e-01 1.50442798e-02 7.84186525e-01 7.78344775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.24, Z:77.86 [[ 2.13456982e-04 -9.99649529e-01 -2.64721361e-02 1.53567208e+02] [ 7.84184032e-01 1.65940410e-02 -6.20306410e-01 9.42439864e+01] [ 6.20528290e-01 -2.06266177e-02 7.83912740e-01 7.78625417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.54, Y:94.28, Z:77.86 [[ 1.19173555e-03 -9.99840154e-01 1.78394667e-02 1.53537858e+02] [ 7.83457881e-01 -1.01527141e-02 -6.21361949e-01 9.42809471e+01] [ 6.21443746e-01 1.47169699e-02 7.83320549e-01 7.78600064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.180385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:153.55, Y:94.30, Z:77.88 [[ 2.52670958e-03 -9.99959104e-01 -8.68364047e-03 1.53549311e+02] [ 7.85557948e-01 7.35813118e-03 -6.18744348e-01 9.42973139e+01] [ 6.18782940e-01 -5.25811552e-03 7.85544414e-01 7.78841302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:94.32, Z:77.89 [[ 3.23645106e-03 -9.99983421e-01 4.76272286e-03 1.53539287e+02] [ 7.87026984e-01 -3.91043763e-04 -6.16918449e-01 9.43233924e+01] [ 6.16910084e-01 5.74501778e-03 7.87012670e-01 7.78933977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:94.35, Z:77.91 [[ 5.39360517e-03 -9.99969907e-01 5.57622881e-03 1.53540290e+02] [ 7.86830705e-01 8.02406262e-04 -6.17168371e-01 9.43461870e+01] [ 6.17145324e-01 7.71631056e-03 7.86811355e-01 7.79130349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:94.36, Z:77.95 [[ 1.14999119e-02 -9.99858383e-01 -1.22868084e-02 1.53552670e+02] [ 7.84261653e-01 1.66416612e-02 -6.20206993e-01 9.43618285e+01] [ 6.20323634e-01 -2.50374691e-03 7.84341966e-01 7.79456870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:94.38, Z:77.96 [[ 1.20635662e-02 -9.99832707e-01 -1.37487411e-02 1.53550952e+02] [ 7.84099684e-01 1.79914109e-02 -6.20374077e-01 9.43821668e+01] [ 6.20517652e-01 -3.29645979e-03 7.84185550e-01 7.79621704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:94.40, Z:77.97 [[ 1.06036174e-02 -9.99875652e-01 -1.16723751e-02 1.53542637e+02] [ 7.85919933e-01 1.55506047e-02 -6.18132702e-01 9.44039823e+01] [ 6.18237351e-01 -2.61910956e-03 7.85987098e-01 7.79703345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:94.43, Z:77.99 [[ 1.26464184e-02 -9.99887973e-01 -8.00686854e-03 1.53540467e+02] [ 7.83938644e-01 1.48852253e-02 -6.20659837e-01 9.44269022e+01] [ 6.20709490e-01 1.57223029e-03 7.84039066e-01 7.79896658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.54, Y:94.45, Z:78.01 [[ 1.76400950e-02 -9.99828992e-01 -5.55096734e-03 1.53540652e+02] [ 7.84147941e-01 1.72788491e-02 -6.20333336e-01 9.44493645e+01] [ 6.20323169e-01 6.58995940e-03 7.84318646e-01 7.80088052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:94.47, Z:78.03 [[ 1.67927514e-02 -9.99628815e-01 -2.14530886e-02 1.53545329e+02] [ 7.83371064e-01 2.64869343e-02 -6.20989709e-01 9.44653449e+01] [ 6.21327434e-01 -6.37760302e-03 7.83525077e-01 7.80293434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:94.49, Z:78.04 [[ 2.04471414e-02 -9.99790877e-01 -3.42766860e-04 1.53534060e+02] [ 7.83999091e-01 1.62466416e-02 -6.20549330e-01 9.44942715e+01] [ 6.20425128e-01 1.24197310e-02 7.84167336e-01 7.80408225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:94.51, Z:78.06 [[ 2.08597590e-02 -9.99546986e-01 -2.16954845e-02 1.53539878e+02] [ 7.84222046e-01 2.98182579e-02 -6.19763386e-01 9.45077950e+01] [ 6.20129546e-01 -4.08596230e-03 7.84488783e-01 7.80599492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:94.54, Z:78.07 [[ 1.95986150e-02 -9.99796173e-01 4.84830599e-03 1.53525109e+02] [ 7.85275840e-01 1.23916363e-02 -6.19022053e-01 9.45392938e+01] [ 6.18835802e-01 1.59392324e-02 7.85358639e-01 7.80682666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:94.56, Z:78.09 [[ 1.82030261e-02 -9.99812990e-01 -6.52961220e-03 1.53527061e+02] [ 7.86288531e-01 1.83488655e-02 -6.17586970e-01 9.45556034e+01] [ 6.17591286e-01 6.10779256e-03 7.86475491e-01 7.80850688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.53, Y:94.58, Z:78.11 [[ 1.87814268e-02 -9.99771686e-01 -1.01898578e-02 1.53532615e+02] [ 7.84856731e-01 2.10563135e-02 -6.19319419e-01 9.45753816e+01] [ 6.19392581e-01 3.63412388e-03 7.85073005e-01 7.81100481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.53, Y:94.59, Z:78.13 [[ 1.99047142e-02 -9.99656452e-01 -1.70522635e-02 1.53532923e+02] [ 7.86149032e-01 2.61865331e-02 -6.17481955e-01 9.45917375e+01] [ 6.17716360e-01 -1.11481855e-03 7.86400188e-01 7.81266785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:94.62, Z:78.14 [[ 1.76804072e-02 -9.99818008e-01 7.16612101e-03 1.53517061e+02] [ 7.84496951e-01 9.42850932e-03 -6.20060994e-01 9.46200533e+01] [ 6.19880583e-01 1.65847309e-02 7.84520879e-01 7.81359223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:94.64, Z:78.16 [[ 1.62455238e-02 -9.99856540e-01 -4.79390868e-03 1.53518967e+02] [ 7.83631082e-01 1.57099016e-02 -6.21027798e-01 9.46405297e+01] [ 6.21014017e-01 6.33226600e-03 7.83773879e-01 7.81555840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.690385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.52, Y:94.66, Z:78.17 [[ 1.81401918e-02 -9.99690475e-01 -1.70261034e-02 1.53522190e+02] [ 7.82964740e-01 2.47937504e-02 -6.21571786e-01 9.46564359e+01] [ 6.21801535e-01 -2.05540714e-03 7.83172156e-01 7.81726362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:94.68, Z:78.18 [[ 1.73499202e-02 -9.99845821e-01 -2.70458339e-03 1.53514570e+02] [ 7.81869659e-01 1.52533739e-02 -6.23255302e-01 9.46806415e+01] [ 6.23200463e-01 8.69879806e-03 7.82013755e-01 7.81831780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.750385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.52, Y:94.70, Z:78.20 [[ 1.92803365e-02 -9.99692308e-01 -1.56063719e-02 1.53519040e+02] [ 7.82274320e-01 2.48041753e-02 -6.22440070e-01 9.46957371e+01] [ 6.22635653e-01 -2.07609958e-04 7.82511853e-01 7.82030282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.780385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:153.51, Y:94.73, Z:78.22 [[ 1.79262225e-02 -9.99798644e-01 9.01784989e-03 1.53505525e+02] [ 7.81159600e-01 8.37530711e-03 -6.24275206e-01 9.47257354e+01] [ 6.24073977e-01 1.82352762e-02 7.81152447e-01 7.82174495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:94.74, Z:78.24 [[ 1.60375201e-02 -9.99684005e-01 -1.93568827e-02 1.53516635e+02] [ 7.83266649e-01 2.45939070e-02 -6.21199241e-01 9.47409729e+01] [ 6.21479006e-01 -5.19910535e-03 7.83413566e-01 7.82426337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.840385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.50, Y:94.76, Z:78.25 [[ 1.18892379e-02 -9.99921098e-01 -4.05508239e-03 1.53504347e+02] [ 7.83728746e-01 1.18370389e-02 -6.20990448e-01 9.47648015e+01] [ 6.20989451e-01 4.20501852e-03 7.83807642e-01 7.82511901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.50, Y:94.79, Z:78.27 [[ 9.65415438e-03 -9.99950203e-01 -2.52775915e-03 1.53502715e+02] [ 7.85150679e-01 9.14570391e-03 -6.19237247e-01 9.47881306e+01] [ 6.19229529e-01 3.99354017e-03 7.85199874e-01 7.82673179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:94.81, Z:78.29 [[ 8.37182883e-03 -9.99893043e-01 -1.19923172e-02 1.53507488e+02] [ 7.83984040e-01 1.40075854e-02 -6.20622924e-01 9.48068847e+01] [ 6.20724527e-01 -4.20603640e-03 7.84017456e-01 7.82909323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:94.83, Z:78.31 [[ 8.24000464e-03 -9.99930386e-01 -8.44538641e-03 1.53506126e+02] [ 7.83942003e-01 1.17027524e-02 -6.20723757e-01 9.48300969e+01] [ 6.20779380e-01 -1.50592650e-03 7.83983861e-01 7.83076577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:94.85, Z:78.32 [[ 6.18442813e-03 -9.99948740e-01 -8.01681655e-03 1.53503847e+02] [ 7.83947005e-01 9.82520639e-03 -6.20749997e-01 9.48520549e+01] [ 6.20796945e-01 -2.44577558e-03 7.83967583e-01 7.83239645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:94.88, Z:78.34 [[ 4.13249566e-03 -9.99991137e-01 8.05061296e-04 1.53496924e+02] [ 7.85041236e-01 2.74551875e-03 -6.19437422e-01 9.48771362e+01] [ 6.19429722e-01 3.19182878e-03 7.85045624e-01 7.83359610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:94.90, Z:78.35 [[ 2.32710733e-03 -9.99985161e-01 -4.92575241e-03 1.53497154e+02] [ 7.84683769e-01 4.87947670e-03 -6.19877063e-01 9.48984129e+01] [ 6.19891899e-01 -2.42263751e-03 7.84683480e-01 7.83545166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:94.92, Z:78.37 [[ 1.04200301e-04 -9.99985522e-01 -5.38002746e-03 1.53493551e+02] [ 7.84888880e-01 3.41544609e-03 -6.19627131e-01 9.49196345e+01] [ 6.19636535e-01 -4.15815839e-03 7.84877872e-01 7.83711884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:94.94, Z:78.39 [[-1.37209511e-03 -9.99993783e-01 3.24830482e-03 1.53487923e+02] [ 7.85275733e-01 -3.08864277e-03 -6.19138500e-01 9.49425924e+01] [ 6.19144684e-01 1.70129804e-03 7.85275089e-01 7.83850325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.49, Y:94.97, Z:78.40 [[-4.01432613e-03 -9.99982975e-01 4.23487634e-03 1.53486370e+02] [ 7.87007374e-01 -5.77196800e-03 -6.16916589e-01 9.49651317e+01] [ 6.16930530e-01 8.56374528e-04 7.87017146e-01 7.84025787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:94.98, Z:78.44 [[-1.67262693e-04 -9.99772778e-01 -2.13158179e-02 1.53501452e+02] [ 7.83721733e-01 1.31084548e-02 -6.20973762e-01 9.49776862e+01] [ 6.21112081e-01 -1.68095355e-02 7.83541462e-01 7.84356124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.00, Z:78.45 [[ 8.44607251e-04 -9.99994295e-01 -3.27044263e-03 1.53490141e+02] [ 7.82060419e-01 2.69867859e-03 -6.23196773e-01 9.50031429e+01] [ 6.23202044e-01 -2.03132722e-03 7.82058237e-01 7.84467497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:95.04, Z:78.44 [[-3.09273960e-03 -9.99691657e-01 2.46378977e-02 1.53463822e+02] [ 7.81941710e-01 -1.77756492e-02 -6.23098056e-01 9.50355638e+01] [ 6.23343883e-01 1.73383198e-02 7.81755580e-01 7.84449021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:95.05, Z:78.47 [[-1.24222180e-03 -9.99926513e-01 -1.20592581e-02 1.53480186e+02] [ 7.82747445e-01 6.53267314e-03 -6.22305200e-01 9.50498555e+01] [ 6.22338247e-01 -1.02123945e-02 7.82681808e-01 7.84706261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.260385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.47, Y:95.07, Z:78.49 [[ 3.87469951e-04 -9.99996740e-01 2.52387269e-03 1.53474019e+02] [ 7.81191046e-01 -1.27294644e-03 -6.24290740e-01 9.50740633e+01] [ 6.24291918e-01 2.21352065e-03 7.81188006e-01 7.84864017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.09, Z:78.52 [[ 7.53223293e-03 -9.99858949e-01 -1.50115864e-02 1.53487803e+02] [ 7.77262241e-01 1.52988271e-02 -6.28990743e-01 9.50887823e+01] [ 6.29131683e-01 -6.93023451e-03 7.77267841e-01 7.85205574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:95.11, Z:78.53 [[ 3.92641494e-03 -9.99972757e-01 -6.25053105e-03 1.53478093e+02] [ 7.82009871e-01 6.96618544e-03 -6.23227112e-01 9.51139942e+01] [ 6.23253676e-01 -2.44092873e-03 7.82015919e-01 7.85272559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.13, Z:78.56 [[ 8.80267865e-03 -9.99850501e-01 -1.48825019e-02 1.53485188e+02] [ 7.79051782e-01 1.61877791e-02 -6.26750570e-01 9.51316474e+01] [ 6.26897786e-01 -6.07715577e-03 7.79077810e-01 7.85557482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38038572300002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:153.48, Y:95.15, Z:78.57 [[ 6.87681005e-03 -9.99830853e-01 -1.70579926e-02 1.53483704e+02] [ 7.78487681e-01 1.60593409e-02 -6.27454403e-01 9.51519747e+01] [ 6.27622211e-01 -8.96455234e-03 7.78466439e-01 7.85723973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:95.18, Z:78.59 [[ 9.14197832e-03 -9.99952972e-01 3.23696310e-03 1.53477064e+02] [ 7.78996537e-01 5.09220863e-03 -6.27007548e-01 9.51783354e+01] [ 6.26961578e-01 8.25367246e-03 7.79006455e-01 7.85866779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.48, Y:95.20, Z:78.61 [[ 9.76105770e-03 -9.99911924e-01 -8.99260797e-03 1.53484581e+02] [ 7.79642365e-01 1.32414375e-02 -6.26085016e-01 9.51954333e+01] [ 6.26148948e-01 -8.99766166e-04 7.79702947e-01 7.86070619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:95.22, Z:78.62 [[ 9.93767084e-03 -9.99912550e-01 -8.72548896e-03 1.53484611e+02] [ 7.79864325e-01 1.32116811e-02 -6.25809146e-01 9.52175100e+01] [ 6.25869697e-01 -5.85612256e-04 7.79927419e-01 7.86248338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:95.24, Z:78.64 [[ 1.03601678e-02 -9.99910213e-01 -8.49894893e-03 1.53484278e+02] [ 7.79845846e-01 1.33994187e-02 -6.25828181e-01 9.52393045e+01] [ 6.25885871e-01 -1.44185037e-04 7.79914646e-01 7.86411235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.530385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.49, Y:95.26, Z:78.66 [[ 1.07407488e-02 -9.99908238e-01 -8.25544788e-03 1.53485179e+02] [ 7.79222518e-01 1.35435482e-02 -6.26601021e-01 9.52610632e+01] [ 6.26655330e-01 2.97333283e-04 7.79296483e-01 7.86583951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.560385723 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:153.49, Y:95.28, Z:78.68 [[ 1.13171074e-02 -9.99903654e-01 -8.03774524e-03 1.53486515e+02] [ 7.78621527e-01 1.38554843e-02 -6.27340851e-01 9.52831842e+01] [ 6.27391777e-01 8.41322316e-04 7.78703314e-01 7.86757128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.30, Z:78.69 [[ 1.36328798e-02 -9.99876439e-01 -7.82632913e-03 1.53485674e+02] [ 7.77427877e-01 1.55215422e-02 -6.28780548e-01 9.53047444e+01] [ 6.28824332e-01 2.48768319e-03 7.77543421e-01 7.86918453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.620385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.48, Y:95.33, Z:78.71 [[ 1.72793182e-02 -9.99821985e-01 -7.57785665e-03 1.53484909e+02] [ 7.76851343e-01 1.81963634e-02 -6.29421069e-01 9.53264590e+01] [ 6.29446912e-01 4.98909881e-03 7.77027473e-01 7.87073986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.35, Z:78.72 [[ 1.87179422e-02 -9.99798085e-01 -7.30937639e-03 1.53486475e+02] [ 7.76862761e-01 1.91455047e-02 -6.29378821e-01 9.53473498e+01] [ 6.29391682e-01 6.10229408e-03 7.77064265e-01 7.87245504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.680385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.49, Y:95.37, Z:78.74 [[ 1.99380449e-02 -9.99776315e-01 -7.05656356e-03 1.53489774e+02] [ 7.77133483e-01 1.99377010e-02 -6.29019903e-01 9.53678005e+01] [ 6.29019892e-01 7.05753525e-03 7.77357168e-01 7.87425942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.39, Z:78.76 [[ 2.02290553e-02 -9.99772266e-01 -6.79718760e-03 1.53493203e+02] [ 7.77882302e-01 2.00096357e-02 -6.28091345e-01 9.53881861e+01] [ 6.28084317e-01 7.41828264e-03 7.78109928e-01 7.87606364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.740385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.49, Y:95.41, Z:78.78 [[ 2.09064728e-02 -9.99760090e-01 -6.53309688e-03 1.53494137e+02] [ 7.79048971e-01 2.03859016e-02 -6.26631564e-01 9.54093141e+01] [ 6.26614412e-01 8.01105333e-03 7.79288266e-01 7.87781040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.43, Z:78.79 [[ 2.23200042e-02 -9.99731070e-01 -6.29330920e-03 1.53490186e+02] [ 7.78290315e-01 2.13264963e-02 -6.27542323e-01 9.54322194e+01] [ 6.27507772e-01 9.10872565e-03 7.78557016e-01 7.87915932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.49, Y:95.45, Z:78.81 [[ 2.30996842e-02 -9.99714902e-01 -6.04315057e-03 1.53490694e+02] [ 7.77351001e-01 2.17620388e-02 -6.28690572e-01 9.54542109e+01] [ 6.28642845e-01 9.82490456e-03 7.77632076e-01 7.88076825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.47, Z:78.82 [[ 2.38771110e-02 -9.99698070e-01 -5.80111199e-03 1.53493657e+02] [ 7.76576437e-01 2.22016693e-02 -6.29631736e-01 9.54749248e+01] [ 6.29570426e-01 1.05287799e-02 7.76872077e-01 7.88245397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.860385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:153.50, Y:95.50, Z:78.84 [[ 2.41746636e-02 -9.99692353e-01 -5.54840557e-03 1.53497794e+02] [ 7.75635916e-01 2.22574526e-02 -6.30788025e-01 9.54957784e+01] [ 6.30717458e-01 1.09455457e-02 7.75935360e-01 7.88427750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:95.52, Z:78.86 [[ 2.40948260e-02 -9.99695579e-01 -5.30925316e-03 1.53502425e+02] [ 7.75260431e-01 2.20379780e-02 -6.31257152e-01 9.55152869e+01] [ 6.31181989e-01 1.10939773e-02 7.75555427e-01 7.88606438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:95.54, Z:78.88 [[ 2.36158831e-02 -9.99708348e-01 -5.05058795e-03 1.53501974e+02] [ 7.75708142e-01 2.15108391e-02 -6.30725109e-01 9.55366849e+01] [ 6.30649799e-01 1.09773482e-02 7.75989903e-01 7.88763807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.50, Y:95.56, Z:78.89 [[ 2.26925661e-02 -9.99731042e-01 -4.78440384e-03 1.53501357e+02] [ 7.75990720e-01 2.06308904e-02 -6.30406828e-01 9.55590330e+01] [ 6.30335981e-01 1.05928956e-02 7.76250179e-01 7.88927853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.980385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.50, Y:95.58, Z:78.91 [[ 2.18425560e-02 -9.99751115e-01 -4.53998308e-03 1.53503525e+02] [ 7.75774626e-01 1.98131945e-02 -6.30698951e-01 9.55806625e+01] [ 6.30631931e-01 1.02540735e-02 7.76014318e-01 7.89101280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.010385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.51, Y:95.60, Z:78.93 [[ 1.98173090e-02 -9.99794392e-01 -4.29504392e-03 1.53511661e+02] [ 7.74786074e-01 1.80722089e-02 -6.31965137e-01 9.55999946e+01] [ 6.31912821e-01 9.19610819e-03 7.74984915e-01 7.89285267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.040385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:153.51, Y:95.62, Z:78.95 [[ 1.81066305e-02 -9.99827933e-01 -4.03161691e-03 1.53514731e+02] [ 7.74548685e-01 1.65764986e-02 -6.32297046e-01 9.56205598e+01] [ 6.32255079e-01 8.32608539e-03 7.74715555e-01 7.89461380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07038572300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:153.52, Y:95.64, Z:78.96 [[ 1.66850646e-02 -9.99853657e-01 -3.77796996e-03 1.53516380e+02] [ 7.74326327e-01 1.53118739e-02 -6.32601206e-01 9.56412793e+01] [ 6.32566477e-01 7.62961039e-03 7.74468489e-01 7.89632924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10038572300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:153.51, Y:95.67, Z:78.97 [[ 1.17935247e-02 -9.99893581e-01 8.58720996e-03 1.53508344e+02] [ 7.76026781e-01 3.73663077e-03 -6.30688888e-01 9.56666326e+01] [ 6.30589683e-01 1.41019499e-02 7.75988265e-01 7.89723904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13038572300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.50, Y:95.70, Z:78.98 [[ 8.52786157e-03 -9.99586150e-01 2.74737201e-02 1.53497418e+02] [ 7.79607718e-01 -1.05594535e-02 -6.26179131e-01 9.56960770e+01] [ 6.26210094e-01 2.67586932e-02 7.79195028e-01 7.89767482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.160385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:153.54, Y:95.70, Z:79.02 [[ 1.24137751e-02 -9.99639745e-01 -2.37966071e-02 1.53535516e+02] [ 7.74425162e-01 2.46662722e-02 -6.32184502e-01 9.57015332e+01] [ 6.32543728e-01 -1.05808951e-02 7.74452373e-01 7.90217648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.190385723 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:153.52, Y:95.73, Z:79.03 [[ 1.07268881e-02 -9.99854337e-01 1.32754700e-02 1.53521624e+02] [ 7.77340066e-01 -1.29028163e-05 -6.29080616e-01 9.57328353e+01] [ 6.28989154e-01 1.70676321e-02 7.77226698e-01 7.90264190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.220385723 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:153.54, Y:95.74, Z:79.06 [[ 9.33567231e-03 -9.99772902e-01 -1.91569698e-02 1.53539647e+02] [ 7.76097053e-01 1.93247462e-02 -6.30317316e-01 9.57414733e+01] [ 6.30544375e-01 -8.98323190e-03 7.76101213e-01 7.90554747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.250385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:153.51, Y:95.78, Z:79.05 [[ 4.76427237e-03 -9.99542194e-01 2.98781699e-02 1.53513977e+02] [ 7.81745023e-01 -1.49090266e-02 -6.23419955e-01 9.57780140e+01] [ 6.23580004e-01 2.63272531e-02 7.81316104e-01 7.90488261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.280385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:153.53, Y:95.79, Z:79.07 [[ 2.56556442e-03 -9.99964625e-01 8.01042263e-03 1.53526417e+02] [ 7.82459303e-01 -2.98070254e-03 -6.22694591e-01 9.57948645e+01] [ 6.22696440e-01 7.86539280e-03 7.82423977e-01 7.90699801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.310385723 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:153.55, Y:95.80, Z:79.11 [[ 6.10683846e-03 -9.99619415e-01 -2.69022723e-02 1.53550813e+02] [ 7.76617997e-01 2.16885615e-02 -6.29598359e-01 9.58024846e+01] [ 6.29942215e-01 -1.70479334e-02 7.76454876e-01 7.91097511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.340385723 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:153.53, Y:95.84, Z:79.10 [[ 5.76897447e-03 -9.99472607e-01 3.19566349e-02 1.53529375e+02] [ 7.79378657e-01 -1.55283555e-02 -6.26360742e-01 9.58425303e+01] [ 6.26526638e-01 2.85197783e-02 7.78878036e-01 7.91029402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.370385723 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:153.56, Y:95.84, Z:79.15 [[ 6.27626609e-03 -9.99413231e-01 -3.36719846e-02 1.53562845e+02] [ 7.75236744e-01 2.61323258e-02 -6.31130012e-01 9.58410933e+01] [ 6.31639612e-01 -2.21426198e-02 7.74945873e-01 7.91461681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.400385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:153.55, Y:95.87, Z:79.15 [[ 6.85144170e-03 -9.99975923e-01 -1.10097958e-03 1.53548602e+02] [ 7.75486427e-01 6.00843237e-03 -6.31335647e-01 9.58705941e+01] [ 6.31327062e-01 3.47176467e-03 7.75508922e-01 7.91526255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.430385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:153.55, Y:95.89, Z:79.17 [[ 7.40434953e-03 -9.99972222e-01 -8.55379107e-04 1.53549819e+02] [ 7.75301970e-01 6.28100406e-03 -6.31559502e-01 9.58928390e+01] [ 6.31547330e-01 4.01311020e-03 7.75326940e-01 7.91678958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.460385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:153.55, Y:95.91, Z:79.18 [[ 7.47409337e-03 -9.99971888e-01 -6.01129849e-04 1.53552130e+02] [ 7.75058072e-01 6.17285975e-03 -6.31859859e-01 9.59139312e+01] [ 6.31845807e-01 4.25666904e-03 7.75082420e-01 7.91847791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.490385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:153.56, Y:95.93, Z:79.20 [[ 5.63968927e-03 -9.99984037e-01 -3.45235657e-04 1.53558032e+02] [ 7.75386461e-01 4.59101806e-03 -6.31470316e-01 9.59341385e+01] [ 6.31461821e-01 3.29360531e-03 7.75399975e-01 7.92021825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.520385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:153.56, Y:95.96, Z:79.22 [[ 3.86371022e-03 -9.99992533e-01 -7.80921178e-05 1.53560116e+02] [ 7.75810594e-01 3.04680296e-03 -6.30958509e-01 9.59553046e+01] [ 6.30954035e-01 2.37725615e-03 7.75816572e-01 7.92192912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.550385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:153.56, Y:95.95, Z:79.21 [[ 1.69032354e-03 -9.99998556e-01 1.73522843e-04 1.53561223e+02] [ 7.75748302e-01 1.20176727e-03 -6.31041305e-01 9.59489545e+01] [ 6.31040185e-01 1.20127402e-03 7.75749213e-01 7.92146460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.580385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:153.56, Y:95.96, Z:79.22 [[-1.57231830e-03 -9.99998653e-01 4.70074118e-04 1.53563831e+02] [ 7.75232837e-01 -1.51584830e-03 -6.31673769e-01 9.59593421e+01] [ 6.31673631e-01 -6.28775333e-04 7.75234176e-01 7.92227360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.610385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:153.57, Y:95.94, Z:79.21 [[-3.81696973e-03 -9.99992419e-01 7.69393177e-04 1.53565022e+02] [ 7.74152745e-01 -3.44196147e-03 -6.32989479e-01 9.59443345e+01] [ 6.32987329e-01 -1.82047384e-03 7.74160014e-01 7.92098375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.57, Y:95.95, Z:79.21 [[-4.62884648e-03 -9.99988718e-01 1.06618080e-03 1.53569260e+02] [ 7.74410187e-01 -4.25921401e-03 -6.32669520e-01 9.59473819e+01] [ 6.32666924e-01 -2.10286881e-03 7.74421166e-01 7.92139584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.57, Y:95.97, Z:79.23 [[-5.76930392e-03 -9.99982429e-01 1.36245987e-03 1.53570298e+02] [ 7.74428694e-01 -5.32995306e-03 -6.32638751e-01 9.59681623e+01] [ 6.32634897e-01 -2.59475720e-03 7.74445837e-01 7.92300237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:95.94, Z:79.21 [[-7.39272802e-03 -9.99971295e-01 1.66053550e-03 1.53571309e+02] [ 7.74949266e-01 -6.77862073e-03 -6.31987093e-01 9.59411226e+01] [ 6.31980208e-01 -3.38527792e-03 7.74977133e-01 7.92075466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.730385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:153.57, Y:95.93, Z:79.20 [[-1.07162379e-02 -9.99940664e-01 1.95699994e-03 1.53574685e+02] [ 7.75546849e-01 -9.54680428e-03 -6.31217825e-01 9.59343496e+01] [ 6.31199055e-01 -5.24653527e-03 7.75603138e-01 7.92020647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.760385723 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:153.57, Y:96.36, Z:79.53 [[-9.83923281e-03 -9.99880607e-01 1.19147852e-02 1.53572538e+02] [ 7.78841236e-01 -1.51360359e-02 -6.27038459e-01 9.63590857e+01] [ 6.27143938e-01 3.11014867e-03 7.78897175e-01 7.95280105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.790385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:152.86, Y:95.30, Z:79.94 [[-7.11191973e-02 9.91394004e-01 -1.09908998e-01 1.52858059e+02] [ 7.84578301e-01 1.23640813e-01 6.07577023e-01 9.53018381e+01] [ 6.15937456e-01 -4.30218244e-02 -7.86619459e-01 7.99422112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82038572300002 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:152.87, Y:95.29, Z:79.91 [[-1.46956157e-01 9.87175691e-01 -6.23541740e-02 1.52871425e+02] [ 7.75402322e-01 1.54110544e-01 6.12373399e-01 9.52918079e+01] [ 6.14129569e-01 4.16424701e-02 -7.88105816e-01 7.99094895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85038572300002 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:152.95, Y:95.26, Z:79.91 [[-2.24282282e-01 9.66724471e-01 -1.23049807e-01 1.52945593e+02] [ 7.58236781e-01 2.52427668e-01 6.01129983e-01 9.52630635e+01] [ 6.12188241e-01 4.15219151e-02 -7.89621104e-01 7.99097720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88038572300002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:153.02, Y:95.24, Z:79.91 [[-3.00041192e-01 9.36397063e-01 -1.82032478e-01 1.53022243e+02] [ 7.33179800e-01 3.48449518e-01 5.83978009e-01 9.52380068e+01] [ 6.10264422e-01 4.17549224e-02 -7.91096620e-01 7.99065493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.910385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:153.10, Y:95.23, Z:79.92 [[-3.76298215e-01 8.95246887e-01 -2.38605669e-01 1.53096554e+02] [ 6.99100701e-01 4.43364521e-01 5.60968904e-01 9.52340479e+01] [ 6.07994953e-01 4.42822069e-02 -7.92705004e-01 7.99160290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.940385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:153.17, Y:95.23, Z:79.92 [[-4.47059675e-01 8.45362542e-01 -2.92403522e-01 1.53172466e+02] [ 6.57985148e-01 5.32229538e-01 5.32716870e-01 9.52342066e+01] [ 6.05964679e-01 4.57590560e-02 -7.94174362e-01 7.99226946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.970385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:153.26, Y:95.23, Z:79.92 [[-5.12751923e-01 7.87098550e-01 -3.42872189e-01 1.53256949e+02] [ 6.10195857e-01 6.15046390e-01 4.99378568e-01 9.52303305e+01] [ 6.03942449e-01 4.68381316e-02 -7.95650493e-01 7.99170876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.000385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:153.34, Y:95.24, Z:79.92 [[-5.73799755e-01 7.20000001e-01 -3.90325300e-01 1.53335515e+02] [ 5.54236235e-01 6.92251468e-01 4.62179728e-01 9.52402371e+01] [ 6.02972667e-01 4.88661904e-02 -7.96263812e-01 7.99169366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.030385723 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:153.02, Y:95.58, Z:80.30 [[-6.27446694e-01 6.50527922e-01 -4.27929982e-01 1.53023903e+02] [ 4.95310671e-01 7.57496605e-01 4.25283708e-01 9.55823698e+01] [ 6.00814435e-01 5.48845697e-02 -7.97502162e-01 8.03049596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.060385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:153.49, Y:95.30, Z:79.90 [[-6.75687509e-01 5.89176519e-01 -4.43077216e-01 1.53491194e+02] [ 4.32007234e-01 8.03482896e-01 4.09615655e-01 9.52973458e+01] [ 5.97340891e-01 8.53596191e-02 -7.97431875e-01 7.99045531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.090385723 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:153.12, Y:95.60, Z:80.34 [[-7.16913099e-01 4.74073359e-01 -5.11165393e-01 1.53117905e+02] [ 3.59589124e-01 8.79600196e-01 3.11446877e-01 9.56032166e+01] [ 5.97269847e-01 3.94708299e-02 -8.01068526e-01 8.03371178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.120385723 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:153.49, Y:96.37, Z:79.19 [[-7.01504536e-01 -4.56204833e-01 5.47511220e-01 1.53487877e+02] [ 3.62013329e-01 -8.89868129e-01 -2.77634765e-01 9.63667108e+01] [ 6.13871107e-01 3.44431198e-03 7.89398759e-01 7.91861256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.150385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.65, Y:95.40, Z:79.93 [[-7.47322714e-01 3.97487254e-01 -5.32459053e-01 1.53653001e+02] [ 2.92687857e-01 9.16332115e-01 2.73256792e-01 9.53991955e+01] [ 5.96525422e-01 4.83667087e-02 -8.01135496e-01 7.99262808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.180385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.72, Y:95.44, Z:79.92 [[-7.72965930e-01 3.05991389e-01 -5.55781378e-01 1.53719678e+02] [ 2.18800284e-01 9.50832498e-01 2.19189409e-01 9.54431257e+01] [ 5.95525068e-01 4.78208223e-02 -8.01912129e-01 7.99226543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.210385723 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:153.25, Y:95.60, Z:80.32 [[-7.92721783e-01 2.15024995e-01 -5.70400233e-01 1.53248771e+02] [ 1.39194753e-01 9.74850571e-01 1.74043630e-01 9.56000705e+01] [ 5.93478723e-01 5.85714571e-02 -8.02715634e-01 8.03231163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:96.44, Z:79.19 [[-7.84934911e-01 -1.71255587e-01 5.95439930e-01 1.53383351e+02] [ 1.41618241e-01 -9.85190404e-01 -9.66650996e-02 9.64414113e+01] [ 6.03176143e-01 8.44934403e-03 7.97563257e-01 7.91870257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.270385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.40, Y:96.45, Z:79.19 [[-7.82403099e-01 -1.82367104e-01 5.95472611e-01 1.53395226e+02] [ 1.41113269e-01 -9.83209048e-01 -1.15702261e-01 9.64487893e+01] [ 6.06574346e-01 -6.49672115e-03 7.95000224e-01 7.91910663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:95.54, Z:79.91 [[-8.06593139e-01 1.69760349e-01 -5.66205733e-01 1.53798630e+02] [ 6.90781838e-02 9.78380933e-01 1.94933208e-01 9.55350137e+01] [ 5.87056823e-01 1.18119324e-01 -8.00882084e-01 7.99054614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.330385723 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:153.33, Y:95.64, Z:80.34 [[-8.11899675e-01 1.26788719e-02 -5.83659288e-01 1.53330436e+02] [-1.53048036e-02 9.98958260e-01 4.29901989e-02 9.56409061e+01] [ 5.83596334e-01 4.38365193e-02 -8.10859839e-01 8.03393359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:96.49, Z:79.38 [[-7.94634700e-01 9.93103327e-03 6.07006646e-01 1.53068701e+02] [-9.27706008e-03 -9.99948083e-01 4.21518255e-03 9.64884123e+01] [ 6.07016993e-01 -2.28170680e-03 7.94685576e-01 7.93791884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:95.66, Z:80.10 [[-8.10202373e-01 -1.46788886e-02 -5.85966419e-01 1.53629041e+02] [-8.14687910e-02 9.92803333e-01 8.77745834e-02 9.56571912e+01] [ 5.80460981e-01 1.18853152e-01 -8.05567488e-01 8.01002086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:95.79, Z:80.10 [[-8.05601491e-01 -1.89691929e-01 -5.61269284e-01 1.53744158e+02] [-1.63585009e-01 9.81748513e-01 -9.70041357e-02 9.57869991e+01] [ 5.69426187e-01 1.36685647e-02 -8.21928822e-01 8.00986901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:96.04, Z:80.09 [[ -0.77722981 -0.42888261 -0.46040582 153.88557875] [ -0.23893426 0.8780756 -0.4146006 96.03540761] [ 0.58208611 -0.21223323 -0.78494128 80.09091597] [ 0. 0. 0. 1. ]] SLAMing on 241.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:96.51, Z:79.27 [[-7.59711862e-01 2.95429493e-01 5.79274806e-01 1.53081652e+02] [-2.43899780e-01 -9.55259337e-01 1.67309582e-01 9.65063074e+01] [ 6.02785852e-01 -1.41779239e-02 7.97777038e-01 7.92671168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:96.52, Z:79.22 [[-7.59301948e-01 3.03930110e-01 5.75401634e-01 1.53132960e+02] [-2.47854860e-01 -9.52652915e-01 1.76126067e-01 9.65208411e+01] [ 6.01688059e-01 -8.88322558e-03 7.98681769e-01 7.92248410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:95.97, Z:79.96 [[-7.49330671e-01 -3.66414855e-01 -5.51582903e-01 1.53956399e+02] [-2.98338629e-01 9.30437567e-01 -2.12790970e-01 9.59685290e+01] [ 5.91183227e-01 5.10768623e-03 -8.06521112e-01 7.99588489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.82, Y:96.11, Z:80.14 [[ -0.70603142 -0.5664073 -0.42509105 153.82142659] [ -0.35790466 0.80334438 -0.47596435 96.108785 ] [ 0.61108419 -0.18390372 -0.76990619 80.14195946] [ 0. 0. 0. 1. ]] SLAMing on 241.60038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.10, Y:96.54, Z:79.19 [[-6.82593999e-01 4.71879698e-01 5.58027762e-01 1.53097228e+02] [-3.80272079e-01 -8.81413979e-01 2.80183054e-01 9.65406348e+01] [ 6.24066165e-01 -2.09511057e-02 7.81090567e-01 7.91853839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.00, Y:96.02, Z:79.84 [[-6.70915593e-01 -3.88849218e-01 -6.31402053e-01 1.54000206e+02] [-4.24705014e-01 8.99491391e-01 -1.02668826e-01 9.60190396e+01] [ 6.07863404e-01 1.99277502e-01 -7.68629013e-01 7.98423110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:96.01, Z:80.14 [[-6.29261435e-01 -5.81489829e-01 -5.15654560e-01 1.53768282e+02] [-4.93647823e-01 8.11499120e-01 -3.12699546e-01 9.60078808e+01] [ 6.00284827e-01 5.77819857e-02 -7.97696289e-01 8.01401073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:96.50, Z:79.18 [[-6.10746719e-01 6.45536075e-01 4.58553837e-01 1.53017066e+02] [-5.13149595e-01 -7.63719783e-01 3.91675360e-01 9.64994240e+01] [ 6.03047211e-01 3.90772493e-03 7.97695926e-01 7.91772184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.720385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:153.02, Y:96.51, Z:79.18 [[-6.10604484e-01 6.37598200e-01 4.69713422e-01 1.53020066e+02] [-5.11778217e-01 -7.70326148e-01 3.80369140e-01 9.65141755e+01] [ 6.04355210e-01 -8.13399503e-03 7.96673470e-01 7.91778051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:96.27, Z:79.93 [[-5.78853675e-01 -6.64722318e-01 -4.72305688e-01 1.53983973e+02] [-5.56385210e-01 7.45399031e-01 -3.67172687e-01 9.62734144e+01] [ 5.96124082e-01 5.02446396e-02 -8.01318635e-01 7.99289286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:96.35, Z:79.94 [[-5.22306242e-01 -7.39994885e-01 -4.23796838e-01 1.53958843e+02] [-6.11107652e-01 6.71420478e-01 -4.19215910e-01 9.63516488e+01] [ 5.94763505e-01 4.00264041e-02 -8.02903643e-01 7.99403010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:96.43, Z:79.93 [[-4.60227243e-01 -8.02153682e-01 -3.80447572e-01 1.53940898e+02] [-6.59600784e-01 5.95772983e-01 -4.58237230e-01 9.64333563e+01] [ 5.94237066e-01 4.00502599e-02 -8.03292155e-01 7.99318693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:96.50, Z:79.93 [[-3.94465795e-01 -8.54649435e-01 -3.37596030e-01 1.53913609e+02] [-7.01660609e-01 5.17369147e-01 -4.89899536e-01 9.65043087e+01] [ 5.93354132e-01 4.36292259e-02 -8.03758275e-01 7.99285037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:96.56, Z:79.91 [[-3.26626393e-01 -8.87543751e-01 -3.24932747e-01 1.53890303e+02] [-7.35100104e-01 4.54645042e-01 -5.02917212e-01 9.65617851e+01] [ 5.94090091e-01 7.45920611e-02 -8.00932574e-01 7.99141904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:96.60, Z:79.89 [[-2.56586552e-01 -9.01393137e-01 -3.48788983e-01 1.53873241e+02] [-7.65763354e-01 4.09776017e-01 -4.95671364e-01 9.65952755e+01] [ 5.89720126e-01 1.39907215e-01 -7.95396847e-01 7.98904016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.84, Y:96.64, Z:79.88 [[ -0.18397824 -0.92422309 -0.33460974 153.84109781] [ -0.79680427 0.33956351 -0.49979954 96.63655168] [ 0.57554753 0.17466624 -0.7988972 79.88052167] [ 0. 0. 0. 1. ]] SLAMing on 241.960385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:153.74, Y:96.72, Z:79.94 [[-1.08603346e-01 -9.80741508e-01 -1.62331166e-01 1.53742022e+02] [-8.15573493e-01 1.81270507e-01 -5.49527871e-01 9.67163976e+01] [ 5.68370646e-01 7.27124301e-02 -8.19553361e-01 7.99441966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:96.79, Z:79.95 [[-3.49172723e-02 -9.95866473e-01 -8.38495841e-02 1.53672345e+02] [-8.21148181e-01 7.64114707e-02 -5.65576654e-01 9.67934141e+01] [ 5.69645897e-01 4.91045395e-02 -8.20422023e-01 7.99465999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.020385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:153.66, Y:96.79, Z:79.92 [[ 4.40899553e-02 -9.90541765e-01 -1.29934936e-01 1.53657073e+02] [-8.27463527e-01 3.66692526e-02 -5.60320870e-01 9.67941718e+01] [ 5.59785840e-01 1.32220942e-01 -8.18020437e-01 7.99221025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:96.82, Z:79.96 [[ 1.21868660e-01 -9.92246586e-01 -2.43873229e-02 1.53594093e+02] [-8.23712387e-01 -8.73998284e-02 -5.60231358e-01 9.68206439e+01] [ 5.53756205e-01 8.83627846e-02 -8.27977104e-01 7.99601605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:96.83, Z:79.98 [[ 1.99035384e-01 -9.79603023e-01 2.76194444e-02 1.53553076e+02] [-8.12401086e-01 -1.80694267e-01 -5.54395218e-01 9.68314864e+01] [ 5.48077907e-01 8.79061988e-02 -8.31795112e-01 7.99772043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:96.84, Z:79.99 [[ 2.74412120e-01 -9.59060858e-01 7.00018558e-02 1.53520687e+02] [-7.94457169e-01 -2.67124896e-01 -5.45419193e-01 9.68405352e+01] [ 5.41789438e-01 9.40561610e-02 -8.35235083e-01 7.99918119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:96.84, Z:80.00 [[ 3.50820080e-01 -9.31135804e-01 9.95559438e-02 1.53497736e+02] [-7.69773841e-01 -3.47287380e-01 -5.35574186e-01 9.68422981e+01] [ 5.33266823e-01 1.11254617e-01 -8.38599371e-01 7.99992965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:96.84, Z:80.05 [[ 4.21383503e-01 -8.77784442e-01 2.27882464e-01 1.53414235e+02] [-7.35016404e-01 -4.77757279e-01 -4.81143293e-01 9.68434656e+01] [ 5.31212602e-01 3.52484975e-02 -8.46505000e-01 8.00507263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:96.84, Z:80.07 [[ 4.89276264e-01 -8.29099910e-01 2.70558824e-01 1.53376658e+02] [-6.92887506e-01 -5.57939982e-01 -4.56738306e-01 9.68391603e+01] [ 5.29637274e-01 3.60043833e-02 -8.47459758e-01 8.00652020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:96.83, Z:80.08 [[ 5.52316351e-01 -7.73606623e-01 3.10611399e-01 1.53339887e+02] [-6.45066591e-01 -6.32623015e-01 -4.28575798e-01 9.68302675e+01] [ 5.28048995e-01 3.63443847e-02 -8.48435822e-01 8.00802783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:96.82, Z:80.09 [[ 6.10605848e-01 -7.11430099e-01 3.47890373e-01 1.53304902e+02] [-5.91432991e-01 -7.01797012e-01 -3.97099448e-01 9.68171286e+01] [ 5.26656924e-01 3.67174015e-02 -8.49284591e-01 8.00948157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:96.80, Z:80.11 [[ 6.62852286e-01 -6.43837697e-01 3.82230123e-01 1.53269620e+02] [-5.33245851e-01 -7.64288237e-01 -3.62646320e-01 9.67997938e+01] [ 5.25619358e-01 3.65583150e-02 -8.49933986e-01 8.01101087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.24, Y:96.78, Z:80.12 [[ 7.07097064e-01 -5.83609971e-01 3.99265756e-01 1.53238764e+02] [-4.72838228e-01 -8.10075687e-01 -3.46700722e-01 9.67837815e+01] [ 5.25773480e-01 5.63629497e-02 -8.48755245e-01 8.01225640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:96.78, Z:80.09 [[ 7.54963447e-01 -5.41211430e-01 3.70297692e-01 1.53253125e+02] [-4.08218646e-01 -8.29796799e-01 -3.80519131e-01 9.67826516e+01] [ 5.13213143e-01 1.36115612e-01 -8.47398849e-01 8.00943800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:96.57, Z:80.26 [[ 7.74956275e-01 -2.22658354e-01 5.91494741e-01 1.53029794e+02] [-3.40501501e-01 -9.35538873e-01 9.39454320e-02 9.65663884e+01] [ 5.32448589e-01 -2.74208449e-01 -8.00817224e-01 8.02603576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:96.71, Z:80.16 [[ 8.06823279e-01 -3.47645441e-01 4.77680692e-01 1.53157269e+02] [-2.62830152e-01 -9.35335799e-01 -2.36785248e-01 9.67078428e+01] [ 5.29109164e-01 6.54949617e-02 -8.46022401e-01 8.01558525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:96.66, Z:80.18 [[ 8.29836730e-01 -2.44487972e-01 5.01594092e-01 1.53121224e+02] [-1.89390677e-01 -9.68949456e-01 -1.58959504e-01 9.66625173e+01] [ 5.24883009e-01 3.69131902e-02 -8.50373590e-01 8.01825728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:96.63, Z:80.20 [[ 8.44787190e-01 -1.51065560e-01 5.13335952e-01 1.53097918e+02] [-1.08677939e-01 -9.87766443e-01 -1.11832730e-01 9.66296950e+01] [ 5.23950101e-01 3.86865644e-02 -8.50869932e-01 8.02001651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:96.60, Z:80.22 [[ 8.52643879e-01 -5.84097834e-02 5.19217404e-01 1.53079662e+02] [-2.94037876e-02 -9.97521057e-01 -6.39308874e-02 9.65965110e+01] [ 5.21664483e-01 3.92433216e-02 -8.52247692e-01 8.02164467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:96.56, Z:80.23 [[ 8.53164442e-01 3.60978573e-02 5.20391564e-01 1.53065667e+02] [ 5.19773304e-02 -9.98520868e-01 -1.59509624e-02 9.65619475e+01] [ 5.19046041e-01 4.06573582e-02 -8.53778769e-01 8.02326958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:96.50, Z:80.26 [[ 8.45540102e-01 1.53325936e-01 5.11422617e-01 1.53050077e+02] [ 1.31798590e-01 -9.88174998e-01 7.83537165e-02 9.64969893e+01] [ 5.17388700e-01 1.15357059e-03 -8.55749731e-01 8.02573987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:96.30, Z:80.34 [[ 0.81883306 0.3798331 0.43039428 153.02820925] [ 0.20561558 -0.89410057 0.39787738 96.29510107] [ 0.53594277 -0.23729938 -0.81021871 80.3440263 ] [ 0. 0. 0. 1. ]] SLAMing on 242.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:96.28, Z:80.34 [[ 0.78550566 0.44295819 0.43216768 153.03264463] [ 0.27610255 -0.87582517 0.39585055 96.27886811] [ 0.55384858 -0.19162025 -0.81026751 80.34451521] [ 0. 0. 0. 1. ]] SLAMing on 242.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:96.40, Z:80.28 [[ 7.57520139e-01 3.90907250e-01 5.22833396e-01 1.53034739e+02] [ 3.49610868e-01 -9.19287783e-01 1.80782228e-01 9.64029223e+01] [ 5.51303437e-01 4.58420588e-02 -8.33044432e-01 8.02761104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:96.36, Z:80.30 [[ 7.19907612e-01 4.82013756e-01 4.99395403e-01 1.53033570e+02] [ 4.21831964e-01 -8.75237545e-01 2.36679180e-01 9.63629420e+01] [ 5.51172227e-01 4.02738000e-02 -8.33418981e-01 8.02951298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:96.33, Z:80.31 [[ 6.79372060e-01 5.57213945e-01 4.77458086e-01 1.53038840e+02] [ 4.88276839e-01 -8.28988102e-01 2.72698469e-01 9.63291438e+01] [ 5.47758462e-01 4.78680042e-02 -8.35266018e-01 8.03060343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:96.29, Z:80.32 [[ 6.31513284e-01 6.32552025e-01 4.48407079e-01 1.53047376e+02] [ 5.50453824e-01 -7.73046090e-01 3.15278179e-01 9.62919368e+01] [ 5.46069190e-01 4.77250331e-02 -8.36379556e-01 8.03220125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:96.25, Z:80.34 [[ 5.76296310e-01 7.08435655e-01 4.07432799e-01 1.53061199e+02] [ 6.06436774e-01 -7.04903707e-01 3.67892925e-01 9.62480162e+01] [ 5.47829355e-01 3.50668974e-02 -8.35854838e-01 8.03419873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.800385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:153.10, Y:96.16, Z:80.39 [[ 5.15183311e-01 8.08659686e-01 2.83999418e-01 1.53103168e+02] [ 6.55728119e-01 -5.85260462e-01 4.76959983e-01 9.61608953e+01] [ 5.51911940e-01 -5.94954194e-02 -8.31777317e-01 8.03868051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:96.03, Z:80.45 [[ 4.47653450e-01 8.91980637e-01 6.30629172e-02 1.53203244e+02] [ 6.86684837e-01 -3.88081992e-01 6.14700173e-01 9.60277651e+01] [ 5.72774234e-01 -2.31868304e-01 -7.86235821e-01 8.04493971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:96.01, Z:80.45 [[ 3.78519533e-01 9.24293735e-01 4.90311671e-02 1.53223574e+02] [ 7.13655164e-01 -3.25171384e-01 6.20451350e-01 9.60104475e+01] [ 5.89422828e-01 -1.99861609e-01 -7.82710717e-01 8.04540505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:96.13, Z:80.38 [[ 3.11363116e-01 9.03768662e-01 2.93692381e-01 1.53118616e+02] [ 7.51304604e-01 -4.23356708e-01 5.06271162e-01 9.61260645e+01] [ 5.81888651e-01 6.30182709e-02 -8.10823221e-01 8.03769909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:96.13, Z:80.36 [[ 2.37315235e-01 9.16750896e-01 3.21324251e-01 1.53100828e+02] [ 7.83063915e-01 -3.76278395e-01 4.95202458e-01 9.61342473e+01] [ 5.74884671e-01 1.34098338e-01 -8.07171141e-01 8.03618172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.17, Y:96.07, Z:80.42 [[ 1.62726936e-01 9.71520688e-01 1.72242553e-01 1.53172711e+02] [ 8.03406004e-01 -2.31805098e-01 5.48457099e-01 9.60663024e+01] [ 5.72764120e-01 4.91319583e-02 -8.18246487e-01 8.04167502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:96.04, Z:80.43 [[ 8.34253497e-02 9.89426092e-01 1.18643244e-01 1.53208028e+02] [ 8.16603841e-01 -1.36114074e-01 5.60919892e-01 9.60406272e+01] [ 5.71137792e-01 5.00895906e-02 -8.19324512e-01 8.04328522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:96.02, Z:80.45 [[ 5.38679295e-03 9.97915941e-01 6.43020728e-02 1.53240714e+02] [ 8.22143367e-01 -4.10249539e-02 5.67800349e-01 9.60183564e+01] [ 5.69255010e-01 4.98068997e-02 -8.20650965e-01 8.04480456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:96.00, Z:80.46 [[-7.23748328e-02 9.97329072e-01 9.82880033e-03 1.53276314e+02] [ 8.20538817e-01 5.39374398e-02 5.69040246e-01 9.60014191e+01] [ 5.66990240e-01 4.92491049e-02 -8.22250931e-01 8.04629294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.34, Y:95.97, Z:80.46 [[-1.49363544e-01 9.87791755e-01 -4.42490660e-02 1.53341780e+02] [ 8.11332626e-01 1.48014958e-01 5.65535978e-01 9.59665319e+01] [ 5.65181300e-01 4.85697469e-02 -8.23535718e-01 8.04639556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:95.93, Z:80.45 [[-2.20011442e-01 9.71908246e-01 -8.36021924e-02 1.53409540e+02] [ 7.94010847e-01 2.28207299e-01 5.63443168e-01 9.59264375e+01] [ 5.66693691e-01 5.75828962e-02 -8.21913907e-01 8.04536271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:95.94, Z:80.44 [[-2.98438195e-01 9.52513047e-01 -6.04445076e-02 1.53432029e+02] [ 7.76259597e-01 2.79086024e-01 5.65271643e-01 9.59352944e+01] [ 5.55297832e-01 1.21778019e-01 -8.22687323e-01 8.04403933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.160385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.56, Y:95.89, Z:80.46 [[-3.65572719e-01 9.11070650e-01 -1.90543587e-01 1.53561481e+02] [ 7.46773150e-01 4.09285701e-01 5.24228078e-01 9.58857392e+01] [ 5.55595581e-01 4.93506491e-02 -8.29986786e-01 8.04569873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:96.04, Z:80.56 [[-4.38876283e-01 8.77036259e-01 -1.95435436e-01 1.53520055e+02] [ 7.12384176e-01 4.72177173e-01 5.19189275e-01 9.60351477e+01] [ 5.47627971e-01 8.86347473e-02 -8.32014115e-01 8.05594083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.220385723 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:153.74, Y:97.31, Z:80.09 [[-4.36236827e-01 -8.49456115e-01 2.96853060e-01 1.53738461e+02] [ 7.10947226e-01 -5.27595401e-01 -4.64970037e-01 9.73149127e+01] [ 5.51589951e-01 8.20980567e-03 8.34075012e-01 8.00859566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:95.94, Z:80.52 [[-5.01202174e-01 7.91003940e-01 -3.50869132e-01 1.53741353e+02] [ 6.68636533e-01 6.11397791e-01 4.23223260e-01 9.59449145e+01] [ 5.49291879e-01 -2.24835019e-02 -8.35328034e-01 8.05191437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:95.91, Z:80.47 [[-5.60537661e-01 7.59259125e-01 -3.30640457e-01 1.53797779e+02] [ 6.20153443e-01 6.49457610e-01 4.40016499e-01 9.59132317e+01] [ 5.48823503e-01 4.15980012e-02 -8.34902610e-01 8.04664894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:95.93, Z:80.47 [[-6.12123146e-01 6.99718908e-01 -3.68373051e-01 1.53870760e+02] [ 5.68020631e-01 7.13170545e-01 4.10780155e-01 9.59257462e+01] [ 5.50143451e-01 4.22045474e-02 -8.34002973e-01 8.04671603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:95.94, Z:80.45 [[-6.64690873e-01 6.40580577e-01 -3.84503015e-01 1.53934827e+02] [ 5.09459368e-01 7.65056393e-01 3.93877986e-01 9.59354047e+01] [ 5.46477077e-01 6.59184392e-02 -8.34875778e-01 8.04537297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:95.97, Z:80.46 [[-7.14419240e-01 5.60148606e-01 -4.19331239e-01 1.53996420e+02] [ 4.43955429e-01 8.26081849e-01 3.47120087e-01 9.59707453e+01] [ 5.40840758e-01 6.18248884e-02 -8.38849782e-01 8.04637971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:96.01, Z:80.47 [[-7.54197163e-01 4.68458451e-01 -4.60144890e-01 1.54075903e+02] [ 3.75328290e-01 8.82535540e-01 2.83301420e-01 9.60085700e+01] [ 5.38809163e-01 4.09597322e-02 -8.41431510e-01 8.04707859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:96.06, Z:80.49 [[-7.87789101e-01 3.82245227e-01 -4.82987494e-01 1.54109490e+02] [ 3.02543472e-01 9.23164607e-01 2.37138263e-01 9.60581602e+01] [ 5.36521929e-01 4.06902257e-02 -8.42904814e-01 8.04892072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.460385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:154.19, Y:96.10, Z:80.48 [[-8.13050119e-01 2.90368627e-01 -5.04614273e-01 1.54186838e+02] [ 2.28626491e-01 9.56360670e-01 1.81945586e-01 9.60996940e+01] [ 5.35424534e-01 3.25626898e-02 -8.43955117e-01 8.04836891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.490385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:154.25, Y:96.14, Z:80.47 [[-8.31773852e-01 2.05955648e-01 -5.15494451e-01 1.54254976e+02] [ 1.52677205e-01 9.77689763e-01 1.44265029e-01 9.61422011e+01] [ 5.33705845e-01 4.12916269e-02 -8.44661513e-01 8.04709151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:96.19, Z:80.46 [[-8.41041608e-01 1.24616925e-01 -5.26421538e-01 1.54320234e+02] [ 7.82949622e-02 9.90900403e-01 1.09481920e-01 9.61936281e+01] [ 5.35274614e-01 5.08626954e-02 -8.43145345e-01 8.04584216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:96.22, Z:80.43 [[-8.49380049e-01 7.51893848e-02 -5.22398401e-01 1.54337073e+02] [-1.53260451e-03 9.89444567e-01 1.44903759e-01 9.62157708e+01] [ 5.27779484e-01 1.23878992e-01 -8.40299239e-01 8.04347342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:96.27, Z:80.45 [[-8.53007736e-01 -2.18333200e-02 -5.21441375e-01 1.54349965e+02] [-8.39753723e-02 9.91847936e-01 9.58426223e-02 9.62717498e+01] [ 5.15097989e-01 1.25542732e-01 -8.47887424e-01 8.04490036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:96.38, Z:80.50 [[-8.43236432e-01 -1.64262595e-01 -5.11830166e-01 1.54373235e+02] [-1.62330541e-01 9.85526571e-01 -4.88484798e-02 9.63762114e+01] [ 5.12446207e-01 4.18948502e-02 -8.57696745e-01 8.05012149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.640385723 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:153.96, Y:96.33, Z:80.78 [[-8.25575158e-01 -2.55740666e-01 -5.03013291e-01 1.53962370e+02] [-2.38882354e-01 9.65983120e-01 -9.90546963e-02 9.63325581e+01] [ 5.11234662e-01 3.83839028e-02 -8.58583599e-01 8.07752316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:97.30, Z:80.44 [[-7.90414833e-01 -5.53275712e-01 2.62926564e-01 1.54055381e+02] [-2.27102154e-01 -1.33961365e-01 -9.64613376e-01 9.72959533e+01] [ 5.68919153e-01 -8.22155910e-01 -1.97650564e-02 8.04448622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:96.55, Z:80.50 [[-7.64879631e-01 -3.67987081e-01 -5.28719830e-01 1.54374660e+02] [-2.94743070e-01 9.29740386e-01 -2.20701918e-01 9.65545282e+01] [ 5.72787634e-01 -1.29738956e-02 -8.19601125e-01 8.04975501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.36, Y:96.54, Z:80.46 [[-7.37878384e-01 -3.81437258e-01 -5.56813352e-01 1.54359363e+02] [-3.71119383e-01 9.18375518e-01 -1.37320106e-01 9.65424018e+01] [ 5.63742755e-01 1.05318689e-01 -8.19208203e-01 8.04634971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:96.67, Z:80.47 [[-7.01013719e-01 -4.96721486e-01 -5.11710398e-01 1.54390519e+02] [-4.34920468e-01 8.66431425e-01 -2.45236155e-01 9.66663020e+01] [ 5.65176036e-01 5.06394171e-02 -8.23414657e-01 8.04732060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.790385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:154.39, Y:96.70, Z:80.45 [[-6.62793917e-01 -5.40132507e-01 -5.18614595e-01 1.54390113e+02] [-5.01514712e-01 8.34511517e-01 -2.28196235e-01 9.67012933e+01] [ 5.56046057e-01 1.08845773e-01 -8.23993556e-01 8.04477766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:96.80, Z:80.48 [[-6.12517541e-01 -6.49766692e-01 -4.50139432e-01 1.54370181e+02] [-5.64719506e-01 7.58174947e-01 -3.25979493e-01 9.68002295e+01] [ 5.53095057e-01 5.45343597e-02 -8.31331379e-01 8.04772944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.36, Y:96.89, Z:80.48 [[-5.59328964e-01 -7.22814158e-01 -4.05821147e-01 1.54355315e+02] [-6.17601629e-01 6.89916527e-01 -3.77602189e-01 9.68867808e+01] [ 5.52918925e-01 3.94319604e-02 -8.32301498e-01 8.04821602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.34, Y:96.96, Z:80.47 [[-5.01217212e-01 -7.77274804e-01 -3.80296182e-01 1.54338748e+02] [-6.67642578e-01 6.26952369e-01 -4.01477415e-01 9.69586642e+01] [ 5.50485871e-01 5.26745331e-02 -8.33181072e-01 8.04743932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.31, Y:97.03, Z:80.47 [[-4.39495755e-01 -8.29397325e-01 -3.44881949e-01 1.54313207e+02] [-7.11977879e-01 5.55752957e-01 -4.29215739e-01 9.70308815e+01] [ 5.47659549e-01 5.69098228e-02 -8.34763614e-01 8.04713165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:97.08, Z:80.49 [[-3.73128130e-01 -8.75171930e-01 -3.07976445e-01 1.54270603e+02] [-7.49697874e-01 4.79965602e-01 -4.55616197e-01 9.70788236e+01] [ 5.46560607e-01 6.08860665e-02 -8.35203203e-01 8.04859673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:97.13, Z:80.48 [[-3.01088987e-01 -9.13631303e-01 -2.73172592e-01 1.54237236e+02] [-7.89547953e-01 3.99487127e-01 -4.65858417e-01 9.71301007e+01] [ 5.34751767e-01 7.54180218e-02 -8.41636899e-01 8.04757858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.17, Y:97.20, Z:80.49 [[-2.27670845e-01 -9.56394487e-01 -1.82963309e-01 1.54173478e+02] [-8.15652361e-01 2.89942844e-01 -5.00643959e-01 9.72007580e+01] [ 5.31862024e-01 3.52524221e-02 -8.46096953e-01 8.04935831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.030385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:154.13, Y:97.28, Z:80.48 [[-1.62807869e-01 -9.72805208e-01 -1.64753225e-01 1.54132721e+02] [-8.27832579e-01 2.25535061e-01 -5.13641079e-01 9.72790465e+01] [ 5.36830345e-01 5.27632775e-02 -8.42038726e-01 8.04780388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.060385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:154.14, Y:97.27, Z:80.43 [[-8.65266047e-02 -9.60436059e-01 -2.64718196e-01 1.54138398e+02] [-8.48553778e-01 2.10271119e-01 -4.85533256e-01 9.72714322e+01] [ 5.21986238e-01 1.82616081e-01 -8.33175692e-01 8.04307068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:97.31, Z:80.48 [[-7.43167199e-04 -9.93370070e-01 -1.14958045e-01 1.54039977e+02] [-8.60323339e-01 5.92348111e-02 -5.06295358e-01 9.73130193e+01] [ 5.09748173e-01 9.85248268e-02 -8.54663477e-01 8.04835656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.120385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.97, Y:97.34, Z:80.52 [[ 7.68921724e-02 -9.97027375e-01 -4.89965551e-03 1.53967915e+02] [-8.57952927e-01 -6.36614155e-02 -5.09768574e-01 9.73399425e+01] [ 5.07941304e-01 4.34008868e-02 -8.60297620e-01 8.05248943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.150385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:153.97, Y:97.34, Z:80.51 [[ 1.53988282e-01 -9.87041415e-01 -4.51315138e-02 1.53965124e+02] [-8.50631460e-01 -1.09191150e-01 -5.14298953e-01 9.73358793e+01] [ 5.02706404e-01 1.17586298e-01 -8.56422637e-01 8.05125127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.180385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.94, Y:97.34, Z:80.52 [[ 2.33116568e-01 -9.71789830e-01 -3.57937568e-02 1.53938833e+02] [-8.37397147e-01 -1.81892748e-01 -5.15442574e-01 9.73357755e+01] [ 4.94391226e-01 1.50131794e-01 -8.56176244e-01 8.05154586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.210385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.92, Y:97.33, Z:80.52 [[ 3.09425846e-01 -9.50321741e-01 -3.38265451e-02 1.53921038e+02] [-8.17835938e-01 -2.47801650e-01 -5.19363765e-01 9.73347465e+01] [ 4.85180404e-01 1.88369137e-01 -8.53883507e-01 8.05184679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:97.33, Z:80.52 [[ 3.85380249e-01 -9.21911637e-01 -3.95094543e-02 1.53902371e+02] [-7.93489577e-01 -3.09233250e-01 -5.24165134e-01 9.73295024e+01] [ 4.71016300e-01 2.33353230e-01 -8.50699662e-01 8.05192791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.88, Y:97.32, Z:80.53 [[ 4.56961178e-01 -8.88703689e-01 -3.73126687e-02 1.53882509e+02] [-7.64841739e-01 -3.71165390e-01 -5.26548543e-01 9.73246323e+01] [ 4.54096461e-01 2.69150529e-01 -8.49325848e-01 8.05251300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.88, Y:97.32, Z:80.52 [[ 5.27061169e-01 -8.47775446e-01 -5.90196299e-02 1.53877778e+02] [-7.33144515e-01 -4.18475188e-01 -5.36076149e-01 9.73159515e+01] [ 4.29773946e-01 3.25814840e-01 -8.42103940e-01 8.05155811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.330385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.83, Y:97.31, Z:80.56 [[ 5.90990704e-01 -8.06630912e-01 8.74984100e-03 1.53828165e+02] [-6.93804450e-01 -5.13800483e-01 -5.04623075e-01 9.73064198e+01] [ 4.11540244e-01 2.92156868e-01 -8.63295426e-01 8.05555736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.360385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:153.81, Y:97.30, Z:80.56 [[ 6.52059908e-01 -7.58054497e-01 1.30864891e-02 1.53814692e+02] [-6.50684072e-01 -5.68394979e-01 -5.03524962e-01 9.72962575e+01] [ 3.89137656e-01 3.19813270e-01 -8.63881564e-01 8.05591619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.390385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:153.78, Y:97.28, Z:80.59 [[ 7.07675137e-01 -7.03749235e-01 6.27129522e-02 1.53777230e+02] [-6.01641411e-01 -6.46768453e-01 -4.68741060e-01 9.72776645e+01] [ 3.70436922e-01 2.93985685e-01 -8.81106636e-01 8.05924722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.78, Y:97.27, Z:80.58 [[ 7.58586208e-01 -6.50729931e-01 3.31288553e-02 1.53782534e+02] [-5.51122185e-01 -6.67930729e-01 -5.00132861e-01 9.72735336e+01] [ 3.47579203e-01 3.61135844e-01 -8.65314740e-01 8.05753005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:97.25, Z:80.61 [[ 8.06013476e-01 -5.86191405e-01 8.19872772e-02 1.53748861e+02] [-4.94952754e-01 -7.43465231e-01 -4.49756848e-01 9.72461195e+01] [ 3.24598288e-01 3.21930251e-01 -8.89380045e-01 8.06095975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.68, Y:97.19, Z:80.69 [[ 0.84621678 -0.50099658 0.18143753 153.68393726] [ -0.43182874 -0.84430006 -0.31730323 97.19019459] [ 0.31215555 0.19015738 -0.93080561 80.6860166 ] [ 0. 0. 0. 1. ]] SLAMing on 244.510385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.66, Y:97.15, Z:80.71 [[ 8.81533554e-01 -4.21145884e-01 2.13388699e-01 1.53655047e+02] [-3.64243547e-01 -8.94234536e-01 -2.60136950e-01 9.71521454e+01] [ 3.00375150e-01 1.51593993e-01 -9.41697420e-01 8.07147769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.64, Y:97.12, Z:80.73 [[ 9.09480375e-01 -3.45184353e-01 2.31717955e-01 1.53635554e+02] [-2.94245575e-01 -9.28185492e-01 -2.27796475e-01 9.71199448e+01] [ 2.93709023e-01 1.38994441e-01 -9.45735457e-01 8.07327329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57038572300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:153.66, Y:97.14, Z:80.69 [[ 0.93537812 -0.29363657 0.19709222 153.65833202] [ -0.22394779 -0.92314077 -0.31250361 97.14043303] [ 0.27370635 0.24817067 -0.92924494 80.69272317] [ 0. 0. 0. 1. ]] SLAMing on 244.60038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.61, Y:97.03, Z:80.79 [[ 9.50504370e-01 -1.71718759e-01 2.58948084e-01 1.53606136e+02] [-1.49614150e-01 -9.83371878e-01 -1.02933743e-01 9.70335305e+01] [ 2.72317918e-01 5.90966753e-02 -9.60390824e-01 8.07867490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.64, Y:97.10, Z:80.71 [[ 9.63135719e-01 -1.47720519e-01 2.24829346e-01 1.53639811e+02] [-7.59679410e-02 -9.51080676e-01 -2.99456876e-01 9.70984004e+01] [ 2.58066772e-01 2.71337791e-01 -9.27241794e-01 8.07081116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.660385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.63, Y:97.07, Z:80.73 [[ 9.70515467e-01 -6.21654202e-02 2.32884497e-01 1.53634240e+02] [-3.18985841e-04 -9.66500352e-01 -2.56665087e-01 9.70674338e+01] [ 2.41038642e-01 2.49023150e-01 -9.38023371e-01 8.07307067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.690385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.63, Y:97.04, Z:80.74 [[ 9.71021512e-01 1.15815305e-02 2.38711314e-01 1.53633868e+02] [ 7.24025433e-02 -9.66142413e-01 -2.47642301e-01 9.70434775e+01] [ 2.27761048e-01 2.57749308e-01 -9.38983599e-01 8.07439082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.720385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.64, Y:97.06, Z:80.71 [[ 9.67859885e-01 6.09051353e-02 2.44003706e-01 1.53643642e+02] [ 1.43391273e-01 -9.30717131e-01 -3.36458860e-01 9.70622703e+01] [ 2.06606356e-01 3.60633035e-01 -9.09537040e-01 8.07112313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.750385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.65, Y:97.07, Z:80.69 [[ 9.60423370e-01 1.17508572e-01 2.52544422e-01 1.53650955e+02] [ 2.13432770e-01 -8.93032694e-01 -3.96155348e-01 9.70689855e+01] [ 1.78978776e-01 4.34378110e-01 -8.82769650e-01 8.06860215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.780385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:153.66, Y:97.06, Z:80.69 [[ 9.48691946e-01 1.89445948e-01 2.53167582e-01 1.53658302e+02] [ 2.79878888e-01 -8.75679659e-01 -3.93513588e-01 9.70564816e+01] [ 1.47144147e-01 4.44179433e-01 -8.83772160e-01 8.06932956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.810385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.66, Y:97.04, Z:80.72 [[ 9.28762456e-01 2.57137712e-01 2.66984076e-01 1.53661534e+02] [ 3.47736853e-01 -8.53853705e-01 -3.87315029e-01 9.70413578e+01] [ 1.28372042e-01 4.52563860e-01 -8.82443523e-01 8.07198090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:96.36, Z:79.92 [[ 9.12270109e-01 -4.02569343e-01 -7.55061132e-02 1.54060632e+02] [ 3.91747330e-01 9.11393535e-01 -1.26078760e-01 9.63636457e+01] [ 1.19571227e-01 8.54385661e-02 9.89142544e-01 7.99152885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.870385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.10, Y:96.33, Z:79.94 [[ 9.11726445e-01 -3.96086102e-01 -1.08952696e-01 1.54098569e+02] [ 3.93641874e-01 9.18209246e-01 -4.40210764e-02 9.63347227e+01] [ 1.17477510e-01 -2.75316407e-03 9.93071727e-01 7.99414862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:96.34, Z:79.95 [[ 9.11668294e-01 -3.94757853e-01 -1.14136585e-01 1.54123425e+02] [ 3.93406066e-01 9.18694583e-01 -3.50988568e-02 9.63428630e+01] [ 1.18712212e-01 -1.29035102e-02 9.92844857e-01 7.99521348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.930385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:154.15, Y:96.36, Z:79.94 [[ 9.11610419e-01 -3.97521992e-01 -1.04607405e-01 1.54147335e+02] [ 3.93933397e-01 9.17558583e-01 -5.38769442e-02 9.63633114e+01] [ 1.17400693e-01 7.90643326e-03 9.93053154e-01 7.99445224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.960385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.17, Y:96.37, Z:79.95 [[ 9.11392475e-01 -3.96947652e-01 -1.08610855e-01 1.54174167e+02] [ 3.94516930e-01 9.17837002e-01 -4.39503131e-02 9.63699109e+01] [ 1.17133035e-01 -2.79283638e-03 9.93112306e-01 7.99521536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:96.38, Z:79.96 [[ 9.11349909e-01 -3.97077862e-01 -1.08492000e-01 1.54199250e+02] [ 3.94649260e-01 9.17780734e-01 -4.39372939e-02 9.63819614e+01] [ 1.17018394e-01 -2.77403848e-03 9.93125873e-01 7.99574336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.020385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.22, Y:96.39, Z:79.96 [[ 9.10686878e-01 -3.98127180e-01 -1.10200537e-01 1.54224498e+02] [ 3.95624555e-01 9.17325575e-01 -4.46654238e-02 9.63934893e+01] [ 1.18872290e-01 -2.92182298e-03 9.92905253e-01 7.99599166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:96.40, Z:79.97 [[ 9.09443338e-01 -3.99991556e-01 -1.13664289e-01 1.54246196e+02] [ 3.98073555e-01 9.16476763e-01 -4.00972440e-02 9.64036924e+01] [ 1.20209239e-01 -8.78057618e-03 9.92709746e-01 7.99678938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:96.42, Z:79.97 [[ 9.09040029e-01 -4.01576113e-01 -1.11278257e-01 1.54271650e+02] [ 3.99115337e-01 9.15817322e-01 -4.45598514e-02 9.64179177e+01] [ 1.19804727e-01 -3.90617034e-03 9.92789791e-01 7.99717418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:96.41, Z:80.00 [[ 9.08577872e-01 -3.95137552e-01 -1.35471639e-01 1.54305611e+02] [ 3.96867062e-01 9.17750960e-01 -1.51562139e-02 9.64100831e+01] [ 1.30318016e-01 -3.99936306e-02 9.90665294e-01 8.00016982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:96.43, Z:79.99 [[ 9.08803335e-01 -3.99591693e-01 -1.20012404e-01 1.54326306e+02] [ 3.97642446e-01 9.16631722e-01 -4.08261152e-02 9.64342089e+01] [ 1.26320953e-01 -1.06191161e-02 9.91932584e-01 7.99946085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.170385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:154.34, Y:96.47, Z:79.96 [[ 9.08601333e-01 -4.08384255e-01 -8.75552231e-02 1.54343860e+02] [ 4.01200314e-01 9.11669719e-01 -8.88629913e-02 9.64734946e+01] [ 1.16111692e-01 4.56138494e-02 9.92188214e-01 7.99605561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.200385723 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:154.38, Y:96.46, Z:79.98 [[ 9.08069318e-01 -4.04722886e-01 -1.07747388e-01 1.54377305e+02] [ 4.02358443e-01 9.14432477e-01 -4.38283966e-02 9.64617002e+01] [ 1.16266066e-01 -3.55384907e-03 9.93211746e-01 7.99787985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:96.47, Z:79.98 [[ 9.08768798e-01 -4.03729518e-01 -1.05554482e-01 1.54401822e+02] [ 4.01450273e-01 9.14872346e-01 -4.29682301e-02 9.64715412e+01] [ 1.13916419e-01 -3.32668869e-03 9.93484767e-01 7.99845924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.260385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:154.43, Y:96.48, Z:79.99 [[ 9.08309500e-01 -4.04521947e-01 -1.06469932e-01 1.54427486e+02] [ 4.02206295e-01 9.14521820e-01 -4.33582407e-02 9.64834408e+01] [ 1.14908436e-01 -3.44017479e-03 9.93370131e-01 7.99867530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:96.50, Z:79.99 [[ 9.09112676e-01 -4.03048262e-01 -1.05196201e-01 1.54451141e+02] [ 4.00774269e-01 9.15173185e-01 -4.28722088e-02 9.64977062e+01] [ 1.13552312e-01 -3.18426208e-03 9.93526916e-01 7.99906125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:96.51, Z:79.99 [[ 9.09198655e-01 -4.02777352e-01 -1.05490331e-01 1.54476007e+02] [ 4.00485970e-01 9.15292612e-01 -4.30165352e-02 9.65098109e+01] [ 1.13880607e-01 -3.13682152e-03 9.93489491e-01 7.99932186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:96.52, Z:80.00 [[ 9.09887369e-01 -4.01058929e-01 -1.06097646e-01 1.54501776e+02] [ 3.98725397e-01 9.16047644e-01 -4.32986414e-02 9.65191572e+01] [ 1.14555805e-01 -2.90693924e-03 9.93412561e-01 7.99969519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:96.53, Z:80.00 [[ 9.10460684e-01 -3.99726936e-01 -1.06206030e-01 1.54527928e+02] [ 3.97375629e-01 9.16630258e-01 -4.33771705e-02 9.65282953e+01] [ 1.14690684e-01 -2.71047982e-03 9.93397554e-01 8.00005202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:96.54, Z:80.00 [[ 9.11944417e-01 -3.96267813e-01 -1.06438714e-01 1.54553372e+02] [ 3.93878674e-01 9.18132216e-01 -4.35066062e-02 9.65400731e+01] [ 1.14965080e-01 -2.24833283e-03 9.93366989e-01 8.00037651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:96.55, Z:80.01 [[ 9.12973168e-01 -3.93871934e-01 -1.06512417e-01 1.54577934e+02] [ 3.91459221e-01 9.19163331e-01 -4.35711967e-02 9.65530475e+01] [ 1.15063779e-01 -1.91593413e-03 9.93356258e-01 8.00056635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:96.57, Z:80.01 [[ 9.14112099e-01 -3.91253205e-01 -1.06395491e-01 1.54602356e+02] [ 3.88824231e-01 9.20281760e-01 -4.35568628e-02 9.65657669e+01] [ 1.14955592e-01 -1.55328980e-03 9.93369417e-01 8.00074612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:96.59, Z:79.99 [[ 9.15107399e-01 -3.92590137e-01 -9.19316799e-02 1.54623691e+02] [ 3.88548125e-01 9.19529819e-01 -5.91207848e-02 9.65885786e+01] [ 1.07744158e-01 1.83819857e-02 9.94008702e-01 7.99944591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.530385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.66, Y:96.58, Z:80.02 [[ 9.16111961e-01 -3.84475559e-01 -1.13654825e-01 1.54657657e+02] [ 3.84136334e-01 9.22917092e-01 -2.57549545e-02 9.65777417e+01] [ 1.14796131e-01 -2.00645259e-02 9.93186419e-01 8.00173073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:96.59, Z:80.02 [[ 9.17063810e-01 -3.84699525e-01 -1.04882051e-01 1.54680269e+02] [ 3.82288837e-01 9.23041626e-01 -4.30046672e-02 9.65937651e+01] [ 1.13354374e-01 -6.57213436e-04 9.93554404e-01 8.00173618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:96.60, Z:80.02 [[ 9.17431396e-01 -3.84003348e-01 -1.04216420e-01 1.54706667e+02] [ 3.81616930e-01 9.23331535e-01 -4.27480427e-02 9.66033645e+01] [ 1.12641699e-01 -5.52353806e-04 9.93635518e-01 8.00205446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:96.62, Z:80.02 [[ 9.17390778e-01 -3.84082125e-01 -1.04283664e-01 1.54731014e+02] [ 3.81689441e-01 9.23298780e-01 -4.28080944e-02 9.66158068e+01] [ 1.12726803e-01 -5.32222317e-04 9.93625878e-01 8.00220654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:96.63, Z:80.02 [[ 9.17739732e-01 -3.83274261e-01 -1.04185531e-01 1.54751429e+02] [ 3.79978406e-01 9.23609022e-01 -5.06239664e-02 9.66305201e+01] [ 1.15629559e-01 6.87137353e-03 9.93268639e-01 8.00207644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:96.64, Z:80.03 [[ 9.17112414e-01 -3.83692814e-01 -1.08095533e-01 1.54783100e+02] [ 3.81882160e-01 9.23437190e-01 -3.78123354e-02 9.66369207e+01] [ 1.14327756e-01 -6.60159326e-03 9.93421151e-01 8.00266428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:96.65, Z:80.03 [[ 9.17057263e-01 -3.84448243e-01 -1.05856151e-01 1.54808557e+02] [ 3.81978282e-01 9.23146395e-01 -4.35123581e-02 9.66478553e+01] [ 1.14448974e-01 -5.31426923e-04 9.93428986e-01 8.00283583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.740385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.83, Y:96.65, Z:80.03 [[ 9.17219953e-01 -3.84321875e-01 -1.04901164e-01 1.54834768e+02] [ 3.81891824e-01 9.23199039e-01 -4.31528585e-02 9.66539213e+01] [ 1.13429242e-01 -4.80234132e-04 9.93545961e-01 8.00330027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:96.66, Z:80.04 [[ 9.17356821e-01 -3.84279298e-01 -1.03855115e-01 1.54860760e+02] [ 3.81895457e-01 9.23216776e-01 -4.27392728e-02 9.66638097e+01] [ 1.12304602e-01 -4.54633288e-04 9.93673724e-01 8.00362532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:96.67, Z:80.04 [[ 9.17703525e-01 -3.83794259e-01 -1.02577811e-01 1.54885158e+02] [ 3.81462255e-01 9.23418560e-01 -4.22458430e-02 9.66740922e+01] [ 1.10935966e-01 -3.60403974e-04 9.93827491e-01 8.00389343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:96.69, Z:80.04 [[ 9.18382939e-01 -3.82449662e-01 -1.01513711e-01 1.54908964e+02] [ 3.80156145e-01 9.23976311e-01 -4.18220283e-02 9.66864084e+01] [ 1.09791084e-01 -1.82423643e-04 9.93954669e-01 8.00409200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:96.70, Z:80.04 [[ 9.18600247e-01 -3.81744804e-01 -1.02198289e-01 1.54933970e+02] [ 3.79414241e-01 9.24267763e-01 -4.21181214e-02 9.66968551e+01] [ 1.10536958e-01 -8.57694126e-05 9.93872011e-01 8.00433026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.890385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:154.96, Y:96.71, Z:80.04 [[ 9.18518617e-01 -3.81600970e-01 -1.03461342e-01 1.54960440e+02] [ 3.79209604e-01 9.24327159e-01 -4.26541882e-02 9.67064128e+01] [ 1.11909008e-01 -5.48684753e-05 9.93718457e-01 8.00443780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:96.71, Z:80.05 [[ 9.19003600e-01 -3.80342760e-01 -1.03787131e-01 1.54986853e+02] [ 3.77924557e-01 9.24845592e-01 -4.28212600e-02 9.67120615e+01] [ 1.12273827e-01 1.29186639e-04 9.93677297e-01 8.00493845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:96.72, Z:80.05 [[ 9.19093393e-01 -3.80132755e-01 -1.03761377e-01 1.55012571e+02] [ 3.77712742e-01 9.24931922e-01 -4.28255090e-02 9.67207167e+01] [ 1.12251588e-01 1.68648280e-04 9.93679804e-01 8.00526585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:96.73, Z:80.05 [[ 9.19011378e-01 -3.80604294e-01 -1.02754356e-01 1.55038562e+02] [ 3.78232336e-01 9.24737993e-01 -4.24257547e-02 9.67304667e+01] [ 1.11168281e-01 1.24731170e-04 9.93801589e-01 8.00549923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:96.74, Z:80.06 [[ 9.18827699e-01 -3.81248143e-01 -1.02007416e-01 1.55064841e+02] [ 3.78910937e-01 9.24472740e-01 -4.21503756e-02 9.67412718e+01] [ 1.10372828e-01 7.72068014e-05 9.93890252e-01 8.00573339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:96.75, Z:80.06 [[ 9.18753279e-01 -3.81578543e-01 -1.01440760e-01 1.55089952e+02] [ 3.79265854e-01 9.24336416e-01 -4.19475982e-02 9.67507322e+01] [ 1.09771692e-01 6.64768482e-05 9.93956826e-01 8.00598046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:96.76, Z:80.06 [[ 9.18402420e-01 -3.82542593e-01 -1.00985940e-01 1.55116176e+02] [ 3.80254793e-01 9.23937857e-01 -4.17747451e-02 9.67597770e+01] [ 1.09285353e-01 -3.43608297e-05 9.94010418e-01 8.00628385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10038572300002 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:155.15, Y:96.77, Z:80.05 [[ 9.18243261e-01 -3.84760438e-01 -9.37481676e-02 1.55148776e+02] [ 3.80865021e-01 9.22864550e-01 -5.71214258e-02 9.67718733e+01] [ 1.08494925e-01 1.67459665e-02 9.93955947e-01 8.00546871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:96.77, Z:80.07 [[ 9.16971037e-01 -3.85066618e-01 -1.04344706e-01 1.55176952e+02] [ 3.83712677e-01 9.22842323e-01 -3.35652888e-02 9.67705303e+01] [ 1.09218583e-01 -9.25998894e-03 9.93974624e-01 8.00693318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.160385723 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:155.20, Y:96.79, Z:80.06 [[ 9.17211123e-01 -3.86567455e-01 -9.63813167e-02 1.55204936e+02] [ 3.83329457e-01 9.22210047e-01 -5.08641026e-02 9.67855842e+01] [ 1.08546225e-01 9.70732289e-03 9.94044006e-01 8.00624245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.190385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.23, Y:96.79, Z:80.07 [[ 9.16785309e-01 -3.86373295e-01 -1.01095865e-01 1.55233053e+02] [ 3.84307308e-01 9.22339838e-01 -3.99639263e-02 9.67905696e+01] [ 1.08685738e-01 -2.21353918e-03 9.94073695e-01 8.00691313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.220385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.26, Y:96.80, Z:80.07 [[ 9.16074788e-01 -3.88247802e-01 -1.00352513e-01 1.55260218e+02] [ 3.85951423e-01 9.21555008e-01 -4.21647456e-02 9.68025232e+01] [ 1.08850731e-01 -1.05134784e-04 9.94058101e-01 8.00711704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:96.81, Z:80.08 [[ 9.14312108e-01 -3.91639332e-01 -1.03208545e-01 1.55286358e+02] [ 3.89914807e-01 9.20097923e-01 -3.72324520e-02 9.68093067e+01] [ 1.09543661e-01 -6.20045820e-03 9.93962646e-01 8.00767836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.280385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.31, Y:96.81, Z:80.09 [[ 9.13255167e-01 -3.91594642e-01 -1.12332705e-01 1.55311582e+02] [ 3.91169168e-01 9.19930546e-01 -2.67296003e-02 9.68119952e+01] [ 1.13805455e-01 -1.95301451e-02 9.93311075e-01 8.00901855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:96.84, Z:80.07 [[ 9.12184189e-01 -3.98635953e-01 -9.49177615e-02 1.55335833e+02] [ 3.94631386e-01 9.16969982e-01 -5.85843162e-02 9.68362287e+01] [ 1.10390553e-01 1.59821593e-02 9.93759778e-01 8.00742196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.36, Y:96.84, Z:80.08 [[ 9.11468829e-01 -3.99273585e-01 -9.90210966e-02 1.55363687e+02] [ 3.96659607e-01 9.16828812e-01 -4.56736913e-02 9.68392412e+01] [ 1.09021693e-01 2.35247659e-03 9.94036587e-01 8.00804312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.370385723 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:155.39, Y:96.85, Z:80.08 [[ 9.11416601e-01 -4.00113292e-01 -9.60683795e-02 1.55389828e+02] [ 3.97190382e-01 9.16444696e-01 -4.86715420e-02 9.68487330e+01] [ 1.07515488e-01 6.20261503e-03 9.94184061e-01 8.00796783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.400385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.42, Y:96.84, Z:80.10 [[ 9.10420756e-01 -3.98780887e-01 -1.10035680e-01 1.55417908e+02] [ 3.99309382e-01 9.16636492e-01 -1.81537766e-02 9.68418595e+01] [ 1.08102098e-01 -2.74107042e-02 9.93761837e-01 8.01003858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.430385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.44, Y:96.86, Z:80.09 [[ 9.10039368e-01 -4.02262343e-01 -1.00066762e-01 1.55439808e+02] [ 4.00077083e-01 9.15522494e-01 -4.19152902e-02 9.68637171e+01] [ 1.08474314e-01 -1.88985397e-03 9.94097456e-01 8.00933128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.46, Y:96.88, Z:80.08 [[ 9.09657009e-01 -4.05390895e-01 -9.04563306e-02 1.55464163e+02] [ 4.01725606e-01 9.14020686e-01 -5.64156299e-02 9.68833025e+01] [ 1.05549340e-01 1.49802490e-02 9.94301226e-01 8.00836085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:96.88, Z:80.11 [[ 9.10124067e-01 -4.00489751e-01 -1.06217424e-01 1.55493677e+02] [ 4.00084752e-01 9.16108312e-01 -2.60336588e-02 9.68756691e+01] [ 1.07732878e-01 -1.88021122e-02 9.94002066e-01 8.01052943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.520385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.52, Y:96.89, Z:80.10 [[ 9.10128914e-01 -4.02339820e-01 -9.89344659e-02 1.55515922e+02] [ 4.00195916e-01 9.15488618e-01 -4.15189079e-02 9.68931081e+01] [ 1.07278087e-01 -1.80561067e-03 9.94227415e-01 8.01002605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.550385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.54, Y:96.90, Z:80.10 [[ 9.10143302e-01 -4.02443393e-01 -9.83792913e-02 1.55541625e+02] [ 4.00322591e-01 9.15443115e-01 -4.13004459e-02 9.69034092e+01] [ 1.06681736e-01 -1.79412861e-03 9.94291601e-01 8.01036314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.580385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.57, Y:96.91, Z:80.11 [[ 9.10075825e-01 -4.02598643e-01 -9.83683143e-02 1.55567774e+02] [ 4.00475921e-01 9.15374869e-01 -4.13265746e-02 9.69144949e+01] [ 1.06681906e-01 -1.78382484e-03 9.94291602e-01 8.01065176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.610385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:155.59, Y:96.92, Z:80.11 [[ 9.09926841e-01 -4.03105517e-01 -9.76682497e-02 1.55594064e+02] [ 4.01013786e-01 9.15151714e-01 -4.10522118e-02 9.69247572e+01] [ 1.05929639e-01 -1.81180517e-03 9.94371977e-01 8.01090765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.62, Y:96.94, Z:80.11 [[ 9.09810473e-01 -4.03566850e-01 -9.68436956e-02 1.55620049e+02] [ 4.01509722e-01 9.14948349e-01 -4.07364983e-02 9.69354276e+01] [ 1.05046880e-01 -1.82119247e-03 9.94465603e-01 8.01136348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:96.95, Z:80.12 [[ 9.09423784e-01 -4.04583719e-01 -9.62309493e-02 1.55644407e+02] [ 4.02555090e-01 9.14498994e-01 -4.05091176e-02 9.69458630e+01] [ 1.04392436e-01 -1.89830342e-03 9.94534371e-01 8.01162729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:96.96, Z:80.12 [[ 9.08869776e-01 -4.06025504e-01 -9.53887893e-02 1.55670202e+02] [ 4.04038062e-01 9.13859499e-01 -4.01753772e-02 9.69561468e+01] [ 1.03484179e-01 -2.02651545e-03 9.94629035e-01 8.01188713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.70, Y:96.97, Z:80.12 [[ 9.08715563e-01 -4.06261261e-01 -9.58530867e-02 1.55695774e+02] [ 4.04252497e-01 9.13754696e-01 -4.04014109e-02 9.69660168e+01] [ 1.03999736e-01 -2.03545875e-03 9.94575242e-01 8.01220397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.72, Y:96.98, Z:80.13 [[ 9.09268349e-01 -4.04955948e-01 -9.61340193e-02 1.55721106e+02] [ 4.02924953e-01 9.14334296e-01 -4.05496911e-02 9.69756338e+01] [ 1.04319469e-01 -1.86424459e-03 9.94542092e-01 8.01251743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.75, Y:96.99, Z:80.13 [[ 9.09733258e-01 -4.03937230e-01 -9.60214199e-02 1.55747047e+02] [ 4.01903920e-01 9.14785063e-01 -4.05157712e-02 9.69870092e+01] [ 1.04204789e-01 -1.73284050e-03 9.94554352e-01 8.01274958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.77, Y:97.00, Z:80.13 [[ 9.10290231e-01 -4.02651689e-01 -9.61421489e-02 1.55771886e+02] [ 4.00602883e-01 9.15351946e-01 -4.05973423e-02 9.69985014e+01] [ 1.04350492e-01 -1.55945794e-03 9.94539362e-01 8.01293159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85038572300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:155.80, Y:97.01, Z:80.13 [[ 9.11529362e-01 -4.00435018e-01 -9.36270159e-02 1.55800799e+02] [ 3.97990956e-01 9.16319905e-01 -4.42835366e-02 9.70105265e+01] [ 1.03524977e-01 3.10303830e-03 9.94622014e-01 8.01298794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.82, Y:97.02, Z:80.14 [[ 9.12370191e-01 -3.97614290e-01 -9.73833185e-02 1.55822856e+02] [ 3.96121071e-01 9.17528959e-01 -3.50529010e-02 9.70180490e+01] [ 1.03289549e-01 -6.59436249e-03 9.94629470e-01 8.01366929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.910385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:155.85, Y:97.03, Z:80.13 [[ 9.12538839e-01 -3.97783235e-01 -9.50860984e-02 1.55847676e+02] [ 3.95749536e-01 9.17478923e-01 -4.01837144e-02 9.70315144e+01] [ 1.03223899e-01 -9.61079247e-04 9.94657681e-01 8.01345611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.87, Y:97.04, Z:80.14 [[ 9.12865799e-01 -3.96879233e-01 -9.57230752e-02 1.55873323e+02] [ 3.94810130e-01 9.17870455e-01 -4.04819609e-02 9.70424330e+01] [ 1.03927832e-01 -8.37842077e-04 9.94584488e-01 8.01392498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.970385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:155.90, Y:97.06, Z:80.13 [[ 9.11745474e-01 -4.00283875e-01 -9.21575346e-02 1.55895588e+02] [ 3.97650199e-01 9.16375026e-01 -4.61641788e-02 9.70579670e+01] [ 1.02929639e-01 5.44351909e-03 9.94673744e-01 8.01339677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.000385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:155.92, Y:97.06, Z:80.14 [[ 9.11129058e-01 -4.00080899e-01 -9.88894075e-02 1.55923596e+02] [ 3.98670355e-01 9.16445021e-01 -3.45032123e-02 9.70632216e+01] [ 1.04430781e-01 -7.98739596e-03 9.94500082e-01 8.01440193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.030385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.95, Y:97.08, Z:80.14 [[ 9.10619429e-01 -4.02976099e-01 -9.15561028e-02 1.55946446e+02] [ 4.00510522e-01 9.15201642e-01 -4.46908987e-02 9.70795187e+01] [ 1.01801660e-01 4.02721811e-03 9.94796564e-01 8.01418169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.060385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.98, Y:97.09, Z:80.15 [[ 9.09562199e-01 -4.04035360e-01 -9.72215699e-02 1.55975890e+02] [ 4.02511678e-01 9.14719017e-01 -3.56856998e-02 9.70859799e+01] [ 1.03348703e-01 -6.67445373e-03 9.94622791e-01 8.01488492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:97.10, Z:80.15 [[ 9.09221940e-01 -4.04952937e-01 -9.65845932e-02 1.56001517e+02] [ 4.02878353e-01 9.14336024e-01 -4.09715533e-02 9.70968666e+01] [ 1.04902324e-01 -1.65960665e-03 9.94481145e-01 8.01535501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:97.11, Z:80.16 [[ 9.08256868e-01 -4.06931505e-01 -9.73458353e-02 1.56026692e+02] [ 4.04831832e-01 9.13456754e-01 -4.13272979e-02 9.71061049e+01] [ 1.05738590e-01 -1.87289067e-03 9.94392198e-01 8.01574107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.150385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:156.05, Y:97.12, Z:80.15 [[ 9.07104536e-01 -4.10485216e-01 -9.30765730e-02 1.56049820e+02] [ 4.08269520e-01 9.11867029e-01 -4.25971918e-02 9.71198449e+01] [ 1.02358976e-01 6.39778111e-04 9.94747320e-01 8.01520172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.180385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:156.08, Y:97.13, Z:80.16 [[ 9.07804228e-01 -4.08378576e-01 -9.54904314e-02 1.56079250e+02] [ 4.06630261e-01 9.12802352e-01 -3.79960080e-02 9.71269981e+01] [ 1.02680646e-01 -4.33636238e-03 9.94704922e-01 8.01584555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:97.14, Z:80.16 [[ 9.06088810e-01 -4.13476538e-01 -8.96672757e-02 1.56097975e+02] [ 4.11203642e-01 9.10511562e-01 -4.33619620e-02 9.71446749e+01] [ 9.95722452e-02 2.41827819e-03 9.95027397e-01 8.01566310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.240385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:156.13, Y:97.15, Z:80.16 [[ 9.07356839e-01 -4.09281377e-01 -9.58765968e-02 1.56129756e+02] [ 4.07672878e-01 9.12389915e-01 -3.67078844e-02 9.71486107e+01] [ 1.02500693e-01 -5.77913816e-03 9.94716145e-01 8.01645122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.270385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:156.15, Y:97.16, Z:80.17 [[ 9.07881115e-01 -4.08397703e-01 -9.46741633e-02 1.56154661e+02] [ 4.06410523e-01 9.12802110e-01 -4.02839203e-02 9.71585323e+01] [ 1.02870637e-01 -1.90356570e-03 9.94692922e-01 8.01671271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.300385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.18, Y:97.17, Z:80.17 [[ 9.08193220e-01 -4.07654463e-01 -9.48836933e-02 1.56179567e+02] [ 4.05652266e-01 9.13134483e-01 -4.03937629e-02 9.71691606e+01] [ 1.03108270e-01 -1.80444359e-03 9.94668502e-01 8.01704957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.20, Y:97.18, Z:80.17 [[ 9.07457245e-01 -4.10310902e-01 -9.03676511e-02 1.56199392e+02] [ 4.08033368e-01 9.11942643e-01 -4.32364012e-02 9.71849544e+01] [ 1.00150481e-01 2.36216840e-03 9.94969498e-01 8.01679890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.23, Y:97.19, Z:80.18 [[ 9.10032448e-01 -4.03506644e-01 -9.49912235e-02 1.56230598e+02] [ 4.01834110e-01 9.14965553e-01 -3.69781639e-02 9.71917557e+01] [ 1.01834632e-01 -4.51938473e-03 9.94791075e-01 8.01774523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.26, Y:97.20, Z:80.18 [[ 9.10680064e-01 -4.01974988e-01 -9.52781683e-02 1.56255365e+02] [ 4.00525408e-01 9.15627323e-01 -3.47275544e-02 9.72021603e+01] [ 1.01198902e-01 -6.53563574e-03 9.94844746e-01 8.01801517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.27, Y:97.23, Z:80.16 [[ 9.09702573e-01 -4.07531608e-01 -7.97447029e-02 1.56270783e+02] [ 4.03877793e-01 9.12953622e-01 -5.82959082e-02 9.72301240e+01] [ 9.65606405e-02 2.08248230e-02 9.95109225e-01 8.01644651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.31, Y:97.22, Z:80.19 [[ 9.12052319e-01 -3.97445741e-01 -1.00982428e-01 1.56309154e+02] [ 3.96936525e-01 9.17478947e-01 -2.59572127e-02 9.72185145e+01] [ 1.02965835e-01 -1.64092779e-02 9.94549532e-01 8.01896812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:97.25, Z:80.17 [[ 9.12062760e-01 -4.01760505e-01 -8.20366923e-02 1.56324852e+02] [ 3.98249996e-01 9.15557196e-01 -5.61423289e-02 9.72456972e+01] [ 9.76650544e-02 1.85342150e-02 9.95046743e-01 8.01732171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:97.25, Z:80.18 [[ 9.12263646e-01 -4.00034153e-01 -8.80211152e-02 1.56354061e+02] [ 3.97504619e-01 9.16477888e-01 -4.53691473e-02 9.72511317e+01] [ 9.88186141e-02 6.39982386e-03 9.95084883e-01 8.01799491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.39, Y:97.25, Z:80.20 [[ 9.14841701e-01 -3.90816150e-01 -1.01623807e-01 1.56389584e+02] [ 3.90612537e-01 9.20274610e-01 -2.27263908e-02 9.72483026e+01] [ 1.02403650e-01 -1.89044830e-02 9.94563278e-01 8.01969774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:97.28, Z:80.18 [[ 9.14491396e-01 -3.96362492e-01 -8.12543041e-02 1.56404098e+02] [ 3.93047857e-01 9.17927197e-01 -5.40651713e-02 9.72794080e+01] [ 9.60149417e-02 1.75053039e-02 9.95225952e-01 8.01793261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60038572300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.44, Y:97.27, Z:80.20 [[ 9.15871275e-01 -3.87838174e-01 -1.03736968e-01 1.56442698e+02] [ 3.87942985e-01 9.21466498e-01 -1.99933278e-02 9.72674779e+01] [ 1.03344316e-01 -2.19327143e-02 9.94403795e-01 8.02039093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.46, Y:97.30, Z:80.18 [[ 9.15162132e-01 -3.95431035e-01 -7.81829143e-02 1.56457612e+02] [ 3.91521147e-01 9.18152262e-01 -6.08901798e-02 9.72999236e+01] [ 9.58616865e-02 2.51141225e-02 9.95077795e-01 8.01816513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:97.28, Z:80.21 [[ 9.15987641e-01 -3.87344912e-01 -1.04549319e-01 1.56497317e+02] [ 3.87637912e-01 9.21629361e-01 -1.83349496e-02 9.72831567e+01] [ 1.03457671e-01 -2.37326924e-02 9.94350677e-01 8.02139972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.690385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.52, Y:97.30, Z:80.21 [[ 9.16068601e-01 -3.89346017e-01 -9.60624704e-02 1.56519169e+02] [ 3.87095871e-01 9.21090890e-01 -4.18133823e-02 9.73034277e+01] [ 1.04762140e-01 1.11854102e-03 9.94496678e-01 8.02076832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.54, Y:97.33, Z:80.19 [[ 9.14865540e-01 -3.95762438e-01 -7.99570900e-02 1.56537556e+02] [ 3.91705113e-01 9.18002755e-01 -6.19519654e-02 9.73284345e+01] [ 9.79190898e-02 2.53581173e-02 9.94871257e-01 8.01902433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.750385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:156.57, Y:97.33, Z:80.20 [[ 9.14382308e-01 -3.94754599e-01 -8.98543384e-02 1.56568967e+02] [ 3.92536793e-01 9.18781572e-01 -4.18961657e-02 9.73260629e+01] [ 9.90952144e-02 3.03797889e-03 9.95073319e-01 8.01977717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:97.32, Z:80.23 [[ 9.15615580e-01 -3.87348094e-01 -1.07747685e-01 1.56604711e+02] [ 3.87814335e-01 9.21572280e-01 -1.74520650e-02 9.73179779e+01] [ 1.06057304e-01 -2.58067140e-02 9.94025081e-01 8.02272708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.62, Y:97.36, Z:80.20 [[ 9.14805178e-01 -3.96665658e-01 -7.60778717e-02 1.56618326e+02] [ 3.92398364e-01 9.17478116e-01 -6.52489939e-02 9.73558590e+01] [ 9.56818174e-02 2.98372851e-02 9.94964686e-01 8.01959273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.840385723 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:156.66, Y:97.33, Z:80.23 [[ 9.16257042e-01 -3.86828722e-01 -1.04098859e-01 1.56655543e+02] [ 3.88254966e-01 9.21525235e-01 -7.02295541e-03 9.73319915e+01] [ 9.86464066e-02 -3.39820667e-02 9.94542159e-01 8.02309858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:97.37, Z:80.20 [[ 9.15958929e-01 -3.94507454e-01 -7.33696731e-02 1.56670256e+02] [ 3.90467644e-01 9.18414552e-01 -6.36374925e-02 9.73725438e+01] [ 9.24892405e-02 2.96408461e-02 9.95272405e-01 8.02001073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:97.36, Z:80.22 [[ 9.15616386e-01 -3.92019851e-01 -8.92584442e-02 1.56705682e+02] [ 3.90442015e-01 9.19953109e-01 -3.52322340e-02 9.73622620e+01] [ 9.59253184e-02 -2.59103603e-03 9.95385162e-01 8.02184350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:97.38, Z:80.22 [[ 9.15260446e-01 -3.93616822e-01 -8.58144135e-02 1.56732431e+02] [ 3.90811367e-01 9.19215188e-01 -4.80615643e-02 9.73772148e+01] [ 9.77997524e-02 1.04516006e-02 9.95151231e-01 8.02178625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:97.37, Z:80.24 [[ 9.14691322e-01 -3.90449063e-01 -1.04351876e-01 1.56763962e+02] [ 3.90602209e-01 9.20346252e-01 -1.98164215e-02 9.73688547e+01] [ 1.03777161e-01 -2.26341644e-02 9.94342997e-01 8.02416313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:97.39, Z:80.23 [[ 9.14442268e-01 -3.93258097e-01 -9.56211676e-02 1.56786722e+02] [ 3.91113108e-01 9.19428114e-01 -4.10180421e-02 9.73887092e+01] [ 1.04047467e-01 1.09939362e-04 9.94572326e-01 8.02349051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.020385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:156.81, Y:97.41, Z:80.22 [[ 9.13718753e-01 -3.98099362e-01 -8.14551344e-02 1.56808670e+02] [ 3.94101198e-01 9.17036282e-01 -6.10631106e-02 9.74110538e+01] [ 9.90064990e-02 2.36929432e-02 9.94804683e-01 8.02162180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.050385723 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:156.84, Y:97.41, Z:80.23 [[ 9.14630306e-01 -3.94849848e-01 -8.68619649e-02 1.56840750e+02] [ 3.92213902e-01 9.18708416e-01 -4.62936556e-02 9.74111919e+01] [ 9.80798610e-02 8.27311029e-03 9.95144159e-01 8.02266552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.87, Y:97.40, Z:80.25 [[ 9.14326777e-01 -3.90915731e-01 -1.05789588e-01 1.56870187e+02] [ 3.91625668e-01 9.20004857e-01 -1.48458475e-02 9.74009166e+01] [ 1.03130410e-01 -2.78559622e-02 9.94277710e-01 8.02516289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:97.44, Z:80.22 [[ 9.14005786e-01 -3.97721296e-01 -8.00699339e-02 1.56888604e+02] [ 3.93587617e-01 9.17141985e-01 -6.27643817e-02 9.74378226e+01] [ 9.83982294e-02 2.58524736e-02 9.94811258e-01 8.02227261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:97.42, Z:80.26 [[ 9.14589808e-01 -3.90591534e-01 -1.04707867e-01 1.56924529e+02] [ 3.90927712e-01 9.20242424e-01 -1.81495315e-02 9.74221433e+01] [ 1.03445674e-01 -2.43338303e-02 9.94337396e-01 8.02551462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:97.44, Z:80.25 [[ 9.14717932e-01 -3.92718291e-01 -9.52021438e-02 1.56946803e+02] [ 3.90571871e-01 9.19658762e-01 -4.10045667e-02 9.74434583e+01] [ 1.03656729e-01 3.24333020e-04 9.94613079e-01 8.02472892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.200385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:156.97, Y:97.45, Z:80.25 [[ 9.14427572e-01 -3.93030638e-01 -9.66909150e-02 1.56971920e+02] [ 3.90814757e-01 9.19525320e-01 -4.16774817e-02 9.74536848e+01] [ 1.05290272e-01 3.22801998e-04 9.94441479e-01 8.02472793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:97.46, Z:80.25 [[ 9.15023819e-01 -3.91500473e-01 -9.72563092e-02 1.56998917e+02] [ 3.89248291e-01 9.20177762e-01 -4.19363159e-02 9.74613009e+01] [ 1.05911180e-01 5.15875768e-04 9.94375460e-01 8.02521636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:97.47, Z:80.26 [[ 9.15198066e-01 -3.91012777e-01 -9.75782166e-02 1.57025738e+02] [ 3.88739441e-01 9.20385052e-01 -4.21070460e-02 9.74706535e+01] [ 1.06273925e-01 6.03785685e-04 9.94336708e-01 8.02555762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:97.48, Z:80.26 [[ 9.15223324e-01 -3.90946216e-01 -9.76080032e-02 1.57051950e+02] [ 3.88667708e-01 9.20413301e-01 -4.21517256e-02 9.74797362e+01] [ 1.06318762e-01 6.41163512e-04 9.94331891e-01 8.02585824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.08, Y:97.49, Z:80.26 [[ 9.14799166e-01 -3.92097422e-01 -9.69644080e-02 1.57079086e+02] [ 3.89852001e-01 9.19923544e-01 -4.19057321e-02 9.74869527e+01] [ 1.05630971e-01 5.33560239e-04 9.94405256e-01 8.02618617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:97.50, Z:80.26 [[ 9.14360141e-01 -3.93163778e-01 -9.67872743e-02 1.57104265e+02] [ 3.90929219e-01 9.19468352e-01 -4.18604199e-02 9.74968300e+01] [ 1.05450836e-01 4.38525875e-04 9.94424421e-01 8.02635425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.13, Y:97.51, Z:80.26 [[ 9.13844783e-01 -3.94356600e-01 -9.68017825e-02 1.57130052e+02] [ 3.92126435e-01 9.18957438e-01 -4.18818063e-02 9.75072817e+01] [ 1.05473085e-01 3.14932306e-04 9.94422108e-01 8.02645972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:97.52, Z:80.27 [[ 9.13645657e-01 -3.94843242e-01 -9.66976107e-02 1.57155485e+02] [ 3.92617296e-01 9.18748459e-01 -4.18679737e-02 9.75153610e+01] [ 1.05372067e-01 2.87337872e-04 9.94432826e-01 8.02670367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:97.53, Z:80.27 [[ 9.13544325e-01 -3.95078965e-01 -9.66921815e-02 1.57181563e+02] [ 3.92853009e-01 9.18647123e-01 -4.18805085e-02 9.75267350e+01] [ 1.05372102e-01 2.73886393e-04 9.94432826e-01 8.02698722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:97.54, Z:80.27 [[ 9.13465713e-01 -3.95241237e-01 -9.67716628e-02 1.57208373e+02] [ 3.93009359e-01 9.18577315e-01 -4.19447183e-02 9.75357899e+01] [ 1.05470537e-01 2.82892861e-04 9.94422388e-01 8.02731661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:97.55, Z:80.27 [[ 9.13487602e-01 -3.95583994e-01 -9.51509556e-02 1.57234185e+02] [ 3.92450898e-01 9.18388161e-01 -5.04527412e-02 9.75467515e+01] [ 1.07343808e-01 8.74587567e-03 9.94183492e-01 8.02745767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:97.55, Z:80.28 [[ 9.14513824e-01 -3.92095550e-01 -9.96270318e-02 1.57262072e+02] [ 3.90683212e-01 9.19892198e-01 -3.41316954e-02 9.75509971e+01] [ 1.05029015e-01 -7.70870142e-03 9.94439280e-01 8.02846032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.29, Y:97.57, Z:80.28 [[ 9.15103720e-01 -3.91500632e-01 -9.65009701e-02 1.57285093e+02] [ 3.89252374e-01 9.20177506e-01 -4.19040254e-02 9.75662934e+01] [ 1.05203474e-01 7.83297774e-04 9.94450409e-01 8.02834335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:97.58, Z:80.29 [[ 9.15487316e-01 -3.90551089e-01 -9.67099823e-02 1.57310335e+02] [ 3.88286188e-01 9.20580807e-01 -4.20096951e-02 9.75788519e+01] [ 1.05436286e-01 9.08192705e-04 9.94425646e-01 8.02851652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:97.59, Z:80.29 [[ 9.15780458e-01 -3.89675429e-01 -9.74638998e-02 1.57334208e+02] [ 3.87366584e-01 9.20951662e-01 -4.23693982e-02 9.75925558e+01] [ 1.06269854e-01 1.04680899e-03 9.94336775e-01 8.02856918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:97.61, Z:80.29 [[ 9.14919412e-01 -3.91784165e-01 -9.70960237e-02 1.57358691e+02] [ 3.89501273e-01 9.20056782e-01 -4.22406815e-02 9.76062903e+01] [ 1.05883085e-01 8.27794653e-04 9.94378241e-01 8.02856729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:97.61, Z:80.29 [[ 9.15259765e-01 -3.90660490e-01 -9.84070330e-02 1.57384963e+02] [ 3.88305445e-01 9.20534291e-01 -4.28427376e-02 9.76135758e+01] [ 1.07324013e-01 1.00024715e-03 9.94223594e-01 8.02923463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:97.62, Z:80.30 [[ 9.14807588e-01 -3.91701296e-01 -9.84742186e-02 1.57409396e+02] [ 3.89347525e-01 9.20092006e-01 -4.28859639e-02 9.76244294e+01] [ 1.07403829e-01 8.91711946e-04 9.94215079e-01 8.02954707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:97.64, Z:80.30 [[ 9.14157395e-01 -3.93227326e-01 -9.84303142e-02 1.57434907e+02] [ 3.90882842e-01 9.19440995e-01 -4.28819459e-02 9.76370701e+01] [ 1.07363219e-01 7.26126993e-04 9.94219600e-01 8.02973935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:97.65, Z:80.30 [[ 9.12844975e-01 -3.96206731e-01 -9.86624491e-02 1.57459526e+02] [ 3.93865128e-01 9.18161240e-01 -4.30139363e-02 9.76493957e+01] [ 1.07630448e-01 4.05357457e-04 9.94190888e-01 8.02984171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:97.67, Z:80.29 [[ 9.11034323e-01 -4.02499643e-01 -8.95014007e-02 1.57477708e+02] [ 3.99142365e-01 9.15327827e-01 -5.34821699e-02 9.76688924e+01] [ 1.03449677e-01 1.30002918e-02 9.94549726e-01 8.02874904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:97.66, Z:80.31 [[ 9.11383520e-01 -3.98306113e-01 -1.03596912e-01 1.57512586e+02] [ 3.97216657e-01 9.17172327e-01 -3.18409974e-02 9.76648011e+01] [ 1.07698685e-01 -1.21310590e-02 9.94109567e-01 8.03098765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:97.68, Z:80.31 [[ 9.09847445e-01 -4.03010088e-01 -9.87952179e-02 1.57535520e+02] [ 4.00698685e-01 9.15195461e-01 -4.31025826e-02 9.76813393e+01] [ 1.07787711e-01 -3.70339151e-04 9.94173864e-01 8.03074960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:97.69, Z:80.31 [[ 9.09085433e-01 -4.04733236e-01 -9.87658005e-02 1.57561047e+02] [ 4.02431760e-01 9.14434630e-01 -4.31043608e-02 9.76927859e+01] [ 1.07760636e-01 -5.60948417e-04 9.94176710e-01 8.03097732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:97.70, Z:80.31 [[ 9.08321988e-01 -4.06351719e-01 -9.91435630e-02 1.57586030e+02] [ 4.04038846e-01 9.13716450e-01 -4.32996572e-02 9.77043607e+01] [ 1.08183995e-01 -7.27820050e-04 9.94130622e-01 8.03120935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:97.72, Z:80.31 [[ 9.07968319e-01 -4.07036301e-01 -9.95740011e-02 1.57610067e+02] [ 4.04704173e-01 9.13411644e-01 -4.35166731e-02 9.77159260e+01] [ 1.08664918e-01 -7.86253190e-04 9.94078124e-01 8.03141486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:97.73, Z:80.32 [[ 9.07783269e-01 -4.07163887e-01 -1.00732846e-01 1.57635514e+02] [ 4.04776122e-01 9.13354769e-01 -4.40381344e-02 9.77285364e+01] [ 1.09935563e-01 -7.97169233e-04 9.93938397e-01 8.03168064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:97.74, Z:80.32 [[ 9.07732222e-01 -4.07298831e-01 -1.00647286e-01 1.57660661e+02] [ 4.04912609e-01 9.13294611e-01 -4.40310418e-02 9.77398326e+01] [ 1.09854416e-01 -7.84959750e-04 9.93947379e-01 8.03200960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:97.75, Z:80.32 [[ 9.07772192e-01 -4.07335132e-01 -1.00138589e-01 1.57685796e+02] [ 4.04969695e-01 9.13278446e-01 -4.38409261e-02 9.77510998e+01] [ 1.09312365e-01 -7.55520418e-04 9.94007161e-01 8.03235083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:97.76, Z:80.33 [[ 9.08059789e-01 -4.07067391e-01 -9.86081116e-02 1.57709243e+02] [ 4.04768903e-01 9.13397872e-01 -4.32025726e-02 9.77632764e+01] [ 1.07654798e-01 -6.82978170e-04 9.94188100e-01 8.03278766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:97.78, Z:80.33 [[ 9.07943676e-01 -4.07442704e-01 -9.81260590e-02 1.57734282e+02] [ 4.05166416e-01 9.13230502e-01 -4.30142580e-02 9.77754135e+01] [ 1.07137556e-01 -7.02860115e-04 9.94243959e-01 8.03307975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:97.79, Z:80.33 [[ 9.07381872e-01 -4.08610057e-01 -9.84680639e-02 1.57759660e+02] [ 4.06321172e-01 9.12708693e-01 -4.31966064e-02 9.77875712e+01] [ 1.07523226e-01 -8.13841518e-04 9.94202240e-01 8.03346225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.160385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:157.79, Y:97.80, Z:80.33 [[ 9.06843794e-01 -4.09752855e-01 -9.86758918e-02 1.57785406e+02] [ 4.07457478e-01 9.12196113e-01 -4.33203740e-02 9.77991530e+01] [ 1.07762412e-01 -9.21417697e-04 9.94176249e-01 8.03342968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:97.81, Z:80.34 [[ 9.06920107e-01 -4.09555509e-01 -9.87937466e-02 1.57809542e+02] [ 4.07250048e-01 9.12284784e-01 -4.34035801e-02 9.78090619e+01] [ 1.07904207e-01 -8.70178542e-04 9.94160915e-01 8.03409762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.220385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:157.84, Y:97.82, Z:80.34 [[ 9.06486420e-01 -4.10468274e-01 -9.89856900e-02 1.57835399e+02] [ 4.08157531e-01 9.11874368e-01 -4.35036458e-02 9.78207847e+01] [ 1.08119380e-01 -9.66290771e-04 9.94137448e-01 8.03433722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.250385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:157.86, Y:97.83, Z:80.34 [[ 9.06299334e-01 -4.10851440e-01 -9.91090928e-02 1.57860832e+02] [ 4.08533628e-01 9.11701776e-01 -4.35906756e-02 9.78327976e+01] [ 1.08267228e-01 -9.83196925e-04 9.94121341e-01 8.03439421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.89, Y:97.84, Z:80.35 [[ 9.06658618e-01 -4.10112170e-01 -9.88845719e-02 1.57885335e+02] [ 4.07797087e-01 9.12034682e-01 -4.35232708e-02 9.78441680e+01] [ 1.08035582e-01 -8.64091772e-04 9.94146652e-01 8.03476750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.91, Y:97.86, Z:80.35 [[ 9.07376226e-01 -4.08513927e-01 -9.89179221e-02 1.57910332e+02] [ 4.06186101e-01 9.12751848e-01 -4.35535880e-02 9.78569597e+01] [ 1.08079763e-01 -6.59594822e-04 9.94142007e-01 8.03499305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.340385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:157.94, Y:97.87, Z:80.35 [[ 9.07790739e-01 -4.07588470e-01 -9.89323640e-02 1.57935899e+02] [ 4.05250983e-01 9.13165576e-01 -4.35921103e-02 9.78686012e+01] [ 1.08109271e-01 -5.19923751e-04 9.94138881e-01 8.03522193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.370385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:157.96, Y:97.88, Z:80.35 [[ 9.08127637e-01 -4.06806508e-01 -9.90588717e-02 1.57961891e+02] [ 4.04454858e-01 9.13514262e-01 -4.36802144e-02 9.78803205e+01] [ 1.08261088e-01 -3.97631988e-04 9.94122416e-01 8.03544819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.400385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.99, Y:97.88, Z:80.37 [[ 9.07951875e-01 -4.03539160e-01 -1.13046622e-01 1.57988259e+02] [ 4.03389570e-01 9.14680683e-01 -2.52210848e-02 9.78830583e+01] [ 1.13579257e-01 -2.27022971e-02 9.93269529e-01 8.03723474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.01, Y:97.91, Z:80.35 [[ 9.09667144e-01 -4.05245382e-01 -9.10047670e-02 1.58010208e+02] [ 4.00568849e-01 9.13911905e-01 -6.56477442e-02 9.79142092e+01] [ 1.09773785e-01 2.32639212e-02 9.93684309e-01 8.03540638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.460385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:158.04, Y:97.91, Z:80.36 [[ 9.10009161e-01 -4.02130338e-01 -1.00868812e-01 1.58040296e+02] [ 3.99655707e-01 9.15582406e-01 -4.45440727e-02 9.79147618e+01] [ 1.10266233e-01 2.22717705e-04 9.93902062e-01 8.03639346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.490385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.07, Y:97.93, Z:80.37 [[ 9.10282342e-01 -4.01568112e-01 -1.00643479e-01 1.58065242e+02] [ 3.99097637e-01 9.15829105e-01 -4.44761414e-02 9.79257067e+01] [ 1.10032428e-01 3.19271425e-04 9.93927947e-01 8.03680336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.520385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:158.09, Y:97.94, Z:80.37 [[ 9.10139498e-01 -4.01966969e-01 -1.00342662e-01 1.58090551e+02] [ 3.99511914e-01 9.15654124e-01 -4.43593927e-02 9.79378986e+01] [ 1.09710183e-01 2.85146349e-04 9.93963578e-01 8.03700738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.550385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:158.12, Y:97.94, Z:80.39 [[ 9.08793667e-01 -4.01708658e-01 -1.12801706e-01 1.58115582e+02] [ 4.01483979e-01 9.15505089e-01 -2.57108070e-02 9.79410971e+01] [ 1.13598790e-01 -2.19222592e-02 9.93284818e-01 8.03871932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:97.97, Z:80.37 [[ 9.09960343e-01 -4.04941311e-01 -8.94131343e-02 1.58137914e+02] [ 4.00391646e-01 9.14048767e-01 -6.48180652e-02 9.79736121e+01] [ 1.07975477e-01 2.31815969e-02 9.93883248e-01 8.03683269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.17, Y:97.96, Z:80.40 [[ 9.08730899e-01 -4.01318933e-01 -1.14678979e-01 1.58168432e+02] [ 4.01425778e-01 9.15598057e-01 -2.31849529e-02 9.79622158e+01] [ 1.14304411e-01 -2.49662153e-02 9.93132010e-01 8.03981275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.640385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:158.19, Y:97.99, Z:80.38 [[ 9.09790129e-01 -4.05239789e-01 -8.97921763e-02 1.58190274e+02] [ 4.00328315e-01 9.13841667e-01 -6.80488619e-02 9.79947888e+01] [ 1.09631939e-01 2.59638322e-02 9.93633090e-01 8.03750032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.670385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.22, Y:97.99, Z:80.39 [[ 9.09294326e-01 -4.03697738e-01 -1.01054270e-01 1.58219258e+02] [ 4.01206863e-01 9.14892402e-01 -4.47766258e-02 9.79941495e+01] [ 1.10530007e-01 1.71464916e-04 9.93872773e-01 8.03860221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:98.01, Z:80.39 [[ 9.09001743e-01 -4.04565677e-01 -1.00211996e-01 1.58243007e+02] [ 4.01209660e-01 9.14477691e-01 -5.25486600e-02 9.80090257e+01] [ 1.12901019e-01 7.56080272e-03 9.93577473e-01 8.03879286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:98.02, Z:80.40 [[ 9.08763371e-01 -4.03730407e-01 -1.05597794e-01 1.58269629e+02] [ 4.01936258e-01 9.14849138e-01 -3.87078720e-02 9.80164736e+01] [ 1.12233595e-01 -7.26728584e-03 9.93655276e-01 8.03955152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.760385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:158.31, Y:97.99, Z:80.46 [[ 9.06957224e-01 -3.91026677e-01 -1.56610125e-01 1.58309156e+02] [ 3.99799515e-01 9.16181752e-01 2.77731195e-02 9.79898112e+01] [ 1.32623308e-01 -8.78016834e-02 9.87269934e-01 8.04586794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:98.04, Z:80.42 [[ 9.07743925e-01 -4.03471462e-01 -1.14942356e-01 1.58322356e+02] [ 3.99138629e-01 9.14955815e-01 -5.95332767e-02 9.80413302e+01] [ 1.29187155e-01 8.16303595e-03 9.91586630e-01 8.04196456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82038572300002 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:158.34, Y:98.06, Z:80.41 [[ 9.05940031e-01 -4.09914552e-01 -1.06031693e-01 1.58341365e+02] [ 4.03884872e-01 9.11798431e-01 -7.41662398e-02 9.80623414e+01] [ 1.27081352e-01 2.43655688e-02 9.91592986e-01 8.04128420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85038572300002 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:158.37, Y:98.09, Z:80.39 [[ 9.06345995e-01 -4.12849903e-01 -8.99549597e-02 1.58368625e+02] [ 4.04989187e-01 9.09506807e-01 -9.37076629e-02 9.80854303e+01] [ 1.20501848e-01 4.85007789e-02 9.91527599e-01 8.03939198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:158.40, Y:98.07, Z:80.42 [[ 9.04659471e-01 -4.11885529e-01 -1.09277415e-01 1.58402360e+02] [ 4.09021617e-01 9.11235222e-01 -4.84942052e-02 9.80741919e+01] [ 1.19551491e-01 -8.26083119e-04 9.92827658e-01 8.04174721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.910385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:158.45, Y:98.04, Z:80.49 [[ 9.03411532e-01 -3.96778480e-01 -1.62525203e-01 1.58445541e+02] [ 4.06544180e-01 9.13119070e-01 3.05842075e-02 9.80416932e+01] [ 1.36269707e-01 -9.37038011e-02 9.86230280e-01 8.04880067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.940385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:158.46, Y:98.10, Z:80.43 [[ 9.04529384e-01 -4.12141521e-01 -1.09389032e-01 1.58457021e+02] [ 4.06017962e-01 9.10832793e-01 -7.43843861e-02 9.81039155e+01] [ 1.30292011e-01 2.28689511e-02 9.91211886e-01 8.04348045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.970385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:158.47, Y:98.14, Z:80.40 [[ 9.03370922e-01 -4.20996520e-01 -8.17490545e-02 1.58470967e+02] [ 4.12076719e-01 9.04906409e-01 -1.06476146e-01 9.81384067e+01] [ 1.18801330e-01 6.25005718e-02 9.90949001e-01 8.04007350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.000385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.51, Y:98.12, Z:80.43 [[ 9.02657765e-01 -4.16703832e-01 -1.07549414e-01 1.58506632e+02] [ 4.13945972e-01 9.09041377e-01 -4.78801243e-02 9.81196294e+01] [ 1.17718699e-01 -1.30028086e-03 9.93046130e-01 8.04296355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:98.11, Z:80.46 [[ 9.03194232e-01 -4.10469458e-01 -1.25518938e-01 1.58539732e+02] [ 4.11558720e-01 9.11198733e-01 -1.83381768e-02 9.81126481e+01] [ 1.21899959e-01 -3.50954780e-02 9.91921724e-01 8.04596886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.060385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.55, Y:98.16, Z:80.42 [[ 9.01876101e-01 -4.21487529e-01 -9.46982620e-02 1.58552893e+02] [ 4.15298197e-01 9.06285751e-01 -7.85719066e-02 9.81570986e+01] [ 1.18940764e-01 3.15341073e-02 9.92400471e-01 8.04230123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.090385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:158.58, Y:98.15, Z:80.44 [[ 9.00661191e-01 -4.20340098e-01 -1.10107317e-01 1.58584258e+02] [ 4.17464172e-01 9.07364984e-01 -4.91166989e-02 9.81530290e+01] [ 1.20553242e-01 -1.72835529e-03 9.92705358e-01 8.04399606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.120385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.61, Y:98.16, Z:80.44 [[ 9.00341618e-01 -4.21085614e-01 -1.09872091e-01 1.58609843e+02] [ 4.18223217e-01 9.07019126e-01 -4.90473732e-02 9.81636762e+01] [ 1.20309231e-01 -1.79166800e-03 9.92734848e-01 8.04444065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.150385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:158.63, Y:98.18, Z:80.45 [[ 8.99577264e-01 -4.22581632e-01 -1.10387997e-01 1.58634813e+02] [ 4.19699040e-01 9.06322729e-01 -4.93135540e-02 9.81750233e+01] [ 1.20886153e-01 -1.96838427e-03 9.92664426e-01 8.04494198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:98.19, Z:80.45 [[ 8.99365395e-01 -4.23116925e-01 -1.10063408e-01 1.58659798e+02] [ 4.20250938e-01 9.06072879e-01 -4.92045425e-02 9.81867766e+01] [ 1.20544744e-01 -2.00138767e-03 9.92705878e-01 8.04535404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.210385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:158.68, Y:98.20, Z:80.46 [[ 8.99081241e-01 -4.23584185e-01 -1.10586442e-01 1.58684445e+02] [ 4.20690221e-01 9.05854438e-01 -4.94719607e-02 9.81984137e+01] [ 1.21130759e-01 -2.04332287e-03 9.92634456e-01 8.04558774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.240385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:158.71, Y:98.21, Z:80.46 [[ 8.98600041e-01 -4.24193164e-01 -1.12152244e-01 1.58709268e+02] [ 4.21218613e-01 9.05569208e-01 -5.01925218e-02 9.82111549e+01] [ 1.22852944e-01 -2.13761070e-03 9.92422584e-01 8.04592748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:98.19, Z:80.51 [[ 8.99916243e-01 -4.11451925e-01 -1.44423231e-01 1.58750265e+02] [ 4.15298800e-01 9.09676965e-01 -3.83734956e-03 9.81936753e+01] [ 1.32957372e-01 -5.65255015e-02 9.89508567e-01 8.05072848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:98.23, Z:80.49 [[ 9.00576022e-01 -4.16845000e-01 -1.23300752e-01 1.58770298e+02] [ 4.13719496e-01 9.08964298e-01 -5.11867517e-02 9.82271845e+01] [ 1.33412923e-01 -4.91436356e-03 9.91048355e-01 8.04884758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.330385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:158.78, Y:98.27, Z:80.45 [[ 8.99092526e-01 -4.27954060e-01 -9.21300873e-02 1.58778492e+02] [ 4.19430647e-01 9.02415228e-01 -9.86138335e-02 9.82702905e+01] [ 1.25341784e-01 5.00207785e-02 9.90851835e-01 8.04497702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.360385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:158.82, Y:98.24, Z:80.50 [[ 8.99825988e-01 -4.14560712e-01 -1.35840375e-01 1.58824762e+02] [ 4.15825951e-01 9.09218032e-01 -2.02817224e-02 9.82382726e+01] [ 1.31916523e-01 -3.82359321e-02 9.90523117e-01 8.05025874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.390385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:158.85, Y:98.27, Z:80.49 [[ 9.00084016e-01 -4.18563943e-01 -1.21049535e-01 1.58846393e+02] [ 4.15335238e-01 9.08180708e-01 -5.20042474e-02 9.82651867e+01] [ 1.31701955e-01 -3.46794563e-03 9.91283294e-01 8.04903133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:158.87, Y:98.29, Z:80.48 [[ 9.00251412e-01 -4.22327081e-01 -1.05769710e-01 1.58867525e+02] [ 4.17187835e-01 9.06285164e-01 -6.78344529e-02 9.82889979e+01] [ 1.24505845e-01 1.69422258e-02 9.92074219e-01 8.04788196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.450385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:158.87, Y:98.35, Z:80.43 [[ 8.97501769e-01 -4.37069660e-01 -5.88276078e-02 1.58867963e+02] [ 4.27475834e-01 8.94976006e-01 -1.27602350e-01 9.83458321e+01] [ 1.08420413e-01 8.93759545e-02 9.90079266e-01 8.04263917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.480385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.93, Y:98.27, Z:80.53 [[ 8.99094841e-01 -4.10923548e-01 -1.50898325e-01 1.58932702e+02] [ 4.19102223e-01 9.07577177e-01 2.56319155e-02 9.82717528e+01] [ 1.26419119e-01 -8.62873467e-02 9.88216930e-01 8.05307114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:158.94, Y:98.32, Z:80.50 [[ 9.00236902e-01 -4.19795224e-01 -1.15522681e-01 1.58944579e+02] [ 4.16630985e-01 9.07617083e-01 -5.14767271e-02 9.83202751e+01] [ 1.26460043e-01 -1.78907886e-03 9.91970089e-01 8.04978312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.540385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:158.97, Y:98.33, Z:80.50 [[ 9.00786080e-01 -4.18770183e-01 -1.14960740e-01 1.58969875e+02] [ 4.15625006e-01 9.08090819e-01 -5.12534800e-02 9.83326132e+01] [ 1.25858222e-01 -1.61213710e-03 9.92046929e-01 8.05008971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57038572300002 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:158.99, Y:98.35, Z:80.50 [[ 9.01025195e-01 -4.18084686e-01 -1.15580249e-01 1.58994834e+02] [ 4.14894924e-01 9.08406834e-01 -5.15676878e-02 9.83451556e+01] [ 1.26553549e-01 -1.48987275e-03 9.91958658e-01 8.05032766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.02, Y:98.36, Z:80.50 [[ 9.02149503e-01 -4.16342146e-01 -1.13072947e-01 1.59018652e+02] [ 4.13271478e-01 9.09207246e-01 -5.04863242e-02 9.83595410e+01] [ 1.23826327e-01 -1.18361147e-03 9.92303200e-01 8.05048276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.04, Y:98.37, Z:80.51 [[ 9.02193819e-01 -4.16276819e-01 -1.12959829e-01 1.59043889e+02] [ 4.13207079e-01 9.09237215e-01 -5.04737223e-02 9.83719400e+01] [ 1.23718321e-01 -1.13872057e-03 9.92316724e-01 8.05074161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:98.41, Z:80.48 [[ 9.02152373e-01 -4.23171339e-01 -8.39470939e-02 1.59062912e+02] [ 4.16742016e-01 9.05127108e-01 -8.40892952e-02 9.84058480e+01] [ 1.11566970e-01 4.08770760e-02 9.92915845e-01 8.04777723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.690385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.10, Y:98.40, Z:80.50 [[ 9.02319885e-01 -4.17671644e-01 -1.06626557e-01 1.59099351e+02] [ 4.15877076e-01 9.08557396e-01 -3.96196443e-02 9.83954605e+01] [ 1.13424349e-01 -8.59394784e-03 9.93509467e-01 8.05037579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.13, Y:98.41, Z:80.51 [[ 9.02466107e-01 -4.16265893e-01 -1.10804478e-01 1.59127587e+02] [ 4.14625340e-01 9.09174692e-01 -3.85643150e-02 9.84066729e+01] [ 1.16793636e-01 -1.11393570e-02 9.93093732e-01 8.05118597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:98.42, Z:80.52 [[ 9.02487458e-01 -4.15874461e-01 -1.12092910e-01 1.59151863e+02] [ 4.13995419e-01 9.09370226e-01 -4.06643004e-02 9.84208444e+01] [ 1.18845199e-01 -9.70692999e-03 9.92865346e-01 8.05166776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.780385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.17, Y:98.43, Z:80.53 [[ 9.01307156e-01 -4.16336088e-01 -1.19623043e-01 1.59171814e+02] [ 4.15141186e-01 9.09046809e-01 -3.59401562e-02 9.84307307e+01] [ 1.23706130e-01 -1.72673321e-02 9.92168651e-01 8.05279977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.20, Y:98.46, Z:80.51 [[ 9.01817014e-01 -4.19888961e-01 -1.02075135e-01 1.59199271e+02] [ 4.15545227e-01 9.07479525e-01 -6.16690809e-02 9.84563262e+01] [ 1.18525261e-01 1.31973912e-02 9.92863330e-01 8.05138657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.23, Y:98.46, Z:80.52 [[ 9.01548588e-01 -4.18925754e-01 -1.08219021e-01 1.59227054e+02] [ 4.16348491e-01 9.08015090e-01 -4.65030272e-02 9.84604751e+01] [ 1.17745819e-01 -3.13208735e-03 9.93038827e-01 8.05239423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:98.48, Z:80.52 [[ 8.99763393e-01 -4.24476875e-01 -1.01218665e-01 1.59249509e+02] [ 4.20814048e-01 9.05403576e-01 -5.62130020e-02 9.84776407e+01] [ 1.15504861e-01 7.98416521e-03 9.93274826e-01 8.05195900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.28, Y:98.48, Z:80.53 [[ 8.99381850e-01 -4.23071800e-01 -1.10102404e-01 1.59279258e+02] [ 4.21155097e-01 9.06048966e-01 -4.12753651e-02 9.84817635e+01] [ 1.17220612e-01 -9.24787439e-03 9.93062840e-01 8.05323177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.31, Y:98.50, Z:80.54 [[ 8.98979745e-01 -4.23859177e-01 -1.10357675e-01 1.59305879e+02] [ 4.21730607e-01 9.05694794e-01 -4.31304543e-02 9.84970180e+01] [ 1.18231611e-01 -7.76780452e-03 9.92955662e-01 8.05361634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:98.51, Z:80.54 [[ 8.99331952e-01 -4.23247937e-01 -1.09832706e-01 1.59331447e+02] [ 4.21092403e-01 9.05984312e-01 -4.32852672e-02 9.85091245e+01] [ 1.17827108e-01 -7.32189409e-03 9.93007131e-01 8.05398224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:98.52, Z:80.54 [[ 9.00694397e-01 -4.21171171e-01 -1.06604163e-01 1.59350985e+02] [ 4.18522629e-01 9.06978744e-01 -4.72055894e-02 9.85209224e+01] [ 1.16569343e-01 -2.09844472e-03 9.93180338e-01 8.05409713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:98.53, Z:80.54 [[ 9.01543031e-01 -4.19675523e-01 -1.05321502e-01 1.59375470e+02] [ 4.16960644e-01 9.07673714e-01 -4.76681235e-02 9.85333502e+01] [ 1.15602703e-01 -9.40056667e-04 9.93295088e-01 8.05432949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.39, Y:98.57, Z:80.51 [[ 8.98826027e-01 -4.30978036e-01 -7.98104343e-02 1.59390956e+02] [ 4.24784123e-01 9.01414135e-01 -8.37317545e-02 9.85723863e+01] [ 1.08028801e-01 4.13580750e-02 9.93287113e-01 8.05149886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:98.54, Z:80.56 [[ 9.01711666e-01 -4.15131877e-01 -1.20754281e-01 1.59432906e+02] [ 4.16979619e-01 9.08852258e-01 -1.07503992e-02 9.85416563e+01] [ 1.14210634e-01 -4.06583137e-02 9.92624215e-01 8.05624027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.110385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:159.44, Y:98.59, Z:80.53 [[ 9.01140442e-01 -4.23867577e-01 -9.10064857e-02 1.59442579e+02] [ 4.17748940e-01 9.05113490e-01 -7.90910418e-02 9.85917300e+01] [ 1.15895326e-01 3.32542735e-02 9.92704602e-01 8.05308822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.140385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:159.48, Y:98.57, Z:80.57 [[ 9.02732970e-01 -4.12511479e-01 -1.22096133e-01 1.59480406e+02] [ 4.14230201e-01 9.10091020e-01 -1.21521722e-02 9.85675596e+01] [ 1.16131505e-01 -3.96057391e-02 9.92443882e-01 8.05672305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:159.50, Y:98.61, Z:80.55 [[ 9.00324567e-01 -4.23538441e-01 -1.00154195e-01 1.59502269e+02] [ 4.19431986e-01 9.05797776e-01 -6.00599527e-02 9.86101216e+01] [ 1.16157146e-01 1.20655778e-02 9.93157560e-01 8.05495314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.200385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.53, Y:98.62, Z:80.56 [[ 8.99959696e-01 -4.23384448e-01 -1.04010361e-01 1.59526778e+02] [ 4.20637969e-01 9.05950017e-01 -4.81483700e-02 9.86187105e+01] [ 1.14613459e-01 -4.19114576e-04 9.93410076e-01 8.05552557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:98.63, Z:80.56 [[ 8.99611334e-01 -4.22756500e-01 -1.09436691e-01 1.59554546e+02] [ 4.20793230e-01 9.06202253e-01 -4.15996995e-02 9.86273390e+01] [ 1.16758319e-01 -8.62665738e-03 9.93122891e-01 8.05641032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.260385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:159.58, Y:98.65, Z:80.56 [[ 8.98845706e-01 -4.25693230e-01 -1.04219344e-01 1.59576682e+02] [ 4.22537443e-01 9.04864027e-01 -5.17996396e-02 9.86453744e+01] [ 1.16355091e-01 2.52330868e-03 9.93204473e-01 8.05603615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:98.65, Z:80.58 [[ 8.98854778e-01 -4.21971403e-01 -1.18322538e-01 1.59607416e+02] [ 4.21224988e-01 9.06374170e-01 -3.24865198e-02 9.86480163e+01] [ 1.20952874e-01 -2.06397461e-02 9.92443652e-01 8.05795528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:98.67, Z:80.58 [[ 8.99084461e-01 -4.23491243e-01 -1.10915730e-01 1.59630943e+02] [ 4.21165886e-01 9.05877247e-01 -4.47851449e-02 9.86674132e+01] [ 1.19442153e-01 -6.44829384e-03 9.92820221e-01 8.05774198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.66, Y:98.68, Z:80.58 [[ 8.98107348e-01 -4.26176831e-01 -1.08519584e-01 1.59657545e+02] [ 4.22963745e-01 9.04639302e-01 -5.22436844e-02 9.86849101e+01] [ 1.20436129e-01 1.02058713e-03 9.92720554e-01 8.05782284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38038572300002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:159.68, Y:98.69, Z:80.58 [[ 8.96693928e-01 -4.28545340e-01 -1.10855269e-01 1.59682142e+02] [ 4.25947016e-01 9.03507779e-01 -4.73585494e-02 9.86942937e+01] [ 1.20453884e-01 -4.75234739e-03 9.92707549e-01 8.05826237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:98.70, Z:80.59 [[ 8.95949652e-01 -4.29078584e-01 -1.14742275e-01 1.59710505e+02] [ 4.27094421e-01 9.03202290e-01 -4.26143029e-02 9.87035401e+01] [ 1.21920371e-01 -1.08255159e-02 9.92480847e-01 8.05907385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.73, Y:98.73, Z:80.58 [[ 8.94207757e-01 -4.36541999e-01 -9.91139291e-02 1.59727395e+02] [ 4.32373916e-01 8.99603538e-01 -6.13699512e-02 9.87297195e+01] [ 1.15953802e-01 1.20232088e-02 9.93181835e-01 8.05769373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.470385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:159.75, Y:98.74, Z:80.58 [[ 8.93975629e-01 -4.36269128e-01 -1.02356352e-01 1.59751171e+02] [ 4.33715248e-01 8.99813520e-01 -4.71880643e-02 9.87366572e+01] [ 1.12688325e-01 -2.20853095e-03 9.93627930e-01 8.05819639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.79, Y:98.74, Z:80.60 [[ 8.93927661e-01 -4.34763915e-01 -1.08966398e-01 1.59785225e+02] [ 4.33132362e-01 9.00465669e-01 -3.94707052e-02 9.87444574e+01] [ 1.15280939e-01 -1.19129183e-02 9.93261490e-01 8.05957374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:98.77, Z:80.58 [[ 8.94319965e-01 -4.36765613e-01 -9.70958267e-02 1.59800341e+02] [ 4.33294303e-01 8.99543761e-01 -5.54713421e-02 9.87679432e+01] [ 1.11569920e-01 7.53806014e-03 9.93727996e-01 8.05848130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.83, Y:98.77, Z:80.61 [[ 8.95149562e-01 -4.30880808e-01 -1.14232177e-01 1.59829288e+02] [ 4.30288123e-01 9.02156580e-01 -3.10747046e-02 9.87658332e+01] [ 1.16444804e-01 -2.13362407e-02 9.92967961e-01 8.06055821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:159.85, Y:98.79, Z:80.60 [[ 8.95841820e-01 -4.31421711e-01 -1.06502299e-01 1.59850706e+02] [ 4.28653639e-01 9.02148361e-01 -4.88302484e-02 9.87886803e+01] [ 1.17147304e-01 -1.90841947e-03 9.93112716e-01 8.06019111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:98.81, Z:80.60 [[ 8.96030392e-01 -4.32275495e-01 -1.01328341e-01 1.59877656e+02] [ 4.28735816e-01 9.01719237e-01 -5.55699294e-02 9.88063595e+01] [ 1.15391233e-01 6.34925676e-03 9.93299829e-01 8.05975515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:98.81, Z:80.61 [[ 8.96677616e-01 -4.28107860e-01 -1.12662831e-01 1.59906201e+02] [ 4.26681646e-01 9.03615223e-01 -3.77134046e-02 9.88087766e+01] [ 1.17949255e-01 -1.42543967e-02 9.92917311e-01 8.06120321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.680385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:159.93, Y:98.83, Z:80.61 [[ 8.97093330e-01 -4.28573227e-01 -1.07464164e-01 1.59929418e+02] [ 4.25882121e-01 9.03503069e-01 -4.80273197e-02 9.88265429e+01] [ 1.17677426e-01 -2.68207813e-03 9.93048252e-01 8.06109784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.710385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:159.96, Y:98.84, Z:80.62 [[ 8.98886807e-01 -4.24269415e-01 -1.09535253e-01 1.59957894e+02] [ 4.21243408e-01 9.05535761e-01 -5.05863278e-02 9.88389328e+01] [ 1.20650321e-01 -6.69620569e-04 9.92694843e-01 8.06163625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:98.85, Z:80.62 [[ 8.97758624e-01 -4.25764934e-01 -1.12932164e-01 1.59979090e+02] [ 4.23507514e-01 9.04799440e-01 -4.44899907e-02 9.88507763e+01] [ 1.21123237e-01 -7.88634730e-03 9.92606149e-01 8.06214117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.00, Y:98.87, Z:80.61 [[ 8.98977951e-01 -4.26091632e-01 -1.01412842e-01 1.59996546e+02] [ 4.22678294e-01 9.04661399e-01 -5.41369872e-02 9.88723806e+01] [ 1.14811601e-01 5.80295073e-03 9.93370335e-01 8.06135734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:98.88, Z:80.62 [[ 8.99202551e-01 -4.24952172e-01 -1.04165366e-01 1.60022285e+02] [ 4.22247515e-01 9.05215324e-01 -4.78774799e-02 9.88801670e+01] [ 1.14637725e-01 -9.32014881e-04 9.93406927e-01 8.06191449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:98.89, Z:80.62 [[ 8.99420068e-01 -4.24551898e-01 -1.03919332e-01 1.60047907e+02] [ 4.21855692e-01 9.05403190e-01 -4.77790549e-02 9.88906985e+01] [ 1.14373583e-01 -8.65520821e-04 9.93437434e-01 8.06230601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:98.89, Z:80.64 [[ 8.99384429e-01 -4.20858310e-01 -1.18262132e-01 1.60078486e+02] [ 4.20440926e-01 9.06834163e-01 -2.96855044e-02 9.88927187e+01] [ 1.19737532e-01 -2.30235598e-02 9.92538583e-01 8.06408563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:98.93, Z:80.62 [[ 8.99436890e-01 -4.26171750e-01 -9.69067628e-02 1.60093081e+02] [ 4.21664759e-01 9.04487378e-01 -6.40422773e-02 9.89261081e+01] [ 1.14943953e-01 1.67398199e-02 9.93230923e-01 8.06229156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:98.93, Z:80.63 [[ 8.99643797e-01 -4.23955657e-01 -1.04415703e-01 1.60121070e+02] [ 4.21193793e-01 9.05682802e-01 -4.83161439e-02 9.89310962e+01] [ 1.15051409e-01 -5.11926876e-04 9.93359407e-01 8.06315060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:98.94, Z:80.63 [[ 9.00372047e-01 -4.23086193e-01 -1.01628001e-01 1.60147344e+02] [ 4.19839104e-01 9.06077659e-01 -5.25205008e-02 9.89445959e+01] [ 1.14303560e-01 4.62058166e-03 9.93435124e-01 8.06314142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.980385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:160.17, Y:98.95, Z:80.64 [[ 9.01189721e-01 -4.20689013e-01 -1.04296892e-01 1.60174615e+02] [ 4.17934438e-01 9.07204872e-01 -4.80637807e-02 9.89518107e+01] [ 1.14838553e-01 -2.74677910e-04 9.93384131e-01 8.06360605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:98.96, Z:80.64 [[ 9.01791860e-01 -4.19326558e-01 -1.04578582e-01 1.60199117e+02] [ 4.16543766e-01 9.07835466e-01 -4.82292242e-02 9.89622937e+01] [ 1.15163940e-01 -6.88346105e-05 9.93346497e-01 8.06398702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:98.96, Z:80.66 [[ 9.01958087e-01 -4.14758065e-01 -1.20197162e-01 1.60227905e+02] [ 4.14407781e-01 9.09626313e-01 -2.90888699e-02 9.89621630e+01] [ 1.21399344e-01 -2.35736975e-02 9.92323778e-01 8.06603395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.25, Y:98.98, Z:80.66 [[ 9.03677362e-01 -4.13283445e-01 -1.12089337e-01 1.60250146e+02] [ 4.10601005e-01 9.10595980e-01 -4.71357110e-02 9.89846914e+01] [ 1.21548509e-01 -3.42851945e-03 9.92579571e-01 8.06559934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.27, Y:99.01, Z:80.64 [[ 9.04870850e-01 -4.15622527e-01 -9.20144521e-02 1.60270086e+02] [ 4.10161119e-01 9.09101498e-01 -7.28170515e-02 9.90123772e+01] [ 1.13914883e-01 2.81492767e-02 9.93091646e-01 8.06371463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:98.99, Z:80.67 [[ 9.05427164e-01 -4.06425835e-01 -1.22554847e-01 1.60306404e+02] [ 4.06614859e-01 9.13268235e-01 -2.46066682e-02 9.89924878e+01] [ 1.21926235e-01 -2.75530761e-02 9.92156652e-01 8.06721335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:99.02, Z:80.66 [[ 9.05734624e-01 -4.10448628e-01 -1.05719982e-01 1.60325914e+02] [ 4.06692508e-01 9.11851545e-01 -5.59282106e-02 9.90189662e+01] [ 1.19356586e-01 7.66059224e-03 9.92821898e-01 8.06611640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.35, Y:99.03, Z:80.66 [[ 9.05358068e-01 -4.11289183e-01 -1.05678649e-01 1.60352582e+02] [ 4.07727880e-01 9.11484364e-01 -5.43528262e-02 9.90306336e+01] [ 1.18679166e-01 6.12063809e-03 9.92913790e-01 8.06637830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.38, Y:99.04, Z:80.67 [[ 9.06674962e-01 -4.07460008e-01 -1.09164349e-01 1.60377172e+02] [ 4.05202128e-01 9.13208703e-01 -4.31404679e-02 9.90356928e+01] [ 1.17267849e-01 -5.11924429e-03 9.93087129e-01 8.06698658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.40, Y:99.05, Z:80.67 [[ 9.06630466e-01 -4.08406618e-01 -1.05949200e-01 1.60401649e+02] [ 4.05428480e-01 9.12798511e-01 -4.92607926e-02 9.90507028e+01] [ 1.16828706e-01 1.70651216e-03 9.93150614e-01 8.06705622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.42, Y:99.07, Z:80.66 [[ 9.06605868e-01 -4.10486032e-01 -9.78111292e-02 1.60424007e+02] [ 4.06487184e-01 9.11767211e-01 -5.87258134e-02 9.90671684e+01] [ 1.13287107e-01 1.34821966e-02 9.93470816e-01 8.06648319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:99.07, Z:80.68 [[ 9.06824751e-01 -4.07860044e-01 -1.06391046e-01 1.60453230e+02] [ 4.05400971e-01 9.13040998e-01 -4.47904904e-02 9.90679898e+01] [ 1.15407638e-01 -2.51390821e-03 9.93315034e-01 8.06764605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.340385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:160.49, Y:99.07, Z:80.69 [[ 9.06638360e-01 -4.06172243e-01 -1.14153375e-01 1.60489706e+02] [ 4.04606960e-01 9.13716662e-01 -3.76174139e-02 9.90710149e+01] [ 1.19582990e-01 -1.20818596e-02 9.92750692e-01 8.06901306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.370385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.50, Y:99.10, Z:80.67 [[ 9.07287277e-01 -4.09631799e-01 -9.50346570e-02 1.60504595e+02] [ 4.05092551e-01 9.12044153e-01 -6.38395475e-02 9.90957375e+01] [ 1.12826512e-01 1.94229775e-02 9.93424847e-01 8.06744490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.54, Y:99.09, Z:80.70 [[ 9.07561519e-01 -4.04390736e-01 -1.13138066e-01 1.60539786e+02] [ 4.03336659e-01 9.14453217e-01 -3.30885842e-02 9.90887700e+01] [ 1.16840186e-01 -1.56028039e-02 9.93028159e-01 8.06965592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:160.57, Y:99.12, Z:80.69 [[ 9.06209489e-01 -4.10484920e-01 -1.01422342e-01 1.60566583e+02] [ 4.05591759e-01 9.11678817e-01 -6.58563573e-02 9.91153702e+01] [ 1.19497642e-01 1.85435899e-02 9.92661296e-01 8.06853083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:160.59, Y:99.11, Z:80.70 [[ 9.07081846e-01 -4.05043796e-01 -1.14638773e-01 1.60593672e+02] [ 4.03913821e-01 9.14166064e-01 -3.39710436e-02 9.91074168e+01] [ 1.18558637e-01 -1.54896681e-02 9.92826228e-01 8.07008012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.490385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:160.62, Y:99.13, Z:80.68 [[ 9.05424958e-01 -4.14035417e-01 -9.37033546e-02 1.60616010e+02] [ 4.08932445e-01 9.09934541e-01 -6.92342938e-02 9.91347107e+01] [ 1.13929369e-01 2.43681157e-02 9.93189959e-01 8.06812637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.520385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:160.64, Y:99.13, Z:80.69 [[ 9.05701957e-01 -4.10950286e-01 -1.04037621e-01 1.60643977e+02] [ 4.08395916e-01 9.11657158e-01 -4.57602702e-02 9.91289352e+01] [ 1.13651838e-01 -1.04337315e-03 9.93520091e-01 8.06944534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:99.14, Z:80.70 [[ 9.04876659e-01 -4.13106542e-01 -1.02670433e-01 1.60672691e+02] [ 4.10487110e-01 9.10682696e-01 -4.64473949e-02 9.91389594e+01] [ 1.12687909e-01 -1.15725682e-04 9.93630425e-01 8.06975920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.70, Y:99.15, Z:80.70 [[ 9.04850373e-01 -4.12422309e-01 -1.05610803e-01 1.60698202e+02] [ 4.09995461e-01 9.10988485e-01 -4.47627372e-02 9.91460732e+01] [ 1.14671376e-01 -2.79637026e-03 9.93399545e-01 8.07033920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:160.72, Y:99.16, Z:80.69 [[ 9.03556694e-01 -4.17339241e-01 -9.70219484e-02 1.60721368e+02] [ 4.13636558e-01 9.08684721e-01 -5.65409296e-02 9.91637119e+01] [ 1.11759111e-01 1.09561107e-02 9.93674929e-01 8.06949766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:99.17, Z:80.70 [[ 9.03208866e-01 -4.16994549e-01 -1.01633115e-01 1.60750361e+02] [ 4.14204761e-01 9.08907885e-01 -4.81754465e-02 9.91683679e+01] [ 1.12464039e-01 1.41557011e-03 9.93654787e-01 8.07021346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:99.17, Z:80.71 [[ 9.03044284e-01 -4.17233270e-01 -1.02114736e-01 1.60775988e+02] [ 4.15161666e-01 9.08787484e-01 -4.17863710e-02 9.91732187e+01] [ 1.10235258e-01 -4.65918018e-03 9.93894602e-01 8.07070180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:99.18, Z:80.71 [[ 9.02594995e-01 -4.18727457e-01 -9.99479506e-02 1.60802491e+02] [ 4.16147729e-01 9.08111904e-01 -4.64094638e-02 9.91826351e+01] [ 1.10196840e-01 2.95837134e-04 9.93909739e-01 8.07099310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:99.19, Z:80.71 [[ 9.01528722e-01 -4.21878790e-01 -9.62509756e-02 1.60833308e+02] [ 4.17731585e-01 9.06534779e-01 -6.07866505e-02 9.91938542e+01] [ 1.12899455e-01 1.45938388e-02 9.93499236e-01 8.07068499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.86, Y:99.19, Z:80.72 [[ 9.00734298e-01 -4.21339197e-01 -1.05598325e-01 1.60858088e+02] [ 4.19979854e-01 9.06823453e-01 -3.58907749e-02 9.91920778e+01] [ 1.10881228e-01 -1.20211172e-02 9.93760960e-01 8.07205831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:99.21, Z:80.71 [[ 8.98654067e-01 -4.27981822e-01 -9.61895423e-02 1.60883965e+02] [ 4.24150125e-01 9.03712916e-01 -5.83064037e-02 9.92135022e+01] [ 1.11881813e-01 1.15984805e-02 9.93653831e-01 8.07107338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:99.21, Z:80.72 [[ 8.98410803e-01 -4.26982767e-01 -1.02682747e-01 1.60910466e+02] [ 4.25389028e-01 9.04209987e-01 -3.80588210e-02 9.92117511e+01] [ 1.09097226e-01 -9.48765792e-03 9.93985805e-01 8.07224918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.94, Y:99.23, Z:80.72 [[ 8.97142536e-01 -4.31325967e-01 -9.53581710e-02 1.60935124e+02] [ 4.27600313e-01 9.02130183e-01 -5.76116818e-02 9.92304162e+01] [ 1.10874899e-01 1.09107065e-02 9.93774478e-01 8.07169828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.96, Y:99.24, Z:80.72 [[ 8.96428726e-01 -4.33274287e-01 -9.32144412e-02 1.60962364e+02] [ 4.30067237e-01 9.01230352e-01 -5.31603582e-02 9.92362975e+01] [ 1.07040700e-01 7.56599496e-03 9.94225852e-01 8.07191860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.99, Y:99.24, Z:80.74 [[ 8.97531677e-01 -4.28452183e-01 -1.04238261e-01 1.60994935e+02] [ 4.26856605e-01 9.03507813e-01 -3.83023545e-02 9.92357049e+01] [ 1.10590811e-01 -1.01172137e-02 9.93814527e-01 8.07366278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:99.26, Z:80.73 [[ 8.98203820e-01 -4.28921408e-01 -9.62097938e-02 1.61014279e+02] [ 4.25762276e-01 9.03321734e-01 -5.23099311e-02 9.92590642e+01] [ 1.09345247e-01 6.02247916e-03 9.93985587e-01 8.07267279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:99.26, Z:80.74 [[ 9.00268528e-01 -4.22665409e-01 -1.04261829e-01 1.61043666e+02] [ 4.20626149e-01 9.06265151e-01 -4.19179926e-02 9.92638105e+01] [ 1.12206148e-01 -6.11780224e-03 9.93666117e-01 8.07390112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.000385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:161.06, Y:99.29, Z:80.73 [[ 9.00575629e-01 -4.24567442e-01 -9.33060786e-02 1.61062425e+02] [ 4.20975480e-01 9.05324508e-01 -5.62777128e-02 9.92872954e+01] [ 1.08365964e-01 1.14027653e-02 9.94045670e-01 8.07275846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:99.29, Z:80.75 [[ 9.02608746e-01 -4.17075140e-01 -1.06516565e-01 1.61094826e+02] [ 4.15448274e-01 9.08818501e-01 -3.81007136e-02 9.92857028e+01] [ 1.12695086e-01 -9.86208583e-03 9.93580675e-01 8.07476462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:99.31, Z:80.74 [[ 9.02832657e-01 -4.19656220e-01 -9.37115293e-02 1.61113319e+02] [ 4.16230997e-01 9.07626178e-01 -5.44653749e-02 9.93091708e+01] [ 1.07911771e-01 1.01674758e-02 9.94108481e-01 8.07376219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:99.32, Z:80.74 [[ 9.03119779e-01 -4.18342922e-01 -9.67670666e-02 1.61139139e+02] [ 4.15679934e-01 9.08286010e-01 -4.71880931e-02 9.93180037e+01] [ 1.07632978e-01 2.39237236e-03 9.94187819e-01 8.07437451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:99.33, Z:80.75 [[ 9.03398456e-01 -4.17444310e-01 -9.80381390e-02 1.61164379e+02] [ 4.14917827e-01 9.08702194e-01 -4.58641513e-02 9.93304101e+01] [ 1.08233201e-01 7.55831886e-04 9.94125245e-01 8.07479162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:99.34, Z:80.76 [[ 9.04432814e-01 -4.13709187e-01 -1.04144095e-01 1.61193467e+02] [ 4.11972900e-01 9.10374648e-01 -3.86824251e-02 9.93350850e+01] [ 1.10813419e-01 -7.91889044e-03 9.93809679e-01 8.07609676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:99.35, Z:80.76 [[ 9.04075259e-01 -4.15387935e-01 -1.00502682e-01 1.61216861e+02] [ 4.12720678e-01 9.09643789e-01 -4.70087042e-02 9.93507582e+01] [ 1.10948489e-01 1.01987128e-03 9.93825635e-01 8.07607657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:99.36, Z:80.76 [[ 9.03289272e-01 -4.17091079e-01 -1.00516280e-01 1.61241320e+02] [ 4.14430107e-01 9.08864306e-01 -4.70463472e-02 9.93636870e+01] [ 1.10978271e-01 8.39487877e-04 9.93822478e-01 8.07627898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.26, Y:99.38, Z:80.76 [[ 9.01596770e-01 -4.22064036e-01 -9.47903654e-02 1.61261679e+02] [ 4.18616512e-01 9.06514902e-01 -5.46895598e-02 9.93835729e+01] [ 1.09011375e-01 9.62711840e-03 9.93993883e-01 8.07550966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.270385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:161.29, Y:99.39, Z:80.77 [[ 9.01952099e-01 -4.18771306e-01 -1.05418234e-01 1.61292421e+02] [ 4.16942994e-01 9.08056744e-01 -3.98934824e-02 9.93851795e+01] [ 1.12431984e-01 -7.97138376e-03 9.93627448e-01 8.07703100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:99.41, Z:80.76 [[ 9.00170654e-01 -4.24599321e-01 -9.69959327e-02 1.61312880e+02] [ 4.21246105e-01 9.05349784e-01 -5.37911408e-02 9.94071334e+01] [ 1.10654929e-01 7.56204742e-03 9.93830117e-01 8.07613106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:99.41, Z:80.78 [[ 8.99469195e-01 -4.23955698e-01 -1.05909077e-01 1.61343870e+02] [ 4.21921412e-01 9.05656903e-01 -4.20463681e-02 9.94085121e+01] [ 1.13743084e-01 -6.86589426e-03 9.93486472e-01 8.07754434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.37, Y:99.42, Z:80.78 [[ 8.97615899e-01 -4.28307581e-01 -1.04107224e-01 1.61368094e+02] [ 4.25513439e-01 9.03632895e-01 -4.88457109e-02 9.94238069e+01] [ 1.14995701e-01 -4.54336457e-04 9.93365885e-01 8.07758281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.390385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:161.40, Y:99.43, Z:80.78 [[ 8.96495029e-01 -4.30666422e-01 -1.04034113e-01 1.61395685e+02] [ 4.28283673e-01 9.02502962e-01 -4.54037410e-02 9.94311145e+01] [ 1.13444962e-01 -3.85188398e-03 9.93536815e-01 8.07826580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:99.45, Z:80.78 [[ 8.95264833e-01 -4.33466054e-01 -1.02995432e-01 1.61418139e+02] [ 4.30403529e-01 9.01168205e-01 -5.14652167e-02 9.94478191e+01] [ 1.15124633e-01 1.74540109e-03 9.93349522e-01 8.07824796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:99.46, Z:80.79 [[ 8.95029719e-01 -4.33416260e-01 -1.05224276e-01 1.61442652e+02] [ 4.30585624e-01 9.01193249e-01 -4.94646080e-02 9.94591595e+01] [ 1.16266172e-01 -1.03576616e-03 9.93217551e-01 8.07860426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.47, Y:99.47, Z:80.79 [[ 8.95884423e-01 -4.31488024e-01 -1.05873448e-01 1.61469106e+02] [ 4.29380300e-01 9.02092936e-01 -4.31380626e-02 9.94691540e+01] [ 1.14121247e-01 -6.81325459e-03 9.93443466e-01 8.07901153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.510385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:161.49, Y:99.49, Z:80.79 [[ 8.95195136e-01 -4.33510059e-01 -1.03415166e-01 1.61491883e+02] [ 4.30087631e-01 9.01138251e-01 -5.45388176e-02 9.94874518e+01] [ 1.16834488e-01 4.34530038e-03 9.93141894e-01 8.07892818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:99.49, Z:80.79 [[ 8.95861425e-01 -4.31946173e-01 -1.04186420e-01 1.61517485e+02] [ 4.29153137e-01 9.01899056e-01 -4.90477077e-02 9.94948208e+01] [ 1.15151603e-01 -7.71979605e-04 9.93347629e-01 8.07943471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:161.54, Y:99.51, Z:80.80 [[ 8.94581604e-01 -4.34327326e-01 -1.05278336e-01 1.61541576e+02] [ 4.31489629e-01 9.00754473e-01 -4.95790254e-02 9.95088462e+01] [ 1.16363458e-01 -1.07402632e-03 9.93206118e-01 8.07978320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:99.52, Z:80.80 [[ 8.94264293e-01 -4.34886385e-01 -1.05665538e-01 1.61565824e+02] [ 4.32705815e-01 9.00462544e-01 -4.39645813e-02 9.95186395e+01] [ 1.14267457e-01 -6.40613742e-03 9.93429368e-01 8.08013544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.59, Y:99.53, Z:80.80 [[ 8.94712301e-01 -4.34863121e-01 -1.01901742e-01 1.61591572e+02] [ 4.31433540e-01 9.00482630e-01 -5.47369565e-02 9.95346520e+01] [ 1.15563832e-01 5.00999917e-03 9.93287421e-01 8.08018730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.62, Y:99.54, Z:80.81 [[ 8.94080082e-01 -4.34954844e-01 -1.06934982e-01 1.61615246e+02] [ 4.33295686e-01 9.00385042e-01 -3.95174013e-02 9.95400111e+01] [ 1.13470943e-01 -1.10027448e-02 9.93480390e-01 8.08098127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:99.56, Z:80.81 [[ 8.94004173e-01 -4.36100601e-01 -1.02824143e-01 1.61639605e+02] [ 4.33514672e-01 8.99895380e-01 -4.74693019e-02 9.95557976e+01] [ 1.13232362e-01 -2.13802061e-03 9.93566234e-01 8.08108851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:99.58, Z:80.80 [[ 8.94296007e-01 -4.38020754e-01 -9.15012131e-02 1.61660360e+02] [ 4.31196863e-01 8.98206061e-01 -8.54115801e-02 9.95843880e+01] [ 1.19598989e-01 3.69281989e-02 9.92135268e-01 8.08011243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:99.57, Z:80.83 [[ 8.94092944e-01 -4.32900404e-01 -1.14869698e-01 1.61696649e+02] [ 4.32910483e-01 9.01057057e-01 -2.61666595e-02 9.95707074e+01] [ 1.14831710e-01 -2.63328709e-02 9.93035880e-01 8.08297818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:99.60, Z:80.82 [[ 8.94279996e-01 -4.35499869e-01 -1.02971615e-01 1.61716672e+02] [ 4.32915852e-01 9.00186176e-01 -4.74205999e-02 9.95950543e+01] [ 1.13345289e-01 -2.17075036e-03 9.93553287e-01 8.08201728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:99.60, Z:80.83 [[ 8.95162377e-01 -4.31589118e-01 -1.11423303e-01 1.61746496e+02] [ 4.30482083e-01 9.01917910e-01 -3.50608074e-02 9.96009434e+01] [ 1.15626535e-01 -1.65806198e-02 9.93154362e-01 8.08324838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:99.63, Z:80.82 [[ 8.95962660e-01 -4.33492163e-01 -9.66201659e-02 1.61766288e+02] [ 4.28732003e-01 9.00972272e-01 -6.66170712e-02 9.96275328e+01] [ 1.15930069e-01 1.82622510e-02 9.93089477e-01 8.08191314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:99.63, Z:80.83 [[ 8.95591471e-01 -4.31840297e-01 -1.06910591e-01 1.61794507e+02] [ 4.28981340e-01 9.01948976e-01 -4.96291742e-02 9.96304237e+01] [ 1.17859775e-01 -1.41518328e-03 9.93029240e-01 8.08329738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:99.64, Z:80.84 [[ 8.95482858e-01 -4.32453283e-01 -1.05330955e-01 1.61819951e+02] [ 4.29569066e-01 9.01656147e-01 -4.98659233e-02 9.96429318e+01] [ 1.16536985e-01 -5.92840600e-04 9.93186176e-01 8.08355399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:99.65, Z:80.84 [[ 8.95544626e-01 -4.32211446e-01 -1.05797399e-01 1.61845028e+02] [ 4.29295361e-01 9.01772136e-01 -5.01249135e-02 9.96535948e+01] [ 1.17069707e-01 -5.29235582e-04 9.93123559e-01 8.08410705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:99.67, Z:80.84 [[ 8.95000425e-01 -4.33714559e-01 -1.04239726e-01 1.61868690e+02] [ 4.30889982e-01 9.01050063e-01 -4.94227405e-02 9.96661542e+01] [ 1.15360574e-01 -6.82479832e-04 9.93323448e-01 8.08440589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:161.90, Y:99.67, Z:80.86 [[ 8.94709084e-01 -4.32315608e-01 -1.12244692e-01 1.61896471e+02] [ 4.31366003e-01 9.01540590e-01 -3.38812180e-02 9.96701025e+01] [ 1.15840525e-01 -1.81047106e-02 9.93102811e-01 8.08558410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:99.69, Z:80.86 [[ 8.94896213e-01 -4.33315278e-01 -1.06764399e-01 1.61918876e+02] [ 4.31211974e-01 9.01212679e-01 -4.32659195e-02 9.96867765e+01] [ 1.14965214e-01 -7.31957978e-03 9.93342551e-01 8.08552012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:99.70, Z:80.85 [[ 8.94778069e-01 -4.34373557e-01 -1.03401261e-01 1.61941751e+02] [ 4.30724874e-01 9.00712694e-01 -5.65042018e-02 9.97033042e+01] [ 1.17678759e-01 6.02122557e-03 9.93033461e-01 8.08544130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:99.72, Z:80.85 [[ 8.94589179e-01 -4.36860659e-01 -9.41433231e-02 1.61967099e+02] [ 4.32383385e-01 8.99365112e-01 -6.47070644e-02 9.97216546e+01] [ 1.12937191e-01 1.71802310e-02 9.93453588e-01 8.08474391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.110385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:162.00, Y:99.72, Z:80.87 [[ 8.94240821e-01 -4.33437663e-01 -1.11647420e-01 1.61995922e+02] [ 4.32112328e-01 9.01057244e-01 -3.70780069e-02 9.97179666e+01] [ 1.16671721e-01 -1.50875592e-02 9.93055927e-01 8.08684996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:99.74, Z:80.87 [[ 8.94240976e-01 -4.34816089e-01 -1.06151046e-01 1.62018743e+02] [ 4.31824670e-01 9.00519225e-01 -5.09173809e-02 9.97371791e+01] [ 1.17730755e-01 -3.06232211e-04 9.93045505e-01 8.08657432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:99.75, Z:80.87 [[ 8.93454278e-01 -4.35864056e-01 -1.08452650e-01 1.62046183e+02] [ 4.33731444e-01 8.99977678e-01 -4.37859938e-02 9.97472830e+01] [ 1.16689705e-01 -7.91854117e-03 9.93136853e-01 8.08723063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:99.76, Z:80.87 [[ 8.93354932e-01 -4.36815076e-01 -1.05401873e-01 1.62070686e+02] [ 4.34001094e-01 8.99550074e-01 -4.95248865e-02 9.97624203e+01] [ 1.16447480e-01 -1.50122660e-03 9.93195716e-01 8.08726009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:99.78, Z:80.87 [[ 8.92778755e-01 -4.38768399e-01 -1.02119477e-01 1.62094450e+02] [ 4.35626103e-01 8.98597089e-01 -5.24706556e-02 9.97780467e+01] [ 1.14786731e-01 2.35877660e-03 9.93387358e-01 8.08728335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:99.78, Z:80.88 [[ 8.92896955e-01 -4.36898917e-01 -1.08877753e-01 1.62122308e+02] [ 4.34885766e-01 8.99464826e-01 -4.28648816e-02 9.97838403e+01] [ 1.16659330e-01 -9.07546295e-03 9.93130524e-01 8.08837504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:99.81, Z:80.86 [[ 8.93100517e-01 -4.40820218e-01 -8.97162271e-02 1.62137638e+02] [ 4.34987530e-01 8.97083552e-01 -7.76334357e-02 9.98143908e+01] [ 1.14705340e-01 3.03090216e-02 9.92937082e-01 8.08637449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:99.80, Z:80.90 [[ 8.92681199e-01 -4.34920754e-01 -1.18170274e-01 1.62174992e+02] [ 4.34884548e-01 9.00067479e-01 -2.74584035e-02 9.98009538e+01] [ 1.18303450e-01 -2.68788255e-02 9.92613632e-01 8.08964642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:99.84, Z:80.87 [[ 8.92695386e-01 -4.40387562e-01 -9.56751944e-02 1.62190699e+02] [ 4.35665900e-01 8.97628959e-01 -6.67643281e-02 9.98357910e+01] [ 1.15283005e-01 1.79177879e-02 9.93171074e-01 8.08738835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:99.84, Z:80.89 [[ 8.92814100e-01 -4.36921560e-01 -1.09464759e-01 1.62218896e+02] [ 4.33799558e-01 8.99499132e-01 -5.21464849e-02 9.98387648e+01] [ 1.21247380e-01 -9.28647290e-04 9.92621887e-01 8.08887375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:99.85, Z:80.89 [[ 8.92540822e-01 -4.38597033e-01 -1.04897684e-01 1.62243604e+02] [ 4.35738495e-01 8.98683194e-01 -5.00048058e-02 9.98538427e+01] [ 1.16201745e-01 -1.07662856e-03 9.93225048e-01 8.08863715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.27, Y:99.87, Z:80.89 [[ 8.92387892e-01 -4.39031263e-01 -1.04381035e-01 1.62268877e+02] [ 4.36199753e-01 8.98471118e-01 -4.97938301e-02 9.98658611e+01] [ 1.15644394e-01 -1.09557081e-03 9.93290075e-01 8.08906940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.470385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.30, Y:99.87, Z:80.91 [[ 8.92107813e-01 -4.35935247e-01 -1.18760725e-01 1.62300523e+02] [ 4.35464323e-01 8.99662742e-01 -3.12693875e-02 9.98659945e+01] [ 1.20476028e-01 -2.38203937e-02 9.92430408e-01 8.09121635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.500385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:162.32, Y:99.89, Z:80.90 [[ 8.91697159e-01 -4.40055370e-01 -1.05959649e-01 1.62320249e+02] [ 4.36520725e-01 8.97963905e-01 -5.57716912e-02 9.98914494e+01] [ 1.19690572e-01 3.47787586e-03 9.92805153e-01 8.09037002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.530385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:162.34, Y:99.91, Z:80.89 [[ 8.91166996e-01 -4.43194134e-01 -9.69553698e-02 1.62340115e+02] [ 4.38663357e-01 8.96292328e-01 -6.50732057e-02 9.99116283e+01] [ 1.15740417e-01 1.54603253e-02 9.93159169e-01 8.08947021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.37, Y:99.92, Z:80.90 [[ 8.91060121e-01 -4.41683599e-01 -1.04534489e-01 1.62367833e+02] [ 4.38849088e-01 8.97169881e-01 -4.99768170e-02 9.99173813e+01] [ 1.15859135e-01 -1.34251644e-03 9.93264747e-01 8.09045392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.590385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:162.40, Y:99.92, Z:80.93 [[ 8.91338660e-01 -4.36835122e-01 -1.21204251e-01 1.62398458e+02] [ 4.36723890e-01 8.99131165e-01 -2.89031546e-02 9.99177228e+01] [ 1.21604433e-01 -2.71702930e-02 9.92206701e-01 8.09272319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.42, Y:99.94, Z:80.92 [[ 8.91816207e-01 -4.38169016e-01 -1.12568941e-01 1.62421370e+02] [ 4.35395691e-01 8.98879252e-01 -4.94639408e-02 9.99402773e+01] [ 1.22859452e-01 -4.89928798e-03 9.92411987e-01 8.09230918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.45, Y:99.95, Z:80.93 [[ 8.91341178e-01 -4.38272104e-01 -1.15881262e-01 1.62445652e+02] [ 4.36317190e-01 8.98760260e-01 -4.30964519e-02 9.99502794e+01] [ 1.23037446e-01 -1.21473443e-02 9.92327682e-01 8.09305934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.47, Y:99.97, Z:80.93 [[ 8.91424842e-01 -4.40134976e-01 -1.07902523e-01 1.62467712e+02] [ 4.36017799e-01 8.97905588e-01 -6.04486064e-02 9.99723254e+01] [ 1.23491825e-01 6.83796864e-03 9.92322030e-01 8.09252632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.710385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:162.49, Y:99.98, Z:80.93 [[ 8.90943871e-01 -4.39990046e-01 -1.12373382e-01 1.62493349e+02] [ 4.36762539e-01 8.98001109e-01 -5.32211671e-02 9.99831066e+01] [ 1.24328205e-01 -1.66341092e-03 9.92239755e-01 8.09327468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.740385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:162.51, Y:100.01, Z:80.92 [[ 8.90811222e-01 -4.43951196e-01 -9.67610560e-02 1.62511462e+02] [ 4.38141939e-01 8.95696187e-01 -7.58945482e-02 1.00010224e+02] [ 1.20361984e-01 2.52126386e-02 9.92409853e-01 8.09174669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.54, Y:100.01, Z:80.93 [[ 8.90546343e-01 -4.41586120e-01 -1.09219549e-01 1.62539966e+02] [ 4.38465142e-01 8.97218060e-01 -5.24220534e-02 1.00012907e+02] [ 1.21142603e-01 -1.20469692e-03 9.92634383e-01 8.09318841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:100.03, Z:80.94 [[ 8.90670576e-01 -4.41172857e-01 -1.09874632e-01 1.62563533e+02] [ 4.38006662e-01 8.97421444e-01 -5.27723005e-02 1.00025886e+02] [ 1.21885558e-01 -1.12308558e-03 9.92543525e-01 8.09350927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.830385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:162.59, Y:100.04, Z:80.94 [[ 8.90768434e-01 -4.40661705e-01 -1.11125416e-01 1.62586746e+02] [ 4.37416710e-01 8.97672634e-01 -5.33897334e-02 1.00038401e+02] [ 1.23281056e-01 -1.05022469e-03 9.92371240e-01 8.09387391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:162.61, Y:100.05, Z:80.94 [[ 8.90732599e-01 -4.40547023e-01 -1.11864910e-01 1.62611055e+02] [ 4.37255258e-01 8.97728952e-01 -5.37639964e-02 1.00052164e+02] [ 1.24109937e-01 -1.02417571e-03 9.92267945e-01 8.09424457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:100.07, Z:80.95 [[ 8.90826941e-01 -4.40094649e-01 -1.12889601e-01 1.62633874e+02] [ 4.36733604e-01 8.97950904e-01 -5.42948788e-02 1.00068848e+02] [ 1.25264205e-01 -9.35341366e-04 9.92122978e-01 8.09459928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:100.08, Z:80.95 [[ 8.90669952e-01 -4.40397992e-01 -1.12945319e-01 1.62658078e+02] [ 4.37031198e-01 8.97802160e-01 -5.43600361e-02 1.00082929e+02] [ 1.25342602e-01 -9.43777382e-04 9.92113069e-01 8.09493381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.68, Y:100.10, Z:80.96 [[ 8.89858851e-01 -4.41945039e-01 -1.13295223e-01 1.62681960e+02] [ 4.38564823e-01 8.97041418e-01 -5.45673073e-02 1.00096235e+02] [ 1.25746258e-01 -1.13009789e-03 9.92061793e-01 8.09554011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.980385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:162.71, Y:100.11, Z:80.96 [[ 8.89209078e-01 -4.43363954e-01 -1.12852200e-01 1.62707013e+02] [ 4.40016761e-01 8.96340749e-01 -5.43922067e-02 1.00108576e+02] [ 1.25269569e-01 -1.29081559e-03 9.92121902e-01 8.09601998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.73, Y:100.12, Z:80.96 [[ 8.88542667e-01 -4.44702041e-01 -1.12836272e-01 1.62730110e+02] [ 4.41362022e-01 8.95677398e-01 -5.44202521e-02 1.00121479e+02] [ 1.25265696e-01 -1.44692926e-03 9.92122176e-01 8.09640945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.040385723 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:162.75, Y:100.14, Z:80.96 [[ 8.88458060e-01 -4.46069765e-01 -1.08000182e-01 1.62754660e+02] [ 4.42082829e-01 8.94982286e-01 -5.97451312e-02 1.00140787e+02] [ 1.23308746e-01 5.33601737e-03 9.92354009e-01 8.09640867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07038572300002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:162.78, Y:100.15, Z:80.97 [[ 8.86998568e-01 -4.46642933e-01 -1.17233235e-01 1.62777591e+02] [ 4.44127652e-01 8.94664152e-01 -4.82357180e-02 1.00150328e+02] [ 1.26428515e-01 -9.28150868e-03 9.91932298e-01 8.09730039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.80, Y:100.17, Z:80.97 [[ 8.86740902e-01 -4.48001703e-01 -1.13951948e-01 1.62800256e+02] [ 4.44613715e-01 8.94030743e-01 -5.50243158e-02 1.00167938e+02] [ 1.26527532e-01 -1.87228754e-03 9.91961329e-01 8.09733890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.82, Y:100.18, Z:80.98 [[ 8.86454703e-01 -4.48429822e-01 -1.14493467e-01 1.62823975e+02] [ 4.45008044e-01 8.93816007e-01 -5.53243759e-02 1.00181898e+02] [ 1.27145193e-01 -1.90796035e-03 9.91882281e-01 8.09768941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.160385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.85, Y:100.20, Z:80.98 [[ 8.85938575e-01 -4.49455798e-01 -1.14465399e-01 1.62845812e+02] [ 4.46039686e-01 8.93300282e-01 -5.53462254e-02 1.00198195e+02] [ 1.27127655e-01 -2.02275467e-03 9.91884302e-01 8.09802657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.190385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.87, Y:100.21, Z:80.98 [[ 8.85429066e-01 -4.50296017e-01 -1.15103717e-01 1.62869937e+02] [ 4.46846054e-01 8.92876771e-01 -5.56747369e-02 1.00212637e+02] [ 1.27843548e-01 -2.13761161e-03 9.91792044e-01 8.09836288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.89, Y:100.23, Z:80.99 [[ 8.84895169e-01 -4.51205817e-01 -1.15645368e-01 1.62893270e+02] [ 4.47726337e-01 8.92417087e-01 -5.59720496e-02 1.00226768e+02] [ 1.28458816e-01 -2.24808059e-03 9.91712296e-01 8.09866660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.250385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.91, Y:100.24, Z:80.99 [[ 8.83974707e-01 -4.52654529e-01 -1.17015359e-01 1.62914810e+02] [ 4.49102193e-01 8.91682546e-01 -5.66520784e-02 1.00244390e+02] [ 1.29984373e-01 -2.47285004e-03 9.91512959e-01 8.09895766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.280385723 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:162.94, Y:100.28, Z:80.97 [[ 8.85256803e-01 -4.55707710e-01 -9.30100886e-02 1.62937203e+02] [ 4.48707598e-01 8.89427752e-01 -8.70618529e-02 1.00277298e+02] [ 1.22400512e-01 3.53377641e-02 9.91851479e-01 8.09676923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.310385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:162.97, Y:100.26, Z:81.01 [[ 8.83245101e-01 -4.49402944e-01 -1.33847248e-01 1.62968123e+02] [ 4.50719905e-01 8.92393637e-01 -2.20264497e-02 1.00259772e+02] [ 1.29343184e-01 -4.08728653e-02 9.90757160e-01 8.10099350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:100.29, Z:81.00 [[ 8.83313281e-01 -4.53994141e-01 -1.16820239e-01 1.62985304e+02] [ 4.50455735e-01 8.91000877e-01 -5.66309812e-02 1.00290335e+02] [ 1.29797069e-01 -2.59944882e-03 9.91537172e-01 8.09999821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.370385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.01, Y:100.30, Z:81.00 [[ 8.83032840e-01 -4.54529631e-01 -1.16858110e-01 1.63009553e+02] [ 4.50990984e-01 8.90727642e-01 -5.66692115e-02 1.00304871e+02] [ 1.29846585e-01 -2.66117944e-03 9.91530525e-01 8.10035969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.400385723 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:163.03, Y:100.33, Z:80.99 [[ 8.84099886e-01 -4.57116112e-01 -9.70167611e-02 1.63032560e+02] [ 4.51757688e-01 8.89171450e-01 -7.27263637e-02 1.00333586e+02] [ 1.19508927e-01 2.04693022e-02 9.92622095e-01 8.09895703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.430385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.06, Y:100.33, Z:81.02 [[ 8.82439486e-01 -4.53429291e-01 -1.25309346e-01 1.63060129e+02] [ 4.52919446e-01 8.90895670e-01 -3.41888991e-02 1.00326687e+02] [ 1.27139802e-01 -2.65854050e-02 9.91528460e-01 8.10175010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:100.35, Z:81.01 [[ 8.82452356e-01 -4.56511640e-01 -1.13467889e-01 1.63080759e+02] [ 4.52586720e-01 8.89716381e-01 -5.97496579e-02 1.00353318e+02] [ 1.28230654e-01 1.37216664e-03 9.91743423e-01 8.10114229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.490385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.10, Y:100.38, Z:80.99 [[ 8.82851836e-01 -4.59829348e-01 -9.55489756e-02 1.63102007e+02] [ 4.54079252e-01 8.87681836e-01 -7.63740171e-02 1.00382968e+02] [ 1.19936105e-01 2.40401339e-02 9.92490505e-01 8.09926006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.13, Y:100.39, Z:81.00 [[ 8.83952278e-01 -4.56501056e-01 -1.01168948e-01 1.63130621e+02] [ 4.53627914e-01 8.89722605e-01 -5.11409933e-02 1.00387243e+02] [ 1.13358217e-01 -6.86861283e-04 9.93553946e-01 8.10017677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:100.38, Z:81.03 [[ 8.83765133e-01 -4.49889635e-01 -1.28679862e-01 1.63160004e+02] [ 4.50401504e-01 8.92424974e-01 -2.67609945e-02 1.00384359e+02] [ 1.26876616e-01 -3.43071694e-02 9.91325044e-01 8.10325318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:100.43, Z:81.00 [[ 8.84385563e-01 -4.56653916e-01 -9.65886987e-02 1.63176266e+02] [ 4.50926358e-01 8.89333622e-01 -7.58361951e-02 1.00426963e+02] [ 1.20530473e-01 2.35140460e-02 9.92431103e-01 8.10043851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:100.42, Z:81.04 [[ 8.85783083e-01 -4.46548336e-01 -1.26423547e-01 1.63207214e+02] [ 4.46182149e-01 8.94341121e-01 -3.27940410e-02 1.00417983e+02] [ 1.27709902e-01 -2.73595234e-02 9.91434132e-01 8.10354282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:100.44, Z:81.03 [[ 8.86448628e-01 -4.48233411e-01 -1.15306719e-01 1.63225498e+02] [ 4.44708581e-01 8.93915251e-01 -5.61231010e-02 1.00442865e+02] [ 1.28230683e-01 -1.52764126e-03 9.91743192e-01 8.10298704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:100.46, Z:81.03 [[ 8.86760119e-01 -4.47752243e-01 -1.14779879e-01 1.63249629e+02] [ 4.44253128e-01 8.94156515e-01 -5.58863565e-02 1.00457444e+02] [ 1.27654419e-01 -1.43352836e-03 9.91817672e-01 8.10322612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:100.47, Z:81.03 [[ 8.86934940e-01 -4.47516561e-01 -1.14347458e-01 1.63272371e+02] [ 4.44037382e-01 8.94274607e-01 -5.57111466e-02 1.00473299e+02] [ 1.27189689e-01 -1.36238330e-03 9.91877476e-01 8.10337732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:100.49, Z:81.04 [[ 8.86724334e-01 -4.47990819e-01 -1.14123540e-01 1.63297086e+02] [ 4.44526737e-01 8.94037045e-01 -5.56214191e-02 1.00486181e+02] [ 1.26948558e-01 -1.41009921e-03 9.91908300e-01 8.10370106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:100.50, Z:81.04 [[ 8.86498592e-01 -4.48500582e-01 -1.13874816e-01 1.63322107e+02] [ 4.45050906e-01 8.93781371e-01 -5.55387394e-02 1.00497651e+02] [ 1.26688346e-01 -1.44507554e-03 9.91941518e-01 8.10414198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:100.51, Z:81.04 [[ 8.86530730e-01 -4.48444922e-01 -1.13843825e-01 1.63346343e+02] [ 4.44992072e-01 8.93809364e-01 -5.55596662e-02 1.00510230e+02] [ 1.26670127e-01 -1.40424798e-03 9.91943903e-01 8.10443748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:100.52, Z:81.05 [[ 8.86533772e-01 -4.48390081e-01 -1.14035989e-01 1.63370602e+02] [ 4.44922565e-01 8.93836913e-01 -5.56730055e-02 1.00524342e+02] [ 1.26892800e-01 -1.38118530e-03 9.91915475e-01 8.10468959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:100.54, Z:81.05 [[ 8.86926659e-01 -4.47695249e-01 -1.13710443e-01 1.63394214e+02] [ 4.44237274e-01 8.94185335e-01 -5.55502631e-02 1.00538588e+02] [ 1.26547799e-01 -1.24540780e-03 9.91959729e-01 8.10490878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:100.55, Z:81.05 [[ 8.88095765e-01 -4.45708978e-01 -1.12380684e-01 1.63418461e+02] [ 4.42312511e-01 8.95177439e-01 -5.49271812e-02 1.00553315e+02] [ 1.25082191e-01 -9.26785652e-04 9.92145950e-01 8.10511462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:100.57, Z:81.05 [[ 8.88583219e-01 -4.44852475e-01 -1.11920231e-01 1.63443742e+02] [ 4.41472394e-01 8.95603531e-01 -5.47397561e-02 1.00565875e+02] [ 1.24587270e-01 -7.68863785e-04 9.92208356e-01 8.10545181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:100.58, Z:81.06 [[ 8.89055987e-01 -4.44035887e-01 -1.11407282e-01 1.63467775e+02] [ 4.40675906e-01 8.96008788e-01 -5.45251999e-02 1.00577592e+02] [ 1.24033049e-01 -6.18549653e-04 9.92277895e-01 8.10575769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:100.59, Z:81.06 [[ 8.89859727e-01 -4.42561861e-01 -1.10854252e-01 1.63493010e+02] [ 4.39221526e-01 8.96737890e-01 -5.42734474e-02 1.00590373e+02] [ 1.23426566e-01 -3.93818622e-04 9.92353630e-01 8.10609322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:100.60, Z:81.06 [[ 8.90535007e-01 -4.41505516e-01 -1.09637040e-01 1.63515068e+02] [ 4.37612256e-01 8.97248429e-01 -5.86580731e-02 1.00603956e+02] [ 1.24269525e-01 4.25855528e-03 9.92239361e-01 8.10621291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:100.61, Z:81.07 [[ 8.90374376e-01 -4.41114168e-01 -1.12480045e-01 1.63543048e+02] [ 4.38146034e-01 8.97443454e-01 -5.12181620e-02 1.00614696e+02] [ 1.23537537e-01 -3.67934665e-03 9.92333079e-01 8.10675293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:100.63, Z:81.07 [[ 8.91400874e-01 -4.39469211e-01 -1.10775873e-01 1.63564764e+02] [ 4.36082898e-01 8.98257624e-01 -5.44513211e-02 1.00627934e+02] [ 1.23434952e-01 2.30491538e-04 9.92352639e-01 8.10685946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:100.64, Z:81.07 [[ 8.91332581e-01 -4.39678681e-01 -1.10493839e-01 1.63590089e+02] [ 4.36220824e-01 8.98154730e-01 -5.50406610e-02 1.00640748e+02] [ 1.23440769e-01 8.59820942e-04 9.92351569e-01 8.10715739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:100.65, Z:81.08 [[ 8.90590663e-01 -4.41087270e-01 -1.10861584e-01 1.63618229e+02] [ 4.37696547e-01 8.97464212e-01 -5.45868168e-02 1.00654069e+02] [ 1.23571854e-01 9.07766110e-05 9.92335623e-01 8.10754341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:100.67, Z:81.08 [[ 8.90477753e-01 -4.41843513e-01 -1.08736750e-01 1.63640227e+02] [ 4.38915942e-01 8.97088779e-01 -5.08381598e-02 1.00665993e+02] [ 1.20009030e-01 -2.45604284e-03 9.92769762e-01 8.10754750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:100.68, Z:81.08 [[ 8.90104479e-01 -4.42975703e-01 -1.07175295e-01 1.63665560e+02] [ 4.39663917e-01 8.96533046e-01 -5.40752883e-02 1.00680157e+02] [ 1.20040232e-01 1.01154641e-03 9.92768513e-01 8.10777102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:100.69, Z:81.08 [[ 8.92072124e-01 -4.39170338e-01 -1.06474131e-01 1.63693920e+02] [ 4.35648418e-01 8.98398066e-01 -5.56000965e-02 1.00690127e+02] [ 1.20074066e-01 3.21400954e-03 9.92759734e-01 8.10839573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:100.70, Z:81.09 [[ 8.92644121e-01 -4.37853981e-01 -1.07099786e-01 1.63719457e+02] [ 4.34683757e-01 8.99046014e-01 -5.25955893e-02 1.00701085e+02] [ 1.19316824e-01 3.94606303e-04 9.92856153e-01 8.10873148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:100.71, Z:81.09 [[ 8.94145742e-01 -4.34763567e-01 -1.07163583e-01 1.63743818e+02] [ 4.31563120e-01 9.00544244e-01 -5.26624930e-02 1.00713444e+02] [ 1.19401282e-01 8.40093425e-04 9.92845722e-01 8.10893229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:100.73, Z:81.09 [[ 8.94774158e-01 -4.34221709e-01 -1.04070712e-01 1.63768331e+02] [ 4.29894033e-01 9.00740933e-01 -6.21038814e-02 1.00730230e+02] [ 1.20707604e-01 1.08295700e-02 9.92629032e-01 8.10889590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.330385723 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:163.80, Y:100.73, Z:81.09 [[ 8.96437539e-01 -4.30237325e-01 -1.06280683e-01 1.63796728e+02] [ 4.28141169e-01 9.02688920e-01 -4.29866544e-02 1.00733067e+02] [ 1.14432858e-01 -6.96828505e-03 9.93406545e-01 8.10946218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:100.75, Z:81.10 [[ 8.96290491e-01 -4.31112832e-01 -1.03947499e-01 1.63819408e+02] [ 4.28071801e-01 9.02297040e-01 -5.11330027e-02 1.00747984e+02] [ 1.15835614e-01 1.33303093e-03 9.93267504e-01 8.10966757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:100.77, Z:81.09 [[ 8.95428780e-01 -4.35481492e-01 -9.25374049e-02 1.63838749e+02] [ 4.31345092e-01 9.00064910e-01 -6.18431028e-02 1.00767176e+02] [ 1.10221198e-01 1.54605386e-02 9.93786828e-01 8.10858045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:100.76, Z:81.11 [[ 8.96478929e-01 -4.29271256e-01 -1.09780316e-01 1.63873820e+02] [ 4.27657401e-01 9.03096751e-01 -3.90564407e-02 1.00762314e+02] [ 1.15908054e-01 -1.19350885e-02 9.93188238e-01 8.11061918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:100.78, Z:81.10 [[ 8.96917784e-01 -4.29871311e-01 -1.03678083e-01 1.63897758e+02] [ 4.26831151e-01 9.02888852e-01 -5.10577023e-02 1.00777488e+02] [ 1.15558027e-01 1.54152556e-03 9.93299535e-01 8.11045512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:100.79, Z:81.11 [[ 8.97078654e-01 -4.29687774e-01 -1.03045163e-01 1.63923259e+02] [ 4.26679403e-01 9.02976132e-01 -5.07818033e-02 1.00788369e+02] [ 1.14867643e-01 1.58802292e-03 9.93379536e-01 8.11077029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:100.80, Z:81.11 [[ 8.97430730e-01 -4.29153053e-01 -1.02204415e-01 1.63947923e+02] [ 4.26186227e-01 9.03230232e-01 -5.04028561e-02 1.00798573e+02] [ 1.13944657e-01 1.67495799e-03 9.93485687e-01 8.11105649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.97, Y:100.82, Z:81.11 [[ 8.98117311e-01 -4.29757479e-01 -9.32405725e-02 1.63971824e+02] [ 4.25159540e-01 9.02738814e-01 -6.55896230e-02 1.00817879e+02] [ 1.12359515e-01 1.92650569e-02 9.93480849e-01 8.11050321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:100.82, Z:81.11 [[ 8.98423267e-01 -4.26980244e-01 -1.02584140e-01 1.64001291e+02] [ 4.24314362e-01 9.04260664e-01 -4.76442441e-02 1.00819719e+02] [ 1.13105954e-01 -7.23226546e-04 9.93582669e-01 8.11141282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:100.83, Z:81.12 [[ 8.97805476e-01 -4.26715693e-01 -1.08899237e-01 1.64028645e+02] [ 4.25256907e-01 9.04296995e-01 -3.74634255e-02 1.00825418e+02] [ 1.14463484e-01 -1.26752841e-02 9.93346590e-01 8.11235513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:100.84, Z:81.12 [[ 8.96765419e-01 -4.30479664e-01 -1.02464833e-01 1.64052949e+02] [ 4.27493297e-01 9.02598835e-01 -5.06440892e-02 1.00839201e+02] [ 1.14285889e-01 1.61283868e-03 9.93446594e-01 8.11221047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.660385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.08, Y:100.85, Z:81.12 [[ 8.95895797e-01 -4.32564520e-01 -1.01285027e-01 1.64077972e+02] [ 4.28780751e-01 9.01565258e-01 -5.76814803e-02 1.00852219e+02] [ 1.16266023e-01 8.24752591e-03 9.93183865e-01 8.11243917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.690385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.11, Y:100.86, Z:81.13 [[ 8.94575431e-01 -4.33402324e-01 -1.09074397e-01 1.64107859e+02] [ 4.31261838e-01 9.01165840e-01 -4.37419359e-02 1.00855408e+02] [ 1.17251978e-01 -7.90916394e-03 9.93070702e-01 8.11334316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.13, Y:100.87, Z:81.13 [[ 8.92690582e-01 -4.39039389e-01 -1.01724826e-01 1.64131047e+02] [ 4.34864861e-01 8.98406590e-01 -6.13037640e-02 1.00873043e+02] [ 1.18305022e-01 1.04887403e-02 9.92921904e-01 8.11295234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.16, Y:100.88, Z:81.14 [[ 8.91864100e-01 -4.39429178e-01 -1.07146744e-01 1.64157583e+02] [ 4.36365025e-01 8.98277070e-01 -5.18060905e-02 1.00878431e+02] [ 1.19012571e-01 -5.51099499e-04 9.92892595e-01 8.11363850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:100.89, Z:81.14 [[ 8.91753375e-01 -4.40751216e-01 -1.02539183e-01 1.64182664e+02] [ 4.37514624e-01 8.97625105e-01 -5.33865525e-02 1.00890699e+02] [ 1.15571933e-01 2.74524629e-03 9.93295320e-01 8.11376162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.810385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.21, Y:100.89, Z:81.15 [[ 8.89723671e-01 -4.42583945e-01 -1.11853654e-01 1.64213469e+02] [ 4.40614844e-01 8.96660490e-01 -4.31106203e-02 1.00891639e+02] [ 1.19374821e-01 -1.09278411e-02 9.92789119e-01 8.11475330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.23, Y:100.91, Z:81.14 [[ 8.89925118e-01 -4.45034663e-01 -9.98871014e-02 1.64234033e+02] [ 4.40962151e-01 8.95455582e-01 -6.09235734e-02 1.00910668e+02] [ 1.16557564e-01 1.01709871e-02 9.93131857e-01 8.11427696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.870385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.26, Y:100.91, Z:81.15 [[ 8.88596970e-01 -4.45409956e-01 -1.09569138e-01 1.64264305e+02] [ 4.42877902e-01 8.95306348e-01 -4.78090791e-02 1.00914923e+02] [ 1.19392585e-01 -6.04274729e-03 9.92828734e-01 8.11533290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:100.92, Z:81.16 [[ 8.88544784e-01 -4.45009165e-01 -1.11602018e-01 1.64290512e+02] [ 4.42652355e-01 8.95489167e-01 -4.64547621e-02 1.00924362e+02] [ 1.20611193e-01 -8.12375960e-03 9.92666583e-01 8.11576840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93038572300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.31, Y:100.94, Z:81.16 [[ 8.88380982e-01 -4.46580442e-01 -1.06513564e-01 1.64314170e+02] [ 4.43621365e-01 8.94741997e-01 -5.13501912e-02 1.00939071e+02] [ 1.18234150e-01 -1.63315937e-03 9.92984400e-01 8.11564855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.960385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.34, Y:100.95, Z:81.16 [[ 8.88550020e-01 -4.46111091e-01 -1.07068932e-01 1.64339511e+02] [ 4.42491343e-01 8.94972256e-01 -5.67985298e-02 1.00951014e+02] [ 1.21162178e-01 3.09125934e-03 9.92627912e-01 8.11595690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99038572300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:164.37, Y:100.96, Z:81.16 [[ 8.88381206e-01 -4.46591456e-01 -1.06465503e-01 1.64366878e+02] [ 4.43227929e-01 8.94736848e-01 -5.47263670e-02 1.00961384e+02] [ 1.19698937e-01 1.42939149e-03 9.92809207e-01 8.11625521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.020385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:164.39, Y:100.97, Z:81.16 [[ 8.88194227e-01 -4.48014797e-01 -1.01949777e-01 1.64389418e+02] [ 4.44266426e-01 8.94003335e-01 -5.81840247e-02 1.00974155e+02] [ 1.17210744e-01 6.38585200e-03 9.93086533e-01 8.11613985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.050385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.42, Y:100.98, Z:81.17 [[ 8.88590642e-01 -4.45793263e-01 -1.08051091e-01 1.64416911e+02] [ 4.43085242e-01 8.95126441e-01 -4.92353880e-02 1.00981157e+02] [ 1.18668192e-01 -4.12573862e-03 9.92925394e-01 8.11708761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.080385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.44, Y:101.00, Z:81.17 [[ 8.89034069e-01 -4.46066268e-01 -1.03166414e-01 1.64442881e+02] [ 4.42468431e-01 8.94987069e-01 -5.67435851e-02 1.00996492e+02] [ 1.17644006e-01 4.79909898e-03 9.93044237e-01 8.11699124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:101.00, Z:81.18 [[ 8.88523242e-01 -4.45924585e-01 -1.08063469e-01 1.64466812e+02] [ 4.43402839e-01 8.95053329e-01 -4.76808300e-02 1.01001160e+02] [ 1.17984622e-01 -5.55012338e-03 9.92999912e-01 8.11791369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.49, Y:101.01, Z:81.19 [[ 8.88810548e-01 -4.44732296e-01 -1.10584781e-01 1.64492415e+02] [ 4.43490960e-01 8.95516959e-01 -3.69478537e-02 1.01006000e+02] [ 1.15462450e-01 -1.62037085e-02 9.93179673e-01 8.11881383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.52, Y:101.03, Z:81.18 [[ 8.88496882e-01 -4.48178768e-01 -9.85346779e-02 1.64515102e+02] [ 4.43312602e-01 8.93788176e-01 -6.79458123e-02 1.01031071e+02] [ 1.18521000e-01 1.66879780e-02 9.92811303e-01 8.11828206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.55, Y:101.02, Z:81.20 [[ 8.88962917e-01 -4.42828354e-01 -1.16824578e-01 1.64545739e+02] [ 4.42450096e-01 8.96271532e-01 -3.05819144e-02 1.01024009e+02] [ 1.18249082e-01 -2.45028577e-02 9.92681603e-01 8.12035387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:101.06, Z:81.18 [[ 8.90068775e-01 -4.46285350e-01 -9.27737136e-02 1.64566508e+02] [ 4.40663904e-01 8.94509059e-01 -7.52918785e-02 1.01060346e+02] [ 1.16588590e-01 2.61329233e-02 9.92836427e-01 8.11815024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.59, Y:101.05, Z:81.20 [[ 8.90561072e-01 -4.40252192e-01 -1.14363389e-01 1.64593667e+02] [ 4.38565714e-01 8.97768873e-01 -4.08798847e-02 1.01053948e+02] [ 1.20669350e-01 -1.37498275e-02 9.92597527e-01 8.12001914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.62, Y:101.07, Z:81.20 [[ 8.91205692e-01 -4.40361521e-01 -1.08784856e-01 1.64617096e+02] [ 4.36919451e-01 8.97819357e-01 -5.49708582e-02 1.01071204e+02] [ 1.21876200e-01 1.46012224e-03 9.92544236e-01 8.11993714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.64, Y:101.08, Z:81.20 [[ 8.91992481e-01 -4.39018260e-01 -1.07760763e-01 1.64641204e+02] [ 4.35904139e-01 8.98478045e-01 -5.21994626e-02 1.01080915e+02] [ 1.19737197e-01 -4.11834497e-04 9.92805537e-01 8.12026428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.67, Y:101.09, Z:81.20 [[ 8.92248339e-01 -4.39102504e-01 -1.05270568e-01 1.64667756e+02] [ 4.35946051e-01 8.98436405e-01 -5.25648813e-02 1.01093916e+02] [ 1.17660282e-01 1.00863946e-03 9.93053393e-01 8.12040771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.380385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.69, Y:101.11, Z:81.20 [[ 8.92653195e-01 -4.38813139e-01 -1.03020879e-01 1.64689781e+02] [ 4.34872796e-01 8.98542124e-01 -5.92258593e-02 1.01108589e+02] [ 1.18557685e-01 8.06717498e-03 9.92914395e-01 8.12031894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:101.12, Z:81.20 [[ 8.92536140e-01 -4.39620051e-01 -1.00565652e-01 1.64714057e+02] [ 4.35646271e-01 8.98133533e-01 -5.97367838e-02 1.01121441e+02] [ 1.16582872e-01 9.50618729e-03 9.93135472e-01 8.12023305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:101.13, Z:81.21 [[ 8.92717025e-01 -4.38340539e-01 -1.04469543e-01 1.64742090e+02] [ 4.35037056e-01 8.98805335e-01 -5.37747974e-02 1.01129443e+02] [ 1.17469456e-01 2.55755467e-03 9.93073203e-01 8.12084500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:101.14, Z:81.21 [[ 8.92387386e-01 -4.40222239e-01 -9.92427983e-02 1.64765957e+02] [ 4.36177715e-01 8.97825180e-01 -6.04892328e-02 1.01142181e+02] [ 1.15731389e-01 1.06923314e-02 9.93222996e-01 8.12065751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.500385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.79, Y:101.15, Z:81.21 [[ 8.91998779e-01 -4.41110394e-01 -9.87916975e-02 1.64792571e+02] [ 4.37441078e-01 8.97417901e-01 -5.73272487e-02 1.01152554e+02] [ 1.13945083e-01 7.92028917e-03 9.93455478e-01 8.12088706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:101.16, Z:81.21 [[ 8.91900239e-01 -4.41719148e-01 -9.69440971e-02 1.64818180e+02] [ 4.38240592e-01 8.97123792e-01 -5.58039926e-02 1.01163346e+02] [ 1.11620548e-01 7.28675576e-03 9.93724185e-01 8.12100817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:101.17, Z:81.21 [[ 8.91956269e-01 -4.41162373e-01 -9.89432945e-02 1.64844538e+02] [ 4.38153261e-01 8.97423573e-01 -5.15038972e-02 1.01174007e+02] [ 1.11515626e-01 2.58689688e-03 9.93759313e-01 8.12138307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:101.19, Z:81.21 [[ 8.92126830e-01 -4.41500048e-01 -9.58510703e-02 1.64868947e+02] [ 4.37982842e-01 8.97224036e-01 -5.62144030e-02 1.01189404e+02] [ 1.10818546e-01 8.16925302e-03 9.93807081e-01 8.12126280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.620385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.90, Y:101.20, Z:81.22 [[ 8.92261261e-01 -4.40673309e-01 -9.83711147e-02 1.64895156e+02] [ 4.37771186e-01 8.97665272e-01 -5.05316584e-02 1.01197476e+02] [ 1.10572287e-01 2.02340171e-03 9.93866025e-01 8.12171775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:164.92, Y:101.21, Z:81.22 [[ 8.92160068e-01 -4.41130097e-01 -9.72350324e-02 1.64921999e+02] [ 4.38053602e-01 8.97434527e-01 -5.21565986e-02 1.01206834e+02] [ 1.10269921e-01 3.93787839e-03 9.93893877e-01 8.12192207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:101.20, Z:81.25 [[ 8.92553357e-01 -4.34885701e-01 -1.19259939e-01 1.64956012e+02] [ 4.34854845e-01 9.00075622e-01 -2.76611438e-02 1.01200836e+02] [ 1.19372400e-01 -2.71717157e-02 9.92477671e-01 8.12481433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:101.24, Z:81.22 [[ 8.92072951e-01 -4.42619318e-01 -9.10713375e-02 1.64971055e+02] [ 4.37453213e-01 8.96388082e-01 -7.15757930e-02 1.01238776e+02] [ 1.13316090e-01 2.40113798e-02 9.93268804e-01 8.12196890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:101.24, Z:81.24 [[ 8.91826876e-01 -4.39303569e-01 -1.07968500e-01 1.65004946e+02] [ 4.37079544e-01 8.98309132e-01 -4.47456728e-02 1.01236038e+02] [ 1.16646023e-01 -7.28542899e-03 9.93146831e-01 8.12372757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:101.25, Z:81.24 [[ 8.91542556e-01 -4.40944554e-01 -1.03536324e-01 1.65029656e+02] [ 4.37742262e-01 8.97532108e-01 -5.30832030e-02 1.01251854e+02] [ 1.16333924e-01 2.00370996e-03 9.93208137e-01 8.12363848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.06, Y:101.26, Z:81.24 [[ 8.91088024e-01 -4.41816921e-01 -1.03730135e-01 1.65055038e+02] [ 4.38761043e-01 8.97104952e-01 -5.18792047e-02 1.01259918e+02] [ 1.15977928e-01 7.16195781e-04 9.93251533e-01 8.12407929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.08, Y:101.27, Z:81.24 [[ 8.90681677e-01 -4.42554008e-01 -1.04077373e-01 1.65081600e+02] [ 4.39434293e-01 8.96741301e-01 -5.24646583e-02 1.01271532e+02] [ 1.16548923e-01 9.94143149e-04 9.93184454e-01 8.12445931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.11, Y:101.28, Z:81.25 [[ 8.90541640e-01 -4.42852038e-01 -1.04007978e-01 1.65108278e+02] [ 4.39767568e-01 8.96594411e-01 -5.21818746e-02 1.01282759e+02] [ 1.16361821e-01 7.30796868e-04 9.93206621e-01 8.12483634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:165.14, Y:101.29, Z:81.26 [[ 8.90119729e-01 -4.41389010e-01 -1.13413444e-01 1.65135459e+02] [ 4.39874545e-01 8.97193768e-01 -3.94173520e-02 1.01285256e+02] [ 1.19152221e-01 -1.48015245e-02 9.92765664e-01 8.12645808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.920385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:165.16, Y:101.30, Z:81.26 [[ 8.89875408e-01 -4.43667310e-01 -1.06212410e-01 1.65158268e+02] [ 4.40449032e-01 8.96191298e-01 -5.33461193e-02 1.01304100e+02] [ 1.18854566e-01 6.90246645e-04 9.92911434e-01 8.12613388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:165.18, Y:101.32, Z:81.25 [[ 8.89417833e-01 -4.47152634e-01 -9.48179381e-02 1.65182333e+02] [ 4.42612630e-01 8.94307002e-01 -6.56433316e-02 1.01324683e+02] [ 1.14148935e-01 1.64167328e-02 9.93327998e-01 8.12503234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:165.21, Y:101.33, Z:81.26 [[ 8.89319150e-01 -4.45705176e-01 -1.02266049e-01 1.65211344e+02] [ 4.42733971e-01 8.95179715e-01 -5.13800435e-02 1.01330651e+02] [ 1.14446844e-01 4.16602665e-04 9.93429286e-01 8.12600055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:165.24, Y:101.34, Z:81.26 [[ 8.88930989e-01 -4.46530897e-01 -1.02038494e-01 1.65236787e+02] [ 4.43739873e-01 8.94767700e-01 -4.98566683e-02 1.01340999e+02] [ 1.13563291e-01 -9.59410795e-04 9.93530301e-01 8.12639522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:101.34, Z:81.28 [[ 8.88468216e-01 -4.45439979e-01 -1.10487347e-01 1.65264265e+02] [ 4.44133391e-01 8.95173837e-01 -3.75410750e-02 1.01340862e+02] [ 1.15627678e-01 -1.57170680e-02 9.93168271e-01 8.12812168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:101.36, Z:81.28 [[ 8.87931184e-01 -4.48272795e-01 -1.03100501e-01 1.65287064e+02] [ 4.45260625e-01 8.93896793e-01 -5.18796717e-02 1.01359008e+02] [ 1.15417452e-01 1.58984912e-04 9.93317062e-01 8.12779722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:165.31, Y:101.37, Z:81.28 [[ 8.87580296e-01 -4.48831303e-01 -1.03690309e-01 1.65313304e+02] [ 4.45784335e-01 8.93616499e-01 -5.22099458e-02 1.01369724e+02] [ 1.16092829e-01 1.17003710e-04 9.93238361e-01 8.12796725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.130385723 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:165.34, Y:101.39, Z:81.28 [[ 8.86454127e-01 -4.51302807e-01 -1.02590725e-01 1.65336649e+02] [ 4.46598277e-01 8.92277259e-01 -6.62666780e-02 1.01387734e+02] [ 1.21445709e-01 1.29255292e-02 9.92513915e-01 8.12786124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.37, Y:101.39, Z:81.29 [[ 8.88005103e-01 -4.46416653e-01 -1.10268353e-01 1.65365662e+02] [ 4.44928224e-01 8.94710787e-01 -3.91341760e-02 1.01385262e+02] [ 1.16128433e-01 -1.43101546e-02 9.93131112e-01 8.12912056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.39, Y:101.40, Z:81.29 [[ 8.88525512e-01 -4.46908033e-01 -1.03902000e-01 1.65389030e+02] [ 4.43832309e-01 8.94579821e-01 -5.23433463e-02 1.01401796e+02] [ 1.16341294e-01 3.93334026e-04 9.93209217e-01 8.12886802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:101.41, Z:81.29 [[ 8.88554782e-01 -4.46910353e-01 -1.03641383e-01 1.65413449e+02] [ 4.43846102e-01 8.94578648e-01 -5.22463408e-02 1.01413625e+02] [ 1.16064799e-01 4.22912264e-04 9.93241554e-01 8.12914455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:101.43, Z:81.29 [[ 8.88542333e-01 -4.46941241e-01 -1.03614914e-01 1.65438775e+02] [ 4.43876007e-01 8.94563208e-01 -5.22566493e-02 1.01425724e+02] [ 1.16045742e-01 4.40070709e-04 9.93243773e-01 8.12937451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.46, Y:101.44, Z:81.30 [[ 8.88424213e-01 -4.47124588e-01 -1.03836507e-01 1.65463406e+02] [ 4.44044904e-01 8.94471583e-01 -5.23899897e-02 1.01435469e+02] [ 1.16303657e-01 4.36463545e-04 9.93213607e-01 8.12972837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:101.45, Z:81.30 [[ 8.88392487e-01 -4.47277196e-01 -1.03449978e-01 1.65488649e+02] [ 4.44218688e-01 8.94395281e-01 -5.22191391e-02 1.01446606e+02] [ 1.15881602e-01 4.36677343e-04 9.93262938e-01 8.13009144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.340385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:165.51, Y:101.46, Z:81.30 [[ 8.88206282e-01 -4.47753878e-01 -1.02985750e-01 1.65512812e+02] [ 4.44722026e-01 8.94156755e-01 -5.20193999e-02 1.01457888e+02] [ 1.15377292e-01 4.03926209e-04 9.93321659e-01 8.13037750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.53, Y:101.48, Z:81.29 [[ 8.86937171e-01 -4.53329958e-01 -8.85121677e-02 1.65533762e+02] [ 4.47726622e-01 8.90897773e-01 -7.64331790e-02 1.01484697e+02] [ 1.13504743e-01 2.81621737e-02 9.93138241e-01 8.12859698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:101.47, Z:81.32 [[ 8.87547361e-01 -4.45898410e-01 -1.15906385e-01 1.65568302e+02] [ 4.45931245e-01 8.94656890e-01 -2.70993289e-02 1.01468940e+02] [ 1.15779994e-01 -2.76343410e-02 9.92890395e-01 8.13221916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:101.49, Z:81.31 [[ 8.87553719e-01 -4.48951232e-01 -1.03398200e-01 1.65588578e+02] [ 4.45896958e-01 8.93556212e-01 -5.22800057e-02 1.01493395e+02] [ 1.15863277e-01 2.96370504e-04 9.93265127e-01 8.13129843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:101.53, Z:81.28 [[ 8.85803535e-01 -4.58332067e-01 -7.26898459e-02 1.65600332e+02] [ 4.52515118e-01 8.87825910e-01 -8.36374438e-02 1.01528860e+02] [ 1.02869651e-01 4.11930892e-02 9.93841519e-01 8.12813644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49038572300003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.65, Y:101.50, Z:81.34 [[ 8.87186325e-01 -4.45179805e-01 -1.21306911e-01 1.65646725e+02] [ 4.46617759e-01 8.94571141e-01 -1.65846960e-02 1.01500424e+02] [ 1.15900833e-01 -3.94641050e-02 9.92476489e-01 8.13363326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:101.53, Z:81.32 [[ 8.86705798e-01 -4.50273183e-01 -1.04913723e-01 1.65667563e+02] [ 4.47837293e-01 8.92875410e-01 -4.70665685e-02 1.01527593e+02] [ 1.14867697e-01 -5.25007867e-03 9.93366926e-01 8.13244824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:101.54, Z:81.32 [[ 8.87020383e-01 -4.50390420e-01 -1.01702064e-01 1.65689879e+02] [ 4.46804496e-01 8.92817304e-01 -5.69473727e-02 1.01543278e+02] [ 1.16449913e-01 5.07254104e-03 9.93183612e-01 8.13238096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.580385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:165.72, Y:101.55, Z:81.33 [[ 8.87065688e-01 -4.49618866e-01 -1.04677318e-01 1.65715240e+02] [ 4.46483794e-01 8.93220463e-01 -5.30040118e-02 1.01553838e+02] [ 1.17331526e-01 2.81313980e-04 9.93092762e-01 8.13283597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.72, Y:101.59, Z:81.29 [[ 8.85027081e-01 -4.59668959e-01 -7.36988024e-02 1.65720741e+02] [ 4.53573657e-01 8.87067296e-01 -8.59217672e-02 1.01592474e+02] [ 1.04871367e-01 4.26152555e-02 9.93572311e-01 8.12924190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:101.56, Z:81.35 [[ 8.87918967e-01 -4.42776036e-01 -1.24696795e-01 1.65772158e+02] [ 4.44137478e-01 8.95773840e-01 -1.81969324e-02 1.01562631e+02] [ 1.19757293e-01 -3.92251187e-02 9.92028014e-01 8.13517741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.79, Y:101.59, Z:81.34 [[ 8.88179105e-01 -4.46961847e-01 -1.06597301e-01 1.65789860e+02] [ 4.43689155e-01 8.94552778e-01 -5.39931601e-02 1.01593336e+02] [ 1.19489794e-01 6.59530308e-04 9.92835210e-01 8.13373050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.700385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:165.81, Y:101.61, Z:81.34 [[ 8.88076099e-01 -4.47628444e-01 -1.04640427e-01 1.65813843e+02] [ 4.43675859e-01 8.94195210e-01 -5.97215093e-02 1.01608750e+02] [ 1.20302015e-01 6.61081385e-03 9.92715328e-01 8.13373445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.84, Y:101.62, Z:81.35 [[ 8.87386083e-01 -4.48106716e-01 -1.08380396e-01 1.65840623e+02] [ 4.45539644e-01 8.93963121e-01 -4.82116540e-02 1.01616300e+02] [ 1.18492043e-01 -5.50541217e-03 9.92939740e-01 8.13472048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.760385723 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:165.86, Y:101.63, Z:81.35 [[ 8.86587690e-01 -4.50565804e-01 -1.04655262e-01 1.65863888e+02] [ 4.46861316e-01 8.92731832e-01 -5.78345900e-02 1.01632904e+02] [ 1.19487372e-01 4.50904769e-03 9.92825481e-01 8.13460083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:101.66, Z:81.34 [[ 8.82983365e-01 -4.58936983e-01 -9.85759750e-02 1.65882639e+02] [ 4.53250038e-01 8.88202441e-01 -7.52384643e-02 1.01657740e+02] [ 1.22085135e-01 2.17547480e-02 9.92281185e-01 8.13388698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.820385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:165.91, Y:101.65, Z:81.36 [[ 8.83015509e-01 -4.55593920e-01 -1.12773183e-01 1.65911783e+02] [ 4.53841309e-01 8.90079768e-01 -4.22619603e-02 1.01651847e+02] [ 1.19631420e-01 -1.38631624e-02 9.92721580e-01 8.13585824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.94, Y:101.66, Z:81.37 [[ 8.84049840e-01 -4.51879807e-01 -1.19417419e-01 1.65944941e+02] [ 4.50013171e-01 8.91951181e-01 -4.37177027e-02 1.01659839e+02] [ 1.26269655e-01 -1.50907834e-02 9.91881164e-01 8.13738852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:101.69, Z:81.36 [[ 8.81362216e-01 -4.61108080e-01 -1.02859046e-01 1.65959500e+02] [ 4.56506040e-01 8.87273843e-01 -6.59345295e-02 1.01687260e+02] [ 1.21667086e-01 1.11564271e-02 9.92508264e-01 8.13583711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.99, Y:101.69, Z:81.38 [[ 8.81983516e-01 -4.56403035e-01 -1.17479138e-01 1.65993863e+02] [ 4.54092444e-01 8.89697337e-01 -4.73149067e-02 1.01686933e+02] [ 1.26115543e-01 -1.16154212e-02 9.91947555e-01 8.13793693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.02, Y:101.70, Z:81.38 [[ 8.81420237e-01 -4.58707455e-01 -1.12631417e-01 1.66015696e+02] [ 4.55162137e-01 8.88586683e-01 -5.69309828e-02 1.01704579e+02] [ 1.26197443e-01 -1.08543591e-03 9.92004550e-01 8.13776271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.970385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:166.04, Y:101.72, Z:81.38 [[ 8.80730669e-01 -4.59992749e-01 -1.12783689e-01 1.66040480e+02] [ 4.56445972e-01 8.87921785e-01 -5.70261260e-02 1.01718173e+02] [ 1.26374698e-01 -1.25500220e-03 9.91981784e-01 8.13807052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.06, Y:101.74, Z:81.37 [[ 8.78523179e-01 -4.67255661e-01 -9.93437015e-02 1.66056446e+02] [ 4.62049649e-01 8.83958718e-01 -7.16038202e-02 1.01743601e+02] [ 1.21273021e-01 1.70038934e-02 9.92473537e-01 8.13656584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:101.74, Z:81.38 [[ 8.78362958e-01 -4.64383315e-01 -1.13254805e-01 1.66085262e+02] [ 4.61662499e-01 8.85600995e-01 -5.07800740e-02 1.01743579e+02] [ 1.23879987e-01 -7.68216007e-03 9.92267471e-01 8.13824705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.060385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:166.12, Y:101.75, Z:81.40 [[ 8.79402919e-01 -4.60754785e-01 -1.19814584e-01 1.66116748e+02] [ 4.58289835e-01 8.87449183e-01 -4.90344221e-02 1.01750858e+02] [ 1.28922199e-01 -1.17887920e-02 9.91584636e-01 8.13964495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:101.78, Z:81.38 [[ 8.78414110e-01 -4.65776870e-01 -1.06960544e-01 1.66133687e+02] [ 4.61146323e-01 8.84859103e-01 -6.60941510e-02 1.01775706e+02] [ 1.25430138e-01 8.73357306e-03 9.92064013e-01 8.13842476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:101.78, Z:81.40 [[ 8.78610410e-01 -4.63056155e-01 -1.16716516e-01 1.66161375e+02] [ 4.60149634e-01 8.86295540e-01 -5.23691667e-02 1.01781287e+02] [ 1.27695193e-01 -7.69496726e-03 9.91783608e-01 8.13971597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:101.80, Z:81.40 [[ 8.80673465e-01 -4.59187742e-01 -1.16451128e-01 1.66188639e+02] [ 4.55793964e-01 8.88330758e-01 -5.58598806e-02 1.01796277e+02] [ 1.29097291e-01 -3.88340647e-03 9.91624328e-01 8.14021477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:101.81, Z:81.40 [[ 8.81090779e-01 -4.59883732e-01 -1.10390180e-01 1.66210738e+02] [ 4.55784702e-01 8.87971147e-01 -6.13803465e-02 1.01813599e+02] [ 1.26251118e-01 3.76750210e-03 9.91991160e-01 8.13996277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.24, Y:101.80, Z:81.43 [[ 8.81170200e-01 -4.52309382e-01 -1.37678252e-01 1.66242412e+02] [ 4.53613846e-01 8.90886549e-01 -2.35719188e-02 1.01803851e+02] [ 1.33317503e-01 -4.16818890e-02 9.90196477e-01 8.14349805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:101.86, Z:81.39 [[ 8.82680768e-01 -4.60952378e-01 -9.16382408e-02 1.66254033e+02] [ 4.52046525e-01 8.86055594e-01 -1.02759061e-01 1.01858138e+02] [ 1.28563609e-01 4.92786982e-02 9.90476152e-01 8.13925453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:101.84, Z:81.42 [[ 8.83066071e-01 -4.54422883e-01 -1.17022038e-01 1.66289041e+02] [ 4.52520045e-01 8.90673064e-01 -4.38987660e-02 1.01842695e+02] [ 1.24176981e-01 -1.41893074e-02 9.92158627e-01 8.14219121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:101.86, Z:81.42 [[ 8.83195890e-01 -4.55738999e-01 -1.10756420e-01 1.66311252e+02] [ 4.52250542e-01 8.90113374e-01 -5.62816881e-02 1.01861603e+02] [ 1.24235531e-01 -3.81895211e-04 9.92252683e-01 8.14199184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:101.87, Z:81.42 [[ 8.83775057e-01 -4.54547102e-01 -1.11034141e-01 1.66335530e+02] [ 4.51027062e-01 8.90722684e-01 -5.64596305e-02 1.01874309e+02] [ 1.24564189e-01 -1.81789231e-04 9.92211535e-01 8.14235303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:166.36, Y:101.89, Z:81.43 [[ 8.84191255e-01 -4.53629661e-01 -1.11471771e-01 1.66359181e+02] [ 4.50069710e-01 8.91190288e-01 -5.67197120e-02 1.01886604e+02] [ 1.25072303e-01 -1.89944143e-05 9.92147629e-01 8.14269370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.390385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:166.38, Y:101.90, Z:81.43 [[ 8.84779635e-01 -4.52333906e-01 -1.12067104e-01 1.66383531e+02] [ 4.48722945e-01 8.91848644e-01 -5.70413410e-02 1.01900507e+02] [ 1.25748627e-01 1.81936065e-04 9.92062120e-01 8.14299582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:101.91, Z:81.43 [[ 8.84890605e-01 -4.52021370e-01 -1.12451318e-01 1.66408078e+02] [ 4.48378081e-01 8.92007070e-01 -5.72755107e-02 1.01913879e+02] [ 1.26197125e-01 2.61855341e-04 9.92005150e-01 8.14330076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:101.93, Z:81.44 [[ 8.84748583e-01 -4.52236048e-01 -1.12705376e-01 1.66432180e+02] [ 4.48573016e-01 8.91898248e-01 -5.74435686e-02 1.01927550e+02] [ 1.26499780e-01 2.66525611e-04 9.91966600e-01 8.14357273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.480385723 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:166.46, Y:101.94, Z:81.44 [[ 8.84777022e-01 -4.52119782e-01 -1.12948327e-01 1.66456457e+02] [ 4.48434907e-01 8.91957174e-01 -5.76067103e-02 1.01942036e+02] [ 1.26790204e-01 3.19121168e-04 9.91929505e-01 8.14382734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.510385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:166.48, Y:101.96, Z:81.44 [[ 8.84515395e-01 -4.52611953e-01 -1.13026265e-01 1.66480245e+02] [ 4.48919994e-01 8.91707539e-01 -5.76931798e-02 1.01955285e+02] [ 1.26898996e-01 2.90755386e-04 9.91915601e-01 8.14418188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.51, Y:101.96, Z:81.46 [[ 8.83836077e-01 -4.49714503e-01 -1.28804717e-01 1.66507796e+02] [ 4.48822346e-01 8.92832477e-01 -3.75322624e-02 1.01956723e+02] [ 1.31879837e-01 -2.46380677e-02 9.90959472e-01 8.14641431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.570385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:166.52, Y:101.99, Z:81.44 [[ 8.83333247e-01 -4.57529951e-01 -1.01925067e-01 1.66520618e+02] [ 4.51487538e-01 8.88912936e-01 -7.74131436e-02 1.01992304e+02] [ 1.26021342e-01 2.23637060e-02 9.91775421e-01 8.14402732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.600385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:166.55, Y:102.00, Z:81.45 [[ 8.83746976e-01 -4.54567166e-01 -1.11175420e-01 1.66553401e+02] [ 4.50334999e-01 8.90699597e-01 -6.20694542e-02 1.01996074e+02] [ 1.27238637e-01 4.78750996e-03 9.91860579e-01 8.14521604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.630385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:166.58, Y:102.01, Z:81.46 [[ 8.83163408e-01 -4.55086971e-01 -1.13658449e-01 1.66577474e+02] [ 4.51368678e-01 8.90446993e-01 -5.80557418e-02 1.02006808e+02] [ 1.27627236e-01 -2.91569324e-05 9.91822206e-01 8.14573626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.660385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:166.60, Y:102.02, Z:81.46 [[ 8.82203515e-01 -4.56886788e-01 -1.13892148e-01 1.66600536e+02] [ 4.53165929e-01 8.89524810e-01 -5.81915253e-02 1.02021209e+02] [ 1.27896830e-01 -2.75272812e-04 9.91787439e-01 8.14598837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.690385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:166.62, Y:102.03, Z:81.46 [[ 8.81768016e-01 -4.57647106e-01 -1.14211608e-01 1.66624490e+02] [ 4.53909217e-01 8.89133842e-01 -5.83732216e-02 1.02034683e+02] [ 1.28263742e-01 -3.70061809e-04 9.91740024e-01 8.14632991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.720385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:166.65, Y:102.05, Z:81.47 [[ 8.81362558e-01 -4.58519028e-01 -1.13843503e-01 1.66649213e+02] [ 4.54807656e-01 8.88684471e-01 -5.82229173e-02 1.02048014e+02] [ 1.27867268e-01 -4.61397351e-04 9.91791182e-01 8.14664113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.750385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:166.67, Y:102.06, Z:81.47 [[ 8.80930126e-01 -4.59460158e-01 -1.13395221e-01 1.66672606e+02] [ 4.55780992e-01 8.88198203e-01 -5.80313635e-02 1.02060541e+02] [ 1.27380531e-01 -5.61809974e-04 9.91853762e-01 8.14711539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.780385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:166.70, Y:102.07, Z:81.47 [[ 8.80724820e-01 -4.59925414e-01 -1.13103512e-01 1.66696875e+02] [ 4.56266570e-01 8.87957342e-01 -5.79014313e-02 1.02073851e+02] [ 1.27061434e-01 -6.10123726e-04 9.91894662e-01 8.14747788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:166.72, Y:102.09, Z:81.48 [[ 8.80162263e-01 -4.60830440e-01 -1.13796728e-01 1.66721212e+02] [ 4.57128678e-01 8.87487917e-01 -5.82972486e-02 1.02088021e+02] [ 1.27858368e-01 -7.08709725e-04 9.91792184e-01 8.14800350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:102.11, Z:81.46 [[ 8.79373811e-01 -4.66693234e-01 -9.43351823e-02 1.66738818e+02] [ 4.61325610e-01 8.84162407e-01 -7.37259749e-02 1.02114582e+02] [ 1.17815035e-01 2.13134559e-02 9.92806806e-01 8.14626492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:166.77, Y:102.11, Z:81.50 [[ 8.79612552e-01 -4.59864058e-01 -1.21683223e-01 1.66774237e+02] [ 4.58854064e-01 8.87703833e-01 -3.78794409e-02 1.02105428e+02] [ 1.25438057e-01 -2.25156096e-02 9.91845926e-01 8.14955745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:166.80, Y:102.13, Z:81.49 [[ 8.79578776e-01 -4.62445646e-01 -1.11737202e-01 1.66795845e+02] [ 4.58879429e-01 8.86647225e-01 -5.73268515e-02 1.02127785e+02] [ 1.25582033e-01 -8.50421829e-04 9.92082874e-01 8.14899940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:102.14, Z:81.49 [[ 8.79304286e-01 -4.62824025e-01 -1.12329399e-01 1.66820190e+02] [ 4.59218106e-01 8.86449747e-01 -5.76678167e-02 1.02142014e+02] [ 1.26264418e-01 -8.76135242e-04 9.91996234e-01 8.14925936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:166.84, Y:102.16, Z:81.50 [[ 8.79158007e-01 -4.62617921e-01 -1.14305985e-01 1.66843139e+02] [ 4.58876785e-01 8.86557372e-01 -5.87207131e-02 1.02155501e+02] [ 1.28504068e-01 -8.27577949e-04 9.91708636e-01 8.14951760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.87, Y:102.17, Z:81.50 [[ 8.78843934e-01 -4.62941884e-01 -1.15404292e-01 1.66867027e+02] [ 4.59128707e-01 8.86388210e-01 -5.93023742e-02 1.02168210e+02] [ 1.29746557e-01 -8.67891481e-04 9.91546811e-01 8.14989386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.020385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:166.89, Y:102.18, Z:81.50 [[ 8.78356248e-01 -4.63467672e-01 -1.16995807e-01 1.66891864e+02] [ 4.59550088e-01 8.86113329e-01 -6.01405421e-02 1.02181693e+02] [ 1.31544741e-01 -9.40612607e-04 9.91309788e-01 8.15020947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:102.20, Z:81.51 [[ 8.78065368e-01 -4.64606607e-01 -1.14638172e-01 1.66915430e+02] [ 4.60850649e-01 8.85516566e-01 -5.89668570e-02 1.02197147e+02] [ 1.28910391e-01 -1.05432076e-03 9.91655686e-01 8.15060217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.93, Y:102.22, Z:81.49 [[ 8.76881919e-01 -4.71028222e-01 -9.59714288e-02 1.66932046e+02] [ 4.65334708e-01 8.81836689e-01 -7.63391336e-02 1.02224628e+02] [ 1.20589013e-01 2.22815691e-02 9.92452428e-01 8.14891157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:166.96, Y:102.23, Z:81.50 [[ 8.76179756e-01 -4.71581863e-01 -9.95971008e-02 1.66959159e+02] [ 4.67425534e-01 8.81779244e-01 -6.30772176e-02 1.02234912e+02] [ 1.17568728e-01 8.71275305e-03 9.93026526e-01 8.14952591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:166.98, Y:102.25, Z:81.50 [[ 8.75872569e-01 -4.71636028e-01 -1.02013232e-01 1.66984878e+02] [ 4.68218697e-01 8.81791269e-01 -5.67045885e-02 1.02245711e+02] [ 1.16698304e-01 1.90149110e-03 9.93165591e-01 8.15010763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.170385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:167.01, Y:102.26, Z:81.51 [[ 8.75617460e-01 -4.71146703e-01 -1.06371271e-01 1.67011200e+02] [ 4.68341199e-01 8.82042459e-01 -5.15521327e-02 1.02255862e+02] [ 1.18112595e-01 -4.67810100e-03 9.92989189e-01 8.15095721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.200385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:167.04, Y:102.27, Z:81.51 [[ 8.75442960e-01 -4.71549688e-01 -1.06021301e-01 1.67035944e+02] [ 4.68444307e-01 8.81836434e-01 -5.40780443e-02 1.02270266e+02] [ 1.18993931e-01 -2.32283164e-03 9.92892265e-01 8.15134119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.06, Y:102.29, Z:81.52 [[ 8.75377129e-01 -4.71570882e-01 -1.06469648e-01 1.67059037e+02] [ 4.68176141e-01 8.81828068e-01 -5.64832661e-02 1.02288560e+02] [ 1.20523787e-01 -4.02389520e-04 9.92710358e-01 8.15159243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.260385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:167.08, Y:102.30, Z:81.52 [[ 8.75569626e-01 -4.70693336e-01 -1.08745636e-01 1.67084101e+02] [ 4.67465399e-01 8.82293053e-01 -5.50914579e-02 1.02303488e+02] [ 1.21876701e-01 -2.59841506e-03 9.92541847e-01 8.15198163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.290385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:167.11, Y:102.30, Z:81.55 [[ 8.76046350e-01 -4.64911345e-01 -1.28063397e-01 1.67113749e+02] [ 4.64437499e-01 8.84898934e-01 -3.53791818e-02 1.02304691e+02] [ 1.29771346e-01 -2.84836407e-02 9.91134744e-01 8.15453356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.320385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:167.13, Y:102.34, Z:81.52 [[ 8.76382698e-01 -4.71271795e-01 -9.92787130e-02 1.67130235e+02] [ 4.65312105e-01 8.81711630e-01 -7.79053682e-02 1.02343294e+02] [ 1.24249799e-01 2.20793299e-02 9.92005288e-01 8.15186823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:102.33, Z:81.55 [[ 8.77274814e-01 -4.62970825e-01 -1.26676422e-01 1.67162157e+02] [ 4.61989673e-01 8.86035593e-01 -3.88132627e-02 1.02334603e+02] [ 1.30209227e-01 -2.44733009e-02 9.91184450e-01 8.15522392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.380385723 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:167.18, Y:102.36, Z:81.54 [[ 8.77708562e-01 -4.65608310e-01 -1.13298643e-01 1.67179457e+02] [ 4.60601211e-01 8.84954770e-01 -6.85680657e-02 1.02362098e+02] [ 1.32190036e-01 7.99728598e-03 9.91192130e-01 8.15441952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.20, Y:102.39, Z:81.54 [[ 8.77767251e-01 -4.67685228e-01 -1.03899860e-01 1.67203612e+02] [ 4.62008341e-01 8.83719589e-01 -7.47528047e-02 1.02388251e+02] [ 1.26779124e-01 1.76129620e-02 9.91774590e-01 8.15377432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.440385723 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:167.23, Y:102.40, Z:81.54 [[ 8.79477492e-01 -4.64222159e-01 -1.04962503e-01 1.67227273e+02] [ 4.59901245e-01 8.85685195e-01 -6.36598742e-02 1.02396542e+02] [ 1.22516060e-01 7.71504048e-03 9.92436544e-01 8.15398139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.25, Y:102.41, Z:81.55 [[ 8.79261704e-01 -4.63697746e-01 -1.09010348e-01 1.67254307e+02] [ 4.59874970e-01 8.85990851e-01 -5.94577569e-02 1.02411664e+02] [ 1.24152599e-01 2.14779797e-03 9.92260812e-01 8.15467803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.500385723 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:167.28, Y:102.42, Z:81.56 [[ 8.81019745e-01 -4.59430479e-01 -1.12817750e-01 1.67282502e+02] [ 4.56321798e-01 8.88203226e-01 -5.35298644e-02 1.02421172e+02] [ 1.24798341e-01 -4.32033111e-03 9.92172721e-01 8.15553632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.530385723 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:167.31, Y:102.44, Z:81.56 [[ 8.80977782e-01 -4.59308599e-01 -1.13638719e-01 1.67307684e+02] [ 4.55946808e-01 8.88272097e-01 -5.55444849e-02 1.02435591e+02] [ 1.26454163e-01 -2.87975399e-03 9.91968272e-01 8.15586254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.560385723 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:167.33, Y:102.45, Z:81.56 [[ 8.81625345e-01 -4.58891480e-01 -1.10251353e-01 1.67331194e+02] [ 4.55267943e-01 8.88492154e-01 -5.75568610e-02 1.02451360e+02] [ 1.24369815e-01 5.49680844e-04 9.92235782e-01 8.15616747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.590385723 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:167.36, Y:102.47, Z:81.57 [[ 8.81891338e-01 -4.57545479e-01 -1.13665311e-01 1.67355497e+02] [ 4.54265176e-01 8.89180041e-01 -5.47905458e-02 1.02466810e+02] [ 1.26138092e-01 -3.31488464e-03 9.92007154e-01 8.15668497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.38, Y:102.47, Z:81.59 [[ 8.81650820e-01 -4.54281980e-01 -1.27748635e-01 1.67377738e+02] [ 4.53926227e-01 8.90405952e-01 -3.35889967e-02 1.02468944e+02] [ 1.29007021e-01 -2.83746893e-02 9.91237643e-01 8.15860997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.650385723 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:167.39, Y:102.51, Z:81.56 [[ 8.82840585e-01 -4.59242356e-01 -9.84325141e-02 1.67394589e+02] [ 4.51055436e-01 8.87438364e-01 -9.48796239e-02 1.02511027e+02] [ 1.30925531e-01 3.93650621e-02 9.90610366e-01 8.15602467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68038572300003 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:167.43, Y:102.51, Z:81.58 [[ 8.81890894e-01 -4.56256564e-01 -1.18736676e-01 1.67431703e+02] [ 4.53536952e-01 8.89800353e-01 -5.05921467e-02 1.02506510e+02] [ 1.28734935e-01 -9.23471655e-03 9.91636040e-01 8.15814223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.710385723 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:167.45, Y:102.53, Z:81.58 [[ 8.81356093e-01 -4.58260345e-01 -1.14929951e-01 1.67454964e+02] [ 4.54629006e-01 8.88816765e-01 -5.75953628e-02 1.02526874e+02] [ 1.28545338e-01 -1.48846532e-03 9.91702516e-01 8.15830894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74038572300003 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:167.48, Y:102.54, Z:81.59 [[ 8.81326331e-01 -4.58186340e-01 -1.15452054e-01 1.67478573e+02] [ 4.54871940e-01 8.88847560e-01 -5.51501018e-02 1.02539113e+02] [ 1.27888299e-01 -3.91066272e-03 9.91780868e-01 8.15868741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.770385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.50, Y:102.56, Z:81.59 [[ 8.79298343e-01 -4.61616029e-01 -1.17239348e-01 1.67500317e+02] [ 4.58199472e-01 8.87069501e-01 -5.62222821e-02 1.02555399e+02] [ 1.29952557e-01 -4.28284798e-03 9.91510963e-01 8.15914412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.800385723 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:167.53, Y:102.57, Z:81.59 [[ 8.79123010e-01 -4.62277316e-01 -1.15941434e-01 1.67527955e+02] [ 4.58061236e-01 8.86733829e-01 -6.23138864e-02 1.02571073e+02] [ 1.31615488e-01 1.67329497e-03 9.91299432e-01 8.15934369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.55, Y:102.58, Z:81.60 [[ 8.77070845e-01 -4.63741094e-01 -1.25263445e-01 1.67550656e+02] [ 4.61241043e-01 8.85862061e-01 -5.00510750e-02 1.02579456e+02] [ 1.34176874e-01 -1.38783034e-02 9.90860212e-01 8.16043022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.860385723 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:167.57, Y:102.60, Z:81.60 [[ 8.78506989e-01 -4.63714905e-01 -1.14864949e-01 1.67569559e+02] [ 4.59170320e-01 8.85974158e-01 -6.49030642e-02 1.02598444e+02] [ 1.31863894e-01 4.27522025e-03 9.91258612e-01 8.15983092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:102.61, Z:81.61 [[ 8.75143928e-01 -4.67312937e-01 -1.25466030e-01 1.67592655e+02] [ 4.63347008e-01 8.84078939e-01 -6.09424325e-02 1.02612095e+02] [ 1.39401062e-01 -4.80090981e-03 9.90224366e-01 8.16110985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.920385723 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.62, Y:102.63, Z:81.61 [[ 8.74241129e-01 -4.69981270e-01 -1.21737647e-01 1.67615838e+02] [ 4.64870999e-01 8.82667632e-01 -6.92300908e-02 1.02629459e+02] [ 1.39990727e-01 3.93149118e-03 9.90145010e-01 8.16116617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.950385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.64, Y:102.64, Z:81.62 [[ 8.73495599e-01 -4.70200450e-01 -1.26162493e-01 1.67643291e+02] [ 4.66703687e-01 8.82520111e-01 -5.78439514e-02 1.02637651e+02] [ 1.38539189e-01 -8.35406355e-03 9.90321717e-01 8.16189118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.66, Y:102.66, Z:81.62 [[ 8.72740803e-01 -4.73054700e-01 -1.20593292e-01 1.67664433e+02] [ 4.68634880e-01 8.81033034e-01 -6.45146729e-02 1.02655239e+02] [ 1.36765643e-01 -2.09635364e-04 9.90603410e-01 8.16214815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:102.66, Z:81.63 [[ 8.72827595e-01 -4.72243957e-01 -1.23116348e-01 1.67691294e+02] [ 4.69792256e-01 8.81354799e-01 -5.00894703e-02 1.02663562e+02] [ 1.32163634e-01 -1.41196350e-02 9.91127343e-01 8.16290823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.040385723 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:167.71, Y:102.69, Z:81.62 [[ 8.71726644e-01 -4.76592942e-01 -1.13806086e-01 1.67709743e+02] [ 4.70716225e-01 8.79037233e-01 -7.56292252e-02 1.02688966e+02] [ 1.36084142e-01 1.23576393e-02 9.90620207e-01 8.16244245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.070385723 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:167.74, Y:102.70, Z:81.63 [[ 8.71042243e-01 -4.77196406e-01 -1.16486052e-01 1.67740481e+02] [ 4.72980906e-01 8.78796671e-01 -6.32888130e-02 1.02700483e+02] [ 1.32568749e-01 3.15511405e-05 9.91173812e-01 8.16285230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.100385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.76, Y:102.71, Z:81.64 [[ 8.69690625e-01 -4.77200547e-01 -1.26165982e-01 1.67762850e+02] [ 4.74121656e-01 8.78716953e-01 -5.53639882e-02 1.02708841e+02] [ 1.37283912e-01 -1.16684826e-02 9.90463010e-01 8.16395331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:102.73, Z:81.63 [[ 8.70254817e-01 -4.79164836e-01 -1.14269918e-01 1.67785463e+02] [ 4.74479129e-01 8.77715533e-01 -6.69701348e-02 1.02730451e+02] [ 1.32386215e-01 4.06239143e-03 9.91189884e-01 8.16333659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:102.74, Z:81.65 [[ 8.71372535e-01 -4.74083705e-01 -1.26311307e-01 1.67810219e+02] [ 4.71717722e-01 8.80333408e-01 -4.99548044e-02 1.02735833e+02] [ 1.34878822e-01 -1.60540375e-02 9.90732038e-01 8.16500670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:102.77, Z:81.63 [[ 8.71025517e-01 -4.79421341e-01 -1.07096811e-01 1.67828840e+02] [ 4.72556147e-01 8.77296942e-01 -8.39092574e-02 1.02769362e+02] [ 1.34183593e-01 2.24778480e-02 9.90701524e-01 8.16331348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:102.77, Z:81.65 [[ 8.72026480e-01 -4.73787952e-01 -1.22860876e-01 1.67859656e+02] [ 4.71263254e-01 8.80532881e-01 -5.07226883e-02 1.02767558e+02] [ 1.32214840e-01 -1.36682890e-02 9.91126841e-01 8.16502886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.250385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.88, Y:102.78, Z:81.66 [[ 8.72192763e-01 -4.73017944e-01 -1.24634700e-01 1.67882078e+02] [ 4.70145840e-01 8.80970947e-01 -5.34142334e-02 1.02781118e+02] [ 1.35065441e-01 -1.20089779e-02 9.90763903e-01 8.16559325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.280385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.90, Y:102.80, Z:81.66 [[ 8.72741530e-01 -4.73578873e-01 -1.18512758e-01 1.67902974e+02] [ 4.69416540e-01 8.80750903e-01 -6.26574775e-02 1.02800056e+02] [ 1.34053476e-01 -9.48066056e-04 9.90973646e-01 8.16563481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:102.81, Z:81.66 [[ 8.72787946e-01 -4.73365744e-01 -1.19021317e-01 1.67927160e+02] [ 4.69162972e-01 8.80865516e-01 -6.29448034e-02 1.02814125e+02] [ 1.34637688e-01 -9.02929338e-04 9.90894484e-01 8.16611981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:102.83, Z:81.66 [[ 8.72909232e-01 -4.73048617e-01 -1.19392121e-01 1.67951046e+02] [ 4.68810776e-01 8.81035944e-01 -6.31832333e-02 1.02827989e+02] [ 1.35077491e-01 -8.19085105e-04 9.90834699e-01 8.16647834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:102.85, Z:81.66 [[ 8.72582512e-01 -4.74667266e-01 -1.15285495e-01 1.67973794e+02] [ 4.68367123e-01 8.80047007e-01 -7.84187701e-02 1.02849363e+02] [ 1.38679478e-01 1.44309119e-02 9.90232170e-01 8.16628286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:102.85, Z:81.68 [[ 8.73546430e-01 -4.70144245e-01 -1.26019934e-01 1.68002940e+02] [ 4.67819205e-01 8.82446907e-01 -4.93218740e-02 1.02848997e+02] [ 1.34394296e-01 -1.58695982e-02 9.90800852e-01 8.16770427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:102.87, Z:81.68 [[ 8.73837890e-01 -4.71617063e-01 -1.18256869e-01 1.68024118e+02] [ 4.67432771e-01 8.81803320e-01 -6.26857958e-02 1.02869159e+02] [ 1.33842991e-01 -4.99912380e-04 9.91002424e-01 8.16755945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:102.88, Z:81.68 [[ 8.74008886e-01 -4.71314489e-01 -1.18199493e-01 1.68047552e+02] [ 4.67125640e-01 8.81965124e-01 -6.26989359e-02 1.02882502e+02] [ 1.33798747e-01 -4.14586506e-04 9.91008438e-01 8.16792235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49038572300003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.07, Y:102.90, Z:81.68 [[ 8.74780035e-01 -4.69924576e-01 -1.18028736e-01 1.68071065e+02] [ 4.65732749e-01 8.82706553e-01 -6.26270595e-02 1.02895967e+02] [ 1.33614733e-01 -1.84946478e-04 9.91033334e-01 8.16822238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:102.91, Z:81.69 [[ 8.75286865e-01 -4.69114724e-01 -1.17491612e-01 1.68095513e+02] [ 4.64951461e-01 8.83137234e-01 -6.23599705e-02 1.02908958e+02] [ 1.33015198e-01 -4.50337036e-05 9.91113997e-01 8.16855096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:102.92, Z:81.69 [[ 8.75671194e-01 -4.68317783e-01 -1.17806679e-01 1.68120177e+02] [ 4.64119138e-01 8.83560095e-01 -6.25698374e-02 1.02922140e+02] [ 1.33391848e-01 1.14269885e-04 9.91063369e-01 8.16891014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:102.94, Z:81.69 [[ 8.76842816e-01 -4.66081006e-01 -1.17962589e-01 1.68143702e+02] [ 4.61845241e-01 8.84741913e-01 -6.26954671e-02 1.02935995e+02] [ 1.33587613e-01 4.93609665e-04 9.91036884e-01 8.16913820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:102.95, Z:81.69 [[ 8.76553474e-01 -4.66937308e-01 -1.16719993e-01 1.68165804e+02] [ 4.62890807e-01 8.84290383e-01 -6.13401892e-02 1.02950673e+02] [ 1.31856390e-01 -2.60655754e-04 9.91268795e-01 8.16922117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.19, Y:102.96, Z:81.70 [[ 8.77875851e-01 -4.64462064e-01 -1.16657540e-01 1.68193115e+02] [ 4.60066260e-01 8.85589947e-01 -6.37924913e-02 1.02962924e+02] [ 1.32939937e-01 2.33168942e-03 9.91121353e-01 8.16974816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:102.97, Z:81.70 [[ 8.78824809e-01 -4.62781297e-01 -1.16191337e-01 1.68218352e+02] [ 4.58633800e-01 8.86471870e-01 -6.18276754e-02 1.02972775e+02] [ 1.31613044e-01 1.04642057e-03 9.91300616e-01 8.17020656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:102.99, Z:81.71 [[ 8.79058925e-01 -4.62565759e-01 -1.15274998e-01 1.68243139e+02] [ 4.58479598e-01 8.86584311e-01 -6.13572982e-02 1.02985706e+02] [ 1.30582790e-01 1.08544574e-03 9.91436814e-01 8.17058495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:103.00, Z:81.71 [[ 8.79326786e-01 -4.62105203e-01 -1.15079037e-01 1.68266936e+02] [ 4.58023462e-01 8.86824315e-01 -6.12955376e-02 1.02998724e+02] [ 1.30379875e-01 1.18990936e-03 9.91463399e-01 8.17091709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:103.01, Z:81.71 [[ 8.79976811e-01 -4.60651999e-01 -1.15933379e-01 1.68291549e+02] [ 4.56494254e-01 8.87579679e-01 -6.17681960e-02 1.03011616e+02] [ 1.31353754e-01 1.43165878e-03 9.91334526e-01 8.17121141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:103.03, Z:81.72 [[ 8.79895146e-01 -4.60812483e-01 -1.15915435e-01 1.68316468e+02] [ 4.56651691e-01 8.87496346e-01 -6.18018521e-02 1.03025002e+02] [ 1.31353590e-01 1.44617037e-03 9.91334526e-01 8.17159656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:103.04, Z:81.72 [[ 8.80288344e-01 -4.59956290e-01 -1.16329885e-01 1.68340746e+02] [ 4.55754550e-01 8.87940110e-01 -6.20495806e-02 1.03036925e+02] [ 1.31834065e-01 1.60364824e-03 9.91270502e-01 8.17191391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:103.05, Z:81.72 [[ 8.80459266e-01 -4.59452523e-01 -1.17025037e-01 1.68364544e+02] [ 4.55191776e-01 8.88200673e-01 -6.24500780e-02 1.03048419e+02] [ 1.32634563e-01 1.71591540e-03 9.91163523e-01 8.17223343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.39, Y:103.06, Z:81.73 [[ 8.80637733e-01 -4.59037408e-01 -1.17310871e-01 1.68390612e+02] [ 4.54749661e-01 8.88415118e-01 -6.26204771e-02 1.03059232e+02] [ 1.32965893e-01 1.79887606e-03 9.91118981e-01 8.17258912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:103.07, Z:81.73 [[ 8.80774826e-01 -4.58760639e-01 -1.17364310e-01 1.68414238e+02] [ 4.54460678e-01 8.88557899e-01 -6.26925249e-02 1.03071310e+02] [ 1.33045848e-01 1.88053366e-03 9.91108100e-01 8.17290947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.940385723 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:168.44, Y:103.08, Z:81.73 [[ 8.80255484e-01 -4.59493183e-01 -1.18390444e-01 1.68439628e+02] [ 4.55121390e-01 8.88179467e-01 -6.32594223e-02 1.03084942e+02] [ 1.34219235e-01 1.80243012e-03 9.90950023e-01 8.17284230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.970385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:168.47, Y:103.10, Z:81.73 [[ 8.80326023e-01 -4.59178368e-01 -1.19085342e-01 1.68465042e+02] [ 4.54746129e-01 8.88342060e-01 -6.36737182e-02 1.03096319e+02] [ 1.35026112e-01 1.90003293e-03 9.90840219e-01 8.17331420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.000385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.49, Y:103.11, Z:81.74 [[ 8.80622097e-01 -4.58791400e-01 -1.18385699e-01 1.68489763e+02] [ 4.54402158e-01 8.88541788e-01 -6.33416851e-02 1.03107662e+02] [ 1.34251261e-01 1.98537029e-03 9.90945335e-01 8.17390131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.52, Y:103.12, Z:81.74 [[ 8.80468592e-01 -4.59194330e-01 -1.17964513e-01 1.68515481e+02] [ 4.54834348e-01 8.88333691e-01 -6.31582887e-02 1.03119582e+02] [ 1.33793779e-01 1.95457730e-03 9.91007268e-01 8.17429050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:103.13, Z:81.75 [[ 8.80325337e-01 -4.59506968e-01 -1.17816159e-01 1.68539826e+02] [ 4.55155000e-01 8.88172039e-01 -6.31217455e-02 1.03130467e+02] [ 1.33645900e-01 1.94305798e-03 9.91027244e-01 8.17468013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:103.14, Z:81.75 [[ 8.79497112e-01 -4.61105193e-01 -1.17757507e-01 1.68565695e+02] [ 4.56769376e-01 8.87343822e-01 -6.31084718e-02 1.03140759e+02] [ 1.33591040e-01 1.71569571e-03 9.91035060e-01 8.17503560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.120385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.58, Y:103.17, Z:81.74 [[ 8.78783350e-01 -4.66561595e-01 -1.00300056e-01 1.68584415e+02] [ 4.59913799e-01 8.84084817e-01 -8.29055726e-02 1.03166582e+02] [ 1.27354313e-01 2.67266568e-02 9.91497133e-01 8.17359420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.150385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.62, Y:103.15, Z:81.76 [[ 8.78580098e-01 -4.59440797e-01 -1.30426857e-01 1.68620410e+02] [ 4.58078661e-01 8.87915947e-01 -4.20620093e-02 1.03153570e+02] [ 1.35133089e-01 -2.27909156e-02 9.90565304e-01 8.17646417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18038572300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:168.63, Y:103.20, Z:81.73 [[ 8.75984480e-01 -4.73173306e-01 -9.35853250e-02 1.68627312e+02] [ 4.65808851e-01 8.80246932e-01 -9.04845519e-02 1.03197030e+02] [ 1.25193070e-01 3.56701905e-02 9.91490965e-01 8.17299033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.210385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:168.67, Y:103.17, Z:81.77 [[ 8.77978837e-01 -4.59578683e-01 -1.33942508e-01 1.68673270e+02] [ 4.59267706e-01 8.87605406e-01 -3.50687568e-02 1.03173426e+02] [ 1.35004947e-01 -3.07258419e-02 9.90368410e-01 8.17739279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24038572300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:168.68, Y:103.22, Z:81.74 [[ 8.75675849e-01 -4.73973058e-01 -9.24194123e-02 1.68679040e+02] [ 4.67278643e-01 8.79970522e-01 -8.54549580e-02 1.03217050e+02] [ 1.21829706e-01 3.16452254e-02 9.92046422e-01 8.17427632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.270385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.72, Y:103.20, Z:81.78 [[ 8.77811504e-01 -4.60857366e-01 -1.30604177e-01 1.68723608e+02] [ 4.60174413e-01 8.87049377e-01 -3.71875265e-02 1.03197861e+02] [ 1.32990500e-01 -2.74570621e-02 9.90736916e-01 8.17827688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.73, Y:103.24, Z:81.75 [[ 8.75548349e-01 -4.73187323e-01 -9.75133097e-02 1.68732013e+02] [ 4.66892102e-01 8.80595476e-01 -8.10146465e-02 1.03238359e+02] [ 1.24204883e-01 2.54040459e-02 9.91931339e-01 8.17548215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.330385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:168.76, Y:103.24, Z:81.77 [[ 8.75389263e-01 -4.70706163e-01 -1.10133313e-01 1.68762004e+02] [ 4.66824109e-01 8.82288905e-01 -6.03451621e-02 1.03239405e+02] [ 1.25574240e-01 1.41262105e-03 9.92083220e-01 8.17669615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.360385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.79, Y:103.25, Z:81.77 [[ 8.74827154e-01 -4.72093377e-01 -1.08652169e-01 1.68786795e+02] [ 4.67825183e-01 8.81535834e-01 -6.35151238e-02 1.03250806e+02] [ 1.25765849e-01 4.73453437e-03 9.92048656e-01 8.17690918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.390385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.81, Y:103.26, Z:81.78 [[ 8.74646385e-01 -4.71107590e-01 -1.14242460e-01 1.68814019e+02] [ 4.67630079e-01 8.82069343e-01 -5.72344553e-02 1.03258859e+02] [ 1.27733358e-01 -3.36330129e-03 9.91802842e-01 8.17765090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.420385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:168.84, Y:103.27, Z:81.78 [[ 8.74030267e-01 -4.72681988e-01 -1.12440344e-01 1.68837829e+02] [ 4.68812085e-01 8.81233077e-01 -6.03613554e-02 1.03272379e+02] [ 1.27617876e-01 4.42593740e-05 9.91823410e-01 8.17799943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.450385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.87, Y:103.27, Z:81.80 [[ 8.75600641e-01 -4.66357961e-01 -1.25832307e-01 1.68873647e+02] [ 4.63802253e-01 8.84486006e-01 -5.07146422e-02 1.03274346e+02] [ 1.34948092e-01 -1.39555344e-02 9.90754387e-01 8.18000721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.480385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:168.89, Y:103.30, Z:81.79 [[ 8.73400392e-01 -4.74275359e-01 -1.10610302e-01 1.68889086e+02] [ 4.69143476e-01 8.80325985e-01 -7.02179373e-02 1.03300371e+02] [ 1.30675761e-01 9.43627236e-03 9.91380251e-01 8.17879487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.92, Y:103.30, Z:81.81 [[ 8.74405753e-01 -4.69402432e-01 -1.22784109e-01 1.68922878e+02] [ 4.65967181e-01 8.82954630e-01 -5.71463723e-02 1.03301219e+02] [ 1.35237443e-01 -7.24424836e-03 9.90786735e-01 8.18052961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.94, Y:103.32, Z:81.80 [[ 8.71927178e-01 -4.75692799e-01 -1.16014468e-01 1.68941579e+02] [ 4.71195262e-01 8.79608555e-01 -6.52978964e-02 1.03318630e+02] [ 1.33109058e-01 2.26954273e-03 9.91098798e-01 8.18000962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:103.33, Z:81.81 [[ 8.73262732e-01 -4.72234343e-01 -1.20028858e-01 1.68972896e+02] [ 4.67934600e-01 8.81472810e-01 -6.35837609e-02 1.03327231e+02] [ 1.35828610e-01 -6.40326733e-04 9.90732143e-01 8.18103233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.00, Y:103.34, Z:81.81 [[ 8.72998818e-01 -4.72862896e-01 -1.19472779e-01 1.68995972e+02] [ 4.68474803e-01 8.81136007e-01 -6.42704944e-02 1.03340465e+02] [ 1.35662900e-01 1.38079010e-04 9.90755045e-01 8.18130435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:103.36, Z:81.81 [[ 8.71670763e-01 -4.76261932e-01 -1.15605595e-01 1.69015545e+02] [ 4.71802171e-01 8.79300785e-01 -6.50602818e-02 1.03357466e+02] [ 1.32637826e-01 2.16817491e-03 9.91162200e-01 8.18098175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.04, Y:103.37, Z:81.82 [[ 8.71242159e-01 -4.75975211e-01 -1.19936229e-01 1.69041335e+02] [ 4.72042797e-01 8.79452355e-01 -6.11486215e-02 1.03367825e+02] [ 1.34583427e-01 -3.33977602e-03 9.90896638e-01 8.18169476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:169.07, Y:103.38, Z:81.82 [[ 8.71328485e-01 -4.75731858e-01 -1.20274146e-01 1.69065997e+02] [ 4.71734829e-01 8.79585067e-01 -6.16146083e-02 1.03379303e+02] [ 1.35103375e-01 -3.05094026e-03 9.90826811e-01 8.18217271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.720385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:169.09, Y:103.39, Z:81.82 [[ 8.71176021e-01 -4.76312792e-01 -1.19073356e-01 1.69091552e+02] [ 4.71596924e-01 8.79273350e-01 -6.68933201e-02 1.03391130e+02] [ 1.36560173e-01 2.12122806e-03 9.90629507e-01 8.18231013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.12, Y:103.40, Z:81.83 [[ 8.73618092e-01 -4.72479882e-01 -1.16422466e-01 1.69120525e+02] [ 4.67282996e-01 8.81314041e-01 -7.02293555e-02 1.03404194e+02] [ 1.35786711e-01 6.95139709e-03 9.90713706e-01 8.18295967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.780385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:169.15, Y:103.42, Z:81.84 [[ 8.74044959e-01 -4.70855122e-01 -1.19753346e-01 1.69145831e+02] [ 4.66427386e-01 8.82210434e-01 -6.44223868e-02 1.03415805e+02] [ 1.35981262e-01 4.51822068e-04 9.90711306e-01 8.18353565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.16, Y:103.44, Z:81.83 [[ 8.73586604e-01 -4.73123453e-01 -1.14020362e-01 1.69161802e+02] [ 4.68174134e-01 8.80972038e-01 -6.85656567e-02 1.03437985e+02] [ 1.32888771e-01 6.51665515e-03 9.91109534e-01 8.18284958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:103.44, Z:81.84 [[ 8.76042745e-01 -4.66428286e-01 -1.22449019e-01 1.69193856e+02] [ 4.62418133e-01 8.84553626e-01 -6.11093580e-02 1.03443753e+02] [ 1.36815857e-01 -3.08823680e-03 9.90591684e-01 8.18417306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.22, Y:103.46, Z:81.84 [[ 8.76601449e-01 -4.65931593e-01 -1.20323106e-01 1.69217441e+02] [ 4.60675539e-01 8.84800609e-01 -7.00423472e-02 1.03460353e+02] [ 1.39096900e-01 5.96931154e-03 9.90260784e-01 8.18429095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.25, Y:103.47, Z:81.85 [[ 8.77722954e-01 -4.62692004e-01 -1.24573375e-01 1.69245228e+02] [ 4.58525156e-01 8.86515021e-01 -6.20145090e-02 1.03466171e+02] [ 1.39129786e-01 -2.68846825e-03 9.90270506e-01 8.18516601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.26, Y:103.49, Z:81.84 [[ 8.76288830e-01 -4.68425982e-01 -1.12672029e-01 1.69262601e+02] [ 4.62819091e-01 8.83420606e-01 -7.32565562e-02 1.03488583e+02] [ 1.33852067e-01 1.20471358e-02 9.90928096e-01 8.18415156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.29, Y:103.50, Z:81.85 [[ 8.75818883e-01 -4.68193941e-01 -1.17199480e-01 1.69287891e+02] [ 4.63394442e-01 8.83614881e-01 -6.70099446e-02 1.03498726e+02] [ 1.34932855e-01 4.37898707e-03 9.90845068e-01 8.18481996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:103.50, Z:81.86 [[ 8.76914189e-01 -4.63337894e-01 -1.27826058e-01 1.69321078e+02] [ 4.60039082e-01 8.86128934e-01 -5.60317300e-02 1.03502969e+02] [ 1.39231992e-01 -9.66996324e-03 9.90212575e-01 8.18635076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:103.52, Z:81.86 [[ 8.76476999e-01 -4.65418694e-01 -1.23180799e-01 1.69342929e+02] [ 4.60639138e-01 8.85089218e-01 -6.65481856e-02 1.03519778e+02] [ 1.39998767e-01 1.58605694e-03 9.90150408e-01 8.18630448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:103.53, Z:81.87 [[ 8.75986611e-01 -4.66236756e-01 -1.23574856e-01 1.69368833e+02] [ 4.61431643e-01 8.84658749e-01 -6.67812544e-02 1.03530886e+02] [ 1.40457453e-01 1.47813580e-03 9.90085612e-01 8.18674821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:103.55, Z:81.86 [[ 8.73626929e-01 -4.73552029e-01 -1.11912761e-01 1.69385911e+02] [ 4.67630613e-01 8.80654149e-01 -7.59597292e-02 1.03548335e+02] [ 1.34527321e-01 1.40266321e-02 9.90810604e-01 8.18597093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:103.55, Z:81.87 [[ 8.73810538e-01 -4.71535581e-01 -1.18782741e-01 1.69414038e+02] [ 4.67037458e-01 8.81846061e-01 -6.49887531e-02 1.03554126e+02] [ 1.35392601e-01 1.31186809e-03 9.90791160e-01 8.18694219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:103.56, Z:81.88 [[ 8.75073602e-01 -4.66645456e-01 -1.28406420e-01 1.69446997e+02] [ 4.63041078e-01 8.84405658e-01 -5.84772802e-02 1.03558665e+02] [ 1.40851521e-01 -8.28552277e-03 9.89996060e-01 8.18843358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:103.58, Z:81.88 [[ 8.74859697e-01 -4.68315379e-01 -1.23698089e-01 1.69470117e+02] [ 4.63523346e-01 8.83560650e-01 -6.68332590e-02 1.03575399e+02] [ 1.40593807e-01 1.13277259e-03 9.90066714e-01 8.18839611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.50, Y:103.59, Z:81.89 [[ 8.74578031e-01 -4.68759432e-01 -1.24007513e-01 1.69495348e+02] [ 4.63941640e-01 8.83325184e-01 -6.70430834e-02 1.03587361e+02] [ 1.40966037e-01 1.10215906e-03 9.90013819e-01 8.18877938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.51, Y:103.60, Z:81.89 [[ 8.73115152e-01 -4.72682294e-01 -1.19337254e-01 1.69514777e+02] [ 4.67408563e-01 8.81213065e-01 -7.06595291e-02 1.03602888e+02] [ 1.38561056e-01 5.91465092e-03 9.90336231e-01 8.18853745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.55, Y:103.61, Z:81.90 [[ 8.73510117e-01 -4.70219421e-01 -1.25991157e-01 1.69547530e+02] [ 4.65876482e-01 8.82544641e-01 -6.38283668e-02 1.03605136e+02] [ 1.41206158e-01 -2.94159262e-03 9.89975842e-01 8.18986787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.57, Y:103.62, Z:81.90 [[ 8.73039791e-01 -4.71599949e-01 -1.24076635e-01 1.69572166e+02] [ 4.66792800e-01 8.81812320e-01 -6.71678075e-02 1.03617764e+02] [ 1.41088640e-01 7.22088826e-04 9.89996704e-01 8.19014961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.59, Y:103.63, Z:81.90 [[ 8.71474260e-01 -4.75409437e-01 -1.20492659e-01 1.69593134e+02] [ 4.70231807e-01 8.79753448e-01 -7.01136126e-02 1.03632891e+02] [ 1.39336506e-01 4.44272775e-03 9.90235124e-01 8.19005742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:103.64, Z:81.91 [[ 8.71944416e-01 -4.72969961e-01 -1.26539918e-01 1.69624145e+02] [ 4.68458781e-01 8.81075240e-01 -6.52134399e-02 1.03638560e+02] [ 1.42335187e-01 -2.41624110e-03 9.89815567e-01 8.19108190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:103.65, Z:81.91 [[ 8.71659333e-01 -4.73754605e-01 -1.25565053e-01 1.69648434e+02] [ 4.68838959e-01 8.80656777e-01 -6.80710827e-02 1.03652264e+02] [ 1.42828704e-01 4.65005867e-04 9.89747314e-01 8.19134763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:103.66, Z:81.92 [[ 8.71496864e-01 -4.73950679e-01 -1.25952253e-01 1.69672299e+02] [ 4.69000152e-01 8.80551265e-01 -6.83251624e-02 1.03664124e+02] [ 1.43290173e-01 4.73538996e-04 9.89680606e-01 8.19168538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:103.68, Z:81.92 [[ 8.71774320e-01 -4.73533820e-01 -1.25599589e-01 1.69697989e+02] [ 4.68378852e-01 8.80773495e-01 -6.97086932e-02 1.03675047e+02] [ 1.43634213e-01 1.94205735e-03 9.89628941e-01 8.19196895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.72, Y:103.69, Z:81.93 [[ 8.71453172e-01 -4.73875556e-01 -1.26535872e-01 1.69723269e+02] [ 4.69080067e-01 8.80591503e-01 -6.72495065e-02 1.03685188e+02] [ 1.43294311e-01 -7.50659762e-04 9.89679836e-01 8.19250454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:103.70, Z:81.92 [[ 8.69809196e-01 -4.78625222e-01 -1.19790898e-01 1.69742389e+02] [ 4.73098638e-01 8.77993921e-01 -7.28309930e-02 1.03702791e+02] [ 1.40034430e-01 6.67615681e-03 9.90124127e-01 8.19201925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:103.70, Z:81.93 [[ 8.70102476e-01 -4.75680877e-01 -1.29032495e-01 1.69775207e+02] [ 4.71360780e-01 8.79603739e-01 -6.41582260e-02 1.03704588e+02] [ 1.44016306e-01 -4.99662624e-03 9.89562700e-01 8.19348397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:103.72, Z:81.93 [[ 8.68110417e-01 -4.81626152e-01 -1.20085610e-01 1.69792105e+02] [ 4.76099241e-01 8.76354724e-01 -7.30199310e-02 1.03724756e+02] [ 1.40405900e-01 6.21669472e-03 9.90074510e-01 8.19279096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:103.73, Z:81.94 [[ 8.69399561e-01 -4.77103748e-01 -1.28516208e-01 1.69826598e+02] [ 4.72545353e-01 8.78840209e-01 -6.58845709e-02 1.03729301e+02] [ 1.44378987e-01 -3.44971999e-03 9.89516451e-01 8.19428361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.85, Y:103.74, Z:81.95 [[ 8.69388830e-01 -4.77588304e-01 -1.26777262e-01 1.69851262e+02] [ 4.72798769e-01 8.78582830e-01 -6.74798850e-02 1.03739547e+02] [ 1.43611929e-01 -1.27387504e-03 9.89633261e-01 8.19473148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:103.75, Z:81.95 [[ 8.69189609e-01 -4.78158207e-01 -1.25992666e-01 1.69876461e+02] [ 4.73224345e-01 8.78273718e-01 -6.85127412e-02 1.03752390e+02] [ 1.43415976e-01 -7.22338664e-05 9.89662494e-01 8.19510285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:103.76, Z:81.96 [[ 8.69031372e-01 -4.78430263e-01 -1.26051410e-01 1.69901044e+02] [ 4.73488463e-01 8.78125548e-01 -6.85871568e-02 1.03764402e+02] [ 1.43503135e-01 -7.94974201e-05 9.89649859e-01 8.19550236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:103.78, Z:81.96 [[ 8.68916504e-01 -4.78643516e-01 -1.26033703e-01 1.69925863e+02] [ 4.73699231e-01 8.78009327e-01 -6.86196804e-02 1.03778036e+02] [ 1.43503132e-01 -7.72952826e-05 9.89649860e-01 8.19589351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:103.79, Z:81.96 [[ 8.68828621e-01 -4.78815403e-01 -1.25986657e-01 1.69951260e+02] [ 4.73870875e-01 8.77915602e-01 -6.86337288e-02 1.03790530e+02] [ 1.43468538e-01 -7.04592825e-05 9.89654876e-01 8.19624246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:103.80, Z:81.97 [[ 8.68890058e-01 -4.78513563e-01 -1.26707680e-01 1.69976136e+02] [ 4.73502926e-01 8.78080161e-01 -6.90666995e-02 1.03801447e+02] [ 1.44308853e-01 1.49112557e-05 9.89532695e-01 8.19660320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:103.82, Z:81.97 [[ 8.68374948e-01 -4.79741787e-01 -1.25589680e-01 1.70001259e+02] [ 4.73785372e-01 8.77388103e-01 -7.56143996e-02 1.03817129e+02] [ 1.46466278e-01 6.15909713e-03 9.89196490e-01 8.19670763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:103.82, Z:81.98 [[ 8.68549504e-01 -4.78164015e-01 -1.30310910e-01 1.70027102e+02] [ 4.73941186e-01 8.78247194e-01 -6.37308314e-02 1.03822691e+02] [ 1.44918981e-01 -6.40632524e-03 9.89422785e-01 8.19762279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.04, Y:103.84, Z:81.97 [[ 8.66701177e-01 -4.83930307e-01 -1.20998053e-01 1.70042024e+02] [ 4.78337882e-01 8.75086602e-01 -7.35955853e-02 1.03843630e+02] [ 1.41498909e-01 5.90742805e-03 9.89920785e-01 8.19693260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:103.85, Z:81.98 [[ 8.68316232e-01 -4.79023937e-01 -1.28697277e-01 1.70076437e+02] [ 4.74542796e-01 8.77791815e-01 -6.55031642e-02 1.03849399e+02] [ 1.44347000e-01 -4.19490499e-03 9.89518240e-01 8.19840181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:103.86, Z:81.99 [[ 8.67807622e-01 -4.80440095e-01 -1.26835507e-01 1.70100116e+02] [ 4.75430639e-01 8.77027509e-01 -6.91986624e-02 1.03864108e+02] [ 1.44484041e-01 -2.50359499e-04 9.89507099e-01 8.19862780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:103.88, Z:81.99 [[ 8.67089928e-01 -4.81744893e-01 -1.26794771e-01 1.70124589e+02] [ 4.76745849e-01 8.76311403e-01 -6.92222528e-02 1.03877836e+02] [ 1.44459170e-01 -4.26962351e-04 9.89510670e-01 8.19910923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:103.89, Z:81.99 [[ 8.66873165e-01 -4.82103576e-01 -1.26913589e-01 1.70147822e+02] [ 4.77092377e-01 8.76114115e-01 -6.93319667e-02 1.03891078e+02] [ 1.44615975e-01 -4.47484299e-04 9.89487756e-01 8.19948437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:103.90, Z:82.00 [[ 8.66537721e-01 -4.82708240e-01 -1.26906003e-01 1.70171678e+02] [ 4.77701000e-01 8.75781066e-01 -6.93489746e-02 1.03904416e+02] [ 1.44617196e-01 -5.29622125e-04 9.89487537e-01 8.19989884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:103.92, Z:82.00 [[ 8.65883935e-01 -4.83960968e-01 -1.26596973e-01 1.70195598e+02] [ 4.78984930e-01 8.75089307e-01 -6.92252939e-02 1.03918903e+02] [ 1.44285998e-01 -6.96972404e-04 9.89535783e-01 8.20032459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:103.93, Z:82.01 [[ 8.65465747e-01 -4.84688350e-01 -1.26673772e-01 1.70218165e+02] [ 4.79707522e-01 8.74686570e-01 -6.93115983e-02 1.03932564e+02] [ 1.44394371e-01 -7.79547104e-04 9.89519913e-01 8.20069520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:103.95, Z:82.01 [[ 8.64215625e-01 -4.86834997e-01 -1.26976531e-01 1.70241064e+02] [ 4.81850243e-01 8.73493232e-01 -6.94976072e-02 1.03947188e+02] [ 1.44747008e-01 -1.12275424e-03 9.89468061e-01 8.20104833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:103.96, Z:82.01 [[ 8.63549412e-01 -4.88002558e-01 -1.27027230e-01 1.70264910e+02] [ 4.83021760e-01 8.72841243e-01 -6.95567628e-02 1.03961093e+02] [ 1.44818483e-01 -1.29121451e-03 9.89457397e-01 8.20145557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:103.98, Z:82.02 [[ 8.63080124e-01 -4.88761110e-01 -1.27299946e-01 1.70288732e+02] [ 4.83760437e-01 8.72416567e-01 -6.97507922e-02 1.03975349e+02] [ 1.45150056e-01 -1.38215502e-03 9.89408687e-01 8.20181136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:103.98, Z:82.03 [[ 8.61351692e-01 -4.88269320e-01 -1.40236707e-01 1.70312197e+02] [ 4.85548455e-01 8.72454549e-01 -5.53692883e-02 1.03981858e+02] [ 1.49385278e-01 -2.03992864e-02 9.88568616e-01 8.20332972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:104.01, Z:82.02 [[ 8.62126838e-01 -4.92534766e-01 -1.18940403e-01 1.70332218e+02] [ 4.84969783e-01 8.70105065e-01 -8.78719798e-02 1.04012966e+02] [ 1.46770652e-01 1.80742908e-02 9.89005407e-01 8.20167686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:104.02, Z:82.03 [[ 8.61719947e-01 -4.90709769e-01 -1.29006416e-01 1.70359027e+02] [ 4.85579845e-01 8.71321538e-01 -7.07883600e-02 1.04017162e+02] [ 1.47142608e-01 -1.64317349e-03 9.89113923e-01 8.20291342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:104.03, Z:82.03 [[ 8.61286336e-01 -4.91393873e-01 -1.29297755e-01 1.70382596e+02] [ 4.86245001e-01 8.70935714e-01 -7.09702864e-02 1.04032500e+02] [ 1.47484397e-01 -1.74464923e-03 9.89062844e-01 8.20322470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:104.05, Z:82.04 [[ 8.60883881e-01 -4.92156963e-01 -1.29075428e-01 1.70406806e+02] [ 4.87027503e-01 8.70504549e-01 -7.08945805e-02 1.04047379e+02] [ 1.47252009e-01 -1.83128184e-03 9.89097312e-01 8.20357146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:104.06, Z:82.04 [[ 8.60697570e-01 -4.92549488e-01 -1.28820397e-01 1.70430212e+02] [ 4.87438190e-01 8.70282459e-01 -7.07986784e-02 1.04060745e+02] [ 1.46981985e-01 -1.85573075e-03 9.89137429e-01 8.20390543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:104.07, Z:82.04 [[ 8.60302440e-01 -4.93094599e-01 -1.29373210e-01 1.70454836e+02] [ 4.87941965e-01 8.69973540e-01 -7.11243924e-02 1.04074428e+02] [ 1.47622323e-01 -1.93813002e-03 9.89041907e-01 8.20441007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:104.09, Z:82.05 [[ 8.60155542e-01 -4.93212453e-01 -1.29899655e-01 1.70478793e+02] [ 4.88011989e-01 8.69906758e-01 -7.14599990e-02 1.04087672e+02] [ 1.48245549e-01 -1.92587468e-03 9.88948709e-01 8.20481878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:104.10, Z:82.05 [[ 8.60086618e-01 -4.93172348e-01 -1.30506876e-01 1.70502102e+02] [ 4.87915783e-01 8.69929575e-01 -7.18381716e-02 1.04100635e+02] [ 1.48960391e-01 -1.88931465e-03 9.88841359e-01 8.20520877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:104.11, Z:82.06 [[ 8.61262494e-01 -4.90943443e-01 -1.31154307e-01 1.70525537e+02] [ 4.86132328e-01 8.71179425e-01 -6.87151334e-02 1.04111522e+02] [ 1.47994178e-01 -4.57658135e-03 9.88977643e-01 8.20572928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:104.12, Z:82.07 [[ 8.60058451e-01 -4.91850500e-01 -1.35582252e-01 1.70549255e+02] [ 4.87750394e-01 8.70612274e-01 -6.42947995e-02 1.04123197e+02] [ 1.49663002e-01 -1.08330113e-02 9.88677719e-01 8.20668799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:104.14, Z:82.07 [[ 8.60329849e-01 -4.92827674e-01 -1.30205355e-01 1.70572056e+02] [ 4.87516388e-01 8.70125833e-01 -7.21720625e-02 1.04141245e+02] [ 1.48863433e-01 -1.38546492e-03 9.88856794e-01 8.20666774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.58, Y:104.19, Z:82.02 [[ 8.59061039e-01 -5.04610317e-01 -8.59218167e-02 1.70578513e+02] [ 4.94016532e-01 8.61278485e-01 -1.18941314e-01 1.04188910e+02] [ 1.34021626e-01 5.97310507e-02 9.89176630e-01 8.20244481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.580385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:170.63, Y:104.15, Z:82.09 [[ 8.61208586e-01 -4.85909570e-01 -1.49035770e-01 1.70633257e+02] [ 4.86860749e-01 8.72873457e-01 -3.25352016e-02 1.04148267e+02] [ 1.45898534e-01 -4.45400717e-02 9.88296413e-01 8.20904207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:104.18, Z:82.08 [[ 8.61406618e-01 -4.91463010e-01 -1.28229284e-01 1.70650306e+02] [ 4.86383502e-01 8.70896900e-01 -7.04959453e-02 1.04179102e+02] [ 1.46320635e-01 -1.64293422e-03 9.89235853e-01 8.20768936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:104.19, Z:82.08 [[ 8.61416608e-01 -4.91519278e-01 -1.27946186e-01 1.70673738e+02] [ 4.86456471e-01 8.70865206e-01 -7.03839132e-02 1.04190890e+02] [ 1.46018932e-01 -1.61037836e-03 9.89280485e-01 8.20812959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:104.20, Z:82.09 [[ 8.61406092e-01 -4.91497768e-01 -1.28099529e-01 1.70698527e+02] [ 4.86419341e-01 8.70877383e-01 -7.04897691e-02 1.04204482e+02] [ 1.46204547e-01 -1.58977215e-03 9.89253104e-01 8.20851249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.700385723 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:170.72, Y:104.22, Z:82.08 [[ 8.62008080e-01 -4.92507356e-01 -1.19910693e-01 1.70721582e+02] [ 4.86201690e-01 8.70251297e-01 -7.91870996e-02 1.04223788e+02] [ 1.43352665e-01 9.95913811e-03 9.89621558e-01 8.20798231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:104.23, Z:82.10 [[ 8.61789472e-01 -4.89187131e-01 -1.34219437e-01 1.70748754e+02] [ 4.85498321e-01 8.72090757e-01 -6.12298359e-02 1.04227668e+02] [ 1.47004378e-01 -1.23960832e-02 9.89058163e-01 8.20963849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:170.77, Y:104.25, Z:82.10 [[ 8.61906837e-01 -4.90200077e-01 -1.29693826e-01 1.70770815e+02] [ 4.84962671e-01 8.71608984e-01 -7.14771827e-02 1.04245633e+02] [ 1.48080424e-01 -1.28999186e-03 9.88974481e-01 8.20956561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.80, Y:104.26, Z:82.10 [[ 8.61962178e-01 -4.89985723e-01 -1.30135298e-01 1.70795673e+02] [ 4.84703400e-01 8.71729606e-01 -7.17642565e-02 1.04258256e+02] [ 1.48606253e-01 -1.21894657e-03 9.88895695e-01 8.20997373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.820385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.82, Y:104.27, Z:82.10 [[ 8.61994869e-01 -4.89977151e-01 -1.29950905e-01 1.70819676e+02] [ 4.84703038e-01 8.71734483e-01 -7.17074384e-02 1.04269968e+02] [ 1.48417692e-01 -1.17615461e-03 9.88924065e-01 8.21039799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.850385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:170.84, Y:104.30, Z:82.08 [[ 8.61895651e-01 -4.95331713e-01 -1.08546680e-01 1.70836158e+02] [ 4.87370370e-01 8.68292233e-01 -9.24051945e-02 1.04300014e+02] [ 1.40021462e-01 2.67411998e-02 9.89787300e-01 8.20845243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.880385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:170.87, Y:104.29, Z:82.12 [[ 8.61746435e-01 -4.87158386e-01 -1.41667880e-01 1.70871748e+02] [ 4.85656822e-01 8.72865218e-01 -4.73683676e-02 1.04287776e+02] [ 1.46732862e-01 -2.79824505e-02 9.88780284e-01 8.21221281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.89, Y:104.31, Z:82.11 [[ 8.61842409e-01 -4.90303166e-01 -1.29732292e-01 1.70891135e+02] [ 4.85040959e-01 8.71551162e-01 -7.16508189e-02 1.04313639e+02] [ 1.48198953e-01 -1.17376096e-03 9.88956871e-01 8.21149525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.940385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:170.92, Y:104.33, Z:82.12 [[ 8.61761629e-01 -4.90447929e-01 -1.29721715e-01 1.70915121e+02] [ 4.85181529e-01 8.71469727e-01 -7.16895982e-02 1.04326698e+02] [ 1.48208562e-01 -1.15923500e-03 9.88955448e-01 8.21190764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.970385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:170.94, Y:104.34, Z:82.12 [[ 8.61732533e-01 -4.90542460e-01 -1.29557464e-01 1.70938413e+02] [ 4.85283916e-01 8.71416551e-01 -7.16429695e-02 1.04339251e+02] [ 1.48042437e-01 -1.13507578e-03 9.88980358e-01 8.21237267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.000385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:170.96, Y:104.35, Z:82.13 [[ 8.61527922e-01 -4.91050617e-01 -1.28991984e-01 1.70962364e+02] [ 4.85840494e-01 8.71130219e-01 -7.13523404e-02 1.04352416e+02] [ 1.47406426e-01 -1.19749563e-03 9.89075281e-01 8.21286252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:170.98, Y:104.37, Z:82.13 [[ 8.61295876e-01 -4.91559881e-01 -1.28601309e-01 1.70984440e+02] [ 4.86380474e-01 8.70842892e-01 -7.11807025e-02 1.04366695e+02] [ 1.46981113e-01 -1.24152006e-03 9.89138520e-01 8.21327604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.01, Y:104.38, Z:82.14 [[ 8.60788886e-01 -4.92439924e-01 -1.28628983e-01 1.71007537e+02] [ 4.87264708e-01 8.70345356e-01 -7.12184398e-02 1.04382432e+02] [ 1.47022441e-01 -1.37232241e-03 9.89132205e-01 8.21355431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.090385723 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:171.03, Y:104.40, Z:82.14 [[ 8.60330273e-01 -4.93122464e-01 -1.29081592e-01 1.71029556e+02] [ 4.87911450e-01 8.69958689e-01 -7.15143110e-02 1.04398150e+02] [ 1.47560966e-01 -1.45446013e-03 9.89051892e-01 8.21376009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.120385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:171.05, Y:104.41, Z:82.14 [[ 8.60132670e-01 -4.93446277e-01 -1.29160993e-01 1.71053930e+02] [ 4.88229051e-01 8.69774999e-01 -7.15810395e-02 1.04410963e+02] [ 1.47662400e-01 -1.49095836e-03 9.89036699e-01 8.21422231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.150385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:171.08, Y:104.42, Z:82.15 [[ 8.59977768e-01 -4.93767232e-01 -1.28965724e-01 1.71078212e+02] [ 4.88562592e-01 8.69592813e-01 -7.15187628e-02 1.04423029e+02] [ 1.47461289e-01 -1.50328254e-03 9.89066686e-01 8.21471854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18038572300003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:171.10, Y:104.44, Z:82.15 [[ 8.59701375e-01 -4.94249033e-01 -1.28962936e-01 1.71101785e+02] [ 4.89045372e-01 8.69318966e-01 -7.15483007e-02 1.04435781e+02] [ 1.47472605e-01 -1.55855478e-03 9.89064913e-01 8.21521326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:104.45, Z:82.16 [[ 8.59504161e-01 -4.94846335e-01 -1.27983209e-01 1.71124374e+02] [ 4.89725479e-01 8.68978967e-01 -7.10247126e-02 1.04450399e+02] [ 1.46361036e-01 -1.63060228e-03 9.89229897e-01 8.21563354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24038572300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:171.15, Y:104.47, Z:82.16 [[ 8.59441969e-01 -4.95041439e-01 -1.27645903e-01 1.71148073e+02] [ 4.89946602e-01 8.68867817e-01 -7.08593214e-02 1.04465546e+02] [ 1.45985717e-01 -1.64020167e-03 9.89285338e-01 8.21601691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.17, Y:104.48, Z:82.16 [[ 8.59591549e-01 -4.94887366e-01 -1.27235468e-01 1.71171731e+02] [ 4.89816976e-01 8.68955716e-01 -7.06773957e-02 1.04480478e+02] [ 1.45539337e-01 -1.56840001e-03 9.89351223e-01 8.21635462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:104.50, Z:82.17 [[ 8.60188199e-01 -4.93820814e-01 -1.27347028e-01 1.71194463e+02] [ 4.88723330e-01 8.69562638e-01 -7.07836562e-02 1.04495161e+02] [ 1.45690660e-01 -1.35019766e-03 9.89329272e-01 8.21659456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.330385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:171.22, Y:104.51, Z:82.17 [[ 8.60554260e-01 -4.93145585e-01 -1.27490381e-01 1.71218348e+02] [ 4.88025963e-01 8.69945945e-01 -7.08852003e-02 1.04508487e+02] [ 1.45866464e-01 -1.21805511e-03 9.89303538e-01 8.21697878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:171.24, Y:104.52, Z:82.17 [[ 8.61259095e-01 -4.91711758e-01 -1.28266589e-01 1.71242583e+02] [ 4.86506626e-01 8.70757522e-01 -7.13627425e-02 1.04522014e+02] [ 1.46778997e-01 -9.40734234e-04 9.89168864e-01 8.21735233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:171.27, Y:104.54, Z:82.18 [[ 8.61598503e-01 -4.90990637e-01 -1.28748647e-01 1.71265867e+02] [ 4.85731516e-01 8.71164498e-01 -7.16750414e-02 1.04535480e+02] [ 1.47353024e-01 -7.82166876e-04 9.89083654e-01 8.21770265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:104.55, Z:82.18 [[ 8.62556616e-01 -4.89346444e-01 -1.28592935e-01 1.71288897e+02] [ 4.84078605e-01 8.72089346e-01 -7.16105972e-02 1.04549848e+02] [ 1.47186920e-01 -4.80894153e-04 9.89108578e-01 8.21797524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.450385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:171.31, Y:104.56, Z:82.18 [[ 8.61972796e-01 -4.90440909e-01 -1.28337890e-01 1.71312858e+02] [ 4.85198851e-01 8.71474226e-01 -7.15174740e-02 1.04564649e+02] [ 1.46918258e-01 -6.23279545e-04 9.89148440e-01 8.21826877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.480385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:171.34, Y:104.58, Z:82.19 [[ 8.62761631e-01 -4.89402932e-01 -1.26992672e-01 1.71335794e+02] [ 4.84252758e-01 8.72057687e-01 -7.08142455e-02 1.04577321e+02] [ 1.45401635e-01 -4.00737775e-04 9.89372631e-01 8.21869740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.510385723 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:171.36, Y:104.59, Z:82.19 [[ 8.62972179e-01 -4.89135562e-01 -1.26591547e-01 1.71360067e+02] [ 4.84012127e-01 8.72207710e-01 -7.06114167e-02 1.04591056e+02] [ 1.44952679e-01 -3.36155861e-04 9.89438532e-01 8.21899374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.540385723 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:171.38, Y:104.61, Z:82.19 [[ 8.63485356e-01 -4.88893186e-01 -1.24001987e-01 1.71381631e+02] [ 4.82475009e-01 8.72299562e-01 -7.94439402e-02 1.04607195e+02] [ 1.47006480e-01 8.77081900e-03 9.89096642e-01 8.21893604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.570385723 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:171.41, Y:104.61, Z:82.20 [[ 8.62715122e-01 -4.88594634e-01 -1.30376001e-01 1.71410512e+02] [ 4.84546880e-01 8.72469211e-01 -6.33387518e-02 1.04613328e+02] [ 1.44696021e-01 -8.52998540e-03 9.89439387e-01 8.21994868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.600385723 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:171.43, Y:104.63, Z:82.20 [[ 8.62632529e-01 -4.89800448e-01 -1.26335431e-01 1.71433694e+02] [ 4.84688490e-01 8.71834503e-01 -7.05809263e-02 1.04630848e+02] [ 1.44714157e-01 -3.47926175e-04 9.89473442e-01 8.21999781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.630385723 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:171.46, Y:104.64, Z:82.21 [[ 8.63014764e-01 -4.89053336e-01 -1.26618922e-01 1.71456771e+02] [ 4.84623470e-01 8.72242026e-01 -6.58326786e-02 1.04638636e+02] [ 1.42638036e-01 -4.54792769e-03 9.89764471e-01 8.22053366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.660385723 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:171.48, Y:104.66, Z:82.21 [[ 8.61713000e-01 -4.92546648e-01 -1.21854443e-01 1.71481238e+02] [ 4.87012831e-01 8.70275897e-01 -7.37452716e-02 1.04657722e+02] [ 1.42369971e-01 4.20258209e-03 9.89804592e-01 8.22055684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.690385723 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:171.51, Y:104.67, Z:82.21 [[ 8.61193660e-01 -4.93021618e-01 -1.23592738e-01 1.71506084e+02] [ 4.88161962e-01 8.70016633e-01 -6.90576287e-02 1.04669340e+02] [ 1.41574641e-01 -8.61281399e-04 9.89927209e-01 8.22103286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.720385723 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:171.53, Y:104.69, Z:82.21 [[ 8.60832488e-01 -4.93854908e-01 -1.22779302e-01 1.71529244e+02] [ 4.88477291e-01 8.69540337e-01 -7.27292126e-02 1.04685239e+02] [ 1.42679235e-01 2.63276810e-03 9.89765480e-01 8.22116813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.750385723 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:171.55, Y:104.70, Z:82.22 [[ 8.60432348e-01 -4.93831599e-01 -1.25644445e-01 1.71554247e+02] [ 4.89335289e-01 8.69547600e-01 -6.66179069e-02 1.04695979e+02] [ 1.42151853e-01 -4.16205890e-03 9.89836112e-01 8.22176164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.780385723 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:171.58, Y:104.71, Z:82.22 [[ 8.60032445e-01 -4.94807405e-01 -1.24538452e-01 1.71577894e+02] [ 4.89875791e-01 8.69002007e-01 -6.96937700e-02 1.04710787e+02] [ 1.42709158e-01 -1.06946943e-03 9.89764089e-01 8.22200155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.810385723 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:171.60, Y:104.72, Z:82.22 [[ 8.58847473e-01 -4.96722596e-01 -1.25090687e-01 1.71601977e+02] [ 4.91760730e-01 8.67908305e-01 -7.00468316e-02 1.04723090e+02] [ 1.43361091e-01 -1.35514344e-03 9.89669521e-01 8.22243438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.840385723 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:171.63, Y:104.74, Z:82.23 [[ 8.58057725e-01 -4.98131502e-01 -1.24907759e-01 1.71626315e+02] [ 4.93196021e-01 8.67100077e-01 -6.99652887e-02 1.04736371e+02] [ 1.43159441e-01 -1.56975318e-03 9.89698394e-01 8.22286614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.870385723 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:171.65, Y:104.75, Z:82.23 [[ 8.57114590e-01 -4.99622864e-01 -1.25425569e-01 1.71650332e+02] [ 4.94655596e-01 8.66241189e-01 -7.02996643e-02 1.04750096e+02] [ 1.43772114e-01 -1.78759176e-03 9.89609208e-01 8.22324385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.900385723 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:171.67, Y:104.76, Z:82.24 [[ 8.55231943e-01 -5.02571040e-01 -1.26493767e-01 1.71674383e+02] [ 4.97543847e-01 8.64532952e-01 -7.09428933e-02 1.04763738e+02] [ 1.45011873e-01 -2.26356692e-03 9.89427326e-01 8.22362194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93038572300003 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:171.70, Y:104.78, Z:82.24 [[ 8.54153586e-01 -5.04296726e-01 -1.26911242e-01 1.71698390e+02] [ 4.99248536e-01 8.63526740e-01 -7.12212695e-02 1.04777173e+02] [ 1.45507904e-01 -2.52634891e-03 9.89353864e-01 8.22406227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.960385723 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:171.72, Y:104.79, Z:82.25 [[ 8.53551356e-01 -5.05339055e-01 -1.26816889e-01 1.71722196e+02] [ 5.00303379e-01 8.62916766e-01 -7.12122430e-02 1.04790412e+02] [ 1.45418747e-01 -2.66361153e-03 9.89366612e-01 8.22453753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99038572300003 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:171.75, Y:104.80, Z:82.25 [[ 8.52801464e-01 -5.06685917e-01 -1.26487331e-01 1.71745056e+02] [ 5.01684980e-01 8.62126016e-01 -7.10697744e-02 1.04804392e+02] [ 1.45058073e-01 -2.84838657e-03 9.89419043e-01 8.22502690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.020385723 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:171.77, Y:104.82, Z:82.25 [[ 8.52508998e-01 -5.07207968e-01 -1.26366474e-01 1.71769110e+02] [ 5.02219251e-01 8.61818760e-01 -7.10228784e-02 1.04818677e+02] [ 1.44928368e-01 -2.91603334e-03 9.89437853e-01 8.22541255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.050385723 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:171.79, Y:104.83, Z:82.26 [[ 8.52208658e-01 -5.07746837e-01 -1.26228176e-01 1.71793181e+02] [ 5.02768413e-01 8.61501223e-01 -7.09899018e-02 1.04833029e+02] [ 1.44790626e-01 -2.96533087e-03 9.89457873e-01 8.22579857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.080385723 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:171.82, Y:104.85, Z:82.26 [[ 8.52148351e-01 -5.08010325e-01 -1.25573477e-01 1.71816150e+02] [ 5.03079972e-01 8.61345910e-01 -7.06665750e-02 1.04847670e+02] [ 1.44061550e-01 -2.95509576e-03 9.89564317e-01 8.22616357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.110385723 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:171.84, Y:104.86, Z:82.27 [[ 8.52117562e-01 -5.08200191e-01 -1.25012907e-01 1.71839478e+02] [ 5.03311390e-01 8.61233933e-01 -7.03829336e-02 1.04862052e+02] [ 1.43433978e-01 -2.94588613e-03 9.89655504e-01 8.22650860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.140385723 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:171.86, Y:104.88, Z:82.27 [[ 8.52172744e-01 -5.08111683e-01 -1.24996532e-01 1.71862271e+02] [ 5.03216922e-01 8.61286334e-01 -7.04171858e-02 1.04876120e+02] [ 1.43437599e-01 -2.89276347e-03 9.89655135e-01 8.22685362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.170385723 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:171.89, Y:104.89, Z:82.27 [[ 8.52564328e-01 -5.07654467e-01 -1.24181354e-01 1.71885973e+02] [ 5.02815857e-01 8.61556277e-01 -6.99785341e-02 1.04890701e+02] [ 1.42514140e-01 -2.77915183e-03 9.89788864e-01 8.22724395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.200385723 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:171.91, Y:104.91, Z:82.28 [[ 8.54076549e-01 -5.05239966e-01 -1.23635855e-01 1.71908537e+02] [ 5.00412243e-01 8.62975764e-01 -6.97166961e-02 1.04907779e+02] [ 1.41918408e-01 -2.32550045e-03 9.89875627e-01 8.22754954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.230385723 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:171.93, Y:104.92, Z:82.28 [[ 8.55171764e-01 -5.03475889e-01 -1.23261036e-01 1.71930927e+02] [ 4.98652954e-01 8.64006990e-01 -6.95496387e-02 1.04922902e+02] [ 1.41514963e-01 -1.98759263e-03 9.89934121e-01 8.22789386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.260385723 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:171.95, Y:104.94, Z:82.28 [[ 8.56839357e-01 -5.00559773e-01 -1.23556586e-01 1.71952719e+02] [ 4.95680328e-01 8.65700694e-01 -6.97375143e-02 1.04940305e+02] [ 1.41870817e-01 -1.49072217e-03 9.89884058e-01 8.22814494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.290385723 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:171.98, Y:104.96, Z:82.29 [[ 8.57862482e-01 -4.98847691e-01 -1.23381288e-01 1.71975162e+02] [ 4.93958178e-01 8.66688883e-01 -6.96828472e-02 1.04955151e+02] [ 1.41694318e-01 -1.16689598e-03 9.89909773e-01 8.22850538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.320385723 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:172.00, Y:104.97, Z:82.29 [[ 8.58578468e-01 -4.97624859e-01 -1.23339021e-01 1.71998514e+02] [ 4.92723156e-01 8.67391840e-01 -6.96798941e-02 1.04970782e+02] [ 1.41657708e-01 -9.46335111e-04 9.89915248e-01 8.22881402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.350385723 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:172.02, Y:104.99, Z:82.29 [[ 8.59341997e-01 -4.96596210e-01 -1.22161931e-01 1.72021486e+02] [ 4.91771464e-01 8.67981377e-01 -6.90590790e-02 1.04987789e+02] [ 1.40328758e-01 -7.30384882e-04 9.90104695e-01 8.22913652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.380385723 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:172.04, Y:105.00, Z:82.29 [[ 8.59366992e-01 -4.96721004e-01 -1.21476814e-01 1.72044193e+02] [ 4.91945506e-01 8.67909986e-01 -6.87159106e-02 1.05002827e+02] [ 1.39563576e-01 -7.07787441e-04 9.90212860e-01 8.22948751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.410385723 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:172.07, Y:105.02, Z:82.30 [[ 8.59137718e-01 -4.97323196e-01 -1.20631752e-01 1.72066773e+02] [ 4.92615874e-01 8.67565007e-01 -6.82682923e-02 1.05019965e+02] [ 1.38607292e-01 -7.73250903e-04 9.90347121e-01 8.22974796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.440385723 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:172.09, Y:105.04, Z:82.30 [[ 8.58763207e-01 -4.97964053e-01 -1.20654696e-01 1.72089918e+02] [ 4.93255082e-01 8.67197266e-01 -6.83251435e-02 1.05035118e+02] [ 1.38654888e-01 -8.38422806e-04 9.90340406e-01 8.23006799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.470385723 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:172.11, Y:105.05, Z:82.30 [[ 8.58203812e-01 -4.98859974e-01 -1.20933630e-01 1.72113809e+02] [ 4.94131700e-01 8.66682082e-01 -6.85276067e-02 1.05050189e+02] [ 1.38996690e-01 -9.46486877e-04 9.90292393e-01 8.23037387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.500385723 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:172.14, Y:105.06, Z:82.31 [[ 8.57749634e-01 -4.99623762e-01 -1.21002738e-01 1.72137741e+02] [ 4.94891400e-01 8.66241901e-01 -6.86110146e-02 1.05064505e+02] [ 1.39097335e-01 -1.03214156e-03 9.90278176e-01 8.23073978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.530385723 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:172.16, Y:105.08, Z:82.31 [[ 8.57280166e-01 -5.00474431e-01 -1.20814162e-01 1.72161196e+02] [ 4.95759080e-01 8.65750581e-01 -6.85482795e-02 1.05078683e+02] [ 1.38901592e-01 -1.12963723e-03 9.90305545e-01 8.23109043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.560385723 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:172.18, Y:105.09, Z:82.31 [[ 8.56682383e-01 -5.01834118e-01 -1.19406084e-01 1.72183890e+02] [ 4.97235738e-01 8.64962911e-01 -6.77922083e-02 1.05094905e+02] [ 1.37302277e-01 -1.29658190e-03 9.90528346e-01 8.23134383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.590385723 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:172.21, Y:105.11, Z:82.32 [[ 8.56858193e-01 -5.00805264e-01 -1.22426001e-01 1.72211380e+02] [ 4.96643580e-01 8.65543128e-01 -6.46548416e-02 1.05107673e+02] [ 1.38344469e-01 -5.40205665e-03 9.90369439e-01 8.23195710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.620385723 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:172.23, Y:105.13, Z:82.32 [[ 8.56192044e-01 -5.03215218e-01 -1.17088118e-01 1.72229283e+02] [ 4.98305966e-01 8.64159434e-01 -7.01401155e-02 1.05128244e+02] [ 1.36478376e-01 1.70770088e-03 9.90641578e-01 8.23184202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.650385723 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:172.26, Y:105.14, Z:82.32 [[ 8.56435903e-01 -5.02311887e-01 -1.19165066e-01 1.72258572e+02] [ 4.97622865e-01 8.64686268e-01 -6.84773140e-02 1.05141422e+02] [ 1.37437365e-01 -6.52831092e-04 9.90510245e-01 8.23224374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68038572300003 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:172.28, Y:105.15, Z:82.33 [[ 8.55196303e-01 -5.04159069e-01 -1.20261862e-01 1.72277819e+02] [ 4.99816091e-01 8.63603488e-01 -6.61278430e-02 1.05154736e+02] [ 1.37197515e-01 -3.55652692e-03 9.90537325e-01 8.23271816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.710385723 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:172.30, Y:105.17, Z:82.33 [[ 8.54217365e-01 -5.05731273e-01 -1.20617468e-01 1.72303659e+02] [ 5.01847932e-01 8.62664386e-01 -6.29190794e-02 1.05169477e+02] [ 1.35872540e-01 -6.78505674e-03 9.90703092e-01 8.23307928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74038572300003 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:172.32, Y:105.19, Z:82.33 [[ 8.54295148e-01 -5.06499835e-01 -1.16780638e-01 1.72324111e+02] [ 5.01455054e-01 8.62236738e-01 -7.13486993e-02 1.05188279e+02] [ 1.36830661e-01 2.39260652e-03 9.90591564e-01 8.23315156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.770385723 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:172.35, Y:105.20, Z:82.34 [[ 8.53732887e-01 -5.06950214e-01 -1.18918622e-01 1.72347556e+02] [ 5.02406128e-01 8.61973234e-01 -6.77512142e-02 1.05200789e+02] [ 1.36851161e-01 -1.90400453e-03 9.90589791e-01 8.23365109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.800385723 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:172.37, Y:105.22, Z:82.34 [[ 8.52366493e-01 -5.09148840e-01 -1.19326531e-01 1.72371582e+02] [ 5.04592135e-01 8.60675552e-01 -6.80027350e-02 1.05215737e+02] [ 1.37324941e-01 -2.24797611e-03 9.90523502e-01 8.23394138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.830385723 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:172.40, Y:105.23, Z:82.34 [[ 8.51901075e-01 -5.10011497e-01 -1.18965676e-01 1.72395345e+02] [ 5.05484946e-01 8.60164394e-01 -6.78394048e-02 1.05230625e+02] [ 1.36928915e-01 -2.34289644e-03 9.90578106e-01 8.23444303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.860385723 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:172.42, Y:105.25, Z:82.35 [[ 8.51686743e-01 -5.10439068e-01 -1.18666130e-01 1.72417706e+02] [ 5.05933567e-01 8.59910664e-01 -6.77117084e-02 1.05246719e+02] [ 1.36604972e-01 -2.36801407e-03 9.90622771e-01 8.23486261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.890385723 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:172.44, Y:105.26, Z:82.35 [[ 8.51677972e-01 -5.10508423e-01 -1.18430493e-01 1.72440561e+02] [ 5.06015562e-01 8.59869578e-01 -6.76207105e-02 1.05261591e+02] [ 1.36355720e-01 -2.33660290e-03 9.90657185e-01 8.23520061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.920385723 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:172.46, Y:105.28, Z:82.36 [[ 8.51590059e-01 -5.10589869e-01 -1.18711238e-01 1.72464147e+02] [ 5.06073701e-01 8.59821213e-01 -6.78003825e-02 1.05276299e+02] [ 1.36688629e-01 -2.33850373e-03 9.90611301e-01 8.23559373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.950385723 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:172.49, Y:105.29, Z:82.36 [[ 8.52317685e-01 -5.10133017e-01 -1.15407407e-01 1.72490617e+02] [ 5.04846256e-01 8.60084882e-01 -7.33774700e-02 1.05294260e+02] [ 1.36692436e-01 4.27791823e-03 9.90604299e-01 8.23551269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.980385723 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:172.51, Y:105.30, Z:82.37 [[ 8.52032492e-01 -5.09126272e-01 -1.21782887e-01 1.72512626e+02] [ 5.05082534e-01 8.60666130e-01 -6.43851401e-02 1.05303934e+02] [ 1.37594573e-01 -6.65217790e-03 9.90466295e-01 8.23655787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.010385723 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:172.54, Y:105.32, Z:82.37 [[ 8.52457983e-01 -5.08753417e-01 -1.20355089e-01 1.72535156e+02] [ 5.04635866e-01 8.60894890e-01 -6.48277099e-02 1.05319120e+02] [ 1.36594400e-01 -5.47259548e-03 9.90611943e-01 8.23685250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.040385723 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:172.56, Y:105.34, Z:82.37 [[ 8.52910073e-01 -5.08642621e-01 -1.17588653e-01 1.72556841e+02] [ 5.03569910e-01 8.60975598e-01 -7.16823948e-02 1.05339720e+02] [ 1.37701682e-01 1.92452897e-03 9.90471879e-01 8.23700001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.070385723 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:172.58, Y:105.35, Z:82.38 [[ 8.53647784e-01 -5.06723469e-01 -1.20485633e-01 1.72581175e+02] [ 5.02676148e-01 8.62089274e-01 -6.41776763e-02 1.05350325e+02] [ 1.36389707e-01 -5.78012278e-03 9.90638399e-01 8.23751654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.100385723 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:172.60, Y:105.37, Z:82.37 [[ 8.54155963e-01 -5.07624113e-01 -1.12851015e-01 1.72604865e+02] [ 5.02030033e-01 8.61542504e-01 -7.55669160e-02 1.05370931e+02] [ 1.35585535e-01 7.89133282e-03 9.90734217e-01 8.23720758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.130385723 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:172.63, Y:105.38, Z:82.38 [[ 8.54974977e-01 -5.05464105e-01 -1.16291995e-01 1.72631990e+02] [ 5.00874575e-01 8.62847622e-01 -6.79605890e-02 1.05381074e+02] [ 1.34693909e-01 -1.43100586e-04 9.90887244e-01 8.23798164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.160385723 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:172.65, Y:105.40, Z:82.38 [[ 8.54126697e-01 -5.07330582e-01 -1.14382110e-01 1.72653259e+02] [ 5.02490779e-01 8.61748537e-01 -6.99462340e-02 1.05397992e+02] [ 1.34054480e-01 2.26699009e-03 9.90971371e-01 8.23811629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.190385723 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:172.68, Y:105.41, Z:82.39 [[ 8.54801351e-01 -5.04599461e-01 -1.21218951e-01 1.72679354e+02] [ 5.00837908e-01 8.63318972e-01 -6.19817870e-02 1.05407986e+02] [ 1.35926597e-01 -7.72893051e-03 9.90688762e-01 8.23911706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.220385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:172.70, Y:105.42, Z:82.40 [[ 8.55617565e-01 -5.01952549e-01 -1.26341683e-01 1.72703894e+02] [ 4.98586663e-01 8.64808465e-01 -5.93098576e-02 1.05419137e+02] [ 1.39032091e-01 -1.22457222e-02 9.90212159e-01 8.24016849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.250385723 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:172.73, Y:105.44, Z:82.40 [[ 8.55860750e-01 -5.02965010e-01 -1.20534541e-01 1.72725676e+02] [ 4.98213156e-01 8.64306180e-01 -6.89817258e-02 1.05438374e+02] [ 1.38874143e-01 -1.01314249e-03 9.90309520e-01 8.24013612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.280385723 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:172.75, Y:105.45, Z:82.40 [[ 8.56029117e-01 -5.02629211e-01 -1.20739503e-01 1.72748541e+02] [ 4.97851542e-01 8.64501606e-01 -6.91434402e-02 1.05451397e+02] [ 1.39133007e-01 -9.21549665e-04 9.90273274e-01 8.24049463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.310385723 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:172.77, Y:105.47, Z:82.41 [[ 8.56072355e-01 -5.02511030e-01 -1.20924720e-01 1.72772091e+02] [ 4.97713155e-01 8.64570353e-01 -6.92800087e-02 1.05465434e+02] [ 1.39361896e-01 -8.77123656e-04 9.90241129e-01 8.24090840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.340385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:172.79, Y:105.48, Z:82.41 [[ 8.56366916e-01 -5.02136871e-01 -1.20392140e-01 1.72794867e+02] [ 4.97371423e-01 8.64787815e-01 -6.90195851e-02 1.05479648e+02] [ 1.38770934e-01 -7.73520757e-04 9.90324204e-01 8.24129707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.370385723 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:172.82, Y:105.50, Z:82.41 [[ 8.55891917e-01 -5.04587477e-01 -1.13315950e-01 1.72815448e+02] [ 4.99014312e-01 8.63325225e-01 -7.51949008e-02 1.05500183e+02] [ 1.35770924e-01 7.81242688e-03 9.90709454e-01 8.24080826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.400385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:172.84, Y:105.51, Z:82.42 [[ 8.56515898e-01 -5.00837789e-01 -1.24667661e-01 1.72844901e+02] [ 4.97064570e-01 8.65495769e-01 -6.19990841e-02 1.05505647e+02] [ 1.38950818e-01 -8.86467622e-03 9.90259606e-01 8.24228799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43038572300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:172.87, Y:105.52, Z:82.42 [[ 8.56427008e-01 -5.01843323e-01 -1.21186055e-01 1.72866725e+02] [ 4.97001322e-01 8.64958285e-01 -6.95474780e-02 1.05522203e+02] [ 1.39722820e-01 -6.67291244e-04 9.90190430e-01 8.24236298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.460385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:172.89, Y:105.54, Z:82.43 [[ 8.56441369e-01 -5.01889801e-01 -1.20891729e-01 1.72891092e+02] [ 4.97069110e-01 8.64931325e-01 -6.93981445e-02 1.05535824e+02] [ 1.39393264e-01 -6.56102183e-04 9.90236885e-01 8.24276333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49038572300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.91, Y:105.55, Z:82.43 [[ 8.56179355e-01 -5.02370196e-01 -1.20752218e-01 1.72914389e+02] [ 4.97559154e-01 8.64652360e-01 -6.93627027e-02 1.05549580e+02] [ 1.39254445e-01 -6.94457487e-04 9.90256390e-01 8.24312193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.520385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.94, Y:105.56, Z:82.44 [[ 8.56050983e-01 -5.02590948e-01 -1.20743747e-01 1.72938889e+02] [ 4.97780012e-01 8.64524048e-01 -6.93774458e-02 1.05563743e+02] [ 1.39254349e-01 -7.13193117e-04 9.90256390e-01 8.24351645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.96, Y:105.58, Z:82.44 [[ 8.55813261e-01 -5.03080767e-01 -1.20388554e-01 1.72963267e+02] [ 4.98297272e-01 8.64239072e-01 -6.92145674e-02 1.05577870e+02] [ 1.38865010e-01 -7.54543571e-04 9.90311032e-01 8.24387951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.99, Y:105.60, Z:82.43 [[ 8.54225922e-01 -5.07020525e-01 -1.15014183e-01 1.72985002e+02] [ 5.01288053e-01 8.61900352e-01 -7.64072668e-02 1.05597174e+02] [ 1.37870817e-01 7.61383214e-03 9.90420955e-01 8.24336045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:105.60, Z:82.44 [[ 8.55005926e-01 -5.04020393e-01 -1.22181460e-01 1.73013012e+02] [ 5.00710289e-01 8.63621912e-01 -5.87060539e-02 1.05600362e+02] [ 1.35107634e-01 -1.09834899e-02 9.90770049e-01 8.24421490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:105.63, Z:82.43 [[ 8.52654765e-01 -5.11746149e-01 -1.05336276e-01 1.73029106e+02] [ 5.04081241e-01 8.58769038e-01 -9.17487996e-02 1.05632256e+02] [ 1.37411627e-01 2.51320105e-02 9.90195146e-01 8.24312899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:105.64, Z:82.44 [[ 8.53344487e-01 -5.08268764e-01 -1.16043311e-01 1.73058536e+02] [ 5.03181883e-01 8.61193729e-01 -7.17868710e-02 1.05635207e+02] [ 1.36422796e-01 2.86803889e-03 9.90646554e-01 8.24425099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:105.63, Z:82.47 [[ 8.55723060e-01 -4.99433002e-01 -1.35294938e-01 1.73092345e+02] [ 4.96875418e-01 8.66108103e-01 -5.45121424e-02 1.05634929e+02] [ 1.44405205e-01 -2.05774314e-02 9.89304658e-01 8.24667730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.730385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.11, Y:105.66, Z:82.46 [[ 8.56859625e-01 -4.99796462e-01 -1.26471654e-01 1.73112366e+02] [ 4.95181322e-01 8.66131516e-01 -6.79091734e-02 1.05655953e+02] [ 1.43481850e-01 -4.43777208e-03 9.89642999e-01 8.24646481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.14, Y:105.67, Z:82.47 [[ 8.57691235e-01 -4.98875398e-01 -1.24455146e-01 1.73135599e+02] [ 4.93718236e-01 8.66673717e-01 -7.15469946e-02 1.05672207e+02] [ 1.43555039e-01 -8.05448341e-05 9.89642332e-01 8.24668030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:105.69, Z:82.47 [[ 8.58649624e-01 -4.97250136e-01 -1.24350814e-01 1.73159491e+02] [ 4.92078266e-01 8.67607198e-01 -7.15313286e-02 1.05685832e+02] [ 1.43456625e-01 2.30015268e-04 9.89656579e-01 8.24709378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:105.72, Z:82.45 [[ 8.58062667e-01 -5.03297348e-01 -1.02079574e-01 1.73173649e+02] [ 4.95603505e-01 8.63642837e-01 -9.21857735e-02 1.05716218e+02] [ 1.34557148e-01 2.85101758e-02 9.90495605e-01 8.24523011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:105.70, Z:82.49 [[ 8.60512251e-01 -4.90432223e-01 -1.37821985e-01 1.73214762e+02] [ 4.88773813e-01 8.71089454e-01 -4.79929486e-02 1.05699221e+02] [ 1.43592567e-01 -2.60652570e-02 9.89293575e-01 8.24901976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:105.73, Z:82.48 [[ 8.60067355e-01 -4.96654724e-01 -1.16697175e-01 1.73230051e+02] [ 4.90509131e-01 8.67886657e-01 -7.85718923e-02 1.05730374e+02] [ 1.40303023e-01 1.03360896e-02 9.90054659e-01 8.24759329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:105.74, Z:82.48 [[ 8.59780525e-01 -4.96295101e-01 -1.20285583e-01 1.73255606e+02] [ 4.91043701e-01 8.68149064e-01 -7.20644601e-02 1.05741113e+02] [ 1.40191055e-01 2.89414146e-03 9.90120241e-01 8.24816617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.940385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:173.29, Y:105.75, Z:82.49 [[ 8.60291939e-01 -4.92818983e-01 -1.30488426e-01 1.73286220e+02] [ 4.88812062e-01 8.70082724e-01 -6.33941773e-02 1.05747026e+02] [ 1.44777579e-01 -9.24681682e-03 9.89421017e-01 8.24945218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:105.76, Z:82.50 [[ 8.60062929e-01 -4.94253373e-01 -1.26512297e-01 1.73308670e+02] [ 4.88848783e-01 8.69317479e-01 -7.28971049e-02 1.05763804e+02] [ 1.46008991e-01 8.50715273e-04 9.89282897e-01 8.24975374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.000385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:173.33, Y:105.78, Z:82.50 [[ 8.59831974e-01 -4.94574667e-01 -1.26826159e-01 1.73333133e+02] [ 4.89139974e-01 8.69134741e-01 -7.31224184e-02 1.05776730e+02] [ 1.46393517e-01 8.37249188e-04 9.89226080e-01 8.25013019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.030385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:173.36, Y:105.79, Z:82.51 [[ 8.59210871e-01 -4.95265225e-01 -1.28331739e-01 1.73357852e+02] [ 4.89700854e-01 8.68741484e-01 -7.40358494e-02 1.05789595e+02] [ 1.48154487e-01 7.68244236e-04 9.88963931e-01 8.25061638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:105.80, Z:82.51 [[ 8.59203649e-01 -4.95492933e-01 -1.27498403e-01 1.73382259e+02] [ 4.89996308e-01 8.68611631e-01 -7.36033466e-02 1.05800854e+02] [ 1.47216534e-01 7.66517175e-04 9.89103991e-01 8.25089927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.41, Y:105.81, Z:82.51 [[ 8.58524416e-01 -4.96301376e-01 -1.28921569e-01 1.73406333e+02] [ 4.90686191e-01 8.68150053e-01 -7.44482849e-02 1.05814072e+02] [ 1.48872053e-01 6.55636881e-04 9.88856249e-01 8.25125970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:105.83, Z:82.52 [[ 8.57999550e-01 -4.96854958e-01 -1.30276332e-01 1.73432010e+02] [ 4.91119032e-01 8.67833382e-01 -7.52815893e-02 1.05825955e+02] [ 1.50462181e-01 6.10383592e-04 9.88615577e-01 8.25159852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.46, Y:105.83, Z:82.52 [[ 8.57926716e-01 -4.95986047e-01 -1.34013397e-01 1.73458177e+02] [ 4.90911435e-01 8.68316508e-01 -7.09394485e-02 1.05834689e+02] [ 1.51551022e-01 -4.92786101e-03 9.88437152e-01 8.25240400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:105.85, Z:82.52 [[ 8.57942834e-01 -4.97767491e-01 -1.27128356e-01 1.73478986e+02] [ 4.91376132e-01 8.67290186e-01 -7.97322404e-02 1.05851653e+02] [ 1.49945293e-01 5.93786450e-03 9.88676464e-01 8.25231707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:105.86, Z:82.52 [[ 8.57330464e-01 -4.99412946e-01 -1.24784556e-01 1.73504354e+02] [ 4.93172877e-01 8.66342338e-01 -7.89396392e-02 1.05864590e+02] [ 1.47529622e-01 6.13699909e-03 9.89038598e-01 8.25248781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:105.87, Z:82.54 [[ 8.57820484e-01 -4.96860609e-01 -1.31428888e-01 1.73530597e+02] [ 4.91978281e-01 8.67816482e-01 -6.96557546e-02 1.05871182e+02] [ 1.48665356e-01 -4.90802519e-03 9.88875383e-01 8.25363608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:105.89, Z:82.53 [[ 8.57250574e-01 -5.00592105e-01 -1.20536296e-01 1.73553067e+02] [ 4.93727509e-01 8.65599239e-01 -8.34931434e-02 1.05892252e+02] [ 1.46132135e-01 1.20624597e-02 9.89191537e-01 8.25296062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:105.90, Z:82.54 [[ 8.56939657e-01 -4.98494397e-01 -1.30987637e-01 1.73581765e+02] [ 4.93636215e-01 8.66878434e-01 -6.96065162e-02 1.05896962e+02] [ 1.48248816e-01 -5.01165705e-03 9.88937395e-01 8.25421852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:105.91, Z:82.55 [[ 8.57211042e-01 -4.97421849e-01 -1.33269405e-01 1.73607097e+02] [ 4.92431152e-01 8.67493140e-01 -7.04784527e-02 1.05907960e+02] [ 1.50667817e-01 -5.21109882e-03 9.88570712e-01 8.25504008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.360385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:173.63, Y:105.92, Z:82.55 [[ 8.56752350e-01 -4.99021159e-01 -1.30204816e-01 1.73631921e+02] [ 4.93279696e-01 8.66589688e-01 -7.54814779e-02 1.05921958e+02] [ 1.50501005e-01 4.41541594e-04 9.88609757e-01 8.25526070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:105.93, Z:82.56 [[ 8.56455261e-01 -4.99682468e-01 -1.29621822e-01 1.73655332e+02] [ 4.93993110e-01 8.66208577e-01 -7.51898220e-02 1.05934911e+02] [ 1.49850570e-01 3.64431463e-04 9.88708589e-01 8.25564024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:105.95, Z:82.55 [[ 8.55431428e-01 -5.02713689e-01 -1.24563310e-01 1.73676903e+02] [ 4.96396136e-01 8.64429684e-01 -7.97006726e-02 1.05952689e+02] [ 1.47742842e-01 6.34571419e-03 9.89005452e-01 8.25536117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:105.96, Z:82.56 [[ 8.54745149e-01 -5.03057115e-01 -1.27844710e-01 1.73702857e+02] [ 4.97328497e-01 8.64252427e-01 -7.57106925e-02 1.05962780e+02] [ 1.48576903e-01 1.13252963e-03 9.88900208e-01 8.25589984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:105.97, Z:82.57 [[ 8.55173704e-01 -5.00742860e-01 -1.33919842e-01 1.73731212e+02] [ 4.95884112e-01 8.65570696e-01 -6.99022057e-02 1.05970701e+02] [ 1.50920121e-01 -6.63019377e-03 9.88523726e-01 8.25709309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.75, Y:105.99, Z:82.57 [[ 8.54824277e-01 -5.02238311e-01 -1.30507221e-01 1.73754232e+02] [ 4.96483329e-01 8.64729252e-01 -7.58130980e-02 1.05985956e+02] [ 1.50929654e-01 1.22170138e-05 9.88544506e-01 8.25717936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:106.00, Z:82.57 [[ 8.53664468e-01 -5.05545161e-01 -1.25224064e-01 1.73774739e+02] [ 4.99044030e-01 8.62773856e-01 -8.10945706e-02 1.06004630e+02] [ 1.49037017e-01 6.73523172e-03 9.88808679e-01 8.25678663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:106.01, Z:82.57 [[ 8.53392756e-01 -5.05255250e-01 -1.28210515e-01 1.73799159e+02] [ 4.99621388e-01 8.62969935e-01 -7.52420079e-02 1.06014488e+02] [ 1.48658239e-01 1.54269151e-04 9.88888621e-01 8.25742734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.82, Y:106.03, Z:82.58 [[ 8.52758974e-01 -5.06458022e-01 -1.27680865e-01 1.73824546e+02] [ 5.00638477e-01 8.62263526e-01 -7.65684461e-02 1.06027066e+02] [ 1.48873257e-01 1.37247558e-03 9.88855333e-01 8.25783635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:106.03, Z:82.59 [[ 8.53534007e-01 -5.03546656e-01 -1.33867338e-01 1.73853077e+02] [ 4.98623642e-01 8.63943298e-01 -7.05438971e-02 1.06034717e+02] [ 1.51175933e-01 -6.53780423e-03 9.88485253e-01 8.25905540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.660385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:173.88, Y:106.05, Z:82.59 [[ 8.53180646e-01 -5.04848909e-01 -1.31188277e-01 1.73876781e+02] [ 4.99060489e-01 8.63207619e-01 -7.62314605e-02 1.06050983e+02] [ 1.51728090e-01 -4.31679008e-04 9.88422177e-01 8.25912465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:106.07, Z:82.59 [[ 8.52167762e-01 -5.07699972e-01 -1.26691922e-01 1.73897364e+02] [ 5.01290506e-01 8.61518484e-01 -8.05836849e-02 1.06067915e+02] [ 1.50059767e-01 5.16136068e-03 9.88663455e-01 8.25885495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.720385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:173.93, Y:106.07, Z:82.60 [[ 8.53191953e-01 -5.04247755e-01 -1.33407996e-01 1.73926989e+02] [ 4.99150014e-01 8.63542166e-01 -7.17230141e-02 1.06073424e+02] [ 1.51369598e-01 -5.39710441e-03 9.88462501e-01 8.26017989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:106.09, Z:82.60 [[ 8.53050411e-01 -5.05215576e-01 -1.30622427e-01 1.73950592e+02] [ 4.99465542e-01 8.62993081e-01 -7.60073255e-02 1.06086954e+02] [ 1.51126335e-01 -4.03321113e-04 9.88514374e-01 8.26044818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:106.10, Z:82.61 [[ 8.51634532e-01 -5.07505506e-01 -1.30983915e-01 1.73972393e+02] [ 5.01989039e-01 8.61645775e-01 -7.46562980e-02 1.06101408e+02] [ 1.50750219e-01 -2.17260816e-03 9.88569497e-01 8.26063348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:106.12, Z:82.61 [[ 8.52304816e-01 -5.06894531e-01 -1.28974551e-01 1.73998461e+02] [ 5.00899734e-01 8.62006486e-01 -7.77449325e-02 1.06115228e+02] [ 1.50585380e-01 1.65906234e-03 9.88595615e-01 8.26104753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:106.13, Z:82.62 [[ 8.51785012e-01 -5.07504562e-01 -1.30005435e-01 1.74024563e+02] [ 5.01825751e-01 8.61648744e-01 -7.57123366e-02 1.06126245e+02] [ 1.50443376e-01 -7.49441817e-04 9.88618343e-01 8.26156332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:106.14, Z:82.62 [[ 8.51659256e-01 -5.07678982e-01 -1.30148237e-01 1.74049765e+02] [ 5.01982129e-01 8.61545998e-01 -7.58448147e-02 1.06138660e+02] [ 1.50633511e-01 -7.38150556e-04 9.88589399e-01 8.26202351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:174.08, Y:106.14, Z:82.63 [[ 8.50692366e-01 -5.06433977e-01 -1.40879826e-01 1.74077245e+02] [ 5.02555453e-01 8.62132271e-01 -6.45442878e-02 1.06143730e+02] [ 1.54144465e-01 -1.58925920e-02 9.87920498e-01 8.26340347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:106.16, Z:82.63 [[ 8.50622197e-01 -5.09092703e-01 -1.31402043e-01 1.74098773e+02] [ 5.02842048e-01 8.60710224e-01 -7.95473742e-02 1.06164961e+02] [ 1.53596069e-01 1.59029003e-03 9.88132440e-01 8.26298479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:106.18, Z:82.63 [[ 8.50331691e-01 -5.09359679e-01 -1.32244970e-01 1.74123888e+02] [ 5.03479385e-01 8.60553198e-01 -7.71796771e-02 1.06177521e+02] [ 1.53116047e-01 -9.54290634e-04 9.88207754e-01 8.26344582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:106.20, Z:82.63 [[ 8.50643230e-01 -5.11075557e-01 -1.23320195e-01 1.74146741e+02] [ 5.03808446e-01 8.59457719e-01 -8.66572506e-02 1.06196703e+02] [ 1.50276896e-01 1.15846477e-02 9.88576072e-01 8.26298803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.17, Y:106.20, Z:82.64 [[ 8.50154900e-01 -5.10249909e-01 -1.29929502e-01 1.74174430e+02] [ 5.04570238e-01 8.60025588e-01 -7.59266980e-02 1.06203032e+02] [ 1.50484287e-01 -1.00910553e-03 9.88611886e-01 8.26393227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:106.21, Z:82.64 [[ 8.50278429e-01 -5.10067811e-01 -1.29836136e-01 1.74198684e+02] [ 5.04387158e-01 8.60133683e-01 -7.59186522e-02 1.06213566e+02] [ 1.50400095e-01 -9.35687499e-04 9.88624770e-01 8.26448456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.22, Y:106.23, Z:82.65 [[ 8.50714350e-01 -5.09362801e-01 -1.29748342e-01 1.74221852e+02] [ 5.03678562e-01 8.60551514e-01 -7.58880566e-02 1.06226785e+02] [ 1.50309686e-01 -7.92399819e-04 9.88638645e-01 8.26496417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.25, Y:106.24, Z:82.65 [[ 8.51001931e-01 -5.08879446e-01 -1.29759095e-01 1.74245522e+02] [ 5.03185335e-01 8.60837520e-01 -7.59162839e-02 1.06241346e+02] [ 1.50333734e-01 -6.87969670e-04 9.88635067e-01 8.26537919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:106.26, Z:82.66 [[ 8.51265996e-01 -5.08329495e-01 -1.30181908e-01 1.74268228e+02] [ 5.02584498e-01 8.61162481e-01 -7.62102567e-02 1.06256006e+02] [ 1.50847696e-01 -5.52208631e-04 9.88556861e-01 8.26573664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.170385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:174.29, Y:106.27, Z:82.66 [[ 8.51548713e-01 -5.07404232e-01 -1.31930792e-01 1.74290939e+02] [ 5.01488276e-01 8.61708075e-01 -7.72573822e-02 1.06271821e+02] [ 1.52886551e-01 -3.73320885e-04 9.88243676e-01 8.26608839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:174.31, Y:106.29, Z:82.66 [[ 8.51547395e-01 -5.07317406e-01 -1.32272762e-01 1.74313754e+02] [ 5.01362268e-01 8.61759217e-01 -7.75043721e-02 1.06285768e+02] [ 1.53306589e-01 -3.17925864e-04 9.88178622e-01 8.26648009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:106.30, Z:82.67 [[ 8.50685037e-01 -5.08655117e-01 -1.32683608e-01 1.74337476e+02] [ 5.02675248e-01 8.60970197e-01 -7.77683425e-02 1.06299252e+02] [ 1.53793897e-01 -5.40400184e-04 9.88102801e-01 8.26706949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:106.30, Z:82.69 [[ 8.50160797e-01 -5.05633530e-01 -1.46837845e-01 1.74368637e+02] [ 5.02194383e-01 8.62500265e-01 -6.24026895e-02 1.06302774e+02] [ 1.58200573e-01 -2.06888208e-02 9.87190231e-01 8.26910112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:106.34, Z:82.67 [[ 8.48327486e-01 -5.14990035e-01 -1.22986744e-01 1.74381406e+02] [ 5.06574731e-01 8.57011572e-01 -9.44097793e-02 1.06337025e+02] [ 1.54021158e-01 1.77884339e-02 9.87907412e-01 8.26715243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:106.34, Z:82.68 [[ 8.47265409e-01 -5.14236064e-01 -1.33051110e-01 1.74408161e+02] [ 5.08273274e-01 8.57647449e-01 -7.80969417e-02 1.06343372e+02] [ 1.54271209e-01 -1.45748591e-03 9.88027464e-01 8.26829086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.350385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:174.44, Y:106.35, Z:82.69 [[ 8.46856191e-01 -5.12941966e-01 -1.40446186e-01 1.74437412e+02] [ 5.08150465e-01 8.58348155e-01 -7.08628973e-02 1.06353193e+02] [ 1.56900279e-01 -1.13571116e-02 9.87549147e-01 8.26947775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.380385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:174.45, Y:106.38, Z:82.69 [[ 8.46179639e-01 -5.16868420e-01 -1.29719141e-01 1.74454230e+02] [ 5.09694199e-01 8.56038455e-01 -8.60812867e-02 1.06377271e+02] [ 1.55537271e-01 6.72313856e-03 9.87807145e-01 8.26871904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.410385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:174.48, Y:106.39, Z:82.69 [[ 8.45999066e-01 -5.16065810e-01 -1.34021118e-01 1.74480223e+02] [ 5.10021447e-01 8.56547223e-01 -7.87716810e-02 1.06387931e+02] [ 1.55446788e-01 -1.71287598e-03 9.87842782e-01 8.26946668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.440385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:174.50, Y:106.40, Z:82.70 [[ 8.45598131e-01 -5.16438086e-01 -1.35112929e-01 1.74502550e+02] [ 5.10291738e-01 8.56322730e-01 -7.94589489e-02 1.06402220e+02] [ 1.56735900e-01 -1.75667290e-03 9.87638989e-01 8.26992132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.470385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:174.53, Y:106.42, Z:82.70 [[ 8.45441576e-01 -5.16712121e-01 -1.35044906e-01 1.74525783e+02] [ 5.10571569e-01 8.56157344e-01 -7.94435336e-02 1.06416827e+02] [ 1.56669124e-01 -1.78522321e-03 9.87649532e-01 8.27032674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:174.55, Y:106.43, Z:82.71 [[ 8.45364082e-01 -5.16813335e-01 -1.35142690e-01 1.74547586e+02] [ 5.10657400e-01 8.56096296e-01 -7.95496803e-02 1.06431386e+02] [ 1.56807492e-01 -1.76317230e-03 9.87627613e-01 8.27086693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.530385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:174.57, Y:106.45, Z:82.71 [[ 8.45105129e-01 -5.17279135e-01 -1.34980065e-01 1.74571000e+02] [ 5.11138389e-01 8.55814814e-01 -7.94893153e-02 1.06446242e+02] [ 1.56636103e-01 -1.81666501e-03 9.87654712e-01 8.27129597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.560385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:174.59, Y:106.46, Z:82.72 [[ 8.45011880e-01 -5.17360945e-01 -1.35250046e-01 1.74594398e+02] [ 5.11188618e-01 8.55765411e-01 -7.96979125e-02 1.06460923e+02] [ 1.56974898e-01 -1.79260112e-03 9.87600966e-01 8.27173313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.590385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:174.62, Y:106.48, Z:82.72 [[ 8.45646825e-01 -5.16208290e-01 -1.35685110e-01 1.74617825e+02] [ 5.09973171e-01 8.56461692e-01 -8.00045927e-02 1.06475985e+02] [ 1.57508133e-01 -1.54013600e-03 9.87516489e-01 8.27218974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.620385723 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:174.64, Y:106.49, Z:82.73 [[ 8.46141727e-01 -5.15381346e-01 -1.35743309e-01 1.74640760e+02] [ 5.09122685e-01 8.56959893e-01 -8.00864164e-02 1.06490393e+02] [ 1.57601617e-01 -1.34553929e-03 9.87501858e-01 8.27262351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.650385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:174.66, Y:106.51, Z:82.73 [[ 8.46593515e-01 -5.14655872e-01 -1.35678862e-01 1.74664471e+02] [ 5.08389992e-01 8.57396012e-01 -8.00730596e-02 1.06505382e+02] [ 1.57540585e-01 -1.18844250e-03 9.87511798e-01 8.27307049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68038572300003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:174.69, Y:106.52, Z:82.74 [[ 8.47821175e-01 -5.12813558e-01 -1.34987073e-01 1.74686504e+02] [ 5.06580963e-01 8.58499630e-01 -7.97126931e-02 1.06520471e+02] [ 1.56764102e-01 -7.99772077e-04 9.87635751e-01 8.27354180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:174.71, Y:106.53, Z:82.74 [[ 8.48277171e-01 -5.12176304e-01 -1.34540979e-01 1.74709664e+02] [ 5.05973254e-01 8.58880085e-01 -7.94736806e-02 1.06534995e+02] [ 1.56259104e-01 -6.58428261e-04 9.87715880e-01 8.27396493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74038572300003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:174.73, Y:106.55, Z:82.74 [[ 8.48884237e-01 -5.11357139e-01 -1.33826117e-01 1.74733365e+02] [ 5.05202296e-01 8.59368177e-01 -7.91010545e-02 1.06549227e+02] [ 1.55454795e-01 -4.61623477e-04 9.87842899e-01 8.27443667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.770385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:174.76, Y:106.56, Z:82.75 [[ 8.50192478e-01 -5.09550875e-01 -1.32403384e-01 1.74756631e+02] [ 5.03497536e-01 8.60440526e-01 -7.83092131e-02 1.06563218e+02] [ 1.53827766e-01 -8.68737770e-05 9.88097673e-01 8.27495700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.800385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:174.78, Y:106.58, Z:82.75 [[ 8.50537096e-01 -5.09108785e-01 -1.31889704e-01 1.74779573e+02] [ 5.03089975e-01 8.60702181e-01 -7.80527616e-02 1.06577065e+02] [ 1.53255102e-01 3.43813774e-05 9.88186659e-01 8.27538144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.830385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:174.80, Y:106.59, Z:82.76 [[ 8.50880055e-01 -5.08467185e-01 -1.32152385e-01 1.74803683e+02] [ 5.02412858e-01 8.61081351e-01 -7.82318807e-02 1.06591379e+02] [ 1.53572299e-01 1.70889293e-04 9.88137399e-01 8.27579461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:106.61, Z:82.76 [[ 8.50757425e-01 -5.08530635e-01 -1.32696635e-01 1.74827635e+02] [ 5.02419010e-01 8.61043873e-01 -7.86039886e-02 1.06606264e+02] [ 1.54230161e-01 2.03615217e-04 9.88034927e-01 8.27618922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.85, Y:106.62, Z:82.77 [[ 8.50707867e-01 -5.08496551e-01 -1.33144219e-01 1.74851339e+02] [ 5.02335131e-01 8.61063989e-01 -7.89190929e-02 1.06621125e+02] [ 1.54775779e-01 2.54074570e-04 9.87949591e-01 8.27651261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.88, Y:106.64, Z:82.77 [[ 8.50416830e-01 -5.08806825e-01 -1.33816405e-01 1.74875036e+02] [ 5.02578322e-01 8.60880686e-01 -7.93692296e-02 1.06636164e+02] [ 1.55583564e-01 2.43704418e-04 9.87822704e-01 8.27680762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.950385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:174.90, Y:106.66, Z:82.76 [[ 8.50999213e-01 -5.09638647e-01 -1.26762728e-01 1.74900952e+02] [ 5.02472743e-01 8.60339354e-01 -8.56582672e-02 1.06656071e+02] [ 1.52713727e-01 9.20030218e-03 9.88227642e-01 8.27647048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.980385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:174.92, Y:106.66, Z:82.78 [[ 8.49698128e-01 -5.09042233e-01 -1.37437609e-01 1.74923528e+02] [ 5.04389614e-01 8.60679665e-01 -6.94379700e-02 1.06662771e+02] [ 1.53636614e-01 -1.03207893e-02 9.88073516e-01 8.27788046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.010385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:174.94, Y:106.68, Z:82.78 [[ 8.48153008e-01 -5.13288683e-01 -1.31038938e-01 1.74943711e+02] [ 5.07354033e-01 8.58215885e-01 -7.78291728e-02 1.06682341e+02] [ 1.52408531e-01 -4.72086358e-04 9.88317468e-01 8.27780962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.040385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:174.97, Y:106.70, Z:82.78 [[ 8.46903722e-01 -5.15308034e-01 -1.31193429e-01 1.74967691e+02] [ 5.09379739e-01 8.57004646e-01 -7.79443259e-02 1.06697093e+02] [ 1.52598716e-01 -8.15934856e-04 9.88287896e-01 8.27823865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.070385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:174.99, Y:106.71, Z:82.79 [[ 8.44777783e-01 -5.18887748e-01 -1.30789920e-01 1.74990124e+02] [ 5.13031262e-01 8.54841214e-01 -7.77523253e-02 1.06710863e+02] [ 1.52149343e-01 -1.41588065e-03 9.88356501e-01 8.27864545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.100385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:175.01, Y:106.73, Z:82.79 [[ 8.44695931e-01 -5.19175701e-01 -1.30174404e-01 1.75011979e+02] [ 5.13136408e-01 8.54667527e-01 -7.89585043e-02 1.06725156e+02] [ 1.52249173e-01 -1.01298801e-04 9.88342137e-01 8.27898896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.130385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:175.04, Y:106.74, Z:82.79 [[ 8.43633197e-01 -5.21040613e-01 -1.29613689e-01 1.75036798e+02] [ 5.15385540e-01 8.53529081e-01 -7.65888642e-02 1.06741174e+02] [ 1.50534962e-01 -2.18811283e-03 9.88602265e-01 8.27944048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.06, Y:106.75, Z:82.80 [[ 8.44297137e-01 -5.19689308e-01 -1.30711010e-01 1.75058123e+02] [ 5.15023968e-01 8.54315523e-01 -6.99664210e-02 1.06754212e+02] [ 1.48029245e-01 -8.24685394e-03 9.88948599e-01 8.27993612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.08, Y:106.78, Z:82.80 [[ 8.43465230e-01 -5.22506115e-01 -1.24714737e-01 1.75078507e+02] [ 5.15930648e-01 8.52617743e-01 -8.28163720e-02 1.06781301e+02] [ 1.49606058e-01 5.50857526e-03 9.88730339e-01 8.27957191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.220385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:175.10, Y:106.79, Z:82.80 [[ 8.43555218e-01 -5.21455040e-01 -1.28449348e-01 1.75102506e+02] [ 5.15823462e-01 8.53276929e-01 -7.64502343e-02 1.06793507e+02] [ 1.49468225e-01 -1.76719317e-03 9.88764950e-01 8.28019159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.250385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:175.13, Y:106.81, Z:82.81 [[ 8.43710418e-01 -5.21147333e-01 -1.28678626e-01 1.75125440e+02] [ 5.15488550e-01 8.53465043e-01 -7.66092321e-02 1.06809630e+02] [ 1.49747406e-01 -1.69635142e-03 9.88722831e-01 8.28068850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.15, Y:106.83, Z:82.81 [[ 8.43472498e-01 -5.21553638e-01 -1.28592175e-01 1.75148201e+02] [ 5.15899896e-01 8.53216751e-01 -7.66059592e-02 1.06825469e+02] [ 1.49671115e-01 -1.72567006e-03 9.88734332e-01 8.28108050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:175.17, Y:106.84, Z:82.81 [[ 8.43025729e-01 -5.22199788e-01 -1.28899193e-01 1.75170641e+02] [ 5.16519019e-01 8.52821277e-01 -7.68373124e-02 1.06841954e+02] [ 1.50052403e-01 -1.80305364e-03 9.88676401e-01 8.28142708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:106.85, Z:82.84 [[ 8.42253747e-01 -5.17777426e-01 -1.50050535e-01 1.75201591e+02] [ 5.15834120e-01 8.54941141e-01 -5.46882613e-02 1.06846062e+02] [ 1.56600723e-01 -3.13397928e-02 9.87164642e-01 8.28385198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.370385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.21, Y:106.89, Z:82.81 [[ 8.41502458e-01 -5.27906259e-01 -1.14841609e-01 1.75209880e+02] [ 5.18652728e-01 8.48901051e-01 -1.01815295e-01 1.06889571e+02] [ 1.51238094e-01 2.61149075e-02 9.88152342e-01 8.28105653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.400385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:175.24, Y:106.89, Z:82.82 [[ 8.40540382e-01 -5.26014613e-01 -1.29616719e-01 1.75238956e+02] [ 5.20299638e-01 8.50472114e-01 -7.73658209e-02 1.06893201e+02] [ 1.50930957e-01 -2.41043525e-03 9.88541368e-01 8.28243470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43038572300003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:175.26, Y:106.91, Z:82.83 [[ 8.39132569e-01 -5.28472704e-01 -1.28736680e-01 1.75260713e+02] [ 5.22856940e-01 8.48945704e-01 -7.68883027e-02 1.06909763e+02] [ 1.49923821e-01 -2.79138779e-03 9.88693611e-01 8.28282440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.28, Y:106.93, Z:82.83 [[ 8.39038193e-01 -5.28902041e-01 -1.27583474e-01 1.75281593e+02] [ 5.23179681e-01 8.48681310e-01 -7.76083488e-02 1.06925429e+02] [ 1.49324924e-01 -1.63271252e-03 9.88786833e-01 8.28314605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49038572300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:175.30, Y:106.95, Z:82.84 [[ 8.37943272e-01 -5.30711391e-01 -1.27265443e-01 1.75304232e+02] [ 5.25332132e-01 8.47544844e-01 -7.54578543e-02 1.06945126e+02] [ 1.47909513e-01 -3.62722526e-03 9.88994246e-01 8.28352180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.32, Y:106.97, Z:82.84 [[ 8.37516971e-01 -5.32017456e-01 -1.24590324e-01 1.75324884e+02] [ 5.25621795e-01 8.46726336e-01 -8.23179312e-02 1.06965389e+02] [ 1.49288485e-01 3.45527454e-03 9.88787646e-01 8.28356200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.35, Y:106.98, Z:82.84 [[ 8.37138819e-01 -5.31277168e-01 -1.30165926e-01 1.75350278e+02] [ 5.26678322e-01 8.47143547e-01 -7.04113321e-02 1.06976168e+02] [ 1.47677158e-01 -9.61151224e-03 9.88988916e-01 8.28440149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:107.00, Z:82.84 [[ 8.36753943e-01 -5.32943409e-01 -1.25754373e-01 1.75369378e+02] [ 5.26774289e-01 8.46149692e-01 -8.08674678e-02 1.06996713e+02] [ 1.49504808e-01 1.42200186e-03 9.88759976e-01 8.28440557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.39, Y:107.01, Z:82.85 [[ 8.35568922e-01 -5.33882888e-01 -1.29590271e-01 1.75393561e+02] [ 5.28989244e-01 8.45521269e-01 -7.25545584e-02 1.07011067e+02] [ 1.48306968e-01 -7.92752541e-03 9.88909600e-01 8.28513288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:107.03, Z:82.85 [[ 8.34796829e-01 -5.35614013e-01 -1.27404411e-01 1.75415620e+02] [ 5.30171369e-01 8.44453994e-01 -7.62612054e-02 1.07029248e+02] [ 1.48433734e-01 -3.88355876e-03 9.88914731e-01 8.28536263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.670385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.44, Y:107.05, Z:82.86 [[ 8.33415602e-01 -5.37669876e-01 -1.27787083e-01 1.75435518e+02] [ 5.32211166e-01 8.43144874e-01 -7.65375468e-02 1.07047814e+02] [ 1.48894957e-01 -4.22212681e-03 9.88844005e-01 8.28567399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.700385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.46, Y:107.06, Z:82.86 [[ 8.32608703e-01 -5.38634093e-01 -1.28980860e-01 1.75457516e+02] [ 5.33080400e-01 8.42528221e-01 -7.72753709e-02 1.07064574e+02] [ 1.50293164e-01 -4.41702227e-03 9.88631607e-01 8.28597637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:107.08, Z:82.86 [[ 8.32991634e-01 -5.38454177e-01 -1.27247934e-01 1.75479234e+02] [ 5.33040497e-01 8.42643896e-01 -7.62829744e-02 1.07082079e+02] [ 1.48299581e-01 -4.28522237e-03 9.88933199e-01 8.28631781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:107.10, Z:82.87 [[ 8.33690975e-01 -5.37364037e-01 -1.27276275e-01 1.75499963e+02] [ 5.31928279e-01 8.43340661e-01 -7.63468040e-02 1.07100393e+02] [ 1.48363285e-01 -4.05220842e-03 9.88924626e-01 8.28670581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:107.12, Z:82.87 [[ 8.33908514e-01 -5.37889351e-01 -1.23578462e-01 1.75520804e+02] [ 5.30743259e-01 8.42981580e-01 -8.77134421e-02 1.07121666e+02] [ 1.51354493e-01 7.55655071e-03 9.88450664e-01 8.28672936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:107.11, Z:82.90 [[ 8.36371623e-01 -5.26924375e-01 -1.51106623e-01 1.75552423e+02] [ 5.26044607e-01 8.49041321e-01 -4.90500410e-02 1.07114411e+02] [ 1.54141429e-01 -3.84647620e-02 9.87299793e-01 8.28961601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.57, Y:107.15, Z:82.89 [[ 8.36245188e-01 -5.32238713e-01 -1.31969457e-01 1.75569880e+02] [ 5.26829421e-01 8.46572848e-01 -7.59287424e-02 1.07145857e+02] [ 1.52133975e-01 -6.03034719e-03 9.88341484e-01 8.28878522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:107.17, Z:82.89 [[ 8.36052811e-01 -5.33938782e-01 -1.26194589e-01 1.75590577e+02] [ 5.27848232e-01 8.45522909e-01 -8.04192472e-02 1.07166304e+02] [ 1.49639371e-01 6.23147017e-04 9.88740446e-01 8.28864485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:107.18, Z:82.90 [[ 8.36021104e-01 -5.31762642e-01 -1.35267164e-01 1.75616842e+02] [ 5.27074654e-01 8.46813971e-01 -7.14031379e-02 1.07176642e+02] [ 1.52515645e-01 -1.16013632e-02 9.88232962e-01 8.28973645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:107.20, Z:82.89 [[ 8.36092165e-01 -5.34374935e-01 -1.24069822e-01 1.75635048e+02] [ 5.27349855e-01 8.45218421e-01 -8.66484346e-02 1.07200352e+02] [ 1.51168851e-01 7.01787444e-03 9.88483044e-01 8.28926809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:107.21, Z:82.90 [[ 8.36076117e-01 -5.34171133e-01 -1.25051700e-01 1.75657197e+02] [ 5.27646109e-01 8.45368369e-01 -8.33180936e-02 1.07212696e+02] [ 1.50220872e-01 3.67722533e-03 9.88645623e-01 8.28958817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:107.22, Z:82.90 [[ 8.35245945e-01 -5.34130199e-01 -1.30648926e-01 1.75685542e+02] [ 5.29046866e-01 8.45369795e-01 -7.38872325e-02 1.07223948e+02] [ 1.49912058e-01 -7.40539365e-03 9.88671601e-01 8.29046549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:107.25, Z:82.90 [[ 8.35310382e-01 -5.35095812e-01 -1.26210294e-01 1.75707412e+02] [ 5.29090111e-01 8.44791378e-01 -7.99448699e-02 1.07245064e+02] [ 1.49399533e-01 2.16148275e-06 9.88776911e-01 8.29045487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.060385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.73, Y:107.25, Z:82.91 [[ 8.35768574e-01 -5.33018944e-01 -1.31839662e-01 1.75732666e+02] [ 5.28638475e-01 8.46020367e-01 -6.92163403e-02 1.07254648e+02] [ 1.48432660e-01 -1.18466758e-02 9.88851557e-01 8.29117382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:107.28, Z:82.90 [[ 8.37505335e-01 -5.33650327e-01 -1.17482515e-01 1.75749972e+02] [ 5.26632720e-01 8.45634302e-01 -8.69517428e-02 1.07280728e+02] [ 1.45749071e-01 1.09524120e-02 9.89260963e-01 8.29046238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:107.29, Z:82.92 [[ 8.37748024e-01 -5.30891183e-01 -1.27799845e-01 1.75779564e+02] [ 5.26585507e-01 8.47379395e-01 -6.82338967e-02 1.07287520e+02] [ 1.44519730e-01 -1.01347343e-02 9.89450016e-01 8.29158332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:107.31, Z:82.91 [[ 8.37978691e-01 -5.33085035e-01 -1.16670727e-01 1.75799085e+02] [ 5.26890825e-01 8.46035481e-01 -8.13020576e-02 1.07311063e+02] [ 1.42048485e-01 6.65665610e-03 9.89837318e-01 8.29101607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:107.32, Z:82.92 [[ 8.38518282e-01 -5.30950662e-01 -1.22386627e-01 1.75824089e+02] [ 5.25236256e-01 8.47402293e-01 -7.76931712e-02 1.07322342e+02] [ 1.44961949e-01 8.65250477e-04 9.89436852e-01 8.29168491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.85, Y:107.33, Z:82.92 [[ 8.39726747e-01 -5.28498862e-01 -1.24691394e-01 1.75849382e+02] [ 5.24201202e-01 8.48892064e-01 -6.77891162e-02 1.07332400e+02] [ 1.41676006e-01 -8.43904466e-03 9.89877110e-01 8.29230241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:107.36, Z:82.92 [[ 8.39034371e-01 -5.31388195e-01 -1.16824270e-01 1.75867724e+02] [ 5.24891032e-01 8.47085214e-01 -8.32829201e-02 1.07355457e+02] [ 1.43215673e-01 8.55722074e-03 9.89654508e-01 8.29210996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.270385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.89, Y:107.36, Z:82.93 [[ 8.40505525e-01 -5.26726143e-01 -1.26925302e-01 1.75894741e+02] [ 5.23000206e-01 8.49939597e-01 -6.38237053e-02 1.07359642e+02] [ 1.41496454e-01 -1.27377823e-02 9.89856809e-01 8.29311705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.300385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.92, Y:107.38, Z:82.93 [[ 8.40383489e-01 -5.28289726e-01 -1.21101435e-01 1.75916513e+02] [ 5.23162262e-01 8.49062596e-01 -7.34435481e-02 1.07379201e+02] [ 1.41622170e-01 -1.63495532e-03 9.89919435e-01 8.29317014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:107.39, Z:82.94 [[ 8.41316501e-01 -5.26813641e-01 -1.21053426e-01 1.75940250e+02] [ 5.21668801e-01 8.49979746e-01 -7.34581024e-02 1.07394394e+02] [ 1.41591691e-01 -1.34828201e-03 9.89924227e-01 8.29360346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:107.41, Z:82.94 [[ 8.42184272e-01 -5.25497039e-01 -1.20741517e-01 1.75963750e+02] [ 5.20358707e-01 8.50794739e-01 -7.33152703e-02 1.07409248e+02] [ 1.41253204e-01 -1.08393179e-03 9.89972907e-01 8.29394498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.390385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.99, Y:107.42, Z:82.94 [[ 8.43694034e-01 -5.23185933e-01 -1.20236671e-01 1.75987171e+02] [ 5.18060821e-01 8.52218312e-01 -7.30543205e-02 1.07422907e+02] [ 1.40688886e-01 -6.54414244e-04 9.90053640e-01 8.29425741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.420385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.01, Y:107.44, Z:82.95 [[ 8.43628353e-01 -5.23370313e-01 -1.19894613e-01 1.76010997e+02] [ 5.18273369e-01 8.52105083e-01 -7.28672903e-02 1.07436719e+02] [ 1.40299386e-01 -6.65272901e-04 9.90108903e-01 8.29460787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.450385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.04, Y:107.45, Z:82.95 [[ 8.42948034e-01 -5.24578492e-01 -1.19398565e-01 1.76035159e+02] [ 5.19529461e-01 8.51361690e-01 -7.26113728e-02 1.07450911e+02] [ 1.39741728e-01 -8.23457999e-04 9.90187645e-01 8.29491223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.480385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.06, Y:107.47, Z:82.95 [[ 8.42308580e-01 -5.25678825e-01 -1.19071534e-01 1.76059041e+02] [ 5.20662094e-01 8.50682575e-01 -7.24578483e-02 1.07465214e+02] [ 1.39381636e-01 -9.64166936e-04 9.90238269e-01 8.29525071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.510385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.08, Y:107.48, Z:82.96 [[ 8.41940813e-01 -5.26352992e-01 -1.18693708e-01 1.76083013e+02] [ 5.21368565e-01 8.50265523e-01 -7.22728139e-02 1.07478765e+02] [ 1.38962179e-01 -1.03373648e-03 9.90297149e-01 8.29556923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.540385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.11, Y:107.49, Z:82.96 [[ 8.40785746e-01 -5.28165687e-01 -1.18829025e-01 1.76106203e+02] [ 5.23181400e-01 8.49140347e-01 -7.24009198e-02 1.07492353e+02] [ 1.39142201e-01 -1.29547418e-03 9.90271564e-01 8.29586688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.570385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:176.13, Y:107.51, Z:82.96 [[ 8.40958142e-01 -5.28047689e-01 -1.18131462e-01 1.76130154e+02] [ 5.23118055e-01 8.49213797e-01 -7.19960227e-02 1.07506772e+02] [ 1.38336200e-01 -1.25105900e-03 9.90384537e-01 8.29632738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:107.52, Z:82.97 [[ 8.41001080e-01 -5.28151308e-01 -1.17360046e-01 1.76153625e+02] [ 5.23280996e-01 8.49149400e-01 -7.15702122e-02 1.07521180e+02] [ 1.37456114e-01 -1.22165620e-03 9.90507105e-01 8.29668338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.18, Y:107.54, Z:82.97 [[ 8.41114437e-01 -5.27884533e-01 -1.17747288e-01 1.76176833e+02] [ 5.22973024e-01 8.49315379e-01 -7.18512640e-02 1.07535989e+02] [ 1.37933754e-01 -1.14351991e-03 9.90440797e-01 8.29697528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.660385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.20, Y:107.55, Z:82.97 [[ 8.41108247e-01 -5.27678895e-01 -1.18709312e-01 1.76200014e+02] [ 5.22678002e-01 8.49443239e-01 -7.24837199e-02 1.07551063e+02] [ 1.39084952e-01 -1.08009155e-03 9.90279864e-01 8.29721546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:107.57, Z:82.98 [[ 8.41803741e-01 -5.26542926e-01 -1.18823437e-01 1.76222589e+02] [ 5.21514608e-01 8.50148116e-01 -7.25995520e-02 1.07565858e+02] [ 1.39244302e-01 -8.53583777e-04 9.90257692e-01 8.29757520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:107.58, Z:82.98 [[ 8.42734801e-01 -5.24938248e-01 -1.19322635e-01 1.76246671e+02] [ 5.19846824e-01 8.51140129e-01 -7.29366921e-02 1.07580467e+02] [ 1.39847542e-01 -5.63204092e-04 9.90172888e-01 8.29798105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:107.59, Z:82.98 [[ 8.42804489e-01 -5.24798704e-01 -1.19444182e-01 1.76269668e+02] [ 5.19688968e-01 8.51226215e-01 -7.30568782e-02 1.07594605e+02] [ 1.40014174e-01 -5.01158769e-04 9.90149373e-01 8.29835369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:107.61, Z:82.99 [[ 8.42194300e-01 -5.25662290e-01 -1.19949643e-01 1.76291858e+02] [ 5.20514775e-01 8.50693106e-01 -7.33867062e-02 1.07609407e+02] [ 1.40616958e-01 -6.29695561e-04 9.90063874e-01 8.29866207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:107.62, Z:82.99 [[ 8.41690603e-01 -5.26507244e-01 -1.19779174e-01 1.76314870e+02] [ 5.21378528e-01 8.50170318e-01 -7.33134392e-02 1.07623773e+02] [ 1.40432755e-01 -7.43056637e-04 9.90089940e-01 8.29902581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:107.64, Z:82.99 [[ 8.41028292e-01 -5.27610710e-01 -1.19575707e-01 1.76338372e+02] [ 5.22507686e-01 8.49485794e-01 -7.32093197e-02 1.07638001e+02] [ 1.40203885e-01 -9.08116683e-04 9.90122238e-01 8.29942438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:107.65, Z:83.00 [[ 8.39510329e-01 -5.30204528e-01 -1.18766860e-01 1.76363626e+02] [ 5.24670671e-01 8.47867765e-01 -7.64260366e-02 1.07654421e+02] [ 1.41220023e-01 1.84695917e-03 9.89976512e-01 8.29972893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.900385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:176.39, Y:107.66, Z:83.00 [[ 8.39455744e-01 -5.29466172e-01 -1.22391287e-01 1.76386787e+02] [ 5.24729996e-01 8.48317634e-01 -7.08210653e-02 1.07664893e+02] [ 1.41324045e-01 -4.77122938e-03 9.89951893e-01 8.30015528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:107.68, Z:83.01 [[ 8.39908962e-01 -5.29377868e-01 -1.19632806e-01 1.76408925e+02] [ 5.24269156e-01 8.48385456e-01 -7.33755374e-02 1.07681251e+02] [ 1.40338118e-01 -1.09101889e-03 9.90103036e-01 8.30054246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:107.67, Z:83.04 [[ 8.38834511e-01 -5.20850528e-01 -1.58339479e-01 1.76441377e+02] [ 5.22348701e-01 8.51998331e-01 -3.53649252e-02 1.07671798e+02] [ 1.53324812e-01 -5.30431016e-02 9.86751200e-01 8.30439419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:107.73, Z:83.00 [[ 8.40868982e-01 -5.33508019e-01 -9.11512463e-02 1.76444945e+02] [ 5.22749039e-01 8.44186596e-01 -1.18669428e-01 1.07734821e+02] [ 1.40259752e-01 5.21362145e-02 9.88741128e-01 8.29981058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.48, Y:107.73, Z:83.02 [[ 8.41080494e-01 -5.27571455e-01 -1.19381583e-01 1.76479818e+02] [ 5.22455081e-01 8.49510353e-01 -7.32997169e-02 1.07725668e+02] [ 1.40086729e-01 -7.20552248e-04 9.90138975e-01 8.30162975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:107.74, Z:83.02 [[ 8.40401583e-01 -5.28761363e-01 -1.18897436e-01 1.76505324e+02] [ 5.23215836e-01 8.48768173e-01 -7.64053483e-02 1.07743508e+02] [ 1.41316556e-01 2.00215429e-03 9.89962435e-01 8.30190305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:107.75, Z:83.02 [[ 8.41598782e-01 -5.26141157e-01 -1.22012187e-01 1.76529097e+02] [ 5.21390781e-01 8.50387146e-01 -7.06636794e-02 1.07754336e+02] [ 1.40936665e-01 -4.14556296e-03 9.90009935e-01 8.30248928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.55, Y:107.77, Z:83.03 [[ 8.39692626e-01 -5.27969324e-01 -1.27140419e-01 1.76547376e+02] [ 5.23896169e-01 8.49193613e-01 -6.63551973e-02 1.07765798e+02] [ 1.43000340e-01 -1.08904083e-02 9.89662721e-01 8.30338077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.140385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.57, Y:107.79, Z:83.03 [[ 8.42431986e-01 -5.26830624e-01 -1.12950622e-01 1.76573711e+02] [ 5.20238455e-01 8.49886295e-01 -8.39358964e-02 1.07789205e+02] [ 1.40215186e-01 1.19490268e-02 9.90048949e-01 8.30286353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:107.80, Z:83.04 [[ 8.42618918e-01 -5.25170365e-01 -1.19119466e-01 1.76598720e+02] [ 5.20031782e-01 8.50997092e-01 -7.32863934e-02 1.07797979e+02] [ 1.39858161e-01 -1.93406602e-04 9.90171529e-01 8.30361749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:107.81, Z:83.04 [[ 8.42962514e-01 -5.24669144e-01 -1.18896968e-01 1.76622693e+02] [ 5.19542207e-01 8.51306220e-01 -7.31683994e-02 1.07812440e+02] [ 1.39606930e-01 -9.37754557e-05 9.90206997e-01 8.30403809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:107.83, Z:83.04 [[ 8.43290034e-01 -5.23948187e-01 -1.19750637e-01 1.76647294e+02] [ 5.18733285e-01 8.51750135e-01 -7.37393111e-02 1.07826544e+02] [ 1.40633199e-01 6.49850956e-05 9.90061765e-01 8.30438413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.260385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:176.66, Y:107.84, Z:83.05 [[ 8.40779686e-01 -5.27175617e-01 -1.23188430e-01 1.76664347e+02] [ 5.22592278e-01 8.49736222e-01 -6.96108033e-02 1.07839004e+02] [ 1.41374789e-01 -5.84997297e-03 9.89938860e-01 8.30483720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.68, Y:107.86, Z:83.05 [[ 8.40190317e-01 -5.29606320e-01 -1.16607796e-01 1.76684171e+02] [ 5.23699629e-01 8.48226651e-01 -7.90585053e-02 1.07857003e+02] [ 1.40779724e-01 5.35673126e-03 9.90026452e-01 8.30461298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.320385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.72, Y:107.86, Z:83.06 [[ 8.40955906e-01 -5.25470654e-01 -1.29126902e-01 1.76716223e+02] [ 5.21143663e-01 8.50752120e-01 -6.80449351e-02 1.07860391e+02] [ 1.45610602e-01 -1.00708766e-02 9.89290721e-01 8.30591236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:107.89, Z:83.05 [[ 8.44170916e-01 -5.24102878e-01 -1.12657170e-01 1.76742419e+02] [ 5.16673206e-01 8.51475607e-01 -8.96553880e-02 1.07885976e+02] [ 1.42913479e-01 1.74775296e-02 9.89580857e-01 8.30535020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:107.89, Z:83.07 [[ 8.42203044e-01 -5.22830060e-01 -1.31691918e-01 1.76767425e+02] [ 5.18991167e-01 8.52324788e-01 -6.47350248e-02 1.07887836e+02] [ 1.46089703e-01 -1.38269075e-02 9.89174714e-01 8.30696850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:107.92, Z:83.06 [[ 8.45683740e-01 -5.21969673e-01 -1.11205540e-01 1.76790027e+02] [ 5.13613755e-01 8.52621769e-01 -9.61094661e-02 1.07915300e+02] [ 1.44982491e-01 2.41615175e-02 9.89139170e-01 8.30584890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:107.92, Z:83.07 [[ 8.46135496e-01 -5.18171735e-01 -1.24710769e-01 1.76822020e+02] [ 5.13230906e-01 8.55269313e-01 -7.14733510e-02 1.07916280e+02] [ 1.43696764e-01 -3.52928178e-03 9.89615473e-01 8.30716396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.470385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:176.83, Y:107.95, Z:83.05 [[ 8.44814929e-01 -5.27564622e-01 -8.92373539e-02 1.76825854e+02] [ 5.18666872e-01 8.48429411e-01 -1.05604030e-01 1.07953643e+02] [ 1.31424546e-01 4.29314021e-02 9.90396125e-01 8.30467676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:107.92, Z:83.10 [[ 8.48323611e-01 -5.09407799e-01 -1.44397872e-01 1.76881921e+02] [ 5.09508503e-01 8.59576508e-01 -3.91064251e-02 1.07923502e+02] [ 1.44042136e-01 -4.03970396e-02 9.88746652e-01 8.30951168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:107.96, Z:83.08 [[ 8.49292525e-01 -5.14253990e-01 -1.19352590e-01 1.76894775e+02] [ 5.07785433e-01 8.57592193e-01 -8.17898831e-02 1.07957080e+02] [ 1.44416623e-01 8.85802963e-03 9.89477324e-01 8.30824537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:107.97, Z:83.09 [[ 8.49463417e-01 -5.12712969e-01 -1.24648766e-01 1.76923859e+02] [ 5.07963632e-01 8.58550421e-01 -6.97432665e-02 1.07966022e+02] [ 1.42775528e-01 -4.07268658e-03 9.89746716e-01 8.30905598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:107.98, Z:83.09 [[ 8.49764910e-01 -5.12765391e-01 -1.22357068e-01 1.76947251e+02] [ 5.07165867e-01 8.58525979e-01 -7.56037442e-02 1.07979749e+02] [ 1.43813705e-01 2.19008060e-03 9.89602355e-01 8.30911532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.620385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.97, Y:107.99, Z:83.09 [[ 8.49540072e-01 -5.12986202e-01 -1.22991151e-01 1.76971755e+02] [ 5.07327395e-01 8.58394079e-01 -7.60165811e-02 1.07991854e+02] [ 1.44570333e-01 2.18235149e-03 9.89492120e-01 8.30946657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.650385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.99, Y:108.01, Z:83.09 [[ 8.47208195e-01 -5.17476635e-01 -1.20233963e-01 1.76989452e+02] [ 5.11316987e-01 8.55675116e-01 -7.98438129e-02 1.08007672e+02] [ 1.44198518e-01 6.16666492e-03 9.89529565e-01 8.30928035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68038572300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:177.02, Y:108.01, Z:83.10 [[ 8.48749794e-01 -5.14493205e-01 -1.22149617e-01 1.77024598e+02] [ 5.09379085e-01 8.57494083e-01 -7.23660546e-02 1.08011895e+02] [ 1.41974417e-01 -7.99786273e-04 9.89870004e-01 8.31046339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:108.03, Z:83.11 [[ 8.48373494e-01 -5.15615793e-01 -1.20011536e-01 1.77048072e+02] [ 5.10249026e-01 8.56818160e-01 -7.42197557e-02 1.08025184e+02] [ 1.41096941e-01 1.73030431e-03 9.89994272e-01 8.31078097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.07, Y:108.04, Z:83.11 [[ 8.46495249e-01 -5.19533970e-01 -1.16319594e-01 1.77067426e+02] [ 5.14231739e-01 8.54444862e-01 -7.40924818e-02 1.08040466e+02] [ 1.37882240e-01 2.90370682e-03 9.90444373e-01 8.31072337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.770385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:177.10, Y:108.05, Z:83.11 [[ 8.47839925e-01 -5.16844652e-01 -1.18486570e-01 1.77097117e+02] [ 5.11647144e-01 8.56078099e-01 -7.31265207e-02 1.08051695e+02] [ 1.39228809e-01 1.37626855e-03 9.90259282e-01 8.31138996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.12, Y:108.07, Z:83.11 [[ 8.46573824e-01 -5.19505328e-01 -1.15874825e-01 1.77117689e+02] [ 5.14214615e-01 8.54461671e-01 -7.40174429e-02 1.08066930e+02] [ 1.37463053e-01 3.07670119e-03 9.90502117e-01 8.31145033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.830385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:177.15, Y:108.07, Z:83.12 [[ 8.45961404e-01 -5.20202116e-01 -1.17213746e-01 1.77145715e+02] [ 5.14928674e-01 8.54040420e-01 -7.39149639e-02 1.08074882e+02] [ 1.38555998e-01 2.17248756e-03 9.90352218e-01 8.31194633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.860385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:177.17, Y:108.08, Z:83.13 [[ 8.45646095e-01 -5.19444646e-01 -1.22718950e-01 1.77173518e+02] [ 5.14903906e-01 8.54489028e-01 -6.87202190e-02 1.08082704e+02] [ 1.40558346e-01 -5.07548162e-03 9.90059388e-01 8.31290742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.890385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:177.20, Y:108.10, Z:83.13 [[ 8.45974726e-01 -5.20409183e-01 -1.16193997e-01 1.77198181e+02] [ 5.14404914e-01 8.53886756e-01 -7.91517056e-02 1.08100174e+02] [ 1.40407790e-01 7.18957924e-03 9.90067656e-01 8.31278553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.22, Y:108.11, Z:83.13 [[ 8.44120992e-01 -5.23111722e-01 -1.17532451e-01 1.77220331e+02] [ 5.17751422e-01 8.52261208e-01 -7.47281579e-02 1.08113078e+02] [ 1.39259524e-01 2.22701307e-03 9.90253415e-01 8.31293004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:108.12, Z:83.13 [[ 8.44530282e-01 -5.21898762e-01 -1.19959511e-01 1.77247883e+02] [ 5.16673601e-01 8.53007402e-01 -7.36665680e-02 1.08124758e+02] [ 1.40772841e-01 2.33735072e-04 9.90041894e-01 8.31347936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:108.14, Z:83.14 [[ 8.43290499e-01 -5.24410187e-01 -1.17707649e-01 1.77269477e+02] [ 5.18995021e-01 8.51462584e-01 -7.52039694e-02 1.08139354e+02] [ 1.39661387e-01 2.32910912e-03 9.90196583e-01 8.31354506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:108.15, Z:83.14 [[ 8.43036876e-01 -5.24581612e-01 -1.18755871e-01 1.77294856e+02] [ 5.19231058e-01 8.51359094e-01 -7.47449087e-02 1.08150137e+02] [ 1.40313696e-01 1.35097771e-03 9.90106177e-01 8.31401667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.32, Y:108.16, Z:83.14 [[ 8.42157297e-01 -5.27296873e-01 -1.12823288e-01 1.77318265e+02] [ 5.21098087e-01 8.49627161e-01 -8.11817203e-02 1.08163936e+02] [ 1.38664597e-01 9.57577849e-03 9.90293105e-01 8.31376943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.35, Y:108.17, Z:83.15 [[ 8.42304631e-01 -5.24431766e-01 -1.24475828e-01 1.77347990e+02] [ 5.19953232e-01 8.51425091e-01 -6.87310071e-02 1.08169070e+02] [ 1.42026567e-01 -6.82916372e-03 9.89839288e-01 8.31510778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:177.37, Y:108.18, Z:83.15 [[ 8.42387552e-01 -5.24817850e-01 -1.22267890e-01 1.77373477e+02] [ 5.19515028e-01 8.51214156e-01 -7.44217549e-02 1.08183986e+02] [ 1.43134025e-01 -8.28046602e-04 9.89702968e-01 8.31526357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:108.20, Z:83.15 [[ 8.41780631e-01 -5.26566673e-01 -1.18881910e-01 1.77396188e+02] [ 5.20784582e-01 8.50125924e-01 -7.79059241e-02 1.08200303e+02] [ 1.42087256e-01 3.66783236e-03 9.89847341e-01 8.31526385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:177.42, Y:108.21, Z:83.16 [[ 8.41654514e-01 -5.26042076e-01 -1.22054960e-01 1.77422263e+02] [ 5.20708286e-01 8.50458284e-01 -7.47234079e-02 1.08210710e+02] [ 1.43110308e-01 -6.63735402e-04 9.89706522e-01 8.31590884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:108.22, Z:83.17 [[ 8.41071015e-01 -5.26690143e-01 -1.23276283e-01 1.77448550e+02] [ 5.21466514e-01 8.50054932e-01 -7.40222111e-02 1.08219658e+02] [ 1.43778382e-01 -2.02651764e-03 9.89607837e-01 8.31652407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.47, Y:108.24, Z:83.17 [[ 8.40946568e-01 -5.27156785e-01 -1.22125321e-01 1.77472094e+02] [ 5.21667718e-01 8.49768036e-01 -7.58754068e-02 1.08235627e+02] [ 1.43776430e-01 9.83251685e-05 9.89610190e-01 8.31683369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.49, Y:108.25, Z:83.17 [[ 8.40703627e-01 -5.28644448e-01 -1.17270880e-01 1.77494155e+02] [ 5.22391251e-01 8.48813163e-01 -8.13854745e-02 1.08251338e+02] [ 1.42565046e-01 7.15978163e-03 9.89759539e-01 8.31671037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:108.26, Z:83.17 [[ 8.39774520e-01 -5.29363758e-01 -1.20634852e-01 1.77520820e+02] [ 5.24150925e-01 8.48394382e-01 -7.41132980e-02 1.08260947e+02] [ 1.41578825e-01 -9.92410138e-04 9.89926488e-01 8.31739041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:108.27, Z:83.18 [[ 8.39987852e-01 -5.28078567e-01 -1.24713415e-01 1.77548458e+02] [ 5.23170785e-01 8.49182075e-01 -7.19870380e-02 1.08270110e+02] [ 1.43919208e-01 -4.77817785e-03 9.89577905e-01 8.31824046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:108.29, Z:83.18 [[ 8.39328870e-01 -5.30553533e-01 -1.18490490e-01 1.77568937e+02] [ 5.24703771e-01 8.47642681e-01 -7.86628194e-02 1.08289000e+02] [ 1.42172433e-01 3.85156862e-03 9.89834413e-01 8.31790410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:108.30, Z:83.19 [[ 8.40395474e-01 -5.27537246e-01 -1.24257401e-01 1.77595508e+02] [ 5.22440511e-01 8.49525204e-01 -7.32314180e-02 1.08298650e+02] [ 1.44192094e-01 -3.37374758e-03 9.89543965e-01 8.31883522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:108.31, Z:83.19 [[ 8.40712666e-01 -5.27519454e-01 -1.22169711e-01 1.77618782e+02] [ 5.22006503e-01 8.49542933e-01 -7.60658719e-02 1.08313798e+02] [ 1.43914642e-01 1.76158327e-04 9.89590089e-01 8.31906997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:108.32, Z:83.20 [[ 8.41354970e-01 -5.26586600e-01 -1.21771787e-01 1.77644355e+02] [ 5.21093202e-01 8.50121411e-01 -7.58647630e-02 1.08324684e+02] [ 1.43470171e-01 3.74745188e-04 9.89654571e-01 8.31956304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:108.34, Z:83.20 [[ 8.41376682e-01 -5.26560732e-01 -1.21733617e-01 1.77667761e+02] [ 5.21063797e-01 8.50137412e-01 -7.58874188e-02 1.08337104e+02] [ 1.43449637e-01 4.18924198e-04 9.89657530e-01 8.31996484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:108.35, Z:83.20 [[ 8.41287449e-01 -5.26617475e-01 -1.22104314e-01 1.77691260e+02] [ 5.21082818e-01 8.50102255e-01 -7.61501993e-02 1.08350016e+02] [ 1.43903178e-01 4.37747005e-04 9.89591675e-01 8.32031238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:108.36, Z:83.21 [[ 8.40852601e-01 -5.27135426e-01 -1.22862303e-01 1.77715536e+02] [ 5.21533858e-01 8.49781211e-01 -7.66441739e-02 1.08364191e+02] [ 1.44807936e-01 3.69601914e-04 9.89459714e-01 8.32066371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:108.38, Z:83.21 [[ 8.40337841e-01 -5.27811337e-01 -1.23480791e-01 1.77740511e+02] [ 5.22153106e-01 8.49361587e-01 -7.70780721e-02 1.08376624e+02] [ 1.45562521e-01 2.95742029e-04 9.89349011e-01 8.32093248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:108.39, Z:83.21 [[ 8.39938415e-01 -5.28506492e-01 -1.23224780e-01 1.77763741e+02] [ 5.22872472e-01 8.48929233e-01 -7.69645143e-02 1.08389319e+02] [ 1.45285363e-01 2.14607029e-04 9.89389770e-01 8.32126768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:108.40, Z:83.22 [[ 8.39390894e-01 -5.29577400e-01 -1.22354835e-01 1.77788549e+02] [ 5.24031250e-01 8.48261620e-01 -7.64426134e-02 1.08401161e+02] [ 1.44271191e-01 4.74765116e-05 9.89538186e-01 8.32170195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:108.41, Z:83.22 [[ 8.39148555e-01 -5.30073979e-01 -1.21865828e-01 1.77812229e+02] [ 5.24570789e-01 8.47951400e-01 -7.61833970e-02 1.08414875e+02] [ 1.43719136e-01 1.93368082e-06 9.89618517e-01 8.32208791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:108.43, Z:83.22 [[ 8.39101484e-01 -5.30164039e-01 -1.21798157e-01 1.77834860e+02] [ 5.24661173e-01 8.47895094e-01 -7.61876788e-02 1.08428338e+02] [ 1.43664027e-01 2.64303386e-05 9.89626519e-01 8.32246452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:108.44, Z:83.23 [[ 8.39127692e-01 -5.30150688e-01 -1.21675652e-01 1.77858760e+02] [ 5.24655677e-01 8.47903441e-01 -7.61326153e-02 1.08443288e+02] [ 1.43530963e-01 4.71641993e-05 9.89645826e-01 8.32281842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.88, Y:108.46, Z:83.23 [[ 8.39763594e-01 -5.29081397e-01 -1.21942535e-01 1.77881770e+02] [ 5.23544152e-01 8.48571036e-01 -7.63460455e-02 1.08458193e+02] [ 1.43870176e-01 2.70328452e-04 9.89596534e-01 8.32314540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:108.47, Z:83.23 [[ 8.40093536e-01 -5.28614893e-01 -1.21692830e-01 1.77904155e+02] [ 5.23088788e-01 8.48861675e-01 -7.62363234e-02 1.08472061e+02] [ 1.43600036e-01 3.89487536e-04 9.89635730e-01 8.32348705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:108.49, Z:83.24 [[ 8.40043839e-01 -5.28619509e-01 -1.22015423e-01 1.77928678e+02] [ 5.23060790e-01 8.48858792e-01 -7.64601987e-02 1.08485322e+02] [ 1.43992217e-01 4.08435326e-04 9.89578736e-01 8.32393021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:108.50, Z:83.24 [[ 8.39744240e-01 -5.29095906e-01 -1.22012844e-01 1.77952634e+02] [ 5.23535937e-01 8.48561954e-01 -7.65031583e-02 1.08499582e+02] [ 1.44012965e-01 3.64977791e-04 9.89575734e-01 8.32431823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:108.51, Z:83.25 [[ 8.39307698e-01 -5.29834297e-01 -1.21812173e-01 1.77975810e+02] [ 5.24293448e-01 8.48101138e-01 -7.64253924e-02 1.08514774e+02] [ 1.43801837e-01 2.79095985e-04 9.89606464e-01 8.32466077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:108.53, Z:83.25 [[ 8.39102849e-01 -5.30268141e-01 -1.21334694e-01 1.77997936e+02] [ 5.24768612e-01 8.47829959e-01 -7.61726006e-02 1.08530311e+02] [ 1.43263092e-01 2.44007070e-04 9.89684610e-01 8.32496750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.02, Y:108.55, Z:83.25 [[ 8.39517417e-01 -5.29670679e-01 -1.21076335e-01 1.78019935e+02] [ 5.24185508e-01 8.48203301e-01 -7.60309986e-02 1.08546554e+02] [ 1.42968738e-01 3.62887319e-04 9.89727138e-01 8.32523975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:108.56, Z:83.26 [[ 8.39718284e-01 -5.29329459e-01 -1.21175608e-01 1.78042629e+02] [ 5.23828774e-01 8.48416249e-01 -7.61136252e-02 1.08560785e+02] [ 1.43096539e-01 4.38732481e-04 9.89708638e-01 8.32563612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.07, Y:108.57, Z:83.26 [[ 8.40008225e-01 -5.28832672e-01 -1.21335019e-01 1.78066190e+02] [ 5.23309218e-01 8.48725934e-01 -7.62348415e-02 1.08574838e+02] [ 1.43295652e-01 5.42160261e-04 9.89679778e-01 8.32607790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:108.59, Z:83.27 [[ 8.40145255e-01 -5.28638223e-01 -1.21233573e-01 1.78089599e+02] [ 5.23115394e-01 8.48847013e-01 -7.62170091e-02 1.08589166e+02] [ 1.43199980e-01 6.14210296e-04 9.89693583e-01 8.32655466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:108.60, Z:83.27 [[ 8.40142687e-01 -5.28734539e-01 -1.20830681e-01 1.78111833e+02] [ 5.23243018e-01 8.48787008e-01 -7.60089413e-02 1.08603859e+02] [ 1.42748065e-01 6.34545737e-04 9.89758853e-01 8.32687146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:108.61, Z:83.28 [[ 8.39404849e-01 -5.26470916e-01 -1.35010644e-01 1.78138982e+02] [ 5.23118506e-01 8.49992375e-01 -6.21288269e-02 1.08610857e+02] [ 1.47467038e-01 -1.84753276e-02 9.88894400e-01 8.32843414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.090385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:178.15, Y:108.64, Z:83.27 [[ 8.39911608e-01 -5.31063840e-01 -1.11891419e-01 1.78154442e+02] [ 5.23203352e-01 8.47103118e-01 -9.31373154e-02 1.08644227e+02] [ 1.44245430e-01 1.96851471e-02 9.89346123e-01 8.32671668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:178.18, Y:108.65, Z:83.28 [[ 8.39800892e-01 -5.28861201e-01 -1.22638864e-01 1.78182680e+02] [ 5.23192938e-01 8.48708049e-01 -7.72256204e-02 1.08650271e+02] [ 1.44926225e-01 6.90357343e-04 9.89442223e-01 8.32787685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.21, Y:108.66, Z:83.28 [[ 8.39567526e-01 -5.29139089e-01 -1.23037367e-01 1.78206239e+02] [ 5.23429761e-01 8.48534829e-01 -7.75237359e-02 1.08664215e+02] [ 1.45422330e-01 6.84991531e-04 9.89369434e-01 8.32830417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.23, Y:108.67, Z:83.30 [[ 8.38905408e-01 -5.27218620e-01 -1.35197050e-01 1.78234353e+02] [ 5.23474465e-01 8.49571624e-01 -6.48270021e-02 1.08670465e+02] [ 1.49037580e-01 -1.63884806e-02 9.88695715e-01 8.32999032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:108.70, Z:83.28 [[ 8.38636766e-01 -5.32810066e-01 -1.13145077e-01 1.78249842e+02] [ 5.25227212e-01 8.46063332e-01 -9.11768267e-02 1.08701157e+02] [ 1.44307832e-01 1.70373658e-02 9.89386162e-01 8.32843448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.28, Y:108.71, Z:83.29 [[ 8.37751905e-01 -5.32282417e-01 -1.21848983e-01 1.78277106e+02] [ 5.26701064e-01 8.46566817e-01 -7.68805073e-02 1.08707899e+02] [ 1.44075448e-01 2.28802463e-04 9.89566679e-01 8.32949572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:108.72, Z:83.30 [[ 8.36195153e-01 -5.34698506e-01 -1.21963823e-01 1.78299876e+02] [ 5.29125420e-01 8.45042890e-01 -7.69987289e-02 1.08721156e+02] [ 1.44235767e-01 -1.48195284e-04 9.89543340e-01 8.32991085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:108.74, Z:83.30 [[ 8.35448740e-01 -5.35935282e-01 -1.21650225e-01 1.78323239e+02] [ 5.30400911e-01 8.44258998e-01 -7.68219819e-02 1.08735572e+02] [ 1.43875908e-01 -3.42562165e-04 9.89595678e-01 8.33030483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.330385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:178.35, Y:108.75, Z:83.31 [[ 8.34684881e-01 -5.37106146e-01 -1.21729768e-01 1.78346228e+02] [ 5.31570199e-01 8.43514512e-01 -7.69180810e-02 1.08750476e+02] [ 1.43994000e-01 -5.05557867e-04 9.89578432e-01 8.33059835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:108.76, Z:83.31 [[ 8.34791522e-01 -5.37043817e-01 -1.21272642e-01 1.78369793e+02] [ 5.31545870e-01 8.43554215e-01 -7.66503375e-02 1.08764578e+02] [ 1.43464638e-01 -4.74920076e-04 9.89655330e-01 8.33127686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:108.78, Z:83.32 [[ 8.34714075e-01 -5.37064885e-01 -1.21711638e-01 1.78392062e+02] [ 5.31520432e-01 8.43540820e-01 -7.69734770e-02 1.08779524e+02] [ 1.44008487e-01 -4.41377907e-04 9.89576354e-01 8.33165179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:108.79, Z:83.32 [[ 8.34742225e-01 -5.36923264e-01 -1.22142645e-01 1.78415087e+02] [ 5.31334615e-01 8.43630991e-01 -7.72675790e-02 1.08794696e+02] [ 1.44530082e-01 -4.00104477e-04 9.89500326e-01 8.33199785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.44, Y:108.81, Z:83.32 [[ 8.35168699e-01 -5.36034036e-01 -1.23129026e-01 1.78437525e+02] [ 5.30337883e-01 8.44196345e-01 -7.79375505e-02 1.08810022e+02] [ 1.45722253e-01 -2.08984320e-04 9.89325518e-01 8.33240724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:108.82, Z:83.33 [[ 8.35206106e-01 -5.35783043e-01 -1.23964885e-01 1.78459913e+02] [ 5.30002973e-01 8.44355677e-01 -7.84878295e-02 1.08824705e+02] [ 1.46722902e-01 -1.48243061e-04 9.89177622e-01 8.33281998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:108.84, Z:83.33 [[ 8.35128522e-01 -5.35680067e-01 -1.24928848e-01 1.78482917e+02] [ 5.29803133e-01 8.44421018e-01 -7.91314399e-02 1.08840149e+02] [ 1.47881680e-01 -1.02772840e-04 9.89005055e-01 8.33323319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.51, Y:108.86, Z:83.34 [[ 8.34500161e-01 -5.36417727e-01 -1.25958339e-01 1.78505222e+02] [ 5.30444017e-01 8.43952596e-01 -7.98320728e-02 1.08856177e+02] [ 1.49126206e-01 -1.93969840e-04 9.88818152e-01 8.33361527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.53, Y:108.87, Z:83.34 [[ 8.33777179e-01 -5.37454940e-01 -1.26324200e-01 1.78528026e+02] [ 5.31450744e-01 8.43292400e-01 -8.01126382e-02 1.08871421e+02] [ 1.49585171e-01 -3.39000805e-04 9.88748786e-01 8.33410061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:108.89, Z:83.35 [[ 8.32318167e-01 -5.39487725e-01 -1.27277115e-01 1.78550286e+02] [ 5.33408566e-01 8.41993198e-01 -8.07635781e-02 1.08885664e+02] [ 1.50737424e-01 -6.69709904e-04 9.88573609e-01 8.33468760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:178.57, Y:108.90, Z:83.35 [[ 8.31344651e-01 -5.40866354e-01 -1.27787555e-01 1.78573191e+02] [ 5.34750625e-01 8.41108062e-01 -8.11110205e-02 1.08900493e+02] [ 1.51353364e-01 -9.03261710e-04 9.88479308e-01 8.33512218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:108.92, Z:83.35 [[ 8.30132618e-01 -5.42621022e-01 -1.28227388e-01 1.78596291e+02] [ 5.36476233e-01 8.39976797e-01 -8.14385153e-02 1.08916824e+02] [ 1.51898281e-01 -1.18617838e-03 9.88395419e-01 8.33548081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.62, Y:108.93, Z:83.36 [[ 8.28811970e-01 -5.44583132e-01 -1.28452060e-01 1.78617791e+02] [ 5.38432851e-01 8.38705513e-01 -8.16279887e-02 1.08932861e+02] [ 1.52186677e-01 -1.50855481e-03 9.88350616e-01 8.33577324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.64, Y:108.95, Z:83.36 [[ 8.26460475e-01 -5.48079662e-01 -1.28731378e-01 1.78639737e+02] [ 5.41939164e-01 8.36423433e-01 -8.18399840e-02 1.08949555e+02] [ 1.52528772e-01 -2.12706329e-03 9.88296742e-01 8.33617395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.66, Y:108.96, Z:83.37 [[ 8.25285164e-01 -5.49918787e-01 -1.28427901e-01 1.78661969e+02] [ 5.43822076e-01 8.35214625e-01 -8.16950401e-02 1.08964039e+02] [ 1.52190499e-01 -2.42022324e-03 9.88348215e-01 8.33659896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.69, Y:108.96, Z:83.40 [[ 8.22060566e-01 -5.48179042e-01 -1.54000530e-01 1.78686581e+02] [ 5.46979094e-01 8.35408158e-01 -5.39173508e-02 1.08962368e+02] [ 1.58209661e-01 -3.99117423e-02 9.86598579e-01 8.33961515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:109.01, Z:83.36 [[ 8.22192968e-01 -5.59167641e-01 -1.06443752e-01 1.78698799e+02] [ 5.48539966e-01 8.28295749e-01 -1.14149279e-01 1.09014210e+02] [ 1.51995490e-01 3.54640823e-02 9.87744739e-01 8.33577196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:109.01, Z:83.38 [[ 8.21353565e-01 -5.55911165e-01 -1.27832306e-01 1.78730146e+02] [ 5.49932833e-01 8.31234524e-01 -8.13820928e-02 1.09012496e+02] [ 1.51499840e-01 -3.45571025e-03 9.88451241e-01 8.33771337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.870385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:178.75, Y:109.03, Z:83.38 [[ 8.21159718e-01 -5.55956498e-01 -1.28876260e-01 1.78752082e+02] [ 5.49872472e-01 8.31204223e-01 -8.20963059e-02 1.09029063e+02] [ 1.52764466e-01 -3.45132820e-03 9.88256599e-01 8.33813855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:178.77, Y:109.05, Z:83.39 [[ 8.21347881e-01 -5.55512179e-01 -1.29591197e-01 1.78774515e+02] [ 5.49346786e-01 8.31501670e-01 -8.26019513e-02 1.09045085e+02] [ 1.53641686e-01 -3.34556967e-03 9.88120964e-01 8.33853110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:109.06, Z:83.40 [[ 8.20629247e-01 -5.54952954e-01 -1.36362960e-01 1.78793676e+02] [ 5.50020125e-01 8.31773427e-01 -7.50388467e-02 1.09057261e+02] [ 1.55066116e-01 -1.34232999e-02 9.87812895e-01 8.33970228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:109.09, Z:83.39 [[ 8.24251949e-01 -5.52966337e-01 -1.21807043e-01 1.78815852e+02] [ 5.45350129e-01 8.33151109e-01 -9.19372924e-02 1.09085008e+02] [ 1.52321901e-01 9.35200593e-03 9.88286689e-01 8.33895428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:109.08, Z:83.43 [[ 8.23923043e-01 -5.44986612e-01 -1.55371852e-01 1.78845978e+02] [ 5.43547341e-01 8.37546963e-01 -5.54199620e-02 1.09080087e+02] [ 1.60334360e-01 -3.87901734e-02 9.86300266e-01 8.34256378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:109.13, Z:83.39 [[ 8.26175167e-01 -5.53014700e-01 -1.07746622e-01 1.78855726e+02] [ 5.42431375e-01 8.32430748e-01 -1.13257460e-01 1.09130863e+02] [ 1.52324641e-01 3.51253524e-02 9.87706137e-01 8.33876335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.050385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:178.89, Y:109.12, Z:83.43 [[ 8.26668584e-01 -5.43115636e-01 -1.47120557e-01 1.78888392e+02] [ 5.40140399e-01 8.39211814e-01 -6.30228632e-02 1.09118879e+02] [ 1.57694012e-01 -2.73667352e-02 9.87108738e-01 8.34264668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:109.15, Z:83.41 [[ 8.27342949e-01 -5.47415230e-01 -1.25857897e-01 1.78903323e+02] [ 5.39742067e-01 8.36823687e-01 -9.16767006e-02 1.09150464e+02] [ 1.55506092e-01 7.91727013e-03 9.87803205e-01 8.34141578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:109.16, Z:83.42 [[ 8.27207618e-01 -5.46572228e-01 -1.30331716e-01 1.78928904e+02] [ 5.40044144e-01 8.37411662e-01 -8.42260725e-02 1.09161905e+02] [ 1.55176931e-01 -7.12431141e-04 9.87886437e-01 8.34212180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:109.18, Z:83.42 [[ 8.28393442e-01 -5.45765878e-01 -1.26110710e-01 1.78950644e+02] [ 5.38969480e-01 8.37931572e-01 -8.59219393e-02 1.09181927e+02] [ 1.52565408e-01 3.20734743e-03 9.88288171e-01 8.34222949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:109.21, Z:83.41 [[ 8.28169324e-01 -5.48759913e-01 -1.14009333e-01 1.78968780e+02] [ 5.40858608e-01 8.35819773e-01 -9.42192891e-02 1.09206518e+02] [ 1.46995024e-01 1.63665959e-02 9.89001819e-01 8.34146391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.99, Y:109.22, Z:83.42 [[ 8.28089576e-01 -5.48716799e-01 -1.14793417e-01 1.78991483e+02] [ 5.42016584e-01 8.35960290e-01 -8.59558955e-02 1.09220352e+02] [ 1.43128182e-01 8.95924552e-03 9.89663607e-01 8.34168636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:109.23, Z:83.43 [[ 8.29255225e-01 -5.43553055e-01 -1.29945554e-01 1.79025270e+02] [ 5.39181409e-01 8.39287134e-01 -6.98606806e-02 1.09225283e+02] [ 1.47034618e-01 -1.21318924e-02 9.89056944e-01 8.34340768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:109.28, Z:83.39 [[ 8.25068679e-01 -5.60103207e-01 -7.44719567e-02 1.79017279e+02] [ 5.49425856e-01 8.26043979e-01 -1.25628715e-01 1.09282546e+02] [ 1.31882157e-01 6.27354991e-02 9.89278198e-01 8.33863108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:179.05, Y:109.27, Z:83.41 [[ 8.25000722e-01 -5.55377894e-01 -1.04542829e-01 1.79054817e+02] [ 5.49731397e-01 8.31559272e-01 -7.94013175e-02 1.09274366e+02] [ 1.31031295e-01 8.03566898e-03 9.91345665e-01 8.34070969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:109.29, Z:83.41 [[ 8.23035918e-01 -5.57680821e-01 -1.07721771e-01 1.79078276e+02] [ 5.53142793e-01 8.30054695e-01 -7.10088327e-02 1.09288743e+02] [ 1.29015226e-01 -1.14270178e-03 9.91641954e-01 8.34111452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:109.30, Z:83.42 [[ 8.22559899e-01 -5.57904633e-01 -1.10170925e-01 1.79103517e+02] [ 5.53506366e-01 8.29898094e-01 -6.99989686e-02 1.09303898e+02] [ 1.30483390e-01 -3.40196373e-03 9.91444659e-01 8.34167534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.380385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:179.13, Y:109.31, Z:83.43 [[ 8.23529085e-01 -5.55183019e-01 -1.16497480e-01 1.79130663e+02] [ 5.51200841e-01 8.31679022e-01 -6.69898305e-02 1.09314550e+02] [ 1.34080126e-01 -9.04543499e-03 9.90929210e-01 8.34267255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.410385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:179.15, Y:109.34, Z:83.43 [[ 8.20648763e-01 -5.59346592e-01 -1.16905933e-01 1.79153500e+02] [ 5.54362201e-01 8.28926097e-01 -7.45927335e-02 1.09335232e+02] [ 1.38629570e-01 -3.59379587e-03 9.90337784e-01 8.34324939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:179.18, Y:109.35, Z:83.43 [[ 8.21141436e-01 -5.59325541e-01 -1.13497496e-01 1.79175537e+02] [ 5.54334313e-01 8.28946391e-01 -7.45744622e-02 1.09350531e+02] [ 1.35794741e-01 -1.67937573e-03 9.90735569e-01 8.34340798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.470385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:179.20, Y:109.36, Z:83.45 [[ 8.19330562e-01 -5.60095472e-01 -1.22435664e-01 1.79202122e+02] [ 5.55924776e-01 8.28349727e-01 -6.91691632e-02 1.09363598e+02] [ 1.40160884e-01 -1.13926096e-02 9.90063198e-01 8.34456241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.23, Y:109.38, Z:83.45 [[ 8.19145874e-01 -5.61076391e-01 -1.19135726e-01 1.79226052e+02] [ 5.56182681e-01 8.27745604e-01 -7.41487721e-02 1.09384049e+02] [ 1.40217199e-01 -5.52256676e-03 9.90105367e-01 8.34497219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:109.40, Z:83.46 [[ 8.18025879e-01 -5.62088969e-01 -1.22023161e-01 1.79249056e+02] [ 5.57423162e-01 8.27033192e-01 -7.27703060e-02 1.09399618e+02] [ 1.41820591e-01 -8.49054296e-03 9.89855965e-01 8.34565386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.560385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.28, Y:109.41, Z:83.48 [[ 8.18077773e-01 -5.58970941e-01 -1.35278396e-01 1.79277423e+02] [ 5.55959846e-01 8.28841966e-01 -6.26868778e-02 1.09406285e+02] [ 1.47164555e-01 -2.39266150e-02 9.88822588e-01 8.34774734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.590385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:179.29, Y:109.43, Z:83.47 [[ 8.16460426e-01 -5.64093710e-01 -1.23250393e-01 1.79294945e+02] [ 5.58538132e-01 8.25699751e-01 -7.90890347e-02 1.09432725e+02] [ 1.46381446e-01 -4.26697759e-03 9.89219018e-01 8.34737576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.620385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:179.32, Y:109.45, Z:83.48 [[ 8.17333552e-01 -5.62855468e-01 -1.23124275e-01 1.79315434e+02] [ 5.57384136e-01 8.26542911e-01 -7.84202870e-02 1.09446954e+02] [ 1.45906784e-01 -4.53198574e-03 9.89287962e-01 8.34771526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:109.47, Z:83.48 [[ 8.15689817e-01 -5.65536648e-01 -1.21730942e-01 1.79339574e+02] [ 5.59796250e-01 8.24719218e-01 -8.04137481e-02 1.09466858e+02] [ 1.45870769e-01 -2.55184930e-03 9.89300362e-01 8.34817202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:109.49, Z:83.49 [[ 8.15800587e-01 -5.65196934e-01 -1.22563565e-01 1.79360117e+02] [ 5.59706612e-01 8.24944346e-01 -7.87104453e-02 1.09485113e+02] [ 1.45595023e-01 -4.38761032e-03 9.89334543e-01 8.34853730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:109.50, Z:83.49 [[ 8.16986083e-01 -5.64042677e-01 -1.19956652e-01 1.79380038e+02] [ 5.57810779e-01 8.25744437e-01 -8.36257073e-02 1.09503406e+02] [ 1.46222006e-01 1.40792580e-03 9.89250799e-01 8.34863941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:109.52, Z:83.49 [[ 8.19091162e-01 -5.59847710e-01 -1.25140762e-01 1.79402969e+02] [ 5.55125173e-01 8.28540800e-01 -7.31859604e-02 1.09515912e+02] [ 1.44657219e-01 -9.52281354e-03 9.89436004e-01 8.34939859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.770385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.43, Y:109.54, Z:83.49 [[ 8.18238814e-01 -5.61927604e-01 -1.21336769e-01 1.79426766e+02] [ 5.56033740e-01 8.27185759e-01 -8.11800442e-02 1.09538723e+02] [ 1.45985355e-01 -1.04267464e-03 9.89286202e-01 8.34941331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.45, Y:109.55, Z:83.50 [[ 8.20303716e-01 -5.58308438e-01 -1.24070552e-01 1.79447647e+02] [ 5.53242629e-01 8.29605339e-01 -7.53496823e-02 1.09551919e+02] [ 1.44997956e-01 -6.83149387e-03 9.89408370e-01 8.34996650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.830385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.47, Y:109.57, Z:83.50 [[ 8.19674469e-01 -5.59956840e-01 -1.20756375e-01 1.79470467e+02] [ 5.53748055e-01 8.28520759e-01 -8.31651599e-02 1.09574858e+02] [ 1.46618064e-01 1.29975050e-03 9.89192324e-01 8.35007427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.860385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.49, Y:109.59, Z:83.50 [[ 8.20834347e-01 -5.58506108e-01 -1.19590562e-01 1.79488715e+02] [ 5.51946307e-01 8.29490120e-01 -8.54483177e-02 1.09594086e+02] [ 1.46922597e-01 4.13134480e-03 9.89139365e-01 8.35028118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.52, Y:109.61, Z:83.51 [[ 8.20369976e-01 -5.58091546e-01 -1.24607100e-01 1.79515403e+02] [ 5.53446139e-01 8.29724997e-01 -7.24831140e-02 1.09605087e+02] [ 1.43841838e-01 -9.50034761e-03 9.89555086e-01 8.35119123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:109.63, Z:83.51 [[ 8.19435051e-01 -5.60512163e-01 -1.19801135e-01 1.79535628e+02] [ 5.55201244e-01 8.28139313e-01 -7.70510066e-02 1.09625566e+02] [ 1.42400056e-01 -3.37544349e-03 9.89803430e-01 8.35139889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:109.64, Z:83.52 [[ 8.18681164e-01 -5.61723152e-01 -1.19282234e-01 1.79557881e+02] [ 5.56464434e-01 8.27317733e-01 -7.67639411e-02 1.09641928e+02] [ 1.41804390e-01 -3.53112802e-03 9.89888401e-01 8.35175436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.58, Y:109.66, Z:83.52 [[ 8.18373243e-01 -5.62930822e-01 -1.15646551e-01 1.79576822e+02] [ 5.56267568e-01 8.26478107e-01 -8.66044562e-02 1.09662358e+02] [ 1.44331660e-01 6.54434411e-03 9.89507728e-01 8.35173719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.60, Y:109.67, Z:83.53 [[ 8.17212019e-01 -5.62776474e-01 -1.24286591e-01 1.79603080e+02] [ 5.58716708e-01 8.26502979e-01 -6.87638451e-02 1.09673236e+02] [ 1.41421912e-01 -1.32463541e-02 9.89860787e-01 8.35274543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:109.69, Z:83.53 [[ 8.16877114e-01 -5.64368327e-01 -1.19164475e-01 1.79622162e+02] [ 5.59132263e-01 8.25513916e-01 -7.67977046e-02 1.09694269e+02] [ 1.41714124e-01 -3.89441523e-03 9.89899965e-01 8.35278992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.070385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:179.64, Y:109.72, Z:83.53 [[ 8.16874826e-01 -5.64995199e-01 -1.16172042e-01 1.79641310e+02] [ 5.58269306e-01 8.25069870e-01 -8.71498265e-02 1.09715837e+02] [ 1.45089285e-01 6.33521432e-03 9.89398284e-01 8.35257935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.66, Y:109.74, Z:83.52 [[ 8.15565971e-01 -5.69339836e-01 -1.03461578e-01 1.79658932e+02] [ 5.62622987e-01 8.21986640e-01 -8.82798849e-02 1.09741274e+02] [ 1.35305290e-01 1.37882081e-02 9.90708011e-01 8.35160643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.69, Y:109.74, Z:83.53 [[ 8.18258452e-01 -5.62049511e-01 -1.20637696e-01 1.79685868e+02] [ 5.57992534e-01 8.27025341e-01 -6.83623922e-02 1.09744928e+02] [ 1.38193481e-01 -1.13768288e-02 9.90339906e-01 8.35312003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:109.76, Z:83.55 [[ 8.18628720e-01 -5.58999609e-01 -1.31781849e-01 1.79716810e+02] [ 5.55771331e-01 8.28897764e-01 -6.36138662e-02 1.09755879e+02] [ 1.44793806e-01 -2.11644358e-02 9.89235473e-01 8.35500436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.190385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:179.74, Y:109.78, Z:83.55 [[ 8.18744177e-01 -5.60932012e-01 -1.22528568e-01 1.79735438e+02] [ 5.55355882e-01 8.27854923e-01 -7.89687962e-02 1.09779688e+02] [ 1.45732004e-01 -3.39171900e-03 9.89318290e-01 8.35468586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:109.81, Z:83.54 [[ 8.18822396e-01 -5.63034869e-01 -1.11900043e-01 1.79750381e+02] [ 5.55756954e-01 8.26340243e-01 -9.10824447e-02 1.09806032e+02] [ 1.43750101e-01 1.23911189e-02 9.89536441e-01 8.35405361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:109.82, Z:83.55 [[ 8.18767951e-01 -5.61375056e-01 -1.20320777e-01 1.79777703e+02] [ 5.55923083e-01 8.27556282e-01 -7.81033079e-02 1.09816261e+02] [ 1.43417464e-01 -2.94061209e-03 9.89657913e-01 8.35485735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:109.83, Z:83.55 [[ 8.18603220e-01 -5.61135467e-01 -1.22538791e-01 1.79804188e+02] [ 5.56060498e-01 8.27700113e-01 -7.55595466e-02 1.09831706e+02] [ 1.43824513e-01 -6.28569292e-03 9.89583245e-01 8.35543784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:109.84, Z:83.57 [[ 8.18910260e-01 -5.59252927e-01 -1.28926916e-01 1.79827313e+02] [ 5.54853722e-01 8.28892058e-01 -7.12411677e-02 1.09841968e+02] [ 1.46708328e-01 -1.31954558e-02 9.89091779e-01 8.35671928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:109.86, Z:83.57 [[ 8.19976815e-01 -5.59794399e-01 -1.19449797e-01 1.79845009e+02] [ 5.52731116e-01 8.28602956e-01 -8.89126204e-02 1.09864785e+02] [ 1.48749242e-01 6.88266775e-03 9.88850996e-01 8.35656069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:109.88, Z:83.58 [[ 8.21222811e-01 -5.56389611e-01 -1.26584737e-01 1.79872265e+02] [ 5.51681566e-01 8.30861862e-01 -7.29110165e-02 1.09875910e+02] [ 1.45741362e-01 -9.95827572e-03 9.89272606e-01 8.35753872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:109.90, Z:83.58 [[ 8.22096151e-01 -5.56212457e-01 -1.21596144e-01 1.79892882e+02] [ 5.50183771e-01 8.31040098e-01 -8.16711315e-02 1.09897870e+02] [ 1.46477772e-01 2.41297913e-04 9.89213932e-01 8.35762275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:109.92, Z:83.58 [[ 8.23098397e-01 -5.54565516e-01 -1.22336079e-01 1.79915615e+02] [ 5.48393343e-01 8.32139653e-01 -8.25126539e-02 1.09915217e+02] [ 1.47559375e-01 8.27741971e-04 9.89052853e-01 8.35804993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:109.93, Z:83.59 [[ 8.26712943e-01 -5.48857472e-01 -1.23697959e-01 1.79940047e+02] [ 5.43418099e-01 8.35908898e-01 -7.71562331e-02 1.09928215e+02] [ 1.45748000e-01 -3.43365339e-03 9.89315789e-01 8.35866322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:109.94, Z:83.59 [[ 8.28184006e-01 -5.46556740e-01 -1.24044274e-01 1.79963281e+02] [ 5.41413463e-01 8.37406754e-01 -7.49759314e-02 1.09941252e+02] [ 1.44854114e-01 -5.06537269e-03 9.89440058e-01 8.35922290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.520385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:179.99, Y:109.96, Z:83.59 [[ 8.29457432e-01 -5.45025343e-01 -1.22260966e-01 1.79985782e+02] [ 5.39262099e-01 8.38419493e-01 -7.90515174e-02 1.09957431e+02] [ 1.45591057e-01 -3.60836308e-04 9.89344790e-01 8.35936134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:109.98, Z:83.60 [[ 8.31540310e-01 -5.42009184e-01 -1.21518543e-01 1.80007075e+02] [ 5.36277063e-01 8.40372537e-01 -7.86187668e-02 1.09975444e+02] [ 1.44732940e-01 2.07066600e-04 9.89470734e-01 8.35993810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.580385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:180.02, Y:110.01, Z:83.59 [[ 8.30738422e-01 -5.45580180e-01 -1.10525750e-01 1.80022676e+02] [ 5.35760673e-01 8.37524203e-01 -1.07301959e-01 1.10005043e+02] [ 1.51109812e-01 2.99245098e-02 9.88063939e-01 8.35929633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.610385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.06, Y:110.00, Z:83.61 [[ 8.32152937e-01 -5.37017299e-01 -1.38325382e-01 1.80059827e+02] [ 5.35001018e-01 8.43086704e-01 -5.45776611e-02 1.09995845e+02] [ 1.45929438e-01 -2.85872592e-02 9.88881878e-01 8.36148835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:110.02, Z:83.61 [[ 8.32166886e-01 -5.40751664e-01 -1.22824717e-01 1.80076025e+02] [ 5.34861504e-01 8.41182109e-01 -7.95979318e-02 1.10022018e+02] [ 1.46360668e-01 5.44550328e-04 9.89231145e-01 8.36122066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.10, Y:110.04, Z:83.62 [[ 8.31524998e-01 -5.41856849e-01 -1.22300172e-01 1.80099835e+02] [ 5.36025836e-01 8.40470713e-01 -7.92797738e-02 1.10035945e+02] [ 1.45748001e-01 3.67061985e-04 9.89321679e-01 8.36158985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.700385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:180.13, Y:110.05, Z:83.62 [[ 8.30210116e-01 -5.42950076e-01 -1.26318563e-01 1.80125212e+02] [ 5.37121561e-01 8.39762695e-01 -7.93665229e-02 1.10049816e+02] [ 1.49169676e-01 -1.95753340e-03 9.88809676e-01 8.36214869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:110.07, Z:83.62 [[ 8.28653160e-01 -5.46005649e-01 -1.23336013e-01 1.80145140e+02] [ 5.39790629e-01 8.37780137e-01 -8.21615452e-02 1.10066220e+02] [ 1.48189130e-01 1.50780009e-03 9.88957890e-01 8.36243129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:110.08, Z:83.63 [[ 8.26471177e-01 -5.48793451e-01 -1.25583203e-01 1.80167915e+02] [ 5.42292608e-01 8.35956612e-01 -8.42334325e-02 1.10081640e+02] [ 1.51208865e-01 1.51366133e-03 9.88500677e-01 8.36280055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:110.10, Z:83.63 [[ 8.25092247e-01 -5.50413316e-01 -1.27545938e-01 1.80192405e+02] [ 5.43968123e-01 8.34892313e-01 -8.39851578e-02 1.10096528e+02] [ 1.52713673e-01 -8.54221604e-05 9.88270473e-01 8.36327449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.22, Y:110.10, Z:83.65 [[ 8.24479244e-01 -5.48628327e-01 -1.38711698e-01 1.80220336e+02] [ 5.44379923e-01 8.35883089e-01 -7.03559574e-02 1.10102327e+02] [ 1.54546034e-01 -1.75048368e-02 9.87830504e-01 8.36461231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:110.13, Z:83.64 [[ 8.23035452e-01 -5.55253607e-01 -1.19608016e-01 1.80238486e+02] [ 5.47513535e-01 8.31607038e-01 -9.30519435e-02 1.10126721e+02] [ 1.51134295e-01 1.10980410e-02 9.88450939e-01 8.36387808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:110.13, Z:83.66 [[ 8.21860688e-01 -5.52475170e-01 -1.38982718e-01 1.80270622e+02] [ 5.47846801e-01 8.33375213e-01 -7.31412058e-02 1.10127995e+02] [ 1.56233453e-01 -1.60293559e-02 9.87590081e-01 8.36572047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:110.15, Z:83.66 [[ 8.20797781e-01 -5.56438612e-01 -1.29101025e-01 1.80289389e+02] [ 5.49698676e-01 8.30888718e-01 -8.63441017e-02 1.10150308e+02] [ 1.55313777e-01 -9.56151528e-05 9.87865184e-01 8.36560485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.940385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:180.31, Y:110.17, Z:83.65 [[ 8.20645181e-01 -5.58571879e-01 -1.20577535e-01 1.80309261e+02] [ 5.50938275e-01 8.29401782e-01 -9.25186557e-02 1.10170441e+02] [ 1.51685542e-01 9.49420984e-03 9.88383203e-01 8.36505224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:110.17, Z:83.67 [[ 8.19917606e-01 -5.55751717e-01 -1.37386858e-01 1.80338189e+02] [ 5.51081127e-01 8.31205317e-01 -7.35344281e-02 1.10174762e+02] [ 1.55063572e-01 -1.54191326e-02 9.87784156e-01 8.36679156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:110.19, Z:83.67 [[ 8.19896086e-01 -5.57213302e-01 -1.31467657e-01 1.80358889e+02] [ 5.50858897e-01 8.30361768e-01 -8.39869621e-02 1.10193862e+02] [ 1.55964369e-01 -3.55954725e-03 9.87756268e-01 8.36690227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:110.21, Z:83.67 [[ 8.19861784e-01 -5.57485652e-01 -1.30523569e-01 1.80381288e+02] [ 5.50962195e-01 8.30183727e-01 -8.50625589e-02 1.10209368e+02] [ 1.55779699e-01 -2.17401062e-03 9.87789431e-01 8.36723896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.060385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.41, Y:110.22, Z:83.68 [[ 8.19772527e-01 -5.57460560e-01 -1.31189661e-01 1.80405352e+02] [ 5.50889308e-01 8.30200279e-01 -8.53725235e-02 1.10223788e+02] [ 1.56505508e-01 -2.28493227e-03 9.87674443e-01 8.36770678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.090385723 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:180.43, Y:110.25, Z:83.67 [[ 8.21976434e-01 -5.56513402e-01 -1.21027164e-01 1.80426368e+02] [ 5.48227707e-01 8.30736673e-01 -9.65554842e-02 1.10246048e+02] [ 1.54276125e-01 1.30158879e-02 9.87942035e-01 8.36707637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.45, Y:110.25, Z:83.69 [[ 8.21830287e-01 -5.51394841e-01 -1.43383085e-01 1.80453806e+02] [ 5.47265493e-01 8.33990371e-01 -7.04311175e-02 1.10248249e+02] [ 1.58415467e-01 -2.05861891e-02 9.87157915e-01 8.36922602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.150385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:180.47, Y:110.28, Z:83.68 [[ 8.24530675e-01 -5.53281007e-01 -1.18445323e-01 1.80470280e+02] [ 5.44242120e-01 8.32774103e-01 -1.01428838e-01 1.10281696e+02] [ 1.54756847e-01 1.91682547e-02 9.87766620e-01 8.36774254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18038572300003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:180.50, Y:110.29, Z:83.69 [[ 8.25438072e-01 -5.49230786e-01 -1.30374585e-01 1.80496680e+02] [ 5.42582129e-01 8.35670614e-01 -8.52012818e-02 1.10288495e+02] [ 1.55745376e-01 -4.10538095e-04 9.87797150e-01 8.36862039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:110.30, Z:83.69 [[ 8.27005524e-01 -5.46921281e-01 -1.30149821e-01 1.80520098e+02] [ 5.40263209e-01 8.37184036e-01 -8.50796933e-02 1.10303000e+02] [ 1.55491247e-01 4.62163360e-05 9.87837269e-01 8.36924591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:110.32, Z:83.70 [[ 8.27027338e-01 -5.46962105e-01 -1.29839275e-01 1.80542816e+02] [ 5.40328467e-01 8.37157362e-01 -8.49276066e-02 1.10316923e+02] [ 1.55148087e-01 8.15960885e-05 9.87891221e-01 8.36969341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.57, Y:110.33, Z:83.70 [[ 8.26872264e-01 -5.47277640e-01 -1.29496891e-01 1.80565507e+02] [ 5.40677619e-01 8.36951123e-01 -8.47380072e-02 1.10331662e+02] [ 1.54757785e-01 5.14371674e-05 9.87952441e-01 8.37003383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:110.35, Z:83.70 [[ 8.26526046e-01 -5.47850762e-01 -1.29283554e-01 1.80587378e+02] [ 5.41276100e-01 8.36576082e-01 -8.46205765e-02 1.10347032e+02] [ 1.54514976e-01 -3.69874439e-05 9.87990446e-01 8.37045175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.330385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:180.61, Y:110.36, Z:83.71 [[ 8.25319414e-01 -5.49538506e-01 -1.29827950e-01 1.80610515e+02] [ 5.42924835e-01 8.35468324e-01 -8.50017854e-02 1.10361833e+02] [ 1.55178894e-01 -3.33194603e-04 9.87886329e-01 8.37083711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:110.38, Z:83.71 [[ 8.24633488e-01 -5.50438036e-01 -1.30374765e-01 1.80633763e+02] [ 5.43771234e-01 8.34875893e-01 -8.54112915e-02 1.10375322e+02] [ 1.55860372e-01 -4.61035398e-04 9.87778990e-01 8.37124572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:110.39, Z:83.72 [[ 8.23272854e-01 -5.52238470e-01 -1.31356311e-01 1.80658176e+02] [ 5.45486966e-01 8.33685835e-01 -8.60923871e-02 1.10387657e+02] [ 1.57053424e-01 -7.75630350e-04 9.87589804e-01 8.37174232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:110.40, Z:83.72 [[ 8.22688846e-01 -5.53425193e-01 -1.30013916e-01 1.80682131e+02] [ 5.45994822e-01 8.32891851e-01 -9.04478832e-02 1.10404517e+02] [ 1.58343669e-01 3.42353946e-03 9.87378125e-01 8.37199620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:110.42, Z:83.73 [[ 8.23210528e-01 -5.51782210e-01 -1.33644375e-01 1.80706667e+02] [ 5.45678675e-01 8.33970727e-01 -8.20220121e-02 1.10415059e+02] [ 1.56713784e-01 -5.40550160e-03 9.87629268e-01 8.37263833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.73, Y:110.44, Z:83.73 [[ 8.24514148e-01 -5.51100475e-01 -1.28314790e-01 1.80727305e+02] [ 5.42986073e-01 8.34397448e-01 -9.45887086e-02 1.10435254e+02] [ 1.59193416e-01 8.31658441e-03 9.87212384e-01 8.37262700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.510385723 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:180.75, Y:110.45, Z:83.73 [[ 8.25263590e-01 -5.49268316e-01 -1.31317646e-01 1.80752019e+02] [ 5.42128861e-01 8.35644380e-01 -8.82879861e-02 1.10447330e+02] [ 1.58228646e-01 1.66977447e-03 9.87401087e-01 8.37314777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:110.46, Z:83.74 [[ 8.26068758e-01 -5.47211320e-01 -1.34796804e-01 1.80777739e+02] [ 5.41773613e-01 8.36945818e-01 -7.74793536e-02 1.10457844e+02] [ 1.55215201e-01 -9.02607827e-03 9.87839446e-01 8.37381782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.80, Y:110.47, Z:83.74 [[ 8.27373762e-01 -5.46702384e-01 -1.28721254e-01 1.80800703e+02] [ 5.40109410e-01 8.37326841e-01 -8.46497864e-02 1.10474611e+02] [ 1.54060001e-01 5.13452008e-04 9.88061361e-01 8.37407104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.600385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.82, Y:110.49, Z:83.74 [[ 8.27387731e-01 -5.46420771e-01 -1.29822511e-01 1.80824024e+02] [ 5.39704580e-01 8.37510584e-01 -8.54106979e-02 1.10487468e+02] [ 1.55397907e-01 6.01959524e-04 9.87851774e-01 8.37447209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.85, Y:110.50, Z:83.75 [[ 8.27813564e-01 -5.45922184e-01 -1.29203996e-01 1.80848099e+02] [ 5.39257892e-01 8.37835569e-01 -8.50440166e-02 1.10501688e+02] [ 1.54679119e-01 7.26315844e-04 9.87964495e-01 8.37493474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:110.52, Z:83.75 [[ 8.28010765e-01 -5.45704004e-01 -1.28861603e-01 1.80870972e+02] [ 5.39065251e-01 8.37977620e-01 -8.48655588e-02 1.10516631e+02] [ 1.54294614e-01 8.04784188e-04 9.88024557e-01 8.37524635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:110.53, Z:83.76 [[ 8.27954664e-01 -5.45766011e-01 -1.28959432e-01 1.80894857e+02] [ 5.39113870e-01 8.37937227e-01 -8.49555143e-02 1.10531258e+02] [ 1.54425741e-01 8.15495851e-04 9.88004061e-01 8.37563628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:110.53, Z:83.78 [[ 8.28135322e-01 -5.39045174e-01 -1.53695114e-01 1.80930864e+02] [ 5.36102096e-01 8.41752601e-01 -6.36168261e-02 1.10528057e+02] [ 1.63665605e-01 -2.97129321e-02 9.86068310e-01 8.37847076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.750385723 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:180.94, Y:110.57, Z:83.76 [[ 8.28308720e-01 -5.47870558e-01 -1.17228479e-01 1.80939001e+02] [ 5.37695469e-01 8.36133459e-01 -1.08463913e-01 1.10567097e+02] [ 1.57442838e-01 2.68083826e-02 9.87164152e-01 8.37618995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:110.57, Z:83.78 [[ 8.27556371e-01 -5.43650370e-01 -1.39981170e-01 1.80974544e+02] [ 5.37952259e-01 8.39254239e-01 -7.91182029e-02 1.10565551e+02] [ 1.60492430e-01 -9.82841361e-03 9.86988137e-01 8.37826911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.99, Y:110.59, Z:83.77 [[ 8.26715425e-01 -5.48730591e-01 -1.24243087e-01 1.80991416e+02] [ 5.40460810e-01 8.35914116e-01 -9.56540810e-02 1.10589042e+02] [ 1.56344870e-01 1.19301850e-02 9.87630474e-01 8.37729031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:110.60, Z:83.78 [[ 8.26703168e-01 -5.47215445e-01 -1.30832445e-01 1.81018254e+02] [ 5.40357166e-01 8.36991494e-01 -8.63676572e-02 1.10597961e+02] [ 1.56767359e-01 7.04166650e-04 9.87635307e-01 8.37808939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.04, Y:110.61, Z:83.78 [[ 8.26800096e-01 -5.47033595e-01 -1.30980333e-01 1.81042517e+02] [ 5.40148987e-01 8.37110286e-01 -8.65184474e-02 1.10612422e+02] [ 1.56973481e-01 7.84566436e-04 9.87602506e-01 8.37844336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.900385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.06, Y:110.64, Z:83.77 [[ 8.27537398e-01 -5.50480827e-01 -1.10239347e-01 1.81062540e+02] [ 5.40507135e-01 8.34297504e-01 -1.08626480e-01 1.10639638e+02] [ 1.51769207e-01 3.03073211e-02 9.87951200e-01 8.37695540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:110.65, Z:83.78 [[ 8.27256806e-01 -5.48883070e-01 -1.19889752e-01 1.81088488e+02] [ 5.41174360e-01 8.35819329e-01 -9.23924363e-02 1.10646156e+02] [ 1.50918816e-01 1.15510120e-02 9.88478672e-01 8.37761497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.13, Y:110.64, Z:83.81 [[ 8.26558998e-01 -5.40937960e-01 -1.55519600e-01 1.81125544e+02] [ 5.39884602e-01 8.40090020e-01 -5.26628508e-02 1.10636304e+02] [ 1.59137799e-01 -4.04336841e-02 9.86428040e-01 8.38118977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.14, Y:110.67, Z:83.80 [[ 8.26496624e-01 -5.47152255e-01 -1.32392372e-01 1.81141199e+02] [ 5.40107586e-01 8.37032688e-01 -8.75218528e-02 1.10665633e+02] [ 1.58704522e-01 8.30391193e-04 9.87325775e-01 8.38014443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.020385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.15, Y:110.70, Z:83.77 [[ 8.24844581e-01 -5.57208331e-01 -9.56571621e-02 1.81150307e+02] [ 5.45863153e-01 8.28967543e-01 -1.21845112e-01 1.10704903e+02] [ 1.47189794e-01 4.82875603e-02 9.87928882e-01 8.37714864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.20, Y:110.68, Z:83.82 [[ 8.25120807e-01 -5.42768888e-01 -1.56772407e-01 1.81198306e+02] [ 5.41909744e-01 8.38827848e-01 -5.19776015e-02 1.10675524e+02] [ 1.59716886e-01 -4.20686943e-02 9.86266060e-01 8.38236854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:110.73, Z:83.78 [[ 8.24975008e-01 -5.55215921e-01 -1.05600739e-01 1.81200160e+02] [ 5.44223505e-01 8.30806804e-01 -1.16536823e-01 1.10725080e+02] [ 1.52436912e-01 3.86695618e-02 9.87556405e-01 8.37834895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:110.70, Z:83.83 [[ 8.24607720e-01 -5.43683470e-01 -1.56302250e-01 1.81248641e+02] [ 5.41822182e-01 8.38483615e-01 -5.80857104e-02 1.10704143e+02] [ 1.62637117e-01 -3.67901012e-02 9.85999826e-01 8.38322580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:110.74, Z:83.82 [[ 8.25425590e-01 -5.48566236e-01 -1.33220419e-01 1.81261010e+02] [ 5.40151924e-01 8.36075480e-01 -9.59879755e-02 1.10735031e+02] [ 1.64038088e-01 7.27166586e-03 9.86427204e-01 8.38208283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.29, Y:110.74, Z:83.83 [[ 8.24456373e-01 -5.48746087e-01 -1.38381432e-01 1.81289595e+02] [ 5.42250297e-01 8.35971084e-01 -8.43620956e-02 1.10744622e+02] [ 1.61976245e-01 -5.48450511e-03 9.86779416e-01 8.38297779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.31, Y:110.78, Z:83.81 [[ 8.24309584e-01 -5.55079619e-01 -1.11356749e-01 1.81305859e+02] [ 5.44690736e-01 8.31215190e-01 -1.11325244e-01 1.10777531e+02] [ 1.54355795e-01 3.11114766e-02 9.87525374e-01 8.38076714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:110.76, Z:83.85 [[ 8.24981447e-01 -5.44628515e-01 -1.50948312e-01 1.81343731e+02] [ 5.41786517e-01 8.38148710e-01 -6.30405417e-02 1.10762275e+02] [ 1.60850810e-01 -2.97744829e-02 9.86529522e-01 8.38460913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:110.79, Z:83.84 [[ 8.26739306e-01 -5.46636934e-01 -1.33004442e-01 1.81362206e+02] [ 5.39413822e-01 8.37368402e-01 -8.85826595e-02 1.10786042e+02] [ 1.59796270e-01 1.49033224e-03 9.87148890e-01 8.38395522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.39, Y:110.80, Z:83.84 [[ 8.27657345e-01 -5.45289107e-01 -1.32827366e-01 1.81386114e+02] [ 5.38201691e-01 8.38247396e-01 -8.76369996e-02 1.10799519e+02] [ 1.59129695e-01 1.04549346e-03 9.87257133e-01 8.38444405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.41, Y:110.81, Z:83.85 [[ 8.28445667e-01 -5.44183183e-01 -1.32447878e-01 1.81410174e+02] [ 5.37068967e-01 8.38965018e-01 -8.77189962e-02 1.10814514e+02] [ 1.58854339e-01 1.53677752e-03 9.87300834e-01 8.38480542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.43, Y:110.83, Z:83.85 [[ 8.30158952e-01 -5.41653198e-01 -1.32090605e-01 1.81433387e+02] [ 5.34537730e-01 8.40599535e-01 -8.75319207e-02 1.10827721e+02] [ 1.58447246e-01 2.05799517e-03 9.87365300e-01 8.38510122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:110.84, Z:83.86 [[ 8.30747248e-01 -5.40714422e-01 -1.32238135e-01 1.81456518e+02] [ 5.33567497e-01 8.41203193e-01 -8.76522365e-02 1.10841259e+02] [ 1.58633969e-01 2.25888373e-03 9.87334878e-01 8.38551154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.410385723 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:181.48, Y:110.86, Z:83.85 [[ 8.31756569e-01 -5.41521631e-01 -1.22210200e-01 1.81480550e+02] [ 5.32772332e-01 8.40520554e-01 -9.83811018e-02 1.10860029e+02] [ 1.55995680e-01 1.67189144e-02 9.87616234e-01 8.38505771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.440385723 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:181.51, Y:110.86, Z:83.86 [[ 8.31905611e-01 -5.39078772e-01 -1.31632563e-01 1.81507416e+02] [ 5.32470585e-01 8.42255347e-01 -8.41487169e-02 1.10864959e+02] [ 1.56231017e-01 -8.66781934e-05 9.87720538e-01 8.38616458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.470385723 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:181.53, Y:110.88, Z:83.86 [[ 8.31972285e-01 -5.39637676e-01 -1.28892577e-01 1.81530699e+02] [ 5.32478157e-01 8.41886142e-01 -8.77196478e-02 1.10880844e+02] [ 1.55849701e-01 4.34783373e-03 9.87771212e-01 8.38641928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:110.89, Z:83.88 [[ 8.32222924e-01 -5.36607733e-01 -1.39488876e-01 1.81557243e+02] [ 5.31354821e-01 8.43758760e-01 -7.57179603e-02 1.10887090e+02] [ 1.58325804e-01 -1.11038642e-02 9.87324488e-01 8.38786731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:110.91, Z:83.88 [[ 8.33081366e-01 -5.37568079e-01 -1.30368698e-01 1.81577806e+02] [ 5.30548707e-01 8.43214973e-01 -8.66405168e-02 1.10906120e+02] [ 1.56504014e-01 3.01165598e-03 9.87672731e-01 8.38767674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.60, Y:110.92, Z:83.88 [[ 8.33339100e-01 -5.37195175e-01 -1.30258542e-01 1.81601422e+02] [ 5.30179635e-01 8.43452277e-01 -8.65898977e-02 1.10919552e+02] [ 1.56382539e-01 3.09832118e-03 9.87691704e-01 8.38802574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.63, Y:110.94, Z:83.88 [[ 8.32926834e-01 -5.38106505e-01 -1.29128921e-01 1.81625134e+02] [ 5.30178416e-01 8.42833786e-01 -9.24232458e-02 1.10935587e+02] [ 1.58567767e-01 8.52043467e-03 9.87311332e-01 8.38820574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:181.65, Y:110.94, Z:83.89 [[ 8.33104027e-01 -5.36355938e-01 -1.35129525e-01 1.81652132e+02] [ 5.29841549e-01 8.43989168e-01 -8.33679628e-02 1.10941735e+02] [ 1.58762757e-01 -2.14305108e-03 9.87314435e-01 8.38907129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.67, Y:110.96, Z:83.89 [[ 8.32856362e-01 -5.37476346e-01 -1.32172076e-01 1.81674794e+02] [ 5.30235196e-01 8.43272761e-01 -8.79868629e-02 1.10958124e+02] [ 1.58747969e-01 3.19813171e-03 9.87313959e-01 8.38927137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.70, Y:110.97, Z:83.90 [[ 8.32401304e-01 -5.38068691e-01 -1.32627872e-01 1.81699071e+02] [ 5.30776230e-01 8.42895142e-01 -8.83423654e-02 1.10969549e+02] [ 1.59325650e-01 3.14057812e-03 9.87221087e-01 8.38971761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:181.72, Y:110.98, Z:83.90 [[ 8.31817773e-01 -5.38950743e-01 -1.32707535e-01 1.81723370e+02] [ 5.31656372e-01 8.42331955e-01 -8.84216060e-02 1.10983314e+02] [ 1.59438687e-01 2.99585702e-03 9.87203287e-01 8.39013754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.740385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:181.75, Y:111.00, Z:83.91 [[ 8.31033625e-01 -5.40047279e-01 -1.33161748e-01 1.81746932e+02] [ 5.32708111e-01 8.41629891e-01 -8.87760981e-02 1.10996289e+02] [ 1.60016197e-01 2.83957966e-03 9.87110305e-01 8.39052532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.77, Y:111.01, Z:83.91 [[ 8.30094135e-01 -5.41279247e-01 -1.34016806e-01 1.81771722e+02] [ 5.33856452e-01 8.40838746e-01 -8.93727719e-02 1.11009960e+02] [ 1.61062150e-01 2.64207708e-03 9.86940729e-01 8.39098906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:111.02, Z:83.91 [[ 8.28161944e-01 -5.43786731e-01 -1.35807902e-01 1.81796617e+02] [ 5.36187330e-01 8.39220482e-01 -9.06208001e-02 1.11020580e+02] [ 1.63251162e-01 2.23022159e-03 9.86582021e-01 8.39139778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.830385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:181.82, Y:111.03, Z:83.92 [[ 8.26671455e-01 -5.45784754e-01 -1.36869673e-01 1.81821095e+02] [ 5.38085730e-01 8.37923297e-01 -9.13690097e-02 1.11034032e+02] [ 1.64554100e-01 1.88453428e-03 9.86366259e-01 8.39183153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.860385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:181.85, Y:111.05, Z:83.92 [[ 8.25177500e-01 -5.47813224e-01 -1.37777956e-01 1.81845669e+02] [ 5.40029699e-01 8.36599252e-01 -9.20305177e-02 1.11046918e+02] [ 1.65680470e-01 1.53732427e-03 9.86178289e-01 8.39226272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.890385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:181.87, Y:111.06, Z:83.93 [[ 8.21810290e-01 -5.52924014e-01 -1.37487750e-01 1.81871196e+02] [ 5.45235642e-01 8.33231499e-01 -9.18877777e-02 1.11057275e+02] [ 1.65366083e-01 5.51099548e-04 9.86232100e-01 8.39273547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.920385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:181.89, Y:111.07, Z:83.93 [[ 8.21671309e-01 -5.53133612e-01 -1.37475335e-01 1.81894661e+02] [ 5.45445046e-01 8.33092387e-01 -9.19063491e-02 1.11073064e+02] [ 1.65366145e-01 5.31570093e-04 9.86232100e-01 8.39315269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.950385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:181.92, Y:111.09, Z:83.94 [[ 8.20229901e-01 -5.55360210e-01 -1.37105607e-01 1.81919377e+02] [ 5.47735576e-01 8.31609898e-01 -9.17099601e-02 1.11086728e+02] [ 1.64950443e-01 1.25632530e-04 9.86301848e-01 8.39365872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.980385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:181.96, Y:111.07, Z:84.00 [[ 8.20146998e-01 -5.41461789e-01 -1.84873018e-01 1.81963361e+02] [ 5.44320299e-01 8.37948978e-01 -3.94578581e-02 1.11068684e+02] [ 1.76279079e-01 -6.82688928e-02 9.81969982e-01 8.39959424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.010385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:181.95, Y:111.15, Z:83.92 [[ 8.20925217e-01 -5.62863119e-01 -9.62647272e-02 1.81951959e+02] [ 5.47975643e-01 8.23922268e-01 -1.44481110e-01 1.11146283e+02] [ 1.60637741e-01 6.58574612e-02 9.84813846e-01 8.39209015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:111.13, Z:83.95 [[ 8.21297044e-01 -5.54742661e-01 -1.33160603e-01 1.81988780e+02] [ 5.47525811e-01 8.32021912e-01 -8.91909391e-02 1.11132103e+02] [ 1.60270559e-01 3.43387330e-04 9.87073062e-01 8.39521660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.070385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:182.01, Y:111.15, Z:83.96 [[ 8.22758862e-01 -5.52481177e-01 -1.33538022e-01 1.82011996e+02] [ 5.45189169e-01 8.33524982e-01 -8.94699692e-02 1.11147608e+02] [ 1.60737751e-01 8.08726859e-04 9.86996819e-01 8.39574008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.03, Y:111.16, Z:83.96 [[ 8.23067086e-01 -5.51902774e-01 -1.34029479e-01 1.82034029e+02] [ 5.44540541e-01 8.33907902e-01 -8.98510393e-02 1.11162828e+02] [ 1.61357280e-01 9.68947899e-04 9.86895582e-01 8.39614111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.130385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:182.06, Y:111.18, Z:83.97 [[ 8.23107349e-01 -5.51676489e-01 -1.34712073e-01 1.82056985e+02] [ 5.44231142e-01 8.34057532e-01 -9.03354677e-02 1.11178359e+02] [ 1.62193573e-01 1.04128214e-03 9.86758411e-01 8.39653933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.160385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:182.07, Y:111.21, Z:83.95 [[ 8.22160185e-01 -5.57171133e-01 -1.16674581e-01 1.82069240e+02] [ 5.46728918e-01 8.29949211e-01 -1.10778149e-01 1.11207504e+02] [ 1.58556363e-01 2.72880161e-02 9.86972768e-01 8.39495436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.190385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:182.11, Y:111.20, Z:83.98 [[ 8.22394074e-01 -5.48447583e-01 -1.51239001e-01 1.82109092e+02] [ 5.44217889e-01 8.35862319e-01 -7.18406072e-02 1.11200473e+02] [ 1.65815790e-01 -2.32256804e-02 9.85883204e-01 8.39841375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.220385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:182.13, Y:111.23, Z:83.98 [[ 8.22321566e-01 -5.52138356e-01 -1.37588076e-01 1.82126333e+02] [ 5.44361905e-01 8.33751853e-01 -9.23469772e-02 1.11225306e+02] [ 1.65702622e-01 1.04120359e-03 9.86175216e-01 8.39779944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.250385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:182.15, Y:111.24, Z:83.98 [[ 8.20731669e-01 -5.54400895e-01 -1.37982519e-01 1.82148153e+02] [ 5.46607149e-01 8.32249530e-01 -9.26355466e-02 1.11240028e+02] [ 1.66193117e-01 6.06695074e-04 9.86093038e-01 8.39834637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:111.26, Z:83.99 [[ 8.19890902e-01 -5.55625309e-01 -1.38055873e-01 1.82170763e+02] [ 5.47835846e-01 8.31432721e-01 -9.27120058e-02 1.11255856e+02] [ 1.66297307e-01 3.81774086e-04 9.86075585e-01 8.39881895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.310385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:182.19, Y:111.27, Z:83.99 [[ 8.18639526e-01 -5.57587459e-01 -1.37570171e-01 1.82193426e+02] [ 5.49871571e-01 8.30118199e-01 -9.24393384e-02 1.11272057e+02] [ 1.65742519e-01 2.85700692e-05 9.86169061e-01 8.39923616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.340385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:182.20, Y:111.31, Z:83.97 [[ 8.15126201e-01 -5.69196176e-01 -1.07633594e-01 1.82203557e+02] [ 5.57827464e-01 8.21366977e-01 -1.19100000e-01 1.11307436e+02] [ 1.56197944e-01 3.70405559e-02 9.87031002e-01 8.39670176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:182.25, Y:111.29, Z:84.02 [[ 8.14443338e-01 -5.58739215e-01 -1.56500921e-01 1.82248358e+02] [ 5.56556922e-01 8.28521337e-01 -6.16180683e-02 1.11287733e+02] [ 1.64092783e-01 -3.69172454e-02 9.85753862e-01 8.40173935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:182.26, Y:111.32, Z:84.01 [[ 8.12258825e-01 -5.67225985e-01 -1.35978985e-01 1.82264391e+02] [ 5.59804185e-01 8.23560182e-01 -9.14762373e-02 1.11317634e+02] [ 1.63874576e-01 -1.81922372e-03 9.86479505e-01 8.40075490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43038572300003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:182.27, Y:111.36, Z:83.97 [[ 8.08833383e-01 -5.80580286e-01 -9.33546464e-02 1.82266386e+02] [ 5.68351775e-01 8.12575228e-01 -1.29219809e-01 1.11361960e+02] [ 1.50880147e-01 5.14590164e-02 9.87211807e-01 8.39695284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.32, Y:111.33, Z:84.04 [[ 8.10419319e-01 -5.62172928e-01 -1.64870029e-01 1.82321559e+02] [ 5.62465387e-01 8.25341193e-01 -4.94429410e-02 1.11328946e+02] [ 1.63869509e-01 -5.26641702e-02 9.85075261e-01 8.40383372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:111.37, Z:84.02 [[ 8.10411526e-01 -5.69827043e-01 -1.36126047e-01 1.82333253e+02] [ 5.62418722e-01 8.21761394e-01 -9.16154612e-02 1.11365136e+02] [ 1.64068098e-01 -2.31361177e-03 9.86446302e-01 8.40210300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.520385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:182.35, Y:111.39, Z:84.01 [[ 8.09594535e-01 -5.75374798e-01 -1.16191784e-01 1.82348617e+02] [ 5.65500994e-01 8.17592424e-01 -1.08403204e-01 1.11393578e+02] [ 1.57369994e-01 2.20560721e-02 9.87293378e-01 8.40053886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.38, Y:111.39, Z:84.04 [[ 8.09794414e-01 -5.67455176e-01 -1.49089340e-01 1.82383966e+02] [ 5.63526724e-01 8.22991808e-01 -7.15689535e-02 1.11385852e+02] [ 1.63311479e-01 -2.60596887e-02 9.86230325e-01 8.40417336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.580385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:182.40, Y:111.42, Z:84.02 [[ 8.10035084e-01 -5.74818349e-01 -1.15875050e-01 1.82396015e+02] [ 5.64743313e-01 8.17946352e-01 -1.09675680e-01 1.11424216e+02] [ 1.57823167e-01 2.34014889e-02 9.87190062e-01 8.40150792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.43, Y:111.42, Z:84.05 [[ 8.09578251e-01 -5.67285226e-01 -1.50899064e-01 1.82428514e+02] [ 5.63500007e-01 8.23060138e-01 -7.09912055e-02 1.11417168e+02] [ 1.64471266e-01 -2.75586875e-02 9.85996816e-01 8.40501628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.640385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:182.45, Y:111.44, Z:84.04 [[ 8.09829815e-01 -5.70448125e-01 -1.36983970e-01 1.82446008e+02] [ 5.62924622e-01 8.21330392e-01 -9.23702241e-02 1.11443811e+02] [ 1.65201519e-01 -2.30748818e-03 9.86257134e-01 8.40434678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:182.47, Y:111.46, Z:84.05 [[ 8.10088874e-01 -5.69953479e-01 -1.37510174e-01 1.82467657e+02] [ 5.62355833e-01 8.21674092e-01 -9.27771680e-02 1.11459332e+02] [ 1.65867217e-01 -2.17189719e-03 9.86145704e-01 8.40471994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.700385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:182.49, Y:111.48, Z:84.05 [[ 8.10036713e-01 -5.69969406e-01 -1.37751223e-01 1.82490318e+02] [ 5.62340538e-01 8.21663086e-01 -9.29671593e-02 1.11475765e+02] [ 1.66173531e-01 -2.15628463e-03 9.86094168e-01 8.40512855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.730385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:182.51, Y:111.49, Z:84.06 [[ 8.09868106e-01 -5.70328489e-01 -1.37255477e-01 1.82512805e+02] [ 5.62750847e-01 8.21413828e-01 -9.26866111e-02 1.11491650e+02] [ 1.65605362e-01 -2.17670577e-03 9.86189701e-01 8.40554497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:182.54, Y:111.51, Z:84.06 [[ 8.09364536e-01 -5.70990152e-01 -1.37474702e-01 1.82535335e+02] [ 5.63388394e-01 8.20953769e-01 -9.28893210e-02 1.11507725e+02] [ 1.65899263e-01 -2.27032963e-03 9.86140092e-01 8.40601947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:111.52, Z:84.06 [[ 8.09169645e-01 -5.71638135e-01 -1.35920301e-01 1.82558073e+02] [ 5.64208655e-01 8.20502534e-01 -9.18922440e-02 1.11524089e+02] [ 1.64052063e-01 -2.33099596e-03 9.86448928e-01 8.40648573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:111.54, Z:84.07 [[ 8.08707803e-01 -5.72345047e-01 -1.35693910e-01 1.82580121e+02] [ 5.64941806e-01 8.20009302e-01 -9.17905307e-02 1.11539500e+02] [ 1.63806124e-01 -2.42744402e-03 9.86489565e-01 8.40691750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:111.56, Z:84.07 [[ 8.07954935e-01 -5.73524302e-01 -1.35198738e-01 1.82602491e+02] [ 5.66187365e-01 8.19184310e-01 -9.14818769e-02 1.11555703e+02] [ 1.63219765e-01 -2.63458322e-03 9.86586219e-01 8.40730880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.880385723 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:182.62, Y:111.57, Z:84.07 [[ 8.06488365e-01 -5.76311977e-01 -1.32064465e-01 1.82622141e+02] [ 5.68195685e-01 8.17225242e-01 -9.64187102e-02 1.11574872e+02] [ 1.63493671e-01 2.72210896e-03 9.86540627e-01 8.40749201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.65, Y:111.59, Z:84.08 [[ 8.05638953e-01 -5.76375920e-01 -1.36881980e-01 1.82647068e+02] [ 5.69991442e-01 8.17137942e-01 -8.59961614e-02 1.11587303e+02] [ 1.61417576e-01 -8.73969964e-03 9.86847498e-01 8.40830225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.940385723 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:182.67, Y:111.61, Z:84.08 [[ 8.04634863e-01 -5.78825814e-01 -1.32376034e-01 1.82668175e+02] [ 5.71544454e-01 8.15448759e-01 -9.15437532e-02 1.11608413e+02] [ 1.60933760e-01 -1.99949248e-03 9.86963184e-01 8.40835143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:182.69, Y:111.62, Z:84.09 [[ 8.04638496e-01 -5.78572114e-01 -1.33458604e-01 1.82690293e+02] [ 5.71836336e-01 8.15613654e-01 -8.81905469e-02 1.11623328e+02] [ 1.59875251e-01 -5.35497004e-03 9.87122702e-01 8.40891512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:111.64, Z:84.09 [[ 8.04701789e-01 -5.78885384e-01 -1.31707038e-01 1.82711685e+02] [ 5.71950838e-01 8.15401872e-01 -8.93981334e-02 1.11640245e+02] [ 1.59145438e-01 -3.39111286e-03 9.87249325e-01 8.40919630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:111.66, Z:84.09 [[ 8.05092205e-01 -5.78367900e-01 -1.31594502e-01 1.82732228e+02] [ 5.71432615e-01 8.15769556e-01 -8.93576921e-02 1.11658424e+02] [ 1.59032410e-01 -3.25620931e-03 9.87267993e-01 8.40947771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:182.75, Y:111.68, Z:84.10 [[ 8.05409116e-01 -5.77964097e-01 -1.31429289e-01 1.82753488e+02] [ 5.71035340e-01 8.16056139e-01 -8.92805648e-02 1.11676146e+02] [ 1.58854639e-01 -3.14338800e-03 9.87296978e-01 8.40973220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:111.69, Z:84.10 [[ 8.06118531e-01 -5.77003158e-01 -1.31302204e-01 1.82774809e+02] [ 5.70066786e-01 8.16736739e-01 -8.92466166e-02 1.11692911e+02] [ 1.58734914e-01 -2.90767414e-03 9.87316957e-01 8.41002144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.80, Y:111.71, Z:84.10 [[ 8.07166739e-01 -5.75716851e-01 -1.30506562e-01 1.82795579e+02] [ 5.68842414e-01 8.17644973e-01 -8.87412323e-02 1.11709442e+02] [ 1.57797858e-01 -2.60869689e-03 9.87467990e-01 8.41034037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:111.73, Z:84.11 [[ 8.07363214e-01 -5.75538096e-01 -1.30078978e-01 1.82818253e+02] [ 5.68702123e-01 8.17771018e-01 -8.84785687e-02 1.11725593e+02] [ 1.57297605e-01 -2.54184932e-03 9.87547975e-01 8.41075210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18038572300003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:182.84, Y:111.74, Z:84.11 [[ 8.07659949e-01 -5.75390034e-01 -1.28886442e-01 1.82839032e+02] [ 5.68669625e-01 8.17875492e-01 -8.77185120e-02 1.11743389e+02] [ 1.55885420e-01 -2.44707555e-03 9.87772113e-01 8.41110262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.86, Y:111.76, Z:84.11 [[ 8.07599672e-01 -5.75681104e-01 -1.27961075e-01 1.82860747e+02] [ 5.69057286e-01 8.17670588e-01 -8.71126558e-02 1.11760704e+02] [ 1.54779117e-01 -2.46502988e-03 9.87946025e-01 8.41139936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:111.77, Z:84.12 [[ 8.08964677e-01 -5.73674819e-01 -1.28348567e-01 1.82881189e+02] [ 5.67568706e-01 8.19066731e-01 -8.36388312e-02 1.11774904e+02] [ 1.53107532e-01 -5.18576988e-03 9.88195928e-01 8.41190897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:182.90, Y:111.79, Z:84.12 [[ 8.08791015e-01 -5.74529731e-01 -1.25589342e-01 1.82903475e+02] [ 5.67736864e-01 8.18483711e-01 -8.80867036e-02 1.11794399e+02] [ 1.53401261e-01 -5.79650766e-05 9.88163979e-01 8.41210937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.300385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:182.93, Y:111.81, Z:84.12 [[ 8.08373689e-01 -5.75022835e-01 -1.26018727e-01 1.82926600e+02] [ 5.68045418e-01 8.18137132e-01 -8.93086537e-02 1.11813852e+02] [ 1.54455115e-01 6.10405403e-04 9.87999618e-01 8.41246858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.95, Y:111.83, Z:84.13 [[ 8.07729697e-01 -5.75657354e-01 -1.27245228e-01 1.82948943e+02] [ 5.69068778e-01 8.17687955e-01 -8.68742392e-02 1.11830401e+02] [ 1.54056685e-01 -2.24038349e-03 9.88059471e-01 8.41294190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:111.85, Z:84.12 [[ 8.05789760e-01 -5.80585298e-01 -1.16720072e-01 1.82963991e+02] [ 5.73171251e-01 8.14161139e-01 -9.28243285e-02 1.11854635e+02] [ 1.48921387e-01 7.89630375e-03 9.88817510e-01 8.41207722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:111.86, Z:84.14 [[ 8.06505953e-01 -5.76476407e-01 -1.31236813e-01 1.82994338e+02] [ 5.71230370e-01 8.17030299e-01 -7.84688184e-02 1.11862070e+02] [ 1.52459875e-01 -1.16808841e-02 9.88240630e-01 8.41396175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:111.88, Z:84.14 [[ 8.04449980e-01 -5.80376201e-01 -1.26584735e-01 1.83010319e+02] [ 5.74285693e-01 8.14332461e-01 -8.40153880e-02 1.11883410e+02] [ 1.51842590e-01 -5.10962504e-03 9.88391481e-01 8.41374898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:111.90, Z:84.14 [[ 8.03607630e-01 -5.82036663e-01 -1.24290388e-01 1.83029852e+02] [ 5.75432163e-01 8.13161581e-01 -8.74418047e-02 1.11903975e+02] [ 1.51962504e-01 -1.25178518e-03 9.88385467e-01 8.41389561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.05, Y:111.92, Z:84.15 [[ 8.03561154e-01 -5.81387639e-01 -1.27584812e-01 1.83054914e+02] [ 5.75370707e-01 8.13603191e-01 -8.36564247e-02 1.11918412e+02] [ 1.52440222e-01 -6.18551049e-03 9.88293336e-01 8.41472955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:111.94, Z:84.15 [[ 8.03019600e-01 -5.82525450e-01 -1.25791980e-01 1.83076294e+02] [ 5.76339203e-01 8.12800474e-01 -8.47851024e-02 1.11935512e+02] [ 1.51633261e-01 -4.41475076e-03 9.88426964e-01 8.41510409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.10, Y:111.96, Z:84.15 [[ 8.02973626e-01 -5.83801973e-01 -1.20035878e-01 1.83098490e+02] [ 5.76497065e-01 8.11881741e-01 -9.21909612e-02 1.11957623e+02] [ 1.51276203e-01 4.82657894e-03 9.88479749e-01 8.41506871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.12, Y:111.98, Z:84.15 [[ 8.02153314e-01 -5.84401598e-01 -1.22575829e-01 1.83121742e+02] [ 5.77227025e-01 8.11460723e-01 -9.13260963e-02 1.11975108e+02] [ 1.52836588e-01 2.50344953e-03 9.88248304e-01 8.41544011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.14, Y:111.99, Z:84.16 [[ 8.01699707e-01 -5.83766962e-01 -1.28427858e-01 1.83144835e+02] [ 5.78272532e-01 8.11862918e-01 -8.04952291e-02 1.11986803e+02] [ 1.51256271e-01 -9.73330121e-03 9.88446662e-01 8.41618216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:112.01, Z:84.16 [[ 8.00467658e-01 -5.86839150e-01 -1.21948111e-01 1.83158984e+02] [ 5.80375120e-01 8.09702586e-01 -8.68702627e-02 1.12007944e+02] [ 1.49720572e-01 -1.23881383e-03 9.88727574e-01 8.41584462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:112.02, Z:84.17 [[ 8.01170803e-01 -5.85326884e-01 -1.24570392e-01 1.83186546e+02] [ 5.79256214e-01 8.10783848e-01 -8.42127632e-02 1.12024476e+02] [ 1.50291657e-01 -4.68936681e-03 9.88630582e-01 8.41685066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.690385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:183.22, Y:112.03, Z:84.18 [[ 8.01669125e-01 -5.81953105e-01 -1.36591351e-01 1.83215292e+02] [ 5.77871064e-01 8.12945699e-01 -7.20022424e-02 1.12032565e+02] [ 1.52943280e-01 -2.12102146e-02 9.88007328e-01 8.41841345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.720385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.22, Y:112.07, Z:84.17 [[ 8.00807468e-01 -5.88179305e-01 -1.12926989e-01 1.83224881e+02] [ 5.80228859e-01 8.08637258e-01 -9.71609803e-02 1.12066498e+02] [ 1.48465049e-01 1.22837406e-02 9.88841362e-01 8.41710843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.25, Y:112.08, Z:84.18 [[ 8.00987601e-01 -5.86163168e-01 -1.21785068e-01 1.83249014e+02] [ 5.80202911e-01 8.10184087e-01 -8.34645288e-02 1.12077068e+02] [ 1.47592157e-01 -3.80599823e-03 9.89040985e-01 8.41799261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.780385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:183.27, Y:112.10, Z:84.18 [[ 8.01347772e-01 -5.85716270e-01 -1.21565619e-01 1.83267824e+02] [ 5.79767534e-01 8.10507765e-01 -8.33472794e-02 1.12096577e+02] [ 1.47347736e-01 -3.68964235e-03 9.89077869e-01 8.41819901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.29, Y:112.11, Z:84.19 [[ 8.01547743e-01 -5.83595773e-01 -1.30142955e-01 1.83293303e+02] [ 5.79029542e-01 8.11893950e-01 -7.45184757e-02 1.12108700e+02] [ 1.49150946e-01 -1.56264999e-02 9.88690957e-01 8.41929551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.31, Y:112.13, Z:84.19 [[ 8.01458861e-01 -5.85207685e-01 -1.23270676e-01 1.83313641e+02] [ 5.79128836e-01 8.10874112e-01 -8.42197468e-02 1.12129572e+02] [ 1.49243043e-01 -3.89094092e-03 9.88792888e-01 8.41930078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:112.15, Z:84.19 [[ 8.01693827e-01 -5.86463835e-01 -1.15529992e-01 1.83331948e+02] [ 5.79008972e-01 8.09934739e-01 -9.35645712e-02 1.12152176e+02] [ 1.48443991e-01 8.11723720e-03 9.88887502e-01 8.41899225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.900385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.36, Y:112.17, Z:84.20 [[ 8.02122719e-01 -5.84468017e-01 -1.22459304e-01 1.83355483e+02] [ 5.78398991e-01 8.11409665e-01 -8.40771267e-02 1.12165110e+02] [ 1.48505054e-01 -3.39016415e-03 9.88905838e-01 8.41979669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:112.18, Z:84.20 [[ 8.02236726e-01 -5.84555127e-01 -1.21291131e-01 1.83377284e+02] [ 5.78595864e-01 8.11347143e-01 -8.33225027e-02 1.12182115e+02] [ 1.47115809e-01 -3.33417518e-03 9.89113655e-01 8.42022005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.960385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.40, Y:112.20, Z:84.21 [[ 8.02525465e-01 -5.84241481e-01 -1.20891564e-01 1.83398568e+02] [ 5.78310962e-01 8.11573461e-01 -8.30960208e-02 1.12198891e+02] [ 1.46660527e-01 -3.22624383e-03 9.89181622e-01 8.42068108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.990385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.42, Y:112.22, Z:84.21 [[ 8.03297691e-01 -5.83336451e-01 -1.20130781e-01 1.83418783e+02] [ 5.77467702e-01 8.12224990e-01 -8.25930904e-02 1.12219212e+02] [ 1.45752783e-01 -3.02480747e-03 9.89316419e-01 8.42100002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.020385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.44, Y:112.24, Z:84.21 [[ 8.04044004e-01 -5.82355241e-01 -1.19898341e-01 1.83440300e+02] [ 5.76491300e-01 8.12929595e-01 -8.24818466e-02 1.12236990e+02] [ 1.45502645e-01 -2.80131617e-03 9.89353897e-01 8.42134977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:112.25, Z:84.22 [[ 8.03689297e-01 -5.82417557e-01 -1.21956151e-01 1.83456427e+02] [ 5.77282038e-01 8.12849976e-01 -7.75910163e-02 1.12254748e+02] [ 1.44322425e-01 -8.04402606e-03 9.89498020e-01 8.42169008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.48, Y:112.28, Z:84.22 [[ 8.06135261e-01 -5.80218979e-01 -1.16154539e-01 1.83482012e+02] [ 5.73426046e-01 8.14445991e-01 -8.86583189e-02 1.12275650e+02] [ 1.46042838e-01 4.86455886e-03 9.89266307e-01 8.42190425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:112.29, Z:84.23 [[ 8.04605711e-01 -5.80173207e-01 -1.26525488e-01 1.83502876e+02] [ 5.75426025e-01 8.14398966e-01 -7.50946988e-02 1.12285598e+02] [ 1.46610159e-01 -1.23844354e-02 9.89116822e-01 8.42285596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:112.30, Z:84.23 [[ 8.05041032e-01 -5.79883541e-01 -1.25076039e-01 1.83525701e+02] [ 5.74191230e-01 8.14674502e-01 -8.13012208e-02 1.12303707e+02] [ 1.49041499e-01 -6.36674576e-03 9.88810445e-01 8.42333812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:112.32, Z:84.23 [[ 8.04737254e-01 -5.80787265e-01 -1.22817361e-01 1.83545577e+02] [ 5.74493181e-01 8.14053114e-01 -8.52942680e-02 1.12324669e+02] [ 1.49517680e-01 -1.91826135e-03 9.88757192e-01 8.42346212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:112.34, Z:84.24 [[ 8.05123961e-01 -5.78976303e-01 -1.28692847e-01 1.83570425e+02] [ 5.73294233e-01 8.15302214e-01 -8.13389302e-02 1.12338111e+02] [ 1.52016876e-01 -8.29094557e-03 9.88343123e-01 8.42431486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:112.36, Z:84.24 [[ 8.05873816e-01 -5.80339224e-01 -1.17361738e-01 1.83589733e+02] [ 5.72882356e-01 8.14337892e-01 -9.30569868e-02 1.12360748e+02] [ 1.49576730e-01 7.75771983e-03 9.88719687e-01 8.42401868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:112.38, Z:84.24 [[ 8.07651752e-01 -5.78773716e-01 -1.12781354e-01 1.83615487e+02] [ 5.71034076e-01 8.15393172e-01 -9.51528252e-02 1.12377674e+02] [ 1.47033100e-01 1.24483496e-02 9.89053237e-01 8.42402166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:112.37, Z:84.27 [[ 8.07322098e-01 -5.71040704e-01 -1.48807069e-01 1.83648693e+02] [ 5.69438079e-01 8.20024876e-01 -5.74410731e-02 1.12370954e+02] [ 1.54826689e-01 -3.83629638e-02 9.87196525e-01 8.42734781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.66, Y:112.42, Z:84.24 [[ 8.07980681e-01 -5.80809240e-01 -9.91354942e-02 1.83655659e+02] [ 5.70644098e-01 8.13269417e-01 -1.13833958e-01 1.12421196e+02] [ 1.46739680e-01 3.54045544e-02 9.88541341e-01 8.42410750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:112.42, Z:84.25 [[ 8.07855951e-01 -5.76907711e-01 -1.20607857e-01 1.83686992e+02] [ 5.70878943e-01 8.16807694e-01 -8.32010988e-02 1.12422782e+02] [ 1.46512781e-01 -1.63798331e-03 9.89207421e-01 8.42549956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:112.44, Z:84.26 [[ 8.07523533e-01 -5.77356542e-01 -1.20686234e-01 1.83709590e+02] [ 5.71317562e-01 8.16490417e-01 -8.33045096e-02 1.12437571e+02] [ 1.46635557e-01 -1.67981339e-03 9.89189159e-01 8.42591635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:112.45, Z:84.26 [[ 8.06824751e-01 -5.78487094e-01 -1.19943754e-01 1.83733470e+02] [ 5.71912560e-01 8.15690003e-01 -8.69818580e-02 1.12451931e+02] [ 1.48154803e-01 1.58177645e-03 9.88962918e-01 8.42625698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:112.47, Z:84.27 [[ 8.05813141e-01 -5.79430815e-01 -1.22168379e-01 1.83759210e+02] [ 5.73475143e-01 8.15015001e-01 -8.29265308e-02 1.12466424e+02] [ 1.47619248e-01 -3.23724006e-03 9.89038967e-01 8.42688783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:112.48, Z:84.27 [[ 8.05808372e-01 -5.79491439e-01 -1.21912015e-01 1.83782012e+02] [ 5.73765516e-01 8.14966595e-01 -8.13792484e-02 1.12482611e+02] [ 1.46512797e-01 -4.37283054e-03 9.89199110e-01 8.42729824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.500385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.81, Y:112.48, Z:84.30 [[ 8.03950188e-01 -5.76332906e-01 -1.46644051e-01 1.83810894e+02] [ 5.74336329e-01 8.16420794e-01 -5.99572138e-02 1.12484333e+02] [ 1.54278568e-01 -3.60203928e-02 9.87370576e-01 8.42967162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.82, Y:112.52, Z:84.28 [[ 8.04304717e-01 -5.82587946e-01 -1.16983790e-01 1.83823119e+02] [ 5.74877004e-01 8.12716901e-01 -9.49087384e-02 1.12519652e+02] [ 1.50367390e-01 9.08425538e-03 9.88588450e-01 8.42843152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.560385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.85, Y:112.54, Z:84.28 [[ 8.04519718e-01 -5.84249745e-01 -1.06771994e-01 1.83846280e+02] [ 5.75775796e-01 8.11330514e-01 -1.01118889e-01 1.12539498e+02] [ 1.45706062e-01 1.98754100e-02 9.89128258e-01 8.42765309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:112.54, Z:84.29 [[ 8.04557655e-01 -5.81765665e-01 -1.19313416e-01 1.83875334e+02] [ 5.75878884e-01 8.13353288e-01 -8.25829284e-02 1.12543451e+02] [ 1.45087871e-01 -2.26734955e-03 9.89416176e-01 8.42904324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:112.56, Z:84.29 [[ 8.04648402e-01 -5.81619144e-01 -1.19415746e-01 1.83897085e+02] [ 5.75713205e-01 8.13458250e-01 -8.27041799e-02 1.12559113e+02] [ 1.45242058e-01 -2.20143583e-03 9.89393702e-01 8.42940028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.92, Y:112.58, Z:84.30 [[ 8.04861596e-01 -5.81182640e-01 -1.20102249e-01 1.83920374e+02] [ 5.75395242e-01 8.13766832e-01 -8.18770882e-02 1.12576200e+02] [ 1.45320769e-01 -3.20653902e-03 9.89379397e-01 8.42980430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:112.58, Z:84.32 [[ 8.05262037e-01 -5.75610212e-01 -1.42217915e-01 1.83949236e+02] [ 5.72917819e-01 8.17157717e-01 -6.33911487e-02 1.12577985e+02] [ 1.52703059e-01 -3.04326920e-02 9.87803435e-01 8.43190153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:112.61, Z:84.31 [[ 8.04864443e-01 -5.80308710e-01 -1.24237799e-01 1.83966667e+02] [ 5.73409816e-01 8.14396389e-01 -8.92171790e-02 1.12605579e+02] [ 1.52952321e-01 5.68561817e-04 9.88233406e-01 8.43123636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.740385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.99, Y:112.62, Z:84.32 [[ 8.04378340e-01 -5.80435452e-01 -1.26768183e-01 1.83991127e+02] [ 5.73913558e-01 8.14301022e-01 -8.68163160e-02 1.12617969e+02] [ 1.53618728e-01 -2.92081475e-03 9.88125880e-01 8.43168013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.770385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.01, Y:112.64, Z:84.32 [[ 8.04030609e-01 -5.81989700e-01 -1.21748796e-01 1.84012897e+02] [ 5.74964741e-01 8.13192275e-01 -9.01879792e-02 1.12636738e+02] [ 1.51493656e-01 2.51263073e-03 9.88455036e-01 8.43166582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.800385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.04, Y:112.65, Z:84.33 [[ 8.04768194e-01 -5.79445483e-01 -1.28806388e-01 1.84037958e+02] [ 5.73499169e-01 8.14980954e-01 -8.30948080e-02 1.12648445e+02] [ 1.53123664e-01 -6.99829787e-03 9.88182254e-01 8.43271243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.830385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.05, Y:112.68, Z:84.31 [[ 8.04666615e-01 -5.83926175e-01 -1.07433053e-01 1.84052700e+02] [ 5.75087220e-01 8.11522705e-01 -1.03467813e-01 1.12678681e+02] [ 1.47601927e-01 2.14737191e-02 9.88813709e-01 8.43104275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:112.68, Z:84.33 [[ 8.06169939e-01 -5.78340681e-01 -1.24948334e-01 1.84083272e+02] [ 5.73386217e-01 8.15731658e-01 -7.62240715e-02 1.12678220e+02] [ 1.46007793e-01 -1.01940976e-02 9.89230916e-01 8.43259269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.10, Y:112.70, Z:84.33 [[ 8.05304152e-01 -5.81208779e-01 -1.16968279e-01 1.84104462e+02] [ 5.73838274e-01 8.13720629e-01 -9.25655106e-02 1.12701587e+02] [ 1.48979389e-01 7.42251458e-03 9.88812443e-01 8.43252527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.920385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.14, Y:112.71, Z:84.34 [[ 8.04633731e-01 -5.78663679e-01 -1.33089839e-01 1.84135494e+02] [ 5.73750131e-01 8.15434287e-01 -7.66662255e-02 1.12705286e+02] [ 1.52889978e-01 -1.46720813e-02 9.88134295e-01 8.43408280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.950385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:184.15, Y:112.73, Z:84.33 [[ 8.05016716e-01 -5.82013756e-01 -1.14926388e-01 1.84151294e+02] [ 5.74257107e-01 8.13108166e-01 -9.53094186e-02 1.12732121e+02] [ 1.48918977e-01 1.07283799e-02 9.88791201e-01 8.43310102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:112.74, Z:84.34 [[ 8.05173090e-01 -5.80504600e-01 -1.21287695e-01 1.84175863e+02] [ 5.74338798e-01 8.14255186e-01 -8.44004548e-02 1.12742112e+02] [ 1.47753987e-01 -1.70325430e-03 9.89022678e-01 8.43406082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.20, Y:112.76, Z:84.34 [[ 8.04905759e-01 -5.80696188e-01 -1.22141954e-01 1.84198633e+02] [ 5.74439594e-01 8.14118525e-01 -8.50304612e-02 1.12757621e+02] [ 1.48814892e-01 -1.72166652e-03 9.88863572e-01 8.43448279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.22, Y:112.78, Z:84.34 [[ 8.04075437e-01 -5.83474830e-01 -1.14104403e-01 1.84217470e+02] [ 5.76043227e-01 8.12078153e-01 -9.32913366e-02 1.12777455e+02] [ 1.47094839e-01 9.28420381e-03 9.89078820e-01 8.43406860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.25, Y:112.78, Z:84.36 [[ 8.04615865e-01 -5.79554397e-01 -1.29267205e-01 1.84249650e+02] [ 5.74437711e-01 8.14849365e-01 -7.77292022e-02 1.12782420e+02] [ 1.50381601e-01 -1.17138080e-02 9.88558628e-01 8.43572793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:112.80, Z:84.36 [[ 8.04898317e-01 -5.80614673e-01 -1.22577731e-01 1.84270469e+02] [ 5.74062735e-01 8.14178404e-01 -8.69798987e-02 1.12801120e+02] [ 1.50301947e-01 -3.57333450e-04 9.88640075e-01 8.43580867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.30, Y:112.81, Z:84.36 [[ 8.05760711e-01 -5.79141250e-01 -1.23875295e-01 1.84295472e+02] [ 5.72877998e-01 8.15223407e-01 -8.49799758e-02 1.12814103e+02] [ 1.50201450e-01 -2.49190558e-03 9.88652272e-01 8.43632230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.160385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.32, Y:112.83, Z:84.37 [[ 8.05613003e-01 -5.79368124e-01 -1.23775061e-01 1.84317515e+02] [ 5.72900025e-01 8.15064872e-01 -8.63412738e-02 1.12829713e+02] [ 1.50908086e-01 -1.35308295e-03 9.88546872e-01 8.43653865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.34, Y:112.84, Z:84.37 [[ 8.05314617e-01 -5.79913494e-01 -1.23161302e-01 1.84341180e+02] [ 5.73512485e-01 8.14676807e-01 -8.59367848e-02 1.12844422e+02] [ 1.50172558e-01 -1.42839563e-03 9.88658770e-01 8.43708829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.220385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.36, Y:112.86, Z:84.37 [[ 8.04668275e-01 -5.81054599e-01 -1.22002132e-01 1.84364891e+02] [ 5.74035091e-01 8.13860892e-01 -9.00786491e-02 1.12860541e+02] [ 1.51633377e-01 2.44992610e-03 9.88433770e-01 8.43732524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:112.88, Z:84.37 [[ 8.03356059e-01 -5.84659115e-01 -1.13105090e-01 1.84382739e+02] [ 5.77324571e-01 8.11226487e-01 -9.27789130e-02 1.12879814e+02] [ 1.45997882e-01 9.23615420e-03 9.89241786e-01 8.43690455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.41, Y:112.89, Z:84.38 [[ 8.02542356e-01 -5.84075484e-01 -1.21579583e-01 1.84410607e+02] [ 5.78062701e-01 8.11693247e-01 -8.36515796e-02 1.12887334e+02] [ 1.47544163e-01 -3.14668618e-03 9.89050463e-01 8.43787584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:112.90, Z:84.39 [[ 8.03821330e-01 -5.80321296e-01 -1.30761091e-01 1.84439595e+02] [ 5.75570261e-01 8.14257524e-01 -7.55219163e-02 1.12895978e+02] [ 1.50300179e-01 -1.45560683e-02 9.88533245e-01 8.43939139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.46, Y:112.92, Z:84.39 [[ 8.03093449e-01 -5.83080495e-01 -1.22711241e-01 1.84459342e+02] [ 5.76191430e-01 8.12413683e-01 -8.93724992e-02 1.12918262e+02] [ 1.51803652e-01 1.06930318e-03 9.88410091e-01 8.43917493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.370385723 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:184.48, Y:112.93, Z:84.39 [[ 8.03045805e-01 -5.82367594e-01 -1.26354344e-01 1.84484377e+02] [ 5.76237890e-01 8.12910100e-01 -8.44219433e-02 1.12930083e+02] [ 1.51879327e-01 -5.01547330e-03 9.88386319e-01 8.43943914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.400385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.51, Y:112.95, Z:84.40 [[ 8.03247108e-01 -5.82587836e-01 -1.24038288e-01 1.84506633e+02] [ 5.76088248e-01 8.12765894e-01 -8.67982289e-02 1.12947005e+02] [ 1.51381683e-01 -1.73657373e-03 9.88473859e-01 8.44002560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43038572300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.53, Y:112.96, Z:84.40 [[ 8.03381275e-01 -5.82324124e-01 -1.24407157e-01 1.84530626e+02] [ 5.75774468e-01 8.12955038e-01 -8.71083699e-02 1.12960986e+02] [ 1.51862730e-01 -1.64923134e-03 9.88400218e-01 8.44028380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.460385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.55, Y:112.98, Z:84.41 [[ 8.03521789e-01 -5.81986507e-01 -1.25077738e-01 1.84554355e+02] [ 5.75353498e-01 8.13196962e-01 -8.76302083e-02 1.12975674e+02] [ 1.52712435e-01 -1.55113242e-03 9.88269450e-01 8.44065724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.490385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:184.58, Y:112.99, Z:84.41 [[ 8.03353842e-01 -5.82921560e-01 -1.21758202e-01 1.84576402e+02] [ 5.75849846e-01 8.12524149e-01 -9.05619312e-02 1.12993970e+02] [ 1.51721981e-01 2.63883378e-03 9.88419687e-01 8.44076034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.61, Y:113.00, Z:84.42 [[ 8.04881135e-01 -5.78539435e-01 -1.32130544e-01 1.84605490e+02] [ 5.73131326e-01 8.15572883e-01 -7.97581092e-02 1.13002690e+02] [ 1.53905300e-01 -1.15323561e-02 9.88018301e-01 8.44224183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.550385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:184.62, Y:113.03, Z:84.41 [[ 8.04594844e-01 -5.81414423e-01 -1.20765915e-01 1.84623536e+02] [ 5.73752497e-01 8.13580867e-01 -9.43093025e-02 1.13025955e+02] [ 1.53085626e-01 6.59103325e-03 9.88190948e-01 8.44144914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.580385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:184.65, Y:113.03, Z:84.42 [[ 8.06139358e-01 -5.77920000e-01 -1.27074032e-01 1.84650646e+02] [ 5.71307767e-01 8.16090178e-01 -8.72023870e-02 1.13034064e+02] [ 1.54099873e-01 -2.30110508e-03 9.88052597e-01 8.44245979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:113.05, Z:84.43 [[ 8.06832927e-01 -5.77093498e-01 -1.26426751e-01 1.84674461e+02] [ 5.70332197e-01 8.16677430e-01 -8.80861010e-02 1.13049775e+02] [ 1.54083790e-01 -1.03447967e-03 9.88057243e-01 8.44300426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.70, Y:113.07, Z:84.43 [[ 8.06782812e-01 -5.77867966e-01 -1.23166992e-01 1.84696641e+02] [ 5.70689776e-01 8.16124734e-01 -9.08493161e-02 1.13067718e+02] [ 1.53018538e-01 3.00552343e-03 9.88218748e-01 8.44310761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.72, Y:113.08, Z:84.44 [[ 8.06914978e-01 -5.76412095e-01 -1.28985716e-01 1.84722802e+02] [ 5.70321177e-01 8.17137464e-01 -8.37861574e-02 1.13077763e+02] [ 1.53694416e-01 -5.95498026e-03 9.88100483e-01 8.44400140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.74, Y:113.09, Z:84.44 [[ 8.06815028e-01 -5.77686756e-01 -1.23804375e-01 1.84742913e+02] [ 5.70785375e-01 8.16257707e-01 -8.90360170e-02 1.13094911e+02] [ 1.52491203e-01 1.16986971e-03 9.88304136e-01 8.44411084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.77, Y:113.11, Z:84.45 [[ 8.06673010e-01 -5.77684248e-01 -1.24737988e-01 1.84766361e+02] [ 5.70987326e-01 8.16260184e-01 -8.77085294e-02 1.13110577e+02] [ 1.52486489e-01 -4.71707082e-04 9.88305443e-01 8.44457754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.79, Y:113.13, Z:84.45 [[ 8.06297196e-01 -5.78281878e-01 -1.24398156e-01 1.84790290e+02] [ 5.71621936e-01 8.15836853e-01 -8.75133798e-02 1.13125138e+02] [ 1.52096002e-01 -5.46922127e-04 9.88365574e-01 8.44502627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.790385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:184.81, Y:113.14, Z:84.45 [[ 8.05698281e-01 -5.78959774e-01 -1.25123382e-01 1.84813102e+02] [ 5.72221791e-01 8.15355858e-01 -8.80740999e-02 1.13138783e+02] [ 1.53011444e-01 -6.37175186e-04 9.88224211e-01 8.44528387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.820385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:184.84, Y:113.15, Z:84.46 [[ 8.05508692e-01 -5.79217425e-01 -1.25151595e-01 1.84836181e+02] [ 5.72475666e-01 8.15172823e-01 -8.81185574e-02 1.13153540e+02] [ 1.53059983e-01 -6.65978620e-04 9.88216676e-01 8.44563591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:113.17, Z:84.46 [[ 8.06056168e-01 -5.78707529e-01 -1.23980036e-01 1.84858566e+02] [ 5.72078342e-01 8.15534992e-01 -8.73444163e-02 1.13168931e+02] [ 1.51656929e-01 -5.21788153e-04 9.88433055e-01 8.44624124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.88, Y:113.19, Z:84.46 [[ 8.06582023e-01 -5.78631720e-01 -1.20875029e-01 1.84879333e+02] [ 5.70815663e-01 8.15552537e-01 -9.50975198e-02 1.13186763e+02] [ 1.53606378e-01 7.70658981e-03 9.88102064e-01 8.44633195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:113.20, Z:84.47 [[ 8.07180178e-01 -5.76654875e-01 -1.26211389e-01 1.84906521e+02] [ 5.70253249e-01 8.16983151e-01 -8.57307582e-02 1.13195195e+02] [ 1.52549638e-01 -2.77228567e-03 9.88291922e-01 8.44715648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:113.21, Z:84.48 [[ 8.06761516e-01 -5.76757951e-01 -1.28398299e-01 1.84931516e+02] [ 5.69758983e-01 8.16914614e-01 -8.95835672e-02 1.13211214e+02] [ 1.56558481e-01 -8.83509536e-04 9.87668295e-01 8.44776868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:184.95, Y:113.22, Z:84.48 [[ 8.07926058e-01 -5.75730243e-01 -1.25658951e-01 1.84954192e+02] [ 5.69675177e-01 8.17628841e-01 -8.33862745e-02 1.13223729e+02] [ 1.50750383e-01 -4.21484132e-03 9.88562875e-01 8.44795241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:184.98, Y:113.24, Z:84.49 [[ 8.07613106e-01 -5.74878514e-01 -1.31437303e-01 1.84978908e+02] [ 5.69370877e-01 8.18175237e-01 -8.00380240e-02 1.13236292e+02] [ 1.53550887e-01 -1.01968155e-02 9.88088129e-01 8.44886929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.00, Y:113.26, Z:84.48 [[ 8.08604142e-01 -5.76671682e-01 -1.16658099e-01 1.84997397e+02] [ 5.68873217e-01 8.16908042e-01 -9.51026520e-02 1.13259937e+02] [ 1.50141946e-01 1.05367300e-02 9.88608301e-01 8.44827963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:113.27, Z:84.49 [[ 8.08525289e-01 -5.75406757e-01 -1.23263625e-01 1.85024333e+02] [ 5.68772828e-01 8.17867320e-01 -8.71235751e-02 1.13267200e+02] [ 1.50944784e-01 3.32613372e-04 9.88542139e-01 8.44918398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:113.28, Z:84.50 [[ 8.07239843e-01 -5.77180643e-01 -1.23395062e-01 1.85047609e+02] [ 5.70549545e-01 8.16616498e-01 -8.72393989e-02 1.13283242e+02] [ 1.51119336e-01 2.01220609e-05 9.88515526e-01 8.44959856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.07, Y:113.30, Z:84.50 [[ 8.07565356e-01 -5.76868646e-01 -1.22722291e-01 1.85070727e+02] [ 5.70299022e-01 8.16836918e-01 -8.68128665e-02 1.13296656e+02] [ 1.50323719e-01 1.18661066e-04 9.88636822e-01 8.45002977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:113.31, Z:84.50 [[ 8.05692076e-01 -5.79629563e-01 -1.22023967e-01 1.85094957e+02] [ 5.73162612e-01 8.14880010e-01 -8.63434416e-02 1.13310854e+02] [ 1.49482103e-01 -3.73348999e-04 9.88764361e-01 8.45037258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:113.32, Z:84.51 [[ 8.03833671e-01 -5.80756335e-01 -1.28738141e-01 1.85119842e+02] [ 5.75257383e-01 8.14021852e-01 -8.02954996e-02 1.13321428e+02] [ 1.51427780e-01 -9.51334012e-03 9.88422543e-01 8.45140583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.14, Y:113.34, Z:84.51 [[ 8.02680133e-01 -5.85136716e-01 -1.15410688e-01 1.85142555e+02] [ 5.77740286e-01 8.10894758e-01 -9.30905663e-02 1.13340546e+02] [ 1.48056631e-01 8.04454408e-03 9.88946166e-01 8.45098558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.17, Y:113.35, Z:84.52 [[ 8.01732082e-01 -5.85304894e-01 -1.21011778e-01 1.85167262e+02] [ 5.78991983e-01 8.10812206e-01 -8.57429321e-02 1.13350712e+02] [ 1.48303584e-01 -1.32198972e-03 9.88940999e-01 8.45174828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:113.36, Z:84.53 [[ 7.99694488e-01 -5.85603931e-01 -1.32501933e-01 1.85191885e+02] [ 5.81066832e-01 8.10414706e-01 -7.47618917e-02 1.13360026e+02] [ 1.51162373e-01 -1.72058057e-02 9.88359195e-01 8.45303765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:113.39, Z:84.52 [[ 7.99057416e-01 -5.89556472e-01 -1.18027165e-01 1.85209680e+02] [ 5.82446105e-01 8.07715824e-01 -9.13875395e-02 1.13385711e+02] [ 1.49210525e-01 4.27942830e-03 9.88796190e-01 8.45221211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.24, Y:113.40, Z:84.53 [[ 7.98573625e-01 -5.89361838e-01 -1.22199789e-01 1.85235865e+02] [ 5.82853150e-01 8.07867866e-01 -8.73597003e-02 1.13397016e+02] [ 1.50207757e-01 -1.46137958e-03 9.88653374e-01 8.45282186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:113.41, Z:84.53 [[ 7.99320692e-01 -5.89784308e-01 -1.15069120e-01 1.85259678e+02] [ 5.82215835e-01 8.07515024e-01 -9.45738176e-02 1.13414925e+02] [ 1.48698197e-01 8.59974542e-03 9.88845231e-01 8.45266306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:113.42, Z:84.54 [[ 7.98008921e-01 -5.87844248e-01 -1.32743747e-01 1.85289147e+02] [ 5.83251024e-01 8.08789327e-01 -7.53529538e-02 1.13416531e+02] [ 1.51657526e-01 -1.72905971e-02 9.88281858e-01 8.45446768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:185.31, Y:113.45, Z:84.53 [[ 7.98534723e-01 -5.91378089e-01 -1.12313189e-01 1.85307449e+02] [ 5.83174636e-01 8.06279066e-01 -9.91030359e-02 1.13445566e+02] [ 1.49163137e-01 1.36390125e-02 9.88718532e-01 8.45312350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:113.45, Z:84.54 [[ 7.98504173e-01 -5.89573046e-01 -1.21633500e-01 1.85334310e+02] [ 5.83214762e-01 8.07712668e-01 -8.63758471e-02 1.13454837e+02] [ 1.49169790e-01 -1.96697815e-03 9.88809640e-01 8.45420828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.36, Y:113.47, Z:84.54 [[ 7.98670511e-01 -5.89169185e-01 -1.22495253e-01 1.85357688e+02] [ 5.82707761e-01 8.08007546e-01 -8.70371821e-02 1.13468384e+02] [ 1.50256714e-01 -1.86490393e-03 9.88645256e-01 8.45449569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:113.48, Z:84.55 [[ 7.98701565e-01 -5.89057596e-01 -1.22828980e-01 1.85380629e+02] [ 5.82555939e-01 8.08088979e-01 -8.72970797e-02 1.13481735e+02] [ 1.50679753e-01 -1.83043765e-03 9.88580933e-01 8.45485788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:113.49, Z:84.55 [[ 7.99151988e-01 -5.88469005e-01 -1.22720537e-01 1.85405821e+02] [ 5.81966653e-01 8.08518013e-01 -8.72550176e-02 1.13494190e+02] [ 1.50568638e-01 -1.68923913e-03 9.88598114e-01 8.45536423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:113.51, Z:84.56 [[ 7.99843497e-01 -5.87665515e-01 -1.22064009e-01 1.85427702e+02] [ 5.81216089e-01 8.09102605e-01 -8.68379645e-02 1.13509858e+02] [ 1.49793984e-01 -1.48878445e-03 9.88716110e-01 8.45578434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:113.53, Z:84.56 [[ 8.00415245e-01 -5.87135337e-01 -1.20861616e-01 1.85450075e+02] [ 5.80803548e-01 8.09487650e-01 -8.60057148e-02 1.13526565e+02] [ 1.48332980e-01 -1.35657034e-03 9.88936543e-01 8.45612508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.47, Y:113.54, Z:84.56 [[ 8.01530533e-01 -5.85791391e-01 -1.19988545e-01 1.85470922e+02] [ 5.79528967e-01 8.10461180e-01 -8.54333190e-02 1.13543457e+02] [ 1.47292160e-01 -1.05942380e-03 9.89092461e-01 8.45640682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.49, Y:113.56, Z:84.56 [[ 8.02119923e-01 -5.85725863e-01 -1.16313549e-01 1.85490287e+02] [ 5.77915236e-01 8.10451892e-01 -9.58212483e-02 1.13564403e+02] [ 1.50391519e-01 9.64076049e-03 9.88579510e-01 8.45629526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:113.57, Z:84.58 [[ 8.02465602e-01 -5.83226730e-01 -1.26077514e-01 1.85519333e+02] [ 5.78105136e-01 8.12242397e-01 -7.78250702e-02 1.13571312e+02] [ 1.47795163e-01 -1.04341163e-02 9.88962951e-01 8.45769295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:113.59, Z:84.58 [[ 8.02272609e-01 -5.84582258e-01 -1.20922475e-01 1.85540396e+02] [ 5.78197593e-01 8.11334063e-01 -8.61660101e-02 1.13590439e+02] [ 1.48479643e-01 -7.88453968e-04 9.88915150e-01 8.45779832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.56, Y:113.61, Z:84.58 [[ 8.01858794e-01 -5.85123852e-01 -1.21047728e-01 1.85563199e+02] [ 5.78724380e-01 8.10943499e-01 -8.63060480e-02 1.13606531e+02] [ 1.48662596e-01 -8.48008091e-04 9.88887614e-01 8.45821999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:113.62, Z:84.58 [[ 8.00844334e-01 -5.86473029e-01 -1.21234237e-01 1.85583926e+02] [ 5.80061431e-01 8.09968065e-01 -8.64897145e-02 1.13624672e+02] [ 1.48919745e-01 -1.05850688e-03 9.88848719e-01 8.45846371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:113.65, Z:84.58 [[ 7.99599399e-01 -5.88929134e-01 -1.17487345e-01 1.85604613e+02] [ 5.81215945e-01 8.08145637e-01 -9.53344355e-02 1.13646522e+02] [ 1.51092112e-01 7.94383890e-03 9.88487769e-01 8.45842437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:113.66, Z:84.60 [[ 7.98801199e-01 -5.88325642e-01 -1.25656611e-01 1.85630350e+02] [ 5.83235145e-01 8.08549566e-01 -7.80023365e-02 1.13655022e+02] [ 1.47490373e-01 -1.09789917e-02 9.89002554e-01 8.45971519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:113.67, Z:84.60 [[ 7.98078236e-01 -5.90427676e-01 -1.20275883e-01 1.85649387e+02] [ 5.84143518e-01 8.07088805e-01 -8.59302721e-02 1.13674877e+02] [ 1.47808930e-01 -1.67929754e-03 9.89014510e-01 8.45969276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.67, Y:113.69, Z:84.60 [[ 7.97057827e-01 -5.91791275e-01 -1.20340799e-01 1.85671378e+02] [ 5.85512301e-01 8.06088967e-01 -8.59995529e-02 1.13691270e+02] [ 1.47899175e-01 -1.91440140e-03 9.89000591e-01 8.46008950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.69, Y:113.71, Z:84.60 [[ 7.95965979e-01 -5.93329974e-01 -1.19990426e-01 1.85693498e+02] [ 5.87097726e-01 8.04956461e-01 -8.57983505e-02 1.13707910e+02] [ 1.47493802e-01 -2.15353837e-03 9.89060635e-01 8.46043906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.72, Y:113.73, Z:84.61 [[ 7.93921714e-01 -5.96087340e-01 -1.19867411e-01 1.85715536e+02] [ 5.89891678e-01 8.02915319e-01 -8.57601263e-02 1.13725341e+02] [ 1.47363906e-01 -2.62196169e-03 9.89078867e-01 8.46075756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:113.74, Z:84.61 [[ 7.93009068e-01 -5.97192500e-01 -1.20406550e-01 1.85737740e+02] [ 5.90945716e-01 8.02093065e-01 -8.61967295e-02 1.13741923e+02] [ 1.48053299e-01 -2.79894665e-03 9.88975423e-01 8.46116170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:185.76, Y:113.76, Z:84.62 [[ 7.92316335e-01 -5.97959148e-01 -1.21159740e-01 1.85758448e+02] [ 5.91634965e-01 8.01521258e-01 -8.67856060e-02 1.13758630e+02] [ 1.49006354e-01 -2.92068537e-03 9.88831925e-01 8.46157370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:185.78, Y:113.78, Z:84.62 [[ 7.92419633e-01 -5.97869088e-01 -1.20928404e-01 1.85780452e+02] [ 5.91564642e-01 8.01588587e-01 -8.66430067e-02 1.13775219e+02] [ 1.48736004e-01 -2.87934851e-03 9.88872747e-01 8.46198343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.80, Y:113.79, Z:84.62 [[ 7.92650046e-01 -5.97564397e-01 -1.20924345e-01 1.85801952e+02] [ 5.91249492e-01 8.01816095e-01 -8.66890319e-02 1.13791387e+02] [ 1.48761365e-01 -2.78239267e-03 9.88869210e-01 8.46236944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:185.82, Y:113.81, Z:84.63 [[ 7.93629981e-01 -5.96275770e-01 -1.20858010e-01 1.85823134e+02] [ 5.89947791e-01 8.02775746e-01 -8.66758637e-02 1.13808617e+02] [ 1.48704597e-01 -2.51135198e-03 9.88878474e-01 8.46281243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.140385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:185.84, Y:113.83, Z:84.62 [[ 7.93054295e-01 -5.98851452e-01 -1.11542920e-01 1.85840802e+02] [ 5.91674000e-01 8.00824474e-01 -9.27471824e-02 1.13831721e+02] [ 1.44868085e-01 7.55650561e-03 9.89422123e-01 8.46212452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.170385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:185.86, Y:113.84, Z:84.63 [[ 7.93447635e-01 -5.97545175e-01 -1.15674602e-01 1.85864005e+02] [ 5.91339607e-01 8.01835208e-01 -8.58939345e-02 1.13843838e+02] [ 1.44077474e-01 -2.50634272e-04 9.89566379e-01 8.46279032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.200385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:185.89, Y:113.85, Z:84.65 [[ 7.95274162e-01 -5.92770288e-01 -1.27131405e-01 1.85891531e+02] [ 5.87752334e-01 8.05271655e-01 -7.80048445e-02 1.13852480e+02] [ 1.48614271e-01 -1.26865427e-02 9.88813860e-01 8.46454754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.230385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:185.91, Y:113.87, Z:84.64 [[ 7.95699387e-01 -5.93412188e-01 -1.21344391e-01 1.85911137e+02] [ 5.86975636e-01 8.04896601e-01 -8.71840830e-02 1.13874814e+02] [ 1.49405785e-01 -1.85387942e-03 9.88774228e-01 8.46448546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:185.93, Y:113.89, Z:84.65 [[ 7.97223174e-01 -5.91279650e-01 -1.21752151e-01 1.85931640e+02] [ 5.84767045e-01 8.06465353e-01 -8.75279188e-02 1.13893522e+02] [ 1.49942369e-01 -1.41736050e-03 9.88693723e-01 8.46478695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.290385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:185.95, Y:113.91, Z:84.65 [[ 7.97943092e-01 -5.90301773e-01 -1.21781110e-01 1.85952788e+02] [ 5.83767159e-01 8.07181759e-01 -8.75985796e-02 1.13909026e+02] [ 1.50009087e-01 -1.19313094e-03 9.88683898e-01 8.46522083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.320385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:185.98, Y:113.92, Z:84.66 [[ 7.98297723e-01 -5.89815476e-01 -1.21813178e-01 1.85975530e+02] [ 5.83268135e-01 8.07537326e-01 -8.76455962e-02 1.13924523e+02] [ 1.50063417e-01 -1.08246501e-03 9.88675781e-01 8.46573014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.350385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:186.00, Y:113.94, Z:84.66 [[ 7.98520622e-01 -5.89417956e-01 -1.22275470e-01 1.85997909e+02] [ 5.82807983e-01 8.07827664e-01 -8.80302278e-02 1.13939608e+02] [ 1.50664104e-01 -9.69167758e-04 9.88584538e-01 8.46624536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:113.96, Z:84.67 [[ 7.98430133e-01 -5.89400231e-01 -1.22949949e-01 1.86019335e+02] [ 5.82711084e-01 8.07840628e-01 -8.85511884e-02 1.13955616e+02] [ 1.51516055e-01 -9.42361151e-04 9.88454347e-01 8.46672714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:113.97, Z:84.67 [[ 7.97988067e-01 -5.90023389e-01 -1.22830962e-01 1.86040841e+02] [ 5.83350932e-01 8.07385484e-01 -8.84893866e-02 1.13972732e+02] [ 1.51382744e-01 -1.04008162e-03 9.88474675e-01 8.46708203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.06, Y:113.99, Z:84.67 [[ 7.96411402e-01 -5.91988308e-01 -1.23607131e-01 1.86061995e+02] [ 5.85246493e-01 8.05945368e-01 -8.90988639e-02 1.13989522e+02] [ 1.52366081e-01 -1.38128898e-03 9.88323161e-01 8.46742274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.09, Y:114.00, Z:84.68 [[ 7.94943079e-01 -5.93889355e-01 -1.23939242e-01 1.86085005e+02] [ 5.87130156e-01 8.04544866e-01 -8.93629587e-02 1.14004670e+02] [ 1.52786391e-01 -1.73000112e-03 9.88257722e-01 8.46786567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.500385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:186.11, Y:114.02, Z:84.68 [[ 7.93011119e-01 -5.96321580e-01 -1.24635222e-01 1.86107835e+02] [ 5.89507529e-01 8.02742718e-01 -8.99166404e-02 1.14019888e+02] [ 1.53669250e-01 -2.16850597e-03 9.88119962e-01 8.46830071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.13, Y:114.04, Z:84.69 [[ 7.89516177e-01 -6.01037603e-01 -1.24169262e-01 1.86130356e+02] [ 5.94324618e-01 7.99214994e-01 -8.96305910e-02 1.14035115e+02] [ 1.53109292e-01 -3.03204773e-03 9.88204610e-01 8.46871546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:186.15, Y:114.05, Z:84.69 [[ 7.87900267e-01 -6.03193125e-01 -1.23980735e-01 1.86152542e+02] [ 5.96521495e-01 7.97587854e-01 -8.95305627e-02 1.14051115e+02] [ 1.52889748e-01 -3.41601900e-03 9.88237348e-01 8.46911315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:114.07, Z:84.69 [[ 7.86606194e-01 -6.04934452e-01 -1.23713393e-01 1.86174782e+02] [ 5.98305168e-01 7.96266654e-01 -8.93887158e-02 1.14067098e+02] [ 1.52583164e-01 -3.70464499e-03 9.88283691e-01 8.46948373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.20, Y:114.08, Z:84.70 [[ 7.85251055e-01 -6.06723703e-01 -1.23560226e-01 1.86197263e+02] [ 6.00125018e-01 7.94902699e-01 -8.93289586e-02 1.14083597e+02] [ 1.52416353e-01 -4.00592360e-03 9.88308255e-01 8.46990052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.22, Y:114.10, Z:84.70 [[ 7.85147312e-01 -6.06862866e-01 -1.23536069e-01 1.86220117e+02] [ 6.00260641e-01 7.94796535e-01 -8.93623545e-02 1.14100243e+02] [ 1.52416734e-01 -3.99122723e-03 9.88308256e-01 8.47030441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68038572300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.24, Y:114.12, Z:84.71 [[ 7.85057437e-01 -6.07039409e-01 -1.23239509e-01 1.86241163e+02] [ 6.00466161e-01 7.94661715e-01 -8.91804274e-02 1.14116632e+02] [ 1.52069754e-01 -3.98939719e-03 9.88361713e-01 8.47066708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:186.26, Y:114.13, Z:84.71 [[ 7.86015583e-01 -6.05899223e-01 -1.22742152e-01 1.86261515e+02] [ 5.99360068e-01 7.95532686e-01 -8.88552395e-02 1.14133946e+02] [ 1.51482714e-01 -3.72514160e-03 9.88452887e-01 8.47099842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.740385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:186.28, Y:114.15, Z:84.71 [[ 7.86595882e-01 -6.05180250e-01 -1.22571548e-01 1.86283195e+02] [ 5.98646138e-01 7.96080529e-01 -8.87614355e-02 1.14150596e+02] [ 1.51293491e-01 -3.55760445e-03 9.88482485e-01 8.47138648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.770385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:186.30, Y:114.17, Z:84.72 [[ 7.87353597e-01 -6.04268658e-01 -1.22203529e-01 1.86304581e+02] [ 5.97755467e-01 7.96773673e-01 -8.85444251e-02 1.14166831e+02] [ 1.50873176e-01 -3.33205604e-03 9.88547511e-01 8.47175717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:186.33, Y:114.18, Z:84.72 [[ 7.88552357e-01 -6.02875692e-01 -1.21351064e-01 1.86325352e+02] [ 5.96432855e-01 7.97829415e-01 -8.79549480e-02 1.14184468e+02] [ 1.49843349e-01 -3.02068030e-03 9.88705136e-01 8.47217313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.35, Y:114.20, Z:84.73 [[ 7.88874962e-01 -6.02503385e-01 -1.21103118e-01 1.86346845e+02] [ 5.96077392e-01 7.98111000e-01 -8.78098734e-02 1.14201712e+02] [ 1.49559476e-01 -2.91582007e-03 9.88748432e-01 8.47257091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:186.37, Y:114.22, Z:84.73 [[ 7.89825310e-01 -6.01431907e-01 -1.20231614e-01 1.86366539e+02] [ 5.95079093e-01 7.98919655e-01 -8.72253301e-02 1.14219598e+02] [ 1.48515496e-01 -2.65454655e-03 9.88906518e-01 8.47284720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.890385723 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:186.37, Y:114.26, Z:84.69 [[ 7.88719875e-01 -6.09506750e-01 -8.01403877e-02 1.86371653e+02] [ 5.98920633e-01 7.91245062e-01 -1.23390955e-01 1.14263889e+02] [ 1.38618306e-01 4.93231666e-02 9.89116874e-01 8.46944144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.920385723 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:186.41, Y:114.26, Z:84.72 [[ 7.90409902e-01 -6.02035895e-01 -1.13159033e-01 1.86410365e+02] [ 5.96680830e-01 7.98458450e-01 -8.02252475e-02 1.14256946e+02] [ 1.38651265e-01 -4.10899583e-03 9.90332744e-01 8.47206655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:186.44, Y:114.27, Z:84.74 [[ 7.90695276e-01 -5.98938053e-01 -1.26784029e-01 1.86436355e+02] [ 5.95689210e-01 8.00464667e-01 -6.64129757e-02 1.14265832e+02] [ 1.41263393e-01 -2.30114516e-02 9.89704565e-01 8.47388261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.980385723 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:186.46, Y:114.29, Z:84.74 [[ 7.91967585e-01 -5.99633971e-01 -1.15006285e-01 1.86456652e+02] [ 5.93867673e-01 8.00270275e-01 -8.29980344e-02 1.14290672e+02] [ 1.41804552e-01 -2.56676201e-03 9.89891348e-01 8.47359028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.48, Y:114.30, Z:84.76 [[ 7.91811953e-01 -5.96477151e-01 -1.31334838e-01 1.86480167e+02] [ 5.93367034e-01 8.02219968e-01 -6.60203394e-02 1.14297869e+02] [ 1.44739054e-01 -2.56540697e-02 9.89137238e-01 8.47557694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.50, Y:114.33, Z:84.75 [[ 7.92336438e-01 -5.98725052e-01 -1.17180551e-01 1.86495182e+02] [ 5.92349112e-01 8.00954543e-01 -8.71455649e-02 1.14326241e+02] [ 1.46032527e-01 -3.63188575e-04 9.89279722e-01 8.47493156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.52, Y:114.34, Z:84.75 [[ 7.92802481e-01 -5.97780851e-01 -1.18837199e-01 1.86518112e+02] [ 5.91748130e-01 8.01653504e-01 -8.47691514e-02 1.14341362e+02] [ 1.45939633e-01 -3.11649691e-03 9.89288588e-01 8.47544382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:114.36, Z:84.75 [[ 7.93570205e-01 -5.97340209e-01 -1.15892207e-01 1.86538352e+02] [ 5.89793385e-01 8.01957716e-01 -9.49082985e-02 1.14362441e+02] [ 1.49633192e-01 6.96394091e-03 9.88717053e-01 8.47544565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:186.57, Y:114.37, Z:84.76 [[ 7.93649121e-01 -5.95753005e-01 -1.23285966e-01 1.86565339e+02] [ 5.90407305e-01 8.03115316e-01 -8.01561175e-02 1.14374284e+02] [ 1.46766095e-01 -9.17310274e-03 9.89128691e-01 8.47641154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.160385723 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:186.58, Y:114.40, Z:84.76 [[ 7.93214715e-01 -5.97521462e-01 -1.17381937e-01 1.86583080e+02] [ 5.90931867e-01 8.01852484e-01 -8.84992761e-02 1.14396824e+02] [ 1.47003214e-01 8.34201065e-04 9.89135663e-01 8.47636379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.61, Y:114.41, Z:84.77 [[ 7.92247627e-01 -5.98308641e-01 -1.19876887e-01 1.86606460e+02] [ 5.92258903e-01 8.01257198e-01 -8.49487747e-02 1.14412568e+02] [ 1.46877804e-01 -3.69768834e-03 9.89147733e-01 8.47686090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:114.43, Z:84.77 [[ 7.91269388e-01 -5.99791520e-01 -1.18923875e-01 1.86626920e+02] [ 5.93475893e-01 8.00154129e-01 -8.68316426e-02 1.14429362e+02] [ 1.47238312e-01 -1.87123210e-03 9.89099276e-01 8.47716019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.250385723 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:186.65, Y:114.45, Z:84.77 [[ 7.91202480e-01 -6.01973736e-01 -1.07825127e-01 1.86651049e+02] [ 5.93579587e-01 7.98349488e-01 -1.01495660e-01 1.14454038e+02] [ 1.47179857e-01 1.63008236e-02 9.88975416e-01 8.47650500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:114.46, Z:84.79 [[ 7.87769333e-01 -6.01893224e-01 -1.30935194e-01 1.86676525e+02] [ 5.98116823e-01 7.98261800e-01 -7.09532553e-02 1.14455376e+02] [ 1.47226848e-01 -2.24197438e-02 9.88848629e-01 8.47877581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.310385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:186.69, Y:114.48, Z:84.78 [[ 7.86468236e-01 -6.06637834e-01 -1.16009706e-01 1.86692350e+02] [ 5.99456340e-01 7.94969669e-01 -9.31414118e-02 1.14483591e+02] [ 1.48727302e-01 3.71000812e-03 9.88871289e-01 8.47797174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.340385723 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:186.72, Y:114.51, Z:84.78 [[ 7.85359062e-01 -6.10030274e-01 -1.05234069e-01 1.86717065e+02] [ 6.02394807e-01 7.92274047e-01 -9.70686896e-02 1.14508690e+02] [ 1.42589061e-01 1.28413182e-02 9.89698671e-01 8.47751202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.370385723 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:186.74, Y:114.51, Z:84.79 [[ 7.83477176e-01 -6.08821572e-01 -1.24498226e-01 1.86737698e+02] [ 6.03809132e-01 7.93197043e-01 -7.90758056e-02 1.14513074e+02] [ 1.46894681e-01 -1.32190767e-02 9.89063804e-01 8.47934041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.76, Y:114.53, Z:84.80 [[ 7.83454286e-01 -6.08735370e-01 -1.25062505e-01 1.86760804e+02] [ 6.04650525e-01 7.93155868e-01 -7.28114793e-02 1.14528654e+02] [ 1.43516982e-01 -1.85746436e-02 9.89473526e-01 8.47975602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:114.55, Z:84.80 [[ 7.83121728e-01 -6.10905272e-01 -1.16254499e-01 1.86777593e+02] [ 6.04971898e-01 7.91694819e-01 -8.50195061e-02 1.14551837e+02] [ 1.43976949e-01 -3.75008266e-03 9.89573936e-01 8.47958426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:114.57, Z:84.80 [[ 7.83060263e-01 -6.11039800e-01 -1.15961146e-01 1.86799740e+02] [ 6.05134745e-01 7.91591005e-01 -8.48270071e-02 1.14569063e+02] [ 1.43626477e-01 -3.74746003e-03 9.89624874e-01 8.48002339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:114.59, Z:84.79 [[ 7.82348966e-01 -6.13748222e-01 -1.06034027e-01 1.86817935e+02] [ 6.06855909e-01 7.89464652e-01 -9.20405829e-02 1.14592680e+02] [ 1.40199860e-01 7.66047921e-03 9.90093590e-01 8.47924982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.84, Y:114.61, Z:84.80 [[ 7.83573961e-01 -6.10543305e-01 -1.15103086e-01 1.86842297e+02] [ 6.05175724e-01 7.91958797e-01 -8.10160899e-02 1.14606081e+02] [ 1.40620733e-01 -6.17549500e-03 9.90044278e-01 8.48019556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.86, Y:114.63, Z:84.80 [[ 7.83786814e-01 -6.10700634e-01 -1.12796125e-01 1.86863513e+02] [ 6.04688456e-01 7.91860654e-01 -8.54902127e-02 1.14627338e+02] [ 1.41527740e-01 -1.20041309e-03 9.89933562e-01 8.48040086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.580385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:186.88, Y:114.65, Z:84.80 [[ 7.83783024e-01 -6.11459736e-01 -1.08633159e-01 1.86879436e+02] [ 6.05008921e-01 7.91266567e-01 -8.86646839e-02 1.14648883e+02] [ 1.40172671e-01 3.76984344e-03 9.90119897e-01 8.47991882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.90, Y:114.66, Z:84.82 [[ 7.85054636e-01 -6.07774848e-01 -1.19578226e-01 1.86904387e+02] [ 6.01462368e-01 7.94102606e-01 -8.74303832e-02 1.14661222e+02] [ 1.48095369e-01 -3.28417512e-03 9.88967631e-01 8.48168270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.640385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:186.93, Y:114.68, Z:84.82 [[ 7.85971619e-01 -6.06766398e-01 -1.18672460e-01 1.86926100e+02] [ 6.01446279e-01 7.94839497e-01 -8.05763421e-02 1.14676841e+02] [ 1.43216575e-01 -8.04439158e-03 9.89658679e-01 8.48173794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.95, Y:114.70, Z:84.82 [[ 7.87783804e-01 -6.04969353e-01 -1.15796199e-01 1.86948491e+02] [ 5.99267851e-01 7.96238513e-01 -8.29594650e-02 1.14697805e+02] [ 1.42389327e-01 -4.03881661e-03 9.89802489e-01 8.48210364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:114.71, Z:84.83 [[ 7.88419438e-01 -6.03867356e-01 -1.17213506e-01 1.86968518e+02] [ 5.98923060e-01 7.97034125e-01 -7.76387264e-02 1.14712872e+02] [ 1.40306657e-01 -8.98999075e-03 9.90067282e-01 8.48261243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:114.74, Z:84.82 [[ 7.89458323e-01 -6.04034522e-01 -1.09077280e-01 1.86984960e+02] [ 5.97219274e-01 7.96931885e-01 -9.07122367e-02 1.14738828e+02] [ 1.41720485e-01 6.47047648e-03 9.89885568e-01 8.48245889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:187.01, Y:114.75, Z:84.84 [[ 7.90186977e-01 -6.01506986e-01 -1.17447382e-01 1.87010149e+02] [ 5.97093265e-01 7.98779047e-01 -7.36998472e-02 1.14747390e+02] [ 1.38145480e-01 -1.18903811e-02 9.90340570e-01 8.48354945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.790385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:187.03, Y:114.77, Z:84.84 [[ 7.90546749e-01 -6.01376729e-01 -1.15680021e-01 1.87032712e+02] [ 5.95458554e-01 7.98962220e-01 -8.41931202e-02 1.14767661e+02] [ 1.43055750e-01 -2.32406071e-03 9.89711903e-01 8.48419152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.820385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:187.05, Y:114.78, Z:84.85 [[ 7.90225798e-01 -6.01810836e-01 -1.15615334e-01 1.87053640e+02] [ 5.95788090e-01 7.98636736e-01 -8.49465490e-02 1.14784591e+02] [ 1.43456407e-01 -1.75528434e-03 9.89655081e-01 8.48457796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.07, Y:114.80, Z:84.84 [[ 7.89319055e-01 -6.03491956e-01 -1.13017209e-01 1.87071573e+02] [ 5.98043716e-01 7.97360682e-01 -8.09917074e-02 1.14801899e+02] [ 1.38993323e-01 -3.66093394e-03 9.90286551e-01 8.48447679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.880385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:187.09, Y:114.83, Z:84.85 [[ 7.87627391e-01 -6.06265088e-01 -1.09935145e-01 1.87092785e+02] [ 5.98362197e-01 7.95177867e-01 -9.82590500e-02 1.14826472e+02] [ 1.46989026e-01 1.16104843e-02 9.89069979e-01 8.48482229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.12, Y:114.83, Z:84.86 [[ 7.86283699e-01 -6.05698801e-01 -1.22011917e-01 1.87120739e+02] [ 6.00960520e-01 7.95587839e-01 -7.67231591e-02 1.14833267e+02] [ 1.43542323e-01 -1.29981755e-02 9.89558815e-01 8.48609551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.940385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.13, Y:114.86, Z:84.85 [[ 7.82481574e-01 -6.13476635e-01 -1.06625533e-01 1.87132419e+02] [ 6.06859302e-01 7.89691912e-01 -9.00470538e-02 1.14859774e+02] [ 1.39443084e-01 5.75346413e-03 9.90213373e-01 8.48507590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.16, Y:114.87, Z:84.87 [[ 7.82234266e-01 -6.11102033e-01 -1.21094419e-01 1.87164248e+02] [ 6.05936082e-01 7.91478421e-01 -8.00210759e-02 1.14869713e+02] [ 1.44744662e-01 -1.07802505e-02 9.89410314e-01 8.48682293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:114.89, Z:84.87 [[ 7.81455963e-01 -6.13085207e-01 -1.15987528e-01 1.87183732e+02] [ 6.07131839e-01 7.90007887e-01 -8.53139428e-02 1.14888360e+02] [ 1.43935778e-01 -3.75063162e-03 9.89579923e-01 8.48693388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:114.91, Z:84.88 [[ 7.80353351e-01 -6.13956904e-01 -1.18766864e-01 1.87204387e+02] [ 6.07719795e-01 7.89329472e-01 -8.73821238e-02 1.14905726e+02] [ 1.47395045e-01 -3.98804142e-03 9.89069662e-01 8.48753207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:114.92, Z:84.88 [[ 7.79121804e-01 -6.15701808e-01 -1.17815528e-01 1.87227038e+02] [ 6.09581129e-01 7.87967702e-01 -8.67049511e-02 1.14921972e+02] [ 1.46219226e-01 -4.26440472e-03 9.89243020e-01 8.48771182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.25, Y:114.94, Z:84.88 [[ 7.78852218e-01 -6.15961631e-01 -1.18239132e-01 1.87248306e+02] [ 6.09792431e-01 7.87764471e-01 -8.70650941e-02 1.14937401e+02] [ 1.46773344e-01 -4.29048594e-03 9.89160845e-01 8.48810579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:114.95, Z:84.89 [[ 7.78467020e-01 -6.16497366e-01 -1.17983463e-01 1.87270111e+02] [ 6.10357723e-01 7.87344877e-01 -8.68993400e-02 1.14954539e+02] [ 1.46466889e-01 -4.36384728e-03 9.89205948e-01 8.48854750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.29, Y:114.97, Z:84.89 [[ 7.78331042e-01 -6.16652308e-01 -1.18070830e-01 1.87291792e+02] [ 6.10498009e-01 7.87223568e-01 -8.70128422e-02 1.14972409e+02] [ 1.46604810e-01 -4.35721035e-03 9.89185546e-01 8.48894130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:114.99, Z:84.89 [[ 7.78334807e-01 -6.16779753e-01 -1.17378302e-01 1.87313357e+02] [ 6.10294428e-01 7.87132758e-01 -8.92341434e-02 1.14991458e+02] [ 1.47430120e-01 -2.18128421e-03 9.89070069e-01 8.48918893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.35, Y:114.98, Z:84.93 [[ 7.79047764e-01 -6.06256053e-01 -1.59806695e-01 1.87349036e+02] [ 6.06355579e-01 7.93368625e-01 -5.38436298e-02 1.14984368e+02] [ 1.59428644e-01 -5.49529216e-02 9.85678793e-01 8.49341752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.240385723 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:187.35, Y:115.05, Z:84.90 [[ 7.78821479e-01 -6.19772223e-01 -9.65375397e-02 1.87347556e+02] [ 6.06306353e-01 7.83287403e-01 -1.37307869e-01 1.15048247e+02] [ 1.60716242e-01 4.84069943e-02 9.85812889e-01 8.48961970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.38, Y:115.04, Z:84.92 [[ 7.80272209e-01 -6.10917342e-01 -1.33997320e-01 1.87384431e+02] [ 6.05854999e-01 7.91482827e-01 -8.05894215e-02 1.15038274e+02] [ 1.55290053e-01 -1.83012602e-02 9.87699379e-01 8.49209409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.300385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.40, Y:115.06, Z:84.92 [[ 7.81046311e-01 -6.12195749e-01 -1.23219417e-01 1.87400730e+02] [ 6.04495640e-01 7.90705453e-01 -9.67982825e-02 1.15063856e+02] [ 1.56689762e-01 1.11834114e-03 9.87647239e-01 8.49190749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.330385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.44, Y:115.05, Z:84.97 [[ 7.82541509e-01 -5.96740781e-01 -1.77564712e-01 1.87443569e+02] [ 5.99432594e-01 7.99206995e-01 -4.41445807e-02 1.15048675e+02] [ 1.68253832e-01 -7.18931093e-02 9.83118522e-01 8.49712408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:115.10, Z:84.94 [[ 7.83905660e-01 -6.07699954e-01 -1.27250471e-01 1.87445984e+02] [ 5.96468568e-01 7.94002754e-01 -1.17408999e-01 1.15104194e+02] [ 1.72386667e-01 1.61366730e-02 9.84897175e-01 8.49422979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.390385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.46, Y:115.14, Z:84.92 [[ 7.83350500e-01 -6.13339815e-01 -1.00877478e-01 1.87455286e+02] [ 6.00389603e-01 7.88628635e-01 -1.32654441e-01 1.15136903e+02] [ 1.60917118e-01 4.33491341e-02 9.86015483e-01 8.49179123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:115.14, Z:84.94 [[ 7.82788761e-01 -6.08862266e-01 -1.28563201e-01 1.87488974e+02] [ 6.01175961e-01 7.93273950e-01 -9.64567512e-02 1.15135324e+02] [ 1.60714715e-01 -1.78384524e-03 9.86999290e-01 8.49365146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:115.12, Z:84.98 [[ 7.83747359e-01 -5.95488488e-01 -1.76446983e-01 1.87530041e+02] [ 5.96813303e-01 8.00730162e-01 -5.14304260e-02 1.15122713e+02] [ 1.71912648e-01 -6.49974461e-02 9.82965601e-01 8.49839563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.54, Y:115.17, Z:84.96 [[ 7.84689028e-01 -6.03791172e-01 -1.40354373e-01 1.87538161e+02] [ 5.93975487e-01 7.97140664e-01 -1.08442990e-01 1.15166326e+02] [ 1.77359098e-01 1.72696716e-03 9.84144689e-01 8.49648638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:115.21, Z:84.93 [[ 7.84459516e-01 -6.12200772e-01 -9.91639185e-02 1.87539996e+02] [ 5.99210485e-01 7.89410946e-01 -1.33330993e-01 1.15210316e+02] [ 1.59906419e-01 4.51727064e-02 9.86098050e-01 8.49329110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:115.21, Z:84.95 [[ 7.84150184e-01 -6.07282649e-01 -1.27735171e-01 1.87574632e+02] [ 5.99849532e-01 7.94482471e-01 -9.47530654e-02 1.15207118e+02] [ 1.59025247e-01 -2.32124870e-03 9.87271788e-01 8.49518090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.570385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.62, Y:115.20, Z:85.00 [[ 7.85414294e-01 -5.94314692e-01 -1.72957896e-01 1.87616614e+02] [ 5.94285237e-01 8.02178982e-01 -5.77402651e-02 1.15198344e+02] [ 1.73059077e-01 -5.74362947e-02 9.83235286e-01 8.49950971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:115.27, Z:84.94 [[ 7.84395719e-01 -6.13844749e-01 -8.89830342e-02 1.87603920e+02] [ 6.00543433e-01 7.87489305e-01 -1.38593578e-01 1.15265815e+02] [ 1.55148128e-01 5.52740324e-02 9.86343672e-01 8.49375159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.630385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:187.66, Y:115.23, Z:85.00 [[ 7.85427940e-01 -5.96323347e-01 -1.65835511e-01 1.87662144e+02] [ 5.95274000e-01 8.01162103e-01 -6.15479434e-02 1.15231564e+02] [ 1.69563602e-01 -5.03760937e-02 9.84230884e-01 8.49981285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.660385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:187.68, Y:115.26, Z:84.99 [[ 7.86650669e-01 -6.01103895e-01 -1.40907176e-01 1.87677102e+02] [ 5.93815055e-01 7.99110174e-01 -9.38435415e-02 1.15264563e+02] [ 1.69010076e-01 -9.85071773e-03 9.85565096e-01 8.49917846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.690385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.69, Y:115.30, Z:84.97 [[ 7.86749488e-01 -6.06505497e-01 -1.14788175e-01 1.87689944e+02] [ 5.95531409e-01 7.94718691e-01 -1.17322393e-01 1.15299399e+02] [ 1.62380984e-01 2.39433689e-02 9.86437596e-01 8.49700592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.720385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:187.72, Y:115.30, Z:84.99 [[ 7.87732388e-01 -5.99193879e-01 -1.42983844e-01 1.87724401e+02] [ 5.93555888e-01 8.00387259e-01 -8.40930623e-02 1.15298343e+02] [ 1.64830495e-01 -1.86260734e-02 9.86146022e-01 8.49940065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:115.34, Z:84.97 [[ 7.86236653e-01 -6.09088702e-01 -1.04129146e-01 1.87726211e+02] [ 5.98350436e-01 7.92521349e-01 -1.17841702e-01 1.15338483e+02] [ 1.54300620e-01 3.03457450e-02 9.87557823e-01 8.49651610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.780385723 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:187.77, Y:115.34, Z:84.99 [[ 7.89418564e-01 -5.99780877e-01 -1.30695185e-01 1.87768219e+02] [ 5.93064534e-01 8.00136605e-01 -8.97545073e-02 1.15335439e+02] [ 1.58407039e-01 -6.65680493e-03 9.87351456e-01 8.49855037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.810385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:187.79, Y:115.36, Z:84.99 [[ 7.89383130e-01 -6.01842508e-01 -1.21077947e-01 1.87785649e+02] [ 5.94520661e-01 7.98612508e-01 -9.36122112e-02 1.15356520e+02] [ 1.53034171e-01 1.91255936e-03 9.88219047e-01 8.49860795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.840385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:187.81, Y:115.37, Z:84.99 [[ 7.90070182e-01 -6.01445018e-01 -1.18545338e-01 1.87808385e+02] [ 5.94080935e-01 7.98905318e-01 -9.39049296e-02 1.15373488e+02] [ 1.51185153e-01 3.76595982e-03 9.88498289e-01 8.49879751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.870385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:187.82, Y:115.40, Z:84.97 [[ 7.90021388e-01 -6.05668037e-01 -9.50391291e-02 1.87819842e+02] [ 5.96363599e-01 7.95143594e-01 -1.09986922e-01 1.15404965e+02] [ 1.42185318e-01 3.02141437e-02 9.89378816e-01 8.49695640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.900385723 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:187.85, Y:115.41, Z:84.98 [[ 7.91926159e-01 -6.00146881e-01 -1.12590761e-01 1.87853866e+02] [ 5.93848206e-01 7.99887724e-01 -8.67406350e-02 1.15408449e+02] [ 1.42117089e-01 1.83035652e-03 9.89848162e-01 8.49791433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93038572300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:187.88, Y:115.42, Z:84.99 [[ 7.90697008e-01 -6.01094116e-01 -1.16121083e-01 1.87875229e+02] [ 5.95186294e-01 7.99173983e-01 -8.41083839e-02 1.15422775e+02] [ 1.43358003e-01 -2.60942975e-03 9.89667456e-01 8.49858268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.960385723 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:187.90, Y:115.44, Z:84.98 [[ 7.91237226e-01 -6.01711439e-01 -1.09027500e-01 1.87898059e+02] [ 5.94850880e-01 7.98682433e-01 -9.08779507e-02 1.15440205e+02] [ 1.41760651e-01 7.05091337e-03 9.89875852e-01 8.49823897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.990385723 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:187.93, Y:115.45, Z:84.99 [[ 7.90351368e-01 -6.01574368e-01 -1.15987045e-01 1.87926801e+02] [ 5.95628221e-01 7.98813270e-01 -8.44060577e-02 1.15451970e+02] [ 1.43428511e-01 -2.37471395e-03 9.89657831e-01 8.49915142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.020385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:187.95, Y:115.47, Z:85.00 [[ 7.87131365e-01 -6.05777582e-01 -1.16007483e-01 1.87947815e+02] [ 5.99189441e-01 7.95633793e-01 -8.91004013e-02 1.15471559e+02] [ 1.46274499e-01 6.23261846e-04 9.89243844e-01 8.49970717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.050385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:187.98, Y:115.46, Z:85.04 [[ 7.85101301e-01 -5.98816918e-01 -1.58222139e-01 1.87983248e+02] [ 5.98923633e-01 7.99089267e-01 -5.24101678e-02 1.15459924e+02] [ 1.57817708e-01 -5.36156871e-02 9.86011627e-01 8.50394813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.080385723 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:187.99, Y:115.52, Z:85.00 [[ 7.84319652e-01 -6.13592460e-01 -9.13617892e-02 1.87985682e+02] [ 6.01692267e-01 7.88280708e-01 -1.28763122e-01 1.15521798e+02] [ 1.51026817e-01 4.60197653e-02 9.87457889e-01 8.49950268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.110385723 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:188.03, Y:115.49, Z:85.05 [[ 7.81311353e-01 -6.04378816e-01 -1.55816613e-01 1.88029810e+02] [ 6.03954945e-01 7.95081250e-01 -5.55358572e-02 1.15492259e+02] [ 1.57451563e-01 -5.07154184e-02 9.86223581e-01 8.50453444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.04, Y:115.55, Z:85.01 [[ 7.81633968e-01 -6.16256918e-01 -9.63107018e-02 1.88036423e+02] [ 6.05726333e-01 7.86798244e-01 -1.18507944e-01 1.15545703e+02] [ 1.48808431e-01 3.42919063e-02 9.88271277e-01 8.50066919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.170385723 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:188.07, Y:115.55, Z:85.02 [[ 7.81721916e-01 -6.13117047e-01 -1.14010231e-01 1.88068856e+02] [ 6.06083953e-01 7.89985043e-01 -9.26599938e-02 1.15547135e+02] [ 1.46877799e-01 3.33457645e-03 9.89149025e-01 8.50187576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.200385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:188.10, Y:115.55, Z:85.03 [[ 7.78817079e-01 -6.12775952e-01 -1.33976080e-01 1.88098007e+02] [ 6.08540034e-01 7.89928523e-01 -7.54450444e-02 1.15552206e+02] [ 1.52062436e-01 -2.27719192e-02 9.88108524e-01 8.50348044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.230385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:188.11, Y:115.57, Z:85.03 [[ 7.79739158e-01 -6.14667309e-01 -1.19125752e-01 1.88113530e+02] [ 6.08336922e-01 7.88777338e-01 -8.80710007e-02 1.15573902e+02] [ 1.48098058e-01 -3.79618516e-03 9.88965396e-01 8.50294661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.14, Y:115.59, Z:85.03 [[ 7.81370220e-01 -6.12967219e-01 -1.17182629e-01 1.88141355e+02] [ 6.05267571e-01 7.90093493e-01 -9.69713341e-02 1.15592249e+02] [ 1.52025482e-01 4.84366719e-03 9.88364706e-01 8.50331457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:188.17, Y:115.60, Z:85.04 [[ 7.82365692e-01 -6.10388568e-01 -1.23813248e-01 1.88165691e+02] [ 6.04123703e-01 7.92076505e-01 -8.74606291e-02 1.15602668e+02] [ 1.51454533e-01 -6.37232192e-03 9.88443685e-01 8.50407258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.320385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:188.19, Y:115.61, Z:85.06 [[ 7.83625196e-01 -6.05417355e-01 -1.39288833e-01 1.88188490e+02] [ 6.01197306e-01 7.95528100e-01 -7.54774160e-02 1.15608103e+02] [ 1.56503518e-01 -2.45940664e-02 9.87371146e-01 8.50617191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.21, Y:115.63, Z:85.06 [[ 7.87763804e-01 -6.03070466e-01 -1.25436046e-01 1.88208005e+02] [ 5.96581222e-01 7.97670928e-01 -8.83851638e-02 1.15629666e+02] [ 1.53359169e-01 -5.20615657e-03 9.88156800e-01 8.50588741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.23, Y:115.65, Z:85.06 [[ 7.88485711e-01 -6.03072772e-01 -1.20803628e-01 1.88230564e+02] [ 5.95427673e-01 7.97678056e-01 -9.57893802e-02 1.15649476e+02] [ 1.54130370e-01 3.59873475e-03 9.88043966e-01 8.50597176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.410385723 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:188.25, Y:115.68, Z:85.03 [[ 7.93852045e-01 -6.01433100e-01 -8.98730011e-02 1.88251377e+02] [ 5.90454304e-01 7.97692758e-01 -1.22678355e-01 1.15683866e+02] [ 1.45473866e-01 4.43225629e-02 9.88368790e-01 8.50348005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.440385723 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:188.29, Y:115.67, Z:85.06 [[ 7.96953584e-01 -5.90551067e-01 -1.26942596e-01 1.88287121e+02] [ 5.86877220e-01 8.06758126e-01 -6.86764593e-02 1.15667447e+02] [ 1.42968927e-01 -1.97677671e-02 9.89529748e-01 8.50613293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.470385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:188.31, Y:115.68, Z:85.08 [[ 7.97293115e-01 -5.88003989e-01 -1.36290124e-01 1.88306298e+02] [ 5.83259623e-01 8.08651104e-01 -7.67567930e-02 1.15681777e+02] [ 1.55344459e-01 -1.82948635e-02 9.87690942e-01 8.50783772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.31, Y:115.72, Z:85.05 [[ 7.97333585e-01 -5.95688129e-01 -9.70299360e-02 1.88313917e+02] [ 5.87000334e-01 8.02775163e-01 -1.04798118e-01 1.15720068e+02] [ 1.40320217e-01 2.66024542e-02 9.89748729e-01 8.50455381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.36, Y:115.71, Z:85.08 [[ 8.00252402e-01 -5.85640484e-01 -1.28923685e-01 1.88357016e+02] [ 5.81003312e-01 8.10434772e-01 -7.50375377e-02 1.15712064e+02] [ 1.48429257e-01 -1.48561183e-02 9.88811434e-01 8.50782899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.38, Y:115.73, Z:85.08 [[ 8.01034774e-01 -5.85967723e-01 -1.22413718e-01 1.88381951e+02] [ 5.80366829e-01 8.10311305e-01 -8.10551209e-02 1.15727007e+02] [ 1.46688904e-01 -6.11689071e-03 9.89163763e-01 8.50802719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:115.74, Z:85.09 [[ 8.00630140e-01 -5.85481466e-01 -1.27290346e-01 1.88402779e+02] [ 5.80551851e-01 8.10591069e-01 -7.68223117e-02 1.15739297e+02] [ 1.48158458e-01 -1.23923880e-02 9.88885989e-01 8.50934353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:115.76, Z:85.09 [[ 8.01907199e-01 -5.85806492e-01 -1.17369496e-01 1.88423522e+02] [ 5.79140288e-01 8.10446368e-01 -8.81658229e-02 1.15758853e+02] [ 1.46769793e-01 2.72740466e-03 9.89166917e-01 8.50884689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.45, Y:115.77, Z:85.09 [[ 8.02214120e-01 -5.84739895e-01 -1.20547757e-01 1.88445808e+02] [ 5.79318923e-01 8.11199152e-01 -7.96587775e-02 1.15767082e+02] [ 1.44367903e-01 -5.93220067e-03 9.89506300e-01 8.50938558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:115.79, Z:85.09 [[ 7.99695891e-01 -5.90046498e-01 -1.11047794e-01 1.88468238e+02] [ 5.81795724e-01 8.07231262e-01 -9.94556402e-02 1.15788155e+02] [ 1.48324703e-01 1.49271352e-02 9.88826053e-01 8.50890456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:115.79, Z:85.10 [[ 8.00130667e-01 -5.87363635e-01 -1.21634190e-01 1.88496675e+02] [ 5.81699237e-01 8.09304496e-01 -8.15612107e-02 1.15791165e+02] [ 1.46345186e-01 -5.49488985e-03 9.89218324e-01 8.51020193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.52, Y:115.81, Z:85.10 [[ 7.98248084e-01 -5.91444386e-01 -1.13989187e-01 1.88519590e+02] [ 5.83952702e-01 8.06299282e-01 -9.42375224e-02 1.15813235e+02] [ 1.47645654e-01 8.66062776e-03 9.89002404e-01 8.51007513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:115.83, Z:85.10 [[ 7.95854561e-01 -5.94486340e-01 -1.14897824e-01 1.88546327e+02] [ 5.86414317e-01 8.04033206e-01 -9.82285736e-02 1.15829022e+02] [ 1.50777211e-01 1.07979291e-02 9.88508795e-01 8.51016279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:115.84, Z:85.11 [[ 7.95779329e-01 -5.93406851e-01 -1.20845231e-01 1.88571650e+02] [ 5.86513656e-01 8.04902175e-01 -9.01899162e-02 1.15838731e+02] [ 1.50787903e-01 8.93892655e-04 9.88565733e-01 8.51092886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:115.85, Z:85.12 [[ 7.95586488e-01 -5.92870629e-01 -1.24685837e-01 1.88597765e+02] [ 5.87393720e-01 8.05248704e-01 -8.08896900e-02 1.15848874e+02] [ 1.48360230e-01 -8.88493317e-03 9.88893473e-01 8.51183482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.860385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:188.62, Y:115.87, Z:85.11 [[ 7.92846341e-01 -5.98136181e-01 -1.16738122e-01 1.88616156e+02] [ 5.90533598e-01 8.01367178e-01 -9.52927883e-02 1.15869426e+02] [ 1.50548164e-01 6.61475547e-03 9.88580546e-01 8.51147995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.890385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:188.64, Y:115.89, Z:85.12 [[ 7.93823728e-01 -5.97314492e-01 -1.14277233e-01 1.88643488e+02] [ 5.88896415e-01 8.01907145e-01 -1.00727072e-01 1.15887395e+02] [ 1.51805470e-01 1.26620867e-02 9.88329283e-01 8.51185560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.920385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:188.67, Y:115.90, Z:85.13 [[ 7.93169560e-01 -5.96807088e-01 -1.21257361e-01 1.88668320e+02] [ 5.89945798e-01 8.02384757e-01 -9.02366782e-02 1.15898386e+02] [ 1.51148947e-01 3.77157628e-05 9.88510999e-01 8.51287606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.950385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:188.69, Y:115.91, Z:85.13 [[ 7.92720671e-01 -5.97341793e-01 -1.21559532e-01 1.88689111e+02] [ 5.90471720e-01 8.01986754e-01 -9.03348950e-02 1.15913954e+02] [ 1.51449943e-01 -1.67127626e-04 9.88464914e-01 8.51334294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.980385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:188.71, Y:115.93, Z:85.14 [[ 7.92150727e-01 -5.98541971e-01 -1.19351307e-01 1.88709935e+02] [ 5.90870411e-01 8.01074165e-01 -9.56678581e-02 1.15933607e+02] [ 1.52870477e-01 5.26220780e-03 9.88232223e-01 8.51350462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.010385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:188.74, Y:115.93, Z:85.17 [[ 7.89377555e-01 -5.94342299e-01 -1.53754045e-01 1.88740722e+02] [ 5.92843855e-01 8.03040952e-01 -6.05094473e-02 1.15928643e+02] [ 1.59434118e-01 -4.33873409e-02 9.86254683e-01 8.51724304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.040385723 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:188.75, Y:115.97, Z:85.14 [[ 7.91415064e-01 -6.01939768e-01 -1.06445819e-01 1.88748259e+02] [ 5.93524078e-01 7.98352188e-01 -1.01798590e-01 1.15972535e+02] [ 1.46257872e-01 1.73867813e-02 9.89093694e-01 8.51385171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.070385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:188.77, Y:115.98, Z:85.15 [[ 7.90220665e-01 -6.01444349e-01 -1.17541464e-01 1.88773734e+02] [ 5.95036434e-01 7.98914349e-01 -8.75642912e-02 1.15984599e+02] [ 1.46570611e-01 -7.46341388e-04 9.89199929e-01 8.51495618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.100385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:188.79, Y:116.00, Z:85.15 [[ 7.88283754e-01 -6.04202408e-01 -1.16396620e-01 1.88793074e+02] [ 5.97496773e-01 7.96829942e-01 -8.97755505e-02 1.16003845e+02] [ 1.46990916e-01 1.22200292e-03 9.89137087e-01 8.51514690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.130385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:188.83, Y:116.00, Z:85.19 [[ 7.86811953e-01 -5.98524486e-01 -1.50649895e-01 1.88825590e+02] [ 5.97241718e-01 7.99908174e-01 -5.87302518e-02 1.16000677e+02] [ 1.55657576e-01 -4.37647381e-02 9.86841105e-01 8.51870780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.160385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:188.83, Y:116.04, Z:85.17 [[ 7.85148855e-01 -6.07528627e-01 -1.20209161e-01 1.88834237e+02] [ 6.00597236e-01 7.94297706e-01 -9.15101867e-02 1.16036663e+02] [ 1.51076919e-01 -3.48171819e-04 9.88521949e-01 8.51694807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.190385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:188.86, Y:116.05, Z:85.18 [[ 7.84189485e-01 -6.07697273e-01 -1.25502496e-01 1.88858808e+02] [ 6.01523139e-01 7.94133527e-01 -8.67286253e-02 1.16050908e+02] [ 1.52370489e-01 -7.48097906e-03 9.88295133e-01 8.51793533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.88, Y:116.08, Z:85.17 [[ 7.81055537e-01 -6.14062337e-01 -1.13488742e-01 1.88876436e+02] [ 6.04278453e-01 7.89056211e-01 -1.10624804e-01 1.16082837e+02] [ 1.57479523e-01 1.78253141e-02 9.87361361e-01 8.51731718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:116.08, Z:85.19 [[ 7.81341304e-01 -6.10031519e-01 -1.31785100e-01 1.88903626e+02] [ 6.05151205e-01 7.92173496e-01 -7.90770005e-02 1.16083424e+02] [ 1.52636126e-01 -1.79637852e-02 9.88119181e-01 8.51919778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.92, Y:116.10, Z:85.19 [[ 7.81569391e-01 -6.10725973e-01 -1.27134073e-01 1.88924539e+02] [ 6.04476503e-01 7.91797233e-01 -8.75516911e-02 1.16104758e+02] [ 1.54134499e-01 -8.42183801e-03 9.88013982e-01 8.51946004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.93, Y:116.15, Z:85.17 [[ 7.80977257e-01 -6.18195008e-01 -8.89351245e-02 1.88929238e+02] [ 6.07753133e-01 7.85028854e-01 -1.19857530e-01 1.16147092e+02] [ 1.43911965e-01 3.95554042e-02 9.88799634e-01 8.51656330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.97, Y:116.13, Z:85.22 [[ 7.81170693e-01 -6.06681355e-01 -1.47343416e-01 1.88974323e+02] [ 6.04006197e-01 7.94116981e-01 -6.74887771e-02 1.16130706e+02] [ 1.57952091e-01 -3.62760813e-02 9.86780210e-01 8.52180998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:188.97, Y:116.18, Z:85.18 [[ 7.81300447e-01 -6.16969273e-01 -9.44379596e-02 1.88971872e+02] [ 6.07919955e-01 7.86501976e-01 -1.08848384e-01 1.16179322e+02] [ 1.41431750e-01 2.76325706e-02 9.89562278e-01 8.51783074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:116.15, Z:85.25 [[ 7.81894206e-01 -5.99568410e-01 -1.70760572e-01 1.89024060e+02] [ 6.02979321e-01 7.96895778e-01 -3.70547943e-02 1.16152028e+02] [ 1.58295263e-01 -7.39921645e-02 9.84615544e-01 8.52500745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:116.21, Z:85.21 [[ 7.82250665e-01 -6.12705678e-01 -1.12586187e-01 1.89023977e+02] [ 6.03357069e-01 7.90139644e-01 -1.07886933e-01 1.16206726e+02] [ 1.55061746e-01 1.64649531e-02 9.87767564e-01 8.52109134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:116.22, Z:85.22 [[ 7.82035356e-01 -6.11021076e-01 -1.22776002e-01 1.89050459e+02] [ 6.03948354e-01 7.91612619e-01 -9.27137888e-02 1.16216222e+02] [ 1.53841111e-01 -1.64490320e-03 9.88094230e-01 8.52214668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:116.22, Z:85.25 [[ 7.81717682e-01 -6.06906110e-01 -1.43465810e-01 1.89082486e+02] [ 6.03076966e-01 7.94253099e-01 -7.38930811e-02 1.16222874e+02] [ 1.58794327e-01 -2.87573974e-02 9.86892787e-01 8.52455664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:116.26, Z:85.24 [[ 7.80783197e-01 -6.12419409e-01 -1.23774256e-01 1.89099552e+02] [ 6.03520106e-01 7.90504739e-01 -1.04238857e-01 1.16255236e+02] [ 1.61682035e-01 6.68769613e-03 9.86820244e-01 8.52354649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:116.27, Z:85.25 [[ 7.79572217e-01 -6.12520785e-01 -1.30711310e-01 1.89122691e+02] [ 6.04966672e-01 7.90443105e-01 -9.59949176e-02 1.16268108e+02] [ 1.62118736e-01 -4.24101546e-03 9.86762144e-01 8.52456676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:116.29, Z:85.25 [[ 7.79075705e-01 -6.13869613e-01 -1.27299432e-01 1.89143865e+02] [ 6.06794300e-01 7.89393156e-01 -9.30544131e-02 1.16286276e+02] [ 1.57612577e-01 -4.74813733e-03 9.87489610e-01 8.52478387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.610385723 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:189.16, Y:116.32, Z:85.24 [[ 7.79158567e-01 -6.17489734e-01 -1.07788478e-01 1.89163344e+02] [ 6.07877555e-01 7.86310716e-01 -1.10455131e-01 1.16318422e+02] [ 1.52960145e-01 2.05398654e-02 9.88018880e-01 8.52368672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:189.19, Y:116.31, Z:85.27 [[ 7.76631808e-01 -6.13618960e-01 -1.42530021e-01 1.89190862e+02] [ 6.10907021e-01 7.88835352e-01 -6.73156752e-02 1.16310595e+02] [ 1.53738894e-01 -3.47930958e-02 9.87498756e-01 8.52657791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:116.34, Z:85.26 [[ 7.77482928e-01 -6.16328892e-01 -1.25135900e-01 1.89204995e+02] [ 6.10115778e-01 7.87446356e-01 -8.76753933e-02 1.16336801e+02] [ 1.52574686e-01 -8.18126538e-03 9.88258080e-01 8.52575778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.20, Y:116.41, Z:85.19 [[ 7.73879922e-01 -6.31615060e-01 -4.66077571e-02 1.89197194e+02] [ 6.18996208e-01 7.69880786e-01 -1.55329552e-01 1.16405035e+02] [ 1.33990901e-01 9.13563967e-02 9.86762609e-01 8.51860598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.730385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:189.25, Y:116.37, Z:85.25 [[ 7.72267444e-01 -6.21011861e-01 -1.33967398e-01 1.89250860e+02] [ 6.19305873e-01 7.82915331e-01 -5.91930834e-02 1.16365562e+02] [ 1.41644737e-01 -3.72539051e-02 9.89216314e-01 8.52543156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.760385723 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:189.27, Y:116.39, Z:85.24 [[ 7.73908278e-01 -6.22316046e-01 -1.17425362e-01 1.89267726e+02] [ 6.18082329e-01 7.82617226e-01 -7.40574854e-02 1.16392567e+02] [ 1.37986272e-01 -1.52648399e-02 9.90316502e-01 8.52443698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.28, Y:116.44, Z:85.23 [[ 7.71171030e-01 -6.30660107e-01 -8.69659253e-02 1.89277546e+02] [ 6.20485338e-01 7.75137939e-01 -1.18992102e-01 1.16436512e+02] [ 1.42454160e-01 3.78021801e-02 9.89079273e-01 8.52258653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:189.29, Y:116.46, Z:85.21 [[ 7.67594521e-01 -6.36309326e-01 -7.68706251e-02 1.89286003e+02] [ 6.27101275e-01 7.70389458e-01 -1.15082899e-01 1.16461480e+02] [ 1.32448641e-01 4.01313358e-02 9.90377117e-01 8.52131684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.850385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:189.34, Y:116.44, Z:85.27 [[ 7.71050190e-01 -6.21551594e-01 -1.38402384e-01 1.89340338e+02] [ 6.20825485e-01 7.82107312e-01 -5.37016663e-02 1.16440282e+02] [ 1.41623873e-01 -4.45170472e-02 9.88919062e-01 8.52656113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.880385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:189.35, Y:116.47, Z:85.25 [[ 7.71176613e-01 -6.26369702e-01 -1.13787646e-01 1.89352408e+02] [ 6.20315171e-01 7.79518146e-01 -8.69514118e-02 1.16474018e+02] [ 1.43163265e-01 -3.52930818e-03 9.89692793e-01 8.52535418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.910385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:189.35, Y:116.51, Z:85.22 [[ 7.67006983e-01 -6.37254958e-01 -7.48759403e-02 1.89352095e+02] [ 6.27818005e-01 7.69448323e-01 -1.17447146e-01 1.16513723e+02] [ 1.32456943e-01 4.30743173e-02 9.90252373e-01 8.52248150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.940385723 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:189.39, Y:116.51, Z:85.25 [[ 7.67516653e-01 -6.32818993e-01 -1.02265881e-01 1.89386647e+02] [ 6.27379674e-01 7.74299520e-01 -8.27949118e-02 1.16512821e+02] [ 1.31578615e-01 -6.13061298e-04 9.91305549e-01 8.52458952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.970385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:189.41, Y:116.54, Z:85.24 [[ 7.67544354e-01 -6.33506559e-01 -9.76990533e-02 1.89406548e+02] [ 6.27458955e-01 7.73715008e-01 -8.75234062e-02 1.16535102e+02] [ 1.31037876e-01 5.87595031e-03 9.91359949e-01 8.52443947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.000385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:189.43, Y:116.55, Z:85.25 [[ 7.68044595e-01 -6.32171200e-01 -1.02308716e-01 1.89430013e+02] [ 6.26814827e-01 7.74828024e-01 -8.21261627e-02 1.16549635e+02] [ 1.31189455e-01 -1.05206487e-03 9.91356757e-01 8.52504102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.030385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:189.45, Y:116.57, Z:85.25 [[ 7.69742747e-01 -6.30451826e-01 -1.00132906e-01 1.89451086e+02] [ 6.24929811e-01 7.76226883e-01 -8.32739872e-02 1.16568799e+02] [ 1.30226091e-01 1.52350938e-03 9.91483154e-01 8.52528291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.060385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:189.47, Y:116.59, Z:85.26 [[ 7.71427028e-01 -6.28190922e-01 -1.01373101e-01 1.89474958e+02] [ 6.22601018e-01 7.78057973e-01 -8.36287182e-02 1.16585989e+02] [ 1.31408951e-01 1.39845758e-03 9.91327258e-01 8.52587273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.090385723 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:189.50, Y:116.60, Z:85.27 [[ 7.74207141e-01 -6.24331543e-01 -1.03987630e-01 1.89498882e+02] [ 6.19357352e-01 7.81151843e-01 -7.87290801e-02 1.16600489e+02] [ 1.30383177e-01 -3.45288751e-03 9.91457667e-01 8.52664735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.120385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:189.52, Y:116.62, Z:85.27 [[ 7.76373411e-01 -6.21081801e-01 -1.07246087e-01 1.89523758e+02] [ 6.15901743e-01 7.83736365e-01 -8.01395801e-02 1.16617727e+02] [ 1.33825893e-01 -3.83481278e-03 9.90997439e-01 8.52740137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.150385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:189.54, Y:116.64, Z:85.28 [[ 7.77242246e-01 -6.20178309e-01 -1.06176062e-01 1.89543499e+02] [ 6.14961043e-01 7.84455656e-01 -8.03258289e-02 1.16636065e+02] [ 1.33106749e-01 -2.86151430e-03 9.91097576e-01 8.52757962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.57, Y:116.65, Z:85.28 [[ 7.80562356e-01 -6.15431834e-01 -1.09389512e-01 1.89567165e+02] [ 6.10129104e-01 7.88181201e-01 -8.07023588e-02 1.16653957e+02] [ 1.35885558e-01 -3.74850154e-03 9.90717449e-01 8.52814503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:116.67, Z:85.29 [[ 7.81991438e-01 -6.12341494e-01 -1.16306863e-01 1.89592507e+02] [ 6.07444884e-01 7.90533421e-01 -7.78949474e-02 1.16667960e+02] [ 1.39642771e-01 -9.73682711e-03 9.90154074e-01 8.52917579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.240385723 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:189.61, Y:116.69, Z:85.29 [[ 7.85097119e-01 -6.10316729e-01 -1.05527270e-01 1.89613256e+02] [ 6.03219668e-01 7.92099416e-01 -9.32981701e-02 1.16691458e+02] [ 1.40529523e-01 9.59199962e-03 9.90030023e-01 8.52892808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.270385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:189.64, Y:116.70, Z:85.31 [[ 7.84797806e-01 -6.07753348e-01 -1.21360094e-01 1.89641286e+02] [ 6.03691539e-01 7.93950700e-01 -7.21027866e-02 1.16697675e+02] [ 1.40174642e-01 -1.66779533e-02 9.89986321e-01 8.53057932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.300385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:189.67, Y:116.71, Z:85.32 [[ 7.85061980e-01 -6.05734594e-01 -1.29473125e-01 1.89666581e+02] [ 6.01175216e-01 7.95464857e-01 -7.63152735e-02 1.16710879e+02] [ 1.49218122e-01 -1.79238143e-02 9.88641841e-01 8.53218107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.330385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:189.68, Y:116.73, Z:85.32 [[ 7.84340236e-01 -6.08882604e-01 -1.18627014e-01 1.89683711e+02] [ 6.02065195e-01 7.93260329e-01 -9.08600596e-02 1.16733832e+02] [ 1.49425214e-01 -1.55996023e-04 9.88773018e-01 8.53192155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.360385723 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:189.71, Y:116.75, Z:85.32 [[ 7.83306801e-01 -6.10294883e-01 -1.18197336e-01 1.89705730e+02] [ 6.03537466e-01 7.92174223e-01 -9.05678019e-02 1.16750493e+02] [ 1.48905949e-01 -3.94145723e-04 9.88851285e-01 8.53222009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.390385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:189.73, Y:116.77, Z:85.33 [[ 7.80823080e-01 -6.13345572e-01 -1.18838239e-01 1.89728063e+02] [ 6.06541393e-01 7.89814110e-01 -9.11109740e-02 1.16767140e+02] [ 1.49742631e-01 -9.38760025e-04 9.88724564e-01 8.53257173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.420385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:189.75, Y:116.78, Z:85.33 [[ 7.79568365e-01 -6.14993775e-01 -1.18557246e-01 1.89749556e+02] [ 6.08233213e-01 7.88531032e-01 -9.09459723e-02 1.16782428e+02] [ 1.49417275e-01 -1.21185195e-03 9.88773487e-01 8.53290590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:116.80, Z:85.33 [[ 7.76443526e-01 -6.19002283e-01 -1.18201626e-01 1.89773090e+02] [ 6.12322897e-01 7.85386774e-01 -9.07098916e-02 1.16796431e+02] [ 1.48983624e-01 -1.94645404e-03 9.88837748e-01 8.53340567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.80, Y:116.81, Z:85.34 [[ 7.74449384e-01 -6.21463460e-01 -1.18369423e-01 1.89795561e+02] [ 6.14785700e-01 7.83439528e-01 -9.08903072e-02 1.16812120e+02] [ 1.49220290e-01 -2.38188633e-03 9.88801108e-01 8.53382298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:116.83, Z:85.34 [[ 7.71389351e-01 -6.25295617e-01 -1.18168781e-01 1.89816682e+02] [ 6.18677681e-01 7.80381907e-01 -9.07854952e-02 1.16828383e+02] [ 1.48984551e-01 -3.07742294e-03 9.88834735e-01 8.53406738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:189.84, Y:116.85, Z:85.34 [[ 7.70049670e-01 -6.27025362e-01 -1.17739974e-01 1.89838502e+02] [ 6.20471913e-01 7.78991512e-01 -9.04811047e-02 1.16845934e+02] [ 1.48452387e-01 -3.37940185e-03 9.88913782e-01 8.53438057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.85, Y:116.88, Z:85.32 [[ 7.69132453e-01 -6.32289420e-01 -9.29804249e-02 1.89852615e+02] [ 6.23631992e-01 7.74348651e-01 -1.07085507e-01 1.16875138e+02] [ 1.39708300e-01 2.43773712e-02 9.89892588e-01 8.53220566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:189.89, Y:116.87, Z:85.36 [[ 7.69200671e-01 -6.24657513e-01 -1.34660017e-01 1.89892308e+02] [ 6.21538935e-01 7.80308447e-01 -6.93403148e-02 1.16865939e+02] [ 1.48390298e-01 -3.03598272e-02 9.88462746e-01 8.53636229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:189.91, Y:116.89, Z:85.36 [[ 7.69678103e-01 -6.27346443e-01 -1.18456988e-01 1.89907845e+02] [ 6.20704256e-01 7.78732868e-01 -9.11117245e-02 1.16892331e+02] [ 1.49404966e-01 -3.40005742e-03 9.88770244e-01 8.53568379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:116.93, Z:85.33 [[ 7.69666043e-01 -6.32327411e-01 -8.81829267e-02 1.89918470e+02] [ 6.22876461e-01 7.74016286e-01 -1.13682471e-01 1.16928895e+02] [ 1.40139564e-01 3.25704683e-02 9.89595911e-01 8.53283157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.690385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:189.95, Y:116.93, Z:85.35 [[ 7.71568675e-01 -6.25652435e-01 -1.15068720e-01 1.89953354e+02] [ 6.20037083e-01 7.80073894e-01 -8.38971797e-02 1.16928915e+02] [ 1.42252579e-01 -6.61443751e-03 9.89808291e-01 8.53487265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.720385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:189.97, Y:116.95, Z:85.35 [[ 7.72183418e-01 -6.26012117e-01 -1.08819110e-01 1.89974848e+02] [ 6.19387823e-01 7.79808418e-01 -9.08711002e-02 1.16949719e+02] [ 1.41744468e-01 2.76792490e-03 9.89899411e-01 8.53481446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.750385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:190.00, Y:116.96, Z:85.36 [[ 7.73044835e-01 -6.22945606e-01 -1.19751636e-01 1.90000768e+02] [ 6.18186297e-01 7.82145508e-01 -7.80647639e-02 1.16956686e+02] [ 1.42293306e-01 -1.36812580e-02 9.89729983e-01 8.53633668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:116.97, Z:85.37 [[ 7.75066400e-01 -6.21376473e-01 -1.14731661e-01 1.90023118e+02] [ 6.15263216e-01 7.83505789e-01 -8.70049135e-02 1.16973277e+02] [ 1.43955727e-01 -3.15558538e-03 9.89579098e-01 8.53655154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.810385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:190.05, Y:116.98, Z:85.38 [[ 7.73815098e-01 -6.20607056e-01 -1.26716522e-01 1.90053820e+02] [ 6.16579431e-01 7.83837359e-01 -7.36803910e-02 1.16984944e+02] [ 1.45051714e-01 -2.11158021e-02 9.89198728e-01 8.53805918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.840385723 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:190.07, Y:117.01, Z:85.37 [[ 7.74253331e-01 -6.22534977e-01 -1.13938495e-01 1.90068800e+02] [ 6.15091388e-01 7.82580131e-01 -9.60776949e-02 1.17008867e+02] [ 1.48977728e-01 4.30588814e-03 9.88831177e-01 8.53747748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:190.10, Y:117.02, Z:85.39 [[ 7.71788162e-01 -6.23114246e-01 -1.26774087e-01 1.90098358e+02] [ 6.19023620e-01 7.81846122e-01 -7.43397609e-02 1.17018506e+02] [ 1.45439993e-01 -2.11016069e-02 9.89142018e-01 8.53883858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:117.05, Z:85.38 [[ 7.70847230e-01 -6.27675792e-01 -1.08709007e-01 1.90115778e+02] [ 6.20480712e-01 7.78453755e-01 -9.49391305e-02 1.17045195e+02] [ 1.44215928e-01 5.73172396e-03 9.89529643e-01 8.53784677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93038572300003 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:190.13, Y:117.06, Z:85.38 [[ 7.68541615e-01 -6.30287681e-01 -1.09914630e-01 1.90131663e+02] [ 6.23317026e-01 7.76354318e-01 -9.35406766e-02 1.17060902e+02] [ 1.44290234e-01 3.37824242e-03 9.89529644e-01 8.53829276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:190.16, Y:117.08, Z:85.39 [[ 7.68407176e-01 -6.29852728e-01 -1.13295870e-01 1.90155575e+02] [ 6.23774109e-01 7.76706523e-01 -8.73661187e-02 1.17075158e+02] [ 1.43025430e-01 -3.53827812e-03 9.89712689e-01 8.53892493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.990385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:190.18, Y:117.09, Z:85.39 [[ 7.69151154e-01 -6.29063238e-01 -1.12631899e-01 1.90183923e+02] [ 6.22873805e-01 7.77350351e-01 -8.80605153e-02 1.17091704e+02] [ 1.42950080e-01 -2.42361276e-03 9.89726933e-01 8.53921275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.020385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:190.20, Y:117.10, Z:85.40 [[ 7.67610822e-01 -6.30216470e-01 -1.16622581e-01 1.90201685e+02] [ 6.25564270e-01 7.76304007e-01 -7.75978980e-02 1.17104005e+02] [ 1.39438050e-01 -1.33899332e-02 9.90140263e-01 8.54000040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.050385723 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:190.22, Y:117.13, Z:85.39 [[ 7.68356303e-01 -6.31673624e-01 -1.03038945e-01 1.90224419e+02] [ 6.24441205e-01 7.75179413e-01 -9.57604231e-02 1.17132180e+02] [ 1.40363002e-01 9.23636169e-03 9.90057027e-01 8.53923660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.080385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:190.25, Y:117.14, Z:85.41 [[ 7.68040222e-01 -6.29093460e-01 -1.19815010e-01 1.90247164e+02] [ 6.24916782e-01 7.77129050e-01 -7.44946647e-02 1.17136982e+02] [ 1.39975831e-01 -1.76595119e-02 9.89997428e-01 8.54086470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.26, Y:117.17, Z:85.39 [[ 7.68515935e-01 -6.32879874e-01 -9.40548870e-02 1.90264737e+02] [ 6.24899621e-01 7.73999497e-01 -1.02104076e-01 1.17171879e+02] [ 1.37418050e-01 1.96937463e-02 9.90317341e-01 8.53907855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:117.17, Z:85.42 [[ 7.68622740e-01 -6.27394436e-01 -1.24881165e-01 1.90295303e+02] [ 6.24408747e-01 7.78243718e-01 -6.67115511e-02 1.17166425e+02] [ 1.39042438e-01 -2.67008769e-02 9.89926393e-01 8.54199503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.31, Y:117.19, Z:85.41 [[ 7.68291078e-01 -6.30580929e-01 -1.09984138e-01 1.90311025e+02] [ 6.24747831e-01 7.76117972e-01 -8.56215065e-02 1.17192940e+02] [ 1.39351955e-01 -2.93011232e-03 9.90238581e-01 8.54136855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:117.21, Z:85.42 [[ 7.67316853e-01 -6.31983296e-01 -1.08728840e-01 1.90331300e+02] [ 6.26290545e-01 7.74975767e-01 -8.46918783e-02 1.17210683e+02] [ 1.37786069e-01 -3.11033889e-03 9.90457129e-01 8.54167859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:117.24, Z:85.41 [[ 7.66294823e-01 -6.34382467e-01 -1.01740502e-01 1.90349769e+02] [ 6.26664668e-01 7.72919243e-01 -9.94345920e-02 1.17235526e+02] [ 1.41716753e-01 1.24390354e-02 9.89829092e-01 8.54145800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.260385723 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:190.38, Y:117.25, Z:85.42 [[ 7.66903255e-01 -6.33288147e-01 -1.03949603e-01 1.90380351e+02] [ 6.27503680e-01 7.73916050e-01 -8.53995272e-02 1.17248398e+02] [ 1.34530775e-01 2.64416708e-04 9.90909381e-01 8.54174667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.40, Y:117.25, Z:85.44 [[ 7.66674505e-01 -6.30842675e-01 -1.19363821e-01 1.90403363e+02] [ 6.27555108e-01 7.75580647e-01 -6.81853849e-02 1.17253468e+02] [ 1.35590520e-01 -2.26313792e-02 9.90506452e-01 8.54361706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:117.28, Z:85.43 [[ 7.66315013e-01 -6.33455944e-01 -1.07214121e-01 1.90420342e+02] [ 6.27913631e-01 7.73772136e-01 -8.36728997e-02 1.17278121e+02] [ 1.35962395e-01 -3.20140908e-03 9.90708826e-01 8.54315359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.44, Y:117.30, Z:85.44 [[ 7.66151966e-01 -6.33657056e-01 -1.07190952e-01 1.90442623e+02] [ 6.28112552e-01 7.73607459e-01 -8.37025709e-02 1.17295621e+02] [ 1.35962445e-01 -3.19909327e-03 9.90708827e-01 8.54353634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.380385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:190.47, Y:117.32, Z:85.43 [[ 7.66764698e-01 -6.33990319e-01 -1.00638822e-01 1.90469261e+02] [ 6.27506788e-01 7.73314794e-01 -9.06612400e-02 1.17319202e+02] [ 1.35303838e-01 6.36429442e-03 9.90783714e-01 8.54313669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:117.33, Z:85.44 [[ 7.66753389e-01 -6.31722547e-01 -1.14087092e-01 1.90488384e+02] [ 6.27487075e-01 7.75058960e-01 -7.44552136e-02 1.17327940e+02] [ 1.35459260e-01 -1.44993883e-02 9.90676817e-01 8.54443438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.51, Y:117.35, Z:85.44 [[ 7.66934629e-01 -6.32805991e-01 -1.06620135e-01 1.90507276e+02] [ 6.27297539e-01 7.74304784e-01 -8.33660577e-02 1.17349787e+02] [ 1.35311021e-01 -2.94623153e-03 9.90798793e-01 8.54431902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:117.37, Z:85.45 [[ 7.67112629e-01 -6.32643667e-01 -1.06302423e-01 1.90530277e+02] [ 6.27160318e-01 7.74437692e-01 -8.31636777e-02 1.17366061e+02] [ 1.34937577e-01 -2.87275380e-03 9.90849937e-01 8.54475035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.55, Y:117.38, Z:85.45 [[ 7.67144083e-01 -6.32704502e-01 -1.05711727e-01 1.90553532e+02] [ 6.27276601e-01 7.74388142e-01 -8.27470307e-02 1.17381867e+02] [ 1.34216327e-01 -2.83159793e-03 9.90948011e-01 8.54527936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:117.40, Z:85.45 [[ 7.66899899e-01 -6.33138412e-01 -1.04882295e-01 1.90573317e+02] [ 6.27793656e-01 7.74033355e-01 -8.21431110e-02 1.17400464e+02] [ 1.33190353e-01 -2.84889565e-03 9.91086381e-01 8.54546036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:117.42, Z:85.46 [[ 7.66686844e-01 -6.33473000e-01 -1.04418584e-01 1.90595046e+02] [ 6.28175372e-01 7.73759455e-01 -8.18046940e-02 1.17418481e+02] [ 1.32615932e-01 -2.87460034e-03 9.91163332e-01 8.54576717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:117.44, Z:85.46 [[ 7.66664407e-01 -6.33536723e-01 -1.04196486e-01 1.90617248e+02] [ 6.28256343e-01 7.73707392e-01 -8.16751999e-02 1.17435533e+02] [ 1.32361830e-01 -2.84463434e-03 9.91197384e-01 8.54612704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:117.45, Z:85.47 [[ 7.66502279e-01 -6.33849637e-01 -1.03483790e-01 1.90640318e+02] [ 6.28638551e-01 7.73451064e-01 -8.11604784e-02 1.17451797e+02] [ 1.31483187e-01 -2.84420800e-03 9.91314321e-01 8.54658437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.66, Y:117.47, Z:85.47 [[ 7.66405367e-01 -6.34039094e-01 -1.03039999e-01 1.90660741e+02] [ 6.28868665e-01 7.73295817e-01 -8.08565494e-02 1.17468411e+02] [ 1.30946613e-01 -2.82973315e-03 9.91385383e-01 8.54694225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:117.49, Z:85.47 [[ 7.66542307e-01 -6.34112537e-01 -1.01558761e-01 1.90680852e+02] [ 6.29087121e-01 7.73235781e-01 -7.97234066e-02 1.17486547e+02] [ 1.29082480e-01 -2.77794469e-03 9.91629970e-01 8.54716182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:117.50, Z:85.47 [[ 7.66579174e-01 -6.34119235e-01 -1.01238165e-01 1.90702583e+02] [ 6.29122748e-01 7.73230379e-01 -7.94943290e-02 1.17504489e+02] [ 1.28689308e-01 -2.75253557e-03 9.91681141e-01 8.54745844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.72, Y:117.52, Z:85.48 [[ 7.66932869e-01 -6.33666270e-01 -1.01395431e-01 1.90723869e+02] [ 6.28644331e-01 7.73602005e-01 -7.96633119e-02 1.17520217e+02] [ 1.28919662e-01 -2.64525040e-03 9.91651513e-01 8.54781081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:117.54, Z:85.48 [[ 7.66970443e-01 -6.33580310e-01 -1.01648073e-01 1.90745289e+02] [ 6.28529226e-01 7.73672500e-01 -7.98866373e-02 1.17536362e+02] [ 1.29256919e-01 -2.61809494e-03 9.91607682e-01 8.54822111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:117.55, Z:85.49 [[ 7.68314124e-01 -6.32035325e-01 -1.01117534e-01 1.90766743e+02] [ 6.27020725e-01 7.74936082e-01 -7.94926321e-02 1.17553466e+02] [ 1.28601777e-01 -2.32747748e-03 9.91693585e-01 8.54864491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.79, Y:117.57, Z:85.49 [[ 7.69098613e-01 -6.31112736e-01 -1.00915995e-01 1.90787174e+02] [ 6.26104263e-01 7.75688190e-01 -7.93806291e-02 1.17571293e+02] [ 1.28377472e-01 -2.13240323e-03 9.91723085e-01 8.54897532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:117.59, Z:85.49 [[ 7.69863522e-01 -6.30182342e-01 -1.00897833e-01 1.90807900e+02] [ 6.25164591e-01 7.76444707e-01 -7.93904992e-02 1.17589504e+02] [ 1.28372079e-01 -1.95790320e-03 9.91724143e-01 8.54929816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:117.61, Z:85.50 [[ 7.71919168e-01 -6.27721108e-01 -1.00533626e-01 1.90827829e+02] [ 6.22712913e-01 7.78436858e-01 -7.91497711e-02 1.17607549e+02] [ 1.27943062e-01 -1.50636171e-03 9.91780371e-01 8.54964898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:117.63, Z:85.50 [[ 7.72894515e-01 -6.26501651e-01 -1.00646659e-01 1.90848489e+02] [ 6.21468747e-01 7.79419030e-01 -7.92626767e-02 1.17625627e+02] [ 1.28104119e-01 -1.28706510e-03 9.91759889e-01 8.55002852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.87, Y:117.64, Z:85.50 [[ 7.72885348e-01 -6.26488728e-01 -1.00797387e-01 1.90870010e+02] [ 6.21434777e-01 7.79429475e-01 -7.94261342e-02 1.17643744e+02] [ 1.28324032e-01 -1.25170663e-03 9.91731504e-01 8.55031330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:117.66, Z:85.51 [[ 7.72724567e-01 -6.26561363e-01 -1.01575599e-01 1.90890617e+02] [ 6.21423146e-01 7.79371112e-01 -8.00870948e-02 1.17661135e+02] [ 1.29344567e-01 -1.23616291e-03 9.91598939e-01 8.55058782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:117.68, Z:85.51 [[ 7.72069243e-01 -6.27144160e-01 -1.02952834e-01 1.90911740e+02] [ 6.21867570e-01 7.78902058e-01 -8.11930370e-02 1.17679002e+02] [ 1.31109914e-01 -1.33638232e-03 9.91366937e-01 8.55090952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:190.93, Y:117.70, Z:85.51 [[ 7.71371856e-01 -6.27974984e-01 -1.03115848e-01 1.90932987e+02] [ 6.22682873e-01 7.78232186e-01 -8.13677155e-02 1.17696455e+02] [ 1.31344962e-01 -1.44370693e-03 9.91335673e-01 8.55125680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:117.71, Z:85.52 [[ 7.70106878e-01 -6.29585402e-01 -1.02750275e-01 1.90953177e+02] [ 6.24339014e-01 7.76929479e-01 -8.11257086e-02 1.17713517e+02] [ 1.30905279e-01 -1.67553933e-03 9.91393464e-01 8.55161747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:117.73, Z:85.53 [[ 7.68493128e-01 -6.29404392e-01 -1.15188642e-01 1.90978093e+02] [ 6.25528634e-01 7.76894007e-01 -7.17609296e-02 1.17725284e+02] [ 1.34656010e-01 -1.69060123e-02 9.90748175e-01 8.55297134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:190.99, Y:117.76, Z:85.52 [[ 7.67808793e-01 -6.33691694e-01 -9.43636253e-02 1.90991211e+02] [ 6.26835262e-01 7.73477880e-01 -9.38590686e-02 1.17757083e+02] [ 1.32465889e-01 1.29153705e-02 9.91103416e-01 8.55174550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.160385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:191.02, Y:117.77, Z:85.53 [[ 7.67547695e-01 -6.32475846e-01 -1.04138566e-01 1.91015538e+02] [ 6.27104945e-01 7.74577090e-01 -8.22783112e-02 1.17767704e+02] [ 1.32702392e-01 -2.15328175e-03 9.91153590e-01 8.55276331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.04, Y:117.79, Z:85.53 [[ 7.67460800e-01 -6.32613652e-01 -1.03941749e-01 1.91036815e+02] [ 6.27261018e-01 7.74464544e-01 -8.21479452e-02 1.17785396e+02] [ 1.32467111e-01 -2.15327939e-03 9.91185062e-01 8.55325309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:117.79, Z:85.56 [[ 7.67443754e-01 -6.28723306e-01 -1.25447554e-01 1.91066123e+02] [ 6.25971054e-01 7.77109284e-01 -6.52794122e-02 1.17791775e+02] [ 1.38529146e-01 -2.84282601e-02 9.89950256e-01 8.55559543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.250385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:191.08, Y:117.82, Z:85.55 [[ 7.67967613e-01 -6.30668961e-01 -1.11724693e-01 1.91083008e+02] [ 6.25158903e-01 7.76030244e-01 -8.33870875e-02 1.17820359e+02] [ 1.39291389e-01 -5.80710395e-03 9.90234410e-01 8.55517885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.280385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:191.10, Y:117.84, Z:85.56 [[ 7.68361529e-01 -6.29856746e-01 -1.13582745e-01 1.91103968e+02] [ 6.24470424e-01 7.76675019e-01 -8.25385053e-02 1.17839869e+02] [ 1.40204315e-01 -7.50965283e-03 9.90094114e-01 8.55574833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:117.86, Z:85.57 [[ 7.68818239e-01 -6.28591084e-01 -1.17438345e-01 1.91127998e+02] [ 6.23449439e-01 7.77658768e-01 -8.09792422e-02 1.17855994e+02] [ 1.42229789e-01 -1.09585521e-02 9.89773003e-01 8.55665404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:191.15, Y:117.88, Z:85.57 [[ 7.69146766e-01 -6.28878350e-01 -1.13689376e-01 1.91147861e+02] [ 6.22755847e-01 7.77496195e-01 -8.76060601e-02 1.17875386e+02] [ 1.43486611e-01 -3.41880559e-03 9.89646353e-01 8.55695679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:191.17, Y:117.89, Z:85.58 [[ 7.69122101e-01 -6.28022691e-01 -1.18484992e-01 1.91171780e+02] [ 6.22515590e-01 7.78136872e-01 -8.35305297e-02 1.17890691e+02] [ 1.44656609e-01 -9.51357814e-03 9.89436182e-01 8.55790578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.400385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:191.19, Y:117.92, Z:85.58 [[ 7.69602622e-01 -6.29032202e-01 -1.09682692e-01 1.91187908e+02] [ 6.22186366e-01 7.77373370e-01 -9.26000557e-02 1.17915556e+02] [ 1.43512821e-01 3.02217024e-03 9.89643843e-01 8.55753506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43038572300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:191.21, Y:117.93, Z:85.58 [[ 7.69697087e-01 -6.27495598e-01 -1.17540074e-01 1.91212274e+02] [ 6.21810228e-01 7.78579701e-01 -8.46503995e-02 1.17929766e+02] [ 1.44632069e-01 -7.93245459e-03 9.89453708e-01 8.55847837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:117.95, Z:85.59 [[ 7.69654023e-01 -6.27823743e-01 -1.16060469e-01 1.91232025e+02] [ 6.21668080e-01 7.78342180e-01 -8.78194138e-02 1.17948760e+02] [ 1.45469871e-01 -4.56052365e-03 9.89352171e-01 8.55871793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.490385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:191.25, Y:117.97, Z:85.59 [[ 7.69346957e-01 -6.29070217e-01 -1.11247116e-01 1.91250590e+02] [ 6.22002187e-01 7.77341930e-01 -9.40893322e-02 1.17970664e+02] [ 1.45665845e-01 3.19139182e-03 9.89328700e-01 8.55854778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:191.27, Y:118.00, Z:85.58 [[ 7.68771693e-01 -6.31530366e-01 -1.00794247e-01 1.91265283e+02] [ 6.23389183e-01 7.75189804e-01 -1.02306864e-01 1.17995411e+02] [ 1.42744564e-01 1.58165777e-02 9.89633177e-01 8.55768265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.550385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:191.28, Y:118.02, Z:85.57 [[ 7.67875006e-01 -6.33703147e-01 -9.37459156e-02 1.91282077e+02] [ 6.25791561e-01 7.73332427e-01 -1.01695030e-01 1.18017680e+02] [ 1.36941217e-01 1.94236688e-02 9.90388724e-01 8.55670717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.580385723 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:191.31, Y:118.03, Z:85.58 [[ 7.67649980e-01 -6.31807901e-01 -1.07388475e-01 1.91308575e+02] [ 6.26007353e-01 7.75123264e-01 -8.54325456e-02 1.18026577e+02] [ 1.37216263e-01 -1.64368326e-03 9.90539750e-01 8.55789895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.610385723 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:191.33, Y:118.04, Z:85.58 [[ 7.66361959e-01 -6.33197458e-01 -1.08398922e-01 1.91329103e+02] [ 6.27294358e-01 7.73988023e-01 -8.62805240e-02 1.18044230e+02] [ 1.38532076e-01 -1.87592084e-03 9.90356171e-01 8.55823029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.640385723 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:191.34, Y:118.08, Z:85.57 [[ 7.64281082e-01 -6.38568836e-01 -9.00237132e-02 1.91343319e+02] [ 6.30215340e-01 7.69188169e-01 -1.05726943e-01 1.18075435e+02] [ 1.36759106e-01 2.40707777e-02 9.90311842e-01 8.55724073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.670385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:191.38, Y:118.07, Z:85.61 [[ 7.66203788e-01 -6.29187703e-01 -1.30593220e-01 1.91383039e+02] [ 6.26102349e-01 7.76707726e-01 -6.87092212e-02 1.18068522e+02] [ 1.44663760e-01 -2.91194561e-02 9.89052301e-01 8.56101650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.700385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:191.39, Y:118.10, Z:85.60 [[ 7.66355785e-01 -6.32793747e-01 -1.10774028e-01 1.91394968e+02] [ 6.26007862e-01 7.74318955e-01 -9.24354490e-02 1.18099081e+02] [ 1.44267003e-01 1.49302891e-03 9.89537671e-01 8.56012061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.730385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:191.41, Y:118.12, Z:85.60 [[ 7.66460826e-01 -6.32832026e-01 -1.09824536e-01 1.91414293e+02] [ 6.25996576e-01 7.74285479e-01 -9.27916148e-02 1.18120399e+02] [ 1.43757049e-01 2.37135457e-03 9.89610170e-01 8.56025624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.760385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:191.44, Y:118.14, Z:85.61 [[ 7.66586660e-01 -6.32135884e-01 -1.12911991e-01 1.91436814e+02] [ 6.25760697e-01 7.74854994e-01 -8.95728043e-02 1.18137440e+02] [ 1.44112604e-01 -1.99056960e-03 9.89559293e-01 8.56083209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.46, Y:118.16, Z:85.61 [[ 7.66762778e-01 -6.32366489e-01 -1.10396855e-01 1.91456203e+02] [ 6.25788815e-01 7.74669075e-01 -9.09735368e-02 1.18156102e+02] [ 1.43049646e-01 6.70004565e-04 9.89715287e-01 8.56098710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.820385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:191.48, Y:118.17, Z:85.61 [[ 7.67339352e-01 -6.31751143e-01 -1.09912746e-01 1.91475873e+02] [ 6.24816510e-01 7.75165496e-01 -9.33958381e-02 1.18174832e+02] [ 1.44203496e-01 2.99100362e-03 9.89543534e-01 8.56116347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.850385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:191.50, Y:118.19, Z:85.63 [[ 7.68332581e-01 -6.28101726e-01 -1.23098606e-01 1.91501193e+02] [ 6.22582048e-01 7.78036768e-01 -8.39665493e-02 1.18185112e+02] [ 1.48514776e-01 -1.21247469e-02 9.88835857e-01 8.56271130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.880385723 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:191.51, Y:118.21, Z:85.62 [[ 7.68159332e-01 -6.31601175e-01 -1.04934245e-01 1.91514141e+02] [ 6.23418770e-01 7.75183300e-01 -1.02175773e-01 1.18214957e+02] [ 1.45877612e-01 1.30692957e-02 9.89216314e-01 8.56164505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.910385723 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:191.54, Y:118.22, Z:85.64 [[ 7.68627071e-01 -6.27128808e-01 -1.26181947e-01 1.91543630e+02] [ 6.21807231e-01 7.78775375e-01 -8.28533873e-02 1.18220722e+02] [ 1.50227139e-01 -1.47774908e-02 9.88541063e-01 8.56359675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.940385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:191.56, Y:118.24, Z:85.64 [[ 7.68651732e-01 -6.28713868e-01 -1.17870212e-01 1.91561452e+02] [ 6.21635084e-01 7.77636137e-01 -9.40843278e-02 1.18243581e+02] [ 1.50812258e-01 -9.54177818e-04 9.88561962e-01 8.56360266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.970385723 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:191.58, Y:118.27, Z:85.63 [[ 7.67828422e-01 -6.31305503e-01 -1.09054466e-01 1.91580168e+02] [ 6.23136402e-01 7.75467653e-01 -1.01739588e-01 1.18265249e+02] [ 1.48796973e-01 1.01627398e-02 9.88815544e-01 8.56324583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.000385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:191.61, Y:118.27, Z:85.65 [[ 7.67796891e-01 -6.28225288e-01 -1.25781247e-01 1.91610305e+02] [ 6.22382690e-01 7.77938805e-01 -8.63191920e-02 1.18269786e+02] [ 1.52078012e-01 -1.20084637e-02 9.88295540e-01 8.56519299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.030385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:191.63, Y:118.29, Z:85.65 [[ 7.68360039e-01 -6.28837080e-01 -1.19108263e-01 1.91628738e+02] [ 6.21589972e-01 7.77536582e-01 -9.51985850e-02 1.18292543e+02] [ 1.52475432e-01 -8.89713527e-04 9.88306861e-01 8.56521322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.060385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:191.63, Y:118.33, Z:85.63 [[ 7.66598949e-01 -6.35688591e-01 -9.06976636e-02 1.91634270e+02] [ 6.25904192e-01 7.71289097e-01 -1.15572798e-01 1.18327209e+02] [ 1.43422428e-01 3.18299379e-02 9.89149565e-01 8.56289036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.090385723 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:191.68, Y:118.32, Z:85.67 [[ 7.68751772e-01 -6.24018085e-01 -1.40079057e-01 1.91680166e+02] [ 6.20636712e-01 7.80774792e-01 -7.21165456e-02 1.18316090e+02] [ 1.54372225e-01 -3.14984830e-02 9.87510538e-01 8.56712440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.120385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:191.70, Y:118.34, Z:85.67 [[ 7.69025428e-01 -6.27649866e-01 -1.21060053e-01 1.91696118e+02] [ 6.20136477e-01 7.78495518e-01 -9.68270523e-02 1.18343625e+02] [ 1.55018195e-01 -6.11289348e-04 9.87911426e-01 8.56650926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:118.38, Z:85.64 [[ 7.66635561e-01 -6.35661929e-01 -9.05749923e-02 1.91702518e+02] [ 6.25467899e-01 7.71212983e-01 -1.18407949e-01 1.18376615e+02] [ 1.45120035e-01 3.41239942e-02 9.88825429e-01 8.56426878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:118.36, Z:85.69 [[ 7.67911246e-01 -6.24540929e-01 -1.42340952e-01 1.91750543e+02] [ 6.21402161e-01 7.80258316e-01 -7.11077638e-02 1.18362050e+02] [ 1.55472420e-01 -3.38465235e-02 9.87260219e-01 8.56894058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:118.40, Z:85.67 [[ 7.67924597e-01 -6.30220853e-01 -1.14514148e-01 1.91761461e+02] [ 6.21758543e-01 7.76373809e-01 -1.03247387e-01 1.18397401e+02] [ 1.53974441e-01 8.08605856e-03 9.88041744e-01 8.56725440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.240385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:191.79, Y:118.41, Z:85.69 [[ 7.68654202e-01 -6.26595547e-01 -1.28641903e-01 1.91788235e+02] [ 6.19928375e-01 7.79288988e-01 -9.16377836e-02 1.18405114e+02] [ 1.57669045e-01 -9.31099858e-03 9.87448114e-01 8.56872657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.270385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:191.81, Y:118.43, Z:85.69 [[ 7.68664810e-01 -6.27698264e-01 -1.23082491e-01 1.91808024e+02] [ 6.19907972e-01 7.78456563e-01 -9.85874540e-02 1.18426382e+02] [ 1.57697546e-01 -5.19110683e-04 9.87487324e-01 8.56878577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:191.83, Y:118.44, Z:85.69 [[ 7.69104754e-01 -6.27204573e-01 -1.22850730e-01 1.91829990e+02] [ 6.19432000e-01 7.78854462e-01 -9.84364016e-02 1.18442082e+02] [ 1.57422600e-01 -3.89769091e-04 9.87531252e-01 8.56915835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.330385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:191.85, Y:118.46, Z:85.70 [[ 7.69131456e-01 -6.27163660e-01 -1.22892420e-01 1.91854589e+02] [ 6.19378914e-01 7.78887425e-01 -9.85095915e-02 1.18456243e+02] [ 1.57500997e-01 -3.50148289e-04 9.87518766e-01 8.56965679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:191.87, Y:118.49, Z:85.68 [[ 7.68916238e-01 -6.31919499e-01 -9.71882958e-02 1.91867311e+02] [ 6.21790872e-01 7.74489457e-01 -1.16370922e-01 1.18487587e+02] [ 1.48808365e-01 2.90486964e-02 9.88439297e-01 8.56772186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.390385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:191.91, Y:118.48, Z:85.72 [[ 7.69354785e-01 -6.23200721e-01 -1.40406825e-01 1.91906646e+02] [ 6.19275346e-01 7.81530555e-01 -7.55515578e-02 1.18478367e+02] [ 1.56816009e-01 -2.88245325e-02 9.87207114e-01 8.57164666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.420385723 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:191.92, Y:118.51, Z:85.71 [[ 7.68825683e-01 -6.27377212e-01 -1.23712987e-01 1.91921560e+02] [ 6.19474408e-01 7.78715437e-01 -9.92659353e-02 1.18507307e+02] [ 1.58614399e-01 -3.18828912e-04 9.87340555e-01 8.57056176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.450385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:191.94, Y:118.52, Z:85.71 [[ 7.69378901e-01 -6.26707436e-01 -1.23668494e-01 1.91944412e+02] [ 6.18792588e-01 7.79254625e-01 -9.92872676e-02 1.18523127e+02] [ 1.58593315e-01 -1.35618473e-04 9.87343984e-01 8.57108584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:191.97, Y:118.54, Z:85.72 [[ 7.68770761e-01 -6.27446634e-01 -1.23702220e-01 1.91969660e+02] [ 6.19527820e-01 7.78659529e-01 -9.93711116e-02 1.18536038e+02] [ 1.58671982e-01 -2.43361757e-04 9.87331324e-01 8.57152255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.510385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:191.99, Y:118.55, Z:85.72 [[ 7.67548466e-01 -6.28883285e-01 -1.23996639e-01 1.91992150e+02] [ 6.20936488e-01 7.77499559e-01 -9.96609943e-02 1.18551023e+02] [ 1.59082466e-01 -4.99394532e-04 9.87265172e-01 8.57179233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:192.01, Y:118.57, Z:85.72 [[ 7.67504735e-01 -6.29105209e-01 -1.23138610e-01 1.92014659e+02] [ 6.21266028e-01 7.77319993e-01 -9.90058117e-02 1.18566660e+02] [ 1.58003175e-01 -5.14405846e-04 9.87438470e-01 8.57234521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.570385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:192.04, Y:118.58, Z:85.73 [[ 7.66624642e-01 -6.30336676e-01 -1.22320617e-01 1.92037259e+02] [ 6.22609234e-01 7.76321553e-01 -9.84001439e-02 1.18582112e+02] [ 1.56985351e-01 -7.21970335e-04 9.87600668e-01 8.57263961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.600385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:192.06, Y:118.60, Z:85.73 [[ 7.66164982e-01 -6.30924180e-01 -1.22171599e-01 1.92060365e+02] [ 6.23217772e-01 7.75844066e-01 -9.83137483e-02 1.18597454e+02] [ 1.56814631e-01 -8.14960420e-04 9.87627717e-01 8.57299114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.630385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:192.08, Y:118.61, Z:85.73 [[ 7.65351226e-01 -6.31870990e-01 -1.22378728e-01 1.92083626e+02] [ 6.24141667e-01 7.75072974e-01 -9.85345882e-02 1.18613411e+02] [ 1.57113592e-01 -9.68095160e-04 9.87580064e-01 8.57328799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.660385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.11, Y:118.63, Z:85.74 [[ 7.65779344e-01 -6.31553560e-01 -1.21334652e-01 1.92106573e+02] [ 6.23944047e-01 7.75331782e-01 -9.77468878e-02 1.18628663e+02] [ 1.55807007e-01 -8.53485984e-04 9.87787147e-01 8.57383519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.690385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:192.13, Y:118.64, Z:85.74 [[ 7.65335540e-01 -6.32290240e-01 -1.20293655e-01 1.92129605e+02] [ 6.24812797e-01 7.74731011e-01 -9.69578762e-02 1.18642058e+02] [ 1.54500744e-01 -9.55706576e-04 9.87992210e-01 8.57425587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.720385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.15, Y:118.66, Z:85.75 [[ 7.64294582e-01 -6.33540714e-01 -1.20332691e-01 1.92153107e+02] [ 6.26068804e-01 7.73708448e-01 -9.70210803e-02 1.18658032e+02] [ 1.54569224e-01 -1.18385783e-03 9.87981252e-01 8.57463012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.750385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:192.18, Y:118.68, Z:85.75 [[ 7.63402949e-01 -6.34555649e-01 -1.20644379e-01 1.92175297e+02] [ 6.27049130e-01 7.72875993e-01 -9.73246528e-02 1.18675017e+02] [ 1.55001052e-01 -1.35202600e-03 9.87913380e-01 8.57483347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.780385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:192.20, Y:118.69, Z:85.75 [[ 7.65656414e-01 -6.32077256e-01 -1.19367492e-01 1.92196006e+02] [ 6.24322531e-01 7.74904657e-01 -9.87124619e-02 1.18688617e+02] [ 1.54892328e-01 1.05601460e-03 9.87930793e-01 8.57529421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:118.71, Z:85.76 [[ 7.64959514e-01 -6.32787894e-01 -1.20068410e-01 1.92220964e+02] [ 6.25380986e-01 7.74324191e-01 -9.65436127e-02 1.18705631e+02] [ 1.54063504e-01 -1.23654560e-03 9.88060174e-01 8.57581541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.840385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:192.24, Y:118.72, Z:85.76 [[ 7.65289174e-01 -6.32405788e-01 -1.19980826e-01 1.92243187e+02] [ 6.24936878e-01 7.74636852e-01 -9.69105034e-02 1.18722338e+02] [ 1.54228332e-01 -8.15883514e-04 9.88034896e-01 8.57605535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.870385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:192.26, Y:118.74, Z:85.77 [[ 7.68146118e-01 -6.29051759e-01 -1.19354207e-01 1.92263849e+02] [ 6.21613011e-01 7.77363412e-01 -9.64540800e-02 1.18738591e+02] [ 1.53456202e-01 -1.01301008e-04 9.88155445e-01 8.57656013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.900385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.28, Y:118.76, Z:85.77 [[ 7.69486934e-01 -6.27305687e-01 -1.19905935e-01 1.92284207e+02] [ 6.19771930e-01 7.78773074e-01 -9.69291120e-02 1.18756160e+02] [ 1.54183697e-01 2.71352179e-04 9.88042162e-01 8.57687748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93038572300003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:192.31, Y:118.77, Z:85.77 [[ 7.69248496e-01 -6.27490187e-01 -1.20469150e-01 1.92305726e+02] [ 6.19882406e-01 7.78624426e-01 -9.74156342e-02 1.18774917e+02] [ 1.54927577e-01 2.60123837e-04 9.87925796e-01 8.57709208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.960385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:192.33, Y:118.79, Z:85.77 [[ 7.69388228e-01 -6.27257358e-01 -1.20788919e-01 1.92327333e+02] [ 6.19597700e-01 7.78811970e-01 -9.77271976e-02 1.18793105e+02] [ 1.55371960e-01 3.49619041e-04 9.87855977e-01 8.57745062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:118.81, Z:85.78 [[ 7.69709842e-01 -6.26796154e-01 -1.21133566e-01 1.92349203e+02] [ 6.19077838e-01 7.79183126e-01 -9.80626690e-02 1.18810168e+02] [ 1.55850534e-01 4.88695539e-04 9.87780528e-01 8.57799912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.020385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:192.37, Y:118.83, Z:85.78 [[ 7.69266178e-01 -6.27279412e-01 -1.21449933e-01 1.92371033e+02] [ 6.19517497e-01 7.78794163e-01 -9.83754146e-02 1.18827718e+02] [ 1.56293371e-01 4.36520927e-04 9.87710581e-01 8.57828759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:118.85, Z:85.79 [[ 7.67969973e-01 -6.28859417e-01 -1.21482324e-01 1.92390622e+02] [ 6.21104360e-01 7.77519009e-01 -9.84559067e-02 1.18845146e+02] [ 1.56369740e-01 1.57979088e-04 9.87698577e-01 8.57874143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.080385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:192.41, Y:118.86, Z:85.79 [[ 7.66240404e-01 -6.30995021e-01 -1.21329827e-01 1.92412107e+02] [ 6.23280579e-01 7.75786840e-01 -9.83671627e-02 1.18863755e+02] [ 1.56195273e-01 -2.49630348e-04 9.87726164e-01 8.57885031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.110385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:192.43, Y:118.88, Z:85.79 [[ 7.63898331e-01 -6.34265496e-01 -1.19023614e-01 1.92431380e+02] [ 6.26314345e-01 7.73112860e-01 -1.00134150e-01 1.18882090e+02] [ 1.55530323e-01 1.94611327e-03 9.87829202e-01 8.57923981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:118.90, Z:85.80 [[ 7.62312885e-01 -6.35911706e-01 -1.20396707e-01 1.92455416e+02] [ 6.28804040e-01 7.71754397e-01 -9.48716469e-02 1.18897762e+02] [ 1.53246679e-01 -3.38405684e-03 9.88182171e-01 8.58004980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.170385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:192.48, Y:118.91, Z:85.80 [[ 7.60036921e-01 -6.39217780e-01 -1.17236978e-01 1.92476522e+02] [ 6.32095522e-01 7.69023729e-01 -9.51722433e-02 1.18914027e+02] [ 1.50993808e-01 -1.77055018e-03 9.88533123e-01 8.58031686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.200385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:192.50, Y:118.93, Z:85.81 [[ 7.59252685e-01 -6.40295251e-01 -1.16436040e-01 1.92498665e+02] [ 6.33277413e-01 7.68126436e-01 -9.45594920e-02 1.18931571e+02] [ 1.49983594e-01 -1.94176615e-03 9.88686579e-01 8.58074002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.230385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:192.52, Y:118.95, Z:85.81 [[ 7.59285553e-01 -6.40344929e-01 -1.15947491e-01 1.92519441e+02] [ 6.33378976e-01 7.68085119e-01 -9.42142432e-02 1.18950058e+02] [ 1.49387155e-01 -1.90318907e-03 9.88776950e-01 8.58107720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:118.97, Z:85.81 [[ 7.59743887e-01 -6.39728316e-01 -1.16348219e-01 1.92539377e+02] [ 6.32698908e-01 7.68599131e-01 -9.45910570e-02 1.18968192e+02] [ 1.49937718e-01 -1.74841374e-03 9.88693898e-01 8.58143660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.290385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:192.56, Y:119.00, Z:85.80 [[ 7.60770168e-01 -6.40769758e-01 -1.03164283e-01 1.92562114e+02] [ 6.31849694e-01 7.67547438e-01 -1.07874435e-01 1.18995780e+02] [ 1.48306157e-01 1.68833308e-02 9.88797369e-01 8.58021014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:119.00, Z:85.83 [[ 7.62094261e-01 -6.34166012e-01 -1.30559592e-01 1.92586628e+02] [ 6.29488578e-01 7.72901449e-01 -7.97964910e-02 1.18995604e+02] [ 1.51513920e-01 -2.13733242e-02 9.88224020e-01 8.58293804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.350385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:192.60, Y:119.02, Z:85.82 [[ 7.62741845e-01 -6.35867867e-01 -1.17885261e-01 1.92602928e+02] [ 6.28590928e-01 7.71797374e-01 -9.59284111e-02 1.19021479e+02] [ 1.51981329e-01 -9.32992462e-04 9.88382924e-01 8.58229171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:119.06, Z:85.80 [[ 7.64696270e-01 -6.38486245e-01 -8.70340695e-02 1.92617609e+02] [ 6.28249787e-01 7.68750882e-01 -1.19684110e-01 1.19058127e+02] [ 1.43324176e-01 3.68428567e-02 9.88989780e-01 8.58006394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.410385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.66, Y:119.04, Z:85.85 [[ 7.64617043e-01 -6.29028459e-01 -1.40299588e-01 1.92655981e+02] [ 6.26805575e-01 7.76446918e-01 -6.51533145e-02 1.19042249e+02] [ 1.49918472e-01 -3.81232295e-02 9.87963092e-01 8.58475037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:119.07, Z:85.84 [[ 7.64946230e-01 -6.33651964e-01 -1.15509543e-01 1.92668073e+02] [ 6.26622157e-01 7.73618152e-01 -9.41255979e-02 1.19074580e+02] [ 1.49003149e-01 -3.79817622e-04 9.88836648e-01 8.58358779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:119.09, Z:85.84 [[ 7.64509809e-01 -6.34265380e-01 -1.15031211e-01 1.92690234e+02] [ 6.27292904e-01 7.73115269e-01 -9.37890853e-02 1.19092207e+02] [ 1.48419555e-01 -4.55586593e-04 9.88924379e-01 8.58394426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:119.11, Z:85.84 [[ 7.63924504e-01 -6.35178257e-01 -1.13876836e-01 1.92713539e+02] [ 6.28348101e-01 7.72365353e-01 -9.29000820e-02 1.19108243e+02] [ 1.46962635e-01 -5.85644493e-04 9.89141871e-01 8.58440084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:119.12, Z:85.85 [[ 7.63621941e-01 -6.35607685e-01 -1.13509483e-01 1.92736009e+02] [ 6.28818693e-01 7.72011969e-01 -9.26529639e-02 1.19124495e+02] [ 1.46521615e-01 -6.25048652e-04 9.89207271e-01 8.58483642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:119.14, Z:85.85 [[ 7.62797622e-01 -6.36709784e-01 -1.12873556e-01 1.92758104e+02] [ 6.30001338e-01 7.71103122e-01 -9.21861658e-02 1.19140669e+02] [ 1.45732985e-01 -7.91102997e-04 9.89323643e-01 8.58521388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:119.16, Z:85.86 [[ 7.63021247e-01 -6.36536087e-01 -1.12340496e-01 1.92779285e+02] [ 6.29881929e-01 7.71246587e-01 -9.18011861e-02 1.19157670e+02] [ 1.45076992e-01 -7.14992519e-04 9.89420111e-01 8.58556831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.620385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:192.80, Y:119.18, Z:85.86 [[ 7.62482733e-01 -6.37302434e-01 -1.11649858e-01 1.92800416e+02] [ 6.30734120e-01 7.70613337e-01 -9.12663933e-02 1.19176218e+02] [ 1.44203164e-01 -8.32325682e-04 9.89547753e-01 8.58576463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.82, Y:119.19, Z:85.86 [[ 7.64103719e-01 -6.35685726e-01 -1.09768690e-01 1.92821467e+02] [ 6.29314276e-01 7.71947815e-01 -8.97781356e-02 1.19193690e+02] [ 1.41806380e-01 -4.79196287e-04 9.89894298e-01 8.58628612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68038572300003 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:192.84, Y:119.23, Z:85.84 [[ 7.64819736e-01 -6.39156908e-01 -8.08035736e-02 1.92838668e+02] [ 6.29520070e-01 7.68100034e-01 -1.17161510e-01 1.19231596e+02] [ 1.36949816e-01 3.87399641e-02 9.89820167e-01 8.58404684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.87, Y:119.21, Z:85.89 [[ 7.65106436e-01 -6.29533012e-01 -1.35278706e-01 1.92874804e+02] [ 6.28176889e-01 7.75909904e-01 -5.79449495e-02 1.19213323e+02] [ 1.41442346e-01 -4.06449030e-02 9.89111750e-01 8.58872169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.740385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:192.89, Y:119.25, Z:85.87 [[ 7.64528681e-01 -6.35181646e-01 -1.09727721e-01 1.92886168e+02] [ 6.28789270e-01 7.72362739e-01 -8.98879976e-02 1.19247891e+02] [ 1.41844810e-01 -2.73661509e-04 9.89888870e-01 8.58717565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:119.26, Z:85.87 [[ 7.63897482e-01 -6.36024845e-01 -1.09238421e-01 1.92906430e+02] [ 6.29691168e-01 7.71668481e-01 -8.95365197e-02 1.19264826e+02] [ 1.41243297e-01 -3.89746690e-04 9.89974838e-01 8.58749494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.93, Y:119.28, Z:85.88 [[ 7.62898320e-01 -6.37331169e-01 -1.08605408e-01 1.92927706e+02] [ 6.31079358e-01 7.70589787e-01 -8.90518023e-02 1.19282339e+02] [ 1.40445707e-01 -6.01160473e-04 9.90088199e-01 8.58772287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.95, Y:119.30, Z:85.88 [[ 7.61375220e-01 -6.39365592e-01 -1.07328532e-01 1.92948887e+02] [ 6.33274003e-01 7.68902321e-01 -8.80525871e-02 1.19298956e+02] [ 1.38822952e-01 -9.27311333e-04 9.90316782e-01 8.58812087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:119.32, Z:85.89 [[ 7.60639873e-01 -6.40355625e-01 -1.06637973e-01 1.92969891e+02] [ 6.34348473e-01 7.68077800e-01 -8.75129012e-02 1.19316470e+02] [ 1.37945639e-01 -1.07983353e-03 9.90439213e-01 8.58851121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.890385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:192.99, Y:119.34, Z:85.89 [[ 7.59111699e-01 -6.42256490e-01 -1.06094437e-01 1.92991008e+02] [ 6.36322518e-01 7.66488549e-01 -8.71146215e-02 1.19335441e+02] [ 1.37270102e-01 -1.38055070e-03 9.90532692e-01 8.58865464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.920385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:193.01, Y:119.35, Z:85.89 [[ 7.58503086e-01 -6.43273560e-01 -1.04269823e-01 1.93012522e+02] [ 6.37546128e-01 7.65634948e-01 -8.56624914e-02 1.19352863e+02] [ 1.34937036e-01 -1.50155794e-03 9.90853037e-01 8.58921637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:119.38, Z:85.89 [[ 7.57242322e-01 -6.46126133e-01 -9.54205778e-02 1.93032974e+02] [ 6.39563778e-01 7.63179332e-01 -9.22793646e-02 1.19376946e+02] [ 1.32447122e-01 8.85029503e-03 9.91150560e-01 8.58857280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.980385723 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:193.05, Y:119.39, Z:85.89 [[ 7.55886061e-01 -6.47134598e-01 -9.92626619e-02 1.93052766e+02] [ 6.40758496e-01 7.62359385e-01 -9.07563670e-02 1.19391581e+02] [ 1.34405407e-01 4.99807880e-03 9.90913824e-01 8.58946124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:119.40, Z:85.91 [[ 7.55390623e-01 -6.45618610e-01 -1.12078623e-01 1.93078842e+02] [ 6.42490922e-01 7.63359859e-01 -6.69861250e-02 1.19398354e+02] [ 1.28803811e-01 -2.14088074e-02 9.91438975e-01 8.59072882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.09, Y:119.43, Z:85.90 [[ 7.51687192e-01 -6.52763756e-01 -9.41586095e-02 1.93091745e+02] [ 6.46276019e-01 7.57514448e-01 -9.21909309e-02 1.19430767e+02] [ 1.31505405e-01 8.44629062e-03 9.91279470e-01 8.58970885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:119.44, Z:85.91 [[ 7.50854431e-01 -6.51827582e-01 -1.06482046e-01 1.93117264e+02] [ 6.47963910e-01 7.58225487e-01 -7.23663078e-02 1.19438962e+02] [ 1.27907757e-01 -1.46599602e-02 9.91677715e-01 8.59112014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:119.46, Z:85.91 [[ 7.49235617e-01 -6.54949152e-01 -9.84255968e-02 1.93135086e+02] [ 6.49941023e-01 7.55665521e-01 -8.09091248e-02 1.19462059e+02] [ 1.27368193e-01 -3.35083502e-03 9.91849845e-01 8.59102585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.16, Y:119.48, Z:85.91 [[ 7.46757041e-01 -6.58006730e-01 -9.68558998e-02 1.93155036e+02] [ 6.53177734e-01 7.53002578e-01 -7.96615694e-02 1.19481495e+02] [ 1.25350591e-01 -3.77627928e-03 9.92105322e-01 8.59139290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:119.50, Z:85.92 [[ 7.46591563e-01 -6.58197660e-01 -9.68342785e-02 1.93176859e+02] [ 6.53366858e-01 7.52835704e-01 -7.96878426e-02 1.19499566e+02] [ 1.25350654e-01 -3.77403729e-03 9.92105322e-01 8.59177278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:119.52, Z:85.92 [[ 7.44604875e-01 -6.60255771e-01 -9.81116593e-02 1.93196982e+02] [ 6.55308528e-01 7.51029393e-01 -8.07810868e-02 1.19519615e+02] [ 1.27020919e-01 -4.14341607e-03 9.91891384e-01 8.59204593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.220385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:193.22, Y:119.54, Z:85.92 [[ 7.43565061e-01 -6.61469447e-01 -9.78221434e-02 1.93215763e+02] [ 6.56556041e-01 7.49959770e-01 -8.05885140e-02 1.19540565e+02] [ 1.26669512e-01 -4.30291594e-03 9.91935643e-01 8.59225305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:119.56, Z:85.93 [[ 7.44339753e-01 -6.60784119e-01 -9.65540272e-02 1.93235471e+02] [ 6.55985878e-01 7.50564844e-01 -7.95923535e-02 1.19559312e+02] [ 1.25063422e-01 -4.09432564e-03 9.92140301e-01 8.59262494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.25, Y:119.58, Z:85.93 [[ 7.45759397e-01 -6.59004236e-01 -9.77565299e-02 1.93254574e+02] [ 6.54065890e-01 7.52129532e-01 -8.06162417e-02 1.19579819e+02] [ 1.26652018e-01 -3.81889195e-03 9.91939858e-01 8.59280804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.27, Y:119.60, Z:85.93 [[ 7.47532681e-01 -6.57146748e-01 -9.67111343e-02 1.93273835e+02] [ 6.52292483e-01 7.53754857e-01 -7.98005744e-02 1.19598592e+02] [ 1.25337175e-01 -3.43040868e-03 9.92108273e-01 8.59330859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:193.29, Y:119.62, Z:85.94 [[ 7.48880215e-01 -6.55636043e-01 -9.65391241e-02 1.93293948e+02] [ 6.50784127e-01 7.55070470e-01 -7.96781399e-02 1.19617992e+02] [ 1.25133702e-01 -3.15674700e-03 9.92134866e-01 8.59367843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:193.31, Y:119.64, Z:85.94 [[ 7.51116444e-01 -6.53091959e-01 -9.64104782e-02 1.93311751e+02] [ 6.48226308e-01 7.57273820e-01 -7.96179314e-02 1.19638248e+02] [ 1.25006962e-01 -2.69347082e-03 9.92152208e-01 8.59402269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:193.33, Y:119.66, Z:85.94 [[ 7.52693935e-01 -6.51314238e-01 -9.61332586e-02 1.93329908e+02] [ 6.46458288e-01 7.58804428e-01 -7.94199118e-02 1.19659208e+02] [ 1.24673662e-01 -2.36725577e-03 9.92194978e-01 8.59435652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43038572300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:193.35, Y:119.68, Z:85.95 [[ 7.53046537e-01 -6.50984268e-01 -9.56054216e-02 1.93350342e+02] [ 6.46176198e-01 7.59087791e-01 -7.90066264e-02 1.19678387e+02] [ 1.24004979e-01 -2.28228148e-03 9.92278971e-01 8.59468331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.460385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:193.37, Y:119.70, Z:85.95 [[ 7.53661214e-01 -6.50589097e-01 -9.34269832e-02 1.93373032e+02] [ 6.45920006e-01 7.59428046e-01 -7.78228117e-02 1.19697079e+02] [ 1.21581744e-01 -1.69432273e-03 9.92579976e-01 8.59490484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:119.72, Z:85.96 [[ 7.53017876e-01 -6.51231300e-01 -9.41375245e-02 1.93390660e+02] [ 6.46691331e-01 7.58873256e-01 -7.68225504e-02 1.19715435e+02] [ 1.21467699e-01 -3.02916732e-03 9.92590763e-01 8.59567918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:119.74, Z:85.96 [[ 7.52417695e-01 -6.52057725e-01 -9.32112450e-02 1.93410654e+02] [ 6.47483125e-01 7.58165796e-01 -7.71377300e-02 1.19735489e+02] [ 1.20967830e-01 -2.31291516e-03 9.92653733e-01 8.59592252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.550385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:193.43, Y:119.76, Z:85.96 [[ 7.50595138e-01 -6.53810288e-01 -9.55983605e-02 1.93429349e+02] [ 6.49005870e-01 7.56653953e-01 -7.91591821e-02 1.19757061e+02] [ 1.24089965e-01 -2.62739990e-03 9.92267493e-01 8.59631803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.45, Y:119.78, Z:85.96 [[ 7.51486555e-01 -6.53023414e-01 -9.39594529e-02 1.93449043e+02] [ 6.48371146e-01 7.57333856e-01 -7.78478553e-02 1.19775113e+02] [ 1.21995147e-01 -2.41898152e-03 9.92527749e-01 8.59648591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:193.47, Y:119.80, Z:85.97 [[ 7.52523195e-01 -6.51669806e-01 -9.50542213e-02 1.93468817e+02] [ 6.46895139e-01 7.58499553e-01 -7.87725034e-02 1.19795400e+02] [ 1.23432246e-01 -2.21197780e-03 9.92350537e-01 8.59687640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:119.81, Z:85.98 [[ 7.52404260e-01 -6.49390677e-01 -1.10361128e-01 1.93494175e+02] [ 6.46426811e-01 7.60139875e-01 -6.57247898e-02 1.19807258e+02] [ 1.26570960e-01 -2.18887801e-02 9.91716025e-01 8.59835992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:119.84, Z:85.97 [[ 7.51569008e-01 -6.54062341e-01 -8.57116133e-02 1.93497411e+02] [ 6.47887630e-01 7.56337233e-01 -9.05296018e-02 1.19842844e+02] [ 1.24038888e-01 1.25077490e-02 9.92198524e-01 8.59686537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:193.53, Y:119.86, Z:85.97 [[ 7.53111092e-01 -6.51634789e-01 -9.05305807e-02 1.93526004e+02] [ 6.46082806e-01 7.58512391e-01 -8.50644523e-02 1.19859431e+02] [ 1.24099524e-01 5.57273092e-03 9.92254127e-01 8.59732220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.55, Y:119.87, Z:85.98 [[ 7.52989624e-01 -6.50967395e-01 -9.61669182e-02 1.93549036e+02] [ 6.46059320e-01 7.59102973e-01 -7.98124783e-02 1.19874127e+02] [ 1.24955915e-01 -2.03156578e-03 9.92160215e-01 8.59814438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:119.90, Z:85.98 [[ 7.51516272e-01 -6.53251330e-01 -9.21194494e-02 1.93566888e+02] [ 6.47134416e-01 7.57102402e-01 -8.95153698e-02 1.19896247e+02] [ 1.28219891e-01 7.65859095e-03 9.91716192e-01 8.59818852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:119.91, Z:85.99 [[ 7.51127014e-01 -6.52127983e-01 -1.02651359e-01 1.93591629e+02] [ 6.48239847e-01 7.58008526e-01 -7.21676839e-02 1.19906557e+02] [ 1.24873171e-01 -1.23356041e-02 9.92096026e-01 8.59929200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.820385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:193.61, Y:119.93, Z:85.99 [[ 7.49682054e-01 -6.54834967e-01 -9.57495911e-02 1.93607574e+02] [ 6.49987917e-01 7.55767481e-01 -7.95689797e-02 1.19931638e+02] [ 1.24468978e-01 -2.58464122e-03 9.92220134e-01 8.59914480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:119.95, Z:86.00 [[ 7.47323296e-01 -6.55932386e-01 -1.06115956e-01 1.93627375e+02] [ 6.52232671e-01 7.54652507e-01 -7.13592042e-02 1.19945141e+02] [ 1.26887485e-01 -1.58838979e-02 9.91789931e-01 8.60017013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:193.65, Y:119.97, Z:86.00 [[ 7.46471901e-01 -6.58253442e-01 -9.73761161e-02 1.93646378e+02] [ 6.53121178e-01 7.52792772e-01 -8.20717264e-02 1.19968164e+02] [ 1.27328033e-01 -2.33416607e-03 9.91857915e-01 8.60016599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:119.99, Z:86.00 [[ 7.47594941e-01 -6.58460577e-01 -8.67840598e-02 1.93668971e+02] [ 6.52242855e-01 7.52528526e-01 -9.09949188e-02 1.19991455e+02] [ 1.25224047e-01 1.14230581e-02 9.92062726e-01 8.59987592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:120.00, Z:86.01 [[ 7.45827051e-01 -6.58320481e-01 -1.01765188e-01 1.93692012e+02] [ 6.54216595e-01 7.52654379e-01 -7.42430573e-02 1.20000475e+02] [ 1.25469740e-01 -1.12039946e-02 9.92034180e-01 8.60114849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:120.03, Z:86.01 [[ 7.45527706e-01 -6.60525212e-01 -8.88531595e-02 1.93706121e+02] [ 6.54987394e-01 7.50783201e-01 -8.55341949e-02 1.20026738e+02] [ 1.23206952e-01 5.57041269e-03 9.92365365e-01 8.60066010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.73, Y:120.04, Z:86.02 [[ 7.46421882e-01 -6.58161841e-01 -9.83736003e-02 1.93730612e+02] [ 6.53646681e-01 7.52847175e-01 -7.72473172e-02 1.20040335e+02] [ 1.24901524e-01 -6.64248945e-03 9.92146908e-01 8.60165273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:120.06, Z:86.01 [[ 7.47321729e-01 -6.58133673e-01 -9.14893525e-02 1.93748324e+02] [ 6.52586449e-01 7.52889980e-01 -8.53674688e-02 1.20063733e+02] [ 1.25064623e-01 4.09225279e-03 9.92140158e-01 8.60140654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:120.08, Z:86.02 [[ 7.48218164e-01 -6.56676636e-01 -9.45799939e-02 1.93771656e+02] [ 6.51615873e-01 7.54171891e-01 -8.13726838e-02 1.20078748e+02] [ 1.24765113e-01 -7.45305179e-04 9.92186026e-01 8.60192783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.79, Y:120.10, Z:86.02 [[ 7.50302576e-01 -6.54404354e-01 -9.38135688e-02 1.93793049e+02] [ 6.49416450e-01 7.56144674e-01 -8.06443190e-02 1.20096244e+02] [ 1.23710624e-01 -4.16434524e-04 9.92318249e-01 8.60228340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.120385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:193.81, Y:120.11, Z:86.03 [[ 7.51093453e-01 -6.53614355e-01 -9.29887107e-02 1.93813700e+02] [ 6.48717508e-01 7.56827694e-01 -7.98588547e-02 1.20114745e+02] [ 1.22573325e-01 -3.41941789e-04 9.92459401e-01 8.60259660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:120.13, Z:86.03 [[ 7.51947803e-01 -6.52808905e-01 -9.17334952e-02 1.93834894e+02] [ 6.47945639e-01 7.57522539e-01 -7.95364803e-02 1.20133276e+02] [ 1.21412313e-01 3.68963459e-04 9.92602093e-01 8.60285799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18038572300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.86, Y:120.15, Z:86.03 [[ 7.54392143e-01 -6.50005601e-01 -9.15708117e-02 1.93857273e+02] [ 6.45203371e-01 7.59929304e-01 -7.88673794e-02 1.20149625e+02] [ 1.20851581e-01 4.15134954e-04 9.92670501e-01 8.60327470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:120.17, Z:86.04 [[ 7.55763930e-01 -6.47941866e-01 -9.48273221e-02 1.93881664e+02] [ 6.43490613e-01 7.61681032e-01 -7.59067635e-02 1.20165105e+02] [ 1.21411343e-01 -3.65289772e-03 9.92595558e-01 8.60399489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.240385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.91, Y:120.18, Z:86.05 [[ 7.58159909e-01 -6.45173462e-01 -9.45767174e-02 1.93907393e+02] [ 6.40668998e-01 7.64030805e-01 -7.61588078e-02 1.20180451e+02] [ 1.21395167e-01 -2.85181594e-03 9.92600161e-01 8.60464719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.270385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:193.93, Y:120.20, Z:86.05 [[ 7.58203365e-01 -6.45396006e-01 -9.26911715e-02 1.93928792e+02] [ 6.40748138e-01 7.63847764e-01 -7.73202286e-02 1.20197475e+02] [ 1.20704111e-01 -7.67238025e-04 9.92688234e-01 8.60462877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.300385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.95, Y:120.21, Z:86.05 [[ 7.58465140e-01 -6.45185681e-01 -9.20112404e-02 1.93951228e+02] [ 6.40602100e-01 7.64025476e-01 -7.67725305e-02 1.20213896e+02] [ 1.19831469e-01 -7.13305662e-04 9.92793992e-01 8.60540601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:120.23, Z:86.06 [[ 7.58079743e-01 -6.45806921e-01 -9.08213864e-02 1.93974434e+02] [ 6.41340808e-01 7.63500381e-01 -7.58230562e-02 1.20229171e+02] [ 1.18309218e-01 -7.67538322e-04 9.92976505e-01 8.60586089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:120.24, Z:86.06 [[ 7.57490329e-01 -6.46696853e-01 -8.93956486e-02 1.93996861e+02] [ 6.42371118e-01 7.62746646e-01 -7.46786544e-02 1.20243653e+02] [ 1.16480682e-01 -8.56824238e-04 9.93192588e-01 8.60614700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.390385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:194.02, Y:120.26, Z:86.06 [[ 7.56867105e-01 -6.47602526e-01 -8.81087538e-02 1.94019657e+02] [ 6.43405272e-01 7.61977707e-01 -7.36181356e-02 1.20259848e+02] [ 1.14812197e-01 -9.70491460e-04 9.93386741e-01 8.60620657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.420385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:194.04, Y:120.27, Z:86.07 [[ 7.56772324e-01 -6.47879909e-01 -8.68750420e-02 1.94042439e+02] [ 6.43796659e-01 7.61741880e-01 -7.26303678e-02 1.20274849e+02] [ 1.13232114e-01 -9.65209557e-04 9.93568094e-01 8.60660787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:120.29, Z:86.07 [[ 7.57226730e-01 -6.47630390e-01 -8.47499724e-02 1.94067927e+02] [ 6.43740875e-01 7.61954127e-01 -7.08773128e-02 1.20287011e+02] [ 1.10477893e-01 -8.86825612e-04 9.93878186e-01 8.60743143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:120.30, Z:86.08 [[ 7.57572499e-01 -6.47370988e-01 -8.36343945e-02 1.94090415e+02] [ 6.43576785e-01 7.62174626e-01 -6.99911537e-02 1.20301986e+02] [ 1.09054256e-01 -8.01781418e-04 9.94035475e-01 8.60770522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:120.32, Z:86.08 [[ 7.57724142e-01 -6.47233178e-01 -8.33266956e-02 1.94113224e+02] [ 6.43464624e-01 7.62291691e-01 -6.97470835e-02 1.20318244e+02] [ 1.08661874e-01 -7.68731799e-04 9.94078471e-01 8.60800807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:120.34, Z:86.08 [[ 7.57594565e-01 -6.47864259e-01 -7.95133763e-02 1.94137265e+02] [ 6.44036481e-01 7.61752937e-01 -7.03524996e-02 1.20335833e+02] [ 1.06148418e-01 2.08915624e-03 9.94348102e-01 8.60808749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:120.35, Z:86.08 [[ 7.58142218e-01 -6.47408386e-01 -7.79920443e-02 1.94163499e+02] [ 6.43488447e-01 7.62133701e-01 -7.12379177e-02 1.20347446e+02] [ 1.05560391e-01 3.82149337e-03 9.94405551e-01 8.60840353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:120.36, Z:86.10 [[ 7.57535035e-01 -6.46925884e-01 -8.73359729e-02 1.94187531e+02] [ 6.43980475e-01 7.62499384e-01 -6.23204403e-02 1.20357270e+02] [ 1.06910331e-01 -9.03274439e-03 9.94227635e-01 8.60957264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.630385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:194.21, Y:120.38, Z:86.09 [[ 7.56080903e-01 -6.49372351e-01 -8.15917780e-02 1.94209275e+02] [ 6.45764052e-01 7.60469957e-01 -6.83683645e-02 1.20376555e+02] [ 1.06444622e-01 -9.97022379e-04 9.94318132e-01 8.60907824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.660385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:194.23, Y:120.39, Z:86.09 [[ 7.55299961e-01 -6.50243634e-01 -8.18851944e-02 1.94231275e+02] [ 6.46610227e-01 7.59724963e-01 -6.86527145e-02 1.20393259e+02] [ 1.06851217e-01 -1.09441154e-03 9.94274419e-01 8.60936977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:120.41, Z:86.10 [[ 7.54352085e-01 -6.51320225e-01 -8.20664097e-02 1.94253945e+02] [ 6.47672883e-01 7.58802000e-01 -6.88430234e-02 1.20408848e+02] [ 1.07111009e-01 -1.22030988e-03 9.94246319e-01 8.60999237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:194.28, Y:120.42, Z:86.10 [[ 7.51914080e-01 -6.53981218e-01 -8.32693414e-02 1.94279166e+02] [ 6.50237170e-01 7.56509117e-01 -6.98969209e-02 1.20420371e+02] [ 1.08705289e-01 -1.58834192e-03 9.94072753e-01 8.61030474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:120.43, Z:86.12 [[ 7.51852778e-01 -6.51408589e-01 -1.01903139e-01 1.94312294e+02] [ 6.49504407e-01 7.58331995e-01 -5.54672040e-02 1.20426449e+02] [ 1.13408224e-01 -2.44833662e-02 9.93246767e-01 8.61229354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:120.46, Z:86.10 [[ 7.47920208e-01 -6.60078063e-01 -7.00878956e-02 1.94320345e+02] [ 6.54505428e-01 7.50934995e-01 -8.78594174e-02 1.20460821e+02] [ 1.10625528e-01 1.98389256e-02 9.93664133e-01 8.60996392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:120.47, Z:86.11 [[ 7.47518685e-01 -6.58830255e-01 -8.46079848e-02 1.94348046e+02] [ 6.54988535e-01 7.52288166e-01 -7.10811837e-02 1.20468441e+02] [ 1.10480020e-01 -2.28274703e-03 9.93875724e-01 8.61108113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:120.49, Z:86.11 [[ 7.45933887e-01 -6.60439403e-01 -8.60373802e-02 1.94370867e+02] [ 6.56474790e-01 7.50875021e-01 -7.23018156e-02 1.20485862e+02] [ 1.12354288e-01 -2.54899679e-03 9.93664942e-01 8.61114914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.39, Y:120.50, Z:86.11 [[ 7.45292634e-01 -6.61043435e-01 -8.69509408e-02 1.94392278e+02] [ 6.56992902e-01 7.50343012e-01 -7.31142387e-02 1.20502718e+02] [ 1.13574718e-01 -2.63464733e-03 9.93525964e-01 8.61142151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:120.52, Z:86.12 [[ 7.45340527e-01 -6.60951200e-01 -8.72411017e-02 1.94413622e+02] [ 6.56870581e-01 7.50424331e-01 -7.33782196e-02 1.20520371e+02] [ 1.13967268e-01 -2.61435228e-03 9.93481065e-01 8.61170786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.43, Y:120.54, Z:86.12 [[ 7.46670227e-01 -6.59341100e-01 -8.80504675e-02 1.94433637e+02] [ 6.55168155e-01 7.51840241e-01 -7.41008735e-02 1.20540071e+02] [ 1.15057636e-01 -2.35894628e-03 9.93356017e-01 8.61191898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:120.56, Z:86.12 [[ 7.47118999e-01 -6.58717859e-01 -8.89043512e-02 1.94454253e+02] [ 6.54453942e-01 7.52386673e-01 -7.48620869e-02 1.20559547e+02] [ 1.16203443e-01 -2.25291568e-03 9.93222877e-01 8.61218969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:120.58, Z:86.12 [[ 7.48398404e-01 -6.56953624e-01 -9.11688799e-02 1.94472885e+02] [ 6.52450597e-01 7.53928346e-01 -7.68131999e-02 1.20581105e+02] [ 1.19197513e-01 -1.99631395e-03 9.92868555e-01 8.61230910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:120.59, Z:86.14 [[ 7.49305323e-01 -6.53333648e-01 -1.08151173e-01 1.94500663e+02] [ 6.50379959e-01 7.56773152e-01 -6.55767140e-02 1.20592095e+02] [ 1.24689378e-01 -2.12023746e-02 9.91969263e-01 8.61395474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:120.63, Z:86.12 [[ 7.49413981e-01 -6.56803858e-01 -8.35905357e-02 1.94506980e+02] [ 6.50097076e-01 7.53870668e-01 -9.51462469e-02 1.20630791e+02] [ 1.25508875e-01 1.69619648e-02 9.91947486e-01 8.61184575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:120.64, Z:86.13 [[ 7.49354430e-01 -6.55210713e-01 -9.57437210e-02 1.94533921e+02] [ 6.50214545e-01 7.55444210e-01 -8.07780360e-02 1.20641269e+02] [ 1.25255674e-01 -1.72258087e-03 9.92123001e-01 8.61296640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:120.66, Z:86.13 [[ 7.49508064e-01 -6.54817507e-01 -9.72198309e-02 1.94553317e+02] [ 6.49656721e-01 7.55785227e-01 -8.20660443e-02 1.20661207e+02] [ 1.27215594e-01 -1.65035460e-03 9.91873716e-01 8.61313551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.57, Y:120.68, Z:86.13 [[ 7.49665495e-01 -6.54240836e-01 -9.98527621e-02 1.94570783e+02] [ 6.48784174e-01 7.56284667e-01 -8.43362207e-02 1.20682202e+02] [ 1.30693312e-01 -1.55893716e-03 9.91421620e-01 8.61308751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:120.70, Z:86.14 [[ 7.48445301e-01 -6.55128625e-01 -1.03131545e-01 1.94590441e+02] [ 6.49310689e-01 7.55515336e-01 -8.71332725e-02 1.20702118e+02] [ 1.35000965e-01 -1.74992612e-03 9.90843922e-01 8.61354715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.61, Y:120.72, Z:86.14 [[ 7.49579780e-01 -6.53776486e-01 -1.03472021e-01 1.94611154e+02] [ 6.47900126e-01 7.56686287e-01 -8.74716508e-02 1.20720620e+02] [ 1.35482768e-01 -1.47255494e-03 9.90778609e-01 8.61353106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.63, Y:120.74, Z:86.14 [[ 7.50176891e-01 -6.52427469e-01 -1.07578016e-01 1.94629701e+02] [ 6.46055660e-01 7.57850126e-01 -9.09685191e-02 1.20742014e+02] [ 1.40878374e-01 -1.25890545e-03 9.90026110e-01 8.61356343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:120.76, Z:86.14 [[ 7.50854740e-01 -6.51392851e-01 -1.09107809e-01 1.94649039e+02] [ 6.44819463e-01 7.58739922e-01 -9.23124672e-02 1.20760792e+02] [ 1.42916132e-01 -1.04158530e-03 9.89734254e-01 8.61378915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:120.78, Z:86.14 [[ 7.52863877e-01 -6.48542723e-01 -1.12197676e-01 1.94668070e+02] [ 6.41553330e-01 7.61178098e-01 -9.49590875e-02 1.20781806e+02] [ 1.46987439e-01 -4.89525961e-04 9.89138238e-01 8.61387770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.69, Y:120.80, Z:86.14 [[ 7.53759140e-01 -6.47281287e-01 -1.13464065e-01 1.94687935e+02] [ 6.40109917e-01 7.62251201e-01 -9.60853852e-02 1.20802327e+02] [ 1.48682392e-01 -2.04235763e-04 9.88884981e-01 8.61407476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.350385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:194.70, Y:120.83, Z:86.14 [[ 7.54231892e-01 -6.47867477e-01 -1.06780079e-01 1.94702620e+02] [ 6.38195506e-01 7.61564757e-01 -1.12807874e-01 1.20829799e+02] [ 1.54404498e-01 1.69367297e-02 9.87862540e-01 8.61353969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:120.84, Z:86.15 [[ 7.57412062e-01 -6.40327309e-01 -1.27702413e-01 1.94732527e+02] [ 6.34829521e-01 7.67926190e-01 -8.53278722e-02 1.20835446e+02] [ 1.52703794e-01 -1.64409020e-02 9.88135238e-01 8.61502809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:120.86, Z:86.15 [[ 7.57332597e-01 -6.42421243e-01 -1.17227489e-01 1.94748203e+02] [ 6.34686490e-01 7.66351218e-01 -9.93925030e-02 1.20861154e+02] [ 1.53689284e-01 8.70479142e-04 9.88118842e-01 8.61475771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.440385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:194.76, Y:120.89, Z:86.14 [[ 7.57621762e-01 -6.43690126e-01 -1.08038362e-01 1.94760932e+02] [ 6.35030740e-01 7.65198343e-01 -1.05865268e-01 1.20886578e+02] [ 1.50815203e-01 1.15981499e-02 9.88493934e-01 8.61400656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:120.90, Z:86.16 [[ 7.59413197e-01 -6.38561546e-01 -1.24622422e-01 1.94790596e+02] [ 6.31697965e-01 7.69533411e-01 -9.36803654e-02 1.20896032e+02] [ 1.55721797e-01 -7.58162467e-03 9.87771857e-01 8.61564229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:120.92, Z:86.15 [[ 7.60061682e-01 -6.38783245e-01 -1.19424475e-01 1.94805619e+02] [ 6.30687702e-01 7.69384771e-01 -1.01390817e-01 1.20921367e+02] [ 1.56650127e-01 1.74372725e-03 9.87652620e-01 8.61546599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.530385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:194.83, Y:120.94, Z:86.16 [[ 7.59973922e-01 -6.38918629e-01 -1.19258641e-01 1.94825948e+02] [ 6.30841824e-01 7.69272355e-01 -1.01284935e-01 1.20940246e+02] [ 1.56455208e-01 1.74057081e-03 9.87683521e-01 8.61576907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:120.96, Z:86.16 [[ 7.58883866e-01 -6.40218047e-01 -1.19231415e-01 1.94846117e+02] [ 6.32152885e-01 7.68191752e-01 -1.01312201e-01 1.20958112e+02] [ 1.56454490e-01 1.51171178e-03 9.87684012e-01 8.61624024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.590385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:194.87, Y:120.98, Z:86.17 [[ 7.57981234e-01 -6.41249799e-01 -1.19428403e-01 1.94867145e+02] [ 6.33164234e-01 7.67331038e-01 -1.01519121e-01 1.20976438e+02] [ 1.56740237e-01 1.33179574e-03 9.87638965e-01 8.61650243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:121.00, Z:86.17 [[ 7.57153652e-01 -6.42380865e-01 -1.18596675e-01 1.94887582e+02] [ 6.34413231e-01 7.66384721e-01 -1.00867793e-01 1.20995180e+02] [ 1.55686220e-01 1.13311806e-03 9.87805911e-01 8.61709710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.91, Y:121.02, Z:86.17 [[ 7.55106051e-01 -6.44999133e-01 -1.17434962e-01 1.94905991e+02] [ 6.37211170e-01 7.64183044e-01 -9.99309737e-02 1.21015498e+02] [ 1.54197198e-01 6.27613744e-04 9.88039893e-01 8.61742089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.93, Y:121.04, Z:86.18 [[ 7.53882208e-01 -6.46403710e-01 -1.17574916e-01 1.94925530e+02] [ 6.38608689e-01 7.62995485e-01 -1.00084127e-01 1.21035525e+02] [ 1.54403881e-01 3.67279887e-04 9.88007746e-01 8.61770456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.710385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:194.95, Y:121.06, Z:86.18 [[ 7.51974400e-01 -6.48541060e-01 -1.18021168e-01 1.94945693e+02] [ 6.40703944e-01 7.61179672e-01 -1.00518473e-01 1.21055990e+02] [ 1.55025671e-01 -2.93089278e-05 9.87910442e-01 8.61779681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:121.07, Z:86.18 [[ 7.51641961e-01 -6.49011899e-01 -1.17549637e-01 1.94965985e+02] [ 6.41235229e-01 7.60778252e-01 -1.00169024e-01 1.21072142e+02] [ 1.54440096e-01 -8.57269082e-05 9.88002151e-01 8.61845058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:194.99, Y:121.09, Z:86.19 [[ 7.50883368e-01 -6.49978395e-01 -1.17056624e-01 1.94986888e+02] [ 6.42273493e-01 7.59952643e-01 -9.97834697e-02 1.21089339e+02] [ 1.53814591e-01 -2.56619165e-04 9.88099694e-01 8.61902948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:195.01, Y:121.11, Z:86.19 [[ 7.50904843e-01 -6.50086748e-01 -1.16314822e-01 1.95006119e+02] [ 6.42473008e-01 7.59859964e-01 -9.92031712e-02 1.21108660e+02] [ 1.52873643e-01 -2.36992006e-04 9.88245715e-01 8.61939325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.03, Y:121.13, Z:86.20 [[ 7.51280771e-01 -6.49763799e-01 -1.15690138e-01 1.95025293e+02] [ 6.42223591e-01 7.60136161e-01 -9.87009407e-02 1.21128129e+02] [ 1.52072556e-01 -1.46817074e-04 9.88369322e-01 8.61973155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:121.15, Z:86.20 [[ 7.53238216e-01 -6.47807198e-01 -1.13921132e-01 1.95045591e+02] [ 6.40469875e-01 7.61804280e-01 -9.72243695e-02 1.21146817e+02] [ 1.49768252e-01 2.70057779e-04 9.88721092e-01 8.62025952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.07, Y:121.16, Z:86.21 [[ 7.54823405e-01 -6.46076609e-01 -1.13254765e-01 1.95066322e+02] [ 6.38798203e-01 7.63272293e-01 -9.67071005e-02 1.21163988e+02] [ 1.48924420e-01 6.49842408e-04 9.88848368e-01 8.62079830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:121.18, Z:86.21 [[ 7.58092946e-01 -6.42427404e-01 -1.12170033e-01 1.95085709e+02] [ 6.35244263e-01 7.66345309e-01 -9.58101944e-02 1.21182083e+02] [ 1.47512073e-01 1.37766269e-03 9.89059296e-01 8.62135354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:121.20, Z:86.22 [[ 7.59534299e-01 -6.40795763e-01 -1.11751682e-01 1.95106558e+02] [ 6.33644311e-01 7.67709489e-01 -9.54831325e-02 1.21200504e+02] [ 1.46978013e-01 1.71189669e-03 9.89138278e-01 8.62173925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:121.22, Z:86.22 [[ 7.62391380e-01 -6.37484700e-01 -1.11232370e-01 1.95128081e+02] [ 6.30356892e-01 7.70459333e-01 -9.50926105e-02 1.21218588e+02] [ 1.46320102e-01 2.38169574e-03 9.89234429e-01 8.62227177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.15, Y:121.24, Z:86.23 [[ 7.63080826e-01 -6.36721757e-01 -1.10874055e-01 1.95149461e+02] [ 6.29624231e-01 7.71089388e-01 -9.48392445e-02 1.21236864e+02] [ 1.45880018e-01 2.56101729e-03 9.89298975e-01 8.62271297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.17, Y:121.25, Z:86.23 [[ 7.63664088e-01 -6.36177514e-01 -1.09978776e-01 1.95169869e+02] [ 6.29181794e-01 7.71538058e-01 -9.41238253e-02 1.21254026e+02] [ 1.44732272e-01 2.68234178e-03 9.89467218e-01 8.62313339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:121.27, Z:86.24 [[ 7.63217407e-01 -6.37062122e-01 -1.07939999e-01 1.95190850e+02] [ 6.30329478e-01 7.70808444e-01 -9.24072053e-02 1.21271070e+02] [ 1.42070193e-01 2.48902434e-03 9.89853456e-01 8.62366285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:121.29, Z:86.24 [[ 7.62243360e-01 -6.38307149e-01 -1.07466472e-01 1.95211180e+02] [ 6.31642035e-01 7.69778433e-01 -9.20299099e-02 1.21287729e+02] [ 1.41468722e-01 2.26884687e-03 9.89940126e-01 8.62411554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:121.30, Z:86.25 [[ 7.60434453e-01 -6.40493168e-01 -1.07275086e-01 1.95233323e+02] [ 6.33869480e-01 7.67961564e-01 -9.18940643e-02 1.21302784e+02] [ 1.41240663e-01 1.88100940e-03 9.89973503e-01 8.62461053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:121.32, Z:86.25 [[ 7.59336846e-01 -6.41748451e-01 -1.07547569e-01 1.95255790e+02] [ 6.35099241e-01 7.66913373e-01 -9.21565623e-02 1.21319781e+02] [ 1.41621000e-01 1.67449396e-03 9.89919536e-01 8.62501815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:121.34, Z:86.25 [[ 7.57335512e-01 -6.44267291e-01 -1.06595399e-01 1.95275918e+02] [ 6.37443839e-01 7.64794865e-01 -9.35636979e-02 1.21337488e+02] [ 1.41803644e-01 2.91053077e-03 9.89890527e-01 8.62521063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.30, Y:121.35, Z:86.26 [[ 7.55074895e-01 -6.46923550e-01 -1.06544936e-01 1.95297909e+02] [ 6.40217720e-01 7.62552360e-01 -9.29256087e-02 1.21352708e+02] [ 1.41361857e-01 1.95383856e-03 9.89956064e-01 8.62560597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:121.37, Z:86.26 [[ 7.55297807e-01 -6.46321134e-01 -1.08601176e-01 1.95322564e+02] [ 6.39933795e-01 7.63064825e-01 -9.06466278e-02 1.21369281e+02] [ 1.41456569e-01 -1.03236365e-03 9.89943924e-01 8.62633588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:121.39, Z:86.26 [[ 7.53847612e-01 -6.48809649e-01 -1.03729534e-01 1.95340669e+02] [ 6.42051005e-01 7.60940886e-01 -9.34851583e-02 1.21389452e+02] [ 1.39586116e-01 3.87391168e-03 9.90202358e-01 8.62637221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:121.41, Z:86.27 [[ 7.53330481e-01 -6.49019666e-01 -1.06144527e-01 1.95362885e+02] [ 6.42625799e-01 7.60771589e-01 -9.08772295e-02 1.21405296e+02] [ 1.39732849e-01 2.49375762e-04 9.90189209e-01 8.62691910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.39, Y:121.42, Z:86.28 [[ 7.53747553e-01 -6.48116737e-01 -1.08670707e-01 1.95386611e+02] [ 6.41804361e-01 7.61539063e-01 -9.02519727e-02 1.21420629e+02] [ 1.41250802e-01 -1.71812993e-03 9.89972353e-01 8.62759478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:195.41, Y:121.44, Z:86.28 [[ 7.52608196e-01 -6.49472404e-01 -1.08473499e-01 1.95408417e+02] [ 6.42754253e-01 7.60385057e-01 -9.31747566e-02 1.21435483e+02] [ 1.42996061e-01 4.02282841e-04 9.89723176e-01 8.62801139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:121.45, Z:86.28 [[ 7.50718658e-01 -6.51769853e-01 -1.07784764e-01 1.95431271e+02] [ 6.45157095e-01 7.58416810e-01 -9.26081237e-02 1.21451696e+02] [ 1.42104960e-01 -1.54588751e-05 9.89851595e-01 8.62849262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.45, Y:121.47, Z:86.29 [[ 7.49356181e-01 -6.53425340e-01 -1.07241036e-01 1.95452888e+02] [ 6.46888947e-01 7.56990913e-01 -9.21924531e-02 1.21469811e+02] [ 1.41421375e-01 -2.88056140e-04 9.89949449e-01 8.62889891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:195.47, Y:121.49, Z:86.29 [[ 7.47586778e-01 -6.55512005e-01 -1.06855137e-01 1.95474242e+02] [ 6.49036680e-01 7.55184482e-01 -9.19118450e-02 1.21488460e+02] [ 1.40944659e-01 -6.40823559e-04 9.90017269e-01 8.62915798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:121.51, Z:86.30 [[ 7.45177327e-01 -6.58586658e-01 -1.04758608e-01 1.95493871e+02] [ 6.52387522e-01 7.52503998e-01 -9.01568271e-02 1.21505850e+02] [ 1.38207355e-01 -1.16038523e-03 9.90402636e-01 8.62976768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.52, Y:121.52, Z:86.30 [[ 7.43639779e-01 -6.60386730e-01 -1.04351549e-01 1.95515274e+02] [ 6.54249528e-01 7.50924240e-01 -8.98350760e-02 1.21523492e+02] [ 1.37686000e-01 -1.46701551e-03 9.90474842e-01 8.63024028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:121.54, Z:86.31 [[ 7.41396710e-01 -6.63026452e-01 -1.03570471e-01 1.95536936e+02] [ 6.57000182e-01 7.48593543e-01 -8.92102525e-02 1.21539227e+02] [ 1.36680943e-01 -1.90563062e-03 9.90613289e-01 8.63080707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.580385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:195.55, Y:121.56, Z:86.31 [[ 7.38909508e-01 -6.65766439e-01 -1.03767952e-01 1.95554832e+02] [ 6.59766235e-01 7.46155886e-01 -8.92183245e-02 1.21557813e+02] [ 1.36825635e-01 -2.53832303e-03 9.90591895e-01 8.63110991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:121.58, Z:86.32 [[ 7.40036126e-01 -6.64511740e-01 -1.03781892e-01 1.95577736e+02] [ 6.58264907e-01 7.47277100e-01 -9.09079046e-02 1.21577082e+02] [ 1.37963201e-01 -1.04084387e-03 9.90436809e-01 8.63154357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.59, Y:121.60, Z:86.31 [[ 7.38112928e-01 -6.67873301e-01 -9.55748921e-02 1.95588490e+02] [ 6.61032378e-01 7.44238092e-01 -9.56339767e-02 1.21603815e+02] [ 1.35001855e-01 7.41057629e-03 9.90817633e-01 8.63089013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:121.61, Z:86.33 [[ 7.40885277e-01 -6.62589930e-01 -1.09834381e-01 1.95619005e+02] [ 6.57368788e-01 7.48912487e-01 -8.36442636e-02 1.21614699e+02] [ 1.37678186e-01 -1.02308901e-02 9.90424175e-01 8.63252648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:121.64, Z:86.33 [[ 7.41984501e-01 -6.62373969e-01 -1.03536105e-01 1.95635733e+02] [ 6.56323787e-01 7.49171508e-01 -8.93372188e-02 1.21637251e+02] [ 1.36740948e-01 -1.66637714e-03 9.90605439e-01 8.63275710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.730385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:195.66, Y:121.66, Z:86.33 [[ 7.42114994e-01 -6.62148312e-01 -1.04043011e-01 1.95656521e+02] [ 6.56032966e-01 7.49371073e-01 -8.97983480e-02 1.21656309e+02] [ 1.37426648e-01 -1.61494477e-03 9.90510630e-01 8.63306678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:121.68, Z:86.34 [[ 7.43140282e-01 -6.61126000e-01 -1.03222741e-01 1.95675620e+02] [ 6.55090506e-01 7.50273628e-01 -8.91398487e-02 1.21675406e+02] [ 1.36377972e-01 -1.37682559e-03 9.90655921e-01 8.63361671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:121.70, Z:86.34 [[ 7.43393123e-01 -6.60960608e-01 -1.02458474e-01 1.95690643e+02] [ 6.54880855e-01 7.50420354e-01 -8.94447200e-02 1.21698064e+02] [ 1.36006361e-01 -6.05503158e-04 9.90707779e-01 8.63381631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:195.71, Y:121.72, Z:86.34 [[ 7.45833863e-01 -6.58058400e-01 -1.03397248e-01 1.95713158e+02] [ 6.51943009e-01 7.52966612e-01 -8.95075137e-02 1.21716603e+02] [ 1.36755847e-01 -6.51378347e-04 9.90604570e-01 8.63439171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:121.74, Z:86.35 [[ 7.46716590e-01 -6.56999176e-01 -1.03761350e-01 1.95731150e+02] [ 6.50850218e-01 7.53891080e-01 -8.96785053e-02 1.21738715e+02] [ 1.37143460e-01 -5.68669319e-04 9.90551033e-01 8.63480123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:121.76, Z:86.35 [[ 7.48421017e-01 -6.55107171e-01 -1.03443590e-01 1.95751600e+02] [ 6.48971318e-01 7.55535943e-01 -8.94520380e-02 1.21757793e+02] [ 1.36756022e-01 -1.84137999e-04 9.90604743e-01 8.63526153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:121.78, Z:86.36 [[ 7.48677742e-01 -6.54859720e-01 -1.03152249e-01 1.95771011e+02] [ 6.48749140e-01 7.55750447e-01 -8.92514179e-02 1.21778368e+02] [ 1.36404517e-01 -9.93829926e-05 9.90653218e-01 8.63562268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:121.80, Z:86.36 [[ 7.48514473e-01 -6.55167166e-01 -1.02381975e-01 1.95789184e+02] [ 6.49143959e-01 7.55483932e-01 -8.86349209e-02 1.21800679e+02] [ 1.35418627e-01 -1.16119361e-04 9.90788465e-01 8.63597599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:121.82, Z:86.36 [[ 7.48342806e-01 -6.55367140e-01 -1.02357007e-01 1.95810547e+02] [ 6.49341852e-01 7.55310466e-01 -8.86637449e-02 1.21819285e+02] [ 1.35418624e-01 -1.13812998e-04 9.90788466e-01 8.63634992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:121.84, Z:86.37 [[ 7.47998300e-01 -6.55736051e-01 -1.02512319e-01 1.95829832e+02] [ 6.49689305e-01 7.54990206e-01 -8.88459115e-02 1.21838862e+02] [ 1.35655264e-01 -1.44566254e-04 9.90756089e-01 8.63675264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.85, Y:121.86, Z:86.37 [[ 7.47169246e-01 -6.56626384e-01 -1.02858688e-01 1.95847496e+02] [ 6.50539922e-01 7.54215964e-01 -8.91969217e-02 1.21860389e+02] [ 1.36146717e-01 -2.68486040e-04 9.90688649e-01 8.63713966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:121.88, Z:86.37 [[ 7.45503680e-01 -6.58423678e-01 -1.03452997e-01 1.95866081e+02] [ 6.52276460e-01 7.52647291e-01 -8.97634338e-02 1.21881712e+02] [ 1.36965988e-01 -5.60984706e-04 9.90575592e-01 8.63746910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:121.90, Z:86.38 [[ 7.45799501e-01 -6.58054429e-01 -1.03670023e-01 1.95885299e+02] [ 6.51870586e-01 7.52970227e-01 -9.00032066e-02 1.21900664e+02] [ 1.37287450e-01 -4.55092300e-04 9.90531145e-01 8.63787955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:121.92, Z:86.38 [[ 7.43808451e-01 -6.60147050e-01 -1.04665469e-01 1.95902043e+02] [ 6.53860421e-01 7.51135928e-01 -9.08920601e-02 1.21923898e+02] [ 1.38620119e-01 -8.30325165e-04 9.90345280e-01 8.63815292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:121.94, Z:86.38 [[ 7.42713277e-01 -6.61279298e-01 -1.05293295e-01 1.95920711e+02] [ 6.54920811e-01 7.50139102e-01 -9.14880290e-02 1.21944525e+02] [ 1.39483757e-01 -1.00939647e-03 9.90223845e-01 8.63845432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:121.97, Z:86.39 [[ 7.41646946e-01 -6.62310948e-01 -1.06320350e-01 1.95937666e+02] [ 6.55830404e-01 7.49228153e-01 -9.24318984e-02 1.21967076e+02] [ 1.40876858e-01 -1.17628297e-03 9.90026428e-01 8.63879689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:121.99, Z:86.39 [[ 7.41630405e-01 -6.62297830e-01 -1.06517262e-01 1.95955957e+02] [ 6.55785841e-01 7.49239808e-01 -9.26533399e-02 1.21986484e+02] [ 1.41171079e-01 -1.13797805e-03 9.89984561e-01 8.63923106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:122.01, Z:86.40 [[ 7.43378521e-01 -6.60311838e-01 -1.06661389e-01 1.95972465e+02] [ 6.53758205e-01 7.50991162e-01 -9.28034698e-02 1.22009494e+02] [ 1.41380990e-01 -7.42652249e-04 9.89954981e-01 8.63971767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:122.03, Z:86.40 [[ 7.44692593e-01 -6.58796452e-01 -1.06865225e-01 1.95990114e+02] [ 6.52194636e-01 7.52321116e-01 -9.30327614e-02 1.22031289e+02] [ 1.41686619e-01 -4.16118341e-04 9.89911475e-01 8.64004650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:122.05, Z:86.40 [[ 7.46572867e-01 -6.56626559e-01 -1.07100497e-01 1.96007214e+02] [ 6.49965847e-01 7.54215858e-01 -9.32889954e-02 1.22051926e+02] [ 1.42032925e-01 3.53677307e-05 9.89861933e-01 8.64036374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:122.08, Z:86.41 [[ 7.50547438e-01 -6.52087773e-01 -1.07051764e-01 1.96023989e+02] [ 6.45383323e-01 7.58142927e-01 -9.32720095e-02 1.22075644e+02] [ 1.41982075e-01 9.15644411e-04 9.89868805e-01 8.64074033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:122.10, Z:86.41 [[ 7.52293066e-01 -6.50042714e-01 -1.07236248e-01 1.96043247e+02] [ 6.43286584e-01 7.59896479e-01 -9.34864230e-02 1.22096088e+02] [ 1.42258615e-01 1.34554840e-03 9.89828609e-01 8.64115195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:122.12, Z:86.42 [[ 7.55261664e-01 -6.46574753e-01 -1.07335492e-01 1.96061628e+02] [ 6.39763282e-01 7.62847896e-01 -9.36270797e-02 1.22116962e+02] [ 1.42417560e-01 2.04363754e-03 9.89804558e-01 8.64152839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:122.14, Z:86.42 [[ 7.56117652e-01 -6.45559174e-01 -1.07421833e-01 1.96081782e+02] [ 6.38718722e-01 7.63706856e-01 -9.37562339e-02 1.22136794e+02] [ 1.42563987e-01 2.27840776e-03 9.89782965e-01 8.64190194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.450385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:196.10, Y:122.16, Z:86.42 [[ 7.57204028e-01 -6.44057625e-01 -1.08774242e-01 1.96099797e+02] [ 6.37019876e-01 7.64972441e-01 -9.49886375e-02 1.22156876e+02] [ 1.44387454e-01 2.63442450e-03 9.89517722e-01 8.64220215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:122.18, Z:86.43 [[ 7.57989147e-01 -6.43311089e-01 -1.07718592e-01 1.96119891e+02] [ 6.36398814e-01 7.65599879e-01 -9.40923740e-02 1.22175901e+02] [ 1.43000009e-01 2.76901419e-03 9.89718814e-01 8.64269736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.510385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:196.14, Y:122.20, Z:86.43 [[ 7.58415703e-01 -6.42613428e-01 -1.08874259e-01 1.96140093e+02] [ 6.35535940e-01 7.66184788e-01 -9.51574503e-02 1.22195775e+02] [ 1.44567257e-01 2.97539988e-03 9.89490503e-01 8.64305184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:122.21, Z:86.43 [[ 7.58896102e-01 -6.42206143e-01 -1.07925791e-01 1.96159948e+02] [ 6.35240501e-01 7.66525844e-01 -9.43802757e-02 1.22214100e+02] [ 1.43339501e-01 3.06599015e-03 9.89668827e-01 8.64348572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.570385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:196.18, Y:122.23, Z:86.44 [[ 7.58669851e-01 -6.42373859e-01 -1.08516744e-01 1.96180515e+02] [ 6.35329122e-01 7.66385275e-01 -9.49237468e-02 1.22232608e+02] [ 1.44142168e-01 3.07193717e-03 9.89552221e-01 8.64384585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.600385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:196.20, Y:122.25, Z:86.44 [[ 7.58465876e-01 -6.42484372e-01 -1.09285622e-01 1.96201971e+02] [ 6.35332065e-01 7.66292456e-01 -9.56506103e-02 1.22250063e+02] [ 1.45198770e-01 3.11506380e-03 9.89397601e-01 8.64419275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.630385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:196.22, Y:122.27, Z:86.45 [[ 7.58327227e-01 -6.42651966e-01 -1.09262381e-01 1.96223007e+02] [ 6.35496907e-01 7.66151880e-01 -9.56816529e-02 1.22267021e+02] [ 1.45201581e-01 3.12209720e-03 9.89397167e-01 8.64460161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.660385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:196.25, Y:122.28, Z:86.45 [[ 7.58159508e-01 -6.42801803e-01 -1.09544519e-01 1.96245215e+02] [ 6.35607174e-01 7.66026170e-01 -9.59553401e-02 1.22283920e+02] [ 1.45594234e-01 3.12217124e-03 9.89339462e-01 8.64507780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.690385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:196.26, Y:122.30, Z:86.45 [[ 7.57575901e-01 -6.43978606e-01 -1.06631649e-01 1.96264561e+02] [ 6.36093419e-01 7.64995616e-01 -1.00830901e-01 1.22303607e+02] [ 1.46505687e-01 8.55937064e-03 9.89172796e-01 8.64530221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:122.32, Z:86.46 [[ 7.57770542e-01 -6.42923372e-01 -1.11504904e-01 1.96290942e+02] [ 6.36568561e-01 7.65926016e-01 -9.02097853e-02 1.22315090e+02] [ 1.43402487e-01 -2.62219864e-03 9.89660978e-01 8.64621718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:122.34, Z:86.46 [[ 7.57130331e-01 -6.44712314e-01 -1.05355080e-01 1.96311068e+02] [ 6.37066852e-01 7.64382565e-01 -9.93233163e-02 1.22336639e+02] [ 1.44566551e-01 8.08246617e-03 9.89462069e-01 8.64634563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.35, Y:122.34, Z:86.48 [[ 7.57351383e-01 -6.41059590e-01 -1.24344223e-01 1.96346711e+02] [ 6.35718517e-01 7.67336096e-01 -8.40076427e-02 1.22341114e+02] [ 1.49267716e-01 -1.54246207e-02 9.88676504e-01 8.64819188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:122.36, Z:86.48 [[ 7.57068521e-01 -6.43452214e-01 -1.13209992e-01 1.96363172e+02] [ 6.36061402e-01 7.65484562e-01 -9.72588258e-02 1.22363753e+02] [ 1.49241908e-01 1.62308923e-03 9.88799382e-01 8.64803450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:122.39, Z:86.47 [[ 7.55158220e-01 -6.47852104e-01 -1.00118502e-01 1.96375649e+02] [ 6.39357430e-01 7.61601093e-01 -1.05763184e-01 1.22387938e+02] [ 1.44769262e-01 1.58564294e-02 9.89338382e-01 8.64728615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:122.40, Z:86.48 [[ 7.54096809e-01 -6.47411077e-01 -1.10439577e-01 1.96403561e+02] [ 6.40090970e-01 7.62136757e-01 -9.71139246e-02 1.22398113e+02] [ 1.47042691e-01 2.54192491e-03 9.89126880e-01 8.64807834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.900385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:196.43, Y:122.41, Z:86.48 [[ 7.53162393e-01 -6.48273890e-01 -1.11746916e-01 1.96426218e+02] [ 6.40779620e-01 7.61403302e-01 -9.83183097e-02 1.22414612e+02] [ 1.48821664e-01 2.44450729e-03 9.88861030e-01 8.64848035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:122.43, Z:86.49 [[ 7.53390608e-01 -6.48053723e-01 -1.11485263e-01 1.96449818e+02] [ 6.40584660e-01 7.61590451e-01 -9.81390735e-02 1.22428657e+02] [ 1.48505504e-01 2.52130672e-03 9.88908367e-01 8.64904672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.47, Y:122.45, Z:86.49 [[ 7.53707961e-01 -6.48279904e-01 -1.07969795e-01 1.96474212e+02] [ 6.40403512e-01 7.61370184e-01 -1.00989030e-01 1.22447884e+02] [ 1.47674142e-01 6.97199972e-03 9.89011496e-01 8.64915574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.990385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:196.50, Y:122.47, Z:86.49 [[ 7.52967116e-01 -6.50275581e-01 -1.00906846e-01 1.96496033e+02] [ 6.41721345e-01 7.59545713e-01 -1.06226293e-01 1.22466107e+02] [ 1.45719727e-01 1.52308290e-02 9.89208665e-01 8.64879433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.020385723 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:196.53, Y:122.48, Z:86.50 [[ 7.52702460e-01 -6.48757228e-01 -1.12040464e-01 1.96525327e+02] [ 6.41933765e-01 7.60994366e-01 -9.38542284e-02 1.22475930e+02] [ 1.46150771e-01 -1.27824842e-03 9.89261501e-01 8.64975930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.050385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:196.55, Y:122.49, Z:86.51 [[ 7.51529404e-01 -6.48489758e-01 -1.21097432e-01 1.96546304e+02] [ 6.42741235e-01 7.61122095e-01 -8.70451675e-02 1.22486136e+02] [ 1.48617831e-01 -1.24173103e-02 9.88816743e-01 8.65084927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:122.50, Z:86.51 [[ 7.51131096e-01 -6.50723830e-01 -1.11178118e-01 1.96566406e+02] [ 6.43317582e-01 7.59311786e-01 -9.79188444e-02 1.22504120e+02] [ 1.48136981e-01 2.02705076e-03 9.88964775e-01 8.65086108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.59, Y:122.52, Z:86.51 [[ 7.50873346e-01 -6.51013247e-01 -1.11224861e-01 1.96589401e+02] [ 6.43599734e-01 7.59063754e-01 -9.79877493e-02 1.22520233e+02] [ 1.48218083e-01 1.99209847e-03 9.88952694e-01 8.65131267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.140385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.61, Y:122.53, Z:86.52 [[ 7.50906280e-01 -6.51047035e-01 -1.10803957e-01 1.96612916e+02] [ 6.43682633e-01 7.59034710e-01 -9.76676864e-02 1.22534429e+02] [ 1.47690307e-01 2.01669599e-03 9.89031600e-01 8.65170245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.170385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.64, Y:122.55, Z:86.52 [[ 7.50921178e-01 -6.51072871e-01 -1.10550898e-01 1.96635385e+02] [ 6.43737727e-01 7.59012509e-01 -9.74769224e-02 1.22550570e+02] [ 1.47374094e-01 2.03170142e-03 9.89078737e-01 8.65208357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.200385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.66, Y:122.57, Z:86.53 [[ 7.51314308e-01 -6.50664645e-01 -1.10282957e-01 1.96658388e+02] [ 6.43353029e-01 7.59362174e-01 -9.72932136e-02 1.22566878e+02] [ 1.47049960e-01 2.14690893e-03 9.89126736e-01 8.65250356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.230385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.68, Y:122.58, Z:86.53 [[ 7.52803321e-01 -6.49049350e-01 -1.09645343e-01 1.96683074e+02] [ 6.41797550e-01 7.60742233e-01 -9.67840910e-02 1.22578715e+02] [ 1.46229495e-01 2.48927244e-03 9.89247562e-01 8.65297004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:122.59, Z:86.53 [[ 7.53539644e-01 -6.48260831e-01 -1.09251544e-01 1.96706333e+02] [ 6.41047305e-01 7.61413688e-01 -9.64756353e-02 1.22593809e+02] [ 1.45726996e-01 2.66280800e-03 9.89321258e-01 8.65336921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:196.73, Y:122.61, Z:86.54 [[ 7.55624902e-01 -6.45908692e-01 -1.08779453e-01 1.96731427e+02] [ 6.38725885e-01 7.63408202e-01 -9.61101487e-02 1.22607051e+02] [ 1.45121507e-01 3.14296952e-03 9.89408849e-01 8.65367655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:196.75, Y:122.63, Z:86.53 [[ 7.55943447e-01 -6.47819738e-01 -9.42289387e-02 1.96748745e+02] [ 6.39249102e-01 7.61512782e-01 -1.07046107e-01 1.22633060e+02] [ 1.41103122e-01 2.06850385e-02 9.89778782e-01 8.65266527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:122.63, Z:86.55 [[ 7.57686376e-01 -6.40760459e-01 -1.23844217e-01 1.96785974e+02] [ 6.35467862e-01 7.67587381e-01 -8.36074692e-02 1.22630388e+02] [ 1.48633619e-01 -1.53507796e-02 9.88773180e-01 8.65519459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:122.65, Z:86.55 [[ 7.57901101e-01 -6.42874775e-01 -1.10896098e-01 1.96804256e+02] [ 6.35377959e-01 7.65961933e-01 -9.79651268e-02 1.22652794e+02] [ 1.47921498e-01 3.78694122e-03 9.88991855e-01 8.65486444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:122.66, Z:86.55 [[ 7.57906786e-01 -6.42974074e-01 -1.10279842e-01 1.96831155e+02] [ 6.35553774e-01 7.65878573e-01 -9.74751847e-02 1.22663778e+02] [ 1.47134985e-01 3.78833390e-03 9.89109167e-01 8.65534948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:122.68, Z:86.56 [[ 7.57963265e-01 -6.43039521e-01 -1.09507365e-01 1.96855051e+02] [ 6.35716139e-01 7.65823614e-01 -9.68461820e-02 1.22679209e+02] [ 1.46139249e-01 3.79024882e-03 9.89256769e-01 8.65571281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:196.88, Y:122.69, Z:86.56 [[ 7.58387088e-01 -6.42659170e-01 -1.08803568e-01 1.96880819e+02] [ 6.35418312e-01 7.66142373e-01 -9.62778919e-02 1.22692784e+02] [ 1.45232894e-01 3.88013022e-03 9.89389888e-01 8.65605403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:122.71, Z:86.56 [[ 7.58378207e-01 -6.42727106e-01 -1.08463649e-01 1.96903288e+02] [ 6.35524433e-01 7.66085297e-01 -9.60313064e-02 1.22709109e+02] [ 1.44814330e-01 3.89675077e-03 9.89451174e-01 8.65635516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:122.72, Z:86.57 [[ 7.58001640e-01 -6.43300583e-01 -1.07693420e-01 1.96927354e+02] [ 6.36198687e-01 7.65604286e-01 -9.54007771e-02 1.22722608e+02] [ 1.43821919e-01 3.79953335e-03 9.89596291e-01 8.65653016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.560385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:196.95, Y:122.74, Z:86.57 [[ 7.56289917e-01 -6.45685251e-01 -1.05432999e-01 1.96948461e+02] [ 6.37727203e-01 7.63544146e-01 -1.01510350e-01 1.22740788e+02] [ 1.46046485e-01 9.53376295e-03 9.89231789e-01 8.65661572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:122.75, Z:86.58 [[ 7.51955955e-01 -6.49621809e-01 -1.12043501e-01 1.96978462e+02] [ 6.43087472e-01 7.60251961e-01 -9.19535720e-02 1.22749161e+02] [ 1.44916337e-01 -2.90873588e-03 9.89439637e-01 8.65751340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.620385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.00, Y:122.77, Z:86.58 [[ 7.49528903e-01 -6.52990604e-01 -1.08672420e-01 1.96999097e+02] [ 6.45844857e-01 7.57363263e-01 -9.63603086e-02 1.22766276e+02] [ 1.45226875e-01 2.03931257e-03 9.89396279e-01 8.65753477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.650385723 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:197.02, Y:122.78, Z:86.58 [[ 7.48643548e-01 -6.53992209e-01 -1.08752147e-01 1.97021375e+02] [ 6.46991606e-01 7.56500499e-01 -9.54403298e-02 1.22781834e+02] [ 1.44688286e-01 1.08906061e-03 9.89476687e-01 8.65820435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:122.80, Z:86.58 [[ 7.45747540e-01 -6.57467067e-01 -1.07692441e-01 1.97040944e+02] [ 6.50272899e-01 7.53479693e-01 -9.70232355e-02 1.22801680e+02] [ 1.44933649e-01 2.32536360e-03 9.89438644e-01 8.65836358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.06, Y:122.82, Z:86.59 [[ 7.44809206e-01 -6.58452001e-01 -1.08167508e-01 1.97060974e+02] [ 6.51413863e-01 7.52621982e-01 -9.60215139e-02 1.22821716e+02] [ 1.44634802e-01 1.05589310e-03 9.89484542e-01 8.65866545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:122.84, Z:86.59 [[ 7.44068923e-01 -6.59454683e-01 -1.07149235e-01 1.97078114e+02] [ 6.52552042e-01 7.51743790e-01 -9.51688345e-02 1.22844694e+02] [ 1.43308306e-01 8.91719907e-04 9.89677692e-01 8.65874625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:197.10, Y:122.86, Z:86.59 [[ 7.43431761e-01 -6.60081272e-01 -1.07712262e-01 1.97096561e+02] [ 6.53104565e-01 7.51193751e-01 -9.57202986e-02 1.22864012e+02] [ 1.44095955e-01 8.14140016e-04 9.89563385e-01 8.65899991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:122.88, Z:86.59 [[ 7.42251670e-01 -6.61925922e-01 -1.04482216e-01 1.97116480e+02] [ 6.53997399e-01 7.49529705e-01 -1.02433506e-01 1.22884859e+02] [ 1.46115918e-01 7.70034301e-03 9.89237506e-01 8.65912370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.830385723 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:197.14, Y:122.90, Z:86.60 [[ 7.42437189e-01 -6.61443249e-01 -1.06206630e-01 1.97138671e+02] [ 6.53635836e-01 7.49971709e-01 -1.01501867e-01 1.22900182e+02] [ 1.46789693e-01 5.93830080e-03 9.89149899e-01 8.65961685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:122.91, Z:86.61 [[ 7.41784490e-01 -6.60822905e-01 -1.14319111e-01 1.97164135e+02] [ 6.54768419e-01 7.50495304e-01 -8.96388105e-02 1.22911956e+02] [ 1.45031335e-01 -8.35986448e-03 9.89391745e-01 8.66055562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:122.93, Z:86.61 [[ 7.41758663e-01 -6.61863655e-01 -1.08307844e-01 1.97182689e+02] [ 6.54796669e-01 7.49623974e-01 -9.64635709e-02 1.22934465e+02] [ 1.45035888e-01 6.33073872e-04 9.89426193e-01 8.66055767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:122.95, Z:86.61 [[ 7.40651280e-01 -6.62768127e-01 -1.10336269e-01 1.97205060e+02] [ 6.56017481e-01 7.48820595e-01 -9.43863350e-02 1.22952784e+02] [ 1.45178325e-01 -2.47516176e-03 9.89402409e-01 8.66097528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:122.98, Z:86.60 [[ 7.38240836e-01 -6.66813421e-01 -1.01785704e-01 1.97222066e+02] [ 6.57859368e-01 7.45091064e-01 -1.09819665e-01 1.22980566e+02] [ 1.49068844e-01 1.41126824e-02 9.88726106e-01 8.66043550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:122.99, Z:86.62 [[ 7.37676486e-01 -6.65630067e-01 -1.13004497e-01 1.97247825e+02] [ 6.58833641e-01 7.46268960e-01 -9.49782761e-02 1.22992468e+02] [ 1.47552145e-01 -4.38792315e-03 9.89044544e-01 8.66151389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:123.01, Z:86.62 [[ 7.37600186e-01 -6.65500244e-01 -1.14260191e-01 1.97268483e+02] [ 6.59588821e-01 7.46334691e-01 -8.90343544e-02 1.23008839e+02] [ 1.44528729e-01 -9.69298830e-03 9.89453128e-01 8.66207805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:123.03, Z:86.62 [[ 7.38078176e-01 -6.67000546e-01 -1.01739264e-01 1.97282408e+02] [ 6.59002032e-01 7.44999524e-01 -1.03402277e-01 1.23033239e+02] [ 1.44765078e-01 9.27258268e-03 9.89422605e-01 8.66168282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:123.04, Z:86.63 [[ 7.38954387e-01 -6.64495991e-01 -1.11317080e-01 1.97310204e+02] [ 6.58958109e-01 7.47229036e-01 -8.61567113e-02 1.23043553e+02] [ 1.40430144e-01 -9.68741268e-03 9.90043195e-01 8.66300533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.33, Y:123.07, Z:86.63 [[ 7.39726557e-01 -6.64711126e-01 -1.04707879e-01 1.97328054e+02] [ 6.58108223e-01 7.47100441e-01 -9.34585340e-02 1.23066750e+02] [ 1.40350230e-01 2.24643217e-04 9.90101895e-01 8.66291170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:123.09, Z:86.63 [[ 7.40548238e-01 -6.63849535e-01 -1.04365231e-01 1.97347699e+02] [ 6.57274207e-01 7.47866040e-01 -9.32040953e-02 1.23086874e+02] [ 1.39924708e-01 4.25553881e-04 9.90162055e-01 8.66316142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:123.11, Z:86.63 [[ 7.42437895e-01 -6.61801668e-01 -1.03944811e-01 1.97366484e+02] [ 6.55252280e-01 7.49678487e-01 -9.28795776e-02 1.23108043e+02] [ 1.39393048e-01 8.47243551e-04 9.90236770e-01 8.66327698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.39, Y:123.13, Z:86.64 [[ 7.43217309e-01 -6.60969988e-01 -1.03666322e-01 1.97387035e+02] [ 6.54440666e-01 7.50411618e-01 -9.26812721e-02 1.23127330e+02] [ 1.39051952e-01 1.03886869e-03 9.90284543e-01 8.66359216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.41, Y:123.15, Z:86.64 [[ 7.43754561e-01 -6.60435881e-01 -1.03216281e-01 1.97408896e+02] [ 6.53951285e-01 7.50881532e-01 -9.23289907e-02 1.23145329e+02] [ 1.38480577e-01 1.17168845e-03 9.90364457e-01 8.66399823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:123.17, Z:86.64 [[ 7.43685872e-01 -6.60972403e-01 -1.00233761e-01 1.97430013e+02] [ 6.53784862e-01 7.50378052e-01 -9.74583689e-02 1.23165186e+02] [ 1.39630507e-01 6.94709643e-03 9.90179307e-01 8.66421707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.45, Y:123.18, Z:86.65 [[ 7.43398066e-01 -6.60303048e-01 -1.06579552e-01 1.97454001e+02] [ 6.54480115e-01 7.50985060e-01 -8.76197416e-02 1.23176913e+02] [ 1.37895234e-01 -4.61785075e-03 9.90436056e-01 8.66515539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:123.20, Z:86.65 [[ 7.42703574e-01 -6.61750897e-01 -1.02357960e-01 1.97473347e+02] [ 6.55370447e-01 7.49723106e-01 -9.16779196e-02 1.23195628e+02] [ 1.37408073e-01 1.00713634e-03 9.90514012e-01 8.66525247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.49, Y:123.21, Z:86.66 [[ 7.41970286e-01 -6.62591647e-01 -1.02236999e-01 1.97494098e+02] [ 6.56230258e-01 7.48980339e-01 -9.15985838e-02 1.23214641e+02] [ 1.37265959e-01 8.72414981e-04 9.90533844e-01 8.66554853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:123.23, Z:86.66 [[ 7.40668901e-01 -6.64079612e-01 -1.02018863e-01 1.97513973e+02] [ 6.57752649e-01 7.47661600e-01 -9.14526379e-02 1.23232549e+02] [ 1.37007419e-01 6.32947586e-04 9.90569819e-01 8.66571307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:123.25, Z:86.66 [[ 7.39967344e-01 -6.64873040e-01 -1.01941998e-01 1.97534135e+02] [ 6.58559278e-01 7.46956213e-01 -9.14116710e-02 1.23250084e+02] [ 1.36923364e-01 5.06802912e-04 9.90581514e-01 8.66603841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:123.27, Z:86.66 [[ 7.39111389e-01 -6.65924941e-01 -1.01283404e-01 1.97556123e+02] [ 6.59698867e-01 7.46018675e-01 -9.08490063e-02 1.23267341e+02] [ 1.36057930e-01 3.30988615e-04 9.90700828e-01 8.66647507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:123.29, Z:86.67 [[ 7.38925512e-01 -6.66305860e-01 -1.00127862e-01 1.97576283e+02] [ 6.60218500e-01 7.45678492e-01 -8.98616638e-02 1.23285094e+02] [ 1.34538546e-01 2.94808912e-04 9.90908317e-01 8.66684704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:123.31, Z:86.67 [[ 7.36773837e-01 -6.68803724e-01 -9.93271994e-02 1.97595331e+02] [ 6.62832540e-01 7.43439009e-01 -8.91709831e-02 1.23305286e+02] [ 1.33481600e-01 -1.38452495e-04 9.91051282e-01 8.66713080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:123.32, Z:86.68 [[ 7.37586319e-01 -6.67903534e-01 -9.93543737e-02 1.97615942e+02] [ 6.61914154e-01 7.44247852e-01 -8.92456535e-02 1.23322046e+02] [ 1.33551767e-01 6.23068512e-05 9.91041837e-01 8.66758082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:123.34, Z:86.68 [[ 7.37111920e-01 -6.68395199e-01 -9.95684445e-02 1.97635070e+02] [ 6.62380252e-01 7.43806331e-01 -8.94681161e-02 1.23340397e+02] [ 1.33859699e-01 -4.15647826e-06 9.91000293e-01 8.66789183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:123.36, Z:86.68 [[ 7.36630880e-01 -6.68976922e-01 -9.92210857e-02 1.97655237e+02] [ 6.63005558e-01 7.43283169e-01 -8.91838575e-02 1.23359624e+02] [ 1.33411305e-01 -8.85478303e-05 9.91060753e-01 8.66825229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:123.38, Z:86.69 [[ 7.34398173e-01 -6.71239603e-01 -1.00482434e-01 1.97673883e+02] [ 6.65128796e-01 7.41240297e-01 -9.03687335e-02 1.23379648e+02] [ 1.35140702e-01 -4.67127720e-04 9.90826308e-01 8.66870277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:123.40, Z:86.69 [[ 7.35159588e-01 -6.70652014e-01 -9.88243710e-02 1.97694405e+02] [ 6.64729878e-01 7.41772052e-01 -8.89292554e-02 1.23397921e+02] [ 1.32945741e-01 -3.14317218e-04 9.91123267e-01 8.66885523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:123.42, Z:86.69 [[ 7.34485889e-01 -6.71375784e-01 -9.89193427e-02 1.97713943e+02] [ 6.65445611e-01 7.41116977e-01 -8.90379967e-02 1.23417898e+02] [ 1.33088759e-01 -4.28290350e-04 9.91104030e-01 8.66913668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:123.44, Z:86.69 [[ 7.34018876e-01 -6.71877122e-01 -9.89819356e-02 1.97732892e+02] [ 6.65937409e-01 7.40662474e-01 -8.91429587e-02 1.23436686e+02] [ 1.33205320e-01 -4.83159397e-04 9.91088346e-01 8.66944208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.75, Y:123.46, Z:86.70 [[ 7.33826638e-01 -6.72074040e-01 -9.90704311e-02 1.97753601e+02] [ 6.66121755e-01 7.40483785e-01 -8.92500506e-02 1.23455336e+02] [ 1.33342690e-01 -4.98904789e-04 9.91069865e-01 8.66980796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:123.47, Z:86.70 [[ 7.33743302e-01 -6.72107118e-01 -9.94625014e-02 1.97774072e+02] [ 6.66101171e-01 7.40453780e-01 -8.96517083e-02 1.23474172e+02] [ 1.33902936e-01 -4.70748196e-04 9.90994340e-01 8.67022517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:123.49, Z:86.71 [[ 7.33676722e-01 -6.72144490e-01 -9.97008088e-02 1.97794197e+02] [ 6.66103328e-01 7.40419873e-01 -8.99153354e-02 1.23492471e+02] [ 1.34256558e-01 -4.42252003e-04 9.90946508e-01 8.67060824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:123.51, Z:86.71 [[ 7.33162062e-01 -6.73050127e-01 -9.73494593e-02 1.97814817e+02] [ 6.66180865e-01 7.39575761e-01 -9.60767880e-02 1.23514245e+02] [ 1.36661795e-01 5.58750908e-03 9.90602006e-01 8.67070085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:123.53, Z:86.71 [[ 7.33634501e-01 -6.71445238e-01 -1.04602633e-01 1.97837466e+02] [ 6.65735937e-01 7.41034402e-01 -8.75424280e-02 1.23527851e+02] [ 1.36294096e-01 -5.41358664e-03 9.90653629e-01 8.67145770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.86, Y:123.55, Z:86.72 [[ 7.34266734e-01 -6.71130844e-01 -1.02155538e-01 1.97856659e+02] [ 6.65008861e-01 7.41337367e-01 -9.04550864e-02 1.23549678e+02] [ 1.36438916e-01 -1.51617703e-03 9.90647325e-01 8.67152473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:197.88, Y:123.57, Z:86.72 [[ 7.34552383e-01 -6.70993242e-01 -1.00999336e-01 1.97875752e+02] [ 6.64764069e-01 7.41463452e-01 -9.12177724e-02 1.23568458e+02] [ 1.36093825e-01 -1.36497325e-04 9.90695943e-01 8.67176074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:123.59, Z:86.72 [[ 7.34989579e-01 -6.70832367e-01 -9.88648237e-02 1.97896746e+02] [ 6.64230256e-01 7.41601317e-01 -9.39449484e-02 1.23588281e+02] [ 1.36339596e-01 3.37955092e-03 9.90656395e-01 8.67211220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.92, Y:123.60, Z:86.73 [[ 7.36084923e-01 -6.69111827e-01 -1.02314954e-01 1.97918540e+02] [ 6.63380248e-01 7.43153518e-01 -8.74613988e-02 1.23602842e+02] [ 1.34557174e-01 -3.49470251e-03 9.90899669e-01 8.67281854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:123.62, Z:86.73 [[ 7.36585158e-01 -6.69329000e-01 -9.71647782e-02 1.97936683e+02] [ 6.62861565e-01 7.42955221e-01 -9.29090206e-02 1.23624712e+02] [ 1.34375781e-01 4.02860871e-03 9.90922257e-01 8.67290561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.96, Y:123.64, Z:86.74 [[ 7.35331629e-01 -6.69871111e-01 -1.02762299e-01 1.97957491e+02] [ 6.64081954e-01 7.42468820e-01 -8.79500406e-02 1.23641718e+02] [ 1.35212994e-01 -3.57014147e-03 9.90810123e-01 8.67371912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:123.66, Z:86.74 [[ 7.36458609e-01 -6.69198219e-01 -9.90073716e-02 1.97977760e+02] [ 6.63166656e-01 7.43083853e-01 -8.96458254e-02 1.23659853e+02] [ 1.33561606e-01 3.62052334e-04 9.91040446e-01 8.67377737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:123.68, Z:86.74 [[ 7.35962728e-01 -6.69818072e-01 -9.85018416e-02 1.97998673e+02] [ 6.63849836e-01 7.42525203e-01 -8.92172511e-02 1.23677468e+02] [ 1.32899427e-01 2.70140124e-04 9.91129492e-01 8.67421031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:123.69, Z:86.75 [[ 7.35000093e-01 -6.70907576e-01 -9.82745534e-02 1.98019308e+02] [ 6.64970087e-01 7.41540972e-01 -8.90604923e-02 1.23694073e+02] [ 1.32625967e-01 1.09831803e-04 9.91166152e-01 8.67477244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.150385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:198.04, Y:123.71, Z:86.75 [[ 7.34501600e-01 -6.71489952e-01 -9.80236921e-02 1.98039158e+02] [ 6.65583579e-01 7.41013660e-01 -8.88665021e-02 1.23712876e+02] [ 1.32309858e-01 2.96281578e-05 9.91208404e-01 8.67510987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:123.73, Z:86.75 [[ 7.33913592e-01 -6.72164169e-01 -9.78067937e-02 1.98059092e+02] [ 6.66286501e-01 7.40402137e-01 -8.86959651e-02 1.23732356e+02] [ 1.32034609e-01 -7.21720189e-05 9.91245104e-01 8.67540128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:123.75, Z:86.76 [[ 7.32146680e-01 -6.73937220e-01 -9.88426193e-02 1.98079024e+02] [ 6.67943349e-01 7.38788532e-01 -8.96838235e-02 1.23751823e+02] [ 1.33465060e-01 -3.59556519e-04 9.91053454e-01 8.67571939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.240385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:198.10, Y:123.77, Z:86.76 [[ 7.31001121e-01 -6.75099021e-01 -9.93915169e-02 1.98099807e+02] [ 6.69042128e-01 7.37726929e-01 -9.02308645e-02 1.23770597e+02] [ 1.34238567e-01 -5.38248926e-04 9.90948898e-01 8.67608247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:123.79, Z:86.77 [[ 7.27915353e-01 -6.78261045e-01 -1.00504696e-01 1.98119962e+02] [ 6.72090097e-01 7.34820219e-01 -9.12915490e-02 1.23790143e+02] [ 1.35772384e-01 -1.09569106e-03 9.90739451e-01 8.67657010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:123.81, Z:86.77 [[ 7.28537567e-01 -6.77670676e-01 -9.99773335e-02 1.98140993e+02] [ 6.71552372e-01 7.35364919e-01 -9.08616997e-02 1.23807434e+02] [ 1.35094133e-01 -9.43853770e-04 9.90832319e-01 8.67685844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:123.83, Z:86.77 [[ 7.27726235e-01 -6.78490803e-01 -1.00323268e-01 1.98160577e+02] [ 6.72333470e-01 7.34608106e-01 -9.12065510e-02 1.23827576e+02] [ 1.35581092e-01 -1.07729113e-03 9.90765667e-01 8.67706970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:123.85, Z:86.77 [[ 7.27580329e-01 -6.78667482e-01 -1.00186393e-01 1.98179593e+02] [ 6.72521817e-01 7.34444893e-01 -9.11323540e-02 1.23846640e+02] [ 1.35429950e-01 -1.07142709e-03 9.90786345e-01 8.67734659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:123.87, Z:86.78 [[ 7.27471684e-01 -6.78785204e-01 -1.00177825e-01 1.98199510e+02] [ 6.72637774e-01 7.34336093e-01 -9.11533133e-02 1.23866092e+02] [ 1.35437713e-01 -1.07193496e-03 9.90785283e-01 8.67764501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.22, Y:123.88, Z:86.78 [[ 7.27861410e-01 -6.78319579e-01 -1.00500330e-01 1.98220514e+02] [ 6.72121082e-01 7.34766387e-01 -9.14964901e-02 1.23882841e+02] [ 1.35908125e-01 -9.51626368e-04 9.90720988e-01 8.67809329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.24, Y:123.90, Z:86.79 [[ 7.27872390e-01 -6.78414534e-01 -9.97772722e-02 1.98242090e+02] [ 6.72302385e-01 7.34678728e-01 -9.08662175e-02 1.23900667e+02] [ 1.34949202e-01 -9.41487188e-04 9.90852071e-01 8.67862563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:123.92, Z:86.79 [[ 7.27886697e-01 -6.78400440e-01 -9.97687312e-02 1.98260956e+02] [ 6.72282532e-01 7.34691792e-01 -9.09074758e-02 1.23919599e+02] [ 1.34970939e-01 -9.02432900e-04 9.90849147e-01 8.67900175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.28, Y:123.94, Z:86.79 [[ 7.26211287e-01 -6.80184449e-01 -9.98312687e-02 1.98279093e+02] [ 6.74071742e-01 7.33040000e-01 -9.09925534e-02 1.23941949e+02] [ 1.35072033e-01 -1.21361784e-03 9.90835038e-01 8.67915521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:123.96, Z:86.80 [[ 7.28232565e-01 -6.77879939e-01 -1.00777579e-01 1.98297244e+02] [ 6.72038902e-01 7.35166405e-01 -8.88485823e-02 1.23959834e+02] [ 1.34316962e-01 -3.02402240e-03 9.90933807e-01 8.67954040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:123.98, Z:86.80 [[ 7.32140523e-01 -6.74055049e-01 -9.80818295e-02 1.98319681e+02] [ 6.67476751e-01 7.38673497e-01 -9.40013378e-02 1.23980026e+02] [ 1.35812524e-01 3.35484777e-03 9.90728875e-01 8.67995995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:124.00, Z:86.80 [[ 7.32964530e-01 -6.72780993e-01 -1.00641604e-01 1.98340475e+02] [ 6.66487350e-01 7.39841664e-01 -9.18091772e-02 1.23997413e+02] [ 1.36226321e-01 2.16514528e-04 9.90677719e-01 8.68047200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:124.02, Z:86.81 [[ 7.31262203e-01 -6.74498122e-01 -1.01527703e-01 1.98356548e+02] [ 6.68558765e-01 7.38272196e-01 -8.93495487e-02 1.24017022e+02] [ 1.35221183e-01 -2.53928804e-03 9.90812184e-01 8.68071493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:124.04, Z:86.81 [[ 7.33695368e-01 -6.72486914e-01 -9.72237490e-02 1.98378261e+02] [ 6.65896398e-01 7.40096887e-01 -9.40137471e-02 1.24040701e+02] [ 1.35178009e-01 4.23650646e-03 9.90812272e-01 8.68103485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:124.06, Z:86.82 [[ 7.33604459e-01 -6.72285342e-01 -9.92820072e-02 1.98398801e+02] [ 6.66147419e-01 7.40292031e-01 -9.06384314e-02 1.24059154e+02] [ 1.34432568e-01 3.56304573e-04 9.90922680e-01 8.68152679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.42, Y:124.08, Z:86.82 [[ 7.33415765e-01 -6.72627463e-01 -9.83545229e-02 1.98417403e+02] [ 6.66600649e-01 7.39981209e-01 -8.98408883e-02 1.24078321e+02] [ 1.33209947e-01 3.27535015e-04 9.91087788e-01 8.68190131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.43, Y:124.10, Z:86.82 [[ 7.31195952e-01 -6.74899005e-01 -9.93167260e-02 1.98434654e+02] [ 6.69136537e-01 7.37907154e-01 -8.80302555e-02 1.24097139e+02] [ 1.32698055e-01 -2.08908369e-03 9.91154308e-01 8.68231420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.45, Y:124.12, Z:86.83 [[ 7.31189082e-01 -6.75199749e-01 -9.73027547e-02 1.98453885e+02] [ 6.69149206e-01 7.37634460e-01 -9.01928105e-02 1.24116718e+02] [ 1.32672028e-01 8.37937210e-04 9.91159639e-01 8.68255808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.47, Y:124.13, Z:86.83 [[ 7.29943352e-01 -6.76010559e-01 -1.00957556e-01 1.98474872e+02] [ 6.70522645e-01 7.36875998e-01 -8.60996315e-02 1.24132592e+02] [ 1.32597460e-01 -4.84647373e-03 9.91158123e-01 8.68341267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.49, Y:124.16, Z:86.83 [[ 7.29156848e-01 -6.77881051e-01 -9.38486633e-02 1.98492260e+02] [ 6.71434257e-01 7.35153947e-01 -9.34061653e-02 1.24155868e+02] [ 1.32311485e-01 5.09453757e-03 9.91195095e-01 8.68328781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:124.18, Z:86.83 [[ 7.27749316e-01 -6.80080537e-01 -8.87208932e-02 1.98509334e+02] [ 6.73318862e-01 7.33065313e-01 -9.62130813e-02 1.24178228e+02] [ 1.30470853e-01 1.02815533e-02 9.91398833e-01 8.68305445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:124.19, Z:86.84 [[ 7.26380073e-01 -6.79492045e-01 -1.03259628e-01 1.98533355e+02] [ 6.74031653e-01 7.33649957e-01 -8.62500539e-02 1.24192206e+02] [ 1.34362647e-01 -6.94993736e-03 9.90907855e-01 8.68416605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:124.21, Z:86.84 [[ 7.25541933e-01 -6.80911229e-01 -9.97436834e-02 1.98551563e+02] [ 6.74800910e-01 7.32364866e-01 -9.10243628e-02 1.24214017e+02] [ 1.35028280e-01 -1.26513617e-03 9.90840937e-01 8.68424625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.57, Y:124.23, Z:86.85 [[ 7.24205992e-01 -6.82721937e-01 -9.70383318e-02 1.98570822e+02] [ 6.76050720e-01 7.30670414e-01 -9.52689325e-02 1.24234531e+02] [ 1.35945228e-01 3.39149770e-03 9.90710549e-01 8.68452001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:124.25, Z:86.86 [[ 7.24303846e-01 -6.81862818e-01 -1.02210747e-01 1.98595485e+02] [ 6.75680687e-01 7.31475165e-01 -9.16498337e-02 1.24250195e+02] [ 1.37257237e-01 -2.67950058e-03 9.90531812e-01 8.68552345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:124.27, Z:86.86 [[ 7.23754330e-01 -6.82674387e-01 -1.00674477e-01 1.98613806e+02] [ 6.76419537e-01 7.30721445e-01 -9.22105193e-02 1.24270726e+02] [ 1.36514759e-01 -1.36042032e-03 9.90637103e-01 8.68581885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:124.29, Z:86.86 [[ 7.23200550e-01 -6.83291152e-01 -1.00469728e-01 1.98632542e+02] [ 6.77063831e-01 7.30144569e-01 -9.20514921e-02 1.24291428e+02] [ 1.36255396e-01 -1.45272913e-03 9.90672679e-01 8.68613337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:124.32, Z:86.85 [[ 7.20890707e-01 -6.87015298e-01 -9.12500394e-02 1.98643550e+02] [ 6.80190044e-01 7.26601120e-01 -9.69139653e-02 1.24318622e+02] [ 1.32883757e-01 7.79700863e-03 9.91100960e-01 8.68535979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:124.33, Z:86.87 [[ 7.22913004e-01 -6.82650092e-01 -1.06703518e-01 1.98673757e+02] [ 6.77242790e-01 7.30678826e-01 -8.63171873e-02 1.24328829e+02] [ 1.36890437e-01 -9.86437081e-03 9.90537078e-01 8.68713313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:124.35, Z:86.87 [[ 7.20884414e-01 -6.85559989e-01 -1.01652165e-01 1.98688283e+02] [ 6.79595158e-01 7.28005326e-01 -9.03253374e-02 1.24350913e+02] [ 1.35926755e-01 -3.96819117e-03 9.90710942e-01 8.68714622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:124.37, Z:86.88 [[ 7.22189454e-01 -6.84685090e-01 -9.82278985e-02 1.98709438e+02] [ 6.78157687e-01 7.28837463e-01 -9.43297666e-02 1.24371273e+02] [ 1.36178357e-01 1.50995823e-03 9.90683186e-01 8.68764091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:124.39, Z:86.88 [[ 7.21719995e-01 -6.84920820e-01 -1.00018600e-01 1.98727234e+02] [ 6.78741645e-01 7.28615692e-01 -9.18093299e-02 1.24391645e+02] [ 1.35757243e-01 -1.62615973e-03 9.90740797e-01 8.68807301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.75, Y:124.41, Z:86.88 [[ 7.21440934e-01 -6.85194496e-01 -1.00157289e-01 1.98745869e+02] [ 6.78996775e-01 7.28358257e-01 -9.19653654e-02 1.24412274e+02] [ 1.35964551e-01 -1.65889712e-03 9.90712314e-01 8.68828088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:124.43, Z:86.89 [[ 7.21952183e-01 -6.84562842e-01 -1.00790681e-01 1.98763891e+02] [ 6.78273106e-01 7.28952280e-01 -9.25968003e-02 1.24431529e+02] [ 1.36859925e-01 -1.51314590e-03 9.90589255e-01 8.68868044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:124.46, Z:86.88 [[ 7.22168245e-01 -6.85273099e-01 -9.42008744e-02 1.98776973e+02] [ 6.77403311e-01 7.28196537e-01 -1.04185211e-01 1.24458028e+02] [ 1.39992073e-01 1.14272665e-02 9.90086682e-01 8.68815824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:124.47, Z:86.90 [[ 7.24768176e-01 -6.79956247e-01 -1.11223169e-01 1.98806401e+02] [ 6.74471668e-01 7.33155266e-01 -8.70133634e-02 1.24468160e+02] [ 1.40709132e-01 -1.19523595e-02 9.89978829e-01 8.68998060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.350385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:198.82, Y:124.49, Z:86.90 [[ 7.26071668e-01 -6.79801741e-01 -1.03390161e-01 1.98822362e+02] [ 6.73137213e-01 7.33395645e-01 -9.49585199e-02 1.24491408e+02] [ 1.40378861e-01 -6.49074077e-04 9.90097649e-01 8.68951316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.84, Y:124.51, Z:86.90 [[ 7.26834101e-01 -6.79002810e-01 -1.03282978e-01 1.98839979e+02] [ 6.72340506e-01 7.34135517e-01 -9.48856481e-02 1.24513705e+02] [ 1.40251324e-01 -4.75205253e-04 9.90115822e-01 8.69006487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.410385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.86, Y:124.53, Z:86.90 [[ 7.28575585e-01 -6.77109554e-01 -1.03442103e-01 1.98856786e+02] [ 6.70399712e-01 7.35882224e-01 -9.50872181e-02 1.24534887e+02] [ 1.40505668e-01 -6.93301958e-05 9.90079872e-01 8.69039581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.440385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:198.88, Y:124.55, Z:86.91 [[ 7.30140070e-01 -6.75594840e-01 -1.02308797e-01 1.98876032e+02] [ 6.69009614e-01 7.37273046e-01 -9.40988446e-02 1.24553298e+02] [ 1.39002212e-01 2.59768263e-04 9.90292037e-01 8.69098573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.470385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:198.90, Y:124.57, Z:86.91 [[ 7.29528942e-01 -6.76249111e-01 -1.02345798e-01 1.98895890e+02] [ 6.69661247e-01 7.36673004e-01 -9.41631520e-02 1.24571995e+02] [ 1.39073134e-01 1.57730207e-04 9.90282101e-01 8.69114924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:124.60, Z:86.91 [[ 7.28820359e-01 -6.78126477e-01 -9.46856178e-02 1.98911371e+02] [ 6.70935205e-01 7.34895762e-01 -9.88643999e-02 1.24595375e+02] [ 1.36626626e-01 8.52647307e-03 9.90585920e-01 8.69110159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.530385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:198.94, Y:124.61, Z:86.93 [[ 7.29393996e-01 -6.75443939e-01 -1.08442998e-01 1.98937961e+02] [ 6.69613364e-01 7.37370371e-01 -8.88981342e-02 1.24606089e+02] [ 1.40008360e-01 -7.77311555e-03 9.90119810e-01 8.69264600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:124.64, Z:86.91 [[ 7.27395118e-01 -6.80508987e-01 -8.83394696e-02 1.98946942e+02] [ 6.72609561e-01 7.32547854e-01 -1.04737863e-01 1.24637775e+02] [ 1.35987946e-01 1.67678383e-02 9.90568583e-01 8.69127656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:124.65, Z:86.92 [[ 7.26303140e-01 -6.80123204e-01 -9.95799986e-02 1.98970800e+02] [ 6.73690065e-01 7.33097498e-01 -9.33260620e-02 1.24654220e+02] [ 1.36475068e-01 6.96956158e-04 9.90643261e-01 8.69202374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.620385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:199.00, Y:124.66, Z:86.93 [[ 7.25524836e-01 -6.78494561e-01 -1.15147051e-01 1.98997634e+02] [ 6.73581321e-01 7.34405571e-01 -8.32866177e-02 1.24664843e+02] [ 1.41074153e-01 -1.71343932e-02 9.89850744e-01 8.69349122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:124.70, Z:86.92 [[ 7.22318116e-01 -6.86188153e-01 -8.60369535e-02 1.99007056e+02] [ 6.77999100e-01 7.27168791e-01 -1.07437286e-01 1.24698386e+02] [ 1.36285580e-01 1.92709207e-02 9.90482141e-01 8.69208473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:124.71, Z:86.93 [[ 7.19771014e-01 -6.87092255e-01 -9.91661300e-02 1.99032863e+02] [ 6.80704575e-01 7.26570150e-01 -9.34724475e-02 1.24709051e+02] [ 1.36275345e-01 -2.24080120e-04 9.90670975e-01 8.69311892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.710385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:199.05, Y:124.73, Z:86.93 [[ 7.15307203e-01 -6.92029819e-01 -9.71099117e-02 1.99050853e+02] [ 6.85226772e-01 7.21863774e-01 -9.68347240e-02 1.24732278e+02] [ 1.37112644e-01 2.72426421e-03 9.90551716e-01 8.69284778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.740385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:199.07, Y:124.75, Z:86.94 [[ 7.15586686e-01 -6.90661704e-01 -1.04508878e-01 1.99074560e+02] [ 6.84840571e-01 7.23140888e-01 -8.97811184e-02 1.24746900e+02] [ 1.37583023e-01 -7.32574641e-03 9.90463147e-01 8.69395453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.09, Y:124.77, Z:86.94 [[ 7.15755562e-01 -6.90922264e-01 -1.01589377e-01 1.99094561e+02] [ 6.84312102e-01 7.22927945e-01 -9.53526811e-02 1.24767777e+02] [ 1.39323090e-01 -1.26962849e-03 9.90246164e-01 8.69427992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.12, Y:124.78, Z:86.96 [[ 7.16094983e-01 -6.87581484e-01 -1.20165216e-01 1.99119660e+02] [ 6.82921381e-01 7.25755661e-01 -8.30488241e-02 1.24775577e+02] [ 1.44313419e-01 -2.25925488e-02 9.89274084e-01 8.69633434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:124.81, Z:86.94 [[ 7.17648049e-01 -6.90679915e-01 -8.91208903e-02 1.99126593e+02] [ 6.82261936e-01 7.22952565e-01 -1.08895548e-01 1.24812048e+02] [ 1.39642144e-01 1.73448865e-02 9.90050113e-01 8.69430443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:124.82, Z:86.97 [[ 7.19283854e-01 -6.84473015e-01 -1.18858865e-01 1.99158273e+02] [ 6.79610015e-01 7.28753085e-01 -8.39593266e-02 1.24815098e+02] [ 1.44086658e-01 -2.03870869e-02 9.89355043e-01 8.69700814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.890385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:199.17, Y:124.84, Z:86.96 [[ 7.20789892e-01 -6.85024274e-01 -1.05847414e-01 1.99172380e+02] [ 6.77993342e-01 7.28519258e-01 -9.79015762e-02 1.24842411e+02] [ 1.44176836e-01 -1.19737523e-03 9.89551215e-01 8.69642154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:124.86, Z:86.97 [[ 7.22041226e-01 -6.83696394e-01 -1.05904246e-01 1.99193319e+02] [ 6.76635574e-01 7.29766022e-01 -9.80094551e-02 1.24860370e+02] [ 1.44294031e-01 -8.91713181e-04 9.89534455e-01 8.69707648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:124.88, Z:86.97 [[ 7.22819627e-01 -6.82786028e-01 -1.06466082e-01 1.99213604e+02] [ 6.75631926e-01 7.30618085e-01 -9.85835477e-02 1.24877404e+02] [ 1.45097514e-01 -6.73760556e-04 9.89417130e-01 8.69749624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:124.90, Z:86.98 [[ 7.24414455e-01 -6.81969690e-01 -1.00702729e-01 1.99232582e+02] [ 6.72953314e-01 7.31267748e-01 -1.11271374e-01 1.24898776e+02] [ 1.49524362e-01 1.28383563e-02 9.88674690e-01 8.69752055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.26, Y:124.91, Z:86.99 [[ 7.25450355e-01 -6.78514029e-01 -1.15501057e-01 1.99261948e+02] [ 6.72705249e-01 7.34476546e-01 -8.95089514e-02 1.24906721e+02] [ 1.45565897e-01 -1.27638667e-02 9.89266220e-01 8.69890671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:124.93, Z:86.99 [[ 7.26057303e-01 -6.79249343e-01 -1.07056630e-01 1.99278250e+02] [ 6.71963766e-01 7.33907569e-01 -9.92188364e-02 1.24930552e+02] [ 1.45964000e-01 1.00384761e-04 9.89289897e-01 8.69876403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.30, Y:124.95, Z:86.99 [[ 7.26853690e-01 -6.78431177e-01 -1.06840309e-01 1.99299156e+02] [ 6.71158408e-01 7.34663900e-01 -9.90724254e-02 1.24949654e+02] [ 1.45705540e-01 3.04386192e-04 9.89327955e-01 8.69905236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.32, Y:124.97, Z:86.99 [[ 7.28345287e-01 -6.76851722e-01 -1.06699997e-01 1.99321994e+02] [ 6.69573284e-01 7.36119087e-01 -9.89965011e-02 1.24965441e+02] [ 1.45549857e-01 6.60167343e-04 9.89350698e-01 8.69947622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:124.98, Z:87.00 [[ 7.28715030e-01 -6.76508308e-01 -1.06352784e-01 1.99344287e+02] [ 6.69265691e-01 7.36434600e-01 -9.87295056e-02 1.24982270e+02] [ 1.45113201e-01 7.67405190e-04 9.89414761e-01 8.69994643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.160385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.37, Y:125.00, Z:87.00 [[ 7.28649388e-01 -6.76694568e-01 -1.05615018e-01 1.99367406e+02] [ 6.69546626e-01 7.36263456e-01 -9.80991348e-02 1.24997958e+02] [ 1.44143630e-01 7.65695384e-04 9.89556480e-01 8.70043792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:125.02, Z:87.01 [[ 7.28135129e-01 -6.77207712e-01 -1.05872319e-01 1.99388147e+02] [ 6.70022354e-01 7.35791558e-01 -9.83911968e-02 1.25015020e+02] [ 1.44531236e-01 7.05266645e-04 9.89499987e-01 8.70083026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:125.03, Z:87.01 [[ 7.27439753e-01 -6.77840231e-01 -1.06602195e-01 1.99411036e+02] [ 6.70556858e-01 7.35208985e-01 -9.91022137e-02 1.25031045e+02] [ 1.45550359e-01 6.08057020e-04 9.89350657e-01 8.70130221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:199.43, Y:125.05, Z:87.02 [[ 7.27258118e-01 -6.78057093e-01 -1.06462236e-01 1.99431990e+02] [ 6.70787372e-01 7.35008989e-01 -9.90256921e-02 1.25048443e+02] [ 1.45395773e-01 6.03714983e-04 9.89373390e-01 8.70167873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:125.07, Z:87.02 [[ 7.27056900e-01 -6.78318542e-01 -1.06170711e-01 1.99452768e+02] [ 6.71087092e-01 7.34767737e-01 -9.87850522e-02 1.25065771e+02] [ 1.45018546e-01 5.72559902e-04 9.89428771e-01 8.70207503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:125.08, Z:87.02 [[ 7.26187589e-01 -6.79630373e-01 -1.03702178e-01 1.99473955e+02] [ 6.71598834e-01 7.33529081e-01 -1.04355616e-01 1.25084333e+02] [ 1.46991810e-01 6.13549190e-03 9.89118680e-01 8.70224472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:199.50, Y:125.10, Z:87.03 [[ 7.24323960e-01 -6.80357323e-01 -1.11663397e-01 1.99501204e+02] [ 6.73520268e-01 7.32860594e-01 -9.63628510e-02 1.25095790e+02] [ 1.47394875e-01 -5.40963928e-03 9.89062934e-01 8.70291439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:125.11, Z:87.04 [[ 7.25371239e-01 -6.79521265e-01 -1.09942790e-01 1.99527863e+02] [ 6.71999343e-01 7.33655437e-01 -1.00829476e-01 1.25114358e+02] [ 1.49175899e-01 -7.42681459e-04 9.88810396e-01 8.70360261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:199.54, Y:125.13, Z:87.04 [[ 7.22030509e-01 -6.83183219e-01 -1.09236595e-01 1.99543236e+02] [ 6.75717782e-01 7.30246200e-01 -1.00727187e-01 1.25131770e+02] [ 1.48584732e-01 -1.08500724e-03 9.88899085e-01 8.70354676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43038572300003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:199.54, Y:125.17, Z:87.00 [[ 7.17062486e-01 -6.94796701e-01 -5.54881537e-02 1.99540760e+02] [ 6.83938494e-01 7.16727521e-01 -1.36124194e-01 1.25174485e+02] [ 1.34348528e-01 5.96590686e-02 9.89136628e-01 8.69975509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.460385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:199.61, Y:125.14, Z:87.07 [[ 7.16740996e-01 -6.81129653e-01 -1.49481573e-01 1.99606715e+02] [ 6.81152780e-01 7.29747598e-01 -5.91551559e-02 1.25141354e+02] [ 1.49376150e-01 -5.94208636e-02 9.86993377e-01 8.70700395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.61, Y:125.19, Z:87.04 [[ 7.18339492e-01 -6.88492899e-01 -9.98293680e-02 1.99614380e+02] [ 6.79812838e-01 7.25162600e-01 -1.09515793e-01 1.25186655e+02] [ 1.47793370e-01 1.08042335e-02 9.88959245e-01 8.70422263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.520385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:199.64, Y:125.20, Z:87.05 [[ 7.17691149e-01 -6.87857252e-01 -1.08497998e-01 1.99640678e+02] [ 6.80436431e-01 7.25844443e-01 -1.00777522e-01 1.25199421e+02] [ 1.48073218e-01 -1.49885485e-03 9.88975265e-01 8.70515728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:199.66, Y:125.21, Z:87.06 [[ 7.14932991e-01 -6.89971246e-01 -1.13183467e-01 1.99660446e+02] [ 6.82639560e-01 7.23816349e-01 -1.00464547e-01 1.25211324e+02] [ 1.51241693e-01 -5.43809259e-03 9.88481855e-01 8.70616278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.580385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:199.68, Y:125.23, Z:87.07 [[ 7.14639133e-01 -6.89864081e-01 -1.15665287e-01 1.99684032e+02] [ 6.83869347e-01 7.23812448e-01 -9.17510547e-02 1.25225929e+02] [ 1.47015732e-01 -1.35310501e-02 9.89041599e-01 8.70688124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.610385723 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:199.70, Y:125.26, Z:87.05 [[ 7.14641471e-01 -6.93977071e-01 -8.76549626e-02 1.99700460e+02] [ 6.84905690e-01 7.19681035e-01 -1.13856948e-01 1.25259792e+02] [ 1.42097725e-01 2.13315139e-02 9.89622758e-01 8.70502212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.640385723 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:199.73, Y:125.27, Z:87.06 [[ 7.13800518e-01 -6.92485835e-01 -1.04652706e-01 1.99727937e+02] [ 6.85794743e-01 7.21424442e-01 -9.60850907e-02 1.25267123e+02] [ 1.42036585e-01 -3.18468842e-03 9.89856286e-01 8.70640229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.670385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:199.75, Y:125.27, Z:87.09 [[ 7.13559860e-01 -6.89405414e-01 -1.24709666e-01 1.99753189e+02] [ 6.84931561e-01 7.23895095e-01 -8.27323900e-02 1.25269995e+02] [ 1.47312873e-01 -2.63830734e-02 9.88738009e-01 8.70864999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:199.77, Y:125.30, Z:87.08 [[ 7.15035399e-01 -6.90811128e-01 -1.07258397e-01 1.99766905e+02] [ 6.82978543e-01 7.23034674e-01 -1.03736063e-01 1.25297414e+02] [ 1.49213567e-01 9.19773383e-04 9.88804564e-01 8.70793753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.730385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:199.79, Y:125.32, Z:87.08 [[ 7.14827688e-01 -6.90776306e-01 -1.08855275e-01 1.99788179e+02] [ 6.83193085e-01 7.23067178e-01 -1.02083622e-01 1.25315985e+02] [ 1.49226624e-01 -1.39697137e-03 9.88802034e-01 8.70841917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.760385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:199.81, Y:125.34, Z:87.09 [[ 7.17479148e-01 -6.87929929e-01 -1.09435298e-01 1.99808873e+02] [ 6.80732468e-01 7.25769846e-01 -9.93047715e-02 1.25335555e+02] [ 1.47739564e-01 -3.24705746e-03 9.89020969e-01 8.70885962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.790385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:199.82, Y:125.36, Z:87.09 [[ 7.18325405e-01 -6.88294424e-01 -1.01288690e-01 1.99823700e+02] [ 6.79340032e-01 7.25346825e-01 -1.11216474e-01 1.25361716e+02] [ 1.50019109e-01 1.10801569e-02 9.88621008e-01 8.70852997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.820385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:199.85, Y:125.37, Z:87.10 [[ 7.20547992e-01 -6.83850606e-01 -1.14712420e-01 1.99849087e+02] [ 6.77898557e-01 7.29518518e-01 -9.08640620e-02 1.25373655e+02] [ 1.45822279e-01 -1.22914667e-02 9.89234443e-01 8.70976845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:125.40, Z:87.10 [[ 7.20797355e-01 -6.84987815e-01 -1.06032379e-01 1.99866536e+02] [ 6.77741204e-01 7.28554485e-01 -9.93741524e-02 1.25397006e+02] [ 1.45320449e-01 -2.33886089e-04 9.89384613e-01 8.70976374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.89, Y:125.42, Z:87.10 [[ 7.19990812e-01 -6.85819728e-01 -1.06134495e-01 1.99887619e+02] [ 6.78560101e-01 7.27771372e-01 -9.95239697e-02 1.25415100e+02] [ 1.45497149e-01 -3.62290027e-04 9.89358605e-01 8.71029605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:125.43, Z:87.11 [[ 7.18837666e-01 -6.87002516e-01 -1.06301242e-01 1.99908344e+02] [ 6.79724592e-01 7.26654821e-01 -9.97359031e-02 1.25433512e+02] [ 1.45763126e-01 -5.61644434e-04 9.89319360e-01 8.71076946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.940385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:199.93, Y:125.45, Z:87.11 [[ 7.16565828e-01 -6.89284500e-01 -1.06865767e-01 1.99928038e+02] [ 6.81945545e-01 7.24490095e-01 -1.00321358e-01 1.25452669e+02] [ 1.46573147e-01 -9.89777169e-04 9.89199339e-01 8.71115692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.970385723 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:199.94, Y:125.49, Z:87.09 [[ 7.15201710e-01 -6.94124444e-01 -8.17176254e-02 1.99939838e+02] [ 6.84407211e-01 7.19250553e-01 -1.19437898e-01 1.25487449e+02] [ 1.41680211e-01 2.94940565e-02 9.89473000e-01 8.70932902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.000385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:199.97, Y:125.48, Z:87.13 [[ 7.12755197e-01 -6.89713262e-01 -1.27576038e-01 1.99974116e+02] [ 6.86143023e-01 7.23353857e-01 -7.72460347e-02 1.25482287e+02] [ 1.45560234e-01 -3.24778955e-02 9.88816163e-01 8.71298009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.99, Y:125.51, Z:87.12 [[ 7.11420760e-01 -6.94700830e-01 -1.06166186e-01 1.99985124e+02] [ 6.87494421e-01 7.19296090e-01 -9.98226278e-02 1.25514236e+02] [ 1.45711785e-01 -1.97277062e-03 9.89325115e-01 8.71196734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.060385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:200.00, Y:125.53, Z:87.12 [[ 7.08760764e-01 -6.97453729e-01 -1.05907864e-01 2.00004663e+02] [ 6.90305334e-01 7.16625479e-01 -9.96316662e-02 1.25532864e+02] [ 1.45384751e-01 -2.49374743e-03 9.89372051e-01 8.71237402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.090385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:200.03, Y:125.55, Z:87.13 [[ 7.06676836e-01 -6.99519343e-01 -1.06209878e-01 2.00025263e+02] [ 6.92348612e-01 7.14607760e-01 -9.99457330e-02 1.25549644e+02] [ 1.45812376e-01 -2.90492706e-03 9.89307997e-01 8.71297827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.120385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:200.05, Y:125.57, Z:87.13 [[ 7.04808691e-01 -7.01296253e-01 -1.06903109e-01 2.00045593e+02] [ 6.94046620e-01 7.12862446e-01 -1.00630128e-01 1.25569264e+02] [ 1.46778743e-01 -3.27075249e-03 9.89163941e-01 8.71315800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.150385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:200.06, Y:125.60, Z:87.11 [[ 7.04128031e-01 -7.05421287e-01 -8.11450846e-02 2.00056131e+02] [ 6.96253005e-01 7.08337108e-01 -1.16147729e-01 1.25601924e+02] [ 1.39411155e-01 2.52853626e-02 9.89911703e-01 8.71142322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18038572300003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:200.09, Y:125.60, Z:87.15 [[ 7.05117901e-01 -6.97793181e-01 -1.26069113e-01 2.00090380e+02] [ 6.93822755e-01 7.15638998e-01 -8.04413396e-02 1.25600320e+02] [ 1.46351392e-01 -3.07489909e-02 9.88754656e-01 8.71508137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.210385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:200.10, Y:125.63, Z:87.14 [[ 7.05954994e-01 -7.00089650e-01 -1.07247508e-01 2.00101119e+02] [ 6.92756962e-01 7.14048978e-01 -1.01103162e-01 1.25631666e+02] [ 1.47361250e-01 -2.92217533e-03 9.89078421e-01 8.71416777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:200.12, Y:125.65, Z:87.14 [[ 7.08064987e-01 -6.97821759e-01 -1.08114604e-01 2.00120210e+02] [ 6.90335054e-01 7.16267326e-01 -1.01973681e-01 1.25652567e+02] [ 1.48598412e-01 -2.43130777e-03 9.88894636e-01 8.71448571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.270385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:200.14, Y:125.67, Z:87.15 [[ 7.09293349e-01 -6.96529221e-01 -1.08397366e-01 2.00140137e+02] [ 6.88979998e-01 7.17525274e-01 -1.02293907e-01 1.25671509e+02] [ 1.49028545e-01 -2.12722859e-03 9.88830606e-01 8.71490638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.300385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:200.16, Y:125.69, Z:87.15 [[ 7.11335879e-01 -6.94437693e-01 -1.08432276e-01 2.00158844e+02] [ 6.86851172e-01 7.19550950e-01 -1.02381141e-01 1.25690951e+02] [ 1.49119870e-01 -1.64945688e-03 9.88817750e-01 8.71529140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.330385723 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:200.18, Y:125.72, Z:87.14 [[ 7.12768604e-01 -6.95955879e-01 -8.72142874e-02 2.00175006e+02] [ 6.86240056e-01 7.17663480e-01 -1.18463986e-01 1.25723844e+02] [ 1.45036216e-01 2.45874721e-02 9.89120798e-01 8.71390023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.360385723 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:200.20, Y:125.72, Z:87.17 [[ 7.12398487e-01 -6.90186744e-01 -1.27006513e-01 2.00204342e+02] [ 6.85874897e-01 7.23066684e-01 -8.21595806e-02 1.25720793e+02] [ 1.48539632e-01 -2.85802182e-02 9.88493373e-01 8.71702412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.390385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:200.22, Y:125.75, Z:87.16 [[ 7.14307820e-01 -6.91546234e-01 -1.07369201e-01 2.00215290e+02] [ 6.84056342e-01 7.22331590e-01 -1.01508594e-01 1.25751664e+02] [ 1.47754051e-01 -9.38200486e-04 9.89023690e-01 8.71627729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.420385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:200.23, Y:125.77, Z:87.17 [[ 7.15808466e-01 -6.90120677e-01 -1.06544313e-01 2.00234851e+02] [ 6.82722402e-01 7.23694059e-01 -1.00782095e-01 1.25770049e+02] [ 1.46657294e-01 -5.99512844e-04 9.89187181e-01 8.71680205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.450385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:200.25, Y:125.79, Z:87.17 [[ 7.16489262e-01 -6.89404274e-01 -1.06606213e-01 2.00254690e+02] [ 6.81984539e-01 7.24376673e-01 -1.00873808e-01 1.25789189e+02] [ 1.46765889e-01 -4.28788608e-04 9.89171163e-01 8.71721276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.480385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:200.27, Y:125.81, Z:87.18 [[ 7.17510975e-01 -6.88183505e-01 -1.07617214e-01 2.00274402e+02] [ 6.80599494e-01 7.25536659e-01 -1.01886625e-01 1.25809030e+02] [ 1.48196929e-01 -1.39450232e-04 9.88957861e-01 8.71752524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.510385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:200.29, Y:125.83, Z:87.18 [[ 7.17855156e-01 -6.87821422e-01 -1.07636737e-01 2.00292943e+02] [ 6.80222652e-01 7.25879943e-01 -1.01958091e-01 1.25827834e+02] [ 1.48260308e-01 -2.58054299e-05 9.88948371e-01 8.71783097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.540385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:200.31, Y:125.85, Z:87.18 [[ 7.19008200e-01 -6.86770189e-01 -1.06648567e-01 2.00312492e+02] [ 6.79294724e-01 7.26874585e-01 -1.01054520e-01 1.25847118e+02] [ 1.46921364e-01 2.13219423e-04 9.89148152e-01 8.71815389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.570385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:200.33, Y:125.87, Z:87.19 [[ 7.18170250e-01 -6.87627205e-01 -1.06772281e-01 2.00331353e+02] [ 6.80135369e-01 7.26063924e-01 -1.01227758e-01 1.25866174e+02] [ 1.47130462e-01 7.91591575e-05 9.89117092e-01 8.71855086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:125.88, Z:87.19 [[ 7.17898720e-01 -6.87996443e-01 -1.06218275e-01 2.00352404e+02] [ 6.80578632e-01 7.25714057e-01 -1.00756306e-01 1.25884577e+02] [ 1.46404075e-01 4.29347018e-05 9.89224871e-01 8.71913747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:200.37, Y:125.90, Z:87.20 [[ 7.17260537e-01 -6.88549873e-01 -1.06941082e-01 2.00372838e+02] [ 6.81028018e-01 7.25188990e-01 -1.01497624e-01 1.25903541e+02] [ 1.47438672e-01 -2.96325036e-05 9.89071199e-01 8.71957384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.39, Y:125.92, Z:87.20 [[ 7.16374212e-01 -6.89365338e-01 -1.07626296e-01 2.00393036e+02] [ 6.81746894e-01 7.24413837e-01 -1.02204527e-01 1.25922700e+02] [ 1.48422236e-01 -1.57204954e-04 9.88924069e-01 8.71997219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:200.41, Y:125.94, Z:87.20 [[ 7.12421909e-01 -6.93078148e-01 -1.09989569e-01 2.00409675e+02] [ 6.85486963e-01 7.20858138e-01 -1.02328726e-01 1.25943356e+02] [ 1.50208680e-01 -2.49518919e-03 9.88651165e-01 8.72004419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.43, Y:125.96, Z:87.21 [[ 7.13681594e-01 -6.92205056e-01 -1.07288132e-01 2.00432018e+02] [ 6.84102979e-01 7.21698163e-01 -1.05616645e-01 1.25962627e+02] [ 1.50538024e-01 1.98052478e-03 9.88602236e-01 8.72071065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:125.98, Z:87.21 [[ 7.11780481e-01 -6.93871732e-01 -1.09135543e-01 2.00451882e+02] [ 6.86070491e-01 7.20097896e-01 -1.03760795e-01 1.25981282e+02] [ 1.50584957e-01 -1.01976673e-03 9.88596546e-01 8.72119768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:200.47, Y:126.00, Z:87.22 [[ 7.10560909e-01 -6.95109386e-01 -1.09206855e-01 2.00471906e+02] [ 6.87303541e-01 7.18902916e-01 -1.03886669e-01 1.26001109e+02] [ 1.50721725e-01 -1.24045205e-03 9.88575451e-01 8.72158276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.810385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:200.49, Y:126.02, Z:87.22 [[ 7.08624930e-01 -6.97090936e-01 -1.09155556e-01 2.00490386e+02] [ 6.89307186e-01 7.16980895e-01 -1.03894175e-01 1.26020524e+02] [ 1.50686136e-01 -1.61970661e-03 9.88580328e-01 8.72194040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.840385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:200.51, Y:126.04, Z:87.22 [[ 7.07627876e-01 -6.98063475e-01 -1.09408290e-01 2.00510672e+02] [ 6.90248540e-01 7.16033619e-01 -1.04176817e-01 1.26040079e+02] [ 1.51062045e-01 -1.80049273e-03 9.88522644e-01 8.72238262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.870385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:200.53, Y:126.06, Z:87.23 [[ 7.06339867e-01 -6.99355924e-01 -1.09477318e-01 2.00529741e+02] [ 6.91538025e-01 7.14770689e-01 -1.04297759e-01 1.26058743e+02] [ 1.51192434e-01 -2.03806286e-03 9.88502248e-01 8.72279603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.900385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:200.54, Y:126.08, Z:87.23 [[ 7.01598394e-01 -7.03937032e-01 -1.10599947e-01 2.00544507e+02] [ 6.96943733e-01 7.10223389e-01 -9.92581060e-02 1.26077135e+02] [ 1.48422126e-01 -7.44261246e-03 9.88896092e-01 8.72318548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93038572300003 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:200.56, Y:126.10, Z:87.23 [[ 7.00898629e-01 -7.06540078e-01 -9.76843414e-02 2.00559215e+02] [ 6.98289811e-01 7.07634083e-01 -1.07913599e-01 1.26103254e+02] [ 1.45370052e-01 7.42451296e-03 9.89349496e-01 8.72282978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:200.58, Y:126.11, Z:87.24 [[ 7.00460037e-01 -7.04465792e-01 -1.14383934e-01 2.00584195e+02] [ 6.98327349e-01 7.09597296e-01 -9.38647544e-02 1.26114338e+02] [ 1.47291039e-01 -1.41289201e-02 9.88992277e-01 8.72436779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:200.60, Y:126.14, Z:87.24 [[ 6.99939268e-01 -7.06173953e-01 -1.06786561e-01 2.00598106e+02] [ 6.98813187e-01 7.08030198e-01 -1.01751507e-01 1.26138674e+02] [ 1.47462374e-01 -3.40398142e-03 9.89061809e-01 8.72416657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.62, Y:126.17, Z:87.24 [[ 7.02775720e-01 -7.04487158e-01 -9.90158172e-02 2.00618666e+02] [ 6.95738205e-01 7.09657601e-01 -1.11060522e-01 1.26165557e+02] [ 1.48508039e-01 9.16155124e-03 9.88868762e-01 8.72403013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.050385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:200.64, Y:126.18, Z:87.25 [[ 7.00688701e-01 -7.05474826e-01 -1.06492323e-01 2.00635813e+02] [ 6.98480829e-01 7.08718272e-01 -9.92116073e-02 1.26182100e+02] [ 1.45464346e-01 -4.86639345e-03 9.89351526e-01 8.72459901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:126.21, Z:87.24 [[ 6.99849978e-01 -7.07902807e-01 -9.53080502e-02 2.00649535e+02] [ 6.99938535e-01 7.06269114e-01 -1.06160188e-01 1.26208217e+02] [ 1.42464227e-01 7.58642792e-03 9.89770878e-01 8.72413801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.68, Y:126.22, Z:87.26 [[ 7.02534474e-01 -7.03469719e-01 -1.07590277e-01 2.00679203e+02] [ 6.96863265e-01 7.10688621e-01 -9.64534848e-02 1.26222186e+02] [ 1.44315291e-01 -7.21381356e-03 9.89505461e-01 8.72565965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:126.25, Z:87.25 [[ 7.00030156e-01 -7.07635514e-01 -9.59674941e-02 2.00685539e+02] [ 6.99295352e-01 7.06520582e-01 -1.08695348e-01 1.26251410e+02] [ 1.44719698e-01 8.98039892e-03 9.89431939e-01 8.72487252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.170385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.72, Y:126.26, Z:87.27 [[ 7.01830356e-01 -7.03231877e-01 -1.13574113e-01 2.00718260e+02] [ 6.97096043e-01 7.10833584e-01 -9.36628118e-02 1.26263264e+02] [ 1.46598969e-01 -1.34366602e-02 9.89104746e-01 8.72675226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.72, Y:126.29, Z:87.26 [[ 7.00021378e-01 -7.07589359e-01 -9.63710010e-02 2.00723851e+02] [ 6.99860439e-01 7.06601106e-01 -1.04452114e-01 1.26294242e+02] [ 1.42005060e-01 5.67246147e-03 9.89849679e-01 8.72582865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.230385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:200.74, Y:126.31, Z:87.26 [[ 6.99828257e-01 -7.07436254e-01 -9.88653513e-02 2.00743341e+02] [ 7.00461800e-01 7.06777149e-01 -9.90925314e-02 1.26313398e+02] [ 1.39977420e-01 9.63516465e-05 9.90154691e-01 8.72616267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:126.33, Z:87.28 [[ 7.03718601e-01 -7.01893318e-01 -1.10117665e-01 2.00770150e+02] [ 6.95791432e-01 7.12194686e-01 -9.30215719e-02 1.26330409e+02] [ 1.43716435e-01 -1.11579172e-02 9.89556005e-01 8.72774986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:126.35, Z:87.28 [[ 7.04380863e-01 -7.02161429e-01 -1.04004457e-01 2.00785478e+02] [ 6.95121104e-01 7.12013700e-01 -9.92126089e-02 1.26354480e+02] [ 1.43715865e-01 -2.41222967e-03 9.89616052e-01 8.72777302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.320385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.80, Y:126.38, Z:87.28 [[ 7.03850150e-01 -7.02101559e-01 -1.07927599e-01 2.00799863e+02] [ 6.95622727e-01 7.12033340e-01 -9.54858330e-02 1.26375704e+02] [ 1.43888801e-01 -7.86917287e-03 9.89562575e-01 8.72817095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:126.40, Z:87.28 [[ 7.05942063e-01 -7.01229322e-01 -9.96154721e-02 2.00819160e+02] [ 6.93443692e-01 7.12921242e-01 -1.04303157e-01 1.26400792e+02] [ 1.44158418e-01 4.55426515e-03 9.89544142e-01 8.72825334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:126.41, Z:87.29 [[ 7.04993448e-01 -7.00254750e-01 -1.12372259e-01 2.00839589e+02] [ 6.94293977e-01 7.13773135e-01 -9.21074618e-02 1.26414866e+02] [ 1.44706987e-01 -1.30842256e-02 9.89388039e-01 8.72937753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:126.44, Z:87.30 [[ 7.06302832e-01 -6.99763525e-01 -1.07085564e-01 2.00853803e+02] [ 6.92829472e-01 7.14359054e-01 -9.83791937e-02 1.26440115e+02] [ 1.45339714e-01 -4.70653168e-03 9.89370616e-01 8.72965479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:126.46, Z:87.30 [[ 7.08361532e-01 -6.97851870e-01 -1.05956157e-01 2.00871349e+02] [ 6.90761195e-01 7.16236358e-01 -9.92695834e-02 1.26463527e+02] [ 1.45165117e-01 -2.87164748e-03 9.89403276e-01 8.73010780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:126.49, Z:87.30 [[ 7.08288643e-01 -6.98431012e-01 -1.02573480e-01 2.00887416e+02] [ 6.91065769e-01 7.15676972e-01 -1.01166071e-01 1.26485527e+02] [ 1.44066999e-01 7.69758350e-04 9.89567637e-01 8.73026142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.500385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.91, Y:126.51, Z:87.30 [[ 7.10159374e-01 -6.98143684e-01 -9.09343718e-02 2.00905654e+02] [ 6.89713465e-01 7.15804409e-01 -1.09175931e-01 1.26512084e+02] [ 1.41311711e-01 1.48136503e-02 9.89854311e-01 8.72979036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.530385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.93, Y:126.52, Z:87.32 [[ 7.08929033e-01 -6.94688613e-01 -1.21767639e-01 2.00933260e+02] [ 6.89852456e-01 7.18922605e-01 -8.51696981e-02 1.26518122e+02] [ 1.46707927e-01 -2.36224329e-02 9.88897752e-01 8.73209409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:126.55, Z:87.31 [[ 7.07489513e-01 -6.99731428e-01 -9.91691365e-02 2.00940575e+02] [ 6.91981521e-01 7.14388950e-01 -1.03971167e-01 1.26549533e+02] [ 1.43597229e-01 4.93530070e-03 9.89623908e-01 8.73110183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:126.57, Z:87.32 [[ 7.07484928e-01 -6.99220426e-01 -1.02741776e-01 2.00961780e+02] [ 6.92043739e-01 7.14906029e-01 -9.99241358e-02 1.26566311e+02] [ 1.43319712e-01 -4.06982601e-04 9.89676359e-01 8.73162801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.620385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.98, Y:126.59, Z:87.32 [[ 7.06322111e-01 -7.00274431e-01 -1.03560597e-01 2.00981482e+02] [ 6.92987128e-01 7.13873496e-01 -1.00764438e-01 1.26587007e+02] [ 1.44491925e-01 -5.94009818e-04 9.89505801e-01 8.73220175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:126.60, Z:87.33 [[ 7.06099311e-01 -6.99605206e-01 -1.09436371e-01 2.01004779e+02] [ 6.93024670e-01 7.14484696e-01 -9.60646947e-02 1.26603714e+02] [ 1.45397973e-01 -8.01089005e-03 9.89340819e-01 8.73316279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68038572300003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:201.02, Y:126.62, Z:87.34 [[ 7.05171837e-01 -7.00115406e-01 -1.12120913e-01 2.01024120e+02] [ 6.93847930e-01 7.13938781e-01 -9.41619192e-02 1.26623430e+02] [ 1.45971679e-01 -1.13945302e-02 9.89223147e-01 8.73372295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.710385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.04, Y:126.65, Z:87.34 [[ 7.04785759e-01 -7.02321136e-01 -1.00110214e-01 2.01039139e+02] [ 6.94245563e-01 7.11839435e-01 -1.06337750e-01 1.26649977e+02] [ 1.45945648e-01 5.44426005e-03 9.89277629e-01 8.73353333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.740385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:201.06, Y:126.68, Z:87.32 [[ 7.05767117e-01 -7.03418336e-01 -8.42343267e-02 2.01055570e+02] [ 6.94467734e-01 7.10436993e-01 -1.13990549e-01 1.26676573e+02] [ 1.40026224e-01 2.19527591e-02 9.89904406e-01 8.73249633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.08, Y:126.69, Z:87.34 [[ 7.06661977e-01 -7.00126758e-01 -1.02231958e-01 2.01081477e+02] [ 6.93237457e-01 7.14016723e-01 -9.79895284e-02 1.26686237e+02] [ 1.41600419e-01 -1.62554911e-03 9.89922562e-01 8.73362897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.800385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.10, Y:126.71, Z:87.34 [[ 7.07298461e-01 -6.99478973e-01 -1.02264624e-01 2.01100907e+02] [ 6.92573967e-01 7.14651661e-01 -9.80525624e-02 1.26707079e+02] [ 1.41669289e-01 -1.47338975e-03 9.89912947e-01 8.73388855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.830385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.12, Y:126.72, Z:87.35 [[ 7.10296304e-01 -6.95053466e-01 -1.11264727e-01 2.01120168e+02] [ 6.90079801e-01 7.18765197e-01 -8.46549452e-02 1.26719426e+02] [ 1.38812926e-01 -1.66514459e-02 9.90178621e-01 8.73450644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.13, Y:126.75, Z:87.34 [[ 7.08717222e-01 -6.99570049e-01 -9.12230538e-02 2.01133770e+02] [ 6.90919773e-01 7.14396579e-01 -1.10758276e-01 1.26753654e+02] [ 1.42652610e-01 1.54684861e-02 9.89651938e-01 8.73385652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:126.76, Z:87.35 [[ 7.08536982e-01 -6.98112376e-01 -1.03026480e-01 2.01160760e+02] [ 6.91081996e-01 7.15987244e-01 -9.88328905e-02 1.26763764e+02] [ 1.42762109e-01 -1.17298729e-03 9.89756336e-01 8.73483761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:126.78, Z:87.35 [[ 7.08403955e-01 -6.98279854e-01 -1.02806040e-01 2.01181003e+02] [ 6.91277016e-01 7.15823895e-01 -9.86521145e-02 1.26781559e+02] [ 1.42477804e-01 -1.18190465e-03 9.89797292e-01 8.73524327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:126.80, Z:87.36 [[ 7.08551442e-01 -6.98181993e-01 -1.02453691e-01 2.01200816e+02] [ 6.91221763e-01 7.15919420e-01 -9.83456055e-02 1.26800779e+02] [ 1.42011718e-01 -1.13530054e-03 9.89864326e-01 8.73558762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:126.82, Z:87.36 [[ 7.08908205e-01 -6.97788152e-01 -1.02668647e-01 2.01219975e+02] [ 6.90786541e-01 7.16303467e-01 -9.86067883e-02 1.26820531e+02] [ 1.42348557e-01 -1.01895853e-03 9.89816069e-01 8.73591648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.010385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.24, Y:126.84, Z:87.36 [[ 7.09483561e-01 -6.97199649e-01 -1.02692384e-01 2.01239026e+02] [ 6.90181008e-01 7.16876492e-01 -9.86826804e-02 1.26839341e+02] [ 1.42419286e-01 -8.62593648e-04 9.89806043e-01 8.73621155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.040385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.26, Y:126.86, Z:87.37 [[ 7.10381422e-01 -6.96292634e-01 -1.02639193e-01 2.01261600e+02] [ 6.89266347e-01 7.17757719e-01 -9.86699607e-02 1.26856002e+02] [ 1.42373240e-01 -6.52434470e-04 9.89812828e-01 8.73666286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.070385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:201.28, Y:126.87, Z:87.37 [[ 7.10679014e-01 -6.95991415e-01 -1.02622064e-01 2.01283944e+02] [ 6.88956501e-01 7.18049890e-01 -9.87081291e-02 1.26872225e+02] [ 1.42387772e-01 -5.52342414e-04 9.89810799e-01 8.73709045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:126.89, Z:87.37 [[ 7.10923811e-01 -6.96161470e-01 -9.97323525e-02 2.01303437e+02] [ 6.88754937e-01 7.17877417e-01 -1.01334351e-01 1.26892959e+02] [ 1.42140675e-01 3.34985305e-03 9.89840799e-01 8.73741186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:126.91, Z:87.38 [[ 7.11478826e-01 -6.95006966e-01 -1.03745834e-01 2.01325105e+02] [ 6.88575218e-01 7.18990428e-01 -9.44295136e-02 1.26908549e+02] [ 1.40221431e-01 -4.25221067e-03 9.90111039e-01 8.73796130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:126.93, Z:87.38 [[ 7.12771109e-01 -6.94150872e-01 -1.00558007e-01 2.01344634e+02] [ 6.87361924e-01 7.19829534e-01 -9.68453783e-02 1.26929040e+02] [ 1.39609927e-01 -9.11572986e-05 9.90206574e-01 8.73804013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:126.95, Z:87.38 [[ 7.13272389e-01 -6.93590135e-01 -1.00872316e-01 2.01365073e+02] [ 6.86745374e-01 7.20369851e-01 -9.72011830e-02 1.26947812e+02] [ 1.40083157e-01 5.73235113e-05 9.90139741e-01 8.73836093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:126.96, Z:87.39 [[ 7.15038896e-01 -6.91683155e-01 -1.01458316e-01 2.01387769e+02] [ 6.84731376e-01 7.22200934e-01 -9.78200045e-02 1.26964574e+02] [ 1.40933740e-01 4.73415554e-04 9.90018917e-01 8.73875115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.250385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:201.41, Y:126.98, Z:87.39 [[ 7.15433211e-01 -6.91360052e-01 -1.00879134e-01 2.01409255e+02] [ 6.84477051e-01 7.22510173e-01 -9.73150329e-02 1.26982206e+02] [ 1.40165927e-01 5.72954228e-04 9.90127863e-01 8.73917925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:127.00, Z:87.40 [[ 7.15918275e-01 -6.91007627e-01 -9.98472959e-02 2.01429952e+02] [ 6.84254600e-01 7.22847152e-01 -9.63723920e-02 1.26999428e+02] [ 1.38768391e-01 6.73785142e-04 9.90324633e-01 8.73955010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.310385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:201.45, Y:127.02, Z:87.40 [[ 7.15981055e-01 -6.90954672e-01 -9.97635724e-02 2.01450127e+02] [ 6.84208098e-01 7.22897740e-01 -9.63230866e-02 1.27018445e+02] [ 1.38673748e-01 7.06461042e-04 9.90337868e-01 8.73986995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.340385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:201.47, Y:127.04, Z:87.40 [[ 7.16641145e-01 -6.90272199e-01 -9.97484847e-02 2.01470837e+02] [ 6.83513712e-01 7.23549253e-01 -9.63612156e-02 1.27035639e+02] [ 1.38688410e-01 8.76954830e-04 9.90335678e-01 8.74016640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.370385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.49, Y:127.05, Z:87.41 [[ 7.17074973e-01 -6.89859067e-01 -9.94884411e-02 2.01491742e+02] [ 6.83127663e-01 7.23943032e-01 -9.61409522e-02 1.27053555e+02] [ 1.38347671e-01 9.76964428e-04 9.90383243e-01 8.74053263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:201.51, Y:127.07, Z:87.41 [[ 7.17315599e-01 -6.89595434e-01 -9.95814665e-02 2.01512474e+02] [ 6.82841404e-01 7.24194033e-01 -9.62840567e-02 1.27070906e+02] [ 1.38513350e-01 1.06770741e-03 9.90359991e-01 8.74093511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.53, Y:127.09, Z:87.41 [[ 7.17246469e-01 -6.89690895e-01 -9.94181637e-02 2.01534675e+02] [ 6.82955828e-01 7.24103118e-01 -9.61561864e-02 1.27086914e+02] [ 1.38307049e-01 1.06947096e-03 9.90388821e-01 8.74128393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.56, Y:127.10, Z:87.42 [[ 7.17108296e-01 -6.89773053e-01 -9.98440185e-02 2.01556476e+02] [ 6.82976461e-01 7.24024840e-01 -9.65980538e-02 1.27103766e+02] [ 1.38920284e-01 1.08015130e-03 9.90302978e-01 8.74153091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.58, Y:127.12, Z:87.42 [[ 7.16863034e-01 -6.90002057e-01 -1.00022752e-01 2.01577445e+02] [ 6.83178850e-01 7.23806629e-01 -9.68019756e-02 1.27121693e+02] [ 1.39190693e-01 1.06032924e-03 9.90265028e-01 8.74185689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:127.14, Z:87.42 [[ 7.16841764e-01 -6.89940053e-01 -1.00601236e-01 2.01598151e+02] [ 6.83029310e-01 7.23865648e-01 -9.74139868e-02 1.27138248e+02] [ 1.40031590e-01 1.11682108e-03 9.90146407e-01 8.74220413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:127.15, Z:87.43 [[ 7.16823882e-01 -6.89756184e-01 -1.01980038e-01 2.01621154e+02] [ 6.82647546e-01 7.24040737e-01 -9.87792457e-02 1.27152649e+02] [ 1.41971297e-01 1.19089984e-03 9.89870058e-01 8.74259755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.64, Y:127.17, Z:87.43 [[ 7.16670569e-01 -6.89865507e-01 -1.02317540e-01 2.01641915e+02] [ 6.82706034e-01 7.23936566e-01 -9.91378797e-02 1.27170577e+02] [ 1.42463212e-01 1.19639850e-03 9.89799375e-01 8.74293219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:127.19, Z:87.43 [[ 7.17403808e-01 -6.89133463e-01 -1.02111925e-01 2.01663667e+02] [ 6.81987829e-01 7.24633128e-01 -9.89920753e-02 1.27188486e+02] [ 1.42212436e-01 1.37820164e-03 9.89835200e-01 8.74324453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.68, Y:127.21, Z:87.44 [[ 7.17737949e-01 -6.88842068e-01 -1.01729258e-01 2.01684865e+02] [ 6.81739280e-01 7.24909954e-01 -9.86768078e-02 1.27206680e+02] [ 1.41717288e-01 1.47125837e-03 9.89906079e-01 8.74363713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:127.22, Z:87.44 [[ 7.18219062e-01 -6.88391931e-01 -1.01380121e-01 2.01707319e+02] [ 6.81325848e-01 7.25337168e-01 -9.83924846e-02 1.27222133e+02] [ 1.41267363e-01 1.59446081e-03 9.89970197e-01 8.74403758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.73, Y:127.24, Z:87.44 [[ 7.17919898e-01 -6.88667776e-01 -1.01625360e-01 2.01728549e+02] [ 6.81565325e-01 7.25075330e-01 -9.86634301e-02 1.27240202e+02] [ 1.41632367e-01 1.56811780e-03 9.89918084e-01 8.74444688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:127.26, Z:87.45 [[ 7.17041880e-01 -6.89614503e-01 -1.01404044e-01 2.01751351e+02] [ 6.82544713e-01 7.24175273e-01 -9.85032407e-02 1.27257408e+02] [ 1.41363565e-01 1.41815457e-03 9.89956732e-01 8.74480366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:127.28, Z:87.45 [[ 7.16292640e-01 -6.90407753e-01 -1.01301473e-01 2.01772444e+02] [ 6.83352411e-01 7.23419273e-01 -9.84583123e-02 1.27275089e+02] [ 1.41259820e-01 1.30035900e-03 9.89971703e-01 8.74519027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:127.29, Z:87.46 [[ 7.15165568e-01 -6.91582466e-01 -1.01251688e-01 2.01794052e+02] [ 6.84538003e-01 7.22296661e-01 -9.84644957e-02 1.27293151e+02] [ 1.41230075e-01 1.10778883e-03 9.89976181e-01 8.74556682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:127.31, Z:87.46 [[ 7.12140965e-01 -6.94585190e-01 -1.02013034e-01 2.01816343e+02] [ 6.87456585e-01 7.19410247e-01 -9.92589555e-02 1.27308114e+02] [ 1.42333023e-01 5.56836069e-04 9.89818671e-01 8.74592153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:127.33, Z:87.46 [[ 7.10354478e-01 -6.96410769e-01 -1.02022337e-01 2.01838628e+02] [ 6.89293968e-01 7.17643360e-01 -9.93067610e-02 1.27325284e+02] [ 1.42373951e-01 2.19620815e-04 9.89812917e-01 8.74636408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.86, Y:127.34, Z:87.47 [[ 7.06587633e-01 -7.00163018e-01 -1.02497147e-01 2.01862620e+02] [ 6.93010702e-01 7.13982843e-01 -9.98231761e-02 1.27340095e+02] [ 1.43073701e-01 -4.97798279e-04 9.89711912e-01 8.74686605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:127.36, Z:87.47 [[ 7.04636119e-01 -7.02099291e-01 -1.02686537e-01 2.01883929e+02] [ 6.94932942e-01 7.12078547e-01 -1.00061726e-01 1.27358384e+02] [ 1.43374147e-01 -8.53151200e-04 9.89668190e-01 8.74717292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:127.38, Z:87.47 [[ 7.01951603e-01 -7.04750203e-01 -1.02913060e-01 2.01904987e+02] [ 6.97572494e-01 7.09454231e-01 -1.00335985e-01 1.27376035e+02] [ 1.43723912e-01 -1.35831426e-03 9.89616892e-01 8.74741094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:127.39, Z:87.48 [[ 7.00685200e-01 -7.06013547e-01 -1.02884024e-01 2.01925724e+02] [ 6.98848691e-01 7.08196536e-01 -1.00340294e-01 1.27394797e+02] [ 1.43703716e-01 -1.59340646e-03 9.89619474e-01 8.74770201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:127.41, Z:87.48 [[ 6.99367343e-01 -7.07340208e-01 -1.02738259e-01 2.01946445e+02] [ 7.00202279e-01 7.06870921e-01 -1.00251035e-01 1.27412756e+02] [ 1.43534276e-01 -1.82526316e-03 9.89643663e-01 8.74806226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:127.43, Z:87.49 [[ 6.97511537e-01 -7.09229627e-01 -1.02327865e-01 2.01970429e+02] [ 7.02161273e-01 7.04974215e-01 -9.99044675e-02 1.27427436e+02] [ 1.42993715e-01 -2.16614551e-03 9.89721226e-01 8.74859548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:127.44, Z:87.49 [[ 6.96793245e-01 -7.09959630e-01 -1.02159179e-01 2.01990906e+02] [ 7.02914742e-01 7.04238705e-01 -9.97933497e-02 1.27444295e+02] [ 1.42793697e-01 -2.27386076e-03 9.89749862e-01 8.74903569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:127.46, Z:87.49 [[ 6.96362325e-01 -7.10396441e-01 -1.02060808e-01 2.02012259e+02] [ 7.03365135e-01 7.03797862e-01 -9.97299170e-02 1.27462415e+02] [ 1.42677956e-01 -2.33785680e-03 9.89766404e-01 8.74935686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:127.48, Z:87.50 [[ 6.96984810e-01 -7.09418657e-01 -1.04581754e-01 2.02034632e+02] [ 7.02954909e-01 7.04754947e-01 -9.57854896e-02 1.27480388e+02] [ 1.41656522e-01 -6.75522631e-03 9.89892821e-01 8.74998881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:127.50, Z:87.50 [[ 6.98077245e-01 -7.09156384e-01 -9.89210910e-02 2.02052235e+02] [ 7.01624115e-01 7.05046507e-01 -1.03116560e-01 1.27501875e+02] [ 1.42869737e-01 2.57790152e-03 9.89738144e-01 8.74984799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:127.52, Z:87.50 [[ 6.98525932e-01 -7.08346697e-01 -1.01520833e-01 2.02074256e+02] [ 7.01350119e-01 7.05862348e-01 -9.93295398e-02 1.27519194e+02] [ 1.42019485e-01 -1.81738903e-03 9.89862194e-01 8.75038934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:127.54, Z:87.51 [[ 6.99271543e-01 -7.07630918e-01 -1.01379453e-01 2.02093907e+02] [ 7.00638920e-01 7.06580371e-01 -9.92435573e-02 1.27536829e+02] [ 1.41860541e-01 -1.63219497e-03 9.89885308e-01 8.75078241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:127.56, Z:87.50 [[ 6.97640940e-01 -7.10052414e-01 -9.55127629e-02 2.02104883e+02] [ 7.03079965e-01 7.04145659e-01 -9.92847152e-02 1.27557306e+02] [ 1.37752249e-01 2.11197209e-03 9.90464466e-01 8.75049218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:127.57, Z:87.52 [[ 7.01174310e-01 -7.05697989e-01 -1.01710056e-01 2.02134594e+02] [ 6.98994309e-01 7.08506334e-01 -9.70862021e-02 1.27573940e+02] [ 1.40575757e-01 -3.02039959e-03 9.90065318e-01 8.75160002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:127.59, Z:87.52 [[ 7.02086571e-01 -7.04994680e-01 -1.00284337e-01 2.02154048e+02] [ 6.98114610e-01 7.09211852e-01 -9.82575194e-02 1.27592893e+02] [ 1.40393869e-01 -1.02467609e-03 9.90095203e-01 8.75184648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:127.61, Z:87.52 [[ 7.01964965e-01 -7.05070008e-01 -1.00605522e-01 2.02173954e+02] [ 6.98141792e-01 7.09136970e-01 -9.86042379e-02 1.27612168e+02] [ 1.40865986e-01 -1.02019920e-03 9.90028148e-01 8.75221537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:127.63, Z:87.52 [[ 7.02148798e-01 -7.04993447e-01 -9.98564284e-02 2.02193312e+02] [ 6.98160411e-01 7.09213169e-01 -9.79220204e-02 1.27631553e+02] [ 1.39853877e-01 -9.59976264e-04 9.90171688e-01 8.75249748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:127.65, Z:87.53 [[ 6.99787816e-01 -7.07486735e-01 -9.87903448e-02 2.02206690e+02] [ 7.00921348e-01 7.06723963e-01 -9.61795431e-02 1.27651485e+02] [ 1.37863255e-01 -1.93898924e-03 9.90449374e-01 8.75251633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:127.67, Z:87.53 [[ 7.02160556e-01 -7.05337882e-01 -9.73089161e-02 2.02232414e+02] [ 6.98393735e-01 7.08869939e-01 -9.87400614e-02 1.27672320e+02] [ 1.38624471e-01 1.37143905e-03 9.90344069e-01 8.75302548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:127.69, Z:87.54 [[ 7.02442633e-01 -7.04873853e-01 -9.86265625e-02 2.02253816e+02] [ 6.98193545e-01 7.09332169e-01 -9.68176013e-02 1.27690539e+02] [ 1.38203189e-01 -8.51618571e-04 9.90403531e-01 8.75351196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:127.71, Z:87.54 [[ 7.02515899e-01 -7.04768753e-01 -9.88555335e-02 2.02274133e+02] [ 6.98048773e-01 7.09436659e-01 -9.70955032e-02 1.27709675e+02] [ 1.38561616e-01 -7.94849111e-04 9.90353496e-01 8.75388630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:127.73, Z:87.54 [[ 7.03344102e-01 -7.03919569e-01 -9.90167395e-02 2.02293084e+02] [ 6.97161734e-01 7.10279447e-01 -9.73068593e-02 1.27728351e+02] [ 1.38825757e-01 -5.90476144e-04 9.90316647e-01 8.75418203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:127.75, Z:87.55 [[ 7.03165091e-01 -7.04102117e-01 -9.89902206e-02 2.02313224e+02] [ 6.97342285e-01 7.10098488e-01 -9.73338300e-02 1.27748301e+02] [ 1.38825762e-01 -5.88315233e-04 9.90316647e-01 8.75455558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:127.77, Z:87.55 [[ 7.03584082e-01 -7.03707866e-01 -9.88163849e-02 2.02332818e+02] [ 6.96960998e-01 7.10489278e-01 -9.72129231e-02 1.27768869e+02] [ 1.38617481e-01 -4.73701001e-04 9.90345884e-01 8.75483368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:127.79, Z:87.55 [[ 7.05012610e-01 -7.02281395e-01 -9.87829015e-02 2.02351446e+02] [ 6.95517721e-01 7.11899444e-01 -9.72331337e-02 1.27789697e+02] [ 1.38608513e-01 -1.54673125e-04 9.90347240e-01 8.75506948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:127.81, Z:87.55 [[ 7.05517075e-01 -7.01743497e-01 -9.90036414e-02 2.02370897e+02] [ 6.94936816e-01 7.12429690e-01 -9.75026054e-02 1.27809477e+02] [ 1.38954953e-01 -1.15223973e-05 9.90298703e-01 8.75542041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.660385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:202.39, Y:127.83, Z:87.56 [[ 7.05788895e-01 -7.01479779e-01 -9.89351047e-02 2.02390896e+02] [ 6.94672725e-01 7.12689353e-01 -9.74868762e-02 1.27829106e+02] [ 1.38895068e-01 7.76358658e-05 9.90307101e-01 8.75575984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:127.85, Z:87.56 [[ 7.06123160e-01 -7.01181109e-01 -9.86667887e-02 2.02410215e+02] [ 6.94401042e-01 7.12983185e-01 -9.72736867e-02 1.27848309e+02] [ 1.38554233e-01 1.72882119e-04 9.90354833e-01 8.75614451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:127.87, Z:87.57 [[ 7.05673898e-01 -7.01690416e-01 -9.82594053e-02 2.02429890e+02] [ 6.94964999e-01 7.12481964e-01 -9.69180094e-02 1.27867918e+02] [ 1.38014492e-01 1.05661884e-04 9.90430204e-01 8.75652117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:127.89, Z:87.57 [[ 7.04256369e-01 -7.03124362e-01 -9.81789117e-02 2.02449126e+02] [ 6.96416862e-01 7.11066883e-01 -9.68888149e-02 1.27885930e+02] [ 1.37936659e-01 -1.38884602e-04 9.90441043e-01 8.75694376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.47, Y:127.91, Z:87.57 [[ 7.03465752e-01 -7.03953737e-01 -9.79033819e-02 2.02469361e+02] [ 6.97285686e-01 7.10245778e-01 -9.66623375e-02 1.27905784e+02] [ 1.37581277e-01 -2.67982800e-04 9.90490444e-01 8.75730686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:127.92, Z:87.58 [[ 7.02609921e-01 -7.04828782e-01 -9.77531964e-02 2.02488569e+02] [ 6.98182520e-01 7.09377352e-01 -9.65657387e-02 1.27924899e+02] [ 1.37406216e-01 -4.01526954e-04 9.90514700e-01 8.75769433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:127.94, Z:87.58 [[ 7.00711666e-01 -7.06817600e-01 -9.70156786e-02 2.02507326e+02] [ 7.00286537e-01 7.07395432e-01 -9.58669347e-02 1.27944759e+02] [ 1.36388885e-01 -7.63694087e-04 9.90655081e-01 8.75810310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.870385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:202.53, Y:127.96, Z:87.58 [[ 7.00041331e-01 -7.07514017e-01 -9.67783632e-02 2.02525810e+02] [ 7.01014414e-01 7.06698788e-01 -9.56849746e-02 1.27963537e+02] [ 1.36091613e-01 -8.59590582e-04 9.90695884e-01 8.75844959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.900385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:202.55, Y:127.98, Z:87.59 [[ 6.98251393e-01 -7.09283322e-01 -9.67582577e-02 2.02545332e+02] [ 7.02799123e-01 7.04922529e-01 -9.56954654e-02 1.27983403e+02] [ 1.36082273e-01 -1.18212662e-03 9.90696834e-01 8.75886751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93038572300003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:202.57, Y:128.00, Z:87.59 [[ 6.97161874e-01 -7.10344256e-01 -9.68316068e-02 2.02565331e+02] [ 7.03853083e-01 7.03853116e-01 -9.58208197e-02 1.28003120e+02] [ 1.36220997e-01 -1.35260273e-03 9.90677551e-01 8.75924140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.960385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:202.58, Y:128.02, Z:87.60 [[ 6.95262596e-01 -7.12147425e-01 -9.72417986e-02 2.02584122e+02] [ 7.05611144e-01 7.02027946e-01 -9.62791571e-02 1.28022904e+02] [ 1.36831414e-01 -1.67560005e-03 9.90592932e-01 8.75964107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.990385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:202.60, Y:128.04, Z:87.60 [[ 6.94275379e-01 -7.13077942e-01 -9.74758794e-02 2.02602156e+02] [ 7.06514121e-01 7.01082357e-01 -9.65470140e-02 1.28042225e+02] [ 1.37184165e-01 -1.83787057e-03 9.90543854e-01 8.75998598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.020385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:202.62, Y:128.06, Z:87.60 [[ 6.92996823e-01 -7.14300423e-01 -9.76232971e-02 2.02620528e+02] [ 7.07723626e-01 6.99836176e-01 -9.67294945e-02 1.28062820e+02] [ 1.37414234e-01 -2.05708139e-03 9.90511533e-01 8.76038528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.050385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:202.64, Y:128.08, Z:87.61 [[ 6.92667386e-01 -7.14573891e-01 -9.79594147e-02 2.02639412e+02] [ 7.07946898e-01 6.99556876e-01 -9.71152291e-02 1.28081962e+02] [ 1.37924189e-01 -2.08151184e-03 9.90440602e-01 8.76083140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.080385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:202.66, Y:128.10, Z:87.61 [[ 6.92569366e-01 -7.14673123e-01 -9.79285481e-02 2.02657708e+02] [ 7.08047222e-01 6.99455504e-01 -9.71140033e-02 1.28100778e+02] [ 1.37901430e-01 -2.07985266e-03 9.90443774e-01 8.76128031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.110385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:202.68, Y:128.12, Z:87.62 [[ 6.92979048e-01 -7.14330471e-01 -9.75295723e-02 2.02675648e+02] [ 7.07751206e-01 6.99805722e-01 -9.67480320e-02 1.28120521e+02] [ 1.37361820e-01 -1.98231334e-03 9.90518955e-01 8.76172236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.140385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:202.69, Y:128.14, Z:87.62 [[ 6.93197089e-01 -7.14135608e-01 -9.74070226e-02 2.02693006e+02] [ 7.07564598e-01 7.00004779e-01 -9.66729000e-02 1.28142617e+02] [ 1.37222942e-01 -1.90838785e-03 9.90538350e-01 8.76211343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.170385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:202.71, Y:128.16, Z:87.62 [[ 6.93614174e-01 -7.13684480e-01 -9.77437496e-02 2.02711275e+02] [ 7.07056529e-01 7.00465028e-01 -9.70557041e-02 1.28163184e+02] [ 1.37733228e-01 -1.79114430e-03 9.90467743e-01 8.76246314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.200385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:202.73, Y:128.18, Z:87.63 [[ 6.93903326e-01 -7.13396278e-01 -9.77953148e-02 2.02729559e+02] [ 7.06751253e-01 7.00758779e-01 -9.71586350e-02 1.28184084e+02] [ 1.37843534e-01 -1.69826127e-03 9.90452561e-01 8.76286704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.230385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:202.75, Y:128.20, Z:87.63 [[ 6.94979090e-01 -7.12305250e-01 -9.81085851e-02 2.02748324e+02] [ 7.05599240e-01 7.01868313e-01 -9.75222165e-02 1.28204102e+02] [ 1.38324894e-01 -1.44944179e-03 9.90385845e-01 8.76340541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:128.22, Z:87.64 [[ 6.95345022e-01 -7.11945344e-01 -9.81281226e-02 2.02767465e+02] [ 7.05225560e-01 7.02233602e-01 -9.75954762e-02 1.28223395e+02] [ 1.38391510e-01 -1.33993176e-03 9.90376693e-01 8.76391842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.290385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:202.79, Y:128.24, Z:87.65 [[ 6.96423878e-01 -7.10804757e-01 -9.87440121e-02 2.02786300e+02] [ 7.03980818e-01 7.03388533e-01 -9.82628062e-02 1.28244152e+02] [ 1.39301076e-01 -1.08132591e-03 9.90249484e-01 8.76455219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:128.26, Z:87.65 [[ 6.97020725e-01 -7.10214448e-01 -9.87802971e-02 2.02804075e+02] [ 7.03372129e-01 7.03984787e-01 -9.83517571e-02 1.28264029e+02] [ 1.39390665e-01 -9.26094925e-04 9.90237035e-01 8.76489691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:202.82, Y:128.29, Z:87.65 [[ 6.99120900e-01 -7.07948123e-01 -1.00196918e-01 2.02822266e+02] [ 7.00876374e-01 7.06264298e-01 -9.98150743e-02 1.28285422e+02] [ 1.41429401e-01 -4.42848307e-04 9.89948245e-01 8.76538632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:128.31, Z:87.66 [[ 6.99794940e-01 -7.07149643e-01 -1.01125789e-01 2.02841115e+02] [ 6.99929058e-01 7.07063875e-01 -1.00796779e-01 1.28305681e+02] [ 1.42780799e-01 -2.43802131e-04 9.89754305e-01 8.76579025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.86, Y:128.33, Z:87.66 [[ 7.00275882e-01 -7.06551581e-01 -1.01973290e-01 2.02859035e+02] [ 6.99194560e-01 7.07661540e-01 -1.01696171e-01 1.28325578e+02] [ 1.44016166e-01 -8.37936877e-05 9.89575332e-01 8.76610226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:202.88, Y:128.35, Z:87.66 [[ 6.99695511e-01 -7.06915522e-01 -1.03424543e-01 2.02877546e+02] [ 6.99345291e-01 7.07297975e-01 -1.03178186e-01 1.28346765e+02] [ 1.46090231e-01 -1.36154020e-04 9.89271260e-01 8.76642630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.470385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:202.90, Y:128.37, Z:87.67 [[ 6.98592242e-01 -7.07954310e-01 -1.03776557e-01 2.02897244e+02] [ 7.00335071e-01 7.06258166e-01 -1.03586638e-01 1.28365991e+02] [ 1.46627648e-01 -3.13540883e-04 9.89191708e-01 8.76686403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.500385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:202.92, Y:128.38, Z:87.68 [[ 6.95550526e-01 -7.10797444e-01 -1.04768597e-01 2.02919132e+02] [ 7.03054216e-01 7.03396205e-01 -1.04635312e-01 1.28383190e+02] [ 1.48068346e-01 -8.78857216e-04 9.88976740e-01 8.76756390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.530385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:202.94, Y:128.40, Z:87.68 [[ 6.93943761e-01 -7.12321232e-01 -1.05073876e-01 2.02938685e+02] [ 7.04541526e-01 7.01852620e-01 -1.04995899e-01 1.28401118e+02] [ 1.48537183e-01 -1.16766037e-03 9.88906134e-01 8.76804341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.560385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:202.97, Y:128.41, Z:87.71 [[ 6.94351474e-01 -7.08163841e-01 -1.27984393e-01 2.02974226e+02] [ 7.02607055e-01 7.05573902e-01 -9.22431309e-02 1.28411343e+02] [ 1.55625698e-01 -2.58735838e-02 9.87477190e-01 8.77066636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.590385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:202.97, Y:128.45, Z:87.68 [[ 6.91024899e-01 -7.17141341e-01 -9.05145597e-02 2.02969635e+02] [ 7.07095255e-01 6.96647075e-01 -1.21240062e-01 1.28450077e+02] [ 1.50002964e-01 1.97774859e-02 9.88487715e-01 8.76791138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:203.00, Y:128.46, Z:87.69 [[ 6.89868724e-01 -7.16077657e-01 -1.06366971e-01 2.02995016e+02] [ 7.08133601e-01 6.98017953e-01 -1.06384868e-01 1.28461837e+02] [ 1.50425882e-01 -1.93043270e-03 9.88619405e-01 8.76915440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.650385723 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:203.02, Y:128.48, Z:87.71 [[ 6.88198501e-01 -7.15974601e-01 -1.17316641e-01 2.03023017e+02] [ 7.09216923e-01 6.97967484e-01 -9.92610080e-02 1.28476242e+02] [ 1.52951561e-01 -1.48916700e-02 9.88121479e-01 8.77069210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68038572300003 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:203.00, Y:128.54, Z:87.65 [[ 6.83889101e-01 -7.29097645e-01 -2.66893587e-02 2.02999172e+02] [ 7.14957050e-01 6.77016685e-01 -1.74599038e-01 1.28541070e+02] [ 1.45368888e-01 1.00324634e-01 9.84277834e-01 8.76506453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.710385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:203.08, Y:128.50, Z:87.74 [[ 6.89086339e-01 -7.08757477e-01 -1.51072353e-01 2.03084139e+02] [ 7.08185579e-01 7.02831226e-01 -6.70928766e-02 1.28498323e+02] [ 1.53730945e-01 -6.07544774e-02 9.86243221e-01 8.77356535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.740385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:203.09, Y:128.54, Z:87.72 [[ 6.88169393e-01 -7.16044495e-01 -1.17060526e-01 2.03088645e+02] [ 7.08489110e-01 6.97965864e-01 -1.04339991e-01 1.28537633e+02] [ 1.56416328e-01 -1.11325195e-02 9.87628472e-01 8.77215232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.770385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:203.10, Y:128.57, Z:87.71 [[ 6.85701475e-01 -7.21606729e-01 -9.53793258e-02 2.03096777e+02] [ 7.11325523e-01 6.92115682e-01 -1.22441347e-01 1.28571953e+02] [ 1.54368027e-01 1.61124630e-02 9.87882028e-01 8.77098375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.800385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:203.12, Y:128.58, Z:87.72 [[ 6.86718168e-01 -7.19036774e-01 -1.06790802e-01 2.03122949e+02] [ 7.10822955e-01 6.94970448e-01 -1.08382670e-01 1.28584057e+02] [ 1.52147577e-01 -1.48100509e-03 9.88356677e-01 8.77192248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.830385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:203.15, Y:128.59, Z:87.75 [[ 6.85466886e-01 -7.13952907e-01 -1.42850953e-01 2.03150142e+02] [ 7.10411763e-01 6.98799908e-01 -8.36290324e-02 1.28585712e+02] [ 1.59531424e-01 -4.41580652e-02 9.86204740e-01 8.77526315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:203.16, Y:128.62, Z:87.74 [[ 6.85576686e-01 -7.19045123e-01 -1.13836372e-01 2.03156889e+02] [ 7.10076923e-01 6.94956080e-01 -1.13255513e-01 1.28620885e+02] [ 1.60547103e-01 -3.18724149e-03 9.87023034e-01 8.77398068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.890385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:203.18, Y:128.64, Z:87.74 [[ 6.85696038e-01 -7.18963189e-01 -1.13634835e-01 2.03175129e+02] [ 7.10019551e-01 6.95041080e-01 -1.13093474e-01 1.28642483e+02] [ 1.60290923e-01 -3.13520773e-03 9.87064836e-01 8.77426826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.920385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:203.18, Y:128.69, Z:87.71 [[ 6.85409684e-01 -7.25065357e-01 -6.70357620e-02 2.03178768e+02] [ 7.12390173e-01 6.86774779e-01 -1.44362895e-01 1.28688009e+02] [ 1.50711004e-01 5.11921079e-02 9.87251519e-01 8.77081971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.21, Y:128.69, Z:87.73 [[ 6.86456890e-01 -7.19935073e-01 -1.02325117e-01 2.03214301e+02] [ 7.11470650e-01 6.94035839e-01 -1.10107982e-01 1.28691464e+02] [ 1.50287896e-01 2.78306559e-03 9.88638358e-01 8.77317942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:128.71, Z:87.74 [[ 6.87597482e-01 -7.18210018e-01 -1.06696172e-01 2.03236256e+02] [ 7.10291575e-01 6.95821411e-01 -1.06388164e-01 1.28709953e+02] [ 1.50650526e-01 -2.63315818e-03 9.88583575e-01 8.77385166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.26, Y:128.73, Z:87.74 [[ 6.88640752e-01 -7.16914826e-01 -1.08660237e-01 2.03256787e+02] [ 7.09200610e-01 6.97144530e-01 -1.04995239e-01 1.28730383e+02] [ 1.51024533e-01 -4.75790581e-03 9.88518565e-01 8.77444268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:128.75, Z:87.75 [[ 6.90848175e-01 -7.14360971e-01 -1.11432501e-01 2.03276181e+02] [ 7.06889128e-01 6.99738318e-01 -1.03315284e-01 1.28752415e+02] [ 1.51777997e-01 -7.39524821e-03 9.88386943e-01 8.77514243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:128.77, Z:87.77 [[ 6.92718273e-01 -7.10577562e-01 -1.23373102e-01 2.03300592e+02] [ 7.04303044e-01 7.03330366e-01 -9.63515406e-02 1.28766967e+02] [ 1.55237292e-01 -2.01475788e-02 9.87671736e-01 8.77661440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:128.78, Z:87.79 [[ 6.93838528e-01 -7.07246755e-01 -1.35610194e-01 2.03318813e+02] [ 7.01870971e-01 7.06284067e-01 -9.24118815e-02 1.28779827e+02] [ 1.61137323e-01 -3.10619346e-02 9.86443065e-01 8.77856559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.130385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:203.33, Y:128.81, Z:87.78 [[ 6.94394154e-01 -7.10528878e-01 -1.13866028e-01 2.03329581e+02] [ 7.01373995e-01 7.03667449e-01 -1.13695381e-01 1.28810212e+02] [ 1.60907669e-01 -9.13262745e-04 9.86969041e-01 8.77776361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.160385723 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:203.35, Y:128.84, Z:87.77 [[ 6.95673794e-01 -7.11096867e-01 -1.01878450e-01 2.03349651e+02] [ 7.00930681e-01 7.02984972e-01 -1.20450448e-01 1.28837401e+02] [ 1.57270956e-01 1.23844887e-02 9.87477833e-01 8.77710173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.37, Y:128.84, Z:87.79 [[ 6.94506040e-01 -7.08976691e-01 -1.22529234e-01 2.03371495e+02] [ 7.01903507e-01 7.05055664e-01 -1.01133464e-01 1.28844962e+02] [ 1.58091199e-01 -1.57658971e-02 9.87298642e-01 8.77908914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.220385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:203.39, Y:128.88, Z:87.78 [[ 6.95312338e-01 -7.11542836e-01 -1.01230161e-01 2.03386957e+02] [ 7.01582771e-01 7.02542260e-01 -1.19230821e-01 1.28877486e+02] [ 1.55956303e-01 1.18813235e-02 9.87692496e-01 8.77797829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:203.41, Y:128.88, Z:87.80 [[ 6.95041152e-01 -7.08592778e-01 -1.21713072e-01 2.03409618e+02] [ 7.01409065e-01 7.05464947e-01 -1.01708077e-01 1.28884985e+02] [ 1.57933915e-01 -1.46793525e-02 9.87340567e-01 8.77983033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:128.91, Z:87.80 [[ 6.96423877e-01 -7.08861842e-01 -1.11842175e-01 2.03425730e+02] [ 6.99967047e-01 7.05347278e-01 -1.11943514e-01 1.28909772e+02] [ 1.58240059e-01 -3.25700888e-04 9.87400617e-01 8.77961867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:128.93, Z:87.80 [[ 6.97017184e-01 -7.08248088e-01 -1.12034330e-01 2.03444130e+02] [ 6.99305092e-01 7.05963614e-01 -1.12195200e-01 1.28929225e+02] [ 1.58554197e-01 -1.44195472e-04 9.87350265e-01 8.77994965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.340385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:203.46, Y:128.95, Z:87.80 [[ 6.97667184e-01 -7.07629054e-01 -1.11900056e-01 2.03463520e+02] [ 6.98693980e-01 7.06584122e-01 -1.12096392e-01 1.28949692e+02] [ 1.58389467e-01 2.20785304e-05 9.87376715e-01 8.78027068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:203.48, Y:128.97, Z:87.81 [[ 6.98825333e-01 -7.06486834e-01 -1.11890607e-01 2.03482071e+02] [ 6.97528910e-01 7.07726111e-01 -1.12147989e-01 1.28970044e+02] [ 1.58418982e-01 3.24922401e-04 9.87371926e-01 8.78053607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:203.50, Y:128.99, Z:87.81 [[ 6.98645294e-01 -7.06669742e-01 -1.11859864e-01 2.03501975e+02] [ 6.97709239e-01 7.07543475e-01 -1.12178646e-01 1.28990127e+02] [ 1.58418972e-01 3.27422894e-04 9.87371927e-01 8.78095394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43038572300003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:203.52, Y:129.01, Z:87.81 [[ 6.99157533e-01 -7.06325802e-01 -1.10826922e-01 2.03520556e+02] [ 6.97098516e-01 7.07883093e-01 -1.13820848e-01 1.29010280e+02] [ 1.58847106e-01 2.32142050e-03 9.87300465e-01 8.78128391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:203.56, Y:129.01, Z:87.84 [[ 6.99660545e-01 -6.99339522e-01 -1.46285184e-01 2.03557697e+02] [ 6.95249305e-01 7.13587802e-01 -8.61443707e-02 1.29012363e+02] [ 1.64631486e-01 -4.14328554e-02 9.85484547e-01 8.78446523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.490385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:203.55, Y:129.07, Z:87.80 [[ 6.98433182e-01 -7.11822201e-01 -7.41636369e-02 2.03545119e+02] [ 6.99729632e-01 7.00948305e-01 -1.38021431e-01 1.29065818e+02] [ 1.50231594e-01 4.45042529e-02 9.87648642e-01 8.77987733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:203.58, Y:129.07, Z:87.82 [[ 6.97011396e-01 -7.09418857e-01 -1.04403059e-01 2.03578412e+02] [ 7.01557720e-01 7.04787102e-01 -1.05318123e-01 1.29068099e+02] [ 1.48296591e-01 1.63159939e-04 9.88942918e-01 8.78195551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:203.60, Y:129.09, Z:87.82 [[ 6.95640039e-01 -7.10821011e-01 -1.04011663e-01 2.03598167e+02] [ 7.03025853e-01 7.03372932e-01 -1.04981754e-01 1.29087920e+02] [ 1.47782225e-01 -9.33768347e-05 9.89019922e-01 8.78230322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.580385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:203.62, Y:129.11, Z:87.83 [[ 6.94007104e-01 -7.12408382e-01 -1.04059774e-01 2.03617486e+02] [ 7.04615065e-01 7.01765021e-01 -1.05087892e-01 1.29107121e+02] [ 1.47891005e-01 -3.90340993e-04 9.89003589e-01 8.78266448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.610385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:203.64, Y:129.13, Z:87.83 [[ 6.91785563e-01 -7.14922129e-01 -1.01582893e-01 2.03635130e+02] [ 7.06230645e-01 6.99184533e-01 -1.11262148e-01 1.29128115e+02] [ 1.50568960e-01 5.22859575e-03 9.88585682e-01 8.78271153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.640385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:203.66, Y:129.15, Z:87.83 [[ 6.90365753e-01 -7.15543235e-01 -1.06738024e-01 2.03658438e+02] [ 7.07497757e-01 6.98566527e-01 -1.07012758e-01 1.29145024e+02] [ 1.51135866e-01 -1.63896950e-03 9.88511641e-01 8.78335859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.670385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:203.68, Y:129.16, Z:87.84 [[ 6.90079457e-01 -7.15501839e-01 -1.08846049e-01 2.03680680e+02] [ 7.07957582e-01 6.98589610e-01 -1.03771953e-01 1.29163330e+02] [ 1.50287742e-01 -5.44749312e-03 9.88627291e-01 8.78394761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.700385723 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:203.70, Y:129.18, Z:87.84 [[ 6.90414209e-01 -7.15921043e-01 -1.03852203e-01 2.03697269e+02] [ 7.07141882e-01 6.98171042e-01 -1.11837177e-01 1.29184873e+02] [ 1.52573190e-01 3.77573414e-03 9.88284962e-01 8.78399259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.730385723 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:203.72, Y:129.21, Z:87.84 [[ 6.89685202e-01 -7.17170070e-01 -1.00007060e-01 2.03720133e+02] [ 7.08362804e-01 6.96867220e-01 -1.12241773e-01 1.29208856e+02] [ 1.50188082e-01 6.57020851e-03 9.88635611e-01 8.78397832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.760385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:203.74, Y:129.22, Z:87.85 [[ 6.89028100e-01 -7.15501928e-01 -1.15313784e-01 2.03743512e+02] [ 7.08853313e-01 6.98470498e-01 -9.83155322e-02 1.29218926e+02] [ 1.50888229e-01 -1.39983934e-02 9.88451712e-01 8.78529322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.790385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:203.76, Y:129.24, Z:87.85 [[ 6.88911457e-01 -7.17031990e-01 -1.06142029e-01 2.03760199e+02] [ 7.08937922e-01 6.97039174e-01 -1.07440275e-01 1.29241727e+02] [ 1.51023266e-01 -1.23127249e-03 9.88529442e-01 8.78519050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.78, Y:129.26, Z:87.86 [[ 6.88223522e-01 -7.17778606e-01 -1.05556892e-01 2.03781570e+02] [ 7.09533748e-01 6.96271367e-01 -1.08480615e-01 1.29258473e+02] [ 1.51361306e-01 -2.37266262e-04 9.88478477e-01 8.78562133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.850385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:203.80, Y:129.28, Z:87.86 [[ 6.87717113e-01 -7.18345035e-01 -1.05002775e-01 2.03803580e+02] [ 7.10539830e-01 6.95684221e-01 -1.05624879e-01 1.29278346e+02] [ 1.48923881e-01 -1.96861671e-03 9.88846703e-01 8.78609964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.83, Y:129.30, Z:87.86 [[ 6.89386435e-01 -7.17958585e-01 -9.63421622e-02 2.03827912e+02] [ 7.09173934e-01 6.96026052e-01 -1.12339069e-01 1.29303964e+02] [ 1.47711454e-01 9.12168040e-03 9.88988433e-01 8.78587457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.910385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:203.85, Y:129.31, Z:87.87 [[ 6.91234985e-01 -7.14675704e-01 -1.06924433e-01 2.03849887e+02] [ 7.07629809e-01 6.99427339e-01 -1.00306782e-01 1.29313281e+02] [ 1.46472692e-01 -6.32735969e-03 9.89194478e-01 8.78680822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.940385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:203.87, Y:129.33, Z:87.87 [[ 6.89434771e-01 -7.16292179e-01 -1.07727487e-01 2.03865959e+02] [ 7.09808937e-01 6.97731269e-01 -9.66558291e-02 1.29332755e+02] [ 1.44398651e-01 -9.82804384e-03 9.89470787e-01 8.78742637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:129.35, Z:87.87 [[ 6.90081583e-01 -7.16758142e-01 -1.00225625e-01 2.03883816e+02] [ 7.09517340e-01 6.97321164e-01 -1.01628432e-01 1.29353575e+02] [ 1.42732456e-01 -9.79910090e-04 9.89760823e-01 8.78734226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.91, Y:129.38, Z:87.87 [[ 6.91623816e-01 -7.16122468e-01 -9.39420507e-02 2.03908888e+02] [ 7.08071256e-01 6.97931782e-01 -1.07360720e-01 1.29377987e+02] [ 1.42448566e-01 7.73556468e-03 9.89771977e-01 8.78722750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:203.94, Y:129.39, Z:87.88 [[ 6.92439908e-01 -7.13498276e-01 -1.06991512e-01 2.03936403e+02] [ 7.06857856e-01 7.00609654e-01 -9.74581124e-02 1.29391009e+02] [ 1.44495482e-01 -8.14390462e-03 9.89471946e-01 8.78831124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.060385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:203.95, Y:129.41, Z:87.88 [[ 6.90679016e-01 -7.16379353e-01 -9.88084946e-02 2.03948954e+02] [ 7.08839698e-01 6.97709231e-01 -1.03673100e-01 1.29413942e+02] [ 1.43208867e-01 1.56545118e-03 9.89691250e-01 8.78791561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.090385723 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:203.97, Y:129.43, Z:87.89 [[ 6.92140453e-01 -7.14538474e-01 -1.01864437e-01 2.03974009e+02] [ 7.07239419e-01 6.99594484e-01 -1.01882104e-01 1.29428311e+02] [ 1.44062481e-01 -1.52581931e-03 9.89567417e-01 8.78858543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:203.99, Y:129.44, Z:87.89 [[ 6.91611441e-01 -7.14389983e-01 -1.06398157e-01 2.03990045e+02] [ 7.08326976e-01 6.99665884e-01 -9.34908862e-02 1.29441784e+02] [ 1.41232113e-01 -1.07053187e-02 9.89918626e-01 8.78944316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.150385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:204.01, Y:129.47, Z:87.89 [[ 6.91460820e-01 -7.15661127e-01 -9.85448381e-02 2.04012027e+02] [ 7.08401265e-01 6.98447494e-01 -1.01679619e-01 1.29466741e+02] [ 1.41596546e-01 4.98184960e-04 9.89924325e-01 8.78928327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:129.49, Z:87.90 [[ 6.91447259e-01 -7.15782196e-01 -9.77575350e-02 2.04034214e+02] [ 7.08616425e-01 6.98323353e-01 -1.01030970e-01 1.29486376e+02] [ 1.40582539e-01 5.84992191e-04 9.90068789e-01 8.78955334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.210385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:204.06, Y:129.50, Z:87.90 [[ 6.90293527e-01 -7.16103664e-01 -1.03394340e-01 2.04055282e+02] [ 7.09692993e-01 6.97956847e-01 -9.58754180e-02 1.29503139e+02] [ 1.40821525e-01 -7.19605803e-03 9.90008846e-01 8.79029889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.240385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:204.07, Y:129.53, Z:87.90 [[ 6.90144016e-01 -7.17643280e-01 -9.32167320e-02 2.04068995e+02] [ 7.09405568e-01 6.96353322e-01 -1.08792428e-01 1.29525507e+02] [ 1.42985936e-01 8.95397424e-03 9.89684217e-01 8.79015468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.270385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:204.09, Y:129.54, Z:87.91 [[ 6.90796725e-01 -7.15233617e-01 -1.06022438e-01 2.04094761e+02] [ 7.09538954e-01 6.98775173e-01 -9.09270626e-02 1.29535115e+02] [ 1.39119939e-01 -1.24149323e-02 9.90197714e-01 8.79140626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.300385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:204.11, Y:129.56, Z:87.91 [[ 6.91132983e-01 -7.16203661e-01 -9.68891930e-02 2.04110940e+02] [ 7.09405410e-01 6.97890992e-01 -9.84486050e-02 1.29558835e+02] [ 1.38127346e-01 -6.92639623e-04 9.90414235e-01 8.79124995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.330385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:204.13, Y:129.58, Z:87.92 [[ 6.91260137e-01 -7.16087815e-01 -9.68383468e-02 2.04129602e+02] [ 7.09288165e-01 6.98009916e-01 -9.84502717e-02 1.29577849e+02] [ 1.38093166e-01 -6.31545063e-04 9.90419042e-01 8.79157966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.360385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:204.15, Y:129.60, Z:87.92 [[ 6.90926993e-01 -7.16370422e-01 -9.71252207e-02 2.04148970e+02] [ 7.09527965e-01 6.97719841e-01 -9.87779879e-02 1.29597039e+02] [ 1.38527822e-01 -6.64682025e-04 9.90358319e-01 8.79193819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.390385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:204.17, Y:129.61, Z:87.92 [[ 6.90584801e-01 -7.16667252e-01 -9.73688027e-02 2.04169142e+02] [ 7.09786525e-01 6.97414920e-01 -9.90732990e-02 1.29614657e+02] [ 1.38909045e-01 -6.92549654e-04 9.90304901e-01 8.79232275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.420385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:204.19, Y:129.64, Z:87.92 [[ 6.88601294e-01 -7.19580076e-01 -8.96257308e-02 2.04186297e+02] [ 7.10854512e-01 6.94272240e-01 -1.12569619e-01 1.29641926e+02] [ 1.43227512e-01 1.38047300e-02 9.89593507e-01 8.79215746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.450385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:204.21, Y:129.65, Z:87.94 [[ 6.89165669e-01 -7.16467109e-01 -1.08284636e-01 2.04213619e+02] [ 7.11184066e-01 6.97434270e-01 -8.83326870e-02 1.29649745e+02] [ 1.38808881e-01 -1.61344521e-02 9.90187747e-01 8.79373803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.480385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:204.23, Y:129.67, Z:87.93 [[ 6.88101990e-01 -7.19055732e-01 -9.73370688e-02 2.04227541e+02] [ 7.12183254e-01 6.94951582e-01 -9.91832225e-02 1.29674923e+02] [ 1.38962815e-01 -1.07365762e-03 9.90297018e-01 8.79340980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:129.69, Z:87.94 [[ 6.86186176e-01 -7.20858704e-01 -9.75256933e-02 2.04245603e+02] [ 7.13970829e-01 6.93080620e-01 -9.94228782e-02 1.29694986e+02] [ 1.39263015e-01 -1.40789558e-03 9.90254427e-01 8.79370151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.540385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:204.27, Y:129.71, Z:87.94 [[ 6.85706754e-01 -7.20914375e-01 -1.00442584e-01 2.04266151e+02] [ 7.14684987e-01 6.92991042e-01 -9.48092046e-02 1.29712538e+02] [ 1.37955129e-01 -6.77349483e-03 9.90415318e-01 8.79428667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.570385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:204.29, Y:129.73, Z:87.95 [[ 6.85005466e-01 -7.21320005e-01 -1.02298397e-01 2.04285518e+02] [ 7.14741973e-01 6.92572415e-01 -9.74030907e-02 1.29731883e+02] [ 1.41107846e-01 -6.39530850e-03 9.89973573e-01 8.79495543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.600385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:204.30, Y:129.76, Z:87.95 [[ 6.85311995e-01 -7.22602031e-01 -9.05194696e-02 2.04299597e+02] [ 7.14856500e-01 6.91220259e-01 -1.05805189e-01 1.29756738e+02] [ 1.39023935e-01 7.80113370e-03 9.90258293e-01 8.79455417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:129.78, Z:87.95 [[ 6.84436277e-01 -7.23237640e-01 -9.20559557e-02 2.04317175e+02] [ 7.15157674e-01 6.90550996e-01 -1.08114861e-01 1.29777019e+02] [ 1.41762069e-01 8.16320967e-03 9.89867101e-01 8.79490293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:129.79, Z:87.96 [[ 6.84238945e-01 -7.21744635e-01 -1.04411437e-01 2.04342484e+02] [ 7.15839425e-01 6.92068304e-01 -9.28190744e-02 1.29790430e+02] [ 1.39251515e-01 -1.12313979e-02 9.90193350e-01 8.79612036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:129.81, Z:87.96 [[ 6.83962875e-01 -7.22979422e-01 -9.74450640e-02 2.04357899e+02] [ 7.16091458e-01 6.90867535e-01 -9.95744559e-02 1.29813458e+02] [ 1.39311914e-01 -1.67434683e-03 9.90247134e-01 8.79609932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.720385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:204.38, Y:129.83, Z:87.97 [[ 6.84582565e-01 -7.21567997e-01 -1.03374744e-01 2.04380099e+02] [ 7.16038422e-01 6.92232588e-01 -9.00167900e-02 1.29828053e+02] [ 1.36512601e-01 -1.23963633e-02 9.90560770e-01 8.79702694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:129.86, Z:87.97 [[ 6.82903030e-01 -7.24988419e-01 -8.96395287e-02 2.04394522e+02] [ 7.16998630e-01 6.88698213e-01 -1.07739202e-01 1.29857720e+02] [ 1.39844257e-01 9.30400828e-03 9.90129799e-01 8.79658355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:129.87, Z:87.97 [[ 6.82986076e-01 -7.23783243e-01 -9.83251614e-02 2.04415821e+02] [ 7.16759048e-01 6.90025153e-01 -1.00606938e-01 1.29873279e+02] [ 1.40664450e-01 -1.76231116e-03 9.90055759e-01 8.79745976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:129.89, Z:87.98 [[ 6.82388921e-01 -7.23445367e-01 -1.04748088e-01 2.04436080e+02] [ 7.16994480e-01 6.90322497e-01 -9.68182111e-02 1.29891062e+02] [ 1.42352648e-01 -9.03612633e-03 9.89774758e-01 8.79831054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:129.91, Z:87.98 [[ 6.85204107e-01 -7.21914307e-01 -9.66181418e-02 2.04453432e+02] [ 7.14950489e-01 6.91982260e-01 -1.00031752e-01 1.29913654e+02] [ 1.39072393e-01 -5.35020080e-04 9.90282073e-01 8.79831506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:129.94, Z:87.98 [[ 6.84972851e-01 -7.22674150e-01 -9.24892786e-02 2.04470439e+02] [ 7.14924191e-01 6.91160111e-01 -1.05740735e-01 1.29936460e+02] [ 1.40340996e-01 6.30671024e-03 9.90083143e-01 8.79841989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:129.95, Z:87.99 [[ 6.85511753e-01 -7.21514614e-01 -9.74181571e-02 2.04491092e+02] [ 7.14564112e-01 6.92398301e-01 -9.99135710e-02 1.29954043e+02] [ 1.39541268e-01 -1.11959170e-03 9.90215624e-01 8.79908962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:129.97, Z:87.99 [[ 6.84728445e-01 -7.22320772e-01 -9.69518327e-02 2.04509408e+02] [ 7.15437298e-01 6.91557059e-01 -9.94902322e-02 1.29973338e+02] [ 1.38911586e-01 -1.23916517e-03 9.90304012e-01 8.79947837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:129.99, Z:88.00 [[ 6.85110642e-01 -7.21211037e-01 -1.02362342e-01 2.04532604e+02] [ 7.15482235e-01 6.92633441e-01 -9.13459841e-02 1.29989082e+02] [ 1.36779313e-01 -1.06563315e-02 9.90544225e-01 8.80030973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:130.02, Z:88.00 [[ 6.85082446e-01 -7.22850404e-01 -9.02736718e-02 2.04545952e+02] [ 7.15076947e-01 6.90957206e-01 -1.06033479e-01 1.30015830e+02] [ 1.39021587e-01 8.08905318e-03 9.90256313e-01 8.79999696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:130.03, Z:88.01 [[ 6.85939891e-01 -7.21241683e-01 -9.64204371e-02 2.04566690e+02] [ 7.14408526e-01 6.92682863e-01 -9.90500284e-02 1.30033788e+02] [ 1.38227794e-01 -9.41216669e-04 9.90400016e-01 8.80079228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:130.05, Z:88.01 [[ 6.86365997e-01 -7.20857837e-01 -9.62584904e-02 2.04584049e+02] [ 7.14036448e-01 6.93082462e-01 -9.89376182e-02 1.30053773e+02] [ 1.38035029e-01 -8.24653596e-04 9.90427004e-01 8.80113819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:130.08, Z:88.01 [[ 6.87311950e-01 -7.19735175e-01 -9.78956685e-02 2.04601809e+02] [ 7.12660158e-01 6.94248478e-01 -1.00670506e-01 1.30075994e+02] [ 1.40420023e-01 -5.74301035e-04 9.90091858e-01 8.80141869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:130.10, Z:88.02 [[ 6.87676255e-01 -7.19266208e-01 -9.87800090e-02 2.04620581e+02] [ 7.12049408e-01 6.94734427e-01 -1.01635213e-01 1.30097181e+02] [ 1.41728647e-01 -4.44124519e-04 9.89905447e-01 8.80172237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.140385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:204.64, Y:130.12, Z:88.02 [[ 6.88895606e-01 -7.17958963e-01 -9.97886299e-02 2.04639355e+02] [ 7.10571486e-01 6.96085417e-01 -1.02729041e-01 1.30118148e+02] [ 1.43216646e-01 -1.37369874e-04 9.89691353e-01 8.80202671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:130.14, Z:88.02 [[ 6.89464402e-01 -7.17395089e-01 -9.99155870e-02 2.04658572e+02] [ 7.09974757e-01 6.96666553e-01 -1.02915301e-01 1.30138606e+02] [ 1.43438779e-01 1.88917126e-05 9.89659192e-01 8.80240928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.68, Y:130.16, Z:88.03 [[ 6.89957317e-01 -7.16322918e-01 -1.04117134e-01 2.04678572e+02] [ 7.09755058e-01 6.97734296e-01 -9.70289094e-02 1.30155516e+02] [ 1.42150127e-01 -6.95185654e-03 9.89820697e-01 8.80303594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:130.18, Z:88.03 [[ 6.90296476e-01 -7.16395472e-01 -1.01332635e-01 2.04694728e+02] [ 7.09830306e-01 6.97676218e-01 -9.68959811e-02 1.30177788e+02] [ 1.40113212e-01 -5.04202136e-03 9.90122652e-01 8.80322537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:204.71, Y:130.21, Z:88.03 [[ 6.89502203e-01 -7.18639032e-01 -9.02477303e-02 2.04707407e+02] [ 7.09968294e-01 6.95257917e-01 -1.12077878e-01 1.30206338e+02] [ 1.43288986e-01 1.32049164e-02 9.89592793e-01 8.80267673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:204.73, Y:130.22, Z:88.04 [[ 6.89628516e-01 -7.17070889e-01 -1.01103165e-01 2.04730713e+02] [ 7.09445662e-01 6.97000216e-01 -1.04295504e-01 1.30221167e+02] [ 1.45256198e-01 1.97951331e-04 9.89394056e-01 8.80369294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:130.24, Z:88.04 [[ 6.90216188e-01 -7.16167863e-01 -1.03465964e-01 2.04750836e+02] [ 7.08864384e-01 6.97922044e-01 -1.02059322e-01 1.30238049e+02] [ 1.45302784e-01 -2.90034127e-03 9.89382984e-01 8.80430101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.77, Y:130.26, Z:88.05 [[ 6.90087090e-01 -7.16682765e-01 -1.00725481e-01 2.04769320e+02] [ 7.09001389e-01 6.97398859e-01 -1.04651143e-01 1.30259799e+02] [ 1.45247506e-01 8.03897269e-04 9.89395025e-01 8.80454736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:130.28, Z:88.05 [[ 6.89176439e-01 -7.17926596e-01 -9.80675230e-02 2.04789142e+02] [ 7.09971956e-01 6.96108040e-01 -1.06646231e-01 1.30281688e+02] [ 1.44829757e-01 3.87287885e-03 9.89449009e-01 8.80505771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:130.30, Z:88.06 [[ 6.88731226e-01 -7.18091319e-01 -9.99707762e-02 2.04808959e+02] [ 7.10619365e-01 6.95948880e-01 -1.03321222e-01 1.30301203e+02] [ 1.43768623e-01 1.19382814e-04 9.89611322e-01 8.80560323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:130.32, Z:88.06 [[ 6.87624443e-01 -7.19266163e-01 -9.91403627e-02 2.04826024e+02] [ 7.11922572e-01 6.94734610e-01 -1.02518642e-01 1.30323764e+02] [ 1.42614432e-01 -8.59377905e-05 9.89778317e-01 8.80590003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:130.34, Z:88.06 [[ 6.86890105e-01 -7.19987723e-01 -9.89932462e-02 2.04844619e+02] [ 7.12665437e-01 6.93986772e-01 -1.02422339e-01 1.30344876e+02] [ 1.42442830e-01 -1.96173827e-04 9.89803012e-01 8.80624589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:130.37, Z:88.06 [[ 6.81780235e-01 -7.26062966e-01 -8.94889970e-02 2.04853995e+02] [ 7.18380431e-01 6.87584815e-01 -1.05625179e-01 1.30369864e+02] [ 1.38221806e-01 7.72601534e-03 9.90371163e-01 8.80550843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:204.87, Y:130.39, Z:88.05 [[ 6.79172355e-01 -7.29281399e-01 -8.29068930e-02 2.04868442e+02] [ 7.21450625e-01 6.84088027e-01 -1.07389791e-01 1.30391608e+02] [ 1.35032990e-01 1.31229477e-02 9.90754198e-01 8.80519181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:130.40, Z:88.07 [[ 6.79666732e-01 -7.26658796e-01 -1.00100588e-01 2.04898547e+02] [ 7.20376173e-01 6.86961594e-01 -9.56134833e-02 1.30402664e+02] [ 1.38243638e-01 -7.12477474e-03 9.90372624e-01 8.80694912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:204.93, Y:130.42, Z:88.08 [[ 6.79502181e-01 -7.25905507e-01 -1.06479956e-01 2.04925262e+02] [ 7.19565784e-01 6.87704328e-01 -9.63734395e-02 1.30420665e+02] [ 1.43184737e-01 -1.11333705e-02 9.89633356e-01 8.80833935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:130.45, Z:88.07 [[ 6.73793669e-01 -7.33567282e-01 -8.87757554e-02 2.04926479e+02] [ 7.25612398e-01 6.79564960e-01 -1.08065323e-01 1.30453699e+02] [ 1.39602078e-01 8.39694161e-03 9.90172082e-01 8.80679956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.650385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:204.95, Y:130.47, Z:88.07 [[ 6.73650746e-01 -7.33508877e-01 -9.03293933e-02 2.04947263e+02] [ 7.25824560e-01 6.79654404e-01 -1.06059412e-01 1.30474847e+02] [ 1.39188290e-01 5.88370983e-03 9.90248455e-01 8.80707484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:130.48, Z:88.09 [[ 6.75806861e-01 -7.28524667e-01 -1.11968279e-01 2.04980172e+02] [ 7.22556865e-01 6.84809179e-01 -9.45936904e-02 1.30483993e+02] [ 1.45590742e-01 -1.69763833e-02 9.89199241e-01 8.80938643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:204.99, Y:130.51, Z:88.08 [[ 6.72508692e-01 -7.34626903e-01 -8.97517282e-02 2.04987580e+02] [ 7.26372655e-01 6.78412918e-01 -1.10175672e-01 1.30513165e+02] [ 1.41826745e-01 8.90089628e-03 9.89851478e-01 8.80818214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:130.52, Z:88.10 [[ 6.74530227e-01 -7.30166605e-01 -1.08929804e-01 2.05019640e+02] [ 7.23544353e-01 6.83161482e-01 -9.88633357e-02 1.30523647e+02] [ 1.46603353e-01 -1.21292362e-02 9.89120993e-01 8.81030731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.03, Y:130.56, Z:88.09 [[ 6.71934887e-01 -7.34987722e-01 -9.10854342e-02 2.05026879e+02] [ 7.26938648e-01 6.78046122e-01 -1.08690657e-01 1.30555034e+02] [ 1.41646424e-01 6.81952231e-03 9.89893825e-01 8.80912524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:205.05, Y:130.57, Z:88.11 [[ 6.73195412e-01 -7.31645555e-01 -1.07250729e-01 2.05052753e+02] [ 7.25046321e-01 6.81591270e-01 -9.86973823e-02 1.30568584e+02] [ 1.45312662e-01 -1.13191219e-02 9.89321034e-01 8.81075955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:130.60, Z:88.10 [[ 6.72255234e-01 -7.34847904e-01 -8.98413005e-02 2.05062891e+02] [ 7.26685301e-01 6.78180476e-01 -1.09543214e-01 1.30598151e+02] [ 1.41426217e-01 8.35464635e-03 9.89913544e-01 8.80965659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.09, Y:130.61, Z:88.12 [[ 6.74617236e-01 -7.30122229e-01 -1.08688160e-01 2.05092412e+02] [ 7.23633738e-01 6.83200708e-01 -9.79336845e-02 1.30607643e+02] [ 1.45759388e-01 -1.25826682e-02 9.89240050e-01 8.81171402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:130.64, Z:88.11 [[ 6.75663034e-01 -7.31704268e-01 -8.99351429e-02 2.05102672e+02] [ 7.22817450e-01 6.81512028e-01 -1.14351606e-01 1.30636854e+02] [ 1.44963440e-01 1.22564626e-02 9.89361097e-01 8.81071266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.13, Y:130.65, Z:88.13 [[ 6.78394702e-01 -7.26299774e-01 -1.10766720e-01 2.05131740e+02] [ 7.20071057e-01 6.87222785e-01 -9.60339286e-02 1.30648377e+02] [ 1.45870834e-01 -1.46110007e-02 9.89195743e-01 8.81269553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:205.14, Y:130.68, Z:88.12 [[ 6.80983599e-01 -7.26096242e-01 -9.51082815e-02 2.05139835e+02] [ 7.17704095e-01 6.87559014e-01 -1.10287966e-01 1.30677914e+02] [ 1.45472234e-01 6.84469302e-03 9.89338658e-01 8.81166893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:130.70, Z:88.12 [[ 6.81571723e-01 -7.24890161e-01 -9.99712061e-02 2.05162644e+02] [ 7.17140578e-01 6.88864375e-01 -1.05713123e-01 1.30697716e+02] [ 1.45497005e-01 3.57666667e-04 9.89358627e-01 8.81227392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:205.18, Y:130.72, Z:88.13 [[ 6.81594819e-01 -7.24654459e-01 -1.01510679e-01 2.05181525e+02] [ 7.17045860e-01 6.89110999e-01 -1.04743809e-01 1.30717208e+02] [ 1.45855194e-01 -1.39497523e-03 9.89304966e-01 8.81277084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:130.74, Z:88.13 [[ 6.81374918e-01 -7.25066247e-01 -1.00035787e-01 2.05200867e+02] [ 7.17380003e-01 6.88679125e-01 -1.05294802e-01 1.30737456e+02] [ 1.45238265e-01 -1.84365250e-05 9.89396708e-01 8.81317891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:130.75, Z:88.14 [[ 6.82472739e-01 -7.23039268e-01 -1.06982136e-01 2.05223260e+02] [ 7.15946055e-01 6.90766695e-01 -1.01304584e-01 1.30754056e+02] [ 1.47146889e-01 -7.45582150e-03 9.89086550e-01 8.81443503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:130.78, Z:88.13 [[ 6.80679396e-01 -7.27360758e-01 -8.73034255e-02 2.05231948e+02] [ 7.18432824e-01 6.86084457e-01 -1.14640289e-01 1.30784941e+02] [ 1.43282371e-01 1.53116360e-02 9.89563397e-01 8.81315198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:130.79, Z:88.15 [[ 6.81956898e-01 -7.22456850e-01 -1.13977585e-01 2.05263040e+02] [ 7.16215852e-01 6.91228814e-01 -9.61123250e-02 1.30792529e+02] [ 1.48221598e-01 -1.60880901e-02 9.88823306e-01 8.81547411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:130.82, Z:88.15 [[ 6.79779215e-01 -7.26990511e-01 -9.68762915e-02 2.05274254e+02] [ 7.18370024e-01 6.86617576e-01 -1.11807034e-01 1.30822181e+02] [ 1.47799617e-01 6.41107393e-03 9.88996548e-01 8.81455923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:130.84, Z:88.15 [[ 6.79249207e-01 -7.26699989e-01 -1.02604290e-01 2.05296581e+02] [ 7.18807509e-01 6.86953924e-01 -1.06817936e-01 1.30839168e+02] [ 1.48109013e-01 -1.19673549e-03 9.88970317e-01 8.81535523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.32, Y:130.86, Z:88.16 [[ 6.79246187e-01 -7.25927108e-01 -1.07955783e-01 2.05317519e+02] [ 7.18649541e-01 6.87728100e-01 -1.02824596e-01 1.30855887e+02] [ 1.48887387e-01 -7.73915866e-03 9.88823873e-01 8.81646981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.33, Y:130.88, Z:88.16 [[ 6.77236006e-01 -7.29327984e-01 -9.71189197e-02 2.05329921e+02] [ 7.20845407e-01 6.84144565e-01 -1.11032038e-01 1.30882912e+02] [ 1.47422154e-01 5.18716681e-03 9.89060060e-01 8.81585394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:130.90, Z:88.17 [[ 6.77382943e-01 -7.27667964e-01 -1.07942963e-01 2.05353856e+02] [ 7.20307799e-01 6.85887079e-01 -1.03516134e-01 1.30897871e+02] [ 1.49362058e-01 -7.63209486e-03 9.88753117e-01 8.81717327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:130.92, Z:88.17 [[ 6.75370060e-01 -7.31093639e-01 -9.68368382e-02 2.05367176e+02] [ 7.22416737e-01 6.82250775e-01 -1.12463055e-01 1.30923666e+02] [ 1.48288032e-01 5.99762731e-03 9.88926028e-01 8.81663003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:130.94, Z:88.18 [[ 6.75897764e-01 -7.28869909e-01 -1.09136927e-01 2.05393441e+02] [ 7.21583331e-01 6.84593058e-01 -1.03198065e-01 1.30936329e+02] [ 1.49932347e-01 -9.00004610e-03 9.88655294e-01 8.81810910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:130.96, Z:88.18 [[ 6.74492321e-01 -7.30957999e-01 -1.03732890e-01 2.05411689e+02] [ 7.22890821e-01 6.82419724e-01 -1.08315196e-01 1.30957838e+02] [ 1.49963229e-01 -1.92978668e-03 9.88689691e-01 8.81837111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:130.98, Z:88.18 [[ 6.72970240e-01 -7.33099860e-01 -9.83648905e-02 2.05428486e+02] [ 7.24567127e-01 6.80110257e-01 -1.11590842e-01 1.30981043e+02] [ 1.48706202e-01 3.82534987e-03 9.88874022e-01 8.81823185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:131.00, Z:88.19 [[ 6.73742358e-01 -7.31068574e-01 -1.07749598e-01 2.05451669e+02] [ 7.23672301e-01 6.82258406e-01 -1.04028205e-01 1.30995156e+02] [ 1.49564821e-01 -7.88719111e-03 9.88720464e-01 8.81941231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.460385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:205.47, Y:131.02, Z:88.19 [[ 6.73707050e-01 -7.31613105e-01 -1.04216487e-01 2.05468899e+02] [ 7.23459668e-01 6.81717136e-01 -1.08939688e-01 1.31017289e+02] [ 1.50747868e-01 -2.00298949e-03 9.88570214e-01 8.81929739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.490385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:205.49, Y:131.04, Z:88.20 [[ 6.75890443e-01 -7.29561208e-01 -1.04463168e-01 2.05489611e+02] [ 7.21380885e-01 6.83913378e-01 -1.08959209e-01 1.31037102e+02] [ 1.50936170e-01 -1.71324438e-03 9.88542026e-01 8.81981348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:131.06, Z:88.20 [[ 6.77057380e-01 -7.29390060e-01 -9.78950714e-02 2.05506723e+02] [ 7.20499990e-01 6.84067558e-01 -1.13716052e-01 1.31061296e+02] [ 1.49910201e-01 6.45889452e-03 9.88678519e-01 8.81966688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:131.08, Z:88.20 [[ 6.78589855e-01 -7.27113211e-01 -1.04029740e-01 2.05528174e+02] [ 7.18946819e-01 6.86516776e-01 -1.08674690e-01 1.31077626e+02] [ 1.50436964e-01 -1.04630823e-03 9.88619050e-01 8.82032404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:131.09, Z:88.21 [[ 6.81901596e-01 -7.22853964e-01 -1.11769226e-01 2.05549579e+02] [ 7.15453675e-01 6.90937873e-01 -1.03590031e-01 1.31092325e+02] [ 1.52106056e-01 -9.32749627e-03 9.88320164e-01 8.82148820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:131.11, Z:88.22 [[ 6.82701618e-01 -7.23132414e-01 -1.04871406e-01 2.05565085e+02] [ 7.14741326e-01 6.90709425e-01 -1.09842281e-01 1.31114500e+02] [ 1.51866183e-01 3.35752500e-05 9.88401063e-01 8.82154810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:131.13, Z:88.23 [[ 6.84102212e-01 -7.21029655e-01 -1.10092689e-01 2.05590599e+02] [ 7.13136832e-01 6.92881370e-01 -1.06542319e-01 1.31130660e+02] [ 1.53101345e-01 -5.62531564e-03 9.88194482e-01 8.82255588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.60, Y:131.15, Z:88.22 [[ 6.84407358e-01 -7.22210064e-01 -9.99959607e-02 2.05603731e+02] [ 7.13500242e-01 6.91653695e-01 -1.11948963e-01 1.31153456e+02] [ 1.50013244e-01 5.27155195e-03 9.88669934e-01 8.82245633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:131.17, Z:88.23 [[ 6.85224151e-01 -7.21035166e-01 -1.02840419e-01 2.05623752e+02] [ 7.12924723e-01 6.92898227e-01 -1.07844272e-01 1.31172148e+02] [ 1.49017457e-01 5.80021929e-04 9.88834395e-01 8.82308827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:131.19, Z:88.23 [[ 6.85434693e-01 -7.20824680e-01 -1.02912894e-01 2.05642090e+02] [ 7.12691691e-01 6.93117116e-01 -1.07977853e-01 1.31191829e+02] [ 1.49163790e-01 6.66602252e-04 9.88812277e-01 8.82345117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:131.21, Z:88.24 [[ 6.85816449e-01 -7.20386891e-01 -1.03433680e-01 2.05661771e+02] [ 7.12160780e-01 6.93571989e-01 -1.08558367e-01 1.31211084e+02] [ 1.49942728e-01 7.89704035e-04 9.88694369e-01 8.82377464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.790385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:205.68, Y:131.23, Z:88.24 [[ 6.85662902e-01 -7.20402105e-01 -1.04341714e-01 2.05680659e+02] [ 7.12021165e-01 6.93556134e-01 -1.09570755e-01 1.31230280e+02] [ 1.51301838e-01 8.35093389e-04 9.88487257e-01 8.82396964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:131.25, Z:88.25 [[ 6.85689282e-01 -7.20441432e-01 -1.03895868e-01 2.05700046e+02] [ 7.12126512e-01 6.93515261e-01 -1.09144002e-01 1.31249749e+02] [ 1.50685231e-01 8.51869707e-04 9.88581426e-01 8.82451070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:205.73, Y:131.26, Z:88.26 [[ 6.85639250e-01 -7.18212393e-01 -1.18616092e-01 2.05727989e+02] [ 7.10978492e-01 6.95683811e-01 -1.02633423e-01 1.31264412e+02] [ 1.56231891e-01 -1.39639872e-02 9.87621690e-01 8.82605289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:131.29, Z:88.25 [[ 6.83603537e-01 -7.23645519e-01 -9.49914033e-02 2.05734200e+02] [ 7.13821308e-01 6.90030013e-01 -1.19656683e-01 1.31294587e+02] [ 1.52135942e-01 1.39908440e-02 9.88260548e-01 8.82469309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:131.30, Z:88.27 [[ 6.82823281e-01 -7.21271235e-01 -1.16276279e-01 2.05766468e+02] [ 7.13753187e-01 6.92555153e-01 -1.04516741e-01 1.31304509e+02] [ 1.55912655e-01 -1.16261011e-02 9.87702424e-01 8.82664863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.940385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:205.78, Y:131.33, Z:88.26 [[ 6.79894302e-01 -7.26847970e-01 -9.71378735e-02 2.05777718e+02] [ 7.17254443e-01 6.86715314e-01 -1.18186891e-01 1.31330376e+02] [ 1.52609967e-01 1.06820225e-02 9.88228765e-01 8.82563498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.80, Y:131.35, Z:88.27 [[ 6.78959475e-01 -7.26697301e-01 -1.04523031e-01 2.05801013e+02] [ 7.18312135e-01 6.86957724e-01 -1.10076166e-01 1.31345473e+02] [ 1.51794956e-01 -3.42905964e-04 9.88411945e-01 8.82676172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.82, Y:131.36, Z:88.27 [[ 6.77860936e-01 -7.27749234e-01 -1.04334095e-01 2.05819632e+02] [ 7.19397616e-01 6.85843106e-01 -1.09937731e-01 1.31364715e+02] [ 1.51563919e-01 -5.35205821e-04 9.88447314e-01 8.82712641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.030385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:205.84, Y:131.38, Z:88.27 [[ 6.76571813e-01 -7.28931234e-01 -1.04450172e-01 2.05839208e+02] [ 7.20569333e-01 6.84586485e-01 -1.10096236e-01 1.31384450e+02] [ 1.51757761e-01 -7.75580711e-04 9.88417412e-01 8.82744238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.060385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:205.86, Y:131.40, Z:88.28 [[ 6.76034093e-01 -7.29392377e-01 -1.04712295e-01 2.05859072e+02] [ 7.20984144e-01 6.84095064e-01 -1.10434629e-01 1.31403963e+02] [ 1.52183341e-01 -8.38330057e-04 9.88351925e-01 8.82787499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.88, Y:131.42, Z:88.28 [[ 6.75484326e-01 -7.29935970e-01 -1.04472030e-01 2.05879523e+02] [ 7.21563748e-01 6.83514915e-01 -1.10241187e-01 1.31421351e+02] [ 1.51877198e-01 -9.17035878e-04 9.88398946e-01 8.82839907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:205.90, Y:131.44, Z:88.29 [[ 6.75043440e-01 -7.30410154e-01 -1.04006544e-01 2.05898988e+02] [ 7.22112971e-01 6.83008066e-01 -1.09785426e-01 1.31441698e+02] [ 1.51225698e-01 -9.94543317e-04 9.88498760e-01 8.82883368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:131.46, Z:88.29 [[ 6.74995338e-01 -7.30542454e-01 -1.03387701e-01 2.05917299e+02] [ 7.22336725e-01 6.82866583e-01 -1.09191969e-01 1.31461974e+02] [ 1.50369375e-01 -9.76663321e-04 9.88629403e-01 8.82935200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:131.48, Z:88.30 [[ 6.74671742e-01 -7.30802116e-01 -1.03664401e-01 2.05937010e+02] [ 7.22545831e-01 6.82588659e-01 -1.09545625e-01 1.31482022e+02] [ 1.50816319e-01 -9.94942822e-04 9.88561302e-01 8.82974852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:131.50, Z:88.30 [[ 6.74481024e-01 -7.30982498e-01 -1.03633658e-01 2.05956401e+02] [ 7.22723863e-01 6.82395488e-01 -1.09574701e-01 1.31502637e+02] [ 1.50816330e-01 -9.92461222e-04 9.88561303e-01 8.83015400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.240385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:205.98, Y:131.52, Z:88.31 [[ 6.74003159e-01 -7.31351767e-01 -1.04136132e-01 2.05975036e+02] [ 7.23008021e-01 6.81999640e-01 -1.10163027e-01 1.31521431e+02] [ 1.51588729e-01 -1.04103060e-03 9.88443106e-01 8.83051331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.270385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:206.00, Y:131.54, Z:88.31 [[ 6.73258610e-01 -7.31981166e-01 -1.04529500e-01 2.05995009e+02] [ 7.23575854e-01 6.81323874e-01 -1.10615382e-01 1.31541606e+02] [ 1.52186820e-01 -1.16226383e-03 9.88351062e-01 8.83085519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.300385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:206.01, Y:131.56, Z:88.31 [[ 6.73030681e-01 -7.32219872e-01 -1.04325268e-01 2.06013324e+02] [ 7.23841143e-01 6.81067313e-01 -1.10459566e-01 1.31561212e+02] [ 1.51933220e-01 -1.17224421e-03 9.88390066e-01 8.83122760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.330385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:206.03, Y:131.58, Z:88.32 [[ 6.72890042e-01 -7.32315421e-01 -1.04561545e-01 2.06031801e+02] [ 7.23894102e-01 6.80964574e-01 -1.10745556e-01 1.31580364e+02] [ 1.52303386e-01 -1.17190407e-03 9.88333094e-01 8.83152600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:206.05, Y:131.60, Z:88.32 [[ 6.72787384e-01 -7.32457380e-01 -1.04227263e-01 2.06050947e+02] [ 7.24083603e-01 6.80811893e-01 -1.10445018e-01 1.31600401e+02] [ 1.51855429e-01 -1.16323696e-03 9.88402031e-01 8.83186894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.07, Y:131.62, Z:88.32 [[ 6.72477890e-01 -7.32775080e-01 -1.03991198e-01 2.06069526e+02] [ 7.24433944e-01 6.80469885e-01 -1.10255147e-01 1.31619814e+02] [ 1.51555103e-01 -1.19060553e-03 9.88448093e-01 8.83224118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.09, Y:131.64, Z:88.33 [[ 6.71894540e-01 -7.33453762e-01 -1.02972357e-01 2.06089684e+02] [ 7.25275928e-01 6.79738116e-01 -1.09228757e-01 1.31638703e+02] [ 1.50108479e-01 -1.29316673e-03 9.88668687e-01 8.83254097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.11, Y:131.66, Z:88.33 [[ 6.71123648e-01 -7.34263974e-01 -1.02222630e-01 2.06110419e+02] [ 7.26206095e-01 6.78862570e-01 -1.08491095e-01 1.31657611e+02] [ 1.49056221e-01 -1.42375758e-03 9.88827698e-01 8.83299038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:131.68, Z:88.33 [[ 6.70884104e-01 -7.34512105e-01 -1.02012189e-01 2.06130040e+02] [ 7.26481590e-01 6.78594067e-01 -1.08326325e-01 1.31677153e+02] [ 1.48791863e-01 -1.43556795e-03 9.88867494e-01 8.83338413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.15, Y:131.70, Z:88.34 [[ 6.70325544e-01 -7.35077652e-01 -1.01609599e-01 2.06149617e+02] [ 7.27108440e-01 6.77981232e-01 -1.07957239e-01 1.31697493e+02] [ 1.48246355e-01 -1.51470226e-03 9.88949303e-01 8.83371725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:131.72, Z:88.34 [[ 6.69656499e-01 -7.35864235e-01 -1.00319498e-01 2.06168013e+02] [ 7.28097391e-01 6.77127152e-01 -1.06644314e-01 1.31717156e+02] [ 1.46404792e-01 -1.62730654e-03 9.89223427e-01 8.83388965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.570385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:206.18, Y:131.75, Z:88.32 [[ 6.67179634e-01 -7.40410171e-01 -8.16340313e-02 2.06177659e+02] [ 7.31850945e-01 6.71967276e-01 -1.13376246e-01 1.31746778e+02] [ 1.38800323e-01 1.58983791e-02 9.90192765e-01 8.83231641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:206.21, Y:131.75, Z:88.35 [[ 6.68677580e-01 -7.35121275e-01 -1.11655743e-01 2.06210690e+02] [ 7.29285602e-01 6.77685844e-01 -9.42571362e-02 1.31752219e+02] [ 1.44957942e-01 -1.84012919e-02 9.89266692e-01 8.83503235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.630385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:206.22, Y:131.78, Z:88.35 [[ 6.68353293e-01 -7.37191222e-01 -9.92621703e-02 2.06224968e+02] [ 7.29585216e-01 6.75681734e-01 -1.05639041e-01 1.31778468e+02] [ 1.44945809e-01 -1.81601114e-03 9.89437929e-01 8.83466295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:131.80, Z:88.35 [[ 6.67348201e-01 -7.38183420e-01 -9.86489615e-02 2.06245190e+02] [ 7.30673922e-01 6.74597155e-01 -1.05044265e-01 1.31797649e+02] [ 1.44090244e-01 -1.97912237e-03 9.89562572e-01 8.83501340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.690385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:206.26, Y:131.82, Z:88.35 [[ 6.66443724e-01 -7.39053208e-01 -9.82502841e-02 2.06264811e+02] [ 7.31605604e-01 6.73643724e-01 -1.04677476e-01 1.31817543e+02] [ 1.43547912e-01 -2.11881157e-03 9.89641100e-01 8.83532325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.28, Y:131.84, Z:88.36 [[ 6.66032937e-01 -7.39676069e-01 -9.63298469e-02 2.06284058e+02] [ 7.32516636e-01 6.72959586e-01 -1.02687752e-01 1.31837998e+02] [ 1.40781767e-01 -2.16979040e-03 9.90038275e-01 8.83585046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:206.30, Y:131.86, Z:88.35 [[ 6.64682906e-01 -7.41821261e-01 -8.88698528e-02 2.06297796e+02] [ 7.34429234e-01 6.70584361e-01 -1.04548151e-01 1.31862206e+02] [ 1.37150775e-01 4.22275117e-03 9.90541182e-01 8.83531741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.32, Y:131.88, Z:88.37 [[ 6.68386631e-01 -7.36934753e-01 -1.00928098e-01 2.06321733e+02] [ 7.30303563e-01 6.75921326e-01 -9.89296062e-02 1.31877477e+02] [ 1.41124119e-01 -7.58492368e-03 9.89962854e-01 8.83687107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.810385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:206.34, Y:131.90, Z:88.37 [[ 6.69961237e-01 -7.36052455e-01 -9.68438132e-02 2.06338057e+02] [ 7.28760254e-01 6.76923200e-01 -1.03360886e-01 1.31900511e+02] [ 1.41634858e-01 -1.32813477e-03 9.89918079e-01 8.83693416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.35, Y:131.92, Z:88.37 [[ 6.72747700e-01 -7.33430560e-01 -9.74173773e-02 2.06354887e+02] [ 7.26015414e-01 6.79763979e-01 -1.04031496e-01 1.31922204e+02] [ 1.42520703e-01 -7.39567551e-04 9.89791545e-01 8.83716339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:131.94, Z:88.37 [[ 6.73106620e-01 -7.33065056e-01 -9.76887967e-02 2.06372860e+02] [ 7.25599795e-01 6.80158225e-01 -1.04353853e-01 1.31943189e+02] [ 1.42942001e-01 -6.41701795e-04 9.89730859e-01 8.83749253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:131.97, Z:88.37 [[ 6.72756664e-01 -7.34286383e-01 -9.06751321e-02 2.06390471e+02] [ 7.26080387e-01 6.78792611e-01 -1.09762760e-01 1.31968438e+02] [ 1.42146909e-01 8.00619294e-03 9.89813193e-01 8.83708475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:131.98, Z:88.38 [[ 6.71075145e-01 -7.34844405e-01 -9.82947141e-02 2.06411903e+02] [ 7.27623701e-01 6.78230973e-01 -1.02793469e-01 1.31984935e+02] [ 1.42203725e-01 -2.53942136e-03 9.89834154e-01 8.83795259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:132.00, Z:88.39 [[ 6.69245224e-01 -7.35746714e-01 -1.03863385e-01 2.06432913e+02] [ 7.29025111e-01 6.77196488e-01 -9.96358584e-02 1.31999739e+02] [ 1.43642675e-01 -9.03819325e-03 9.89588345e-01 8.83913241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:132.02, Z:88.39 [[ 6.68028924e-01 -7.37649430e-01 -9.80340452e-02 2.06449311e+02] [ 7.30143189e-01 6.75182351e-01 -1.04974834e-01 1.32021502e+02] [ 1.43625483e-01 -1.45266527e-03 9.89631048e-01 8.83926160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:132.04, Z:88.40 [[ 6.67065529e-01 -7.38496360e-01 -9.82176503e-02 2.06468258e+02] [ 7.30963454e-01 6.74255558e-01 -1.05222962e-01 1.32041139e+02] [ 1.43930571e-01 -1.60290217e-03 9.89586490e-01 8.83969182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:132.06, Z:88.40 [[ 6.66199411e-01 -7.39288653e-01 -9.81357857e-02 2.06487017e+02] [ 7.31768457e-01 6.73386430e-01 -1.05193353e-01 1.32061881e+02] [ 1.43851559e-01 -1.73292237e-03 9.89597760e-01 8.84002651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:132.08, Z:88.40 [[ 6.66042157e-01 -7.39439517e-01 -9.80665419e-02 2.06505753e+02] [ 7.31923208e-01 6.73220785e-01 -1.05176954e-01 1.32082712e+02] [ 1.43792431e-01 -1.72489247e-03 9.89606367e-01 8.84038104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:132.10, Z:88.41 [[ 6.65832557e-01 -7.39684582e-01 -9.76407948e-02 2.06524928e+02] [ 7.32228008e-01 6.72951501e-01 -1.04777959e-01 1.32103564e+02] [ 1.43210160e-01 -1.73074867e-03 9.89690787e-01 8.84074061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.140385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:206.54, Y:132.12, Z:88.41 [[ 6.65892188e-01 -7.39681207e-01 -9.72589681e-02 2.06543454e+02] [ 7.32274863e-01 6.72955330e-01 -1.04425333e-01 1.32123317e+02] [ 1.42692397e-01 -1.68428403e-03 9.89765651e-01 8.84111744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:132.14, Z:88.42 [[ 6.65722908e-01 -7.39873221e-01 -9.69568289e-02 2.06561686e+02] [ 7.32507775e-01 6.72744214e-01 -1.04151727e-01 1.32143699e+02] [ 1.42286220e-01 -1.68544028e-03 9.89824121e-01 8.84152366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:132.16, Z:88.42 [[ 6.65716848e-01 -7.39939656e-01 -9.64903283e-02 2.06579876e+02] [ 7.32637932e-01 6.72671222e-01 -1.03706740e-01 1.32163511e+02] [ 1.41642996e-01 -1.65315075e-03 9.89916425e-01 8.84192378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:132.18, Z:88.42 [[ 6.65728868e-01 -7.39949867e-01 -9.63289586e-02 2.06599016e+02] [ 7.32665577e-01 6.72660074e-01 -1.03583672e-01 1.32183611e+02] [ 1.41443369e-01 -1.61827133e-03 9.89945026e-01 8.84240355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:132.20, Z:88.43 [[ 6.65561166e-01 -7.40200184e-01 -9.55616183e-02 2.06617205e+02] [ 7.33026922e-01 6.72384608e-01 -1.02812799e-01 1.32202481e+02] [ 1.40356214e-01 -1.62103216e-03 9.90099745e-01 8.84292191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.63, Y:132.22, Z:88.43 [[ 6.65298515e-01 -7.40577705e-01 -9.44592425e-02 2.06634603e+02] [ 7.33566859e-01 6.71968709e-01 -1.01674564e-01 1.32223836e+02] [ 1.38771570e-01 -1.64823339e-03 9.90323046e-01 8.84324152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:132.25, Z:88.44 [[ 6.65051392e-01 -7.40826846e-01 -9.42455842e-02 2.06652873e+02] [ 7.33842921e-01 6.71693998e-01 -1.01497493e-01 1.32245464e+02] [ 1.38496261e-01 -1.66040556e-03 9.90361565e-01 8.84359464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:132.27, Z:88.43 [[ 6.64867539e-01 -7.41960826e-01 -8.62860818e-02 2.06670693e+02] [ 7.34731708e-01 6.70421561e-01 -1.03461336e-01 1.32270649e+02] [ 1.34612308e-01 5.39096392e-03 9.90883678e-01 8.84323203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:132.29, Z:88.44 [[ 6.64220294e-01 -7.41493397e-01 -9.48627623e-02 2.06687062e+02] [ 7.33461873e-01 6.70954577e-01 -1.08874407e-01 1.32288605e+02] [ 1.44378258e-01 2.73837094e-03 9.89518782e-01 8.84405067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.71, Y:132.31, Z:88.44 [[ 6.63357324e-01 -7.42119985e-01 -9.59947286e-02 2.06710942e+02] [ 7.35248372e-01 6.70256859e-01 -1.00824472e-01 1.32309749e+02] [ 1.39164981e-01 -3.69731581e-03 9.90262308e-01 8.84429419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:132.33, Z:88.45 [[ 6.62970220e-01 -7.41341460e-01 -1.04323182e-01 2.06729795e+02] [ 7.35056820e-01 6.71015246e-01 -9.71082402e-02 1.32326561e+02] [ 1.41992810e-01 -1.23035949e-02 9.89791222e-01 8.84534212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:132.35, Z:88.45 [[ 6.62714801e-01 -7.42597495e-01 -9.67370271e-02 2.06744638e+02] [ 7.35216498e-01 6.69735292e-01 -1.04457359e-01 1.32351694e+02] [ 1.42357974e-01 -1.89722017e-03 9.89813421e-01 8.84530057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:206.75, Y:132.38, Z:88.44 [[ 6.61960357e-01 -7.45176434e-01 -8.07500376e-02 2.06753294e+02] [ 7.36091370e-01 6.66616175e-01 -1.17440919e-01 1.32381359e+02] [ 1.41343487e-01 1.83018269e-02 9.89791423e-01 8.84416816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.530385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:206.79, Y:132.39, Z:88.47 [[ 6.63091403e-01 -7.40230171e-01 -1.11216390e-01 2.06787557e+02] [ 7.34746545e-01 6.72039586e-01 -9.22513363e-02 1.32387737e+02] [ 1.43029039e-01 -2.05447900e-02 9.89505233e-01 8.84669215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:206.80, Y:132.42, Z:88.46 [[ 6.63421667e-01 -7.41910267e-01 -9.71640176e-02 2.06798944e+02] [ 7.34441770e-01 6.70497055e-01 -1.05018979e-01 1.32416067e+02] [ 1.43062846e-01 -1.68944708e-03 9.89712164e-01 8.84642356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:132.44, Z:88.47 [[ 6.63683922e-01 -7.41672545e-01 -9.71878977e-02 2.06816245e+02] [ 7.34189377e-01 6.70760224e-01 -1.05103190e-01 1.32436999e+02] [ 1.43141927e-01 -1.59902442e-03 9.89700880e-01 8.84690532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:132.46, Z:88.47 [[ 6.63613915e-01 -7.41781259e-01 -9.68356089e-02 2.06834063e+02] [ 7.34347973e-01 6.70640020e-01 -1.04761720e-01 1.32458767e+02] [ 1.42652115e-01 -1.58969798e-03 9.89771614e-01 8.84724994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:206.85, Y:132.48, Z:88.48 [[ 6.64045942e-01 -7.41643438e-01 -9.49104720e-02 2.06852868e+02] [ 7.34491540e-01 6.70792693e-01 -1.02758654e-01 1.32480328e+02] [ 1.39875532e-01 -1.47447193e-03 9.90167997e-01 8.84754936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:132.50, Z:88.48 [[ 6.64122718e-01 -7.41473417e-01 -9.56984202e-02 2.06870228e+02] [ 7.34245192e-01 6.70980175e-01 -1.03293770e-01 1.32499600e+02] [ 1.40801327e-01 -1.66636590e-03 9.90036469e-01 8.84823916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:206.89, Y:132.52, Z:88.49 [[ 6.63311750e-01 -7.42269041e-01 -9.51535241e-02 2.06886508e+02] [ 7.35077159e-01 6.70100158e-01 -1.03089035e-01 1.32521200e+02] [ 1.40282190e-01 -1.56501424e-03 9.90110326e-01 8.84858545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:132.54, Z:88.49 [[ 6.62601398e-01 -7.42917525e-01 -9.50417793e-02 2.06904083e+02] [ 7.35742007e-01 6.69380891e-01 -1.03019034e-01 1.32543403e+02] [ 1.40153797e-01 -1.66567347e-03 9.90128345e-01 8.84892272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:132.57, Z:88.49 [[ 6.62672514e-01 -7.43340054e-01 -9.11630636e-02 2.06923221e+02] [ 7.35824101e-01 6.68907791e-01 -1.05476347e-01 1.32568443e+02] [ 1.39384477e-01 2.81629654e-03 9.90234334e-01 8.84897478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.94, Y:132.59, Z:88.49 [[ 6.61471351e-01 -7.44433068e-01 -9.09673516e-02 2.06940745e+02] [ 7.36917533e-01 6.67691292e-01 -1.05550410e-01 1.32590301e+02] [ 1.39313324e-01 2.78313582e-03 9.90244441e-01 8.84916229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.830385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:206.96, Y:132.61, Z:88.50 [[ 6.59668768e-01 -7.44006565e-01 -1.06260752e-01 2.06958621e+02] [ 7.37497379e-01 6.68045438e-01 -9.90601292e-02 1.32605430e+02] [ 1.44688397e-01 -1.30201526e-02 9.89391603e-01 8.85040350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.97, Y:132.63, Z:88.50 [[ 6.58872677e-01 -7.45760224e-01 -9.86330743e-02 2.06972151e+02] [ 7.38021198e-01 6.66210896e-01 -1.07180936e-01 1.32631276e+02] [ 1.45641708e-01 -2.17470906e-03 9.89335011e-01 8.85030924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:132.65, Z:88.51 [[ 6.57323050e-01 -7.47214527e-01 -9.79635547e-02 2.06987914e+02] [ 7.39588600e-01 6.64578429e-01 -1.06509223e-01 1.32653867e+02] [ 1.44689704e-01 -2.44176108e-03 9.89474066e-01 8.85067152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.01, Y:132.68, Z:88.51 [[ 6.56517597e-01 -7.47746029e-01 -9.93001512e-02 2.07005052e+02] [ 7.39906767e-01 6.63979931e-01 -1.08021422e-01 1.32675719e+02] [ 1.46705897e-01 -2.55488936e-03 9.89176856e-01 8.85107626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:132.70, Z:88.51 [[ 6.55558902e-01 -7.48620539e-01 -9.90445087e-02 2.07021248e+02] [ 7.40822355e-01 6.62993208e-01 -1.07806511e-01 1.32697179e+02] [ 1.46372005e-01 -2.70086842e-03 9.89225931e-01 8.85147730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.980385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:207.04, Y:132.72, Z:88.52 [[ 6.53663896e-01 -7.50381187e-01 -9.82424807e-02 2.07036157e+02] [ 7.42723053e-01 6.60998354e-01 -1.06974963e-01 1.32721998e+02] [ 1.45210118e-01 -3.04128421e-03 9.89396166e-01 8.85153055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:132.75, Z:88.52 [[ 6.53610080e-01 -7.50969509e-01 -9.40141498e-02 2.07052078e+02] [ 7.42687631e-01 6.60330526e-01 -1.11259513e-01 1.32745795e+02] [ 1.45632915e-01 2.89719290e-03 9.89334453e-01 8.85206995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.07, Y:132.76, Z:88.53 [[ 6.54924518e-01 -7.48777163e-01 -1.02012921e-01 2.07072187e+02] [ 7.41866215e-01 6.62761404e-01 -1.01891316e-01 1.32761821e+02] [ 1.43904118e-01 -8.94881828e-03 9.89551173e-01 8.85320568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.070385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.09, Y:132.79, Z:88.53 [[ 6.55260942e-01 -7.49132391e-01 -9.71275431e-02 2.07087182e+02] [ 7.41608076e-01 6.62415159e-01 -1.05941579e-01 1.32785798e+02] [ 1.43703025e-01 -2.61119181e-03 9.89617412e-01 8.85340389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:132.81, Z:88.54 [[ 6.56821017e-01 -7.47955270e-01 -9.56507482e-02 2.07103667e+02] [ 7.40539979e-01 6.63746648e-01 -1.05075816e-01 1.32811866e+02] [ 1.42079874e-01 -1.81719873e-03 9.89853528e-01 8.85355409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:132.83, Z:88.54 [[ 6.56949588e-01 -7.47646770e-01 -9.71676160e-02 2.07118313e+02] [ 7.40323489e-01 6.64088295e-01 -1.04440740e-01 1.32833113e+02] [ 1.42612659e-01 -3.32316719e-03 9.89772997e-01 8.85402297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:132.85, Z:88.54 [[ 6.56754218e-01 -7.47926943e-01 -9.63285248e-02 2.07136999e+02] [ 7.40493581e-01 6.63777294e-01 -1.05209129e-01 1.32854429e+02] [ 1.42629429e-01 -2.23411527e-03 9.89773638e-01 8.85439236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.15, Y:132.88, Z:88.55 [[ 6.57520912e-01 -7.47199317e-01 -9.67441487e-02 2.07154483e+02] [ 7.39685453e-01 6.64596860e-01 -1.05718705e-01 1.32875722e+02] [ 1.43288802e-01 -2.04797980e-03 9.89678799e-01 8.85478263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.220385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.17, Y:132.90, Z:88.55 [[ 6.58242218e-01 -7.46473393e-01 -9.74405233e-02 2.07171529e+02] [ 7.38833734e-01 6.65412655e-01 -1.06539725e-01 1.32897095e+02] [ 1.44367228e-01 -1.86340037e-03 9.89522426e-01 8.85520416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:132.92, Z:88.55 [[ 6.55951991e-01 -7.49404557e-01 -9.01099069e-02 2.07180754e+02] [ 7.41238974e-01 6.62088093e-01 -1.10472357e-01 1.32923614e+02] [ 1.42449184e-01 5.67158725e-03 9.89785867e-01 8.85468957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.21, Y:132.94, Z:88.56 [[ 6.57515351e-01 -7.46097183e-01 -1.04940732e-01 2.07206653e+02] [ 7.39190707e-01 6.65752491e-01 -1.01836730e-01 1.32938650e+02] [ 1.45844651e-01 -1.06120008e-02 9.89250587e-01 8.85614621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:132.97, Z:88.56 [[ 6.55844756e-01 -7.48562301e-01 -9.75814469e-02 2.07216298e+02] [ 7.40463198e-01 6.63064422e-01 -1.09817231e-01 1.32966764e+02] [ 1.46907825e-01 -2.32415213e-04 9.89150159e-01 8.85614562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.340385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.23, Y:132.99, Z:88.57 [[ 6.55376817e-01 -7.48707228e-01 -9.95927446e-02 2.07234271e+02] [ 7.40703227e-01 6.62897170e-01 -1.09206551e-01 1.32987738e+02] [ 1.47783482e-01 -2.19722585e-03 9.89017297e-01 8.85667637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.370385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.25, Y:133.01, Z:88.57 [[ 6.56402126e-01 -7.47833853e-01 -9.94020993e-02 2.07252676e+02] [ 7.39841271e-01 6.63883054e-01 -1.09060459e-01 1.33007778e+02] [ 1.47550472e-01 -1.95425839e-03 9.89052597e-01 8.85700044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:133.03, Z:88.57 [[ 6.54671713e-01 -7.49284738e-01 -9.98865864e-02 2.07268785e+02] [ 7.41224872e-01 6.62244094e-01 -1.09628688e-01 1.33030311e+02] [ 1.48292405e-01 -2.26762136e-03 9.88940959e-01 8.85735874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:133.05, Z:88.58 [[ 6.52518361e-01 -7.51158484e-01 -9.99035614e-02 2.07284442e+02] [ 7.43108592e-01 6.60116576e-01 -1.09707462e-01 1.33054132e+02] [ 1.48355688e-01 -2.65306172e-03 9.88930509e-01 8.85762039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:133.08, Z:88.58 [[ 6.51523046e-01 -7.52047591e-01 -9.97102864e-02 2.07301894e+02] [ 7.44030135e-01 6.59102823e-01 -1.09556502e-01 1.33075462e+02] [ 1.48111035e-01 -2.80887178e-03 9.88966750e-01 8.85797826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:133.10, Z:88.58 [[ 6.50606947e-01 -7.52815684e-01 -9.98956739e-02 2.07319950e+02] [ 7.44768014e-01 6.58224773e-01 -1.09821465e-01 1.33096513e+02] [ 1.48429128e-01 -2.94849471e-03 9.88918652e-01 8.85841491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:133.12, Z:88.59 [[ 6.49343564e-01 -7.53887729e-01 -1.00031138e-01 2.07337008e+02] [ 7.45821543e-01 6.56995681e-01 -1.10031369e-01 1.33118657e+02] [ 1.48671324e-01 -3.15721639e-03 9.88881626e-01 8.85880149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.35, Y:133.14, Z:88.59 [[ 6.48941446e-01 -7.54212880e-01 -1.00189478e-01 2.07353739e+02] [ 7.46115790e-01 6.56622198e-01 -1.10265663e-01 1.33139616e+02] [ 1.48950419e-01 -3.19699286e-03 9.88839498e-01 8.85915643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.580385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.37, Y:133.16, Z:88.59 [[ 6.49806972e-01 -7.53363709e-01 -1.00965447e-01 2.07370460e+02] [ 7.45124437e-01 6.57597223e-01 -1.11155140e-01 1.33162761e+02] [ 1.50134846e-01 -3.00243670e-03 9.88660970e-01 8.85936611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:133.18, Z:88.60 [[ 6.51040973e-01 -7.52301631e-01 -1.00935162e-01 2.07388383e+02] [ 7.44045273e-01 6.58813238e-01 -1.11183401e-01 1.33184149e+02] [ 1.50140875e-01 -2.71538077e-03 9.88660884e-01 8.85989047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:133.20, Z:88.61 [[ 6.50740964e-01 -7.51353931e-01 -1.09560344e-01 2.07407591e+02] [ 7.43927796e-01 6.59781891e-01 -1.06109804e-01 1.33201933e+02] [ 1.52011949e-01 -1.24549890e-02 9.88300177e-01 8.86083368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:133.23, Z:88.61 [[ 6.53314482e-01 -7.50120923e-01 -1.02463597e-01 2.07422328e+02] [ 7.41845546e-01 6.61292024e-01 -1.11166745e-01 1.33226388e+02] [ 1.51146861e-01 -3.38531864e-03 9.88505522e-01 8.86106176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:133.25, Z:88.61 [[ 6.56766453e-01 -7.48696704e-01 -9.00614904e-02 2.07437895e+02] [ 7.39454658e-01 6.62825544e-01 -1.17767176e-01 1.33253885e+02] [ 1.47866953e-01 1.07491421e-02 9.88948846e-01 8.86076876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:133.27, Z:88.62 [[ 6.55267969e-01 -7.47404332e-01 -1.09593125e-01 2.07460470e+02] [ 7.40382731e-01 6.64230679e-01 -1.03106820e-01 1.33265276e+02] [ 1.49857600e-01 -1.35782611e-02 9.88614349e-01 8.86208332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:133.29, Z:88.62 [[ 6.55490968e-01 -7.48682457e-01 -9.90261101e-02 2.07473512e+02] [ 7.40170101e-01 6.62928602e-01 -1.12578374e-01 1.33290520e+02] [ 1.49932695e-01 4.97941653e-04 9.88696080e-01 8.86195870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:133.31, Z:88.62 [[ 6.55303870e-01 -7.49395325e-01 -9.47812483e-02 2.07489717e+02] [ 7.40326032e-01 6.62094682e-01 -1.16395870e-01 1.33314661e+02] [ 1.49980681e-01 6.10563868e-03 9.88670075e-01 8.86210148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:133.33, Z:88.63 [[ 6.57813116e-01 -7.47172232e-01 -9.49503033e-02 2.07512771e+02] [ 7.38686504e-01 6.64619787e-01 -1.12351180e-01 1.33334393e+02] [ 1.47051532e-01 3.76757237e-03 9.89121657e-01 8.86250776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:133.35, Z:88.63 [[ 6.57659093e-01 -7.46990685e-01 -9.74137322e-02 2.07532428e+02] [ 7.38684710e-01 6.64833590e-01 -1.11090938e-01 1.33353827e+02] [ 1.47747817e-01 1.10193120e-03 9.89024453e-01 8.86291216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:133.37, Z:88.63 [[ 6.58429800e-01 -7.45833712e-01 -1.01006301e-01 2.07552966e+02] [ 7.38041151e-01 6.66121886e-01 -1.07595968e-01 1.33371787e+02] [ 1.47531208e-01 -3.70241495e-03 9.89050471e-01 8.86346152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:133.39, Z:88.64 [[ 6.58473733e-01 -7.46023148e-01 -9.93066296e-02 2.07570541e+02] [ 7.37907856e-01 6.65919237e-01 -1.09743180e-01 1.33392977e+02] [ 1.48001148e-01 -1.01614079e-03 9.88986667e-01 8.86374722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:133.41, Z:88.64 [[ 6.59053668e-01 -7.45587599e-01 -9.87289030e-02 2.07588286e+02] [ 7.37553395e-01 6.66407060e-01 -1.09163267e-01 1.33413079e+02] [ 1.47184416e-01 -8.73386264e-04 9.89108682e-01 8.86402252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.61, Y:133.43, Z:88.64 [[ 6.58757611e-01 -7.45919042e-01 -9.81997598e-02 2.07606869e+02] [ 7.37969920e-01 6.66035988e-01 -1.08611513e-01 1.33434267e+02] [ 1.46419970e-01 -9.19808053e-04 9.89222092e-01 8.86437836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.63, Y:133.46, Z:88.65 [[ 6.57424532e-01 -7.47024577e-01 -9.87282473e-02 2.07625185e+02] [ 7.38992750e-01 6.64795457e-01 -1.09255282e-01 1.33455780e+02] [ 1.47250471e-01 -1.13235657e-03 9.89098588e-01 8.86472010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:133.48, Z:88.65 [[ 6.56629421e-01 -7.47674575e-01 -9.90986038e-02 2.07644239e+02] [ 7.39580167e-01 6.64064145e-01 -1.09726883e-01 1.33476572e+02] [ 1.47847830e-01 -1.24146239e-03 9.89009342e-01 8.86505486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.060385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:207.66, Y:133.50, Z:88.65 [[ 6.55248192e-01 -7.48589109e-01 -1.01312158e-01 2.07664135e+02] [ 7.40128236e-01 6.63032636e-01 -1.12240446e-01 1.33495659e+02] [ 1.51195242e-01 -1.43863959e-03 9.88502873e-01 8.86523563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.090385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.68, Y:133.52, Z:88.66 [[ 6.54604042e-01 -7.49223846e-01 -1.00782822e-01 2.07683428e+02] [ 7.40853659e-01 6.62315045e-01 -1.11689916e-01 1.33515179e+02] [ 1.50430727e-01 -1.55265230e-03 9.88619333e-01 8.86577422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:133.53, Z:88.66 [[ 6.53350638e-01 -7.50435032e-01 -9.99009805e-02 2.07703294e+02] [ 7.42216393e-01 6.60941839e-01 -1.10773246e-01 1.33534400e+02] [ 1.49156862e-01 -1.77437471e-03 9.88811955e-01 8.86620258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:133.56, Z:88.67 [[ 6.53005618e-01 -7.50805884e-01 -9.93689474e-02 2.07722093e+02] [ 7.42669953e-01 6.60520445e-01 -1.10245556e-01 1.33555580e+02] [ 1.48408234e-01 -1.80736384e-03 9.88924532e-01 8.86657266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18038572300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.74, Y:133.58, Z:88.67 [[ 6.52855417e-01 -7.50919703e-01 -9.94957442e-02 2.07740209e+02] [ 7.42754809e-01 6.60391082e-01 -1.10448688e-01 1.33576165e+02] [ 1.48644198e-01 -1.79391793e-03 9.88889116e-01 8.86689174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.76, Y:133.60, Z:88.67 [[ 6.53200299e-01 -7.50612975e-01 -9.95466257e-02 2.07759155e+02] [ 7.42426785e-01 6.60739985e-01 -1.10567364e-01 1.33596534e+02] [ 1.48767734e-01 -1.68344607e-03 9.88870733e-01 8.86723054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.240385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.78, Y:133.61, Z:88.68 [[ 6.54088511e-01 -7.49816745e-01 -9.97149329e-02 2.07779666e+02] [ 7.41584237e-01 6.61643942e-01 -1.10815676e-01 1.33614515e+02] [ 1.49067231e-01 -1.46376186e-03 9.88825980e-01 8.86766299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.80, Y:133.63, Z:88.68 [[ 6.54251495e-01 -7.49652877e-01 -9.98776522e-02 2.07799146e+02] [ 7.41386207e-01 6.61829727e-01 -1.11031093e-01 1.33633591e+02] [ 1.49336778e-01 -1.40565488e-03 9.88785392e-01 8.86808697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.300385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.82, Y:133.65, Z:88.68 [[ 6.54267622e-01 -7.49594194e-01 -1.00211887e-01 2.07818525e+02] [ 7.41265698e-01 6.61896260e-01 -1.11438355e-01 1.33653541e+02] [ 1.49863417e-01 -1.37312674e-03 9.88705755e-01 8.86845544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:133.67, Z:88.69 [[ 6.54342783e-01 -7.49575007e-01 -9.98640643e-02 2.07836327e+02] [ 7.40849564e-01 6.61919106e-01 -1.14039557e-01 1.33673869e+02] [ 1.51583134e-01 6.36712641e-04 9.88444307e-01 8.86861626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:133.69, Z:88.69 [[ 6.53281047e-01 -7.50245964e-01 -1.01758869e-01 2.07858419e+02] [ 7.41969163e-01 6.61152572e-01 -1.11171213e-01 1.33691666e+02] [ 1.50683892e-01 -2.87589598e-03 9.88577814e-01 8.86915450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.88, Y:133.71, Z:88.70 [[ 6.52612264e-01 -7.51003152e-01 -1.00456454e-01 2.07878212e+02] [ 7.42628811e-01 6.60296666e-01 -1.11851521e-01 1.33711164e+02] [ 1.50331907e-01 -1.60618229e-03 9.88634279e-01 8.86950729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.90, Y:133.73, Z:88.70 [[ 6.51518620e-01 -7.52149318e-01 -9.89691431e-02 2.07898650e+02] [ 7.44026680e-01 6.58990254e-01 -1.10254913e-01 1.33728734e+02] [ 1.48147858e-01 -1.80255439e-03 9.88963580e-01 8.87002104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.450385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.92, Y:133.75, Z:88.70 [[ 6.51759325e-01 -7.52183510e-01 -9.71068925e-02 2.07916181e+02] [ 7.43798694e-01 6.58953242e-01 -1.12000571e-01 1.33749464e+02] [ 1.48233884e-01 7.69436732e-04 9.88952033e-01 8.87021507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.480385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.94, Y:133.77, Z:88.71 [[ 6.51230574e-01 -7.52212122e-01 -1.00377603e-01 2.07937215e+02] [ 7.44285196e-01 6.58910424e-01 -1.08979815e-01 1.33768974e+02] [ 1.48115787e-01 -3.73857633e-03 9.88962960e-01 8.87062929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.96, Y:133.79, Z:88.71 [[ 6.53189435e-01 -7.50627306e-01 -9.95098504e-02 2.07956010e+02] [ 7.42382310e-01 6.60724372e-01 -1.10958597e-01 1.33789329e+02] [ 1.49037136e-01 -1.39736936e-03 9.88830612e-01 8.87099685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:133.81, Z:88.71 [[ 6.54494338e-01 -7.49702587e-01 -9.78937795e-02 2.07974037e+02] [ 7.40867660e-01 6.61769800e-01 -1.14786075e-01 1.33810139e+02] [ 1.50838564e-01 2.60050086e-03 9.88554988e-01 8.87124147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:133.83, Z:88.72 [[ 6.56772635e-01 -7.47101607e-01 -1.02415308e-01 2.07997395e+02] [ 7.39132550e-01 6.64696775e-01 -1.08909463e-01 1.33826070e+02] [ 1.49441560e-01 -4.16973244e-03 9.88761768e-01 8.87198135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:133.85, Z:88.72 [[ 6.57589189e-01 -7.46779631e-01 -9.94818600e-02 2.08015342e+02] [ 7.38473632e-01 6.65071425e-01 -1.11070670e-01 1.33847402e+02] [ 1.49107856e-01 -4.25858830e-04 9.88820846e-01 8.87230948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.03, Y:133.87, Z:88.73 [[ 6.58668042e-01 -7.45971446e-01 -9.84022989e-02 2.08034828e+02] [ 7.37827800e-01 6.65977899e-01 -1.09925317e-01 1.33867803e+02] [ 1.47534904e-01 -1.99658366e-04 9.89056830e-01 8.87266658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.05, Y:133.89, Z:88.73 [[ 6.58650184e-01 -7.45980163e-01 -9.84557311e-02 2.08054132e+02] [ 7.37818444e-01 6.65968145e-01 -1.10047138e-01 1.33887820e+02] [ 1.47661363e-01 -1.59886634e-04 9.89037965e-01 8.87304519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.07, Y:133.91, Z:88.73 [[ 6.58310803e-01 -7.46255102e-01 -9.86418244e-02 2.08073866e+02] [ 7.38056128e-01 6.65660041e-01 -1.10317099e-01 1.33907540e+02] [ 1.47986619e-01 -1.80264964e-04 9.88989347e-01 8.87341768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:133.92, Z:88.74 [[ 6.57583247e-01 -7.46770395e-01 -9.95904150e-02 2.08094777e+02] [ 7.38408545e-01 6.65081883e-01 -1.11440166e-01 1.33924517e+02] [ 1.49455998e-01 -2.57227111e-04 9.88768344e-01 8.87377669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:133.94, Z:88.74 [[ 6.56834946e-01 -7.47367562e-01 -1.00047892e-01 2.08114238e+02] [ 7.38929808e-01 6.64410708e-01 -1.11987278e-01 1.33943479e+02] [ 1.50168549e-01 -3.71212133e-04 9.88660341e-01 8.87415575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:133.96, Z:88.74 [[ 6.52572998e-01 -7.51779716e-01 -9.47403869e-02 2.08127842e+02] [ 7.43355537e-01 6.59408235e-01 -1.12264529e-01 1.33963669e+02] [ 1.46870787e-01 2.83500909e-03 9.89151624e-01 8.87394862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.16, Y:133.98, Z:88.75 [[ 6.54543613e-01 -7.49276862e-01 -1.00781164e-01 2.08155808e+02] [ 7.41218699e-01 6.62250354e-01 -1.09632609e-01 1.33980358e+02] [ 1.48887539e-01 -2.94155927e-03 9.88849760e-01 8.87506687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:134.00, Z:88.75 [[ 6.53235280e-01 -7.50727438e-01 -9.84478663e-02 2.08175650e+02] [ 7.42582835e-01 6.60611222e-01 -1.10288471e-01 1.34000180e+02] [ 1.47832346e-01 -1.06137542e-03 9.89011866e-01 8.87536308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:134.02, Z:88.76 [[ 6.52601959e-01 -7.51348753e-01 -9.79067681e-02 2.08196355e+02] [ 7.43291781e-01 6.59904326e-01 -1.09743383e-01 1.34019281e+02] [ 1.47064654e-01 -1.15454907e-03 9.89126208e-01 8.87579136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:134.04, Z:88.76 [[ 6.49831051e-01 -7.54149870e-01 -9.47500820e-02 2.08210184e+02] [ 7.46114873e-01 6.56702022e-01 -1.09795497e-01 1.34039472e+02] [ 1.45024830e-01 6.54077504e-04 9.89427800e-01 8.87576972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93038572300003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:208.24, Y:134.06, Z:88.77 [[ 6.51961139e-01 -7.51844230e-01 -9.83713786e-02 2.08236814e+02] [ 7.43847018e-01 6.59338151e-01 -1.09383804e-01 1.34057298e+02] [ 1.47099585e-01 -1.85926712e-03 9.89119940e-01 8.87650280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:134.08, Z:88.77 [[ 6.51449389e-01 -7.52354165e-01 -9.78616594e-02 2.08255686e+02] [ 7.44294907e-01 6.58757585e-01 -1.09834126e-01 1.34076016e+02] [ 1.47101273e-01 -1.28656014e-03 9.89120600e-01 8.87703227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.990385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.27, Y:134.09, Z:88.78 [[ 6.48162681e-01 -7.54411573e-01 -1.03674092e-01 2.08273956e+02] [ 7.47072703e-01 6.56337848e-01 -1.05370802e-01 1.34091837e+02] [ 1.47538183e-01 -9.15466272e-03 9.89013992e-01 8.87761500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.29, Y:134.12, Z:88.78 [[ 6.48210263e-01 -7.55238822e-01 -9.71482201e-02 2.08289119e+02] [ 7.47031516e-01 6.55449439e-01 -1.11040293e-01 1.34115319e+02] [ 1.47537686e-01 -5.95324604e-04 9.89056256e-01 8.87768192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:208.31, Y:134.13, Z:88.78 [[ 6.47624645e-01 -7.55114979e-01 -1.01900384e-01 2.08310790e+02] [ 7.47330065e-01 6.55564880e-01 -1.08316490e-01 1.34132236e+02] [ 1.48593718e-01 -6.00479226e-03 9.88880099e-01 8.87828918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:134.15, Z:88.79 [[ 6.47505605e-01 -7.55486045e-01 -9.98865721e-02 2.08329849e+02] [ 7.46929354e-01 6.55163663e-01 -1.13389221e-01 1.34154056e+02] [ 1.51106026e-01 -1.18805693e-03 9.88516847e-01 8.87864255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:134.17, Z:88.80 [[ 6.48091891e-01 -7.54196148e-01 -1.05664898e-01 2.08352448e+02] [ 7.46120600e-01 6.56608137e-01 -1.10316840e-01 1.34170585e+02] [ 1.52580968e-01 -7.34330737e-03 9.88263692e-01 8.87950687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.140385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.37, Y:134.19, Z:88.79 [[ 6.47795333e-01 -7.55558054e-01 -9.74332237e-02 2.08370010e+02] [ 7.46328315e-01 6.55071870e-01 -1.17791731e-01 1.34192496e+02] [ 1.52824255e-01 3.58775983e-03 9.88246870e-01 8.87943297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.170385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:208.39, Y:134.22, Z:88.79 [[ 6.48496190e-01 -7.56236515e-01 -8.69426519e-02 2.08388700e+02] [ 7.46281080e-01 6.54125787e-01 -1.23223391e-01 1.34217697e+02] [ 1.50057458e-01 1.50262433e-02 9.88563084e-01 8.87888125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:134.23, Z:88.80 [[ 6.47232583e-01 -7.55755999e-01 -9.96135160e-02 2.08413110e+02] [ 7.47415819e-01 6.54850348e-01 -1.11984887e-01 1.34231200e+02] [ 1.49865196e-01 -1.97245018e-03 9.88704472e-01 8.87998279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.43, Y:134.25, Z:88.80 [[ 6.46173632e-01 -7.56581113e-01 -1.00223036e-01 2.08433626e+02] [ 7.48138255e-01 6.53896367e-01 -1.12732838e-01 1.34249418e+02] [ 1.50827015e-01 -2.13569974e-03 9.88557864e-01 8.88041223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:134.27, Z:88.81 [[ 6.46003923e-01 -7.56670777e-01 -1.00639291e-01 2.08453534e+02] [ 7.48149565e-01 6.53792634e-01 -1.13258206e-01 1.34268914e+02] [ 1.51496402e-01 -2.12799605e-03 9.88455518e-01 8.88086956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.47, Y:134.28, Z:88.82 [[ 6.44287041e-01 -7.56753489e-01 -1.10536718e-01 2.08472391e+02] [ 7.49134381e-01 6.53565715e-01 -1.07933013e-01 1.34282853e+02] [ 1.53921693e-01 -1.32670146e-02 9.87993977e-01 8.88199573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.320385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:208.49, Y:134.31, Z:88.82 [[ 6.44462702e-01 -7.57396782e-01 -1.04966380e-01 2.08488477e+02] [ 7.48933462e-01 6.52929570e-01 -1.13055939e-01 1.34305093e+02] [ 1.54163858e-01 -5.75249821e-03 9.88028549e-01 8.88212767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.51, Y:134.33, Z:88.82 [[ 6.44922957e-01 -7.57428559e-01 -1.01864406e-01 2.08506590e+02] [ 7.48725214e-01 6.52913589e-01 -1.14518119e-01 1.34327349e+02] [ 1.53247949e-01 -2.41308518e-03 9.88184822e-01 8.88239826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:134.34, Z:88.83 [[ 6.45671773e-01 -7.55991524e-01 -1.07632607e-01 2.08529530e+02] [ 7.48165798e-01 6.54502427e-01 -1.08970233e-01 1.34343780e+02] [ 1.52826375e-01 -1.01680318e-02 9.88200744e-01 8.88348380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.410385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.55, Y:134.36, Z:88.84 [[ 6.46106352e-01 -7.55242917e-01 -1.10248433e-01 2.08551149e+02] [ 7.47461263e-01 6.55333248e-01 -1.08811739e-01 1.34362698e+02] [ 1.54428759e-01 -1.21024776e-02 9.87929799e-01 8.88445011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.56, Y:134.40, Z:88.82 [[ 6.46438073e-01 -7.59491431e-01 -7.27363996e-02 2.08556078e+02] [ 7.48629244e-01 6.49796267e-01 -1.31601926e-01 1.34399763e+02] [ 1.47214376e-01 3.06198998e-02 9.88630542e-01 8.88223373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.470385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:208.59, Y:134.41, Z:88.84 [[ 6.45866917e-01 -7.57118319e-01 -9.81212354e-02 2.08586217e+02] [ 7.49005294e-01 6.53274444e-01 -1.10560257e-01 1.34407196e+02] [ 1.47807291e-01 -2.08611273e-03 9.89013980e-01 8.88381904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.500385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:208.60, Y:134.43, Z:88.84 [[ 6.46143599e-01 -7.56831892e-01 -9.85085626e-02 2.08604124e+02] [ 7.48642427e-01 6.53606552e-01 -1.11054006e-01 1.34427300e+02] [ 1.48435056e-01 -1.99085394e-03 9.88920154e-01 8.88427430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:134.45, Z:88.85 [[ 6.46276292e-01 -7.56536190e-01 -9.98996879e-02 2.08623149e+02] [ 7.48100128e-01 6.53949032e-01 -1.12680355e-01 1.34446973e+02] [ 1.50576071e-01 -1.91232716e-03 9.88596576e-01 8.88473772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:134.47, Z:88.85 [[ 6.46083403e-01 -7.56656728e-01 -1.00233893e-01 2.08642356e+02] [ 7.48155639e-01 6.53809579e-01 -1.13120178e-01 1.34466981e+02] [ 1.51127024e-01 -1.90548275e-03 9.88512515e-01 8.88513729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.590385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:208.66, Y:134.49, Z:88.86 [[ 6.45269720e-01 -7.57269900e-01 -1.00842885e-01 2.08661513e+02] [ 7.48662312e-01 6.53098934e-01 -1.13870649e-01 1.34485188e+02] [ 1.52091195e-01 -2.01998523e-03 9.88364400e-01 8.88563922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.620385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:208.68, Y:134.51, Z:88.86 [[ 6.44552601e-01 -7.57917948e-01 -1.00560078e-01 2.08679897e+02] [ 7.49357964e-01 6.52346419e-01 -1.13608062e-01 1.34505445e+02] [ 1.51705595e-01 -2.12912341e-03 9.88423431e-01 8.88604776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.650385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:208.70, Y:134.53, Z:88.86 [[ 6.44140214e-01 -7.58280471e-01 -1.00469458e-01 2.08698251e+02] [ 7.49730945e-01 6.51924850e-01 -1.13567161e-01 1.34525784e+02] [ 1.51614297e-01 -2.17188595e-03 9.88437347e-01 8.88644151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68038572300003 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:208.72, Y:134.55, Z:88.87 [[ 6.43626318e-01 -7.58693180e-01 -1.00647015e-01 2.08716376e+02] [ 7.50108818e-01 6.51444298e-01 -1.13829200e-01 1.34545632e+02] [ 1.51927362e-01 -2.23274457e-03 9.88389140e-01 8.88682186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.710385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:208.74, Y:134.57, Z:88.87 [[ 6.43262493e-01 -7.59003654e-01 -1.00632098e-01 2.08735035e+02] [ 7.50417056e-01 6.51082411e-01 -1.13868065e-01 1.34565686e+02] [ 1.51946066e-01 -2.26898772e-03 9.88386182e-01 8.88733235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.740385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:208.75, Y:134.58, Z:88.88 [[ 6.43614397e-01 -7.58800035e-01 -9.99150363e-02 2.08752884e+02] [ 7.50324606e-01 6.51320056e-01 -1.13115736e-01 1.34584964e+02] [ 1.50908891e-01 -2.16579438e-03 9.88545303e-01 8.88784662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.770385723 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:208.77, Y:134.61, Z:88.88 [[ 6.43636307e-01 -7.58786916e-01 -9.98735192e-02 2.08770745e+02] [ 7.50311910e-01 6.51335446e-01 -1.13111337e-01 1.34606642e+02] [ 1.50878566e-01 -2.13372787e-03 9.88550002e-01 8.88822059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:134.63, Z:88.89 [[ 6.43514091e-01 -7.58861104e-01 -1.00097147e-01 2.08787652e+02] [ 7.50339198e-01 6.51249071e-01 -1.13427227e-01 1.34626996e+02] [ 1.51263685e-01 -2.11479464e-03 9.88491186e-01 8.88858810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:208.81, Y:134.65, Z:88.89 [[ 6.43699033e-01 -7.58610542e-01 -1.00804766e-01 2.08806104e+02] [ 7.49955073e-01 6.51541184e-01 -1.14286806e-01 1.34647024e+02] [ 1.52377633e-01 -2.03273869e-03 9.88320254e-01 8.88906025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.860385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:208.82, Y:134.67, Z:88.90 [[ 6.43739099e-01 -7.58515175e-01 -1.01265504e-01 2.08823911e+02] [ 7.49769107e-01 6.51652373e-01 -1.14871544e-01 1.34666361e+02] [ 1.53121715e-01 -1.97844191e-03 9.88205356e-01 8.88953939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.890385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:208.84, Y:134.69, Z:88.90 [[ 6.43527952e-01 -7.58676141e-01 -1.01401618e-01 2.08841805e+02] [ 7.49901380e-01 6.51464930e-01 -1.15071134e-01 1.34687406e+02] [ 1.53361321e-01 -1.98972229e-03 9.88168177e-01 8.88992768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.920385723 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:208.86, Y:134.71, Z:88.90 [[ 6.43101499e-01 -7.58987913e-01 -1.01773324e-01 2.08859459e+02] [ 7.50142273e-01 6.51101549e-01 -1.15556662e-01 1.34708969e+02] [ 1.53970879e-01 -2.02981027e-03 9.88073301e-01 8.89034961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.950385723 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:208.88, Y:134.73, Z:88.91 [[ 6.42826348e-01 -7.59177132e-01 -1.02099799e-01 2.08875973e+02] [ 7.50266497e-01 6.50880884e-01 -1.15992494e-01 1.34730819e+02] [ 1.54513656e-01 -2.03902712e-03 9.87988549e-01 8.89077967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.980385723 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:208.89, Y:134.75, Z:88.91 [[ 6.42728417e-01 -7.59239561e-01 -1.02251997e-01 2.08893473e+02] [ 7.50292807e-01 6.50808137e-01 -1.16230259e-01 1.34752269e+02] [ 1.54793042e-01 -2.01444741e-03 9.87944865e-01 8.89121735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.010385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:208.91, Y:134.77, Z:88.92 [[ 6.42579169e-01 -7.59299916e-01 -1.02740686e-01 2.08910964e+02] [ 7.50257391e-01 6.50737777e-01 -1.16851161e-01 1.34774194e+02] [ 1.55582322e-01 -1.99583740e-03 9.87820914e-01 8.89180411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.040385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:208.88, Y:134.83, Z:88.86 [[ 6.36134265e-01 -7.71354139e-01 -1.86007536e-02 2.08884387e+02] [ 7.59491297e-01 6.30237377e-01 -1.61163951e-01 1.34832760e+02] [ 1.36037371e-01 8.83948010e-02 9.86752346e-01 8.88576731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:134.79, Z:88.96 [[ 6.39135611e-01 -7.50609188e-01 -1.67605243e-01 2.08973959e+02] [ 7.53392257e-01 6.54849977e-01 -5.97629812e-02 1.34786648e+02] [ 1.54614933e-01 -8.80758430e-02 9.84041091e-01 8.89637859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:134.84, Z:88.93 [[ 6.38390455e-01 -7.62802172e-01 -1.02910027e-01 2.08964552e+02] [ 7.53757433e-01 6.46625948e-01 -1.17152104e-01 1.34838719e+02] [ 1.55908173e-01 -2.78041263e-03 9.87767640e-01 8.89316982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:208.98, Y:134.86, Z:88.94 [[ 6.35598394e-01 -7.65062954e-01 -1.03408695e-01 2.08981663e+02] [ 7.55948800e-01 6.43947003e-01 -1.17786544e-01 1.34860597e+02] [ 1.56703840e-01 -3.30674017e-03 9.87640102e-01 8.89359319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.00, Y:134.89, Z:88.92 [[ 6.35401301e-01 -7.67957192e-01 -8.06655928e-02 2.08997086e+02] [ 7.56975288e-01 6.40109850e-01 -1.31330855e-01 1.34894070e+02] [ 1.52491315e-01 2.23859356e-02 9.88051248e-01 8.89242736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.190385723 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:209.02, Y:134.91, Z:88.93 [[ 6.33024594e-01 -7.68901877e-01 -8.98318838e-02 2.09017785e+02] [ 7.59694262e-01 6.39328638e-01 -1.18842420e-01 1.34911862e+02] [ 1.48810256e-01 6.98540824e-03 9.88841095e-01 8.89306707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.220385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:209.03, Y:134.93, Z:88.94 [[ 6.30833699e-01 -7.69882247e-01 -9.65928069e-02 2.09033804e+02] [ 7.61990233e-01 6.38172206e-01 -1.10032359e-01 1.34929688e+02] [ 1.46354804e-01 -4.19065549e-03 9.89223286e-01 8.89367392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:209.05, Y:134.95, Z:88.94 [[ 6.31745791e-01 -7.69699413e-01 -9.19786365e-02 2.09048288e+02] [ 7.61199599e-01 6.38403135e-01 -1.14090348e-01 1.34954807e+02] [ 1.46534724e-01 2.06199597e-03 9.89203378e-01 8.89366338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.280385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:209.09, Y:134.95, Z:88.99 [[ 6.35249991e-01 -7.58350013e-01 -1.46159868e-01 2.09087865e+02] [ 7.55530831e-01 6.49451808e-01 -8.59390067e-02 1.34950344e+02] [ 1.60095638e-01 -5.58355334e-02 9.85521070e-01 8.89870132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.08, Y:135.01, Z:88.94 [[ 6.35878631e-01 -7.68675110e-01 -6.92599616e-02 2.09077148e+02] [ 7.56383875e-01 6.38512282e-01 -1.42075684e-01 1.35010841e+02] [ 1.53433378e-01 3.79557733e-02 9.87429774e-01 8.89406379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.340385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:209.11, Y:135.02, Z:88.96 [[ 6.38309175e-01 -7.63219912e-01 -1.00283419e-01 2.09108208e+02] [ 7.54785822e-01 6.46129686e-01 -1.13202437e-01 1.35019261e+02] [ 1.51194448e-01 -3.43434842e-03 9.88498075e-01 8.89601208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.14, Y:135.02, Z:88.99 [[ 6.41970881e-01 -7.54774954e-01 -1.34863475e-01 2.09135492e+02] [ 7.50438295e-01 6.54600556e-01 -9.13262154e-02 1.35022735e+02] [ 1.57212446e-01 -4.25779452e-02 9.86646525e-01 8.89940773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.14, Y:135.06, Z:88.98 [[ 6.43546787e-01 -7.58382948e-01 -1.03454516e-01 2.09139868e+02] [ 7.49128398e-01 6.51807570e-01 -1.18125084e-01 1.35058995e+02] [ 1.57016486e-01 -1.48169764e-03 9.87594870e-01 8.89825237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.16, Y:135.08, Z:88.99 [[ 6.44624883e-01 -7.57556447e-01 -1.02795869e-01 2.09157609e+02] [ 7.48399047e-01 6.52768506e-01 -1.17439960e-01 1.35080224e+02] [ 1.56069305e-01 -1.22761020e-03 9.87745344e-01 8.89866432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.460385723 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:209.17, Y:135.12, Z:88.97 [[ 6.45571968e-01 -7.59871335e-01 -7.63700805e-02 2.09169345e+02] [ 7.48534646e-01 6.49410349e-01 -1.34022695e-01 1.35118307e+02] [ 1.51435525e-01 2.93556439e-02 9.88031137e-01 8.89718436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.20, Y:135.13, Z:88.99 [[ 6.45635630e-01 -7.57022817e-01 -1.00354812e-01 2.09195288e+02] [ 7.48491841e-01 6.53385577e-01 -1.13345718e-01 1.35128366e+02] [ 1.51375681e-01 -1.93472426e-03 9.88474410e-01 8.89868340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:135.13, Z:89.01 [[ 6.46894948e-01 -7.51008814e-01 -1.32335512e-01 2.09220366e+02] [ 7.45647959e-01 6.59300079e-01 -9.66050050e-02 1.35134916e+02] [ 1.59800024e-01 -3.61824149e-02 9.86486080e-01 8.90147312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.23, Y:135.17, Z:89.00 [[ 6.46767216e-01 -7.55374214e-01 -1.05365865e-01 2.09225865e+02] [ 7.45661385e-01 6.55293501e-01 -1.20745710e-01 1.35170042e+02] [ 1.60253762e-01 -4.72890546e-04 9.87075736e-01 8.90042524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.580385723 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:209.24, Y:135.21, Z:88.99 [[ 6.44681217e-01 -7.60439514e-01 -7.82168411e-02 2.09237470e+02] [ 7.48489098e-01 6.48706800e-01 -1.37635598e-01 1.35210523e+02] [ 1.55403344e-01 3.01866317e-02 9.87389775e-01 8.89874101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.610385723 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:209.27, Y:135.22, Z:89.00 [[ 6.42487660e-01 -7.59373657e-01 -1.02767969e-01 2.09267151e+02] [ 7.50187916e-01 6.50653206e-01 -1.17764576e-01 1.35222250e+02] [ 1.56293625e-01 -1.43300164e-03 9.87709598e-01 8.90042198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.29, Y:135.23, Z:89.03 [[ 6.39402728e-01 -7.57471189e-01 -1.31914931e-01 2.09289620e+02] [ 7.51786693e-01 6.51891767e-01 -9.92667769e-02 1.35225089e+02] [ 1.61185981e-01 -3.57004421e-02 9.86278134e-01 8.90296365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.670385723 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:209.29, Y:135.28, Z:89.00 [[ 6.36864129e-01 -7.67195294e-01 -7.62591826e-02 2.09289784e+02] [ 7.54574011e-01 6.40552808e-01 -1.42513723e-01 1.35277666e+02] [ 1.58183891e-01 3.32186807e-02 9.86850736e-01 8.90002593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.32, Y:135.27, Z:89.04 [[ 6.35496838e-01 -7.60312956e-01 -1.34417180e-01 2.09323292e+02] [ 7.55304783e-01 6.48294613e-01 -9.60665335e-02 1.35267998e+02] [ 1.60182564e-01 -4.04759605e-02 9.86257189e-01 8.90381938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.730385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:209.33, Y:135.31, Z:89.03 [[ 6.35254355e-01 -7.65145151e-01 -1.04903773e-01 2.09327228e+02] [ 7.55533202e-01 6.43853198e-01 -1.20924107e-01 1.35305031e+02] [ 1.60067124e-01 -2.44071787e-03 9.87103115e-01 8.90271169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:135.34, Z:89.01 [[ 6.35599293e-01 -7.67300115e-01 -8.52295236e-02 2.09340652e+02] [ 7.56165077e-01 6.40999676e-01 -1.31657862e-01 1.35339791e+02] [ 1.55653190e-01 1.92340550e-02 9.87624491e-01 8.90148067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:135.36, Z:89.03 [[ 6.33060384e-01 -7.66979826e-01 -1.04768782e-01 2.09366520e+02] [ 7.57686604e-01 6.41658846e-01 -1.19100530e-01 1.35356052e+02] [ 1.58573520e-01 -3.98407508e-03 9.87339134e-01 8.90308005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.820385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:209.38, Y:135.38, Z:89.03 [[ 6.33303612e-01 -7.67655412e-01 -9.81412378e-02 2.09380961e+02] [ 7.57971602e-01 6.40857532e-01 -1.21575800e-01 1.35378899e+02] [ 1.56222873e-01 2.60612235e-03 9.87718392e-01 8.90295257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.40, Y:135.38, Z:89.05 [[ 6.32989716e-01 -7.63503648e-01 -1.28008588e-01 2.09402793e+02] [ 7.58075353e-01 6.44836895e-01 -9.75045485e-02 1.35384370e+02] [ 1.56989739e-01 -3.53207795e-02 9.86968421e-01 8.90541418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:135.42, Z:89.05 [[ 6.33206940e-01 -7.67053615e-01 -1.03333069e-01 2.09408274e+02] [ 7.57681291e-01 6.41577814e-01 -1.19569939e-01 1.35418278e+02] [ 1.58012758e-01 -2.58101745e-03 9.87433697e-01 8.90464676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.42, Y:135.45, Z:89.04 [[ 6.35394623e-01 -7.66749489e-01 -9.14816584e-02 2.09421136e+02] [ 7.56642793e-01 6.41870527e-01 -1.24474537e-01 1.35449323e+02] [ 1.54160168e-01 9.87151415e-03 9.87996557e-01 8.90389270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:135.47, Z:89.04 [[ 6.36015517e-01 -7.65742559e-01 -9.55122791e-02 2.09440398e+02] [ 7.55750475e-01 6.43115951e-01 -1.23462924e-01 1.35474283e+02] [ 1.55966286e-01 6.34088520e-03 9.87742027e-01 8.90442766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:135.49, Z:89.05 [[ 6.35650950e-01 -7.65077189e-01 -1.02979437e-01 2.09462200e+02] [ 7.56019960e-01 6.43930545e-01 -1.17419219e-01 1.35492343e+02] [ 1.56146370e-01 -3.21687159e-03 9.87728689e-01 8.90521402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.48, Y:135.50, Z:89.07 [[ 6.38315364e-01 -7.60334717e-01 -1.20185748e-01 2.09481528e+02] [ 7.53151416e-01 6.49143769e-01 -1.06655106e-01 1.35504598e+02] [ 1.59111409e-01 -2.24384732e-02 9.87005610e-01 8.90679475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.48, Y:135.55, Z:89.05 [[ 6.38310075e-01 -7.65092708e-01 -8.48138870e-02 2.09477845e+02] [ 7.53938592e-01 6.43605411e-01 -1.31714365e-01 1.35547906e+02] [ 1.55360377e-01 2.01301436e-02 9.87652738e-01 8.90469540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.51, Y:135.56, Z:89.07 [[ 6.45234392e-01 -7.55314147e-01 -1.14774208e-01 2.09512142e+02] [ 7.47068132e-01 6.55225745e-01 -1.12109008e-01 1.35555759e+02] [ 1.59880536e-01 -1.34075656e-02 9.87045314e-01 8.90719385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:135.59, Z:89.06 [[ 6.44665523e-01 -7.58466749e-01 -9.55748596e-02 2.09515610e+02] [ 7.48689514e-01 6.51676007e-01 -1.21582866e-01 1.35585723e+02] [ 1.54500404e-01 6.82438671e-03 9.87969156e-01 8.90615857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:135.61, Z:89.06 [[ 6.44284576e-01 -7.59486215e-01 -8.98781074e-02 2.09530514e+02] [ 7.49257476e-01 6.50390616e-01 -1.24921101e-01 1.35611855e+02] [ 1.53331732e-01 1.31428945e-02 9.88087367e-01 8.90619092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:135.63, Z:89.07 [[ 6.48186686e-01 -7.55072458e-01 -9.85880444e-02 2.09550962e+02] [ 7.45777958e-01 6.55634224e-01 -1.18148223e-01 1.35630255e+02] [ 1.53848165e-01 3.05731498e-03 9.88089771e-01 8.90700336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:135.65, Z:89.08 [[ 6.52609156e-01 -7.50707374e-01 -1.02663173e-01 2.09574361e+02] [ 7.41442736e-01 6.60634590e-01 -1.17578089e-01 1.35648826e+02] [ 1.56089582e-01 6.13673423e-04 9.87742712e-01 8.90800929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.58, Y:135.67, Z:89.08 [[ 6.53201038e-01 -7.50661497e-01 -9.91752043e-02 2.09584013e+02] [ 7.41886699e-01 6.60685949e-01 -1.14447380e-01 1.35670559e+02] [ 1.51434906e-01 1.18038246e-03 9.88466528e-01 8.90794561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:135.69, Z:89.08 [[ 6.53920645e-01 -7.50664731e-01 -9.42881292e-02 2.09597791e+02] [ 7.40862797e-01 6.60615685e-01 -1.21281628e-01 1.35694256e+02] [ 1.53330058e-01 9.45399355e-03 9.88129807e-01 8.90798219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.62, Y:135.71, Z:89.09 [[ 6.54417260e-01 -7.48890768e-01 -1.04406259e-01 2.09621837e+02] [ 7.40268147e-01 6.62686182e-01 -1.13358257e-01 1.35711908e+02] [ 1.54081537e-01 -3.10502741e-03 9.88053257e-01 8.90890261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.65, Y:135.73, Z:89.10 [[ 6.57171983e-01 -7.46002061e-01 -1.07730731e-01 2.09646370e+02] [ 7.36324610e-01 6.65943353e-01 -1.19772781e-01 1.35732240e+02] [ 1.61093306e-01 -6.13472757e-04 9.86938990e-01 8.91015143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:135.76, Z:89.09 [[ 6.54022442e-01 -7.51426595e-01 -8.72508841e-02 2.09649845e+02] [ 7.40031521e-01 6.59453581e-01 -1.32190478e-01 1.35763429e+02] [ 1.56869349e-01 2.18871350e-02 9.87376808e-01 8.90888016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:135.76, Z:89.11 [[ 6.54152303e-01 -7.46878739e-01 -1.19402323e-01 2.09686270e+02] [ 7.40403275e-01 6.64578197e-01 -1.00691658e-01 1.35764081e+02] [ 1.54556639e-01 -2.25381911e-02 9.87726822e-01 8.91102358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:135.79, Z:89.11 [[ 6.55733707e-01 -7.48054486e-01 -1.02116557e-01 2.09702322e+02] [ 7.38554129e-01 6.63632502e-01 -1.18868413e-01 1.35792037e+02] [ 1.56687916e-01 2.52742089e-03 9.87644931e-01 8.91132317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.420385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:209.71, Y:135.82, Z:89.11 [[ 6.52544783e-01 -7.51856128e-01 -9.43274589e-02 2.09714625e+02] [ 7.42219844e-01 6.59272647e-01 -1.20288326e-01 1.35815832e+02] [ 1.52627028e-01 8.48180784e-03 9.88247464e-01 8.91079213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:135.83, Z:89.11 [[ 6.52221691e-01 -7.52113770e-01 -9.45078979e-02 2.09733630e+02] [ 7.42647258e-01 6.58989984e-01 -1.19194178e-01 1.35834670e+02] [ 1.51927341e-01 7.55499702e-03 9.88362790e-01 8.91138007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.76, Y:135.85, Z:89.12 [[ 6.51247409e-01 -7.52467663e-01 -9.83322411e-02 2.09757144e+02] [ 7.43239057e-01 6.58620095e-01 -1.17538392e-01 1.35851012e+02] [ 1.53207429e-01 3.46221102e-03 9.88187987e-01 8.91204904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:135.87, Z:89.12 [[ 6.49942800e-01 -7.54155995e-01 -9.39313090e-02 2.09774382e+02] [ 7.44479853e-01 6.56639880e-01 -1.20722067e-01 1.35873323e+02] [ 1.52722314e-01 8.53247087e-03 9.88232307e-01 8.91220232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.540385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.80, Y:135.89, Z:89.13 [[ 6.49282371e-01 -7.53433698e-01 -1.03778929e-01 2.09799303e+02] [ 7.44868922e-01 6.57513417e-01 -1.13341943e-01 1.35887193e+02] [ 1.53631677e-01 -3.71077321e-03 9.88121216e-01 8.91308550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.83, Y:135.90, Z:89.15 [[ 6.50589910e-01 -7.50314094e-01 -1.17309544e-01 2.09829867e+02] [ 7.42572434e-01 6.60878962e-01 -1.08743633e-01 1.35900311e+02] [ 1.59119290e-01 -1.63633232e-02 9.87123748e-01 8.91483753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.600385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:209.83, Y:135.93, Z:89.13 [[ 6.46251612e-01 -7.58168953e-01 -8.68256499e-02 2.09832021e+02] [ 7.47378430e-01 6.51800592e-01 -1.28769060e-01 1.35934151e+02] [ 1.54221714e-01 1.83255948e-02 9.87866305e-01 8.91318688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:135.94, Z:89.16 [[ 6.46840480e-01 -7.53705711e-01 -1.16297444e-01 2.09872467e+02] [ 7.45696027e-01 6.57037176e-01 -1.10632657e-01 1.35937416e+02] [ 1.59796210e-01 -1.51608613e-02 9.87033596e-01 8.91576187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:135.97, Z:89.15 [[ 6.43231922e-01 -7.59435123e-01 -9.75242991e-02 2.09882737e+02] [ 7.49492616e-01 6.50557365e-01 -1.22621100e-01 1.35965538e+02] [ 1.56567921e-01 5.78006376e-03 9.87650281e-01 8.91494006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.90, Y:135.99, Z:89.15 [[ 6.42537397e-01 -7.60568567e-01 -9.31726784e-02 2.09900037e+02] [ 7.50455266e-01 6.49184342e-01 -1.24002358e-01 1.35986404e+02] [ 1.54798539e-01 9.75422501e-03 9.87897903e-01 8.91498124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.92, Y:136.00, Z:89.16 [[ 6.42705458e-01 -7.59575011e-01 -9.98774121e-02 2.09924455e+02] [ 7.50275128e-01 6.50418556e-01 -1.18502891e-01 1.36002870e+02] [ 1.54973957e-01 1.22691669e-03 9.87917794e-01 8.91577299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:136.02, Z:89.17 [[ 6.44359992e-01 -7.56764035e-01 -1.10038153e-01 2.09952865e+02] [ 7.48183677e-01 6.53627786e-01 -1.13982029e-01 1.36015493e+02] [ 1.58181495e-01 -8.88329080e-03 9.87370094e-01 8.91706343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.780385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:209.97, Y:136.04, Z:89.18 [[ 6.45922863e-01 -7.56077262e-01 -1.05502746e-01 2.09972907e+02] [ 7.46869371e-01 6.54476426e-01 -1.17672215e-01 1.36035958e+02] [ 1.58018346e-01 -2.78959613e-03 9.87432236e-01 8.91760301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.810385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:209.98, Y:136.06, Z:89.17 [[ 6.45779137e-01 -7.58019933e-01 -9.15155035e-02 2.09984688e+02] [ 7.47798173e-01 6.52119858e-01 -1.24649839e-01 1.36059638e+02] [ 1.54166140e-01 1.20611392e-02 9.87971321e-01 8.91682187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.02, Y:136.07, Z:89.19 [[ 6.46782771e-01 -7.54743485e-01 -1.09701047e-01 2.10016346e+02] [ 7.46368440e-01 6.55956657e-01 -1.12494512e-01 1.36070890e+02] [ 1.56863632e-01 -9.11788722e-03 9.87578182e-01 8.91867092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.03, Y:136.09, Z:89.18 [[ 6.45569082e-01 -7.57558387e-01 -9.66739378e-02 2.10028761e+02] [ 7.47546013e-01 6.52728644e-01 -1.22964529e-01 1.36094856e+02] [ 1.56254659e-01 7.11388123e-03 9.87691184e-01 8.91800167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.06, Y:136.11, Z:89.19 [[ 6.47436287e-01 -7.54526760e-01 -1.07310866e-01 2.10056126e+02] [ 7.45556433e-01 6.56251449e-01 -1.16101857e-01 1.36109039e+02] [ 1.58024869e-01 -4.83775166e-03 9.87423282e-01 8.91945047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:136.13, Z:89.20 [[ 6.47947057e-01 -7.54748597e-01 -1.02562986e-01 2.10073911e+02] [ 7.45209484e-01 6.56013257e-01 -1.19622039e-01 1.36131019e+02] [ 1.57567244e-01 1.07783822e-03 9.87507672e-01 8.91971112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.10, Y:136.15, Z:89.20 [[ 6.48647725e-01 -7.54225492e-01 -1.01980572e-01 2.10095195e+02] [ 7.44778284e-01 6.56614321e-01 -1.19008153e-01 1.36148972e+02] [ 1.56720887e-01 1.24145269e-03 9.87642153e-01 8.92022206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:136.17, Z:89.20 [[ 6.47695823e-01 -7.55629205e-01 -9.75429464e-02 2.10110413e+02] [ 7.46038377e-01 6.54980332e-01 -1.20114546e-01 1.36170429e+02] [ 1.54650770e-01 5.02690804e-03 9.87956411e-01 8.91996796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:136.19, Z:89.21 [[ 6.48406677e-01 -7.54140040e-01 -1.04122914e-01 2.10134374e+02] [ 7.44897590e-01 6.56712475e-01 -1.17712812e-01 1.36188660e+02] [ 1.57150761e-01 -1.23513399e-03 9.87573852e-01 8.92096880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:136.21, Z:89.21 [[ 6.47672545e-01 -7.54976183e-01 -1.02621818e-01 2.10152316e+02] [ 7.45401166e-01 6.55751224e-01 -1.19864230e-01 1.36210025e+02] [ 1.57789021e-01 1.13834810e-03 9.87472192e-01 8.92127265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.17, Y:136.23, Z:89.22 [[ 6.44966674e-01 -7.57229391e-01 -1.03061334e-01 2.10173538e+02] [ 7.47589746e-01 6.53148718e-01 -1.20442200e-01 1.36228899e+02] [ 1.58516752e-01 6.33608830e-04 9.87356085e-01 8.92176535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.110385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:210.19, Y:136.25, Z:89.22 [[ 6.45140363e-01 -7.57098603e-01 -1.02935014e-01 2.10194014e+02] [ 7.47469606e-01 6.53300236e-01 -1.20366065e-01 1.36246538e+02] [ 1.58376448e-01 7.12212375e-04 9.87378546e-01 8.92238552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.21, Y:136.26, Z:89.23 [[ 6.42311660e-01 -7.59500619e-01 -1.02929793e-01 2.10213480e+02] [ 7.49896868e-01 6.50506563e-01 -1.20398913e-01 1.36264863e+02] [ 1.58399555e-01 1.46896232e-04 9.87375085e-01 8.92285671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:136.29, Z:89.23 [[ 6.39652329e-01 -7.61683220e-01 -1.03361362e-01 2.10230612e+02] [ 7.52016602e-01 6.47949495e-01 -1.20964798e-01 1.36286365e+02] [ 1.59109799e-01 -3.54045826e-04 9.87260830e-01 8.92323044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:210.25, Y:136.31, Z:89.24 [[ 6.39812972e-01 -7.61589154e-01 -1.03059797e-01 2.10248877e+02] [ 7.51966849e-01 6.48060090e-01 -1.20681308e-01 1.36306071e+02] [ 1.58698517e-01 -2.84084372e-04 9.87327048e-01 8.92369837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:136.33, Z:89.24 [[ 6.38505738e-01 -7.62689137e-01 -1.03032536e-01 2.10265590e+02] [ 7.53078620e-01 6.46765029e-01 -1.20696269e-01 1.36328467e+02] [ 1.58691574e-01 -5.26339496e-04 9.87328065e-01 8.92397880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:136.35, Z:89.25 [[ 6.37417148e-01 -7.62687041e-01 -1.09580365e-01 2.10282733e+02] [ 7.53834669e-01 6.46711199e-01 -1.16180535e-01 1.36345335e+02] [ 1.59476237e-01 -8.55001262e-03 9.87164742e-01 8.92470127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:136.37, Z:89.25 [[ 6.35644654e-01 -7.65977010e-01 -9.60993990e-02 2.10296559e+02] [ 7.55380947e-01 6.42814571e-01 -1.27236203e-01 1.36374792e+02] [ 1.59234100e-01 8.28535717e-03 9.87206085e-01 8.92458950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:136.39, Z:89.25 [[ 6.36419092e-01 -7.64493067e-01 -1.02572364e-01 2.10318253e+02] [ 7.54970048e-01 6.44631347e-01 -1.20294026e-01 1.36391612e+02] [ 1.58085310e-01 -8.81647735e-04 9.87425064e-01 8.92549641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:136.41, Z:89.26 [[ 6.36313198e-01 -7.64579216e-01 -1.02587216e-01 2.10332869e+02] [ 7.55043869e-01 6.44529196e-01 -1.20378038e-01 1.36414237e+02] [ 1.58159001e-01 -8.59714346e-04 9.87413283e-01 8.92579823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:136.44, Z:89.26 [[ 6.36588522e-01 -7.64330002e-01 -1.02736078e-01 2.10349410e+02] [ 7.54753933e-01 6.44824837e-01 -1.20612727e-01 1.36436578e+02] [ 1.58434701e-01 -7.59781591e-04 9.87369165e-01 8.92619395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:136.46, Z:89.27 [[ 6.37927060e-01 -7.63073354e-01 -1.03769564e-01 2.10365319e+02] [ 7.53274855e-01 6.46311760e-01 -1.21893817e-01 1.36458969e+02] [ 1.60081413e-01 -4.07639212e-04 9.87103731e-01 8.92666023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:136.48, Z:89.27 [[ 6.37179887e-01 -7.63450480e-01 -1.05570621e-01 2.10381616e+02] [ 7.53300361e-01 6.45866199e-01 -1.24078275e-01 1.36480985e+02] [ 1.62912114e-01 -4.66205725e-04 9.86640474e-01 8.92725756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.470385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:210.40, Y:136.50, Z:89.27 [[ 6.38002396e-01 -7.62900455e-01 -1.04574559e-01 2.10397446e+02] [ 7.52927375e-01 6.46515901e-01 -1.22953480e-01 1.36502758e+02] [ 1.61410381e-01 -2.92433440e-04 9.86887331e-01 8.92749538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:136.52, Z:89.29 [[ 6.37855559e-01 -7.60839127e-01 -1.19432447e-01 2.10417862e+02] [ 7.52989768e-01 6.48652965e-01 -1.10705648e-01 1.36515093e+02] [ 1.61699399e-01 -1.93171976e-02 9.86650977e-01 8.92885453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:136.55, Z:89.28 [[ 6.36880282e-01 -7.65344412e-01 -9.29055319e-02 2.10424873e+02] [ 7.53757341e-01 6.43445975e-01 -1.33518348e-01 1.36551971e+02] [ 1.61967212e-01 1.50069764e-02 9.86682022e-01 8.92784389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:136.57, Z:89.29 [[ 6.35590092e-01 -7.64681940e-01 -1.06239192e-01 2.10447668e+02] [ 7.55155351e-01 6.44397204e-01 -1.20385378e-01 1.36565693e+02] [ 1.60516762e-01 -3.71134096e-03 9.87026137e-01 8.92905034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:136.59, Z:89.30 [[ 6.34162044e-01 -7.65380854e-01 -1.09684325e-01 2.10466524e+02] [ 7.56298486e-01 6.43525124e-01 -1.17847425e-01 1.36585717e+02] [ 1.60782781e-01 -8.21972493e-03 9.86955588e-01 8.92975336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:136.62, Z:89.29 [[ 6.32698915e-01 -7.68851188e-01 -9.25199088e-02 2.10477035e+02] [ 7.57158000e-01 6.39251901e-01 -1.34420130e-01 1.36617694e+02] [ 1.62492604e-01 1.49952814e-02 9.86595811e-01 8.92933374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:136.63, Z:89.31 [[ 6.32131567e-01 -7.66141863e-01 -1.15915176e-01 2.10504778e+02] [ 7.58068769e-01 6.42448256e-01 -1.12213996e-01 1.36626590e+02] [ 1.60441342e-01 -1.69376656e-02 9.86900041e-01 8.93100664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.51, Y:136.66, Z:89.30 [[ 6.31117949e-01 -7.70059330e-01 -9.32671601e-02 2.10512181e+02] [ 7.58498153e-01 6.37827460e-01 -1.33628904e-01 1.36661026e+02] [ 1.62390540e-01 1.35926312e-02 9.86632937e-01 8.93011374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:136.68, Z:89.31 [[ 6.31557340e-01 -7.68408369e-01 -1.03362973e-01 2.10533087e+02] [ 7.58048911e-01 6.39958935e-01 -1.25755358e-01 1.36678825e+02] [ 1.62779528e-01 1.06753030e-03 9.86661890e-01 8.93107949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:136.70, Z:89.32 [[ 6.30950589e-01 -7.68400624e-01 -1.07059961e-01 2.10552781e+02] [ 7.58522858e-01 6.39958517e-01 -1.22866473e-01 1.36699292e+02] [ 1.62924608e-01 -3.68475394e-03 9.86631641e-01 8.93178820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.57, Y:136.72, Z:89.32 [[ 6.31526526e-01 -7.68805789e-01 -1.00557975e-01 2.10565587e+02] [ 7.57983726e-01 6.39462648e-01 -1.28639783e-01 1.36723769e+02] [ 1.63202079e-01 5.01812634e-03 9.86579900e-01 8.93184719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.59, Y:136.74, Z:89.33 [[ 6.30954296e-01 -7.67930490e-01 -1.10360493e-01 2.10588797e+02] [ 7.58434403e-01 6.40488240e-01 -1.20631967e-01 1.36740809e+02] [ 1.63321563e-01 -7.58793706e-03 9.86543709e-01 8.93291071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.60, Y:136.76, Z:89.33 [[ 6.30815123e-01 -7.68712208e-01 -1.05611658e-01 2.10604860e+02] [ 7.58538520e-01 6.39593129e-01 -1.24659307e-01 1.36764661e+02] [ 1.63375622e-01 -1.47353448e-03 9.86562839e-01 8.93313096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.62, Y:136.78, Z:89.34 [[ 6.31713218e-01 -7.67772839e-01 -1.07066696e-01 2.10622889e+02] [ 7.57293247e-01 6.40720991e-01 -1.26426061e-01 1.36783779e+02] [ 1.65666376e-01 -1.21587191e-03 9.86181106e-01 8.93369852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:136.81, Z:89.34 [[ 6.32285137e-01 -7.67987114e-01 -1.02035771e-01 2.10637485e+02] [ 7.57183682e-01 6.40453172e-01 -1.28423544e-01 1.36809166e+02] [ 1.63976760e-01 3.94047713e-03 9.86456332e-01 8.93375784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:136.83, Z:89.34 [[ 6.32627816e-01 -7.66771379e-01 -1.08828762e-01 2.10656802e+02] [ 7.57184427e-01 6.41893656e-01 -1.21013541e-01 1.36829327e+02] [ 1.62646212e-01 -5.84691214e-03 9.86667129e-01 8.93448084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.67, Y:136.85, Z:89.35 [[ 6.31410574e-01 -7.68300305e-01 -1.05049167e-01 2.10672261e+02] [ 7.58199564e-01 6.40088355e-01 -1.24178580e-01 1.36853658e+02] [ 1.62647189e-01 -1.24056355e-03 9.86683512e-01 8.93456745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:136.87, Z:89.35 [[ 6.31521382e-01 -7.68122160e-01 -1.05683925e-01 2.10689323e+02] [ 7.57883069e-01 6.40302287e-01 -1.25004940e-01 1.36874067e+02] [ 1.63688724e-01 -1.15276520e-03 9.86511365e-01 8.93518639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.71, Y:136.90, Z:89.36 [[ 6.28954908e-01 -7.70182862e-01 -1.05990957e-01 2.10706653e+02] [ 7.59905604e-01 6.37820967e-01 -1.25410873e-01 1.36895391e+02] [ 1.64192560e-01 -1.66533753e-03 9.86426900e-01 8.93553542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:136.92, Z:89.36 [[ 6.25304147e-01 -7.73240267e-01 -1.05329072e-01 2.10724739e+02] [ 7.63122584e-01 6.34108597e-01 -1.24700477e-01 1.36915666e+02] [ 1.63213500e-01 -2.40326838e-03 9.86587846e-01 8.93603627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.74, Y:136.94, Z:89.37 [[ 6.22059055e-01 -7.75855721e-01 -1.05311124e-01 2.10739866e+02] [ 7.65766802e-01 6.30903041e-01 -1.24749981e-01 1.36938063e+02] [ 1.63229095e-01 -3.04190747e-03 9.86583504e-01 8.93650020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:136.96, Z:89.37 [[ 6.22372376e-01 -7.75550336e-01 -1.05708574e-01 2.10756561e+02] [ 7.65373062e-01 6.31278861e-01 -1.25264028e-01 1.36958330e+02] [ 1.63880147e-01 -2.94562402e-03 9.86475859e-01 8.93705018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:136.98, Z:89.37 [[ 6.21609405e-01 -7.76123377e-01 -1.05991753e-01 2.10773154e+02] [ 7.65888424e-01 6.30573645e-01 -1.25665429e-01 1.36979903e+02] [ 1.64367483e-01 -3.06304434e-03 9.86394418e-01 8.93745658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.79, Y:137.00, Z:89.38 [[ 6.21528206e-01 -7.76125468e-01 -1.06451620e-01 2.10790899e+02] [ 7.65790036e-01 6.30571204e-01 -1.26275802e-01 1.37001355e+02] [ 1.65131193e-01 -3.03561754e-03 9.86266939e-01 8.93798476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:210.81, Y:137.02, Z:89.38 [[ 6.21510795e-01 -7.76094824e-01 -1.06776197e-01 2.10807198e+02] [ 7.65683501e-01 6.30609130e-01 -1.26731615e-01 1.37022336e+02] [ 1.65689795e-01 -2.99170582e-03 9.86173383e-01 8.93842770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:137.05, Z:89.38 [[ 6.20482738e-01 -7.76952635e-01 -1.06516548e-01 2.10821539e+02] [ 7.66594107e-01 6.29551063e-01 -1.26486890e-01 1.37047068e+02] [ 1.65331929e-01 -3.17202614e-03 9.86232879e-01 8.93849686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.84, Y:137.07, Z:89.39 [[ 6.22468647e-01 -7.75267168e-01 -1.07208218e-01 2.10839303e+02] [ 7.64735869e-01 6.31627698e-01 -1.27379362e-01 1.37067309e+02] [ 1.66468717e-01 -2.69631101e-03 9.86043050e-01 8.93910732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:137.09, Z:89.40 [[ 6.22669862e-01 -7.75087113e-01 -1.07341563e-01 2.10855850e+02] [ 7.64515150e-01 6.31849008e-01 -1.27606491e-01 1.37090018e+02] [ 1.66729806e-01 -2.60753513e-03 9.85999175e-01 8.93951956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:210.87, Y:137.11, Z:89.40 [[ 6.23544024e-01 -7.74348045e-01 -1.07600911e-01 2.10870508e+02] [ 7.63701555e-01 6.32755473e-01 -1.27986114e-01 1.37113604e+02] [ 1.67190863e-01 -2.37000682e-03 9.85921700e-01 8.93988048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.340385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.89, Y:137.14, Z:89.40 [[ 6.21855780e-01 -7.75737470e-01 -1.07362778e-01 2.10885339e+02] [ 7.65146834e-01 6.31050025e-01 -1.27773977e-01 1.37137378e+02] [ 1.66870346e-01 -2.69130345e-03 9.85975175e-01 8.94010277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:137.16, Z:89.41 [[ 6.24818436e-01 -7.73376952e-01 -1.07191474e-01 2.10905918e+02] [ 7.62774337e-01 6.33943246e-01 -1.27637269e-01 1.37155891e+02] [ 1.66665033e-01 -2.01278663e-03 9.86011519e-01 8.94090467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:137.18, Z:89.41 [[ 6.24374927e-01 -7.73743265e-01 -1.07132210e-01 2.10923271e+02] [ 7.63145634e-01 6.33495938e-01 -1.27638702e-01 1.37178081e+02] [ 1.66627406e-01 -2.06307273e-03 9.86017774e-01 8.94128215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43038572300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.94, Y:137.20, Z:89.42 [[ 6.24874601e-01 -7.73507622e-01 -1.05913605e-01 2.10938016e+02] [ 7.63136526e-01 6.33784051e-01 -1.26255378e-01 1.37202554e+02] [ 1.64785851e-01 -1.93276210e-03 9.86327475e-01 8.94165843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:137.22, Z:89.42 [[ 6.26504335e-01 -7.72209315e-01 -1.05759595e-01 2.10954290e+02] [ 7.61837694e-01 6.35366352e-01 -1.26146447e-01 1.37224019e+02] [ 1.64607550e-01 -1.54035015e-03 9.86357938e-01 8.94219962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:137.25, Z:89.42 [[ 6.25024800e-01 -7.73492595e-01 -1.05134221e-01 2.10967670e+02] [ 7.63366149e-01 6.33801271e-01 -1.24772076e-01 1.37246861e+02] [ 1.63144480e-01 -2.27026368e-03 9.86599577e-01 8.94226512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.520385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.99, Y:137.27, Z:89.43 [[ 6.27149841e-01 -7.71825337e-01 -1.04731687e-01 2.10987228e+02] [ 7.61263984e-01 6.35834604e-01 -1.27245838e-01 1.37268600e+02] [ 1.64803593e-01 7.37464872e-05 9.86326402e-01 8.94299544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:137.29, Z:89.43 [[ 6.25099763e-01 -7.73363143e-01 -1.05639649e-01 2.11005074e+02] [ 7.63006791e-01 6.33960881e-01 -1.26151651e-01 1.37290348e+02] [ 1.64532442e-01 -1.74640237e-03 9.86370126e-01 8.94342299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.02, Y:137.31, Z:89.43 [[ 6.23005509e-01 -7.76277717e-01 -9.62135237e-02 2.11015554e+02] [ 7.65580805e-01 6.30358060e-01 -1.28587504e-01 1.37313862e+02] [ 1.60468584e-01 6.45149611e-03 9.87019864e-01 8.94320050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.04, Y:137.33, Z:89.45 [[ 6.24744737e-01 -7.72941059e-01 -1.10707418e-01 2.11041777e+02] [ 7.63578550e-01 6.34408592e-01 -1.20306012e-01 1.37329538e+02] [ 1.63223194e-01 -9.37326162e-03 9.86544642e-01 8.94485838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:137.36, Z:89.44 [[ 6.22100278e-01 -7.77162785e-01 -9.49170659e-02 2.11047045e+02] [ 7.66282425e-01 6.29248267e-01 -1.29837835e-01 1.37359954e+02] [ 1.60631533e-01 8.03887407e-03 9.86981706e-01 8.94398326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:137.38, Z:89.46 [[ 6.24616267e-01 -7.72830515e-01 -1.12194093e-01 2.11073190e+02] [ 7.63504730e-01 6.34523896e-01 -1.20166353e-01 1.37375250e+02] [ 1.64058057e-01 -1.06028620e-02 9.86393701e-01 8.94571486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:137.40, Z:89.46 [[ 6.24475862e-01 -7.74001191e-01 -1.04652063e-01 2.11087080e+02] [ 7.63781832e-01 6.33182016e-01 -1.25370837e-01 1.37399673e+02] [ 1.63300982e-01 -1.64028296e-03 9.86574933e-01 8.94595581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:137.42, Z:89.46 [[ 6.24234995e-01 -7.74230108e-01 -1.04395458e-01 2.11104516e+02] [ 7.64053132e-01 6.32902054e-01 -1.25131140e-01 1.37421367e+02] [ 1.62952395e-01 -1.65243994e-03 9.86632549e-01 8.94648539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:137.44, Z:89.47 [[ 6.23749356e-01 -7.74680373e-01 -1.03957019e-01 2.11120894e+02] [ 7.64584320e-01 6.32350667e-01 -1.24673385e-01 1.37443283e+02] [ 1.62319315e-01 -1.71896311e-03 9.86736786e-01 8.94693617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.14, Y:137.47, Z:89.47 [[ 6.22966675e-01 -7.75217973e-01 -1.04640413e-01 2.11135319e+02] [ 7.64984004e-01 6.31691186e-01 -1.25561615e-01 1.37466839e+02] [ 1.63438048e-01 -1.82754044e-03 9.86551907e-01 8.94732903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.15, Y:137.49, Z:89.48 [[ 6.22648409e-01 -7.75422460e-01 -1.05018893e-01 2.11151863e+02] [ 7.65105207e-01 6.31440107e-01 -1.26084946e-01 1.37489706e+02] [ 1.64082240e-01 -1.84391090e-03 9.86444940e-01 8.94772851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:137.51, Z:89.48 [[ 6.22766626e-01 -7.75253467e-01 -1.05564153e-01 2.11169133e+02] [ 7.64814061e-01 6.31647803e-01 -1.26808929e-01 1.37511158e+02] [ 1.64988427e-01 -1.76457903e-03 9.86293924e-01 8.94823245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:137.53, Z:89.49 [[ 6.22467427e-01 -7.75421769e-01 -1.06091387e-01 2.11186012e+02] [ 7.64867602e-01 6.31441158e-01 -1.27513195e-01 1.37531177e+02] [ 1.65866976e-01 -1.77305486e-03 9.86146542e-01 8.94874027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:137.55, Z:89.49 [[ 6.22561626e-01 -7.75299900e-01 -1.06428785e-01 2.11200979e+02] [ 7.64665473e-01 6.31590973e-01 -1.27982648e-01 1.37553784e+02] [ 1.66444394e-01 -1.70533174e-03 9.86049368e-01 8.94917764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:137.58, Z:89.49 [[ 6.21345268e-01 -7.77373375e-01 -9.80851325e-02 2.11211151e+02] [ 7.66173828e-01 6.29004317e-01 -1.31648145e-01 1.37581529e+02] [ 1.64035734e-01 6.64869045e-03 9.86431991e-01 8.94875437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:137.60, Z:89.49 [[ 6.21488666e-01 -7.76525439e-01 -1.03730807e-01 2.11228709e+02] [ 7.65928029e-01 6.30085901e-01 -1.27851522e-01 1.37602952e+02] [ 1.64639279e-01 7.93923872e-06 9.86353845e-01 8.94925193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.25, Y:137.62, Z:89.50 [[ 6.21714348e-01 -7.76199154e-01 -1.04814804e-01 2.11247855e+02] [ 7.65571789e-01 6.30487460e-01 -1.28005463e-01 1.37624385e+02] [ 1.65442152e-01 -6.60424143e-04 9.86219275e-01 8.94982892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:137.64, Z:89.51 [[ 6.22588802e-01 -7.74088239e-01 -1.14763159e-01 2.11271207e+02] [ 7.64139818e-01 6.32992196e-01 -1.24141932e-01 1.37640480e+02] [ 1.68740994e-01 -1.04057222e-02 9.85605498e-01 8.95128098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:137.67, Z:89.51 [[ 6.20587435e-01 -7.77967182e-01 -9.81748440e-02 2.11281188e+02] [ 7.66578052e-01 6.28263993e-01 -1.32824868e-01 1.37669180e+02] [ 1.65013108e-01 7.17076369e-03 9.86265306e-01 8.95070288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:137.68, Z:89.52 [[ 6.20463077e-01 -7.75877126e-01 -1.14193938e-01 2.11305723e+02] [ 7.66001426e-01 6.30794568e-01 -1.23854866e-01 1.37683213e+02] [ 1.68129074e-01 -1.06253479e-02 9.85707724e-01 8.95226964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:137.71, Z:89.52 [[ 6.19553258e-01 -7.77493358e-01 -1.07971477e-01 2.11317402e+02] [ 7.66524024e-01 6.28887569e-01 -1.30158928e-01 1.37710107e+02] [ 1.69099622e-01 -2.12234287e-03 9.85596679e-01 8.95239658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:137.74, Z:89.52 [[ 6.18986054e-01 -7.79262301e-01 -9.80129125e-02 2.11330487e+02] [ 7.67673728e-01 6.26649685e-01 -1.34116442e-01 1.37737596e+02] [ 1.65931648e-01 7.77426908e-03 9.86106611e-01 8.95200200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:137.76, Z:89.52 [[ 6.18490382e-01 -7.79509018e-01 -9.91732761e-02 2.11347245e+02] [ 7.68520405e-01 6.26374856e-01 -1.30502597e-01 1.37758352e+02] [ 1.63847598e-01 4.49791462e-03 9.86475410e-01 8.95229550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:137.78, Z:89.53 [[ 6.18020984e-01 -7.80132460e-01 -9.71771966e-02 2.11362991e+02] [ 7.68474402e-01 6.25556235e-01 -1.34634658e-01 1.37780998e+02] [ 1.65822668e-01 8.52885576e-03 9.86118706e-01 8.95261098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:137.79, Z:89.54 [[ 6.18281134e-01 -7.77410126e-01 -1.15593838e-01 2.11390419e+02] [ 7.68517525e-01 6.28798156e-01 -1.18294938e-01 1.37793789e+02] [ 1.64648875e-01 -1.56963617e-02 9.86227343e-01 8.95410059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:137.81, Z:89.55 [[ 6.18087736e-01 -7.77139332e-01 -1.18414566e-01 2.11408537e+02] [ 7.67542140e-01 6.29148389e-01 -1.22684017e-01 1.37814513e+02] [ 1.69842909e-01 -1.50586831e-02 9.85356089e-01 8.95521685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:137.84, Z:89.55 [[ 6.17881062e-01 -7.78656534e-01 -1.09164992e-01 2.11421128e+02] [ 7.67406558e-01 6.27446278e-01 -1.31902781e-01 1.37841422e+02] [ 1.71202130e-01 -2.27370002e-03 9.85233303e-01 8.95518422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:137.87, Z:89.55 [[ 6.18022124e-01 -7.79039236e-01 -1.05577100e-01 2.11435129e+02] [ 7.66783846e-01 6.26961452e-01 -1.37702109e-01 1.37866912e+02] [ 1.73468117e-01 4.14813502e-03 9.84830750e-01 8.95528603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:137.88, Z:89.56 [[ 6.18178050e-01 -7.77711212e-01 -1.14110341e-01 2.11456938e+02] [ 7.67064722e-01 6.28569602e-01 -1.28498899e-01 1.37882895e+02] [ 1.71661326e-01 -8.09481854e-03 9.85122765e-01 8.95620364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:137.91, Z:89.57 [[ 6.18759489e-01 -7.77951799e-01 -1.09213980e-01 2.11473271e+02] [ 7.66649481e-01 6.28320888e-01 -1.32141722e-01 1.37905480e+02] [ 1.71421316e-01 -1.96489695e-03 9.85195855e-01 8.95662620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.420385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.49, Y:137.92, Z:89.57 [[ 6.21017354e-01 -7.76161764e-01 -1.09134601e-01 2.11492097e+02] [ 7.64835649e-01 6.30532231e-01 -1.32119399e-01 1.37923571e+02] [ 1.71358909e-01 -1.42159364e-03 9.85207645e-01 8.95727804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:137.94, Z:89.58 [[ 6.22247721e-01 -7.75119829e-01 -1.09530928e-01 2.11509637e+02] [ 7.63686973e-01 6.31813277e-01 -1.32643093e-01 1.37944961e+02] [ 1.72017386e-01 -1.11048035e-03 9.85093288e-01 8.95779743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.480385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.53, Y:137.97, Z:89.58 [[ 6.25662587e-01 -7.72289126e-01 -1.10071948e-01 2.11525845e+02] [ 7.60685422e-01 6.35271143e-01 -1.33372649e-01 1.37966868e+02] [ 1.72927778e-01 -2.83849756e-04 9.84934466e-01 8.95811663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.54, Y:137.99, Z:89.59 [[ 6.27024112e-01 -7.71150560e-01 -1.10306737e-01 2.11543527e+02] [ 7.59471573e-01 6.36652817e-01 -1.33701608e-01 1.37988042e+02] [ 1.73331165e-01 5.93006870e-05 9.84863597e-01 8.95851313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.56, Y:138.01, Z:89.59 [[ 6.28310400e-01 -7.70049295e-01 -1.10680278e-01 2.11561582e+02] [ 7.58259838e-01 6.37984256e-01 -1.34231543e-01 1.38008347e+02] [ 1.73977180e-01 4.14664491e-04 9.84749597e-01 8.95899770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.570385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.58, Y:138.03, Z:89.60 [[ 6.30572492e-01 -7.68131163e-01 -1.11143367e-01 2.11581614e+02] [ 7.56199061e-01 6.40291746e-01 -1.34868308e-01 1.38025861e+02] [ 1.74760731e-01 9.97735004e-04 9.84610426e-01 8.95958618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.60, Y:138.04, Z:89.60 [[ 6.31675235e-01 -7.67128085e-01 -1.11807418e-01 2.11602608e+02] [ 7.55027997e-01 6.41492616e-01 -1.35720110e-01 1.38044544e+02] [ 1.75838341e-01 1.31330171e-03 9.84418180e-01 8.96017793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.62, Y:138.06, Z:89.61 [[ 6.32173080e-01 -7.66748459e-01 -1.11597478e-01 2.11620091e+02] [ 7.54674952e-01 6.41945990e-01 -1.35539892e-01 1.38064682e+02] [ 1.75564557e-01 1.46484903e-03 9.84466831e-01 8.96065953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.64, Y:138.09, Z:89.61 [[ 6.32563030e-01 -7.66431167e-01 -1.11567373e-01 2.11638461e+02] [ 7.54351230e-01 6.42324500e-01 -1.35548735e-01 1.38085789e+02] [ 1.75551232e-01 1.58213351e-03 9.84469025e-01 8.96114118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.690385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.66, Y:138.11, Z:89.62 [[ 6.33456494e-01 -7.65633520e-01 -1.11974029e-01 2.11658303e+02] [ 7.53438405e-01 6.43274320e-01 -1.36120242e-01 1.38105701e+02] [ 1.76248237e-01 1.86071702e-03 9.84343993e-01 8.96165521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.68, Y:138.12, Z:89.62 [[ 6.33781334e-01 -7.65375798e-01 -1.11897758e-01 2.11676323e+02] [ 7.53179673e-01 6.43580579e-01 -1.36104441e-01 1.38124887e+02] [ 1.76186269e-01 1.98133744e-03 9.84354851e-01 8.96215471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.70, Y:138.14, Z:89.63 [[ 6.34345109e-01 -7.64872953e-01 -1.12141198e-01 2.11695963e+02] [ 7.52607544e-01 6.44177555e-01 -1.36444725e-01 1.38143016e+02] [ 1.76601723e-01 2.15473246e-03 9.84280036e-01 8.96272366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.71, Y:138.16, Z:89.63 [[ 6.34149125e-01 -7.65038766e-01 -1.12118572e-01 2.11713800e+02] [ 7.52772641e-01 6.43980679e-01 -1.36463316e-01 1.38164853e+02] [ 1.76601921e-01 2.13829908e-03 9.84280036e-01 8.96318702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.73, Y:138.18, Z:89.64 [[ 6.34079530e-01 -7.65020428e-01 -1.12636117e-01 2.11732856e+02] [ 7.52626340e-01 6.44002250e-01 -1.37166670e-01 1.38184460e+02] [ 1.77473218e-01 2.20166920e-03 9.84123168e-01 8.96371490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.75, Y:138.20, Z:89.64 [[ 6.32933657e-01 -7.65801355e-01 -1.13768494e-01 2.11753298e+02] [ 7.53152820e-01 6.43073916e-01 -1.38624558e-01 1.38203193e+02] [ 1.79320425e-01 2.05508587e-03 9.83788576e-01 8.96422993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:138.24, Z:89.62 [[ 6.29877800e-01 -7.72589330e-01 -7.97476290e-02 2.11754946e+02] [ 7.57815833e-01 6.33819999e-01 -1.54878574e-01 1.38238917e+02] [ 1.70203176e-01 3.71205594e-02 9.84709573e-01 8.96200858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.80, Y:138.23, Z:89.67 [[ 6.30432854e-01 -7.63139210e-01 -1.42031555e-01 2.11804336e+02] [ 7.54538379e-01 6.45425663e-01 -1.18733095e-01 1.38230452e+02] [ 1.82280691e-01 -3.23150154e-02 9.82715365e-01 8.96654761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.81, Y:138.26, Z:89.66 [[ 6.30133076e-01 -7.67811546e-01 -1.15748594e-01 2.11811927e+02] [ 7.54722662e-01 6.40673758e-01 -1.41176628e-01 1.38262765e+02] [ 1.82554131e-01 1.60197564e-03 9.83194499e-01 8.96580334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:138.28, Z:89.66 [[ 6.27649814e-01 -7.69771390e-01 -1.16222708e-01 2.11833076e+02] [ 7.56592237e-01 6.38318744e-01 -1.41835709e-01 1.38281769e+02] [ 1.83368204e-01 1.08995819e-03 9.83043699e-01 8.96630875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.85, Y:138.30, Z:89.67 [[ 6.26560668e-01 -7.70691587e-01 -1.16000889e-01 2.11852481e+02] [ 7.57563388e-01 6.37207749e-01 -1.41647440e-01 1.38301351e+02] [ 1.83083156e-01 8.72688629e-04 9.83097043e-01 8.96681811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:211.86, Y:138.33, Z:89.65 [[ 6.20958471e-01 -7.78938858e-01 -8.75490291e-02 2.11857076e+02] [ 7.64364716e-01 6.26483626e-01 -1.52528186e-01 1.38333498e+02] [ 1.73658165e-01 2.77942807e-02 9.84413693e-01 8.96474609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.90, Y:138.33, Z:89.69 [[ 6.23643870e-01 -7.69905746e-01 -1.35327253e-01 2.11901171e+02] [ 7.60371371e-01 6.37633369e-01 -1.23527590e-01 1.38330796e+02] [ 1.81393773e-01 -2.58617450e-02 9.83070429e-01 8.96884966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.91, Y:138.36, Z:89.68 [[ 6.23135261e-01 -7.73643786e-01 -1.14794336e-01 2.11910294e+02] [ 7.60812593e-01 6.33620772e-01 -1.40317196e-01 1.38360931e+02] [ 1.81291603e-01 9.96161252e-05 9.83429380e-01 8.96825229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.93, Y:138.38, Z:89.69 [[ 6.21510105e-01 -7.75152341e-01 -1.13419742e-01 2.11929531e+02] [ 7.62639526e-01 6.31774301e-01 -1.38716206e-01 1.38381528e+02] [ 1.79181870e-01 -2.84854472e-04 9.83815926e-01 8.96851774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.94, Y:138.41, Z:89.67 [[ 6.17479652e-01 -7.81589565e-01 -8.85247519e-02 2.11936311e+02] [ 7.68150424e-01 6.23399440e-01 -1.46007069e-01 1.38411391e+02] [ 1.69303882e-01 2.21560686e-02 9.85314825e-01 8.96654842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.170385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:211.97, Y:138.42, Z:89.69 [[ 6.17531125e-01 -7.78013657e-01 -1.15542459e-01 2.11968801e+02] [ 7.67394504e-01 6.28177822e-01 -1.28445709e-01 1.38418567e+02] [ 1.72513726e-01 -9.34742480e-03 9.84962761e-01 8.96869160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.200385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:211.99, Y:138.44, Z:89.69 [[ 6.17859408e-01 -7.78790097e-01 -1.08331604e-01 2.11986778e+02] [ 7.67997022e-01 6.27275722e-01 -1.29250699e-01 1.38442024e+02] [ 1.68612949e-01 -3.33958923e-03 9.85676682e-01 8.96890125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.230385723 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:212.01, Y:138.46, Z:89.70 [[ 6.20852323e-01 -7.75483614e-01 -1.14749981e-01 2.12006618e+02] [ 7.64197353e-01 6.31341320e-01 -1.31949015e-01 1.38459347e+02] [ 1.74770703e-01 -5.77077933e-03 9.84592250e-01 8.97009308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.02, Y:138.48, Z:89.70 [[ 6.20968678e-01 -7.76084727e-01 -1.09956343e-01 2.12020816e+02] [ 7.64469121e-01 6.30627876e-01 -1.33773856e-01 1.38483288e+02] [ 1.73161381e-01 -9.88854282e-04 9.84892968e-01 8.97018697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.290385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:212.04, Y:138.50, Z:89.70 [[ 6.22332394e-01 -7.75163316e-01 -1.08739253e-01 2.12038987e+02] [ 7.63546461e-01 6.31760874e-01 -1.33697419e-01 1.38504689e+02] [ 1.72334540e-01 1.76763142e-04 9.85038464e-01 8.97047726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:138.52, Z:89.71 [[ 6.22588628e-01 -7.75021196e-01 -1.08284563e-01 2.12057725e+02] [ 7.63487215e-01 6.31935184e-01 -1.33211091e-01 1.38524824e+02] [ 1.71670244e-01 2.61831176e-04 9.85154434e-01 8.97099597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.350385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:212.08, Y:138.54, Z:89.72 [[ 6.22331636e-01 -7.75371810e-01 -1.07246872e-01 2.12076722e+02] [ 7.64052088e-01 6.31504959e-01 -1.32007175e-01 1.38543106e+02] [ 1.70081574e-01 2.10044564e-04 9.85429964e-01 8.97151332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.09, Y:138.56, Z:89.72 [[ 6.21999266e-01 -7.75659206e-01 -1.07096725e-01 2.12094859e+02] [ 7.64364098e-01 6.31151935e-01 -1.31889197e-01 1.38564311e+02] [ 1.69895375e-01 1.74091540e-04 9.85462090e-01 8.97194547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.410385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:212.11, Y:138.59, Z:89.72 [[ 6.21248916e-01 -7.76978204e-01 -1.01757828e-01 2.12108027e+02] [ 7.64853461e-01 6.29485974e-01 -1.36918195e-01 1.38588967e+02] [ 1.70437578e-01 7.23045348e-03 9.85341947e-01 8.97155637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.13, Y:138.61, Z:89.72 [[ 6.20431086e-01 -7.76700213e-01 -1.08637229e-01 2.12131006e+02] [ 7.65590468e-01 6.29867431e-01 -1.30913158e-01 1.38608844e+02] [ 1.70107330e-01 -1.94903384e-03 9.85423613e-01 8.97236369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:138.63, Z:89.73 [[ 6.19796793e-01 -7.76917478e-01 -1.10684996e-01 2.12149278e+02] [ 7.66161317e-01 6.29583408e-01 -1.28924663e-01 1.38628745e+02] [ 1.69849261e-01 -4.89546901e-03 9.85457895e-01 8.97321885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:138.65, Z:89.73 [[ 6.18346526e-01 -7.78794928e-01 -1.05480021e-01 2.12165858e+02] [ 7.67330326e-01 6.27277071e-01 -1.33145213e-01 1.38650966e+02] [ 1.69858015e-01 1.39186154e-03 9.85467563e-01 8.97345812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:138.67, Z:89.74 [[ 6.18193538e-01 -7.78751622e-01 -1.06689551e-01 2.12187208e+02] [ 7.67834732e-01 6.27330369e-01 -1.29947805e-01 1.38672602e+02] [ 1.68126660e-01 -1.58704932e-03 9.85764124e-01 8.97387270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.20, Y:138.69, Z:89.74 [[ 6.15211092e-01 -7.80907212e-01 -1.08163023e-01 2.12201762e+02] [ 7.69775270e-01 6.24642362e-01 -1.31407585e-01 1.38693227e+02] [ 1.70180336e-01 -2.41781635e-03 9.85409969e-01 8.97426143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.590385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:212.21, Y:138.72, Z:89.74 [[ 6.15100831e-01 -7.81685061e-01 -1.03050632e-01 2.12214868e+02] [ 7.69914370e-01 6.23661671e-01 -1.35196094e-01 1.38715644e+02] [ 1.69949496e-01 3.81906740e-03 9.85445373e-01 8.97408242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.24, Y:138.73, Z:89.75 [[ 6.16011997e-01 -7.79886316e-01 -1.10934910e-01 2.12238642e+02] [ 7.68725297e-01 6.25906762e-01 -1.31537613e-01 1.38734047e+02] [ 1.72019294e-01 -4.24972397e-03 9.85084414e-01 8.97514067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.650385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:212.26, Y:138.74, Z:89.76 [[ 6.15218511e-01 -7.79205702e-01 -1.19769188e-01 2.12256997e+02] [ 7.70584268e-01 6.26445578e-01 -1.17327843e-01 1.38744762e+02] [ 1.66451402e-01 -2.01099908e-02 9.85844571e-01 8.97606950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68038572300003 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:212.27, Y:138.77, Z:89.76 [[ 6.14419674e-01 -7.81101804e-01 -1.11213475e-01 2.12274486e+02] [ 7.70360190e-01 6.24372279e-01 -1.29245638e-01 1.38773519e+02] [ 1.70392611e-01 -6.26337095e-03 9.85356346e-01 8.97641019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.710385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:212.28, Y:138.81, Z:89.76 [[ 6.13405087e-01 -7.84575398e-01 -9.04192672e-02 2.12280529e+02] [ 7.70656728e-01 6.19659572e-01 -1.48695062e-01 1.38805156e+02] [ 1.72691652e-01 2.15280909e-02 9.84740643e-01 8.97560123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:212.31, Y:138.79, Z:89.79 [[ 6.19124532e-01 -7.73034974e-01 -1.38209056e-01 2.12313238e+02] [ 7.68970597e-01 6.32489350e-01 -9.29593671e-02 1.38790667e+02] [ 1.59276598e-01 -4.87252757e-02 9.86030838e-01 8.97865096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.770385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:212.28, Y:138.87, Z:89.73 [[ 6.11128623e-01 -7.90607530e-01 -3.82300905e-02 2.12280119e+02] [ 7.74314538e-01 6.07157001e-01 -1.78318176e-01 1.38868945e+02] [ 1.64191360e-01 7.93732264e-02 9.83229927e-01 8.97292676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.800385723 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:212.34, Y:138.85, Z:89.78 [[ 6.13665692e-01 -7.80518340e-01 -1.19186997e-01 2.12338776e+02] [ 7.72736940e-01 6.24703920e-01 -1.12350492e-01 1.38852669e+02] [ 1.62148204e-01 -2.31545530e-02 9.86494717e-01 8.97771037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.830385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:212.36, Y:138.88, Z:89.78 [[ 6.16643923e-01 -7.79658083e-01 -1.09011679e-01 2.12355555e+02] [ 7.69978811e-01 6.26151185e-01 -1.22749030e-01 1.38879664e+02] [ 1.63960065e-01 -8.24423952e-03 9.86432527e-01 8.97782640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.860385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:212.36, Y:138.91, Z:89.78 [[ 6.14234093e-01 -7.82821766e-01 -9.95317146e-02 2.12362792e+02] [ 7.72164094e-01 6.22242002e-01 -1.28753649e-01 1.38907020e+02] [ 1.62723972e-01 2.23006424e-03 9.86669112e-01 8.97760877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.890385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:212.38, Y:138.93, Z:89.78 [[ 6.14974071e-01 -7.82565931e-01 -9.69404778e-02 2.12378038e+02] [ 7.72043662e-01 6.22555829e-01 -1.27956339e-01 1.38928870e+02] [ 1.60485131e-01 3.84754925e-03 9.87030759e-01 8.97770765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.920385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:212.40, Y:138.95, Z:89.79 [[ 6.14472793e-01 -7.81997838e-01 -1.04415366e-01 2.12398660e+02] [ 7.72600903e-01 6.23249281e-01 -1.21029655e-01 1.38947185e+02] [ 1.59721731e-01 -6.30197575e-03 9.87141962e-01 8.97881583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.950385723 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:212.41, Y:138.97, Z:89.79 [[ 6.16008607e-01 -7.81583575e-01 -9.82878998e-02 2.12412660e+02] [ 7.71376785e-01 6.23798098e-01 -1.25911826e-01 1.38969510e+02] [ 1.59722420e-01 1.74576467e-03 9.87160423e-01 8.97899370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.980385723 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:212.42, Y:139.00, Z:89.78 [[ 6.15443441e-01 -7.83710698e-01 -8.38266840e-02 2.12423143e+02] [ 7.72257482e-01 6.20859878e-01 -1.34727110e-01 1.38998676e+02] [ 1.57631702e-01 1.81811320e-02 9.87330590e-01 8.97849405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.010385723 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:212.45, Y:139.01, Z:89.80 [[ 6.15817858e-01 -7.80644630e-01 -1.06594216e-01 2.12449250e+02] [ 7.70723392e-01 6.24949404e-01 -1.24192176e-01 1.39010958e+02] [ 1.63565947e-01 -5.67489561e-03 9.86516080e-01 8.98046341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.040385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:212.46, Y:139.04, Z:89.80 [[ 6.15910201e-01 -7.81167192e-01 -1.02139327e-01 2.12462928e+02] [ 7.71093052e-01 6.24319486e-01 -1.25062728e-01 1.39036775e+02] [ 1.61462472e-01 -1.73151510e-03 9.86877334e-01 8.98023362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.070385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:212.48, Y:139.06, Z:89.81 [[ 6.15436683e-01 -7.81082795e-01 -1.05581046e-01 2.12480236e+02] [ 7.70335302e-01 6.24424717e-01 -1.29140604e-01 1.39058147e+02] [ 1.66796919e-01 -1.85494189e-03 9.85989527e-01 8.98118769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:139.08, Z:89.82 [[ 6.12771796e-01 -7.82615815e-01 -1.09650411e-01 2.12498953e+02] [ 7.72311740e-01 6.22465628e-01 -1.26771913e-01 1.39079897e+02] [ 1.67467316e-01 -7.00204710e-03 9.85852763e-01 8.98189122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.130385723 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:212.51, Y:139.10, Z:89.82 [[ 6.11818452e-01 -7.83947623e-01 -1.05376974e-01 2.12514006e+02] [ 7.73302746e-01 6.20821102e-01 -1.28778967e-01 1.39103517e+02] [ 1.66376214e-01 -2.69895498e-03 9.86058655e-01 8.98210523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.160385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:212.53, Y:139.13, Z:89.82 [[ 6.09523426e-01 -7.86613004e-01 -9.85960211e-02 2.12527124e+02] [ 7.75510465e-01 6.17434380e-01 -1.31750919e-01 1.39130572e+02] [ 1.64513560e-01 3.84302566e-03 9.86367335e-01 8.98189846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.190385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:212.55, Y:139.15, Z:89.83 [[ 6.08248451e-01 -7.87056972e-01 -1.02835524e-01 2.12546665e+02] [ 7.75847457e-01 6.16879889e-01 -1.32362855e-01 1.39152339e+02] [ 1.67614275e-01 7.24821981e-04 9.85852387e-01 8.98267588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.220385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:212.57, Y:139.17, Z:89.84 [[ 6.06558572e-01 -7.87883146e-01 -1.06427664e-01 2.12565631e+02] [ 7.77844386e-01 6.15789051e-01 -1.25546633e-01 1.39171412e+02] [ 1.64453067e-01 -6.63277434e-03 9.86362608e-01 8.98365078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.250385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:212.58, Y:139.19, Z:89.85 [[ 6.06924089e-01 -7.87080035e-01 -1.10218729e-01 2.12582829e+02] [ 7.77223117e-01 6.16768953e-01 -1.24580433e-01 1.39193248e+02] [ 1.66034262e-01 -1.00536783e-02 9.86068734e-01 8.98465156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:212.60, Y:139.22, Z:89.85 [[ 6.07778700e-01 -7.86544983e-01 -1.09325395e-01 2.12597943e+02] [ 7.77120405e-01 6.17437108e-01 -1.21882294e-01 1.39216599e+02] [ 1.63367463e-01 -1.08815335e-02 9.86505278e-01 8.98504969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.310385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:212.61, Y:139.24, Z:89.85 [[ 6.08606890e-01 -7.86470544e-01 -1.05174795e-01 2.12609063e+02] [ 7.75634070e-01 6.17623201e-01 -1.30128289e-01 1.39241792e+02] [ 1.67300460e-01 -2.38018122e-03 9.85903084e-01 8.98525277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:212.62, Y:139.27, Z:89.85 [[ 6.10154936e-01 -7.86660037e-01 -9.42175171e-02 2.12617273e+02] [ 7.74767336e-01 6.17298972e-01 -1.36665850e-01 1.39272000e+02] [ 1.65669939e-01 1.03906885e-02 9.86126516e-01 8.98491728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.65, Y:139.28, Z:89.87 [[ 6.11271775e-01 -7.82073614e-01 -1.21275219e-01 2.12646896e+02] [ 7.73305582e-01 6.22824383e-01 -1.18693996e-01 1.39281443e+02] [ 1.68360606e-01 -2.12285144e-02 9.85496858e-01 8.98700026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.400385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:212.65, Y:139.32, Z:89.86 [[ 6.12378099e-01 -7.85528565e-01 -8.90951024e-02 2.12648501e+02] [ 7.72818223e-01 6.18562532e-01 -1.41888649e-01 1.39317931e+02] [ 1.66568479e-01 1.80351827e-02 9.85864937e-01 8.98574648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.68, Y:139.32, Z:89.89 [[ 6.12669372e-01 -7.79270217e-01 -1.31811117e-01 2.12683982e+02] [ 7.72201385e-01 6.25750091e-01 -1.10190037e-01 1.39320991e+02] [ 1.68348633e-01 -3.42746665e-02 9.85131456e-01 8.98869661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:139.36, Z:89.88 [[ 6.13324774e-01 -7.81866400e-01 -1.11882324e-01 2.12687910e+02] [ 7.71585668e-01 6.23386183e-01 -1.26669741e-01 1.39355637e+02] [ 1.68784709e-01 -8.63710729e-03 9.85615099e-01 8.98827592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.490385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.69, Y:139.39, Z:89.87 [[ 6.13615158e-01 -7.85670736e-01 -7.87269420e-02 2.12688497e+02] [ 7.72701314e-01 6.18006866e-01 -1.44914434e-01 1.39393428e+02] [ 1.62508821e-01 2.80892819e-02 9.86307191e-01 8.98656483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:139.41, Z:89.88 [[ 6.13849677e-01 -7.82781078e-01 -1.02187861e-01 2.12715292e+02] [ 7.72373963e-01 6.22296627e-01 -1.27221730e-01 1.39405035e+02] [ 1.63177924e-01 -8.32225557e-04 9.86596307e-01 8.98799247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:212.73, Y:139.43, Z:89.89 [[ 6.13962769e-01 -7.83044682e-01 -9.94522186e-02 2.12730791e+02] [ 7.71934604e-01 6.21952821e-01 -1.31497742e-01 1.39426165e+02] [ 1.64823195e-01 3.96410872e-03 9.86315163e-01 8.98851187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.75, Y:139.45, Z:89.90 [[ 6.12070979e-01 -7.83751105e-01 -1.05372304e-01 2.12750290e+02] [ 7.73858541e-01 6.21050763e-01 -1.24253403e-01 1.39445102e+02] [ 1.62825292e-01 -5.49135575e-03 9.86639635e-01 8.98951109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.76, Y:139.47, Z:89.90 [[ 6.10541127e-01 -7.85382024e-01 -1.02051991e-01 2.12763346e+02] [ 7.75011568e-01 6.19009740e-01 -1.27216397e-01 1.39469947e+02] [ 1.63084648e-01 -1.42063128e-03 9.86611058e-01 8.98969115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.78, Y:139.49, Z:89.90 [[ 6.10340815e-01 -7.85541869e-01 -1.02019909e-01 2.12780926e+02] [ 7.75169331e-01 6.18806877e-01 -1.27242120e-01 1.39492011e+02] [ 1.63084634e-01 -1.42164508e-03 9.86611059e-01 8.99014460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.79, Y:139.52, Z:89.90 [[ 6.08671092e-01 -7.87117838e-01 -9.98249032e-02 2.12793809e+02] [ 7.76037098e-01 6.16796936e-01 -1.31635718e-01 1.39518405e+02] [ 1.65184516e-01 2.65502801e-03 9.86259107e-01 8.99025322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.81, Y:139.54, Z:89.91 [[ 6.05081071e-01 -7.88976279e-01 -1.06739535e-01 2.12810735e+02] [ 7.78749547e-01 6.14390223e-01 -1.26782478e-01 1.39539684e+02] [ 1.65608094e-01 -6.40968742e-03 9.86170814e-01 8.99081123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.83, Y:139.56, Z:89.92 [[ 6.02425918e-01 -7.89219596e-01 -1.19228532e-01 2.12830480e+02] [ 7.79932672e-01 6.13806485e-01 -1.22256394e-01 1.39555864e+02] [ 1.69670388e-01 -1.93398072e-02 9.85311084e-01 8.99218625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.760385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:212.84, Y:139.58, Z:89.92 [[ 5.99884348e-01 -7.93126611e-01 -1.05304075e-01 2.12841138e+02] [ 7.81663294e-01 6.09054405e-01 -1.34369737e-01 1.39583679e+02] [ 1.70708125e-01 -1.70602790e-03 9.85320164e-01 8.99213878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.86, Y:139.61, Z:89.93 [[ 5.98493236e-01 -7.94216718e-01 -1.05003106e-01 2.12856925e+02] [ 7.82796503e-01 6.07631721e-01 -1.34213738e-01 1.39606495e+02] [ 1.70398012e-01 -1.87004981e-03 9.85373544e-01 8.99254557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.87, Y:139.64, Z:89.92 [[ 5.98691082e-01 -7.95543124e-01 -9.31671944e-02 2.12867563e+02] [ 7.83071548e-01 6.05791201e-01 -1.40769213e-01 1.39637674e+02] [ 1.68427846e-01 1.13206934e-02 9.85648975e-01 8.99219168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.89, Y:139.66, Z:89.93 [[ 5.98078595e-01 -7.94518552e-01 -1.05082183e-01 2.12887856e+02] [ 7.83596986e-01 6.07228044e-01 -1.31338742e-01 1.39655853e+02] [ 1.68159916e-01 -3.79119130e-03 9.85752438e-01 8.99311891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.880385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:212.90, Y:139.68, Z:89.93 [[ 5.97655185e-01 -7.94784152e-01 -1.05481905e-01 2.12903456e+02] [ 7.83769978e-01 6.06880093e-01 -1.31913515e-01 1.39678808e+02] [ 1.68857639e-01 -3.83475428e-03 9.85632991e-01 8.99341801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:139.69, Z:89.95 [[ 5.97574833e-01 -7.92627429e-01 -1.21020983e-01 2.12922454e+02] [ 7.83176347e-01 6.09351305e-01 -1.23797400e-01 1.39693949e+02] [ 1.71869509e-01 -2.08025603e-02 9.84900059e-01 8.99515473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:139.73, Z:89.94 [[ 6.02352833e-01 -7.92914104e-01 -9.19689543e-02 2.12926973e+02] [ 7.79798126e-01 6.09141732e-01 -1.44434182e-01 1.39731281e+02] [ 1.70546028e-01 1.52831206e-02 9.85231180e-01 8.99409289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.95, Y:139.75, Z:89.95 [[ 6.04046679e-01 -7.89811739e-01 -1.06419105e-01 2.12948027e+02] [ 7.78492582e-01 6.13344830e-01 -1.33256968e-01 1.39748769e+02] [ 1.70519526e-01 -2.35305489e-03 9.85351488e-01 8.99503260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:139.77, Z:89.95 [[ 6.04684671e-01 -7.89254760e-01 -1.06926950e-01 2.12961596e+02] [ 7.77804527e-01 6.14062100e-01 -1.33969601e-01 1.39774122e+02] [ 1.71395933e-01 -2.15890120e-03 9.85199865e-01 8.99538323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.030385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:212.98, Y:139.80, Z:89.96 [[ 6.09402246e-01 -7.85711451e-01 -1.06237561e-01 2.12977462e+02] [ 7.74343213e-01 6.18592187e-01 -1.33177680e-01 1.39796266e+02] [ 1.70356954e-01 -1.10555739e-03 9.85381797e-01 8.99585241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.060385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:212.99, Y:139.82, Z:89.96 [[ 6.10118929e-01 -7.85162156e-01 -1.06185128e-01 2.12993800e+02] [ 7.73783659e-01 6.19289571e-01 -1.33188877e-01 1.39818637e+02] [ 1.70334208e-01 -9.03261709e-04 9.85385935e-01 8.99648880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:139.84, Z:89.97 [[ 6.12243684e-01 -7.83607571e-01 -1.05436460e-01 2.13008981e+02] [ 7.72353993e-01 6.21255986e-01 -1.32326523e-01 1.39842778e+02] [ 1.69195097e-01 -4.18193364e-04 9.85582490e-01 8.99685477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.03, Y:139.86, Z:89.97 [[ 6.15164789e-01 -7.81323662e-01 -1.05383190e-01 2.13025900e+02] [ 7.70034353e-01 6.24126002e-01 -1.32339823e-01 1.39863496e+02] [ 1.69172624e-01 2.62122786e-04 9.85586401e-01 8.99742014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.04, Y:139.89, Z:89.98 [[ 6.18339699e-01 -7.78776641e-01 -1.05654911e-01 2.13041439e+02] [ 7.67383402e-01 6.27300532e-01 -1.32728129e-01 1.39886656e+02] [ 1.69642949e-01 9.93246024e-04 9.85505091e-01 8.99789139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18038572300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.06, Y:139.91, Z:89.98 [[ 6.19833361e-01 -7.77571966e-01 -1.05775434e-01 2.13057414e+02] [ 7.66121645e-01 6.28792453e-01 -1.32957426e-01 1.39908946e+02] [ 1.69894762e-01 1.37459892e-03 9.85461253e-01 8.99835304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.07, Y:139.93, Z:89.99 [[ 6.21289930e-01 -7.76409868e-01 -1.05766445e-01 2.13073262e+02] [ 7.64931638e-01 6.30225900e-01 -1.33022194e-01 1.39930837e+02] [ 1.69936497e-01 1.74124978e-03 9.85453477e-01 8.99876244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.09, Y:139.95, Z:89.99 [[ 6.23438143e-01 -7.74764517e-01 -1.05189476e-01 2.13089706e+02] [ 7.63381042e-01 6.32246053e-01 -1.32341651e-01 1.39953188e+02] [ 1.69039246e-01 2.20718164e-03 9.85606849e-01 8.99915411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:139.98, Z:90.00 [[ 6.24017664e-01 -7.74341705e-01 -1.04866001e-01 2.13106712e+02] [ 7.63009634e-01 6.32763255e-01 -1.32011218e-01 1.39975281e+02] [ 1.68577144e-01 2.36356281e-03 9.85685630e-01 8.99956595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:140.00, Z:90.00 [[ 6.24737948e-01 -7.73764525e-01 -1.04837759e-01 2.13122711e+02] [ 7.62417752e-01 6.33468130e-01 -1.32050369e-01 1.39997244e+02] [ 1.68587270e-01 2.56670817e-03 9.85683389e-01 8.99991764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:140.02, Z:90.00 [[ 6.24212562e-01 -7.74158043e-01 -1.05061896e-01 2.13139748e+02] [ 7.62760191e-01 6.32987442e-01 -1.32377453e-01 1.40018722e+02] [ 1.68983931e-01 2.49463757e-03 9.85615649e-01 9.00033364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:140.04, Z:90.01 [[ 6.21602130e-01 -7.76399226e-01 -1.03995356e-01 2.13159114e+02] [ 7.64845192e-01 6.30232045e-01 -1.33489334e-01 1.40041840e+02] [ 1.69182222e-01 3.43690668e-03 9.85578796e-01 9.00066870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:140.06, Z:90.01 [[ 6.21295044e-01 -7.76344177e-01 -1.06217643e-01 2.13176945e+02] [ 7.65417494e-01 6.30308880e-01 -1.29795130e-01 1.40060491e+02] [ 1.67715617e-01 -6.59771768e-04 9.85835198e-01 9.00123871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:140.08, Z:90.01 [[ 6.18514090e-01 -7.78780822e-01 -1.04598045e-01 2.13195386e+02] [ 7.67825423e-01 6.27296096e-01 -1.30168079e-01 1.40083475e+02] [ 1.66986349e-01 1.97752691e-04 9.85959188e-01 9.00147857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:140.10, Z:90.02 [[ 6.18835399e-01 -7.78718507e-01 -1.03151521e-01 2.13210856e+02] [ 7.67703841e-01 6.27371489e-01 -1.30521368e-01 1.40104216e+02] [ 1.66353728e-01 1.58142405e-03 9.86064874e-01 9.00179429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:140.13, Z:90.02 [[ 6.17397634e-01 -7.79869320e-01 -1.03072815e-01 2.13229731e+02] [ 7.68924337e-01 6.25941341e-01 -1.30202922e-01 1.40125034e+02] [ 1.66058801e-01 1.13178034e-03 9.86115203e-01 9.00210686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:140.14, Z:90.03 [[ 6.16072601e-01 -7.80951548e-01 -1.02806759e-01 2.13247719e+02] [ 7.70065977e-01 6.24590983e-01 -1.29940349e-01 1.40144760e+02] [ 1.65689291e-01 8.84701294e-04 9.86177609e-01 9.00251508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:140.16, Z:90.03 [[ 6.13648079e-01 -7.82956974e-01 -1.02051029e-01 2.13267585e+02] [ 7.72248421e-01 6.22075743e-01 -1.29050944e-01 1.40164342e+02] [ 1.64524806e-01 3.83117629e-04 9.86372871e-01 9.00293960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:140.19, Z:90.03 [[ 6.12179813e-01 -7.84117933e-01 -1.01955598e-01 2.13285368e+02] [ 7.73433424e-01 6.20611839e-01 -1.29002656e-01 1.40185892e+02] [ 1.64428147e-01 1.16954449e-04 9.86389057e-01 9.00333127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:140.21, Z:90.04 [[ 6.10146909e-01 -7.85663780e-01 -1.02240770e-01 2.13302770e+02] [ 7.74928399e-01 6.18653668e-01 -1.29435761e-01 1.40207203e+02] [ 1.64944617e-01 -2.54446874e-04 9.86302798e-01 9.00353227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.630385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:213.32, Y:140.23, Z:90.04 [[ 6.08980539e-01 -7.86500673e-01 -1.02758915e-01 2.13320685e+02] [ 7.75656174e-01 6.17589262e-01 -1.30157608e-01 1.40229248e+02] [ 1.65831849e-01 -4.42136853e-04 9.86153945e-01 9.00370381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.34, Y:140.25, Z:90.04 [[ 6.08910325e-01 -7.86699070e-01 -1.01650323e-01 2.13340621e+02] [ 7.76079955e-01 6.17336515e-01 -1.28823642e-01 1.40248622e+02] [ 1.64097895e-01 -4.46732756e-04 9.86443957e-01 9.00434170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:140.27, Z:90.05 [[ 6.09045760e-01 -7.86668881e-01 -1.01070939e-01 2.13359673e+02] [ 7.76159188e-01 6.17375023e-01 -1.28160039e-01 1.40269264e+02] [ 1.63218187e-01 -3.91809577e-04 9.86589920e-01 9.00482098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:140.29, Z:90.05 [[ 6.09187468e-01 -7.86613447e-01 -1.00647474e-01 2.13377504e+02] [ 7.76179895e-01 6.17445687e-01 -1.27693360e-01 1.40289825e+02] [ 1.62589663e-01 -3.31350686e-04 9.86693717e-01 9.00525272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.39, Y:140.31, Z:90.05 [[ 6.09372176e-01 -7.86507080e-01 -1.00360172e-01 2.13394439e+02] [ 7.76121568e-01 6.17581205e-01 -1.27392178e-01 1.40311710e+02] [ 1.62175406e-01 -2.62445485e-04 9.86761911e-01 9.00549339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.41, Y:140.33, Z:90.06 [[ 6.09481843e-01 -7.86363815e-01 -1.00815840e-01 2.13412635e+02] [ 7.75869576e-01 6.17763642e-01 -1.28040948e-01 1.40331101e+02] [ 1.62967129e-01 -1.81310371e-04 9.86631482e-01 9.00579329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:140.35, Z:90.06 [[ 6.09255063e-01 -7.86543222e-01 -1.00787045e-01 2.13431299e+02] [ 7.76047000e-01 6.17535200e-01 -1.28067677e-01 1.40351819e+02] [ 1.62970311e-01 -1.89603791e-04 9.86630955e-01 9.00625114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.840385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.45, Y:140.37, Z:90.07 [[ 6.08901218e-01 -7.86872601e-01 -1.00353455e-01 2.13449673e+02] [ 7.76460352e-01 6.17115430e-01 -1.27584745e-01 1.40372764e+02] [ 1.62322606e-01 -2.33972200e-04 9.86737714e-01 9.00671528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.870385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:213.46, Y:140.40, Z:90.06 [[ 6.05460483e-01 -7.91305625e-01 -8.51646188e-02 2.13459274e+02] [ 7.80659103e-01 6.11299296e-01 -1.29940511e-01 1.40399045e+02] [ 1.54883729e-01 1.21893097e-02 9.87857506e-01 9.00593655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:140.41, Z:90.08 [[ 6.07219295e-01 -7.87183395e-01 -1.07828713e-01 2.13490350e+02] [ 7.78367744e-01 6.16598092e-01 -1.18112016e-01 1.40410738e+02] [ 1.59462796e-01 -1.22104973e-02 9.87128421e-01 9.00803174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:140.44, Z:90.07 [[ 6.04346102e-01 -7.91998131e-01 -8.66299564e-02 2.13495861e+02] [ 7.81297263e-01 6.10424168e-01 -1.30218747e-01 1.40440848e+02] [ 1.56014023e-01 1.10134442e-02 9.87693439e-01 9.00677479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:140.46, Z:90.07 [[ 6.04042915e-01 -7.91731007e-01 -9.10723354e-02 2.13519215e+02] [ 7.80719679e-01 6.10810059e-01 -1.31863014e-01 1.40458646e+02] [ 1.60027935e-01 8.54895467e-03 9.87075466e-01 9.00734610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.990385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:213.54, Y:140.47, Z:90.08 [[ 6.04714274e-01 -7.89866741e-01 -1.02133134e-01 2.13543682e+02] [ 7.80711834e-01 6.13237432e-01 -1.20120293e-01 1.40473645e+02] [ 1.57510885e-01 -7.09809020e-03 9.87491741e-01 9.00830235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:140.49, Z:90.10 [[ 6.07040195e-01 -7.87164657e-01 -1.08967908e-01 2.13568101e+02] [ 7.78019476e-01 6.16630004e-01 -1.20221182e-01 1.40492155e+02] [ 1.61826747e-01 -1.18000652e-02 9.86748632e-01 9.00976816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:140.52, Z:90.10 [[ 6.07188144e-01 -7.88364606e-01 -9.90141695e-02 2.13582525e+02] [ 7.78202138e-01 6.15208139e-01 -1.26175982e-01 1.40517198e+02] [ 1.60387001e-01 -4.40478130e-04 9.87054110e-01 9.00977248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.080385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.60, Y:140.54, Z:90.10 [[ 6.06923927e-01 -7.88525017e-01 -9.93561495e-02 2.13602622e+02] [ 7.78283111e-01 6.15002521e-01 -1.26677928e-01 1.40535991e+02] [ 1.60992998e-01 -4.43347455e-04 9.86955449e-01 9.01029280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:140.56, Z:90.09 [[ 6.04048006e-01 -7.92334026e-01 -8.56317547e-02 2.13611548e+02] [ 7.81580914e-01 6.09969738e-01 -1.30645295e-01 1.40561389e+02] [ 1.55747492e-01 1.19878850e-02 9.87724157e-01 9.00947890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.64, Y:140.58, Z:90.11 [[ 6.04363688e-01 -7.90713637e-01 -9.75524317e-02 2.13637474e+02] [ 7.81002917e-01 6.12184316e-01 -1.23550827e-01 1.40577472e+02] [ 1.57413392e-01 -1.51910035e-03 9.87531628e-01 9.01055666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:140.59, Z:90.12 [[ 6.05837212e-01 -7.88329915e-01 -1.07225079e-01 2.13664564e+02] [ 7.79147884e-01 6.15161771e-01 -1.20434921e-01 1.40592414e+02] [ 1.60903221e-01 -1.05802366e-02 9.86913478e-01 9.01207492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.68, Y:140.62, Z:90.12 [[ 6.05297585e-01 -7.89814316e-01 -9.90362554e-02 2.13678809e+02] [ 7.79605181e-01 6.13345742e-01 -1.26581053e-01 1.40616957e+02] [ 1.60718993e-01 -5.89972379e-04 9.87000029e-01 9.01210343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.70, Y:140.64, Z:90.12 [[ 6.03795015e-01 -7.91026625e-01 -9.85315078e-02 2.13697089e+02] [ 7.80926216e-01 6.11781116e-01 -1.26008380e-01 1.40638036e+02] [ 1.59955699e-01 -8.62605991e-04 9.87123817e-01 9.01243795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.260385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.71, Y:140.66, Z:90.13 [[ 6.03033668e-01 -7.91620841e-01 -9.84217484e-02 2.13714754e+02] [ 7.81539200e-01 6.11011862e-01 -1.25940395e-01 1.40658343e+02] [ 1.59833897e-01 -9.74156200e-04 9.87143443e-01 9.01285207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.290385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.73, Y:140.68, Z:90.13 [[ 6.00427570e-01 -7.93846648e-01 -9.64066017e-02 2.13733336e+02] [ 7.83679444e-01 6.08117801e-01 -1.26646236e-01 1.40679373e+02] [ 1.59164261e-01 4.90019761e-04 9.87251993e-01 9.01302599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.320385723 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:213.74, Y:140.71, Z:90.12 [[ 6.02401286e-01 -7.94524225e-01 -7.64457089e-02 2.13743475e+02] [ 7.81380675e-01 6.06555373e-01 -1.46747471e-01 1.40708792e+02] [ 1.62962976e-01 2.86676654e-02 9.86215612e-01 9.01245139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:140.71, Z:90.15 [[ 6.00085934e-01 -7.90870400e-01 -1.20086982e-01 2.13781255e+02] [ 7.82724519e-01 6.11493700e-01 -1.15835146e-01 1.40712760e+02] [ 1.65043021e-01 -2.44839837e-02 9.85982422e-01 9.01525123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:140.75, Z:90.14 [[ 5.99141648e-01 -7.95481696e-01 -9.07642911e-02 2.13784105e+02] [ 7.83985577e-01 6.05898535e-01 -1.35105812e-01 1.40747397e+02] [ 1.62468152e-01 9.78962373e-03 9.86665223e-01 9.01399521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:140.76, Z:90.16 [[ 6.00262169e-01 -7.91987616e-01 -1.11538983e-01 2.13814007e+02] [ 7.82939593e-01 6.10350349e-01 -1.20324745e-01 1.40760326e+02] [ 1.63373565e-01 -1.51018936e-02 9.86448687e-01 9.01579050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.440385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:213.82, Y:140.79, Z:90.15 [[ 6.01090884e-01 -7.93878313e-01 -9.19074155e-02 2.13823082e+02] [ 7.82779045e-01 6.08027805e-01 -1.32510963e-01 1.40789849e+02] [ 1.61079844e-01 7.70793295e-03 9.86911279e-01 9.01496855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.470385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:213.85, Y:140.81, Z:90.16 [[ 6.02758307e-01 -7.91644299e-01 -9.99085962e-02 2.13846233e+02] [ 7.81295336e-01 6.10981161e-01 -1.27591610e-01 1.40806189e+02] [ 1.62049440e-01 -1.15121777e-03 9.86781969e-01 9.01581843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.87, Y:140.82, Z:90.17 [[ 6.05039775e-01 -7.88665412e-01 -1.09241655e-01 2.13869882e+02] [ 7.78691831e-01 6.14753597e-01 -1.25367647e-01 1.40822070e+02] [ 1.66029827e-01 -9.21317169e-03 9.86077692e-01 9.01726698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:140.85, Z:90.17 [[ 6.05348988e-01 -7.89639407e-01 -1.00110985e-01 2.13883960e+02] [ 7.78666219e-01 6.13569445e-01 -1.31192437e-01 1.40846988e+02] [ 1.65019760e-01 1.46416623e-03 9.86289174e-01 9.01712911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:213.90, Y:140.87, Z:90.17 [[ 6.05835173e-01 -7.89390591e-01 -9.91273808e-02 2.13901098e+02] [ 7.78481272e-01 6.13887767e-01 -1.30800299e-01 1.40869024e+02] [ 1.64105612e-01 2.07461258e-03 9.86440593e-01 9.01746704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:213.92, Y:140.89, Z:90.18 [[ 6.05647065e-01 -7.89351070e-01 -1.00580921e-01 2.13919055e+02] [ 7.78617379e-01 6.13942036e-01 -1.29731083e-01 1.40890653e+02] [ 1.64154225e-01 2.57196770e-04 9.86434653e-01 9.01800461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.94, Y:140.91, Z:90.19 [[ 6.06027882e-01 -7.88893106e-01 -1.01871848e-01 2.13936972e+02] [ 7.78184656e-01 6.14529965e-01 -1.29543673e-01 1.40911308e+02] [ 1.64799414e-01 -7.68031599e-04 9.86326804e-01 9.01858760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.96, Y:140.93, Z:90.19 [[ 6.07624716e-01 -7.87575670e-01 -1.02551297e-01 2.13958126e+02] [ 7.77059335e-01 6.16215498e-01 -1.28285812e-01 1.40929547e+02] [ 1.64228484e-01 -1.73881266e-03 9.86420793e-01 9.01939509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:140.95, Z:90.20 [[ 6.06102198e-01 -7.88885025e-01 -1.01491587e-01 2.13975242e+02] [ 7.78026018e-01 6.14540810e-01 -1.30441970e-01 1.40951741e+02] [ 1.65274439e-01 9.80691958e-05 9.86247611e-01 9.01977275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:140.97, Z:90.20 [[ 6.06101711e-01 -7.88960078e-01 -1.00909418e-01 2.13994434e+02] [ 7.78214854e-01 6.14444448e-01 -1.29767721e-01 1.40970351e+02] [ 1.64384783e-01 1.23230055e-04 9.86396284e-01 9.02029353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.01, Y:140.99, Z:90.21 [[ 6.04871129e-01 -7.89893807e-01 -1.00988571e-01 2.14012077e+02] [ 7.79133342e-01 6.13243643e-01 -1.29936404e-01 1.40991145e+02] [ 1.64566560e-01 -8.87834426e-05 9.86365976e-01 9.02074018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:141.01, Z:90.21 [[ 6.03085798e-01 -7.91002427e-01 -1.02969324e-01 2.14030342e+02] [ 7.79815655e-01 6.11812911e-01 -1.32561330e-01 1.41012608e+02] [ 1.67854295e-01 -3.51235559e-04 9.85811753e-01 9.02122618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:214.05, Y:141.03, Z:90.22 [[ 6.02936208e-01 -7.91333311e-01 -1.01289290e-01 2.14049797e+02] [ 7.80503624e-01 6.11384853e-01 -1.30470895e-01 1.41031739e+02] [ 1.65172703e-01 -3.91030910e-04 9.86264582e-01 9.02166339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:141.05, Z:90.22 [[ 6.01541436e-01 -7.92201622e-01 -1.02783710e-01 2.14067440e+02] [ 7.81048593e-01 6.10259154e-01 -1.32464562e-01 1.41052725e+02] [ 1.67663341e-01 -5.96149140e-04 9.85844130e-01 9.02229755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.860385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:214.09, Y:141.07, Z:90.23 [[ 6.02072630e-01 -7.92006875e-01 -1.01161544e-01 2.14085735e+02] [ 7.81189924e-01 6.10511977e-01 -1.30450870e-01 1.41071906e+02] [ 1.65078320e-01 -4.85480801e-04 9.86280342e-01 9.02266408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:141.09, Z:90.23 [[ 6.01565745e-01 -7.92353862e-01 -1.01459407e-01 2.14103545e+02] [ 7.81468568e-01 6.10061518e-01 -1.30888587e-01 1.41092786e+02] [ 1.65606557e-01 -5.49247232e-04 9.86191749e-01 9.02316304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.12, Y:141.11, Z:90.24 [[ 6.00699634e-01 -7.92914521e-01 -1.02208186e-01 2.14121876e+02] [ 7.81862068e-01 6.09332524e-01 -1.31930216e-01 1.41112205e+02] [ 1.66888156e-01 -6.62271198e-04 9.85975611e-01 9.02356929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:141.13, Z:90.24 [[ 5.99283547e-01 -7.93824512e-01 -1.03449870e-01 2.14138660e+02] [ 7.82504197e-01 6.08146237e-01 -1.33586436e-01 1.41133830e+02] [ 1.68956837e-01 -8.93803705e-04 9.85623046e-01 9.02410951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.16, Y:141.15, Z:90.24 [[ 6.01206672e-01 -7.92471423e-01 -1.02662465e-01 2.14156559e+02] [ 7.81290987e-01 6.09908872e-01 -1.32648262e-01 1.41154063e+02] [ 1.67734705e-01 -4.60238619e-04 9.85832063e-01 9.02448171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.17, Y:141.17, Z:90.25 [[ 6.02618148e-01 -7.91403073e-01 -1.02628184e-01 2.14174435e+02] [ 7.80202648e-01 6.11294661e-01 -1.32675035e-01 1.41174765e+02] [ 1.67735491e-01 -1.18397208e-04 9.85832030e-01 9.02492349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.19, Y:141.20, Z:90.25 [[ 6.03178799e-01 -7.90943647e-01 -1.02876060e-01 2.14191560e+02] [ 7.79669045e-01 6.11888997e-01 -1.33071541e-01 1.41196480e+02] [ 1.68200819e-01 5.66527909e-05 9.85752749e-01 9.02540355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.21, Y:141.22, Z:90.26 [[ 6.03907316e-01 -7.90386965e-01 -1.02880508e-01 2.14207461e+02] [ 7.79090302e-01 6.12607850e-01 -1.33153760e-01 1.41218989e+02] [ 1.68268403e-01 2.59324043e-04 9.85741182e-01 9.02586081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.22, Y:141.24, Z:90.26 [[ 6.01471967e-01 -7.92021841e-01 -1.04560397e-01 2.14221032e+02] [ 7.81273179e-01 6.10483026e-01 -1.30087257e-01 1.41240068e+02] [ 1.66864296e-01 -3.44639554e-03 9.85973848e-01 9.02628467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.130385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:214.23, Y:141.27, Z:90.26 [[ 6.01179786e-01 -7.93675528e-01 -9.30699811e-02 2.14234185e+02] [ 7.81822672e-01 6.08265703e-01 -1.36989573e-01 1.41267428e+02] [ 1.65336549e-01 9.59114051e-03 9.86190568e-01 9.02638078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.160385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:214.26, Y:141.28, Z:90.28 [[ 6.01884149e-01 -7.91588261e-01 -1.05467986e-01 2.14258577e+02] [ 7.80986849e-01 6.11037490e-01 -1.29200338e-01 1.41283383e+02] [ 1.66718365e-01 -4.60547455e-03 9.85993801e-01 9.02780063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.27, Y:141.31, Z:90.28 [[ 5.99986539e-01 -7.93496978e-01 -1.01875896e-01 2.14272174e+02] [ 7.82371022e-01 6.08574135e-01 -1.32412633e-01 1.41307157e+02] [ 1.67068059e-01 -2.58951406e-04 9.85945331e-01 9.02800994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:141.33, Z:90.29 [[ 5.98206869e-01 -7.94443427e-01 -1.04919886e-01 2.14288247e+02] [ 7.82638016e-01 6.07337963e-01 -1.36449021e-01 1.41329353e+02] [ 1.72122858e-01 -4.89550015e-04 9.85075369e-01 9.02892972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.30, Y:141.35, Z:90.29 [[ 5.97472254e-01 -7.95229084e-01 -1.03138795e-01 2.14304655e+02] [ 7.83826617e-01 6.06308712e-01 -1.34184874e-01 1.41352413e+02] [ 1.69241664e-01 -6.71193856e-04 9.85574355e-01 9.02878400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.280385723 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:214.32, Y:141.37, Z:90.29 [[ 5.94231309e-01 -7.97403062e-01 -1.05059551e-01 2.14320181e+02] [ 7.85587000e-01 6.03445748e-01 -1.36770961e-01 1.41373862e+02] [ 1.72459322e-01 -1.25983045e-03 9.85015835e-01 9.02943572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:141.39, Z:90.30 [[ 5.93530094e-01 -7.97987887e-01 -1.04581834e-01 2.14338132e+02] [ 7.86273262e-01 6.02671934e-01 -1.36238387e-01 1.41394782e+02] [ 1.71745119e-01 -1.36831741e-03 9.85140468e-01 9.02975483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:141.40, Z:90.34 [[ 5.91496378e-01 -7.93323487e-01 -1.44117589e-01 2.14371234e+02] [ 7.86179433e-01 6.07131069e-01 -1.15385290e-01 1.41399122e+02] [ 1.79036126e-01 -4.50523034e-02 9.82810437e-01 9.03359580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:214.35, Y:141.46, Z:90.29 [[ 5.89913957e-01 -8.04394253e-01 -7.03662484e-02 2.14354219e+02] [ 7.88880592e-01 5.92732747e-01 -1.62281552e-01 1.41455209e+02] [ 1.72246727e-01 4.02215847e-02 9.84232335e-01 9.02913283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:141.44, Z:90.35 [[ 5.90246593e-01 -7.91368320e-01 -1.59201573e-01 2.14410122e+02] [ 7.86302874e-01 6.08266022e-01 -1.08352371e-01 1.41439617e+02] [ 1.82583542e-01 -6.12260366e-02 9.81282132e-01 9.03549848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.38, Y:141.51, Z:90.30 [[ 5.89220216e-01 -8.05914646e-01 -5.76291686e-02 2.14380385e+02] [ 7.89486765e-01 5.89442885e-01 -1.71078152e-01 1.41506639e+02] [ 1.71843492e-01 5.53052401e-02 9.83570610e-01 9.02955804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:214.42, Y:141.51, Z:90.32 [[ 5.88769947e-01 -8.01821768e-01 -1.02136194e-01 2.14416068e+02] [ 7.90270786e-01 5.97562629e-01 -1.35613382e-01 1.41507435e+02] [ 1.69770534e-01 -8.70166767e-04 9.85483236e-01 9.03222346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.490385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:214.45, Y:141.52, Z:90.35 [[ 5.90641960e-01 -7.95299024e-01 -1.36534017e-01 2.14447140e+02] [ 7.87334347e-01 6.05051996e-01 -1.18392180e-01 1.41515185e+02] [ 1.76767364e-01 -3.75705316e-02 9.83535334e-01 9.03528680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.520385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:214.45, Y:141.55, Z:90.34 [[ 5.91397288e-01 -7.99945815e-01 -1.01665833e-01 2.14448673e+02] [ 7.87065617e-01 6.00054770e-01 -1.43045404e-01 1.41553872e+02] [ 1.75433640e-01 4.57898233e-03 9.84480610e-01 9.03375626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.550385723 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:214.47, Y:141.58, Z:90.34 [[ 5.91775079e-01 -7.99433323e-01 -1.03482452e-01 2.14466369e+02] [ 7.86580011e-01 6.00746749e-01 -1.42811868e-01 1.41577166e+02] [ 1.76335313e-01 3.11527590e-03 9.84325227e-01 9.03435700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.580385723 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:214.49, Y:141.60, Z:90.35 [[ 5.92924549e-01 -7.96963285e-01 -1.15282265e-01 2.14488473e+02] [ 7.85546757e-01 6.03934472e-01 -1.34831178e-01 1.41596081e+02] [ 1.77078432e-01 -1.06148945e-02 9.84139499e-01 9.03548601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.610385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:214.48, Y:141.63, Z:90.34 [[ 5.90331628e-01 -8.02942544e-01 -8.24126239e-02 2.14484621e+02] [ 7.88411195e-01 5.95484346e-01 -1.54292520e-01 1.41633599e+02] [ 1.72963456e-01 2.61087192e-02 9.84582134e-01 9.03364749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.640385723 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:214.52, Y:141.64, Z:90.36 [[ 5.91702490e-01 -7.97810734e-01 -1.15698726e-01 2.14519938e+02] [ 7.87251176e-01 6.02743522e-01 -1.30137742e-01 1.41640892e+02] [ 1.73561945e-01 -1.40811319e-02 9.84722282e-01 9.03628873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.670385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:214.52, Y:141.67, Z:90.35 [[ 5.89162426e-01 -8.02392788e-01 -9.51496177e-02 2.14523859e+02] [ 7.89456994e-01 5.96718799e-01 -1.43820479e-01 1.41671962e+02] [ 1.72178081e-01 9.61709114e-03 9.85018893e-01 9.03541637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.700385723 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:214.54, Y:141.70, Z:90.35 [[ 5.88363502e-01 -8.03618896e-01 -8.95826982e-02 2.14537079e+02] [ 7.90293656e-01 5.94944216e-01 -1.46551413e-01 1.41697751e+02] [ 1.71068193e-01 1.54288645e-02 9.85138378e-01 9.03534898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.730385723 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:214.57, Y:141.71, Z:90.37 [[ 5.88489012e-01 -8.00155442e-01 -1.15896298e-01 2.14565605e+02] [ 7.90678055e-01 5.99505563e-01 -1.24182496e-01 1.41709389e+02] [ 1.68845776e-01 -1.85566252e-02 9.85467785e-01 9.03716159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.760385723 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:214.57, Y:141.75, Z:90.36 [[ 5.86463736e-01 -8.04930270e-01 -9.02637612e-02 2.14567544e+02] [ 7.91363063e-01 5.93171022e-01 -1.47961618e-01 1.41746142e+02] [ 1.72640632e-01 1.53427164e-02 9.84865378e-01 9.03618913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:214.59, Y:141.75, Z:90.39 [[ 5.85065870e-01 -8.01804659e-01 -1.21684905e-01 2.14594303e+02] [ 7.91547183e-01 5.97232372e-01 -1.29485718e-01 1.41754444e+02] [ 1.76496416e-01 -2.05616696e-02 9.84086497e-01 9.03850904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:214.60, Y:141.79, Z:90.37 [[ 5.83245854e-01 -8.07174312e-01 -9.10708711e-02 2.14595860e+02] [ 7.93956706e-01 5.90172780e-01 -1.46043964e-01 1.41790401e+02] [ 1.71630485e-01 1.28732074e-02 9.85077285e-01 9.03711052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.62, Y:141.81, Z:90.38 [[ 5.81472234e-01 -8.07405906e-01 -9.99286970e-02 2.14616050e+02] [ 7.95703579e-01 5.89996345e-01 -1.36967616e-01 1.41809320e+02] [ 1.69546028e-01 1.29244058e-04 9.85522261e-01 9.03811276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.880385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:214.63, Y:141.83, Z:90.39 [[ 5.79935963e-01 -8.08502454e-01 -9.99903039e-02 2.14631337e+02] [ 7.96953418e-01 5.88492367e-01 -1.36168950e-01 1.41832484e+02] [ 1.68936461e-01 -7.18342983e-04 9.85626682e-01 9.03859076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:214.65, Y:141.86, Z:90.39 [[ 5.79387120e-01 -8.08957875e-01 -9.94872937e-02 2.14646602e+02] [ 7.97309038e-01 5.87866610e-01 -1.36788694e-01 1.41856397e+02] [ 1.69141549e-01 -6.85110442e-05 9.85591767e-01 9.03895262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:214.67, Y:141.87, Z:90.40 [[ 5.80447195e-01 -8.06851826e-01 -1.09868940e-01 2.14666665e+02] [ 7.96978688e-01 5.90586367e-01 -1.26620358e-01 1.41873651e+02] [ 1.67050965e-01 -1.40667721e-02 9.85847910e-01 9.04014107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.68, Y:141.90, Z:90.40 [[ 5.81464593e-01 -8.07319276e-01 -1.00670325e-01 2.14676257e+02] [ 7.95100414e-01 5.90113409e-01 -1.39933899e-01 1.41902919e+02] [ 1.72378243e-01 1.32359038e-03 9.85029943e-01 9.04012772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:214.69, Y:141.93, Z:90.41 [[ 5.82040085e-01 -8.06677071e-01 -1.02476549e-01 2.14691721e+02] [ 7.94628829e-01 5.90992184e-01 -1.38900192e-01 1.41926706e+02] [ 1.72610439e-01 -5.85340616e-04 9.84989997e-01 9.04053900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:141.95, Z:90.42 [[ 5.84452111e-01 -8.03105008e-01 -1.15922717e-01 2.14711177e+02] [ 7.92025556e-01 5.95679888e-01 -1.33645014e-01 1.41947181e+02] [ 1.76383811e-01 -1.37046439e-02 9.84226058e-01 9.04182543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.72, Y:141.98, Z:90.42 [[ 5.85978784e-01 -8.03370573e-01 -1.05946155e-01 2.14723095e+02] [ 7.90560664e-01 5.95479405e-01 -1.42891966e-01 1.41976551e+02] [ 1.77883954e-01 -2.52018885e-05 9.84051471e-01 9.04191105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.090385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:214.74, Y:142.00, Z:90.43 [[ 5.86572815e-01 -8.02495751e-01 -1.09237824e-01 2.14739836e+02] [ 7.91203978e-01 5.96609235e-01 -1.34364009e-01 1.41995613e+02] [ 1.72998841e-01 -7.61512629e-03 9.84892588e-01 9.04252797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.120385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:214.76, Y:142.02, Z:90.43 [[ 5.86631221e-01 -8.02393694e-01 -1.09673017e-01 2.14755697e+02] [ 7.90801317e-01 5.96755145e-01 -1.36075621e-01 1.42017671e+02] [ 1.74634157e-01 -6.90335894e-03 9.84609189e-01 9.04320816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.150385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:214.76, Y:142.05, Z:90.43 [[ 5.85832729e-01 -8.05010627e-01 -9.35836740e-02 2.14762067e+02] [ 7.90542310e-01 5.93058150e-01 -1.52724871e-01 1.42048768e+02] [ 1.78445704e-01 1.54893739e-02 9.83827836e-01 9.04274993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18038572300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:214.79, Y:142.06, Z:90.44 [[ 5.85400763e-01 -8.02963411e-01 -1.12052252e-01 2.14786944e+02] [ 7.90732895e-01 5.95989784e-01 -1.39777200e-01 1.42064140e+02] [ 1.79017975e-01 -6.77772163e-03 9.83822457e-01 9.04433445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.210385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:214.80, Y:142.09, Z:90.44 [[ 5.84887436e-01 -8.03932348e-01 -1.07700821e-01 2.14799225e+02] [ 7.91258826e-01 5.94717231e-01 -1.42200159e-01 1.42089492e+02] [ 1.78370842e-01 -2.04813832e-03 9.83961202e-01 9.04448977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.240385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:214.81, Y:142.11, Z:90.45 [[ 5.84739332e-01 -8.04134664e-01 -1.06992317e-01 2.14814818e+02] [ 7.91469486e-01 5.94445149e-01 -1.42165459e-01 1.42112707e+02] [ 1.77921237e-01 -1.55141867e-03 9.84043508e-01 9.04490581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.83, Y:142.14, Z:90.45 [[ 5.83427804e-01 -8.05666671e-01 -1.02533958e-01 2.14828318e+02] [ 7.93139672e-01 5.92367843e-01 -1.41526678e-01 1.42138077e+02] [ 1.74761148e-01 1.24684920e-03 9.84610068e-01 9.04519176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:142.16, Z:90.46 [[ 5.82398053e-01 -8.06406947e-01 -1.02568728e-01 2.14844175e+02] [ 7.94173285e-01 5.91361002e-01 -1.39931978e-01 1.42160874e+02] [ 1.73497265e-01 3.87680880e-05 9.84834350e-01 9.04565048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.86, Y:142.18, Z:90.46 [[ 5.81282658e-01 -8.07247614e-01 -1.02282752e-01 2.14859634e+02] [ 7.95189454e-01 5.90212679e-01 -1.39006209e-01 1.42184501e+02] [ 1.72581008e-01 -5.32267177e-04 9.84995184e-01 9.04603434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:142.21, Z:90.46 [[ 5.78953046e-01 -8.09505202e-01 -9.75433108e-02 2.14869836e+02] [ 7.97020760e-01 5.87097063e-01 -1.41686087e-01 1.42211342e+02] [ 1.71963016e-01 4.28554818e-03 9.85094084e-01 9.04600095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:142.23, Z:90.47 [[ 5.77144623e-01 -8.10195740e-01 -1.02405798e-01 2.14885685e+02] [ 7.98259028e-01 5.86156748e-01 -1.38574134e-01 1.42233488e+02] [ 1.72298022e-01 -1.76903645e-03 9.85043279e-01 9.04660933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:142.25, Z:90.49 [[ 5.78320961e-01 -8.07034384e-01 -1.19333023e-01 2.14909812e+02] [ 7.96193004e-01 5.90228337e-01 -1.33068443e-01 1.42248667e+02] [ 1.77824541e-01 -1.80558483e-02 9.83896549e-01 9.04863227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:142.28, Z:90.49 [[ 5.77416512e-01 -8.09385445e-01 -1.07169832e-01 2.14919611e+02] [ 7.96852486e-01 5.87267664e-01 -1.41925359e-01 1.42277510e+02] [ 1.77809697e-01 -3.44850105e-03 9.84058850e-01 9.04851320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:142.30, Z:90.49 [[ 5.77203091e-01 -8.09543004e-01 -1.07129436e-01 2.14936527e+02] [ 7.97007080e-01 5.87050468e-01 -1.41955845e-01 1.42300049e+02] [ 1.77809747e-01 -3.44556680e-03 9.84058851e-01 9.04898556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:142.32, Z:90.49 [[ 5.76204761e-01 -8.10207634e-01 -1.07478664e-01 2.14948714e+02] [ 7.97586613e-01 5.86131819e-01 -1.42495917e-01 1.42323874e+02] [ 1.78447944e-01 -3.61671754e-03 9.83942707e-01 9.04938413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:142.36, Z:90.48 [[ 5.74220241e-01 -8.13736490e-01 -9.00224405e-02 2.14954850e+02] [ 8.00193498e-01 5.81084143e-01 -1.48430401e-01 1.42355829e+02] [ 1.73093846e-01 1.31963691e-02 9.84816925e-01 9.04818454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:142.37, Z:90.51 [[ 5.76057498e-01 -8.08316693e-01 -1.21580766e-01 2.14983666e+02] [ 7.97389321e-01 5.88415083e-01 -1.33932670e-01 1.42366732e+02] [ 1.79799969e-01 -1.97942854e-02 9.83504020e-01 9.05069824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:142.40, Z:90.50 [[ 5.75500723e-01 -8.11348347e-01 -1.02531839e-01 2.14991647e+02] [ 7.98423712e-01 5.84561833e-01 -1.44246454e-01 1.42398599e+02] [ 1.76970322e-01 1.15008709e-03 9.84215516e-01 9.04988558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.01, Y:142.42, Z:90.50 [[ 5.76209482e-01 -8.10886361e-01 -1.02205398e-01 2.15006586e+02] [ 7.98257083e-01 5.85203384e-01 -1.42557458e-01 1.42422727e+02] [ 1.75408843e-01 5.56776230e-04 9.84495520e-01 9.05027450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:142.45, Z:90.50 [[ 5.76785295e-01 -8.10891741e-01 -9.88600447e-02 2.15020686e+02] [ 7.98264279e-01 5.85186749e-01 -1.42585447e-01 1.42447972e+02] [ 1.73472949e-01 3.32474678e-03 9.84833022e-01 9.05043986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:142.46, Z:90.53 [[ 5.79006046e-01 -8.06445721e-01 -1.19988743e-01 2.15044012e+02] [ 7.95593317e-01 5.91022435e-01 -1.33130597e-01 1.42460884e+02] [ 1.78278639e-01 -1.83788214e-02 9.83808389e-01 9.05254786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:142.49, Z:90.52 [[ 5.82864902e-01 -8.06176563e-01 -1.01724410e-01 2.15048560e+02] [ 7.93698722e-01 5.91672819e-01 -1.41299733e-01 1.42490728e+02] [ 1.74100102e-01 1.62012117e-03 9.84726627e-01 9.05171281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:142.51, Z:90.53 [[ 5.85199571e-01 -8.03109423e-01 -1.12056761e-01 2.15067106e+02] [ 7.92066508e-01 5.95733154e-01 -1.33164022e-01 1.42508758e+02] [ 1.73701208e-01 -1.08288784e-02 9.84738862e-01 9.05308110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:142.54, Z:90.52 [[ 5.85485520e-01 -8.05306852e-01 -9.32071866e-02 2.15076814e+02] [ 7.92166937e-01 5.92751559e-01 -1.45317350e-01 1.42541760e+02] [ 1.72273763e-01 1.12455524e-02 9.84984918e-01 9.05239556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:142.56, Z:90.53 [[ 5.86308951e-01 -8.03158486e-01 -1.05727294e-01 2.15096641e+02] [ 7.91495213e-01 5.95753978e-01 -1.36427733e-01 1.42558669e+02] [ 1.72560547e-01 -3.69384542e-03 9.84991986e-01 9.05346178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.840385723 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:215.11, Y:142.58, Z:90.54 [[ 5.87817539e-01 -8.02194557e-01 -1.04663434e-01 2.15108910e+02] [ 7.90099923e-01 5.97061675e-01 -1.38778488e-01 1.42582429e+02] [ 1.73817873e-01 -1.11814197e-03 9.84777181e-01 9.05411672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.870385723 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:215.12, Y:142.61, Z:90.54 [[ 5.87578788e-01 -8.02928238e-01 -1.00286656e-01 2.15122705e+02] [ 7.90174298e-01 5.96058310e-01 -1.42615110e-01 1.42608899e+02] [ 1.74286394e-01 4.55367529e-03 9.84684476e-01 9.05449583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.900385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:215.14, Y:142.63, Z:90.55 [[ 5.87715319e-01 -8.02014722e-01 -1.06597791e-01 2.15141539e+02] [ 7.89930863e-01 5.97298274e-01 -1.38722762e-01 1.42629084e+02] [ 1.74928374e-01 -2.67539244e-03 9.84577527e-01 9.05529181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93038572300003 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:215.15, Y:142.65, Z:90.56 [[ 5.87507643e-01 -8.03021571e-01 -9.99556251e-02 2.15153757e+02] [ 7.89973635e-01 5.95921659e-01 -1.44288019e-01 1.42654567e+02] [ 1.75432113e-01 5.80800519e-03 9.84474398e-01 9.05552664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:142.67, Z:90.56 [[ 5.86223953e-01 -8.03039469e-01 -1.07093828e-01 2.15173455e+02] [ 7.91249868e-01 5.95910131e-01 -1.37166911e-01 1.42674725e+02] [ 1.73968740e-01 -4.32744825e-03 9.84741667e-01 9.05610009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:142.70, Z:90.57 [[ 5.84953534e-01 -8.04156375e-01 -1.05649840e-01 2.15186690e+02] [ 7.91824313e-01 5.94415686e-01 -1.40300571e-01 1.42697317e+02] [ 1.75623521e-01 -1.58679730e-03 9.84456124e-01 9.05674010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:142.72, Z:90.57 [[ 5.82734920e-01 -8.06308023e-01 -1.01426751e-01 2.15200456e+02] [ 7.92873669e-01 5.91474355e-01 -1.46660946e-01 1.42722772e+02] [ 1.78245219e-01 5.04585423e-03 9.83973161e-01 9.05688943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.050385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.22, Y:142.74, Z:90.58 [[ 5.81244736e-01 -8.05791914e-01 -1.13375254e-01 2.15224842e+02] [ 7.94525429e-01 5.92082495e-01 -1.34787470e-01 1.42741002e+02] [ 1.75738157e-01 -1.17350154e-02 9.84367000e-01 9.05759755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:142.76, Z:90.58 [[ 5.81017530e-01 -8.06980837e-01 -1.05832689e-01 2.15234395e+02] [ 7.94371042e-01 5.90575711e-01 -1.42109031e-01 1.42763542e+02] [ 1.77181481e-01 -1.50258539e-03 9.84177050e-01 9.05794299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:142.79, Z:90.59 [[ 5.78540775e-01 -8.08592615e-01 -1.07091339e-01 2.15254064e+02] [ 7.96435544e-01 5.88352194e-01 -1.39757358e-01 1.42785878e+02] [ 1.76014192e-01 -4.43601866e-03 9.84377634e-01 9.05855868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:142.81, Z:90.59 [[ 5.77420694e-01 -8.09610067e-01 -1.05436623e-01 2.15270477e+02] [ 7.97199871e-01 5.86962756e-01 -1.41234167e-01 1.42808519e+02] [ 1.76231975e-01 -2.50253139e-03 9.84345482e-01 9.05893612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:142.83, Z:90.59 [[ 5.76100789e-01 -8.10877904e-01 -1.02882974e-01 2.15285796e+02] [ 7.97782278e-01 5.85213331e-01 -1.45150935e-01 1.42830401e+02] [ 1.77908174e-01 1.54335466e-03 9.84045883e-01 9.05913201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:142.85, Z:90.60 [[ 5.74790163e-01 -8.11050203e-01 -1.08691473e-01 2.15306678e+02] [ 7.98946203e-01 5.84940304e-01 -1.39749081e-01 1.42851209e+02] [ 1.76921544e-01 -6.51224214e-03 9.84203413e-01 9.05991585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.230385723 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:215.32, Y:142.87, Z:90.60 [[ 5.74819159e-01 -8.11441489e-01 -1.05572934e-01 2.15323789e+02] [ 7.99001942e-01 5.84426090e-01 -1.41569921e-01 1.42872095e+02] [ 1.76575284e-01 -2.97587687e-03 9.84282639e-01 9.06006341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:142.90, Z:90.61 [[ 5.74479887e-01 -8.12407685e-01 -9.98329283e-02 2.15338270e+02] [ 7.98870425e-01 5.83067154e-01 -1.47779357e-01 1.42896782e+02] [ 1.78266387e-01 5.14269443e-03 9.83968825e-01 9.06060279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:142.91, Z:90.62 [[ 5.74821643e-01 -8.10619996e-01 -1.11692883e-01 2.15360761e+02] [ 7.99241146e-01 5.85465364e-01 -1.35808312e-01 1.42911968e+02] [ 1.75481247e-01 -1.12039907e-02 9.84419018e-01 9.06158334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.38, Y:142.94, Z:90.62 [[ 5.76270191e-01 -8.09886518e-01 -1.09528512e-01 2.15382327e+02] [ 7.98178478e-01 5.86529128e-01 -1.37457991e-01 1.42936852e+02] [ 1.75567037e-01 -8.21035805e-03 9.84433241e-01 9.06213382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.39, Y:142.96, Z:90.62 [[ 5.74483373e-01 -8.12247737e-01 -1.01106221e-01 2.15390295e+02] [ 7.99844117e-01 5.83312506e-01 -1.41406893e-01 1.42959440e+02] [ 1.73833952e-01 3.66692569e-04 9.84774910e-01 9.06224008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:142.98, Z:90.63 [[ 5.74498028e-01 -8.11988609e-01 -1.03084986e-01 2.15409155e+02] [ 8.00088203e-01 5.83666139e-01 -1.38537744e-01 1.42979386e+02] [ 1.72658286e-01 -2.88742035e-03 9.84977553e-01 9.06281229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:143.00, Z:90.63 [[ 5.73021526e-01 -8.12967588e-01 -1.03585866e-01 2.15425393e+02] [ 8.00952222e-01 5.82300414e-01 -1.39290219e-01 1.43000968e+02] [ 1.73556526e-01 -3.15103611e-03 9.84818868e-01 9.06328793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.440385723 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:215.44, Y:143.03, Z:90.64 [[ 5.71712155e-01 -8.14852025e-01 -9.57151441e-02 2.15438431e+02] [ 8.01225202e-01 5.79609832e-01 -1.48629131e-01 1.43028365e+02] [ 1.76588187e-01 8.28369515e-03 9.84249965e-01 9.06350427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.470385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.46, Y:143.04, Z:90.65 [[ 5.72404275e-01 -8.12150450e-01 -1.12982270e-01 2.15462806e+02] [ 8.01620350e-01 5.83243984e-01 -1.31267934e-01 1.43040441e+02] [ 1.72505541e-01 -1.54305607e-02 9.84887677e-01 9.06462128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.48, Y:143.07, Z:90.65 [[ 5.71596675e-01 -8.14041056e-01 -1.03026211e-01 2.15475053e+02] [ 8.02122808e-01 5.80798032e-01 -1.38825958e-01 1.43065282e+02] [ 1.72847450e-01 -3.28721737e-03 9.84943122e-01 9.06473187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:143.09, Z:90.65 [[ 5.70899371e-01 -8.14476096e-01 -1.03453354e-01 2.15492356e+02] [ 8.02452357e-01 5.80187204e-01 -1.39474094e-01 1.43086952e+02] [ 1.73620628e-01 -3.39071472e-03 9.84806773e-01 9.06521922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:143.11, Z:90.66 [[ 5.71097848e-01 -8.14291876e-01 -1.03807455e-01 2.15509960e+02] [ 8.02167894e-01 5.80446255e-01 -1.40031480e-01 1.43108424e+02] [ 1.74281145e-01 -3.29933056e-03 9.84690407e-01 9.06566430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.53, Y:143.13, Z:90.66 [[ 5.70917974e-01 -8.14401738e-01 -1.03934959e-01 2.15525709e+02] [ 8.02235112e-01 5.80292159e-01 -1.40284837e-01 1.43131242e+02] [ 1.74560857e-01 -3.28913815e-03 9.84640893e-01 9.06607982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:143.15, Z:90.66 [[ 5.70596265e-01 -8.14616888e-01 -1.04015519e-01 2.15541496e+02] [ 8.02420360e-01 5.79989976e-01 -1.40474889e-01 1.43154717e+02] [ 1.74761176e-01 -3.30972317e-03 9.84605290e-01 9.06646509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:143.18, Z:90.67 [[ 5.70696398e-01 -8.14526804e-01 -1.04171523e-01 2.15559001e+02] [ 8.02277025e-01 5.80116886e-01 -1.40769223e-01 1.43176842e+02] [ 1.75091965e-01 -3.23793127e-03 9.84546759e-01 9.06686983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68038572300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.58, Y:143.20, Z:90.67 [[ 5.71338080e-01 -8.14048774e-01 -1.04390571e-01 2.15576843e+02] [ 8.01724178e-01 5.80788515e-01 -1.41149012e-01 1.43196990e+02] [ 1.75531025e-01 -3.04863891e-03 9.84469179e-01 9.06741845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.59, Y:143.22, Z:90.68 [[ 5.71763823e-01 -8.13789745e-01 -1.04078728e-01 2.15592955e+02] [ 8.01521607e-01 5.81152089e-01 -1.40802567e-01 1.43218913e+02] [ 1.75069256e-01 -2.91553536e-03 9.84551804e-01 9.06789637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:143.24, Z:90.68 [[ 5.70294751e-01 -8.15770732e-01 -9.63431913e-02 2.15602480e+02] [ 8.03312739e-01 5.78364032e-01 -1.42069314e-01 1.43244142e+02] [ 1.71617425e-01 3.62767108e-03 9.85156992e-01 9.06767710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.63, Y:143.26, Z:90.69 [[ 5.72772164e-01 -8.12599897e-01 -1.07765740e-01 2.15627487e+02] [ 8.01004800e-01 5.82769121e-01 -1.37008986e-01 1.43261787e+02] [ 1.74136034e-01 -7.84594129e-03 9.84690349e-01 9.06906294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:143.29, Z:90.69 [[ 5.72529863e-01 -8.13348670e-01 -1.03312614e-01 2.15641819e+02] [ 8.01229315e-01 5.81770391e-01 -1.39909962e-01 1.43285758e+02] [ 1.73899801e-01 -2.67446316e-03 9.84759720e-01 9.06937368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:143.31, Z:90.70 [[ 5.71606310e-01 -8.14425622e-01 -9.98856019e-02 2.15655599e+02] [ 8.02209173e-01 5.80267927e-01 -1.40533185e-01 1.43309313e+02] [ 1.72414237e-01 2.00509103e-04 9.85024513e-01 9.06966657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.860385723 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:215.68, Y:143.33, Z:90.70 [[ 5.72905764e-01 -8.13128829e-01 -1.02958698e-01 2.15675295e+02] [ 8.01649302e-01 5.82066423e-01 -1.36224360e-01 1.43329202e+02] [ 1.70696755e-01 -4.49304711e-03 9.85313367e-01 9.07042794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.890385723 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:215.69, Y:143.36, Z:90.70 [[ 5.73911116e-01 -8.13515674e-01 -9.39056924e-02 2.15690625e+02] [ 8.01429361e-01 5.81521727e-01 -1.39797928e-01 1.43356198e+02] [ 1.68336006e-01 4.97280606e-03 9.85717130e-01 9.07039967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:143.37, Z:90.72 [[ 5.76028669e-01 -8.09049233e-01 -1.16748922e-01 2.15712810e+02] [ 7.99300042e-01 5.87391930e-01 -1.26847006e-01 1.43369051e+02] [ 1.71202847e-01 -2.02499065e-02 9.85027678e-01 9.07187715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.72, Y:143.40, Z:90.72 [[ 5.77904416e-01 -8.08913400e-01 -1.08099942e-01 2.15724977e+02] [ 7.97608498e-01 5.87870676e-01 -1.35013893e-01 1.43396607e+02] [ 1.72763333e-01 -8.19630699e-03 9.84929262e-01 9.07205473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:143.42, Z:90.72 [[ 5.81266418e-01 -8.07522129e-01 -1.00186635e-01 2.15738154e+02] [ 7.95193169e-01 5.89833715e-01 -1.40584543e-01 1.43422833e+02] [ 1.72618585e-01 2.04934641e-03 9.84986611e-01 9.07208498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.75, Y:143.45, Z:90.72 [[ 5.81969773e-01 -8.07262274e-01 -9.81774115e-02 2.15754355e+02] [ 7.94468693e-01 5.90168450e-01 -1.43250467e-01 1.43445471e+02] [ 1.73581908e-01 5.36856182e-03 9.84804803e-01 9.07241944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:143.47, Z:90.72 [[ 5.82604980e-01 -8.07507602e-01 -9.22112219e-02 2.15767459e+02] [ 7.94615367e-01 5.89760290e-01 -1.44115295e-01 1.43468641e+02] [ 1.70756713e-01 1.06898345e-02 9.85255232e-01 9.07229215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.79, Y:143.49, Z:90.73 [[ 5.82495245e-01 -8.06395545e-01 -1.02105408e-01 2.15790446e+02] [ 7.94778232e-01 5.91374106e-01 -1.36397321e-01 1.43487968e+02] [ 1.70372686e-01 -1.70036452e-03 9.85378230e-01 9.07317219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.81, Y:143.51, Z:90.74 [[ 5.82377297e-01 -8.05376406e-01 -1.10478632e-01 2.15809388e+02] [ 7.94447661e-01 5.92670376e-01 -1.32645162e-01 1.43506603e+02] [ 1.72306696e-01 -1.05199600e-02 9.84987174e-01 9.07411114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.130385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:215.83, Y:143.53, Z:90.74 [[ 5.80696142e-01 -8.06981284e-01 -1.07578796e-01 2.15825054e+02] [ 7.95913636e-01 5.90520983e-01 -1.33440823e-01 1.43530409e+02] [ 1.71211783e-01 -8.13485909e-03 9.85200665e-01 9.07406078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.160385723 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:215.84, Y:143.56, Z:90.74 [[ 5.81758305e-01 -8.08481362e-01 -8.89671940e-02 2.15836899e+02] [ 7.94466060e-01 5.88273874e-01 -1.50855988e-01 1.43560698e+02] [ 1.74301330e-01 1.70803079e-02 9.84544214e-01 9.07398962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.190385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.86, Y:143.57, Z:90.75 [[ 5.80203896e-01 -8.06544993e-01 -1.13351720e-01 2.15861655e+02] [ 7.96430259e-01 5.90960756e-01 -1.28313003e-01 1.43567573e+02] [ 1.70476628e-01 -1.58290361e-02 9.85234572e-01 9.07523765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:143.60, Z:90.75 [[ 5.78248264e-01 -8.09906239e-01 -9.83912102e-02 2.15874797e+02] [ 7.96691393e-01 5.86529303e-01 -1.45829358e-01 1.43597030e+02] [ 1.75817434e-01 5.93814256e-03 9.84404880e-01 9.07530369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.250385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.89, Y:143.62, Z:90.75 [[ 5.76396480e-01 -8.11465935e-01 -9.63853443e-02 2.15887414e+02] [ 7.98474724e-01 5.84363784e-01 -1.44765617e-01 1.43618904e+02] [ 1.73796471e-01 6.48113065e-03 9.84760266e-01 9.07531185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.91, Y:143.64, Z:90.76 [[ 5.74551403e-01 -8.12013960e-01 -1.02586618e-01 2.15907038e+02] [ 7.99778268e-01 5.83636435e-01 -1.40439430e-01 1.43638627e+02] [ 1.73912066e-01 -1.35687583e-03 9.84760251e-01 9.07598070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.310385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:215.92, Y:143.66, Z:90.76 [[ 5.73721274e-01 -8.12595395e-01 -1.02628576e-01 2.15923879e+02] [ 8.00344413e-01 5.82826319e-01 -1.40578460e-01 1.43659653e+02] [ 1.74048044e-01 -1.48535443e-03 9.84736042e-01 9.07639674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.340385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.95, Y:143.68, Z:90.77 [[ 5.73755609e-01 -8.11595683e-01 -1.10077012e-01 2.15945110e+02] [ 8.00938894e-01 5.84083528e-01 -1.31694038e-01 1.43676156e+02] [ 1.71176483e-01 -1.26047672e-02 9.85159749e-01 9.07721645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:143.70, Z:90.77 [[ 5.72997131e-01 -8.14205069e-01 -9.35114615e-02 2.15957391e+02] [ 8.01093002e-01 5.80513320e-01 -1.45788503e-01 1.43703678e+02] [ 1.72986387e-01 8.62501638e-03 9.84886450e-01 9.07715477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.98, Y:143.72, Z:90.78 [[ 5.72713507e-01 -8.13398971e-01 -1.01888922e-01 2.15977772e+02] [ 8.01316205e-01 5.81703887e-01 -1.39688679e-01 1.43723002e+02] [ 1.72891809e-01 -1.64365126e-03 9.84939450e-01 9.07796351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43038572300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:216.00, Y:143.74, Z:90.78 [[ 5.72545048e-01 -8.13538569e-01 -1.01721009e-01 2.15995237e+02] [ 8.01484386e-01 5.81508656e-01 -1.39536596e-01 1.43744627e+02] [ 1.72670050e-01 -1.63681345e-03 9.84978363e-01 9.07849055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.460385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.01, Y:143.77, Z:90.78 [[ 5.72889614e-01 -8.14458797e-01 -9.19475904e-02 2.16008315e+02] [ 8.02025209e-01 5.80171744e-01 -1.41972927e-01 1.43770521e+02] [ 1.68976493e-01 7.59052995e-03 9.85590853e-01 9.07825072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.490385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.03, Y:143.79, Z:90.79 [[ 5.72577949e-01 -8.13579401e-01 -1.01207957e-01 2.16026757e+02] [ 8.02195304e-01 5.81443257e-01 -1.35670310e-01 1.43787747e+02] [ 1.69225254e-01 -3.50671989e-03 9.85571163e-01 9.07909036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:143.81, Z:90.79 [[ 5.75013421e-01 -8.12488280e-01 -9.60331239e-02 2.16045632e+02] [ 8.00517652e-01 5.82969577e-01 -1.38989072e-01 1.43812723e+02] [ 1.68911382e-01 3.04437118e-03 9.85626540e-01 9.07937073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:143.83, Z:90.80 [[ 5.77729224e-01 -8.10561606e-01 -9.60147248e-02 2.16066650e+02] [ 7.98829102e-01 5.85647143e-01 -1.37439039e-01 1.43833051e+02] [ 1.67633557e-01 2.70319268e-03 9.85845669e-01 9.07991053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:143.85, Z:90.81 [[ 5.78933955e-01 -8.09370129e-01 -9.87697834e-02 2.16086007e+02] [ 7.97854920e-01 5.87298895e-01 -1.36042397e-01 1.43854078e+02] [ 1.68116037e-01 -4.43947489e-05 9.85767212e-01 9.08056460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:143.88, Z:90.80 [[ 5.75989426e-01 -8.13160129e-01 -8.37065498e-02 2.16089930e+02] [ 8.00953687e-01 5.81866356e-01 -1.41084138e-01 1.43879925e+02] [ 1.63430021e-01 1.42179019e-02 9.86452472e-01 9.07980630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.13, Y:143.88, Z:90.83 [[ 5.81756549e-01 -8.02954441e-01 -1.29705373e-01 2.16132504e+02] [ 7.94106704e-01 5.95209348e-01 -1.22964938e-01 1.43882804e+02] [ 1.75937093e-01 -3.14642476e-02 9.83898440e-01 9.08349460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.14, Y:143.91, Z:90.83 [[ 5.82677260e-01 -8.06039090e-01 -1.03866243e-01 2.16137493e+02] [ 7.93308348e-01 5.91861833e-01 -1.42693506e-01 1.43914584e+02] [ 1.76491008e-01 7.46302955e-04 9.84301969e-01 9.08278582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.700385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:216.16, Y:143.94, Z:90.83 [[ 5.84055262e-01 -8.04989842e-01 -1.04263157e-01 2.16156349e+02] [ 7.92130274e-01 5.93287546e-01 -1.43316142e-01 1.43935638e+02] [ 1.77226071e-01 1.11454377e-03 9.84169537e-01 9.08324493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:143.96, Z:90.84 [[ 5.83673454e-01 -8.05550236e-01 -1.02049582e-01 2.16172610e+02] [ 7.92091524e-01 5.92508033e-01 -1.46714854e-01 1.43958487e+02] [ 1.78651383e-01 4.80095637e-03 9.83900724e-01 9.08356456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.760385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:216.18, Y:143.98, Z:90.83 [[ 5.80176467e-01 -8.09311103e-01 -9.17104442e-02 2.16178826e+02] [ 7.96235924e-01 5.87271664e-01 -1.45328410e-01 1.43981180e+02] [ 1.71474841e-01 1.12929733e-02 9.85123773e-01 9.08274903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.790385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.22, Y:143.99, Z:90.85 [[ 5.83219077e-01 -8.03607375e-01 -1.18619961e-01 2.16216440e+02] [ 7.92901647e-01 5.94912566e-01 -1.31856045e-01 1.43990883e+02] [ 1.76528996e-01 -1.71530021e-02 9.84145969e-01 9.08539316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:144.02, Z:90.84 [[ 5.78841297e-01 -8.10414105e-01 -9.03976309e-02 2.16217676e+02] [ 7.96673882e-01 5.85680451e-01 -1.49295459e-01 1.44024058e+02] [ 1.73935271e-01 1.44009454e-02 9.84651783e-01 9.08416265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.25, Y:144.04, Z:90.86 [[ 5.80441832e-01 -8.07066341e-01 -1.08310672e-01 2.16249245e+02] [ 7.94390231e-01 5.90451450e-01 -1.42517531e-01 1.44037493e+02] [ 1.78973296e-01 -3.31780345e-03 9.83848338e-01 9.08586321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.880385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:216.27, Y:144.06, Z:90.86 [[ 5.79558124e-01 -8.07959873e-01 -1.06363643e-01 2.16266279e+02] [ 7.95069962e-01 5.89236176e-01 -1.43751468e-01 1.44059583e+02] [ 1.78818724e-01 -1.25420642e-03 9.83881238e-01 9.08622938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.910385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:216.28, Y:144.08, Z:90.87 [[ 5.79065937e-01 -8.08452838e-01 -1.05293164e-01 2.16283247e+02] [ 7.95312082e-01 5.88560876e-01 -1.45171581e-01 1.44080827e+02] [ 1.79335813e-01 3.22992437e-04 9.83787864e-01 9.08659692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.940385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:216.30, Y:144.10, Z:90.87 [[ 5.78039621e-01 -8.09220558e-01 -1.05034686e-01 2.16301661e+02] [ 7.96143396e-01 5.87504955e-01 -1.44891756e-01 1.44102079e+02] [ 1.78957786e-01 1.30503941e-04 9.83856745e-01 9.08691776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.970385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:216.32, Y:144.12, Z:90.87 [[ 5.77064922e-01 -8.09825291e-01 -1.05731137e-01 2.16321155e+02] [ 7.96567808e-01 5.86671116e-01 -1.45933989e-01 1.44121441e+02] [ 1.80210439e-01 -8.63387985e-06 9.83628079e-01 9.08749178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:216.33, Y:144.15, Z:90.87 [[ 5.74126994e-01 -8.13113054e-01 -9.60487233e-02 2.16333625e+02] [ 7.99653656e-01 5.82052143e-01 -1.47544344e-01 1.44145422e+02] [ 1.75875597e-01 7.90347770e-03 9.84380673e-01 9.08689162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.36, Y:144.16, Z:90.89 [[ 5.75606742e-01 -8.10089668e-01 -1.11497123e-01 2.16360480e+02] [ 7.97523628e-01 5.86264091e-01 -1.42304175e-01 1.44160903e+02] [ 1.80645901e-01 -7.01034748e-03 9.83523214e-01 9.08857662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.36, Y:144.19, Z:90.87 [[ 5.71841375e-01 -8.15375800e-01 -9.03313115e-02 2.16363184e+02] [ 8.01576574e-01 5.78778059e-01 -1.49969847e-01 1.44190134e+02] [ 1.74563565e-01 1.33515005e-02 9.84555381e-01 9.08728189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.090385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:216.40, Y:144.20, Z:90.89 [[ 5.72504715e-01 -8.11943644e-01 -1.13955565e-01 2.16395280e+02] [ 8.00377524e-01 5.83597876e-01 -1.37147142e-01 1.44198904e+02] [ 1.77859976e-01 -1.26900878e-02 9.83973979e-01 9.08934386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:216.41, Y:144.22, Z:90.90 [[ 5.75386007e-01 -8.11235894e-01 -1.04054161e-01 2.16413594e+02] [ 7.97796616e-01 5.84716818e-01 -1.47060541e-01 1.44224472e+02] [ 1.80143007e-01 1.60252041e-03 9.83639125e-01 9.08971176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.43, Y:144.25, Z:90.90 [[ 5.75551548e-01 -8.10951353e-01 -1.05348564e-01 2.16431400e+02] [ 7.97738822e-01 5.85113567e-01 -1.45790553e-01 1.44245008e+02] [ 1.79869920e-01 -1.30660472e-04 9.83690396e-01 9.09031614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:144.26, Z:90.91 [[ 5.75217897e-01 -8.11227682e-01 -1.05042934e-01 2.16449212e+02] [ 7.98081392e-01 5.84730382e-01 -1.45452644e-01 1.44264820e+02] [ 1.79417007e-01 -1.65846694e-04 9.83773099e-01 9.09069822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:216.46, Y:144.29, Z:90.91 [[ 5.72745783e-01 -8.13110448e-01 -1.03988785e-01 2.16462891e+02] [ 8.00282175e-01 5.82108860e-01 -1.43867003e-01 1.44285800e+02] [ 1.77512556e-01 -8.21151670e-04 9.84118193e-01 9.09078350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:144.31, Z:90.92 [[ 5.72796548e-01 -8.13025107e-01 -1.04375714e-01 2.16483777e+02] [ 7.99543862e-01 5.82227762e-01 -1.47446414e-01 1.44308137e+02] [ 1.80648075e-01 1.00383559e-03 9.83547287e-01 9.09155765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:144.33, Z:90.92 [[ 5.73103640e-01 -8.12803457e-01 -1.04416272e-01 2.16502048e+02] [ 7.99803515e-01 5.82537772e-01 -1.44789786e-01 1.44328107e+02] [ 1.78512061e-01 -5.32948134e-04 9.83937579e-01 9.09200946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.300385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:216.52, Y:144.35, Z:90.92 [[ 5.73003259e-01 -8.12801883e-01 -1.04977919e-01 2.16521395e+02] [ 7.99645805e-01 5.82540008e-01 -1.45649327e-01 1.44349163e+02] [ 1.79537885e-01 -4.87612913e-04 9.83750939e-01 9.09235032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.54, Y:144.37, Z:90.93 [[ 5.73488232e-01 -8.12534399e-01 -1.04398742e-01 2.16539613e+02] [ 7.99503643e-01 5.82913140e-01 -1.44935146e-01 1.44368386e+02] [ 1.78620190e-01 -3.48573430e-04 9.83918038e-01 9.09311873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:216.56, Y:144.39, Z:90.93 [[ 5.72534552e-01 -8.13217782e-01 -1.04312150e-01 2.16556444e+02] [ 8.00204573e-01 5.81959258e-01 -1.44900185e-01 1.44390023e+02] [ 1.78540828e-01 -5.10696891e-04 9.83932372e-01 9.09342640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.390385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:216.57, Y:144.41, Z:90.93 [[ 5.69839351e-01 -8.16235553e-01 -9.50927787e-02 2.16565696e+02] [ 8.02946828e-01 5.77672642e-01 -1.46869703e-01 1.44414555e+02] [ 1.74812770e-01 7.33769148e-03 9.84574352e-01 9.09304855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.420385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:216.58, Y:144.43, Z:90.94 [[ 5.69091683e-01 -8.16102310e-01 -1.00556826e-01 2.16583783e+02] [ 8.03457841e-01 5.77907087e-01 -1.43104495e-01 1.44433519e+02] [ 1.74900411e-01 6.46407596e-04 9.84585917e-01 9.09374347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.60, Y:144.46, Z:90.94 [[ 5.69354581e-01 -8.15786912e-01 -1.01622216e-01 2.16603331e+02] [ 8.02969575e-01 5.78352439e-01 -1.44042765e-01 1.44455871e+02] [ 1.76281659e-01 4.11860568e-04 9.84339681e-01 9.09446892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.480385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:216.62, Y:144.48, Z:90.96 [[ 5.71040810e-01 -8.13948914e-01 -1.06768717e-01 2.16624879e+02] [ 8.01181396e-01 5.80925824e-01 -1.43643856e-01 1.44476382e+02] [ 1.78943465e-01 -3.51460612e-03 9.83853080e-01 9.09552368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.510385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:216.64, Y:144.50, Z:90.96 [[ 5.69725171e-01 -8.14941483e-01 -1.06224330e-01 2.16639852e+02] [ 8.01915617e-01 5.79537901e-01 -1.45145325e-01 1.44499450e+02] [ 1.79845972e-01 -2.49000456e-03 9.83691632e-01 9.09588989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.540385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:216.65, Y:144.52, Z:90.96 [[ 5.68975860e-01 -8.15650103e-01 -1.04792081e-01 2.16653750e+02] [ 8.02436137e-01 5.78544828e-01 -1.46226291e-01 1.44522551e+02] [ 1.79896405e-01 -8.89722967e-04 9.83685159e-01 9.09626943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:144.55, Z:90.97 [[ 5.68889242e-01 -8.15721603e-01 -1.04705761e-01 2.16667841e+02] [ 8.02516492e-01 5.78444048e-01 -1.46184003e-01 1.44545704e+02] [ 1.79811873e-01 -8.65593021e-04 9.83700636e-01 9.09688983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.67, Y:144.57, Z:90.96 [[ 5.62880888e-01 -8.21410914e-01 -9.19196208e-02 2.16666813e+02] [ 8.07783234e-01 5.70252611e-01 -1.49325839e-01 1.44572685e+02] [ 1.75075278e-01 9.80153220e-03 9.84506261e-01 9.09576405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:144.59, Z:90.97 [[ 5.64223876e-01 -8.19124164e-01 -1.03378053e-01 2.16690904e+02] [ 8.06300400e-01 5.73613148e-01 -1.44387056e-01 1.44592033e+02] [ 1.77569937e-01 -1.88714121e-03 9.84106374e-01 9.09715960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:216.71, Y:144.62, Z:90.98 [[ 5.63959568e-01 -8.19344763e-01 -1.03071649e-01 2.16706623e+02] [ 8.06153367e-01 5.73300881e-01 -1.46433767e-01 1.44615772e+02] [ 1.79070807e-01 -5.08832564e-04 9.83836057e-01 9.09772831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:144.64, Z:90.98 [[ 5.63105857e-01 -8.19891197e-01 -1.03393521e-01 2.16722372e+02] [ 8.06609765e-01 5.72519016e-01 -1.46978441e-01 1.44638490e+02] [ 1.79701087e-01 -6.33802712e-04 9.83721057e-01 9.09827318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.720385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:216.74, Y:144.66, Z:90.99 [[ 5.61379331e-01 -8.21095273e-01 -1.03226926e-01 2.16736521e+02] [ 8.07843421e-01 5.70790438e-01 -1.46926115e-01 1.44660521e+02] [ 1.79561281e-01 -9.09908850e-04 9.83746369e-01 9.09874950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.76, Y:144.68, Z:91.00 [[ 5.59685639e-01 -8.21213828e-01 -1.11174793e-01 2.16755261e+02] [ 8.08685549e-01 5.70537418e-01 -1.43229666e-01 1.44680452e+02] [ 1.81051561e-01 -9.74186167e-03 9.83425355e-01 9.09989727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.780385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:216.77, Y:144.71, Z:91.00 [[ 5.59123731e-01 -8.22080593e-01 -1.07536753e-01 2.16770613e+02] [ 8.08636343e-01 5.69356105e-01 -1.48124575e-01 1.44706669e+02] [ 1.82997045e-01 -4.13816141e-03 9.83104754e-01 9.10027011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.810385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:216.78, Y:144.73, Z:91.00 [[ 5.59087185e-01 -8.22959554e-01 -1.00792325e-01 2.16781579e+02] [ 8.09262487e-01 5.68096320e-01 -1.49535278e-01 1.44731916e+02] [ 1.80321234e-01 2.03581008e-03 9.83605667e-01 9.10035432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:216.80, Y:144.75, Z:91.01 [[ 5.61071549e-01 -8.20782316e-01 -1.07308470e-01 2.16800958e+02] [ 8.07467730e-01 5.71227052e-01 -1.47293992e-01 1.44751835e+02] [ 1.82193805e-01 -4.00565894e-03 9.83254480e-01 9.10132380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.870385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:216.82, Y:144.77, Z:91.02 [[ 5.60641108e-01 -8.21044108e-01 -1.07555195e-01 2.16817220e+02] [ 8.07427215e-01 5.70855011e-01 -1.48949147e-01 1.44774159e+02] [ 1.83692242e-01 -3.33597733e-03 9.82978144e-01 9.10159126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.83, Y:144.80, Z:91.02 [[ 5.62305622e-01 -8.20904415e-01 -9.96409984e-02 2.16830323e+02] [ 8.06350442e-01 5.71031297e-01 -1.54020203e-01 1.44800668e+02] [ 1.83333993e-01 6.26086277e-03 9.83030747e-01 9.10189887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93038572300003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:216.85, Y:144.82, Z:91.03 [[ 5.64030234e-01 -8.18435984e-01 -1.09692458e-01 2.16848056e+02] [ 8.05111602e-01 5.74573251e-01 -1.47176380e-01 1.44820191e+02] [ 1.83480798e-01 -5.30274301e-03 9.83008992e-01 9.10256455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.960385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:216.86, Y:144.85, Z:91.03 [[ 5.64872836e-01 -8.18643861e-01 -1.03638349e-01 2.16859791e+02] [ 8.04747167e-01 5.74299696e-01 -1.50206044e-01 1.44845663e+02] [ 1.82484728e-01 1.44464597e-03 9.83207627e-01 9.10259437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:216.88, Y:144.87, Z:91.03 [[ 5.70670426e-01 -8.14759595e-01 -1.02479595e-01 2.16879704e+02] [ 8.00898326e-01 5.79789276e-01 -1.49687232e-01 1.44866848e+02] [ 1.81375679e-01 3.34633972e-03 9.83408189e-01 9.10324400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.020385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:216.89, Y:144.89, Z:91.04 [[ 5.67145335e-01 -8.16248549e-01 -1.09929410e-01 2.16894986e+02] [ 8.03027197e-01 5.77677119e-01 -1.46411974e-01 1.44885362e+02] [ 1.83012266e-01 -5.23943802e-03 9.83096668e-01 9.10407293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:144.91, Z:91.05 [[ 5.69412679e-01 -8.15100050e-01 -1.06682279e-01 2.16911152e+02] [ 8.01617541e-01 5.79318406e-01 -1.47646548e-01 1.44908798e+02] [ 1.82149717e-01 -1.44656972e-03 9.83269743e-01 9.10480368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.080385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:216.93, Y:144.93, Z:91.05 [[ 5.69057965e-01 -8.15742524e-01 -1.03620306e-01 2.16926150e+02] [ 8.01749108e-01 5.78409582e-01 -1.50468350e-01 1.44932830e+02] [ 1.82678409e-01 2.54772460e-03 9.83169420e-01 9.10504777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:144.95, Z:91.06 [[ 5.68385199e-01 -8.15645682e-01 -1.07983273e-01 2.16941509e+02] [ 8.02185572e-01 5.78545290e-01 -1.47592875e-01 1.44953232e+02] [ 1.82856705e-01 -2.73301778e-03 9.83135777e-01 9.10579211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.96, Y:144.98, Z:91.07 [[ 5.68939211e-01 -8.15032922e-01 -1.09679125e-01 2.16961178e+02] [ 8.01333086e-01 5.79405774e-01 -1.48842983e-01 1.44976349e+02] [ 1.84860650e-01 -3.20690226e-03 9.82759511e-01 9.10650852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:145.00, Z:91.07 [[ 5.66699971e-01 -8.17326467e-01 -1.04060509e-01 2.16975850e+02] [ 8.03154383e-01 5.76170196e-01 -1.51561679e-01 1.44998774e+02] [ 1.83831935e-01 2.31334495e-03 9.82954968e-01 9.10663964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.200385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:216.99, Y:145.02, Z:91.07 [[ 5.64257403e-01 -8.18492242e-01 -1.08092708e-01 2.16994564e+02] [ 8.04246696e-01 5.74516450e-01 -1.52046378e-01 1.45019106e+02] [ 1.86549820e-01 -1.13990873e-03 9.82444841e-01 9.10720683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.230385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:217.01, Y:145.05, Z:91.07 [[ 5.65095337e-01 -8.19726289e-01 -9.33599004e-02 2.17007869e+02] [ 8.04523240e-01 5.72583254e-01 -1.57768102e-01 1.45046996e+02] [ 1.82782976e-01 1.40438094e-02 9.83052977e-01 9.10670868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:217.03, Y:145.06, Z:91.09 [[ 5.61993709e-01 -8.19106931e-01 -1.15008289e-01 2.17029958e+02] [ 8.06365544e-01 5.73523589e-01 -1.44379024e-01 1.45060031e+02] [ 1.84221826e-01 -1.15986179e-02 9.82816255e-01 9.10856680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:217.04, Y:145.09, Z:91.09 [[ 5.61985253e-01 -8.20263797e-01 -1.06488871e-01 2.17042643e+02] [ 8.06376690e-01 5.71983688e-01 -1.50304007e-01 1.45086387e+02] [ 1.84198833e-01 -1.40150801e-03 9.82888003e-01 9.10861842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.06, Y:145.11, Z:91.09 [[ 5.61725889e-01 -8.21489475e-01 -9.80768495e-02 2.17056346e+02] [ 8.06672221e-01 5.70163913e-01 -1.55541121e-01 1.45112927e+02] [ 1.83695274e-01 8.25560428e-03 9.82948570e-01 9.10871676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.350385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:217.08, Y:145.13, Z:91.10 [[ 5.60548666e-01 -8.21280552e-01 -1.06223578e-01 2.17076956e+02] [ 8.07685024e-01 5.70519641e-01 -1.48836290e-01 1.45131497e+02] [ 1.82838988e-01 -2.36520950e-03 9.83140026e-01 9.10950374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.09, Y:145.15, Z:91.10 [[ 5.61090714e-01 -8.21377383e-01 -1.02549526e-01 2.17091813e+02] [ 8.08223695e-01 5.70384656e-01 -1.46409706e-01 1.45153691e+02] [ 1.78750298e-01 -7.33830419e-04 9.83894198e-01 9.10986906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.11, Y:145.18, Z:91.10 [[ 5.60403360e-01 -8.21787263e-01 -1.03023149e-01 2.17107076e+02] [ 8.08680306e-01 5.69792747e-01 -1.46192981e-01 1.45176527e+02] [ 1.78841373e-01 -1.38575383e-03 9.83876945e-01 9.11029421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.440385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:217.13, Y:145.20, Z:91.11 [[ 5.61226835e-01 -8.20876164e-01 -1.05767490e-01 2.17126882e+02] [ 8.07561428e-01 5.71099562e-01 -1.47274678e-01 1.45199245e+02] [ 1.81298040e-01 -2.75924375e-03 9.83424327e-01 9.11077235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.14, Y:145.22, Z:91.11 [[ 5.60447574e-01 -8.22099614e-01 -1.00253387e-01 2.17138267e+02] [ 8.08363545e-01 5.69336561e-01 -1.49680523e-01 1.45224993e+02] [ 1.80130218e-01 2.84690256e-03 9.83638653e-01 9.11094557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:145.25, Z:91.11 [[ 5.60196479e-01 -8.22038789e-01 -1.02137822e-01 2.17153948e+02] [ 8.08792526e-01 5.69431432e-01 -1.46977872e-01 1.45246538e+02] [ 1.78981998e-01 -2.71820405e-04 9.83852311e-01 9.11141183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.17, Y:145.27, Z:91.12 [[ 5.61540545e-01 -8.21786247e-01 -9.66415010e-02 2.17167556e+02] [ 8.08239834e-01 5.69770417e-01 -1.48694459e-01 1.45273079e+02] [ 1.77258530e-01 5.38845690e-03 9.84149571e-01 9.11151976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:145.30, Z:91.12 [[ 5.61794341e-01 -8.21291346e-01 -9.93360138e-02 2.17183825e+02] [ 8.08260438e-01 5.70506816e-01 -1.45729330e-01 1.45295059e+02] [ 1.76358111e-01 1.58054304e-03 9.84324804e-01 9.11208182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:145.32, Z:91.12 [[ 5.61709464e-01 -8.21461096e-01 -9.84080645e-02 2.17198424e+02] [ 8.08537462e-01 5.70261167e-01 -1.45152931e-01 1.45319338e+02] [ 1.75355784e-01 1.96716838e-03 9.84503164e-01 9.11243263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.620385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:217.21, Y:145.34, Z:91.13 [[ 5.62444708e-01 -8.20789171e-01 -9.98052452e-02 2.17214320e+02] [ 8.08151144e-01 5.71231244e-01 -1.43480292e-01 1.45342134e+02] [ 1.74778944e-01 4.20077589e-05 9.84607698e-01 9.11296667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:217.23, Y:145.37, Z:91.14 [[ 5.63079089e-01 -8.20272188e-01 -1.00476251e-01 2.17231387e+02] [ 8.07531964e-01 5.71973369e-01 -1.44008998e-01 1.45365684e+02] [ 1.75596316e-01 -4.93293257e-05 9.84462255e-01 9.11356296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.25, Y:145.39, Z:91.14 [[ 5.63708665e-01 -8.20157133e-01 -9.78509953e-02 2.17246321e+02] [ 8.07506239e-01 5.72135241e-01 -1.43509375e-01 1.45388425e+02] [ 1.73684241e-01 1.88218923e-03 9.84799595e-01 9.11389639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:217.27, Y:145.41, Z:91.15 [[ 5.64508040e-01 -8.18857358e-01 -1.03938928e-01 2.17265312e+02] [ 8.06890480e-01 5.73974612e-01 -1.39573987e-01 1.45408564e+02] [ 1.73949491e-01 -5.07669366e-03 9.84741490e-01 9.11485538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:217.28, Y:145.43, Z:91.15 [[ 5.64514095e-01 -8.19371964e-01 -9.97668354e-02 2.17278931e+02] [ 8.06964658e-01 5.73262142e-01 -1.42051247e-01 1.45432896e+02] [ 1.73585359e-01 -3.18379144e-04 9.84818776e-01 9.11501174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:145.46, Z:91.15 [[ 5.66730294e-01 -8.18855337e-01 -9.10643266e-02 2.17290445e+02] [ 8.06141420e-01 5.73941646e-01 -1.43968740e-01 1.45459404e+02] [ 1.70155181e-01 8.18072068e-03 9.85383322e-01 9.11500178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.31, Y:145.48, Z:91.16 [[ 5.67741504e-01 -8.17234107e-01 -9.89848453e-02 2.17309675e+02] [ 8.05303211e-01 5.76305385e-01 -1.39136055e-01 1.45478685e+02] [ 1.70752229e-01 -7.19500394e-04 9.85313736e-01 9.11589805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:145.50, Z:91.16 [[ 5.68637418e-01 -8.17003208e-01 -9.56934973e-02 2.17324523e+02] [ 8.04763822e-01 5.76624665e-01 -1.40922627e-01 1.45502677e+02] [ 1.70313469e-01 3.12321379e-03 9.85384985e-01 9.11616478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:217.34, Y:145.53, Z:91.16 [[ 5.69222404e-01 -8.17051074e-01 -9.17245736e-02 2.17336997e+02] [ 8.04442394e-01 5.76513583e-01 -1.43194007e-01 1.45525819e+02] [ 1.69877280e-01 7.72210123e-03 9.85434969e-01 9.11627153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.36, Y:145.55, Z:91.17 [[ 5.70406012e-01 -8.15147327e-01 -1.00855426e-01 2.17358450e+02] [ 8.03879064e-01 5.79239893e-01 -1.35128074e-01 1.45545053e+02] [ 1.68568774e-01 -3.99769953e-03 9.85681788e-01 9.11726826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.37, Y:145.57, Z:91.18 [[ 5.70559568e-01 -8.15565759e-01 -9.65104712e-02 2.17371973e+02] [ 8.03704472e-01 5.78662430e-01 -1.38596228e-01 1.45569349e+02] [ 1.68881321e-01 1.51150654e-03 9.85635234e-01 9.11753857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:217.39, Y:145.59, Z:91.18 [[ 5.69723906e-01 -8.15658125e-01 -1.00580783e-01 2.17388375e+02] [ 8.04121337e-01 5.78526532e-01 -1.36733051e-01 1.45589523e+02] [ 1.69716075e-01 -2.97906597e-03 9.85488498e-01 9.11807919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.40, Y:145.61, Z:91.18 [[ 5.69141210e-01 -8.16818754e-01 -9.42624359e-02 2.17401021e+02] [ 8.04302738e-01 5.76869931e-01 -1.42541883e-01 1.45614056e+02] [ 1.70808048e-01 5.31092452e-03 9.85290011e-01 9.11822187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:145.63, Z:91.21 [[ 5.73105862e-01 -8.12041912e-01 -1.10170799e-01 2.17432454e+02] [ 8.00235332e-01 5.83530851e-01 -1.38257581e-01 1.45630570e+02] [ 1.76559010e-01 -8.92633613e-03 9.84249580e-01 9.12054402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.45, Y:145.66, Z:91.21 [[ 5.71848299e-01 -8.13596859e-01 -1.05117426e-01 2.17447756e+02] [ 8.01744649e-01 5.81407046e-01 -1.38460699e-01 1.45655676e+02] [ 1.73767202e-01 -5.09881891e-03 9.84773559e-01 9.12090232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:145.68, Z:91.21 [[ 5.70852551e-01 -8.14932718e-01 -1.00060131e-01 2.17461943e+02] [ 8.02653729e-01 5.79555558e-01 -1.40933835e-01 1.45680272e+02] [ 1.72841998e-01 1.38801947e-04 9.84949554e-01 9.12115208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:145.70, Z:91.21 [[ 5.65011510e-01 -8.19253839e-01 -9.79037371e-02 2.17469495e+02] [ 8.07518892e-01 5.73430175e-01 -1.38170450e-01 1.45702357e+02] [ 1.69337629e-01 -9.91222649e-04 9.85557601e-01 9.12102064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.130385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:217.49, Y:145.73, Z:91.22 [[ 5.62253957e-01 -8.21211711e-01 -9.73746032e-02 2.17486234e+02] [ 8.09232498e-01 5.70623586e-01 -1.39755098e-01 1.45725396e+02] [ 1.70332768e-01 -2.20836396e-04 9.85386574e-01 9.12156785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:145.75, Z:91.22 [[ 5.60224832e-01 -8.22697567e-01 -9.65238356e-02 2.17500589e+02] [ 8.10782740e-01 5.68479289e-01 -1.39508590e-01 1.45747991e+02] [ 1.69645179e-01 -1.03683538e-04 9.85505202e-01 9.12190234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.52, Y:145.77, Z:91.23 [[ 5.62092209e-01 -8.21716472e-01 -9.39914236e-02 2.17524828e+02] [ 8.09165888e-01 5.69879523e-01 -1.43135933e-01 1.45772787e+02] [ 1.71180942e-01 4.40093925e-03 9.85229779e-01 9.12281417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:145.79, Z:91.24 [[ 5.60542537e-01 -8.22224389e-01 -9.86869728e-02 2.17542172e+02] [ 8.10369015e-01 5.69160021e-01 -1.39136374e-01 1.45792773e+02] [ 1.70570000e-01 -1.98100882e-03 9.85343570e-01 9.12357593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:217.55, Y:145.81, Z:91.24 [[ 5.54140804e-01 -8.25529825e-01 -1.06904058e-01 2.17550579e+02] [ 8.15132177e-01 5.64176528e-01 -1.31393987e-01 1.45809519e+02] [ 1.68782416e-01 -1.43301680e-02 9.85549158e-01 9.12404925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.57, Y:145.84, Z:91.24 [[ 5.57023195e-01 -8.26035581e-01 -8.59673143e-02 2.17565558e+02] [ 8.12838493e-01 5.63483112e-01 -1.47581732e-01 1.45844010e+02] [ 1.70348891e-01 1.23289054e-02 9.85306680e-01 9.12381865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:145.86, Z:91.25 [[ 5.56362986e-01 -8.25077049e-01 -9.85296434e-02 2.17585576e+02] [ 8.13293580e-01 5.65013226e-01 -1.38973404e-01 1.45861183e+02] [ 1.70334318e-01 -2.81386812e-03 9.85382313e-01 9.12488090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.60, Y:145.88, Z:91.25 [[ 5.55920943e-01 -8.25434436e-01 -9.80300827e-02 2.17600418e+02] [ 8.13766952e-01 5.64490672e-01 -1.38324364e-01 1.45884115e+02] [ 1.69514761e-01 -2.87623084e-03 9.85523451e-01 9.12532836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.61, Y:145.91, Z:91.26 [[ 5.55586819e-01 -8.25653924e-01 -9.80759108e-02 2.17614992e+02] [ 8.13964888e-01 5.64169476e-01 -1.38470079e-01 1.45906818e+02] [ 1.69659799e-01 -2.89819728e-03 9.85498429e-01 9.12579956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:145.93, Z:91.26 [[ 5.55542833e-01 -8.25722461e-01 -9.77475190e-02 2.17628264e+02] [ 8.14100791e-01 5.64069316e-01 -1.38078633e-01 1.45931831e+02] [ 1.69151005e-01 -2.86773771e-03 9.85585975e-01 9.12625895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:145.95, Z:91.27 [[ 5.55481618e-01 -8.25796128e-01 -9.74726954e-02 2.17641834e+02] [ 8.14227486e-01 5.63961624e-01 -1.37771141e-01 1.45954973e+02] [ 1.68741734e-01 -2.83561154e-03 9.85656221e-01 9.12666211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:217.65, Y:145.98, Z:91.27 [[ 5.51144331e-01 -8.28104393e-01 -1.02386717e-01 2.17647081e+02] [ 8.17624188e-01 5.60464499e-01 -1.31796180e-01 1.45976467e+02] [ 1.66525116e-01 -1.10751389e-02 9.85975013e-01 9.12691756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.490385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.66, Y:146.01, Z:91.27 [[ 5.55937721e-01 -8.26512312e-01 -8.83778750e-02 2.17663974e+02] [ 8.13945886e-01 5.62861653e-01 -1.43801441e-01 1.46008407e+02] [ 1.68598178e-01 8.00983759e-03 9.85652320e-01 9.12708108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.68, Y:146.03, Z:91.28 [[ 5.55713529e-01 -8.25631996e-01 -9.75411759e-02 2.17681462e+02] [ 8.14033309e-01 5.64202306e-01 -1.37933063e-01 1.46029573e+02] [ 1.68914907e-01 -2.75049679e-03 9.85626800e-01 9.12793228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:146.05, Z:91.28 [[ 5.56063132e-01 -8.25384833e-01 -9.76405136e-02 2.17694342e+02] [ 8.13744668e-01 5.64564390e-01 -1.38154498e-01 1.46054723e+02] [ 1.69154985e-01 -2.63182431e-03 9.85585950e-01 9.12848829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:217.70, Y:146.08, Z:91.29 [[ 5.52829195e-01 -8.27250817e-01 -1.00179671e-01 2.17703207e+02] [ 8.16397690e-01 5.61778324e-01 -1.33790607e-01 1.46076133e+02] [ 1.66957157e-01 -7.82309827e-03 9.85933115e-01 9.12878954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:217.71, Y:146.10, Z:91.29 [[ 5.53308434e-01 -8.27966716e-01 -9.12189325e-02 2.17712427e+02] [ 8.16136948e-01 5.60770586e-01 -1.39487750e-01 1.46104007e+02] [ 1.66644108e-01 2.73260710e-03 9.86013324e-01 9.12888186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:146.13, Z:91.30 [[ 5.55088965e-01 -8.26002035e-01 -9.79636624e-02 2.17724607e+02] [ 8.15019805e-01 5.63642532e-01 -1.34349596e-01 1.46129394e+02] [ 1.66189526e-01 -5.26634696e-03 9.86079767e-01 9.12969152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:146.16, Z:91.30 [[ 5.58377647e-01 -8.24828093e-01 -8.87300401e-02 2.17739203e+02] [ 8.12739810e-01 5.65345870e-01 -1.40847608e-01 1.46158423e+02] [ 1.66338226e-01 6.53171991e-03 9.86047124e-01 9.12995181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.700385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.74, Y:146.18, Z:91.30 [[ 5.54556542e-01 -8.27572108e-01 -8.71289127e-02 2.17744786e+02] [ 8.16151351e-01 5.61337865e-01 -1.37101328e-01 1.46182336e+02] [ 1.62369993e-01 4.92005838e-03 9.86717679e-01 9.12977561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.77, Y:146.20, Z:91.32 [[ 5.57580802e-01 -8.24047276e-01 -1.00248370e-01 2.17769527e+02] [ 8.13225568e-01 5.66475322e-01 -1.33303735e-01 1.46204883e+02] [ 1.66636808e-01 -7.19693442e-03 9.85992078e-01 9.13152587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:146.23, Z:91.32 [[ 5.56401905e-01 -8.25313248e-01 -9.63066088e-02 2.17780795e+02] [ 8.13953829e-01 5.64669847e-01 -1.36481234e-01 1.46231399e+02] [ 1.67021208e-01 -2.45071451e-03 9.85950257e-01 9.13179293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:146.26, Z:91.32 [[ 5.55274342e-01 -8.26027330e-01 -9.66915483e-02 2.17792626e+02] [ 8.14572898e-01 5.63623935e-01 -1.37109643e-01 1.46255359e+02] [ 1.67753983e-01 -2.62884776e-03 9.85825385e-01 9.13221097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.80, Y:146.28, Z:91.33 [[ 5.53664582e-01 -8.27047876e-01 -9.71974306e-02 2.17801493e+02] [ 8.15475171e-01 5.62123952e-01 -1.37901804e-01 1.46283739e+02] [ 1.68688398e-01 -2.91074674e-03 9.85665132e-01 9.13251811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:146.31, Z:91.33 [[ 5.53114583e-01 -8.27404353e-01 -9.72948900e-02 2.17813612e+02] [ 8.15799809e-01 5.61598771e-01 -1.38121299e-01 1.46308683e+02] [ 1.68922854e-01 -2.97624804e-03 9.85624782e-01 9.13291405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:146.33, Z:91.33 [[ 5.52233644e-01 -8.28073504e-01 -9.66037032e-02 2.17822979e+02] [ 8.16630776e-01 5.60610909e-01 -1.37220933e-01 1.46334854e+02] [ 1.67786108e-01 -3.11154153e-03 9.85818513e-01 9.13331251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:146.36, Z:91.34 [[ 5.51868048e-01 -8.28319666e-01 -9.65825487e-02 2.17835559e+02] [ 8.16873257e-01 5.60246951e-01 -1.37264111e-01 1.46357938e+02] [ 1.67808641e-01 -3.14402399e-03 9.85814574e-01 9.13382482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:146.38, Z:91.34 [[ 5.49305544e-01 -8.30450746e-01 -9.28168997e-02 2.17843469e+02] [ 8.18826024e-01 5.57092052e-01 -1.38464391e-01 1.46383769e+02] [ 1.66695414e-01 5.83645879e-05 9.86008436e-01 9.13383689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.86, Y:146.41, Z:91.34 [[ 5.49265340e-01 -8.30166078e-01 -9.55608113e-02 2.17857913e+02] [ 8.18678563e-01 5.57509987e-01 -1.37651825e-01 1.46406646e+02] [ 1.67549982e-01 -2.62621112e-03 9.85860085e-01 9.13443588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:146.43, Z:91.35 [[ 5.51532242e-01 -8.28201898e-01 -9.94675954e-02 2.17872621e+02] [ 8.16604483e-01 5.60407532e-01 -1.38204617e-01 1.46433205e+02] [ 1.70203716e-01 -5.00138230e-03 9.85396205e-01 9.13529194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.88, Y:146.46, Z:91.36 [[ 5.52013830e-01 -8.28045137e-01 -9.80917055e-02 2.17884226e+02] [ 8.16220968e-01 5.60653003e-01 -1.39468781e-01 1.46458621e+02] [ 1.70481855e-01 -3.07581117e-03 9.85356015e-01 9.13564731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:146.48, Z:91.36 [[ 5.52367415e-01 -8.27148529e-01 -1.03515942e-01 2.17897982e+02] [ 8.15786046e-01 5.61914161e-01 -1.36914584e-01 1.46481148e+02] [ 1.71415770e-01 -8.81970624e-03 9.85159300e-01 9.13641848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:146.51, Z:91.36 [[ 5.54507804e-01 -8.27404627e-01 -8.90094285e-02 2.17902033e+02] [ 8.14900862e-01 5.61562343e-01 -1.43472369e-01 1.46512238e+02] [ 1.68694045e-01 7.02268827e-03 9.85643445e-01 9.13621317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.92, Y:146.53, Z:91.37 [[ 5.56526397e-01 -8.24858180e-01 -9.94351658e-02 2.17922373e+02] [ 8.13384343e-01 5.65321505e-01 -1.37176917e-01 1.46532839e+02] [ 1.69364340e-01 -4.53643134e-03 9.85543069e-01 9.13731649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.93, Y:146.56, Z:91.38 [[ 5.58734106e-01 -8.23587809e-01 -9.75669980e-02 2.17931580e+02] [ 8.11779165e-01 5.67186661e-01 -1.38974385e-01 1.46559263e+02] [ 1.69796309e-01 -1.55312732e-03 9.85477956e-01 9.13763502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:146.58, Z:91.39 [[ 5.59367499e-01 -8.21883532e-01 -1.07775045e-01 2.17949382e+02] [ 8.10831978e-01 5.69530168e-01 -1.34858778e-01 1.46580685e+02] [ 1.72219349e-01 -1.19518357e-02 9.84986116e-01 9.13865122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.96, Y:146.61, Z:91.39 [[ 5.59224774e-01 -8.23076209e-01 -9.90616300e-02 2.17961563e+02] [ 8.10947124e-01 5.67928686e-01 -1.40789809e-01 1.46607039e+02] [ 1.72140683e-01 -1.60059510e-03 9.85071075e-01 9.13883949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:146.63, Z:91.39 [[ 5.60196685e-01 -8.23622811e-01 -8.84598206e-02 2.17970478e+02] [ 8.10887553e-01 5.67062376e-01 -1.44573990e-01 1.46634496e+02] [ 1.69236672e-01 9.25890259e-03 9.85531949e-01 9.13867380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.99, Y:146.65, Z:91.39 [[ 5.60636871e-01 -8.22343112e-01 -9.71499096e-02 2.17988520e+02] [ 8.10577425e-01 5.68990977e-01 -1.38612792e-01 1.46654642e+02] [ 1.69264697e-01 -1.03608148e-03 9.85570083e-01 9.13942183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:146.68, Z:91.40 [[ 5.61567613e-01 -8.21685311e-01 -9.73399498e-02 2.18001250e+02] [ 8.09848923e-01 5.69940895e-01 -1.38967977e-01 1.46678612e+02] [ 1.69665963e-01 -7.90738614e-04 9.85501312e-01 9.13989344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.330385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.01, Y:146.70, Z:91.40 [[ 5.61999480e-01 -8.21340879e-01 -9.77534919e-02 2.18014795e+02] [ 8.09389699e-01 5.70437308e-01 -1.39605132e-01 1.46701465e+02] [ 1.70425640e-01 -6.62657802e-04 9.85370317e-01 9.14033468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:146.73, Z:91.41 [[ 5.64259439e-01 -8.19749857e-01 -9.80890322e-02 2.18027118e+02] [ 8.07678999e-01 5.72721707e-01 -1.40158771e-01 1.46726607e+02] [ 1.71072850e-01 -1.38541842e-04 9.85258373e-01 9.14069277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:146.75, Z:91.41 [[ 5.65575087e-01 -8.18785959e-01 -9.85615237e-02 2.18042173e+02] [ 8.06568681e-01 5.74098869e-01 -1.40916467e-01 1.46750339e+02] [ 1.71964484e-01 2.02204663e-04 9.85103129e-01 9.14117251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:146.77, Z:91.42 [[ 5.67246200e-01 -8.17604635e-01 -9.87644158e-02 2.18056654e+02] [ 8.05304012e-01 5.75779721e-01 -1.41291053e-01 1.46772199e+02] [ 1.72386768e-01 6.11432824e-04 9.85029151e-01 9.14161276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:146.80, Z:91.42 [[ 5.70011226e-01 -8.15745378e-01 -9.82175185e-02 2.18071490e+02] [ 8.03545934e-01 5.78409931e-01 -1.40555623e-01 1.46795163e+02] [ 1.71467588e-01 1.19599566e-03 9.85189036e-01 9.14208037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:146.82, Z:91.43 [[ 5.70769793e-01 -8.15218014e-01 -9.81907984e-02 2.18086175e+02] [ 8.03003005e-01 5.79152502e-01 -1.40600688e-01 1.46817599e+02] [ 1.71487660e-01 1.40311950e-03 9.85185269e-01 9.14255865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.10, Y:146.84, Z:91.43 [[ 5.71231942e-01 -8.14895298e-01 -9.81820859e-02 2.18101292e+02] [ 8.02664660e-01 5.79606133e-01 -1.40663337e-01 1.46840651e+02] [ 1.71532831e-01 1.54410055e-03 9.85177194e-01 9.14298633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:146.86, Z:91.43 [[ 5.71067805e-01 -8.15011712e-01 -9.81706277e-02 2.18117047e+02] [ 8.02771094e-01 5.79442389e-01 -1.40730551e-01 1.46863529e+02] [ 1.71581270e-01 1.55814464e-03 9.85168737e-01 9.14342934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.13, Y:146.89, Z:91.44 [[ 5.70577459e-01 -8.15376336e-01 -9.79938444e-02 2.18132952e+02] [ 8.03170973e-01 5.78929354e-01 -1.40560278e-01 1.46886332e+02] [ 1.71341037e-01 1.49471491e-03 9.85210645e-01 9.14387804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:146.91, Z:91.44 [[ 5.69536678e-01 -8.16106909e-01 -9.79667513e-02 2.18149565e+02] [ 8.03904571e-01 5.77899438e-01 -1.40604696e-01 1.46908976e+02] [ 1.71363394e-01 1.32361235e-03 9.85207001e-01 9.14437285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.17, Y:146.93, Z:91.45 [[ 5.67662115e-01 -8.17408343e-01 -9.79965490e-02 2.18167657e+02] [ 8.05203062e-01 5.76057843e-01 -1.40731624e-01 1.46929778e+02] [ 1.71486884e-01 9.80890108e-04 9.85185915e-01 9.14493556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.18, Y:146.95, Z:91.45 [[ 5.66347974e-01 -8.18332838e-01 -9.78843092e-02 2.18184352e+02] [ 8.06154778e-01 5.74744120e-01 -1.40654437e-01 1.46952100e+02] [ 1.71360576e-01 7.49452083e-04 9.85208095e-01 9.14541888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.20, Y:146.97, Z:91.46 [[ 5.64882520e-01 -8.19340370e-01 -9.79239338e-02 2.18200813e+02] [ 8.07152350e-01 5.73307172e-01 -1.40797620e-01 1.46973157e+02] [ 1.71501668e-01 4.94581385e-04 9.85183705e-01 9.14579065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.22, Y:147.00, Z:91.46 [[ 5.64837473e-01 -8.19379735e-01 -9.78543754e-02 2.18217562e+02] [ 8.07201351e-01 5.73250895e-01 -1.40745835e-01 1.46995676e+02] [ 1.71419393e-01 5.10337662e-04 9.85198016e-01 9.14628140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:147.02, Z:91.47 [[ 5.65032238e-01 -8.19275004e-01 -9.76065479e-02 2.18233889e+02] [ 8.07142369e-01 5.73400488e-01 -1.40474472e-01 1.47017437e+02] [ 1.71054866e-01 5.90225095e-04 9.85261328e-01 9.14673779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:147.04, Z:91.47 [[ 5.66674522e-01 -8.18126475e-01 -9.77192763e-02 2.18252170e+02] [ 8.05933681e-01 5.75037472e-01 -1.40722448e-01 1.47037765e+02] [ 1.71321006e-01 9.88570065e-04 9.85214766e-01 9.14726675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:147.06, Z:91.48 [[ 5.67904814e-01 -8.17271229e-01 -9.77336217e-02 2.18268757e+02] [ 8.05047381e-01 5.76251730e-01 -1.40828472e-01 1.47058806e+02] [ 1.71414227e-01 1.29697096e-03 9.85198194e-01 9.14775919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:147.08, Z:91.48 [[ 5.68957784e-01 -8.16531325e-01 -9.77938377e-02 2.18285706e+02] [ 8.04273118e-01 5.77299052e-01 -1.40962960e-01 1.47080391e+02] [ 1.71556962e-01 1.54901878e-03 9.85172984e-01 9.14827310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.30, Y:147.10, Z:91.49 [[ 5.71288189e-01 -8.14891330e-01 -9.78873103e-02 2.18303714e+02] [ 8.02570883e-01 5.79609986e-01 -1.41181592e-01 1.47100242e+02] [ 1.71784118e-01 2.09387123e-03 9.85132393e-01 9.14877378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.32, Y:147.12, Z:91.49 [[ 5.72122869e-01 -8.14270292e-01 -9.81800056e-02 2.18320614e+02] [ 8.01856265e-01 5.80481267e-01 -1.41661673e-01 1.47120662e+02] [ 1.72342546e-01 2.32162997e-03 9.85034343e-01 9.14924168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.34, Y:147.14, Z:91.50 [[ 5.73084757e-01 -8.13469624e-01 -9.92019795e-02 2.18339834e+02] [ 8.00768217e-01 5.81601432e-01 -1.43213259e-01 1.47140938e+02] [ 1.74195649e-01 2.63554328e-03 9.84707535e-01 9.14970073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:147.16, Z:91.50 [[ 5.73045495e-01 -8.13465388e-01 -9.94631754e-02 2.18357394e+02] [ 8.00681501e-01 5.81607090e-01 -1.43674378e-01 1.47162294e+02] [ 1.74722622e-01 2.69363076e-03 9.84614011e-01 9.15012216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.37, Y:147.18, Z:91.51 [[ 5.72874089e-01 -8.13526055e-01 -9.99531685e-02 2.18374971e+02] [ 8.00600248e-01 5.81522011e-01 -1.44469355e-01 1.47182649e+02] [ 1.75654552e-01 2.74021859e-03 9.84448053e-01 9.15061564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:147.20, Z:91.51 [[ 5.71690911e-01 -8.14294807e-01 -1.00466260e-01 2.18395050e+02] [ 8.01237604e-01 5.80445931e-01 -1.45261225e-01 1.47200515e+02] [ 1.76600693e-01 2.54717641e-03 9.84279283e-01 9.15116970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:147.22, Z:91.52 [[ 5.70670006e-01 -8.14976908e-01 -1.00739186e-01 2.18412805e+02] [ 8.01844999e-01 5.79488516e-01 -1.45731458e-01 1.47221553e+02] [ 1.77144974e-01 2.38735911e-03 9.84181873e-01 9.15169429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:147.24, Z:91.52 [[ 5.69398724e-01 -8.15843527e-01 -1.00917949e-01 2.18430351e+02] [ 8.02663061e-01 5.78268646e-01 -1.46073214e-01 1.47243414e+02] [ 1.77530571e-01 2.17079152e-03 9.84112892e-01 9.15212929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:147.26, Z:91.53 [[ 5.67305039e-01 -8.17323466e-01 -1.00734029e-01 2.18449700e+02] [ 8.04199048e-01 5.76176423e-01 -1.45892496e-01 1.47263749e+02] [ 1.77281933e-01 1.75533841e-03 9.84158542e-01 9.15261164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.47, Y:147.28, Z:91.53 [[ 5.66126498e-01 -8.18163284e-01 -1.00546654e-01 2.18467089e+02] [ 8.05085531e-01 5.74983885e-01 -1.45707994e-01 1.47284344e+02] [ 1.77025636e-01 1.54050005e-03 9.84205035e-01 9.15314655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.50, Y:147.29, Z:91.56 [[ 5.64515591e-01 -8.15618312e-01 -1.26842091e-01 2.18499327e+02] [ 8.04615932e-01 5.78035085e-01 -1.35899384e-01 1.47294171e+02] [ 1.84161205e-01 -2.53418468e-02 9.82569306e-01 9.15552253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:147.32, Z:91.56 [[ 5.63854767e-01 -8.18506185e-01 -1.10070100e-01 2.18509345e+02] [ 8.04667413e-01 5.74483572e-01 -1.49929914e-01 1.47322345e+02] [ 1.85952026e-01 -4.03112611e-03 9.82550556e-01 9.15553980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.51, Y:147.36, Z:91.54 [[ 5.62635595e-01 -8.23034892e-01 -7.78122942e-02 2.18510740e+02] [ 8.06946396e-01 5.67205515e-01 -1.64667600e-01 1.47355903e+02] [ 1.79662743e-01 2.98575028e-02 9.83275052e-01 9.15393754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.260385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:218.54, Y:147.37, Z:91.55 [[ 5.60898645e-01 -8.21741315e-01 -1.00667380e-01 2.18538547e+02] [ 8.07720989e-01 5.69850008e-01 -1.51187871e-01 1.47370257e+02] [ 1.81602627e-01 3.48991627e-03 9.83365805e-01 9.15529022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.56, Y:147.39, Z:91.56 [[ 5.59707327e-01 -8.21840058e-01 -1.06332622e-01 2.18559289e+02] [ 8.08378999e-01 5.69710241e-01 -1.48167593e-01 1.47386076e+02] [ 1.82348847e-01 -3.02657105e-03 9.83229240e-01 9.15597982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:147.40, Z:91.58 [[ 5.58861042e-01 -8.18995035e-01 -1.30082544e-01 2.18587935e+02] [ 8.07362337e-01 5.73178236e-01 -1.40116974e-01 1.47399189e+02] [ 1.89315589e-01 -2.67178289e-02 9.81552732e-01 9.15822284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:147.44, Z:91.56 [[ 5.56576523e-01 -8.26768761e-01 -8.17067338e-02 2.18586645e+02] [ 8.10302124e-01 5.61924748e-01 -1.66286036e-01 1.47436637e+02] [ 1.83393136e-01 2.63437639e-02 9.82686605e-01 9.15608732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:147.45, Z:91.57 [[ 5.54550921e-01 -8.25636891e-01 -1.03908614e-01 2.18614476e+02] [ 8.11694832e-01 5.64201573e-01 -1.51089656e-01 1.47449218e+02] [ 1.83370598e-01 -5.55177045e-04 9.83043700e-01 9.15746116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:147.47, Z:91.58 [[ 5.52712685e-01 -8.26879664e-01 -1.03820562e-01 2.18631876e+02] [ 8.12966029e-01 5.62378153e-01 -1.51053133e-01 1.47471375e+02] [ 1.83289180e-01 -9.13607191e-04 9.83058616e-01 9.15792947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:147.49, Z:91.58 [[ 5.49651978e-01 -8.28888163e-01 -1.04053435e-01 2.18650583e+02] [ 8.14929763e-01 5.59412249e-01 -1.51484048e-01 1.47491993e+02] [ 1.83772100e-01 -1.53273449e-03 9.82967683e-01 9.15831980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:147.51, Z:91.59 [[ 5.48419508e-01 -8.29699236e-01 -1.04092372e-01 2.18667810e+02] [ 8.15727604e-01 5.58207942e-01 -1.51632351e-01 1.47512024e+02] [ 1.83914435e-01 -1.75288186e-03 9.82940694e-01 9.15877789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:218.69, Y:147.53, Z:91.59 [[ 5.47431057e-01 -8.30389818e-01 -1.03788189e-01 2.18688431e+02] [ 8.16497236e-01 5.57179521e-01 -1.51272091e-01 1.47531470e+02] [ 1.83443457e-01 -1.93172893e-03 9.83028365e-01 9.15941067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:147.55, Z:91.60 [[ 5.47335866e-01 -8.30513303e-01 -1.03301033e-01 2.18705928e+02] [ 8.16737495e-01 5.56995507e-01 -1.50651485e-01 1.47552958e+02] [ 1.82656274e-01 -1.91286533e-03 9.83174973e-01 9.15992073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.72, Y:147.57, Z:91.60 [[ 5.47425946e-01 -8.30485577e-01 -1.03046298e-01 2.18722034e+02] [ 8.16761566e-01 5.57037060e-01 -1.50367078e-01 1.47573617e+02] [ 1.82278296e-01 -1.84941647e-03 9.83245240e-01 9.16039642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.74, Y:147.60, Z:91.61 [[ 5.48286110e-01 -8.30008537e-01 -1.02314081e-01 2.18739161e+02] [ 8.16460942e-01 5.57748266e-01 -1.49359973e-01 1.47596005e+02] [ 1.81035554e-01 -1.64345238e-03 9.83475179e-01 9.16077743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:147.62, Z:91.61 [[ 5.49022492e-01 -8.29525295e-01 -1.02284353e-01 2.18756032e+02] [ 8.15961199e-01 5.58467304e-01 -1.49404123e-01 1.47618353e+02] [ 1.81056966e-01 -1.43383887e-03 9.83471565e-01 9.16122838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.78, Y:147.64, Z:91.62 [[ 5.51181545e-01 -8.28056537e-01 -1.02573269e-01 2.18776098e+02] [ 8.14373574e-01 5.60643876e-01 -1.49913731e-01 1.47638230e+02] [ 1.81644120e-01 -9.03277571e-04 9.83363919e-01 9.16180445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:147.66, Z:91.62 [[ 5.52196750e-01 -8.27371860e-01 -1.02637981e-01 2.18793937e+02] [ 8.13643250e-01 5.61654175e-01 -1.50097466e-01 1.47660094e+02] [ 1.81833470e-01 -6.27367189e-04 9.83329139e-01 9.16229070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:147.68, Z:91.63 [[ 5.52841704e-01 -8.26953123e-01 -1.02540640e-01 2.18810137e+02] [ 8.13227163e-01 5.62270701e-01 -1.50044131e-01 1.47682128e+02] [ 1.81735060e-01 -4.38181209e-04 9.83347434e-01 9.16272895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.740385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:218.82, Y:147.72, Z:91.61 [[ 5.52478452e-01 -8.30191937e-01 -7.44909844e-02 2.18816184e+02] [ 8.15093671e-01 5.56789408e-01 -1.60024566e-01 1.47717797e+02] [ 1.74326896e-01 2.76929947e-02 9.84298345e-01 9.16093286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:218.85, Y:147.72, Z:91.64 [[ 5.53275391e-01 -8.23347353e-01 -1.26433687e-01 2.18853424e+02] [ 8.12864944e-01 5.66816391e-01 -1.34051340e-01 1.47717535e+02] [ 1.82035502e-01 -2.86062047e-02 9.82875761e-01 9.16429535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.800385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:218.86, Y:147.75, Z:91.64 [[ 5.53488376e-01 -8.26489827e-01 -1.02787079e-01 2.18860310e+02] [ 8.12656501e-01 5.62951624e-01 -1.50581805e-01 1.47748310e+02] [ 1.82318483e-01 -1.85309203e-04 9.83239511e-01 9.16370118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:218.87, Y:147.78, Z:91.63 [[ 5.54430685e-01 -8.28043625e-01 -8.33688846e-02 2.18874815e+02] [ 8.13006315e-01 5.60306125e-01 -1.58359649e-01 1.47779170e+02] [ 1.77840794e-01 2.00200187e-02 9.83855605e-01 9.16303517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.90, Y:147.79, Z:91.64 [[ 5.52810495e-01 -8.27245417e-01 -1.00327349e-01 2.18901800e+02] [ 8.14091293e-01 5.61840565e-01 -1.46937216e-01 1.47792405e+02] [ 1.77921113e-01 -4.47186228e-04 9.84044652e-01 9.16428728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:218.92, Y:147.80, Z:91.66 [[ 5.51417621e-01 -8.25207392e-01 -1.22357540e-01 2.18922553e+02] [ 8.14073643e-01 5.64321805e-01 -1.37204243e-01 1.47802554e+02] [ 1.82270983e-01 -2.39512110e-02 9.82956575e-01 9.16637397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:218.93, Y:147.83, Z:91.66 [[ 5.50331242e-01 -8.28622285e-01 -1.02570136e-01 2.18932202e+02] [ 8.14812521e-01 5.59807702e-01 -1.50651560e-01 1.47832006e+02] [ 1.82252792e-01 -6.67171089e-04 9.83251481e-01 9.16587842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.950385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:218.95, Y:147.86, Z:91.66 [[ 5.49193244e-01 -8.30179260e-01 -9.58601988e-02 2.18945289e+02] [ 8.15017667e-01 5.57427992e-01 -1.58177864e-01 1.47856795e+02] [ 1.84751140e-01 8.74245877e-03 9.82746450e-01 9.16603978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.980385723 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:218.97, Y:147.88, Z:91.67 [[ 5.47615990e-01 -8.30505514e-01 -1.01869125e-01 2.18966754e+02] [ 8.15840653e-01 5.57006860e-01 -1.55394296e-01 1.47878380e+02] [ 1.85797621e-01 1.98742733e-03 9.82586024e-01 9.16686672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.010385723 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:218.98, Y:147.90, Z:91.67 [[ 5.46819051e-01 -8.31058166e-01 -1.01642758e-01 2.18983930e+02] [ 8.16287453e-01 5.56180601e-01 -1.56006196e-01 1.47899691e+02] [ 1.86181954e-01 2.33745165e-03 9.82512502e-01 9.16741558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:147.91, Z:91.69 [[ 5.47223844e-01 -8.28878136e-01 -1.16220054e-01 2.19010603e+02] [ 8.17139019e-01 5.59131521e-01 -1.40199025e-01 1.47911693e+02] [ 1.81190202e-01 -1.82476918e-02 9.83278766e-01 9.16872333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.02, Y:147.94, Z:91.68 [[ 5.47146769e-01 -8.30871312e-01 -1.01406487e-01 2.19020610e+02] [ 8.17338105e-01 5.56463392e-01 -1.49355000e-01 1.47938656e+02] [ 1.80523783e-01 -1.16427979e-03 9.83569931e-01 9.16846016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.04, Y:147.96, Z:91.69 [[ 5.46934316e-01 -8.31014720e-01 -1.01377459e-01 2.19036361e+02] [ 8.17480303e-01 5.56249182e-01 -1.49374701e-01 1.47962009e+02] [ 1.80523704e-01 -1.17592548e-03 9.83569931e-01 9.16894745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:147.98, Z:91.69 [[ 5.48260143e-01 -8.30366719e-01 -9.95084278e-02 2.19053916e+02] [ 8.16721063e-01 5.57216525e-01 -1.49921476e-01 1.47983708e+02] [ 1.79937545e-01 9.25341124e-04 9.83677602e-01 9.16900168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.160385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:219.07, Y:148.00, Z:91.69 [[ 5.48182800e-01 -8.30022593e-01 -1.02752679e-01 2.19071097e+02] [ 8.16690820e-01 5.57723325e-01 -1.48191756e-01 1.48004083e+02] [ 1.80310072e-01 -2.68099811e-03 9.83606166e-01 9.16948857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.09, Y:148.03, Z:91.70 [[ 5.49982175e-01 -8.28877008e-01 -1.02384141e-01 2.19090303e+02] [ 8.15660661e-01 5.59425653e-01 -1.47447022e-01 1.48026317e+02] [ 1.79491762e-01 -2.41748241e-03 9.83756506e-01 9.17024434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.11, Y:148.05, Z:91.71 [[ 5.53068203e-01 -8.26984451e-01 -1.01055824e-01 2.19108955e+02] [ 8.13242988e-01 5.62224149e-01 -1.50132773e-01 1.48047182e+02] [ 1.80973493e-01 8.50722294e-04 9.83487606e-01 9.17067576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:148.07, Z:91.71 [[ 5.53911055e-01 -8.26179527e-01 -1.03004525e-01 2.19122875e+02] [ 8.12392679e-01 5.63406787e-01 -1.50302790e-01 1.48067026e+02] [ 1.82210536e-01 -4.25744843e-04 9.83259447e-01 9.17129324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:148.09, Z:91.72 [[ 5.55460994e-01 -8.25203351e-01 -1.02481771e-01 2.19139486e+02] [ 8.11202403e-01 5.64834963e-01 -1.51367522e-01 1.48089435e+02] [ 1.82794274e-01 9.45295586e-04 9.83150731e-01 9.17170726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.16, Y:148.11, Z:91.72 [[ 5.59222902e-01 -8.23158522e-01 -9.83859457e-02 2.19155354e+02] [ 8.08001531e-01 5.67747030e-01 -1.57470109e-01 1.48113120e+02] [ 1.85481191e-01 8.56489644e-03 9.82610488e-01 9.17189498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:148.13, Z:91.73 [[ 5.60610948e-01 -8.20930173e-01 -1.08577238e-01 2.19176947e+02] [ 8.07264073e-01 5.71014613e-01 -1.49221406e-01 1.48131598e+02] [ 1.84499544e-01 -3.99534901e-03 9.82824478e-01 9.17291282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:148.16, Z:91.73 [[ 5.63824829e-01 -8.19412703e-01 -1.03268507e-01 2.19189491e+02] [ 8.05044685e-01 5.73196044e-01 -1.52804941e-01 1.48156298e+02] [ 1.84403409e-01 3.01945714e-03 9.82846003e-01 9.17305782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:148.18, Z:91.73 [[ 5.64964498e-01 -8.18702058e-01 -1.02674512e-01 2.19203957e+02] [ 8.04473404e-01 5.74209179e-01 -1.52007769e-01 1.48180268e+02] [ 1.83405720e-01 3.28007886e-03 9.83031832e-01 9.17345815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:148.20, Z:91.74 [[ 5.65360519e-01 -8.18472176e-01 -1.02326831e-01 2.19218299e+02] [ 8.04320171e-01 5.74536133e-01 -1.51582630e-01 1.48203612e+02] [ 1.82856627e-01 3.39530006e-03 9.83133727e-01 9.17396042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.23, Y:148.23, Z:91.75 [[ 5.64620837e-01 -8.19044804e-01 -1.01827893e-01 2.19232008e+02] [ 8.05024300e-01 5.73720378e-01 -1.50933111e-01 1.48226698e+02] [ 1.82041717e-01 3.24605132e-03 9.83285450e-01 9.17455500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:148.25, Z:91.75 [[ 5.63661508e-01 -8.19752282e-01 -1.01449003e-01 2.19246422e+02] [ 8.05831820e-01 5.72710089e-01 -1.50460066e-01 1.48250178e+02] [ 1.81440850e-01 3.05771277e-03 9.83397106e-01 9.17505575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.520385723 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:219.26, Y:148.27, Z:91.76 [[ 5.62163124e-01 -8.20819751e-01 -1.01131390e-01 2.19260966e+02] [ 8.06987616e-01 5.71180650e-01 -1.50078824e-01 1.48274177e+02] [ 1.80951956e-01 2.75700122e-03 9.83488073e-01 9.17553588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:148.30, Z:91.76 [[ 5.58710922e-01 -8.23402991e-01 -9.92452507e-02 2.19275667e+02] [ 8.10108834e-01 5.67453738e-01 -1.47376840e-01 1.48297076e+02] [ 1.77667619e-01 1.94159577e-03 9.84088638e-01 9.17604273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:148.32, Z:91.76 [[ 5.58126902e-01 -8.24245718e-01 -9.54639119e-02 2.19293082e+02] [ 8.10207470e-01 5.66185287e-01 -1.51651165e-01 1.48321681e+02] [ 1.79048086e-01 7.29502044e-03 9.83813278e-01 9.17636584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.32, Y:148.34, Z:91.78 [[ 5.57075404e-01 -8.23427756e-01 -1.07859743e-01 2.19316413e+02] [ 8.11095280e-01 5.67361021e-01 -1.42217856e-01 1.48339591e+02] [ 1.78301544e-01 -8.25845918e-03 9.83941237e-01 9.17769452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.32, Y:148.36, Z:91.77 [[ 5.55557373e-01 -8.25747668e-01 -9.74514949e-02 2.19323591e+02] [ 8.12055445e-01 5.64024876e-01 -1.49806188e-01 1.48364796e+02] [ 1.78667178e-01 4.08991515e-03 9.83901068e-01 9.17745554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:148.39, Z:91.78 [[ 5.55865011e-01 -8.24947204e-01 -1.02353314e-01 2.19344218e+02] [ 8.11603980e-01 5.65209034e-01 -1.47775939e-01 1.48387956e+02] [ 1.79758366e-01 -9.26883475e-04 9.83710359e-01 9.17810103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:148.41, Z:91.78 [[ 5.53356462e-01 -8.26917949e-01 -1.00016662e-01 2.19352978e+02] [ 8.13034507e-01 5.62318341e-01 -1.50907169e-01 1.48411497e+02] [ 1.81029050e-01 2.18845972e-03 9.83475314e-01 9.17818476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.38, Y:148.43, Z:91.79 [[ 5.52814127e-01 -8.26162736e-01 -1.08865399e-01 2.19375198e+02] [ 8.12830983e-01 5.63391866e-01 -1.47970938e-01 1.48433265e+02] [ 1.83581955e-01 -6.68874438e-03 9.82981651e-01 9.17922331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.38, Y:148.46, Z:91.79 [[ 5.50545698e-01 -8.29278018e-01 -9.59030949e-02 2.19381884e+02] [ 8.14758476e-01 5.58792299e-01 -1.54660246e-01 1.48458654e+02] [ 1.81846253e-01 7.00967355e-03 9.83301991e-01 9.17898131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.41, Y:148.48, Z:91.81 [[ 5.49227197e-01 -8.28353344e-01 -1.10364047e-01 2.19407421e+02] [ 8.15072934e-01 5.60138800e-01 -1.47988642e-01 1.48476041e+02] [ 1.84406071e-01 -8.67536048e-03 9.82811853e-01 9.18055228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:148.50, Z:91.81 [[ 5.46081110e-01 -8.31215335e-01 -1.04290401e-01 2.19421603e+02] [ 8.17293022e-01 5.55944996e-01 -1.51516589e-01 1.48498921e+02] [ 1.83922639e-01 -2.49547027e-03 9.82937554e-01 9.18100257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:148.52, Z:91.82 [[ 5.43580501e-01 -8.32557506e-01 -1.06621937e-01 2.19437014e+02] [ 8.18888438e-01 5.53910473e-01 -1.50349308e-01 1.48522669e+02] [ 1.84233452e-01 -5.58451893e-03 9.82866648e-01 9.18165878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:148.55, Z:91.82 [[ 5.42499890e-01 -8.33920082e-01 -1.01346767e-01 2.19449565e+02] [ 8.19916288e-01 5.51884962e-01 -1.52184985e-01 1.48548260e+02] [ 1.82841872e-01 -5.35527390e-04 9.83142189e-01 9.18176163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:148.57, Z:91.82 [[ 5.41674448e-01 -8.34390404e-01 -1.01889380e-01 2.19464717e+02] [ 8.20486574e-01 5.51172032e-01 -1.51694341e-01 1.48570498e+02] [ 1.82730879e-01 -1.42991954e-03 9.83161930e-01 9.18228157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.940385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:219.47, Y:148.60, Z:91.82 [[ 5.40889538e-01 -8.36072431e-01 -9.17681802e-02 2.19474054e+02] [ 8.21609299e-01 5.48553551e-01 -1.55071470e-01 1.48595619e+02] [ 1.79990742e-01 8.47894564e-03 9.83631761e-01 9.18177664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:148.61, Z:91.84 [[ 5.41012861e-01 -8.33072662e-01 -1.15304051e-01 2.19501547e+02] [ 8.20641489e-01 5.52916273e-01 -1.44329978e-01 1.48609502e+02] [ 1.83990845e-01 -1.65389133e-02 9.82788804e-01 9.18416593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:148.64, Z:91.83 [[ 5.41699482e-01 -8.36054294e-01 -8.70338329e-02 2.19501522e+02] [ 8.21325944e-01 5.48481461e-01 -1.56817665e-01 1.48643324e+02] [ 1.78844526e-01 1.34649028e-02 9.83785206e-01 9.18284199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:148.66, Z:91.84 [[ 5.42526785e-01 -8.34160601e-01 -9.92007056e-02 2.19521538e+02] [ 8.20772748e-01 5.51521214e-01 -1.48850421e-01 1.48661597e+02] [ 1.78876450e-01 -6.65895396e-04 9.83871319e-01 9.18392732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:148.68, Z:91.86 [[ 5.43694573e-01 -8.30700548e-01 -1.19719721e-01 2.19547564e+02] [ 8.17991259e-01 5.56409302e-01 -1.45941734e-01 1.48678914e+02] [ 1.87847044e-01 -1.85819565e-02 9.82022504e-01 9.18614382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.090385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:219.55, Y:148.71, Z:91.84 [[ 5.46740494e-01 -8.32911002e-01 -8.56393263e-02 2.19548195e+02] [ 8.17759942e-01 5.53148091e-01 -1.59046743e-01 1.48713777e+02] [ 1.79843012e-01 1.69248841e-02 9.83549714e-01 9.18420482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.59, Y:148.72, Z:91.89 [[ 5.48352608e-01 -8.24251204e-01 -1.41136000e-01 2.19588168e+02] [ 8.14344184e-01 5.64704295e-01 -1.33987346e-01 1.48716820e+02] [ 1.90139336e-01 -4.14609699e-02 9.80881247e-01 9.18896738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.59, Y:148.75, Z:91.88 [[ 5.49634301e-01 -8.27679678e-01 -1.13351166e-01 2.19591471e+02] [ 8.13182833e-01 5.61153211e-01 -1.54404513e-01 1.48750765e+02] [ 1.91404848e-01 -7.30920573e-03 9.81483958e-01 9.18821846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:148.79, Z:91.84 [[ 5.48100252e-01 -8.34365054e-01 -5.84899220e-02 2.19578356e+02] [ 8.17174839e-01 5.49094656e-01 -1.75272193e-01 1.48794854e+02] [ 1.78357497e-01 4.82702407e-02 9.82781048e-01 9.18447347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:148.80, Z:91.87 [[ 5.47271678e-01 -8.31086092e-01 -9.89424943e-02 2.19611705e+02] [ 8.17634936e-01 5.56143457e-01 -1.48921341e-01 1.48802087e+02] [ 1.78792676e-01 6.01592251e-04 9.83886587e-01 9.18687118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:148.82, Z:91.88 [[ 5.45887663e-01 -8.31996838e-01 -9.89339205e-02 2.19629367e+02] [ 8.18546584e-01 5.54780259e-01 -1.48997836e-01 1.48823612e+02] [ 1.78852314e-01 3.54057784e-04 9.83875868e-01 9.18758460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.64, Y:148.85, Z:91.88 [[ 5.45043404e-01 -8.32543305e-01 -9.89915785e-02 2.19644996e+02] [ 8.19069903e-01 5.53959921e-01 -1.49174058e-01 1.48845825e+02] [ 1.79031230e-01 2.25313812e-04 9.83843366e-01 9.18813688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.66, Y:148.87, Z:91.89 [[ 5.44276734e-01 -8.33069384e-01 -9.87837939e-02 2.19659712e+02] [ 8.19645272e-01 5.53168501e-01 -1.48950454e-01 1.48868835e+02] [ 1.78730146e-01 1.02597222e-04 9.83898127e-01 9.18856082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:148.87, Z:91.94 [[ 5.45211381e-01 -8.23248679e-01 -1.58133373e-01 2.19700779e+02] [ 8.15923236e-01 5.64424070e-01 -1.25278654e-01 1.48870970e+02] [ 1.92389769e-01 -6.07213454e-02 9.79438153e-01 9.19371270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:148.94, Z:91.87 [[ 5.43549863e-01 -8.37939550e-01 -4.91004803e-02 2.19666724e+02] [ 8.20035393e-01 5.42600858e-01 -1.82006218e-01 1.48936250e+02] [ 1.79152171e-01 5.86653233e-02 9.82070710e-01 9.18700203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:148.94, Z:91.90 [[ 5.42522696e-01 -8.34159523e-01 -9.92321275e-02 2.19703679e+02] [ 8.20588799e-01 5.51523230e-01 -1.49853761e-01 1.48938375e+02] [ 1.79730765e-01 -1.29706090e-04 9.83715831e-01 9.18977982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.420385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:219.72, Y:148.96, Z:91.90 [[ 5.41845798e-01 -8.34488174e-01 -1.00162956e-01 2.19719108e+02] [ 8.20649768e-01 5.51025815e-01 -1.51342356e-01 1.48959530e+02] [ 1.81485781e-01 -1.94486398e-04 9.83393550e-01 9.19032978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:148.98, Z:91.91 [[ 5.41640230e-01 -8.34624817e-01 -1.00136287e-01 2.19734520e+02] [ 8.20781012e-01 5.50818824e-01 -1.51384123e-01 1.48983080e+02] [ 1.81505898e-01 -1.94231423e-04 9.83389837e-01 9.19082180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.77, Y:148.99, Z:91.95 [[ 5.43777006e-01 -8.27242863e-01 -1.41335820e-01 2.19770873e+02] [ 8.17073492e-01 5.60301320e-01 -1.35843068e-01 1.48991411e+02] [ 1.91565855e-01 -4.16134152e-02 9.80597189e-01 9.19469980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:149.04, Z:91.90 [[ 5.41661272e-01 -8.37833760e-01 -6.81003371e-02 2.19750081e+02] [ 8.20202128e-01 5.44519558e-01 -1.75405019e-01 1.49042682e+02] [ 1.84042212e-01 3.91540646e-02 9.82138190e-01 9.19028756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.80, Y:149.04, Z:91.96 [[ 5.43019603e-01 -8.27153093e-01 -1.44732416e-01 2.19800237e+02] [ 8.16557108e-01 5.60341576e-01 -1.38750888e-01 1.49037853e+02] [ 1.95867817e-01 -4.28378310e-02 9.79694197e-01 9.19599832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:149.08, Z:91.95 [[ 5.45416127e-01 -8.30658560e-01 -1.11926787e-01 2.19805559e+02] [ 8.14727237e-01 5.56774746e-01 -1.61930267e-01 1.49075428e+02] [ 1.96826771e-01 -2.87042275e-03 9.80434079e-01 9.19496000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:219.80, Y:149.11, Z:91.92 [[ 5.41576951e-01 -8.37384081e-01 -7.40426019e-02 2.19796976e+02] [ 8.19007736e-01 5.45440307e-01 -1.78104461e-01 1.49112007e+02] [ 1.89527660e-01 3.58158073e-02 9.81221939e-01 9.19239503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:149.12, Z:91.94 [[ 5.40490368e-01 -8.34836601e-01 -1.04489290e-01 2.19825357e+02] [ 8.19748041e-01 5.50497761e-01 -1.58004317e-01 1.49123305e+02] [ 1.89428907e-01 -2.55079174e-04 9.81894406e-01 9.19432792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:149.15, Z:91.95 [[ 5.39256310e-01 -8.35636231e-01 -1.04473545e-01 2.19839887e+02] [ 8.20548904e-01 5.49283038e-01 -1.58074793e-01 1.49146766e+02] [ 1.89478570e-01 -4.82822876e-04 9.81884738e-01 9.19486370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:219.85, Y:149.17, Z:91.95 [[ 5.38842307e-01 -8.35924545e-01 -1.04303039e-01 2.19854426e+02] [ 8.20874163e-01 5.48844125e-01 -1.57910531e-01 1.49169804e+02] [ 1.89247399e-01 -5.30794897e-04 9.81929295e-01 9.19539662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.87, Y:149.19, Z:91.96 [[ 5.38651054e-01 -8.36117314e-01 -1.03744297e-01 2.19868720e+02] [ 8.21214966e-01 5.48550401e-01 -1.57157365e-01 1.49192838e+02] [ 1.88310970e-01 -5.43388712e-04 9.82109303e-01 9.19603010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.90, Y:149.20, Z:92.00 [[ 5.40565935e-01 -8.28927942e-01 -1.43759996e-01 2.19903918e+02] [ 8.17850868e-01 5.57833247e-01 -1.41216238e-01 1.49201276e+02] [ 1.97252191e-01 -4.12375495e-02 9.79485088e-01 9.20010441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:149.25, Z:91.96 [[ 5.39295623e-01 -8.39153302e-01 -7.05830473e-02 2.19884381e+02] [ 8.20914673e-01 5.42557274e-01 -1.78131143e-01 1.49252733e+02] [ 1.87774682e-01 3.81226863e-02 9.81472022e-01 9.19561702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.93, Y:149.25, Z:92.01 [[ 5.41503596e-01 -8.29030086e-01 -1.39581416e-01 2.19930904e+02] [ 8.17372904e-01 5.58010844e-01 -1.43267002e-01 1.49250680e+02] [ 1.96660599e-01 -3.65104701e-02 9.79791608e-01 9.20075715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.91, Y:149.30, Z:91.97 [[ 5.40014751e-01 -8.38384235e-01 -7.41346337e-02 2.19914296e+02] [ 8.20382705e-01 5.43998229e-01 -1.76176458e-01 1.49298595e+02] [ 1.88032674e-01 3.43191147e-02 9.81562994e-01 9.19680671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.94, Y:149.31, Z:91.99 [[ 5.38501039e-01 -8.36173572e-01 -1.04069148e-01 2.19941088e+02] [ 8.21096979e-01 5.48464810e-01 -1.58069930e-01 1.49311749e+02] [ 1.89252163e-01 -3.30041952e-04 9.81928465e-01 9.19864342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.96, Y:149.33, Z:91.99 [[ 5.37745772e-01 -8.36656740e-01 -1.04091228e-01 2.19955096e+02] [ 8.21564794e-01 5.47727394e-01 -1.58196056e-01 1.49334589e+02] [ 1.89369413e-01 -4.48428406e-04 9.81905812e-01 9.19908895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.94, Y:149.38, Z:91.96 [[ 5.33422561e-01 -8.44477645e-01 -4.81443498e-02 2.19941788e+02] [ 8.26938070e-01 5.32619662e-01 -1.80249062e-01 1.49377854e+02] [ 1.77858931e-01 5.63365206e-02 9.82442058e-01 9.19574060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.00, Y:149.36, Z:92.03 [[ 5.34237370e-01 -8.31953271e-01 -1.49813844e-01 2.20004514e+02] [ 8.23839849e-01 5.52122420e-01 -1.28252630e-01 1.49363092e+02] [ 1.89415777e-01 -5.49052673e-02 9.80360686e-01 9.20250413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.00, Y:149.40, Z:92.01 [[ 5.34722746e-01 -8.38575576e-01 -1.04223743e-01 2.20001071e+02] [ 8.23453338e-01 5.44784273e-01 -1.58539258e-01 1.49403780e+02] [ 1.89726606e-01 -1.04884194e-03 9.81836399e-01 9.20076537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:149.43, Z:92.01 [[ 5.30775260e-01 -8.41156826e-01 -1.03599314e-01 2.20015877e+02] [ 8.26253688e-01 5.40787848e-01 -1.57649443e-01 1.49426487e+02] [ 1.88633156e-01 -1.92289111e-03 9.82045740e-01 9.20128679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:149.45, Z:92.02 [[ 5.28422925e-01 -8.42701392e-01 -1.03070731e-01 2.20029168e+02] [ 8.27962022e-01 5.38375860e-01 -1.56940510e-01 1.49450397e+02] [ 1.87744779e-01 -2.40768726e-03 9.82214896e-01 9.20168829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.04, Y:149.48, Z:92.02 [[ 5.24184160e-01 -8.45497170e-01 -1.01811106e-01 2.20041279e+02] [ 8.31154646e-01 5.33969607e-01 -1.55107746e-01 1.49475462e+02] [ 1.85507196e-01 -3.31574993e-03 9.82637312e-01 9.20200993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.06, Y:149.50, Z:92.02 [[ 5.23166123e-01 -8.46709358e-01 -9.68528309e-02 2.20056367e+02] [ 8.32195407e-01 5.32054623e-01 -1.56104715e-01 1.49501010e+02] [ 1.83706320e-01 1.06821763e-03 9.82980593e-01 9.20221943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:149.52, Z:92.03 [[ 5.20580026e-01 -8.47257033e-01 -1.05602822e-01 2.20071929e+02] [ 8.33758429e-01 5.31098639e-01 -1.50934153e-01 1.49520241e+02] [ 1.83965538e-01 -9.47393805e-03 9.82887036e-01 9.20325812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:149.56, Z:92.02 [[ 5.17303026e-01 -8.52532666e-01 -7.47370879e-02 2.20073691e+02] [ 8.37278265e-01 5.22243852e-01 -1.61945875e-01 1.49556913e+02] [ 1.77095133e-01 2.11993518e-02 9.83965396e-01 9.20162136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:149.56, Z:92.05 [[ 5.17236402e-01 -8.47205039e-01 -1.21285313e-01 2.20105203e+02] [ 8.36384709e-01 5.30422112e-01 -1.38249782e-01 1.49562795e+02] [ 1.81458324e-01 -2.99333609e-02 9.82942964e-01 9.20501927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:149.60, Z:92.04 [[ 5.18377017e-01 -8.50503419e-01 -8.90460653e-02 2.20110424e+02] [ 8.36199698e-01 5.25933917e-01 -1.55446391e-01 1.49601763e+02] [ 1.79040033e-01 6.11954340e-03 9.83822757e-01 9.20373414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.260385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:220.14, Y:149.62, Z:92.06 [[ 5.20899077e-01 -8.44508082e-01 -1.24379464e-01 2.20139580e+02] [ 8.33566508e-01 5.34630649e-01 -1.39057349e-01 1.49615627e+02] [ 1.83932128e-01 -3.12437105e-02 9.82442264e-01 9.20645327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:149.65, Z:92.05 [[ 5.18952474e-01 -8.50141312e-01 -8.91519967e-02 2.20128817e+02] [ 8.35077351e-01 5.26488402e-01 -1.59548677e-01 1.49650126e+02] [ 1.82576414e-01 8.34936749e-03 9.83156214e-01 9.20481080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.14, Y:149.67, Z:92.06 [[ 5.21379263e-01 -8.47411417e-01 -1.00287363e-01 2.20144865e+02] [ 8.33416284e-01 5.30924644e-01 -1.53415513e-01 1.49671581e+02] [ 1.83251090e-01 -3.59345454e-03 9.83059574e-01 9.20569641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.17, Y:149.69, Z:92.08 [[ 5.24576069e-01 -8.42508421e-01 -1.22472482e-01 2.20174542e+02] [ 8.30303718e-01 5.38077068e-01 -1.45150975e-01 1.49690515e+02] [ 1.88190553e-01 -2.55466290e-02 9.81800227e-01 9.20792598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:149.72, Z:92.08 [[ 5.23691424e-01 -8.44077617e-01 -1.15240048e-01 2.20180486e+02] [ 8.30771744e-01 5.35949825e-01 -1.50253436e-01 1.49716044e+02] [ 1.88588445e-01 -1.70517396e-02 9.81908161e-01 9.20814451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.17, Y:149.76, Z:92.06 [[ 5.23787343e-01 -8.48960864e-01 -7.00875918e-02 2.20171158e+02] [ 8.32309810e-01 5.27558925e-01 -1.70123368e-01 1.49756285e+02] [ 1.81403417e-01 3.07738769e-02 9.82927143e-01 9.20569778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.440385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:220.19, Y:149.77, Z:92.07 [[ 5.24694969e-01 -8.45520248e-01 -9.89479609e-02 2.20194862e+02] [ 8.31747811e-01 5.33937308e-01 -1.52008321e-01 1.49770910e+02] [ 1.81358121e-01 -2.54174856e-03 9.83413835e-01 9.20728254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.21, Y:149.79, Z:92.08 [[ 5.25007775e-01 -8.45338203e-01 -9.88441157e-02 2.20207813e+02] [ 8.31576426e-01 5.34225994e-01 -1.51931679e-01 1.49794824e+02] [ 1.81238748e-01 -2.43112366e-03 9.83436122e-01 9.20774508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.500385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.22, Y:149.82, Z:92.08 [[ 5.24850032e-01 -8.45469330e-01 -9.85599125e-02 2.20221490e+02] [ 8.31774441e-01 5.34018477e-01 -1.51576861e-01 1.49818795e+02] [ 1.80786402e-01 -2.42449565e-03 9.83519394e-01 9.20822984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.530385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:220.23, Y:149.84, Z:92.09 [[ 5.24422525e-01 -8.45671724e-01 -9.90976850e-02 2.20234976e+02] [ 8.31812389e-01 5.33697752e-01 -1.52495437e-01 1.49842910e+02] [ 1.81849291e-01 -2.45864008e-03 9.83323340e-01 9.20877418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.25, Y:149.87, Z:92.09 [[ 5.24426361e-01 -8.45827397e-01 -9.77394779e-02 2.20247970e+02] [ 8.32334772e-01 5.33451138e-01 -1.50494886e-01 1.49865753e+02] [ 1.79431933e-01 -2.42848063e-03 9.83767393e-01 9.20926773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.590385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.26, Y:149.89, Z:92.10 [[ 5.23975500e-01 -8.46111898e-01 -9.76950956e-02 2.20261076e+02] [ 8.32621563e-01 5.32999536e-01 -1.50508566e-01 1.49889845e+02] [ 1.79418529e-01 -2.48024209e-03 9.83769709e-01 9.20966232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.620385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.27, Y:149.91, Z:92.10 [[ 5.22892891e-01 -8.46769641e-01 -9.77967235e-02 2.20271771e+02] [ 8.33245527e-01 5.31953105e-01 -1.50757377e-01 1.49914622e+02] [ 1.79680041e-01 -2.65872149e-03 9.83721512e-01 9.20997684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.650385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:220.29, Y:149.94, Z:92.10 [[ 5.21938723e-01 -8.47225677e-01 -9.89374670e-02 2.20286242e+02] [ 8.33373899e-01 5.31225746e-01 -1.52601278e-01 1.49937708e+02] [ 1.81845851e-01 -2.80338630e-03 9.83323053e-01 9.21042245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:149.96, Z:92.11 [[ 5.20927276e-01 -8.48031379e-01 -9.73527253e-02 2.20301642e+02] [ 8.34621064e-01 5.29937607e-01 -1.50245840e-01 1.49959593e+02] [ 1.79004057e-01 -2.98547915e-03 9.83843806e-01 9.21105237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:149.98, Z:92.11 [[ 5.20629340e-01 -8.48468489e-01 -9.51121083e-02 2.20315043e+02] [ 8.34549538e-01 5.29245809e-01 -1.53055357e-01 1.49983768e+02] [ 1.80200332e-01 3.09343307e-04 9.83629882e-01 9.21138266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.33, Y:150.01, Z:92.12 [[ 5.19828175e-01 -8.48384072e-01 -1.00115608e-01 2.20330952e+02] [ 8.35187683e-01 5.29346425e-01 -1.49177401e-01 1.50006258e+02] [ 1.79555570e-01 -6.06870699e-03 9.83729113e-01 9.21206735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.32, Y:150.04, Z:92.10 [[ 5.17616155e-01 -8.52824722e-01 -6.90181811e-02 2.20323725e+02] [ 8.37328830e-01 5.21491125e-01 -1.64095816e-01 1.50042754e+02] [ 1.75937338e-01 2.71477325e-02 9.84026958e-01 9.21000159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.800385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:220.36, Y:150.05, Z:92.12 [[ 5.19846847e-01 -8.47895528e-01 -1.04078955e-01 2.20356607e+02] [ 8.35751296e-01 5.30018954e-01 -1.43525884e-01 1.50053820e+02] [ 1.76858774e-01 -1.23726437e-02 9.84158469e-01 9.21225696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:150.09, Z:92.11 [[ 5.20150517e-01 -8.50478724e-01 -7.82903620e-02 2.20358954e+02] [ 8.35655624e-01 5.25724888e-01 -1.59037799e-01 1.50086122e+02] [ 1.76417456e-01 1.72998119e-02 9.84163400e-01 9.21127103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.860385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:220.39, Y:150.10, Z:92.13 [[ 5.21331352e-01 -8.47270791e-01 -1.01714444e-01 2.20386331e+02] [ 8.34805557e-01 5.31080329e-01 -1.45097780e-01 1.50101672e+02] [ 1.76955652e-01 -9.26776139e-03 9.84175191e-01 9.21283092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:150.12, Z:92.15 [[ 5.26685756e-01 -8.41682361e-01 -1.19050062e-01 2.20412992e+02] [ 8.30299465e-01 5.39393749e-01 -1.40204069e-01 1.50119025e+02] [ 1.82222151e-01 -2.50037168e-02 9.82939419e-01 9.21505428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.40, Y:150.16, Z:92.13 [[ 5.23986688e-01 -8.48735117e-01 -7.13207700e-02 2.20400256e+02] [ 8.33760132e-01 5.28240587e-01 -1.60642223e-01 1.50159409e+02] [ 1.74017222e-01 2.47099718e-02 9.84432539e-01 9.21255563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.44, Y:150.17, Z:92.16 [[ 5.29422641e-01 -8.39971631e-01 -1.18992971e-01 2.20438808e+02] [ 8.28844397e-01 5.42042329e-01 -1.38589606e-01 1.50167609e+02] [ 1.80910565e-01 -2.52541818e-02 9.83175261e-01 9.21581430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.44, Y:150.20, Z:92.15 [[ 5.29703105e-01 -8.42424091e-01 -9.86725516e-02 2.20444392e+02] [ 8.28551428e-01 5.38813912e-01 -1.52256692e-01 1.50198431e+02] [ 1.81430849e-01 -1.10444112e-03 9.83403085e-01 9.21543343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.45, Y:150.23, Z:92.15 [[ 5.27047956e-01 -8.45781228e-01 -8.29130107e-02 2.20448002e+02] [ 8.31329224e-01 5.33360811e-01 -1.56262491e-01 1.50225565e+02] [ 1.76386432e-01 1.34298177e-02 9.84229377e-01 9.21463650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.47, Y:150.24, Z:92.16 [[ 5.28246399e-01 -8.43515869e-01 -9.71427857e-02 2.20470907e+02] [ 8.30621299e-01 5.37095542e-01 -1.46957938e-01 1.50241408e+02] [ 1.76136310e-01 -3.05886521e-03 9.84361033e-01 9.21576609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.070385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.48, Y:150.27, Z:92.16 [[ 5.29063532e-01 -8.43328776e-01 -9.42780734e-02 2.20484505e+02] [ 8.30126021e-01 5.37397835e-01 -1.48641707e-01 1.50266081e+02] [ 1.76018662e-01 3.78224771e-04 9.84386757e-01 9.21613140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.51, Y:150.29, Z:92.17 [[ 5.31734897e-01 -8.40565749e-01 -1.03475700e-01 2.20506581e+02] [ 8.27444231e-01 5.41665975e-01 -1.48101371e-01 1.50287361e+02] [ 1.80538206e-01 -6.86970317e-03 9.83543981e-01 9.21742906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.130385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:220.52, Y:150.31, Z:92.17 [[ 5.32236840e-01 -8.40915266e-01 -9.79053745e-02 2.20517189e+02] [ 8.27127164e-01 5.41166746e-01 -1.51654896e-01 1.50314198e+02] [ 1.80512050e-01 -2.63872098e-04 9.83572738e-01 9.21742950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.160385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:220.53, Y:150.34, Z:92.18 [[ 5.33715902e-01 -8.40461204e-01 -9.36605609e-02 2.20528341e+02] [ 8.26094223e-01 5.41846188e-01 -1.54825846e-01 1.50337103e+02] [ 1.80874735e-01 5.26056784e-03 9.83492073e-01 9.21761009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.55, Y:150.36, Z:92.19 [[ 5.33689931e-01 -8.39673438e-01 -1.00615975e-01 2.20549276e+02] [ 8.26495625e-01 5.43076539e-01 -1.48232436e-01 1.50356311e+02] [ 1.79109015e-01 -4.04850464e-03 9.83820904e-01 9.21857337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.56, Y:150.38, Z:92.19 [[ 5.33893391e-01 -8.39971559e-01 -9.69826104e-02 2.20564559e+02] [ 8.26380234e-01 5.42630389e-01 -1.50492422e-01 1.50379442e+02] [ 1.79035066e-01 2.02397400e-04 9.83842672e-01 9.21903229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:150.40, Z:92.20 [[ 5.34271034e-01 -8.39749999e-01 -9.68214929e-02 2.20580490e+02] [ 8.26183734e-01 5.42973141e-01 -1.50334977e-01 1.50401252e+02] [ 1.78815267e-01 3.27281041e-04 9.83882612e-01 9.21956027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.59, Y:150.42, Z:92.20 [[ 5.34307725e-01 -8.39704073e-01 -9.70171396e-02 2.20594623e+02] [ 8.26066454e-01 5.43044122e-01 -1.50722579e-01 1.50423591e+02] [ 1.79246951e-01 3.89633873e-04 9.83804035e-01 9.22004372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.310385723 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:220.60, Y:150.45, Z:92.20 [[ 5.33419819e-01 -8.40984808e-01 -9.05971884e-02 2.20604754e+02] [ 8.25789645e-01 5.40961588e-01 -1.59474207e-01 1.50451331e+02] [ 1.83124984e-01 1.02524825e-02 9.83036178e-01 9.22006709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:150.47, Z:92.21 [[ 5.33759556e-01 -8.39060124e-01 -1.05256091e-01 2.20627481e+02] [ 8.26374287e-01 5.43960214e-01 -1.45646224e-01 1.50468294e+02] [ 1.79461065e-01 -9.24086383e-03 9.83721674e-01 9.22115491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.370385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:220.64, Y:150.49, Z:92.21 [[ 5.33407357e-01 -8.40279027e-01 -9.69935452e-02 2.20642453e+02] [ 8.26603364e-01 5.42154062e-01 -1.50982953e-01 1.50492491e+02] [ 1.79453253e-01 3.60226995e-04 9.83766436e-01 9.22141946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.66, Y:150.51, Z:92.22 [[ 5.32988656e-01 -8.40601060e-01 -9.65036327e-02 2.20659175e+02] [ 8.27052883e-01 5.41654657e-01 -1.50312216e-01 1.50514904e+02] [ 1.78624250e-01 3.01098349e-04 9.83917317e-01 9.22200233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.430385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:220.67, Y:150.54, Z:92.22 [[ 5.32470853e-01 -8.41605565e-01 -9.04149483e-02 2.20670859e+02] [ 8.26957810e-01 5.40024170e-01 -1.56571632e-01 1.50538849e+02] [ 1.80597814e-01 8.60048287e-03 9.83519426e-01 9.22208727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.460385723 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:220.69, Y:150.56, Z:92.23 [[ 5.32210815e-01 -8.40392178e-01 -1.02433571e-01 2.20693362e+02] [ 8.27761397e-01 5.41927757e-01 -1.45345712e-01 1.50558924e+02] [ 1.77658995e-01 -7.43599616e-03 9.84064016e-01 9.22310678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.490385723 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:220.71, Y:150.58, Z:92.23 [[ 5.31929075e-01 -8.41248909e-01 -9.67043562e-02 2.20706085e+02] [ 8.27615475e-01 5.40647974e-01 -1.50838966e-01 1.50583674e+02] [ 1.79176130e-01 2.01610117e-04 9.83816992e-01 9.22329235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.520385723 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:220.72, Y:150.60, Z:92.24 [[ 5.31506134e-01 -8.41330372e-01 -9.83078615e-02 2.20724360e+02] [ 8.27220728e-01 5.40521187e-01 -1.53436351e-01 1.50603022e+02] [ 1.82228144e-01 2.30060857e-04 9.83256249e-01 9.22386424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.550385723 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:220.74, Y:150.62, Z:92.24 [[ 5.31242218e-01 -8.41465560e-01 -9.85769599e-02 2.20741834e+02] [ 8.27264178e-01 5.40310705e-01 -1.53942596e-01 1.50624734e+02] [ 1.82799579e-01 2.31618303e-04 9.83150172e-01 9.22449765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.580385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:220.76, Y:150.65, Z:92.25 [[ 5.30906099e-01 -8.41698799e-01 -9.83963761e-02 2.20758261e+02] [ 8.27536289e-01 5.39947304e-01 -1.53754995e-01 1.50646583e+02] [ 1.82544253e-01 2.02892523e-04 9.83197617e-01 9.22506359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:220.77, Y:150.67, Z:92.26 [[ 5.30498089e-01 -8.41975674e-01 -9.82280095e-02 2.20773476e+02] [ 8.27849253e-01 5.39515467e-01 -1.53586054e-01 1.50669331e+02] [ 1.82311252e-01 1.59123883e-04 9.83240857e-01 9.22552669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.640385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:220.79, Y:150.69, Z:92.26 [[ 5.29690448e-01 -8.42496083e-01 -9.81243076e-02 2.20789032e+02] [ 8.28391142e-01 5.38702468e-01 -1.53517970e-01 1.50692151e+02] [ 1.82198095e-01 3.16951142e-05 9.83261844e-01 9.22584202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.670385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:220.81, Y:150.71, Z:92.26 [[ 5.28918215e-01 -8.42965113e-01 -9.82615920e-02 2.20805827e+02] [ 8.28810881e-01 5.37968226e-01 -1.53826887e-01 1.50714357e+02] [ 1.82532313e-01 -7.84341451e-05 9.83199852e-01 9.22634206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:150.74, Z:92.27 [[ 5.28217044e-01 -8.43396630e-01 -9.83304552e-02 2.20823723e+02] [ 8.29212333e-01 5.37291442e-01 -1.54028615e-01 1.50735630e+02] [ 1.82739327e-01 -1.76286362e-04 9.83161384e-01 9.22690953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.84, Y:150.75, Z:92.28 [[ 5.26855384e-01 -8.44267838e-01 -9.81591635e-02 2.20843970e+02] [ 8.30131066e-01 5.35921296e-01 -1.53853108e-01 1.50754627e+02] [ 1.82498817e-01 -4.26632706e-04 9.83205980e-01 9.22753758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.760385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:220.86, Y:150.78, Z:92.28 [[ 5.26284598e-01 -8.44679930e-01 -9.76746518e-02 2.20859958e+02] [ 8.30673046e-01 5.35271473e-01 -1.53188576e-01 1.50776971e+02] [ 1.81677771e-01 -5.14912447e-04 9.83357983e-01 9.22797948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.790385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:220.87, Y:150.80, Z:92.28 [[ 5.25455348e-01 -8.45237468e-01 -9.73154712e-02 2.20874518e+02] [ 8.31326308e-01 5.34390491e-01 -1.52719921e-01 1.50799226e+02] [ 1.81089061e-01 -6.53412320e-04 9.83466484e-01 9.22837383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.89, Y:150.82, Z:92.29 [[ 5.25450177e-01 -8.45283998e-01 -9.69385025e-02 2.20891616e+02] [ 8.31466462e-01 5.34316926e-01 -1.52213487e-01 1.50821301e+02] [ 1.80459508e-01 -6.20509737e-04 9.83582219e-01 9.22882921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.850385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:220.88, Y:150.87, Z:92.25 [[ 5.22653674e-01 -8.51703664e-01 -3.78682750e-02 2.20880295e+02] [ 8.35908645e-01 5.20680947e-01 -1.73632049e-01 1.50866145e+02] [ 1.67600342e-01 5.90950101e-02 9.84082265e-01 9.22537788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.880385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:220.95, Y:150.85, Z:92.32 [[ 5.25664435e-01 -8.38050749e-01 -1.46109015e-01 2.20948003e+02] [ 8.31070036e-01 5.42584663e-01 -1.22165784e-01 1.50845538e+02] [ 1.81657638e-01 -5.72086163e-02 9.81696326e-01 9.23213183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.910385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:220.94, Y:150.89, Z:92.30 [[ 5.25783993e-01 -8.45009620e-01 -9.75188924e-02 2.20942188e+02] [ 8.30968580e-01 5.34750969e-01 -1.53403457e-01 1.50887471e+02] [ 1.81775719e-01 -3.78053160e-04 9.83339944e-01 9.23031211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.940385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:220.96, Y:150.91, Z:92.31 [[ 5.26024094e-01 -8.44824972e-01 -9.78234062e-02 2.20958182e+02] [ 8.30680994e-01 5.35042696e-01 -1.53942846e-01 1.50908995e+02] [ 1.82394460e-01 -2.82398246e-04 9.83225397e-01 9.23074609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.970385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:220.97, Y:150.93, Z:92.31 [[ 5.26107567e-01 -8.44724797e-01 -9.82387163e-02 2.20974101e+02] [ 8.30445191e-01 5.35200871e-01 -1.54663549e-01 1.50931366e+02] [ 1.83225582e-01 -2.12205937e-04 9.83070873e-01 9.23115377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.000385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:221.00, Y:150.95, Z:92.32 [[ 5.27583999e-01 -8.42714394e-01 -1.07180105e-01 2.20995261e+02] [ 8.29384336e-01 5.38268887e-01 -1.49626967e-01 1.50950828e+02] [ 1.83784515e-01 -9.95270664e-03 9.82916169e-01 9.23216503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.030385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:221.00, Y:150.98, Z:92.32 [[ 5.27878776e-01 -8.44416687e-01 -9.11287847e-02 2.21004286e+02] [ 8.28737465e-01 5.35590822e-01 -1.62285815e-01 1.50978618e+02] [ 1.85844591e-01 1.01453997e-02 9.82526773e-01 9.23160728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.02, Y:151.00, Z:92.32 [[ 5.28337795e-01 -8.43163918e-01 -9.96683590e-02 2.21024263e+02] [ 8.28392751e-01 5.37656396e-01 -1.57133860e-01 1.50997307e+02] [ 1.86076932e-01 4.55210987e-04 9.82535072e-01 9.23249494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:151.02, Z:92.33 [[ 5.28988825e-01 -8.42751059e-01 -9.97069446e-02 2.21040631e+02] [ 8.27943405e-01 5.38303100e-01 -1.57287926e-01 1.51018983e+02] [ 1.86227123e-01 6.51847859e-04 9.82506506e-01 9.23304809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.120385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:221.06, Y:151.04, Z:92.34 [[ 5.30495779e-01 -8.41810897e-01 -9.96425733e-02 2.21063109e+02] [ 8.27658615e-01 5.39771764e-01 -1.53712915e-01 1.51043970e+02] [ 1.83181454e-01 -9.25981664e-04 9.83078683e-01 9.23350249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.150385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:221.07, Y:151.06, Z:92.34 [[ 5.31120589e-01 -8.41427675e-01 -9.95509334e-02 2.21073532e+02] [ 8.26902827e-01 5.40369632e-01 -1.55667517e-01 1.51063004e+02] [ 1.84777258e-01 3.59275025e-04 9.82780360e-01 9.23407328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:151.09, Z:92.33 [[ 5.31879276e-01 -8.42658283e-01 -8.38537706e-02 2.21083366e+02] [ 8.28218155e-01 5.38279991e-01 -1.55914526e-01 1.51091401e+02] [ 1.76519474e-01 1.34784901e-02 9.84204860e-01 9.23305223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.210385723 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:221.11, Y:151.10, Z:92.36 [[ 5.32934875e-01 -8.37374112e-01 -1.21593651e-01 2.21114687e+02] [ 8.27053458e-01 5.45859178e-01 -1.34239846e-01 1.51098539e+02] [ 1.78781982e-01 -2.90233538e-02 9.83460547e-01 9.23601659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.240385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:221.11, Y:151.14, Z:92.35 [[ 5.33367917e-01 -8.41955709e-01 -8.14201987e-02 2.21110581e+02] [ 8.25920089e-01 5.39150383e-01 -1.64841960e-01 1.51136831e+02] [ 1.82687361e-01 2.06748351e-02 9.82953651e-01 9.23460171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.270385723 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:221.14, Y:151.15, Z:92.36 [[ 5.33116600e-01 -8.39548925e-01 -1.04614976e-01 2.21136177e+02] [ 8.26637369e-01 5.43222751e-01 -1.46900316e-01 1.51150402e+02] [ 1.80159237e-01 -8.16365147e-03 9.83603581e-01 9.23626164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.300385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:221.14, Y:151.18, Z:92.36 [[ 5.34063651e-01 -8.40699939e-01 -8.94406482e-02 2.21141572e+02] [ 8.25568065e-01 5.41385968e-01 -1.59181043e-01 1.51177571e+02] [ 1.82245405e-01 1.11734662e-02 9.83189588e-01 9.23600949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.19, Y:151.17, Z:92.43 [[ 5.31748131e-01 -8.27626962e-01 -1.79659503e-01 2.21192813e+02] [ 8.23343505e-01 5.54878146e-01 -1.19229675e-01 1.51168966e+02] [ 1.98366825e-01 -8.45213284e-02 9.76476701e-01 9.24297194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.17, Y:151.23, Z:92.38 [[ 5.32535778e-01 -8.42643388e-01 -7.97356028e-02 2.21166446e+02] [ 8.24903460e-01 5.37797917e-01 -1.74091017e-01 1.51230434e+02] [ 1.89578285e-01 2.69355206e-02 9.81496078e-01 9.23769594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.390385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:221.16, Y:151.27, Z:92.35 [[ 5.29142273e-01 -8.47426098e-01 -4.33297040e-02 2.21156243e+02] [ 8.29921584e-01 5.27497376e-01 -1.81594830e-01 1.51265067e+02] [ 1.76744503e-01 6.01292445e-02 9.82418370e-01 9.23505884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.420385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:221.20, Y:151.27, Z:92.38 [[ 5.30772815e-01 -8.42327112e-01 -9.36229463e-02 2.21199757e+02] [ 8.28541586e-01 5.38958288e-01 -1.51798563e-01 1.51271301e+02] [ 1.78322908e-01 3.00004619e-03 9.83967449e-01 9.23806851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.450385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.21, Y:151.29, Z:92.38 [[ 5.26375374e-01 -8.45346113e-01 -9.12080866e-02 2.21208334e+02] [ 8.31820896e-01 5.34207996e-01 -1.50651301e-01 1.51293949e+02] [ 1.76076581e-01 3.43034267e-03 9.84370495e-01 9.23814283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.480385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:221.18, Y:151.35, Z:92.33 [[ 5.16721179e-01 -8.56119676e-01 -7.63694158e-03 2.21176309e+02] [ 8.41573099e-01 5.09540228e-01 -1.79230228e-01 1.51347912e+02] [ 1.57333854e-01 8.61850102e-02 9.83777517e-01 9.23276537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.510385723 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:221.27, Y:151.32, Z:92.43 [[ 5.22432079e-01 -8.37393656e-01 -1.60737635e-01 2.21274763e+02] [ 8.33878370e-01 5.41120949e-01 -1.08788705e-01 1.51315214e+02] [ 1.78077473e-01 -7.72009277e-02 9.80983400e-01 9.24290347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.540385723 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:221.26, Y:151.36, Z:92.40 [[ 5.19392064e-01 -8.49036420e-01 -9.67938093e-02 2.21264072e+02] [ 8.35928089e-01 5.28321381e-01 -1.48663205e-01 1.51364045e+02] [ 1.77358714e-01 -3.69817517e-03 9.84139325e-01 9.24013240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.570385723 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:221.28, Y:151.39, Z:92.40 [[ 5.18824442e-01 -8.50053882e-01 -9.07171220e-02 2.21275794e+02] [ 8.36438905e-01 5.26688548e-01 -1.51555707e-01 1.51387443e+02] [ 1.76610186e-01 2.75147470e-03 9.84277030e-01 9.24006903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.29, Y:151.40, Z:92.41 [[ 5.15542522e-01 -8.49797267e-01 -1.09820363e-01 2.21294985e+02] [ 8.38177848e-01 5.26760785e-01 -1.41354061e-01 1.51402551e+02] [ 1.77971355e-01 -1.91749665e-02 9.83848829e-01 9.24136470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.630385723 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:221.30, Y:151.44, Z:92.40 [[ 5.13959138e-01 -8.53945649e-01 -8.13807945e-02 2.21297833e+02] [ 8.39154111e-01 5.20191396e-01 -1.58812121e-01 1.51439677e+02] [ 1.77950508e-01 1.33319122e-02 9.83949123e-01 9.24042078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.30, Y:151.47, Z:92.40 [[ 5.10570829e-01 -8.57052837e-01 -6.91220886e-02 2.21302713e+02] [ 8.42341758e-01 5.14697707e-01 -1.59833141e-01 1.51465428e+02] [ 1.72562427e-01 2.33817174e-02 9.84721029e-01 9.23984221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.690385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.34, Y:151.47, Z:92.44 [[ 5.12297003e-01 -8.50679860e-01 -1.17879412e-01 2.21343874e+02] [ 8.40162274e-01 5.24877409e-01 -1.36495639e-01 1.51472001e+02] [ 1.77986331e-01 -2.91115282e-02 9.83602249e-01 9.24370661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.720385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.35, Y:151.50, Z:92.44 [[ 5.13273814e-01 -8.52683557e-01 -9.73691108e-02 2.21350811e+02] [ 8.38910527e-01 5.22417196e-01 -1.52674164e-01 1.51503643e+02] [ 1.81050047e-01 -3.32032172e-03 9.83468279e-01 9.24357718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.750385723 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:221.36, Y:151.53, Z:92.44 [[ 5.11669505e-01 -8.53736501e-01 -9.65831448e-02 2.21364295e+02] [ 8.39998067e-01 5.20696272e-01 -1.52573391e-01 1.51528386e+02] [ 1.80547956e-01 -3.06250358e-03 9.83561415e-01 9.24403945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.780385723 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:221.37, Y:151.56, Z:92.44 [[ 5.11484647e-01 -8.54630024e-01 -8.93922680e-02 2.21374358e+02] [ 8.40042366e-01 5.19209627e-01 -1.57321919e-01 1.51555949e+02] [ 1.80865361e-01 5.37445363e-03 9.83493181e-01 9.24407118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.39, Y:151.57, Z:92.46 [[ 5.11431509e-01 -8.52256789e-01 -1.09982619e-01 2.21394893e+02] [ 8.39692178e-01 5.22838772e-01 -1.46821881e-01 1.51570749e+02] [ 1.82633122e-01 -1.72622083e-02 9.83029582e-01 9.24564141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.840385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:221.41, Y:151.60, Z:92.46 [[ 5.11855570e-01 -8.52821960e-01 -1.03433943e-01 2.21406259e+02] [ 8.39349747e-01 5.22117460e-01 -1.51279084e-01 1.51598110e+02] [ 1.83018792e-01 -9.38421220e-03 9.83064626e-01 9.24593410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.870385723 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:221.41, Y:151.63, Z:92.46 [[ 5.11443094e-01 -8.54970882e-01 -8.63177390e-02 2.21410495e+02] [ 8.39718517e-01 5.18581519e-01 -1.61077686e-01 1.51627466e+02] [ 1.82479516e-01 9.89946656e-03 9.83159818e-01 9.24564838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.44, Y:151.64, Z:92.47 [[ 5.10645418e-01 -8.52433046e-01 -1.12245978e-01 2.21436664e+02] [ 8.40245918e-01 5.22444244e-01 -1.45047607e-01 1.51642496e+02] [ 1.82285639e-01 -2.02463294e-02 9.83037147e-01 9.24748268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.45, Y:151.67, Z:92.47 [[ 5.10910582e-01 -8.53721798e-01 -1.00645266e-01 2.21445585e+02] [ 8.40056893e-01 5.20685717e-01 -1.52285258e-01 1.51670712e+02] [ 1.82413797e-01 -6.74360015e-03 9.83198724e-01 9.24742246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.46, Y:151.70, Z:92.48 [[ 5.10296267e-01 -8.54156523e-01 -1.00071741e-01 2.21458759e+02] [ 8.39712961e-01 5.19999152e-01 -1.56470523e-01 1.51696023e+02] [ 1.85687539e-01 -4.18521356e-03 9.82599930e-01 9.24809926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.48, Y:151.72, Z:92.49 [[ 5.10105166e-01 -8.52829366e-01 -1.11690607e-01 2.21478998e+02] [ 8.39810438e-01 5.21894747e-01 -1.49480101e-01 1.51715035e+02] [ 1.85771761e-01 -1.75483653e-02 9.82436211e-01 9.24941503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.020385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.48, Y:151.75, Z:92.48 [[ 5.09758523e-01 -8.57204259e-01 -7.31239087e-02 2.21476744e+02] [ 8.40948900e-01 5.14413008e-01 -1.67881516e-01 1.51752895e+02] [ 1.81524641e-01 2.40855632e-02 9.83091395e-01 9.24750962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.050385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:221.50, Y:151.76, Z:92.49 [[ 5.10289020e-01 -8.53973224e-01 -1.01660457e-01 2.21498782e+02] [ 8.41464551e-01 5.20200272e-01 -1.46044810e-01 1.51762560e+02] [ 1.77602155e-01 -1.10186082e-02 9.84040683e-01 9.24925277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.080385723 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:221.51, Y:151.79, Z:92.49 [[ 5.09604141e-01 -8.55956065e-01 -8.74233083e-02 2.21505999e+02] [ 8.41418984e-01 5.17006946e-01 -1.57219311e-01 1.51793924e+02] [ 1.79771280e-01 6.55998064e-03 9.83686563e-01 9.24899971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.110385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:221.53, Y:151.81, Z:92.51 [[ 5.10308260e-01 -8.52232352e-01 -1.15262734e-01 2.21532125e+02] [ 8.41076036e-01 5.22536787e-01 -1.39808471e-01 1.51806606e+02] [ 1.79378321e-01 -2.55993059e-02 9.83447047e-01 9.25088754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.140385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.53, Y:151.84, Z:92.50 [[ 5.10222390e-01 -8.55963277e-01 -8.36658865e-02 2.21532063e+02] [ 8.41856967e-01 5.16964269e-01 -1.54999329e-01 1.51843609e+02] [ 1.75926007e-01 8.64941854e-03 9.84365393e-01 9.24956127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.55, Y:151.86, Z:92.51 [[ 5.11680152e-01 -8.53846406e-01 -9.55496583e-02 2.21550199e+02] [ 8.40455458e-01 5.20515108e-01 -1.50660695e-01 1.51863642e+02] [ 1.78376134e-01 -3.21514461e-03 9.83957122e-01 9.25075997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.56, Y:151.89, Z:92.51 [[ 5.10928321e-01 -8.54104482e-01 -9.72511398e-02 2.21564234e+02] [ 8.41361030e-01 5.20059011e-01 -1.47140216e-01 1.51886571e+02] [ 1.76249449e-01 -6.64521585e-03 9.84323104e-01 9.25130977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.230385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:221.57, Y:151.91, Z:92.51 [[ 5.10283366e-01 -8.55371446e-01 -8.91660065e-02 2.21574454e+02] [ 8.42066133e-01 5.18012650e-01 -1.50291456e-01 1.51913406e+02] [ 1.74744139e-01 1.60755549e-03 9.84612564e-01 9.25125976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.59, Y:151.93, Z:92.52 [[ 5.10510851e-01 -8.54510636e-01 -9.58657608e-02 2.21588431e+02] [ 8.41528900e-01 5.19410958e-01 -1.48463354e-01 1.51932694e+02] [ 1.76657242e-01 -4.88165474e-03 9.84260326e-01 9.25207168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.290385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:221.60, Y:151.96, Z:92.52 [[ 5.08589356e-01 -8.56250711e-01 -9.03968270e-02 2.21601557e+02] [ 8.42089481e-01 5.16553078e-01 -1.55107139e-01 1.51961241e+02] [ 1.79505357e-01 2.76362291e-03 9.83753114e-01 9.25232349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.320385723 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:221.62, Y:151.98, Z:92.53 [[ 5.08903687e-01 -8.54732618e-01 -1.02221274e-01 2.21618353e+02] [ 8.42433611e-01 5.18922242e-01 -1.45001095e-01 1.51978435e+02] [ 1.76982058e-01 -1.23230454e-02 9.84136928e-01 9.25337417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.350385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:221.63, Y:152.01, Z:92.53 [[ 5.08182640e-01 -8.56309035e-01 -9.21153663e-02 2.21627424e+02] [ 8.42721862e-01 5.16463613e-01 -1.51938147e-01 1.52007607e+02] [ 1.77680243e-01 -4.15304492e-04 9.84088187e-01 9.25336386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.380385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:221.64, Y:152.03, Z:92.54 [[ 5.09019535e-01 -8.55437501e-01 -9.55290270e-02 2.21640589e+02] [ 8.42317454e-01 5.17886831e-01 -1.49313551e-01 1.52028710e+02] [ 1.77201636e-01 -4.46225280e-03 9.84164452e-01 9.25392621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.410385723 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:221.65, Y:152.06, Z:92.54 [[ 5.07222802e-01 -8.56694354e-01 -9.38073143e-02 2.21654656e+02] [ 8.42688047e-01 5.15823759e-01 -1.54281251e-01 1.52056511e+02] [ 1.80559919e-01 -7.95333806e-04 9.83563665e-01 9.25434250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.440385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:221.67, Y:152.08, Z:92.55 [[ 5.07816998e-01 -8.56156272e-01 -9.54899715e-02 2.21668170e+02] [ 8.42096458e-01 5.16713351e-01 -1.54534357e-01 1.52077522e+02] [ 1.81646502e-01 -1.93659340e-03 9.83361987e-01 9.25497866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.470385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:221.69, Y:152.10, Z:92.56 [[ 5.08190596e-01 -8.54873300e-01 -1.04565573e-01 2.21687772e+02] [ 8.42116066e-01 5.18674115e-01 -1.47708140e-01 1.52097027e+02] [ 1.80507201e-01 -1.29924610e-02 9.83487848e-01 9.25610482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.500385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:221.70, Y:152.12, Z:92.56 [[ 5.07245521e-01 -8.56393153e-01 -9.63989030e-02 2.21699819e+02] [ 8.42816314e-01 5.16307421e-01 -1.51945084e-01 1.52124756e+02] [ 1.79896198e-01 -4.17310496e-03 9.83676747e-01 9.25634824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.530385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:221.71, Y:152.15, Z:92.56 [[ 5.07930621e-01 -8.57066352e-01 -8.62771803e-02 2.21708073e+02] [ 8.42202452e-01 5.15141301e-01 -1.59136639e-01 1.52152371e+02] [ 1.80835597e-01 8.16751910e-03 9.83479424e-01 9.25624222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.72, Y:152.17, Z:92.57 [[ 5.07749557e-01 -8.56574268e-01 -9.20375521e-02 2.21723582e+02] [ 8.42219966e-01 5.16020700e-01 -1.56167113e-01 1.52174568e+02] [ 1.81262012e-01 1.77791837e-03 9.83433232e-01 9.25685822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.74, Y:152.20, Z:92.58 [[ 5.08580674e-01 -8.54989420e-01 -1.01679842e-01 2.21741952e+02] [ 8.42208375e-01 5.18538345e-01 -1.47658521e-01 1.52195712e+02] [ 1.78971370e-01 -1.05393440e-02 9.83797830e-01 9.25780271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.620385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:221.75, Y:152.22, Z:92.58 [[ 5.08511942e-01 -8.55911568e-01 -9.39733593e-02 2.21752435e+02] [ 8.42271760e-01 5.17119244e-01 -1.52203713e-01 1.52222237e+02] [ 1.78868351e-01 -1.75370079e-03 9.83871454e-01 9.25772095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.77, Y:152.25, Z:92.58 [[ 5.08779308e-01 -8.55942405e-01 -9.22291441e-02 2.21765979e+02] [ 8.42082080e-01 5.17071029e-01 -1.53412259e-01 1.52247436e+02] [ 1.79001077e-01 3.88473795e-04 9.83848801e-01 9.25824281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.78, Y:152.27, Z:92.58 [[ 5.08545053e-01 -8.56859918e-01 -8.46936212e-02 2.21775259e+02] [ 8.41753919e-01 5.15445605e-01 -1.60518437e-01 1.52274106e+02] [ 1.81196770e-01 1.03396696e-02 9.83392507e-01 9.25823417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.80, Y:152.29, Z:92.59 [[ 5.08174004e-01 -8.55498241e-01 -9.94079571e-02 2.21796859e+02] [ 8.42663363e-01 5.17734026e-01 -1.47884870e-01 1.52292285e+02] [ 1.77982128e-01 -8.61619701e-03 9.83995998e-01 9.25933648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:152.32, Z:92.59 [[ 5.07902374e-01 -8.56909953e-01 -8.79801755e-02 2.21805399e+02] [ 8.42495688e-01 5.15437668e-01 -1.56604683e-01 1.52320749e+02] [ 1.79544408e-01 5.41697180e-03 9.83734955e-01 9.25928687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.82, Y:152.34, Z:92.60 [[ 5.08160661e-01 -8.55616600e-01 -9.84529175e-02 2.21824361e+02] [ 8.42873041e-01 5.17546605e-01 -1.47344996e-01 1.52339295e+02] [ 1.77024797e-01 -8.10837960e-03 9.84172991e-01 9.26037276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.84, Y:152.37, Z:92.61 [[ 5.07983247e-01 -8.56377019e-01 -9.25819742e-02 2.21836434e+02] [ 8.42994922e-01 5.16349043e-01 -1.50808582e-01 1.52365394e+02] [ 1.76953618e-01 -1.43790089e-03 9.84218141e-01 9.26059846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.85, Y:152.39, Z:92.61 [[ 5.08209295e-01 -8.56497544e-01 -9.01957314e-02 2.21850803e+02] [ 8.43087138e-01 5.16150648e-01 -1.50972137e-01 1.52389840e+02] [ 1.75861850e-01 6.82582583e-04 9.84414620e-01 9.26101526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.86, Y:152.41, Z:92.61 [[ 5.08139126e-01 -8.56541893e-01 -9.01699195e-02 2.21864928e+02] [ 8.43258817e-01 5.16077402e-01 -1.50262046e-01 1.52413144e+02] [ 1.75240395e-01 3.17444870e-04 9.84525624e-01 9.26149432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.88, Y:152.44, Z:92.62 [[ 5.08199532e-01 -8.56779295e-01 -8.75355709e-02 2.21876092e+02] [ 8.43204978e-01 5.15672009e-01 -1.51946518e-01 1.52437638e+02] [ 1.75324274e-01 3.40872006e-03 9.84504840e-01 9.26188944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.89, Y:152.46, Z:92.62 [[ 5.09067385e-01 -8.55957868e-01 -9.04794247e-02 2.21891446e+02] [ 8.43117299e-01 5.17044427e-01 -1.47710124e-01 1.52459195e+02] [ 1.73215525e-01 -1.09036186e-03 9.84883340e-01 9.26233255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:152.48, Z:92.63 [[ 5.08253046e-01 -8.55440139e-01 -9.95038203e-02 2.21909249e+02] [ 8.43086472e-01 5.17803421e-01 -1.45206124e-01 1.52480504e+02] [ 1.75738565e-01 -1.00888703e-02 9.84385174e-01 9.26338111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:152.51, Z:92.63 [[ 5.08294775e-01 -8.56557749e-01 -8.91361009e-02 2.21920210e+02] [ 8.43107268e-01 5.16048358e-01 -1.51209218e-01 1.52508601e+02] [ 1.75517966e-01 1.70756119e-03 9.84474747e-01 9.26339202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:152.53, Z:92.65 [[ 5.07411646e-01 -8.55790163e-01 -1.00780051e-01 2.21940500e+02] [ 8.43051046e-01 5.17223729e-01 -1.47460331e-01 1.52526033e+02] [ 1.78320935e-01 -1.01396384e-02 9.83920135e-01 9.26468135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:152.55, Z:92.65 [[ 5.06629919e-01 -8.57327311e-01 -9.11921432e-02 2.21950792e+02] [ 8.43510715e-01 5.14771142e-01 -1.53298222e-01 1.52552476e+02] [ 1.78369836e-01 7.43915927e-04 9.83963235e-01 9.26470376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.96, Y:152.58, Z:92.65 [[ 5.03741965e-01 -8.58752775e-01 -9.37427547e-02 2.21964490e+02] [ 8.45376229e-01 5.12380316e-01 -1.51014715e-01 1.52575504e+02] [ 1.77716248e-01 -3.17544734e-03 9.84076649e-01 9.26530222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.98, Y:152.60, Z:92.65 [[ 5.02178541e-01 -8.60149943e-01 -8.92120415e-02 2.21976732e+02] [ 8.46418448e-01 5.10039419e-01 -1.53086911e-01 1.52600826e+02] [ 1.77179356e-01 1.36624399e-03 9.84177631e-01 9.26546728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:152.62, Z:92.66 [[ 5.00095547e-01 -8.61097335e-01 -9.17377997e-02 2.21991755e+02] [ 8.47819088e-01 5.08434316e-01 -1.50656366e-01 1.52623225e+02] [ 1.76372440e-01 -2.43448005e-03 9.84320494e-01 9.26596727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.00, Y:152.65, Z:92.66 [[ 4.97342401e-01 -8.63293398e-01 -8.58780826e-02 2.22003356e+02] [ 8.49593996e-01 5.04691991e-01 -1.53218916e-01 1.52647111e+02] [ 1.75614859e-01 3.24076011e-03 9.84453614e-01 9.26602876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:152.67, Z:92.66 [[ 4.95864812e-01 -8.64192799e-01 -8.53750248e-02 2.22016542e+02] [ 8.50865797e-01 5.03155407e-01 -1.51201959e-01 1.52671136e+02] [ 1.73624549e-01 2.33304250e-03 9.84809156e-01 9.26621157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.03, Y:152.69, Z:92.67 [[ 4.95358907e-01 -8.64150781e-01 -8.86734469e-02 2.22031517e+02] [ 8.51390869e-01 5.03228176e-01 -1.47969561e-01 1.52694728e+02] [ 1.72490989e-01 -2.19772289e-03 9.85008644e-01 9.26676952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:152.72, Z:92.67 [[ 4.95500252e-01 -8.63957264e-01 -8.97627156e-02 2.22045549e+02] [ 8.51300476e-01 5.03553739e-01 -1.47380906e-01 1.52719132e+02] [ 1.72531156e-01 -3.38776616e-03 9.84998235e-01 9.26733835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:152.74, Z:92.68 [[ 4.95953491e-01 -8.63937269e-01 -8.74215638e-02 2.22056811e+02] [ 8.51262087e-01 5.03597788e-01 -1.47452120e-01 1.52744468e+02] [ 1.71414688e-01 -1.28926939e-03 9.85198124e-01 9.26760475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.07, Y:152.77, Z:92.68 [[ 4.96336235e-01 -8.63697711e-01 -8.76162386e-02 2.22070728e+02] [ 8.51219149e-01 5.04006344e-01 -1.46299574e-01 1.52768208e+02] [ 1.70517747e-01 -1.96684027e-03 9.85352642e-01 9.26803909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:152.79, Z:92.69 [[ 4.98440151e-01 -8.61592860e-01 -9.59956270e-02 2.22089248e+02] [ 8.49579445e-01 5.07503040e-01 -1.43719976e-01 1.52789165e+02] [ 1.72546178e-01 -9.92010504e-03 9.84951475e-01 9.26931704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.370385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.10, Y:152.81, Z:92.70 [[ 4.99972995e-01 -8.61246356e-01 -9.10039436e-02 2.22100938e+02] [ 8.48591465e-01 5.08174514e-01 -1.47143430e-01 1.52814238e+02] [ 1.72972628e-01 -3.65742846e-03 9.84919841e-01 9.26969014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.400385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:222.11, Y:152.84, Z:92.70 [[ 5.01533996e-01 -8.60385339e-01 -9.05578211e-02 2.22113248e+02] [ 8.47403833e-01 5.09639912e-01 -1.48909044e-01 1.52837979e+02] [ 1.74271038e-01 -2.05609679e-03 9.84695576e-01 9.27023548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.13, Y:152.86, Z:92.71 [[ 5.05853197e-01 -8.56241185e-01 -1.04707099e-01 2.22131635e+02] [ 8.44555999e-01 5.16308705e-01 -1.41952408e-01 1.52859161e+02] [ 1.75606685e-01 -1.66239292e-02 9.84320038e-01 9.27141056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.460385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.13, Y:152.89, Z:92.70 [[ 5.07769581e-01 -8.58067251e-01 -7.67505422e-02 2.22131947e+02] [ 8.44005247e-01 5.13343621e-01 -1.55349513e-01 1.52892202e+02] [ 1.72699730e-01 1.41038966e-02 9.84873537e-01 9.27029799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:152.91, Z:92.71 [[ 5.09431404e-01 -8.55804086e-01 -8.98833158e-02 2.22151197e+02] [ 8.42905396e-01 5.17299952e-01 -1.48024503e-01 1.52910782e+02] [ 1.73176610e-01 -3.54801336e-04 9.84890723e-01 9.27129351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.16, Y:152.93, Z:92.72 [[ 5.11221830e-01 -8.54681504e-01 -9.03978229e-02 2.22163829e+02] [ 8.41605143e-01 5.19152697e-01 -1.48933747e-01 1.52934519e+02] [ 1.74221193e-01 5.89103019e-05 9.84706541e-01 9.27188835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.18, Y:152.96, Z:92.72 [[ 5.11866685e-01 -8.54739857e-01 -8.60945600e-02 2.22175267e+02] [ 8.41926565e-01 5.19047939e-01 -1.47475072e-01 1.52959997e+02] [ 1.70740026e-01 3.00227913e-03 9.85311540e-01 9.27191279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.580385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:222.19, Y:152.98, Z:92.72 [[ 5.11447916e-01 -8.55005526e-01 -8.59452206e-02 2.22188405e+02] [ 8.42358296e-01 5.18612619e-01 -1.46538230e-01 1.52983779e+02] [ 1.69863272e-01 2.55000257e-03 9.85464341e-01 9.27224110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.610385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:222.21, Y:153.01, Z:92.73 [[ 5.12634537e-01 -8.53581767e-01 -9.27577380e-02 2.22205660e+02] [ 8.41205830e-01 5.20945319e-01 -1.44874864e-01 1.53005627e+02] [ 1.71984252e-01 -3.76049099e-03 9.85092521e-01 9.27316618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:153.03, Z:92.73 [[ 5.10317060e-01 -8.55541923e-01 -8.73184725e-02 2.22216445e+02] [ 8.42167159e-01 5.17722502e-01 -1.50724538e-01 1.53033526e+02] [ 1.74157899e-01 3.38055320e-03 9.84711937e-01 9.27332412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:153.05, Z:92.74 [[ 5.08414449e-01 -8.56243941e-01 -9.14388464e-02 2.22234379e+02] [ 8.44017094e-01 5.16557383e-01 -1.44234581e-01 1.53053412e+02] [ 1.70733397e-01 -3.84500456e-03 9.85309760e-01 9.27407771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.25, Y:153.08, Z:92.74 [[ 5.05966113e-01 -8.58022960e-01 -8.82886863e-02 2.22248098e+02] [ 8.45516656e-01 5.13610713e-01 -1.45964447e-01 1.53078060e+02] [ 1.70586862e-01 -7.96491096e-04 9.85342320e-01 9.27444855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.26, Y:153.10, Z:92.75 [[ 5.02970857e-01 -8.59774728e-01 -8.83613796e-02 2.22261950e+02] [ 8.47259653e-01 5.10671719e-01 -1.46169337e-01 1.53100495e+02] [ 1.70796359e-01 -1.34611523e-03 9.85305431e-01 9.27488732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:153.12, Z:92.75 [[ 4.97931908e-01 -8.62674385e-01 -8.86381427e-02 2.22275066e+02] [ 8.50109653e-01 5.05754515e-01 -1.46717242e-01 1.53123885e+02] [ 1.71398347e-01 -2.29694453e-03 9.85199133e-01 9.27519861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.29, Y:153.15, Z:92.76 [[ 4.95778170e-01 -8.62933738e-01 -9.77208797e-02 2.22292900e+02] [ 8.50865319e-01 5.05183594e-01 -1.44283556e-01 1.53145362e+02] [ 1.73874134e-01 -1.16146700e-02 9.84699388e-01 9.27616577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.30, Y:153.17, Z:92.76 [[ 4.94860738e-01 -8.65132261e-01 -8.16028273e-02 2.22299747e+02] [ 8.51682650e-01 5.01510815e-01 -1.52064347e-01 1.53174037e+02] [ 1.72480473e-01 5.75096284e-03 9.84996149e-01 9.27576251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.32, Y:153.19, Z:92.77 [[ 4.94639325e-01 -8.64506935e-01 -8.92171399e-02 2.22318058e+02] [ 8.51765931e-01 5.02612902e-01 -1.47902233e-01 1.53192861e+02] [ 1.72704191e-01 -2.83385973e-03 9.84969660e-01 9.27658525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.33, Y:153.22, Z:92.77 [[ 4.95104397e-01 -8.64236448e-01 -8.92580416e-02 2.22332606e+02] [ 8.51462725e-01 5.03078635e-01 -1.48064567e-01 1.53216004e+02] [ 1.72866609e-01 -2.69247712e-03 9.84941565e-01 9.27706847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.34, Y:153.24, Z:92.77 [[ 4.94800684e-01 -8.65175424e-01 -8.15093133e-02 2.22342908e+02] [ 8.52007531e-01 5.01444413e-01 -1.50454868e-01 1.53243818e+02] [ 1.71042244e-01 4.99862299e-03 9.85251016e-01 9.27688015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.940385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.36, Y:153.27, Z:92.78 [[ 4.97131320e-01 -8.63102735e-01 -8.89613388e-02 2.22358738e+02] [ 8.50626503e-01 5.05019673e-01 -1.46252121e-01 1.53266476e+02] [ 1.71157831e-01 -2.96636278e-03 9.85239158e-01 9.27756539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.970385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.37, Y:153.29, Z:92.78 [[ 4.98712661e-01 -8.61496356e-01 -9.54448054e-02 2.22374832e+02] [ 8.49224870e-01 5.07689787e-01 -1.45148889e-01 1.53287978e+02] [ 1.73501592e-01 -8.66651390e-03 9.84795456e-01 9.27834438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.39, Y:153.31, Z:92.79 [[ 4.99780112e-01 -8.61480067e-01 -8.98439393e-02 2.22385402e+02] [ 8.48434725e-01 5.07788934e-01 -1.49361692e-01 1.53313122e+02] [ 1.74293879e-01 -1.57871453e-03 9.84692415e-01 9.27869951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.40, Y:153.34, Z:92.79 [[ 5.00435189e-01 -8.61033089e-01 -9.04800616e-02 2.22401972e+02] [ 8.47782117e-01 5.08547009e-01 -1.50483961e-01 1.53335289e+02] [ 1.75585035e-01 -1.39990846e-03 9.84463273e-01 9.27930642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:153.36, Z:92.80 [[ 5.00434908e-01 -8.61056305e-01 -9.02604160e-02 2.22417511e+02] [ 8.47854221e-01 5.08507814e-01 -1.50209932e-01 1.53358505e+02] [ 1.75237336e-01 -1.35738123e-03 9.84525283e-01 9.27989726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.090385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:222.43, Y:153.38, Z:92.80 [[ 5.00060853e-01 -8.61267514e-01 -9.03184010e-02 2.22432262e+02] [ 8.48035452e-01 5.08149930e-01 -1.50397874e-01 1.53381975e+02] [ 1.75428092e-01 -1.38511681e-03 9.84491273e-01 9.28021207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.120385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.45, Y:153.41, Z:92.81 [[ 5.00510888e-01 -8.61070417e-01 -8.97027807e-02 2.22445418e+02] [ 8.48000506e-01 5.08484168e-01 -1.49462348e-01 1.53405748e+02] [ 1.74310050e-01 -1.26047117e-03 9.84690011e-01 9.28087548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.46, Y:153.43, Z:92.81 [[ 5.01663141e-01 -8.60446060e-01 -8.92562024e-02 2.22458108e+02] [ 8.47481450e-01 5.09540571e-01 -1.48807252e-01 1.53429072e+02] [ 1.73520270e-01 -9.91862157e-04 9.84829799e-01 9.28127253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.47, Y:153.46, Z:92.81 [[ 5.01912430e-01 -8.61479065e-01 -7.70566894e-02 2.22468985e+02] [ 8.47960520e-01 5.07670360e-01 -1.52426251e-01 1.53457849e+02] [ 1.70431422e-01 1.11635999e-02 9.85306300e-01 9.28069065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.50, Y:153.47, Z:92.83 [[ 5.02950554e-01 -8.57786738e-01 -1.06031379e-01 2.22497402e+02] [ 8.47205863e-01 5.13559114e-01 -1.36011993e-01 1.53467774e+02] [ 1.71122665e-01 -2.14230989e-02 9.85016794e-01 9.28293231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.49, Y:153.50, Z:92.81 [[ 5.01724175e-01 -8.62279635e-01 -6.88961790e-02 2.22494942e+02] [ 8.48532853e-01 5.06073101e-01 -1.54538065e-01 1.53503846e+02] [ 1.68121529e-01 1.90748120e-02 9.85581708e-01 9.28140141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.52, Y:153.52, Z:92.84 [[ 5.02683997e-01 -8.58955023e-01 -9.74939417e-02 2.22523626e+02] [ 8.47195516e-01 5.11929145e-01 -1.42085568e-01 1.53516799e+02] [ 1.71955102e-01 -1.11722891e-02 9.85041432e-01 9.28353341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:153.54, Z:92.84 [[ 5.01674285e-01 -8.60484316e-01 -8.88237273e-02 2.22534084e+02] [ 8.47582759e-01 5.09476283e-01 -1.48449936e-01 1.53542978e+02] [ 1.72992424e-01 -8.11944332e-04 9.84922820e-01 9.28359174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.330385723 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:222.54, Y:153.58, Z:92.82 [[ 5.00380434e-01 -8.63626993e-01 -6.13827146e-02 2.22537503e+02] [ 8.49447873e-01 5.03407477e-01 -1.58174658e-01 1.53577759e+02] [ 1.67504422e-01 2.70060876e-02 9.85501365e-01 9.28211035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.360385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.56, Y:153.59, Z:92.84 [[ 4.97324255e-01 -8.62869997e-01 -9.01329803e-02 2.22563779e+02] [ 8.51317281e-01 5.05381950e-01 -1.40882830e-01 1.53588691e+02] [ 1.67115149e-01 -6.66731512e-03 9.85914841e-01 9.28370555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.390385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.58, Y:153.61, Z:92.84 [[ 4.97409103e-01 -8.63109883e-01 -8.73241945e-02 2.22579094e+02] [ 8.50946187e-01 5.05010102e-01 -1.44413936e-01 1.53613106e+02] [ 1.68744695e-01 -2.47538418e-03 9.85656685e-01 9.28428071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:153.63, Z:92.87 [[ 4.99275972e-01 -8.59307219e-01 -1.10971201e-01 2.22607525e+02] [ 8.48283919e-01 5.10870353e-01 -1.39376738e-01 1.53627251e+02] [ 1.76459334e-01 -2.45476293e-02 9.84001787e-01 9.28694017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.61, Y:153.66, Z:92.87 [[ 4.98073129e-01 -8.62383296e-01 -9.06543348e-02 2.22613959e+02] [ 8.49006361e-01 5.06253382e-01 -1.51313293e-01 1.53656565e+02] [ 1.76384120e-01 -1.60102182e-03 9.84320110e-01 9.28652693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.480385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.63, Y:153.68, Z:92.87 [[ 4.97346635e-01 -8.62793578e-01 -9.07390041e-02 2.22628376e+02] [ 8.49382810e-01 5.05553497e-01 -1.51540437e-01 1.53680742e+02] [ 1.76621537e-01 -1.70402376e-03 9.84277364e-01 9.28696448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.63, Y:153.71, Z:92.86 [[ 4.95715621e-01 -8.65610889e-01 -7.05961150e-02 2.22634301e+02] [ 8.51368694e-01 5.00396421e-01 -1.57400030e-01 1.53712580e+02] [ 1.71573223e-01 1.79223315e-02 9.85008335e-01 9.28563065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.66, Y:153.73, Z:92.87 [[ 4.95868818e-01 -8.64182065e-01 -8.54603685e-02 2.22657176e+02] [ 8.50996317e-01 5.03175847e-01 -1.50397259e-01 1.53730609e+02] [ 1.72972207e-01 1.85085220e-03 9.84924967e-01 9.28674807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:153.74, Z:92.89 [[ 4.97014571e-01 -8.60657184e-01 -1.10660419e-01 2.22683243e+02] [ 8.49479538e-01 5.08607573e-01 -1.40366844e-01 1.53742921e+02] [ 1.77090460e-01 -2.42393944e-02 9.83896042e-01 9.28919215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:153.77, Z:92.89 [[ 4.97034105e-01 -8.62954071e-01 -9.09250804e-02 2.22688761e+02] [ 8.49442273e-01 5.05279748e-01 -1.52119038e-01 1.53772174e+02] [ 1.77214345e-01 -1.62725714e-03 9.84170934e-01 9.28876942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.630385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:222.70, Y:153.80, Z:92.89 [[ 4.97299679e-01 -8.62784399e-01 -9.10829798e-02 2.22704362e+02] [ 8.49204589e-01 5.05569751e-01 -1.52482106e-01 1.53795522e+02] [ 1.77607981e-01 -1.51878218e-03 9.84100146e-01 9.28918121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.72, Y:153.82, Z:92.90 [[ 4.97481875e-01 -8.62687677e-01 -9.10041522e-02 2.22718241e+02] [ 8.49113329e-01 5.05735020e-01 -1.52442264e-01 1.53817856e+02] [ 1.77534049e-01 -1.43557548e-03 9.84113612e-01 9.28958632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.73, Y:153.84, Z:92.90 [[ 4.97610914e-01 -8.62618617e-01 -9.09532873e-02 2.22732411e+02] [ 8.49046080e-01 5.05852974e-01 -1.52425467e-01 1.53841153e+02] [ 1.77494036e-01 -1.37495608e-03 9.84120916e-01 9.29001704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.75, Y:153.87, Z:92.91 [[ 4.97401333e-01 -8.62743708e-01 -9.09131854e-02 2.22746740e+02] [ 8.49168873e-01 5.05639606e-01 -1.52449382e-01 1.53865385e+02] [ 1.77494052e-01 -1.37212123e-03 9.84120917e-01 9.29050852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.76, Y:153.89, Z:92.91 [[ 4.97396377e-01 -8.62783387e-01 -9.05630785e-02 2.22760563e+02] [ 8.49299071e-01 5.05571992e-01 -1.51947523e-01 1.53888009e+02] [ 1.76883954e-01 -1.33699124e-03 9.84230806e-01 9.29093049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:153.92, Z:92.90 [[ 4.97198052e-01 -8.65026140e-01 -6.72597519e-02 2.22768120e+02] [ 8.50273768e-01 5.01212839e-01 -1.60686684e-01 1.53920573e+02] [ 1.72709633e-01 2.27039035e-02 9.84711082e-01 9.28963788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.810385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:222.79, Y:153.94, Z:92.91 [[ 4.94871079e-01 -8.63977143e-01 -9.29844711e-02 2.22792814e+02] [ 8.51071358e-01 5.03501401e-01 -1.48875393e-01 1.53936563e+02] [ 1.75442748e-01 -5.46229357e-03 9.84474482e-01 9.29141594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.82, Y:153.95, Z:92.94 [[ 4.96037323e-01 -8.61405243e-01 -1.09215294e-01 2.22815022e+02] [ 8.48897769e-01 5.07543092e-01 -1.47555374e-01 1.53952809e+02] [ 1.82536441e-01 -1.95196469e-02 9.83005306e-01 9.29352568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.82, Y:153.98, Z:92.93 [[ 4.95670309e-01 -8.63488103e-01 -9.32697183e-02 2.22822226e+02] [ 8.49145031e-01 5.04366948e-01 -1.56737673e-01 1.53982199e+02] [ 1.82383279e-01 -1.50930725e-03 9.83226353e-01 9.29327596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.84, Y:154.01, Z:92.94 [[ 4.95130474e-01 -8.63789557e-01 -9.33456770e-02 2.22836153e+02] [ 8.49410633e-01 5.03850303e-01 -1.56960027e-01 1.54005315e+02] [ 1.82612679e-01 -1.57311805e-03 9.83183673e-01 9.29376086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.85, Y:154.03, Z:92.94 [[ 4.93465814e-01 -8.64755356e-01 -9.32183682e-02 2.22851066e+02] [ 8.50414452e-01 5.02189859e-01 -1.56845803e-01 1.54027296e+02] [ 1.82446568e-01 -1.87620533e-03 9.83213980e-01 9.29415909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:154.05, Z:92.95 [[ 4.92339242e-01 -8.65382015e-01 -9.33597338e-02 2.22866048e+02] [ 8.50989931e-01 5.01108492e-01 -1.57182749e-01 1.54050150e+02] [ 1.82806480e-01 -2.06095781e-03 9.83146756e-01 9.29467369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.88, Y:154.07, Z:92.95 [[ 4.91556212e-01 -8.65821485e-01 -9.34111665e-02 2.22881108e+02] [ 8.51402850e-01 5.00348303e-01 -1.57368237e-01 1.54072728e+02] [ 1.82990919e-01 -2.17519888e-03 9.83112197e-01 9.29516917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:154.09, Z:92.96 [[ 4.90306327e-01 -8.66482015e-01 -9.38542680e-02 2.22896907e+02] [ 8.51917396e-01 4.99202618e-01 -1.58219772e-01 1.54094922e+02] [ 1.83946883e-01 -2.37992829e-03 9.82933304e-01 9.29569002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:154.12, Z:92.96 [[ 4.90180227e-01 -8.66521554e-01 -9.41474494e-02 2.22911661e+02] [ 8.51847106e-01 4.99134115e-01 -1.58813234e-01 1.54118602e+02] [ 1.84607294e-01 -2.35212514e-03 9.82809551e-01 9.29619047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.93, Y:154.14, Z:92.97 [[ 4.90250983e-01 -8.66466848e-01 -9.42824258e-02 2.22925463e+02] [ 8.51730320e-01 4.99229388e-01 -1.59139811e-01 1.54142464e+02] [ 1.84957928e-01 -2.28475204e-03 9.82743784e-01 9.29664461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:154.17, Z:92.97 [[ 4.91468087e-01 -8.65771240e-01 -9.43359924e-02 2.22939456e+02] [ 8.50986595e-01 5.00436074e-01 -1.59328438e-01 1.54166237e+02] [ 1.85151113e-01 -1.97382207e-03 9.82708079e-01 9.29704512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.95, Y:154.19, Z:92.98 [[ 4.91317139e-01 -8.65875942e-01 -9.41611470e-02 2.22953636e+02] [ 8.51129947e-01 5.00254948e-01 -1.59131395e-01 1.54189433e+02] [ 1.84892626e-01 -1.95939042e-03 9.82756774e-01 9.29753529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.97, Y:154.21, Z:92.98 [[ 4.90550098e-01 -8.66342133e-01 -9.38717745e-02 2.22969370e+02] [ 8.51677555e-01 4.99446682e-01 -1.58739894e-01 1.54211097e+02] [ 1.84407005e-01 -2.07861276e-03 9.82847768e-01 9.29811365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.98, Y:154.23, Z:92.98 [[ 4.87500933e-01 -8.68294921e-01 -9.16884396e-02 2.22980450e+02] [ 8.53855798e-01 4.96046306e-01 -1.57696985e-01 1.54234986e+02] [ 1.82409203e-01 -1.41127855e-03 9.83221690e-01 9.29822609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.00, Y:154.26, Z:92.99 [[ 4.89389388e-01 -8.67056556e-01 -9.33324984e-02 2.22998119e+02] [ 8.52528489e-01 4.98204825e-01 -1.58073171e-01 1.54257532e+02] [ 1.83557080e-01 -2.20928151e-03 9.83006570e-01 9.29915195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.01, Y:154.28, Z:93.00 [[ 4.89479628e-01 -8.67087060e-01 -9.25728053e-02 2.23011276e+02] [ 8.52798086e-01 4.98151753e-01 -1.56780917e-01 1.54281881e+02] [ 1.82058009e-01 -2.20484634e-03 9.83285320e-01 9.29958151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:154.31, Z:93.00 [[ 4.88328716e-01 -8.67781807e-01 -9.21401122e-02 2.23023851e+02] [ 8.53621215e-01 4.96939601e-01 -1.56146899e-01 1.54307151e+02] [ 1.81289508e-01 -2.40173998e-03 9.83426838e-01 9.29989264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:154.33, Z:93.01 [[ 4.90670912e-01 -8.66418910e-01 -9.25220452e-02 2.23039204e+02] [ 8.52096447e-01 4.99314370e-01 -1.56897436e-01 1.54328188e+02] [ 1.82136492e-01 -1.85269799e-03 9.83271512e-01 9.30059051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:154.35, Z:93.01 [[ 4.92413303e-01 -8.65412755e-01 -9.26817265e-02 2.23053819e+02] [ 8.51004090e-01 5.01057595e-01 -1.57268322e-01 1.54350431e+02] [ 1.82540895e-01 -1.43151461e-03 9.83197220e-01 9.30116864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:154.37, Z:93.02 [[ 4.93206439e-01 -8.64991339e-01 -9.23980081e-02 2.23067418e+02] [ 8.50644791e-01 5.01785313e-01 -1.56891492e-01 1.54374463e+02] [ 1.82073745e-01 -1.21799034e-03 9.83284124e-01 9.30161755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:154.40, Z:93.02 [[ 4.94547762e-01 -8.64231527e-01 -9.23383953e-02 2.23079600e+02] [ 8.49872007e-01 5.03093513e-01 -1.56890055e-01 1.54398763e+02] [ 1.82044179e-01 -8.86191813e-04 9.83289953e-01 9.30206322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:223.09, Y:154.42, Z:93.02 [[ 4.94707905e-01 -8.64116804e-01 -9.25539733e-02 2.23092627e+02] [ 8.49667929e-01 5.03290694e-01 -1.57362283e-01 1.54422102e+02] [ 1.82560946e-01 -7.91777445e-04 9.83194220e-01 9.30233681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.10, Y:154.45, Z:93.02 [[ 4.93139870e-01 -8.65398427e-01 -8.88742385e-02 2.23100312e+02] [ 8.51224730e-01 5.01082771e-01 -1.55988832e-01 1.54446748e+02] [ 1.79525839e-01 1.27236239e-03 9.83752435e-01 9.30232802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.12, Y:154.47, Z:93.03 [[ 4.95233063e-01 -8.63701276e-01 -9.36179446e-02 2.23119604e+02] [ 8.49160895e-01 5.04002296e-01 -1.57820974e-01 1.54470237e+02] [ 1.83493835e-01 -1.33853358e-03 9.83019949e-01 9.30344316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:154.50, Z:93.04 [[ 4.92286688e-01 -8.65420989e-01 -9.32755558e-02 2.23132498e+02] [ 8.50725065e-01 5.01044053e-01 -1.58813475e-01 1.54495519e+02] [ 1.84175677e-01 -1.17009348e-03 9.82892645e-01 9.30381885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.14, Y:154.52, Z:93.04 [[ 4.90549185e-01 -8.67155383e-01 -8.60409137e-02 2.23142390e+02] [ 8.52259430e-01 4.98010341e-01 -1.60123591e-01 1.54520216e+02] [ 1.81701299e-01 5.21931706e-03 9.83339919e-01 9.30368855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:154.54, Z:93.04 [[ 4.89159738e-01 -8.67443545e-01 -9.09090051e-02 2.23158769e+02] [ 8.53004625e-01 4.97535421e-01 -1.57612229e-01 1.54542919e+02] [ 1.81950161e-01 -4.48244952e-04 9.83307652e-01 9.30439676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:154.57, Z:93.05 [[ 4.88231591e-01 -8.67114624e-01 -9.87022942e-02 2.23177059e+02] [ 8.52779229e-01 4.98053333e-01 -1.57195626e-01 1.54565172e+02] [ 1.85465632e-01 -7.42339579e-03 9.82622711e-01 9.30549125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:154.59, Z:93.05 [[ 4.84948912e-01 -8.70417812e-01 -8.48374076e-02 2.23181415e+02] [ 8.54851851e-01 4.92263685e-01 -1.64026755e-01 1.54594204e+02] [ 1.84534184e-01 7.02118139e-03 9.82801016e-01 9.30478138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.20, Y:154.61, Z:93.06 [[ 4.82615821e-01 -8.70991021e-01 -9.19598351e-02 2.23200121e+02] [ 8.56533578e-01 4.91292642e-01 -1.58056224e-01 1.54614930e+02] [ 1.82844742e-01 -2.48625236e-03 9.83138657e-01 9.30563013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:154.63, Z:93.07 [[ 4.83692758e-01 -8.69449423e-01 -1.00493859e-01 2.23220919e+02] [ 8.55340227e-01 4.93913828e-01 -1.56340096e-01 1.54634259e+02] [ 1.85565113e-01 -1.03358683e-02 9.82577610e-01 9.30711322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:154.66, Z:93.06 [[ 4.80684875e-01 -8.72817915e-01 -8.44448778e-02 2.23225682e+02] [ 8.57891051e-01 4.88021879e-01 -1.60802958e-01 1.54664169e+02] [ 1.81562651e-01 4.85104497e-03 9.83367414e-01 9.30646467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.24, Y:154.69, Z:93.07 [[ 4.80051328e-01 -8.72694833e-01 -8.91877239e-02 2.23241597e+02] [ 8.58543602e-01 4.88263949e-01 -1.56528593e-01 1.54686226e+02] [ 1.80148845e-01 -1.42979056e-03 9.83638322e-01 9.30720720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.26, Y:154.71, Z:93.09 [[ 4.81624391e-01 -8.70704517e-01 -9.95569726e-02 2.23259798e+02] [ 8.57421357e-01 4.91656226e-01 -1.51995963e-01 1.54707608e+02] [ 1.81291377e-01 -1.21573116e-02 9.83354278e-01 9.30854829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.27, Y:154.74, Z:93.08 [[ 4.81866438e-01 -8.71792203e-01 -8.82218301e-02 2.23267211e+02] [ 8.57535907e-01 4.89875857e-01 -1.57015325e-01 1.54736440e+02] [ 1.80102481e-01 7.02814668e-06 9.83647852e-01 9.30843773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.28, Y:154.76, Z:93.09 [[ 4.85187621e-01 -8.69568390e-01 -9.18900790e-02 2.23283781e+02] [ 8.55468962e-01 4.93803848e-01 -1.55982738e-01 1.54760231e+02] [ 1.81013333e-01 -2.92821705e-03 9.83476283e-01 9.30935024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:154.78, Z:93.10 [[ 4.86706913e-01 -8.68726032e-01 -9.18229941e-02 2.23297694e+02] [ 8.54476462e-01 4.95288100e-01 -1.56715263e-01 1.54782947e+02] [ 1.81621465e-01 -2.18618528e-03 9.83366089e-01 9.30993310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.31, Y:154.80, Z:93.11 [[ 4.89314007e-01 -8.67219224e-01 -9.22096601e-02 2.23312964e+02] [ 8.52807756e-01 4.97923966e-01 -1.57450486e-01 1.54804614e+02] [ 1.82457488e-01 -1.59438526e-03 9.83212451e-01 9.31061093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:154.83, Z:93.11 [[ 4.89649688e-01 -8.67068056e-01 -9.18486210e-02 2.23323309e+02] [ 8.52750207e-01 4.98187497e-01 -1.56927700e-01 1.54831516e+02] [ 1.81824830e-01 -1.48433137e-03 9.83329816e-01 9.31090562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.34, Y:154.85, Z:93.11 [[ 4.91398032e-01 -8.66099633e-01 -9.16482432e-02 2.23335730e+02] [ 8.51808616e-01 4.99870265e-01 -1.56690139e-01 1.54854756e+02] [ 1.81521504e-01 -1.06953717e-03 9.83386394e-01 9.31137058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:154.88, Z:93.12 [[ 4.91882813e-01 -8.65830257e-01 -9.15929256e-02 2.23348551e+02] [ 8.51534639e-01 5.00337003e-01 -1.56689639e-01 1.54879646e+02] [ 1.81493960e-01 -9.21608493e-04 9.83391628e-01 9.31184479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.040385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:223.36, Y:154.90, Z:93.12 [[ 4.91143844e-01 -8.66298736e-01 -9.11275190e-02 2.23361238e+02] [ 8.52139261e-01 4.99525195e-01 -1.55991219e-01 1.54904476e+02] [ 1.80655488e-01 -1.03920975e-03 9.83545889e-01 9.31218422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:154.93, Z:93.13 [[ 4.91428468e-01 -8.66082026e-01 -9.16514300e-02 2.23375675e+02] [ 8.51734355e-01 4.99901084e-01 -1.56995204e-01 1.54926101e+02] [ 1.81787374e-01 -9.10759123e-04 9.83337440e-01 9.31296821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.39, Y:154.95, Z:93.14 [[ 4.90443322e-01 -8.66668813e-01 -9.13811554e-02 2.23390009e+02] [ 8.52397522e-01 4.98882769e-01 -1.56634759e-01 1.54949753e+02] [ 1.81338945e-01 -1.07259876e-03 9.83420071e-01 9.31354005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:154.97, Z:93.14 [[ 4.85679624e-01 -8.69240047e-01 -9.23961270e-02 2.23401809e+02] [ 8.54673849e-01 4.94386228e-01 -1.58476715e-01 1.54974890e+02] [ 1.83433680e-01 -1.99964232e-03 9.83030054e-01 9.31414326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.41, Y:155.00, Z:93.15 [[ 4.84502360e-01 -8.69831719e-01 -9.30066849e-02 2.23414273e+02] [ 8.55060470e-01 4.93343711e-01 -1.59635761e-01 1.54997928e+02] [ 1.84740511e-01 -2.18243696e-03 9.82784911e-01 9.31466115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.43, Y:155.02, Z:93.15 [[ 4.82630861e-01 -8.70872489e-01 -9.29976280e-02 2.23426291e+02] [ 8.56104539e-01 4.91502498e-01 -1.59719484e-01 1.55022928e+02] [ 1.84803871e-01 -2.53013947e-03 9.82772165e-01 9.31498890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.44, Y:155.05, Z:93.15 [[ 4.81799222e-01 -8.71330611e-01 -9.30186847e-02 2.23439223e+02] [ 8.56544231e-01 4.90689238e-01 -1.59862604e-01 1.55046862e+02] [ 1.84936448e-01 -2.65293925e-03 9.82746901e-01 9.31546827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:155.07, Z:93.16 [[ 4.81169713e-01 -8.71780031e-01 -9.20613091e-02 2.23452720e+02] [ 8.57287693e-01 4.89889836e-01 -1.58321696e-01 1.55069462e+02] [ 1.83121593e-01 -2.74342215e-03 9.83086444e-01 9.31587153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:155.09, Z:93.17 [[ 4.78952504e-01 -8.71382431e-01 -1.06288094e-01 2.23470980e+02] [ 8.58045864e-01 4.90275725e-01 -1.52928115e-01 1.55088440e+02] [ 1.85369345e-01 -1.79547562e-02 9.82504877e-01 9.31724528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.48, Y:155.12, Z:93.17 [[ 4.76570387e-01 -8.74110316e-01 -9.38713029e-02 2.23477457e+02] [ 8.59230579e-01 4.85710178e-01 -1.60650041e-01 1.55118174e+02] [ 1.86020105e-01 -4.09604185e-03 9.82537400e-01 9.31718288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.48, Y:155.15, Z:93.17 [[ 4.76267459e-01 -8.75804636e-01 -7.83297341e-02 2.23484220e+02] [ 8.59956381e-01 4.82520688e-01 -1.66279310e-01 1.55147654e+02] [ 1.83423908e-01 1.18332698e-02 9.82962687e-01 9.31676864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:223.51, Y:155.16, Z:93.19 [[ 4.74671319e-01 -8.73473538e-01 -1.08310286e-01 2.23509853e+02] [ 8.60367072e-01 4.86420928e-01 -1.52194557e-01 1.55161002e+02] [ 1.85622308e-01 -2.09442127e-02 9.82397933e-01 9.31887124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.52, Y:155.19, Z:93.19 [[ 4.74656837e-01 -8.74915607e-01 -9.60394083e-02 2.23515609e+02] [ 8.60567177e-01 4.84214859e-01 -1.57987673e-01 1.55189630e+02] [ 1.84729590e-01 -7.65843323e-03 9.82759547e-01 9.31885465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:223.52, Y:155.22, Z:93.18 [[ 4.76020307e-01 -8.76229437e-01 -7.50109460e-02 2.23518870e+02] [ 8.59561462e-01 4.81598068e-01 -1.70930962e-01 1.55222537e+02] [ 1.85899867e-01 1.68900904e-02 9.82423516e-01 9.31837756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.55, Y:155.23, Z:93.20 [[ 4.76641848e-01 -8.72122857e-01 -1.10518197e-01 2.23547185e+02] [ 8.59657416e-01 4.88695782e-01 -1.48881028e-01 1.55234276e+02] [ 1.83852324e-01 -2.40448598e-02 9.82659742e-01 9.32046516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.55, Y:155.27, Z:93.20 [[ 4.79329176e-01 -8.73017138e-01 -8.99145050e-02 2.23548884e+02] [ 8.57957189e-01 4.87689466e-01 -1.61457258e-01 1.55266512e+02] [ 1.84805310e-01 2.48378559e-04 9.82775120e-01 9.31997230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.56, Y:155.30, Z:93.20 [[ 4.81465638e-01 -8.73319332e-01 -7.41901846e-02 2.23556163e+02] [ 8.57430325e-01 4.86864259e-01 -1.66662625e-01 1.55296807e+02] [ 1.81670241e-01 1.66294129e-02 9.83218890e-01 9.31953729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:155.32, Z:93.21 [[ 4.82207391e-01 -8.71372852e-01 -9.04731148e-02 2.23574808e+02] [ 8.57222270e-01 4.90616762e-01 -1.56413466e-01 1.55315664e+02] [ 1.80682075e-01 -2.13183940e-03 9.83539243e-01 9.32072366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.60, Y:155.33, Z:93.23 [[ 4.81733048e-01 -8.69395542e-01 -1.09930260e-01 2.23595580e+02] [ 8.56753571e-01 4.93616927e-01 -1.49384229e-01 1.55333560e+02] [ 1.84137420e-01 -2.22198228e-02 9.82649322e-01 9.32254697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.60, Y:155.36, Z:93.22 [[ 4.81756517e-01 -8.71433422e-01 -9.22737694e-02 2.23602065e+02] [ 8.56757166e-01 4.90508297e-01 -1.59275768e-01 1.55364617e+02] [ 1.84059277e-01 -2.32407390e-03 9.82912398e-01 9.32231399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.61, Y:155.40, Z:93.22 [[ 4.82592905e-01 -8.72843907e-01 -7.24403372e-02 2.23605934e+02] [ 8.57191367e-01 4.87675429e-01 -1.65516274e-01 1.55395982e+02] [ 1.79797244e-01 1.77817477e-02 9.83542963e-01 9.32154197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:223.63, Y:155.41, Z:93.24 [[ 4.82213717e-01 -8.69712728e-01 -1.05212647e-01 2.23630071e+02] [ 8.57076004e-01 4.93215439e-01 -1.48859848e-01 1.55410112e+02] [ 1.81357806e-01 -1.83929749e-02 9.83245160e-01 9.32360457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.63, Y:155.45, Z:93.23 [[ 4.83233755e-01 -8.72292423e-01 -7.47734382e-02 2.23630085e+02] [ 8.56913085e-01 4.88752455e-01 -1.63771191e-01 1.55445796e+02] [ 1.79402070e-01 1.50654300e-02 9.83660475e-01 9.32265643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.65, Y:155.47, Z:93.24 [[ 4.82855881e-01 -8.71130829e-01 -8.93379885e-02 2.23649630e+02] [ 8.57256930e-01 4.91047662e-01 -1.54863651e-01 1.55465570e+02] [ 1.78775711e-01 -1.80878486e-03 9.83888192e-01 9.32373319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.760385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.66, Y:155.49, Z:93.24 [[ 4.80941526e-01 -8.72216873e-01 -8.90672490e-02 2.23659603e+02] [ 8.58428196e-01 4.89114586e-01 -1.54492571e-01 1.55491040e+02] [ 1.78315118e-01 -2.15594510e-03 9.83971072e-01 9.32413862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.67, Y:155.52, Z:93.25 [[ 4.79907016e-01 -8.72779874e-01 -8.91321936e-02 2.23671789e+02] [ 8.58964465e-01 4.88108489e-01 -1.54693732e-01 1.55516173e+02] [ 1.78519756e-01 -2.32277945e-03 9.83933586e-01 9.32462333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:155.54, Z:93.25 [[ 4.79032768e-01 -8.73229983e-01 -8.94259704e-02 2.23684135e+02] [ 8.59312501e-01 4.87302158e-01 -1.55301745e-01 1.55540833e+02] [ 1.79191609e-01 -2.45022959e-03 9.83811142e-01 9.32510930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.70, Y:155.57, Z:93.26 [[ 4.77872059e-01 -8.73788786e-01 -9.01745686e-02 2.23695698e+02] [ 8.59627004e-01 4.86298491e-01 -1.56700962e-01 1.55566167e+02] [ 1.80775300e-01 -2.63348301e-03 9.83520898e-01 9.32562657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:155.59, Z:93.26 [[ 4.77662180e-01 -8.73885541e-01 -9.03487863e-02 2.23707729e+02] [ 8.59651914e-01 4.86124639e-01 -1.57103222e-01 1.55590884e+02] [ 1.81211005e-01 -2.62623959e-03 9.83440733e-01 9.32608516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:155.62, Z:93.26 [[ 4.78202707e-01 -8.73579497e-01 -9.04490643e-02 2.23717425e+02] [ 8.59290189e-01 4.86675243e-01 -1.57377190e-01 1.55616842e+02] [ 1.81500806e-01 -2.46379547e-03 9.83387709e-01 9.32649143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.73, Y:155.64, Z:93.27 [[ 4.78435080e-01 -8.73431974e-01 -9.06446945e-02 2.23729683e+02] [ 8.59058846e-01 4.86940452e-01 -1.57819185e-01 1.55641863e+02] [ 1.81982891e-01 -2.36289210e-03 9.83298858e-01 9.32695953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:155.67, Z:93.27 [[ 4.79272177e-01 -8.73203485e-01 -8.83960127e-02 2.23740086e+02] [ 8.58122235e-01 4.87353193e-01 -1.61595469e-01 1.55667379e+02] [ 1.84185806e-01 1.59362832e-03 9.82890151e-01 9.32727712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:155.69, Z:93.28 [[ 4.79688659e-01 -8.72311628e-01 -9.47164913e-02 2.23755472e+02] [ 8.57774957e-01 4.88923380e-01 -1.58669629e-01 1.55692511e+02] [ 1.84718470e-01 -5.13341263e-03 9.82778070e-01 9.32799850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:155.72, Z:93.28 [[ 4.80150482e-01 -8.72351148e-01 -9.19727682e-02 2.23767052e+02] [ 8.57476252e-01 4.88876358e-01 -1.60419403e-01 1.55717305e+02] [ 1.84905362e-01 -1.83901101e-03 9.82754611e-01 9.32839072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.78, Y:155.74, Z:93.29 [[ 4.80292324e-01 -8.72299189e-01 -9.17246283e-02 2.23780237e+02] [ 8.57490818e-01 4.88969285e-01 -1.60057912e-01 1.55741546e+02] [ 1.84468913e-01 -1.77843987e-03 9.82836740e-01 9.32891833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:155.76, Z:93.29 [[ 4.80683673e-01 -8.72128539e-01 -9.12963193e-02 2.23792969e+02] [ 8.57437474e-01 4.89274027e-01 -1.59411116e-01 1.55764735e+02] [ 1.83695902e-01 -1.65456459e-03 9.82981728e-01 9.32948637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:155.79, Z:93.29 [[ 4.77513133e-01 -8.74366582e-01 -8.63961115e-02 2.23798178e+02] [ 8.59978193e-01 4.85264660e-01 -1.57973788e-01 1.55789362e+02] [ 1.80051981e-01 1.13578671e-03 9.83656441e-01 9.32947541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.81, Y:155.81, Z:93.30 [[ 4.78432041e-01 -8.73718086e-01 -8.78606220e-02 2.23811550e+02] [ 8.59626158e-01 4.86432051e-01 -1.56290528e-01 1.55814433e+02] [ 1.79292084e-01 -7.52892574e-04 9.83795600e-01 9.33020488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.83, Y:155.84, Z:93.31 [[ 4.81334893e-01 -8.72644254e-01 -8.25150076e-02 2.23826078e+02] [ 8.57149845e-01 4.88288064e-01 -1.63917390e-01 1.55841213e+02] [ 1.83332662e-01 8.17143329e-03 9.83016970e-01 9.33069924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.85, Y:155.86, Z:93.32 [[ 4.81397715e-01 -8.71027893e-01 -9.78092508e-02 2.23846501e+02] [ 8.57696631e-01 4.91118510e-01 -1.52181135e-01 1.55861331e+02] [ 1.80589947e-01 -1.06310145e-02 9.83501018e-01 9.33188497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:155.89, Z:93.32 [[ 4.81810166e-01 -8.71668799e-01 -8.97355477e-02 2.23855504e+02] [ 8.57419639e-01 4.90093650e-01 -1.56970623e-01 1.55888126e+02] [ 1.80805216e-01 -1.31097926e-03 9.83518050e-01 9.33205482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:155.91, Z:93.33 [[ 4.82399809e-01 -8.71320367e-01 -8.99513334e-02 2.23868170e+02] [ 8.56977263e-01 4.90713292e-01 -1.57449787e-01 1.55911423e+02] [ 1.81329521e-01 -1.13250043e-03 9.83421742e-01 9.33254180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:155.94, Z:93.33 [[ 4.83476471e-01 -8.70647953e-01 -9.06787960e-02 2.23881454e+02] [ 8.56044887e-01 4.91905902e-01 -1.58794631e-01 1.55936112e+02] [ 1.82859655e-01 -8.51652032e-04 9.83138658e-01 9.33302897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:155.95, Z:93.35 [[ 4.82061355e-01 -8.69052269e-01 -1.11198039e-01 2.23900174e+02] [ 8.55731369e-01 4.94258776e-01 -1.53075429e-01 1.55952414e+02] [ 1.87991156e-01 -2.13639014e-02 9.81938343e-01 9.33474897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:155.99, Z:93.33 [[ 4.83419013e-01 -8.72377948e-01 -7.25449768e-02 2.23899186e+02] [ 8.55709675e-01 4.88399100e-01 -1.70959852e-01 1.55990682e+02] [ 1.84572506e-01 2.05678044e-02 9.82603661e-01 9.33325187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.92, Y:156.01, Z:93.34 [[ 4.82915191e-01 -8.70883947e-01 -9.14005990e-02 2.23921702e+02] [ 8.55998891e-01 4.91488036e-01 -1.60329064e-01 1.56008104e+02] [ 1.84550309e-01 -8.13470884e-04 9.82822732e-01 9.33445658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:156.03, Z:93.36 [[ 4.80514525e-01 -8.71070014e-01 -1.01699661e-01 2.23935607e+02] [ 8.56924545e-01 4.91016867e-01 -1.56788903e-01 1.56027275e+02] [ 1.86510361e-01 -1.18095906e-02 9.82382013e-01 9.33554766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.94, Y:156.06, Z:93.35 [[ 4.83844721e-01 -8.71397399e-01 -8.09991272e-02 2.23944793e+02] [ 8.55186741e-01 4.90433895e-01 -1.67720698e-01 1.56059628e+02] [ 1.85876097e-01 1.18813946e-02 9.82501353e-01 9.33497249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:156.08, Z:93.36 [[ 4.83969505e-01 -8.70199982e-01 -9.23336867e-02 2.23964167e+02] [ 8.54957399e-01 4.92698467e-01 -1.62160620e-01 1.56079426e+02] [ 1.86604835e-01 -4.60573436e-04 9.82434946e-01 9.33586020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:156.10, Z:93.36 [[ 4.84354594e-01 -8.69957075e-01 -9.26029932e-02 2.23978221e+02] [ 8.54599989e-01 4.93127355e-01 -1.62739887e-01 1.56101603e+02] [ 1.87241785e-01 -3.14705044e-04 9.82313807e-01 9.33630650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.99, Y:156.12, Z:93.37 [[ 4.82361185e-01 -8.70012735e-01 -1.02007492e-01 2.23993776e+02] [ 8.55405831e-01 4.92917151e-01 -1.59102315e-01 1.56118932e+02] [ 1.88702283e-01 -1.05130221e-02 9.81978067e-01 9.33734014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.00, Y:156.15, Z:93.37 [[ 4.85439788e-01 -8.70387830e-01 -8.22996876e-02 2.24004961e+02] [ 8.53968190e-01 4.92230208e-01 -1.68664618e-01 1.56151156e+02] [ 1.87314023e-01 1.15952011e-02 9.82231647e-01 9.33701301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.600385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.02, Y:156.17, Z:93.38 [[ 4.86328948e-01 -8.68852953e-01 -9.26212771e-02 2.24024680e+02] [ 8.53442852e-01 4.95070211e-01 -1.62913429e-01 1.56171137e+02] [ 1.87401849e-01 1.82549587e-04 9.82283316e-01 9.33792174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.630385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.04, Y:156.19, Z:93.38 [[ 4.88893794e-01 -8.67400339e-01 -9.27335474e-02 2.24040757e+02] [ 8.51906115e-01 4.97610308e-01 -1.63217498e-01 1.56194247e+02] [ 1.87720082e-01 7.95745677e-04 9.82222244e-01 9.33837774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.660385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.05, Y:156.22, Z:93.39 [[ 4.90132909e-01 -8.66708476e-01 -9.26614754e-02 2.24054994e+02] [ 8.51206136e-01 4.98813770e-01 -1.63196009e-01 1.56216535e+02] [ 1.87664184e-01 1.11371806e-03 9.82232617e-01 9.33885556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.07, Y:156.24, Z:93.39 [[ 4.91977606e-01 -8.65633044e-01 -9.29379779e-02 2.24071184e+02] [ 8.49999719e-01 5.00676484e-01 -1.63778923e-01 1.56237960e+02] [ 1.88304307e-01 1.57830722e-03 9.82109463e-01 9.33930305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:156.26, Z:93.40 [[ 4.92720331e-01 -8.65212476e-01 -9.29195720e-02 2.24086255e+02] [ 8.49559676e-01 5.01402210e-01 -1.63841942e-01 1.56259721e+02] [ 1.88348171e-01 1.78753433e-03 9.82100693e-01 9.33978956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.750385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.10, Y:156.28, Z:93.40 [[ 4.92944047e-01 -8.65069888e-01 -9.30604897e-02 2.24102082e+02] [ 8.49345617e-01 5.01647760e-01 -1.64199721e-01 1.56282556e+02] [ 1.88727820e-01 1.90075583e-03 9.82027595e-01 9.34034333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:156.30, Z:93.41 [[ 4.93346998e-01 -8.64879089e-01 -9.26979048e-02 2.24119523e+02] [ 8.49255284e-01 5.01976184e-01 -1.63662374e-01 1.56304130e+02] [ 1.88080305e-01 2.01815547e-03 9.82151580e-01 9.34087667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:156.33, Z:93.41 [[ 4.93485006e-01 -8.64851268e-01 -9.22216552e-02 2.24135113e+02] [ 8.49368521e-01 5.02023897e-01 -1.62926738e-01 1.56327418e+02] [ 1.87204871e-01 2.07173148e-03 9.82318708e-01 9.34137374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:156.35, Z:93.42 [[ 4.93548389e-01 -8.64830841e-01 -9.20739071e-02 2.24152575e+02] [ 8.49377808e-01 5.02058842e-01 -1.62770571e-01 1.56348707e+02] [ 1.86995529e-01 2.12961960e-03 9.82358456e-01 9.34193222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.17, Y:156.37, Z:93.42 [[ 4.93361882e-01 -8.64952056e-01 -9.19347257e-02 2.24168157e+02] [ 8.49528188e-01 5.01849963e-01 -1.62629865e-01 1.56371012e+02] [ 1.86804475e-01 2.13423555e-03 9.82394795e-01 9.34241345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:156.39, Z:93.43 [[ 4.92942605e-01 -8.65167106e-01 -9.21600028e-02 2.24183743e+02] [ 8.49649391e-01 5.01479218e-01 -1.63139528e-01 1.56393509e+02] [ 1.87359279e-01 2.11473369e-03 9.82289178e-01 9.34288411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.20, Y:156.41, Z:93.43 [[ 4.92289294e-01 -8.65525713e-01 -9.22848377e-02 2.24200934e+02] [ 8.49951669e-01 5.00860360e-01 -1.63465778e-01 1.56414795e+02] [ 1.87705651e-01 2.03480053e-03 9.82223217e-01 9.34328117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.22, Y:156.44, Z:93.44 [[ 4.91523161e-01 -8.65942264e-01 -9.24606840e-02 2.24215971e+02] [ 8.50301169e-01 5.00140298e-01 -1.63852385e-01 1.56436946e+02] [ 1.88130020e-01 1.91781477e-03 9.82142259e-01 9.34376748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.23, Y:156.46, Z:93.44 [[ 4.90471206e-01 -8.66529062e-01 -9.25493477e-02 2.24231850e+02] [ 8.50846858e-01 4.99123552e-01 -1.64119787e-01 1.56459497e+02] [ 1.88408124e-01 1.75070810e-03 9.82089260e-01 9.34422235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.25, Y:156.48, Z:93.45 [[ 4.88253458e-01 -8.67742997e-01 -9.29013048e-02 2.24250976e+02] [ 8.51941725e-01 4.97011361e-01 -1.64848430e-01 1.56478921e+02] [ 1.89219074e-01 1.34131801e-03 9.81933981e-01 9.34477859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.27, Y:156.50, Z:93.45 [[ 4.86699918e-01 -8.68601433e-01 -9.30308609e-02 2.24266928e+02] [ 8.52755859e-01 4.95510292e-01 -1.65157488e-01 1.56501041e+02] [ 1.89553780e-01 1.04952417e-03 9.81869779e-01 9.34530703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.28, Y:156.52, Z:93.46 [[ 4.83601658e-01 -8.70291894e-01 -9.33887311e-02 2.24283895e+02] [ 8.54333639e-01 4.92536113e-01 -1.65898194e-01 1.56522623e+02] [ 1.90377176e-01 4.43507159e-04 9.81710922e-01 9.34582983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.30, Y:156.54, Z:93.46 [[ 4.82290482e-01 -8.71049985e-01 -9.31011038e-02 2.24298586e+02] [ 8.55184284e-01 4.91194346e-01 -1.65493066e-01 1.56544519e+02] [ 1.89883468e-01 1.97129716e-04 9.81806615e-01 9.34630543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.31, Y:156.57, Z:93.47 [[ 4.81037249e-01 -8.71743279e-01 -9.30957658e-02 2.24314226e+02] [ 8.55877507e-01 4.89962912e-01 -1.65559773e-01 1.56566403e+02] [ 1.89939092e-01 -3.81542738e-05 9.81795875e-01 9.34685670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:156.59, Z:93.47 [[ 4.78574650e-01 -8.73038865e-01 -9.36453112e-02 2.24332612e+02] [ 8.56985646e-01 4.87650379e-01 -1.66651461e-01 1.56587173e+02] [ 1.91159374e-01 -4.97522977e-04 9.81558886e-01 9.34744717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:156.61, Z:93.48 [[ 4.77406085e-01 -8.73665368e-01 -9.37670182e-02 2.24348422e+02] [ 8.57560394e-01 4.86526815e-01 -1.66978529e-01 1.56610099e+02] [ 1.91503527e-01 -6.94314936e-04 9.81491680e-01 9.34799359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:156.63, Z:93.49 [[ 4.76392049e-01 -8.74216983e-01 -9.37831699e-02 2.24363701e+02] [ 8.58095445e-01 4.85534680e-01 -1.67117572e-01 1.56632684e+02] [ 1.91632000e-01 -8.61428596e-04 9.81466471e-01 9.34850668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.38, Y:156.65, Z:93.49 [[ 4.75925492e-01 -8.74473821e-01 -9.37574616e-02 2.24380117e+02] [ 8.58344966e-01 4.85071857e-01 -1.67180184e-01 1.56653952e+02] [ 1.91673800e-01 -9.10933826e-04 9.81458264e-01 9.34909430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:156.68, Z:93.50 [[ 4.76024662e-01 -8.74400551e-01 -9.39371992e-02 2.24395173e+02] [ 8.58192450e-01 4.85204043e-01 -1.67579099e-01 1.56677511e+02] [ 1.92109966e-01 -8.44410947e-04 9.81373042e-01 9.34962988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:156.70, Z:93.50 [[ 4.76897547e-01 -8.73918142e-01 -9.39989901e-02 2.24409208e+02] [ 8.57657567e-01 4.86072758e-01 -1.67799797e-01 1.56700180e+02] [ 1.92333636e-01 -5.95633407e-04 9.81329414e-01 9.35022714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.42, Y:156.72, Z:93.51 [[ 4.77691903e-01 -8.73527721e-01 -9.35936263e-02 2.24422518e+02] [ 8.57378606e-01 4.86774257e-01 -1.67190758e-01 1.56724777e+02] [ 1.91604729e-01 -3.79501596e-04 9.81472100e-01 9.35077369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.44, Y:156.75, Z:93.51 [[ 4.78707831e-01 -8.72996399e-01 -9.33600527e-02 2.24435040e+02] [ 8.56897234e-01 4.87726639e-01 -1.66882762e-01 1.56747701e+02] [ 1.91222235e-01 -1.11885619e-04 9.81546761e-01 9.35131586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:156.77, Z:93.52 [[ 4.80004071e-01 -8.72280284e-01 -9.33980653e-02 2.24448932e+02] [ 8.56134957e-01 4.89006193e-01 -1.67050530e-01 1.56771435e+02] [ 1.91387116e-01 2.23585701e-04 9.81514606e-01 9.35194730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:156.79, Z:93.52 [[ 4.80235553e-01 -8.72144029e-01 -9.34805152e-02 2.24462014e+02] [ 8.55945833e-01 4.89249100e-01 -1.67308246e-01 1.56794129e+02] [ 1.91652146e-01 3.33110582e-04 9.81462859e-01 9.35248254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:156.82, Z:93.53 [[ 4.80704721e-01 -8.71855863e-01 -9.37567347e-02 2.24474041e+02] [ 8.55532580e-01 4.89762286e-01 -1.67919349e-01 1.56819135e+02] [ 1.92319982e-01 5.07682938e-04 9.81332139e-01 9.35304236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.49, Y:156.84, Z:93.54 [[ 4.80424806e-01 -8.72001335e-01 -9.38385744e-02 2.24485602e+02] [ 8.55630158e-01 4.89503235e-01 -1.68177333e-01 1.56842915e+02] [ 1.92585144e-01 5.05448199e-04 9.81280137e-01 9.35351032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.50, Y:156.87, Z:93.54 [[ 4.80278374e-01 -8.72087122e-01 -9.37909103e-02 2.24499197e+02] [ 8.55712376e-01 4.89350359e-01 -1.68203911e-01 1.56867518e+02] [ 1.92585081e-01 5.26658279e-04 9.81280138e-01 9.35401536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:156.89, Z:93.54 [[ 4.79716740e-01 -8.72402464e-01 -9.37325499e-02 2.24511375e+02] [ 8.56040270e-01 4.88788044e-01 -1.68170465e-01 1.56892487e+02] [ 1.92527678e-01 4.35349976e-04 9.81291447e-01 9.35449685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:156.92, Z:93.55 [[ 4.78933018e-01 -8.72813177e-01 -9.39165699e-02 2.24523614e+02] [ 8.56371895e-01 4.88054352e-01 -1.68612355e-01 1.56916085e+02] [ 1.93003476e-01 3.26513121e-04 9.81198019e-01 9.35501643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.54, Y:156.94, Z:93.56 [[ 4.76919938e-01 -8.73926077e-01 -9.38114349e-02 2.24537105e+02] [ 8.57523214e-01 4.86058852e-01 -1.68525161e-01 1.56940078e+02] [ 1.92876411e-01 -7.24740002e-05 9.81223056e-01 9.35564540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:156.96, Z:93.56 [[ 4.75547902e-01 -8.74708393e-01 -9.34848626e-02 2.24550824e+02] [ 8.58413651e-01 4.84649478e-01 -1.68050255e-01 1.56964112e+02] [ 1.92302358e-01 -3.32735946e-04 9.81335668e-01 9.35624501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:156.99, Z:93.58 [[ 4.73048873e-01 -8.75212893e-01 -1.01129402e-01 2.24571608e+02] [ 8.60036981e-01 4.83633271e-01 -1.62589208e-01 1.56986593e+02] [ 1.91209715e-01 -1.00623843e-02 9.81497628e-01 9.35760740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:157.02, Z:93.56 [[ 4.70247666e-01 -8.79602035e-01 -7.18845763e-02 2.24570981e+02] [ 8.63205636e-01 4.75373948e-01 -1.69987175e-01 1.57022030e+02] [ 1.83693120e-01 1.78849008e-02 9.82820924e-01 9.35579497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.60, Y:157.03, Z:93.59 [[ 4.69721593e-01 -8.76029792e-01 -1.09240234e-01 2.24601148e+02] [ 8.62047001e-01 4.81828560e-01 -1.57213890e-01 1.57033680e+02] [ 1.90359116e-01 -2.03234570e-02 9.81504134e-01 9.35888659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.60, Y:157.06, Z:93.58 [[ 4.67471827e-01 -8.79560576e-01 -8.85623177e-02 2.24599307e+02] [ 8.63233299e-01 4.75780795e-01 -1.68703606e-01 1.57064341e+02] [ 1.90521291e-01 2.41424132e-03 9.81680095e-01 9.35799864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.61, Y:157.09, Z:93.59 [[ 4.66307347e-01 -8.79776102e-01 -9.24741470e-02 2.24613638e+02] [ 8.63815757e-01 4.75383697e-01 -1.66831289e-01 1.57087834e+02] [ 1.90734883e-01 -2.08596968e-03 9.81639370e-01 9.35857298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:157.12, Z:93.59 [[ 4.65365920e-01 -8.80735038e-01 -8.79792779e-02 2.24628367e+02] [ 8.64915697e-01 4.73607699e-01 -1.66182380e-01 1.57116022e+02] [ 1.88030308e-01 1.24095770e-03 9.82162442e-01 9.35862467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.64, Y:157.14, Z:93.60 [[ 4.64186364e-01 -8.80478277e-01 -9.63795831e-02 2.24642479e+02] [ 8.65185573e-01 4.74027730e-01 -1.63559272e-01 1.57135293e+02] [ 1.89696981e-01 -7.46424109e-03 9.81814311e-01 9.35959521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:157.16, Z:93.60 [[ 4.62738376e-01 -8.81779532e-01 -9.13129340e-02 2.24653331e+02] [ 8.66210599e-01 4.71653793e-01 -1.64990600e-01 1.57161428e+02] [ 1.88553426e-01 -2.74874877e-03 9.82059087e-01 9.35983814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.67, Y:157.19, Z:93.60 [[ 4.61965257e-01 -8.82238723e-01 -9.07906239e-02 2.24666401e+02] [ 8.66837247e-01 4.70793602e-01 -1.64154108e-01 1.57185742e+02] [ 1.87566755e-01 -2.86719990e-03 9.82247673e-01 9.36027034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.950385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:224.68, Y:157.21, Z:93.61 [[ 4.60600880e-01 -8.82917397e-01 -9.11246387e-02 2.24679878e+02] [ 8.67393502e-01 4.69518096e-01 -1.64867431e-01 1.57210463e+02] [ 1.88348990e-01 -3.10283551e-03 9.82097261e-01 9.36072966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.68, Y:157.24, Z:93.60 [[ 4.57129177e-01 -8.86331593e-01 -7.38188544e-02 2.24681148e+02] [ 8.70975260e-01 4.62921195e-01 -1.64639192e-01 1.57239547e+02] [ 1.80097230e-01 1.09669824e-02 9.83587674e-01 9.35966336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.010385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:224.70, Y:157.26, Z:93.61 [[ 4.58143935e-01 -8.84515730e-01 -8.79548628e-02 2.24701990e+02] [ 8.70055161e-01 4.66496999e-01 -1.59325348e-01 1.57258749e+02] [ 1.81956456e-01 -3.53164047e-03 9.83300247e-01 9.36097386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.040385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.72, Y:157.28, Z:93.61 [[ 4.57952408e-01 -8.84667379e-01 -8.74255189e-02 2.24715783e+02] [ 8.70029683e-01 4.66215141e-01 -1.60286595e-01 1.57284324e+02] [ 1.82559423e-01 -2.65916442e-03 9.83191226e-01 9.36143209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.070385723 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:224.73, Y:157.31, Z:93.62 [[ 4.59577355e-01 -8.83217974e-01 -9.33523727e-02 2.24730731e+02] [ 8.67939904e-01 4.68926766e-01 -1.63670432e-01 1.57307043e+02] [ 1.88332094e-01 -5.80502514e-03 9.82088247e-01 9.36227650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:157.33, Z:93.63 [[ 4.59155498e-01 -8.83403945e-01 -9.36680279e-02 2.24743641e+02] [ 8.68384110e-01 4.68563006e-01 -1.62350694e-01 1.57331961e+02] [ 1.87310616e-01 -6.79561329e-03 9.82277228e-01 9.36273759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:157.36, Z:93.62 [[ 4.59876121e-01 -8.84417020e-01 -7.95014929e-02 2.24749202e+02] [ 8.67184869e-01 4.66565038e-01 -1.74090400e-01 1.57361128e+02] [ 1.91061130e-01 1.11175263e-02 9.81515178e-01 9.36242061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:157.38, Z:93.64 [[ 4.59354822e-01 -8.82326383e-01 -1.02436815e-01 2.24772320e+02] [ 8.67814419e-01 4.70387603e-01 -1.60105081e-01 1.57376274e+02] [ 1.89449945e-01 -1.53511036e-02 9.81770371e-01 9.36395189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:157.40, Z:93.65 [[ 4.60093777e-01 -8.81750968e-01 -1.04062230e-01 2.24787847e+02] [ 8.67491590e-01 4.71402245e-01 -1.58865553e-01 1.57400289e+02] [ 1.89135024e-01 -1.71800568e-02 9.81800789e-01 9.36485138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:157.43, Z:93.65 [[ 4.60819271e-01 -8.82887546e-01 -9.03060351e-02 2.24794017e+02] [ 8.66785804e-01 4.69583561e-01 -1.67850080e-01 1.57427309e+02] [ 1.90598975e-01 -9.27437911e-04 9.81667546e-01 9.36479094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:157.45, Z:93.65 [[ 4.60570940e-01 -8.83485757e-01 -8.55998070e-02 2.24805436e+02] [ 8.67198458e-01 4.68444513e-01 -1.68898114e-01 1.57452856e+02] [ 1.89317838e-01 3.55754233e-03 9.81909416e-01 9.36504515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.82, Y:157.47, Z:93.66 [[ 4.60183841e-01 -8.82394875e-01 -9.80312045e-02 2.24824815e+02] [ 8.67893804e-01 4.70367236e-01 -1.59734179e-01 1.57471763e+02] [ 1.87059288e-01 -1.15735870e-02 9.82280446e-01 9.36625109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:157.50, Z:93.67 [[ 4.61158388e-01 -8.82735869e-01 -9.00573546e-02 2.24835515e+02] [ 8.66795838e-01 4.69868372e-01 -1.66999068e-01 1.57499726e+02] [ 1.89731170e-01 -1.04831908e-03 9.81835518e-01 9.36665526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.84, Y:157.53, Z:93.66 [[ 4.59520167e-01 -8.84897963e-01 -7.61367910e-02 2.24838788e+02] [ 8.68658772e-01 4.65640718e-01 -1.69146858e-01 1.57527097e+02] [ 1.85130100e-01 1.15895010e-02 9.82645679e-01 9.36588279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.87, Y:157.54, Z:93.69 [[ 4.62204527e-01 -8.80170255e-01 -1.08015267e-01 2.24870531e+02] [ 8.66628863e-01 4.74156714e-01 -1.55337775e-01 1.57542272e+02] [ 1.87939853e-01 -2.18113252e-02 9.81938327e-01 9.36859168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.87, Y:157.57, Z:93.68 [[ 4.65360946e-01 -8.80452995e-01 -9.07838878e-02 2.24873731e+02] [ 8.64269263e-01 4.74133372e-01 -1.68036264e-01 1.57571763e+02] [ 1.90991703e-01 -2.64209097e-04 9.81591616e-01 9.36832532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.88, Y:157.60, Z:93.68 [[ 4.66176822e-01 -8.80363122e-01 -8.74067760e-02 2.24884863e+02] [ 8.63694654e-01 4.74283321e-01 -1.70548749e-01 1.57599019e+02] [ 1.91600405e-01 4.01310854e-03 9.81464813e-01 9.36849674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:157.63, Z:93.69 [[ 4.66188601e-01 -8.80417786e-01 -8.67911869e-02 2.24897022e+02] [ 8.63415538e-01 4.74168359e-01 -1.72272968e-01 1.57625888e+02] [ 1.92825819e-01 5.37483443e-03 9.81218281e-01 9.36880265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:157.64, Z:93.69 [[ 4.68714675e-01 -8.78384733e-01 -9.35244066e-02 2.24911883e+02] [ 8.63161293e-01 4.77934175e-01 -1.62884948e-01 1.57644429e+02] [ 1.87774162e-01 -4.38008224e-03 9.82202463e-01 9.36939319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:157.67, Z:93.70 [[ 4.68926930e-01 -8.78471462e-01 -9.16265473e-02 2.24924542e+02] [ 8.62839624e-01 4.77791834e-01 -1.64993170e-01 1.57667919e+02] [ 1.88720207e-01 -1.68927513e-03 9.82029445e-01 9.36997290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:157.70, Z:93.70 [[ 4.66997162e-01 -8.80295725e-01 -8.36246764e-02 2.24934827e+02] [ 8.64736472e-01 4.74402411e-01 -1.64842917e-01 1.57695424e+02] [ 1.84782263e-01 4.66786670e-03 9.82768399e-01 9.36995525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.95, Y:157.72, Z:93.71 [[ 4.67442961e-01 -8.79696556e-01 -8.73558721e-02 2.24948843e+02] [ 8.64502362e-01 4.75535105e-01 -1.62794443e-01 1.57717197e+02] [ 1.84750495e-01 5.77758616e-04 9.82785287e-01 9.37068600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:157.74, Z:93.72 [[ 4.67457331e-01 -8.77524820e-01 -1.06929110e-01 2.24971996e+02] [ 8.64396252e-01 4.79068715e-01 -1.52683616e-01 1.57735052e+02] [ 1.85210054e-01 -2.10560459e-02 9.82473348e-01 9.37237156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:157.77, Z:93.72 [[ 4.65576437e-01 -8.80079106e-01 -9.32702990e-02 2.24980041e+02] [ 8.65240298e-01 4.74792535e-01 -1.61031907e-01 1.57765032e+02] [ 1.86004859e-01 -5.72855962e-03 9.82532125e-01 9.37238298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:157.78, Z:93.74 [[ 4.65405229e-01 -8.78665679e-01 -1.06511020e-01 2.25001720e+02] [ 8.64659404e-01 4.77065532e-01 -1.57393115e-01 1.57784910e+02] [ 1.89108665e-01 -1.88441758e-02 9.81775336e-01 9.37399456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.99, Y:157.83, Z:93.71 [[ 4.63141505e-01 -8.84748217e-01 -5.21587780e-02 2.24987353e+02] [ 8.67810769e-01 4.64655032e-01 -1.76068654e-01 1.57827537e+02] [ 1.80012266e-01 3.62807521e-02 9.82995062e-01 9.37096562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.03, Y:157.83, Z:93.75 [[ 4.63645407e-01 -8.78287967e-01 -1.16804035e-01 2.25032802e+02] [ 8.65732972e-01 4.77124576e-01 -1.51190479e-01 1.57830636e+02] [ 1.88518854e-01 -3.10223329e-02 9.81579470e-01 9.37542756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.02, Y:157.87, Z:93.72 [[ 4.60826114e-01 -8.85507384e-01 -5.92955708e-02 2.25015459e+02] [ 8.69019361e-01 4.63787014e-01 -1.72357060e-01 1.57874391e+02] [ 1.80123965e-01 2.78976352e-02 9.83248229e-01 9.37218574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:157.89, Z:93.74 [[ 4.60362633e-01 -8.83410694e-01 -8.74745201e-02 2.25041227e+02] [ 8.69434589e-01 4.68582698e-01 -1.56568679e-01 1.57889038e+02] [ 1.79303492e-01 -3.97500412e-03 9.83785778e-01 9.37391307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.05, Y:157.91, Z:93.74 [[ 4.60334993e-01 -8.83643539e-01 -8.52396056e-02 2.25053073e+02] [ 8.69499100e-01 4.68157521e-01 -1.57479687e-01 1.57914245e+02] [ 1.79061470e-01 -1.62234990e-03 9.83836550e-01 9.37427354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.07, Y:157.94, Z:93.75 [[ 4.58925605e-01 -8.84354490e-01 -8.54659333e-02 2.25066124e+02] [ 8.70028899e-01 4.66813216e-01 -1.58540648e-01 1.57938306e+02] [ 1.80102761e-01 -1.59946904e-03 9.83646500e-01 9.37485834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:157.96, Z:93.75 [[ 4.58835570e-01 -8.84353905e-01 -8.59540030e-02 2.25079827e+02] [ 8.69975710e-01 4.66813197e-01 -1.58832309e-01 1.57962104e+02] [ 1.80588436e-01 -1.89998165e-03 9.83556916e-01 9.37542426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.910385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:225.09, Y:157.98, Z:93.76 [[ 4.57690359e-01 -8.84910305e-01 -8.63324249e-02 2.25092704e+02] [ 8.70394763e-01 4.65756833e-01 -1.59635615e-01 1.57984833e+02] [ 1.81473118e-01 -2.07960849e-03 9.83393707e-01 9.37598342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:158.01, Z:93.76 [[ 4.57332019e-01 -8.85093786e-01 -8.63505355e-02 2.25105358e+02] [ 8.70553802e-01 4.65407983e-01 -1.59785755e-01 1.58009995e+02] [ 1.81613607e-01 -2.09764505e-03 9.83367733e-01 9.37647009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:158.03, Z:93.77 [[ 4.57313371e-01 -8.85107675e-01 -8.63069233e-02 2.25116948e+02] [ 8.70563240e-01 4.65381771e-01 -1.59810678e-01 1.58034755e+02] [ 1.81615326e-01 -2.05207510e-03 9.83367511e-01 9.37692365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:158.06, Z:93.77 [[ 4.58499856e-01 -8.84712049e-01 -8.40385231e-02 2.25127483e+02] [ 8.69837567e-01 4.66136940e-01 -1.61551725e-01 1.58059056e+02] [ 1.82100217e-01 9.71577965e-04 9.83279496e-01 9.37722567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:158.09, Z:93.78 [[ 4.58100151e-01 -8.85050520e-01 -8.26427771e-02 2.25140072e+02] [ 8.69864142e-01 4.65485891e-01 -1.63276635e-01 1.58085224e+02] [ 1.82977118e-01 2.90906291e-03 9.83112868e-01 9.37781032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:158.11, Z:93.79 [[ 4.58266658e-01 -8.84566631e-01 -8.67960054e-02 2.25155268e+02] [ 8.69792914e-01 4.66410700e-01 -1.61001075e-01 1.58107562e+02] [ 1.82898764e-01 -1.71312596e-03 9.83130260e-01 9.37871423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:158.13, Z:93.79 [[ 4.58876709e-01 -8.83791011e-01 -9.13543302e-02 2.25170681e+02] [ 8.69807088e-01 4.67821442e-01 -1.56776046e-01 1.58130541e+02] [ 1.81294774e-01 -7.51976803e-03 9.83400050e-01 9.37946639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.120385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:225.16, Y:158.17, Z:93.77 [[ 4.56247415e-01 -8.88302876e-01 -5.25004451e-02 2.25161750e+02] [ 8.71988834e-01 4.58071803e-01 -1.72643263e-01 1.58168839e+02] [ 1.77408481e-01 3.29882407e-02 9.83584265e-01 9.37729620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:158.17, Z:93.83 [[ 4.61487888e-01 -8.78396695e-01 -1.24290693e-01 2.25211306e+02] [ 8.66891120e-01 4.76270668e-01 -1.47193874e-01 1.58170610e+02] [ 1.88490624e-01 -3.98183082e-02 9.81267439e-01 9.38251169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.19, Y:158.22, Z:93.79 [[ 4.59826105e-01 -8.86321901e-01 -5.47123515e-02 2.25190558e+02] [ 8.69736979e-01 4.61943241e-01 -1.73683706e-01 1.58218678e+02] [ 1.79213674e-01 3.22789468e-02 9.83280493e-01 9.37878125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:158.23, Z:93.81 [[ 4.59890595e-01 -8.84105790e-01 -8.28105868e-02 2.25216851e+02] [ 8.69886515e-01 4.67286423e-01 -1.57926723e-01 1.58233291e+02] [ 1.78320193e-01 5.93202103e-04 9.83972335e-01 9.38057043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:158.24, Z:93.84 [[ 4.62447426e-01 -8.78471226e-01 -1.20127780e-01 2.25247657e+02] [ 8.66522775e-01 4.76486009e-01 -1.48658546e-01 1.58243723e+02] [ 1.87831462e-01 -3.53466951e-02 9.81565053e-01 9.38418031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.270385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.22, Y:158.29, Z:93.80 [[ 4.57967596e-01 -8.87862820e-01 -4.43316385e-02 2.25222237e+02] [ 8.71347475e-01 4.58211096e-01 -1.75488376e-01 1.58294688e+02] [ 1.76122853e-01 4.17397285e-02 9.83482860e-01 9.37990195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:158.31, Z:93.82 [[ 4.57787320e-01 -8.84660925e-01 -8.83505425e-02 2.25254776e+02] [ 8.71137773e-01 4.66191528e-01 -1.54222048e-01 1.58305876e+02] [ 1.77622494e-01 -6.36459697e-03 9.84078118e-01 9.38242609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.27, Y:158.33, Z:93.83 [[ 4.57535785e-01 -8.84583301e-01 -9.04067989e-02 2.25266554e+02] [ 8.70823040e-01 4.66321350e-01 -1.55600869e-01 1.58329834e+02] [ 1.79800551e-01 -7.53535768e-03 9.83674225e-01 9.38316360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.28, Y:158.36, Z:93.84 [[ 4.57152374e-01 -8.85178946e-01 -8.64288173e-02 2.25277252e+02] [ 8.70664093e-01 4.65245222e-01 -1.59658764e-01 1.58355494e+02] [ 1.81537171e-01 -2.26208479e-03 9.83381482e-01 9.38362087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:158.38, Z:93.85 [[ 4.56286810e-01 -8.84746670e-01 -9.50035590e-02 2.25293568e+02] [ 8.70586291e-01 4.65951484e-01 -1.58014947e-01 1.58377827e+02] [ 1.84070248e-01 -1.06086598e-02 9.82855839e-01 9.38490315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:158.40, Z:93.85 [[ 4.56264749e-01 -8.85691641e-01 -8.58649820e-02 2.25302222e+02] [ 8.70527118e-01 4.64273878e-01 -1.63194068e-01 1.58404812e+02] [ 1.84404490e-01 -2.88094584e-04 9.82850396e-01 9.38501269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:158.43, Z:93.86 [[ 4.55209059e-01 -8.86228316e-01 -8.59306955e-02 2.25314052e+02] [ 8.70832565e-01 4.63248714e-01 -1.64472710e-01 1.58429086e+02] [ 1.85567657e-01 3.82196132e-05 9.82631489e-01 9.38562881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:158.45, Z:93.87 [[ 4.54217521e-01 -8.85542362e-01 -9.74739399e-02 2.25330116e+02] [ 8.71162523e-01 4.64390420e-01 -1.59428342e-01 1.58449255e+02] [ 1.86446514e-01 -1.25004974e-02 9.82385584e-01 9.38686660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:158.48, Z:93.88 [[ 4.56165305e-01 -8.85135178e-01 -9.19180677e-02 2.25343457e+02] [ 8.69429538e-01 4.65315315e-01 -1.66054017e-01 1.58477450e+02] [ 1.89751137e-01 -4.16820171e-03 9.81823371e-01 9.38788198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.35, Y:158.50, Z:93.88 [[ 4.55407113e-01 -8.85736362e-01 -8.98635525e-02 2.25354057e+02] [ 8.69893328e-01 4.64183365e-01 -1.66791491e-01 1.58503027e+02] [ 1.89446454e-01 -2.21367354e-03 9.81888558e-01 9.38832549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.36, Y:158.53, Z:93.88 [[ 4.51458481e-01 -8.87958812e-01 -8.78315951e-02 2.25359698e+02] [ 8.72477538e-01 4.59918210e-01 -1.65100533e-01 1.58527933e+02] [ 1.86997823e-01 -2.09505804e-03 9.82358094e-01 9.38821518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:158.55, Z:93.89 [[ 4.50725050e-01 -8.88384706e-01 -8.72899968e-02 2.25369202e+02] [ 8.72564509e-01 4.59098835e-01 -1.66911465e-01 1.58554369e+02] [ 1.88356328e-01 -9.34974841e-04 9.82100310e-01 9.38868714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.630385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.38, Y:158.58, Z:93.89 [[ 4.50726886e-01 -8.88642210e-01 -8.46185384e-02 2.25379519e+02] [ 8.72669612e-01 4.58597782e-01 -1.67737361e-01 1.58580186e+02] [ 1.87864374e-01 1.75971146e-03 9.82193403e-01 9.38904365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:158.61, Z:93.90 [[ 4.53044681e-01 -8.86811374e-01 -9.11926769e-02 2.25395939e+02] [ 8.71180055e-01 4.62111391e-01 -1.65826336e-01 1.58605729e+02] [ 1.89197856e-01 -4.31850183e-03 9.81929489e-01 9.39034066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.690385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.40, Y:158.63, Z:93.90 [[ 4.48713615e-01 -8.89131031e-01 -9.00116789e-02 2.25400785e+02] [ 8.73850121e-01 4.57625690e-01 -1.64209300e-01 1.58630743e+02] [ 1.87195240e-01 -4.97376814e-03 9.82310136e-01 9.39032495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:158.66, Z:93.90 [[ 4.47439678e-01 -8.90300738e-01 -8.46305495e-02 2.25409070e+02] [ 8.74841671e-01 4.55373012e-01 -1.65189198e-01 1.58658308e+02] [ 1.85606533e-01 -1.26129915e-04 9.82624139e-01 9.39047488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.750385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.42, Y:158.69, Z:93.91 [[ 4.47976786e-01 -8.89817157e-01 -8.68459982e-02 2.25422474e+02] [ 8.73992723e-01 4.56316015e-01 -1.67070088e-01 1.58685870e+02] [ 1.88291050e-01 -1.05924948e-03 9.82112701e-01 9.39143716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:158.71, Z:93.92 [[ 4.47342074e-01 -8.89946923e-01 -8.87667973e-02 2.25433804e+02] [ 8.74462450e-01 4.56049397e-01 -1.65331093e-01 1.58711460e+02] [ 1.87617942e-01 -3.66367702e-03 9.82235250e-01 9.39204575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:158.74, Z:93.93 [[ 4.46160902e-01 -8.90562332e-01 -8.85391552e-02 2.25443673e+02] [ 8.75149019e-01 4.54844835e-01 -1.65016277e-01 1.58737769e+02] [ 1.87228858e-01 -3.86114364e-03 9.82308733e-01 9.39250815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.840385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.45, Y:158.76, Z:93.93 [[ 4.44387636e-01 -8.91535821e-01 -8.76556223e-02 2.25450366e+02] [ 8.76429516e-01 4.52930938e-01 -1.63477425e-01 1.58764042e+02] [ 1.85447924e-01 -4.17662818e-03 9.82645218e-01 9.39292741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.46, Y:158.79, Z:93.93 [[ 4.42982231e-01 -8.92293252e-01 -8.70602967e-02 2.25459859e+02] [ 8.77389395e-01 4.51434648e-01 -1.62464174e-01 1.58789814e+02] [ 1.84267720e-01 -4.41703897e-03 9.82866164e-01 9.39339791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.46, Y:158.82, Z:93.94 [[ 4.39551787e-01 -8.94022324e-01 -8.67081925e-02 2.25464752e+02] [ 8.79252999e-01 4.47993734e-01 -1.61912871e-01 1.58817668e+02] [ 1.83598448e-01 -5.06934633e-03 9.82988256e-01 9.39384853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:158.84, Z:93.94 [[ 4.37684989e-01 -8.94956588e-01 -8.65133276e-02 2.25473707e+02] [ 8.80251318e-01 4.46120584e-01 -1.61660267e-01 1.58844275e+02] [ 1.83274297e-01 -5.39719849e-03 9.83046999e-01 9.39428086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:158.87, Z:93.95 [[ 4.36080924e-01 -8.95742206e-01 -8.64831135e-02 2.25482862e+02] [ 8.81043014e-01 4.44537588e-01 -1.61708193e-01 1.58870639e+02] [ 1.83293848e-01 -5.67748496e-03 9.83041775e-01 9.39476696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:158.90, Z:93.95 [[ 4.34234362e-01 -8.96966310e-01 -8.30178108e-02 2.25491302e+02] [ 8.81895999e-01 4.42093869e-01 -1.63745099e-01 1.58898835e+02] [ 1.83575503e-01 -2.10932649e-03 9.83003350e-01 9.39508519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:158.92, Z:93.96 [[ 4.33326179e-01 -8.96776638e-01 -8.95549175e-02 2.25499251e+02] [ 8.82855463e-01 4.42354092e-01 -1.57762762e-01 1.58923887e+02] [ 1.81092944e-01 -1.07013133e-02 9.83407763e-01 9.39576281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:158.95, Z:93.96 [[ 4.32767128e-01 -8.97485307e-01 -8.50454968e-02 2.25506224e+02] [ 8.83262962e-01 4.41000864e-01 -1.59263234e-01 1.58951500e+02] [ 1.80441550e-01 -6.19364521e-03 9.83566208e-01 9.39603976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:158.98, Z:93.96 [[ 4.32870226e-01 -8.97478847e-01 -8.45877516e-02 2.25511992e+02] [ 8.83391206e-01 4.41015184e-01 -1.58510516e-01 1.58979106e+02] [ 1.79564318e-01 -6.10959293e-03 9.83727263e-01 9.39647553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:159.01, Z:93.97 [[ 4.32889531e-01 -8.97461746e-01 -8.46703517e-02 2.25520996e+02] [ 8.83328749e-01 4.41050581e-01 -1.58759902e-01 1.59005753e+02] [ 1.79824846e-01 -6.06625637e-03 9.83679940e-01 9.39689925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:159.03, Z:93.97 [[ 4.33703038e-01 -8.97055125e-01 -8.48161387e-02 2.25529689e+02] [ 8.82846226e-01 4.41879791e-01 -1.59137653e-01 1.59033097e+02] [ 1.80233785e-01 -5.86112457e-03 9.83606339e-01 9.39729767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:159.06, Z:93.98 [[ 4.37359932e-01 -8.95226085e-01 -8.53612780e-02 2.25533716e+02] [ 8.80777933e-01 4.45583163e-01 -1.60268143e-01 1.59061653e+02] [ 1.81511770e-01 -5.08946591e-03 9.83375602e-01 9.39755376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:159.09, Z:93.98 [[ 4.39652386e-01 -8.94127951e-01 -8.50939809e-02 2.25543356e+02] [ 8.79732832e-01 4.47788192e-01 -1.59862067e-01 1.59087437e+02] [ 1.81041222e-01 -4.57622973e-03 9.83464862e-01 9.39801429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.55, Y:159.11, Z:93.98 [[ 4.43758140e-01 -8.92122000e-01 -8.48354281e-02 2.25549060e+02] [ 8.77759149e-01 4.51779471e-01 -1.59480988e-01 1.59114611e+02] [ 1.80603403e-01 -3.69408677e-03 9.83549066e-01 9.39841445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:159.14, Z:93.99 [[ 4.45339043e-01 -8.91340357e-01 -8.47673561e-02 2.25558800e+02] [ 8.76969354e-01 4.53322488e-01 -1.59447404e-01 1.59141192e+02] [ 1.80548854e-01 -3.33021926e-03 9.83560380e-01 9.39887768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:159.17, Z:93.99 [[ 4.46100376e-01 -8.90960626e-01 -8.47562201e-02 2.25568159e+02] [ 8.76567409e-01 4.54069797e-01 -1.59531178e-01 1.59167208e+02] [ 1.80621238e-01 -3.12762163e-03 9.83547755e-01 9.39935203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.58, Y:159.19, Z:94.00 [[ 4.47454806e-01 -8.90271996e-01 -8.48526396e-02 2.25575373e+02] [ 8.75813903e-01 4.55420591e-01 -1.59818937e-01 1.59193224e+02] [ 1.80925963e-01 -2.80337012e-03 9.83492723e-01 9.39981590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:159.22, Z:94.00 [[ 4.47722138e-01 -8.90109641e-01 -8.51452484e-02 2.25585958e+02] [ 8.75530166e-01 4.55738434e-01 -1.60466222e-01 1.59218478e+02] [ 1.81636493e-01 -2.70295348e-03 9.83362028e-01 9.40034564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:159.24, Z:94.01 [[ 4.46945419e-01 -8.90503111e-01 -8.51116982e-02 2.25594648e+02] [ 8.75922915e-01 4.54968456e-01 -1.60507793e-01 1.59244936e+02] [ 1.81655827e-01 -2.81306394e-03 9.83358148e-01 9.40084729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.61, Y:159.27, Z:94.01 [[ 4.46148636e-01 -8.90929733e-01 -8.48269128e-02 2.25605388e+02] [ 8.76435555e-01 4.54131749e-01 -1.60078333e-01 1.59269102e+02] [ 1.81141141e-01 -2.92659227e-03 9.83452755e-01 9.40132325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.62, Y:159.29, Z:94.02 [[ 4.45375869e-01 -8.91323332e-01 -8.47528942e-02 2.25616180e+02] [ 8.76843873e-01 4.53358006e-01 -1.60035438e-01 1.59293710e+02] [ 1.81066723e-01 -3.03913352e-03 9.83466118e-01 9.40181883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.63, Y:159.32, Z:94.02 [[ 4.43279361e-01 -8.92448335e-01 -8.39009958e-02 2.25626398e+02] [ 8.78267745e-01 4.51136579e-01 -1.58497812e-01 1.59319839e+02] [ 1.79301917e-01 -3.42872967e-03 9.83788121e-01 9.40235263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.64, Y:159.34, Z:94.03 [[ 4.42211201e-01 -8.92996988e-01 -8.36996657e-02 2.25638073e+02] [ 8.78875270e-01 4.50048296e-01 -1.58223864e-01 1.59344063e+02] [ 1.78962326e-01 -3.59320143e-03 9.83849366e-01 9.40293357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:159.37, Z:94.03 [[ 4.40222349e-01 -8.93983026e-01 -8.36578326e-02 2.25648716e+02] [ 8.79879980e-01 4.48083342e-01 -1.58216747e-01 1.59369443e+02] [ 1.78928768e-01 -3.95830388e-03 9.83854068e-01 9.40347320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:159.39, Z:94.04 [[ 4.39575372e-01 -8.94308095e-01 -8.35854259e-02 2.25660102e+02] [ 8.80216601e-01 4.47433472e-01 -1.58183515e-01 1.59394760e+02] [ 1.78863715e-01 -4.03970217e-03 9.83865566e-01 9.40391881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:159.42, Z:94.04 [[ 4.39768157e-01 -8.94196045e-01 -8.37699344e-02 2.25671631e+02] [ 8.80020048e-01 4.47658127e-01 -1.58640839e-01 1.59419903e+02] [ 1.79356303e-01 -3.95403238e-03 9.83776236e-01 9.40441501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:159.44, Z:94.05 [[ 4.40456625e-01 -8.93812311e-01 -8.42467488e-02 2.25683160e+02] [ 8.79446267e-01 4.48425397e-01 -1.59652519e-01 1.59444797e+02] [ 1.80477769e-01 -3.77047914e-03 9.83571837e-01 9.40493195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:159.47, Z:94.05 [[ 4.41434563e-01 -8.93269374e-01 -8.48843442e-02 2.25693445e+02] [ 8.78652846e-01 4.49507948e-01 -1.60971368e-01 1.59470087e+02] [ 1.81946980e-01 -3.52554523e-03 9.83302022e-01 9.40542268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:159.49, Z:94.06 [[ 4.41947370e-01 -8.92974196e-01 -8.53206165e-02 2.25704736e+02] [ 8.78179682e-01 4.50095235e-01 -1.61909623e-01 1.59493849e+02] [ 1.82983518e-01 -3.37129965e-03 9.83110201e-01 9.40593235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:159.52, Z:94.06 [[ 4.41832960e-01 -8.93052641e-01 -8.50918115e-02 2.25716485e+02] [ 8.78321056e-01 4.49939735e-01 -1.61574621e-01 1.59518440e+02] [ 1.82580829e-01 -3.34893668e-03 9.83185143e-01 9.40641373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.73, Y:159.54, Z:94.07 [[ 4.42565424e-01 -8.92688895e-01 -8.51021943e-02 2.25727803e+02] [ 8.77926774e-01 4.50662424e-01 -1.61703306e-01 1.59542556e+02] [ 1.82703106e-01 -3.14920292e-03 9.83163088e-01 9.40696901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.74, Y:159.57, Z:94.07 [[ 4.42991521e-01 -8.92478972e-01 -8.50869912e-02 2.25739436e+02] [ 8.77700131e-01 4.51078908e-01 -1.61772366e-01 1.59566092e+02] [ 1.82759382e-01 -3.01707671e-03 9.83153043e-01 9.40749959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:159.59, Z:94.08 [[ 4.43807644e-01 -8.92081651e-01 -8.50006025e-02 2.25750195e+02] [ 8.77307883e-01 4.51865527e-01 -1.61704743e-01 1.59591194e+02] [ 1.82662676e-01 -2.80589782e-03 9.83171640e-01 9.40806752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:159.61, Z:94.10 [[ 4.47213843e-01 -8.88484651e-01 -1.02931068e-01 2.25776951e+02] [ 8.74555798e-01 4.58495996e-01 -1.57903698e-01 1.59613710e+02] [ 1.87488495e-01 -1.94022422e-02 9.82075159e-01 9.40960001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.77, Y:159.64, Z:94.09 [[ 4.44592125e-01 -8.92750055e-01 -7.30423326e-02 2.25768193e+02] [ 8.76576174e-01 4.50409240e-01 -1.69545652e-01 1.59643913e+02] [ 1.84260832e-01 1.13514934e-02 9.82811828e-01 9.40883663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.79, Y:159.66, Z:94.10 [[ 4.45180012e-01 -8.91340868e-01 -8.55933019e-02 2.25786469e+02] [ 8.76283586e-01 4.53327528e-01 -1.63160136e-01 1.59664318e+02] [ 1.84233097e-01 -2.36837407e-03 9.82879726e-01 9.40974719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:159.69, Z:94.10 [[ 4.45612648e-01 -8.91136117e-01 -8.54739111e-02 2.25798558e+02] [ 8.76096929e-01 4.53730591e-01 -1.63042088e-01 1.59688469e+02] [ 1.84074822e-01 -2.22981427e-03 9.82909705e-01 9.41028854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.81, Y:159.71, Z:94.11 [[ 4.45957102e-01 -8.90985818e-01 -8.52439762e-02 2.25811096e+02] [ 8.76006991e-01 4.54026204e-01 -1.62702054e-01 1.59713473e+02] [ 1.83668221e-01 -2.11618275e-03 9.82986015e-01 9.41082444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.980385723 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:225.82, Y:159.74, Z:94.11 [[ 4.47498973e-01 -8.90968629e-01 -7.69387537e-02 2.25817554e+02] [ 8.74371904e-01 4.53966698e-01 -1.71429317e-01 1.59738252e+02] [ 1.87665775e-01 9.44135847e-03 9.82187567e-01 9.41116426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.84, Y:159.76, Z:94.12 [[ 4.46497793e-01 -8.89703152e-01 -9.52261660e-02 2.25838587e+02] [ 8.75474613e-01 4.56371297e-01 -1.58963651e-01 1.59757355e+02] [ 1.84888950e-01 -1.23911717e-02 9.82681299e-01 9.41208428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.85, Y:159.78, Z:94.12 [[ 4.46426814e-01 -8.90759346e-01 -8.51521452e-02 2.25847460e+02] [ 8.75727154e-01 4.54471651e-01 -1.62964629e-01 1.59784527e+02] [ 1.83861502e-01 -1.81826570e-03 9.82950478e-01 9.41248503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.86, Y:159.81, Z:94.13 [[ 4.46232710e-01 -8.90888418e-01 -8.48185993e-02 2.25859782e+02] [ 8.75957248e-01 4.54218597e-01 -1.62432650e-01 1.59807586e+02] [ 1.83235552e-01 -1.81470510e-03 9.83067363e-01 9.41300090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:159.83, Z:94.14 [[ 4.46437296e-01 -8.90789829e-01 -8.47774859e-02 2.25872519e+02] [ 8.75857789e-01 4.54412209e-01 -1.62427454e-01 1.59831800e+02] [ 1.83212648e-01 -1.73934816e-03 9.83071768e-01 9.41351627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:159.86, Z:94.14 [[ 4.46505799e-01 -8.90770578e-01 -8.46188493e-02 2.25884781e+02] [ 8.75873328e-01 4.54450185e-01 -1.62237305e-01 1.59855640e+02] [ 1.82971270e-01 -1.67549552e-03 9.83116833e-01 9.41399132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:159.88, Z:94.15 [[ 4.46855332e-01 -8.90562765e-01 -8.49604300e-02 2.25898382e+02] [ 8.75520893e-01 4.54857739e-01 -1.62995714e-01 1.59879227e+02] [ 1.83802823e-01 -1.54912767e-03 9.82961913e-01 9.41459015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:159.90, Z:94.15 [[ 4.45452546e-01 -8.91236835e-01 -8.52580439e-02 2.25911511e+02] [ 8.76080512e-01 4.53534698e-01 -1.63674111e-01 1.59902235e+02] [ 1.84539878e-01 -1.78386131e-03 9.82823408e-01 9.41505680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.92, Y:159.93, Z:94.16 [[ 4.43811446e-01 -8.92053110e-01 -8.52798285e-02 2.25924432e+02] [ 8.76889881e-01 4.51925751e-01 -1.63790268e-01 1.59926020e+02] [ 1.84649769e-01 -2.08902288e-03 9.82802167e-01 9.41558106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:159.95, Z:94.16 [[ 4.41909052e-01 -8.92998702e-01 -8.52625872e-02 2.25937071e+02] [ 8.77837782e-01 4.50052673e-01 -1.63870129e-01 1.59949173e+02] [ 1.84708468e-01 -2.43102722e-03 9.82790350e-01 9.41604754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.95, Y:159.97, Z:94.17 [[ 4.39804302e-01 -8.94029731e-01 -8.53405904e-02 2.25950187e+02] [ 8.78840743e-01 4.47998764e-01 -1.64122073e-01 1.59973237e+02] [ 1.84962492e-01 -2.81919409e-03 9.82741537e-01 9.41651411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:160.00, Z:94.17 [[ 4.35801628e-01 -8.95946326e-01 -8.57736711e-02 2.25964470e+02] [ 8.80618148e-01 4.44147741e-01 -1.65058963e-01 1.59996863e+02] [ 1.85980154e-01 -3.60088659e-03 9.82546903e-01 9.41701071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:160.02, Z:94.18 [[ 4.35568237e-01 -8.96064274e-01 -8.57270501e-02 2.25977337e+02] [ 8.80733599e-01 4.43909758e-01 -1.65083174e-01 1.60021818e+02] [ 1.85980208e-01 -3.59770642e-03 9.82546904e-01 9.41752451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:160.05, Z:94.18 [[ 4.33922197e-01 -8.96873799e-01 -8.56090874e-02 2.25990508e+02] [ 8.81581002e-01 4.42269436e-01 -1.64962673e-01 1.60045009e+02] [ 1.85812982e-01 -3.89037951e-03 9.82577427e-01 9.41799847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.00, Y:160.07, Z:94.18 [[ 4.31560517e-01 -8.98297440e-01 -8.25665169e-02 2.26002726e+02] [ 8.82325928e-01 4.39387874e-01 -1.68639416e-01 1.60071531e+02] [ 1.87767082e-01 -7.24651162e-05 9.82213581e-01 9.41837374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.430385723 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:226.02, Y:160.09, Z:94.19 [[ 4.31054926e-01 -8.97814793e-01 -9.01124229e-02 2.26019131e+02] [ 8.82984656e-01 4.40272912e-01 -1.62781632e-01 1.60093277e+02] [ 1.85821816e-01 -9.40006226e-03 9.82538494e-01 9.41900701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.03, Y:160.12, Z:94.19 [[ 4.30164949e-01 -8.98734077e-01 -8.50598382e-02 2.26029257e+02] [ 8.83417698e-01 4.38475358e-01 -1.65265037e-01 1.60119370e+02] [ 1.85825963e-01 -4.05214039e-03 9.82574319e-01 9.41940967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:160.14, Z:94.20 [[ 4.30489037e-01 -8.98534089e-01 -8.55317473e-02 2.26041783e+02] [ 8.83595262e-01 4.38871766e-01 -1.63251299e-01 1.60142761e+02] [ 1.84224326e-01 -5.29755211e-03 9.82869947e-01 9.41997466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.05, Y:160.17, Z:94.20 [[ 4.30821054e-01 -8.98916025e-01 -7.96442084e-02 2.26051435e+02] [ 8.83043606e-01 4.38115781e-01 -1.68192010e-01 1.60170197e+02] [ 1.86083877e-01 2.13134983e-03 9.82531551e-01 9.42032503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:160.19, Z:94.21 [[ 4.33448890e-01 -8.96647898e-01 -9.02474751e-02 2.26068466e+02] [ 8.82102384e-01 4.42636771e-01 -1.61146126e-01 1.60189998e+02] [ 1.84438186e-01 -9.75890333e-03 9.82795665e-01 9.42107684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.08, Y:160.22, Z:94.21 [[ 4.34477216e-01 -8.97044672e-01 -8.08727715e-02 2.26077389e+02] [ 8.81501486e-01 4.41938857e-01 -1.66268390e-01 1.60218101e+02] [ 1.84890994e-01 9.50359062e-04 9.82758575e-01 9.42134259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.09, Y:160.24, Z:94.22 [[ 4.35736509e-01 -8.96252179e-01 -8.28596792e-02 2.26091455e+02] [ 8.80784215e-01 4.43544232e-01 -1.65794090e-01 1.60242324e+02] [ 1.85345247e-01 -7.38959629e-04 9.82673188e-01 9.42189219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:160.26, Z:94.22 [[ 4.38383012e-01 -8.94207895e-01 -9.06232560e-02 2.26107850e+02] [ 8.79203475e-01 4.47579020e-01 -1.63322595e-01 1.60264476e+02] [ 1.86605422e-01 -8.07843047e-03 9.82401728e-01 9.42242021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.12, Y:160.29, Z:94.23 [[ 4.39303912e-01 -8.94821031e-01 -7.94191080e-02 2.26115052e+02] [ 8.78496838e-01 4.46396972e-01 -1.70214715e-01 1.60292496e+02] [ 1.87764156e-01 5.00655489e-03 9.82201383e-01 9.42268415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:160.31, Z:94.24 [[ 4.42636037e-01 -8.91706702e-01 -9.45118884e-02 2.26135862e+02] [ 8.77566032e-01 4.52435430e-01 -1.58682199e-01 1.60311036e+02] [ 1.84258507e-01 -1.27019633e-02 9.82795738e-01 9.42361752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:160.34, Z:94.24 [[ 4.43422289e-01 -8.92368337e-01 -8.39965798e-02 2.26144340e+02] [ 8.77333628e-01 4.51305771e-01 -1.63122061e-01 1.60338305e+02] [ 1.83473103e-01 -1.36106647e-03 9.83023788e-01 9.42386823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.16, Y:160.36, Z:94.24 [[ 4.43844250e-01 -8.92199240e-01 -8.35631346e-02 2.26157606e+02] [ 8.77297223e-01 4.51640337e-01 -1.62390237e-01 1.60361495e+02] [ 1.82624928e-01 -1.23373315e-03 9.83181882e-01 9.42439952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:160.39, Z:94.25 [[ 4.43803703e-01 -8.92240335e-01 -8.33394196e-02 2.26171349e+02] [ 8.77401062e-01 4.51559233e-01 -1.62054421e-01 1.60385161e+02] [ 1.82224175e-01 -1.20174309e-03 9.83256277e-01 9.42490717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.19, Y:160.41, Z:94.25 [[ 4.44068218e-01 -8.92120990e-01 -8.32079200e-02 2.26186514e+02] [ 8.77306559e-01 4.51795229e-01 -1.61908225e-01 1.60407816e+02] [ 1.82034667e-01 -1.10055714e-03 9.83291497e-01 9.42542024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:160.43, Z:94.26 [[ 4.43986513e-01 -8.92157712e-01 -8.32501862e-02 2.26200029e+02] [ 8.77308524e-01 4.51722792e-01 -1.62099580e-01 1.60431802e+02] [ 1.82224397e-01 -1.06607069e-03 9.83256392e-01 9.42592405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.21, Y:160.46, Z:94.26 [[ 4.44039828e-01 -8.92947775e-01 -7.39790646e-02 2.26210309e+02] [ 8.76862030e-01 4.50044961e-01 -1.69034059e-01 1.60458779e+02] [ 1.84232492e-01 1.01884217e-02 9.82829886e-01 9.42607421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:160.48, Z:94.27 [[ 4.43796047e-01 -8.92224511e-01 -8.35493321e-02 2.26229505e+02] [ 8.77062050e-01 4.51591714e-01 -1.63789756e-01 1.60480625e+02] [ 1.83867421e-01 -5.88702205e-04 9.82950876e-01 9.42688179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.25, Y:160.50, Z:94.28 [[ 4.44628309e-01 -8.90734191e-01 -9.43306343e-02 2.26248371e+02] [ 8.77435692e-01 4.54299804e-01 -1.54007450e-01 1.60498952e+02] [ 1.80034090e-01 -1.42929934e-02 9.83556525e-01 9.42772240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.25, Y:160.53, Z:94.28 [[ 4.42305582e-01 -8.94097532e-01 -7.03944319e-02 2.26252194e+02] [ 8.77941115e-01 4.47675761e-01 -1.69722749e-01 1.60531594e+02] [ 1.83262572e-01 1.32671534e-02 9.82974472e-01 9.42757260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:160.55, Z:94.29 [[ 4.41669901e-01 -8.92798988e-01 -8.85305876e-02 2.26274570e+02] [ 8.78861596e-01 4.50378701e-01 -1.57357304e-01 1.60549155e+02] [ 1.80360733e-01 -8.30614877e-03 9.83565460e-01 9.42862282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:160.57, Z:94.29 [[ 4.40530409e-01 -8.93648422e-01 -8.55888797e-02 2.26288209e+02] [ 8.79869618e-01 4.48722337e-01 -1.56453566e-01 1.60573772e+02] [ 1.78220125e-01 -6.38450121e-03 9.83969931e-01 9.42911798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.30, Y:160.60, Z:94.29 [[ 4.37436178e-01 -8.96511930e-01 -7.01138272e-02 2.26296477e+02] [ 8.80753604e-01 4.42866928e-01 -1.67755695e-01 1.60601810e+02] [ 1.81446078e-01 1.16294042e-02 9.83332130e-01 9.42914936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:160.62, Z:94.31 [[ 4.36760001e-01 -8.94384925e-01 -9.65210195e-02 2.26322145e+02] [ 8.80469160e-01 4.47012243e-01 -1.57968711e-01 1.60615995e+02] [ 1.84430911e-01 -1.59893666e-02 9.82715411e-01 9.43077139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:160.64, Z:94.31 [[ 4.32931546e-01 -8.97835591e-01 -8.03836252e-02 2.26331139e+02] [ 8.83959422e-01 4.40320830e-01 -1.57268268e-01 1.60643498e+02] [ 1.76595633e-01 -2.96946853e-03 9.84279008e-01 9.43052779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:160.67, Z:94.31 [[ 4.31262509e-01 -8.98635027e-01 -8.04222401e-02 2.26345412e+02] [ 8.84739835e-01 4.38684996e-01 -1.57451256e-01 1.60667180e+02] [ 1.76771244e-01 -3.24993587e-03 9.84246598e-01 9.43099822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:160.69, Z:94.31 [[ 4.29913073e-01 -8.99280808e-01 -8.04287132e-02 2.26358854e+02] [ 8.85374698e-01 4.37357991e-01 -1.57574210e-01 1.60690412e+02] [ 1.76879603e-01 -3.46633496e-03 9.84226392e-01 9.43139792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.37, Y:160.71, Z:94.32 [[ 4.28833278e-01 -8.99763089e-01 -8.07985405e-02 2.26372357e+02] [ 8.85722800e-01 4.36363456e-01 -1.58373151e-01 1.60714712e+02] [ 1.77755846e-01 -3.64943193e-03 9.84067854e-01 9.43186316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:160.74, Z:94.32 [[ 4.27392866e-01 -9.00408189e-01 -8.12430407e-02 2.26387005e+02] [ 8.86203492e-01 4.35028677e-01 -1.59353132e-01 1.60737279e+02] [ 1.78825917e-01 -3.89147453e-03 9.83873034e-01 9.43230087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.40, Y:160.76, Z:94.33 [[ 4.26733708e-01 -9.00740304e-01 -8.10262136e-02 2.26401158e+02] [ 8.86600381e-01 4.34339832e-01 -1.59024133e-01 1.60761075e+02] [ 1.78432357e-01 -3.97691402e-03 9.83944144e-01 9.43278896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.300385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.42, Y:160.78, Z:94.33 [[ 4.25423042e-01 -9.01374274e-01 -8.08681290e-02 2.26415284e+02] [ 8.87280792e-01 4.33020682e-01 -1.58826589e-01 1.60783405e+02] [ 1.78179774e-01 -4.18424688e-03 9.83989055e-01 9.43318861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.43, Y:160.81, Z:94.34 [[ 4.24813811e-01 -9.01716210e-01 -8.02564793e-02 2.26427467e+02] [ 8.87824894e-01 4.32307546e-01 -1.57724896e-01 1.60807523e+02] [ 1.76918577e-01 -4.24998606e-03 9.84216315e-01 9.43375166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:160.83, Z:94.34 [[ 4.24184687e-01 -9.02033049e-01 -8.00233098e-02 2.26439792e+02] [ 8.88209001e-01 4.31645348e-01 -1.57375550e-01 1.60831828e+02] [ 1.76499636e-01 -4.32112594e-03 9.84291220e-01 9.43423157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.45, Y:160.85, Z:94.35 [[ 4.23381521e-01 -9.02425116e-01 -7.98561121e-02 2.26452517e+02] [ 8.88646164e-01 4.30824003e-01 -1.57158118e-01 1.60854907e+02] [ 1.76227362e-01 -4.42598488e-03 9.84339539e-01 9.43466818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.47, Y:160.88, Z:94.36 [[ 4.22421490e-01 -9.01585989e-01 -9.32887445e-02 2.26471796e+02] [ 8.88504312e-01 4.32233202e-01 -1.54060204e-01 1.60875198e+02] [ 1.79221014e-01 -1.78091109e-02 9.83647632e-01 9.43586924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.450385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:226.47, Y:160.91, Z:94.35 [[ 4.19770982e-01 -9.05007610e-01 -6.89459783e-02 2.26474165e+02] [ 8.89867414e-01 4.25321540e-01 -1.65038095e-01 1.60906145e+02] [ 1.78684941e-01 7.92542362e-03 9.83874423e-01 9.43504907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:160.93, Z:94.36 [[ 4.19032674e-01 -9.04368221e-01 -8.08068072e-02 2.26491220e+02] [ 8.90245075e-01 4.26721424e-01 -1.59287582e-01 1.60926918e+02] [ 1.78536623e-01 -5.19116057e-03 9.83919573e-01 9.43613225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:160.95, Z:94.37 [[ 4.18016202e-01 -9.04831825e-01 -8.08815396e-02 2.26502383e+02] [ 8.90670804e-01 4.25735582e-01 -1.59545393e-01 1.60951621e+02] [ 1.78795899e-01 -5.34626660e-03 9.83871660e-01 9.43656147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:160.98, Z:94.37 [[ 4.16404613e-01 -9.05579847e-01 -8.08228841e-02 2.26512542e+02] [ 8.91439871e-01 4.24138465e-01 -1.59503976e-01 1.60975906e+02] [ 1.78723680e-01 -5.63054998e-03 9.83883196e-01 9.43699291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:161.00, Z:94.38 [[ 4.15574350e-01 -9.05987825e-01 -8.05234149e-02 2.26524788e+02] [ 8.91943366e-01 4.23264797e-01 -1.59009256e-01 1.61000522e+02] [ 1.78143177e-01 -5.74215743e-03 9.83987823e-01 9.43753546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.600385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:226.53, Y:161.03, Z:94.38 [[ 4.12433546e-01 -9.08226347e-01 -7.08764550e-02 2.26532872e+02] [ 8.92634866e-01 4.18437887e-01 -1.67668514e-01 1.61027424e+02] [ 1.81938356e-01 5.88532478e-03 9.83292326e-01 9.43753651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.630385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.56, Y:161.05, Z:94.39 [[ 4.11639129e-01 -9.06755433e-01 -9.13663658e-02 2.26555484e+02] [ 8.93904293e-01 4.21247025e-01 -1.53251619e-01 1.61045350e+02] [ 1.77449548e-01 -1.85884235e-02 9.83954332e-01 9.43902143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:161.08, Z:94.39 [[ 4.10207013e-01 -9.09442430e-01 -6.81518385e-02 2.26554380e+02] [ 8.93522761e-01 4.15738982e-01 -1.69641309e-01 1.61078096e+02] [ 1.82612381e-01 8.69283594e-03 9.83146557e-01 9.43876700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:161.10, Z:94.40 [[ 4.08781308e-01 -9.08971621e-01 -8.16604801e-02 2.26570510e+02] [ 8.94125197e-01 4.16813569e-01 -1.63727152e-01 1.61100585e+02] [ 1.82860531e-01 -6.08609321e-03 9.83120026e-01 9.43963187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:161.12, Z:94.41 [[ 4.05622101e-01 -9.07627700e-01 -1.08086394e-01 2.26589693e+02] [ 8.95932363e-01 4.18218183e-01 -1.49662126e-01 1.61120181e+02] [ 1.81041187e-01 -3.61318319e-02 9.82811569e-01 9.44121188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.750385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:226.58, Y:161.16, Z:94.40 [[ 4.05432851e-01 -9.11584192e-01 -6.81062718e-02 2.26584134e+02] [ 8.96254824e-01 4.11061985e-01 -1.66599324e-01 1.61158048e+02] [ 1.79865209e-01 6.50426420e-03 9.83669762e-01 9.44003146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:161.18, Z:94.41 [[ 4.05451234e-01 -9.11192150e-01 -7.30627287e-02 2.26596714e+02] [ 8.95703390e-01 4.11974682e-01 -1.67308992e-01 1.61181385e+02] [ 1.82550635e-01 2.39310359e-03 9.83193541e-01 9.44093724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:161.20, Z:94.42 [[ 4.04898691e-01 -9.09974574e-01 -8.94612991e-02 2.26616075e+02] [ 8.96532734e-01 4.14325749e-01 -1.56726613e-01 1.61202251e+02] [ 1.79683353e-01 -1.67465824e-02 9.83581946e-01 9.44207735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:161.23, Z:94.42 [[ 4.05285309e-01 -9.11427710e-01 -7.10165250e-02 2.26616876e+02] [ 8.95460298e-01 4.11426345e-01 -1.69938865e-01 1.61234104e+02] [ 1.84105060e-01 5.28124681e-03 9.82892382e-01 9.44191309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:161.25, Z:94.43 [[ 4.07611861e-01 -9.08491109e-01 -9.21763297e-02 2.26635216e+02] [ 8.95339363e-01 4.17460215e-01 -1.55223689e-01 1.61254931e+02] [ 1.79499292e-01 -1.92580798e-02 9.83569586e-01 9.44305107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.900385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.64, Y:161.28, Z:94.43 [[ 4.09017697e-01 -9.08922670e-01 -8.10191570e-02 2.26640017e+02] [ 8.94616823e-01 4.16910501e-01 -1.60768073e-01 1.61284223e+02] [ 1.79903483e-01 -6.72411406e-03 9.83661285e-01 9.44311285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:161.31, Z:94.44 [[ 4.11061876e-01 -9.07805822e-01 -8.31668453e-02 2.26650166e+02] [ 8.92680649e-01 4.19342565e-01 -1.65145612e-01 1.61309443e+02] [ 1.84795546e-01 -6.35636849e-03 9.82756431e-01 9.44408907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:161.34, Z:94.44 [[ 4.15575367e-01 -9.05976589e-01 -8.06444978e-02 2.26659958e+02] [ 8.91708300e-01 4.23294391e-01 -1.60244084e-01 1.61336314e+02] [ 1.79313752e-01 -5.31787408e-03 9.83777566e-01 9.44436256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:161.36, Z:94.45 [[ 4.17342928e-01 -9.05183912e-01 -8.04174453e-02 2.26670652e+02] [ 8.90961907e-01 4.24991685e-01 -1.59902932e-01 1.61361248e+02] [ 1.78918307e-01 -4.91452266e-03 9.83851659e-01 9.44491412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:161.39, Z:94.45 [[ 4.21189254e-01 -9.03399053e-01 -8.04348436e-02 2.26679266e+02] [ 8.89118066e-01 4.28781180e-01 -1.60049256e-01 1.61386136e+02] [ 1.79077293e-01 -4.10504600e-03 9.83826444e-01 9.44540368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:161.41, Z:94.46 [[ 4.22848641e-01 -9.02606423e-01 -8.06267443e-02 2.26689965e+02] [ 8.88228641e-01 4.30450484e-01 -1.60506268e-01 1.61411874e+02] [ 1.79579809e-01 -3.74512631e-03 9.83736279e-01 9.44590964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:161.44, Z:94.47 [[ 4.24356213e-01 -9.01723287e-01 -8.25646319e-02 2.26700802e+02] [ 8.86601892e-01 4.32300274e-01 -1.64479657e-01 1.61436352e+02] [ 1.84007850e-01 -3.40399439e-03 9.82918880e-01 9.44678079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:161.46, Z:94.47 [[ 4.27086418e-01 -9.00420462e-01 -8.27053987e-02 2.26710162e+02] [ 8.85199896e-01 4.35011719e-01 -1.64881621e-01 1.61460970e+02] [ 1.84440603e-01 -2.79210941e-03 9.82839696e-01 9.44722106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:161.49, Z:94.47 [[ 4.27667835e-01 -9.00307597e-01 -8.09101632e-02 2.26721160e+02] [ 8.85722704e-01 4.35246266e-01 -1.61418649e-01 1.61485875e+02] [ 1.80542283e-01 -2.63040425e-03 9.83563707e-01 9.44735658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.73, Y:161.51, Z:94.48 [[ 4.27882656e-01 -9.00204969e-01 -8.09162938e-02 2.26732797e+02] [ 8.85596631e-01 4.35459022e-01 -1.61536520e-01 1.61510285e+02] [ 1.80651708e-01 -2.54052183e-03 9.83543851e-01 9.44784014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.200385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.75, Y:161.53, Z:94.48 [[ 4.27850104e-01 -9.00196128e-01 -8.11863274e-02 2.26745301e+02] [ 8.85470384e-01 4.35477530e-01 -1.62177433e-01 1.61534703e+02] [ 1.81346319e-01 -2.50045695e-03 9.83416118e-01 9.44827345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.76, Y:161.56, Z:94.49 [[ 4.27613403e-01 -9.00312762e-01 -8.11400520e-02 2.26757786e+02] [ 8.85584709e-01 4.35236366e-01 -1.62200582e-01 1.61559837e+02] [ 1.81346356e-01 -2.49724640e-03 9.83416119e-01 9.44879490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:161.58, Z:94.50 [[ 4.28033165e-01 -9.00037609e-01 -8.19750681e-02 2.26769467e+02] [ 8.84976634e-01 4.35805859e-01 -1.63980522e-01 1.61583450e+02] [ 1.83313852e-01 -2.35691821e-03 9.83051615e-01 9.44959311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:161.61, Z:94.50 [[ 4.28831794e-01 -8.99683899e-01 -8.16833788e-02 2.26781467e+02] [ 8.84702594e-01 4.36536688e-01 -1.63514650e-01 1.61608334e+02] [ 1.82769289e-01 -2.14521648e-03 9.83153490e-01 9.44997039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:161.63, Z:94.51 [[ 4.29491150e-01 -8.99282486e-01 -8.26339031e-02 2.26793257e+02] [ 8.83916596e-01 4.37363963e-01 -1.65542186e-01 1.61632052e+02] [ 1.85010280e-01 -1.94257452e-03 9.82734666e-01 9.45065217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:161.66, Z:94.51 [[ 4.29767722e-01 -8.99244630e-01 -8.16014749e-02 2.26804820e+02] [ 8.84240935e-01 4.37442199e-01 -1.63591847e-01 1.61656936e+02] [ 1.82805018e-01 -1.84886918e-03 9.83147449e-01 9.45100556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:161.68, Z:94.52 [[ 4.30431442e-01 -8.98945284e-01 -8.14011722e-02 2.26816711e+02] [ 8.83988663e-01 4.38057764e-01 -1.63307804e-01 1.61681143e+02] [ 1.82463195e-01 -1.66490008e-03 9.83211275e-01 9.45150134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:161.70, Z:94.52 [[ 4.30962755e-01 -8.98557219e-01 -8.28614977e-02 2.26830424e+02] [ 8.83026937e-01 4.38853885e-01 -1.66345113e-01 1.61704649e+02] [ 1.85834692e-01 -1.48038633e-03 9.82579908e-01 9.45214361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:161.73, Z:94.52 [[ 4.31399596e-01 -8.98449199e-01 -8.17522252e-02 2.26843369e+02] [ 8.83311248e-01 4.39075377e-01 -1.64237793e-01 1.61727770e+02] [ 1.83454702e-01 -1.36054260e-03 9.83027223e-01 9.45246134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:161.75, Z:94.53 [[ 4.31436053e-01 -8.98416068e-01 -8.19237516e-02 2.26857028e+02] [ 8.83200783e-01 4.39143290e-01 -1.64649776e-01 1.61752053e+02] [ 1.83900270e-01 -1.31927211e-03 9.82944022e-01 9.45299306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.87, Y:161.77, Z:94.54 [[ 4.31663731e-01 -8.98342383e-01 -8.15315017e-02 2.26871809e+02] [ 8.83251679e-01 4.39294258e-01 -1.63972639e-01 1.61774477e+02] [ 1.83119892e-01 -1.23179463e-03 9.83089817e-01 9.45352731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:161.80, Z:94.54 [[ 4.31800740e-01 -8.98287081e-01 -8.14152343e-02 2.26885325e+02] [ 8.83220158e-01 4.39407521e-01 -1.63838892e-01 1.61798995e+02] [ 1.82948826e-01 -1.16182143e-03 9.83121751e-01 9.45405243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:161.82, Z:94.55 [[ 4.32492132e-01 -8.97920995e-01 -8.17828954e-02 2.26900502e+02] [ 8.82688694e-01 4.40155613e-01 -1.64692764e-01 1.61822862e+02] [ 1.83878291e-01 -9.60512439e-04 9.82948550e-01 9.45451127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:161.85, Z:94.55 [[ 4.32649203e-01 -8.97810131e-01 -8.21683353e-02 2.26914453e+02] [ 8.82408745e-01 4.40381901e-01 -1.65585588e-01 1.61846269e+02] [ 1.84849866e-01 -8.65585003e-04 9.82766390e-01 9.45499614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:161.87, Z:94.56 [[ 4.32718031e-01 -8.97758763e-01 -8.23669151e-02 2.26928347e+02] [ 8.82259146e-01 4.40486747e-01 -1.66103059e-01 1.61869701e+02] [ 1.85402011e-01 -7.93175448e-04 9.82662437e-01 9.45550059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.94, Y:161.89, Z:94.56 [[ 4.33233961e-01 -8.97486669e-01 -8.26197019e-02 2.26944374e+02] [ 8.81863699e-01 4.41041141e-01 -1.66730706e-01 1.61892798e+02] [ 1.86077274e-01 -6.25911660e-04 9.82534914e-01 9.45603674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.96, Y:161.91, Z:94.57 [[ 4.33254506e-01 -8.96435447e-01 -9.32417401e-02 2.26962356e+02] [ 8.81580718e-01 4.43022250e-01 -1.62931656e-01 1.61913080e+02] [ 1.87365877e-01 -1.16092462e-02 9.82221591e-01 9.45696933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.710385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.97, Y:161.94, Z:94.57 [[ 4.34362257e-01 -8.97885760e-01 -7.16281431e-02 2.26967676e+02] [ 8.81442200e-01 4.40082846e-01 -1.71425600e-01 1.61943521e+02] [ 1.85442922e-01 1.13247423e-02 9.82589779e-01 9.45663070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.98, Y:161.97, Z:94.57 [[ 4.36037456e-01 -8.97072582e-01 -7.16388135e-02 2.26984469e+02] [ 8.80178808e-01 4.41700611e-01 -1.73740719e-01 1.61965119e+02] [ 1.87500943e-01 1.27024957e-02 9.82182286e-01 9.45734673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:161.98, Z:94.58 [[ 4.35131775e-01 -8.95626085e-01 -9.22727164e-02 2.27008204e+02] [ 8.81382145e-01 4.44648355e-01 -1.59541077e-01 1.61982950e+02] [ 1.83918062e-01 -1.19061327e-02 9.82869468e-01 9.45834086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.02, Y:162.01, Z:94.59 [[ 4.37354260e-01 -8.95498372e-01 -8.24858658e-02 2.27019349e+02] [ 8.79797715e-01 4.45064565e-01 -1.66953629e-01 1.62007038e+02] [ 1.86218239e-01 4.47004815e-04 9.82508304e-01 9.45867586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:162.03, Z:94.59 [[ 4.37427017e-01 -8.95414408e-01 -8.30099016e-02 2.27032519e+02] [ 8.79488895e-01 4.45233366e-01 -1.68126538e-01 1.62030206e+02] [ 1.87501703e-01 5.36803509e-04 9.82264131e-01 9.45913843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.05, Y:162.05, Z:94.60 [[ 4.37053357e-01 -8.95559661e-01 -8.34101726e-02 2.27046676e+02] [ 8.79460423e-01 4.44941138e-01 -1.69046588e-01 1.62053699e+02] [ 1.88503922e-01 5.26432975e-04 9.82072296e-01 9.45963285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:162.08, Z:94.60 [[ 4.34318191e-01 -8.96852161e-01 -8.38087750e-02 2.27064156e+02] [ 8.80598510e-01 4.42330421e-01 -1.69970773e-01 1.62075333e+02] [ 1.89509825e-01 1.95161360e-05 9.81878824e-01 9.46021562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:162.10, Z:94.61 [[ 4.32191748e-01 -8.97902953e-01 -8.35498650e-02 2.27078782e+02] [ 8.81746331e-01 4.40193298e-01 -1.69567888e-01 1.62098718e+02] [ 1.89033598e-01 -3.83945036e-04 9.81970545e-01 9.46058751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:162.12, Z:94.61 [[ 4.30510146e-01 -8.98671715e-01 -8.39652449e-02 2.27092678e+02] [ 8.82342468e-01 4.38621365e-01 -1.70537585e-01 1.62120970e+02] [ 1.90086255e-01 -6.67940624e-04 9.81767167e-01 9.46128871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:162.14, Z:94.62 [[ 4.27260892e-01 -9.00237749e-01 -8.37861831e-02 2.27109281e+02] [ 8.83986403e-01 4.35396695e-01 -1.70287279e-01 1.62143524e+02] [ 1.89779264e-01 -1.30875199e-03 9.81825910e-01 9.46183863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:162.17, Z:94.62 [[ 4.24523973e-01 -9.02020432e-01 -7.83488175e-02 2.27120164e+02] [ 8.85881876e-01 4.31684815e-01 -1.69886795e-01 1.62168859e+02] [ 1.87063355e-01 2.71321963e-03 9.82344105e-01 9.46180297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:162.19, Z:94.63 [[ 4.23424399e-01 -9.01758801e-01 -8.68495396e-02 2.27141922e+02] [ 8.86056493e-01 4.32198442e-01 -1.67655592e-01 1.62188490e+02] [ 1.88721141e-01 -5.96413024e-03 9.82012607e-01 9.46309546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:162.22, Z:94.62 [[ 4.20049577e-01 -9.04780357e-01 -7.02200718e-02 2.27147199e+02] [ 8.88610683e-01 4.25778329e-01 -1.70539932e-01 1.62217707e+02] [ 1.84199365e-01 9.23692037e-03 9.82845498e-01 9.46243487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:162.23, Z:94.64 [[ 4.20111560e-01 -9.02673907e-01 -9.31992237e-02 2.27172691e+02] [ 8.87722669e-01 4.30105276e-01 -1.64188653e-01 1.62233635e+02] [ 1.88294290e-01 -1.37575126e-02 9.82016289e-01 9.46436293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:162.26, Z:94.64 [[ 4.18544571e-01 -9.04416839e-01 -8.27684872e-02 2.27182142e+02] [ 8.88560937e-01 4.26639661e-01 -1.68635883e-01 1.62260833e+02] [ 1.87829451e-01 -2.96321138e-03 9.82197188e-01 9.46447662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.160385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:227.20, Y:162.28, Z:94.65 [[ 4.15512156e-01 -9.06026288e-01 -8.04115251e-02 2.27196104e+02] [ 8.89467297e-01 4.23221396e-01 -1.72428472e-01 1.62284455e+02] [ 1.90256606e-01 1.22704212e-04 9.81734388e-01 9.46460977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:162.31, Z:94.65 [[ 4.11428373e-01 -9.08512397e-01 -7.30199864e-02 2.27205777e+02] [ 8.92422878e-01 4.17829178e-01 -1.70294405e-01 1.62311480e+02] [ 1.85224459e-01 4.89924368e-03 9.82684027e-01 9.46452293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:162.33, Z:94.66 [[ 4.11013331e-01 -9.06764655e-01 -9.40526580e-02 2.27230609e+02] [ 8.91543148e-01 4.21350241e-01 -1.66176983e-01 1.62328865e+02] [ 1.90312525e-01 -1.55510476e-02 9.81600381e-01 9.46641369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:162.36, Z:94.66 [[ 4.04953087e-01 -9.10916070e-01 -7.90247492e-02 2.27238060e+02] [ 8.94978855e-01 4.12586756e-01 -1.69661480e-01 1.62356874e+02] [ 1.87151933e-01 -2.02053965e-03 9.82328902e-01 9.46611249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:162.38, Z:94.67 [[ 4.02777774e-01 -9.11834194e-01 -7.95516688e-02 2.27252678e+02] [ 8.96074029e-01 4.10545521e-01 -1.68830415e-01 1.62380728e+02] [ 1.86604927e-01 -3.28304541e-03 9.82429551e-01 9.46669269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.27, Y:162.40, Z:94.68 [[ 4.00538439e-01 -9.12226844e-01 -8.60880022e-02 2.27269129e+02] [ 8.96950337e-01 4.09550998e-01 -1.66577526e-01 1.62402365e+02] [ 1.87213918e-01 -1.04959606e-02 9.82263093e-01 9.46762559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:162.43, Z:94.68 [[ 3.97721966e-01 -9.13684581e-01 -8.36523978e-02 2.27282590e+02] [ 8.97890164e-01 4.06349859e-01 -1.69331172e-01 1.62425462e+02] [ 1.88707421e-01 -7.76393843e-03 9.82002663e-01 9.46842542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:162.45, Z:94.69 [[ 3.96052141e-01 -9.14676606e-01 -8.06808976e-02 2.27294674e+02] [ 8.98967928e-01 4.04147084e-01 -1.68883979e-01 1.62452242e+02] [ 1.87081174e-01 -5.64267799e-03 9.82328252e-01 9.46861271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:162.48, Z:94.69 [[ 3.94556027e-01 -9.15346947e-01 -8.04083856e-02 2.27305284e+02] [ 8.99305014e-01 4.02635465e-01 -1.70690287e-01 1.62475328e+02] [ 1.88616101e-01 -4.96478278e-03 9.82038348e-01 9.46908194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:162.50, Z:94.70 [[ 3.92313545e-01 -9.15688358e-01 -8.72061500e-02 2.27321283e+02] [ 9.00172726e-01 4.01695611e-01 -1.68314288e-01 1.62498129e+02] [ 1.89153762e-01 -1.24686228e-02 9.81868315e-01 9.47010292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.460385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.33, Y:162.53, Z:94.70 [[ 3.90343741e-01 -9.17005038e-01 -8.20580481e-02 2.27330719e+02] [ 9.00994032e-01 3.98809243e-01 -1.70765754e-01 1.62526218e+02] [ 1.89318565e-01 -7.27646830e-03 9.81888758e-01 9.46990875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.34, Y:162.55, Z:94.71 [[ 3.90399142e-01 -9.16735240e-01 -8.47644411e-02 2.27342622e+02] [ 9.00700335e-01 3.99380028e-01 -1.70980990e-01 1.62549189e+02] [ 1.90597523e-01 -9.59652882e-03 9.81621358e-01 9.47093743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:162.58, Z:94.71 [[ 3.89529517e-01 -9.17585426e-01 -7.93960974e-02 2.27351445e+02] [ 9.01496056e-01 3.97508364e-01 -1.71148944e-01 1.62577316e+02] [ 1.88604390e-01 -4.90770310e-03 9.82040884e-01 9.47095237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:162.60, Z:94.72 [[ 3.89407067e-01 -9.17085689e-01 -8.55334770e-02 2.27365676e+02] [ 9.01598611e-01 3.98521148e-01 -1.68228532e-01 1.62600557e+02] [ 1.88366878e-01 -1.16074851e-02 9.82030135e-01 9.47178939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:162.62, Z:94.72 [[ 3.89553377e-01 -9.17173030e-01 -8.39154294e-02 2.27374506e+02] [ 9.01473498e-01 3.98370751e-01 -1.69252113e-01 1.62624245e+02] [ 1.88662926e-01 -9.71480335e-03 9.81993851e-01 9.47243283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:162.65, Z:94.73 [[ 3.92142422e-01 -9.16486075e-01 -7.92312742e-02 2.27383435e+02] [ 8.99938378e-01 4.00052938e-01 -1.73402891e-01 1.62652555e+02] [ 1.90618039e-01 -3.30463481e-03 9.81658720e-01 9.47273657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:162.67, Z:94.74 [[ 3.93635616e-01 -9.14195053e-01 -9.64282436e-02 2.27402840e+02] [ 8.99547775e-01 4.04676886e-01 -1.64470115e-01 1.62673057e+02] [ 1.89380047e-01 -2.20005168e-02 9.81657361e-01 9.47410668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:162.70, Z:94.74 [[ 3.96314098e-01 -9.15052733e-01 -7.49241718e-02 2.27402745e+02] [ 8.98089552e-01 4.03328110e-01 -1.75389831e-01 1.62703367e+02] [ 1.90709969e-01 2.22084691e-03 9.81643915e-01 9.47373256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:162.73, Z:94.74 [[ 3.99153419e-01 -9.13156933e-01 -8.25891292e-02 2.27414011e+02] [ 8.97217845e-01 4.07560238e-01 -1.69984677e-01 1.62727243e+02] [ 1.88882732e-01 -6.25047543e-03 9.81979758e-01 9.47443665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:162.75, Z:94.75 [[ 4.03604686e-01 -9.11134034e-01 -8.32948325e-02 2.27426052e+02] [ 8.94854672e-01 4.12076069e-01 -1.71547167e-01 1.62752031e+02] [ 1.90626269e-01 -5.29952958e-03 9.81648379e-01 9.47493916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:162.78, Z:94.75 [[ 4.07167293e-01 -9.09634863e-01 -8.23359704e-02 2.27435076e+02] [ 8.93678437e-01 4.15384471e-01 -1.69689696e-01 1.62778532e+02] [ 1.88556746e-01 -4.48978724e-03 9.82052033e-01 9.47543455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:162.80, Z:94.76 [[ 4.09965814e-01 -9.08403502e-01 -8.20433411e-02 2.27446797e+02] [ 8.92514244e-01 4.18076791e-01 -1.69204378e-01 1.62803886e+02] [ 1.88006266e-01 -3.85684010e-03 9.82160256e-01 9.47596795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:162.83, Z:94.76 [[ 4.12348919e-01 -9.07342835e-01 -8.18373290e-02 2.27457428e+02] [ 8.91489942e-01 4.20378422e-01 -1.68901348e-01 1.62828779e+02] [ 1.87654075e-01 -3.31086730e-03 9.82229600e-01 9.47639738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.850385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.47, Y:162.85, Z:94.77 [[ 4.14870004e-01 -9.06195151e-01 -8.18121558e-02 2.27467766e+02] [ 8.90313825e-01 4.22850765e-01 -1.68933490e-01 1.62853022e+02] [ 1.87681042e-01 -2.75305591e-03 9.82226169e-01 9.47679797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:162.88, Z:94.77 [[ 4.19705299e-01 -9.03970945e-01 -8.17556929e-02 2.27478733e+02] [ 8.88045941e-01 4.27590515e-01 -1.68940100e-01 1.62878758e+02] [ 1.87674901e-01 -1.69775610e-03 9.82229733e-01 9.47719734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:162.90, Z:94.78 [[ 4.21525791e-01 -9.03110694e-01 -8.18967714e-02 2.27492371e+02] [ 8.87089905e-01 4.29405966e-01 -1.69357661e-01 1.62902360e+02] [ 1.88115677e-01 -1.26117690e-03 9.82146069e-01 9.47771409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:162.92, Z:94.78 [[ 4.24464728e-01 -9.01711014e-01 -8.21397720e-02 2.27506038e+02] [ 8.85543604e-01 4.32338878e-01 -1.69987115e-01 1.62924685e+02] [ 1.88791471e-01 -5.84815206e-04 9.82017026e-01 9.47832468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:162.95, Z:94.79 [[ 4.25372487e-01 -9.01272156e-01 -8.22602426e-02 2.27518422e+02] [ 8.85031840e-01 4.33253247e-01 -1.70324004e-01 1.62949887e+02] [ 1.89147800e-01 -3.51788503e-04 9.81948566e-01 9.47884354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:162.98, Z:94.79 [[ 4.25584168e-01 -9.02423179e-01 -6.71604209e-02 2.27522039e+02] [ 8.83744430e-01 4.30440720e-01 -1.83620721e-01 1.62979602e+02] [ 1.94612175e-01 1.87934239e-02 9.80700214e-01 9.47867065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:162.99, Z:94.80 [[ 4.28000192e-01 -8.98121463e-01 -1.00963726e-01 2.27551811e+02] [ 8.83178646e-01 4.39342188e-01 -1.64237394e-01 1.62993745e+02] [ 1.91862753e-01 -1.88753708e-02 9.81240238e-01 9.48033118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:163.02, Z:94.80 [[ 4.29069510e-01 -8.99412966e-01 -8.34006728e-02 2.27557091e+02] [ 8.82618188e-01 4.37099456e-01 -1.73000576e-01 1.63022798e+02] [ 1.92053350e-01 6.18321540e-04 9.81384292e-01 9.48024170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:163.05, Z:94.81 [[ 4.30076769e-01 -8.98930653e-01 -8.34125502e-02 2.27571354e+02] [ 8.82097196e-01 4.38090044e-01 -1.73152098e-01 1.63046995e+02] [ 1.92193937e-01 8.90718206e-04 9.81356560e-01 9.48073141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:163.08, Z:94.81 [[ 4.30518225e-01 -9.00361828e-01 -6.32664019e-02 2.27577732e+02] [ 8.80697017e-01 4.34388191e-01 -1.88890611e-01 1.63076468e+02] [ 1.97552074e-01 2.56023193e-02 9.79958009e-01 9.48052613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:163.09, Z:94.82 [[ 4.29844367e-01 -8.98692124e-01 -8.70992923e-02 2.27600530e+02] [ 8.80922080e-01 4.38579962e-01 -1.77831114e-01 1.63094131e+02] [ 1.98015426e-01 -2.87987047e-04 9.80198862e-01 9.48185351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:163.11, Z:94.83 [[ 4.31872300e-01 -8.95491943e-01 -1.07612718e-01 2.27624697e+02] [ 8.81033259e-01 4.44387780e-01 -1.62172435e-01 1.63109783e+02] [ 1.93045885e-01 -2.47726009e-02 9.80876957e-01 9.48320816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:163.14, Z:94.83 [[ 4.33055878e-01 -8.97459863e-01 -8.38355556e-02 2.27627793e+02] [ 8.80357684e-01 4.41092814e-01 -1.74377401e-01 1.63140740e+02] [ 1.93475979e-01 1.70988295e-03 9.81103522e-01 9.48284738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:163.16, Z:94.83 [[ 4.35443137e-01 -8.96264341e-01 -8.42585640e-02 2.27643231e+02] [ 8.78940060e-01 4.43514248e-01 -1.75383814e-01 1.63163905e+02] [ 1.94560132e-01 2.31145058e-03 9.80887869e-01 9.48330652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.270385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:227.66, Y:163.19, Z:94.84 [[ 4.36877860e-01 -8.95561931e-01 -8.43004395e-02 2.27656758e+02] [ 8.78182141e-01 4.44928789e-01 -1.75597552e-01 1.63186634e+02] [ 1.94766175e-01 2.68354240e-03 9.80846031e-01 9.48376859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.300385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.67, Y:163.21, Z:94.84 [[ 4.38338865e-01 -8.94834818e-01 -8.44374844e-02 2.27670805e+02] [ 8.77366611e-01 4.46386970e-01 -1.75973017e-01 1.63209984e+02] [ 1.95158576e-01 3.05318322e-03 9.80766949e-01 9.48432626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:163.23, Z:94.85 [[ 4.40512076e-01 -8.93808295e-01 -8.39990669e-02 2.27688760e+02] [ 8.76479414e-01 4.48435221e-01 -1.75184730e-01 1.63231532e+02] [ 1.94249705e-01 3.54753629e-03 9.80945700e-01 9.48498747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.70, Y:163.25, Z:94.86 [[ 4.40861525e-01 -8.93651193e-01 -8.38371165e-02 2.27703595e+02] [ 8.76362123e-01 4.48747256e-01 -1.74972367e-01 1.63253311e+02] [ 1.93985940e-01 3.66691110e-03 9.80997456e-01 9.48554982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.390385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:227.71, Y:163.28, Z:94.85 [[ 4.39235397e-01 -8.95821116e-01 -6.76520078e-02 2.27709355e+02] [ 8.78232032e-01 4.44025231e-01 -1.77623457e-01 1.63281441e+02] [ 1.89158042e-01 1.86043494e-02 9.81770397e-01 9.48481625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:163.30, Z:94.86 [[ 4.39364321e-01 -8.94161144e-01 -8.62255331e-02 2.27735992e+02] [ 8.77324962e-01 4.47745235e-01 -1.72699492e-01 1.63298587e+02] [ 1.93028247e-01 2.30182570e-04 9.81193173e-01 9.48616530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:163.32, Z:94.87 [[ 4.40841334e-01 -8.92571987e-01 -9.47320825e-02 2.27756244e+02] [ 8.75611049e-01 4.50857337e-01 -1.73300181e-01 1.63319123e+02] [ 1.97393541e-01 -6.55057538e-03 9.80302443e-01 9.48747689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.77, Y:163.35, Z:94.88 [[ 4.40017081e-01 -8.93922289e-01 -8.53692556e-02 2.27766786e+02] [ 8.75927799e-01 4.48206164e-01 -1.78498529e-01 1.63345216e+02] [ 1.97826840e-01 3.76509750e-03 9.80229751e-01 9.48760479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:163.37, Z:94.88 [[ 4.38895917e-01 -8.94537666e-01 -8.46920243e-02 2.27785990e+02] [ 8.76816528e-01 4.46978744e-01 -1.77208289e-01 1.63366896e+02] [ 1.96375024e-01 3.51662783e-03 9.80522556e-01 9.48812107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:163.39, Z:94.89 [[ 4.38096993e-01 -8.94985382e-01 -8.40963218e-02 2.27802041e+02] [ 8.77498525e-01 4.46082900e-01 -1.76086302e-01 1.63389816e+02] [ 1.95108597e-01 3.34848085e-03 9.80775929e-01 9.48872317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.82, Y:163.41, Z:94.89 [[ 4.37174138e-01 -8.95466443e-01 -8.37772189e-02 2.27817799e+02] [ 8.78097073e-01 4.45117675e-01 -1.75544257e-01 1.63411693e+02] [ 1.94484712e-01 3.17887850e-03 9.80900398e-01 9.48927772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.83, Y:163.44, Z:94.89 [[ 4.33858603e-01 -8.98162040e-01 -7.12156091e-02 2.27830576e+02] [ 8.80814693e-01 4.39450434e-01 -1.76206678e-01 1.63436586e+02] [ 1.89557880e-01 1.37210285e-02 9.81773672e-01 9.48899146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.86, Y:163.45, Z:94.91 [[ 4.34842953e-01 -8.95723466e-01 -9.26880744e-02 2.27855883e+02] [ 8.79706341e-01 4.44537368e-01 -1.68829151e-01 1.63452954e+02] [ 1.92427545e-01 -8.12412047e-03 9.81277554e-01 9.49095864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:163.48, Z:94.91 [[ 4.34385586e-01 -8.96956634e-01 -8.23283622e-02 2.27867553e+02] [ 8.80156579e-01 4.42110869e-01 -1.72807336e-01 1.63478731e+02] [ 1.91398950e-01 2.60316618e-03 9.81508872e-01 9.49099129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:163.50, Z:94.92 [[ 4.34261186e-01 -8.97028438e-01 -8.22022106e-02 2.27882180e+02] [ 8.80257122e-01 4.41965039e-01 -1.72668190e-01 1.63501372e+02] [ 1.91218780e-01 2.62401146e-03 9.81543933e-01 9.49150378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:163.52, Z:94.92 [[ 4.33680770e-01 -8.97287860e-01 -8.24347428e-02 2.27897746e+02] [ 8.80400567e-01 4.41438412e-01 -1.73282916e-01 1.63524739e+02] [ 1.91874519e-01 2.57387428e-03 9.81416091e-01 9.49211365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:163.55, Z:94.93 [[ 4.31555806e-01 -8.98270855e-01 -8.28797708e-02 2.27915676e+02] [ 8.81191422e-01 4.39436681e-01 -1.74347587e-01 1.63545787e+02] [ 1.93031767e-01 2.20777018e-03 9.81190024e-01 9.49265208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:163.57, Z:94.93 [[ 4.28467902e-01 -8.99740189e-01 -8.29629391e-02 2.27929640e+02] [ 8.82680919e-01 4.36423396e-01 -1.74381807e-01 1.63570731e+02] [ 1.93105287e-01 1.48720346e-03 9.81176914e-01 9.49296260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.94, Y:163.60, Z:94.93 [[ 4.26168614e-01 -9.01340502e-01 -7.72373798e-02 2.27940772e+02] [ 8.83464341e-01 4.33038001e-01 -1.78798346e-01 1.63596408e+02] [ 1.94604912e-01 7.96177255e-03 9.80849397e-01 9.49307428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:163.62, Z:94.94 [[ 4.24456112e-01 -9.01003210e-01 -8.96115245e-02 2.27957482e+02] [ 8.84638755e-01 4.33761271e-01 -1.71071425e-01 1.63615429e+02] [ 1.93005912e-01 -6.66151550e-03 9.81174980e-01 9.49427745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.870385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.96, Y:163.64, Z:94.94 [[ 4.23216377e-01 -9.02231571e-01 -8.28618712e-02 2.27964265e+02] [ 8.85149231e-01 4.31251463e-01 -1.74736987e-01 1.63642060e+02] [ 1.93387529e-01 6.06432905e-04 9.81122263e-01 9.49439860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.97, Y:163.67, Z:94.95 [[ 4.20472896e-01 -9.03453741e-01 -8.35097697e-02 2.27973013e+02] [ 8.86097529e-01 4.28685580e-01 -1.76238027e-01 1.63668431e+02] [ 1.95022339e-01 1.05513047e-04 9.80798795e-01 9.49485737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:163.70, Z:94.95 [[ 4.17552578e-01 -9.05268084e-01 -7.83552140e-02 2.27979952e+02] [ 8.87835238e-01 4.24819237e-01 -1.76853629e-01 1.63697262e+02] [ 1.93386748e-01 4.27916870e-03 9.81113273e-01 9.49476254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:163.72, Z:94.95 [[ 4.16412072e-01 -9.05885325e-01 -7.72836660e-02 2.27990528e+02] [ 8.88570253e-01 4.23496354e-01 -1.76334185e-01 1.63724096e+02] [ 1.92467901e-01 4.75571656e-03 9.81291746e-01 9.49515282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:163.74, Z:94.97 [[ 4.16642087e-01 -9.04414207e-01 -9.18929420e-02 2.28008713e+02] [ 8.88055941e-01 4.26535087e-01 -1.71535611e-01 1.63743431e+02] [ 1.94334807e-01 -1.01371182e-02 9.80882879e-01 9.49670559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:163.77, Z:94.97 [[ 4.14253066e-01 -9.06399340e-01 -8.26718451e-02 2.28016382e+02] [ 8.89379195e-01 4.22420431e-01 -1.74830280e-01 1.63770620e+02] [ 1.93388326e-01 -1.10263969e-03 9.81121674e-01 9.49681206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.03, Y:163.80, Z:94.97 [[ 4.13172669e-01 -9.06868601e-01 -8.29318187e-02 2.28028435e+02] [ 8.89722785e-01 4.21411595e-01 -1.75515335e-01 1.63795496e+02] [ 1.94117776e-01 -1.26818948e-03 9.80977411e-01 9.49729555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:163.82, Z:94.98 [[ 4.10454358e-01 -9.08038305e-01 -8.36280832e-02 2.28039635e+02] [ 8.90598633e-01 4.18883358e-01 -1.77118062e-01 1.63819820e+02] [ 1.95860397e-01 -1.78017614e-03 9.80630173e-01 9.49767324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:163.85, Z:94.98 [[ 4.06841967e-01 -9.09638322e-01 -8.38912244e-02 2.28048179e+02] [ 8.92093914e-01 4.15393648e-01 -1.77810479e-01 1.63846325e+02] [ 1.96591107e-01 -2.49808583e-03 9.80482379e-01 9.49796539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.06, Y:163.87, Z:94.98 [[ 4.07797261e-01 -9.09285802e-01 -8.30705963e-02 2.28058902e+02] [ 8.92054287e-01 4.16166146e-01 -1.76195597e-01 1.63871409e+02] [ 1.94783325e-01 -2.25139973e-03 9.80843712e-01 9.49834928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:228.07, Y:163.90, Z:94.99 [[ 4.05609040e-01 -9.10215619e-01 -8.35992423e-02 2.28068258e+02] [ 8.92755373e-01 4.14126132e-01 -1.77446868e-01 1.63896944e+02] [ 1.96135542e-01 -2.65961881e-03 9.80573187e-01 9.49894041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.08, Y:163.92, Z:95.00 [[ 4.05902597e-01 -9.10139689e-01 -8.29989607e-02 2.28080616e+02] [ 8.92914435e-01 4.14293545e-01 -1.76251725e-01 1.63921780e+02] [ 1.94799624e-01 -2.56993718e-03 9.80839692e-01 9.49951432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:163.94, Z:95.00 [[ 4.09777350e-01 -9.08561488e-01 -8.12314428e-02 2.28094918e+02] [ 8.92012986e-01 4.17747604e-01 -1.72626107e-01 1.63943976e+02] [ 1.90775673e-01 -1.72123339e-03 9.81632151e-01 9.50015866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.11, Y:163.97, Z:95.01 [[ 4.10603303e-01 -9.08237567e-01 -8.06811603e-02 2.28106166e+02] [ 8.91886054e-01 4.18452197e-01 -1.71572220e-01 1.63967517e+02] [ 1.89589544e-01 -1.51028142e-03 9.81862273e-01 9.50066992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:163.99, Z:95.01 [[ 4.11384855e-01 -9.07902173e-01 -8.04745078e-02 2.28117326e+02] [ 8.91611172e-01 4.19180058e-01 -1.71223819e-01 1.63992670e+02] [ 1.89187787e-01 -1.31308413e-03 9.81940048e-01 9.50117900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.320385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:228.13, Y:164.02, Z:95.02 [[ 4.09711386e-01 -9.08593329e-01 -8.12080279e-02 2.28126086e+02] [ 8.91990341e-01 4.17678851e-01 -1.72909251e-01 1.64018837e+02] [ 1.91023068e-01 -1.59388772e-03 9.81584254e-01 9.50177511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:164.04, Z:95.02 [[ 4.12588723e-01 -9.07385070e-01 -8.01428820e-02 2.28138989e+02] [ 8.91172765e-01 4.20299181e-01 -1.70762118e-01 1.64042862e+02] [ 1.88630984e-01 -9.66629511e-04 9.82047564e-01 9.50193364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:164.07, Z:95.02 [[ 4.12260390e-01 -9.07526313e-01 -8.02331741e-02 2.28151093e+02] [ 8.91254816e-01 4.19994092e-01 -1.71084235e-01 1.64068190e+02] [ 1.88960904e-01 -9.76949429e-04 9.81984125e-01 9.50241150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:164.09, Z:95.03 [[ 4.11655193e-01 -9.07788719e-01 -8.03719105e-02 2.28163827e+02] [ 8.91441888e-01 4.19426448e-01 -1.71501648e-01 1.64093132e+02] [ 1.89397367e-01 -1.04734345e-03 9.81899965e-01 9.50294690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.18, Y:164.12, Z:95.03 [[ 4.09865658e-01 -9.08611361e-01 -8.02218063e-02 2.28177022e+02] [ 8.92318457e-01 4.17640409e-01 -1.71301664e-01 1.64115931e+02] [ 1.89150506e-01 -1.37272938e-03 9.81947148e-01 9.50347885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.19, Y:164.14, Z:95.04 [[ 4.08841752e-01 -9.09085149e-01 -8.00787964e-02 2.28188759e+02] [ 8.92835430e-01 4.16607532e-01 -1.71122940e-01 1.64139733e+02] [ 1.88926753e-01 -1.53498420e-03 9.81989983e-01 9.50398234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.500385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:228.20, Y:164.17, Z:95.04 [[ 4.07489042e-01 -9.09690829e-01 -8.00954178e-02 2.28200563e+02] [ 8.93421711e-01 4.15282420e-01 -1.71283852e-01 1.64165034e+02] [ 1.89077568e-01 -1.76269262e-03 9.81960573e-01 9.50442970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:164.19, Z:95.05 [[ 4.04549746e-01 -9.11001823e-01 -8.00948343e-02 2.28211597e+02] [ 8.94735475e-01 4.12395781e-01 -1.71400553e-01 1.64190594e+02] [ 1.89176988e-01 -2.32363949e-03 9.81940257e-01 9.50472918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.22, Y:164.22, Z:95.05 [[ 4.02644882e-01 -9.11832487e-01 -8.02409813e-02 2.28222642e+02] [ 8.95499619e-01 4.10553765e-01 -1.71831422e-01 1.64215238e+02] [ 1.89624710e-01 -2.66872545e-03 9.81853017e-01 9.50517735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:164.24, Z:95.06 [[ 4.00929172e-01 -9.12605652e-01 -8.00420033e-02 2.28234634e+02] [ 8.96345799e-01 4.08830132e-01 -1.71528810e-01 1.64239894e+02] [ 1.89261745e-01 -2.97440934e-03 9.81922168e-01 9.50561524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.25, Y:164.26, Z:95.06 [[ 3.97872935e-01 -9.13919740e-01 -8.02984178e-02 2.28247568e+02] [ 8.97557031e-01 4.05879352e-01 -1.72201417e-01 1.64264039e+02] [ 1.89969744e-01 -3.55812620e-03 9.81783498e-01 9.50618122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:164.29, Z:95.07 [[ 3.97157991e-01 -9.14213868e-01 -8.04893372e-02 2.28258847e+02] [ 8.97753951e-01 4.05215547e-01 -1.72737384e-01 1.64287662e+02] [ 1.90534442e-01 -3.65558822e-03 9.81673705e-01 9.50668994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:164.31, Z:95.07 [[ 3.96351260e-01 -9.14533539e-01 -8.08336873e-02 2.28267968e+02] [ 8.97911564e-01 4.04492507e-01 -1.73610587e-01 1.64312713e+02] [ 1.91469325e-01 -3.77072754e-03 9.81491355e-01 9.50713837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.28, Y:164.34, Z:95.08 [[ 3.96709984e-01 -9.14369891e-01 -8.09252249e-02 2.28278284e+02] [ 8.97680724e-01 4.04863486e-01 -1.73939285e-01 1.64338971e+02] [ 1.91808514e-01 -3.64156353e-03 9.81425613e-01 9.50760218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.29, Y:164.36, Z:95.08 [[ 3.97280498e-01 -9.14125101e-01 -8.08919408e-02 2.28287607e+02] [ 8.97420035e-01 4.05417393e-01 -1.73994306e-01 1.64364191e+02] [ 1.91847562e-01 -3.46950401e-03 9.81418604e-01 9.50804852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.770385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:228.29, Y:164.39, Z:95.08 [[ 3.97818783e-01 -9.14232518e-01 -7.69358120e-02 2.28293163e+02] [ 8.97701618e-01 4.05189902e-01 -1.73069203e-01 1.64392021e+02] [ 1.89399107e-01 -2.15223178e-04 9.81900164e-01 9.50813553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.31, Y:164.42, Z:95.09 [[ 3.99456002e-01 -9.13060317e-01 -8.21934319e-02 2.28307521e+02] [ 8.96819830e-01 4.07791433e-01 -1.71523585e-01 1.64415992e+02] [ 1.90129157e-01 -5.19657395e-03 9.81745333e-01 9.50910618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.32, Y:164.44, Z:95.10 [[ 3.99468667e-01 -9.13250148e-01 -7.99934429e-02 2.28316851e+02] [ 8.96843574e-01 4.07389009e-01 -1.72353705e-01 1.64441982e+02] [ 1.89990496e-01 -2.89170036e-03 9.81781671e-01 9.50956022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.33, Y:164.47, Z:95.10 [[ 3.99453560e-01 -9.13276633e-01 -7.97661929e-02 2.28326440e+02] [ 8.96940822e-01 4.07329963e-01 -1.71986808e-01 1.64468265e+02] [ 1.89562693e-01 -2.84481201e-03 9.81864498e-01 9.51015094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:228.34, Y:164.49, Z:95.11 [[ 3.99382695e-01 -9.13335232e-01 -7.94494594e-02 2.28337095e+02] [ 8.97107323e-01 4.07198799e-01 -1.71428090e-01 1.64494080e+02] [ 1.88923039e-01 -2.80927905e-03 9.81987878e-01 9.51068164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.35, Y:164.52, Z:95.11 [[ 3.99998669e-01 -9.13117780e-01 -7.88478600e-02 2.28345868e+02] [ 8.97108958e-01 4.07687361e-01 -1.70254321e-01 1.64518781e+02] [ 1.87607524e-01 -2.63361981e-03 9.82240541e-01 9.51125895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.36, Y:164.54, Z:95.12 [[ 4.00094936e-01 -9.13091079e-01 -7.86684384e-02 2.28356177e+02] [ 8.97130129e-01 4.07747625e-01 -1.69998253e-01 1.64544763e+02] [ 1.87300757e-01 -2.56038608e-03 9.82299278e-01 9.51184650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:228.37, Y:164.57, Z:95.12 [[ 4.00260611e-01 -9.13032328e-01 -7.85073954e-02 2.28366468e+02] [ 8.97112731e-01 4.07879682e-01 -1.69773125e-01 1.64570788e+02] [ 1.87029923e-01 -2.47648938e-03 9.82351096e-01 9.51238137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:164.60, Z:95.12 [[ 3.99617406e-01 -9.14158108e-01 -6.79770748e-02 2.28369649e+02] [ 8.97903747e-01 4.05286304e-01 -1.71790198e-01 1.64599532e+02] [ 1.84593579e-01 7.61348290e-03 9.82785452e-01 9.51193172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:164.62, Z:95.13 [[ 3.99431395e-01 -9.13559925e-01 -7.65690808e-02 2.28385046e+02] [ 8.97984843e-01 4.06700756e-01 -1.67981301e-01 1.64621602e+02] [ 1.84601688e-01 -1.66086855e-03 9.82812016e-01 9.51279816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.39, Y:164.65, Z:95.13 [[ 3.98795054e-01 -9.14540093e-01 -6.76677447e-02 2.28390862e+02] [ 8.98585205e-01 4.04433267e-01 -1.70230318e-01 1.64650033e+02] [ 1.83049538e-01 7.08177468e-03 9.83078184e-01 9.51273162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.100385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:228.42, Y:164.67, Z:95.15 [[ 4.01119812e-01 -9.11060591e-01 -9.52444004e-02 2.28415958e+02] [ 8.96291407e-01 4.11817074e-01 -1.64524803e-01 1.64667070e+02] [ 1.89115335e-01 -1.93725796e-02 9.81763767e-01 9.51523557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:228.42, Y:164.70, Z:95.15 [[ 4.01603343e-01 -9.12389186e-01 -7.91247563e-02 2.28417712e+02] [ 8.96139538e-01 4.09318639e-01 -1.71441480e-01 1.64697173e+02] [ 1.88808590e-01 -2.05535115e-03 9.82011758e-01 9.51511877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:164.72, Z:95.16 [[ 4.01647494e-01 -9.12378880e-01 -7.90194269e-02 2.28429054e+02] [ 8.96147551e-01 4.09341919e-01 -1.71343982e-01 1.64722545e+02] [ 1.88676594e-01 -1.99318496e-03 9.82037255e-01 9.51571511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.44, Y:164.75, Z:95.16 [[ 4.01693486e-01 -9.12352015e-01 -7.90957940e-02 2.28439950e+02] [ 8.96064214e-01 4.09402097e-01 -1.71635799e-01 1.64747035e+02] [ 1.88974251e-01 -1.92992819e-03 9.81980146e-01 9.51630774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.220385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:228.45, Y:164.77, Z:95.17 [[ 4.02436425e-01 -9.12030703e-01 -7.90248084e-02 2.28449947e+02] [ 8.95740744e-01 4.10118314e-01 -1.71614356e-01 1.64772666e+02] [ 1.88927083e-01 -1.72187265e-03 9.81989609e-01 9.51691138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.250385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:228.46, Y:164.80, Z:95.17 [[ 4.02528077e-01 -9.11997629e-01 -7.89396655e-02 2.28459996e+02] [ 8.95718504e-01 4.10192142e-01 -1.71553979e-01 1.64797940e+02] [ 1.88837252e-01 -1.65242588e-03 9.82007007e-01 9.51743509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.280385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:228.47, Y:164.82, Z:95.18 [[ 4.02047058e-01 -9.12207893e-01 -7.89615348e-02 2.28469419e+02] [ 8.95899585e-01 4.09724142e-01 -1.71726706e-01 1.64823250e+02] [ 1.89002903e-01 -1.69938949e-03 9.81975058e-01 9.51798585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.310385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:228.48, Y:164.85, Z:95.19 [[ 4.00879513e-01 -9.12711634e-01 -7.90764782e-02 2.28479856e+02] [ 8.96339540e-01 4.08599954e-01 -1.72109000e-01 1.64848513e+02] [ 1.89396532e-01 -1.88440214e-03 9.81898876e-01 9.51851402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.340385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:228.49, Y:164.87, Z:95.19 [[ 3.99666932e-01 -9.13205218e-01 -7.95146125e-02 2.28490342e+02] [ 8.96634943e-01 4.07494676e-01 -1.73187381e-01 1.64873466e+02] [ 1.90557401e-01 -2.07831080e-03 9.81673855e-01 9.51907194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:228.50, Y:164.90, Z:95.20 [[ 3.98070132e-01 -9.13902297e-01 -7.95157942e-02 2.28500491e+02] [ 8.97320922e-01 4.05927363e-01 -1.73315142e-01 1.64898979e+02] [ 1.90670743e-01 -2.35960432e-03 9.81651211e-01 9.51955167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.400385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:228.51, Y:164.92, Z:95.20 [[ 3.95789550e-01 -9.14848575e-01 -8.00169741e-02 2.28510426e+02] [ 8.98049870e-01 4.03787509e-01 -1.74533890e-01 1.64924582e+02] [ 1.91981935e-01 -2.78054347e-03 9.81394521e-01 9.52012638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.430385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:228.52, Y:164.95, Z:95.21 [[ 3.94239686e-01 -9.15507755e-01 -8.01287824e-02 2.28520737e+02] [ 8.98649907e-01 4.02288742e-01 -1.74906013e-01 1.64949820e+02] [ 1.92362718e-01 -3.05283131e-03 9.81319145e-01 9.52066259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:228.53, Y:164.98, Z:95.21 [[ 3.93012174e-01 -9.16028792e-01 -8.02040124e-02 2.28531378e+02] [ 8.99124339e-01 4.01099287e-01 -1.75199272e-01 1.64975592e+02] [ 1.92657350e-01 -3.25793278e-03 9.81260685e-01 9.52122423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:228.54, Y:165.00, Z:95.22 [[ 3.90537797e-01 -9.17120348e-01 -7.98153934e-02 2.28538533e+02] [ 9.00377992e-01 3.98593033e-01 -1.74479412e-01 1.65001306e+02] [ 1.91832479e-01 -3.72321843e-03 9.81420622e-01 9.52172325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.520385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:228.55, Y:165.03, Z:95.22 [[ 3.89282197e-01 -9.17683943e-01 -7.94704504e-02 2.28547909e+02] [ 9.01072525e-01 3.97291775e-01 -1.73860723e-01 1.65027424e+02] [ 1.91122150e-01 -3.92775529e-03 9.81558402e-01 9.52224891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:165.05, Z:95.23 [[ 3.87376222e-01 -9.18497232e-01 -7.93882722e-02 2.28556024e+02] [ 9.01911757e-01 3.95404346e-01 -1.73811927e-01 1.65053711e+02] [ 1.91036241e-01 -4.27060857e-03 9.81573694e-01 9.52277254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:165.09, Z:95.20 [[ 3.82336465e-01 -9.22929231e-01 -4.49495533e-02 2.28543482e+02] [ 9.05877977e-01 3.83977701e-01 -1.78735046e-01 1.65089055e+02] [ 1.82219425e-01 2.76181153e-02 9.82869941e-01 9.52046735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.57, Y:165.11, Z:95.22 [[ 3.82714357e-01 -9.20780970e-01 -7.54461874e-02 2.28568241e+02] [ 9.05485972e-01 3.90055960e-01 -1.67187027e-01 1.65106693e+02] [ 1.83370868e-01 -4.33058875e-03 9.83034267e-01 9.52222339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:228.58, Y:165.13, Z:95.23 [[ 3.82876111e-01 -9.20944948e-01 -7.25691891e-02 2.28575533e+02] [ 9.05406941e-01 3.89690841e-01 -1.68461624e-01 1.65132370e+02] [ 1.83423430e-01 -1.20471595e-03 9.83033262e-01 9.52260142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:165.16, Z:95.23 [[ 3.84314073e-01 -9.20411594e-01 -7.17299878e-02 2.28581651e+02] [ 9.04740437e-01 3.90950749e-01 -1.69122007e-01 1.65160383e+02] [ 1.83704749e-01 9.89469874e-05 9.82981462e-01 9.52310325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.700385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:228.61, Y:165.18, Z:95.26 [[ 3.88659544e-01 -9.15168077e-01 -1.06822985e-01 2.28611051e+02] [ 9.01092901e-01 4.01734060e-01 -1.63221717e-01 1.65176625e+02] [ 1.92289737e-01 -3.28197554e-02 9.80789234e-01 9.52639078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.60, Y:165.21, Z:95.26 [[ 3.89454774e-01 -9.17556797e-01 -8.00905908e-02 2.28604925e+02] [ 9.00565372e-01 3.97587884e-01 -1.75800696e-01 1.65210897e+02] [ 1.93150172e-01 -3.66039214e-03 9.81162378e-01 9.52580253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.760385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:228.59, Y:165.25, Z:95.23 [[ 3.84461736e-01 -9.22338342e-01 -3.84857918e-02 2.28588814e+02] [ 9.04838151e-01 3.84772068e-01 -1.82259090e-01 1.65248934e+02] [ 1.82912804e-01 3.52482333e-02 9.82497058e-01 9.52305160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.64, Y:165.25, Z:95.28 [[ 3.86287769e-01 -9.15377830e-01 -1.13424816e-01 2.28637327e+02] [ 9.02110117e-01 4.00569242e-01 -1.60441949e-01 1.65254006e+02] [ 1.92299496e-01 -4.03449115e-02 9.80506600e-01 9.52813568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.820385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.63, Y:165.29, Z:95.27 [[ 3.84730315e-01 -9.19584785e-01 -7.96643483e-02 2.28630808e+02] [ 9.02761447e-01 3.92865487e-01 -1.75152730e-01 1.65289276e+02] [ 1.92365158e-01 -4.53133739e-03 9.81312954e-01 9.52747725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.850385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.64, Y:165.31, Z:95.28 [[ 3.82729584e-01 -9.20463758e-01 -7.91488257e-02 2.28639200e+02] [ 9.03853502e-01 3.90797354e-01 -1.74144407e-01 1.65314667e+02] [ 1.91224767e-01 -4.88872667e-03 9.81534100e-01 9.52797672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:165.34, Z:95.29 [[ 3.79170330e-01 -9.21988649e-01 -7.85289216e-02 2.28645673e+02] [ 9.05646561e-01 3.87177032e-01 -1.72911114e-01 1.65341984e+02] [ 1.89826680e-01 -5.55668343e-03 9.81801892e-01 9.52851985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.65, Y:165.37, Z:95.29 [[ 3.77015050e-01 -9.22899443e-01 -7.82065910e-02 2.28654356e+02] [ 9.06687756e-01 3.84995244e-01 -1.72325202e-01 1.65368086e+02] [ 1.89147998e-01 -5.93976407e-03 9.81930626e-01 9.52904555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:165.39, Z:95.30 [[ 3.75144311e-01 -9.23672661e-01 -7.80740729e-02 2.28663500e+02] [ 9.07509035e-01 3.83131191e-01 -1.72156447e-01 1.65394578e+02] [ 1.88928816e-01 -6.26941491e-03 9.81970772e-01 9.52955372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:165.42, Z:95.30 [[ 3.72082464e-01 -9.24908205e-01 -7.80989864e-02 2.28670261e+02] [ 9.08736061e-01 3.80128835e-01 -1.72339318e-01 1.65422131e+02] [ 1.89085726e-01 -6.84692711e-03 9.81936713e-01 9.53006319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.000385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:228.68, Y:165.45, Z:95.31 [[ 3.70918195e-01 -9.25366655e-01 -7.82064338e-02 2.28679342e+02] [ 9.09134606e-01 3.79007897e-01 -1.72705771e-01 1.65448321e+02] [ 1.89457017e-01 -7.04046261e-03 9.81863774e-01 9.53059736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.030385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:228.69, Y:165.48, Z:95.31 [[ 3.69868575e-01 -9.25768169e-01 -7.84253461e-02 2.28685408e+02] [ 9.09427906e-01 3.78022772e-01 -1.73319554e-01 1.65475626e+02] [ 1.90100293e-01 -7.21674191e-03 9.81738151e-01 9.53102602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.060385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.69, Y:165.50, Z:95.31 [[ 3.70158128e-01 -9.25654896e-01 -7.83962558e-02 2.28693730e+02] [ 9.09299199e-01 3.78302157e-01 -1.73385250e-01 1.65501474e+02] [ 1.90152378e-01 -7.10569311e-03 9.81728874e-01 9.53144956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:165.53, Z:95.32 [[ 3.70545741e-01 -9.25477380e-01 -7.86604994e-02 2.28702417e+02] [ 9.08983358e-01 3.78738313e-01 -1.74087752e-01 1.65527965e+02] [ 1.90906021e-01 -6.99360982e-03 9.81583405e-01 9.53194351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:165.55, Z:95.32 [[ 3.71125136e-01 -9.25220907e-01 -7.89455973e-02 2.28710393e+02] [ 9.08575179e-01 3.79367262e-01 -1.74847433e-01 1.65553395e+02] [ 1.91721875e-01 -6.83773300e-03 9.81425478e-01 9.53236342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:165.58, Z:95.33 [[ 3.73271365e-01 -9.24302997e-01 -7.95767433e-02 2.28716545e+02] [ 9.07349112e-01 3.81606120e-01 -1.76335925e-01 1.65581409e+02] [ 1.93354796e-01 -6.38273614e-03 9.81108141e-01 9.53274324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:165.61, Z:95.33 [[ 3.74114608e-01 -9.23963056e-01 -7.95646305e-02 2.28725144e+02] [ 9.06981340e-01 3.82432191e-01 -1.76438285e-01 1.65607779e+02] [ 1.93450533e-01 -6.15549535e-03 9.81090720e-01 9.53323532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:165.63, Z:95.34 [[ 3.76484716e-01 -9.23045990e-01 -7.90275905e-02 2.28731205e+02] [ 9.06249847e-01 3.84648960e-01 -1.75375006e-01 1.65634591e+02] [ 1.92277077e-01 -5.59273243e-03 9.81324741e-01 9.53374246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.74, Y:165.66, Z:95.34 [[ 3.77178705e-01 -9.22767715e-01 -7.89681577e-02 2.28740294e+02] [ 9.05964607e-01 3.85318901e-01 -1.75378091e-01 1.65660432e+02] [ 1.92261164e-01 -5.39347464e-03 9.81328974e-01 9.53426761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:165.69, Z:95.35 [[ 3.78551250e-01 -9.22174277e-01 -7.93319231e-02 2.28746719e+02] [ 9.05176461e-01 3.86741443e-01 -1.76314013e-01 1.65687368e+02] [ 1.93273190e-01 -5.06549935e-03 9.81131905e-01 9.53474303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.76, Y:165.71, Z:95.35 [[ 3.81558562e-01 -9.20741614e-01 -8.15349293e-02 2.28755238e+02] [ 9.04123563e-01 3.90106172e-01 -1.74292160e-01 1.65709332e+02] [ 1.92285324e-01 -7.21498469e-03 9.81312538e-01 9.53516916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.330385723 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:228.75, Y:165.74, Z:95.35 [[ 3.78875166e-01 -9.23367155e-01 -6.20218145e-02 2.28752694e+02] [ 9.04117265e-01 3.83616256e-01 -1.88176881e-01 1.65742561e+02] [ 1.97548927e-01 1.52205537e-02 9.80174860e-01 9.53532952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:165.76, Z:95.37 [[ 3.77660471e-01 -9.21362762e-01 -9.19958135e-02 2.28776661e+02] [ 9.05720746e-01 3.88235627e-01 -1.70126505e-01 1.65760081e+02] [ 1.92464279e-01 -1.90724609e-02 9.81118618e-01 9.53657757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.77, Y:165.79, Z:95.37 [[ 3.78025189e-01 -9.22986171e-01 -7.20658302e-02 2.28774165e+02] [ 9.05121076e-01 3.84820646e-01 -1.80745422e-01 1.65788815e+02] [ 1.94557945e-01 3.09802059e-03 9.80886134e-01 9.53662494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.420385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.79, Y:165.81, Z:95.38 [[ 3.76870812e-01 -9.21966183e-01 -8.91445394e-02 2.28793538e+02] [ 9.05195762e-01 3.86998980e-01 -1.75648574e-01 1.65811933e+02] [ 1.96440891e-01 -1.44964387e-02 9.80408501e-01 9.53776653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.450385723 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:228.79, Y:165.84, Z:95.38 [[ 3.75435958e-01 -9.24212590e-01 -6.98493315e-02 2.28790677e+02] [ 9.06095568e-01 3.81844273e-01 -1.82169628e-01 1.65840214e+02] [ 1.95035031e-01 5.10285926e-03 9.80783002e-01 9.53774457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:165.86, Z:95.39 [[ 3.73340317e-01 -9.23818491e-01 -8.47136529e-02 2.28807158e+02] [ 9.07417457e-01 3.82642205e-01 -1.73719606e-01 1.65863870e+02] [ 1.92900403e-01 -1.20141148e-02 9.81144788e-01 9.53863707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:165.89, Z:95.40 [[ 3.74421715e-01 -9.21993921e-01 -9.86690841e-02 2.28825063e+02] [ 9.05984342e-01 3.86417196e-01 -1.72841322e-01 1.65887094e+02] [ 1.97486079e-01 -2.46771010e-02 9.79995046e-01 9.54014024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.540385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:228.81, Y:165.92, Z:95.39 [[ 3.74025554e-01 -9.25333985e-01 -6.21441927e-02 2.28814475e+02] [ 9.07022389e-01 3.78953444e-01 -1.83588327e-01 1.65922652e+02] [ 1.93430274e-01 1.23005516e-02 9.81036914e-01 9.53895747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.83, Y:165.94, Z:95.40 [[ 3.75532453e-01 -9.23468688e-01 -7.86190733e-02 2.28833488e+02] [ 9.06494540e-01 3.83640494e-01 -1.76316819e-01 1.65942592e+02] [ 1.92984522e-01 -5.05507296e-03 9.81188779e-01 9.54013966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.600385723 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:228.84, Y:165.97, Z:95.41 [[ 3.77175258e-01 -9.23468935e-01 -7.03132415e-02 2.28839132e+02] [ 9.05075220e-01 3.83632841e-01 -1.83479397e-01 1.65969219e+02] [ 1.96411992e-01 5.56511646e-03 9.80505665e-01 9.54058325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:165.99, Z:95.41 [[ 3.79709299e-01 -9.20977599e-01 -8.72989748e-02 2.28854792e+02] [ 9.04715319e-01 3.89386488e-01 -1.72824632e-01 1.65991358e+02] [ 1.93160656e-01 -1.33575999e-02 9.81076213e-01 9.54143990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:166.02, Z:95.42 [[ 3.80795824e-01 -9.21307791e-01 -7.86542722e-02 2.28859446e+02] [ 9.04194600e-01 3.88815547e-01 -1.76789694e-01 1.66018703e+02] [ 1.93459727e-01 -3.79799074e-03 9.81100866e-01 9.54166236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.87, Y:166.04, Z:95.42 [[ 3.82826805e-01 -9.20469480e-01 -7.86102703e-02 2.28869189e+02] [ 9.03333724e-01 3.90800334e-01 -1.76814259e-01 1.66044759e+02] [ 1.93473048e-01 -3.32207060e-03 9.81099966e-01 9.54223272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.88, Y:166.07, Z:95.43 [[ 3.86136279e-01 -9.19173961e-01 -7.75757911e-02 2.28882859e+02] [ 9.00739379e-01 3.93850865e-01 -1.83166777e-01 1.66070815e+02] [ 1.98915425e-01 8.51768003e-04 9.80016290e-01 9.54294773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.90, Y:166.09, Z:95.44 [[ 3.86965421e-01 -9.17882672e-01 -8.80293349e-02 2.28898184e+02] [ 9.00292370e-01 3.96727308e-01 -1.79111954e-01 1.66091587e+02] [ 1.99327400e-01 -9.94200575e-03 9.79882515e-01 9.54397880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.90, Y:166.12, Z:95.44 [[ 3.85444549e-01 -9.19539793e-01 -7.66750886e-02 2.28899586e+02] [ 9.02603337e-01 3.92994072e-01 -1.75678329e-01 1.66119075e+02] [ 1.91676069e-01 -1.49293652e-03 9.81457108e-01 9.54379345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.93, Y:166.14, Z:95.46 [[ 3.88947261e-01 -9.14846554e-01 -1.08516409e-01 2.28931545e+02] [ 8.99611110e-01 4.02548887e-01 -1.69275648e-01 1.66138773e+02] [ 1.98544403e-01 -3.17832679e-02 9.79576411e-01 9.54607739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.840385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.91, Y:166.18, Z:95.44 [[ 3.86002441e-01 -9.20924739e-01 -5.38492427e-02 2.28910000e+02] [ 9.02147401e-01 3.89036904e-01 -1.86494918e-01 1.66175858e+02] [ 1.92697126e-01 2.34075392e-02 9.80979054e-01 9.54427465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.93, Y:166.19, Z:95.45 [[ 3.86257700e-01 -9.19076767e-01 -7.81209701e-02 2.28932852e+02] [ 9.02024049e-01 3.94071276e-01 -1.76239738e-01 1.66193378e+02] [ 1.92763079e-01 -2.39303788e-03 9.81242411e-01 9.54535352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.94, Y:166.22, Z:95.46 [[ 3.85994925e-01 -9.19180061e-01 -7.82044310e-02 2.28944572e+02] [ 9.02069011e-01 3.93830242e-01 -1.76548123e-01 1.66217786e+02] [ 1.93078785e-01 -2.39911408e-03 9.81180323e-01 9.54588355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:166.24, Z:95.46 [[ 3.85833763e-01 -9.19251988e-01 -7.81542714e-02 2.28955827e+02] [ 9.02137904e-01 3.93662447e-01 -1.76570326e-01 1.66243451e+02] [ 1.93079025e-01 -2.37913736e-03 9.81180325e-01 9.54641934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:166.27, Z:95.47 [[ 3.85595888e-01 -9.19360138e-01 -7.80560559e-02 2.28967289e+02] [ 9.02274869e-01 3.93409705e-01 -1.76433743e-01 1.66267841e+02] [ 1.92914160e-01 -2.39589194e-03 9.81212712e-01 9.54691886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:166.29, Z:95.47 [[ 3.85888397e-01 -9.19259830e-01 -7.77914560e-02 2.28979525e+02] [ 9.02271002e-01 3.93644605e-01 -1.75928860e-01 1.66292428e+02] [ 1.92346521e-01 -2.30006923e-03 9.81324373e-01 9.54744342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.01, Y:166.31, Z:95.50 [[ 3.88750345e-01 -9.14907459e-01 -1.08708375e-01 2.29011992e+02] [ 8.99729077e-01 4.02385694e-01 -1.69036508e-01 1.66312042e+02] [ 1.98395458e-01 -3.20950854e-02 9.79596421e-01 9.54966463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.99, Y:166.35, Z:95.48 [[ 3.85902960e-01 -9.20959334e-01 -5.39704581e-02 2.28991879e+02] [ 9.01830248e-01 3.88920162e-01 -1.88263943e-01 1.66347699e+02] [ 1.94373635e-01 2.39794215e-02 9.80634426e-01 9.54791543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.02, Y:166.37, Z:95.49 [[ 3.85263297e-01 -9.19457236e-01 -7.85530586e-02 2.29015800e+02] [ 9.02057844e-01 3.93183484e-01 -1.78040427e-01 1.66365622e+02] [ 1.94586324e-01 -2.26696087e-03 9.80882778e-01 9.54903673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.110385723 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:229.03, Y:166.39, Z:95.49 [[ 3.83810245e-01 -9.20005782e-01 -7.92404978e-02 2.29027219e+02] [ 9.02281676e-01 3.91896728e-01 -1.79735171e-01 1.66389586e+02] [ 1.96411488e-01 -2.51304911e-03 9.80518338e-01 9.54930888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.04, Y:166.41, Z:95.50 [[ 3.83236023e-01 -9.20286145e-01 -7.87626955e-02 2.29039719e+02] [ 9.02758878e-01 3.91237390e-01 -1.78772795e-01 1.66413999e+02] [ 1.95337038e-01 -2.59154747e-03 9.80732749e-01 9.55011621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.170385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.05, Y:166.44, Z:95.51 [[ 3.82135677e-01 -9.20727521e-01 -7.89503466e-02 2.29051423e+02] [ 9.03097947e-01 3.90196312e-01 -1.79334705e-01 1.66437609e+02] [ 1.95924533e-01 -2.76970686e-03 9.80615065e-01 9.55054827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:166.47, Z:95.51 [[ 3.79578260e-01 -9.22667032e-01 -6.78667326e-02 2.29059120e+02] [ 9.03504277e-01 3.85473448e-01 -1.87323899e-01 1.66466252e+02] [ 1.98998409e-01 9.78619636e-03 9.79950950e-01 9.55080395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:166.48, Z:95.52 [[ 3.78475734e-01 -9.21130700e-01 -9.09634692e-02 2.29082046e+02] [ 9.04615058e-01 3.88912941e-01 -1.74408493e-01 1.66484361e+02] [ 1.96029888e-01 -1.62775415e-02 9.80462812e-01 9.55201105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:166.51, Z:95.52 [[ 3.75933627e-01 -9.23235398e-01 -7.94374510e-02 2.29089035e+02] [ 9.05375890e-01 3.84214342e-01 -1.80759060e-01 1.66510507e+02] [ 1.97404170e-01 -3.96734391e-03 9.80314161e-01 9.55218391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.10, Y:166.54, Z:95.53 [[ 3.74802848e-01 -9.23715150e-01 -7.92031961e-02 2.29100864e+02] [ 9.05953459e-01 3.83057350e-01 -1.80320259e-01 1.66535152e+02] [ 1.96903922e-01 -4.16986271e-03 9.80413922e-01 9.55270284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.320385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:229.11, Y:166.56, Z:95.53 [[ 3.73294449e-01 -9.24701665e-01 -7.46865818e-02 2.29110704e+02] [ 9.06036260e-01 3.80690215e-01 -1.84860097e-01 1.66561204e+02] [ 1.99372890e-01 1.33849688e-03 9.79922782e-01 9.55298120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.13, Y:166.58, Z:95.54 [[ 3.73813835e-01 -9.23609458e-01 -8.49045730e-02 2.29127384e+02] [ 9.06285688e-01 3.83196921e-01 -1.78343411e-01 1.66582868e+02] [ 1.97254832e-01 -1.02805649e-02 9.80298343e-01 9.55399377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.14, Y:166.61, Z:95.54 [[ 3.74111422e-01 -9.23962775e-01 -7.95828748e-02 2.29136772e+02] [ 9.05951149e-01 3.82459769e-01 -1.81595817e-01 1.66609825e+02] [ 1.98225023e-01 -4.16112745e-03 9.80147706e-01 9.55428655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:166.63, Z:95.55 [[ 3.74938415e-01 -9.23611405e-01 -7.97694015e-02 2.29148742e+02] [ 9.05478483e-01 3.83309955e-01 -1.82159809e-01 1.66634626e+02] [ 1.98821283e-01 -3.93076642e-03 9.80027880e-01 9.55494367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.16, Y:166.66, Z:95.56 [[ 3.77141811e-01 -9.22677465e-01 -8.01894659e-02 2.29161243e+02] [ 9.04301846e-01 3.85557684e-01 -1.83257864e-01 1.66659598e+02] [ 2.00005566e-01 -3.40127948e-03 9.79788857e-01 9.55551287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:166.68, Z:95.56 [[ 3.77914936e-01 -9.22387816e-01 -7.98812727e-02 2.29172193e+02] [ 9.04120266e-01 3.86251990e-01 -1.82690848e-01 1.66683833e+02] [ 1.99366113e-01 -3.18067728e-03 9.79919913e-01 9.55601721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.500385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:229.18, Y:166.71, Z:95.56 [[ 3.79272824e-01 -9.22119427e-01 -7.64714863e-02 2.29183237e+02] [ 9.03277295e-01 3.86903297e-01 -1.85461496e-01 1.66711625e+02] [ 2.00604718e-01 1.26554793e-03 9.79671448e-01 9.55628342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.20, Y:166.73, Z:95.57 [[ 3.81229082e-01 -9.20674640e-01 -8.38009175e-02 2.29198349e+02] [ 9.03033455e-01 3.90263750e-01 -1.79512629e-01 1.66732602e+02] [ 1.97977185e-01 -7.23959737e-03 9.80179893e-01 9.55721177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:166.76, Z:95.58 [[ 3.81126033e-01 -9.21371013e-01 -7.62784576e-02 2.29207505e+02] [ 9.02791359e-01 3.88682079e-01 -1.84103245e-01 1.66760747e+02] [ 1.99275463e-01 1.30300709e-03 9.79942647e-01 9.55755189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:166.78, Z:95.58 [[ 3.81642166e-01 -9.20880858e-01 -7.95468632e-02 2.29222394e+02] [ 9.02276003e-01 3.89841310e-01 -1.84178628e-01 1.66784986e+02] [ 2.00617226e-01 -1.48289523e-03 9.79668581e-01 9.55813569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:166.81, Z:95.59 [[ 3.82268386e-01 -9.20123760e-01 -8.51066851e-02 2.29236672e+02] [ 9.02111915e-01 3.91556613e-01 -1.81321568e-01 1.66807819e+02] [ 2.00162368e-01 -7.46225178e-03 9.79734322e-01 9.55882114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:166.84, Z:95.59 [[ 3.81390173e-01 -9.21427467e-01 -7.42493117e-02 2.29243642e+02] [ 9.02028075e-01 3.88521012e-01 -1.88140310e-01 1.66836295e+02] [ 2.02205067e-01 4.77990150e-03 9.79331539e-01 9.55897492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:166.86, Z:95.60 [[ 3.81817995e-01 -9.20178990e-01 -8.65196236e-02 2.29262099e+02] [ 9.02659122e-01 3.91376181e-01 -1.78972607e-01 1.66856020e+02] [ 1.98548553e-01 -9.76276543e-03 9.80042428e-01 9.55996526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.27, Y:166.88, Z:95.60 [[ 3.81181421e-01 -9.21285310e-01 -7.70331251e-02 2.29269929e+02] [ 9.02933425e-01 3.88887313e-01 -1.82969636e-01 1.66884746e+02] [ 1.98524443e-01 1.88842168e-04 9.80095919e-01 9.56020869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.740385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:229.28, Y:166.91, Z:95.61 [[ 3.81303396e-01 -9.20803432e-01 -8.20290192e-02 2.29283833e+02] [ 9.02727376e-01 3.89997459e-01 -1.81618463e-01 1.66907491e+02] [ 1.99226014e-01 -4.79810430e-03 9.79941822e-01 9.56069879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.770385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:229.30, Y:166.93, Z:95.61 [[ 3.80027162e-01 -9.21537523e-01 -7.96740237e-02 2.29295036e+02] [ 9.03114594e-01 3.88282663e-01 -1.83359220e-01 1.66931774e+02] [ 1.99908443e-01 -2.27328964e-03 9.79811945e-01 9.56106488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.30, Y:166.96, Z:95.62 [[ 3.78823684e-01 -9.22444836e-01 -7.47538658e-02 2.29304780e+02] [ 9.03550442e-01 3.86118534e-01 -1.85766191e-01 1.66958807e+02] [ 2.00222917e-01 2.82874436e-03 9.79746284e-01 9.56155513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:166.98, Z:95.62 [[ 3.76380040e-01 -9.22644465e-01 -8.40550801e-02 2.29322647e+02] [ 9.04925513e-01 3.85563134e-01 -1.80141297e-01 1.66980258e+02] [ 1.98614911e-01 -8.26199800e-03 9.80042783e-01 9.56239430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.860385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:229.33, Y:167.01, Z:95.62 [[ 3.74027139e-01 -9.24820614e-01 -6.93579860e-02 2.29328503e+02] [ 9.05100446e-01 3.80311982e-01 -1.90147256e-01 1.67010167e+02] [ 2.02229775e-01 8.34429018e-03 9.79302553e-01 9.56233245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:167.03, Z:95.64 [[ 3.73241015e-01 -9.23680489e-01 -8.66342818e-02 2.29349003e+02] [ 9.06074584e-01 3.82994819e-01 -1.79843865e-01 1.67029204e+02] [ 1.99298751e-01 -1.13720140e-02 9.79872790e-01 9.56352354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:167.06, Z:95.64 [[ 3.70613533e-01 -9.25788772e-01 -7.45704958e-02 2.29355147e+02] [ 9.06932568e-01 3.78039076e-01 -1.85902592e-01 1.67057015e+02] [ 2.00297094e-01 1.26760502e-03 9.79734386e-01 9.56364999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.950385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:229.37, Y:167.08, Z:95.64 [[ 3.69223378e-01 -9.25965356e-01 -7.91344275e-02 2.29368042e+02] [ 9.07206200e-01 3.77593960e-01 -1.85471591e-01 1.67080127e+02] [ 2.01620950e-01 -3.31079593e-03 9.79458029e-01 9.56415167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.39, Y:167.10, Z:95.65 [[ 3.68914893e-01 -9.25138355e-01 -8.95590657e-02 2.29385057e+02] [ 9.08132771e-01 3.79295790e-01 -1.77283881e-01 1.67101668e+02] [ 1.97981495e-01 -1.59288583e-02 9.80076323e-01 9.56514825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:167.13, Z:95.65 [[ 3.66628452e-01 -9.27020331e-01 -7.88472190e-02 2.29393704e+02] [ 9.08880986e-01 3.74981183e-01 -1.82549899e-01 1.67128635e+02] [ 1.98793691e-01 -4.73475135e-03 9.80029923e-01 9.56540105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.040385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:229.40, Y:167.16, Z:95.65 [[ 3.64323317e-01 -9.28607361e-01 -7.04051843e-02 2.29402751e+02] [ 9.08990703e-01 3.71027406e-01 -1.89933057e-01 1.67157173e+02] [ 2.02495488e-01 5.19938355e-03 9.79269393e-01 9.56545053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.070385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:229.42, Y:167.18, Z:95.67 [[ 3.63109626e-01 -9.27529224e-01 -8.85490735e-02 2.29424324e+02] [ 9.10372441e-01 3.73413271e-01 -1.78282212e-01 1.67175495e+02] [ 1.98427361e-01 -1.58766490e-02 9.79986997e-01 9.56660255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:167.20, Z:95.67 [[ 3.62691860e-01 -9.28620959e-01 -7.82159119e-02 2.29429949e+02] [ 9.10718746e-01 3.70990663e-01 -1.81541436e-01 1.67202787e+02] [ 1.97600556e-01 -5.38909598e-03 9.80267809e-01 9.56690305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:167.23, Z:95.67 [[ 3.62316373e-01 -9.28749958e-01 -7.84242432e-02 2.29441253e+02] [ 9.10728365e-01 3.70667065e-01 -1.82153154e-01 1.67227487e+02] [ 1.98244018e-01 -5.42611287e-03 9.80137677e-01 9.56738273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.45, Y:167.26, Z:95.68 [[ 3.61551728e-01 -9.29531095e-01 -7.24726893e-02 2.29450182e+02] [ 9.10332859e-01 3.68738419e-01 -1.87952292e-01 1.67255442e+02] [ 2.01430965e-01 1.98020571e-03 9.79500712e-01 9.56762273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.190385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.47, Y:167.28, Z:95.69 [[ 3.62131563e-01 -9.28086934e-01 -8.66912517e-02 2.29469367e+02] [ 9.10350302e-01 3.72124245e-01 -1.81068700e-01 1.67275896e+02] [ 2.00307411e-01 -1.33487159e-02 9.79642156e-01 9.56858471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:167.30, Z:95.69 [[ 3.62207291e-01 -9.28757753e-01 -7.88347276e-02 2.29476983e+02] [ 9.10476283e-01 3.70648901e-01 -1.83445716e-01 1.67302771e+02] [ 1.99596636e-01 -5.33177380e-03 9.79863641e-01 9.56897158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:167.33, Z:95.70 [[ 3.62111778e-01 -9.28833745e-01 -7.83768793e-02 2.29489028e+02] [ 9.10739402e-01 3.70459056e-01 -1.82520768e-01 1.67328031e+02] [ 1.98566873e-01 -5.28799252e-03 9.80073076e-01 9.56953323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:167.35, Z:95.70 [[ 3.62079378e-01 -9.28880990e-01 -7.79655682e-02 2.29500547e+02] [ 9.10950243e-01 3.70341387e-01 -1.81705561e-01 1.67351950e+02] [ 1.97656719e-01 -5.23091669e-03 9.80257343e-01 9.57010662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.51, Y:167.38, Z:95.71 [[ 3.62924733e-01 -9.28620728e-01 -7.71309371e-02 2.29512328e+02] [ 9.11044364e-01 3.70996903e-01 -1.79887369e-01 1.67376281e+02] [ 1.95662478e-01 -4.98413022e-03 9.80658632e-01 9.57066270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.52, Y:167.40, Z:95.71 [[ 3.63477895e-01 -9.28418787e-01 -7.69569784e-02 2.29523327e+02] [ 9.10890704e-01 3.71504240e-01 -1.79618279e-01 1.67401922e+02] [ 1.95350828e-01 -4.81212237e-03 9.80721621e-01 9.57120824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.370385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:229.54, Y:167.43, Z:95.72 [[ 3.66245216e-01 -9.27292375e-01 -7.74163610e-02 2.29535475e+02] [ 9.09498720e-01 3.74314537e-01 -1.80833364e-01 1.67427032e+02] [ 1.96663469e-01 -4.18072688e-03 9.80462137e-01 9.57153398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.400385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.55, Y:167.45, Z:95.72 [[ 3.67931281e-01 -9.26623910e-01 -7.74254610e-02 2.29546172e+02] [ 9.08782841e-01 3.75970647e-01 -1.80996743e-01 1.67451588e+02] [ 1.96825610e-01 -3.76856707e-03 9.80431271e-01 9.57222187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:167.48, Z:95.73 [[ 3.69288176e-01 -9.26055152e-01 -7.77695272e-02 2.29557323e+02] [ 9.08011616e-01 3.77372664e-01 -1.81947184e-01 1.67476044e+02] [ 1.97841221e-01 -3.42469015e-03 9.80228097e-01 9.57274248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:167.50, Z:95.74 [[ 3.72100733e-01 -9.23318196e-01 -9.49976457e-02 2.29578769e+02] [ 9.06028520e-01 3.83540536e-01 -1.78910533e-01 1.67497099e+02] [ 2.01626799e-01 -1.94978357e-02 9.79268333e-01 9.57444540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:167.53, Z:95.74 [[ 3.72550408e-01 -9.24827413e-01 -7.68143897e-02 2.29581243e+02] [ 9.06074767e-01 3.80386560e-01 -1.85295932e-01 1.67526962e+02] [ 2.00585919e-01 -5.67504982e-04 9.79675950e-01 9.57434466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:167.55, Z:95.74 [[ 3.73161122e-01 -9.25503095e-01 -6.47672586e-02 2.29585059e+02] [ 9.07201402e-01 3.78616307e-01 -1.83399315e-01 1.67553757e+02] [ 1.94258574e-01 9.68054626e-03 9.80902591e-01 9.57403877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:167.58, Z:95.75 [[ 3.74245616e-01 -9.24557861e-01 -7.16448270e-02 2.29598916e+02] [ 9.06597850e-01 3.81030454e-01 -1.81372907e-01 1.67575776e+02] [ 1.94988608e-01 2.92496909e-03 9.80801146e-01 9.57476367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:167.60, Z:95.76 [[ 3.74572288e-01 -9.23745493e-01 -7.99366324e-02 2.29615578e+02] [ 9.06859698e-01 3.82950186e-01 -1.75939317e-01 1.67599129e+02] [ 1.93134899e-01 -6.58931780e-03 9.81150086e-01 9.57566447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:167.62, Z:95.77 [[ 3.76482562e-01 -9.21505918e-01 -9.53295584e-02 2.29639601e+02] [ 9.05029805e-01 3.87822350e-01 -1.74685077e-01 1.67620634e+02] [ 1.97944265e-01 -2.05102065e-02 9.79998673e-01 9.57742238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:167.65, Z:95.76 [[ 3.75328071e-01 -9.24982553e-01 -5.94652446e-02 2.29632780e+02] [ 9.06513903e-01 3.79698885e-01 -1.84557039e-01 1.67653546e+02] [ 1.93290928e-01 1.53633664e-02 9.81021195e-01 9.57612209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.670385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:229.65, Y:167.67, Z:95.77 [[ 3.74115992e-01 -9.24229741e-01 -7.63977154e-02 2.29653166e+02] [ 9.06606731e-01 3.81831312e-01 -1.79635976e-01 1.67672693e+02] [ 1.95195952e-01 -2.05799171e-03 9.80762104e-01 9.57693719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:167.70, Z:95.78 [[ 3.73312521e-01 -9.24599197e-01 -7.58557019e-02 2.29663770e+02] [ 9.07206666e-01 3.80935141e-01 -1.78506256e-01 1.67697660e+02] [ 1.93942843e-01 -2.17817808e-03 9.81010412e-01 9.57758039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.730385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.67, Y:167.72, Z:95.78 [[ 3.73246477e-01 -9.25221777e-01 -6.82035925e-02 2.29671867e+02] [ 9.06676989e-01 3.79362066e-01 -1.84448534e-01 1.67724337e+02] [ 1.96529656e-01 7.00613757e-03 9.80472849e-01 9.57774410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:167.75, Z:95.79 [[ 3.71481386e-01 -9.25172407e-01 -7.78305654e-02 2.29689857e+02] [ 9.07609999e-01 3.79526296e-01 -1.79454394e-01 1.67747771e+02] [ 1.95565000e-01 -3.97583226e-03 9.80682682e-01 9.57867882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:167.77, Z:95.79 [[ 3.70500914e-01 -9.25969511e-01 -7.28665708e-02 2.29700799e+02] [ 9.07688112e-01 3.77594468e-01 -1.83097541e-01 1.67770767e+02] [ 1.97056755e-01 1.69768649e-03 9.80390613e-01 9.57905934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:167.79, Z:95.80 [[ 3.67830522e-01 -9.25951185e-01 -8.55284194e-02 2.29721790e+02] [ 9.09291713e-01 3.77410058e-01 -1.75357434e-01 1.67792144e+02] [ 1.94651709e-01 -1.32684664e-02 9.80782677e-01 9.58013322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:167.82, Z:95.80 [[ 3.67631721e-01 -9.26860881e-01 -7.59988520e-02 2.29728217e+02] [ 9.09337521e-01 3.75391747e-01 -1.79405432e-01 1.67820580e+02] [ 1.94813219e-01 -3.15347992e-03 9.80835290e-01 9.58034303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:167.85, Z:95.81 [[ 3.66595988e-01 -9.27265108e-01 -7.60710305e-02 2.29740270e+02] [ 9.09691180e-01 3.74390681e-01 -1.79704133e-01 1.67845562e+02] [ 1.95113657e-01 -3.32233132e-03 9.80775011e-01 9.58086795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:167.87, Z:95.81 [[ 3.66070128e-01 -9.27456994e-01 -7.62639270e-02 2.29752720e+02] [ 9.09769743e-01 3.73914551e-01 -1.80296763e-01 1.67870261e+02] [ 1.95733686e-01 -3.38135411e-03 9.80651258e-01 9.58140552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.77, Y:167.89, Z:95.82 [[ 3.66926358e-01 -9.26842624e-01 -7.95474643e-02 2.29765527e+02] [ 9.09484850e-01 3.75388646e-01 -1.78663572e-01 1.67891272e+02] [ 1.95454229e-01 -6.79083990e-03 9.80689313e-01 9.58200416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.77, Y:167.93, Z:95.82 [[ 3.65647397e-01 -9.29318053e-01 -5.16714387e-02 2.29765197e+02] [ 9.08442358e-01 3.68414552e-01 -1.97492280e-01 1.67926052e+02] [ 2.02569651e-01 2.52720146e-02 9.78941705e-01 9.58161830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:167.93, Z:95.84 [[ 3.66341522e-01 -9.24770827e-01 -1.02921359e-01 2.29801500e+02] [ 9.09166975e-01 3.79292547e-01 -1.71908625e-01 1.67934962e+02] [ 1.98013386e-01 -3.05954329e-02 9.79721705e-01 9.58440657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:167.97, Z:95.84 [[ 3.68638843e-01 -9.26360080e-01 -7.72166122e-02 2.29802920e+02] [ 9.08091939e-01 3.76629914e-01 -1.83081781e-01 1.67965805e+02] [ 1.98681740e-01 -2.62872699e-03 9.80060537e-01 9.58399849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.81, Y:167.99, Z:95.85 [[ 3.69523477e-01 -9.26004868e-01 -7.72488466e-02 2.29814522e+02] [ 9.07685241e-01 3.77504036e-01 -1.83298136e-01 1.67989265e+02] [ 1.98896717e-01 -2.38467361e-03 9.80017556e-01 9.58454245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:168.01, Z:95.85 [[ 3.70514019e-01 -9.25611770e-01 -7.72153656e-02 2.29826799e+02] [ 9.07269911e-01 3.78468459e-01 -1.83365575e-01 1.68013909e+02] [ 1.98948915e-01 -2.11566199e-03 9.80007578e-01 9.58508992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:168.04, Z:95.86 [[ 3.72087248e-01 -9.24982847e-01 -7.71868672e-02 2.29840641e+02] [ 9.06613085e-01 3.80004947e-01 -1.83436515e-01 1.68037602e+02] [ 1.99007021e-01 -1.72423569e-03 9.79996547e-01 9.58569088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.85, Y:168.06, Z:95.86 [[ 3.71909351e-01 -9.25093531e-01 -7.67163156e-02 2.29853044e+02] [ 9.06239763e-01 3.79739101e-01 -1.85816328e-01 1.68062394e+02] [ 2.01029668e-01 -4.16545874e-04 9.79585065e-01 9.58627452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:168.09, Z:95.87 [[ 3.71607383e-01 -9.25050001e-01 -7.86794095e-02 2.29868529e+02] [ 9.06368406e-01 3.79836666e-01 -1.84987621e-01 1.68086919e+02] [ 2.01008123e-01 -2.56976541e-03 9.79586204e-01 9.58698254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.88, Y:168.11, Z:95.87 [[ 3.71706965e-01 -9.25075974e-01 -7.78997696e-02 2.29879575e+02] [ 9.06287257e-01 3.79778528e-01 -1.85503848e-01 1.68111637e+02] [ 2.01189813e-01 -1.64649625e-03 9.79550891e-01 9.58744047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:168.14, Z:95.88 [[ 3.71928948e-01 -9.24984856e-01 -7.79222288e-02 2.29891624e+02] [ 9.06151498e-01 3.80000857e-01 -1.85711635e-01 1.68136609e+02] [ 2.01390963e-01 -1.53781134e-03 9.79509732e-01 9.58793928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:168.16, Z:95.88 [[ 3.72716938e-01 -9.24678824e-01 -7.77891738e-02 2.29905118e+02] [ 9.05873618e-01 3.80745779e-01 -1.85541479e-01 1.68159452e+02] [ 2.01184176e-01 -1.31270851e-03 9.79552553e-01 9.58843158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:168.19, Z:95.88 [[ 3.72034737e-01 -9.25850027e-01 -6.62712707e-02 2.29915310e+02] [ 9.06677702e-01 3.77765571e-01 -1.87693147e-01 1.68190033e+02] [ 1.98810709e-01 9.74168711e-03 9.79989490e-01 9.58826148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:229.94, Y:168.20, Z:95.90 [[ 3.71810004e-01 -9.24146334e-01 -8.78115839e-02 2.29935345e+02] [ 9.05992963e-01 3.81861078e-01 -1.82644102e-01 1.68204843e+02] [ 2.02321703e-01 -1.16477727e-02 9.79249844e-01 9.58992850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:229.94, Y:168.24, Z:95.89 [[ 3.71351173e-01 -9.26041419e-01 -6.74210336e-02 2.29942088e+02] [ 9.06773110e-01 3.77321031e-01 -1.88125932e-01 1.68237597e+02] [ 1.99651779e-01 8.72520528e-03 9.79828065e-01 9.58939630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.96, Y:168.26, Z:95.90 [[ 3.69170281e-01 -9.26165108e-01 -7.70162022e-02 2.29961309e+02] [ 9.07860253e-01 3.77111421e-01 -1.83239560e-01 1.68257152e+02] [ 1.98753777e-01 -2.27334884e-03 9.80046819e-01 9.59024859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:168.28, Z:95.92 [[ 3.69654002e-01 -9.24738743e-01 -9.06320904e-02 2.29982030e+02] [ 9.06983258e-01 3.80294909e-01 -1.80989368e-01 1.68277996e+02] [ 2.01834803e-01 -1.52983445e-02 9.79300093e-01 9.59180439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:229.99, Y:168.30, Z:95.92 [[ 3.69591660e-01 -9.25674736e-01 -8.07978160e-02 2.29991471e+02] [ 9.06957832e-01 3.78289808e-01 -1.85268218e-01 1.68304412e+02] [ 2.02063099e-01 -4.80662386e-03 9.79360710e-01 9.59205764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:168.33, Z:95.92 [[ 3.67794095e-01 -9.26822102e-01 -7.56854929e-02 2.30005315e+02] [ 9.08053395e-01 3.75500422e-01 -1.85576034e-01 1.68330301e+02] [ 2.00415905e-01 -4.72699117e-04 9.79710795e-01 9.59246869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:168.35, Z:95.94 [[ 3.66605186e-01 -9.26475117e-01 -8.51146005e-02 2.30021263e+02] [ 9.08328762e-01 3.76214749e-01 -1.82760287e-01 1.68350503e+02] [ 2.01344227e-01 -1.03111706e-02 9.79466274e-01 9.59361322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.03, Y:168.37, Z:95.94 [[ 3.64201538e-01 -9.28224350e-01 -7.58735509e-02 2.30027005e+02] [ 9.09634201e-01 3.72017046e-01 -1.84848417e-01 1.68373862e+02] [ 1.99807056e-01 -1.69509924e-03 9.79833796e-01 9.59365898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:168.40, Z:95.94 [[ 3.63716887e-01 -9.28340553e-01 -7.67713756e-02 2.30039470e+02] [ 9.09880991e-01 3.71719953e-01 -1.84230449e-01 1.68397874e+02] [ 1.99566049e-01 -2.84508970e-03 9.79880247e-01 9.59424511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.05, Y:168.42, Z:95.95 [[ 3.63568120e-01 -9.28395673e-01 -7.68094799e-02 2.30051913e+02] [ 9.09888463e-01 3.71582453e-01 -1.84470772e-01 1.68422934e+02] [ 1.99802922e-01 -2.82036769e-03 9.79832046e-01 9.59479084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:168.45, Z:95.95 [[ 3.63853925e-01 -9.28266106e-01 -7.70217981e-02 2.30065916e+02] [ 9.09622441e-01 3.71906895e-01 -1.85127730e-01 1.68447064e+02] [ 2.00492735e-01 -2.70130479e-03 9.79691465e-01 9.59531204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:168.47, Z:95.96 [[ 3.65902224e-01 -9.27450730e-01 -7.71408159e-02 2.30081909e+02] [ 9.08730515e-01 3.73938566e-01 -1.85415207e-01 1.68474744e+02] [ 2.00809395e-01 -2.25637689e-03 9.79627733e-01 9.59584303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:168.50, Z:95.97 [[ 3.66543449e-01 -9.26245545e-01 -8.78355877e-02 2.30098535e+02] [ 9.08168312e-01 3.76701389e-01 -1.82555146e-01 1.68496891e+02] [ 2.02178678e-01 -1.28551047e-02 9.79264279e-01 9.59704143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:168.52, Z:95.97 [[ 3.64367716e-01 -9.28586050e-01 -7.04564805e-02 2.30098921e+02] [ 9.09472554e-01 3.71093005e-01 -1.87482412e-01 1.68524829e+02] [ 2.00239460e-01 4.23430311e-03 9.79737837e-01 9.59656980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:168.55, Z:95.97 [[ 3.65235022e-01 -9.27771294e-01 -7.64447785e-02 2.30113055e+02] [ 9.09238758e-01 3.73143356e-01 -1.84523487e-01 1.68547464e+02] [ 1.99720456e-01 -2.11211551e-03 9.79850641e-01 9.59746566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.12, Y:168.57, Z:95.98 [[ 3.65747179e-01 -9.27629012e-01 -7.57193289e-02 2.30123648e+02] [ 9.09426254e-01 3.73497678e-01 -1.82875294e-01 1.68572000e+02] [ 1.97921422e-01 -1.97502285e-03 9.80215900e-01 9.59807186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.13, Y:168.60, Z:95.99 [[ 3.65187237e-01 -9.27863997e-01 -7.55426056e-02 2.30134093e+02] [ 9.09721952e-01 3.72913179e-01 -1.82597181e-01 1.68597446e+02] [ 1.97596183e-01 -2.04060662e-03 9.80281380e-01 9.59861142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:168.63, Z:95.98 [[ 3.63504430e-01 -9.29160230e-01 -6.72740406e-02 2.30139689e+02] [ 9.10960742e-01 3.69639752e-01 -1.83076434e-01 1.68625126e+02] [ 1.94974501e-01 5.26508476e-03 9.80794180e-01 9.59839713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:168.65, Z:96.00 [[ 3.63912394e-01 -9.27780676e-01 -8.24062266e-02 2.30157467e+02] [ 9.09846935e-01 3.73021382e-01 -1.81751485e-01 1.68647674e+02] [ 1.99364801e-01 -8.83543463e-03 9.79885509e-01 9.59987735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:168.67, Z:96.00 [[ 3.64116289e-01 -9.28217105e-01 -7.63697213e-02 2.30164422e+02] [ 9.09631912e-01 3.72032660e-01 -1.84828259e-01 1.68674757e+02] [ 1.99972782e-01 -2.16935586e-03 9.79799051e-01 9.60009075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.17, Y:168.70, Z:96.00 [[ 3.61900144e-01 -9.29506838e-01 -7.10304481e-02 2.30170226e+02] [ 9.10887249e-01 3.68797724e-01 -1.85128764e-01 1.68702327e+02] [ 1.98274320e-01 2.29739705e-03 9.80143875e-01 9.60008351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:168.73, Z:96.01 [[ 3.59494685e-01 -9.30052421e-01 -7.59346085e-02 2.30181445e+02] [ 9.11661181e-01 3.67414150e-01 -1.84067198e-01 1.68727339e+02] [ 1.99091593e-01 -3.05545535e-03 9.79976123e-01 9.60085829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.19, Y:168.75, Z:96.01 [[ 3.58253402e-01 -9.30592475e-01 -7.51807494e-02 2.30191509e+02] [ 9.12139249e-01 3.66048307e-01 -1.84419705e-01 1.68753343e+02] [ 1.99139376e-01 -2.50632571e-03 9.79967973e-01 9.60137312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:168.78, Z:96.02 [[ 3.55088360e-01 -9.31814108e-01 -7.50648046e-02 2.30201134e+02] [ 9.13306421e-01 3.62924069e-01 -1.84817481e-01 1.68777581e+02] [ 1.99458360e-01 -2.93063178e-03 9.79901921e-01 9.60194117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:168.81, Z:96.02 [[ 3.52671621e-01 -9.33540450e-01 -6.42258157e-02 2.30204816e+02] [ 9.14808653e-01 3.58405403e-01 -1.86200685e-01 1.68806273e+02] [ 1.96844751e-01 6.91336535e-03 9.80410297e-01 9.60166102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:168.83, Z:96.03 [[ 3.51484435e-01 -9.33190440e-01 -7.49286041e-02 2.30219319e+02] [ 9.15218328e-01 3.59354154e-01 -1.82318414e-01 1.68828853e+02] [ 1.97063706e-01 -4.49394698e-03 9.80380385e-01 9.60265190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.110385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.23, Y:168.85, Z:96.04 [[ 3.51023588e-01 -9.32783011e-01 -8.18431098e-02 2.30233162e+02] [ 9.14903187e-01 3.60271719e-01 -1.82089117e-01 1.68854183e+02] [ 1.99335393e-01 -1.09609470e-02 9.79870021e-01 9.60371931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:168.88, Z:96.05 [[ 3.51805239e-01 -9.32468568e-01 -8.20697453e-02 2.30243651e+02] [ 9.13907331e-01 3.61118558e-01 -1.85382788e-01 1.68879281e+02] [ 2.02500531e-01 -9.78550575e-03 9.79233261e-01 9.60455714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:168.91, Z:96.04 [[ 3.50345385e-01 -9.34041377e-01 -6.94609035e-02 2.30246628e+02] [ 9.14939080e-01 3.57157444e-01 -1.87949567e-01 1.68909030e+02] [ 2.00361151e-01 2.29476825e-03 9.79719421e-01 9.60415954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.26, Y:168.93, Z:96.06 [[ 3.51858588e-01 -9.32330178e-01 -8.34024823e-02 2.30263831e+02] [ 9.13788103e-01 3.61440848e-01 -1.85342429e-01 1.68930131e+02] [ 2.02945404e-01 -1.09978707e-02 9.79128291e-01 9.60561909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.26, Y:168.96, Z:96.05 [[ 3.49474414e-01 -9.34759945e-01 -6.39646746e-02 2.30262399e+02] [ 9.15722970e-01 3.55209691e-01 -1.87823101e-01 1.68960955e+02] [ 1.98290384e-01 7.06544646e-03 9.80117852e-01 9.60473294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.28, Y:168.98, Z:96.06 [[ 3.51243475e-01 -9.33335693e-01 -7.42462566e-02 2.30278172e+02] [ 9.15336309e-01 3.58983951e-01 -1.82455379e-01 1.68984722e+02] [ 1.96945332e-01 -3.87403335e-03 9.80406818e-01 9.60577338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.30, Y:169.01, Z:96.07 [[ 3.54042775e-01 -9.31304612e-01 -8.55887407e-02 2.30296215e+02] [ 9.13273807e-01 3.63993836e-01 -1.82864540e-01 1.69007528e+02] [ 2.01456364e-01 -1.34240859e-02 9.79405497e-01 9.60746924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.320385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.30, Y:169.03, Z:96.08 [[ 3.55438411e-01 -9.31587030e-01 -7.62177323e-02 2.30301935e+02] [ 9.12884485e-01 3.63501040e-01 -1.85765742e-01 1.69034423e+02] [ 2.00762180e-01 -3.54970538e-03 9.79633578e-01 9.60763273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.350385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.31, Y:169.06, Z:96.08 [[ 3.56375937e-01 -9.31464597e-01 -7.32795798e-02 2.30310467e+02] [ 9.13172344e-01 3.63829078e-01 -1.83697229e-01 1.69060818e+02] [ 1.97768707e-01 -1.45161370e-03 9.80247638e-01 9.60786450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:169.09, Z:96.09 [[ 3.58037875e-01 -9.30502284e-01 -7.72941167e-02 2.30321939e+02] [ 9.12084844e-01 3.66258171e-01 -1.84272051e-01 1.69085098e+02] [ 1.99775166e-01 -4.52241899e-03 9.79831328e-01 9.60875361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.410385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:230.33, Y:169.11, Z:96.09 [[ 3.59772364e-01 -9.29923147e-01 -7.62022825e-02 2.30330433e+02] [ 9.11116565e-01 3.67745560e-01 -1.86090861e-01 1.69111802e+02] [ 2.01073251e-01 -2.47881273e-03 9.79573072e-01 9.60912932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:230.34, Y:169.14, Z:96.10 [[ 3.60860256e-01 -9.29487544e-01 -7.63726424e-02 2.30340095e+02] [ 9.10555088e-01 3.68847035e-01 -1.86658232e-01 1.69137018e+02] [ 2.01666325e-01 -2.18396062e-03 9.79451849e-01 9.60964096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:169.16, Z:96.10 [[ 3.61360025e-01 -9.29290409e-01 -7.64085551e-02 2.30349715e+02] [ 9.10302774e-01 3.69344386e-01 -1.86905281e-01 1.69162363e+02] [ 2.01910356e-01 -2.01482255e-03 9.79401934e-01 9.61019800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:169.20, Z:96.09 [[ 3.59927951e-01 -9.31602902e-01 -5.06744877e-02 2.30346667e+02] [ 9.12523498e-01 3.62827952e-01 -1.88829933e-01 1.69196318e+02] [ 1.94300634e-01 2.17235099e-02 9.80701460e-01 9.60880503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:169.21, Z:96.12 [[ 3.63138421e-01 -9.26619346e-01 -9.75042278e-02 2.30380787e+02] [ 9.09735118e-01 3.75223701e-01 -1.77733479e-01 1.69207040e+02] [ 2.01277178e-01 -2.41611651e-02 9.79236302e-01 9.61230812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:169.25, Z:96.10 [[ 3.61306456e-01 -9.31138756e-01 -4.93787564e-02 2.30367323e+02] [ 9.12181084e-01 3.63938493e-01 -1.88346607e-01 1.69246214e+02] [ 1.93347656e-01 2.30084775e-02 9.80860487e-01 9.60997695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.590385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:230.40, Y:169.26, Z:96.13 [[ 3.64095042e-01 -9.26764189e-01 -9.24280141e-02 2.30400056e+02] [ 9.09946295e-01 3.75126077e-01 -1.76856345e-01 1.69259942e+02] [ 1.98576285e-01 -1.97120107e-02 9.79887185e-01 9.61292624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.620385723 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:230.40, Y:169.29, Z:96.12 [[ 3.64574541e-01 -9.28471648e-01 -7.08928948e-02 2.30401477e+02] [ 9.09810777e-01 3.71390890e-01 -1.85238109e-01 1.69292457e+02] [ 1.98317307e-01 3.03397877e-03 9.80133175e-01 9.61248446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.650385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:230.42, Y:169.31, Z:96.14 [[ 3.64278529e-01 -9.27504667e-01 -8.38823397e-02 2.30418416e+02] [ 9.09227749e-01 3.73692452e-01 -1.83463489e-01 1.69313645e+02] [ 2.01509440e-01 -9.43634096e-03 9.79441117e-01 9.61378752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.680385723 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:230.42, Y:169.34, Z:96.14 [[ 3.62993262e-01 -9.28445763e-01 -7.88945932e-02 2.30424641e+02] [ 9.09306180e-01 3.71450072e-01 -1.87582291e-01 1.69338231e+02] [ 2.03465385e-01 -3.64823354e-03 9.79075343e-01 9.61427010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.710385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:230.44, Y:169.37, Z:96.15 [[ 3.65098699e-01 -9.28011745e-01 -7.41427077e-02 2.30438073e+02] [ 9.08595516e-01 3.72547581e-01 -1.88845142e-01 1.69368742e+02] [ 2.02872196e-01 1.58138386e-03 9.79203948e-01 9.61458940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.740385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:230.45, Y:169.39, Z:96.15 [[ 3.64654468e-01 -9.27791879e-01 -7.89262252e-02 2.30450620e+02] [ 9.08770020e-01 3.73081200e-01 -1.86942423e-01 1.69393582e+02] [ 2.02889552e-01 -3.55639760e-03 9.79195170e-01 9.61534816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.770385723 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:230.46, Y:169.42, Z:96.16 [[ 3.59559436e-01 -9.29930484e-01 -7.71123046e-02 2.30455900e+02] [ 9.12005535e-01 3.67701790e-01 -1.81772654e-01 1.69418015e+02] [ 1.97390264e-01 -4.96877572e-03 9.80312397e-01 9.61552435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.800385723 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:230.47, Y:169.44, Z:96.17 [[ 3.57706149e-01 -9.30508997e-01 -7.87357500e-02 2.30466500e+02] [ 9.11357745e-01 3.66240718e-01 -1.87869098e-01 1.69441586e+02] [ 2.03650123e-01 -4.55450405e-03 9.79033137e-01 9.61650650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.830385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:230.48, Y:169.47, Z:96.17 [[ 3.55640607e-01 -9.31474596e-01 -7.66474804e-02 2.30476619e+02] [ 9.12087298e-01 3.63796598e-01 -1.89073523e-01 1.69466025e+02] [ 2.04001276e-01 -2.66697077e-03 9.78966990e-01 9.61702071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:230.49, Y:169.49, Z:96.18 [[ 3.51663493e-01 -9.32977602e-01 -7.67175418e-02 2.30487915e+02] [ 9.13556302e-01 3.59917616e-01 -1.89404841e-01 1.69491562e+02] [ 2.04322469e-01 -3.47902588e-03 9.78897454e-01 9.61761630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.890385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:230.50, Y:169.52, Z:96.18 [[ 3.50174376e-01 -9.33527376e-01 -7.68410353e-02 2.30498320e+02] [ 9.14024727e-01 3.58486496e-01 -1.89858451e-01 1.69516544e+02] [ 2.04784535e-01 -3.75104163e-03 9.78799890e-01 9.61816458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.920385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:230.51, Y:169.54, Z:96.19 [[ 3.48097465e-01 -9.34285991e-01 -7.70573911e-02 2.30508401e+02] [ 9.14658943e-01 3.56500257e-01 -1.90542869e-01 1.69540966e+02] [ 2.05492513e-01 -4.15374215e-03 9.78649873e-01 9.61871808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.950385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:230.52, Y:169.57, Z:96.19 [[ 3.47503762e-01 -9.34487921e-01 -7.72881734e-02 2.30517772e+02] [ 9.14713443e-01 3.55969722e-01 -1.91271731e-01 1.69565334e+02] [ 2.06253372e-01 -4.22888514e-03 9.78489480e-01 9.61926399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.980385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:230.53, Y:169.59, Z:96.20 [[ 3.47161434e-01 -9.34630641e-01 -7.71006111e-02 2.30527304e+02] [ 9.14924013e-01 3.55594618e-01 -1.90962085e-01 1.69591062e+02] [ 2.05895578e-01 -4.24652944e-03 9.78564754e-01 9.61972772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.010385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:230.54, Y:169.62, Z:96.20 [[ 3.47505071e-01 -9.34486466e-01 -7.72998743e-02 2.30537392e+02] [ 9.14642182e-01 3.55974831e-01 -1.91602708e-01 1.69617137e+02] [ 2.06566947e-01 -4.11881297e-03 9.78423800e-01 9.62030449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.040385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:230.55, Y:169.64, Z:96.21 [[ 3.47772167e-01 -9.34401239e-01 -7.71287581e-02 2.30546922e+02] [ 9.14610719e-01 3.56199817e-01 -1.91334585e-01 1.69642188e+02] [ 2.06256523e-01 -4.00194576e-03 9.78489771e-01 9.62083299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.070385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:230.54, Y:169.68, Z:96.19 [[ 3.43700598e-01 -9.37963711e-01 -4.57599883e-02 2.30537279e+02] [ 9.17779827e-01 3.45825432e-01 -1.95153682e-01 1.69675079e+02] [ 1.98872039e-01 2.50768430e-02 9.79704580e-01 9.61900618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.100385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:230.58, Y:169.69, Z:96.23 [[ 3.45709721e-01 -9.32774543e-01 -1.02060972e-01 2.30576988e+02] [ 9.16450873e-01 3.58998337e-01 -1.76742727e-01 1.69685472e+02] [ 2.01500835e-01 -3.24321881e-02 9.78951259e-01 9.62280853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.130385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:230.57, Y:169.72, Z:96.22 [[ 3.45244132e-01 -9.35741867e-01 -7.20669605e-02 2.30572479e+02] [ 9.16227301e-01 3.52685413e-01 -1.90106636e-01 1.69719379e+02] [ 2.03307704e-01 -3.96515983e-04 9.79114815e-01 9.62212008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:230.58, Y:169.74, Z:96.23 [[ 3.44386211e-01 -9.35792254e-01 -7.54386763e-02 2.30583193e+02] [ 9.16646207e-01 3.52525978e-01 -1.88375067e-01 1.69744014e+02] [ 2.02874022e-01 -4.27680082e-03 9.79195507e-01 9.62276542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:230.59, Y:169.77, Z:96.23 [[ 3.43251944e-01 -9.36236220e-01 -7.50988857e-02 2.30592175e+02] [ 9.17241119e-01 3.51342928e-01 -1.87688241e-01 1.69769926e+02] [ 2.02105991e-01 -4.45943259e-03 9.79353502e-01 9.62333319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.220385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:230.61, Y:169.80, Z:96.24 [[ 3.43725433e-01 -9.35507705e-01 -8.17200147e-02 2.30607124e+02] [ 9.16803307e-01 3.53140157e-01 -1.86450330e-01 1.69795449e+02] [ 2.03284339e-01 -1.08334595e-02 9.79059811e-01 9.62435786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.250385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:230.62, Y:169.82, Z:96.25 [[ 3.43428430e-01 -9.35748169e-01 -8.02014796e-02 2.30616231e+02] [ 9.16710033e-01 3.52555236e-01 -1.88009365e-01 1.69822737e+02] [ 2.04204870e-01 -8.95374005e-03 9.78887226e-01 9.62500023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.280385723 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:230.62, Y:169.85, Z:96.25 [[ 3.43647018e-01 -9.36912450e-01 -6.40452082e-02 2.30620105e+02] [ 9.16913018e-01 3.49483734e-01 -1.92695710e-01 1.69853823e+02] [ 2.02921768e-01 7.49542089e-03 9.79166265e-01 9.62466087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.63, Y:169.87, Z:96.26 [[ 3.42254798e-01 -9.35927477e-01 -8.30747366e-02 2.30634279e+02] [ 9.17403259e-01 3.51965538e-01 -1.85718929e-01 1.69870443e+02] [ 2.03058893e-01 -1.26498395e-02 9.79084811e-01 9.62601914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.340385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:230.64, Y:169.90, Z:96.26 [[ 3.42834154e-01 -9.36354965e-01 -7.55256404e-02 2.30639380e+02] [ 9.17162753e-01 3.51024675e-01 -1.88664152e-01 1.69898899e+02] [ 2.03167979e-01 -4.58878922e-03 9.79133145e-01 9.62625961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:230.65, Y:169.92, Z:96.27 [[ 3.43694170e-01 -9.36051473e-01 -7.53787604e-02 2.30648911e+02] [ 9.16896041e-01 3.51836261e-01 -1.88448657e-01 1.69924943e+02] [ 2.02918624e-01 -4.34578228e-03 9.79185961e-01 9.62684619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:169.95, Z:96.27 [[ 3.46357438e-01 -9.35111188e-01 -7.48571455e-02 2.30658741e+02] [ 9.15954776e-01 3.54338755e-01 -1.88337184e-01 1.69952816e+02] [ 2.02640995e-01 -3.33377553e-03 9.79247422e-01 9.62731328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.67, Y:169.98, Z:96.28 [[ 3.47743798e-01 -9.34459944e-01 -7.65432134e-02 2.30666349e+02] [ 9.15277841e-01 3.56039374e-01 -1.88420906e-01 1.69976531e+02] [ 2.03324187e-01 -4.53610579e-03 9.79100965e-01 9.62796370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.460385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:230.67, Y:170.01, Z:96.27 [[ 3.46928027e-01 -9.36150003e-01 -5.71324469e-02 2.30665017e+02] [ 9.16610988e-01 3.51329394e-01 -1.90766753e-01 1.70008534e+02] [ 1.98658604e-01 1.38141048e-02 9.79971392e-01 9.62697087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.490385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:230.69, Y:170.03, Z:96.30 [[ 3.50274899e-01 -9.32212776e-01 -9.10320616e-02 2.30690036e+02] [ 9.14140507e-01 3.61417326e-01 -1.83642725e-01 1.70025144e+02] [ 2.04094659e-01 -1.88906581e-02 9.78768876e-01 9.62958497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.520385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:230.69, Y:170.05, Z:96.30 [[ 3.50105832e-01 -9.33650722e-01 -7.56454557e-02 2.30691961e+02] [ 9.14183528e-01 3.58174253e-01 -1.89683110e-01 1.70054499e+02] [ 2.04192027e-01 -2.74466659e-03 9.78927006e-01 9.62952317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.550385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:230.68, Y:170.09, Z:96.28 [[ 3.45549726e-01 -9.37168578e-01 -4.80670612e-02 2.30684253e+02] [ 9.17618957e-01 3.48173884e-01 -1.91703929e-01 1.70088919e+02] [ 1.96394594e-01 2.21359935e-02 9.80275044e-01 9.62796527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.580385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:230.71, Y:170.11, Z:96.30 [[ 3.44798879e-01 -9.35711325e-01 -7.45523328e-02 2.30706627e+02] [ 9.17902365e-01 3.52719729e-01 -1.81780200e-01 1.70108070e+02] [ 1.96389871e-01 -5.75415330e-03 9.80509005e-01 9.62966644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.610385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:230.73, Y:170.13, Z:96.32 [[ 3.44321501e-01 -9.34191392e-01 -9.34299099e-02 2.30726058e+02] [ 9.17035561e-01 3.55979341e-01 -1.79790124e-01 1.70126572e+02] [ 2.01217504e-01 -2.37729443e-02 9.79258068e-01 9.63197211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.640385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:230.73, Y:170.16, Z:96.32 [[ 3.42711617e-01 -9.36495028e-01 -7.43357922e-02 2.30726165e+02] [ 9.17644452e-01 3.50656570e-01 -1.86999009e-01 1.70156736e+02] [ 2.01189976e-01 -4.12709462e-03 9.79543547e-01 9.63170607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.670385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:230.73, Y:170.18, Z:96.32 [[ 3.41060440e-01 -9.37095660e-01 -7.43606136e-02 2.30734694e+02] [ 9.18212646e-01 3.49044633e-01 -1.87225483e-01 1.70183411e+02] [ 2.01403360e-01 -4.42365026e-03 9.79498401e-01 9.63226508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.700385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:230.74, Y:170.21, Z:96.33 [[ 3.39536678e-01 -9.37656086e-01 -7.42691697e-02 2.30743019e+02] [ 9.18802146e-01 3.47532754e-01 -1.87145938e-01 1.70209627e+02] [ 2.01289497e-01 -4.69576238e-03 9.79520540e-01 9.63274225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.730385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:230.75, Y:170.24, Z:96.33 [[ 3.37346599e-01 -9.38453775e-01 -7.41740189e-02 2.30750453e+02] [ 9.19635967e-01 3.45367065e-01 -1.87059560e-01 1.70236882e+02] [ 2.01164013e-01 -5.10918909e-03 9.79544249e-01 9.63325627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.760385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:230.76, Y:170.26, Z:96.34 [[ 3.36121941e-01 -9.38884167e-01 -7.42870257e-02 2.30758513e+02] [ 9.19986850e-01 3.44192118e-01 -1.87499283e-01 1.70262662e+02] [ 2.01609117e-01 -5.32046388e-03 9.79451610e-01 9.63379577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.790385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:230.76, Y:170.29, Z:96.34 [[ 3.34944678e-01 -9.39283586e-01 -7.45547336e-02 2.30764115e+02] [ 9.20224289e-01 3.43097407e-01 -1.88338599e-01 1.70289845e+02] [ 2.02482890e-01 -5.52406533e-03 9.79270220e-01 9.63428342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.820385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:230.77, Y:170.32, Z:96.35 [[ 3.34896859e-01 -9.39299604e-01 -7.45677430e-02 2.30772172e+02] [ 9.20202345e-01 3.43054239e-01 -1.88524361e-01 1.70316599e+02] [ 2.02661638e-01 -5.48119575e-03 9.79233484e-01 9.63482987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.850385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:230.77, Y:170.35, Z:96.34 [[ 3.34064269e-01 -9.40908033e-01 -5.56159812e-02 2.30770213e+02] [ 9.21308382e-01 3.38423077e-01 -1.91469807e-01 1.70349170e+02] [ 1.98977211e-01 1.27237514e-02 9.79921515e-01 9.63392206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.880385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:230.78, Y:170.37, Z:96.35 [[ 3.35572185e-01 -9.39105277e-01 -7.39769338e-02 2.30784996e+02] [ 9.20385902e-01 3.43586300e-01 -1.86650061e-01 1.70372290e+02] [ 2.00701519e-01 -5.45275815e-03 9.79637263e-01 9.63520072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.80, Y:170.40, Z:96.36 [[ 3.36501095e-01 -9.38413635e-01 -7.84019347e-02 2.30796230e+02] [ 9.19805362e-01 3.45384352e-01 -1.86192766e-01 1.70397267e+02] [ 2.01804631e-01 -9.46045039e-03 9.79380105e-01 9.63610670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:170.42, Z:96.37 [[ 3.37212225e-01 -9.37769864e-01 -8.29192205e-02 2.30808056e+02] [ 9.18885909e-01 3.47017608e-01 -1.87689815e-01 1.70423445e+02] [ 2.04784282e-01 -1.29020032e-02 9.78722094e-01 9.63718124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.81, Y:170.45, Z:96.37 [[ 3.37773947e-01 -9.38100113e-01 -7.66611968e-02 2.30811714e+02] [ 9.18480647e-01 3.46313710e-01 -1.90945324e-01 1.70452254e+02] [ 2.05674653e-01 -5.91546995e-03 9.78602547e-01 9.63747862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.82, Y:170.48, Z:96.38 [[ 3.37207396e-01 -9.38096666e-01 -7.91569133e-02 2.30818702e+02] [ 9.18481515e-01 3.46274265e-01 -1.91012670e-01 1.70475884e+02] [ 2.06598351e-01 -8.29327649e-03 9.78390690e-01 9.63815565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.030385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.82, Y:170.50, Z:96.39 [[ 3.37482814e-01 -9.38237704e-01 -7.62585106e-02 2.30824670e+02] [ 9.18091827e-01 3.45959024e-01 -1.93441856e-01 1.70502993e+02] [ 2.07876763e-01 -4.72901333e-03 9.78143593e-01 9.63858273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:170.53, Z:96.39 [[ 3.37535371e-01 -9.38691019e-01 -7.02071482e-02 2.30832823e+02] [ 9.17683447e-01 3.44752356e-01 -1.97491528e-01 1.70531633e+02] [ 2.09587604e-01 2.23243857e-03 9.77787325e-01 9.63892585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.85, Y:170.55, Z:96.40 [[ 3.38115998e-01 -9.37502849e-01 -8.22555731e-02 2.30847775e+02] [ 9.18048782e-01 3.47798480e-01 -1.90322495e-01 1.70553377e+02] [ 2.07036245e-01 -1.11635482e-02 9.78269579e-01 9.63999374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.120385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:230.85, Y:170.58, Z:96.40 [[ 3.37690880e-01 -9.38198663e-01 -7.58164849e-02 2.30852196e+02] [ 9.18509841e-01 3.46060350e-01 -1.91263968e-01 1.70581188e+02] [ 2.05680679e-01 -5.05008983e-03 9.78606129e-01 9.64039364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.86, Y:170.61, Z:96.41 [[ 3.36779912e-01 -9.38442083e-01 -7.68488562e-02 2.30860080e+02] [ 9.18883750e-01 3.45377496e-01 -1.90701441e-01 1.70605516e+02] [ 2.05504123e-01 -6.39075053e-03 9.78635383e-01 9.64098380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.87, Y:170.63, Z:96.41 [[ 3.36129610e-01 -9.38767914e-01 -7.57079172e-02 2.30868697e+02] [ 9.19117350e-01 3.44508849e-01 -1.91146408e-01 1.70633130e+02] [ 2.05524162e-01 -5.33449244e-03 9.78637503e-01 9.64146662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:170.66, Z:96.42 [[ 3.35071212e-01 -9.39228304e-01 -7.46825062e-02 2.30875917e+02] [ 9.19708544e-01 3.43259065e-01 -1.90550281e-01 1.70657526e+02] [ 2.04605664e-01 -4.83822556e-03 9.78832526e-01 9.64200510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.240385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:230.89, Y:170.68, Z:96.43 [[ 3.35492836e-01 -9.38566921e-01 -8.08498111e-02 2.30887897e+02] [ 9.19309275e-01 3.44929362e-01 -1.89457628e-01 1.70681072e+02] [ 2.05706137e-01 -1.07643042e-02 9.78554605e-01 9.64294264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.90, Y:170.71, Z:96.44 [[ 3.33449011e-01 -9.38955657e-01 -8.46996524e-02 2.30897469e+02] [ 9.19774465e-01 3.43721801e-01 -1.89394449e-01 1.70707578e+02] [ 2.06946106e-01 -1.47511857e-02 9.78241132e-01 9.64384325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:170.74, Z:96.43 [[ 3.32446460e-01 -9.41191438e-01 -6.03160712e-02 2.30894465e+02] [ 9.20767715e-01 3.37743880e-01 -1.95232903e-01 1.70739303e+02] [ 2.04122921e-01 9.36739640e-03 9.78900447e-01 9.64307391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:170.76, Z:96.44 [[ 3.31050812e-01 -9.40656501e-01 -7.46371667e-02 2.30908485e+02] [ 9.21129144e-01 3.39313975e-01 -1.90754101e-01 1.70762385e+02] [ 2.04759519e-01 -5.60116939e-03 9.78796284e-01 9.64398466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.360385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.92, Y:170.79, Z:96.45 [[ 3.30940625e-01 -9.40688081e-01 -7.47277508e-02 2.30917986e+02] [ 9.21080489e-01 3.39226877e-01 -1.91143554e-01 1.70788572e+02] [ 2.05156124e-01 -5.57310613e-03 9.78713393e-01 9.64452685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.390385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.93, Y:170.81, Z:96.45 [[ 3.31289934e-01 -9.40567002e-01 -7.47040418e-02 2.30926948e+02] [ 9.20936090e-01 3.39564574e-01 -1.91239689e-01 1.70814927e+02] [ 2.05240587e-01 -5.44186418e-03 9.78696423e-01 9.64507723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.420385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:230.96, Y:170.83, Z:96.49 [[ 3.33710595e-01 -9.33290551e-01 -1.32687551e-01 2.30964547e+02] [ 9.17121620e-01 3.53983369e-01 -1.83258582e-01 1.70827028e+02] [ 2.18002690e-01 -6.05352911e-02 9.74068943e-01 9.64944051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:170.88, Z:96.45 [[ 3.33254493e-01 -9.42519090e-01 -2.44787054e-02 2.30921855e+02] [ 9.19718877e-01 3.30687693e-01 -2.11572298e-01 1.70880945e+02] [ 2.07505736e-01 4.79938913e-02 9.77055759e-01 9.64456535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.95, Y:170.89, Z:96.47 [[ 3.34694633e-01 -9.39312089e-01 -7.53146888e-02 2.30954826e+02] [ 9.19240472e-01 3.43033398e-01 -1.93196901e-01 1.70893195e+02] [ 2.07307638e-01 -4.57034405e-03 9.78265125e-01 9.64672340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.510385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.96, Y:170.92, Z:96.47 [[ 3.36082159e-01 -9.38726846e-01 -7.64244123e-02 2.30964068e+02] [ 9.18729497e-01 3.44619476e-01 -1.92804379e-01 1.70916497e+02] [ 2.07327987e-01 -5.41524997e-03 9.78256501e-01 9.64725984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.97, Y:170.94, Z:96.48 [[ 3.35501351e-01 -9.39158180e-01 -7.36257855e-02 2.30974398e+02] [ 9.18613101e-01 3.43478630e-01 -1.95377589e-01 1.70944610e+02] [ 2.08779345e-01 -2.08416606e-03 9.77960552e-01 9.64777900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.99, Y:170.97, Z:96.48 [[ 3.35683655e-01 -9.38944349e-01 -7.54983031e-02 2.30985818e+02] [ 9.18666071e-01 3.44043520e-01 -1.94130644e-01 1.70968575e+02] [ 2.08252573e-01 -4.19124549e-03 9.78066102e-01 9.64845685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.600385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.00, Y:170.99, Z:96.49 [[ 3.35388414e-01 -9.39055495e-01 -7.54280351e-02 2.30996743e+02] [ 9.18782874e-01 3.43739953e-01 -1.94115624e-01 1.70993705e+02] [ 2.08212972e-01 -4.19785573e-03 9.78074504e-01 9.64902450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.630385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:231.01, Y:171.02, Z:96.50 [[ 3.34136115e-01 -9.39433508e-01 -7.62741159e-02 2.31008240e+02] [ 9.18673304e-01 3.42702600e-01 -1.96454288e-01 1.71017760e+02] [ 2.10695079e-01 -4.42852134e-03 9.77541801e-01 9.64956314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.660385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:231.02, Y:171.04, Z:96.50 [[ 3.33986836e-01 -9.39491037e-01 -7.62193203e-02 2.31018255e+02] [ 9.18727472e-01 3.42545167e-01 -1.96475546e-01 1.71043902e+02] [ 2.10695575e-01 -4.40453748e-03 9.77541802e-01 9.65011960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.690385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:231.03, Y:171.07, Z:96.50 [[ 3.33787274e-01 -9.40099909e-01 -6.92691681e-02 2.31025678e+02] [ 9.18413341e-01 3.40882062e-01 -2.00789331e-01 1.71071058e+02] [ 2.12374648e-01 3.40319530e-03 9.77182392e-01 9.65041157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.06, Y:171.08, Z:96.54 [[ 3.33037682e-01 -9.35754645e-01 -1.15970453e-01 2.31058757e+02] [ 9.17793882e-01 3.49904267e-01 -1.87673637e-01 1.71083097e+02] [ 2.16195034e-01 -4.39345790e-02 9.75361195e-01 9.65405336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.04, Y:171.13, Z:96.51 [[ 3.33433661e-01 -9.41706941e-01 -4.48333606e-02 2.31036566e+02] [ 9.19498080e-01 3.35335472e-01 -2.05118020e-01 1.71126927e+02] [ 2.08195279e-01 2.71690633e-02 9.77709859e-01 9.65089132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.06, Y:171.15, Z:96.52 [[ 3.33256686e-01 -9.40037855e-01 -7.25865888e-02 2.31059982e+02] [ 9.19527682e-01 3.41066089e-01 -1.95301728e-01 1.71145491e+02] [ 2.08347841e-01 -1.65977114e-03 9.78053384e-01 9.65234446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:171.16, Z:96.55 [[ 3.33592512e-01 -9.37299185e-01 -1.00927074e-01 2.31085348e+02] [ 9.18180455e-01 3.47309413e-01 -1.90580229e-01 1.71163770e+02] [ 2.13683616e-01 -2.90931290e-02 9.76469611e-01 9.65464605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.07, Y:171.20, Z:96.53 [[ 3.33591283e-01 -9.41110464e-01 -5.50268124e-02 2.31073921e+02] [ 9.19199502e-01 3.37671174e-01 -2.02609116e-01 1.71200943e+02] [ 2.09258527e-01 1.70080164e-02 9.77712430e-01 9.65282462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:171.22, Z:96.54 [[ 3.33086694e-01 -9.40361338e-01 -6.90927465e-02 2.31091126e+02] [ 9.18647336e-01 3.40159643e-01 -2.00943995e-01 1.71223503e+02] [ 2.12462528e-01 3.45990346e-03 9.77163089e-01 9.65376939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.900385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:231.11, Y:171.25, Z:96.55 [[ 3.32750078e-01 -9.39312448e-01 -8.34835936e-02 2.31108508e+02] [ 9.19035952e-01 3.42852604e-01 -1.94486532e-01 1.71245499e+02] [ 2.11306188e-01 -1.20090152e-02 9.77346141e-01 9.65482287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:231.11, Y:171.27, Z:96.55 [[ 3.32250034e-01 -9.40149843e-01 -7.56847958e-02 2.31114630e+02] [ 9.19439042e-01 3.40733321e-01 -1.96297357e-01 1.71272381e+02] [ 2.10337261e-01 -4.36775259e-03 9.77619128e-01 9.65512320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.12, Y:171.30, Z:96.56 [[ 3.29983362e-01 -9.40982023e-01 -7.52583083e-02 2.31124223e+02] [ 9.20495692e-01 3.38422282e-01 -1.95340832e-01 1.71297517e+02] [ 2.09281300e-01 -4.81572394e-03 9.77843621e-01 9.65562550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.13, Y:171.32, Z:96.56 [[ 3.28456271e-01 -9.41516827e-01 -7.52498716e-02 2.31134151e+02] [ 9.21013356e-01 3.36927405e-01 -1.95484839e-01 1.71323146e+02] [ 2.09406009e-01 -5.09791549e-03 9.77815491e-01 9.65616202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.020385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.15, Y:171.35, Z:96.57 [[ 3.26334308e-01 -9.42232158e-01 -7.55280070e-02 2.31145194e+02] [ 9.21559027e-01 3.34915025e-01 -1.96369261e-01 1.71348631e+02] [ 2.10320897e-01 -5.52148982e-03 9.77616813e-01 9.65667683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.050385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.16, Y:171.37, Z:96.57 [[ 3.25088871e-01 -9.42631881e-01 -7.59102304e-02 2.31156305e+02] [ 9.21721700e-01 3.33784402e-01 -1.97527420e-01 1.71374080e+02] [ 2.11533294e-01 -5.75414059e-03 9.77353854e-01 9.65726588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:171.40, Z:96.58 [[ 3.24433488e-01 -9.43462378e-01 -6.79827455e-02 2.31162923e+02] [ 9.21556495e-01 3.31466646e-01 -2.02147196e-01 1.71401091e+02] [ 2.13252286e-01 2.93337912e-03 9.76992762e-01 9.65753662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:171.42, Z:96.59 [[ 3.24145705e-01 -9.42277549e-01 -8.39201016e-02 2.31181327e+02] [ 9.22140010e-01 3.34522831e-01 -1.94299455e-01 1.71421745e+02] [ 2.11157204e-01 -1.44047497e-02 9.77345967e-01 9.65875755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.140385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:231.19, Y:171.45, Z:96.59 [[ 3.24819390e-01 -9.42737233e-01 -7.57553579e-02 2.31186893e+02] [ 9.21809149e-01 3.33488655e-01 -1.97618849e-01 1.71448715e+02] [ 2.11566199e-01 -5.64154798e-03 9.77347388e-01 9.65900044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:171.47, Z:96.59 [[ 3.25212486e-01 -9.42614756e-01 -7.55927272e-02 2.31196073e+02] [ 9.21747568e-01 3.33836925e-01 -1.97317834e-01 1.71474433e+02] [ 2.11230346e-01 -5.50718906e-03 9.77420796e-01 9.65948325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.200385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:231.21, Y:171.50, Z:96.60 [[ 3.26847241e-01 -9.42044520e-01 -7.56505380e-02 2.31205975e+02] [ 9.21094626e-01 3.35449337e-01 -1.97632065e-01 1.71499094e+02] [ 2.11555126e-01 -5.08580881e-03 9.77352835e-01 9.65994457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.230385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:231.22, Y:171.52, Z:96.61 [[ 3.27857801e-01 -9.41720626e-01 -7.53095298e-02 2.31216768e+02] [ 9.20916283e-01 3.36361816e-01 -1.96910968e-01 1.71524608e+02] [ 2.10766370e-01 -4.79497517e-03 9.77524703e-01 9.66060625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.23, Y:171.55, Z:96.61 [[ 3.29981366e-01 -9.41021493e-01 -7.47719780e-02 2.31228030e+02] [ 9.20463861e-01 3.38319994e-01 -1.95667736e-01 1.71548556e+02] [ 2.09424400e-01 -4.25819694e-03 9.77815570e-01 9.66129260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.24, Y:171.57, Z:96.62 [[ 3.30859006e-01 -9.40723413e-01 -7.46443503e-02 2.31237844e+02] [ 9.20192669e-01 3.39151056e-01 -1.95504509e-01 1.71573830e+02] [ 2.09231379e-01 -4.00275653e-03 9.77857969e-01 9.66185889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:231.25, Y:171.60, Z:96.62 [[ 3.31545333e-01 -9.40495095e-01 -7.44759626e-02 2.31247507e+02] [ 9.20018060e-01 3.39786086e-01 -1.95223426e-01 1.71600108e+02] [ 2.08912570e-01 -3.79381479e-03 9.77926963e-01 9.66240554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.26, Y:171.63, Z:96.63 [[ 3.32451954e-01 -9.40194837e-01 -7.42251063e-02 2.31257319e+02] [ 9.19815648e-01 3.40618791e-01 -1.94725481e-01 1.71625765e+02] [ 2.08362358e-01 -3.53654761e-03 9.78045306e-01 9.66290246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.380385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:231.27, Y:171.65, Z:96.63 [[ 3.31965864e-01 -9.40351890e-01 -7.44109395e-02 2.31268278e+02] [ 9.19838497e-01 3.40184434e-01 -1.95375765e-01 1.71651014e+02] [ 2.09035413e-01 -3.58796215e-03 9.77901489e-01 9.66342772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:171.67, Z:96.64 [[ 3.31439372e-01 -9.40587169e-01 -7.37815784e-02 2.31279654e+02] [ 9.20395039e-01 3.39532725e-01 -1.93882699e-01 1.71674533e+02] [ 2.07414840e-01 -3.64783875e-03 9.78246277e-01 9.66406476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.440385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:231.31, Y:171.69, Z:96.67 [[ 3.30209271e-01 -9.36774261e-01 -1.15826682e-01 2.31307782e+02] [ 9.18590425e-01 3.47153574e-01 -1.88880988e-01 1.71687824e+02] [ 2.17148495e-01 -4.40270280e-02 9.75145195e-01 9.66741544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.470385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:231.28, Y:171.74, Z:96.64 [[ 3.30557502e-01 -9.43137009e-01 -3.49902974e-02 2.31283001e+02] [ 9.20617842e-01 3.30385542e-01 -2.08106182e-01 1.71735194e+02] [ 2.07832930e-01 3.65783676e-02 9.77480177e-01 9.66380976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:171.75, Z:96.66 [[ 3.31083449e-01 -9.40736938e-01 -7.34694723e-02 2.31311449e+02] [ 9.20634735e-01 3.39118223e-01 -1.93469676e-01 1.71751090e+02] [ 2.06918907e-01 -3.58394062e-03 9.78351533e-01 9.66562010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.32, Y:171.78, Z:96.66 [[ 3.31658419e-01 -9.40533165e-01 -7.34850865e-02 2.31321031e+02] [ 9.20384397e-01 3.39684828e-01 -1.93666674e-01 1.71776544e+02] [ 2.07111698e-01 -3.40334417e-03 9.78311383e-01 9.66611982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.33, Y:171.80, Z:96.67 [[ 3.33843238e-01 -9.39717126e-01 -7.40298362e-02 2.31332447e+02] [ 9.19211689e-01 3.41940824e-01 -1.95259683e-01 1.71802210e+02] [ 2.08802691e-01 -2.86296604e-03 9.77953598e-01 9.66662379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.34, Y:171.82, Z:96.67 [[ 3.38071597e-01 -9.38012733e-01 -7.64179853e-02 2.31342368e+02] [ 9.17708798e-01 3.46571726e-01 -1.94161274e-01 1.71821348e+02] [ 2.08610061e-01 -4.48904550e-03 9.77988595e-01 9.66710209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.620385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:231.35, Y:171.85, Z:96.67 [[ 3.37274815e-01 -9.39440369e-01 -6.08070076e-02 2.31346306e+02] [ 9.16897270e-01 3.42450763e-01 -2.05004563e-01 1.71853189e+02] [ 2.13412968e-01 1.33890969e-02 9.76870328e-01 9.66713148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.37, Y:171.87, Z:96.69 [[ 3.37939270e-01 -9.37474994e-01 -8.32927754e-02 2.31369603e+02] [ 9.17218263e-01 3.47885237e-01 -1.94130163e-01 1.71871234e+02] [ 2.10968501e-01 -1.07934491e-02 9.77433268e-01 9.66861332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:171.89, Z:96.71 [[ 3.38274547e-01 -9.35633728e-01 -1.00796125e-01 2.31387832e+02] [ 9.15715464e-01 3.51959921e-01 -1.93879867e-01 1.71890601e+02] [ 2.16876738e-01 -2.67159462e-02 9.75833356e-01 9.67068669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.710385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:231.39, Y:171.92, Z:96.70 [[ 3.38285739e-01 -9.38182068e-01 -7.33291669e-02 2.31385945e+02] [ 9.15788211e-01 3.46137616e-01 -2.03766299e-01 1.71922708e+02] [ 2.16551870e-01 1.77724636e-03 9.76269496e-01 9.67012351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:171.95, Z:96.71 [[ 3.37594584e-01 -9.37805245e-01 -8.09395964e-02 2.31401640e+02] [ 9.15888183e-01 3.47109011e-01 -2.01653590e-01 1.71946410e+02] [ 2.17206658e-01 -6.05445991e-03 9.76106865e-01 9.67115449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:171.98, Z:96.70 [[ 3.34173177e-01 -9.41215843e-01 -4.94067253e-02 2.31401725e+02] [ 9.18873474e-01 3.37010610e-01 -2.05171607e-01 1.71978387e+02] [ 2.09761357e-01 2.31643183e-02 9.77478177e-01 9.66982394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.43, Y:171.99, Z:96.73 [[ 3.31873166e-01 -9.38335857e-01 -9.68814834e-02 2.31434976e+02] [ 9.18220867e-01 3.44868674e-01 -1.94771758e-01 1.71990697e+02] [ 2.16172713e-01 -2.43190796e-02 9.76052222e-01 9.67315633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:172.02, Z:96.73 [[ 3.28079880e-01 -9.41212916e-01 -8.05098677e-02 2.31440740e+02] [ 9.20223616e-01 3.37689482e-01 -1.97874483e-01 1.72019606e+02] [ 2.13429355e-01 -9.16844502e-03 9.76915478e-01 9.67313969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.860385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:231.44, Y:172.05, Z:96.72 [[ 3.26157739e-01 -9.44066140e-01 -4.85824297e-02 2.31436624e+02] [ 9.21866578e-01 3.29022724e-01 -2.04709699e-01 1.72053257e+02] [ 2.09244218e-01 2.19811342e-02 9.77616329e-01 9.67164975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:172.07, Z:96.73 [[ 3.22983642e-01 -9.43345805e-01 -7.60280084e-02 2.31459542e+02] [ 9.23263407e-01 3.31723910e-01 -1.93762555e-01 1.72071666e+02] [ 2.08005402e-01 -7.61174225e-03 9.78098060e-01 9.67321554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.47, Y:172.09, Z:96.74 [[ 3.17630124e-01 -9.45211488e-01 -7.54078747e-02 2.31468613e+02] [ 9.24048772e-01 3.26394469e-01 -1.98998788e-01 1.72094695e+02] [ 2.12708654e-01 -6.47254416e-03 9.77094230e-01 9.67382653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.48, Y:172.12, Z:96.74 [[ 3.17396458e-01 -9.45512241e-01 -7.25678379e-02 2.31481000e+02] [ 9.24625873e-01 3.25557443e-01 -1.97684968e-01 1.72121591e+02] [ 2.10538557e-01 -4.35359163e-03 9.77575860e-01 9.67413716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.49, Y:172.15, Z:96.75 [[ 3.13854825e-01 -9.46536158e-01 -7.45952404e-02 2.31493911e+02] [ 9.25526628e-01 3.22526909e-01 -1.98436022e-01 1.72146249e+02] [ 2.11885842e-01 -6.75977831e-03 9.77271045e-01 9.67476838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.50, Y:172.17, Z:96.75 [[ 3.10864585e-01 -9.47532197e-01 -7.44711122e-02 2.31501137e+02] [ 9.26264624e-01 3.19586170e-01 -1.99746153e-01 1.72169252e+02] [ 2.13065849e-01 -6.88595175e-03 9.77013576e-01 9.67522856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:172.19, Z:96.76 [[ 3.09661776e-01 -9.47728792e-01 -7.69397244e-02 2.31513591e+02] [ 9.26725453e-01 3.18926942e-01 -1.98659356e-01 1.72194156e+02] [ 2.12813342e-01 -9.78479203e-03 9.77043878e-01 9.67593059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:172.22, Z:96.77 [[ 3.09747059e-01 -9.47286355e-01 -8.18860282e-02 2.31527724e+02] [ 9.26051374e-01 3.20086400e-01 -1.99933863e-01 1.72218786e+02] [ 2.15605224e-01 -1.39017428e-02 9.76381651e-01 9.67696670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:172.25, Z:96.77 [[ 3.09720940e-01 -9.47893337e-01 -7.46402111e-02 2.31535955e+02] [ 9.25824161e-01 3.18529576e-01 -2.03441716e-01 1.72246676e+02] [ 2.16616161e-01 -6.09355139e-03 9.76237833e-01 9.67708908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:172.27, Z:96.78 [[ 3.10747828e-01 -9.47399112e-01 -7.66205529e-02 2.31547445e+02] [ 9.25285589e-01 3.19963959e-01 -2.03640970e-01 1.72270902e+02] [ 2.17445090e-01 -7.61490425e-03 9.76042851e-01 9.67774707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:172.29, Z:96.79 [[ 3.12560577e-01 -9.46504741e-01 -8.02163409e-02 2.31560532e+02] [ 9.24398223e-01 3.22518970e-01 -2.03640464e-01 1.72294998e+02] [ 2.18617957e-01 -1.05018620e-02 9.75754016e-01 9.67855285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:172.32, Z:96.79 [[ 3.13639122e-01 -9.46355130e-01 -7.77333232e-02 2.31570866e+02] [ 9.24322509e-01 3.23026226e-01 -2.03179616e-01 1.72321311e+02] [ 2.17389974e-01 -8.12558406e-03 9.76051010e-01 9.67904090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:172.35, Z:96.78 [[ 3.13368361e-01 -9.47659234e-01 -6.11739099e-02 2.31573015e+02] [ 9.25469888e-01 3.19199769e-01 -2.04002434e-01 1.72349786e+02] [ 2.12851488e-01 7.31329686e-03 9.77057194e-01 9.67847130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:172.37, Z:96.79 [[ 3.14249072e-01 -9.46802120e-01 -6.93777040e-02 2.31590820e+02] [ 9.26301282e-01 3.21805173e-01 -1.95977970e-01 1.72372982e+02] [ 2.07878462e-01 -2.67876097e-03 9.78150995e-01 9.67948491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:172.40, Z:96.80 [[ 3.14801221e-01 -9.46366060e-01 -7.27425055e-02 2.31603572e+02] [ 9.26401821e-01 3.23031320e-01 -1.93469459e-01 1.72398240e+02] [ 2.06591037e-01 -6.48436778e-03 9.78405896e-01 9.68032510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:172.42, Z:96.81 [[ 3.16074518e-01 -9.46058619e-01 -7.12038572e-02 2.31613041e+02] [ 9.26477524e-01 3.23950152e-01 -1.91561207e-01 1.72422813e+02] [ 2.04294631e-01 -5.42115727e-03 9.78894435e-01 9.68084988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:172.45, Z:96.81 [[ 3.16628136e-01 -9.45912848e-01 -7.06789044e-02 2.31623949e+02] [ 9.26355616e-01 3.24384348e-01 -1.91415954e-01 1.72449259e+02] [ 2.03989940e-01 -4.86612335e-03 9.78960891e-01 9.68142166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:172.47, Z:96.82 [[ 3.16057706e-01 -9.46182513e-01 -6.96145014e-02 2.31633486e+02] [ 9.26849425e-01 3.23604108e-01 -1.90343176e-01 1.72474902e+02] [ 2.02626924e-01 -4.36273301e-03 9.79246290e-01 9.68185291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.65, Y:172.50, Z:96.83 [[ 3.16449317e-01 -9.45895441e-01 -7.17052667e-02 2.31646368e+02] [ 9.26705506e-01 3.24407930e-01 -1.89674459e-01 1.72499060e+02] [ 2.02673963e-01 -6.42731252e-03 9.79225181e-01 9.68263544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:172.53, Z:96.83 [[ 3.15819221e-01 -9.46196884e-01 -7.04959348e-02 2.31655802e+02] [ 9.26909760e-01 3.23548220e-01 -1.90144279e-01 1.72525439e+02] [ 2.02722759e-01 -5.29215188e-03 9.79221873e-01 9.68309471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:172.55, Z:96.84 [[ 3.15008793e-01 -9.46353686e-01 -7.20011203e-02 2.31665915e+02] [ 9.26959830e-01 3.23063938e-01 -1.90722747e-01 1.72550659e+02] [ 2.03752140e-01 -6.66280400e-03 9.78999833e-01 9.68367526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:172.57, Z:96.85 [[ 3.14529848e-01 -9.45488628e-01 -8.43932962e-02 2.31680761e+02] [ 9.26403641e-01 3.25132041e-01 -1.89909057e-01 1.72573100e+02] [ 2.06995819e-01 -1.84501900e-02 9.78167839e-01 9.68507115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:172.60, Z:96.85 [[ 3.13078821e-01 -9.47388711e-01 -6.66054246e-02 2.31680032e+02] [ 9.27105911e-01 3.20084576e-01 -1.94988446e-01 1.72603085e+02] [ 2.06049222e-01 -7.03530080e-04 9.78541375e-01 9.68460226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.69, Y:172.63, Z:96.85 [[ 3.12801553e-01 -9.47093992e-01 -7.18899111e-02 2.31692116e+02] [ 9.27236969e-01 3.20894875e-01 -1.93023530e-01 1.72628033e+02] [ 2.05880529e-01 -6.28092326e-03 9.78556977e-01 9.68537809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:172.65, Z:96.86 [[ 3.10908892e-01 -9.47677943e-01 -7.24028774e-02 2.31702399e+02] [ 9.27516848e-01 3.19158374e-01 -1.94551869e-01 1.72652148e+02] [ 2.07480499e-01 -6.66698255e-03 9.78216435e-01 9.68589518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:172.68, Z:96.86 [[ 3.09766611e-01 -9.48038446e-01 -7.25792768e-02 2.31712176e+02] [ 9.27751560e-01 3.18081592e-01 -1.95195141e-01 1.72676514e+02] [ 2.08138630e-01 -6.87059994e-03 9.78075204e-01 9.68645375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.72, Y:172.70, Z:96.87 [[ 3.08477196e-01 -9.48790275e-01 -6.81089898e-02 2.31721084e+02] [ 9.28265145e-01 3.15895381e-01 -1.96300609e-01 1.72703596e+02] [ 2.07763424e-01 -2.66893985e-03 9.78175463e-01 9.68664759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:172.73, Z:96.88 [[ 3.06829501e-01 -9.48619108e-01 -7.73139402e-02 2.31732475e+02] [ 9.28673377e-01 3.16180860e-01 -1.93895389e-01 1.72725077e+02] [ 2.08378059e-01 -1.23065725e-02 9.77970926e-01 9.68764400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:172.75, Z:96.87 [[ 3.04952065e-01 -9.50027198e-01 -6.67275120e-02 2.31738134e+02] [ 9.29464493e-01 3.12160295e-01 -1.96600373e-01 1.72753378e+02] [ 2.07605381e-01 -2.06716327e-03 9.78210475e-01 9.68746848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:172.77, Z:96.89 [[ 3.05607815e-01 -9.48959938e-01 -7.79672936e-02 2.31752861e+02] [ 9.29256993e-01 3.15106858e-01 -1.92844781e-01 1.72774856e+02] [ 2.07570000e-01 -1.35167806e-02 9.78126777e-01 9.68887200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.76, Y:172.80, Z:96.89 [[ 3.06666747e-01 -9.48883407e-01 -7.46711869e-02 2.31764475e+02] [ 9.29111019e-01 3.15461912e-01 -1.92967603e-01 1.72803439e+02] [ 2.06659672e-01 -1.02010753e-02 9.78359708e-01 9.68944684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:172.83, Z:96.90 [[ 3.06535049e-01 -9.49272128e-01 -7.01333747e-02 2.31769468e+02] [ 9.29262764e-01 3.14403800e-01 -1.93961250e-01 1.72827489e+02] [ 2.06172208e-01 -5.71641236e-03 9.78499026e-01 9.68982330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:172.85, Z:96.90 [[ 3.07913920e-01 -9.48728619e-01 -7.14354594e-02 2.31778968e+02] [ 9.28904437e-01 3.16016182e-01 -1.93055224e-01 1.72852774e+02] [ 2.05731777e-01 -6.91232434e-03 9.78584005e-01 9.69047988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.79, Y:172.88, Z:96.91 [[ 3.09166445e-01 -9.48318323e-01 -7.14735429e-02 2.31786307e+02] [ 9.28427598e-01 3.17252167e-01 -1.93321646e-01 1.72879075e+02] [ 2.06005595e-01 -6.58944370e-03 9.78528627e-01 9.69103842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:172.91, Z:96.92 [[ 3.09214665e-01 -9.48312467e-01 -7.13425193e-02 2.31794814e+02] [ 9.28461021e-01 3.17271102e-01 -1.93129956e-01 1.72905423e+02] [ 2.05782465e-01 -6.52013362e-03 9.78576039e-01 9.69157820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.80, Y:172.93, Z:96.92 [[ 3.08584988e-01 -9.48533991e-01 -7.11236519e-02 2.31803246e+02] [ 9.28775553e-01 3.16606733e-01 -1.92707417e-01 1.72930612e+02] [ 2.05307762e-01 -6.59129318e-03 9.78675267e-01 9.69216804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:172.96, Z:96.93 [[ 3.07798766e-01 -9.48809088e-01 -7.08606693e-02 2.31812238e+02] [ 9.29168117e-01 3.15779263e-01 -1.92171976e-01 1.72956599e+02] [ 2.04710847e-01 -6.69117756e-03 9.78799621e-01 9.69279880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:172.98, Z:96.93 [[ 3.05972362e-01 -9.49412798e-01 -7.06841744e-02 2.31820109e+02] [ 9.29852987e-01 3.13952223e-01 -1.91852610e-01 1.72983203e+02] [ 2.04338777e-01 -7.02429453e-03 9.78875030e-01 9.69343785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:173.01, Z:96.94 [[ 3.04457067e-01 -9.49910692e-01 -7.05377354e-02 2.31825696e+02] [ 9.30410700e-01 3.12436492e-01 -1.91622986e-01 1.73009752e+02] [ 2.04063285e-01 -7.28809150e-03 9.78930569e-01 9.69396201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:173.04, Z:96.94 [[ 3.03838679e-01 -9.50116263e-01 -7.04353809e-02 2.31833177e+02] [ 9.30642066e-01 3.11809137e-01 -1.91521295e-01 1.73036800e+02] [ 2.03929893e-01 -7.35855101e-03 9.78957839e-01 9.69448360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.84, Y:173.06, Z:96.95 [[ 3.03365751e-01 -9.50268542e-01 -7.04195951e-02 2.31840790e+02] [ 9.30772584e-01 3.11343612e-01 -1.91644336e-01 1.73063009e+02] [ 2.04038275e-01 -7.40630052e-03 9.78934895e-01 9.69499480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.85, Y:173.09, Z:96.96 [[ 3.02699178e-01 -9.50479915e-01 -7.04353494e-02 2.31848947e+02] [ 9.30945872e-01 3.10695543e-01 -1.91854275e-01 1.73089845e+02] [ 2.04237584e-01 -7.49736625e-03 9.78892639e-01 9.69553450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:173.12, Z:96.96 [[ 3.01083188e-01 -9.50983254e-01 -7.05674499e-02 2.31855022e+02] [ 9.31353362e-01 3.09143993e-01 -1.92382191e-01 1.73116201e+02] [ 2.04767745e-01 -7.80018821e-03 9.78779509e-01 9.69606587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:173.14, Z:96.97 [[ 3.00338591e-01 -9.51228996e-01 -7.04281724e-02 2.31862374e+02] [ 9.31647156e-01 3.08384591e-01 -1.92178356e-01 1.73141877e+02] [ 2.04524588e-01 -7.89562993e-03 9.78829583e-01 9.69656151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:173.17, Z:96.97 [[ 2.99520187e-01 -9.51498486e-01 -7.02729607e-02 2.31868115e+02] [ 9.31974698e-01 3.07549238e-01 -1.91928708e-01 1.73168619e+02] [ 2.04232271e-01 -8.00609880e-03 9.78889719e-01 9.69708903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.88, Y:173.19, Z:96.98 [[ 2.99405008e-01 -9.51538581e-01 -7.02208656e-02 2.31875436e+02] [ 9.32010720e-01 3.07425961e-01 -1.91951286e-01 1.73193664e+02] [ 2.04236771e-01 -7.97542320e-03 9.78889030e-01 9.69764277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.88, Y:173.22, Z:96.98 [[ 2.99493170e-01 -9.51544442e-01 -6.97639960e-02 2.31882364e+02] [ 9.32237067e-01 3.07410506e-01 -1.90873866e-01 1.73219053e+02] [ 2.03071152e-01 -7.87116363e-03 9.79132347e-01 9.69813902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.89, Y:173.25, Z:96.99 [[ 3.00815274e-01 -9.51308591e-01 -6.72468254e-02 2.31885213e+02] [ 9.31971182e-01 3.08195489e-01 -1.90906409e-01 1.73245392e+02] [ 2.02336075e-01 -5.24453963e-03 9.79302102e-01 9.69855212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.89, Y:173.27, Z:96.99 [[ 3.01308847e-01 -9.50912096e-01 -7.05631956e-02 2.31894171e+02] [ 9.32185609e-01 3.09326429e-01 -1.88008379e-01 1.73272279e+02] [ 2.00606503e-01 -9.12940770e-03 9.79629361e-01 9.69924914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:231.90, Y:173.30, Z:97.00 [[ 3.03030158e-01 -9.50503023e-01 -6.86784373e-02 2.31898267e+02] [ 9.31699338e-01 3.10637791e-01 -1.88256492e-01 1.73299487e+02] [ 2.00272483e-01 -6.94026008e-03 9.79715655e-01 9.69971757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:173.33, Z:97.00 [[ 3.03387173e-01 -9.50394167e-01 -6.86086789e-02 2.31905290e+02] [ 9.31591950e-01 3.10973606e-01 -1.88233512e-01 1.73326109e+02] [ 2.00231520e-01 -6.80765993e-03 9.79724958e-01 9.70021265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.91, Y:173.35, Z:97.01 [[ 3.03422242e-01 -9.50387600e-01 -6.85445284e-02 2.31908750e+02] [ 9.31587710e-01 3.10995031e-01 -1.88219101e-01 1.73354057e+02] [ 2.00198107e-01 -6.74537864e-03 9.79732217e-01 9.70069681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:173.38, Z:97.01 [[ 3.03010859e-01 -9.50528339e-01 -6.84126942e-02 2.31914680e+02] [ 9.31771599e-01 3.10564014e-01 -1.88020427e-01 1.73381888e+02] [ 1.99965265e-01 -6.77277430e-03 9.79779578e-01 9.70112821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.450385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.92, Y:173.41, Z:97.02 [[ 3.02526004e-01 -9.50680613e-01 -6.84425899e-02 2.31920585e+02] [ 9.31877099e-01 3.10096448e-01 -1.88269130e-01 1.73408627e+02] [ 2.00207616e-01 -6.82377452e-03 9.79729731e-01 9.70158607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.92, Y:173.44, Z:97.02 [[ 3.02848106e-01 -9.50558443e-01 -6.87144184e-02 2.31923580e+02] [ 9.31564341e-01 3.10473118e-01 -1.89193874e-01 1.73435549e+02] [ 2.01173814e-01 -6.71489558e-03 9.79532545e-01 9.70199210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.93, Y:173.46, Z:97.02 [[ 3.03301887e-01 -9.50425141e-01 -6.85566709e-02 2.31929872e+02] [ 9.31480115e-01 3.10884349e-01 -1.88933104e-01 1.73463137e+02] [ 2.00879968e-01 -6.55540872e-03 9.79593929e-01 9.70246158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:173.49, Z:97.03 [[ 3.04985019e-01 -9.49900780e-01 -6.83567543e-02 2.31933736e+02] [ 9.31020912e-01 3.12491329e-01 -1.88545038e-01 1.73490475e+02] [ 2.00459972e-01 -6.13815580e-03 9.79682664e-01 9.70290441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:173.52, Z:97.03 [[ 3.05660999e-01 -9.49682847e-01 -6.83655188e-02 2.31941152e+02] [ 9.30757496e-01 3.13156825e-01 -1.88741325e-01 1.73517270e+02] [ 2.00653528e-01 -5.94085709e-03 9.79644256e-01 9.70343191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:173.54, Z:97.04 [[ 3.06112095e-01 -9.49557085e-01 -6.80935226e-02 2.31947683e+02] [ 9.30747357e-01 3.13540923e-01 -1.88152724e-01 1.73543592e+02] [ 2.00011858e-01 -5.78204167e-03 9.79776416e-01 9.70394232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:173.57, Z:97.04 [[ 3.07798119e-01 -9.49065088e-01 -6.73481797e-02 2.31951661e+02] [ 9.30623385e-01 3.15034745e-01 -1.86261174e-01 1.73571251e+02] [ 1.97990994e-01 -5.34495191e-03 9.80189266e-01 9.70440108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.96, Y:173.60, Z:97.05 [[ 3.08588000e-01 -9.48814218e-01 -6.72683172e-02 2.31958723e+02] [ 9.30377695e-01 3.15793159e-01 -1.86204259e-01 1.73597635e+02] [ 1.97916123e-01 -5.12454201e-03 9.80205564e-01 9.70492841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:173.62, Z:97.06 [[ 3.10185795e-01 -9.48301338e-01 -6.71516629e-02 2.31965192e+02] [ 9.29884231e-01 3.17336034e-01 -1.86046119e-01 1.73624449e+02] [ 1.97737426e-01 -4.73440901e-03 9.80243590e-01 9.70551444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:173.65, Z:97.06 [[ 3.10216829e-01 -9.48302510e-01 -6.69915504e-02 2.31972776e+02] [ 9.29940643e-01 3.17333488e-01 -1.85768289e-01 1.73650987e+02] [ 1.97423197e-01 -4.66971600e-03 9.80307235e-01 9.70606026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:173.68, Z:97.07 [[ 3.10504357e-01 -9.48208623e-01 -6.69884390e-02 2.31980427e+02] [ 9.29812969e-01 3.17615567e-01 -1.85925236e-01 1.73677816e+02] [ 1.97572483e-01 -4.55612341e-03 9.80277693e-01 9.70659359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.780385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:231.99, Y:173.71, Z:97.07 [[ 3.10645409e-01 -9.48150221e-01 -6.71609154e-02 2.31986700e+02] [ 9.29623609e-01 3.17790995e-01 -1.86571245e-01 1.73705137e+02] [ 1.98240701e-01 -4.47687183e-03 9.80143144e-01 9.70700425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:173.73, Z:97.08 [[ 3.11530239e-01 -9.47907017e-01 -6.64920796e-02 2.31994464e+02] [ 9.29713051e-01 3.18519142e-01 -1.84876173e-01 1.73731699e+02] [ 1.96424422e-01 -4.22403573e-03 9.80509869e-01 9.70761368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:173.76, Z:97.07 [[ 3.09843569e-01 -9.49732729e-01 -4.47739540e-02 2.31987026e+02] [ 9.31504710e-01 3.12658875e-01 -1.85858555e-01 1.73762189e+02] [ 1.90514927e-01 1.58799291e-02 9.81555852e-01 9.70673811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:173.78, Z:97.09 [[ 3.13780098e-01 -9.45875051e-01 -8.28398282e-02 2.32017499e+02] [ 9.29359740e-01 3.23827154e-01 -1.77275065e-01 1.73781187e+02] [ 1.94505847e-01 -2.13626140e-02 9.80668708e-01 9.70924052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:173.81, Z:97.09 [[ 3.14436817e-01 -9.46980227e-01 -6.60146733e-02 2.32017363e+02] [ 9.28971465e-01 3.21272554e-01 -1.83836788e-01 1.73810527e+02] [ 1.95298506e-01 -3.52069334e-03 9.80737528e-01 9.70921585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:173.84, Z:97.09 [[ 3.14168652e-01 -9.47569363e-01 -5.83982924e-02 2.32018662e+02] [ 9.29227356e-01 3.19524634e-01 -1.85581596e-01 1.73838528e+02] [ 1.94511128e-01 4.03862901e-03 9.80891997e-01 9.70915453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:173.86, Z:97.10 [[ 3.15195077e-01 -9.46267987e-01 -7.23115468e-02 2.32036037e+02] [ 9.28541648e-01 3.23240859e-01 -1.82553432e-01 1.73862367e+02] [ 1.96118515e-01 -9.60433985e-03 9.80533164e-01 9.71043144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:173.89, Z:97.11 [[ 3.12282161e-01 -9.47697983e-01 -6.59422869e-02 2.32041839e+02] [ 9.29670913e-01 3.19145369e-01 -1.84006050e-01 1.73889633e+02] [ 1.95427338e-01 -3.84281905e-03 9.80710655e-01 9.71084230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:173.92, Z:97.11 [[ 3.09383862e-01 -9.48553996e-01 -6.72825575e-02 2.32051087e+02] [ 9.30480211e-01 3.16566515e-01 -1.84369787e-01 1.73915658e+02] [ 1.96184103e-01 -5.56405168e-03 9.80551294e-01 9.71147111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.050385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:232.06, Y:173.94, Z:97.12 [[ 3.06660541e-01 -9.49469339e-01 -6.68377708e-02 2.32061659e+02] [ 9.31201597e-01 3.13813770e-01 -1.85430592e-01 1.73942459e+02] [ 1.97035274e-01 -5.37519333e-03 9.80381665e-01 9.71199762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.07, Y:173.97, Z:97.12 [[ 3.01949808e-01 -9.51088662e-01 -6.52431691e-02 2.32069361e+02] [ 9.32620178e-01 3.08885101e-01 -1.86573303e-01 1.73968812e+02] [ 1.97600396e-01 -4.51132293e-03 9.80272274e-01 9.71245339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:174.00, Z:97.13 [[ 2.99379863e-01 -9.51847094e-01 -6.60212686e-02 2.32078057e+02] [ 9.33237514e-01 3.06523548e-01 -1.87379447e-01 1.73995481e+02] [ 1.98593656e-01 -5.51589119e-03 9.80066393e-01 9.71285470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:174.02, Z:97.14 [[ 2.98890947e-01 -9.51572363e-01 -7.19321854e-02 2.32090475e+02] [ 9.33132002e-01 3.07217140e-01 -1.86768029e-01 1.74020424e+02] [ 1.99822095e-01 -1.12989513e-02 9.79767046e-01 9.71372706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:174.05, Z:97.14 [[ 2.98285097e-01 -9.52046385e-01 -6.80711575e-02 2.32097881e+02] [ 9.33299850e-01 3.05863981e-01 -1.88145196e-01 1.74047254e+02] [ 1.99943469e-01 -7.40989295e-03 9.79779415e-01 9.71417417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.200385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.11, Y:174.07, Z:97.15 [[ 2.98196304e-01 -9.51921325e-01 -7.01766050e-02 2.32108441e+02] [ 9.33227458e-01 3.06197091e-01 -1.87962372e-01 1.74072887e+02] [ 2.00413263e-01 -9.44104988e-03 9.79665959e-01 9.71493970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:174.10, Z:97.15 [[ 2.97853299e-01 -9.52691022e-01 -6.05246155e-02 2.32111115e+02] [ 9.33952688e-01 3.03940031e-01 -1.88023494e-01 1.74101572e+02] [ 1.97524148e-01 -5.23709457e-04 9.80297882e-01 9.71496981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:174.13, Z:97.16 [[ 2.98391519e-01 -9.52138959e-01 -6.62865291e-02 2.32122199e+02] [ 9.33779586e-01 3.05599723e-01 -1.86184033e-01 1.74126737e+02] [ 1.97530217e-01 -6.34127111e-03 9.80276289e-01 9.71565337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:174.15, Z:97.18 [[ 3.01201879e-01 -9.49185564e-01 -9.12370183e-02 2.32144366e+02] [ 9.31444952e-01 3.13353444e-01 -1.84986273e-01 1.74147286e+02] [ 2.04175734e-01 -2.92640470e-02 9.78496748e-01 9.71784410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.320385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.13, Y:174.18, Z:97.16 [[ 2.99428469e-01 -9.53017739e-01 -4.58233665e-02 2.32129656e+02] [ 9.33085250e-01 3.02518435e-01 -1.94510959e-01 1.74182236e+02] [ 1.99234807e-01 1.54850112e-02 9.79829427e-01 9.71601819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.350385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.16, Y:174.20, Z:97.19 [[ 3.01531421e-01 -9.49180328e-01 -9.01970450e-02 2.32162581e+02] [ 9.31381564e-01 3.13467673e-01 -1.85111857e-01 1.74198940e+02] [ 2.03978391e-01 -2.81908236e-02 9.78569412e-01 9.71886194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:174.23, Z:97.17 [[ 2.99096946e-01 -9.53077914e-01 -4.67280084e-02 2.32148592e+02] [ 9.33313334e-01 3.02387222e-01 -1.93618670e-01 1.74232400e+02] [ 1.98663631e-01 1.42988797e-02 9.79963420e-01 9.71730814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.410385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:232.17, Y:174.25, Z:97.18 [[ 2.97641209e-01 -9.52371626e-01 -6.63173929e-02 2.32167048e+02] [ 9.33854727e-01 3.04875259e-01 -1.86993116e-01 1.74254295e+02] [ 1.98305470e-01 -6.27395371e-03 9.80120186e-01 9.71831054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.18, Y:174.28, Z:97.19 [[ 2.97012783e-01 -9.52608865e-01 -6.57248583e-02 2.32175594e+02] [ 9.34397384e-01 3.04132193e-01 -1.85486223e-01 1.74278925e+02] [ 1.96684865e-01 -6.32135648e-03 9.80446380e-01 9.71905874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.470385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.18, Y:174.31, Z:97.20 [[ 2.96771442e-01 -9.52687854e-01 -6.56701154e-02 2.32184855e+02] [ 9.34474017e-01 3.03884818e-01 -1.85505602e-01 1.74305360e+02] [ 1.96685085e-01 -6.31425151e-03 9.80446382e-01 9.71961565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:174.33, Z:97.22 [[ 2.97050283e-01 -9.50174050e-01 -9.45008104e-02 2.32210489e+02] [ 9.33118231e-01 3.09860869e-01 -1.82418776e-01 1.74326429e+02] [ 2.02611690e-01 -3.39928800e-02 9.78668988e-01 9.72212740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:174.36, Z:97.22 [[ 2.96714162e-01 -9.52750538e-01 -6.50162905e-02 2.32206869e+02] [ 9.33429944e-01 3.03727089e-01 -1.90940814e-01 1.74360423e+02] [ 2.01666172e-01 -4.03330858e-03 9.79446010e-01 9.72158643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:174.39, Z:97.21 [[ 2.95444457e-01 -9.54218546e-01 -4.66855273e-02 2.32201906e+02] [ 9.34967334e-01 2.98835384e-01 -1.91137379e-01 1.74388443e+02] [ 1.96338120e-01 1.28210364e-02 9.80452428e-01 9.72073184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:174.40, Z:97.24 [[ 2.96667303e-01 -9.50044333e-01 -9.69756520e-02 2.32235735e+02] [ 9.33174267e-01 3.09971250e-01 -1.81943981e-01 1.74403969e+02] [ 2.02914512e-01 -3.65183528e-02 9.78515258e-01 9.72378185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:174.44, Z:97.22 [[ 2.98929471e-01 -9.53522848e-01 -3.78860068e-02 2.32214572e+02] [ 9.33708627e-01 3.00454403e-01 -1.94718646e-01 1.74442551e+02] [ 1.97051696e-01 2.28326504e-02 9.80127185e-01 9.72154836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.650385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.25, Y:174.46, Z:97.25 [[ 3.00476482e-01 -9.48864968e-01 -9.67943975e-02 2.32250678e+02] [ 9.32006698e-01 3.13663225e-01 -1.81600925e-01 1.74456130e+02] [ 2.02675599e-01 -3.56462198e-02 9.78596929e-01 9.72477087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:174.50, Z:97.23 [[ 3.02439624e-01 -9.52435939e-01 -3.73638376e-02 2.32230002e+02] [ 9.32844221e-01 3.03815023e-01 -1.93644238e-01 1.74495956e+02] [ 1.95785427e-01 2.37110505e-02 9.80360063e-01 9.72251515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:174.52, Z:97.24 [[ 3.06415981e-01 -9.49686952e-01 -6.48377920e-02 2.32250297e+02] [ 9.31712506e-01 3.13174558e-01 -1.83938855e-01 1.74515617e+02] [ 1.94989877e-01 -4.04837693e-03 9.80796900e-01 9.72379489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:174.54, Z:97.24 [[ 3.07671498e-01 -9.49281384e-01 -6.48313514e-02 2.32259019e+02] [ 9.31266676e-01 3.14405648e-01 -1.84096353e-01 1.74540610e+02] [ 1.95142584e-01 -3.73407640e-03 9.80767775e-01 9.72433613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:174.57, Z:97.25 [[ 3.08566563e-01 -9.48978863e-01 -6.50061013e-02 2.32268995e+02] [ 9.30824275e-01 3.15320306e-01 -1.84768164e-01 1.74566070e+02] [ 1.95838826e-01 -3.49597983e-03 9.80629865e-01 9.72490388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:174.59, Z:97.25 [[ 3.08198510e-01 -9.49100375e-01 -6.49781202e-02 2.32278176e+02] [ 9.30931654e-01 3.14954113e-01 -1.84851732e-01 1.74591862e+02] [ 1.95907975e-01 -3.51916046e-03 9.80615970e-01 9.72544244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:174.62, Z:97.26 [[ 3.07643639e-01 -9.49300975e-01 -6.46765079e-02 2.32286316e+02] [ 9.31274391e-01 3.14348313e-01 -1.84155227e-01 1.74618025e+02] [ 1.95149688e-01 -3.57739124e-03 9.80766946e-01 9.72590134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:174.64, Z:97.26 [[ 3.08055294e-01 -9.49160677e-01 -6.47761194e-02 2.32294979e+02] [ 9.31042414e-01 3.14773195e-01 -1.84601894e-01 1.74644210e+02] [ 1.95606644e-01 -3.44172395e-03 9.80676397e-01 9.72646312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:174.67, Z:97.27 [[ 3.08529971e-01 -9.48990617e-01 -6.50081989e-02 2.32303836e+02] [ 9.30703390e-01 3.15287128e-01 -1.85432540e-01 1.74669196e+02] [ 1.96469988e-01 -3.29185496e-03 9.80504313e-01 9.72695799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.920385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:232.31, Y:174.70, Z:97.27 [[ 3.09496719e-01 -9.48636222e-01 -6.55827624e-02 2.32314376e+02] [ 9.29989381e-01 3.16354190e-01 -1.87189149e-01 1.74695239e+02] [ 1.98321789e-01 -3.05684513e-03 9.80132197e-01 9.72721534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:174.71, Z:97.30 [[ 3.09607472e-01 -9.46027589e-01 -9.57862910e-02 2.32335767e+02] [ 9.28485537e-01 3.22509394e-01 -1.84125766e-01 1.74712067e+02] [ 2.05080033e-01 -3.19294728e-02 9.78224253e-01 9.72979747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:174.75, Z:97.28 [[ 3.10709654e-01 -9.49901481e-01 -3.38627745e-02 2.32319380e+02] [ 9.29493535e-01 3.11097764e-01 -1.98141235e-01 1.74753543e+02] [ 1.98749286e-01 3.00891646e-02 9.79588364e-01 9.72764917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:174.77, Z:97.29 [[ 3.10441837e-01 -9.48165594e-01 -6.78813178e-02 2.32344800e+02] [ 9.29911468e-01 3.17727014e-01 -1.85240939e-01 1.74772846e+02] [ 1.97206813e-01 -5.61707867e-03 9.80345817e-01 9.72918299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:174.79, Z:97.31 [[ 3.09229128e-01 -9.46338975e-01 -9.39142707e-02 2.32363428e+02] [ 9.28929263e-01 3.21726448e-01 -1.83255335e-01 1.74791814e+02] [ 2.03636371e-01 -3.05718268e-02 9.78569155e-01 9.73118928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:174.83, Z:97.29 [[ 3.09493276e-01 -9.50169451e-01 -3.73085393e-02 2.32350774e+02] [ 9.30296283e-01 3.10677160e-01 -1.95009044e-01 1.74831953e+02] [ 1.96882547e-01 2.56459925e-02 9.80091601e-01 9.72931267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:174.85, Z:97.31 [[ 3.08675783e-01 -9.48955552e-01 -6.48276303e-02 2.32374296e+02] [ 9.30616184e-01 3.15395439e-01 -1.85685851e-01 1.74851556e+02] [ 1.96653959e-01 -3.01291626e-03 9.80468328e-01 9.73070823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.39, Y:174.87, Z:97.32 [[ 3.07439289e-01 -9.47833680e-01 -8.42163735e-02 2.32390922e+02] [ 9.30056093e-01 3.18022015e-01 -1.84004513e-01 1.74870206e+02] [ 2.01188336e-01 -2.17557346e-02 9.79310952e-01 9.73239448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.160385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:232.39, Y:174.91, Z:97.31 [[ 3.07872500e-01 -9.50320648e-01 -4.58823486e-02 2.32385781e+02] [ 9.30879954e-01 3.10841299e-01 -1.91938004e-01 1.74907488e+02] [ 1.96664777e-01 1.63814746e-02 9.80333929e-01 9.73092504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:174.93, Z:97.32 [[ 3.04780807e-01 -9.50011535e-01 -6.77254992e-02 2.32400874e+02] [ 9.32008503e-01 3.12136788e-01 -1.84203085e-01 1.74925505e+02] [ 1.96134675e-01 -6.97917642e-03 9.80552130e-01 9.73228450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.41, Y:174.96, Z:97.33 [[ 3.06196116e-01 -9.50218451e-01 -5.76960413e-02 2.32410623e+02] [ 9.31477032e-01 3.11561681e-01 -1.87829331e-01 1.74955480e+02] [ 1.96454771e-01 3.77007412e-03 9.80505640e-01 9.73257664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.42, Y:174.98, Z:97.33 [[ 3.05653966e-01 -9.50088182e-01 -6.25147888e-02 2.32422536e+02] [ 9.31417774e-01 3.11980069e-01 -1.87428296e-01 1.74980990e+02] [ 1.97576777e-01 -9.39183497e-04 9.80286966e-01 9.73324496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:175.00, Z:97.34 [[ 3.06217101e-01 -9.49607026e-01 -6.69147470e-02 2.32435103e+02] [ 9.31286141e-01 3.13395616e-01 -1.85712980e-01 1.75003917e+02] [ 1.97325139e-01 -5.44828614e-03 9.80322960e-01 9.73388256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.45, Y:175.03, Z:97.34 [[ 3.07110016e-01 -9.49172877e-01 -6.89513383e-02 2.32445791e+02] [ 9.31368844e-01 3.14654268e-01 -1.83152308e-01 1.75027576e+02] [ 1.95539036e-01 -7.97121987e-03 9.80663523e-01 9.73444790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.45, Y:175.06, Z:97.35 [[ 3.06239776e-01 -9.49948005e-01 -6.17736752e-02 2.32452126e+02] [ 9.31400722e-01 3.12407871e-01 -1.86799405e-01 1.75056241e+02] [ 1.96748305e-01 -3.30637642e-04 9.80453974e-01 9.73480834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:175.08, Z:97.35 [[ 3.06257656e-01 -9.49770744e-01 -6.43566714e-02 2.32462802e+02] [ 9.31463868e-01 3.12931150e-01 -1.85604845e-01 1.75081657e+02] [ 1.96421259e-01 -3.10300937e-03 9.80514692e-01 9.73541837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:175.11, Z:97.36 [[ 3.04779121e-01 -9.49899755e-01 -6.92830583e-02 2.32472257e+02] [ 9.31886110e-01 3.12442050e-01 -1.84304758e-01 1.75105403e+02] [ 1.96717985e-01 -8.39167739e-03 9.80424201e-01 9.73600037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.48, Y:175.14, Z:97.36 [[ 3.05356777e-01 -9.50440727e-01 -5.84778885e-02 2.32479877e+02] [ 9.31635076e-01 3.10891584e-01 -1.88155542e-01 1.75135030e+02] [ 1.97010973e-01 2.97451765e-03 9.80396771e-01 9.73642582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:175.16, Z:97.37 [[ 3.06984202e-01 -9.49571320e-01 -6.38357811e-02 2.32494512e+02] [ 9.31494453e-01 3.13538192e-01 -1.84423115e-01 1.75157664e+02] [ 1.95137856e-01 -2.84769332e-03 9.80771690e-01 9.73714700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:175.18, Z:97.38 [[ 3.07109685e-01 -9.49536150e-01 -6.37553207e-02 2.32507067e+02] [ 9.31480904e-01 3.13645262e-01 -1.84309455e-01 1.75182784e+02] [ 1.95005044e-01 -2.78364528e-03 9.80798289e-01 9.73773091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:175.21, Z:97.37 [[ 3.04520867e-01 -9.50887220e-01 -5.55025799e-02 2.32510466e+02] [ 9.33066255e-01 3.09511396e-01 -1.83275914e-01 1.75209744e+02] [ 1.91453405e-01 4.02375577e-03 9.81493455e-01 9.73746540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:175.23, Z:97.39 [[ 3.08148015e-01 -9.48815323e-01 -6.92407694e-02 2.32530497e+02] [ 9.31165129e-01 3.15722742e-01 -1.82347614e-01 1.75232549e+02] [ 1.94875096e-01 -8.28453471e-03 9.80793079e-01 9.73893541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.580385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.54, Y:175.26, Z:97.39 [[ 3.07877167e-01 -9.49331220e-01 -6.31021813e-02 2.32538436e+02] [ 9.31131962e-01 3.14272178e-01 -1.85003428e-01 1.75261733e+02] [ 1.95460790e-01 -1.79812649e-03 9.80709869e-01 9.73925579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.54, Y:175.29, Z:97.39 [[ 3.07963483e-01 -9.49706944e-01 -5.67028550e-02 2.32544814e+02] [ 9.31768598e-01 3.13117584e-01 -1.83751623e-01 1.75286588e+02] [ 1.92264853e-01 3.75485008e-03 9.81335889e-01 9.73912896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.56, Y:175.31, Z:97.40 [[ 3.08769341e-01 -9.49110415e-01 -6.20557352e-02 2.32558536e+02] [ 9.31459427e-01 3.14939729e-01 -1.82198529e-01 1.75311754e+02] [ 1.92470338e-01 -1.54507994e-03 9.81301575e-01 9.73996593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:175.34, Z:97.40 [[ 3.08565571e-01 -9.49281234e-01 -6.04353071e-02 2.32568499e+02] [ 9.31398625e-01 3.14428130e-01 -1.83389072e-01 1.75338758e+02] [ 1.93090365e-01 2.98191664e-04 9.81180932e-01 9.74045312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.700385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.58, Y:175.36, Z:97.41 [[ 3.09470690e-01 -9.48827002e-01 -6.28904878e-02 2.32581114e+02] [ 9.31061944e-01 3.15790015e-01 -1.82757550e-01 1.75362950e+02] [ 1.93265486e-01 -1.99683491e-03 9.81144467e-01 9.74105306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:175.39, Z:97.42 [[ 3.10076113e-01 -9.48596614e-01 -6.33819179e-02 2.32593752e+02] [ 9.30351109e-01 3.16483887e-01 -1.85161450e-01 1.75387952e+02] [ 1.95702880e-01 -1.55329486e-03 9.80662006e-01 9.74169771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.760385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.60, Y:175.41, Z:97.42 [[ 3.10327521e-01 -9.48597967e-01 -6.21186512e-02 2.32603975e+02] [ 9.30101915e-01 3.16483636e-01 -1.86409592e-01 1.75413448e+02] [ 1.96487297e-01 7.13501999e-05 9.80506368e-01 9.74216867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.62, Y:175.44, Z:97.43 [[ 3.10519247e-01 -9.48491139e-01 -6.27881886e-02 2.32615071e+02] [ 9.29866036e-01 3.16803515e-01 -1.87041940e-01 1.75437168e+02] [ 1.97299142e-01 -3.04481522e-04 9.80343285e-01 9.74273385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.64, Y:175.46, Z:97.44 [[ 3.13027707e-01 -9.47152941e-01 -7.01067846e-02 2.32635568e+02] [ 9.28360519e-01 3.20720772e-01 -1.87842840e-01 1.75461189e+02] [ 2.00400601e-01 -6.28435730e-03 9.79693884e-01 9.74401288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.850385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.64, Y:175.49, Z:97.44 [[ 3.12685945e-01 -9.47618293e-01 -6.51695523e-02 2.32644329e+02] [ 9.28451783e-01 3.19402725e-01 -1.89629074e-01 1.75486433e+02] [ 2.00511312e-01 -1.21244105e-03 9.79690637e-01 9.74436549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.880385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:232.65, Y:175.51, Z:97.44 [[ 3.09511771e-01 -9.49125856e-01 -5.79876987e-02 2.32650674e+02] [ 9.30016437e-01 3.14861298e-01 -1.89556825e-01 1.75511613e+02] [ 1.98171366e-01 4.74055590e-03 9.80155925e-01 9.74416922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.66, Y:175.54, Z:97.45 [[ 3.09398089e-01 -9.48907761e-01 -6.20232532e-02 2.32663447e+02] [ 9.30070146e-01 3.15553145e-01 -1.88137546e-01 1.75535715e+02] [ 1.98096810e-01 5.23421023e-04 9.80182320e-01 9.74478118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.68, Y:175.56, Z:97.45 [[ 3.09580284e-01 -9.48784069e-01 -6.29987152e-02 2.32675133e+02] [ 9.29858699e-01 3.15925225e-01 -1.88557822e-01 1.75560337e+02] [ 1.98803541e-01 -2.06119282e-04 9.80039341e-01 9.74537901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.970385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:232.69, Y:175.58, Z:97.46 [[ 3.07689943e-01 -9.49353435e-01 -6.36785289e-02 2.32689335e+02] [ 9.30322561e-01 3.14208470e-01 -1.89137438e-01 1.75583338e+02] [ 1.99566609e-01 -1.04588449e-03 9.79883705e-01 9.74570270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.70, Y:175.61, Z:97.47 [[ 3.08488596e-01 -9.49220046e-01 -6.17745177e-02 2.32701291e+02] [ 9.30097875e-01 3.14611276e-01 -1.89572384e-01 1.75609567e+02] [ 1.99380867e-01 1.02457093e-03 9.79921538e-01 9.74665768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.030385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.71, Y:175.63, Z:97.47 [[ 3.06699628e-01 -9.49781975e-01 -6.20446461e-02 2.32713375e+02] [ 9.30804526e-01 3.12912391e-01 -1.88914716e-01 1.75633918e+02] [ 1.98842330e-01 1.88635657e-04 9.80031475e-01 9.74718160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.060385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:232.73, Y:175.66, Z:97.48 [[ 3.06419457e-01 -9.49318736e-01 -7.00075309e-02 2.32729359e+02] [ 9.30374858e-01 3.14230984e-01 -1.88842560e-01 1.75658755e+02] [ 2.01270315e-01 -7.26821214e-03 9.79508771e-01 9.74817986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.73, Y:175.69, Z:97.48 [[ 3.05101750e-01 -9.50628071e-01 -5.67379399e-02 2.32733226e+02] [ 9.31288033e-01 3.10285695e-01 -1.90854363e-01 1.75686971e+02] [ 1.99036486e-01 5.39063582e-03 9.79977254e-01 9.74814280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:175.71, Z:97.49 [[ 3.03492003e-01 -9.50751072e-01 -6.29682689e-02 2.32749328e+02] [ 9.31502320e-01 3.09954211e-01 -1.90346567e-01 1.75710530e+02] [ 2.00489483e-01 -8.86427541e-04 9.79695453e-01 9.74898318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:175.74, Z:97.50 [[ 3.02517819e-01 -9.50619756e-01 -6.93184543e-02 2.32763415e+02] [ 9.31492308e-01 3.10276065e-01 -1.89870598e-01 1.75735226e+02] [ 2.02002599e-01 -7.13036798e-03 9.79359029e-01 9.74998596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.180385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:232.77, Y:175.76, Z:97.50 [[ 2.98922165e-01 -9.52590271e-01 -5.67213773e-02 2.32768870e+02] [ 9.33171739e-01 3.04225921e-01 -1.91408189e-01 1.75763547e+02] [ 1.99589691e-01 4.28536384e-03 9.79870191e-01 9.74981156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.78, Y:175.79, Z:97.51 [[ 2.97096776e-01 -9.52772069e-01 -6.29197113e-02 2.32781850e+02] [ 9.33630999e-01 3.03677727e-01 -1.90034196e-01 1.75787464e+02] [ 2.00166589e-01 -2.28524598e-03 9.79759213e-01 9.75058844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.80, Y:175.81, Z:97.52 [[ 2.96499801e-01 -9.52301202e-01 -7.21823345e-02 2.32801582e+02] [ 9.32568814e-01 3.04993934e-01 -1.93116820e-01 1.75810328e+02] [ 2.05920554e-01 -1.00558954e-02 9.78517043e-01 9.75202767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:175.84, Z:97.52 [[ 2.91629420e-01 -9.54194339e-01 -6.68239917e-02 2.32806194e+02] [ 9.34291354e-01 2.99129951e-01 -1.93961178e-01 1.75836237e+02] [ 2.05065715e-01 -5.86829180e-03 9.78730614e-01 9.75203596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.81, Y:175.86, Z:97.52 [[ 2.89879286e-01 -9.55521373e-01 -5.43038209e-02 2.32809985e+02] [ 9.35180487e-01 2.94858951e-01 -1.96203101e-01 1.75864672e+02] [ 2.03488224e-01 6.09134118e-03 9.79058445e-01 9.75176887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.83, Y:175.89, Z:97.53 [[ 2.88420421e-01 -9.54663914e-01 -7.36917431e-02 2.32830526e+02] [ 9.34827407e-01 2.97404970e-01 -1.94030935e-01 1.75885255e+02] [ 2.07150622e-01 -1.29265772e-02 9.78223657e-01 9.75334071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:175.91, Z:97.54 [[ 2.88420750e-01 -9.55249421e-01 -6.56659327e-02 2.32835846e+02] [ 9.34773467e-01 2.95765321e-01 -1.96777644e-01 1.75913660e+02] [ 2.07393436e-01 -4.62801584e-03 9.78246668e-01 9.75358358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:175.94, Z:97.54 [[ 2.85291429e-01 -9.56151935e-01 -6.61987747e-02 2.32847797e+02] [ 9.35608158e-01 2.92816189e-01 -1.97220828e-01 1.75938793e+02] [ 2.07957150e-01 -5.67070169e-03 9.78121499e-01 9.75424040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.85, Y:175.97, Z:97.54 [[ 2.82188072e-01 -9.58056715e-01 -4.99722207e-02 2.32848844e+02] [ 9.36978806e-01 2.86416471e-01 -2.00090784e-01 1.75967318e+02] [ 2.06011186e-01 9.64032078e-03 9.78502149e-01 9.75374880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.450385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:232.87, Y:175.99, Z:97.56 [[ 2.80529985e-01 -9.56837639e-01 -7.59253639e-02 2.32871548e+02] [ 9.37245506e-01 2.90130500e-01 -1.93378269e-01 1.75986529e+02] [ 2.07059870e-01 -1.69123032e-02 9.78182081e-01 9.75567516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.88, Y:176.01, Z:97.56 [[ 2.75640444e-01 -9.58906922e-01 -6.72299026e-02 2.32877364e+02] [ 9.38407596e-01 2.83588151e-01 -1.97405535e-01 1.76014698e+02] [ 2.08359138e-01 -8.67610187e-03 9.78013903e-01 9.75591935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.89, Y:176.04, Z:97.56 [[ 2.73556590e-01 -9.59785735e-01 -6.30724538e-02 2.32885836e+02] [ 9.39124651e-01 2.80688498e-01 -1.98138479e-01 1.76042494e+02] [ 2.07874198e-01 -5.03080951e-03 9.78142632e-01 9.75628843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.90, Y:176.06, Z:97.58 [[ 2.69430643e-01 -9.60339164e-01 -7.18040288e-02 2.32901162e+02] [ 9.40124379e-01 2.78454641e-01 -1.96543036e-01 1.76064339e+02] [ 2.08742140e-01 -1.45500013e-02 9.77862473e-01 9.75776117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:176.09, Z:97.58 [[ 2.66329622e-01 -9.61546233e-01 -6.70624646e-02 2.32907516e+02] [ 9.41141363e-01 2.74439920e-01 -1.97321223e-01 1.76091029e+02] [ 2.08138096e-01 -1.05627726e-02 9.78042413e-01 9.75818806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:176.12, Z:97.58 [[ 2.59047140e-01 -9.64327809e-01 -5.44651892e-02 2.32906027e+02] [ 9.44174202e-01 2.64710206e-01 -1.96121350e-01 1.76120837e+02] [ 2.03542763e-01 -6.19951921e-04 9.79065861e-01 9.75764830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:176.14, Z:97.60 [[ 2.60223692e-01 -9.62540096e-01 -7.61590092e-02 2.32925701e+02] [ 9.43256895e-01 2.70274822e-01 -1.92919544e-01 1.76140948e+02] [ 2.06276659e-01 -2.16352745e-02 9.78254494e-01 9.75980794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:176.17, Z:97.60 [[ 2.56036530e-01 -9.64457662e-01 -6.53200847e-02 2.32925519e+02] [ 9.44218977e-01 2.63996911e-01 -1.96865829e-01 1.76171418e+02] [ 2.07113058e-01 -1.12716197e-02 9.78252080e-01 9.75996564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.92, Y:176.20, Z:97.60 [[ 2.55254479e-01 -9.65657433e-01 -4.84858060e-02 2.32923530e+02] [ 9.42879919e-01 2.59709241e-01 -2.08635011e-01 1.76202566e+02] [ 2.14062161e-01 7.53872810e-03 9.76790950e-01 9.75976138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:176.22, Z:97.62 [[ 2.54127812e-01 -9.63368444e-01 -8.56755337e-02 2.32944214e+02] [ 9.45146342e-01 2.66161250e-01 -1.89358344e-01 1.76220146e+02] [ 2.05225360e-01 -3.28546957e-02 9.78163136e-01 9.76184390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.94, Y:176.25, Z:97.61 [[ 2.52778477e-01 -9.65627532e-01 -6.05517204e-02 2.32938216e+02] [ 9.45633475e-01 2.59812492e-01 -1.95639464e-01 1.76254711e+02] [ 2.04646946e-01 -7.80628809e-03 9.78804725e-01 9.76098997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.95, Y:176.28, Z:97.62 [[ 2.53154619e-01 -9.64852708e-01 -7.05123425e-02 2.32948664e+02] [ 9.45346135e-01 2.62201972e-01 -1.93831912e-01 1.76278155e+02] [ 2.05507721e-01 -1.75891265e-02 9.78497419e-01 9.76232145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.95, Y:176.31, Z:97.63 [[ 2.52634544e-01 -9.65306903e-01 -6.60179580e-02 2.32948739e+02] [ 9.45298362e-01 2.60798915e-01 -1.95946252e-01 1.76306243e+02] [ 2.06365682e-01 -1.29038753e-02 9.78389848e-01 9.76265137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.95, Y:176.34, Z:97.63 [[ 2.51931377e-01 -9.65503816e-01 -6.58252453e-02 2.32950774e+02] [ 9.45581480e-01 2.60065349e-01 -1.95554798e-01 1.76335181e+02] [ 2.05927769e-01 -1.29767434e-02 9.78481149e-01 9.76317619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:176.36, Z:97.64 [[ 2.51572438e-01 -9.65562809e-01 -6.63307575e-02 2.32956436e+02] [ 9.45294508e-01 2.59840875e-01 -1.97233396e-01 1.76362405e+02] [ 2.07676674e-01 -1.30836146e-02 9.78110024e-01 9.76374310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.96, Y:176.39, Z:97.64 [[ 2.50471268e-01 -9.65903231e-01 -6.55369532e-02 2.32962069e+02] [ 9.46109327e-01 2.58568339e-01 -1.94986040e-01 1.76388530e+02] [ 2.05283427e-01 -1.31667221e-02 9.78613995e-01 9.76434251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:176.41, Z:97.66 [[ 2.49946264e-01 -9.64868469e-01 -8.09672974e-02 2.32975010e+02] [ 9.45754911e-01 2.61205864e-01 -1.93181635e-01 1.76412410e+02] [ 2.07544001e-01 -2.82901911e-02 9.77816523e-01 9.76577106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:176.45, Z:97.65 [[ 2.51191957e-01 -9.66576782e-01 -5.13023028e-02 2.32963188e+02] [ 9.45663268e-01 2.56371539e-01 -1.99986545e-01 1.76447799e+02] [ 2.06454801e-01 1.72030817e-03 9.78454626e-01 9.76495641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.97, Y:176.48, Z:97.66 [[ 2.55091565e-01 -9.65239426e-01 -5.69310504e-02 2.32967764e+02] [ 9.43896643e-01 2.61357657e-01 -2.01869517e-01 1.76475746e+02] [ 2.09731782e-01 -2.24181656e-03 9.77756388e-01 9.76554537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:176.50, Z:97.67 [[ 2.58226541e-01 -9.63146816e-01 -7.52812407e-02 2.32982389e+02] [ 9.43800843e-01 2.68143216e-01 -1.93233500e-01 1.76497877e+02] [ 2.06298384e-01 -2.11524801e-02 9.78260471e-01 9.76685616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:176.53, Z:97.67 [[ 2.61537136e-01 -9.62942020e-01 -6.58862082e-02 2.32983293e+02] [ 9.42679118e-01 2.69498472e-01 -1.96790889e-01 1.76527085e+02] [ 2.07254449e-01 -1.06414270e-02 9.78229193e-01 9.76709944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:176.56, Z:97.68 [[ 2.69831407e-01 -9.60673416e-01 -6.55560847e-02 2.32984938e+02] [ 9.40509962e-01 2.77542129e-01 -1.95988208e-01 1.76555089e+02] [ 2.06475237e-01 -8.77237694e-03 9.78412501e-01 9.76759692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:176.58, Z:97.68 [[ 2.74078288e-01 -9.59480057e-01 -6.54149199e-02 2.32990315e+02] [ 9.39330157e-01 2.81668759e-01 -1.95758949e-01 1.76581841e+02] [ 2.06252147e-01 -7.79292938e-03 9.78467844e-01 9.76814653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:176.61, Z:97.69 [[ 2.82351255e-01 -9.57084321e-01 -6.53251165e-02 2.32993131e+02] [ 9.36887558e-01 2.89748428e-01 -1.95672053e-01 1.76609292e+02] [ 2.06202504e-01 -5.95403907e-03 9.78491225e-01 9.76866799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:176.64, Z:97.69 [[ 2.85848838e-01 -9.56043540e-01 -6.53543535e-02 2.33000023e+02] [ 9.35761057e-01 2.93179626e-01 -1.95951400e-01 1.76636047e+02] [ 2.06498635e-01 -5.14357882e-03 9.78433369e-01 9.76924533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.01, Y:176.66, Z:97.70 [[ 2.88851000e-01 -9.55145639e-01 -6.52832863e-02 2.33007365e+02] [ 9.34847418e-01 2.96103192e-01 -1.95916320e-01 1.76662118e+02] [ 2.06459208e-01 -4.43928692e-03 9.78445138e-01 9.76981727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.01, Y:176.69, Z:97.70 [[ 2.94083008e-01 -9.53553314e-01 -6.52016974e-02 2.33013001e+02] [ 9.33229144e-01 3.01206747e-01 -1.95851628e-01 1.76687490e+02] [ 2.06394160e-01 -3.25148835e-03 9.78463529e-01 9.77048655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:176.71, Z:97.71 [[ 2.96319376e-01 -9.52880117e-01 -6.49177236e-02 2.33019543e+02] [ 9.32678850e-01 3.03335031e-01 -1.95187147e-01 1.76713831e+02] [ 2.05681772e-01 -2.70965411e-03 9.78615178e-01 9.77104372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:176.74, Z:97.71 [[ 3.00678831e-01 -9.52058815e-01 -5.63582609e-02 2.33019931e+02] [ 9.30899678e-01 3.05820715e-01 -1.99748543e-01 1.76743114e+02] [ 2.07407884e-01 7.59627135e-03 9.78225059e-01 9.77120929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:176.77, Z:97.72 [[ 3.01940966e-01 -9.50519486e-01 -7.31051358e-02 2.33035522e+02] [ 9.31053281e-01 3.10497559e-01 -1.91653475e-01 1.76765824e+02] [ 2.04869329e-01 -1.01967412e-02 9.78736218e-01 9.77232563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:176.79, Z:97.73 [[ 3.03549061e-01 -9.50637934e-01 -6.43854530e-02 2.33040178e+02] [ 9.30629996e-01 3.10300605e-01 -1.94013777e-01 1.76792430e+02] [ 2.04415701e-01 -1.02633413e-03 9.78883634e-01 9.77261464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:176.82, Z:97.73 [[ 3.03636150e-01 -9.50627028e-01 -6.41353473e-02 2.33049675e+02] [ 9.30736139e-01 3.10334244e-01 -1.93449986e-01 1.76818181e+02] [ 2.03802180e-01 -9.54676355e-04 9.79011624e-01 9.77321195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:176.84, Z:97.74 [[ 3.03891891e-01 -9.50538210e-01 -6.42404007e-02 2.33058727e+02] [ 9.30540754e-01 3.10606517e-01 -1.93952306e-01 1.76843367e+02] [ 2.04312565e-01 -8.37777872e-04 9.78905345e-01 9.77378761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:176.87, Z:97.74 [[ 3.03771153e-01 -9.51256109e-01 -5.32437935e-02 2.33063139e+02] [ 9.30774292e-01 3.08234542e-01 -1.96597775e-01 1.76873908e+02] [ 2.03426411e-01 1.01627786e-02 9.79037493e-01 9.77358373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:176.90, Z:97.74 [[ 3.05313393e-01 -9.50009527e-01 -6.53117961e-02 2.33080377e+02] [ 9.30223767e-01 3.12215351e-01 -1.92886800e-01 1.76898246e+02] [ 2.03635643e-01 -1.86366177e-03 9.79044969e-01 9.77447722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:176.92, Z:97.75 [[ 3.04957544e-01 -9.50514613e-01 -5.93537406e-02 2.33087128e+02] [ 9.30544358e-01 3.10655538e-01 -1.93856478e-01 1.76924961e+02] [ 2.02701984e-01 3.88670698e-03 9.79232761e-01 9.77470442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.530385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.11, Y:176.94, Z:97.77 [[ 3.06121886e-01 -9.48556108e-01 -8.08127481e-02 2.33107095e+02] [ 9.29115368e-01 3.16184947e-01 -1.91759518e-01 1.76943489e+02] [ 2.07446436e-01 -1.63825810e-02 9.78109190e-01 9.77653896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:176.97, Z:97.77 [[ 3.08034202e-01 -9.49170859e-01 -6.47271984e-02 2.33112785e+02] [ 9.28676785e-01 3.14761145e-01 -1.96175562e-01 1.76970330e+02] [ 2.06577734e-01 3.18136177e-04 9.78430140e-01 9.77682913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:177.00, Z:97.77 [[ 3.09241826e-01 -9.48798990e-01 -6.44202608e-02 2.33124331e+02] [ 9.28452484e-01 3.15879858e-01 -1.95437714e-01 1.76995762e+02] [ 2.05780169e-01 6.26364514e-04 9.78598043e-01 9.77739710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:177.02, Z:97.78 [[ 3.09008347e-01 -9.48881316e-01 -6.43279821e-02 2.33134139e+02] [ 9.28557601e-01 3.15632464e-01 -1.95337986e-01 1.77020317e+02] [ 2.05656564e-01 6.28831342e-04 9.78624025e-01 9.77787296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:177.04, Z:97.78 [[ 3.06586103e-01 -9.49658567e-01 -6.44481811e-02 2.33148041e+02] [ 9.29246224e-01 3.13286742e-01 -1.95838892e-01 1.77044970e+02] [ 2.06170842e-01 1.53253590e-04 9.78515999e-01 9.77842590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:177.07, Z:97.79 [[ 3.04423478e-01 -9.50358302e-01 -6.43851231e-02 2.33160061e+02] [ 9.29961477e-01 3.11157567e-01 -1.95838250e-01 1.77068823e+02] [ 2.06150425e-01 -2.57922903e-04 9.78520279e-01 9.77902414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.710385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.17, Y:177.09, Z:97.80 [[ 3.02357721e-01 -9.51032240e-01 -6.41676454e-02 2.33172536e+02] [ 9.30747406e-01 3.09091014e-01 -1.95376589e-01 1.77092798e+02] [ 2.05643078e-01 -6.50249292e-04 9.78626845e-01 9.77964602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.740385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.19, Y:177.12, Z:97.80 [[ 2.98314326e-01 -9.52333704e-01 -6.37893271e-02 2.33186644e+02] [ 9.32279289e-01 3.05054661e-01 -1.94414456e-01 1.77117511e+02] [ 2.04606670e-01 -1.47285115e-03 9.78843165e-01 9.78025693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.20, Y:177.14, Z:97.81 [[ 2.96866560e-01 -9.52798983e-01 -6.35951553e-02 2.33196368e+02] [ 9.32842039e-01 3.03596927e-01 -1.93996486e-01 1.77143042e+02] [ 2.04146949e-01 -1.73316479e-03 9.78938721e-01 9.78077571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:177.17, Z:97.81 [[ 2.96129309e-01 -9.53040324e-01 -6.34158784e-02 2.33209014e+02] [ 9.33163134e-01 3.02837866e-01 -1.93638305e-01 1.77167387e+02] [ 2.03749842e-01 -1.83538241e-03 9.79021263e-01 9.78134002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:177.19, Z:97.82 [[ 2.96043075e-01 -9.53066198e-01 -6.34296524e-02 2.33220312e+02] [ 9.33141559e-01 3.02756668e-01 -1.93869109e-01 1.77191897e+02] [ 2.03973845e-01 -1.79523763e-03 9.78974692e-01 9.78194150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.24, Y:177.22, Z:97.83 [[ 2.95928092e-01 -9.53091176e-01 -6.35906842e-02 2.33235455e+02] [ 9.33023032e-01 3.02678260e-01 -1.94560767e-01 1.77216013e+02] [ 2.04681668e-01 -1.75557626e-03 9.78827019e-01 9.78258430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.25, Y:177.24, Z:97.83 [[ 2.95413097e-01 -9.53255193e-01 -6.35266760e-02 2.33246382e+02] [ 9.33192729e-01 3.02160986e-01 -1.94550941e-01 1.77241509e+02] [ 2.04651978e-01 -1.80973612e-03 9.78833128e-01 9.78314754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:177.27, Z:97.84 [[ 2.94621802e-01 -9.53527659e-01 -6.31109998e-02 2.33257432e+02] [ 9.33696724e-01 3.01299337e-01 -1.93466113e-01 1.77265833e+02] [ 2.03490592e-01 -1.92719885e-03 9.79075005e-01 9.78363453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.950385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.27, Y:177.29, Z:97.84 [[ 2.94465425e-01 -9.53586436e-01 -6.29525381e-02 2.33267260e+02] [ 9.33816205e-01 3.01113421e-01 -1.93178683e-01 1.77291169e+02] [ 2.03168426e-01 -1.90165710e-03 9.79141958e-01 9.78415767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:177.32, Z:97.85 [[ 2.94207716e-01 -9.53668531e-01 -6.29138589e-02 2.33277486e+02] [ 9.33886671e-01 3.00853321e-01 -1.93243278e-01 1.77317138e+02] [ 2.03217877e-01 -1.90075076e-03 9.79131698e-01 9.78470644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:177.34, Z:97.85 [[ 2.93138349e-01 -9.54794898e-01 -4.93620390e-02 2.33284520e+02] [ 9.33213534e-01 2.96970672e-01 -2.02289198e-01 1.77344652e+02] [ 2.07803772e-01 1.32333987e-02 9.78081014e-01 9.78473808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.31, Y:177.36, Z:97.86 [[ 2.92046654e-01 -9.53263415e-01 -7.74442630e-02 2.33310419e+02] [ 9.34549775e-01 3.01647497e-01 -1.88747203e-01 1.77362611e+02] [ 2.03286671e-01 -1.72525294e-02 9.78967252e-01 9.78648059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.30, Y:177.40, Z:97.85 [[ 2.88132186e-01 -9.56479819e-01 -4.61107346e-02 2.33303538e+02] [ 9.37131682e-01 2.91549625e-01 -1.91789018e-01 1.77396703e+02] [ 1.96885893e-01 1.20487589e-02 9.80352372e-01 9.78495796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.33, Y:177.42, Z:97.87 [[ 2.90253397e-01 -9.53970903e-01 -7.54485352e-02 2.33328972e+02] [ 9.35437361e-01 2.99468706e-01 -1.87817566e-01 1.77415170e+02] [ 2.01766968e-01 -1.60626921e-02 9.79301833e-01 9.78749625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:177.44, Z:97.88 [[ 2.88303674e-01 -9.55510406e-01 -6.22965049e-02 2.33335102e+02] [ 9.36008081e-01 2.94942834e-01 -1.92087471e-01 1.77443032e+02] [ 2.01915485e-01 -2.93050848e-03 9.79398565e-01 9.78755133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.160385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:233.35, Y:177.47, Z:97.88 [[ 2.86433049e-01 -9.56070791e-01 -6.23277669e-02 2.33346863e+02] [ 9.36523269e-01 2.93117634e-01 -1.92370004e-01 1.77468989e+02] [ 2.02188710e-01 -3.27027723e-03 9.79341121e-01 9.78774571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.36, Y:177.49, Z:97.89 [[ 2.86644390e-01 -9.56010464e-01 -6.22815155e-02 2.33356669e+02] [ 9.36452665e-01 2.93315437e-01 -1.92412216e-01 1.77493829e+02] [ 2.02216222e-01 -3.16980891e-03 9.79335771e-01 9.78862856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.36, Y:177.52, Z:97.88 [[ 2.84678648e-01 -9.57196555e-01 -5.22764088e-02 2.33360439e+02] [ 9.37766386e-01 2.89384014e-01 -1.91966398e-01 1.77522577e+02] [ 1.98877531e-01 5.62567559e-03 9.80008204e-01 9.78823799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:177.55, Z:97.89 [[ 2.84870280e-01 -9.56594287e-01 -6.14515486e-02 2.33374975e+02] [ 9.37733367e-01 2.91398645e-01 -1.89058094e-01 1.77545922e+02] [ 1.98758790e-01 -3.76813541e-03 9.80041195e-01 9.78911009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:177.57, Z:97.90 [[ 2.84763992e-01 -9.56707044e-01 -6.01755762e-02 2.33382959e+02] [ 9.37734445e-01 2.91042421e-01 -1.89600686e-01 1.77572879e+02] [ 1.98905957e-01 -2.43726235e-03 9.80015551e-01 9.78963527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.40, Y:177.60, Z:97.91 [[ 2.87205077e-01 -9.55336512e-01 -6.96088522e-02 2.33398593e+02] [ 9.36156672e-01 2.95337784e-01 -1.90751877e-01 1.77596074e+02] [ 2.02790357e-01 -1.03798838e-02 9.79167161e-01 9.79115491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:177.62, Z:97.91 [[ 2.87438920e-01 -9.55780309e-01 -6.21519751e-02 2.33406006e+02] [ 9.36192758e-01 2.94067851e-01 -1.92528488e-01 1.77622827e+02] [ 2.02291835e-01 -2.84604842e-03 9.79321149e-01 9.79140500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.42, Y:177.65, Z:97.92 [[ 2.87269128e-01 -9.55847683e-01 -6.19003588e-02 2.33415530e+02] [ 9.36383544e-01 2.93848977e-01 -1.91933937e-01 1.77648269e+02] [ 2.01648967e-01 -2.82578249e-03 9.79453781e-01 9.79194901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.42, Y:177.68, Z:97.91 [[ 2.85526818e-01 -9.57069455e-01 -4.99248831e-02 2.33419880e+02] [ 9.37551365e-01 2.89744114e-01 -1.92472822e-01 1.77677111e+02] [ 1.98675300e-01 8.14901021e-03 9.80031489e-01 9.79148473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.44, Y:177.70, Z:97.93 [[ 2.86948159e-01 -9.55222680e-01 -7.21829980e-02 2.33440518e+02] [ 9.36328064e-01 2.95592973e-01 -1.89511350e-01 1.77696187e+02] [ 2.02362327e-01 -1.32070338e-02 9.79221662e-01 9.79344426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.460385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:233.45, Y:177.72, Z:97.93 [[ 2.86643327e-01 -9.56016524e-01 -6.21933241e-02 2.33445777e+02] [ 9.36270476e-01 2.93299300e-01 -1.93321280e-01 1.77724735e+02] [ 2.03059596e-01 -2.81551834e-03 9.79162332e-01 9.79343668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.490385723 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:233.45, Y:177.76, Z:97.93 [[ 2.86634684e-01 -9.57008838e-01 -4.44369487e-02 2.33448372e+02] [ 9.36738211e-01 2.89686465e-01 -1.96477166e-01 1.77756514e+02] [ 2.00903167e-01 1.46913825e-02 9.79500935e-01 9.79283228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:233.47, Y:177.77, Z:97.95 [[ 2.84992644e-01 -9.55191441e-01 -7.99281126e-02 2.33473610e+02] [ 9.36707805e-01 2.95226128e-01 -1.88202077e-01 1.77770020e+02] [ 2.03365881e-01 -2.12330794e-02 9.78872553e-01 9.79519626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.550385723 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:233.47, Y:177.80, Z:97.94 [[ 2.84421796e-01 -9.57372484e-01 -5.04199222e-02 2.33471700e+02] [ 9.37041913e-01 2.88727399e-01 -1.96440683e-01 1.77804128e+02] [ 2.02624518e-01 8.62643141e-03 9.79218510e-01 9.79420968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.49, Y:177.82, Z:97.96 [[ 2.81928654e-01 -9.56849048e-01 -7.03998115e-02 2.33489525e+02] [ 9.36777139e-01 2.90380983e-01 -1.95262585e-01 1.77823521e+02] [ 2.07279585e-01 -1.08988162e-02 9.78221033e-01 9.79583746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.610385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:233.50, Y:177.85, Z:97.96 [[ 2.82200070e-01 -9.56915128e-01 -6.83853639e-02 2.33497442e+02] [ 9.37135500e-01 2.90215549e-01 -1.93783358e-01 1.77847885e+02] [ 2.05280723e-01 -9.40067490e-03 9.78657985e-01 9.79621750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:177.87, Z:97.97 [[ 2.81249736e-01 -9.57610251e-01 -6.22992302e-02 2.33504451e+02] [ 9.37526413e-01 2.88045414e-01 -1.95125764e-01 1.77874865e+02] [ 2.04799439e-01 -3.52810432e-03 9.78797600e-01 9.79651663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.670385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:233.52, Y:177.90, Z:97.97 [[ 2.79035131e-01 -9.58270918e-01 -6.20986640e-02 2.33516401e+02] [ 9.38294476e-01 2.85834396e-01 -1.94684806e-01 1.77899755e+02] [ 2.04310722e-01 -3.94293295e-03 9.78898147e-01 9.79710177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.700385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:233.53, Y:177.92, Z:97.98 [[ 2.76555791e-01 -9.58991951e-01 -6.20590985e-02 2.33528554e+02] [ 9.39019928e-01 2.83398897e-01 -1.94747633e-01 1.77923847e+02] [ 2.04348893e-01 -4.41614455e-03 9.78888159e-01 9.79774909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.54, Y:177.95, Z:97.98 [[ 2.74998807e-01 -9.59433052e-01 -6.21600683e-02 2.33537795e+02] [ 9.39365101e-01 2.81897466e-01 -1.95261432e-01 1.77948196e+02] [ 2.04863038e-01 -4.69433793e-03 9.78779392e-01 9.79831108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:233.55, Y:177.97, Z:97.99 [[ 2.73353552e-01 -9.59898495e-01 -6.22311419e-02 2.33547113e+02] [ 9.39767259e-01 2.80303031e-01 -1.95621343e-01 1.77973889e+02] [ 2.05220210e-01 -5.00900085e-03 9.78703007e-01 9.79882542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:178.00, Z:97.99 [[ 2.70626960e-01 -9.60683432e-01 -6.20354075e-02 2.33557062e+02] [ 9.40660277e-01 2.77591019e-01 -1.95195975e-01 1.77999334e+02] [ 2.04742011e-01 -5.52895034e-03 9.78800357e-01 9.79926436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:178.02, Z:98.00 [[ 2.70009886e-01 -9.60881289e-01 -6.16588158e-02 2.33567567e+02] [ 9.41066887e-01 2.76904202e-01 -1.94209108e-01 1.78024260e+02] [ 2.03685483e-01 -5.58669067e-03 9.79020435e-01 9.79992097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.58, Y:178.05, Z:98.01 [[ 2.70322808e-01 -9.60809915e-01 -6.13994069e-02 2.33576337e+02] [ 9.41123259e-01 2.77154364e-01 -1.93578074e-01 1.78050014e+02] [ 2.03008846e-01 -5.45584133e-03 9.79161704e-01 9.80054210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.880385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:233.58, Y:178.08, Z:98.01 [[ 2.71286822e-01 -9.60550964e-01 -6.11989097e-02 2.33583689e+02] [ 9.40949368e-01 2.78055564e-01 -1.93130502e-01 1.78075783e+02] [ 2.02528387e-01 -5.19131531e-03 9.79262632e-01 9.80108742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.59, Y:178.10, Z:98.02 [[ 2.74901824e-01 -9.59509962e-01 -6.13972238e-02 2.33589850e+02] [ 9.39725421e-01 2.81640406e-01 -1.93893826e-01 1.78102700e+02] [ 2.03334997e-01 -4.39476552e-03 9.79099364e-01 9.80154349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:178.13, Z:98.02 [[ 2.76249129e-01 -9.59116786e-01 -6.14931676e-02 2.33597765e+02] [ 9.39221454e-01 2.82981494e-01 -1.94382446e-01 1.78129366e+02] [ 2.03836895e-01 -4.05772092e-03 9.78996453e-01 9.80208892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:178.15, Z:98.03 [[ 2.78344258e-01 -9.58508785e-01 -6.15254610e-02 2.33606262e+02] [ 9.38538901e-01 2.85040776e-01 -1.94670202e-01 1.78154998e+02] [ 2.04130364e-01 -3.55870545e-03 9.78937245e-01 9.80272130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:178.18, Z:98.03 [[ 2.78536024e-01 -9.58473470e-01 -6.12069564e-02 2.33614226e+02] [ 9.38672857e-01 2.85160721e-01 -1.93846925e-01 1.78181144e+02] [ 2.03250955e-01 -3.45995689e-03 9.79120564e-01 9.80327384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:233.62, Y:178.21, Z:98.04 [[ 2.78026304e-01 -9.58641064e-01 -6.08989732e-02 2.33621364e+02] [ 9.39006375e-01 2.84596202e-01 -1.93059652e-01 1.78207460e+02] [ 2.02406526e-01 -3.50886277e-03 9.79295301e-01 9.80384770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:178.24, Z:98.04 [[ 2.75819418e-01 -9.59305225e-01 -6.04742446e-02 2.33627030e+02] [ 9.39923735e-01 2.82344087e-01 -1.91898904e-01 1.78235142e+02] [ 2.01164167e-01 -3.91173377e-03 9.79549731e-01 9.80433057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:178.26, Z:98.05 [[ 2.71429926e-01 -9.60550337e-01 -6.05709958e-02 2.33634601e+02] [ 9.41097343e-01 2.78065076e-01 -1.92394400e-01 1.78261649e+02] [ 2.01647184e-01 -4.78160545e-03 9.79446553e-01 9.80479736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:178.29, Z:98.05 [[ 2.68222688e-01 -9.61438216e-01 -6.07712690e-02 2.33642682e+02] [ 9.41838197e-01 2.74967777e-01 -1.93218873e-01 1.78287390e+02] [ 2.02478149e-01 -5.41101702e-03 9.79271832e-01 9.80537918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:178.31, Z:98.06 [[ 2.65336930e-01 -9.62224089e-01 -6.10009573e-02 2.33651164e+02] [ 9.42454816e-01 2.72193059e-01 -1.94138764e-01 1.78313673e+02] [ 2.03409032e-01 -5.97846237e-03 9.79075596e-01 9.80596629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.66, Y:178.34, Z:98.06 [[ 2.61061775e-01 -9.63378740e-01 -6.12221565e-02 2.33656935e+02] [ 9.43455200e-01 2.68056993e-01 -1.95032649e-01 1.78339599e+02] [ 2.04301335e-01 -6.84479237e-03 9.78884116e-01 9.80643544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.66, Y:178.37, Z:98.07 [[ 2.59432880e-01 -9.63818160e-01 -6.12301856e-02 2.33662881e+02] [ 9.43871924e-01 2.66464623e-01 -1.95198351e-01 1.78365416e+02] [ 2.04451394e-01 -7.15258268e-03 9.78850585e-01 9.80689192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:233.67, Y:178.39, Z:98.07 [[ 2.57262721e-01 -9.64403470e-01 -6.11705719e-02 2.33667261e+02] [ 9.44470919e-01 2.64327219e-01 -1.95207080e-01 1.78392756e+02] [ 2.04427432e-01 -7.55432191e-03 9.78852572e-01 9.80731040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:178.42, Z:98.08 [[ 2.54097372e-01 -9.65253432e-01 -6.09945772e-02 2.33671837e+02] [ 9.45421766e-01 2.61188107e-01 -1.94829305e-01 1.78420279e+02] [ 2.03990713e-01 -8.15998660e-03 9.78938815e-01 9.80768050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:178.45, Z:98.08 [[ 2.55770806e-01 -9.64805034e-01 -6.10945362e-02 2.33681259e+02] [ 9.44870675e-01 2.62851042e-01 -1.95265811e-01 1.78445710e+02] [ 2.04452200e-01 -7.78314188e-03 9.78845606e-01 9.80844918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:178.47, Z:98.08 [[ 2.55973417e-01 -9.65446374e-01 -4.88969194e-02 2.33682376e+02] [ 9.43934433e-01 2.60538512e-01 -2.02749770e-01 1.78474497e+02] [ 2.08483561e-01 5.74306563e-03 9.78009009e-01 9.80840608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.360385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:233.70, Y:178.49, Z:98.10 [[ 2.58871934e-01 -9.63043291e-01 -7.43837387e-02 2.33698583e+02] [ 9.43990119e-01 2.68558882e-01 -1.91725801e-01 1.78494439e+02] [ 2.04616661e-01 -2.05850853e-02 9.78625708e-01 9.81000969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.390385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.70, Y:178.52, Z:98.10 [[ 2.60526347e-01 -9.63522221e-01 -6.12450222e-02 2.33698276e+02] [ 9.43351153e-01 2.67545678e-01 -1.96234331e-01 1.78523700e+02] [ 2.05461979e-01 -6.65134904e-03 9.78642496e-01 9.80997119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.70, Y:178.55, Z:98.11 [[ 2.64586143e-01 -9.62422926e-01 -6.11251510e-02 2.33703651e+02] [ 9.42259821e-01 2.71494681e-01 -1.96053738e-01 1.78551296e+02] [ 2.05281765e-01 -5.72267164e-03 9.78686185e-01 9.81050940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:178.58, Z:98.10 [[ 2.61264688e-01 -9.64101976e-01 -4.74145827e-02 2.33698387e+02] [ 9.44526813e-01 2.65470248e-01 -1.93376956e-01 1.78578391e+02] [ 1.99022267e-01 5.73822537e-03 9.79978168e-01 9.80967900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:178.60, Z:98.11 [[ 2.63520505e-01 -9.63009690e-01 -5.62963687e-02 2.33708473e+02] [ 9.44273336e-01 2.69446116e-01 -1.89067867e-01 1.78603472e+02] [ 1.97243026e-01 -3.33590021e-03 9.80348948e-01 9.81063544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:178.63, Z:98.11 [[ 2.63730628e-01 -9.63067607e-01 -5.42857283e-02 2.33714308e+02] [ 9.44238123e-01 2.69256663e-01 -1.89513102e-01 1.78630506e+02] [ 1.97130723e-01 -1.27824487e-03 9.80376379e-01 9.81106615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.71, Y:178.66, Z:98.10 [[ 2.61399577e-01 -9.64520449e-01 -3.70211337e-02 2.33708814e+02] [ 9.45293848e-01 2.63567182e-01 -1.92228720e-01 1.78659393e+02] [ 1.95166087e-01 1.52526560e-02 9.80651597e-01 9.81040166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.570385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:233.74, Y:178.68, Z:98.14 [[ 2.64443748e-01 -9.60596130e-01 -8.55837573e-02 2.33742793e+02] [ 9.43065037e-01 2.76136599e-01 -1.85410127e-01 1.78676208e+02] [ 2.01737058e-01 -3.16805004e-02 9.78927222e-01 9.81393713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.74, Y:178.71, Z:98.14 [[ 2.65697156e-01 -9.62347221e-01 -5.73833455e-02 2.33741719e+02] [ 9.42127055e-01 2.71816370e-01 -1.96245950e-01 1.78710590e+02] [ 2.04454477e-01 -1.92041162e-03 9.78874190e-01 9.81378753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.630385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.75, Y:178.74, Z:98.15 [[ 2.64265910e-01 -9.62534464e-01 -6.07530588e-02 2.33750572e+02] [ 9.42583603e-01 2.71098997e-01 -1.95042265e-01 1.78736508e+02] [ 2.04204995e-01 -5.72181550e-03 9.78911427e-01 9.81452589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.660385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.76, Y:178.76, Z:98.15 [[ 2.62558408e-01 -9.63016347e-01 -6.05193961e-02 2.33755051e+02] [ 9.43192929e-01 2.69375753e-01 -1.94483423e-01 1.78762707e+02] [ 2.03593174e-01 -6.01820842e-03 9.79037078e-01 9.81499347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.690385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:233.76, Y:178.79, Z:98.16 [[ 2.61935726e-01 -9.63185629e-01 -6.05237082e-02 2.33761582e+02] [ 9.43321666e-01 2.68768116e-01 -1.94699602e-01 1.78789046e+02] [ 2.03798701e-01 -6.09454372e-03 9.78993844e-01 9.81552118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.77, Y:178.82, Z:98.16 [[ 2.61582995e-01 -9.63280245e-01 -6.05434197e-02 2.33767388e+02] [ 9.43365998e-01 2.68428274e-01 -1.94953473e-01 1.78815300e+02] [ 2.04046395e-01 -6.11809010e-03 9.78942101e-01 9.81609379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.750385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:233.77, Y:178.84, Z:98.17 [[ 2.59094481e-01 -9.63521751e-01 -6.70513660e-02 2.33772470e+02] [ 9.44021800e-01 2.67303792e-01 -1.93317160e-01 1.78837957e+02] [ 2.04188373e-01 -1.32105420e-02 9.78842475e-01 9.81686634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:178.87, Z:98.17 [[ 2.62567479e-01 -9.63979359e-01 -4.24513178e-02 2.33771326e+02] [ 9.42353873e-01 2.65638083e-01 -2.03483630e-01 1.78873319e+02] [ 2.07430705e-01 1.34240199e-02 9.78157604e-01 9.81650322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:178.89, Z:98.18 [[ 2.62805980e-01 -9.62255735e-01 -7.06888741e-02 2.33790912e+02] [ 9.43026165e-01 2.71665527e-01 -1.92092410e-01 1.78891873e+02] [ 2.04045754e-01 -1.61784238e-02 9.78827661e-01 9.81820247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:233.79, Y:178.92, Z:98.18 [[ 2.63767713e-01 -9.62645876e-01 -6.11515374e-02 2.33792279e+02] [ 9.42199730e-01 2.70706857e-01 -1.97427119e-01 1.78921593e+02] [ 2.06606543e-01 -5.54206240e-03 9.78408413e-01 9.81835514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.80, Y:178.95, Z:98.19 [[ 2.63712075e-01 -9.62651963e-01 -6.12955084e-02 2.33798364e+02] [ 9.42067160e-01 2.70685937e-01 -1.98087329e-01 1.78947162e+02] [ 2.07280988e-01 -5.50646493e-03 9.78265951e-01 9.81884080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.900385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:233.80, Y:178.97, Z:98.19 [[ 2.63860383e-01 -9.62600593e-01 -6.14637900e-02 2.33802841e+02] [ 9.41856132e-01 2.70870212e-01 -1.98837509e-01 1.78974919e+02] [ 2.08049813e-01 -5.42470629e-03 9.78103189e-01 9.81928480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.80, Y:179.00, Z:98.19 [[ 2.60016438e-01 -9.63799557e-01 -5.90073443e-02 2.33803024e+02] [ 9.43339261e-01 2.66593358e-01 -1.97582945e-01 1.78999240e+02] [ 2.06161321e-01 -4.28913092e-03 9.78508617e-01 9.81935172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.82, Y:179.02, Z:98.21 [[ 2.61187293e-01 -9.62729769e-01 -7.02323970e-02 2.33816853e+02] [ 9.42226282e-01 2.70080527e-01 -1.98156866e-01 1.79024295e+02] [ 2.09739917e-01 -1.44187548e-02 9.77650892e-01 9.82086199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:179.06, Z:98.21 [[ 2.61825819e-01 -9.63729161e-01 -5.17044004e-02 2.33817785e+02] [ 9.42342597e-01 2.66849909e-01 -2.01944437e-01 1.79055840e+02] [ 2.08417057e-01 4.15100878e-03 9.78031236e-01 9.82061061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.83, Y:179.08, Z:98.22 [[ 2.60217250e-01 -9.63601715e-01 -6.13083844e-02 2.33828916e+02] [ 9.42921835e-01 2.67272028e-01 -1.98655673e-01 1.79080197e+02] [ 2.07810963e-01 -6.11538156e-03 9.78149889e-01 9.82153112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.83, Y:179.11, Z:98.22 [[ 2.57771825e-01 -9.64564070e-01 -5.63013424e-02 2.33831662e+02] [ 9.43307896e-01 2.63846013e-01 -2.01383950e-01 1.79109069e+02] [ 2.09102607e-01 -1.19839271e-03 9.77892972e-01 9.82188542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.84, Y:179.13, Z:98.23 [[ 2.56829939e-01 -9.64182064e-01 -6.62671039e-02 2.33842330e+02] [ 9.43974088e-01 2.64968484e-01 -1.96734908e-01 1.79133718e+02] [ 2.07246964e-01 -1.20270145e-02 9.78214724e-01 9.82280790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.84, Y:179.16, Z:98.23 [[ 2.55950452e-01 -9.64749433e-01 -6.12200771e-02 2.33844220e+02] [ 9.44066516e-01 2.63079453e-01 -1.98815530e-01 1.79162077e+02] [ 2.07912914e-01 -6.90890022e-03 9.78122941e-01 9.82317600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:233.85, Y:179.19, Z:98.24 [[ 2.55685207e-01 -9.64821005e-01 -6.12005162e-02 2.33850475e+02] [ 9.44113129e-01 2.62816719e-01 -1.98941631e-01 1.79188377e+02] [ 2.08027584e-01 -6.91377865e-03 9.78098525e-01 9.82375661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.170385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:233.86, Y:179.22, Z:98.24 [[ 2.55439644e-01 -9.64889543e-01 -6.11453895e-02 2.33858614e+02] [ 9.44179574e-01 2.62565074e-01 -1.98958574e-01 1.79215163e+02] [ 2.08027691e-01 -6.91032046e-03 9.78098526e-01 9.82432860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:179.24, Z:98.25 [[ 2.55298670e-01 -9.64945833e-01 -6.08451153e-02 2.33861537e+02] [ 9.44403664e-01 2.62359157e-01 -1.98165063e-01 1.79241599e+02] [ 2.07181825e-01 -6.87107280e-03 9.78278324e-01 9.82486931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.230385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.87, Y:179.27, Z:98.25 [[ 2.55076475e-01 -9.65029513e-01 -6.04485853e-02 2.33866204e+02] [ 9.44716321e-01 2.62052090e-01 -1.97078091e-01 1.79268361e+02] [ 2.06026853e-01 -6.83678023e-03 9.78522455e-01 9.82531949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.87, Y:179.30, Z:98.26 [[ 2.55845217e-01 -9.64837544e-01 -6.02639044e-02 2.33869777e+02] [ 9.44601863e-01 2.62763910e-01 -1.96678540e-01 1.79295291e+02] [ 2.05598019e-01 -6.60613255e-03 9.78614231e-01 9.82576143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.88, Y:179.32, Z:98.26 [[ 2.56029246e-01 -9.64779766e-01 -6.04071880e-02 2.33876287e+02] [ 9.44401524e-01 2.62978111e-01 -1.97353174e-01 1.79321866e+02] [ 2.06288117e-01 -6.52045601e-03 9.78469568e-01 9.82632390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:179.35, Z:98.27 [[ 2.57357979e-01 -9.64426943e-01 -6.03948832e-02 2.33881943e+02] [ 9.44007568e-01 2.64277174e-01 -1.97502625e-01 1.79348696e+02] [ 2.06437842e-01 -6.18435041e-03 9.78440173e-01 9.82677368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.350385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:233.89, Y:179.38, Z:98.27 [[ 2.57958987e-01 -9.64264490e-01 -6.04247840e-02 2.33889079e+02] [ 9.43780332e-01 2.64873404e-01 -1.97789700e-01 1.79375609e+02] [ 2.06726503e-01 -6.00609203e-03 9.78380335e-01 9.82735435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.380385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.88, Y:179.40, Z:98.27 [[ 2.54241767e-01 -9.66006983e-01 -4.68148826e-02 2.33882157e+02] [ 9.45618541e-01 2.58447576e-01 -1.97510569e-01 1.79403580e+02] [ 2.02895782e-01 5.94641523e-03 9.79182282e-01 9.82661858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.410385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:233.89, Y:179.43, Z:98.27 [[ 2.54801033e-01 -9.65491648e-01 -5.38731065e-02 2.33892593e+02] [ 9.45541745e-01 2.60431314e-01 -1.95259669e-01 1.79429078e+02] [ 2.02551824e-01 -1.18690573e-03 9.79270826e-01 9.82737712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.440385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.91, Y:179.45, Z:98.29 [[ 2.60869550e-01 -9.62695304e-01 -7.18667479e-02 2.33913946e+02] [ 9.42809481e-01 2.70066544e-01 -1.95382559e-01 1.79453332e+02] [ 2.07502677e-01 -1.67872910e-02 9.78090398e-01 9.82944751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.470385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:233.89, Y:179.49, Z:98.26 [[ 2.53932801e-01 -9.67092337e-01 -1.58285943e-02 2.33885422e+02] [ 9.47034656e-01 2.51925636e-01 -1.99145261e-01 1.79490145e+02] [ 1.96579484e-01 3.55792865e-02 9.79842141e-01 9.82629125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.500385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.94, Y:179.50, Z:98.31 [[ 2.63610564e-01 -9.59840859e-01 -9.59947712e-02 2.33939721e+02] [ 9.42392699e-01 2.77499548e-01 -1.86788654e-01 1.79500636e+02] [ 2.05925888e-01 -4.12253092e-02 9.77698830e-01 9.83143519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.530385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:233.93, Y:179.53, Z:98.31 [[ 2.64769739e-01 -9.62426163e-01 -6.02732572e-02 2.33930793e+02] [ 9.41883362e-01 2.71508036e-01 -1.97836090e-01 1.79534814e+02] [ 2.06767303e-01 -4.38936836e-03 9.78380302e-01 9.83079075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.560385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.94, Y:179.56, Z:98.31 [[ 2.65457545e-01 -9.62242697e-01 -6.01771049e-02 2.33937944e+02] [ 9.41719168e-01 2.72160781e-01 -1.97720806e-01 1.79561866e+02] [ 2.06633250e-01 -4.18345338e-03 9.78409525e-01 9.83135052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.590385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:233.94, Y:179.59, Z:98.32 [[ 2.65742322e-01 -9.62202806e-01 -5.95548383e-02 2.33944189e+02] [ 9.42064123e-01 2.72303753e-01 -1.95872038e-01 1.79588676e+02] [ 2.04685630e-01 -4.05298635e-03 9.78819374e-01 9.83178572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.620385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:233.95, Y:179.62, Z:98.32 [[ 2.64815887e-01 -9.62481073e-01 -5.91838624e-02 2.33952124e+02] [ 9.42561455e-01 2.71316534e-01 -1.94846713e-01 1.79615349e+02] [ 2.03593834e-01 -4.18592245e-03 9.79046490e-01 9.83235760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.650385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:233.96, Y:179.64, Z:98.33 [[ 2.63196469e-01 -9.62953147e-01 -5.87269588e-02 2.33961763e+02] [ 9.43314717e-01 2.69631868e-01 -1.93535527e-01 1.79640989e+02] [ 2.02200304e-01 -4.46013730e-03 9.79334031e-01 9.83296415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.680385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:233.97, Y:179.67, Z:98.34 [[ 2.61900078e-01 -9.63311452e-01 -5.86463527e-02 2.33970233e+02] [ 9.43696367e-01 2.68345258e-01 -1.93463149e-01 1.79667404e+02] [ 2.02102738e-01 -4.67633615e-03 9.79353162e-01 9.83354724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.710385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:233.98, Y:179.69, Z:98.34 [[ 2.59463105e-01 -9.63959728e-01 -5.88263510e-02 2.33977687e+02] [ 9.44198844e-01 2.65998483e-01 -1.94250739e-01 1.79693822e+02] [ 2.02897610e-01 -5.14287265e-03 9.79186454e-01 9.83403675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.740385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:233.98, Y:179.72, Z:98.35 [[ 2.58021421e-01 -9.64336489e-01 -5.89922235e-02 2.33984667e+02] [ 9.44431984e-01 2.64624181e-01 -1.94993001e-01 1.79719131e+02] [ 2.03649635e-01 -5.40177144e-03 9.79028931e-01 9.83452138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.770385723 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:233.99, Y:179.75, Z:98.35 [[ 2.54679797e-01 -9.65211336e-01 -5.92053925e-02 2.33993087e+02] [ 9.45140988e-01 2.61400643e-01 -1.95903591e-01 1.79745046e+02] [ 2.04564694e-01 -6.06475644e-03 9.78834258e-01 9.83497704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.800385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:234.01, Y:179.77, Z:98.36 [[ 2.54146451e-01 -9.65264528e-01 -6.06132971e-02 2.34006289e+02] [ 9.45052165e-01 2.61172309e-01 -1.96635275e-01 1.79773942e+02] [ 2.05635570e-01 -7.30857045e-03 9.78601347e-01 9.83557725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.01, Y:179.80, Z:98.36 [[ 2.46612773e-01 -9.67220930e-01 -6.05459607e-02 2.34010666e+02] [ 9.46828087e-01 2.53792098e-01 -1.97752734e-01 1.79797414e+02] [ 2.06636670e-01 -8.55826596e-03 9.78380316e-01 9.83615686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.860385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:234.02, Y:179.82, Z:98.37 [[ 2.43088011e-01 -9.68155739e-01 -5.98555224e-02 2.34017258e+02] [ 9.47620663e-01 2.50205659e-01 -1.98525078e-01 1.79824207e+02] [ 2.07179384e-01 -8.46126333e-03 9.78266380e-01 9.83667371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.02, Y:179.85, Z:98.37 [[ 2.39407070e-01 -9.69067267e-01 -5.99406977e-02 2.34023656e+02] [ 9.48457856e-01 2.46624926e-01 -1.99007137e-01 1.79850763e+02] [ 2.07634173e-01 -9.20751011e-03 9.78163213e-01 9.83722402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.03, Y:179.88, Z:98.38 [[ 2.31511522e-01 -9.71005775e-01 -5.95835522e-02 2.34030724e+02] [ 9.50661066e-01 2.38811963e-01 -1.98021171e-01 1.79877632e+02] [ 2.06508965e-01 -1.07995806e-02 9.78385106e-01 9.83783193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:179.90, Z:98.38 [[ 2.27127818e-01 -9.72051341e-01 -5.94066013e-02 2.34038655e+02] [ 9.51819904e-01 2.34478814e-01 -1.97632377e-01 1.79903131e+02] [ 2.06038406e-01 -1.16565751e-02 9.78474476e-01 9.83844746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:179.93, Z:98.39 [[ 2.19801135e-01 -9.73770188e-01 -5.88139573e-02 2.34045446e+02] [ 9.53957480e-01 2.27158993e-01 -1.95867093e-01 1.79929375e+02] [ 2.04089656e-01 -1.30542050e-02 9.78865159e-01 9.83909812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.05, Y:179.96, Z:98.40 [[ 2.16459898e-01 -9.74551962e-01 -5.82544909e-02 2.34050989e+02] [ 9.55103979e-01 2.23748592e-01 -1.94198241e-01 1.79955392e+02] [ 2.02290637e-01 -1.36029646e-02 9.79231054e-01 9.83959753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.040385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:234.05, Y:179.98, Z:98.40 [[ 2.11137629e-01 -9.75747671e-01 -5.77700938e-02 2.34053001e+02] [ 9.56623564e-01 2.18413597e-01 -1.92787080e-01 1.79983474e+02] [ 2.00729319e-01 -1.45596259e-02 9.79538543e-01 9.84011379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.070385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:234.06, Y:180.01, Z:98.41 [[ 2.08678370e-01 -9.76288668e-01 -5.75653916e-02 2.34057766e+02] [ 9.57279574e-01 2.15953983e-01 -1.92301053e-01 1.80009699e+02] [ 2.00172814e-01 -1.49771033e-02 9.79646125e-01 9.84064451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.100385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:234.06, Y:180.04, Z:98.41 [[ 2.06502127e-01 -9.76762041e-01 -5.73828012e-02 2.34062798e+02] [ 9.57848655e-01 2.13777237e-01 -1.91899054e-01 1.80036378e+02] [ 1.99706848e-01 -1.53364762e-02 9.79735662e-01 9.84120208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.130385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:234.06, Y:180.06, Z:98.42 [[ 2.03839496e-01 -9.77337401e-01 -5.71057384e-02 2.34063980e+02] [ 9.58588152e-01 2.11099078e-01 -1.91169907e-01 1.80063743e+02] [ 1.98892468e-01 -1.57729069e-02 9.79894383e-01 9.84182529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.160385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:234.06, Y:180.09, Z:98.42 [[ 2.03993649e-01 -9.77304527e-01 -5.71178792e-02 2.34064272e+02] [ 9.58503443e-01 2.11256710e-01 -1.91420356e-01 1.80092597e+02] [ 1.99142515e-01 -1.56991470e-02 9.79844781e-01 9.84235132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:180.12, Z:98.43 [[ 2.05023256e-01 -9.77081965e-01 -5.72389574e-02 2.34067451e+02] [ 9.58152761e-01 2.12300163e-01 -1.92020646e-01 1.80119417e+02] [ 1.99771750e-01 -1.54749670e-02 9.79720253e-01 9.84286143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.220385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.07, Y:180.15, Z:98.43 [[ 2.06819703e-01 -9.76687707e-01 -5.75042132e-02 2.34070424e+02] [ 9.57537686e-01 2.14130914e-01 -1.93053184e-01 1.80147144e+02] [ 2.00866101e-01 -1.51352492e-02 9.79501778e-01 9.84336303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.250385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.07, Y:180.18, Z:98.44 [[ 2.11820775e-01 -9.75586349e-01 -5.79934036e-02 2.34067661e+02] [ 9.56026471e-01 2.19159158e-01 -1.94891380e-01 1.80176409e+02] [ 2.02843156e-01 -1.41611857e-02 9.79108837e-01 9.84379200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:180.20, Z:98.44 [[ 2.18982129e-01 -9.74048420e-01 -5.72407382e-02 2.34065774e+02] [ 9.53998702e-01 2.26048439e-01 -1.96948167e-01 1.80204704e+02] [ 2.04776231e-01 -1.14794609e-02 9.78741497e-01 9.84429817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:180.23, Z:98.45 [[ 2.21925407e-01 -9.73264518e-01 -5.92055057e-02 2.34070944e+02] [ 9.53248951e-01 2.29332055e-01 -1.96782231e-01 1.80232374e+02] [ 2.05098884e-01 -1.27666095e-02 9.78657990e-01 9.84498206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.340385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:234.07, Y:180.26, Z:98.45 [[ 2.25041499e-01 -9.72589718e-01 -5.85283179e-02 2.34074236e+02] [ 9.52472403e-01 2.32248994e-01 -1.97121093e-01 1.80258709e+02] [ 2.05311092e-01 -1.13861812e-02 9.78630528e-01 9.84548972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:180.29, Z:98.45 [[ 2.30680823e-01 -9.71708785e-01 -5.06793463e-02 2.34070445e+02] [ 9.51179811e-01 2.36170327e-01 -1.98697116e-01 1.80291029e+02] [ 2.05044690e-01 -2.36955700e-03 9.78749743e-01 9.84544345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.08, Y:180.32, Z:98.46 [[ 2.35337427e-01 -9.70308021e-01 -5.58447809e-02 2.34079608e+02] [ 9.50074264e-01 2.41781405e-01 -1.97232464e-01 1.80319996e+02] [ 2.04878471e-01 -6.64050860e-03 9.78764893e-01 9.84612986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:180.34, Z:98.47 [[ 2.38575616e-01 -9.68160171e-01 -7.58126557e-02 2.34087168e+02] [ 9.48733138e-01 2.49030722e-01 -1.94651310e-01 1.80341625e+02] [ 2.07333326e-01 -2.54869224e-02 9.77938295e-01 9.84749070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.460385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:234.08, Y:180.37, Z:98.47 [[ 2.40240885e-01 -9.69251868e-01 -5.32459749e-02 2.34080202e+02] [ 9.48330480e-01 2.46059322e-01 -2.00310039e-01 1.80371134e+02] [ 2.07252548e-01 -2.37211986e-03 9.78284598e-01 9.84743037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:180.40, Z:98.49 [[ 2.42150873e-01 -9.67921243e-01 -6.70180694e-02 2.34093543e+02] [ 9.47823748e-01 2.50753225e-01 -1.96857723e-01 1.80396396e+02] [ 2.07347769e-01 -1.58520481e-02 9.78138853e-01 9.84857230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:180.43, Z:98.49 [[ 2.46035054e-01 -9.67900145e-01 -5.13425887e-02 2.34087310e+02] [ 9.46980617e-01 2.51334283e-01 -2.00146918e-01 1.80425799e+02] [ 2.06626384e-01 6.22721479e-04 9.78419721e-01 9.84875665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:180.45, Z:98.49 [[ 2.47805338e-01 -9.67041201e-01 -5.85135043e-02 2.34095133e+02] [ 9.46523116e-01 2.54543035e-01 -1.98246902e-01 1.80451588e+02] [ 2.06607127e-01 -6.25774384e-03 9.78403974e-01 9.84947859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:180.48, Z:98.50 [[ 2.51979945e-01 -9.65970322e-01 -5.83733259e-02 2.34096823e+02] [ 9.45480423e-01 2.58598511e-01 -1.97973686e-01 1.80478450e+02] [ 2.06331961e-01 -5.30543831e-03 9.78467667e-01 9.85003890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:180.51, Z:98.51 [[ 2.53406812e-01 -9.65604817e-01 -5.82436760e-02 2.34102895e+02] [ 9.45165907e-01 2.59966881e-01 -1.97683151e-01 1.80505194e+02] [ 2.06025230e-01 -4.95567977e-03 9.78534131e-01 9.85067225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:180.53, Z:98.51 [[ 2.56135603e-01 -9.65240277e-01 -5.20169323e-02 2.34105928e+02] [ 9.44426081e-01 2.61356916e-01 -1.99378888e-01 1.80533400e+02] [ 2.06043518e-01 1.94188416e-03 9.78540902e-01 9.85118573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:180.56, Z:98.52 [[ 2.56725015e-01 -9.64406515e-01 -6.33430380e-02 2.34118464e+02] [ 9.44799552e-01 2.64230771e-01 -1.93741853e-01 1.80557525e+02] [ 2.03583085e-01 -1.01080939e-02 9.79005492e-01 9.85212129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:180.59, Z:98.53 [[ 2.56700360e-01 -9.64778541e-01 -5.75090652e-02 2.34122331e+02] [ 9.44742730e-01 2.63031321e-01 -1.95641760e-01 1.80585156e+02] [ 2.03877657e-01 -4.10996091e-03 9.78987747e-01 9.85261291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:180.61, Z:98.53 [[ 2.56436478e-01 -9.65156729e-01 -5.20847543e-02 2.34127326e+02] [ 9.44372875e-01 2.61665576e-01 -1.99226004e-01 1.80613818e+02] [ 2.05913105e-01 1.90138553e-03 9.78568433e-01 9.85298656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.14, Y:180.64, Z:98.54 [[ 2.56770098e-01 -9.64936873e-01 -5.44605139e-02 2.34135266e+02] [ 9.43917039e-01 2.62482057e-01 -2.00309244e-01 1.80638670e+02] [ 2.07580683e-01 2.72170493e-05 9.78217900e-01 9.85355973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.14, Y:180.67, Z:98.54 [[ 2.57215878e-01 -9.64599567e-01 -5.82036777e-02 2.34144115e+02] [ 9.43737645e-01 2.63694378e-01 -1.99560851e-01 1.80665956e+02] [ 2.07844293e-01 -3.59878198e-03 9.78155304e-01 9.85415899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:180.69, Z:98.55 [[ 2.57881179e-01 -9.64343018e-01 -5.94965612e-02 2.34152578e+02] [ 9.43571356e-01 2.64612223e-01 -1.99131784e-01 1.80692198e+02] [ 2.07774863e-01 -4.78691178e-03 9.78164962e-01 9.85474238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.16, Y:180.71, Z:98.55 [[ 2.59456321e-01 -9.63631051e-01 -6.40126215e-02 2.34162045e+02] [ 9.44303199e-01 2.67027960e-01 -1.92321440e-01 1.80714080e+02] [ 2.02420071e-01 -1.05483100e-02 9.79241976e-01 9.85487225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:180.74, Z:98.56 [[ 2.60537572e-01 -9.63710550e-01 -5.81562479e-02 2.34170079e+02] [ 9.43076655e-01 2.66930678e-01 -1.98379525e-01 1.80742188e+02] [ 2.06704128e-01 -3.16047985e-03 9.78398393e-01 9.85581684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:180.77, Z:98.56 [[ 2.60792883e-01 -9.63647489e-01 -5.80567793e-02 2.34178431e+02] [ 9.42858255e-01 2.67162119e-01 -1.99104781e-01 1.80768383e+02] [ 2.07377395e-01 -2.81420366e-03 9.78256969e-01 9.85636036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:180.79, Z:98.57 [[ 2.61110341e-01 -9.63563513e-01 -5.80236789e-02 2.34186620e+02] [ 9.42752118e-01 2.67466123e-01 -1.99199188e-01 1.80794628e+02] [ 2.07460438e-01 -2.68897833e-03 9.78239713e-01 9.85678161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:180.82, Z:98.57 [[ 2.61957847e-01 -9.63337601e-01 -5.79547495e-02 2.34195222e+02] [ 9.42525383e-01 2.68280961e-01 -1.99176376e-01 1.80820172e+02] [ 2.07422248e-01 -2.44800780e-03 9.78248444e-01 9.85748224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:180.85, Z:98.58 [[ 2.63186276e-01 -9.63016089e-01 -5.77321055e-02 2.34204833e+02] [ 9.42311990e-01 2.69435507e-01 -1.98626837e-01 1.80845205e+02] [ 2.06835919e-01 -2.12579790e-03 9.78373336e-01 9.85813179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.21, Y:180.87, Z:98.59 [[ 2.63465514e-01 -9.62945608e-01 -5.76340017e-02 2.34213949e+02] [ 9.42270050e-01 2.69688156e-01 -1.98482872e-01 1.80870308e+02] [ 2.06671418e-01 -2.01340163e-03 9.78408336e-01 9.85871385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:180.89, Z:98.59 [[ 2.62421532e-01 -9.63229928e-01 -5.76458576e-02 2.34224694e+02] [ 9.42521740e-01 2.68669456e-01 -1.98669304e-01 1.80894215e+02] [ 2.06851900e-01 -2.19737104e-03 9.78369799e-01 9.85927634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.23, Y:180.92, Z:98.60 [[ 2.62185122e-01 -9.63297772e-01 -5.75878935e-02 2.34232372e+02] [ 9.42587513e-01 2.68426175e-01 -1.98686105e-01 1.80921093e+02] [ 2.06851980e-01 -2.18908879e-03 9.78369800e-01 9.85985207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:180.95, Z:98.60 [[ 2.61784638e-01 -9.63416199e-01 -5.74284802e-02 2.34241372e+02] [ 9.42785207e-01 2.68000516e-01 -1.98322408e-01 1.80946620e+02] [ 2.06457883e-01 -2.22496177e-03 9.78452959e-01 9.86043550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:180.97, Z:98.59 [[ 2.55631965e-01 -9.66601531e-01 -1.82695862e-02 2.34224288e+02] [ 9.46464008e-01 2.54070099e-01 -1.99133792e-01 1.80974760e+02] [ 1.97124783e-01 3.36134567e-02 9.79801998e-01 9.85867367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:180.99, Z:98.62 [[ 2.62856409e-01 -9.60861314e-01 -8.74759551e-02 2.34275638e+02] [ 9.42712263e-01 2.75075275e-01 -1.88751643e-01 1.80990826e+02] [ 2.05426624e-01 -3.28500765e-02 9.78121043e-01 9.86228631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.27, Y:181.02, Z:98.62 [[ 2.64150643e-01 -9.62790292e-01 -5.70902084e-02 2.34271152e+02] [ 9.42283183e-01 2.70244980e-01 -1.97661464e-01 1.81022151e+02] [ 2.05734881e-01 -1.58274032e-03 9.78606486e-01 9.86211808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.240385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:234.28, Y:181.05, Z:98.63 [[ 2.67598056e-01 -9.61825326e-01 -5.73002847e-02 2.34282438e+02] [ 9.41098551e-01 2.73662993e-01 -1.98600313e-01 1.81048028e+02] [ 2.06699778e-01 -7.80157069e-04 9.78404105e-01 9.86253066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.29, Y:181.07, Z:98.63 [[ 2.69945505e-01 -9.61143596e-01 -5.77270452e-02 2.34291861e+02] [ 9.40042549e-01 2.76048815e-01 -2.00292429e-01 1.81073194e+02] [ 2.08445268e-01 -1.97837799e-04 9.78034013e-01 9.86348721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.30, Y:181.10, Z:98.64 [[ 2.74529325e-01 -9.59872549e-01 -5.72567948e-02 2.34303524e+02] [ 9.39045778e-01 2.80435383e-01 -1.98869361e-01 1.81097447e+02] [ 2.06946071e-01 8.28719895e-04 9.78352000e-01 9.86386936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:181.12, Z:98.64 [[ 2.76366343e-01 -9.59353080e-01 -5.71254008e-02 2.34313405e+02] [ 9.38561804e-01 2.82205630e-01 -1.98649748e-01 1.81122924e+02] [ 2.06696357e-01 1.28438526e-03 9.78404296e-01 9.86444414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:181.15, Z:98.65 [[ 2.78198533e-01 -9.58828862e-01 -5.70332233e-02 2.34323135e+02] [ 9.38049238e-01 2.83979232e-01 -1.98543251e-01 1.81147300e+02] [ 2.06565251e-01 1.73446972e-03 9.78431290e-01 9.86504902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.34, Y:181.17, Z:98.66 [[ 2.81015398e-01 -9.58004879e-01 -5.70701172e-02 2.34336530e+02] [ 9.37140072e-01 2.86741842e-01 -1.98865789e-01 1.81171798e+02] [ 2.06878787e-01 2.40165511e-03 9.78363634e-01 9.86558633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.35, Y:181.20, Z:98.66 [[ 2.81520722e-01 -9.57862876e-01 -5.69630943e-02 2.34347136e+02] [ 9.37029449e-01 2.87214449e-01 -1.98704987e-01 1.81196419e+02] [ 2.06692754e-01 2.56347456e-03 9.78402542e-01 9.86621872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.36, Y:181.22, Z:98.67 [[ 2.80120263e-01 -9.58292822e-01 -5.66348471e-02 2.34361492e+02] [ 9.37663515e-01 2.85778911e-01 -1.97781562e-01 1.81220312e+02] [ 2.05717696e-01 2.29819316e-03 9.78608680e-01 9.86682928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:181.25, Z:98.67 [[ 2.78839131e-01 -9.58681740e-01 -5.63742916e-02 2.34372971e+02] [ 9.38208256e-01 2.84473316e-01 -1.97079177e-01 1.81245639e+02] [ 2.04973189e-01 2.06256052e-03 9.78765415e-01 9.86745439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:181.27, Z:98.68 [[ 2.77051614e-01 -9.59212905e-01 -5.61516356e-02 2.34384130e+02] [ 9.38870228e-01 2.82679381e-01 -1.96507156e-01 1.81271263e+02] [ 2.04365109e-01 1.72352566e-03 9.78893218e-01 9.86804767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:181.29, Z:98.69 [[ 2.72718626e-01 -9.60467272e-01 -5.59211038e-02 2.34397162e+02] [ 9.40275653e-01 2.78391635e-01 -1.95907617e-01 1.81294849e+02] [ 2.03730822e-01 8.46403937e-04 9.79026576e-01 9.86869445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:181.32, Z:98.69 [[ 2.71114802e-01 -9.60918176e-01 -5.59734198e-02 2.34412821e+02] [ 9.40651953e-01 2.76831959e-01 -1.96310900e-01 1.81317915e+02] [ 2.04133943e-01 5.71284034e-04 9.78942801e-01 9.86931328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.600385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.42, Y:181.34, Z:98.70 [[ 2.69537239e-01 -9.61351934e-01 -5.61438857e-02 2.34424103e+02] [ 9.40924322e-01 2.75322294e-01 -1.97126999e-01 1.81343468e+02] [ 2.04966085e-01 3.05919486e-04 9.78769028e-01 9.86995636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.630385723 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:234.43, Y:181.37, Z:98.70 [[ 2.68341441e-01 -9.61692169e-01 -5.60450078e-02 2.34434630e+02] [ 9.41299676e-01 2.74131648e-01 -1.96994314e-01 1.81367616e+02] [ 2.04811599e-01 1.06590328e-04 9.78801409e-01 9.87047141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.45, Y:181.39, Z:98.71 [[ 2.66363353e-01 -9.62372099e-01 -5.37634360e-02 2.34447135e+02] [ 9.41566982e-01 2.71724501e-01 -1.99041234e-01 1.81394156e+02] [ 2.06160573e-01 2.39541430e-03 9.78515243e-01 9.87106266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.46, Y:181.42, Z:98.72 [[ 2.65983965e-01 -9.62154249e-01 -5.92598624e-02 2.34461783e+02] [ 9.41708797e-01 2.72485180e-01 -1.97323006e-01 1.81416839e+02] [ 2.06002603e-01 -3.32077803e-03 9.78545809e-01 9.87176513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:181.44, Z:98.72 [[ 2.65086383e-01 -9.62565335e-01 -5.65436679e-02 2.34470294e+02] [ 9.41705669e-01 2.71049451e-01 -1.99305362e-01 1.81443119e+02] [ 2.07170563e-01 -4.14355055e-04 9.78304751e-01 9.87219441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.48, Y:181.47, Z:98.73 [[ 2.63030867e-01 -9.63082834e-01 -5.73255377e-02 2.34483572e+02] [ 9.41600330e-01 2.69204122e-01 -2.02281880e-01 1.81468561e+02] [ 2.10246477e-01 -7.71366976e-04 9.77648108e-01 9.87266214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.780385723 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:234.49, Y:181.49, Z:98.73 [[ 2.61521749e-01 -9.63484587e-01 -5.74789146e-02 2.34494000e+02] [ 9.41846903e-01 2.67761795e-01 -2.03046871e-01 1.81494645e+02] [ 2.11023188e-01 -1.03516493e-03 9.77480508e-01 9.87321857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.810385723 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:234.50, Y:181.52, Z:98.74 [[ 2.59726771e-01 -9.63945434e-01 -5.78895840e-02 2.34503412e+02] [ 9.41955791e-01 2.66096520e-01 -2.04724034e-01 1.81519499e+02] [ 2.12747015e-01 -1.35711652e-03 9.77106374e-01 9.87356997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.840385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:234.51, Y:181.54, Z:98.74 [[ 2.57418154e-01 -9.64550071e-01 -5.81296317e-02 2.34513694e+02] [ 9.42338509e-01 2.63893778e-01 -2.05811100e-01 1.81544843e+02] [ 2.13855160e-01 -1.79827684e-03 9.76863725e-01 9.87422887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.870385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:234.53, Y:181.57, Z:98.75 [[ 2.53676315e-01 -9.65524699e-01 -5.83984858e-02 2.34525582e+02] [ 9.43079519e-01 2.60298816e-01 -2.06991659e-01 1.81568843e+02] [ 2.15056616e-01 -2.56553478e-03 9.76598213e-01 9.87476845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.900385723 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:234.54, Y:181.59, Z:98.75 [[ 2.51436187e-01 -9.66118255e-01 -5.82697309e-02 2.34536250e+02] [ 9.43736258e-01 2.58082375e-01 -2.06773702e-01 1.81593491e+02] [ 2.14806238e-01 -3.00086670e-03 9.76652075e-01 9.87537414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.930385723 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:234.54, Y:181.62, Z:98.75 [[ 2.45179821e-01 -9.68094692e-01 -5.17640962e-02 2.34542158e+02] [ 9.46159957e-01 2.50581461e-01 -2.04915266e-01 1.81619891e+02] [ 2.11348504e-01 1.26397325e-03 9.77409951e-01 9.87543191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.960385723 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:234.55, Y:181.65, Z:98.76 [[ 2.42478525e-01 -9.68783530e-01 -5.16007466e-02 2.34549061e+02] [ 9.47465033e-01 2.47908165e-01 -2.02117672e-01 1.81645271e+02] [ 2.08600518e-01 1.19292034e-04 9.78000925e-01 9.87568274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.990385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:234.56, Y:181.67, Z:98.77 [[ 2.42054672e-01 -9.68790719e-01 -5.34235753e-02 2.34559930e+02] [ 9.47431412e-01 2.47874648e-01 -2.02316281e-01 1.81672130e+02] [ 2.09244485e-01 -1.64357238e-03 9.77861976e-01 9.87654884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.020385723 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:234.57, Y:181.70, Z:98.77 [[ 2.38329983e-01 -9.69639147e-01 -5.47607953e-02 2.34569614e+02] [ 9.48079742e-01 2.44515896e-01 -2.03363663e-01 1.81697636e+02] [ 2.10579253e-01 -3.44994239e-03 9.77570701e-01 9.87728312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.050385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:234.58, Y:181.72, Z:98.78 [[ 2.38014173e-01 -9.69523296e-01 -5.80846982e-02 2.34582841e+02] [ 9.47031632e-01 2.44935736e-01 -2.07695865e-01 1.81722842e+02] [ 2.15592998e-01 -5.57348694e-03 9.76467406e-01 9.87846095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.080385723 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:234.56, Y:181.76, Z:98.75 [[ 2.29726995e-01 -9.73212660e-01 -9.08992912e-03 2.34560400e+02] [ 9.52488069e-01 2.26734422e-01 -2.03366618e-01 1.81756316e+02] [ 1.99979967e-01 3.80607530e-02 9.79060464e-01 9.87547846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:234.61, Y:181.77, Z:98.80 [[ 2.33481974e-01 -9.68296809e-01 -8.88113596e-02 2.34610680e+02] [ 9.49905697e-01 2.46652180e-01 -1.91942360e-01 1.81768876e+02] [ 2.07762690e-01 -3.95473353e-02 9.77379493e-01 9.88018926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.140385723 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:234.61, Y:181.80, Z:98.81 [[ 2.36142927e-01 -9.69472181e-01 -6.60318680e-02 2.34609529e+02] [ 9.47392588e-01 2.44808903e-01 -2.06193807e-01 1.81800323e+02] [ 2.16064349e-01 -1.38668931e-02 9.76280649e-01 9.88062766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.170385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.61, Y:181.83, Z:98.81 [[ 2.37421145e-01 -9.69227722e-01 -6.50293934e-02 2.34614961e+02] [ 9.47451916e-01 2.45821833e-01 -2.04710755e-01 1.81825508e+02] [ 2.14396983e-01 -1.30095615e-02 9.76659964e-01 9.88113017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.200385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:234.62, Y:181.85, Z:98.81 [[ 2.40233817e-01 -9.68966661e-01 -5.82350617e-02 2.34618778e+02] [ 9.46369247e-01 2.47138455e-01 -2.08105342e-01 1.81853816e+02] [ 2.16039261e-01 -5.11793105e-03 9.76371264e-01 9.88147784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.230385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:234.63, Y:181.88, Z:98.82 [[ 2.42630991e-01 -9.68355373e-01 -5.84642926e-02 2.34626934e+02] [ 9.45510214e-01 2.49534218e-01 -2.09148533e-01 1.81878605e+02] [ 2.17118947e-01 -4.53267014e-03 9.76134631e-01 9.88215833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.260385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:234.63, Y:181.90, Z:98.83 [[ 2.42921174e-01 -9.68297171e-01 -5.82227833e-02 2.34634257e+02] [ 9.45589499e-01 2.49762316e-01 -2.08516868e-01 1.81904642e+02] [ 2.16448150e-01 -4.40169013e-03 9.76284192e-01 9.88275647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.290385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:234.63, Y:181.93, Z:98.82 [[ 2.39662962e-01 -9.69943485e-01 -4.20868180e-02 2.34629936e+02] [ 9.47671213e-01 2.43136905e-01 -2.06890592e-01 1.81933999e+02] [ 2.10905040e-01 9.69954611e-03 9.77458430e-01 9.88180914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.320385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:234.62, Y:181.96, Z:98.80 [[ 2.34649525e-01 -9.71762320e-01 -2.48514244e-02 2.34622655e+02] [ 9.50656898e-01 2.34740843e-01 -2.02850191e-01 1.81964473e+02] [ 2.02955816e-01 2.39735230e-02 9.78894380e-01 9.88049247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.350385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:234.66, Y:181.98, Z:98.84 [[ 2.39279752e-01 -9.68090883e-01 -7.44663889e-02 2.34659482e+02] [ 9.47764160e-01 2.49538300e-01 -1.98679979e-01 1.81981999e+02] [ 2.10922492e-01 -2.30364785e-02 9.77231305e-01 9.88400858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.380385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:234.67, Y:182.01, Z:98.86 [[ 2.39406108e-01 -9.68139713e-01 -7.34180638e-02 2.34669221e+02] [ 9.46408526e-01 2.49577740e-01 -2.04992327e-01 1.82007061e+02] [ 2.16784727e-01 -2.04070664e-02 9.76006114e-01 9.88568396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.67, Y:182.03, Z:98.86 [[ 2.37958316e-01 -9.69522290e-01 -5.83298346e-02 2.34669694e+02] [ 9.46721032e-01 2.44942161e-01 -2.09099560e-01 1.82034983e+02] [ 2.17014120e-01 -5.46510210e-03 9.76153167e-01 9.88577793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.440385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:234.68, Y:182.06, Z:98.86 [[ 2.35588251e-01 -9.70098723e-01 -5.83664609e-02 2.34676731e+02] [ 9.47233339e-01 2.42637993e-01 -2.09465524e-01 1.82061774e+02] [ 2.17364159e-01 -5.93904115e-03 9.76072513e-01 9.88634870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.470385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:234.68, Y:182.09, Z:98.87 [[ 2.34380226e-01 -9.70390857e-01 -5.83737524e-02 2.34683309e+02] [ 9.47479415e-01 2.41461578e-01 -2.09711860e-01 1.82088008e+02] [ 2.17597490e-01 -6.15561554e-03 9.76019181e-01 9.88688051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.500385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:234.69, Y:182.11, Z:98.87 [[ 2.34669796e-01 -9.70303357e-01 -5.86641463e-02 2.34689651e+02] [ 9.47105118e-01 2.41815668e-01 -2.10990706e-01 1.82112888e+02] [ 2.18910900e-01 -6.04796728e-03 9.75726109e-01 9.88734006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.530385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:234.68, Y:182.15, Z:98.85 [[ 2.32161573e-01 -9.72288474e-01 -2.74977781e-02 2.34678716e+02] [ 9.49253471e-01 2.32646925e-01 -2.11644172e-01 1.82146180e+02] [ 2.12176462e-01 2.30332825e-02 9.76959885e-01 9.88544483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.560385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:234.72, Y:182.16, Z:98.89 [[ 2.37363602e-01 -9.67637065e-01 -8.56564743e-02 2.34717310e+02] [ 9.45981524e-01 2.50294486e-01 -2.06086453e-01 1.82159609e+02] [ 2.20856234e-01 -3.21120192e-02 9.74777586e-01 9.88942537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.590385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:234.71, Y:182.19, Z:98.89 [[ 2.38830569e-01 -9.69244277e-01 -5.93758449e-02 2.34712535e+02] [ 9.45321657e-01 2.46049804e-01 -2.14071154e-01 1.82190559e+02] [ 2.22096656e-01 -5.00253665e-03 9.75011821e-01 9.88903226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.620385723 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:234.72, Y:182.22, Z:98.89 [[ 2.40891864e-01 -9.68735121e-01 -5.93580322e-02 2.34717652e+02] [ 9.44755360e-01 2.48057080e-01 -2.14254510e-01 1.82216396e+02] [ 2.22280049e-01 -4.46665075e-03 9.74972630e-01 9.88947210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:182.24, Z:98.90 [[ 2.42243714e-01 -9.68396405e-01 -5.93833860e-02 2.34724191e+02] [ 9.44315876e-01 2.49382778e-01 -2.14652642e-01 1.82241830e+02] [ 2.22678041e-01 -4.07842101e-03 9.74883509e-01 9.89002926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.680385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:234.73, Y:182.27, Z:98.91 [[ 2.43788015e-01 -9.68021272e-01 -5.91795584e-02 2.34732454e+02] [ 9.43694924e-01 2.50846833e-01 -2.15675120e-01 1.82267399e+02] [ 2.23623109e-01 -3.26843945e-03 9.74670212e-01 9.89055501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.710385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:234.74, Y:182.29, Z:98.91 [[ 2.44547456e-01 -9.67775414e-01 -6.00607255e-02 2.34740326e+02] [ 9.43521266e-01 2.51783031e-01 -2.15343741e-01 1.82292368e+02] [ 2.23526650e-01 -4.00680763e-03 9.74689583e-01 9.89116154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.740385723 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:234.75, Y:182.32, Z:98.92 [[ 2.44864838e-01 -9.67738825e-01 -5.93529948e-02 2.34748005e+02] [ 9.43507871e-01 2.51933890e-01 -2.15225955e-01 1.82318217e+02] [ 2.23235544e-01 -3.29874907e-03 9.74758950e-01 9.89168608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.770385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:234.74, Y:182.35, Z:98.90 [[ 2.41776905e-01 -9.69832674e-01 -3.11209250e-02 2.34739126e+02] [ 9.46101693e-01 2.42740789e-01 -2.14402651e-01 1.82350937e+02] [ 2.15489014e-01 2.23940496e-02 9.76249451e-01 9.88999083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.800385723 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:234.77, Y:182.37, Z:98.94 [[ 2.43525010e-01 -9.66352057e-01 -8.28207210e-02 2.34774809e+02] [ 9.44227105e-01 2.55729279e-01 -2.07455321e-01 1.82365633e+02] [ 2.21654559e-01 -2.76810106e-02 9.74732280e-01 9.89375637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.830385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:234.77, Y:182.40, Z:98.93 [[ 2.42896836e-01 -9.68271982e-01 -5.87409324e-02 2.34771645e+02] [ 9.44463339e-01 2.49872253e-01 -2.13431155e-01 1.82395871e+02] [ 2.21337137e-01 -3.63690494e-03 9.75190569e-01 9.89349534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.860385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:234.78, Y:182.42, Z:98.94 [[ 2.41049978e-01 -9.68737532e-01 -5.86728471e-02 2.34780696e+02] [ 9.44941645e-01 2.48055719e-01 -2.13433005e-01 1.82419684e+02] [ 2.21314698e-01 -3.99439540e-03 9.75194262e-01 9.89417483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.890385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:234.79, Y:182.45, Z:98.95 [[ 2.40290347e-01 -9.68926057e-01 -5.86757680e-02 2.34788821e+02] [ 9.45074302e-01 2.47316536e-01 -2.13703286e-01 1.82445192e+02] [ 2.21574170e-01 -4.10212383e-03 9.75134893e-01 9.89475014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.920385723 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:234.78, Y:182.47, Z:98.93 [[ 2.36694817e-01 -9.70871853e-01 -3.71942077e-02 2.34783362e+02] [ 9.47321651e-01 2.39116652e-01 -2.13084295e-01 1.82474179e+02] [ 2.15771299e-01 1.52010700e-02 9.76325598e-01 9.89343238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.950385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:234.81, Y:182.49, Z:98.97 [[ 2.40274905e-01 -9.67743058e-01 -7.57716531e-02 2.34813852e+02] [ 9.44801652e-01 2.51061901e-01 -2.10517837e-01 1.82492956e+02] [ 2.22750551e-01 -2.10070298e-02 9.74649115e-01 9.89663939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.980385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:234.81, Y:182.52, Z:98.97 [[ 2.40309946e-01 -9.68904630e-01 -5.89486845e-02 2.34813653e+02] [ 9.44721299e-01 2.47402379e-01 -2.15159778e-01 1.82523338e+02] [ 2.23053350e-01 -3.98504318e-03 9.74798093e-01 9.89661500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.010385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:234.82, Y:182.55, Z:98.97 [[ 2.40933779e-01 -9.68746804e-01 -5.89961317e-02 2.34822503e+02] [ 9.44469079e-01 2.48022770e-01 -2.15552464e-01 1.82548655e+02] [ 2.23448144e-01 -3.78615251e-03 9.74708465e-01 9.89720252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.040385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:234.81, Y:182.58, Z:98.95 [[ 2.35696482e-01 -9.71626365e-01 -1.97325899e-02 2.34806320e+02] [ 9.48155478e-01 2.34362262e-01 -2.14652092e-01 1.82580917e+02] [ 2.13186206e-01 3.18831798e-02 9.76491221e-01 9.89474855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.070385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:234.86, Y:182.59, Z:99.00 [[ 2.39969678e-01 -9.66498986e-01 -9.10728527e-02 2.34856104e+02] [ 9.44594392e-01 2.54109460e-01 -2.07773475e-01 1.82592693e+02] [ 2.23955326e-01 -3.61675720e-02 9.73928087e-01 9.89967069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:182.62, Z:98.99 [[ 2.39803934e-01 -9.69028016e-01 -5.89811685e-02 2.34850251e+02] [ 9.44693405e-01 2.46919052e-01 -2.15836403e-01 1.82623742e+02] [ 2.23715095e-01 -3.96070231e-03 9.74646535e-01 9.89903404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:234.86, Y:182.65, Z:99.00 [[ 2.39931968e-01 -9.69090609e-01 -5.74111653e-02 2.34858266e+02] [ 9.44554239e-01 2.46694948e-01 -2.16700004e-01 1.82647601e+02] [ 2.24164984e-01 -2.23470112e-03 9.74548647e-01 9.89951063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.160385723 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:234.87, Y:182.67, Z:99.00 [[ 2.39348599e-01 -9.69137413e-01 -5.90332338e-02 2.34867250e+02] [ 9.44987458e-01 2.46483381e-01 -2.15045686e-01 1.82673218e+02] [ 2.22959531e-01 -4.31478203e-03 9.74818152e-01 9.90005252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.190385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:234.88, Y:182.70, Z:99.01 [[ 2.37082588e-01 -9.69747702e-01 -5.81484463e-02 2.34876284e+02] [ 9.45891821e-01 2.44071344e-01 -2.13817309e-01 1.82696778e+02] [ 2.21541213e-01 -4.30977888e-03 9.75141485e-01 9.90059336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:234.89, Y:182.72, Z:99.01 [[ 2.36883585e-01 -9.69825737e-01 -5.76559310e-02 2.34885396e+02] [ 9.46306701e-01 2.43761907e-01 -2.12329369e-01 1.82721850e+02] [ 2.19976806e-01 -4.26285185e-03 9.75495788e-01 9.90117698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.90, Y:182.75, Z:99.02 [[ 2.37259406e-01 -9.69774637e-01 -5.69660265e-02 2.34895497e+02] [ 9.46767349e-01 2.43967869e-01 -2.10026820e-01 1.82747722e+02] [ 2.17576563e-01 -4.10273550e-03 9.76034634e-01 9.90169750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:234.90, Y:182.77, Z:99.02 [[ 2.38056153e-01 -9.69596580e-01 -5.66722242e-02 2.34903322e+02] [ 9.46772902e-01 2.44678499e-01 -2.09173386e-01 1.82773826e+02] [ 2.16680274e-01 -3.86071476e-03 9.76234989e-01 9.90219938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:182.80, Z:99.03 [[ 2.38534077e-01 -9.69489127e-01 -5.65006790e-02 2.34911010e+02] [ 9.46750895e-01 2.45106497e-01 -2.08771521e-01 1.82800017e+02] [ 2.16250403e-01 -3.69294647e-03 9.76330951e-01 9.90269445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.92, Y:182.82, Z:99.03 [[ 2.39704969e-01 -9.69209267e-01 -5.63464625e-02 2.34921116e+02] [ 9.46537873e-01 2.46215407e-01 -2.08432310e-01 1.82824420e+02] [ 2.15887894e-01 -3.37180032e-03 9.76412335e-01 9.90316396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:234.93, Y:182.85, Z:99.04 [[ 2.40928342e-01 -9.68938253e-01 -5.57870573e-02 2.34931957e+02] [ 9.46660643e-01 2.47284146e-01 -2.06601497e-01 1.82849895e+02] [ 2.13979348e-01 -3.03525558e-03 9.76833469e-01 9.90377618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.400385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:234.94, Y:182.88, Z:99.04 [[ 2.41756308e-01 -9.68745554e-01 -5.55512255e-02 2.34940548e+02] [ 9.46604282e-01 2.48040802e-01 -2.05951679e-01 1.82876568e+02] [ 2.13293744e-01 -2.79491036e-03 9.76984118e-01 9.90430155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.430385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:234.95, Y:182.90, Z:99.05 [[ 2.43463223e-01 -9.68569703e-01 -5.09743981e-02 2.34946303e+02] [ 9.45856374e-01 2.48729147e-01 -2.08541439e-01 1.82902250e+02] [ 2.14665738e-01 2.55771154e-03 9.76684227e-01 9.90460005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.460385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:234.96, Y:182.93, Z:99.05 [[ 2.45737153e-01 -9.67808413e-01 -5.44070472e-02 2.34955951e+02] [ 9.44910760e-01 2.51688051e-01 -2.09276806e-01 1.82927021e+02] [ 2.16233457e-01 1.72822164e-05 9.76341688e-01 9.90509989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:234.96, Y:182.95, Z:99.04 [[ 2.47355323e-01 -9.68015707e-01 -4.19635098e-02 2.34957670e+02] [ 9.45501590e-01 2.50614461e-01 -2.07892126e-01 1.82953623e+02] [ 2.11759506e-01 1.17466588e-02 9.77251210e-01 9.90422215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.98, Y:182.97, Z:99.07 [[ 2.46439877e-01 -9.66500535e-01 -7.17224056e-02 2.34981161e+02] [ 9.45010091e-01 2.56057626e-01 -2.03446357e-01 1.82972414e+02] [ 2.14996082e-01 -1.76411018e-02 9.76455568e-01 9.90664310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.97, Y:183.01, Z:99.05 [[ 2.42898482e-01 -9.69306630e-01 -3.80129648e-02 2.34974229e+02] [ 9.47672993e-01 2.45481242e-01 -2.04095219e-01 1.83006160e+02] [ 2.07162319e-01 1.35505588e-02 9.78212736e-01 9.90499327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.00, Y:183.02, Z:99.08 [[ 2.44734804e-01 -9.67131228e-01 -6.90077103e-02 2.35000001e+02] [ 9.45980917e-01 2.53780359e-01 -2.01781155e-01 1.83024880e+02] [ 2.12661658e-01 -1.58971056e-02 9.76996572e-01 9.90777331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.00, Y:183.05, Z:99.08 [[ 2.43440532e-01 -9.68359726e-01 -5.49194667e-02 2.35002705e+02] [ 9.46371362e-01 2.49550308e-01 -2.05197196e-01 1.83053342e+02] [ 2.12409871e-01 -2.02089577e-03 9.77178573e-01 9.90777683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:183.08, Z:99.08 [[ 2.39824305e-01 -9.69291925e-01 -5.43825998e-02 2.35013806e+02] [ 9.47711515e-01 2.45897483e-01 -2.03414137e-01 1.83077523e+02] [ 2.10540225e-01 -2.75536198e-03 9.77581312e-01 9.90830616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.02, Y:183.10, Z:99.09 [[ 2.37893812e-01 -9.69783027e-01 -5.41055835e-02 2.35022782e+02] [ 9.48386446e-01 2.43949157e-01 -2.02612828e-01 1.83103712e+02] [ 2.09689494e-01 -3.11266388e-03 9.77763073e-01 9.90888606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:183.12, Z:99.12 [[ 2.37004962e-01 -9.67293509e-01 -9.03986443e-02 2.35052082e+02] [ 9.47272812e-01 2.50744151e-01 -1.99503359e-01 1.83121036e+02] [ 2.15645236e-01 -3.83488918e-02 9.75718451e-01 9.91196219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.730385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:235.03, Y:183.16, Z:99.08 [[ 2.32871559e-01 -9.72294965e-01 -2.03306998e-02 2.35026494e+02] [ 9.49708297e-01 2.31862635e-01 -2.10461085e-01 1.83162369e+02] [ 2.09344183e-01 2.97021667e-02 9.77390809e-01 9.90834159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:183.18, Z:99.10 [[ 2.32464175e-01 -9.71105349e-01 -5.39889637e-02 2.35051072e+02] [ 9.49715396e-01 2.38615224e-01 -2.02739838e-01 1.83180031e+02] [ 2.09764329e-01 -4.14440080e-03 9.77743192e-01 9.91041046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.06, Y:183.20, Z:99.11 [[ 2.31884411e-01 -9.71239217e-01 -5.40740544e-02 2.35058288e+02] [ 9.49730799e-01 2.38068576e-01 -2.03309526e-01 1.83204851e+02] [ 2.10335518e-01 -4.21148512e-03 9.77620189e-01 9.91085715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.07, Y:183.23, Z:99.12 [[ 2.35836848e-01 -9.70202108e-01 -5.55774360e-02 2.35068251e+02] [ 9.47376279e-01 2.42274510e-01 -2.09239691e-01 1.83229827e+02] [ 2.16469785e-01 -3.30631541e-03 9.76283719e-01 9.91163964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:183.26, Z:99.12 [[ 2.36190659e-01 -9.69928995e-01 -5.87513150e-02 2.35077677e+02] [ 9.47362994e-01 2.43301076e-01 -2.08105610e-01 1.83258727e+02] [ 2.16141923e-01 -6.50622055e-03 9.76340278e-01 9.91244506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.880385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:235.08, Y:183.29, Z:99.12 [[ 2.34550377e-01 -9.70700280e-01 -5.22215294e-02 2.35078475e+02] [ 9.48791870e-01 2.40289144e-01 -2.05073437e-01 1.83285291e+02] [ 2.11613109e-01 -1.44731079e-03 9.77352443e-01 9.91231498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:183.31, Z:99.13 [[ 2.34141038e-01 -9.70687666e-01 -5.42533800e-02 2.35084869e+02] [ 9.48839333e-01 2.40318656e-01 -2.04819099e-01 1.83311050e+02] [ 2.11853472e-01 -3.52118441e-03 9.77295097e-01 9.91311877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:183.34, Z:99.14 [[ 2.32974465e-01 -9.70968411e-01 -5.42516649e-02 2.35088866e+02] [ 9.49078187e-01 2.39178840e-01 -2.05046525e-01 1.83337330e+02] [ 2.12069549e-01 -3.71846725e-03 9.77247502e-01 9.91358830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.09, Y:183.36, Z:99.14 [[ 2.32102298e-01 -9.71171396e-01 -5.43566283e-02 2.35094247e+02] [ 9.49162775e-01 2.38350901e-01 -2.05618275e-01 1.83364048e+02] [ 2.12646539e-01 -3.86881392e-03 9.77121529e-01 9.91412038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:235.10, Y:183.39, Z:99.15 [[ 2.30443737e-01 -9.71575729e-01 -5.41875253e-02 2.35099605e+02] [ 9.49661326e-01 2.36692317e-01 -2.05231852e-01 1.83390873e+02] [ 2.12224057e-01 -4.16540236e-03 9.77212157e-01 9.91469383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.10, Y:183.42, Z:99.15 [[ 2.29679611e-01 -9.72231500e-01 -4.48685459e-02 2.35104102e+02] [ 9.50261638e-01 2.33976398e-01 -2.05567176e-01 1.83422228e+02] [ 2.10357065e-01 4.57773118e-03 9.77613906e-01 9.91455192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:183.44, Z:99.16 [[ 2.28763077e-01 -9.71391670e-01 -6.37626661e-02 2.35115833e+02] [ 9.50280706e-01 2.37046221e-01 -2.01929860e-01 1.83442014e+02] [ 2.11267683e-01 -1.43983353e-02 9.77322185e-01 9.91630185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:183.47, Z:99.16 [[ 2.28578905e-01 -9.72044081e-01 -5.36841641e-02 2.35116733e+02] [ 9.50426133e-01 2.34756956e-01 -2.03910120e-01 1.83471193e+02] [ 2.10812356e-01 -4.41328053e-03 9.77516585e-01 9.91641075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.12, Y:183.50, Z:99.16 [[ 2.29890594e-01 -9.72240021e-01 -4.35850467e-02 2.35119488e+02] [ 9.50544801e-01 2.33920147e-01 -2.04318249e-01 1.83502456e+02] [ 2.08841800e-01 5.54130404e-03 9.77933738e-01 9.91616626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.13, Y:183.52, Z:99.18 [[ 2.32367086e-01 -9.70935968e-01 -5.73487860e-02 2.35132085e+02] [ 9.49082711e-01 2.39242639e-01 -2.04951134e-01 1.83522788e+02] [ 2.12714702e-01 -6.80484350e-03 9.77090656e-01 9.91750812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.13, Y:183.55, Z:99.17 [[ 2.32433714e-01 -9.71483959e-01 -4.68346582e-02 2.35133010e+02] [ 9.49539961e-01 2.37082913e-01 -2.05342530e-01 1.83550400e+02] [ 2.10590671e-01 3.25714733e-03 9.77568903e-01 9.91738944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.210385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:235.15, Y:183.57, Z:99.19 [[ 2.32788568e-01 -9.70099428e-01 -6.86773871e-02 2.35151632e+02] [ 9.49810005e-01 2.41957381e-01 -1.98286609e-01 1.83572076e+02] [ 2.08974727e-01 -1.90716137e-02 9.77735055e-01 9.91930372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:183.60, Z:99.19 [[ 2.30465532e-01 -9.71657770e-01 -5.26005340e-02 2.35147147e+02] [ 9.50259281e-01 2.36369785e-01 -2.02821655e-01 1.83599780e+02] [ 2.09506414e-01 -3.24074506e-03 9.77801902e-01 9.91929077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.270385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:235.15, Y:183.62, Z:99.20 [[ 2.30741096e-01 -9.71556230e-01 -5.32638603e-02 2.35152417e+02] [ 9.49974915e-01 2.36781553e-01 -2.03671691e-01 1.83624579e+02] [ 2.10490400e-01 -3.60390196e-03 9.77589282e-01 9.91977108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.17, Y:183.65, Z:99.21 [[ 2.32814838e-01 -9.70734140e-01 -5.89277667e-02 2.35165606e+02] [ 9.49051645e-01 2.40010233e-01 -2.04196137e-01 1.83653729e+02] [ 2.12363428e-01 -8.38560353e-03 9.77154776e-01 9.92074214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:183.68, Z:99.21 [[ 2.34423664e-01 -9.71097506e-01 -4.48907570e-02 2.35165612e+02] [ 9.47835212e-01 2.38580252e-01 -2.11395068e-01 1.83681555e+02] [ 2.15995271e-01 7.00696617e-03 9.76369267e-01 9.92062375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:183.70, Z:99.22 [[ 2.34355812e-01 -9.70109531e-01 -6.29670621e-02 2.35178126e+02] [ 9.48934331e-01 2.42349438e-01 -2.01966298e-01 1.83700697e+02] [ 2.11189463e-01 -1.24196311e-02 9.77366238e-01 9.92188429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:235.18, Y:183.73, Z:99.22 [[ 2.36477889e-01 -9.70382315e-01 -4.93596016e-02 2.35183412e+02] [ 9.48625806e-01 2.41569702e-01 -2.04335900e-01 1.83733081e+02] [ 2.10207728e-01 1.49713060e-03 9.77655599e-01 9.92188492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:183.75, Z:99.23 [[ 2.34842974e-01 -9.70204848e-01 -5.95930407e-02 2.35190279e+02] [ 9.49103946e-01 2.42109484e-01 -2.01456442e-01 1.83752355e+02] [ 2.09882057e-01 -9.24936018e-03 9.77682961e-01 9.92285904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:183.78, Z:99.23 [[ 2.34217856e-01 -9.71427411e-01 -3.83507564e-02 2.35187509e+02] [ 9.48268251e-01 2.36974281e-01 -2.11259353e-01 1.83783666e+02] [ 2.14311270e-01 1.31139080e-02 9.76677380e-01 9.92258691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.21, Y:183.80, Z:99.24 [[ 2.34464361e-01 -9.70330748e-01 -5.90313719e-02 2.35205426e+02] [ 9.48379855e-01 2.41654532e-01 -2.05374630e-01 1.83804771e+02] [ 2.13546517e-01 -7.83113241e-03 9.76901509e-01 9.92414012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.21, Y:183.83, Z:99.24 [[ 2.34282400e-01 -9.70465083e-01 -5.75263364e-02 2.35212127e+02] [ 9.49425333e-01 2.41125091e-01 -2.01122418e-01 1.83830318e+02] [ 2.09053327e-01 -7.49751835e-03 9.77875500e-01 9.92445860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.540385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:235.22, Y:183.86, Z:99.26 [[ 2.36107559e-01 -9.70012851e-01 -5.76913336e-02 2.35222274e+02] [ 9.48508260e-01 2.42960260e-01 -2.03229901e-01 1.83857309e+02] [ 2.11152317e-01 -6.73659069e-03 9.77429955e-01 9.92550337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.570385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.23, Y:183.88, Z:99.26 [[ 2.35709054e-01 -9.70359102e-01 -5.33334276e-02 2.35227523e+02] [ 9.48423417e-01 2.41657349e-01 -2.05170048e-01 1.83884342e+02] [ 2.11977038e-01 -2.22223358e-03 9.77272120e-01 9.92590185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:235.23, Y:183.91, Z:99.26 [[ 2.35103433e-01 -9.70506143e-01 -5.33310585e-02 2.35234076e+02] [ 9.48524232e-01 2.41065461e-01 -2.05400160e-01 1.83909678e+02] [ 2.12198393e-01 -2.29551855e-03 9.77223911e-01 9.92640082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.630385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:235.24, Y:183.94, Z:99.27 [[ 2.33816145e-01 -9.70816413e-01 -5.33432530e-02 2.35242059e+02] [ 9.48777574e-01 2.39810688e-01 -2.05698686e-01 1.83936164e+02] [ 2.12487943e-01 -2.51520832e-03 9.77160451e-01 9.92693227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.660385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:235.25, Y:183.96, Z:99.28 [[ 2.33277856e-01 -9.70949982e-01 -5.32688820e-02 2.35249807e+02] [ 9.48926391e-01 2.39268667e-01 -2.05643403e-01 1.83961871e+02] [ 2.12415032e-01 -2.57619595e-03 9.77176144e-01 9.92754370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.25, Y:183.99, Z:99.28 [[ 2.30992486e-01 -9.71915630e-01 -4.49719849e-02 2.35254955e+02] [ 9.49155652e-01 2.35262145e-01 -2.09177608e-01 1.83990696e+02] [ 2.13883192e-01 5.63304188e-03 9.76843001e-01 9.92789516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.720385723 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:235.26, Y:184.02, Z:99.28 [[ 2.30334948e-01 -9.72346878e-01 -3.85663177e-02 2.35258125e+02] [ 9.48727284e-01 2.33203287e-01 -2.13384085e-01 1.84015954e+02] [ 2.16477140e-01 1.25608942e-02 9.76206880e-01 9.92817034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:184.03, Z:99.30 [[ 2.30988343e-01 -9.69906092e-01 -7.69841396e-02 2.35281362e+02] [ 9.50067470e-01 2.41908756e-01 -1.97108994e-01 1.84032734e+02] [ 2.09800352e-01 -2.76102469e-02 9.77354330e-01 9.93016510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:184.06, Z:99.30 [[ 2.30892510e-01 -9.71545536e-01 -5.28007546e-02 2.35277019e+02] [ 9.49769197e-01 2.36834901e-01 -2.04567110e-01 1.84064134e+02] [ 2.11251324e-01 -2.91551675e-03 9.77427428e-01 9.92970475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:184.09, Z:99.30 [[ 2.30765049e-01 -9.71571312e-01 -5.28836269e-02 2.35284369e+02] [ 9.49675518e-01 2.36729490e-01 -2.05123278e-01 1.84090721e+02] [ 2.11811006e-01 -2.88700232e-03 9.77306381e-01 9.93031003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.29, Y:184.12, Z:99.31 [[ 2.30648503e-01 -9.71600108e-01 -5.28630179e-02 2.35290808e+02] [ 9.49670326e-01 2.36611674e-01 -2.05283189e-01 1.84116183e+02] [ 2.11961176e-01 -2.85417911e-03 9.77273920e-01 9.93090431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.870385723 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:235.29, Y:184.15, Z:99.30 [[ 2.29546069e-01 -9.72611464e-01 -3.65450773e-02 2.35289191e+02] [ 9.50460708e-01 2.32088005e-01 -2.06783949e-01 1.84148165e+02] [ 2.09602113e-01 1.27317825e-02 9.77703869e-01 9.93030465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.900385723 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:235.30, Y:184.17, Z:99.32 [[ 2.29078539e-01 -9.71946338e-01 -5.33229796e-02 2.35303159e+02] [ 9.50572869e-01 2.35164477e-01 -2.02753272e-01 1.84170425e+02] [ 2.09604971e-01 -4.24095438e-03 9.77776953e-01 9.93158095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.930385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.31, Y:184.19, Z:99.33 [[ 2.27616176e-01 -9.71291737e-01 -6.91609549e-02 2.35314067e+02] [ 9.50527645e-01 2.37045726e-01 -2.00764836e-01 1.84190082e+02] [ 2.11395535e-01 -2.00420755e-02 9.77195090e-01 9.93313514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.960385723 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:235.31, Y:184.23, Z:99.32 [[ 2.27041312e-01 -9.73177965e-01 -3.71064735e-02 2.35307745e+02] [ 9.51061396e-01 2.29759866e-01 -2.06621938e-01 1.84225779e+02] [ 2.09605495e-01 1.16211814e-02 9.77716976e-01 9.93199035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.32, Y:184.24, Z:99.34 [[ 2.23745305e-01 -9.72229978e-01 -6.86069122e-02 2.35324867e+02] [ 9.51542724e-01 2.33135483e-01 -2.00535012e-01 1.84240793e+02] [ 2.10960856e-01 -2.04136407e-02 9.77281331e-01 9.93404643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.32, Y:184.27, Z:99.34 [[ 2.21844228e-01 -9.73678576e-01 -5.22988428e-02 2.35323147e+02] [ 9.51847771e-01 2.27885178e-01 -2.05071125e-01 1.84268948e+02] [ 2.11591492e-01 -4.28669170e-03 9.77348794e-01 9.93417254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:235.33, Y:184.30, Z:99.35 [[ 2.19091025e-01 -9.74314469e-01 -5.20618740e-02 2.35327701e+02] [ 9.52636042e-01 2.25140469e-01 -2.04441535e-01 1.84295775e+02] [ 2.10911580e-01 -4.80471213e-03 9.77493335e-01 9.93475136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:184.32, Z:99.35 [[ 2.17798793e-01 -9.74605917e-01 -5.20287672e-02 2.35332438e+02] [ 9.52907777e-01 2.23870655e-01 -2.04569544e-01 1.84321088e+02] [ 2.11022403e-01 -5.02361708e-03 9.77468316e-01 9.93524841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.34, Y:184.35, Z:99.36 [[ 2.16949530e-01 -9.74743329e-01 -5.29938191e-02 2.35336071e+02] [ 9.52165687e-01 2.23267704e-01 -2.08643324e-01 1.84346548e+02] [ 2.15205496e-01 -5.19382509e-03 9.76554975e-01 9.93623041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.34, Y:184.37, Z:99.36 [[ 2.15272358e-01 -9.75167288e-01 -5.20247252e-02 2.35341313e+02] [ 9.53376530e-01 2.21402404e-01 -2.05071126e-01 1.84374941e+02] [ 2.11497053e-01 -5.45300726e-03 9.77363423e-01 9.93632366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.170385723 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:235.35, Y:184.40, Z:99.37 [[ 2.15415078e-01 -9.75170298e-01 -5.13734724e-02 2.35346615e+02] [ 9.53875773e-01 2.21392165e-01 -2.02747425e-01 1.84400051e+02] [ 2.09086951e-01 -5.32905833e-03 9.77882533e-01 9.93675031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:235.35, Y:184.43, Z:99.38 [[ 2.15310471e-01 -9.75168609e-01 -5.18419243e-02 2.35349125e+02] [ 9.53397758e-01 2.21400475e-01 -2.04974498e-01 1.84425982e+02] [ 2.11362523e-01 -5.29281860e-03 9.77393406e-01 9.93750630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.230385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:235.35, Y:184.45, Z:99.38 [[ 2.16105938e-01 -9.75063957e-01 -5.04827068e-02 2.35350518e+02] [ 9.52988389e-01 2.21896145e-01 -2.06337662e-01 1.84454744e+02] [ 2.12394335e-01 -3.51863946e-03 9.77177704e-01 9.93794978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:184.48, Z:99.39 [[ 2.17451680e-01 -9.74569458e-01 -5.41215261e-02 2.35355529e+02] [ 9.52683919e-01 2.23980103e-01 -2.05490301e-01 1.84478459e+02] [ 2.12386716e-01 -6.87649645e-03 9.77161500e-01 9.93857898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.290385723 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:235.36, Y:184.51, Z:99.39 [[ 2.20042724e-01 -9.74367324e-01 -4.67922897e-02 2.35359069e+02] [ 9.52269891e-01 2.24961345e-01 -2.06335764e-01 1.84508204e+02] [ 2.11573282e-01 8.43794912e-04 9.77361772e-01 9.93878856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.320385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.36, Y:184.53, Z:99.40 [[ 2.21220939e-01 -9.73487290e-01 -5.81703780e-02 2.35364985e+02] [ 9.51889792e-01 2.28513402e-01 -2.04175045e-01 1.84529590e+02] [ 2.12054522e-01 -1.02039939e-02 9.77204563e-01 9.93989579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.37, Y:184.56, Z:99.40 [[ 2.21878381e-01 -9.73703425e-01 -5.16877595e-02 2.35367145e+02] [ 9.51716964e-01 2.27791905e-01 -2.05780630e-01 1.84558071e+02] [ 2.12143357e-01 -3.53384470e-03 9.77232167e-01 9.94023467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:184.59, Z:99.41 [[ 2.22907254e-01 -9.73470461e-01 -5.16489934e-02 2.35369012e+02] [ 9.51458043e-01 2.28789617e-01 -2.05871086e-01 1.84585662e+02] [ 2.12226175e-01 -3.25169165e-03 9.77215164e-01 9.94077560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.37, Y:184.61, Z:99.41 [[ 2.23231472e-01 -9.73399042e-01 -5.15947180e-02 2.35373075e+02] [ 9.51377443e-01 2.29095088e-01 -2.05903865e-01 1.84611984e+02] [ 2.12246722e-01 -3.12182790e-03 9.77211125e-01 9.94130868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:235.38, Y:184.64, Z:99.42 [[ 2.23257344e-01 -9.73395313e-01 -5.15531073e-02 2.35377978e+02] [ 9.51352505e-01 2.29111844e-01 -2.06000421e-01 1.84639551e+02] [ 2.12331272e-01 -3.05407104e-03 9.77192972e-01 9.94190757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.37, Y:184.67, Z:99.41 [[ 2.20516809e-01 -9.74781450e-01 -3.42558289e-02 2.35373377e+02] [ 9.52990639e-01 2.22803571e-01 -2.05347051e-01 1.84670730e+02] [ 2.07800817e-01 1.26369921e-02 9.78089529e-01 9.94133099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.500385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:235.39, Y:184.69, Z:99.44 [[ 2.20598501e-01 -9.73086611e-01 -6.66239452e-02 2.35392773e+02] [ 9.51871812e-01 2.29683850e-01 -2.02941820e-01 1.84691381e+02] [ 2.12782412e-01 -1.86487942e-02 9.76921628e-01 9.94365217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.530385723 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:235.39, Y:184.73, Z:99.43 [[ 2.21652029e-01 -9.74411553e-01 -3.73162689e-02 2.35387124e+02] [ 9.52142498e-01 2.24528760e-01 -2.07392139e-01 1.84727060e+02] [ 2.10463872e-01 1.04384829e-02 9.77545905e-01 9.94306610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.560385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:235.40, Y:184.74, Z:99.45 [[ 2.19130238e-01 -9.73365379e-01 -6.73927202e-02 2.35400241e+02] [ 9.52456798e-01 2.28385361e-01 -2.01658561e-01 1.84743172e+02] [ 2.11678972e-01 -1.99991661e-02 9.77134610e-01 9.94499113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.590385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:235.39, Y:184.77, Z:99.45 [[ 2.17968537e-01 -9.74604236e-01 -5.13449139e-02 2.35394650e+02] [ 9.52488360e-01 2.23900382e-01 -2.06481338e-01 1.84773413e+02] [ 2.12733733e-01 -3.89899763e-03 9.77102429e-01 9.94495493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.620385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:235.40, Y:184.80, Z:99.45 [[ 2.17155598e-01 -9.74791413e-01 -5.12361880e-02 2.35398778e+02] [ 9.52736432e-01 2.23081695e-01 -2.06222811e-01 1.84800880e+02] [ 2.12454081e-01 -4.03214504e-03 9.77162732e-01 9.94547175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.650385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:235.40, Y:184.83, Z:99.45 [[ 2.14384156e-01 -9.75814770e-01 -4.27196425e-02 2.35397696e+02] [ 9.54051683e-01 2.18575834e-01 -2.04963390e-01 1.84831968e+02] [ 2.09343784e-01 3.18415641e-03 9.77836920e-01 9.94540190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:184.86, Z:99.46 [[ 2.15297003e-01 -9.75647179e-01 -4.19497645e-02 2.35405139e+02] [ 9.54362433e-01 2.19316123e-01 -2.02713553e-01 1.84860901e+02] [ 2.06977166e-01 3.60834100e-03 9.78339120e-01 9.94579989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:184.89, Z:99.47 [[ 2.12512953e-01 -9.75739527e-01 -5.26366909e-02 2.35410062e+02] [ 9.54989591e-01 2.18799183e-01 -2.00304265e-01 1.84886218e+02] [ 2.06961654e-01 -7.70024110e-03 9.78318752e-01 9.94676201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.740385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:235.42, Y:184.91, Z:99.48 [[ 2.12545214e-01 -9.75232789e-01 -6.12008145e-02 2.35415853e+02] [ 9.53833999e-01 2.20666740e-01 -2.03732406e-01 1.84908211e+02] [ 2.12191507e-01 -1.50730698e-02 9.77111850e-01 9.94814634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:184.94, Z:99.48 [[ 2.11146738e-01 -9.76532321e-01 -4.24462173e-02 2.35412266e+02] [ 9.54994675e-01 2.15356004e-01 -2.03977850e-01 1.84942476e+02] [ 2.08332011e-01 2.53334615e-03 9.78054884e-01 9.94762630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:184.97, Z:99.49 [[ 2.09288614e-01 -9.76302714e-01 -5.50571143e-02 2.35418149e+02] [ 9.55162650e-01 2.16166777e-01 -2.02327052e-01 1.84967051e+02] [ 2.09433969e-01 -1.02437509e-02 9.77769133e-01 9.94873344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:184.99, Z:99.50 [[ 2.08731800e-01 -9.76175659e-01 -5.92631240e-02 2.35420848e+02] [ 9.54770800e-01 2.16526655e-01 -2.03786476e-01 1.84992157e+02] [ 2.11763444e-01 -1.40459825e-02 9.77220013e-01 9.94979802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.860385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:235.42, Y:185.02, Z:99.49 [[ 2.07113191e-01 -9.77396835e-01 -4.24211325e-02 2.35417673e+02] [ 9.55552213e-01 2.11403227e-01 -2.05496091e-01 1.85024538e+02] [ 2.09819193e-01 2.02534404e-03 9.77738106e-01 9.94947609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:185.05, Z:99.50 [[ 2.06515622e-01 -9.77167485e-01 -4.99500073e-02 2.35424706e+02] [ 9.55764748e-01 2.12393490e-01 -2.03476664e-01 1.85049518e+02] [ 2.09439837e-01 -5.71934616e-03 9.77804809e-01 9.95028634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:185.07, Z:99.52 [[ 2.07609430e-01 -9.76424444e-01 -5.91069317e-02 2.35428286e+02] [ 9.54914595e-01 2.15403227e-01 -2.04302634e-01 1.85073747e+02] [ 2.12217910e-01 -1.40269184e-02 9.77121694e-01 9.95152232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.950385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.42, Y:185.11, Z:99.51 [[ 2.06306626e-01 -9.77631845e-01 -4.09090628e-02 2.35422104e+02] [ 9.55794952e-01 2.10297680e-01 -2.05501573e-01 1.85106378e+02] [ 2.09507963e-01 3.29566052e-03 9.77801387e-01 9.95099895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:185.13, Z:99.53 [[ 2.09220067e-01 -9.76076679e-01 -5.91716163e-02 2.35431974e+02] [ 9.54534765e-01 2.16993403e-01 -2.04394830e-01 1.85129985e+02] [ 2.12344877e-01 -1.37178649e-02 9.77098497e-01 9.95270728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:185.16, Z:99.53 [[ 2.09845087e-01 -9.76426088e-01 -5.05681200e-02 2.35432803e+02] [ 9.54392060e-01 2.15794881e-01 -2.06321024e-01 1.85158579e+02] [ 2.12369572e-01 -4.96635890e-03 9.77176801e-01 9.95306533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:185.19, Z:99.54 [[ 2.10835890e-01 -9.76219285e-01 -5.04394108e-02 2.35434517e+02] [ 9.54239052e-01 2.16734657e-01 -2.06043492e-01 1.85185337e+02] [ 2.12075598e-01 -4.68989258e-03 9.77242010e-01 9.95365824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:185.21, Z:99.54 [[ 2.11287271e-01 -9.76122706e-01 -5.04197597e-02 2.35438094e+02] [ 9.54100333e-01 2.17172550e-01 -2.06224730e-01 1.85213015e+02] [ 2.12250429e-01 -4.53284903e-03 9.77204794e-01 9.95421687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:185.24, Z:99.55 [[ 2.12188421e-01 -9.75924379e-01 -5.04745478e-02 2.35441612e+02] [ 9.53795054e-01 2.18067072e-01 -2.06692399e-01 1.85240685e+02] [ 2.12722988e-01 -4.28464025e-03 9.77103153e-01 9.95473819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:185.27, Z:99.55 [[ 2.14417861e-01 -9.75483781e-01 -4.95618274e-02 2.35442006e+02] [ 9.53105493e-01 2.20054905e-01 -2.07763706e-01 1.85266734e+02] [ 2.13576449e-01 -2.68940044e-03 9.76922652e-01 9.95516531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:185.29, Z:99.56 [[ 2.15652674e-01 -9.75124384e-01 -5.12480201e-02 2.35445573e+02] [ 9.52851198e-01 2.21619817e-01 -2.07266137e-01 1.85292525e+02] [ 2.13467841e-01 -4.13424060e-03 9.76941344e-01 9.95583698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:185.32, Z:99.56 [[ 2.16367250e-01 -9.75006571e-01 -5.04717705e-02 2.35450325e+02] [ 9.52667181e-01 2.22153299e-01 -2.07540730e-01 1.85319254e+02] [ 2.13566046e-01 -3.17778228e-03 9.76923460e-01 9.95646406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:185.35, Z:99.57 [[ 2.16691738e-01 -9.74938226e-01 -5.03998670e-02 2.35455347e+02] [ 9.52608272e-01 2.22454830e-01 -2.07488140e-01 1.85346569e+02] [ 2.13499813e-01 -3.05036458e-03 9.76938343e-01 9.95709662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:185.38, Z:99.57 [[ 2.16453253e-01 -9.75583280e-01 -3.72189805e-02 2.35451611e+02] [ 9.53632084e-01 2.19441492e-01 -2.05988544e-01 1.85377648e+02] [ 2.09126368e-01 9.09367644e-03 9.77846341e-01 9.95662159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:185.40, Z:99.58 [[ 2.17880073e-01 -9.74232455e-01 -5.83043453e-02 2.35466059e+02] [ 9.51965908e-01 2.25309822e-01 -2.07355719e-01 1.85399599e+02] [ 2.15149213e-01 -1.03250698e-02 9.76526605e-01 9.95835821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:185.43, Z:99.59 [[ 2.17457549e-01 -9.74584536e-01 -5.38256086e-02 2.35469460e+02] [ 9.52209890e-01 2.23937455e-01 -2.07721790e-01 1.85426419e+02] [ 2.14496014e-01 -6.08260560e-03 9.76705924e-01 9.95881963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.340385723 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:235.47, Y:185.46, Z:99.59 [[ 2.17190703e-01 -9.75411878e-01 -3.74147817e-02 2.35466972e+02] [ 9.51404965e-01 2.20106127e-01 -2.15364543e-01 1.85455475e+02] [ 2.18304356e-01 1.11785675e-02 9.75816708e-01 9.95892247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.370385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:235.48, Y:185.48, Z:99.60 [[ 2.15439230e-01 -9.74695894e-01 -5.96141993e-02 2.35482988e+02] [ 9.52612714e-01 2.23198311e-01 -2.06667684e-01 1.85478467e+02] [ 2.14743932e-01 -1.22649174e-02 9.76593373e-01 9.96007847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.48, Y:185.51, Z:99.60 [[ 2.13272993e-01 -9.75810217e-01 -4.80525794e-02 2.35482961e+02] [ 9.53856761e-01 2.18610768e-01 -2.05831513e-01 1.85507612e+02] [ 2.11357304e-01 -1.93697497e-03 9.77406946e-01 9.95998690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:185.53, Z:99.61 [[ 2.13906670e-01 -9.75274050e-01 -5.55379436e-02 2.35494418e+02] [ 9.53280069e-01 2.20821742e-01 -2.06142835e-01 1.85531401e+02] [ 2.13309743e-01 -8.84788713e-03 9.76944557e-01 9.96123927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:185.56, Z:99.62 [[ 2.13469302e-01 -9.75675734e-01 -4.98770427e-02 2.35498232e+02] [ 9.53428747e-01 2.19193530e-01 -2.07190300e-01 1.85559501e+02] [ 2.13083273e-01 -3.32543759e-03 9.77028382e-01 9.96164079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:185.59, Z:99.62 [[ 2.13337783e-01 -9.75709857e-01 -4.97721332e-02 2.35504213e+02] [ 9.53503486e-01 2.19042037e-01 -2.07006491e-01 1.85586099e+02] [ 2.12880464e-01 -3.29559657e-03 9.77072693e-01 9.96222924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.51, Y:185.61, Z:99.63 [[ 2.13676617e-01 -9.75942287e-01 -4.33469214e-02 2.35507499e+02] [ 9.53274653e-01 2.18003000e-01 -2.09146186e-01 1.85613743e+02] [ 2.13564366e-01 3.36812814e-03 9.76923189e-01 9.96256256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:185.64, Z:99.64 [[ 2.13854412e-01 -9.75264854e-01 -5.58995089e-02 2.35520092e+02] [ 9.53793698e-01 2.20824644e-01 -2.03749992e-01 1.85636258e+02] [ 2.11054195e-01 -9.74376468e-03 9.77425796e-01 9.96350420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.580385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:235.52, Y:185.66, Z:99.64 [[ 2.12932066e-01 -9.75818240e-01 -4.93831747e-02 2.35524020e+02] [ 9.53833694e-01 2.18559510e-01 -2.05992781e-01 1.85664290e+02] [ 2.11804675e-01 -3.24086762e-03 9.77306644e-01 9.96368243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:185.69, Z:99.64 [[ 2.13359396e-01 -9.75951876e-01 -4.46733080e-02 2.35527814e+02] [ 9.53514721e-01 2.17978677e-01 -2.08074440e-01 1.85691050e+02] [ 2.12808469e-01 1.79798009e-03 9.77092280e-01 9.96432152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:185.71, Z:99.65 [[ 2.13759858e-01 -9.75395438e-01 -5.39487008e-02 2.35538453e+02] [ 9.53809377e-01 2.20324417e-01 -2.04217588e-01 1.85713963e+02] [ 2.11079120e-01 -7.80325405e-03 9.77437832e-01 9.96511531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:185.74, Z:99.65 [[ 2.13581683e-01 -9.75689599e-01 -4.91189392e-02 2.35544720e+02] [ 9.53765837e-01 2.19137637e-01 -2.05692549e-01 1.85738962e+02] [ 2.11455889e-01 -2.91580527e-03 9.77383193e-01 9.96549015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.55, Y:185.76, Z:99.66 [[ 2.12367280e-01 -9.75914846e-01 -4.99034245e-02 2.35551355e+02] [ 9.53218458e-01 2.18129405e-01 -2.09270481e-01 1.85763437e+02] [ 2.15115574e-01 -3.12666256e-03 9.76583593e-01 9.96622293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.730385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:235.56, Y:185.79, Z:99.67 [[ 2.11496192e-01 -9.75565736e-01 -5.95050820e-02 2.35562871e+02] [ 9.53485493e-01 2.19322719e-01 -2.06792067e-01 1.85787906e+02] [ 2.14790071e-01 -1.30014977e-02 9.76573697e-01 9.96694691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:185.82, Z:99.67 [[ 2.12775458e-01 -9.76306203e-01 -3.94056058e-02 2.35561285e+02] [ 9.53560380e-01 2.16279426e-01 -2.09632565e-01 1.85817751e+02] [ 2.13188195e-01 7.02904060e-03 9.76985868e-01 9.96678527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:185.84, Z:99.68 [[ 2.12478433e-01 -9.75922435e-01 -4.92779545e-02 2.35572048e+02] [ 9.53656833e-01 2.18097936e-01 -2.07296733e-01 1.85842449e+02] [ 2.13052953e-01 -2.94817294e-03 9.77036206e-01 9.96764310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.820385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:235.58, Y:185.87, Z:99.68 [[ 2.12546966e-01 -9.75893147e-01 -4.95616111e-02 2.35579371e+02] [ 9.53310640e-01 2.18229867e-01 -2.08745177e-01 1.85868035e+02] [ 2.14528811e-01 -2.87945713e-03 9.76713416e-01 9.96818369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:185.89, Z:99.69 [[ 2.13664032e-01 -9.75637273e-01 -4.97955170e-02 2.35589294e+02] [ 9.52772019e-01 2.19374761e-01 -2.10000463e-01 1.85893210e+02] [ 2.15808158e-01 -2.57422964e-03 9.76432390e-01 9.96878962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:185.92, Z:99.69 [[ 2.15180303e-01 -9.76118696e-01 -2.98283243e-02 2.35587023e+02] [ 9.51080997e-01 2.16398675e-01 -2.20491613e-01 1.85920119e+02] [ 2.21680796e-01 1.90762997e-02 9.74932674e-01 9.96871939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:185.94, Z:99.71 [[ 2.15404420e-01 -9.74034513e-01 -6.96972251e-02 2.35615231e+02] [ 9.52567459e-01 2.25296472e-01 -2.04589187e-01 1.85940153e+02] [ 2.14979468e-01 -2.23218935e-02 9.76363437e-01 9.97056356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:185.97, Z:99.70 [[ 2.14194268e-01 -9.75940426e-01 -4.07565993e-02 2.35606229e+02] [ 9.53193580e-01 2.17953699e-01 -2.09566659e-01 1.85970757e+02] [ 2.13407626e-01 6.03904840e-03 9.76944581e-01 9.96986734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:186.00, Z:99.71 [[ 2.14347030e-01 -9.75517581e-01 -4.92016266e-02 2.35618346e+02] [ 9.53478831e-01 2.19904720e-01 -2.06203862e-01 1.85995272e+02] [ 2.11975162e-01 -2.71352418e-03 9.77271287e-01 9.97070114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.63, Y:186.02, Z:99.72 [[ 2.16028391e-01 -9.74785375e-01 -5.59035591e-02 2.35632380e+02] [ 9.52752326e-01 2.22974727e-01 -2.06265063e-01 1.86019151e+02] [ 2.13529247e-01 -8.70313641e-03 9.76897905e-01 9.97189901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:186.05, Z:99.72 [[ 2.17240048e-01 -9.75036116e-01 -4.59492637e-02 2.35638693e+02] [ 9.52236790e-01 2.22039157e-01 -2.09627549e-01 1.86047197e+02] [ 2.14596967e-01 1.78491934e-03 9.76701058e-01 9.97230807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.65, Y:186.07, Z:99.73 [[ 2.18460828e-01 -9.74605374e-01 -4.91856937e-02 2.35649799e+02] [ 9.52073536e-01 2.23925544e-01 -2.08358666e-01 1.86072436e+02] [ 2.14081408e-01 -1.31019070e-03 9.76814944e-01 9.97297757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:186.10, Z:99.74 [[ 2.19876220e-01 -9.74290343e-01 -4.91200161e-02 2.35660041e+02] [ 9.51751672e-01 2.25294137e-01 -2.08353804e-01 1.86098142e+02] [ 2.14063551e-01 -9.38010570e-04 9.76819285e-01 9.97359808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:186.12, Z:99.74 [[ 2.20501628e-01 -9.74150225e-01 -4.90955338e-02 2.35667990e+02] [ 9.51572468e-01 2.25899960e-01 -2.08516298e-01 1.86123655e+02] [ 2.14216878e-01 -7.39775121e-04 9.76785842e-01 9.97418196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.150385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.67, Y:186.15, Z:99.75 [[ 2.21741661e-01 -9.74247049e-01 -4.09062640e-02 2.35672260e+02] [ 9.50745299e-01 2.25330097e-01 -2.12860807e-01 1.86150993e+02] [ 2.16596426e-01 8.30867087e-03 9.76225873e-01 9.97450891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.70, Y:186.17, Z:99.76 [[ 2.22672642e-01 -9.72442328e-01 -6.90855509e-02 2.35695149e+02] [ 9.50438152e-01 2.32314016e-01 -2.06633775e-01 1.86171867e+02] [ 2.16988971e-01 -1.96498547e-02 9.75976265e-01 9.97624406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.210385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:235.69, Y:186.20, Z:99.75 [[ 2.21116723e-01 -9.74648125e-01 -3.41822704e-02 2.35687642e+02] [ 9.51691423e-01 2.23300277e-01 -2.10761529e-01 1.86203357e+02] [ 2.13051239e-01 1.40719250e-02 9.76939686e-01 9.97505529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:235.70, Y:186.23, Z:99.76 [[ 2.21163472e-01 -9.73948067e-01 -5.01186767e-02 2.35704383e+02] [ 9.51464436e-01 2.26765030e-01 -2.08069815e-01 1.86226328e+02] [ 2.14014357e-01 -1.66869577e-03 9.76829090e-01 9.97622920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:235.70, Y:186.26, Z:99.76 [[ 2.17468471e-01 -9.75563264e-01 -3.13653086e-02 2.35702910e+02] [ 9.53339901e-01 2.19189181e-01 -2.07603316e-01 1.86255424e+02] [ 2.09405105e-01 1.52453756e-02 9.77710121e-01 9.97563036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.300385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.73, Y:186.27, Z:99.78 [[ 2.17734831e-01 -9.73917180e-01 -6.38503640e-02 2.35732801e+02] [ 9.51877455e-01 2.26353807e-01 -2.06623486e-01 1.86274525e+02] [ 2.15686936e-01 -1.57885921e-02 9.76334915e-01 9.97800468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:186.30, Z:99.78 [[ 2.16538009e-01 -9.75040645e-01 -4.90615111e-02 2.35734397e+02] [ 9.52099467e-01 2.22023303e-01 -2.10267112e-01 1.86302126e+02] [ 2.15911780e-01 -1.18061675e-03 9.76412162e-01 9.97806239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.74, Y:186.33, Z:99.79 [[ 2.14348992e-01 -9.75535067e-01 -4.88450849e-02 2.35744665e+02] [ 9.52747988e-01 2.19838029e-01 -2.09624694e-01 1.86328323e+02] [ 2.15234247e-01 -1.60421444e-03 9.76561132e-01 9.97854583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.390385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:235.74, Y:186.36, Z:99.77 [[ 2.08534231e-01 -9.77913688e-01 -1.40816506e-02 2.35736873e+02] [ 9.55897826e-01 2.06841936e-01 -2.08508417e-01 1.86360804e+02] [ 2.06815911e-01 3.00205232e-02 9.77919193e-01 9.97675456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:186.38, Z:99.79 [[ 2.07603169e-01 -9.76992147e-01 -4.88596768e-02 2.35763044e+02] [ 9.56147268e-01 2.13215955e-01 -2.00801789e-01 1.86379662e+02] [ 2.06599433e-01 -5.02995884e-03 9.78412681e-01 9.97862039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.450385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:235.79, Y:186.40, Z:99.81 [[ 2.09376138e-01 -9.74834210e-01 -7.65499541e-02 2.35788321e+02] [ 9.53772351e-01 2.20857216e-01 -2.03814606e-01 1.86400747e+02] [ 2.15592060e-01 -3.03373147e-02 9.76012147e-01 9.98132127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:186.43, Z:99.81 [[ 2.09009138e-01 -9.76702167e-01 -4.86626960e-02 2.35786873e+02] [ 9.53893909e-01 2.14584108e-01 -2.09857265e-01 1.86429745e+02] [ 2.15410286e-01 -2.55696337e-03 9.76520287e-01 9.98112756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.77, Y:186.46, Z:99.79 [[ 2.03363582e-01 -9.79068037e-01 -8.30857111e-03 2.35770255e+02] [ 9.57487802e-01 2.00640053e-01 -2.07269581e-01 1.86463700e+02] [ 2.04598054e-01 3.41957289e-02 9.78248582e-01 9.97868048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.80, Y:186.48, Z:99.80 [[ 2.03885792e-01 -9.78054764e-01 -4.28889658e-02 2.35795830e+02] [ 9.57475874e-01 2.08347641e-01 -1.99577584e-01 1.86484352e+02] [ 2.04133621e-01 -3.74116285e-04 9.78942963e-01 9.98046892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.83, Y:186.50, Z:99.84 [[ 2.08817523e-01 -9.74456024e-01 -8.26480430e-02 2.35827173e+02] [ 9.54098330e-01 2.21547458e-01 -2.01526923e-01 1.86502459e+02] [ 2.14689588e-01 -3.67720070e-02 9.75989857e-01 9.98409770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.80, Y:186.54, Z:99.81 [[ 2.04160230e-01 -9.78841859e-01 -1.36826724e-02 2.35801909e+02] [ 9.57118410e-01 2.02524827e-01 -2.07142571e-01 1.86540101e+02] [ 2.05530900e-01 2.91943372e-02 9.78215079e-01 9.98080984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:186.55, Z:99.85 [[ 2.09286684e-01 -9.74799959e-01 -7.72277436e-02 2.35845334e+02] [ 9.54068813e-01 2.20871296e-01 -2.02406944e-01 1.86554302e+02] [ 2.14363673e-01 -3.13195034e-02 9.76251661e-01 9.98522474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.660385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:235.83, Y:186.59, Z:99.84 [[ 2.07885748e-01 -9.77416805e-01 -3.79460723e-02 2.35833181e+02] [ 9.55155839e-01 2.11207968e-01 -2.07529556e-01 1.86588081e+02] [ 2.10857389e-01 6.89802448e-03 9.77492496e-01 9.98361999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.690385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:235.85, Y:186.61, Z:99.85 [[ 2.11317845e-01 -9.75818378e-01 -5.58861512e-02 2.35851735e+02] [ 9.53680688e-01 2.18373039e-01 -2.06896983e-01 1.86610997e+02] [ 2.14097907e-01 -9.57651835e-03 9.76765262e-01 9.98539560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.85, Y:186.64, Z:99.85 [[ 2.09934737e-01 -9.76876490e-01 -4.04935772e-02 2.35850119e+02] [ 9.54532190e-01 2.13746587e-01 -2.07799651e-01 1.86639608e+02] [ 2.11649957e-01 4.97194220e-03 9.77332889e-01 9.98487520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:186.66, Z:99.86 [[ 2.11352478e-01 -9.76365945e-01 -4.51627249e-02 2.35862588e+02] [ 9.54199873e-01 2.16122993e-01 -2.06865788e-01 1.86664573e+02] [ 2.11737414e-01 6.27330519e-04 9.77326391e-01 9.98559523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.87, Y:186.69, Z:99.86 [[ 2.13277031e-01 -9.75868362e-01 -4.68385403e-02 2.35874212e+02] [ 9.53681089e-01 2.18358992e-01 -2.06909958e-01 1.86689388e+02] [ 2.12144498e-01 -5.39888573e-04 9.77238160e-01 9.98629959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.89, Y:186.71, Z:99.88 [[ 2.15445802e-01 -9.75044639e-01 -5.35822584e-02 2.35886877e+02] [ 9.52812869e-01 2.21915779e-01 -2.07125624e-01 1.86713699e+02] [ 2.13847478e-01 -6.42951920e-03 9.76845903e-01 9.98753377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:186.74, Z:99.88 [[ 2.16202721e-01 -9.75178775e-01 -4.77780289e-02 2.35891825e+02] [ 9.52650545e-01 2.21418486e-01 -2.08400558e-01 1.86740934e+02] [ 2.13806739e-01 -4.58997642e-04 9.76875871e-01 9.98784519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.870385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:235.90, Y:186.77, Z:99.88 [[ 2.17380337e-01 -9.74913263e-01 -4.78530994e-02 2.35900600e+02] [ 9.52248394e-01 2.22585065e-01 -2.08994941e-01 1.86767415e+02] [ 2.14403326e-01 -1.36646294e-04 9.76745205e-01 9.98828216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:186.80, Z:99.88 [[ 2.14507178e-01 -9.76068927e-01 -3.57228287e-02 2.35901738e+02] [ 9.53513223e-01 2.17195602e-01 -2.08898552e-01 1.86795052e+02] [ 2.11658226e-01 1.07480492e-02 9.77284644e-01 9.98772587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:186.82, Z:99.90 [[ 2.17122105e-01 -9.74466398e-01 -5.72121473e-02 2.35923772e+02] [ 9.52126473e-01 2.24337247e-01 -2.07672770e-01 1.86817289e+02] [ 2.15204952e-01 -9.38285091e-03 9.76523830e-01 9.98979697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.93, Y:186.84, Z:99.90 [[ 2.16020527e-01 -9.75212112e-01 -4.79214895e-02 2.35930018e+02] [ 9.52355006e-01 2.21271891e-01 -2.09901625e-01 1.86844205e+02] [ 2.15302286e-01 -2.95210806e-04 9.76547407e-01 9.99007537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.94, Y:186.87, Z:99.91 [[ 2.14886542e-01 -9.75469314e-01 -4.77848487e-02 2.35937274e+02] [ 9.52689850e-01 2.20134910e-01 -2.09577361e-01 1.86869545e+02] [ 2.14955398e-01 -4.88785931e-04 9.76623744e-01 9.99063967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.94, Y:186.90, Z:99.91 [[ 2.13928495e-01 -9.75680746e-01 -4.77669506e-02 2.35944548e+02] [ 9.52859549e-01 2.19195528e-01 -2.09790371e-01 1.86896138e+02] [ 2.15158727e-01 -6.35056598e-04 9.76578885e-01 9.99122527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.95, Y:186.92, Z:99.92 [[ 2.12712484e-01 -9.75954272e-01 -4.76094263e-02 2.35953110e+02] [ 9.53232541e-01 2.17973714e-01 -2.09368533e-01 1.86921301e+02] [ 2.14711718e-01 -8.47553766e-04 9.76677101e-01 9.99176410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:186.95, Z:99.92 [[ 2.12011209e-01 -9.76104789e-01 -4.76517319e-02 2.35961890e+02] [ 9.53301642e-01 2.17298243e-01 -2.09755697e-01 1.86947169e+02] [ 2.15098178e-01 -9.55915355e-04 9.76591962e-01 9.99239816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:186.97, Z:99.93 [[ 2.11342477e-01 -9.76250704e-01 -4.76331793e-02 2.35968555e+02] [ 9.53409958e-01 2.16641345e-01 -2.09942804e-01 1.86972780e+02] [ 2.15276126e-01 -1.04411529e-03 9.76552661e-01 9.99296720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.140385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:235.98, Y:187.00, Z:99.93 [[ 2.10442518e-01 -9.76441965e-01 -4.76973339e-02 2.35975632e+02] [ 9.53477405e-01 2.15776989e-01 -2.10525839e-01 1.86999448e+02] [ 2.15858251e-01 -1.17474266e-03 9.76424004e-01 9.99344785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:187.03, Z:99.94 [[ 2.09941368e-01 -9.76542568e-01 -4.78459526e-02 2.35981572e+02] [ 9.53374533e-01 2.15320972e-01 -2.11456566e-01 1.87025173e+02] [ 2.16798575e-01 -1.22163190e-03 9.76215594e-01 9.99400082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:187.05, Z:99.95 [[ 2.09667571e-01 -9.76598277e-01 -4.79094524e-02 2.35986860e+02] [ 9.53305049e-01 2.15068185e-01 -2.12026318e-01 1.87052269e+02] [ 2.17368336e-01 -1.21727966e-03 9.76088892e-01 9.99457454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:187.08, Z:99.95 [[ 2.09430949e-01 -9.76654430e-01 -4.77995939e-02 2.35990685e+02] [ 9.53409811e-01 2.14813068e-01 -2.11813782e-01 1.87077920e+02] [ 2.17136846e-01 -1.21224042e-03 9.76140421e-01 9.99510122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:187.11, Z:99.95 [[ 2.08063000e-01 -9.77247598e-01 -4.11936842e-02 2.35993366e+02] [ 9.53220616e-01 2.12028858e-01 -2.15439598e-01 1.87106862e+02] [ 2.19272080e-01 5.55834010e-03 9.75647918e-01 9.99540314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:187.13, Z:99.97 [[ 2.05428362e-01 -9.77132470e-01 -5.48755351e-02 2.36004931e+02] [ 9.54316467e-01 2.12432206e-01 -2.10125295e-01 1.87130004e+02] [ 2.16977579e-01 -9.20293167e-03 9.76133206e-01 9.99665932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.01, Y:187.16, Z:99.97 [[ 2.03354283e-01 -9.77948366e-01 -4.75818213e-02 2.36006529e+02] [ 9.54744122e-01 2.08833470e-01 -2.11783482e-01 1.87156507e+02] [ 2.17049987e-01 -2.36138595e-03 9.76157634e-01 9.99694187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:187.18, Z:99.97 [[ 1.99160466e-01 -9.78809896e-01 -4.76056241e-02 2.36011228e+02] [ 9.55552616e-01 2.04745393e-01 -2.12128552e-01 1.87183276e+02] [ 2.17380558e-01 -3.24205725e-03 9.76081545e-01 9.99745094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:187.21, Z:99.98 [[ 1.97296116e-01 -9.79181268e-01 -4.77314129e-02 2.36016656e+02] [ 9.55747615e-01 2.02955845e-01 -2.12968122e-01 1.87209238e+02] [ 2.18221765e-01 -3.60140063e-03 9.75892561e-01 9.99799714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:187.24, Z:99.99 [[ 1.95539582e-01 -9.79531985e-01 -4.77636059e-02 2.36022171e+02] [ 9.56010566e-01 2.01250144e-01 -2.13406133e-01 1.87235619e+02] [ 2.18650565e-01 -3.93316590e-03 9.75795296e-01 9.99853671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:187.26, Z:99.99 [[ 1.95287532e-01 -9.79581756e-01 -4.77740852e-02 2.36027432e+02] [ 9.55981871e-01 2.01007886e-01 -2.13762700e-01 1.87260641e+02] [ 2.19001009e-01 -3.92596929e-03 9.75716734e-01 9.99908271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.03, Y:187.29, Z:100.00 [[ 1.95205112e-01 -9.79609297e-01 -4.75456608e-02 2.36031786e+02] [ 9.56166534e-01 2.00874689e-01 -2.13060835e-01 1.87287661e+02] [ 2.18267095e-01 -3.87100561e-03 9.75881392e-01 9.99958425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.04, Y:187.31, Z:100.00 [[ 1.95291820e-01 -9.79597694e-01 -4.74285049e-02 2.36036201e+02] [ 9.56203891e-01 2.00932889e-01 -2.12838187e-01 1.87313668e+02] [ 2.18025744e-01 -3.78576400e-03 9.75935676e-01 1.00001159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.04, Y:187.34, Z:100.01 [[ 1.96125122e-01 -9.79442054e-01 -4.72038060e-02 2.36040621e+02] [ 9.56201010e-01 2.01694781e-01 -2.12129310e-01 1.87339158e+02] [ 2.17289129e-01 -3.53244018e-03 9.76100895e-01 1.00006475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:187.36, Z:100.01 [[ 1.96722251e-01 -9.79329252e-01 -4.70592475e-02 2.36046174e+02] [ 9.56159354e-01 2.02245188e-01 -2.11792760e-01 1.87364898e+02] [ 2.16932351e-01 -3.33179133e-03 9.76180954e-01 1.00012322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:187.39, Z:100.02 [[ 1.97889546e-01 -9.79109099e-01 -4.67450553e-02 2.36052284e+02] [ 9.56180332e-01 2.03313383e-01 -2.10672353e-01 1.87389334e+02] [ 2.15775113e-01 -3.00684611e-03 9.76438457e-01 1.00019288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:187.42, Z:100.03 [[ 1.98250509e-01 -9.79044834e-01 -4.65612351e-02 2.36058018e+02] [ 9.56228927e-01 2.03624725e-01 -2.10150446e-01 1.87415986e+02] [ 2.15227727e-01 -2.86076712e-03 9.76559697e-01 1.00025265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.05, Y:187.44, Z:100.02 [[ 1.91603150e-01 -9.80581815e-01 -4.18035520e-02 2.36050007e+02] [ 9.58426170e-01 1.96110122e-01 -2.07268174e-01 1.87438174e+02] [ 2.11441502e-01 -3.52383177e-04 9.77390591e-01 1.00020453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:187.47, Z:100.03 [[ 1.91926390e-01 -9.80586954e-01 -4.01682358e-02 2.36055887e+02] [ 9.58147735e-01 1.96078655e-01 -2.08581109e-01 1.87467859e+02] [ 2.12408048e-01 1.54511515e-03 9.77179837e-01 1.00026119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:187.49, Z:100.03 [[ 1.91964134e-01 -9.80557430e-01 -4.07050159e-02 2.36061988e+02] [ 9.58130277e-01 1.96229639e-01 -2.08519308e-01 1.87493998e+02] [ 2.12452687e-01 1.02752029e-03 9.77170814e-01 1.00032095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:187.52, Z:100.03 [[ 1.91096804e-01 -9.80905825e-01 -3.61354924e-02 2.36064824e+02] [ 9.58547411e-01 1.94414637e-01 -2.08302209e-01 1.87521403e+02] [ 2.11350119e-01 5.16830374e-03 9.77396755e-01 1.00032807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:187.55, Z:100.05 [[ 1.97941757e-01 -9.78964566e-01 -4.94716039e-02 2.36088698e+02] [ 9.55942059e-01 2.03956188e-01 -2.11131839e-01 1.87550485e+02] [ 2.16780629e-01 -5.50017960e-03 9.76204849e-01 1.00053834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:187.57, Z:100.07 [[ 1.92984505e-01 -9.79247768e-01 -6.18933737e-02 2.36093686e+02] [ 9.56797778e-01 2.01790812e-01 -2.09328643e-01 1.87569847e+02] [ 2.17474120e-01 -1.88222579e-02 9.75884588e-01 1.00065000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:187.61, Z:100.06 [[ 1.96469835e-01 -9.80138618e-01 -2.69794992e-02 2.36091717e+02] [ 9.56512400e-01 1.97639111e-01 -2.14529276e-01 1.87607822e+02] [ 2.15600632e-01 1.63423057e-02 9.76344866e-01 1.00056607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:187.63, Z:100.07 [[ 1.93734602e-01 -9.79973313e-01 -4.60348833e-02 2.36105695e+02] [ 9.57287358e-01 1.99099002e-01 -2.09667598e-01 1.87630802e+02] [ 2.14634150e-01 -3.44874315e-03 9.76688429e-01 1.00069386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:187.66, Z:100.07 [[ 1.92648352e-01 -9.80192699e-01 -4.59226061e-02 2.36111545e+02] [ 9.57557274e-01 1.98013038e-01 -2.09463370e-01 1.87656267e+02] [ 2.14407741e-01 -3.62075244e-03 9.76737534e-01 1.00074666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:187.68, Z:100.08 [[ 1.91634696e-01 -9.80391768e-01 -4.59143129e-02 2.36117607e+02] [ 9.57699470e-01 1.97022114e-01 -2.09747497e-01 1.87681947e+02] [ 2.14680855e-01 -3.77721527e-03 9.76676949e-01 1.00080752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:187.71, Z:100.09 [[ 1.90360542e-01 -9.80644360e-01 -4.58203373e-02 2.36123134e+02] [ 9.57986308e-01 1.95756756e-01 -2.09622343e-01 1.87706614e+02] [ 2.14534609e-01 -3.99143293e-03 9.76708232e-01 1.00086659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.13, Y:187.73, Z:100.09 [[ 1.89100343e-01 -9.80897109e-01 -4.56280901e-02 2.36127076e+02] [ 9.58369331e-01 1.94482025e-01 -2.09057332e-01 1.87731850e+02] [ 2.13937575e-01 -4.19574915e-03 9.76838323e-01 1.00091040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.010385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:236.13, Y:187.76, Z:100.10 [[ 1.88923033e-01 -9.80931581e-01 -4.56215093e-02 2.36131653e+02] [ 9.58360501e-01 1.94308249e-01 -2.09259299e-01 1.87757120e+02] [ 2.14133690e-01 -4.18795110e-03 9.76795385e-01 1.00096209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.14, Y:187.78, Z:100.10 [[ 1.88604490e-01 -9.80989767e-01 -4.56883388e-02 2.36135857e+02] [ 9.58302180e-01 1.94013707e-01 -2.09798982e-01 1.87783427e+02] [ 2.14674818e-01 -4.21420467e-03 9.76676488e-01 1.00101213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.14, Y:187.81, Z:100.11 [[ 1.88080876e-01 -9.81093926e-01 -4.56102151e-02 2.36140693e+02] [ 9.58423040e-01 1.93485148e-01 -2.09735007e-01 1.87810209e+02] [ 2.14594641e-01 -4.26673702e-03 9.76693880e-01 1.00106617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.14, Y:187.83, Z:100.11 [[ 1.84057716e-01 -9.81945994e-01 -4.36442612e-02 2.36139163e+02] [ 9.59530861e-01 1.89129532e-01 -2.08639753e-01 1.87834584e+02] [ 2.13127388e-01 -3.47625921e-03 9.77018235e-01 1.00108103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.14, Y:187.86, Z:100.11 [[ 1.83369079e-01 -9.82216914e-01 -4.03201653e-02 2.36142157e+02] [ 9.59847402e-01 1.87749042e-01 -2.08430472e-01 1.87862260e+02] [ 2.12294007e-01 -4.81502329e-04 9.77205722e-01 1.00111630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:187.89, Z:100.12 [[ 1.83328740e-01 -9.82160886e-01 -4.18397732e-02 2.36148343e+02] [ 9.59698984e-01 1.88033292e-01 -2.08857225e-01 1.87889645e+02] [ 2.12998667e-01 -1.86405590e-03 9.77050712e-01 1.00118753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:187.92, Z:100.12 [[ 1.82411386e-01 -9.82655443e-01 -3.33821145e-02 2.36148319e+02] [ 9.60170367e-01 1.85340770e-01 -2.09097264e-01 1.87917818e+02] [ 2.11657632e-01 6.08920471e-03 9.77324904e-01 1.00118393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.16, Y:187.94, Z:100.13 [[ 1.83949286e-01 -9.81586371e-01 -5.14864684e-02 2.36163876e+02] [ 9.59293358e-01 1.90697615e-01 -2.08304280e-01 1.87941594e+02] [ 2.14286989e-01 -1.10732036e-02 9.76707976e-01 1.00134879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.16, Y:187.97, Z:100.14 [[ 1.84822213e-01 -9.81920696e-01 -4.08961729e-02 2.36162972e+02] [ 9.59174070e-01 1.89292353e-01 -2.10127364e-01 1.87971609e+02] [ 2.14069740e-01 -3.90344248e-04 9.76818301e-01 1.00135021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.17, Y:188.00, Z:100.14 [[ 1.84531223e-01 -9.81950902e-01 -4.14807756e-02 2.36167692e+02] [ 9.59493644e-01 1.89131746e-01 -2.08808834e-01 1.87999185e+02] [ 2.12885355e-01 -1.26879087e-03 9.77076361e-01 1.00140188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.18, Y:188.03, Z:100.16 [[ 1.88679240e-01 -9.80695431e-01 -5.13480012e-02 2.36181159e+02] [ 9.58210648e-01 1.95297578e-01 -2.09024425e-01 1.88025368e+02] [ 2.15017439e-01 -9.76363192e-03 9.76561402e-01 1.00157093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:188.06, Z:100.15 [[ 1.85920873e-01 -9.82106382e-01 -3.00080495e-02 2.36173332e+02] [ 9.59774895e-01 1.88063428e-01 -2.08480932e-01 1.88056000e+02] [ 2.10393871e-01 9.95998443e-03 9.77565966e-01 1.00147765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.18, Y:188.08, Z:100.15 [[ 1.86591634e-01 -9.81744909e-01 -3.68848901e-02 2.36180904e+02] [ 9.59893075e-01 1.90178163e-01 -2.06003766e-01 1.88082648e+02] [ 2.09257849e-01 3.03302884e-03 9.77855794e-01 1.00154797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.20, Y:188.11, Z:100.18 [[ 1.90483912e-01 -9.80163890e-01 -5.47231956e-02 2.36195995e+02] [ 9.57879313e-01 1.97777631e-01 -2.08209583e-01 1.88105443e+02] [ 2.14902539e-01 -1.27576411e-02 9.76552170e-01 1.00175565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:188.14, Z:100.17 [[ 1.88624092e-01 -9.81415791e-01 -3.52703574e-02 2.36190699e+02] [ 9.59445265e-01 1.91824932e-01 -2.06562287e-01 1.88136579e+02] [ 2.09489224e-01 5.12264627e-03 9.77797537e-01 1.00167749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:188.16, Z:100.19 [[ 1.91638004e-01 -9.79591496e-01 -6.06248822e-02 2.36210744e+02] [ 9.57898407e-01 2.00134211e-01 -2.05856601e-01 1.88157371e+02] [ 2.13788488e-01 -1.86225299e-02 9.76702454e-01 1.00192575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:188.19, Z:100.19 [[ 1.91659105e-01 -9.80431501e-01 -4.49539799e-02 2.36207642e+02] [ 9.57939048e-01 1.96837069e-01 -2.08825163e-01 1.88185167e+02] [ 2.13587377e-01 -3.03992893e-03 9.76919235e-01 1.00192104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:188.21, Z:100.20 [[ 1.90941835e-01 -9.80571395e-01 -4.49550298e-02 2.36211739e+02] [ 9.58029356e-01 1.96137268e-01 -2.09069189e-01 1.88211422e+02] [ 2.13824623e-01 -3.14818374e-03 9.76866992e-01 1.00197687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:188.24, Z:100.19 [[ 1.87662791e-01 -9.81715076e-01 -3.19090292e-02 2.36207767e+02] [ 9.59253841e-01 1.90161540e-01 -2.08975254e-01 1.88241865e+02] [ 2.11222028e-01 8.60802062e-03 9.77400203e-01 1.00191296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.22, Y:188.27, Z:100.20 [[ 1.86301111e-01 -9.81467092e-01 -4.48803131e-02 2.36219916e+02] [ 9.59206172e-01 1.91582087e-01 -2.07893779e-01 1.88266987e+02] [ 2.12639167e-01 -4.31863129e-03 9.77121248e-01 1.00204204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:188.29, Z:100.22 [[ 1.87082220e-01 -9.80790846e-01 -5.52228143e-02 2.36231190e+02] [ 9.58237506e-01 1.94579954e-01 -2.09569856e-01 1.88291332e+02] [ 2.16289449e-01 -1.37097779e-02 9.76233024e-01 1.00220132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:188.32, Z:100.22 [[ 1.83591817e-01 -9.82076582e-01 -4.26571487e-02 2.36229068e+02] [ 9.59200502e-01 1.88469187e-01 -2.10745729e-01 1.88321168e+02] [ 2.15008003e-01 -2.22556725e-03 9.76609751e-01 1.00217473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.23, Y:188.35, Z:100.22 [[ 1.80593081e-01 -9.82908338e-01 -3.57398598e-02 2.36229381e+02] [ 9.60225521e-01 1.84060394e-01 -2.09973140e-01 1.88350344e+02] [ 2.12962643e-01 3.60137092e-03 9.77053705e-01 1.00218428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.24, Y:188.38, Z:100.23 [[ 1.79959120e-01 -9.82703908e-01 -4.36777236e-02 2.36237820e+02] [ 9.60237543e-01 1.85133037e-01 -2.08972772e-01 1.88376973e+02] [ 2.13444550e-01 -4.33443370e-03 9.76945565e-01 1.00227764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.24, Y:188.40, Z:100.23 [[ 1.79373867e-01 -9.82809644e-01 -4.37060676e-02 2.36241881e+02] [ 9.60104702e-01 1.84572166e-01 -2.10076361e-01 1.88404101e+02] [ 2.14531997e-01 -4.28019181e-03 9.76707583e-01 1.00233222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:188.43, Z:100.24 [[ 1.79415814e-01 -9.82751931e-01 -4.48174850e-02 2.36248147e+02] [ 9.60024071e-01 1.84852411e-01 -2.10198404e-01 1.88430555e+02] [ 2.14857507e-01 -5.31294667e-03 9.76630956e-01 1.00240647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:188.46, Z:100.25 [[ 1.79706659e-01 -9.82734160e-01 -4.40350807e-02 2.36252060e+02] [ 9.60189567e-01 1.84964426e-01 -2.09342201e-01 1.88455999e+02] [ 2.13872655e-01 -4.66183744e-03 9.76850426e-01 1.00247360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:188.48, Z:100.25 [[ 1.80301302e-01 -9.82634597e-01 -4.38256679e-02 2.36257749e+02] [ 9.59895470e-01 1.85504414e-01 -2.10211322e-01 1.88484837e+02] [ 2.14690772e-01 -4.16668501e-03 9.76673185e-01 1.00254778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:188.51, Z:100.27 [[ 1.83318932e-01 -9.81574810e-01 -5.38986149e-02 2.36267087e+02] [ 9.58813013e-01 1.90630153e-01 -2.10565314e-01 1.88509736e+02] [ 2.16960310e-01 -1.30780848e-02 9.76092817e-01 1.00269414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:188.54, Z:100.27 [[ 1.82999180e-01 -9.82077264e-01 -4.51170354e-02 2.36267149e+02] [ 9.58923416e-01 1.88425984e-01 -2.12041342e-01 1.88538612e+02] [ 2.16742203e-01 -4.46039007e-03 9.76218686e-01 1.00271593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:188.57, Z:100.28 [[ 1.82391128e-01 -9.82192762e-01 -4.50649983e-02 2.36270456e+02] [ 9.59032711e-01 1.87821183e-01 -2.12083622e-01 1.88565714e+02] [ 2.16771160e-01 -4.53663636e-03 9.76211905e-01 1.00277379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:236.27, Y:188.59, Z:100.28 [[ 1.82796204e-01 -9.82212553e-01 -4.29423882e-02 2.36273547e+02] [ 9.58831621e-01 1.87759222e-01 -2.13045528e-01 1.88591509e+02] [ 2.17318821e-01 -2.23060589e-03 9.76098127e-01 1.00282095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:188.62, Z:100.29 [[ 1.81286708e-01 -9.82337227e-01 -4.63540904e-02 2.36278906e+02] [ 9.59254023e-01 1.87020639e-01 -2.11789990e-01 1.88617659e+02] [ 2.16718363e-01 -6.07063762e-03 9.76215293e-01 1.00289693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.27, Y:188.65, Z:100.28 [[ 1.77334589e-01 -9.83537848e-01 -3.47238337e-02 2.36273514e+02] [ 9.60681010e-01 1.80657271e-01 -2.10843419e-01 1.88645709e+02] [ 2.13645596e-01 4.03130340e-03 9.76902916e-01 1.00284487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:188.67, Z:100.30 [[ 1.80784340e-01 -9.82124008e-01 -5.24352397e-02 2.36287735e+02] [ 9.59176322e-01 1.87847346e-01 -2.11409929e-01 1.88670975e+02] [ 2.17480587e-01 -1.20750359e-02 9.75989953e-01 1.00302798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:188.70, Z:100.31 [[ 1.80545073e-01 -9.82530011e-01 -4.51470191e-02 2.36288171e+02] [ 9.59068026e-01 1.86043449e-01 -2.13486197e-01 1.88699892e+02] [ 2.18155903e-01 -4.75518136e-03 9.75902347e-01 1.00305997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:188.73, Z:100.31 [[ 1.77176027e-01 -9.83135075e-01 -4.53219676e-02 2.36288232e+02] [ 9.59438875e-01 1.82799433e-01 -2.14619228e-01 1.88728102e+02] [ 2.19284520e-01 -5.45827555e-03 9.75645687e-01 1.00311329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.29, Y:188.75, Z:100.32 [[ 1.79413213e-01 -9.82838123e-01 -4.28966512e-02 2.36293368e+02] [ 9.58945575e-01 1.84453328e-01 -2.15407415e-01 1.88753754e+02] [ 2.19623049e-01 -2.48861758e-03 9.75581633e-01 1.00316856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.30, Y:188.78, Z:100.32 [[ 1.77679584e-01 -9.82957878e-01 -4.71569268e-02 2.36299196e+02] [ 9.59563710e-01 1.83683907e-01 -2.13301919e-01 1.88780177e+02] [ 2.18328771e-01 -7.35067929e-03 9.75847588e-01 1.00324850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.30, Y:188.81, Z:100.33 [[ 1.75317560e-01 -9.83491582e-01 -4.48114062e-02 2.36298741e+02] [ 9.60114626e-01 1.80865941e-01 -2.13230898e-01 1.88808369e+02] [ 2.17815650e-01 -5.64096567e-03 9.75973628e-01 1.00330313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.30, Y:188.84, Z:100.34 [[ 1.73893839e-01 -9.83747993e-01 -4.47305229e-02 2.36301671e+02] [ 9.60398403e-01 1.79457896e-01 -2.13142608e-01 1.88835425e+02] [ 2.17705858e-01 -5.89493657e-03 9.75996624e-01 1.00335979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.30, Y:188.86, Z:100.34 [[ 1.71546206e-01 -9.84155681e-01 -4.48273850e-02 2.36303406e+02] [ 9.60473795e-01 1.77197139e-01 -2.14688759e-01 1.88864122e+02] [ 2.19230446e-01 -6.22648657e-03 9.75653239e-01 1.00341885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:188.89, Z:100.35 [[ 1.71713784e-01 -9.84089309e-01 -4.56356027e-02 2.36307042e+02] [ 9.60422778e-01 1.77537605e-01 -2.14635707e-01 1.88889959e+02] [ 2.19322741e-01 -6.97356273e-03 9.75627442e-01 1.00347844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.300385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:236.31, Y:188.92, Z:100.35 [[ 1.71672713e-01 -9.84129344e-01 -4.49211932e-02 2.36307275e+02] [ 9.60425849e-01 1.77341786e-01 -2.14783799e-01 1.88917707e+02] [ 2.19341444e-01 -6.27095754e-03 9.75628006e-01 1.00353198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.330385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.31, Y:188.95, Z:100.36 [[ 1.71779091e-01 -9.84117815e-01 -4.47668470e-02 2.36309958e+02] [ 9.60512319e-01 1.77408954e-01 -2.14341197e-01 1.88945588e+02] [ 2.18879030e-01 -6.17977213e-03 9.75732433e-01 1.00358870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.360385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:236.31, Y:188.97, Z:100.36 [[ 1.72531715e-01 -9.83994169e-01 -4.45901616e-02 2.36310567e+02] [ 9.60507038e-01 1.78101512e-01 -2.13789805e-01 1.88973800e+02] [ 2.18309497e-01 -5.94364217e-03 9.75861484e-01 1.00364780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.31, Y:189.00, Z:100.37 [[ 1.73213819e-01 -9.83874228e-01 -4.45923447e-02 2.36314373e+02] [ 9.60312431e-01 1.78769677e-01 -2.14106134e-01 1.89000867e+02] [ 2.18625267e-01 -5.73644184e-03 9.75792030e-01 1.00370913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:189.03, Z:100.38 [[ 1.73572071e-01 -9.83795374e-01 -4.49377221e-02 2.36318446e+02] [ 9.60098899e-01 1.79198528e-01 -2.14704431e-01 1.89027447e+02] [ 2.19278000e-01 -5.87796470e-03 9.75644714e-01 1.00377049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.450385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.32, Y:189.06, Z:100.38 [[ 1.75238376e-01 -9.83506539e-01 -4.47928574e-02 2.36319790e+02] [ 9.59612909e-01 1.80797414e-01 -2.15535054e-01 1.89055083e+02] [ 2.20078567e-01 -5.21379149e-03 9.75468216e-01 1.00382544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.480385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.32, Y:189.08, Z:100.39 [[ 1.76682237e-01 -9.83245388e-01 -4.48541480e-02 2.36319575e+02] [ 9.59167870e-01 1.82223572e-01 -2.16313584e-01 1.89082411e+02] [ 2.20862817e-01 -4.80388975e-03 9.75293053e-01 1.00387820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:189.11, Z:100.39 [[ 1.76907066e-01 -9.83206847e-01 -4.48127906e-02 2.36321988e+02] [ 9.59098223e-01 1.82434391e-01 -2.16444664e-01 1.89109885e+02] [ 2.20985270e-01 -4.68927731e-03 9.75265872e-01 1.00393366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:189.13, Z:100.42 [[ 1.75057707e-01 -9.81754930e-01 -7.42432252e-02 2.36335368e+02] [ 9.58097971e-01 1.87232717e-01 -2.16776817e-01 1.89128609e+02] [ 2.26722469e-01 -3.31838311e-02 9.73393936e-01 1.00415583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:189.17, Z:100.40 [[ 1.77267718e-01 -9.84046876e-01 -1.50964209e-02 2.36313138e+02] [ 9.58916307e-01 1.76152125e-01 -2.22373437e-01 1.89168870e+02] [ 2.21485153e-01 2.49434276e-02 9.74844681e-01 1.00396331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.33, Y:189.19, Z:100.41 [[ 1.76835887e-01 -9.83226591e-01 -4.46602752e-02 2.36332669e+02] [ 9.59134884e-01 1.82330895e-01 -2.16369404e-01 1.89191348e+02] [ 2.20883099e-01 -4.57335242e-03 9.75289568e-01 1.00411304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:189.22, Z:100.42 [[ 1.75043767e-01 -9.83549573e-01 -4.46084882e-02 2.36336512e+02] [ 9.59479742e-01 1.80570962e-01 -2.16316323e-01 1.89218506e+02] [ 2.20812825e-01 -4.93611667e-03 9.75303712e-01 1.00418328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:189.25, Z:100.42 [[ 1.73490935e-01 -9.83827560e-01 -4.45446650e-02 2.36339847e+02] [ 9.59765241e-01 1.79042047e-01 -2.16320661e-01 1.89245219e+02] [ 2.20797596e-01 -5.22274731e-03 9.75305667e-01 1.00423986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:189.27, Z:100.43 [[ 1.71929960e-01 -9.84102465e-01 -4.45244675e-02 2.36343064e+02] [ 9.59996340e-01 1.77516093e-01 -2.16552681e-01 1.89272944e+02] [ 2.21013836e-01 -5.51143218e-03 9.75255099e-01 1.00429522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:189.30, Z:100.44 [[ 1.69584869e-01 -9.84508590e-01 -4.45399692e-02 2.36346165e+02] [ 9.60328625e-01 1.75234221e-01 -2.16937548e-01 1.89299549e+02] [ 2.21381807e-01 -5.98368156e-03 9.75168853e-01 1.00435363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:189.33, Z:100.44 [[ 1.68082748e-01 -9.84768270e-01 -4.44931917e-02 2.36351337e+02] [ 9.60574660e-01 1.73759248e-01 -2.17034667e-01 1.89325949e+02] [ 2.21459957e-01 -6.25924918e-03 9.75149378e-01 1.00441985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:189.35, Z:100.45 [[ 1.66970969e-01 -9.84966410e-01 -4.42929564e-02 2.36355460e+02] [ 9.60929067e-01 1.72626072e-01 -2.16369054e-01 1.89351953e+02] [ 2.20762369e-01 -6.43503879e-03 9.75306396e-01 1.00448625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:189.38, Z:100.46 [[ 1.67246634e-01 -9.84923161e-01 -4.42145960e-02 2.36359282e+02] [ 9.60896298e-01 1.72877350e-01 -2.16313953e-01 1.89379027e+02] [ 2.20696325e-01 -6.30786096e-03 9.75322174e-01 1.00455096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:189.41, Z:100.46 [[ 1.69736078e-01 -9.84499797e-01 -4.41566874e-02 2.36361752e+02] [ 9.60451721e-01 1.75293424e-01 -2.16343956e-01 1.89405947e+02] [ 2.20730958e-01 -5.68899190e-03 9.75318143e-01 1.00460974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:189.43, Z:100.50 [[ 1.72472835e-01 -9.81344801e-01 -8.49441132e-02 2.36386126e+02] [ 9.56077261e-01 1.87531464e-01 -2.25273660e-01 1.89425158e+02] [ 2.37000829e-01 -4.23595483e-02 9.70585532e-01 1.00500297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.900385723 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:236.37, Y:189.46, Z:100.49 [[ 1.76318706e-01 -9.83446182e-01 -4.17770474e-02 2.36370214e+02] [ 9.57322747e-01 1.81200225e-01 -2.25165796e-01 1.89460219e+02] [ 2.29008453e-01 -2.93176098e-04 9.73424390e-01 1.00487244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.37, Y:189.49, Z:100.48 [[ 1.76692019e-01 -9.83999724e-01 -2.29014059e-02 2.36365527e+02] [ 9.58032725e-01 1.77272206e-01 -2.25272864e-01 1.89490191e+02] [ 2.25728219e-01 1.78636210e-02 9.74026520e-01 1.00482951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:189.51, Z:100.50 [[ 1.79044538e-01 -9.82813156e-01 -4.49594650e-02 2.36379559e+02] [ 9.57760253e-01 1.84568426e-01 -2.20521642e-01 1.89512499e+02] [ 2.25029668e-01 -3.57719305e-03 9.74345345e-01 1.00495516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:189.54, Z:100.50 [[ 1.79716780e-01 -9.82690258e-01 -4.49637092e-02 2.36384396e+02] [ 9.57572630e-01 1.85225406e-01 -2.20785432e-01 1.89538245e+02] [ 2.25292115e-01 -3.37717026e-03 9.74285409e-01 1.00501339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:189.57, Z:100.49 [[ 1.77985177e-01 -9.83846564e-01 -1.91628516e-02 2.36375393e+02] [ 9.59004752e-01 1.77789448e-01 -2.20682574e-01 1.89568942e+02] [ 2.20524745e-01 2.09009612e-02 9.75157416e-01 1.00492847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:189.59, Z:100.52 [[ 1.80016581e-01 -9.81933410e-01 -5.83164567e-02 2.36402052e+02] [ 9.57306200e-01 1.88516833e-01 -2.19148904e-01 1.89590300e+02] [ 2.26183265e-01 -1.63762691e-02 9.73947097e-01 1.00516530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:189.62, Z:100.50 [[ 1.78820240e-01 -9.83671531e-01 -2.03381633e-02 2.36389699e+02] [ 9.58783339e-01 1.78860627e-01 -2.20779041e-01 1.89624116e+02] [ 2.20811753e-01 1.99798689e-02 9.75111775e-01 1.00504947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:189.65, Z:100.52 [[ 1.78912404e-01 -9.82933637e-01 -4.27997250e-02 2.36407480e+02] [ 9.58763108e-01 1.83946449e-01 -2.16649500e-01 1.89645698e+02] [ 2.20824939e-01 -2.27351436e-03 9.75310811e-01 1.00519155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:189.68, Z:100.52 [[ 1.77790111e-01 -9.83297645e-01 -3.89412006e-02 2.36411994e+02] [ 9.59100638e-01 1.82000852e-01 -2.16798656e-01 1.89675675e+02] [ 2.20264939e-01 1.19612671e-03 9.75439350e-01 1.00523161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:189.69, Z:100.55 [[ 1.78577204e-01 -9.80931710e-01 -7.67017813e-02 2.36435959e+02] [ 9.57310567e-01 1.91226780e-01 -2.16768993e-01 1.89693506e+02] [ 2.27303013e-01 -3.47174251e-02 9.73205035e-01 1.00549670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:189.72, Z:100.55 [[ 1.77775776e-01 -9.83031268e-01 -4.52249953e-02 2.36429447e+02] [ 9.57384793e-01 1.83402071e-01 -2.23109924e-01 1.89724927e+02] [ 2.27618389e-01 -3.63418288e-03 9.73743632e-01 1.00546633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.230385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:236.44, Y:189.75, Z:100.55 [[ 1.76433111e-01 -9.83267629e-01 -4.53445401e-02 2.36435737e+02] [ 9.57413696e-01 1.82125396e-01 -2.24029807e-01 1.89750751e+02] [ 2.28539649e-01 -3.88720792e-03 9.73526845e-01 1.00552051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:189.78, Z:100.56 [[ 1.75356798e-01 -9.83490600e-01 -4.46792166e-02 2.36442376e+02] [ 9.58328784e-01 1.80913902e-01 -2.21079403e-01 1.89777575e+02] [ 2.25512606e-01 -4.04960316e-03 9.74231834e-01 1.00559189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:189.81, Z:100.54 [[ 1.71643565e-01 -9.85124336e-01 -8.27826422e-03 2.36428873e+02] [ 9.60873583e-01 1.69260684e-01 -2.19255055e-01 1.89812566e+02] [ 2.17394676e-01 2.96793540e-02 9.75632457e-01 1.00541662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:189.83, Z:100.56 [[ 1.71927490e-01 -9.83910999e-01 -4.85807050e-02 2.36454056e+02] [ 9.60718900e-01 1.78372503e-01 -2.12608665e-01 1.89832769e+02] [ 2.17853466e-01 -1.01191274e-02 9.75929029e-01 1.00560402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:189.86, Z:100.56 [[ 1.72395638e-01 -9.84350699e-01 -3.65163788e-02 2.36454925e+02] [ 9.59995213e-01 1.76203401e-01 -2.17627097e-01 1.89864283e+02] [ 2.20655695e-01 2.46241352e-03 9.75348656e-01 1.00563551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:189.88, Z:100.59 [[ 1.73544491e-01 -9.81795686e-01 -7.71980620e-02 2.36480139e+02] [ 9.58223382e-01 1.86433417e-01 -2.16911342e-01 1.89881138e+02] [ 2.27354918e-01 -3.63292196e-02 9.73134076e-01 1.00593424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.46, Y:189.92, Z:100.57 [[ 1.72626900e-01 -9.84881581e-01 -1.44300215e-02 2.36460073e+02] [ 9.59716488e-01 1.71477114e-01 -2.22575520e-01 1.89921426e+02] [ 2.21684948e-01 2.45737923e-02 9.74808654e-01 1.00572227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.440385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.49, Y:189.93, Z:100.61 [[ 1.73791712e-01 -9.82022751e-01 -7.36733184e-02 2.36492470e+02] [ 9.58239723e-01 1.85885700e-01 -2.17308857e-01 1.89934581e+02] [ 2.27097058e-01 -3.28302220e-02 9.73318603e-01 1.00606246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:189.97, Z:100.60 [[ 1.75019719e-01 -9.83550074e-01 -4.46917328e-02 2.36483098e+02] [ 9.57918369e-01 1.80596498e-01 -2.23108277e-01 1.89966456e+02] [ 2.27509332e-01 -3.76268396e-03 9.73768631e-01 1.00602190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:189.99, Z:100.61 [[ 1.75574410e-01 -9.83460766e-01 -4.44808724e-02 2.36489532e+02] [ 9.57994813e-01 1.81086144e-01 -2.22381983e-01 1.89993019e+02] [ 2.26758825e-01 -3.56785956e-03 9.73944406e-01 1.00607595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.530385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:236.50, Y:190.02, Z:100.61 [[ 1.75543981e-01 -9.83471639e-01 -4.43604200e-02 2.36496551e+02] [ 9.58068971e-01 1.81028212e-01 -2.22109509e-01 1.90018815e+02] [ 2.26468891e-01 -3.51035435e-03 9.74012073e-01 1.00613364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:190.05, Z:100.62 [[ 1.75408700e-01 -9.83495985e-01 -4.43557863e-02 2.36503864e+02] [ 9.58018437e-01 1.80896546e-01 -2.22434516e-01 1.90045115e+02] [ 2.26787262e-01 -3.47671171e-03 9.73938114e-01 1.00620321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.51, Y:190.07, Z:100.63 [[ 1.74376077e-01 -9.83697943e-01 -4.39470181e-02 2.36511471e+02] [ 9.58626498e-01 1.79791776e-01 -2.20703771e-01 1.90070381e+02] [ 2.25007158e-01 -3.64331829e-03 9.74350299e-01 1.00626618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.620385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:236.51, Y:190.10, Z:100.63 [[ 1.73147945e-01 -9.84269507e-01 -3.51187566e-02 2.36512407e+02] [ 9.58377342e-01 1.76597400e-01 -2.24335079e-01 1.90098048e+02] [ 2.27008059e-01 5.18613728e-03 9.73879071e-01 1.00629411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.650385723 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:236.53, Y:190.12, Z:100.64 [[ 1.72697099e-01 -9.83551673e-01 -5.29322019e-02 2.36525115e+02] [ 9.58916195e-01 1.80164781e-01 -2.19135533e-01 1.90120195e+02] [ 2.25067639e-01 -1.29134747e-02 9.74257564e-01 1.00638844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.680385723 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:236.53, Y:190.15, Z:100.64 [[ 1.72632224e-01 -9.84016775e-01 -4.36932781e-02 2.36526501e+02] [ 9.59000172e-01 1.78034478e-01 -2.20504866e-01 1.90148473e+02] [ 2.24759397e-01 -3.83561578e-03 9.74406743e-01 1.00641137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.710385723 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:236.53, Y:190.17, Z:100.65 [[ 1.72144909e-01 -9.84110504e-01 -4.35045533e-02 2.36533789e+02] [ 9.59242895e-01 1.77514627e-01 -2.19867290e-01 1.90173131e+02] [ 2.24096404e-01 -3.88239898e-03 9.74559248e-01 1.00647464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.740385723 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:236.54, Y:190.20, Z:100.65 [[ 1.71532250e-01 -9.84223351e-01 -4.33714553e-02 2.36540259e+02] [ 9.59428365e-01 1.76886398e-01 -2.19564149e-01 1.90199265e+02] [ 2.23771983e-01 -3.94947200e-03 9.74633522e-01 1.00654087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.770385723 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:236.55, Y:190.23, Z:100.66 [[ 1.70211793e-01 -9.84458587e-01 -4.32346608e-02 2.36546245e+02] [ 9.59757148e-01 1.75566971e-01 -2.19185891e-01 1.90225796e+02] [ 2.23370011e-01 -4.18675140e-03 9.74724735e-01 1.00660522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.800385723 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:236.55, Y:190.25, Z:100.67 [[ 1.67740646e-01 -9.84887782e-01 -4.31176486e-02 2.36551200e+02] [ 9.60262881e-01 1.73130335e-01 -2.18908857e-01 1.90253205e+02] [ 2.23065631e-01 -4.68436433e-03 9.74792173e-01 1.00665399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.830385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:236.56, Y:190.28, Z:100.67 [[ 1.66224639e-01 -9.85136916e-01 -4.32969459e-02 2.36556199e+02] [ 9.60238437e-01 1.71698658e-01 -2.20140217e-01 1.90280656e+02] [ 2.24302282e-01 -4.98266359e-03 9.74506880e-01 1.00670507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.860385723 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:236.56, Y:190.31, Z:100.68 [[ 1.65752127e-01 -9.85213484e-01 -4.33661470e-02 2.36561851e+02] [ 9.60159887e-01 1.71257198e-01 -2.20825642e-01 1.90307119e+02] [ 2.24987165e-01 -5.03611508e-03 9.74348712e-01 1.00676332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.890385723 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:236.57, Y:190.33, Z:100.68 [[ 1.65229157e-01 -9.85300009e-01 -4.33960537e-02 2.36568751e+02] [ 9.60137520e-01 1.70756812e-01 -2.21309860e-01 1.90333190e+02] [ 2.25466779e-01 -5.09933774e-03 9.74237511e-01 1.00682704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.920385723 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:236.57, Y:190.36, Z:100.69 [[ 1.65308772e-01 -9.85568111e-01 -3.64487058e-02 2.36571768e+02] [ 9.59696057e-01 1.69266234e-01 -2.24348882e-01 1.90360868e+02] [ 2.27280639e-01 2.10715892e-03 9.73827023e-01 1.00686189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.950385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:236.58, Y:190.39, Z:100.70 [[ 1.65675184e-01 -9.84898964e-01 -5.02569750e-02 2.36584161e+02] [ 9.60036935e-01 1.72729901e-01 -2.20212315e-01 1.90385300e+02] [ 2.25567764e-01 -1.17648363e-02 9.74156442e-01 1.00697829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.980385723 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:236.59, Y:190.41, Z:100.70 [[ 1.67723185e-01 -9.84880397e-01 -4.33536189e-02 2.36586126e+02] [ 9.59524373e-01 1.73181057e-01 -2.22083993e-01 1.90413112e+02] [ 2.26234197e-01 -4.35021940e-03 9.74063224e-01 1.00701764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.010385723 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:236.59, Y:190.44, Z:100.71 [[ 1.70277053e-01 -9.84435528e-01 -4.35019233e-02 2.36592068e+02] [ 9.58809570e-01 1.75707004e-01 -2.23184359e-01 1.90439674e+02] [ 2.27354205e-01 -3.70688540e-03 9.73805075e-01 1.00706664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.040385723 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:236.60, Y:190.47, Z:100.71 [[ 1.71616785e-01 -9.84202455e-01 -4.35109904e-02 2.36598400e+02] [ 9.58479594e-01 1.77015240e-01 -2.23567600e-01 1.90465277e+02] [ 2.27737889e-01 -3.33644366e-03 9.73716757e-01 1.00713259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.070385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:236.60, Y:190.49, Z:100.72 [[ 1.72295126e-01 -9.84086486e-01 -4.34531756e-02 2.36604952e+02] [ 9.58370786e-01 1.77662531e-01 -2.23520608e-01 1.90491483e+02] [ 2.27683611e-01 -3.13274274e-03 9.73730127e-01 1.00719476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.100385723 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:236.61, Y:190.52, Z:100.72 [[ 1.73383177e-01 -9.84138990e-01 -3.75329588e-02 2.36609988e+02] [ 9.57656347e-01 1.77366949e-01 -2.26793490e-01 1.90516827e+02] [ 2.29853422e-01 3.37849948e-03 9.73219395e-01 1.00723568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.130385723 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:236.63, Y:190.54, Z:100.74 [[ 1.73299357e-01 -9.82937232e-01 -6.16581774e-02 2.36628582e+02] [ 9.57390275e-01 1.82819092e-01 -2.23564401e-01 1.90539711e+02] [ 2.31022065e-01 -2.02873726e-02 9.72736978e-01 1.00742867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.160385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:236.62, Y:190.57, Z:100.74 [[ 1.73882682e-01 -9.84269955e-01 -3.12645050e-02 2.36622356e+02] [ 9.58218189e-01 1.76431838e-01 -2.25143750e-01 1.90570493e+02] [ 2.27118283e-01 9.19038176e-03 9.73823815e-01 1.00735282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.190385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:236.63, Y:190.59, Z:100.75 [[ 1.74101231e-01 -9.83785380e-01 -4.30707168e-02 2.36634718e+02] [ 9.58326100e-01 1.79331461e-01 -2.22376512e-01 1.90594722e+02] [ 2.26494696e-01 -2.55976750e-03 9.74009035e-01 1.00745264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.220385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:236.64, Y:190.62, Z:100.75 [[ 1.74316740e-01 -9.83753531e-01 -4.29262810e-02 2.36641517e+02] [ 9.58389231e-01 1.79507650e-01 -2.21961903e-01 1.90621330e+02] [ 2.26061401e-01 -2.44841025e-03 9.74109978e-01 1.00751935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.250385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:236.65, Y:190.65, Z:100.76 [[ 1.74355969e-01 -9.83756141e-01 -4.27065712e-02 2.36648723e+02] [ 9.58577433e-01 1.79494301e-01 -2.21158541e-01 1.90646450e+02] [ 2.25231659e-01 -2.37724362e-03 9.74302339e-01 1.00757564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.280385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:236.66, Y:190.67, Z:100.76 [[ 1.74335945e-01 -9.83762283e-01 -4.26467912e-02 2.36655139e+02] [ 9.58573846e-01 1.79461424e-01 -2.21200769e-01 1.90672819e+02] [ 2.25262427e-01 -2.31685366e-03 9.74295372e-01 1.00763785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.310385723 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:236.66, Y:190.70, Z:100.77 [[ 1.74240781e-01 -9.83846279e-01 -4.10688467e-02 2.36661055e+02] [ 9.58633300e-01 1.79013532e-01 -2.21306013e-01 1.90698954e+02] [ 2.25082976e-01 -8.09431558e-04 9.74339263e-01 1.00768902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.340385723 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:236.67, Y:190.73, Z:100.78 [[ 1.72318221e-01 -9.84099482e-01 -4.30655317e-02 2.36668693e+02] [ 9.59069863e-01 1.77587572e-01 -2.20562128e-01 1.90726909e+02] [ 2.24702979e-01 -3.29598013e-03 9.74421730e-01 1.00775509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.370385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.68, Y:190.75, Z:100.78 [[ 1.70830693e-01 -9.84398429e-01 -4.21498174e-02 2.36676153e+02] [ 9.59666803e-01 1.75928408e-01 -2.19291638e-01 1.90753228e+02] [ 2.23285694e-01 -2.98803795e-03 9.74748465e-01 1.00782261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.400385723 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:236.68, Y:190.78, Z:100.79 [[ 1.69515709e-01 -9.84620462e-01 -4.22725701e-02 2.36682690e+02] [ 9.59672431e-01 1.74677178e-01 -2.20265086e-01 1.90779595e+02] [ 2.24261564e-01 -3.22942798e-03 9.74523638e-01 1.00787702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.430385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:236.69, Y:190.81, Z:100.79 [[ 1.67337395e-01 -9.85010131e-01 -4.18716747e-02 2.36689365e+02] [ 9.60474970e-01 1.72457832e-01 -2.18508876e-01 1.90805006e+02] [ 2.22454555e-01 -3.65198938e-03 9.74936221e-01 1.00793018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.460385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:236.70, Y:190.83, Z:100.80 [[ 1.66157563e-01 -9.85217005e-01 -4.17027314e-02 2.36695264e+02] [ 9.60808231e-01 1.71267730e-01 -2.17979146e-01 1.90831870e+02] [ 2.21899094e-01 -3.84944395e-03 9.75062036e-01 1.00798581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.490385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.70, Y:190.86, Z:100.80 [[ 1.64088042e-01 -9.85570759e-01 -4.15378643e-02 2.36702215e+02] [ 9.61293765e-01 1.69210569e-01 -2.17444433e-01 1.90857413e+02] [ 2.21335521e-01 -4.25005875e-03 9.75188456e-01 1.00803465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.520385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.71, Y:190.88, Z:100.81 [[ 1.63839371e-01 -9.85613990e-01 -4.14936529e-02 2.36707350e+02] [ 9.61336232e-01 1.68958272e-01 -2.17452870e-01 1.90884809e+02] [ 2.21335287e-01 -4.26201066e-03 9.75188457e-01 1.00809754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.550385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:236.71, Y:190.91, Z:100.82 [[ 1.62867009e-01 -9.85775034e-01 -4.14960121e-02 2.36714241e+02] [ 9.61429919e-01 1.68011837e-01 -2.17771748e-01 1.90911195e+02] [ 2.21645773e-01 -4.42767437e-03 9.75117197e-01 1.00815809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.72, Y:190.94, Z:100.82 [[ 1.61637163e-01 -9.85969939e-01 -4.16738221e-02 2.36722825e+02] [ 9.61342237e-01 1.66857988e-01 -2.19042267e-01 1.90937035e+02] [ 2.22922701e-01 -4.65743467e-03 9.74824999e-01 1.00822003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.610385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:236.73, Y:190.96, Z:100.83 [[ 1.61161434e-01 -9.86049180e-01 -4.16414088e-02 2.36728866e+02] [ 9.61385852e-01 1.66387719e-01 -2.19208508e-01 1.90963563e+02] [ 2.23078989e-01 -4.70550373e-03 9.74789015e-01 1.00827843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.73, Y:190.99, Z:100.83 [[ 1.61421155e-01 -9.86016885e-01 -4.13994283e-02 2.36734225e+02] [ 9.61565335e-01 1.66582635e-01 -2.18271234e-01 1.90989224e+02] [ 2.22115548e-01 -4.57466043e-03 9.75009618e-01 1.00832568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.74, Y:191.01, Z:100.85 [[ 1.60175601e-01 -9.85484635e-01 -5.62477589e-02 2.36744593e+02] [ 9.61299966e-01 1.68677706e-01 -2.17830682e-01 1.91011950e+02] [ 2.24156534e-01 -1.91798084e-02 9.74364400e-01 1.00846499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.700385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:236.74, Y:191.05, Z:100.84 [[ 1.60602828e-01 -9.86662448e-01 -2.65319809e-02 2.36737128e+02] [ 9.61166238e-01 1.62451730e-01 -2.23089441e-01 1.91045600e+02] [ 2.24424141e-01 1.03271511e-02 9.74436840e-01 1.00841117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:191.07, Z:100.85 [[ 1.63109658e-01 -9.85741896e-01 -4.13298234e-02 2.36753442e+02] [ 9.61078568e-01 1.68217480e-01 -2.19159454e-01 1.91068787e+02] [ 2.22987055e-01 -3.97418385e-03 9.74813305e-01 1.00850953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.76, Y:191.10, Z:100.86 [[ 1.60572684e-01 -9.86147348e-01 -4.15911067e-02 2.36757900e+02] [ 9.61115775e-01 1.65810185e-01 -2.20824477e-01 1.91095674e+02] [ 2.24661701e-01 -4.51548973e-03 9.74426360e-01 1.00857724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:191.12, Z:100.87 [[ 1.61640280e-01 -9.84984112e-01 -6.06524469e-02 2.36773849e+02] [ 9.60412559e-01 1.71143408e-01 -2.19812764e-01 1.91117466e+02] [ 2.26892346e-01 -2.27207749e-02 9.73654780e-01 1.00874385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:236.76, Y:191.15, Z:100.86 [[ 1.61485013e-01 -9.86618611e-01 -2.25012521e-02 2.36762607e+02] [ 9.61229660e-01 1.62411774e-01 -2.22845142e-01 1.91151872e+02] [ 2.23517632e-01 1.43572797e-02 9.74594139e-01 1.00861311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.850385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:236.78, Y:191.18, Z:100.87 [[ 1.58975918e-01 -9.86419165e-01 -4.12781761e-02 2.36779397e+02] [ 9.61581040e-01 1.64179774e-01 -2.20015695e-01 1.91175576e+02] [ 2.23804740e-01 -4.71511428e-03 9.74622597e-01 1.00874077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:191.20, Z:100.89 [[ 1.54385705e-01 -9.86422760e-01 -5.59927914e-02 2.36791617e+02] [ 9.62135785e-01 1.62985810e-01 -2.18472785e-01 1.91197242e+02] [ 2.24632558e-01 -2.01435933e-02 9.74235315e-01 1.00890642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:236.78, Y:191.23, Z:100.88 [[ 1.51543642e-01 -9.88109259e-01 -2.59733991e-02 2.36782991e+02] [ 9.62774018e-01 1.53506418e-01 -2.22490382e-01 1.91231796e+02] [ 2.23831890e-01 8.71048900e-03 9.74588843e-01 1.00884626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.80, Y:191.26, Z:100.89 [[ 1.47457928e-01 -9.88220703e-01 -4.09390065e-02 2.36795890e+02] [ 9.63663482e-01 1.52868292e-01 -2.19052457e-01 1.91256672e+02] [ 2.22730449e-01 -7.15040402e-03 9.74853845e-01 1.00894385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:191.28, Z:100.90 [[ 1.47965821e-01 -9.88155179e-01 -4.06873292e-02 2.36802863e+02] [ 9.63820097e-01 1.53300492e-01 -2.18059122e-01 1.91282974e+02] [ 2.21713638e-01 -6.94996847e-03 9.75087053e-01 1.00898760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:191.31, Z:100.90 [[ 1.46485337e-01 -9.88375277e-01 -4.06983803e-02 2.36808020e+02] [ 9.63942699e-01 1.51862361e-01 -2.18522988e-01 1.91308539e+02] [ 2.22163271e-01 -7.22049289e-03 9.74982741e-01 1.00904052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.81, Y:191.34, Z:100.91 [[ 1.43806416e-01 -9.88765825e-01 -4.07658824e-02 2.36813423e+02] [ 9.64183214e-01 1.49270443e-01 -2.19246584e-01 1.91335581e+02] [ 2.22868671e-01 -7.77671392e-03 9.74817459e-01 1.00909353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.82, Y:191.36, Z:100.91 [[ 1.42229926e-01 -9.88990733e-01 -4.08408889e-02 2.36818804e+02] [ 9.64247511e-01 1.47756058e-01 -2.19988374e-01 1.91363021e+02] [ 2.23600952e-01 -8.09179540e-03 9.74647186e-01 1.00914666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.090385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.82, Y:191.39, Z:100.92 [[ 1.37701919e-01 -9.89624362e-01 -4.10097937e-02 2.36820105e+02] [ 9.64619904e-01 1.43390824e-01 -2.21240845e-01 1.91390412e+02] [ 2.24825759e-01 -9.09357437e-03 9.74356549e-01 1.00921180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.83, Y:191.42, Z:100.93 [[ 1.41263994e-01 -9.89129485e-01 -4.08331570e-02 2.36828160e+02] [ 9.64239749e-01 1.46818157e-01 -2.20649350e-01 1.91415658e+02] [ 2.24245826e-01 -8.20314469e-03 9.74498085e-01 1.00926325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.84, Y:191.44, Z:100.94 [[ 1.39117759e-01 -9.88278900e-01 -6.28574929e-02 2.36840566e+02] [ 9.63878191e-01 1.49694423e-01 -2.20296195e-01 1.91435557e+02] [ 2.27123498e-01 -2.99398536e-02 9.73405631e-01 1.00944616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.84, Y:191.47, Z:100.94 [[ 1.40123681e-01 -9.89313464e-01 -4.03016706e-02 2.36836513e+02] [ 9.63417262e-01 1.45621333e-01 -2.24992458e-01 1.91467222e+02] [ 2.28456851e-01 -7.30055364e-03 9.73526666e-01 1.00943439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.83, Y:191.50, Z:100.94 [[ 1.41710759e-01 -9.89751212e-01 -1.76238085e-02 2.36832486e+02] [ 9.64114546e-01 1.42034061e-01 -2.24297721e-01 1.91500133e+02] [ 2.24502123e-01 1.47940303e-02 9.74361295e-01 1.00936720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:191.52, Z:100.95 [[ 1.42176563e-01 -9.89010854e-01 -4.05383325e-02 2.36848100e+02] [ 9.64197328e-01 1.47638749e-01 -2.20286886e-01 1.91523510e+02] [ 2.23851149e-01 -7.76731963e-03 9.74592393e-01 1.00951539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.85, Y:191.55, Z:100.96 [[ 1.43318628e-01 -9.88855066e-01 -4.03166215e-02 2.36851542e+02] [ 9.64230565e-01 1.48696029e-01 -2.19428597e-01 1.91550486e+02] [ 2.22978001e-01 -7.42631330e-03 9.74795189e-01 1.00956802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.86, Y:191.58, Z:100.96 [[ 1.43722186e-01 -9.88794637e-01 -4.03620894e-02 2.36855849e+02] [ 9.64030581e-01 1.49104199e-01 -2.20029491e-01 1.91577824e+02] [ 2.23582138e-01 -7.28716905e-03 9.74657850e-01 1.00963029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:191.60, Z:100.97 [[ 1.45135288e-01 -9.88590665e-01 -4.03019361e-02 2.36858959e+02] [ 9.63812188e-01 1.50468645e-01 -2.20057388e-01 1.91603924e+02] [ 2.23610857e-01 -6.90540486e-03 9.74654041e-01 1.00968570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.86, Y:191.63, Z:100.97 [[ 1.45966381e-01 -9.88472243e-01 -4.02049878e-02 2.36863368e+02] [ 9.63724051e-01 1.51256172e-01 -2.19903442e-01 1.91630860e+02] [ 2.23449701e-01 -6.64800412e-03 9.74692790e-01 1.00974537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.87, Y:191.66, Z:100.98 [[ 1.48658636e-01 -9.88068928e-01 -4.02542321e-02 2.36866896e+02] [ 9.63164132e-01 1.53895841e-01 -2.20524206e-01 1.91657119e+02] [ 2.24088075e-01 -5.98860475e-03 9.74550497e-01 1.00980465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.87, Y:191.68, Z:100.99 [[ 1.52650849e-01 -9.87456654e-01 -4.03370258e-02 2.36869695e+02] [ 9.62341252e-01 1.57810226e-01 -2.21348701e-01 1.91683817e+02] [ 2.24937843e-01 -5.02891676e-03 9.74360137e-01 1.00986330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.87, Y:191.71, Z:100.99 [[ 1.54220610e-01 -9.87217735e-01 -4.02137776e-02 2.36873182e+02] [ 9.62190855e-01 1.59310338e-01 -2.20927531e-01 1.91711500e+02] [ 2.24510048e-01 -4.62175048e-03 9.74460814e-01 1.00992302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:236.88, Y:191.74, Z:101.00 [[ 1.56153796e-01 -9.86915072e-01 -4.01824900e-02 2.36876868e+02] [ 9.61837849e-01 1.61188216e-01 -2.21102491e-01 1.91737973e+02] [ 2.24686325e-01 -4.12304655e-03 9.74422422e-01 1.00998089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:191.76, Z:100.99 [[ 1.54917609e-01 -9.87710822e-01 -2.06849233e-02 2.36864924e+02] [ 9.63052488e-01 1.55652713e-01 -2.19777476e-01 1.91763891e+02] [ 2.20296256e-01 1.41267343e-02 9.75330711e-01 1.00989668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:191.79, Z:100.99 [[ 1.55101264e-01 -9.87578214e-01 -2.51568957e-02 2.36870590e+02] [ 9.63533222e-01 1.56847582e-01 -2.16800752e-01 1.91789905e+02] [ 2.18053498e-01 9.38656597e-03 9.75891677e-01 1.00994794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.90, Y:191.81, Z:101.03 [[ 1.63290052e-01 -9.84611981e-01 -6.22543648e-02 2.36900137e+02] [ 9.60671308e-01 1.73050932e-01 -2.17172774e-01 1.91813442e+02] [ 2.24604091e-01 -2.43438285e-02 9.74145975e-01 1.01026139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.600385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.89, Y:191.84, Z:101.02 [[ 1.63884062e-01 -9.85665245e-01 -4.00754076e-02 2.36893992e+02] [ 9.60561749e-01 1.68697591e-01 -2.21048071e-01 1.91844436e+02] [ 2.24640026e-01 -2.26864785e-03 9.74439178e-01 1.01024332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.630385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:236.90, Y:191.87, Z:101.03 [[ 1.64284643e-01 -9.85602954e-01 -3.99671493e-02 2.36897968e+02] [ 9.60553630e-01 1.69063124e-01 -2.20803951e-01 1.91870592e+02] [ 2.24381998e-01 -2.11589208e-03 9.74498970e-01 1.01030232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.660385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:236.90, Y:191.90, Z:101.04 [[ 1.63573919e-01 -9.85723854e-01 -3.99005764e-02 2.36902747e+02] [ 9.60702763e-01 1.68355276e-01 -2.20695952e-01 1.91897413e+02] [ 2.24262737e-01 -2.23249221e-03 9.74526162e-01 1.01036231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.690385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.92, Y:191.92, Z:101.05 [[ 1.61758972e-01 -9.85330512e-01 -5.43858277e-02 2.36916070e+02] [ 9.60111898e-01 1.69877619e-01 -2.22096235e-01 1.91921469e+02] [ 2.28077132e-01 -1.62904217e-02 9.73506777e-01 1.01052860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.720385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.91, Y:191.95, Z:101.04 [[ 1.61023791e-01 -9.86603709e-01 -2.61621996e-02 2.36908968e+02] [ 9.60855591e-01 1.62766523e-01 -2.24195435e-01 1.91953341e+02] [ 2.25450378e-01 1.09627031e-02 9.74192972e-01 1.01044325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.93, Y:191.97, Z:101.06 [[ 1.58821220e-01 -9.86005406e-01 -5.06868818e-02 2.36925042e+02] [ 9.60760264e-01 1.66171975e-01 -2.22095903e-01 1.91974536e+02] [ 2.27410500e-01 -1.34243996e-02 9.73706450e-01 1.01062775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:192.01, Z:101.06 [[ 1.56978208e-01 -9.87178738e-01 -2.89133398e-02 2.36921263e+02] [ 9.61675736e-01 1.59455829e-01 -2.23055188e-01 1.92006335e+02] [ 2.24805740e-01 7.20954629e-03 9.74376930e-01 1.01057472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.810385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:236.93, Y:192.03, Z:101.07 [[ 1.54888364e-01 -9.87130916e-01 -3.97762332e-02 2.36931858e+02] [ 9.61983395e-01 1.59864992e-01 -2.21429744e-01 1.92029306e+02] [ 2.24938974e-01 -3.96718501e-03 9.74364777e-01 1.01066748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.94, Y:192.06, Z:101.07 [[ 1.54052327e-01 -9.87261761e-01 -3.97755716e-02 2.36937256e+02] [ 9.62023696e-01 1.59051836e-01 -2.21839857e-01 1.92055252e+02] [ 2.25340386e-01 -4.09009621e-03 9.74271513e-01 1.01072744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.870385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:236.95, Y:192.08, Z:101.08 [[ 1.52177156e-01 -9.87082211e-01 -5.01081051e-02 2.36945742e+02] [ 9.61901673e-01 1.59564715e-01 -2.22000616e-01 1.92078091e+02] [ 2.27128344e-01 -1.44156477e-02 9.73758135e-01 1.01084702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.94, Y:192.11, Z:101.08 [[ 1.53868622e-01 -9.87678839e-01 -2.85474607e-02 2.36943352e+02] [ 9.61877319e-01 1.56334766e-01 -2.24391322e-01 1.92109340e+02] [ 2.26089521e-01 7.06762847e-03 9.74080888e-01 1.01081051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:192.13, Z:101.10 [[ 1.52650374e-01 -9.86921775e-01 -5.18003198e-02 2.36957427e+02] [ 9.61498876e-01 1.60428967e-01 -2.23119827e-01 1.92130821e+02] [ 2.28512088e-01 -1.57466243e-02 9.73413720e-01 1.01098453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:192.16, Z:101.09 [[ 1.51161534e-01 -9.88157556e-01 -2.63597326e-02 2.36947637e+02] [ 9.62269134e-01 1.53199934e-01 -2.24873061e-01 1.92160986e+02] [ 2.26248323e-01 8.62699973e-03 9.74031453e-01 1.01089093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.96, Y:192.19, Z:101.10 [[ 1.54770766e-01 -9.87535172e-01 -2.86407626e-02 2.36958279e+02] [ 9.60731820e-01 1.57201477e-01 -2.28652719e-01 1.92190652e+02] [ 2.30304972e-01 7.87266449e-03 9.73086656e-01 1.01098463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.020385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:236.96, Y:192.21, Z:101.10 [[ 1.53464592e-01 -9.87340501e-01 -4.00918234e-02 2.36964581e+02] [ 9.61302558e-01 1.58565444e-01 -2.25287353e-01 1.92210837e+02] [ 2.28792506e-01 -3.96674068e-03 9.73467131e-01 1.01104903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.050385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:236.98, Y:192.24, Z:101.12 [[ 1.56372938e-01 -9.86571105e-01 -4.71694659e-02 2.36975750e+02] [ 9.60900800e-01 1.63005696e-01 -2.23827603e-01 1.92237280e+02] [ 2.28510738e-01 -1.03245976e-02 9.73486644e-01 1.01116718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.97, Y:192.26, Z:101.12 [[ 1.56275530e-01 -9.87072620e-01 -3.55753011e-02 2.36973922e+02] [ 9.61315669e-01 1.60271606e-01 -2.24020530e-01 1.92264843e+02] [ 2.26826242e-01 8.09832763e-04 9.73934905e-01 1.01115670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.98, Y:192.29, Z:101.12 [[ 1.56669318e-01 -9.86974088e-01 -3.65632946e-02 2.36980199e+02] [ 9.61077412e-01 1.60879294e-01 -2.24606458e-01 1.92291807e+02] [ 2.27563031e-01 4.87840025e-05 9.73763351e-01 1.01122910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.98, Y:192.32, Z:101.12 [[ 1.55394769e-01 -9.87651539e-01 -1.99224262e-02 2.36977742e+02] [ 9.62228547e-01 1.55896794e-01 -2.23186944e-01 1.92320919e+02] [ 2.23536772e-01 1.55121565e-02 9.74572052e-01 1.01116326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.00, Y:192.34, Z:101.14 [[ 1.57345046e-01 -9.86269541e-01 -5.01490646e-02 2.37002359e+02] [ 9.61019186e-01 1.64611792e-01 -2.22137530e-01 1.92342292e+02] [ 2.27342607e-01 -1.32419735e-02 9.73724802e-01 1.01140713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.01, Y:192.37, Z:101.15 [[ 1.59052901e-01 -9.86356654e-01 -4.24585216e-02 2.37012414e+02] [ 9.60209103e-01 1.64550181e-01 -2.25658407e-01 1.92371933e+02] [ 2.29566228e-01 -4.87743468e-03 9.73280822e-01 1.01149278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.01, Y:192.40, Z:101.15 [[ 1.54391144e-01 -9.87443937e-01 -3.34342072e-02 2.37009176e+02] [ 9.61677995e-01 1.57950871e-01 -2.24113713e-01 1.92398250e+02] [ 2.26580690e-01 2.44823121e-03 9.73989321e-01 1.01146688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.02, Y:192.42, Z:101.15 [[ 1.52050921e-01 -9.87791490e-01 -3.38893806e-02 2.37015734e+02] [ 9.62325054e-01 1.55776613e-01 -2.22854521e-01 1.92423727e+02] [ 2.25412972e-01 1.27263518e-03 9.74262476e-01 1.01151154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.03, Y:192.45, Z:101.16 [[ 1.51567887e-01 -9.87690282e-01 -3.86663017e-02 2.37025308e+02] [ 9.62068585e-01 1.56386989e-01 -2.23533326e-01 1.92449867e+02] [ 2.26828600e-01 -3.31916041e-03 9.73929037e-01 1.01160923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:192.47, Z:101.17 [[ 1.51421396e-01 -9.87402651e-01 -4.59082320e-02 2.37037492e+02] [ 9.61620408e-01 1.57900659e-01 -2.24396020e-01 1.92474266e+02] [ 2.28818165e-01 -1.01679342e-02 9.73416078e-01 1.01172429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.350385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:237.04, Y:192.51, Z:101.18 [[ 1.54966299e-01 -9.87265346e-01 -3.59525019e-02 2.37044445e+02] [ 9.60612442e-01 1.59080289e-01 -2.27853456e-01 1.92505347e+02] [ 2.30671156e-01 7.73186153e-04 9.73031459e-01 1.01178774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:192.53, Z:101.18 [[ 1.50634047e-01 -9.88094359e-01 -3.12877119e-02 2.37042431e+02] [ 9.62223701e-01 1.53803729e-01 -2.24655207e-01 1.92529761e+02] [ 2.26792710e-01 3.73494496e-03 9.73935890e-01 1.01175208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:192.56, Z:101.18 [[ 1.50579139e-01 -9.87948101e-01 -3.58395465e-02 2.37049380e+02] [ 9.62225901e-01 1.54783630e-01 -2.23971745e-01 1.92555395e+02] [ 2.26819836e-01 -7.60267339e-04 9.73936437e-01 1.01183157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:192.58, Z:101.20 [[ 1.55627352e-01 -9.86773559e-01 -4.53659716e-02 2.37065659e+02] [ 9.60358005e-01 1.61894702e-01 -2.26941858e-01 1.92583165e+02] [ 2.31284735e-01 -8.24921354e-03 9.72851130e-01 1.01199499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:192.61, Z:101.20 [[ 1.55764246e-01 -9.86958563e-01 -4.06238098e-02 2.37069064e+02] [ 9.60216457e-01 1.60937338e-01 -2.28218161e-01 1.92609780e+02] [ 2.31779756e-01 -3.45942084e-03 9.72762138e-01 1.01203504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:192.63, Z:101.21 [[ 1.55285426e-01 -9.87040344e-01 -4.04696924e-02 2.37076885e+02] [ 9.60412934e-01 1.60434082e-01 -2.27745255e-01 1.92634255e+02] [ 2.31286473e-01 -3.50209722e-03 9.72879388e-01 1.01209368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.08, Y:192.66, Z:101.22 [[ 1.53779688e-01 -9.87282839e-01 -4.03038947e-02 2.37084508e+02] [ 9.60787172e-01 1.58928593e-01 -2.27221725e-01 1.92661095e+02] [ 2.30737550e-01 -3.78137912e-03 9.73008676e-01 1.01215960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.09, Y:192.69, Z:101.22 [[ 1.53418103e-01 -9.87347784e-01 -4.00903912e-02 2.37092321e+02] [ 9.61049572e-01 1.58524268e-01 -2.26392970e-01 1.92686424e+02] [ 2.29883897e-01 -3.79607333e-03 9.73210658e-01 1.01221573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:192.71, Z:101.23 [[ 1.53164917e-01 -9.87389842e-01 -4.00225850e-02 2.37097079e+02] [ 9.61089926e-01 1.58262283e-01 -2.26404957e-01 1.92713892e+02] [ 2.29884020e-01 -3.78800681e-03 9.73210660e-01 1.01227920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.620385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.10, Y:192.74, Z:101.23 [[ 1.53745562e-01 -9.87300450e-01 -4.00015388e-02 2.37102918e+02] [ 9.60943051e-01 1.58823477e-01 -2.26635295e-01 1.92740558e+02] [ 2.30110312e-01 -3.59502983e-03 9.73157911e-01 1.01234405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:192.77, Z:101.24 [[ 1.54547821e-01 -9.87179426e-01 -3.98967777e-02 2.37108354e+02] [ 9.60870200e-01 1.59579446e-01 -2.26413027e-01 1.92766180e+02] [ 2.29876988e-01 -3.34398483e-03 9.73213948e-01 1.01240300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:192.79, Z:101.25 [[ 1.56078407e-01 -9.86941489e-01 -3.98249638e-02 2.37114269e+02] [ 9.60627958e-01 1.61052674e-01 -2.26397800e-01 1.92791794e+02] [ 2.29855298e-01 -2.92116573e-03 9.73220432e-01 1.01245954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.12, Y:192.82, Z:101.25 [[ 1.56468371e-01 -9.86882329e-01 -3.97607634e-02 2.37120236e+02] [ 9.60555975e-01 1.61417611e-01 -2.26443313e-01 1.92818090e+02] [ 2.29890992e-01 -2.76122252e-03 9.73212468e-01 1.01250978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:192.84, Z:101.26 [[ 1.56462752e-01 -9.86886159e-01 -3.96877481e-02 2.37125286e+02] [ 9.60559865e-01 1.61395353e-01 -2.26442676e-01 1.92842945e+02] [ 2.29878560e-01 -2.69261376e-03 9.73215597e-01 1.01256819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:192.87, Z:101.26 [[ 1.56104233e-01 -9.86947036e-01 -3.95855613e-02 2.37130439e+02] [ 9.60657608e-01 1.61022492e-01 -2.26293433e-01 1.92868081e+02] [ 2.29713799e-01 -2.70280800e-03 9.73254471e-01 1.01262663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.800385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:237.14, Y:192.89, Z:101.27 [[ 1.55035452e-01 -9.87122256e-01 -3.94165033e-02 2.37136924e+02] [ 9.60968780e-01 1.59941721e-01 -2.25738012e-01 1.92893913e+02] [ 2.29135359e-01 -2.88063432e-03 9.73390307e-01 1.01268867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.14, Y:192.92, Z:101.28 [[ 1.54533879e-01 -9.87206137e-01 -3.92851561e-02 2.37142275e+02] [ 9.61135501e-01 1.59422317e-01 -2.25395371e-01 1.92920348e+02] [ 2.28774624e-01 -2.92713719e-03 9.73475014e-01 1.01275144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:237.15, Y:192.95, Z:101.28 [[ 1.53236038e-01 -9.87413267e-01 -3.91632104e-02 2.37146580e+02] [ 9.61425988e-01 1.58129783e-01 -2.25066749e-01 1.92947069e+02] [ 2.28426764e-01 -3.16419139e-03 9.73555957e-01 1.01280909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:192.97, Z:101.29 [[ 1.52627019e-01 -9.87514573e-01 -3.89866694e-02 2.37150906e+02] [ 9.61670685e-01 1.57494497e-01 -2.24465983e-01 1.92973330e+02] [ 2.27803615e-01 -3.23276316e-03 9.73701732e-01 1.01286361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:193.00, Z:101.29 [[ 1.51816309e-01 -9.87643985e-01 -3.88737372e-02 2.37155671e+02] [ 9.61859334e-01 1.56678460e-01 -2.24228638e-01 1.92999789e+02] [ 2.27548743e-01 -3.34950274e-03 9.73760931e-01 1.01292342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:193.02, Z:101.30 [[ 1.50695986e-01 -9.87813389e-01 -3.89285125e-02 2.37161290e+02] [ 9.61862654e-01 1.55602560e-01 -2.24962394e-01 1.93024881e+02] [ 2.28278241e-01 -3.54295261e-03 9.73589489e-01 1.01298991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:193.05, Z:101.29 [[ 1.45348179e-01 -9.89015633e-01 -2.68697752e-02 2.37153418e+02] [ 9.63662942e-01 1.47669720e-01 -2.22592425e-01 1.93052006e+02] [ 2.24115241e-01 6.45999699e-03 9.74541239e-01 1.01291601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:193.08, Z:101.31 [[ 1.49625519e-01 -9.87635338e-01 -4.67829467e-02 2.37173030e+02] [ 9.62035300e-01 1.56343829e-01 -2.23706702e-01 1.93077741e+02] [ 2.28254870e-01 -1.15346146e-02 9.73533085e-01 1.01314843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:193.11, Z:101.32 [[ 1.49363778e-01 -9.88024364e-01 -3.87081052e-02 2.37172968e+02] [ 9.62189913e-01 1.54253248e-01 -2.24491665e-01 1.93105741e+02] [ 2.27774086e-01 -3.71362516e-03 9.73706925e-01 1.01317217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:193.13, Z:101.32 [[ 1.49579622e-01 -9.87997921e-01 -3.85492604e-02 2.37175726e+02] [ 9.62282414e-01 1.54425384e-01 -2.23976240e-01 1.93131538e+02] [ 2.27241044e-01 -3.59299401e-03 9.73831915e-01 1.01322593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:193.16, Z:101.31 [[ 1.45781217e-01 -9.89095937e-01 -2.09060780e-02 2.37165675e+02] [ 9.64022844e-01 1.46770164e-01 -2.21626885e-01 1.93161360e+02] [ 2.22278640e-01 1.21551004e-02 9.74907411e-01 1.01312085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:193.18, Z:101.34 [[ 1.50617893e-01 -9.87221206e-01 -5.20436387e-02 2.37188606e+02] [ 9.62005207e-01 1.58490912e-01 -2.22320967e-01 1.93183753e+02] [ 2.27728417e-01 -1.65807359e-02 9.73583508e-01 1.01340731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:193.21, Z:101.34 [[ 1.50951623e-01 -9.87788624e-01 -3.85647773e-02 2.37185565e+02] [ 9.61805078e-01 1.55768867e-01 -2.25093430e-01 1.93212166e+02] [ 2.28351922e-01 -3.11358005e-03 9.73573678e-01 1.01341015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:193.24, Z:101.34 [[ 1.48351419e-01 -9.88548382e-01 -2.76396950e-02 2.37178802e+02] [ 9.62593408e-01 1.50751243e-01 -2.25139941e-01 1.93241564e+02] [ 2.26728443e-01 6.79404150e-03 9.73934317e-01 1.01335571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.220385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:237.19, Y:193.27, Z:101.35 [[ 1.48514496e-01 -9.87765061e-01 -4.75776140e-02 2.37193486e+02] [ 9.62003739e-01 1.55452827e-01 -2.24462079e-01 1.93265169e+02] [ 2.29111874e-01 -1.24339699e-02 9.73320680e-01 1.01352985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:193.29, Z:101.36 [[ 1.47790100e-01 -9.88271544e-01 -3.84375028e-02 2.37192671e+02] [ 9.62210308e-01 1.52662898e-01 -2.25489165e-01 1.93292823e+02] [ 2.28712506e-01 -3.65989508e-03 9.73487131e-01 1.01358154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:193.32, Z:101.36 [[ 1.46269667e-01 -9.88491742e-01 -3.85909454e-02 2.37196364e+02] [ 9.62128460e-01 1.51223133e-01 -2.26804740e-01 1.93320058e+02] [ 2.30030456e-01 -3.95479310e-03 9.73175395e-01 1.01363974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:193.35, Z:101.37 [[ 1.44969013e-01 -9.88691208e-01 -3.83885569e-02 2.37198910e+02] [ 9.62552319e-01 1.49906667e-01 -2.25878340e-01 1.93345967e+02] [ 2.29078629e-01 -4.20563440e-03 9.73398836e-01 1.01371162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:193.37, Z:101.38 [[ 1.43524759e-01 -9.88905738e-01 -3.82894983e-02 2.37201831e+02] [ 9.62837510e-01 1.48476648e-01 -2.25607215e-01 1.93373405e+02] [ 2.28789366e-01 -4.48634400e-03 9.73465613e-01 1.01377142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.20, Y:193.40, Z:101.38 [[ 1.42328059e-01 -9.89084202e-01 -3.81466205e-02 2.37204675e+02] [ 9.63129762e-01 1.47276585e-01 -2.25145884e-01 1.93400499e+02] [ 2.28306341e-01 -4.69556890e-03 9.73578023e-01 1.01383421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:193.43, Z:101.39 [[ 1.41284212e-01 -9.89245740e-01 -3.78369964e-02 2.37205984e+02] [ 9.63634853e-01 1.46182348e-01 -2.23693073e-01 1.93428247e+02] [ 2.26818520e-01 -4.85674890e-03 9.73924931e-01 1.01389491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.21, Y:193.45, Z:101.40 [[ 1.41015358e-01 -9.89285866e-01 -3.77907924e-02 2.37209071e+02] [ 9.63651660e-01 1.45910497e-01 -2.23798133e-01 1.93453270e+02] [ 2.26914403e-01 -4.85818602e-03 9.73902588e-01 1.01395507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:193.48, Z:101.40 [[ 1.42038554e-01 -9.89137714e-01 -3.78369123e-02 2.37211984e+02] [ 9.63330577e-01 1.46921055e-01 -2.24518158e-01 1.93480192e+02] [ 2.27638417e-01 -4.55921998e-03 9.73735059e-01 1.01402435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:193.51, Z:101.41 [[ 1.43976597e-01 -9.88861930e-01 -3.77203370e-02 2.37213261e+02] [ 9.63117295e-01 1.48780695e-01 -2.24208342e-01 1.93507251e+02] [ 2.27323151e-01 -4.04835494e-03 9.73810965e-01 1.01407956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.22, Y:193.53, Z:101.41 [[ 1.44459120e-01 -9.88798223e-01 -3.75451381e-02 2.37215543e+02] [ 9.63199978e-01 1.49208313e-01 -2.23568069e-01 1.93534175e+02] [ 2.26665756e-01 -3.86702982e-03 9.73964928e-01 1.01413429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:193.56, Z:101.42 [[ 1.45319811e-01 -9.88675711e-01 -3.74498573e-02 2.37218139e+02] [ 9.63106253e-01 1.50024594e-01 -2.23425528e-01 1.93559867e+02] [ 2.26513792e-01 -3.60003636e-03 9.74001305e-01 1.01418519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.22, Y:193.59, Z:101.42 [[ 1.47082615e-01 -9.88417006e-01 -3.73968720e-02 2.37220845e+02] [ 9.62808786e-01 1.51730211e-01 -2.23555774e-01 1.93585896e+02] [ 2.26640565e-01 -3.12486901e-03 9.73973454e-01 1.01424377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:193.61, Z:101.43 [[ 1.47623159e-01 -9.88338917e-01 -3.73307860e-02 2.37224547e+02] [ 9.62721699e-01 1.52241852e-01 -2.23582980e-01 1.93610919e+02] [ 2.26659068e-01 -2.93313191e-03 9.73969745e-01 1.01430832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:193.64, Z:101.44 [[ 1.48945398e-01 -9.88145785e-01 -3.71910657e-02 2.37227949e+02] [ 9.62614153e-01 1.53497114e-01 -2.23187429e-01 1.93638033e+02] [ 2.26250438e-01 -2.55790584e-03 9.74065807e-01 1.01437411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.670385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:237.23, Y:193.66, Z:101.44 [[ 1.48412147e-01 -9.88230568e-01 -3.70699237e-02 2.37230883e+02] [ 9.62779919e-01 1.52949328e-01 -2.22848222e-01 1.93664797e+02] [ 2.25895245e-01 -2.61679502e-03 9.74148085e-01 1.01441371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.23, Y:193.69, Z:101.45 [[ 1.48530236e-01 -9.88217529e-01 -3.69443382e-02 2.37234620e+02] [ 9.62875047e-01 1.53034795e-01 -2.22378047e-01 1.93690787e+02] [ 2.25411653e-01 -2.54291761e-03 9.74260294e-01 1.01449085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:193.72, Z:101.46 [[ 1.47455244e-01 -9.88380985e-01 -3.68778953e-02 2.37237861e+02] [ 9.63041625e-01 1.51972408e-01 -2.22385287e-01 1.93718034e+02] [ 2.25405811e-01 -2.72307164e-03 9.74261159e-01 1.01455363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.760385723 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:237.24, Y:193.75, Z:101.46 [[ 1.48385535e-01 -9.88546224e-01 -2.75335340e-02 2.37240667e+02] [ 9.63155471e-01 1.50777179e-01 -2.22705591e-01 1.93750345e+02] [ 2.24306199e-01 6.52721417e-03 9.74496857e-01 1.01455684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.790385723 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:237.25, Y:193.78, Z:101.47 [[ 1.47659942e-01 -9.88129808e-01 -4.23795351e-02 2.37250890e+02] [ 9.63133168e-01 1.53403085e-01 -2.21002249e-01 1.93775438e+02] [ 2.24880062e-01 -8.18395660e-03 9.74352083e-01 1.01469103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:193.80, Z:101.48 [[ 1.45810209e-01 -9.88299227e-01 -4.47662889e-02 2.37251996e+02] [ 9.63362691e-01 1.52136098e-01 -2.20877645e-01 1.93796029e+02] [ 2.25103774e-01 -1.09199570e-02 9.74273599e-01 1.01477784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:193.82, Z:101.48 [[ 1.46354623e-01 -9.88565106e-01 -3.63229502e-02 2.37250915e+02] [ 9.63345107e-01 1.50773654e-01 -2.21886255e-01 1.93824956e+02] [ 2.24825553e-01 -2.51745728e-03 9.74395779e-01 1.01481405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:193.85, Z:101.49 [[ 1.46684368e-01 -9.88467375e-01 -3.76290473e-02 2.37256415e+02] [ 9.63089170e-01 1.51391374e-01 -2.22575613e-01 1.93852643e+02] [ 2.25705445e-01 -3.59176485e-03 9.74188971e-01 1.01487736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:193.88, Z:101.49 [[ 1.46819627e-01 -9.88811228e-01 -2.63884807e-02 2.37255354e+02] [ 9.62426358e-01 1.48960950e-01 -2.27037752e-01 1.93882539e+02] [ 2.28428332e-01 7.93662876e-03 9.73528380e-01 1.01490017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.27, Y:193.90, Z:101.50 [[ 1.47444710e-01 -9.87859860e-01 -4.89178420e-02 2.37266741e+02] [ 9.63164741e-01 1.54652560e-01 -2.19991518e-01 1.93901827e+02] [ 2.24886060e-01 -1.46793549e-02 9.74274487e-01 1.01504624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:193.93, Z:101.50 [[ 1.47743632e-01 -9.88720276e-01 -2.45771299e-02 2.37258648e+02] [ 9.62406083e-01 1.49449275e-01 -2.26802659e-01 1.93932714e+02] [ 2.27917422e-01 9.85546935e-03 9.73630586e-01 1.01501320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:193.95, Z:101.53 [[ 1.49693573e-01 -9.86635585e-01 -6.43588126e-02 2.37282617e+02] [ 9.61881917e-01 1.60386082e-01 -2.21493753e-01 1.93953150e+02] [ 2.28855877e-01 -2.87493866e-02 9.73035693e-01 1.01525896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:193.98, Z:101.51 [[ 1.50136628e-01 -9.88436144e-01 -2.12833707e-02 2.37263897e+02] [ 9.62382353e-01 1.51042237e-01 -2.25846073e-01 1.93984569e+02] [ 2.26449109e-01 1.34250273e-02 9.73930475e-01 1.01511118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:194.01, Z:101.52 [[ 1.50212582e-01 -9.87997480e-01 -3.60161098e-02 2.37275479e+02] [ 9.62426885e-01 1.54465962e-01 -2.23326574e-01 1.94008978e+02] [ 2.26209355e-01 -1.11641117e-03 9.74078067e-01 1.01522568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.29, Y:194.03, Z:101.55 [[ 1.51370008e-01 -9.86627157e-01 -6.04481159e-02 2.37293908e+02] [ 9.60753268e-01 1.61230800e-01 -2.25738315e-01 1.94033386e+02] [ 2.32465650e-01 -2.39057144e-02 9.72310773e-01 1.01545837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:194.07, Z:101.53 [[ 1.49924205e-01 -9.88588732e-01 -1.46646134e-02 2.37273489e+02] [ 9.62264533e-01 1.49306666e-01 -2.27496128e-01 1.94065868e+02] [ 2.27089634e-01 1.99959388e-02 9.73668558e-01 1.01527039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.150385723 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:237.29, Y:194.09, Z:101.55 [[ 1.49129146e-01 -9.87845657e-01 -4.38344243e-02 2.37293344e+02] [ 9.61790825e-01 1.55204041e-01 -2.25544041e-01 1.94089547e+02] [ 2.29605981e-01 -8.52435685e-03 9.73246335e-01 1.01545282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:194.11, Z:101.57 [[ 1.48855456e-01 -9.86472331e-01 -6.86614363e-02 2.37309838e+02] [ 9.61115389e-01 1.60661976e-01 -2.24599505e-01 1.94108223e+02] [ 2.32592479e-01 -3.25587013e-02 9.72029151e-01 1.01565070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:194.15, Z:101.52 [[ 1.43422483e-01 -9.89580230e-01 1.26870251e-02 2.37271608e+02] [ 9.64686629e-01 1.36929809e-01 -2.25010965e-01 1.94146582e+02] [ 2.20929171e-01 4.45106348e-02 9.74273629e-01 1.01523707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.240385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.32, Y:194.16, Z:101.58 [[ 1.44100856e-01 -9.86243020e-01 -8.09916598e-02 2.37324986e+02] [ 9.62063957e-01 1.58787069e-01 -2.21854929e-01 1.94159539e+02] [ 2.31663303e-01 -4.59496715e-02 9.71710215e-01 1.01581096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:194.19, Z:101.57 [[ 1.43180382e-01 -9.88744853e-01 -4.33934832e-02 2.37313082e+02] [ 9.62110613e-01 1.49335399e-01 -2.28127393e-01 1.94192569e+02] [ 2.32039969e-01 -9.08596333e-03 9.72663816e-01 1.01573720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:194.22, Z:101.57 [[ 1.39980840e-01 -9.89548144e-01 -3.46386392e-02 2.37314074e+02] [ 9.63637048e-01 1.44190532e-01 -2.24972732e-01 1.94221218e+02] [ 2.27615913e-01 -1.88720397e-03 9.73749164e-01 1.01574748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:194.25, Z:101.58 [[ 1.39550303e-01 -9.89473052e-01 -3.83248241e-02 2.37319934e+02] [ 9.63863271e-01 1.44604245e-01 -2.23734681e-01 1.94248063e+02] [ 2.26921370e-01 -5.71764772e-03 9.73896299e-01 1.01581916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.30, Y:194.28, Z:101.56 [[ 1.34051534e-01 -9.90943775e-01 7.78597583e-03 2.37297738e+02] [ 9.67278676e-01 1.29134242e-01 -2.18394852e-01 1.94280433e+02] [ 2.15411583e-01 3.68073733e-02 9.75829425e-01 1.01555940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:194.30, Z:101.58 [[ 1.32828124e-01 -9.90595290e-01 -3.28277369e-02 2.37321779e+02] [ 9.67587586e-01 1.36778122e-01 -2.12287560e-01 1.94301546e+02] [ 2.14781174e-01 -3.56595233e-03 9.76655687e-01 1.01576989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.33, Y:194.33, Z:101.58 [[ 1.31400008e-01 -9.90786961e-01 -3.27907875e-02 2.37326423e+02] [ 9.67750095e-01 1.35375852e-01 -2.12445599e-01 1.94328634e+02] [ 2.14927410e-01 -3.81793437e-03 9.76622564e-01 1.01582375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.33, Y:194.36, Z:101.59 [[ 1.30658307e-01 -9.90884881e-01 -3.27957110e-02 2.37330305e+02] [ 9.67756386e-01 1.34654191e-01 -2.12875143e-01 1.94356072e+02] [ 2.15350840e-01 -3.92435305e-03 9.76528860e-01 1.01587904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.480385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.33, Y:194.38, Z:101.59 [[ 1.30963435e-01 -9.90842639e-01 -3.28548862e-02 2.37334685e+02] [ 9.67538565e-01 1.34968066e-01 -2.13665032e-01 1.94383367e+02] [ 2.16142784e-01 -3.80606296e-03 9.76354347e-01 1.01593391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.510385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:237.34, Y:194.41, Z:101.60 [[ 1.31739427e-01 -9.90741399e-01 -3.28055475e-02 2.37339596e+02] [ 9.67415526e-01 1.35715447e-01 -2.13748727e-01 1.94410776e+02] [ 2.16221932e-01 -3.57746119e-03 9.76337686e-01 1.01599567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.540385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:237.34, Y:194.44, Z:101.61 [[ 1.32385983e-01 -9.90654146e-01 -3.28377012e-02 2.37344049e+02] [ 9.67188738e-01 1.36355899e-01 -2.14366543e-01 1.94436771e+02] [ 2.16840719e-01 -3.38112921e-03 9.76201143e-01 1.01605682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.570385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:237.33, Y:194.47, Z:101.58 [[ 1.31507615e-01 -9.91293833e-01 6.50265667e-03 2.37327111e+02] [ 9.69337354e-01 1.27215680e-01 -2.10240969e-01 1.94471900e+02] [ 2.07583336e-01 3.39515564e-02 9.77627971e-01 1.01583713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.35, Y:194.49, Z:101.60 [[ 1.33827015e-01 -9.90533971e-01 -3.05414972e-02 2.37350745e+02] [ 9.69025373e-01 1.37251449e-01 -2.05309196e-01 1.94492111e+02] [ 2.07557598e-01 -2.11956887e-03 9.78220502e-01 1.01602805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.37, Y:194.51, Z:101.63 [[ 1.36919072e-01 -9.88498085e-01 -6.42238637e-02 2.37371342e+02] [ 9.66921518e-01 1.47453247e-01 -2.08135334e-01 1.94510523e+02] [ 2.15211396e-01 -3.36017391e-02 9.75989231e-01 1.01630620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.36, Y:194.54, Z:101.62 [[ 1.38083424e-01 -9.89894419e-01 -3.22801297e-02 2.37360663e+02] [ 9.66591056e-01 1.41795953e-01 -2.13531353e-01 1.94542829e+02] [ 2.15950686e-01 -1.71654437e-03 9.76402763e-01 1.01623583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.35, Y:194.58, Z:101.61 [[ 1.38172049e-01 -9.90381534e-01 -7.27336779e-03 2.37352399e+02] [ 9.67948694e-01 1.36590155e-01 -2.10756865e-01 1.94576673e+02] [ 2.09723177e-01 2.20804610e-02 9.77511454e-01 1.01609818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.720385723 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:237.37, Y:194.59, Z:101.63 [[ 1.39227688e-01 -9.89386024e-01 -4.16046466e-02 2.37373538e+02] [ 9.66533703e-01 1.44913649e-01 -2.11689953e-01 1.94594047e+02] [ 2.15472162e-01 -1.07391904e-02 9.76450929e-01 1.01634950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.37, Y:194.63, Z:101.63 [[ 1.39010301e-01 -9.89925358e-01 -2.69058107e-02 2.37372447e+02] [ 9.67729858e-01 1.41559639e-01 -2.08470122e-01 1.94625787e+02] [ 2.10178637e-01 2.94193799e-03 9.77658573e-01 1.01631260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.38, Y:194.65, Z:101.64 [[ 1.38918201e-01 -9.89825395e-01 -3.07802052e-02 2.37378629e+02] [ 9.67779166e-01 1.42284312e-01 -2.07746624e-01 1.94652326e+02] [ 2.10012424e-01 -9.28654034e-04 9.77698276e-01 1.01638302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:194.67, Z:101.65 [[ 1.39684601e-01 -9.89362667e-01 -4.06168157e-02 2.37386779e+02] [ 9.66311766e-01 1.45155468e-01 -2.12535788e-01 1.94673317e+02] [ 2.16170727e-01 -9.56053002e-03 9.76308769e-01 1.01654289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:194.70, Z:101.66 [[ 1.40949870e-01 -9.89147910e-01 -4.14674262e-02 2.37391376e+02] [ 9.66798302e-01 1.46541503e-01 -2.09348111e-01 1.94697568e+02] [ 2.13152945e-01 -1.05830483e-02 9.76961525e-01 1.01659522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:194.73, Z:101.65 [[ 1.39039308e-01 -9.90024000e-01 -2.28155623e-02 2.37388532e+02] [ 9.67587386e-01 1.40720838e-01 -2.09695723e-01 1.94731171e+02] [ 2.10814423e-01 7.07989794e-03 9.77500462e-01 1.01654532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.40, Y:194.75, Z:101.67 [[ 1.38311106e-01 -9.89520773e-01 -4.14569507e-02 2.37400210e+02] [ 9.67009185e-01 1.43969277e-01 -2.10157282e-01 1.94751558e+02] [ 2.13923523e-01 -1.10221661e-02 9.76788226e-01 1.01672066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.40, Y:194.78, Z:101.67 [[ 1.38050128e-01 -9.90032446e-01 -2.78911808e-02 2.37401437e+02] [ 9.67225958e-01 1.40822419e-01 -2.11288883e-01 1.94783957e+02] [ 2.13110553e-01 2.19138325e-03 9.77025634e-01 1.01669738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:237.41, Y:194.81, Z:101.68 [[ 1.37078486e-01 -9.90121192e-01 -2.94875091e-02 2.37406994e+02] [ 9.67416725e-01 1.40213715e-01 -2.10819815e-01 1.94811308e+02] [ 2.12871720e-01 3.72151605e-04 9.77080085e-01 1.01675350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.41, Y:194.84, Z:101.68 [[ 1.35997809e-01 -9.90229871e-01 -3.08123279e-02 2.37412592e+02] [ 9.67551734e-01 1.39439834e-01 -2.10713492e-01 1.94838973e+02] [ 2.12951260e-01 -1.15594817e-03 9.77062140e-01 1.01681493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:194.87, Z:101.68 [[ 1.34724502e-01 -9.90547996e-01 -2.57677243e-02 2.37415151e+02] [ 9.68065959e-01 1.37126150e-01 -2.09868333e-01 1.94865608e+02] [ 2.11418086e-01 3.32954980e-03 9.77390049e-01 1.01682816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:194.89, Z:101.70 [[ 1.35146796e-01 -9.90075204e-01 -3.85543043e-02 2.37427255e+02] [ 9.67530948e-01 1.40257388e-01 -2.10265853e-01 1.94891093e+02] [ 2.13586534e-01 -8.88572613e-03 9.76883737e-01 1.01696626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.080385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:237.43, Y:194.91, Z:101.70 [[ 1.35527857e-01 -9.90004836e-01 -3.90208256e-02 2.37432033e+02] [ 9.67079222e-01 1.40745772e-01 -2.12010392e-01 1.94914214e+02] [ 2.15383330e-01 -9.00291559e-03 9.76488079e-01 1.01703692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.110385723 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:237.43, Y:194.94, Z:101.71 [[ 1.35520525e-01 -9.90392834e-01 -2.74995034e-02 2.37430580e+02] [ 9.66826198e-01 1.38259481e-01 -2.14782260e-01 1.94941273e+02] [ 2.16520878e-01 2.52016438e-03 9.76274735e-01 1.01707092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:194.97, Z:101.71 [[ 1.36744918e-01 -9.89991614e-01 -3.48917186e-02 2.37438046e+02] [ 9.67107795e-01 1.41044626e-01 -2.11681190e-01 1.94965358e+02] [ 2.14483892e-01 -4.79772600e-03 9.76715743e-01 1.01714515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:194.99, Z:101.72 [[ 1.36831001e-01 -9.90115561e-01 -3.07969724e-02 2.37440632e+02] [ 9.67106604e-01 1.40251984e-01 -2.12212623e-01 1.94992662e+02] [ 2.14434357e-01 -7.46689699e-04 9.76738117e-01 1.01718515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:195.02, Z:101.71 [[ 1.35940404e-01 -9.90572730e-01 -1.69077926e-02 2.37439290e+02] [ 9.68134445e-01 1.36445465e-01 -2.09996028e-01 1.95024741e+02] [ 2.10323330e-01 1.21779283e-02 9.77556032e-01 1.01713091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:195.04, Z:101.74 [[ 1.37309547e-01 -9.89543197e-01 -4.41627736e-02 2.37458838e+02] [ 9.67085777e-01 1.43569038e-01 -2.10078631e-01 1.95044596e+02] [ 2.14222287e-01 -1.38633886e-02 9.76686551e-01 1.01736923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:195.07, Z:101.73 [[ 1.36130859e-01 -9.90431880e-01 -2.26512927e-02 2.37453876e+02] [ 9.66816819e-01 1.37804802e-01 -2.15116421e-01 1.95073008e+02] [ 2.16179618e-01 7.38433238e-03 9.76325686e-01 1.01733866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.47, Y:195.10, Z:101.75 [[ 1.36116229e-01 -9.89942778e-01 -3.85443652e-02 2.37466023e+02] [ 9.67514284e-01 1.41197687e-01 -2.09712478e-01 1.95096283e+02] [ 2.13045728e-01 -8.74695222e-03 9.77003075e-01 1.01745994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.320385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:237.47, Y:195.12, Z:101.75 [[ 1.34834817e-01 -9.90406640e-01 -3.02367217e-02 2.37466201e+02] [ 9.67745636e-01 1.38180863e-01 -2.10652401e-01 1.95124240e+02] [ 2.12809673e-01 -8.58177516e-04 9.77093295e-01 1.01745806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.47, Y:195.15, Z:101.75 [[ 1.34626688e-01 -9.90435610e-01 -3.02151846e-02 2.37469805e+02] [ 9.67739045e-01 1.37973060e-01 -2.10818820e-01 1.95148823e+02] [ 2.12971348e-01 -8.58574456e-04 9.77058068e-01 1.01753319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.47, Y:195.18, Z:101.76 [[ 1.33887424e-01 -9.90535070e-01 -3.02395916e-02 2.37474236e+02] [ 9.67695704e-01 1.37256611e-01 -2.11484392e-01 1.95175001e+02] [ 2.13633291e-01 -9.47622363e-04 9.76913465e-01 1.01758418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:195.20, Z:101.76 [[ 1.33210789e-01 -9.90626678e-01 -3.02269994e-02 2.37478543e+02] [ 9.67706479e-01 1.36593296e-01 -2.11864209e-01 1.95201390e+02] [ 2.14007143e-01 -1.02826475e-03 9.76831554e-01 1.01764228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:195.23, Z:101.77 [[ 1.31974119e-01 -9.90793047e-01 -3.01988279e-02 2.37483081e+02] [ 9.67816571e-01 1.35379557e-01 -2.12140191e-01 1.95226548e+02] [ 2.14275330e-01 -1.22991128e-03 9.76772527e-01 1.01769389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:195.25, Z:101.78 [[ 1.31227255e-01 -9.90892595e-01 -3.01872904e-02 2.37486873e+02] [ 9.67827554e-01 1.34648113e-01 -2.12555197e-01 1.95253083e+02] [ 2.14684033e-01 -1.32305643e-03 9.76682659e-01 1.01775289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:195.28, Z:101.78 [[ 1.30229389e-01 -9.91026647e-01 -3.01079868e-02 2.37489906e+02] [ 9.67985558e-01 1.33656305e-01 -2.12461649e-01 1.95280349e+02] [ 2.14579278e-01 -1.47534579e-03 9.76705461e-01 1.01780946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.530385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:237.49, Y:195.31, Z:101.79 [[ 1.29792987e-01 -9.91086847e-01 -3.00107032e-02 2.37492492e+02] [ 9.68103933e-01 1.33208778e-01 -2.12203198e-01 1.95305538e+02] [ 2.14309488e-01 -1.51099291e-03 9.76764639e-01 1.01785943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.49, Y:195.33, Z:101.79 [[ 1.29188000e-01 -9.91172833e-01 -2.97804742e-02 2.37494459e+02] [ 9.68439463e-01 1.32566747e-01 -2.11071231e-01 1.95332006e+02] [ 2.13155970e-01 -1.57271625e-03 9.77016918e-01 1.01790701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:195.36, Z:101.80 [[ 1.28482192e-01 -9.91264576e-01 -2.97803240e-02 2.37497682e+02] [ 9.68430782e-01 1.31877910e-01 -2.11542048e-01 1.95358054e+02] [ 2.13621505e-01 -1.66079648e-03 9.76915091e-01 1.01796567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:195.38, Z:101.80 [[ 1.27316010e-01 -9.91418458e-01 -2.96660462e-02 2.37500927e+02] [ 9.68663403e-01 1.30713535e-01 -2.11199395e-01 1.95383556e+02] [ 2.13264732e-01 -1.84734891e-03 9.76992703e-01 1.01802301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:195.41, Z:101.81 [[ 1.26801445e-01 -9.91487009e-01 -2.95787742e-02 2.37503948e+02] [ 9.68761616e-01 1.30191919e-01 -2.11071068e-01 1.95408822e+02] [ 2.13125139e-01 -1.89066467e-03 9.77023081e-01 1.01807711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:195.44, Z:101.81 [[ 1.27215725e-01 -9.91437355e-01 -2.94640406e-02 2.37506201e+02] [ 9.68782034e-01 1.30571674e-01 -2.10742517e-01 1.95435876e+02] [ 2.12785173e-01 -1.73447119e-03 9.77097468e-01 1.01813190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:195.46, Z:101.82 [[ 1.29069682e-01 -9.91094023e-01 -3.27666604e-02 2.37509966e+02] [ 9.68607578e-01 1.33083188e-01 -2.09971964e-01 1.95459489e+02] [ 2.12462650e-01 -4.63702093e-03 9.77158186e-01 1.01819408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:195.49, Z:101.82 [[ 1.29523521e-01 -9.91266116e-01 -2.48021159e-02 2.37508346e+02] [ 9.68541213e-01 1.31835100e-01 -2.11062611e-01 1.95490524e+02] [ 2.12489004e-01 3.31570106e-03 9.77157832e-01 1.01822348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:195.52, Z:101.83 [[ 1.30166166e-01 -9.91060455e-01 -2.92565350e-02 2.37513278e+02] [ 9.68574027e-01 1.33409707e-01 -2.09919519e-01 1.95516113e+02] [ 2.11946040e-01 -1.01270098e-03 9.77280845e-01 1.01829606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.52, Y:195.54, Z:101.83 [[ 1.32227175e-01 -9.90789655e-01 -2.91862049e-02 2.37516261e+02] [ 9.68307105e-01 1.35409009e-01 -2.09870797e-01 1.95543695e+02] [ 2.11889890e-01 -5.10586948e-04 9.77293412e-01 1.01834489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:195.57, Z:101.84 [[ 1.32549320e-01 -9.90745820e-01 -2.92129746e-02 2.37518409e+02] [ 9.68126438e-01 1.35729787e-01 -2.10496139e-01 1.95569648e+02] [ 2.12513241e-01 -3.80732902e-04 9.77158113e-01 1.01841277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:195.60, Z:101.85 [[ 1.33028498e-01 -9.90683876e-01 -2.91354763e-02 2.37520594e+02] [ 9.68078350e-01 1.36181541e-01 -2.10425513e-01 1.95596100e+02] [ 2.12432877e-01 -2.12833794e-04 9.77175638e-01 1.01847074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:195.62, Z:101.85 [[ 1.33012536e-01 -9.90688529e-01 -2.90500387e-02 2.37523622e+02] [ 9.68117029e-01 1.36147770e-01 -2.10269358e-01 1.95623800e+02] [ 2.12266539e-01 -1.55376647e-04 9.77211795e-01 1.01852859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:195.65, Z:101.86 [[ 1.33293256e-01 -9.90650055e-01 -2.90753477e-02 2.37527347e+02] [ 9.67943294e-01 1.36427515e-01 -2.10886966e-01 1.95651090e+02] [ 2.12881862e-01 -3.34775695e-05 9.77077946e-01 1.01860588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:195.68, Z:101.86 [[ 1.32368799e-01 -9.90783301e-01 -2.87567739e-02 2.37528789e+02] [ 9.68485109e-01 1.35456331e-01 -2.09017166e-01 1.95678356e+02] [ 2.10986005e-01 -1.83156043e-04 9.77489065e-01 1.01864629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:195.71, Z:101.87 [[ 1.32513520e-01 -9.90757011e-01 -2.89950502e-02 2.37532565e+02] [ 9.67972110e-01 1.35648593e-01 -2.11256843e-01 1.95705334e+02] [ 2.13237336e-01 -7.20120982e-05 9.77000427e-01 1.01872472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:195.73, Z:101.88 [[ 1.30975322e-01 -9.90969518e-01 -2.87207065e-02 2.37533510e+02] [ 9.68563330e-01 1.34086817e-01 -2.09537110e-01 1.95732446e+02] [ 2.11495957e-01 -3.73632559e-04 9.77378801e-01 1.01875880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:195.76, Z:101.88 [[ 1.29382946e-01 -9.91181066e-01 -2.86382296e-02 2.37535960e+02] [ 9.68837975e-01 1.32512814e-01 -2.09268565e-01 1.95758897e+02] [ 2.11217971e-01 -6.70021068e-04 9.77438755e-01 1.01881166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.54, Y:195.79, Z:101.89 [[ 1.28059971e-01 -9.91353796e-01 -2.86058417e-02 2.37538813e+02] [ 9.68966178e-01 1.31213024e-01 -2.09493887e-01 1.95785162e+02] [ 2.11436020e-01 -8.90312017e-04 9.77391435e-01 1.01886684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.100385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:237.54, Y:195.81, Z:101.89 [[ 1.25957249e-01 -9.91623398e-01 -2.85973476e-02 2.37540825e+02] [ 9.69150691e-01 1.29156543e-01 -2.09917904e-01 1.95811937e+02] [ 2.11853040e-01 -1.27445751e-03 9.77300704e-01 1.01891883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.130385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:237.54, Y:195.84, Z:101.90 [[ 1.24581199e-01 -9.91795377e-01 -2.86610480e-02 2.37543050e+02] [ 9.69119705e-01 1.27826700e-01 -2.10872788e-01 1.95838318e+02] [ 2.12806303e-01 -1.50520163e-03 9.77093246e-01 1.01897510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.160385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:237.54, Y:195.86, Z:101.90 [[ 1.22076194e-01 -9.92102536e-01 -2.88090576e-02 2.37544285e+02] [ 9.69089172e-01 1.25413826e-01 -2.12455993e-01 1.95864110e+02] [ 2.14391184e-01 -1.98272675e-03 9.76745867e-01 1.01902874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.55, Y:195.89, Z:101.91 [[ 1.20498722e-01 -9.92294836e-01 -2.88273463e-02 2.37547016e+02] [ 9.69144073e-01 1.23878388e-01 -2.13105400e-01 1.95890848e+02] [ 2.15034473e-01 -2.25892352e-03 9.76603846e-01 1.01908442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.55, Y:195.92, Z:101.91 [[ 1.20223417e-01 -9.92330084e-01 -2.87634094e-02 2.37550508e+02] [ 9.69178257e-01 1.23595777e-01 -2.13114030e-01 1.95917787e+02] [ 2.15034499e-01 -2.25557412e-03 9.76603848e-01 1.01914151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:195.94, Z:101.92 [[ 1.18613916e-01 -9.92524059e-01 -2.87529304e-02 2.37553185e+02] [ 9.69293356e-01 1.22022573e-01 -2.13496797e-01 1.95943566e+02] [ 2.15409214e-01 -2.54633331e-03 9.76520551e-01 1.01919911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.56, Y:195.97, Z:101.93 [[ 1.17738913e-01 -9.92629658e-01 -2.87038491e-02 2.37555853e+02] [ 9.69370112e-01 1.21157869e-01 -2.13640718e-01 1.95970041e+02] [ 2.15543810e-01 -2.67082754e-03 9.76490519e-01 1.01926170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.56, Y:196.00, Z:101.93 [[ 1.16385389e-01 -9.92793645e-01 -2.85520440e-02 2.37556326e+02] [ 9.69681209e-01 1.19801439e-01 -2.12992886e-01 1.95996058e+02] [ 2.14878559e-01 -2.89712069e-03 9.76636479e-01 1.01931648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.54, Y:196.03, Z:101.91 [[ 1.12827418e-01 -9.93576575e-01 8.69272564e-03 2.37537196e+02] [ 9.71856053e-01 1.08531632e-01 -2.09085384e-01 1.96031161e+02] [ 2.06798904e-01 3.20386422e-02 9.77858752e-01 1.01910193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.58, Y:196.05, Z:101.96 [[ 1.13674771e-01 -9.91554319e-01 -6.24346031e-02 2.37575751e+02] [ 9.69865158e-01 1.24379867e-01 -2.09502327e-01 1.96045559e+02] [ 2.15498545e-01 -3.67380172e-02 9.75812838e-01 1.01955545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:196.08, Z:101.93 [[ 1.11633022e-01 -9.93738195e-01 -4.74006060e-03 2.37551122e+02] [ 9.71135411e-01 1.10103209e-01 -2.11597017e-01 1.96082798e+02] [ 2.10793934e-01 1.90179739e-02 9.77345504e-01 1.01930178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.58, Y:196.10, Z:101.96 [[ 1.11013412e-01 -9.92531308e-01 -5.05729615e-02 2.37576883e+02] [ 9.70136834e-01 1.19270441e-01 -2.11208631e-01 1.96100875e+02] [ 2.15663039e-01 -2.56157018e-02 9.76131799e-01 1.01964029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:237.57, Y:196.13, Z:101.96 [[ 1.10504460e-01 -9.93473057e-01 -2.82851452e-02 2.37567951e+02] [ 9.70269150e-01 1.14001970e-01 -2.13497841e-01 1.96130363e+02] [ 2.15328915e-01 -3.85174018e-03 9.76533984e-01 1.01961136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.490385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:237.57, Y:196.16, Z:101.97 [[ 1.10376852e-01 -9.93490062e-01 -2.81859351e-02 2.37569249e+02] [ 9.70341838e-01 1.13854997e-01 -2.13245765e-01 1.96158339e+02] [ 2.15066658e-01 -3.81259597e-03 9.76591930e-01 1.01966885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.520385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:237.57, Y:196.19, Z:101.97 [[ 1.11727595e-01 -9.93340677e-01 -2.81290443e-02 2.37569010e+02] [ 9.70181272e-01 1.15162128e-01 -2.13274433e-01 1.96186134e+02] [ 2.15093571e-01 -3.46163249e-03 9.76587309e-01 1.01972627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.57, Y:196.21, Z:101.98 [[ 1.12724411e-01 -9.93230728e-01 -2.80344202e-02 2.37571347e+02] [ 9.70123136e-01 1.16114528e-01 -2.13022342e-01 1.96212493e+02] [ 2.14835540e-01 -3.18402150e-03 9.76645050e-01 1.01978740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:196.24, Z:101.99 [[ 1.16025255e-01 -9.92854659e-01 -2.78884767e-02 2.37572972e+02] [ 9.69872233e-01 1.19305682e-01 -2.12400579e-01 1.96239186e+02] [ 2.14210158e-01 -2.40442778e-03 9.76784637e-01 1.01986193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:196.27, Z:101.99 [[ 1.19649261e-01 -9.92425795e-01 -2.78405411e-02 2.37572154e+02] [ 9.69409482e-01 1.22835652e-01 -2.12500962e-01 1.96265529e+02] [ 2.14311247e-01 -1.56330148e-03 9.76764171e-01 1.01991974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:196.29, Z:102.00 [[ 1.20883524e-01 -9.92278642e-01 -2.77537447e-02 2.37572879e+02] [ 9.69296410e-01 1.24022467e-01 -2.12327336e-01 1.96293649e+02] [ 2.14129969e-01 -1.23472842e-03 9.76804398e-01 1.01997117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.57, Y:196.32, Z:102.00 [[ 1.22005371e-01 -9.92141572e-01 -2.77451200e-02 2.37573966e+02] [ 9.69068681e-01 1.25116869e-01 -2.12724376e-01 1.96321351e+02] [ 2.14524080e-01 -9.33410452e-04 9.76718254e-01 1.02002446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.700385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.57, Y:196.35, Z:102.01 [[ 1.23059176e-01 -9.92010278e-01 -2.77857330e-02 2.37574056e+02] [ 9.68762644e-01 1.26155431e-01 -2.13503507e-01 1.96348229e+02] [ 2.15302994e-01 -6.44214475e-04 9.76547083e-01 1.02008031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.58, Y:196.38, Z:102.01 [[ 1.21228128e-01 -9.92234834e-01 -2.78168321e-02 2.37576529e+02] [ 9.68831202e-01 1.24374748e-01 -2.14235909e-01 1.96375820e+02] [ 2.16032043e-01 -9.78396664e-04 9.76385784e-01 1.02014166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.58, Y:196.40, Z:102.02 [[ 1.19438625e-01 -9.92452561e-01 -2.77908019e-02 2.37579461e+02] [ 9.68994810e-01 1.22622188e-01 -2.14506078e-01 1.96402974e+02] [ 2.16294875e-01 -1.30883168e-03 9.76327206e-01 1.02020076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.790385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:237.57, Y:196.44, Z:102.01 [[ 1.12019887e-01 -9.93685514e-01 -6.37527247e-03 2.37566457e+02] [ 9.71273877e-01 1.10844369e-01 -2.10572033e-01 1.96435201e+02] [ 2.09949042e-01 1.73961196e-02 9.77557556e-01 1.02005976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:196.46, Z:102.04 [[ 1.13500771e-01 -9.92456593e-01 -4.63409860e-02 2.37590942e+02] [ 9.69726940e-01 1.20810256e-01 -2.12213440e-01 1.96455807e+02] [ 2.16211094e-01 -2.08517135e-02 9.76123952e-01 1.02036149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.850385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.58, Y:196.49, Z:102.03 [[ 1.11807704e-01 -9.93342284e-01 -2.77514731e-02 2.37584478e+02] [ 9.69666206e-01 1.15166168e-01 -2.15601955e-01 1.96486045e+02] [ 2.17362569e-01 -2.80370604e-03 9.76086908e-01 1.02034230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.59, Y:196.51, Z:102.04 [[ 1.10036309e-01 -9.93548537e-01 -2.74465946e-02 2.37587156e+02] [ 9.70298749e-01 1.13364868e-01 -2.13702467e-01 1.96512723e+02] [ 2.15435253e-01 -3.11636571e-03 9.76513154e-01 1.02041597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.58, Y:196.54, Z:102.04 [[ 1.09528251e-01 -9.93774145e-01 -2.04085905e-02 2.37584478e+02] [ 9.70130968e-01 1.11348379e-01 -2.15516688e-01 1.96539502e+02] [ 2.16447376e-01 3.80616032e-03 9.76286867e-01 1.02043930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.59, Y:196.57, Z:102.05 [[ 1.08821660e-01 -9.93488186e-01 -3.37501273e-02 2.37593108e+02] [ 9.70594518e-01 1.13525083e-01 -2.12269492e-01 1.96566440e+02] [ 2.14718719e-01 -9.65817014e-03 9.76628175e-01 1.02054307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.970385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.59, Y:196.60, Z:102.06 [[ 1.09140190e-01 -9.93653795e-01 -2.72131356e-02 2.37592309e+02] [ 9.70511368e-01 1.12437902e-01 -2.13226176e-01 1.96595300e+02] [ 2.14932787e-01 -3.13911219e-03 9.76623798e-01 1.02057057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.58, Y:196.63, Z:102.04 [[ 1.04365757e-01 -9.94538745e-01 6.88001854e-04 2.37575478e+02] [ 9.72768472e-01 1.01937209e-01 -2.08159325e-01 1.96626366e+02] [ 2.06952381e-01 2.23939720e-02 9.78094690e-01 1.02038843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:196.65, Z:102.08 [[ 1.08677280e-01 -9.92732910e-01 -5.16780286e-02 2.37607445e+02] [ 9.70314912e-01 1.17234602e-01 -2.11530185e-01 1.96645915e+02] [ 2.16051429e-01 -2.71554367e-02 9.76004284e-01 1.02076033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:196.68, Z:102.07 [[ 1.08588845e-01 -9.93711934e-01 -2.72957154e-02 2.37596865e+02] [ 9.70161358e-01 1.11923290e-01 -2.15081649e-01 1.96676505e+02] [ 2.16784228e-01 -3.12578047e-03 9.76214540e-01 1.02072696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.090385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.60, Y:196.70, Z:102.08 [[ 1.07938710e-01 -9.93783244e-01 -2.72781886e-02 2.37599463e+02] [ 9.70156872e-01 1.11285922e-01 -2.15432329e-01 1.96704059e+02] [ 2.17128717e-01 -3.21063454e-03 9.76137701e-01 1.02078171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.59, Y:196.73, Z:102.06 [[ 1.01913395e-01 -9.94780187e-01 -5.10298428e-03 2.37585833e+02] [ 9.72569893e-01 1.00713586e-01 -2.09677315e-01 1.96732840e+02] [ 2.09096778e-01 1.64059182e-02 9.77757323e-01 1.02062321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.150385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.60, Y:196.76, Z:102.08 [[ 1.01930220e-01 -9.94488562e-01 -2.45505752e-02 2.37599140e+02] [ 9.72428835e-01 1.04811890e-01 -2.08318577e-01 1.96756854e+02] [ 2.09743634e-01 -2.63972892e-03 9.77752852e-01 1.02075390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:196.78, Z:102.10 [[ 1.06283379e-01 -9.93335220e-01 -4.45980380e-02 2.37616505e+02] [ 9.70324985e-01 1.13409605e-01 -2.13559560e-01 1.96781458e+02] [ 2.17194079e-01 -2.05767589e-02 9.75911538e-01 1.02100519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:196.81, Z:102.08 [[ 1.03433287e-01 -9.94597899e-01 -8.75069909e-03 2.37596988e+02] [ 9.72148769e-01 1.02951083e-01 -2.10541791e-01 1.96813136e+02] [ 2.10305317e-01 1.32700481e-02 9.77545692e-01 1.02082422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:196.84, Z:102.11 [[ 1.10556070e-01 -9.93001270e-01 -4.15431581e-02 2.37620000e+02] [ 9.70072462e-01 1.16906800e-01 -2.12819687e-01 1.96836531e+02] [ 2.16186897e-01 -1.67713655e-02 9.76207943e-01 1.02110780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:196.86, Z:102.11 [[ 1.11997546e-01 -9.93346270e-01 -2.68279240e-02 2.37615626e+02] [ 9.69961313e-01 1.15148141e-01 -2.14280089e-01 1.96864992e+02] [ 2.15943513e-01 -2.02320431e-03 9.76403762e-01 1.02111727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:196.89, Z:102.12 [[ 1.14423335e-01 -9.93190995e-01 -2.18848904e-02 2.37615869e+02] [ 9.69547455e-01 1.16446798e-01 -2.15448083e-01 1.96891310e+02] [ 2.16529521e-01 3.43384835e-03 9.76270032e-01 1.02115470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:196.92, Z:102.13 [[ 1.16250444e-01 -9.92752250e-01 -3.04763087e-02 2.37622971e+02] [ 9.69952972e-01 1.20076414e-01 -2.11596048e-01 1.96919606e+02] [ 2.13721938e-01 -4.96245177e-03 9.76881931e-01 1.02125178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:196.95, Z:102.13 [[ 1.17192412e-01 -9.92758014e-01 -2.64095376e-02 2.37623974e+02] [ 9.69884836e-01 1.20128727e-01 -2.11878490e-01 1.96947564e+02] [ 2.13516613e-01 -7.83658752e-04 9.76939119e-01 1.02129601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.390385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.63, Y:196.97, Z:102.13 [[ 1.17184573e-01 -9.92761714e-01 -2.63050483e-02 2.37627141e+02] [ 9.69964669e-01 1.20098506e-01 -2.11529879e-01 1.96974046e+02] [ 2.13157963e-01 -7.26928913e-04 9.77017479e-01 1.02134884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:197.00, Z:102.14 [[ 1.16865366e-01 -9.92905035e-01 -2.19562637e-02 2.37628582e+02] [ 9.69922937e-01 1.18857644e-01 -2.12420235e-01 1.97002099e+02] [ 2.13522791e-01 3.52868471e-03 9.76931710e-01 1.02138783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.64, Y:197.03, Z:102.15 [[ 1.16287839e-01 -9.92749521e-01 -3.04224782e-02 2.37635985e+02] [ 9.70117743e-01 1.20097549e-01 -2.10827282e-01 1.97027256e+02] [ 2.12952349e-01 -4.99673680e-03 9.77049809e-01 1.02147336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:197.06, Z:102.15 [[ 1.15355326e-01 -9.93085762e-01 -2.17673730e-02 2.37635086e+02] [ 9.69998859e-01 1.17340487e-01 -2.12916471e-01 1.97055804e+02] [ 2.13998509e-01 3.44672185e-03 9.76827906e-01 1.02149232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:197.08, Z:102.15 [[ 1.11177291e-01 -9.93452309e-01 -2.63081842e-02 2.37638632e+02] [ 9.71072456e-01 1.14225737e-01 -2.09692075e-01 1.97081241e+02] [ 2.11324148e-01 -2.23415630e-03 9.77413481e-01 1.02153196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.540385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.65, Y:197.11, Z:102.16 [[ 1.13418352e-01 -9.93142056e-01 -2.83748945e-02 2.37646081e+02] [ 9.70549732e-01 1.16857007e-01 -2.10660051e-01 1.97109079e+02] [ 2.12531162e-01 -3.64653041e-03 9.77147485e-01 1.02162878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:197.14, Z:102.15 [[ 1.07440444e-01 -9.94162887e-01 -9.83391418e-03 2.37634440e+02] [ 9.72015212e-01 1.07115024e-01 -2.09076061e-01 1.97135009e+02] [ 2.08909020e-01 1.29045106e-02 9.77849935e-01 1.02153045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:197.16, Z:102.17 [[ 1.08366939e-01 -9.93569448e-01 -3.28079111e-02 2.37651046e+02] [ 9.71462578e-01 1.12844797e-01 -2.08630081e-01 1.97159402e+02] [ 2.10990676e-01 -9.26305471e-03 9.77444183e-01 1.02169680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:197.19, Z:102.18 [[ 1.07145381e-01 -9.93939233e-01 -2.45899954e-02 2.37653976e+02] [ 9.71276473e-01 1.09923536e-01 -2.11042244e-01 1.97189189e+02] [ 2.12466185e-01 -1.27148236e-03 9.77167592e-01 1.02175036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:197.22, Z:102.19 [[ 1.08145916e-01 -9.93731760e-01 -2.83134281e-02 2.37664481e+02] [ 9.70805548e-01 1.11698994e-01 -2.12273227e-01 1.97217077e+02] [ 2.14105229e-01 -4.53035036e-03 9.76800096e-01 1.02186417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.67, Y:197.24, Z:102.19 [[ 1.06883901e-01 -9.93926495e-01 -2.61907443e-02 2.37667127e+02] [ 9.71030504e-01 1.10011409e-01 -2.12125553e-01 1.97244581e+02] [ 2.13718488e-01 -2.75920505e-03 9.76891394e-01 1.02191359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.720385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:237.67, Y:197.27, Z:102.20 [[ 1.04920222e-01 -9.94135353e-01 -2.62039343e-02 2.37670943e+02] [ 9.71116144e-01 1.08097686e-01 -2.12716538e-01 1.97271937e+02] [ 2.14301615e-01 -3.12879728e-03 9.76762524e-01 1.02195439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:197.30, Z:102.20 [[ 1.03363075e-01 -9.94300672e-01 -2.61198850e-02 2.37675546e+02] [ 9.71329531e-01 1.06557890e-01 -2.12519078e-01 1.97298176e+02] [ 2.14091142e-01 -3.40439019e-03 9.76807757e-01 1.02202578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.66, Y:197.33, Z:102.18 [[ 9.63465336e-02 -9.95326267e-01 6.55493403e-03 2.37655837e+02] [ 9.73782656e-01 9.28936177e-02 -2.07649019e-01 1.97326063e+02] [ 2.06069612e-01 2.63893443e-02 9.78181434e-01 1.02184084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.810385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:237.70, Y:197.35, Z:102.22 [[ 1.01154798e-01 -9.93446020e-01 -5.32232381e-02 2.37698329e+02] [ 9.71563598e-01 1.10155584e-01 -2.09594665e-01 1.97347153e+02] [ 2.14083822e-01 -3.05082548e-02 9.76338755e-01 1.02224019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.840385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:237.69, Y:197.38, Z:102.22 [[ 1.00946526e-01 -9.94551816e-01 -2.60093036e-02 2.37688937e+02] [ 9.71630558e-01 1.04172719e-01 -2.12325467e-01 1.97376224e+02] [ 2.13878139e-01 -3.83791595e-03 9.76852810e-01 1.02220052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:197.40, Z:102.23 [[ 1.00013820e-01 -9.94643901e-01 -2.60910933e-02 2.37692279e+02] [ 9.71461731e-01 1.03283997e-01 -2.13528735e-01 1.97403108e+02] [ 2.15079847e-01 -3.99067405e-03 9.76588314e-01 1.02226010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.69, Y:197.43, Z:102.23 [[ 1.00037234e-01 -9.94879192e-01 -1.44202939e-02 2.37689614e+02] [ 9.70573874e-01 1.00763347e-01 -2.18707802e-01 1.97430838e+02] [ 2.19040879e-01 7.88296313e-03 9.75683838e-01 1.02226964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.70, Y:197.46, Z:102.23 [[ 1.01393231e-01 -9.94654231e-01 -1.95543466e-02 2.37696008e+02] [ 9.69907330e-01 1.03205844e-01 -2.20518311e-01 1.97455698e+02] [ 2.21357594e-01 3.39316010e-03 9.75186804e-01 1.02233409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.70, Y:197.48, Z:102.24 [[ 1.03989511e-01 -9.94268403e-01 -2.48299074e-02 2.37702432e+02] [ 9.68973410e-01 1.06909111e-01 -2.22847420e-01 1.97479977e+02] [ 2.24224692e-01 -8.85725893e-04 9.74537071e-01 1.02241024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.990385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.72, Y:197.50, Z:102.25 [[ 1.05519260e-01 -9.93374222e-01 -4.55339604e-02 2.37715837e+02] [ 9.69769788e-01 1.12927487e-01 -2.16319071e-01 1.97504105e+02] [ 2.20027824e-01 -2.13316308e-02 9.75260334e-01 1.02254267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.020385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:237.71, Y:197.53, Z:102.25 [[ 1.07386642e-01 -9.93868400e-01 -2.63384292e-02 2.37710457e+02] [ 9.69498382e-01 1.10550553e-01 -2.18749770e-01 1.97532915e+02] [ 2.20320212e-01 -2.04426116e-03 9.75425459e-01 1.02253898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.050385723 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:237.70, Y:197.56, Z:102.25 [[ 1.06596890e-01 -9.94291362e-01 -4.66809239e-03 2.37701537e+02] [ 9.70806667e-01 1.05091415e-01 -2.15615886e-01 1.97563401e+02] [ 2.14875590e-01 1.84521676e-02 9.76467101e-01 1.02245292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.080385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:237.72, Y:197.59, Z:102.26 [[ 1.07982755e-01 -9.93659813e-01 -3.13033750e-02 2.37720671e+02] [ 9.70114580e-01 1.12201868e-01 -2.15147492e-01 1.97586413e+02] [ 2.17295713e-01 -7.13564164e-03 9.76079738e-01 1.02263773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.110385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:237.72, Y:197.62, Z:102.27 [[ 1.07747962e-01 -9.93914669e-01 -2.28912009e-02 2.37722921e+02] [ 9.70335143e-01 1.10148429e-01 -2.15213928e-01 1.97615100e+02] [ 2.16425710e-01 9.76725496e-04 9.76298601e-01 1.02267779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.140385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:237.73, Y:197.64, Z:102.27 [[ 1.07476697e-01 -9.93883867e-01 -2.53696375e-02 2.37727405e+02] [ 9.70319074e-01 1.10420237e-01 -2.15147080e-01 1.97642601e+02] [ 2.16632534e-01 -1.49334563e-03 9.76252076e-01 1.02274789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.170385723 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:237.73, Y:197.67, Z:102.28 [[ 1.05680098e-01 -9.94165732e-01 -2.15919831e-02 2.37729284e+02] [ 9.70847048e-01 1.07850550e-01 -2.14066038e-01 1.97669851e+02] [ 2.15145827e-01 1.66000679e-03 9.76580523e-01 1.02278339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.200385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:237.74, Y:197.69, Z:102.29 [[ 1.04430906e-01 -9.94109387e-01 -2.89950568e-02 2.37741189e+02] [ 9.70773805e-01 1.08227287e-01 -2.14208018e-01 1.97694268e+02] [ 2.16084257e-01 -5.77770424e-03 9.76357625e-01 1.02291001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.230385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:237.75, Y:197.72, Z:102.30 [[ 1.03097535e-01 -9.94225029e-01 -2.97907802e-02 2.37746660e+02] [ 9.70668847e-01 1.07104422e-01 -2.15245516e-01 1.97721287e+02] [ 2.17193203e-01 -6.72570015e-03 9.76105464e-01 1.02299311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.260385723 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:237.76, Y:197.75, Z:102.31 [[ 1.01633522e-01 -9.94144808e-01 -3.66977866e-02 2.37756652e+02] [ 9.70174446e-01 1.07208503e-01 -2.17411776e-01 1.97746804e+02] [ 2.20073103e-01 -1.35069304e-02 9.75389867e-01 1.02312482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.290385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:237.75, Y:197.78, Z:102.31 [[ 9.99447300e-02 -9.94738941e-01 -2.24831314e-02 2.37754228e+02] [ 9.70542701e-01 1.02442372e-01 -2.18065188e-01 1.97776079e+02] [ 2.19221159e-01 -2.63727936e-05 9.75675193e-01 1.02312349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.320385723 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:237.76, Y:197.80, Z:102.32 [[ 9.90048027e-02 -9.94774520e-01 -2.49339833e-02 2.37761384e+02] [ 9.70813611e-01 1.02060098e-01 -2.17036102e-01 1.97802985e+02] [ 2.18446749e-01 -2.71863391e-03 9.75845084e-01 1.02317993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.350385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:237.77, Y:197.83, Z:102.33 [[ 9.59774014e-02 -9.94969805e-01 -2.86953779e-02 2.37767804e+02] [ 9.70806794e-01 9.99353200e-02 -2.18052978e-01 1.97827816e+02] [ 2.19823810e-01 -6.92950963e-03 9.75514979e-01 1.02325948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.380385723 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:237.77, Y:197.85, Z:102.33 [[ 9.35950163e-02 -9.95131553e-01 -3.08733844e-02 2.37772928e+02] [ 9.70465259e-01 9.81125081e-02 -2.20388561e-01 1.97850858e+02] [ 2.22344676e-01 -9.33427604e-03 9.74923441e-01 1.02333958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.410385723 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:237.77, Y:197.88, Z:102.33 [[ 9.15621591e-02 -9.95658702e-01 -1.67367987e-02 2.37769413e+02] [ 9.70866632e-01 9.29945051e-02 -2.20839318e-01 1.97880568e+02] [ 2.21437019e-01 3.97132542e-03 9.75166588e-01 1.02331088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.440385723 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:237.78, Y:197.90, Z:102.35 [[ 9.22704501e-02 -9.95134214e-01 -3.45551720e-02 2.37783304e+02] [ 9.70224383e-01 9.76572942e-02 -2.21647693e-01 1.97904270e+02] [ 2.23943768e-01 -1.30747380e-02 9.74514361e-01 1.02347687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.470385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:237.78, Y:197.93, Z:102.34 [[ 8.99778245e-02 -9.95743263e-01 -1.99836233e-02 2.37779286e+02] [ 9.70732277e-01 9.21685681e-02 -2.21774214e-01 1.97930709e+02] [ 2.22672042e-01 5.56013214e-04 9.74893252e-01 1.02344988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.500385723 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:237.79, Y:197.96, Z:102.36 [[ 9.22505903e-02 -9.95286967e-01 -2.98944998e-02 2.37791786e+02] [ 9.69934227e-01 9.66098630e-02 -2.23369941e-01 1.97958067e+02] [ 2.25205295e-01 -8.38968960e-03 9.74275212e-01 1.02359439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.530385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:237.80, Y:197.98, Z:102.36 [[ 9.16443652e-02 -9.95448652e-01 -2.61398555e-02 2.37795302e+02] [ 9.69785809e-01 9.51802575e-02 -2.24624583e-01 1.97984435e+02] [ 2.26090236e-01 -4.76448359e-03 9.74094710e-01 1.02364871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.560385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:237.80, Y:198.01, Z:102.37 [[ 9.13851187e-02 -9.95473483e-01 -2.61018252e-02 2.37799686e+02] [ 9.69753673e-01 9.49203134e-02 -2.24873184e-01 1.98011308e+02] [ 2.26332885e-01 -4.76227820e-03 9.74038370e-01 1.02370906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.590385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:237.80, Y:198.04, Z:102.38 [[ 9.03645707e-02 -9.95568209e-01 -2.60419865e-02 2.37804932e+02] [ 9.69843637e-01 9.39127628e-02 -2.24908230e-01 1.98036306e+02] [ 2.26357159e-01 -4.93291923e-03 9.74031880e-01 1.02376657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.620385723 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:237.81, Y:198.06, Z:102.38 [[ 8.86008932e-02 -9.95793394e-01 -2.33537500e-02 2.37806008e+02] [ 9.70267275e-01 9.15839722e-02 -2.24039707e-01 1.98063313e+02] [ 2.25236090e-01 -2.80926118e-03 9.74300165e-01 1.02379819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.650385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:237.81, Y:198.09, Z:102.39 [[ 8.87980480e-02 -9.95818125e-01 -2.14748264e-02 2.37811332e+02] [ 9.69888582e-01 9.13545412e-02 -2.25766441e-01 1.98090303e+02] [ 2.26784137e-01 -7.80569650e-04 9.73944735e-01 1.02386926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.680385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:237.82, Y:198.12, Z:102.40 [[ 8.90131718e-02 -9.95540407e-01 -3.12402582e-02 2.37821025e+02] [ 9.70200013e-01 9.37587360e-02 -2.23430603e-01 1.98116612e+02] [ 2.25363241e-01 -1.04210322e-02 9.74219078e-01 1.02397575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.710385723 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:237.82, Y:198.14, Z:102.40 [[ 8.71345225e-02 -9.95929106e-01 -2.30822509e-02 2.37818559e+02] [ 9.70562749e-01 9.00920156e-02 -2.23363780e-01 1.98143903e+02] [ 2.24534016e-01 -2.94007661e-03 9.74461816e-01 1.02398071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.740385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:237.83, Y:198.17, Z:102.41 [[ 8.82313015e-02 -9.95562598e-01 -3.27162063e-02 2.37827677e+02] [ 9.69824392e-01 9.33516018e-02 -2.25224616e-01 1.98169483e+02] [ 2.27279314e-01 -1.18571139e-02 9.73757425e-01 1.02411010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.770385723 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:237.82, Y:198.20, Z:102.41 [[ 8.93973928e-02 -9.95850087e-01 -1.70502077e-02 2.37824061e+02] [ 9.70123577e-01 9.09388911e-02 -2.24923019e-01 1.98198962e+02] [ 2.25540135e-01 3.56672296e-03 9.74227348e-01 1.02408522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.800385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:237.84, Y:198.22, Z:102.42 [[ 9.01660388e-02 -9.95389131e-01 -3.27194785e-02 2.37835282e+02] [ 9.69914095e-01 9.52232301e-02 -2.24051745e-01 1.98223773e+02] [ 2.26134326e-01 -1.15332251e-02 9.74027849e-01 1.02423510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.830385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:237.83, Y:198.25, Z:102.42 [[ 8.95807926e-02 -9.95883395e-01 -1.38399924e-02 2.37827942e+02] [ 9.70696953e-01 9.04094733e-02 -2.22651190e-01 1.98253153e+02] [ 2.22985890e-01 6.51083163e-03 9.74799929e-01 1.02417220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.860385723 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:237.84, Y:198.28, Z:102.43 [[ 9.07313876e-02 -9.95483934e-01 -2.79204830e-02 2.37838769e+02] [ 9.70285664e-01 9.46799686e-02 -2.22668890e-01 1.98278534e+02] [ 2.24306813e-01 -6.88778706e-03 9.74494234e-01 1.02429577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.890385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:237.84, Y:198.31, Z:102.43 [[ 8.82063904e-02 -9.95890614e-01 -2.05308796e-02 2.37836949e+02] [ 9.70733219e-01 9.05637239e-02 -2.22430280e-01 1.98305168e+02] [ 2.23375581e-01 -3.10234807e-04 9.74732401e-01 1.02430939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.920385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:237.84, Y:198.33, Z:102.44 [[ 8.82931007e-02 -9.95797137e-01 -2.43390668e-02 2.37843318e+02] [ 9.70607228e-01 9.15002817e-02 -2.22596739e-01 1.98332102e+02] [ 2.23888226e-01 -3.96991793e-03 9.74606742e-01 1.02439131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.950385723 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:237.85, Y:198.36, Z:102.45 [[ 8.56166233e-02 -9.96020484e-01 -2.47586396e-02 2.37847438e+02] [ 9.70915331e-01 8.89837828e-02 -2.22273045e-01 1.98357665e+02] [ 2.23591623e-01 -5.00827520e-03 9.74670049e-01 1.02445492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.980385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:237.84, Y:198.39, Z:102.44 [[ 8.29687730e-02 -9.96499851e-01 -1.02093388e-02 2.37842389e+02] [ 9.70999315e-01 8.31421572e-02 -2.24160016e-01 1.98385189e+02] [ 2.24224249e-01 8.68502056e-03 9.74498875e-01 1.02442507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.010385723 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:237.86, Y:198.41, Z:102.46 [[ 8.13733249e-02 -9.96055400e-01 -3.53839262e-02 2.37858995e+02] [ 9.71871841e-01 8.71697396e-02 -2.18784279e-01 1.98410197e+02] [ 2.21005670e-01 -1.65854373e-02 9.75131487e-01 1.02460462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.040385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:237.85, Y:198.44, Z:102.45 [[ 7.89259004e-02 -9.96792585e-01 -1.32380367e-02 2.37849715e+02] [ 9.72610902e-01 7.99099812e-02 -2.18271454e-01 1.98438828e+02] [ 2.18629218e-01 4.35181226e-03 9.75798302e-01 1.02452812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.070385723 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:237.85, Y:198.46, Z:102.46 [[ 7.76424707e-02 -9.96861771e-01 -1.54355478e-02 2.37852219e+02] [ 9.73318643e-01 7.91436916e-02 -2.15376636e-01 1.98464364e+02] [ 2.15922361e-01 1.69866774e-03 9.76409058e-01 1.02456471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.100385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:237.87, Y:198.49, Z:102.49 [[ 7.96243029e-02 -9.95756607e-01 -4.61383762e-02 2.37872896e+02] [ 9.71868733e-01 8.78397268e-02 -2.18529969e-01 1.98488677e+02] [ 2.21655443e-01 -2.74401488e-02 9.74738890e-01 1.02485885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.130385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:237.86, Y:198.52, Z:102.48 [[ 8.07650479e-02 -9.96426608e-01 -2.47188522e-02 2.37864628e+02] [ 9.71677650e-01 8.42361970e-02 -2.20786794e-01 1.98519209e+02] [ 2.22080058e-01 -6.18690031e-03 9.75008805e-01 1.02483169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.160385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:237.87, Y:198.54, Z:102.49 [[ 8.14784064e-02 -9.96370263e-01 -2.46489190e-02 2.37866616e+02] [ 9.71633553e-01 8.49158971e-02 -2.20720478e-01 1.98544367e+02] [ 2.22012405e-01 -5.96576395e-03 9.75025590e-01 1.02488550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:237.87, Y:198.57, Z:102.49 [[ 8.39914614e-02 -9.96161537e-01 -2.46501032e-02 2.37867005e+02] [ 9.71264287e-01 8.73704809e-02 -2.21386728e-01 1.98572205e+02] [ 2.22690634e-01 -5.34717012e-03 9.74874499e-01 1.02493972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.220385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:237.85, Y:198.61, Z:102.47 [[ 8.17314336e-02 -9.96621586e-01 8.08624016e-03 2.37848867e+02] [ 9.73430073e-01 7.80829866e-02 -2.15260168e-01 1.98605131e+02] [ 2.13901532e-01 2.54649115e-02 9.76523258e-01 1.02473080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.87, Y:198.63, Z:102.49 [[ 8.29561970e-02 -9.96300739e-01 -2.24300494e-02 2.37865564e+02] [ 9.73639720e-01 8.58270368e-02 -2.11327742e-01 1.98627943e+02] [ 2.12471090e-01 -4.30784123e-03 9.77157857e-01 1.02489319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:198.65, Z:102.52 [[ 8.64389608e-02 -9.94814758e-01 -5.35901495e-02 2.37886608e+02] [ 9.71319002e-01 9.61134612e-02 -2.17489306e-01 1.98650448e+02] [ 2.21512306e-01 -3.32535810e-02 9.74590426e-01 1.02522427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:198.68, Z:102.52 [[ 8.66049573e-02 -9.95945012e-01 -2.43539314e-02 2.37874681e+02] [ 9.71102599e-01 8.98513692e-02 -2.21102859e-01 1.98681473e+02] [ 2.22394524e-01 -4.50156246e-03 9.74946364e-01 1.02516941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:237.88, Y:198.71, Z:102.52 [[ 8.62067857e-02 -9.95981917e-01 -2.42571777e-02 2.37876818e+02] [ 9.71209234e-01 8.94402131e-02 -2.20800977e-01 1.98707984e+02] [ 2.22083347e-01 -4.52425245e-03 9.75017189e-01 1.02522368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:237.88, Y:198.74, Z:102.53 [[ 8.57926525e-02 -9.96020167e-01 -2.41546763e-02 2.37878824e+02] [ 9.71322880e-01 8.90120936e-02 -2.20473832e-01 1.98735570e+02] [ 2.21746441e-01 -4.54695484e-03 9.75093760e-01 1.02528306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:198.76, Z:102.53 [[ 8.56970378e-02 -9.96032626e-01 -2.39797036e-02 2.37879625e+02] [ 9.71569779e-01 8.88753286e-02 -2.19438693e-01 1.98763503e+02] [ 2.20699302e-01 -4.49270937e-03 9.75331551e-01 1.02534016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.86, Y:198.79, Z:102.51 [[ 8.11506470e-02 -9.96608510e-01 1.36400567e-02 2.37858058e+02] [ 9.74175824e-01 7.64161069e-02 -2.12466568e-01 1.98794128e+02] [ 2.10703669e-01 3.05296129e-02 9.77073133e-01 1.02510091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.90, Y:198.81, Z:102.56 [[ 8.57036469e-02 -9.94723218e-01 -5.63968458e-02 2.37898880e+02] [ 9.71687039e-01 9.59599759e-02 -2.15907343e-01 1.98812362e+02] [ 2.20179887e-01 -3.62960375e-02 9.74783779e-01 1.02558159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.490385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:237.87, Y:198.85, Z:102.53 [[ 8.14170763e-02 -9.96650562e-01 7.67579327e-03 2.37865186e+02] [ 9.73711040e-01 7.78945724e-02 -2.14054309e-01 1.98848210e+02] [ 2.12739444e-01 2.49016806e-02 9.76791603e-01 1.02525829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:198.87, Z:102.54 [[ 8.11054094e-02 -9.96596537e-01 -1.47395844e-02 2.37875357e+02] [ 9.74058510e-01 8.23884185e-02 -2.10765671e-01 1.98871237e+02] [ 2.11262708e-01 2.73701837e-03 9.77425484e-01 1.02536803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.550385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:237.90, Y:198.90, Z:102.57 [[ 8.42955601e-02 -9.95369514e-01 -4.61929516e-02 2.37897375e+02] [ 9.72500183e-01 9.22826363e-02 -2.13839446e-01 1.98896471e+02] [ 2.17112073e-01 -2.68969381e-02 9.75776052e-01 1.02565743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.89, Y:198.92, Z:102.57 [[ 8.45633651e-02 -9.95893791e-01 -3.23201767e-02 2.37892040e+02] [ 9.72024847e-01 8.95830060e-02 -2.17123425e-01 1.98923757e+02] [ 2.19127209e-01 -1.30553274e-02 9.75608951e-01 1.02571373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:198.95, Z:102.56 [[ 8.05220906e-02 -9.96713955e-01 -8.80252753e-03 2.37880285e+02] [ 9.73581212e-01 8.05402488e-02 -2.13665372e-01 1.98953724e+02] [ 2.13672216e-01 8.63480706e-03 9.76867250e-01 1.02561971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.90, Y:198.98, Z:102.58 [[ 8.24743659e-02 -9.95954350e-01 -3.56778967e-02 2.37897617e+02] [ 9.72239572e-01 8.82732953e-02 -2.16698037e-01 1.98977071e+02] [ 2.18970758e-01 -1.68154299e-02 9.75586515e-01 1.02584918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:199.01, Z:102.58 [[ 7.95519987e-02 -9.96754826e-01 -1.23002331e-02 2.37885774e+02] [ 9.73181894e-01 8.03306293e-02 -2.15555078e-01 1.99006302e+02] [ 2.15843649e-01 5.17747307e-03 9.76414212e-01 1.02575583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:199.03, Z:102.59 [[ 8.26214821e-02 -9.96049666e-01 -3.25384836e-02 2.37898892e+02] [ 9.72026452e-01 8.77458941e-02 -2.17865177e-01 1.99031897e+02] [ 2.19859655e-01 -1.36279229e-02 9.75436319e-01 1.02594142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:199.06, Z:102.60 [[ 8.30000168e-02 -9.96276595e-01 -2.33226003e-02 2.37897047e+02] [ 9.71960534e-01 8.60966526e-02 -2.18815189e-01 1.99060607e+02] [ 2.20008449e-01 -4.50698263e-03 9.75487555e-01 1.02596678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:199.09, Z:102.60 [[ 8.45972924e-02 -9.96144540e-01 -2.32239817e-02 2.37898448e+02] [ 9.71900623e-01 8.76318029e-02 -2.18471613e-01 1.99087573e+02] [ 2.19664464e-01 -4.08929530e-03 9.75566913e-01 1.02602012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.790385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:237.90, Y:199.11, Z:102.61 [[ 8.49233487e-02 -9.96114795e-01 -2.33096727e-02 2.37899177e+02] [ 9.71588187e-01 8.79739261e-02 -2.19720240e-01 1.99114973e+02] [ 2.20917226e-01 -3.98802398e-03 9.75284407e-01 1.02606550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.90, Y:199.14, Z:102.61 [[ 8.82337174e-02 -9.95829955e-01 -2.31843183e-02 2.37900763e+02] [ 9.71429127e-01 9.11731120e-02 -2.19118494e-01 1.99141766e+02] [ 2.20318547e-01 -3.18828280e-03 9.75422766e-01 1.02612528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:199.17, Z:102.62 [[ 8.93508011e-02 -9.95730763e-01 -2.31664069e-02 2.37903138e+02] [ 9.71265833e-01 9.22596766e-02 -2.19387405e-01 1.99168782e+02] [ 2.20588113e-01 -2.89829913e-03 9.75362745e-01 1.02618016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.90, Y:199.20, Z:102.62 [[ 9.06559220e-02 -9.95614862e-01 -2.30770731e-02 2.37904811e+02] [ 9.71202663e-01 9.35123676e-02 -2.19136542e-01 1.99195301e+02] [ 2.20333590e-01 -2.54648951e-03 9.75421255e-01 1.02623771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.91, Y:199.22, Z:102.63 [[ 9.06213719e-02 -9.95622147e-01 -2.28977484e-02 2.37906611e+02] [ 9.71452556e-01 9.34364657e-02 -2.18058611e-01 1.99221155e+02] [ 2.19243467e-01 -2.48330578e-03 9.75667021e-01 1.02629315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.940385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:237.91, Y:199.25, Z:102.63 [[ 9.03314888e-02 -9.95650828e-01 -2.27958348e-02 2.37907329e+02] [ 9.71546091e-01 9.31305532e-02 -2.17772574e-01 1.99248126e+02] [ 2.18948432e-01 -2.47548332e-03 9.75733291e-01 1.02634035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.970385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.91, Y:199.28, Z:102.64 [[ 9.02689972e-02 -9.95658765e-01 -2.26965363e-02 2.37910320e+02] [ 9.71621844e-01 9.30470862e-02 -2.17470072e-01 1.99275840e+02] [ 2.18637830e-01 -2.42164510e-03 9.75803072e-01 1.02640282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.91, Y:199.30, Z:102.65 [[ 8.96207741e-02 -9.95717816e-01 -2.26748389e-02 2.37913399e+02] [ 9.71596500e-01 9.24107613e-02 -2.17854290e-01 1.99302672e+02] [ 2.19016797e-01 -2.50652395e-03 9.75717869e-01 1.02646000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.92, Y:199.33, Z:102.65 [[ 8.93677153e-02 -9.95741935e-01 -2.26143718e-02 2.37916188e+02] [ 9.71619802e-01 9.21506050e-02 -2.17860568e-01 1.99330467e+02] [ 2.19016831e-01 -2.50287027e-03 9.75717871e-01 1.02652021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.92, Y:199.36, Z:102.66 [[ 8.78174650e-02 -9.95881008e-01 -2.25634930e-02 2.37919519e+02] [ 9.71748490e-01 9.06269466e-02 -2.17925740e-01 1.99357104e+02] [ 2.19072966e-01 -2.78835419e-03 9.75704495e-01 1.02658234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.92, Y:199.38, Z:102.66 [[ 8.64410814e-02 -9.96003542e-01 -2.24696095e-02 2.37921875e+02] [ 9.71938281e-01 8.92624682e-02 -2.17642346e-01 1.99383444e+02] [ 2.18778240e-01 -3.02583392e-03 9.75769914e-01 1.02664023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.92, Y:199.41, Z:102.67 [[ 8.50825523e-02 -9.96123662e-01 -2.23295677e-02 2.37923820e+02] [ 9.72219240e-01 8.79038006e-02 -2.16939325e-01 1.99409644e+02] [ 2.18061249e-01 -3.25148389e-03 9.75929670e-01 1.02669474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.150385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.93, Y:199.44, Z:102.68 [[ 8.30033595e-02 -9.96300760e-01 -2.22539306e-02 2.37926087e+02] [ 9.72420816e-01 8.58576852e-02 -2.16855287e-01 1.99435319e+02] [ 2.17963758e-01 -3.64046801e-03 9.75950074e-01 1.02675589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.93, Y:199.46, Z:102.68 [[ 8.23931679e-02 -9.96351532e-01 -2.22483901e-02 2.37929180e+02] [ 9.72370367e-01 8.52626791e-02 -2.17315772e-01 1.99461629e+02] [ 2.18419860e-01 -3.72834036e-03 9.75847767e-01 1.02681490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.210385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.93, Y:199.49, Z:102.69 [[ 8.19068851e-02 -9.96390207e-01 -2.23118237e-02 2.37932096e+02] [ 9.72123491e-01 8.48069917e-02 -2.18594811e-01 1.99486641e+02] [ 2.19697928e-01 -3.78542788e-03 9.75560603e-01 1.02687329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.93, Y:199.51, Z:102.69 [[ 8.16700569e-02 -9.96410528e-01 -2.22724488e-02 2.37934808e+02] [ 9.72076540e-01 8.45684483e-02 -2.18895814e-01 1.99512672e+02] [ 2.19993640e-01 -3.77329137e-03 9.75494009e-01 1.02693288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.94, Y:199.54, Z:102.70 [[ 8.21533661e-02 -9.96374020e-01 -2.21277354e-02 2.37937326e+02] [ 9.72213729e-01 8.50052700e-02 -2.18115953e-01 1.99538154e+02] [ 2.19206043e-01 -3.59392846e-03 9.75671971e-01 1.02699553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.300385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:237.94, Y:199.57, Z:102.71 [[ 8.19481277e-02 -9.96390874e-01 -2.21298714e-02 2.37938982e+02] [ 9.72073680e-01 8.48080665e-02 -2.18815798e-01 1.99565838e+02] [ 2.19902855e-01 -3.58032054e-03 9.75515205e-01 1.02705610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:199.59, Z:102.71 [[ 8.26520651e-02 -9.96335210e-01 -2.20178380e-02 2.37941232e+02] [ 9.72125745e-01 8.54685126e-02 -2.18326978e-01 1.99592102e+02] [ 2.19408687e-01 -3.35893160e-03 9.75627258e-01 1.02712115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.94, Y:199.62, Z:102.72 [[ 8.25406802e-02 -9.96343934e-01 -2.20409209e-02 2.37944652e+02] [ 9.71977943e-01 8.53673092e-02 -2.19023518e-01 1.99619472e+02] [ 2.20104328e-01 -3.34493879e-03 9.75470603e-01 1.02718750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:199.65, Z:102.73 [[ 8.23361244e-02 -9.96360749e-01 -2.20458552e-02 2.37948206e+02] [ 9.71841484e-01 8.51711908e-02 -2.19704343e-01 1.99645377e+02] [ 2.20782455e-01 -3.33547254e-03 9.75317375e-01 1.02725839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.95, Y:199.67, Z:102.73 [[ 8.15968190e-02 -9.96423060e-01 -2.19782742e-02 2.37950599e+02] [ 9.71908187e-01 8.44351174e-02 -2.19693392e-01 1.99672321e+02] [ 2.20763300e-01 -3.43458271e-03 9.75321367e-01 1.02731898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.95, Y:199.70, Z:102.74 [[ 8.07733422e-02 -9.96492281e-01 -2.18815429e-02 2.37952806e+02] [ 9.72057560e-01 8.36092906e-02 -2.19348096e-01 1.99698666e+02] [ 2.20408185e-01 -3.55264038e-03 9.75401256e-01 1.02738124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.95, Y:199.72, Z:102.74 [[ 8.01958493e-02 -9.96540266e-01 -2.18202801e-02 2.37954749e+02] [ 9.72096965e-01 8.30326186e-02 -2.19392514e-01 1.99724890e+02] [ 2.20445269e-01 -3.61705907e-03 9.75392639e-01 1.02744242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.96, Y:199.75, Z:102.75 [[ 7.85645306e-02 -9.96683213e-01 -2.12176152e-02 2.37956108e+02] [ 9.72169990e-01 8.13095737e-02 -2.19714050e-01 1.99754533e+02] [ 2.20710500e-01 -3.36539755e-03 9.75333558e-01 1.02750538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.96, Y:199.78, Z:102.76 [[ 7.72154212e-02 -9.96694041e-01 -2.52738316e-02 2.37961502e+02] [ 9.72533273e-01 8.08782312e-02 -2.18260729e-01 1.99782916e+02] [ 2.19583271e-01 -7.72654808e-03 9.75563164e-01 1.02757944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.96, Y:199.81, Z:102.76 [[ 7.69531646e-02 -9.96780007e-01 -2.25350579e-02 2.37962950e+02] [ 9.72388892e-01 8.00261316e-02 -2.19216013e-01 1.99810452e+02] [ 2.20313532e-01 -5.04347404e-03 9.75416071e-01 1.02762794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.96, Y:199.83, Z:102.77 [[ 7.66708899e-02 -9.96761152e-01 -2.42647974e-02 2.37963591e+02] [ 9.71909138e-01 8.01462737e-02 -2.21289861e-01 1.99831789e+02] [ 2.22517870e-01 -6.61668779e-03 9.74906158e-01 1.02769369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:199.87, Z:102.75 [[ 7.19811825e-02 -9.97405578e-01 9.06752430e-04 2.37952999e+02] [ 9.74173739e-01 7.01094461e-02 -2.14639678e-01 1.99866275e+02] [ 2.14019240e-01 1.63333522e-02 9.76692882e-01 1.02753988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:199.89, Z:102.77 [[ 6.78996100e-02 -9.97312273e-01 -2.75294810e-02 2.37965975e+02] [ 9.74562754e-01 7.22072682e-02 -2.12163968e-01 1.99886060e+02] [ 2.13581558e-01 -1.24233561e-02 9.76846241e-01 1.02769098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:199.91, Z:102.78 [[ 6.90646512e-02 -9.97311305e-01 -2.44996797e-02 2.37969023e+02] [ 9.73569131e-01 7.27389626e-02 -2.16499862e-01 1.99913925e+02] [ 2.17699841e-01 -8.89964445e-03 9.75975192e-01 1.02778511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:199.94, Z:102.78 [[ 6.96358206e-02 -9.97379874e-01 -1.96020039e-02 2.37969223e+02] [ 9.73436873e-01 7.22341135e-02 -2.17262253e-01 1.99940785e+02] [ 2.18108932e-01 -3.95207811e-03 9.75916428e-01 1.02782219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.98, Y:199.96, Z:102.80 [[ 7.26665636e-02 -9.96707050e-01 -3.59809161e-02 2.37979323e+02] [ 9.71761381e-01 7.88761768e-02 -2.22392374e-01 1.99961262e+02] [ 2.24498084e-01 -1.88043751e-02 9.74293080e-01 1.02804391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:199.99, Z:102.80 [[ 7.19816899e-02 -9.97305521e-01 -1.41539167e-02 2.37972184e+02] [ 9.72399854e-01 7.33276357e-02 -2.21498491e-01 1.99993842e+02] [ 2.21939541e-01 2.18056915e-03 9.75057991e-01 1.02800118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.810385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.98, Y:200.02, Z:102.81 [[ 7.19179464e-02 -9.97123546e-01 -2.39257949e-02 2.37977143e+02] [ 9.72674433e-01 7.54233468e-02 -2.19580890e-01 2.00018807e+02] [ 2.20753839e-01 -7.48020232e-03 9.75300871e-01 1.02809881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.98, Y:200.05, Z:102.81 [[ 7.15202890e-02 -9.97230036e-01 -2.04231154e-02 2.37976613e+02] [ 9.72821572e-01 7.42614798e-02 -2.19324923e-01 2.00046061e+02] [ 2.20234052e-01 -4.18186540e-03 9.75438094e-01 1.02814050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.870385723 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:237.98, Y:200.07, Z:102.82 [[ 7.44514660e-02 -9.97085857e-01 -1.66364829e-02 2.37976792e+02] [ 9.72718774e-01 7.62874617e-02 -2.19085396e-01 2.00073167e+02] [ 2.19716105e-01 1.28609645e-04 9.75563846e-01 1.02818094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:200.10, Z:102.83 [[ 7.43488144e-02 -9.96752802e-01 -3.09209717e-02 2.37984640e+02] [ 9.72218752e-01 7.93502109e-02 -2.20214082e-01 2.00097132e+02] [ 2.21952589e-01 -1.36892927e-02 9.74961359e-01 1.02831947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.930385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.98, Y:200.12, Z:102.83 [[ 7.73788010e-02 -9.96660540e-01 -2.60823709e-02 2.37983114e+02] [ 9.71951969e-01 8.12362343e-02 -2.20703521e-01 2.00119728e+02] [ 2.22085324e-01 -8.27303794e-03 9.74992136e-01 1.02834582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.960385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:237.98, Y:200.15, Z:102.84 [[ 7.75974859e-02 -9.96765403e-01 -2.09131919e-02 2.37982554e+02] [ 9.71925942e-01 8.03038983e-02 -2.21158872e-01 2.00146425e+02] [ 2.22122923e-01 -3.16470135e-03 9.75013534e-01 1.02838013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:200.17, Z:102.84 [[ 7.64950005e-02 -9.96853359e-01 -2.07820754e-02 2.37984094e+02] [ 9.72165044e-01 7.91975431e-02 -2.20505954e-01 2.00173413e+02] [ 2.21457990e-01 -3.33600422e-03 9.75164207e-01 1.02844068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:200.20, Z:102.85 [[ 7.49461449e-02 -9.96972610e-01 -2.07048471e-02 2.37986430e+02] [ 9.72324928e-01 7.76693400e-02 -2.20344523e-01 2.00199393e+02] [ 2.21285586e-01 -3.61786643e-03 9.75202338e-01 1.02849919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:200.23, Z:102.86 [[ 7.13360143e-02 -9.97239206e-01 -2.06189062e-02 2.37988367e+02] [ 9.72696754e-01 7.41275324e-02 -2.19923019e-01 2.00225495e+02] [ 2.20844285e-01 -4.36751151e-03 9.75299301e-01 1.02856467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:200.25, Z:102.85 [[ 6.98220654e-02 -9.97517963e-01 -9.09906540e-03 2.37983790e+02] [ 9.72661107e-01 7.01016978e-02 -2.21395853e-01 2.00253814e+02] [ 2.21484200e-01 6.60800869e-03 9.75141571e-01 1.02854883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.110385723 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:237.99, Y:200.28, Z:102.86 [[ 6.76429624e-02 -9.97570006e-01 -1.66886910e-02 2.37988353e+02] [ 9.72550604e-01 6.96606958e-02 -2.22019618e-01 2.00278279e+02] [ 2.22642658e-01 -1.21253182e-03 9.74899368e-01 1.02861892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:200.30, Z:102.87 [[ 6.61853419e-02 -9.97534777e-01 -2.33210068e-02 2.37992792e+02] [ 9.72516954e-01 6.97189709e-02 -2.22148686e-01 2.00303840e+02] [ 2.23226956e-01 -7.97708783e-03 9.74733857e-01 1.02870552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.170385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:237.99, Y:200.33, Z:102.87 [[ 6.48769741e-02 -9.97761284e-01 -1.62295640e-02 2.37989736e+02] [ 9.72652503e-01 6.68624310e-02 -2.22433188e-01 2.00331068e+02] [ 2.23020371e-01 -1.35493393e-03 9.74812843e-01 1.02872647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.200385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:237.98, Y:200.36, Z:102.87 [[ 6.26262835e-02 -9.98011876e-01 -7.08835770e-03 2.37984132e+02] [ 9.73678740e-01 6.26558172e-02 -2.19143695e-01 2.00359552e+02] [ 2.19152137e-01 6.82237199e-03 9.75666847e-01 1.02868384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.230385723 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:237.99, Y:200.38, Z:102.88 [[ 6.48360445e-02 -9.97610038e-01 -2.38851477e-02 2.37993797e+02] [ 9.72655696e-01 6.85273249e-02 -2.21911926e-01 2.00381486e+02] [ 2.23018350e-01 -8.84413343e-03 9.74774126e-01 1.02883911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.260385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:237.99, Y:200.41, Z:102.89 [[ 6.66678462e-02 -9.97532807e-01 -2.19931165e-02 2.37994870e+02] [ 9.72344617e-01 6.98976467e-02 -2.22845834e-01 2.00407552e+02] [ 2.23833297e-01 -6.52823664e-03 9.74605580e-01 1.02889716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.290385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.99, Y:200.44, Z:102.88 [[ 6.67893082e-02 -9.97731875e-01 -8.38411529e-03 2.37987944e+02] [ 9.73417701e-01 6.70021326e-02 -2.19017565e-01 2.00436601e+02] [ 2.19082560e-01 6.46678544e-03 9.75684894e-01 1.02884784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.320385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.99, Y:200.46, Z:102.89 [[ 6.73723207e-02 -9.97593398e-01 -1.63823935e-02 2.37993536e+02] [ 9.73277795e-01 6.93251951e-02 -2.18916312e-01 2.00460717e+02] [ 2.19525180e-01 -1.19571979e-03 9.75606102e-01 1.02893688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:200.49, Z:102.90 [[ 6.88541471e-02 -9.97527094e-01 -1.40997895e-02 2.37995914e+02] [ 9.73210883e-01 7.02699974e-02 -2.18912549e-01 2.00488709e+02] [ 2.19361991e-01 1.35096829e-03 9.75642604e-01 1.02899625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.380385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.00, Y:200.52, Z:102.91 [[ 6.88728689e-02 -9.97467988e-01 -1.77240431e-02 2.38000951e+02] [ 9.73059074e-01 7.10846650e-02 -2.19323983e-01 2.00516529e+02] [ 2.20028559e-01 -2.14106909e-03 9.75491081e-01 1.02908551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:200.54, Z:102.92 [[ 6.92654141e-02 -9.97378769e-01 -2.09258927e-02 2.38006005e+02] [ 9.72642783e-01 7.21803036e-02 -2.20807656e-01 2.00542900e+02] [ 2.21739305e-01 -5.05908485e-03 9.75092860e-01 1.02917883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:200.57, Z:102.92 [[ 6.85439297e-02 -9.97539289e-01 -1.47342215e-02 2.38005495e+02] [ 9.73252203e-01 7.01066134e-02 -2.18781199e-01 2.00571309e+02] [ 2.19275808e-01 6.56009633e-04 9.75662693e-01 1.02920600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:200.60, Z:102.93 [[ 6.74305711e-02 -9.97384623e-01 -2.60198461e-02 2.38013128e+02] [ 9.73146541e-01 7.14999761e-02 -2.18800281e-01 2.00595654e+02] [ 2.20088454e-01 -1.05672954e-02 9.75422680e-01 1.02932812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:200.62, Z:102.93 [[ 6.63547490e-02 -9.97741389e-01 -1.04483663e-02 2.38007816e+02] [ 9.73219265e-01 6.70266004e-02 -2.19890193e-01 2.00624646e+02] [ 2.20093865e-01 4.42220714e-03 9.75468674e-01 1.02932352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:200.65, Z:102.94 [[ 6.54085040e-02 -9.97732897e-01 -1.58365015e-02 2.38013787e+02] [ 9.73256731e-01 6.72902088e-02 -2.19643720e-01 2.00651363e+02] [ 2.20211407e-01 -1.04641455e-03 9.75451609e-01 1.02940722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.02, Y:200.68, Z:102.95 [[ 6.32026423e-02 -9.97876332e-01 -1.57559955e-02 2.38018866e+02] [ 9.73309763e-01 6.51213419e-02 -2.20062072e-01 2.00679940e+02] [ 2.20620785e-01 -1.42695983e-03 9.75358618e-01 1.02948028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:200.71, Z:102.96 [[ 6.25120977e-02 -9.97797228e-01 -2.22020029e-02 2.38026218e+02] [ 9.73639363e-01 6.58577475e-02 -2.18378449e-01 2.00709054e+02] [ 2.19359585e-01 -7.96544899e-03 9.75611564e-01 1.02957812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.03, Y:200.74, Z:102.96 [[ 6.40126237e-02 -9.97820057e-01 -1.60473585e-02 2.38026321e+02] [ 9.72851113e-01 6.59783314e-02 -2.21827799e-01 2.00735375e+02] [ 2.22403005e-01 -1.41191107e-03 9.74953799e-01 1.02961056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:200.76, Z:102.97 [[ 6.44435246e-02 -9.97519079e-01 -2.83323004e-02 2.38035858e+02] [ 9.72903504e-01 6.91199988e-02 -2.20638161e-01 2.00763251e+02] [ 2.22049104e-01 -1.33458936e-02 9.74944143e-01 1.02973812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:200.79, Z:102.97 [[ 6.72051481e-02 -9.97672806e-01 -1.15082410e-02 2.38030830e+02] [ 9.72824892e-01 6.80841270e-02 -2.21305856e-01 2.00793845e+02] [ 2.21574363e-01 3.67738956e-03 9.75136544e-01 1.02972019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.03, Y:200.82, Z:102.98 [[ 6.70633979e-02 -9.97613632e-01 -1.64177555e-02 2.38033201e+02] [ 9.72101941e-01 6.90375562e-02 -2.24168758e-01 2.00817813e+02] [ 2.24767250e-01 -9.26213451e-04 9.74412041e-01 1.02978839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:200.85, Z:102.98 [[ 6.87012897e-02 -9.97546039e-01 -1.34919255e-02 2.38036693e+02] [ 9.72844395e-01 6.99840778e-02 -2.20626409e-01 2.00847714e+02] [ 2.21029220e-01 2.03177466e-03 9.75265070e-01 1.02980712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:200.87, Z:102.99 [[ 6.79756262e-02 -9.97343247e-01 -2.61870423e-02 2.38045018e+02] [ 9.72678193e-01 7.20889271e-02 -2.20681488e-01 2.00873017e+02] [ 2.21982988e-01 -1.04706026e-02 9.74994318e-01 1.02992609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:200.90, Z:103.01 [[ 7.04963078e-02 -9.96679356e-01 -4.07496222e-02 2.38057354e+02] [ 9.71086250e-01 7.79121610e-02 -2.25657240e-01 2.00896688e+02] [ 2.28082804e-01 -2.36633955e-02 9.73354138e-01 1.03014918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:200.93, Z:103.01 [[ 7.03466350e-02 -9.97474193e-01 -9.82783035e-03 2.38046245e+02] [ 9.70858471e-01 7.07256397e-02 -2.28979722e-01 2.00925862e+02] [ 2.29096443e-01 6.56652059e-03 9.73381580e-01 1.03008298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:200.96, Z:103.00 [[ 6.42790624e-02 -9.97930743e-01 -1.56021624e-03 2.38041180e+02] [ 9.73526101e-01 6.30506046e-02 -2.19707881e-01 2.00955943e+02] [ 2.19351622e-01 1.26037054e-02 9.75564459e-01 1.02998536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.05, Y:200.98, Z:103.01 [[ 6.30537914e-02 -9.97917784e-01 -1.35763226e-02 2.38050545e+02] [ 9.74151558e-01 6.44974132e-02 -2.16492090e-01 2.00981842e+02] [ 2.16916944e-01 4.25251248e-04 9.76189971e-01 1.03007782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:201.01, Z:103.02 [[ 6.16862784e-02 -9.97836887e-01 -2.27233219e-02 2.38056716e+02] [ 9.74277455e-01 6.51425871e-02 -2.15731046e-01 2.01007200e+02] [ 2.16744651e-01 -8.83117491e-03 9.76188387e-01 1.03017807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:201.03, Z:103.02 [[ 6.15908006e-02 -9.97956475e-01 -1.70131507e-02 2.38057809e+02] [ 9.74275162e-01 6.38139830e-02 -2.16138115e-01 2.01034332e+02] [ 2.16782108e-01 -3.26337068e-03 9.76214561e-01 1.03022441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:201.06, Z:103.03 [[ 6.15186141e-02 -9.97969866e-01 -1.64804836e-02 2.38060069e+02] [ 9.74196327e-01 6.36291920e-02 -2.16547553e-01 2.01062211e+02] [ 2.17156573e-01 -2.73352120e-03 9.76132958e-01 1.03028829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.010385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.06, Y:201.09, Z:103.03 [[ 6.22774039e-02 -9.98054840e-01 -2.83935807e-03 2.38055663e+02] [ 9.73612426e-01 6.13775318e-02 -2.19799097e-01 2.01089829e+02] [ 2.19545825e-01 1.09240828e-02 9.75541027e-01 1.03028810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:201.12, Z:103.04 [[ 6.21529485e-02 -9.97789328e-01 -2.35259042e-02 2.38068079e+02] [ 9.74443177e-01 6.57630791e-02 -2.14792252e-01 2.01116006e+02] [ 2.15864553e-01 -9.57468509e-03 9.76376372e-01 1.03042217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:201.14, Z:103.05 [[ 6.29898118e-02 -9.97649807e-01 -2.69656567e-02 2.38072466e+02] [ 9.74093731e-01 6.73377618e-02 -2.15886613e-01 2.01140617e+02] [ 2.17195045e-01 -1.26684200e-02 9.76046015e-01 1.03052712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.09, Y:201.17, Z:103.08 [[ 6.60502539e-02 -9.97039012e-01 -3.93773149e-02 2.38085792e+02] [ 9.72680252e-01 7.31382195e-02 -2.20326869e-01 2.01167280e+02] [ 2.22554471e-01 -2.37488909e-02 9.74630955e-01 1.03075473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.08, Y:201.19, Z:103.07 [[ 6.53917207e-02 -9.97664994e-01 -1.97099895e-02 2.38079103e+02] [ 9.72805108e-01 6.81358338e-02 -2.21376894e-01 2.01194919e+02] [ 2.22202935e-01 -4.69776240e-03 9.74989121e-01 1.03073927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:201.22, Z:103.08 [[ 6.43414590e-02 -9.97736161e-01 -1.95634914e-02 2.38082194e+02] [ 9.73119420e-01 6.70739421e-02 -2.20317226e-01 2.01222050e+02] [ 2.21130664e-01 -4.86208164e-03 9.75232070e-01 1.03079546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:201.25, Z:103.08 [[ 6.24771250e-02 -9.97978868e-01 -1.16098204e-02 2.38079157e+02] [ 9.73909746e-01 6.35048536e-02 -2.17869089e-01 2.01250785e+02] [ 2.18166027e-01 2.30491707e-03 9.75908947e-01 1.03076689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.09, Y:201.28, Z:103.09 [[ 6.40733428e-02 -9.97598490e-01 -2.63032298e-02 2.38089678e+02] [ 9.73265746e-01 6.82925390e-02 -2.19294135e-01 2.01275255e+02] [ 2.20563813e-01 -1.15491243e-02 9.75304169e-01 1.03092852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.09, Y:201.30, Z:103.10 [[ 6.53292027e-02 -9.97676227e-01 -1.93453392e-02 2.38088260e+02] [ 9.73126425e-01 6.79876521e-02 -2.20006001e-01 2.01303634e+02] [ 2.20810002e-01 -4.45264413e-03 9.75306679e-01 1.03095522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.09, Y:201.33, Z:103.10 [[ 6.64843433e-02 -9.97600929e-01 -1.92929563e-02 2.38090987e+02] [ 9.73019446e-01 6.91033305e-02 -2.20131522e-01 2.01329728e+02] [ 2.20936618e-01 -4.13712203e-03 9.75279393e-01 1.03101204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:201.36, Z:103.11 [[ 6.97340481e-02 -9.97381171e-01 -1.91823509e-02 2.38095070e+02] [ 9.72904833e-01 7.22467814e-02 -2.19628297e-01 2.01355123e+02] [ 2.20438991e-01 -3.34703173e-03 9.75395022e-01 1.03106600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.10, Y:201.38, Z:103.11 [[ 7.18707366e-02 -9.97230064e-01 -1.91519420e-02 2.38098395e+02] [ 9.72637531e-01 7.43257398e-02 -2.20117963e-01 2.01382654e+02] [ 2.20931733e-01 -2.80785746e-03 9.75285233e-01 1.03113059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.370385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.10, Y:201.41, Z:103.11 [[ 7.39234022e-02 -9.97165379e-01 -1.40191729e-02 2.38097741e+02] [ 9.72807456e-01 7.51975518e-02 -2.19068439e-01 2.01410884e+02] [ 2.19501670e-01 2.55632836e-03 9.75608775e-01 1.03112569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:201.44, Z:103.12 [[ 7.77884109e-02 -9.96703641e-01 -2.30394461e-02 2.38107395e+02] [ 9.71824330e-01 8.09636771e-02 -2.21364757e-01 2.01439347e+02] [ 2.22500418e-01 -5.17068154e-03 9.74918883e-01 1.03124558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.11, Y:201.46, Z:103.13 [[ 7.92453860e-02 -9.96657937e-01 -1.98273857e-02 2.38108535e+02] [ 9.71769720e-01 8.16699065e-02 -2.21345063e-01 2.01464924e+02] [ 2.22224614e-01 -1.72707814e-03 9.74993968e-01 1.03129082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:201.49, Z:103.13 [[ 8.20671319e-02 -9.96568785e-01 -1.07537579e-02 2.38110443e+02] [ 9.71175036e-01 8.23896050e-02 -2.23676109e-01 2.01492204e+02] [ 2.23794626e-01 7.91267550e-03 9.74604204e-01 1.03129496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:201.52, Z:103.14 [[ 8.02226571e-02 -9.96439652e-01 -2.59296283e-02 2.38124599e+02] [ 9.71682335e-01 8.39768716e-02 -2.20864947e-01 2.01518380e+02] [ 2.22256080e-01 -7.47698882e-03 9.74959655e-01 1.03144971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:201.55, Z:103.15 [[ 7.88836962e-02 -9.96755792e-01 -1.59766898e-02 2.38123841e+02] [ 9.72259314e-01 8.04654083e-02 -2.19629563e-01 2.01545140e+02] [ 2.20202609e-01 1.79170625e-03 9.75452511e-01 1.03145829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:201.57, Z:103.16 [[ 8.03386126e-02 -9.96550543e-01 -2.08019754e-02 2.38132656e+02] [ 9.71974521e-01 8.29489389e-02 -2.19965915e-01 2.01571303e+02] [ 2.20932654e-01 -2.54723365e-03 9.75285740e-01 1.03156438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.14, Y:201.60, Z:103.16 [[ 7.87570998e-02 -9.96715480e-01 -1.88566003e-02 2.38137463e+02] [ 9.72058976e-01 8.09771377e-02 -2.20327144e-01 2.01598331e+02] [ 2.21130428e-01 -9.77400760e-04 9.75243753e-01 1.03161575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.610385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:238.15, Y:201.62, Z:103.17 [[ 7.80030684e-02 -9.96600414e-01 -2.65167033e-02 2.38145563e+02] [ 9.71692799e-01 8.19491687e-02 -2.21579418e-01 2.01624806e+02] [ 2.22999162e-01 -8.48221516e-03 9.74781733e-01 1.03172457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.640385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.15, Y:201.65, Z:103.18 [[ 7.79478889e-02 -9.96643696e-01 -2.50093779e-02 2.38151341e+02] [ 9.71569960e-01 8.15641430e-02 -2.22259090e-01 2.01651067e+02] [ 2.23552990e-01 -6.97373341e-03 9.74666829e-01 1.03179986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.670385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.15, Y:201.68, Z:103.18 [[ 7.84024560e-02 -9.96908420e-01 -5.16301293e-03 2.38146335e+02] [ 9.72251296e-01 7.76062478e-02 -2.20691387e-01 2.01680337e+02] [ 2.20409784e-01 1.22830007e-02 9.75330024e-01 1.03175264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.16, Y:201.70, Z:103.19 [[ 7.76384993e-02 -9.96514560e-01 -3.05122002e-02 2.38163788e+02] [ 9.71367029e-01 8.25011368e-02 -2.22799589e-01 2.01703562e+02] [ 2.24540326e-01 -1.23407195e-02 9.74386653e-01 1.03193958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:201.73, Z:103.19 [[ 7.80698220e-02 -9.96925021e-01 -6.75323135e-03 2.38156953e+02] [ 9.71792396e-01 7.76102675e-02 -2.22702011e-01 2.01734249e+02] [ 2.22541327e-01 1.08235675e-02 9.74863174e-01 1.03188087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:201.76, Z:103.20 [[ 7.71120597e-02 -9.96847056e-01 -1.86996791e-02 2.38167766e+02] [ 9.71706583e-01 7.93405068e-02 -2.22466627e-01 2.01759870e+02] [ 2.23248844e-01 -1.01574147e-03 9.74760956e-01 1.03198405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.18, Y:201.78, Z:103.21 [[ 7.53790769e-02 -9.96694427e-01 -3.03020412e-02 2.38176703e+02] [ 9.71095357e-01 8.02771514e-02 -2.24787427e-01 2.01782896e+02] [ 2.26476937e-01 -1.24819028e-02 9.73936548e-01 1.03212109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.18, Y:201.81, Z:103.22 [[ 7.23584664e-02 -9.97095955e-01 -2.37467610e-02 2.38180178e+02] [ 9.71194786e-01 7.58586109e-02 -2.25889703e-01 2.01809065e+02] [ 2.27035106e-01 -6.71769799e-03 9.73863406e-01 1.03217320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:201.84, Z:103.21 [[ 7.16753942e-02 -9.97426680e-01 -1.62989213e-03 2.38175547e+02] [ 9.72019453e-01 7.02159228e-02 -2.24160452e-01 2.01840731e+02] [ 2.23698059e-01 1.44825019e-02 9.74550889e-01 1.03211532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.19, Y:201.87, Z:103.22 [[ 6.91460145e-02 -9.97434077e-01 -1.85496871e-02 2.38187852e+02] [ 9.72239584e-01 7.15426027e-02 -2.22782063e-01 2.01865474e+02] [ 2.23537514e-01 -2.63024833e-03 9.74691778e-01 1.03224495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:201.89, Z:103.23 [[ 6.47101155e-02 -9.97732451e-01 -1.85082862e-02 2.38192729e+02] [ 9.72489221e-01 6.72104072e-02 -2.23041421e-01 2.01891983e+02] [ 2.23779613e-01 -3.56607268e-03 9.74633248e-01 1.03231121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:201.92, Z:103.24 [[ 6.27808007e-02 -9.97856474e-01 -1.84669314e-02 2.38196416e+02] [ 9.72556992e-01 6.53217186e-02 -2.23306896e-01 2.01919263e+02] [ 2.24034523e-01 -3.94075751e-03 9.74573241e-01 1.03237944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:201.94, Z:103.25 [[ 5.83076714e-02 -9.97867233e-01 -2.93462110e-02 2.38204686e+02] [ 9.72199010e-01 6.34365740e-02 -2.25399393e-01 2.01942514e+02] [ 2.26780292e-01 -1.53878435e-02 9.73824375e-01 1.03251424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:201.98, Z:103.25 [[ 5.89729377e-02 -9.98239172e-01 -6.38342978e-03 2.38199628e+02] [ 9.72619148e-01 5.88970259e-02 -2.24818001e-01 2.01975207e+02] [ 2.24798100e-01 7.04953194e-03 9.74379863e-01 1.03246338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:238.21, Y:202.00, Z:103.26 [[ 5.68219221e-02 -9.98215451e-01 -1.83625314e-02 2.38209948e+02] [ 9.72693222e-01 5.94959097e-02 -2.24339324e-01 2.01999870e+02] [ 2.25031475e-01 -5.11371825e-03 9.74338076e-01 1.03256495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:202.03, Z:103.26 [[ 5.59337313e-02 -9.98265623e-01 -1.83620168e-02 2.38212719e+02] [ 9.72614079e-01 5.86334065e-02 -2.24908821e-01 2.02025557e+02] [ 2.25595372e-01 -5.27916648e-03 9.74206784e-01 1.03264080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.090385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:238.22, Y:202.05, Z:103.27 [[ 5.58578016e-02 -9.98270010e-01 -1.83546590e-02 2.38215196e+02] [ 9.72435632e-01 5.85620318e-02 -2.25697650e-01 2.02052094e+02] [ 2.26382082e-01 -5.24174983e-03 9.74024475e-01 1.03270207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:202.08, Z:103.28 [[ 5.63019500e-02 -9.98246813e-01 -1.82589873e-02 2.38217121e+02] [ 9.72481216e-01 5.89714510e-02 -2.25394438e-01 2.02079451e+02] [ 2.26076038e-01 -5.06637578e-03 9.74096482e-01 1.03276140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:202.11, Z:103.28 [[ 5.87877038e-02 -9.98103911e-01 -1.82370341e-02 2.38218852e+02] [ 9.72210267e-01 6.13904637e-02 -2.25916818e-01 2.02105963e+02] [ 2.26608039e-01 -4.44910082e-03 9.73975874e-01 1.03282482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:202.13, Z:103.29 [[ 5.99541617e-02 -9.98035032e-01 -1.82091433e-02 2.38220637e+02] [ 9.72022812e-01 6.25224441e-02 -2.26412447e-01 2.02132635e+02] [ 2.27106034e-01 -4.12533424e-03 9.73861300e-01 1.03288599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:202.16, Z:103.29 [[ 6.11275835e-02 -9.97965217e-01 -1.81340634e-02 2.38222196e+02] [ 9.71960574e-01 6.36480466e-02 -2.26366004e-01 2.02159027e+02] [ 2.27059596e-01 -3.78838789e-03 9.73873497e-01 1.03294545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:238.22, Y:202.18, Z:103.30 [[ 6.44670007e-02 -9.97756004e-01 -1.80820877e-02 2.38223779e+02] [ 9.71686082e-01 6.68893638e-02 -2.26609734e-01 2.02184699e+02] [ 2.27310722e-01 -2.96126308e-03 9.73817779e-01 1.03301124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.22, Y:202.21, Z:103.31 [[ 6.77530877e-02 -9.97538876e-01 -1.80474486e-02 2.38224009e+02] [ 9.71344077e-01 7.00828042e-02 -2.27110294e-01 2.02210978e+02] [ 2.27816163e-01 -2.14285865e-03 9.73701805e-01 1.03306962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:202.24, Z:103.31 [[ 6.88884351e-02 -9.97461302e-01 -1.80370149e-02 2.38224659e+02] [ 9.71083858e-01 7.11874139e-02 -2.27878241e-01 2.02237847e+02] [ 2.28583736e-01 -1.81727855e-03 9.73522559e-01 1.03313050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:238.23, Y:202.26, Z:103.32 [[ 6.94191159e-02 -9.97425983e-01 -1.79553347e-02 2.38225578e+02] [ 9.71077798e-01 7.16851724e-02 -2.27747988e-01 2.02264593e+02] [ 2.28448893e-01 -1.62596286e-03 9.73554549e-01 1.03318338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:202.29, Z:103.31 [[ 6.56325046e-02 -9.97833590e-01 4.52773123e-03 2.38211896e+02] [ 9.72571796e-01 6.29548530e-02 -2.23921390e-01 2.02293872e+02] [ 2.23151242e-01 1.91000654e-02 9.74596691e-01 1.03306573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:202.31, Z:103.34 [[ 6.77349836e-02 -9.97010339e-01 -3.71800427e-02 2.38237980e+02] [ 9.71216133e-01 7.44207486e-02 -2.26275885e-01 2.02314878e+02] [ 2.28366363e-01 -2.07830640e-02 9.73353414e-01 1.03339250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.23, Y:202.34, Z:103.34 [[ 6.41804957e-02 -9.97780102e-01 -1.77688246e-02 2.38230975e+02] [ 9.71519516e-01 6.65413919e-02 -2.27424875e-01 2.02344238e+02] [ 2.28102378e-01 -2.66651863e-03 9.73633501e-01 1.03338587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:238.23, Y:202.37, Z:103.35 [[ 5.98175588e-02 -9.98052021e-01 -1.77206848e-02 2.38232915e+02] [ 9.71753264e-01 6.22830325e-02 -2.27632198e-01 2.02371085e+02] [ 2.28292473e-01 -3.60373094e-03 9.73585928e-01 1.03345203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.23, Y:202.40, Z:103.35 [[ 5.69845206e-02 -9.98219786e-01 -1.76074735e-02 2.38234428e+02] [ 9.72053363e-01 5.94964917e-02 -2.27095635e-01 2.02397094e+02] [ 2.27738939e-01 -4.17446799e-03 9.73713279e-01 1.03350923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.24, Y:202.42, Z:103.36 [[ 5.44096695e-02 -9.98365257e-01 -1.75043533e-02 2.38236145e+02] [ 9.72291042e-01 5.69638696e-02 -2.26727254e-01 2.02423552e+02] [ 2.27353729e-01 -4.68317097e-03 9.73800981e-01 1.03357270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.540385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:238.24, Y:202.45, Z:103.36 [[ 5.00590126e-02 -9.98594770e-01 -1.73948655e-02 2.38237675e+02] [ 9.72648035e-01 5.26990411e-02 -2.26226900e-01 2.02450450e+02] [ 2.26825692e-01 -5.59438646e-03 9.73919303e-01 1.03364759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.570385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:238.24, Y:202.48, Z:103.37 [[ 4.82160941e-02 -9.98686065e-01 -1.73594851e-02 2.38239231e+02] [ 9.72655578e-01 5.08983015e-02 -2.26606463e-01 2.02476686e+02] [ 2.27192285e-01 -5.95872152e-03 9.73831690e-01 1.03371413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:202.50, Z:103.38 [[ 4.59042028e-02 -9.98794281e-01 -1.74007909e-02 2.38239215e+02] [ 9.72434259e-01 4.86656121e-02 -2.28042254e-01 2.02504542e+02] [ 2.28614119e-01 -6.45302735e-03 9.73495733e-01 1.03377822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:202.53, Z:103.38 [[ 4.54402381e-02 -9.98815283e-01 -1.74130993e-02 2.38240012e+02] [ 9.72218309e-01 4.82235148e-02 -2.29054695e-01 2.02530263e+02] [ 2.29623051e-01 -6.52103401e-03 9.73257793e-01 1.03383210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.660385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:238.24, Y:202.56, Z:103.39 [[ 4.63640357e-02 -9.98770568e-01 -1.75421892e-02 2.38240600e+02] [ 9.71527762e-01 4.91701060e-02 -2.31767358e-01 2.02558154e+02] [ 2.32344968e-01 -6.29705373e-03 9.72613059e-01 1.03389610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.690385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:238.24, Y:202.59, Z:103.40 [[ 4.71363197e-02 -9.98735238e-01 -1.74954988e-02 2.38241836e+02] [ 9.71431705e-01 4.99119954e-02 -2.32011284e-01 2.02585853e+02] [ 2.32591080e-01 -6.05952419e-03 9.72555742e-01 1.03396217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.24, Y:202.61, Z:103.40 [[ 4.88508082e-02 -9.98654565e-01 -1.73970529e-02 2.38241584e+02] [ 9.71450231e-01 5.15542004e-02 -2.31574207e-01 2.02610950e+02] [ 2.32159530e-01 -5.58778390e-03 9.72661673e-01 1.03402843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.24, Y:202.64, Z:103.41 [[ 4.91671809e-02 -9.98640350e-01 -1.73216814e-02 2.38241969e+02] [ 9.71432193e-01 5.18445154e-02 -2.31585061e-01 2.02637918e+02] [ 2.32168221e-01 -5.44045435e-03 9.72660434e-01 1.03409297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:202.67, Z:103.42 [[ 4.98975055e-02 -9.98605797e-01 -1.72250142e-02 2.38241246e+02] [ 9.71496718e-01 5.25302259e-02 -2.31159474e-01 2.02665367e+02] [ 2.31742025e-01 -5.19976361e-03 9.72763382e-01 1.03415436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.810385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:238.24, Y:202.69, Z:103.42 [[ 4.99304490e-02 -9.98604734e-01 -1.71911597e-02 2.38242193e+02] [ 9.71392734e-01 5.25567074e-02 -2.31590044e-01 2.02692919e+02] [ 2.32170425e-01 -5.13597277e-03 9.72661563e-01 1.03420899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.840385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:238.24, Y:202.72, Z:103.43 [[ 4.96741708e-02 -9.98618634e-01 -1.71260421e-02 2.38244158e+02] [ 9.71405855e-01 5.22923185e-02 -2.31594860e-01 2.02720727e+02] [ 2.32170503e-01 -5.13205490e-03 9.72661565e-01 1.03427229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.25, Y:202.75, Z:103.43 [[ 5.05264899e-02 -9.98576447e-01 -1.70924919e-02 2.38245771e+02] [ 9.71270010e-01 5.31155413e-02 -2.31976953e-01 2.02747714e+02] [ 2.32554598e-01 -4.88044365e-03 9.72571098e-01 1.03434752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:202.78, Z:103.44 [[ 5.07655118e-02 -9.98565775e-01 -1.70075171e-02 2.38247510e+02] [ 9.71322724e-01 5.33269487e-02 -2.31707578e-01 2.02775124e+02] [ 2.32282216e-01 -4.75703406e-03 9.72636799e-01 1.03441441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.25, Y:202.80, Z:103.45 [[ 5.20764299e-02 -9.98500272e-01 -1.68893929e-02 2.38247125e+02] [ 9.71425021e-01 5.45714338e-02 -2.30987853e-01 2.02801657e+02] [ 2.31563113e-01 -4.37775608e-03 9.72810033e-01 1.03447486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:202.83, Z:103.45 [[ 5.23862344e-02 -9.98486097e-01 -1.67689456e-02 2.38247081e+02] [ 9.71578278e-01 5.48418742e-02 -2.30278133e-01 2.02828208e+02] [ 2.30849154e-01 -4.22893900e-03 9.72980362e-01 1.03453180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.25, Y:202.85, Z:103.46 [[ 5.36752323e-02 -9.98418604e-01 -1.67110957e-02 2.38247066e+02] [ 9.71462105e-01 5.60835360e-02 -2.30469123e-01 2.02854646e+02] [ 2.31041877e-01 -3.86371251e-03 9.72936135e-01 1.03458565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.25, Y:202.88, Z:103.47 [[ 5.41662398e-02 -9.98393419e-01 -1.66312994e-02 2.38249114e+02] [ 9.71463481e-01 5.65424032e-02 -2.30351171e-01 2.02880691e+02] [ 2.30921467e-01 -3.67944318e-03 9.72965435e-01 1.03465034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.25, Y:202.91, Z:103.47 [[ 5.51063030e-02 -9.98343294e-01 -1.65518359e-02 2.38251375e+02] [ 9.71439148e-01 5.74383424e-02 -2.30232097e-01 2.02906445e+02] [ 2.30801380e-01 -3.39186168e-03 9.72994974e-01 1.03472175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.080385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:238.25, Y:202.93, Z:103.48 [[ 5.50402316e-02 -9.98346893e-01 -1.65545583e-02 2.38252496e+02] [ 9.71198651e-01 5.73782485e-02 -2.31259417e-01 2.02933984e+02] [ 2.31826992e-01 -3.34919282e-03 9.72751268e-01 1.03477832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.110385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:238.24, Y:202.96, Z:103.47 [[ 4.84176476e-02 -9.98823961e-01 -2.53495844e-03 2.38238898e+02] [ 9.73866906e-01 4.77713843e-02 -2.22038612e-01 2.02960001e+02] [ 2.21898584e-01 8.28187512e-03 9.75034578e-01 1.03465881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.140385723 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:238.25, Y:202.99, Z:103.48 [[ 5.04045001e-02 -9.98672915e-01 -1.05733587e-02 2.38245132e+02] [ 9.71601578e-01 5.14833761e-02 -2.30954184e-01 2.02986742e+02] [ 2.31192040e-01 1.36803821e-03 9.72907174e-01 1.03483147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.170385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.24, Y:203.01, Z:103.48 [[ 4.42307147e-02 -9.98973758e-01 -9.75059649e-03 2.38240300e+02] [ 9.73868337e-01 4.52913820e-02 -2.22551461e-01 2.03013203e+02] [ 2.22764687e-01 3.47812981e-04 9.74872183e-01 1.03478363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.200385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.26, Y:203.04, Z:103.51 [[ 4.92584944e-02 -9.98165633e-01 -3.51989959e-02 2.38262324e+02] [ 9.71127460e-01 5.61008120e-02 -2.31870989e-01 2.03037442e+02] [ 2.33420345e-01 -2.27610956e-02 9.72109497e-01 1.03509721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.25, Y:203.07, Z:103.51 [[ 4.77891883e-02 -9.98723569e-01 -1.63531621e-02 2.38254577e+02] [ 9.71153248e-01 5.02866302e-02 -2.33093593e-01 2.03065772e+02] [ 2.33618411e-01 -4.74207286e-03 9.72316796e-01 1.03508350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.260385723 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:238.23, Y:203.09, Z:103.49 [[ 3.89505502e-02 -9.99159637e-01 1.27621927e-02 2.38230983e+02] [ 9.74260622e-01 3.51357626e-02 -2.22669530e-01 2.03094202e+02] [ 2.22033997e-01 2.11068025e-02 9.74810447e-01 1.03486354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.290385723 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:238.25, Y:203.12, Z:103.52 [[ 4.00518986e-02 -9.98885299e-01 -2.49800938e-02 2.38253214e+02] [ 9.72786553e-01 4.46910454e-02 -2.27352223e-01 2.03117051e+02] [ 2.28215180e-01 -1.51944111e-02 9.73492148e-01 1.03515098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.320385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:238.24, Y:203.15, Z:103.50 [[ 3.67721420e-02 -9.99310308e-01 -5.16896670e-03 2.38238408e+02] [ 9.74306046e-01 3.70012190e-02 -2.22168040e-01 2.03145608e+02] [ 2.22206070e-01 3.13343920e-03 9.74994689e-01 1.03503779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.350385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:238.24, Y:203.17, Z:103.51 [[ 3.68986638e-02 -9.99253011e-01 -1.14851312e-02 2.38242097e+02] [ 9.74392862e-01 3.85268410e-02 -2.21527050e-01 2.03173680e+02] [ 2.21804058e-01 -3.01697771e-03 9.75086590e-01 1.03512071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.380385723 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:238.24, Y:203.20, Z:103.52 [[ 3.76228724e-02 -9.99236799e-01 -1.05042356e-02 2.38242054e+02] [ 9.74294359e-01 3.90161503e-02 -2.21874384e-01 2.03201142e+02] [ 2.22114884e-01 -1.88666585e-03 9.75018676e-01 1.03517541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.410385723 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:238.24, Y:203.23, Z:103.53 [[ 3.68753548e-02 -9.99203858e-01 -1.52269188e-02 2.38244673e+02] [ 9.74333269e-01 3.93352033e-02 -2.21647067e-01 2.03226412e+02] [ 2.22069558e-01 -6.66277933e-03 9.75008061e-01 1.03526201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.440385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:238.24, Y:203.25, Z:103.53 [[ 3.72582463e-02 -9.99294168e-01 -4.79467182e-03 2.38237399e+02] [ 9.74641119e-01 3.73976476e-02 -2.20626619e-01 2.03254545e+02] [ 2.20650203e-01 3.54707662e-03 9.75346557e-01 1.03525702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.470385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:238.26, Y:203.28, Z:103.56 [[ 4.18057784e-02 -9.98336076e-01 -3.97159496e-02 2.38260335e+02] [ 9.72703677e-01 4.97492390e-02 -2.26655179e-01 2.03278897e+02] [ 2.28253880e-01 -2.91563540e-02 9.73164977e-01 1.03560063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.500385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:238.22, Y:203.31, Z:103.53 [[ 3.79520700e-02 -9.99155804e-01 1.57263885e-02 2.38224997e+02] [ 9.74906119e-01 3.35671182e-02 -2.20071142e-01 2.03312908e+02] [ 2.19357469e-01 2.36839078e-02 9.75357049e-01 1.03529982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:203.34, Z:103.55 [[ 3.98035093e-02 -9.99134750e-01 -1.20594945e-02 2.38239927e+02] [ 9.74790015e-01 4.14798134e-02 -2.19234697e-01 2.03336906e+02] [ 2.19545229e-01 -3.02916451e-03 9.75597620e-01 1.03546643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.25, Y:203.36, Z:103.56 [[ 4.37076170e-02 -9.98751507e-01 -2.41882716e-02 2.38246926e+02] [ 9.73871209e-01 4.79946198e-02 -2.21971587e-01 2.03364397e+02] [ 2.22855364e-01 -1.38544122e-02 9.74753067e-01 1.03562823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.590385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.24, Y:203.39, Z:103.57 [[ 4.39065776e-02 -9.98942352e-01 -1.36524401e-02 2.38241547e+02] [ 9.73808589e-01 4.58454810e-02 -2.22699401e-01 2.03392927e+02] [ 2.23089766e-01 -3.51689486e-03 9.74791561e-01 1.03565301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.24, Y:203.42, Z:103.57 [[ 4.28142869e-02 -9.99021042e-01 -1.11307985e-02 2.38238201e+02] [ 9.74087048e-01 4.42170414e-02 -2.21809099e-01 2.03421190e+02] [ 2.22084128e-01 -1.34576821e-03 9.75026579e-01 1.03568471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.650385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.24, Y:203.45, Z:103.58 [[ 4.21133629e-02 -9.99012973e-01 -1.41260235e-02 2.38241019e+02] [ 9.73926159e-01 4.42022208e-02 -2.22517416e-01 2.03449383e+02] [ 2.22922187e-01 -4.38674719e-03 9.74826372e-01 1.03576749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.680385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.24, Y:203.48, Z:103.59 [[ 3.98280600e-02 -9.99081099e-01 -1.58330045e-02 2.38243508e+02] [ 9.73897175e-01 4.23581564e-02 -2.23002420e-01 2.03476973e+02] [ 2.23468160e-01 -6.53796457e-03 9.74689303e-01 1.03586129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.25, Y:203.50, Z:103.60 [[ 3.92842408e-02 -9.98994295e-01 -2.16135942e-02 2.38248225e+02] [ 9.73527056e-01 4.31391304e-02 -2.24464000e-01 2.03503376e+02] [ 2.25170647e-01 -1.22235209e-02 9.74242663e-01 1.03597355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.740385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.25, Y:203.53, Z:103.60 [[ 3.68284106e-02 -9.99155570e-01 -1.82158040e-02 2.38245691e+02] [ 9.73633318e-01 3.99821734e-02 -2.24587597e-01 2.03530460e+02] [ 2.25126256e-01 -9.46430946e-03 9.74283632e-01 1.03603123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.25, Y:203.56, Z:103.61 [[ 3.51444917e-02 -9.99212044e-01 -1.84432988e-02 2.38245930e+02] [ 9.73712697e-01 3.83917957e-02 -2.24520941e-01 2.03557797e+02] [ 2.25052100e-01 -1.00677999e-02 9.74294715e-01 1.03609933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.800385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:238.24, Y:203.59, Z:103.62 [[ 3.43743795e-02 -9.99290610e-01 -1.53843710e-02 2.38244629e+02] [ 9.73832586e-01 3.69509342e-02 -2.24242553e-01 2.03586638e+02] [ 2.24651945e-01 -7.27360316e-03 9.74411925e-01 1.03615264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.24, Y:203.61, Z:103.62 [[ 3.39983914e-02 -9.99358507e-01 -1.12554211e-02 2.38242809e+02] [ 9.74022272e-01 3.56550863e-02 -2.23627657e-01 2.03613656e+02] [ 2.23885514e-01 -3.36005022e-03 9.74609659e-01 1.03618491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:203.64, Z:103.63 [[ 3.58978791e-02 -9.99184563e-01 -1.84811097e-02 2.38246229e+02] [ 9.73692022e-01 3.91340746e-02 -2.24482450e-01 2.03637605e+02] [ 2.25022640e-01 -9.93646522e-03 9.74302868e-01 1.03629477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:203.67, Z:103.63 [[ 3.66113165e-02 -9.99222866e-01 -1.46039745e-02 2.38245111e+02] [ 9.73788052e-01 3.89546392e-02 -2.24096779e-01 2.03665449e+02] [ 2.24491519e-01 -6.01669778e-03 9.74457468e-01 1.03633970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:203.69, Z:103.63 [[ 3.74914330e-02 -9.99227431e-01 -1.17869865e-02 2.38241427e+02] [ 9.74319769e-01 3.91724977e-02 -2.21735210e-01 2.03694121e+02] [ 2.22025630e-01 -3.17112323e-03 9.75035673e-01 1.03634508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.24, Y:203.72, Z:103.64 [[ 3.89170451e-02 -9.99175482e-01 -1.15680162e-02 2.38241485e+02] [ 9.74333435e-01 4.05131349e-02 -2.21434061e-01 2.03720449e+02] [ 2.21720142e-01 -2.65354561e-03 9.75106731e-01 1.03639516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:203.75, Z:103.65 [[ 4.19713982e-02 -9.99005522e-01 -1.50455746e-02 2.38244367e+02] [ 9.74136262e-01 4.42637319e-02 -2.21583539e-01 2.03748483e+02] [ 2.22029153e-01 -5.35626886e-03 9.75025315e-01 1.03647689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:203.77, Z:103.65 [[ 4.25173081e-02 -9.98980032e-01 -1.52044074e-02 2.38245269e+02] [ 9.74150887e-01 4.48303347e-02 -2.21405264e-01 2.03774412e+02] [ 2.21861056e-01 -5.39783114e-03 9.75063349e-01 1.03653841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:203.80, Z:103.66 [[ 4.57969768e-02 -9.98839687e-01 -1.48968681e-02 2.38246041e+02] [ 9.73516170e-01 4.79696381e-02 -2.23528925e-01 2.03801626e+02] [ 2.23984159e-01 -4.26539299e-03 9.74583451e-01 1.03661089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.25, Y:203.83, Z:103.67 [[ 4.56812026e-02 -9.98809517e-01 -1.71107110e-02 2.38247404e+02] [ 9.73561252e-01 4.83509802e-02 -2.23250243e-01 2.03828116e+02] [ 2.23811787e-01 -6.45998567e-03 9.74610975e-01 1.03669945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.24, Y:203.86, Z:103.67 [[ 4.70196314e-02 -9.98855438e-01 -8.77316834e-03 2.38242497e+02] [ 9.73314726e-01 4.77886735e-02 -2.24443060e-01 2.03855088e+02] [ 2.24605429e-01 2.01417599e-03 9.74447713e-01 1.03671426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.25, Y:203.88, Z:103.68 [[ 4.48114000e-02 -9.98764756e-01 -2.14685772e-02 2.38251154e+02] [ 9.73257205e-01 4.84935014e-02 -2.24541297e-01 2.03884585e+02] [ 2.25305020e-01 -1.08324376e-02 9.74228057e-01 1.03682579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.160385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.25, Y:203.91, Z:103.69 [[ 4.39378831e-02 -9.98967409e-01 -1.15575958e-02 2.38246674e+02] [ 9.73563513e-01 4.54104595e-02 -2.23857045e-01 2.03911890e+02] [ 2.24150728e-01 -1.41624887e-03 9.74553459e-01 1.03686264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.190385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.25, Y:203.94, Z:103.69 [[ 4.28924721e-02 -9.98980852e-01 -1.40531942e-02 2.38249157e+02] [ 9.73661015e-01 4.49497887e-02 -2.23525714e-01 2.03937981e+02] [ 2.23929597e-01 -4.09547690e-03 9.74596718e-01 1.03693235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:203.97, Z:103.70 [[ 4.16509465e-02 -9.99031353e-01 -1.41969533e-02 2.38249982e+02] [ 9.72929622e-01 4.37873620e-02 -2.26915443e-01 2.03965289e+02] [ 2.27317289e-01 -4.36139349e-03 9.73810982e-01 1.03700386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:203.99, Z:103.71 [[ 3.95188498e-02 -9.98927531e-01 -2.41256931e-02 2.38255215e+02] [ 9.73500376e-01 4.39331577e-02 -2.24425704e-01 2.03993786e+02] [ 2.25244932e-01 -1.46173256e-02 9.74192514e-01 1.03709848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:204.02, Z:103.71 [[ 3.98426631e-02 -9.99195110e-01 -4.65765182e-03 2.38246175e+02] [ 9.73092778e-01 3.98596968e-02 -2.26939748e-01 2.04021341e+02] [ 2.26942740e-01 4.50955659e-03 9.73897662e-01 1.03709200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:204.05, Z:103.72 [[ 3.84395895e-02 -9.99162655e-01 -1.40137986e-02 2.38251275e+02] [ 9.73104211e-01 4.06174543e-02 -2.26756296e-01 2.04047824e+02] [ 2.27135628e-01 -4.92046749e-03 9.73850705e-01 1.03717908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:204.08, Z:103.73 [[ 3.77753732e-02 -9.98988024e-01 -2.44120800e-02 2.38257943e+02] [ 9.73310510e-01 4.23163076e-02 -2.25557048e-01 2.04075487e+02] [ 2.26361819e-01 -1.52400323e-02 9.73924057e-01 1.03728918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:204.10, Z:103.72 [[ 3.91968023e-02 -9.99199899e-01 7.94813634e-03 2.38240924e+02] [ 9.72833099e-01 3.63437871e-02 -2.28637028e-01 2.04104686e+02] [ 2.28165230e-01 1.66940505e-02 9.73479294e-01 1.03721459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.400385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.25, Y:204.13, Z:103.73 [[ 3.91619312e-02 -9.99080734e-01 -1.74364422e-02 2.38254675e+02] [ 9.73038916e-01 4.20987808e-02 -2.26766314e-01 2.04130612e+02] [ 2.27291908e-01 -8.08573005e-03 9.73793104e-01 1.03733849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:204.16, Z:103.74 [[ 3.83444830e-02 -9.99025297e-01 -2.18668063e-02 2.38256876e+02] [ 9.72435937e-01 4.23427382e-02 -2.29293352e-01 2.04157472e+02] [ 2.29995759e-01 -1.24719332e-02 9.73111711e-01 1.03744713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.460385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:238.25, Y:204.19, Z:103.75 [[ 4.05048036e-02 -9.99128798e-01 -1.00501735e-02 2.38253318e+02] [ 9.72813415e-01 4.17293978e-02 -2.27799730e-01 2.04185248e+02] [ 2.28020658e-01 -5.49960299e-04 9.73656139e-01 1.03745877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:204.21, Z:103.76 [[ 4.15780417e-02 -9.98979999e-01 -1.76132994e-02 2.38259244e+02] [ 9.71659756e-01 4.45340777e-02 -2.32150887e-01 2.04211658e+02] [ 2.32698485e-01 -7.46175488e-03 9.72520302e-01 1.03758729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:204.24, Z:103.76 [[ 4.40385350e-02 -9.98995661e-01 -8.26300123e-03 2.38256737e+02] [ 9.72630871e-01 4.47621871e-02 -2.28003368e-01 2.04237896e+02] [ 2.28144245e-01 2.00408422e-03 9.73625281e-01 1.03756930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.26, Y:204.26, Z:103.77 [[ 4.40085175e-02 -9.98854273e-01 -1.87987268e-02 2.38264493e+02] [ 9.71676917e-01 4.71690966e-02 -2.31557866e-01 2.04263315e+02] [ 2.32179282e-01 -8.07577055e-03 9.72639482e-01 1.03771646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:204.29, Z:103.77 [[ 4.66446299e-02 -9.98831362e-01 -1.26565792e-02 2.38262297e+02] [ 9.72485543e-01 4.83021204e-02 -2.27900797e-01 2.04290190e+02] [ 2.28245803e-01 -1.67799193e-03 9.73602094e-01 1.03770690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:204.32, Z:103.78 [[ 4.84198011e-02 -9.98725271e-01 -1.42602823e-02 2.38265002e+02] [ 9.71283445e-01 5.04094658e-02 -2.32523881e-01 2.04316486e+02] [ 2.32946329e-01 -2.59201600e-03 9.72486138e-01 1.03780797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.640385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.27, Y:204.34, Z:103.78 [[ 5.09226161e-02 -9.98624068e-01 -1.25243041e-02 2.38266658e+02] [ 9.72271332e-01 5.24370496e-02 -2.27900882e-01 2.04343978e+02] [ 2.28244044e-01 -5.71712681e-04 9.73603785e-01 1.03783095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.670385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.26, Y:204.37, Z:103.78 [[ 4.88974357e-02 -9.98756417e-01 -9.72933594e-03 2.38263522e+02] [ 9.72886526e-01 4.98310057e-02 -2.25851011e-01 2.04366681e+02] [ 2.26054969e-01 1.57799545e-03 9.74113269e-01 1.03783762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:204.40, Z:103.80 [[ 5.43555968e-02 -9.98416082e-01 -1.45188097e-02 2.38274062e+02] [ 9.72199578e-01 5.62336980e-02 -2.27301017e-01 2.04396616e+02] [ 2.27757437e-01 -1.76009830e-03 9.73716310e-01 1.03796936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:204.42, Z:103.80 [[ 5.51571458e-02 -9.98442364e-01 -8.39849349e-03 2.38273850e+02] [ 9.71964206e-01 5.56160926e-02 -2.28456630e-01 2.04423893e+02] [ 2.28567870e-01 4.43798061e-03 9.73517865e-01 1.03800993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.28, Y:204.45, Z:103.81 [[ 5.62200503e-02 -9.98362964e-01 -1.05213564e-02 2.38279235e+02] [ 9.71857398e-01 5.71359137e-02 -2.28535959e-01 2.04452458e+02] [ 2.28762985e-01 2.62304504e-03 9.73478616e-01 1.03808212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.28, Y:204.48, Z:103.82 [[ 5.58349190e-02 -9.98339594e-01 -1.41604101e-02 2.38282429e+02] [ 9.71857765e-01 5.75937417e-02 -2.28419453e-01 2.04479129e+02] [ 2.28855735e-01 -1.00812282e-03 9.73459828e-01 1.03815756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:204.50, Z:103.82 [[ 5.79789001e-02 -9.98106480e-01 -2.05402502e-02 2.38289263e+02] [ 9.72056792e-01 6.11299143e-02 -2.26646702e-01 2.04503585e+02] [ 2.27473166e-01 -6.82556322e-03 9.73760428e-01 1.03823958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:204.53, Z:103.83 [[ 5.82077387e-02 -9.98219799e-01 -1.30035560e-02 2.38288837e+02] [ 9.72080393e-01 5.96398292e-02 -2.26942284e-01 2.04530483e+02] [ 2.27313810e-01 5.69295276e-04 9.73821394e-01 1.03828238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:204.56, Z:103.83 [[ 5.75617026e-02 -9.98282685e-01 -1.08780600e-02 2.38291854e+02] [ 9.71948226e-01 5.85254895e-02 -2.27796868e-01 2.04558966e+02] [ 2.28042313e-01 2.53946449e-03 9.73647911e-01 1.03834611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:204.58, Z:103.84 [[ 5.76542814e-02 -9.98284321e-01 -1.02175466e-02 2.38295186e+02] [ 9.71631380e-01 5.84604732e-02 -2.29161153e-01 2.04584223e+02] [ 2.29365308e-01 3.28443269e-03 9.73334869e-01 1.03840680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:204.61, Z:103.84 [[ 5.40370843e-02 -9.98403680e-01 -1.64342721e-02 2.38300595e+02] [ 9.72189318e-01 5.63599787e-02 -2.27313623e-01 2.04608624e+02] [ 2.27876993e-01 -3.69385834e-03 9.73682921e-01 1.03844226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.970385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:238.31, Y:204.63, Z:103.86 [[ 5.30546271e-02 -9.98295939e-01 -2.42986585e-02 2.38312300e+02] [ 9.71579380e-01 5.72255226e-02 -2.29692725e-01 2.04634532e+02] [ 2.30691818e-01 -1.14218136e-02 9.72959828e-01 1.03856430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.31, Y:204.66, Z:103.85 [[ 5.15182821e-02 -9.98660091e-01 -4.88757850e-03 2.38306916e+02] [ 9.71813972e-01 5.12595443e-02 -2.30108809e-01 2.04662689e+02] [ 2.30051019e-01 7.10499343e-03 9.73152633e-01 1.03854689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.030385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.31, Y:204.69, Z:103.86 [[ 5.05183621e-02 -9.98676348e-01 -9.66677454e-03 2.38314714e+02] [ 9.71650700e-01 5.13850132e-02 -2.30769361e-01 2.04689613e+02] [ 2.30960630e-01 2.26536191e-03 9.72960459e-01 1.03863684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:204.72, Z:103.87 [[ 4.64290905e-02 -9.98838488e-01 -1.28846631e-02 2.38324521e+02] [ 9.71770225e-01 4.81502230e-02 -2.30963602e-01 2.04715588e+02] [ 2.31315734e-01 -1.79750196e-03 9.72877074e-01 1.03871865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:204.74, Z:103.88 [[ 4.45477185e-02 -9.98926286e-01 -1.27191180e-02 2.38329278e+02] [ 9.72274250e-01 4.62777467e-02 -2.29218569e-01 2.04741552e+02] [ 2.29561066e-01 -2.15530659e-03 9.73291874e-01 1.03877568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12038572299997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:238.34, Y:204.77, Z:103.89 [[ 4.11655837e-02 -9.99071317e-01 -1.27239120e-02 2.38336652e+02] [ 9.72188122e-01 4.29899386e-02 -2.30221893e-01 2.04768192e+02] [ 2.30555090e-01 -2.89281753e-03 9.73054974e-01 1.03885103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:204.80, Z:103.89 [[ 3.91157033e-02 -9.99154665e-01 -1.26458148e-02 2.38340905e+02] [ 9.72317804e-01 4.09765935e-02 -2.30041316e-01 2.04795167e+02] [ 2.30365037e-01 -3.29752295e-03 9.73098698e-01 1.03891329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:204.82, Z:103.90 [[ 3.73121287e-02 -9.99224021e-01 -1.26159059e-02 2.38345207e+02] [ 9.72224271e-01 3.92172112e-02 -2.30742231e-01 2.04822692e+02] [ 2.31057941e-01 -3.65600611e-03 9.72933123e-01 1.03898089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.210385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:238.35, Y:204.85, Z:103.91 [[ 3.52427965e-02 -9.99297775e-01 -1.27241032e-02 2.38353101e+02] [ 9.71526853e-01 3.72427136e-02 -2.33984089e-01 2.04848508e+02] [ 2.34293659e-01 -4.11555432e-03 9.72157160e-01 1.03905020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.240385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.36, Y:204.88, Z:103.91 [[ 3.45772684e-02 -9.99322796e-01 -1.25841771e-02 2.38356619e+02] [ 9.71835263e-01 3.65578678e-02 -2.32808384e-01 2.04875614e+02] [ 2.33110776e-01 -4.17986902e-03 9.72441204e-01 1.03912113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:204.90, Z:103.92 [[ 3.36668325e-02 -9.99353622e-01 -1.26048773e-02 2.38361689e+02] [ 9.71470182e-01 3.56847506e-02 -2.34461691e-01 2.04902459e+02] [ 2.34759942e-01 -4.35167999e-03 9.72043637e-01 1.03919190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:204.93, Z:103.93 [[ 3.38605398e-02 -9.99072728e-01 -2.65922488e-02 2.38372498e+02] [ 9.71461816e-01 3.91515828e-02 -2.33942499e-01 2.04927444e+02] [ 2.34766700e-01 -1.79119350e-02 9.71886701e-01 1.03931985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:204.96, Z:103.93 [[ 3.43046947e-02 -9.99410968e-01 9.51206383e-04 2.38363482e+02] [ 9.71629347e-01 3.31282109e-02 -2.34177143e-01 2.04959367e+02] [ 2.34007694e-01 8.95759544e-03 9.72193479e-01 1.03927057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.38, Y:204.98, Z:103.94 [[ 3.42276557e-02 -9.99336848e-01 -1.24230210e-02 2.38375772e+02] [ 9.71387256e-01 3.61883370e-02 -2.34727934e-01 2.04983204e+02] [ 2.35021843e-01 -4.03337734e-03 9.71981721e-01 1.03940311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.38, Y:205.01, Z:103.95 [[ 3.46473573e-02 -9.99322805e-01 -1.23892098e-02 2.38378578e+02] [ 9.71161305e-01 3.65918345e-02 -2.35598719e-01 2.05010852e+02] [ 2.35892517e-01 -3.86904818e-03 9.71771450e-01 1.03946675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.38, Y:205.04, Z:103.95 [[ 3.65812140e-02 -9.99254952e-01 -1.23026434e-02 2.38381498e+02] [ 9.71154061e-01 3.84498536e-02 -2.35332527e-01 2.05038747e+02] [ 2.35630228e-01 -3.33901260e-03 9.71837047e-01 1.03949825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:205.06, Z:103.96 [[ 3.92706329e-02 -9.99152853e-01 -1.23042152e-02 2.38385381e+02] [ 9.70822424e-01 4.10665571e-02 -2.36256978e-01 2.05064159e+02] [ 2.36562126e-01 -2.66724700e-03 9.71612704e-01 1.03956326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:205.09, Z:103.96 [[ 4.04516918e-02 -9.99105972e-01 -1.22848675e-02 2.38388948e+02] [ 9.70558395e-01 4.22116802e-02 -2.37138305e-01 2.05090444e+02] [ 2.37444861e-01 -2.33053566e-03 9.71398222e-01 1.03962888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:205.12, Z:103.97 [[ 4.25090345e-02 -9.99021078e-01 -1.22420830e-02 2.38394485e+02] [ 9.70335522e-01 4.42010829e-02 -2.37687271e-01 2.05115293e+02] [ 2.37995707e-01 -1.77507156e-03 9.71264584e-01 1.03969760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.40, Y:205.14, Z:103.98 [[ 4.34693390e-02 -9.98980505e-01 -1.21806185e-02 2.38397958e+02] [ 9.70313983e-01 4.51190541e-02 -2.37602707e-01 2.05140701e+02] [ 2.37910050e-01 -1.49059188e-03 9.71286048e-01 1.03976156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.17, Z:103.98 [[ 4.38576016e-02 -9.98964344e-01 -1.21140878e-02 2.38399802e+02] [ 9.70342512e-01 4.54800910e-02 -2.37417292e-01 2.05167720e+02] [ 2.37722359e-01 -1.34226136e-03 9.71332218e-01 1.03982708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.19, Z:103.99 [[ 4.42849735e-02 -9.98946456e-01 -1.20340824e-02 2.38401443e+02] [ 9.70384977e-01 4.58758979e-02 -2.37167449e-01 2.05194065e+02] [ 2.37469657e-01 -1.17473852e-03 9.71394247e-01 1.03989027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.22, Z:104.00 [[ 4.45175987e-02 -9.98937374e-01 -1.19292304e-02 2.38403867e+02] [ 9.70520789e-01 4.60763403e-02 -2.36572123e-01 2.05219933e+02] [ 2.36870391e-01 -1.04594327e-03 9.71540696e-01 1.03996045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.25, Z:104.00 [[ 4.23403224e-02 -9.99033417e-01 -1.18122488e-02 2.38404102e+02] [ 9.70825478e-01 4.39320100e-02 -2.35728382e-01 2.05246787e+02] [ 2.36019467e-01 -1.48681640e-03 9.71747190e-01 1.04002056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:205.27, Z:104.01 [[ 4.25599050e-02 -9.99025393e-01 -1.17012259e-02 2.38407364e+02] [ 9.70985867e-01 4.41182264e-02 -2.35031972e-01 2.05272333e+02] [ 2.35319146e-01 -1.35878659e-03 9.71917205e-01 1.04009672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:205.30, Z:104.02 [[ 4.21168154e-02 -9.99044950e-01 -1.16345452e-02 2.38408299e+02] [ 9.70917756e-01 4.36724025e-02 -2.35396330e-01 2.05298495e+02] [ 2.35679623e-01 -1.38204279e-03 9.71829823e-01 1.04015552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.32, Z:104.02 [[ 4.17566087e-02 -9.99060796e-01 -1.15720111e-02 2.38408979e+02] [ 9.70880641e-01 4.33079164e-02 -2.35616649e-01 2.05324029e+02] [ 2.35896517e-01 -1.39648936e-03 9.71777178e-01 1.04021466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.780385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:238.41, Y:205.35, Z:104.02 [[ 3.98605801e-02 -9.99139279e-01 -1.14819467e-02 2.38409149e+02] [ 9.71029805e-01 4.14436106e-02 -2.35337088e-01 2.05351789e+02] [ 2.35610382e-01 -1.76863961e-03 9.71845986e-01 1.04024319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.38, Z:104.03 [[ 3.95536343e-02 -9.99152505e-01 -1.13922058e-02 2.38410437e+02] [ 9.71128572e-01 4.11235188e-02 -2.34985433e-01 2.05377592e+02] [ 2.35254772e-01 -1.76876864e-03 9.71932129e-01 1.04034245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.40, Z:104.04 [[ 3.44422783e-02 -9.99342345e-01 -1.13404750e-02 2.38408064e+02] [ 9.71218862e-01 3.61446539e-02 -2.35430426e-01 2.05404824e+02] [ 2.35685492e-01 -2.90532297e-03 9.71825040e-01 1.04039962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.43, Z:104.05 [[ 3.50436233e-02 -9.99322349e-01 -1.12600091e-02 2.38412170e+02] [ 9.71237304e-01 3.67096577e-02 -2.35266869e-01 2.05430956e+02] [ 2.35520792e-01 -2.69153738e-03 9.71865584e-01 1.04047476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:205.46, Z:104.05 [[ 3.15282039e-02 -9.99439488e-01 -1.12553659e-02 2.38410331e+02] [ 9.71024813e-01 3.32968880e-02 -2.36647690e-01 2.05459066e+02] [ 2.36889814e-01 -3.46816297e-03 9.71530333e-01 1.04053222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.49, Z:104.06 [[ 3.13021624e-02 -9.99446861e-01 -1.12314867e-02 2.38412074e+02] [ 9.70784218e-01 3.30752570e-02 -2.37663689e-01 2.05485500e+02] [ 2.37903712e-01 -3.46396264e-03 9.71282567e-01 1.04060146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.51, Z:104.06 [[ 2.70800124e-02 -9.99555345e-01 -1.24813783e-02 2.38409578e+02] [ 9.71116935e-01 2.92664923e-02 -2.36802390e-01 2.05510310e+02] [ 2.37062381e-01 -5.70826621e-03 9.71477660e-01 1.04063966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:205.54, Z:104.07 [[ 2.67961110e-02 -9.99610167e-01 -7.84102881e-03 2.38409523e+02] [ 9.70800097e-01 2.78927662e-02 -2.38262808e-01 2.05539673e+02] [ 2.38388633e-01 -1.22755489e-03 9.71169065e-01 1.04071647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.020385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:238.41, Y:205.56, Z:104.08 [[ 2.23108468e-02 -9.99639566e-01 -1.49320165e-02 2.38410509e+02] [ 9.71093719e-01 2.52193145e-02 -2.37362540e-01 2.05564572e+02] [ 2.37653562e-01 -9.20462818e-03 9.71306367e-01 1.04079030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.60, Z:104.08 [[ 2.02080812e-02 -9.99781472e-01 -5.35178433e-03 2.38406120e+02] [ 9.71094611e-01 2.09010630e-02 -2.37778054e-01 2.05595262e+02] [ 2.37837951e-01 -3.92050717e-04 9.71304770e-01 1.04082654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:205.62, Z:104.09 [[ 1.89439118e-02 -9.99760637e-01 -1.09452155e-02 2.38411095e+02] [ 9.71150498e-01 2.10023513e-02 -2.37540758e-01 2.05620667e+02] [ 2.37713774e-01 -6.12950035e-03 9.71315907e-01 1.04093184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:205.65, Z:104.10 [[ 1.49230347e-02 -9.99833876e-01 -1.04653833e-02 2.38407161e+02] [ 9.71770341e-01 1.69672733e-02 -2.35317905e-01 2.05646421e+02] [ 2.35456382e-01 -6.65829184e-03 9.71862109e-01 1.04095527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.140385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.41, Y:205.68, Z:104.10 [[ 1.62485844e-02 -9.99827779e-01 -8.96635044e-03 2.38406001e+02] [ 9.71529998e-01 1.79072714e-02 -2.36238845e-01 2.05677334e+02] [ 2.36358722e-01 -4.87253163e-03 9.71653649e-01 1.04104733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:205.70, Z:104.11 [[ 1.70429960e-02 -9.99775686e-01 -1.25743515e-02 2.38407154e+02] [ 9.71870474e-01 1.95192354e-02 -2.34705733e-01 2.05702829e+02] [ 2.34898527e-01 -8.22055207e-03 9.71985136e-01 1.04110778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.40, Y:205.73, Z:104.11 [[ 1.87075747e-02 -9.99803910e-01 -6.49369957e-03 2.38403295e+02] [ 9.72047295e-01 1.97077553e-02 -2.33956536e-01 2.05730754e+02] [ 2.34038635e-01 -1.93542373e-03 9.72225371e-01 1.04113593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.40, Y:205.76, Z:104.12 [[ 2.48476992e-02 -9.99636978e-01 -1.04165044e-02 2.38404237e+02] [ 9.71546729e-01 2.66018750e-02 -2.35349300e-01 2.05759178e+02] [ 2.35540961e-01 -4.27223213e-03 9.71855032e-01 1.04123474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.40, Y:205.79, Z:104.13 [[ 2.77163087e-02 -9.99558282e-01 -1.07260118e-02 2.38403961e+02] [ 9.71152154e-01 2.94678968e-02 -2.36632917e-01 2.05785414e+02] [ 2.36844465e-01 -3.85799855e-03 9.71539920e-01 1.04130908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.81, Z:104.14 [[ 3.45728292e-02 -9.99346004e-01 -1.05964376e-02 2.38404142e+02] [ 9.71226591e-01 3.60961226e-02 -2.35405986e-01 2.05811296e+02] [ 2.35634521e-01 -2.15289109e-03 9.71839358e-01 1.04137867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.84, Z:104.14 [[ 3.67201388e-02 -9.99270209e-01 -1.05205058e-02 2.38404714e+02] [ 9.71165841e-01 3.81649906e-02 -2.35330286e-01 2.05838701e+02] [ 2.35560059e-01 -1.57579509e-03 9.71858516e-01 1.04144564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.87, Z:104.15 [[ 3.91245247e-02 -9.99179775e-01 -1.04426453e-02 2.38403873e+02] [ 9.71132180e-01 4.04831650e-02 -2.35081691e-01 2.05865929e+02] [ 2.35311623e-01 -9.43729427e-04 9.71919518e-01 1.04150932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.89, Z:104.16 [[ 3.92941445e-02 -9.99173297e-01 -1.04256340e-02 2.38403779e+02] [ 9.70852794e-01 4.06450189e-02 -2.36205072e-01 2.05892781e+02] [ 2.36433550e-01 -8.40279730e-04 9.71647297e-01 1.04157553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.40, Y:205.92, Z:104.16 [[ 3.93096783e-02 -9.99173742e-01 -1.03238732e-02 2.38403957e+02] [ 9.71039310e-01 4.06354583e-02 -2.35438778e-01 2.05920493e+02] [ 2.35663761e-01 -7.69864045e-04 9.71834348e-01 1.04163665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:205.95, Z:104.17 [[ 3.95794490e-02 -9.99164140e-01 -1.02219530e-02 2.38404295e+02] [ 9.71201486e-01 4.08731586e-02 -2.34727628e-01 2.05946753e+02] [ 2.34949232e-01 -6.37185780e-04 9.72007434e-01 1.04168926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.40, Y:205.97, Z:104.17 [[ 3.84661261e-02 -9.99208314e-01 -1.01539452e-02 2.38404636e+02] [ 9.71332039e-01 3.97747094e-02 -2.34375859e-01 2.05973252e+02] [ 2.34594177e-01 -8.47320921e-04 9.72093028e-01 1.04174145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.00, Z:104.18 [[ 3.68090330e-02 -9.99271954e-01 -1.00327747e-02 2.38406781e+02] [ 9.71669092e-01 3.81340949e-02 -2.33248721e-01 2.05999063e+02] [ 2.33461496e-01 -1.16287721e-03 9.72365352e-01 1.04180882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.41, Y:206.03, Z:104.19 [[ 3.44959394e-02 -9.99355384e-01 -9.94220838e-03 2.38408176e+02] [ 9.71874836e-01 3.58629149e-02 -2.32751271e-01 2.06025658e+02] [ 2.32957792e-01 -1.63360843e-03 9.72485475e-01 1.04186917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.05, Z:104.19 [[ 2.94411148e-02 -9.99518044e-01 -9.84380737e-03 2.38409290e+02] [ 9.72189440e-01 3.09224390e-02 -2.32145419e-01 2.06051942e+02] [ 2.32337929e-01 -2.73542565e-03 9.72631279e-01 1.04193365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.08, Z:104.21 [[ 2.60133611e-02 -9.99288550e-01 -2.73074908e-02 2.38418098e+02] [ 9.71638608e-01 3.16972848e-02 -2.34336717e-01 2.06076346e+02] [ 2.35035571e-01 -2.04371267e-02 9.71771889e-01 1.04208698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.41, Y:206.11, Z:104.21 [[ 2.30841251e-02 -9.99712443e-01 -6.49268564e-03 2.38408667e+02] [ 9.71868856e-01 2.39628722e-02 -2.34300464e-01 2.06106335e+02] [ 2.34388673e-01 -9.01417749e-04 9.72142550e-01 1.04205945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.41, Y:206.13, Z:104.21 [[ 2.29176178e-02 -9.99693999e-01 -9.31078695e-03 2.38411146e+02] [ 9.71934712e-01 2.44604106e-02 -2.33975649e-01 2.06133733e+02] [ 2.34131798e-01 -3.68731252e-03 9.72197873e-01 1.04213344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.40, Y:206.16, Z:104.21 [[ 1.74692259e-02 -9.99837533e-01 4.44223598e-03 2.38404501e+02] [ 9.72463241e-01 1.59579113e-02 -2.32509333e-01 2.06164721e+02] [ 2.32400669e-01 8.38166925e-03 9.72584020e-01 1.04211945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.710385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:238.42, Y:206.19, Z:104.23 [[ 1.66181266e-02 -9.99538952e-01 -2.54110294e-02 2.38421054e+02] [ 9.71637492e-01 2.21396901e-02 -2.35436653e-01 2.06186599e+02] [ 2.35890698e-01 -2.07777927e-02 9.71557441e-01 1.04232473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.740385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:238.40, Y:206.22, Z:104.22 [[ 1.31184937e-02 -9.99880072e-01 8.23089735e-03 2.38402888e+02] [ 9.71897099e-01 1.08155658e-02 -2.35157504e-01 2.06218930e+02] [ 2.35040280e-01 1.10844975e-02 9.71922425e-01 1.04222502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.770385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.41, Y:206.24, Z:104.23 [[ 1.25474906e-02 -9.99875721e-01 -9.54479638e-03 2.38414402e+02] [ 9.72020839e-01 1.44359998e-02 -2.34450615e-01 2.06243154e+02] [ 2.34559266e-01 -6.33597410e-03 9.72081173e-01 1.04234376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.800385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:238.41, Y:206.27, Z:104.24 [[ 8.26595233e-03 -9.99920635e-01 -9.50774846e-03 2.38412434e+02] [ 9.71868347e-01 1.02714124e-02 -2.35300690e-01 2.06270354e+02] [ 2.35379674e-01 -7.29529548e-03 9.71876118e-01 1.04240031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:206.30, Z:104.25 [[ 7.18595257e-03 -9.99929692e-01 -9.43256681e-03 2.38411984e+02] [ 9.71898486e-01 9.20339552e-03 -2.35220387e-01 2.06298094e+02] [ 2.35290661e-01 -7.47721485e-03 9.71896289e-01 1.04246372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.32, Z:104.25 [[ 6.94252586e-03 -9.99932383e-01 -9.32902579e-03 2.38411900e+02] [ 9.72102021e-01 8.93606082e-03 -2.34388158e-01 2.06324241e+02] [ 2.34455674e-01 -7.44151897e-03 9.72098329e-01 1.04252069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.35, Z:104.26 [[ 7.01431056e-03 -9.99932495e-01 -9.26306866e-03 2.38412373e+02] [ 9.72204873e-01 8.98713390e-03 -2.33959219e-01 2.06351829e+02] [ 2.34026674e-01 -7.36453786e-03 9.72202283e-01 1.04258627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.38, Z:104.26 [[ 9.22346113e-03 -9.99895791e-01 -1.11056694e-02 2.38412393e+02] [ 9.72176463e-01 1.15663638e-02 -2.33963982e-01 2.06375433e+02] [ 2.34068053e-01 -8.63871271e-03 9.72181834e-01 1.04264800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.40, Z:104.27 [[ 1.08876690e-02 -9.99927972e-01 -5.05071616e-03 2.38410232e+02] [ 9.71498498e-01 1.17739749e-02 -2.36753124e-01 2.06404037e+02] [ 2.36795538e-01 -2.32907352e-03 9.71556714e-01 1.04269895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.43, Z:104.28 [[ 1.36775924e-02 -9.99825557e-01 -1.27192415e-02 2.38412887e+02] [ 9.72488659e-01 1.62598636e-02 -2.32382068e-01 2.06428624e+02] [ 2.32548344e-01 -9.19089092e-03 9.72541411e-01 1.04276999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.46, Z:104.28 [[ 1.24599115e-02 -9.99920586e-01 1.88998497e-03 2.38406496e+02] [ 9.71784446e-01 1.16640278e-02 -2.35582132e-01 2.06459147e+02] [ 2.35541379e-01 4.77199052e-03 9.71852606e-01 1.04278812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.41, Y:206.49, Z:104.29 [[ 1.37249490e-02 -9.99849427e-01 -1.06183822e-02 2.38414041e+02] [ 9.72002183e-01 1.58324147e-02 -2.34437819e-01 2.06486859e+02] [ 2.34570634e-01 -7.10344357e-03 9.72073124e-01 1.04291245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.51, Z:104.30 [[ 1.47915759e-02 -9.99850740e-01 -8.92790817e-03 2.38414189e+02] [ 9.71949804e-01 1.64737113e-02 -2.34610732e-01 2.06513360e+02] [ 2.34722790e-01 -5.20721613e-03 9.72048402e-01 1.04297107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:206.54, Z:104.29 [[ 1.43512895e-02 -9.99879089e-01 5.98724619e-03 2.38404133e+02] [ 9.72266051e-01 1.25565266e-02 -2.33540274e-01 2.06540497e+02] [ 2.33436858e-01 9.17280029e-03 9.72328696e-01 1.04292761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.57, Z:104.31 [[ 1.44502903e-02 -9.99814950e-01 -1.26986486e-02 2.38413669e+02] [ 9.72881523e-01 1.69908776e-02 -2.30679112e-01 2.06566879e+02] [ 2.30852186e-01 -9.02090042e-03 9.72947014e-01 1.04305090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:206.59, Z:104.31 [[ 1.64684929e-02 -9.99813121e-01 -1.01248167e-02 2.38414195e+02] [ 9.71774265e-01 1.83883993e-02 -2.35194910e-01 2.06593756e+02] [ 2.35337136e-01 -5.96573061e-03 9.71895489e-01 1.04314306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.62, Z:104.32 [[ 1.68151160e-02 -9.99774507e-01 -1.29686715e-02 2.38418546e+02] [ 9.72050416e-01 1.93837996e-02 -2.33970631e-01 2.06623338e+02] [ 2.34169255e-01 -8.67195921e-03 9.72157167e-01 1.04324364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.65, Z:104.33 [[ 1.45085173e-02 -9.99856565e-01 -8.73794306e-03 2.38416960e+02] [ 9.71939724e-01 1.61542955e-02 -2.34674693e-01 2.06649806e+02] [ 2.34782188e-01 -5.08797213e-03 9.72034689e-01 1.04328710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.68, Z:104.34 [[ 1.23767632e-02 -9.99885208e-01 -8.73991726e-03 2.38417564e+02] [ 9.71493906e-01 1.40938274e-02 -2.36645209e-01 2.06677323e+02] [ 2.36741223e-01 -5.56187465e-03 9.71556822e-01 1.04335326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.41, Y:206.71, Z:104.34 [[ 1.04342778e-02 -9.99945560e-01 5.51463079e-05 2.38414391e+02] [ 9.71273603e-01 1.01219786e-02 -2.37750149e-01 2.06707006e+02] [ 2.37736648e-01 2.53431326e-03 9.71326343e-01 1.04337653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.73, Z:104.35 [[ 1.02933113e-02 -9.99798434e-01 -1.72377116e-02 2.38424379e+02] [ 9.71742629e-01 1.40668930e-02 -2.35623398e-01 2.06731999e+02] [ 2.35818385e-01 -1.43252742e-02 9.71691554e-01 1.04351343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.42, Y:206.76, Z:104.35 [[ 9.88150747e-03 -9.99914998e-01 -8.50606535e-03 2.38420814e+02] [ 9.71640932e-01 1.16111922e-02 -2.36175950e-01 2.06758795e+02] [ 2.36254641e-01 -5.93106685e-03 9.71673076e-01 1.04354361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.79, Z:104.36 [[ 1.01774676e-02 -9.99932161e-01 -5.66497579e-03 2.38420788e+02] [ 9.71844630e-01 1.12249596e-02 -2.35355083e-01 2.06786742e+02] [ 2.35402706e-01 -3.11015757e-03 9.71892943e-01 1.04359316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.400385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:238.42, Y:206.81, Z:104.37 [[ 1.02375154e-02 -9.99880377e-01 -1.15941892e-02 2.38424453e+02] [ 9.71824058e-01 1.26794604e-02 -2.35366167e-01 2.06812699e+02] [ 2.35485020e-01 -8.85794718e-03 9.71837611e-01 1.04365953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.84, Z:104.37 [[ 1.14330213e-02 -9.99900440e-01 -8.27024838e-03 2.38423429e+02] [ 9.71990955e-01 1.30547514e-02 -2.34655402e-01 2.06838714e+02] [ 2.34740005e-01 -5.35578642e-03 9.72043438e-01 1.04374449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.42, Y:206.87, Z:104.38 [[ 1.21323623e-02 -9.99892929e-01 -8.18151016e-03 2.38424370e+02] [ 9.72110338e-01 1.37109412e-02 -2.34122834e-01 2.06865349e+02] [ 2.34209942e-01 -5.11286757e-03 9.72172599e-01 1.04381210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:206.89, Z:104.38 [[ 1.33592749e-02 -9.99908677e-01 2.04160246e-03 2.38418722e+02] [ 9.72967384e-01 1.25284843e-02 -2.30602488e-01 2.06894587e+02] [ 2.30555850e-01 5.06709463e-03 9.73045901e-01 1.04379623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.43, Y:206.92, Z:104.39 [[ 1.53396096e-02 -9.99804440e-01 -1.24811413e-02 2.38427075e+02] [ 9.72718895e-01 1.78115266e-02 -2.31302185e-01 2.06921736e+02] [ 2.31479260e-01 -8.59255674e-03 9.72801892e-01 1.04393294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.43, Y:206.95, Z:104.40 [[ 1.82560499e-02 -9.99735751e-01 -1.39694273e-02 2.38428543e+02] [ 9.72140493e-01 2.10142318e-02 -2.33455060e-01 2.06946708e+02] [ 2.33686926e-01 -9.31827868e-03 9.72267242e-01 1.04400304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.580385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:238.42, Y:206.98, Z:104.40 [[ 2.05548966e-02 -9.99770291e-01 6.07130289e-03 2.38421109e+02] [ 9.72636436e-01 1.85906742e-02 -2.31587458e-01 2.06978291e+02] [ 2.31421391e-01 1.06654267e-02 9.72795142e-01 1.04399070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:207.00, Z:104.41 [[ 2.00260870e-02 -9.99775434e-01 -6.93086015e-03 2.38427419e+02] [ 9.72682088e-01 2.10860387e-02 -2.31181607e-01 2.07004118e+02] [ 2.31275836e-01 -2.11186054e-03 9.72885927e-01 1.04410143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:207.03, Z:104.43 [[ 2.22511327e-02 -9.99442914e-01 -2.48746682e-02 2.38436619e+02] [ 9.71825715e-01 2.74625638e-02 -2.34095254e-01 2.07025219e+02] [ 2.34647965e-01 -1.89649576e-02 9.71895397e-01 1.04427910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.42, Y:207.06, Z:104.42 [[ 2.25801900e-02 -9.99717647e-01 7.40009741e-03 2.38422032e+02] [ 9.72579125e-01 2.02522201e-02 -2.31688784e-01 2.07058109e+02] [ 2.31473497e-01 1.24287570e-02 9.72761814e-01 1.04417531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.08, Z:104.44 [[ 2.24198067e-02 -9.99479518e-01 -2.31957933e-02 2.38436921e+02] [ 9.71851193e-01 2.72310878e-02 -2.34016510e-01 2.07078335e+02] [ 2.34526355e-01 -1.72962544e-02 9.71955878e-01 1.04439051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.43, Y:207.11, Z:104.44 [[ 2.04653925e-02 -9.99763357e-01 -7.37553744e-03 2.38430783e+02] [ 9.71886126e-01 2.16243893e-02 -2.34456274e-01 2.07106425e+02] [ 2.34560283e-01 -2.36994285e-03 9.72098687e-01 1.04439123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:207.13, Z:104.45 [[ 1.85559723e-02 -9.99801158e-01 -7.30203623e-03 2.38432676e+02] [ 9.71951889e-01 1.97506642e-02 -2.34348964e-01 2.07133785e+02] [ 2.34446586e-01 -2.74865502e-03 9.72125117e-01 1.04446061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.16, Z:104.45 [[ 1.42489795e-02 -9.99872311e-01 -7.23389616e-03 2.38435252e+02] [ 9.72045070e-01 1.55473856e-02 -2.34279025e-01 2.07160144e+02] [ 2.34361578e-01 -3.69343608e-03 9.72142484e-01 1.04453295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:207.19, Z:104.45 [[ 1.13293363e-02 -9.99934444e-01 1.65965535e-03 2.38431827e+02] [ 9.72578078e-01 1.06337679e-02 -2.32333393e-01 2.07190418e+02] [ 2.32300514e-01 4.24632756e-03 9.72634793e-01 1.04453052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:207.22, Z:104.46 [[ 9.21150120e-03 -9.99931951e-01 -7.15827338e-03 2.38436961e+02] [ 9.72689643e-01 1.06204182e-02 -2.31866480e-01 2.07216165e+02] [ 2.31926726e-01 -4.82694002e-03 9.72721283e-01 1.04462116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:207.24, Z:104.48 [[ 8.39123098e-03 -9.99791720e-01 -1.86038427e-02 2.38445484e+02] [ 9.71882705e-01 1.25322570e-02 -2.35131773e-01 2.07243435e+02] [ 2.35315948e-01 -1.61077080e-02 9.71785443e-01 1.04477615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:207.27, Z:104.48 [[ 6.51700272e-03 -9.99948730e-01 -7.75027981e-03 2.38440435e+02] [ 9.72066490e-01 8.15331449e-03 -2.34563983e-01 2.07272106e+02] [ 2.34615147e-01 -6.00513318e-03 9.72069787e-01 1.04478025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.30, Z:104.49 [[ 7.58623643e-03 -9.99952730e-01 -6.08163183e-03 2.38441521e+02] [ 9.72129769e-01 8.80001597e-03 -2.34278195e-01 2.07299850e+02] [ 2.34320639e-01 -4.13484557e-03 9.72150575e-01 1.04485480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.32, Z:104.49 [[ 5.69718787e-03 -9.99931978e-01 -1.01775044e-02 2.38440912e+02] [ 9.72278574e-01 7.91818772e-03 -2.33691414e-01 2.07322139e+02] [ 2.33756106e-01 -8.56398561e-03 9.72257549e-01 1.04492653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.43, Y:207.36, Z:104.49 [[ 6.50741329e-03 -9.99956841e-01 6.63091623e-03 2.38434380e+02] [ 9.72887470e-01 4.79792636e-03 -2.31229218e-01 2.07355405e+02] [ 2.31187423e-01 7.95583940e-03 9.72876703e-01 1.04489552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.38, Z:104.50 [[ 7.79518590e-03 -9.99923917e-01 -9.56008129e-03 2.38442427e+02] [ 9.73018596e-01 9.78938542e-03 -2.30518936e-01 2.07378938e+02] [ 2.30594985e-01 -7.50519891e-03 9.73020876e-01 1.04501935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.45, Y:207.40, Z:104.52 [[ 8.07325537e-03 -9.99751719e-01 -2.07683176e-02 2.38446796e+02] [ 9.72400278e-01 1.26920528e-02 -2.32973414e-01 2.07400737e+02] [ 2.33179164e-01 -1.83142639e-02 9.72261315e-01 1.04516140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:207.43, Z:104.51 [[ 9.58516892e-03 -9.99938564e-01 5.56706597e-03 2.38435881e+02] [ 9.72847000e-01 8.03768109e-03 -2.31309554e-01 2.07433853e+02] [ 2.31250597e-01 7.63304457e-03 9.72864275e-01 1.04509700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12038572299997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:238.45, Y:207.45, Z:104.53 [[ 9.89831287e-03 -9.99743762e-01 -2.03576564e-02 2.38445633e+02] [ 9.72248358e-01 1.43809934e-02 -2.33508708e-01 2.07454730e+02] [ 2.33741637e-01 -1.74813558e-02 9.72141579e-01 1.04525152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.48, Z:104.53 [[ 1.14274177e-02 -9.99913636e-01 -6.49117186e-03 2.38438569e+02] [ 9.72388422e-01 1.26255942e-02 -2.33026502e-01 2.07481773e+02] [ 2.33088331e-01 -3.64904918e-03 9.72448721e-01 1.04528874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.51, Z:104.53 [[ 1.27510063e-02 -9.99898007e-01 -6.43336884e-03 2.38438754e+02] [ 9.72252239e-01 1.39009430e-02 -2.33521621e-01 2.07508882e+02] [ 2.33587234e-01 -3.27722159e-03 9.72330327e-01 1.04534615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.54, Z:104.54 [[ 1.30448872e-02 -9.99894629e-01 -6.36880983e-03 2.38439993e+02] [ 9.72226921e-01 1.41719061e-02 -2.33610727e-01 2.07536077e+02] [ 2.33676370e-01 -3.14450279e-03 9.72309347e-01 1.04541028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:207.56, Z:104.55 [[ 1.31657808e-02 -9.99893401e-01 -6.31266526e-03 2.38440707e+02] [ 9.72125064e-01 1.42776466e-02 -2.34027794e-01 2.07563240e+02] [ 2.34092976e-01 -3.05554150e-03 9.72209413e-01 1.04547808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:207.59, Z:104.55 [[ 1.31804112e-02 -9.99893682e-01 -6.23712694e-03 2.38440145e+02] [ 9.72198680e-01 1.42732500e-02 -2.33722058e-01 2.07589371e+02] [ 2.33786234e-01 -2.98317374e-03 9.72283445e-01 1.04553289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:207.62, Z:104.56 [[ 1.37257526e-02 -9.99897174e-01 4.15276052e-03 2.38436887e+02] [ 9.71537481e-01 1.23539617e-02 -2.36563528e-01 2.07618937e+02] [ 2.36487900e-01 7.28157495e-03 9.71607149e-01 1.04555055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.330385723 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:238.44, Y:207.64, Z:104.57 [[ 1.41872493e-02 -9.99828642e-01 -1.18915429e-02 2.38444742e+02] [ 9.72174225e-01 1.65740382e-02 -2.33671945e-01 2.07640372e+02] [ 2.33828994e-01 -8.24548939e-03 9.72242775e-01 1.04565383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.44, Y:207.67, Z:104.57 [[ 1.29783995e-02 -9.99911103e-01 -3.05723951e-03 2.38441755e+02] [ 9.71879808e-01 1.33333858e-02 -2.35099682e-01 2.07667686e+02] [ 2.35119545e-01 7.99482538e-05 9.71966457e-01 1.04569455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.45, Y:207.70, Z:104.58 [[ 1.40004350e-02 -9.99879649e-01 -6.68391370e-03 2.38447383e+02] [ 9.71760589e-01 1.51808270e-02 -2.35480149e-01 2.07696179e+02] [ 2.35553276e-01 -3.19833938e-03 9.71856175e-01 1.04578381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.44, Y:207.72, Z:104.58 [[ 1.27739293e-02 -9.99907682e-01 -4.63177799e-03 2.38444722e+02] [ 9.71934570e-01 1.35045054e-02 -2.34863406e-01 2.07720034e+02] [ 2.34904273e-01 -1.50165661e-03 9.72017349e-01 1.04582304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:207.74, Z:104.59 [[ 1.29626794e-02 -9.99793626e-01 -1.56420879e-02 2.38450745e+02] [ 9.72580630e-01 1.62395395e-02 -2.31998266e-01 2.07744904e+02] [ 2.32204408e-01 -1.22058725e-02 9.72590422e-01 1.04592190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.480385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.45, Y:207.77, Z:104.59 [[ 1.33802313e-02 -9.99893454e-01 -5.83525818e-03 2.38446998e+02] [ 9.72415824e-01 1.43711918e-02 -2.32810942e-01 2.07772087e+02] [ 2.32869996e-01 -2.55923313e-03 9.72504507e-01 1.04593851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.45, Y:207.80, Z:104.61 [[ 1.52091140e-02 -9.99806251e-01 -1.24957237e-02 2.38454483e+02] [ 9.72182351e-01 1.77079010e-02 -2.33554932e-01 2.07801869e+02] [ 2.33730954e-01 -8.59595843e-03 9.72263313e-01 1.04605545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:207.83, Z:104.60 [[ 1.52497557e-02 -9.99882487e-01 -1.56759211e-03 2.38447863e+02] [ 9.72459277e-01 1.51961379e-02 -2.32576940e-01 2.07826335e+02] [ 2.32573430e-01 2.02232203e-03 9.72576737e-01 1.04604652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.45, Y:207.85, Z:104.61 [[ 1.54595109e-02 -9.99864501e-01 -5.65544796e-03 2.38451117e+02] [ 9.72406199e-01 1.63512784e-02 -2.32720475e-01 2.07852315e+02] [ 2.32781416e-01 -1.90164792e-03 9.72527221e-01 1.04611948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.45, Y:207.88, Z:104.62 [[ 1.51710178e-02 -9.99869312e-01 -5.58568585e-03 2.38451634e+02] [ 9.72410744e-01 1.60544717e-02 -2.32722150e-01 2.07879327e+02] [ 2.32781412e-01 -1.90094905e-03 9.72527224e-01 1.04618309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.630385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.45, Y:207.91, Z:104.62 [[ 1.56660531e-02 -9.99861819e-01 -5.56031475e-03 2.38453794e+02] [ 9.71954503e-01 1.65333534e-02 -2.34587067e-01 2.07906391e+02] [ 2.34646583e-01 -1.72931950e-03 9.72079210e-01 1.04624199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:207.93, Z:104.63 [[ 1.52570346e-02 -9.99868461e-01 -5.50314873e-03 2.38455086e+02] [ 9.71859235e-01 1.61231054e-02 -2.35009942e-01 2.07934263e+02] [ 2.35067757e-01 -1.76273111e-03 9.71977388e-01 1.04629989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.46, Y:207.96, Z:104.64 [[ 1.44152029e-02 -9.99881136e-01 -5.46949192e-03 2.38457892e+02] [ 9.71515469e-01 1.52998461e-02 -2.36481731e-01 2.07960241e+02] [ 2.36537304e-01 -1.90476388e-03 9.71620541e-01 1.04635771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:207.99, Z:104.64 [[ 1.35344691e-02 -9.99893782e-01 -5.40773637e-03 2.38460214e+02] [ 9.71425274e-01 1.44303862e-02 -2.36906524e-01 2.07986712e+02] [ 2.36959396e-01 -2.04680775e-03 9.71517398e-01 1.04642356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.46, Y:208.01, Z:104.65 [[ 1.25407410e-02 -9.99907127e-01 -5.33554392e-03 2.38462518e+02] [ 9.71411358e-01 1.34481050e-02 -2.37021352e-01 2.08012577e+02] [ 2.37071092e-01 -2.21058458e-03 9.71489789e-01 1.04648751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.47, Y:208.04, Z:104.65 [[ 9.18945264e-03 -9.99944071e-01 -5.23540694e-03 2.38465350e+02] [ 9.71695664e-01 1.01655668e-02 -2.36017369e-01 2.08039372e+02] [ 2.36057390e-01 -2.91835178e-03 9.71734733e-01 1.04653726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.47, Y:208.07, Z:104.66 [[ 7.77574058e-03 -9.99956551e-01 -5.14138606e-03 2.38466965e+02] [ 9.71942599e-01 8.76646160e-03 -2.35054747e-01 2.08065517e+02] [ 2.35089606e-01 -3.16940740e-03 9.71968535e-01 1.04660730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:208.09, Z:104.67 [[ 6.43175425e-03 -9.99966477e-01 -5.06729653e-03 2.38468981e+02] [ 9.71970228e-01 7.44246760e-03 -2.34986140e-01 2.08092134e+02] [ 2.35015976e-01 -3.41388825e-03 9.71985513e-01 1.04667251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:208.12, Z:104.67 [[ 3.98455221e-03 -9.99979563e-01 -4.99963440e-03 2.38472068e+02] [ 9.71927808e-01 5.04883976e-03 -2.35225096e-01 2.08117799e+02] [ 2.35245531e-01 -3.92201702e-03 9.71928062e-01 1.04672720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.47, Y:208.14, Z:104.68 [[ 3.02580445e-03 -9.99983330e-01 -4.91775518e-03 2.38473666e+02] [ 9.72000048e-01 4.09655206e-03 -2.34944941e-01 2.08144826e+02] [ 2.34961170e-01 -4.06916082e-03 9.71996240e-01 1.04678356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:208.17, Z:104.68 [[ 1.88402772e-03 -9.99986535e-01 -4.83529047e-03 2.38476612e+02] [ 9.72131979e-01 2.96503054e-03 -2.34415496e-01 2.08171718e+02] [ 2.34426677e-01 -4.25889520e-03 9.72124475e-01 1.04684711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.48, Y:208.20, Z:104.69 [[ 1.25619445e-03 -9.99987920e-01 -4.75194165e-03 2.38478374e+02] [ 9.72251767e-01 2.33296496e-03 -2.33925327e-01 2.08198924e+02] [ 2.33933587e-01 -4.32622796e-03 9.72242953e-01 1.04691176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.48, Y:208.23, Z:104.70 [[ 1.08035702e-03 -9.99988424e-01 -4.68872322e-03 2.38480173e+02] [ 9.72206167e-01 2.14806228e-03 -2.34116539e-01 2.08226259e+02] [ 2.34123901e-01 -4.30547619e-03 9.72197234e-01 1.04697727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.020385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:238.48, Y:208.25, Z:104.70 [[ 1.43315143e-03 -9.99988253e-01 -4.63024692e-03 2.38481929e+02] [ 9.72101789e-01 2.47920547e-03 -2.34546299e-01 2.08252987e+02] [ 2.34555023e-01 -4.16493095e-03 9.72093923e-01 1.04702941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:208.28, Z:104.71 [[ 1.83515912e-03 -9.99987918e-01 -4.56033906e-03 2.38483231e+02] [ 9.72091096e-01 2.85376964e-03 -2.34586355e-01 2.08278783e+02] [ 2.34596535e-01 -4.00256171e-03 9.72084588e-01 1.04708534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.49, Y:208.31, Z:104.71 [[ 3.23161084e-03 -9.99984697e-01 -4.49032036e-03 2.38485461e+02] [ 9.71984023e-01 4.19640612e-03 -2.35009466e-01 2.08305053e+02] [ 2.35024713e-01 -3.60506051e-03 9.71982710e-01 1.04714264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.33, Z:104.72 [[ 3.85079617e-03 -9.99982855e-01 -4.41151267e-03 2.38486491e+02] [ 9.72048170e-01 4.77876832e-03 -2.34732866e-01 2.08330855e+02] [ 2.34749923e-01 -3.38429439e-03 9.72049906e-01 1.04720296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.49, Y:208.36, Z:104.73 [[ 4.72860020e-03 -9.99979448e-01 -4.32949632e-03 2.38487572e+02] [ 9.72111995e-01 5.61189448e-03 -2.34449943e-01 2.08358359e+02] [ 2.34469421e-01 -3.10013526e-03 9.72118552e-01 1.04727040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.170385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.48, Y:208.39, Z:104.73 [[ 5.59219618e-03 -9.99978689e-01 3.36886556e-03 2.38484979e+02] [ 9.71728992e-01 4.63896557e-03 -2.36053482e-01 2.08386785e+02] [ 2.36032824e-01 4.59368172e-03 9.71734225e-01 1.04729541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.41, Z:104.74 [[ 6.13024061e-03 -9.99907348e-01 -1.21537964e-02 2.38493520e+02] [ 9.72264186e-01 8.80161019e-03 -2.33719672e-01 2.08412005e+02] [ 2.33804991e-01 -1.03839431e-02 9.72228060e-01 1.04741630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:238.49, Y:208.44, Z:104.74 [[ 5.82589102e-03 -9.99974469e-01 -4.13777470e-03 2.38491047e+02] [ 9.72135714e-01 6.63330968e-03 -2.34324889e-01 2.08439549e+02] [ 2.34346353e-01 -2.65732729e-03 9.72149539e-01 1.04744412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.260385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:238.49, Y:208.47, Z:104.75 [[ 4.13745283e-03 -9.99983190e-01 -4.06207528e-03 2.38491989e+02] [ 9.72212881e-01 4.97327971e-03 -2.34045680e-01 2.08467040e+02] [ 2.34061947e-01 -2.98084896e-03 9.72217115e-01 1.04748550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.49, Y:208.49, Z:104.76 [[ 2.78166491e-03 -9.99988215e-01 -3.97893608e-03 2.38492902e+02] [ 9.72351503e-01 3.63385574e-03 -2.33493789e-01 2.08492926e+02] [ 2.33505496e-01 -3.21942300e-03 9.72350152e-01 1.04756388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.320385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.49, Y:208.52, Z:104.76 [[ 1.02506604e-03 -9.99991892e-01 -3.89423103e-03 2.38493846e+02] [ 9.72522235e-01 1.90350062e-03 -2.32802231e-01 2.08519044e+02] [ 2.32807756e-01 -3.54858860e-03 9.72516301e-01 1.04762414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.350385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:238.50, Y:208.54, Z:104.77 [[-1.79485587e-03 -9.99991144e-01 -3.80654462e-03 2.38495187e+02] [ 9.72742233e-01 -8.63249713e-04 -2.31887479e-01 2.08544227e+02] [ 2.31882139e-01 -4.11899132e-03 9.72735168e-01 1.04768222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.50, Y:208.57, Z:104.77 [[-3.19673407e-03 -9.99987967e-01 -3.72126079e-03 2.38495639e+02] [ 9.72877215e-01 -2.24928756e-03 -2.31311185e-01 2.08570866e+02] [ 2.31300032e-01 -4.35977018e-03 9.72872699e-01 1.04773649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.59, Z:104.78 [[-8.43788302e-03 -9.99945755e-01 -6.10646852e-03 2.38492053e+02] [ 9.73546183e-01 -6.82039153e-03 -2.28388510e-01 2.08593241e+02] [ 2.28334472e-01 -7.87204465e-03 9.73550923e-01 1.04775768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.62, Z:104.78 [[-7.68331895e-03 -9.99951650e-01 -6.13709616e-03 2.38492538e+02] [ 9.73399481e-01 -6.07362880e-03 -2.29033975e-01 2.08619521e+02] [ 2.28985627e-01 -7.73358729e-03 9.73399083e-01 1.04783291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.65, Z:104.79 [[-2.49812616e-03 -9.99955459e-01 9.10162776e-03 2.38489733e+02] [ 9.73189108e-01 -4.52437859e-03 -2.29961932e-01 2.08653189e+02] [ 2.29992869e-01 8.28313108e-03 9.73157063e-01 1.04785906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.68, Z:104.80 [[-2.83836535e-03 -9.99989157e-01 -3.69184946e-03 2.38492370e+02] [ 9.73151173e-01 -1.91246715e-03 -2.30158940e-01 2.08679791e+02] [ 2.30149383e-01 -4.24600279e-03 9.73146049e-01 1.04796209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.71, Z:104.80 [[-3.70429953e-04 -9.99993257e-01 -3.65360980e-03 2.38494088e+02] [ 9.73067879e-01 4.81773556e-04 -2.30518265e-01 2.08705430e+02] [ 2.30518471e-01 -3.64060121e-03 9.73061139e-01 1.04801846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:238.49, Y:208.73, Z:104.81 [[ 1.29435772e-04 -9.99993498e-01 -3.60386519e-03 2.38492958e+02] [ 9.72881528e-01 9.59513111e-04 -2.31301992e-01 2.08733532e+02] [ 2.31303946e-01 -3.47619512e-03 9.72875326e-01 1.04807109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.76, Z:104.81 [[-3.77452136e-04 -9.99993643e-01 -3.54558304e-03 2.38492799e+02] [ 9.72773433e-01 4.54543732e-04 -2.31757722e-01 2.08761412e+02] [ 2.31757860e-01 -3.53652643e-03 9.72767078e-01 1.04813304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.79, Z:104.82 [[-2.07444590e-03 -9.99991809e-01 -3.47554260e-03 2.38493120e+02] [ 9.72843323e-01 -1.21366670e-03 -2.31461435e-01 2.08786881e+02] [ 2.31455321e-01 -3.86131264e-03 9.72837872e-01 1.04819529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.49, Y:208.81, Z:104.83 [[-3.05186020e-03 -9.99989505e-01 -3.41697227e-03 2.38493404e+02] [ 9.72866440e-01 -2.17853417e-03 -2.31357177e-01 2.08813416e+02] [ 2.31347305e-01 -4.03032740e-03 9.72862879e-01 1.04826133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.49, Y:208.84, Z:104.83 [[-4.19388306e-03 -9.99985621e-01 -3.34198788e-03 2.38492854e+02] [ 9.72910265e-01 -3.30778748e-03 -2.31159413e-01 2.08839745e+02] [ 2.31145035e-01 -4.22090986e-03 9.72910148e-01 1.04832393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.86, Z:104.84 [[-8.24623700e-03 -9.99890002e-01 -1.23282007e-02 2.38491876e+02] [ 9.73004137e-01 -5.17971243e-03 -2.30729538e-01 2.08861883e+02] [ 2.30640302e-01 -1.38980407e-02 9.72939821e-01 1.04839807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.89, Z:104.84 [[-5.18853419e-03 -9.99949327e-01 8.62684362e-03 2.38485128e+02] [ 9.72952126e-01 -7.04048624e-03 -2.30899527e-01 2.08894734e+02] [ 2.30948563e-01 7.19547575e-03 9.72939354e-01 1.04839723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:208.92, Z:104.85 [[-6.00159977e-03 -9.99976877e-01 -3.19783084e-03 2.38490246e+02] [ 9.73089455e-01 -5.10352349e-03 -2.30371150e-01 2.08921209e+02] [ 2.30349503e-01 -4.49437091e-03 9.73097584e-01 1.04850673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.800385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.48, Y:208.95, Z:104.85 [[-1.22954237e-02 -9.99920864e-01 2.66244830e-03 2.38480950e+02] [ 9.73913419e-01 -1.25789072e-02 -2.26571011e-01 2.08945428e+02] [ 2.26586572e-01 -1.92792453e-04 9.73991010e-01 1.04846202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.830385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:238.49, Y:208.97, Z:104.86 [[-1.16772870e-02 -9.99904526e-01 -7.38788114e-03 2.38487036e+02] [ 9.73511225e-01 -9.68124978e-03 -2.28434165e-01 2.08972689e+02] [ 2.28340831e-01 -9.85967651e-03 9.73531331e-01 1.04859072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.49, Y:209.00, Z:104.87 [[-1.02843827e-02 -9.99913114e-01 -8.24599517e-03 2.38486414e+02] [ 9.74012788e-01 -8.15137811e-03 -2.26346290e-01 2.08999224e+02] [ 2.26259408e-01 -1.03595366e-02 9.74011992e-01 1.04869969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.48, Y:209.03, Z:104.87 [[-1.11620331e-02 -9.99908480e-01 7.64463897e-03 2.38477668e+02] [ 9.73673250e-01 -1.26092410e-02 -2.27599230e-01 2.09027829e+02] [ 2.27674793e-01 4.90291033e-03 9.73724884e-01 1.04868485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.48, Y:209.05, Z:104.88 [[-1.09593453e-02 -9.99915441e-01 -7.00029694e-03 2.38484423e+02] [ 9.73344451e-01 -9.06373337e-03 -2.29168994e-01 2.09053014e+02] [ 2.29086167e-01 -9.32524233e-03 9.73361479e-01 1.04882792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.950385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:238.48, Y:209.08, Z:104.88 [[-9.60487089e-03 -9.99927595e-01 7.24918406e-03 2.38479956e+02] [ 9.73463051e-01 -1.10077977e-02 -2.28579345e-01 2.09084142e+02] [ 2.28642592e-01 4.86133774e-03 9.73498296e-01 1.04881432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.49, Y:209.11, Z:104.90 [[-1.16195749e-02 -9.99805293e-01 -1.59487077e-02 2.38487925e+02] [ 9.73248104e-01 -7.64792699e-03 -2.29629346e-01 2.09105689e+02] [ 2.29462661e-01 -1.81902449e-02 9.73147472e-01 1.04900212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.010385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:238.47, Y:209.14, Z:104.89 [[-1.49782360e-02 -9.99758900e-01 1.60559992e-02 2.38468621e+02] [ 9.73946353e-01 -1.82217745e-02 -2.26045281e-01 2.09135829e+02] [ 2.26283350e-01 1.22519222e-02 9.73984464e-01 1.04886643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.49, Y:209.16, Z:104.91 [[-1.28474251e-02 -9.99754708e-01 -1.80406982e-02 2.38485286e+02] [ 9.73439109e-01 -8.38066304e-03 -2.28792626e-01 2.09159378e+02] [ 2.28585312e-01 -2.05009173e-02 9.73308003e-01 1.04912093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:209.19, Z:104.91 [[-1.27958309e-02 -9.99808847e-01 1.47829411e-02 2.38470123e+02] [ 9.73198952e-01 -1.58473926e-02 -2.29418092e-01 2.09193722e+02] [ 2.29608509e-01 1.14511477e-02 9.73215703e-01 1.04905690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.100385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:238.48, Y:209.22, Z:104.91 [[-1.44222614e-02 -9.99892449e-01 -2.66254202e-03 2.38477507e+02] [ 9.73050106e-01 -1.34221019e-02 -2.30202822e-01 2.09218283e+02] [ 2.30142326e-01 -5.91083208e-03 9.73139030e-01 1.04914753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.130385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:238.48, Y:209.25, Z:104.92 [[-1.48334082e-02 -9.99886629e-01 -2.58845013e-03 2.38476428e+02] [ 9.73007266e-01 -1.38383095e-02 -2.30359203e-01 2.09245099e+02] [ 2.30297267e-01 -5.93559289e-03 9.73102224e-01 1.04921191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.47, Y:209.27, Z:104.93 [[-1.60218274e-02 -9.99868397e-01 -2.54752212e-03 2.38473580e+02] [ 9.72306624e-01 -1.49859479e-02 -2.33227895e-01 2.09270958e+02] [ 2.33159024e-01 -6.21370971e-03 9.72418768e-01 1.04932033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:209.30, Z:104.94 [[-1.74550578e-02 -9.99844608e-01 -2.46583563e-03 2.38470154e+02] [ 9.72587807e-01 -1.64071596e-02 -2.31956380e-01 2.09299070e+02] [ 2.31879879e-01 -6.44705368e-03 9.72723063e-01 1.04936602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.47, Y:209.33, Z:104.94 [[-1.57507666e-02 -9.99873095e-01 -2.38894080e-03 2.38471643e+02] [ 9.72807107e-01 -1.47721401e-02 -2.31145229e-01 2.09325454e+02] [ 2.31080606e-01 -5.96469314e-03 9.72916325e-01 1.04941217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.47, Y:209.35, Z:104.95 [[-1.76871216e-02 -9.99840860e-01 -2.32820202e-03 2.38467765e+02] [ 9.72502930e-01 -1.66626024e-02 -2.32293798e-01 2.09352287e+02] [ 2.32218037e-01 -6.37279194e-03 9.72642880e-01 1.04949419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:209.38, Z:104.95 [[-1.82837918e-02 -9.99830307e-01 -2.24933676e-03 2.38465960e+02] [ 9.72760725e-01 -1.72687116e-02 -2.31167391e-01 2.09378669e+02] [ 2.31089320e-01 -6.41468290e-03 9.72911393e-01 1.04954387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.310385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:238.47, Y:209.41, Z:104.96 [[-1.81773301e-02 -9.99832370e-01 -2.19476067e-03 2.38466664e+02] [ 9.72329431e-01 -1.71658899e-02 -2.32982426e-01 2.09405499e+02] [ 2.32905696e-01 -6.36902887e-03 9.72478469e-01 1.04961138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.47, Y:209.43, Z:104.97 [[-1.67536753e-02 -9.99800458e-01 -1.08793069e-02 2.38468880e+02] [ 9.72522792e-01 -1.37677249e-02 -2.32400233e-01 2.09429523e+02] [ 2.32204076e-01 -1.44739320e-02 9.72559393e-01 1.04970119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37038572299997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.46, Y:209.46, Z:104.97 [[-1.49035982e-02 -9.99832325e-01 1.06397247e-02 2.38458434e+02] [ 9.72529787e-01 -1.69671489e-02 -2.32159276e-01 2.09461041e+02] [ 2.32300874e-01 6.88744059e-03 9.72619590e-01 1.04966701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:209.49, Z:104.98 [[-1.53731593e-02 -9.99876876e-01 -3.14620075e-03 2.38459132e+02] [ 9.72665848e-01 -1.42254938e-02 -2.31773129e-01 2.09487630e+02] [ 2.31699836e-01 -6.62328726e-03 9.72764781e-01 1.04980639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.430385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.47, Y:209.51, Z:104.99 [[-1.52106155e-02 -9.99763488e-01 -1.55436740e-02 2.38465568e+02] [ 9.72239178e-01 -1.11580799e-02 -2.33723082e-01 2.09512568e+02] [ 2.33494366e-01 -1.86672407e-02 9.72178952e-01 1.04991880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.460385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.46, Y:209.54, Z:104.99 [[-1.53208733e-02 -9.99881567e-01 -1.45714484e-03 2.38458664e+02] [ 9.72205284e-01 -1.45562565e-02 -2.33677132e-01 2.09540534e+02] [ 2.33628246e-01 -4.99678165e-03 9.72313157e-01 1.04993194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.45, Y:209.57, Z:104.99 [[-1.42638553e-02 -9.99817767e-01 1.26875984e-02 2.38450408e+02] [ 9.72307510e-01 -1.68293797e-02 -2.33098429e-01 2.09568654e+02] [ 2.33269475e-01 9.01136500e-03 9.72370376e-01 1.04994612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:209.60, Z:105.01 [[-1.32981746e-02 -9.99910591e-01 -1.40315490e-03 2.38456740e+02] [ 9.72423368e-01 -1.26058137e-02 -2.32881701e-01 2.09595614e+02] [ 2.32843191e-01 -4.46136213e-03 9.72504059e-01 1.05008710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:209.62, Z:105.02 [[-1.39527861e-02 -9.99900986e-01 -1.82684149e-03 2.38456424e+02] [ 9.71998026e-01 -1.31347645e-02 -2.34621644e-01 2.09622617e+02] [ 2.34574418e-01 -5.04931193e-03 9.72085051e-01 1.05015877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:209.65, Z:105.02 [[-1.34748069e-02 -9.99908711e-01 9.99424895e-04 2.38453863e+02] [ 9.72508962e-01 -1.33379376e-02 -2.32483158e-01 2.09649836e+02] [ 2.32475266e-01 -2.16071601e-03 9.72599909e-01 1.05018016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.45, Y:209.68, Z:105.03 [[-1.52570334e-02 -9.99875222e-01 -4.09431723e-03 2.38453398e+02] [ 9.71888932e-01 -1.38675806e-02 -2.35031051e-01 2.09677609e+02] [ 2.34944946e-01 -7.56509819e-03 9.71979239e-01 1.05027742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:238.45, Y:209.71, Z:105.03 [[-1.55075911e-02 -9.99878302e-01 -1.70160077e-03 2.38453682e+02] [ 9.72352893e-01 -1.46840730e-02 -2.33054134e-01 2.09705513e+02] [ 2.33000786e-01 -5.26866466e-03 9.72462274e-01 1.05028560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.45, Y:209.73, Z:105.03 [[-1.90014884e-02 -9.99816687e-01 2.35304589e-03 2.38448034e+02] [ 9.72648201e-01 -1.90299876e-02 -2.31502347e-01 2.09730152e+02] [ 2.31504688e-01 -2.11020331e-03 9.72831500e-01 1.05031765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.700385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.45, Y:209.76, Z:105.04 [[-1.65745655e-02 -9.99856111e-01 -3.61122243e-03 2.38453678e+02] [ 9.72347179e-01 -1.52768714e-02 -2.33039870e-01 2.09758682e+02] [ 2.32951170e-01 -7.37389654e-03 9.72460476e-01 1.05043423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.730385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.45, Y:209.78, Z:105.04 [[-1.88399742e-02 -9.99820393e-01 2.05860527e-03 2.38446135e+02] [ 9.72741902e-01 -1.88056086e-02 -2.31126679e-01 2.09782742e+02] [ 2.31123880e-01 -2.35192906e-03 9.72921487e-01 1.05042892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.760385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.45, Y:209.81, Z:105.06 [[-1.66473527e-02 -9.99858168e-01 -2.55151920e-03 2.38448160e+02] [ 9.71982562e-01 -1.55847245e-02 -2.34535746e-01 2.09812156e+02] [ 2.34462716e-01 -6.38443144e-03 9.72104148e-01 1.05055151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:209.84, Z:105.06 [[-1.37821364e-02 -9.99903776e-01 -1.57839300e-03 2.38448007e+02] [ 9.72490212e-01 -1.30371467e-02 -2.32578632e-01 2.09838008e+02] [ 2.32535674e-01 -4.74040215e-03 9.72576315e-01 1.05064031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.44, Y:209.87, Z:105.07 [[-1.39709970e-02 -9.99890616e-01 4.85465444e-03 2.38442191e+02] [ 9.72888679e-01 -1.47143145e-02 -2.30805346e-01 2.09865319e+02] [ 2.30851532e-01 1.49845755e-03 9.72987834e-01 1.05065146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:209.89, Z:105.08 [[-1.23635309e-02 -9.99900400e-01 -6.80687726e-03 2.38448690e+02] [ 9.72527463e-01 -1.04419477e-02 -2.32553863e-01 2.09892718e+02] [ 2.32459623e-01 -9.49506193e-03 9.72559699e-01 1.05078851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:209.92, Z:105.08 [[-8.09985526e-03 -9.99962988e-01 -2.90096777e-03 2.38446538e+02] [ 9.72505316e-01 -7.20216267e-03 -2.32769285e-01 2.09918825e+02] [ 2.32739776e-01 -4.70660409e-03 9.72527657e-01 1.05084767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.44, Y:209.95, Z:105.09 [[-7.62596435e-03 -9.99970644e-01 7.45284561e-04 2.38444340e+02] [ 9.72269247e-01 -7.58891705e-03 -2.33741140e-01 2.09947324e+02] [ 2.33739935e-01 -1.05788434e-03 9.72298578e-01 1.05087950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:209.97, Z:105.10 [[-5.69461984e-03 -9.99983009e-01 -1.24609645e-03 2.38444218e+02] [ 9.72225337e-01 -5.24497118e-03 -2.33988001e-01 2.09973268e+02] [ 2.33977490e-01 -2.54395925e-03 9.72238686e-01 1.05096745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.44, Y:210.00, Z:105.10 [[-2.44397439e-03 -9.99996322e-01 -1.17575502e-03 2.38443136e+02] [ 9.72078133e-01 -2.09985319e-03 -2.34648022e-01 2.09999909e+02] [ 2.34644690e-01 -1.71639950e-03 9.72079690e-01 1.05102100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.44, Y:210.03, Z:105.10 [[-4.03592940e-03 -9.99964185e-01 7.43915591e-03 2.38435924e+02] [ 9.72755787e-01 -5.65029979e-03 -2.31763356e-01 2.10027111e+02] [ 2.31797089e-01 6.30110142e-03 9.72743751e-01 1.05099443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:210.05, Z:105.12 [[ 1.71473952e-03 -9.99966528e-01 -8.00021263e-03 2.38447113e+02] [ 9.72138220e-01 3.54218502e-03 -2.34381598e-01 2.10053333e+02] [ 2.34402091e-01 -7.37540908e-03 9.72111755e-01 1.05118929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.44, Y:210.08, Z:105.12 [[ 2.90428773e-03 -9.99995257e-01 -1.02530292e-03 2.38443631e+02] [ 9.71975888e-01 3.06392050e-03 -2.35060600e-01 2.10081031e+02] [ 2.35062626e-01 -3.13886097e-04 9.71980176e-01 1.05123673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.11, Z:105.13 [[ 3.82846198e-03 -9.99986442e-01 3.52981532e-03 2.38441128e+02] [ 9.71735806e-01 2.88706798e-03 -2.36053358e-01 2.10108744e+02] [ 2.36039967e-01 4.33376925e-03 9.71733684e-01 1.05128234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.14, Z:105.13 [[ 2.12165012e-03 -9.99988583e-01 4.28175756e-03 2.38437548e+02] [ 9.72602194e-01 1.06813949e-03 -2.32473291e-01 2.10136493e+02] [ 2.32466063e-01 4.65767378e-03 9.72593356e-01 1.05129803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.16, Z:105.14 [[ 2.43638895e-03 -9.99996611e-01 9.17396723e-04 2.38439125e+02] [ 9.72595207e-01 2.15633740e-03 -2.32494976e-01 2.10163484e+02] [ 2.32492210e-01 1.45870385e-03 9.72597165e-01 1.05137327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.19, Z:105.14 [[ 2.44933342e-03 -9.99995660e-01 1.63739265e-03 2.38438662e+02] [ 9.72556589e-01 2.00117178e-03 -2.32657855e-01 2.10190165e+02] [ 2.32653568e-01 2.16231367e-03 9.72557269e-01 1.05143462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.45, Y:210.22, Z:105.16 [[ 5.30130093e-03 -9.99930458e-01 -1.05344891e-02 2.38448567e+02] [ 9.71672190e-01 7.64000122e-03 -2.36209199e-01 2.10216299e+02] [ 2.36273256e-01 -8.98385406e-03 9.71645120e-01 1.05160037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.24, Z:105.15 [[ 2.33492509e-03 -9.99948287e-01 9.89810653e-03 2.38435125e+02] [ 9.72439683e-01 -3.72170672e-05 -2.33154589e-01 2.10244444e+02] [ 2.33142901e-01 1.01697101e-02 9.72389307e-01 1.05154237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:210.27, Z:105.16 [[ 8.06109720e-04 -9.99942523e-01 1.06911892e-02 2.38434202e+02] [ 9.72724346e-01 -1.69588077e-03 -2.31957905e-01 2.10271267e+02] [ 2.31962704e-01 1.05865635e-02 9.72667070e-01 1.05156770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:210.30, Z:105.18 [[ 4.66005941e-03 -9.99828385e-01 -1.79299811e-02 2.38454655e+02] [ 9.71163746e-01 8.79902737e-03 -2.38251036e-01 2.10296689e+02] [ 2.38367915e-01 -1.63026836e-02 9.71038084e-01 1.05183304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.33, Z:105.17 [[ 4.05160100e-04 -9.99941097e-01 1.08461003e-02 2.38439052e+02] [ 9.72046106e-01 -2.15274190e-03 -2.34780181e-01 2.10325112e+02] [ 2.34789701e-01 1.06380331e-02 9.71987978e-01 1.05173847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.44, Y:210.35, Z:105.18 [[-1.43469320e-03 -9.99997982e-01 1.40642572e-03 2.38444466e+02] [ 9.72017542e-01 -1.72492256e-03 -2.34901943e-01 2.10351503e+02] [ 2.34903895e-01 1.03005826e-03 9.72018055e-01 1.05183231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:210.38, Z:105.19 [[-2.76488315e-03 -9.99995192e-01 1.40406071e-03 2.38445886e+02] [ 9.71839353e-01 -3.01786863e-03 -2.35625053e-01 2.10378647e+02] [ 2.35628157e-01 7.13045714e-04 9.71843024e-01 1.05190378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.420385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.46, Y:210.41, Z:105.20 [[-3.56125564e-03 -9.99948072e-01 -9.54837625e-03 2.38458075e+02] [ 9.70716689e-01 -1.16327783e-03 -2.40224390e-01 2.10406943e+02] [ 2.40200808e-01 -1.01242686e-02 9.70670424e-01 1.05204977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:210.43, Z:105.19 [[-9.73301150e-03 -9.99759351e-01 1.96598389e-02 2.38438987e+02] [ 9.72139977e-01 -1.40652180e-02 -2.33978706e-01 2.10434045e+02] [ 2.34198919e-01 1.68347979e-02 9.72042929e-01 1.05194045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.47, Y:210.46, Z:105.22 [[-8.70133243e-03 -9.99815700e-01 -1.71129676e-02 2.38466694e+02] [ 9.70597590e-01 -4.32772829e-03 -2.40669047e-01 2.10460388e+02] [ 2.40550631e-01 -1.87039465e-02 9.70456365e-01 1.05223285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:210.49, Z:105.23 [[-9.93745395e-03 -9.99950528e-01 -4.34753532e-04 2.38459644e+02] [ 9.70575992e-01 -9.54092195e-03 -2.40605933e-01 2.10486919e+02] [ 2.40589882e-01 -2.81297172e-03 9.70622788e-01 1.05225505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.45, Y:210.51, Z:105.22 [[-1.45956383e-02 -9.99827844e-01 1.14564101e-02 2.38451016e+02] [ 9.71504778e-01 -1.68911342e-02 -2.36417334e-01 2.10513591e+02] [ 2.36570145e-01 7.67929526e-03 9.71584065e-01 1.05220507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:210.54, Z:105.23 [[-1.67439101e-02 -9.99854447e-01 3.27497173e-03 2.38456903e+02] [ 9.71378749e-01 -1.70430777e-02 -2.36923741e-01 2.10540498e+02] [ 2.36945071e-01 -7.85791865e-04 9.71522730e-01 1.05228817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:210.57, Z:105.24 [[-1.66225676e-02 -9.99861378e-01 -9.56136219e-04 2.38460858e+02] [ 9.71002135e-01 -1.59146776e-02 -2.38540513e-01 2.10568086e+02] [ 2.38492230e-01 -4.89356612e-03 9.71132076e-01 1.05238303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.630385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:238.47, Y:210.59, Z:105.25 [[-1.53767283e-02 -9.99837484e-01 -9.41071839e-03 2.38469930e+02] [ 9.69877771e-01 -1.26263039e-02 -2.43264642e-01 2.10594309e+02] [ 2.43106285e-01 -1.28678609e-02 9.69914302e-01 1.05250993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.46, Y:210.62, Z:105.25 [[-1.70844128e-02 -9.99778003e-01 1.23315778e-02 2.38457940e+02] [ 9.70905762e-01 -1.95347923e-02 -2.38663764e-01 2.10623532e+02] [ 2.38851677e-01 7.89536965e-03 9.71023965e-01 1.05246264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:210.65, Z:105.27 [[-1.47372363e-02 -9.99828592e-01 -1.12071584e-02 2.38473681e+02] [ 9.69966130e-01 -1.15736620e-02 -2.42964519e-01 2.10648132e+02] [ 2.42793165e-01 -1.44511896e-02 9.69970434e-01 1.05267985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.720385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.47, Y:210.68, Z:105.27 [[-1.34991258e-02 -9.99908880e-01 -7.56567165e-05 2.38470390e+02] [ 9.70064667e-01 -1.30778703e-02 -2.42494352e-01 2.10675202e+02] [ 2.42471266e-01 -3.34685367e-03 9.70152815e-01 1.05271054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:210.70, Z:105.27 [[-1.47457167e-02 -9.99806407e-01 1.30274038e-02 2.38462401e+02] [ 9.71053238e-01 -1.74257247e-02 -2.38226686e-01 2.10704081e+02] [ 2.38407579e-01 9.13747937e-03 9.71122203e-01 1.05266593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:210.68, Z:105.27 [[-1.23032132e-02 -9.99924097e-01 6.56312870e-04 2.38469308e+02] [ 9.71509854e-01 -1.21089544e-02 -2.36689623e-01 2.10683658e+02] [ 2.36679605e-01 -2.27442846e-03 9.71585092e-01 1.05266544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:210.73, Z:105.29 [[-7.74001502e-03 -9.99938448e-01 -7.94935067e-03 2.38476049e+02] [ 9.70313340e-01 -5.58853683e-03 -2.41786664e-01 2.10731603e+02] [ 2.41727356e-01 -9.58479341e-03 9.70296871e-01 1.05285119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:210.76, Z:105.29 [[-6.52651133e-03 -9.99973624e-01 -3.18679078e-03 2.38474371e+02] [ 9.70186670e-01 -5.55993716e-03 -2.42295095e-01 2.10756609e+02] [ 2.42270986e-01 -4.67312361e-03 9.70197367e-01 1.05292594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:210.78, Z:105.30 [[-4.74105987e-03 -9.99988752e-01 -1.37357636e-04 2.38474822e+02] [ 9.70276125e-01 -4.56695387e-03 -2.41957401e-01 2.10784273e+02] [ 2.41954052e-01 -1.28040936e-03 9.70286863e-01 1.05298702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.900385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:238.48, Y:210.81, Z:105.30 [[-4.16083952e-03 -9.99991341e-01 -6.77909692e-05 2.38475156e+02] [ 9.70189160e-01 -4.02040940e-03 -2.42315561e-01 2.10811480e+02] [ 2.42313190e-01 -1.07400623e-03 9.70197487e-01 1.05304986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:210.84, Z:105.31 [[-3.56914372e-03 -9.99993631e-01 1.68948143e-06 2.38475447e+02] [ 9.70087510e-01 -3.46281389e-03 -2.42730782e-01 2.10839006e+02] [ 2.42729242e-01 -8.64702101e-04 9.70093690e-01 1.05311463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:210.85, Z:105.32 [[-2.20062602e-03 -9.99997576e-01 7.19329350e-05 2.38477167e+02] [ 9.69871820e-01 -2.15185369e-03 -2.43606285e-01 2.10854295e+02] [ 2.43605850e-01 -4.66320603e-04 9.69874205e-01 1.05315148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.48, Y:210.84, Z:105.31 [[-2.08528506e-03 -9.99997812e-01 1.64306697e-04 2.38478481e+02] [ 9.69770699e-01 -2.06234522e-03 -2.44009300e-01 2.10844760e+02] [ 2.44009105e-01 -3.49489126e-04 9.69772878e-01 1.05312772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.48, Y:210.83, Z:105.31 [[-2.20390323e-03 -9.99997538e-01 2.57257453e-04 2.38482009e+02] [ 9.69679378e-01 -2.19995112e-03 -2.44370753e-01 2.10834369e+02] [ 2.44370717e-01 -2.89112244e-04 9.69681839e-01 1.05311088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.48, Y:210.83, Z:105.31 [[-3.06078798e-03 -9.99995255e-01 3.49246384e-04 2.38483965e+02] [ 9.69687162e-01 -3.05335290e-03 -2.44330687e-01 2.10833658e+02] [ 2.44330594e-01 -4.09184695e-04 9.69691906e-01 1.05311759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.080385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.49, Y:210.83, Z:105.31 [[-3.45171709e-03 -9.99993946e-01 4.40415057e-04 2.38486040e+02] [ 9.69766431e-01 -3.45484618e-03 -2.44010518e-01 2.10827823e+02] [ 2.44010562e-01 -4.15155534e-04 9.69772485e-01 1.05311013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.110385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:238.49, Y:210.83, Z:105.31 [[-3.86372063e-03 -9.99992393e-01 5.33878738e-04 2.38489194e+02] [ 9.69591663e-01 -3.87689971e-03 -2.44697725e-01 2.10830777e+02] [ 2.44697933e-01 -4.27799272e-04 9.69599267e-01 1.05312709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.140385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:238.49, Y:210.83, Z:105.31 [[-3.96261127e-03 -9.99991952e-01 6.27461093e-04 2.38490172e+02] [ 9.69458061e-01 -3.99548649e-03 -2.45224601e-01 2.10832167e+02] [ 2.45225135e-01 -3.63432555e-04 9.69466091e-01 1.05312858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:210.83, Z:105.31 [[-3.57707296e-03 -9.99993341e-01 7.23286762e-04 2.38492431e+02] [ 9.69205430e-01 -3.64503526e-03 -2.46226620e-01 2.10825284e+02] [ 2.46227617e-01 -1.79757126e-04 9.69212014e-01 1.05311340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.49, Y:210.83, Z:105.31 [[-3.52306492e-03 -9.99993460e-01 8.16945911e-04 2.38494280e+02] [ 9.69150859e-01 -3.61573462e-03 -2.46441756e-01 2.10825236e+02] [ 2.46443098e-01 -7.64864716e-05 9.69157260e-01 1.05311242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.50, Y:210.82, Z:105.31 [[-3.76393237e-03 -9.99992501e-01 9.11466329e-04 2.38496332e+02] [ 9.69047848e-01 -3.87244832e-03 -2.46842606e-01 2.10822272e+02] [ 2.46844285e-01 -4.58443893e-05 9.69055157e-01 1.05311260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.260385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:238.50, Y:210.83, Z:105.31 [[-5.32945964e-03 -9.99985289e-01 1.00935449e-03 2.38500034e+02] [ 9.68765635e-01 -5.41331516e-03 -2.47919020e-01 2.10829524e+02] [ 2.47920837e-01 -3.43446467e-04 9.68780234e-01 1.05312195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.50, Y:210.81, Z:105.31 [[-5.52602945e-03 -9.99984131e-01 1.09562080e-03 2.38502149e+02] [ 9.69164180e-01 -5.62562708e-03 -2.46351669e-01 2.10813431e+02] [ 2.46353923e-01 -2.99510143e-04 9.69179888e-01 1.05311069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.320385723 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:238.50, Y:211.34, Z:105.44 [[-7.17776481e-03 -9.99968364e-01 3.42804551e-03 2.38501291e+02] [ 9.69190639e-01 -7.80081376e-03 -2.46188248e-01 2.11339210e+02] [ 2.46207201e-01 1.55534828e-03 9.69215969e-01 1.05438192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.350385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:237.78, Y:210.54, Z:106.26 [[-8.06036039e-02 9.96354832e-01 -2.79304070e-02 2.37776203e+02] [ 9.71304144e-01 8.48060937e-02 2.22207529e-01 2.10543753e+02] [ 2.23766214e-01 -9.21819235e-03 -9.74599254e-01 1.06264918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:237.81, Y:210.53, Z:106.26 [[-1.57374259e-01 9.87370042e-01 -1.82686037e-02 2.37809172e+02] [ 9.62035534e-01 1.57460806e-01 2.22920896e-01 2.10531314e+02] [ 2.22982004e-01 1.75069650e-02 -9.74665344e-01 1.06257296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.410385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:237.86, Y:210.51, Z:106.26 [[-2.34333129e-01 9.71487461e-01 -3.60568621e-02 2.37860983e+02] [ 9.46407965e-01 2.36449321e-01 2.20008370e-01 2.10506778e+02] [ 2.22260993e-01 1.74307482e-02 -9.74831380e-01 1.06257282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.440385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:237.92, Y:210.47, Z:106.25 [[-3.08189085e-01 9.49840759e-01 -5.31226960e-02 2.37915434e+02] [ 9.25419778e-01 3.12271612e-01 2.14673416e-01 2.10470615e+02] [ 2.20494270e-01 1.69992102e-02 -9.75240126e-01 1.06252762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.470385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:237.97, Y:210.46, Z:106.25 [[-3.80826386e-01 9.22011572e-01 -6.97561857e-02 2.37968382e+02] [ 8.98303024e-01 3.86801673e-01 2.08413395e-01 2.10455577e+02] [ 2.19141371e-01 1.67071274e-02 -9.75550066e-01 1.06253098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.500385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:238.02, Y:210.45, Z:106.25 [[-4.50513013e-01 8.88675897e-01 -8.54000846e-02 2.38020360e+02] [ 8.65959190e-01 4.58246418e-01 2.00312009e-01 2.10447683e+02] [ 2.17146737e-01 1.62901786e-02 -9.76003035e-01 1.06254511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.530385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:237.93, Y:210.67, Z:106.31 [[-5.18626204e-01 8.50374152e-01 -8.88293980e-02 2.37933163e+02] [ 8.27693018e-01 5.25392548e-01 1.97197713e-01 2.10666250e+02] [ 2.14362142e-01 2.87484289e-02 -9.76331091e-01 1.06313061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.11, Y:210.44, Z:106.23 [[-5.82742138e-01 8.11247048e-01 -4.78521545e-02 2.38105744e+02] [ 7.85345435e-01 5.77317596e-01 2.23465748e-01 2.10437400e+02] [ 2.08911820e-01 9.26424368e-02 -9.73536456e-01 1.06227692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.590385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:238.21, Y:210.44, Z:106.26 [[-6.45226805e-01 7.53725275e-01 -1.24822196e-01 2.38207021e+02] [ 7.35289341e-01 6.57004541e-01 1.66417000e-01 2.10442105e+02] [ 2.07441449e-01 1.55962785e-02 -9.78123101e-01 1.06257380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:210.45, Z:106.26 [[-7.02467069e-01 6.98326732e-01 -1.37403757e-01 2.38266319e+02] [ 6.80991280e-01 7.15609014e-01 1.55417550e-01 2.10446166e+02] [ 2.06859597e-01 1.56049505e-02 -9.78246182e-01 1.06256189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:210.46, Z:106.26 [[-7.55220683e-01 6.38111870e-01 -1.49849796e-01 2.38319590e+02] [ 6.21817027e-01 7.69784026e-01 1.44139298e-01 2.10461377e+02] [ 2.07328977e-01 1.56778244e-02 -9.78145644e-01 1.06256452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:210.68, Z:106.33 [[-8.03106250e-01 5.73667908e-01 -1.61013920e-01 2.38097531e+02] [ 5.58585692e-01 8.18936160e-01 1.31626713e-01 2.10679118e+02] [ 2.07370142e-01 1.57701644e-02 -9.78135433e-01 1.06334841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.45, Y:210.50, Z:106.26 [[-8.39005290e-01 5.15445412e-01 -1.74316237e-01 2.38445586e+02] [ 4.96595185e-01 8.56306649e-01 1.41887795e-01 2.10503866e+02] [ 2.22403566e-01 3.24800062e-02 -9.74413518e-01 1.06261975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.46, Y:210.50, Z:106.21 [[-8.82003103e-01 4.54623745e-01 -1.24047480e-01 2.38460111e+02] [ 4.25573402e-01 8.81481249e-01 2.04641362e-01 2.10496678e+02] [ 2.02380350e-01 1.27703008e-01 -9.70944970e-01 1.06211633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:210.68, Z:106.33 [[-9.12414862e-01 3.68952178e-01 -1.77125409e-01 2.38238234e+02] [ 3.53129476e-01 9.28482708e-01 1.14975801e-01 2.10678999e+02] [ 2.06878452e-01 4.23574262e-02 -9.77449311e-01 1.06328844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:210.59, Z:105.43 [[-9.20229191e-01 1.28537348e-01 3.69670645e-01 2.38335916e+02] [ 3.61110872e-01 -8.53745420e-02 9.28606551e-01 2.10587976e+02] [ 1.50921086e-01 9.88022944e-01 3.21479118e-02 1.05425414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.64, Y:211.41, Z:105.36 [[-9.26663818e-01 -3.47318876e-01 1.43748971e-01 2.38640402e+02] [ 3.42993615e-01 -9.37746121e-01 -5.46588659e-02 2.11408730e+02] [ 1.53784096e-01 -1.34541399e-03 9.88103558e-01 1.05355654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.53, Y:210.63, Z:106.32 [[-9.48872518e-01 2.90317523e-01 -1.23922071e-01 2.38529516e+02] [ 2.86504545e-01 9.56878168e-01 4.79511873e-02 2.10634790e+02] [ 1.32499394e-01 9.99532716e-03 -9.91132687e-01 1.06319196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.890385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:238.20, Y:210.76, Z:106.38 [[-9.68545123e-01 2.14249451e-01 -1.26560330e-01 2.38200925e+02] [ 2.11120253e-01 9.76728881e-01 3.78012229e-02 2.10756359e+02] [ 1.31714021e-01 9.89274117e-03 -9.91238392e-01 1.06375227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.920385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:238.60, Y:211.49, Z:105.36 [[-9.69610925e-01 -1.93695674e-01 1.49454475e-01 2.38597697e+02] [ 1.91202329e-01 -9.81060522e-01 -3.10148783e-02 2.11493631e+02] [ 1.52631333e-01 -1.49632117e-03 9.88282064e-01 1.05356501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.60, Y:211.49, Z:105.36 [[-9.69920333e-01 -1.92582460e-01 1.48884329e-01 2.38600553e+02] [ 1.90072973e-01 -9.81279127e-01 -3.10409220e-02 2.11492061e+02] [ 1.52075022e-01 -1.80833434e-03 9.88367299e-01 1.05355937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:210.72, Z:106.32 [[-9.81725035e-01 1.38741542e-01 -1.30256439e-01 2.38610248e+02] [ 1.36255328e-01 9.90282136e-01 2.78527830e-02 2.10718235e+02] [ 1.32854963e-01 9.59564057e-03 -9.91089039e-01 1.06320214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.010385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:238.25, Y:210.77, Z:106.37 [[-9.89738982e-01 6.37188614e-02 -1.27893138e-01 2.38249218e+02] [ 5.82370676e-02 9.97235155e-01 4.61572272e-02 2.10772982e+02] [ 1.30480620e-01 3.82354857e-02 -9.90713306e-01 1.06366103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:210.64, Z:105.58 [[-9.95415868e-01 8.91984861e-02 3.45091268e-02 2.38445060e+02] [ 4.74766895e-02 1.47618399e-01 9.87904232e-01 2.10641444e+02] [ 8.30253798e-02 9.85013928e-01 -1.51176546e-01 1.05581114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:211.58, Z:105.41 [[-9.96484756e-01 -2.27194650e-02 8.06347138e-02 2.38470001e+02] [ 2.25563349e-02 -9.99741270e-01 -2.93351153e-03 2.11579925e+02] [ 8.06804990e-02 -1.10437590e-03 9.96739403e-01 1.05407751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.55, Y:210.83, Z:106.38 [[-9.97600230e-01 -2.78172156e-02 -6.34033487e-02 2.38545578e+02] [-2.80593310e-02 9.99601962e-01 2.93126067e-03 2.10826542e+02] [ 6.32965723e-02 4.70328186e-03 -9.97983679e-01 1.06383630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:210.87, Z:106.38 [[-9.92333980e-01 -1.06063298e-01 -6.34338245e-02 2.38576796e+02] [-1.06146205e-01 9.94348376e-01 -2.07117168e-03 2.10869510e+02] [ 6.32949957e-02 4.67796567e-03 -9.97983898e-01 1.06383437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.60, Y:210.91, Z:106.38 [[-9.80934395e-01 -1.83702201e-01 -6.34130478e-02 2.38604206e+02] [-1.83622420e-01 9.82970963e-01 -7.13390210e-03 2.10914594e+02] [ 6.36436982e-02 4.64616735e-03 -9.97961869e-01 1.06383500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:238.38, Y:211.67, Z:105.41 [[-9.74382564e-01 2.11513812e-01 7.64233343e-02 2.38376478e+02] [-2.10950916e-01 -9.77374434e-01 1.54572923e-02 2.11672192e+02] [ 7.79636439e-02 -1.06025625e-03 9.96955639e-01 1.05407394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.220385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:238.37, Y:211.67, Z:105.41 [[-9.74613460e-01 2.10502391e-01 7.62715332e-02 2.38373151e+02] [-2.09940889e-01 -9.77592825e-01 1.53977686e-02 2.11670975e+02] [ 7.78037707e-02 -1.00564098e-03 9.96968185e-01 1.05407351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.250385723 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:237.87, Y:210.76, Z:106.43 [[-9.63029301e-01 -2.60963915e-01 -6.68760146e-02 2.37868744e+02] [-2.61696806e-01 9.65147421e-01 2.28844621e-03 2.10762355e+02] [ 6.39480111e-02 1.97050802e-02 -9.97758669e-01 1.06434019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.51, Y:210.77, Z:105.74 [[-9.58091463e-01 -7.70957989e-02 -2.75893069e-01 2.38512951e+02] [-2.86136907e-01 3.03462532e-01 9.08865316e-01 2.10766254e+02] [ 1.36535116e-02 9.49719290e-01 -3.12804815e-01 1.05738437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:211.00, Z:106.44 [[-9.33532630e-01 -3.58492357e-01 2.41040455e-04 2.38467885e+02] [-3.58492225e-01 9.33532597e-01 4.63756250e-04 2.11002835e+02] [-3.91272192e-04 3.46520464e-04 -9.99999863e-01 1.06444654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.340385723 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:237.47, Y:211.44, Z:105.46 [[-9.26642976e-01 3.75899150e-01 5.71179361e-03 2.37472921e+02] [-3.75857099e-01 -9.26649344e-01 7.24109999e-03 2.11435712e+02] [ 8.01475313e-03 4.56309627e-03 9.99957470e-01 1.05463704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.09, Y:211.66, Z:106.42 [[-9.19315038e-01 -1.74017449e-01 3.52955789e-01 2.38087067e+02] [-3.88725958e-01 2.61961877e-01 -8.83327858e-01 2.11659398e+02] [ 6.12534995e-02 -9.49259660e-01 -3.08470592e-01 1.06423252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:211.53, Z:105.44 [[-9.16960349e-01 3.93983755e-01 6.29326574e-02 2.37709706e+02] [-3.92322235e-01 -9.19067229e-01 3.73990915e-02 2.11529511e+02] [ 7.25739776e-02 9.60360314e-03 9.97316795e-01 1.05437041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:211.70, Z:106.32 [[-9.09019340e-01 -1.71984782e-01 3.79611742e-01 2.37947289e+02] [-3.95834039e-01 7.13334762e-02 -9.15547349e-01 2.11702945e+02] [ 1.30381186e-01 -9.82513496e-01 -1.32920940e-01 1.06316420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:211.60, Z:105.39 [[-9.06617441e-01 4.01923579e-01 1.28461091e-01 2.37854670e+02] [-3.98073416e-01 -9.15672852e-01 5.55048060e-02 2.11597360e+02] [ 1.39937024e-01 -8.15320144e-04 9.90160070e-01 1.05391830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.86, Y:211.60, Z:105.39 [[-9.06103035e-01 4.03615865e-01 1.26773511e-01 2.37860032e+02] [-3.99799037e-01 -9.14928401e-01 5.53782593e-02 2.11596435e+02] [ 1.38340230e-01 -5.05518852e-04 9.90384635e-01 1.05386872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.520385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:238.28, Y:211.01, Z:106.37 [[-8.80286370e-01 -4.58559314e-01 -1.21734396e-01 2.38284317e+02] [-4.55000723e-01 8.88649712e-01 -5.72366377e-02 2.11008875e+02] [ 1.34425630e-01 5.00460628e-03 -9.90911048e-01 1.06370359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.81, Y:211.61, Z:105.39 [[-8.70154589e-01 4.76945064e-01 1.23912862e-01 2.37812436e+02] [-4.72160700e-01 -8.78933097e-01 6.73860834e-02 2.11606800e+02] [ 1.41050575e-01 1.29525977e-04 9.90002383e-01 1.05389160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:211.06, Z:106.37 [[-8.43952479e-01 -5.23645753e-01 -1.16358668e-01 2.38284893e+02] [-5.20156335e-01 8.51888301e-01 -6.10222019e-02 2.11057130e+02] [ 1.31078605e-01 9.02485969e-03 -9.91330899e-01 1.06367456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:211.11, Z:106.37 [[-8.01738652e-01 -5.87099467e-01 -1.11934577e-01 2.38281608e+02] [-5.82900678e-01 8.09468813e-01 -7.06189754e-02 2.11107782e+02] [ 1.32067912e-01 8.62877866e-03 -9.91203113e-01 1.06370072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.72, Y:211.62, Z:105.39 [[-7.82537826e-01 6.12690277e-01 1.10657918e-01 2.37722645e+02] [-6.07053395e-01 -7.90319871e-01 8.29498400e-02 2.11621374e+02] [ 1.38277712e-01 -2.26387722e-03 9.90390907e-01 1.05390702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.72, Y:211.62, Z:105.39 [[-7.82664645e-01 6.12976392e-01 1.08148034e-01 2.37724650e+02] [-6.06735873e-01 -7.90096614e-01 8.72864239e-02 2.11618239e+02] [ 1.38951913e-01 2.69870605e-03 9.90295452e-01 1.05389106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.700385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:237.73, Y:211.71, Z:106.29 [[-7.80339021e-01 -2.35905970e-01 5.79154027e-01 2.37727403e+02] [-5.97801927e-01 9.51922890e-03 -8.01587326e-01 2.11713027e+02] [ 1.83586136e-01 -9.71729262e-01 -1.48453269e-01 1.06291997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.730385723 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:237.26, Y:211.26, Z:105.47 [[-7.69376162e-01 6.20810343e-01 1.50515245e-01 2.37256741e+02] [-6.07038048e-01 -7.83910089e-01 1.30344854e-01 2.11258876e+02] [ 1.98909853e-01 8.91574248e-03 9.79977234e-01 1.05465439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.760385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:237.83, Y:211.45, Z:106.44 [[-7.50093963e-01 -5.60289949e-01 3.51332065e-01 2.37829706e+02] [-6.19037221e-01 4.07916218e-01 -6.71116441e-01 2.11445207e+02] [ 2.32705750e-01 -7.20888016e-01 -6.52815826e-01 1.06441903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.33, Y:211.33, Z:105.43 [[-7.29008394e-01 6.56343292e-01 1.94319955e-01 2.37330365e+02] [-6.35538373e-01 -7.54452056e-01 1.63991072e-01 2.11329531e+02] [ 2.54239529e-01 -3.94691980e-03 9.67133230e-01 1.05427200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:210.99, Z:106.34 [[-7.11165598e-01 -6.61614413e-01 -2.37718028e-01 2.38042121e+02] [-6.59810734e-01 7.44858981e-01 -9.91710325e-02 2.10994606e+02] [ 2.42679393e-01 8.63218799e-02 -9.66258374e-01 1.06339739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:211.08, Z:106.37 [[-6.56071605e-01 -7.34313113e-01 -1.74224859e-01 2.38006949e+02] [-7.14860745e-01 6.78666312e-01 -1.68481907e-01 2.11082461e+02] [ 2.41959016e-01 1.40103168e-02 -9.70185315e-01 1.06367322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.07, Y:211.09, Z:105.51 [[-6.27836123e-01 7.61922764e-01 1.59045606e-01 2.37066639e+02] [-7.39266096e-01 -6.47665438e-01 1.84431883e-01 2.11089860e+02] [ 2.43531192e-01 -1.78402600e-03 9.69891425e-01 1.05505471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.80, Y:211.13, Z:106.46 [[-6.03895854e-01 -7.96511754e-01 2.96449613e-02 2.37804190e+02] [-7.55615440e-01 5.60259371e-01 -3.39344580e-01 2.11133374e+02] [ 2.53683079e-01 -2.27328975e-01 -9.40194891e-01 1.06460828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.87, Y:211.08, Z:106.39 [[-5.40748192e-01 -8.26435919e-01 -1.56828139e-01 2.37866900e+02] [-8.00725075e-01 5.62839173e-01 -2.05064426e-01 2.11077861e+02] [ 2.57741628e-01 1.46880056e-02 -9.66102229e-01 1.06392679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.83, Y:211.10, Z:106.40 [[-4.74341726e-01 -8.69246368e-01 -1.39322210e-01 2.37825148e+02] [-8.42085373e-01 4.94157156e-01 -2.16103980e-01 2.11104105e+02] [ 2.56694667e-01 1.48140605e-02 -9.66379010e-01 1.06400600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:210.91, Z:106.48 [[-4.00132005e-01 -9.10504559e-01 -1.04287228e-01 2.37672957e+02] [-8.81182106e-01 4.13498989e-01 -2.29208816e-01 2.10910731e+02] [ 2.51818335e-01 1.82256376e-04 -9.67774505e-01 1.06476553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.05, Y:211.19, Z:105.45 [[-3.69288082e-01 9.22803970e-01 1.09814145e-01 2.37051781e+02] [-8.91979659e-01 -3.85126075e-01 2.36749223e-01 2.11191612e+02] [ 2.60765414e-01 -1.05233169e-02 9.65344839e-01 1.05453686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.060385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.06, Y:211.19, Z:105.45 [[-3.68299809e-01 9.23747363e-01 1.05100242e-01 2.37057758e+02] [-8.91964565e-01 -3.82966386e-01 2.40283088e-01 2.11191080e+02] [ 2.62210729e-01 -5.24947633e-03 9.64996361e-01 1.05451176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.72, Y:211.14, Z:106.42 [[-3.37818176e-01 -9.35680525e-01 -1.01886386e-01 2.37721266e+02] [-9.06680837e-01 3.52564613e-01 -2.31577318e-01 2.11137982e+02] [ 2.52603921e-01 1.41474064e-02 -9.67466335e-01 1.06419082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12038572299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.01, Y:211.14, Z:105.47 [[-2.92248288e-01 9.51303949e-01 9.80394526e-02 2.37005937e+02] [-9.18248187e-01 -3.07774229e-01 2.49189267e-01 2.11139834e+02] [ 2.67228751e-01 -1.71994129e-02 9.63479618e-01 1.05467900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.150385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.79, Y:210.87, Z:105.66 [[-3.23958875e-01 8.01623614e-02 -9.42668894e-01 2.37789159e+02] [-9.21120853e-01 2.00597627e-01 3.33612000e-01 2.10869035e+02] [ 2.15840269e-01 9.76388544e-01 8.85384124e-03 1.05664482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.180385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.01, Y:211.11, Z:105.50 [[-2.97431366e-01 9.52575649e-01 6.42978677e-02 2.37005345e+02] [-9.34334140e-01 -3.04262823e-01 1.85590546e-01 2.11106807e+02] [ 1.96352485e-01 -4.87524344e-03 9.80521256e-01 1.05503958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.210385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:237.01, Y:211.10, Z:105.50 [[-2.95500449e-01 9.53184496e-01 6.41778875e-02 2.37008328e+02] [-9.35069451e-01 -3.02342266e-01 1.85025070e-01 2.11104708e+02] [ 1.95766716e-01 -5.33579067e-03 9.80635978e-01 1.05504354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.240385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:237.01, Y:211.10, Z:105.51 [[-2.94962807e-01 9.53346354e-01 6.42469605e-02 2.37008032e+02] [-9.35239490e-01 -3.01828254e-01 1.85004871e-01 2.11098659e+02] [ 1.95765267e-01 -5.51673855e-03 9.80635266e-01 1.05505225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.270385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:237.01, Y:211.10, Z:105.51 [[-2.95306727e-01 9.53235296e-01 6.43149045e-02 2.37007297e+02] [-9.35130954e-01 -3.02178815e-01 1.84981249e-01 2.11096423e+02] [ 1.95765257e-01 -5.51665091e-03 9.80635269e-01 1.05505708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.300385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.00, Y:211.07, Z:105.51 [[-2.95304027e-01 9.53645188e-01 5.79343382e-02 2.37004087e+02] [-9.35023368e-01 -3.00930868e-01 1.87541764e-01 2.11072252e+02] [ 1.96282532e-01 1.21187825e-03 9.80546633e-01 1.05508182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.330385723 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:236.88, Y:211.22, Z:106.31 [[-3.14696947e-01 -1.15941352e-01 9.42084622e-01 2.36877207e+02] [-9.20988772e-01 -2.02848190e-01 -3.32614333e-01 2.11217634e+02] [ 2.29663916e-01 -9.72322074e-01 -4.29449773e-02 1.06307177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.360385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.84, Y:211.10, Z:106.31 [[-3.07244935e-01 -1.37061381e-01 9.41708409e-01 2.36836434e+02] [-9.04593285e-01 -2.65202193e-01 -3.33734604e-01 2.11104546e+02] [ 2.95485261e-01 -9.54401370e-01 -4.25027744e-02 1.06307004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:210.59, Z:105.71 [[-3.14846247e-01 1.32563851e-01 -9.39839703e-01 2.37682247e+02] [-9.05410320e-01 2.55158825e-01 3.39302412e-01 2.10593820e+02] [ 2.84787628e-01 9.57768657e-01 3.96888802e-02 1.05709144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.83, Z:105.57 [[-2.88933665e-01 9.50130129e-01 1.17345963e-01 2.36911651e+02] [-9.17185479e-01 -3.09855727e-01 2.50519911e-01 2.10825573e+02] [ 2.74386834e-01 -3.52443772e-02 9.60973308e-01 1.05565016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:210.80, Z:105.54 [[-2.92548832e-01 9.54521431e-01 5.74805890e-02 2.36935580e+02] [-9.19420663e-01 -2.97294473e-01 2.57452211e-01 2.10798138e+02] [ 2.62832314e-01 2.24685025e-02 9.64579878e-01 1.05543454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:210.76, Z:105.58 [[-2.94213886e-01 9.48924136e-01 1.13934952e-01 2.36895445e+02] [-9.15450378e-01 -3.14049354e-01 2.51641825e-01 2.10757345e+02] [ 2.74570200e-01 -3.02652756e-02 9.61090640e-01 1.05582020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.510385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:236.94, Y:210.79, Z:105.55 [[-2.97500842e-01 9.52734188e-01 6.15696049e-02 2.36935669e+02] [-9.17684797e-01 -3.03152651e-01 2.56813326e-01 2.10790659e+02] [ 2.63339825e-01 1.99006904e-02 9.64497848e-01 1.05546582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.80, Z:105.57 [[-2.96673651e-01 9.48260384e-01 1.13079570e-01 2.36914549e+02] [-9.14065152e-01 -3.16253539e-01 2.53906669e-01 2.10796156e+02] [ 2.76531450e-01 -2.80346760e-02 9.60595864e-01 1.05571087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:210.79, Z:105.55 [[-2.99115934e-01 9.52108588e-01 6.33947546e-02 2.36937931e+02] [-9.16822955e-01 -3.05175462e-01 2.57494868e-01 2.10787197e+02] [ 2.64509599e-01 1.88990518e-02 9.64197852e-01 1.05548209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.79, Z:105.56 [[-2.99224208e-01 9.50249999e-01 8.65437057e-02 2.36927048e+02] [-9.16814976e-01 -3.11454730e-01 2.49892480e-01 2.10789851e+02] [ 2.64414776e-01 -4.57068587e-03 9.64398224e-01 1.05556293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.79, Z:105.56 [[-2.99083087e-01 9.50277854e-01 8.67254651e-02 2.36927492e+02] [-9.16784026e-01 -3.11367750e-01 2.50114323e-01 2.10787925e+02] [ 2.64681615e-01 -4.70355724e-03 9.64324385e-01 1.05557254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:210.80, Z:105.57 [[-2.95292228e-01 9.48455233e-01 1.15044217e-01 2.36919305e+02] [-9.14534412e-01 -3.15446046e-01 2.53220459e-01 2.10796516e+02] [ 2.76458513e-01 -3.04378618e-02 9.60543714e-01 1.05572096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:210.78, Z:105.55 [[-2.98149422e-01 9.52545586e-01 6.13500594e-02 2.36940833e+02] [-9.17086091e-01 -3.03687680e-01 2.58315496e-01 2.10779489e+02] [ 2.64688543e-01 2.07533297e-02 9.64110613e-01 1.05551094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.78, Z:105.56 [[-2.97261114e-01 9.50868301e-01 8.65176562e-02 2.36930026e+02] [-9.17723125e-01 -3.09548507e-01 2.48925666e-01 2.10784061e+02] [ 2.63476936e-01 -5.40333310e-03 9.64650563e-01 1.05559204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.76, Z:105.58 [[-2.95296759e-01 9.48998472e-01 1.10461415e-01 2.36911420e+02] [-9.15042215e-01 -3.14175361e-01 2.52965587e-01 2.10759616e+02] [ 2.74768211e-01 -2.63769396e-02 9.61148629e-01 1.05581065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:210.78, Z:105.55 [[-2.97121558e-01 9.52539681e-01 6.62339494e-02 2.36939804e+02] [-9.17519074e-01 -3.04024488e-01 2.56374451e-01 2.10776146e+02] [ 2.64343580e-01 1.54034644e-02 9.64305556e-01 1.05553782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.78, Z:105.56 [[-2.97231871e-01 9.50820339e-01 8.71429752e-02 2.36931890e+02] [-9.17352458e-01 -3.09692303e-01 2.50110266e-01 2.10777207e+02] [ 2.64797436e-01 -5.60008038e-03 9.64287798e-01 1.05559784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.77, Z:105.56 [[-2.97985722e-01 9.50569824e-01 8.73013169e-02 2.36931754e+02] [-9.17050276e-01 -3.10462442e-01 2.50263588e-01 2.10772159e+02] [ 2.64996794e-01 -5.48472089e-03 9.64233694e-01 1.05560353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.77, Z:105.56 [[-2.98699551e-01 9.50316225e-01 8.76222018e-02 2.36932973e+02] [-9.16618010e-01 -3.11239696e-01 2.50880998e-01 2.10771500e+02] [ 2.65687790e-01 -5.37804701e-03 9.64044125e-01 1.05560282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.75, Z:105.57 [[-2.99654916e-01 9.49999174e-01 8.77980713e-02 2.36925115e+02] [-9.16331796e-01 -3.12207068e-01 2.50724522e-01 2.10747199e+02] [ 2.65599267e-01 -5.32132868e-03 9.64068832e-01 1.05567676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.72, Z:105.58 [[-3.00659294e-01 9.49577827e-01 8.89153456e-02 2.36913970e+02] [-9.16094753e-01 -3.13468412e-01 2.50015918e-01 2.10715812e+02] [ 2.65281725e-01 -6.28527198e-03 9.64150456e-01 1.05577480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.71, Z:105.58 [[-3.01598388e-01 9.49064967e-01 9.11816955e-02 2.36912027e+02] [-9.15679379e-01 -3.14973713e-01 2.49645417e-01 2.10711737e+02] [ 2.65649556e-01 -8.20054325e-03 9.64034784e-01 1.05579493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.76, Z:105.57 [[-3.03553673e-01 9.47781734e-01 9.78005752e-02 2.36930897e+02] [-9.12823456e-01 -3.18702268e-01 2.55308055e-01 2.10764954e+02] [ 2.73145576e-01 -1.17749612e-02 9.61900642e-01 1.05570257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.76, Z:105.57 [[-3.05815639e-01 9.47481970e-01 9.35666184e-02 2.36933386e+02] [-9.11304365e-01 -3.19753965e-01 2.59387270e-01 2.10761644e+02] [ 2.75683059e-01 -5.94298386e-03 9.61230218e-01 1.05570331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:210.76, Z:105.57 [[-3.07515448e-01 9.47685389e-01 8.55958720e-02 2.36936654e+02] [-9.11411639e-01 -3.19200557e-01 2.59691794e-01 2.10756257e+02] [ 2.73428369e-01 1.84616446e-03 9.61890596e-01 1.05567067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.75, Z:105.57 [[-3.10777304e-01 9.46145810e-01 9.06949536e-02 2.36933068e+02] [-9.10156906e-01 -3.23733209e-01 2.58478656e-01 2.10753477e+02] [ 2.73919466e-01 -2.21733842e-03 9.61750077e-01 1.05569460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.74, Z:105.57 [[-3.12732212e-01 9.45825247e-01 8.72534577e-02 2.36931081e+02] [-9.09504196e-01 -3.24671008e-01 2.59597485e-01 2.10744697e+02] [ 2.73862523e-01 1.82710972e-03 9.61767113e-01 1.05570913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.74, Z:105.57 [[-3.13892168e-01 9.45989991e-01 8.10841738e-02 2.36932536e+02] [-9.10815418e-01 -3.24132820e-01 2.55642699e-01 2.10741753e+02] [ 2.68117476e-01 6.39152540e-03 9.63365023e-01 1.05566613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.74, Z:105.57 [[-3.14017205e-01 9.45236634e-01 8.89994414e-02 2.36927860e+02] [-9.10829097e-01 -3.26381365e-01 2.52716364e-01 2.10740976e+02] [ 2.67924524e-01 -1.70599448e-03 9.63438394e-01 1.05569287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.74, Z:105.57 [[-3.13896882e-01 9.45260227e-01 8.91731477e-02 2.36925649e+02] [-9.10801349e-01 -3.26312341e-01 2.52905436e-01 2.10735642e+02] [ 2.68159748e-01 -1.83279539e-03 9.63372716e-01 1.05571080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:210.74, Z:105.57 [[-3.12688789e-01 9.45652975e-01 8.92534165e-02 2.36925010e+02] [-9.11231102e-01 -3.25169620e-01 2.52829184e-01 2.10737474e+02] [ 2.68111170e-01 -2.27363773e-03 9.63385297e-01 1.05571459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:210.74, Z:105.57 [[-3.12228522e-01 9.45803954e-01 8.92649519e-02 2.36923407e+02] [-9.11463353e-01 -3.24728507e-01 2.52558811e-01 2.10736900e+02] [ 2.67857996e-01 -2.50566826e-03 9.63455145e-01 1.05572162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:210.74, Z:105.57 [[-3.11020524e-01 9.46194899e-01 8.93389427e-02 2.36921000e+02] [-9.11896090e-01 -3.23583893e-01 2.52465812e-01 2.10736983e+02] [ 2.67790506e-01 -2.94578334e-03 9.63472660e-01 1.05573946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:210.74, Z:105.57 [[-3.11027946e-01 9.46192765e-01 8.93357047e-02 2.36920175e+02] [-9.11980043e-01 -3.23589214e-01 2.52155549e-01 2.10736115e+02] [ 2.67495826e-01 -3.04495739e-03 9.63554208e-01 1.05574139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:210.73, Z:105.57 [[-3.11287314e-01 9.46082337e-01 8.96014469e-02 2.36919417e+02] [-9.11741517e-01 -3.23911780e-01 2.52603573e-01 2.10734206e+02] [ 2.68006743e-01 -3.06107149e-03 9.63412173e-01 1.05574563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.380385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:236.91, Y:210.72, Z:105.58 [[-3.11498694e-01 9.45972373e-01 9.00268471e-02 2.36913818e+02] [-9.11378709e-01 -3.24232571e-01 2.53499684e-01 2.10721759e+02] [ 2.68993334e-01 -3.08373125e-03 9.63137102e-01 1.05576196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:210.73, Z:105.58 [[-3.11786309e-01 9.45885232e-01 8.99467938e-02 2.36915602e+02] [-9.11434816e-01 -3.24486476e-01 2.52972534e-01 2.10728022e+02] [ 2.68469502e-01 -3.10726676e-03 9.63283173e-01 1.05575655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.72, Z:105.58 [[-3.12233325e-01 9.45699993e-01 9.03430928e-02 2.36910513e+02] [-9.11017062e-01 -3.25026356e-01 2.53782942e-01 2.10722209e+02] [ 2.69366412e-01 -3.06460712e-03 9.63032888e-01 1.05578049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.470385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.92, Y:210.73, Z:105.57 [[-3.10118381e-01 9.47178475e-01 8.17283695e-02 2.36918353e+02] [-9.13187621e-01 -3.20689352e-01 2.51488982e-01 2.10732855e+02] [ 2.64414368e-01 3.35802068e-03 9.64403321e-01 1.05566366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.91, Y:210.73, Z:105.57 [[-3.10395664e-01 9.46438854e-01 8.89270898e-02 2.36911145e+02] [-9.12835659e-01 -3.22863220e-01 2.49980802e-01 2.10726981e+02] [ 2.65302830e-01 -3.58286162e-03 9.64158478e-01 1.05571450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:210.73, Z:105.57 [[-3.10815899e-01 9.46309210e-01 8.88389369e-02 2.36912651e+02] [-9.12651512e-01 -3.23245758e-01 2.50158746e-01 2.10733086e+02] [ 2.65444335e-01 -3.32567440e-03 9.64120452e-01 1.05570096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.560385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:236.90, Y:210.72, Z:105.58 [[-3.13773768e-01 9.44553934e-01 9.67671854e-02 2.36901145e+02] [-9.09944846e-01 -3.28245868e-01 2.53485753e-01 2.10721300e+02] [ 2.71194394e-01 -8.51562190e-03 9.62486927e-01 1.05579842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:210.72, Z:105.58 [[-3.14854639e-01 9.44736141e-01 9.13245927e-02 2.36901748e+02] [-9.09604732e-01 -3.27820563e-01 2.55250679e-01 2.10718249e+02] [ 2.71082621e-01 -2.70242131e-03 9.62552289e-01 1.05579898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:210.72, Z:105.58 [[-3.15428594e-01 9.44531520e-01 9.14604255e-02 2.36900235e+02] [-9.09370473e-01 -3.28410216e-01 2.55327383e-01 2.10717763e+02] [ 2.71201299e-01 -2.63385318e-03 9.62519048e-01 1.05580134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.650385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:236.90, Y:210.71, Z:105.58 [[-3.16031500e-01 9.44304092e-01 9.17271645e-02 2.36895277e+02] [-9.09009981e-01 -3.29064248e-01 2.55768599e-01 2.10713148e+02] [ 2.71707465e-01 -2.54997412e-03 9.62376512e-01 1.05578597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.16345024e-01 9.44224231e-01 9.14681750e-02 2.36893127e+02] [-9.09214247e-01 -3.29293126e-01 2.54745934e-01 2.10708406e+02] [ 2.70657125e-01 -2.57655932e-03 9.62672365e-01 1.05582869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.15753482e-01 9.44445916e-01 9.12230755e-02 2.36892131e+02] [-9.09719941e-01 -3.28654419e-01 2.53763474e-01 2.10708643e+02] [ 2.69646744e-01 -2.86075020e-03 9.62955061e-01 1.05582057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.15384680e-01 9.44580876e-01 9.11014431e-02 2.36892134e+02] [-9.10038338e-01 -3.28264407e-01 2.53125864e-01 2.10711509e+02] [ 2.69003212e-01 -3.07378625e-03 9.63134375e-01 1.05581325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.14338070e-01 9.44939435e-01 9.10002338e-02 2.36891028e+02] [-9.10572662e-01 -3.27226793e-01 2.52547130e-01 2.10711214e+02] [ 2.68419457e-01 -3.47714771e-03 9.63295855e-01 1.05581978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.12241790e-01 9.45654575e-01 9.07881630e-02 2.36887648e+02] [-9.11562163e-01 -3.25146059e-01 2.51663393e-01 2.10709006e+02] [ 2.67506052e-01 -4.17922598e-03 9.63547117e-01 1.05583675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.830385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.10875900e-01 9.46066536e-01 9.11826962e-02 2.36886646e+02] [-9.11771829e-01 -3.23938955e-01 2.52459274e-01 2.10709370e+02] [ 2.68380898e-01 -4.65430973e-03 9.63301630e-01 1.05581684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:210.71, Z:105.58 [[-3.09365084e-01 9.46573569e-01 9.10588966e-02 2.36885436e+02] [-9.12477007e-01 -3.22446275e-01 2.51821584e-01 2.10708262e+02] [ 2.67729258e-01 -5.18434377e-03 9.63480237e-01 1.05584483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:210.70, Z:105.59 [[-3.08933155e-01 9.46713866e-01 9.10667955e-02 2.36884059e+02] [-9.12698999e-01 -3.22030502e-01 2.51548987e-01 2.10704996e+02] [ 2.67471200e-01 -5.40475109e-03 9.63550697e-01 1.05585370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:210.70, Z:105.59 [[-3.08915081e-01 9.46718966e-01 9.10750884e-02 2.36883396e+02] [-9.12779565e-01 -3.22013760e-01 2.51277942e-01 2.10703527e+02] [ 2.67217025e-01 -5.50793368e-03 9.63620633e-01 1.05585944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:210.70, Z:105.59 [[-3.09379799e-01 9.46571520e-01 9.10301969e-02 2.36880904e+02] [-9.12741127e-01 -3.22447475e-01 2.50861040e-01 2.10698248e+02] [ 2.66810374e-01 -5.47566620e-03 9.63733491e-01 1.05587198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:210.70, Z:105.59 [[-3.10540635e-01 9.46185239e-01 9.10934033e-02 2.36881631e+02] [-9.12371909e-01 -3.23583032e-01 2.50741941e-01 2.10700840e+02] [ 2.66724603e-01 -5.24550082e-03 9.63758513e-01 1.05586318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:210.70, Z:105.59 [[-3.12164657e-01 9.45629926e-01 9.13086532e-02 2.36880620e+02] [-9.11711733e-01 -3.25207961e-01 2.51040829e-01 2.10698884e+02] [ 2.67086021e-01 -4.88109622e-03 9.63660330e-01 1.05586647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:210.66, Z:105.59 [[-3.14928507e-01 9.45373692e-01 8.41939278e-02 2.36870487e+02] [-9.10707557e-01 -3.25972768e-01 2.53679918e-01 2.10662520e+02] [ 2.67267248e-01 3.21499127e-03 9.63617083e-01 1.05593717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.87, Y:210.69, Z:105.59 [[-3.16232363e-01 9.43559008e-01 9.84555284e-02 2.36872670e+02] [-9.10261884e-01 -3.31022544e-01 2.48691329e-01 2.10691797e+02] [ 2.67245943e-01 -1.09760679e-02 9.63565842e-01 1.05589824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:210.69, Z:105.59 [[-3.18201551e-01 9.43593570e-01 9.15365931e-02 2.36875277e+02] [-9.09602943e-01 -3.31088610e-01 2.51003622e-01 2.10689946e+02] [ 2.67152128e-01 -3.39221258e-03 9.63648397e-01 1.05588934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.87, Y:210.69, Z:105.59 [[-3.20772414e-01 9.42709532e-01 9.16722253e-02 2.36872534e+02] [-9.08661911e-01 -3.33603249e-01 2.51082465e-01 2.10686276e+02] [ 2.67279986e-01 -2.75873091e-03 9.63614964e-01 1.05589915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:210.68, Z:105.59 [[-3.21672403e-01 9.42398524e-01 9.17163374e-02 2.36871198e+02] [-9.08386179e-01 -3.34482058e-01 2.50910945e-01 2.10684340e+02] [ 2.67135573e-01 -2.60272676e-03 9.63655442e-01 1.05590027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:210.68, Z:105.59 [[-3.22128329e-01 9.42239675e-01 9.17482097e-02 2.36869262e+02] [-9.08277861e-01 -3.34929504e-01 2.50706111e-01 2.10681009e+02] [ 2.66954427e-01 -2.57332685e-03 9.63705718e-01 1.05591235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:210.68, Z:105.59 [[-3.22469953e-01 9.42113632e-01 9.18424413e-02 2.36868491e+02] [-9.08156634e-01 -3.35283884e-01 2.50671588e-01 2.10678826e+02] [ 2.66954411e-01 -2.57326718e-03 9.63705723e-01 1.05591885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:210.68, Z:105.59 [[-3.22223643e-01 9.42233980e-01 9.14715883e-02 2.36864862e+02] [-9.08640140e-01 -3.34944026e-01 2.49370398e-01 2.10675153e+02] [ 2.65603124e-01 -2.76171870e-03 9.64078500e-01 1.05593880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:210.68, Z:105.59 [[-3.21710983e-01 9.42417677e-01 9.13836221e-02 2.36864935e+02] [-9.08976407e-01 -3.34424669e-01 2.48841379e-01 2.10678588e+02] [ 2.65073452e-01 -3.01055200e-03 9.64223523e-01 1.05593340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:210.68, Z:105.59 [[-3.20702120e-01 9.42785621e-01 9.11340963e-02 2.36863426e+02] [-9.09623188e-01 -3.33382196e-01 2.47874904e-01 2.10677610e+02] [ 2.64075380e-01 -3.40367996e-03 9.64496039e-01 1.05594210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.340385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.86, Y:210.68, Z:105.60 [[-3.18127040e-01 9.43691499e-01 9.07829374e-02 2.36860852e+02] [-9.10902059e-01 -3.30799693e-01 2.46635362e-01 2.10676463e+02] [ 2.62778662e-01 -4.23298705e-03 9.64846857e-01 1.05595930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37038572299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.86, Y:210.68, Z:105.60 [[-3.17280057e-01 9.43965973e-01 9.08933811e-02 2.36859848e+02] [-9.11184074e-01 -3.30011236e-01 2.46649887e-01 2.10676421e+02] [ 2.62824938e-01 -4.56351093e-03 9.64832745e-01 1.05596147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.85, Y:210.65, Z:105.60 [[-3.12370405e-01 9.45158286e-01 9.53967723e-02 2.36850467e+02] [-9.12119191e-01 -3.26472210e-01 2.47900138e-01 2.10652251e+02] [ 2.65449265e-01 -9.57656004e-03 9.64077267e-01 1.05604686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.430385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.86, Y:210.67, Z:105.59 [[-3.14740005e-01 9.45215695e-01 8.66372799e-02 2.36860343e+02] [-9.11600616e-01 -3.26446274e-01 2.49834238e-01 2.10672593e+02] [ 2.64429660e-01 -3.45768260e-04 9.64404912e-01 1.05594088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:210.67, Z:105.60 [[-3.13975538e-01 9.44972885e-01 9.18999936e-02 2.36856334e+02] [-9.11670454e-01 -3.27099184e-01 2.48722954e-01 2.10669614e+02] [ 2.65096861e-01 -5.68958541e-03 9.64205001e-01 1.05597227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:210.67, Z:105.60 [[-3.13170904e-01 9.45214055e-01 9.21649311e-02 2.36856826e+02] [-9.11805549e-01 -3.26395886e-01 2.49151291e-01 2.10671636e+02] [ 2.65583557e-01 -6.00956059e-03 9.64069116e-01 1.05596228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:210.67, Z:105.60 [[-3.13096565e-01 9.45208659e-01 9.24723278e-02 2.36854891e+02] [-9.11661945e-01 -3.26409157e-01 2.49658889e-01 2.10665955e+02] [ 2.66163558e-01 -6.13616183e-03 9.63908350e-01 1.05597919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:210.67, Z:105.60 [[-3.13453948e-01 9.45072237e-01 9.26557623e-02 2.36854224e+02] [-9.11463458e-01 -3.26804045e-01 2.49866927e-01 2.10665180e+02] [ 2.66422574e-01 -6.13056683e-03 9.63836827e-01 1.05597882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:210.67, Z:105.60 [[-3.13776594e-01 9.44930653e-01 9.30070491e-02 2.36853629e+02] [-9.11135775e-01 -3.27213155e-01 2.50525749e-01 2.10665691e+02] [ 2.67162590e-01 -6.13293356e-03 9.63631951e-01 1.05598024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.610385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.85, Y:210.65, Z:105.60 [[-3.14488324e-01 9.45233611e-01 8.73528210e-02 2.36848258e+02] [-9.10603676e-01 -3.26394528e-01 2.53510466e-01 2.10647239e+02] [ 2.68138096e-01 1.82281667e-04 9.63380469e-01 1.05601090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.72, Y:210.84, Z:106.34 [[-3.25348586e-01 -3.03639371e-02 9.45106517e-01 2.36715225e+02] [-8.96033812e-01 -3.09429985e-01 -3.18396753e-01 2.10841227e+02] [ 3.02112075e-01 -9.50437329e-01 7.34654938e-02 1.06339773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.60, Y:210.26, Z:105.85 [[-3.47097866e-01 2.41597440e-02 -9.37517668e-01 2.37600588e+02] [-8.95396206e-01 2.88759844e-01 3.38944520e-01 2.10262984e+02] [ 2.78906268e-01 9.57096682e-01 -7.85953825e-02 1.05848867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.51, Z:105.65 [[-3.13686243e-01 9.44842634e-01 9.41983975e-02 2.36791857e+02] [-9.10291286e-01 -3.27463940e-01 2.53253121e-01 2.10505674e+02] [ 2.70130924e-01 -6.30596030e-03 9.62802949e-01 1.05649267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.51, Z:105.65 [[-3.12904502e-01 9.45072696e-01 9.44900612e-02 2.36791046e+02] [-9.10394992e-01 -3.26793069e-01 2.53746424e-01 2.10505709e+02] [ 2.70687515e-01 -6.62487996e-03 9.62644473e-01 1.05649896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.79, Y:210.51, Z:105.65 [[-3.11896626e-01 9.45394396e-01 9.46040756e-02 2.36789751e+02] [-9.10727269e-01 -3.25853166e-01 2.53762793e-01 2.10505432e+02] [ 2.70732960e-01 -7.01075259e-03 9.62628960e-01 1.05651535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.790385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.79, Y:210.50, Z:105.65 [[-3.09252447e-01 9.46273211e-01 9.44983280e-02 2.36788245e+02] [-9.11805628e-01 -3.23272581e-01 2.53190315e-01 2.10504882e+02] [ 2.70135931e-01 -7.86438282e-03 9.62790076e-01 1.05653246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.79, Y:210.50, Z:105.65 [[-3.08683596e-01 9.46447745e-01 9.46102709e-02 2.36787832e+02] [-9.11985756e-01 -3.22754811e-01 2.53202120e-01 2.10504432e+02] [ 2.70178496e-01 -8.12387859e-03 9.62775978e-01 1.05654057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.50, Z:105.66 [[-3.08277727e-01 9.46571417e-01 9.46963302e-02 2.36786982e+02] [-9.12131873e-01 -3.22386497e-01 2.53145003e-01 2.10501876e+02] [ 2.70148642e-01 -8.33657478e-03 9.62782536e-01 1.05655216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.880385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.79, Y:210.50, Z:105.66 [[-3.08031836e-01 9.46638717e-01 9.48236664e-02 2.36786568e+02] [-9.12188516e-01 -3.22184454e-01 2.53198124e-01 2.10500901e+02] [ 2.70237858e-01 -8.50397650e-03 9.62756035e-01 1.05655767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.910385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.78, Y:210.50, Z:105.66 [[-3.07675179e-01 9.46730743e-01 9.50625305e-02 2.36784881e+02] [-9.12188656e-01 -3.21908579e-01 2.53548265e-01 2.10495951e+02] [ 2.70643381e-01 -8.70445420e-03 9.62640324e-01 1.05658057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.79, Y:210.49, Z:105.66 [[-3.08066437e-01 9.46608354e-01 9.50141837e-02 2.36785534e+02] [-9.12176813e-01 -3.22268745e-01 2.53133004e-01 2.10494726e+02] [ 2.70237918e-01 -8.68795251e-03 9.62754375e-01 1.05659386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.50, Z:105.66 [[-3.08396487e-01 9.46496055e-01 9.50622183e-02 2.36786829e+02] [-9.12104238e-01 -3.22598357e-01 2.52974621e-01 2.10495870e+02] [ 2.70106396e-01 -8.69016767e-03 9.62791263e-01 1.05659892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.49, Z:105.66 [[-3.08972581e-01 9.46316771e-01 9.49763806e-02 2.36785626e+02] [-9.12060604e-01 -3.23125732e-01 2.52458346e-01 2.10491033e+02] [ 2.69594879e-01 -8.62150826e-03 9.62935237e-01 1.05661394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.030385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:236.79, Y:210.51, Z:105.66 [[-3.03132797e-01 9.47702594e-01 9.98513914e-02 2.36793182e+02] [-9.13446749e-01 -3.18823357e-01 2.52916399e-01 2.10505919e+02] [ 2.71524483e-01 -1.45416735e-02 9.62321669e-01 1.05659927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.48, Z:105.66 [[-3.09727929e-01 9.46678761e-01 8.87013703e-02 2.36787682e+02] [-9.11220199e-01 -3.22176285e-01 2.56671365e-01 2.10482454e+02] [ 2.71562808e-01 -1.32819019e-03 9.62419803e-01 1.05662142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.76, Y:210.41, Z:105.68 [[-3.03652253e-01 9.47984495e-01 9.55023952e-02 2.36762707e+02] [-9.13568174e-01 -3.18149019e-01 2.53326655e-01 2.10413780e+02] [ 2.70533734e-01 -1.03247393e-02 9.62655130e-01 1.05682868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.48, Z:105.67 [[-3.10463780e-01 9.45984263e-01 9.34131487e-02 2.36785408e+02] [-9.10886179e-01 -3.24160480e-01 2.55355345e-01 2.10478946e+02] [ 2.71842989e-01 -5.81016049e-03 9.62324078e-01 1.05665327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.80, Y:210.49, Z:105.65 [[-3.03590010e-01 9.49259123e-01 8.20988665e-02 2.36799194e+02] [-9.15402170e-01 -3.14493000e-01 2.51262850e-01 2.10486444e+02] [ 2.64333071e-01 1.12741054e-03 9.64430794e-01 1.05651988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:210.49, Z:105.64 [[-3.01932510e-01 9.50346575e-01 7.53534841e-02 2.36804112e+02] [-9.18073990e-01 -3.11153686e-01 2.45608496e-01 2.10486531e+02] [ 2.56859707e-01 4.97711578e-03 9.66435885e-01 1.05644567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:210.48, Z:105.64 [[-3.00178711e-01 9.50913589e-01 7.52069673e-02 2.36802400e+02] [-9.19824576e-01 -3.09439770e-01 2.41184118e-01 2.10482216e+02] [ 2.52617282e-01 3.22112104e-03 9.67560920e-01 1.05642902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:210.49, Z:105.65 [[-3.01499312e-01 9.49270543e-01 8.93509982e-02 2.36795600e+02] [-9.18819014e-01 -3.14297581e-01 2.38722958e-01 2.10490482e+02] [ 2.54695475e-01 -1.01225882e-02 9.66968329e-01 1.05648451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.48, Z:105.65 [[-2.99940860e-01 9.49735355e-01 8.96562126e-02 2.36791344e+02] [-9.19416119e-01 -3.12862260e-01 2.38309058e-01 2.10480303e+02] [ 2.54380583e-01 -1.09527430e-02 9.67042169e-01 1.05652168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.48, Z:105.65 [[-2.97287187e-01 9.50943836e-01 8.55929284e-02 2.36794841e+02] [-9.20761523e-01 -3.09257255e-01 2.37819612e-01 2.10483776e+02] [ 2.52623328e-01 -8.10995146e-03 9.67530714e-01 1.05649869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:210.48, Z:105.65 [[-2.95425770e-01 9.51736368e-01 8.31955538e-02 2.36795994e+02] [-9.21998658e-01 -3.06838263e-01 2.36154092e-01 2.10482063e+02] [ 2.50284017e-01 -6.94018454e-03 9.68147584e-01 1.05648021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:210.49, Z:105.68 [[-3.00706359e-01 9.46014388e-01 1.20964720e-01 2.36775542e+02] [-9.15261177e-01 -3.21904163e-01 2.42228587e-01 2.10485286e+02] [ 2.68090776e-01 -3.78746355e-02 9.62648871e-01 1.05677623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:210.47, Z:105.64 [[-2.96060933e-01 9.53316429e-01 5.94618314e-02 2.36806990e+02] [-9.21555555e-01 -3.01457664e-01 2.44660244e-01 2.10470220e+02] [ 2.51163855e-01 1.76369592e-02 9.67783889e-01 1.05643188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:210.48, Z:105.68 [[-3.02953200e-01 9.45182600e-01 1.21857341e-01 2.36774502e+02] [-9.14833379e-01 -3.24257801e-01 2.40700574e-01 2.10477048e+02] [ 2.67019188e-01 -3.85581543e-02 9.62919530e-01 1.05679916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.46, Z:105.67 [[-3.06439102e-01 9.47114549e-01 9.52318677e-02 2.36787702e+02] [-9.13545282e-01 -3.20728808e-01 2.50136062e-01 2.10464485e+02] [ 2.67451107e-01 -1.03471532e-02 9.63515875e-01 1.05671063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.46, Z:105.67 [[-3.08457637e-01 9.46464428e-01 9.51786356e-02 2.36788636e+02] [-9.12980391e-01 -3.22657239e-01 2.49718066e-01 2.10461900e+02] [ 2.67059342e-01 -9.86878336e-03 9.63629553e-01 1.05671214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.46, Z:105.67 [[-3.10720861e-01 9.45728756e-01 9.51297335e-02 2.36788940e+02] [-9.12322987e-01 -3.24823351e-01 2.49312168e-01 2.10457659e+02] [ 2.66682046e-01 -9.32255105e-03 9.63739475e-01 1.05671430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.46, Z:105.67 [[-3.12340172e-01 9.45194547e-01 9.51361378e-02 2.36790395e+02] [-9.11836779e-01 -3.26384727e-01 2.49051600e-01 2.10455808e+02] [ 2.66453196e-01 -8.95980983e-03 9.63806213e-01 1.05671087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.45, Z:105.67 [[-3.15640553e-01 9.44096688e-01 9.51445519e-02 2.36790822e+02] [-9.10760514e-01 -3.29568585e-01 2.48796771e-01 2.10448071e+02] [ 2.66244863e-01 -8.12355065e-03 9.63871195e-01 1.05671470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.600385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:236.79, Y:210.45, Z:105.67 [[-3.16824523e-01 9.43699407e-01 9.51506757e-02 2.36791730e+02] [-9.10417783e-01 -3.30710241e-01 2.48536109e-01 2.10446495e+02] [ 2.66010681e-01 -7.88453293e-03 9.63937836e-01 1.05670482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:210.44, Z:105.66 [[-3.16715986e-01 9.44706188e-01 8.49776548e-02 2.36798909e+02] [-9.12232556e-01 -3.27917906e-01 2.45563863e-01 2.10442500e+02] [ 2.59851396e-01 2.54617741e-04 9.65648584e-01 1.05662405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.44, Z:105.67 [[-3.17731231e-01 9.43612689e-01 9.29621348e-02 2.36794387e+02] [-9.11919988e-01 -3.30962283e-01 2.42622966e-01 2.10441743e+02] [ 2.59709070e-01 -7.68513507e-03 9.65656325e-01 1.05665767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.44, Z:105.68 [[-3.20133788e-01 9.41895047e-01 1.01725501e-01 2.36788741e+02] [-9.09578641e-01 -3.35611655e-01 2.45013292e-01 2.10439601e+02] [ 2.64917070e-01 -1.40903097e-02 9.64168247e-01 1.05675245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.43, Z:105.67 [[-3.22014903e-01 9.41933367e-01 9.52257018e-02 2.36792308e+02] [-9.08770676e-01 -3.35732324e-01 2.47829912e-01 2.10432411e+02] [ 2.65409610e-01 -6.73340017e-03 9.64112234e-01 1.05673200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.43, Z:105.67 [[-3.23444747e-01 9.41433851e-01 9.53194593e-02 2.36791630e+02] [-9.08259373e-01 -3.37136490e-01 2.47798100e-01 2.10427464e+02] [ 2.65421187e-01 -6.42579853e-03 9.64111146e-01 1.05674238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.43, Z:105.67 [[-3.24899827e-01 9.40911139e-01 9.55318326e-02 2.36792367e+02] [-9.07640147e-01 -3.38598439e-01 2.48073500e-01 2.10426581e+02] [ 2.65762048e-01 -6.10948928e-03 9.64019298e-01 1.05674017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:210.42, Z:105.67 [[-3.26749005e-01 9.40958341e-01 8.85013480e-02 2.36795614e+02] [-9.08224565e-01 -3.38522378e-01 2.46029955e-01 2.10422106e+02] [ 2.61463625e-01 1.09445950e-05 9.65213330e-01 1.05668429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.42, Z:105.68 [[-3.29084290e-01 9.38916890e-01 1.00690636e-01 2.36788078e+02] [-9.06309450e-01 -3.43984920e-01 2.45514878e-01 2.10421034e+02] [ 2.65154127e-01 -1.04617860e-02 9.64149283e-01 1.05677184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.41, Z:105.68 [[-3.30940367e-01 9.38809062e-01 9.54778428e-02 2.36788040e+02] [-9.05660093e-01 -3.44406965e-01 2.47312835e-01 2.10413440e+02] [ 2.65062765e-01 -4.62467153e-03 9.64220070e-01 1.05677469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:210.41, Z:105.68 [[-3.31856509e-01 9.38475011e-01 9.55819568e-02 2.36786244e+02] [-9.05314653e-01 -3.45318330e-01 2.47306752e-01 2.10408779e+02] [ 2.65097409e-01 -4.46139062e-03 9.64211315e-01 1.05678911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.930385723 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:236.50, Y:209.65, Z:105.89 [[-3.34115924e-01 9.38501922e-01 8.70671680e-02 2.36496663e+02] [-9.05928566e-01 -3.45260759e-01 2.45129437e-01 2.09653474e+02] [ 2.60115324e-01 3.02501369e-03 9.65572818e-01 1.05887835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:210.55, Z:106.61 [[-3.16295956e-01 -5.26549311e-01 7.89115132e-01 2.36812716e+02] [-9.00367354e-01 -9.53980205e-02 -4.24544279e-01 2.10551373e+02] [ 2.98823519e-01 -8.44775142e-01 -4.43913802e-01 1.06606163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:210.26, Z:105.68 [[-2.95505930e-01 9.49334873e-01 1.06955808e-01 2.36707331e+02] [-8.98636351e-01 -3.14215523e-01 3.06139371e-01 2.10256369e+02] [ 3.24235956e-01 -5.64837762e-03 9.45959376e-01 1.05675700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:210.25, Z:105.68 [[-2.95616770e-01 9.49257083e-01 1.07339260e-01 2.36705037e+02] [-8.98308662e-01 -3.14449326e-01 3.06860179e-01 2.10253854e+02] [ 3.25041956e-01 -5.71077218e-03 9.45682354e-01 1.05676778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:210.25, Z:105.68 [[-2.94592001e-01 9.49540375e-01 1.07650491e-01 2.36704101e+02] [-8.98435734e-01 -3.13584181e-01 3.07373053e-01 2.10254372e+02] [ 3.25620615e-01 -6.16740496e-03 9.45480395e-01 1.05676570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:210.25, Z:105.68 [[-2.94934177e-01 9.49420861e-01 1.07767620e-01 2.36703363e+02] [-8.98323472e-01 -3.13945840e-01 3.07331984e-01 2.10252220e+02] [ 3.25620593e-01 -6.16747680e-03 9.45480403e-01 1.05677368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:210.25, Z:105.68 [[-2.94341314e-01 9.49590041e-01 1.07897846e-01 2.36701953e+02] [-8.98505750e-01 -3.13427293e-01 3.07328406e-01 2.10249780e+02] [ 3.25654123e-01 -6.48738830e-03 9.45466713e-01 1.05678401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:210.25, Z:105.69 [[-2.93273811e-01 9.48143630e-01 1.22532158e-01 2.36692463e+02] [-8.96652931e-01 -3.17255471e-01 3.08808172e-01 2.10254440e+02] [ 3.31668499e-01 -1.93034687e-02 9.43198486e-01 1.05686722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:210.24, Z:105.67 [[-2.90017916e-01 9.52894159e-01 8.87824907e-02 2.36706856e+02] [-8.99981818e-01 -3.03104879e-01 3.13305217e-01 2.10243540e+02] [ 3.25457117e-01 1.09614988e-02 9.45493263e-01 1.05673125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:210.26, Z:105.69 [[-2.90834856e-01 9.48359205e-01 1.26609259e-01 2.36688375e+02] [-8.97692021e-01 -3.16256538e-01 3.06807494e-01 2.10257239e+02] [ 3.31004717e-01 -2.44258085e-02 9.43312916e-01 1.05686997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:210.25, Z:105.68 [[-2.87943139e-01 9.52340865e-01 1.00675848e-01 2.36699075e+02] [-9.00639360e-01 -3.05031936e-01 3.09522634e-01 2.10248853e+02] [ 3.25480402e-01 -1.54771235e-03 9.45547520e-01 1.05676174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:210.24, Z:105.69 [[-2.87954392e-01 9.51229355e-01 1.10657053e-01 2.36686648e+02] [-8.98603624e-01 -3.08336664e-01 3.12153856e-01 2.10242065e+02] [ 3.31049537e-01 -9.55075492e-03 9.43565041e-01 1.05685757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:210.25, Z:105.69 [[-2.87818345e-01 9.51138456e-01 1.11786574e-01 2.36687364e+02] [-8.97626204e-01 -3.08610076e-01 3.14685586e-01 2.10248187e+02] [ 3.33808026e-01 -9.77027337e-03 9.42590443e-01 1.05685801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:210.24, Z:105.69 [[-2.86776470e-01 9.51681667e-01 1.09823771e-01 2.36683214e+02] [-8.98527137e-01 -3.06962740e-01 3.13724178e-01 2.10240622e+02] [ 3.32277354e-01 -8.71092671e-03 9.43141495e-01 1.05687196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.64, Y:210.15, Z:105.72 [[-2.86604214e-01 9.50335629e-01 1.21326899e-01 2.36643739e+02] [-8.99039689e-01 -3.10544041e-01 3.08690842e-01 2.10151131e+02] [ 3.31037251e-01 -2.06056016e-02 9.43392679e-01 1.05724211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:210.20, Z:106.62 [[-2.76674232e-01 -9.39962457e-01 -1.99804778e-01 2.37353175e+02] [-9.11950941e-01 3.22379614e-01 -2.53804780e-01 2.10195288e+02] [ 3.02979952e-01 1.11990913e-01 -9.46393779e-01 1.06622141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:210.18, Z:106.66 [[-1.95558941e-01 -9.72831404e-01 -1.23918360e-01 2.37284501e+02] [-9.35593834e-01 2.22947947e-01 -2.73785299e-01 2.10178670e+02] [ 2.93974281e-01 6.23960901e-02 -9.53774528e-01 1.06659852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:210.05, Z:105.74 [[-1.35693483e-01 9.89305765e-01 5.34918817e-02 2.36576535e+02] [-9.39860375e-01 -1.45617202e-01 3.08962952e-01 2.10050804e+02] [ 3.13448168e-01 -8.35064084e-03 9.49568593e-01 1.05744635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:210.02, Z:105.75 [[-1.38959495e-01 9.89140377e-01 4.78703882e-02 2.36573109e+02] [-9.39564439e-01 -1.46960152e-01 3.09227066e-01 2.10021439e+02] [ 3.12904016e-01 -2.00727736e-03 9.49782632e-01 1.05752698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.500385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.60, Y:210.21, Z:105.70 [[-1.40560815e-01 9.87816569e-01 6.67913470e-02 2.36595593e+02] [-9.39604381e-01 -1.54355552e-01 3.05479903e-01 2.10205977e+02] [ 3.12067725e-01 -1.98189380e-02 9.49853117e-01 1.05699959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.530385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:236.58, Y:210.09, Z:105.73 [[-1.41647572e-01 9.88620636e-01 5.06478445e-02 2.36581990e+02] [-9.39158771e-01 -1.50381578e-01 3.08814158e-01 2.10094097e+02] [ 3.12916552e-01 -3.82359158e-03 9.49772926e-01 1.05731210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.560385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:236.58, Y:210.12, Z:105.73 [[-1.45536420e-01 9.87889248e-01 5.37957574e-02 2.36580174e+02] [-9.39329013e-01 -1.55044575e-01 3.05977426e-01 2.10116062e+02] [ 3.10612549e-01 -6.00105671e-03 9.50517665e-01 1.05725971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.590385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:236.58, Y:210.17, Z:105.72 [[-1.45699751e-01 9.87157962e-01 6.55037490e-02 2.36582563e+02] [-9.37908726e-01 -1.58891740e-01 3.08351482e-01 2.10165314e+02] [ 3.14799625e-01 -1.65098034e-02 9.49014553e-01 1.05717656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62038572299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:236.59, Y:210.20, Z:105.70 [[-1.40639652e-01 9.88515002e-01 5.53044171e-02 2.36594097e+02] [-9.39500660e-01 -1.50871712e-01 3.07532498e-01 2.10195979e+02] [ 3.12344360e-01 -8.70727291e-03 9.49929042e-01 1.05702842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.650385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:236.59, Y:210.20, Z:105.70 [[-1.40507518e-01 9.88505567e-01 5.58066441e-02 2.36593061e+02] [-9.39543412e-01 -1.50901687e-01 3.07387147e-01 2.10196643e+02] [ 3.12275223e-01 -9.24255979e-03 9.49946715e-01 1.05703706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.680385723 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:236.53, Y:209.96, Z:105.81 [[-1.50138039e-01 9.84315391e-01 9.26378998e-02 2.36525612e+02] [-9.31585538e-01 -1.72224436e-01 3.20136110e-01 2.09958651e+02] [ 3.31069410e-01 -3.82355199e-02 9.42831422e-01 1.05811002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:210.00, Z:106.10 [[-1.83275780e-01 -2.95853978e-01 -9.37486220e-01 2.37442857e+02] [-9.50385722e-01 2.97151390e-01 9.20219006e-02 2.10000454e+02] [ 2.51350288e-01 9.07838904e-01 -3.35636049e-01 1.06097092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.740385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.56, Y:210.12, Z:105.78 [[-1.24072857e-01 9.89970138e-01 6.75651706e-02 2.36555327e+02] [-9.60676918e-01 -1.36889343e-01 2.41580559e-01 2.10122646e+02] [ 2.48406491e-01 -3.49347097e-02 9.68025713e-01 1.05775621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:210.11, Z:105.77 [[-1.25827613e-01 9.91288431e-01 3.89186110e-02 2.36568344e+02] [-9.59962787e-01 -1.31560963e-01 2.47311871e-01 2.10111840e+02] [ 2.50277567e-01 -6.24175576e-03 9.68154006e-01 1.05767524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.800385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.54, Y:210.00, Z:105.82 [[-1.31907177e-01 9.89156070e-01 6.45814740e-02 2.36536563e+02] [-9.54947472e-01 -1.44277773e-01 2.59343885e-01 2.09996507e+02] [ 2.65849249e-01 -2.74625957e-02 9.63623362e-01 1.05816307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:209.97, Z:106.14 [[-1.48531495e-01 -2.91982817e-01 -9.44819787e-01 2.37435639e+02] [-9.69195621e-01 2.32791874e-01 8.04225829e-02 2.09965200e+02] [ 1.96464357e-01 9.27660486e-01 -3.17565393e-01 1.06143728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.860385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.55, Y:210.03, Z:105.82 [[-1.09336862e-01 9.93683273e-01 2.52785132e-02 2.36546937e+02] [-9.75963095e-01 -1.12140906e-01 1.86870156e-01 2.10025284e+02] [ 1.88524504e-01 -4.23909941e-03 9.82059337e-01 1.05820364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:210.02, Z:105.82 [[-1.09891227e-01 9.93618888e-01 2.54051841e-02 2.36545421e+02] [-9.75817331e-01 -1.12711069e-01 1.87287886e-01 2.10020696e+02] [ 1.88956227e-01 -4.20952323e-03 9.81976489e-01 1.05821960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.920385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.55, Y:210.02, Z:105.82 [[-1.10555629e-01 9.93543086e-01 2.54870580e-02 2.36545782e+02] [-9.75723279e-01 -1.13379406e-01 1.87374476e-01 2.10019334e+02] [ 1.89054322e-01 -4.15301273e-03 9.81957848e-01 1.05822436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:210.02, Z:105.82 [[-1.11780170e-01 9.93403374e-01 2.55916158e-02 2.36546131e+02] [-9.75531949e-01 -1.14602778e-01 1.87626275e-01 2.10017199e+02] [ 1.89321445e-01 -3.99254187e-03 9.81907048e-01 1.05822873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.55, Y:210.01, Z:105.82 [[-1.13031083e-01 9.93258766e-01 2.57098821e-02 2.36546620e+02] [-9.75316547e-01 -1.15854951e-01 1.87976764e-01 2.10013420e+02] [ 1.89688186e-01 -3.82805636e-03 9.81836920e-01 1.05823681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.010385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:236.55, Y:210.00, Z:105.82 [[-1.15423887e-01 9.93061719e-01 2.24888656e-02 2.36547441e+02] [-9.74933797e-01 -1.17594249e-01 1.88880080e-01 2.10002132e+02] [ 1.90214139e-01 -1.23882010e-04 9.81742617e-01 1.05824544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.040385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:236.40, Y:210.07, Z:106.61 [[-1.21485777e-01 -3.36483252e-02 9.92022679e-01 2.36398515e+02] [-9.66480490e-01 -2.23725246e-01 -1.25946328e-01 2.10073456e+02] [ 2.26178401e-01 -9.74071252e-01 -5.34101434e-03 1.06605932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.070385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:236.39, Y:209.99, Z:106.60 [[-1.20076957e-01 -4.29161400e-02 9.91836544e-01 2.36386908e+02] [-9.48765965e-01 -2.89169173e-01 -1.27374773e-01 2.09988056e+02] [ 2.92274986e-01 -9.56315531e-01 -5.99481863e-03 1.06596096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:209.60, Z:106.02 [[-1.42291829e-01 3.86307793e-02 -9.89070624e-01 2.37303476e+02] [-9.54707291e-01 2.58446702e-01 1.47442499e-01 2.09600877e+02] [ 2.61317859e-01 9.65252799e-01 1.06232578e-04 1.06024388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.130385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.50, Y:209.67, Z:105.88 [[-1.16109902e-01 9.92625067e-01 3.48420375e-02 2.36498868e+02] [-9.59967590e-01 -1.21154763e-01 2.52554449e-01 2.09666154e+02] [ 2.54913155e-01 -4.12315446e-03 9.66955161e-01 1.05876738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:209.67, Z:105.88 [[-1.17916641e-01 9.92406605e-01 3.49970896e-02 2.36500420e+02] [-9.59628505e-01 -1.22943236e-01 2.52978446e-01 2.09667103e+02] [ 2.55360136e-01 -3.75383621e-03 9.66838720e-01 1.05875955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.190385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.50, Y:209.66, Z:105.88 [[-1.18452201e-01 9.92325488e-01 3.54852318e-02 2.36500528e+02] [-9.58797646e-01 -1.23597166e-01 2.55794478e-01 2.09664554e+02] [ 2.58217255e-01 -3.72373764e-03 9.66079698e-01 1.05877373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:209.66, Z:105.88 [[-1.19362060e-01 9.92225624e-01 3.52279543e-02 2.36500418e+02] [-9.59368737e-01 -1.24400881e-01 2.53250956e-01 2.09661318e+02] [ 2.55664476e-01 -3.56804224e-03 9.66758990e-01 1.05877100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.250385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:236.50, Y:209.66, Z:105.88 [[-1.18697451e-01 9.92301016e-01 3.53497937e-02 2.36500471e+02] [-9.59399952e-01 -1.23790153e-01 2.53431903e-01 2.09658979e+02] [ 2.55856691e-01 -3.83286950e-03 9.66707124e-01 1.05877498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:209.66, Z:105.88 [[-1.17830400e-01 9.92397161e-01 3.55509823e-02 2.36500367e+02] [-9.59303445e-01 -1.23006573e-01 2.54177661e-01 2.09659079e+02] [ 2.56618193e-01 -4.15432449e-03 9.66503929e-01 1.05877672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.310385723 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:236.49, Y:209.60, Z:105.90 [[-1.19645960e-01 9.92099184e-01 3.77366290e-02 2.36488054e+02] [-9.58512592e-01 -1.25333644e-01 2.56017752e-01 2.09595464e+02] [ 2.58724672e-01 -5.53954439e-03 9.65935224e-01 1.05896640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.340385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.30, Y:209.64, Z:106.67 [[-9.90506996e-02 -8.89978546e-01 -4.45114758e-01 2.37296633e+02] [-9.74923573e-01 1.76375856e-01 -1.35704029e-01 2.09637420e+02] [ 1.99281171e-01 4.20511291e-01 -8.85131216e-01 1.06667120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37038572299997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:236.45, Y:209.49, Z:105.94 [[-5.51408787e-02 9.97689769e-01 3.96813473e-02 2.36445107e+02] [-9.71227414e-01 -6.28150753e-02 2.29720649e-01 2.09488060e+02] [ 2.31682528e-01 -2.58726139e-02 9.72447332e-01 1.05937047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:209.52, Z:106.90 [[-1.69564996e-02 -9.99423592e-01 2.94102276e-02 2.37064915e+02] [-9.82322751e-01 1.11675469e-02 -1.86861710e-01 2.09519756e+02] [ 1.86425562e-01 -3.20588562e-02 -9.81945895e-01 1.06899069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.430385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.39, Y:209.43, Z:105.97 [[ 1.37245627e-02 9.98267855e-01 5.72094944e-02 2.36394076e+02] [-9.67702067e-01 -1.14286435e-03 2.52094038e-01 2.09426555e+02] [ 2.51722757e-01 -5.88216264e-02 9.66010181e-01 1.05965924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.460385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.27, Y:209.27, Z:106.27 [[-3.14284820e-02 -2.38712870e-01 -9.70581484e-01 2.37271294e+02] [-9.85934697e-01 1.66882060e-01 -9.11872403e-03 2.09267535e+02] [ 1.64149395e-01 9.56643373e-01 -2.40600151e-01 1.06271143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.490385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.97, Y:209.36, Z:107.00 [[ 5.74096806e-02 -9.76369890e-01 2.08340986e-01 2.36968156e+02] [-9.89178677e-01 -8.38525210e-02 -1.20392273e-01 2.09364381e+02] [ 1.35017307e-01 -1.99174779e-01 -9.70618223e-01 1.06999534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.520385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:236.37, Y:209.12, Z:106.08 [[ 1.01103557e-01 9.91228178e-01 8.51162163e-02 2.36371164e+02] [-9.76822647e-01 8.26803903e-02 1.97437253e-01 2.09115156e+02] [ 1.88667926e-01 -1.03105056e-01 9.76613414e-01 1.06076685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.550385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:237.22, Y:209.14, Z:106.20 [[ 5.16231656e-02 -5.99371191e-02 -9.96866386e-01 2.37223391e+02] [-9.90788653e-01 1.22058765e-01 -5.86472754e-02 2.09142526e+02] [ 1.25191429e-01 9.90711461e-01 -5.30839577e-02 1.06203170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.580385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.96, Y:209.20, Z:107.04 [[ 1.26506400e-01 -9.71744665e-01 1.99269760e-01 2.36961571e+02] [-9.87523661e-01 -1.42362413e-01 -6.73050035e-02 2.09196553e+02] [ 9.37718018e-02 -1.88269089e-01 -9.77630605e-01 1.07044480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.610385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:237.01, Y:209.19, Z:107.00 [[ 2.07309899e-01 -9.73684211e-01 9.46660617e-02 2.37014079e+02] [-9.73948967e-01 -2.14515184e-01 -7.35299012e-02 2.09192245e+02] [ 9.19022115e-02 -7.69564366e-02 -9.92789852e-01 1.06998297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.640385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:236.40, Y:208.89, Z:106.09 [[ 2.57603676e-01 9.65096117e-01 4.72210993e-02 2.36397691e+02] [-9.55546715e-01 2.47191515e-01 1.60707282e-01 2.08885038e+02] [ 1.43425319e-01 -8.65207528e-02 9.85871867e-01 1.06094894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.670385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.24, Y:209.16, Z:106.79 [[ 2.58856880e-01 -8.58403448e-01 -4.42873160e-01 2.37241322e+02] [-9.61267543e-01 -1.84011074e-01 -2.05194139e-01 2.09160848e+02] [ 9.46457907e-02 4.78835509e-01 -8.72787906e-01 1.06788082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.700385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.04, Y:209.12, Z:107.01 [[ 3.35411331e-01 -9.41826877e-01 2.14795744e-02 2.37042969e+02] [-9.38986640e-01 -3.36069728e-01 -7.32204096e-02 2.09116842e+02] [ 7.61795845e-02 4.38992168e-03 -9.97084450e-01 1.07005260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:237.03, Y:209.11, Z:107.01 [[ 4.06874296e-01 -9.13089264e-01 2.68570776e-02 2.37030491e+02] [-9.10363909e-01 -4.07737203e-01 -7.06252575e-02 2.09110071e+02] [ 7.54377941e-02 4.28588774e-03 -9.97141299e-01 1.07007561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:209.10, Z:107.01 [[ 4.76685899e-01 -8.78495066e-01 3.18900205e-02 2.37019363e+02] [-8.75907063e-01 -4.77732503e-01 -6.75164556e-02 2.09102083e+02] [ 7.45477724e-02 4.25144816e-03 -9.97208381e-01 1.07010302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:209.07, Z:107.02 [[ 5.48273941e-01 -8.30937176e-01 9.45467914e-02 2.36986166e+02] [-8.33681016e-01 -5.51991802e-01 -1.67634747e-02 2.09070805e+02] [ 6.61184481e-02 -6.96308888e-02 -9.95379270e-01 1.07019259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:208.58, Z:106.10 [[ 5.99735257e-01 8.00047277e-01 -1.55555984e-02 2.36516674e+02] [-7.91086634e-01 5.95719324e-01 1.38925971e-01 2.08577638e+02] [ 1.20414115e-01 -7.10129768e-02 9.90180589e-01 1.06101420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:208.58, Z:106.06 [[ 6.03604342e-01 7.91982558e-01 -9.17901187e-02 2.36578549e+02] [-7.88842945e-01 6.09951206e-01 7.54077885e-02 2.08580512e+02] [ 1.15709147e-01 2.68915190e-02 9.92919050e-01 1.06056244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:208.54, Z:106.08 [[ 6.01597693e-01 7.96589881e-01 -5.93698359e-02 2.36576436e+02] [-7.90039585e-01 6.04331634e-01 1.03056930e-01 2.08537559e+02] [ 1.17973178e-01 -1.50942911e-02 9.92902055e-01 1.06079947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:208.52, Z:106.08 [[ 6.02000403e-01 7.95556275e-01 -6.84523803e-02 2.36599444e+02] [-7.89771023e-01 6.05868815e-01 9.58368965e-02 2.08515598e+02] [ 1.17716807e-01 -3.63214396e-03 9.93040564e-01 1.06077957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.61, Y:208.48, Z:106.09 [[ 5.99245296e-01 7.98746288e-01 -5.39392496e-02 2.36606096e+02] [-7.91402522e-01 6.01205186e-01 1.10609097e-01 2.08482557e+02] [ 1.20777163e-01 -2.35943232e-02 9.92399206e-01 1.06093486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:208.46, Z:106.10 [[ 5.98368419e-01 7.98921001e-01 -6.06668789e-02 2.36626378e+02] [-7.91936571e-01 6.01230297e-01 1.06576719e-01 2.08459194e+02] [ 1.21621145e-01 -1.57278227e-02 9.92451980e-01 1.06095648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.25, Y:208.99, Z:106.90 [[ 6.00441214e-01 -7.68518830e-01 -2.21018452e-01 2.37252045e+02] [-7.96242885e-01 -5.49022706e-01 -2.54108908e-01 2.08986100e+02] [ 7.39433317e-02 3.28561831e-01 -9.41583510e-01 1.06900505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.13, Y:208.90, Z:107.04 [[ 6.64115096e-01 -7.46341561e-01 4.38795428e-02 2.37131261e+02] [-7.45117067e-01 -6.65550006e-01 -4.29388705e-02 2.08897734e+02] [ 6.12510936e-02 -4.17904416e-03 -9.98113640e-01 1.07040499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.060385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.10, Y:208.86, Z:107.05 [[ 7.24440634e-01 -6.81462887e-01 1.03894668e-01 2.37104317e+02] [-6.86817782e-01 -7.26421863e-01 2.43435934e-02 2.08859968e+02] [ 5.88821032e-02 -8.89921939e-02 -9.94290344e-01 1.07054846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:208.27, Z:106.14 [[ 7.61978726e-01 6.47415097e-01 -1.55599597e-02 2.36748344e+02] [-6.39014217e-01 7.55557028e-01 1.44202663e-01 2.08269242e+02] [ 1.05115418e-01 -9.99363263e-02 9.89425833e-01 1.06138557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.82, Y:208.31, Z:106.07 [[ 7.65093963e-01 6.35004728e-01 -1.06771824e-01 2.36822911e+02] [-6.36683376e-01 7.70812053e-01 2.19785549e-02 2.08311355e+02] [ 9.62574955e-02 5.11641859e-02 9.94040603e-01 1.06070343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:208.27, Z:106.09 [[ 7.65643882e-01 6.39262591e-01 -7.16434618e-02 2.36828976e+02] [-6.36283726e-01 7.68986797e-01 6.16630048e-02 2.08272038e+02] [ 9.45117285e-02 -1.62633355e-03 9.95522420e-01 1.06089219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.180385723 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:236.85, Y:208.25, Z:106.10 [[ 7.65147122e-01 6.40254854e-01 -6.79970794e-02 2.36848076e+02] [-6.36358776e-01 7.68078102e-01 7.14390546e-02 2.08246788e+02] [ 9.79662691e-02 -1.13908489e-02 9.95124544e-01 1.06099063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:208.84, Z:107.03 [[ 7.68708305e-01 -6.39564720e-01 6.67162478e-03 2.37275069e+02] [-6.35471598e-01 -7.64888752e-01 -1.05456369e-01 2.08839228e+02] [ 7.25492240e-02 7.68255588e-02 -9.94401551e-01 1.07025147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:208.83, Z:107.04 [[ 8.16063592e-01 -5.77071552e-01 3.20723955e-02 2.37271882e+02] [-5.73713384e-01 -8.15532564e-01 -7.58919724e-02 2.08834717e+02] [ 6.99511812e-02 4.35323131e-02 -9.96600105e-01 1.07039229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.270385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.27, Y:208.82, Z:107.05 [[ 8.58073473e-01 -5.10998072e-01 5.09007353e-02 2.37271131e+02] [-5.09323814e-01 -8.59515107e-01 -4.26970020e-02 2.08822499e+02] [ 6.55680366e-02 1.07122082e-02 -9.97790600e-01 1.07052642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.29, Y:208.84, Z:107.03 [[ 8.94590587e-01 -4.46479194e-01 1.90790651e-02 2.37289572e+02] [-4.42476784e-01 -8.90938109e-01 -1.02193844e-01 2.08840147e+02] [ 6.26256913e-02 8.29796074e-02 -9.94581524e-01 1.07030796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.330385723 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:237.29, Y:208.85, Z:107.04 [[ 9.26633988e-01 -3.74340438e-01 3.49097328e-02 2.37294762e+02] [-3.71220705e-01 -9.25692884e-01 -7.27177575e-02 2.08849181e+02] [ 5.95368884e-02 5.44235300e-02 -9.96741410e-01 1.07042424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.360385723 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:237.27, Y:208.78, Z:107.10 [[ 9.53865664e-01 -2.83809580e-01 9.79408887e-02 2.37266004e+02] [-2.94257209e-01 -9.48500958e-01 1.17297173e-01 2.08778151e+02] [ 5.96069653e-02 -1.40705559e-01 -9.88255511e-01 1.07101373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:208.18, Z:106.13 [[ 9.70616908e-01 2.27365660e-01 -7.87887982e-02 2.37228035e+02] [-2.21079034e-01 9.71878973e-01 8.10883690e-02 2.08175457e+02] [ 9.50098867e-02 -6.12871906e-02 9.93587944e-01 1.06134359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:208.16, Z:106.16 [[ 9.67603829e-01 2.34369717e-01 -9.38811302e-02 2.37259129e+02] [-2.25724833e-01 9.69630067e-01 9.41585566e-02 2.08160870e+02] [ 1.13097881e-01 -6.99168774e-02 9.91120830e-01 1.06164037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:208.19, Z:106.13 [[ 9.67046806e-01 2.28545565e-01 -1.12193578e-01 2.37302489e+02] [-2.28382201e-01 9.73463866e-01 1.44800694e-02 2.08191243e+02] [ 1.12525749e-01 1.16201113e-02 9.93580862e-01 1.06134457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:208.21, Z:106.11 [[ 9.68601389e-01 2.24057819e-01 -1.07747124e-01 2.37337279e+02] [-2.27709807e-01 9.73463984e-01 -2.27181814e-02 2.08205899e+02] [ 9.97977585e-02 4.65399389e-02 9.93918730e-01 1.06107146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:208.18, Z:106.13 [[ 9.67763562e-01 2.33512985e-01 -9.43682850e-02 2.37361243e+02] [-2.32115835e-01 9.72349229e-01 2.56751965e-02 2.08175215e+02] [ 9.77544210e-02 -2.94314641e-03 9.95206215e-01 1.06125507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:208.17, Z:106.13 [[ 9.67288672e-01 2.35652976e-01 -9.39164521e-02 2.37393505e+02] [-2.34276610e-01 9.71833404e-01 2.55793689e-02 2.08167379e+02] [ 9.72989998e-02 -2.74020580e-03 9.95251424e-01 1.06128896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.570385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.43, Y:208.16, Z:106.13 [[ 9.66539732e-01 2.38259760e-01 -9.50433239e-02 2.37425923e+02] [-2.37594412e-01 9.71189727e-01 1.84230906e-02 2.08164850e+02] [ 9.66945809e-02 4.77511369e-03 9.95302646e-01 1.06129921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:208.15, Z:106.14 [[ 9.66362665e-01 2.41487346e-01 -8.84706785e-02 2.37454138e+02] [-2.39575178e-01 9.70357218e-01 3.17899865e-02 2.08151027e+02] [ 9.35250410e-02 -9.52527748e-03 9.95571362e-01 1.06136087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:208.14, Z:106.15 [[ 9.65238582e-01 2.46640834e-01 -8.65030550e-02 2.37485378e+02] [-2.43654230e-01 9.68877138e-01 4.37002046e-02 2.08136624e+02] [ 9.45890872e-02 -2.11042882e-02 9.95292677e-01 1.06147974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:208.14, Z:106.14 [[ 9.65032348e-01 2.44605525e-01 -9.42374889e-02 2.37521358e+02] [-2.44292761e-01 9.69585188e-01 1.50203191e-02 2.08142924e+02] [ 9.50453264e-02 8.52644251e-03 9.95436430e-01 1.06139386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.56, Y:208.16, Z:106.11 [[ 9.67030379e-01 2.36108408e-01 -9.54204686e-02 2.37555912e+02] [-2.39605379e-01 9.70498809e-01 -2.68574717e-02 2.08161757e+02] [ 8.62641763e-02 4.88352487e-02 9.95074676e-01 1.06113080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:208.10, Z:106.17 [[ 9.64150977e-01 2.51897267e-01 -8.34305726e-02 2.37574811e+02] [-2.45926818e-01 9.66336145e-01 7.55940217e-02 2.08097242e+02] [ 9.96639054e-02 -5.23662346e-02 9.93642231e-01 1.06166029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:208.12, Z:106.14 [[ 9.64903670e-01 2.44614168e-01 -9.55239110e-02 2.37613843e+02] [-2.44448425e-01 9.69566705e-01 1.36151246e-02 2.08121143e+02] [ 9.59472561e-02 1.02133859e-02 9.95334020e-01 1.06144620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:208.11, Z:106.15 [[ 9.65038643e-01 2.44385358e-01 -9.47428903e-02 2.37644172e+02] [-2.43668431e-01 9.69667678e-01 1.92429220e-02 2.08111496e+02] [ 9.65718069e-02 4.51568813e-03 9.95315776e-01 1.06149131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:208.10, Z:106.16 [[ 9.65306887e-01 2.45569327e-01 -8.87599033e-02 2.37671567e+02] [-2.43590352e-01 9.69328527e-01 3.26488615e-02 2.08096994e+02] [ 9.40550652e-02 -9.89511476e-03 9.95517821e-01 1.06156604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.70, Y:208.09, Z:106.16 [[ 9.64577434e-01 2.46864923e-01 -9.29950751e-02 2.37703972e+02] [-2.44843979e-01 9.69009944e-01 3.27284924e-02 2.08086302e+02] [ 9.81926693e-02 -8.79988100e-03 9.95128515e-01 1.06163218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:208.08, Z:106.16 [[ 9.64163856e-01 2.46945714e-01 -9.69838818e-02 2.37736776e+02] [-2.45700637e-01 9.69029314e-01 2.47666156e-02 2.08081798e+02] [ 1.00096234e-01 -5.00740617e-05 9.94977759e-01 1.06161426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.77, Y:208.08, Z:106.16 [[ 9.64709977e-01 2.45742604e-01 -9.45792385e-02 2.37768112e+02] [-2.45047741e-01 9.69323357e-01 1.90744300e-02 2.08077217e+02] [ 9.63652650e-02 4.77513574e-03 9.95334584e-01 1.06157713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.80, Y:208.07, Z:106.16 [[ 9.64180541e-01 2.46100930e-01 -9.89455220e-02 2.37799181e+02] [-2.45726065e-01 9.69204777e-01 1.61493590e-02 2.08070675e+02] [ 9.98728448e-02 8.74259605e-03 9.94961799e-01 1.06160013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:208.05, Z:106.17 [[ 9.64144509e-01 2.49909891e-01 -8.92771640e-02 2.37825175e+02] [-2.46576817e-01 9.67993979e-01 4.67710465e-02 2.08046070e+02] [ 9.81083043e-02 -2.30803687e-02 9.94908065e-01 1.06174963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.86, Y:208.06, Z:106.16 [[ 9.63971187e-01 2.45112870e-01 -1.03340366e-01 2.37860875e+02] [-2.45912516e-01 9.69278457e-01 5.12911587e-03 2.08058875e+02] [ 1.01422802e-01 2.04683694e-02 9.94632827e-01 1.06162147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:208.03, Z:106.18 [[ 9.64876930e-01 2.47908518e-01 -8.69130389e-02 2.37885147e+02] [-2.44968975e-01 9.68569497e-01 4.31663224e-02 2.08029767e+02] [ 9.48826174e-02 -2.03591906e-02 9.95280258e-01 1.06178628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:208.04, Z:106.17 [[ 9.64845524e-01 2.43921334e-01 -9.78544756e-02 2.37920524e+02] [-2.43888669e-01 9.69722933e-01 1.24799762e-02 2.08035306e+02] [ 9.79358616e-02 1.18243486e-02 9.95122481e-01 1.06171873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:208.01, Z:106.19 [[ 9.65184486e-01 2.46932344e-01 -8.62747056e-02 2.37945932e+02] [-2.43775520e-01 9.68761247e-01 4.55537316e-02 2.08008340e+02] [ 9.48282811e-02 -2.29360938e-02 9.95229387e-01 1.06188436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.110385723 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:237.98, Y:208.01, Z:106.18 [[ 9.64625451e-01 2.47028156e-01 -9.20588417e-02 2.37979561e+02] [-2.46432536e-01 9.68993481e-01 1.79621717e-02 2.08012010e+02] [ 9.36415796e-02 5.35952582e-03 9.95591548e-01 1.06181059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:208.01, Z:106.18 [[ 9.65237158e-01 2.41727332e-01 -9.94239734e-02 2.38012598e+02] [-2.42428376e-01 9.70155625e-01 5.15222432e-03 2.08013604e+02] [ 9.77021606e-02 1.91300740e-02 9.95031823e-01 1.06180160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:207.98, Z:106.21 [[ 9.62999262e-01 2.51652818e-01 -9.64535135e-02 2.38037032e+02] [-2.47474322e-01 9.67428671e-01 5.32750122e-02 2.07977951e+02] [ 1.06718701e-01 -2.74340296e-02 9.93910707e-01 1.06207889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:207.99, Z:106.20 [[ 9.61645291e-01 2.50001236e-01 -1.12861493e-01 2.38074259e+02] [-2.49549570e-01 9.68188300e-01 1.83419760e-02 2.07985949e+02] [ 1.13856693e-01 1.05260621e-02 9.93441420e-01 1.06201599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.10, Y:207.95, Z:106.22 [[ 9.61715929e-01 2.56857382e-01 -9.55340681e-02 2.38096984e+02] [-2.51610231e-01 9.65734885e-01 6.36272194e-02 2.07954731e+02] [ 1.08603703e-01 -3.71539615e-02 9.93390567e-01 1.06220972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:207.97, Z:106.21 [[ 9.60245741e-01 2.55247687e-01 -1.13034220e-01 2.38135979e+02] [-2.54546018e-01 9.66836030e-01 2.08426354e-02 2.07966088e+02] [ 1.14605591e-01 8.75835881e-03 9.93372463e-01 1.06212432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:207.94, Z:106.23 [[ 9.60266033e-01 2.59917616e-01 -1.01646346e-01 2.38161232e+02] [-2.56068927e-01 9.65392023e-01 4.94666176e-02 2.07943946e+02] [ 1.10985817e-01 -2.14726420e-02 9.93589993e-01 1.06225857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:207.97, Z:106.20 [[ 9.61321007e-01 2.51711837e-01 -1.11817142e-01 2.38201917e+02] [-2.54550387e-01 9.66989414e-01 -1.16435844e-02 2.07967604e+02] [ 1.05195164e-01 3.96563190e-02 9.93660583e-01 1.06198157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:207.93, Z:106.22 [[ 9.61006668e-01 2.59800965e-01 -9.47081953e-02 2.38221387e+02] [-2.57246696e-01 9.65579975e-01 3.84636066e-02 2.07933944e+02] [ 1.01441219e-01 -1.26004121e-02 9.94761735e-01 1.06216380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:207.91, Z:106.24 [[ 9.58955258e-01 2.66275597e-01 -9.74788183e-02 2.38248455e+02] [-2.60344819e-01 9.63015686e-01 6.94360452e-02 2.07906691e+02] [ 1.12362755e-01 -4.12079554e-02 9.92812427e-01 1.06243225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:207.92, Z:106.23 [[ 9.59160330e-01 2.61090620e-01 -1.08826234e-01 2.38284954e+02] [-2.59701055e-01 9.65311409e-01 2.70045620e-02 2.07915833e+02] [ 1.12101843e-01 2.36058331e-03 9.93693919e-01 1.06231402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:207.93, Z:106.21 [[ 9.61343198e-01 2.53540645e-01 -1.07407622e-01 2.38317773e+02] [-2.55713802e-01 9.66729054e-01 -6.73710131e-03 2.07926229e+02] [ 1.02125940e-01 3.39422778e-02 9.94192242e-01 1.06211176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:207.88, Z:106.25 [[ 9.60898657e-01 2.59166375e-01 -9.75015943e-02 2.38336991e+02] [-2.53625281e-01 9.65069166e-01 6.56941596e-02 2.07877451e+02] [ 1.11121499e-01 -3.83965605e-02 9.93064810e-01 1.06251533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.500385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:238.37, Y:207.88, Z:106.25 [[ 9.61008621e-01 2.55753739e-01 -1.05130658e-01 2.38372380e+02] [-2.52659875e-01 9.66643605e-01 4.19896294e-02 2.07877465e+02] [ 1.12362883e-01 -1.37900969e-02 9.93571545e-01 1.06249973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:207.88, Z:106.24 [[ 9.62261750e-01 2.47850305e-01 -1.12350129e-01 2.38404994e+02] [-2.47734873e-01 9.68708457e-01 1.52104302e-02 2.07880407e+02] [ 1.12604430e-01 1.31966299e-02 9.93552259e-01 1.06242934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.560385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.43, Y:207.86, Z:106.25 [[ 9.63361127e-01 2.47706518e-01 -1.02843668e-01 2.38430490e+02] [-2.45043989e-01 9.68768371e-01 3.79642830e-02 2.07859367e+02] [ 1.09035693e-01 -1.13720917e-02 9.93972783e-01 1.06254251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.590385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:238.46, Y:207.86, Z:106.24 [[ 9.65563034e-01 2.39508523e-01 -1.01605590e-01 2.38462143e+02] [-2.39165181e-01 9.70851491e-01 1.57289463e-02 2.07863390e+02] [ 1.02411155e-01 9.11323012e-03 9.94700409e-01 1.06243635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.50, Y:207.86, Z:106.23 [[ 9.67360178e-01 2.34456486e-01 -9.61480244e-02 2.38495248e+02] [-2.35552669e-01 9.71861583e-01 -5.22146923e-05 2.07861914e+02] [ 9.34303292e-02 2.26984342e-02 9.95367045e-01 1.06232055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.650385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.52, Y:207.83, Z:106.26 [[ 9.66221189e-01 2.40546408e-01 -9.24880473e-02 2.38516266e+02] [-2.36505061e-01 9.70206282e-01 5.25844685e-02 2.07827552e+02] [ 1.02381490e-01 -2.89343364e-02 9.94324311e-01 1.06264126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:207.83, Z:106.26 [[ 9.66600500e-01 2.37393132e-01 -9.65814419e-02 2.38551504e+02] [-2.35623436e-01 9.71396597e-01 2.94999692e-02 2.07829946e+02] [ 1.00821974e-01 -5.75783371e-03 9.94887821e-01 1.06258126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.710385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.58, Y:207.83, Z:106.25 [[ 9.66926614e-01 2.34940145e-01 -9.92776518e-02 2.38583060e+02] [-2.34508723e-01 9.71979688e-01 1.61599727e-02 2.07830294e+02] [ 1.00292487e-01 7.65596759e-03 9.94928542e-01 1.06253304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.740385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.61, Y:207.83, Z:106.24 [[ 9.67400362e-01 2.34963742e-01 -9.44911661e-02 2.38614831e+02] [-2.35276670e-01 9.71895723e-01 7.97449945e-03 2.07825120e+02] [ 9.37092784e-02 1.45170333e-02 9.95493760e-01 1.06244896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:207.80, Z:106.26 [[ 9.66868982e-01 2.38248700e-01 -9.16620343e-02 2.38639387e+02] [-2.35231188e-01 9.71006179e-01 4.25827385e-02 2.07802496e+02] [ 9.91496837e-02 -1.96101598e-02 9.94879280e-01 1.06264830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:207.81, Z:106.26 [[ 9.66524722e-01 2.36124715e-01 -1.00374699e-01 2.38675445e+02] [-2.35535952e-01 9.71701738e-01 1.78478835e-02 2.07806661e+02] [ 1.01748596e-01 6.39142959e-03 9.94789612e-01 1.06258764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.71, Y:207.80, Z:106.26 [[ 9.66260776e-01 2.37355341e-01 -1.00012773e-01 2.38705409e+02] [-2.36947552e-01 9.71388864e-01 1.61100446e-02 2.07800852e+02] [ 1.00975099e-01 8.13127753e-03 9.94855724e-01 1.06258536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:207.78, Z:106.27 [[ 9.65803787e-01 2.42886982e-01 -9.07136053e-02 2.38732458e+02] [-2.39804937e-01 9.69840551e-01 4.36222156e-02 2.07779749e+02] [ 9.85730012e-02 -2.03769306e-02 9.94921175e-01 1.06273538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.77, Y:207.78, Z:106.27 [[ 9.65672400e-01 2.41644556e-01 -9.53138234e-02 2.38767192e+02] [-2.40209418e-01 9.70361282e-01 2.64275994e-02 2.07778830e+02] [ 9.88749294e-02 -2.62512526e-03 9.95096406e-01 1.06271124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.80, Y:207.78, Z:106.27 [[ 9.65462188e-01 2.41734742e-01 -9.71960860e-02 2.38798965e+02] [-2.41343610e-01 9.70308820e-01 1.59391448e-02 2.07777206e+02] [ 9.81632646e-02 8.06901266e-03 9.95137611e-01 1.06267955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:207.76, Z:106.28 [[ 9.64687673e-01 2.45071360e-01 -9.65283521e-02 2.38828845e+02] [-2.43551443e-01 9.69500611e-01 2.74091321e-02 2.07763905e+02] [ 1.00301490e-01 -2.93163247e-03 9.94952771e-01 1.06276599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:207.75, Z:106.29 [[ 9.64399565e-01 2.47872775e-01 -9.21551179e-02 2.38857544e+02] [-2.44688766e-01 9.68577323e-01 4.45575830e-02 2.07745855e+02] [ 1.00303969e-01 -2.04219917e-02 9.94747232e-01 1.06289065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:207.74, Z:106.29 [[ 9.64008577e-01 2.47913758e-01 -9.60532738e-02 2.38890470e+02] [-2.45775123e-01 9.68741591e-01 3.36796659e-02 2.07741634e+02] [ 1.01400454e-01 -8.85998168e-03 9.94806237e-01 1.06290908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.93, Y:207.75, Z:106.27 [[ 9.65204149e-01 2.42687821e-01 -9.73836381e-02 2.38927462e+02] [-2.44047045e-01 9.69761086e-01 -2.11549617e-03 2.07751904e+02] [ 9.39254575e-02 2.58080747e-02 9.95244669e-01 1.06272613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:207.73, Z:106.28 [[ 9.65363898e-01 2.44990779e-01 -8.97332909e-02 2.38954789e+02] [-2.43682028e-01 9.69521693e-01 2.54313943e-02 2.07730835e+02] [ 9.32288292e-02 -2.68415962e-03 9.95641090e-01 1.06283405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:207.72, Z:106.29 [[ 9.65779993e-01 2.43231384e-01 -9.00416502e-02 2.38987030e+02] [-2.41903435e-01 9.69963989e-01 2.55457921e-02 2.07724414e+02] [ 9.35506966e-02 -2.89023039e-03 9.95610322e-01 1.06285645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:207.72, Z:106.29 [[ 9.66088624e-01 2.42078538e-01 -8.98373700e-02 2.39018218e+02] [-2.40749118e-01 9.70251953e-01 2.55148846e-02 2.07717150e+02] [ 9.33414897e-02 -3.02137214e-03 9.95629569e-01 1.06288780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.160385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:239.05, Y:207.71, Z:106.29 [[ 9.66271537e-01 2.41405345e-01 -8.96815279e-02 2.39050427e+02] [-2.40075309e-01 9.70419402e-01 2.54956945e-02 2.07708695e+02] [ 9.31834916e-02 -3.10544332e-03 9.95644110e-01 1.06291221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.190385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.08, Y:207.70, Z:106.29 [[ 9.66891863e-01 2.39661374e-01 -8.76501594e-02 2.39083102e+02] [-2.38381564e-01 9.70851190e-01 2.49438832e-02 2.07703119e+02] [ 9.10733469e-02 -3.22385561e-03 9.95838969e-01 1.06293823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:207.70, Z:106.30 [[ 9.66922167e-01 2.39507841e-01 -8.77354905e-02 2.39115600e+02] [-2.38222505e-01 9.70888933e-01 2.49943504e-02 2.07696675e+02] [ 9.11677597e-02 -3.26702312e-03 9.95830189e-01 1.06297430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:207.69, Z:106.30 [[ 9.66714856e-01 2.40161025e-01 -8.82330441e-02 2.39147317e+02] [-2.38861291e-01 9.70727625e-01 2.51627162e-02 2.07692794e+02] [ 9.16933570e-02 -3.24971272e-03 9.95781988e-01 1.06298670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:207.69, Z:106.30 [[ 9.66442055e-01 2.41174172e-01 -8.84577525e-02 2.39178625e+02] [-2.39869713e-01 9.70476619e-01 2.52517913e-02 2.07686404e+02] [ 9.19362604e-02 -3.18605735e-03 9.95759797e-01 1.06300807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:207.68, Z:106.30 [[ 9.66095955e-01 2.41848692e-01 -9.03759708e-02 2.39210680e+02] [-2.40818969e-01 9.70313949e-01 2.22949498e-02 2.07680433e+02] [ 9.30850695e-02 2.25187277e-04 9.95658134e-01 1.06302580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.24, Y:207.68, Z:106.30 [[ 9.65799642e-01 2.42394953e-01 -9.20637797e-02 2.39242468e+02] [-2.41670936e-01 9.70170216e-01 1.91026258e-02 2.07675911e+02] [ 9.39479171e-02 3.79983067e-03 9.95569862e-01 1.06304222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:207.66, Z:106.31 [[ 9.66092273e-01 2.43934813e-01 -8.46258059e-02 2.39271212e+02] [-2.41803156e-01 9.69703115e-01 3.47433898e-02 2.07660139e+02] [ 9.05370299e-02 -1.31025334e-02 9.95806894e-01 1.06312503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:207.66, Z:106.31 [[ 9.65996590e-01 2.43533855e-01 -8.68438293e-02 2.39305385e+02] [-2.42277970e-01 9.69887772e-01 2.48816214e-02 2.07657990e+02] [ 9.02882853e-02 -2.99521469e-03 9.95911168e-01 1.06312512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:207.65, Z:106.32 [[ 9.65965798e-01 2.43748138e-01 -8.65847754e-02 2.39337574e+02] [-2.42498310e-01 9.69833954e-01 2.48328502e-02 2.07650297e+02] [ 9.00258161e-02 -2.99102217e-03 9.95934941e-01 1.06315394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.460385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.37, Y:207.64, Z:106.32 [[ 9.65773232e-01 2.44415607e-01 -8.68508792e-02 2.39369894e+02] [-2.43158407e-01 9.69666041e-01 2.49350841e-02 2.07642168e+02] [ 9.03108719e-02 -2.96311532e-03 9.95909216e-01 1.06317962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.490385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.40, Y:207.64, Z:106.32 [[ 9.65564002e-01 2.45453363e-01 -8.62485025e-02 2.39401081e+02] [-2.44215403e-01 9.69404149e-01 2.47877462e-02 2.07636340e+02] [ 8.96938919e-02 -2.87094255e-03 9.95965242e-01 1.06321140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.43, Y:207.63, Z:106.32 [[ 9.65634803e-01 2.45098472e-01 -8.64648244e-02 2.39433658e+02] [-2.43850700e-01 9.69493748e-01 2.48738484e-02 2.07631264e+02] [ 8.99236490e-02 -2.93454572e-03 9.95944339e-01 1.06324404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:207.62, Z:106.33 [[ 9.65899090e-01 2.43927237e-01 -8.68242500e-02 2.39465499e+02] [-2.42662000e-01 9.69788641e-01 2.50029053e-02 2.07624477e+02] [ 9.03000610e-02 -3.08133730e-03 9.95909838e-01 1.06326942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:207.62, Z:106.33 [[ 9.66326719e-01 2.42026307e-01 -8.73838601e-02 2.39497342e+02] [-2.40734884e-01 9.70264069e-01 2.51863364e-02 2.07618014e+02] [ 9.08811757e-02 -3.30188639e-03 9.95856270e-01 1.06329787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:207.61, Z:106.33 [[ 9.67496085e-01 2.37007577e-01 -8.81971297e-02 2.39529190e+02] [-2.35669022e-01 9.71500247e-01 2.54437188e-02 2.07613804e+02] [ 9.17138874e-02 -3.83136705e-03 9.95778029e-01 1.06332559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:207.61, Z:106.34 [[ 9.68324583e-01 2.33446902e-01 -8.86004815e-02 2.39558750e+02] [-2.32078990e-01 9.72360432e-01 2.55838308e-02 2.07608050e+02] [ 9.21240685e-02 -4.21114207e-03 9.95738632e-01 1.06335446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.59, Y:207.61, Z:106.34 [[ 9.69902406e-01 2.25891759e-01 -9.08968441e-02 2.39588864e+02] [-2.24803239e-01 9.74151816e-01 2.21753008e-02 2.07607179e+02] [ 9.35565434e-02 -1.07397261e-03 9.95613389e-01 1.06337419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.62, Y:207.60, Z:106.34 [[ 9.71074287e-01 2.21925322e-01 -8.81128860e-02 2.39615795e+02] [-2.20167997e-01 9.75021559e-01 2.93089072e-02 2.07598955e+02] [ 9.24163522e-02 -9.06148849e-03 9.95679219e-01 1.06342454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.64, Y:207.60, Z:106.34 [[ 9.71913417e-01 2.17666689e-01 -8.94735878e-02 2.39644422e+02] [-2.16203939e-01 9.76006076e-01 2.58456389e-02 2.07596409e+02] [ 9.29524999e-02 -5.77518112e-03 9.95653795e-01 1.06344204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:207.60, Z:106.35 [[ 9.73281274e-01 2.11013060e-01 -9.05375633e-02 2.39673243e+02] [-2.09487352e-01 9.77461765e-01 2.61447412e-02 2.07596464e+02] [ 9.40138883e-02 -6.47971254e-03 9.95549799e-01 1.06347038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:207.59, Z:106.36 [[ 9.73695202e-01 2.09577657e-01 -8.94139740e-02 2.39696700e+02] [-2.05942996e-01 9.77375830e-01 4.82075651e-02 2.07585148e+02] [ 9.74942856e-02 -2.85252932e-02 9.94827207e-01 1.06359903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.73, Y:207.60, Z:106.35 [[ 9.73692379e-01 2.06213256e-01 -9.69496974e-02 2.39733596e+02] [-2.06696483e-01 9.78391600e-01 5.14211641e-03 2.07600384e+02] [ 9.59151421e-02 1.50323220e-02 9.95275999e-01 1.06347796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.76, Y:207.58, Z:106.37 [[ 9.73336902e-01 2.12508264e-01 -8.63453091e-02 2.39755220e+02] [-2.08278191e-01 9.76496028e-01 5.54590233e-02 2.07579087e+02] [ 9.61013521e-02 -3.59964692e-02 9.94720455e-01 1.06369196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:207.60, Z:106.35 [[ 9.73207333e-01 2.09006368e-01 -9.58322735e-02 2.39793567e+02] [-2.10240768e-01 9.77645468e-01 -2.85633725e-03 2.07603895e+02] [ 9.30929952e-02 2.29276592e-02 9.95393398e-01 1.06352771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:207.59, Z:106.36 [[ 9.72246907e-01 2.17354561e-01 -8.65618088e-02 2.39817959e+02] [-2.15989438e-01 9.76076878e-01 2.49497854e-02 2.07592984e+02] [ 8.99139297e-02 -5.56091527e-03 9.95934015e-01 1.06361408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:207.59, Z:106.36 [[ 9.71504568e-01 2.20730849e-01 -8.63525722e-02 2.39846677e+02] [-2.19386572e-01 9.75320764e-01 2.48785023e-02 2.07590348e+02] [ 8.97129096e-02 -5.22498382e-03 9.95953962e-01 1.06364203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:207.59, Z:106.37 [[ 9.70787044e-01 2.24059288e-01 -8.58484150e-02 2.39874267e+02] [-2.22744430e-01 9.74563298e-01 2.47244118e-02 2.07588008e+02] [ 8.92044486e-02 -4.87988231e-03 9.96001382e-01 1.06366333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.90, Y:207.59, Z:106.37 [[ 9.69990047e-01 2.27443634e-01 -8.59575549e-02 2.39902468e+02] [-2.26140179e-01 9.73780581e-01 2.47386236e-02 2.07585203e+02] [ 8.93304402e-02 -4.55776180e-03 9.95991616e-01 1.06369172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:207.59, Z:106.37 [[ 9.68421482e-01 2.33950252e-01 -8.61807037e-02 2.39931560e+02] [-2.32666419e-01 9.72240506e-01 2.47938644e-02 2.07587682e+02] [ 8.95889018e-02 -3.95955512e-03 9.95970959e-01 1.06370982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:207.59, Z:106.37 [[ 9.66889043e-01 2.39693770e-01 -8.75926727e-02 2.39961573e+02] [-2.38392510e-01 9.70842355e-01 2.51819943e-02 2.07589579e+02] [ 9.10746438e-02 -3.46675727e-03 9.95838034e-01 1.06373391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.090385723 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:239.99, Y:207.59, Z:106.37 [[ 9.66224257e-01 2.42088200e-01 -8.83401900e-02 2.39989990e+02] [-2.40775402e-01 9.70248770e-01 2.53875813e-02 2.07585641e+02] [ 9.18579946e-02 -3.25995203e-03 9.95766781e-01 1.06373133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12038572299997 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:240.02, Y:207.58, Z:106.38 [[ 9.65594690e-01 2.44702919e-01 -8.80191753e-02 2.40016905e+02] [-2.43411347e-01 9.69593489e-01 2.52860027e-02 2.07582899e+02] [ 9.15303779e-02 -2.99116390e-03 9.95797792e-01 1.06377188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.150385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.05, Y:207.58, Z:106.38 [[ 9.65090047e-01 2.46866257e-01 -8.75114458e-02 2.40045164e+02] [-2.45599370e-01 9.69045630e-01 2.51299748e-02 2.07579386e+02] [ 9.10063270e-02 -2.75993263e-03 9.95846490e-01 1.06379945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.07, Y:207.58, Z:106.38 [[ 9.63861874e-01 2.51543444e-01 -8.77278979e-02 2.40073741e+02] [-2.50291769e-01 9.67843273e-01 2.51680119e-02 2.07579468e+02] [ 9.12377042e-02 -2.30091631e-03 9.95826484e-01 1.06384477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:207.58, Z:106.39 [[ 9.62670304e-01 2.55904810e-01 -8.81964542e-02 2.40102598e+02] [-2.54660205e-01 9.66700169e-01 2.52777292e-02 2.07578239e+02] [ 9.17282196e-02 -1.87399219e-03 9.95782317e-01 1.06386810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.13, Y:207.57, Z:106.39 [[ 9.62004916e-01 2.58143589e-01 -8.89293532e-02 2.40130734e+02] [-2.56890008e-01 9.66105152e-01 2.54629084e-02 2.07573622e+02] [ 9.24881928e-02 -1.65038075e-03 9.95712414e-01 1.06388763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:207.57, Z:106.39 [[ 9.61321320e-01 2.60346535e-01 -8.98943861e-02 2.40158856e+02] [-2.59077667e-01 9.65514185e-01 2.57122653e-02 2.07568582e+02] [ 9.34884041e-02 -1.42812103e-03 9.95619344e-01 1.06391069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.300385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:240.19, Y:207.56, Z:106.39 [[ 9.60802076e-01 2.61883047e-01 -9.09760479e-02 2.40186490e+02] [-2.60592846e-01 9.65098784e-01 2.59943425e-02 2.07562454e+02] [ 9.46083508e-02 -1.26771092e-03 9.95513763e-01 1.06390640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:207.56, Z:106.40 [[ 9.59702251e-01 2.65552113e-01 -9.19438199e-02 2.40214234e+02] [-2.64253662e-01 9.64096097e-01 2.62434328e-02 2.07557130e+02] [ 9.56116769e-02 -8.89390416e-04 9.95418312e-01 1.06395546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:207.56, Z:106.40 [[ 9.58876485e-01 2.66455307e-01 -9.77622411e-02 2.40240883e+02] [-2.66149387e-01 9.63792293e-01 1.63987833e-02 2.07556176e+02] [ 9.85920373e-02 1.02949529e-02 9.95074683e-01 1.06396388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:207.54, Z:106.40 [[ 9.59244503e-01 2.67864546e-01 -8.99920444e-02 2.40267737e+02] [-2.65636120e-01 9.63396767e-01 3.61126301e-02 2.07538436e+02] [ 9.63713379e-02 -1.07357045e-02 9.95287551e-01 1.06401799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.30, Y:207.54, Z:106.40 [[ 9.59290678e-01 2.66595733e-01 -9.32100378e-02 2.40295094e+02] [-2.65270233e-01 9.63808147e-01 2.65623513e-02 2.07536348e+02] [ 9.69180034e-02 -7.55167549e-04 9.95292083e-01 1.06403441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.32, Y:207.53, Z:106.41 [[ 9.59474915e-01 2.65996983e-01 -9.30241546e-02 2.40322240e+02] [-2.64675157e-01 9.63973527e-01 2.64971690e-02 2.07528599e+02] [ 9.67209895e-02 -8.02186214e-04 9.95311211e-01 1.06406405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.35, Y:207.52, Z:106.41 [[ 9.59989838e-01 2.64578590e-01 -9.17479184e-02 2.40348220e+02] [-2.63288953e-01 9.64363701e-01 2.61070665e-02 2.07519921e+02] [ 9.53857330e-02 -9.06305194e-04 9.95439973e-01 1.06409820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:207.51, Z:106.41 [[ 9.60458133e-01 2.63054075e-01 -9.12289912e-02 2.40374590e+02] [-2.61774705e-01 9.64780546e-01 2.59326519e-02 2.07511782e+02] [ 9.48376457e-02 -1.02578413e-03 9.95492224e-01 1.06412221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:207.50, Z:106.42 [[ 9.60887579e-01 2.61459549e-01 -9.12905511e-02 2.40401188e+02] [-2.60173857e-01 9.65213740e-01 2.59229635e-02 2.07503430e+02] [ 9.48927006e-02 -1.15763880e-03 9.95486833e-01 1.06415302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.43, Y:207.50, Z:106.42 [[ 9.62207483e-01 2.56389854e-01 -9.17660177e-02 2.40426536e+02] [-2.55070291e-01 9.66572063e-01 2.60306291e-02 2.07495240e+02] [ 9.53724582e-02 -1.64008129e-03 9.95440307e-01 1.06418018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:207.49, Z:106.42 [[ 9.63013446e-01 2.53391265e-01 -9.16404396e-02 2.40451869e+02] [-2.52062890e-01 9.67361964e-01 2.59832736e-02 2.07487379e+02] [ 9.52334102e-02 -1.92308771e-03 9.95453113e-01 1.06420781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.48, Y:207.48, Z:106.42 [[ 9.63547648e-01 2.50636542e-01 -9.35802028e-02 2.40479310e+02] [-2.49710990e-01 9.68078046e-01 2.16637351e-02 2.07481190e+02] [ 9.60226635e-02 2.49396411e-03 9.95376024e-01 1.06422719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:207.47, Z:106.43 [[ 9.64987538e-01 2.46616815e-01 -8.93263620e-02 2.40504486e+02] [-2.44895668e-01 9.69087857e-01 2.99138256e-02 2.07467981e+02] [ 9.39423451e-02 -6.99082973e-03 9.95553095e-01 1.06427139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:207.46, Z:106.43 [[ 9.65265606e-01 2.45028891e-01 -9.06815999e-02 2.40531873e+02] [-2.43695675e-01 9.69512085e-01 2.56658219e-02 2.07462041e+02] [ 9.42057749e-02 -2.67562144e-03 9.95549152e-01 1.06429702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.56, Y:207.46, Z:106.43 [[ 9.65022222e-01 2.44673903e-01 -9.41636417e-02 2.40559535e+02] [-2.43909512e-01 9.69597439e-01 1.97219537e-02 2.07457588e+02] [ 9.61262733e-02 3.93528432e-03 9.95361368e-01 1.06431752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.59, Y:207.44, Z:106.44 [[ 9.64647338e-01 2.47128904e-01 -9.15577280e-02 2.40587038e+02] [-2.45581773e-01 9.68972164e-01 2.79738840e-02 2.07444875e+02] [ 9.56300451e-02 -4.50002355e-03 9.95406773e-01 1.06435996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:207.44, Z:106.44 [[ 9.63623896e-01 2.49036443e-01 -9.70043187e-02 2.40613556e+02] [-2.48465866e-01 9.68471294e-01 1.81125967e-02 2.07442480e+02] [ 9.84565947e-02 6.64853106e-03 9.95119137e-01 1.06437284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:207.42, Z:106.44 [[ 9.62518463e-01 2.56473009e-01 -8.82031956e-02 2.40638230e+02] [-2.53972410e-01 9.66437578e-01 3.86836323e-02 2.07423535e+02] [ 9.51641902e-02 -1.48325322e-02 9.95351080e-01 1.06442928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:207.42, Z:106.44 [[ 9.62540462e-01 2.55118617e-01 -9.18169433e-02 2.40667519e+02] [-2.53805020e-01 9.66908384e-01 2.59072939e-02 2.07422209e+02] [ 9.53880053e-02 -1.63321750e-03 9.95438828e-01 1.06443901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.69, Y:207.42, Z:106.45 [[ 9.61677071e-01 2.58169532e-01 -9.23347361e-02 2.40693978e+02] [-2.56856654e-01 9.66098724e-01 2.60367996e-02 2.07415011e+02] [ 9.59263791e-02 -1.32220186e-03 9.95387554e-01 1.06446408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.72, Y:207.41, Z:106.45 [[ 9.60857899e-01 2.60957567e-01 -9.30228251e-02 2.40721369e+02] [-2.59640758e-01 9.65349729e-01 2.62026369e-02 2.07407771e+02] [ 9.66373354e-02 -1.02449387e-03 9.95319133e-01 1.06448856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:207.40, Z:106.45 [[ 9.59969981e-01 2.63981178e-01 -9.36566760e-02 2.40748469e+02] [-2.62663419e-01 9.64527579e-01 2.63529436e-02 2.07399818e+02] [ 9.72911280e-02 -6.97852059e-04 9.95255721e-01 1.06451435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.960385723 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:240.78, Y:207.39, Z:106.45 [[ 9.58255218e-01 2.69116643e-01 -9.65565592e-02 2.40776359e+02] [-2.68396501e-01 9.63087893e-01 2.06162392e-02 2.07393445e+02] [ 9.85406262e-02 6.15982380e-03 9.95113964e-01 1.06454278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.990385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:240.80, Y:207.38, Z:106.46 [[ 9.57215991e-01 2.72645825e-01 -9.69628801e-02 2.40801281e+02] [-2.71305767e-01 9.62114361e-01 2.70025490e-02 2.07381715e+02] [ 1.00651512e-01 4.59316879e-04 9.94921636e-01 1.06456134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.83, Y:207.37, Z:106.46 [[ 9.55441934e-01 2.79931007e-01 -9.36447672e-02 2.40826438e+02] [-2.77859324e-01 9.59993313e-01 3.47424160e-02 2.07367411e+02] [ 9.96238298e-02 -7.17428943e-03 9.94999308e-01 1.06464092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.86, Y:207.36, Z:106.46 [[ 9.54516963e-01 2.81198952e-01 -9.91186993e-02 2.40855911e+02] [-2.80338262e-01 9.59630561e-01 2.27957150e-02 2.07363694e+02] [ 1.01527464e-01 6.02786722e-03 9.94814475e-01 1.06464767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.88, Y:207.35, Z:106.47 [[ 9.52850084e-01 2.86720179e-01 -9.93391030e-02 2.40879754e+02] [-2.85479328e-01 9.58010202e-01 2.67956446e-02 2.07349865e+02] [ 1.02850726e-01 2.82702811e-03 9.94692785e-01 1.06467825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.110385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.90, Y:207.34, Z:106.47 [[ 9.52210992e-01 2.89649638e-01 -9.69397467e-02 2.40903656e+02] [-2.88004106e-01 9.57131611e-01 3.08660712e-02 2.07337647e+02] [ 1.01724442e-01 -1.47196716e-03 9.94811525e-01 1.06469050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:207.33, Z:106.47 [[ 9.51711543e-01 2.91939478e-01 -9.49551454e-02 2.40929220e+02] [-2.90490095e-01 9.56436792e-01 2.90545659e-02 2.07327774e+02] [ 9.93007694e-02 -6.80365301e-05 9.95057462e-01 1.06473417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:207.32, Z:106.48 [[ 9.51554602e-01 2.92205518e-01 -9.57067090e-02 2.40955121e+02] [-2.90987163e-01 9.56352578e-01 2.67622509e-02 2.07317820e+02] [ 9.93494353e-02 2.38368068e-03 9.95049751e-01 1.06476082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:207.30, Z:106.48 [[ 9.50372669e-01 2.95765431e-01 -9.65121764e-02 2.40979779e+02] [-2.94547608e-01 9.55256475e-01 2.69587456e-02 2.07302460e+02] [ 1.00167346e-01 2.80657570e-03 9.94966646e-01 1.06479224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.00, Y:207.29, Z:106.48 [[ 9.49899927e-01 2.97243742e-01 -9.66244579e-02 2.41004734e+02] [-2.96033550e-01 9.54796941e-01 2.69617927e-02 2.07291115e+02] [ 1.00270961e-01 2.99307627e-03 9.94955665e-01 1.06481453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.03, Y:207.26, Z:106.50 [[ 9.47097013e-01 3.04752777e-01 -1.00662771e-01 2.41029320e+02] [-3.00550800e-01 9.52182634e-01 5.49312989e-02 2.07256896e+02] [ 1.12589808e-01 -2.17709927e-02 9.93403019e-01 1.06501265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.06, Y:207.28, Z:106.48 [[ 9.48631750e-01 2.97979047e-01 -1.06331040e-01 2.41061583e+02] [-2.99627186e-01 9.54056236e-01 4.97566793e-04 2.07275413e+02] [ 1.01594056e-01 3.13876626e-02 9.94330661e-01 1.06482466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.08, Y:207.25, Z:106.49 [[ 9.48250459e-01 3.01551741e-01 -9.94364895e-02 2.41082749e+02] [-3.00434835e-01 9.53437436e-01 2.63811516e-02 2.07250313e+02] [ 1.02761754e-01 4.85824619e-03 9.94694134e-01 1.06490255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.11, Y:207.23, Z:106.49 [[ 9.47668120e-01 3.03491573e-01 -9.90858198e-02 2.41106130e+02] [-3.02261499e-01 9.52826432e-01 2.75640493e-02 2.07231407e+02] [ 1.02777045e-01 3.82825759e-03 9.94697051e-01 1.06494531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.12, Y:207.19, Z:106.53 [[ 9.45173451e-01 3.12310574e-01 -9.54424045e-02 2.41122982e+02] [-3.04607593e-01 9.48485255e-01 8.71202366e-02 2.07186247e+02] [ 1.17734284e-01 -5.32712536e-02 9.91615254e-01 1.06529437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:207.23, Z:106.49 [[ 9.48311924e-01 2.98340238e-01 -1.08155431e-01 2.41164076e+02] [-3.02517418e-01 9.52838101e-01 -2.41405240e-02 2.07231657e+02] [ 9.58525254e-02 5.56116484e-02 9.93840851e-01 1.06487161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:207.19, Z:106.50 [[ 9.47922638e-01 3.04176381e-01 -9.44425857e-02 2.41180092e+02] [-3.03082156e-01 9.52607708e-01 2.60722232e-02 2.07187967e+02] [ 9.78972896e-02 3.90941190e-03 9.95188845e-01 1.06500241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:207.17, Z:106.50 [[ 9.47799158e-01 3.04651923e-01 -9.41486140e-02 2.41206059e+02] [-3.03567698e-01 9.52455547e-01 2.59823859e-02 2.07174615e+02] [ 9.75879535e-02 3.95439449e-03 9.95219048e-01 1.06502616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:207.12, Z:106.55 [[ 9.44215868e-01 3.15730199e-01 -9.36527427e-02 2.41223062e+02] [-3.06911868e-01 9.46739389e-01 9.74147590e-02 2.07116894e+02] [ 1.19421522e-01 -6.32374230e-02 9.90827699e-01 1.06546832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:207.14, Z:106.53 [[ 9.43253198e-01 3.08644828e-01 -1.22522549e-01 2.41266858e+02] [-3.09810543e-01 9.50746742e-01 9.90249795e-03 2.07142037e+02] [ 1.19544269e-01 2.86182146e-02 9.92416327e-01 1.06525863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:207.15, Z:106.51 [[ 9.45277213e-01 3.02451291e-01 -1.22369146e-01 2.41293816e+02] [-3.06307813e-01 9.51835639e-01 -1.35808627e-02 2.07145580e+02] [ 1.12367765e-01 5.03203055e-02 9.92391733e-01 1.06509570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:207.10, Z:106.53 [[ 9.45240116e-01 3.06882906e-01 -1.11103583e-01 2.41311207e+02] [-3.05126435e-01 9.51743170e-01 3.29058962e-02 2.07102806e+02] [ 1.15840334e-01 2.79666715e-03 9.93263910e-01 1.06525399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:207.08, Z:106.54 [[ 9.45133847e-01 3.08461867e-01 -1.07579217e-01 2.41337115e+02] [-3.05057078e-01 9.51163590e-01 4.72017487e-02 2.07080934e+02] [ 1.16885374e-01 -1.17941687e-02 9.93075378e-01 1.06536320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:207.08, Z:106.53 [[ 9.45297867e-01 3.04589177e-01 -1.16779176e-01 2.41370072e+02] [-3.04815246e-01 9.52271017e-01 1.63577349e-02 2.07081353e+02] [ 1.16187814e-01 2.01331414e-02 9.93023186e-01 1.06529310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:207.05, Z:106.54 [[ 9.45734937e-01 3.06478280e-01 -1.07965238e-01 2.41391643e+02] [-3.03862817e-01 9.51862831e-01 4.03055696e-02 2.07048657e+02] [ 1.15120879e-01 -5.31176382e-03 9.93337288e-01 1.06541642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:207.03, Z:106.55 [[ 9.45393129e-01 3.06320167e-01 -1.11354328e-01 2.41422648e+02] [-3.03962559e-01 9.51926303e-01 3.79878349e-02 2.07034102e+02] [ 1.17637553e-01 -2.06589178e-03 9.93054449e-01 1.06547532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.740385723 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:241.45, Y:207.02, Z:106.54 [[ 9.45778463e-01 3.02284196e-01 -1.18858585e-01 2.41454112e+02] [-3.02677169e-01 9.52972421e-01 1.51689098e-02 2.07024830e+02] [ 1.17854275e-01 2.16293517e-02 9.92795317e-01 1.06544140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.770385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:241.48, Y:207.00, Z:106.56 [[ 9.45660325e-01 3.06354337e-01 -1.08965911e-01 2.41478779e+02] [-3.03451090e-01 9.51889388e-01 4.27086420e-02 2.06996136e+02] [ 1.16807472e-01 -7.32204370e-03 9.93127586e-01 1.06556897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.800385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:241.51, Y:206.99, Z:106.55 [[ 9.45904311e-01 3.03521823e-01 -1.14627820e-01 2.41512121e+02] [-3.03028277e-01 9.52724536e-01 2.21319274e-02 2.06992198e+02] [ 1.15926259e-01 1.38007852e-02 9.93161941e-01 1.06552210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.830385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:241.53, Y:206.97, Z:106.56 [[ 9.45272772e-01 3.07444461e-01 -1.09257909e-01 2.41533403e+02] [-3.04469790e-01 9.51534724e-01 4.33568444e-02 2.06965378e+02] [ 1.17292516e-01 -7.71831198e-03 9.93067416e-01 1.06563193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.860385723 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:241.57, Y:206.96, Z:106.56 [[ 9.45111712e-01 3.07102319e-01 -1.11588607e-01 2.41567322e+02] [-3.06181391e-01 9.51625506e-01 2.57264719e-02 2.06958757e+02] [ 1.14091224e-01 9.85196504e-03 9.93421427e-01 1.06560885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.890385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:241.60, Y:206.94, Z:106.57 [[ 9.44785165e-01 3.08577043e-01 -1.10277831e-01 2.41596347e+02] [-3.06901592e-01 9.51193484e-01 3.22857400e-02 2.06941540e+02] [ 1.14858193e-01 3.34135379e-03 9.93376279e-01 1.06567937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.920385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:241.62, Y:206.92, Z:106.57 [[ 9.44920918e-01 3.07701046e-01 -1.11555028e-01 2.41621413e+02] [-3.05535962e-01 9.51483024e-01 3.64394133e-02 2.06923940e+02] [ 1.17355161e-01 -3.48290955e-04 9.93089948e-01 1.06574422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.65, Y:206.91, Z:106.57 [[ 9.45299269e-01 3.05700154e-01 -1.13827532e-01 2.41654243e+02] [-3.04974787e-01 9.52053816e-01 2.41642312e-02 2.06914945e+02] [ 1.15756946e-01 1.18720973e-02 9.93206616e-01 1.06570476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.980385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:241.68, Y:206.89, Z:106.58 [[ 9.45768584e-01 3.04839222e-01 -1.12226709e-01 2.41677927e+02] [-3.02289912e-01 9.52397673e-01 3.94902685e-02 2.06889182e+02] [ 1.18922640e-01 -3.42365318e-03 9.92897620e-01 1.06584334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.71, Y:206.88, Z:106.58 [[ 9.46206111e-01 3.02571394e-01 -1.14649675e-01 2.41712953e+02] [-3.01788775e-01 9.53058828e-01 2.45439429e-02 2.06880433e+02] [ 1.16694180e-01 1.13763561e-02 9.93102737e-01 1.06579701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.040385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:241.74, Y:206.86, Z:106.59 [[ 9.46576960e-01 3.02639025e-01 -1.11362829e-01 2.41736564e+02] [-3.00065458e-01 9.53096597e-01 3.95928915e-02 2.06862540e+02] [ 1.18121888e-01 -4.06158048e-03 9.92990797e-01 1.06592294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:241.77, Y:206.85, Z:106.59 [[ 9.47162068e-01 2.99864788e-01 -1.13864511e-01 2.41766344e+02] [-2.98175491e-01 9.53974736e-01 3.19934357e-02 2.06849037e+02] [ 1.18217572e-01 3.64863776e-03 9.92981014e-01 1.06592414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.80, Y:206.84, Z:106.59 [[ 9.48126254e-01 2.97144211e-01 -1.12968686e-01 2.41798045e+02] [-2.96805609e-01 9.54724315e-01 2.01968610e-02 2.06841847e+02] [ 1.13855332e-01 1.43805655e-02 9.93393257e-01 1.06586704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:206.81, Z:106.60 [[ 9.47937141e-01 2.98513676e-01 -1.10926835e-01 2.41822246e+02] [-2.95550012e-01 9.54374734e-01 4.26504186e-02 2.06814257e+02] [ 1.18597502e-01 -7.64548828e-03 9.92912977e-01 1.06604003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:206.81, Z:106.60 [[ 9.48524091e-01 2.95639734e-01 -1.13574632e-01 2.41854181e+02] [-2.93919617e-01 9.55294674e-01 3.19897646e-02 2.06806334e+02] [ 1.17954687e-01 3.03874997e-03 9.93014329e-01 1.06603009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.190385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:241.89, Y:206.80, Z:106.60 [[ 9.49784645e-01 2.91521874e-01 -1.13684318e-01 2.41886480e+02] [-2.90886605e-01 9.56492722e-01 2.25090013e-02 2.06797620e+02] [ 1.15300089e-01 1.16905415e-02 9.93261909e-01 1.06598485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:206.78, Z:106.60 [[ 9.51810209e-01 2.85537797e-01 -1.11917345e-01 2.41915122e+02] [-2.83859824e-01 9.58364762e-01 3.09932720e-02 2.06781546e+02] [ 1.16107390e-01 2.26912507e-03 9.93234074e-01 1.06604695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:206.77, Z:106.62 [[ 9.51864064e-01 2.85429922e-01 -1.11734344e-01 2.41942551e+02] [-2.82430112e-01 9.58361296e-01 4.21528031e-02 2.06768900e+02] [ 1.19113542e-01 -8.56659531e-03 9.92843682e-01 1.06617015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:241.98, Y:206.77, Z:106.62 [[ 9.52596595e-01 2.82141866e-01 -1.13823088e-01 2.41976309e+02] [-2.80304513e-01 9.59371869e-01 3.21713743e-02 2.06766020e+02] [ 1.18275560e-01 1.25878357e-03 9.92980014e-01 1.06615438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:206.77, Z:106.60 [[ 9.54909803e-01 2.74288515e-01 -1.13635730e-01 2.42011593e+02] [-2.74398068e-01 9.61499426e-01 1.49851163e-02 2.06770800e+02] [ 1.13370934e-01 1.68719904e-02 9.93409466e-01 1.06603340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:206.75, Z:106.63 [[ 9.54091985e-01 2.78549639e-01 -1.10084433e-01 2.42035736e+02] [-2.74782705e-01 9.60290797e-01 4.83327047e-02 2.06746799e+02] [ 1.19176126e-01 -1.58645477e-02 9.92746376e-01 1.06628301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37038572299997 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:242.07, Y:206.75, Z:106.62 [[ 9.54806727e-01 2.73944950e-01 -1.15318158e-01 2.42073091e+02] [-2.72768571e-01 9.61723636e-01 2.61716575e-02 2.06747803e+02] [ 1.18073791e-01 6.46629438e-03 9.92983770e-01 1.06619108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:206.74, Z:106.62 [[ 9.55671647e-01 2.72187753e-01 -1.12274351e-01 2.42103018e+02] [-2.70869756e-01 9.62233700e-01 2.71271464e-02 2.06740086e+02] [ 1.15417841e-01 4.48708142e-03 9.93306895e-01 1.06622612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:242.13, Y:206.72, Z:106.63 [[ 9.54873648e-01 2.75113485e-01 -1.11932514e-01 2.42133357e+02] [-2.72638769e-01 9.61398985e-01 3.71496051e-02 2.06723728e+02] [ 1.17832163e-01 -4.95603601e-03 9.93021158e-01 1.06632582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.16, Y:206.71, Z:106.64 [[ 9.54820514e-01 2.74776440e-01 -1.13206425e-01 2.42164665e+02] [-2.71946002e-01 9.61479353e-01 4.00353000e-02 2.06714962e+02] [ 1.19846397e-01 -7.44049119e-03 9.92764564e-01 1.06638019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.20, Y:206.71, Z:106.63 [[ 9.55094451e-01 2.72293798e-01 -1.16836115e-01 2.42197417e+02] [-2.70337598e-01 9.62214047e-01 3.25839167e-02 2.06712462e+02] [ 1.21293750e-01 4.64476681e-04 9.92616548e-01 1.06634629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.23, Y:206.71, Z:106.64 [[ 9.55510723e-01 2.70215468e-01 -1.18249142e-01 2.42225716e+02] [-2.68079259e-01 9.62799615e-01 3.39177274e-02 2.06706713e+02] [ 1.23015323e-01 -7.08609939e-04 9.92404518e-01 1.06638918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.26, Y:206.69, Z:106.64 [[ 9.55834760e-01 2.69437118e-01 -1.17403371e-01 2.42259440e+02] [-2.67218800e-01 9.63016581e-01 3.45424048e-02 2.06694113e+02] [ 1.22368399e-01 -1.64444317e-03 9.92483386e-01 1.06642109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.580385723 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:242.29, Y:206.69, Z:106.64 [[ 9.56145101e-01 2.67911541e-01 -1.18363644e-01 2.42291312e+02] [-2.66869273e-01 9.63411853e-01 2.48674872e-02 2.06688832e+02] [ 1.20695225e-01 7.81069368e-03 9.92658882e-01 1.06640968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:242.32, Y:206.67, Z:106.66 [[ 9.56546976e-01 2.68482147e-01 -1.13733102e-01 2.42315649e+02] [-2.65252674e-01 9.63223122e-01 4.29212702e-02 2.06673885e+02] [ 1.21073949e-01 -1.08882018e-02 9.92583773e-01 1.06655935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.35, Y:206.67, Z:106.66 [[ 9.56718188e-01 2.67868883e-01 -1.13739044e-01 2.42348776e+02] [-2.65887964e-01 9.63454975e-01 3.25284746e-02 2.06669711e+02] [ 1.18295814e-01 -8.78740633e-04 9.92978010e-01 1.06656944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:242.38, Y:206.66, Z:106.66 [[ 9.56579373e-01 2.68730848e-01 -1.12869990e-01 2.42379262e+02] [-2.66782266e-01 9.63214978e-01 3.23129677e-02 2.06661865e+02] [ 1.17401556e-01 -7.98206784e-04 9.93084205e-01 1.06659869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:242.41, Y:206.66, Z:106.66 [[ 9.56584530e-01 2.69004698e-01 -1.12171786e-01 2.42410635e+02] [-2.67731856e-01 9.63127696e-01 2.65460930e-02 2.06659189e+02] [ 1.15176778e-01 4.63837865e-03 9.93334181e-01 1.06656488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.730385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:242.44, Y:206.65, Z:106.66 [[ 9.56525392e-01 2.69709288e-01 -1.10977811e-01 2.42441770e+02] [-2.67914990e-01 9.62941795e-01 3.10589524e-02 2.06647758e+02] [ 1.15242061e-01 2.39426047e-05 9.93337439e-01 1.06661854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.47, Y:206.63, Z:106.67 [[ 9.55378097e-01 2.73542724e-01 -1.11476767e-01 2.42472882e+02] [-2.71081055e-01 9.61846333e-01 3.69688040e-02 2.06633871e+02] [ 1.17336066e-01 -5.09994612e-03 9.93079170e-01 1.06669723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.50, Y:206.62, Z:106.67 [[ 9.54438777e-01 2.75646396e-01 -1.14305229e-01 2.42504811e+02] [-2.73681058e-01 9.61259101e-01 3.28575691e-02 2.06624911e+02] [ 1.18934012e-01 -7.73620909e-05 9.92902158e-01 1.06672424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:206.62, Z:106.68 [[ 9.54036193e-01 2.77142879e-01 -1.14047215e-01 2.42534871e+02] [-2.75194847e-01 9.60828713e-01 3.28021329e-02 2.06615706e+02] [ 1.18670717e-01 9.07840430e-05 9.92933660e-01 1.06675010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.57, Y:206.61, Z:106.68 [[ 9.53673414e-01 2.78397575e-01 -1.14025481e-01 2.42566266e+02] [-2.76455035e-01 9.60465900e-01 3.28309100e-02 2.06605594e+02] [ 1.18657632e-01 2.12952179e-04 9.92935205e-01 1.06678856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.60, Y:206.60, Z:106.68 [[ 9.52502397e-01 2.79471013e-01 -1.20975771e-01 2.42597570e+02] [-2.78892245e-01 9.60069499e-01 2.20380029e-02 2.06601461e+02] [ 1.22304131e-01 1.27479538e-02 9.92410797e-01 1.06677423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.63, Y:206.58, Z:106.69 [[ 9.53165410e-01 2.81298952e-01 -1.11115263e-01 2.42625373e+02] [-2.78026722e-01 9.59553913e-01 4.42428513e-02 2.06580886e+02] [ 1.19066553e-01 -1.12777433e-02 9.92822224e-01 1.06690512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.66, Y:206.58, Z:106.68 [[ 9.52482725e-01 2.80069793e-01 -1.19739592e-01 2.42657495e+02] [-2.79120634e-01 9.59931277e-01 2.49722870e-02 2.06580757e+02] [ 1.21935763e-01 9.63611892e-03 9.92491217e-01 1.06684060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.970385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:242.69, Y:206.56, Z:106.69 [[ 9.53077173e-01 2.80902338e-01 -1.12861768e-01 2.42686725e+02] [-2.77939283e-01 9.59701390e-01 4.15089947e-02 2.06562145e+02] [ 1.19973569e-01 -8.19255661e-03 9.92743282e-01 1.06694904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.72, Y:206.56, Z:106.70 [[ 9.53203041e-01 2.79378434e-01 -1.15549357e-01 2.42718280e+02] [-2.77373530e-01 9.60181050e-01 3.34107062e-02 2.06556030e+02] [ 1.20282533e-01 2.03146190e-04 9.92739679e-01 1.06695008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:242.75, Y:206.55, Z:106.70 [[ 9.53498799e-01 2.78252726e-01 -1.15825135e-01 2.42749610e+02] [-2.76226078e-01 9.60507897e-01 3.35221407e-02 2.06545921e+02] [ 1.20578584e-01 3.06020127e-05 9.92703785e-01 1.06697145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.78, Y:206.54, Z:106.70 [[ 9.54209527e-01 2.76078071e-01 -1.15174122e-01 2.42780035e+02] [-2.74054269e-01 9.61135174e-01 3.33681776e-02 2.06535328e+02] [ 1.19910122e-01 -2.76273047e-04 9.92784713e-01 1.06701781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.81, Y:206.53, Z:106.71 [[ 9.54770757e-01 2.74303447e-01 -1.14762452e-01 2.42810327e+02] [-2.72277383e-01 9.61643041e-01 3.32819463e-02 2.06525422e+02] [ 1.19489866e-01 -5.29408914e-04 9.92835279e-01 1.06705315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:206.53, Z:106.70 [[ 9.56746220e-01 2.68187797e-01 -1.12747404e-01 2.42837044e+02] [-2.67039845e-01 9.63349428e-01 2.54480234e-02 2.06527037e+02] [ 1.15439997e-01 5.76074914e-03 9.93297750e-01 1.06699859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.87, Y:206.51, Z:106.71 [[ 9.55141405e-01 2.73913704e-01 -1.12588543e-01 2.42869439e+02] [-2.71369909e-01 9.61739167e-01 3.76317226e-02 2.06505434e+02] [ 1.18588656e-01 -5.39047359e-03 9.92928836e-01 1.06714228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.90, Y:206.50, Z:106.72 [[ 9.55322175e-01 2.73073422e-01 -1.13094868e-01 2.42901800e+02] [-2.71085165e-01 9.61992884e-01 3.29017482e-02 2.06499011e+02] [ 1.17781051e-01 -7.73428628e-04 9.93039287e-01 1.06715549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.93, Y:206.49, Z:106.72 [[ 9.55449654e-01 2.72647169e-01 -1.13046365e-01 2.42932713e+02] [-2.70653668e-01 9.62113707e-01 3.29212280e-02 2.06492104e+02] [ 1.17739337e-01 -8.58162577e-04 9.93044164e-01 1.06718178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:206.48, Z:106.72 [[ 9.55311183e-01 2.72967831e-01 -1.13442088e-01 2.42964003e+02] [-2.70958757e-01 9.62022784e-01 3.30683460e-02 2.06483706e+02] [ 1.18160468e-01 -8.52433761e-04 9.92994148e-01 1.06721416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:206.48, Z:106.72 [[ 9.55254651e-01 2.73099623e-01 -1.13600825e-01 2.42995851e+02] [-2.71081838e-01 9.61985364e-01 3.31481167e-02 2.06475675e+02] [ 1.18335069e-01 -8.69772274e-04 9.92973341e-01 1.06724434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.03, Y:206.47, Z:106.73 [[ 9.55163110e-01 2.73233658e-01 -1.14047367e-01 2.43027414e+02] [-2.71196828e-01 9.61947284e-01 3.33122037e-02 2.06467147e+02] [ 1.18809571e-01 -8.89303786e-04 9.92916661e-01 1.06728058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.06, Y:206.46, Z:106.73 [[ 9.55162438e-01 2.73176296e-01 -1.14190318e-01 2.43058183e+02] [-2.71129865e-01 9.61963537e-01 3.33878838e-02 2.06459345e+02] [ 1.18967701e-01 -9.30446899e-04 9.92897689e-01 1.06730979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:243.08, Y:206.46, Z:106.74 [[ 9.56609170e-01 2.69104082e-01 -1.11722377e-01 2.43084459e+02] [-2.66300889e-01 9.63076941e-01 3.95808201e-02 2.06455570e+02] [ 1.18248606e-01 -8.11160703e-03 9.92950890e-01 1.06735221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:206.45, Z:106.73 [[ 9.55529983e-01 2.71263420e-01 -1.15665932e-01 2.43120519e+02] [-2.70188084e-01 9.62478273e-01 2.51788290e-02 2.06448021e+02] [ 1.18156042e-01 7.19243057e-03 9.92968992e-01 1.06733878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.15, Y:206.45, Z:106.73 [[ 9.57588353e-01 2.65832010e-01 -1.11166044e-01 2.43146146e+02] [-2.64315275e-01 9.64016969e-01 2.84379994e-02 2.06445962e+02] [ 1.14725683e-01 2.15098641e-03 9.93394882e-01 1.06733648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:206.44, Z:106.74 [[ 9.57964722e-01 2.64902619e-01 -1.10137163e-01 2.43176100e+02] [-2.63360274e-01 9.64273813e-01 2.85898651e-02 2.06438789e+02] [ 1.13775913e-01 1.61767136e-03 9.93505121e-01 1.06736122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.480385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:243.21, Y:206.43, Z:106.74 [[ 9.57670677e-01 2.66043996e-01 -1.09943019e-01 2.43206607e+02] [-2.64199933e-01 9.63960456e-01 3.12831470e-02 2.06428287e+02] [ 1.14303416e-01 -9.12014274e-04 9.93445468e-01 1.06741168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.24, Y:206.41, Z:106.75 [[ 9.55953797e-01 2.69915974e-01 -1.15315675e-01 2.43241149e+02] [-2.68356736e-01 9.62878910e-01 2.91353181e-02 2.06414127e+02] [ 1.18899119e-01 3.09372008e-03 9.92901520e-01 1.06748111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.540385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:243.27, Y:206.42, Z:106.74 [[ 9.57522638e-01 2.64142708e-01 -1.15667751e-01 2.43269611e+02] [-2.63228608e-01 9.64449981e-01 2.33866250e-02 2.06415470e+02] [ 1.17733167e-01 8.05383837e-03 9.93012607e-01 1.06744087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.30, Y:206.40, Z:106.75 [[ 9.58232548e-01 2.65586634e-01 -1.06085457e-01 2.43295068e+02] [-2.63324049e-01 9.64070422e-01 3.50523427e-02 2.06401804e+02] [ 1.11583285e-01 -5.65344352e-03 9.93739005e-01 1.06749076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.33, Y:206.38, Z:106.76 [[ 9.57192763e-01 2.68684895e-01 -1.07658916e-01 2.43330291e+02] [-2.65715626e-01 9.63166086e-01 4.13073470e-02 2.06382818e+02] [ 1.14792077e-01 -1.09324374e-02 9.93329382e-01 1.06764049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:243.36, Y:206.39, Z:106.75 [[ 9.58595283e-01 2.63104956e-01 -1.08953506e-01 2.43361214e+02] [-2.62269527e-01 9.64739551e-01 2.21876876e-02 2.06389031e+02] [ 1.10949447e-01 7.30617169e-03 9.93799195e-01 1.06753973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.39, Y:206.38, Z:106.75 [[ 9.59173338e-01 2.62388106e-01 -1.05541408e-01 2.43392265e+02] [-2.61873308e-01 9.64916086e-01 1.89556862e-02 2.06384275e+02] [ 1.06812349e-01 9.45668888e-03 9.94234225e-01 1.06752600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.42, Y:206.36, Z:106.77 [[ 9.57864173e-01 2.68161277e-01 -1.02887098e-01 2.43418851e+02] [-2.65240233e-01 9.63295282e-01 4.13499526e-02 2.06362733e+02] [ 1.10199112e-01 -1.23178402e-02 9.93833199e-01 1.06769723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:206.35, Z:106.78 [[ 9.56185901e-01 2.72651674e-01 -1.06628267e-01 2.43452048e+02] [-2.70084114e-01 9.62082523e-01 3.81023561e-02 2.06350553e+02] [ 1.12973863e-01 -7.63433464e-03 9.93568630e-01 1.06777085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:243.49, Y:206.36, Z:106.76 [[ 9.57327818e-01 2.68410592e-01 -1.07141044e-01 2.43486044e+02] [-2.68458431e-01 9.63185890e-01 1.42482342e-02 2.06358753e+02] [ 1.07021119e-01 1.51226857e-02 9.94141733e-01 1.06762437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.51, Y:206.34, Z:106.77 [[ 9.57033084e-01 2.71281274e-01 -1.02440940e-01 2.43513908e+02] [-2.69605724e-01 9.62499346e-01 3.01290882e-02 2.06342228e+02] [ 1.06772795e-01 -1.21587036e-03 9.94282702e-01 1.06772133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.55, Y:206.33, Z:106.78 [[ 9.56032199e-01 2.74026911e-01 -1.04459019e-01 2.43546333e+02] [-2.72463651e-01 9.61721887e-01 2.92330398e-02 2.06334369e+02] [ 1.08471164e-01 5.13558198e-04 9.94099463e-01 1.06775239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:243.58, Y:206.32, Z:106.78 [[ 9.55020910e-01 2.76338226e-01 -1.07574380e-01 2.43576146e+02] [-2.74264034e-01 9.61056108e-01 3.39174877e-02 2.06322835e+02] [ 1.12757713e-01 -2.88812660e-03 9.93618316e-01 1.06782944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:206.31, Z:106.79 [[ 9.54420833e-01 2.78598792e-01 -1.07068140e-01 2.43606027e+02] [-2.75722458e-01 9.60358625e-01 4.10906085e-02 2.06309624e+02] [ 1.14271606e-01 -9.69664210e-03 9.93402222e-01 1.06792353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:206.30, Z:106.80 [[ 9.54701766e-01 2.78022566e-01 -1.06056544e-01 2.43638469e+02] [-2.75530342e-01 9.60550236e-01 3.77660543e-02 2.06302042e+02] [ 1.12372454e-01 -6.83352280e-03 9.93642659e-01 1.06795673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.67, Y:206.30, Z:106.80 [[ 9.54892582e-01 2.76841129e-01 -1.07420417e-01 2.43670283e+02] [-2.74959028e-01 9.60914877e-01 3.22510713e-02 2.06295862e+02] [ 1.12150300e-01 -1.26009525e-03 9.93690456e-01 1.06798297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.960385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:243.70, Y:206.29, Z:106.80 [[ 9.55508822e-01 2.74312904e-01 -1.08421958e-01 2.43701412e+02] [-2.72375705e-01 9.61639156e-01 3.25823389e-02 2.06286527e+02] [ 1.13200556e-01 -1.60120502e-03 9.93570868e-01 1.06801495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:206.28, Z:106.81 [[ 9.55813219e-01 2.73204949e-01 -1.08536383e-01 2.43731511e+02] [-2.71252852e-01 9.61954229e-01 3.26489092e-02 2.06277497e+02] [ 1.13326876e-01 -1.76545565e-03 9.93556190e-01 1.06805010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:206.28, Z:106.80 [[ 9.56311391e-01 2.69779627e-01 -1.12638703e-01 2.43766182e+02] [-2.69639322e-01 9.62815373e-01 1.67688116e-02 2.06276837e+02] [ 1.12974159e-01 1.43356181e-02 9.93494504e-01 1.06797295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:243.79, Y:206.25, Z:106.82 [[ 9.56885739e-01 2.71728147e-01 -1.02632827e-01 2.43789989e+02] [-2.68103269e-01 9.62200293e-01 4.78668289e-02 2.06253875e+02] [ 1.11760101e-01 -1.82868895e-02 9.93566943e-01 1.06816828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:206.25, Z:106.81 [[ 9.56808051e-01 2.70190741e-01 -1.07309442e-01 2.43826193e+02] [-2.68173877e-01 9.62802537e-01 3.30763618e-02 2.06249811e+02] [ 1.12254730e-01 -2.87014009e-03 9.93675318e-01 1.06814816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:206.24, Z:106.82 [[ 9.56913437e-01 2.70208397e-01 -1.06320724e-01 2.43853992e+02] [-2.68312923e-01 9.62799544e-01 3.20189635e-02 2.06243718e+02] [ 1.11017337e-01 -2.11215215e-03 9.93816225e-01 1.06818545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:206.23, Z:106.82 [[ 9.56821462e-01 2.70848038e-01 -1.05517913e-01 2.43885113e+02] [-2.68977145e-01 9.62619845e-01 3.18485396e-02 2.06234368e+02] [ 1.10199752e-01 -2.09145914e-03 9.93907260e-01 1.06822206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:206.23, Z:106.83 [[ 9.56651749e-01 2.71611208e-01 -1.05094163e-01 2.43916525e+02] [-2.69756675e-01 9.62404933e-01 3.17503099e-02 2.06225291e+02] [ 1.09766881e-01 -2.02413766e-03 9.93955298e-01 1.06826129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:206.22, Z:106.83 [[ 9.55972707e-01 2.71450812e-01 -1.11492781e-01 2.43947899e+02] [-2.70780772e-01 9.62403118e-01 2.14012134e-02 2.06222142e+02] [ 1.13110376e-01 9.73112529e-03 9.93534774e-01 1.06825610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:206.20, Z:106.84 [[ 9.55903702e-01 2.74931197e-01 -1.03251876e-01 2.43977948e+02] [-2.72025906e-01 9.61393945e-01 4.15161214e-02 2.06202548e+02] [ 1.10679805e-01 -1.15982291e-02 9.93788439e-01 1.06836280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:206.20, Z:106.84 [[ 9.55817572e-01 2.74249593e-01 -1.05829723e-01 2.44008080e+02] [-2.72251458e-01 9.61654193e-01 3.31716218e-02 2.06199889e+02] [ 1.10868900e-01 -2.89372270e-03 9.93830827e-01 1.06837489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.290385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:244.04, Y:206.18, Z:106.85 [[ 9.55067245e-01 2.76485120e-01 -1.06782654e-01 2.44040540e+02] [-2.73645361e-01 9.60969911e-01 4.06822625e-02 2.06182910e+02] [ 1.13862958e-01 -9.63371840e-03 9.93449756e-01 1.06845610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:206.19, Z:106.84 [[ 9.55773219e-01 2.73612509e-01 -1.07859858e-01 2.44070009e+02] [-2.72430105e-01 9.61828577e-01 2.58384516e-02 2.06186557e+02] [ 1.10812417e-01 4.68857237e-03 9.93830280e-01 1.06842096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.10, Y:206.16, Z:106.86 [[ 9.54449624e-01 2.79253285e-01 -1.05088144e-01 2.44101148e+02] [-2.75655979e-01 9.60075949e-01 4.76230400e-02 2.06161950e+02] [ 1.14191490e-01 -1.64856175e-02 9.93321966e-01 1.06858545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:206.17, Z:106.85 [[ 9.55126206e-01 2.75479005e-01 -1.08835878e-01 2.44133536e+02] [-2.73980403e-01 9.61304285e-01 2.87890765e-02 2.06168432e+02] [ 1.12555182e-01 2.32169641e-03 9.93642763e-01 1.06851412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.16, Y:206.15, Z:106.86 [[ 9.54361760e-01 2.78699270e-01 -1.07332884e-01 2.44164694e+02] [-2.76241693e-01 9.60359260e-01 3.74248471e-02 2.06152607e+02] [ 1.13508407e-01 -6.06702533e-03 9.93518512e-01 1.06860308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.20, Y:206.15, Z:106.86 [[ 9.55026746e-01 2.76201390e-01 -1.07873564e-01 2.44195079e+02] [-2.74415724e-01 9.61099720e-01 3.13582192e-02 2.06150399e+02] [ 1.12338436e-01 -3.45735793e-04 9.93669943e-01 1.06859995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.23, Y:206.15, Z:106.86 [[ 9.55670995e-01 2.74268730e-01 -1.07096277e-01 2.44225294e+02] [-2.72581910e-01 9.61653075e-01 3.03721285e-02 2.06145577e+02] [ 1.11319589e-01 1.66745334e-04 9.93784645e-01 1.06861854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.500385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:244.26, Y:206.13, Z:106.87 [[ 9.55770734e-01 2.74214132e-01 -1.06343379e-01 2.44256069e+02] [-2.71976786e-01 9.61656670e-01 3.52856551e-02 2.06134558e+02] [ 1.11941645e-01 -4.80206612e-03 9.93703179e-01 1.06867655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.29, Y:206.14, Z:106.86 [[ 9.57057746e-01 2.69568520e-01 -1.06645596e-01 2.44287178e+02] [-2.68720602e-01 9.62954971e-01 2.25158144e-02 2.06136614e+02] [ 1.08764461e-01 7.10893414e-03 9.94042129e-01 1.06862891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.560385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.32, Y:206.13, Z:106.86 [[ 9.57532044e-01 2.68331432e-01 -1.05501791e-01 2.44318749e+02] [-2.67231178e-01 9.63315929e-01 2.46965152e-02 2.06126255e+02] [ 1.08258407e-01 4.54566329e-03 9.94112395e-01 1.06864200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:206.11, Z:106.88 [[ 9.57504432e-01 2.69668358e-01 -1.02294861e-01 2.44346563e+02] [-2.67080244e-01 9.62906296e-01 3.84656905e-02 2.06112125e+02] [ 1.08873346e-01 -9.51013261e-03 9.94010137e-01 1.06876056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.38, Y:206.11, Z:106.88 [[ 9.57434975e-01 2.69120911e-01 -1.04365722e-01 2.44379627e+02] [-2.67264702e-01 9.63103396e-01 3.16453439e-02 2.06105630e+02] [ 1.09031405e-01 -2.40508546e-03 9.94035396e-01 1.06877100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:206.09, Z:106.89 [[ 9.57145351e-01 2.70040574e-01 -1.04646385e-01 2.44410756e+02] [-2.67317305e-01 9.62798758e-01 3.94969645e-02 2.06090997e+02] [ 1.11419192e-01 -9.83054642e-03 9.93724873e-01 1.06886250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.44, Y:206.09, Z:106.88 [[ 9.57839671e-01 2.66873513e-01 -1.06403447e-01 2.44442356e+02] [-2.65715715e-01 9.63722599e-01 2.51775959e-02 2.06092995e+02] [ 1.09262640e-01 4.15696793e-03 9.94004223e-01 1.06881175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:206.07, Z:106.90 [[ 9.56898980e-01 2.70917108e-01 -1.04633942e-01 2.44471895e+02] [-2.67318429e-01 9.62447762e-01 4.72775161e-02 2.06071231e+02] [ 1.13512991e-01 -1.72692260e-02 9.93386418e-01 1.06898186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:206.08, Z:106.88 [[ 9.57670901e-01 2.66237030e-01 -1.09472781e-01 2.44507158e+02] [-2.65932897e-01 9.63830137e-01 1.76397811e-02 2.06080997e+02] [ 1.10209529e-01 1.22193088e-02 9.93833260e-01 1.06884039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.770385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.53, Y:206.07, Z:106.89 [[ 9.56957557e-01 2.69271634e-01 -1.08282136e-01 2.44534469e+02] [-2.67812011e-01 9.63061918e-01 2.80796862e-02 2.06068070e+02] [ 1.11843465e-01 2.12818871e-03 9.93723558e-01 1.06891528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.800385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.57, Y:206.05, Z:106.90 [[ 9.56872773e-01 2.70776332e-01 -1.05236282e-01 2.44566033e+02] [-2.68455414e-01 9.62622968e-01 3.58986447e-02 2.06054374e+02] [ 1.11023366e-01 -6.09918595e-03 9.93799080e-01 1.06897848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.60, Y:206.05, Z:106.90 [[ 9.56566345e-01 2.71532506e-01 -1.06070386e-01 2.44599001e+02] [-2.69978722e-01 9.62428869e-01 2.90200120e-02 2.06050701e+02] [ 1.09965078e-01 8.77180416e-04 9.93935064e-01 1.06896294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.860385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.63, Y:206.04, Z:106.90 [[ 9.56361884e-01 2.72510511e-01 -1.05403837e-01 2.44628423e+02] [-2.70539208e-01 9.62148443e-01 3.28467847e-02 2.06041278e+02] [ 1.10365232e-01 -2.89754227e-03 9.93886875e-01 1.06901147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.66, Y:206.03, Z:106.91 [[ 9.55256610e-01 2.76101220e-01 -1.06079803e-01 2.44656736e+02] [-2.73570700e-01 9.61101003e-01 3.79991315e-02 2.06030957e+02] [ 1.12445012e-01 -7.27859550e-03 9.93631290e-01 1.06909365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:206.02, Z:106.91 [[ 9.54974969e-01 2.76429673e-01 -1.07747134e-01 2.44688395e+02] [-2.74478597e-01 9.61032499e-01 3.28334486e-02 2.06024339e+02] [ 1.12624637e-01 -1.78083946e-03 9.93636010e-01 1.06911245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.72, Y:206.01, Z:106.92 [[ 9.54726582e-01 2.77257499e-01 -1.07821302e-01 2.44720089e+02] [-2.75305544e-01 9.60794121e-01 3.28863951e-02 2.06014623e+02] [ 1.12712072e-01 -1.71371354e-03 9.93626213e-01 1.06915208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.75, Y:206.01, Z:106.92 [[ 9.54570219e-01 2.77583442e-01 -1.08365725e-01 2.44751863e+02] [-2.75819602e-01 9.60701529e-01 3.12428972e-02 2.06006952e+02] [ 1.12779629e-01 6.58519214e-05 9.93620024e-01 1.06917837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.78, Y:206.00, Z:106.92 [[ 9.54512507e-01 2.78247652e-01 -1.07163980e-01 2.44782998e+02] [-2.76105376e-01 9.60503093e-01 3.46356648e-02 2.05995987e+02] [ 1.12568627e-01 -3.47162424e-03 9.93637888e-01 1.06922544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.81, Y:205.99, Z:106.93 [[ 9.54540560e-01 2.77900408e-01 -1.07813186e-01 2.44814884e+02] [-2.75942056e-01 9.60608334e-01 3.29789254e-02 2.05987285e+02] [ 1.12731102e-01 -1.72952959e-03 9.93624027e-01 1.06925044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.070385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:244.85, Y:205.98, Z:106.93 [[ 9.54795062e-01 2.77001149e-01 -1.07873781e-01 2.44845703e+02] [-2.75031156e-01 9.60867771e-01 3.30301452e-02 2.05977430e+02] [ 1.12801827e-01 -1.86836889e-03 9.93615749e-01 1.06928414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:205.98, Z:106.92 [[ 9.55771725e-01 2.72144887e-01 -1.11523857e-01 2.44877125e+02] [-2.71646908e-01 9.62190575e-01 1.99312630e-02 2.05976996e+02] [ 1.12731395e-01 1.12453733e-02 9.93561862e-01 1.06922642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.91, Y:205.95, Z:106.94 [[ 9.55580527e-01 2.74933923e-01 -1.06194135e-01 2.44905576e+02] [-2.72144346e-01 9.61415957e-01 4.02096031e-02 2.05953789e+02] [ 1.13151720e-01 -9.52338028e-03 9.93532080e-01 1.06937921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:205.95, Z:106.94 [[ 9.55542701e-01 2.73261602e-01 -1.10753074e-01 2.44938053e+02] [-2.71677111e-01 9.61937783e-01 2.94491042e-02 2.05949687e+02] [ 1.14584876e-01 1.94919871e-03 9.93411550e-01 1.06937418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.97, Y:205.93, Z:106.95 [[ 9.55942204e-01 2.74657168e-01 -1.03624048e-01 2.44965984e+02] [-2.71600664e-01 9.61457238e-01 4.28142428e-02 2.05933465e+02] [ 1.11389329e-01 -1.27835815e-02 9.93694620e-01 1.06946429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.00, Y:205.93, Z:106.94 [[ 9.56656529e-01 2.70458108e-01 -1.07984706e-01 2.44998004e+02] [-2.69091100e-01 9.62727297e-01 2.73153981e-02 2.05933885e+02] [ 1.11347495e-01 2.92626948e-03 9.93777225e-01 1.06941360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.03, Y:205.92, Z:106.95 [[ 9.55887028e-01 2.74226552e-01 -1.05260571e-01 2.45027017e+02] [-2.71721824e-01 9.61636198e-01 3.77236398e-02 2.05916461e+02] [ 1.11567199e-01 -7.45794351e-03 9.93728906e-01 1.06951156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:205.91, Z:106.95 [[ 9.56829743e-01 2.70649848e-01 -1.05950475e-01 2.45056814e+02] [-2.69013490e-01 9.62677856e-01 2.97167810e-02 2.05914568e+02] [ 1.10039018e-01 6.82070726e-05 9.93927266e-01 1.06948069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.09, Y:205.90, Z:106.96 [[ 9.55223735e-01 2.75751018e-01 -1.07279969e-01 2.45087241e+02] [-2.73584890e-01 9.61221585e-01 3.47040606e-02 2.05897690e+02] [ 1.12689502e-01 -3.79996379e-03 9.93622985e-01 1.06955554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.340385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.12, Y:205.90, Z:106.95 [[ 9.56012334e-01 2.72920958e-01 -1.07492177e-01 2.45115787e+02] [-2.71268886e-01 9.62036335e-01 2.99880168e-02 2.05895015e+02] [ 1.11595739e-01 4.90369295e-04 9.93753566e-01 1.06953294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37038572299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.15, Y:205.88, Z:106.96 [[ 9.55692030e-01 2.74186054e-01 -1.07120270e-01 2.45145337e+02] [-2.72328773e-01 9.61675784e-01 3.18861332e-02 2.05884531e+02] [ 1.11757703e-01 -1.30139175e-03 9.93734634e-01 1.06956631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:205.87, Z:106.97 [[ 9.53813026e-01 2.80355743e-01 -1.07895174e-01 2.45177380e+02] [-2.78186732e-01 9.59890373e-01 3.49658881e-02 2.05868546e+02] [ 1.13370427e-01 -3.33591356e-03 9.93547190e-01 1.06965346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.21, Y:205.87, Z:106.96 [[ 9.54600617e-01 2.77663137e-01 -1.07892744e-01 2.45207466e+02] [-2.76089457e-01 9.60677221e-01 2.95616263e-02 2.05866122e+02] [ 1.11858275e-01 1.56850239e-03 9.93722932e-01 1.06962845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:205.85, Z:106.97 [[ 9.52743879e-01 2.84073138e-01 -1.07617625e-01 2.45237234e+02] [-2.81819003e-01 9.58794676e-01 3.59279679e-02 2.05848120e+02] [ 1.13389377e-01 -3.90145962e-03 9.93542967e-01 1.06972039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.27, Y:205.85, Z:106.96 [[ 9.54442305e-01 2.78356773e-01 -1.07505315e-01 2.45267551e+02] [-2.77969956e-01 9.60404380e-01 1.88714300e-02 2.05853347e+02] [ 1.08501566e-01 1.18715565e-02 9.94025390e-01 1.06961424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:205.82, Z:106.98 [[ 9.52183693e-01 2.87008678e-01 -1.04748435e-01 2.45295523e+02] [-2.83758704e-01 9.57837611e-01 4.50345214e-02 2.05822950e+02] [ 1.13257289e-01 -1.31578567e-02 9.93478564e-01 1.06982581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.550385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:245.33, Y:205.82, Z:106.98 [[ 9.52127685e-01 2.85625112e-01 -1.08954889e-01 2.45327947e+02] [-2.83619435e-01 9.58340556e-01 3.38141145e-02 2.05816763e+02] [ 1.14074049e-01 -1.29363058e-03 9.93471408e-01 1.06980126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:205.81, Z:106.99 [[ 9.52297297e-01 2.85414530e-01 -1.08020386e-01 2.45359247e+02] [-2.83438376e-01 9.58403234e-01 3.35548584e-02 2.05806556e+02] [ 1.13104131e-01 -1.33707819e-03 9.93582240e-01 1.06985297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.39, Y:205.81, Z:106.98 [[ 9.54443379e-01 2.78800023e-01 -1.06340885e-01 2.45387020e+02] [-2.77389837e-01 9.60345528e-01 2.81308710e-02 2.05805495e+02] [ 1.09966881e-01 2.64855718e-03 9.93931723e-01 1.06981341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.42, Y:205.80, Z:106.98 [[ 9.54467874e-01 2.78278547e-01 -1.07480828e-01 2.45416914e+02] [-2.77161188e-01 9.60484959e-01 2.55013689e-02 2.05797148e+02] [ 1.10330202e-01 5.44927662e-03 9.93880049e-01 1.06982565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:205.78, Z:106.99 [[ 9.54707730e-01 2.79042805e-01 -1.03287282e-01 2.45444740e+02] [-2.76991892e-01 9.60270995e-01 3.39868685e-02 2.05782736e+02] [ 1.08667573e-01 -3.83778631e-03 9.94070737e-01 1.06989038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:205.77, Z:106.99 [[ 9.54470477e-01 2.79452734e-01 -1.04366074e-01 2.45475825e+02] [-2.77609406e-01 9.60158027e-01 3.20870864e-02 2.05771254e+02] [ 1.09174748e-01 -1.65317267e-03 9.94021198e-01 1.06992788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.730385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:245.51, Y:205.76, Z:106.99 [[ 9.54714358e-01 2.78467501e-01 -1.04768057e-01 2.45506346e+02] [-2.77036332e-01 9.60443496e-01 2.82694556e-02 2.05761404e+02] [ 1.08495924e-01 2.03530316e-03 9.94094810e-01 1.06993449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.760385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:245.54, Y:205.75, Z:107.00 [[ 9.54799303e-01 2.78552941e-01 -1.03761988e-01 2.45535290e+02] [-2.77013678e-01 9.60420533e-01 2.92544255e-02 2.05751084e+02] [ 1.07804050e-01 8.11384967e-04 9.94171830e-01 1.06995872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.790385723 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:245.57, Y:205.73, Z:107.01 [[ 9.52636544e-01 2.84708688e-01 -1.06885814e-01 2.45566229e+02] [-2.81913325e-01 9.58574875e-01 4.07318737e-02 2.05726059e+02] [ 1.14054774e-01 -8.67013620e-03 9.93436630e-01 1.07007277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.820385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:245.60, Y:205.72, Z:107.01 [[ 9.52515775e-01 2.84171090e-01 -1.09364024e-01 2.45598734e+02] [-2.82093008e-01 9.58771758e-01 3.43547663e-02 2.05717954e+02] [ 1.14617769e-01 -1.87263039e-03 9.93407902e-01 1.07008141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.63, Y:205.72, Z:107.00 [[ 9.54513922e-01 2.78323712e-01 -1.06953654e-01 2.45626775e+02] [-2.77295176e-01 9.60467916e-01 2.46732062e-02 2.05717626e+02] [ 1.09592692e-01 6.10681358e-03 9.93957820e-01 1.07002874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.880385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:245.66, Y:205.69, Z:107.02 [[ 9.52803062e-01 2.84222218e-01 -1.06696089e-01 2.45656568e+02] [-2.81450284e-01 9.58720095e-01 4.05156323e-02 2.05692112e+02] [ 1.13807128e-01 -8.57377382e-03 9.93465867e-01 1.07016243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.910385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:245.69, Y:205.70, Z:107.01 [[ 9.54301926e-01 2.78810750e-01 -1.07575090e-01 2.45687588e+02] [-2.78177386e-01 9.60296713e-01 2.11557409e-02 2.05696603e+02] [ 1.09202454e-01 9.73599312e-03 9.93971848e-01 1.07007765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.940385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:245.71, Y:205.67, Z:107.02 [[ 9.53385028e-01 2.83431497e-01 -1.03554692e-01 2.45712783e+02] [-2.80993951e-01 9.58967911e-01 3.77219512e-02 2.05674530e+02] [ 1.09997216e-01 -6.86530156e-03 9.93908185e-01 1.07020391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:205.66, Z:107.03 [[ 9.51491396e-01 2.88583565e-01 -1.06694190e-01 2.45745333e+02] [-2.86154143e-01 9.57439533e-01 3.77537825e-02 2.05657503e+02] [ 1.13048356e-01 -5.39141485e-03 9.93574860e-01 1.07028984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:245.78, Y:205.65, Z:107.03 [[ 9.51257209e-01 2.89435896e-01 -1.06473395e-01 2.45775290e+02] [-2.87444021e-01 9.57195925e-01 3.39395891e-02 2.05646993e+02] [ 1.11739235e-01 -1.68013815e-03 9.93736142e-01 1.07030146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.81, Y:205.64, Z:107.04 [[ 9.50979788e-01 2.89948325e-01 -1.07551901e-01 2.45806371e+02] [-2.87915583e-01 9.57040853e-01 3.43135974e-02 2.05635733e+02] [ 1.12880733e-01 -1.66566928e-03 9.93607149e-01 1.07035690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.060385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:245.84, Y:205.62, Z:107.04 [[ 9.50934929e-01 2.90423765e-01 -1.06662075e-01 2.45835817e+02] [-2.88425756e-01 9.56896776e-01 3.40462043e-02 2.05623830e+02] [ 1.11952423e-01 -1.61163526e-03 9.93712261e-01 1.07035841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.090385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:245.86, Y:205.60, Z:107.05 [[ 9.50625770e-01 2.92154152e-01 -1.04673765e-01 2.45860884e+02] [-2.88431802e-01 9.56223704e-01 4.94299782e-02 2.05604839e+02] [ 1.14532709e-01 -1.67981684e-02 9.93277444e-01 1.07049178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.90, Y:205.61, Z:107.04 [[ 9.50157030e-01 2.89804630e-01 -1.14956055e-01 2.45899691e+02] [-2.90282790e-01 9.56853553e-01 1.29297796e-02 2.05609619e+02] [ 1.13743219e-01 2.10844433e-02 9.93286427e-01 1.07035262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:205.58, Z:107.05 [[ 9.50158267e-01 2.93884040e-01 -1.04074199e-01 2.45924330e+02] [-2.91161104e-01 9.55803599e-01 4.08006282e-02 2.05583556e+02] [ 1.11465147e-01 -8.46469560e-03 9.93732293e-01 1.07050114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.96, Y:205.58, Z:107.05 [[ 9.49984952e-01 2.93763948e-01 -1.05977987e-01 2.45956588e+02] [-2.91800162e-01 9.55877092e-01 3.39359655e-02 2.05575610e+02] [ 1.11271093e-01 -1.31426296e-03 9.93789221e-01 1.07050639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.99, Y:205.56, Z:107.05 [[ 9.49880502e-01 2.94112132e-01 -1.05948506e-01 2.45986972e+02] [-2.92148013e-01 9.55770032e-01 3.39585728e-02 2.05564553e+02] [ 1.11250036e-01 -1.30394053e-03 9.93791593e-01 1.07053777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:246.01, Y:205.55, Z:107.07 [[ 9.49514478e-01 2.95834731e-01 -1.04422547e-01 2.46012706e+02] [-2.91922402e-01 9.55065224e-01 5.13003780e-02 2.05546381e+02] [ 1.14906777e-01 -1.82271708e-02 9.93209043e-01 1.07069440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:205.55, Z:107.06 [[ 9.49891443e-01 2.92286156e-01 -1.10792823e-01 2.46046781e+02] [-2.91160128e-01 9.56305173e-01 2.65743623e-02 2.05546833e+02] [ 1.13719068e-01 7.01569312e-03 9.93488175e-01 1.07058721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.07, Y:205.53, Z:107.07 [[ 9.50179010e-01 2.92609328e-01 -1.07422668e-01 2.46074234e+02] [-2.90343452e-01 9.56225654e-01 3.65127084e-02 2.05530334e+02] [ 1.13404270e-01 -3.50414086e-03 9.93542748e-01 1.07066634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.330385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:246.11, Y:205.52, Z:107.06 [[ 9.50861336e-01 2.88765423e-01 -1.11701609e-01 2.46107576e+02] [-2.87974587e-01 9.57349546e-01 2.35049956e-02 2.05521964e+02] [ 1.13724915e-01 9.81723337e-03 9.93463772e-01 1.07059155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:205.51, Z:107.07 [[ 9.51135941e-01 2.89482741e-01 -1.07425160e-01 2.46135913e+02] [-2.87415472e-01 9.57181086e-01 3.45935668e-02 2.05505448e+02] [ 1.12839572e-01 -2.02753160e-03 9.93611151e-01 1.07068833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:205.49, Z:107.07 [[ 9.51324906e-01 2.88785416e-01 -1.07628558e-01 2.46166402e+02] [-2.86702134e-01 9.57391445e-01 3.46915983e-02 2.05494169e+02] [ 1.13061088e-01 -2.14564439e-03 9.93585722e-01 1.07072264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:205.48, Z:107.08 [[ 9.51829714e-01 2.87435080e-01 -1.06776727e-01 2.46196470e+02] [-2.85372695e-01 9.57797317e-01 3.44488717e-02 2.05481438e+02] [ 1.12172277e-01 -2.31829718e-03 9.93686070e-01 1.07075786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.450385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:246.23, Y:205.47, Z:107.08 [[ 9.51941279e-01 2.87331190e-01 -1.06059360e-01 2.46226779e+02] [-2.85292339e-01 9.57828423e-01 3.42489973e-02 2.05470429e+02] [ 1.11427475e-01 -2.34511143e-03 9.93769802e-01 1.07079388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.480385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:246.26, Y:205.46, Z:107.08 [[ 9.51965577e-01 2.86960223e-01 -1.06842740e-01 2.46256555e+02] [-2.84884988e-01 9.57939396e-01 3.45348798e-02 2.05459005e+02] [ 1.12259006e-01 -2.43812417e-03 9.93675989e-01 1.07081623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:205.45, Z:107.08 [[ 9.53042347e-01 2.84406650e-01 -1.04034333e-01 2.46282946e+02] [-2.82246407e-01 9.58694437e-01 3.52411945e-02 2.05453647e+02] [ 1.09759967e-01 -4.22303387e-03 9.93949152e-01 1.07084845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.31, Y:205.45, Z:107.09 [[ 9.52878592e-01 2.84604043e-01 -1.04990136e-01 2.46314042e+02] [-2.82778303e-01 9.58644642e-01 3.22006391e-02 2.05445068e+02] [ 1.09812663e-01 -9.94367109e-04 9.93951805e-01 1.07087098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:205.42, Z:107.10 [[ 9.51532680e-01 2.89303101e-01 -1.04351691e-01 2.46342275e+02] [-2.85811743e-01 9.57116868e-01 4.73175311e-02 2.05424506e+02] [ 1.13565872e-01 -1.51992385e-02 9.93414202e-01 1.07102463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:246.37, Y:205.42, Z:107.10 [[ 9.50994908e-01 2.89718577e-01 -1.08036252e-01 2.46373935e+02] [-2.87677837e-01 9.57110540e-01 3.43638862e-02 2.05420552e+02] [ 1.13358491e-01 -1.60024553e-03 9.93552863e-01 1.07100560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.41, Y:205.41, Z:107.09 [[ 9.49895283e-01 2.92365782e-01 -1.10549542e-01 2.46410192e+02] [-2.92253071e-01 9.56179284e-01 1.75875004e-02 2.05413907e+02] [ 1.10847166e-01 1.56021597e-02 9.93714989e-01 1.07093767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.660385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:246.44, Y:205.40, Z:107.10 [[ 9.48813506e-01 2.97585361e-01 -1.05810600e-01 2.46438087e+02] [-2.95588922e-01 9.54694185e-01 3.44412795e-02 2.05396192e+02] [ 1.11265985e-01 -1.40191003e-03 9.93789674e-01 1.07103629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.47, Y:205.39, Z:107.11 [[ 9.48063548e-01 3.00326527e-01 -1.04783042e-01 2.46468937e+02] [-2.98382083e-01 9.53835819e-01 3.41374233e-02 2.05387177e+02] [ 1.10198193e-01 -1.09906427e-03 9.93909025e-01 1.07107812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.50, Y:205.38, Z:107.11 [[ 9.47431321e-01 3.02268609e-01 -1.04917020e-01 2.46500243e+02] [-3.00327833e-01 9.53222364e-01 3.42099188e-02 2.05378389e+02] [ 1.10349834e-01 -9.02047411e-04 9.93892399e-01 1.07110683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.53, Y:205.37, Z:107.11 [[ 9.46821330e-01 3.04001047e-01 -1.05416951e-01 2.46531441e+02] [-3.02048936e-01 9.52671416e-01 3.44036957e-02 2.05369307e+02] [ 1.10886475e-01 -7.33075022e-04 9.93832809e-01 1.07113703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.56, Y:205.36, Z:107.12 [[ 9.46317409e-01 3.05340085e-01 -1.06069760e-01 2.46562372e+02] [-3.03368455e-01 9.52243173e-01 3.46485299e-02 2.05360001e+02] [ 1.11583790e-01 -6.10287923e-04 9.93754842e-01 1.07116661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.59, Y:205.36, Z:107.12 [[ 9.47778491e-01 3.01295004e-01 -1.04581320e-01 2.46587682e+02] [-2.99204249e-01 9.53528039e-01 3.55119098e-02 2.05356234e+02] [ 1.10420782e-01 -2.36624907e-03 9.93882112e-01 1.07118747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.62, Y:205.34, Z:107.12 [[ 9.46956353e-01 3.03030223e-01 -1.06987613e-01 2.46621838e+02] [-3.01354990e-01 9.52978748e-01 3.18853660e-02 2.05340813e+02] [ 1.11619151e-01 2.04720103e-03 9.93748949e-01 1.07122879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:205.33, Z:107.13 [[ 9.47303515e-01 3.02122033e-01 -1.06481586e-01 2.46651888e+02] [-3.00104425e-01 9.53268644e-01 3.48744275e-02 2.05329759e+02] [ 1.12041890e-01 -1.08107260e-03 9.93702896e-01 1.07127649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.68, Y:205.32, Z:107.13 [[ 9.47674252e-01 3.00941121e-01 -1.06526775e-01 2.46683068e+02] [-2.98912087e-01 9.53641915e-01 3.49093335e-02 2.05320160e+02] [ 1.12094052e-01 -1.24053592e-03 9.93696827e-01 1.07130873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:246.71, Y:205.31, Z:107.13 [[ 9.48604296e-01 2.97772916e-01 -1.07150270e-01 2.46714959e+02] [-2.95696195e-01 9.54635297e-01 3.51455512e-02 2.05311909e+02] [ 1.12754823e-01 -1.65529370e-03 9.93621462e-01 1.07132457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.75, Y:205.30, Z:107.14 [[ 9.48962252e-01 2.96915669e-01 -1.06356619e-01 2.46746020e+02] [-2.94860835e-01 9.54902057e-01 3.49163138e-02 2.05302638e+02] [ 1.11927355e-01 -1.77386239e-03 9.93714809e-01 1.07136621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:205.29, Z:107.14 [[ 9.49643088e-01 2.94747492e-01 -1.06310498e-01 2.46776805e+02] [-2.92677351e-01 9.55572957e-01 3.49326671e-02 2.05293497e+02] [ 1.11883753e-01 -2.05889101e-03 9.93719169e-01 1.07140266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.020385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:246.81, Y:205.28, Z:107.14 [[ 9.49736053e-01 2.93953603e-01 -1.07669441e-01 2.46807404e+02] [-2.91821490e-01 9.55817137e-01 3.54093088e-02 2.05283509e+02] [ 1.13320990e-01 -2.20924052e-03 9.93555974e-01 1.07142945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:246.84, Y:205.27, Z:107.15 [[ 9.49469152e-01 2.94742647e-01 -1.07866132e-01 2.46836876e+02] [-2.92698441e-01 9.55575709e-01 3.46797774e-02 2.05274557e+02] [ 1.13295865e-01 -1.35513020e-03 9.93560371e-01 1.07146680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.080385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:246.87, Y:205.26, Z:107.15 [[ 9.49792940e-01 2.92938064e-01 -1.09912064e-01 2.46870253e+02] [-2.90674685e-01 9.56127708e-01 3.64421847e-02 2.05263823e+02] [ 1.15765273e-01 -2.66387516e-03 9.93273027e-01 1.07149177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:205.25, Z:107.15 [[ 9.49711326e-01 2.93627141e-01 -1.08772697e-01 2.46901104e+02] [-2.91438661e-01 9.55917125e-01 3.58602451e-02 2.05254183e+02] [ 1.14507225e-01 -2.35631170e-03 9.93419621e-01 1.07153252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:246.93, Y:205.24, Z:107.16 [[ 9.49256618e-01 2.95132686e-01 -1.08667247e-01 2.46932026e+02] [-2.92954475e-01 9.55453734e-01 3.58585812e-02 2.05243699e+02] [ 1.14409566e-01 -2.20443919e-03 9.93431221e-01 1.07157268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:246.96, Y:205.23, Z:107.16 [[ 9.49024931e-01 2.95967396e-01 -1.08420395e-01 2.46962507e+02] [-2.93800742e-01 9.55195666e-01 3.58101000e-02 2.05233275e+02] [ 1.14161313e-01 -2.13068518e-03 9.93459941e-01 1.07161081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:205.22, Z:107.17 [[ 9.48479915e-01 2.97883877e-01 -1.07940016e-01 2.46992493e+02] [-2.95745066e-01 9.54600177e-01 3.56841471e-02 2.05222366e+02] [ 1.13669290e-01 -1.92296971e-03 9.93516781e-01 1.07165023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.230385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:247.02, Y:205.21, Z:107.17 [[ 9.48157485e-01 2.98741096e-01 -1.08402682e-01 2.47023439e+02] [-2.96585854e-01 9.54332387e-01 3.58681735e-02 2.05211679e+02] [ 1.14167488e-01 -1.85797510e-03 9.93459779e-01 1.07167755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.260385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:247.05, Y:205.20, Z:107.17 [[ 9.47639008e-01 3.00332590e-01 -1.08538688e-01 2.47053794e+02] [-2.98178556e-01 9.53833029e-01 3.59458255e-02 2.05201114e+02] [ 1.14323489e-01 -1.69975703e-03 9.93442123e-01 1.07171337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.08, Y:205.19, Z:107.18 [[ 9.46882287e-01 3.03307118e-01 -1.06858442e-01 2.47083776e+02] [-3.01236055e-01 9.52891914e-01 3.54095998e-02 2.05191002e+02] [ 1.12564529e-01 -1.33910723e-03 9.93643514e-01 1.07176208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.11, Y:205.18, Z:107.18 [[ 9.46421683e-01 3.04901754e-01 -1.06399806e-01 2.47114049e+02] [-3.02855254e-01 9.52383088e-01 3.52866762e-02 2.05180908e+02] [ 1.12092345e-01 -1.17233514e-03 9.93697103e-01 1.07179500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:205.17, Z:107.18 [[ 9.45795530e-01 3.06734398e-01 -1.06699689e-01 2.47145497e+02] [-3.04685675e-01 9.51794649e-01 3.54060015e-02 2.05170599e+02] [ 1.12416432e-01 -9.76971192e-04 9.93660702e-01 1.07183055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.380385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:247.18, Y:205.16, Z:107.19 [[ 9.45654535e-01 3.07209045e-01 -1.06583790e-01 2.47175850e+02] [-3.05164144e-01 9.51641581e-01 3.53997986e-02 2.05160351e+02] [ 1.12304704e-01 -9.50429137e-04 9.93673362e-01 1.07186431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:205.15, Z:107.19 [[ 9.45817013e-01 3.06691772e-01 -1.06631774e-01 2.47206570e+02] [-3.04638331e-01 9.51808317e-01 3.54459336e-02 2.05150219e+02] [ 1.12363986e-01 -1.04124139e-03 9.93666569e-01 1.07189285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.440385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:247.24, Y:205.14, Z:107.19 [[ 9.45873623e-01 3.06141991e-01 -1.07704086e-01 2.47237375e+02] [-3.04039551e-01 9.51985168e-01 3.58356225e-02 2.05139983e+02] [ 1.13503481e-01 -1.14966817e-03 9.93536933e-01 1.07191482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.470385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:247.27, Y:205.13, Z:107.20 [[ 9.45995883e-01 3.05971767e-01 -1.07112406e-01 2.47267896e+02] [-3.03887612e-01 9.52039836e-01 3.56716928e-02 2.05129739e+02] [ 1.12889809e-01 -1.19514117e-03 9.93606795e-01 1.07195282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.500385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:247.30, Y:205.12, Z:107.20 [[ 9.46421198e-01 3.04868768e-01 -1.06498594e-01 2.47298706e+02] [-3.02797872e-01 9.52393412e-01 3.54998278e-02 2.05120268e+02] [ 1.12251348e-01 -1.35024194e-03 9.93678928e-01 1.07199666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.33, Y:205.11, Z:107.20 [[ 9.46521066e-01 3.04550266e-01 -1.06522336e-01 2.47330380e+02] [-3.02472722e-01 9.52495207e-01 3.55405752e-02 2.05110315e+02] [ 1.12285906e-01 -1.41980218e-03 9.93674927e-01 1.07203320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.35, Y:205.10, Z:107.22 [[ 9.47365182e-01 3.02694187e-01 -1.04285388e-01 2.47352355e+02] [-2.98417712e-01 9.52860839e-01 5.48004565e-02 2.05098635e+02] [ 1.15957242e-01 -2.07954375e-02 9.93036489e-01 1.07218074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.39, Y:205.09, Z:107.22 [[ 9.46829478e-01 3.01954412e-01 -1.11074178e-01 2.47386711e+02] [-2.99028509e-01 9.53296326e-01 4.25213597e-02 2.05094417e+02] [ 1.18726118e-01 -7.04613111e-03 9.92902040e-01 1.07218104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.42, Y:205.09, Z:107.21 [[ 9.47670709e-01 2.98524743e-01 -1.13151249e-01 2.47418530e+02] [-2.97367107e-01 9.54370772e-01 2.73721382e-02 2.05094366e+02] [ 1.16159506e-01 7.70768615e-03 9.93200665e-01 1.07211334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.45, Y:205.08, Z:107.22 [[ 9.47471748e-01 3.00388912e-01 -1.09835279e-01 2.47446344e+02] [-2.97980364e-01 9.53810808e-01 3.81135719e-02 2.05079459e+02] [ 1.16210971e-01 -3.38277616e-03 9.93218791e-01 1.07220130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:247.49, Y:205.07, Z:107.21 [[ 9.46676479e-01 3.01467482e-01 -1.13670583e-01 2.47486686e+02] [-3.02019235e-01 9.53216566e-01 1.27499322e-02 2.05074284e+02] [ 1.12196372e-01 2.22606415e-02 9.93436680e-01 1.07209128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.50, Y:205.05, Z:107.23 [[ 9.47896422e-01 3.01502011e-01 -1.02902434e-01 2.47501981e+02] [-2.97061048e-01 9.53190230e-01 5.64191463e-02 2.05051574e+02] [ 1.15096080e-01 -2.29112022e-02 9.93090111e-01 1.07234322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:205.04, Z:107.24 [[ 9.46883277e-01 3.02166369e-01 -1.10034290e-01 2.47537347e+02] [-2.99100494e-01 9.53216956e-01 4.37759044e-02 2.05044968e+02] [ 1.18114157e-01 -8.53936149e-03 9.92963305e-01 1.07236567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.770385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:247.57, Y:205.04, Z:107.23 [[ 9.46993882e-01 3.00713877e-01 -1.13021023e-01 2.47569363e+02] [-2.99131742e-01 9.53704503e-01 3.11114517e-02 2.05042009e+02] [ 1.17144304e-01 4.34582108e-03 9.93105395e-01 1.07233602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:205.03, Z:107.24 [[ 9.46683287e-01 3.02538958e-01 -1.10729099e-01 2.47598913e+02] [-3.00781307e-01 9.53134013e-01 3.26520786e-02 2.05032091e+02] [ 1.15418196e-01 2.39406592e-03 9.93314104e-01 1.07235698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:205.02, Z:107.24 [[ 9.46633389e-01 3.03343495e-01 -1.08940127e-01 2.47629319e+02] [-3.01613876e-01 9.52878808e-01 3.24198507e-02 2.05022629e+02] [ 1.13641089e-01 2.16814074e-03 9.93519503e-01 1.07237587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:205.02, Z:107.23 [[ 9.45573619e-01 3.06064132e-01 -1.10522754e-01 2.47666445e+02] [-3.06356899e-01 9.51802526e-01 1.47445796e-02 2.05015149e+02] [ 1.09708624e-01 1.99173228e-02 9.93764217e-01 1.07230072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:205.00, Z:107.24 [[ 9.45114944e-01 3.09744932e-01 -1.03999138e-01 2.47693717e+02] [-3.07746154e-01 9.50818907e-01 3.51526818e-02 2.04995430e+02] [ 1.09772711e-01 -1.21799017e-03 9.93955969e-01 1.07241885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:204.99, Z:107.25 [[ 9.45542837e-01 3.09258967e-01 -1.01526522e-01 2.47716888e+02] [-3.05854650e-01 9.50870761e-01 4.79346241e-02 2.04988725e+02] [ 1.11362814e-01 -1.42718815e-02 9.93677331e-01 1.07251673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:204.99, Z:107.24 [[ 9.45669340e-01 3.07162911e-01 -1.06585388e-01 2.47752355e+02] [-3.06743061e-01 9.51566787e-01 2.07206296e-02 2.04992981e+02] [ 1.07787724e-01 1.30994642e-02 9.94087627e-01 1.07240416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.78, Y:204.97, Z:107.25 [[ 9.42897347e-01 3.15988612e-01 -1.05336561e-01 2.47784614e+02] [-3.14415766e-01 9.48757350e-01 3.16578294e-02 2.04969341e+02] [ 1.09942350e-01 3.26939226e-03 9.93932589e-01 1.07252218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.81, Y:204.97, Z:107.25 [[ 9.44533677e-01 3.12218113e-01 -1.01862567e-01 2.47809780e+02] [-3.10260167e-01 9.50009420e-01 3.49389635e-02 2.04966642e+02] [ 1.07678976e-01 -1.39713052e-03 9.94184734e-01 1.07253104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.84, Y:204.96, Z:107.25 [[ 9.44564871e-01 3.11688940e-01 -1.03185316e-01 2.47841322e+02] [-3.10250905e-01 9.50177507e-01 3.01177900e-02 2.04961030e+02] [ 1.07431749e-01 3.56513136e-03 9.94206070e-01 1.07253417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.87, Y:204.94, Z:107.26 [[ 9.42430433e-01 3.17650879e-01 -1.04512195e-01 2.47874863e+02] [-3.15693431e-01 9.48207722e-01 3.52104313e-02 2.04939853e+02] [ 1.10283895e-01 -1.89568611e-04 9.93900109e-01 1.07263258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:204.93, Z:107.27 [[ 9.42386612e-01 3.17630116e-01 -1.04969439e-01 2.47906312e+02] [-3.15614981e-01 9.48214543e-01 3.57262414e-02 2.04929492e+02] [ 1.10881279e-01 -5.38004190e-04 9.93833514e-01 1.07267168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:204.92, Z:107.27 [[ 9.42526501e-01 3.17292586e-01 -1.04733998e-01 2.47937297e+02] [-3.15280842e-01 9.48327499e-01 3.56783446e-02 2.04919334e+02] [ 1.10642604e-01 -6.07162360e-04 9.93860073e-01 1.07270586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:204.92, Z:107.27 [[ 9.44831177e-01 3.10994132e-01 -1.02843074e-01 2.47964936e+02] [-3.09613782e-01 9.50403671e-01 2.95324767e-02 2.04920259e+02] [ 1.06926862e-01 3.93842828e-03 9.94259089e-01 1.07267176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.99, Y:204.90, Z:107.28 [[ 9.44118888e-01 3.13523603e-01 -1.01697965e-01 2.47993497e+02] [-3.10385889e-01 9.49509247e-01 4.57470268e-02 2.04900078e+02] [ 1.10905931e-01 -1.16250189e-02 9.93762916e-01 1.07282205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:204.90, Z:107.28 [[ 9.44393112e-01 3.11354028e-01 -1.05737029e-01 2.48026121e+02] [-3.09431997e-01 9.50293986e-01 3.45424278e-02 2.04895791e+02] [ 1.11236187e-01 9.67893257e-05 9.93793993e-01 1.07281283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:204.88, Z:107.28 [[ 9.43239575e-01 3.13787284e-01 -1.08796346e-01 2.48060140e+02] [-3.12602264e-01 9.49464592e-01 2.82278761e-02 2.04881740e+02] [ 1.12155827e-01 7.38433404e-03 9.93663194e-01 1.07283682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:204.87, Z:107.29 [[ 9.43767556e-01 3.12834211e-01 -1.06946515e-01 2.48088853e+02] [-3.10677679e-01 9.49806705e-01 3.66960772e-02 2.04867871e+02] [ 1.13058305e-01 -1.40667200e-03 9.93587360e-01 1.07291045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:204.86, Z:107.30 [[ 9.43830799e-01 3.12608951e-01 -1.07047035e-01 2.48119744e+02] [-3.10443518e-01 9.49880783e-01 3.67603011e-02 2.04857671e+02] [ 1.13173520e-01 -1.46344627e-03 9.93574161e-01 1.07295128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.15, Y:204.85, Z:107.30 [[ 9.44171440e-01 3.11616394e-01 -1.06936969e-01 2.48150856e+02] [-3.09445510e-01 9.50206624e-01 3.67538791e-02 2.04849069e+02] [ 1.13065328e-01 -1.61079800e-03 9.93586250e-01 1.07299063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:204.84, Z:107.30 [[ 9.44167227e-01 3.11550987e-01 -1.07164502e-01 2.48181781e+02] [-3.09366604e-01 9.50227997e-01 3.68653926e-02 2.04839541e+02] [ 1.13316160e-01 -1.65397732e-03 9.93557604e-01 1.07302936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:204.83, Z:107.31 [[ 9.44078963e-01 3.11661159e-01 -1.07620786e-01 2.48211529e+02] [-3.09454934e-01 9.50191822e-01 3.70559632e-02 2.04829976e+02] [ 1.13809295e-01 -1.67997203e-03 9.93501194e-01 1.07306841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:204.82, Z:107.31 [[ 9.44044436e-01 3.11768941e-01 -1.07611478e-01 2.48242950e+02] [-3.09560334e-01 9.50156436e-01 3.70829768e-02 2.04819033e+02] [ 1.13809058e-01 -1.69573295e-03 9.93501194e-01 1.07310435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.27, Y:204.81, Z:107.31 [[ 9.43831833e-01 3.11811437e-01 -1.09339380e-01 2.48274122e+02] [-3.09825170e-01 9.50143743e-01 3.51458727e-02 2.04811013e+02] [ 1.14847013e-01 7.04298469e-04 9.93382941e-01 1.07314748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.490385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:248.30, Y:204.80, Z:107.32 [[ 9.43643911e-01 3.12769549e-01 -1.08219122e-01 2.48301895e+02] [-3.10548024e-01 9.49827798e-01 3.72435095e-02 2.04801058e+02] [ 1.14438166e-01 -1.53737651e-03 9.93429184e-01 1.07319822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.520385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:248.33, Y:204.79, Z:107.33 [[ 9.44453765e-01 3.10916421e-01 -1.06480350e-01 2.48334213e+02] [-3.08487511e-01 9.50428935e-01 3.89909646e-02 2.04791735e+02] [ 1.13324937e-01 -3.97730525e-03 9.93550019e-01 1.07325831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.550385723 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:248.37, Y:204.78, Z:107.33 [[ 9.44394465e-01 3.10819407e-01 -1.07286488e-01 2.48366276e+02] [-3.08614346e-01 9.50467215e-01 3.70034989e-02 2.04783102e+02] [ 1.13473695e-01 -1.83575028e-03 9.93539305e-01 1.07329083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.580385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:248.40, Y:204.77, Z:107.33 [[ 9.44244111e-01 3.10798047e-01 -1.08662933e-01 2.48396738e+02] [-3.08531864e-01 9.50474085e-01 3.75113563e-02 2.04774581e+02] [ 1.14939759e-01 -1.89389985e-03 9.93370658e-01 1.07333893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.610385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:248.43, Y:204.76, Z:107.34 [[ 9.44110050e-01 3.10874942e-01 -1.09603760e-01 2.48427841e+02] [-3.08566062e-01 9.50448863e-01 3.78674502e-02 2.04764673e+02] [ 1.15944811e-01 -1.93103958e-03 9.93253780e-01 1.07338216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.640385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:248.46, Y:204.76, Z:107.34 [[ 9.43965148e-01 3.11050088e-01 -1.10352359e-01 2.48459316e+02] [-3.08706696e-01 9.50391510e-01 3.81595917e-02 2.04755090e+02] [ 1.16747489e-01 -1.95481253e-03 9.93159706e-01 1.07342222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.670385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:248.49, Y:204.74, Z:107.35 [[ 9.43721232e-01 3.12855603e-01 -1.07292163e-01 2.48486975e+02] [-3.09574352e-01 9.49741670e-01 4.64163846e-02 2.04743392e+02] [ 1.16421464e-01 -1.05892259e-02 9.93143449e-01 1.07349407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.700385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:248.53, Y:204.78, Z:107.31 [[ 9.46618405e-01 2.98100187e-01 -1.22677926e-01 2.48532090e+02] [-3.03581850e-01 9.52385451e-01 -2.82845135e-02 2.04777604e+02] [ 1.08405053e-01 6.40174327e-02 9.92043403e-01 1.07309761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.730385723 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:248.54, Y:204.71, Z:107.36 [[ 9.43743269e-01 3.15137120e-01 -1.00186014e-01 2.48543476e+02] [-3.09219188e-01 9.48385290e-01 7.03479580e-02 2.04712226e+02] [ 1.17184195e-01 -3.54109741e-02 9.92478679e-01 1.07363679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.760385723 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:248.57, Y:204.70, Z:107.38 [[ 9.41719711e-01 3.17453455e-01 -1.11298201e-01 2.48574168e+02] [-3.11858903e-01 9.47904061e-01 6.49762800e-02 2.04704741e+02] [ 1.26126961e-01 -2.64801088e-02 9.91660624e-01 1.07376505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.790385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:248.61, Y:204.71, Z:107.37 [[ 9.41325490e-01 3.15607635e-01 -1.19574838e-01 2.48609922e+02] [-3.12820392e-01 9.48887596e-01 4.19014710e-02 2.04705961e+02] [ 1.26687505e-01 -2.03747494e-03 9.91940585e-01 1.07371514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.64, Y:204.70, Z:107.38 [[ 9.40700814e-01 3.16618075e-01 -1.21798904e-01 2.48639924e+02] [-3.13729411e-01 9.48551056e-01 4.27171035e-02 2.04696860e+02] [ 1.29057486e-01 -1.97211560e-03 9.91635153e-01 1.07376612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.850385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:248.68, Y:204.74, Z:107.32 [[ 9.46658111e-01 2.95998755e-01 -1.27370159e-01 2.48681690e+02] [-3.03192381e-01 9.52049705e-01 -4.09357943e-02 2.04742280e+02] [ 1.09145778e-01 7.73698633e-02 9.91010143e-01 1.07321594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.880385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:248.68, Y:204.64, Z:107.42 [[ 9.40553681e-01 3.25104299e-01 -9.83156562e-02 2.48684057e+02] [-3.13657949e-01 9.42451148e-01 1.15777911e-01 2.04643201e+02] [ 1.30297599e-01 -7.80578530e-02 9.88397444e-01 1.07415789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:248.73, Y:204.67, Z:107.39 [[ 9.39686484e-01 3.18354807e-01 -1.25058099e-01 2.48729428e+02] [-3.15305051e-01 9.47969695e-01 4.40020658e-02 2.04666028e+02] [ 1.32559557e-01 -1.91669640e-03 9.91173189e-01 1.07393046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.76, Y:204.66, Z:107.40 [[ 9.39651685e-01 3.18207767e-01 -1.25692198e-01 2.48759566e+02] [-3.15120651e-01 9.48018928e-01 4.42615841e-02 2.04655863e+02] [ 1.33242963e-01 -1.98226476e-03 9.91081421e-01 1.07397702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.970385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:248.79, Y:204.65, Z:107.40 [[ 9.39787653e-01 3.17516025e-01 -1.26422868e-01 2.48790761e+02] [-3.14381538e-01 9.48250519e-01 4.45556107e-02 2.04645871e+02] [ 1.34027670e-01 -2.12779722e-03 9.90975306e-01 1.07402817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:204.63, Z:107.41 [[ 9.39680153e-01 3.19488011e-01 -1.22182734e-01 2.48816764e+02] [-3.14533610e-01 9.47447364e-01 5.84131893e-02 2.04629129e+02] [ 1.34424023e-01 -1.64591385e-02 9.90787202e-01 1.07414582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.030385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:248.86, Y:204.64, Z:107.39 [[ 9.41534408e-01 3.09908658e-01 -1.32172547e-01 2.48858102e+02] [-3.11414809e-01 9.50225094e-01 9.64818446e-03 2.04644327e+02] [ 1.28583727e-01 3.20763909e-02 9.91179767e-01 1.07388451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.060385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:248.90, Y:204.68, Z:107.34 [[ 9.48349701e-01 2.89001887e-01 -1.30808080e-01 2.48895283e+02] [-2.97866639e-01 9.53090555e-01 -5.37946094e-02 2.04681099e+02] [ 1.09125202e-01 8.99794648e-02 9.89947163e-01 1.07344868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:204.56, Z:107.45 [[ 9.43176814e-01 3.21189596e-01 -8.51747624e-02 2.48887692e+02] [-3.07066339e-01 9.40421788e-01 1.46003847e-01 2.04564634e+02] [ 1.26995119e-01 -1.11553141e-01 9.85610540e-01 1.07452671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.94, Y:204.60, Z:107.41 [[ 9.42338512e-01 3.09733968e-01 -1.26739884e-01 2.48940435e+02] [-3.07854433e-01 9.50802004e-01 3.46583068e-02 2.04604889e+02] [ 1.31239390e-01 6.35757774e-03 9.91330320e-01 1.07410867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.97, Y:204.59, Z:107.42 [[ 9.42388963e-01 3.10624739e-01 -1.24158421e-01 2.48968795e+02] [-3.07604365e-01 9.50529056e-01 4.32905109e-02 2.04590500e+02] [ 1.31463291e-01 -2.60482744e-03 9.91317617e-01 1.07417674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.00, Y:204.58, Z:107.42 [[ 9.42214049e-01 3.11137586e-01 -1.24201807e-01 2.48998430e+02] [-3.08116055e-01 9.50361433e-01 4.33317948e-02 2.04579845e+02] [ 1.31518758e-01 -2.55925500e-03 9.91310379e-01 1.07420792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.03, Y:204.57, Z:107.42 [[ 9.42038620e-01 3.11572462e-01 -1.24442116e-01 2.49029206e+02] [-3.08538148e-01 9.50219006e-01 4.34517251e-02 2.04568465e+02] [ 1.31785625e-01 -2.53806307e-03 9.91274991e-01 1.07424776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.06, Y:204.56, Z:107.43 [[ 9.41858512e-01 3.12150444e-01 -1.24356919e-01 2.49059264e+02] [-3.09120322e-01 9.50029417e-01 4.34595624e-02 2.04558116e+02] [ 1.31708653e-01 -2.49150784e-03 9.91285339e-01 1.07428049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.09, Y:204.55, Z:107.43 [[ 9.41232501e-01 3.13971389e-01 -1.24512433e-01 2.49090005e+02] [-3.10944720e-01 9.49429721e-01 4.35498028e-02 2.04547871e+02] [ 1.31889196e-01 -2.27400621e-03 9.91261857e-01 1.07430644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.12, Y:204.54, Z:107.43 [[ 9.40825211e-01 3.14939878e-01 -1.25143099e-01 2.49121179e+02] [-3.11885752e-01 9.49109106e-01 4.38084721e-02 2.04536702e+02] [ 1.32571490e-01 -2.18576556e-03 9.91171036e-01 1.07433968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.330385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:249.15, Y:204.53, Z:107.44 [[ 9.40501152e-01 3.15629796e-01 -1.25838845e-01 2.49151918e+02] [-3.12542352e-01 9.48880004e-01 4.40909955e-02 2.04525370e+02] [ 1.33322396e-01 -2.13766350e-03 9.91070416e-01 1.07437269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:249.18, Y:204.51, Z:107.44 [[ 9.40112650e-01 3.16428830e-01 -1.26732002e-01 2.49181322e+02] [-3.13299164e-01 9.48613981e-01 4.44426455e-02 2.04512617e+02] [ 1.34282684e-01 -2.07606291e-03 9.90940892e-01 1.07440806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.390385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:249.22, Y:204.51, Z:107.42 [[ 9.41950931e-01 3.10940864e-01 -1.26665793e-01 2.49217964e+02] [-3.11338267e-01 9.50144249e-01 1.71577765e-02 2.04514895e+02] [ 1.25685829e-01 2.32741251e-02 9.91797050e-01 1.07421950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.420385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:249.25, Y:204.54, Z:107.39 [[ 9.47240414e-01 2.94748004e-01 -1.25933367e-01 2.49252858e+02] [-3.01346846e-01 9.52812121e-01 -3.65942724e-02 2.04542682e+02] [ 1.09204750e-01 7.26131967e-02 9.91363529e-01 1.07385217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.450385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:249.25, Y:204.43, Z:107.50 [[ 9.40538932e-01 3.26564289e-01 -9.35001773e-02 2.49250551e+02] [-3.11716769e-01 9.39132232e-01 1.44441363e-01 2.04430637e+02] [ 1.34978421e-01 -1.06707153e-01 9.85085991e-01 1.07496642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.480385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:249.30, Y:204.46, Z:107.46 [[ 9.39302884e-01 3.18021384e-01 -1.28734192e-01 2.49301651e+02] [-3.14766668e-01 9.48081092e-01 4.54333277e-02 2.04463072e+02] [ 1.36499223e-01 -2.15442314e-03 9.90637835e-01 1.07460204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.510385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:249.33, Y:204.45, Z:107.46 [[ 9.39029116e-01 3.19426643e-01 -1.27243621e-01 2.49331753e+02] [-3.16254911e-01 9.47608973e-01 4.49451457e-02 2.04450660e+02] [ 1.34933874e-01 -1.96338037e-03 9.90852661e-01 1.07463449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.37, Y:204.46, Z:107.44 [[ 9.40215121e-01 3.15237006e-01 -1.28923066e-01 2.49372450e+02] [-3.17611437e-01 9.48218277e-01 2.25262196e-03 2.04458350e+02] [ 1.22957317e-01 3.88294910e-02 9.91652040e-01 1.07436588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:249.38, Y:204.41, Z:107.49 [[ 9.38359633e-01 3.28189304e-01 -1.08503363e-01 2.49379009e+02] [-3.19687802e-01 9.43365477e-01 8.86638971e-02 2.04408360e+02] [ 1.31456869e-01 -4.85114204e-02 9.90134200e-01 1.07487850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.42, Y:204.42, Z:107.47 [[ 9.37667934e-01 3.22508840e-01 -1.29487038e-01 2.49422229e+02] [-3.20843945e-01 9.46518056e-01 3.40988650e-02 2.04422224e+02] [ 1.33559005e-01 9.57171989e-03 9.90994639e-01 1.07470076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.45, Y:204.40, Z:107.48 [[ 9.37852313e-01 3.24630021e-01 -1.22671871e-01 2.49449515e+02] [-3.21252394e-01 9.45829854e-01 4.69338668e-02 2.04403711e+02] [ 1.31262860e-01 -4.60840331e-03 9.91336887e-01 1.07478719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.660385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:249.48, Y:204.40, Z:107.48 [[ 9.37358196e-01 3.24150855e-01 -1.27615968e-01 2.49481788e+02] [-3.22084397e-01 9.45984175e-01 3.70888486e-02 2.04396150e+02] [ 1.32745068e-01 6.33757581e-03 9.91129952e-01 1.07478067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.51, Y:204.38, Z:107.48 [[ 9.37304030e-01 3.25609180e-01 -1.24257061e-01 2.49508712e+02] [-3.22572672e-01 9.45503218e-01 4.43907304e-02 2.04379834e+02] [ 1.31939481e-01 -1.52567811e-03 9.91256599e-01 1.07484373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.720385723 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:249.54, Y:204.37, Z:107.49 [[ 9.37599170e-01 3.25284594e-01 -1.22872818e-01 2.49539624e+02] [-3.22264654e-01 9.45614251e-01 4.42626378e-02 2.04368356e+02] [ 1.30588242e-01 -1.90304631e-03 9.91434864e-01 1.07487702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.750385723 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:249.57, Y:204.36, Z:107.49 [[ 9.37399223e-01 3.24914490e-01 -1.25352589e-01 2.49570793e+02] [-3.22853124e-01 9.45725678e-01 3.69973149e-02 2.04360037e+02] [ 1.30570126e-01 5.78922075e-03 9.91422174e-01 1.07488158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:249.60, Y:204.35, Z:107.48 [[ 9.38495746e-01 3.23457691e-01 -1.20834009e-01 2.49603041e+02] [-3.21638703e-01 9.46222355e-01 3.48109224e-02 2.04349013e+02] [ 1.25595701e-01 6.19499125e-03 9.92062166e-01 1.07484434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.62, Y:204.32, Z:107.51 [[ 9.36751662e-01 3.30712062e-01 -1.14568129e-01 2.49624702e+02] [-3.24954656e-01 9.43404300e-01 6.62781828e-02 2.04319249e+02] [ 1.30003060e-01 -2.48567510e-02 9.91201971e-01 1.07512758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.840385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:249.66, Y:204.32, Z:107.51 [[ 9.36363989e-01 3.28994190e-01 -1.22414474e-01 2.49659592e+02] [-3.26083210e-01 9.44331434e-01 4.36793136e-02 2.04317805e+02] [ 1.29970077e-01 -9.82431543e-04 9.91517430e-01 1.07507608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87038572299997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:249.69, Y:204.31, Z:107.51 [[ 9.36473343e-01 3.28923944e-01 -1.21765010e-01 2.49690798e+02] [-3.26038418e-01 9.44355862e-01 4.34851312e-02 2.04306440e+02] [ 1.29292802e-01 -1.02259511e-03 9.91605933e-01 1.07509698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.900385723 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:249.72, Y:204.30, Z:107.51 [[ 9.35751931e-01 3.27036416e-01 -1.31967824e-01 2.49724388e+02] [-3.26525474e-01 9.44827594e-01 2.61138496e-02 2.04302703e+02] [ 1.33227021e-01 1.86547709e-02 9.90909966e-01 1.07508040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.930385723 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:249.75, Y:204.28, Z:107.52 [[ 9.36725562e-01 3.29580274e-01 -1.17991796e-01 2.49748804e+02] [-3.25115122e-01 9.44024602e-01 5.58364379e-02 2.04276534e+02] [ 1.29789747e-01 -1.39425015e-02 9.91443507e-01 1.07523070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.960385723 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:249.78, Y:204.27, Z:107.52 [[ 9.36704174e-01 3.26439533e-01 -1.26580102e-01 2.49782247e+02] [-3.24839321e-01 9.45169575e-01 3.36732785e-02 2.04274116e+02] [ 1.30631950e-01 9.57629377e-03 9.91384682e-01 1.07517913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.990385723 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:249.81, Y:204.25, Z:107.52 [[ 9.37504515e-01 3.27454877e-01 -1.17722508e-01 2.49814858e+02] [-3.24113364e-01 9.44848131e-01 4.70376176e-02 2.04250822e+02] [ 1.26632589e-01 -5.94254080e-03 9.91931890e-01 1.07524064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.84, Y:204.24, Z:107.54 [[ 9.38365612e-01 3.25771396e-01 -1.15511800e-01 2.49837124e+02] [-3.21244841e-01 9.45316654e-01 5.63753207e-02 2.04239792e+02] [ 1.27560695e-01 -1.57930925e-02 9.91705020e-01 1.07535596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.050385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:249.87, Y:204.23, Z:107.53 [[ 9.39311961e-01 3.21582937e-01 -1.19488304e-01 2.49869661e+02] [-3.18741108e-01 9.46879243e-01 4.27060373e-02 2.04233934e+02] [ 1.26874528e-01 -2.02845714e-03 9.91916700e-01 1.07532022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:204.22, Z:107.54 [[ 9.39471404e-01 3.21187318e-01 -1.19298736e-01 2.49899690e+02] [-3.18347054e-01 9.47013332e-01 4.26720182e-02 2.04222048e+02] [ 1.26683205e-01 -2.11073970e-03 9.91940981e-01 1.07536144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.110385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:249.93, Y:204.21, Z:107.54 [[ 9.39862539e-01 3.20253742e-01 -1.18726357e-01 2.49929026e+02] [-3.17428919e-01 9.47329107e-01 4.25022890e-02 2.04209082e+02] [ 1.26084451e-01 -2.25912995e-03 9.92016939e-01 1.07539206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:204.20, Z:107.54 [[ 9.39847269e-01 3.20305885e-01 -1.18706573e-01 2.49959663e+02] [-3.17478228e-01 9.47311420e-01 4.25282050e-02 2.04196496e+02] [ 1.26074126e-01 -2.28326501e-03 9.92018196e-01 1.07543116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:204.18, Z:107.55 [[ 9.39664399e-01 3.21211705e-01 -1.17702413e-01 2.49990320e+02] [-3.18434635e-01 9.47004913e-01 4.22028091e-02 2.04183840e+02] [ 1.25020800e-01 -2.17595217e-03 9.92151735e-01 1.07546894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.02, Y:204.17, Z:107.55 [[ 9.38893820e-01 3.23551170e-01 -1.17443755e-01 2.50020685e+02] [-3.20800223e-01 9.46208781e-01 4.21445234e-02 2.04171332e+02] [ 1.24762222e-01 -1.89324964e-03 9.92184864e-01 1.07550225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:250.05, Y:204.16, Z:107.55 [[ 9.38475350e-01 3.24828478e-01 -1.17262427e-01 2.50051413e+02] [-3.22091563e-01 9.45771316e-01 4.21146332e-02 2.04159936e+02] [ 1.24583472e-01 -1.75430658e-03 9.92207580e-01 1.07553324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.260385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:250.08, Y:204.15, Z:107.56 [[ 9.37396553e-01 3.27599910e-01 -1.18177840e-01 2.50080784e+02] [-3.24837306e-01 9.44815459e-01 4.24790984e-02 2.04147186e+02] [ 1.25572399e-01 -1.43118933e-03 9.92083426e-01 1.07555973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.11, Y:204.14, Z:107.56 [[ 9.37053719e-01 3.28530294e-01 -1.18313878e-01 2.50110483e+02] [-3.25764481e-01 9.44492483e-01 4.25611547e-02 2.04135050e+02] [ 1.25729197e-01 -1.33962941e-03 9.92063695e-01 1.07559510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.14, Y:204.12, Z:107.56 [[ 9.36718388e-01 3.29712470e-01 -1.17679008e-01 2.50139913e+02] [-3.26981564e-01 9.44080629e-01 4.23653489e-02 2.04121574e+02] [ 1.25066856e-01 -1.20553522e-03 9.92147584e-01 1.07562869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.17, Y:204.11, Z:107.57 [[ 9.36680880e-01 3.29822858e-01 -1.17668230e-01 2.50171133e+02] [-3.27089062e-01 9.44042047e-01 4.23952649e-02 2.04110211e+02] [ 1.25066684e-01 -1.22284312e-03 9.92147584e-01 1.07566861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.380385723 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:250.21, Y:204.10, Z:107.56 [[ 9.36291658e-01 3.29881880e-01 -1.20564823e-01 2.50208761e+02] [-3.29383540e-01 9.43875182e-01 2.46196035e-02 2.04100899e+02] [ 1.21919705e-01 1.66609388e-02 9.92400120e-01 1.07558174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:250.23, Y:204.08, Z:107.58 [[ 9.36800192e-01 3.31477556e-01 -1.11928682e-01 2.50226599e+02] [-3.26458867e-01 9.43236721e-01 6.10663288e-02 2.04076808e+02] [ 1.25817361e-01 -2.06668377e-02 9.91838129e-01 1.07583052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:250.26, Y:204.07, Z:107.58 [[ 9.37332847e-01 3.28963596e-01 -1.14848098e-01 2.50259882e+02] [-3.26345422e-01 9.44341615e-01 4.14437000e-02 2.04072688e+02] [ 1.22089307e-01 -1.36639037e-03 9.92518178e-01 1.07577818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.29, Y:204.06, Z:107.58 [[ 9.37751037e-01 3.28144854e-01 -1.13771471e-01 2.50289992e+02] [-3.25566675e-01 9.44626252e-01 4.10802135e-02 2.04060575e+02] [ 1.20951779e-01 -1.48281328e-03 9.92657276e-01 1.07581550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.500385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:250.32, Y:204.07, Z:107.57 [[ 9.41054291e-01 3.18488900e-01 -1.13937009e-01 2.50321181e+02] [-3.18821290e-01 9.47683395e-01 1.57850249e-02 2.04065908e+02] [ 1.13003567e-01 2.14709790e-02 9.93362568e-01 1.07566680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.34, Y:204.03, Z:107.60 [[ 9.38514515e-01 3.28882972e-01 -1.05007122e-01 2.50342836e+02] [-3.23980122e-01 9.44079187e-01 6.12484272e-02 2.04025535e+02] [ 1.19278603e-01 -2.34623177e-02 9.92583566e-01 1.07598974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.560385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:250.38, Y:204.05, Z:107.56 [[ 9.42017000e-01 3.14974995e-01 -1.15735580e-01 2.50384130e+02] [-3.17351348e-01 9.48305414e-01 -2.22811153e-03 2.04052516e+02] [ 1.09050878e-01 3.88277614e-02 9.93277560e-01 1.07560476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.590385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:250.41, Y:204.02, Z:107.58 [[ 9.41941114e-01 3.19267159e-01 -1.03997210e-01 2.50405184e+02] [-3.17441246e-01 9.47664338e-01 3.41080292e-02 2.04023710e+02] [ 1.09444021e-01 8.85248912e-04 9.93992567e-01 1.07579284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.43, Y:203.98, Z:107.62 [[ 9.38336322e-01 3.31135278e-01 -9.93698849e-02 2.50427657e+02] [-3.24341103e-01 9.42669379e-01 7.85957416e-02 2.03982287e+02] [ 1.19698770e-01 -4.15195010e-02 9.91941700e-01 1.07618899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.47, Y:203.99, Z:107.61 [[ 9.38207622e-01 3.27210001e-01 -1.12694601e-01 2.50466886e+02] [-3.24640864e-01 9.44949840e-01 4.09647436e-02 2.03988440e+02] [ 1.19894819e-01 -1.84816216e-03 9.92784879e-01 1.07605733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.50, Y:203.98, Z:107.61 [[ 9.38170594e-01 3.27507977e-01 -1.12135906e-01 2.50497868e+02] [-3.24962250e-01 9.44846633e-01 4.07967684e-02 2.03976934e+02] [ 1.19312501e-01 -1.83439205e-03 9.92855056e-01 1.07609623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:250.53, Y:203.96, Z:107.61 [[ 9.37680049e-01 3.28791866e-01 -1.12481261e-01 2.50527541e+02] [-3.26235229e-01 9.44400859e-01 4.09584300e-02 2.03964984e+02] [ 1.19694198e-01 -1.71055287e-03 9.92809334e-01 1.07611850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.56, Y:203.95, Z:107.62 [[ 9.37411109e-01 3.29528800e-01 -1.12566345e-01 2.50558028e+02] [-3.26969540e-01 9.44144083e-01 4.10228079e-02 2.03954239e+02] [ 1.19797045e-01 -1.64946996e-03 9.92797032e-01 1.07616848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.770385723 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:250.59, Y:203.94, Z:107.62 [[ 9.37160791e-01 3.30242958e-01 -1.12557719e-01 2.50591597e+02] [-3.27584439e-01 9.43892955e-01 4.18870376e-02 2.03940323e+02] [ 1.20075338e-01 -2.38273188e-03 9.92761923e-01 1.07620802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.62, Y:203.93, Z:107.62 [[ 9.36250009e-01 3.32973407e-01 -1.12092067e-01 2.50616830e+02] [-3.30333313e-01 9.42933637e-01 4.19053626e-02 2.03932208e+02] [ 1.19648751e-01 -2.20615244e-03 9.92813834e-01 1.07624112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.65, Y:203.93, Z:107.61 [[ 9.38031351e-01 3.28335797e-01 -1.10872850e-01 2.50648249e+02] [-3.27307023e-01 9.44506663e-01 2.78796749e-02 2.03933775e+02] [ 1.13874041e-01 1.01374534e-02 9.93443473e-01 1.07614628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.68, Y:203.92, Z:107.62 [[ 9.37660923e-01 3.30579920e-01 -1.07279587e-01 2.50676841e+02] [-3.28565667e-01 9.43777398e-01 3.64530698e-02 2.03918787e+02] [ 1.13298702e-01 1.06776985e-03 9.93560398e-01 1.07621550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.70, Y:203.90, Z:107.63 [[ 9.36385203e-01 3.34735987e-01 -1.05520477e-01 2.50703276e+02] [-3.31120625e-01 9.42229547e-01 5.06222518e-02 2.03901046e+02] [ 1.16369601e-01 -1.24619213e-02 9.93127795e-01 1.07634969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.74, Y:203.90, Z:107.63 [[ 9.36055600e-01 3.33756800e-01 -1.11383625e-01 2.50739481e+02] [-3.32339858e-01 9.42629928e-01 3.16075447e-02 2.03898891e+02] [ 1.15542771e-01 7.43079894e-03 9.93274711e-01 1.07628910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.950385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:250.77, Y:203.88, Z:107.64 [[ 9.33702467e-01 3.40575247e-01 -1.10490747e-01 2.50767081e+02] [-3.37490613e-01 9.40199691e-01 4.60936772e-02 2.03877885e+02] [ 1.19581732e-01 -5.74819023e-03 9.92807719e-01 1.07642083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:203.87, Z:107.65 [[ 9.34453013e-01 3.38575374e-01 -1.10291806e-01 2.50793993e+02] [-3.34762780e-01 9.40866994e-01 5.19921318e-02 2.03869728e+02] [ 1.21373175e-01 -1.16626128e-02 9.92538430e-01 1.07650943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.83, Y:203.86, Z:107.65 [[ 9.34604825e-01 3.37878870e-01 -1.11138159e-01 2.50825268e+02] [-3.35267406e-01 9.41187547e-01 4.19734218e-02 2.03864882e+02] [ 1.18783783e-01 -1.96756029e-03 9.92918195e-01 1.07650032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.86, Y:203.86, Z:107.65 [[ 9.34845184e-01 3.36155091e-01 -1.14298896e-01 2.50858733e+02] [-3.34835496e-01 9.41762055e-01 3.11355474e-02 2.03859909e+02] [ 1.18108736e-01 9.16441084e-03 9.92958378e-01 1.07647244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.89, Y:203.84, Z:107.65 [[ 9.33444139e-01 3.40347918e-01 -1.13337259e-01 2.50890798e+02] [-3.38596049e-01 9.40282057e-01 3.49624056e-02 2.03841855e+02] [ 1.18468373e-01 5.74009546e-03 9.92941235e-01 1.07654269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.91, Y:203.81, Z:107.69 [[ 9.33231272e-01 3.43577958e-01 -1.05040853e-01 2.50907923e+02] [-3.36075383e-01 9.38183574e-01 8.28548018e-02 2.03814677e+02] [ 1.27014686e-01 -4.20210471e-02 9.91010344e-01 1.07686837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.96, Y:203.84, Z:107.65 [[ 9.34113233e-01 3.33889681e-01 -1.26293903e-01 2.50958338e+02] [-3.36530376e-01 9.41672502e-01 4.53338119e-04 2.03839295e+02] [ 1.19078861e-01 4.20782656e-02 9.91992764e-01 1.07647189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.98, Y:203.81, Z:107.67 [[ 9.34229682e-01 3.38682226e-01 -1.11844761e-01 2.50979564e+02] [-3.36165665e-01 9.40900377e-01 4.12204568e-02 2.03808992e+02] [ 1.19195414e-01 -9.11005666e-04 9.92870396e-01 1.07667300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.00, Y:203.78, Z:107.71 [[ 9.33252537e-01 3.43502148e-01 -1.05099841e-01 2.50995479e+02] [-3.34621734e-01 9.37710105e-01 9.34240593e-02 2.03778939e+02] [ 1.30644548e-01 -5.20195492e-02 9.90063618e-01 1.07705806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:203.76, Z:107.73 [[ 9.29596103e-01 3.46736556e-01 -1.24999383e-01 2.51029662e+02] [-3.36587602e-01 9.36800906e-01 9.54612462e-02 2.03764782e+02] [ 1.50199439e-01 -4.66671598e-02 9.87553697e-01 1.07725364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.09, Y:203.83, Z:107.64 [[ 9.33963382e-01 3.23578562e-01 -1.51688220e-01 2.51092836e+02] [-3.34254237e-01 9.41132312e-01 -5.04388374e-02 2.03826577e+02] [ 1.26437759e-01 9.78104573e-02 9.87140622e-01 1.07638823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.280385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:251.10, Y:203.77, Z:107.68 [[ 9.34637769e-01 3.35046028e-01 -1.19148648e-01 2.51101718e+02] [-3.32144095e-01 9.42200441e-01 4.40298695e-02 2.03770355e+02] [ 1.27013941e-01 -1.57745925e-03 9.91899678e-01 1.07677957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.13, Y:203.76, Z:107.68 [[ 9.34818814e-01 3.34663895e-01 -1.18801777e-01 2.51131991e+02] [-3.31771436e-01 9.42336103e-01 4.39361357e-02 2.03759778e+02] [ 1.26655042e-01 -1.65729025e-03 9.91945439e-01 1.07683632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:251.16, Y:203.75, Z:107.69 [[ 9.35231768e-01 3.33604262e-01 -1.18531580e-01 2.51162576e+02] [-3.30711934e-01 9.42711432e-01 4.38722333e-02 2.03749226e+02] [ 1.26377039e-01 -1.83089836e-03 9.91980590e-01 1.07687843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.19, Y:203.74, Z:107.69 [[ 9.36191419e-01 3.30748123e-01 -1.18959261e-01 2.51193399e+02] [-3.27807102e-01 9.43716362e-01 4.40673509e-02 2.03740175e+02] [ 1.26838995e-01 -2.25978515e-03 9.91920744e-01 1.07692311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:203.69, Z:107.77 [[ 9.33241829e-01 3.43260531e-01 -1.05980645e-01 2.51201217e+02] [-3.27817429e-01 9.34365818e-01 1.39628979e-01 2.03688738e+02] [ 1.46953810e-01 -9.55653011e-02 9.84516049e-01 1.07766551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.28, Y:203.77, Z:107.67 [[ 9.37437251e-01 3.14211313e-01 -1.49942160e-01 2.51275171e+02] [-3.23970591e-01 9.44987072e-01 -4.51939068e-02 2.03767165e+02] [ 1.27492966e-01 9.09433019e-02 9.87661308e-01 1.07665339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:203.68, Z:107.76 [[ 9.35020391e-01 3.37997890e-01 -1.07211447e-01 2.51266490e+02] [-3.25052339e-01 9.37826417e-01 1.21748050e-01 2.03677711e+02] [ 1.41696311e-01 -7.89875774e-02 9.86753828e-01 1.07762632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:203.74, Z:107.69 [[ 9.37466633e-01 3.16721643e-01 -1.44373522e-01 2.51330804e+02] [-3.23077695e-01 9.46109394e-01 -2.23118239e-02 2.03736149e+02] [ 1.29526508e-01 6.75604550e-02 9.89271686e-01 1.07686774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.35, Y:203.70, Z:107.72 [[ 9.38219575e-01 3.24643440e-01 -1.19794266e-01 2.51347236e+02] [-3.21860863e-01 9.45835643e-01 4.24325403e-02 2.03696956e+02] [ 1.27081132e-01 -1.25395409e-03 9.91891533e-01 1.07715575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.38, Y:203.69, Z:107.72 [[ 9.38100561e-01 3.25196823e-01 -1.19224005e-01 2.51377489e+02] [-3.22188132e-01 9.45641303e-01 4.42417620e-02 2.03688171e+02] [ 1.27130423e-01 -3.09066237e-03 9.91881194e-01 1.07720958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.41, Y:203.68, Z:107.72 [[ 9.37841101e-01 3.25839465e-01 -1.19510304e-01 2.51407308e+02] [-3.22817134e-01 9.45420216e-01 4.43814567e-02 2.03678910e+02] [ 1.27448687e-01 -3.04278053e-03 9.91840498e-01 1.07724942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.44, Y:203.67, Z:107.73 [[ 9.37455999e-01 3.26980854e-01 -1.19414286e-01 2.51438871e+02] [-3.23968374e-01 9.45026462e-01 4.43788110e-02 2.03669489e+02] [ 1.27360682e-01 -2.91673037e-03 9.91852181e-01 1.07728865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.47, Y:203.66, Z:107.73 [[ 9.36993793e-01 3.28261344e-01 -1.19528748e-01 2.51469336e+02] [-3.25248687e-01 9.44582849e-01 4.44582153e-02 2.03660964e+02] [ 1.27498719e-01 -2.78050349e-03 9.91834838e-01 1.07732223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.50, Y:203.65, Z:107.74 [[ 9.35822440e-01 3.31208548e-01 -1.20570558e-01 2.51501503e+02] [-3.28162690e-01 9.43554437e-01 4.48806553e-02 2.03654047e+02] [ 1.28629742e-01 -2.43356575e-03 9.91689703e-01 1.07735213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.53, Y:203.65, Z:107.74 [[ 9.34745457e-01 3.34058153e-01 -1.21062303e-01 2.51532480e+02] [-3.31006177e-01 9.42550158e-01 4.51011169e-02 2.03646798e+02] [ 1.29173689e-01 -2.08569399e-03 9.91619790e-01 1.07737986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.56, Y:203.64, Z:107.74 [[ 9.34174944e-01 3.35342583e-01 -1.21911964e-01 2.51563989e+02] [-3.32253669e-01 9.42094225e-01 4.54529487e-02 2.03636845e+02] [ 1.30094867e-01 -1.95530829e-03 9.91499623e-01 1.07742102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.760385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.60, Y:203.63, Z:107.75 [[ 9.33650115e-01 3.36651863e-01 -1.22323282e-01 2.51595413e+02] [-3.33548218e-01 9.41627437e-01 4.56437987e-02 2.03626831e+02] [ 1.30549028e-01 -1.81462517e-03 9.91440194e-01 1.07746207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.790385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.63, Y:203.62, Z:107.75 [[ 9.32619714e-01 3.38941787e-01 -1.23850452e-01 2.51627630e+02] [-3.35774777e-01 9.40806071e-01 4.62518664e-02 2.03618301e+02] [ 1.32195948e-01 -1.54954428e-03 9.91222392e-01 1.07749971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.66, Y:203.61, Z:107.75 [[ 9.32144567e-01 3.40632857e-01 -1.22783402e-01 2.51657655e+02] [-3.37529876e-01 9.40195444e-01 4.58923625e-02 2.03608460e+02] [ 1.31072841e-01 -1.33525001e-03 9.91371841e-01 1.07754987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.69, Y:203.59, Z:107.77 [[ 9.30518705e-01 3.45719496e-01 -1.20884118e-01 2.51686005e+02] [-3.40343005e-01 9.38170365e-01 6.32693021e-02 2.03589758e+02] [ 1.35283328e-01 -1.77312051e-02 9.90648286e-01 1.07771793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.72, Y:203.60, Z:107.76 [[ 9.31016757e-01 3.41731157e-01 -1.28170256e-01 2.51722806e+02] [-3.40699318e-01 9.39674868e-01 3.05796808e-02 2.03597869e+02] [ 1.30888398e-01 1.51973236e-02 9.91280621e-01 1.07757709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.74, Y:203.55, Z:107.80 [[ 9.27757074e-01 3.54975007e-01 -1.15150150e-01 2.51740618e+02] [-3.45192229e-01 9.33541984e-01 9.66524142e-02 2.03552573e+02] [ 1.41806691e-01 -4.99210240e-02 9.88634793e-01 1.07801035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.940385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:251.79, Y:203.59, Z:107.76 [[ 9.30437028e-01 3.38952363e-01 -1.39277537e-01 2.51788944e+02] [-3.42139710e-01 9.39648421e-01 1.12435185e-03 2.03593797e+02] [ 1.31253020e-01 4.66062377e-02 9.90252747e-01 1.07756223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.970385723 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:251.81, Y:203.56, Z:107.78 [[ 9.30523034e-01 3.44958012e-01 -1.23007533e-01 2.51809891e+02] [-3.41863743e-01 9.38617730e-01 4.61079002e-02 2.03561206e+02] [ 1.31362341e-01 -8.52647636e-04 9.91334055e-01 1.07776112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.000385723 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:251.84, Y:203.55, Z:107.78 [[ 9.30726514e-01 3.44057121e-01 -1.23987313e-01 2.51840044e+02] [-3.40899865e-01 9.38948160e-01 4.65148971e-02 2.03551979e+02] [ 1.32421440e-01 -1.02538986e-03 9.91192974e-01 1.07780531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.030385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:251.87, Y:203.54, Z:107.79 [[ 9.30867325e-01 3.43577417e-01 -1.24260136e-01 2.51871374e+02] [-3.40398473e-01 9.39123689e-01 4.66430774e-02 2.03541277e+02] [ 1.32721145e-01 -1.12055611e-03 9.91152784e-01 1.07785041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.060385723 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:251.90, Y:203.53, Z:107.79 [[ 9.31287410e-01 3.42550023e-01 -1.23948542e-01 2.51902185e+02] [-3.39372628e-01 9.39498689e-01 4.65664373e-02 2.03532303e+02] [ 1.32400826e-01 -1.30199450e-03 9.91195403e-01 1.07789042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.090385723 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:251.93, Y:203.52, Z:107.79 [[ 9.31628033e-01 3.41791870e-01 -1.23480872e-01 2.51933604e+02] [-3.38626892e-01 9.39774571e-01 4.64282686e-02 2.03523371e+02] [ 1.31912989e-01 -1.43993260e-03 9.91260253e-01 1.07793475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12038572299997 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:251.96, Y:203.51, Z:107.80 [[ 9.31538773e-01 3.41788264e-01 -1.24162385e-01 2.51963359e+02] [-3.38582767e-01 9.39775811e-01 4.67240376e-02 2.03513083e+02] [ 1.32654534e-01 -1.48600889e-03 9.91161221e-01 1.07797945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.150385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:251.99, Y:203.50, Z:107.80 [[ 9.31517176e-01 3.41702112e-01 -1.24560898e-01 2.51993918e+02] [-3.38470161e-01 9.39807055e-01 4.69110912e-02 2.03502378e+02] [ 1.33092829e-01 -1.53834024e-03 9.91102382e-01 1.07801848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.180385723 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:252.02, Y:203.50, Z:107.80 [[ 9.30797182e-01 3.41620568e-01 -1.30046121e-01 2.52024828e+02] [-3.39041639e-01 9.39825524e-01 4.21752477e-02 2.03496105e+02] [ 1.36628596e-01 4.83444825e-03 9.90610547e-01 1.07802325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.210385723 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:252.05, Y:203.48, Z:107.81 [[ 9.31001470e-01 3.43456062e-01 -1.23588818e-01 2.52051894e+02] [-3.39445704e-01 9.39140893e-01 5.28298819e-02 2.03480278e+02] [ 1.34212056e-01 -7.23300437e-03 9.90926237e-01 1.07811088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.240385723 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:252.08, Y:203.47, Z:107.81 [[ 9.30935851e-01 3.42889234e-01 -1.25640018e-01 2.52084168e+02] [-3.39600531e-01 9.39374711e-01 4.73986425e-02 2.03471086e+02] [ 1.34275540e-01 -1.45767865e-03 9.90942962e-01 1.07813417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.270385723 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:252.11, Y:203.46, Z:107.82 [[ 9.30546255e-01 3.43835798e-01 -1.25938920e-01 2.52114592e+02] [-3.40537421e-01 9.39028829e-01 4.75302235e-02 2.03459503e+02] [ 1.34602869e-01 -1.34215649e-03 9.90898717e-01 1.07817986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.300385723 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:252.14, Y:203.45, Z:107.82 [[ 9.29947796e-01 3.45483343e-01 -1.25850535e-01 2.52144085e+02] [-3.42199310e-01 9.38424190e-01 4.75360106e-02 2.03449339e+02] [ 1.34524087e-01 -1.14004189e-03 9.90909668e-01 1.07822101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.330385723 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:252.17, Y:203.45, Z:107.82 [[ 9.28616568e-01 3.45652221e-01 -1.34891855e-01 2.52173604e+02] [-3.44142676e-01 9.38260873e-01 3.51048866e-02 2.03446551e+02] [ 1.38697832e-01 1.38230649e-02 9.90238272e-01 1.07820613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.360385723 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:252.20, Y:203.42, Z:107.83 [[ 9.29184259e-01 3.49355529e-01 -1.20695180e-01 2.52196145e+02] [-3.44415738e-01 9.36878637e-01 6.03010745e-02 2.03423748e+02] [ 1.34143250e-01 -1.44614896e-02 9.90856424e-01 1.07833756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.390385723 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:252.23, Y:203.42, Z:107.83 [[ 9.28079608e-01 3.50832970e-01 -1.24837769e-01 2.52228492e+02] [-3.47643906e-01 9.36437966e-01 4.71979972e-02 2.03418087e+02] [ 1.33461440e-01 -4.04408874e-04 9.91053924e-01 1.07833290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.420385723 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:252.26, Y:203.41, Z:107.84 [[ 9.27607855e-01 3.52160631e-01 -1.24605605e-01 2.52259045e+02] [-3.48990522e-01 9.35939544e-01 4.71464362e-02 2.03405774e+02] [ 1.33226432e-01 -2.47229389e-04 9.91085595e-01 1.07838076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.450385723 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:252.29, Y:203.39, Z:107.84 [[ 9.26939757e-01 3.53963274e-01 -1.24469624e-01 2.52289007e+02] [-3.50811062e-01 9.35259322e-01 4.71338404e-02 2.03393539e+02] [ 1.33095025e-01 -2.49096124e-05 9.91103281e-01 1.07841745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.480385723 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:252.32, Y:203.38, Z:107.84 [[ 9.26810636e-01 3.54241459e-01 -1.24639613e-01 2.52318915e+02] [-3.51077854e-01 9.35153992e-01 4.72371880e-02 2.03381704e+02] [ 1.33290602e-01 -2.17205955e-05 9.91076998e-01 1.07844678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.510385723 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:252.35, Y:203.37, Z:107.85 [[ 9.26717744e-01 3.54480692e-01 -1.24650156e-01 2.52348890e+02] [-3.51315293e-01 9.35063334e-01 4.72665433e-02 2.03368421e+02] [ 1.33310867e-01 -1.12384381e-05 9.91074272e-01 1.07849103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.540385723 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:252.38, Y:203.36, Z:107.85 [[ 9.26059208e-01 3.54996395e-01 -1.28030866e-01 2.52375958e+02] [-3.52543019e-01 9.34847526e-01 4.21132226e-02 2.03359699e+02] [ 1.34639380e-01 6.13705045e-03 9.90875660e-01 1.07850646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.570385723 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:252.40, Y:203.34, Z:107.86 [[ 9.27252235e-01 3.53515150e-01 -1.23411231e-01 2.52402051e+02] [-3.49652430e-01 9.35413002e-01 5.23993716e-02 2.03342075e+02] [ 1.33964442e-01 -5.43639766e-03 9.90971228e-01 1.07857106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.600385723 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:252.43, Y:203.33, Z:107.86 [[ 9.27476780e-01 3.52546518e-01 -1.24490065e-01 2.52433433e+02] [-3.49363381e-01 9.35794225e-01 4.72694096e-02 2.03331685e+02] [ 1.33161749e-01 -3.49009850e-04 9.91094257e-01 1.07860799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.630385723 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:252.47, Y:203.33, Z:107.84 [[ 9.30186676e-01 3.44118676e-01 -1.27808785e-01 2.52469720e+02] [-3.44630343e-01 9.38550309e-01 1.87947682e-02 2.03334334e+02] [ 1.26422605e-01 2.65641424e-02 9.91620730e-01 1.07844503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.660385723 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:252.49, Y:203.31, Z:107.85 [[ 9.30897386e-01 3.45349799e-01 -1.19010808e-01 2.52494577e+02] [-3.43195302e-01 9.38462160e-01 3.88041153e-02 2.03313473e+02] [ 1.25088133e-01 4.72130051e-03 9.92134400e-01 1.07853063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.690385723 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:252.51, Y:203.28, Z:107.88 [[ 9.28519488e-01 3.53514861e-01 -1.13484818e-01 2.52513582e+02] [-3.46340152e-01 9.34830431e-01 7.83617539e-02 2.03280490e+02] [ 1.33791106e-01 -3.34560665e-02 9.90444664e-01 1.07884665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.720385723 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:252.55, Y:203.28, Z:107.88 [[ 9.28843697e-01 3.48623714e-01 -1.25343097e-01 2.52549806e+02] [-3.45343733e-01 9.37262197e-01 4.77208480e-02 2.03282088e+02] [ 1.34115966e-01 -1.03875589e-03 9.90965100e-01 1.07876991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.750385723 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:252.58, Y:203.28, Z:107.86 [[ 9.29339797e-01 3.46559088e-01 -1.27374802e-01 2.52578392e+02] [-3.46549133e-01 9.37750853e-01 2.29572799e-02 2.03282433e+02] [ 1.27401883e-01 2.28065132e-02 9.91588939e-01 1.07857750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.780385723 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:252.60, Y:203.25, Z:107.89 [[ 9.29506467e-01 3.49380190e-01 -1.18115247e-01 2.52596615e+02] [-3.43343305e-01 9.36689938e-01 6.87556167e-02 2.03249722e+02] [ 1.34659213e-01 -2.33547112e-02 9.90616704e-01 1.07891239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.810385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:252.63, Y:203.25, Z:107.89 [[ 9.29622854e-01 3.46320165e-01 -1.25951149e-01 2.52631307e+02] [-3.42985544e-01 9.38115353e-01 4.79635480e-02 2.03247420e+02] [ 1.34767451e-01 -1.38858702e-03 9.90876282e-01 1.07887746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.840385723 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:252.66, Y:203.23, Z:107.89 [[ 9.30112197e-01 3.45231811e-01 -1.25324769e-01 2.52660375e+02] [-3.41915251e-01 9.38516123e-01 4.77645043e-02 2.03233756e+02] [ 1.34109143e-01 -1.57589819e-03 9.90965314e-01 1.07892058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87038572299997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:252.69, Y:203.23, Z:107.89 [[ 9.31228378e-01 3.41799000e-01 -1.26440310e-01 2.52694328e+02] [-3.40176637e-01 9.39714158e-01 3.48877784e-02 2.03227165e+02] [ 1.30742357e-01 1.05235502e-02 9.91360525e-01 1.07885398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.900385723 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:252.72, Y:203.20, Z:107.90 [[ 9.30143407e-01 3.46777331e-01 -1.20742390e-01 2.52715798e+02] [-3.41916217e-01 9.37841312e-01 5.95564855e-02 2.03202536e+02] [ 1.33890041e-01 -1.41122911e-02 9.90895706e-01 1.07904370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.930385723 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:252.75, Y:203.19, Z:107.90 [[ 9.29793145e-01 3.45924452e-01 -1.25781484e-01 2.52747633e+02] [-3.42577938e-01 9.38261065e-01 4.80263580e-02 2.03194338e+02] [ 1.34629361e-01 -1.56461685e-03 9.90894791e-01 1.07904171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.960385723 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:252.78, Y:203.18, Z:107.91 [[ 9.29565100e-01 3.46489327e-01 -1.25912160e-01 2.52777870e+02] [-3.43137444e-01 9.38052701e-01 4.81022342e-02 2.03181270e+02] [ 1.34779153e-01 -1.50898124e-03 9.90874514e-01 1.07908226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.990385723 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:252.81, Y:203.17, Z:107.91 [[ 9.29440854e-01 3.47097148e-01 -1.25152980e-01 2.52807957e+02] [-3.43785784e-01 9.37828058e-01 4.78525695e-02 2.03168943e+02] [ 1.33981466e-01 -1.45031776e-03 9.90982776e-01 1.07912634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.020385723 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:252.84, Y:203.16, Z:107.92 [[ 9.29029555e-01 3.48439582e-01 -1.24474673e-01 2.52837912e+02] [-3.45170802e-01 9.37330358e-01 4.76331624e-02 2.03155411e+02] [ 1.33271169e-01 -1.28759303e-03 9.91078775e-01 1.07917522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.050385723 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:252.87, Y:203.14, Z:107.92 [[ 9.28741498e-01 3.49445877e-01 -1.23801489e-01 2.52867896e+02] [-3.46216120e-01 9.36955815e-01 4.74151720e-02 2.03143082e+02] [ 1.32565561e-01 -1.17436677e-03 9.91173543e-01 1.07921838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.080385723 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:252.90, Y:203.13, Z:107.93 [[ 9.27807092e-01 3.52028169e-01 -1.23491573e-01 2.52897579e+02] [-3.48832093e-01 9.35989028e-01 4.73361426e-02 2.03130180e+02] [ 1.32250413e-01 -8.40984914e-04 9.91215981e-01 1.07925986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.110385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:252.93, Y:203.12, Z:107.93 [[ 9.27266306e-01 3.53436795e-01 -1.23529877e-01 2.52926669e+02] [-3.50245883e-01 9.35458162e-01 4.73903912e-02 2.03118531e+02] [ 1.32306539e-01 -6.77682326e-04 9.91208616e-01 1.07929956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.140385723 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:252.96, Y:203.11, Z:107.93 [[ 9.26075804e-01 3.53980511e-01 -1.30695844e-01 2.52960215e+02] [-3.51963571e-01 9.35200631e-01 3.90054485e-02 2.03109891e+02] [ 1.36034004e-01 9.87817383e-03 9.90654920e-01 1.07930116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.170385723 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:252.98, Y:203.09, Z:107.94 [[ 9.25742782e-01 3.58309366e-01 -1.20891272e-01 2.52982871e+02] [-3.53737602e-01 9.33537715e-01 5.81123404e-02 2.03089045e+02] [ 1.33678758e-01 -1.10332910e-02 9.90963297e-01 1.07942125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.200385723 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:253.01, Y:203.08, Z:107.94 [[ 9.25236468e-01 3.58063756e-01 -1.25410627e-01 2.53014673e+02] [-3.54804957e-01 9.33697134e-01 4.81986059e-02 2.03080483e+02] [ 1.34353717e-01 -9.87958391e-05 9.90933433e-01 1.07942440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.230385723 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:253.04, Y:203.07, Z:107.95 [[ 9.25289192e-01 3.57789706e-01 -1.25803173e-01 2.53044553e+02] [-3.54502395e-01 9.33802171e-01 4.83896361e-02 2.03068352e+02] [ 1.34788590e-01 -1.76881171e-04 9.90874364e-01 1.07946051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.260385723 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:253.07, Y:203.06, Z:107.95 [[ 9.25764405e-01 3.56321878e-01 -1.26471283e-01 2.53073632e+02] [-3.52980215e-01 9.34363170e-01 4.86871103e-02 2.03055633e+02] [ 1.35518391e-01 -4.30933159e-04 9.90774737e-01 1.07949798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.290385723 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:253.10, Y:203.04, Z:107.95 [[ 9.26124695e-01 3.55464626e-01 -1.26245590e-01 2.53103349e+02] [-3.52121856e-01 9.34689548e-01 4.86379336e-02 2.03042692e+02] [ 1.35289498e-01 -5.90960007e-04 9.90805936e-01 1.07953650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.320385723 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:253.13, Y:203.03, Z:107.96 [[ 9.26737332e-01 3.53738982e-01 -1.26596408e-01 2.53130995e+02] [-3.50355967e-01 9.35343761e-01 4.88133655e-02 2.03027821e+02] [ 1.35678350e-01 -8.83361321e-04 9.90752545e-01 1.07958475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.350385723 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:253.16, Y:203.01, Z:107.96 [[ 9.26852360e-01 3.53288041e-01 -1.27012848e-01 2.53160860e+02] [-3.49873197e-01 9.35514074e-01 4.90118595e-02 2.03014171e+02] [ 1.36137611e-01 -9.88366339e-04 9.90689444e-01 1.07963035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.380385723 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:253.19, Y:203.00, Z:107.97 [[ 9.27066027e-01 3.52699326e-01 -1.27089602e-01 2.53189372e+02] [-3.49269362e-01 9.35736046e-01 4.90812158e-02 2.03000181e+02] [ 1.36233233e-01 -1.11302348e-03 9.90676167e-01 1.07966842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.410385723 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:253.21, Y:202.99, Z:107.98 [[ 9.27633303e-01 3.51890386e-01 -1.25178322e-01 2.53213920e+02] [-3.47170824e-01 9.35979492e-01 5.84363668e-02 2.02986971e+02] [ 1.37727538e-01 -1.07492587e-02 9.90411823e-01 1.07975919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.440385723 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:253.25, Y:202.98, Z:107.97 [[ 9.27037166e-01 3.51695896e-01 -1.30046489e-01 2.53249024e+02] [-3.49644423e-01 9.36068396e-01 3.90478682e-02 2.02977417e+02] [ 1.35465384e-01 9.27120462e-03 9.90738702e-01 1.07969643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.470385723 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:253.28, Y:202.96, Z:107.98 [[ 9.26877923e-01 3.53478260e-01 -1.26295033e-01 2.53276486e+02] [-3.50085080e-01 9.35442111e-01 4.88722134e-02 2.02959084e+02] [ 1.35416957e-01 -1.08456877e-03 9.90788106e-01 1.07978569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.500385723 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:253.31, Y:202.95, Z:107.98 [[ 9.26673266e-01 3.53225195e-01 -1.28485878e-01 2.53307329e+02] [-3.50383275e-01 9.35531938e-01 4.48503583e-02 2.02945457e+02] [ 1.36044919e-01 3.45767454e-03 9.90696636e-01 1.07982801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.530385723 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:253.32, Y:202.92, Z:108.01 [[ 9.25212106e-01 3.60264647e-01 -1.19129944e-01 2.53323315e+02] [-3.52125883e-01 9.32156643e-01 8.42101860e-02 2.02915177e+02] [ 1.41385721e-01 -3.59635469e-02 9.89301118e-01 1.08012355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.560385723 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:253.36, Y:202.92, Z:108.00 [[ 9.24080853e-01 3.56555829e-01 -1.37631819e-01 2.53363823e+02] [-3.53841147e-01 9.34243695e-01 4.45551519e-02 2.02919307e+02] [ 1.44468058e-01 7.52723778e-03 9.89480834e-01 1.08000206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.590385723 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:253.39, Y:202.90, Z:108.01 [[ 9.24163654e-01 3.57673595e-01 -1.34131057e-01 2.53390648e+02] [-3.54040560e-01 9.33846538e-01 5.08519845e-02 2.02904466e+02] [ 1.43446235e-01 4.92278753e-04 9.89657989e-01 1.08005806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62038572299997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:253.43, Y:202.90, Z:107.99 [[ 9.24645015e-01 3.55598388e-01 -1.36313544e-01 2.53426050e+02] [-3.56088587e-01 9.34202365e-01 2.16069358e-02 2.02903716e+02] [ 1.35027827e-01 2.85609518e-02 9.90430087e-01 1.07987707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.650385723 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:253.44, Y:202.86, Z:108.03 [[ 9.23584314e-01 3.64519258e-01 -1.18818034e-01 2.53437616e+02] [-3.56526304e-01 9.30547244e-01 8.34914444e-02 2.02863971e+02] [ 1.41000034e-01 -3.47496337e-02 9.89399542e-01 1.08027533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.680385723 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:253.48, Y:202.87, Z:108.01 [[ 9.23332404e-01 3.60821087e-01 -1.31397923e-01 2.53476170e+02] [-3.57886031e-01 9.32624571e-01 4.61410837e-02 2.02868472e+02] [ 1.39193607e-01 4.42192336e-03 9.90255314e-01 1.08014082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.710385723 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:253.51, Y:202.86, Z:108.02 [[ 9.22903781e-01 3.60654805e-01 -1.34821079e-01 2.53506427e+02] [-3.58081209e-01 9.32665765e-01 4.37312036e-02 2.02856606e+02] [ 1.41514873e-01 7.91720173e-03 9.89904469e-01 1.08015279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.740385723 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:253.53, Y:202.84, Z:108.02 [[ 9.23076293e-01 3.62275146e-01 -1.29177691e-01 2.53532316e+02] [-3.58650646e-01 9.32070799e-01 5.11247369e-02 2.02840083e+02] [ 1.38923975e-01 -8.62370431e-04 9.90302674e-01 1.08020062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.770385723 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:253.56, Y:202.82, Z:108.03 [[ 9.22929439e-01 3.62294423e-01 -1.30169129e-01 2.53560582e+02] [-3.58212962e-01 9.32057035e-01 5.43429725e-02 2.02824953e+02] [ 1.41013208e-01 -3.52646001e-03 9.90001434e-01 1.08025050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.800385723 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:253.59, Y:202.82, Z:108.03 [[ 9.23176959e-01 3.61644656e-01 -1.30220758e-01 2.53590450e+02] [-3.58396273e-01 9.32313896e-01 4.84036246e-02 2.02815338e+02] [ 1.38911535e-01 1.98552361e-03 9.90302804e-01 1.08027663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.830385723 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:253.62, Y:202.80, Z:108.03 [[ 9.23846574e-01 3.60079653e-01 -1.29808132e-01 2.53620195e+02] [-3.57454968e-01 9.32902684e-01 4.38010098e-02 2.02804060e+02] [ 1.36870207e-01 5.93514872e-03 9.90571209e-01 1.08028301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.860385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:253.65, Y:202.79, Z:108.03 [[ 9.24282623e-01 3.60103927e-01 -1.26596980e-01 2.53647679e+02] [-3.57130966e-01 9.32908924e-01 4.62429754e-02 2.02788546e+02] [ 1.34755729e-01 2.47012298e-03 9.90875770e-01 1.08033978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.890385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:253.68, Y:202.78, Z:108.04 [[ 9.24646769e-01 3.59751079e-01 -1.24930034e-01 2.53676575e+02] [-3.56720488e-01 9.33047178e-01 4.66203490e-02 2.02775728e+02] [ 1.33337337e-01 1.45774770e-03 9.91069639e-01 1.08038127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.920385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:253.71, Y:202.76, Z:108.04 [[ 9.24804238e-01 3.59881064e-01 -1.23380473e-01 2.53705286e+02] [-3.56506865e-01 9.32996977e-01 4.91883793e-02 2.02762202e+02] [ 1.32815574e-01 -1.50363615e-03 9.91139628e-01 1.08043678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.950385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:253.73, Y:202.75, Z:108.05 [[ 9.24738467e-01 3.60205491e-01 -1.22925884e-01 2.53734340e+02] [-3.56999635e-01 9.32872871e-01 4.79527641e-02 2.02749507e+02] [ 1.31947071e-01 -4.59269917e-04 9.91256657e-01 1.08047255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.980385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:253.76, Y:202.74, Z:108.05 [[ 9.24785860e-01 3.60267808e-01 -1.22385540e-01 2.53764136e+02] [-3.57221362e-01 9.32848796e-01 4.67549237e-02 2.02737893e+02] [ 1.31011497e-01 4.80436896e-04 9.91380733e-01 1.08050157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.010385723 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:253.80, Y:202.73, Z:108.05 [[ 9.24734903e-01 3.59937059e-01 -1.23736302e-01 2.53796381e+02] [-3.58336553e-01 9.32908248e-01 3.57367450e-02 2.02729314e+02] [ 1.28297596e-01 1.12922246e-02 9.91671424e-01 1.08045594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.040385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:253.82, Y:202.71, Z:108.06 [[ 9.24506166e-01 3.62549319e-01 -1.17670478e-01 2.53820617e+02] [-3.58184705e-01 9.31903991e-01 5.70847447e-02 2.02709038e+02] [ 1.30353624e-01 -1.06274330e-02 9.91410606e-01 1.08062240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.070385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:253.85, Y:202.70, Z:108.06 [[ 9.23962638e-01 3.62548309e-01 -1.21867831e-01 2.53852970e+02] [-3.59205654e-01 9.31963550e-01 4.91450863e-02 2.02701420e+02] [ 1.31393844e-01 -1.63260974e-03 9.91328902e-01 1.08063446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.100385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:253.89, Y:202.70, Z:108.06 [[ 9.23954256e-01 3.61483418e-01 -1.25053077e-01 2.53886396e+02] [-3.59901807e-01 9.32302425e-01 3.58172825e-02 2.02698112e+02] [ 1.29534641e-01 1.19132978e-02 9.91503328e-01 1.08057714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.130385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:253.92, Y:202.68, Z:108.07 [[ 9.24447028e-01 3.61498225e-01 -1.21312512e-01 2.53915144e+02] [-3.58364088e-01 9.32372694e-01 4.75009381e-02 2.02683046e+02] [ 1.30279979e-01 -4.38053247e-04 9.91477148e-01 1.08067235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.160385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:253.95, Y:202.67, Z:108.07 [[ 9.24401695e-01 3.61618577e-01 -1.21299267e-01 2.53946028e+02] [-3.58481036e-01 9.32326014e-01 4.75347371e-02 2.02670844e+02] [ 1.30279906e-01 -4.57704395e-04 9.91477149e-01 1.08071319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.190385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:253.98, Y:202.66, Z:108.07 [[ 9.24964622e-01 3.60754411e-01 -1.19568822e-01 2.53975881e+02] [-3.57696570e-01 9.32660661e-01 4.68748823e-02 2.02660428e+02] [ 1.28427458e-01 -5.88250135e-04 9.91718731e-01 1.08073631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.220385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:254.00, Y:202.65, Z:108.08 [[ 9.25278060e-01 3.59826251e-01 -1.19939902e-01 2.54004415e+02] [-3.56736703e-01 9.33019024e-01 4.70576819e-02 2.02648192e+02] [ 1.28838800e-01 -7.54475308e-04 9.91665263e-01 1.08079274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.250385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:254.04, Y:202.64, Z:108.08 [[ 9.26432138e-01 3.56617455e-01 -1.20612955e-01 2.54035139e+02] [-3.53460852e-01 9.34249669e-01 4.73601435e-02 2.02637548e+02] [ 1.29572067e-01 -1.24400114e-03 9.91569227e-01 1.08083627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.280385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:254.07, Y:202.63, Z:108.08 [[ 9.27918545e-01 3.52669682e-01 -1.20794324e-01 2.54067433e+02] [-3.50476749e-01 9.35731494e-01 3.96562775e-02 2.02631814e+02] [ 1.27016620e-01 5.53780663e-03 9.91885130e-01 1.08080440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.310385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:254.10, Y:202.62, Z:108.08 [[ 9.28092926e-01 3.52367069e-01 -1.20336900e-01 2.54095810e+02] [-3.49747634e-01 9.35859213e-01 4.29432970e-02 2.02620749e+02] [ 1.27750200e-01 2.23217585e-03 9.91803864e-01 1.08084175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.340385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:254.12, Y:202.60, Z:108.10 [[ 9.27168813e-01 3.55771074e-01 -1.17409262e-01 2.54122388e+02] [-3.51272289e-01 9.34492553e-01 5.77186881e-02 2.02600849e+02] [ 1.30252721e-01 -1.22723473e-02 9.91404871e-01 1.08099298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37038572299997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:254.16, Y:202.60, Z:108.10 [[ 9.26532606e-01 3.54198249e-01 -1.26810607e-01 2.54157007e+02] [-3.52069385e-01 9.35136409e-01 3.95859106e-02 2.02598890e+02] [ 1.32606476e-01 7.96849564e-03 9.91136734e-01 1.08095512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:254.18, Y:202.58, Z:108.11 [[ 9.26837784e-01 3.56699612e-01 -1.17205418e-01 2.54183931e+02] [-3.52382333e-01 9.34154606e-01 5.64080147e-02 2.02580352e+02] [ 1.29608698e-01 -1.09799606e-02 9.91504426e-01 1.08107119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.430385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:254.22, Y:202.57, Z:108.11 [[ 9.26274157e-01 3.56721707e-01 -1.21514653e-01 2.54216976e+02] [-3.53499923e-01 9.34209690e-01 4.78545712e-02 2.02574693e+02] [ 1.30590930e-01 -1.37103223e-03 9.91435388e-01 1.08107961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:254.25, Y:202.57, Z:108.10 [[ 9.27111376e-01 3.54291225e-01 -1.22238396e-01 2.54250476e+02] [-3.52512529e-01 9.35090443e-01 3.66166650e-02 2.02570517e+02] [ 1.27276919e-01 9.14283946e-03 9.91825083e-01 1.08101637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.27, Y:202.55, Z:108.12 [[ 9.25634300e-01 3.59328358e-01 -1.18677181e-01 2.54274604e+02] [-3.54808314e-01 9.33139596e-01 5.79789143e-02 2.02548346e+02] [ 1.31575844e-01 -1.15596214e-02 9.91238706e-01 1.08119249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:254.31, Y:202.55, Z:108.11 [[ 9.26451246e-01 3.55357299e-01 -1.24134118e-01 2.54310980e+02] [-3.53784356e-01 9.34662687e-01 3.52461536e-02 2.02550128e+02] [ 1.28548506e-01 1.12628662e-02 9.91639264e-01 1.08107744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:202.54, Z:108.11 [[ 9.26563257e-01 3.56251153e-01 -1.20688225e-01 2.54340246e+02] [-3.53960450e-01 9.34376569e-01 4.06500554e-02 2.02537043e+02] [ 1.27249879e-01 5.05401072e-03 9.91857815e-01 1.08112389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.580385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:254.37, Y:202.52, Z:108.12 [[ 9.26707736e-01 3.56828686e-01 -1.17839132e-01 2.54367025e+02] [-3.52929634e-01 9.34138287e-01 5.31632851e-02 2.02522352e+02] [ 1.29048230e-01 -7.67790590e-03 9.91608594e-01 1.08120380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:202.52, Z:108.12 [[ 9.26336913e-01 3.56949178e-01 -1.20362817e-01 2.54397999e+02] [-3.54132475e-01 9.34123094e-01 4.47686983e-02 2.02515244e+02] [ 1.28413837e-01 1.15348455e-03 9.91719999e-01 1.08123325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:202.49, Z:108.14 [[ 9.25140694e-01 3.60866948e-01 -1.17854747e-01 2.54425412e+02] [-3.56329781e-01 9.32541152e-01 5.82759624e-02 2.02494190e+02] [ 1.30934271e-01 -1.19183081e-02 9.91319409e-01 1.08139069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:202.49, Z:108.14 [[ 9.24712512e-01 3.60548634e-01 -1.22112459e-01 2.54455459e+02] [-3.56976158e-01 9.32734480e-01 5.07386683e-02 2.02486329e+02] [ 1.32192259e-01 -3.32744492e-03 9.91218510e-01 1.08142910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.700385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:254.48, Y:202.47, Z:108.15 [[ 9.24763129e-01 3.61210917e-01 -1.19749021e-01 2.54484777e+02] [-3.57484476e-01 9.32469083e-01 5.20217163e-02 2.02474635e+02] [ 1.30453071e-01 -5.29934919e-03 9.91440323e-01 1.08147553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.730385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:254.52, Y:202.47, Z:108.15 [[ 9.24341454e-01 3.60904829e-01 -1.23857098e-01 2.54517369e+02] [-3.58152201e-01 9.32597383e-01 4.45995666e-02 2.02466764e+02] [ 1.31605005e-01 3.13446417e-03 9.91297280e-01 1.08147932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:202.46, Z:108.14 [[ 9.24928988e-01 3.59665205e-01 -1.23074398e-01 2.54550544e+02] [-3.58022659e-01 9.33019164e-01 3.59863086e-02 2.02460918e+02] [ 1.27773795e-01 1.07786431e-02 9.91744765e-01 1.08142477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:202.44, Z:108.15 [[ 9.24669385e-01 3.61689596e-01 -1.19025901e-01 2.54577779e+02] [-3.58551730e-01 9.32297673e-01 4.75573913e-02 2.02444569e+02] [ 1.28168584e-01 -1.29792109e-03 9.91751546e-01 1.08151177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:254.60, Y:202.43, Z:108.17 [[ 9.23319157e-01 3.65181107e-01 -1.18846517e-01 2.54603460e+02] [-3.60479313e-01 9.30855667e-01 5.96857864e-02 2.02427195e+02] [ 1.32425075e-01 -1.22673192e-02 9.91117103e-01 1.08165856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:254.64, Y:202.43, Z:108.16 [[ 9.24347606e-01 3.61642375e-01 -1.21640023e-01 2.54637567e+02] [-3.59405068e-01 9.32296557e-01 4.06340479e-02 2.02425142e+02] [ 1.28099568e-01 6.15805592e-03 9.91742194e-01 1.08156511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.66, Y:202.40, Z:108.18 [[ 9.24262338e-01 3.63739772e-01 -1.15898700e-01 2.54660202e+02] [-3.58477829e-01 9.31331600e-01 6.41490227e-02 2.02402632e+02] [ 1.31273673e-01 -1.77434114e-02 9.91187366e-01 1.08175930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:202.40, Z:108.17 [[ 9.24005725e-01 3.62395815e-01 -1.21994644e-01 2.54691343e+02] [-3.59079971e-01 9.32023226e-01 4.89313956e-02 2.02398699e+02] [ 1.31434375e-01 -1.40705636e-03 9.91323875e-01 1.08173553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:254.73, Y:202.39, Z:108.17 [[ 9.25264273e-01 3.56476921e-01 -1.29654275e-01 2.54725934e+02] [-3.54493530e-01 9.34250564e-01 3.88615487e-02 2.02391571e+02] [ 1.34982825e-01 1.00043990e-02 9.90797431e-01 1.08173137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:202.37, Z:108.18 [[ 9.25677767e-01 3.56827291e-01 -1.25677988e-01 2.54752558e+02] [-3.53297600e-01 9.34168277e-01 5.01042577e-02 2.02374780e+02] [ 1.35282956e-01 -1.97866589e-03 9.90805030e-01 1.08181227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:202.36, Z:108.19 [[ 9.26236098e-01 3.54819581e-01 -1.27238974e-01 2.54783158e+02] [-3.51177397e-01 9.34931877e-01 5.07623974e-02 2.02362739e+02] [ 1.36971265e-01 -2.33451333e-03 9.90572270e-01 1.08185165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:202.35, Z:108.19 [[ 9.26294523e-01 3.54382737e-01 -1.28028637e-01 2.54813826e+02] [-3.50685531e-01 9.35097253e-01 5.11154188e-02 2.02350661e+02] [ 1.37833649e-01 -2.45014189e-03 9.90452362e-01 1.08189018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.85, Y:202.34, Z:108.19 [[ 9.25647155e-01 3.55916944e-01 -1.28454167e-01 2.54846858e+02] [-3.52719060e-01 9.34516783e-01 4.76198127e-02 2.02336773e+02] [ 1.36991274e-01 1.22908901e-03 9.90571492e-01 1.08190783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.87, Y:202.32, Z:108.20 [[ 9.25441812e-01 3.57385517e-01 -1.25829426e-01 2.54873415e+02] [-3.53369515e-01 9.33942402e-01 5.36803198e-02 2.02322932e+02] [ 1.36702005e-01 -5.21372919e-03 9.90598495e-01 1.08198146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12038572299997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:254.90, Y:202.31, Z:108.20 [[ 9.24686871e-01 3.59344836e-01 -1.25799365e-01 2.54904416e+02] [-3.55601815e-01 9.33199393e-01 5.18289774e-02 2.02311391e+02] [ 1.36020367e-01 -3.19109233e-03 9.90700902e-01 1.08202987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:202.30, Z:108.21 [[ 9.24675258e-01 3.59391042e-01 -1.25752721e-01 2.54930801e+02] [-3.55351164e-01 9.33172362e-01 5.39897562e-02 2.02303534e+02] [ 1.36752398e-01 -5.23661609e-03 9.90591419e-01 1.08208527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:202.29, Z:108.21 [[ 9.23181171e-01 3.62604412e-01 -1.27493394e-01 2.54962501e+02] [-3.58992298e-01 9.31942131e-01 5.10724413e-02 2.02294537e+02] [ 1.37335558e-01 -1.37996982e-03 9.90523619e-01 1.08211819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.210385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:255.00, Y:202.29, Z:108.21 [[ 9.22448685e-01 3.63683408e-01 -1.29702748e-01 2.54998742e+02] [-3.61957974e-01 9.31440480e-01 3.74841007e-02 2.02286604e+02] [ 1.34442735e-01 1.23697845e-02 9.90844155e-01 1.08207205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.02, Y:202.27, Z:108.23 [[ 9.20716759e-01 3.70585144e-01 -1.22259156e-01 2.55020075e+02] [-3.65206422e-01 9.28679494e-01 6.46426048e-02 2.02268147e+02] [ 1.37495160e-01 -1.48677006e-02 9.90390848e-01 1.08225479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:202.26, Z:108.22 [[ 9.19206187e-01 3.72570042e-01 -1.27481565e-01 2.55056964e+02] [-3.69527810e-01 9.27998117e-01 4.76307989e-02 2.02260253e+02] [ 1.36048461e-01 3.32545835e-03 9.90696602e-01 1.08221259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.09, Y:202.26, Z:108.22 [[ 9.19110120e-01 3.72948648e-01 -1.27066491e-01 2.55086583e+02] [-3.70461583e-01 9.27825368e-01 4.35695174e-02 2.02255326e+02] [ 1.34144706e-01 7.02806910e-03 9.90936832e-01 1.08220837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.11, Y:202.24, Z:108.23 [[ 9.18364844e-01 3.77166157e-01 -1.19798591e-01 2.55110406e+02] [-3.72324558e-01 9.26070917e-01 6.13765514e-02 2.02235992e+02] [ 1.34091149e-01 -1.17621096e-02 9.90899196e-01 1.08232448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.14, Y:202.23, Z:108.24 [[ 9.16745558e-01 3.77952667e-01 -1.29342041e-01 2.55144826e+02] [-3.74466376e-01 9.25823765e-01 5.12375870e-02 2.02227949e+02] [ 1.39113318e-01 1.46241510e-03 9.90275389e-01 1.08236139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.18, Y:202.22, Z:108.24 [[ 9.16689249e-01 3.78336633e-01 -1.28616533e-01 2.55176163e+02] [-3.75419971e-01 9.25654278e-01 4.71593381e-02 2.02217303e+02] [ 1.36896549e-01 5.05475696e-03 9.90572453e-01 1.08238130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.20, Y:202.20, Z:108.25 [[ 9.16494493e-01 3.79562699e-01 -1.26372474e-01 2.55202464e+02] [-3.75205811e-01 9.25150428e-01 5.75958748e-02 2.02201279e+02] [ 1.38774795e-01 -5.37061530e-03 9.90309403e-01 1.08248655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.23, Y:202.19, Z:108.25 [[ 9.17267875e-01 3.77101203e-01 -1.28118415e-01 2.55233892e+02] [-3.73813596e-01 9.26169278e-01 4.97379429e-02 2.02193968e+02] [ 1.37415578e-01 2.26938837e-03 9.90510883e-01 1.08249295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.26, Y:202.18, Z:108.26 [[ 9.17123986e-01 3.77299030e-01 -1.28565298e-01 2.55261212e+02] [-3.73469817e-01 9.26090747e-01 5.36304385e-02 2.02181312e+02] [ 1.39297845e-01 -1.17050324e-03 9.90249837e-01 1.08256534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.510385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:255.29, Y:202.17, Z:108.26 [[ 9.17675713e-01 3.74221783e-01 -1.33526563e-01 2.55291199e+02] [-3.71290617e-01 9.27317887e-01 4.71679246e-02 2.02171880e+02] [ 1.41472835e-01 6.29230112e-03 9.89922140e-01 1.08257921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.32, Y:202.15, Z:108.27 [[ 9.18521972e-01 3.74180678e-01 -1.27695764e-01 2.55318326e+02] [-3.69688087e-01 9.27335127e-01 5.81401915e-02 2.02153532e+02] [ 1.40171704e-01 -6.19544051e-03 9.90107827e-01 1.08267267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.35, Y:202.14, Z:108.27 [[ 9.20050405e-01 3.69860461e-01 -1.29269069e-01 2.55349112e+02] [-3.66168317e-01 9.29087101e-01 5.21337012e-02 2.02144596e+02] [ 1.39384420e-01 -6.31395328e-04 9.90238146e-01 1.08268311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.600385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:255.38, Y:202.13, Z:108.27 [[ 9.20848410e-01 3.67827619e-01 -1.29387200e-01 2.55379639e+02] [-3.64103374e-01 9.29893483e-01 5.22191769e-02 2.02132749e+02] [ 1.39523970e-01 -9.75629822e-04 9.90218213e-01 1.08270642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:202.12, Z:108.28 [[ 9.21321203e-01 3.66895479e-01 -1.28666038e-01 2.55409495e+02] [-3.63198263e-01 9.30261464e-01 5.19675956e-02 2.02120839e+02] [ 1.38759733e-01 -1.14756623e-03 9.90325411e-01 1.08275852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.44, Y:202.12, Z:108.26 [[ 9.24195570e-01 3.58649020e-01 -1.31276155e-01 2.55444514e+02] [-3.58396333e-01 9.33196999e-01 2.63710197e-02 2.02123063e+02] [ 1.31964454e-01 2.26769130e-02 9.90995025e-01 1.08261163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.46, Y:202.09, Z:108.29 [[ 9.22777377e-01 3.66327936e-01 -1.19523038e-01 2.55462069e+02] [-3.59704054e-01 9.30148683e-01 7.37320954e-02 2.02087115e+02] [ 1.38184323e-01 -2.50453882e-02 9.90089805e-01 1.08292991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:255.50, Y:202.09, Z:108.29 [[ 9.22861940e-01 3.63315330e-01 -1.27780324e-01 2.55496957e+02] [-3.59623149e-01 9.31664583e-01 5.16942551e-02 2.02085285e+02] [ 1.37829718e-01 -1.75389805e-03 9.90454387e-01 1.08288444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:202.07, Z:108.29 [[ 9.22802032e-01 3.63400261e-01 -1.27971323e-01 2.55526806e+02] [-3.59694067e-01 9.31631430e-01 5.17982406e-02 2.02073547e+02] [ 1.38045601e-01 -1.76899614e-03 9.90424294e-01 1.08291943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:202.06, Z:108.30 [[ 9.22582836e-01 3.63603770e-01 -1.28969802e-01 2.55557721e+02] [-3.59835778e-01 9.31551984e-01 5.22409166e-02 2.02062590e+02] [ 1.39137069e-01 -1.78862381e-03 9.90271517e-01 1.08295125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:255.59, Y:202.05, Z:108.30 [[ 9.22555469e-01 3.63507217e-01 -1.29436893e-01 2.55587886e+02] [-3.59705435e-01 9.31589554e-01 5.24681179e-02 2.02050749e+02] [ 1.39654597e-01 -1.84559526e-03 9.90198560e-01 1.08298021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:255.62, Y:202.04, Z:108.30 [[ 9.21964485e-01 3.64411077e-01 -1.31095595e-01 2.55617406e+02] [-3.60516847e-01 9.31236545e-01 5.31610747e-02 2.02038828e+02] [ 1.41453493e-01 -1.75045231e-03 9.89943355e-01 1.08302768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.65, Y:202.03, Z:108.31 [[ 9.21788298e-01 3.64926353e-01 -1.30901071e-01 2.55647303e+02] [-3.61043421e-01 9.31034827e-01 5.31206064e-02 2.02026416e+02] [ 1.41258565e-01 -1.70498287e-03 9.89971268e-01 1.08306775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:202.01, Z:108.31 [[ 9.21558947e-01 3.65526420e-01 -1.30841674e-01 2.55676886e+02] [-3.61647369e-01 9.30799503e-01 5.31362900e-02 2.02014672e+02] [ 1.41210083e-01 -1.64967639e-03 9.89978278e-01 1.08310557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:255.71, Y:202.00, Z:108.31 [[ 9.21431427e-01 3.65808054e-01 -1.30952635e-01 2.55707293e+02] [-3.61919788e-01 9.30688866e-01 5.32193633e-02 2.02002814e+02] [ 1.41344231e-01 -1.64364379e-03 9.89959144e-01 1.08314167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.960385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:255.74, Y:201.99, Z:108.32 [[ 9.21926451e-01 3.64669677e-01 -1.30643196e-01 2.55737465e+02] [-3.60782591e-01 9.31135110e-01 5.31350001e-02 2.01991480e+02] [ 1.41023190e-01 -1.85277126e-03 9.90004559e-01 1.08316073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.77, Y:201.98, Z:108.32 [[ 9.21943844e-01 3.64558966e-01 -1.30829311e-01 2.55767726e+02] [-3.60926736e-01 9.31180299e-01 5.13336427e-02 2.01979337e+02] [ 1.40539816e-01 -1.06939760e-04 9.90075022e-01 1.08321576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.80, Y:201.97, Z:108.32 [[ 9.22999293e-01 3.62673826e-01 -1.28607938e-01 2.55799111e+02] [-3.60238627e-01 9.31889410e-01 4.25471429e-02 2.01971076e+02] [ 1.35279111e-01 7.05856418e-03 9.90782387e-01 1.08318826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:201.95, Z:108.33 [[ 9.22910462e-01 3.64000709e-01 -1.25458208e-01 2.55826928e+02] [-3.60441712e-01 9.31397178e-01 5.08042243e-02 2.01954964e+02] [ 1.35344195e-01 -1.66737892e-03 9.90797239e-01 1.08326136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.86, Y:201.94, Z:108.34 [[ 9.22016274e-01 3.64308881e-01 -1.31015377e-01 2.55856526e+02] [-3.60520023e-01 9.31277531e-01 5.24163426e-02 2.01942284e+02] [ 1.41107416e-01 -1.09505426e-03 9.89993686e-01 1.08335115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.110385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:255.88, Y:201.93, Z:108.34 [[ 9.22292971e-01 3.66184534e-01 -1.23630750e-01 2.55882328e+02] [-3.60889913e-01 9.30436077e-01 6.36174336e-02 2.01925985e+02] [ 1.38326230e-01 -1.40568213e-02 9.90286958e-01 1.08342995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:201.92, Z:108.34 [[ 9.21743916e-01 3.66124704e-01 -1.27831356e-01 2.55915734e+02] [-3.62392448e-01 9.30564121e-01 5.21740442e-02 2.01919238e+02] [ 1.38057479e-01 -1.76598986e-03 9.90422644e-01 1.08343328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.170385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:255.95, Y:201.91, Z:108.35 [[ 9.21449588e-01 3.66599291e-01 -1.28590886e-01 2.55946495e+02] [-3.62821243e-01 9.30377301e-01 5.25245134e-02 2.01907202e+02] [ 1.38893491e-01 -1.74318601e-03 9.90305791e-01 1.08345643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:255.98, Y:201.89, Z:108.35 [[ 9.20601550e-01 3.69059322e-01 -1.27624460e-01 2.55975588e+02] [-3.65356058e-01 9.29404787e-01 5.21698420e-02 2.01894537e+02] [ 1.37868550e-01 -1.39926800e-03 9.90449547e-01 1.08351291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:256.01, Y:201.89, Z:108.35 [[ 9.19444945e-01 3.69560186e-01 -1.34336376e-01 2.56006779e+02] [-3.67021542e-01 9.29165681e-01 4.41171638e-02 2.01887259e+02] [ 1.41124697e-01 8.74104049e-03 9.89953238e-01 1.08350801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:201.87, Z:108.36 [[ 9.19872466e-01 3.72243432e-01 -1.23569709e-01 2.56033092e+02] [-3.67367431e-01 9.28073242e-01 6.10018747e-02 2.01866218e+02] [ 1.37389287e-01 -1.07184584e-02 9.90459135e-01 1.08361872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:201.86, Z:108.36 [[ 9.19275497e-01 3.72254341e-01 -1.27903343e-01 2.56064202e+02] [-3.68552783e-01 9.28130211e-01 5.23751576e-02 2.01857311e+02] [ 1.38207837e-01 -1.00806601e-03 9.90402735e-01 1.08361796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.320385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:256.09, Y:201.84, Z:108.37 [[ 9.19086360e-01 3.72749240e-01 -1.27821228e-01 2.56094004e+02] [-3.69052122e-01 9.27931608e-01 5.23780781e-02 2.01843875e+02] [ 1.38133246e-01 -9.67281946e-04 9.90413182e-01 1.08365903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.12, Y:201.83, Z:108.37 [[ 9.18962478e-01 3.73046490e-01 -1.27844755e-01 2.56123506e+02] [-3.69345456e-01 9.27812156e-01 5.24264995e-02 2.01829968e+02] [ 1.38173439e-01 -9.59106619e-04 9.90407583e-01 1.08369938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.380385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:256.15, Y:201.82, Z:108.37 [[ 9.19040661e-01 3.72678309e-01 -1.28355529e-01 2.56153606e+02] [-3.68938390e-01 9.27960001e-01 5.26754228e-02 2.01816968e+02] [ 1.38739784e-01 -1.05557331e-03 9.90328308e-01 1.08372798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:201.80, Z:108.38 [[ 9.19145139e-01 3.72921571e-01 -1.26892531e-01 2.56182103e+02] [-3.69263757e-01 9.27862281e-01 5.21139608e-02 2.01802646e+02] [ 1.37173213e-01 -1.04348106e-03 9.90546526e-01 1.08378001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:201.79, Z:108.38 [[ 9.19225699e-01 3.72929894e-01 -1.26283053e-01 2.56212134e+02] [-3.69302316e-01 9.27858904e-01 5.19004198e-02 2.01789158e+02] [ 1.36528073e-01 -1.07157570e-03 9.90635623e-01 1.08381771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.24, Y:201.78, Z:108.38 [[ 9.19373544e-01 3.72861541e-01 -1.25405578e-01 2.56241081e+02] [-3.69278585e-01 9.27886329e-01 5.15779731e-02 2.01775585e+02] [ 1.35593564e-01 -1.10982959e-03 9.90763924e-01 1.08384878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.27, Y:201.76, Z:108.39 [[ 9.19232400e-01 3.73261989e-01 -1.25248883e-01 2.56270723e+02] [-3.69686790e-01 9.27725344e-01 5.15496156e-02 2.01762009e+02] [ 1.35438075e-01 -1.08321940e-03 9.90785221e-01 1.08388999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.30, Y:201.75, Z:108.39 [[ 9.18968018e-01 3.74173587e-01 -1.24466494e-01 2.56299537e+02] [-3.70646318e-01 9.27358167e-01 5.12653606e-02 2.01747040e+02] [ 1.34607163e-01 -9.78179260e-04 9.90898559e-01 1.08393167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.560385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:256.33, Y:201.73, Z:108.40 [[ 9.18687762e-01 3.74981049e-01 -1.24104834e-01 2.56328000e+02] [-3.71476469e-01 9.27032046e-01 5.11548394e-02 2.01733676e+02] [ 1.34231253e-01 -8.93299343e-04 9.90949632e-01 1.08397133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.36, Y:201.72, Z:108.40 [[ 9.17971530e-01 3.76748260e-01 -1.24052488e-01 2.56357215e+02] [-3.73259226e-01 9.26315451e-01 5.11589182e-02 2.01719574e+02] [ 1.34185770e-01 -6.58694682e-04 9.90955976e-01 1.08400791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.39, Y:201.71, Z:108.40 [[ 9.17482013e-01 3.77941960e-01 -1.24042861e-01 2.56386760e+02] [-3.74459135e-01 9.25829144e-01 5.11932820e-02 2.01706528e+02] [ 1.34190585e-01 -5.19933095e-04 9.90955406e-01 1.08404324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.42, Y:201.69, Z:108.41 [[ 9.16430708e-01 3.80412333e-01 -1.24262684e-01 2.56415729e+02] [-3.76934474e-01 9.24816965e-01 5.13223445e-02 2.01691724e+02] [ 1.34443892e-01 -1.94482902e-04 9.90921189e-01 1.08407495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.680385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:256.45, Y:201.68, Z:108.41 [[ 9.15850977e-01 3.81279761e-01 -1.25867919e-01 2.56445055e+02] [-3.77713832e-01 9.24459698e-01 5.20243002e-02 2.01678399e+02] [ 1.36195631e-01 -1.04452219e-04 9.90681957e-01 1.08410801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:201.66, Z:108.42 [[ 9.14761781e-01 3.84263704e-01 -1.24708822e-01 2.56473473e+02] [-3.80786152e-01 9.23223328e-01 5.15809318e-02 2.01662009e+02] [ 1.34954773e-01 3.03127294e-04 9.90851713e-01 1.08416320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:201.65, Z:108.42 [[ 9.14416504e-01 3.85174890e-01 -1.24429744e-01 2.56502807e+02] [-3.81716331e-01 9.22843509e-01 5.15024277e-02 2.01648464e+02] [ 1.34666623e-01 4.02195268e-04 9.90890881e-01 1.08420062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:201.63, Z:108.42 [[ 9.14036724e-01 3.86217695e-01 -1.23986930e-01 2.56532421e+02] [-3.82790793e-01 9.22407505e-01 5.13381392e-02 2.01634337e+02] [ 1.34194173e-01 5.36110790e-04 9.90954912e-01 1.08423784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.800385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:256.56, Y:201.62, Z:108.43 [[ 9.13974805e-01 3.86248938e-01 -1.24345545e-01 2.56561400e+02] [-3.82796919e-01 9.22394440e-01 5.15268432e-02 2.01619275e+02] [ 1.34597828e-01 5.04855252e-04 9.90900182e-01 1.08427347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.59, Y:201.60, Z:108.43 [[ 9.13769142e-01 3.86981260e-01 -1.23577750e-01 2.56589791e+02] [-3.83573363e-01 9.22087402e-01 5.12474280e-02 2.01604636e+02] [ 1.33781280e-01 5.72814626e-04 9.91010717e-01 1.08432220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.62, Y:201.59, Z:108.44 [[ 9.14101568e-01 3.86621016e-01 -1.22239572e-01 2.56618650e+02] [-3.83280272e-01 9.22238553e-01 5.07176896e-02 2.01589445e+02] [ 1.32342570e-01 4.90896649e-04 9.91203916e-01 1.08436142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.65, Y:201.58, Z:108.43 [[ 9.15316271e-01 3.83474456e-01 -1.23058792e-01 2.56653031e+02] [-3.82140731e-01 9.23432981e-01 3.52135076e-02 2.01582623e+02] [ 1.27140028e-01 1.47942802e-02 9.91774441e-01 1.08426937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:256.67, Y:201.56, Z:108.45 [[ 9.14593549e-01 3.87594250e-01 -1.15279386e-01 2.56673091e+02] [-3.82555522e-01 9.21718082e-01 6.39300390e-02 2.01556560e+02] [ 1.31034010e-01 -1.43692354e-02 9.91273733e-01 1.08449674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.71, Y:201.55, Z:108.45 [[ 9.14615032e-01 3.86120259e-01 -1.19960367e-01 2.56705816e+02] [-3.82888183e-01 9.22448392e-01 4.98558343e-02 2.01547714e+02] [ 1.29907595e-01 3.32511353e-04 9.91526049e-01 1.08448167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.73, Y:201.53, Z:108.45 [[ 9.14661405e-01 3.86086724e-01 -1.19714478e-01 2.56734363e+02] [-3.82862487e-01 9.22462442e-01 4.97931613e-02 2.01534450e+02] [ 1.29656588e-01 2.90299729e-04 9.91558917e-01 1.08452162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.010385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:256.77, Y:201.53, Z:108.44 [[ 9.15908955e-01 3.82112686e-01 -1.22884832e-01 2.56768010e+02] [-3.80852344e-01 9.23991069e-01 3.45253052e-02 2.01526959e+02] [ 1.26737044e-01 1.51789399e-02 9.91820206e-01 1.08443057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:201.50, Z:108.47 [[ 9.15729411e-01 3.85005154e-01 -1.14937712e-01 2.56787067e+02] [-3.79888228e-01 9.22787296e-01 6.44091657e-02 2.01498462e+02] [ 1.30860921e-01 -1.53178837e-02 9.91282393e-01 1.08467267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.070385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:256.82, Y:201.49, Z:108.46 [[ 9.16237516e-01 3.81713589e-01 -1.21669841e-01 2.56820590e+02] [-3.78333153e-01 9.24280567e-01 5.06898323e-02 2.01492041e+02] [ 1.31806068e-01 -4.12191391e-04 9.91275436e-01 1.08463509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:201.48, Z:108.47 [[ 9.17129675e-01 3.79805299e-01 -1.20917715e-01 2.56850337e+02] [-3.76445015e-01 9.25066170e-01 5.04155900e-02 2.01478403e+02] [ 1.31004996e-01 -7.18762449e-04 9.91381448e-01 1.08468197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.130385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:256.88, Y:201.47, Z:108.47 [[ 9.17543589e-01 3.78750472e-01 -1.21086093e-01 2.56880357e+02] [-3.75366447e-01 9.25498383e-01 5.05249817e-02 2.01465574e+02] [ 1.31201344e-01 -9.07216372e-04 9.91355327e-01 1.08471448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.91, Y:201.45, Z:108.48 [[ 9.17998546e-01 3.77732160e-01 -1.20818398e-01 2.56909000e+02] [-3.74349221e-01 9.25914269e-01 5.04522203e-02 2.01452812e+02] [ 1.30924905e-01 -1.08679151e-03 9.91391693e-01 1.08476214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.190385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:256.94, Y:201.44, Z:108.48 [[ 9.18159804e-01 3.77244413e-01 -1.21116584e-01 2.56938622e+02] [-3.73835602e-01 9.26112968e-01 5.06133758e-02 2.01440794e+02] [ 1.31261253e-01 -1.19347592e-03 9.91347093e-01 1.08479494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:201.43, Z:108.48 [[ 9.18277498e-01 3.77036085e-01 -1.20872775e-01 2.56968258e+02] [-3.73634496e-01 9.26197721e-01 5.05474585e-02 2.01427811e+02] [ 1.31010305e-01 -1.25435534e-03 9.91380213e-01 1.08483860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.00, Y:201.41, Z:108.49 [[ 9.18314042e-01 3.76999543e-01 -1.20709012e-01 2.56998666e+02] [-3.73601866e-01 9.26212541e-01 5.05170629e-02 2.01414783e+02] [ 1.30847111e-01 -1.29341585e-03 9.91401715e-01 1.08488456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:257.03, Y:201.41, Z:108.48 [[ 9.19422509e-01 3.73779545e-01 -1.22274700e-01 2.57032270e+02] [-3.72012749e-01 9.27455916e-01 3.78422966e-02 2.01408892e+02] [ 1.27549070e-01 1.06946880e-02 9.91774601e-01 1.08482197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:257.05, Y:201.39, Z:108.50 [[ 9.18719946e-01 3.77895676e-01 -1.14666997e-01 2.57053964e+02] [-3.73118544e-01 9.25747456e-01 6.14345179e-02 2.01386545e+02] [ 1.29368519e-01 -1.36567339e-02 9.91502537e-01 1.08500855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.09, Y:201.38, Z:108.50 [[ 9.18491105e-01 3.76984672e-01 -1.19401203e-01 2.57087776e+02] [-3.73649348e-01 9.26218498e-01 5.00545566e-02 2.01380565e+02] [ 1.29461404e-01 -1.36048318e-03 9.91583529e-01 1.08498862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:257.12, Y:201.37, Z:108.50 [[ 9.18419442e-01 3.76985829e-01 -1.19947548e-01 2.57117000e+02] [-3.73614698e-01 9.26217964e-01 5.03223693e-02 2.01369009e+02] [ 1.30068393e-01 -1.40287561e-03 9.91504032e-01 1.08502042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:201.36, Z:108.51 [[ 9.18207812e-01 3.77363955e-01 -1.20377990e-01 2.57147410e+02] [-3.73966910e-01 9.26063993e-01 5.05394075e-02 2.01357227e+02] [ 1.30549473e-01 -1.38829374e-03 9.91440824e-01 1.08505967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.430385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:257.18, Y:201.35, Z:108.51 [[ 9.18399601e-01 3.76846548e-01 -1.20535690e-01 2.57178078e+02] [-3.73431058e-01 9.26274490e-01 5.06439928e-02 2.01345908e+02] [ 1.30734149e-01 -1.49965229e-03 9.91416327e-01 1.08509039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:257.21, Y:201.33, Z:108.51 [[ 9.18569249e-01 3.76582133e-01 -1.20068445e-01 2.57206859e+02] [-3.73185995e-01 9.26381910e-01 5.04853383e-02 2.01334156e+02] [ 1.30241112e-01 -1.56641716e-03 9.91481114e-01 1.08513675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.24, Y:201.32, Z:108.52 [[ 9.18823919e-01 3.76098477e-01 -1.19635033e-01 2.57236694e+02] [-3.72718235e-01 9.26578207e-01 5.03382901e-02 2.01321866e+02] [ 1.29783368e-01 -1.66186673e-03 9.91540980e-01 1.08517821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:201.31, Z:108.52 [[ 9.19434621e-01 3.74702365e-01 -1.19323578e-01 2.57267060e+02] [-3.71323195e-01 9.27143230e-01 5.02445524e-02 2.01310175e+02] [ 1.29456800e-01 -1.88896871e-03 9.91583264e-01 1.08522438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:257.30, Y:201.30, Z:108.53 [[ 9.19532007e-01 3.74434667e-01 -1.19413438e-01 2.57296610e+02] [-3.71043017e-01 9.27251217e-01 5.03215656e-02 2.01298399e+02] [ 1.29568394e-01 -1.96476805e-03 9.91568541e-01 1.08525953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.33, Y:201.29, Z:108.53 [[ 9.19627783e-01 3.74042734e-01 -1.19903188e-01 2.57326641e+02] [-3.70614935e-01 9.27409175e-01 5.05647307e-02 2.01286874e+02] [ 1.30112687e-01 -2.06281898e-03 9.91497067e-01 1.08529691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:201.27, Z:108.53 [[ 9.19645972e-01 3.73956761e-01 -1.20031773e-01 2.57357453e+02] [-3.70516082e-01 9.27443736e-01 5.06551994e-02 2.01274642e+02] [ 1.30265571e-01 -2.11114782e-03 9.91476890e-01 1.08533679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.39, Y:201.26, Z:108.54 [[ 9.19717019e-01 3.73889402e-01 -1.19696788e-01 2.57388306e+02] [-3.70462383e-01 9.27470803e-01 5.05522774e-02 2.01263180e+02] [ 1.29916236e-01 -2.15063273e-03 9.91522640e-01 1.08537543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.670385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:257.42, Y:201.25, Z:108.54 [[ 9.19853646e-01 3.73722777e-01 -1.19166083e-01 2.57418476e+02] [-3.70319849e-01 9.27537840e-01 5.03663019e-02 2.01252499e+02] [ 1.29354085e-01 -2.20006074e-03 9.91596027e-01 1.08540631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:257.45, Y:201.24, Z:108.54 [[ 9.19687413e-01 3.74010237e-01 -1.19546667e-01 2.57448867e+02] [-3.70705481e-01 9.27423629e-01 4.96272011e-02 2.01240794e+02] [ 1.29431485e-01 -1.32490772e-03 9.91587483e-01 1.08544062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:201.23, Z:108.55 [[ 9.19579439e-01 3.74792366e-01 -1.17916659e-01 2.57477777e+02] [-3.71333876e-01 9.27103895e-01 5.08873391e-02 2.01228725e+02] [ 1.28393180e-01 -3.00850074e-03 9.91718781e-01 1.08550184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.760385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:257.51, Y:201.22, Z:108.55 [[ 9.19090170e-01 3.76061523e-01 -1.17690231e-01 2.57509128e+02] [-3.72747406e-01 9.26592640e-01 4.98542908e-02 2.01218340e+02] [ 1.27799182e-01 -1.95186033e-03 9.91798144e-01 1.08554717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.54, Y:201.21, Z:108.56 [[ 9.18482919e-01 3.77573339e-01 -1.17590398e-01 2.57538930e+02] [-3.74272309e-01 9.25977981e-01 4.98499515e-02 2.01208182e+02] [ 1.27708132e-01 -1.77549930e-03 9.91810204e-01 1.08558911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:257.57, Y:201.20, Z:108.56 [[ 9.18243242e-01 3.78201300e-01 -1.17444138e-01 2.57569930e+02] [-3.74909073e-01 9.25721784e-01 4.98233438e-02 2.01196902e+02] [ 1.27563850e-01 -1.71907596e-03 9.91828871e-01 1.08562425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.850385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:257.60, Y:201.19, Z:108.57 [[ 9.17548164e-01 3.79764381e-01 -1.17832003e-01 2.57601084e+02] [-3.76458232e-01 9.25081962e-01 5.00256272e-02 2.01188423e+02] [ 1.28002212e-01 -1.54209485e-03 9.91772683e-01 1.08565488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.63, Y:201.18, Z:108.57 [[ 9.16940610e-01 3.81097927e-01 -1.18255180e-01 2.57630638e+02] [-3.77775785e-01 9.24533643e-01 5.02294744e-02 2.01177709e+02] [ 1.28473241e-01 -1.38350159e-03 9.91712011e-01 1.08571458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.910385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:257.66, Y:201.17, Z:108.57 [[ 9.16706554e-01 3.81561509e-01 -1.18574485e-01 2.57661675e+02] [-3.78220589e-01 9.24342457e-01 5.04004692e-02 2.01166318e+02] [ 1.28834310e-01 -1.35512877e-03 9.91665208e-01 1.08573185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.69, Y:201.15, Z:108.59 [[ 9.15359334e-01 3.85334584e-01 -1.16767070e-01 2.57688481e+02] [-3.80452518e-01 9.22688865e-01 6.24591022e-02 2.01150022e+02] [ 1.31807328e-01 -1.27481962e-02 9.91193378e-01 1.08587375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.72, Y:201.14, Z:108.59 [[ 9.15254790e-01 3.84243167e-01 -1.21102675e-01 2.57721608e+02] [-3.80737450e-01 9.23231004e-01 5.18025744e-02 2.01141922e+02] [ 1.31710529e-01 -1.30423080e-03 9.91287363e-01 1.08587039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:201.13, Z:108.59 [[ 9.15342782e-01 3.83759184e-01 -1.21969180e-01 2.57755291e+02] [-3.80942942e-01 9.23425223e-01 4.65653580e-02 2.01134120e+02] [ 1.30499302e-01 3.84003404e-03 9.91440965e-01 1.08588260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.030385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:257.78, Y:201.13, Z:108.59 [[ 9.15977539e-01 3.82828190e-01 -1.20115470e-01 2.57783119e+02] [-3.80024619e-01 9.23814065e-01 4.63558215e-02 2.01126305e+02] [ 1.28710676e-01 3.18594425e-03 9.91677070e-01 1.08589738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.060385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:257.81, Y:201.11, Z:108.60 [[ 9.15919195e-01 3.83565305e-01 -1.18193418e-01 2.57811936e+02] [-3.80249748e-01 9.23513025e-01 5.03370842e-02 2.01114440e+02] [ 1.28460720e-01 -1.16168428e-03 9.91713917e-01 1.08598148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.090385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:257.84, Y:201.10, Z:108.60 [[ 9.16184720e-01 3.83075251e-01 -1.17723876e-01 2.57842707e+02] [-3.79777349e-01 9.23716280e-01 5.01736881e-02 2.01103372e+02] [ 1.27963759e-01 -1.25950459e-03 9.91778045e-01 1.08600302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12038572299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:257.87, Y:201.09, Z:108.61 [[ 9.16259526e-01 3.82909251e-01 -1.17681715e-01 2.57872852e+02] [-3.79607316e-01 9.23785022e-01 5.01948047e-02 2.01092304e+02] [ 1.27932661e-01 -1.31862791e-03 9.91781980e-01 1.08605148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.150385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:257.90, Y:201.08, Z:108.61 [[ 9.16693229e-01 3.81823607e-01 -1.17831478e-01 2.57903004e+02] [-3.78499255e-01 9.24233984e-01 5.02976755e-02 2.01083247e+02] [ 1.28108696e-01 -1.50841210e-03 9.91758986e-01 1.08611069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.180385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:257.93, Y:201.07, Z:108.61 [[ 9.17067970e-01 3.81058561e-01 -1.17391272e-01 2.57934528e+02] [-3.77748209e-01 9.24549444e-01 5.01459545e-02 2.01072027e+02] [ 1.27642581e-01 -1.64290589e-03 9.91818871e-01 1.08613072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.97, Y:201.06, Z:108.62 [[ 9.17073129e-01 3.81059500e-01 -1.17347914e-01 2.57966039e+02] [-3.77746723e-01 9.24548995e-01 5.01654211e-02 2.01063235e+02] [ 1.27609907e-01 -1.67756949e-03 9.91823017e-01 1.08619080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.00, Y:201.05, Z:108.62 [[ 9.16968300e-01 3.81336209e-01 -1.17268208e-01 2.57996210e+02] [-3.78025324e-01 9.24434906e-01 5.01693022e-02 2.01052673e+02] [ 1.27538196e-01 -1.67330753e-03 9.91832248e-01 1.08622689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.270385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:258.03, Y:201.04, Z:108.63 [[ 9.16599153e-01 3.82061807e-01 -1.17791208e-01 2.58028102e+02] [-3.78722522e-01 9.24135366e-01 5.04289306e-02 2.01043038e+02] [ 1.28121989e-01 -1.61293179e-03 9.91757105e-01 1.08627087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.300385723 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:258.06, Y:201.03, Z:108.63 [[ 9.16556943e-01 3.82178666e-01 -1.17740551e-01 2.58058121e+02] [-3.78838312e-01 9.24087012e-01 5.04452957e-02 2.01032339e+02] [ 1.28081630e-01 -1.63135450e-03 9.91762287e-01 1.08628512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.330385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:258.09, Y:201.02, Z:108.63 [[ 9.16694678e-01 3.81544859e-01 -1.18719787e-01 2.58088527e+02] [-3.78138462e-01 9.24348633e-01 5.09009719e-02 2.01023271e+02] [ 1.29159477e-01 -1.76813245e-03 9.91622258e-01 1.08632496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.12, Y:201.02, Z:108.63 [[ 9.17389559e-01 3.78882131e-01 -1.21838943e-01 2.58123424e+02] [-3.77127789e-01 9.25379107e-01 3.80544317e-02 2.01016851e+02] [ 1.27165357e-01 1.10381131e-02 9.91820111e-01 1.08628243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.15, Y:201.00, Z:108.65 [[ 9.17548589e-01 3.80970767e-01 -1.13867740e-01 2.58145744e+02] [-3.75948751e-01 9.24456659e-01 6.35800485e-02 2.00998215e+02] [ 1.29487930e-01 -1.55293492e-02 9.91459387e-01 1.08645904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.420385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:258.18, Y:200.99, Z:108.64 [[ 9.17701913e-01 3.79024608e-01 -1.19010694e-01 2.58179764e+02] [-3.75570467e-01 9.25383981e-01 5.11009961e-02 2.00993038e+02] [ 1.29499125e-01 -2.19857990e-03 9.91577099e-01 1.08644413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.450385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:258.21, Y:200.98, Z:108.65 [[ 9.17892763e-01 3.78537967e-01 -1.19087715e-01 2.58210878e+02] [-3.75070218e-01 9.25582895e-01 5.11726104e-02 2.00983934e+02] [ 1.29596328e-01 -2.30471371e-03 9.91564158e-01 1.08649485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:258.24, Y:200.98, Z:108.65 [[ 9.17736999e-01 3.77670913e-01 -1.22977566e-01 2.58244792e+02] [-3.75433119e-01 9.25906889e-01 4.17900265e-02 2.00975903e+02] [ 1.29648653e-01 7.81759779e-03 9.91529179e-01 1.08648941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.27, Y:200.96, Z:108.66 [[ 9.17988687e-01 3.78994250e-01 -1.16876558e-01 2.58273193e+02] [-3.75011014e-01 9.25373505e-01 5.52323760e-02 2.00960269e+02] [ 1.29087223e-01 -6.87269992e-03 9.91609427e-01 1.08659532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:200.95, Z:108.66 [[ 9.17917214e-01 3.78702758e-01 -1.18373181e-01 2.58303720e+02] [-3.75275417e-01 9.25515528e-01 5.08858407e-02 2.00952073e+02] [ 1.28826825e-01 -2.28644426e-03 9.91664470e-01 1.08661848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:200.94, Z:108.67 [[ 9.16702279e-01 3.82383230e-01 -1.15931002e-01 2.58333090e+02] [-3.77451971e-01 9.23901450e-01 6.27385174e-02 2.00936802e+02] [ 1.31098978e-01 -1.37541567e-02 9.91273868e-01 1.08674647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.36, Y:200.94, Z:108.67 [[ 9.16789652e-01 3.80452845e-01 -1.21459321e-01 2.58364060e+02] [-3.77615492e-01 9.24794637e-01 4.64910791e-02 2.00937148e+02] [ 1.30012592e-01 3.24238100e-03 9.91507041e-01 1.08671884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.40, Y:200.93, Z:108.67 [[ 9.16701011e-01 3.80840418e-01 -1.20912500e-01 2.58396653e+02] [-3.78626867e-01 9.24609868e-01 4.16927673e-02 2.00928707e+02] [ 1.27675181e-01 7.56091909e-03 9.91787215e-01 1.08671283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.660385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.42, Y:200.91, Z:108.69 [[ 9.15990701e-01 3.84237782e-01 -1.15422539e-01 2.58419690e+02] [-3.79275653e-01 9.23127170e-01 6.31364199e-02 2.00909229e+02] [ 1.30809080e-01 -1.40554145e-02 9.91307939e-01 1.08687057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:200.90, Z:108.69 [[ 9.15602141e-01 3.83656041e-01 -1.20336040e-01 2.58453407e+02] [-3.80133179e-01 9.23474352e-01 5.19026701e-02 2.00903149e+02] [ 1.31040019e-01 -1.77847454e-03 9.91375484e-01 1.08687473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:200.89, Z:108.69 [[ 9.15029738e-01 3.85110249e-01 -1.20044468e-01 2.58483646e+02] [-3.81611775e-01 9.22869182e-01 5.18162787e-02 2.00893558e+02] [ 1.30740320e-01 -1.60305355e-03 9.91415351e-01 1.08691482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:200.88, Z:108.70 [[ 9.14650153e-01 3.86065570e-01 -1.19868568e-01 2.58514705e+02] [-3.82580706e-01 9.22470124e-01 5.17771471e-02 2.00883267e+02] [ 1.30564547e-01 -1.49857421e-03 9.91438679e-01 1.08695113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:200.87, Z:108.70 [[ 9.14523562e-01 3.86278551e-01 -1.20147975e-01 2.58545094e+02] [-3.82774044e-01 9.22380945e-01 5.19367275e-02 2.00871483e+02] [ 1.30884247e-01 -1.50783461e-03 9.91396510e-01 1.08698654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:200.86, Z:108.70 [[ 9.14225896e-01 3.87147130e-01 -1.19616514e-01 2.58572021e+02] [-3.83676184e-01 9.22016868e-01 5.17443766e-02 2.00860643e+02] [ 1.30321130e-01 -1.41204155e-03 9.91470831e-01 1.08701697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.60, Y:200.85, Z:108.71 [[ 9.14661657e-01 3.85593497e-01 -1.21291831e-01 2.58600082e+02] [-3.82011314e-01 9.22667290e-01 5.24635930e-02 2.00851257e+02] [ 1.32141625e-01 -1.65158531e-03 9.91229471e-01 1.08705998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.63, Y:200.84, Z:108.71 [[ 9.14642373e-01 3.85600581e-01 -1.21414667e-01 2.58630976e+02] [-3.82011588e-01 9.22664333e-01 5.25135669e-02 2.00839309e+02] [ 1.32274244e-01 -1.64932377e-03 9.91211786e-01 1.08710023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:200.83, Z:108.71 [[ 9.14576360e-01 3.85691481e-01 -1.21623038e-01 2.58660783e+02] [-3.82085577e-01 9.22626291e-01 5.26435154e-02 2.00828394e+02] [ 1.32516768e-01 -1.67610607e-03 9.91179347e-01 1.08714065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.930385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:258.69, Y:200.82, Z:108.72 [[ 9.14384576e-01 3.86279132e-01 -1.21199338e-01 2.58690916e+02] [-3.82698629e-01 9.22380512e-01 5.24971532e-02 2.00816049e+02] [ 1.32070462e-01 -1.61976662e-03 9.91239007e-01 1.08718184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.72, Y:200.80, Z:108.72 [[ 9.14170702e-01 3.86818460e-01 -1.21092555e-01 2.58721341e+02] [-3.83243760e-01 9.22154538e-01 5.24902708e-02 2.00803788e+02] [ 1.31970255e-01 -1.57710165e-03 9.91252422e-01 1.08722232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.75, Y:200.80, Z:108.72 [[ 9.15100493e-01 3.84450527e-01 -1.21609539e-01 2.58754991e+02] [-3.82529218e-01 9.23089496e-01 3.97137208e-02 2.00799298e+02] [ 1.27524449e-01 1.01771562e-02 9.91783213e-01 1.08716202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:200.78, Z:108.73 [[ 9.13607843e-01 3.89780926e-01 -1.15721821e-01 2.58778619e+02] [-3.84897120e-01 9.20817656e-01 6.28414830e-02 2.00775473e+02] [ 1.31053108e-01 -1.28714760e-02 9.91291788e-01 1.08734489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.81, Y:200.77, Z:108.74 [[ 9.12955217e-01 3.90056296e-01 -1.19870174e-01 2.58810489e+02] [-3.86565791e-01 9.20790218e-01 5.20793996e-02 2.00768287e+02] [ 1.30689181e-01 -1.20845094e-03 9.91422653e-01 1.08735239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:200.76, Z:108.74 [[ 9.12370044e-01 3.91148961e-01 -1.20761724e-01 2.58839482e+02] [-3.87856314e-01 9.20327169e-01 5.06496043e-02 2.00756742e+02] [ 1.30951836e-01 6.27015521e-04 9.91388533e-01 1.08738300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:200.74, Z:108.74 [[ 9.11678845e-01 3.93295240e-01 -1.18998061e-01 2.58867007e+02] [-3.89650120e-01 9.19409140e-01 5.34753922e-02 2.00743780e+02] [ 1.30439522e-01 -2.38477519e-03 9.91453400e-01 1.08743412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:200.73, Z:108.75 [[ 9.10815701e-01 3.94753199e-01 -1.20767009e-01 2.58896137e+02] [-3.91504835e-01 9.18786364e-01 5.05527616e-02 2.00733133e+02] [ 1.30914946e-01 1.23661902e-03 9.91392832e-01 1.08746283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:200.72, Z:108.75 [[ 9.09590024e-01 3.97585062e-01 -1.20714986e-01 2.58925021e+02] [-3.94200603e-01 9.17565186e-01 5.17688434e-02 2.00719487e+02] [ 1.31346387e-01 4.97496657e-04 9.91336411e-01 1.08750315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:200.71, Z:108.76 [[ 9.09449398e-01 3.98188753e-01 -1.19781091e-01 2.58953119e+02] [-3.94468483e-01 9.17300922e-01 5.43473601e-02 2.00705413e+02] [ 1.31515813e-01 -2.17630857e-03 9.91311684e-01 1.08755215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:258.98, Y:200.69, Z:108.76 [[ 9.08766345e-01 3.99191237e-01 -1.21614504e-01 2.58983029e+02] [-3.95657491e-01 9.16867686e-01 5.29980706e-02 2.00691695e+02] [ 1.32660775e-01 -4.51732452e-05 9.91161499e-01 1.08758527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:200.68, Z:108.76 [[ 9.08511058e-01 3.99609796e-01 -1.22146093e-01 2.59011595e+02] [-3.96043154e-01 9.16685339e-01 5.32710967e-02 2.00678351e+02] [ 1.33257185e-01 -2.22564202e-05 9.91081491e-01 1.08762421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:200.66, Z:108.77 [[ 9.08212425e-01 4.00088316e-01 -1.22798738e-01 2.59041415e+02] [-3.96482359e-01 9.16476590e-01 5.35947746e-02 2.00664602e+02] [ 1.33984811e-01 1.20929661e-05 9.90983385e-01 1.08766583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.320385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.07, Y:200.65, Z:108.77 [[ 9.08045870e-01 4.00281050e-01 -1.23400887e-01 2.59069642e+02] [-3.96635593e-01 9.16392428e-01 5.38992146e-02 2.00650604e+02] [ 1.34658473e-01 2.22475768e-06 9.90892071e-01 1.08769957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.10, Y:200.64, Z:108.77 [[ 9.08157678e-01 4.00066757e-01 -1.23272955e-01 2.59098053e+02] [-3.96421762e-01 9.16485999e-01 5.38813552e-02 2.00636279e+02] [ 1.34534076e-01 -6.46842904e-05 9.90908966e-01 1.08774370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:200.62, Z:108.78 [[ 9.08249738e-01 3.99163161e-01 -1.25503721e-01 2.59128934e+02] [-3.96116045e-01 9.16867387e-01 4.94598118e-02 2.00624638e+02] [ 1.34812804e-01 4.79217653e-03 9.90859497e-01 1.08777388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:200.61, Z:108.78 [[ 9.08501768e-01 4.00238651e-01 -1.20139751e-01 2.59155824e+02] [-3.96036047e-01 9.16396270e-01 5.80803384e-02 2.00606835e+02] [ 1.33341616e-01 -5.18641797e-03 9.91056565e-01 1.08784742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:200.59, Z:108.79 [[ 9.09446577e-01 3.97513250e-01 -1.22025160e-01 2.59185314e+02] [-3.93909804e-01 9.17596297e-01 5.34050783e-02 2.00593746e+02] [ 1.33199061e-01 -5.02158664e-04 9.91089178e-01 1.08787683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.470385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:259.22, Y:200.58, Z:108.79 [[ 9.09919008e-01 3.95441579e-01 -1.25193279e-01 2.59216048e+02] [-3.92316825e-01 9.18483121e-01 4.97620954e-02 2.00580971e+02] [ 1.34665915e-01 3.83595305e-03 9.90883634e-01 1.08789767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.24, Y:200.56, Z:108.80 [[ 9.11143988e-01 3.94012484e-01 -1.20709550e-01 2.59240965e+02] [-3.89749825e-01 9.19086208e-01 5.81000492e-02 2.00561717e+02] [ 1.33834627e-01 -5.89098467e-03 9.90986170e-01 1.08796968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.27, Y:200.55, Z:108.80 [[ 9.11438972e-01 3.92715744e-01 -1.22692074e-01 2.59270992e+02] [-3.89017410e-01 9.19659000e-01 5.37845629e-02 2.00549504e+02] [ 1.33956915e-01 -1.29199386e-03 9.90986315e-01 1.08799646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.560385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.30, Y:200.53, Z:108.80 [[ 9.11928036e-01 3.91904871e-01 -1.21646331e-01 2.59299914e+02] [-3.88257043e-01 9.20004625e-01 5.33662675e-02 2.00534963e+02] [ 1.32829687e-01 -1.43615089e-03 9.91137837e-01 1.08803844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.590385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.33, Y:200.53, Z:108.80 [[ 9.11314188e-01 3.89951034e-01 -1.32078164e-01 2.59331185e+02] [-3.88626240e-01 9.20662648e-01 3.67414593e-02 2.00530630e+02] [ 1.35926802e-01 1.78460270e-02 9.90558138e-01 1.08800667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.35, Y:200.50, Z:108.82 [[ 9.11521766e-01 3.94838868e-01 -1.15023209e-01 2.59352543e+02] [-3.89342894e-01 9.18592343e-01 6.78249056e-02 2.00501832e+02] [ 1.32439348e-01 -1.70404086e-02 9.91044622e-01 1.08815258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.650385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:259.38, Y:200.49, Z:108.81 [[ 9.11008977e-01 3.94440576e-01 -1.20329865e-01 2.59384480e+02] [-3.90331334e-01 9.18908050e-01 5.70038979e-02 2.00492680e+02] [ 1.33056732e-01 -4.96254611e-03 9.91095999e-01 1.08814382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.680385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:259.42, Y:200.48, Z:108.81 [[ 9.09879307e-01 3.95027727e-01 -1.26778320e-01 2.59416447e+02] [-3.92185758e-01 9.18647572e-01 4.77175988e-02 2.00482476e+02] [ 1.35314370e-01 6.30339558e-03 9.90782665e-01 1.08814077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:200.46, Z:108.82 [[ 9.09416732e-01 3.97884436e-01 -1.21033811e-01 2.59441537e+02] [-3.93668003e-01 9.17421395e-01 5.79955786e-02 2.00464392e+02] [ 1.34114546e-01 -5.09501094e-03 9.90952738e-01 1.08822337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:200.45, Z:108.82 [[ 9.08490421e-01 3.98981880e-01 -1.24332674e-01 2.59472078e+02] [-3.95458372e-01 9.16958160e-01 5.29188954e-02 2.00453655e+02] [ 1.35121541e-01 1.09208731e-03 9.90828430e-01 1.08823576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.770385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.50, Y:200.44, Z:108.83 [[ 9.09968698e-01 3.96749503e-01 -1.20610118e-01 2.59497235e+02] [-3.92364110e-01 9.17903645e-01 5.91887098e-02 2.00443594e+02] [ 1.34191558e-01 -6.53679164e-03 9.90933851e-01 1.08826864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:200.43, Z:108.83 [[ 9.09236062e-01 3.97245591e-01 -1.24441653e-01 2.59527537e+02] [-3.93794506e-01 9.17711149e-01 5.22698117e-02 2.00433815e+02] [ 1.34965445e-01 1.47884173e-03 9.90849202e-01 1.08830732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.55, Y:200.42, Z:108.84 [[ 9.08150634e-01 4.01499652e-01 -1.18576793e-01 2.59552962e+02] [-3.97063163e-01 9.15829387e-01 5.99781532e-02 2.00415840e+02] [ 1.32677319e-01 -7.38672132e-03 9.91131760e-01 1.08839084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.58, Y:200.41, Z:108.84 [[ 9.07943509e-01 4.00971226e-01 -1.21904310e-01 2.59584211e+02] [-3.97576588e-01 9.16089886e-01 5.20785702e-02 2.00406447e+02] [ 1.32557313e-01 1.18189966e-03 9.91174637e-01 1.08840458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:200.39, Z:108.84 [[ 9.05819845e-01 4.05183989e-01 -1.23759217e-01 2.59616837e+02] [-4.02980088e-01 9.14175068e-01 4.34855617e-02 2.00389792e+02] [ 1.30757244e-01 1.04824155e-02 9.91358998e-01 1.08841224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.64, Y:200.38, Z:108.85 [[ 9.07149534e-01 4.03781022e-01 -1.18493079e-01 2.59640523e+02] [-4.00273354e-01 9.14855356e-01 5.31123387e-02 2.00378391e+02] [ 1.29849782e-01 -7.51211292e-04 9.91533393e-01 1.08845600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.950385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.67, Y:200.36, Z:108.85 [[ 9.04333483e-01 4.08200629e-01 -1.24712464e-01 2.59674289e+02] [-4.05862053e-01 9.12836233e-01 4.47884685e-02 2.00362341e+02] [ 1.32124737e-01 1.01123448e-02 9.91181514e-01 1.08848480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.980385723 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:259.70, Y:200.35, Z:108.85 [[ 9.05124456e-01 4.08499895e-01 -1.17803035e-01 2.59696740e+02] [-4.04054871e-01 9.12730087e-01 6.05264423e-02 2.00347662e+02] [ 1.32247419e-01 -7.18507322e-03 9.91190696e-01 1.08854014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.010385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:259.73, Y:200.33, Z:108.86 [[ 9.02707357e-01 4.12755309e-01 -1.21459799e-01 2.59730086e+02] [-4.09639322e-01 9.10833508e-01 5.07734814e-02 2.00331552e+02] [ 1.31586679e-01 3.92111463e-03 9.91296914e-01 1.08856572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.040385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.76, Y:200.32, Z:108.86 [[ 9.01673318e-01 4.15533439e-01 -1.19654457e-01 2.59758687e+02] [-4.12125026e-01 9.09576817e-01 5.31316889e-02 2.00315269e+02] [ 1.30912914e-01 1.40516998e-03 9.91392876e-01 1.08862875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.070385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.78, Y:200.31, Z:108.86 [[ 9.03166659e-01 4.12555925e-01 -1.18691178e-01 2.59784970e+02] [-4.09160224e-01 9.10931879e-01 5.28301397e-02 2.00308171e+02] [ 1.29914965e-01 8.49288178e-04 9.91524776e-01 1.08864128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.100385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.82, Y:200.29, Z:108.87 [[ 9.00252025e-01 4.18019377e-01 -1.21680290e-01 2.59815488e+02] [-4.14828045e-01 9.08429612e-01 5.17042867e-02 2.00285682e+02] [ 1.32151372e-01 3.92950788e-03 9.91221758e-01 1.08870278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:200.28, Z:108.87 [[ 9.02281237e-01 4.14432664e-01 -1.18887076e-01 2.59840401e+02] [-4.10818080e-01 9.10079872e-01 5.46180466e-02 2.00277205e+02] [ 1.30832238e-01 -4.39878146e-04 9.91404424e-01 1.08873490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.160385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:259.87, Y:200.26, Z:108.88 [[ 9.01226392e-01 4.16041157e-01 -1.21246635e-01 2.59867374e+02] [-4.11560420e-01 9.09331040e-01 6.11153043e-02 2.00258968e+02] [ 1.35679810e-01 -5.17840931e-03 9.90739205e-01 1.08880999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.90, Y:200.25, Z:108.88 [[ 9.01678280e-01 4.14619084e-01 -1.22748905e-01 2.59896320e+02] [-4.11139102e-01 9.09992653e-01 5.36470922e-02 2.00246683e+02] [ 1.33943710e-01 2.09445679e-03 9.90986728e-01 1.08882555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:200.23, Z:108.89 [[ 9.02486869e-01 4.12707449e-01 -1.23247772e-01 2.59925120e+02] [-4.09171471e-01 9.10861950e-01 5.39371403e-02 2.00228090e+02] [ 1.34521966e-01 1.75191147e-03 9.90909063e-01 1.08887202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.250385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:259.95, Y:200.21, Z:108.89 [[ 9.02624234e-01 4.11305575e-01 -1.26874801e-01 2.59954126e+02] [-4.08185990e-01 9.11478768e-01 5.08984642e-02 2.00214709e+02] [ 1.36578509e-01 5.84632896e-03 9.90611998e-01 1.08889633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:200.20, Z:108.90 [[ 9.02407892e-01 4.13456892e-01 -1.21298782e-01 2.59978696e+02] [-4.09106431e-01 9.10512515e-01 5.99907315e-02 2.00195380e+02] [ 1.35247641e-01 -4.51199772e-03 9.90801553e-01 1.08899783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:200.19, Z:108.89 [[ 9.04055799e-01 4.08892715e-01 -1.24458265e-01 2.60011679e+02] [-4.07333908e-01 9.12450376e-01 3.89024362e-02 2.00189461e+02] [ 1.29468913e-01 1.55260983e-02 9.91461921e-01 1.08891996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:200.17, Z:108.90 [[ 9.01861884e-01 4.13555909e-01 -1.24966606e-01 2.60041342e+02] [-4.11530392e-01 9.10388814e-01 4.28362347e-02 2.00165841e+02] [ 1.31483378e-01 1.27951892e-02 9.91235797e-01 1.08898985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:200.14, Z:108.91 [[ 9.02431140e-01 4.15422602e-01 -1.14202008e-01 2.60063349e+02] [-4.11176223e-01 9.09602618e-01 5.96421954e-02 2.00140846e+02] [ 1.28655162e-01 -6.86582402e-03 9.91665624e-01 1.08909781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.400385723 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:260.10, Y:200.13, Z:108.90 [[ 9.02452091e-01 4.13807981e-01 -1.19763014e-01 2.60096008e+02] [-4.11662233e-01 9.10306845e-01 4.33088196e-02 2.00132101e+02] [ 1.26942627e-01 1.02177751e-02 9.91857433e-01 1.08904396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.12, Y:200.11, Z:108.92 [[ 9.01508767e-01 4.15745243e-01 -1.20157542e-01 2.60117485e+02] [-4.11557672e-01 9.09473521e-01 5.89762436e-02 2.00109887e+02] [ 1.33799195e-01 -3.71584244e-03 9.91001497e-01 1.08917875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.460385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:260.15, Y:200.09, Z:108.92 [[ 9.02120059e-01 4.15060001e-01 -1.17917744e-01 2.60146043e+02] [-4.10538507e-01 9.09766521e-01 6.15061874e-02 2.00092518e+02] [ 1.32806374e-01 -7.07619090e-03 9.91116741e-01 1.08921385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:200.09, Z:108.92 [[ 9.04169466e-01 4.10247909e-01 -1.19055571e-01 2.60172893e+02] [-4.06491536e-01 9.11972438e-01 5.54157232e-02 2.00086676e+02] [ 1.31309584e-01 -1.71012302e-03 9.91339936e-01 1.08922873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:200.07, Z:108.93 [[ 9.03096087e-01 4.12138640e-01 -1.20661502e-01 2.60202969e+02] [-4.09065306e-01 9.11112988e-01 5.03855076e-02 2.00065467e+02] [ 1.30702076e-01 3.85547940e-03 9.91414193e-01 1.08927786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.550385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.23, Y:200.05, Z:108.93 [[ 9.03889466e-01 4.10950623e-01 -1.18757813e-01 2.60230749e+02] [-4.07451677e-01 9.11657603e-01 5.35121058e-02 2.00046813e+02] [ 1.30257296e-01 1.90411266e-05 9.91480225e-01 1.08933041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:260.26, Y:200.03, Z:108.94 [[ 9.04146151e-01 4.10316588e-01 -1.18995948e-01 2.60258412e+02] [-4.06792732e-01 9.11943137e-01 5.36599254e-02 2.00032048e+02] [ 1.30535095e-01 -1.09728390e-04 9.91443683e-01 1.08936823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.28, Y:200.01, Z:108.95 [[ 9.05019523e-01 4.09602275e-01 -1.14741624e-01 2.60277406e+02] [-4.03116988e-01 9.11985580e-01 7.60197077e-02 2.00010055e+02] [ 1.35780552e-01 -2.25450217e-02 9.90482389e-01 1.08954402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:200.01, Z:108.94 [[ 9.04538825e-01 4.06190576e-01 -1.29687049e-01 2.60318875e+02] [-4.05553910e-01 9.13493609e-01 3.24877354e-02 2.00010876e+02] [ 1.31664502e-01 2.32086716e-02 9.91022612e-01 1.08935786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:199.98, Z:108.96 [[ 9.05260729e-01 4.08812439e-01 -1.15652071e-01 2.60334277e+02] [-4.02822972e-01 9.12425190e-01 7.22075258e-02 1.99982703e+02] [ 1.35043198e-01 -1.87793264e-02 9.90661734e-01 1.08959169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:260.37, Y:199.98, Z:108.95 [[ 9.05960012e-01 4.04822290e-01 -1.23916786e-01 2.60367721e+02] [-4.02079525e-01 9.14370350e-01 4.75280834e-02 1.99979346e+02] [ 1.32546262e-01 6.76585936e-03 9.91153728e-01 1.08950140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.40, Y:199.96, Z:108.95 [[ 9.04778063e-01 4.07127869e-01 -1.24994217e-01 2.60399381e+02] [-4.05209368e-01 9.13278168e-01 4.15734991e-02 1.99959634e+02] [ 1.31080219e-01 1.30340377e-02 9.91286079e-01 1.08951036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.760385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:260.43, Y:199.94, Z:108.96 [[ 9.04893819e-01 4.08455915e-01 -1.19711910e-01 2.60425290e+02] [-4.04842387e-01 9.12777855e-01 5.42146578e-02 1.99938514e+02] [ 1.31414678e-01 -5.94053361e-04 9.91327307e-01 1.08958431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:260.45, Y:199.92, Z:108.96 [[ 9.04661799e-01 4.09066389e-01 -1.19380567e-01 2.60454223e+02] [-4.05472918e-01 9.12504464e-01 5.41046768e-02 1.99923137e+02] [ 1.31067705e-01 -5.40847285e-04 9.91373272e-01 1.08963996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.48, Y:199.91, Z:108.97 [[ 9.04463629e-01 4.09383410e-01 -1.19794686e-01 2.60481494e+02] [-4.05762259e-01 9.12362285e-01 5.43327741e-02 1.99906215e+02] [ 1.31539090e-01 -5.33855493e-04 9.91310841e-01 1.08968421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.50, Y:199.89, Z:108.98 [[ 9.05008931e-01 4.09168143e-01 -1.16362649e-01 2.60503735e+02] [-4.03689219e-01 9.12337164e-01 6.83806540e-02 1.99889181e+02] [ 1.34141155e-01 -1.49107555e-02 9.90850049e-01 1.08980969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.53, Y:199.88, Z:108.98 [[ 9.04943810e-01 4.07498810e-01 -1.22561907e-01 2.60534304e+02] [-4.04038852e-01 9.13204428e-01 5.30120687e-02 1.99880853e+02] [ 1.33526431e-01 1.54682878e-03 9.91044045e-01 1.08977450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.910385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:260.57, Y:199.87, Z:108.97 [[ 9.03725111e-01 4.09172333e-01 -1.25932225e-01 2.60568368e+02] [-4.07343858e-01 9.12347865e-01 4.11382475e-02 1.99865298e+02] [ 1.31726629e-01 1.41200510e-02 9.91185512e-01 1.08973498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.940385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:260.59, Y:199.84, Z:108.98 [[ 9.03489719e-01 4.11491615e-01 -1.19920719e-01 2.60592820e+02] [-4.07859003e-01 9.11413466e-01 5.45575669e-02 1.99841551e+02] [ 1.31747339e-01 -3.81456046e-04 9.91283256e-01 1.08984055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.62, Y:199.83, Z:108.99 [[ 9.03114638e-01 4.12294677e-01 -1.19987707e-01 2.60621016e+02] [-4.08659572e-01 9.11050497e-01 5.46291657e-02 1.99826555e+02] [ 1.31838175e-01 -3.02273978e-04 9.91271206e-01 1.08990039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:199.81, Z:108.99 [[ 9.02680826e-01 4.13140115e-01 -1.20343558e-01 2.60649897e+02] [-4.09485669e-01 9.10667447e-01 5.48296232e-02 1.99810812e+02] [ 1.32245277e-01 -2.14687375e-04 9.91217000e-01 1.08994367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.68, Y:199.79, Z:109.00 [[ 9.02131340e-01 4.14069749e-01 -1.21265367e-01 2.60677419e+02] [-4.10361747e-01 9.10245148e-01 5.52902119e-02 1.99793560e+02] [ 1.33275216e-01 -1.16365067e-04 9.91079060e-01 1.08998258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:199.78, Z:109.00 [[ 9.01849268e-01 4.14621471e-01 -1.21478118e-01 2.60706796e+02] [-4.10899902e-01 9.09993973e-01 5.54277927e-02 1.99778433e+02] [ 1.33525908e-01 -7.21673748e-05 9.91045320e-01 1.09002568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.73, Y:199.76, Z:109.01 [[ 9.01771700e-01 4.14573240e-01 -1.22216326e-01 2.60734258e+02] [-4.10800143e-01 9.10015942e-01 5.58052679e-02 1.99762540e+02] [ 1.34354176e-01 -1.17126976e-04 9.90933369e-01 1.09005849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:199.75, Z:109.01 [[ 9.01703118e-01 4.14731030e-01 -1.22186984e-01 2.60763082e+02] [-4.10956046e-01 9.09944040e-01 5.58298501e-02 1.99747318e+02] [ 1.34337689e-01 -1.28469990e-04 9.90935603e-01 1.09010181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.79, Y:199.73, Z:109.02 [[ 9.01442692e-01 4.15358081e-01 -1.21978432e-01 2.60791596e+02] [-4.11596313e-01 9.09657990e-01 5.57746897e-02 1.99732850e+02] [ 1.34125123e-01 -7.18136434e-05 9.90964402e-01 1.09015856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.82, Y:199.72, Z:109.02 [[ 9.01220255e-01 4.15951251e-01 -1.21600202e-01 2.60821344e+02] [-4.12212824e-01 9.09386913e-01 5.56419908e-02 1.99719379e+02] [ 1.33725988e-01 -2.05264880e-05 9.91018345e-01 1.09020395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.85, Y:199.71, Z:109.02 [[ 9.01172349e-01 4.16181556e-01 -1.21166457e-01 2.60850382e+02] [-4.12466550e-01 9.09281536e-01 5.54836289e-02 1.99705666e+02] [ 1.33265685e-01 -2.32018884e-05 9.91080348e-01 1.09024655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.88, Y:199.69, Z:109.03 [[ 9.01510432e-01 4.15653280e-01 -1.20462824e-01 2.60879455e+02] [-4.11971807e-01 9.09523135e-01 5.51987117e-02 1.99692216e+02] [ 1.32507251e-01 -1.34927012e-04 9.91182027e-01 1.09028931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.91, Y:199.68, Z:109.03 [[ 9.01621013e-01 4.15448722e-01 -1.20340802e-01 2.60909494e+02] [-4.11768029e-01 9.09616579e-01 5.51794329e-02 1.99678681e+02] [ 1.32388213e-01 -1.98441404e-04 9.91197923e-01 1.09033336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.94, Y:199.67, Z:109.03 [[ 9.03387813e-01 4.11589639e-01 -1.20351272e-01 2.60939035e+02] [-4.08749222e-01 9.11353745e-01 4.85636169e-02 1.99673328e+02] [ 1.29670864e-01 5.32170919e-03 9.91542811e-01 1.09030027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.97, Y:199.65, Z:109.04 [[ 9.01299719e-01 4.16476486e-01 -1.19189566e-01 2.60966595e+02] [-4.12210960e-01 9.09134770e-01 5.96329972e-02 1.99649147e+02] [ 1.33195120e-01 -4.61595807e-03 9.91079085e-01 1.09043058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:199.64, Z:109.05 [[ 9.00957908e-01 4.16517815e-01 -1.21604923e-01 2.60996784e+02] [-4.12749617e-01 9.09127538e-01 5.59005706e-02 1.99638194e+02] [ 1.33837968e-01 -1.71675878e-04 9.91003213e-01 1.09045778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:199.63, Z:109.05 [[ 9.00507239e-01 4.17245397e-01 -1.22445867e-01 2.61026477e+02] [-4.13426215e-01 9.08793854e-01 5.63249194e-02 1.99626033e+02] [ 1.34779364e-01 -9.86666208e-05 9.90875630e-01 1.09049793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.420385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:261.06, Y:199.61, Z:109.05 [[ 9.00699036e-01 4.16756975e-01 -1.22698293e-01 2.61056839e+02] [-4.12912349e-01 9.09017922e-01 5.64784103e-02 1.99613576e+02] [ 1.35072719e-01 -2.06409322e-04 9.90835667e-01 1.09052781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.09, Y:199.60, Z:109.06 [[ 9.00515113e-01 4.17225992e-01 -1.22454087e-01 2.61085691e+02] [-4.13395508e-01 9.08802752e-01 5.64066711e-02 1.99600737e+02] [ 1.34820941e-01 -1.73090156e-04 9.90869963e-01 1.09059150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.12, Y:199.59, Z:109.06 [[ 9.00645597e-01 4.17047905e-01 -1.22100589e-01 2.61115612e+02] [-4.13232790e-01 9.08884475e-01 5.62820702e-02 1.99587283e+02] [ 1.34447650e-01 -2.34231482e-04 9.90920670e-01 1.09063438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:199.57, Z:109.07 [[ 9.01179385e-01 4.16034688e-01 -1.21617656e-01 2.61145143e+02] [-4.12235178e-01 9.09348647e-01 5.60998815e-02 1.99574132e+02] [ 1.33932347e-01 -4.20980855e-04 9.90990388e-01 1.09068014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:199.56, Z:109.07 [[ 9.02386414e-01 4.13709242e-01 -1.20596113e-01 2.61173690e+02] [-4.09947534e-01 9.10408715e-01 5.56685777e-02 1.99561075e+02] [ 1.32822357e-01 -7.96489220e-04 9.91139540e-01 1.09072763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.20, Y:199.56, Z:109.07 [[ 9.05394274e-01 4.07315443e-01 -1.19813769e-01 2.61203124e+02] [-4.04684379e-01 9.13266109e-01 4.66429753e-02 1.99557991e+02] [ 1.28420259e-01 6.25647795e-03 9.91700103e-01 1.09066538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:261.23, Y:199.54, Z:109.07 [[ 9.05489031e-01 4.07681715e-01 -1.17835626e-01 2.61230773e+02] [-4.04274203e-01 9.13124099e-01 5.25998976e-02 1.99541743e+02] [ 1.29042566e-01 9.27344617e-06 9.91639055e-01 1.09073570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.26, Y:199.53, Z:109.07 [[ 9.05690619e-01 4.06933546e-01 -1.18867959e-01 2.61260728e+02] [-4.03940241e-01 9.13451821e-01 4.93766523e-02 1.99531720e+02] [ 1.28673170e-01 3.29558133e-03 9.91681579e-01 1.09073815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.29, Y:199.51, Z:109.09 [[ 9.02728844e-01 4.13752376e-01 -1.17854171e-01 2.61287609e+02] [-4.08845138e-01 9.10336100e-01 6.42949282e-02 1.99505563e+02] [ 1.33889085e-01 -9.85678156e-03 9.90947303e-01 1.09092308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.32, Y:199.51, Z:109.08 [[ 9.04830961e-01 4.08178836e-01 -1.21123777e-01 2.61320354e+02] [-4.05818371e-01 9.12860382e-01 4.46919833e-02 1.99507502e+02] [ 1.28811419e-01 8.71556383e-03 9.91630807e-01 1.09080198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.35, Y:199.49, Z:109.09 [[ 9.04543210e-01 4.09870139e-01 -1.17507664e-01 2.61347505e+02] [-4.06515370e-01 9.12143785e-01 5.23351622e-02 1.99490217e+02] [ 1.28634506e-01 4.29255867e-04 9.91691978e-01 1.09088723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:199.48, Z:109.09 [[ 9.04579717e-01 4.09994370e-01 -1.16791063e-01 2.61377013e+02] [-4.06930007e-01 9.12085347e-01 5.00828313e-02 1.99477530e+02] [ 1.27057096e-01 2.22187469e-03 9.91892916e-01 1.09092027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:199.46, Z:109.10 [[ 9.04386477e-01 4.10583086e-01 -1.16218027e-01 2.61406535e+02] [-4.07296631e-01 9.11823081e-01 5.18471152e-02 1.99462562e+02] [ 1.27257828e-01 4.45380956e-04 9.91869572e-01 1.09097073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:199.45, Z:109.10 [[ 9.04115993e-01 4.11130938e-01 -1.16385665e-01 2.61435422e+02] [-4.07865434e-01 9.11576025e-01 5.17198131e-02 1.99449276e+02] [ 1.27357997e-01 7.08979485e-04 9.91856561e-01 1.09100925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:261.46, Y:199.43, Z:109.11 [[ 9.03930675e-01 4.11362878e-01 -1.17003920e-01 2.61464636e+02] [-4.08003145e-01 9.11471605e-01 5.24685308e-02 1.99434799e+02] [ 1.28229356e-01 3.10052741e-04 9.91744491e-01 1.09105304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.49, Y:199.42, Z:109.11 [[ 9.03634238e-01 4.11802618e-01 -1.17744500e-01 2.61493837e+02] [-4.08328106e-01 9.11273054e-01 5.33814461e-02 1.99419516e+02] [ 1.29280009e-01 -1.58913796e-04 9.91608115e-01 1.09110984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.52, Y:199.39, Z:109.13 [[ 9.01726875e-01 4.16027026e-01 -1.17516620e-01 2.61518994e+02] [-4.10799202e-01 9.09273252e-01 6.68294075e-02 1.99394501e+02] [ 1.34657559e-01 -1.19861390e-02 9.90819698e-01 1.09129297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.55, Y:199.39, Z:109.12 [[ 9.03540216e-01 4.10800659e-01 -1.21892977e-01 2.61551408e+02] [-4.07628790e-01 9.11718315e-01 5.10733204e-02 1.99391810e+02] [ 1.32113014e-01 3.54028800e-03 9.91228338e-01 1.09121510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:261.58, Y:199.37, Z:109.13 [[ 9.02451194e-01 4.13637846e-01 -1.20356035e-01 2.61578641e+02] [-4.09155934e-01 9.10422976e-01 6.10034909e-02 1.99370175e+02] [ 1.34808253e-01 -5.80828709e-03 9.90854681e-01 1.09134142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.60, Y:199.34, Z:109.16 [[ 9.01564237e-01 4.17571329e-01 -1.13208264e-01 2.61600077e+02] [-4.09367133e-01 9.08008182e-01 8.91049491e-02 1.99344796e+02] [ 1.40001702e-01 -3.39900929e-02 9.89567682e-01 1.09158387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.64, Y:199.36, Z:109.13 [[ 9.02742647e-01 4.08507415e-01 -1.34823605e-01 2.61644277e+02] [-4.08746086e-01 9.12243096e-01 2.71877124e-02 1.99359484e+02] [ 1.34098285e-01 3.05651135e-02 9.90496554e-01 1.09127442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.050385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:261.66, Y:199.33, Z:109.14 [[ 9.03546433e-01 4.11099305e-01 -1.20835448e-01 2.61664248e+02] [-4.07184011e-01 9.11588435e-01 5.66366242e-02 1.99331626e+02] [ 1.33435474e-01 -1.97155719e-03 9.91055542e-01 1.09142083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:199.32, Z:109.15 [[ 9.04157742e-01 4.09886738e-01 -1.20381222e-01 2.61695116e+02] [-4.05985271e-01 9.12133830e-01 5.64609219e-02 1.99319360e+02] [ 1.32946369e-01 -2.17657659e-03 9.91120843e-01 1.09145840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.72, Y:199.30, Z:109.15 [[ 9.03077789e-01 4.12053667e-01 -1.21087911e-01 2.61723012e+02] [-4.08119629e-01 9.11157579e-01 5.68351430e-02 1.99304463e+02] [ 1.33749297e-01 -1.90820208e-03 9.91013362e-01 1.09151648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.75, Y:199.29, Z:109.15 [[ 9.02277365e-01 4.12628312e-01 -1.25033724e-01 2.61752333e+02] [-4.09225144e-01 9.10893315e-01 5.29919897e-02 1.99293845e+02] [ 1.35758379e-01 3.35347109e-03 9.90736300e-01 1.09153148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.78, Y:199.28, Z:109.16 [[ 9.02463680e-01 4.13921188e-01 -1.19283510e-01 2.61779896e+02] [-4.09413712e-01 9.10289882e-01 6.12596368e-02 1.99277258e+02] [ 1.33939234e-01 -6.44829270e-03 9.90968567e-01 1.09161623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:199.27, Z:109.16 [[ 9.02085868e-01 4.14343645e-01 -1.20666610e-01 2.61810792e+02] [-4.10445171e-01 9.10119020e-01 5.67285733e-02 1.99266252e+02] [ 1.33326101e-01 -1.64701678e-03 9.91070854e-01 1.09163377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:199.25, Z:109.17 [[ 9.01734427e-01 4.14968007e-01 -1.21146919e-01 2.61839713e+02] [-4.11038507e-01 9.09834601e-01 5.69942599e-02 1.99252774e+02] [ 1.33874453e-01 -1.59763745e-03 9.90997012e-01 1.09167593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.87, Y:199.24, Z:109.17 [[ 9.01438663e-01 4.15594622e-01 -1.21200027e-01 2.61869644e+02] [-4.11662250e-01 9.09548646e-01 5.70565731e-02 1.99238909e+02] [ 1.33949725e-01 -1.53952537e-03 9.90986933e-01 1.09171529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:199.23, Z:109.17 [[ 9.00353328e-01 4.15859203e-01 -1.28160089e-01 2.61899558e+02] [-4.12973237e-01 9.09391429e-01 4.96017593e-02 1.99231144e+02] [ 1.37175035e-01 8.26757785e-03 9.90512321e-01 1.09170068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.320385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:261.93, Y:199.21, Z:109.18 [[ 9.01142797e-01 4.17075040e-01 -1.18279630e-01 2.61925809e+02] [-4.11974838e-01 9.08809657e-01 6.58918777e-02 1.99209298e+02] [ 1.34975528e-01 -1.06497594e-02 9.90791698e-01 1.09180346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:199.20, Z:109.18 [[ 9.00547962e-01 4.17120199e-01 -1.22572865e-01 2.61956873e+02] [-4.13099226e-01 9.08850232e-01 5.77952015e-02 1.99200283e+02] [ 1.35507923e-01 -1.41259533e-03 9.90775256e-01 1.09182232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:199.19, Z:109.19 [[ 9.00404195e-01 4.17614945e-01 -1.21942788e-01 2.61986343e+02] [-4.13634878e-01 9.08623076e-01 5.75351485e-02 1.99186483e+02] [ 1.34827569e-01 -1.36509866e-03 9.90868136e-01 1.09186240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:199.17, Z:109.19 [[ 8.99963552e-01 4.18876955e-01 -1.20862327e-01 2.62016450e+02] [-4.14973543e-01 9.08042210e-01 5.70640390e-02 1.99173037e+02] [ 1.33650905e-01 -1.20088719e-03 9.91027746e-01 1.09190938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.440385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:262.05, Y:199.17, Z:109.18 [[ 9.01603891e-01 4.15188395e-01 -1.21363174e-01 2.62046755e+02] [-4.12222165e-01 9.09721023e-01 4.98050889e-02 1.99167043e+02] [ 1.31085126e-01 5.12412848e-03 9.91357873e-01 1.09184733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.07, Y:199.15, Z:109.20 [[ 9.00544464e-01 4.18666291e-01 -1.17210093e-01 2.62074022e+02] [-4.14340507e-01 9.08122013e-01 6.03021859e-02 1.99147697e+02] [ 1.31687558e-01 -5.73991018e-03 9.91274654e-01 1.09197492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.10, Y:199.14, Z:109.20 [[ 8.99793261e-01 4.19121105e-01 -1.21283088e-01 2.62104921e+02] [-4.16143931e-01 9.07914610e-01 5.01526601e-02 1.99141119e+02] [ 1.31134726e-01 5.34419533e-03 9.91350152e-01 1.09195221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.13, Y:199.13, Z:109.20 [[ 8.99961369e-01 4.19425473e-01 -1.18961368e-01 2.62132716e+02] [-4.15905205e-01 9.07789526e-01 5.42313363e-02 1.99126848e+02] [ 1.30737888e-01 6.70544585e-04 9.91416741e-01 1.09200398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.16, Y:199.11, Z:109.21 [[ 8.98754904e-01 4.22503101e-01 -1.17178293e-01 2.62159228e+02] [-4.17580766e-01 9.06311804e-01 6.50016770e-02 1.99107958e+02] [ 1.33663480e-01 -9.48917443e-03 9.90981347e-01 1.09212655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.19, Y:199.10, Z:109.20 [[ 8.99750060e-01 4.18898199e-01 -1.22368822e-01 2.62192079e+02] [-4.16168120e-01 9.08002673e-01 4.83243509e-02 1.99104385e+02] [ 1.31354201e-01 7.44616504e-03 9.91307535e-01 1.09204955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.22, Y:199.09, Z:109.21 [[ 8.99858520e-01 4.19370888e-01 -1.19927908e-01 2.62219529e+02] [-4.15821239e-01 9.07814578e-01 5.44553869e-02 1.99089741e+02] [ 1.31709308e-01 8.66427620e-04 9.91288004e-01 1.09211661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:199.07, Z:109.22 [[ 8.98667977e-01 4.21924673e-01 -1.19897608e-01 2.62248637e+02] [-4.17318271e-01 9.06610305e-01 6.24757263e-02 1.99070482e+02] [ 1.35060457e-01 -6.10947217e-03 9.90818524e-01 1.09224606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.27, Y:199.06, Z:109.22 [[ 9.01232893e-01 4.17539506e-01 -1.15931158e-01 2.62274601e+02] [-4.13551990e-01 9.08649667e-01 5.77107779e-02 1.99063408e+02] [ 1.29437338e-01 -4.06729028e-03 9.91579262e-01 1.09222077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.30, Y:199.05, Z:109.23 [[ 9.00924393e-01 4.16508236e-01 -1.21885713e-01 2.62304876e+02] [-4.12772630e-01 9.09131927e-01 5.56587355e-02 1.99050510e+02] [ 1.33992515e-01 1.66773809e-04 9.90982330e-01 1.09227834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.34, Y:199.04, Z:109.23 [[ 9.02015846e-01 4.13799657e-01 -1.23033563e-01 2.62336291e+02] [-4.10588021e-01 9.10359336e-01 5.16077062e-02 1.99039364e+02] [ 1.33360004e-01 3.96513858e-03 9.91059729e-01 1.09229191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.36, Y:199.02, Z:109.24 [[ 9.00458254e-01 4.17284854e-01 -1.22671441e-01 2.62363451e+02] [-4.13192760e-01 9.08773896e-01 5.83245100e-02 1.99020577e+02] [ 1.35818538e-01 -1.83183514e-03 9.90732037e-01 1.09238727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:262.39, Y:199.01, Z:109.24 [[ 9.01911584e-01 4.14582517e-01 -1.21147975e-01 2.62394400e+02] [-4.10195314e-01 9.09999450e-01 6.03390838e-02 1.99006889e+02] [ 1.35260120e-01 -4.72618682e-03 9.90798851e-01 1.09242969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.42, Y:199.00, Z:109.24 [[ 9.03211848e-01 4.10773181e-01 -1.24393537e-01 2.62423731e+02] [-4.07646411e-01 9.11724871e-01 5.08149989e-02 1.99004444e+02] [ 1.34286120e-01 4.81186967e-03 9.90930918e-01 1.09239997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.45, Y:198.98, Z:109.25 [[ 9.02516574e-01 4.14650986e-01 -1.16311622e-01 2.62448709e+02] [-4.09380615e-01 9.09887537e-01 6.71727752e-02 1.98979879e+02] [ 1.33683753e-01 -1.30088196e-02 9.90938659e-01 1.09254888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:198.98, Z:109.25 [[ 9.03194786e-01 4.09370474e-01 -1.29054230e-01 2.62484725e+02] [-4.06598753e-01 9.12325879e-01 4.83626466e-02 1.98977003e+02] [ 1.37537753e-01 8.79239871e-03 9.90457500e-01 1.09250443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.51, Y:198.96, Z:109.26 [[ 9.04689992e-01 4.09186432e-01 -1.18753876e-01 2.62510325e+02] [-4.04343644e-01 9.12402369e-01 6.34675894e-02 1.98957102e+02] [ 1.34321394e-01 -9.40111816e-03 9.90893224e-01 1.09262679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:198.95, Z:109.26 [[ 9.06772480e-01 4.03947208e-01 -1.20790411e-01 2.62541262e+02] [-4.00638918e-01 9.14780919e-01 5.16171183e-02 1.98954944e+02] [ 1.31347354e-01 1.58835738e-03 9.91335135e-01 1.09257620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.57, Y:198.93, Z:109.27 [[ 9.04932662e-01 4.08411496e-01 -1.19569759e-01 2.62568812e+02] [-4.03790942e-01 9.12766469e-01 6.17272012e-02 1.98933215e+02] [ 1.34349366e-01 -7.57777472e-03 9.90905054e-01 1.09270919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.59, Y:198.91, Z:109.30 [[ 9.03863444e-01 4.12305589e-01 -1.14170815e-01 2.62590843e+02] [-4.03745946e-01 9.10324402e-01 9.10971674e-02 1.98911527e+02] [ 1.41492350e-01 -3.62433958e-02 9.89275660e-01 1.09295432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.040385723 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:262.64, Y:198.93, Z:109.27 [[ 9.03362634e-01 4.03361036e-01 -1.45725171e-01 2.62640622e+02] [-4.03471454e-01 9.14495951e-01 3.01320548e-02 1.98927225e+02] [ 1.45419176e-01 3.15757743e-02 9.88866135e-01 1.09273776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.66, Y:198.90, Z:109.29 [[ 9.03044205e-01 4.11758451e-01 -1.22336182e-01 2.62656065e+02] [-4.05989421e-01 9.11192215e-01 7.00095506e-02 1.98897524e+02] [ 1.40298801e-01 -1.35545234e-02 9.90016425e-01 1.09292799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.67, Y:198.86, Z:109.34 [[ 8.99457604e-01 4.22899230e-01 -1.10146539e-01 2.62668521e+02] [-4.08762719e-01 9.03304395e-01 1.30208335e-01 1.98858699e+02] [ 1.54560858e-01 -7.20930787e-02 9.85349445e-01 1.09343380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.130385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:262.73, Y:198.91, Z:109.27 [[ 9.00133625e-01 4.06698986e-01 -1.56062138e-01 2.62734362e+02] [-4.11960592e-01 9.11200416e-01 -1.50770703e-03 1.98908166e+02] [ 1.41590702e-01 6.56485887e-02 9.87746089e-01 1.09274146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.160385723 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:262.75, Y:198.87, Z:109.30 [[ 8.99032405e-01 4.18837530e-01 -1.27733546e-01 2.62746164e+02] [-4.14335685e-01 9.08058596e-01 6.12823534e-02 1.98865478e+02] [ 1.41656894e-01 -2.17025537e-03 9.89913438e-01 1.09304415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.190385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:262.78, Y:198.85, Z:109.31 [[ 8.98114271e-01 4.20742838e-01 -1.27930528e-01 2.62775211e+02] [-4.16242238e-01 9.07177965e-01 6.14047177e-02 1.98853587e+02] [ 1.41891351e-01 -1.89836413e-03 9.89880417e-01 1.09307039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:198.85, Z:109.31 [[ 8.96970475e-01 4.23591214e-01 -1.26548212e-01 2.62804012e+02] [-4.19170753e-01 9.05851815e-01 6.10603719e-02 1.98846193e+02] [ 1.40498565e-01 -1.72404134e-03 9.90079381e-01 1.09310526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.250385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:262.85, Y:198.86, Z:109.28 [[ 8.98360077e-01 4.17028636e-01 -1.37972060e-01 2.62845816e+02] [-4.19618866e-01 9.07631801e-01 1.11588952e-02 1.98861787e+02] [ 1.29881408e-01 4.78709734e-02 9.90373258e-01 1.09282039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.280385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:262.87, Y:198.84, Z:109.29 [[ 8.97996208e-01 4.20577275e-01 -1.29296431e-01 2.62871067e+02] [-4.20726784e-01 9.06770416e-01 2.75024952e-02 1.98841427e+02] [ 1.28809103e-01 2.97013351e-02 9.91224518e-01 1.09288858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.310385723 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:262.88, Y:198.80, Z:109.32 [[ 8.96524883e-01 4.29920284e-01 -1.06825484e-01 2.62882892e+02] [-4.23196374e-01 9.02468216e-01 8.03489156e-02 1.98802697e+02] [ 1.30950232e-01 -2.68266446e-02 9.91025917e-01 1.09317368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.340385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:262.91, Y:198.78, Z:109.33 [[ 8.94672510e-01 4.32859333e-01 -1.10425984e-01 2.62909695e+02] [-4.24596272e-01 9.00800973e-01 9.09703993e-02 1.98783233e+02] [ 1.38849220e-01 -3.45022543e-02 9.89712326e-01 1.09332132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:198.80, Z:109.31 [[ 8.95419672e-01 4.25725669e-01 -1.30312182e-01 2.62954662e+02] [-4.25154802e-01 9.04497538e-01 3.35797147e-02 1.98796164e+02] [ 1.32162795e-01 2.53349130e-02 9.90904202e-01 1.09308474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.400385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.97, Y:198.76, Z:109.33 [[ 8.94837752e-01 4.30738300e-01 -1.17174715e-01 2.62974652e+02] [-4.25599016e-01 9.02419347e-01 6.71178039e-02 1.98763051e+02] [ 1.34650939e-01 -1.01901014e-02 9.90840697e-01 1.09328263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.00, Y:198.75, Z:109.33 [[ 8.95315845e-01 4.28664848e-01 -1.21061911e-01 2.63003754e+02] [-4.24001554e-01 9.03447880e-01 6.32819955e-02 1.98750296e+02] [ 1.36499894e-01 -5.32693483e-03 9.90625763e-01 1.09330829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.03, Y:198.74, Z:109.34 [[ 8.97536822e-01 4.24203954e-01 -1.20327295e-01 2.63027890e+02] [-4.18575698e-01 9.05481071e-01 6.99886827e-02 1.98738025e+02] [ 1.38643564e-01 -1.24513382e-02 9.90264069e-01 1.09341581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.490385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:263.06, Y:198.73, Z:109.34 [[ 8.98283776e-01 4.20854672e-01 -1.26362984e-01 2.63060033e+02] [-4.16472040e-01 9.07126262e-01 6.06051593e-02 1.98728645e+02] [ 1.40133146e-01 -1.81398160e-03 9.90131007e-01 1.09339612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.09, Y:198.72, Z:109.35 [[ 8.98673620e-01 4.20470570e-01 -1.24860823e-01 2.63089004e+02] [-4.16182515e-01 9.07304210e-01 5.99264944e-02 1.98715411e+02] [ 1.38484078e-01 -1.88946812e-03 9.90362858e-01 1.09346809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.550385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.12, Y:198.70, Z:109.35 [[ 8.98958038e-01 4.19699927e-01 -1.25405014e-01 2.63117330e+02] [-4.15360842e-01 9.07660589e-01 6.02297764e-02 1.98701627e+02] [ 1.39103621e-01 -2.05570952e-03 9.90275697e-01 1.09350779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.15, Y:198.69, Z:109.35 [[ 8.98898509e-01 4.19696220e-01 -1.25843371e-01 2.63146667e+02] [-4.15320947e-01 9.07662202e-01 6.04800631e-02 1.98687075e+02] [ 1.39606526e-01 -2.10005024e-03 9.90204831e-01 1.09354839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.18, Y:198.67, Z:109.36 [[ 8.98483566e-01 4.20787620e-01 -1.25160139e-01 2.63176027e+02] [-4.16464687e-01 9.07157068e-01 6.01931770e-02 1.98672499e+02] [ 1.38868449e-01 -1.95780212e-03 9.90308902e-01 1.09359599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.21, Y:198.66, Z:109.36 [[ 8.97856230e-01 4.21961038e-01 -1.25710275e-01 2.63205083e+02] [-4.17605357e-01 9.06612133e-01 6.04996360e-02 1.98657674e+02] [ 1.39498949e-01 -1.82269108e-03 9.90220542e-01 1.09364189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:198.64, Z:109.37 [[ 8.97806066e-01 4.22072467e-01 -1.25694477e-01 2.63234942e+02] [-4.17713280e-01 9.06560224e-01 6.05324400e-02 1.98643183e+02] [ 1.39498690e-01 -1.84213943e-03 9.90220542e-01 1.09368467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.26, Y:198.63, Z:109.37 [[ 8.97383005e-01 4.22914429e-01 -1.25885377e-01 2.63263164e+02] [-4.18547262e-01 9.06167967e-01 6.06449183e-02 1.98629483e+02] [ 1.39720907e-01 -1.73273919e-03 9.90189409e-01 1.09372042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.730385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.30, Y:198.64, Z:109.35 [[ 8.99242973e-01 4.16952754e-01 -1.32334715e-01 2.63304900e+02] [-4.18169214e-01 9.08153163e-01 1.98076133e-02 1.98635681e+02] [ 1.28439028e-01 3.75264465e-02 9.91007155e-01 1.09346381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.760385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:263.31, Y:198.59, Z:109.39 [[ 8.95981968e-01 4.30218245e-01 -1.10129805e-01 2.63310954e+02] [-4.21229235e-01 9.01852324e-01 9.60641340e-02 1.98586761e+02] [ 1.40649364e-01 -3.96818381e-02 9.89263922e-01 1.09393463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.790385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.36, Y:198.59, Z:109.37 [[ 8.94164630e-01 4.28018683e-01 -1.31413933e-01 2.63358695e+02] [-4.26971068e-01 9.03487656e-01 3.74935072e-02 1.98593982e+02] [ 1.34778787e-01 2.25845792e-02 9.90618300e-01 1.09369616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.820385723 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:263.38, Y:198.57, Z:109.38 [[ 8.93266160e-01 4.32700468e-01 -1.21843643e-01 2.63382408e+02] [-4.28578496e-01 9.01537177e-01 5.95918686e-02 1.98569116e+02] [ 1.35632003e-01 -1.01183426e-03 9.90758768e-01 1.09383062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.850385723 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:263.41, Y:198.55, Z:109.39 [[ 8.92462511e-01 4.34777611e-01 -1.20329111e-01 2.63408878e+02] [-4.30209960e-01 9.00526750e-01 6.30155756e-02 1.98554185e+02] [ 1.35757345e-01 -4.47225678e-03 9.90732023e-01 1.09388880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.880385723 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:263.44, Y:198.54, Z:109.39 [[ 8.91424527e-01 4.35859548e-01 -1.24051471e-01 2.63441232e+02] [-4.32409918e-01 9.00002545e-01 5.49279712e-02 1.98542546e+02] [ 1.35587521e-01 4.67694584e-03 9.90754334e-01 1.09388961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.910385723 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:263.47, Y:198.53, Z:109.40 [[ 8.91089566e-01 4.37118110e-01 -1.22012881e-01 2.63469048e+02] [-4.32733272e-01 8.99401246e-01 6.18006025e-02 1.98525210e+02] [ 1.36752699e-01 -2.27083897e-03 9.90602616e-01 1.09396047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.940385723 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:263.50, Y:198.51, Z:109.40 [[ 8.90963346e-01 4.37545334e-01 -1.21401800e-01 2.63498746e+02] [-4.33277326e-01 8.99194672e-01 6.09893500e-02 1.98511660e+02] [ 1.35849457e-01 -1.73862822e-03 9.90727966e-01 1.09400661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.52, Y:198.49, Z:109.42 [[ 8.90895627e-01 4.39501956e-01 -1.14642975e-01 2.63515799e+02] [-4.31994270e-01 8.97858489e-01 8.50357878e-02 1.98492632e+02] [ 1.40306563e-01 -2.62329031e-02 9.89760528e-01 1.09421686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.55, Y:198.49, Z:109.42 [[ 8.90810725e-01 4.36540177e-01 -1.26051286e-01 2.63550475e+02] [-4.32270092e-01 8.99684735e-01 6.09093244e-02 1.98488887e+02] [ 1.39995785e-01 2.29521546e-04 9.90152073e-01 1.09416164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.58, Y:198.47, Z:109.42 [[ 8.90713653e-01 4.36737239e-01 -1.26054642e-01 2.63579650e+02] [-4.32463165e-01 8.99589092e-01 6.09514305e-02 1.98473593e+02] [ 1.40017140e-01 2.23718199e-04 9.90149055e-01 1.09420370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.61, Y:198.46, Z:109.42 [[ 8.90915554e-01 4.36278960e-01 -1.26214681e-01 2.63607691e+02] [-4.31983257e-01 8.99811456e-01 6.10721662e-02 1.98458285e+02] [ 1.40213917e-01 1.12485929e-04 9.90121227e-01 1.09423842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.64, Y:198.44, Z:109.43 [[ 8.90904052e-01 4.36268703e-01 -1.26331269e-01 2.63636955e+02] [-4.31959124e-01 8.99816433e-01 6.11694548e-02 1.98442892e+02] [ 1.40361271e-01 7.38292788e-05 9.90100353e-01 1.09428271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.66, Y:198.43, Z:109.43 [[ 8.91096075e-01 4.36019787e-01 -1.25835332e-01 2.63664444e+02] [-4.31735535e-01 8.99937079e-01 6.09728015e-02 1.98427790e+02] [ 1.39829229e-01 -5.03988350e-06 9.90175634e-01 1.09432280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.150385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:263.70, Y:198.41, Z:109.43 [[ 8.91424952e-01 4.34290993e-01 -1.29432952e-01 2.63695090e+02] [-4.30404534e-01 9.00764126e-01 5.81027182e-02 1.98412577e+02] [ 1.41822047e-01 3.91431679e-03 9.89884430e-01 1.09433593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.180385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:263.72, Y:198.39, Z:109.44 [[ 8.91069900e-01 4.36552376e-01 -1.24163024e-01 2.63720133e+02] [-4.31646730e-01 8.99666519e-01 6.54312955e-02 1.98394552e+02] [ 1.40269503e-01 -4.70929442e-03 9.90102161e-01 1.09442315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:198.38, Z:109.44 [[ 8.90895141e-01 4.36335020e-01 -1.26164964e-01 2.63750779e+02] [-4.32017466e-01 8.99784279e-01 6.12303872e-02 1.98381436e+02] [ 1.40238213e-01 -4.43863818e-05 9.90117792e-01 1.09444689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.240385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:263.78, Y:198.37, Z:109.45 [[ 8.90860129e-01 4.36433180e-01 -1.26072641e-01 2.63779831e+02] [-4.32116857e-01 8.99736670e-01 6.12286445e-02 1.98365226e+02] [ 1.40154390e-01 -6.80447137e-05 9.90129659e-01 1.09446798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.81, Y:198.36, Z:109.44 [[ 8.92396728e-01 4.32487037e-01 -1.28775163e-01 2.63813787e+02] [-4.30436690e-01 9.01507893e-01 4.48082029e-02 1.98357776e+02] [ 1.35470793e-01 1.54428614e-02 9.90660983e-01 1.09438339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.84, Y:198.33, Z:109.45 [[ 8.92264242e-01 4.35293694e-01 -1.19932994e-01 2.63835818e+02] [-4.30816216e-01 9.00279577e-01 6.24025015e-02 1.98333186e+02] [ 1.35136641e-01 -4.01044197e-03 9.90818856e-01 1.09450854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.330385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:263.87, Y:198.32, Z:109.45 [[ 8.92403402e-01 4.34601982e-01 -1.21397223e-01 2.63865614e+02] [-4.30753901e-01 9.00622281e-01 5.77112161e-02 1.98320639e+02] [ 1.34414453e-01 7.90641941e-04 9.90924886e-01 1.09452953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:263.89, Y:198.30, Z:109.46 [[ 8.92114310e-01 4.35593659e-01 -1.19959249e-01 2.63891652e+02] [-4.31422184e-01 9.00141353e-01 6.01701187e-02 1.98303170e+02] [ 1.34190002e-01 -1.92554295e-03 9.90953750e-01 1.09459000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:198.29, Z:109.46 [[ 8.91891921e-01 4.35787378e-01 -1.20905592e-01 2.63920572e+02] [-4.31784471e-01 9.00049573e-01 5.89316249e-02 1.98288359e+02] [ 1.34502685e-01 -3.55482882e-04 9.90913165e-01 1.09462885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.95, Y:198.27, Z:109.47 [[ 8.91780766e-01 4.36175130e-01 -1.20325898e-01 2.63947150e+02] [-4.31971756e-01 8.99859749e-01 6.04386835e-02 1.98271641e+02] [ 1.34638283e-01 -1.92066598e-03 9.90892953e-01 1.09468157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.97, Y:198.25, Z:109.48 [[ 8.90973232e-01 4.38149567e-01 -1.19128742e-01 2.63973488e+02] [-4.32861321e-01 8.98851976e-01 6.85288384e-02 1.98252036e+02] [ 1.37104986e-01 -9.49113619e-03 9.90511051e-01 1.09478645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.00, Y:198.24, Z:109.48 [[ 8.89974938e-01 4.38666089e-01 -1.24565932e-01 2.64002058e+02] [-4.34292382e-01 8.98649683e-01 6.17970403e-02 1.98239126e+02] [ 1.39049402e-01 -8.99781641e-04 9.90285037e-01 1.09479649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.510385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:264.03, Y:198.22, Z:109.48 [[ 8.90008976e-01 4.37935789e-01 -1.26871070e-01 2.64030679e+02] [-4.33102327e-01 8.99001716e-01 6.49483592e-02 1.98220173e+02] [ 1.42500520e-01 -2.85646717e-03 9.89790605e-01 1.09483728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.06, Y:198.21, Z:109.49 [[ 8.89743268e-01 4.37349008e-01 -1.30701043e-01 2.64058644e+02] [-4.33128402e-01 8.99288013e-01 6.06700586e-02 1.98208076e+02] [ 1.44071871e-01 2.62955756e-03 9.89563733e-01 1.09487010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.09, Y:198.19, Z:109.49 [[ 8.90266012e-01 4.37275220e-01 -1.27345239e-01 2.64086603e+02] [-4.32357583e-01 8.99321933e-01 6.54750407e-02 1.98189096e+02] [ 1.43154979e-01 -3.23152357e-03 9.89695008e-01 1.09492862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.11, Y:198.18, Z:109.50 [[ 8.91392447e-01 4.34839592e-01 -1.27804676e-01 2.64111759e+02] [-4.30285865e-01 9.00507414e-01 6.27731836e-02 1.98175102e+02] [ 1.42385323e-01 -9.62996346e-04 9.89810837e-01 1.09496992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.630385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:264.14, Y:198.16, Z:109.50 [[ 8.92295892e-01 4.32100915e-01 -1.30754886e-01 2.64138406e+02] [-4.28193695e-01 9.01815827e-01 5.81237796e-02 1.98159730e+02] [ 1.43032164e-01 4.12480801e-03 9.89709445e-01 1.09499615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:264.16, Y:198.14, Z:109.51 [[ 8.93635726e-01 4.31276170e-01 -1.24161404e-01 2.64163408e+02] [-4.26193158e-01 9.02197599e-01 6.63240951e-02 1.98139540e+02] [ 1.40622123e-01 -6.35283982e-03 9.90042959e-01 1.09508123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.690385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:264.19, Y:198.13, Z:109.50 [[ 8.94461570e-01 4.28383305e-01 -1.28164907e-01 2.64194498e+02] [-4.24924150e-01 9.03579721e-01 5.46182666e-02 1.98128523e+02] [ 1.39204765e-01 5.60642380e-03 9.90247748e-01 1.09504425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.720385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:264.22, Y:198.11, Z:109.51 [[ 8.94892055e-01 4.26564110e-01 -1.31191730e-01 2.64221286e+02] [-4.23116159e-01 9.04432496e-01 5.45396700e-02 1.98110807e+02] [ 1.41918729e-01 6.70222340e-03 9.89855623e-01 1.09508530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.750385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:264.24, Y:198.09, Z:109.53 [[ 8.95114260e-01 4.29502857e-01 -1.19573228e-01 2.64240626e+02] [-4.22982791e-01 9.02884214e-01 7.67180233e-02 1.98085830e+02] [ 1.40911390e-01 -1.80939789e-02 9.89856852e-01 1.09526802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.780385723 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:264.28, Y:198.08, Z:109.52 [[ 8.95422379e-01 4.25742816e-01 -1.30237547e-01 2.64276773e+02] [-4.22779751e-01 9.04795555e-01 5.10126127e-02 1.98079490e+02] [ 1.39556607e-01 9.38396283e-03 9.90169629e-01 1.09515332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.810385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:264.30, Y:198.05, Z:109.53 [[ 8.94649934e-01 4.29601239e-01 -1.22655088e-01 2.64297155e+02] [-4.23532584e-01 9.02916916e-01 7.32201752e-02 1.98054661e+02] [ 1.42202832e-01 -1.35579985e-02 9.89744682e-01 1.09533219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.840385723 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:264.33, Y:198.04, Z:109.53 [[ 8.93570776e-01 4.30147479e-01 -1.28469513e-01 2.64328419e+02] [-4.25516013e-01 9.02757205e-01 6.29726211e-02 1.98042813e+02] [ 1.43064293e-01 -1.60465880e-03 9.89712096e-01 1.09533307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87038572299997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:264.36, Y:198.03, Z:109.54 [[ 8.93101443e-01 4.31109023e-01 -1.28510012e-01 2.64357232e+02] [-4.26478105e-01 9.02298612e-01 6.30368175e-02 1.98026979e+02] [ 1.43130146e-01 -1.49156632e-03 9.89702752e-01 1.09537944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.900385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:264.39, Y:198.01, Z:109.54 [[ 8.92083209e-01 4.33089272e-01 -1.28923356e-01 2.64385613e+02] [-4.28442432e-01 9.01350208e-01 6.32841545e-02 1.98009988e+02] [ 1.43612782e-01 -1.21849521e-03 9.89633207e-01 1.09543008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:198.00, Z:109.55 [[ 8.91426438e-01 4.34456946e-01 -1.28864532e-01 2.64414819e+02] [-4.29822155e-01 9.00692003e-01 6.32995279e-02 1.97995516e+02] [ 1.43568173e-01 -1.03804195e-03 9.89639885e-01 1.09547125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.45, Y:197.98, Z:109.55 [[ 8.90194079e-01 4.35432369e-01 -1.33989380e-01 2.64446648e+02] [-4.31604510e-01 9.00199778e-01 5.79474512e-02 1.97984470e+02] [ 1.45849406e-01 6.24594260e-03 9.89287086e-01 1.09547984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.990385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:264.47, Y:197.97, Z:109.56 [[ 8.90027933e-01 4.38150292e-01 -1.25994442e-01 2.64470466e+02] [-4.32554283e-01 8.98865794e-01 7.02643326e-02 1.97965774e+02] [ 1.44038432e-01 -8.03778299e-03 9.89539451e-01 1.09556215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.50, Y:197.95, Z:109.56 [[ 8.88953764e-01 4.39420389e-01 -1.29115948e-01 2.64501653e+02] [-4.34800806e-01 8.98281469e-01 6.35504688e-02 1.97954606e+02] [ 1.43907835e-01 -3.53710024e-04 9.89591032e-01 1.09559424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.53, Y:197.94, Z:109.56 [[ 8.87801748e-01 4.41787616e-01 -1.28964175e-01 2.64531014e+02] [-4.37197432e-01 8.97119670e-01 6.35193169e-02 1.97940952e+02] [ 1.43758345e-01 -9.75466600e-06 9.89612822e-01 1.09564206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.57, Y:197.94, Z:109.55 [[ 8.89144744e-01 4.38145042e-01 -1.32100519e-01 2.64567461e+02] [-4.36729341e-01 8.98654886e-01 4.10716418e-02 1.97939986e+02] [ 1.36708113e-01 2.11735381e-02 9.90385063e-01 1.09548430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:197.91, Z:109.58 [[ 8.87105408e-01 4.45875613e-01 -1.19326999e-01 2.64583191e+02] [-4.38690986e-01 8.94855023e-01 8.23693287e-02 1.97907259e+02] [ 1.43506840e-01 -2.07225979e-02 9.89432343e-01 1.09580259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.140385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:264.62, Y:197.90, Z:109.57 [[ 8.87299922e-01 4.43065206e-01 -1.28031528e-01 2.64618245e+02] [-4.38538966e-01 8.96489383e-01 6.31693026e-02 1.97903267e+02] [ 1.42767026e-01 9.66969256e-05 9.89756317e-01 1.09574943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.170385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:264.65, Y:197.89, Z:109.58 [[ 8.87505170e-01 4.42782092e-01 -1.27587591e-01 2.64648164e+02] [-4.38280443e-01 8.96629254e-01 6.29780481e-02 1.97889219e+02] [ 1.42284318e-01 2.58027313e-05 9.89825829e-01 1.09578691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:264.68, Y:197.88, Z:109.58 [[ 8.88036899e-01 4.41660636e-01 -1.27774598e-01 2.64676790e+02] [-4.37127796e-01 8.97182169e-01 6.31145427e-02 1.97875067e+02] [ 1.42512300e-01 -1.94214501e-04 9.89793012e-01 1.09583490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:264.71, Y:197.88, Z:109.56 [[ 8.91249027e-01 4.33617661e-01 -1.32856676e-01 2.64713793e+02] [-4.33066849e-01 9.00699765e-01 3.45403656e-02 1.97878028e+02] [ 1.34641289e-01 2.67517548e-02 9.90533224e-01 1.09563019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.260385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:264.73, Y:197.84, Z:109.60 [[ 8.89606462e-01 4.41667334e-01 -1.16319860e-01 2.64727508e+02] [-4.33866865e-01 8.96777700e-01 8.68867042e-02 1.97836133e+02] [ 1.42688076e-01 -2.68276403e-02 9.89404058e-01 1.09603926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.290385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:264.76, Y:197.83, Z:109.60 [[ 8.89840566e-01 4.37933210e-01 -1.28055731e-01 2.64763445e+02] [-4.33322546e-01 8.99007045e-01 6.33869427e-02 1.97832838e+02] [ 1.42882252e-01 -9.14837402e-04 9.89739271e-01 1.09597204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.320385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:264.80, Y:197.84, Z:109.58 [[ 8.93940835e-01 4.28881613e-01 -1.30116660e-01 2.64800291e+02] [-4.28213633e-01 9.03018355e-01 3.45099172e-02 1.97836094e+02] [ 1.32298402e-01 2.48679037e-02 9.90897936e-01 1.09577012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.350385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:264.81, Y:197.80, Z:109.62 [[ 8.91149674e-01 4.38651855e-01 -1.15917250e-01 2.64813348e+02] [-4.30969705e-01 8.98261631e-01 8.59718320e-02 1.97795016e+02] [ 1.41835721e-01 -2.66569473e-02 9.89531220e-01 1.09616737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.380385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:264.85, Y:197.79, Z:109.61 [[ 8.91129277e-01 4.34450453e-01 -1.30925228e-01 2.64850203e+02] [-4.30489122e-01 9.00686521e-01 5.86762909e-02 1.97792925e+02] [ 1.43414529e-01 4.07372565e-03 9.89654322e-01 1.09608548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.410385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:264.88, Y:197.78, Z:109.60 [[ 8.92782002e-01 4.31655343e-01 -1.28895157e-01 2.64881404e+02] [-4.28585291e-01 9.01996582e-01 5.21230654e-02 1.97783886e+02] [ 1.38762191e-01 8.70803375e-03 9.90287445e-01 1.09603840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.91, Y:197.76, Z:109.62 [[ 8.92570225e-01 4.34174469e-01 -1.21700143e-01 2.64905504e+02] [-4.29211036e-01 9.00805491e-01 6.57826231e-02 1.97763523e+02] [ 1.38189293e-01 -6.48056607e-03 9.90384633e-01 1.09615318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.470385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:264.93, Y:197.75, Z:109.62 [[ 8.91590569e-01 4.34654669e-01 -1.27049506e-01 2.64934428e+02] [-4.29554145e-01 9.00584555e-01 6.65634799e-02 1.97748004e+02] [ 1.43350950e-01 -4.77272914e-03 9.89660410e-01 1.09624918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.500385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:264.96, Y:197.73, Z:109.63 [[ 8.91720400e-01 4.35802394e-01 -1.22110614e-01 2.64961259e+02] [-4.30296636e-01 8.99990860e-01 6.97227132e-02 1.97732047e+02] [ 1.40283762e-01 -9.62937923e-03 9.90064514e-01 1.09628813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:197.72, Z:109.63 [[ 8.91346509e-01 4.35457586e-01 -1.26008299e-01 2.64992411e+02] [-4.30932477e-01 9.00207955e-01 6.26325680e-02 1.97719899e+02] [ 1.40707500e-01 -1.52625227e-03 9.90050034e-01 1.09630422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.02, Y:197.71, Z:109.64 [[ 8.91167277e-01 4.35614425e-01 -1.26731833e-01 2.65019912e+02] [-4.31031709e-01 9.00132023e-01 6.30397251e-02 1.97705032e+02] [ 1.41536395e-01 -1.55350167e-03 9.89931834e-01 1.09635977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:197.69, Z:109.64 [[ 8.91115478e-01 4.35725332e-01 -1.26714795e-01 2.65049545e+02] [-4.31138864e-01 9.00078306e-01 6.30739541e-02 1.97690166e+02] [ 1.41536158e-01 -1.57450395e-03 9.89931835e-01 1.09640489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:197.68, Z:109.65 [[ 8.90972109e-01 4.35902650e-01 -1.27112471e-01 2.65078301e+02] [-4.31286048e-01 8.99992453e-01 6.32924136e-02 1.97675603e+02] [ 1.41989596e-01 -1.56993976e-03 9.89866905e-01 1.09645175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:197.66, Z:109.65 [[ 8.90515075e-01 4.36822199e-01 -1.27158433e-01 2.65105869e+02] [-4.32205195e-01 8.99546676e-01 6.33596641e-02 1.97661208e+02] [ 1.42061854e-01 -1.46420062e-03 9.89856700e-01 1.09649757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.680385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:265.13, Y:197.65, Z:109.65 [[ 8.90114069e-01 4.37732743e-01 -1.26834499e-01 2.65133579e+02] [-4.33142666e-01 8.99104119e-01 6.32393450e-02 1.97646904e+02] [ 1.41719352e-01 -1.35279776e-03 9.89905953e-01 1.09654184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:265.16, Y:197.63, Z:109.66 [[ 8.89180513e-01 4.39690504e-01 -1.26610723e-01 2.65162932e+02] [-4.35130591e-01 8.98148708e-01 6.31685532e-02 1.97632734e+02] [ 1.41489871e-01 -1.07604761e-03 9.89939119e-01 1.09658947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.19, Y:197.62, Z:109.66 [[ 8.88593115e-01 4.40859692e-01 -1.26668894e-01 2.65191650e+02] [-4.36301039e-01 8.97575549e-01 6.32418950e-02 1.97619086e+02] [ 1.41575704e-01 -9.30542539e-04 9.89926994e-01 1.09663102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.22, Y:197.60, Z:109.67 [[ 8.88162823e-01 4.41822493e-01 -1.26331647e-01 2.65221392e+02] [-4.37292000e-01 8.97102126e-01 6.31148264e-02 1.97604782e+02] [ 1.41217939e-01 -8.12423927e-04 9.89978199e-01 1.09667372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:197.58, Z:109.69 [[ 8.86842189e-01 4.45907763e-01 -1.21149492e-01 2.65243955e+02] [-4.38237000e-01 8.94792154e-01 8.54127194e-02 1.97579944e+02] [ 1.46489810e-01 -2.26554129e-02 9.88952713e-01 1.09688380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:197.59, Z:109.67 [[ 8.87692790e-01 4.39986508e-01 -1.35695923e-01 2.65282887e+02] [-4.38351252e-01 8.97758468e-01 4.33348936e-02 1.97585646e+02] [ 1.40888933e-01 2.10144051e-02 9.89802356e-01 1.09667465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.30, Y:197.56, Z:109.69 [[ 8.88039633e-01 4.44522607e-01 -1.17410659e-01 2.65300062e+02] [-4.38814470e-01 8.95680306e-01 7.21016634e-02 1.97558706e+02] [ 1.37213234e-01 -1.25076386e-02 9.90462562e-01 1.09686156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:197.55, Z:109.69 [[ 8.88048781e-01 4.41810913e-01 -1.27171065e-01 2.65331707e+02] [-4.36979858e-01 8.97105175e-01 6.51989979e-02 1.97548402e+02] [ 1.42891449e-01 -2.32869683e-03 9.89735627e-01 1.09689491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.920385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:265.36, Y:197.54, Z:109.69 [[ 8.88472239e-01 4.40166897e-01 -1.29885267e-01 2.65361764e+02] [-4.35944396e-01 8.97912394e-01 6.08754116e-02 1.97537940e+02] [ 1.43420932e-01 2.53664100e-03 9.89658528e-01 1.09689846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.39, Y:197.52, Z:109.70 [[ 8.88068670e-01 4.41486875e-01 -1.28153726e-01 2.65389526e+02] [-4.36475808e-01 8.97262591e-01 6.63981268e-02 1.97521023e+02] [ 1.44301446e-01 -3.03009515e-03 9.89529136e-01 1.09697019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.42, Y:197.51, Z:109.69 [[ 8.88138703e-01 4.40235732e-01 -1.31917186e-01 2.65422404e+02] [-4.37203995e-01 8.97816522e-01 5.27082569e-02 1.97512338e+02] [ 1.41641487e-01 1.08624778e-02 9.89858422e-01 1.09691520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.45, Y:197.49, Z:109.70 [[ 8.88431447e-01 4.41176328e-01 -1.26700484e-01 2.65447200e+02] [-4.36570050e-01 8.97419655e-01 6.35968114e-02 1.97493745e+02] [ 1.41760913e-01 -1.18777045e-03 9.89900214e-01 1.09700730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:197.48, Z:109.71 [[ 8.88715874e-01 4.40554392e-01 -1.26869712e-01 2.65476350e+02] [-4.35923628e-01 8.97724942e-01 6.37222054e-02 1.97479397e+02] [ 1.41967202e-01 -1.32543047e-03 9.89870475e-01 1.09705054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:197.46, Z:109.71 [[ 8.89332649e-01 4.39841975e-01 -1.25005904e-01 2.65502111e+02] [-4.34162031e-01 8.98031245e-01 7.10155845e-02 1.97464207e+02] [ 1.43494843e-01 -8.88366067e-03 9.89611192e-01 1.09713917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:197.45, Z:109.71 [[ 8.88869112e-01 4.40055559e-01 -1.27525713e-01 2.65532978e+02] [-4.35934479e-01 8.97967969e-01 6.01220205e-02 1.97452885e+02] [ 1.40971035e-01 2.15224837e-03 9.90011381e-01 1.09712499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:197.44, Z:109.72 [[ 8.89488298e-01 4.38620367e-01 -1.28151244e-01 2.65564180e+02] [-4.34703323e-01 8.98665297e-01 5.85978152e-02 1.97438861e+02] [ 1.40867271e-01 3.58570068e-03 9.90021997e-01 1.09717308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.59, Y:197.43, Z:109.72 [[ 8.91124288e-01 4.36161527e-01 -1.25142423e-01 2.65590968e+02] [-4.31686140e-01 8.99867090e-01 6.23401731e-02 1.97427432e+02] [ 1.39801933e-01 -1.53059276e-03 9.90178306e-01 1.09721768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:197.41, Z:109.73 [[ 8.90137888e-01 4.37991859e-01 -1.25768329e-01 2.65620827e+02] [-4.33500860e-01 8.98978168e-01 6.25720283e-02 1.97409857e+02] [ 1.40469021e-01 -1.17705427e-03 9.90084375e-01 1.09727564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.220385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:265.65, Y:197.40, Z:109.73 [[ 8.90386078e-01 4.37830386e-01 -1.24567997e-01 2.65650408e+02] [-4.33315865e-01 8.99055614e-01 6.27404534e-02 1.97397190e+02] [ 1.39463233e-01 -1.88593709e-03 9.90225454e-01 1.09731256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.68, Y:197.39, Z:109.73 [[ 8.91776605e-01 4.34647345e-01 -1.25762361e-01 2.65679312e+02] [-4.30430568e-01 9.00600695e-01 6.03979679e-02 1.97388858e+02] [ 1.39513486e-01 2.70469525e-04 9.90220134e-01 1.09731849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:197.37, Z:109.75 [[ 8.90629493e-01 4.37939471e-01 -1.22426000e-01 2.65705169e+02] [-4.31795865e-01 8.98905915e-01 7.42999741e-02 1.97368908e+02] [ 1.42588347e-01 -1.33107076e-02 9.89692573e-01 1.09746386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:197.37, Z:109.74 [[ 8.91550554e-01 4.33740826e-01 -1.30408997e-01 2.65740766e+02] [-4.30911835e-01 9.00970294e-01 5.06706988e-02 1.97367774e+02] [ 1.39472583e-01 1.10192905e-02 9.90164620e-01 1.09736832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:197.35, Z:109.75 [[ 8.91917288e-01 4.34670403e-01 -1.24680357e-01 2.65767995e+02] [-4.30415481e-01 9.00589495e-01 6.06718722e-02 1.97351893e+02] [ 1.38658087e-01 -4.49936036e-04 9.90340211e-01 1.09745469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:265.80, Y:197.34, Z:109.75 [[ 8.91976140e-01 4.34850617e-01 -1.23626483e-01 2.65798073e+02] [-4.30536183e-01 9.00501682e-01 6.11172361e-02 1.97340588e+02] [ 1.37902724e-01 -1.28944230e-03 9.90444939e-01 1.09749841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:265.83, Y:197.33, Z:109.75 [[ 8.91643293e-01 4.35534941e-01 -1.23618579e-01 2.65827779e+02] [-4.31392173e-01 9.00171819e-01 5.99290364e-02 1.97328063e+02] [ 1.37379150e-01 -1.07235940e-04 9.90518530e-01 1.09753783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.86, Y:197.32, Z:109.76 [[ 8.91061941e-01 4.36412273e-01 -1.24711451e-01 2.65858864e+02] [-4.32338263e-01 8.99746363e-01 5.94988123e-02 1.97316646e+02] [ 1.38174687e-01 9.00405119e-04 9.90407464e-01 1.09757921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.460385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:265.89, Y:197.29, Z:109.77 [[ 8.89027617e-01 4.41179958e-01 -1.22434232e-01 2.65887959e+02] [-4.35917169e-01 8.97388261e-01 6.83412856e-02 1.97294552e+02] [ 1.40021848e-01 -7.38610649e-03 9.90120865e-01 1.09770480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:265.92, Y:197.30, Z:109.76 [[ 8.91302284e-01 4.35297777e-01 -1.26870347e-01 2.65921893e+02] [-4.32774921e-01 9.00208231e-01 4.82805182e-02 1.97297494e+02] [ 1.35226133e-01 1.18737684e-02 9.90743613e-01 1.09758520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.95, Y:197.28, Z:109.77 [[ 8.89559104e-01 4.40772739e-01 -1.20016633e-01 2.65946415e+02] [-4.35436002e-01 8.97572531e-01 6.89857985e-02 1.97275956e+02] [ 1.38130692e-01 -9.10738247e-03 9.90372136e-01 1.09774574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:265.98, Y:197.27, Z:109.77 [[ 8.89156334e-01 4.40619208e-01 -1.23514074e-01 2.65978824e+02] [-4.36749009e-01 8.97691656e-01 5.83094614e-02 1.97270880e+02] [ 1.36569822e-01 2.09842250e-03 9.90628225e-01 1.09773676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.01, Y:197.26, Z:109.78 [[ 8.88512261e-01 4.42181237e-01 -1.22563112e-01 2.66007846e+02] [-4.38082548e-01 8.96925666e-01 6.00668932e-02 1.97257560e+02] [ 1.36490454e-01 3.22589390e-04 9.90641334e-01 1.09779125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.04, Y:197.25, Z:109.78 [[ 8.87639395e-01 4.44044345e-01 -1.22151233e-01 2.66039272e+02] [-4.40188189e-01 8.96002774e-01 5.84241970e-02 1.97248938e+02] [ 1.35390778e-01 1.90991135e-03 9.90790437e-01 1.09781806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.07, Y:197.24, Z:109.78 [[ 8.87662931e-01 4.43648005e-01 -1.23413808e-01 2.66069909e+02] [-4.40583742e-01 8.96168301e-01 5.26150489e-02 1.97241001e+02] [ 1.33942104e-01 7.66968863e-03 9.90959479e-01 1.09781314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.10, Y:197.22, Z:109.79 [[ 8.86337295e-01 4.47415482e-01 -1.19271063e-01 2.66095198e+02] [-4.42386485e-01 8.94300096e-01 6.72423672e-02 1.97221509e+02] [ 1.36749399e-01 -6.83551170e-03 9.90582090e-01 1.09794210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.13, Y:197.20, Z:109.81 [[ 8.83291308e-01 4.52409909e-01 -1.22970484e-01 2.66126995e+02] [-4.46945948e-01 8.91780300e-01 7.04784866e-02 1.97204735e+02] [ 1.41547821e-01 -7.29187506e-03 9.89904563e-01 1.09805811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.16, Y:197.21, Z:109.79 [[ 8.86286298e-01 4.45093568e-01 -1.28016851e-01 2.66161833e+02] [-4.42825403e-01 8.95361652e-01 4.72564773e-02 1.97210736e+02] [ 1.35654933e-01 1.48063451e-02 9.90645502e-01 1.09791812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.19, Y:197.19, Z:109.81 [[ 8.85750156e-01 4.48432941e-01 -1.19810511e-01 2.66186012e+02] [-4.43173183e-01 8.93780949e-01 6.89430599e-02 1.97189612e+02] [ 1.38000691e-01 -7.96952078e-03 9.90400069e-01 1.09808552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:197.18, Z:109.81 [[ 8.87131503e-01 4.44916917e-01 -1.22664718e-01 2.66219183e+02] [-4.40713262e-01 8.95571846e-01 6.10154786e-02 1.97183995e+02] [ 1.37001887e-01 -6.87850474e-05 9.90570784e-01 1.09810457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.820385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.25, Y:197.16, Z:109.82 [[ 8.84684570e-01 4.49719471e-01 -1.22823490e-01 2.66248532e+02] [-4.44535751e-01 8.93150657e-01 6.83364505e-02 1.97161383e+02] [ 1.40432113e-01 -5.85677083e-03 9.90072987e-01 1.09823410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.28, Y:197.15, Z:109.83 [[ 8.85043278e-01 4.48200731e-01 -1.25755718e-01 2.66280469e+02] [-4.43539120e-01 8.93932002e-01 6.44874064e-02 1.97154679e+02] [ 1.41320364e-01 -1.29656501e-03 9.89963067e-01 1.09825578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.31, Y:197.14, Z:109.83 [[ 8.85317340e-01 4.47575824e-01 -1.26051932e-01 2.66311035e+02] [-4.42881810e-01 8.94244850e-01 6.46672314e-02 1.97142000e+02] [ 1.41664780e-01 -1.42491363e-03 9.89913663e-01 1.09829873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:197.13, Z:109.83 [[ 8.86281795e-01 4.45521638e-01 -1.26550583e-01 2.66340951e+02] [-4.40763215e-01 8.95269363e-01 6.49657997e-02 1.97132075e+02] [ 1.42240529e-01 -1.79916390e-03 9.89830488e-01 1.09834227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:197.12, Z:109.84 [[ 8.86915891e-01 4.44256931e-01 -1.26554260e-01 2.66371445e+02] [-4.39479678e-01 8.95897106e-01 6.50075991e-02 1.97119012e+02] [ 1.42259672e-01 -2.03824730e-03 9.89827274e-01 1.09838793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.970385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:266.40, Y:197.11, Z:109.84 [[ 8.87588584e-01 4.42846964e-01 -1.26779623e-01 2.66401657e+02] [-4.38032198e-01 8.96594248e-01 6.51655415e-02 1.97105745e+02] [ 1.42528243e-01 -2.30663393e-03 9.89788048e-01 1.09842590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:197.10, Z:109.85 [[ 8.88599955e-01 4.40671673e-01 -1.27273710e-01 2.66432291e+02] [-4.35790790e-01 8.97664282e-01 6.54616318e-02 1.97095358e+02] [ 1.43096150e-01 -2.70449241e-03 9.89705096e-01 1.09847852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:197.08, Z:109.85 [[ 8.88920230e-01 4.39898178e-01 -1.27712243e-01 2.66459343e+02] [-4.34970080e-01 8.98043062e-01 6.57243379e-02 1.97084830e+02] [ 1.43603110e-01 -2.87268892e-03 9.89631191e-01 1.09851477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:197.08, Z:109.86 [[ 8.89124687e-01 4.39441740e-01 -1.27860266e-01 2.66486666e+02] [-4.34497201e-01 8.98266245e-01 6.58022544e-02 1.97076668e+02] [ 1.43768818e-01 -2.95148121e-03 9.89606900e-01 1.09855566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:197.07, Z:109.86 [[ 8.89053860e-01 4.39629756e-01 -1.27706347e-01 2.66513343e+02] [-4.34700950e-01 8.98174389e-01 6.57103557e-02 1.97065429e+02] [ 1.43590798e-01 -2.90597513e-03 9.89632881e-01 1.09859787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.54, Y:197.05, Z:109.87 [[ 8.88882278e-01 4.40901749e-01 -1.24474671e-01 2.66540806e+02] [-4.34406153e-01 8.97444356e-01 7.67132445e-02 1.97051169e+02] [ 1.45532095e-01 -1.41164805e-02 9.89252816e-01 1.09870338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.58, Y:197.05, Z:109.87 [[ 8.88438267e-01 4.39509019e-01 -1.32322593e-01 2.66576060e+02] [-4.36132483e-01 8.98195302e-01 5.50786470e-02 1.97047213e+02] [ 1.43059094e-01 8.77620352e-03 9.89675237e-01 1.09865048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:197.03, Z:109.87 [[ 8.87631708e-01 4.42560442e-01 -1.27476298e-01 2.66603335e+02] [-4.37672354e-01 8.96735269e-01 6.56412098e-02 1.97030554e+02] [ 1.43362695e-01 -2.47236798e-03 9.89667129e-01 1.09872832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:197.02, Z:109.88 [[ 8.86900861e-01 4.43702319e-01 -1.28588940e-01 2.66632285e+02] [-4.38733212e-01 8.96171149e-01 6.62603932e-02 1.97017198e+02] [ 1.44637588e-01 -2.35016108e-03 9.89481907e-01 1.09877493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:197.01, Z:109.88 [[ 8.85661253e-01 4.45897878e-01 -1.29534659e-01 2.66661665e+02] [-4.40872332e-01 8.95081508e-01 6.67883311e-02 1.97006165e+02] [ 1.45724853e-01 -2.04359008e-03 9.89323047e-01 1.09881976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.270385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:266.69, Y:196.99, Z:109.88 [[ 8.85268134e-01 4.46718528e-01 -1.29394313e-01 2.66690739e+02] [-4.41711433e-01 8.94672507e-01 6.67241817e-02 1.96993415e+02] [ 1.45572463e-01 -1.91384445e-03 9.89345741e-01 1.09884687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.72, Y:196.99, Z:109.89 [[ 8.84272285e-01 4.47564280e-01 -1.33224403e-01 2.66719441e+02] [-4.43577296e-01 8.94230886e-01 5.99191582e-02 1.96986269e+02] [ 1.45951051e-01 6.11046933e-03 9.89272942e-01 1.09888535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.74, Y:196.97, Z:109.90 [[ 8.83781631e-01 4.51360974e-01 -1.23301662e-01 2.66741421e+02] [-4.45577796e-01 8.92293697e-01 7.26111964e-02 1.96969871e+02] [ 1.42795156e-01 -9.23195899e-03 9.89709207e-01 1.09897707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.77, Y:196.96, Z:109.90 [[ 8.83472066e-01 4.50964354e-01 -1.26918324e-01 2.66772759e+02] [-4.46189613e-01 8.92541150e-01 6.54608681e-02 1.96959333e+02] [ 1.42800345e-01 -1.20321060e-03 9.89750784e-01 1.09899930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:196.95, Z:109.90 [[ 8.83593489e-01 4.50571208e-01 -1.27468167e-01 2.66800978e+02] [-4.45744146e-01 8.92739526e-01 6.57897741e-02 1.96946146e+02] [ 1.43438849e-01 -1.31322671e-03 9.89658311e-01 1.09904462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.83, Y:196.93, Z:109.91 [[ 8.83902572e-01 4.49921098e-01 -1.27621510e-01 2.66826042e+02] [-4.45070724e-01 8.93067131e-01 6.59025835e-02 1.96934436e+02] [ 1.43625538e-01 -1.45086532e-03 9.89631042e-01 1.09908222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.450385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.85, Y:196.92, Z:109.91 [[ 8.85462501e-01 4.46896246e-01 -1.27435888e-01 2.66853874e+02] [-4.42030684e-01 8.94583719e-01 6.57939499e-02 1.96922867e+02] [ 1.43405140e-01 -1.92750278e-03 9.89662190e-01 1.09911881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.480385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.88, Y:196.91, Z:109.92 [[ 8.85464209e-01 4.46892857e-01 -1.27435903e-01 2.66881169e+02] [-4.42027265e-01 8.94585411e-01 6.57939193e-02 1.96908774e+02] [ 1.43405133e-01 -1.92801683e-03 9.89662190e-01 1.09916050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:196.89, Z:109.92 [[ 8.86293567e-01 4.45307650e-01 -1.27219538e-01 2.66909524e+02] [-4.40442133e-01 8.95374968e-01 6.56840408e-02 1.96894711e+02] [ 1.43158795e-01 -2.18249830e-03 9.89697326e-01 1.09920593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:196.88, Z:109.93 [[ 8.87193751e-01 4.43538711e-01 -1.27124588e-01 2.66936988e+02] [-4.38656969e-01 8.96251728e-01 6.56727006e-02 1.96881223e+02] [ 1.43064017e-01 -2.50032305e-03 9.89710279e-01 1.09925064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:196.87, Z:109.93 [[ 8.88744172e-01 4.40566878e-01 -1.26627890e-01 2.66964397e+02] [-4.35692582e-01 8.97714872e-01 6.54215677e-02 1.96868486e+02] [ 1.42498316e-01 -2.97220462e-03 9.89790582e-01 1.09929592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:196.86, Z:109.93 [[ 8.90178288e-01 4.37844103e-01 -1.25996653e-01 2.66991224e+02] [-4.32991051e-01 8.99044508e-01 6.50977873e-02 1.96855577e+02] [ 1.41779281e-01 -3.39321381e-03 9.89892480e-01 1.09933972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:196.84, Z:109.94 [[ 8.90559521e-01 4.36954647e-01 -1.26389778e-01 2.67017781e+02] [-4.32062976e-01 8.99476568e-01 6.52953882e-02 1.96842458e+02] [ 1.42215767e-01 -3.54108596e-03 9.89829347e-01 1.09938065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:196.83, Z:109.94 [[ 8.90972973e-01 4.35894311e-01 -1.27135014e-01 2.67042680e+02] [-4.30934588e-01 8.99990143e-01 6.56743743e-02 1.96830861e+02] [ 1.43047345e-01 -3.72721771e-03 9.89708828e-01 1.09941321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:196.82, Z:109.95 [[ 8.90928636e-01 4.35965497e-01 -1.27201615e-01 2.67068497e+02] [-4.31003219e-01 8.99955752e-01 6.56952852e-02 1.96817901e+02] [ 1.43116703e-01 -3.70550514e-03 9.89698883e-01 1.09945536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.09, Y:196.81, Z:109.95 [[ 8.90161155e-01 4.37422119e-01 -1.27573543e-01 2.67094643e+02] [-4.32447073e-01 8.99249597e-01 6.58763403e-02 1.96806192e+02] [ 1.43536225e-01 -3.47175396e-03 9.89638974e-01 1.09949699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:196.79, Z:109.95 [[ 8.89313998e-01 4.39186579e-01 -1.27419625e-01 2.67120836e+02] [-4.34243173e-01 8.98390271e-01 6.57859202e-02 1.96794255e+02] [ 1.43364845e-01 -3.17323721e-03 9.89664818e-01 1.09953326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:196.78, Z:109.96 [[ 8.86998686e-01 4.44013344e-01 -1.26828556e-01 2.67147198e+02] [-4.39166488e-01 8.96017032e-01 6.54696443e-02 1.96783979e+02] [ 1.42709942e-01 -2.37263674e-03 9.89761710e-01 1.09957121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.17, Y:196.77, Z:109.96 [[ 8.85269093e-01 4.47306428e-01 -1.27340455e-01 2.67172498e+02] [-4.42455624e-01 8.94378877e-01 6.57224912e-02 1.96772213e+02] [ 1.43288706e-01 -1.83958990e-03 9.89679222e-01 1.09960955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.20, Y:196.76, Z:109.96 [[ 8.81286672e-01 4.54834626e-01 -1.28293665e-01 2.67199144e+02] [-4.49991551e-01 8.90575707e-01 6.62005613e-02 1.96760529e+02] [ 1.44365529e-01 -6.10607081e-04 9.89524240e-01 1.09964792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:196.75, Z:109.97 [[ 8.79318207e-01 4.58619479e-01 -1.28326396e-01 2.67224474e+02] [-4.53815564e-01 8.88632755e-01 6.62061965e-02 1.96748138e+02] [ 1.44398490e-01 2.02019518e-05 9.89519619e-01 1.09968756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:196.74, Z:109.97 [[ 8.76192949e-01 4.64944514e-01 -1.26935083e-01 2.67250699e+02] [-4.60312119e-01 8.85339188e-01 6.54772926e-02 1.96736014e+02] [ 1.42823912e-01 1.05901509e-03 9.89747548e-01 1.09973058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.930385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:267.28, Y:196.72, Z:109.98 [[ 8.74989260e-01 4.67388235e-01 -1.26261766e-01 2.67275329e+02] [-4.62832006e-01 8.84050964e-01 6.51185685e-02 1.96724031e+02] [ 1.42057489e-01 1.45993842e-03 9.89857332e-01 1.09976704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:196.71, Z:109.98 [[ 8.73299516e-01 4.70671433e-01 -1.25763103e-01 2.67300765e+02] [-4.66187065e-01 8.82306302e-01 6.48475868e-02 1.96710564e+02] [ 1.41483485e-01 1.99776587e-03 9.89938600e-01 1.09981182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:196.70, Z:109.99 [[ 8.72753216e-01 4.71768940e-01 -1.25442781e-01 2.67325357e+02] [-4.67320328e-01 8.81719522e-01 6.46714399e-02 1.96696714e+02] [ 1.41115325e-01 2.17975415e-03 9.89990764e-01 1.09985339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:196.68, Z:109.99 [[ 8.72207667e-01 4.72868667e-01 -1.25096002e-01 2.67348701e+02] [-4.68457537e-01 8.81129758e-01 6.44816671e-02 1.96681951e+02] [ 1.40717170e-01 2.36076055e-03 9.90047022e-01 1.09989888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.050385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:267.37, Y:196.67, Z:109.99 [[ 8.72138649e-01 4.72867523e-01 -1.25580580e-01 2.67374683e+02] [-4.68423870e-01 8.81130316e-01 6.47181971e-02 1.96667712e+02] [ 1.41255989e-01 2.38170013e-03 9.89970238e-01 1.09991813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:267.40, Y:196.65, Z:110.00 [[ 8.72074522e-01 4.73257687e-01 -1.24551954e-01 2.67399670e+02] [-4.68891627e-01 8.80920689e-01 6.41824189e-02 1.96654258e+02] [ 1.40095217e-01 2.42951627e-03 9.90135055e-01 1.09997365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.42, Y:196.64, Z:110.00 [[ 8.72014548e-01 4.73327572e-01 -1.24706205e-01 2.67423246e+02] [-4.68952573e-01 8.80883080e-01 6.42532834e-02 1.96638950e+02] [ 1.40264437e-01 2.45149782e-03 9.90111043e-01 1.10001224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:196.62, Z:110.01 [[ 8.72310107e-01 4.72423912e-01 -1.26058419e-01 2.67447424e+02] [-4.67945781e-01 8.81368339e-01 6.49353295e-02 1.96622708e+02] [ 1.41780902e-01 2.34476098e-03 9.89895286e-01 1.10005060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:196.61, Z:110.01 [[ 8.72649285e-01 4.71626040e-01 -1.26696898e-01 2.67470630e+02] [-4.67095439e-01 8.81795825e-01 6.52531563e-02 1.96608462e+02] [ 1.42495883e-01 2.23642276e-03 9.89792868e-01 1.10008762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:196.59, Z:110.01 [[ 8.73497344e-01 4.69755647e-01 -1.27796801e-01 2.67495692e+02] [-4.65127537e-01 8.82794310e-01 6.58071542e-02 1.96589737e+02] [ 1.43731571e-01 1.95943697e-03 9.89614772e-01 1.10013515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.52, Y:196.57, Z:110.02 [[ 8.74048515e-01 4.68704870e-01 -1.27886432e-01 2.67521566e+02] [-4.64058271e-01 8.83353024e-01 6.58586025e-02 1.96573698e+02] [ 1.43837114e-01 1.78314290e-03 9.89599770e-01 1.10017462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:196.55, Z:110.02 [[ 8.75318590e-01 4.66338083e-01 -1.27852094e-01 2.67547763e+02] [-4.61668477e-01 8.84605481e-01 6.58434569e-02 1.96554773e+02] [ 1.43803975e-01 1.39127977e-03 9.89605215e-01 1.10021636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:196.54, Z:110.03 [[ 8.75972156e-01 4.65200054e-01 -1.27521337e-01 2.67573467e+02] [-4.60537203e-01 8.85204805e-01 6.57110112e-02 1.96538286e+02] [ 1.43451266e-01 1.16730352e-03 9.89656694e-01 1.10025971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.60, Y:196.52, Z:110.03 [[ 8.77277482e-01 4.62846253e-01 -1.27112415e-01 2.67595788e+02] [-4.58185934e-01 8.86438247e-01 6.55200996e-02 1.96520168e+02] [ 1.43003039e-01 7.61812558e-04 9.89721956e-01 1.10030605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:196.50, Z:110.04 [[ 8.77544212e-01 4.62256515e-01 -1.27416920e-01 2.67622594e+02] [-4.57568290e-01 8.86745997e-01 6.56718874e-02 1.96503057e+02] [ 1.43343701e-01 6.71957381e-04 9.89672740e-01 1.10035020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:196.48, Z:110.04 [[ 8.77823091e-01 4.61648274e-01 -1.27700790e-01 2.67648398e+02] [-4.56927022e-01 8.87062895e-01 6.58567834e-02 1.96483468e+02] [ 1.43681303e-01 5.39336413e-04 9.89623864e-01 1.10039163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.68, Y:196.47, Z:110.04 [[ 8.77752758e-01 4.61694578e-01 -1.28016455e-01 2.67675000e+02] [-4.56944407e-01 8.87038812e-01 6.60602320e-02 1.96467235e+02] [ 1.44055215e-01 5.11852391e-04 9.89569519e-01 1.10043431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.70, Y:196.45, Z:110.05 [[ 8.77476067e-01 4.62064459e-01 -1.28577551e-01 2.67701387e+02] [-4.57271026e-01 8.86846177e-01 6.63857502e-02 1.96448154e+02] [ 1.44703005e-01 5.42881737e-04 9.89474985e-01 1.10048273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.470385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:267.73, Y:196.43, Z:110.05 [[ 8.77327774e-01 4.62446566e-01 -1.28215250e-01 2.67728416e+02] [-4.57678032e-01 8.86646972e-01 6.62417202e-02 1.96431233e+02] [ 1.44314919e-01 5.65602185e-04 9.89531649e-01 1.10052935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:196.41, Z:110.06 [[ 8.77561179e-01 4.62141739e-01 -1.27716050e-01 2.67755506e+02] [-4.57401400e-01 8.86805945e-01 6.60240446e-02 1.96412302e+02] [ 1.43771819e-01 4.77361732e-04 9.89610750e-01 1.10057596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.530385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:267.78, Y:196.40, Z:110.06 [[ 8.77791261e-01 4.61719981e-01 -1.27660333e-01 2.67782600e+02] [-4.56973312e-01 8.87025660e-01 6.60368904e-02 1.96395769e+02] [ 1.43728543e-01 3.70759996e-04 9.89617082e-01 1.10061679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:196.38, Z:110.07 [[ 8.78417388e-01 4.60773917e-01 -1.26768646e-01 2.67809899e+02] [-4.56079953e-01 8.87517528e-01 6.56027041e-02 1.96376885e+02] [ 1.42737410e-01 1.90082229e-04 9.89760575e-01 1.10065911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:196.36, Z:110.07 [[ 8.78629121e-01 4.60442001e-01 -1.26507040e-01 2.67836726e+02] [-4.55758088e-01 8.87689785e-01 6.55088638e-02 1.96360445e+02] [ 1.42462039e-01 9.86111684e-05 9.89800262e-01 1.10070762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.86, Y:196.34, Z:110.08 [[ 8.79079719e-01 4.59579820e-01 -1.26511808e-01 2.67864039e+02] [-4.54881048e-01 8.88136467e-01 6.55503539e-02 1.96341282e+02] [ 1.42485370e-01 -7.61628523e-05 9.89796905e-01 1.10075667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:196.32, Z:110.08 [[ 8.79271697e-01 4.59329142e-01 -1.26087356e-01 2.67892402e+02] [-4.54653577e-01 8.88266129e-01 6.53713235e-02 1.96324272e+02] [ 1.42026081e-01 -1.53087265e-04 9.89862904e-01 1.10080482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:196.31, Z:110.09 [[ 8.79124265e-01 4.59997289e-01 -1.24671651e-01 2.67918922e+02] [-4.55427280e-01 8.87920316e-01 6.46800267e-02 1.96306838e+02] [ 1.40451129e-01 -8.29100093e-05 9.90087609e-01 1.10085318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.710385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.95, Y:196.29, Z:110.09 [[ 8.78707240e-01 4.60872012e-01 -1.24380764e-01 2.67947023e+02] [-4.56326417e-01 8.87466613e-01 6.45694444e-02 1.96290688e+02] [ 1.40142025e-01 2.05899372e-05 9.90131412e-01 1.10089920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.97, Y:196.27, Z:110.09 [[ 8.77857671e-01 4.62601013e-01 -1.23960531e-01 2.67973715e+02] [-4.58097211e-01 8.86566544e-01 6.43949367e-02 1.96272607e+02] [ 1.39688422e-01 2.56384232e-04 9.90195475e-01 1.10094531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:196.26, Z:110.10 [[ 8.77555863e-01 4.63276123e-01 -1.23575652e-01 2.68000852e+02] [-4.58803292e-01 8.86213924e-01 6.42216471e-02 1.96256588e+02] [ 1.39266819e-01 3.38832987e-04 9.90254835e-01 1.10098848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:196.24, Z:110.10 [[ 8.76603023e-01 4.64961288e-01 -1.24008629e-01 2.68028160e+02] [-4.60472771e-01 8.85330807e-01 6.44530089e-02 1.96239210e+02] [ 1.39756814e-01 6.02894652e-04 9.90185674e-01 1.10103215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.830385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:268.06, Y:196.23, Z:110.10 [[ 8.76154872e-01 4.64265474e-01 -1.29654194e-01 2.68057536e+02] [-4.60749494e-01 8.85648986e-01 5.77561906e-02 1.96226325e+02] [ 1.41642311e-01 9.13473646e-03 9.89875756e-01 1.10103652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:268.08, Y:196.20, Z:110.11 [[ 8.76226807e-01 4.66672643e-01 -1.20179977e-01 2.68079955e+02] [-4.61094732e-01 8.84393864e-01 7.23819186e-02 1.96203764e+02] [ 1.40065096e-01 -8.00862311e-03 9.90109909e-01 1.10114116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:268.11, Y:196.19, Z:110.12 [[ 8.76432712e-01 4.65103165e-01 -1.24678578e-01 2.68108996e+02] [-4.60553364e-01 8.85256320e-01 6.48987410e-02 1.96188627e+02] [ 1.40557109e-01 5.41758966e-04 9.90072424e-01 1.10115619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:196.17, Z:110.12 [[ 8.76904907e-01 4.64013959e-01 -1.25414632e-01 2.68135858e+02] [-4.59392515e-01 8.85827826e-01 6.53267182e-02 1.96170154e+02] [ 1.41408280e-01 3.29223330e-04 9.89951307e-01 1.10120421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:196.16, Z:110.11 [[ 8.78926859e-01 4.59425593e-01 -1.28123771e-01 2.68166517e+02] [-4.56569612e-01 8.88131539e-01 5.25980821e-02 1.96161110e+02] [ 1.37955667e-01 1.22675531e-02 9.90362429e-01 1.10112669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.19, Y:196.13, Z:110.13 [[ 8.76966315e-01 4.65101612e-01 -1.20874204e-01 2.68187296e+02] [-4.58925156e-01 8.85181968e-01 7.64237253e-02 1.96133098e+02] [ 1.42540464e-01 -1.15488197e-02 9.89721598e-01 1.10133016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.22, Y:196.12, Z:110.13 [[ 8.76813870e-01 4.63984217e-01 -1.26158963e-01 2.68219018e+02] [-4.59287195e-01 8.85843443e-01 6.58533728e-02 1.96122092e+02] [ 1.42312016e-01 2.02045541e-04 9.89821827e-01 1.10133017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:196.12, Z:110.13 [[ 8.78760095e-01 4.59953213e-01 -1.27372440e-01 2.68249630e+02] [-4.57072819e-01 8.87863853e-01 5.27467189e-02 1.96115063e+02] [ 1.37350408e-01 1.18667683e-02 9.90451435e-01 1.10125554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.27, Y:196.09, Z:110.13 [[ 8.78527423e-01 4.61679194e-01 -1.22645381e-01 2.68273613e+02] [-4.57499472e-01 8.87045456e-01 6.20047768e-02 1.96094999e+02] [ 1.37418344e-01 1.63730048e-03 9.90511746e-01 1.10133371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:196.07, Z:110.15 [[ 8.75848272e-01 4.66982399e-01 -1.21726100e-01 2.68297479e+02] [-4.60810479e-01 8.84199869e-01 7.64479803e-02 1.96069353e+02] [ 1.43330063e-01 -1.08641690e-02 9.89615311e-01 1.10151375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.33, Y:196.06, Z:110.15 [[ 8.76338041e-01 4.64662087e-01 -1.26967643e-01 2.68327767e+02] [-4.59882344e-01 8.85488073e-01 6.64763312e-02 1.96056905e+02] [ 1.43317364e-01 1.34439178e-04 9.89676773e-01 1.10152345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.36, Y:196.04, Z:110.16 [[ 8.76563562e-01 4.64178665e-01 -1.27178967e-01 2.68355699e+02] [-4.59371334e-01 8.85741592e-01 6.66319001e-02 1.96041080e+02] [ 1.43576807e-01 1.52760556e-05 9.89639177e-01 1.10157070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:196.03, Z:110.16 [[ 8.77558439e-01 4.61119888e-01 -1.31375930e-01 2.68385515e+02] [-4.56921603e-01 8.87321739e-01 6.23119608e-02 1.96025715e+02] [ 1.45306003e-01 5.34611334e-03 9.89372319e-01 1.10159172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.41, Y:196.02, Z:110.15 [[ 8.80760569e-01 4.56553828e-01 -1.25775289e-01 2.68412594e+02] [-4.52964649e-01 8.89673199e-01 5.74858768e-02 1.96016435e+02] [ 1.38144301e-01 6.34046613e-03 9.90391817e-01 1.10154934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:195.99, Z:110.18 [[ 8.78319779e-01 4.62422159e-01 -1.21326474e-01 2.68434825e+02] [-4.56117930e-01 8.86573505e-01 7.70964011e-02 1.95987921e+02] [ 1.43215921e-01 -1.23761139e-02 9.89614082e-01 1.10175091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:195.98, Z:110.18 [[ 8.78282784e-01 4.61004804e-01 -1.26861822e-01 2.68466388e+02] [-4.56171721e-01 8.87397432e-01 6.65819712e-02 1.95975860e+02] [ 1.43271463e-01 -6.07023475e-04 9.89683242e-01 1.10175367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:195.96, Z:110.18 [[ 8.78146731e-01 4.61351401e-01 -1.26543287e-01 2.68494265e+02] [-4.56539746e-01 8.87217300e-01 6.64599374e-02 1.95959677e+02] [ 1.42932779e-01 -5.89536586e-04 9.89732223e-01 1.10179932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.340385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.52, Y:195.94, Z:110.18 [[ 8.78062363e-01 4.61547725e-01 -1.26412754e-01 2.68521776e+02] [-4.56741491e-01 8.87115178e-01 6.64369649e-02 1.95944569e+02] [ 1.42806503e-01 -5.97848318e-04 9.89750446e-01 1.10184000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.55, Y:195.93, Z:110.19 [[ 8.77975177e-01 4.61718278e-01 -1.26395491e-01 2.68551055e+02] [-4.56909076e-01 8.87026416e-01 6.64697938e-02 1.95929070e+02] [ 1.42806458e-01 -6.07582167e-04 9.89750447e-01 1.10188560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:195.91, Z:110.19 [[ 8.77611944e-01 4.62265355e-01 -1.26917361e-01 2.68579074e+02] [-4.57417224e-01 8.86741473e-01 6.67760698e-02 1.95912721e+02] [ 1.43411151e-01 -5.49289611e-04 9.89663044e-01 1.10193094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.61, Y:195.91, Z:110.18 [[ 8.79481635e-01 4.58202673e-01 -1.28694845e-01 2.68609227e+02] [-4.55290473e-01 8.88766508e-01 5.29592337e-02 1.95908901e+02] [ 1.38645730e-01 1.20168632e-02 9.90269133e-01 1.10183772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:195.88, Z:110.21 [[ 8.76829705e-01 4.65035128e-01 -1.22114693e-01 2.68631351e+02] [-4.58787593e-01 8.85219787e-01 7.68106386e-02 1.95877781e+02] [ 1.43817988e-01 -1.13251435e-02 9.89539351e-01 1.10206014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.67, Y:195.87, Z:110.20 [[ 8.78093545e-01 4.60741091e-01 -1.29109932e-01 2.68665103e+02] [-4.57263033e-01 8.87490770e-01 5.71896164e-02 1.95874932e+02] [ 1.40933479e-01 8.81936625e-03 9.89979784e-01 1.10195737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.69, Y:195.86, Z:110.20 [[ 8.77169693e-01 4.62078273e-01 -1.30602445e-01 2.68692132e+02] [-4.58221784e-01 8.86809861e-01 6.00088864e-02 1.95858112e+02] [ 1.43548339e-01 7.20690881e-03 9.89617065e-01 1.10201108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:195.84, Z:110.21 [[ 8.77685586e-01 4.63008111e-01 -1.23658809e-01 2.68717132e+02] [-4.57766880e-01 8.86342657e-01 6.96144981e-02 1.95838189e+02] [ 1.41836155e-01 -4.49273433e-03 9.89879953e-01 1.10209462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:268.75, Y:195.82, Z:110.21 [[ 8.76945136e-01 4.63117714e-01 -1.28410325e-01 2.68746464e+02] [-4.58692464e-01 8.86292243e-01 6.39318666e-02 1.95824505e+02] [ 1.43417055e-01 2.83610886e-03 9.89658277e-01 1.10211944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:195.81, Z:110.22 [[ 8.76811435e-01 4.64118830e-01 -1.25679826e-01 2.68774467e+02] [-4.59154784e-01 8.85771370e-01 6.77197575e-02 1.95806823e+02] [ 1.42753606e-01 -1.67096446e-03 9.89756847e-01 1.10217926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:195.79, Z:110.22 [[ 8.76656407e-01 4.64070413e-01 -1.26933828e-01 2.68802991e+02] [-4.59495272e-01 8.85797318e-01 6.50169694e-02 1.95793561e+02] [ 1.42610096e-01 1.32795085e-03 9.89778055e-01 1.10219530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:268.83, Y:195.78, Z:110.22 [[ 8.76107660e-01 4.65032799e-01 -1.27200092e-01 2.68830142e+02] [-4.60373171e-01 8.85292862e-01 6.56741353e-02 1.95777998e+02] [ 1.43149961e-01 1.02189688e-03 9.89700482e-01 1.10224241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.85, Y:195.75, Z:110.24 [[ 8.73187696e-01 4.70842833e-01 -1.25897873e-01 2.68854486e+02] [-4.64544502e-01 8.82171248e-01 7.72806210e-02 1.95751100e+02] [ 1.47450511e-01 -8.99532242e-03 9.89028529e-01 1.10240999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.89, Y:195.74, Z:110.24 [[ 8.72871051e-01 4.70288351e-01 -1.30096105e-01 2.68885100e+02] [-4.65190842e-01 8.82512781e-01 6.90555709e-02 1.95738043e+02] [ 1.47287506e-01 2.42907818e-04 9.89093692e-01 1.10242596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:195.73, Z:110.24 [[ 8.74398548e-01 4.66983565e-01 -1.31732797e-01 2.68913777e+02] [-4.63362450e-01 8.84213896e-01 5.88304862e-02 1.95730437e+02] [ 1.43952840e-01 9.59874012e-03 9.89537995e-01 1.10237104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:195.71, Z:110.24 [[ 8.73929949e-01 4.68087587e-01 -1.30921563e-01 2.68940012e+02] [-4.63770917e-01 8.83667299e-01 6.36289337e-02 1.95712641e+02] [ 1.45475018e-01 5.11038279e-03 9.89348727e-01 1.10243103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.97, Y:195.69, Z:110.25 [[ 8.73975312e-01 4.69041523e-01 -1.27150323e-01 2.68965178e+02] [-4.64013833e-01 8.83175691e-01 6.84971671e-02 1.95694809e+02] [ 1.44424090e-01 -8.65324278e-04 9.89515504e-01 1.10248298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:268.99, Y:195.68, Z:110.25 [[ 8.73075514e-01 4.70104535e-01 -1.29386527e-01 2.68994377e+02] [-4.65152378e-01 8.82610414e-01 6.80596935e-02 1.95677685e+02] [ 1.46193067e-01 7.63198786e-04 9.89255783e-01 1.10253607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:269.02, Y:195.66, Z:110.27 [[ 8.72682199e-01 4.71574719e-01 -1.26661217e-01 2.69015866e+02] [-4.64918086e-01 8.81761938e-01 7.96684331e-02 1.95656211e+02] [ 1.49254659e-01 -1.06381328e-02 9.88741562e-01 1.10265793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:195.64, Z:110.27 [[ 8.71378519e-01 4.71890764e-01 -1.34233318e-01 2.69047771e+02] [-4.67038623e-01 8.81648901e-01 6.76028166e-02 1.95640629e+02] [ 1.50247802e-01 3.78450194e-03 9.88641126e-01 1.10267956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:195.62, Z:110.28 [[ 8.73446383e-01 4.69714008e-01 -1.28297180e-01 2.69070967e+02] [-4.63474749e-01 8.82786719e-01 7.66731176e-02 1.95623154e+02] [ 1.49273484e-01 -7.50735393e-03 9.88767448e-01 1.10276397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:269.10, Y:195.61, Z:110.28 [[ 8.73647674e-01 4.67277129e-01 -1.35616470e-01 2.69104582e+02] [-4.63065453e-01 8.84077369e-01 6.30681450e-02 1.95611548e+02] [ 1.49365754e-01 7.69996395e-03 9.88752033e-01 1.10276174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:195.59, Z:110.28 [[ 8.73644187e-01 4.69005886e-01 -1.29534993e-01 2.69127671e+02] [-4.63864405e-01 8.83194941e-01 6.92568468e-02 1.95588060e+02] [ 1.46886519e-01 -4.19169398e-04 9.89153262e-01 1.10284803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:195.57, Z:110.29 [[ 8.73491542e-01 4.68246985e-01 -1.33256471e-01 2.69157008e+02] [-4.63779649e-01 8.83582016e-01 6.47399282e-02 1.95573120e+02] [ 1.48057297e-01 5.25185939e-03 9.88964840e-01 1.10287719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.18, Y:195.55, Z:110.30 [[ 8.74776373e-01 4.68187900e-01 -1.24765327e-01 2.69178909e+02] [-4.62070261e-01 8.83585233e-01 7.59487269e-02 1.95554002e+02] [ 1.45799075e-01 -8.78780469e-03 9.89275191e-01 1.10295167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.21, Y:195.55, Z:110.29 [[ 8.74644147e-01 4.65899292e-01 -1.33923356e-01 2.69210913e+02] [-4.62139989e-01 8.84786132e-01 5.98341926e-02 1.95546518e+02] [ 1.46370236e-01 9.55771165e-03 9.89183706e-01 1.10289919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:195.52, Z:110.30 [[ 8.72579571e-01 4.71598954e-01 -1.27276548e-01 2.69233660e+02] [-4.65726838e-01 8.81795063e-01 7.44041634e-02 1.95520735e+02] [ 1.47320757e-01 -5.64744877e-03 9.89072647e-01 1.10303897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.26, Y:195.51, Z:110.31 [[ 8.72618624e-01 4.70518594e-01 -1.30954152e-01 2.69264533e+02] [-4.65501713e-01 8.82389326e-01 6.85363621e-02 1.95506780e+02] [ 1.47800178e-01 1.15327599e-03 9.89016571e-01 1.10305737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.29, Y:195.49, Z:110.31 [[ 8.71957892e-01 4.71772163e-01 -1.30845180e-01 2.69290469e+02] [-4.66536315e-01 8.81720489e-01 7.00916946e-02 1.95489057e+02] [ 1.48436186e-01 -7.29783468e-05 9.88921986e-01 1.10310584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.32, Y:195.47, Z:110.32 [[ 8.71622459e-01 4.72335556e-01 -1.31047366e-01 2.69318619e+02] [-4.67083281e-01 8.81418812e-01 7.02430492e-02 1.95472152e+02] [ 1.48685904e-01 -1.53853184e-05 9.88884473e-01 1.10315274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.35, Y:195.46, Z:110.32 [[ 8.71297122e-01 4.73028642e-01 -1.30710481e-01 2.69345995e+02] [-4.67804325e-01 8.81047048e-01 7.01085843e-02 1.95455244e+02] [ 1.48325452e-01 6.15204904e-05 9.88938601e-01 1.10319683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.37, Y:195.44, Z:110.32 [[ 8.71141015e-01 4.73427067e-01 -1.30307886e-01 2.69372824e+02] [-4.68232578e-01 8.80833018e-01 6.99388887e-02 1.95438659e+02] [ 1.47890451e-01 8.77628894e-05 9.89003745e-01 1.10323816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:195.42, Z:110.33 [[ 8.70875033e-01 4.73909917e-01 -1.30330607e-01 2.69400775e+02] [-4.68712502e-01 8.80573321e-01 6.99944104e-02 1.95421981e+02] [ 1.47936701e-01 1.31200608e-04 9.88996823e-01 1.10328822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:195.41, Z:110.33 [[ 8.70084266e-01 4.74768691e-01 -1.32469090e-01 2.69428269e+02] [-4.69902882e-01 8.80104824e-01 6.78732755e-02 1.95406595e+02] [ 1.48810792e-01 3.19213812e-03 9.88860536e-01 1.10332517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:195.39, Z:110.34 [[ 8.70103802e-01 4.75940073e-01 -1.28064130e-01 2.69453797e+02] [-4.70506006e-01 8.79475028e-01 7.17479923e-02 1.95387019e+02] [ 1.46776949e-01 -2.17325839e-03 9.89167228e-01 1.10339962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.48, Y:195.37, Z:110.34 [[ 8.69831460e-01 4.76243193e-01 -1.28785296e-01 2.69482390e+02] [-4.71178599e-01 8.79313504e-01 6.92711264e-02 1.95372085e+02] [ 1.46232552e-01 4.26670461e-04 9.89250150e-01 1.10343434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:195.36, Z:110.35 [[ 8.69137799e-01 4.77580167e-01 -1.28517198e-01 2.69510731e+02] [-4.72544705e-01 8.78587965e-01 6.91714572e-02 1.95355448e+02] [ 1.45948579e-01 6.10593324e-04 9.89291989e-01 1.10347131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.54, Y:195.34, Z:110.35 [[ 8.68787414e-01 4.78257176e-01 -1.28368620e-01 2.69537956e+02] [-4.73234008e-01 8.78219567e-01 6.91373038e-02 1.95340163e+02] [ 1.45801246e-01 6.82777181e-04 9.89313666e-01 1.10350727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:195.32, Z:110.36 [[ 8.68055113e-01 4.79465850e-01 -1.28813121e-01 2.69565778e+02] [-4.74414475e-01 8.77560126e-01 6.94199595e-02 1.95323137e+02] [ 1.46325758e-01 8.50458239e-04 9.89236094e-01 1.10355466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.59, Y:195.31, Z:110.36 [[ 8.67540322e-01 4.80158952e-01 -1.29696459e-01 2.69593669e+02] [-4.75038590e-01 8.77181002e-01 6.99416059e-02 1.95305707e+02] [ 1.47350358e-01 9.33659782e-04 9.89083920e-01 1.10359643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.62, Y:195.29, Z:110.36 [[ 8.67257243e-01 4.80453875e-01 -1.30495018e-01 2.69622265e+02] [-4.75266189e-01 8.77019484e-01 7.04192742e-02 1.95289057e+02] [ 1.48279886e-01 9.48244298e-04 9.88944981e-01 1.10363871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.65, Y:195.27, Z:110.37 [[ 8.66947471e-01 4.80708295e-01 -1.31611619e-01 2.69650735e+02] [-4.75426617e-01 8.76880047e-01 7.10697854e-02 1.95272895e+02] [ 1.49571438e-01 9.57895952e-04 9.88750458e-01 1.10368388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:195.26, Z:110.37 [[ 8.67003625e-01 4.80301564e-01 -1.32721973e-01 2.69677649e+02] [-4.74917810e-01 8.77103004e-01 7.17174586e-02 1.95256886e+02] [ 1.50856849e-01 8.52732360e-04 9.88555251e-01 1.10371956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:195.24, Z:110.38 [[ 8.66952904e-01 4.80324420e-01 -1.32970352e-01 2.69706308e+02] [-4.74913752e-01 8.77090521e-01 7.18967757e-02 1.95240368e+02] [ 1.51160813e-01 8.18330350e-04 9.88508846e-01 1.10376451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:195.22, Z:110.38 [[ 8.66864317e-01 4.80437441e-01 -1.33139477e-01 2.69733215e+02] [-4.75006993e-01 8.77028637e-01 7.20355926e-02 1.95223134e+02] [ 1.51375730e-01 7.97097722e-04 9.88475975e-01 1.10381844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:195.21, Z:110.39 [[ 8.67390734e-01 4.79696498e-01 -1.32380457e-01 2.69760916e+02] [-4.74313185e-01 8.77434258e-01 7.16667623e-02 1.95206198e+02] [ 1.50533443e-01 6.26710599e-04 9.88604719e-01 1.10387207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:195.19, Z:110.39 [[ 8.67570062e-01 4.79516664e-01 -1.31855818e-01 2.69789371e+02] [-4.74170686e-01 8.77532587e-01 7.14053201e-02 1.95190203e+02] [ 1.49947818e-01 5.73045623e-04 9.88693746e-01 1.10392091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.82, Y:195.18, Z:110.40 [[ 8.67768322e-01 4.79389099e-01 -1.31012331e-01 2.69816942e+02] [-4.74103076e-01 8.77602323e-01 7.09960310e-02 1.95175132e+02] [ 1.49011449e-01 5.05242312e-04 9.88835342e-01 1.10396810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:195.16, Z:110.40 [[ 8.67933081e-01 4.79216423e-01 -1.30551855e-01 2.69845547e+02] [-4.73959045e-01 8.77696662e-01 7.07911917e-02 1.95159511e+02] [ 1.48509229e-01 4.34215118e-04 9.88910926e-01 1.10401835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.87, Y:195.14, Z:110.41 [[ 8.68451921e-01 4.78486173e-01 -1.29777667e-01 2.69874006e+02] [-4.73276391e-01 8.78095046e-01 7.04169538e-02 1.95143805e+02] [ 1.47650665e-01 2.66966929e-04 9.89039539e-01 1.10407459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:195.13, Z:110.41 [[ 8.68522494e-01 4.78412573e-01 -1.29576570e-01 2.69902995e+02] [-4.73211286e-01 8.78135163e-01 7.03542086e-02 1.95128309e+02] [ 1.47444081e-01 2.12882694e-04 9.89070371e-01 1.10411799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:195.11, Z:110.42 [[ 8.69257908e-01 4.76979847e-01 -1.29926574e-01 2.69931772e+02] [-4.71727219e-01 8.78914228e-01 7.05918578e-02 1.95113620e+02] [ 1.47865208e-01 -7.26291635e-05 9.89007520e-01 1.10416432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.96, Y:195.10, Z:110.42 [[ 8.69385156e-01 4.76662546e-01 -1.30239273e-01 2.69960148e+02] [-4.71373804e-01 8.79086337e-01 7.08092432e-02 1.95097978e+02] [ 1.48243680e-01 -1.69123518e-04 9.88950850e-01 1.10421087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.99, Y:195.08, Z:110.43 [[ 8.69488847e-01 4.76197561e-01 -1.31244156e-01 2.69988057e+02] [-4.70813932e-01 8.79338272e-01 7.14033904e-02 1.95083070e+02] [ 1.49410130e-01 -2.92874485e-04 9.88775266e-01 1.10426060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:270.02, Y:195.07, Z:110.43 [[ 8.69435990e-01 4.76244557e-01 -1.31423673e-01 2.70017328e+02] [-4.70839924e-01 8.79312809e-01 7.15454400e-02 1.95067758e+02] [ 1.49635646e-01 -3.24668045e-04 9.88741153e-01 1.10429791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:195.05, Z:110.43 [[ 8.69466386e-01 4.75989307e-01 -1.32145312e-01 2.70046319e+02] [-4.70514730e-01 8.79450970e-01 7.19852771e-02 1.95054007e+02] [ 1.50479545e-01 -4.12462817e-04 9.88613037e-01 1.10433455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:195.04, Z:110.44 [[ 8.69375513e-01 4.76191028e-01 -1.32016368e-01 2.70075714e+02] [-4.70722820e-01 8.79341760e-01 7.19589835e-02 1.95038687e+02] [ 1.50353728e-01 -4.16261025e-04 9.88632178e-01 1.10437617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:195.02, Z:110.44 [[ 8.69321466e-01 4.76172280e-01 -1.32439227e-01 2.70104511e+02] [-4.70661355e-01 8.79351890e-01 7.22367136e-02 1.95023460e+02] [ 1.50857805e-01 -4.62899575e-04 9.88555364e-01 1.10442805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:195.01, Z:110.45 [[ 8.69241153e-01 4.76266443e-01 -1.32627651e-01 2.70132622e+02] [-4.70733544e-01 8.79300879e-01 7.23871228e-02 1.95008413e+02] [ 1.51095168e-01 -4.89581862e-04 9.88519100e-01 1.10447636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:194.99, Z:110.45 [[ 8.69341789e-01 4.76151300e-01 -1.32381242e-01 2.70161253e+02] [-4.70630969e-01 8.79363201e-01 7.22969679e-02 1.94993936e+02] [ 1.50835488e-01 -5.48063186e-04 9.88558726e-01 1.10452193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:194.98, Z:110.46 [[ 8.69290480e-01 4.76285497e-01 -1.32235350e-01 2.70189874e+02] [-4.70772244e-01 8.79290514e-01 7.22612348e-02 1.94979370e+02] [ 1.50690267e-01 -5.63270903e-04 9.88580865e-01 1.10456893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.22, Y:194.96, Z:110.46 [[ 8.69228122e-01 4.76467804e-01 -1.31988275e-01 2.70217689e+02] [-4.70970417e-01 8.79191734e-01 7.21717444e-02 1.94964908e+02] [ 1.50430513e-01 -5.71137100e-04 9.88620420e-01 1.10461218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.25, Y:194.95, Z:110.47 [[ 8.69249563e-01 4.76487949e-01 -1.31774174e-01 2.70247080e+02] [-4.71002180e-01 8.79180794e-01 7.20976950e-02 1.94949972e+02] [ 1.50207006e-01 -6.04966529e-04 9.88654383e-01 1.10465550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:270.28, Y:194.94, Z:110.47 [[ 8.69717300e-01 4.75653217e-01 -1.31703591e-01 2.70275016e+02] [-4.70156791e-01 8.79632533e-01 7.21054709e-02 1.94936175e+02] [ 1.50147962e-01 -7.90037766e-04 9.88663221e-01 1.10470433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:194.92, Z:110.47 [[ 8.69882170e-01 4.75440968e-01 -1.31380731e-01 2.70303803e+02] [-4.69964531e-01 8.79747214e-01 7.19595695e-02 1.94920613e+02] [ 1.49794359e-01 -8.52062881e-04 9.88716807e-01 1.10474634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.33, Y:194.90, Z:110.48 [[ 8.69793839e-01 4.75607840e-01 -1.31361559e-01 2.70332792e+02] [-4.70128013e-01 8.79656999e-01 7.19945515e-02 1.94904617e+02] [ 1.49794288e-01 -8.63668681e-04 9.88716808e-01 1.10479277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:194.89, Z:110.48 [[ 8.70637042e-01 4.74280528e-01 -1.30572289e-01 2.70360989e+02] [-4.68846939e-01 8.80373068e-01 7.15947601e-02 1.94888817e+02] [ 1.48908327e-01 -1.11463201e-03 9.88850377e-01 1.10484295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:194.87, Z:110.49 [[ 8.70886224e-01 4.73769182e-01 -1.30766763e-01 2.70389340e+02] [-4.68306551e-01 8.80648177e-01 7.17479135e-02 1.94872877e+02] [ 1.49151462e-01 -1.24533777e-03 9.88813577e-01 1.10489853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.42, Y:194.86, Z:110.49 [[ 8.71215039e-01 4.73337022e-01 -1.30139998e-01 2.70417729e+02] [-4.67915125e-01 8.80880372e-01 7.14507279e-02 1.94857289e+02] [ 1.48458045e-01 -1.35447509e-03 9.88917779e-01 1.10494701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.45, Y:194.84, Z:110.50 [[ 8.71419845e-01 4.72964881e-01 -1.30121772e-01 2.70445823e+02] [-4.67533373e-01 8.81080071e-01 7.14874376e-02 1.94842860e+02] [ 1.48458748e-01 -1.45930084e-03 9.88917525e-01 1.10499008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:270.47, Y:194.83, Z:110.50 [[ 8.71133169e-01 4.73384135e-01 -1.30516137e-01 2.70474809e+02] [-4.67917461e-01 8.80854932e-01 7.17484393e-02 1.94827756e+02] [ 1.48930356e-01 -1.43166564e-03 9.88846651e-01 1.10502981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:194.81, Z:110.51 [[ 8.70741287e-01 4.74041434e-01 -1.30745283e-01 2.70502720e+02] [-4.68555914e-01 8.80501484e-01 7.19200461e-02 1.94812407e+02] [ 1.49214498e-01 -1.36227789e-03 9.88803913e-01 1.10507212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:270.53, Y:194.80, Z:110.51 [[ 8.69685587e-01 4.75744346e-01 -1.31583804e-01 2.70531446e+02] [-4.70202492e-01 8.79582911e-01 7.24121531e-02 1.94796353e+02] [ 1.50188538e-01 -1.10477331e-03 9.88656757e-01 1.10511304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:194.78, Z:110.52 [[ 8.69150457e-01 4.76895668e-01 -1.30950395e-01 2.70559998e+02] [-4.71413281e-01 8.78959404e-01 7.21102275e-02 1.94780817e+02] [ 1.49489137e-01 -9.42881577e-04 9.88762919e-01 1.10516248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:194.77, Z:110.52 [[ 8.67936665e-01 4.79043027e-01 -1.31162968e-01 2.70589709e+02] [-4.73559944e-01 8.77791205e-01 7.22743443e-02 1.94766181e+02] [ 1.49756221e-01 -6.16025352e-04 9.88722759e-01 1.10520351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.590385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:270.62, Y:194.75, Z:110.52 [[ 8.67218641e-01 4.80098148e-01 -1.32051495e-01 2.70618885e+02] [-4.74545006e-01 8.77214648e-01 7.28113931e-02 1.94750563e+02] [ 1.50794121e-01 -4.79019920e-04 9.88565073e-01 1.10523849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:194.74, Z:110.53 [[ 8.66416643e-01 4.81771358e-01 -1.31219509e-01 2.70645960e+02] [-4.76300096e-01 8.76296928e-01 7.24010571e-02 1.94735429e+02] [ 1.49868008e-01 -2.29616101e-04 9.88705986e-01 1.10529639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:194.72, Z:110.53 [[ 8.65897737e-01 4.82805511e-01 -1.30843217e-01 2.70673406e+02] [-4.77370617e-01 8.75727600e-01 7.22389350e-02 1.94720139e+02] [ 1.49460372e-01 -9.08230791e-05 9.88767712e-01 1.10534574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.70, Y:194.70, Z:110.54 [[ 8.65465559e-01 4.83779849e-01 -1.30101590e-01 2.70702281e+02] [-4.78410972e-01 8.75189726e-01 7.18740998e-02 1.94704367e+02] [ 1.48634816e-01 3.74702882e-05 9.88892153e-01 1.10539379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:194.69, Z:110.54 [[ 8.65309734e-01 4.84157324e-01 -1.29733379e-01 2.70730291e+02] [-4.78816183e-01 8.74980961e-01 7.17173701e-02 1.94689072e+02] [ 1.48236726e-01 6.07026800e-05 9.88951904e-01 1.10543752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:194.67, Z:110.55 [[ 8.65537321e-01 4.83936571e-01 -1.29036978e-01 2.70759264e+02] [-4.78644002e-01 8.75103077e-01 7.13759389e-02 1.94673953e+02] [ 1.47462083e-01 -1.57634838e-05 9.89067709e-01 1.10547985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:194.66, Z:110.55 [[ 8.65633518e-01 4.83858959e-01 -1.28682244e-01 2.70787900e+02] [-4.78587876e-01 8.75145989e-01 7.12259953e-02 1.94658813e+02] [ 1.47079086e-01 -6.98471234e-05 9.89124733e-01 1.10552340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.82, Y:194.64, Z:110.56 [[ 8.65779086e-01 4.83650279e-01 -1.28487284e-01 2.70816989e+02] [-4.78386044e-01 8.75261325e-01 7.11646439e-02 1.94643452e+02] [ 1.46878751e-01 -1.46336685e-04 9.89154493e-01 1.10556804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:194.63, Z:110.56 [[ 8.66308109e-01 4.82782967e-01 -1.28182944e-01 2.70845280e+02] [-4.77527400e-01 8.75739970e-01 7.10428568e-02 1.94629343e+02] [ 1.46553209e-01 -3.34135100e-04 9.89202732e-01 1.10560851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.87, Y:194.61, Z:110.56 [[ 8.66573682e-01 4.82422572e-01 -1.27743946e-01 2.70873911e+02] [-4.77192769e-01 8.75938511e-01 7.08433909e-02 1.94614239e+02] [ 1.46072293e-01 -4.32530884e-04 9.89273824e-01 1.10564903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.90, Y:194.60, Z:110.57 [[ 8.67291051e-01 4.81249141e-01 -1.27300814e-01 2.70903833e+02] [-4.76036366e-01 8.76583605e-01 7.06439055e-02 1.94600114e+02] [ 1.45587125e-01 -6.69010139e-04 9.89345208e-01 1.10568498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:194.59, Z:110.57 [[ 8.67578035e-01 4.80652407e-01 -1.27599441e-01 2.70932741e+02] [-4.75401722e-01 8.76910830e-01 7.08561883e-02 1.94585376e+02] [ 1.45950529e-01 -8.12278660e-04 9.89291556e-01 1.10573142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.96, Y:194.57, Z:110.58 [[ 8.68084159e-01 4.79522587e-01 -1.28405531e-01 2.70961372e+02] [-4.74185693e-01 8.77528908e-01 7.13508537e-02 1.94570924e+02] [ 1.46893912e-01 -1.05047999e-03 9.89151695e-01 1.10577017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.99, Y:194.56, Z:110.58 [[ 8.68486576e-01 4.78719049e-01 -1.28682324e-01 2.70990400e+02] [-4.73343664e-01 8.77967291e-01 7.15486675e-02 1.94555420e+02] [ 1.47230581e-01 -1.22809462e-03 9.89101435e-01 1.10581867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:194.54, Z:110.59 [[ 8.69654811e-01 4.76432808e-01 -1.29276019e-01 2.71019131e+02] [-4.70975215e-01 8.79209308e-01 7.19259338e-02 1.94540766e+02] [ 1.47928554e-01 -1.66493373e-03 9.88996649e-01 1.10585982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.05, Y:194.53, Z:110.59 [[ 8.70062579e-01 4.75672723e-01 -1.29331239e-01 2.71047783e+02] [-4.70195028e-01 8.79620422e-01 7.20038148e-02 1.94525414e+02] [ 1.48012649e-01 -1.83691950e-03 9.88983762e-01 1.10590537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.08, Y:194.51, Z:110.59 [[ 8.71016582e-01 4.74101354e-01 -1.28677972e-01 2.71077350e+02] [-4.68655198e-01 8.80467688e-01 7.16865079e-02 1.94511508e+02] [ 1.47283467e-01 -2.13453666e-03 9.89092020e-01 1.10594437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:194.51, Z:110.58 [[ 8.73429411e-01 4.68349344e-01 -1.33303998e-01 2.71111541e+02] [-4.65973946e-01 8.83358954e-01 5.04503785e-02 1.94509525e+02] [ 1.41383682e-01 1.80513455e-02 9.89790283e-01 1.10580301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:194.48, Z:110.61 [[ 8.71258469e-01 4.74250159e-01 -1.26473187e-01 2.71132511e+02] [-4.67638392e-01 8.80331260e-01 7.95688811e-02 1.94478661e+02] [ 1.49073855e-01 -1.01813437e-02 9.88773648e-01 1.10606466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:194.46, Z:110.61 [[ 8.71638819e-01 4.75032257e-01 -1.20789587e-01 2.71158389e+02] [-4.68303730e-01 8.79858110e-01 8.08784423e-02 1.94464409e+02] [ 1.44697567e-01 -1.39305755e-02 9.89377862e-01 1.10612920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:194.45, Z:110.61 [[ 8.71423747e-01 4.74284684e-01 -1.25198608e-01 2.71191534e+02] [-4.69112998e-01 8.80368871e-01 6.98830857e-02 1.94454712e+02] [ 1.43365434e-01 -2.16548612e-03 9.89667451e-01 1.10613149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.22, Y:194.44, Z:110.62 [[ 8.71118543e-01 4.74996507e-01 -1.24622639e-01 2.71220754e+02] [-4.69873465e-01 8.79985228e-01 6.96054995e-02 1.94439739e+02] [ 1.42728451e-01 -2.07776993e-03 9.89759704e-01 1.10617868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:271.25, Y:194.43, Z:110.62 [[ 8.70182583e-01 4.76592360e-01 -1.25067960e-01 2.71250221e+02] [-4.71442431e-01 8.79122435e-01 6.98983516e-02 1.94426647e+02] [ 1.43263070e-01 -1.86198499e-03 9.89682892e-01 1.10621762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:194.41, Z:110.63 [[ 8.69456037e-01 4.78024358e-01 -1.24655172e-01 2.71279298e+02] [-4.72917285e-01 8.78345016e-01 6.97084946e-02 1.94412630e+02] [ 1.42812607e-01 -1.65688617e-03 9.89748359e-01 1.10626979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:194.40, Z:110.63 [[ 8.67809396e-01 4.80902050e-01 -1.25060265e-01 2.71309502e+02] [-4.75784943e-01 8.76773468e-01 6.99783787e-02 1.94400150e+02] [ 1.43302268e-01 -1.22610367e-03 9.89678209e-01 1.10630817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:271.34, Y:194.39, Z:110.63 [[ 8.66876310e-01 4.82527975e-01 -1.25268578e-01 2.71339536e+02] [-4.77404262e-01 8.75879991e-01 7.01385249e-02 1.94385884e+02] [ 1.43564042e-01 -9.97672443e-04 9.89640526e-01 1.10634832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37038572299997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:271.37, Y:194.37, Z:110.64 [[ 8.65795661e-01 4.84218823e-01 -1.26214122e-01 2.71370614e+02] [-4.79028177e-01 8.74946597e-01 7.07139137e-02 1.94373876e+02] [ 1.44671624e-01 -7.63679114e-04 9.89479428e-01 1.10637237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:194.36, Z:110.64 [[ 8.65080475e-01 4.85615969e-01 -1.25749363e-01 2.71400100e+02] [-4.80471754e-01 8.74172070e-01 7.04988358e-02 1.94359271e+02] [ 1.44161941e-01 -5.68149408e-04 9.89553946e-01 1.10642294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:271.43, Y:194.35, Z:110.64 [[ 8.64202282e-01 4.85226053e-01 -1.33079274e-01 2.71433096e+02] [-4.81278589e-01 8.74331827e-01 6.25681699e-02 1.94349043e+02] [ 1.46715151e-01 9.97664994e-03 9.89128470e-01 1.10643558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.460385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:271.45, Y:194.33, Z:110.66 [[ 8.64621037e-01 4.87568225e-01 -1.21275258e-01 2.71454732e+02] [-4.81015990e-01 8.73012737e-01 8.04510894e-02 1.94327280e+02] [ 1.45100239e-01 -1.12243663e-02 9.89353291e-01 1.10655310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.490385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:271.49, Y:194.32, Z:110.66 [[ 8.64342345e-01 4.87120712e-01 -1.25002893e-01 2.71487779e+02] [-4.82037836e-01 8.73334554e-01 7.01874685e-02 1.94318568e+02] [ 1.43359115e-01 -4.09877087e-04 9.89670650e-01 1.10657891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.520385723 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:271.52, Y:194.31, Z:110.66 [[ 8.63793274e-01 4.85190193e-01 -1.35836875e-01 2.71517827e+02] [-4.82000935e-01 8.74268862e-01 5.76979742e-02 1.94312167e+02] [ 1.46752441e-01 1.56343786e-02 9.89049689e-01 1.10657020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:194.29, Z:110.67 [[ 8.64721380e-01 4.88442872e-01 -1.16963651e-01 2.71536331e+02] [-4.81412010e-01 8.72439640e-01 8.42113429e-02 1.94289411e+02] [ 1.43176156e-01 -1.65116421e-02 9.89559475e-01 1.10671968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.57, Y:194.28, Z:110.67 [[ 8.64564885e-01 4.86610549e-01 -1.25450121e-01 2.71570278e+02] [-4.81482586e-01 8.73618857e-01 7.04600021e-02 1.94280777e+02] [ 1.43882172e-01 -5.15195074e-04 9.89594692e-01 1.10669911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.60, Y:194.27, Z:110.67 [[ 8.66458149e-01 4.82604050e-01 -1.27842116e-01 2.71602262e+02] [-4.78134885e-01 8.75828422e-01 6.56628321e-02 1.94270591e+02] [ 1.43656908e-01 4.23167968e-03 9.89618505e-01 1.10669267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.63, Y:194.26, Z:110.67 [[ 8.67720287e-01 4.80507651e-01 -1.27176652e-01 2.71631395e+02] [-4.76706132e-01 8.76955473e-01 6.08306087e-02 1.94258578e+02] [ 1.40757834e-01 7.84193666e-03 9.90012998e-01 1.10669128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:271.65, Y:194.23, Z:110.69 [[ 8.67788069e-01 4.82110924e-01 -1.20469600e-01 2.71654101e+02] [-4.75490691e-01 8.76018373e-01 8.06251403e-02 1.94234696e+02] [ 1.44403844e-01 -1.26833613e-02 9.89437548e-01 1.10685989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.700385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:271.68, Y:194.22, Z:110.69 [[ 8.67490356e-01 4.81515567e-01 -1.24912937e-01 2.71684146e+02] [-4.75870314e-01 8.76426245e-01 7.36510745e-02 1.94222494e+02] [ 1.44941115e-01 -4.44923847e-03 9.89430279e-01 1.10688732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:271.74, Y:194.27, Z:110.63 [[ 8.76870184e-01 4.56455039e-01 -1.50822672e-01 2.71739261e+02] [-4.64841407e-01 8.85070228e-01 -2.39407257e-02 1.94267224e+02] [ 1.22560792e-01 9.11015316e-02 9.88270896e-01 1.10631729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:194.18, Z:110.71 [[ 8.69843637e-01 4.84860147e-01 -9.10092530e-02 2.71726186e+02] [-4.73942576e-01 8.72526615e-01 1.18641227e-01 1.94178487e+02] [ 1.36932398e-01 -6.00661569e-02 9.88757592e-01 1.10709987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.77, Y:194.19, Z:110.69 [[ 8.68763872e-01 4.79830701e-01 -1.22522786e-01 2.71772100e+02] [-4.75459514e-01 8.77358620e-01 6.46537103e-02 1.94190454e+02] [ 1.38519257e-01 2.08581648e-03 9.90357544e-01 1.10691306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.820385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.81, Y:194.21, Z:110.66 [[ 8.73253955e-01 4.68416354e-01 -1.34214937e-01 2.71811493e+02] [-4.70604385e-01 8.82182021e-01 1.69231935e-02 1.94205106e+02] [ 1.26329105e-01 4.83838919e-02 9.90807729e-01 1.10663299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:194.13, Z:110.75 [[ 8.63637952e-01 4.96187846e-01 -8.90343143e-02 2.71804565e+02] [-4.82071267e-01 8.64547730e-01 1.42001816e-01 1.94128052e+02] [ 1.47433989e-01 -7.97172726e-02 9.85854135e-01 1.10745723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:194.15, Z:110.71 [[ 8.62391765e-01 4.87265611e-01 -1.37305018e-01 2.71861174e+02] [-4.83926053e-01 8.73115586e-01 5.90317563e-02 1.94149626e+02] [ 1.48647296e-01 1.55369750e-02 9.88768215e-01 1.10713177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.910385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:271.88, Y:194.12, Z:110.73 [[ 8.62603519e-01 4.90710661e-01 -1.22956157e-01 2.71882528e+02] [-4.83845247e-01 8.71242727e-01 8.26431319e-02 1.94122963e+02] [ 1.47678524e-01 -1.17965040e-02 9.88965063e-01 1.10728172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:194.11, Z:110.74 [[ 8.60321919e-01 4.92261564e-01 -1.32381074e-01 2.71911430e+02] [-4.85622886e-01 8.70431955e-01 8.07379974e-02 1.94108169e+02] [ 1.54972930e-01 -5.17338967e-03 9.87905171e-01 1.10738022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.94, Y:194.10, Z:110.74 [[ 8.60530901e-01 4.92075774e-01 -1.31711814e-01 2.71939675e+02] [-4.86249300e-01 8.70551876e-01 7.55053006e-02 1.94096721e+02] [ 1.51816296e-01 -9.29867103e-04 9.88408290e-01 1.10740395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.000385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:271.97, Y:194.08, Z:110.75 [[ 8.60563632e-01 4.92327431e-01 -1.30552427e-01 2.71968050e+02] [-4.86142633e-01 8.70402846e-01 7.78731367e-02 1.94079627e+02] [ 1.51972286e-01 -3.54768857e-03 9.88378388e-01 1.10747295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.030385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:272.01, Y:194.10, Z:110.71 [[ 8.65386640e-01 4.78237513e-01 -1.49649073e-01 2.72013720e+02] [-4.81443737e-01 8.76323366e-01 1.64099222e-02 1.94103190e+02] [ 1.38988820e-01 5.78466814e-02 9.88602989e-01 1.10709608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.060385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:272.03, Y:194.06, Z:110.73 [[ 8.63794805e-01 4.88863889e-01 -1.21945208e-01 2.72026822e+02] [-4.84146056e-01 8.72359923e-01 6.77551568e-02 1.94064025e+02] [ 1.39503161e-01 5.12738979e-04 9.90221493e-01 1.10733215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.090385723 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:272.04, Y:194.02, Z:110.78 [[ 8.58010348e-01 5.02011333e-01 -1.08640987e-01 2.72039015e+02] [-4.89713542e-01 8.63340463e-01 1.21753407e-01 1.94024999e+02] [ 1.54915750e-01 -5.12627202e-02 9.86596799e-01 1.10775095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12038572299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.10, Y:194.06, Z:110.73 [[ 8.60647051e-01 4.86142188e-01 -1.51500582e-01 2.72096639e+02] [-4.88438773e-01 8.72261874e-01 2.42237072e-02 1.94056141e+02] [ 1.43924348e-01 5.31506962e-02 9.88160304e-01 1.10728405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.150385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:272.11, Y:194.02, Z:110.75 [[ 8.60549945e-01 4.93847968e-01 -1.24771702e-01 2.72109941e+02] [-4.89076125e-01 8.69545824e-01 6.85171821e-02 1.94020576e+02] [ 1.42331784e-01 2.06040339e-03 9.89816861e-01 1.10748730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.180385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:272.14, Y:194.00, Z:110.75 [[ 8.60199429e-01 4.94160152e-01 -1.25947159e-01 2.72138296e+02] [-4.89433231e-01 8.69365937e-01 6.82493929e-02 1.94004588e+02] [ 1.43220300e-01 2.93463598e-03 9.89686483e-01 1.10753828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.210385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:272.17, Y:193.99, Z:110.76 [[ 8.58792224e-01 4.95547229e-01 -1.30034071e-01 2.72168131e+02] [-4.90842833e-01 8.68565681e-01 6.83152367e-02 1.93988767e+02] [ 1.46796558e-01 5.15769780e-03 9.89153259e-01 1.10759887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.18, Y:193.95, Z:110.80 [[ 8.53969857e-01 5.06744383e-01 -1.18091549e-01 2.72184913e+02] [-4.95601122e-01 8.61296180e-01 1.12019721e-01 1.93951090e+02] [ 1.58477165e-01 -3.71351607e-02 9.86664060e-01 1.10795128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.270385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:272.22, Y:193.95, Z:110.79 [[ 8.52203601e-01 5.03957424e-01 -1.40626942e-01 2.72220360e+02] [-4.97160912e-01 8.63728411e-01 8.24879304e-02 1.93949787e+02] [ 1.63033890e-01 -3.82292744e-04 9.86620395e-01 1.10790559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.300385723 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:272.25, Y:193.94, Z:110.78 [[ 8.53723852e-01 4.99250913e-01 -1.48000374e-01 2.72252714e+02] [-4.95402641e-01 8.66265218e-01 6.45042266e-02 1.93943426e+02] [ 1.60411370e-01 1.82509794e-02 9.86881500e-01 1.10784150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.330385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:272.27, Y:193.92, Z:110.80 [[ 8.53595465e-01 5.03299122e-01 -1.34405268e-01 2.72272963e+02] [-4.95597748e-01 8.64069286e-01 8.81313840e-02 1.93916661e+02] [ 1.60491912e-01 -8.61760163e-03 9.86999536e-01 1.10800263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.360385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.30, Y:193.90, Z:110.81 [[ 8.52380214e-01 5.05083590e-01 -1.35419858e-01 2.72296965e+02] [-4.96046010e-01 8.62941953e-01 9.62784616e-02 1.93896544e+02] [ 1.65488147e-01 -1.48913758e-02 9.86099346e-01 1.10814302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.33, Y:193.90, Z:110.80 [[ 8.54278177e-01 4.98573934e-01 -1.47081029e-01 2.72334268e+02] [-4.94603904e-01 8.66677681e-01 6.50905157e-02 1.93895115e+02] [ 1.59924279e-01 1.71414438e-02 9.86980444e-01 1.10802304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.420385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:272.35, Y:193.86, Z:110.83 [[ 8.52363588e-01 5.04904215e-01 -1.36191221e-01 2.72350785e+02] [-4.95784677e-01 8.63046996e-01 9.66821433e-02 1.93863884e+02] [ 1.66354646e-01 -1.48868180e-02 9.85953607e-01 1.10825903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.450385723 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:272.38, Y:193.85, Z:110.83 [[ 8.52224294e-01 5.02864663e-01 -1.44363723e-01 2.72383302e+02] [-4.95966843e-01 8.64364736e-01 8.30090031e-02 1.93852857e+02] [ 1.66525205e-01 8.57330839e-04 9.86036825e-01 1.10826445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.480385723 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:272.41, Y:193.84, Z:110.83 [[ 8.51834332e-01 5.03426239e-01 -1.44707612e-01 2.72407590e+02] [-4.96494632e-01 8.64037712e-01 8.32581115e-02 1.93835982e+02] [ 1.66947152e-01 9.24434947e-04 9.85965412e-01 1.10832521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.510385723 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:272.43, Y:193.82, Z:110.84 [[ 8.52451743e-01 5.02289434e-01 -1.45021897e-01 2.72432679e+02] [-4.95310622e-01 8.64699274e-01 8.34419162e-02 1.93822608e+02] [ 1.67312322e-01 7.00679174e-04 9.85903695e-01 1.10836348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.540385723 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:272.46, Y:193.81, Z:110.84 [[ 8.51467150e-01 5.03840179e-01 -1.45426157e-01 2.72457045e+02] [-4.96846558e-01 8.63796294e-01 8.36627775e-02 1.93807544e+02] [ 1.67771244e-01 1.01837879e-03 9.85825427e-01 1.10842098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.570385723 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:272.48, Y:193.79, Z:110.85 [[ 8.50178016e-01 5.05651526e-01 -1.46676093e-01 2.72480700e+02] [-4.98564001e-01 8.62736689e-01 8.43761916e-02 1.93793119e+02] [ 1.69207797e-01 1.39263649e-03 9.85579414e-01 1.10847515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.600385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:272.50, Y:193.78, Z:110.85 [[ 8.50211116e-01 5.05655548e-01 -1.46470219e-01 2.72504052e+02] [-4.98591862e-01 8.62734303e-01 8.42358489e-02 1.93779903e+02] [ 1.68959206e-01 1.41060402e-03 9.85622035e-01 1.10849911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.630385723 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:272.53, Y:193.76, Z:110.86 [[ 8.49510379e-01 5.06691613e-01 -1.46954838e-01 2.72531678e+02] [-4.99599852e-01 8.62125813e-01 8.44930275e-02 1.93762325e+02] [ 1.69505468e-01 1.64091152e-03 9.85527881e-01 1.10855424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.660385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:272.56, Y:193.75, Z:110.86 [[ 8.49162360e-01 5.07311216e-01 -1.46828531e-01 2.72559027e+02] [-5.00231472e-01 8.61761214e-01 8.44753534e-02 1.93745344e+02] [ 1.69386427e-01 1.71496161e-03 9.85548222e-01 1.10860623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.690385723 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:272.58, Y:193.73, Z:110.87 [[ 8.48902284e-01 5.09234631e-01 -1.41580373e-01 2.72579403e+02] [-5.01254954e-01 8.60610801e-01 8.99584334e-02 1.93727598e+02] [ 1.67655548e-01 -5.39805609e-03 9.85830857e-01 1.10869444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.720385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:272.61, Y:193.72, Z:110.87 [[ 8.48770066e-01 5.07067674e-01 -1.49905799e-01 2.72607796e+02] [-5.01208859e-01 8.61854861e-01 7.74330529e-02 1.93718288e+02] [ 1.68460840e-01 9.41125716e-03 9.85663418e-01 1.10867316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.63, Y:193.70, Z:110.87 [[ 8.48476395e-01 5.08832553e-01 -1.45524020e-01 2.72632320e+02] [-5.01906023e-01 8.60863131e-01 8.36959568e-02 1.93699098e+02] [ 1.67863491e-01 2.02533825e-03 9.85808169e-01 1.10874571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.66, Y:193.68, Z:110.88 [[ 8.48011643e-01 5.09636918e-01 -1.45418239e-01 2.72659750e+02] [-5.02723742e-01 8.60386910e-01 8.36851489e-02 1.93682141e+02] [ 1.67764991e-01 2.13922068e-03 9.85824696e-01 1.10879506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.810385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.69, Y:193.66, Z:110.88 [[ 8.47160070e-01 5.11016038e-01 -1.45541830e-01 2.72685892e+02] [-5.04102260e-01 8.59567914e-01 8.38087874e-02 1.93664440e+02] [ 1.67930722e-01 2.36850708e-03 9.85795954e-01 1.10884301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.840385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:272.71, Y:193.65, Z:110.89 [[ 8.46362986e-01 5.13425829e-01 -1.41646087e-01 2.72710317e+02] [-5.05560680e-01 8.58123480e-01 8.96241694e-02 1.93645180e+02] [ 1.67565196e-01 -4.24388774e-03 9.85851862e-01 1.10892807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87038572299997 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:272.74, Y:193.63, Z:110.90 [[ 8.44427272e-01 5.16034790e-01 -1.43703440e-01 2.72737809e+02] [-5.08594728e-01 8.56567383e-01 8.73139197e-02 1.93625824e+02] [ 1.68148700e-01 -6.43442835e-04 9.85761432e-01 1.10897304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.77, Y:193.62, Z:110.89 [[ 8.45104763e-01 5.13610625e-01 -1.48330935e-01 2.72769097e+02] [-5.08290279e-01 8.57936218e-01 7.47424801e-02 1.93615836e+02] [ 1.65647014e-01 1.22299466e-02 9.86109272e-01 1.10894282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.930385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:272.79, Y:193.59, Z:110.90 [[ 8.44545280e-01 5.15132827e-01 -1.46223938e-01 2.72794115e+02] [-5.08502192e-01 8.57097663e-01 8.25173774e-02 1.93594527e+02] [ 1.67835605e-01 4.66553113e-03 9.85803958e-01 1.10901724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.960385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:272.84, Y:193.62, Z:110.86 [[ 8.52462242e-01 4.96386458e-01 -1.64038439e-01 2.72840898e+02] [-5.01740582e-01 8.64960386e-01 9.99595707e-03 1.93619150e+02] [ 1.46848610e-01 7.37835660e-02 9.86403301e-01 1.10856459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.990385723 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:272.83, Y:193.55, Z:110.91 [[ 8.47597650e-01 5.19313560e-01 -1.09048845e-01 2.72831605e+02] [-5.07216755e-01 8.53274022e-01 1.21056219e-01 1.93547755e+02] [ 1.55914683e-01 -4.72955655e-02 9.86637594e-01 1.10914897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:193.55, Z:110.91 [[ 8.47831879e-01 5.13112308e-01 -1.33779162e-01 2.72871100e+02] [-5.06262713e-01 8.58315630e-01 8.36202450e-02 1.93547109e+02] [ 1.57731322e-01 -3.16850813e-03 9.87476982e-01 1.10905305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.90, Y:193.53, Z:110.91 [[ 8.48382263e-01 5.11616313e-01 -1.36001042e-01 2.72898503e+02] [-5.05700318e-01 8.59209091e-01 7.76332810e-02 1.93530300e+02] [ 1.56571785e-01 2.91307169e-03 9.87662286e-01 1.10906989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.93, Y:193.51, Z:110.91 [[ 8.48924062e-01 5.10875205e-01 -1.35404810e-01 2.72925997e+02] [-5.04996746e-01 8.59650535e-01 7.73255703e-02 1.93512081e+02] [ 1.55904534e-01 2.73545141e-03 9.87768340e-01 1.10911486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.110385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.96, Y:193.50, Z:110.90 [[ 8.52729738e-01 5.02659219e-01 -1.42076399e-01 2.72960628e+02] [-5.01171639e-01 8.63975571e-01 4.87155159e-02 1.93504898e+02] [ 1.47237841e-01 2.96634925e-02 9.88656207e-01 1.10895961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.140385723 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:272.97, Y:193.47, Z:110.92 [[ 8.51864876e-01 5.08940216e-01 -1.23717784e-01 2.72973647e+02] [-5.02295897e-01 8.60764534e-01 8.23604823e-02 1.93471809e+02] [ 1.48408442e-01 -8.01706674e-03 9.88893655e-01 1.10916521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.170385723 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:273.01, Y:193.46, Z:110.91 [[ 8.53640740e-01 5.03319747e-01 -1.34039993e-01 2.73007093e+02] [-4.99532021e-01 8.64000033e-01 6.30214488e-02 1.93458337e+02] [ 1.47530498e-01 1.31595923e-02 9.88969958e-01 1.10909583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.200385723 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:273.03, Y:193.43, Z:110.92 [[ 8.54295158e-01 5.03293685e-01 -1.29904771e-01 2.73030318e+02] [-4.98058918e-01 8.64110880e-01 7.24548223e-02 1.93433856e+02] [ 1.48718180e-01 2.80242559e-03 9.88875649e-01 1.10916983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.05, Y:193.41, Z:110.93 [[ 8.55165899e-01 5.03926979e-01 -1.21444985e-01 2.73047532e+02] [-4.95568524e-01 8.63519508e-01 9.35195035e-02 1.93412054e+02] [ 1.51997115e-01 -1.97903783e-02 9.88182786e-01 1.10933752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:193.40, Z:110.93 [[ 8.54672575e-01 5.01574778e-01 -1.34005716e-01 2.73081015e+02] [-4.96485796e-01 8.65097167e-01 7.14754965e-02 1.93402217e+02] [ 1.51778271e-01 5.44378789e-03 9.88399576e-01 1.10928140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:193.38, Z:110.94 [[ 8.55626270e-01 5.01461651e-01 -1.28218169e-01 2.73102622e+02] [-4.94035444e-01 8.65112441e-01 8.66570565e-02 1.93376993e+02] [ 1.54378324e-01 -1.08017340e-02 9.87952760e-01 1.10941890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.320385723 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:273.13, Y:193.36, Z:110.93 [[ 8.56783613e-01 4.97859378e-01 -1.34379616e-01 2.73133513e+02] [-4.93766077e-01 8.67188467e-01 6.46469174e-02 1.93361778e+02] [ 1.48717528e-01 1.09636765e-02 9.88818939e-01 1.10933525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.350385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:273.15, Y:193.34, Z:110.95 [[ 8.58390504e-01 4.98226048e-01 -1.22215167e-01 2.73148913e+02] [-4.90310914e-01 8.66871091e-01 9.01649579e-02 1.93336941e+02] [ 1.50867326e-01 -1.74733132e-02 9.88399582e-01 1.10951360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.18, Y:193.32, Z:110.95 [[ 8.58837857e-01 4.95230590e-01 -1.30935857e-01 2.73179418e+02] [-4.89413025e-01 8.68761077e-01 7.56907053e-02 1.93324995e+02] [ 1.51236328e-01 -9.24329606e-04 9.88497202e-01 1.10949900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.21, Y:193.31, Z:110.95 [[ 8.60319471e-01 4.90674931e-01 -1.38161207e-01 2.73208397e+02] [-4.86032376e-01 8.71298939e-01 6.79020581e-02 1.93308528e+02] [ 1.53697551e-01 8.73335707e-03 9.88079345e-01 1.10949536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.23, Y:193.29, Z:110.96 [[ 8.60496765e-01 4.92509682e-01 -1.30305528e-01 2.73233010e+02] [-4.86779680e-01 8.70306350e-01 7.49159577e-02 1.93286106e+02] [ 1.50302563e-01 -1.03485584e-03 9.88639504e-01 1.10957066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.470385723 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:273.26, Y:193.27, Z:110.96 [[ 8.61171859e-01 4.91219411e-01 -1.30715415e-01 2.73258062e+02] [-4.85846383e-01 8.71035173e-01 7.24639183e-02 1.93268488e+02] [ 1.49453407e-01 1.10372441e-03 9.88768153e-01 1.10958810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.28, Y:193.25, Z:110.97 [[ 8.62259056e-01 4.88875296e-01 -1.32326358e-01 2.73282904e+02] [-4.82640828e-01 8.72347438e-01 7.78959464e-02 1.93247608e+02] [ 1.53515963e-01 -3.30038226e-03 9.88140656e-01 1.10967406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:193.23, Z:110.97 [[ 8.62651673e-01 4.88071915e-01 -1.32732428e-01 2.73310534e+02] [-4.82058978e-01 8.72801301e-01 7.64004606e-02 1.93229837e+02] [ 1.53137955e-01 -1.92212646e-03 9.88202951e-01 1.10971978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:193.21, Z:110.98 [[ 8.63490234e-01 4.87414881e-01 -1.29658591e-01 2.73333617e+02] [-4.80524000e-01 8.73128080e-01 8.21221159e-02 1.93208889e+02] [ 1.53236098e-01 -8.60758053e-03 9.88152118e-01 1.10980968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.36, Y:193.19, Z:110.98 [[ 8.63411587e-01 4.86637057e-01 -1.33059409e-01 2.73361849e+02] [-4.80716283e-01 8.73603137e-01 7.56928890e-02 1.93193891e+02] [ 1.53076082e-01 -1.39029274e-03 9.88213429e-01 1.10982590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.39, Y:193.18, Z:110.98 [[ 8.63745360e-01 4.85439992e-01 -1.35247801e-01 2.73390488e+02] [-4.80193859e-01 8.74263385e-01 7.12558152e-02 1.93178796e+02] [ 1.52832622e-01 3.39828354e-03 9.88246245e-01 1.10984990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:193.16, Z:111.00 [[ 8.63721930e-01 4.87017997e-01 -1.29606705e-01 2.73413342e+02] [-4.80152738e-01 8.73350233e-01 8.19311862e-02 1.93155645e+02] [ 1.53094008e-01 -8.53474821e-03 9.88174773e-01 1.10995610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.44, Y:193.14, Z:110.99 [[ 8.63464031e-01 4.86097879e-01 -1.34680060e-01 2.73444463e+02] [-4.80985488e-01 8.73895361e-01 7.04262655e-02 1.93143525e+02] [ 1.51930338e-01 3.96860737e-03 9.88383237e-01 1.10993041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:193.12, Z:111.00 [[ 8.63293074e-01 4.87455460e-01 -1.30813773e-01 2.73468945e+02] [-4.81571031e-01 8.73145028e-01 7.55453687e-02 1.93123703e+02] [ 1.51044398e-01 -2.22167012e-03 9.88524483e-01 1.10999975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.50, Y:193.11, Z:111.00 [[ 8.62836271e-01 4.88252823e-01 -1.30853924e-01 2.73495106e+02] [-4.82366964e-01 8.72699648e-01 7.56137338e-02 1.93105744e+02] [ 1.51114792e-01 -2.12266195e-03 9.88513942e-01 1.11004845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:273.52, Y:193.09, Z:111.01 [[ 8.62511253e-01 4.88842188e-01 -1.30796231e-01 2.73522682e+02] [-4.82961466e-01 8.72369807e-01 7.56250133e-02 1.93088890e+02] [ 1.51071380e-01 -2.05788554e-03 9.88520715e-01 1.11009571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:273.55, Y:193.07, Z:111.01 [[ 8.61857700e-01 4.89963511e-01 -1.30908604e-01 2.73550636e+02] [-4.84078375e-01 8.71740863e-01 7.57363455e-02 1.93072035e+02] [ 1.51226425e-01 -1.90392843e-03 9.88497316e-01 1.11014167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.58, Y:193.06, Z:111.02 [[ 8.60341605e-01 4.92534694e-01 -1.31232230e-01 2.73578669e+02] [-4.86642601e-01 8.70291520e-01 7.59713667e-02 1.93055678e+02] [ 1.51628831e-01 -1.49813359e-03 9.88436368e-01 1.11018713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.860385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:273.61, Y:193.04, Z:111.02 [[ 8.59451742e-01 4.94029728e-01 -1.31443264e-01 2.73606823e+02] [-4.88128447e-01 8.69444070e-01 7.61421560e-02 1.93039657e+02] [ 1.51899055e-01 -1.27931223e-03 9.88395184e-01 1.11022535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.64, Y:193.02, Z:111.03 [[ 8.57161180e-01 4.97905885e-01 -1.31774207e-01 2.73635776e+02] [-4.92012758e-01 8.67230837e-01 7.63814239e-02 1.93024530e+02] [ 1.52309416e-01 -6.36600605e-04 9.88332655e-01 1.11027268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:193.01, Z:111.03 [[ 8.56035091e-01 4.99966774e-01 -1.31290321e-01 2.73663046e+02] [-4.94137726e-01 8.66044538e-01 7.61233636e-02 1.93009253e+02] [ 1.51762418e-01 -2.88769756e-04 9.88416959e-01 1.11031732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.69, Y:192.99, Z:111.04 [[ 8.56025276e-01 4.99997593e-01 -1.31236942e-01 2.73691655e+02] [-4.94166620e-01 8.66026733e-01 7.61383564e-02 1.92992878e+02] [ 1.51723695e-01 -3.23441590e-04 9.88422893e-01 1.11036828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.980385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:273.72, Y:192.98, Z:111.04 [[ 8.56597214e-01 4.99010828e-01 -1.31260834e-01 2.73718862e+02] [-4.93158708e-01 8.66595581e-01 7.62009711e-02 1.92977000e+02] [ 1.51775168e-01 -5.41116348e-04 9.88414895e-01 1.11042142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.75, Y:192.96, Z:111.05 [[ 8.57088059e-01 4.98321172e-01 -1.30675437e-01 2.73747015e+02] [-4.92506586e-01 8.66992226e-01 7.59061438e-02 1.92960209e+02] [ 1.51120226e-01 -6.99736265e-04 9.88515143e-01 1.11047296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.77, Y:192.94, Z:111.05 [[ 8.57720554e-01 4.97337688e-01 -1.30271546e-01 2.73773937e+02] [-4.91540682e-01 8.67556564e-01 7.57189937e-02 1.92944280e+02] [ 1.50675845e-01 -9.11972376e-04 9.88582803e-01 1.11052383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.80, Y:192.93, Z:111.06 [[ 8.59084002e-01 4.94978049e-01 -1.30274361e-01 2.73802406e+02] [-4.89146991e-01 8.68904406e-01 7.57651250e-02 1.92928339e+02] [ 1.50698040e-01 -1.36529492e-03 9.88578898e-01 1.11057019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.83, Y:192.91, Z:111.06 [[ 8.59026311e-01 4.95083426e-01 -1.30254362e-01 2.73830962e+02] [-4.89248362e-01 8.68844334e-01 7.57994927e-02 1.92911599e+02] [ 1.50697837e-01 -1.38702538e-03 9.88578898e-01 1.11061893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:192.89, Z:111.08 [[ 8.59583649e-01 4.95451205e-01 -1.25076193e-01 2.73854467e+02] [-4.87398424e-01 8.68471864e-01 9.05505301e-02 1.92890275e+02] [ 1.53488524e-01 -1.68738158e-02 9.88006350e-01 1.11076727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.89, Y:192.89, Z:111.06 [[ 8.60275334e-01 4.90750552e-01 -1.38167458e-01 2.73891495e+02] [-4.86888262e-01 8.71200079e-01 6.28509591e-02 1.92886902e+02] [ 1.51215644e-01 1.32029840e-02 9.88412622e-01 1.11063751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.91, Y:192.87, Z:111.07 [[ 8.60987789e-01 4.91425815e-01 -1.31151425e-01 2.73914163e+02] [-4.85454143e-01 8.70916864e-01 7.64074054e-02 1.92865600e+02] [ 1.51770559e-01 -2.11784037e-03 9.88413482e-01 1.11074927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.94, Y:192.85, Z:111.08 [[ 8.60977218e-01 4.91254920e-01 -1.31859146e-01 2.73942048e+02] [-4.85209377e-01 8.71013070e-01 7.68641162e-02 1.92849136e+02] [ 1.52610915e-01 -2.19895887e-03 9.88283903e-01 1.11079963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.250385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:273.97, Y:192.83, Z:111.08 [[ 8.60994544e-01 4.91185427e-01 -1.32004820e-01 2.73970170e+02] [-4.85118333e-01 8.71052117e-01 7.69961849e-02 1.92832627e+02] [ 1.52802482e-01 -2.25533677e-03 9.88254175e-01 1.11084502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.00, Y:192.82, Z:111.09 [[ 8.61080957e-01 4.90926082e-01 -1.32405317e-01 2.73998732e+02] [-4.84811173e-01 8.71198054e-01 7.72792186e-02 1.92817200e+02] [ 1.53289638e-01 -2.35208670e-03 9.88178503e-01 1.11089290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.03, Y:192.80, Z:111.09 [[ 8.61336339e-01 4.90399391e-01 -1.32695702e-01 2.74026536e+02] [-4.84243581e-01 8.71494242e-01 7.74980051e-02 1.92802975e+02] [ 1.53648515e-01 -2.49480603e-03 9.88122416e-01 1.11093180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:192.77, Z:111.13 [[ 8.58882495e-01 4.98484076e-01 -1.17620092e-01 2.74040291e+02] [-4.86064868e-01 8.65701815e-01 1.19588094e-01 1.92766905e+02] [ 1.61436687e-01 -4.55411259e-02 9.85831731e-01 1.11129133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.09, Y:192.79, Z:111.09 [[ 8.61299069e-01 4.84069536e-01 -1.54404013e-01 2.74092321e+02] [-4.83940820e-01 8.74140778e-01 4.09778396e-02 1.92787223e+02] [ 1.54806968e-01 3.94282295e-02 9.87157646e-01 1.11085903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:192.75, Z:111.11 [[ 8.61634561e-01 4.89822742e-01 -1.32889296e-01 2.74107821e+02] [-4.83626051e-01 8.71817890e-01 7.77136299e-02 1.92754630e+02] [ 1.53921169e-01 -2.69202373e-03 9.88079464e-01 1.11108649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:192.74, Z:111.11 [[ 8.61491845e-01 4.90181611e-01 -1.32490712e-01 2.74136557e+02] [-4.84019139e-01 8.71616260e-01 7.75278598e-02 1.92738468e+02] [ 1.53483790e-01 -2.66157852e-03 9.88147581e-01 1.11113258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.16, Y:192.72, Z:111.12 [[ 8.60906218e-01 4.91254898e-01 -1.32321987e-01 2.74164685e+02] [-4.85113527e-01 8.71012246e-01 7.74760170e-02 1.92723936e+02] [ 1.53314544e-01 -2.50839889e-03 9.88174255e-01 1.11117637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:192.71, Z:111.12 [[ 8.60130430e-01 4.92540052e-01 -1.32589367e-01 2.74193202e+02] [-4.86381963e-01 8.70286677e-01 7.76768092e-02 1.92707569e+02] [ 1.53649699e-01 -2.32311064e-03 9.88122651e-01 1.11122603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:274.22, Y:192.69, Z:111.13 [[ 8.58484054e-01 4.95181203e-01 -1.33419284e-01 2.74221091e+02] [-4.88969521e-01 8.68787632e-01 7.82103432e-02 1.92691600e+02] [ 1.54641316e-01 -1.90436914e-03 9.87968844e-01 1.11128106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.25, Y:192.68, Z:111.13 [[ 8.56386621e-01 4.98569577e-01 -1.34277074e-01 2.74249280e+02] [-4.92311092e-01 8.66848645e-01 7.87604986e-02 1.92676414e+02] [ 1.55665488e-01 -1.34334445e-03 9.87808914e-01 1.11133304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.28, Y:192.66, Z:111.14 [[ 8.55147296e-01 5.00696241e-01 -1.34262341e-01 2.74278135e+02] [-4.94458156e-01 8.65622483e-01 7.87962485e-02 1.92660469e+02] [ 1.55673487e-01 -9.95289265e-04 9.87808066e-01 1.11138156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.31, Y:192.64, Z:111.14 [[ 8.54051740e-01 5.02536569e-01 -1.34360049e-01 2.74305990e+02] [-4.96304191e-01 8.64555667e-01 7.89027824e-02 1.92644675e+02] [ 1.55813275e-01 -7.03603403e-04 9.87786277e-01 1.11142830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.33, Y:192.63, Z:111.15 [[ 8.51895441e-01 5.06014690e-01 -1.34993672e-01 2.74333688e+02] [-4.99758890e-01 8.62524853e-01 7.93216902e-02 1.92628156e+02] [ 1.56573337e-01 -1.09498685e-04 9.87666329e-01 1.11148044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:192.61, Z:111.15 [[ 8.50043595e-01 5.09065233e-01 -1.35197913e-01 2.74360990e+02] [-5.02820513e-01 8.60727844e-01 7.94928261e-02 1.92611859e+02] [ 1.56835643e-01 4.07916511e-04 9.87624633e-01 1.11153445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:274.39, Y:192.60, Z:111.16 [[ 8.49133456e-01 5.10555559e-01 -1.35297432e-01 2.74388872e+02] [-5.04312725e-01 8.59844526e-01 7.95994115e-02 1.92595383e+02] [ 1.56974679e-01 6.41693322e-04 9.87602419e-01 1.11158517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.42, Y:192.58, Z:111.16 [[ 8.47775988e-01 5.12984341e-01 -1.34621470e-01 2.74416927e+02] [-5.06826802e-01 8.58397331e-01 7.92503320e-02 1.92578771e+02] [ 1.56212890e-01 1.04324054e-03 9.87722858e-01 1.11163313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.44, Y:192.56, Z:111.17 [[ 8.47003249e-01 5.14323199e-01 -1.34376870e-01 2.74444707e+02] [-5.08196956e-01 8.57595534e-01 7.91565232e-02 1.92562103e+02] [ 1.55953040e-01 1.24408395e-03 9.87763687e-01 1.11167883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:192.54, Z:111.17 [[ 8.46021751e-01 5.16015165e-01 -1.34072912e-01 2.74470827e+02] [-5.09930021e-01 8.56578118e-01 7.90272229e-02 1.92544910e+02] [ 1.55623168e-01 1.50905336e-03 9.87815343e-01 1.11172942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:274.50, Y:192.53, Z:111.18 [[ 8.45717276e-01 5.16523970e-01 -1.34034610e-01 2.74498687e+02] [-5.10443512e-01 8.56271284e-01 7.90373924e-02 1.92527566e+02] [ 1.55594695e-01 1.57380876e-03 9.87819728e-01 1.11177771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.53, Y:192.51, Z:111.18 [[ 8.45534384e-01 5.16764975e-01 -1.34259326e-01 2.74525142e+02] [-5.10659166e-01 8.56125850e-01 7.92196038e-02 1.92510340e+02] [ 1.55880796e-01 1.57785637e-03 9.87774614e-01 1.11182559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:192.49, Z:111.19 [[ 8.45549336e-01 5.16705667e-01 -1.34393354e-01 2.74552354e+02] [-5.10579455e-01 8.56161736e-01 7.93454585e-02 1.92493269e+02] [ 1.56060695e-01 1.52798543e-03 9.87746286e-01 1.11186956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.58, Y:192.47, Z:111.19 [[ 8.45798802e-01 5.16169426e-01 -1.34883321e-01 2.74579078e+02] [-5.09983456e-01 8.56485370e-01 7.96849111e-02 1.92474118e+02] [ 1.56656506e-01 1.39085991e-03 9.87652168e-01 1.11192143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.61, Y:192.46, Z:111.20 [[ 8.46140069e-01 5.15649813e-01 -1.34730302e-01 2.74605363e+02] [-5.09463324e-01 8.56798524e-01 7.96455313e-02 1.92457310e+02] [ 1.56505927e-01 1.24887193e-03 9.87676230e-01 1.11196624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:192.44, Z:111.20 [[ 8.46284829e-01 5.15249004e-01 -1.35353068e-01 2.74631788e+02] [-5.08992037e-01 8.57039771e-01 8.00620859e-02 1.92438870e+02] [ 1.57254872e-01 1.13830493e-03 9.87557396e-01 1.11201094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.66, Y:192.42, Z:111.21 [[ 8.46524606e-01 5.14784215e-01 -1.35621912e-01 2.74659394e+02] [-5.08488338e-01 8.57319188e-01 8.02709187e-02 1.92421400e+02] [ 1.57593469e-01 1.01085277e-03 9.87503558e-01 1.11205304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:192.40, Z:111.21 [[ 8.47393337e-01 5.13144964e-01 -1.36406668e-01 2.74688031e+02] [-5.06768475e-01 8.58301595e-01 8.06479038e-02 1.92402531e+02] [ 1.58462126e-01 7.86102890e-04 9.87364743e-01 1.11209317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.71, Y:192.39, Z:111.21 [[ 8.47196113e-01 5.13547266e-01 -1.36117418e-01 2.74714094e+02] [-5.07064785e-01 8.58061299e-01 8.13394736e-02 1.92385532e+02] [ 1.58568753e-01 1.09863515e-04 9.87347932e-01 1.11213711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.76, Y:192.41, Z:111.16 [[ 8.55649459e-01 4.92876389e-01 -1.57914115e-01 2.74763583e+02] [-4.98148042e-01 8.67063252e-01 7.06018263e-03 1.92411352e+02] [ 1.40401323e-01 7.26235657e-02 9.87427611e-01 1.11161581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:192.33, Z:111.25 [[ 8.48873674e-01 5.19018808e-01 -1.00164683e-01 2.74746691e+02] [-5.04408586e-01 8.52019948e-01 1.40121326e-01 1.92327365e+02] [ 1.58067911e-01 -6.84213789e-02 9.85054846e-01 1.11254886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.79, Y:192.34, Z:111.23 [[ 8.48628288e-01 5.11419450e-01 -1.35204199e-01 2.74793752e+02] [-5.05092689e-01 8.59331189e-01 8.01952898e-02 1.92336282e+02] [ 1.57198616e-01 2.34660883e-04 9.87566980e-01 1.11229158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:192.32, Z:111.23 [[ 8.48639614e-01 5.11496965e-01 -1.34839385e-01 2.74821987e+02] [-5.05197920e-01 8.59285058e-01 8.00265581e-02 1.92320028e+02] [ 1.56798811e-01 2.06869556e-04 9.87630543e-01 1.11234047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:192.31, Z:111.24 [[ 8.48988255e-01 5.11044557e-01 -1.34359237e-01 2.74850018e+02] [-5.04777101e-01 8.59554219e-01 7.97911249e-02 1.92305559e+02] [ 1.56265869e-01 7.97381648e-05 9.87715026e-01 1.11238452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.88, Y:192.29, Z:111.24 [[ 8.48805777e-01 5.11380835e-01 -1.34232613e-01 2.74877921e+02] [-5.05122076e-01 8.59354195e-01 7.97624995e-02 1.92289440e+02] [ 1.56142373e-01 1.00986028e-04 9.87734554e-01 1.11243692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.91, Y:192.27, Z:111.25 [[ 8.48681279e-01 5.11414509e-01 -1.34889904e-01 2.74906460e+02] [-5.05086475e-01 8.59334158e-01 8.02026019e-02 1.92273524e+02] [ 1.56932276e-01 6.46192670e-05 9.87609364e-01 1.11249602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.300385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:274.94, Y:192.26, Z:111.25 [[ 8.48955072e-01 5.10871506e-01 -1.35224221e-01 2.74935658e+02] [-5.04497177e-01 8.59657081e-01 8.04506082e-02 1.92258879e+02] [ 1.57346382e-01 -7.87141932e-05 9.87543472e-01 1.11253719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.96, Y:192.24, Z:111.26 [[ 8.49613786e-01 5.10678271e-01 -1.31772980e-01 2.74963074e+02] [-5.03860935e-01 8.59760835e-01 8.32794399e-02 1.92241364e+02] [ 1.55822247e-01 -4.36010351e-03 9.87775489e-01 1.11259788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.99, Y:192.23, Z:111.26 [[ 8.49722959e-01 5.09186442e-01 -1.36748162e-01 2.74993263e+02] [-5.03365632e-01 8.60649000e-01 7.68527125e-02 1.92228781e+02] [ 1.56824528e-01 3.53081070e-03 9.87620170e-01 1.11260873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.02, Y:192.21, Z:111.27 [[ 8.50955694e-01 5.09983520e-01 -1.25663106e-01 2.75015383e+02] [-5.02036152e-01 8.60067359e-01 9.07955985e-02 1.92206315e+02] [ 1.54382995e-01 -1.41756095e-02 9.87909380e-01 1.11272902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:275.05, Y:192.20, Z:111.27 [[ 8.51591219e-01 5.04324116e-01 -1.43002031e-01 2.75051288e+02] [-4.99779225e-01 8.63418057e-01 6.87748930e-02 1.92200613e+02] [ 1.58155373e-01 1.29013492e-02 9.87329952e-01 1.11266247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.07, Y:192.18, Z:111.28 [[ 8.53332468e-01 5.04979326e-01 -1.29690320e-01 2.75070730e+02] [-4.97620187e-01 8.63082626e-01 8.63859392e-02 1.92177874e+02] [ 1.55556575e-01 -9.17940566e-03 9.87784334e-01 1.11279787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:192.17, Z:111.28 [[ 8.54305231e-01 5.00740849e-01 -1.39359874e-01 2.75104052e+02] [-4.95334312e-01 8.65575622e-01 7.36394033e-02 1.92167517e+02] [ 1.57500767e-01 6.11920006e-03 9.87499906e-01 1.11278062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:275.13, Y:192.15, Z:111.29 [[ 8.56391287e-01 4.98937210e-01 -1.32874467e-01 2.75130047e+02] [-4.92393838e-01 8.66630591e-01 8.06208804e-02 1.92147933e+02] [ 1.55377835e-01 -3.61645064e-03 9.87848495e-01 1.11286927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.16, Y:192.13, Z:111.29 [[ 8.57032371e-01 4.97779849e-01 -1.33081691e-01 2.75158525e+02] [-4.91549005e-01 8.67301356e-01 7.85361886e-02 1.92132743e+02] [ 1.54515664e-01 -1.89188289e-03 9.87988528e-01 1.11290721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.570385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:275.19, Y:192.12, Z:111.30 [[ 8.58300858e-01 4.96177563e-01 -1.30871931e-01 2.75187128e+02] [-4.89995196e-01 8.68216095e-01 7.81378297e-02 1.92117110e+02] [ 1.52395355e-01 -2.93914853e-03 9.88315242e-01 1.11295842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.22, Y:192.10, Z:111.30 [[ 8.58750375e-01 4.95637924e-01 -1.29964768e-01 2.75215422e+02] [-4.89528011e-01 8.68523869e-01 7.76441546e-02 1.92101713e+02] [ 1.51360891e-01 -3.05555240e-03 9.88473846e-01 1.11300403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.25, Y:192.10, Z:111.28 [[ 8.62649583e-01 4.88187842e-01 -1.32319037e-01 2.75253302e+02] [-4.85918494e-01 8.72505603e-01 5.11584842e-02 1.92103626e+02] [ 1.40424051e-01 2.01644222e-02 9.89886095e-01 1.11279129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.27, Y:192.06, Z:111.32 [[ 8.59704302e-01 4.97783970e-01 -1.14540967e-01 2.75266519e+02] [-4.88865901e-01 8.66841911e-01 9.79552572e-02 1.92063770e+02] [ 1.48049468e-01 -2.82173827e-02 9.88577329e-01 1.11318154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.690385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:275.30, Y:192.06, Z:111.31 [[ 8.57875867e-01 4.96912334e-01 -1.30870655e-01 2.75302413e+02] [-4.91765094e-01 8.67795202e-01 7.14043392e-02 1.92061862e+02] [ 1.49050624e-01 3.10156067e-03 9.88824702e-01 1.11309741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.720385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:275.34, Y:192.06, Z:111.29 [[ 8.59331915e-01 4.92587679e-01 -1.37499229e-01 2.75339543e+02] [-4.90577204e-01 8.69931089e-01 5.05361969e-02 1.92058650e+02] [ 1.44508362e-01 2.40266202e-02 9.89211835e-01 1.11294719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.35, Y:192.02, Z:111.34 [[ 8.55302701e-01 5.05432688e-01 -1.13996001e-01 2.75348372e+02] [-4.95637801e-01 8.62246632e-01 1.04278071e-01 1.92018203e+02] [ 1.50998213e-01 -3.26885886e-02 9.87993419e-01 1.11336963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.40, Y:192.03, Z:111.30 [[ 8.55482822e-01 4.98253471e-01 -1.41041201e-01 2.75397794e+02] [-4.96370207e-01 8.66624353e-01 5.07823700e-02 1.92032412e+02] [ 1.47532232e-01 2.65652050e-02 9.88700425e-01 1.11303766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.41, Y:192.00, Z:111.32 [[ 8.53704643e-01 5.06394635e-01 -1.21461338e-01 2.75414793e+02] [-4.99612809e-01 8.62239288e-01 8.32493306e-02 1.92000758e+02] [ 1.46885752e-01 -1.03866996e-02 9.89098930e-01 1.11323216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.45, Y:191.99, Z:111.32 [[ 8.51805473e-01 5.07171828e-01 -1.31164678e-01 2.75447971e+02] [-5.02021590e-01 8.61834101e-01 7.22239991e-02 1.91993579e+02] [ 1.49672170e-01 4.32670229e-03 9.88726212e-01 1.11322749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.46, Y:191.96, Z:111.35 [[ 8.48892403e-01 5.14665417e-01 -1.20420918e-01 2.75464529e+02] [-5.05257988e-01 8.57027521e-01 1.01085083e-01 1.91964597e+02] [ 1.55229037e-01 -2.49667280e-02 9.87562964e-01 1.11350495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.50, Y:191.96, Z:111.35 [[ 8.48030844e-01 5.12877071e-01 -1.33419630e-01 2.75500519e+02] [-5.06580072e-01 8.58461986e-01 8.01227134e-02 1.91959452e+02] [ 1.55628783e-01 -3.58806470e-04 9.87815546e-01 1.11345666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.53, Y:191.95, Z:111.34 [[ 8.49545745e-01 5.09500849e-01 -1.36678133e-01 2.75534061e+02] [-5.05403017e-01 8.60369492e-01 6.58188992e-02 1.91951090e+02] [ 1.51128481e-01 1.31613751e-02 9.88426507e-01 1.11337843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.56, Y:191.93, Z:111.35 [[ 8.49051880e-01 5.12131845e-01 -1.29737730e-01 2.75558513e+02] [-5.05928390e-01 8.58904846e-01 7.94917008e-02 1.91928178e+02] [ 1.52142596e-01 -1.85457729e-03 9.88356814e-01 1.11350066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.59, Y:191.91, Z:111.35 [[ 8.48945219e-01 5.12090240e-01 -1.30597096e-01 2.75587268e+02] [-5.06040937e-01 8.58931485e-01 7.84810457e-02 1.91911501e+02] [ 1.52363335e-01 -5.38631826e-04 9.88324402e-01 1.11354687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.61, Y:191.89, Z:111.37 [[ 8.48683280e-01 5.13446962e-01 -1.26920874e-01 2.75610153e+02] [-5.05572384e-01 8.58028743e-01 9.04612639e-02 1.91892364e+02] [ 1.55348820e-01 -1.26052731e-02 9.87779252e-01 1.11369461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:191.88, Z:111.36 [[ 8.50168391e-01 5.09099438e-01 -1.34281307e-01 2.75645745e+02] [-5.04257828e-01 8.60672413e-01 7.04772374e-02 1.91884429e+02] [ 1.51452139e-01 7.79488085e-03 9.88433857e-01 1.11363541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.67, Y:191.86, Z:111.38 [[ 8.49842280e-01 5.11415527e-01 -1.27366631e-01 2.75665838e+02] [-5.03986321e-01 8.59273956e-01 8.74417302e-02 1.91862973e+02] [ 1.54161887e-01 -1.01206397e-02 9.87993768e-01 1.11379861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.70, Y:191.85, Z:111.38 [[ 8.51669725e-01 5.06708513e-01 -1.33810171e-01 2.75699404e+02] [-5.01234008e-01 8.62109390e-01 7.43765363e-02 1.91854705e+02] [ 1.53046229e-01 3.72596413e-03 9.88212006e-01 1.11376167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.72, Y:191.84, Z:111.39 [[ 8.51369658e-01 5.08065312e-01 -1.30534835e-01 2.75723930e+02] [-5.00979707e-01 8.61291488e-01 8.48310446e-02 1.91835620e+02] [ 1.55528253e-01 -6.82727402e-03 9.87807851e-01 1.11387808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.76, Y:191.82, Z:111.39 [[ 8.53127051e-01 5.03971743e-01 -1.34858139e-01 2.75756971e+02] [-4.98082191e-01 8.63718628e-01 7.68391994e-02 1.91824803e+02] [ 1.55204272e-01 1.61683765e-03 9.87881076e-01 1.11386873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:191.81, Z:111.39 [[ 8.53690467e-01 5.03776993e-01 -1.31989882e-01 2.75784349e+02] [-4.97292475e-01 8.63827827e-01 8.06329967e-02 1.91807378e+02] [ 1.54637581e-01 -3.19804564e-03 9.87966088e-01 1.11394079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.81, Y:191.79, Z:111.39 [[ 8.54464116e-01 5.02973891e-01 -1.30032069e-01 2.75812060e+02] [-4.97222909e-01 8.64301592e-01 7.58428396e-02 1.91794500e+02] [ 1.50533892e-01 -1.50061269e-04 9.88604838e-01 1.11394862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.84, Y:191.78, Z:111.40 [[ 8.54379430e-01 5.02524074e-01 -1.32307768e-01 2.75838231e+02] [-4.95877447e-01 8.64553599e-01 8.15636649e-02 1.91778531e+02] [ 1.55374862e-01 -4.07787937e-03 9.87847166e-01 1.11404958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.290385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:275.87, Y:191.76, Z:111.41 [[ 8.55060057e-01 5.01254624e-01 -1.32725662e-01 2.75867495e+02] [-4.94221408e-01 8.65278026e-01 8.38995709e-02 1.91761753e+02] [ 1.56899646e-01 -6.14330841e-03 9.87595444e-01 1.11410752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.90, Y:191.75, Z:111.41 [[ 8.54924113e-01 4.99365360e-01 -1.40495545e-01 2.75900729e+02] [-4.93804036e-01 8.66373040e-01 7.45340919e-02 1.91751607e+02] [ 1.58941296e-01 5.65627473e-03 9.87271832e-01 1.11411265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.93, Y:191.74, Z:111.41 [[ 8.56794356e-01 4.97920915e-01 -1.34082791e-01 2.75928141e+02] [-4.93143237e-01 8.67195216e-01 6.91534907e-02 1.91743464e+02] [ 1.50708924e-01 6.87170090e-03 9.88554298e-01 1.11405758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.96, Y:191.73, Z:111.41 [[ 8.56828731e-01 4.97730750e-01 -1.34568295e-01 2.75956421e+02] [-4.92373531e-01 8.67323398e-01 7.29275637e-02 1.91726148e+02] [ 1.53012522e-01 3.77143477e-03 9.88217053e-01 1.11412825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.410385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:275.97, Y:191.70, Z:111.44 [[ 8.54118568e-01 5.04489482e-01 -1.26379725e-01 2.75974756e+02] [-4.94637317e-01 8.63060282e-01 1.02278414e-01 1.91695475e+02] [ 1.60671705e-01 -2.48457645e-02 9.86695136e-01 1.11437559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.01, Y:191.69, Z:111.43 [[ 8.55133529e-01 4.99351369e-01 -1.39265426e-01 2.76012157e+02] [-4.93832496e-01 8.66383348e-01 7.42250680e-02 1.91694089e+02] [ 1.57721635e-01 5.30144834e-03 9.87469382e-01 1.11428865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.03, Y:191.67, Z:111.44 [[ 8.53899778e-01 5.03224652e-01 -1.32740797e-01 2.76034249e+02] [-4.95173937e-01 8.64079807e-01 9.03817443e-02 1.91671333e+02] [ 1.60180964e-01 -1.14471682e-02 9.87021287e-01 1.11444106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.500385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:276.06, Y:191.67, Z:111.44 [[ 8.54671453e-01 5.00068292e-01 -1.39529244e-01 2.76064704e+02] [-4.94139491e-01 8.65979799e-01 7.68449815e-02 1.91665914e+02] [ 1.59257246e-01 3.26969788e-03 9.87231705e-01 1.11439209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.530385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:276.09, Y:191.64, Z:111.45 [[ 8.53856331e-01 5.02811346e-01 -1.34573834e-01 2.76090140e+02] [-4.95066668e-01 8.64351214e-01 8.83514181e-02 1.91641583e+02] [ 1.60743152e-01 -8.81639804e-03 9.86956894e-01 1.11452875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.12, Y:191.62, Z:111.46 [[ 8.52835525e-01 5.05052589e-01 -1.32640306e-01 2.76116419e+02] [-4.96490674e-01 8.62974701e-01 9.36572256e-02 1.91621792e+02] [ 1.61767052e-01 -1.40195344e-02 9.86729382e-01 1.11464666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.590385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:276.15, Y:191.62, Z:111.46 [[ 8.53140615e-01 5.01784812e-01 -1.42699310e-01 2.76149358e+02] [-4.96230534e-01 8.64964067e-01 7.47824845e-02 1.91616843e+02] [ 1.60954490e-01 7.01177978e-03 9.86936922e-01 1.11457984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62038572299997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:276.18, Y:191.60, Z:111.47 [[ 8.52446563e-01 5.03547903e-01 -1.40621359e-01 2.76175732e+02] [-4.97172895e-01 8.63965415e-01 7.98928912e-02 1.91599947e+02] [ 1.61721888e-01 1.80870742e-03 9.86834717e-01 1.11465155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.20, Y:191.58, Z:111.47 [[ 8.52240682e-01 5.05763268e-01 -1.33751024e-01 2.76201947e+02] [-4.98282154e-01 8.62639779e-01 8.69914155e-02 1.91582804e+02] [ 1.59376016e-01 -7.49187505e-03 9.87189525e-01 1.11473259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:276.23, Y:191.57, Z:111.48 [[ 8.50680385e-01 5.07607306e-01 -1.36666404e-01 2.76229957e+02] [-5.00758059e-01 8.61585513e-01 8.31370569e-02 1.91570201e+02] [ 1.59950771e-01 -2.28626030e-03 9.87122345e-01 1.11476606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.26, Y:191.55, Z:111.48 [[ 8.50323429e-01 5.09238219e-01 -1.32764838e-01 2.76255290e+02] [-5.01767716e-01 8.60592398e-01 8.72346515e-02 1.91552456e+02] [ 1.58679629e-01 -7.56055833e-03 9.87301177e-01 1.11483345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.740385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:276.29, Y:191.55, Z:111.48 [[ 8.49854517e-01 5.06410194e-01 -1.45931547e-01 2.76288800e+02] [-5.01447585e-01 8.62206574e-01 7.17644940e-02 1.91545444e+02] [ 1.62165410e-01 1.21876422e-02 9.86688320e-01 1.11478655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.770385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:276.31, Y:191.52, Z:111.49 [[ 8.49753126e-01 5.09753356e-01 -1.34428942e-01 2.76313281e+02] [-5.02397502e-01 8.60299948e-01 8.64913252e-02 1.91522139e+02] [ 1.59738455e-01 -5.95950921e-03 9.87141383e-01 1.11490133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.800385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:276.35, Y:191.52, Z:111.48 [[ 8.50695503e-01 5.05853429e-01 -1.42931696e-01 2.76347620e+02] [-5.01980902e-01 8.62457182e-01 6.46744324e-02 1.91518115e+02] [ 1.55988252e-01 1.67307332e-02 9.87617207e-01 1.11480781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.830385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:276.37, Y:191.49, Z:111.49 [[ 8.50428309e-01 5.09525891e-01 -1.30977321e-01 2.76368652e+02] [-5.02683201e-01 8.60440406e-01 8.33780980e-02 1.91493029e+02] [ 1.55181479e-01 -5.06699579e-03 9.87872985e-01 1.11493576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:276.40, Y:191.49, Z:111.48 [[ 8.51746377e-01 5.05588449e-01 -1.37507924e-01 2.76401754e+02] [-5.01901502e-01 8.62636258e-01 6.28774096e-02 1.91487764e+02] [ 1.50409413e-01 1.54598280e-02 9.88502910e-01 1.11484561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:276.41, Y:191.45, Z:111.52 [[ 8.47236691e-01 5.17445327e-01 -1.20167895e-01 2.76412663e+02] [-5.06517364e-01 8.55078946e-01 1.10815865e-01 1.91445723e+02] [ 1.60094188e-01 -3.30201414e-02 9.86549300e-01 1.11521632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.920385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:276.45, Y:191.44, Z:111.52 [[ 8.46489259e-01 5.14630925e-01 -1.36421939e-01 2.76449513e+02] [-5.07790031e-01 8.57410442e-01 8.36457967e-02 1.91440492e+02] [ 1.60016309e-01 -1.53156772e-03 9.87113183e-01 1.11515722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.950385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:276.48, Y:191.42, Z:111.52 [[ 8.45312002e-01 5.16673839e-01 -1.35999126e-01 2.76477049e+02] [-5.09893499e-01 8.56181486e-01 8.34378995e-02 1.91424467e+02] [ 1.59550114e-01 -1.18598767e-03 9.87189118e-01 1.11520382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.980385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:276.51, Y:191.42, Z:111.50 [[ 8.47520211e-01 5.10756672e-01 -1.44350665e-01 2.76514852e+02] [-5.08773540e-01 8.59256833e-01 5.31712312e-02 1.91423701e+02] [ 1.51191856e-01 2.83781056e-02 9.88097012e-01 1.11502225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.52, Y:191.38, Z:111.54 [[ 8.42680388e-01 5.24632111e-01 -1.21040956e-01 2.76521678e+02] [-5.14173585e-01 8.50837842e-01 1.08168811e-01 1.91380052e+02] [ 1.59735058e-01 -2.89156736e-02 9.86736335e-01 1.11539768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.040385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:276.56, Y:191.37, Z:111.54 [[ 8.41567814e-01 5.22732674e-01 -1.36066772e-01 2.76556691e+02] [-5.16004382e-01 8.52496646e-01 8.35999227e-02 1.91373469e+02] [ 1.59696878e-01 -1.43953500e-04 9.87166089e-01 1.11535225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.070385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:276.58, Y:191.36, Z:111.54 [[ 8.39432315e-01 5.26244391e-01 -1.35721147e-01 2.76584001e+02] [-5.19588016e-01 8.50333235e-01 8.34367000e-02 1.91355462e+02] [ 1.59316298e-01 4.79619492e-04 9.87227475e-01 1.11540258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.100385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:276.61, Y:191.34, Z:111.54 [[ 8.37327490e-01 5.29583928e-01 -1.35733336e-01 2.76611654e+02] [-5.22961447e-01 8.48256871e-01 8.34961416e-02 1.91337262e+02] [ 1.59354950e-01 1.06968717e-03 9.87220774e-01 1.11544948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.130385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:276.64, Y:191.32, Z:111.55 [[ 8.36159534e-01 5.31426359e-01 -1.35732307e-01 2.76639538e+02] [-5.24819658e-01 8.47103378e-01 8.35475571e-02 1.91319504e+02] [ 1.59378670e-01 1.37589648e-03 9.87216565e-01 1.11549630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.160385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:276.67, Y:191.30, Z:111.55 [[ 8.35138563e-01 5.33022138e-01 -1.35760749e-01 2.76666671e+02] [-5.26425245e-01 8.46099712e-01 8.36166239e-02 1.91301898e+02] [ 1.59436642e-01 1.63641839e-03 9.87206807e-01 1.11553789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.190385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:276.69, Y:191.28, Z:111.56 [[ 8.33531848e-01 5.35575931e-01 -1.35584217e-01 2.76693278e+02] [-5.29021460e-01 8.44484521e-01 8.35594942e-02 1.91282196e+02] [ 1.59251227e-01 2.07746094e-03 9.87235904e-01 1.11557889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.220385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:276.72, Y:191.26, Z:111.56 [[ 8.32071937e-01 5.37958785e-01 -1.35117123e-01 2.76718630e+02] [-5.31472523e-01 8.42967493e-01 8.33232472e-02 1.91262001e+02] [ 1.58723815e-01 2.48010257e-03 9.87319907e-01 1.11562655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.75, Y:191.24, Z:111.57 [[ 8.31409484e-01 5.39014009e-01 -1.34989511e-01 2.76745675e+02] [-5.32545538e-01 8.42292679e-01 8.32964174e-02 1.91243035e+02] [ 1.58598613e-01 2.63463040e-03 9.87339627e-01 1.11567594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.280385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:276.77, Y:191.22, Z:111.57 [[ 8.30214938e-01 5.40865749e-01 -1.34934792e-01 2.76771688e+02] [-5.34418524e-01 8.41103787e-01 8.33142268e-02 1.91222646e+02] [ 1.58555976e-01 2.94293690e-03 9.87345604e-01 1.11572054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.80, Y:191.20, Z:111.58 [[ 8.29829935e-01 5.41519892e-01 -1.34679194e-01 2.76798286e+02] [-5.35097574e-01 8.40682518e-01 8.32075162e-02 1.91203774e+02] [ 1.58280969e-01 3.01842232e-03 9.87389500e-01 1.11576570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.340385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:276.82, Y:191.18, Z:111.58 [[ 8.29627902e-01 5.41937510e-01 -1.34243361e-01 2.76824342e+02] [-5.35554116e-01 8.40413273e-01 8.29898747e-02 1.91184145e+02] [ 1.57795228e-01 3.04386884e-03 9.87467164e-01 1.11581504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.85, Y:191.16, Z:111.59 [[ 8.30078685e-01 5.41353426e-01 -1.33812724e-01 2.76847133e+02] [-5.34995393e-01 8.40790211e-01 8.27753015e-02 1.91161788e+02] [ 1.57319122e-01 2.87917770e-03 9.87543621e-01 1.11587243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.87, Y:191.14, Z:111.59 [[ 8.31068883e-01 5.40069368e-01 -1.32851755e-01 2.76870857e+02] [-5.33779015e-01 8.41616565e-01 8.22284707e-02 1.91140238e+02] [ 1.56219316e-01 2.57595546e-03 9.87719034e-01 1.11592108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:276.90, Y:191.12, Z:111.60 [[ 8.31570155e-01 5.39417819e-01 -1.32361228e-01 2.76897153e+02] [-5.33158497e-01 8.42034819e-01 8.19718275e-02 1.91121121e+02] [ 1.55669827e-01 2.40418790e-03 9.87806218e-01 1.11596872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.92, Y:191.10, Z:111.60 [[ 8.32277145e-01 5.38459225e-01 -1.31819641e-01 2.76923821e+02] [-5.32231566e-01 8.42648765e-01 8.16861020e-02 1.91101532e+02] [ 1.55062293e-01 2.17309845e-03 9.87902304e-01 1.11601233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:191.08, Z:111.61 [[ 8.33672083e-01 5.36260426e-01 -1.31968226e-01 2.76947445e+02] [-5.29983219e-01 8.44050821e-01 8.18290808e-02 1.91078685e+02] [ 1.55269587e-01 1.72232499e-03 9.87870634e-01 1.11605959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.520385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:276.97, Y:191.06, Z:111.61 [[ 8.34411177e-01 5.35024663e-01 -1.32312499e-01 2.76973533e+02] [-5.28690891e-01 8.44835192e-01 8.20940947e-02 1.91058178e+02] [ 1.55704620e-01 1.45218263e-03 9.87802593e-01 1.11611156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:277.00, Y:191.04, Z:111.62 [[ 8.36562071e-01 5.31684034e-01 -1.32196783e-01 2.76998019e+02] [-5.25311776e-01 8.46942425e-01 8.20735425e-02 1.91035535e+02] [ 1.55600256e-01 7.84914252e-04 9.87819793e-01 1.11615569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.02, Y:191.02, Z:111.62 [[ 8.37501647e-01 5.30330848e-01 -1.31682131e-01 2.77023697e+02] [-5.23983811e-01 8.47790631e-01 8.18047153e-02 1.91016461e+02] [ 1.55022441e-01 4.87720846e-04 9.87910829e-01 1.11619839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.610385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:277.05, Y:191.00, Z:111.62 [[ 8.39247021e-01 5.27766129e-01 -1.30871506e-01 2.77048365e+02] [-5.21459124e-01 8.49389730e-01 8.13478329e-02 1.90995055e+02] [ 1.54093544e-01 -2.67854283e-05 9.88056263e-01 1.11624218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:190.98, Z:111.63 [[ 8.39466750e-01 5.28341637e-01 -1.27085363e-01 2.77071967e+02] [-5.21531028e-01 8.49018181e-01 8.46966028e-02 1.90975088e+02] [ 1.52646525e-01 -4.82102206e-03 9.88269091e-01 1.11630564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:190.96, Z:111.63 [[ 8.41126157e-01 5.23924094e-01 -1.34202580e-01 2.77101217e+02] [-5.18286921e-01 8.51750578e-01 7.68089838e-02 1.90956889e+02] [ 1.54549203e-01 4.94939688e-03 9.87972696e-01 1.11630973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.700385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:277.13, Y:190.94, Z:111.64 [[ 8.41736908e-01 5.23551677e-01 -1.31805233e-01 2.77125815e+02] [-5.17082692e-01 8.51993432e-01 8.20529184e-02 1.90935880e+02] [ 1.55256136e-01 -9.12765120e-04 9.87873828e-01 1.11637204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.730385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:277.15, Y:190.92, Z:111.64 [[ 8.42439931e-01 5.22471515e-01 -1.31599696e-01 2.77150117e+02] [-5.16001777e-01 8.52655960e-01 8.19754871e-02 1.90915200e+02] [ 1.55039122e-01 -1.15374662e-03 9.87907657e-01 1.11641288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:277.18, Y:190.90, Z:111.65 [[ 8.42147925e-01 5.23045074e-01 -1.31189645e-01 2.77176223e+02] [-5.16615433e-01 8.52304331e-01 8.17668751e-02 1.90895886e+02] [ 1.54581264e-01 -1.08520889e-03 9.87979481e-01 1.11647821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.790385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:277.20, Y:190.88, Z:111.65 [[ 8.41569447e-01 5.23811001e-01 -1.31844232e-01 2.77200549e+02] [-5.17318069e-01 8.51833934e-01 8.22250868e-02 1.90876388e+02] [ 1.55379796e-01 -9.92717179e-04 9.87854308e-01 1.11653451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.23, Y:190.86, Z:111.65 [[ 8.40407294e-01 5.23703328e-01 -1.39464710e-01 2.77231537e+02] [-5.18350229e-01 8.51852500e-01 7.52353467e-02 1.90861881e+02] [ 1.58204363e-01 9.06323044e-03 9.87364794e-01 1.11654106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.850385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:277.25, Y:190.84, Z:111.66 [[ 8.38157760e-01 5.29043873e-01 -1.32680631e-01 2.77252538e+02] [-5.21796965e-01 8.48585109e-01 8.73569700e-02 1.90841098e+02] [ 1.58806478e-01 -3.98657149e-03 9.87301681e-01 1.11664759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.880385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:277.28, Y:190.82, Z:111.67 [[ 8.37262889e-01 5.31189876e-01 -1.29723436e-01 2.77278882e+02] [-5.23836112e-01 8.47231824e-01 8.82834366e-02 1.90822356e+02] [ 1.56801091e-01 -5.96262466e-03 9.87612204e-01 1.11672102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.910385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:277.31, Y:190.81, Z:111.67 [[ 8.37191833e-01 5.30494396e-01 -1.32986955e-01 2.77308758e+02] [-5.23951050e-01 8.47688431e-01 8.30639552e-02 1.90807030e+02] [ 1.56796466e-01 1.38190052e-04 9.87630928e-01 1.11674689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.940385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:277.34, Y:190.79, Z:111.68 [[ 8.34867087e-01 5.34044303e-01 -1.33392766e-01 2.77335301e+02] [-5.27502042e-01 8.45456127e-01 8.33398592e-02 1.90790946e+02] [ 1.57284908e-01 7.87251030e-04 9.87552955e-01 1.11680088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.970385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:277.36, Y:190.77, Z:111.68 [[ 8.33919050e-01 5.35358844e-01 -1.34051953e-01 2.77363722e+02] [-5.28760707e-01 8.44624122e-01 8.37986146e-02 1.90774379e+02] [ 1.58085842e-01 1.00014411e-03 9.87424866e-01 1.11684890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.39, Y:190.76, Z:111.69 [[ 8.32141549e-01 5.38240161e-01 -1.33558866e-01 2.77390970e+02] [-5.31719331e-01 8.42790180e-01 8.35419984e-02 1.90758159e+02] [ 1.57527759e-01 1.49706275e-03 9.87513425e-01 1.11690665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:277.42, Y:190.74, Z:111.70 [[ 8.31564978e-01 5.39187904e-01 -1.33327006e-01 2.77419710e+02] [-5.32696694e-01 8.42183885e-01 8.34298286e-02 1.90742108e+02] [ 1.57270211e-01 1.64553178e-03 9.87554238e-01 1.11695659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.45, Y:190.73, Z:111.70 [[ 8.31774759e-01 5.38857926e-01 -1.33352492e-01 2.77447312e+02] [-5.32351721e-01 8.42395256e-01 8.34977749e-02 1.90726029e+02] [ 1.57328944e-01 1.53908679e-03 9.87545054e-01 1.11700764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:190.71, Z:111.71 [[ 8.32187993e-01 5.38231588e-01 -1.33303799e-01 2.77474837e+02] [-5.31714424e-01 8.42795858e-01 8.35159483e-02 1.90709511e+02] [ 1.57298811e-01 1.37858333e-03 9.87550092e-01 1.11705856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:190.69, Z:111.71 [[ 8.33836294e-01 5.35719709e-01 -1.33121855e-01 2.77502199e+02] [-5.29180257e-01 8.44395438e-01 8.34541735e-02 1.90693021e+02] [ 1.57115533e-01 8.58338815e-04 9.87579856e-01 1.11711216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.150385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:277.53, Y:190.68, Z:111.72 [[ 8.36421937e-01 5.31368691e-01 -1.34334127e-01 2.77530216e+02] [-5.24647453e-01 8.47140670e-01 8.42480604e-02 1.90676130e+02] [ 1.58566684e-01 1.11318236e-05 9.87348270e-01 1.11716749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.180385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:277.56, Y:190.66, Z:111.72 [[ 8.37741241e-01 5.29386666e-01 -1.33937936e-01 2.77557644e+02] [-5.22671674e-01 8.48380570e-01 8.40519456e-02 1.90659227e+02] [ 1.58126322e-01 -4.08215883e-04 9.87418807e-01 1.11721692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.210385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:277.59, Y:190.64, Z:111.73 [[ 8.39144054e-01 5.26742764e-01 -1.35570339e-01 2.77586381e+02] [-5.19359520e-01 8.50017971e-01 8.79496385e-02 1.90637518e+02] [ 1.61564060e-01 -3.39267010e-03 9.86856395e-01 1.11728669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.240385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:277.61, Y:190.62, Z:111.73 [[ 8.40437530e-01 5.24543410e-01 -1.36084416e-01 2.77614876e+02] [-5.17403865e-01 8.51381118e-01 8.62753327e-02 1.90620575e+02] [ 1.61114859e-01 -2.09842471e-03 9.86933432e-01 1.11732893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.270385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:277.64, Y:190.61, Z:111.74 [[ 8.44027935e-01 5.18769465e-01 -1.35996642e-01 2.77639926e+02] [-5.11613981e-01 8.54909126e-01 8.59157787e-02 1.90609635e+02] [ 1.60835253e-01 -2.93753384e-03 9.86976896e-01 1.11735459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.300385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:277.67, Y:190.59, Z:111.74 [[ 8.45026219e-01 5.16731647e-01 -1.37546699e-01 2.77668202e+02] [-5.09463341e-01 8.56142347e-01 8.64140318e-02 1.90592814e+02] [ 1.62412419e-01 -2.94712154e-03 9.86718562e-01 1.11739723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:277.69, Y:190.57, Z:111.75 [[ 8.43494245e-01 5.19792578e-01 -1.35399908e-01 2.77693523e+02] [-5.11001674e-01 8.54212241e-01 9.59100457e-02 1.90565310e+02] [ 1.65513589e-01 -1.17099919e-02 9.86137986e-01 1.11753353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.73, Y:190.56, Z:111.74 [[ 8.46982324e-01 5.11919798e-01 -1.43384320e-01 2.77725837e+02] [-5.06450032e-01 8.58986619e-01 7.51688299e-02 1.90562310e+02] [ 1.61645625e-01 8.95032332e-03 9.86808281e-01 1.11743803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.75, Y:190.54, Z:111.76 [[ 8.46582622e-01 5.15182996e-01 -1.33732359e-01 2.77746592e+02] [-5.06906926e-01 8.57014825e-01 9.25794684e-02 1.90540192e+02] [ 1.62305982e-01 -1.05863100e-02 9.86683687e-01 1.11759159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.420385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:277.78, Y:190.53, Z:111.76 [[ 8.46040419e-01 5.14876272e-01 -1.38267977e-01 2.77777273e+02] [-5.07498270e-01 8.57257901e-01 8.69160311e-02 1.90526296e+02] [ 1.63282318e-01 -3.36371642e-03 9.86573652e-01 1.11760668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.81, Y:190.51, Z:111.77 [[ 8.44516649e-01 5.17681707e-01 -1.37103177e-01 2.77805808e+02] [-5.10456565e-01 8.55568568e-01 8.62352673e-02 1.90510436e+02] [ 1.61943589e-01 -2.84190218e-03 9.86795925e-01 1.11766052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:277.83, Y:190.49, Z:111.78 [[ 8.42944079e-01 5.20540267e-01 -1.35952605e-01 2.77832258e+02] [-5.12266946e-01 8.53793675e-01 9.28382252e-02 1.90488584e+02] [ 1.64401509e-01 -8.61340632e-03 9.86355896e-01 1.11775667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:190.47, Z:111.78 [[ 8.42238394e-01 5.21862923e-01 -1.35253751e-01 2.77858582e+02] [-5.13182639e-01 8.52959021e-01 9.54174355e-02 1.90472342e+02] [ 1.65160729e-01 -1.09543507e-02 9.86205828e-01 1.11784080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:190.46, Z:111.79 [[ 8.41172619e-01 5.22718046e-01 -1.38544108e-01 2.77887207e+02] [-5.15249891e-01 8.52501319e-01 8.80854760e-02 1.90459510e+02] [ 1.64152903e-01 -2.71025397e-03 9.86431183e-01 1.11786750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:190.45, Z:111.78 [[ 8.41244689e-01 5.21714556e-01 -1.41849550e-01 2.77918007e+02] [-5.16809714e-01 8.53030377e-01 7.24354591e-02 1.90451407e+02] [ 1.58792608e-01 1.23732801e-02 9.87234425e-01 1.11781734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.94, Y:190.43, Z:111.79 [[ 8.41244581e-01 5.23902824e-01 -1.33541706e-01 2.77940594e+02] [-5.17114127e-01 8.51776388e-01 8.40830804e-02 1.90430418e+02] [ 1.57799035e-01 -1.67813305e-03 9.87469822e-01 1.11792131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.97, Y:190.42, Z:111.80 [[ 8.41036847e-01 5.24401388e-01 -1.32891711e-01 2.77969536e+02] [-5.17677794e-01 8.51469653e-01 8.37205601e-02 1.90415979e+02] [ 1.57056437e-01 -1.61698834e-03 9.87588306e-01 1.11796415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.00, Y:190.40, Z:111.80 [[ 8.40697667e-01 5.24901877e-01 -1.33061834e-01 2.77997915e+02] [-5.18158964e-01 8.51161298e-01 8.38792797e-02 1.90399395e+02] [ 1.57285474e-01 -1.56993288e-03 9.87551930e-01 1.11800881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:190.38, Z:111.81 [[ 8.40319888e-01 5.25398697e-01 -1.33486684e-01 2.78025820e+02] [-5.18610236e-01 8.50854792e-01 8.41994393e-02 1.90382454e+02] [ 1.57816061e-01 -1.52690257e-03 9.87467346e-01 1.11805703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.05, Y:190.37, Z:111.81 [[ 8.39800241e-01 5.26060827e-01 -1.34147539e-01 2.78054003e+02] [-5.19204514e-01 8.50445701e-01 8.46686623e-02 1.90366109e+02] [ 1.58626064e-01 -1.45475513e-03 9.87337660e-01 1.11810660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:190.35, Z:111.82 [[ 8.39678674e-01 5.26248716e-01 -1.34171584e-01 2.78082256e+02] [-5.19383977e-01 8.50329434e-01 8.47357017e-02 1.90349636e+02] [ 1.58682101e-01 -1.46419086e-03 9.87328642e-01 1.11815604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:190.34, Z:111.82 [[ 8.39884563e-01 5.26024540e-01 -1.33761373e-01 2.78110423e+02] [-5.19190976e-01 8.50467985e-01 8.45277223e-02 1.90335236e+02] [ 1.58223422e-01 -1.54583127e-03 9.87402126e-01 1.11819707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81038572299997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:278.14, Y:190.32, Z:111.82 [[ 8.39616903e-01 5.26174372e-01 -1.34848015e-01 2.78138759e+02] [-5.19222637e-01 8.50375246e-01 8.52630930e-02 1.90318868e+02] [ 1.59534668e-01 -1.57219217e-03 9.87191075e-01 1.11824147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.17, Y:190.30, Z:111.83 [[ 8.39820894e-01 5.26114617e-01 -1.33806858e-01 2.78166552e+02] [-5.19261694e-01 8.50412137e-01 8.46551252e-02 1.90301724e+02] [ 1.58329275e-01 -1.61436730e-03 9.87385049e-01 1.11829177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87038572299997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:278.19, Y:190.29, Z:111.83 [[ 8.41751670e-01 5.22451771e-01 -1.36008356e-01 2.78193912e+02] [-5.16340324e-01 8.52663178e-01 7.97381688e-02 1.90292255e+02] [ 1.57628665e-01 3.10686206e-03 9.87493570e-01 1.11828318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.22, Y:190.28, Z:111.83 [[ 8.44224193e-01 5.18439098e-01 -1.36038281e-01 2.78222451e+02] [-5.13296201e-01 8.55077454e-01 7.32772668e-02 1.90281423e+02] [ 1.54313067e-01 7.96549122e-03 9.87989893e-01 1.11826840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:190.26, Z:111.84 [[ 8.43727281e-01 5.20867156e-01 -1.29698426e-01 2.78244567e+02] [-5.12786514e-01 8.53564570e-01 9.20734309e-02 1.90256557e+02] [ 1.58664007e-01 -1.11772616e-02 9.87269366e-01 1.11843601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.28, Y:190.24, Z:111.85 [[ 8.41549368e-01 5.22895884e-01 -1.35552779e-01 2.78275319e+02] [-5.15623193e-01 8.52390191e-01 8.69694495e-02 1.90236283e+02] [ 1.61019827e-01 -3.29492832e-03 9.86945672e-01 1.11848362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.30, Y:190.22, Z:111.85 [[ 8.41826735e-01 5.22375503e-01 -1.35836599e-01 2.78302358e+02] [-5.15178173e-01 8.52710951e-01 8.64608826e-02 1.90220072e+02] [ 1.60994402e-01 -2.80503169e-03 9.86951333e-01 1.11853133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.33, Y:190.21, Z:111.85 [[ 8.44804210e-01 5.17649946e-01 -1.35441430e-01 2.78330325e+02] [-5.11314781e-01 8.55591873e-01 8.07449204e-02 1.90213561e+02] [ 1.57680190e-01 1.03955633e-03 9.87489685e-01 1.11852050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:278.36, Y:190.19, Z:111.86 [[ 8.42039976e-01 5.22498365e-01 -1.34030359e-01 2.78356743e+02] [-5.15089936e-01 8.52626187e-01 8.78119777e-02 1.90187587e+02] [ 1.60159409e-01 -4.90350646e-03 9.87078983e-01 1.11863472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.38, Y:190.18, Z:111.87 [[ 8.43287624e-01 5.20704857e-01 -1.33163193e-01 2.78383479e+02] [-5.13296397e-01 8.53718349e-01 8.77028487e-02 1.90177633e+02] [ 1.59351160e-01 -5.60653966e-03 9.87206045e-01 1.11868169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:190.16, Z:111.87 [[ 8.41010931e-01 5.23229464e-01 -1.37591941e-01 2.78414167e+02] [-5.16700003e-01 8.52189987e-01 8.24216818e-02 1.90158411e+02] [ 1.60379927e-01 1.77622117e-03 9.87053759e-01 1.11871298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.140385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:278.45, Y:190.16, Z:111.86 [[ 8.43921659e-01 5.17439979e-01 -1.41605444e-01 2.78446340e+02] [-5.13587268e-01 8.55540114e-01 6.54158400e-02 1.90159963e+02] [ 1.54997908e-01 1.75209087e-02 9.87759417e-01 1.11858792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.170385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:278.46, Y:190.12, Z:111.89 [[ 8.39869669e-01 5.27697860e-01 -1.27098026e-01 2.78462383e+02] [-5.18095507e-01 8.49197381e-01 1.02180493e-01 1.90120563e+02] [ 1.61851738e-01 -1.99693810e-02 9.86613014e-01 1.11888149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.200385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:278.50, Y:190.11, Z:111.89 [[ 8.38895654e-01 5.26549116e-01 -1.37840888e-01 2.78497007e+02] [-5.19138024e-01 8.50141553e-01 8.80627767e-02 1.90111486e+02] [ 1.63553644e-01 -2.31703438e-03 9.86531721e-01 1.11886353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.53, Y:190.09, Z:111.89 [[ 8.38814144e-01 5.26972966e-01 -1.36712566e-01 2.78525375e+02] [-5.19680437e-01 8.49879039e-01 8.73948710e-02 1.90094713e+02] [ 1.62243878e-01 -2.26120806e-03 9.86748099e-01 1.11891308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.56, Y:190.09, Z:111.89 [[ 8.40383161e-01 5.23574178e-01 -1.40093621e-01 2.78555394e+02] [-5.17746761e-01 8.51952813e-01 7.81965227e-02 1.90087697e+02] [ 1.60294834e-01 6.81797747e-03 9.87045633e-01 1.11888353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.290385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:278.58, Y:190.07, Z:111.90 [[ 8.40225802e-01 5.24841688e-01 -1.36241711e-01 2.78580484e+02] [-5.17850375e-01 8.51199025e-01 8.53885796e-02 1.90066880e+02] [ 1.60784298e-01 -1.19286670e-03 9.86988848e-01 1.11896522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.320385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:278.60, Y:190.04, Z:111.91 [[ 8.39864332e-01 5.26220238e-01 -1.33117113e-01 2.78604214e+02] [-5.17674615e-01 8.50277886e-01 9.50815944e-02 1.90044973e+02] [ 1.63220397e-01 -1.09442894e-02 9.86528927e-01 1.11908504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.350385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:278.64, Y:190.04, Z:111.90 [[ 8.41480304e-01 5.20610574e-01 -1.44483662e-01 2.78640302e+02] [-5.16100577e-01 8.53652482e-01 7.01258470e-02 1.90040387e+02] [ 1.59847094e-01 1.55585821e-02 9.87019168e-01 1.11897293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.380385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:278.66, Y:190.02, Z:111.91 [[ 8.41236647e-01 5.23295628e-01 -1.35950689e-01 2.78662732e+02] [-5.16506237e-01 8.52151084e-01 8.40228336e-02 1.90016438e+02] [ 1.59819309e-01 -4.63707812e-04 9.87146176e-01 1.11907673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.410385723 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:278.69, Y:190.00, Z:111.91 [[ 8.40648697e-01 5.24260315e-01 -1.35870858e-01 2.78690217e+02] [-5.17198974e-01 8.51556079e-01 8.57756727e-02 1.89996728e+02] [ 1.60670436e-01 -1.83493943e-03 9.87006405e-01 1.11913953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.440385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:278.71, Y:189.97, Z:111.93 [[ 8.39093466e-01 5.28266242e-01 -1.29834252e-01 2.78709861e+02] [-5.18306231e-01 8.48843099e-01 1.04038665e-01 1.89971172e+02] [ 1.65169023e-01 -2.00042619e-02 9.86062383e-01 1.11932441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.470385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:278.74, Y:189.96, Z:111.93 [[ 8.38740526e-01 5.26634571e-01 -1.38457063e-01 2.78742871e+02] [-5.19037283e-01 8.50086715e-01 8.91788984e-02 1.89959672e+02] [ 1.64665201e-01 -2.93357807e-03 9.86345155e-01 1.11930756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.500385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:278.77, Y:189.94, Z:111.94 [[ 8.38624272e-01 5.26891576e-01 -1.38183203e-01 2.78770094e+02] [-5.19318963e-01 8.49927478e-01 8.90567058e-02 1.89941802e+02] [ 1.64368930e-01 -2.92395715e-03 9.86394599e-01 1.11936106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.530385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:278.80, Y:189.92, Z:111.94 [[ 8.38175218e-01 5.27681333e-01 -1.37893854e-01 2.78796731e+02] [-5.20142048e-01 8.49437762e-01 8.89254684e-02 1.89924511e+02] [ 1.64056556e-01 -2.81073224e-03 9.86446930e-01 1.11941236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56038572299997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:278.84, Y:189.93, Z:111.91 [[ 8.42149223e-01 5.16760839e-01 -1.54087386e-01 2.78842553e+02] [-5.17514990e-01 8.54814197e-01 3.83526177e-02 1.89934875e+02] [ 1.51535216e-01 4.74439046e-02 9.87312592e-01 1.11908283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.590385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:278.85, Y:189.90, Z:111.93 [[ 8.41269963e-01 5.25755036e-01 -1.25882846e-01 2.78853541e+02] [-5.19749591e-01 8.50635116e-01 7.92481031e-02 1.89898363e+02] [ 1.48745459e-01 -1.24149098e-03 9.88874738e-01 1.11928009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62038572299997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:278.86, Y:189.86, Z:111.97 [[ 8.36240131e-01 5.37419159e-01 -1.09009590e-01 2.78862570e+02] [-5.24276419e-01 8.41821595e-01 1.28337990e-01 1.89856377e+02] [ 1.60737921e-01 -5.01702204e-02 9.85721193e-01 1.11971737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.650385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:278.90, Y:189.86, Z:111.96 [[ 8.34986003e-01 5.33369559e-01 -1.35333989e-01 2.78903917e+02] [-5.26191656e-01 8.45880778e-01 8.72241372e-02 1.89857374e+02] [ 1.60999119e-01 -1.61931812e-03 9.86953222e-01 1.11958208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.680385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:278.93, Y:189.84, Z:111.96 [[ 8.34589343e-01 5.34001006e-01 -1.35290629e-01 2.78930191e+02] [-5.26830526e-01 8.45482465e-01 8.72295775e-02 1.89840269e+02] [ 1.60966536e-01 -1.52564258e-03 9.86958685e-01 1.11963054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.710385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.96, Y:189.82, Z:111.97 [[ 8.34040578e-01 5.34812255e-01 -1.35470167e-01 2.78957757e+02] [-5.27625250e-01 8.44969737e-01 8.73941625e-02 1.89822385e+02] [ 1.61207660e-01 -1.41279735e-03 9.86919497e-01 1.11967878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:189.80, Z:111.97 [[ 8.33748673e-01 5.35240751e-01 -1.35574663e-01 2.78985282e+02] [-5.28039444e-01 8.44698433e-01 8.75151533e-02 1.89804513e+02] [ 1.61361382e-01 -1.37687306e-03 9.86894426e-01 1.11972540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:279.01, Y:189.79, Z:111.98 [[ 8.33434053e-01 5.35738566e-01 -1.35542865e-01 2.79012489e+02] [-5.28538503e-01 8.44382870e-01 8.75478116e-02 1.89785890e+02] [ 1.61352812e-01 -1.32570460e-03 9.86895898e-01 1.11977860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.800385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:279.04, Y:189.77, Z:111.98 [[ 8.33370257e-01 5.35843761e-01 -1.35519294e-01 2.79040196e+02] [-5.28639149e-01 8.44316080e-01 8.75842829e-02 1.89767858e+02] [ 1.61352611e-01 -1.34933196e-03 9.86895898e-01 1.11983057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.07, Y:189.75, Z:111.99 [[ 8.33052551e-01 5.36338003e-01 -1.35517503e-01 2.79066845e+02] [-5.29136084e-01 8.44002323e-01 8.76075479e-02 1.89749169e+02] [ 1.61364344e-01 -1.27449057e-03 9.86894079e-01 1.11988523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.860385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:279.09, Y:189.73, Z:111.99 [[ 8.32569285e-01 5.36899299e-01 -1.36262720e-01 2.79093529e+02] [-5.29616120e-01 8.43645459e-01 8.81425308e-02 1.89730002e+02] [ 1.62281088e-01 -1.21783100e-03 9.86743820e-01 1.11993876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.12, Y:189.72, Z:111.99 [[ 8.31726351e-01 5.35801582e-01 -1.45423316e-01 2.79123466e+02] [-5.29690778e-01 8.44290959e-01 8.12431891e-02 1.89716283e+02] [ 1.66309820e-01 9.45728816e-03 9.86028196e-01 1.11994504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.14, Y:189.69, Z:112.01 [[ 8.32418358e-01 5.38330897e-01 -1.31451596e-01 2.79142083e+02] [-5.29515204e-01 8.42651643e-01 9.77336048e-02 1.89689984e+02] [ 1.63380923e-01 -1.17496281e-02 9.86493092e-01 1.12007536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:189.67, Z:112.01 [[ 8.32580049e-01 5.36638685e-01 -1.37220199e-01 2.79171431e+02] [-5.29229525e-01 8.43811014e-01 8.88767803e-02 1.89674919e+02] [ 1.63482634e-01 -1.37605316e-03 9.86545252e-01 1.12009355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.980385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:279.20, Y:189.65, Z:112.01 [[ 8.33722978e-01 5.34995718e-01 -1.36695203e-01 2.79197537e+02] [-5.27612680e-01 8.44852982e-01 8.85906238e-02 1.89654648e+02] [ 1.62882954e-01 -1.73791657e-03 9.86643868e-01 1.12014632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.010385723 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:279.22, Y:189.64, Z:112.02 [[ 8.34103697e-01 5.34447388e-01 -1.36517444e-01 2.79223080e+02] [-5.27067429e-01 8.45199634e-01 8.85296774e-02 1.89636441e+02] [ 1.62698949e-01 -1.88903273e-03 9.86673950e-01 1.12019624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.25, Y:189.62, Z:112.03 [[ 8.35172984e-01 5.32903093e-01 -1.36016101e-01 2.79248737e+02] [-5.25551506e-01 8.46173387e-01 8.82395231e-02 1.89616714e+02] [ 1.62116319e-01 -2.21179932e-03 9.86769176e-01 1.12025255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.070385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:279.27, Y:189.60, Z:112.03 [[ 8.35542333e-01 5.32351931e-01 -1.35905968e-01 2.79274887e+02] [-5.24996288e-01 8.46519840e-01 8.82216433e-02 1.89598137e+02] [ 1.62012061e-01 -2.36278876e-03 9.86785949e-01 1.12030938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.100385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:279.30, Y:189.58, Z:112.04 [[ 8.36042651e-01 5.31681399e-01 -1.35453224e-01 2.79300945e+02] [-5.24357576e-01 8.46940665e-01 8.79809248e-02 1.89579082e+02] [ 1.61498665e-01 -2.52988127e-03 9.86869688e-01 1.12035950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:279.33, Y:189.56, Z:112.04 [[ 8.35829422e-01 5.32136574e-01 -1.34980902e-01 2.79326970e+02] [-5.24861370e-01 8.46654902e-01 8.77269598e-02 1.89560130e+02] [ 1.60964966e-01 -2.47851296e-03 9.86957009e-01 1.12041420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.160385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:279.35, Y:189.54, Z:112.05 [[ 8.35568905e-01 5.32594779e-01 -1.34786521e-01 2.79354046e+02] [-5.25337948e-01 8.46366874e-01 8.76536039e-02 1.89542008e+02] [ 1.60762698e-01 -2.43215161e-03 9.86990091e-01 1.12046349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.190385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:279.38, Y:189.52, Z:112.05 [[ 8.34331701e-01 5.34595041e-01 -1.34531617e-01 2.79380603e+02] [-5.27382989e-01 8.45105781e-01 8.75408591e-02 1.89522578e+02] [ 1.60492357e-01 -2.08842733e-03 9.87034874e-01 1.12051346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.41, Y:189.50, Z:112.06 [[ 8.33724614e-01 5.35404285e-01 -1.35075977e-01 2.79407162e+02] [-5.28135075e-01 8.44593573e-01 8.79490682e-02 1.89504687e+02] [ 1.61172610e-01 -1.98694186e-03 9.86924233e-01 1.12055963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.43, Y:189.49, Z:112.06 [[ 8.33128786e-01 5.36307833e-01 -1.35167801e-01 2.79434044e+02] [-5.29034815e-01 8.44020445e-01 8.80434706e-02 1.89486018e+02] [ 1.61302790e-01 -1.84307724e-03 9.86903244e-01 1.12060733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:279.45, Y:189.47, Z:112.07 [[ 8.34012360e-01 5.36120400e-01 -1.30377530e-01 2.79454799e+02] [-5.27389705e-01 8.44052602e-01 9.71354915e-02 1.89468749e+02] [ 1.62121812e-01 -1.22524333e-02 9.86694682e-01 1.12069361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.49, Y:189.45, Z:112.07 [[ 8.31442479e-01 5.37381080e-01 -1.41155871e-01 2.79488845e+02] [-5.31921819e-01 8.43268921e-01 7.71796966e-02 1.89452149e+02] [ 1.60507268e-01 1.09134097e-02 9.86974323e-01 1.12065858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.340385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:279.51, Y:189.43, Z:112.08 [[ 8.30972341e-01 5.39875050e-01 -1.34238219e-01 2.79511742e+02] [-5.32720837e-01 8.41744183e-01 8.76084458e-02 1.89429086e+02] [ 1.60291854e-01 -1.28869893e-03 9.87068823e-01 1.12075461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37038572299997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:279.53, Y:189.41, Z:112.09 [[ 8.31483612e-01 5.40763090e-01 -1.27319608e-01 2.79530717e+02] [-5.30773901e-01 8.40936034e-01 1.05383360e-01 1.89409158e+02] [ 1.64055078e-01 -2.00466117e-02 9.86247466e-01 1.12089984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.57, Y:189.40, Z:112.08 [[ 8.30147624e-01 5.38144094e-01 -1.45793884e-01 2.79570872e+02] [-5.33840957e-01 8.42633417e-01 7.05886543e-02 1.89401620e+02] [ 1.60837666e-01 1.92317431e-02 9.86793487e-01 1.12075477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.430385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:279.59, Y:189.38, Z:112.09 [[ 8.30241085e-01 5.40878778e-01 -1.34721518e-01 2.79591097e+02] [-5.33664627e-01 8.41099688e-01 8.80532825e-02 1.89375317e+02] [ 1.60940379e-01 -1.20934408e-03 9.86963389e-01 1.12087919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:189.36, Z:112.09 [[ 8.31017047e-01 5.39877701e-01 -1.33950499e-01 2.79615449e+02] [-5.32724908e-01 8.41742237e-01 8.76023951e-02 1.89355498e+02] [ 1.60046372e-01 -1.44031659e-03 9.87108446e-01 1.12092689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:189.34, Z:112.10 [[ 8.31705833e-01 5.38935106e-01 -1.33470445e-01 2.79642192e+02] [-5.31813761e-01 8.42345655e-01 8.73379703e-02 1.89336803e+02] [ 1.59497748e-01 -1.65807967e-03 9.87196900e-01 1.12097908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:279.67, Y:189.32, Z:112.10 [[ 8.33226717e-01 5.36838536e-01 -1.32429699e-01 2.79668976e+02] [-5.29793916e-01 8.43682422e-01 8.67085805e-02 1.89318020e+02] [ 1.58277116e-01 -2.08745708e-03 9.87392524e-01 1.12102642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.69, Y:189.30, Z:112.11 [[ 8.34454048e-01 5.35000528e-01 -1.32139610e-01 2.79694332e+02] [-5.27955646e-01 8.44848097e-01 8.65709522e-02 1.89299940e+02] [ 1.57953403e-01 -2.47562855e-03 9.87443464e-01 1.12107050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.580385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:279.72, Y:189.28, Z:112.11 [[ 8.35027224e-01 5.34131199e-01 -1.32035595e-01 2.79720940e+02] [-5.27078871e-01 8.45397351e-01 8.65516147e-02 1.89281376e+02] [ 1.57852460e-01 -2.67978198e-03 9.87459072e-01 1.12111856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.610385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:279.75, Y:189.26, Z:112.12 [[ 8.35983939e-01 5.32652312e-01 -1.31955936e-01 2.79746296e+02] [-5.25581914e-01 8.46328839e-01 8.65514233e-02 1.89262053e+02] [ 1.57779930e-01 -3.00194640e-03 9.87469737e-01 1.12116734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:279.76, Y:189.24, Z:112.14 [[ 8.36587101e-01 5.34806942e-01 -1.18758396e-01 2.79759211e+02] [-5.22995896e-01 8.44199559e-01 1.17483604e-01 1.89235971e+02] [ 1.63086833e-01 -3.61751143e-02 9.85948298e-01 1.12143453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.670385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:279.81, Y:189.24, Z:112.11 [[ 8.36539918e-01 5.26775052e-01 -1.50695090e-01 2.79809066e+02] [-5.24552290e-01 8.49439063e-01 5.74297247e-02 1.89239407e+02] [ 1.58258842e-01 3.10051974e-02 9.86910744e-01 1.12112440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.82, Y:189.21, Z:112.13 [[ 8.36710604e-01 5.31461508e-01 -1.32151546e-01 2.79824776e+02] [-5.24340727e-01 8.47075979e-01 8.67703149e-02 1.89208565e+02] [ 1.58057482e-01 -3.30920510e-03 9.87424367e-01 1.12130132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.84, Y:189.18, Z:112.16 [[ 8.35763324e-01 5.36260873e-01 -1.17999756e-01 2.79836630e+02] [-5.23348533e-01 8.42998654e-01 1.24336566e-01 1.89178199e+02] [ 1.66150471e-01 -4.21609424e-02 9.85198699e-01 1.12162730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.89, Y:189.19, Z:112.12 [[ 8.36348682e-01 5.26354231e-01 -1.53206090e-01 2.79889566e+02] [-5.24916223e-01 8.49500118e-01 5.30330770e-02 1.89188098e+02] [ 1.58062776e-01 3.60662181e-02 9.86770179e-01 1.12123853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:189.15, Z:112.14 [[ 8.35940062e-01 5.33013285e-01 -1.30770991e-01 2.79903549e+02] [-5.26041295e-01 8.46101242e-01 8.59839758e-02 1.89154070e+02] [ 1.56476099e-01 -3.08650869e-03 9.87676923e-01 1.12144980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:189.14, Z:112.15 [[ 8.35507377e-01 5.33768474e-01 -1.30455509e-01 2.79929906e+02] [-5.26831464e-01 8.45625408e-01 8.58270285e-02 1.89136775e+02] [ 1.56128255e-01 -2.98104868e-03 9.87732292e-01 1.12149923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.850385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:279.95, Y:189.12, Z:112.16 [[ 8.36469835e-01 5.33281633e-01 -1.26209804e-01 2.79951921e+02] [-5.25229304e-01 8.45859093e-01 9.30407068e-02 1.89123736e+02] [ 1.56372610e-01 -1.15366574e-02 9.87630757e-01 1.12158631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.880385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:279.99, Y:189.11, Z:112.15 [[ 8.34609151e-01 5.33999495e-01 -1.35174348e-01 2.79986850e+02] [-5.28587693e-01 8.45448582e-01 7.62348076e-02 1.89108166e+02] [ 1.54992309e-01 7.82522851e-03 9.87884685e-01 1.12153574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.01, Y:189.09, Z:112.17 [[ 8.35216410e-01 5.35400713e-01 -1.25537344e-01 2.80006025e+02] [-5.27440358e-01 8.44524230e-01 9.26579417e-02 1.89088167e+02] [ 1.55628457e-01 -1.11759719e-02 9.87752439e-01 1.12167552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.04, Y:189.07, Z:112.17 [[ 8.33005267e-01 5.37692424e-01 -1.30342175e-01 2.80035403e+02] [-5.30290211e-01 8.43125850e-01 8.90566894e-02 1.89067071e+02] [ 1.57779964e-01 -5.06551199e-03 9.87461302e-01 1.12174086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.970385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:280.07, Y:189.07, Z:112.16 [[ 8.36239394e-01 5.31033634e-01 -1.36773377e-01 2.80068125e+02] [-5.27230939e-01 8.47177034e-01 6.57161395e-02 1.89068270e+02] [ 1.50768744e-01 1.71567311e-02 9.88420170e-01 1.12159224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:189.03, Z:112.18 [[ 8.32838970e-01 5.39120447e-01 -1.25412894e-01 2.80087377e+02] [-5.31706393e-01 8.42192472e-01 8.94435669e-02 1.89034094e+02] [ 1.53842651e-01 -7.80925048e-03 9.88064499e-01 1.12179100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.11, Y:189.02, Z:112.18 [[ 8.32710969e-01 5.39013973e-01 -1.26713773e-01 2.80114669e+02] [-5.31483705e-01 8.42261704e-01 9.01126725e-02 1.89021326e+02] [ 1.55298148e-01 -7.69150518e-03 9.87837702e-01 1.12184149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:280.15, Y:189.01, Z:112.18 [[ 8.30813589e-01 5.40361856e-01 -1.33258568e-01 2.80146307e+02] [-5.34430280e-01 8.41419263e-01 7.99868675e-02 1.89005951e+02] [ 1.55348178e-01 4.76323746e-03 9.87848296e-01 1.12182541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.17, Y:188.99, Z:112.19 [[ 8.29123202e-01 5.43815392e-01 -1.29690151e-01 2.80172607e+02] [-5.37015760e-01 8.39203632e-01 8.57399408e-02 1.88986368e+02] [ 1.55463145e-01 -1.44331928e-03 9.87840639e-01 1.12189326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.20, Y:188.97, Z:112.19 [[ 8.28631047e-01 5.44526820e-01 -1.29850416e-01 2.80200270e+02] [-5.37718181e-01 8.38742398e-01 8.58507252e-02 1.88968075e+02] [ 1.55659072e-01 -1.31564676e-03 9.87809963e-01 1.12194093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.23, Y:188.95, Z:112.20 [[ 8.26915975e-01 5.47050907e-01 -1.30174023e-01 2.80225834e+02] [-5.40152605e-01 8.37098321e-01 8.66115779e-02 1.88951190e+02] [ 1.56349398e-01 -1.30665964e-03 9.87700946e-01 1.12199609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:188.93, Z:112.20 [[ 8.26300285e-01 5.47817162e-01 -1.30859450e-01 2.80252912e+02] [-5.40926121e-01 8.36597713e-01 8.66210011e-02 1.88933936e+02] [ 1.56929188e-01 -7.89662915e-04 9.87609542e-01 1.12204372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:188.92, Z:112.21 [[ 8.25250937e-01 5.47500663e-01 -1.38578192e-01 2.80283698e+02] [-5.41483117e-01 8.36767819e-01 8.13366516e-02 1.88919608e+02] [ 1.60489642e-01 7.91460358e-03 9.87005792e-01 1.12205686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:188.90, Z:112.22 [[ 8.25176126e-01 5.50379269e-01 -1.27149603e-01 2.80303891e+02] [-5.42225956e-01 8.34862761e-01 9.48429390e-02 1.88895798e+02] [ 1.58352056e-01 -9.31831368e-03 9.87338744e-01 1.12217975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:280.33, Y:188.88, Z:112.22 [[ 8.24771269e-01 5.49677807e-01 -1.32690102e-01 2.80332600e+02] [-5.42591860e-01 8.35376556e-01 8.79777452e-02 1.88881767e+02] [ 1.59205614e-01 -5.64947469e-04 9.87245285e-01 1.12218933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:188.87, Z:112.22 [[ 8.25526454e-01 5.47860662e-01 -1.35479770e-01 2.80359077e+02] [-5.41049056e-01 8.36566756e-01 8.61509284e-02 1.88870803e+02] [ 1.60536576e-01 2.18133126e-03 9.87027482e-01 1.12220941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.330385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:280.39, Y:188.86, Z:112.22 [[ 8.26768300e-01 5.45617901e-01 -1.36949936e-01 2.80387610e+02] [-5.39781363e-01 8.37997745e-01 7.99741197e-02 1.88856277e+02] [ 1.58399049e-01 7.80295622e-03 9.87344345e-01 1.12219075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:188.84, Z:112.22 [[ 8.27762856e-01 5.44824437e-01 -1.34070830e-01 2.80412799e+02] [-5.38329395e-01 8.38545762e-01 8.39194117e-02 1.88836523e+02] [ 1.58145873e-01 2.70889701e-03 9.87412044e-01 1.12224399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:188.81, Z:112.23 [[ 8.29889091e-01 5.42995800e-01 -1.28217230e-01 2.80436423e+02] [-5.35742004e-01 8.39721527e-01 8.85904131e-02 1.88813842e+02] [ 1.55770991e-01 -4.82886136e-03 9.87781393e-01 1.12232271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:188.80, Z:112.23 [[ 8.30358027e-01 5.39206633e-01 -1.40576505e-01 2.80469059e+02] [-5.34225496e-01 8.42067297e-01 7.43356319e-02 1.88803300e+02] [ 1.58457144e-01 1.33743647e-02 9.87275271e-01 1.12229742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:188.76, Z:112.26 [[ 8.28845318e-01 5.46022556e-01 -1.21962323e-01 2.80482296e+02] [-5.36260437e-01 8.37490338e-01 1.05046072e-01 1.88763687e+02] [ 1.59499791e-01 -2.16633764e-02 9.86960240e-01 1.12259522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.51, Y:188.75, Z:112.26 [[ 8.29146404e-01 5.43197115e-01 -1.32110314e-01 2.80514848e+02] [-5.36048514e-01 8.39602746e-01 8.78590911e-02 1.88752996e+02] [ 1.58644987e-01 -2.03051199e-03 9.87333604e-01 1.12257520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:188.73, Z:112.26 [[ 8.29171389e-01 5.43218617e-01 -1.31864863e-01 2.80542261e+02] [-5.36089951e-01 8.39588763e-01 8.77398074e-02 1.88734707e+02] [ 1.58374154e-01 -2.05991024e-03 9.87377022e-01 1.12262763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.59, Y:188.75, Z:112.23 [[ 8.35289366e-01 5.29837452e-01 -1.46846685e-01 2.80585303e+02] [-5.30132935e-01 8.46951641e-01 4.03978893e-02 1.88747776e+02] [ 1.45776356e-01 4.41043370e-02 9.88333983e-01 1.12230146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:188.68, Z:112.29 [[ 8.29439660e-01 5.49411816e-01 -1.00878673e-01 2.80578082e+02] [-5.36642043e-01 8.33871036e-01 1.29129443e-01 1.88683839e+02] [ 1.55065045e-01 -5.29693439e-02 9.86483188e-01 1.12291558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.64, Y:188.72, Z:112.24 [[ 8.33352404e-01 5.30859831e-01 -1.53985750e-01 2.80642639e+02] [-5.33009619e-01 8.45560936e-01 3.04540427e-02 1.88717318e+02] [ 1.46371163e-01 5.66969360e-02 9.87603635e-01 1.12235133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.63, Y:188.65, Z:112.30 [[ 8.27013687e-01 5.51364846e-01 -1.09750483e-01 2.80633326e+02] [-5.39169810e-01 8.33183197e-01 1.22888877e-01 1.88651036e+02] [ 1.59198865e-01 -4.24566365e-02 9.86333187e-01 1.12298540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.69, Y:188.67, Z:112.26 [[ 8.31535015e-01 5.35931253e-01 -1.46038390e-01 2.80688690e+02] [-5.35337453e-01 8.43345070e-01 4.67215733e-02 1.88671958e+02] [ 1.48200307e-01 3.93291955e-02 9.88175027e-01 1.12255066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:188.62, Z:112.31 [[ 8.26821002e-01 5.51807377e-01 -1.08975455e-01 2.80684872e+02] [-5.39575087e-01 8.32852561e-01 1.23350461e-01 1.88615991e+02] [ 1.58826181e-01 -4.31883113e-02 9.86361503e-01 1.12309235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:188.61, Z:112.30 [[ 8.26568456e-01 5.47011243e-01 -1.32526553e-01 2.80725804e+02] [-5.39852558e-01 8.37124133e-01 8.82179217e-02 1.88613059e+02] [ 1.59197371e-01 -1.37335269e-03 9.87245821e-01 1.12297366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:188.60, Z:112.30 [[ 8.27173392e-01 5.46231755e-01 -1.31966090e-01 2.80752665e+02] [-5.39119810e-01 8.37632676e-01 8.78710992e-02 1.88595385e+02] [ 1.58537094e-01 -1.53910173e-03 9.87351822e-01 1.12303327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.78, Y:188.58, Z:112.31 [[ 8.27450617e-01 5.45883614e-01 -1.31668360e-01 2.80779314e+02] [-5.38790318e-01 8.37859388e-01 8.77304901e-02 1.88578192e+02] [ 1.58210209e-01 -1.65101064e-03 9.87404073e-01 1.12308617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.81, Y:188.56, Z:112.31 [[ 8.28041529e-01 5.45138767e-01 -1.31037980e-01 2.80806926e+02] [-5.38096480e-01 8.38343837e-01 8.73601191e-02 1.88561502e+02] [ 1.57478270e-01 -1.82673102e-03 9.87520763e-01 1.12313967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:188.55, Z:112.32 [[ 8.27784716e-01 5.44622472e-01 -1.34754690e-01 2.80834547e+02] [-5.38138290e-01 8.38675563e-01 8.38479635e-02 1.88546725e+02] [ 1.58680951e-01 3.10859578e-03 9.87325019e-01 1.12316910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:188.53, Z:112.33 [[ 8.29037167e-01 5.44508516e-01 -1.27310061e-01 2.80857975e+02] [-5.36959517e-01 8.38728101e-01 9.06071159e-02 1.88525806e+02] [ 1.56114872e-01 -6.75631802e-03 9.87715799e-01 1.12325946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.90, Y:188.53, Z:112.30 [[ 8.32146745e-01 5.35379101e-01 -1.44571828e-01 2.80903330e+02] [-5.34662639e-01 8.43751982e-01 4.71004793e-02 1.88527638e+02] [ 1.47199378e-01 3.81026444e-02 9.88372668e-01 1.12298177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.930385723 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:280.92, Y:188.50, Z:112.31 [[ 8.32280158e-01 5.40197139e-01 -1.24486104e-01 2.80919725e+02] [-5.34897790e-01 8.41530406e-01 7.55706904e-02 1.88495938e+02] [ 1.45581913e-01 3.69135604e-03 9.89339315e-01 1.12314626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:280.94, Y:188.47, Z:112.33 [[ 8.32830172e-01 5.40764230e-01 -1.18186090e-01 2.80942742e+02] [-5.33293606e-01 8.41084706e-01 9.04126508e-02 1.88474568e+02] [ 1.48296440e-01 -1.22704972e-02 9.88866827e-01 1.12329156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:188.46, Z:112.33 [[ 8.31560132e-01 5.41381404e-01 -1.24152823e-01 2.80971435e+02] [-5.34781136e-01 8.40768727e-01 8.43628152e-02 1.88459675e+02] [ 1.50056270e-01 -3.75816611e-03 9.88670315e-01 1.12330596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.98, Y:188.43, Z:112.36 [[ 8.29913879e-01 5.46617674e-01 -1.11588854e-01 2.80983405e+02] [-5.35427439e-01 8.36588378e-01 1.15919553e-01 1.88432181e+02] [ 1.56717615e-01 -3.64555121e-02 9.86970407e-01 1.12360503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:188.44, Z:112.33 [[ 8.31950015e-01 5.36425278e-01 -1.41799483e-01 2.81034754e+02] [-5.33743076e-01 8.43544045e-01 5.95967524e-02 1.88439500e+02] [ 1.51583314e-01 2.61029733e-02 9.88099759e-01 1.12328209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.080385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:281.05, Y:188.41, Z:112.34 [[ 8.31502846e-01 5.40463669e-01 -1.28460268e-01 2.81053510e+02] [-5.34585487e-01 8.41363520e-01 7.95347991e-02 1.88411104e+02] [ 1.51067453e-01 2.53958333e-03 9.88520195e-01 1.12340967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.110385723 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:281.07, Y:188.39, Z:112.35 [[ 8.31589464e-01 5.41307414e-01 -1.24278908e-01 2.81074344e+02] [-5.34076139e-01 8.40793915e-01 8.84775198e-02 1.88392540e+02] [ 1.52386487e-01 -7.20257420e-03 9.88294734e-01 1.12349612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.140385723 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:281.10, Y:188.38, Z:112.35 [[ 8.32409411e-01 5.39769658e-01 -1.25472262e-01 2.81098838e+02] [-5.32605691e-01 8.41789011e-01 8.78774041e-02 1.88379843e+02] [ 1.53054728e-01 -6.32273755e-03 9.88197487e-01 1.12354330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.170385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.12, Y:188.36, Z:112.37 [[ 8.32909262e-01 5.39890318e-01 -1.21575519e-01 2.81122013e+02] [-5.31527624e-01 8.41597502e-01 9.58750704e-02 1.88362132e+02] [ 1.54079675e-01 -1.52344872e-02 9.87940972e-01 1.12366505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.200385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.15, Y:188.35, Z:112.36 [[ 8.33239969e-01 5.37578521e-01 -1.29307724e-01 2.81154719e+02] [-5.31471378e-01 8.43212554e-01 8.08131379e-02 1.88352213e+02] [ 1.52477303e-01 1.38661779e-03 9.88306000e-01 1.12363727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.18, Y:188.33, Z:112.38 [[ 8.31902766e-01 5.41310380e-01 -1.22150973e-01 2.81178014e+02] [-5.33271461e-01 8.40723520e-01 9.38376877e-02 1.88330409e+02] [ 1.53490510e-01 -1.29242041e-02 9.88065599e-01 1.12378803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:188.32, Z:112.38 [[ 8.31602299e-01 5.40793853e-01 -1.26410542e-01 2.81208289e+02] [-5.33728572e-01 8.41139617e-01 8.72809078e-02 1.88317637e+02] [ 1.53529894e-01 -5.11408525e-03 9.88130770e-01 1.12380818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.290385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.24, Y:188.30, Z:112.39 [[ 8.30471334e-01 5.42421816e-01 -1.26869761e-01 2.81238066e+02] [-5.35359461e-01 8.40093497e-01 8.73679781e-02 1.88302311e+02] [ 1.53972759e-01 -4.63567444e-03 9.88064219e-01 1.12387229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.320385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:281.26, Y:188.29, Z:112.40 [[ 8.30251714e-01 5.42916676e-01 -1.26188647e-01 2.81259842e+02] [-5.35262495e-01 8.39746686e-01 9.12116514e-02 1.88290791e+02] [ 1.55486825e-01 -8.18457994e-03 9.87804060e-01 1.12396283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.350385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.29, Y:188.27, Z:112.40 [[ 8.28557678e-01 5.44904785e-01 -1.28728202e-01 2.81290179e+02] [-5.37590334e-01 8.38485181e-01 8.91023787e-02 1.88271206e+02] [ 1.56489002e-01 -4.62342287e-03 9.87668880e-01 1.12400609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.32, Y:188.26, Z:112.40 [[ 8.29651744e-01 5.43041578e-01 -1.29552418e-01 2.81316888e+02] [-5.35776860e-01 8.39695720e-01 8.86242290e-02 1.88263270e+02] [ 1.56911252e-01 -4.11605863e-03 9.87604130e-01 1.12404464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.35, Y:188.25, Z:112.40 [[ 8.29494406e-01 5.41609184e-01 -1.36376398e-01 2.81347963e+02] [-5.35518672e-01 8.40611212e-01 8.11944764e-02 1.88248148e+02] [ 1.58615204e-01 5.68174374e-03 9.87324129e-01 1.12404995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.36, Y:188.23, Z:112.42 [[ 8.30685064e-01 5.43073438e-01 -1.22611440e-01 2.81364987e+02] [-5.34055540e-01 8.39498677e-01 1.00133175e-01 1.88230733e+02] [ 1.57311809e-01 -1.76978138e-02 9.87390390e-01 1.12420385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.470385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.40, Y:188.23, Z:112.42 [[ 8.31581824e-01 5.38340602e-01 -1.36605514e-01 2.81397855e+02] [-5.31756906e-01 8.42722696e-01 8.39824454e-02 1.88225650e+02] [ 1.60331727e-01 2.80265055e-03 9.87059209e-01 1.12417886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:281.42, Y:188.21, Z:112.43 [[ 8.32421030e-01 5.38954736e-01 -1.28852713e-01 2.81419492e+02] [-5.30973337e-01 8.42288140e-01 9.28332052e-02 1.88205707e+02] [ 1.58564008e-01 -8.85895722e-03 9.87308956e-01 1.12426557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:188.19, Z:112.42 [[ 8.33857127e-01 5.34203023e-01 -1.38958348e-01 2.81457302e+02] [-5.28920852e-01 8.45292107e-01 7.56570365e-02 1.88192282e+02] [ 1.57876612e-01 1.04108085e-02 9.87403965e-01 1.12420872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56038572299997 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:281.48, Y:188.17, Z:112.44 [[ 8.35718964e-01 5.33894760e-01 -1.28569822e-01 2.81475343e+02] [-5.25438637e-01 8.45462978e-01 9.54284581e-02 1.88173958e+02] [ 1.59649779e-01 -1.21958199e-02 9.87098379e-01 1.12435070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.50, Y:188.16, Z:112.44 [[ 8.36130085e-01 5.32062130e-01 -1.33403043e-01 2.81501155e+02] [-5.24811465e-01 8.46699145e-01 8.75984241e-02 1.88164509e+02] [ 1.59560047e-01 -3.23223134e-03 9.87182934e-01 1.12436768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62038572299997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:281.54, Y:188.15, Z:112.43 [[ 8.38193127e-01 5.27760653e-01 -1.37480818e-01 2.81537975e+02] [-5.23471328e-01 8.49271013e-01 6.86768936e-02 1.88154806e+02] [ 1.53003436e-01 1.44027664e-02 9.88120696e-01 1.12428838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:188.13, Z:112.45 [[ 8.37267023e-01 5.32296761e-01 -1.25076337e-01 2.81550795e+02] [-5.23153636e-01 8.46361800e-01 9.99098445e-02 1.88127804e+02] [ 1.59041521e-01 -1.82170774e-02 9.87103811e-01 1.12451420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.58, Y:188.12, Z:112.45 [[ 8.36547824e-01 5.32344215e-01 -1.29604692e-01 2.81576668e+02] [-5.24365417e-01 8.46477546e-01 9.22858274e-02 1.88120216e+02] [ 1.58835288e-01 -9.24128974e-03 9.87261845e-01 1.12453469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.60, Y:188.11, Z:112.46 [[ 8.35176760e-01 5.33752207e-01 -1.32621118e-01 2.81604286e+02] [-5.26385301e-01 8.45631104e-01 8.84678002e-02 1.88105034e+02] [ 1.59368426e-01 -4.07644364e-03 9.87210761e-01 1.12455426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.63, Y:188.09, Z:112.46 [[ 8.34551328e-01 5.34941707e-01 -1.31762861e-01 2.81634140e+02] [-5.27358017e-01 8.44870651e-01 8.99283312e-02 1.88089919e+02] [ 1.59428989e-01 -5.56360715e-03 9.87193722e-01 1.12460483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:188.07, Z:112.46 [[ 8.33882551e-01 5.35736828e-01 -1.32762732e-01 2.81662574e+02] [-5.28251053e-01 8.44373665e-01 8.93528883e-02 1.88073847e+02] [ 1.59970987e-01 -4.37776163e-03 9.87112009e-01 1.12464976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:188.06, Z:112.47 [[ 8.31873986e-01 5.37820811e-01 -1.36873834e-01 2.81691615e+02] [-5.30706886e-01 8.43059169e-01 8.71862279e-02 1.88061319e+02] [ 1.62283309e-01 1.11931491e-04 9.86744199e-01 1.12469321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:188.04, Z:112.48 [[ 8.30857295e-01 5.41290490e-01 -1.29154017e-01 2.81714957e+02] [-5.32731214e-01 8.40758092e-01 9.65571559e-02 1.88041097e+02] [ 1.60852756e-01 -1.14208410e-02 9.86912334e-01 1.12478473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:188.03, Z:112.48 [[ 8.29044500e-01 5.42953212e-01 -1.33742387e-01 2.81744556e+02] [-5.35077327e-01 8.39748429e-01 9.22758443e-02 1.88030153e+02] [ 1.62411426e-01 -4.93826224e-03 9.86710769e-01 1.12481688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.890385723 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:281.77, Y:188.02, Z:112.48 [[ 8.28821553e-01 5.42236032e-01 -1.37967094e-01 2.81770665e+02] [-5.35023516e-01 8.40225872e-01 8.81494338e-02 1.88020105e+02] [ 1.63721321e-01 7.55489064e-04 9.86506340e-01 1.12484901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.80, Y:188.00, Z:112.49 [[ 8.28427795e-01 5.43573336e-01 -1.35038577e-01 2.81795029e+02] [-5.35628599e-01 8.39349789e-01 9.27034791e-02 1.88002924e+02] [ 1.63735741e-01 -4.46761494e-03 9.86494119e-01 1.12490594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.950385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:281.82, Y:187.98, Z:112.50 [[ 8.28305666e-01 5.44293126e-01 -1.32871055e-01 2.81819957e+02] [-5.35480606e-01 8.38834546e-01 9.80669402e-02 1.87983588e+02] [ 1.64833993e-01 -1.00795291e-02 9.86269820e-01 1.12498008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:187.97, Z:112.50 [[ 8.28611153e-01 5.43313574e-01 -1.34958949e-01 2.81844218e+02] [-5.35358401e-01 8.39517239e-01 9.27479794e-02 1.87972062e+02] [ 1.63691601e-01 -4.60060296e-03 9.86500833e-01 1.12502427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:187.96, Z:112.51 [[ 8.27729427e-01 5.43845691e-01 -1.38187771e-01 2.81868084e+02] [-5.35643772e-01 8.39176018e-01 9.41772788e-02 1.87955425e+02] [ 1.67181771e-01 -3.93388621e-03 9.85918242e-01 1.12508845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:187.94, Z:112.51 [[ 8.28053972e-01 5.44391147e-01 -1.34033199e-01 2.81894112e+02] [-5.35911670e-01 8.38796359e-01 9.60174414e-02 1.87937853e+02] [ 1.64697604e-01 -7.67766827e-03 9.86314226e-01 1.12514578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.070385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.92, Y:187.93, Z:112.51 [[ 8.28732437e-01 5.41830578e-01 -1.40079168e-01 2.81920968e+02] [-5.35199910e-01 8.40473894e-01 8.46444927e-02 1.87929258e+02] [ 1.63595858e-01 4.82272144e-03 9.86515655e-01 1.12513814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.100385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.94, Y:187.91, Z:112.53 [[ 8.27817961e-01 5.45724121e-01 -1.30010029e-01 2.81937309e+02] [-5.36427917e-01 8.37846180e-01 1.01286078e-01 1.87905760e+02] [ 1.64202662e-01 -1.41054251e-02 9.86325769e-01 1.12526606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:187.89, Z:112.53 [[ 8.27301352e-01 5.45456263e-01 -1.34350056e-01 2.81966698e+02] [-5.37141990e-01 8.38114016e-01 9.50966781e-02 1.87890305e+02] [ 1.64471744e-01 -6.50855368e-03 9.86360322e-01 1.12530385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.160385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.99, Y:187.88, Z:112.53 [[ 8.26084632e-01 5.46485008e-01 -1.37616555e-01 2.81994876e+02] [-5.38973135e-01 8.37468780e-01 9.02995160e-02 1.87876083e+02] [ 1.64596900e-01 -4.23416496e-04 9.86360827e-01 1.12532904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:187.86, Z:112.54 [[ 8.25258302e-01 5.47730498e-01 -1.37622804e-01 2.82021230e+02] [-5.40309200e-01 8.36654804e-01 8.98593759e-02 1.87859455e+02] [ 1.64361501e-01 2.01671179e-04 9.86400150e-01 1.12536299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:187.85, Z:112.54 [[ 8.25085357e-01 5.47403097e-01 -1.39942854e-01 2.82049608e+02] [-5.41278806e-01 8.36830359e-01 8.20500168e-02 1.87846803e+02] [ 1.62022862e-01 8.04983316e-03 9.86754170e-01 1.12535100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.250385723 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:282.07, Y:187.83, Z:112.54 [[ 8.23611492e-01 5.48840662e-01 -1.42961669e-01 2.82072044e+02] [-5.42503543e-01 8.35881809e-01 8.36152328e-02 1.87831553e+02] [ 1.65390498e-01 8.69074506e-03 9.86189867e-01 1.12540360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.280385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:282.09, Y:187.81, Z:112.55 [[ 8.23782948e-01 5.50860305e-01 -1.33920046e-01 2.82090124e+02] [-5.42516590e-01 8.34574479e-01 9.57140963e-02 1.87809450e+02] [ 1.64491349e-01 -6.19379354e-03 9.86359079e-01 1.12549643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:187.79, Z:112.55 [[ 8.24025468e-01 5.50552865e-01 -1.33692076e-01 2.82111586e+02] [-5.42357617e-01 8.34781426e-01 9.48060476e-02 1.87794713e+02] [ 1.63799403e-01 -5.61368224e-03 9.86477695e-01 1.12553914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:187.78, Z:112.55 [[ 8.24594129e-01 5.46257282e-01 -1.47130906e-01 2.82144670e+02] [-5.40878792e-01 8.37478070e-01 7.79783023e-02 1.87784126e+02] [ 1.65815123e-01 1.52795365e-02 9.86038478e-01 1.12549951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:187.77, Z:112.55 [[ 8.26525530e-01 5.44691399e-01 -1.42009955e-01 2.82170508e+02] [-5.39208893e-01 8.38549545e-01 7.80283939e-02 1.87767556e+02] [ 1.61583778e-01 1.20805708e-02 9.86785054e-01 1.12550356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.400385723 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:282.19, Y:187.74, Z:112.57 [[ 8.25297831e-01 5.49371088e-01 -1.30670952e-01 2.82185285e+02] [-5.40178528e-01 8.35482450e-01 1.00877320e-01 1.87739371e+02] [ 1.64592370e-01 -1.26681909e-02 9.86280320e-01 1.12568153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:187.72, Z:112.57 [[ 8.25942004e-01 5.48440477e-01 -1.30509959e-01 2.82208034e+02] [-5.39428156e-01 8.36103817e-01 9.97380138e-02 1.87722991e+02] [ 1.63820239e-01 -1.19770683e-02 9.86417497e-01 1.12574242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.460385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.24, Y:187.71, Z:112.57 [[ 8.26662180e-01 5.45222736e-01 -1.39146714e-01 2.82240016e+02] [-5.38378853e-01 8.38283229e-01 8.61941935e-02 1.87710226e+02] [ 1.63639390e-01 3.66016820e-03 9.86513433e-01 1.12573093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:187.68, Z:112.59 [[ 8.26559772e-01 5.47883770e-01 -1.28927565e-01 2.82258011e+02] [-5.38338319e-01 8.36405989e-01 1.03038228e-01 1.87683393e+02] [ 1.64288761e-01 -1.57606055e-02 9.86286371e-01 1.12587386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:187.67, Z:112.59 [[ 8.26882765e-01 5.44752241e-01 -1.39677801e-01 2.82288082e+02] [-5.37310434e-01 8.38596613e-01 8.97397235e-02 1.87670141e+02] [ 1.66019246e-01 8.46108914e-04 9.86122150e-01 1.12587365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.31, Y:187.65, Z:112.59 [[ 8.27376106e-01 5.44450108e-01 -1.37923383e-01 2.82314544e+02] [-5.37378598e-01 8.38791431e-01 8.74824425e-02 1.87652824e+02] [ 1.63318777e-01 1.73619177e-03 9.86571823e-01 1.12589548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:187.63, Z:112.60 [[ 8.26847359e-01 5.45994591e-01 -1.34956851e-01 2.82338212e+02] [-5.37687117e-01 8.37766871e-01 9.50748869e-02 1.87631008e+02] [ 1.64972753e-01 -6.04785891e-03 9.86279582e-01 1.12599213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:187.61, Z:112.60 [[ 8.26774049e-01 5.45518658e-01 -1.37310109e-01 2.82367051e+02] [-5.37811844e-01 8.38096931e-01 9.13890334e-02 1.87614299e+02] [ 1.64933603e-01 -1.71107848e-03 9.86303188e-01 1.12602899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:187.59, Z:112.61 [[ 8.26540850e-01 5.46267933e-01 -1.35726077e-01 2.82392760e+02] [-5.38539999e-01 8.37606414e-01 9.15978419e-02 1.87594789e+02] [ 1.63721996e-01 -2.61543693e-03 9.86503050e-01 1.12608430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:187.58, Z:112.62 [[ 8.25978181e-01 5.47117072e-01 -1.35731184e-01 2.82417480e+02] [-5.39022313e-01 8.37044687e-01 9.38676624e-02 1.87575562e+02] [ 1.64969667e-01 -4.37050434e-03 9.86288958e-01 1.12615287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.44, Y:187.56, Z:112.62 [[ 8.26271327e-01 5.45710473e-01 -1.39555634e-01 2.82444257e+02] [-5.37966643e-01 8.37973567e-01 9.16089112e-02 1.87558049e+02] [ 1.66935874e-01 -6.17540752e-04 9.85967562e-01 1.12619874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.47, Y:187.54, Z:112.63 [[ 8.26717557e-01 5.46485923e-01 -1.33758052e-01 2.82467701e+02] [-5.37731691e-01 8.37420400e-01 9.78350830e-02 1.87536228e+02] [ 1.65477217e-01 -8.95603737e-03 9.86172946e-01 1.12627925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.50, Y:187.52, Z:112.63 [[ 8.27123684e-01 5.44585490e-01 -1.38899443e-01 2.82495913e+02] [-5.36724302e-01 8.38703571e-01 9.22135734e-02 1.87518793e+02] [ 1.66713633e-01 -1.72132400e-03 9.86003855e-01 1.12630568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.52, Y:187.50, Z:112.63 [[ 8.27893325e-01 5.43216704e-01 -1.39671954e-01 2.82522773e+02] [-5.35843595e-01 8.39591941e-01 8.92021012e-02 1.87502600e+02] [ 1.65723518e-01 9.92497651e-04 9.86171755e-01 1.12632574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:187.48, Z:112.64 [[ 8.27981560e-01 5.43502060e-01 -1.38029155e-01 2.82547449e+02] [-5.35470252e-01 8.39401681e-01 9.31473402e-02 1.87482350e+02] [ 1.66487676e-01 -3.21377350e-03 9.86038298e-01 1.12639696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.58, Y:187.47, Z:112.64 [[ 8.29324014e-01 5.40524661e-01 -1.41614870e-01 2.82575648e+02] [-5.34104160e-01 8.41302775e-01 8.33209900e-02 1.87470038e+02] [ 1.64178033e-01 6.53699312e-03 9.86409064e-01 1.12637454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.60, Y:187.45, Z:112.65 [[ 8.29461232e-01 5.41595708e-01 -1.36631454e-01 2.82597625e+02] [-5.33520571e-01 8.40627162e-01 9.32833004e-02 1.87446811e+02] [ 1.65377947e-01 -4.47918987e-03 9.86220093e-01 1.12647498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.910385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.63, Y:187.43, Z:112.65 [[ 8.29562231e-01 5.40174025e-01 -1.41557506e-01 2.82625988e+02] [-5.33546043e-01 8.41535999e-01 8.45327231e-02 1.87434021e+02] [ 1.64788119e-01 5.40229306e-03 9.86314195e-01 1.12646758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.940385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.65, Y:187.41, Z:112.66 [[ 8.29442864e-01 5.42026573e-01 -1.35024925e-01 2.82649293e+02] [-5.33714487e-01 8.40335775e-01 9.47873004e-02 1.87409991e+02] [ 1.64843510e-01 -6.55589141e-03 9.86297946e-01 1.12655257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.68, Y:187.39, Z:112.66 [[ 8.28856423e-01 5.42551016e-01 -1.36511628e-01 2.82677692e+02] [-5.35279850e-01 8.40022798e-01 8.85278500e-02 1.87394286e+02] [ 1.62703754e-01 -3.04953603e-04 9.86674919e-01 1.12658572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.70, Y:187.38, Z:112.66 [[ 8.28057228e-01 5.44212791e-01 -1.34735537e-01 2.82704300e+02] [-5.36817145e-01 8.38945446e-01 8.94309333e-02 1.87376535e+02] [ 1.61705223e-01 -1.72558449e-03 9.86837597e-01 1.12663798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.73, Y:187.36, Z:112.67 [[ 8.26376105e-01 5.46772486e-01 -1.34693661e-01 2.82729563e+02] [-5.38781709e-01 8.37269215e-01 9.32444760e-02 1.87356100e+02] [ 1.63758369e-01 -4.48452613e-03 9.86490287e-01 1.12672514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06038572299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.76, Y:187.34, Z:112.68 [[ 8.25497019e-01 5.47702816e-01 -1.36294890e-01 2.82757133e+02] [-5.40104918e-01 8.36671704e-01 9.09237983e-02 1.87338855e+02] [ 1.63833298e-01 -1.44378433e-03 9.86486982e-01 1.12676609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:187.32, Z:112.68 [[ 8.24327279e-01 5.49446460e-01 -1.36356610e-01 2.82785413e+02] [-5.42630562e-01 8.35524122e-01 8.63221523e-02 1.87322965e+02] [ 1.61358638e-01 2.83355920e-03 9.86891768e-01 1.12678403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:187.30, Z:112.68 [[ 8.23390587e-01 5.51397574e-01 -1.34121799e-01 2.82811217e+02] [-5.44037517e-01 8.34242035e-01 8.97964732e-02 1.87304209e+02] [ 1.61403601e-01 -9.70279966e-04 9.86888006e-01 1.12684862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.84, Y:187.29, Z:112.68 [[ 8.22011045e-01 5.52764755e-01 -1.36926869e-01 2.82840509e+02] [-5.46595012e-01 8.33308717e-01 8.26466897e-02 1.87291825e+02] [ 1.59786531e-01 6.90705164e-03 9.87127427e-01 1.12683720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.180385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.87, Y:187.27, Z:112.69 [[ 8.21065341e-01 5.54754585e-01 -1.34532732e-01 2.82866110e+02] [-5.48138884e-01 8.32006470e-01 8.54926794e-02 1.87273163e+02] [ 1.59359560e-01 3.54754588e-03 9.87214235e-01 1.12688732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.210385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:282.89, Y:187.25, Z:112.69 [[ 8.19678079e-01 5.56873813e-01 -1.34236368e-01 2.82892209e+02] [-5.50055912e-01 8.30593046e-01 8.69119392e-02 1.87254354e+02] [ 1.59894777e-01 2.59769661e-03 9.87130646e-01 1.12693458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.92, Y:187.24, Z:112.69 [[ 8.20801186e-01 5.54023844e-01 -1.39079093e-01 2.82923748e+02] [-5.49486464e-01 8.32332501e-01 7.27133736e-02 1.87243994e+02] [ 1.56044992e-01 1.67388558e-02 9.87608106e-01 1.12687824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.270385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:282.95, Y:187.22, Z:112.69 [[ 8.21269730e-01 5.54772935e-01 -1.33202929e-01 2.82947729e+02] [-5.49061112e-01 8.31966857e-01 7.97686939e-02 1.87223543e+02] [ 1.55073935e-01 7.62493484e-03 9.87873441e-01 1.12692663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.96, Y:187.18, Z:112.73 [[ 8.16299594e-01 5.65331266e-01 -1.18556037e-01 2.82958977e+02] [-5.53658194e-01 8.24280003e-01 1.18427531e-01 1.87182579e+02] [ 1.64674156e-01 -3.10328247e-02 9.85859719e-01 1.12727836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:283.00, Y:187.19, Z:112.70 [[ 8.20617858e-01 5.52528680e-01 -1.45939677e-01 2.83004240e+02] [-5.49564119e-01 8.33024147e-01 6.36400027e-02 1.87193328e+02] [ 1.56734202e-01 2.79790875e-02 9.87244428e-01 1.12699095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.02, Y:187.17, Z:112.71 [[ 8.20928054e-01 5.55620347e-01 -1.31769345e-01 2.83021819e+02] [-5.49037329e-01 8.31432902e-01 8.53073343e-02 1.87165054e+02] [ 1.56955860e-01 2.31510549e-03 9.87602905e-01 1.12711654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.05, Y:187.14, Z:112.72 [[ 8.20361539e-01 5.56781581e-01 -1.30388708e-01 2.83045816e+02] [-5.49397204e-01 8.30655061e-01 9.04150561e-02 1.87142895e+02] [ 1.58649478e-01 -2.53784293e-03 9.87331708e-01 1.12721134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.07, Y:187.12, Z:112.73 [[ 8.19370581e-01 5.58127924e-01 -1.30862798e-01 2.83069615e+02] [-5.49898018e-01 8.29729753e-01 9.57115848e-02 1.87119718e+02] [ 1.62000065e-01 -6.46206386e-03 9.86769589e-01 1.12731869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.09, Y:187.10, Z:112.74 [[ 8.16365964e-01 5.61105995e-01 -1.36772346e-01 2.83093563e+02] [-5.52404173e-01 8.27729423e-01 9.85577618e-02 1.87098540e+02] [ 1.68511846e-01 -4.90558773e-03 9.85687422e-01 1.12743611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.12, Y:187.08, Z:112.75 [[ 8.19033694e-01 5.58027146e-01 -1.33377328e-01 2.83118810e+02] [-5.49617294e-01 8.29801794e-01 9.66944297e-02 1.87080210e+02] [ 1.64634863e-01 -5.88950976e-03 9.86336999e-01 1.12745771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.510385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:283.15, Y:187.06, Z:112.75 [[ 8.17729246e-01 5.59150889e-01 -1.36635146e-01 2.83145197e+02] [-5.51616070e-01 8.29065721e-01 9.14862885e-02 1.87059800e+02] [ 1.64434156e-01 5.59128892e-04 9.86387903e-01 1.12749922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:187.04, Z:112.76 [[ 8.17011838e-01 5.60359089e-01 -1.35975544e-01 2.83169175e+02] [-5.52636495e-01 8.28249557e-01 9.27123234e-02 1.87040246e+02] [ 1.64573877e-01 -6.02017714e-04 9.86364576e-01 1.12758165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.20, Y:187.02, Z:112.76 [[ 8.16600406e-01 5.60968555e-01 -1.35934019e-01 2.83195728e+02] [-5.53421581e-01 8.27837040e-01 9.17081702e-02 1.87021054e+02] [ 1.63976615e-01 3.39890519e-04 9.86464168e-01 1.12763270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.22, Y:187.00, Z:112.77 [[ 8.15265731e-01 5.62921973e-01 -1.35869941e-01 2.83220929e+02] [-5.55400139e-01 8.26509758e-01 9.17186187e-02 1.87000983e+02] [ 1.63928258e-01 6.87137541e-04 9.86472024e-01 1.12768126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.25, Y:186.98, Z:112.77 [[ 8.14377388e-01 5.64165835e-01 -1.36038160e-01 2.83246882e+02] [-5.56633273e-01 8.25661017e-01 9.18873489e-02 1.86981829e+02] [ 1.64161109e-01 8.92387212e-04 9.86433137e-01 1.12772529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:186.96, Z:112.78 [[ 8.12647883e-01 5.66428436e-01 -1.36975347e-01 2.83271208e+02] [-5.58813430e-01 8.24109888e-01 9.25766918e-02 1.86960244e+02] [ 1.65320809e-01 1.31141096e-03 9.86238972e-01 1.12777694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.30, Y:186.94, Z:112.78 [[ 8.11976833e-01 5.67360523e-01 -1.37097263e-01 2.83296935e+02] [-5.59735674e-01 8.23468225e-01 9.27149263e-02 1.86939983e+02] [ 1.65498029e-01 1.45585642e-03 9.86209046e-01 1.12783105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.32, Y:186.92, Z:112.79 [[ 8.10970505e-01 5.68926460e-01 -1.36563260e-01 2.83321250e+02] [-5.61374108e-01 8.22386599e-01 9.24088410e-02 1.86919256e+02] [ 1.64881629e-01 1.72223373e-03 9.86311859e-01 1.12787993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.35, Y:186.90, Z:112.79 [[ 8.10496053e-01 5.69576158e-01 -1.36671685e-01 2.83346577e+02] [-5.62014859e-01 8.21936535e-01 9.25182718e-02 1.86900742e+02] [ 1.65031653e-01 1.82582392e-03 9.86286581e-01 1.12792644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.37, Y:186.88, Z:112.80 [[ 8.09717021e-01 5.70420715e-01 -1.37762675e-01 2.83371751e+02] [-5.62740612e-01 8.21350307e-01 9.33095787e-02 1.86879770e+02] [ 1.66377132e-01 1.97029820e-03 9.86060225e-01 1.12796664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.40, Y:186.86, Z:112.80 [[ 8.09467537e-01 5.70618408e-01 -1.38408597e-01 2.83397043e+02] [-5.62859014e-01 8.21212966e-01 9.38029563e-02 1.86859817e+02] [ 1.67188628e-01 1.97407820e-03 9.85922951e-01 1.12801845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.840385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:283.42, Y:186.84, Z:112.81 [[ 8.10344294e-01 5.69269396e-01 -1.38832561e-01 2.83420792e+02] [-5.61433125e-01 8.22149387e-01 9.41447421e-02 1.86837706e+02] [ 1.67734825e-01 1.65554390e-03 9.85830760e-01 1.12805550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.45, Y:186.82, Z:112.81 [[ 8.10862180e-01 5.68798800e-01 -1.37733261e-01 2.83446430e+02] [-5.61074244e-01 8.22475305e-01 9.34348145e-02 1.86817348e+02] [ 1.66427816e-01 1.51582811e-03 9.86052475e-01 1.12812621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.47, Y:186.80, Z:112.82 [[ 8.12376338e-01 5.66729267e-01 -1.37341270e-01 2.83470812e+02] [-5.59010067e-01 8.23903425e-01 9.32249493e-02 1.86795924e+02] [ 1.65989250e-01 1.04140981e-03 9.86127012e-01 1.12817895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.50, Y:186.78, Z:112.82 [[ 8.12774024e-01 5.66206493e-01 -1.37144422e-01 2.83496535e+02] [-5.58492655e-01 8.24262957e-01 9.31479071e-02 1.86776066e+02] [ 1.65784016e-01 8.85952838e-04 9.86161688e-01 1.12823222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.960385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.53, Y:186.77, Z:112.81 [[ 8.17053501e-01 5.58201406e-01 -1.44342536e-01 2.83526269e+02] [-5.53917487e-01 8.29439569e-01 7.21485936e-02 1.86771103e+02] [ 1.59996857e-01 2.10045939e-02 9.86894023e-01 1.12809478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.990385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:283.55, Y:186.74, Z:112.82 [[ 8.16735756e-01 5.61629158e-01 -1.32345738e-01 2.83545002e+02] [-5.54166977e-01 8.27388223e-01 9.12561791e-02 1.86740803e+02] [ 1.60753436e-01 -1.19054683e-03 9.86993878e-01 1.12824886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.56, Y:186.71, Z:112.84 [[ 8.14374479e-01 5.65882448e-01 -1.28729417e-01 2.83564027e+02] [-5.56017139e-01 8.24350169e-01 1.06262605e-01 1.86708976e+02] [ 1.66250260e-01 -1.49617909e-02 9.85970079e-01 1.12844108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.59, Y:186.69, Z:112.84 [[ 8.13835276e-01 5.64484268e-01 -1.37948016e-01 2.83594105e+02] [-5.56626703e-01 8.25443729e-01 9.38582057e-02 1.86693946e+02] [ 1.66849805e-01 4.00430730e-04 9.85982242e-01 1.12842260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:186.67, Z:112.85 [[ 8.13383003e-01 5.64975652e-01 -1.38602318e-01 2.83620244e+02] [-5.57040507e-01 8.25107450e-01 9.43587329e-02 1.86674677e+02] [ 1.67672191e-01 4.57315736e-04 9.85842699e-01 1.12847046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:186.66, Z:112.84 [[ 8.15893522e-01 5.60605703e-01 -1.41559202e-01 2.83650075e+02] [-5.54842905e-01 8.27990683e-01 8.11220053e-02 1.86664853e+02] [ 1.62687159e-01 1.23562001e-02 9.86600331e-01 1.12836938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:186.63, Z:112.86 [[ 8.12048688e-01 5.67841036e-01 -1.34660636e-01 2.83666104e+02] [-5.58176125e-01 8.23078310e-01 1.04792695e-01 1.86630691e+02] [ 1.70341841e-01 -9.93241823e-03 9.85334971e-01 1.12860932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:186.63, Z:112.84 [[ 8.14435719e-01 5.61479006e-01 -1.46409651e-01 2.83701254e+02] [-5.56305448e-01 8.27298783e-01 7.81087267e-02 1.86627218e+02] [ 1.64980936e-01 1.78339494e-02 9.86135508e-01 1.12844573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:283.71, Y:186.59, Z:112.87 [[ 8.12147103e-01 5.68068903e-01 -1.33096973e-01 2.83713513e+02] [-5.57508759e-01 8.22840673e-01 1.10078202e-01 1.86588987e+02] [ 1.72049607e-01 -1.51969643e-02 9.84971058e-01 1.12872399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.75, Y:186.59, Z:112.86 [[ 8.15364401e-01 5.60163531e-01 -1.46279572e-01 2.83748882e+02] [-5.54695638e-01 8.28224902e-01 7.97261597e-02 1.86587408e+02] [ 1.65812072e-01 1.61347683e-02 9.86025368e-01 1.12856217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:186.55, Z:112.88 [[ 8.12489766e-01 5.67402645e-01 -1.33845501e-01 2.83761794e+02] [-5.57036786e-01 8.23323441e-01 1.08850955e-01 1.86548778e+02] [ 1.71960458e-01 -1.38834195e-02 9.85006016e-01 1.12883703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.79, Y:186.53, Z:112.88 [[ 8.12550646e-01 5.65655056e-01 -1.40697568e-01 2.83789832e+02] [-5.57425020e-01 8.24641900e-01 9.61409652e-02 1.86533203e+02] [ 1.70407733e-01 3.08941489e-04 9.85373589e-01 1.12883927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.81, Y:186.51, Z:112.89 [[ 8.12802150e-01 5.65868709e-01 -1.38366428e-01 2.83814979e+02] [-5.57492073e-01 8.24493569e-01 9.70203281e-02 1.86513042e+02] [ 1.68982998e-01 -1.72014481e-03 9.85617465e-01 1.12889712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:186.49, Z:112.89 [[ 8.13031864e-01 5.65016400e-01 -1.40483648e-01 2.83840148e+02] [-5.57144660e-01 8.25077618e-01 9.40039964e-02 1.86494952e+02] [ 1.69023713e-01 1.84146969e-03 9.85610265e-01 1.12893690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.86, Y:186.47, Z:112.90 [[ 8.13085669e-01 5.65274015e-01 -1.39129377e-01 2.83864980e+02] [-5.57200831e-01 8.24903190e-01 9.51943277e-02 1.86474388e+02] [ 1.68579147e-01 1.21860921e-04 9.85688113e-01 1.12899897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.410385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:283.90, Y:186.47, Z:112.89 [[ 8.17172836e-01 5.57978105e-01 -1.44530241e-01 2.83897282e+02] [-5.53550609e-01 8.29606811e-01 7.30360334e-02 1.86469699e+02] [ 1.60655780e-01 2.03217405e-02 9.86801270e-01 1.12886020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:186.43, Z:112.92 [[ 8.12509620e-01 5.68679708e-01 -1.28185437e-01 2.83909181e+02] [-5.58146380e-01 8.22357674e-01 1.10455757e-01 1.86430178e+02] [ 1.68228225e-01 -1.82001277e-02 9.85580042e-01 1.12919463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:186.42, Z:112.91 [[ 8.10505755e-01 5.66949987e-01 -1.47133048e-01 2.83946703e+02] [-5.60271528e-01 8.23671986e-01 8.75229907e-02 1.86423307e+02] [ 1.70810528e-01 1.14965701e-02 9.85236820e-01 1.12910752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.500385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:283.97, Y:186.40, Z:112.92 [[ 8.10740174e-01 5.69921525e-01 -1.33752857e-01 2.83965494e+02] [-5.60241147e-01 8.21634885e-01 1.05099827e-01 1.86398516e+02] [ 1.69794667e-01 -1.02747982e-02 9.85425898e-01 1.12923232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.530385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:284.00, Y:186.38, Z:112.92 [[ 8.10600158e-01 5.68618459e-01 -1.40001544e-01 2.83996280e+02] [-5.60455683e-01 8.22601139e-01 9.60041335e-02 1.86383665e+02] [ 1.69755152e-01 6.43695304e-04 9.85486060e-01 1.12923799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:186.37, Z:112.93 [[ 8.09947004e-01 5.69700112e-01 -1.39383044e-01 2.84023433e+02] [-5.61621480e-01 8.21852217e-01 9.56046351e-02 1.86365659e+02] [ 1.69018235e-01 8.45823383e-04 9.85612561e-01 1.12930270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.590385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:284.06, Y:186.37, Z:112.91 [[ 8.13176382e-01 5.63532637e-01 -1.45516800e-01 2.84055244e+02] [-5.59026663e-01 8.25825902e-01 7.41671663e-02 1.86365193e+02] [ 1.61967161e-01 2.10367832e-02 9.86571889e-01 1.12914260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.08, Y:186.33, Z:112.94 [[ 8.10514172e-01 5.68777567e-01 -1.39852979e-01 2.84075050e+02] [-5.59701466e-01 8.22482565e-01 1.01275367e-01 1.86327716e+02] [ 1.72629794e-01 -3.80920251e-03 9.84979413e-01 1.12943015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.650385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:284.10, Y:186.31, Z:112.95 [[ 8.12205132e-01 5.68208272e-01 -1.32144557e-01 2.84096450e+02] [-5.58228405e-01 8.22782198e-01 1.06819952e-01 1.86308579e+02] [ 1.69422169e-01 -1.29928682e-02 9.85457921e-01 1.12951623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:186.30, Z:112.95 [[ 8.12581810e-01 5.65960511e-01 -1.39282098e-01 2.84127666e+02] [-5.57813763e-01 8.24432349e-01 9.56823310e-02 1.86295008e+02] [ 1.68981088e-01 -5.62507502e-05 9.85619292e-01 1.12952043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.16, Y:186.28, Z:112.96 [[ 8.13834159e-01 5.63932546e-01 -1.40192887e-01 2.84155368e+02] [-5.55638785e-01 8.25820687e-01 9.63625152e-02 1.86277178e+02] [ 1.70116145e-01 -5.26500861e-04 9.85423878e-01 1.12957587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.740385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:284.19, Y:186.28, Z:112.94 [[ 8.19131406e-01 5.54663880e-01 -1.46190697e-01 2.84188769e+02] [-5.49872733e-01 8.31861343e-01 7.51444185e-02 1.86276330e+02] [ 1.63290284e-01 1.88331247e-02 9.86398295e-01 1.12941538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.20, Y:186.24, Z:112.97 [[ 8.15384257e-01 5.63760117e-01 -1.31617034e-01 2.84201844e+02] [-5.52778885e-01 8.25723955e-01 1.12318541e-01 1.86237578e+02] [ 1.72000052e-01 -1.88276523e-02 9.84917003e-01 1.12974410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.800385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:284.23, Y:186.23, Z:112.97 [[ 8.15800678e-01 5.60367326e-01 -1.43030467e-01 2.84233960e+02] [-5.51648243e-01 8.28242959e-01 9.84774929e-02 1.86226718e+02] [ 1.73647547e-01 -1.43549958e-03 9.84806818e-01 1.12970754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:186.21, Z:112.98 [[ 8.16400725e-01 5.59588913e-01 -1.42653791e-01 2.84260845e+02] [-5.50894733e-01 8.28768696e-01 9.82722868e-02 1.86209550e+02] [ 1.73219078e-01 -1.64234431e-03 9.84881949e-01 1.12977728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:186.21, Z:112.96 [[ 8.21646042e-01 5.50258132e-01 -1.48706989e-01 2.84295473e+02] [-5.45681656e-01 8.34741546e-01 7.37433477e-02 1.86210998e+02] [ 1.64709779e-01 2.05557465e-02 9.86127857e-01 1.12960545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:186.19, Z:112.97 [[ 8.21567034e-01 5.52757073e-01 -1.39596662e-01 2.84317018e+02] [-5.45927468e-01 8.33327868e-01 8.67632684e-02 1.86189064e+02] [ 1.64288799e-01 4.92781112e-03 9.86399973e-01 1.12972187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.920385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:284.33, Y:186.15, Z:113.00 [[ 8.16055481e-01 5.63092148e-01 -1.30309955e-01 2.84333154e+02] [-5.51087506e-01 8.26025103e-01 1.18258574e-01 1.86150016e+02] [ 1.74229769e-01 -2.46933691e-02 9.84395360e-01 1.13004169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.37, Y:186.14, Z:113.00 [[ 8.15129376e-01 5.61324336e-01 -1.43105171e-01 2.84366983e+02] [-5.52509299e-01 8.27594133e-01 9.91031084e-02 1.86140843e+02] [ 1.74061986e-01 -1.71491731e-03 9.84733205e-01 1.13001172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:186.12, Z:113.01 [[ 8.14426646e-01 5.62427493e-01 -1.42774489e-01 2.84394875e+02] [-5.53660599e-01 8.26845209e-01 9.89289704e-02 1.86124100e+02] [ 1.73692775e-01 -1.52178042e-03 9.84798713e-01 1.13006696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.010385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:284.43, Y:186.12, Z:112.99 [[ 8.17569355e-01 5.55738555e-01 -1.50781326e-01 2.84431001e+02] [-5.50898178e-01 8.31095668e-01 7.60998578e-02 1.86124255e+02] [ 1.67605332e-01 2.08482461e-02 9.85633707e-01 1.12990098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.040385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:284.44, Y:186.08, Z:113.03 [[ 8.12769958e-01 5.67477554e-01 -1.31811307e-01 2.84441904e+02] [-5.55764012e-01 8.23105161e-01 1.16722994e-01 1.86083536e+02] [ 1.74732246e-01 -2.16129620e-02 9.84378749e-01 1.13025323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.070385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:284.48, Y:186.07, Z:113.02 [[ 8.11869515e-01 5.65863636e-01 -1.43757562e-01 2.84475035e+02] [-5.56990471e-01 8.24498274e-01 9.98208927e-02 1.86073855e+02] [ 1.75012875e-01 -9.69947558e-04 9.84565667e-01 1.13021249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.100385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:284.50, Y:186.06, Z:113.03 [[ 8.10462600e-01 5.67815734e-01 -1.43998838e-01 2.84502081e+02] [-5.58933151e-01 8.23155475e-01 1.00043972e-01 1.86056018e+02] [ 1.75339973e-01 -5.96173654e-04 9.84507765e-01 1.13026702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.53, Y:186.04, Z:113.03 [[ 8.09494611e-01 5.69404926e-01 -1.43166010e-01 2.84527896e+02] [-5.60640073e-01 8.22057140e-01 9.95226956e-02 1.86037288e+02] [ 1.74359354e-01 -2.98483366e-04 9.84682043e-01 1.13034040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:186.02, Z:113.04 [[ 8.08731140e-01 5.70453950e-01 -1.43304694e-01 2.84554092e+02] [-5.61678069e-01 8.21329579e-01 9.96768269e-02 1.86018764e+02] [ 1.74561423e-01 -1.20650239e-04 9.84646279e-01 1.13040206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.190385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:284.58, Y:186.00, Z:113.04 [[ 8.08759998e-01 5.70075509e-01 -1.44641557e-01 2.84580787e+02] [-5.61117137e-01 8.21592265e-01 1.00666325e-01 1.86000555e+02] [ 1.76223790e-01 -2.54040238e-04 9.84350096e-01 1.13044402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.220385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:284.61, Y:185.98, Z:113.05 [[ 8.08709379e-01 5.70125571e-01 -1.44727239e-01 2.84607481e+02] [-5.61146700e-01 8.21557513e-01 1.00785087e-01 1.85982442e+02] [ 1.76361906e-01 -2.92632514e-04 9.84325349e-01 1.13049925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.250385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:284.63, Y:185.97, Z:113.06 [[ 8.09681684e-01 5.68844090e-01 -1.44332850e-01 2.84633850e+02] [-5.59883908e-01 8.22445146e-01 1.00568341e-01 1.85965340e+02] [ 1.75913558e-01 -6.18703854e-04 9.84405423e-01 1.13055789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.280385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:284.66, Y:185.95, Z:113.06 [[ 8.11576323e-01 5.66092765e-01 -1.44509004e-01 2.84660213e+02] [-5.57060057e-01 8.24340595e-01 1.00730708e-01 1.85947001e+02] [ 1.76147563e-01 -1.25046322e-03 9.84362978e-01 1.13061232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31038572299997 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:284.69, Y:185.93, Z:113.06 [[ 8.13572271e-01 5.63111362e-01 -1.44933621e-01 2.84687464e+02] [-5.54680125e-01 8.26379832e-01 9.70892963e-02 1.85933005e+02] [ 1.74442308e-01 1.40263994e-03 9.84666397e-01 1.13063589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.340385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:284.71, Y:185.91, Z:113.08 [[ 8.13938806e-01 5.63736816e-01 -1.40372444e-01 2.84710308e+02] [-5.53931237e-01 8.25918762e-01 1.04968492e-01 1.85910870e+02] [ 1.75110838e-01 -7.68124755e-03 9.84518762e-01 1.13076436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:284.74, Y:185.90, Z:113.08 [[ 8.15615885e-01 5.60258502e-01 -1.44503077e-01 2.84739869e+02] [-5.52064190e-01 8.28315659e-01 9.54897889e-02 1.85895009e+02] [ 1.73193128e-01 1.89198550e-03 9.84886065e-01 1.13077659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:284.76, Y:185.88, Z:113.08 [[ 8.16415371e-01 5.59856858e-01 -1.41514098e-01 2.84764332e+02] [-5.51062939e-01 8.28584804e-01 9.88780042e-02 1.85876268e+02] [ 1.72613960e-01 -2.74234781e-03 9.84985736e-01 1.13084444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.430385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:284.79, Y:185.85, Z:113.10 [[ 8.15523988e-01 5.62230960e-01 -1.37174972e-01 2.84786441e+02] [-5.50920156e-01 8.26805973e-01 1.13485087e-01 1.85851548e+02] [ 1.77221915e-01 -1.69773534e-02 9.84024472e-01 1.13102021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.82, Y:185.85, Z:113.09 [[ 8.17032852e-01 5.56792829e-01 -1.49796740e-01 2.84820905e+02] [-5.49858662e-01 8.30587512e-01 8.82033891e-02 1.85845822e+02] [ 1.73530316e-01 1.03019682e-02 9.84774644e-01 1.13090221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.490385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:284.84, Y:185.82, Z:113.11 [[ 8.15322751e-01 5.61925299e-01 -1.39602184e-01 2.84840555e+02] [-5.51410122e-01 8.27104412e-01 1.08835516e-01 1.85816898e+02] [ 1.76623012e-01 -1.17580144e-02 9.84208342e-01 1.13109485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:185.80, Z:113.12 [[ 8.13328871e-01 5.64047772e-01 -1.42640311e-01 2.84868040e+02] [-5.53727736e-01 8.25696814e-01 1.07751406e-01 1.85800293e+02] [ 1.78554591e-01 -8.65343342e-03 9.83891954e-01 1.13115940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.90, Y:185.79, Z:113.12 [[ 8.12038538e-01 5.64754568e-01 -1.47124747e-01 2.84897342e+02] [-5.55568864e-01 8.25258667e-01 1.01446388e-01 1.85785527e+02] [ 1.78708283e-01 -6.40447613e-04 9.83901895e-01 1.13117674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.93, Y:185.78, Z:113.11 [[ 8.11148982e-01 5.65277842e-01 -1.49994304e-01 2.84927188e+02] [-5.57839959e-01 8.24849677e-01 9.18563577e-02 1.85776224e+02] [ 1.75647117e-01 9.16362528e-03 9.84410544e-01 1.13113275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:185.74, Z:113.14 [[ 8.07634173e-01 5.72876910e-01 -1.39782288e-01 2.84946201e+02] [-5.61262171e-01 8.19503574e-01 1.15752618e-01 1.85744416e+02] [ 1.80864087e-01 -1.50312601e-02 9.83393229e-01 1.13136846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.640385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.98, Y:185.74, Z:113.12 [[ 8.07191530e-01 5.70407080e-01 -1.51913125e-01 2.84980588e+02] [-5.63279374e-01 8.21269587e-01 9.07337497e-02 1.85742116e+02] [ 1.76516802e-01 1.23300154e-02 9.84220397e-01 1.13124462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.670385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:285.00, Y:185.72, Z:113.13 [[ 8.06032672e-01 5.73973227e-01 -1.44450915e-01 2.85002910e+02] [-5.64974079e-01 8.18874065e-01 1.01240088e-01 1.85720593e+02] [ 1.76396208e-01 8.20388335e-06 9.84319246e-01 1.13134761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.700385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:285.03, Y:185.70, Z:113.14 [[ 8.05225211e-01 5.75143459e-01 -1.44299555e-01 2.85030846e+02] [-5.66172353e-01 8.18052537e-01 1.01187513e-01 1.85702694e+02] [ 1.76241953e-01 2.19681879e-04 9.84346852e-01 1.13138998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.730385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.06, Y:185.68, Z:113.15 [[ 8.03709165e-01 5.77369098e-01 -1.43862793e-01 2.85056963e+02] [-5.68477263e-01 8.16483003e-01 1.00941108e-01 1.85684907e+02] [ 1.75741801e-01 6.55433442e-04 9.84436077e-01 1.13145340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.760385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:285.07, Y:185.65, Z:113.18 [[ 8.01357374e-01 5.83656585e-01 -1.31039498e-01 2.85071178e+02] [-5.68704773e-01 8.11281272e-01 1.35637680e-01 1.85649412e+02] [ 1.85475715e-01 -3.41714672e-02 9.82054515e-01 1.13178012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.790385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:285.11, Y:185.64, Z:113.17 [[ 8.01475134e-01 5.78741276e-01 -1.50652395e-01 2.85109551e+02] [-5.69579004e-01 8.15503486e-01 1.02634409e-01 1.85642152e+02] [ 1.82256323e-01 3.54951450e-03 9.83244646e-01 1.13169367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.820385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:285.14, Y:185.64, Z:113.16 [[ 8.03830201e-01 5.73278526e-01 -1.58772605e-01 2.85142299e+02] [-5.68365308e-01 8.18934944e-01 7.94130612e-02 1.85636747e+02] [ 1.75550237e-01 2.64062235e-02 9.84116266e-01 1.13156049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.850385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:285.16, Y:185.60, Z:113.18 [[ 8.04736731e-01 5.76909338e-01 -1.39908580e-01 2.85156701e+02] [-5.66534490e-01 8.16762238e-01 1.09261694e-01 1.85604564e+02] [ 1.77306136e-01 -8.66386284e-03 9.84117611e-01 1.13177835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.880385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:285.19, Y:185.59, Z:113.17 [[ 8.04802864e-01 5.74937701e-01 -1.47441479e-01 2.85186627e+02] [-5.67168638e-01 8.18162172e-01 9.45007769e-02 1.85593486e+02] [ 1.74963100e-01 7.56968698e-03 9.84545892e-01 1.13174479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.910385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:285.21, Y:185.57, Z:113.18 [[ 8.05400322e-01 5.73741043e-01 -1.48833925e-01 2.85213988e+02] [-5.65763751e-01 8.19005135e-01 9.56136398e-02 1.85574420e+02] [ 1.76753218e-01 7.19758317e-03 9.84228883e-01 1.13179691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.940385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:285.23, Y:185.55, Z:113.19 [[ 8.04631918e-01 5.77478986e-01 -1.38150269e-01 2.85232572e+02] [-5.67347131e-01 8.16360754e-01 1.08038662e-01 1.85551596e+02] [ 1.75170515e-01 -8.55219754e-03 9.84500965e-01 1.13189784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.970385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:285.26, Y:185.53, Z:113.19 [[ 8.04074778e-01 5.77074908e-01 -1.42997556e-01 2.85261803e+02] [-5.67901533e-01 8.16690335e-01 1.02492666e-01 1.85533208e+02] [ 1.75930668e-01 -1.20323648e-03 9.84401825e-01 1.13192075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:185.52, Z:113.20 [[ 8.04529196e-01 5.76054311e-01 -1.44548274e-01 2.85287018e+02] [-5.67099183e-01 8.17411221e-01 1.01180096e-01 1.85517876e+02] [ 1.76440611e-01 5.70866963e-04 9.84311122e-01 1.13195119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.030385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:285.31, Y:185.50, Z:113.20 [[ 8.04728778e-01 5.75811333e-01 -1.44405340e-01 2.85313036e+02] [-5.66730859e-01 8.17582591e-01 1.01856961e-01 1.85498651e+02] [ 1.76713685e-01 -1.28265116e-04 9.84262291e-01 1.13200090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.34, Y:185.48, Z:113.21 [[ 8.05222132e-01 5.75295875e-01 -1.43707945e-01 2.85338060e+02] [-5.66284770e-01 8.17945336e-01 1.01424788e-01 1.85478596e+02] [ 1.75894505e-01 -2.89863052e-04 9.84408980e-01 1.13205654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.090385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:285.36, Y:185.46, Z:113.21 [[ 8.05721066e-01 5.74856403e-01 -1.42666321e-01 2.85364180e+02] [-5.65959180e-01 8.18254196e-01 1.00748585e-01 1.85459518e+02] [ 1.74653285e-01 -4.31943397e-04 9.84629902e-01 1.13210818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.39, Y:185.44, Z:113.22 [[ 8.06379875e-01 5.74615132e-01 -1.39889055e-01 2.85389349e+02] [-5.65720071e-01 8.18421082e-01 1.00735960e-01 1.85437744e+02] [ 1.72372559e-01 -2.09340436e-03 9.85029603e-01 1.13215883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.150385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:285.42, Y:185.43, Z:113.21 [[ 8.08870673e-01 5.69646225e-01 -1.45710030e-01 2.85421999e+02] [-5.64124177e-01 8.21718807e-01 8.08833372e-02 1.85430166e+02] [ 1.65807560e-01 1.67743914e-02 9.86015453e-01 1.13205433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.180385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:285.45, Y:185.42, Z:113.20 [[ 8.12557317e-01 5.64327667e-01 -1.45893423e-01 2.85448571e+02] [-5.60242106e-01 8.25217657e-01 7.17258704e-02 1.85422577e+02] [ 1.60870722e-01 2.34542581e-02 9.86696766e-01 1.13198571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.210385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:285.45, Y:185.37, Z:113.24 [[ 8.08524481e-01 5.76864660e-01 -1.16255442e-01 2.85451775e+02] [-5.63371128e-01 8.15867593e-01 1.30280635e-01 1.85372810e+02] [ 1.70003342e-01 -3.98401234e-02 9.84637816e-01 1.13243417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.240385723 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:285.51, Y:185.39, Z:113.20 [[ 8.13280144e-01 5.58703506e-01 -1.62560144e-01 2.85507008e+02] [-5.57763668e-01 8.28126815e-01 5.57285332e-02 1.85394821e+02] [ 1.65756141e-01 4.53472328e-02 9.85123612e-01 1.13199292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.270385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:285.50, Y:185.33, Z:113.26 [[ 8.07181421e-01 5.78875101e-01 -1.15593131e-01 2.85499464e+02] [-5.63863369e-01 8.14049210e-01 1.39219199e-01 1.85331765e+02] [ 1.74689025e-01 -4.71964191e-02 9.83491862e-01 1.13261383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.300385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:285.54, Y:185.33, Z:113.25 [[ 8.07217253e-01 5.72923248e-01 -1.41983305e-01 2.85540004e+02] [-5.63945130e-01 8.19607668e-01 1.01040395e-01 1.85329064e+02] [ 1.74258997e-01 -1.49075638e-03 9.84698725e-01 1.13247047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.330385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:285.57, Y:185.31, Z:113.25 [[ 8.06816152e-01 5.73530077e-01 -1.41813070e-01 2.85566706e+02] [-5.64576304e-01 8.19183325e-01 1.00956805e-01 1.85310946e+02] [ 1.74072667e-01 -1.38928230e-03 9.84731830e-01 1.13251719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.360385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:285.59, Y:185.29, Z:113.26 [[ 8.06588921e-01 5.74089712e-01 -1.40837904e-01 2.85593672e+02] [-5.65257912e-01 8.18791361e-01 1.00320489e-01 1.85292653e+02] [ 1.72909819e-01 -1.30765575e-03 9.84936792e-01 1.13256261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.390385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:285.64, Y:185.30, Z:113.23 [[ 8.12505038e-01 5.62029577e-01 -1.54784747e-01 2.85636390e+02] [-5.60663816e-01 8.26109156e-01 5.65663229e-02 1.85299597e+02] [ 1.59661043e-01 4.08217845e-02 9.86327498e-01 1.13226720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.420385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:285.65, Y:185.27, Z:113.25 [[ 8.11965369e-01 5.68345642e-01 -1.33024324e-01 2.85650148e+02] [-5.61378956e-01 8.22785761e-01 8.87539249e-02 1.85265792e+02] [ 1.59893426e-01 2.61194262e-03 9.87130827e-01 1.13246985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.450385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:285.66, Y:185.22, Z:113.29 [[ 8.05921670e-01 5.80662284e-01 -1.15419122e-01 2.85657721e+02] [-5.66671581e-01 8.13048865e-01 1.33547228e-01 1.85222554e+02] [ 1.71387225e-01 -4.22238688e-02 9.84298514e-01 1.13289338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.480385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:285.71, Y:185.24, Z:113.25 [[ 8.10371591e-01 5.64811541e-01 -1.55839042e-01 2.85712401e+02] [-5.62333906e-01 8.24439805e-01 6.38716372e-02 1.85241098e+02] [ 1.64555347e-01 3.58738169e-02 9.85715277e-01 1.13246943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.510385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:285.71, Y:185.19, Z:113.30 [[ 8.06071871e-01 5.80033018e-01 -1.17515262e-01 2.85711192e+02] [-5.66869272e-01 8.13762797e-01 1.28254973e-01 1.85188095e+02] [ 1.70021667e-01 -3.67669355e-02 9.84754195e-01 1.13297489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.540385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:285.76, Y:185.20, Z:113.26 [[ 8.12496217e-01 5.64947410e-01 -1.43820448e-01 2.85758125e+02] [-5.60667083e-01 8.24844756e-01 7.26880318e-02 1.85200911e+02] [ 1.59694458e-01 2.15766403e-02 9.86930661e-01 1.13263840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.570385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:285.78, Y:185.17, Z:113.29 [[ 8.09298143e-01 5.71553051e-01 -1.35512456e-01 2.85775373e+02] [-5.63611794e-01 8.20564985e-01 9.49465712e-02 1.85166197e+02] [ 1.65463779e-01 -4.63665223e-04 9.86215759e-01 1.13286092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:285.79, Y:185.14, Z:113.31 [[ 8.08843231e-01 5.74799555e-01 -1.24008465e-01 2.85792145e+02] [-5.63833310e-01 8.17992116e-01 1.13933738e-01 1.85139041e+02] [ 1.66927008e-01 -2.22344291e-02 9.85718522e-01 1.13306349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.630385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:285.83, Y:185.14, Z:113.29 [[ 8.12713399e-01 5.65238332e-01 -1.41430407e-01 2.85830461e+02] [-5.59202205e-01 8.24847691e-01 8.31816058e-02 1.85140778e+02] [ 1.63675977e-01 1.14853901e-02 9.86447292e-01 1.13286577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.86, Y:185.12, Z:113.30 [[ 8.09970486e-01 5.68675980e-01 -1.43371689e-01 2.85856192e+02] [-5.62440052e-01 8.22475117e-01 8.48284705e-02 1.85116054e+02] [ 1.66159560e-01 1.19294227e-02 9.86026718e-01 1.13295079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.690385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:285.87, Y:185.09, Z:113.31 [[ 8.12113610e-01 5.70274385e-01 -1.23525749e-01 2.85871754e+02] [-5.59935130e-01 8.21207537e-01 1.09958316e-01 1.85089428e+02] [ 1.64146687e-01 -2.01322391e-02 9.86230479e-01 1.13312170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.720385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:285.90, Y:185.07, Z:113.32 [[ 8.11215952e-01 5.69792475e-01 -1.31397162e-01 2.85900589e+02] [-5.60762273e-01 8.21743852e-01 1.01403726e-01 1.85072617e+02] [ 1.65753890e-01 -8.57774861e-03 9.86129844e-01 1.13318511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.750385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:285.93, Y:185.06, Z:113.31 [[ 8.14220823e-01 5.65279819e-01 -1.32299573e-01 2.85929502e+02] [-5.57428778e-01 8.24894711e-01 9.39248239e-02 1.85060950e+02] [ 1.62227025e-01 -2.72795815e-03 9.86749690e-01 1.13314548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:185.04, Z:113.33 [[ 8.12551572e-01 5.67237988e-01 -1.34167833e-01 2.85955112e+02] [-5.59091684e-01 8.23548973e-01 9.58309835e-02 1.85038971e+02] [ 1.64852755e-01 -2.85549656e-03 9.86314055e-01 1.13325715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81038572299997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:285.98, Y:185.02, Z:113.33 [[ 8.13468461e-01 5.66090065e-01 -1.33458237e-01 2.85982206e+02] [-5.57888218e-01 8.24335059e-01 9.60856168e-02 1.85021127e+02] [ 1.64407417e-01 -3.70784083e-03 9.86385550e-01 1.13330543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.840385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:286.01, Y:185.00, Z:113.34 [[ 8.13693295e-01 5.65839745e-01 -1.33148807e-01 2.86009005e+02] [-5.57663632e-01 8.24506504e-01 9.59181829e-02 1.85003390e+02] [ 1.64056378e-01 -3.79573488e-03 9.86443662e-01 1.13335095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:286.04, Y:184.99, Z:113.34 [[ 8.13565817e-01 5.65893822e-01 -1.33696834e-01 2.86035349e+02] [-5.57641070e-01 8.24469148e-01 9.63694050e-02 1.84986135e+02] [ 1.64763765e-01 -3.84800849e-03 9.86325552e-01 1.13340131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.900385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:286.06, Y:184.97, Z:113.34 [[ 8.13213697e-01 5.66464373e-01 -1.33422625e-01 2.86062973e+02] [-5.58244555e-01 8.24077613e-01 9.62242411e-02 1.84970008e+02] [ 1.64458202e-01 -3.76841723e-03 9.86376854e-01 1.13343566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.930385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:286.09, Y:184.96, Z:113.35 [[ 8.14189428e-01 5.65604475e-01 -1.31099779e-01 2.86085289e+02] [-5.56047807e-01 8.24589936e-01 1.04222236e-01 1.84956013e+02] [ 1.67052122e-01 -1.19588984e-02 9.85875536e-01 1.13349153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.13, Y:184.95, Z:113.33 [[ 8.13030988e-01 5.62269868e-01 -1.51106611e-01 2.86129610e+02] [-5.59093058e-01 8.26404893e-01 6.68573554e-02 1.84949933e+02] [ 1.62467119e-01 3.01255554e-02 9.86253966e-01 1.13334053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.14, Y:184.92, Z:113.35 [[ 8.12786238e-01 5.67459710e-01 -1.31787740e-01 2.86144529e+02] [-5.59665890e-01 8.23397524e-01 9.37582460e-02 1.84920388e+02] [ 1.61717726e-01 -2.44830934e-03 9.86834020e-01 1.13351385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.16, Y:184.90, Z:113.37 [[ 8.12663513e-01 5.71071186e-01 -1.15998771e-01 2.86161648e+02] [-5.60323392e-01 8.20445522e-01 1.13608281e-01 1.84895493e+02] [ 1.60049089e-01 -2.73284799e-02 9.86730684e-01 1.13370518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:184.90, Z:113.35 [[ 8.11838829e-01 5.64979868e-01 -1.47361677e-01 2.86207189e+02] [-5.60899791e-01 8.24749052e-01 7.19751654e-02 1.84895936e+02] [ 1.62200923e-01 2.42228998e-02 9.86460395e-01 1.13351351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:184.86, Z:113.38 [[ 8.11372947e-01 5.73381339e-01 -1.13612420e-01 2.86212914e+02] [-5.62284886e-01 8.18720583e-01 1.16328472e-01 1.84860115e+02] [ 1.59717401e-01 -3.05032285e-02 9.86691393e-01 1.13381660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.25, Y:184.85, Z:113.38 [[ 8.10185101e-01 5.71767671e-01 -1.29158170e-01 2.86249293e+02] [-5.64098339e-01 8.20410826e-01 9.33763431e-02 1.84853995e+02] [ 1.59352335e-01 -2.79421261e-03 9.87217821e-01 1.13375877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.28, Y:184.84, Z:113.38 [[ 8.09408953e-01 5.72967220e-01 -1.28707857e-01 2.86276234e+02] [-5.65361390e-01 8.19574236e-01 9.30836750e-02 1.84836337e+02] [ 1.58819538e-01 -2.57630708e-03 9.87304268e-01 1.13380950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:184.82, Z:113.39 [[ 8.08346303e-01 5.74554386e-01 -1.28310220e-01 2.86304859e+02] [-5.67006972e-01 8.18463168e-01 9.28500758e-02 1.84820083e+02] [ 1.58364608e-01 -2.30222609e-03 9.87378018e-01 1.13385060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.33, Y:184.80, Z:113.39 [[ 8.07899218e-01 5.75236471e-01 -1.28069729e-01 2.86331032e+02] [-5.67717200e-01 8.17984180e-01 9.27311280e-02 1.84803137e+02] [ 1.58101339e-01 -2.21001798e-03 9.87420418e-01 1.13389899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.36, Y:184.79, Z:113.40 [[ 8.07565883e-01 5.75731936e-01 -1.27945625e-01 2.86357830e+02] [-5.68225364e-01 8.17635678e-01 9.26921429e-02 1.84785234e+02] [ 1.57978735e-01 -2.15306305e-03 9.87440167e-01 1.13395091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.39, Y:184.77, Z:113.40 [[ 8.08904896e-01 5.73892247e-01 -1.27751942e-01 2.86385349e+02] [-5.66589702e-01 8.18929542e-01 9.12716524e-02 1.84770833e+02] [ 1.56999933e-01 -1.44715139e-03 9.87597553e-01 1.13397231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.41, Y:184.76, Z:113.40 [[ 8.09964332e-01 5.72110362e-01 -1.29025250e-01 2.86413397e+02] [-5.65732177e-01 8.20167282e-01 8.52803242e-02 1.84756781e+02] [ 1.54612046e-01 3.91971498e-03 9.87967485e-01 1.13397599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.44, Y:184.74, Z:113.40 [[ 8.10827538e-01 5.71552668e-01 -1.26040676e-01 2.86439414e+02] [-5.64855031e-01 8.20565257e-01 8.72436447e-02 1.84740020e+02] [ 1.53288937e-01 4.55160082e-04 9.88181307e-01 1.13401740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:184.71, Z:113.42 [[ 8.07932588e-01 5.76510442e-01 -1.21986246e-01 2.86462019e+02] [-5.68162440e-01 8.17027482e-01 9.82727564e-02 1.84712342e+02] [ 1.56321386e-01 -1.00897593e-02 9.87654708e-01 1.13418681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:184.70, Z:113.42 [[ 8.08115750e-01 5.75278699e-01 -1.26504363e-01 2.86491982e+02] [-5.67908679e-01 8.17954068e-01 9.18197963e-02 1.84697266e+02] [ 1.56296732e-01 -2.35809779e-03 9.87707331e-01 1.13420558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.52, Y:184.69, Z:113.42 [[ 8.10215935e-01 5.71644988e-01 -1.29507322e-01 2.86521098e+02] [-5.65345911e-01 8.20488455e-01 8.47507848e-02 1.84686904e+02] [ 1.54706624e-01 4.54999850e-03 9.87949978e-01 1.13416744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.55, Y:184.66, Z:113.42 [[ 8.09870694e-01 5.72921000e-01 -1.25980107e-01 2.86545042e+02] [-5.65716484e-01 8.19607898e-01 9.05966501e-02 1.84664987e+02] [ 1.55159014e-01 -2.10254861e-03 9.87887271e-01 1.13424918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.57, Y:184.65, Z:113.43 [[ 8.09983698e-01 5.72752032e-01 -1.26021900e-01 2.86570795e+02] [-5.65684907e-01 8.19727532e-01 8.97070754e-02 1.84646680e+02] [ 1.54683531e-01 -1.37258160e-03 9.87963117e-01 1.13429581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.500385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.60, Y:184.63, Z:113.43 [[ 8.10902426e-01 5.71287530e-01 -1.26758884e-01 2.86598355e+02] [-5.64350621e-01 8.20749881e-01 8.87581543e-02 1.84629533e+02] [ 1.54743766e-01 -4.37747705e-04 9.87954541e-01 1.13432535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.530385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.62, Y:184.61, Z:113.45 [[ 8.09435031e-01 5.74193641e-01 -1.22949556e-01 2.86620106e+02] [-5.65405468e-01 8.18630471e-01 1.00800839e-01 1.84605060e+02] [ 1.58529453e-01 -1.20753789e-02 9.87280405e-01 1.13445260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:184.59, Z:113.45 [[ 8.09395725e-01 5.72626011e-01 -1.30299702e-01 2.86650487e+02] [-5.65179499e-01 8.19816264e-01 9.20512190e-02 1.84590041e+02] [ 1.59532737e-01 -8.63142782e-04 9.87192261e-01 1.13447608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.590385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.67, Y:184.57, Z:113.46 [[ 8.08170388e-01 5.74618620e-01 -1.29128098e-01 2.86673795e+02] [-5.66836554e-01 8.18415762e-01 9.42971982e-02 1.84569015e+02] [ 1.59865396e-01 -3.01367731e-03 9.87134222e-01 1.13456206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.62038572299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:286.70, Y:184.55, Z:113.46 [[ 8.08058428e-01 5.74853362e-01 -1.28783495e-01 2.86700039e+02] [-5.67107199e-01 8.18250931e-01 9.41001530e-02 1.84551161e+02] [ 1.59471004e-01 -3.00437457e-03 9.87198041e-01 1.13461760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:184.53, Z:113.47 [[ 8.08091312e-01 5.74468471e-01 -1.30285869e-01 2.86726819e+02] [-5.66528988e-01 8.18520672e-01 9.52303252e-02 1.84533190e+02] [ 1.61348496e-01 -3.14407687e-03 9.86892485e-01 1.13468489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:184.51, Z:113.47 [[ 8.07736055e-01 5.74994238e-01 -1.30169473e-01 2.86753107e+02] [-5.67066878e-01 8.18151655e-01 9.51999231e-02 1.84514434e+02] [ 1.61237777e-01 -3.08161381e-03 9.86910778e-01 1.13473609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.78, Y:184.50, Z:113.48 [[ 8.06360812e-01 5.76546562e-01 -1.31819201e-01 2.86779108e+02] [-5.68426880e-01 8.17059311e-01 9.64622453e-02 1.84495349e+02] [ 1.63319082e-01 -2.85379715e-03 9.86569173e-01 1.13479698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:184.48, Z:113.48 [[ 8.05624502e-01 5.77491493e-01 -1.32184481e-01 2.86805555e+02] [-5.69329355e-01 8.16392177e-01 9.67879039e-02 1.84476605e+02] [ 1.63808568e-01 -2.71820143e-03 9.86488401e-01 1.13484040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:184.46, Z:113.49 [[ 8.04750724e-01 5.78912453e-01 -1.31288403e-01 2.86830975e+02] [-5.70870663e-01 8.15385996e-01 9.61892108e-02 1.84458211e+02] [ 1.62735857e-01 -2.45963929e-03 9.86666606e-01 1.13488540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:184.44, Z:113.50 [[ 8.03760100e-01 5.79742604e-01 -1.33672043e-01 2.86857006e+02] [-5.71406041e-01 8.14796199e-01 9.79912753e-02 1.84439457e+02] [ 1.65725190e-01 -2.38046442e-03 9.86169101e-01 1.13495169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:184.42, Z:113.51 [[ 8.03092889e-01 5.81959112e-01 -1.27927338e-01 2.86878776e+02] [-5.72156011e-01 8.13116532e-01 1.07140120e-01 1.84416418e+02] [ 1.66371002e-01 -1.28490729e-02 9.85979508e-01 1.13505601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:184.40, Z:113.51 [[ 8.02557198e-01 5.81128363e-01 -1.34876868e-01 2.86907513e+02] [-5.72800347e-01 8.13810661e-01 9.80406515e-02 1.84400029e+02] [ 1.66738437e-01 -1.42571348e-03 9.86000132e-01 1.13507679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:184.38, Z:113.51 [[ 8.02590837e-01 5.80352582e-01 -1.37981264e-01 2.86935844e+02] [-5.73483245e-01 8.14331445e-01 8.93379282e-02 1.84384401e+02] [ 1.64209979e-01 7.42814024e-03 9.86397438e-01 1.13508244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:184.36, Z:113.52 [[ 8.01970043e-01 5.82495518e-01 -1.32450071e-01 2.86956504e+02] [-5.74319387e-01 8.12831595e-01 9.72730140e-02 1.84360825e+02] [ 1.64320697e-01 -1.94139948e-03 9.86405059e-01 1.13517303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.98, Y:184.34, Z:113.52 [[ 8.01056770e-01 5.83854200e-01 -1.31993653e-01 2.86978093e+02] [-5.75649644e-01 8.11855634e-01 9.75598133e-02 1.84343426e+02] [ 1.64120498e-01 -2.16884928e-03 9.86437914e-01 1.13522206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.00, Y:184.32, Z:113.53 [[ 8.00540929e-01 5.84730094e-01 -1.31243817e-01 2.87002225e+02] [-5.75503063e-01 8.11193080e-01 1.03740119e-01 1.84320632e+02] [ 1.67124046e-01 -7.51699266e-03 9.85907221e-01 1.13531063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.010385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:287.03, Y:184.30, Z:113.53 [[ 7.99736956e-01 5.84625855e-01 -1.36504252e-01 2.87029321e+02] [-5.76105654e-01 8.11302540e-01 9.94508091e-02 1.84303203e+02] [ 1.68887760e-01 -8.93616114e-04 9.85634885e-01 1.13534616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.05, Y:184.28, Z:113.55 [[ 7.98916065e-01 5.87103456e-01 -1.30547512e-01 2.87049056e+02] [-5.76488755e-01 8.09386360e-01 1.12046578e-01 1.84278575e+02] [ 1.71446309e-01 -1.42566387e-02 9.85090306e-01 1.13548645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.070385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:287.08, Y:184.27, Z:113.54 [[ 8.00294549e-01 5.81659340e-01 -1.45605793e-01 2.87083780e+02] [-5.75733017e-01 8.13269530e-01 8.44047672e-02 1.84272071e+02] [ 1.67511576e-01 1.62813877e-02 9.85735658e-01 1.13538029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.10, Y:184.25, Z:113.55 [[ 8.00690555e-01 5.83709558e-01 -1.34825022e-01 2.87102885e+02] [-5.75229319e-01 8.11960455e-01 9.91536707e-02 1.84245924e+02] [ 1.67349532e-01 -1.83610185e-03 9.85895919e-01 1.13549900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:184.22, Z:113.57 [[ 8.00234367e-01 5.86187096e-01 -1.26529227e-01 2.87119826e+02] [-5.74442403e-01 8.09864365e-01 1.18893382e-01 1.84218335e+02] [ 1.72165279e-01 -2.24588170e-02 9.84812022e-01 1.13568979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.15, Y:184.20, Z:113.57 [[ 8.00219561e-01 5.83203589e-01 -1.39721968e-01 2.87152429e+02] [-5.74279525e-01 8.12325289e-01 1.01639817e-01 1.84203766e+02] [ 1.72776394e-01 -1.09470406e-03 9.84960466e-01 1.13568292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.190385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:287.18, Y:184.18, Z:113.57 [[ 8.00598136e-01 5.83193681e-01 -1.37578178e-01 2.87176061e+02] [-5.73563114e-01 8.12313037e-01 1.05701865e-01 1.84183257e+02] [ 1.73401207e-01 -5.71494810e-03 9.84834687e-01 1.13574570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:184.17, Z:113.58 [[ 8.01441645e-01 5.81138902e-01 -1.41311235e-01 2.87203970e+02] [-5.72847495e-01 8.13800455e-01 9.78497187e-02 1.84166983e+02] [ 1.71863426e-01 2.52894761e-03 9.85117540e-01 1.13576066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:184.15, Z:113.58 [[ 8.01633501e-01 5.81377888e-01 -1.39224571e-01 2.87227222e+02] [-5.72689363e-01 8.13633492e-01 1.00137078e-01 1.84146845e+02] [ 1.71495257e-01 -5.40805721e-04 9.85184797e-01 1.13581933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:184.13, Z:113.58 [[ 8.02511082e-01 5.79517828e-01 -1.41898029e-01 2.87255362e+02] [-5.72585039e-01 8.14908173e-01 8.98389810e-02 1.84133517e+02] [ 1.67697155e-01 9.15191065e-03 9.85796078e-01 1.13579129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:184.10, Z:113.60 [[ 8.00512952e-01 5.84563075e-01 -1.32155308e-01 2.87273701e+02] [-5.74489557e-01 8.11273341e-01 1.08615444e-01 1.84103463e+02] [ 1.70706656e-01 -1.10262256e-02 9.85260199e-01 1.13595874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:184.09, Z:113.60 [[ 8.00494116e-01 5.83498870e-01 -1.36887689e-01 2.87302977e+02] [-5.74531468e-01 8.12108549e-01 1.01947522e-01 1.84086776e+02] [ 1.70653926e-01 -2.96210695e-03 9.85326577e-01 1.13598464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.33, Y:184.07, Z:113.60 [[ 7.99525838e-01 5.84425934e-01 -1.38581249e-01 2.87330386e+02] [-5.76109904e-01 8.11446039e-01 9.82481813e-02 1.84068298e+02] [ 1.69869991e-01 1.28607066e-03 9.85465642e-01 1.13601857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:184.05, Z:113.61 [[ 7.96761605e-01 5.88901493e-01 -1.35521131e-01 2.87354175e+02] [-5.79792847e-01 8.08196421e-01 1.03241467e-01 1.84046371e+02] [ 1.70326747e-01 -3.68465441e-03 9.85380750e-01 1.13609918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:184.03, Z:113.61 [[ 7.95363701e-01 5.90437302e-01 -1.37041510e-01 2.87381192e+02] [-5.81756233e-01 8.07083350e-01 1.00876915e-01 1.84027533e+02] [ 1.70165414e-01 -5.09083904e-04 9.85415381e-01 1.13614389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.41, Y:184.01, Z:113.62 [[ 7.94641460e-01 5.91211475e-01 -1.37891048e-01 2.87407047e+02] [-5.83300401e-01 8.06507743e-01 9.64671050e-02 1.84012480e+02] [ 1.68242657e-01 3.77514240e-03 9.85738381e-01 1.13615866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:183.99, Z:113.63 [[ 7.91990101e-01 5.95240749e-01 -1.35794442e-01 2.87429945e+02] [-5.86214425e-01 8.03544402e-01 1.03291051e-01 1.83985957e+02] [ 1.70599906e-01 -2.20082941e-03 9.85337926e-01 1.13625989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.46, Y:183.97, Z:113.63 [[ 7.92018201e-01 5.94288377e-01 -1.39744392e-01 2.87458661e+02] [-5.86576675e-01 8.04227903e-01 9.56309775e-02 1.83969876e+02] [ 1.69218717e-01 6.22932576e-03 9.85558837e-01 1.13625771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:183.95, Z:113.64 [[ 7.91302719e-01 5.96579107e-01 -1.33915556e-01 2.87477895e+02] [-5.87105228e-01 8.02536924e-01 1.06027999e-01 1.83948014e+02] [ 1.70726268e-01 -5.27772076e-03 9.85304363e-01 1.13637012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.51, Y:183.93, Z:113.64 [[ 7.91068404e-01 5.95988376e-01 -1.37871810e-01 2.87505574e+02] [-5.87218617e-01 8.02992972e-01 1.01865516e-01 1.83930102e+02] [ 1.71420758e-01 3.78302191e-04 9.85197838e-01 1.13640784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:183.91, Z:113.65 [[ 7.90935766e-01 5.96190887e-01 -1.37757178e-01 2.87531208e+02] [-5.87428970e-01 8.02842628e-01 1.01837715e-01 1.83909704e+02] [ 1.71312052e-01 3.75465461e-04 9.85216748e-01 1.13646175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:183.89, Z:113.65 [[ 7.90893805e-01 5.96312136e-01 -1.37473002e-01 2.87556803e+02] [-5.87578624e-01 8.02752584e-01 1.01684070e-01 1.83889213e+02] [ 1.70992252e-01 3.54895908e-04 9.85272309e-01 1.13652247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.58, Y:183.87, Z:113.66 [[ 7.90981989e-01 5.96385411e-01 -1.36645285e-01 2.87581507e+02] [-5.87749021e-01 8.02698160e-01 1.01127400e-01 1.83868213e+02] [ 1.69995825e-01 3.23180210e-04 9.85444730e-01 1.13657883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:183.85, Z:113.66 [[ 7.91293621e-01 5.95984948e-01 -1.36588240e-01 2.87606711e+02] [-5.87340300e-01 8.02995582e-01 1.01140826e-01 1.83848047e+02] [ 1.69958163e-01 1.91687388e-04 9.85451260e-01 1.13662957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:183.84, Z:113.65 [[ 7.93382228e-01 5.91672722e-01 -1.43066529e-01 2.87638227e+02] [-5.85691338e-01 8.06019226e-01 8.54322155e-02 1.83835304e+02] [ 1.65862285e-01 1.60124256e-02 9.86018917e-01 1.13653757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:183.80, Z:113.68 [[ 7.91512587e-01 5.97599765e-01 -1.27993534e-01 2.87649480e+02] [-5.86591284e-01 8.01630958e-01 1.15319009e-01 1.83803350e+02] [ 1.71518192e-01 -1.61965555e-02 9.85047807e-01 1.13679969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.790385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:287.68, Y:183.79, Z:113.68 [[ 7.91389603e-01 5.95563009e-01 -1.37866597e-01 2.87680131e+02] [-5.86727320e-01 8.03308597e-01 1.02207385e-01 1.83788791e+02] [ 1.71620360e-01 4.23684500e-06 9.85163160e-01 1.13679368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.71, Y:183.77, Z:113.68 [[ 7.91204148e-01 5.95702653e-01 -1.38326954e-01 2.87705254e+02] [-5.86799261e-01 8.03205048e-01 1.02607395e-01 1.83767751e+02] [ 1.72228405e-01 -1.32422634e-05 9.85057042e-01 1.13684458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:183.75, Z:113.68 [[ 7.92694892e-01 5.93383367e-01 -1.39753310e-01 2.87736038e+02] [-5.85911930e-01 8.04887302e-01 9.41469172e-02 1.83749791e+02] [ 1.68350879e-01 7.25335119e-03 9.85700447e-01 1.13679811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.880385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:287.76, Y:183.73, Z:113.68 [[ 7.92270187e-01 5.93404894e-01 -1.42051340e-01 2.87760903e+02] [-5.85795005e-01 8.04865330e-01 9.50579428e-02 1.83730868e+02] [ 1.70740047e-01 7.90139146e-03 9.85284428e-01 1.13682329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:183.70, Z:113.71 [[ 7.90837752e-01 5.97789215e-01 -1.31239116e-01 2.87774685e+02] [-5.86314218e-01 8.01491358e-01 1.17674303e-01 1.83702855e+02] [ 1.75531447e-01 -1.61139216e-02 9.84341939e-01 1.13705725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:183.69, Z:113.69 [[ 7.93284341e-01 5.90723728e-01 -1.47463324e-01 2.87811710e+02] [-5.84039032e-01 8.06737296e-01 8.98517934e-02 1.83693255e+02] [ 1.72041749e-01 1.48463162e-02 9.84977778e-01 1.13691798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:183.67, Z:113.70 [[ 7.93725663e-01 5.92438813e-01 -1.37897878e-01 2.87830087e+02] [-5.83286608e-01 8.05613173e-01 1.03750416e-01 1.83666922e+02] [ 1.72558121e-01 -1.91538238e-03 9.84997475e-01 1.13704302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:183.65, Z:113.71 [[ 7.94688377e-01 5.91390974e-01 -1.36846993e-01 2.87854723e+02] [-5.82244708e-01 8.06380499e-01 1.03641646e-01 1.83647251e+02] [ 1.71643480e-01 -2.68437355e-03 9.85155475e-01 1.13709496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.87, Y:183.62, Z:113.73 [[ 7.93785402e-01 5.93512230e-01 -1.32845657e-01 2.87872883e+02] [-5.82114684e-01 8.04678411e-01 1.16769647e-01 1.83621625e+02] [ 1.76202246e-01 -1.53586336e-02 9.84234160e-01 1.13727658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.91, Y:183.61, Z:113.71 [[ 7.95224941e-01 5.87943628e-01 -1.48120169e-01 2.87909378e+02] [-5.81071337e-01 8.08781868e-01 9.07082775e-02 1.83613943e+02] [ 1.73128261e-01 1.39349003e-02 9.84800703e-01 1.13713064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:183.58, Z:113.74 [[ 7.93496895e-01 5.94050583e-01 -1.32161199e-01 2.87921858e+02] [-5.82722057e-01 8.04279932e-01 1.16485170e-01 1.83579901e+02] [ 1.75492683e-01 -1.54173750e-02 9.84360007e-01 1.13736958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.12038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:287.95, Y:183.57, Z:113.74 [[ 7.92724860e-01 5.93136485e-01 -1.40628615e-01 2.87949661e+02] [-5.83734733e-01 8.05100873e-01 1.05196707e-01 1.83566075e+02] [ 1.75616226e-01 -1.30223755e-03 9.84457843e-01 1.13739733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.97, Y:183.55, Z:113.75 [[ 7.92184087e-01 5.93883520e-01 -1.40523082e-01 2.87974422e+02] [-5.84576050e-01 8.04550613e-01 1.04733723e-01 1.83546142e+02] [ 1.75257564e-01 -8.21960580e-04 9.84522275e-01 1.13745659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:183.53, Z:113.75 [[ 7.91273643e-01 5.95042215e-01 -1.40750787e-01 2.87999540e+02] [-5.85712378e-01 8.03694212e-01 1.04960103e-01 1.83525201e+02] [ 1.75576285e-01 -6.12685365e-04 9.84465638e-01 1.13751841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:183.51, Z:113.76 [[ 7.90700953e-01 5.95769741e-01 -1.40891513e-01 2.88024133e+02] [-5.86421820e-01 8.03155131e-01 1.05125085e-01 1.83506062e+02] [ 1.75788086e-01 -5.00647246e-04 9.84427904e-01 1.13757050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.240385723 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:288.05, Y:183.49, Z:113.76 [[ 7.89674595e-01 5.93377973e-01 -1.55937861e-01 2.88052728e+02] [-5.86106224e-01 8.04743658e-01 9.41654928e-02 1.83494114e+02] [ 1.81365734e-01 1.70360534e-02 9.83268144e-01 1.13755789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.06, Y:183.46, Z:113.78 [[ 7.89871677e-01 5.99383660e-01 -1.29776590e-01 2.88062458e+02] [-5.86766552e-01 8.00158534e-01 1.24303391e-01 1.83460193e+02] [ 1.78347267e-01 -2.20351654e-02 9.83720847e-01 1.13775691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.300385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:288.09, Y:183.45, Z:113.77 [[ 7.90445227e-01 5.94998149e-01 -1.45511326e-01 2.88094756e+02] [-5.86400544e-01 8.03707948e-01 1.00935309e-01 1.83453663e+02] [ 1.77004931e-01 5.54408707e-03 9.84194349e-01 1.13768327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:183.43, Z:113.78 [[ 7.90098217e-01 5.96871208e-01 -1.39605043e-01 2.88116178e+02] [-5.86630354e-01 8.02320323e-01 1.10213097e-01 1.83426056e+02] [ 1.77790988e-01 -5.18261522e-03 9.84054625e-01 1.13778972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:288.14, Y:183.41, Z:113.78 [[ 7.90274729e-01 5.95836443e-01 -1.42985267e-01 2.88143347e+02] [-5.86308935e-01 8.03105804e-01 1.06126817e-01 1.83408093e+02] [ 1.78066523e-01 -3.58023976e-05 9.84018451e-01 1.13781872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.17, Y:183.39, Z:113.78 [[ 7.90980128e-01 5.93759030e-01 -1.47650440e-01 2.88168113e+02] [-5.85154678e-01 8.04616132e-01 1.00930092e-01 1.83391525e+02] [ 1.78730080e-01 6.56464887e-03 9.83876244e-01 1.13783788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:183.37, Z:113.79 [[ 7.90856783e-01 5.96149737e-01 -1.38387281e-01 2.88186909e+02] [-5.85928845e-01 8.02851059e-01 1.10079813e-01 1.83367214e+02] [ 1.76728427e-01 -5.97226756e-03 9.84241533e-01 1.13794780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:183.35, Z:113.80 [[ 7.90621412e-01 5.95712085e-01 -1.41579997e-01 2.88213477e+02] [-5.86285760e-01 8.03197928e-01 1.05556134e-01 1.83348407e+02] [ 1.76597825e-01 -4.48603459e-04 9.84282991e-01 1.13798609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:183.33, Z:113.80 [[ 7.90865947e-01 5.94817870e-01 -1.43954004e-01 2.88240928e+02] [-5.86727420e-01 8.03830514e-01 9.80175422e-02 1.83330410e+02] [ 1.74017207e-01 6.94302528e-03 9.84718135e-01 1.13797773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:183.31, Z:113.81 [[ 7.89826883e-01 5.97899744e-01 -1.36709148e-01 2.88260295e+02] [-5.87505124e-01 8.01535246e-01 1.11260858e-01 1.83306051e+02] [ 1.76100039e-01 -7.55949229e-03 9.84343248e-01 1.13812674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:183.29, Z:113.81 [[ 7.88755120e-01 5.98249593e-01 -1.41289724e-01 2.88288546e+02] [-5.88879198e-01 8.01309818e-01 1.05469736e-01 1.83290220e+02] [ 1.76314070e-01 1.27850352e-05 9.84333962e-01 1.13814212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:183.27, Z:113.82 [[ 7.88238140e-01 5.98910175e-01 -1.41376222e-01 2.88314882e+02] [-5.89528828e-01 8.00816202e-01 1.05589641e-01 1.83271483e+02] [ 1.76455080e-01 1.15576274e-04 9.84308687e-01 1.13819322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:183.25, Z:113.82 [[ 7.87836828e-01 5.99391063e-01 -1.41575019e-01 2.88341274e+02] [-5.89980888e-01 8.00456321e-01 1.05793336e-01 1.83252563e+02] [ 1.76736199e-01 1.78668971e-04 9.84258241e-01 1.13824318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:288.37, Y:183.23, Z:113.83 [[ 7.87662270e-01 5.99648136e-01 -1.41457635e-01 2.88367217e+02] [-5.90247881e-01 8.00263755e-01 1.05760871e-01 1.83233561e+02] [ 1.76622727e-01 1.91221525e-04 9.84278607e-01 1.13829356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:183.21, Z:113.84 [[ 7.88345831e-01 5.98902608e-01 -1.40806664e-01 2.88393171e+02] [-5.89567763e-01 8.00821869e-01 1.05328948e-01 1.83214388e+02] [ 1.75842838e-01 -2.05671308e-05 9.84418253e-01 1.13835354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:183.19, Z:113.85 [[ 7.87329634e-01 6.03611133e-01 -1.25561328e-01 2.88405920e+02] [-5.92001668e-01 7.97035033e-01 1.19453680e-01 1.83191494e+02] [ 1.72180348e-01 -1.97169067e-02 9.84868098e-01 1.13847317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.720385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.45, Y:183.19, Z:113.84 [[ 7.89685530e-01 5.93701479e-01 -1.54645781e-01 2.88452581e+02] [-5.87922459e-01 8.04352274e-01 8.58172554e-02 1.83187138e+02] [ 1.75339517e-01 2.31510828e-02 9.84235785e-01 1.13836431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:183.16, Z:113.85 [[ 7.89663830e-01 5.94933716e-01 -1.49949689e-01 2.88474947e+02] [-5.87029616e-01 8.03696876e-01 9.73013962e-02 1.83164304e+02] [ 1.78401978e-01 1.11895150e-02 9.83894064e-01 1.13845923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:183.14, Z:113.86 [[ 7.90222458e-01 5.98208879e-01 -1.33021069e-01 2.88491579e+02] [-5.87191508e-01 8.01238630e-01 1.14990395e-01 1.83138394e+02] [ 1.75369894e-01 -1.27591505e-02 9.84419933e-01 1.13860671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:183.12, Z:113.86 [[ 7.90330184e-01 5.96382756e-01 -1.40377382e-01 2.88522634e+02] [-5.87025418e-01 8.02699835e-01 1.05233711e-01 1.83123987e+02] [ 1.75440472e-01 -7.64286703e-04 9.84489744e-01 1.13862232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:183.11, Z:113.87 [[ 7.90043752e-01 5.96706301e-01 -1.40614578e-01 2.88548257e+02] [-5.87311150e-01 8.02459368e-01 1.05473110e-01 1.83105388e+02] [ 1.75773954e-01 -7.43862004e-04 9.84430274e-01 1.13867751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:183.09, Z:113.86 [[ 7.91978711e-01 5.92931662e-01 -1.45608260e-01 2.88581441e+02] [-5.86045836e-01 8.05144393e-01 9.10647282e-02 1.83094439e+02] [ 1.71230835e-01 1.32117887e-02 9.85142350e-01 1.13860099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:183.07, Z:113.88 [[ 7.89765464e-01 5.96926363e-01 -1.41242448e-01 2.88599877e+02] [-5.87127599e-01 8.02293125e-01 1.07735437e-01 1.83069152e+02] [ 1.77627967e-01 -2.15838869e-03 9.84095344e-01 1.13878658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:183.05, Z:113.89 [[ 7.89958347e-01 5.98575212e-01 -1.32941814e-01 2.88621380e+02] [-5.87472028e-01 8.00958744e-01 1.15506307e-01 1.83046526e+02] [ 1.75620121e-01 -1.31455743e-02 9.84370239e-01 1.13888869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:183.03, Z:113.89 [[ 7.90105975e-01 5.96632762e-01 -1.40577009e-01 2.88652006e+02] [-5.87218574e-01 8.02513925e-01 1.05573423e-01 1.83031395e+02] [ 1.75803570e-01 -8.64761701e-04 9.84424886e-01 1.13889034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:183.01, Z:113.89 [[ 7.90179984e-01 5.96470965e-01 -1.40847367e-01 2.88677231e+02] [-5.87006933e-01 8.02634090e-01 1.05836563e-01 1.83012170e+02] [ 1.76177335e-01 -9.51552906e-04 9.84357984e-01 1.13894584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:182.99, Z:113.90 [[ 7.90390299e-01 5.96153626e-01 -1.41010745e-01 2.88702634e+02] [-5.86655449e-01 8.02869691e-01 1.05998322e-01 1.82993429e+02] [ 1.76404537e-01 -1.05532325e-03 9.84317188e-01 1.13900561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.050385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:288.75, Y:183.00, Z:113.87 [[ 7.96373402e-01 5.82808097e-01 -1.61629598e-01 2.88747426e+02] [-5.82297603e-01 8.11076797e-01 5.55331582e-02 1.83002633e+02] [ 1.63459191e-01 4.98913970e-02 9.85287746e-01 1.13866894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:182.94, Z:113.93 [[ 7.90567557e-01 6.02106704e-01 -1.11671188e-01 2.88735374e+02] [-5.86503510e-01 7.96916960e-01 1.44696208e-01 1.82938484e+02] [ 1.76115220e-01 -4.88965838e-02 9.83154389e-01 1.13931988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.78, Y:182.94, Z:113.92 [[ 7.90633555e-01 5.95810689e-01 -1.41096436e-01 2.88775692e+02] [-5.86266368e-01 8.03123915e-01 1.06224872e-01 1.82935230e+02] [ 1.76607836e-01 -1.26485288e-03 9.84280485e-01 1.13918814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:182.92, Z:113.93 [[ 7.90657795e-01 5.95686201e-01 -1.41485692e-01 2.88801159e+02] [-5.86076206e-01 8.03216125e-01 1.06576439e-01 1.82915148e+02] [ 1.77129703e-01 -1.34409488e-03 9.84186599e-01 1.13925108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.83, Y:182.89, Z:113.93 [[ 7.90447141e-01 5.96209632e-01 -1.40454234e-01 2.88825152e+02] [-5.85940451e-01 8.02813968e-01 1.10288355e-01 1.82891505e+02] [ 1.78513600e-01 -4.87929827e-03 9.83925346e-01 1.13933989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:182.88, Z:113.94 [[ 7.90560421e-01 5.95073523e-01 -1.44574279e-01 2.88851290e+02] [-5.85658879e-01 8.03670192e-01 1.05441455e-01 1.82876248e+02] [ 1.78935456e-01 1.31336889e-03 9.83859938e-01 1.13936651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:182.86, Z:113.94 [[ 7.90514996e-01 5.95550002e-01 -1.42850399e-01 2.88876582e+02] [-5.85727400e-01 8.03316859e-01 1.07728534e-01 1.82855325e+02] [ 1.78911862e-01 -1.48962943e-03 9.83863978e-01 1.13943410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.260385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:288.91, Y:182.84, Z:113.94 [[ 7.89661539e-01 5.92873091e-01 -1.57911850e-01 2.88908642e+02] [-5.85078764e-01 8.05142554e-01 9.70994726e-02 1.82841225e+02] [ 1.84709214e-01 1.57151508e-02 9.82667563e-01 1.13942858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:288.92, Y:182.81, Z:113.96 [[ 7.90473547e-01 5.97835074e-01 -1.33209592e-01 2.88920918e+02] [-5.85396142e-01 8.01391555e-01 1.22812587e-01 1.82809912e+02] [ 1.80174714e-01 -1.90997200e-02 9.83449172e-01 1.13962388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.320385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.95, Y:182.80, Z:113.96 [[ 7.90727737e-01 5.94798961e-01 -1.44788956e-01 2.88951617e+02] [-5.84672423e-01 8.03872531e-01 1.09302842e-01 1.82796445e+02] [ 1.81405081e-01 -1.77467884e-03 9.83406857e-01 1.13961204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.350385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:288.98, Y:182.78, Z:113.97 [[ 7.91024405e-01 5.94323924e-01 -1.45118790e-01 2.88977787e+02] [-5.84131999e-01 8.04223429e-01 1.09610598e-01 1.82776604e+02] [ 1.81852131e-01 -1.93612937e-03 9.83323982e-01 1.13967142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:182.76, Z:113.97 [[ 7.91904070e-01 5.93002582e-01 -1.45725361e-01 2.89003316e+02] [-5.82690642e-01 8.05197270e-01 1.10131614e-01 1.82757631e+02] [ 1.82645994e-01 -2.30086942e-03 9.83176051e-01 1.13973129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:182.74, Z:113.98 [[ 7.92169130e-01 5.92663491e-01 -1.45664191e-01 2.89029445e+02] [-5.82343651e-01 8.05446522e-01 1.10144331e-01 1.82737990e+02] [ 1.82603239e-01 -2.42632209e-03 9.83183691e-01 1.13979120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:182.73, Z:113.96 [[ 7.95125755e-01 5.85925504e-01 -1.56417194e-01 2.89065024e+02] [-5.80459352e-01 8.09997330e-01 8.34941067e-02 1.82732813e+02] [ 1.75618836e-01 2.44055081e-02 9.84155677e-01 1.13962691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.470385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:289.07, Y:182.69, Z:114.00 [[ 7.91902552e-01 5.96568145e-01 -1.30371762e-01 2.89070086e+02] [-5.82607023e-01 8.02072069e-01 1.31337174e-01 1.82692840e+02] [ 1.82919123e-01 -2.80507394e-02 9.82727709e-01 1.14001809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:182.68, Z:114.00 [[ 7.91099586e-01 5.94040898e-01 -1.45865884e-01 2.89104793e+02] [-5.83688028e-01 8.04431744e-01 1.10443903e-01 1.82683066e+02] [ 1.82947343e-01 -2.23195531e-03 9.83120180e-01 1.13996929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:182.66, Z:114.00 [[ 7.89486737e-01 5.94659603e-01 -1.51956078e-01 2.89135472e+02] [-5.85296882e-01 8.03956441e-01 1.05269181e-01 1.82664742e+02] [ 1.84765397e-01 5.83079658e-03 9.82765358e-01 1.13998124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:182.64, Z:114.01 [[ 7.90492568e-01 5.96172957e-01 -1.40354215e-01 2.89154630e+02] [-5.84582767e-01 8.02783106e-01 1.17483081e-01 1.82644063e+02] [ 1.82714229e-01 -1.08208471e-02 9.83106515e-01 1.14010891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.590385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:289.18, Y:182.63, Z:114.01 [[ 7.89886006e-01 5.95624527e-01 -1.45984660e-01 2.89184433e+02] [-5.85259017e-01 8.03260581e-01 1.10654067e-01 1.82628243e+02] [ 1.83171999e-01 -1.96526044e-03 9.83078917e-01 1.14013073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.62038572299997 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:289.21, Y:182.61, Z:114.02 [[ 7.89851390e-01 5.95501540e-01 -1.46672078e-01 2.89210526e+02] [-5.85023411e-01 8.03351538e-01 1.11238105e-01 1.82608723e+02] [ 1.84071702e-01 -2.05497262e-03 9.82910670e-01 1.14018110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:289.23, Y:182.58, Z:114.03 [[ 7.87416506e-01 5.99896925e-01 -1.41770680e-01 2.89233183e+02] [-5.87718998e-01 7.99989812e-01 1.20841550e-01 1.82578658e+02] [ 1.85907574e-01 -1.18313093e-02 9.82496002e-01 1.14032280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.680385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:289.26, Y:182.57, Z:114.03 [[ 7.90671731e-01 5.93163434e-01 -1.51642190e-01 2.89263278e+02] [-5.83721055e-01 8.05066102e-01 1.05538155e-01 1.82573590e+02] [ 1.84683361e-01 5.07070319e-03 9.82784994e-01 1.14026476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.710385723 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:289.29, Y:182.54, Z:114.04 [[ 7.89215833e-01 5.96719903e-01 -1.45133475e-01 2.89285556e+02] [-5.85538149e-01 8.02428061e-01 1.15127243e-01 1.82544686e+02] [ 1.85157890e-01 -5.87905669e-03 9.82691199e-01 1.14038577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.740385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:289.31, Y:182.54, Z:114.04 [[ 7.92453334e-01 5.91991802e-01 -1.46844884e-01 2.89312222e+02] [-5.81664119e-01 8.05941876e-01 1.10111515e-01 1.82535489e+02] [ 1.83533555e-01 -1.84383719e-03 9.83011716e-01 1.14039847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.770385723 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:289.34, Y:182.51, Z:114.05 [[ 7.92110733e-01 5.93261843e-01 -1.43530388e-01 2.89338003e+02] [-5.82622253e-01 8.04993615e-01 1.11966921e-01 1.82511263e+02] [ 1.81966748e-01 -5.06620180e-03 9.83291633e-01 1.14047817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.36, Y:182.50, Z:114.05 [[ 7.95020894e-01 5.89517529e-01 -1.42866587e-01 2.89362935e+02] [-5.79510419e-01 8.07749105e-01 1.08208401e-01 1.82497367e+02] [ 1.79191107e-01 -3.23526421e-03 9.83808965e-01 1.14051940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.830385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:289.39, Y:182.48, Z:114.06 [[ 7.95510330e-01 5.88642255e-01 -1.43748426e-01 2.89388370e+02] [-5.78411645e-01 8.08384568e-01 1.09335990e-01 1.82477737e+02] [ 1.80563793e-01 -3.83214658e-03 9.83555810e-01 1.14057666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:182.46, Z:114.06 [[ 7.95605267e-01 5.88758043e-01 -1.42745320e-01 2.89413633e+02] [-5.78661457e-01 8.08300255e-01 1.08635245e-01 1.82458977e+02] [ 1.79340953e-01 -3.82955834e-03 9.83779527e-01 1.14063493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.44, Y:182.44, Z:114.07 [[ 7.95562892e-01 5.88860171e-01 -1.42560108e-01 2.89440221e+02] [-5.78780953e-01 8.08225761e-01 1.08552885e-01 1.82440575e+02] [ 1.79143222e-01 -3.84957133e-03 9.83815474e-01 1.14068079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.920385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:289.47, Y:182.42, Z:114.07 [[ 7.95221327e-01 5.89351424e-01 -1.42435743e-01 2.89466646e+02] [-5.79286669e-01 8.07867916e-01 1.08519057e-01 1.82421453e+02] [ 1.79025128e-01 -3.78554101e-03 9.83837219e-01 1.14073194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.950385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:289.49, Y:182.40, Z:114.08 [[ 7.94049063e-01 5.90794081e-01 -1.42998044e-01 2.89493739e+02] [-5.80660744e-01 8.06814676e-01 1.09009994e-01 1.82403554e+02] [ 1.79775380e-01 -3.52593280e-03 9.83701368e-01 1.14077946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.980385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:289.52, Y:182.38, Z:114.08 [[ 7.93421178e-01 5.91639511e-01 -1.42987843e-01 2.89520068e+02] [-5.81509902e-01 8.06195529e-01 1.09064214e-01 1.82383754e+02] [ 1.79802857e-01 -3.38501046e-03 9.83696841e-01 1.14083450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.55, Y:182.36, Z:114.09 [[ 7.93081785e-01 5.92081269e-01 -1.43042140e-01 2.89545519e+02] [-5.81939722e-01 8.05871353e-01 1.09167406e-01 1.82364362e+02] [ 1.79909539e-01 -3.33677788e-03 9.83677500e-01 1.14089454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.57, Y:182.35, Z:114.10 [[ 7.92613068e-01 5.92705475e-01 -1.43055037e-01 2.89570438e+02] [-5.82561153e-01 8.05412746e-01 1.09237407e-01 1.82346092e+02] [ 1.79963960e-01 -3.24468922e-03 9.83667853e-01 1.14095685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.070385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:289.60, Y:182.33, Z:114.10 [[ 7.92300131e-01 5.93220833e-01 -1.42651836e-01 2.89596511e+02] [-5.83135185e-01 8.05033611e-01 1.08968992e-01 1.82327209e+02] [ 1.79482198e-01 -3.15084168e-03 9.83756175e-01 1.14101141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:289.63, Y:182.32, Z:114.09 [[ 7.95015338e-01 5.88350276e-01 -1.47629823e-01 2.89630663e+02] [-5.81573180e-01 8.08481917e-01 9.01644434e-02 1.82321878e+02] [ 1.72404318e-01 1.41754302e-02 9.84924265e-01 1.14089861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:289.64, Y:182.29, Z:114.12 [[ 7.91429793e-01 5.96792200e-01 -1.32204208e-01 2.89642929e+02] [-5.84624886e-01 8.02176691e-01 1.21351960e-01 1.82286618e+02] [ 1.78473038e-01 -1.87516865e-02 9.83766105e-01 1.14117406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.160385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:289.67, Y:182.27, Z:114.12 [[ 7.90925162e-01 5.95227367e-01 -1.41921705e-01 2.89674860e+02] [-5.85243355e-01 8.03552327e-01 1.08599604e-01 1.82273308e+02] [ 1.78682973e-01 -2.83542467e-03 9.83902615e-01 1.14116338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.70, Y:182.25, Z:114.12 [[ 7.89923072e-01 5.96432208e-01 -1.42443535e-01 2.89701663e+02] [-5.86382079e-01 8.02659167e-01 1.09061081e-01 1.82254673e+02] [ 1.79381151e-01 -2.62352811e-03 9.83776153e-01 1.14121558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:182.24, Z:114.13 [[ 7.89585116e-01 5.96940339e-01 -1.42188524e-01 2.89727429e+02] [-5.86923180e-01 8.02281562e-01 1.08928767e-01 1.82235898e+02] [ 1.79099206e-01 -2.55479272e-03 9.83827702e-01 1.14126590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.75, Y:182.22, Z:114.13 [[ 7.89230012e-01 5.97626133e-01 -1.41276304e-01 2.89754803e+02] [-5.87738500e-01 8.01771224e-01 1.08288318e-01 1.82218734e+02] [ 1.77987204e-01 -2.43086791e-03 9.84029799e-01 1.14130818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:182.20, Z:114.14 [[ 7.89113616e-01 5.97958177e-01 -1.40519461e-01 2.89781240e+02] [-5.88171198e-01 8.01523731e-01 1.07769900e-01 1.82200460e+02] [ 1.77071576e-01 -2.39319596e-03 9.84195067e-01 1.14135487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:182.18, Z:114.14 [[ 7.89217169e-01 5.97969546e-01 -1.39888111e-01 2.89808568e+02] [-5.88260179e-01 8.01515140e-01 1.07347299e-01 1.82183260e+02] [ 1.76312854e-01 -2.42972588e-03 9.84331181e-01 1.14140848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.84, Y:182.17, Z:114.15 [[ 7.89382010e-01 5.97851111e-01 -1.39463581e-01 2.89835151e+02] [-5.88188249e-01 8.01603272e-01 1.07083044e-01 1.82165218e+02] [ 1.75814180e-01 -2.49858870e-03 9.84420201e-01 1.14146172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:182.15, Z:114.15 [[ 7.89687697e-01 5.97642004e-01 -1.38626752e-01 2.89862268e+02] [-5.88081705e-01 8.01758932e-01 1.06501283e-01 1.82147067e+02] [ 1.74794877e-01 -2.57889624e-03 9.84601493e-01 1.14151265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:289.89, Y:182.13, Z:114.16 [[ 7.90187452e-01 5.97272885e-01 -1.37364081e-01 2.89889593e+02] [-5.87871169e-01 8.02033598e-01 1.05591647e-01 1.82130798e+02] [ 1.73237636e-01 -2.68481108e-03 9.84876395e-01 1.14155773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:289.92, Y:182.11, Z:114.16 [[ 7.90723088e-01 5.96761235e-01 -1.36502845e-01 2.89916524e+02] [-5.87460570e-01 8.02413889e-01 1.04985854e-01 1.82112438e+02] [ 1.72183266e-01 -2.82470008e-03 9.85060883e-01 1.14160401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.460385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:289.94, Y:182.10, Z:114.16 [[ 7.91280123e-01 5.95978643e-01 -1.36693903e-01 2.89944834e+02] [-5.86629276e-01 8.02994493e-01 1.05194761e-01 1.82096021e+02] [ 1.72458282e-01 -3.04987755e-03 9.85012101e-01 1.14164992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.97, Y:182.08, Z:114.17 [[ 7.91164500e-01 5.96198831e-01 -1.36402668e-01 2.89970942e+02] [-5.86882136e-01 8.02831041e-01 1.05031794e-01 1.82078870e+02] [ 1.72128129e-01 -3.04513764e-03 9.85069863e-01 1.14169599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:182.06, Z:114.17 [[ 7.90784800e-01 5.96744253e-01 -1.36219297e-01 2.89999316e+02] [-5.87450861e-01 8.02425998e-01 1.04947625e-01 1.82062281e+02] [ 1.71932798e-01 -2.96884342e-03 9.85104207e-01 1.14174028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.550385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:290.03, Y:182.05, Z:114.17 [[ 7.93637681e-01 5.92131790e-01 -1.39711036e-01 2.90031655e+02] [-5.85191317e-01 8.05783805e-01 9.09042472e-02 1.82052701e+02] [ 1.66404185e-01 9.61264942e-03 9.86010773e-01 1.14165387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.580385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:290.05, Y:182.03, Z:114.18 [[ 7.92059531e-01 5.95994457e-01 -1.32031463e-01 2.90053681e+02] [-5.87240572e-01 8.02982508e-01 1.01821425e-01 1.82027487e+02] [ 1.66703960e-01 -3.11439801e-03 9.86002074e-01 1.14177258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.08, Y:182.01, Z:114.19 [[ 7.89760988e-01 5.99734768e-01 -1.28824646e-01 2.90076080e+02] [-5.89169757e-01 8.00089527e-01 1.12852767e-01 1.82006757e+02] [ 1.70752978e-01 -1.32271276e-02 9.85225083e-01 1.14192468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.11, Y:182.00, Z:114.18 [[ 7.91560849e-01 5.95188736e-01 -1.38498341e-01 2.90111104e+02] [-5.87892838e-01 8.03549690e-01 9.32196720e-02 1.81999657e+02] [ 1.66773598e-01 7.63314021e-03 9.85965670e-01 1.14183103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:181.97, Z:114.20 [[ 7.88436369e-01 6.01384812e-01 -1.29245501e-01 2.90130163e+02] [-5.90908109e-01 7.98865185e-01 1.12436751e-01 1.81974285e+02] [ 1.70867486e-01 -1.22770094e-02 9.85217528e-01 1.14202231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:181.96, Z:114.20 [[ 7.87760905e-01 6.00931383e-01 -1.35330075e-01 2.90160635e+02] [-5.91758513e-01 7.99297205e-01 1.04622374e-01 1.81959485e+02] [ 1.71039818e-01 -2.33469182e-03 9.85261351e-01 1.14204089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.19, Y:181.94, Z:114.21 [[ 7.87348109e-01 6.01382304e-01 -1.35728701e-01 2.90187843e+02] [-5.92150947e-01 7.98958114e-01 1.04991376e-01 1.81941494e+02] [ 1.71581502e-01 -2.29288247e-03 9.85167260e-01 1.14209329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.23, Y:181.94, Z:114.19 [[ 7.91297319e-01 5.93708715e-01 -1.46145525e-01 2.90228164e+02] [-5.89369348e-01 8.04264473e-01 7.61736740e-02 1.81942232e+02] [ 1.62764628e-01 2.58576686e-02 9.86326040e-01 1.14190880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.25, Y:181.91, Z:114.21 [[ 7.90396824e-01 5.98760045e-01 -1.29457595e-01 2.90245180e+02] [-5.90486008e-01 8.00926027e-01 9.92157956e-02 1.81913192e+02] [ 1.63092411e-01 -1.97695132e-03 9.86608817e-01 1.14206330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:181.90, Z:114.21 [[ 7.89845818e-01 5.99708537e-01 -1.28426062e-01 2.90270962e+02] [-5.90760337e-01 8.00197642e-01 1.03372906e-01 1.81895897e+02] [ 1.64759847e-01 -5.77963372e-03 9.86316779e-01 1.14213421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:181.87, Z:114.24 [[ 7.86669930e-01 6.05072206e-01 -1.22629716e-01 2.90287794e+02] [-5.93065987e-01 7.95826552e-01 1.22199980e-01 1.81867298e+02] [ 1.71531795e-01 -2.34035360e-02 9.84900562e-01 1.14235935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:181.87, Z:114.22 [[ 7.90134122e-01 5.96147309e-01 -1.42465629e-01 2.90326786e+02] [-5.89826628e-01 8.02741446e-01 8.78107049e-02 1.81870549e+02] [ 1.66711180e-01 1.46477873e-02 9.85896965e-01 1.14218980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.34, Y:181.84, Z:114.24 [[ 7.89217573e-01 6.00101792e-01 -1.30435659e-01 2.90343783e+02] [-5.90278551e-01 7.99877198e-01 1.08479036e-01 1.81842063e+02] [ 1.69430973e-01 -8.62018929e-03 9.85504357e-01 1.14235236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.940385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:290.37, Y:181.83, Z:114.24 [[ 7.90013014e-01 5.98348240e-01 -1.33636901e-01 2.90372299e+02] [-5.88973354e-01 8.01222233e-01 1.05609293e-01 1.81825098e+02] [ 1.70263991e-01 -4.72414196e-03 9.85387161e-01 1.14240563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:181.81, Z:114.25 [[ 7.90211559e-01 5.97818742e-01 -1.34827463e-01 2.90399283e+02] [-5.88759310e-01 8.01627174e-01 1.03712823e-01 1.81807013e+02] [ 1.70082827e-01 -2.57414741e-03 9.85426408e-01 1.14246569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:181.79, Z:114.25 [[ 7.90271472e-01 5.97716196e-01 -1.34930908e-01 2.90425188e+02] [-5.88566335e-01 8.01702339e-01 1.04225855e-01 1.81787840e+02] [ 1.70471906e-01 -2.95092934e-03 9.85358118e-01 1.14252678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:181.77, Z:114.26 [[ 7.88469754e-01 5.99925335e-01 -1.35665176e-01 2.90444905e+02] [-5.90157037e-01 8.00040108e-01 1.07937470e-01 1.81771403e+02] [ 1.73292004e-01 -5.04167212e-03 9.84857585e-01 1.14261780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:181.75, Z:114.27 [[ 7.88696964e-01 5.99778861e-01 -1.34990430e-01 2.90468038e+02] [-5.89844314e-01 8.00141321e-01 1.08892388e-01 1.81754053e+02] [ 1.73322773e-01 -6.25975867e-03 9.84845182e-01 1.14268000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:181.74, Z:114.27 [[ 7.88963375e-01 5.98821723e-01 -1.37656590e-01 2.90497330e+02] [-5.90134079e-01 8.00881669e-01 1.01638188e-01 1.81739838e+02] [ 1.71109794e-01 1.04703755e-03 9.85251411e-01 1.14267442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:181.72, Z:114.27 [[ 7.88129651e-01 6.00317169e-01 -1.35907875e-01 2.90521820e+02] [-5.91029605e-01 7.99757792e-01 1.05221103e-01 1.81719157e+02] [ 1.71859416e-01 -2.60229345e-03 9.85118048e-01 1.14273866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:181.70, Z:114.28 [[ 7.88007071e-01 6.00468304e-01 -1.35950991e-01 2.90547768e+02] [-5.91170225e-01 7.99644325e-01 1.05293491e-01 1.81698793e+02] [ 1.71937842e-01 -2.60183771e-03 9.85104364e-01 1.14279670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:181.68, Z:114.29 [[ 7.86348780e-01 6.02823773e-01 -1.35126221e-01 2.90570929e+02] [-5.92679332e-01 7.97846487e-01 1.10327662e-01 1.81676825e+02] [ 1.74318118e-01 -6.66950433e-03 9.84666802e-01 1.14288918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:181.66, Z:114.29 [[ 7.85337702e-01 6.03586162e-01 -1.37580665e-01 2.90596066e+02] [-5.93972310e-01 7.97293631e-01 1.07330149e-01 1.81660461e+02] [ 1.74475181e-01 -2.57130759e-03 9.84658215e-01 1.14292440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:181.64, Z:114.30 [[ 7.85033871e-01 6.04041773e-01 -1.37314816e-01 2.90617333e+02] [-5.94473656e-01 7.96948864e-01 1.07114801e-01 1.81643774e+02] [ 1.74134701e-01 -2.45870638e-03 9.84718772e-01 1.14297224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:181.62, Z:114.30 [[ 7.84097967e-01 6.05366235e-01 -1.36828723e-01 2.90639220e+02] [-5.95889630e-01 7.95944179e-01 1.06716506e-01 1.81623886e+02] [ 1.73510595e-01 -2.14137882e-03 9.84829675e-01 1.14303271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:181.61, Z:114.31 [[ 7.83961742e-01 6.05312937e-01 -1.37841343e-01 2.90664981e+02] [-5.96302231e-01 7.95987353e-01 1.04056639e-01 1.81605107e+02] [ 1.72706795e-01 6.18676657e-04 9.84973086e-01 1.14306849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.69, Y:181.58, Z:114.32 [[ 7.82332426e-01 6.07884345e-01 -1.35766705e-01 2.90685574e+02] [-5.98038033e-01 7.94014914e-01 1.09045074e-01 1.81583808e+02] [ 1.74087582e-01 -4.11584376e-03 9.84721572e-01 1.14315370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:181.56, Z:114.32 [[ 7.81011392e-01 6.09135315e-01 -1.37751133e-01 2.90711073e+02] [-5.99573115e-01 7.93065108e-01 1.07516583e-01 1.81563693e+02] [ 1.74737765e-01 -1.37980058e-03 9.84614041e-01 1.14320961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:181.55, Z:114.32 [[ 7.81483226e-01 6.08536872e-01 -1.37720165e-01 2.90737522e+02] [-5.99885383e-01 7.93521061e-01 1.02283204e-01 1.81545860e+02] [ 1.71526952e-01 2.68370614e-03 9.85175772e-01 1.14322034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:181.52, Z:114.33 [[ 7.81093356e-01 6.09644755e-01 -1.35005341e-01 2.90761670e+02] [-6.00575260e-01 7.92674400e-01 1.04769523e-01 1.81523561e+02] [ 1.70887468e-01 -7.53910326e-04 9.85290264e-01 1.14328494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:181.50, Z:114.33 [[ 7.80177535e-01 6.10691087e-01 -1.35570683e-01 2.90785103e+02] [-6.01673120e-01 7.91868926e-01 1.04561277e-01 1.81502131e+02] [ 1.71208851e-01 -7.12385352e-06 9.85234759e-01 1.14333536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:181.48, Z:114.34 [[ 7.79655927e-01 6.11396186e-01 -1.35393280e-01 2.90809167e+02] [-6.02207845e-01 7.91324249e-01 1.05601341e-01 1.81480506e+02] [ 1.71704243e-01 -7.97816286e-04 9.85148221e-01 1.14339205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:181.46, Z:114.35 [[ 7.78677279e-01 6.12832779e-01 -1.34527618e-01 2.90828910e+02] [-6.02645912e-01 7.90192154e-01 1.11419314e-01 1.81456356e+02] [ 1.74584076e-01 -5.68716961e-03 9.84625846e-01 1.14349305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.86, Y:181.44, Z:114.35 [[ 7.78576073e-01 6.12220527e-01 -1.37859800e-01 2.90855598e+02] [-6.02636360e-01 7.90686506e-01 1.07908606e-01 1.81436551e+02] [ 1.75067747e-01 -9.35730350e-04 9.84555945e-01 1.14353330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:181.42, Z:114.36 [[ 7.78411204e-01 6.12416811e-01 -1.37918991e-01 2.90877609e+02] [-6.02816190e-01 7.90534478e-01 1.08017961e-01 1.81415078e+02] [ 1.75181733e-01 -9.42590165e-04 9.84535663e-01 1.14358035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:181.40, Z:114.36 [[ 7.78286472e-01 6.12497781e-01 -1.38262926e-01 2.90899046e+02] [-6.02841155e-01 7.90471716e-01 1.08337476e-01 1.81395757e+02] [ 1.75649396e-01 -9.67009635e-04 9.84452312e-01 1.14363375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:181.37, Z:114.37 [[ 7.78142422e-01 6.12381890e-01 -1.39580772e-01 2.90919577e+02] [-6.02537636e-01 7.90561459e-01 1.09366250e-01 1.81373357e+02] [ 1.77321090e-01 -9.99850333e-04 9.84152545e-01 1.14368883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:181.35, Z:114.37 [[ 7.78383161e-01 6.11973811e-01 -1.40027532e-01 2.90940619e+02] [-6.02059434e-01 7.90877268e-01 1.09715929e-01 1.81353889e+02] [ 1.77887867e-01 -1.09613479e-03 9.84050154e-01 1.14373409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.97, Y:181.33, Z:114.38 [[ 7.79534811e-01 6.09890303e-01 -1.42686007e-01 2.90965234e+02] [-6.00732747e-01 7.92477716e-01 1.05352915e-01 1.81330435e+02] [ 1.77329202e-01 3.58989207e-03 9.84145044e-01 1.14375025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.720385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.99, Y:181.31, Z:114.38 [[ 7.80461813e-01 6.09252908e-01 -1.40321959e-01 2.90987249e+02] [-5.99599361e-01 7.92975954e-01 1.08026583e-01 1.81307877e+02] [ 1.77087449e-01 -1.73665738e-04 9.84195105e-01 1.14380482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.750385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:291.00, Y:181.28, Z:114.40 [[ 7.79626021e-01 6.11592522e-01 -1.34676852e-01 2.91004147e+02] [-5.99646584e-01 7.91055657e-01 1.21057516e-01 1.81279962e+02] [ 1.80574757e-01 -1.36210747e-02 9.83466941e-01 1.14395109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.03, Y:181.26, Z:114.39 [[ 7.81098798e-01 6.07610553e-01 -1.43854385e-01 2.91030863e+02] [-5.98110777e-01 7.94231417e-01 1.07051176e-01 1.81264824e+02] [ 1.79299096e-01 2.42331280e-03 9.83791625e-01 1.14392895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:181.24, Z:114.40 [[ 7.80693318e-01 6.09171468e-01 -1.39384598e-01 2.91051885e+02] [-5.98339350e-01 7.93015766e-01 1.14525182e-01 1.81236270e+02] [ 1.80299657e-01 -6.00975510e-03 9.83593370e-01 1.14403429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:181.21, Z:114.41 [[ 7.81796632e-01 6.07186865e-01 -1.41838422e-01 2.91074684e+02] [-5.97171221e-01 7.94558210e-01 1.09835255e-01 1.81214630e+02] [ 1.79389407e-01 -1.16700890e-03 9.83777454e-01 1.14406575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.10, Y:181.20, Z:114.41 [[ 7.82408953e-01 6.06570383e-01 -1.41097841e-01 2.91097001e+02] [-5.96583477e-01 7.95028188e-01 1.09628168e-01 1.81195825e+02] [ 1.78673961e-01 -1.59741990e-03 9.83907040e-01 1.14411698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:181.18, Z:114.41 [[ 7.82535419e-01 6.05843254e-01 -1.43500065e-01 2.91123873e+02] [-5.96867530e-01 7.95572539e-01 1.03987916e-01 1.81175199e+02] [ 1.77165089e-01 4.27630217e-03 9.84171857e-01 1.14412590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:181.15, Z:114.43 [[ 7.80532393e-01 6.10033993e-01 -1.36483375e-01 2.91140091e+02] [-5.98971198e-01 7.92326612e-01 1.15982947e-01 1.81148026e+02] [ 1.78892951e-01 -8.77883667e-03 9.83829378e-01 1.14425727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:181.13, Z:114.43 [[ 7.78621438e-01 6.11531096e-01 -1.40635614e-01 2.91164762e+02] [-6.01487229e-01 7.91219231e-01 1.10386780e-01 1.81125757e+02] [ 1.78778551e-01 -1.35898788e-03 9.83888400e-01 1.14429407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:181.11, Z:114.43 [[ 7.78264636e-01 6.11457937e-01 -1.42910278e-01 2.91190438e+02] [-6.02504025e-01 7.91261919e-01 1.04371813e-01 1.81105708e+02] [ 1.76898435e-01 4.87512690e-03 9.84217038e-01 1.14429591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:181.08, Z:114.44 [[ 7.76384886e-01 6.15496174e-01 -1.35613306e-01 2.91203664e+02] [-6.04623688e-01 7.88103015e-01 1.15428917e-01 1.81083753e+02] [ 1.77923312e-01 -7.62224894e-03 9.84014836e-01 1.14441025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:181.06, Z:114.44 [[ 7.75423924e-01 6.15206091e-01 -1.42264558e-01 2.91228267e+02] [-6.05461821e-01 7.88364788e-01 1.09073117e-01 1.81063960e+02] [ 1.79258813e-01 1.55785406e-03 9.83800717e-01 1.14442634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:181.04, Z:114.45 [[ 7.73882829e-01 6.17601255e-01 -1.40264243e-01 2.91248633e+02] [-6.07355613e-01 7.86489921e-01 1.12039116e-01 1.81042559e+02] [ 1.79511912e-01 -1.51487274e-03 9.83754633e-01 1.14448829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:181.02, Z:114.45 [[ 7.72697760e-01 6.18410233e-01 -1.43202499e-01 2.91272218e+02] [-6.08652459e-01 7.85851192e-01 1.09453588e-01 1.81018449e+02] [ 1.80223073e-01 2.58601056e-03 9.83622365e-01 1.14453416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:181.00, Z:114.46 [[ 7.72090281e-01 6.19578269e-01 -1.41419115e-01 2.91294677e+02] [-6.09522798e-01 7.84934798e-01 1.11172490e-01 1.80995078e+02] [ 1.79884843e-01 3.62975572e-04 9.83687609e-01 1.14460428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:180.97, Z:114.47 [[ 7.71480629e-01 6.20495016e-01 -1.40725176e-01 2.91318082e+02] [-6.10542663e-01 7.84210215e-01 1.10688737e-01 1.80972807e+02] [ 1.79039930e-01 5.24507260e-04 9.83841668e-01 1.14465980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:180.95, Z:114.47 [[ 7.71131937e-01 6.20992663e-01 -1.40440903e-01 2.91340587e+02] [-6.11077574e-01 7.83816155e-01 1.10527973e-01 1.80949194e+02] [ 1.78716909e-01 5.88636795e-04 9.83900361e-01 1.14471589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.37, Y:180.93, Z:114.48 [[ 7.71448202e-01 6.20022228e-01 -1.42968908e-01 2.91366322e+02] [-6.10462278e-01 7.84576162e-01 1.08517531e-01 1.80927596e+02] [ 1.79453278e-01 3.56147056e-03 9.83760051e-01 1.14475495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.38, Y:180.90, Z:114.48 [[ 7.71404978e-01 6.21051116e-01 -1.38671812e-01 2.91383492e+02] [-6.10494366e-01 7.83762960e-01 1.14071261e-01 1.80903021e+02] [ 1.79529913e-01 -3.33677849e-03 9.83746856e-01 1.14483653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:180.88, Z:114.49 [[ 7.71667510e-01 6.20204647e-01 -1.40980315e-01 2.91408605e+02] [-6.10174126e-01 7.84439996e-01 1.11091981e-01 1.80882245e+02] [ 1.79490360e-01 2.96468102e-04 9.83759688e-01 1.14487560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:180.86, Z:114.49 [[ 7.71747549e-01 6.20198469e-01 -1.40568775e-01 2.91432552e+02] [-6.10215158e-01 7.84444899e-01 1.10831680e-01 1.80861270e+02] [ 1.79006097e-01 2.43119620e-04 9.83847935e-01 1.14493625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.46, Y:180.84, Z:114.50 [[ 7.72099574e-01 6.20070636e-01 -1.39192868e-01 2.91458052e+02] [-6.10270788e-01 7.84545970e-01 1.09805219e-01 1.80840810e+02] [ 1.77290196e-01 1.64778015e-04 9.84158605e-01 1.14499267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:180.82, Z:114.51 [[ 7.72226692e-01 6.19873633e-01 -1.39365042e-01 2.91483581e+02] [-6.10035023e-01 7.84701646e-01 1.10002714e-01 1.80820700e+02] [ 1.77547760e-01 7.05251067e-05 9.84112183e-01 1.14505075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:180.80, Z:114.51 [[ 7.73218927e-01 6.18782416e-01 -1.38711258e-01 2.91510228e+02] [-6.09010821e-01 7.85562394e-01 1.09533309e-01 1.80801433e+02] [ 1.76743634e-01 -2.16570710e-04 9.84256898e-01 1.14510389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:180.78, Z:114.51 [[ 7.73871786e-01 6.16960333e-01 -1.43116756e-01 2.91537724e+02] [-6.07752415e-01 7.86980104e-01 1.06298248e-01 1.80782312e+02] [ 1.78211842e-01 4.71833925e-03 9.83980831e-01 1.14514281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.56, Y:180.76, Z:114.52 [[ 7.73869787e-01 6.18644689e-01 -1.35662452e-01 2.91557382e+02] [-6.07980386e-01 7.85646760e-01 1.14538281e-01 1.80758641e+02] [ 1.77441265e-01 -6.15760486e-03 9.84112128e-01 1.14524653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.58, Y:180.74, Z:114.53 [[ 7.75101182e-01 6.16336686e-01 -1.39094381e-01 2.91583949e+02] [-6.06446578e-01 7.87482255e-01 1.09973848e-01 1.80741398e+02] [ 1.77315274e-01 -8.87547670e-04 9.84153700e-01 1.14527307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:180.72, Z:114.53 [[ 7.75585504e-01 6.15698332e-01 -1.39221729e-01 2.91610229e+02] [-6.05769262e-01 7.87981215e-01 1.10132671e-01 1.80721530e+02] [ 1.77512609e-01 -1.08105929e-03 9.84117932e-01 1.14532460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.64, Y:180.70, Z:114.54 [[ 7.76547479e-01 6.14288614e-01 -1.40083946e-01 2.91636026e+02] [-6.04201057e-01 7.89080072e-01 1.10877063e-01 1.80702079e+02] [ 1.78647968e-01 -1.46243549e-03 9.83911970e-01 1.14537074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:180.68, Z:114.54 [[ 7.77806391e-01 6.11687438e-01 -1.44415017e-01 2.91664205e+02] [-6.02123359e-01 7.91093402e-01 1.07790030e-01 1.80683317e+02] [ 1.80179574e-01 3.11588131e-03 9.83628798e-01 1.14540727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:180.66, Z:114.55 [[ 7.77440340e-01 6.13938756e-01 -1.36622551e-01 2.91683639e+02] [-6.02871190e-01 7.89312382e-01 1.16328380e-01 1.80661764e+02] [ 1.79256372e-01 -8.07257554e-03 9.83769275e-01 1.14550780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.71, Y:180.65, Z:114.55 [[ 7.78082932e-01 6.12196162e-01 -1.40722454e-01 2.91711854e+02] [-6.01957345e-01 7.90703242e-01 1.11515637e-01 1.80645497e+02] [ 1.79539146e-01 -2.05949912e-03 9.83748674e-01 1.14553861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:180.63, Z:114.55 [[ 7.80167360e-01 6.08597017e-01 -1.44736180e-01 2.91743071e+02] [-6.00281097e-01 7.93435153e-01 1.00614431e-01 1.80631814e+02] [ 1.76072416e-01 8.38629805e-03 9.84341493e-01 1.14548900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.76, Y:180.61, Z:114.57 [[ 7.78418690e-01 6.13455896e-01 -1.33177352e-01 2.91760007e+02] [-6.01956325e-01 7.89632223e-01 1.18867726e-01 1.80605592e+02] [ 1.78081235e-01 -1.23619103e-02 9.83938137e-01 1.14568788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:291.79, Y:180.59, Z:114.57 [[ 7.78188558e-01 6.12325105e-01 -1.39572680e-01 2.91789916e+02] [-6.02231011e-01 7.90603219e-01 1.10744572e-01 1.80589738e+02] [ 1.78158292e-01 -2.12516264e-03 9.83999546e-01 1.14570097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.82, Y:180.57, Z:114.58 [[ 7.78525802e-01 6.12044118e-01 -1.38922904e-01 2.91815996e+02] [-6.02029350e-01 7.90820484e-01 1.10288820e-01 1.80571742e+02] [ 1.77364702e-01 -2.22702658e-03 9.84142674e-01 1.14575227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:180.55, Z:114.58 [[ 7.78409534e-01 6.12271554e-01 -1.38571795e-01 2.91841563e+02] [-6.02301285e-01 7.90644446e-01 1.10065985e-01 1.80552237e+02] [ 1.76951292e-01 -2.21444148e-03 9.84217119e-01 1.14581203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.87, Y:180.53, Z:114.59 [[ 7.78467462e-01 6.12257593e-01 -1.38307810e-01 2.91867264e+02] [-6.02314824e-01 7.90655127e-01 1.09915073e-01 1.80532943e+02] [ 1.76650118e-01 -2.26046396e-03 9.84271114e-01 1.14587315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.89, Y:180.51, Z:114.59 [[ 7.78716720e-01 6.12031835e-01 -1.37903239e-01 2.91893059e+02] [-6.02133780e-01 7.90829631e-01 1.09651292e-01 1.80514485e+02] [ 1.76168049e-01 -2.35109564e-03 9.84357298e-01 1.14593101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.92, Y:180.49, Z:114.60 [[ 7.78560158e-01 6.12250667e-01 -1.37815827e-01 2.91919136e+02] [-6.02362042e-01 7.90660290e-01 1.09618778e-01 1.80494776e+02] [ 1.76079671e-01 -2.32978966e-03 9.84373162e-01 1.14598683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.920385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:291.95, Y:180.48, Z:114.60 [[ 7.78299271e-01 6.12608570e-01 -1.37698889e-01 2.91945227e+02] [-6.02730892e-01 7.90383107e-01 1.09590213e-01 1.80476522e+02] [ 1.75970780e-01 -2.29860883e-03 9.84392707e-01 1.14604509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:180.46, Z:114.60 [[ 7.80666231e-01 6.09692955e-01 -1.37239705e-01 2.91972046e+02] [-6.00186629e-01 7.92636519e-01 1.07253714e-01 1.80462326e+02] [ 1.74173036e-01 -1.35991682e-03 9.84714123e-01 1.14604700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.00, Y:180.44, Z:114.61 [[ 7.78078173e-01 6.12867158e-01 -1.37797692e-01 2.91996721e+02] [-6.03012885e-01 7.90183191e-01 1.09480519e-01 1.80438817e+02] [ 1.75982435e-01 -2.09061869e-03 9.84391087e-01 1.14614304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.02, Y:180.42, Z:114.62 [[ 7.79181543e-01 6.11513225e-01 -1.37577972e-01 2.92024112e+02] [-6.01607922e-01 7.91229704e-01 1.09651561e-01 1.80420055e+02] [ 1.75909158e-01 -2.67047492e-03 9.84402782e-01 1.14619106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.05, Y:180.40, Z:114.62 [[ 7.79101727e-01 6.11618158e-01 -1.37563544e-01 2.92049826e+02] [-6.01711282e-01 7.91148595e-01 1.09669659e-01 1.80399438e+02] [ 1.75909159e-01 -2.67028457e-03 9.84402782e-01 1.14624858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.070385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.07, Y:180.38, Z:114.63 [[ 7.77924824e-01 6.13094323e-01 -1.37652898e-01 2.92073423e+02] [-6.03191862e-01 7.90006182e-01 1.09771624e-01 1.80379804e+02] [ 1.76047000e-01 -2.36296390e-03 9.84378926e-01 1.14631751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:180.36, Z:114.64 [[ 7.78242128e-01 6.12517359e-01 -1.38425705e-01 2.92099222e+02] [-6.02481922e-01 7.90452994e-01 1.10451789e-01 1.80361474e+02] [ 1.77072651e-01 -2.55924985e-03 9.84194456e-01 1.14637359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.12, Y:180.34, Z:114.64 [[ 7.78350867e-01 6.12354474e-01 -1.38534931e-01 2.92124843e+02] [-6.02289751e-01 7.90578899e-01 1.10598646e-01 1.80341559e+02] [ 1.77248369e-01 -2.64638248e-03 9.84162595e-01 1.14643060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.15, Y:180.33, Z:114.65 [[ 7.81315727e-01 6.09395643e-01 -1.34843187e-01 2.92147735e+02] [-5.98643167e-01 7.92819903e-01 1.14293308e-01 1.80325824e+02] [ 1.76556207e-01 -8.57620633e-03 9.84253196e-01 1.14647883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.18, Y:180.31, Z:114.65 [[ 7.79325418e-01 6.10039388e-01 -1.43191615e-01 2.92178142e+02] [-6.01016707e-01 7.92358199e-01 1.04629833e-01 1.80306142e+02] [ 1.77287370e-01 4.51986460e-03 9.84148749e-01 1.14651495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.220385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:292.20, Y:180.28, Z:114.66 [[ 7.79229225e-01 6.11309307e-01 -1.38212681e-01 2.92200694e+02] [-6.01241812e-01 7.91385977e-01 1.10528365e-01 1.80284643e+02] [ 1.76946596e-01 -3.02768905e-03 9.84215797e-01 1.14659929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:292.23, Y:180.27, Z:114.67 [[ 7.78836971e-01 6.11806054e-01 -1.38225633e-01 2.92225384e+02] [-6.01733814e-01 7.91002261e-01 1.10597651e-01 1.80265444e+02] [ 1.77001101e-01 -2.96250223e-03 9.84206195e-01 1.14665506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:180.25, Z:114.67 [[ 7.78357867e-01 6.12405383e-01 -1.38270304e-01 2.92251356e+02] [-6.02325663e-01 7.90538672e-01 1.10690581e-01 1.80245634e+02] [ 1.77095530e-01 -2.87313184e-03 9.84189473e-01 1.14671630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.28, Y:180.23, Z:114.68 [[ 7.77245333e-01 6.13826202e-01 -1.38228384e-01 2.92278215e+02] [-6.03763642e-01 7.89436913e-01 1.10719585e-01 1.80226962e+02] [ 1.77085171e-01 -2.59900775e-03 9.84192099e-01 1.14677813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.30, Y:180.21, Z:114.68 [[ 7.76564808e-01 6.14689431e-01 -1.38217230e-01 2.92304383e+02] [-6.04630781e-01 7.88765421e-01 1.10773323e-01 1.80207539e+02] [ 1.77112163e-01 -2.45227300e-03 9.84187618e-01 1.14683433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:180.20, Z:114.68 [[ 7.78393005e-01 6.11127466e-01 -1.43622943e-01 2.92337031e+02] [-6.03436163e-01 7.91456417e-01 9.72704376e-02 1.80199790e+02] [ 1.73115936e-01 1.09526497e-02 9.84840552e-01 1.14675935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:180.17, Z:114.70 [[ 7.74253717e-01 6.19128953e-01 -1.31188881e-01 2.92350951e+02] [-6.07437662e-01 7.85171103e-01 1.20523133e-01 1.80166388e+02] [ 1.77625079e-01 -1.36264169e-02 9.84003888e-01 1.14699716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:180.15, Z:114.70 [[ 7.73735038e-01 6.16804293e-01 -1.44521816e-01 2.92384306e+02] [-6.07484699e-01 7.87100323e-01 1.06936533e-01 1.80152328e+02] [ 1.79712081e-01 5.05424941e-03 9.83706269e-01 1.14698523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:180.13, Z:114.71 [[ 7.75195870e-01 6.18057247e-01 -1.30677472e-01 2.92401315e+02] [-6.06096237e-01 7.85983198e-01 1.21974441e-01 1.80132030e+02] [ 1.78097485e-01 -1.53509592e-02 9.83893101e-01 1.14710033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:180.12, Z:114.71 [[ 7.73467453e-01 6.17301276e-01 -1.43830574e-01 2.92434232e+02] [-6.08228066e-01 7.86705489e-01 1.05608207e-01 1.80115279e+02] [ 1.78344383e-01 5.79728120e-03 9.83951052e-01 1.14709380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:180.09, Z:114.72 [[ 7.74493044e-01 6.17005621e-01 -1.39515552e-01 2.92455969e+02] [-6.06723015e-01 7.86955531e-01 1.12197036e-01 1.80093606e+02] [ 1.79018737e-01 -2.24852746e-03 9.83843095e-01 1.14718179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.48, Y:180.07, Z:114.72 [[ 7.75000172e-01 6.16320481e-01 -1.39727586e-01 2.92481153e+02] [-6.05984298e-01 7.87491599e-01 1.12427809e-01 1.80073735e+02] [ 1.79325861e-01 -2.45884846e-03 9.83786659e-01 1.14724068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.51, Y:180.05, Z:114.73 [[ 7.75456810e-01 6.15578151e-01 -1.40464499e-01 2.92506283e+02] [-6.05107884e-01 7.88071235e-01 1.13084826e-01 1.80054169e+02] [ 1.80308579e-01 -2.69622235e-03 9.83606398e-01 1.14729390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:180.05, Z:114.72 [[ 7.79888876e-01 6.08102876e-01 -1.48270812e-01 2.92540096e+02] [-6.01039794e-01 7.93697474e-01 9.37842525e-02 1.80050360e+02] [ 1.74712642e-01 1.59753628e-02 9.84489858e-01 1.14718274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.640385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:292.56, Y:180.03, Z:114.73 [[ 7.80046967e-01 6.09989629e-01 -1.39425181e-01 2.92560289e+02] [-6.00705852e-01 7.92408701e-01 1.06023253e-01 1.80025135e+02] [ 1.75154812e-01 1.05040502e-03 9.84540344e-01 1.14727869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.670385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.58, Y:180.00, Z:114.74 [[ 7.78698326e-01 6.13249124e-01 -1.32493130e-01 2.92578193e+02] [-6.01402752e-01 7.89758333e-01 1.20816002e-01 1.79999009e+02] [ 1.78727861e-01 -1.43974859e-02 9.83793202e-01 1.14743924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.700385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:292.61, Y:179.99, Z:114.74 [[ 7.80038734e-01 6.10446753e-01 -1.37456665e-01 2.92608165e+02] [-6.01463808e-01 7.92056261e-01 1.04346384e-01 1.79988526e+02] [ 1.72571323e-01 1.28098791e-03 9.84996192e-01 1.14739123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:179.98, Z:114.73 [[ 7.81276263e-01 6.06152353e-01 -1.48952090e-01 2.92640580e+02] [-5.99807218e-01 7.95113182e-01 8.95897805e-02 1.79976545e+02] [ 1.72738827e-01 1.93481701e-02 9.84777612e-01 1.14733943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:179.93, Z:114.78 [[ 7.77083233e-01 6.17217474e-01 -1.23224348e-01 2.92643507e+02] [-6.02750496e-01 7.86145807e-01 1.36625800e-01 1.79930382e+02] [ 1.81200135e-01 -3.18960813e-02 9.82928864e-01 1.14775295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.790385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:292.68, Y:179.93, Z:114.76 [[ 7.78375687e-01 6.11559771e-01 -1.41865908e-01 2.92678505e+02] [-6.02128769e-01 7.91195371e-01 1.07008557e-01 1.79928184e+02] [ 1.77685779e-01 2.12868549e-03 9.84084972e-01 1.14760468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.70, Y:179.91, Z:114.78 [[ 7.77487113e-01 6.13154996e-01 -1.39838262e-01 2.92696207e+02] [-6.01954195e-01 7.89934417e-01 1.16853604e-01 1.79905756e+02] [ 1.82112427e-01 -6.67594226e-03 9.83255051e-01 1.14775836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.72, Y:179.89, Z:114.78 [[ 7.77651327e-01 6.11747098e-01 -1.44996214e-01 2.92724291e+02] [-6.01266797e-01 7.91053246e-01 1.12751946e-01 1.79887426e+02] [ 1.83675401e-01 -5.00291455e-04 9.82986824e-01 1.14779451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.75, Y:179.87, Z:114.79 [[ 7.78146906e-01 6.12620944e-01 -1.38502605e-01 2.92745965e+02] [-6.01132923e-01 7.90326890e-01 1.18417127e-01 1.79865149e+02] [ 1.82007146e-01 -8.88744490e-03 9.83257043e-01 1.14788251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.77, Y:179.85, Z:114.79 [[ 7.77639761e-01 6.12196612e-01 -1.43149260e-01 2.92771053e+02] [-6.01864600e-01 7.90705016e-01 1.12002589e-01 1.79850914e+02] [ 1.81756444e-01 -9.41193765e-04 9.83343129e-01 1.14790272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.940385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:292.79, Y:179.83, Z:114.80 [[ 7.77440080e-01 6.12260289e-01 -1.43959235e-01 2.92794438e+02] [-6.01959442e-01 7.90656218e-01 1.11837271e-01 1.79833829e+02] [ 1.82295784e-01 -2.89156352e-04 9.83243695e-01 1.14795165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.970385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:292.82, Y:179.81, Z:114.80 [[ 7.77444658e-01 6.14024527e-01 -1.36211906e-01 2.92816628e+02] [-6.02572741e-01 7.89223367e-01 1.18459145e-01 1.79811075e+02] [ 1.80238440e-01 -1.00178483e-02 9.83571933e-01 1.14804548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.85, Y:179.80, Z:114.80 [[ 7.75964575e-01 6.13935333e-01 -1.44783928e-01 2.92846404e+02] [-6.03974862e-01 7.89353873e-01 1.10158198e-01 1.79796394e+02] [ 1.81915764e-01 1.96699372e-03 9.83312151e-01 1.14804746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.030385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:292.88, Y:179.78, Z:114.80 [[ 7.77955207e-01 6.10764679e-01 -1.47486280e-01 2.92877498e+02] [-6.02978571e-01 7.91710876e-01 9.80343410e-02 1.79782618e+02] [ 1.76642405e-01 1.26647404e-02 9.84193612e-01 1.14797243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06038572299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:292.90, Y:179.76, Z:114.80 [[ 7.77820736e-01 6.11656496e-01 -1.44468799e-01 2.92899222e+02] [-6.03061174e-01 7.91088522e-01 1.02450821e-01 1.79762261e+02] [ 1.76952319e-01 7.43515046e-03 9.84191341e-01 1.14803053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:179.74, Z:114.82 [[ 7.76924313e-01 6.15696755e-01 -1.31552715e-01 2.92913975e+02] [-6.03936758e-01 7.87854275e-01 1.20606937e-01 1.79735814e+02] [ 1.77901669e-01 -1.42529411e-02 9.83945044e-01 1.14820317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:179.72, Z:114.82 [[ 7.76915953e-01 6.14005942e-01 -1.39277798e-01 2.92944557e+02] [-6.03958455e-01 7.89299260e-01 1.10638429e-01 1.79719563e+02] [ 1.77864516e-01 -1.83875689e-03 9.84053267e-01 1.14821435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.150385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:292.96, Y:179.69, Z:114.84 [[ 7.74489762e-01 6.18258675e-01 -1.33872400e-01 2.92959708e+02] [-6.05241687e-01 7.85776078e-01 1.27430198e-01 1.79693521e+02] [ 1.83978555e-01 -1.76682265e-02 9.82771451e-01 1.14840880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.180385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:292.99, Y:179.68, Z:114.84 [[ 7.75818190e-01 6.14343235e-01 -1.43835065e-01 2.92993935e+02] [-6.04419674e-01 7.89037266e-01 1.09986591e-01 1.79679522e+02] [ 1.81060744e-01 1.60714465e-03 9.83470602e-01 1.14835355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.210385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:293.02, Y:179.66, Z:114.84 [[ 7.77199005e-01 6.12752066e-01 -1.43166379e-01 2.93018895e+02] [-6.03489280e-01 7.90265817e-01 1.06210298e-01 1.79662194e+02] [ 1.78220075e-01 3.85283735e-03 9.83983110e-01 1.14836584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.03, Y:179.63, Z:114.86 [[ 7.75758659e-01 6.17555184e-01 -1.29707742e-01 2.93030846e+02] [-6.04160438e-01 7.86209051e-01 1.29867218e-01 1.79631111e+02] [ 1.82177574e-01 -2.23813326e-02 9.83010889e-01 1.14860220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.270385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:293.07, Y:179.63, Z:114.84 [[ 7.75899984e-01 6.10499140e-01 -1.58965452e-01 2.93072251e+02] [-6.04129678e-01 7.91620006e-01 9.14609125e-02 1.79630695e+02] [ 1.81677040e-01 2.50712267e-02 9.83038599e-01 1.14840078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.300385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:293.09, Y:179.60, Z:114.85 [[ 7.77119922e-01 6.13151940e-01 -1.41877855e-01 2.93091150e+02] [-6.03387065e-01 7.89964481e-01 1.08996185e-01 1.79601446e+02] [ 1.78909688e-01 9.04156265e-04 9.83865085e-01 1.14851784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.330385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.10, Y:179.57, Z:114.88 [[ 7.73754848e-01 6.20837376e-01 -1.25953915e-01 2.93099326e+02] [-6.05293799e-01 7.83213844e-01 1.42110839e-01 1.79567413e+02] [ 1.86876570e-01 -3.37198266e-02 9.81804523e-01 1.14882123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:179.57, Z:114.85 [[ 7.76800161e-01 6.09649225e-01 -1.57826904e-01 2.93148457e+02] [-6.03801822e-01 7.92222772e-01 8.83540522e-02 1.79571986e+02] [ 1.78899047e-01 2.66627304e-02 9.83506090e-01 1.14853263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.390385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:293.16, Y:179.54, Z:114.86 [[ 7.76942294e-01 6.13601407e-01 -1.40904169e-01 2.93163929e+02] [-6.04242210e-01 7.89612931e-01 1.06783757e-01 1.79543438e+02] [ 1.76782418e-01 2.17542968e-03 9.84247552e-01 1.14864288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.420385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.19, Y:179.52, Z:114.87 [[ 7.76058517e-01 6.14978242e-01 -1.39767447e-01 2.93187803e+02] [-6.05368134e-01 7.88543873e-01 1.08295808e-01 1.79522119e+02] [ 1.76812329e-01 5.66874646e-04 9.84244420e-01 1.14872130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.450385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:293.19, Y:179.49, Z:114.91 [[ 7.71956366e-01 6.24163624e-01 -1.20428986e-01 2.93192510e+02] [-6.07986206e-01 7.80265222e-01 1.46761565e-01 1.79485525e+02] [ 1.85569779e-01 -4.00743620e-02 9.81813578e-01 1.14908409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.480385723 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:293.23, Y:179.48, Z:114.90 [[ 7.70877099e-01 6.20536248e-01 -1.43816769e-01 2.93230409e+02] [-6.09275115e-01 7.84171531e-01 1.17723594e-01 1.79477242e+02] [ 1.85828773e-01 -3.12644427e-03 9.82577169e-01 1.14901288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.510385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:293.25, Y:179.46, Z:114.91 [[ 7.70186089e-01 6.21497177e-01 -1.43368923e-01 2.93254863e+02] [-6.10310628e-01 7.83410892e-01 1.17423645e-01 1.79456226e+02] [ 1.85295239e-01 -2.93848074e-03 9.82678503e-01 1.14908172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.540385723 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:293.28, Y:179.43, Z:114.91 [[ 7.69600597e-01 6.22284103e-01 -1.43099322e-01 2.93279137e+02] [-6.11140933e-01 7.82786480e-01 1.17269290e-01 1.79434652e+02] [ 1.84991029e-01 -2.79666185e-03 9.82736230e-01 1.14914224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.570385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.30, Y:179.41, Z:114.92 [[ 7.69307889e-01 6.22602912e-01 -1.43286381e-01 2.93302523e+02] [-6.11423013e-01 7.82533002e-01 1.17490426e-01 1.79414470e+02] [ 1.85276204e-01 -2.77772083e-03 9.82682559e-01 1.14920424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.33, Y:179.39, Z:114.93 [[ 7.69417114e-01 6.22528010e-01 -1.43025108e-01 2.93327039e+02] [-6.11376064e-01 7.82592364e-01 1.17339254e-01 1.79393932e+02] [ 1.84977329e-01 -2.84070281e-03 9.82738683e-01 1.14926128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.36, Y:179.38, Z:114.91 [[ 7.72317613e-01 6.17445022e-01 -1.49288814e-01 2.93359867e+02] [-6.09668161e-01 7.86476328e-01 9.87912909e-02 1.79382485e+02] [ 1.78410309e-01 1.47183827e-02 9.83846091e-01 1.14914669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.660385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.37, Y:179.35, Z:114.94 [[ 7.69454569e-01 6.24988887e-01 -1.31637980e-01 2.93367972e+02] [-6.11540050e-01 7.80379986e-01 1.30483117e-01 1.79348131e+02] [ 1.84278143e-01 -1.98989339e-02 9.82672681e-01 1.14943953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.690385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:293.40, Y:179.33, Z:114.94 [[ 7.69197335e-01 6.22919118e-01 -1.42503446e-01 2.93398724e+02] [-6.11830096e-01 7.82281073e-01 1.17048094e-01 1.79332637e+02] [ 1.84389244e-01 -2.84518497e-03 9.82849181e-01 1.14943406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.720385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:293.42, Y:179.31, Z:114.95 [[ 7.68904339e-01 6.23191022e-01 -1.42895304e-01 2.93423173e+02] [-6.12032636e-01 7.82064500e-01 1.17435815e-01 1.79311283e+02] [ 1.84938290e-01 -2.84031843e-03 9.82746031e-01 1.14949622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.750385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:293.45, Y:179.29, Z:114.95 [[ 7.69260097e-01 6.22634732e-01 -1.43404651e-01 2.93447408e+02] [-6.11373811e-01 7.82506717e-01 1.17920742e-01 1.79290842e+02] [ 1.85636653e-01 -3.03787317e-03 9.82613762e-01 1.14953937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.780385723 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:293.47, Y:179.27, Z:114.96 [[ 7.70127315e-01 6.21533528e-01 -1.43526974e-01 2.93471520e+02] [-6.10222556e-01 7.83380376e-01 1.18083099e-01 1.79269744e+02] [ 1.85828820e-01 -3.35562266e-03 9.82576404e-01 1.14959076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.50, Y:179.25, Z:114.97 [[ 7.70388796e-01 6.21273882e-01 -1.43247574e-01 2.93495649e+02] [-6.09990568e-01 7.83585840e-01 1.17918353e-01 1.79248518e+02] [ 1.85506363e-01 -3.46330885e-03 9.82636960e-01 1.14967092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.52, Y:179.23, Z:114.97 [[ 7.71035139e-01 6.20347839e-01 -1.43782381e-01 2.93520351e+02] [-6.08950986e-01 7.84317842e-01 1.18423899e-01 1.79226811e+02] [ 1.86235097e-01 -3.75256503e-03 9.82498044e-01 1.14972950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87038572299997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:293.54, Y:179.20, Z:114.98 [[ 7.72794189e-01 6.17959350e-01 -1.44621515e-01 2.93544038e+02] [-6.06373384e-01 7.86197686e-01 1.19182706e-01 1.79204890e+02] [ 1.87351168e-01 -4.40906500e-03 9.82283106e-01 1.14978587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.900385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:293.57, Y:179.18, Z:114.98 [[ 7.73493315e-01 6.17025797e-01 -1.44869798e-01 2.93567949e+02] [-6.05370623e-01 7.86928906e-01 1.19454195e-01 1.79184315e+02] [ 1.87708551e-01 -4.69710171e-03 9.82213539e-01 1.14984380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.930385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:293.60, Y:179.18, Z:114.97 [[ 7.79983043e-01 6.06372685e-01 -1.54721106e-01 2.93604802e+02] [-6.00141727e-01 7.94850603e-01 8.96795777e-02 1.79180379e+02] [ 1.77359411e-01 2.29060421e-02 9.83879542e-01 1.14965932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.960385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:293.62, Y:179.15, Z:114.98 [[ 7.79595955e-01 6.10728371e-01 -1.38711948e-01 2.93620393e+02] [-6.00742574e-01 7.91836419e-01 1.10015655e-01 1.79150045e+02] [ 1.77026854e-01 -2.43758677e-03 9.84203003e-01 1.14981356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.990385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.64, Y:179.13, Z:114.99 [[ 7.80367352e-01 6.10125931e-01 -1.37015121e-01 2.93643604e+02] [-6.00070995e-01 7.92294765e-01 1.10380284e-01 1.79129199e+02] [ 1.75902237e-01 -3.91836960e-03 9.84399842e-01 1.14987297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.67, Y:179.11, Z:114.99 [[ 7.81098233e-01 6.08727681e-01 -1.39054524e-01 2.93669147e+02] [-5.99227065e-01 7.93379157e-01 1.07128143e-01 1.79111311e+02] [ 1.75534827e-01 -3.52368993e-04 9.84473159e-01 1.14989565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.050385723 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:293.69, Y:179.09, Z:115.00 [[ 7.79301554e-01 6.11502672e-01 -1.36943673e-01 2.93689169e+02] [-6.00195302e-01 7.91187545e-01 1.17421754e-01 1.79085351e+02] [ 1.80151845e-01 -9.31400618e-03 9.83594714e-01 1.15002289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.080385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:293.72, Y:179.07, Z:115.00 [[ 7.79670324e-01 6.09778700e-01 -1.42422342e-01 2.93715565e+02] [-5.99472032e-01 7.92569957e-01 1.11651898e-01 1.79067502e+02] [ 1.80962618e-01 -1.67346049e-03 9.83488551e-01 1.15004107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.74, Y:179.04, Z:115.01 [[ 7.78727868e-01 6.11218313e-01 -1.41403965e-01 2.93737553e+02] [-6.00143307e-01 7.91443393e-01 1.15954153e-01 1.79044689e+02] [ 1.82786536e-01 -5.43408727e-03 9.83137606e-01 1.15014272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.140385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:293.76, Y:179.02, Z:115.02 [[ 7.78863738e-01 6.11102652e-01 -1.41155326e-01 2.93759522e+02] [-5.99597054e-01 7.91516080e-01 1.18261017e-01 1.79023033e+02] [ 1.83996332e-01 -7.47290003e-03 9.82898523e-01 1.15020717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.170385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:293.77, Y:178.99, Z:115.05 [[ 7.75389546e-01 6.17391126e-01 -1.32662161e-01 2.93771754e+02] [-6.01886109e-01 7.86116758e-01 1.40547340e-01 1.78990743e+02] [ 1.91060628e-01 -2.91314260e-02 9.81145859e-01 1.15049530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.81, Y:178.99, Z:115.03 [[ 7.75874504e-01 6.11989306e-01 -1.53257444e-01 2.93809628e+02] [-6.02133716e-01 7.90833038e-01 1.09627068e-01 1.78985829e+02] [ 1.88291643e-01 7.22462696e-03 9.82086586e-01 1.15034457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.230385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:293.82, Y:178.96, Z:115.05 [[ 7.72829386e-01 6.19162484e-01 -1.39185339e-01 2.93818318e+02] [-6.05111997e-01 7.85054311e-01 1.32397885e-01 1.78959368e+02] [ 1.91243854e-01 -1.80982577e-02 9.81375688e-01 1.15053600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.260385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:293.85, Y:178.95, Z:115.05 [[ 7.72102983e-01 6.16365682e-01 -1.54758941e-01 2.93852300e+02] [-6.06179630e-01 7.87424737e-01 1.11841582e-01 1.78947847e+02] [ 1.90796332e-01 7.45849847e-03 9.81601309e-01 1.15046216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:178.92, Z:115.07 [[ 7.69659525e-01 6.22315028e-01 -1.42647195e-01 2.93866219e+02] [-6.08508083e-01 7.82639564e-01 1.31122942e-01 1.78919686e+02] [ 1.93241116e-01 -1.41180496e-02 9.81049719e-01 1.15067817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.320385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:293.90, Y:178.91, Z:115.06 [[ 7.68942465e-01 6.20742314e-01 -1.52991714e-01 2.93898964e+02] [-6.10264268e-01 7.83992328e-01 1.13725777e-01 1.78905721e+02] [ 1.90538733e-01 5.91679703e-03 9.81661848e-01 1.15061660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.350385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:293.91, Y:178.88, Z:115.08 [[ 7.65255646e-01 6.27532014e-01 -1.43482992e-01 2.93913641e+02] [-6.13639137e-01 7.78483422e-01 1.31949126e-01 1.78878385e+02] [ 1.94501431e-01 -1.29280349e-02 9.80817037e-01 1.15079451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.380385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:293.94, Y:178.86, Z:115.08 [[ 7.64101963e-01 6.27458149e-01 -1.49814758e-01 2.93938382e+02] [-6.15031410e-01 7.78645147e-01 1.24290389e-01 1.78863111e+02] [ 1.94639551e-01 -2.82974816e-03 9.80870755e-01 1.15081538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:178.84, Z:115.09 [[ 7.62520722e-01 6.29612598e-01 -1.48829181e-01 2.93957761e+02] [-6.17394218e-01 7.76905983e-01 1.23456364e-01 1.78844425e+02] [ 1.93355963e-01 -2.25175990e-03 9.81126088e-01 1.15088019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.440385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:293.98, Y:178.82, Z:115.09 [[ 7.61760127e-01 6.30642722e-01 -1.48361940e-01 2.93981401e+02] [-6.18524308e-01 7.76070791e-01 1.23052053e-01 1.78823207e+02] [ 1.92741250e-01 -1.97068141e-03 9.81247638e-01 1.15094686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.470385723 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:294.01, Y:178.81, Z:115.08 [[ 7.61895220e-01 6.27813015e-01 -1.59268619e-01 2.94013505e+02] [-6.20023617e-01 7.78058347e-01 1.00974859e-01 1.78809206e+02] [ 1.87313609e-01 2.18180429e-02 9.82057832e-01 1.15083605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:178.78, Z:115.10 [[ 7.62975586e-01 6.30557433e-01 -1.42357220e-01 2.94023908e+02] [-6.18367566e-01 7.76117573e-01 1.23543780e-01 1.78783271e+02] [ 1.88387389e-01 -6.23179993e-03 9.82075026e-01 1.15101220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.530385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.05, Y:178.76, Z:115.11 [[ 7.62605160e-01 6.30511756e-01 -1.44527838e-01 2.94048072e+02] [-6.18567336e-01 7.76170429e-01 1.22204405e-01 1.78763495e+02] [ 1.89229548e-01 -3.79351010e-03 9.81925551e-01 1.15106778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.07, Y:178.75, Z:115.11 [[ 7.61823289e-01 6.30137180e-01 -1.50174602e-01 2.94073414e+02] [-6.19416656e-01 7.76469165e-01 1.15838865e-01 1.78746273e+02] [ 1.89600324e-01 4.77190473e-03 9.81849757e-01 1.15108567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:178.71, Z:115.14 [[ 7.59417525e-01 6.36752939e-01 -1.33531708e-01 2.94082441e+02] [-6.20491720e-01 7.70568169e-01 1.45652746e-01 1.78710778e+02] [ 1.95640098e-01 -2.77559285e-02 9.80282898e-01 1.15138932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.62038572299997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:294.12, Y:178.71, Z:115.12 [[ 7.62235947e-01 6.27644625e-01 -1.58299039e-01 2.94124565e+02] [-6.18411830e-01 7.78349455e-01 1.08346363e-01 1.78705872e+02] [ 1.91214983e-01 1.53085058e-02 9.81428795e-01 1.15117718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.650385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.13, Y:178.67, Z:115.15 [[ 7.59725789e-01 6.34808874e-01 -1.40834727e-01 2.94132112e+02] [-6.19612250e-01 7.72445858e-01 1.39312799e-01 1.78671395e+02] [ 1.97224203e-01 -1.85766040e-02 9.80182393e-01 1.15146448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:178.66, Z:115.15 [[ 7.60008559e-01 6.31988120e-01 -1.51584982e-01 2.94162409e+02] [-6.19256849e-01 7.74975320e-01 1.26230776e-01 1.78655472e+02] [ 1.97250971e-01 -2.06643147e-03 9.80350848e-01 1.15145618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.20, Y:178.64, Z:115.13 [[ 7.63085663e-01 6.25984601e-01 -1.60759294e-01 2.94196396e+02] [-6.17137007e-01 7.79627405e-01 1.06409700e-01 1.78643377e+02] [ 1.91943185e-01 1.80107928e-02 9.81240758e-01 1.15133546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.740385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.21, Y:178.61, Z:115.15 [[ 7.63579071e-01 6.28776187e-01 -1.46926881e-01 2.94210445e+02] [-6.16172377e-01 7.77568952e-01 1.25371952e-01 1.78612694e+02] [ 1.93076679e-01 -5.19911331e-03 9.81169896e-01 1.15149319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.770385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.23, Y:178.59, Z:115.16 [[ 7.63350405e-01 6.29304585e-01 -1.45848893e-01 2.94231734e+02] [-6.15860746e-01 7.77104419e-01 1.29708381e-01 1.78589939e+02] [ 1.94965897e-01 -9.19033700e-03 9.80766963e-01 1.15159690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.25, Y:178.57, Z:115.17 [[ 7.62813076e-01 6.29834334e-01 -1.46372550e-01 2.94250825e+02] [-6.15305040e-01 7.76620432e-01 1.35131090e-01 1.78565488e+02] [ 1.98786113e-01 -1.30159948e-02 9.79956461e-01 1.15173567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:178.55, Z:115.18 [[ 7.63274530e-01 6.27727544e-01 -1.52872897e-01 2.94277660e+02] [-6.14620778e-01 7.78425368e-01 1.27652832e-01 1.78547759e+02] [ 1.99131340e-01 -3.47529622e-03 9.79966648e-01 1.15175642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.30, Y:178.53, Z:115.18 [[ 7.63708499e-01 6.27123398e-01 -1.53184766e-01 2.94300675e+02] [-6.13941358e-01 7.78911246e-01 1.27958119e-01 1.78526966e+02] [ 1.99562867e-01 -3.67624010e-03 9.79878129e-01 1.15181963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.890385723 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:294.70, Y:179.30, Z:116.14 [[ 7.90598540e-01 -6.00983282e-01 1.17358616e-01 2.94700442e+02] [-5.85372553e-01 -7.98021956e-01 -1.43177970e-01 1.79297391e+02] [ 1.79702319e-01 4.44977811e-02 -9.82714111e-01 1.16137539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.920385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.77, Y:179.37, Z:116.04 [[ 8.33430175e-01 -5.52546588e-01 9.29582253e-03 2.94768660e+02] [-5.26787230e-01 -7.99434689e-01 -2.88789529e-01 1.79371968e+02] [ 1.67001072e-01 2.35788987e-01 -9.57347479e-01 1.16044437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.69, Y:179.28, Z:116.15 [[ 8.74965743e-01 -4.64112666e-01 1.37965149e-01 2.94686350e+02] [-4.56648719e-01 -8.85718974e-01 -8.35095601e-02 1.79280062e+02] [ 1.60956195e-01 1.00663956e-02 -9.86910214e-01 1.16153257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.67, Y:179.26, Z:116.16 [[ 9.09242929e-01 -3.90721562e-01 1.43575613e-01 2.94673986e+02] [-3.84168291e-01 -9.20451168e-01 -7.20025842e-02 1.79263903e+02] [ 1.60287303e-01 1.03106426e-02 -9.87016551e-01 1.16159048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:179.25, Z:116.16 [[ 9.37363928e-01 -3.15379442e-01 1.47934698e-01 2.94662709e+02] [-3.09786743e-01 -9.48908018e-01 -6.00478657e-02 1.79248332e+02] [ 1.59314283e-01 1.04584950e-02 -9.87172517e-01 1.16164075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:179.23, Z:116.17 [[ 9.59471024e-01 -2.37761106e-01 1.51277927e-01 2.94653599e+02] [-2.33138994e-01 -9.71265338e-01 -4.78524012e-02 1.79231716e+02] [ 1.58308446e-01 1.06442087e-02 -9.87332333e-01 1.16169120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.070385723 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:294.65, Y:179.25, Z:116.18 [[ 9.75231919e-01 -1.52621362e-01 1.60091922e-01 2.94647930e+02] [-1.51509090e-01 -9.88269284e-01 -1.92046177e-02 1.79250176e+02] [ 1.61144964e-01 -5.52642520e-03 -9.86915275e-01 1.16182272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.64, Y:179.24, Z:116.22 [[ 9.83789995e-01 -6.12863229e-02 1.68526650e-01 2.94637063e+02] [-7.38828403e-02 -9.94841227e-01 6.95144563e-02 1.79238055e+02] [ 1.63396974e-01 -8.08388542e-02 -9.83242853e-01 1.16216761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:179.27, Z:116.19 [[ 9.86323966e-01 3.29406725e-03 1.64785263e-01 2.94641098e+02] [ 5.19942357e-03 -9.99924512e-01 -1.11326551e-02 1.79266899e+02] [ 1.64736152e-01 1.18371929e-02 -9.86266638e-01 1.16186791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:179.25, Z:116.19 [[ 9.82815183e-01 8.36562177e-02 1.64547725e-01 2.94636338e+02] [ 8.44817404e-02 -9.96423045e-01 1.98754541e-03 1.79250582e+02] [ 1.64125416e-01 1.19478884e-02 -9.86367120e-01 1.16191884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.63, Y:179.24, Z:116.20 [[ 9.72948653e-01 1.63025536e-01 1.63687489e-01 2.94633200e+02] [ 1.62769179e-01 -9.86549093e-01 1.50692159e-02 1.79236541e+02] [ 1.63942410e-01 1.19817047e-02 -9.86397144e-01 1.16197392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.63, Y:179.22, Z:116.20 [[ 9.56862699e-01 2.41206258e-01 1.61967026e-01 2.94631690e+02] [ 2.39865310e-01 -9.70399933e-01 2.80820651e-02 1.79221649e+02] [ 1.63946361e-01 1.19795902e-02 -9.86396513e-01 1.16202983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:179.20, Z:116.21 [[ 9.34726981e-01 3.17527060e-01 1.59568285e-01 2.94632729e+02] [ 3.15089149e-01 -9.48174325e-01 4.10399614e-02 1.79203803e+02] [ 1.64329849e-01 1.19170759e-02 -9.86333455e-01 1.16208132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.63, Y:179.19, Z:116.21 [[ 9.06698843e-01 3.91519641e-01 1.56874408e-01 2.94634305e+02] [ 3.87941452e-01 -9.20094161e-01 5.41125233e-02 1.79186299e+02] [ 1.65525343e-01 1.17943235e-02 -9.86135008e-01 1.16213468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.64, Y:179.17, Z:116.22 [[ 8.73297739e-01 4.63003493e-01 1.51587682e-01 2.94638890e+02] [ 4.58396976e-01 -8.86279433e-01 6.61889587e-02 1.79167062e+02] [ 1.64994764e-01 1.16846673e-02 -9.86225226e-01 1.16218642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.340385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.64, Y:179.15, Z:116.22 [[ 8.33897086e-01 5.32147236e-01 1.46406862e-01 2.94643391e+02] [ 5.26463245e-01 -8.46571467e-01 7.84423622e-02 1.79147910e+02] [ 1.65686758e-01 1.16649744e-02 -9.86109439e-01 1.16223920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.65, Y:179.13, Z:116.23 [[ 7.89975419e-01 5.97062030e-01 1.39483938e-01 2.94650169e+02] [ 5.90395081e-01 -8.02112934e-01 8.97133757e-02 1.79131088e+02] [ 1.65446321e-01 1.14792692e-02 -9.86151987e-01 1.16229500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:179.11, Z:116.23 [[ 7.41970358e-01 6.57504516e-01 1.31025951e-01 2.94662880e+02] [ 6.49986628e-01 -7.53368243e-01 9.97681031e-02 1.79109812e+02] [ 1.64308769e-01 1.11401411e-02 -9.86346048e-01 1.16233863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.68, Y:179.09, Z:116.24 [[ 6.87593115e-01 7.15937816e-01 1.21032030e-01 2.94676115e+02] [ 7.07806366e-01 -6.98072940e-01 1.08186501e-01 1.79088692e+02] [ 1.61943992e-01 1.12789481e-02 -9.86735491e-01 1.16236175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.68, Y:179.08, Z:116.24 [[ 6.28297052e-01 7.67839601e-01 1.25160544e-01 2.94679074e+02] [ 7.60626612e-01 -6.40069870e-01 1.08433017e-01 1.79080307e+02] [ 1.63370657e-01 2.70722960e-02 -9.86193246e-01 1.16238331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:179.09, Z:116.21 [[ 5.67376193e-01 8.04071916e-01 1.77630544e-01 2.94661238e+02] [ 8.07683855e-01 -5.85425786e-01 7.01672248e-02 1.79093872e+02] [ 1.60408996e-01 1.03658110e-01 -9.81592558e-01 1.16210237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:179.05, Z:116.25 [[ 5.01952932e-01 8.60215678e-01 8.98456591e-02 2.94702901e+02] [ 8.50225660e-01 -5.09821007e-01 1.31144459e-01 1.79050758e+02] [ 1.58617724e-01 1.05607392e-02 -9.87283591e-01 1.16254168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:179.02, Z:116.27 [[ 4.34721835e-01 8.99421407e-01 4.53658291e-02 2.94735253e+02] [ 8.86799744e-01 -4.36307594e-01 1.52387331e-01 1.79024795e+02] [ 1.56853883e-01 -2.60156944e-02 -9.87279111e-01 1.16268817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:178.96, Z:116.34 [[ 3.63279546e-01 9.20422252e-01 -1.44398232e-01 2.94844520e+02] [ 9.16057029e-01 -3.24607776e-01 2.35519237e-01 1.78958552e+02] [ 1.69904357e-01 -2.17836337e-01 -9.61082639e-01 1.16338657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.74, Y:179.01, Z:116.26 [[ 2.93229036e-01 9.53777935e-01 6.57600499e-02 2.94739583e+02] [ 9.40283284e-01 -3.00149906e-01 1.60553354e-01 1.79008289e+02] [ 1.72870119e-01 1.47541705e-02 -9.84834116e-01 1.16263415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:179.00, Z:116.26 [[ 2.17083525e-01 9.74139012e-01 6.26731943e-02 2.94741607e+02] [ 9.61350338e-01 -2.24489282e-01 1.59405428e-01 1.79000613e+02] [ 1.69352507e-01 2.56466043e-02 -9.85221792e-01 1.16264629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:179.00, Z:116.24 [[ 1.43897174e-01 9.82476904e-01 1.18459852e-01 2.94715138e+02] [ 9.75425097e-01 -1.61000319e-01 1.50415352e-01 1.79004765e+02] [ 1.66851683e-01 9.39043681e-02 -9.81500120e-01 1.16240191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:178.99, Z:116.28 [[ 6.82262103e-02 9.97450068e-01 2.09414814e-02 2.94763758e+02] [ 9.83982430e-01 -7.07404041e-02 1.63628766e-01 1.78985692e+02] [ 1.64692932e-01 9.44227916e-03 -9.86299692e-01 1.16280797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:178.98, Z:116.29 [[-9.19859351e-03 9.99926937e-01 7.84260068e-03 2.94771804e+02] [ 9.86377471e-01 7.78521025e-03 1.64313347e-01 1.78979070e+02] [ 1.64240285e-01 9.24721631e-03 -9.86377016e-01 1.16285364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:178.97, Z:116.29 [[-8.60927306e-02 9.96273151e-01 -5.27731602e-03 2.94816344e+02] [ 9.82660048e-01 8.57870718e-02 1.64377030e-01 1.78966224e+02] [ 1.64217147e-01 8.96585973e-03 -9.86383466e-01 1.16287769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:178.91, Z:116.28 [[-1.62740481e-01 9.86216774e-01 -2.98665402e-02 2.94876973e+02] [ 9.73535770e-01 1.65423129e-01 1.57680983e-01 1.78911027e+02] [ 1.60448247e-01 -3.41506633e-03 -9.87038347e-01 1.16284746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.96, Y:178.93, Z:116.31 [[-2.40383492e-01 9.63545361e-01 -1.17456857e-01 2.94958786e+02] [ 9.56863629e-01 2.55563293e-01 1.38200573e-01 1.78926795e+02] [ 1.63180182e-01 -7.91690585e-02 -9.83414708e-01 1.16314374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.850385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.04, Y:178.92, Z:116.33 [[-3.15130135e-01 9.30489430e-01 -1.86768357e-01 2.95042079e+02] [ 9.33537878e-01 3.39351914e-01 1.15530551e-01 1.78915565e+02] [ 1.70880156e-01 -1.37948177e-01 -9.75587143e-01 1.16328795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.07, Y:178.95, Z:116.33 [[-3.88904422e-01 8.99986907e-01 -1.96918558e-01 2.95073721e+02] [ 9.03401191e-01 4.14447525e-01 1.09997900e-01 1.78951840e+02] [ 1.80609079e-01 -1.35117790e-01 -9.74229718e-01 1.16332196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.12, Y:178.95, Z:116.33 [[-4.55598521e-01 8.68871007e-01 -1.93631510e-01 2.95115659e+02] [ 8.68719717e-01 4.81446425e-01 1.16341713e-01 1.78945289e+02] [ 1.94309139e-01 -1.15206398e-01 -9.74151654e-01 1.16325459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.11, Y:178.92, Z:116.29 [[-5.23711140e-01 8.45252086e-01 -1.06186405e-01 2.95111163e+02] [ 8.27986855e-01 5.34366647e-01 1.69970748e-01 1.78920491e+02] [ 2.00410603e-01 1.09462697e-03 -9.79711382e-01 1.16285406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:178.84, Z:116.25 [[-5.93734937e-01 7.99940623e-01 -8.70277250e-02 2.95198963e+02] [ 7.80457836e-01 5.98825028e-01 1.79705738e-01 1.78840056e+02] [ 1.95868299e-01 3.87761049e-02 -9.79863268e-01 1.16251752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:178.91, Z:116.28 [[-6.52781307e-01 7.48314708e-01 -1.17905311e-01 2.95217961e+02] [ 7.31709271e-01 6.63135184e-01 1.57649200e-01 1.78906655e+02] [ 1.96158375e-01 1.66380417e-02 -9.80431062e-01 1.16278750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:178.86, Z:116.25 [[-7.14692605e-01 6.91007007e-01 -1.08276483e-01 2.95308770e+02] [ 6.73020688e-01 7.21552189e-01 1.62497977e-01 1.78859665e+02] [ 1.90414374e-01 4.32637889e-02 -9.80750025e-01 1.16254279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:178.89, Z:116.27 [[-7.67433803e-01 6.25709702e-01 -1.39759534e-01 2.95368010e+02] [ 6.12501063e-01 7.79946807e-01 1.28551257e-01 1.78888891e+02] [ 1.89440771e-01 1.30517164e-02 -9.81805402e-01 1.16268478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:178.90, Z:116.27 [[-8.15270076e-01 5.59212349e-01 -1.50387008e-01 2.95431224e+02] [ 5.46902853e-01 8.28914199e-01 1.17467102e-01 1.78900941e+02] [ 1.90346980e-01 1.35203290e-02 -9.81623771e-01 1.16266143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:178.92, Z:116.27 [[-8.56774928e-01 4.90354202e-01 -1.59654249e-01 2.95480987e+02] [ 4.79121292e-01 8.71415864e-01 1.05248186e-01 1.78923782e+02] [ 1.90734136e-01 1.36802564e-02 -9.81546402e-01 1.16266198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:178.95, Z:116.27 [[-8.92608766e-01 4.18576174e-01 -1.67462166e-01 2.95526654e+02] [ 4.08554244e-01 9.08077196e-01 9.20827649e-02 1.78951268e+02] [ 1.90612225e-01 1.37765049e-02 -9.81568738e-01 1.16266626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:178.98, Z:116.27 [[-9.22645752e-01 3.44335014e-01 -1.73661208e-01 2.95572789e+02] [ 3.35631250e-01 9.38744956e-01 7.81637471e-02 1.78980921e+02] [ 1.89938098e-01 1.38313210e-02 -9.81698637e-01 1.16266315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:179.01, Z:116.27 [[-9.46628013e-01 2.68084827e-01 -1.78957901e-01 2.95622047e+02] [ 2.60723567e-01 9.63295919e-01 6.39077012e-02 1.79012888e+02] [ 1.89522100e-01 1.38382781e-02 -9.81778934e-01 1.16265105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.66, Y:179.05, Z:116.27 [[-9.64307396e-01 1.91409558e-01 -1.82957995e-01 2.95657941e+02] [ 1.85453281e-01 9.81415990e-01 4.92923525e-02 1.79050505e+02] [ 1.88992929e-01 1.36028194e-02 -9.81884227e-01 1.16266626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:179.09, Z:116.26 [[-9.76056768e-01 1.13222258e-01 -1.85725352e-01 2.95703333e+02] [ 1.08689570e-01 9.93478904e-01 3.44419045e-02 1.79088720e+02] [ 1.88413810e-01 1.34308453e-02 -9.81997886e-01 1.16264759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:179.13, Z:116.26 [[-9.81693723e-01 3.44331613e-02 -1.87328030e-01 2.95739416e+02] [ 3.13381857e-02 9.99319400e-01 1.94590519e-02 1.79131142e+02] [ 1.87870571e-01 1.32323085e-02 -9.82104656e-01 1.16264635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.77, Y:179.18, Z:116.27 [[-9.81257205e-01 -4.41847236e-02 -1.87568676e-01 2.95767355e+02] [-4.58309597e-02 9.98939312e-01 4.44691507e-03 1.79176676e+02] [ 1.87173238e-01 1.29600199e-02 -9.82241425e-01 1.16265551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:179.22, Z:116.27 [[-9.74874068e-01 -1.21890073e-01 -1.86449354e-01 2.95790022e+02] [-1.22092423e-01 9.92463814e-01 -1.04411747e-02 1.79224415e+02] [ 1.86316912e-01 1.25852229e-02 -9.82409090e-01 1.16266754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.390385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.82, Y:179.28, Z:116.27 [[-9.62385069e-01 -1.99966543e-01 -1.83924877e-01 2.95820841e+02] [-1.98776753e-01 9.79723922e-01 -2.50766835e-02 1.79275736e+02] [ 1.85210100e-01 1.24265640e-02 -9.82620374e-01 1.16265487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.86, Y:179.35, Z:116.27 [[-9.45367469e-01 -2.81009621e-01 -1.65269302e-01 2.95862009e+02] [-2.73353537e-01 9.59517457e-01 -6.78534687e-02 1.79350863e+02] [ 1.77646258e-01 -1.89695138e-02 -9.83911564e-01 1.16266722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.85, Y:179.50, Z:116.32 [[-9.18379617e-01 -3.82713499e-01 -1.00544798e-01 2.95848330e+02] [-3.47935225e-01 9.02039882e-01 -2.55470411e-01 1.79497836e+02] [ 1.88467392e-01 -1.99635742e-01 -9.61574549e-01 1.16317947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.40, Y:180.03, Z:115.29 [[-9.06325057e-01 3.74168439e-01 1.96399773e-01 2.95398293e+02] [-3.69627333e-01 -9.27194350e-01 6.07146792e-02 1.80025716e+02] [ 2.04818277e-01 -1.75674893e-02 9.78642354e-01 1.15288496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:180.02, Z:115.28 [[-9.05588004e-01 3.78084617e-01 1.92256052e-01 2.95398854e+02] [-3.70529622e-01 -9.25765935e-01 7.52677343e-02 1.80016855e+02] [ 2.06441676e-01 -3.07500507e-03 9.78454076e-01 1.15283639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:180.02, Z:115.30 [[-9.03408611e-01 3.75835285e-01 2.06399421e-01 2.95393857e+02] [-3.70639416e-01 -9.26512672e-01 6.48127497e-02 1.80022180e+02] [ 2.15590597e-01 -1.79473645e-02 9.76318896e-01 1.15295054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.75, Y:179.21, Z:115.45 [[-9.21443414e-01 1.35136694e-01 -3.64252808e-01 2.95748191e+02] [-3.56853925e-01 7.63117311e-02 9.31038021e-01 1.79205112e+02] [ 1.53614162e-01 9.87883897e-01 -2.20928826e-02 1.15447223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.35, Y:180.00, Z:115.33 [[-9.13525872e-01 3.82843122e-01 1.37483181e-01 2.95353636e+02] [-3.80374687e-01 -9.23744036e-01 4.48559067e-02 1.79998244e+02] [ 1.44172044e-01 -1.13180906e-02 9.89487909e-01 1.15326309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.41, Y:180.01, Z:115.31 [[-9.15379322e-01 3.82152746e-01 1.26649025e-01 2.95412543e+02] [-3.77541001e-01 -9.24074781e-01 5.95700569e-02 1.80011051e+02] [ 1.39798031e-01 6.71399875e-03 9.90157277e-01 1.15310361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:180.01, Z:115.32 [[-9.16165561e-01 3.79678308e-01 1.28394113e-01 2.95408510e+02] [-3.76331720e-01 -9.25115980e-01 5.03473917e-02 1.80010717e+02] [ 1.37895258e-01 -2.19223087e-03 9.90444391e-01 1.15315019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:179.42, Z:116.30 [[-8.97729324e-01 -4.21877281e-01 -1.26892161e-01 2.95810540e+02] [-4.19035777e-01 9.06612028e-01 -4.96351540e-02 1.79422468e+02] [ 1.35981903e-01 8.61342210e-03 -9.90673877e-01 1.16297819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.720385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:295.74, Y:179.44, Z:116.32 [[-8.63242766e-01 -4.92367463e-01 -1.11293340e-01 2.95735499e+02] [-4.87052887e-01 8.70345867e-01 -7.26468031e-02 1.79442472e+02] [ 1.32632621e-01 -8.50608474e-03 -9.91128768e-01 1.16316239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.750385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:295.63, Y:179.47, Z:116.36 [[-8.20498680e-01 -5.67033860e-01 -7.24880585e-02 2.95625970e+02] [-5.53666278e-01 8.19828371e-01 -1.46065377e-01 1.79467954e+02] [ 1.42251782e-01 -7.97122557e-02 -9.86615623e-01 1.16356420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:179.42, Z:116.21 [[-7.80913128e-01 -5.67887375e-01 -2.60151141e-01 2.95768138e+02] [-6.11668551e-01 7.79653774e-01 1.34169956e-01 1.79418276e+02] [ 1.26634394e-01 2.63901351e-01 -9.56200715e-01 1.16212192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:179.55, Z:116.33 [[-7.31244411e-01 -6.75332297e-01 -9.59577986e-02 2.95676387e+02] [-6.70997793e-01 7.37467940e-01 -7.68309791e-02 1.79548356e+02] [ 1.22652242e-01 8.20524704e-03 -9.92415791e-01 1.16325780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.840385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:295.10, Y:179.97, Z:115.34 [[-7.10447956e-01 6.97543838e-01 9.32539352e-02 2.95096126e+02] [-6.92071901e-01 -7.16537534e-01 8.72378740e-02 1.79974360e+02] [ 1.27672186e-01 -2.56045894e-03 9.91813116e-01 1.15339784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.06, Y:179.94, Z:115.35 [[-7.13181355e-01 6.93114269e-01 1.04713731e-01 2.95057229e+02] [-6.87858815e-01 -7.20747023e-01 8.58718785e-02 1.79943646e+02] [ 1.34991134e-01 -1.07860401e-02 9.90788098e-01 1.15353942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.900385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:295.59, Y:179.35, Z:115.46 [[-7.36731552e-01 1.57042305e-01 -6.57696233e-01 2.95591940e+02] [-6.72289238e-01 -6.58550192e-02 7.37353577e-01 1.79354829e+02] [ 7.24831072e-02 9.85393744e-01 1.54095322e-01 1.15463858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.06, Y:179.92, Z:115.38 [[-7.26564337e-01 6.85525588e-01 4.64643195e-02 2.95057052e+02] [-6.84195413e-01 -7.28048125e-01 4.26915030e-02 1.79923421e+02] [ 6.30943784e-02 -7.72550725e-04 9.98007266e-01 1.15383339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.06, Y:179.92, Z:115.38 [[-7.24886598e-01 6.87211538e-01 4.77464301e-02 2.95058432e+02] [-6.85812640e-01 -7.26456719e-01 4.38367315e-02 1.79921876e+02] [ 6.48108226e-02 -9.68446036e-04 9.97897099e-01 1.15383173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.990385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.06, Y:179.92, Z:115.38 [[-7.22651380e-01 6.89518575e-01 4.83644299e-02 2.95058969e+02] [-6.88090488e-01 -7.24266982e-01 4.43713825e-02 1.79915508e+02] [ 6.56236521e-02 -1.21406337e-03 9.97843706e-01 1.15382071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.06, Y:179.91, Z:115.38 [[-7.21718242e-01 6.90523557e-01 4.79582905e-02 2.95061239e+02] [-6.89123665e-01 -7.23308705e-01 4.39669517e-02 1.79914554e+02] [ 6.50488648e-02 -1.31744188e-03 9.97881210e-01 1.15382771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:179.91, Z:115.38 [[-7.19652740e-01 6.92621785e-01 4.87339392e-02 2.95065783e+02] [-6.91183170e-01 -7.21299276e-01 4.46450475e-02 1.79913658e+02] [ 6.60738876e-02 -1.55514782e-03 9.97813521e-01 1.15383127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.07, Y:179.91, Z:115.38 [[-7.18924112e-01 6.93346851e-01 4.91758699e-02 2.95065976e+02] [-6.91885892e-01 -7.20602101e-01 4.50169320e-02 1.79911767e+02] [ 6.66485831e-02 -1.66033276e-03 9.97775130e-01 1.15383009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.07, Y:179.91, Z:115.38 [[-7.18279420e-01 6.94002554e-01 4.93470353e-02 2.95065589e+02] [-6.92535140e-01 -7.19970409e-01 4.51407851e-02 1.79909086e+02] [ 6.68562253e-02 -1.75085911e-03 9.97761083e-01 1.15383528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:179.91, Z:115.38 [[-7.16997941e-01 6.95322677e-01 4.93996694e-02 2.95068540e+02] [-6.93857444e-01 -7.18695183e-01 4.51561773e-02 1.79905985e+02] [ 6.69014185e-02 -1.89944228e-03 9.97757782e-01 1.15384002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.07, Y:179.90, Z:115.38 [[-7.16783469e-01 6.95568242e-01 4.90538483e-02 2.95067842e+02] [-6.94126193e-01 -7.18457437e-01 4.48078089e-02 1.79901847e+02] [ 6.64099910e-02 -1.93206427e-03 9.97790549e-01 1.15384120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.200385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.07, Y:179.90, Z:115.38 [[-7.16190697e-01 6.96208764e-01 4.86234689e-02 2.95071127e+02] [-6.94795508e-01 -7.17836590e-01 4.43828059e-02 1.79899593e+02] [ 6.58034035e-02 -1.99681502e-03 9.97830609e-01 1.15383525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.230385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:295.07, Y:179.90, Z:115.38 [[-7.16348605e-01 6.96041996e-01 4.86848672e-02 2.95070862e+02] [-6.94626903e-01 -7.17998267e-01 4.44066932e-02 1.79897332e+02] [ 6.58645736e-02 -2.00714581e-03 9.97826553e-01 1.15383276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.07, Y:179.89, Z:115.39 [[-7.17367565e-01 6.95030037e-01 4.81354820e-02 2.95066869e+02] [-6.93646505e-01 -7.18978150e-01 4.38742054e-02 1.79891326e+02] [ 6.51022504e-02 -1.91507696e-03 9.97876761e-01 1.15385302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:179.89, Z:115.39 [[-7.18511188e-01 6.93831902e-01 4.83628475e-02 2.95067718e+02] [-6.92434643e-01 -7.20134649e-01 4.40494347e-02 1.79889565e+02] [ 6.53906653e-02 -1.83809943e-03 9.97858047e-01 1.15385234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:179.87, Z:115.38 [[-7.21191719e-01 6.91250671e-01 4.53322670e-02 2.95057462e+02] [-6.89484006e-01 -7.22600966e-01 4.95948471e-02 1.79870334e+02] [ 6.70396113e-02 4.51151994e-03 9.97740115e-01 1.15383433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.350385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:294.96, Y:179.96, Z:116.25 [[-7.24173394e-01 -2.05444436e-01 6.58305005e-01 2.94956192e+02] [-6.82168727e-01 7.34792639e-02 -7.27493386e-01 1.79959183e+02] [ 1.01087701e-01 -9.75906441e-01 -1.93359497e-01 1.16248462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.96, Y:179.78, Z:115.36 [[-7.11641279e-01 6.95802189e-01 9.70876143e-02 2.94959837e+02] [-6.89487007e-01 -7.18233368e-01 9.35333980e-02 1.79782824e+02] [ 1.34812307e-01 -3.78421656e-04 9.90871081e-01 1.15361691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.410385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:294.92, Y:179.89, Z:116.26 [[-7.03392464e-01 -3.16708383e-01 6.36344908e-01 2.94924157e+02] [-6.90113714e-01 8.98676431e-02 -7.18099484e-01 1.79893735e+02] [ 1.70241309e-01 -9.44256113e-01 -2.81777021e-01 1.16259384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:179.70, Z:115.35 [[-6.93193633e-01 7.06562591e-01 1.42309144e-01 2.94864366e+02] [-6.92941185e-01 -7.07644684e-01 1.38099661e-01 1.79700689e+02] [ 1.98280364e-01 -2.88206108e-03 9.80141108e-01 1.15349693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.470385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:294.86, Y:179.70, Z:115.35 [[-6.94696330e-01 7.05026213e-01 1.42601014e-01 2.94860975e+02] [-6.91336948e-01 -7.09176761e-01 1.38280680e-01 1.79695139e+02] [ 1.98620829e-01 -2.52226894e-03 9.80073163e-01 1.15351102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.86, Y:179.69, Z:115.35 [[-6.95211392e-01 7.04494652e-01 1.42717927e-01 2.94859131e+02] [-6.90792355e-01 -7.09705080e-01 1.38291797e-01 1.79691946e+02] [ 1.98713469e-01 -2.44642089e-03 9.80054576e-01 1.15351781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:179.69, Z:115.35 [[-6.95904035e-01 7.03744997e-01 1.43040390e-01 2.94859797e+02] [-6.89985282e-01 -7.10448896e-01 1.38501538e-01 1.79690317e+02] [ 1.99092652e-01 -2.31198499e-03 9.79977944e-01 1.15351550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56038572299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:295.39, Y:179.44, Z:116.33 [[-6.59574366e-01 -7.40610187e-01 -1.28289541e-01 2.95390290e+02] [-7.30452517e-01 6.71815798e-01 -1.22892853e-01 1.79441299e+02] [ 1.77202639e-01 1.26524429e-02 -9.84093055e-01 1.16327856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:179.48, Z:116.33 [[-5.98965354e-01 -7.92001931e-01 -1.18209332e-01 2.95366292e+02] [-7.80868804e-01 6.10386845e-01 -1.32935359e-01 1.79483647e+02] [ 1.77438482e-01 1.26823056e-02 -9.84050174e-01 1.16328450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.62038572299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.31, Y:179.47, Z:116.34 [[-5.34809173e-01 -8.37354503e-01 -1.13210358e-01 2.95306157e+02] [-8.26515762e-01 5.46261110e-01 -1.35906199e-01 1.79466561e+02] [ 1.75644084e-01 2.08862628e-02 -9.84232147e-01 1.16340212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:179.67, Z:115.36 [[-5.14806492e-01 8.51237849e-01 1.01825342e-01 2.94737715e+02] [-8.34268082e-01 -5.24775779e-01 1.69136480e-01 1.79674847e+02] [ 1.97410847e-01 2.12292512e-03 9.80318546e-01 1.15355730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:179.67, Z:115.36 [[-5.15225784e-01 8.50996647e-01 1.01720684e-01 2.94733156e+02] [-8.34073477e-01 -5.25166636e-01 1.68882915e-01 1.79668897e+02] [ 1.97139104e-01 2.17030742e-03 9.80373125e-01 1.15358112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:179.84, Z:116.14 [[-5.07319497e-01 -1.64919156e-01 8.45830125e-01 2.94611141e+02] [-8.27243856e-01 -1.81796076e-01 -5.31618086e-01 1.79842906e+02] [ 2.41442604e-01 -9.69407994e-01 -4.41996653e-02 1.16136331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.740385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.26, Y:179.44, Z:116.32 [[-4.57950379e-01 -8.74534457e-01 -1.59596161e-01 2.95256726e+02] [-8.56104003e-01 4.82220162e-01 -1.85875367e-01 1.79443422e+02] [ 2.39514899e-01 5.15092176e-02 -9.69525355e-01 1.16315960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.23, Y:179.47, Z:116.32 [[-3.88293520e-01 -9.08367266e-01 -1.55232251e-01 2.95228802e+02] [-8.90889568e-01 4.13096535e-01 -1.88857168e-01 1.79473437e+02] [ 2.35677575e-01 6.49627780e-02 -9.69657629e-01 1.16315963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:179.24, Z:115.69 [[-3.81598076e-01 -8.93077386e-02 -9.20003824e-01 2.95357447e+02] [-9.04776937e-01 2.39721568e-01 3.52011740e-01 1.79240496e+02] [ 1.89107386e-01 9.66725244e-01 -1.72280871e-01 1.15693017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.56, Y:179.51, Z:115.40 [[-3.58866049e-01 9.30613570e-01 7.19273334e-02 2.94563756e+02] [-9.13732192e-01 -3.65995425e-01 1.76467645e-01 1.79505515e+02] [ 1.90548261e-01 -2.39407328e-03 9.81674910e-01 1.15402146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:179.52, Z:115.39 [[-3.52767168e-01 9.33526566e-01 6.39020737e-02 2.94576643e+02] [-9.16882719e-01 -3.58492775e-01 1.75524955e-01 1.79519237e+02] [ 1.86765640e-01 3.32873418e-03 9.82398858e-01 1.15392166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:179.49, Z:115.40 [[-3.57722151e-01 9.31064245e-01 7.17929912e-02 2.94554661e+02] [-9.14010318e-01 -3.64848880e-01 1.77399078e-01 1.79490555e+02] [ 1.91363532e-01 -2.15995480e-03 9.81516853e-01 1.15404898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:179.63, Z:116.11 [[-3.62415458e-01 1.56598498e-02 9.31885081e-01 2.94367260e+02] [-9.02607074e-01 -2.55088513e-01 -3.46742442e-01 1.79633353e+02] [ 2.32283245e-01 -9.66790887e-01 1.06582711e-01 1.16113705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:179.08, Z:115.69 [[-3.79154544e-01 -2.48534725e-02 -9.24999533e-01 2.95280891e+02] [-9.03498905e-01 2.25818818e-01 3.64274058e-01 1.79077673e+02] [ 1.99828826e-01 9.73852230e-01 -1.08075316e-01 1.15694046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:179.31, Z:115.44 [[-3.57591869e-01 9.32134347e-01 5.70404713e-02 2.94483503e+02] [-9.14251510e-01 -3.61879396e-01 1.82174309e-01 1.79306551e+02] [ 1.90452702e-01 1.29947144e-02 9.81610364e-01 1.15442962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:179.34, Z:115.44 [[-3.54857472e-01 9.32467679e-01 6.76771899e-02 2.94491166e+02] [-9.15635311e-01 -3.61252878e-01 1.76375554e-01 1.79338019e+02] [ 1.88913083e-01 6.20558231e-04 9.81993616e-01 1.15439396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:179.34, Z:115.44 [[-3.56088777e-01 9.31267982e-01 7.70761253e-02 2.94484582e+02] [-9.15211311e-01 -3.64220252e-01 1.72429302e-01 1.79340370e+02] [ 1.88650574e-01 -9.14080237e-03 9.82001735e-01 1.15443132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:179.33, Z:115.45 [[-3.58949866e-01 9.29929029e-01 7.99186799e-02 2.94475868e+02] [-9.13222481e-01 -3.67605877e-01 1.75757274e-01 1.79330073e+02] [ 1.92820368e-01 -9.89548502e-03 9.81184175e-01 1.15450336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:179.00, Z:115.61 [[-3.96771626e-01 1.75619204e-01 -9.00960694e-01 2.95159012e+02] [-9.08940791e-01 6.17630123e-02 4.12325076e-01 1.78995909e+02] [ 1.28058248e-01 9.82518817e-01 1.35121647e-01 1.15611702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:179.28, Z:115.50 [[-3.74161648e-01 9.25528716e-01 5.83065835e-02 2.94451276e+02] [-9.18386231e-01 -3.78533718e-01 1.15234347e-01 1.79278086e+02] [ 1.28723706e-01 -1.04316901e-02 9.91625629e-01 1.15495870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.21, Y:178.89, Z:115.80 [[-3.92546163e-01 -1.34904443e-01 -9.09784756e-01 2.95210565e+02] [-9.18123139e-01 1.15965781e-01 3.78948333e-01 1.78894027e+02] [ 5.43820855e-02 9.84049150e-01 -1.69380813e-01 1.15799870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:179.15, Z:115.53 [[-3.65723970e-01 9.30492909e-01 2.07104971e-02 2.94396656e+02] [-9.28961614e-01 -3.66309801e-01 5.33615029e-02 1.79151734e+02] [ 5.72389581e-02 2.76323870e-04 9.98360469e-01 1.15531622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:179.20, Z:115.53 [[-3.67936028e-01 9.29491003e-01 2.58757656e-02 2.94410425e+02] [-9.28044951e-01 -3.68812754e-01 5.20549954e-02 1.79201190e+02] [ 5.79279622e-02 -4.86096533e-03 9.98308931e-01 1.15531405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.250385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:294.41, Y:179.20, Z:115.53 [[-3.69316460e-01 9.29050795e-01 2.16788572e-02 2.94408619e+02] [-9.27531022e-01 -3.69951863e-01 5.31208226e-02 1.79195734e+02] [ 5.73720760e-02 -4.89418396e-04 9.98352746e-01 1.15530638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.280385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:294.40, Y:179.19, Z:115.53 [[-3.71520964e-01 9.28174869e-01 2.15310536e-02 2.94403535e+02] [-9.26678628e-01 -3.72144150e-01 5.26825616e-02 1.79187266e+02] [ 5.69112854e-02 -3.79691150e-04 9.98379167e-01 1.15531481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31038572299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.40, Y:179.19, Z:115.53 [[-3.73291327e-01 9.27405180e-01 2.39419481e-02 2.94398115e+02] [-9.25859137e-01 -3.74052038e-01 5.35717392e-02 1.79187485e+02] [ 5.86382429e-02 -2.16900577e-03 9.98276942e-01 1.15533552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.340385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:295.16, Y:178.78, Z:115.82 [[-3.81097802e-01 -1.57223051e-01 -9.11068262e-01 2.95159043e+02] [-9.24356312e-01 4.54368347e-02 3.78815129e-01 1.78778909e+02] [-1.81624122e-02 9.86517312e-01 -1.62645997e-01 1.15819435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.35, Y:179.10, Z:115.57 [[-3.68196157e-01 9.29745609e-01 -2.16624895e-03 2.94349039e+02] [-9.29710137e-01 -3.68201175e-01 -8.18264115e-03 1.79100370e+02] [-8.40539009e-03 -9.98833415e-04 9.99964175e-01 1.15567437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:179.09, Z:115.57 [[-3.71136957e-01 9.28577155e-01 1.35182720e-03 2.94340510e+02] [-9.28569590e-01 -3.71126900e-01 -4.83122357e-03 1.79090908e+02] [-3.98446440e-03 -3.04831124e-03 9.99987416e-01 1.15569701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:178.65, Z:116.21 [[-3.32427560e-01 -7.15892932e-01 -6.13994485e-01 2.95126993e+02] [-9.39438957e-01 1.93814903e-01 2.82648598e-01 1.78651370e+02] [-8.33448520e-02 6.70770522e-01 -7.36967124e-01 1.16213193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.460385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:294.18, Y:178.84, Z:116.51 [[-2.80881755e-01 -2.75505594e-01 9.19348741e-01 2.94177297e+02] [-9.59735806e-01 8.41758472e-02 -2.67995539e-01 1.78835726e+02] [-3.55268895e-03 -9.57606962e-01 -2.88056044e-01 1.16509645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.490385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:294.20, Y:178.83, Z:115.55 [[-3.09475483e-01 9.50902265e-01 3.13185349e-03 2.94200430e+02] [-9.50821941e-01 -3.09490145e-01 1.23889867e-02 1.78825215e+02] [ 1.27499933e-02 8.56252626e-04 9.99918349e-01 1.15547232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.520385723 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:294.66, Y:177.96, Z:116.53 [[-2.20587905e-01 -9.75356908e-01 4.45842208e-03 2.94657551e+02] [-9.75256922e-01 2.20629387e-01 1.40217639e-02 1.77964196e+02] [-1.46598832e-02 -1.25507548e-03 -9.99891750e-01 1.16534181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.09, Y:178.68, Z:115.55 [[-2.37160385e-01 9.71371906e-01 1.38409248e-02 2.94091380e+02] [-9.71328281e-01 -2.37345384e-01 1.37309651e-02 1.78678998e+02] [ 1.66229533e-02 -1.01876407e-02 9.99809927e-01 1.15549819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.580385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:294.12, Y:178.76, Z:115.54 [[-2.43167363e-01 9.69925961e-01 -1.06425862e-02 2.94120332e+02] [-9.69884819e-01 -2.42970603e-01 1.69919034e-02 1.78755237e+02] [ 1.38950527e-02 1.44539591e-02 9.99798985e-01 1.15541943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.11, Y:178.76, Z:115.55 [[-2.43166839e-01 9.69979260e-01 3.18187963e-03 2.94109032e+02] [-9.69893147e-01 -2.43187650e-01 1.29248191e-02 1.78755067e+02] [ 1.33106003e-02 5.68041583e-05 9.99911408e-01 1.15547532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.10, Y:178.75, Z:115.55 [[-2.42607228e-01 9.70120376e-01 2.86160125e-03 2.94100929e+02] [-9.70051051e-01 -2.42624101e-01 1.15976256e-02 1.78751952e+02] [ 1.19453863e-02 3.77685008e-05 9.99928651e-01 1.15547479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.10, Y:178.75, Z:115.55 [[-2.42793082e-01 9.70073749e-01 2.90523995e-03 2.94095676e+02] [-9.70002584e-01 -2.42810461e-01 1.17501763e-02 1.78745705e+02] [ 1.21039602e-02 3.47712648e-05 9.99926744e-01 1.15547698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.09, Y:178.75, Z:115.55 [[-2.42490849e-01 9.70149349e-01 2.90328601e-03 2.94087729e+02] [-9.70078610e-01 -2.42508227e-01 1.17153727e-02 1.78745518e+02] [ 1.20697320e-02 2.44550210e-05 9.99927158e-01 1.15548361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.08, Y:178.74, Z:115.55 [[-2.42842909e-01 9.70061577e-01 2.80343300e-03 2.94082860e+02] [-9.69995903e-01 -2.42859089e-01 1.12876468e-02 1.78740855e+02] [ 1.16305516e-02 2.18064538e-05 9.99932363e-01 1.15548680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:178.74, Z:115.55 [[-2.43038839e-01 9.70012737e-01 2.72280036e-03 2.94079147e+02] [-9.69951030e-01 -2.43054090e-01 1.09411729e-02 1.78738508e+02] [ 1.12748649e-02 1.81469563e-05 9.99936437e-01 1.15548654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:178.74, Z:115.55 [[-2.42972151e-01 9.70029729e-01 2.61904792e-03 2.94072685e+02] [-9.69972857e-01 -2.42986266e-01 1.05038682e-02 1.78736907e+02] [ 1.08254571e-02 1.17420586e-05 9.99941403e-01 1.15548808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.820385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:294.07, Y:178.73, Z:115.55 [[-2.42834449e-01 9.70064207e-01 2.62004381e-03 2.94068896e+02] [-9.70007534e-01 -2.42848583e-01 1.04857409e-02 1.78733064e+02] [ 1.08081159e-02 4.83689024e-06 9.99941591e-01 1.15548695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.06, Y:178.73, Z:115.55 [[-2.41836139e-01 9.70314227e-01 2.36274911e-03 2.94062459e+02] [-9.70268343e-01 -2.41847681e-01 9.43621697e-03 1.78728165e+02] [ 9.72752097e-03 -1.04823818e-05 9.99952687e-01 1.15548671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.880385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.06, Y:178.72, Z:115.55 [[-2.41728940e-01 9.70309528e-01 8.15711304e-03 2.94056250e+02] [-9.70258419e-01 -2.41810651e-01 1.12342851e-02 1.78724152e+02] [ 1.28732107e-02 -5.19885577e-03 9.99903622e-01 1.15552346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.910385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:295.00, Y:178.34, Z:115.88 [[-2.24331613e-01 -3.81168100e-01 -8.96875803e-01 2.94999186e+02] [-9.72684504e-01 3.12298560e-02 2.30020766e-01 1.78344712e+02] [-5.96672761e-02 9.23978125e-01 -3.77762148e-01 1.15877264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.01, Y:178.58, Z:115.57 [[-2.17214519e-01 9.75908764e-01 -2.04923540e-02 2.94014396e+02] [-9.74463631e-01 -2.18021194e-01 -5.37344453e-02 1.78575905e+02] [-5.69076836e-02 8.29715196e-03 9.98344967e-01 1.15571835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.89, Y:178.41, Z:116.44 [[-2.12837872e-01 -1.69946076e-02 9.76939724e-01 2.93893159e+02] [-9.77059187e-01 -3.91369544e-03 -2.12931980e-01 1.78410808e+02] [ 7.44213999e-03 -9.99847922e-01 -1.57717549e-02 1.16441808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.000385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:293.98, Y:178.42, Z:115.53 [[-2.19101243e-01 9.75689416e-01 -4.98074947e-03 2.93978652e+02] [-9.75621487e-01 -2.19014649e-01 1.39748668e-02 1.78418295e+02] [ 1.25442725e-02 7.92123690e-03 9.99889942e-01 1.15531219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.030385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:293.81, Y:178.33, Z:116.31 [[-2.20077381e-01 1.58256002e-01 9.62559600e-01 2.93809004e+02] [-9.72335699e-01 -1.14782695e-01 -2.03440954e-01 1.78333239e+02] [ 7.82894333e-02 -9.80703814e-01 1.79139035e-01 1.16310968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06038572299997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:294.62, Y:177.60, Z:116.52 [[-1.55052100e-01 -9.87395349e-01 -3.17690391e-02 2.94622011e+02] [-9.85783619e-01 1.56745873e-01 -6.05094026e-02 1.77599845e+02] [ 6.47263684e-02 2.19352884e-02 -9.97661937e-01 1.16523675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.090385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:294.54, Y:178.07, Z:116.56 [[-8.56040739e-02 -9.81656367e-01 1.70360559e-01 2.94543151e+02] [-9.93089427e-01 7.02911330e-02 -9.39816266e-02 1.78070336e+02] [ 8.02828254e-02 -1.77228480e-01 -9.80889766e-01 1.16559549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.12038572299997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:293.83, Y:178.05, Z:115.51 [[-8.47581366e-02 9.96399874e-01 -1.83029073e-03 2.93828246e+02] [-9.92347018e-01 -8.42475547e-02 9.02759432e-02 1.78051570e+02] [ 8.97967409e-02 9.46790427e-03 9.95915109e-01 1.15505219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.150385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:294.06, Y:178.03, Z:116.60 [[-4.36673454e-02 -6.09357488e-01 7.91692247e-01 2.94055399e+02] [-9.90512954e-01 -7.69450913e-02 -1.13857549e-01 1.78032810e+02] [ 1.30296782e-01 -7.89153283e-01 -6.00216498e-01 1.16601318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.180385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:293.80, Y:177.89, Z:115.50 [[-3.93851657e-02 9.99200803e-01 6.82372869e-03 2.93795652e+02] [-9.88479028e-01 -3.99595272e-02 1.45987832e-01 1.77885746e+02] [ 1.46143832e-01 -9.95357734e-04 9.89262852e-01 1.15500860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:177.88, Z:116.49 [[ 1.16333339e-02 -9.99805008e-01 -1.59565575e-02 2.94573314e+02] [-9.91296557e-01 -9.43868506e-03 -1.31308981e-01 1.77881743e+02] [ 1.31132767e-01 1.73452418e-02 -9.91213065e-01 1.16487744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.240385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:294.56, Y:177.88, Z:116.49 [[ 8.93048212e-02 -9.95866607e-01 -1.65635414e-02 2.94557386e+02] [-9.87296140e-01 -8.63175093e-02 -1.33400224e-01 1.77882784e+02] [ 1.31419105e-01 2.82664036e-02 -9.90923826e-01 1.16491598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.270385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:294.59, Y:177.88, Z:116.45 [[ 1.64909396e-01 -9.78711598e-01 -1.22182235e-01 2.94589914e+02] [-9.78529233e-01 -1.46820266e-01 -1.44652518e-01 1.77882024e+02] [ 1.23634268e-01 1.43413448e-01 -9.81909950e-01 1.16445511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:177.88, Z:116.46 [[ 2.41602427e-01 -9.66039757e-01 -9.16267218e-02 2.94560704e+02] [-9.63805942e-01 -2.27925982e-01 -1.38303483e-01 1.77882527e+02] [ 1.12722553e-01 1.21724836e-01 -9.86142328e-01 1.16459556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.54, Y:177.88, Z:116.47 [[ 3.16745309e-01 -9.45717638e-01 -7.27362235e-02 2.94537159e+02] [-9.42372927e-01 -3.05059365e-01 -1.37375583e-01 1.77879312e+02] [ 1.07729646e-01 1.12057719e-01 -9.87844821e-01 1.16468489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:177.86, Z:116.51 [[ 3.90240493e-01 -9.20563085e-01 1.66121708e-02 2.94478071e+02] [-9.14475748e-01 -3.89630372e-01 -1.09189193e-01 1.77862025e+02] [ 1.06988146e-01 2.74186170e-02 -9.93882164e-01 1.16512784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.49, Y:177.86, Z:116.48 [[ 4.63285529e-01 -8.85326927e-01 -3.95316400e-02 2.94492653e+02] [-8.80817582e-01 -4.55095634e-01 -1.30569336e-01 1.77864457e+02] [ 9.76058724e-02 9.53110474e-02 -9.90650745e-01 1.16484144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:177.83, Z:116.55 [[ 5.29283602e-01 -8.43567689e-01 9.08428511e-02 2.94413931e+02] [-8.42357441e-01 -5.35268236e-01 -6.26247289e-02 1.77825320e+02] [ 1.01453491e-01 -4.33759095e-02 -9.93894220e-01 1.16545772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:177.83, Z:116.52 [[ 5.94209043e-01 -8.03072643e-01 4.46087826e-02 2.94425127e+02] [-7.98609098e-01 -5.95680841e-01 -8.59525758e-02 1.77828393e+02] [ 9.55987594e-02 1.54488182e-02 -9.95300061e-01 1.16524864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.45, Y:177.84, Z:116.50 [[ 6.52741873e-01 -7.57564406e-01 4.92122465e-03 2.94449027e+02] [-7.51564958e-01 -6.48362215e-01 -1.21558844e-01 1.77840871e+02] [ 9.52793894e-02 7.56479273e-02 -9.92572027e-01 1.16502960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:177.76, Z:116.60 [[ 7.07910614e-01 -6.81570608e-01 1.85267561e-01 2.94351635e+02] [-6.98611650e-01 -7.14287525e-01 4.16544586e-02 1.77763512e+02] [ 1.03943853e-01 -1.58917710e-01 -9.81804887e-01 1.16595584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.540385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.35, Y:177.76, Z:116.59 [[ 7.57165313e-01 -6.31671094e-01 1.66410089e-01 2.94348239e+02] [-6.43153346e-01 -7.65455515e-01 2.07756721e-02 1.77757870e+02] [ 1.14256129e-01 -1.22757824e-01 -9.85837742e-01 1.16587962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:177.80, Z:116.54 [[ 8.04866009e-01 -5.88200743e-01 7.88073249e-02 2.94395489e+02] [-5.83110066e-01 -8.08518307e-01 -7.92514862e-02 1.77799449e+02] [ 1.10332948e-01 1.78334830e-02 -9.93734677e-01 1.16538480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:177.79, Z:116.53 [[ 8.47527352e-01 -5.26140585e-01 6.98102599e-02 2.94393132e+02] [-5.19057820e-01 -8.49111156e-01 -9.79245832e-02 1.77789849e+02] [ 1.10798768e-01 4.67582014e-02 -9.92742315e-01 1.16530906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.34, Y:177.72, Z:116.59 [[ 8.84987590e-01 -4.43875786e-01 1.40610288e-01 2.94344204e+02] [-4.50913316e-01 -8.92316981e-01 2.11562570e-02 1.77715510e+02] [ 1.16078197e-01 -8.21260760e-02 -9.89838957e-01 1.16587776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.38, Y:177.76, Z:116.53 [[ 9.17514232e-01 -3.89604837e-01 7.98480129e-02 2.94376090e+02] [-3.80915705e-01 -9.18607792e-01 -1.05180564e-01 1.77760462e+02] [ 1.14327863e-01 6.60893022e-02 -9.91242324e-01 1.16534087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.36, Y:177.74, Z:116.54 [[ 9.45124890e-01 -3.14939597e-01 8.69022019e-02 2.94363885e+02] [-3.07729055e-01 -9.47489230e-01 -8.69884360e-02 1.77739762e+02] [ 1.09735003e-01 5.54726035e-02 -9.92411719e-01 1.16543334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.720385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.35, Y:177.72, Z:116.55 [[ 9.67252654e-01 -2.36507862e-01 9.21213067e-02 2.94353578e+02] [-2.31379734e-01 -9.70821145e-01 -6.30057434e-02 1.77716576e+02] [ 1.04334666e-01 3.96274690e-02 -9.93752455e-01 1.16550648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.65, Z:116.59 [[ 9.82169820e-01 -1.49423968e-01 1.14082962e-01 2.94333823e+02] [-1.54008856e-01 -9.87536693e-01 3.24430518e-02 1.77653889e+02] [ 1.07813341e-01 -4.94343728e-02 -9.92941351e-01 1.16592083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:177.70, Z:116.54 [[ 9.91878703e-01 -8.44562343e-02 9.50988032e-02 2.94342961e+02] [-7.50086434e-02 -9.92267949e-01 -9.88838777e-02 1.77702620e+02] [ 1.02714854e-01 9.09475802e-02 -9.90544394e-01 1.16539264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:177.72, Z:116.51 [[ 9.95652122e-01 -1.13695486e-02 9.24531537e-02 2.94344137e+02] [ 2.72691512e-03 -9.88540099e-01 -1.50933883e-01 1.77717140e+02] [ 9.31096998e-02 1.50529753e-01 -9.84211043e-01 1.16512957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.840385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.34, Y:177.64, Z:116.58 [[ 9.91799074e-01 8.57736725e-02 9.47495294e-02 2.94337179e+02] [ 8.49663484e-02 -9.96305035e-01 1.25298367e-02 1.77636230e+02] [ 9.54741633e-02 -4.37655895e-03 -9.95422287e-01 1.16584071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:177.59, Z:116.62 [[ 9.81347776e-01 1.72015481e-01 8.58324901e-02 2.94336566e+02] [ 1.63632055e-01 -9.81770868e-01 9.66980557e-02 1.77589578e+02] [ 1.00901401e-01 -8.08494752e-02 -9.91605904e-01 1.16615184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.34, Y:177.59, Z:116.61 [[ 9.64796263e-01 2.48486760e-01 8.61539389e-02 2.94335739e+02] [ 2.40643753e-01 -9.66243221e-01 9.20033809e-02 1.77589773e+02] [ 1.06107281e-01 -6.80321109e-02 -9.92024635e-01 1.16613002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.58, Z:116.62 [[ 9.42416269e-01 3.23433221e-01 8.51030420e-02 2.94332343e+02] [ 3.15385243e-01 -9.44131779e-01 9.56416891e-02 1.77582501e+02] [ 1.11282186e-01 -6.32940402e-02 -9.91771213e-01 1.16615790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.60, Z:116.60 [[ 9.14029825e-01 3.93608154e-01 9.80923008e-02 2.94326000e+02] [ 3.89804771e-01 -9.19185460e-01 5.61278098e-02 1.77604541e+02] [ 1.12257380e-01 -1.30656454e-02 -9.93593262e-01 1.16597836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.35, Y:177.52, Z:116.66 [[ 8.80000678e-01 4.74101886e-01 2.87438497e-02 2.94353736e+02] [ 4.58702721e-01 -8.64002972e-01 2.07582941e-01 1.77518878e+02] [ 1.23250235e-01 -1.69488247e-01 -9.77795026e-01 1.16656420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:177.54, Z:116.64 [[ 8.41264732e-01 5.37547623e-01 5.75865013e-02 2.94338643e+02] [ 5.24392102e-01 -8.37269805e-01 1.54894151e-01 1.77544429e+02] [ 1.31478422e-01 -1.00109080e-01 -9.86251285e-01 1.16638969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.050385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.32, Y:177.58, Z:116.60 [[ 7.97968410e-01 5.92278328e-01 1.11592108e-01 2.94318837e+02] [ 5.88134285e-01 -8.05679461e-01 7.05596834e-02 1.77580163e+02] [ 1.31698441e-01 9.32674632e-03 -9.91245950e-01 1.16602017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:177.57, Z:116.61 [[ 7.50591468e-01 6.52329894e-01 1.05252831e-01 2.94324655e+02] [ 6.47611669e-01 -7.57881806e-01 7.88308001e-02 1.77565569e+02] [ 1.31192893e-01 8.99323546e-03 -9.91316068e-01 1.16605444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.55, Z:116.61 [[ 6.97947786e-01 7.09364803e-01 9.83385190e-02 2.94331685e+02] [ 7.04116704e-01 -7.04786406e-01 8.65782322e-02 1.77552185e+02] [ 1.30723202e-01 8.81470829e-03 -9.91379718e-01 1.16608870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.34, Y:177.54, Z:116.61 [[ 6.40000674e-01 7.62780522e-01 9.25473529e-02 2.94335924e+02] [ 7.56794237e-01 -6.46598362e-01 9.57759898e-02 1.77540649e+02] [ 1.32897026e-01 8.74260530e-03 -9.91091291e-01 1.16613017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.33, Y:177.54, Z:116.60 [[ 5.81771159e-01 8.06397319e-01 1.06139916e-01 2.94329158e+02] [ 8.04080269e-01 -5.89869158e-01 7.42246485e-02 1.77544855e+02] [ 1.22463220e-01 4.21632522e-02 -9.91577037e-01 1.16604262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.26, Y:177.60, Z:116.51 [[ 5.19762183e-01 8.11131950e-01 2.68164564e-01 2.94263893e+02] [ 8.47076634e-01 -5.30076624e-01 -3.84700900e-02 1.77601069e+02] [ 1.10943448e-01 2.47151234e-01 -9.62604705e-01 1.16512053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.30, Y:177.57, Z:116.56 [[ 4.52309208e-01 8.73775168e-01 1.78699009e-01 2.94299491e+02] [ 8.86431031e-01 -4.62515541e-01 1.78718240e-02 1.77567430e+02] [ 9.82670249e-02 1.50320756e-01 -9.83741461e-01 1.16564496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.260385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.29, Y:177.57, Z:116.56 [[ 3.83651560e-01 9.04183299e-01 1.87787226e-01 2.94288669e+02] [ 9.19219469e-01 -3.93409490e-01 1.62647233e-02 1.77566700e+02] [ 8.85835681e-02 1.66377688e-01 -9.82075056e-01 1.16560554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:177.56, Z:116.58 [[ 3.10510857e-01 9.38273267e-01 1.52401721e-01 2.94294974e+02] [ 9.46993512e-01 -3.19235320e-01 3.59457860e-02 1.77555430e+02] [ 8.23789822e-02 1.33161884e-01 -9.87664729e-01 1.16578161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:177.52, Z:116.64 [[ 2.35851016e-01 9.71488779e-01 2.41629986e-02 2.94365110e+02] [ 9.68457875e-01 -2.37026890e-01 7.68609034e-02 1.77524423e+02] [ 8.03967856e-02 5.27312412e-03 -9.96748991e-01 1.16635400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:177.52, Z:116.64 [[ 1.59528721e-01 9.87028034e-01 1.80623227e-02 2.94378804e+02] [ 9.83893129e-01 -1.60463627e-01 7.87764882e-02 1.77516724e+02] [ 8.06529481e-02 5.20428286e-03 -9.96728658e-01 1.16637586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:177.51, Z:116.64 [[ 8.23030378e-02 9.96537303e-01 1.18158257e-02 2.94393108e+02] [ 9.93309430e-01 -8.29886450e-02 8.03072884e-02 1.77510857e+02] [ 8.10097879e-02 5.12723726e-03 -9.96700118e-01 1.16639415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.410385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.41, Y:177.50, Z:116.64 [[ 5.94901846e-03 9.99967486e-01 5.44392474e-03 2.94406673e+02] [ 9.96681199e-01 -6.37127906e-03 8.11541455e-02 1.77504064e+02] [ 8.11861916e-02 4.94306992e-03 -9.96686695e-01 1.16642642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:177.47, Z:116.64 [[-7.30731186e-02 9.97326085e-01 -9.99512519e-04 2.94450441e+02] [ 9.93994378e-01 7.29107904e-02 8.16038768e-02 1.77471657e+02] [ 8.14585502e-02 4.96953994e-03 -9.96664341e-01 1.16641188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:177.44, Z:116.65 [[-1.54580516e-01 9.86322635e-01 -5.72059827e-02 2.94520429e+02] [ 9.85498148e-01 1.58035201e-01 6.17921943e-02 1.77443129e+02] [ 6.99875989e-02 -4.68245207e-02 -9.96448293e-01 1.16648632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:177.45, Z:116.73 [[-2.32042968e-01 8.89786526e-01 -3.92983459e-01 2.94755739e+02] [ 9.68366733e-01 2.49432363e-01 -7.02608523e-03 1.77454456e+02] [ 9.17710768e-02 -3.82182462e-01 -9.19518698e-01 1.16732179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.81, Y:177.44, Z:116.72 [[-2.99495535e-01 8.59820405e-01 -4.13535120e-01 2.94812037e+02] [ 9.46600629e-01 3.22009345e-01 -1.60384360e-02 1.77441952e+02] [ 1.19371999e-01 -3.96256045e-01 -9.10346897e-01 1.16720680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.56038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.80, Y:177.42, Z:116.70 [[-3.61472459e-01 8.72181046e-01 -3.29602616e-01 2.94801668e+02] [ 9.20111131e-01 3.90847920e-01 2.51676233e-02 1.77415588e+02] [ 1.50775221e-01 -2.94173633e-01 -9.43784248e-01 1.16696921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:177.36, Z:116.61 [[-4.34606533e-01 8.95287727e-01 -9.78623932e-02 2.94712491e+02] [ 8.88608567e-01 4.43958660e-01 1.15219456e-01 1.77363003e+02] [ 1.46601422e-01 -3.68862325e-02 -9.88507678e-01 1.16607553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.92, Y:177.43, Z:116.68 [[-5.02732226e-01 7.80051473e-01 -3.72531890e-01 2.94920977e+02] [ 8.48519357e-01 5.27630371e-01 -4.02627996e-02 1.77427932e+02] [ 1.65152083e-01 -3.36341926e-01 -9.27145565e-01 1.16684858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.34, Y:177.91, Z:115.63 [[-5.22019669e-01 -8.49657557e-01 7.46826691e-02 2.95337135e+02] [ 8.29329492e-01 -5.26080303e-01 -1.88287303e-01 1.77912694e+02] [ 1.99268811e-01 -3.63531353e-02 9.79270336e-01 1.15633150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:177.90, Z:115.62 [[-5.22151959e-01 -8.47361202e-01 9.66246611e-02 2.95331279e+02] [ 8.29205458e-01 -5.30899580e-01 -1.74825470e-01 1.77896537e+02] [ 1.99438313e-01 -1.11637655e-02 9.79846789e-01 1.15619454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.31, Y:177.90, Z:115.60 [[-5.23508535e-01 -8.43963807e-01 1.16892716e-01 2.95311270e+02] [ 8.30819158e-01 -5.36069865e-01 -1.49561445e-01 1.77897215e+02] [ 1.88887109e-01 1.88200148e-02 9.81818449e-01 1.15601934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:177.90, Z:115.62 [[-5.22688831e-01 -8.48187827e-01 8.58708151e-02 2.95335709e+02] [ 8.29471109e-01 -5.29233849e-01 -1.78575507e-01 1.77897009e+02] [ 1.96911313e-01 -2.21120624e-02 9.80171919e-01 1.15620801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:177.94, Z:115.61 [[-5.21547373e-01 -8.45460847e-01 1.14822881e-01 2.95288573e+02] [ 8.31995563e-01 -5.33777245e-01 -1.51212553e-01 1.77937212e+02] [ 1.89134134e-01 1.66676173e-02 9.81809793e-01 1.15611889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:177.90, Z:115.61 [[-5.21261232e-01 -8.47730493e-01 9.81821713e-02 2.95323853e+02] [ 8.32098845e-01 -5.30419897e-01 -1.62068642e-01 1.77897629e+02] [ 1.89468307e-01 -2.78282876e-03 9.81882893e-01 1.15609770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.830385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:295.32, Y:177.91, Z:115.62 [[-5.21371014e-01 -8.48172718e-01 9.36766070e-02 2.95317556e+02] [ 8.31252650e-01 -5.29621970e-01 -1.68877473e-01 1.77909903e+02] [ 1.92850454e-01 -1.01788913e-02 9.81175363e-01 1.15616562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:177.89, Z:115.61 [[-5.20024855e-01 -8.47643341e-01 1.05237431e-01 2.95319572e+02] [ 8.32801203e-01 -5.30538302e-01 -1.58022994e-01 1.77891894e+02] [ 1.89779626e-01 5.46597463e-03 9.81811498e-01 1.15605442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:177.95, Z:115.62 [[-5.21760257e-01 -8.47341654e-01 9.88855701e-02 2.95285088e+02] [ 8.31536933e-01 -5.31040877e-01 -1.62916900e-01 1.77953049e+02] [ 1.90558555e-01 -2.77656011e-03 9.81671904e-01 1.15623178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:177.91, Z:115.61 [[-5.21787082e-01 -8.47383738e-01 9.83821164e-02 2.95314992e+02] [ 8.31768379e-01 -5.30974255e-01 -1.61949696e-01 1.77905880e+02] [ 1.89471910e-01 -2.67212611e-03 9.81882506e-01 1.15611485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.82, Y:177.32, Z:116.58 [[-5.58550234e-01 8.24345491e-01 -9.20659907e-02 2.94822540e+02] [ 8.09117437e-01 5.65915256e-01 1.58331605e-01 1.77321078e+02] [ 1.82621493e-01 1.39439565e-02 -9.83084410e-01 1.16584305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:177.35, Z:116.58 [[-6.22075819e-01 7.78088852e-01 -8.71746173e-02 2.94845706e+02] [ 7.62614960e-01 6.27361110e-01 1.57595874e-01 1.77349485e+02] [ 1.77313557e-01 3.15559152e-02 -9.83648376e-01 1.16582286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.95, Y:177.33, Z:116.59 [[-6.80173998e-01 7.21831413e-01 -1.27760494e-01 2.94948752e+02] [ 7.12249382e-01 6.91982784e-01 1.17731239e-01 1.77334816e+02] [ 1.73390169e-01 -1.09196055e-02 -9.84792674e-01 1.16587697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.05, Y:177.38, Z:116.62 [[-7.31673527e-01 6.47961971e-01 -2.11658060e-01 2.95046196e+02] [ 6.56888090e-01 7.53176591e-01 3.49722673e-02 1.77384424e+02] [ 1.82076595e-01 -1.13447376e-01 -9.76717875e-01 1.16620858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:177.36, Z:116.58 [[-7.81148250e-01 6.08108051e-01 -1.41463815e-01 2.95046538e+02] [ 5.96008108e-01 7.93787199e-01 1.21145440e-01 1.77357508e+02] [ 1.85961682e-01 1.03189674e-02 -9.82502810e-01 1.16579655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:177.38, Z:116.58 [[-8.24566421e-01 5.43609922e-01 -1.56775220e-01 2.95114539e+02] [ 5.35444288e-01 8.39313840e-01 9.40834291e-02 1.77379111e+02] [ 1.82728298e-01 -6.36635972e-03 -9.83142837e-01 1.16581181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.18, Y:177.44, Z:116.61 [[-8.64267820e-01 4.59108359e-01 -2.05573953e-01 2.95177797e+02] [ 4.65777033e-01 8.84726017e-01 1.76530533e-02 1.77441699e+02] [ 1.89981289e-01 -8.04946602e-02 -9.78482355e-01 1.16608365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.160385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:295.20, Y:177.43, Z:116.58 [[-8.98153820e-01 4.05051517e-01 -1.71035039e-01 2.95198476e+02] [ 3.95810212e-01 9.14238068e-01 8.66200423e-02 1.77431836e+02] [ 1.91452323e-01 1.01007068e-02 -9.81449940e-01 1.16576430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.190385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.25, Y:177.47, Z:116.58 [[-9.27265676e-01 3.30168830e-01 -1.76541528e-01 2.95248953e+02] [ 3.22303527e-01 9.43866823e-01 7.23592150e-02 1.77465276e+02] [ 1.90522448e-01 1.01962592e-02 -9.81629886e-01 1.16576485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.29, Y:177.50, Z:116.58 [[-9.50334504e-01 2.53079984e-01 -1.81148700e-01 2.95289781e+02] [ 2.46597226e-01 9.67390580e-01 5.78383406e-02 1.77502836e+02] [ 1.89879272e-01 1.02950039e-02 -9.81753470e-01 1.16577250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.33, Y:177.54, Z:116.58 [[-9.67319266e-01 1.74220516e-01 -1.84229883e-01 2.95330096e+02] [ 1.69152582e-01 9.84651403e-01 4.30002109e-02 1.77543064e+02] [ 1.88893732e-01 1.04319721e-02 -9.81942123e-01 1.16577499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.36, Y:177.59, Z:116.58 [[-9.78122843e-01 9.31542400e-02 -1.86005355e-01 2.95359599e+02] [ 8.94872551e-02 9.95593393e-01 2.80326206e-02 1.77589012e+02] [ 1.87797060e-01 1.07742379e-02 -9.82148757e-01 1.16579141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:177.63, Z:116.58 [[-9.82233920e-01 1.25663462e-02 -1.87239455e-01 2.95395126e+02] [ 1.03053110e-02 9.99861816e-01 1.30441721e-02 1.77634626e+02] [ 1.87377499e-01 1.08828675e-02 -9.82227691e-01 1.16578269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:177.69, Z:116.58 [[-9.79832386e-01 -6.86990676e-02 -1.87640437e-01 2.95423857e+02] [-6.95641970e-02 9.97575515e-01 -1.97854301e-03 1.77685044e+02] [ 1.87321429e-01 1.11144158e-02 -9.82235792e-01 1.16578261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37038572299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.46, Y:177.74, Z:116.58 [[-9.71832001e-01 -1.44362843e-01 -1.86284546e-01 2.95459168e+02] [-1.43743561e-01 9.89470656e-01 -1.68999739e-02 1.77741441e+02] [ 1.86762820e-01 1.03532686e-02 -9.82350477e-01 1.16577877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.400385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.47, Y:177.79, Z:116.58 [[-9.56268446e-01 -2.27118413e-01 -1.84303787e-01 2.95468763e+02] [-2.25165596e-01 9.73803361e-01 -3.17406366e-02 1.77787659e+02] [ 1.86684530e-01 1.11463027e-02 -9.82356680e-01 1.16578942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.48, Y:177.84, Z:116.58 [[-9.35220193e-01 -3.04321106e-01 -1.80974735e-01 2.95481786e+02] [-3.00983985e-01 9.52504117e-01 -4.63092598e-02 1.77842147e+02] [ 1.86472066e-01 1.11611420e-02 -9.82396864e-01 1.16579137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.49, Y:177.90, Z:116.58 [[-9.08363882e-01 -3.79208189e-01 -1.76284450e-01 2.95491672e+02] [-3.74519651e-01 9.25244906e-01 -6.04722727e-02 1.77896270e+02] [ 1.86037871e-01 1.10911624e-02 -9.82479973e-01 1.16578907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.50, Y:177.95, Z:116.58 [[-8.75081567e-01 -4.52622522e-01 -1.71362493e-01 2.95495429e+02] [-4.46569796e-01 8.91631576e-01 -7.46227194e-02 1.77952812e+02] [ 1.86568133e-01 1.12243475e-02 -9.82377904e-01 1.16579641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.49, Y:178.01, Z:116.58 [[-8.36321488e-01 -5.23007030e-01 -1.64408076e-01 2.95494590e+02] [-5.15713585e-01 8.52252453e-01 -8.77795786e-02 1.78007054e+02] [ 1.86026523e-01 1.13755305e-02 -9.82478870e-01 1.16580361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.48, Y:178.06, Z:116.58 [[-7.91470203e-01 -5.91043626e-01 -1.55699554e-01 2.95484330e+02] [-5.82687170e-01 8.06553476e-01 -9.97354082e-02 1.78059769e+02] [ 1.84527994e-01 1.17865286e-02 -9.82756581e-01 1.16582729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.48, Y:178.11, Z:116.58 [[-7.42703171e-01 -6.53330085e-01 -1.46805314e-01 2.95475118e+02] [-6.43858188e-01 7.56982210e-01 -1.11465541e-01 1.78110093e+02] [ 1.83952803e-01 1.17359924e-02 -9.82865013e-01 1.16583447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.610385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.46, Y:178.16, Z:116.58 [[-6.88321125e-01 -7.12421527e-01 -1.36636731e-01 2.95457426e+02] [-7.02004321e-01 7.01649812e-01 -1.21973253e-01 1.78157745e+02] [ 1.82767508e-01 1.19628089e-02 -9.83083379e-01 1.16584688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:178.20, Z:116.59 [[-6.30572512e-01 -7.65864834e-01 -1.25814796e-01 2.95428834e+02] [-7.54560049e-01 6.42891038e-01 -1.31644395e-01 1.78195412e+02] [ 1.81707018e-01 1.19234813e-02 -9.83280423e-01 1.16588741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:178.46, Z:115.60 [[-6.08263266e-01 7.84534030e-01 1.20507902e-01 2.94793802e+02] [-7.70372177e-01 -6.20080477e-01 1.48414658e-01 1.78464702e+02] [ 1.91160947e-01 -2.56075025e-03 9.81555365e-01 1.15600007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.80, Y:178.46, Z:115.60 [[-6.07145164e-01 7.85323236e-01 1.21004816e-01 2.94795908e+02] [-7.71080789e-01 -6.19079196e-01 1.48913956e-01 1.78462646e+02] [ 1.91857154e-01 -2.89210074e-03 9.81418600e-01 1.15598312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:178.46, Z:115.60 [[-6.06651800e-01 7.85652789e-01 1.21339557e-01 2.94794349e+02] [-7.71359320e-01 -6.18660031e-01 1.49213155e-01 1.78459063e+02] [ 1.92297666e-01 -3.07596906e-03 9.81331823e-01 1.15599480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.760385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.36, Y:178.22, Z:116.61 [[-5.76888666e-01 -8.12749915e-01 -8.14680539e-02 2.95357284e+02] [-7.98134507e-01 5.82091945e-01 -1.55403588e-01 1.78218174e+02] [ 1.73726151e-01 -2.46281037e-02 -9.84485998e-01 1.16606924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:178.58, Z:116.48 [[-5.42457238e-01 -2.58154376e-01 7.99435090e-01 2.94674040e+02] [-8.07025625e-01 -1.04188466e-01 -5.81252444e-01 1.78577429e+02] [ 2.33344778e-01 -9.60469199e-01 -1.51819409e-01 1.16476996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:178.20, Z:116.59 [[-5.01981691e-01 -8.59118341e-01 -9.96496767e-02 2.95279867e+02] [-8.29649864e-01 5.10876887e-01 -2.25135313e-01 1.78203310e+02] [ 2.44326594e-01 -3.03394647e-02 -9.69218259e-01 1.16592683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:178.45, Z:116.58 [[-4.52560867e-01 -5.00437530e-01 7.38072449e-01 2.94679035e+02] [-8.42038276e-01 -3.26253651e-02 -5.38430244e-01 1.78454489e+02] [ 2.93530585e-01 -8.65157711e-01 -4.06622591e-01 1.16576422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.880385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.53, Y:178.17, Z:115.61 [[-4.24193063e-01 8.92947091e-01 1.50684231e-01 2.94528474e+02] [-8.46682239e-01 -4.50104032e-01 2.83787854e-01 1.78169778e+02] [ 3.21231118e-01 -7.20082332e-03 9.46973451e-01 1.15614648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:178.17, Z:115.61 [[-4.25683814e-01 8.92178233e-01 1.51034072e-01 2.94527978e+02] [-8.45734265e-01 -4.51632905e-01 2.84185278e-01 1.78166501e+02] [ 3.21755876e-01 -6.76161682e-03 9.46798520e-01 1.15614721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:178.16, Z:115.62 [[-4.26907563e-01 8.91573069e-01 1.51153545e-01 2.94525375e+02] [-8.45105430e-01 -4.52831149e-01 2.84149191e-01 1.78162320e+02] [ 3.21786799e-01 -6.43524288e-03 9.46790285e-01 1.15616773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:178.16, Z:115.62 [[-4.28219489e-01 8.90951066e-01 1.51110121e-01 2.94523537e+02] [-8.44561670e-01 -4.54058487e-01 2.83807111e-01 1.78160467e+02] [ 3.21471081e-01 -6.09007980e-03 9.46899813e-01 1.15617981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:178.16, Z:115.62 [[-4.30048032e-01 8.90056335e-01 1.51189983e-01 2.94521872e+02] [-8.43651241e-01 -4.55816778e-01 2.83696402e-01 1.78158821e+02] [ 3.21420710e-01 -5.54853762e-03 9.46920240e-01 1.15618615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:178.16, Z:115.62 [[-4.30789023e-01 8.89662407e-01 1.51398875e-01 2.94520762e+02] [-8.43190519e-01 -4.56587086e-01 2.83827381e-01 1.78155530e+02] [ 3.21637322e-01 -5.38837594e-03 9.46847611e-01 1.15619097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.06038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.52, Y:178.15, Z:115.62 [[-4.31817139e-01 8.89130747e-01 1.51593119e-01 2.94519359e+02] [-8.42593148e-01 -4.57624570e-01 2.83930519e-01 1.78153120e+02] [ 3.21824090e-01 -5.12525853e-03 9.46785608e-01 1.15619440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:178.15, Z:115.62 [[-4.33142053e-01 8.88401076e-01 1.52090401e-01 2.94514400e+02] [-8.41594765e-01 -4.59043778e-01 2.84599825e-01 1.78148713e+02] [ 3.22654943e-01 -4.72633292e-03 9.46504860e-01 1.15622271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:178.15, Z:115.62 [[-4.34096649e-01 8.87924221e-01 1.52153468e-01 2.94513790e+02] [-8.41138687e-01 -4.59967741e-01 2.84456301e-01 1.78150470e+02] [ 3.22561326e-01 -4.50064123e-03 9.46537868e-01 1.15622350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:178.15, Z:115.62 [[-4.36427352e-01 8.86767360e-01 1.52232770e-01 2.94509990e+02] [-8.39952116e-01 -4.62200620e-01 2.84343153e-01 1.78148455e+02] [ 3.22508308e-01 -3.77310789e-03 9.46559113e-01 1.15624194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:178.15, Z:115.63 [[-4.38035895e-01 8.85958269e-01 1.52323672e-01 2.94508111e+02] [-8.39126837e-01 -4.63753182e-01 2.84251892e-01 1.78146496e+02] [ 3.22475902e-01 -3.30634929e-03 9.46571900e-01 1.15625023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.22, Y:178.16, Z:116.58 [[-3.87938172e-01 -9.10075349e-01 -1.45831527e-01 2.95215529e+02] [-8.69251275e-01 4.13865664e-01 -2.70402355e-01 1.78157747e+02] [ 3.06441179e-01 2.18648455e-02 -9.51638446e-01 1.16578835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:178.20, Z:116.58 [[-3.14262750e-01 -9.41359970e-01 -1.22801998e-01 2.95178733e+02] [-8.98788334e-01 3.36676778e-01 -2.80763739e-01 1.78197418e+02] [ 3.05644326e-01 2.21394187e-02 -9.51888330e-01 1.16580855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.14, Y:178.22, Z:116.59 [[-2.37833207e-01 -9.66209018e-01 -9.93755455e-02 2.95137043e+02] [-9.21774745e-01 2.56775219e-01 -2.90513006e-01 1.78222303e+02] [ 3.06213464e-01 2.25082281e-02 -9.51696745e-01 1.16587361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:178.24, Z:116.59 [[-1.62070983e-01 -9.83924668e-01 -7.50016219e-02 2.95094460e+02] [-9.38250388e-01 1.77197045e-01 -2.97131986e-01 1.78243272e+02] [ 3.05645557e-01 2.22138277e-02 -9.51886201e-01 1.16592832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.05, Y:178.26, Z:116.60 [[-8.61034058e-02 -9.95014667e-01 -5.03191506e-02 2.95049580e+02] [-9.48629020e-01 9.73140677e-02 -3.01053078e-01 1.78255293e+02] [ 3.04448989e-01 2.18125112e-02 -9.52278860e-01 1.16601434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.33, Y:178.01, Z:115.65 [[-7.03087606e-02 9.96886628e-01 3.56893453e-02 2.94327574e+02] [-9.43773846e-01 -7.80635595e-02 3.21242911e-01 1.78009583e+02] [ 3.23028800e-01 -1.10964797e-02 9.46324079e-01 1.15649689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.33, Y:178.01, Z:115.64 [[-6.98963064e-02 9.97243632e-01 2.48926865e-02 2.94331838e+02] [-9.44191074e-01 -7.41888929e-02 3.20934922e-01 1.78012579e+02] [ 3.21897067e-01 -1.07128683e-03 9.46774065e-01 1.15643851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:178.01, Z:115.64 [[-6.84184944e-02 9.97525474e-01 1.61813956e-02 2.94332703e+02] [-9.46021160e-01 -7.00192275e-02 3.16451058e-01 1.78009396e+02] [ 3.16801001e-01 6.34316234e-03 9.48470817e-01 1.15638394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.32, Y:177.92, Z:115.67 [[-7.20050417e-02 9.97078675e-01 2.54831368e-02 2.94317316e+02] [-9.44539654e-01 -7.63738650e-02 3.19392979e-01 1.77924126e+02] [ 3.20406174e-01 -1.07192843e-03 9.47279650e-01 1.15673462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:178.00, Z:115.65 [[-7.14552713e-02 9.97080989e-01 2.69006748e-02 2.94318429e+02] [-9.44548750e-01 -7.63073200e-02 3.19381984e-01 1.78002124e+02] [ 3.20502423e-01 -2.58747239e-03 9.47244162e-01 1.15648844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:178.00, Z:115.65 [[-7.19500909e-02 9.97040458e-01 2.70833964e-02 2.94314751e+02] [-9.44280181e-01 -7.68364484e-02 3.20048591e-01 1.77996076e+02] [ 3.21182385e-01 -2.54678923e-03 9.47013933e-01 1.15651712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.31, Y:177.99, Z:115.65 [[-7.19638916e-02 9.97035450e-01 2.72306814e-02 2.94311723e+02] [-9.44178545e-01 -7.68976321e-02 3.20333623e-01 1.77990125e+02] [ 3.21477953e-01 -2.65817097e-03 9.46913333e-01 1.15653419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.31, Y:178.00, Z:115.65 [[-7.24759345e-02 9.96990645e-01 2.75116678e-02 2.94307067e+02] [-9.43505819e-01 -7.74780764e-02 3.22170633e-01 1.77998173e+02] [ 3.23332658e-01 -2.60780092e-03 9.46281772e-01 1.15652446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:177.99, Z:115.66 [[-7.47391273e-02 9.96822596e-01 2.75458563e-02 2.94300321e+02] [-9.43681694e-01 -7.96287446e-02 3.21129450e-01 1.77985519e+02] [ 3.22302534e-01 -1.99358555e-03 9.46634619e-01 1.15655713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.03, Y:178.18, Z:116.63 [[-1.91062409e-02 -9.99465235e-01 -2.65366932e-02 2.95030013e+02] [-9.54772469e-01 2.61159359e-02 -2.96188269e-01 1.78181667e+02] [ 2.96722908e-01 1.96774597e-02 -9.54760867e-01 1.16628817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:177.87, Z:115.69 [[-3.85793251e-03 9.99985340e-01 3.79956471e-03 2.94267228e+02] [-9.46105250e-01 -4.88046645e-03 3.23822539e-01 1.77872457e+02] [ 3.23836336e-01 -2.34550262e-03 9.46110208e-01 1.15686888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.26, Y:177.87, Z:115.69 [[-4.51403232e-03 9.99982208e-01 3.89971514e-03 2.94262106e+02] [-9.46735887e-01 -5.52926127e-03 3.21963642e-01 1.77873331e+02] [ 3.21979477e-01 -2.23864599e-03 9.46744002e-01 1.15686878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:177.86, Z:115.69 [[-6.08800346e-03 9.99973363e-01 4.02623136e-03 2.94258410e+02] [-9.46628950e-01 -7.06071343e-03 3.22248006e-01 1.77863380e+02] [ 3.22267850e-01 -1.84950019e-03 9.46646720e-01 1.15692121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:177.86, Z:115.69 [[-3.58353139e-03 9.99991843e-01 1.86338261e-03 2.94255506e+02] [-9.47804461e-01 -3.99061664e-03 3.18827191e-01 1.77864838e+02] [ 3.18832027e-01 -6.23595100e-04 9.47811031e-01 1.15687584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:177.87, Z:115.69 [[-3.74878513e-03 9.99989940e-01 2.46314501e-03 2.94252560e+02] [-9.47613794e-01 -4.33914534e-03 3.19388898e-01 1.77868303e+02] [ 3.19396373e-01 -1.13678984e-03 9.47620528e-01 1.15687149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:177.87, Z:115.69 [[-4.83006513e-03 9.99985957e-01 2.18113345e-03 2.94249879e+02] [-9.47685949e-01 -5.27359093e-03 3.19160666e-01 1.77867240e+02] [ 3.19167687e-01 -5.25462715e-04 9.47698112e-01 1.15687143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:177.86, Z:115.69 [[-8.49569626e-03 9.99943731e-01 6.35278995e-03 2.94242650e+02] [-9.46031850e-01 -1.00955400e-02 3.23916377e-01 1.77862996e+02] [ 3.23962285e-01 -3.25804647e-03 9.46064386e-01 1.15693685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:177.86, Z:115.69 [[-9.47421975e-03 9.99945087e-01 4.47907301e-03 2.94241391e+02] [-9.46058480e-01 -1.04141893e-02 3.23828501e-01 1.77860287e+02] [ 3.23857364e-01 -1.16944263e-03 9.46105195e-01 1.15693878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:177.86, Z:115.70 [[-1.20741460e-02 9.99916258e-01 4.65751530e-03 2.94237196e+02] [-9.45092871e-01 -1.29331647e-02 3.26545859e-01 1.77858589e+02] [ 3.26578749e-01 -4.59022115e-04 9.45169884e-01 1.15696591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.03, Y:177.93, Z:116.72 [[ 6.48490333e-02 -9.97859880e-01 -8.38233163e-03 2.95027111e+02] [-9.53600748e-01 -5.94934694e-02 -2.95137495e-01 1.77925278e+02] [ 2.94007171e-01 2.71327789e-02 -9.55418022e-01 1.16716006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:177.93, Z:116.72 [[ 1.43068848e-01 -9.89636861e-01 -1.22551456e-02 2.95026816e+02] [-9.45279897e-01 -1.32966813e-01 -2.97935804e-01 1.77931740e+02] [ 2.93218726e-01 5.42098751e-02 -9.54507239e-01 1.16715083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:177.93, Z:116.72 [[ 2.23745550e-01 -9.74647013e-01 -1.06225324e-03 2.95003946e+02] [-9.31262743e-01 -2.13464201e-01 -2.95267232e-01 1.77931864e+02] [ 2.87554573e-01 6.70539660e-02 -9.55414116e-01 1.16717676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:177.93, Z:116.74 [[ 3.01978386e-01 -9.51093340e-01 6.50423993e-02 2.94953480e+02] [-9.09493593e-01 -3.07873927e-01 -2.79347543e-01 1.77932865e+02] [ 2.85710446e-01 2.52012745e-02 -9.57984570e-01 1.16742524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.94, Y:177.93, Z:116.75 [[ 3.73982501e-01 -9.24508545e-01 7.36277027e-02 2.94935927e+02] [-8.82356786e-01 -3.79131470e-01 -2.78757656e-01 1.77934331e+02] [ 2.85628414e-01 3.92845824e-02 -9.57534924e-01 1.16749017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.95, Y:177.94, Z:116.72 [[ 4.46148209e-01 -8.94595181e-01 2.55193534e-02 2.94953740e+02] [-8.51021005e-01 -4.32896793e-01 -2.97260181e-01 1.77936486e+02] [ 2.76974772e-01 1.10904592e-01 -9.54455419e-01 1.16722915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:177.92, Z:116.77 [[ 5.15309622e-01 -8.47547704e-01 1.26960162e-01 2.94891262e+02] [-8.11115424e-01 -5.30161990e-01 -2.47022334e-01 1.77923887e+02] [ 2.76672664e-01 2.43136401e-02 -9.60656590e-01 1.16768825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.86, Y:177.91, Z:116.78 [[ 5.77123521e-01 -8.03193887e-01 1.47675392e-01 2.94863809e+02] [-7.67812212e-01 -5.95260162e-01 -2.36917171e-01 1.77913772e+02] [ 2.78195701e-01 2.33435023e-02 -9.60240716e-01 1.16778560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:177.90, Z:116.79 [[ 6.36655913e-01 -7.53684549e-01 1.63183482e-01 2.94840322e+02] [-7.19168504e-01 -6.56671833e-01 -2.27109593e-01 1.77903269e+02] [ 2.78326987e-01 2.72342450e-02 -9.60100195e-01 1.16786339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.83, Y:177.90, Z:116.78 [[ 6.92568416e-01 -7.03023481e-01 1.61576529e-01 2.94828972e+02] [-6.66924553e-01 -7.09398449e-01 -2.27959385e-01 1.77897120e+02] [ 2.74882939e-01 5.01181159e-02 -9.60170581e-01 1.16782284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:177.88, Z:116.80 [[ 7.44197852e-01 -6.38013398e-01 1.97758593e-01 2.94799099e+02] [-6.09178344e-01 -7.69723140e-01 -1.90861294e-01 1.77881177e+02] [ 2.73991428e-01 2.15683126e-02 -9.61490252e-01 1.16802347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:177.87, Z:116.81 [[ 7.91123704e-01 -5.73910003e-01 2.11543361e-01 2.94782917e+02] [-5.47566244e-01 -8.18644567e-01 -1.73182796e-01 1.77870912e+02] [ 2.72570163e-01 2.11750116e-02 -9.61902867e-01 1.16809779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.77, Y:177.85, Z:116.82 [[ 8.32135438e-01 -5.08201558e-01 2.21995021e-01 2.94765554e+02] [-4.84873389e-01 -8.61003161e-01 -1.53529651e-01 1.77853921e+02] [ 2.69162423e-01 2.01179850e-02 -9.62884654e-01 1.16815642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:177.84, Z:116.82 [[ 8.68716321e-01 -4.36281618e-01 2.34500113e-01 2.94747333e+02] [-4.15306989e-01 -8.99587741e-01 -1.35136975e-01 1.77835778e+02] [ 2.69911205e-01 2.00061601e-02 -9.62677358e-01 1.16824517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:177.82, Z:116.83 [[ 8.99459789e-01 -3.62810065e-01 2.43599970e-01 2.94732416e+02] [-3.44640617e-01 -9.31658578e-01 -1.15044072e-01 1.77816477e+02] [ 2.68691149e-01 1.95230725e-02 -9.63028513e-01 1.16833290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:177.80, Z:116.84 [[ 9.24540798e-01 -2.86401710e-01 2.51392867e-01 2.94717929e+02] [-2.71050193e-01 -9.57916982e-01 -9.44819962e-02 1.77796720e+02] [ 2.67873302e-01 1.92123750e-02 -9.63262570e-01 1.16841882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.71, Y:177.78, Z:116.85 [[ 9.43652540e-01 -2.08134725e-01 2.57293258e-01 2.94705936e+02] [-1.95683486e-01 -9.77917516e-01 -7.33846455e-02 1.77780277e+02] [ 2.66885477e-01 1.89015654e-02 -9.63542876e-01 1.16849934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.70, Y:177.76, Z:116.86 [[ 9.56485302e-01 -1.29524635e-01 2.61455993e-01 2.94696615e+02] [-1.20046399e-01 -9.91406846e-01 -5.19743069e-02 1.77759246e+02] [ 2.65941214e-01 1.83258103e-02 -9.63815042e-01 1.16857482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.69, Y:177.74, Z:116.87 [[ 9.63327035e-01 -4.82165226e-02 2.63962481e-01 2.94688920e+02] [-4.16589999e-02 -9.98669681e-01 -3.03874186e-02 1.77736994e+02] [ 2.65076502e-01 1.82766089e-02 -9.64054155e-01 1.16865763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:177.71, Z:116.87 [[ 9.64506685e-01 3.06700009e-02 2.62271246e-01 2.94683874e+02] [ 3.41894634e-02 -9.99376049e-01 -8.86525601e-03 1.77706996e+02] [ 2.61835705e-01 1.75175119e-02 -9.64953471e-01 1.16871489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.530385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.68, Y:177.68, Z:116.88 [[ 9.58035872e-01 1.11303477e-01 2.64156779e-01 2.94678426e+02] [ 1.11887164e-01 -9.93637392e-01 1.28839415e-02 1.77681223e+02] [ 2.63910080e-01 1.72124746e-02 -9.64393696e-01 1.16880478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:177.66, Z:116.89 [[ 9.46010833e-01 1.90927400e-01 2.61935549e-01 2.94675649e+02] [ 1.88564658e-01 -9.81459088e-01 3.43719021e-02 1.77659047e+02] [ 2.63641563e-01 1.68755954e-02 -9.64473090e-01 1.16888304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:177.64, Z:116.90 [[ 9.27848993e-01 2.69329709e-01 2.57987895e-01 2.94674508e+02] [ 2.64049566e-01 -9.62905912e-01 5.55880539e-02 1.77636808e+02] [ 2.63389584e-01 1.65442721e-02 -9.64547673e-01 1.16896486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:177.61, Z:116.90 [[ 9.03510647e-01 3.46360952e-01 2.52393745e-01 2.94675028e+02] [ 3.38221970e-01 -9.37959210e-01 7.64095551e-02 1.77612898e+02] [ 2.63200324e-01 1.63282632e-02 -9.64603015e-01 1.16904493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.68, Y:177.59, Z:116.91 [[ 8.72851901e-01 4.22161108e-01 2.44764292e-01 2.94678359e+02] [ 4.11308718e-01 -9.06371908e-01 9.65147825e-02 1.77589683e+02] [ 2.62592266e-01 1.64305760e-02 -9.64766986e-01 1.16912730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:177.57, Z:116.92 [[ 8.36019798e-01 4.95299506e-01 2.36112891e-01 2.94682070e+02] [ 4.81759523e-01 -8.68563746e-01 1.16210069e-01 1.77567291e+02] [ 2.62637887e-01 1.65957158e-02 -9.64751742e-01 1.16919560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.69, Y:177.55, Z:116.93 [[ 7.93935592e-01 5.64752473e-01 2.25213054e-01 2.94687609e+02] [ 5.48719121e-01 -8.25091868e-01 1.34650421e-01 1.77546734e+02] [ 2.61865617e-01 1.66749471e-02 -9.64960281e-01 1.16926969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.740385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.69, Y:177.53, Z:116.93 [[ 7.46548217e-01 6.30314369e-01 2.13001304e-01 2.94693309e+02] [ 6.11895292e-01 -7.76159892e-01 1.52184013e-01 1.77527644e+02] [ 2.61246840e-01 1.67217920e-02 -9.65127178e-01 1.16934259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.70, Y:177.51, Z:116.94 [[ 6.93730738e-01 6.92093556e-01 1.99359410e-01 2.94701100e+02] [ 6.71469889e-01 -7.21609076e-01 1.68548302e-01 1.77509426e+02] [ 2.60510753e-01 1.69367030e-02 -9.65322379e-01 1.16942046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.71, Y:177.49, Z:116.95 [[ 6.36589397e-01 7.48977692e-01 1.83810654e-01 2.94708776e+02] [ 7.26500109e-01 -6.62374589e-01 1.82913902e-01 1.77491369e+02] [ 2.58749939e-01 1.70974100e-02 -9.65793015e-01 1.16950363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.72, Y:177.48, Z:116.96 [[ 5.75379018e-01 8.00536914e-01 1.67569795e-01 2.94716494e+02] [ 7.76279797e-01 -5.99038811e-01 1.96321622e-01 1.77475350e+02] [ 2.57543516e-01 1.71217044e-02 -9.66114996e-01 1.16957596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.73, Y:177.45, Z:116.97 [[ 5.13437229e-01 8.43158606e-01 1.59580006e-01 2.94734059e+02] [ 8.17917521e-01 -5.37100347e-01 2.06238080e-01 1.77449214e+02] [ 2.59601889e-01 2.46329749e-02 -9.65401510e-01 1.16965246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.73, Y:177.45, Z:116.95 [[ 4.42689935e-01 8.79103743e-01 1.76641533e-01 2.94732577e+02] [ 8.60241522e-01 -4.71964097e-01 1.92962211e-01 1.77451043e+02] [ 2.53002263e-01 6.65319525e-02 -9.65175297e-01 1.16951630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:177.42, Z:116.98 [[ 3.71056533e-01 9.21739250e-01 1.12755505e-01 2.94770126e+02] [ 8.93662262e-01 -3.87447781e-01 2.26389001e-01 1.77419398e+02] [ 2.52358498e-01 1.67622223e-02 -9.67488613e-01 1.16980177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.950385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:294.78, Y:177.40, Z:116.99 [[ 3.00507819e-01 9.47062314e-01 1.12995681e-01 2.94782609e+02] [ 9.18874930e-01 -3.19228247e-01 2.31866751e-01 1.77403661e+02] [ 2.55663675e-01 3.41511268e-02 -9.66162402e-01 1.16985373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:177.42, Z:116.95 [[ 2.23524725e-01 9.60072999e-01 1.68215735e-01 2.94759106e+02] [ 9.43223675e-01 -2.56564336e-01 2.10959331e-01 1.77415658e+02] [ 2.45694516e-01 1.11510437e-01 -9.62912056e-01 1.16953787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.82, Y:177.38, Z:117.00 [[ 1.46445539e-01 9.87795796e-01 5.30393217e-02 2.94820564e+02] [ 9.58633731e-01 -1.54943111e-01 2.38776053e-01 1.77383655e+02] [ 2.44080058e-01 1.58775951e-02 -9.69625096e-01 1.17001606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.040385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.85, Y:177.37, Z:117.01 [[ 7.15737065e-02 9.96946088e-01 3.12362207e-02 2.94845538e+02] [ 9.66491080e-01 -7.70592107e-02 2.44860922e-01 1.77369987e+02] [ 2.46520177e-01 1.26639249e-02 -9.69054915e-01 1.17012727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:177.36, Z:117.02 [[-6.32969521e-03 9.99959445e-01 6.40653743e-03 2.94864735e+02] [ 9.69285773e-01 4.56013366e-03 2.45894887e-01 1.77361544e+02] [ 2.45855700e-01 7.76620527e-03 -9.69275328e-01 1.17020453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.91, Y:177.34, Z:117.03 [[-8.26334596e-02 9.96404446e-01 -1.87053661e-02 2.94911586e+02] [ 9.65502902e-01 8.46932619e-02 2.46234029e-01 1.77341861e+02] [ 2.46932900e-01 2.28708447e-03 -9.69029882e-01 1.17026580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.99, Y:177.11, Z:116.97 [[-1.59294390e-01 9.86763200e-01 -3.03921856e-02 2.94988742e+02] [ 9.56843153e-01 1.61897312e-01 2.41330565e-01 1.77110664e+02] [ 2.43056533e-01 9.36205042e-03 -9.69966945e-01 1.16967663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.07, Y:177.09, Z:116.99 [[-2.42718981e-01 9.63884204e-01 -1.09611759e-01 2.95070298e+02] [ 9.38541422e-01 2.61904143e-01 2.24824864e-01 1.77093957e+02] [ 2.45412909e-01 -4.83059143e-02 -9.68214358e-01 1.16987662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.09, Y:177.07, Z:116.96 [[-3.17512379e-01 9.45992976e-01 -6.54459955e-02 2.95093421e+02] [ 9.15869539e-01 3.23820485e-01 2.37325264e-01 1.77073677e+02] [ 2.45700787e-01 1.54137153e-02 -9.69223164e-01 1.16963133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.17, Y:177.04, Z:116.96 [[-3.84253955e-01 9.18671023e-01 -9.16103189e-02 2.95171029e+02] [ 8.89748354e-01 3.94971575e-01 2.28790999e-01 1.77038566e+02] [ 2.46367133e-01 6.40371555e-03 -9.69155420e-01 1.16962654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.23, Y:177.06, Z:116.98 [[-4.60592033e-01 8.77572554e-01 -1.33121715e-01 2.95226674e+02] [ 8.52897132e-01 4.79105774e-01 2.07422612e-01 1.77055983e+02] [ 2.45807774e-01 -1.80019265e-02 -9.69151417e-01 1.16975415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.27, Y:177.05, Z:116.96 [[-5.27489504e-01 8.41005280e-01 -1.20270288e-01 2.95267533e+02] [ 8.13439161e-01 5.40816215e-01 2.14090058e-01 1.77049082e+02] [ 2.45094991e-01 1.50976966e-02 -9.69381507e-01 1.16963216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:177.05, Z:116.96 [[-5.90674091e-01 7.95226304e-01 -1.36818289e-01 2.95328493e+02] [ 7.69006644e-01 6.06133924e-01 2.03052820e-01 1.77048267e+02] [ 2.44403150e-01 1.47238666e-02 -9.69561915e-01 1.16962485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:177.06, Z:116.96 [[-6.50265313e-01 7.44221326e-01 -1.52609442e-01 2.95389510e+02] [ 7.19435964e-01 6.67777530e-01 1.91010636e-01 1.77055250e+02] [ 2.44063345e-01 1.44148700e-02 -9.69652152e-01 1.16962583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.45, Y:177.07, Z:116.96 [[-7.06176084e-01 6.88003387e-01 -1.67232407e-01 2.95446836e+02] [ 6.64830237e-01 7.25567409e-01 1.77630772e-01 1.77067598e+02] [ 2.43548957e-01 1.42574419e-02 -9.69783806e-01 1.16963327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:177.08, Z:116.96 [[-7.57508775e-01 6.27368385e-01 -1.80525248e-01 2.95503449e+02] [ 6.05979259e-01 7.78594900e-01 1.63031037e-01 1.77083118e+02] [ 2.42836556e-01 1.41028854e-02 -9.69964698e-01 1.16962878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:177.10, Z:116.96 [[-8.03687746e-01 5.63051216e-01 -1.92508015e-01 2.95560492e+02] [ 5.43585167e-01 8.26306159e-01 1.47422173e-01 1.77101593e+02] [ 2.42076792e-01 1.38368926e-02 -9.70158424e-01 1.16961624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:177.11, Z:116.96 [[-8.39566108e-01 5.05303869e-01 -1.99491231e-01 2.95629204e+02] [ 4.83620970e-01 8.62460056e-01 1.49242789e-01 1.77113878e+02] [ 2.47466177e-01 2.88210450e-02 -9.68467779e-01 1.16957732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:177.11, Z:116.92 [[-8.76469905e-01 4.53216505e-01 -1.62466323e-01 2.95646623e+02] [ 4.16182475e-01 8.82857833e-01 2.17610191e-01 1.77109141e+02] [ 2.42059196e-01 1.23113147e-01 -9.62419087e-01 1.16923189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:177.15, Z:116.93 [[-9.11485567e-01 3.72747866e-01 -1.73934153e-01 2.95685987e+02] [ 3.41755681e-01 9.21587985e-01 1.84061515e-01 1.77149350e+02] [ 2.28904162e-01 1.08326429e-01 -9.67402847e-01 1.16930099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.74, Y:177.23, Z:116.97 [[-9.33291064e-01 2.87831624e-01 -2.14757414e-01 2.95737019e+02] [ 2.73207930e-01 9.57194023e-01 9.55878075e-02 1.77227001e+02] [ 2.33077707e-01 3.05378180e-02 -9.71978510e-01 1.16974851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.580385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:295.80, Y:177.21, Z:116.93 [[-9.53659247e-01 2.32235991e-01 -1.91312533e-01 2.95796120e+02] [ 1.97000267e-01 9.62520496e-01 1.86400618e-01 1.77211522e+02] [ 2.27431166e-01 1.40074053e-01 -9.63667123e-01 1.16925142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:177.27, Z:116.94 [[-9.70289534e-01 1.42178033e-01 -1.95764215e-01 2.95816488e+02] [ 1.15653146e-01 9.83248273e-01 1.40880033e-01 1.77265648e+02] [ 2.12514872e-01 1.14053674e-01 -9.70478845e-01 1.16939046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:177.35, Z:116.98 [[-9.75431137e-01 5.09626490e-02 -2.14328964e-01 2.95881993e+02] [ 4.24419393e-02 9.98121910e-01 4.41739054e-02 1.77352893e+02] [ 2.16177654e-01 3.39920659e-02 -9.75762144e-01 1.16976605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:177.34, Z:116.93 [[-9.78717933e-01 -9.73856076e-03 -2.04978944e-01 2.95887331e+02] [-4.00284129e-02 9.88746033e-01 1.44149256e-01 1.77342818e+02] [ 2.01268311e-01 1.49286444e-01 -9.68093293e-01 1.16930188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:177.45, Z:116.98 [[-9.72158921e-01 -1.07963629e-01 -2.07968475e-01 2.95930608e+02] [-1.13317056e-01 9.93460712e-01 1.39663603e-02 1.77451086e+02] [ 2.05100650e-01 3.71438970e-02 -9.78035814e-01 1.16984655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:295.78, Y:177.40, Z:116.96 [[-9.61861340e-01 -1.59565191e-01 -2.22174959e-01 2.95784746e+02] [-1.93447213e-01 9.71059171e-01 1.40079484e-01 1.77400560e+02] [ 1.93393221e-01 1.77716167e-01 -9.64891717e-01 1.16964382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.80, Y:177.28, Z:116.34 [[-9.62028494e-01 8.50495825e-02 -2.59360261e-01 2.95795963e+02] [-2.29613756e-01 2.61584396e-01 9.37470600e-01 1.77282664e+02] [ 1.47576081e-01 9.61426114e-01 -2.32123088e-01 1.16337032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:178.16, Z:116.06 [[-9.54978358e-01 2.72896039e-01 1.16379070e-01 2.95549165e+02] [-2.70472994e-01 -9.62037805e-01 3.64365381e-02 1.78156129e+02] [ 1.21904452e-01 3.31870991e-03 9.92536292e-01 1.16061848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.55, Y:178.16, Z:116.06 [[-9.55286069e-01 2.70978240e-01 1.18318722e-01 2.95545971e+02] [-2.69361576e-01 -9.62579308e-01 2.97559469e-02 1.78156751e+02] [ 1.21954367e-01 -3.44507586e-03 9.92529729e-01 1.16064478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:178.16, Z:116.07 [[-9.55683057e-01 2.66852921e-01 1.24335884e-01 2.95539197e+02] [-2.65889741e-01 -9.63689833e-01 2.45876472e-02 1.78158323e+02] [ 1.26382513e-01 -9.56163821e-03 9.91935500e-01 1.16072402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:178.15, Z:116.07 [[-9.56158093e-01 2.65694146e-01 1.23159742e-01 2.95534471e+02] [-2.63922998e-01 -9.64052476e-01 3.07810698e-02 1.78150649e+02] [ 1.26910804e-01 -3.07311937e-03 9.91909373e-01 1.16070864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:177.56, Z:117.05 [[-9.48994586e-01 -2.94376515e-01 -1.12923621e-01 2.95829191e+02] [-2.93144044e-01 9.55665543e-01 -2.77477948e-02 1.77562367e+02] [ 1.16085512e-01 6.77037976e-03 -9.93216148e-01 1.17053937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:177.61, Z:117.05 [[-9.22238166e-01 -3.70687765e-01 -1.09851474e-01 2.95836488e+02] [-3.68966780e-01 9.28731164e-01 -3.63584897e-02 1.77613796e+02] [ 1.15500135e-01 7.00035785e-03 -9.93282797e-01 1.17054563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:177.66, Z:117.06 [[-8.89747581e-01 -4.43950791e-01 -1.06098719e-01 2.95839294e+02] [-4.41758026e-01 8.96022667e-01 -4.46455583e-02 1.77663288e+02] [ 1.14887288e-01 7.14668316e-03 -9.93352826e-01 1.17055019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.000385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.42, Y:178.20, Z:116.07 [[-8.70877234e-01 4.78477512e-01 1.12392678e-01 2.95422074e+02] [-4.74872916e-01 -8.78096842e-01 5.86655744e-02 1.78202209e+02] [ 1.26761814e-01 -2.28172556e-03 9.91930560e-01 1.16071999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.83, Y:177.71, Z:117.06 [[-8.50961285e-01 -5.15266308e-01 -1.01811215e-01 2.95834413e+02] [-5.12631703e-01 8.56997691e-01 -5.25708599e-02 1.77712384e+02] [ 1.14339969e-01 7.45588986e-03 -9.93413701e-01 1.17055184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.06038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.83, Y:177.76, Z:117.06 [[-8.07343475e-01 -5.82048537e-01 -9.70361523e-02 2.95830360e+02] [-5.78972725e-01 8.13118976e-01 -6.02338249e-02 1.77760880e+02] [ 1.13960946e-01 7.55190011e-03 -9.93456527e-01 1.17055575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.090385723 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:294.73, Y:177.77, Z:116.16 [[-7.90998625e-01 6.04579986e-01 9.38307788e-02 2.94725307e+02] [-5.99468516e-01 -7.96521945e-01 7.86783879e-02 1.77767516e+02] [ 1.22305653e-01 5.98589891e-03 9.92474431e-01 1.16161151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:178.08, Z:117.13 [[-7.65984886e-01 -5.38861907e-01 3.50563830e-01 2.95457900e+02] [-6.24129814e-01 4.92693640e-01 -6.06395047e-01 1.78081664e+02] [ 1.54042622e-01 -6.83286779e-01 -7.13715663e-01 1.17126950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.150385723 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:294.60, Y:177.66, Z:116.19 [[-7.54230681e-01 6.43601167e-01 1.30052362e-01 2.94600300e+02] [-6.33489178e-01 -7.65353670e-01 1.13689141e-01 1.77661437e+02] [ 1.72706516e-01 3.36107380e-03 9.84967595e-01 1.16186028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:178.12, Z:116.07 [[-7.58193691e-01 6.37463455e-01 1.37049887e-01 2.95154710e+02] [-6.28609046e-01 -7.70459095e-01 1.06035139e-01 1.78120879e+02] [ 1.73184857e-01 -5.75562542e-03 9.84872519e-01 1.16067675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:177.76, Z:117.04 [[-7.18447924e-01 -6.84318178e-01 -1.24664399e-01 2.95687266e+02] [-6.76943102e-01 7.29086451e-01 -1.00900865e-01 1.77756134e+02] [ 1.59939420e-01 1.18986878e-02 -9.87055117e-01 1.17040306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.240385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:294.78, Y:177.80, Z:116.14 [[-7.06779824e-01 6.96671853e-01 1.22925220e-01 2.94777944e+02] [-6.85903418e-01 -7.17387332e-01 1.22032442e-01 1.77800889e+02] [ 1.73201563e-01 1.93523941e-03 9.84884498e-01 1.16144413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:177.89, Z:116.13 [[-7.07055564e-01 6.95693917e-01 1.26816415e-01 2.94859725e+02] [-6.85258928e-01 -7.18335521e-01 1.20059488e-01 1.77886405e+02] [ 1.74621391e-01 -2.01335207e-03 9.84633595e-01 1.16126517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.300385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.10, Y:178.12, Z:116.07 [[-7.07446271e-01 6.95131472e-01 1.27718478e-01 2.95102277e+02] [-6.84652413e-01 -7.18878758e-01 1.20268052e-01 1.78119589e+02] [ 1.75416209e-01 -2.35957894e-03 9.84491537e-01 1.16068649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.10, Y:178.12, Z:116.07 [[-7.07494742e-01 6.95160413e-01 1.27291756e-01 2.95102185e+02] [-6.84463925e-01 -7.18853682e-01 1.21484651e-01 1.78119854e+02] [ 1.75955468e-01 -1.17686349e-03 9.84397424e-01 1.16068726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.360385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.66, Y:177.78, Z:117.05 [[-6.65067391e-01 -7.37958632e-01 -1.14465818e-01 2.95658153e+02] [-7.30078684e-01 6.74745878e-01 -1.08180937e-01 1.77776077e+02] [ 1.57068395e-01 1.16214406e-02 -9.87519347e-01 1.17045160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.390385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.04, Y:178.11, Z:116.07 [[-6.51729435e-01 7.49373889e-01 1.16993663e-01 2.95042450e+02] [-7.37926777e-01 -6.62145837e-01 1.30487407e-01 1.78105120e+02] [ 1.75250723e-01 -1.29027253e-03 9.84522991e-01 1.16074109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:178.10, Z:116.08 [[-6.51498296e-01 7.49539273e-01 1.17221366e-01 2.95039195e+02] [-7.38067170e-01 -6.61958391e-01 1.30644331e-01 1.78104164e+02] [ 1.75518723e-01 -1.40268273e-03 9.84475094e-01 1.16075003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:178.11, Z:116.08 [[-6.50892149e-01 7.50060293e-01 1.17255989e-01 2.95035178e+02] [-7.38607005e-01 -6.61367499e-01 1.30586080e-01 1.78106541e+02] [ 1.75496733e-01 -1.60864064e-03 9.84478699e-01 1.16075740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:178.04, Z:116.10 [[-6.52065491e-01 7.47085505e-01 1.29127235e-01 2.94960225e+02] [-7.36003442e-01 -6.64634801e-01 1.28683778e-01 1.78037176e+02] [ 1.81960239e-01 -1.11278387e-02 9.83242921e-01 1.16100561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.56, Y:177.56, Z:117.01 [[-6.16722909e-01 -7.45487229e-01 -2.52787750e-01 2.95558025e+02] [-7.73828135e-01 6.33047371e-01 2.10010503e-02 1.77557683e+02] [ 1.44370605e-01 2.08566102e-01 -9.67293807e-01 1.17010459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:177.52, Z:117.11 [[-5.47673749e-01 -8.32026197e-01 -8.82375920e-02 2.95386084e+02] [-8.26102877e-01 5.54452208e-01 -1.00681603e-01 1.77517876e+02] [ 1.32693259e-01 1.77526574e-02 -9.90998154e-01 1.17109505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.87, Y:178.07, Z:116.11 [[-5.34801963e-01 8.37259398e-01 1.13945434e-01 2.94872397e+02] [-8.27565556e-01 -5.46231854e-01 1.29483637e-01 1.78069292e+02] [ 1.70652017e-01 -2.50492134e-02 9.85012906e-01 1.16111665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.600385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:295.42, Y:177.53, Z:117.07 [[-4.86417537e-01 -8.60265854e-01 -1.52776439e-01 2.95418209e+02] [-8.64823030e-01 4.98942244e-01 -5.60157528e-02 1.77525886e+02] [ 1.24415059e-01 1.04877538e-01 -9.86671980e-01 1.17074834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.81, Y:178.05, Z:116.12 [[-4.71781541e-01 8.75389324e-01 1.05431065e-01 2.94807294e+02] [-8.66083523e-01 -4.82508684e-01 1.30708459e-01 1.78052047e+02] [ 1.65292194e-01 -2.96462699e-02 9.85798960e-01 1.16120109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.63, Y:177.55, Z:116.53 [[-4.75153951e-01 -3.67873580e-01 -7.99310798e-01 2.95632367e+02] [-8.75358246e-01 2.89834011e-01 3.86967941e-01 1.77553616e+02] [ 8.93121731e-02 8.83552644e-01 -4.59736948e-01 1.16532914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.87, Y:177.91, Z:117.18 [[-4.14903912e-01 -5.20473172e-01 7.46299150e-01 2.94872992e+02] [-9.00800080e-01 1.19478575e-01 -4.17473455e-01 1.77913547e+02] [ 1.28116975e-01 -8.45477703e-01 -5.18414404e-01 1.17179949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:177.82, Z:116.14 [[-4.09429406e-01 9.09959234e-01 6.58919910e-02 2.94667609e+02] [-8.98872769e-01 -4.14695839e-01 1.41616051e-01 1.77822697e+02] [ 1.56189968e-01 -1.24674077e-03 9.87726247e-01 1.16135597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:177.83, Z:116.14 [[-4.09106648e-01 9.10018482e-01 6.70679748e-02 2.94667793e+02] [-8.98991440e-01 -4.14560124e-01 1.41259673e-01 1.77832545e+02] [ 1.56352621e-01 -2.50326382e-03 9.87698128e-01 1.16135056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.66, Y:177.81, Z:116.14 [[-4.09364662e-01 9.09883578e-01 6.73234530e-02 2.94655420e+02] [-8.98791468e-01 -4.14856040e-01 1.41662849e-01 1.77811811e+02] [ 1.56826241e-01 -2.51798089e-03 9.87623000e-01 1.16138978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:177.83, Z:116.14 [[-4.09659022e-01 9.09724224e-01 6.76854714e-02 2.94662136e+02] [-8.98531325e-01 -4.15205308e-01 1.42288475e-01 1.77830444e+02] [ 1.57546639e-01 -2.52775895e-03 9.87508312e-01 1.16136254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.840385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:294.66, Y:177.83, Z:116.14 [[-4.10153878e-01 9.09480758e-01 6.79598933e-02 2.94659008e+02] [-8.98214900e-01 -4.15738489e-01 1.42728773e-01 1.77828111e+02] [ 1.58062616e-01 -2.50182886e-03 9.87425921e-01 1.16137272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:177.82, Z:116.14 [[-4.11040997e-01 9.09036735e-01 6.85384067e-02 2.94654403e+02] [-8.97592968e-01 -4.16709024e-01 1.43806999e-01 1.77823685e+02] [ 1.59286417e-01 -2.40901981e-03 9.87229474e-01 1.16137615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:177.83, Z:116.14 [[-4.11148090e-01 9.08952884e-01 6.90065463e-02 2.94651947e+02] [-8.97372399e-01 -4.16891649e-01 1.44651760e-01 1.77825781e+02] [ 1.60249887e-01 -2.45127527e-03 9.87073434e-01 1.16136830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:177.82, Z:116.14 [[-4.11198593e-01 9.08914110e-01 6.92160199e-02 2.94647709e+02] [-8.97284548e-01 -4.16975877e-01 1.44953643e-01 1.77821778e+02] [ 1.60611822e-01 -2.50173090e-03 9.87014480e-01 1.16138027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:177.82, Z:116.14 [[-4.12177444e-01 9.07794461e-01 7.75820336e-02 2.94638103e+02] [-8.96017754e-01 -4.19311818e-01 1.46047198e-01 1.77817435e+02] [ 1.65111901e-01 -9.31751889e-03 9.86230827e-01 1.16144629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:177.36, Z:116.52 [[-4.22494943e-01 -3.52252579e-01 -8.35114450e-01 2.95515634e+02] [-9.01462601e-01 2.59016585e-01 3.46807710e-01 1.77359204e+02] [ 9.41445824e-02 8.99348948e-01 -4.26975723e-01 1.16521420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:177.67, Z:117.23 [[-3.69031740e-01 -5.02181762e-01 7.82067166e-01 2.94719757e+02] [-9.21182713e-01 8.58683233e-02 -3.79537931e-01 1.77672859e+02] [ 1.23442231e-01 -8.60488297e-01 -4.94289295e-01 1.17231548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:177.23, Z:116.88 [[-3.36846291e-01 -7.72408819e-01 -5.38441447e-01 2.95403586e+02] [-9.35464854e-01 3.39504966e-01 9.81931026e-02 1.77234214e+02] [ 1.06958327e-01 5.36769032e-01 -8.36922292e-01 1.16881132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.080385723 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:295.10, Y:176.83, Z:117.18 [[-2.60990132e-01 -9.56860424e-01 -1.27680380e-01 2.95095269e+02] [-9.61386123e-01 2.69598140e-01 -5.52590745e-02 1.76828103e+02] [ 8.72976145e-02 1.08328073e-01 -9.90274788e-01 1.17183314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:177.35, Z:116.20 [[-2.71586740e-01 9.62409097e-01 -3.06160990e-03 2.94394352e+02] [-9.57222173e-01 -2.69790299e-01 1.04589226e-01 1.77350483e+02] [ 9.98316297e-02 3.13356878e-02 9.94510795e-01 1.16203506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:177.37, Z:116.86 [[-2.94540486e-01 3.43985148e-01 8.91582929e-01 2.94176340e+02] [-9.43322879e-01 -2.53957569e-01 -2.13652753e-01 1.77365602e+02] [ 1.52930860e-01 -9.03979962e-01 3.99289846e-01 1.16861343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.18, Z:116.22 [[-3.03720303e-01 9.51236420e-01 5.38818232e-02 2.94331114e+02] [-9.37252102e-01 -3.08460644e-01 1.62513163e-01 1.77184894e+02] [ 1.71208861e-01 -1.14230494e-03 9.85234095e-01 1.16215966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.33, Y:177.18, Z:116.22 [[-3.07468313e-01 9.50005841e-01 5.43335809e-02 2.94329573e+02] [-9.35953412e-01 -3.12231106e-01 1.62797260e-01 1.77184261e+02] [ 1.71622982e-01 -7.98701420e-04 9.85162380e-01 1.16215575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.33, Y:177.18, Z:116.22 [[-3.09448044e-01 9.49356497e-01 5.44440137e-02 2.94326862e+02] [-9.35271505e-01 -3.14200557e-01 1.62927047e-01 1.77176879e+02] [ 1.71782190e-01 -5.02478475e-04 9.85134827e-01 1.16216040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.17, Z:116.22 [[-3.11472290e-01 9.48676175e-01 5.47588055e-02 2.94326040e+02] [-9.34451642e-01 -3.16249075e-01 1.63666281e-01 1.77174849e+02] [ 1.72583723e-01 -1.91944263e-04 9.84994833e-01 1.16216265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.32, Y:177.16, Z:116.22 [[-3.15379569e-01 9.47384552e-01 5.47561635e-02 2.94322872e+02] [-9.33177557e-01 -3.20097336e-01 1.63454406e-01 1.77163637e+02] [ 1.72381481e-01 4.52957145e-04 9.85030162e-01 1.16217727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.29, Y:177.06, Z:116.23 [[-3.17216296e-01 9.47070487e-01 4.93083522e-02 2.94293052e+02] [-9.32563313e-01 -3.20961109e-01 1.65256266e-01 1.77064488e+02] [ 1.72335396e-01 6.43882026e-03 9.85017286e-01 1.16231751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:177.20, Z:117.17 [[-2.81970509e-01 -2.46506838e-01 9.27214652e-01 2.94329333e+02] [-9.32815879e-01 -1.55582122e-01 -3.25036521e-01 1.77201382e+02] [ 2.24381748e-01 -9.56571263e-01 -1.86075923e-01 1.17166938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:176.67, Z:116.27 [[-3.30824226e-01 2.20338571e-01 -9.17608983e-01 2.95013739e+02] [-9.30830831e-01 8.37986429e-02 3.55713020e-01 1.76666799e+02] [ 1.55271686e-01 9.71817216e-01 1.77375314e-01 1.16265114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:176.91, Z:116.27 [[-3.17792755e-01 9.46541157e-01 5.53859502e-02 2.94240283e+02] [-9.32037848e-01 -3.22581993e-01 1.65064555e-01 1.76909742e+02] [ 1.74106905e-01 8.34517920e-04 9.84726403e-01 1.16265721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.440385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.23, Y:176.89, Z:116.27 [[-3.16543449e-01 9.46980959e-01 5.50209800e-02 2.94232663e+02] [-9.32711663e-01 -3.21289262e-01 1.63774737e-01 1.76888123e+02] [ 1.72769207e-01 5.23110277e-04 9.84962196e-01 1.16268816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:176.93, Z:116.26 [[-3.14511664e-01 9.47661590e-01 5.49538406e-02 2.94244670e+02] [-9.33473907e-01 -3.19276533e-01 1.63367563e-01 1.76925937e+02] [ 1.72362636e-01 8.30278833e-05 9.85033560e-01 1.16262705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:176.93, Z:116.26 [[-3.13640222e-01 9.47951491e-01 5.49343433e-02 2.94244492e+02] [-9.33817834e-01 -3.18414743e-01 1.63083733e-01 1.76925608e+02] [ 1.72087372e-01 -1.49051250e-04 9.85081679e-01 1.16262840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:176.72, Z:117.24 [[-2.54050627e-01 -9.65564989e-01 -5.60582770e-02 2.95003328e+02] [-9.56924415e-01 2.59353914e-01 -1.30503682e-01 1.76721060e+02] [ 1.40548720e-01 2.04889917e-02 -9.89861737e-01 1.17241181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:176.47, Z:117.29 [[-1.82059572e-01 -9.82356342e-01 -4.27823445e-02 2.94906702e+02] [-9.73363996e-01 1.86217376e-01 -1.33737133e-01 1.76470622e+02] [ 1.39344337e-01 1.72946686e-02 -9.90092950e-01 1.17289625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:176.72, Z:116.29 [[-1.70640500e-01 9.84970873e-01 2.67245245e-02 2.94121358e+02] [-9.70627279e-01 -1.72700300e-01 1.67503112e-01 1.76718887e+02] [ 1.69601020e-01 2.64326233e-03 9.85509263e-01 1.16290510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:176.72, Z:116.29 [[-1.69068566e-01 9.85130218e-01 3.05659016e-02 2.94119972e+02] [-9.70987298e-01 -1.71802300e-01 1.66335917e-01 1.76718540e+02] [ 1.69113830e-01 -1.55692725e-03 9.85595296e-01 1.16292496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.12, Y:176.72, Z:116.29 [[-1.64851481e-01 9.85841594e-01 3.06649667e-02 2.94120538e+02] [-9.71700301e-01 -1.67662610e-01 1.66396440e-01 1.76717184e+02] [ 1.69181900e-01 -2.36645778e-03 9.85582003e-01 1.16292363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:176.70, Z:116.29 [[-1.63987176e-01 9.85979752e-01 3.08566729e-02 2.94118514e+02] [-9.71759641e-01 -1.66844423e-01 1.66871626e-01 1.76704176e+02] [ 1.69680308e-01 -2.62046267e-03 9.85495675e-01 1.16294699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.710385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.12, Y:176.70, Z:116.29 [[-1.62263996e-01 9.86256505e-01 3.11207654e-02 2.94118478e+02] [-9.72031693e-01 -1.65191101e-01 1.66931987e-01 1.76701775e+02] [ 1.69778632e-01 -3.16331900e-03 9.85477148e-01 1.16294361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.12, Y:176.70, Z:116.29 [[-1.58411557e-01 9.86875368e-01 3.13494264e-02 2.94119566e+02] [-9.72517856e-01 -1.61436405e-01 1.67771592e-01 1.76699857e+02] [ 1.70630590e-01 -3.91091776e-03 9.85327309e-01 1.16294377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.12, Y:176.69, Z:116.30 [[-1.56733403e-01 9.87142299e-01 3.13802880e-02 2.94118538e+02] [-9.72827132e-01 -1.59787000e-01 1.67557410e-01 1.76689668e+02] [ 1.70417169e-01 -4.26575253e-03 9.85362772e-01 1.16296271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.800385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.12, Y:176.70, Z:116.30 [[-1.54451603e-01 9.87501552e-01 3.13908858e-02 2.94122875e+02] [-9.73243165e-01 -1.57538714e-01 1.67270128e-01 1.76699554e+02] [ 1.70124790e-01 -4.71582574e-03 9.85411242e-01 1.16295006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.12, Y:176.65, Z:116.30 [[-1.59344857e-01 9.86721163e-01 3.14732048e-02 2.94116739e+02] [-9.72510152e-01 -1.62373800e-01 1.66909419e-01 1.76653716e+02] [ 1.69803480e-01 -4.01185376e-03 9.85469778e-01 1.16302187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.12, Y:176.64, Z:116.30 [[-1.59331240e-01 9.86842021e-01 2.75023759e-02 2.94121017e+02] [-9.73267350e-01 -1.61685563e-01 1.63120951e-01 1.76643689e+02] [ 1.65421347e-01 -7.76900997e-04 9.86222680e-01 1.16300091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:176.63, Z:116.31 [[-1.62987160e-01 9.85977242e-01 3.58338278e-02 2.94114543e+02] [-9.72297891e-01 -1.66681572e-01 1.63872099e-01 1.76632551e+02] [ 1.67546999e-01 -8.13210726e-03 9.85830549e-01 1.16308658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.12, Y:176.63, Z:116.31 [[-1.64731944e-01 9.85809053e-01 3.23094010e-02 2.94116108e+02] [-9.72013774e-01 -1.67814840e-01 1.64400131e-01 1.76626257e+02] [ 1.67489134e-01 -4.32322968e-03 9.85864443e-01 1.16308285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.86, Y:176.52, Z:117.29 [[-1.50789393e-01 -9.87792491e-01 -3.90967309e-02 2.94864921e+02] [-9.77921849e-01 1.54837115e-01 -1.40336470e-01 1.76522951e+02] [ 1.44676936e-01 1.70722962e-02 -9.89331654e-01 1.17287402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.02, Y:176.27, Z:116.69 [[-1.18764777e-01 -3.74261287e-01 -9.19686586e-01 2.95023832e+02] [-9.87300805e-01 1.42935482e-01 6.93294253e-02 1.76271684e+02] [ 1.05508525e-01 9.16241200e-01 -3.86484171e-01 1.16694027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.04, Y:176.38, Z:116.37 [[-7.95475331e-02 9.96777661e-01 1.03190904e-02 2.94044138e+02] [-9.91372675e-01 -8.01895474e-02 1.03681513e-01 1.76378634e+02] [ 1.04174899e-01 -1.98245565e-03 9.94557017e-01 1.16373026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.04, Y:176.37, Z:116.38 [[-8.51917760e-02 9.96146623e-01 2.08390940e-02 2.94040180e+02] [-9.90458380e-01 -8.69421789e-02 1.06926404e-01 1.76369313e+02] [ 1.08326172e-01 -1.15310051e-02 9.94048528e-01 1.16381217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.070385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.00, Y:176.06, Z:116.82 [[-8.31300657e-02 -4.91094976e-01 -8.67130392e-01 2.95002216e+02] [-9.95717922e-01 7.62416247e-02 5.22784323e-02 1.76056963e+02] [ 4.04377545e-02 8.67763181e-01 -4.95330040e-01 1.16815579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.03, Y:176.28, Z:116.41 [[-5.25467056e-02 9.98618047e-01 9.17053486e-04 2.94025099e+02] [-9.97760142e-01 -5.25395854e-02 4.14039901e-02 1.76276506e+02] [ 4.13949533e-02 1.26064386e-03 9.99142066e-01 1.16413060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.130385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:294.03, Y:176.27, Z:116.42 [[-5.49203231e-02 9.98487065e-01 2.70908313e-03 2.94025076e+02] [-9.97676541e-01 -5.49848838e-02 4.02266325e-02 1.76271114e+02] [ 4.03147308e-02 -4.93529036e-04 9.99186909e-01 1.16415070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.160385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:294.03, Y:176.26, Z:116.42 [[-5.62188262e-02 9.98414875e-01 2.67969111e-03 2.94025701e+02] [-9.97633181e-01 -5.62808350e-02 3.95032256e-02 1.76262814e+02] [ 3.95914233e-02 -4.52523791e-04 9.99215850e-01 1.16415709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.03, Y:176.19, Z:116.41 [[-5.91306020e-02 9.98222250e-01 -7.47743607e-03 2.94028376e+02] [-9.97568718e-01 -5.88118292e-02 3.73874651e-02 1.76188274e+02] [ 3.68812378e-02 9.66999963e-03 9.99272868e-01 1.16411991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.91, Y:175.95, Z:117.28 [[-5.72767632e-02 -4.90274124e-02 9.97153792e-01 2.93911878e+02] [-9.93843438e-01 -9.20811335e-02 -6.16140012e-02 1.75953045e+02] [ 9.48398265e-02 -9.94543804e-01 -4.34514628e-02 1.17284165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.77, Y:175.89, Z:116.44 [[-8.51272591e-02 2.37833699e-01 -9.67568334e-01 2.94771928e+02] [-9.95564187e-01 1.87463105e-02 9.21982992e-02 1.75886634e+02] [ 4.00661989e-02 9.71124970e-01 2.35182891e-01 1.16442278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.02, Y:175.94, Z:116.43 [[-7.71312765e-02 9.97010707e-01 4.51840542e-03 2.94015198e+02] [-9.96270878e-01 -7.72482154e-02 3.84324172e-02 1.75944911e+02] [ 3.86665702e-02 -1.53721434e-03 9.99250986e-01 1.16431540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.33, Y:175.91, Z:117.51 [[-2.81639887e-02 -7.71537107e-01 6.35560604e-01 2.94332678e+02] [-9.97251153e-01 -2.19051410e-02 -7.07834926e-02 1.75908484e+02] [ 6.85341358e-02 -6.35807091e-01 -7.68799334e-01 1.17508469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:175.78, Z:116.42 [[-3.35453189e-02 9.99433720e-01 2.63635406e-03 2.93989238e+02] [-9.95779923e-01 -3.36479076e-02 8.53824569e-02 1.75781433e+02] [ 8.54228143e-02 2.38953306e-04 9.96344763e-01 1.16419551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:175.74, Z:116.42 [[-3.44546800e-02 9.99379027e-01 -7.37804594e-03 2.93994914e+02] [-9.95779876e-01 -3.37003970e-02 8.53623039e-02 1.75737474e+02] [ 8.50606531e-02 1.02880405e-02 9.96322659e-01 1.16419339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:175.68, Z:117.32 [[-1.97503274e-02 -1.53719497e-01 9.87917123e-01 2.93920814e+02] [-9.89982942e-01 -1.35156731e-01 -4.08219586e-02 1.75676464e+02] [ 1.39798780e-01 -9.78827347e-01 -1.49510290e-01 1.17321020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:175.60, Z:117.19 [[ 2.83462663e-02 -9.01085623e-01 -4.32713750e-01 2.94854077e+02] [-9.93292030e-01 2.31567170e-02 -1.13290380e-01 1.75595607e+02] [ 1.12104562e-01 4.33022478e-01 -8.94384761e-01 1.17193993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:175.61, Z:117.39 [[ 1.06638743e-01 -9.94203303e-01 -1.37102562e-02 2.94664896e+02] [-9.88551736e-01 -1.04532112e-01 -1.08804882e-01 1.75613695e+02] [ 1.06741011e-01 2.51561135e-02 -9.93968574e-01 1.17392595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:175.61, Z:117.40 [[ 1.82292839e-01 -9.83232591e-01 4.79518745e-03 2.94638817e+02] [-9.77437304e-01 -1.81743324e-01 -1.07636802e-01 1.75610761e+02] [ 1.06703505e-01 1.49344231e-02 -9.94178719e-01 1.17402073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.64, Y:175.61, Z:117.39 [[ 2.56980601e-01 -9.66074394e-01 -2.57145042e-02 2.94635928e+02] [-9.60959637e-01 -2.52615451e-01 -1.12880515e-01 1.75609746e+02] [ 1.02555094e-01 5.37187033e-02 -9.93275769e-01 1.17389472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:175.60, Z:117.40 [[ 3.30424366e-01 -9.43827510e-01 3.06083623e-03 2.94612896e+02] [-9.38576676e-01 -3.28924411e-01 -1.04319487e-01 1.75603350e+02] [ 9.94663853e-02 3.15968709e-02 -9.94539127e-01 1.17401547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:175.23, Z:116.45 [[ 3.54356136e-01 9.34030847e-01 -4.49233441e-02 2.93967804e+02] [-9.28013341e-01 3.57168234e-01 1.05934375e-01 1.75225004e+02] [ 1.14991165e-01 4.15096697e-03 9.93357842e-01 1.16445283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.97, Y:175.20, Z:116.45 [[ 3.55618763e-01 9.33851809e-01 -3.81588041e-02 2.93974304e+02] [-9.27563039e-01 3.57646764e-01 1.08238627e-01 1.75198446e+02] [ 1.14726211e-01 -3.09699045e-03 9.93392322e-01 1.16451259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.98, Y:175.17, Z:116.45 [[ 3.56513481e-01 9.33454369e-01 -3.95104834e-02 2.93984772e+02] [-9.27212818e-01 3.58691698e-01 1.07780597e-01 1.75173445e+02] [ 1.14780352e-01 -1.79060929e-03 9.93389282e-01 1.16453636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:175.15, Z:116.46 [[ 3.57948142e-01 9.32901352e-01 -3.96004440e-02 2.93995295e+02] [-9.26632824e-01 3.60126695e-01 1.07983207e-01 1.75147993e+02] [ 1.14998856e-01 -1.95731693e-03 9.93363696e-01 1.16456500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:175.12, Z:116.46 [[ 3.58395568e-01 9.32730988e-01 -3.95666716e-02 2.94005293e+02] [-9.26482307e-01 3.60567595e-01 1.07803268e-01 1.75123299e+02] [ 1.14817908e-01 -1.97839230e-03 9.93384585e-01 1.16459037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.02, Y:175.10, Z:116.46 [[ 3.58667988e-01 9.32624850e-01 -3.96000533e-02 2.94015796e+02] [-9.26369485e-01 3.60841919e-01 1.07854933e-01 1.75097017e+02] [ 1.14877550e-01 -1.99983083e-03 9.93377647e-01 1.16462214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.760385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:294.03, Y:175.07, Z:116.47 [[ 3.58494139e-01 9.32682795e-01 -3.98089899e-02 2.94026155e+02] [-9.26365505e-01 3.60692233e-01 1.08388490e-01 1.75071768e+02] [ 1.15450873e-01 -1.97896340e-03 9.93311220e-01 1.16465233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:175.05, Z:116.47 [[ 3.58444406e-01 9.32701874e-01 -3.98098180e-02 2.94036397e+02] [-9.26389541e-01 3.60643015e-01 1.08346825e-01 1.75045863e+02] [ 1.15412419e-01 -1.95691425e-03 9.93315732e-01 1.16468054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:175.02, Z:116.47 [[ 3.58305324e-01 9.32753000e-01 -3.98639768e-02 2.94047442e+02] [-9.26434265e-01 3.60511016e-01 1.08403689e-01 1.75020152e+02] [ 1.15485269e-01 -1.91026489e-03 9.93307356e-01 1.16471719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:174.99, Z:116.47 [[ 3.58024578e-01 9.32764493e-01 -4.20571401e-02 2.94059250e+02] [-9.26512910e-01 3.60486153e-01 1.07812617e-01 1.74994256e+02] [ 1.15724798e-01 3.66916667e-04 9.93281248e-01 1.16473610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:174.97, Z:116.48 [[ 3.57980939e-01 9.32974921e-01 -3.75159259e-02 2.94067615e+02] [-9.26672558e-01 3.59918969e-01 1.08334234e-01 1.74968723e+02] [ 1.14575816e-01 -4.01661167e-03 9.93406387e-01 1.16478049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.08, Y:174.94, Z:116.48 [[ 3.57897700e-01 9.32922752e-01 -3.95521729e-02 2.94079772e+02] [-9.26722462e-01 3.60072162e-01 1.07394211e-01 1.74942937e+02] [ 1.14432139e-01 -1.78225400e-03 9.93429469e-01 1.16480452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:174.92, Z:116.48 [[ 3.58367171e-01 9.32742149e-01 -3.95607739e-02 2.94090146e+02] [-9.26548543e-01 3.60539620e-01 1.07326506e-01 1.74917501e+02] [ 1.14371182e-01 -1.80731891e-03 9.93436443e-01 1.16483202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:174.89, Z:116.49 [[ 3.58912095e-01 9.32534900e-01 -3.95065532e-02 2.94100779e+02] [-9.26367222e-01 3.61075171e-01 1.07091043e-01 1.74893059e+02] [ 1.14130971e-01 -1.83869477e-03 9.93464011e-01 1.16485350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.11, Y:174.87, Z:116.49 [[ 3.59303624e-01 9.32383198e-01 -3.95281838e-02 2.94110765e+02] [-9.26214867e-01 3.61466583e-01 1.07088419e-01 1.74867655e+02] [ 1.14135561e-01 -1.86566569e-03 9.93463433e-01 1.16488296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:174.84, Z:116.49 [[ 3.59837193e-01 9.32182615e-01 -3.94051562e-02 2.94121002e+02] [-9.26058621e-01 3.61983369e-01 1.06693353e-01 1.74841210e+02] [ 1.13721700e-01 -1.90075222e-03 9.93510826e-01 1.16491218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.06038572299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:294.13, Y:174.82, Z:116.49 [[ 3.60236311e-01 9.32035523e-01 -3.92375298e-02 2.94131744e+02] [-9.25972762e-01 3.62361900e-01 1.06152238e-01 1.74815897e+02] [ 1.13155843e-01 -1.90700685e-03 9.93575422e-01 1.16494050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.090385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.14, Y:174.79, Z:116.50 [[ 3.60924597e-01 9.31771831e-01 -3.91751171e-02 2.94142278e+02] [-9.25736774e-01 3.63039163e-01 1.05896133e-01 1.74789583e+02] [ 1.12893136e-01 -1.95467263e-03 9.93605213e-01 1.16496809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.12038572299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.15, Y:174.76, Z:116.50 [[ 3.61853271e-01 9.31412008e-01 -3.91647967e-02 2.94152048e+02] [-9.25387711e-01 3.63960888e-01 1.05783059e-01 1.74764390e+02] [ 1.12782066e-01 -2.03532447e-03 9.93617664e-01 1.16500131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.17, Y:174.74, Z:116.49 [[ 3.65912172e-01 9.29258679e-01 -5.08585229e-02 2.94172810e+02] [-9.24239467e-01 3.69251793e-01 9.71314602e-02 1.74743260e+02] [ 1.09039853e-01 1.14638706e-02 9.93971272e-01 1.16491816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.180385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:294.18, Y:174.71, Z:116.50 [[ 3.65429747e-01 9.29863989e-01 -4.25918071e-02 2.94179676e+02] [-9.24460546e-01 3.67892955e-01 1.00137268e-01 1.74712199e+02] [ 1.08783265e-01 2.78130872e-03 9.94061601e-01 1.16497714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:174.67, Z:116.52 [[ 3.60852933e-01 9.32297222e-01 -2.46384050e-02 2.94177392e+02] [-9.25756188e-01 3.61270994e-01 1.11618767e-01 1.74674564e+02] [ 1.12963007e-01 -1.74688035e-02 9.93445620e-01 1.16516181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.240385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.19, Y:174.65, Z:116.51 [[ 3.60525226e-01 9.31928597e-01 -3.91235369e-02 2.94194431e+02] [-9.25867499e-01 3.62636077e-01 1.06134111e-01 1.74650639e+02] [ 1.13097019e-01 -2.04081308e-03 9.93581853e-01 1.16514125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.270385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:294.21, Y:174.62, Z:116.52 [[ 3.59389040e-01 9.32157297e-01 -4.38439400e-02 2.94207590e+02] [-9.26263986e-01 3.62041248e-01 1.04695574e-01 1.74623906e+02] [ 1.13466058e-01 2.98462072e-03 9.93537390e-01 1.16515100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.300385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:294.22, Y:174.60, Z:116.52 [[ 3.58736420e-01 9.32460048e-01 -4.27368585e-02 2.94216837e+02] [-9.26418915e-01 3.61269685e-01 1.05982118e-01 1.74598065e+02] [ 1.14263622e-01 1.57258859e-03 9.93449220e-01 1.16518411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.330385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:294.24, Y:174.57, Z:116.50 [[ 3.61844075e-01 9.30562092e-01 -5.58843391e-02 2.94240368e+02] [-9.26284843e-01 3.65650758e-01 9.10819062e-02 1.74574403e+02] [ 1.05191520e-01 1.88073682e-02 9.94274121e-01 1.16504493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.360385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:294.23, Y:174.54, Z:116.53 [[ 3.55144286e-01 9.34558174e-01 -2.17613179e-02 2.94227245e+02] [-9.27788101e-01 3.55228710e-01 1.14113116e-01 1.74536416e+02] [ 1.14375591e-01 -2.03367294e-02 9.93229400e-01 1.16533187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.390385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:294.24, Y:174.51, Z:116.53 [[ 3.54567942e-01 9.34575680e-01 -2.91525684e-02 2.94240887e+02] [-9.28430222e-01 3.55591948e-01 1.07571789e-01 1.74511875e+02] [ 1.10900397e-01 -1.10753824e-02 9.93769811e-01 1.16533135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.420385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:294.28, Y:174.50, Z:116.51 [[ 3.56877949e-01 9.31684638e-01 -6.78370543e-02 2.94276043e+02] [-9.28511698e-01 3.61754318e-01 8.36650513e-02 1.74495414e+02] [ 1.02489790e-01 3.31292865e-02 9.94182223e-01 1.16507458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.450385723 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:294.27, Y:174.46, Z:116.52 [[ 3.54485688e-01 9.34404932e-01 -3.50331395e-02 2.94267027e+02] [-9.29322373e-01 3.56207269e-01 9.73463307e-02 1.74463398e+02] [ 1.03439950e-01 -1.95080072e-03 9.94633787e-01 1.16523596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.480385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.26, Y:174.43, Z:116.55 [[ 3.49329605e-01 9.36942956e-01 -1.03307951e-02 2.94258930e+02] [-9.30279338e-01 3.48121123e-01 1.15723968e-01 1.74430003e+02] [ 1.12023125e-01 -3.08152828e-02 9.93227687e-01 1.16549834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.510385723 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:294.29, Y:174.41, Z:116.53 [[ 3.47360290e-01 9.36168056e-01 -5.41313229e-02 2.94291567e+02] [-9.31445726e-01 3.51129181e-01 9.54838104e-02 1.74409410e+02] [ 1.08395980e-01 1.72531052e-02 9.93958068e-01 1.16529392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.540385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:294.28, Y:174.38, Z:116.55 [[ 3.45229899e-01 9.38236061e-01 -2.30089218e-02 2.94281682e+02] [-9.31683066e-01 3.45566065e-01 1.12030175e-01 1.74377724e+02] [ 1.13061853e-01 -1.72391432e-02 9.93438387e-01 1.16550336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.570385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:294.30, Y:174.35, Z:116.55 [[ 3.42083179e-01 9.38846253e-01 -3.93295363e-02 2.94296101e+02] [-9.32818684e-01 3.44336448e-01 1.06215413e-01 1.74352887e+02] [ 1.13262535e-01 3.52820079e-04 9.93565032e-01 1.16549312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.30, Y:174.33, Z:116.55 [[ 3.41339831e-01 9.39112945e-01 -3.94207716e-02 2.94304580e+02] [-9.33069277e-01 3.43608285e-01 1.06372325e-01 1.74326262e+02] [ 1.13440931e-01 4.73199268e-04 9.93544630e-01 1.16552479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.630385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:294.31, Y:174.30, Z:116.56 [[ 3.40445898e-01 9.39434335e-01 -3.94932935e-02 2.94312667e+02] [-9.33380931e-01 3.42728397e-01 1.06476677e-01 1.74299773e+02] [ 1.13563320e-01 6.12739108e-04 9.93530572e-01 1.16555391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.660385723 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:294.33, Y:174.27, Z:116.55 [[ 3.40048599e-01 9.38979824e-01 -5.18058081e-02 2.94328004e+02] [-9.33924099e-01 3.43649048e-01 9.84434278e-02 1.74270286e+02] [ 1.10239409e-01 1.49071429e-02 9.93793263e-01 1.16547885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.690385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:294.32, Y:174.24, Z:116.57 [[ 3.38485311e-01 9.40611563e-01 -2.60304011e-02 2.94321960e+02] [-9.34064802e-01 3.39217784e-01 1.11598566e-01 1.74237144e+02] [ 1.13800876e-01 -1.34603938e-02 9.93412391e-01 1.16567559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.720385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:294.34, Y:174.21, Z:116.57 [[ 3.38417090e-01 9.40163007e-01 -3.95903215e-02 2.94336751e+02] [-9.34084098e-01 3.40723914e-01 1.06743211e-01 1.74211744e+02] [ 1.13845388e-01 8.56962868e-04 9.93498109e-01 1.16565561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.750385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:294.35, Y:174.18, Z:116.57 [[ 3.38070826e-01 9.40156836e-01 -4.25821664e-02 2.94345068e+02] [-9.34475462e-01 3.40707303e-01 1.03315751e-01 1.74178711e+02] [ 1.11641065e-01 4.86394827e-03 9.93736693e-01 1.16565523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.780385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:294.35, Y:174.15, Z:116.57 [[ 3.38646997e-01 9.40254319e-01 -3.52140212e-02 2.94348482e+02] [-9.34086444e-01 3.40454543e-01 1.07578902e-01 1.74152763e+02] [ 1.13140301e-01 -3.53833235e-03 9.93572721e-01 1.16574386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81038572299997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:294.35, Y:174.12, Z:116.58 [[ 3.38103394e-01 9.40280897e-01 -3.94706288e-02 2.94353466e+02] [-9.34077490e-01 3.40399276e-01 1.07831236e-01 1.74120040e+02] [ 1.14827425e-01 4.10519038e-04 9.93385370e-01 1.16576086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.04, Y:174.49, Z:117.54 [[ 4.22841318e-01 -9.05736181e-01 2.91065437e-02 2.95044539e+02] [-9.00768442e-01 -4.23600891e-01 -9.58044872e-02 1.74489152e+02] [ 9.91031481e-02 1.42918397e-02 -9.94974527e-01 1.17538960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87038572299997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:295.03, Y:174.49, Z:117.54 [[ 4.92081724e-01 -8.69588528e-01 4.08823758e-02 2.95030825e+02] [-8.64980858e-01 -4.93697853e-01 -8.98362186e-02 1.74485946e+02] [ 9.83040863e-02 8.84428885e-03 -9.95117121e-01 1.17543806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.900385723 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:295.02, Y:174.48, Z:117.55 [[ 5.57383450e-01 -8.28887378e-01 4.76382716e-02 2.95024265e+02] [-8.24458905e-01 -5.59348449e-01 -8.60048101e-02 1.74481040e+02] [ 9.79346948e-02 8.66186061e-03 -9.95155148e-01 1.17547014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.930385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:295.02, Y:174.48, Z:117.55 [[ 6.18310009e-01 -7.84107102e-01 5.35610432e-02 2.95017452e+02] [-7.79948964e-01 -6.20569286e-01 -8.10763549e-02 1.74476514e+02] [ 9.68108841e-02 8.35544152e-03 -9.95267722e-01 1.17550730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.960385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:295.01, Y:174.47, Z:117.55 [[ 6.76433980e-01 -7.34118852e-01 5.92163985e-02 2.95009166e+02] [-7.30222041e-01 -6.78972042e-01 -7.59785310e-02 1.74469386e+02] [ 9.59835510e-02 8.15334078e-03 -9.95349527e-01 1.17554183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.990385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:295.00, Y:174.46, Z:117.56 [[ 7.30474936e-01 -6.79870549e-01 6.46715165e-02 2.95001501e+02] [-6.76226420e-01 -7.33289104e-01 -7.07454527e-02 1.74463273e+02] [ 9.55206681e-02 7.94519195e-03 -9.95395738e-01 1.17557322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.020385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:294.99, Y:174.45, Z:117.56 [[ 7.80355355e-01 -6.21456363e-01 6.95522072e-02 2.94993530e+02] [-6.18092732e-01 -7.83410336e-01 -6.50355326e-02 1.74453497e+02] [ 9.49046635e-02 7.76111231e-03 -9.95456112e-01 1.17560140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.050385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:294.99, Y:174.45, Z:117.56 [[ 8.24428480e-01 -5.61042713e-01 7.44899748e-02 2.94986370e+02] [-5.57941484e-01 -8.27753910e-01 -5.93697344e-02 1.74446702e+02] [ 9.49683248e-02 7.38505285e-03 -9.95452901e-01 1.17562625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.080385723 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:294.98, Y:174.44, Z:117.57 [[ 8.64803402e-01 -4.96057041e-01 7.77334430e-02 2.94979420e+02] [-4.93308837e-01 -8.68260314e-01 -5.26347659e-02 1.74437734e+02] [ 9.36027099e-02 7.17213026e-03 -9.95583795e-01 1.17565883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.110385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:294.97, Y:174.43, Z:117.57 [[ 9.00824777e-01 -4.26572999e-01 8.09332967e-02 2.94972166e+02] [-4.24143259e-01 -9.04425044e-01 -4.60199492e-02 1.74425772e+02] [ 9.28289682e-02 7.12859817e-03 -9.95656550e-01 1.17569145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.140385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:294.96, Y:174.41, Z:117.57 [[ 9.31683941e-01 -3.53356241e-01 8.42876100e-02 2.94964605e+02] [-3.51216734e-01 -9.35461253e-01 -3.94848166e-02 1.74413011e+02] [ 9.27999996e-02 7.18415049e-03 -9.95658851e-01 1.17572734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.170385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:294.96, Y:174.40, Z:117.58 [[ 9.56773389e-01 -2.77514861e-01 8.70068062e-02 2.94955967e+02] [-2.75680147e-01 -9.60693753e-01 -3.26797897e-02 1.74401331e+02] [ 9.26560225e-02 7.28110395e-03 -9.95671556e-01 1.17576246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:294.95, Y:174.39, Z:117.58 [[ 9.76070801e-01 -1.98384291e-01 8.90475473e-02 2.94948642e+02] [-1.96861637e-01 -9.80095523e-01 -2.56566233e-02 1.74389024e+02] [ 9.23649734e-02 7.51263491e-03 -9.95696878e-01 1.17579295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.230385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:294.94, Y:174.38, Z:117.58 [[ 9.88568689e-01 -1.20604222e-01 9.04796553e-02 2.94942175e+02] [-1.19410781e-01 -9.92672387e-01 -1.85093724e-02 1.74376770e+02] [ 9.20489639e-02 7.49353969e-03 -9.95726285e-01 1.17582263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.260385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:294.94, Y:174.36, Z:117.58 [[ 9.94995334e-01 -4.11682030e-02 9.10464960e-02 2.94936142e+02] [-4.03066180e-02 -9.99123657e-01 -1.12824632e-02 1.74363333e+02] [ 9.14311868e-02 7.55622193e-03 -9.95782728e-01 1.17584761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.290385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.93, Y:174.35, Z:117.59 [[ 9.95021866e-01 3.87310271e-02 9.18226238e-02 2.94931727e+02] [ 3.92678222e-02 -9.99220531e-01 -4.04589005e-03 1.74346940e+02] [ 9.15943494e-02 7.63142353e-03 -9.95767160e-01 1.17587121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.320385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:294.93, Y:174.33, Z:117.59 [[ 9.88883668e-01 1.16884963e-01 9.19075408e-02 2.94928780e+02] [ 1.17085842e-01 -9.93116572e-01 3.22190634e-03 1.74330041e+02] [ 9.16514943e-02 7.57498121e-03 -9.95762333e-01 1.17589602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.350385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:294.93, Y:174.31, Z:117.59 [[ 9.76659696e-01 1.94365111e-01 9.14223217e-02 2.94925827e+02] [ 1.94228067e-01 -9.80900418e-01 1.04798687e-02 1.74313896e+02] [ 9.17131144e-02 7.52151544e-03 -9.95757065e-01 1.17592021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.380385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.93, Y:174.30, Z:117.60 [[ 9.58807880e-01 2.68967932e-01 9.13438655e-02 2.94925895e+02] [ 2.68466615e-01 -9.63121476e-01 1.79638275e-02 1.74296504e+02] [ 9.28069321e-02 7.29891906e-03 -9.95657370e-01 1.17595307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.410385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:294.93, Y:174.28, Z:117.60 [[ 9.35242973e-01 3.42411240e-01 8.98616963e-02 2.94925742e+02] [ 3.41557035e-01 -9.39523163e-01 2.51995523e-02 1.74280670e+02] [ 9.30557551e-02 7.12519041e-03 -9.95635404e-01 1.17598535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.92, Y:174.29, Z:117.59 [[ 9.07991118e-01 4.06236948e-01 1.02584946e-01 2.94919217e+02] [ 4.08223358e-01 -9.12880345e-01 1.77942864e-03 1.74287107e+02] [ 9.43706506e-02 4.02618657e-02 -9.94722656e-01 1.17594898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.470385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:294.89, Y:174.35, Z:117.51 [[ 8.75756606e-01 4.52603407e-01 1.67930113e-01 2.94891341e+02] [ 4.75989806e-01 -8.67583446e-01 -1.43988435e-01 1.74353117e+02] [ 8.05237295e-02 2.06031845e-01 -9.75226542e-01 1.17513011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.500385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:294.93, Y:174.26, Z:117.61 [[ 8.36589273e-01 5.43688042e-01 6.72435949e-02 2.94930256e+02] [ 5.42433985e-01 -8.39270744e-01 3.72825781e-02 1.74259422e+02] [ 7.67056738e-02 5.28500618e-03 -9.97039773e-01 1.17607725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.530385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.93, Y:174.25, Z:117.61 [[ 7.93902794e-01 6.04660553e-01 6.40622241e-02 2.94934183e+02] [ 6.03189547e-01 -7.96467913e-01 4.24409567e-02 1.74246812e+02] [ 7.66858783e-02 4.94766984e-03 -9.97043027e-01 1.17610499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.56038572299997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.94, Y:174.23, Z:117.61 [[ 7.45230457e-01 6.64043476e-01 6.06450934e-02 2.94938064e+02] [ 6.62361180e-01 -7.47678646e-01 4.74795580e-02 1.74234645e+02] [ 7.68715321e-02 4.78574293e-03 -9.97029520e-01 1.17612874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.590385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.94, Y:174.22, Z:117.62 [[ 6.93128589e-01 7.18566441e-01 5.68773171e-02 2.94942077e+02] [ 7.16675379e-01 -6.95443648e-01 5.22927625e-02 1.74222569e+02] [ 7.71307931e-02 4.51696411e-03 -9.97010751e-01 1.17615273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.62038572299997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.95, Y:174.21, Z:117.62 [[ 6.35418294e-01 7.70374070e-01 5.26059366e-02 2.94951360e+02] [ 7.68301251e-01 -6.37576847e-01 5.66476129e-02 1.74208825e+02] [ 7.71801793e-02 4.42227735e-03 -9.97007354e-01 1.17618024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.650385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.96, Y:174.20, Z:117.62 [[ 5.73289678e-01 8.17952579e-01 4.78803009e-02 2.94961250e+02] [ 8.15725608e-01 -5.75268924e-01 6.04764255e-02 1.74196334e+02] [ 7.70108973e-02 4.38667704e-03 -9.97020601e-01 1.17620417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.97, Y:174.18, Z:117.62 [[ 5.07144221e-01 8.60776818e-01 4.32204725e-02 2.94971105e+02] [ 8.58365473e-01 -5.08963812e-01 6.45333427e-02 1.74183986e+02] [ 7.75464618e-02 4.37124955e-03 -9.96979157e-01 1.17622317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:174.17, Z:117.62 [[ 4.37305950e-01 8.98516504e-01 3.78364792e-02 2.94982479e+02] [ 8.95996843e-01 -4.38917362e-01 6.73884738e-02 1.74172440e+02] [ 7.71567435e-02 4.43198544e-03 -9.97009125e-01 1.17624681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.99, Y:174.16, Z:117.63 [[ 3.64494926e-01 9.30640732e-01 3.24234134e-02 2.94994466e+02] [ 9.27999389e-01 -3.65906547e-01 7.02106334e-02 1.74162034e+02] [ 7.72048145e-02 4.49748821e-03 -9.97005110e-01 1.17627695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.01, Y:174.15, Z:117.63 [[ 2.87793352e-01 9.57321968e-01 2.66390061e-02 2.95006881e+02] [ 9.54620886e-01 -2.88985330e-01 7.20169667e-02 1.74153002e+02] [ 7.66417062e-02 4.70414741e-03 -9.97047602e-01 1.17630528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:174.14, Z:117.63 [[ 2.08469391e-01 9.77809207e-01 2.07284501e-02 2.95021186e+02] [ 9.75083039e-01 -2.09438527e-01 7.31339226e-02 1.74144437e+02] [ 7.58523589e-02 4.96577580e-03 -9.97106695e-01 1.17632742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.04, Y:174.14, Z:117.64 [[ 1.29771360e-01 9.91433501e-01 1.47989083e-02 2.95035218e+02] [ 9.88705844e-01 -1.30513944e-01 7.36672576e-02 1.74135506e+02] [ 7.49676510e-02 5.07186692e-03 -9.97173068e-01 1.17635173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:174.13, Z:117.64 [[ 5.03479758e-02 9.98691762e-01 8.93565537e-03 2.95045796e+02] [ 9.95938203e-01 -5.08738541e-02 7.42896113e-02 1.74128766e+02] [ 7.46470140e-02 5.15902900e-03 -9.97196675e-01 1.17637549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.06, Y:174.12, Z:117.64 [[-2.98476967e-02 9.99549899e-01 3.01918587e-03 2.95055296e+02] [ 9.96714539e-01 2.95352277e-02 7.54174947e-02 1.74123329e+02] [ 7.52943768e-02 5.26030496e-03 -9.97147475e-01 1.17639667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:174.11, Z:117.64 [[-1.08243568e-01 9.94119997e-01 -2.96017323e-03 2.95095878e+02] [ 9.91255396e-01 1.08156762e-01 7.55966593e-02 1.74108445e+02] [ 7.54723134e-02 5.24856444e-03 -9.97134085e-01 1.17640767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.950385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:295.14, Y:174.05, Z:117.64 [[-1.85018532e-01 9.82695383e-01 -8.82765302e-03 2.95144936e+02] [ 9.79863327e-01 1.85156647e-01 7.47320343e-02 1.74049116e+02] [ 7.50733237e-02 5.17691781e-03 -9.97164578e-01 1.17638341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:174.02, Z:117.64 [[-2.60551194e-01 9.65347954e-01 -1.47106199e-02 2.95191908e+02] [ 9.62531813e-01 2.60916607e-01 7.38582012e-02 1.74023221e+02] [ 7.51371085e-02 5.08440280e-03 -9.97160250e-01 1.17638408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.24, Y:174.01, Z:117.64 [[-3.34395804e-01 9.42210849e-01 -2.04490311e-02 2.95237802e+02] [ 9.39440093e-01 3.34983276e-01 7.23775965e-02 1.74009744e+02] [ 7.50450401e-02 4.99212486e-03 -9.97167649e-01 1.17638906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.040385723 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:295.07, Y:174.50, Z:117.69 [[-4.05121106e-01 9.13463661e-01 -3.82234063e-02 2.95072280e+02] [ 9.11157131e-01 4.06835037e-01 6.54059258e-02 1.74499211e+02] [ 7.52965574e-02 -8.33020820e-03 -9.97126389e-01 1.17687858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.070385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.40, Y:173.99, Z:117.66 [[-4.75343743e-01 8.74403430e-01 -9.72983394e-02 2.95404057e+02] [ 8.76186529e-01 4.80500678e-01 3.76332882e-02 1.73994132e+02] [ 7.96585943e-02 -6.73627462e-02 -9.94543498e-01 1.17661773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:174.03, Z:117.64 [[-5.39253115e-01 8.41772351e-01 -2.50077291e-02 2.95374866e+02] [ 8.37617550e-01 5.39192932e-01 8.75661042e-02 1.74031262e+02] [ 8.71947162e-02 2.62733817e-02 -9.95844762e-01 1.17638611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.43, Y:173.94, Z:117.58 [[-6.04928749e-01 7.93881368e-01 6.17542119e-02 2.95430351e+02] [ 7.92799287e-01 5.93227826e-01 1.39821445e-01 1.73936992e+02] [ 7.43673233e-02 1.33540707e-01 -9.88249149e-01 1.17581684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:173.97, Z:117.64 [[-6.65722023e-01 7.44879813e-01 -4.43649997e-02 2.95529878e+02] [ 7.42779883e-01 6.67184365e-01 5.60630802e-02 1.73973240e+02] [ 7.13598908e-02 4.36899783e-03 -9.97441065e-01 1.17639444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.58, Y:173.98, Z:117.64 [[-7.22838218e-01 6.89314282e-01 -4.84843457e-02 2.95576897e+02] [ 6.87345507e-01 7.24448812e-01 5.22500957e-02 1.73982351e+02] [ 7.11411639e-02 4.44286887e-03 -9.97456363e-01 1.17640279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:174.11, Z:117.65 [[-7.73998167e-01 6.32167744e-01 -3.59274442e-02 2.95461685e+02] [ 6.28567504e-01 7.73954539e-01 7.67936518e-02 1.74109079e+02] [ 7.63526781e-02 3.68553218e-02 -9.96399495e-01 1.17649831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:173.94, Z:117.56 [[-8.22411539e-01 5.64857137e-01 6.76437342e-02 2.95631021e+02] [ 5.65872688e-01 8.00005633e-01 1.99446954e-01 1.73942457e+02] [ 5.85436674e-02 2.02305219e-01 -9.77571091e-01 1.17558200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:174.03, Z:117.65 [[-8.64944795e-01 4.99774870e-01 -4.57775100e-02 2.95736745e+02] [ 4.98846806e-01 8.66147491e-01 3.06657551e-02 1.74028007e+02] [ 5.49760492e-02 3.68822059e-03 -9.98480862e-01 1.17649702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.78, Y:174.05, Z:117.65 [[-9.01482232e-01 4.30169461e-01 -4.77914272e-02 2.95784370e+02] [ 4.29346441e-01 9.02740628e-01 2.68512845e-02 1.74048565e+02] [ 5.46938656e-02 3.68687668e-03 -9.98496364e-01 1.17649631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:174.07, Z:117.65 [[-9.32421526e-01 3.57944659e-01 -4.96560024e-02 2.95828575e+02] [ 3.57225666e-01 9.33735542e-01 2.29730555e-02 1.74072849e+02] [ 5.45886568e-02 3.68217294e-03 -9.98502138e-01 1.17649231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:174.10, Z:117.65 [[-9.57570704e-01 2.83590011e-01 -5.13327654e-02 2.95875759e+02] [ 2.82976567e-01 9.58938606e-01 1.90003372e-02 1.74098836e+02] [ 5.46132763e-02 3.66819653e-03 -9.98500844e-01 1.17648202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.91, Y:174.13, Z:117.65 [[-9.76833628e-01 2.07420948e-01 -5.26556217e-02 2.95912289e+02] [ 2.06917505e-01 9.78244942e-01 1.48989921e-02 1.74130812e+02] [ 5.46004586e-02 3.65846659e-03 -9.98501580e-01 1.17648238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.95, Y:174.17, Z:117.65 [[-9.90171139e-01 1.29490948e-01 -5.28508209e-02 2.95954036e+02] [ 1.29107668e-01 9.91573740e-01 1.06173858e-02 1.74165472e+02] [ 5.37803415e-02 3.68958273e-03 -9.98545974e-01 1.17648856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:174.20, Z:117.65 [[-9.97335317e-01 5.04809928e-02 -5.26681676e-02 2.95987650e+02] [ 5.02134284e-02 9.98718056e-01 6.39197288e-03 1.74202715e+02] [ 5.29233231e-02 3.73029103e-03 -9.98591612e-01 1.17648844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:174.21, Z:117.66 [[-9.97466411e-01 -1.84449958e-02 -6.87061981e-02 2.95640414e+02] [-2.30877269e-02 9.97458560e-01 6.74045912e-02 1.74209158e+02] [ 6.72883080e-02 6.88200856e-02 -9.95357262e-01 1.17660042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:174.06, Z:117.01 [[-9.97185944e-01 -1.48475248e-02 -7.34829468e-02 2.95883788e+02] [-7.39648615e-02 3.54659870e-01 9.32065221e-01 1.74059509e+02] [ 1.22225909e-02 9.34877493e-01 -3.54760033e-01 1.17013167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:174.07, Z:117.47 [[-9.91740315e-01 -1.24075361e-01 -3.25031134e-02 2.95550524e+02] [-1.24799068e-01 8.74978548e-01 4.67800954e-01 1.74073548e+02] [-2.96030453e-02 4.67993424e-01 -8.83235991e-01 1.17465077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:175.09, Z:116.73 [[-9.90019096e-01 1.33344009e-01 -4.56241637e-02 2.95749233e+02] [-1.34520195e-01 -9.90626238e-01 2.37481215e-02 1.75085921e+02] [-4.20298239e-02 2.96484652e-02 9.98676355e-01 1.16730870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:174.32, Z:117.71 [[-9.81390801e-01 -1.89012703e-01 3.38569506e-02 2.95852420e+02] [-1.87252566e-01 9.81075823e-01 4.92616078e-02 1.74318054e+02] [-4.25273054e-02 4.20050879e-02 -9.98211902e-01 1.17709362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:174.14, Z:117.08 [[-9.68331613e-01 -1.79761008e-01 -1.73262423e-01 2.95884448e+02] [-2.27842833e-01 3.52497776e-01 9.07652445e-01 1.74141923e+02] [-1.02085900e-01 9.18385158e-01 -3.82291997e-01 1.17076656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:175.13, Z:116.77 [[-9.67827719e-01 2.27438807e-01 -1.07615501e-01 2.95675985e+02] [-2.27384589e-01 -9.73719077e-01 -1.29386322e-02 1.75130517e+02] [-1.07730014e-01 1.19477397e-02 9.94108392e-01 1.16768073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:174.36, Z:117.74 [[-9.47152254e-01 -2.97792422e-01 1.19257206e-01 2.95749806e+02] [-2.96581703e-01 9.54591295e-01 2.81913835e-02 1.74361138e+02] [-1.22237071e-01 -8.66797287e-03 -9.92463080e-01 1.17735225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:175.15, Z:116.75 [[-9.45848650e-01 3.02293379e-01 -1.18275289e-01 2.95630502e+02] [-3.02252989e-01 -9.53044040e-01 -1.87133091e-02 1.75154947e+02] [-1.18378469e-01 1.80491014e-02 9.92804496e-01 1.16754665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:175.17, Z:116.78 [[-9.49186055e-01 3.00035835e-01 -9.49964813e-02 2.95605625e+02] [-2.96551228e-01 -9.53747519e-01 -4.92243841e-02 1.75168950e+02] [-1.05371738e-01 -1.85517757e-02 9.94259840e-01 1.16777941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.790385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:295.61, Y:175.16, Z:116.77 [[-9.50032664e-01 2.95494495e-01 -1.00602891e-01 2.95606891e+02] [-2.93794101e-01 -9.55344301e-01 -3.16590258e-02 1.75160419e+02] [-1.05465467e-01 -5.20572662e-04 9.94422830e-01 1.16770902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:174.37, Z:117.72 [[-9.18352884e-01 -3.79202823e-01 1.13283714e-01 2.95710557e+02] [-3.75694905e-01 9.25300535e-01 5.16938932e-02 1.74372831e+02] [-1.24423952e-01 4.91312163e-03 -9.92216983e-01 1.17720321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.850385723 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:295.02, Y:174.97, Z:116.70 [[-9.24114136e-01 3.67345206e-01 -1.05216747e-01 2.95024572e+02] [-3.66132285e-01 -9.30035392e-01 -3.13260325e-02 1.74968186e+02] [-1.09362766e-01 9.57441850e-03 9.93955792e-01 1.16700115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:175.16, Z:117.62 [[-9.22367997e-01 1.90100423e-02 3.85844395e-01 2.95337709e+02] [-3.83743290e-01 6.99105065e-02 -9.20789666e-01 1.75156667e+02] [-4.44788276e-02 -9.97372117e-01 -5.71882376e-02 1.17624069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:174.25, Z:117.65 [[-8.89899643e-01 -4.53830521e-01 4.60052478e-02 2.95373954e+02] [-4.52553582e-01 8.91020152e-01 3.57539445e-02 1.74252822e+02] [-5.72178342e-02 1.09975828e-02 -9.98301143e-01 1.17648854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.940385723 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:294.84, Y:174.90, Z:116.68 [[-8.94070079e-01 4.45177881e-01 -4.95514724e-02 2.94838931e+02] [-4.45240012e-01 -8.95351015e-01 -1.03870918e-02 1.74897811e+02] [-4.89900646e-02 1.27755102e-02 9.98717558e-01 1.16678817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:175.14, Z:117.57 [[-8.90150400e-01 -2.95826287e-02 4.54705545e-01 2.95184915e+02] [-4.55373359e-01 2.19438965e-02 -8.90030095e-01 1.75142032e+02] [ 1.63514184e-02 -9.99321437e-01 -3.30045093e-02 1.17568149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.000385723 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:294.61, Y:174.78, Z:116.67 [[-8.93094825e-01 4.49674356e-01 1.32138960e-02 2.94605965e+02] [-4.49465981e-01 -8.93153008e-01 1.60635053e-02 1.74784797e+02] [ 1.90253774e-02 8.40703671e-03 9.99783655e-01 1.16670325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:174.90, Z:117.69 [[-8.73319479e-01 -2.81658734e-01 3.97468797e-01 2.95183103e+02] [-4.81917391e-01 3.80271269e-01 -7.89398119e-01 1.74903758e+02] [ 7.11949110e-02 -8.80943880e-01 -4.67834549e-01 1.17689946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.06038572299997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:295.11, Y:174.14, Z:117.61 [[-8.36419151e-01 -5.43779852e-01 -6.86037700e-02 2.95112742e+02] [-5.43943289e-01 8.38930718e-01 -1.79150192e-02 1.74142222e+02] [ 6.72956365e-02 2.23320951e-02 -9.97483120e-01 1.17606850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.090385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:294.60, Y:174.79, Z:116.66 [[-8.35441081e-01 5.46685437e-01 5.63314536e-02 2.94602072e+02] [-5.44303833e-01 -8.37231427e-01 5.26960647e-02 1.74794808e+02] [ 7.59706344e-02 1.33630311e-02 9.97020507e-01 1.16655298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:174.90, Z:117.66 [[-8.11301916e-01 -3.56496410e-01 4.63356786e-01 2.95028143e+02] [-5.71355511e-01 3.15569250e-01 -7.57607371e-01 1.74895330e+02] [ 1.23863154e-01 -8.79389765e-01 -4.59708126e-01 1.17662500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:174.96, Z:116.61 [[-8.11032499e-01 5.73657108e-01 1.14646447e-01 2.94811475e+02] [-5.68090782e-01 -8.19095415e-01 7.97217998e-02 1.74958603e+02] [ 1.39639356e-01 -4.72618949e-04 9.90202316e-01 1.16605041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.81, Y:174.96, Z:116.61 [[-8.10329387e-01 5.74477569e-01 1.15506740e-01 2.94809675e+02] [-5.68844284e-01 -8.18520050e-01 8.02565142e-02 1.74956857e+02] [ 1.40650150e-01 -6.71137020e-04 9.90059132e-01 1.16605142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:174.96, Z:116.61 [[-8.10034604e-01 5.74906044e-01 1.15442548e-01 2.94811021e+02] [-5.69292318e-01 -8.18219045e-01 8.01489302e-02 1.74957469e+02] [ 1.40535396e-01 -7.97148796e-04 9.90075334e-01 1.16605083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:174.96, Z:116.60 [[-8.07351314e-01 5.80261812e-01 1.07145158e-01 2.94823650e+02] [-5.74524066e-01 -8.14418914e-01 8.15103117e-02 1.74959678e+02] [ 1.34558365e-01 4.24998521e-03 9.90896556e-01 1.16595105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:174.96, Z:116.61 [[-8.09059396e-01 5.75770723e-01 1.17944771e-01 2.94807773e+02] [-5.70805309e-01 -8.17588598e-01 7.56979719e-02 1.74958370e+02] [ 1.40014976e-01 -6.07934602e-03 9.90130723e-01 1.16607925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.300385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:294.80, Y:174.95, Z:116.60 [[-8.07832426e-01 5.78094800e-01 1.14948569e-01 2.94804154e+02] [-5.72581199e-01 -8.15968300e-01 7.96649543e-02 1.74952036e+02] [ 1.39848284e-01 -1.46145629e-03 9.90171865e-01 1.16603908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:174.95, Z:116.61 [[-8.08295671e-01 5.77604502e-01 1.14154049e-01 2.94805104e+02] [-5.72171064e-01 -8.16315520e-01 7.90521701e-02 1.74953096e+02] [ 1.38846611e-01 -1.41811672e-03 9.90312884e-01 1.16607339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.80, Y:174.95, Z:116.61 [[-8.08665355e-01 5.77156022e-01 1.13803645e-01 2.94803408e+02] [-5.71761276e-01 -8.16632710e-01 7.87404575e-02 1.74951642e+02] [ 1.38381308e-01 -1.39383697e-03 9.90378044e-01 1.16608138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:174.95, Z:116.61 [[-8.09354046e-01 5.76197723e-01 1.13763848e-01 2.94797460e+02] [-5.70805952e-01 -8.17309332e-01 7.86512562e-02 1.74947046e+02] [ 1.38298929e-01 -1.28036896e-03 9.90389705e-01 1.16609467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:174.95, Z:116.61 [[-8.09924105e-01 5.75385234e-01 1.13819052e-01 2.94797671e+02] [-5.69988852e-01 -8.17881659e-01 7.86276031e-02 1.74945816e+02] [ 1.38331677e-01 -1.19320001e-03 9.90385240e-01 1.16609532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:174.94, Z:116.61 [[-8.11330969e-01 5.73513423e-01 1.13244926e-01 2.94799725e+02] [-5.68161932e-01 -8.19195647e-01 7.81697588e-02 1.74943541e+02] [ 1.37601156e-01 -9.19909846e-04 9.90487292e-01 1.16608382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:174.25, Z:117.59 [[-7.72186300e-01 -6.27036588e-01 -1.02729916e-01 2.95173836e+02] [-6.23161091e-01 7.78928867e-01 -7.02856717e-02 1.74248104e+02] [ 1.24090985e-01 9.74365360e-03 -9.92223004e-01 1.17586633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:174.96, Z:116.60 [[-7.65419312e-01 6.35268393e-01 1.02797596e-01 2.94759320e+02] [-6.29457974e-01 -7.72290902e-01 8.57287652e-02 1.74955544e+02] [ 1.33850423e-01 9.11685713e-04 9.91001127e-01 1.16604425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:174.93, Z:116.61 [[-7.66667262e-01 6.33157593e-01 1.06455492e-01 2.94730808e+02] [-6.27481312e-01 -7.74020506e-01 8.46135842e-02 1.74933411e+02] [ 1.35972467e-01 -1.92836711e-03 9.90710740e-01 1.16612299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:174.94, Z:116.61 [[-7.68119428e-01 6.31492958e-01 1.05873459e-01 2.94734972e+02] [-6.25609691e-01 -7.75381592e-01 8.59994317e-02 1.74935895e+02] [ 1.36400367e-01 -1.77627811e-04 9.90653778e-01 1.16613287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:174.28, Z:117.59 [[-7.19331711e-01 -6.87780841e-01 -9.75674369e-02 2.95154852e+02] [-6.83333168e-01 7.25849023e-01 -7.87335908e-02 1.74277988e+02] [ 1.24970684e-01 1.00354972e-02 -9.92109680e-01 1.17591396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:174.94, Z:116.61 [[-7.15544564e-01 6.91615351e-01 9.83065792e-02 2.94692395e+02] [-6.85251033e-01 -7.22265920e-01 9.36106956e-02 1.74944095e+02] [ 1.35746086e-01 -3.82060565e-04 9.90743587e-01 1.16611968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.660385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:295.14, Y:174.30, Z:117.60 [[-6.66851977e-01 -7.39152583e-01 -9.46673114e-02 2.95135792e+02] [-7.35239203e-01 6.73307858e-01 -7.79733476e-02 1.74296215e+02] [ 1.21374446e-01 1.76064375e-02 -9.92450632e-01 1.17595443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:174.94, Z:116.61 [[-6.58759601e-01 7.47334689e-01 8.67562744e-02 2.94635887e+02] [-7.40158473e-01 -6.64436362e-01 1.03391274e-01 1.74937020e+02] [ 1.34911909e-01 3.89660314e-03 9.90849935e-01 1.16612751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:174.94, Z:116.62 [[-6.57190617e-01 7.48289181e-01 9.03537201e-02 2.94633412e+02] [-7.41574007e-01 -6.63371467e-01 1.00031435e-01 1.74937563e+02] [ 1.34790521e-01 -1.26424967e-03 9.90873310e-01 1.16615225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:174.94, Z:116.61 [[-6.52942284e-01 7.52113205e-01 8.93985472e-02 2.94640915e+02] [-7.45585013e-01 -6.59030661e-01 9.89018527e-02 1.74942870e+02] [ 1.33301773e-01 -2.07701537e-03 9.91073319e-01 1.16611965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.64, Y:174.94, Z:116.62 [[-6.52593292e-01 7.52402301e-01 8.95140945e-02 2.94635138e+02] [-7.45869638e-01 -6.58700231e-01 9.89570060e-02 1.74936885e+02] [ 1.33418434e-01 -2.18716702e-03 9.91057384e-01 1.16615982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.63, Y:174.93, Z:116.62 [[-6.50418130e-01 7.54341705e-01 8.90216170e-02 2.94630086e+02] [-7.47908629e-01 -6.56476764e-01 9.83409401e-02 1.74929617e+02] [ 1.32623295e-01 -2.61730521e-03 9.91163060e-01 1.16617914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.64, Y:174.93, Z:116.61 [[-6.49179578e-01 7.55824262e-01 8.54140541e-02 2.94637484e+02] [-7.49363760e-01 -6.54774530e-01 9.86117148e-02 1.74933450e+02] [ 1.30460074e-01 1.05146602e-05 9.91453564e-01 1.16612634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:174.96, Z:117.56 [[-6.49092580e-01 -2.81953543e-01 7.06527439e-01 2.94668171e+02] [-7.41297771e-01 2.59668453e-02 -6.70673794e-01 1.74955373e+02] [ 1.70752564e-01 -9.59076599e-01 -2.25866419e-01 1.17556483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.900385723 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:294.01, Y:174.23, Z:116.76 [[-6.30778384e-01 7.65911093e-01 1.24494289e-01 2.94013801e+02] [-7.50183563e-01 -6.42933789e-01 1.54469303e-01 1.74227095e+02] [ 1.98351338e-01 4.04232771e-03 9.80122649e-01 1.16757622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:174.94, Z:117.37 [[-6.41097639e-01 -6.08413815e-02 7.65043883e-01 2.94462963e+02] [-7.29732678e-01 -2.60375816e-01 -6.32214088e-01 1.74935479e+02] [ 2.37663704e-01 -9.63588481e-01 1.22528377e-01 1.17365222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:174.89, Z:117.34 [[-6.38408782e-01 -1.05378083e-01 7.62449793e-01 2.94421987e+02] [-7.08776360e-01 -3.05758539e-01 -6.35726189e-01 1.74889384e+02] [ 3.00117142e-01 -9.46259571e-01 1.20509442e-01 1.17344964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.11, Y:174.37, Z:117.50 [[-5.98502397e-01 -7.75185414e-01 -2.02194101e-01 2.95113567e+02] [-7.35109462e-01 6.31732259e-01 -2.46025267e-01 1.74365912e+02] [ 3.18447735e-01 1.38808504e-03 -9.47939404e-01 1.17498297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:174.05, Z:116.80 [[-5.84808844e-01 5.50965350e-02 -8.09297836e-01 2.95044668e+02] [-7.61277624e-01 3.07225229e-01 5.71024551e-01 1.74045864e+02] [ 2.80098187e-01 9.50040541e-01 -1.37724272e-01 1.16800767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:174.55, Z:116.63 [[-5.63144436e-01 8.14299529e-01 1.40657815e-01 2.94299491e+02] [-7.83937679e-01 -5.80275145e-01 2.20731674e-01 1.74550051e+02] [ 2.61361933e-01 1.40368529e-02 9.65138802e-01 1.16625885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.30, Y:174.56, Z:116.63 [[-5.62933644e-01 8.11592044e-01 1.56282008e-01 2.94296232e+02] [-7.84789230e-01 -5.84192169e-01 2.06942924e-01 1.74559000e+02] [ 2.59251956e-01 -6.15330253e-03 9.65790122e-01 1.16631219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.10, Y:174.30, Z:116.72 [[-5.65315953e-01 8.09269456e-01 1.59689761e-01 2.94098849e+02] [-7.82563288e-01 -5.87378779e-01 2.06351327e-01 1.74300505e+02] [ 2.60792203e-01 -8.31364729e-03 9.65359161e-01 1.16717463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.140385723 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:293.87, Y:174.00, Z:116.82 [[-5.70451460e-01 8.07222238e-01 1.51582949e-01 2.93872702e+02] [-7.79066962e-01 -5.90242451e-01 2.11349279e-01 1.73997140e+02] [ 2.60076530e-01 2.47123740e-03 9.65584844e-01 1.16815486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.42, Y:174.58, Z:117.63 [[-5.62596090e-01 -5.19122376e-01 6.43426451e-01 2.94417835e+02] [-7.71382848e-01 4.96340288e-02 -6.34432790e-01 1.74575438e+02] [ 2.97412411e-01 -8.53257536e-01 -4.28366007e-01 1.17631209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.200385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.91, Y:174.22, Z:117.56 [[-5.08019098e-01 -8.37504829e-01 -2.01251728e-01 2.94907461e+02] [-8.01472117e-01 5.45212242e-01 -2.45735748e-01 1.74216137e+02] [ 3.15529781e-01 3.64591955e-02 -9.48214999e-01 1.17559913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.230385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.85, Y:174.17, Z:117.58 [[-4.40601178e-01 -8.70981016e-01 -2.17399795e-01 2.94849427e+02] [-8.41735573e-01 4.85005803e-01 -2.37172082e-01 1.74168492e+02] [ 3.12012543e-01 7.84948423e-02 -9.46829833e-01 1.17578273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:173.98, Z:116.92 [[-4.23604616e-01 -7.51760724e-02 -9.02722375e-01 2.94900608e+02] [-8.65897470e-01 3.26290326e-01 3.79151941e-01 1.73978462e+02] [ 2.66046425e-01 9.42275534e-01 -2.03312859e-01 1.16921569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:174.04, Z:116.78 [[-3.94040774e-01 9.13137588e-01 1.04458666e-01 2.93931780e+02] [-8.82608028e-01 -4.07651494e-01 2.34143822e-01 1.74043282e+02] [ 2.56388256e-01 6.61551081e-05 9.66573876e-01 1.16780330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.98, Y:174.15, Z:116.75 [[-3.98877573e-01 9.10553775e-01 1.08574885e-01 2.93982099e+02] [-8.80879208e-01 -4.13374416e-01 2.30593611e-01 1.74146517e+02] [ 2.54849963e-01 -3.66273943e-03 9.66973671e-01 1.16753841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.97, Y:174.34, Z:117.58 [[-4.03075474e-01 -1.93646425e-01 8.94444646e-01 2.93973222e+02] [-8.67008004e-01 -2.32069949e-01 -4.40954261e-01 1.74344962e+02] [ 2.92962939e-01 -9.53228515e-01 -7.43512957e-02 1.17576723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:174.01, Z:117.67 [[-3.54498190e-01 -9.27737374e-01 -1.16766428e-01 2.94663608e+02] [-8.86040969e-01 3.73186262e-01 -2.75069838e-01 1.74009997e+02] [ 2.98768196e-01 5.94807891e-03 -9.54307176e-01 1.17669890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.82, Y:174.21, Z:117.50 [[-3.18140989e-01 -3.68511863e-02 9.47326924e-01 2.93816426e+02] [-8.77203983e-01 -3.67559934e-01 -3.08889735e-01 1.74211462e+02] [ 3.59582374e-01 -9.29269436e-01 8.46098734e-02 1.17504109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.440385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.90, Y:173.99, Z:116.73 [[-3.10445877e-01 9.40591345e-01 1.37518286e-01 2.93899935e+02] [-8.69689923e-01 -3.39438133e-01 3.58359026e-01 1.73993893e+02] [ 3.83748348e-01 -8.34718539e-03 9.23399984e-01 1.16729201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.470385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:293.83, Y:173.86, Z:116.81 [[-3.12087980e-01 9.35530715e-01 1.65479228e-01 2.93834794e+02] [-8.63729543e-01 -3.51938577e-01 3.60708351e-01 1.73860415e+02] [ 3.95692265e-01 -3.03565579e-02 9.17881316e-01 1.16808384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.500385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:294.75, Y:173.71, Z:117.05 [[-3.32172349e-01 -1.40740378e-01 -9.32659464e-01 2.94748887e+02] [-8.81985008e-01 3.96815356e-01 2.54244017e-01 1.73710971e+02] [ 3.34311198e-01 9.07044497e-01 -2.55941992e-01 1.17045717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.530385723 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:293.82, Y:173.79, Z:116.84 [[-3.01992180e-01 9.47372883e-01 1.06232504e-01 2.93824316e+02] [-8.97318486e-01 -3.20112479e-01 3.03887373e-01 1.73788482e+02] [ 3.21901006e-01 -3.55277945e-03 9.46766666e-01 1.16839653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.56038572299997 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:293.84, Y:174.13, Z:117.60 [[-3.07795627e-01 -2.06915024e-01 9.28680798e-01 2.93838253e+02] [-8.81180617e-01 -3.06153240e-01 -3.60265062e-01 1.74130940e+02] [ 3.58862889e-01 -9.29223529e-01 -8.80968801e-02 1.17601749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.590385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.82, Y:173.76, Z:116.82 [[-2.93573456e-01 9.47167838e-01 1.29180929e-01 2.93816683e+02] [-8.74594894e-01 -3.20678033e-01 3.63661065e-01 1.73756257e+02] [ 3.85873551e-01 -6.21974530e-03 9.22530714e-01 1.16819656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.62038572299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:293.82, Y:173.76, Z:116.82 [[-2.94176337e-01 9.46743427e-01 1.30909000e-01 2.93816942e+02] [-8.74515752e-01 -3.21895374e-01 3.62774818e-01 1.73756097e+02] [ 3.85593676e-01 -7.76221593e-03 9.22636041e-01 1.16820754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.650385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:293.82, Y:173.75, Z:116.82 [[-2.94634011e-01 9.46581562e-01 1.31050169e-01 2.93817270e+02] [-8.74362047e-01 -3.22372184e-01 3.62721913e-01 1.73754203e+02] [ 3.85592804e-01 -7.71508146e-03 9.22636801e-01 1.16821791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.680385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:293.82, Y:173.75, Z:116.82 [[-2.94495551e-01 9.46576767e-01 1.31395563e-01 2.93817894e+02] [-8.74146105e-01 -3.22382068e-01 3.63233245e-01 1.73752143e+02] [ 3.86187725e-01 -7.88834528e-03 9.22386478e-01 1.16823137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.710385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:293.82, Y:173.75, Z:116.82 [[-2.93642498e-01 9.46751923e-01 1.32041205e-01 2.93820040e+02] [-8.73782688e-01 -3.21856406e-01 3.64571350e-01 1.73749424e+02] [ 3.87656934e-01 -8.32167714e-03 9.21766159e-01 1.16824274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.740385723 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:293.82, Y:173.75, Z:116.83 [[-2.93650769e-01 9.46690385e-01 1.32463356e-01 2.93819838e+02] [-8.73416553e-01 -3.22034605e-01 3.65290621e-01 1.73745240e+02] [ 3.88474903e-01 -8.42781547e-03 9.21420762e-01 1.16826234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.770385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:293.82, Y:173.74, Z:116.83 [[-2.92637945e-01 9.46925525e-01 1.33022865e-01 2.93821843e+02] [-8.73217866e-01 -3.21328699e-01 3.66385623e-01 1.73744284e+02] [ 3.89683963e-01 -8.93960648e-03 9.20905257e-01 1.16826960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.800385723 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:293.82, Y:173.74, Z:116.83 [[-2.92343752e-01 9.46995756e-01 1.33169700e-01 2.93822049e+02] [-8.73314221e-01 -3.21114289e-01 3.66343943e-01 1.73742659e+02] [ 3.89688853e-01 -9.20062985e-03 9.20900617e-01 1.16828248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.830385723 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:293.82, Y:173.74, Z:116.83 [[-2.92194247e-01 9.47010485e-01 1.33392891e-01 2.93822406e+02] [-8.73261709e-01 -3.21065244e-01 3.66512071e-01 1.73742151e+02] [ 3.89918595e-01 -9.39418543e-03 9.20801411e-01 1.16829292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.82, Y:173.74, Z:116.83 [[-2.91564783e-01 9.47120640e-01 1.33986830e-01 2.93822428e+02] [-8.72887171e-01 -3.20729587e-01 3.67696233e-01 1.73738121e+02] [ 3.91226232e-01 -9.74811267e-03 9.20242908e-01 1.16832059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.890385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:293.82, Y:173.74, Z:116.83 [[-2.92072363e-01 9.46957190e-01 1.34036619e-01 2.93823353e+02] [-8.72839099e-01 -3.21213653e-01 3.67387666e-01 1.73737282e+02] [ 3.90954784e-01 -9.68861782e-03 9.20358891e-01 1.16832668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.920385723 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:293.83, Y:173.73, Z:116.83 [[-2.93344264e-01 9.46489754e-01 1.34559606e-01 2.93825162e+02] [-8.71911507e-01 -3.22600878e-01 3.68373449e-01 1.73733517e+02] [ 3.92070742e-01 -9.26383077e-03 9.19888425e-01 1.16833344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.950385723 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:293.82, Y:173.73, Z:116.84 [[-2.94412799e-01 9.46154251e-01 1.34585427e-01 2.93824681e+02] [-8.71702346e-01 -3.23591698e-01 3.67999229e-01 1.73729053e+02] [ 3.91734761e-01 -8.97474964e-03 9.20034418e-01 1.16835205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.980385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.82, Y:173.73, Z:116.84 [[-2.96016998e-01 9.45662668e-01 1.34521579e-01 2.93824381e+02] [-8.71424763e-01 -3.25038922e-01 3.67380704e-01 1.73727110e+02] [ 3.91142966e-01 -8.47450225e-03 9.20290912e-01 1.16836738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.010385723 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:293.82, Y:173.72, Z:116.84 [[-2.96772479e-01 9.45367725e-01 1.34929463e-01 2.93824209e+02] [-8.70820862e-01 -3.25900944e-01 3.68048367e-01 1.73722775e+02] [ 3.91914687e-01 -8.27276464e-03 9.19964369e-01 1.16837909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.040385723 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:293.82, Y:173.72, Z:116.84 [[-2.97113055e-01 9.45240199e-01 1.35073306e-01 2.93823454e+02] [-8.70704731e-01 -3.26270637e-01 3.67995575e-01 1.73720702e+02] [ 3.91914664e-01 -8.27267741e-03 9.19964379e-01 1.16838864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.070385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:293.82, Y:173.72, Z:116.84 [[-2.98184534e-01 9.44886497e-01 1.35186872e-01 2.93824400e+02] [-8.70375160e-01 -3.27300989e-01 3.67860223e-01 1.73718922e+02] [ 3.91832954e-01 -7.97306646e-03 9.20001830e-01 1.16839802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.100385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.82, Y:173.72, Z:116.84 [[-2.99824794e-01 9.44463247e-01 1.34514939e-01 2.93824688e+02] [-8.70867041e-01 -3.28530763e-01 3.65592855e-01 1.73718271e+02] [ 3.89481310e-01 -7.53082497e-03 9.21003581e-01 1.16841183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:173.72, Z:116.84 [[-3.00423557e-01 9.44300688e-01 1.34320127e-01 2.93824660e+02] [-8.71096003e-01 -3.28999242e-01 3.64624811e-01 1.73715798e+02] [ 3.88506680e-01 -7.46384271e-03 9.21415677e-01 1.16842003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.160385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:293.79, Y:173.64, Z:116.88 [[-3.00798851e-01 9.42776313e-01 1.43850182e-01 2.93792678e+02] [-8.71507516e-01 -3.32988052e-01 3.59991121e-01 1.73640160e+02] [ 3.87291493e-01 -1.70815986e-02 9.21799066e-01 1.16878346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.190385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:293.83, Y:173.71, Z:116.84 [[-3.01520219e-01 9.45423266e-01 1.23533013e-01 2.93829382e+02] [-8.71555343e-01 -3.25832782e-01 3.66366324e-01 1.73708920e+02] [ 3.86622352e-01 2.80099614e-03 9.22233870e-01 1.16839899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.220385723 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:293.82, Y:173.71, Z:116.84 [[-3.03309754e-01 9.43428590e-01 1.33961518e-01 2.93823785e+02] [-8.70963303e-01 -3.31508559e-01 3.62663757e-01 1.73707819e+02] [ 3.86556747e-01 -6.67611120e-03 9.22241460e-01 1.16844189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.250385723 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:293.82, Y:173.71, Z:116.84 [[-3.03086299e-01 9.43369343e-01 1.34881347e-01 2.93824234e+02] [-8.70044003e-01 -3.31674332e-01 3.64712997e-01 1.73705409e+02] [ 3.88795741e-01 -6.81319414e-03 9.21298785e-01 1.16844342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.280385723 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:293.84, Y:173.70, Z:116.82 [[-3.02241905e-01 9.46977971e-01 1.09007125e-01 2.93838055e+02] [-8.77412042e-01 -3.21070871e-01 3.56457017e-01 1.73701672e+02] [ 3.72555955e-01 1.20920836e-02 9.27930947e-01 1.16824564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31038572299997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:293.82, Y:173.70, Z:116.85 [[-3.07057355e-01 9.39520826e-01 1.51711561e-01 2.93816583e+02] [-8.70022192e-01 -3.41727006e-01 3.55364655e-01 1.73704031e+02] [ 3.85716432e-01 -2.28750937e-02 9.22333760e-01 1.16851216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.340385723 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:293.82, Y:173.70, Z:116.85 [[-3.07822075e-01 9.41926472e-01 1.34238938e-01 2.93823364e+02] [-8.69572834e-01 -3.35777723e-01 3.62072378e-01 1.73695013e+02] [ 3.86120002e-01 -5.27666309e-03 9.22433467e-01 1.16846715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37038572299997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:293.80, Y:173.63, Z:116.87 [[-3.10162231e-01 9.41298060e-01 1.33256720e-01 2.93800904e+02] [-8.70441059e-01 -3.37541722e-01 3.58326595e-01 1.73633991e+02] [ 3.82271831e-01 -4.85274389e-03 9.24037174e-01 1.16872719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.400385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:293.82, Y:173.69, Z:116.85 [[-3.10399435e-01 9.41236151e-01 1.33141652e-01 2.93822024e+02] [-8.70679924e-01 -3.37713199e-01 3.57583927e-01 1.73690702e+02] [ 3.81534612e-01 -4.92991423e-03 9.24341406e-01 1.16847629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:173.69, Z:116.85 [[-3.11026663e-01 9.41074651e-01 1.32819111e-01 2.93820387e+02] [-8.70631874e-01 -3.38168755e-01 3.57270253e-01 1.73687200e+02] [ 3.81133252e-01 -4.51597679e-03 9.24509086e-01 1.16848427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.460385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.82, Y:173.69, Z:116.85 [[-3.10018615e-01 9.41304449e-01 1.33545471e-01 2.93819468e+02] [-8.70257404e-01 -3.37521946e-01 3.58791007e-01 1.73687920e+02] [ 3.82806098e-01 -4.98704417e-03 9.23815253e-01 1.16846406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.490385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.82, Y:173.69, Z:116.85 [[-3.10019187e-01 9.41318529e-01 1.33444857e-01 2.93818280e+02] [-8.70561572e-01 -3.37480126e-01 3.58091768e-01 1.73686202e+02] [ 3.82113403e-01 -5.15664569e-03 9.24101053e-01 1.16846200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.520385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.82, Y:173.69, Z:116.85 [[-3.09016421e-01 9.41645605e-01 1.33463126e-01 2.93816429e+02] [-8.71074387e-01 -3.36557378e-01 3.57712934e-01 1.73685274e+02] [ 3.81756812e-01 -5.71714004e-03 9.24245125e-01 1.16845014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.550385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:293.82, Y:173.68, Z:116.84 [[-3.07373312e-01 9.42127288e-01 1.33857459e-01 2.93815920e+02] [-8.71342566e-01 -3.35192535e-01 3.58340756e-01 1.73684051e+02] [ 3.82470626e-01 -6.49131629e-03 9.23944849e-01 1.16844397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:173.53, Z:116.90 [[-3.08014483e-01 9.43176804e-01 1.24677965e-01 2.93762290e+02] [-8.73618965e-01 -3.32290815e-01 3.55489405e-01 1.73533563e+02] [ 3.76718704e-01 5.74850170e-04 9.26327527e-01 1.16902813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.610385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:293.81, Y:173.69, Z:116.85 [[-3.08056381e-01 9.40980237e-01 1.40205063e-01 2.93809145e+02] [-8.72884274e-01 -3.38170586e-01 3.51729582e-01 1.73687410e+02] [ 3.78383814e-01 -1.40302527e-02 9.25542458e-01 1.16846533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.81, Y:173.68, Z:116.84 [[-3.08452621e-01 9.41971829e-01 1.32461516e-01 2.93810655e+02] [-8.72868236e-01 -3.35631493e-01 3.54192805e-01 1.73683755e+02] [ 3.78097901e-01 -6.36975042e-03 9.25743703e-01 1.16844974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.670385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:293.81, Y:173.69, Z:116.84 [[-3.07004706e-01 9.42481453e-01 1.32199932e-01 2.93813964e+02] [-8.73876890e-01 -3.34182374e-01 3.53074103e-01 1.73691386e+02] [ 3.76944681e-01 -7.13105410e-03 9.26208322e-01 1.16837008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.700385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.81, Y:173.68, Z:116.85 [[-3.09593909e-01 9.41601791e-01 1.32429901e-01 2.93807143e+02] [-8.72842083e-01 -3.36671018e-01 3.53269478e-01 1.73679560e+02] [ 3.77224483e-01 -6.22031184e-03 9.26100965e-01 1.16845107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:173.68, Z:116.85 [[-3.10478633e-01 9.41307052e-01 1.32453963e-01 2.93806018e+02] [-8.72665587e-01 -3.37497931e-01 3.52916307e-01 1.73676389e+02] [ 3.76905547e-01 -6.01504311e-03 9.26232168e-01 1.16845560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:173.67, Z:116.85 [[-3.11919623e-01 9.40806883e-01 1.32621863e-01 2.93802755e+02] [-8.72111834e-01 -3.38897293e-01 3.52944151e-01 1.73670005e+02] [ 3.76997476e-01 -5.57088925e-03 9.26197532e-01 1.16846809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.80, Y:173.67, Z:116.85 [[-3.12672976e-01 9.40544519e-01 1.32708772e-01 2.93800853e+02] [-8.71903920e-01 -3.39627323e-01 3.52756058e-01 1.73668395e+02] [ 3.76854302e-01 -5.41201178e-03 9.26256738e-01 1.16847156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.820385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.80, Y:173.67, Z:116.85 [[-3.13934173e-01 9.40129317e-01 1.32673289e-01 2.93796757e+02] [-8.71661435e-01 -3.40780298e-01 3.52243001e-01 1.73666346e+02] [ 3.76366415e-01 -5.06507377e-03 9.26457051e-01 1.16848147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.850385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:293.80, Y:173.67, Z:116.85 [[-3.14716048e-01 9.39878275e-01 1.32599535e-01 2.93796582e+02] [-8.71637540e-01 -3.41474256e-01 3.51629537e-01 1.73667675e+02] [ 3.75768290e-01 -4.91527484e-03 9.26700616e-01 1.16847214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.880385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.80, Y:173.67, Z:116.85 [[-3.15302146e-01 9.39709384e-01 1.32404044e-01 2.93795489e+02] [-8.71831286e-01 -3.41939564e-01 3.50695799e-01 1.73665235e+02] [ 3.74826315e-01 -4.85885017e-03 9.27082319e-01 1.16847047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:173.66, Z:116.85 [[-3.16638922e-01 9.39267412e-01 1.32350000e-01 2.93792564e+02] [-8.71576975e-01 -3.43156827e-01 3.50138500e-01 1.73661297e+02] [ 3.74290489e-01 -4.48573526e-03 9.27300657e-01 1.16848055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.79, Y:173.66, Z:116.85 [[-3.17234057e-01 9.39051097e-01 1.32459765e-01 2.93791338e+02] [-8.71393214e-01 -3.43749591e-01 3.50014408e-01 1.73660976e+02] [ 3.74214404e-01 -4.38805001e-03 9.27331831e-01 1.16847895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:173.66, Z:116.85 [[-3.18165676e-01 9.38745469e-01 1.32391642e-01 2.93786815e+02] [-8.71300863e-01 -3.44585954e-01 3.49421416e-01 1.73657625e+02] [ 3.73638071e-01 -4.17905153e-03 9.27565161e-01 1.16849207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.78, Y:173.65, Z:116.85 [[-3.18370497e-01 9.38665214e-01 1.32468268e-01 2.93783272e+02] [-8.71299176e-01 -3.44803753e-01 3.49210707e-01 1.73653454e+02] [ 3.73467499e-01 -4.24110661e-03 9.27633570e-01 1.16851118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.030385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:293.78, Y:173.65, Z:116.85 [[-3.17955662e-01 9.38762719e-01 1.32773323e-01 2.93780093e+02] [-8.71249358e-01 -3.44534638e-01 3.49600400e-01 1.73653802e+02] [ 3.73936831e-01 -4.52124614e-03 9.27443155e-01 1.16850646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.06038572299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:293.77, Y:173.68, Z:116.86 [[-3.16786497e-01 9.32386157e-01 1.74075760e-01 2.93769237e+02] [-8.63613058e-01 -3.59424755e-01 3.53534061e-01 1.73684294e+02] [ 3.92197402e-01 -3.83392828e-02 9.19081769e-01 1.16864827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.090385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.79, Y:173.64, Z:116.84 [[-3.16506606e-01 9.43370089e-01 9.93802993e-02 2.93792941e+02] [-8.71481303e-01 -3.30553390e-01 3.62291035e-01 1.73644691e+02] [ 3.74625021e-01 2.80594332e-02 9.26751726e-01 1.16838024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.12038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.77, Y:173.65, Z:116.85 [[-3.15551055e-01 9.39478419e-01 1.33445992e-01 2.93773444e+02] [-8.71638758e-01 -3.42560758e-01 3.50568113e-01 1.73651388e+02] [ 3.75064537e-01 -5.69456070e-03 9.26981211e-01 1.16850124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.74, Y:173.61, Z:116.90 [[-3.13767018e-01 9.33883503e-01 1.71498867e-01 2.93735613e+02] [-8.64066277e-01 -3.55716535e-01 3.56167399e-01 1.73607983e+02] [ 3.93623841e-01 -3.64328048e-02 9.18549358e-01 1.16896692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:173.37, Z:117.06 [[-3.29423147e-01 8.04246974e-02 -9.40750901e-01 2.94573348e+02] [-8.84030882e-01 3.23672434e-01 3.37232197e-01 1.73369326e+02] [ 3.31616932e-01 9.42744941e-01 -3.55272759e-02 1.17055966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:173.56, Z:116.94 [[-3.21658020e-01 9.35636516e-01 1.45328691e-01 2.93713047e+02] [-8.88220346e-01 -3.51336501e-01 2.96019054e-01 1.73564038e+02] [ 3.28025510e-01 -3.38669979e-02 9.44061593e-01 1.16943837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.57, Y:173.31, Z:117.14 [[-3.30976688e-01 -8.75552939e-03 -9.43598311e-01 2.94571035e+02] [-9.05152025e-01 2.85613195e-01 3.14841094e-01 1.73309960e+02] [ 2.66747528e-01 9.58304985e-01 -1.02456395e-01 1.17143434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.70, Y:173.55, Z:116.98 [[-3.24770498e-01 9.38421970e-01 1.17848761e-01 2.93702556e+02] [-9.08066537e-01 -3.44227019e-01 2.38585256e-01 1.73550085e+02] [ 2.64460373e-01 -2.95290637e-02 9.63944368e-01 1.16978347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:173.24, Z:117.24 [[-3.25171795e-01 -1.19688804e-01 -9.38050049e-01 2.94567749e+02] [-9.24341735e-01 2.49642424e-01 2.88567180e-01 1.73241252e+02] [ 1.99638827e-01 9.60912717e-01 -1.91810032e-01 1.17240377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.69, Y:173.50, Z:117.00 [[-3.18443102e-01 9.46015725e-01 6.04006558e-02 2.93693680e+02] [-9.30560881e-01 -3.24114733e-01 1.70311733e-01 1.73503719e+02] [ 1.80694320e-01 -1.97189107e-03 9.83537328e-01 1.16999266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.69, Y:173.50, Z:117.00 [[-3.19648535e-01 9.45606633e-01 6.04393040e-02 2.93689550e+02] [-9.30161251e-01 -3.25307283e-01 1.70221088e-01 1.73496818e+02] [ 1.80623536e-01 -1.80737727e-03 9.83550645e-01 1.17001018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:173.50, Z:117.00 [[-3.20673456e-01 9.45274522e-01 6.02047564e-02 2.93688899e+02] [-9.29980084e-01 -3.26271756e-01 1.69362879e-01 1.73499324e+02] [ 1.79737526e-01 -1.67904463e-03 9.83713171e-01 1.17000783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.420385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.69, Y:173.50, Z:117.00 [[-3.21805193e-01 9.44888501e-01 6.02257319e-02 2.93686814e+02] [-9.29612826e-01 -3.27388732e-01 1.69223556e-01 1.73497359e+02] [ 1.79614618e-01 -1.52959357e-03 9.83735864e-01 1.17001380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.68, Y:173.51, Z:117.01 [[-3.21369717e-01 9.44100810e-01 7.34517952e-02 2.93684297e+02] [-9.28263408e-01 -3.29412464e-01 1.72668681e-01 1.73511258e+02] [ 1.87212579e-01 -1.26921285e-02 9.82237426e-01 1.17006489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.68, Y:173.48, Z:117.00 [[-3.25580664e-01 9.44249585e-01 4.88871412e-02 2.93681498e+02] [-9.28226431e-01 -3.29042211e-01 1.73571072e-01 1.73477161e+02] [ 1.79980346e-01 1.11330482e-02 9.83607203e-01 1.16999372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.510385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.67, Y:173.48, Z:117.00 [[-3.26546139e-01 9.43220806e-01 6.08451305e-02 2.93673675e+02] [-9.27811470e-01 -3.32164870e-01 1.69800989e-01 1.73478157e+02] [ 1.80370441e-01 -1.00495254e-03 9.83598238e-01 1.17003993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.67, Y:173.47, Z:117.01 [[-3.27304398e-01 9.42939983e-01 6.11229956e-02 2.93668705e+02] [-9.27420232e-01 -3.32961470e-01 1.70377152e-01 1.73469038e+02] [ 1.81007031e-01 -9.21511609e-04 9.83481370e-01 1.17005842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:173.49, Z:117.01 [[-3.25833681e-01 9.42455375e-01 7.49017894e-02 2.93669121e+02] [-9.26269689e-01 -3.34095810e-01 1.74368726e-01 1.73491286e+02] [ 1.89359117e-01 -1.25640534e-02 9.81827515e-01 1.17009297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:173.48, Z:117.01 [[-3.28743590e-01 9.42106749e-01 6.60494135e-02 2.93668518e+02] [-9.25173966e-01 -3.35302664e-01 1.77834915e-01 1.73483537e+02] [ 1.89686018e-01 -2.64510961e-03 9.81841239e-01 1.17007084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:173.40, Z:117.02 [[-3.45613699e-01 9.36936153e-01 5.19789975e-02 2.93651775e+02] [-9.19811256e-01 -3.49219754e-01 1.78865360e-01 1.73403240e+02] [ 1.85737515e-01 1.40074519e-02 9.82499551e-01 1.17015364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:173.40, Z:117.02 [[-3.47071009e-01 9.35711017e-01 6.31395891e-02 2.93641868e+02] [-9.19397478e-01 -3.52759764e-01 1.73979387e-01 1.73402731e+02] [ 1.85067536e-01 2.33282250e-03 9.82723036e-01 1.17020798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.64, Y:173.40, Z:117.02 [[-3.48280571e-01 9.34902085e-01 6.82549365e-02 2.93637590e+02] [-9.18671011e-01 -3.54898372e-01 1.73466768e-01 1.73404087e+02] [ 1.86398008e-01 -2.28872671e-03 9.82471651e-01 1.17023404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.63, Y:173.38, Z:117.02 [[-3.52553656e-01 9.34248357e-01 5.37208202e-02 2.93632238e+02] [-9.18255894e-01 -3.56437982e-01 1.72505301e-01 1.73381189e+02] [ 1.80310935e-01 1.14879148e-02 9.83542574e-01 1.17020470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:173.38, Z:117.03 [[-3.53285389e-01 9.33292683e-01 6.44531007e-02 2.93619182e+02] [-9.17950074e-01 -3.59116454e-01 1.68531995e-01 1.73377899e+02] [ 1.80435847e-01 3.75162930e-04 9.83586684e-01 1.17026858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:173.37, Z:117.03 [[-3.53118776e-01 9.33350867e-01 6.45235556e-02 2.93615213e+02] [-9.18009913e-01 -3.58965294e-01 1.68528091e-01 1.73374436e+02] [ 1.80457557e-01 2.77169784e-04 9.83582733e-01 1.17027972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:173.38, Z:117.03 [[-3.52711261e-01 9.33493823e-01 6.46842213e-02 2.93614259e+02] [-9.18112885e-01 -3.58593451e-01 1.68758605e-01 1.73384001e+02] [ 1.80730453e-01 1.35643170e-04 9.83532656e-01 1.17025611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.61, Y:173.39, Z:117.04 [[-3.49410446e-01 9.33390792e-01 8.18166809e-02 2.93607727e+02] [-9.17643262e-01 -3.58540047e-01 1.71405598e-01 1.73389663e+02] [ 1.89322963e-01 -1.51876197e-02 9.81797409e-01 1.17035083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:173.38, Z:117.04 [[-3.50279043e-01 9.33488889e-01 7.68315486e-02 2.93602614e+02] [-9.16203572e-01 -3.58523595e-01 1.78974432e-01 1.73380969e+02] [ 1.94616567e-01 -7.70234649e-03 9.80849156e-01 1.17037017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:173.30, Z:117.04 [[-3.68013936e-01 9.28026132e-01 5.77342346e-02 2.93586474e+02] [-9.09679072e-01 -3.72201211e-01 1.84255922e-01 1.73296103e+02] [ 1.92483062e-01 1.52891219e-02 9.81181183e-01 1.17044933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:172.89, Z:117.14 [[-3.77486453e-01 1.29112408e-01 -9.16969991e-01 2.94341589e+02] [-9.18658018e-01 7.23612171e-02 3.88370057e-01 1.72888117e+02] [ 1.16496458e-01 9.88986269e-01 9.12947699e-02 1.17142379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:293.54, Y:173.24, Z:117.10 [[-3.76380022e-01 9.24073864e-01 6.65249780e-02 2.93542278e+02] [-9.17901711e-01 -3.81678891e-01 1.08524984e-01 1.73238128e+02] [ 1.25676281e-01 -2.02167552e-02 9.91865291e-01 1.17104686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:172.82, Z:117.15 [[-3.89230241e-01 1.55448279e-01 -9.07929321e-01 2.94289177e+02] [-9.19710365e-01 -1.06798368e-02 3.92452272e-01 1.72823703e+02] [ 5.13094934e-02 9.87786300e-01 1.47124309e-01 1.17149086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.51, Y:173.15, Z:117.13 [[-3.88702841e-01 9.21174935e-01 1.86236701e-02 2.93510767e+02] [-9.20137645e-01 -3.89148708e-01 4.37035215e-02 1.73148604e+02] [ 4.75059657e-02 -1.48657024e-04 9.98870943e-01 1.17133062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:293.50, Y:173.16, Z:117.15 [[-3.86651856e-01 9.21215773e-01 4.31490657e-02 2.93502968e+02] [-9.20198347e-01 -3.88480051e-01 4.81482348e-02 1.73164009e+02] [ 6.11174646e-02 -2.10890946e-02 9.97907764e-01 1.17147715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:172.71, Z:117.19 [[-4.01477057e-01 1.11222143e-01 -9.09090649e-01 2.94255456e+02] [-9.15746245e-01 -6.50046278e-02 3.96463382e-01 1.72714276e+02] [-1.49995921e-02 9.91667300e-01 1.27949127e-01 1.17187182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:172.62, Z:117.22 [[-4.17928211e-01 8.36503113e-02 -9.04620714e-01 2.94209890e+02] [-9.04853329e-01 -1.27213747e-01 4.06272218e-01 1.72618608e+02] [-8.10953936e-02 9.88341686e-01 1.28857477e-01 1.17219052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.20, Y:172.38, Z:118.02 [[-3.50548821e-01 -9.03791823e-01 -2.45511434e-01 2.94200546e+02] [-9.29120741e-01 3.02666542e-01 2.12432607e-01 1.72384079e+02] [-1.17686756e-01 3.02577766e-01 -9.45831128e-01 1.18023234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:172.55, Z:118.24 [[-3.02802309e-01 -4.28610337e-01 8.51236712e-01 2.93414653e+02] [-9.51518827e-01 1.86622854e-01 -2.44507327e-01 1.72551155e+02] [-5.40618565e-02 -8.84005141e-01 -4.64340636e-01 1.18238326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:172.65, Z:117.15 [[-3.15165188e-01 9.49031162e-01 -3.27997758e-03 2.93257192e+02] [-9.48121738e-01 -3.15011151e-01 -4.28152410e-02 1.72646215e+02] [-4.16662274e-02 -1.03840554e-02 9.99077623e-01 1.17154118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:172.65, Z:117.16 [[-3.12450896e-01 9.49926397e-01 -3.77851119e-03 2.93260417e+02] [-9.49260812e-01 -3.12376744e-01 -3.63961619e-02 1.72648974e+02] [-3.57539939e-02 -7.78522080e-03 9.99330297e-01 1.17156535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:172.62, Z:117.15 [[-3.12871206e-01 9.49723015e-01 -1.17389657e-02 2.93254703e+02] [-9.49137109e-01 -3.13090562e-01 -3.33623942e-02 1.72620688e+02] [-3.53603929e-02 7.03755450e-04 9.99374378e-01 1.17152043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:172.60, Z:117.15 [[-3.12939095e-01 9.49651794e-01 -1.51852646e-02 2.93250737e+02] [-9.49053982e-01 -3.13284244e-01 -3.39046127e-02 1.72601475e+02] [-3.69548804e-02 3.80155700e-03 9.99309704e-01 1.17149018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:172.59, Z:117.15 [[-3.11518539e-01 9.50158320e-01 -1.24645917e-02 2.93247087e+02] [-9.49535683e-01 -3.11765810e-01 -3.44102630e-02 1.72591213e+02] [-3.65812312e-02 1.11613972e-03 9.99330060e-01 1.17148792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:172.59, Z:117.15 [[-3.09882241e-01 9.50706922e-01 -1.13730247e-02 2.93249043e+02] [-9.50087982e-01 -3.10090822e-01 -3.43002792e-02 1.72592487e+02] [-3.61361834e-02 1.76326675e-04 9.99346859e-01 1.17148361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:172.57, Z:117.14 [[-3.09273112e-01 9.50763194e-01 -1.99872783e-02 2.93246528e+02] [-9.50113245e-01 -3.09818822e-01 -3.60155407e-02 1.72567356e+02] [-4.04346855e-02 7.85153947e-03 9.99151335e-01 1.17141615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.410385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:293.25, Y:172.58, Z:117.15 [[-3.12253394e-01 9.49954131e-01 -9.21771121e-03 2.93246328e+02] [-9.49250633e-01 -3.12377795e-01 -3.66517366e-02 1.72584472e+02] [-3.76968769e-02 -2.69471096e-03 9.99285587e-01 1.17146314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:172.58, Z:117.14 [[-3.10442041e-01 9.50441889e-01 -1.69101931e-02 2.93253394e+02] [-9.49761787e-01 -3.10865182e-01 -3.62682657e-02 1.72582779e+02] [-3.97276692e-02 4.80146080e-03 9.99199008e-01 1.17144287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:172.57, Z:117.15 [[-3.14037813e-01 9.49379392e-01 -7.68258056e-03 2.93244159e+02] [-9.48710381e-01 -3.14106667e-01 -3.58554860e-02 1.72574477e+02] [-3.64536093e-02 -3.97143450e-03 9.99327455e-01 1.17150627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:172.56, Z:117.15 [[-3.16280776e-01 9.48664523e-01 -1.44679314e-03 2.93238879e+02] [-9.48143491e-01 -3.16156923e-01 -3.26913004e-02 1.72563201e+02] [-3.14704906e-02 -8.96786238e-03 9.99464449e-01 1.17154824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:172.12, Z:117.38 [[-3.21684475e-01 -2.46361512e-01 -9.14234710e-01 2.94116130e+02] [-9.41251844e-01 -2.16076836e-02 3.37013464e-01 1.72121468e+02] [-1.02781641e-01 9.68937105e-01 -2.24937371e-01 1.17384238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:172.44, Z:117.17 [[-3.00955304e-01 9.53104251e-01 -3.19091318e-02 2.93195703e+02] [-9.48151130e-01 -3.02640364e-01 -9.70476458e-02 1.72440740e+02] [-1.02153515e-01 1.04767567e-03 9.94768095e-01 1.17174247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:172.44, Z:117.17 [[-3.02416679e-01 9.52626756e-01 -3.23483487e-02 2.93196391e+02] [-9.47552772e-01 -3.04140345e-01 -9.81956996e-02 1.72442151e+02] [-1.03382289e-01 9.55750148e-04 9.94641236e-01 1.17174705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:172.44, Z:117.17 [[-3.02164869e-01 9.52560385e-01 -3.64019830e-02 2.93198172e+02] [-9.47319316e-01 -3.04319218e-01 -9.98795672e-02 1.72439124e+02] [-1.06219142e-01 4.30420527e-03 9.94333429e-01 1.17170236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:172.28, Z:117.96 [[-3.10933999e-01 1.22664236e-01 9.42482644e-01 2.93010850e+02] [-9.48971651e-01 1.48728298e-02 -3.15010485e-01 1.72281621e+02] [-5.26579045e-02 -9.92336780e-01 1.11780414e-01 1.17960942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:172.28, Z:117.12 [[-3.12659190e-01 9.49787928e-01 -1.21294189e-02 2.93146031e+02] [-9.49176119e-01 -3.12893217e-01 -3.40959006e-02 1.72278856e+02] [-3.61790877e-02 8.52558087e-04 9.99344959e-01 1.17124185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:172.11, Z:118.10 [[-2.97125905e-01 -2.54368907e-01 9.20332905e-01 2.93118976e+02] [-9.54785943e-01 6.90554819e-02 -2.89162833e-01 1.72106936e+02] [ 1.00000013e-02 -9.64638689e-01 -2.63386029e-01 1.18098327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:172.00, Z:117.09 [[-3.11899479e-01 9.50061789e-01 1.00653469e-02 2.93048656e+02] [-9.49560725e-01 -3.12061840e-01 3.08518549e-02 1.72003049e+02] [ 3.24521792e-02 6.50194318e-05 9.99473287e-01 1.17092131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:172.01, Z:117.09 [[-3.11962797e-01 9.50046476e-01 9.53451853e-03 2.93051305e+02] [-9.49573042e-01 -3.12108318e-01 2.99905905e-02 1.72009956e+02] [ 3.14682573e-02 3.02226706e-04 9.99504706e-01 1.17089165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:171.80, Z:118.20 [[-2.73133593e-01 -7.59200257e-01 5.90773230e-01 2.93384721e+02] [-9.60554749e-01 1.81869065e-01 -2.10376372e-01 1.71800448e+02] [ 5.22744207e-02 -6.24930886e-01 -7.78927964e-01 1.18203673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:171.50, Z:117.66 [[-2.36783503e-01 -6.91576214e-01 -6.82389854e-01 2.93928661e+02] [-9.71483342e-01 1.77495332e-01 1.57211715e-01 1.71497383e+02] [ 1.23971308e-02 7.00155516e-01 -7.13882738e-01 1.17660552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:171.72, Z:117.11 [[-2.13402103e-01 9.76945070e-01 6.15413321e-03 2.92911947e+02] [-9.76572282e-01 -2.13490675e-01 2.69872200e-02 1.71715745e+02] [ 2.76788816e-02 -2.50826399e-04 9.99616835e-01 1.17105976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:171.70, Z:117.11 [[-2.12996704e-01 9.77035483e-01 5.83688092e-03 2.92907177e+02] [-9.76701612e-01 -2.13076506e-01 2.55414261e-02 1.71701792e+02] [ 2.61985818e-02 -2.60651423e-04 9.99656724e-01 1.17107133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:171.70, Z:117.11 [[-2.13600316e-01 9.76904334e-01 5.72949779e-03 2.92906704e+02] [-9.76584070e-01 -2.13676995e-01 2.50139206e-02 1.71702709e+02] [ 2.56604694e-02 -2.52354922e-04 9.99670684e-01 1.17107699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:171.70, Z:117.11 [[-2.14480916e-01 9.76711502e-01 5.70779373e-03 2.92906384e+02] [-9.76395063e-01 -2.14556716e-01 2.48615462e-02 1.71702093e+02] [ 2.55072036e-02 -2.40734403e-04 9.99674609e-01 1.17108050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.70, Z:117.11 [[-2.15579678e-01 9.76469721e-01 5.68215486e-03 2.92904891e+02] [-9.76157480e-01 -2.15654433e-01 2.46929172e-02 1.71695686e+02] [ 2.53372679e-02 -2.23386821e-04 9.99678935e-01 1.17107871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.69, Z:117.11 [[-2.17117246e-01 9.76128645e-01 5.74194296e-03 2.92904408e+02] [-9.75811156e-01 -2.17193069e-01 2.48949396e-02 1.71691094e+02] [ 2.55477739e-02 -1.97931272e-04 9.99673583e-01 1.17106975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.68, Z:117.11 [[-2.18035742e-01 9.75923467e-01 5.81386586e-03 2.92902483e+02] [-9.75599467e-01 -2.18113158e-01 2.51461612e-02 1.71681174e+02] [ 2.58088095e-02 -1.89242531e-04 9.99666879e-01 1.17106766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.67, Z:117.11 [[-2.19288508e-01 9.75641970e-01 5.94115828e-03 2.92900133e+02] [-9.75305185e-01 -2.19368907e-01 2.56335596e-02 1.71668622e+02] [ 2.63124819e-02 -1.73297433e-04 9.99653752e-01 1.17106573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.67, Z:117.11 [[-2.19699627e-01 9.75549214e-01 5.98370093e-03 2.92901228e+02] [-9.75209133e-01 -2.19781027e-01 2.57574536e-02 1.71671257e+02] [ 2.64427676e-02 -1.76456841e-04 9.99650313e-01 1.17106332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.66, Z:117.11 [[-2.19943808e-01 9.75493968e-01 6.01993272e-03 2.92899641e+02] [-9.75151385e-01 -2.20026099e-01 2.58513623e-02 1.71663070e+02] [ 2.65423903e-02 -1.84498656e-04 9.99647672e-01 1.17106649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.90, Y:171.66, Z:117.11 [[-2.19358460e-01 9.75625833e-01 6.00835728e-03 2.92899915e+02] [-9.75286261e-01 -2.19440627e-01 2.57394691e-02 1.71660295e+02] [ 2.64305686e-02 -2.13698014e-04 9.99650629e-01 1.17106523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.66, Z:117.11 [[-2.19367913e-01 9.75623392e-01 6.05932346e-03 2.92900099e+02] [-9.75279618e-01 -2.19451463e-01 2.58983028e-02 1.71659184e+02] [ 2.65967174e-02 -2.28278033e-04 9.99646219e-01 1.17106832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.66, Z:117.11 [[-2.18381609e-01 9.75844965e-01 6.00647311e-03 2.92900959e+02] [-9.75508774e-01 -2.18464035e-01 2.56144054e-02 1.71658779e+02] [ 2.63078869e-02 -2.65652135e-04 9.99653852e-01 1.17106682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.250385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.90, Y:171.64, Z:117.11 [[-2.18833517e-01 9.75744633e-01 5.85680256e-03 2.92897950e+02] [-9.75427644e-01 -2.18911711e-01 2.48711557e-02 1.71643496e+02] [ 2.55500194e-02 -2.70244639e-04 9.99673508e-01 1.17107047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:171.63, Z:117.11 [[-2.19548189e-01 9.75584818e-01 5.73204757e-03 2.92894256e+02] [-9.75285411e-01 -2.19622820e-01 2.41698860e-02 1.71625841e+02] [ 2.48386623e-02 -2.83927669e-04 9.99691433e-01 1.17107778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.63, Z:117.11 [[-2.17855439e-01 9.75965557e-01 5.49894228e-03 2.92896133e+02] [-9.75692996e-01 -2.17924563e-01 2.30664910e-02 1.71625018e+02] [ 2.37104553e-02 -3.40118944e-04 9.99718810e-01 1.17107604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:171.62, Z:117.11 [[-2.17109093e-01 9.76131953e-01 5.48196942e-03 2.92895247e+02] [-9.75862292e-01 -2.17177979e-01 2.29458729e-02 1.71618079e+02] [ 2.35887628e-02 -3.67889598e-04 9.99721679e-01 1.17107673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:171.61, Z:117.11 [[-2.16259561e-01 9.76320299e-01 5.52058220e-03 2.92893478e+02] [-9.76048607e-01 -2.16329631e-01 2.30349232e-02 1.71609797e+02] [ 2.36837286e-02 -4.06834183e-04 9.99719418e-01 1.17108287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:171.61, Z:117.11 [[-2.15626716e-01 9.76459993e-01 5.56788009e-03 2.92893150e+02] [-9.76185961e-01 -2.15698129e-01 2.31362757e-02 1.71607411e+02] [ 2.37926290e-02 -4.46487211e-04 9.99716816e-01 1.17108621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.89, Y:171.60, Z:117.11 [[-2.14738526e-01 9.76656020e-01 5.51221344e-03 2.92893156e+02] [-9.76389064e-01 -2.14808731e-01 2.28386711e-02 1.71598248e+02] [ 2.34895972e-02 -4.77722335e-04 9.99723967e-01 1.17107721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:171.32, Z:118.09 [[-1.89971175e-01 -9.81784623e-01 -3.14755735e-03 2.93613472e+02] [-9.81765964e-01 1.89987889e-01 -6.33984191e-03 1.71315502e+02] [ 6.82235708e-03 1.88577746e-03 -9.99974949e-01 1.18087975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.81, Y:171.35, Z:117.11 [[-1.63173600e-01 9.86588563e-01 4.16950196e-03 2.92814920e+02] [-9.86308579e-01 -1.63226627e-01 2.35043610e-02 1.71346736e+02] [ 2.38697075e-02 -2.77124357e-04 9.99715040e-01 1.17111608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.81, Y:171.30, Z:117.11 [[-1.68125326e-01 9.85754319e-01 4.72205165e-03 2.92808577e+02] [-9.85442296e-01 -1.68190932e-01 2.48050925e-02 1.71303607e+02] [ 2.52459333e-02 -4.82945169e-04 9.99681154e-01 1.17112730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:171.26, Z:117.11 [[-1.73398724e-01 9.84839577e-01 4.88776373e-03 2.92800626e+02] [-9.84524086e-01 -1.73466909e-01 2.49310232e-02 1.71255385e+02] [ 2.54009236e-02 -4.89113493e-04 9.99677225e-01 1.17113498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.77, Y:171.02, Z:117.10 [[-1.69731703e-01 9.85415746e-01 -1.21225501e-02 2.92765336e+02] [-9.85378806e-01 -1.69514619e-01 1.71290274e-02 1.71016635e+02] [ 1.48242639e-02 1.48526429e-02 9.99779796e-01 1.17101484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.610385723 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:292.64, Y:170.45, Z:117.11 [[-1.75440500e-01 9.84488198e-01 -1.90219214e-03 2.92644910e+02] [-9.84356154e-01 -1.75384451e-01 1.68302245e-02 1.70446463e+02] [ 1.62355425e-02 4.82513754e-03 9.99856552e-01 1.17114216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.69, Y:171.18, Z:117.95 [[-1.88288119e-01 -1.95157017e-02 9.81919916e-01 2.92692741e+02] [-9.79986533e-01 -6.20365753e-02 -1.89150362e-01 1.71181790e+02] [ 6.46063508e-02 -9.97883060e-01 -7.44437480e-03 1.17947046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:171.07, Z:117.92 [[-1.86836114e-01 -3.31748106e-02 9.81830789e-01 2.92669899e+02] [-9.73251875e-01 -1.29758203e-01 -1.89587966e-01 1.71070777e+02] [ 1.33690144e-01 -9.90990535e-01 -8.04392826e-03 1.17923140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.58, Y:170.67, Z:117.19 [[-2.05868518e-01 2.75924834e-02 -9.78190579e-01 2.93584196e+02] [-9.72805070e-01 1.02662919e-01 2.07630974e-01 1.70665272e+02] [ 1.06152955e-01 9.94333435e-01 5.70704473e-03 1.17193975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:170.82, Z:117.10 [[-1.78828789e-01 9.83696800e-01 1.89965593e-02 2.92719801e+02] [-9.79184553e-01 -1.79826244e-01 9.41282810e-02 1.70817561e+02] [ 9.60097687e-02 -1.76829092e-03 9.95378821e-01 1.17098096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.760385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.45, Y:170.64, Z:118.08 [[-1.48250267e-01 -9.88706988e-01 -2.19169003e-02 2.93449954e+02] [-9.85896085e-01 1.49496455e-01 -7.52311131e-02 1.70642615e+02] [ 7.76580262e-02 1.04547536e-02 -9.96925238e-01 1.18081539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:170.67, Z:117.11 [[-1.13981182e-01 9.93405841e-01 1.23743735e-02 2.92663781e+02] [-9.88991399e-01 -1.14640122e-01 9.35609684e-02 1.70670416e+02] [ 9.43626122e-02 -1.57395916e-03 9.95536649e-01 1.17110764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:170.64, Z:117.11 [[-1.19133073e-01 9.92801603e-01 1.23405367e-02 2.92662186e+02] [-9.88455464e-01 -1.19765074e-01 9.28015221e-02 1.70637469e+02] [ 9.36114652e-02 -1.14234041e-03 9.95608150e-01 1.17113630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:170.63, Z:117.11 [[-1.19583441e-01 9.92743527e-01 1.26527046e-02 2.92661548e+02] [-9.88401479e-01 -1.20242639e-01 9.27589561e-02 1.70633529e+02] [ 9.36072478e-02 -1.41351681e-03 9.95608199e-01 1.17114096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:170.51, Z:118.10 [[-8.24550360e-02 -9.96449775e-01 -1.70003753e-02 2.93392933e+02] [-9.93509192e-01 8.35290914e-02 -7.72164232e-02 1.70506035e+02] [ 7.83623135e-02 1.05231462e-02 -9.96869405e-01 1.18095796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:170.47, Z:117.13 [[-5.40409834e-02 9.98518655e-01 6.32992507e-03 2.92614414e+02] [-9.94184896e-01 -5.43956000e-02 9.29382170e-02 1.70474198e+02] [ 9.31448635e-02 -1.27064325e-03 9.95651756e-01 1.17126329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:170.47, Z:117.13 [[-5.57392419e-02 9.98424776e-01 6.41115821e-03 2.92615621e+02] [-9.94037676e-01 -5.60947195e-02 9.35012338e-02 1.70469776e+02] [ 9.37135806e-02 -1.16124492e-03 9.95598522e-01 1.17126759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:170.47, Z:117.13 [[-5.65114814e-02 9.98380992e-01 6.46896920e-03 2.92616120e+02] [-9.93967582e-01 -5.68692999e-02 9.37780813e-02 1.70466033e+02] [ 9.39941396e-02 -1.13040738e-03 9.95572109e-01 1.17126720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.34, Y:170.39, Z:118.11 [[-1.42181171e-02 -9.99832323e-01 -1.15399955e-02 2.93344740e+02] [-9.97026877e-01 1.50504511e-02 -7.55704410e-02 1.70393048e+02] [ 7.57314517e-02 1.04312163e-02 -9.97073687e-01 1.18109758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.59, Y:170.09, Z:117.15 [[ 1.11364219e-02 9.99881737e-01 -1.06062580e-02 2.92587334e+02] [-9.95417577e-01 1.20928846e-02 9.48557309e-02 1.70086768e+02] [ 9.49727732e-02 9.50130223e-03 9.95434527e-01 1.17151475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.06038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:292.56, Y:170.27, Z:118.08 [[ 2.13016422e-02 -2.27915181e-01 9.73447950e-01 2.92558699e+02] [-9.90535265e-01 -1.36866247e-01 -1.03691910e-02 1.70268281e+02] [ 1.35595464e-01 -9.64013641e-01 -2.28673500e-01 1.18077627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.32, Y:170.28, Z:118.09 [[ 7.71104867e-02 -9.97021905e-01 1.13714735e-03 2.93319953e+02] [-9.87123844e-01 -7.65051815e-02 -1.40475884e-01 1.70283171e+02] [ 1.40144531e-01 9.70965851e-03 -9.90083448e-01 1.18089584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:170.28, Z:118.09 [[ 1.53952594e-01 -9.88002064e-01 1.22686595e-02 2.93304549e+02] [-9.78107790e-01 -1.54146828e-01 -1.39799522e-01 1.70282984e+02] [ 1.40013391e-01 9.52242758e-03 -9.90103820e-01 1.18093451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.29, Y:170.28, Z:118.10 [[ 2.29675367e-01 -9.72990631e-01 2.32047155e-02 2.93289755e+02] [-9.63216079e-01 -2.30656483e-01 -1.37885362e-01 1.70281751e+02] [ 1.39513483e-01 9.31771595e-03 -9.90176332e-01 1.18097419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.27, Y:170.28, Z:118.10 [[ 3.03578302e-01 -9.52200143e-01 3.39867830e-02 2.93272138e+02] [-9.42579224e-01 -3.05340922e-01 -1.35319352e-01 1.70278404e+02] [ 1.39228662e-01 9.04478363e-03 -9.90218951e-01 1.18101964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.210385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:293.25, Y:170.27, Z:118.11 [[ 3.76900279e-01 -9.25188357e-01 4.44149112e-02 2.93254526e+02] [-9.15812195e-01 -3.79402513e-01 -1.31688106e-01 1.70274107e+02] [ 1.38687431e-01 8.95756659e-03 -9.90295692e-01 1.18106328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.24, Y:170.27, Z:118.11 [[ 4.45075375e-01 -8.94683523e-01 3.80697250e-02 2.93241731e+02] [-8.84250561e-01 -4.45805624e-01 -1.39134075e-01 1.70271373e+02] [ 1.41452662e-01 2.82619749e-02 -9.89541513e-01 1.18109399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:170.28, Z:118.07 [[ 5.13734061e-01 -8.56535100e-01 -4.92436476e-02 2.93273367e+02] [-8.47235912e-01 -4.97440188e-01 -1.86398949e-01 1.70284181e+02] [ 1.35161473e-01 1.37480476e-01 -9.81239265e-01 1.18069880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.26, Y:170.27, Z:118.08 [[ 5.81864134e-01 -8.12858894e-01 -2.63542694e-02 2.93255090e+02] [-8.03784054e-01 -5.69825014e-01 -1.70969728e-01 1.70273182e+02] [ 1.23956942e-01 1.20664294e-01 -9.84923756e-01 1.18076786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:170.24, Z:118.12 [[ 6.42009416e-01 -7.66049813e-01 3.14895798e-02 2.93208446e+02] [-7.56041006e-01 -6.39376173e-01 -1.40000379e-01 1.70243175e+02] [ 1.27380951e-01 6.60741481e-02 -9.89650595e-01 1.18117839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:170.29, Z:117.99 [[ 6.99907657e-01 -6.93288696e-01 -1.71697571e-01 2.93293835e+02] [-7.06530445e-01 -6.36845574e-01 -3.08613748e-01 1.70290747e+02] [ 1.04613585e-01 3.37310687e-01 -9.35562664e-01 1.17993300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:170.23, Z:118.09 [[ 7.55465179e-01 -6.54650628e-01 -2.65503091e-02 2.93225121e+02] [-6.49802110e-01 -7.43452991e-01 -1.58224109e-01 1.70230489e+02] [ 8.38426057e-02 1.36785252e-01 -9.87046206e-01 1.18091274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.27, Y:170.27, Z:118.04 [[ 8.02271644e-01 -5.86845230e-01 -1.09420683e-01 2.93267819e+02] [-5.93128300e-01 -7.62885857e-01 -2.57301357e-01 1.70268470e+02] [ 6.75205822e-02 2.71326087e-01 -9.60116204e-01 1.18035219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.31, Y:170.30, Z:117.95 [[ 8.42046999e-01 -4.98359837e-01 -2.06383926e-01 2.93309024e+02] [-5.37980391e-01 -7.48139170e-01 -3.88413287e-01 1.70301588e+02] [ 3.91656835e-02 4.38092748e-01 -8.98076162e-01 1.17948459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:170.32, Z:117.87 [[ 8.77690281e-01 -4.00035923e-01 -2.63876924e-01 2.93332634e+02] [-4.79199782e-01 -7.26600798e-01 -4.92360487e-01 1.70315847e+02] [ 5.22869857e-03 5.58589779e-01 -8.29427586e-01 1.17870794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.23, Y:170.12, Z:118.16 [[ 9.13746437e-01 -4.06228758e-01 -6.75615467e-03 2.93226801e+02] [-4.06283621e-01 -9.13659450e-01 -1.26502568e-02 1.70117526e+02] [-1.03392646e-03 1.43040420e-02 -9.99897157e-01 1.18158261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:170.14, Z:118.13 [[ 9.42543243e-01 -3.31832361e-01 -3.87236216e-02 2.93237170e+02] [-3.34022892e-01 -9.38238530e-01 -9.02062601e-02 1.70137346e+02] [-6.39863755e-03 9.79578770e-02 -9.95169991e-01 1.18128062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.570385723 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:293.24, Y:170.16, Z:118.13 [[ 9.66173313e-01 -2.55319333e-01 -3.63478741e-02 2.93244067e+02] [-2.57479146e-01 -9.62979187e-01 -7.98471925e-02 1.70157761e+02] [-1.46157143e-02 8.65050460e-02 -9.96144195e-01 1.18127827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:170.17, Z:118.15 [[ 9.83464057e-01 -1.80026096e-01 -1.97244248e-02 2.93244252e+02] [-1.80537163e-01 -9.83162954e-01 -2.82300941e-02 1.70166049e+02] [-1.43101701e-02 3.13242745e-02 -9.99406829e-01 1.18150662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.630385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.24, Y:170.16, Z:118.14 [[ 9.94391352e-01 -1.03613567e-01 -2.12147864e-02 2.93242334e+02] [-1.04512107e-01 -9.93418673e-01 -4.68674703e-02 1.70158930e+02] [-1.62190592e-02 4.88218092e-02 -9.98675810e-01 1.18144856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:170.16, Z:118.13 [[ 9.99405534e-01 -2.40357914e-02 -2.47155855e-02 2.93240904e+02] [-2.57820890e-02 -9.97002230e-01 -7.29509225e-02 1.70158449e+02] [-2.28880607e-02 7.35447751e-02 -9.97029239e-01 1.18131123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:170.11, Z:118.16 [[ 9.98349569e-01 5.23551724e-02 -2.36024169e-02 2.93240444e+02] [ 5.23613119e-02 -9.98628141e-01 -3.58238796e-04 1.70111783e+02] [-2.35887934e-02 -8.78205966e-04 -9.99721360e-01 1.18159340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:170.10, Z:118.16 [[ 9.91276340e-01 1.29632396e-01 -2.38046027e-02 2.93239773e+02] [ 1.29615642e-01 -9.91561755e-01 -2.25192357e-03 1.70101235e+02] [-2.38956558e-02 -8.53170305e-04 -9.99714094e-01 1.18159009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:170.09, Z:118.16 [[ 9.78351263e-01 2.05568657e-01 -2.38816532e-02 2.93241003e+02] [ 2.05527655e-01 -9.78642358e-01 -4.18543589e-03 1.70090581e+02] [-2.42319918e-02 -8.13513675e-04 -9.99706031e-01 1.18158223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:170.06, Z:118.16 [[ 9.59312928e-01 2.80382391e-01 -3.32328450e-02 2.93246850e+02] [ 2.81209524e-01 -9.59358897e-01 2.34885191e-02 1.70063208e+02] [-2.52964584e-02 -3.18782325e-02 -9.99171591e-01 1.18163417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.28, Y:169.96, Z:118.21 [[ 9.34000829e-01 3.44731863e-01 -9.38210789e-02 2.93281427e+02] [ 3.56801432e-01 -9.13493620e-01 1.95504844e-01 1.69960541e+02] [-1.83082079e-02 -2.16077181e-01 -9.76204621e-01 1.18214999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:169.96, Z:118.21 [[ 9.04430790e-01 4.17723785e-01 -8.66705610e-02 2.93281949e+02] [ 4.26590102e-01 -8.87927524e-01 1.72062770e-01 1.69963112e+02] [-5.08246479e-03 -1.92591671e-01 -9.81265824e-01 1.18206839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:169.94, Z:118.21 [[ 8.68729175e-01 4.84687538e-01 -1.01919630e-01 2.93298027e+02] [ 4.95173947e-01 -8.45537886e-01 1.99670841e-01 1.69936293e+02] [ 1.06010597e-02 -2.23927831e-01 -9.74548072e-01 1.18210981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.37, Y:169.82, Z:118.25 [[ 8.29049561e-01 5.20301081e-01 -2.04850214e-01 2.93371262e+02] [ 5.57892631e-01 -7.44846913e-01 3.66003947e-01 1.69820525e+02] [ 3.78501996e-02 -4.17719837e-01 -9.07787145e-01 1.18245088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:169.76, Z:118.25 [[ 7.86765412e-01 5.56595191e-01 -2.66836990e-01 2.93424363e+02] [ 6.13177809e-01 -6.55179624e-01 4.41307869e-01 1.69758239e+02] [ 7.08036790e-02 -5.10824288e-01 -8.56764487e-01 1.18249002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:169.75, Z:118.24 [[ 7.43117284e-01 6.09503730e-01 -2.76191790e-01 2.93443783e+02] [ 6.60569302e-01 -6.02246774e-01 4.48271146e-01 1.69746191e+02] [ 1.06887321e-01 -5.15561855e-01 -8.50159441e-01 1.18244953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.40, Y:169.80, Z:118.23 [[ 6.93043532e-01 6.89499351e-01 -2.10431242e-01 2.93404865e+02] [ 7.08129715e-01 -5.96431221e-01 3.77918119e-01 1.69799139e+02] [ 1.35066536e-01 -4.10926323e-01 -9.01607779e-01 1.18233778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:169.81, Z:118.24 [[ 6.39316489e-01 7.43728793e-01 -1.95299536e-01 2.93400106e+02] [ 7.51666827e-01 -5.50921948e-01 3.62604453e-01 1.69808463e+02] [ 1.62084571e-01 -3.78619189e-01 -9.11249747e-01 1.18237763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:169.99, Z:118.10 [[ 5.83364786e-01 7.94373623e-01 1.69281051e-01 2.93219214e+02] [ 7.95209373e-01 -6.01031226e-01 8.00219935e-02 1.69988530e+02] [ 1.65310559e-01 8.79318654e-02 -9.82313802e-01 1.18101043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:169.94, Z:118.15 [[ 5.15945543e-01 8.54821474e-01 5.55017583e-02 2.93269040e+02] [ 8.41036423e-01 -5.17797189e-01 1.56664630e-01 1.69941364e+02] [ 1.62658945e-01 -3.41514175e-02 -9.86091146e-01 1.18146464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.43, Y:169.83, Z:118.24 [[ 4.44265380e-01 8.62846221e-01 -2.41090588e-01 2.93426196e+02] [ 8.76725051e-01 -3.63349523e-01 3.15167113e-01 1.69831247e+02] [ 1.84340602e-01 -3.51387995e-01 -9.17902511e-01 1.18238023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:169.76, Z:118.27 [[ 3.82295021e-01 8.07847292e-01 -4.48590314e-01 2.93581276e+02] [ 8.95993584e-01 -2.05379539e-01 3.93719115e-01 1.69757248e+02] [ 2.25933649e-01 -5.52450901e-01 -8.02341566e-01 1.18265258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:169.91, Z:118.15 [[ 3.12491874e-01 9.48903903e-01 4.39341759e-02 2.93297522e+02] [ 9.21861801e-01 -3.14095067e-01 2.26969403e-01 1.69906402e+02] [ 2.29171660e-01 -3.04248554e-02 -9.72910416e-01 1.18151661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.49, Y:169.82, Z:118.26 [[ 2.36782471e-01 9.19775631e-01 -3.12964615e-01 2.93491920e+02] [ 9.37320774e-01 -1.31494790e-01 3.22705575e-01 1.69818144e+02] [ 2.55663507e-01 -3.69759258e-01 -8.93260467e-01 1.18255481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.30, Y:169.89, Z:118.15 [[ 1.62652945e-01 9.84668724e-01 6.30200307e-02 2.93300836e+02] [ 9.52776564e-01 -1.73342727e-01 2.49337357e-01 1.69892744e+02] [ 2.56438761e-01 1.94885528e-02 -9.66363988e-01 1.18151622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.32, Y:169.88, Z:118.16 [[ 8.26490213e-02 9.95679053e-01 4.23362949e-02 2.93320418e+02] [ 9.63512639e-01 -9.06868577e-02 2.51831864e-01 1.69883989e+02] [ 2.54583057e-01 1.99778982e-02 -9.66844533e-01 1.18158137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.34, Y:169.88, Z:118.17 [[ 3.30913375e-03 9.99759903e-01 2.16606984e-02 2.93340048e+02] [ 9.67476270e-01 -8.67969497e-03 2.52812837e-01 1.69877882e+02] [ 2.52940146e-01 2.01196202e-02 -9.67272704e-01 1.18165078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.320385723 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:294.09, Y:170.16, Z:117.24 [[ 2.27307247e-04 -9.99890754e-01 1.47793536e-02 2.94093442e+02] [ 9.60274581e-01 -3.90602526e-03 -2.79029519e-01 1.70157285e+02] [ 2.79056764e-01 1.42556630e-02 9.60168786e-01 1.17241837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.11, Y:170.18, Z:117.26 [[-1.65468745e-04 -9.99901113e-01 -1.40618649e-02 2.94107032e+02] [ 9.61369487e-01 3.71162385e-03 -2.75236140e-01 1.70181240e+02] [ 2.75261115e-01 -1.35641908e-02 9.61273807e-01 1.17258801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.10, Y:170.18, Z:117.25 [[ 7.68591487e-05 -9.99999997e-01 3.21236378e-05 2.94100466e+02] [ 9.61410763e-01 6.50554605e-05 -2.75116957e-01 1.70180361e+02] [ 2.75116954e-01 5.20292675e-05 9.61410765e-01 1.17253068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:170.18, Z:117.25 [[ 7.98014668e-04 -9.99999672e-01 1.36072774e-04 2.94101140e+02] [ 9.61530549e-01 7.29936936e-04 -2.74697054e-01 1.70178934e+02] [ 2.74696865e-01 3.50050408e-04 9.61530816e-01 1.17253260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:170.19, Z:117.26 [[ 1.07104772e-03 -9.99999398e-01 2.39768517e-04 2.94101514e+02] [ 9.61649561e-01 9.64209585e-04 -2.74279406e-01 1.70187380e+02] [ 2.74279010e-01 5.24339622e-04 9.61650014e-01 1.17255875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:170.18, Z:117.25 [[ 1.10967857e-03 -9.99999325e-01 3.44338672e-04 2.94101471e+02] [ 9.61632738e-01 9.72638594e-04 -2.74338353e-01 1.70176013e+02] [ 2.74337833e-01 6.35554731e-04 9.61633168e-01 1.17252805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:170.45, Z:117.32 [[ 2.61162002e-03 -9.99978822e-01 5.96110483e-03 2.94098610e+02] [ 9.61321425e-01 8.68771875e-04 -2.75427602e-01 1.70446212e+02] [ 2.75416590e-01 6.44985003e-03 9.61303335e-01 1.17324450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:170.18, Z:117.26 [[ 2.66086980e-03 -9.99983336e-01 -5.12324224e-03 2.94105094e+02] [ 9.61144828e-01 3.97164440e-03 -2.76016026e-01 1.70179474e+02] [ 2.76031774e-01 -4.18973507e-03 9.61139379e-01 1.17255486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.56038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.10, Y:170.17, Z:117.25 [[ 3.62856469e-03 -9.99993237e-01 5.99286676e-04 2.94103836e+02] [ 9.61118694e-01 3.32203143e-03 -2.76115593e-01 1.70170823e+02] [ 2.76111734e-01 1.57788892e-03 9.61124248e-01 1.17251093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.10, Y:170.17, Z:117.25 [[ 3.51879696e-03 -9.99993560e-01 7.06431202e-04 2.94104307e+02] [ 9.60930121e-01 3.18581761e-03 -2.76772747e-01 1.70168213e+02] [ 2.76768714e-01 1.65273812e-03 9.60935142e-01 1.17250824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:170.62, Z:117.37 [[ 2.78748671e-03 -9.99980956e-01 5.50605758e-03 2.94101447e+02] [ 9.60639836e-01 1.14824010e-03 -2.77794506e-01 1.70621006e+02] [ 2.77782893e-01 6.06368674e-03 9.60624743e-01 1.17372937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.42, Y:169.88, Z:118.19 [[-8.71568765e-02 9.94562116e-01 -5.70076827e-02 2.93424477e+02] [ 9.63518867e-01 9.86962453e-02 2.48777902e-01 1.69879347e+02] [ 2.53051521e-01 -3.32452729e-02 -9.66881420e-01 1.18192583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:169.86, Z:118.17 [[-1.63535925e-01 9.86334884e-01 -1.99874251e-02 2.93445039e+02] [ 9.54077084e-01 1.63276968e-01 2.51152443e-01 1.69860844e+02] [ 2.50983902e-01 2.20029028e-02 -9.67741160e-01 1.18173103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:169.84, Z:118.17 [[-2.40588247e-01 9.69794856e-01 -4.01899620e-02 2.93497820e+02] [ 9.37835911e-01 2.42932647e-01 2.47886131e-01 1.69837623e+02] [ 2.50162148e-01 2.19469001e-02 -9.67955181e-01 1.18173082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.55, Y:169.81, Z:118.17 [[-3.13990773e-01 9.47526017e-01 -6.00353304e-02 2.93553889e+02] [ 9.16058767e-01 3.18965935e-01 2.43098885e-01 1.69808868e+02] [ 2.49491743e-01 2.13349160e-02 -9.68141876e-01 1.18170684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:169.80, Z:118.17 [[-3.85162474e-01 9.19401088e-01 -7.96963422e-02 2.93606634e+02] [ 8.88435562e-01 3.92777660e-01 2.37503606e-01 1.69798380e+02] [ 2.49664017e-01 2.06724121e-02 -9.68111838e-01 1.18172092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:169.78, Z:118.17 [[-4.55251669e-01 8.84894600e-01 -9.85264625e-02 2.93664069e+02] [ 8.54793017e-01 4.65345615e-01 2.29744110e-01 1.69784541e+02] [ 2.49148180e-01 2.03716576e-02 -9.68251093e-01 1.18170923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:169.78, Z:118.17 [[-5.22373485e-01 8.44706169e-01 -1.16608024e-01 2.93720914e+02] [ 8.15674197e-01 5.34854544e-01 2.20468187e-01 1.69777697e+02] [ 2.48599169e-01 2.00525791e-02 -9.68398858e-01 1.18170506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:169.79, Z:118.18 [[-5.92461517e-01 7.89145848e-01 -1.61982041e-01 2.93783066e+02] [ 7.69081259e-01 6.13905605e-01 1.77859286e-01 1.69793025e+02] [ 2.39798600e-01 -1.92025696e-02 -9.70632728e-01 1.18178660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:169.88, Z:118.26 [[-6.51147120e-01 6.41791173e-01 -4.05106799e-01 2.93979180e+02] [ 7.11886628e-01 7.01525428e-01 -3.28557823e-02 1.69883033e+02] [ 2.63106170e-01 -3.09784061e-01 -9.13678816e-01 1.18256622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.25, Y:170.53, Z:117.26 [[-6.31553355e-01 -7.53757886e-01 1.81629869e-01 2.94254465e+02] [ 7.11212027e-01 -6.56485330e-01 -2.51404979e-01 1.70525115e+02] [ 3.08735830e-01 -2.95983108e-02 9.50687187e-01 1.17260640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:169.76, Z:118.09 [[-6.97130885e-01 7.15355461e-01 -4.76979410e-02 2.93799576e+02] [ 6.68966200e-01 6.72966473e-01 3.15595230e-01 1.69758436e+02] [ 2.57861887e-01 1.88102872e-01 -9.47694337e-01 1.18088965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:169.87, Z:118.23 [[-7.46791243e-01 5.93584892e-01 -2.99933017e-01 2.93980495e+02] [ 6.06538519e-01 7.92866858e-01 5.89336041e-02 1.69874068e+02] [ 2.72789046e-01 -1.37909829e-01 -9.52138128e-01 1.18226412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:169.83, Z:118.16 [[-7.93081526e-01 5.71559313e-01 -2.10574558e-01 2.93978406e+02] [ 5.45350223e-01 8.20266621e-01 1.72498707e-01 1.69827615e+02] [ 2.71320523e-01 2.19686557e-02 -9.62238303e-01 1.18164374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.040385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:294.05, Y:169.83, Z:118.16 [[-8.35678051e-01 5.02482117e-01 -2.21706828e-01 2.94052210e+02] [ 4.79018173e-01 8.64309295e-01 1.53333079e-01 1.69833959e+02] [ 2.68670402e-01 2.19354891e-02 -9.62982372e-01 1.18159090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:169.86, Z:118.16 [[-8.72352820e-01 4.29478105e-01 -2.33557518e-01 2.94102684e+02] [ 4.08418021e-01 9.02807216e-01 1.34661988e-01 1.69860797e+02] [ 2.68691788e-01 2.20836656e-02 -9.62973019e-01 1.18159168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.100385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:294.15, Y:169.89, Z:118.16 [[-9.03120077e-01 3.54060608e-01 -2.42930468e-01 2.94153651e+02] [ 3.35674134e-01 9.34961382e-01 1.14761010e-01 1.69887715e+02] [ 2.67762959e-01 2.20974976e-02 -9.63231384e-01 1.18158608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:169.98, Z:118.22 [[-9.27693630e-01 2.76450367e-01 -2.50917761e-01 2.94013039e+02] [ 2.60884131e-01 9.60782061e-01 9.40069250e-02 1.69979285e+02] [ 2.67065532e-01 2.17491636e-02 -9.63432912e-01 1.18216387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.25, Y:169.97, Z:118.16 [[-9.45813497e-01 1.97574884e-01 -2.57683902e-01 2.94252326e+02] [ 1.84776368e-01 9.80048830e-01 7.32255726e-02 1.69967609e+02] [ 2.67010341e-01 2.16438394e-02 -9.63450581e-01 1.18157958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:170.01, Z:118.16 [[-9.57507344e-01 1.17067160e-01 -2.63581043e-01 2.94295083e+02] [ 1.07030721e-01 9.92885932e-01 5.21723205e-02 1.70006088e+02] [ 2.67813575e-01 2.17441110e-02 -9.63225354e-01 1.18157300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:170.05, Z:118.16 [[-9.63095428e-01 3.55753106e-02 -2.66798790e-01 2.94323775e+02] [ 2.84786740e-02 9.99131336e-01 3.04226528e-02 1.70050426e+02] [ 2.67649326e-01 2.17018420e-02 -9.63271960e-01 1.18160083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:170.10, Z:118.16 [[-9.62235394e-01 -4.63806802e-02 -2.68238474e-01 2.94349784e+02] [-5.05084844e-02 9.98687421e-01 8.50455758e-03 1.70096325e+02] [ 2.67491943e-01 2.17317051e-02 -9.63315002e-01 1.18163406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:170.11, Z:118.27 [[-9.55386549e-01 -1.37380786e-01 -2.61463310e-01 2.94017337e+02] [-1.34947918e-01 9.90475801e-01 -2.73266593e-02 1.70109981e+02] [ 2.62727240e-01 9.17640670e-03 -9.64826508e-01 1.18271378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:170.96, Z:117.24 [[-9.49055825e-01 1.31107399e-01 2.86537764e-01 2.94015978e+02] [-1.26639680e-01 -9.91360608e-01 3.41546071e-02 1.70958247e+02] [ 2.88540174e-01 -3.87242206e-03 9.57459959e-01 1.17237400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.340385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.02, Y:170.96, Z:117.23 [[-9.48937658e-01 1.32151140e-01 2.86449641e-01 2.94016481e+02] [-1.26426595e-01 -9.91229534e-01 3.84750216e-02 1.70955416e+02] [ 2.89021863e-01 2.95544229e-04 9.57322451e-01 1.17234482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37038572299997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:294.02, Y:170.96, Z:117.23 [[-9.48733730e-01 1.32289745e-01 2.87060505e-01 2.94018989e+02] [-1.26512679e-01 -9.91211020e-01 3.86685297e-02 1.70955429e+02] [ 2.89652986e-01 3.69344996e-04 9.57131658e-01 1.17233314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.400385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:293.56, Y:170.90, Z:117.37 [[-9.49680096e-01 1.27914405e-01 2.85911910e-01 2.93562623e+02] [-1.21781446e-01 -9.91782269e-01 3.92072647e-02 1.70895344e+02] [ 2.88577536e-01 2.41559324e-03 9.57453482e-01 1.17367568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.430385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:293.96, Y:170.14, Z:118.30 [[-9.40215511e-01 -2.12576859e-01 -2.66093726e-01 2.93964117e+02] [-2.09590571e-01 9.76974099e-01 -3.99174388e-02 1.70141098e+02] [ 2.68452202e-01 1.82397408e-02 -9.63120308e-01 1.18295745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.97, Y:171.00, Z:117.24 [[-9.35486787e-01 2.13981379e-01 2.81205335e-01 2.93968549e+02] [-2.04755813e-01 -9.76837574e-01 6.21563366e-02 1.70997061e+02] [ 2.87992236e-01 5.68004685e-04 9.57632575e-01 1.17236782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:171.00, Z:117.24 [[-9.34694462e-01 2.16376823e-01 2.82005911e-01 2.93973606e+02] [-2.07268037e-01 -9.76309849e-01 6.21211699e-02 1.70997186e+02] [ 2.88766729e-01 -3.86498208e-04 9.57399408e-01 1.17235501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:170.29, Z:118.16 [[-9.21797755e-01 -2.86481376e-01 -2.61184456e-01 2.94429920e+02] [-2.81606657e-01 9.57850337e-01 -5.67487758e-02 1.70293641e+02] [ 2.66433086e-01 2.12403873e-02 -9.63619353e-01 1.18162552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.46, Y:170.36, Z:118.16 [[-8.96830107e-01 -3.61172560e-01 -2.55441070e-01 2.94459097e+02] [-3.53279491e-01 9.32274871e-01 -7.78278059e-02 1.70355626e+02] [ 2.66250559e-01 2.04437717e-02 -9.63687030e-01 1.18158456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.47, Y:170.42, Z:118.16 [[-8.66104258e-01 -4.41720559e-01 -2.33979407e-01 2.94467412e+02] [-4.26027981e-01 8.97151607e-01 -1.16701131e-01 1.70422488e+02] [ 2.61464290e-01 -1.39357264e-03 -9.65212144e-01 1.18163688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:171.04, Z:117.24 [[-8.54183470e-01 4.49340128e-01 2.61656357e-01 2.93848675e+02] [-4.33498933e-01 -8.93281469e-01 1.18856606e-01 1.71035710e+02] [ 2.87139817e-01 -1.19024036e-02 9.57814731e-01 1.17242795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:171.02, Z:117.25 [[-8.52615103e-01 4.54766452e-01 2.57361535e-01 2.93823826e+02] [-4.36403047e-01 -8.90604953e-01 1.27965611e-01 1.71015785e+02] [ 2.87401925e-01 -3.20794567e-03 9.57804700e-01 1.17247339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:171.03, Z:117.23 [[-8.51467416e-01 4.57071771e-01 2.57077101e-01 2.93864830e+02] [-4.38849149e-01 -8.89420952e-01 1.27835030e-01 1.71034189e+02] [ 2.87079543e-01 -3.97070453e-03 9.57898517e-01 1.17234525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:171.02, Z:117.24 [[-8.50841758e-01 4.58491425e-01 2.56620179e-01 2.93839835e+02] [-4.40433399e-01 -8.88687179e-01 1.27489286e-01 1.71020617e+02] [ 2.86507808e-01 -4.55088925e-03 9.58067099e-01 1.17242443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:170.46, Z:118.19 [[-8.33824451e-01 -5.14462626e-01 -2.00162411e-01 2.94387003e+02] [-4.89708291e-01 8.56713469e-01 -1.61950059e-01 1.70456226e+02] [ 2.54799086e-01 -3.70167270e-02 -9.66285252e-01 1.18192645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:293.82, Y:171.05, Z:117.24 [[-8.08705066e-01 5.26217637e-01 2.62851888e-01 2.93817868e+02] [-5.11355437e-01 -8.49787603e-01 1.27971277e-01 1.71050897e+02] [ 2.90709018e-01 -3.09197223e-02 9.56311789e-01 1.17242421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:170.54, Z:118.15 [[-7.93977957e-01 -5.61168248e-01 -2.33857224e-01 2.94476981e+02] [-5.43695797e-01 8.27545287e-01 -1.39870221e-01 1.70544178e+02] [ 2.72018171e-01 1.60933180e-02 -9.62157534e-01 1.18153978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:170.58, Z:118.19 [[-7.45435218e-01 -6.48044214e-01 -1.56093024e-01 2.94386200e+02] [-6.15595859e-01 7.59098699e-01 -2.11685862e-01 1.70580368e+02] [ 2.55671810e-01 -6.17078776e-02 -9.64792239e-01 1.18194383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.72, Y:171.05, Z:117.25 [[-7.12396848e-01 6.55546349e-01 2.50498932e-01 2.93724691e+02] [-6.35676004e-01 -7.54020368e-01 1.65436703e-01 1.71048984e+02] [ 2.97332724e-01 -4.13795742e-02 9.53876817e-01 1.17245593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:171.03, Z:117.23 [[-7.12890730e-01 6.63423409e-01 2.27279977e-01 2.93731333e+02] [-6.34838822e-01 -7.48212683e-01 1.92762682e-01 1.71029163e+02] [ 2.97937037e-01 -6.86742391e-03 9.54560821e-01 1.17233847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:170.66, Z:118.15 [[-6.95637183e-01 -6.86007970e-01 -2.13265034e-01 2.94448197e+02] [-6.62244064e-01 7.27413487e-01 -1.79728733e-01 1.70657304e+02] [ 2.78427205e-01 1.62075134e-02 -9.60320576e-01 1.18154039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:170.71, Z:118.16 [[-6.39258881e-01 -7.43274753e-01 -1.97207311e-01 2.94428717e+02] [-7.17192718e-01 6.68789149e-01 -1.95846062e-01 1.70709949e+02] [ 2.77457544e-01 1.62393129e-02 -9.60600643e-01 1.18156007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.39, Y:170.75, Z:118.16 [[-5.77219474e-01 -7.96601369e-01 -1.79565969e-01 2.94391486e+02] [-7.68029400e-01 6.04305228e-01 -2.12004793e-01 1.70748577e+02] [ 2.77395963e-01 1.55386483e-02 -9.60630017e-01 1.18164919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:170.77, Z:118.18 [[-5.15711716e-01 -8.42743175e-01 -1.54354680e-01 2.94338783e+02] [-8.10846209e-01 5.38274529e-01 -2.29758476e-01 1.70766870e+02] [ 2.76712580e-01 6.66876905e-03 -9.60929589e-01 1.18181577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.20, Y:170.61, Z:118.25 [[-4.45896606e-01 -8.83373421e-01 -1.44317762e-01 2.94201333e+02] [-8.51448730e-01 4.68337414e-01 -2.35998149e-01 1.70608752e+02] [ 2.76063899e-01 1.76484016e-02 -9.60977241e-01 1.18247959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.06038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.50, Y:170.92, Z:117.26 [[-4.13208478e-01 9.01094548e-01 1.31481444e-01 2.93495676e+02] [-8.62043247e-01 -4.33594995e-01 2.62443937e-01 1.70915964e+02] [ 2.93496497e-01 -4.89863116e-03 9.55947598e-01 1.17261721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.45, Y:170.86, Z:117.30 [[-4.17699222e-01 8.94975427e-01 1.56672732e-01 2.93452779e+02] [-8.55474356e-01 -4.45482959e-01 2.64023786e-01 1.70855142e+02] [ 3.06089833e-01 -2.37469745e-02 9.51706412e-01 1.17304628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:170.49, Z:117.53 [[-4.47180974e-01 -1.07571353e-01 -8.87951339e-01 2.94300591e+02] [-8.66172181e-01 2.99702565e-01 3.99905145e-01 1.70485493e+02] [ 2.23102956e-01 9.47948721e-01 -2.27196598e-01 1.17534385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.46, Y:170.85, Z:117.33 [[-4.10017835e-01 9.04407769e-01 1.18033739e-01 2.93456873e+02] [-8.82862135e-01 -4.26038608e-01 1.97599484e-01 1.70853829e+02] [ 2.28997438e-01 -2.31882060e-02 9.73150801e-01 1.17325806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:170.53, Z:117.43 [[-4.18153844e-01 8.97018025e-01 1.43199253e-01 2.93287780e+02] [-8.72731680e-01 -4.40449306e-01 2.10579733e-01 1.70531361e+02] [ 2.51965828e-01 -3.69198001e-02 9.67031618e-01 1.17432347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:170.22, Z:117.68 [[-4.37153662e-01 -2.16486134e-01 -8.72943543e-01 2.94178741e+02] [-8.87754721e-01 2.59461018e-01 3.80225637e-01 1.70217883e+02] [ 1.44181242e-01 9.41176782e-01 -3.05610921e-01 1.17684099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:170.67, Z:118.44 [[-3.45517412e-01 -8.08984620e-01 4.75564510e-01 2.93777857e+02] [-9.23665351e-01 2.03692486e-01 -3.24579252e-01 1.70669178e+02] [ 1.65710705e-01 -5.51410243e-01 -8.17610363e-01 1.18438937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.270385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.27, Y:170.52, Z:117.44 [[-3.49272334e-01 9.29675106e-01 1.17102667e-01 2.93269002e+02] [-9.10919438e-01 -3.66172847e-01 1.90113712e-01 1.70516741e+02] [ 2.19623802e-01 -4.02696358e-02 9.74753170e-01 1.17437165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.03, Y:170.00, Z:117.67 [[-3.73810807e-01 -1.00747275e-01 -9.22017064e-01 2.94034259e+02] [-9.19592930e-01 1.69825058e-01 3.54271495e-01 1.70004376e+02] [ 1.20889714e-01 9.80310888e-01 -1.56128924e-01 1.17668986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.32, Y:170.61, Z:117.44 [[-3.39305010e-01 9.38711583e-01 6.07673853e-02 2.93318520e+02] [-9.31042055e-01 -3.44350332e-01 1.20762330e-01 1.70606813e+02] [ 1.34286267e-01 -1.56017278e-02 9.90819754e-01 1.17437859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.360385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.31, Y:170.53, Z:117.43 [[-3.34107635e-01 9.41873211e-01 3.53120760e-02 2.93307099e+02] [-9.33741634e-01 -3.35863901e-01 1.23782072e-01 1.70530544e+02] [ 1.28447069e-01 8.38417971e-03 9.91680925e-01 1.17434778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.26, Y:170.45, Z:117.46 [[-3.35768660e-01 9.39891368e-01 6.21580544e-02 2.93264654e+02] [-9.31739325e-01 -3.41094311e-01 1.24565251e-01 1.70453398e+02] [ 1.38279563e-01 -1.60899963e-02 9.90262528e-01 1.17461128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.01, Y:170.24, Z:117.53 [[-3.71199253e-01 1.98306543e-01 -9.07130437e-01 2.94007651e+02] [-9.25585721e-01 -9.80669605e-04 3.78536803e-01 1.70242335e+02] [ 7.41767297e-02 9.80139558e-01 1.83913729e-01 1.17526841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:170.50, Z:117.49 [[-3.45709082e-01 9.37845192e-01 3.05225635e-02 2.93296873e+02] [-9.35654581e-01 -3.46996617e-01 6.43727735e-02 1.70501305e+02] [ 7.09629223e-02 -6.30432393e-03 9.97459031e-01 1.17486670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.22, Y:170.29, Z:117.50 [[-3.45701515e-01 9.38013466e-01 2.49238696e-02 2.93219243e+02] [-9.35738533e-01 -3.46598001e-01 6.52933626e-02 1.70292337e+02] [ 6.98846168e-02 -7.50210831e-04 9.97554799e-01 1.17496296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.93, Y:170.07, Z:117.56 [[-3.87542667e-01 2.10663889e-01 -8.97458304e-01 2.93930755e+02] [-9.21743302e-01 -7.36179698e-02 3.80748841e-01 1.70068772e+02] [ 1.41409733e-02 9.74782602e-01 2.22708133e-01 1.17560863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.540385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:293.27, Y:170.41, Z:117.53 [[-3.60100868e-01 9.32826020e-01 1.27664264e-02 2.93272364e+02] [-9.32845214e-01 -3.60206260e-01 7.15941950e-03 1.70409526e+02] [ 1.12770395e-02 -9.33098659e-03 9.99892875e-01 1.17532395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.90, Y:169.79, Z:117.67 [[-3.99641934e-01 -3.64564130e-03 -9.16664079e-01 2.93901848e+02] [-9.14665132e-01 -6.45372654e-02 3.99027114e-01 1.69794195e+02] [-6.06137027e-02 9.97908638e-01 2.24572566e-02 1.17665605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:169.99, Z:118.57 [[-3.30727885e-01 -9.06718205e-01 2.61689058e-01 2.93666535e+02] [-9.40122500e-01 3.40754760e-01 -7.47521402e-03 1.69989036e+02] [-8.23938795e-02 -2.48492033e-01 -9.65123287e-01 1.18567757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:170.18, Z:117.54 [[-2.97912558e-01 9.54502543e-01 -1.31530960e-02 2.93154013e+02] [-9.53543786e-01 -2.98202710e-01 -4.27713864e-02 1.70176119e+02] [-4.47476859e-02 -2.00080199e-04 9.98998301e-01 1.17538323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:170.17, Z:117.54 [[-2.98385179e-01 9.54341455e-01 -1.40951542e-02 2.93153243e+02] [-9.53396756e-01 -2.98716918e-01 -4.24597276e-02 1.70172158e+02] [-4.47315393e-02 7.68920836e-04 9.98998748e-01 1.17537736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.18, Y:170.22, Z:117.53 [[-2.95216795e-01 9.54822054e-01 -3.40864957e-02 2.93182519e+02] [-9.53930809e-01 -2.96563846e-01 -4.54521322e-02 1.70216671e+02] [-5.35075205e-02 1.90979256e-02 9.98384803e-01 1.17528526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.720385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:293.15, Y:170.19, Z:117.54 [[-3.04159530e-01 9.52616621e-01 2.92473088e-03 2.93152976e+02] [-9.51575669e-01 -3.03680504e-01 -4.77692128e-02 1.70191771e+02] [-4.46175623e-02 -1.73125640e-02 9.98854118e-01 1.17544521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.16, Y:170.18, Z:117.54 [[-3.07387466e-01 9.51475405e-01 -1.44048134e-02 2.93158588e+02] [-9.50518621e-01 -3.07724258e-01 -4.26630129e-02 1.70175320e+02] [-4.50255180e-02 5.77967923e-04 9.98985670e-01 1.17537475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.16, Y:170.17, Z:117.54 [[-3.08895689e-01 9.50983367e-01 -1.46318153e-02 2.93157985e+02] [-9.50004888e-01 -3.09241498e-01 -4.31324638e-02 1.70171691e+02] [-4.55430201e-02 5.76863975e-04 9.98962212e-01 1.17537605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:170.18, Z:117.53 [[-3.04675749e-01 9.52268942e-01 -1.88825226e-02 2.93167229e+02] [-9.51132815e-01 -3.05237337e-01 -4.66533644e-02 1.70181515e+02] [-5.01902009e-02 3.74563813e-03 9.98732654e-01 1.17534305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:170.16, Z:117.54 [[-3.11421448e-01 9.50198596e-01 -1.18029564e-02 2.93154201e+02] [-9.49129140e-01 -3.11631900e-01 -4.51601078e-02 1.70161639e+02] [-4.65892488e-02 -2.86129633e-03 9.98910033e-01 1.17538465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:170.13, Z:117.53 [[-3.12156803e-01 9.49866439e-01 -1.76600700e-02 2.93145321e+02] [-9.48899989e-01 -3.12638065e-01 -4.29680300e-02 1.70125338e+02] [-4.63350998e-02 3.34487736e-03 9.98920352e-01 1.17534303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.07, Y:170.01, Z:118.44 [[-2.92663697e-01 -2.83319067e-01 9.13278855e-01 2.93065531e+02] [-9.56133088e-01 9.92408843e-02 -2.75609808e-01 1.70010676e+02] [-1.25490876e-02 -9.53877116e-01 -2.99934939e-01 1.18435254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.08, Y:169.97, Z:117.50 [[-2.96368724e-01 9.55057594e-01 5.52915912e-03 2.93081660e+02] [-9.54903323e-01 -2.96420234e-01 1.71665086e-02 1.69970584e+02] [ 1.80339590e-02 -1.92196185e-04 9.99837357e-01 1.17499013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.960385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:293.06, Y:169.91, Z:117.50 [[-3.03543450e-01 9.52800631e-01 5.68615657e-03 2.93064026e+02] [-9.52644866e-01 -3.03596646e-01 1.72289271e-02 1.69914030e+02] [ 1.81420307e-02 -1.87159890e-04 9.99835402e-01 1.17499359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.990385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:293.06, Y:169.91, Z:117.50 [[-3.03778847e-01 9.52725079e-01 5.77384014e-03 2.93062025e+02] [-9.52566080e-01 -3.03833638e-01 1.74064387e-02 1.69909088e+02] [ 1.83378376e-02 -2.12256383e-04 9.99831825e-01 1.17499432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:169.91, Z:117.50 [[-3.03900580e-01 9.52687278e-01 5.60249897e-03 2.93061060e+02] [-9.52537980e-01 -3.03952144e-01 1.68668511e-02 1.69905532e+02] [ 1.77717261e-02 -2.10747218e-04 9.99842048e-01 1.17499118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:169.90, Z:117.50 [[-3.03988981e-01 9.52660104e-01 5.42446527e-03 2.93060374e+02] [-9.52520635e-01 -3.04037302e-01 1.63021316e-02 1.69903199e+02] [ 1.71796301e-02 -2.11246733e-04 9.99852397e-01 1.17498222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.06, Y:169.89, Z:117.50 [[-3.04882922e-01 9.52375322e-01 5.25831642e-03 2.93056013e+02] [-9.52245198e-01 -3.04928194e-01 1.57442008e-02 1.69891218e+02] [ 1.65977972e-02 -2.07068621e-04 9.99862226e-01 1.17498046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.05, Y:169.89, Z:117.50 [[-3.04398507e-01 9.52531019e-01 5.11928662e-03 2.93053750e+02] [-9.52408151e-01 -3.04441473e-01 1.53004562e-02 1.69889051e+02] [ 1.61326823e-02 -2.18214289e-04 9.99869836e-01 1.17497974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.05, Y:169.88, Z:117.50 [[-3.04511733e-01 9.52494919e-01 5.10234029e-03 2.93050789e+02] [-9.52373321e-01 -3.04554394e-01 1.52210092e-02 1.69883440e+02] [ 1.60518741e-02 -2.24356876e-04 9.99871135e-01 1.17498061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:169.84, Z:117.50 [[-3.04565301e-01 9.52487786e-01 2.64470049e-03 2.93037516e+02] [-9.52362639e-01 -3.04568600e-01 1.56003662e-02 1.69842467e+02] [ 1.56646510e-02 2.23261628e-03 9.99874809e-01 1.17496893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.86, Y:169.83, Z:118.25 [[-3.08054907e-01 3.86868597e-02 9.50581665e-01 2.92860092e+02] [-9.49692986e-01 -7.17801861e-02 -3.04845596e-01 1.69828551e+02] [ 5.64394100e-02 -9.96669921e-01 5.88528778e-02 1.18252707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:169.45, Z:118.44 [[-2.73291652e-01 -9.61926421e-01 3.03860411e-03 2.93572682e+02] [-9.60421089e-01 2.72684317e-01 -5.68735044e-02 1.69453881e+02] [ 5.38795469e-02 -1.84613934e-02 -9.98376768e-01 1.18440372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:169.49, Z:118.49 [[-2.19222467e-01 -5.92377959e-01 7.75261159e-01 2.93020813e+02] [-9.70031849e-01 4.69941866e-02 -2.38389931e-01 1.69487351e+02] [ 1.04784173e-01 -8.04288444e-01 -5.84927668e-01 1.18494797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:169.43, Z:118.50 [[-1.68162468e-01 -6.99960554e-01 6.94101295e-01 2.93064843e+02] [-9.73210492e-01 5.89313288e-03 -2.29840398e-01 1.69431876e+02] [ 1.56788781e-01 -7.14157191e-01 -6.82199959e-01 1.18499040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:169.26, Z:117.46 [[-1.47377266e-01 9.88340586e-01 3.82469399e-02 2.92801283e+02] [-9.70276851e-01 -1.51971622e-01 1.88328061e-01 1.69263381e+02] [ 1.91944716e-01 -9.35484552e-03 9.81361153e-01 1.17460586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:169.29, Z:117.45 [[-1.47141888e-01 9.88562200e-01 3.30763063e-02 2.92807915e+02] [-9.70238783e-01 -1.50754978e-01 1.89498391e-01 1.69291702e+02] [ 1.92317364e-01 -4.20876410e-03 9.81323758e-01 1.17453132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.80, Y:169.28, Z:117.46 [[-1.50928941e-01 9.87695923e-01 4.09538548e-02 2.92798398e+02] [-9.68543424e-01 -1.56039789e-01 1.93843286e-01 1.69278087e+02] [ 1.97848655e-01 -1.04090248e-02 9.80177312e-01 1.17462184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:169.26, Z:117.47 [[-1.53456625e-01 9.87395247e-01 3.87516501e-02 2.92794277e+02] [-9.67687309e-01 -1.58102864e-01 1.96430030e-01 1.69258152e+02] [ 2.00080824e-01 -7.35599056e-03 9.79751781e-01 1.17466700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.58, Y:169.06, Z:117.60 [[-1.87056731e-01 1.03472652e-01 -9.76884430e-01 2.93578485e+02] [-9.74427257e-01 1.06492122e-01 1.97865985e-01 1.69064614e+02] [ 1.24504214e-01 9.88914980e-01 8.09065047e-02 1.17596202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.470385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:292.78, Y:169.20, Z:117.50 [[-1.61706123e-01 9.86600527e-01 2.16916827e-02 2.92784255e+02] [-9.79232641e-01 -1.63144840e-01 1.20362767e-01 1.69195650e+02] [ 1.22288855e-01 -1.77780730e-03 9.92492960e-01 1.17500785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.78, Y:169.20, Z:117.50 [[-1.60575140e-01 9.86785022e-01 2.17012531e-02 2.92781397e+02] [-9.79443158e-01 -1.62023084e-01 1.20164970e-01 1.69196373e+02] [ 1.22093097e-01 -1.95963701e-03 9.92516718e-01 1.17500868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:169.19, Z:117.50 [[-1.60098597e-01 9.86862424e-01 2.17024374e-02 2.92779672e+02] [-9.79551612e-01 -1.61549724e-01 1.19917995e-01 1.69192526e+02] [ 1.21848586e-01 -2.05995477e-03 9.92546562e-01 1.17501042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.56038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.78, Y:169.18, Z:117.50 [[-1.59367298e-01 9.86981647e-01 2.16631608e-02 2.92777096e+02] [-9.79732227e-01 -1.60817987e-01 1.19425031e-01 1.69182022e+02] [ 1.21354140e-01 -2.19165220e-03 9.92606855e-01 1.17501407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.590385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:292.78, Y:169.19, Z:117.50 [[-1.57706563e-01 9.87249501e-01 2.16116539e-02 2.92775449e+02] [-9.80071214e-01 -1.59161837e-01 1.18860952e-01 1.69186436e+02] [ 1.20785166e-01 -2.43580774e-03 9.92675683e-01 1.17500948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:169.19, Z:117.50 [[-1.56998135e-01 9.87361654e-01 2.16460192e-02 2.92773530e+02] [-9.80229211e-01 -1.58461752e-01 1.18492904e-01 1.69185156e+02] [ 1.20425415e-01 -2.61489542e-03 9.92718934e-01 1.17501621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.73, Y:168.94, Z:117.53 [[-1.57004106e-01 9.87420290e-01 1.87318554e-02 2.92726952e+02] [-9.80327188e-01 -1.58117479e-01 1.18141729e-01 1.68938081e+02] [ 1.19617374e-01 1.85389493e-04 9.92820049e-01 1.17528209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.81, Y:169.17, Z:118.48 [[-1.51824756e-01 -4.02542580e-01 9.02722945e-01 2.92807979e+02] [-9.77379197e-01 -7.49087560e-02 -1.97784185e-01 1.69166473e+02] [ 1.47238409e-01 -9.12331162e-01 -3.82063739e-01 1.18480362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.72, Y:168.99, Z:117.49 [[-1.32011101e-01 9.90852022e-01 2.80239260e-02 2.92723269e+02] [-9.74486383e-01 -1.34904052e-01 1.79380003e-01 1.68992961e+02] [ 1.81519580e-01 -3.62878245e-03 9.83380635e-01 1.17489514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.67, Y:168.67, Z:117.55 [[-1.33655540e-01 9.90671544e-01 2.65723385e-02 2.92672516e+02] [-9.74268087e-01 -1.36258261e-01 1.79542144e-01 1.68671058e+02] [ 1.81487993e-01 -1.89177925e-03 9.83391341e-01 1.17545279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:168.97, Z:117.49 [[-1.37253806e-01 9.90088404e-01 2.97715559e-02 2.92717717e+02] [-9.73655172e-01 -1.40378979e-01 1.79692369e-01 1.68966196e+02] [ 1.82090632e-01 -4.32376791e-03 9.83272245e-01 1.17494824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:168.97, Z:117.49 [[-1.39848537e-01 9.89757171e-01 2.86902171e-02 2.92717349e+02] [-9.73338591e-01 -1.42733378e-01 1.79552693e-01 1.68969317e+02] [ 1.81808617e-01 -2.81511400e-03 9.83329905e-01 1.17493504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:168.96, Z:117.50 [[-1.41534254e-01 9.89519538e-01 2.86205914e-02 2.92714667e+02] [-9.73254226e-01 -1.44376282e-01 1.78694432e-01 1.68961744e+02] [ 1.80953767e-01 -2.56372833e-03 9.83488262e-01 1.17495939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:168.96, Z:117.50 [[-1.42745894e-01 9.89344752e-01 2.86456319e-02 2.92714361e+02] [-9.73127245e-01 -1.45571856e-01 1.78415805e-01 1.68961465e+02] [ 1.80684738e-01 -2.40772137e-03 9.83538117e-01 1.17496143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:168.96, Z:117.50 [[-1.43383649e-01 9.89251047e-01 2.86966211e-02 2.92713543e+02] [-9.73097870e-01 -1.46207504e-01 1.78055894e-01 1.68955649e+02] [ 1.80337641e-01 -2.39431704e-03 9.83601852e-01 1.17496938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:168.94, Z:117.50 [[-1.45121663e-01 9.88881432e-01 3.24533119e-02 2.92708152e+02] [-9.72462942e-01 -1.48604192e-01 1.79534454e-01 1.68942020e+02] [ 1.82360986e-01 -5.50530472e-03 9.83216234e-01 1.17501260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.66, Y:168.78, Z:117.98 [[-1.37091308e-01 -5.40481168e-01 -8.30112089e-01 2.93657244e+02] [-9.83453302e-01 1.74457866e-01 4.88267894e-02 1.68783344e+02] [ 1.18429623e-01 8.23070204e-01 -5.55454646e-01 1.17982695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:168.87, Z:118.53 [[-8.75779636e-02 -3.98539926e-01 9.12960036e-01 2.92738527e+02] [-9.82417223e-01 -1.17140696e-01 -1.45376948e-01 1.68873361e+02] [ 1.64883292e-01 -9.09639481e-01 -3.81273544e-01 1.18528813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:168.70, Z:117.54 [[-8.68681252e-02 9.95925787e-01 2.42024038e-02 2.92645488e+02] [-9.77689975e-01 -8.98910858e-02 1.89847059e-01 1.68698151e+02] [ 1.91249162e-01 -7.17078946e-03 9.81515327e-01 1.17536420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.040385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.61, Y:168.59, Z:118.00 [[-7.08746093e-02 -5.31997855e-01 -8.43774302e-01 2.93608804e+02] [-9.89367403e-01 1.45192681e-01 -8.43965803e-03 1.68592457e+02] [ 1.26999733e-01 8.34204632e-01 -5.36631811e-01 1.18002507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.070385723 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:293.35, Y:168.18, Z:118.59 [[ 9.40311105e-03 -9.99288313e-01 -3.65301115e-02 2.93351151e+02] [-9.93091567e-01 -5.05922121e-03 -1.17232866e-01 1.68176516e+02] [ 1.16964619e-01 3.73800994e-02 -9.92432369e-01 1.18589479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:168.01, Z:117.63 [[ 2.75163761e-02 9.99368969e-01 -2.24613791e-02 2.92598690e+02] [-9.90844026e-01 3.02390228e-02 1.31581598e-01 1.68012475e+02] [ 1.32177776e-01 1.86350746e-02 9.91050841e-01 1.17634255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.130385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.59, Y:167.99, Z:117.65 [[ 2.67693119e-02 9.99638154e-01 -2.63912721e-03 2.92588039e+02] [-9.90764976e-01 2.68825608e-02 1.32898796e-01 1.67985523e+02] [ 1.32921653e-01 -9.42854505e-04 9.91126100e-01 1.17645191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.33, Y:168.12, Z:118.61 [[ 9.12691724e-02 -9.95789192e-01 -8.59209658e-03 2.93325714e+02] [-9.89311809e-01 -8.96834420e-02 -1.14974017e-01 1.68119869e+02] [ 1.13719315e-01 1.89938460e-02 -9.93331340e-01 1.18605271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.58, Y:167.90, Z:117.65 [[ 1.04450366e-01 9.94264590e-01 -2.29792383e-02 2.92584204e+02] [-9.85782642e-01 1.06561815e-01 1.29912136e-01 1.67896265e+02] [ 1.31615746e-01 9.08316409e-03 9.91259195e-01 1.17647679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.29, Y:168.09, Z:118.63 [[ 1.67461813e-01 -9.84488235e-01 5.23398147e-02 2.93286595e+02] [-9.79150727e-01 -1.72276135e-01 -1.07632648e-01 1.68086335e+02] [ 1.14979977e-01 -3.32242093e-02 -9.92812045e-01 1.18631321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:167.80, Z:117.66 [[ 1.82452794e-01 9.82607161e-01 -3.45564171e-02 2.92587410e+02] [-9.74158768e-01 1.85419831e-01 1.28973564e-01 1.67801841e+02] [ 1.33137793e-01 1.01318495e-02 9.91045748e-01 1.17656318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:168.04, Z:118.64 [[ 2.39947957e-01 -9.68936831e-01 5.98865186e-02 2.93274862e+02] [-9.63558517e-01 -2.45221395e-01 -1.06871197e-01 1.68042960e+02] [ 1.18236895e-01 -3.20606396e-02 -9.92467708e-01 1.18637864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.32, Y:168.05, Z:118.59 [[ 3.13084304e-01 -9.47381208e-01 -6.66863247e-02 2.93321151e+02] [-9.42956779e-01 -3.01717627e-01 -1.40708870e-01 1.68045759e+02] [ 1.13184499e-01 1.06936061e-01 -9.87802586e-01 1.18587254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.29, Y:168.03, Z:118.60 [[ 3.85195126e-01 -9.22154188e-01 -3.54452801e-02 2.93292248e+02] [-9.16335055e-01 -3.77648996e-01 -1.33083820e-01 1.68033101e+02] [ 1.09337927e-01 8.37429913e-02 -9.90470761e-01 1.18602263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.31, Y:168.03, Z:118.58 [[ 4.53659256e-01 -8.85812263e-01 -9.76212780e-02 2.93305451e+02] [-8.85118616e-01 -4.35115177e-01 -1.65044898e-01 1.68032217e+02] [ 1.03722295e-01 1.61280556e-01 -9.81442952e-01 1.18580089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:168.05, Z:118.48 [[ 5.18028557e-01 -8.07704995e-01 -2.81529848e-01 2.93370193e+02] [-8.51374896e-01 -4.55137275e-01 -2.60788895e-01 1.68049158e+02] [ 8.25057651e-02 3.74783540e-01 -9.23433862e-01 1.18479176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:167.49, Z:117.66 [[ 5.42736991e-01 8.35374011e-01 -8.71023574e-02 2.92665781e+02] [-8.36411763e-01 5.47012358e-01 3.45375759e-02 1.67489811e+02] [ 7.64978592e-02 5.41086163e-02 9.95600490e-01 1.17662106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:167.44, Z:117.71 [[ 5.40534793e-01 8.41155842e-01 -1.67029195e-02 2.92643555e+02] [-8.37391870e-01 5.39820574e-01 8.58405780e-02 1.67443688e+02] [ 8.12218832e-02 -3.24129301e-02 9.96168865e-01 1.17708734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:167.42, Z:117.68 [[ 5.39786076e-01 8.39547675e-01 -6.15686103e-02 2.92685578e+02] [-8.38209073e-01 5.42792998e-01 5.27381380e-02 1.67423918e+02] [ 7.76951918e-02 2.31400552e-02 9.96708581e-01 1.17680981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:167.39, Z:117.69 [[ 5.39817283e-01 8.40806002e-01 -4.05285991e-02 2.92692560e+02] [-8.38180151e-01 5.41333266e-01 6.64253690e-02 1.67389461e+02] [ 7.77903279e-02 -1.88729490e-03 9.96967955e-01 1.17693272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:167.81, Z:118.73 [[ 5.82684232e-01 -7.87932552e-01 1.99101429e-01 2.93223457e+02] [-8.08876437e-01 -5.86003022e-01 4.81598165e-02 1.67807849e+02] [ 7.87273522e-02 -1.89110420e-01 -9.78794796e-01 1.18732447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.78, Y:167.33, Z:117.67 [[ 6.00392595e-01 7.93415324e-01 -1.00104227e-01 2.92783257e+02] [-7.94946222e-01 6.05761414e-01 3.33708541e-02 1.67330204e+02] [ 8.71162249e-02 5.95418630e-02 9.94417181e-01 1.17673592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:167.30, Z:118.63 [[ 5.96461598e-01 -9.46602296e-04 8.02641057e-01 2.92686545e+02] [-7.90865145e-01 -1.71365231e-01 5.87508537e-01 1.67304877e+02] [ 1.36988633e-01 -9.85207116e-01 -1.02961414e-01 1.18629144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:167.85, Z:118.62 [[ 6.45549266e-01 -7.63428805e-01 -2.10381983e-02 2.93406376e+02] [-7.51897334e-01 -6.30487860e-01 -1.92705625e-01 1.67845249e+02] [ 1.33852696e-01 1.40219540e-01 -9.81031058e-01 1.18618991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.670385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:293.38, Y:167.83, Z:118.67 [[ 7.01771215e-01 -7.09974622e-01 5.87639210e-02 2.93378100e+02] [-7.00083036e-01 -7.02559284e-01 -1.27648719e-01 1.67829067e+02] [ 1.31912489e-01 4.84405723e-02 -9.90077071e-01 1.18668515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:167.91, Z:118.52 [[ 7.52762590e-01 -6.42440275e-01 -1.43593090e-01 2.93476002e+02] [-6.48505335e-01 -6.86241020e-01 -3.29414774e-01 1.67905746e+02] [ 1.13089849e-01 3.41092004e-01 -9.33202513e-01 1.18522113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:167.80, Z:118.68 [[ 8.02112310e-01 -5.91322666e-01 8.33867301e-02 2.93365999e+02] [-5.87165417e-01 -8.06400150e-01 -7.03958201e-02 1.67801263e+02] [ 1.08869716e-01 7.50354984e-03 -9.94027707e-01 1.18683027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.760385723 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:293.38, Y:167.82, Z:118.69 [[ 8.45452469e-01 -5.27140610e-01 8.56323575e-02 2.93380330e+02] [-5.22201265e-01 -8.49586793e-01 -7.42167088e-02 1.67816683e+02] [ 1.11874761e-01 1.80293743e-02 -9.93558745e-01 1.18687256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:167.85, Z:118.66 [[ 8.84062228e-01 -4.64064023e-01 5.54847695e-02 2.93402721e+02] [-4.55497955e-01 -8.82100843e-01 -1.20082121e-01 1.67850228e+02] [ 1.04668954e-01 8.08868688e-02 -9.91212250e-01 1.18657607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:167.81, Z:118.69 [[ 9.17314596e-01 -3.87759199e-01 9.04253022e-02 2.93379570e+02] [-3.84455337e-01 -9.21667573e-01 -5.21821615e-02 1.67806180e+02] [ 1.03576182e-01 1.31029684e-02 -9.94535211e-01 1.18692761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.850385723 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:293.39, Y:167.83, Z:118.68 [[ 9.45765300e-01 -3.15186509e-01 7.86477054e-02 2.93387081e+02] [-3.09381328e-01 -9.47752394e-01 -7.77727007e-02 1.67831042e+02] [ 9.90514571e-02 4.92225901e-02 -9.93864148e-01 1.18677768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.39, Y:167.85, Z:118.68 [[ 9.68673830e-01 -2.35547689e-01 7.86657279e-02 2.93390434e+02] [-2.29106363e-01 -9.69865993e-01 -8.28868498e-02 1.67851774e+02] [ 9.58190202e-02 6.22675034e-02 -9.93449281e-01 1.18675954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.910385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.38, Y:167.81, Z:118.70 [[ 9.84075401e-01 -1.51519061e-01 9.29385768e-02 2.93377379e+02] [-1.50152320e-01 -9.88427610e-01 -2.15671288e-02 1.67811678e+02] [ 9.51308864e-02 7.26873797e-03 -9.95438235e-01 1.18701602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.940385723 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:293.38, Y:167.83, Z:118.71 [[ 9.92692552e-01 -7.11673206e-02 9.74510620e-02 2.93376962e+02] [-7.16422486e-02 -9.97429440e-01 1.37859799e-03 1.67825835e+02] [ 9.71024470e-02 -8.35013717e-03 -9.95239363e-01 1.18711798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.37, Y:167.80, Z:118.75 [[ 9.94669681e-01 1.88225208e-02 1.01380166e-01 2.93371058e+02] [ 7.24169103e-03 -9.93521914e-01 1.13409722e-01 1.67801884e+02] [ 1.02858073e-01 -1.12071048e-01 -9.88362432e-01 1.18754077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.000385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.37, Y:167.84, Z:118.74 [[ 9.90189475e-01 9.47697581e-02 1.02681534e-01 2.93371532e+02] [ 8.77971978e-02 -9.93645562e-01 7.04283253e-02 1.67836955e+02] [ 1.08703525e-01 -6.07222355e-02 -9.92217896e-01 1.18740806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.37, Y:167.81, Z:118.76 [[ 9.79254182e-01 1.78227357e-01 9.64171017e-02 2.93370721e+02] [ 1.66267839e-01 -9.78697969e-01 1.20437917e-01 1.67812234e+02] [ 1.15828553e-01 -1.01908271e-01 -9.88027556e-01 1.18761041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:167.85, Z:118.72 [[ 9.62998610e-01 2.43748514e-01 1.14979735e-01 2.93367240e+02] [ 2.44103627e-01 -9.69684482e-01 1.11993462e-02 1.67850658e+02] [ 1.14223889e-01 1.72820155e-02 -9.93304704e-01 1.18718193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:167.84, Z:118.72 [[ 9.40847781e-01 3.20133670e-01 1.10994983e-01 2.93367161e+02] [ 3.19104506e-01 -9.47323345e-01 2.74006321e-02 1.67835254e+02] [ 1.13920003e-01 9.63917528e-03 -9.93443164e-01 1.18724121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:167.83, Z:118.73 [[ 9.13910777e-01 3.91225720e-01 1.08210568e-01 2.93368405e+02] [ 3.89692387e-01 -9.20246762e-01 3.58572192e-02 1.67828340e+02] [ 1.13608691e-01 9.39853539e-03 -9.93481119e-01 1.18727297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:167.82, Z:118.73 [[ 8.79150084e-01 4.65009286e-01 1.04218491e-01 2.93368588e+02] [ 4.62760661e-01 -8.85273771e-01 4.62916925e-02 1.67819635e+02] [ 1.13787963e-01 7.53087235e-03 -9.93476515e-01 1.18731211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:167.81, Z:118.74 [[ 8.41592997e-01 5.31270277e-01 9.73299554e-02 2.93373672e+02] [ 5.27949177e-01 -8.47201143e-01 5.93286572e-02 1.67807491e+02] [ 1.13977602e-01 1.45468744e-03 -9.93482255e-01 1.18737118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:167.78, Z:118.76 [[ 7.95604744e-01 6.02352524e-01 6.46879244e-02 2.93387277e+02] [ 5.94578284e-01 -7.96853448e-01 1.07243861e-01 1.67775507e+02] [ 1.16145406e-01 -4.68616897e-02 -9.92126114e-01 1.18758727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:167.79, Z:118.74 [[ 7.47690551e-01 6.57401125e-01 9.37155348e-02 2.93375226e+02] [ 6.53817349e-01 -7.53480600e-01 6.92088088e-02 1.67788963e+02] [ 1.16110786e-01 9.52607018e-03 -9.93190586e-01 1.18740599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:167.78, Z:118.75 [[ 6.98029665e-01 7.10978345e-01 8.52313316e-02 2.93381581e+02] [ 7.06646347e-01 -7.03193189e-01 7.85511274e-02 1.67782784e+02] [ 1.15782242e-01 5.39739198e-03 -9.93259956e-01 1.18745890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.39, Y:167.77, Z:118.76 [[ 6.39807232e-01 7.65868347e-01 6.39717152e-02 2.93389860e+02] [ 7.59554107e-01 -6.42824199e-01 9.92703738e-02 1.67769239e+02] [ 1.17150604e-01 -1.49239241e-02 -9.93002020e-01 1.18756770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:167.77, Z:118.74 [[ 5.77834667e-01 8.11290923e-01 8.89614283e-02 2.93378645e+02] [ 8.07843537e-01 -5.84058369e-01 7.91494874e-02 1.67774822e+02] [ 1.16171927e-01 2.61315972e-02 -9.92885302e-01 1.18743104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:167.76, Z:118.75 [[ 5.14011381e-01 8.55173040e-01 6.68683180e-02 2.93395279e+02] [ 8.50065433e-01 -5.18270179e-01 9.37271618e-02 1.67756888e+02] [ 1.14808797e-01 8.66561789e-03 -9.93349811e-01 1.18754483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.41, Y:167.75, Z:118.76 [[ 4.45804332e-01 8.93199950e-01 5.87566818e-02 2.93406027e+02] [ 8.87876131e-01 -4.49577660e-01 9.77543018e-02 1.67745061e+02] [ 1.13729829e-01 8.58936409e-03 -9.93474584e-01 1.18758111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:167.73, Z:118.76 [[ 3.75455242e-01 9.25464964e-01 5.04773373e-02 2.93420690e+02] [ 9.19953987e-01 -3.78739158e-01 1.01199371e-01 1.67733068e+02] [ 1.12774216e-01 8.44099342e-03 -9.93584785e-01 1.18761835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.43, Y:167.72, Z:118.77 [[ 3.02011785e-01 9.52366473e-01 4.22727179e-02 2.93434686e+02] [ 9.46623144e-01 -3.04840886e-01 1.04769547e-01 1.67722031e+02] [ 1.12665456e-01 8.37469529e-03 -9.93597685e-01 1.18765317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:167.71, Z:118.77 [[ 2.27509272e-01 9.73187063e-01 3.38595828e-02 2.93449491e+02] [ 9.67228088e-01 -2.29868362e-01 1.07844160e-01 1.67712746e+02] [ 1.12735788e-01 8.21439318e-03 -9.93591046e-01 1.18767879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:167.70, Z:118.78 [[ 1.52242334e-01 9.88336069e-01 3.75309532e-03 2.93480515e+02] [ 9.81876029e-01 -1.51678753e-01 1.13635472e-01 1.67699845e+02] [ 1.12879301e-01 -1.36150552e-02 -9.93515422e-01 1.18777504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:167.68, Z:118.82 [[ 7.40562429e-02 9.91821056e-01 -1.03955111e-01 2.93546321e+02] [ 9.89907595e-01 -6.04805906e-02 1.28160261e-01 1.67683476e+02] [ 1.20824779e-01 -1.12397021e-01 -9.86290162e-01 1.18816800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.50, Y:167.69, Z:118.78 [[-3.14805728e-03 9.99961618e-01 8.17629581e-03 2.93502309e+02] [ 9.92589086e-01 2.13138533e-03 1.21500470e-01 1.67687161e+02] [ 1.21478379e-01 8.49819242e-03 -9.92557698e-01 1.18776644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.600385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:293.55, Y:167.71, Z:118.79 [[-7.87239079e-02 9.96715410e-01 -1.89983542e-02 2.93553768e+02] [ 9.89677184e-01 8.04289802e-02 1.18618090e-01 1.67706191e+02] [ 1.19756497e-01 -9.46415807e-03 -9.92758184e-01 1.18787073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:167.78, Z:118.83 [[-1.58952002e-01 9.80291902e-01 -1.17311756e-01 2.93627409e+02] [ 9.79412265e-01 1.71544122e-01 1.06415368e-01 1.67783917e+02] [ 1.24442265e-01 -9.79816371e-02 -9.87377193e-01 1.18828500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:167.62, Z:118.81 [[-2.30553346e-01 9.64595112e-01 -1.28068049e-01 2.93708814e+02] [ 9.63056819e-01 2.45021395e-01 1.11741129e-01 1.67618835e+02] [ 1.39164359e-01 -9.75745163e-02 -9.85450402e-01 1.18809363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:167.59, Z:118.75 [[-3.05925521e-01 9.52040344e-01 5.36271548e-03 2.93687652e+02] [ 9.41896635e-01 3.01835707e-01 1.47397201e-01 1.67585392e+02] [ 1.38709423e-01 5.01436894e-02 -9.89062842e-01 1.18754871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.720385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.74, Y:167.57, Z:118.75 [[-3.85813084e-01 9.22575916e-01 1.39413648e-03 2.93735875e+02] [ 9.13294192e-01 3.81716851e-01 1.42077320e-01 1.67566213e+02] [ 1.30544948e-01 5.60885455e-02 -9.89854581e-01 1.18751828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:167.58, Z:118.77 [[-4.57978695e-01 8.88042311e-01 -4.04520522e-02 2.93793027e+02] [ 8.79631276e-01 4.59277788e-01 1.23744622e-01 1.67583894e+02] [ 1.28469189e-01 2.10895102e-02 -9.91489233e-01 1.18769153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:167.56, Z:118.75 [[-5.26856312e-01 8.49942703e-01 4.45295960e-03 2.93824527e+02] [ 8.40782659e-01 5.20396371e-01 1.49238527e-01 1.67559499e+02] [ 1.24526893e-01 8.23712312e-02 -9.88791198e-01 1.18746063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:167.56, Z:118.77 [[-5.92231592e-01 8.03037850e-01 -6.62718138e-02 2.93916876e+02] [ 7.96253113e-01 5.95857624e-01 1.04568982e-01 1.67561462e+02] [ 1.23461416e-01 9.15991661e-03 -9.92307097e-01 1.18774255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.98, Y:167.56, Z:118.77 [[-6.53166824e-01 7.53587208e-01 -7.40231062e-02 2.93976523e+02] [ 7.47161820e-01 6.57284844e-01 9.86197172e-02 1.67558754e+02] [ 1.22972823e-01 9.10788870e-03 -9.92368244e-01 1.18774519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:167.57, Z:118.77 [[-7.10282980e-01 6.99229002e-01 -8.10980294e-02 2.94025702e+02] [ 6.93215210e-01 7.14839845e-01 9.19601445e-02 1.67568925e+02] [ 1.22273303e-01 9.09933803e-03 -9.92454755e-01 1.18774477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:167.58, Z:118.77 [[-7.62903819e-01 6.40528919e-01 -8.77522991e-02 2.94082659e+02] [ 6.34936419e-01 7.67880277e-01 8.49448310e-02 1.67575859e+02] [ 1.21792880e-01 9.08760541e-03 -9.92513934e-01 1.18773152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.13, Y:167.59, Z:118.77 [[-8.10713126e-01 5.77805817e-01 -9.42585009e-02 2.94131236e+02] [ 5.72621872e-01 8.16123952e-01 7.77553009e-02 1.67594018e+02] [ 1.21854085e-01 9.06276381e-03 -9.92506649e-01 1.18773206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:167.61, Z:118.77 [[-8.53206824e-01 5.11970400e-01 -9.96214117e-02 2.94183682e+02] [ 5.07276396e-01 8.58956208e-01 6.97487737e-02 1.67611602e+02] [ 1.21279738e-01 8.97453905e-03 -9.92577797e-01 1.18772863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.23, Y:167.64, Z:118.77 [[-8.90206269e-01 4.43553584e-01 -1.03889447e-01 2.94231796e+02] [ 4.39402695e-01 8.96204541e-01 6.11775552e-02 1.67635325e+02] [ 1.20241718e-01 8.81134040e-03 -9.92705540e-01 1.18773809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.020385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:294.28, Y:167.66, Z:118.78 [[-9.22011630e-01 3.72127421e-01 -1.06844448e-01 2.94278738e+02] [ 3.68557985e-01 9.28140839e-01 5.21497242e-02 1.67661372e+02] [ 1.18573038e-01 8.70427790e-03 -9.92907181e-01 1.18775530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.32, Y:167.69, Z:118.77 [[-9.48203530e-01 2.97747208e-01 -1.10709831e-01 2.94317974e+02] [ 2.94673564e-01 9.54605435e-01 4.35425597e-02 1.67692710e+02] [ 1.18648882e-01 8.66394815e-03 -9.92898474e-01 1.18774464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:167.73, Z:118.77 [[-9.68559437e-01 2.21231714e-01 -1.13794313e-01 2.94355470e+02] [ 2.18674934e-01 9.75182770e-01 3.46386833e-02 1.67727588e+02] [ 1.18633429e-01 8.66565967e-03 -9.92900305e-01 1.18774814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:167.77, Z:118.77 [[-9.82804136e-01 1.43348084e-01 -1.16393118e-01 2.94395399e+02] [ 1.41319779e-01 9.89634521e-01 2.55388753e-02 1.67765228e+02] [ 1.18847597e-01 8.65106255e-03 -9.92874820e-01 1.18774118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.44, Y:167.80, Z:118.77 [[-9.90865054e-01 6.51428167e-02 -1.18079883e-01 2.94437476e+02] [ 6.36657984e-02 9.97839100e-01 1.62418418e-02 1.67804263e+02] [ 1.18882763e-01 8.57582340e-03 -9.92871263e-01 1.18773595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.47, Y:167.85, Z:118.77 [[-9.92868937e-01 -1.34652322e-02 -1.18448139e-01 2.94468056e+02] [-1.43777445e-02 9.99873152e-01 6.85271821e-03 1.67846015e+02] [ 1.18340840e-01 8.50686812e-03 -9.92936594e-01 1.18773868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.50, Y:167.89, Z:118.77 [[-9.88772680e-01 -9.14091923e-02 -1.18207224e-01 2.94499317e+02] [-9.17570036e-02 9.95778270e-01 -2.50804476e-03 1.67890311e+02] [ 1.17937443e-01 8.36645452e-03 -9.92985781e-01 1.18773124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.53, Y:167.94, Z:118.77 [[-9.78697044e-01 -1.68877419e-01 -1.16758360e-01 2.94527057e+02] [-1.68673829e-01 9.85602545e-01 -1.16945472e-02 1.67936942e+02] [ 1.17052282e-01 8.24866083e-03 -9.93091498e-01 1.18773610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.55, Y:167.99, Z:118.77 [[-9.62565419e-01 -2.45621561e-01 -1.14620514e-01 2.94546385e+02] [-2.44886419e-01 9.69331364e-01 -2.06724249e-02 1.67985529e+02] [ 1.16182852e-01 8.17044585e-03 -9.93194235e-01 1.18773360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.56, Y:168.03, Z:118.77 [[-9.40332450e-01 -3.21245507e-01 -1.12143690e-01 2.94556462e+02] [-3.19990035e-01 9.46961044e-01 -2.95154094e-02 1.68033265e+02] [ 1.15677399e-01 8.13056616e-03 -9.93253559e-01 1.18774300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:168.09, Z:118.77 [[-9.11546747e-01 -3.96375106e-01 -1.09404316e-01 2.94570845e+02] [-3.94611906e-01 9.18051137e-01 -3.82564167e-02 1.68085915e+02] [ 1.15602648e-01 8.29973351e-03 -9.93260863e-01 1.18774097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.350385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.57, Y:168.14, Z:118.78 [[-8.76664773e-01 -4.69333303e-01 -1.05759756e-01 2.94574618e+02] [-4.67088389e-01 8.82980019e-01 -4.66339206e-02 1.68135898e+02] [ 1.15270603e-01 8.51683864e-03 -9.93297615e-01 1.18775153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:168.18, Z:118.78 [[-8.40361885e-01 -5.27555002e-01 -1.24409093e-01 2.94579973e+02] [-5.27552832e-01 8.48772604e-01 -3.56801971e-02 1.68179250e+02] [ 1.24418296e-01 3.56480917e-02 -9.91589280e-01 1.18775318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.58, Y:168.11, Z:118.69 [[-7.97317366e-01 -5.60279064e-01 -2.24437938e-01 2.94575046e+02] [-5.95419699e-01 7.91027071e-01 1.40540226e-01 1.68106744e+02] [ 9.87947383e-02 2.45689932e-01 -9.64300813e-01 1.18691291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:168.20, Z:118.80 [[-7.51342716e-01 -6.51359489e-01 -1.05900612e-01 2.94477490e+02] [-6.51462585e-01 7.57707519e-01 -3.84163517e-02 1.68200078e+02] [ 1.05264545e-01 4.01264405e-02 -9.93634362e-01 1.18796437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:167.98, Z:118.45 [[-7.16187457e-01 -4.56798340e-01 -5.27646476e-01 2.94532407e+02] [-6.94894133e-01 5.36924505e-01 4.78366199e-01 1.67979031e+02] [ 6.47894372e-02 7.09258312e-01 -7.01965082e-01 1.18447476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.500385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:294.38, Y:167.96, Z:118.05 [[-7.08183244e-01 -2.87454860e-02 -7.05443258e-01 2.94378177e+02] [-7.06018098e-01 2.33628838e-02 7.07808323e-01 1.67960831e+02] [-3.86510538e-03 9.99313701e-01 -3.68400361e-02 1.18053748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:168.63, Z:117.91 [[-7.08341986e-01 7.05621733e-01 -1.86976072e-02 2.93842461e+02] [-7.05763079e-01 -7.08446533e-01 1.40930471e-03 1.68629716e+02] [-1.22518190e-02 1.41943505e-02 9.99824191e-01 1.17905068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:168.57, Z:117.91 [[-7.09132870e-01 7.04995965e-01 -1.05480721e-02 2.93776118e+02] [-7.04956104e-01 -7.09208651e-01 -7.74468403e-03 1.68571833e+02] [-1.29407550e-02 1.94391783e-03 9.99914375e-01 1.17908250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.70, Y:168.49, Z:117.90 [[-7.06062895e-01 7.07891253e-01 -1.91092123e-02 2.93704791e+02] [-7.07849814e-01 -7.06291947e-01 -1.00162651e-02 1.68492874e+02] [-2.05871093e-02 6.45433928e-03 9.99767229e-01 1.17898825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:168.45, Z:117.90 [[-7.07607858e-01 7.06510848e-01 -1.15559950e-02 2.93654884e+02] [-7.06387605e-01 -7.07701172e-01 -1.32515356e-02 1.68447948e+02] [-1.75405449e-02 -1.21387907e-03 9.99845416e-01 1.17900406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.650385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:293.82, Y:168.61, Z:117.90 [[-7.05353607e-01 7.08617787e-01 -1.83608348e-02 2.93821857e+02] [-7.08503762e-01 -7.05582968e-01 -1.32323572e-02 1.68606319e+02] [-2.23317760e-02 3.67522967e-03 9.99743859e-01 1.17900252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.680385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.83, Y:168.63, Z:117.91 [[-7.11343533e-01 7.02844205e-01 -6.33262480e-04 2.93826504e+02] [-7.02728236e-01 -7.11241971e-01 -1.75466410e-02 1.68627406e+02] [-1.27829578e-02 -1.20366782e-02 9.99845845e-01 1.17912764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:168.62, Z:117.91 [[-7.11532909e-01 7.02593216e-01 -9.14835651e-03 2.93829552e+02] [-7.02535571e-01 -7.11591718e-01 -8.99993883e-03 1.68622411e+02] [-1.28331907e-02 2.32932071e-05 9.99917651e-01 1.17908276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.740385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.83, Y:168.62, Z:117.91 [[-7.10826347e-01 7.03307005e-01 -9.22830415e-03 2.93828215e+02] [-7.03248495e-01 -7.10886246e-01 -9.07188572e-03 1.68622382e+02] [-1.29405953e-02 4.12556213e-05 9.99916266e-01 1.17908481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:168.62, Z:117.91 [[-7.10824352e-01 7.03310198e-01 -9.13816516e-03 2.93826698e+02] [-7.03252908e-01 -7.10883087e-01 -8.97682591e-03 1.68621500e+02] [-1.28096603e-02 4.54947638e-05 9.99917952e-01 1.17908487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.82, Y:168.61, Z:117.91 [[-7.10550357e-01 7.03591161e-01 -8.81300730e-03 2.93817022e+02] [-7.03537971e-01 -7.10605007e-01 -8.65146965e-03 1.68614156e+02] [-1.23496647e-02 5.29804331e-05 9.99923739e-01 1.17908274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.82, Y:168.62, Z:117.91 [[-7.10496352e-01 7.03647723e-01 -8.64962900e-03 2.93819736e+02] [-7.03596547e-01 -7.10548998e-01 -8.48648313e-03 1.68617531e+02] [-1.21174798e-02 5.62337876e-05 9.99926579e-01 1.17908171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:168.62, Z:117.91 [[-7.10245812e-01 7.03904937e-01 -8.29009876e-03 2.93817298e+02] [-7.03858051e-01 -7.10294189e-01 -8.12454609e-03 1.68616475e+02] [-1.16073171e-02 6.46279189e-05 9.99932631e-01 1.17907618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.81, Y:168.61, Z:117.91 [[-7.10268492e-01 7.03887258e-01 -7.83568325e-03 2.93807106e+02] [-7.03845407e-01 -7.10311709e-01 -7.67580699e-03 1.68607552e+02] [-1.09686803e-02 6.32258141e-05 9.99939840e-01 1.17907198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.81, Y:168.61, Z:117.91 [[-7.09991370e-01 7.04174757e-01 -7.08286178e-03 2.93811318e+02] [-7.04140651e-01 -7.10026695e-01 -6.93078754e-03 1.68613329e+02] [-9.90950657e-03 6.65315693e-05 9.99950897e-01 1.17907295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:168.61, Z:117.91 [[-7.10144571e-01 7.04020456e-01 -7.06295480e-03 2.93808729e+02] [-7.03986584e-01 -7.10179690e-01 -6.90627876e-03 1.68610970e+02] [-9.87812858e-03 6.77690544e-05 9.99951208e-01 1.17906756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.83, Y:168.63, Z:117.90 [[-7.05842319e-01 7.08287932e-01 -1.07156666e-02 2.93830307e+02] [-7.08260005e-01 -7.05918315e-01 -6.86278221e-03 1.68627355e+02] [-1.24252111e-02 2.74543596e-03 9.99919035e-01 1.17903401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.82, Y:168.63, Z:117.91 [[-7.06557132e-01 7.07631133e-01 -5.93292279e-03 2.93823240e+02] [-7.07575847e-01 -7.06578455e-01 -9.12727342e-03 1.68625286e+02] [-1.06508182e-02 -2.25094726e-03 9.99940745e-01 1.17906565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:168.61, Z:117.90 [[-7.05966784e-01 7.08177902e-01 -9.74468318e-03 2.93809669e+02] [-7.08128164e-01 -7.06033412e-01 -8.44544592e-03 1.68609857e+02] [-1.28609501e-02 9.38280310e-04 9.99916854e-01 1.17904407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:168.61, Z:117.91 [[-7.10960614e-01 7.03198137e-01 -6.88368950e-03 2.93800696e+02] [-7.03146547e-01 -7.10992778e-01 -8.61411273e-03 1.68606767e+02] [-1.09516816e-02 -1.28405237e-03 9.99939204e-01 1.17907684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:168.57, Z:117.91 [[-7.09160116e-01 7.05047201e-01 6.12919531e-04 2.93764093e+02] [-7.05018365e-01 -7.09122677e-01 -9.70228965e-03 1.68573116e+02] [-6.40593702e-03 -7.31259637e-03 9.99952744e-01 1.17910690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.80, Y:168.60, Z:117.90 [[-7.11598026e-01 7.02473569e-01 -1.26148112e-02 2.93797359e+02] [-7.02511743e-01 -7.11669768e-01 -1.84165713e-03 1.68598635e+02] [-1.02712952e-02 7.55153342e-03 9.99918734e-01 1.17903478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:167.99, Z:118.87 [[-6.68487931e-01 -7.42668226e-01 3.95953648e-02 2.94153357e+02] [-7.43026214e-01 6.69218491e-01 7.65881111e-03 1.67987801e+02] [-3.21859059e-02 -2.43005712e-02 -9.99186444e-01 1.18874095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:168.34, Z:118.90 [[-6.31657844e-01 -3.62317976e-01 6.85371471e-01 2.93616713e+02] [-7.74726679e-01 2.62617904e-01 -5.75178590e-01 1.68335631e+02] [ 2.84067236e-02 -8.94291631e-01 -4.46582061e-01 1.18900358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.44, Y:168.52, Z:118.62 [[-6.34139747e-01 3.89337283e-02 7.72237623e-01 2.93437928e+02] [-7.66023247e-01 -1.67565581e-01 -6.20588561e-01 1.68523998e+02] [ 1.05238619e-01 -9.85091844e-01 1.36084136e-01 1.18620744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.37, Y:168.43, Z:118.60 [[-6.30970140e-01 -3.65113145e-03 7.75798525e-01 2.93370951e+02] [-7.56741492e-01 -2.17433710e-01 -6.16494036e-01 1.68432521e+02] [ 1.70935652e-01 -9.76068262e-01 1.34431216e-01 1.18603146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.42, Y:168.25, Z:117.83 [[-6.36753282e-01 7.61260689e-01 1.22586385e-01 2.93417472e+02] [-7.47718259e-01 -6.48445651e-01 1.42953290e-01 1.68245642e+02] [ 1.88315328e-01 -6.34101801e-04 9.82108413e-01 1.17829773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:293.41, Y:168.24, Z:117.83 [[-6.37501443e-01 7.60503510e-01 1.23394981e-01 2.93410743e+02] [-7.46940878e-01 -6.49333031e-01 1.42989299e-01 1.68240516e+02] [ 1.88868301e-01 -1.01287144e-03 9.82001904e-01 1.17832012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:168.24, Z:117.83 [[-6.38573021e-01 7.59587201e-01 1.23498102e-01 2.93410439e+02] [-7.46005302e-01 -6.50404968e-01 1.43001633e-01 1.68243741e+02] [ 1.88945989e-01 -8.13253614e-04 9.81987144e-01 1.17831681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.41, Y:168.24, Z:117.83 [[-6.39062229e-01 7.59092932e-01 1.24005602e-01 2.93407753e+02] [-7.45409767e-01 -6.50981852e-01 1.43481385e-01 1.68241172e+02] [ 1.89641101e-01 -7.41453262e-04 9.81853198e-01 1.17832408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:168.24, Z:117.83 [[-6.39855512e-01 7.58413135e-01 1.24074335e-01 2.93402938e+02] [-7.44722729e-01 -6.51773843e-01 1.43453527e-01 1.68237981e+02] [ 1.89665445e-01 -6.11447779e-04 9.81848586e-01 1.17832542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:168.17, Z:117.85 [[-6.38756668e-01 7.58243721e-01 1.30600075e-01 2.93337032e+02] [-7.44789898e-01 -6.51940322e-01 1.42344039e-01 1.68167879e+02] [ 1.93074928e-01 -6.34641252e-03 9.81163491e-01 1.17854919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:168.18, Z:117.84 [[-6.51534298e-01 7.49338545e-01 1.18299632e-01 2.93354745e+02] [-7.34592416e-01 -6.62116286e-01 1.48243068e-01 1.68175537e+02] [ 1.89412358e-01 9.68343135e-03 9.81849882e-01 1.17844658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.35, Y:168.18, Z:117.85 [[-6.51878159e-01 7.47740340e-01 1.26250747e-01 2.93348546e+02] [-7.34297511e-01 -6.63990892e-01 1.41149785e-01 1.68177851e+02] [ 1.89372734e-01 -6.93147083e-04 9.81905030e-01 1.17849233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.35, Y:168.18, Z:117.85 [[-6.52387335e-01 7.47371559e-01 1.25803487e-01 2.93346036e+02] [-7.34040340e-01 -6.64405985e-01 1.40532794e-01 1.68177455e+02] [ 1.88614803e-01 -6.63019294e-04 9.82050924e-01 1.17849743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:168.18, Z:117.85 [[-6.52579429e-01 7.47229194e-01 1.25652779e-01 2.93343890e+02] [-7.33947592e-01 -6.64566064e-01 1.40260040e-01 1.68176589e+02] [ 1.88310970e-01 -6.91737335e-04 9.82109210e-01 1.17849933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:168.17, Z:117.85 [[-6.52098578e-01 7.47712198e-01 1.25275353e-01 2.93339133e+02] [-7.34539641e-01 -6.64022335e-01 1.39734944e-01 1.68174880e+02] [ 1.87667155e-01 -8.98754614e-04 9.82232270e-01 1.17850095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.33, Y:168.17, Z:117.86 [[-6.52469680e-01 7.45877399e-01 1.33978443e-01 2.93326540e+02] [-7.33165257e-01 -6.66027909e-01 1.37388251e-01 1.68170630e+02] [ 1.91708173e-01 -8.58667116e-03 9.81414411e-01 1.17858840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:167.51, Z:118.21 [[-6.51419917e-01 -2.30954737e-01 -7.22711562e-01 2.94050453e+02] [-7.49718945e-01 3.42210469e-01 5.66404007e-01 1.67511239e+02] [ 1.16505774e-01 9.10797400e-01 -3.96073857e-01 1.18208310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:168.12, Z:117.89 [[-6.39806285e-01 7.64204834e-01 8.14793774e-02 2.93272425e+02] [-7.58163767e-01 -6.44973486e-01 9.59004938e-02 1.68124115e+02] [ 1.25839659e-01 -4.16973127e-04 9.92050506e-01 1.17893014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:168.12, Z:117.89 [[-6.42250883e-01 7.62102078e-01 8.19403765e-02 2.93269177e+02] [-7.55984298e-01 -6.47456887e-01 9.63707521e-02 1.68121678e+02] [ 1.26497212e-01 -5.14372461e-05 9.91966962e-01 1.17892657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:168.12, Z:117.89 [[-6.45038486e-01 7.59690402e-01 8.24369173e-02 2.93263785e+02] [-7.53487544e-01 -6.50284823e-01 9.68822499e-02 1.68117813e+02] [ 1.27207992e-01 3.77589396e-04 9.91875992e-01 1.17892392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:168.11, Z:117.89 [[-6.46375661e-01 7.58501911e-01 8.29057099e-02 2.93254326e+02] [-7.52227663e-01 -6.51670569e-01 9.73602243e-02 1.68107699e+02] [ 1.27875127e-01 5.67310950e-04 9.91790114e-01 1.17893880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:168.10, Z:117.90 [[-6.47690204e-01 7.57355613e-01 8.31256611e-02 2.93245413e+02] [-7.51047946e-01 -6.53002234e-01 9.75451987e-02 1.68098649e+02] [ 1.28157646e-01 7.47712648e-04 9.91753527e-01 1.17895220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:168.09, Z:117.90 [[-6.49244819e-01 7.55939135e-01 8.38879512e-02 2.93236872e+02] [-7.49512722e-01 -6.54641160e-01 9.83647878e-02 1.68092525e+02] [ 1.29274298e-01 9.87742172e-04 9.91608380e-01 1.17896394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:168.11, Z:117.89 [[-6.50278121e-01 7.55039627e-01 8.39852803e-02 2.93246405e+02] [-7.48602422e-01 -6.55678223e-01 9.83894393e-02 1.68105080e+02] [ 1.29355245e-01 1.10891550e-03 9.91597696e-01 1.17894396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:168.10, Z:117.90 [[-6.50194300e-01 7.55124430e-01 8.38717373e-02 2.93241518e+02] [-7.48732028e-01 -6.55580799e-01 9.80518577e-02 1.68102355e+02] [ 1.29026054e-01 9.55302972e-04 9.91640744e-01 1.17895278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.24, Y:168.10, Z:117.90 [[-6.48844147e-01 7.56299054e-01 8.37437414e-02 2.93238632e+02] [-7.49945477e-01 -6.54225717e-01 9.78288970e-02 1.68104938e+02] [ 1.28775212e-01 6.72467163e-04 9.91673582e-01 1.17896358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:168.11, Z:117.90 [[-6.47832471e-01 7.57139786e-01 8.39787697e-02 2.93238478e+02] [-7.50766941e-01 -6.53252734e-01 9.80299217e-02 1.68108207e+02] [ 1.29081715e-01 4.58482368e-04 9.91633854e-01 1.17897058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:168.11, Z:117.90 [[-6.46922233e-01 7.57928293e-01 8.38828183e-02 2.93234153e+02] [-7.51586141e-01 -6.52337825e-01 9.78449523e-02 1.68105994e+02] [ 1.28879393e-01 2.52911308e-04 9.91660243e-01 1.17898057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:168.11, Z:117.90 [[-6.44711596e-01 7.59833417e-01 8.36668209e-02 2.93232199e+02] [-7.53549347e-01 -6.50117796e-01 9.75204239e-02 1.68106048e+02] [ 1.28492566e-01 -1.74530188e-04 9.91710457e-01 1.17898255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.10, Z:117.90 [[-6.43530328e-01 7.60799999e-01 8.39766507e-02 2.93223466e+02] [-7.54486810e-01 -6.48986277e-01 9.78083121e-02 1.68096515e+02] [ 1.28912258e-01 -4.16660070e-04 9.91655916e-01 1.17899976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:168.11, Z:117.90 [[-6.41446788e-01 7.62505224e-01 8.44499924e-02 2.93232361e+02] [-7.56144695e-01 -6.46981549e-01 9.82856825e-02 1.68109987e+02] [ 1.29580933e-01 -8.11378356e-04 9.91568517e-01 1.17897496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:168.11, Z:117.90 [[-6.40518883e-01 7.63257857e-01 8.46935918e-02 2.93230469e+02] [-7.56876644e-01 -6.46093194e-01 9.84953331e-02 1.68109507e+02] [ 1.29897290e-01 -1.01448069e-03 9.91526936e-01 1.17897771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.10, Z:117.90 [[-6.39320623e-01 7.64265834e-01 8.46574081e-02 2.93223432e+02] [-7.57908421e-01 -6.44900095e-01 9.83803526e-02 1.68104501e+02] [ 1.29784313e-01 -1.26597420e-03 9.91541441e-01 1.17898944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.22, Y:168.11, Z:117.90 [[-6.39189189e-01 7.64379696e-01 8.46218687e-02 2.93224406e+02] [-7.58038174e-01 -6.44764992e-01 9.82661247e-02 1.68106718e+02] [ 1.29673849e-01 -1.33596233e-03 9.91555802e-01 1.17898989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.10, Z:117.90 [[-6.39150539e-01 7.64445995e-01 8.43143437e-02 2.93222147e+02] [-7.58160922e-01 -6.44686265e-01 9.78347421e-02 1.68104598e+02] [ 1.29145676e-01 -1.39271239e-03 9.91624654e-01 1.17899610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.210385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:293.22, Y:168.10, Z:117.90 [[-6.39436575e-01 7.64223779e-01 8.41598582e-02 2.93221422e+02] [-7.57971449e-01 -6.44949646e-01 9.75665694e-02 1.68103264e+02] [ 1.28841563e-01 -1.40313674e-03 9.91664199e-01 1.17899567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.10, Z:117.90 [[-6.40617758e-01 7.63258289e-01 8.39385045e-02 2.93219833e+02] [-7.57039981e-01 -6.46092266e-01 9.72381138e-02 1.68100385e+02] [ 1.28449815e-01 -1.25234138e-03 9.91715220e-01 1.17900175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.10, Z:117.90 [[-6.42468391e-01 7.61694736e-01 8.39969963e-02 2.93216461e+02] [-7.55463719e-01 -6.47935302e-01 9.72338150e-02 1.68095175e+02] [ 1.28487104e-01 -9.87030465e-04 9.91710689e-01 1.17900920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.09, Z:117.90 [[-6.43400500e-01 7.60880768e-01 8.42392674e-02 2.93217405e+02] [-7.54616296e-01 -6.48891125e-01 9.74400079e-02 1.68094864e+02] [ 1.28802341e-01 -8.75374151e-04 9.91669900e-01 1.17900684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:168.09, Z:117.90 [[-6.43676777e-01 7.60642186e-01 8.42832871e-02 2.93215905e+02] [-7.54380664e-01 -6.49170763e-01 9.74019189e-02 1.68093056e+02] [ 1.28802254e-01 -8.86328841e-04 9.91669902e-01 1.17900982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:293.21, Y:168.09, Z:117.90 [[-6.44675336e-01 7.59734500e-01 8.48363137e-02 2.93211869e+02] [-7.53392266e-01 -6.50232968e-01 9.79652008e-02 1.68087178e+02] [ 1.29590911e-01 -7.59273899e-04 9.91567254e-01 1.17901462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:168.08, Z:117.90 [[-6.45853895e-01 7.58721736e-01 8.49356971e-02 2.93210720e+02] [-7.52368761e-01 -6.51414569e-01 9.79811576e-02 1.68083426e+02] [ 1.29668785e-01 -6.21452919e-04 9.91557169e-01 1.17901694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.21, Y:168.08, Z:117.90 [[-6.46401250e-01 7.58258417e-01 8.49093443e-02 2.93206874e+02] [-7.51915986e-01 -6.51953860e-01 9.78698890e-02 1.68077948e+02] [ 1.29567642e-01 -5.81474733e-04 9.91570415e-01 1.17902786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.20, Y:168.07, Z:117.90 [[-6.46819191e-01 7.57939739e-01 8.45711860e-02 2.93204834e+02] [-7.51654603e-01 -6.52324332e-01 9.74080279e-02 1.68073401e+02] [ 1.28997258e-01 -5.62939377e-04 9.91644791e-01 1.17903310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:168.08, Z:117.90 [[-6.46890458e-01 7.57895707e-01 8.44205647e-02 2.93208112e+02] [-7.51642029e-01 -6.52375456e-01 9.71623578e-02 1.68075899e+02] [ 1.28712838e-01 -6.00642385e-04 9.91681725e-01 1.17903018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:293.21, Y:168.07, Z:117.90 [[-6.46848113e-01 7.57984851e-01 8.39433467e-02 2.93207868e+02] [-7.51811920e-01 -6.52271821e-01 9.65417495e-02 1.68074203e+02] [ 1.27931063e-01 -6.61760211e-04 9.91782842e-01 1.17903490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:168.07, Z:117.90 [[-6.46621141e-01 7.58156592e-01 8.41408453e-02 2.93205553e+02] [-7.51965193e-01 -6.52072103e-01 9.66970571e-02 1.68070823e+02] [ 1.28177409e-01 -7.44625573e-04 9.91750976e-01 1.17904241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:168.07, Z:117.90 [[-6.45486118e-01 7.59096853e-01 8.43779557e-02 2.93206153e+02] [-7.52888048e-01 -6.50976959e-01 9.68947152e-02 1.68070040e+02] [ 1.28480578e-01 -9.82960779e-04 9.91711538e-01 1.17904574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.06, Z:117.91 [[-6.45333300e-01 7.59234996e-01 8.43039323e-02 2.93200219e+02] [-7.53050800e-01 -6.50815696e-01 9.67130951e-02 1.68062082e+02] [ 1.28294289e-01 -1.07296281e-03 9.91735562e-01 1.17905638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:168.06, Z:117.91 [[-6.44888807e-01 7.59541613e-01 8.49409519e-02 2.93205062e+02] [-7.53275329e-01 -6.50457625e-01 9.73712350e-02 1.68064324e+02] [ 1.29207995e-01 -1.19030393e-03 9.91616800e-01 1.17905119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.20, Y:168.06, Z:117.91 [[-6.45225296e-01 7.59255437e-01 8.49440910e-02 2.93202454e+02] [-7.52995612e-01 -6.50791663e-01 9.73027263e-02 1.68059684e+02] [ 1.29158530e-01 -1.18034738e-03 9.91623256e-01 1.17905597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.06, Z:117.91 [[-6.45649850e-01 7.58886689e-01 8.50133212e-02 2.93203574e+02] [-7.52622818e-01 -6.51221668e-01 9.73099859e-02 1.68059247e+02] [ 1.29209770e-01 -1.15478757e-03 9.91616610e-01 1.17905643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.05, Z:117.91 [[-6.46634572e-01 7.58041643e-01 8.50681975e-02 2.93202177e+02] [-7.51772108e-01 -6.52205332e-01 9.72980096e-02 1.68053879e+02] [ 1.29237875e-01 -1.03564125e-03 9.91613079e-01 1.17906232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.20, Y:168.05, Z:117.91 [[-6.46995752e-01 7.57733988e-01 8.50629187e-02 2.93199710e+02] [-7.51475205e-01 -6.52562737e-01 9.71951174e-02 1.68049149e+02] [ 1.29156935e-01 -1.03784621e-03 9.91623623e-01 1.17907020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.04, Z:117.91 [[-6.47008892e-01 7.57755158e-01 8.47738939e-02 2.93197231e+02] [-7.51548458e-01 -6.52538077e-01 9.67934590e-02 1.68043344e+02] [ 1.28663937e-01 -1.08546057e-03 9.91687659e-01 1.17908302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:168.04, Z:117.91 [[-6.47045493e-01 7.57751534e-01 8.45265800e-02 2.93194741e+02] [-7.51590337e-01 -6.52542212e-01 9.64397578e-02 1.68039171e+02] [ 1.28234536e-01 -1.12845007e-03 9.91743228e-01 1.17909372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.04, Z:117.91 [[-6.47041315e-01 7.57755525e-01 8.45227816e-02 2.93197485e+02] [-7.51604175e-01 -6.52537494e-01 9.63638060e-02 1.68039006e+02] [ 1.28174490e-01 -1.17631177e-03 9.91750935e-01 1.17909905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.20, Y:168.04, Z:117.91 [[-6.47326369e-01 7.57535901e-01 8.43085493e-02 2.93198422e+02] [-7.51423162e-01 -6.52792444e-01 9.60482050e-02 1.68037816e+02] [ 1.27795947e-01 -1.17686091e-03 9.91799784e-01 1.17909873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.03, Z:117.91 [[-6.47872001e-01 7.57073150e-01 8.42740574e-02 2.93199312e+02] [-7.50970680e-01 -6.53329140e-01 9.59378614e-02 1.68034286e+02] [ 1.27690676e-01 -1.13189195e-03 9.91813395e-01 1.17910291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.04, Z:117.93 [[-6.44522911e-01 7.56856856e-01 1.08433925e-01 2.93195789e+02] [-7.51532703e-01 -6.53209791e-01 9.22798195e-02 1.68040917e+02] [ 1.40672716e-01 -2.20151831e-02 9.89811355e-01 1.17925924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.21, Y:168.02, Z:117.90 [[-6.49600011e-01 7.57211776e-01 6.81920221e-02 2.93206089e+02] [-7.49404062e-01 -6.52844132e-01 1.10399691e-01 1.68020981e+02] [ 1.28114708e-01 2.06122625e-02 9.91545136e-01 1.17902539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.990385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.21, Y:168.04, Z:117.92 [[-6.46149719e-01 7.55922449e-01 1.05222584e-01 2.93205141e+02] [-7.50339657e-01 -6.54399573e-01 9.35499749e-02 1.68043751e+02] [ 1.39574140e-01 -1.85053874e-02 9.90038691e-01 1.17922754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.20, Y:168.02, Z:117.90 [[-6.50051572e-01 7.56508981e-01 7.16038785e-02 2.93203971e+02] [-7.48881145e-01 -6.53765006e-01 1.08482016e-01 1.68015770e+02] [ 1.28879730e-01 1.68961106e-02 9.91516282e-01 1.17904897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.20, Y:168.03, Z:117.92 [[-6.47391998e-01 7.55406901e-01 1.01212717e-01 2.93195453e+02] [-7.49774468e-01 -6.55073935e-01 9.33615896e-02 1.68025947e+02] [ 1.36827802e-01 -1.54451646e-02 9.90474432e-01 1.17922684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.03, Z:117.92 [[-6.46995462e-01 7.56065807e-01 9.87996372e-02 2.93201100e+02] [-7.49365686e-01 -6.54436326e-01 1.00817479e-01 1.68025996e+02] [ 1.40882720e-01 -8.80860657e-03 9.89987105e-01 1.17923478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.01, Z:117.91 [[-6.46528855e-01 7.58517924e-01 8.15536551e-02 2.93203591e+02] [-7.50791464e-01 -6.51592475e-01 1.08348626e-01 1.68012934e+02] [ 1.35324123e-01 8.82072527e-03 9.90762119e-01 1.17914349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.01, Z:117.91 [[-6.47523854e-01 7.58414054e-01 7.43033008e-02 2.93203352e+02] [-7.51228714e-01 -6.51661242e-01 1.04847723e-01 1.68009287e+02] [ 1.27938568e-01 1.20726283e-02 9.91708614e-01 1.17909508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.170385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:293.20, Y:168.01, Z:117.92 [[-6.47029675e-01 7.57728063e-01 8.48574267e-02 2.93197832e+02] [-7.51621012e-01 -6.52568354e-01 9.60228967e-02 1.68011050e+02] [ 1.28134515e-01 -1.65096134e-03 9.91755424e-01 1.17915116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.200385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:293.20, Y:168.01, Z:117.92 [[-6.46646281e-01 7.58039031e-01 8.50024427e-02 2.93197314e+02] [-7.51922850e-01 -6.52206810e-01 9.61160995e-02 1.68006574e+02] [ 1.28298927e-01 -1.76216066e-03 9.91733977e-01 1.17915403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.230385723 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:293.20, Y:168.00, Z:117.92 [[-6.46629816e-01 7.58064270e-01 8.49025549e-02 2.93197326e+02] [-7.51971852e-01 -6.52177339e-01 9.59325415e-02 1.68004633e+02] [ 1.28094554e-01 -1.81148983e-03 9.91760306e-01 1.17916031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.20, Y:168.00, Z:117.92 [[-6.46289135e-01 7.58466519e-01 8.38981111e-02 2.93197292e+02] [-7.52530431e-01 -6.51709192e-01 9.47263369e-02 1.67999535e+02] [ 1.26523925e-01 -1.91527936e-03 9.91961707e-01 1.17917304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:168.00, Z:117.92 [[-6.46041596e-01 7.58675741e-01 8.39129089e-02 2.93198108e+02] [-7.52751351e-01 -6.51465306e-01 9.46486089e-02 1.67997584e+02] [ 1.26473952e-01 -2.01861722e-03 9.91967875e-01 1.17917528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.320385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:293.20, Y:167.99, Z:117.92 [[-6.46018528e-01 7.58644249e-01 8.43739564e-02 2.93196980e+02] [-7.52663066e-01 -6.51501818e-01 9.50983216e-02 1.67994125e+02] [ 1.27115581e-01 -2.06988301e-03 9.91885752e-01 1.17917675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.350385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:293.20, Y:167.99, Z:117.92 [[-6.45723075e-01 7.58762472e-01 8.55641377e-02 2.93197672e+02] [-7.52621025e-01 -6.51363801e-01 9.63680022e-02 1.67991417e+02] [ 1.28853806e-01 -2.17032630e-03 9.91661226e-01 1.17918123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.380385723 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:293.20, Y:167.99, Z:117.92 [[-6.45331954e-01 7.58979663e-01 8.65825645e-02 2.93198989e+02] [-7.52702001e-01 -6.51110310e-01 9.74426047e-02 1.67989647e+02] [ 1.30331756e-01 -2.28804309e-03 9.91467800e-01 1.17918728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.410385723 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:293.20, Y:167.99, Z:117.92 [[-6.45356836e-01 7.58916948e-01 8.69460724e-02 2.93199381e+02] [-7.52595194e-01 -6.51183250e-01 9.77795908e-02 1.67987867e+02] [ 1.30824415e-01 -2.33246885e-03 9.91402810e-01 1.17919382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.440385723 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:293.20, Y:167.98, Z:117.92 [[-6.45360084e-01 7.58951053e-01 8.66236721e-02 2.93198244e+02] [-7.52685955e-01 -6.51143338e-01 9.73458045e-02 1.67984231e+02] [ 1.30285128e-01 -2.37732484e-03 9.91473718e-01 1.17920207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.470385723 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:293.20, Y:167.98, Z:117.92 [[-6.44966380e-01 7.59336093e-01 8.61804275e-02 2.93199696e+02] [-7.53147865e-01 -6.50693863e-01 9.67770142e-02 1.67981742e+02] [ 1.29563355e-01 -2.48868441e-03 9.91568023e-01 1.17921119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.500385723 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:293.20, Y:167.97, Z:117.92 [[-6.39945823e-01 7.64091742e-01 8.14441787e-02 2.93195321e+02] [-7.57966907e-01 -6.45107593e-01 9.65523717e-02 1.67966773e+02] [ 1.26315128e-01 5.62947594e-05 9.91990164e-01 1.17919712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.530385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:293.20, Y:167.97, Z:117.92 [[-6.44182178e-01 7.59753008e-01 8.83441476e-02 2.93195138e+02] [-7.53745059e-01 -6.50191984e-01 9.54922530e-02 1.67973202e+02] [ 1.29991183e-01 -5.07455731e-03 9.91502164e-01 1.17924076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.560385723 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:293.20, Y:167.97, Z:117.92 [[-6.45098058e-01 7.59304675e-01 8.54687384e-02 2.93200317e+02] [-7.53245492e-01 -6.50730094e-01 9.57683318e-02 1.67974626e+02] [ 1.28334422e-01 -2.59897706e-03 9.91727544e-01 1.17922132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5903857229999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:293.20, Y:167.97, Z:117.92 [[-6.46495694e-01 7.58096462e-01 8.56333608e-02 2.93199952e+02] [-7.52012422e-01 -6.52137981e-01 9.58820634e-02 1.67968782e+02] [ 1.28532620e-01 -2.41000992e-03 9.91702353e-01 1.17922141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.620385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.20, Y:167.96, Z:117.92 [[-6.47547179e-01 7.57195720e-01 8.56580020e-02 2.93198643e+02] [-7.51109420e-01 -6.53184088e-01 9.58393809e-02 1.67964780e+02] [ 1.28519613e-01 -2.27801152e-03 9.91704351e-01 1.17922601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:167.96, Z:117.92 [[-6.49217412e-01 7.55862160e-01 8.47888361e-02 2.93199611e+02] [-7.49896728e-01 -6.54727608e-01 9.47979832e-02 1.67960938e+02] [ 1.27167800e-01 -2.03836943e-03 9.91879124e-01 1.17922999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.680385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:293.20, Y:167.96, Z:117.92 [[-6.50048928e-01 7.55167925e-01 8.46037594e-02 2.93199311e+02] [-7.49231608e-01 -6.55528509e-01 9.45218088e-02 1.67958571e+02] [ 1.26840014e-01 -1.94401019e-03 9.91921283e-01 1.17923097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.710385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:293.20, Y:167.95, Z:117.92 [[-6.50761328e-01 7.54470765e-01 8.53437729e-02 2.93197970e+02] [-7.48432845e-01 -6.56330988e-01 9.52780771e-02 1.67953741e+02] [ 1.27898286e-01 -1.87079471e-03 9.91785525e-01 1.17924360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.740385723 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:293.20, Y:167.95, Z:117.92 [[-6.51109338e-01 7.54170188e-01 8.53460986e-02 2.93197491e+02] [-7.48138381e-01 -6.56676385e-01 9.52107624e-02 1.67951457e+02] [ 1.27849886e-01 -1.85807545e-03 9.91791790e-01 1.17924746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.770385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:293.20, Y:167.95, Z:117.93 [[-6.51477435e-01 7.53835956e-01 8.54897795e-02 2.93198123e+02] [-7.47789926e-01 -6.57060087e-01 9.53009352e-02 1.67949526e+02] [ 1.28013194e-01 -1.84198700e-03 9.91770754e-01 1.17925116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.800385723 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:293.72, Y:167.55, Z:118.87 [[-6.18416027e-01 -7.76957622e-01 -1.17891779e-01 2.93717507e+02] [-7.77300083e-01 6.26835019e-01 -5.36883626e-02 1.67548049e+02] [ 1.15612278e-01 5.84355457e-02 -9.91574046e-01 1.18869286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.830385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:293.81, Y:167.37, Z:118.27 [[-6.01414242e-01 -2.00536674e-01 -7.73360170e-01 2.93811517e+02] [-7.97130931e-01 2.15673040e-01 5.63974662e-01 1.67369325e+02] [ 5.36953364e-02 9.55651706e-01 -2.89562823e-01 1.18265564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.860385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.08, Y:167.83, Z:117.95 [[-5.74386552e-01 8.18569408e-01 4.92069229e-03 2.93079433e+02] [-8.17610834e-01 -5.73986253e-01 4.53023698e-02 1.67825319e+02] [ 3.99075437e-02 2.19978607e-02 9.98961202e-01 1.17950000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.890385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.09, Y:167.88, Z:117.98 [[-5.82351772e-01 8.11353496e-01 5.07140893e-02 2.93085248e+02] [-8.11085493e-01 -5.84101674e-01 3.10734375e-02 1.67877434e+02] [ 5.48337266e-02 -2.30377907e-02 9.98229694e-01 1.17975897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:167.87, Z:117.97 [[-5.82907798e-01 8.11893359e-01 3.23677719e-02 2.93094511e+02] [-8.10696626e-01 -5.83805506e-01 4.40693840e-02 1.67867207e+02] [ 5.46761236e-02 -5.52055862e-04 9.98503989e-01 1.17967909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.10, Y:167.87, Z:117.97 [[-5.82771014e-01 8.12004543e-01 3.20400873e-02 2.93095514e+02] [-8.10833889e-01 -5.83650829e-01 4.35902994e-02 1.67865824e+02] [ 5.40957447e-02 -5.76025627e-04 9.98535587e-01 1.17967450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.10, Y:167.86, Z:117.97 [[-5.81754084e-01 8.12763065e-01 3.12791585e-02 2.93095775e+02] [-8.11650163e-01 -5.82594008e-01 4.25233486e-02 1.67862215e+02] [ 5.27844574e-02 -6.49602391e-04 9.98605718e-01 1.17967318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.010385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:293.10, Y:167.86, Z:117.97 [[-5.81481869e-01 8.12966043e-01 3.10652348e-02 2.93096011e+02] [-8.11870285e-01 -5.82310697e-01 4.22006134e-02 1.67860891e+02] [ 5.23972842e-02 -6.82049464e-04 9.98626086e-01 1.17967516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:167.86, Z:117.97 [[-5.80964566e-01 8.13386319e-01 2.97131276e-02 2.93096180e+02] [-8.12385954e-01 -5.81723472e-01 4.03343921e-02 1.67857314e+02] [ 5.00922664e-02 -7.05674965e-04 9.98744345e-01 1.17967508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.070385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.10, Y:167.86, Z:117.97 [[-5.81372220e-01 8.13104459e-01 2.94530266e-02 2.93096490e+02] [-8.12122677e-01 -5.82117393e-01 3.99512019e-02 1.67855809e+02] [ 4.96296194e-02 -6.92951891e-04 9.98767451e-01 1.17967416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.100385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:293.09, Y:167.85, Z:117.97 [[-5.82494643e-01 8.12310783e-01 2.91750441e-02 2.93094278e+02] [-8.11347926e-01 -5.83224474e-01 3.95443640e-02 1.67848839e+02] [ 4.91379130e-02 -6.36731307e-04 9.98791800e-01 1.17967054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.130385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.09, Y:167.85, Z:117.97 [[-5.83066300e-01 8.11897222e-01 2.92675700e-02 2.93093664e+02] [-8.10929215e-01 -5.83800064e-01 3.96395556e-02 1.67845523e+02] [ 4.92696543e-02 -6.21438563e-04 9.98785320e-01 1.17966085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:167.85, Z:117.97 [[-5.84412134e-01 8.10927422e-01 2.93116515e-02 2.93095343e+02] [-8.09956767e-01 -5.85146481e-01 3.96690237e-02 1.67845441e+02] [ 4.93203088e-02 -5.58111659e-04 9.98782857e-01 1.17965621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.190385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.09, Y:167.84, Z:117.97 [[-5.86369546e-01 8.09521007e-01 2.90945984e-02 2.93093571e+02] [-8.08564402e-01 -5.87090737e-01 3.93455670e-02 1.67840110e+02] [ 4.89322322e-02 -4.53814318e-04 9.98801998e-01 1.17965360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.97 [[-5.87830537e-01 8.08489610e-01 2.82809147e-02 2.93091024e+02] [-8.07585944e-01 -5.88510332e-01 3.82169247e-02 1.67834320e+02] [ 4.75415970e-02 -3.74193823e-04 9.98869189e-01 1.17965495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.97 [[-5.88125035e-01 8.08274920e-01 2.82948302e-02 2.93089647e+02] [-8.07371501e-01 -5.88805158e-01 3.82066193e-02 1.67832348e+02] [ 4.75415942e-02 -3.74170204e-04 9.98869189e-01 1.17965610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.97 [[-5.88676299e-01 8.07878111e-01 2.81633294e-02 2.93091212e+02] [-8.06983986e-01 -5.89349498e-01 3.80002128e-02 1.67832877e+02] [ 4.72975841e-02 -3.57531174e-04 9.98880779e-01 1.17965078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.96 [[-5.89347624e-01 8.07383104e-01 2.83178474e-02 2.93090430e+02] [-8.06479955e-01 -5.90027465e-01 3.81794885e-02 1.67831051e+02] [ 4.75337817e-02 -3.36785442e-04 9.98869574e-01 1.17964731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.96 [[-5.89128870e-01 8.07528827e-01 2.87118169e-02 2.93089077e+02] [-8.06601967e-01 -5.89827989e-01 3.86808753e-02 1.67828623e+02] [ 4.81709551e-02 -3.70987582e-04 9.98839037e-01 1.17964382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.370385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.96 [[-5.89855494e-01 8.06984906e-01 2.90836343e-02 2.93087922e+02] [-8.06034680e-01 -5.90571961e-01 3.91516856e-02 1.67826284e+02] [ 4.87707983e-02 -3.48580970e-04 9.98809936e-01 1.17964131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:167.83, Z:117.96 [[-5.89814166e-01 8.06971575e-01 3.02675886e-02 2.93091347e+02] [-8.05943970e-01 -5.90590156e-01 4.07134442e-02 1.67829377e+02] [ 5.07303321e-02 -3.80614379e-04 9.98712315e-01 1.17964980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:167.82, Z:117.96 [[-5.91105098e-01 8.06088162e-01 2.85768774e-02 2.93083548e+02] [-8.05172504e-01 -5.91795389e-01 3.84116779e-02 1.67819106e+02] [ 4.78748631e-02 -3.03977291e-04 9.98853295e-01 1.17964180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:167.84, Z:117.96 [[-5.87057991e-01 8.09239820e-01 2.22222735e-02 2.93102731e+02] [-8.08384582e-01 -5.87464839e-01 3.74089655e-02 1.67835762e+02] [ 4.33276288e-02 3.99708887e-03 9.99052922e-01 1.17956440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:167.83, Z:117.97 [[-5.90973178e-01 8.05469539e-01 4.43793207e-02 2.93084473e+02] [-8.04954443e-01 -5.92415829e-01 3.30428589e-02 1.67831625e+02] [ 5.29060284e-02 -1.61958880e-02 9.98468149e-01 1.17970380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.520385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.64, Y:167.32, Z:118.12 [[-6.05339394e-01 8.68224815e-02 -7.91218096e-01 2.93644692e+02] [-7.95848024e-01 -8.32396943e-02 5.99747511e-01 1.67316842e+02] [-1.37891852e-02 9.92740152e-01 1.19485766e-01 1.18120711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:167.77, Z:118.00 [[-5.97309615e-01 8.01924887e-01 -1.17345695e-02 2.93051331e+02] [-8.01775402e-01 -5.97424849e-01 -1.54839779e-02 1.67768340e+02] [-1.94275106e-02 1.59760252e-04 9.99811255e-01 1.17997644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:167.77, Z:118.00 [[-5.96675186e-01 8.02406329e-01 -1.10817757e-02 2.93050331e+02] [-8.02273285e-01 -5.96778060e-01 -1.46123955e-02 1.67769328e+02] [-1.83384393e-02 1.71758818e-04 9.99831822e-01 1.17998415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:167.76, Z:118.00 [[-5.96493204e-01 8.02541056e-01 -1.11225876e-02 2.93044890e+02] [-8.02407256e-01 -5.96596866e-01 -1.46552247e-02 1.67763287e+02] [-1.83971204e-02 1.83103046e-04 9.99830742e-01 1.17997635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:167.76, Z:118.00 [[-5.96419421e-01 8.02607918e-01 -1.02178758e-02 2.93040489e+02] [-8.02495163e-01 -5.96506915e-01 -1.34541703e-02 1.67761210e+02] [-1.68934572e-02 1.75467460e-04 9.99857280e-01 1.17998612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:167.76, Z:118.00 [[-5.96043021e-01 8.02884663e-01 -1.04372070e-02 2.93039344e+02] [-8.02800055e-01 -5.96132792e-01 -1.17373911e-02 1.67760429e+02] [-1.56457327e-02 1.38300025e-03 9.99876642e-01 1.17996843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.700385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.04, Y:167.77, Z:118.00 [[-5.93981175e-01 8.04441558e-01 -7.75525707e-03 2.93042515e+02] [-8.04275586e-01 -5.94020176e-01 -1.67574602e-02 1.67767399e+02] [-1.80871766e-02 -3.71625199e-03 9.99829507e-01 1.17996711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:167.76, Z:118.00 [[-5.95549942e-01 8.03241113e-01 -1.11346973e-02 2.93035267e+02] [-8.03120616e-01 -5.95653671e-01 -1.39277283e-02 1.67758294e+02] [-1.78197473e-02 6.47847165e-04 9.99841006e-01 1.17995817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:167.75, Z:118.00 [[-5.96863189e-01 8.02244940e-01 -1.25455004e-02 2.93030870e+02] [-8.02141432e-01 -5.96990763e-01 -1.30824731e-02 1.67753266e+02] [-1.79848957e-02 2.25481908e-03 9.99835716e-01 1.17996309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:167.76, Z:118.00 [[-5.96992204e-01 8.02175099e-01 -1.07432815e-02 2.93029182e+02] [-8.02051177e-01 -5.97088830e-01 -1.41009970e-02 1.67757797e+02] [-1.77261621e-02 1.98476239e-04 9.99842860e-01 1.17997684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:167.76, Z:118.00 [[-5.97043503e-01 8.02142210e-01 -1.03407077e-02 2.93026155e+02] [-8.02027562e-01 -5.97133014e-01 -1.35629153e-02 1.67756970e+02] [-1.70541648e-02 1.95882121e-04 9.99854548e-01 1.17998618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.850385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.02, Y:167.76, Z:118.00 [[-5.96826383e-01 8.02300543e-01 -1.05880680e-02 2.93022644e+02] [-8.02180556e-01 -5.96920258e-01 -1.38766619e-02 1.67757362e+02] [-1.74534856e-02 2.11584360e-04 9.99847654e-01 1.17997032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:167.75, Z:118.00 [[-5.98157013e-01 8.01322967e-01 -9.47049961e-03 2.93016303e+02] [-8.01226895e-01 -5.98231958e-01 -1.24091707e-02 1.67751940e+02] [-1.56093090e-02 1.65386501e-04 9.99878154e-01 1.17998990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:167.75, Z:118.00 [[-5.99063935e-01 8.00631193e-01 -1.05874457e-02 2.93007808e+02] [-8.00511573e-01 -5.99157457e-01 -1.38406002e-02 1.67746132e+02] [-1.74247632e-02 1.83968386e-04 9.99848160e-01 1.17996635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:167.75, Z:118.00 [[-5.98080336e-01 8.01388252e-01 -8.76246426e-03 2.93009609e+02] [-8.01302733e-01 -5.98144522e-01 -1.17073277e-02 1.67750749e+02] [-1.46233349e-02 1.94640846e-05 9.99893073e-01 1.17998100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.98, Y:167.72, Z:117.99 [[-6.00610046e-01 7.99323157e-01 -1.87100056e-02 2.92983994e+02] [-7.99341322e-01 -6.00819189e-01 -8.35183390e-03 1.67717095e+02] [-1.79171446e-02 9.93948527e-03 9.99790069e-01 1.17993557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:167.74, Z:118.00 [[-6.01700045e-01 7.98716405e-01 -3.02646072e-03 2.92990698e+02] [-7.98524248e-01 -6.01630992e-01 -1.99793775e-02 1.67743440e+02] [-1.77786691e-02 -9.60489008e-03 9.99795812e-01 1.18000608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:167.74, Z:117.99 [[-6.01975122e-01 7.98212690e-01 -2.19648384e-02 2.92999563e+02] [-7.98275157e-01 -6.02240633e-01 -7.93684012e-03 1.67741768e+02] [-1.95634047e-02 1.27562045e-02 9.99727239e-01 1.17991447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:167.68, Z:117.99 [[-6.02815451e-01 7.97779883e-01 -1.26803105e-02 2.92941644e+02] [-7.97620781e-01 -6.02948590e-01 -1.59401341e-02 1.67680532e+02] [-2.03622937e-02 5.05120050e-04 9.99792539e-01 1.17992091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0903857229999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:292.86, Y:167.59, Z:118.00 [[-6.05838232e-01 7.95587779e-01 3.49350927e-04 2.92863121e+02] [-7.95454680e-01 -6.05728726e-01 -1.85623771e-02 1.67592965e+02] [-1.45563885e-02 -1.15236906e-02 9.99827643e-01 1.17996313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.120385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.76, Y:167.70, Z:118.77 [[-6.08354464e-01 4.22915876e-03 7.93654182e-01 2.92760987e+02] [-7.92634734e-01 -5.41844696e-02 -6.07284300e-01 1.67698280e+02] [ 4.04354291e-02 -9.98521987e-01 3.63155421e-02 1.18765766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:293.13, Y:167.29, Z:119.02 [[-5.64454526e-01 -7.46545409e-01 3.52222998e-01 2.93133669e+02] [-8.22177279e-01 4.70416585e-01 -3.20519515e-01 1.67287157e+02] [ 7.35908324e-02 -4.70508437e-01 -8.79321443e-01 1.19020312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:167.50, Z:117.95 [[-5.57141314e-01 8.29092408e-01 4.68970602e-02 2.92760450e+02] [-8.26236741e-01 -5.59111423e-01 6.87551105e-02 1.67503521e+02] [ 8.32250223e-02 -4.41761549e-04 9.96530682e-01 1.17949680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.210385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.73, Y:167.45, Z:117.95 [[-5.54947586e-01 8.30986018e-01 3.86706000e-02 2.92728101e+02] [-8.28239345e-01 -5.56265497e-01 6.77368777e-02 1.67454214e+02] [ 7.77995188e-02 5.56190437e-03 9.96953510e-01 1.17948121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:167.50, Z:117.95 [[-5.58189620e-01 8.28107398e-01 5.15992799e-02 2.92749816e+02] [-8.25592372e-01 -5.60532671e-01 6.48101872e-02 1.67502065e+02] [ 8.25928777e-02 -6.42359811e-03 9.96562669e-01 1.17952790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:167.50, Z:117.95 [[-5.59741423e-01 8.27348535e-01 4.67326515e-02 2.92749816e+02] [-8.24521815e-01 -5.61688811e-01 6.83334146e-02 1.67502016e+02] [ 8.27847580e-02 -2.83047955e-04 9.96567411e-01 1.17950261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.300385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.75, Y:167.50, Z:117.95 [[-5.60627760e-01 8.26730664e-01 4.70417178e-02 2.92746450e+02] [-8.23870970e-01 -5.62597860e-01 6.87042461e-02 1.67498983e+02] [ 8.32654768e-02 -2.38798032e-04 9.96527372e-01 1.17950713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.70, Y:167.43, Z:117.96 [[-5.61193523e-01 8.26487634e-01 4.44974326e-02 2.92698293e+02] [-8.23399347e-01 -5.62944199e-01 7.14656803e-02 1.67429749e+02] [ 8.41150726e-02 3.46691994e-03 9.96450016e-01 1.17955818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:167.56, Z:118.67 [[-5.65455937e-01 7.29475047e-02 8.21546253e-01 2.92573754e+02] [-8.12114266e-01 -2.23126776e-01 -5.39151983e-01 1.67557058e+02] [ 1.43979175e-01 -9.72056122e-01 1.85410069e-01 1.18672678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.61, Y:167.30, Z:117.94 [[-5.77162567e-01 8.11961773e-01 8.71862973e-02 2.92614424e+02] [-8.02493273e-01 -5.83708940e-01 1.23646356e-01 1.67304355e+02] [ 1.51287536e-01 1.39763154e-03 9.88488810e-01 1.17943902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:167.31, Z:117.94 [[-5.76289143e-01 8.12348227e-01 8.93374583e-02 2.92611377e+02] [-8.02921108e-01 -5.83172340e-01 1.23400634e-01 1.67307678e+02] [ 1.52343421e-01 -6.16485445e-04 9.88327427e-01 1.17944829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.58, Y:167.28, Z:117.95 [[-5.74154837e-01 8.13951229e-01 8.84851426e-02 2.92583852e+02] [-8.04457225e-01 -5.80933213e-01 1.23956344e-01 1.67275328e+02] [ 1.52298377e-01 -1.23777854e-05 9.88334561e-01 1.17951133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.49, Y:167.41, Z:118.70 [[-5.76884415e-01 7.33484213e-03 8.16792857e-01 2.92490944e+02] [-7.91025796e-01 -2.54353105e-01 -5.56401553e-01 1.67410995e+02] [ 2.03672681e-01 -9.67083605e-01 1.52534391e-01 1.18695565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:167.19, Z:117.94 [[-5.72624428e-01 8.09458618e-01 1.29915398e-01 2.92519114e+02] [-7.90282549e-01 -5.87172159e-01 1.75163777e-01 1.67186516e+02] [ 2.18070533e-01 -2.36681431e-03 9.75930141e-01 1.17938302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:167.09, Z:117.96 [[-5.70594117e-01 8.10898297e-01 1.29870345e-01 2.92444921e+02] [-7.91802851e-01 -5.85179435e-01 1.74966495e-01 1.67092883e+02] [ 2.17877488e-01 -2.99685666e-03 9.75971526e-01 1.17964022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.51, Y:167.18, Z:117.94 [[-5.70217459e-01 8.11116515e-01 1.30161624e-01 2.92509617e+02] [-7.91971936e-01 -5.84875994e-01 1.75215651e-01 1.67182814e+02] [ 2.18248717e-01 -3.17333046e-03 9.75888020e-01 1.17940313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:167.08, Z:117.97 [[-5.70231202e-01 8.11395698e-01 1.28348733e-01 2.92432049e+02] [-7.91804729e-01 -5.84496962e-01 1.77224640e-01 1.67081200e+02] [ 2.18818755e-01 -5.68114179e-04 9.75765356e-01 1.17967177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.58, Y:167.26, Z:118.88 [[-5.59417425e-01 -3.58471512e-01 7.47362241e-01 2.92582153e+02] [-7.87401656e-01 -5.18467959e-02 -6.14256088e-01 1.67263633e+02] [ 2.58941646e-01 -9.32099825e-01 -2.53257062e-01 1.18882239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.41, Y:167.06, Z:117.94 [[-5.46147380e-01 8.21154417e-01 1.65615406e-01 2.92406683e+02] [-7.87942265e-01 -5.70690478e-01 2.31212814e-01 1.67064084e+02] [ 2.84376559e-01 -4.21910493e-03 9.58703381e-01 1.17941539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.40, Y:167.04, Z:117.94 [[-5.43676157e-01 8.25558409e-01 1.51226814e-01 2.92399474e+02] [-7.93017250e-01 -5.64295608e-01 2.29551972e-01 1.67041521e+02] [ 2.74845188e-01 4.87646195e-03 9.61476127e-01 1.17935175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:167.06, Z:117.95 [[-5.48879645e-01 8.18062235e-01 1.71771112e-01 2.92395654e+02] [-7.86747339e-01 -5.75006137e-01 2.24491797e-01 1.67061548e+02] [ 2.82417705e-01 -1.19214878e-02 9.59217451e-01 1.17947077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.40, Y:167.06, Z:117.94 [[-5.51397517e-01 8.17806993e-01 1.64780160e-01 2.92395099e+02] [-7.84907008e-01 -5.75486203e-01 2.29644549e-01 1.67056570e+02] [ 2.82633626e-01 -2.71166822e-03 9.59224103e-01 1.17944432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:166.78, Z:118.04 [[-5.52656664e-01 8.17197420e-01 1.63581748e-01 2.92197638e+02] [-7.84082682e-01 -5.76356991e-01 2.30275851e-01 1.66781947e+02] [ 2.82462315e-01 -9.98131735e-04 9.59277877e-01 1.18040289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:167.07, Z:118.99 [[-5.17300937e-01 -6.54500210e-01 5.51388444e-01 2.92685324e+02] [-7.94960843e-01 1.28902048e-01 -5.92808165e-01 1.67069358e+02] [ 3.16917968e-01 -7.44992441e-01 -5.86983189e-01 1.18988222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:166.92, Z:117.96 [[-5.11156636e-01 8.39943557e-01 1.82246304e-01 2.92270865e+02] [-7.92317063e-01 -5.42670534e-01 2.78823178e-01 1.66916396e+02] [ 3.33095430e-01 -1.87453822e-03 9.42891256e-01 1.17961404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:166.92, Z:117.96 [[-5.11726579e-01 8.39622473e-01 1.82126359e-01 2.92269079e+02] [-7.92123412e-01 -5.43167438e-01 2.78405522e-01 1.66915062e+02] [ 3.32680641e-01 -1.79904721e-03 9.43037833e-01 1.17962389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.12, Y:166.69, Z:118.05 [[-5.13072976e-01 8.40479714e-01 1.74212433e-01 2.92124045e+02] [-7.93219475e-01 -5.41825195e-01 2.77899845e-01 1.66692382e+02] [ 3.27961867e-01 4.39420603e-03 9.44680742e-01 1.18047018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:167.07, Z:118.87 [[-4.96938342e-01 -3.43690842e-01 7.96824253e-01 2.92347619e+02] [-7.79591828e-01 -2.26511194e-01 -5.83891481e-01 1.67074881e+02] [ 3.81167768e-01 -9.11355740e-01 -1.55376475e-01 1.18869721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:166.69, Z:118.89 [[-4.35674449e-01 -8.85190129e-01 -1.63175397e-01 2.92993887e+02] [-8.13704524e-01 4.64829577e-01 -3.49024946e-01 1.66689856e+02] [ 3.84802187e-01 -1.92846923e-02 -9.22797582e-01 1.18885916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:166.57, Z:118.94 [[-3.65550835e-01 -9.13179015e-01 -1.80212854e-01 2.92908772e+02] [-8.47910885e-01 4.06565491e-01 -3.40222916e-01 1.66567185e+02] [ 3.83952755e-01 2.84356698e-02 -9.22914782e-01 1.18941304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:166.68, Z:118.01 [[-3.52427449e-01 9.23014150e-01 1.54401332e-01 2.92059828e+02] [-8.48015244e-01 -3.84757955e-01 3.64460507e-01 1.66680587e+02] [ 3.95809346e-01 -2.48879636e-03 9.18329335e-01 1.18009570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:166.71, Z:117.98 [[-3.48194904e-01 9.26785265e-01 1.40816840e-01 2.92078929e+02] [-8.52940471e-01 -3.75541463e-01 3.62575734e-01 1.66706002e+02] [ 3.88912410e-01 6.13864099e-03 9.21254283e-01 1.17982135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.06, Y:166.71, Z:118.00 [[-3.51116770e-01 9.21947692e-01 1.63491486e-01 2.92063406e+02] [-8.48036618e-01 -3.87141101e-01 3.61877966e-01 1.66712195e+02] [ 3.96926830e-01 -1.15853438e-02 9.17777136e-01 1.18000170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:166.71, Z:118.00 [[-3.50929697e-01 9.23460288e-01 1.55143301e-01 2.92064627e+02] [-8.48084573e-01 -3.83679540e-01 3.65434766e-01 1.66708875e+02] [ 3.96989804e-01 -3.33272834e-03 9.17816969e-01 1.17997164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:166.71, Z:118.00 [[-3.51264772e-01 9.23308608e-01 1.55287716e-01 2.92063784e+02] [-8.47945857e-01 -3.84044408e-01 3.65373394e-01 1.66706890e+02] [ 3.96989778e-01 -3.33277321e-03 9.17816980e-01 1.17998145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:166.71, Z:118.00 [[-3.49465446e-01 9.23957044e-01 1.55490461e-01 2.92059787e+02] [-8.48623331e-01 -3.82472738e-01 3.65449102e-01 1.66708943e+02] [ 3.97130134e-01 -4.24100007e-03 9.17752510e-01 1.17998278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:166.71, Z:118.00 [[-3.48672616e-01 9.24204501e-01 1.55799379e-01 2.92057569e+02] [-8.48755275e-01 -3.81869019e-01 3.65773887e-01 1.66708608e+02] [ 3.97544829e-01 -4.70020682e-03 9.17570715e-01 1.17998956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:166.58, Z:118.95 [[-3.01576988e-01 -9.39912185e-01 -1.60051256e-01 2.92892250e+02] [-8.74825533e-01 3.39533087e-01 -3.45539535e-01 1.66580234e+02] [ 3.79119517e-01 3.58101533e-02 -9.24654544e-01 1.18949848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:166.35, Z:118.08 [[-3.09745964e-01 2.07707648e-01 -9.27855037e-01 2.92808847e+02] [-8.89359434e-01 2.81861132e-01 3.59991804e-01 1.66345975e+02] [ 3.36299322e-01 9.36702640e-01 9.74214082e-02 1.18078817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:292.00, Y:166.62, Z:118.07 [[-2.94082984e-01 9.49799099e-01 1.06756124e-01 2.91996285e+02] [-8.95804558e-01 -3.12847995e-01 3.15690237e-01 1.66615864e+02] [ 3.33240742e-01 -2.79349578e-03 9.42837634e-01 1.18070882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:166.62, Z:118.07 [[-2.96181693e-01 9.49141538e-01 1.06802367e-01 2.91997122e+02] [-8.95199196e-01 -3.14842120e-01 3.15424855e-01 1.66616297e+02] [ 3.33008715e-01 -2.18632591e-03 9.42921214e-01 1.18070374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.350385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.00, Y:166.61, Z:118.07 [[-2.98722814e-01 9.48327372e-01 1.06957358e-01 2.91996422e+02] [-8.94331637e-01 -3.17290333e-01 3.15432669e-01 1.66610490e+02] [ 3.33069969e-01 -1.42841479e-03 9.42901031e-01 1.18071308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:166.60, Z:118.07 [[-2.99932080e-01 9.47935405e-01 1.07047726e-01 2.91994245e+02] [-8.93963840e-01 -3.18460661e-01 3.15295830e-01 1.66604576e+02] [ 3.32970570e-01 -1.12946184e-03 9.42936543e-01 1.18074931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.410385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:291.99, Y:166.60, Z:118.07 [[-3.00037237e-01 9.47885845e-01 1.07191797e-01 2.91994542e+02] [-8.93955745e-01 -3.18607647e-01 3.15170262e-01 1.66603860e+02] [ 3.32897556e-01 -1.26190811e-03 9.42962154e-01 1.18073797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:291.99, Y:166.60, Z:118.08 [[-3.00686588e-01 9.47698637e-01 1.07027420e-01 2.91993178e+02] [-8.94067042e-01 -3.19164352e-01 3.14290057e-01 1.66599738e+02] [ 3.32011596e-01 -1.18688426e-03 9.43274558e-01 1.18077766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:166.59, Z:118.08 [[-3.00542592e-01 9.47731223e-01 1.07143266e-01 2.91992057e+02] [-8.94122003e-01 -3.19066894e-01 3.14232656e-01 1.66594278e+02] [ 3.31993968e-01 -1.35885484e-03 9.43280530e-01 1.18079967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:166.60, Z:118.08 [[-3.00189557e-01 9.47846248e-01 1.07115449e-01 2.91995968e+02] [-8.94412332e-01 -3.18723809e-01 3.13754226e-01 1.66599725e+02] [ 3.31531010e-01 -1.61963678e-03 9.43442932e-01 1.18077323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:166.58, Z:118.08 [[-3.00166308e-01 9.47838895e-01 1.07245594e-01 2.91990932e+02] [-8.94410092e-01 -3.18745001e-01 3.13739083e-01 1.66582059e+02] [ 3.31558103e-01 -1.74763894e-03 9.43433183e-01 1.18083653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:166.58, Z:118.08 [[-2.99024892e-01 9.48208308e-01 1.07168644e-01 2.91991905e+02] [-8.95020121e-01 -3.17640945e-01 3.13118530e-01 1.66582370e+02] [ 3.30942740e-01 -2.28785806e-03 9.43648064e-01 1.18083588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:166.59, Z:118.08 [[-2.98694325e-01 9.48308261e-01 1.07206075e-01 2.91995956e+02] [-8.95227224e-01 -3.17340553e-01 3.12830932e-01 1.66593800e+02] [ 3.30680992e-01 -2.53297297e-03 9.43739194e-01 1.18079493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.620385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:291.98, Y:166.52, Z:118.10 [[-2.90039986e-01 9.51921368e-01 9.86028159e-02 2.91978563e+02] [-9.00220429e-01 -3.06340876e-01 3.09448618e-01 1.66516408e+02] [ 3.24776825e-01 9.88203622e-04 9.45790166e-01 1.18095700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:166.54, Z:118.09 [[-2.88665225e-01 9.51929168e-01 1.02485352e-01 2.91984206e+02] [-9.00834669e-01 -3.06298230e-01 3.07698381e-01 1.66536842e+02] [ 3.24298145e-01 -3.50053576e-03 9.45948444e-01 1.18089456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:166.30, Z:118.17 [[-2.89703250e-01 9.52411394e-01 9.47869432e-02 2.91907300e+02] [-9.01769904e-01 -3.04797688e-01 3.06446422e-01 1.66304836e+02] [ 3.20753905e-01 3.30251158e-03 9.47156812e-01 1.18167425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:166.56, Z:118.10 [[-2.96942214e-01 9.47115036e-01 1.21648795e-01 2.91980671e+02] [-8.95620841e-01 -3.20425629e-01 3.08529942e-01 1.66558532e+02] [ 3.31192739e-01 -1.73356322e-02 9.43403861e-01 1.18097830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.98, Y:166.54, Z:118.10 [[-2.95564729e-01 9.48979869e-01 1.09903132e-01 2.91982875e+02] [-8.96060250e-01 -3.15277527e-01 3.12531774e-01 1.66544999e+02] [ 3.31236350e-01 -6.10645893e-03 9.43528056e-01 1.18095791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:291.98, Y:166.54, Z:118.10 [[-2.94256782e-01 9.49321097e-01 1.10464484e-01 2.91981909e+02] [-8.96493016e-01 -3.14227245e-01 3.12348381e-01 1.66543038e+02] [ 3.31229858e-01 -7.12000898e-03 9.43523231e-01 1.18096924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:291.98, Y:166.54, Z:118.10 [[-2.93341406e-01 9.49599898e-01 1.10502733e-01 2.91981360e+02] [-8.96886328e-01 -3.13373310e-01 3.12077048e-01 1.66542279e+02] [ 3.30976940e-01 -7.56327000e-03 9.43608532e-01 1.18097480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:166.54, Z:118.10 [[-2.91707353e-01 9.50111439e-01 1.10431309e-01 2.91981748e+02] [-8.97635366e-01 -3.11801237e-01 3.11497576e-01 1.66540105e+02] [ 3.30390028e-01 -8.26091510e-03 9.43808342e-01 1.18097690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:166.42, Z:119.06 [[-2.66933536e-01 -9.56530028e-01 -1.17459750e-01 2.92789975e+02] [-9.09337871e-01 2.90356345e-01 -2.97989646e-01 1.66423628e+02] [ 3.19141228e-01 2.72671694e-02 -9.47314825e-01 1.19059878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:166.24, Z:118.29 [[-2.45170387e-01 -3.73972778e-02 -9.68758445e-01 2.92839003e+02] [-9.27462839e-01 3.00037616e-01 2.23136979e-01 1.66240439e+02] [ 2.82319259e-01 9.53194037e-01 -1.08244924e-01 1.18286925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:166.44, Z:118.15 [[-2.09901730e-01 9.76402200e-01 5.07937693e-02 2.91935838e+02] [-9.44285552e-01 -2.15919667e-01 2.48401878e-01 1.66440854e+02] [ 2.53507514e-01 4.17616136e-03 9.67324403e-01 1.18145093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.44, Z:118.15 [[-2.11269553e-01 9.75605756e-01 5.96538831e-02 2.91932565e+02] [-9.44215025e-01 -2.19484800e-01 2.45528837e-01 1.66443752e+02] [ 2.52632467e-01 -4.45332513e-03 9.67552068e-01 1.18148056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.45, Z:118.15 [[-2.13128900e-01 9.74935759e-01 6.38462004e-02 2.91933485e+02] [-9.43919662e-01 -2.22333853e-01 2.44096969e-01 1.66448605e+02] [ 2.52174036e-01 -8.24156525e-03 9.67646801e-01 1.18148042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:166.42, Z:118.17 [[-2.22348395e-01 9.72344690e-01 7.14632385e-02 2.91920572e+02] [-9.39205645e-01 -2.33286420e-01 2.51932934e-01 1.66423165e+02] [ 2.61637054e-01 -1.11017934e-02 9.65102483e-01 1.18167921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:166.42, Z:118.17 [[-2.24185968e-01 9.72361374e-01 6.52227759e-02 2.91923368e+02] [-9.38703352e-01 -2.33440274e-01 2.53656571e-01 1.66416744e+02] [ 2.61871475e-01 -4.35859430e-03 9.65092914e-01 1.18166704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.41, Z:118.17 [[-2.26925880e-01 9.71726303e-01 6.52122455e-02 2.91925191e+02] [-9.38160348e-01 -2.36080866e-01 2.53221221e-01 1.66414049e+02] [ 2.61457084e-01 -3.71709454e-03 9.65207945e-01 1.18166379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.93, Y:166.40, Z:118.16 [[-2.25209812e-01 9.72739003e-01 5.53115939e-02 2.91931872e+02] [-9.40128901e-01 -2.31863577e-01 2.49793779e-01 1.66402375e+02] [ 2.55808895e-01 4.25598200e-03 9.66718002e-01 1.18158532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:166.41, Z:118.17 [[-2.30451882e-01 9.70371716e-01 7.25993379e-02 2.91923095e+02] [-9.37333764e-01 -2.41403738e-01 2.51256144e-01 1.66409579e+02] [ 2.61337607e-01 -1.01473595e-02 9.65194118e-01 1.18171101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.93, Y:166.41, Z:118.17 [[-2.32841103e-01 9.70328922e-01 6.51675157e-02 2.91927277e+02] [-9.36997286e-01 -2.41777290e-01 2.52150407e-01 1.66406532e+02] [ 2.60424858e-01 -2.35080648e-03 9.65491257e-01 1.18168602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.41, Z:118.16 [[-2.30919121e-01 9.70854229e-01 6.41749633e-02 2.91932488e+02] [-9.37797704e-01 -2.39660851e-01 2.51193436e-01 1.66412943e+02] [ 2.59252436e-01 -2.17776583e-03 9.65807140e-01 1.18162762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.41, Z:118.16 [[-2.33886475e-01 9.70158299e-01 6.39530473e-02 2.91932425e+02] [-9.37099607e-01 -2.42469449e-01 2.51103350e-01 1.66409706e+02] [ 2.59116659e-01 -1.20069825e-03 9.65845286e-01 1.18164246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.250385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:291.93, Y:166.40, Z:118.17 [[-2.35720775e-01 9.69565367e-01 6.61718668e-02 2.91928546e+02] [-9.36297896e-01 -2.44818801e-01 2.51813432e-01 1.66398078e+02] [ 2.60349700e-01 -2.59892232e-03 9.65510890e-01 1.18168788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.40, Z:118.17 [[-2.36923916e-01 9.69327872e-01 6.53493271e-02 2.91929789e+02] [-9.36046268e-01 -2.45766571e-01 2.51825688e-01 1.66397129e+02] [ 2.60162338e-01 -1.50646557e-03 9.65563715e-01 1.18171091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.40, Z:118.17 [[-2.36397599e-01 9.69446078e-01 6.55017329e-02 2.91929932e+02] [-9.36116613e-01 -2.45298336e-01 2.52020659e-01 1.66395351e+02] [ 2.60387906e-01 -1.74018151e-03 9.65502517e-01 1.18171190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.93, Y:166.39, Z:118.17 [[-2.34012065e-01 9.70018423e-01 6.55943006e-02 2.91928746e+02] [-9.36720507e-01 -2.43018782e-01 2.51985244e-01 1.66390964e+02] [ 2.60370976e-01 -2.47593918e-03 9.65505476e-01 1.18172369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.40, Z:118.17 [[-2.30995767e-01 9.70711989e-01 6.60241660e-02 2.91930990e+02] [-9.37171348e-01 -2.40221616e-01 2.52989011e-01 1.66396002e+02] [ 2.61439898e-01 -3.43656593e-03 9.65213639e-01 1.18170501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:166.39, Z:118.17 [[-2.26422602e-01 9.71774804e-01 6.62309283e-02 2.91930758e+02] [-9.38169303e-01 -2.35862358e-01 2.53391608e-01 1.66391486e+02] [ 2.61860963e-01 -4.76223651e-03 9.65093859e-01 1.18171664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:166.24, Z:119.16 [[-1.91081629e-01 -9.77875151e-01 -8.51351907e-02 2.92681836e+02] [-9.48154585e-01 2.06319737e-01 -2.41733426e-01 1.66237463e+02] [ 2.53950180e-01 3.45305048e-02 -9.66600719e-01 1.19158610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:166.14, Z:118.28 [[-1.79474147e-01 1.45930514e-01 -9.72878880e-01 2.92699250e+02] [-9.59807004e-01 1.90936694e-01 2.05702927e-01 1.66140355e+02] [ 2.15776611e-01 9.70694321e-01 1.05796929e-01 1.18280047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:166.29, Z:118.23 [[-1.50062239e-01 9.88114616e-01 3.33291142e-02 2.91882860e+02] [-9.69804440e-01 -1.53669338e-01 1.89380789e-01 1.66287345e+02] [ 1.92251588e-01 -3.90381775e-03 9.81337907e-01 1.18234427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:166.29, Z:118.23 [[-1.47698897e-01 9.88568796e-01 3.02782319e-02 2.91887442e+02] [-9.70684149e-01 -1.50760415e-01 1.87199308e-01 1.66293741e+02] [ 1.89624154e-01 -1.74146839e-03 9.81855207e-01 1.18228319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.550385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:291.88, Y:166.26, Z:118.24 [[-1.52427772e-01 9.87341255e-01 4.38522489e-02 2.91876116e+02] [-9.68873918e-01 -1.58039635e-01 1.90543444e-01 1.66261606e+02] [ 1.95061797e-01 -1.34431875e-02 9.80698820e-01 1.18243393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.81, Y:166.04, Z:118.55 [[-1.79378429e-01 -2.74274926e-01 -9.44773330e-01 2.92810723e+02] [-9.72024898e-01 1.97429125e-01 1.27237334e-01 1.66040674e+02] [ 1.51627762e-01 9.41166832e-01 -3.02016583e-01 1.18552291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:166.17, Z:118.29 [[-1.34890206e-01 9.90357929e-01 3.15563809e-02 2.91853415e+02] [-9.81846576e-01 -1.37881287e-01 1.30253798e-01 1.66168456e+02] [ 1.33348916e-01 -1.34135628e-02 9.90978377e-01 1.18292490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.80, Y:165.95, Z:118.64 [[-1.55573128e-01 -3.56141029e-01 -9.21390563e-01 2.92797156e+02] [-9.83990943e-01 1.37965238e-01 1.12815859e-01 1.65949432e+02] [ 8.69415119e-02 9.24191085e-01 -3.71903230e-01 1.18643521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.83, Y:166.06, Z:118.33 [[-1.14380704e-01 9.93319515e-01 1.52772794e-02 2.91831974e+02] [-9.90938187e-01 -1.15169552e-01 6.91193453e-02 1.66055446e+02] [ 7.04170720e-02 -7.23292012e-03 9.97491414e-01 1.18333921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:165.84, Z:118.68 [[-1.31209368e-01 -3.57603124e-01 -9.24610246e-01 2.92765835e+02] [-9.91135920e-01 6.69121483e-02 1.14770872e-01 1.65836324e+02] [ 2.08252355e-02 9.31473440e-01 -3.63212802e-01 1.18678456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:165.94, Z:118.37 [[-9.16403508e-02 9.95786466e-01 3.37046273e-03 2.91811201e+02] [-9.95784746e-01 -9.16522124e-02 3.55122766e-03 1.65942853e+02] [ 3.84517480e-03 -3.03081963e-03 9.99988014e-01 1.18366324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:165.80, Z:119.44 [[-7.80276558e-02 -7.61687227e-01 6.43229549e-01 2.92114474e+02] [-9.96630495e-01 4.32314362e-02 -6.97043669e-02 1.65797172e+02] [ 2.52851887e-02 -6.46501053e-01 -7.62493966e-01 1.19440580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:165.76, Z:118.35 [[-4.54267815e-02 9.98925810e-01 9.14511199e-03 2.91769954e+02] [-9.97615547e-01 -4.58395382e-02 5.15941681e-02 1.65758527e+02] [ 5.19579538e-02 -6.77954890e-03 9.98626261e-01 1.18351788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:165.61, Z:118.79 [[-4.51519428e-02 -5.04735289e-01 -8.62092565e-01 2.92720602e+02] [-9.98979817e-01 2.34973838e-02 3.85642124e-02 1.65605650e+02] [ 7.92201011e-04 8.62954322e-01 -5.05281319e-01 1.18794296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.75, Y:165.63, Z:118.38 [[-1.22635073e-02 9.99924765e-01 -2.66580025e-04 2.91753782e+02] [-9.99886391e-01 -1.22653725e-02 -8.76157780e-03 1.65629188e+02] [-8.76418833e-03 1.59102065e-04 9.99961581e-01 1.18380885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.880385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:291.76, Y:165.62, Z:118.38 [[-1.26510182e-02 9.99919919e-01 -3.26769878e-04 2.91755111e+02] [-9.99864647e-01 -1.26537553e-02 -1.05152648e-02 1.65624835e+02] [-1.05185576e-02 1.93696841e-04 9.99944660e-01 1.18380773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.75, Y:165.62, Z:118.39 [[-1.25978982e-02 9.99890717e-01 7.73605441e-03 2.91752537e+02] [-9.99900749e-01 -1.25484669e-02 -6.40536425e-03 1.65623921e+02] [-6.30758863e-03 -7.81598072e-03 9.99949561e-01 1.18385798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:165.48, Z:118.66 [[-2.75150286e-02 -2.44891453e-01 -9.69159997e-01 2.92661015e+02] [-9.97705076e-01 -5.32764556e-02 4.17875608e-02 1.65476933e+02] [-6.18668260e-02 9.68085634e-01 -2.42863543e-01 1.18661777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.970385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:291.75, Y:165.49, Z:118.41 [[ 8.74882886e-03 9.99957598e-01 2.87399542e-03 2.91745519e+02] [-9.97229415e-01 8.93720906e-03 -7.38486309e-02 1.65488863e+02] [-7.38711851e-02 -2.21994374e-03 9.97265321e-01 1.18408718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.43, Y:165.30, Z:119.37 [[ 2.89736516e-02 -9.99577499e-01 2.31322140e-03 2.92426302e+02] [-9.96117877e-01 -2.86807695e-02 8.32261337e-02 1.65303836e+02] [-8.31246256e-02 -4.71560619e-03 -9.96528003e-01 1.19366525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:165.32, Z:118.40 [[ 7.88988159e-02 9.96874571e-01 4.00830171e-03 2.91716773e+02] [-9.94013932e-01 7.89759523e-02 -7.54923960e-02 1.65315613e+02] [-7.55730093e-02 1.97195291e-03 9.97138321e-01 1.18395428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:165.29, Z:118.39 [[ 7.91594460e-02 9.96853823e-01 4.02949877e-03 2.91718335e+02] [-9.93993208e-01 7.92374386e-02 -7.54912644e-02 1.65287168e+02] [-7.55730427e-02 1.97055227e-03 9.97138322e-01 1.18393171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.41, Y:165.24, Z:119.36 [[ 1.03084924e-01 -9.94608975e-01 -1.12465895e-02 2.92414224e+02] [-9.91308445e-01 -1.03658855e-01 8.10086945e-02 1.65244050e+02] [-8.17377832e-02 2.79806400e-03 -9.96649941e-01 1.19361763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.120385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:292.42, Y:165.24, Z:119.35 [[ 1.79170959e-01 -9.82436439e-01 -5.21192069e-02 2.92418573e+02] [-9.80291296e-01 -1.82759591e-01 7.50193738e-02 1.65241384e+02] [-8.32270513e-02 3.76507117e-02 -9.95819101e-01 1.19345779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:165.24, Z:119.35 [[ 2.53443106e-01 -9.65961728e-01 -5.18124693e-02 2.92403504e+02] [-9.63820521e-01 -2.56727255e-01 7.17015990e-02 1.65235376e+02] [-8.25626735e-02 3.17656452e-02 -9.96079489e-01 1.19349448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:165.24, Z:119.31 [[ 3.29538454e-01 -9.34903903e-01 -1.31753935e-01 2.92429348e+02] [-9.39788146e-01 -3.38195616e-01 4.92134773e-02 1.65240597e+02] [-9.05684751e-02 1.07603053e-01 -9.90060066e-01 1.19312237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:165.21, Z:119.35 [[ 4.03250681e-01 -9.14469046e-01 -3.36934969e-02 2.92371979e+02] [-9.10317924e-01 -4.04631158e-01 8.71487486e-02 1.65209994e+02] [-9.33282717e-02 -4.47099812e-03 -9.95625353e-01 1.19352001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.37, Y:165.20, Z:119.35 [[ 4.74469442e-01 -8.79355053e-01 -4.01676451e-02 2.92366530e+02] [-8.75370691e-01 -4.76144728e-01 8.37397821e-02 1.65201896e+02] [-9.27626129e-02 -4.57038843e-03 -9.95677764e-01 1.19349664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.270385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:292.36, Y:165.19, Z:119.35 [[ 5.42987418e-01 -8.38412579e-01 -4.72124061e-02 2.92360813e+02] [-8.34489087e-01 -5.45016129e-01 8.11503683e-02 1.65191838e+02] [-9.37690124e-02 -4.66539126e-03 -9.95583049e-01 1.19348960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:165.18, Z:119.34 [[ 6.07413373e-01 -7.92644024e-01 -5.25780037e-02 2.92356723e+02] [-7.88996689e-01 -6.09666286e-01 7.61002228e-02 1.65183211e+02] [-9.23754231e-02 -4.74042216e-03 -9.95712966e-01 1.19344202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.36, Y:165.16, Z:119.34 [[ 6.66621382e-01 -7.42029609e-01 -7.07671716e-02 2.92360675e+02] [-7.39947803e-01 -6.70217676e-01 5.73194136e-02 1.65164039e+02] [-8.99621113e-02 1.41536665e-02 -9.95844613e-01 1.19341706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:165.19, Z:119.30 [[ 7.21929467e-01 -6.73794806e-01 -1.57538579e-01 2.92398769e+02] [-6.85709768e-01 -7.27161426e-01 -3.22238278e-02 1.65186360e+02] [-9.28437302e-02 1.31289074e-01 -9.86986941e-01 1.19298345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:165.30, Z:118.82 [[ 7.50402574e-01 -2.54572196e-01 -6.09990963e-01 2.92561710e+02] [-6.45767406e-01 -4.79220490e-01 -5.94417513e-01 1.65299003e+02] [-1.40997996e-01 8.39964713e-01 -5.24002715e-01 1.18819911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.94, Y:164.63, Z:118.35 [[ 7.72074563e-01 6.24817252e-01 1.16207878e-01 2.91936428e+02] [-6.14962049e-01 7.80634094e-01 -1.11499275e-01 1.64625563e+02] [-1.60382502e-01 1.46223196e-02 9.86946625e-01 1.18348030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.450385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:291.96, Y:164.60, Z:118.35 [[ 7.71013961e-01 6.24627347e-01 1.24008670e-01 2.91956988e+02] [-6.16663259e-01 7.80922943e-01 -9.94272726e-02 1.64600368e+02] [-1.58946209e-01 1.88224670e-04 9.87287226e-01 1.18346901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:164.57, Z:118.35 [[ 7.69015022e-01 6.26440938e-01 1.27230687e-01 2.91981165e+02] [-6.19794186e-01 7.79421914e-01 -9.14146983e-02 1.64569825e+02] [-1.56432295e-01 -8.55756360e-03 9.87651611e-01 1.18351897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:164.56, Z:118.34 [[ 7.68821590e-01 6.28028734e-01 1.20388007e-01 2.92011060e+02] [-6.19857554e-01 7.78184186e-01 -1.01024673e-01 1.64555071e+02] [-1.57130441e-01 3.04653348e-03 9.87573158e-01 1.18342813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:164.54, Z:118.34 [[ 7.69429766e-01 6.27407618e-01 1.19739367e-01 2.92036372e+02] [-6.19308532e-01 7.78684430e-01 -1.00536063e-01 1.64536806e+02] [-1.56316273e-01 3.19982803e-03 9.87701870e-01 1.18337246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:164.52, Z:118.33 [[ 7.69831925e-01 6.26967771e-01 1.19458028e-01 2.92061547e+02] [-6.18893462e-01 7.79038109e-01 -1.00351916e-01 1.64517232e+02] [-1.55979774e-01 3.32231598e-03 9.87754662e-01 1.18331797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:164.50, Z:118.33 [[ 7.70141036e-01 6.26632735e-01 1.19223325e-01 2.92087100e+02] [-6.18580986e-01 7.79307248e-01 -1.00188705e-01 1.64496924e+02] [-1.55693123e-01 3.41015083e-03 9.87799586e-01 1.18326569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:164.47, Z:118.33 [[ 7.72197568e-01 6.22282805e-01 1.28355082e-01 2.92107575e+02] [-6.16015948e-01 7.82721312e-01 -8.87225995e-02 1.64473138e+02] [-1.55676806e-01 -1.05574019e-02 9.87751625e-01 1.18328177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:164.46, Z:118.31 [[ 7.72210963e-01 6.25510957e-01 1.11473186e-01 2.92139622e+02] [-6.15603607e-01 7.80004374e-01 -1.12362698e-01 1.64463583e+02] [-1.57233672e-01 1.81444122e-02 9.87394730e-01 1.18311565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:164.44, Z:118.31 [[ 7.73744693e-01 6.21770593e-01 1.21327982e-01 2.92161130e+02] [-6.13348593e-01 7.83186038e-01 -1.02093749e-01 1.64438791e+02] [-1.58501273e-01 4.57814961e-03 9.87348159e-01 1.18310550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:164.42, Z:118.30 [[ 7.75043014e-01 6.20302838e-01 1.20551716e-01 2.92186797e+02] [-6.11965777e-01 7.84347264e-01 -1.01475397e-01 1.64419243e+02] [-1.57499885e-01 4.87427291e-03 9.87506976e-01 1.18304993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:164.40, Z:118.30 [[ 7.75028741e-01 6.20333409e-01 1.20486156e-01 2.92212219e+02] [-6.11996958e-01 7.84322866e-01 -1.01475937e-01 1.64398868e+02] [-1.57448961e-01 4.90960697e-03 9.87514922e-01 1.18299541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.24, Y:164.38, Z:118.29 [[ 7.74353120e-01 6.21153807e-01 1.20603460e-01 2.92237784e+02] [-6.12802017e-01 7.83674032e-01 -1.01630208e-01 1.64380777e+02] [-1.57641791e-01 4.79162478e-03 9.87484737e-01 1.18294380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:164.36, Z:118.29 [[ 7.74004980e-01 6.21618033e-01 1.20446303e-01 2.92263498e+02] [-6.13285502e-01 7.83306219e-01 -1.01549300e-01 1.64360844e+02] [-1.57471214e-01 4.73169220e-03 9.87512242e-01 1.18289066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:164.34, Z:118.28 [[ 7.73588750e-01 6.22179903e-01 1.20219024e-01 2.92288842e+02] [-6.13877034e-01 7.82860479e-01 -1.01412317e-01 1.64340757e+02] [-1.57211428e-01 4.65172944e-03 9.87554013e-01 1.18283867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.870385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.31, Y:164.32, Z:118.28 [[ 7.72959608e-01 6.23082563e-01 1.19589147e-01 2.92314418e+02] [-6.14869237e-01 7.82143201e-01 -1.00934798e-01 1.64322046e+02] [-1.56426551e-01 4.48683468e-03 9.87679403e-01 1.18277439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:164.30, Z:118.27 [[ 7.72408662e-01 6.23867427e-01 1.19055835e-01 2.92340710e+02] [-6.15729058e-01 7.81518094e-01 -1.00534548e-01 1.64303150e+02] [-1.55764519e-01 4.34761866e-03 9.87784649e-01 1.18272847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:164.28, Z:118.27 [[ 7.72171271e-01 6.24229805e-01 1.18695741e-01 2.92366797e+02] [-6.16136471e-01 7.81228915e-01 -1.00285749e-01 1.64282853e+02] [-1.55329899e-01 4.30499969e-03 9.87853273e-01 1.18267700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:164.27, Z:118.26 [[ 7.71711181e-01 6.24799167e-01 1.18692269e-01 2.92392626e+02] [-6.16703928e-01 7.80774013e-01 -1.00340452e-01 1.64265503e+02] [-1.55364470e-01 4.23586022e-03 9.87848136e-01 1.18261982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:164.25, Z:118.26 [[ 7.71710554e-01 6.24834878e-01 1.18508213e-01 2.92418484e+02] [-6.16756924e-01 7.80745280e-01 -1.00238241e-01 1.64246060e+02] [-1.55157077e-01 4.26414761e-03 9.87880610e-01 1.18256555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:164.23, Z:118.25 [[ 7.72005723e-01 6.24486767e-01 1.18420612e-01 2.92445337e+02] [-6.16407996e-01 7.81023135e-01 -1.00219981e-01 1.64227015e+02] [-1.55075290e-01 4.37498721e-03 9.87892967e-01 1.18251044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:164.21, Z:118.25 [[ 7.72165175e-01 6.24237530e-01 1.18694767e-01 2.92470731e+02] [-6.16109213e-01 7.81221756e-01 -1.00508738e-01 1.64206534e+02] [-1.55468261e-01 4.48040828e-03 9.87830727e-01 1.18245839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:164.19, Z:118.24 [[ 7.72307687e-01 6.23987153e-01 1.19083456e-01 2.92495849e+02] [-6.15793198e-01 7.81421112e-01 -1.00894909e-01 1.64186381e+02] [-1.56011454e-01 4.59113158e-03 9.87744576e-01 1.18240924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:164.16, Z:118.25 [[ 7.73550203e-01 6.20624109e-01 1.28241173e-01 2.92517319e+02] [-6.15259674e-01 7.83967142e-01 -8.27710993e-02 1.64159151e+02] [-1.51906605e-01 -1.48740215e-02 9.88282929e-01 1.18248278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:164.16, Z:118.22 [[ 7.72612805e-01 6.25910309e-01 1.06328448e-01 2.92553944e+02] [-6.15490536e-01 7.79512267e-01 -1.16327237e-01 1.64158132e+02] [-1.55694747e-01 2.44317594e-02 9.87503030e-01 1.18224935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:164.13, Z:118.23 [[ 7.72187321e-01 6.24202210e-01 1.18736443e-01 2.92574140e+02] [-6.16042398e-01 7.81249186e-01 -1.00704883e-01 1.64129792e+02] [-1.55622960e-01 4.61635099e-03 9.87805742e-01 1.18225348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:164.10, Z:118.23 [[ 7.72183465e-01 6.22701466e-01 1.26394548e-01 2.92595397e+02] [-6.17449890e-01 7.82321406e-01 -8.20295732e-02 1.64102984e+02] [-1.49961096e-01 -1.47004198e-02 9.88582605e-01 1.18231866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:164.09, Z:118.22 [[ 7.71380911e-01 6.25798864e-01 1.15530393e-01 2.92624629e+02] [-6.18951195e-01 7.79984421e-01 -9.23239998e-02 1.64088624e+02] [-1.47888161e-01 -2.90703538e-04 9.89004048e-01 1.18224251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:164.07, Z:118.22 [[ 7.69842589e-01 6.28478439e-01 1.11163120e-01 2.92651804e+02] [-6.21341374e-01 7.77818235e-01 -9.45182036e-02 1.64070597e+02] [-1.45867355e-01 3.69389281e-03 9.89297261e-01 1.18219602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.290385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:292.68, Y:164.07, Z:118.20 [[ 7.67585785e-01 6.33319137e-01 9.85846478e-02 2.92682489e+02] [-6.22840084e-01 7.73326932e-01 -1.18472301e-01 1.64066670e+02] [-1.51268938e-01 2.95351836e-02 9.88051305e-01 1.18196460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:164.04, Z:118.20 [[ 7.66274106e-01 6.31995513e-01 1.15782842e-01 2.92700247e+02] [-6.24294273e-01 7.74965735e-01 -9.84112316e-02 1.64035981e+02] [-1.51923192e-01 3.12741359e-03 9.88387355e-01 1.18199716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:164.02, Z:118.19 [[ 7.64438751e-01 6.34392256e-01 1.14803583e-01 2.92726483e+02] [-6.26839808e-01 7.73006678e-01 -9.76346757e-02 1.64016092e+02] [-1.50682618e-01 2.67227363e-03 9.88578579e-01 1.18193989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:163.99, Z:118.20 [[ 7.64416706e-01 6.32936528e-01 1.22712882e-01 2.92746452e+02] [-6.28152966e-01 7.74029937e-01 -7.93820399e-02 1.63986423e+02] [-1.45227237e-01 -1.64015034e-02 9.89262372e-01 1.18200578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:163.98, Z:118.19 [[ 7.63764952e-01 6.36163993e-01 1.09354803e-01 2.92775912e+02] [-6.28824093e-01 7.71538144e-01 -9.64839540e-02 1.63975760e+02] [-1.45751019e-01 4.92612773e-03 9.89309039e-01 1.18189099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:292.80, Y:163.96, Z:118.17 [[ 7.62743646e-01 6.38423943e-01 1.03135835e-01 2.92803230e+02] [-6.29080633e-01 7.69439432e-01 -1.10546454e-01 1.63963104e+02] [-1.49932282e-01 1.94378489e-02 9.88505175e-01 1.18173749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:163.94, Z:118.17 [[ 7.62619946e-01 6.36615770e-01 1.14591357e-01 2.92823455e+02] [-6.29094395e-01 7.71177593e-01 -9.75979621e-02 1.63935228e+02] [-1.50502689e-01 2.34137210e-03 9.88606827e-01 1.18174088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:163.92, Z:118.17 [[ 7.62063756e-01 6.37185612e-01 1.15123094e-01 2.92847743e+02] [-6.29591648e-01 7.70707000e-01 -9.81074728e-02 1.63915353e+02] [-1.51238845e-01 2.28361061e-03 9.88494612e-01 1.18168848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:163.89, Z:118.16 [[ 7.61047714e-01 6.38421099e-01 1.14999467e-01 2.92872093e+02] [-6.30849567e-01 7.69684473e-01 -9.80542505e-02 1.63894003e+02] [-1.51113206e-01 2.07659955e-03 9.88514283e-01 1.18163850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:163.87, Z:118.16 [[ 7.60406879e-01 6.39229057e-01 1.14750126e-01 2.92896660e+02] [-6.31691442e-01 7.69013911e-01 -9.78954884e-02 1.63872112e+02] [-1.50822084e-01 1.95372992e-03 9.88558993e-01 1.18159274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:163.85, Z:118.15 [[ 7.59673548e-01 6.40008095e-01 1.15263777e-01 2.92920933e+02] [-6.32403023e-01 7.68365940e-01 -9.83880044e-02 1.63850895e+02] [-1.51533880e-01 1.84960339e-03 9.88450334e-01 1.18154168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:163.83, Z:118.15 [[ 7.57710236e-01 6.42253184e-01 1.15698082e-01 2.92944967e+02] [-6.34607713e-01 7.66491191e-01 -9.88144995e-02 1.63830557e+02] [-1.52145488e-01 1.44986222e-03 9.88357045e-01 1.18149322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:163.81, Z:118.14 [[ 7.56576524e-01 6.43646420e-01 1.15374389e-01 2.92969949e+02] [-6.36052143e-01 7.65322044e-01 -9.85892474e-02 1.63809284e+02] [-1.51755179e-01 1.20618280e-03 9.88417377e-01 1.18143522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:163.79, Z:118.14 [[ 7.54402997e-01 6.46341536e-01 1.14537052e-01 2.92992832e+02] [-6.38880312e-01 7.63047919e-01 -9.79276304e-02 1.63787763e+02] [-1.50691954e-01 7.01430629e-04 9.88580519e-01 1.18138371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:163.77, Z:118.13 [[ 7.53492662e-01 6.47415781e-01 1.14462289e-01 2.93017019e+02] [-6.39969008e-01 7.62136819e-01 -9.79139266e-02 1.63765722e+02] [-1.50626946e-01 5.25107926e-04 9.88590536e-01 1.18133523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.740385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.04, Y:163.74, Z:118.13 [[ 7.53211627e-01 6.47776527e-01 1.14270806e-01 2.93040502e+02] [-6.40350836e-01 7.61830249e-01 -9.78032645e-02 1.63743255e+02] [-1.50409616e-01 4.93149726e-04 9.88623641e-01 1.18127023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:163.72, Z:118.12 [[ 7.53677689e-01 6.47068629e-01 1.15204734e-01 2.93064355e+02] [-6.39503316e-01 7.62431454e-01 -9.86599577e-02 1.63722071e+02] [-1.51675476e-01 6.83999517e-04 9.88430110e-01 1.18123752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:163.70, Z:118.12 [[ 7.55330880e-01 6.45049974e-01 1.15696986e-01 2.93088227e+02] [-6.37387693e-01 7.64139543e-01 -9.91346945e-02 1.63700218e+02] [-1.52355474e-01 1.13566076e-03 9.88325108e-01 1.18118502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:163.68, Z:118.11 [[ 7.56758605e-01 6.43361906e-01 1.15766453e-01 2.93112126e+02] [-6.35661812e-01 7.65560673e-01 -9.92517875e-02 1.63679389e+02] [-1.52481063e-01 1.52133082e-03 9.88305222e-01 1.18112916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:163.66, Z:118.11 [[ 7.60014658e-01 6.39541964e-01 1.15601885e-01 2.93135210e+02] [-6.31811519e-01 7.68752664e-01 -9.91642398e-02 1.63657527e+02] [-1.52288950e-01 2.32767306e-03 9.88333273e-01 1.18107660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:163.64, Z:118.10 [[ 7.61477675e-01 6.37803052e-01 1.15581216e-01 2.93159344e+02] [-6.30047300e-01 7.70194707e-01 -9.91993559e-02 1.63635249e+02] [-1.52289693e-01 2.71646188e-03 9.88332166e-01 1.18102748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:163.61, Z:118.10 [[ 7.62952418e-01 6.35950949e-01 1.16060317e-01 2.93183801e+02] [-6.28100989e-01 7.71723091e-01 -9.96625251e-02 1.63613348e+02] [-1.52946904e-01 3.14016456e-03 9.88229419e-01 1.18097760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:163.59, Z:118.09 [[ 7.62875403e-01 6.36048503e-01 1.16031984e-01 2.93208833e+02] [-6.28194651e-01 7.71642591e-01 -9.96955014e-02 1.63591762e+02] [-1.52946395e-01 3.16457424e-03 9.88229420e-01 1.18092487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:163.57, Z:118.09 [[ 7.65876724e-01 6.32354401e-01 1.16450656e-01 2.93233241e+02] [-6.24397058e-01 7.74669227e-01 -1.00079486e-01 1.63571436e+02] [-1.53496443e-01 3.93710144e-03 9.88141357e-01 1.18087250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:163.55, Z:118.08 [[ 7.67231403e-01 6.30717049e-01 1.16412963e-01 2.93258410e+02] [-6.22737979e-01 7.76000949e-01 -1.00099634e-01 1.63550343e+02] [-1.53471116e-01 4.30480896e-03 9.88143757e-01 1.18081517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:163.53, Z:118.08 [[ 7.69337989e-01 6.28302414e-01 1.15564417e-01 2.93283169e+02] [-6.20404446e-01 7.77954427e-01 -9.94245106e-02 1.63529447e+02] [-1.52372510e-01 4.79437501e-03 9.88311506e-01 1.18076553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:163.51, Z:118.07 [[ 7.69698935e-01 6.27849188e-01 1.15624161e-01 2.93307809e+02] [-6.19929375e-01 7.78319401e-01 -9.95313068e-02 1.63508304e+02] [-1.52483178e-01 4.93032729e-03 9.88293768e-01 1.18071722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:163.49, Z:118.07 [[ 7.69109616e-01 6.28584539e-01 1.15550317e-01 2.93332764e+02] [-6.20674599e-01 7.77726299e-01 -9.95230958e-02 1.63487361e+02] [-1.52425200e-01 4.82502322e-03 9.88303232e-01 1.18066521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:163.47, Z:118.06 [[ 7.68290114e-01 6.29586755e-01 1.15545742e-01 2.93357095e+02] [-6.21680151e-01 7.76916156e-01 -9.95744764e-02 1.63467438e+02] [-1.52460125e-01 4.66959147e-03 9.88298591e-01 1.18061156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.160385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.38, Y:163.45, Z:118.05 [[ 7.66026200e-01 6.32412522e-01 1.15144532e-01 2.93383406e+02] [-6.24584858e-01 7.74620758e-01 -9.92795860e-02 1.63448820e+02] [-1.51978998e-01 4.13323260e-03 9.88375081e-01 1.18053778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:163.43, Z:118.05 [[ 7.64818031e-01 6.33947311e-01 1.14735289e-01 2.93408579e+02] [-6.26184047e-01 7.73366614e-01 -9.89829309e-02 1.63428899e+02] [-1.51482405e-01 3.85852291e-03 9.88452423e-01 1.18049829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:163.41, Z:118.04 [[ 7.63438887e-01 6.35654310e-01 1.14475607e-01 2.93433806e+02] [-6.27937430e-01 7.71965658e-01 -9.88109665e-02 1.63408827e+02] [-1.51180854e-01 3.55261582e-03 9.88499736e-01 1.18044140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:163.39, Z:118.04 [[ 7.62845220e-01 6.36222954e-01 1.15271518e-01 2.93458521e+02] [-6.28395421e-01 7.71497272e-01 -9.95547770e-02 1.63389097e+02] [-1.52270696e-01 3.50879166e-03 9.88332598e-01 1.18040478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:163.37, Z:118.04 [[ 7.62267590e-01 6.36809141e-01 1.15854384e-01 2.93484058e+02] [-6.28900287e-01 7.71013756e-01 -1.00111028e-01 1.63368105e+02] [-1.53076942e-01 3.45053636e-03 9.88208249e-01 1.18035676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:163.35, Z:118.03 [[ 7.61939386e-01 6.37121512e-01 1.16295100e-01 2.93509650e+02] [-6.29146690e-01 7.70755672e-01 -1.00549179e-01 1.63347730e+02] [-1.53697153e-01 3.44570255e-03 9.88111994e-01 1.18030585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:163.33, Z:118.03 [[ 7.61403874e-01 6.37765892e-01 1.16270407e-01 2.93535008e+02] [-6.29792981e-01 7.70222941e-01 -1.00585400e-01 1.63329273e+02] [-1.53704072e-01 3.35982697e-03 9.88111213e-01 1.18025732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:163.31, Z:118.02 [[ 7.61308602e-01 6.37842442e-01 1.16474167e-01 2.93559725e+02] [-6.29833909e-01 7.70159407e-01 -1.00815350e-01 1.63310270e+02] [-1.54007985e-01 3.39221345e-03 9.88063780e-01 1.18020841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.400385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.58, Y:163.29, Z:118.02 [[ 7.61730889e-01 6.37342468e-01 1.16450126e-01 2.93584596e+02] [-6.29323244e-01 7.70572574e-01 -1.00847225e-01 1.63290008e+02] [-1.54007492e-01 3.53367498e-03 9.88063361e-01 1.18015126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:163.27, Z:118.01 [[ 7.61902058e-01 6.37085645e-01 1.16735323e-01 2.93609606e+02] [-6.29014837e-01 7.70784428e-01 -1.01151868e-01 1.63269407e+02] [-1.54420172e-01 3.63956672e-03 9.87998565e-01 1.18011147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:163.25, Z:118.01 [[ 7.62368202e-01 6.36559221e-01 1.16563645e-01 2.93635584e+02] [-6.28497145e-01 7.71218533e-01 -1.01060934e-01 1.63250037e+02] [-1.54227312e-01 3.78572422e-03 9.88028140e-01 1.18006199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:163.23, Z:118.00 [[ 7.62075403e-01 6.37022511e-01 1.15945683e-01 2.93661156e+02] [-6.29042621e-01 7.70836238e-01 -1.00582674e-01 1.63229832e+02] [-1.53448561e-01 3.71680549e-03 9.88149647e-01 1.18000883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:163.21, Z:118.00 [[ 7.61090612e-01 6.38334968e-01 1.15193525e-01 2.93687010e+02] [-6.30465077e-01 7.69750870e-01 -9.99869194e-02 1.63209469e+02] [-1.52495463e-01 3.47361107e-03 9.88298066e-01 1.17995512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:163.19, Z:117.99 [[ 7.61057928e-01 6.38375503e-01 1.15184844e-01 2.93711922e+02] [-6.30498517e-01 7.69717092e-01 -1.00036085e-01 1.63188561e+02] [-1.52520329e-01 3.50938277e-03 9.88294103e-01 1.17990354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:163.17, Z:117.99 [[ 7.61426654e-01 6.37995663e-01 1.14852011e-01 2.93736324e+02] [-6.30151339e-01 7.70031450e-01 -9.98040864e-02 1.63168239e+02] [-1.52114235e-01 3.61934282e-03 9.88356292e-01 1.17985224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:163.15, Z:117.98 [[ 7.61418227e-01 6.38045059e-01 1.14633269e-01 2.93760958e+02] [-6.30223209e-01 7.69990407e-01 -9.96668454e-02 1.63147246e+02] [-1.51858456e-01 3.64360592e-03 9.88395535e-01 1.17979868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:163.13, Z:117.97 [[ 7.61911772e-01 6.37843324e-01 1.12455971e-01 2.93785853e+02] [-6.30307117e-01 7.70157475e-01 -9.78284293e-02 1.63126242e+02] [-1.49008017e-01 3.65483309e-03 9.88829234e-01 1.17974163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:163.10, Z:117.97 [[ 7.62232917e-01 6.37527620e-01 1.12069239e-01 2.93810671e+02] [-6.30031695e-01 7.70418389e-01 -9.75477827e-02 1.63104708e+02] [-1.48529608e-01 3.74695831e-03 9.88900863e-01 1.17968674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:163.08, Z:117.96 [[ 7.62346019e-01 6.37475652e-01 1.11594532e-01 2.93835120e+02] [-6.30034644e-01 7.70461209e-01 -9.71898763e-02 1.63083212e+02] [-1.47935438e-01 3.78389382e-03 9.88989782e-01 1.17963759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:163.06, Z:117.96 [[ 7.63202387e-01 6.36421615e-01 1.11757076e-01 2.93858959e+02] [-6.28939071e-01 7.71330811e-01 -9.73880128e-02 1.63062260e+02] [-1.48181513e-01 4.03837203e-03 9.88951936e-01 1.17959446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:163.04, Z:117.95 [[ 7.64645087e-01 6.34578599e-01 1.12373896e-01 2.93883484e+02] [-6.26984972e-01 7.72845453e-01 -9.79783213e-02 1.63040745e+02] [-1.49022600e-01 4.46189799e-03 9.88823723e-01 1.17954919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:163.02, Z:117.95 [[ 7.65113626e-01 6.34011866e-01 1.12383689e-01 2.93907767e+02] [-6.26402497e-01 7.73309541e-01 -9.80421616e-02 1.63019433e+02] [-1.49067273e-01 4.61597045e-03 9.88816283e-01 1.17950076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:163.00, Z:117.95 [[ 7.65980026e-01 6.33051288e-01 1.11895786e-01 2.93931503e+02] [-6.25489789e-01 7.74094818e-01 -9.76715752e-02 1.62998835e+02] [-1.48449064e-01 4.82480432e-03 9.88908285e-01 1.17945030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:162.98, Z:117.94 [[ 7.66290428e-01 6.32792402e-01 1.11232889e-01 2.93955714e+02] [-6.25310487e-01 7.74306084e-01 -9.71436213e-02 1.62977897e+02] [-1.47600048e-01 4.88513533e-03 9.89035066e-01 1.17940321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:162.96, Z:117.94 [[ 7.66447584e-01 6.32659713e-01 1.10904413e-01 2.93980005e+02] [-6.25213395e-01 7.74414188e-01 -9.69065309e-02 1.62956989e+02] [-1.47194809e-01 4.93485219e-03 9.89095211e-01 1.17935255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:162.94, Z:117.93 [[ 7.66043935e-01 6.33168515e-01 1.10789541e-01 2.94004527e+02] [-6.25734879e-01 7.73998624e-01 -9.68606815e-02 1.62936825e+02] [-1.47080086e-01 4.87465770e-03 9.89112575e-01 1.17930837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:162.90, Z:117.94 [[ 7.63486220e-01 6.33835786e-01 1.23858742e-01 2.94022870e+02] [-6.30219945e-01 7.73112694e-01 -7.15512602e-02 1.62901016e+02] [-1.41108515e-01 -2.34298484e-02 9.89716843e-01 1.17941764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.970385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.06, Y:162.91, Z:117.91 [[ 7.62851799e-01 6.40118058e-01 9.11372864e-02 2.94061782e+02] [-6.29937133e-01 7.67572223e-01 -1.18372679e-01 1.62909577e+02] [-1.45726939e-01 3.28900501e-02 9.88777985e-01 1.17913644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:162.88, Z:117.92 [[ 7.58571571e-01 6.42040303e-01 1.11145942e-01 2.94078438e+02] [-6.34637098e-01 7.66663993e-01 -9.72732041e-02 1.62877101e+02] [-1.47664910e-01 3.25134892e-03 9.89032104e-01 1.17917420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:162.83, Z:117.94 [[ 7.54987350e-01 6.41946305e-01 1.33787304e-01 2.94092113e+02] [-6.40858420e-01 7.65552409e-01 -5.68330459e-02 1.62829024e+02] [-1.38904957e-01 -4.28304894e-02 9.89379079e-01 1.17937611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:162.85, Z:117.90 [[ 7.54546385e-01 6.51257944e-01 8.07641238e-02 2.94141394e+02] [-6.39306558e-01 7.57263224e-01 -1.33564724e-01 1.62854930e+02] [-1.48144788e-01 4.91477458e-02 9.87743702e-01 1.17896041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:162.82, Z:117.90 [[ 7.52748056e-01 6.48490936e-01 1.13269016e-01 2.94151067e+02] [-6.40865469e-01 7.61219574e-01 -9.91776777e-02 1.62815312e+02] [-1.50538417e-01 2.06560320e-03 9.88602002e-01 1.17903031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:162.79, Z:117.90 [[ 7.52305286e-01 6.49005883e-01 1.13261295e-01 2.94174533e+02] [-6.41379141e-01 7.60780750e-01 -9.92242320e-02 1.62793988e+02] [-1.50564123e-01 2.00348216e-03 9.88598215e-01 1.17898302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:162.77, Z:117.89 [[ 7.52413471e-01 6.48869796e-01 1.13322358e-01 2.94198818e+02] [-6.41225244e-01 7.60896638e-01 -9.93302156e-02 1.62772306e+02] [-1.50678978e-01 2.07223555e-03 9.88580574e-01 1.17893051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:162.75, Z:117.89 [[ 7.52690488e-01 6.48552250e-01 1.13300522e-01 2.94222903e+02] [-6.40898534e-01 7.61167020e-01 -9.93671792e-02 1.62750612e+02] [-1.50685428e-01 2.17859236e-03 9.88579362e-01 1.17887712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:162.73, Z:117.88 [[ 7.52526909e-01 6.48763201e-01 1.13179328e-01 2.94247163e+02] [-6.41119713e-01 7.60987232e-01 -9.93174062e-02 1.62728889e+02] [-1.50561502e-01 2.17752211e-03 9.88598246e-01 1.17882383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:162.71, Z:117.88 [[ 7.52257162e-01 6.49116384e-01 1.12947252e-01 2.94270813e+02] [-6.41499754e-01 7.60686082e-01 -9.91703127e-02 1.62707041e+02] [-1.50290478e-01 2.14594332e-03 9.88639554e-01 1.17877397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:162.68, Z:117.87 [[ 7.51210273e-01 6.50329622e-01 1.12935863e-01 2.94294251e+02] [-6.42719582e-01 7.59649652e-01 -9.92166588e-02 1.62683863e+02] [-1.50315221e-01 1.94648303e-03 9.88636205e-01 1.17873242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:162.66, Z:117.87 [[ 7.48770658e-01 6.53800065e-01 1.09031998e-01 2.94319621e+02] [-6.45901079e-01 7.56646936e-01 -1.01475168e-01 1.62663025e+02] [-1.48843199e-01 5.55774335e-03 9.88845192e-01 1.17867134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:162.64, Z:117.86 [[ 7.46897428e-01 6.54896859e-01 1.15127477e-01 2.94339944e+02] [-6.47876684e-01 7.55711821e-01 -9.56840957e-02 1.62639024e+02] [-1.49666409e-01 -3.12220314e-03 9.88731621e-01 1.17864570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:162.62, Z:117.86 [[ 7.43298948e-01 6.59577097e-01 1.11645542e-01 2.94363205e+02] [-6.52224253e-01 7.51636893e-01 -9.82115271e-02 1.62618534e+02] [-1.48694982e-01 1.82594582e-04 9.88883092e-01 1.17858070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:162.60, Z:117.85 [[ 7.41850492e-01 6.61381496e-01 1.10600019e-01 2.94386608e+02] [-6.54178851e-01 7.50049663e-01 -9.73423520e-02 1.62596232e+02] [-1.47335937e-01 -1.38721485e-04 9.89086499e-01 1.17852797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:162.57, Z:117.85 [[ 7.40264181e-01 6.63130230e-01 1.10757577e-01 2.94407604e+02] [-6.55918216e-01 7.48503907e-01 -9.75356103e-02 1.62572755e+02] [-1.47581291e-01 -4.45793780e-04 9.89049829e-01 1.17847576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:162.55, Z:117.84 [[ 7.40029791e-01 6.63317312e-01 1.11202752e-01 2.94430846e+02] [-6.56041384e-01 7.48338122e-01 -9.79783535e-02 1.62549567e+02] [-1.48207996e-01 -4.46706709e-04 9.88956111e-01 1.17842569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:162.53, Z:117.84 [[ 7.40084096e-01 6.63231816e-01 1.11351198e-01 2.94453226e+02] [-6.55927208e-01 7.48413928e-01 -9.81635925e-02 1.62527038e+02] [-1.48442005e-01 -3.88967023e-04 9.88921038e-01 1.17837483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:162.50, Z:117.83 [[ 7.40691909e-01 6.62601704e-01 1.11060699e-01 2.94475207e+02] [-6.55320870e-01 7.48971917e-01 -9.79572653e-02 1.62503194e+02] [-1.48087996e-01 -2.24240140e-04 9.88974163e-01 1.17832264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:162.48, Z:117.83 [[ 7.40600290e-01 6.62808102e-01 1.10438360e-01 2.94496470e+02] [-6.55603149e-01 7.48789270e-01 -9.74635311e-02 1.62479448e+02] [-1.47294677e-01 -2.22217081e-04 9.89092629e-01 1.17826721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:162.46, Z:117.82 [[ 7.39936639e-01 6.63598243e-01 1.10141467e-01 2.94519639e+02] [-6.56433305e-01 7.48089070e-01 -9.72525598e-02 1.62456465e+02] [-1.46932255e-01 -3.39794670e-04 9.89146499e-01 1.17821770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:162.43, Z:117.82 [[ 7.38256191e-01 6.65390493e-01 1.10604202e-01 2.94540936e+02] [-6.58176954e-01 7.46495183e-01 -9.77140691e-02 1.62432691e+02] [-1.47583517e-01 -6.59120420e-04 9.89049378e-01 1.17816628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:162.40, Z:117.82 [[ 7.36302024e-01 6.65846524e-01 1.20448066e-01 2.94559315e+02] [-6.61138004e-01 7.45829699e-01 -8.14530463e-02 1.62397407e+02] [-1.44068972e-01 -1.96587509e-02 9.89372359e-01 1.17821849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:162.39, Z:117.80 [[ 7.34540665e-01 6.71433619e-01 9.81168018e-02 2.94590760e+02] [-6.61983352e-01 7.40830439e-01 -1.13790610e-01 1.62394358e+02] [-1.49090754e-01 1.86321407e-02 9.88647961e-01 1.17800978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:162.36, Z:117.80 [[ 7.33489373e-01 6.70543473e-01 1.11197083e-01 2.94607879e+02] [-6.63292457e-01 7.41868488e-01 -9.83578299e-02 1.62363370e+02] [-1.48446813e-01 -1.61176357e-03 9.88919080e-01 1.17801663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:162.34, Z:117.79 [[ 7.32554684e-01 6.71858168e-01 1.09408580e-01 2.94629498e+02] [-6.64097297e-01 7.40677264e-01 -1.01842874e-01 1.62342304e+02] [-1.49460415e-01 1.94753217e-03 9.88765792e-01 1.17792816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:162.31, Z:117.79 [[ 7.31135834e-01 6.72447242e-01 1.15130787e-01 2.94649055e+02] [-6.66212356e-01 7.40083539e-01 -9.18556037e-02 1.62312520e+02] [-1.46974448e-01 -9.54262959e-03 9.89094257e-01 1.17793193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:162.29, Z:117.78 [[ 7.29862988e-01 6.75115757e-01 1.07325365e-01 2.94672399e+02] [-6.67639805e-01 7.37710327e-01 -1.00202616e-01 1.62293788e+02] [-1.46823395e-01 1.47949530e-03 9.89161616e-01 1.17784785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:162.27, Z:117.78 [[ 7.29310579e-01 6.75318461e-01 1.09777306e-01 2.94693267e+02] [-6.68274050e-01 7.37522391e-01 -9.73165772e-02 1.62269379e+02] [-1.46682902e-01 -2.38731577e-03 9.89180685e-01 1.17780886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:162.25, Z:117.77 [[ 7.29086218e-01 6.76258348e-01 1.05394186e-01 2.94715392e+02] [-6.68701999e-01 7.36658200e-01 -1.00857990e-01 1.62245991e+02] [-1.45845549e-01 3.05686807e-03 9.89302649e-01 1.17774314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:162.22, Z:117.77 [[ 7.29062111e-01 6.75712770e-01 1.08998585e-01 2.94738497e+02] [-6.68770019e-01 7.37160991e-01 -9.66454143e-02 1.62221734e+02] [-1.45654045e-01 -2.43447573e-03 9.89332589e-01 1.17770807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:162.20, Z:117.77 [[ 7.29716565e-01 6.75537488e-01 1.05654331e-01 2.94762415e+02] [-6.68421841e-01 7.37325271e-01 -9.77941108e-02 1.62199585e+02] [-1.43965196e-01 7.40320170e-04 9.89582475e-01 1.17765729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:162.18, Z:117.76 [[ 7.31142634e-01 6.74116013e-01 1.04871586e-01 2.94782402e+02] [-6.67016852e-01 7.38624158e-01 -9.75852043e-02 1.62175182e+02] [-1.43244436e-01 1.39758803e-03 9.89686354e-01 1.17760798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:162.15, Z:117.76 [[ 7.31580844e-01 6.71607098e-01 1.17189483e-01 2.94800076e+02] [-6.65983235e-01 7.40779015e-01 -8.78224453e-02 1.62145735e+02] [-1.45793687e-01 -1.37970122e-02 9.89218805e-01 1.17761216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.82, Y:162.13, Z:117.75 [[ 7.33443733e-01 6.70860951e-01 1.09571321e-01 2.94823201e+02] [-6.63764681e-01 7.41581941e-01 -9.73276626e-02 1.62125736e+02] [-1.46549442e-01 -1.34520895e-03 9.89202432e-01 1.17752519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.020385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.85, Y:162.13, Z:117.72 [[ 7.36876166e-01 6.69320626e-01 9.49916649e-02 2.94854217e+02] [-6.57768853e-01 7.42297284e-01 -1.27807974e-01 1.62125507e+02] [-1.56056568e-01 3.16960914e-02 9.87239437e-01 1.17723464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.050385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.87, Y:162.09, Z:117.73 [[ 7.38909213e-01 6.63818277e-01 1.15578848e-01 2.94866294e+02] [-6.55276692e-01 7.47888950e-01 -1.06181799e-01 1.62089435e+02] [-1.56925562e-01 2.72258420e-03 9.87606681e-01 1.17726212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.88, Y:162.04, Z:117.75 [[ 7.37378053e-01 6.63288505e-01 1.27757450e-01 2.94879641e+02] [-6.59986148e-01 7.47737785e-01 -7.28456629e-02 1.62043261e+02] [-1.43846764e-01 -3.06033544e-02 9.89126657e-01 1.17747926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.91, Y:162.04, Z:117.72 [[ 7.40795463e-01 6.63489893e-01 1.04896353e-01 2.94912169e+02] [-6.53875402e-01 7.48023084e-01 -1.13615244e-01 1.62044962e+02] [-1.53847459e-01 1.55765125e-02 9.87971827e-01 1.17716694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.93, Y:162.01, Z:117.72 [[ 7.42016252e-01 6.59728737e-01 1.19037288e-01 2.94925409e+02] [-6.53334180e-01 7.51444778e-01 -9.21151198e-02 1.62007071e+02] [-1.50220940e-01 -9.42021327e-03 9.88607571e-01 1.17722818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:161.99, Z:117.71 [[ 7.42996240e-01 6.61030349e-01 1.04859261e-01 2.94953486e+02] [-6.52308858e-01 7.50269765e-01 -1.07649588e-01 1.61993738e+02] [-1.49832378e-01 1.15826144e-02 9.88643567e-01 1.17709480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:161.96, Z:117.71 [[ 7.42896327e-01 6.58425254e-01 1.20752771e-01 2.94968555e+02] [-6.52421015e-01 7.52546439e-01 -8.95582296e-02 1.61960393e+02] [-1.49839468e-01 -1.22491657e-02 9.88634458e-01 1.17714459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.99, Y:161.93, Z:117.72 [[ 7.41121305e-01 6.60716055e-01 1.19136505e-01 2.94987997e+02] [-6.56053989e-01 7.50408009e-01 -8.05045542e-02 1.61926966e+02] [-1.42591639e-01 -1.84963390e-02 9.89608766e-01 1.17721789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:161.92, Z:117.71 [[ 7.40866623e-01 6.64362374e-01 9.86878089e-02 2.95018220e+02] [-6.56804653e-01 7.47349608e-01 -1.00380329e-01 1.61915663e+02] [-1.40443209e-01 9.54982298e-03 9.90042679e-01 1.17706082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:161.88, Z:117.71 [[ 7.40341644e-01 6.62637815e-01 1.13160844e-01 2.95034731e+02] [-6.56697523e-01 7.48892084e-01 -8.89326178e-02 1.61883693e+02] [-1.43675376e-01 -8.47192580e-03 9.89588608e-01 1.17708018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.06, Y:161.86, Z:117.70 [[ 7.39979033e-01 6.63997924e-01 1.07414097e-01 2.95060508e+02] [-6.57006016e-01 7.47734217e-01 -9.61074158e-02 1.61863854e+02] [-1.44132320e-01 5.45764788e-04 9.89558273e-01 1.17699598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.08, Y:161.84, Z:117.69 [[ 7.39826441e-01 6.64044348e-01 1.08175514e-01 2.95081048e+02] [-6.56944792e-01 7.47692962e-01 -9.68440799e-02 1.61840032e+02] [-1.45190834e-01 5.82470401e-04 9.89403498e-01 1.17694826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.11, Y:161.82, Z:117.69 [[ 7.39986841e-01 6.65286143e-01 9.90647449e-02 2.95105450e+02] [-6.57298018e-01 7.46501239e-01 -1.03417679e-01 1.61819205e+02] [-1.42754303e-01 1.14126610e-02 9.89692356e-01 1.17686249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:161.79, Z:117.69 [[ 7.39420867e-01 6.63210993e-01 1.15792747e-01 2.95121483e+02] [-6.57252304e-01 7.48364424e-01 -8.92753995e-02 1.61788098e+02] [-1.45863599e-01 -1.00929566e-02 9.89253225e-01 1.17689660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:161.77, Z:117.68 [[ 7.39365283e-01 6.64356507e-01 1.09404803e-01 2.95147449e+02] [-6.57082734e-01 7.47415595e-01 -9.80418786e-02 1.61769484e+02] [-1.46905616e-01 6.00754071e-04 9.89150332e-01 1.17680396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:161.75, Z:117.67 [[ 7.40808271e-01 6.62609998e-01 1.10232014e-01 2.95169210e+02] [-6.54903403e-01 7.48960511e-01 -1.00795265e-01 1.61748231e+02] [-1.49347376e-01 2.47864446e-03 9.88781684e-01 1.17671744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:161.72, Z:117.67 [[ 7.39235652e-01 6.64205345e-01 1.11184134e-01 2.95189375e+02] [-6.57145809e-01 7.47548337e-01 -9.65964298e-02 1.61719358e+02] [-1.47275379e-01 -1.65666267e-03 9.89094140e-01 1.17671027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.21, Y:161.70, Z:117.67 [[ 7.38717941e-01 6.65120353e-01 1.09136247e-01 2.95212491e+02] [-6.57869392e-01 7.46735969e-01 -9.79451724e-02 1.61697250e+02] [-1.46641289e-01 5.56459306e-04 9.89189579e-01 1.17665094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.560385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.24, Y:161.68, Z:117.65 [[ 7.40538402e-01 6.63941933e-01 1.03845967e-01 2.95236390e+02] [-6.55449133e-01 7.47707211e-01 -1.06397178e-01 1.61682981e+02] [-1.48287926e-01 1.07254472e-02 9.88886068e-01 1.17649878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:161.65, Z:117.66 [[ 7.38547502e-01 6.64272151e-01 1.15282685e-01 2.95254122e+02] [-6.58466604e-01 7.47414099e-01 -8.82830417e-02 1.61645682e+02] [-1.44807870e-01 -1.07085781e-02 9.89401843e-01 1.17658776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:161.63, Z:117.65 [[ 7.39677097e-01 6.64320304e-01 1.07500354e-01 2.95278761e+02] [-6.57255769e-01 7.47447566e-01 -9.66280986e-02 1.61627356e+02] [-1.44542886e-01 8.18363417e-04 9.89498198e-01 1.17648883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:161.60, Z:117.64 [[ 7.40533547e-01 6.63391576e-01 1.07339101e-01 2.95301378e+02] [-6.56333889e-01 7.48271722e-01 -9.65155701e-02 1.61604052e+02] [-1.44346430e-01 1.02272771e-03 9.89526686e-01 1.17643879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.32, Y:161.58, Z:117.64 [[ 7.43205120e-01 6.60414514e-01 1.07232547e-01 2.95322163e+02] [-6.53332202e-01 7.50899445e-01 -9.64730865e-02 1.61579089e+02] [-1.44233087e-01 1.64081540e-03 9.89542381e-01 1.17639625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.34, Y:161.56, Z:117.64 [[ 7.44846362e-01 6.58596076e-01 1.07028530e-01 2.95344425e+02] [-6.51514396e-01 7.52493913e-01 -9.63426382e-02 1.61556898e+02] [-1.43989200e-01 2.02983576e-03 9.89577177e-01 1.17635011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:161.53, Z:117.63 [[ 7.47999888e-01 6.55071428e-01 1.06665797e-01 2.95367055e+02] [-6.47995080e-01 7.55561996e-01 -9.60648046e-02 1.61533648e+02] [-1.43521931e-01 2.73755114e-03 9.89643350e-01 1.17628686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.770385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.39, Y:161.51, Z:117.62 [[ 7.49109245e-01 6.53799767e-01 1.06682723e-01 2.95390220e+02] [-6.46700523e-01 7.56661567e-01 -9.61337967e-02 1.61511189e+02] [-1.43574970e-01 3.02294314e-03 9.89634827e-01 1.17621734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.800385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.41, Y:161.49, Z:117.62 [[ 7.50508195e-01 6.52090780e-01 1.07308270e-01 2.95412637e+02] [-6.44882270e-01 7.58133217e-01 -9.67516529e-02 1.61487575e+02] [-1.44444825e-01 3.41170761e-03 9.89506975e-01 1.17616555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:161.47, Z:117.61 [[ 7.50478700e-01 6.52147155e-01 1.07171870e-01 2.95435251e+02] [-6.44949736e-01 7.58084605e-01 -9.66828264e-02 1.61465296e+02] [-1.44296775e-01 3.43793238e-03 9.89528484e-01 1.17613253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:161.44, Z:117.61 [[ 7.49532044e-01 6.53212359e-01 1.07309505e-01 2.95458203e+02] [-6.45999848e-01 7.57167673e-01 -9.68571703e-02 1.61441825e+02] [-1.44519589e-01 3.27562903e-03 9.89496518e-01 1.17608785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:161.42, Z:117.60 [[ 7.48312584e-01 6.54563225e-01 1.07588384e-01 2.95481388e+02] [-6.47318796e-01 7.56001052e-01 -9.71637039e-02 1.61420255e+02] [-1.44936719e-01 3.06483926e-03 9.89436180e-01 1.17603629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:161.40, Z:117.60 [[ 7.45361988e-01 6.57913498e-01 1.07635197e-01 2.95504967e+02] [-6.50692577e-01 7.53089552e-01 -9.72383475e-02 1.61398639e+02] [-1.45033363e-01 2.44034463e-03 9.89423756e-01 1.17598104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:161.38, Z:117.59 [[ 7.43792243e-01 6.59721057e-01 1.07430096e-01 2.95529020e+02] [-6.52538685e-01 7.51507560e-01 -9.71063965e-02 1.61375895e+02] [-1.44797664e-01 2.12469099e-03 9.89459005e-01 1.17593629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:161.35, Z:117.59 [[ 7.41454191e-01 6.62325966e-01 1.07563922e-01 2.95552895e+02] [-6.55144851e-01 7.49213962e-01 -9.72813627e-02 1.61352710e+02] [-1.45020365e-01 1.65972447e-03 9.89427278e-01 1.17590469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:161.34, Z:117.58 [[ 7.42912243e-01 6.60471318e-01 1.08899207e-01 2.95575930e+02] [-6.53077194e-01 7.50848303e-01 -9.85748672e-02 1.61338285e+02] [-1.46872657e-01 2.11288750e-03 9.89153152e-01 1.17583253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.040385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.60, Y:161.31, Z:117.58 [[ 7.39592559e-01 6.64067087e-01 1.09625500e-01 2.95599083e+02] [-6.56988554e-01 7.47672824e-01 -9.67025756e-02 1.61309894e+02] [-1.46181005e-01 -5.02193235e-04 9.89257733e-01 1.17581504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:161.29, Z:117.58 [[ 7.39608892e-01 6.64257800e-01 1.08352488e-01 2.95622810e+02] [-6.56963602e-01 7.47502192e-01 -9.81799323e-02 1.61289315e+02] [-1.46210508e-01 1.43110979e-03 9.89252465e-01 1.17576188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:161.27, Z:117.57 [[ 7.40685643e-01 6.63188997e-01 1.07541310e-01 2.95645413e+02] [-6.55988073e-01 7.48450142e-01 -9.74783683e-02 1.61267748e+02] [-1.45135890e-01 1.65501141e-03 9.89410347e-01 1.17572044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:161.25, Z:117.57 [[ 7.42589387e-01 6.61185291e-01 1.06747427e-01 2.95669145e+02] [-6.54065745e-01 7.50219827e-01 -9.67895276e-02 1.61245007e+02] [-1.44079848e-01 2.05504056e-03 9.89563931e-01 1.17567743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:161.22, Z:117.56 [[ 7.43370694e-01 6.60338705e-01 1.06549553e-01 2.95693499e+02] [-6.53229226e-01 7.50964518e-01 -9.66637041e-02 1.61222611e+02] [-1.43845719e-01 2.25568270e-03 9.89597555e-01 1.17563242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:161.20, Z:117.56 [[ 7.44953694e-01 6.58556368e-01 1.06524663e-01 2.95717271e+02] [-6.51424101e-01 7.52526766e-01 -9.66959541e-02 1.61202102e+02] [-1.43842397e-01 2.64127510e-03 9.89597084e-01 1.17558176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.74, Y:161.18, Z:117.55 [[ 7.45482944e-01 6.57953766e-01 1.06545873e-01 2.95741327e+02] [-6.50805139e-01 7.53053132e-01 -9.67659593e-02 1.61180625e+02] [-1.43902231e-01 2.79677029e-03 9.89587958e-01 1.17553297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:161.16, Z:117.55 [[ 7.46055110e-01 6.57282899e-01 1.06681600e-01 2.95765293e+02] [-6.50101381e-01 7.53638087e-01 -9.69423995e-02 1.61158599e+02] [-1.44117898e-01 2.97051712e-03 9.89556066e-01 1.17548731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.79, Y:161.14, Z:117.54 [[ 7.46161340e-01 6.57199372e-01 1.06452994e-01 2.95789514e+02] [-6.50040247e-01 7.53710729e-01 -9.67874726e-02 1.61136448e+02] [-1.43843430e-01 3.02033941e-03 9.89595849e-01 1.17544032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.310385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:295.82, Y:161.13, Z:117.52 [[ 7.48066707e-01 6.56180156e-01 9.91151107e-02 2.95817425e+02] [-6.46950222e-01 7.54360941e-01 -1.11332751e-01 1.61127963e+02] [-1.47822910e-01 1.91617818e-02 9.88828202e-01 1.17524522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.84, Y:161.10, Z:117.53 [[ 7.47606930e-01 6.54844710e-01 1.10735199e-01 2.95836978e+02] [-6.47521413e-01 7.55762315e-01 -9.76695606e-02 1.61097342e+02] [-1.47647886e-01 1.31502745e-03 9.89039116e-01 1.17527849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.370385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:295.86, Y:161.07, Z:117.53 [[ 7.47312551e-01 6.55023719e-01 1.11659654e-01 2.95860599e+02] [-6.47958280e-01 7.55608040e-01 -9.59508030e-02 1.61074517e+02] [-1.47220984e-01 -6.45557832e-04 9.89103415e-01 1.17525733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.96, Y:160.83, Z:118.35 [[ 7.37431292e-01 -1.26588546e-02 6.75303519e-01 2.95960979e+02] [-6.66446127e-01 1.48822277e-01 7.30548759e-01 1.60834329e+02] [-1.09748118e-01 -9.88782930e-01 1.01309759e-01 1.18347584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.430385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.70, Y:161.56, Z:117.63 [[ 7.26409928e-01 2.40879439e-02 -6.86839419e-01 2.96704438e+02] [-6.75319716e-01 -1.60476423e-01 -7.19854568e-01 1.61561416e+02] [-1.27561350e-01 9.86745706e-01 -1.00304604e-01 1.17632972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.460385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:296.09, Y:160.87, Z:117.50 [[ 7.49214060e-01 6.53526496e-01 1.07616965e-01 2.96089642e+02] [-6.46024003e-01 7.56890064e-01 -9.88454324e-02 1.60868676e+02] [-1.46052321e-01 4.53324489e-03 9.89266480e-01 1.17504822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.490385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:296.11, Y:160.85, Z:117.50 [[ 7.51128751e-01 6.50978594e-01 1.09692613e-01 2.96114698e+02] [-6.43528622e-01 7.59089288e-01 -9.82566325e-02 1.60847494e+02] [-1.47229452e-01 3.21304552e-03 9.89097146e-01 1.17500570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.520385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:296.14, Y:160.83, Z:117.49 [[ 7.51592648e-01 6.50538942e-01 1.09121842e-01 2.96140266e+02] [-6.42910766e-01 7.59459088e-01 -9.94366121e-02 1.60827643e+02] [-1.47560963e-01 4.58021983e-03 9.89042357e-01 1.17494583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.550385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:296.17, Y:160.81, Z:117.49 [[ 7.52227713e-01 6.49926107e-01 1.08395220e-01 2.96166154e+02] [-6.42385599e-01 7.59982815e-01 -9.88274442e-02 1.60808851e+02] [-1.46609040e-01 4.70921409e-03 9.89183306e-01 1.17489628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.580385723 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:296.19, Y:160.79, Z:117.48 [[ 7.52516279e-01 6.49620858e-01 1.08221952e-01 2.96190673e+02] [-6.42094142e-01 7.60243193e-01 -9.87187947e-02 1.60788847e+02] [-1.46404791e-01 4.79881855e-03 9.89213126e-01 1.17484436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.610385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:296.22, Y:160.77, Z:117.48 [[ 7.52351187e-01 6.49980957e-01 1.07202832e-01 2.96216016e+02] [-6.42592687e-01 7.59935835e-01 -9.78374413e-02 1.60769522e+02] [-1.45059747e-01 4.72035929e-03 9.89411637e-01 1.17480395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.640385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:296.24, Y:160.75, Z:117.48 [[ 7.52188600e-01 6.50195792e-01 1.07040842e-01 2.96241171e+02] [-6.42825157e-01 7.59752107e-01 -9.77371623e-02 1.60748833e+02] [-1.44872797e-01 4.70823330e-03 9.89439086e-01 1.17475762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.670385723 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:296.27, Y:160.73, Z:117.47 [[ 7.51984180e-01 6.50345211e-01 1.07568115e-01 2.96268920e+02] [-6.42894965e-01 7.59623984e-01 -9.82724115e-02 1.60730558e+02] [-1.45622312e-01 4.74429960e-03 9.89328881e-01 1.17470527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.700385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:296.29, Y:160.71, Z:117.47 [[ 7.51703224e-01 6.50544110e-01 1.08326473e-01 2.96294619e+02] [-6.42981808e-01 7.59453421e-01 -9.90196685e-02 1.60710589e+02] [-1.46685573e-01 4.78145226e-03 9.89171613e-01 1.17465300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.730385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.33, Y:160.69, Z:117.45 [[ 7.50296354e-01 6.53536816e-01 9.97246733e-02 2.96327147e+02] [-6.43866405e-01 7.56593720e-01 -1.14026292e-01 1.60693778e+02] [-1.49971442e-01 2.13441445e-02 9.88459910e-01 1.17448385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.760385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.35, Y:160.67, Z:117.45 [[ 7.50270506e-01 6.51926301e-01 1.09937558e-01 2.96346576e+02] [-6.43853729e-01 7.58257908e-01 -1.02456432e-01 1.60665830e+02] [-1.50155066e-01 6.08633264e-03 9.88643724e-01 1.17449381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.790385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:296.37, Y:160.64, Z:117.46 [[ 7.50785373e-01 6.49640045e-01 1.19537168e-01 2.96365092e+02] [-6.43585320e-01 7.60175271e-01 -8.90589346e-02 1.60644035e+02] [-1.48725450e-01 -1.00682213e-02 9.88827271e-01 1.17458317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.820385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:296.40, Y:160.63, Z:117.45 [[ 7.49747674e-01 6.52497428e-01 1.10115994e-01 2.96396219e+02] [-6.44680822e-01 7.57777070e-01 -1.00799550e-01 1.60631008e+02] [-1.49214822e-01 4.58455808e-03 9.88794174e-01 1.17448230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.850385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:296.42, Y:160.61, Z:117.44 [[ 7.49140775e-01 6.53153306e-01 1.10357864e-01 2.96422351e+02] [-6.45300752e-01 7.57212288e-01 -1.01076655e-01 1.60613388e+02] [-1.49582882e-01 4.50663130e-03 9.88738920e-01 1.17443066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.880385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:296.45, Y:160.59, Z:117.44 [[ 7.49136744e-01 6.53230962e-01 1.09924740e-01 2.96447700e+02] [-6.45433412e-01 7.57145263e-01 -1.00731137e-01 1.60593380e+02] [-1.49029694e-01 4.51229622e-03 9.88822426e-01 1.17437885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.910385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:296.48, Y:160.58, Z:117.42 [[ 7.49215399e-01 6.54428955e-01 1.01975630e-01 2.96478407e+02] [-6.45034950e-01 7.55906735e-01 -1.11959465e-01 1.60578531e+02] [-1.50353581e-01 1.81039105e-02 9.88466514e-01 1.17421122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.50, Y:160.55, Z:117.42 [[ 7.49008260e-01 6.53295493e-01 1.10415693e-01 2.96499739e+02] [-6.45494541e-01 7.57091462e-01 -1.00743810e-01 1.60550734e+02] [-1.49410255e-01 4.18521841e-03 9.88766433e-01 1.17422137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.970385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:296.52, Y:160.53, Z:117.43 [[ 7.50726175e-01 6.50394090e-01 1.15748598e-01 2.96522466e+02] [-6.43820243e-01 7.59579378e-01 -9.23832435e-02 1.60533939e+02] [-1.48005763e-01 -5.16677115e-03 9.88973002e-01 1.17426238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.000385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:296.55, Y:160.52, Z:117.42 [[ 7.51097701e-01 6.51155429e-01 1.08852428e-01 2.96551233e+02] [-6.43458332e-01 7.58927732e-01 -9.99503539e-02 1.60517463e+02] [-1.47694342e-01 5.03047925e-03 9.89020261e-01 1.17417480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.030385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.58, Y:160.50, Z:117.41 [[ 7.51398141e-01 6.51551088e-01 1.04316893e-01 2.96580984e+02] [-6.43194395e-01 7.58516937e-01 -1.04656705e-01 1.60499365e+02] [-1.47315321e-01 1.15428128e-02 9.89022224e-01 1.17406800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:160.48, Z:117.41 [[ 7.51908216e-01 6.49788901e-01 1.11393083e-01 2.96602182e+02] [-6.42835065e-01 7.60114651e-01 -9.48092649e-02 1.60478958e+02] [-1.46277522e-01 -3.19514295e-04 9.89243542e-01 1.17409036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0903857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.63, Y:160.46, Z:117.40 [[ 7.51091013e-01 6.52131695e-01 1.02890923e-01 2.96633741e+02] [-6.43807246e-01 7.58005637e-01 -1.04592947e-01 1.60463404e+02] [-1.46200275e-01 1.23169007e-02 9.89178333e-01 1.17395720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.120385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.65, Y:160.44, Z:117.40 [[ 7.51966002e-01 6.49923879e-01 1.10209268e-01 2.96654352e+02] [-6.43269612e-01 7.59998465e-01 -9.27714396e-02 1.60441922e+02] [-1.44053248e-01 -1.13330415e-03 9.89569289e-01 1.17399024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:160.43, Z:117.39 [[ 7.51527147e-01 6.51127703e-01 1.06017271e-01 2.96682802e+02] [-6.43801483e-01 7.58951433e-01 -9.75313923e-02 1.60427200e+02] [-1.43967351e-01 5.04341269e-03 9.89569586e-01 1.17393051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:160.40, Z:117.39 [[ 7.48928941e-01 6.53774703e-01 1.08092914e-01 2.96710609e+02] [-6.46596290e-01 7.56685164e-01 -9.66478180e-02 1.60403665e+02] [-1.44978203e-01 2.48987076e-03 9.89431716e-01 1.17387915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:160.39, Z:117.38 [[ 7.48025934e-01 6.55532036e-01 1.03609611e-01 2.96738079e+02] [-6.47395659e-01 7.55096735e-01 -1.03478406e-01 1.60387650e+02] [-1.46068689e-01 1.03281188e-02 9.89220536e-01 1.17378824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.240385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.76, Y:160.37, Z:117.38 [[ 7.44632866e-01 6.58686623e-01 1.07952893e-01 2.96761933e+02] [-6.51565182e-01 7.52415690e-01 -9.66097444e-02 1.60365206e+02] [-1.44860997e-01 1.60044414e-03 9.89450721e-01 1.17377599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:160.35, Z:117.37 [[ 7.43768401e-01 6.60273174e-01 1.04153258e-01 2.96786820e+02] [-6.52656186e-01 7.50996849e-01 -1.00217947e-01 1.60353652e+02] [-1.44389990e-01 6.56267430e-03 9.89499097e-01 1.17372178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:160.33, Z:117.37 [[ 7.38214065e-01 6.66175598e-01 1.06066330e-01 2.96812741e+02] [-6.58966024e-01 7.45791439e-01 -9.77696731e-02 1.60333258e+02] [-1.44235131e-01 2.28084002e-03 9.89540815e-01 1.17367731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:160.31, Z:117.36 [[ 7.35593578e-01 6.69055369e-01 1.06146130e-01 2.96837819e+02] [-6.61856515e-01 7.43210479e-01 -9.78986099e-02 1.60312401e+02] [-1.44388507e-01 1.76008074e-03 9.89519510e-01 1.17362870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:160.29, Z:117.36 [[ 7.31501561e-01 6.73525238e-01 1.06156584e-01 2.96862994e+02] [-6.66363200e-01 7.39163650e-01 -9.79652156e-02 1.60292095e+02] [-1.44449133e-01 9.22867029e-04 9.89511797e-01 1.17358419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.390385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.89, Y:160.27, Z:117.35 [[ 7.30330173e-01 6.75263371e-01 1.03136890e-01 2.96887575e+02] [-6.67917034e-01 7.37567358e-01 -9.94043664e-02 1.60272407e+02] [-1.43194531e-01 3.71112278e-03 9.89687604e-01 1.17352709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:160.25, Z:117.35 [[ 7.28766217e-01 6.76197006e-01 1.07969488e-01 2.96909450e+02] [-6.69418483e-01 7.36716087e-01 -9.55421457e-02 1.60248415e+02] [-1.44148171e-01 -2.64888267e-03 9.89552570e-01 1.17350382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.450385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.93, Y:160.23, Z:117.34 [[ 7.28569720e-01 6.77111851e-01 1.03468379e-01 2.96934938e+02] [-6.69901345e-01 7.35875825e-01 -9.85847712e-02 1.60228444e+02] [-1.42892796e-01 2.51227251e-03 9.89734983e-01 1.17344297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:160.21, Z:117.34 [[ 7.28733505e-01 6.77522230e-01 9.95545395e-02 2.96960020e+02] [-6.70251009e-01 7.35481532e-01 -9.91488803e-02 1.60208024e+02] [-1.40396096e-01 5.52658052e-03 9.90079993e-01 1.17338721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:160.18, Z:117.34 [[ 7.28359080e-01 6.76424835e-01 1.09281715e-01 2.96978700e+02] [-6.70281430e-01 7.36480153e-01 -9.12128763e-02 1.60183034e+02] [-1.42182469e-01 -6.81377727e-03 9.89817012e-01 1.17338250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.540385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:297.00, Y:160.16, Z:117.33 [[ 7.28864776e-01 6.76648970e-01 1.04414126e-01 2.97004602e+02] [-6.69736302e-01 7.36305658e-01 -9.64741651e-02 1.60163155e+02] [-1.42159856e-01 3.86690160e-04 9.89843637e-01 1.17330832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:160.14, Z:117.33 [[ 7.29083430e-01 6.76394954e-01 1.04533338e-01 2.97028274e+02] [-6.69456285e-01 7.36538960e-01 -9.66366511e-02 1.60140481e+02] [-1.42357419e-01 4.75680701e-04 9.89815204e-01 1.17326288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.600385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:297.05, Y:160.12, Z:117.32 [[ 7.29311710e-01 6.76153287e-01 1.04504367e-01 2.97051029e+02] [-6.69208416e-01 7.36760759e-01 -9.66627147e-02 1.60117248e+02] [-1.42353529e-01 5.62048140e-04 9.89815719e-01 1.17321962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:160.09, Z:117.32 [[ 7.29443373e-01 6.76032708e-01 1.04365430e-01 2.97073982e+02] [-6.69097512e-01 7.36871351e-01 -9.65874289e-02 1.60094286e+02] [-1.42200156e-01 6.24410561e-04 9.89837727e-01 1.17316894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:160.07, Z:117.31 [[ 7.29187111e-01 6.76346904e-01 1.04120228e-01 2.97097428e+02] [-6.69439937e-01 7.36582991e-01 -9.64140417e-02 1.60071369e+02] [-1.41902528e-01 6.01637832e-04 9.89880453e-01 1.17311685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:160.05, Z:117.30 [[ 7.30480997e-01 6.76538191e-01 9.32394262e-02 2.97125156e+02] [-6.68796363e-01 7.36296764e-01 -1.02851841e-01 1.60052319e+02] [-1.38235086e-01 1.27731264e-02 9.90317075e-01 1.17301973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:160.02, Z:117.31 [[ 7.29546466e-01 6.74624625e-01 1.12443631e-01 2.97138136e+02] [-6.68895787e-01 7.38082952e-01 -8.83854203e-02 1.60023476e+02] [-1.42619708e-01 -1.07317998e-02 9.89719378e-01 1.17305077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:160.00, Z:117.30 [[ 7.29463713e-01 6.75981626e-01 1.04553967e-01 2.97164901e+02] [-6.68993533e-01 7.36918068e-01 -9.69505767e-02 1.60004591e+02] [-1.42584516e-01 7.75999702e-04 9.89782326e-01 1.17296361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.19, Y:159.98, Z:117.29 [[ 7.29022069e-01 6.76470143e-01 1.04474729e-01 2.97186558e+02] [-6.69490153e-01 7.36469707e-01 -9.69293834e-02 1.59980853e+02] [-1.42512307e-01 7.18857166e-04 9.89792769e-01 1.17290885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.810385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:297.21, Y:159.96, Z:117.29 [[ 7.28372857e-01 6.77236704e-01 1.04035708e-01 2.97209651e+02] [-6.70315469e-01 7.35764961e-01 -9.65768838e-02 1.59957434e+02] [-1.41951239e-01 6.07236334e-04 9.89873465e-01 1.17285912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:159.93, Z:117.28 [[ 7.27443705e-01 6.78283218e-01 1.03718525e-01 2.97231243e+02] [-6.71406916e-01 7.34800435e-01 -9.63383332e-02 1.59934257e+02] [-1.41557092e-01 4.43379033e-04 9.89929994e-01 1.17280878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.25, Y:159.91, Z:117.28 [[ 7.25863075e-01 6.79969792e-01 1.03749114e-01 2.97253321e+02] [-6.73101886e-01 7.33240113e-01 -9.63991090e-02 1.59910477e+02] [-1.41621494e-01 1.38829654e-04 9.89920872e-01 1.17275281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.28, Y:159.90, Z:117.26 [[ 7.26602314e-01 6.79642862e-01 1.00671038e-01 2.97277840e+02] [-6.71181566e-01 7.33468228e-01 -1.07422824e-01 1.59897215e+02] [-1.46848163e-01 1.04851278e-02 9.89103472e-01 1.17261252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.930385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:297.29, Y:159.86, Z:117.27 [[ 7.23660744e-01 6.80814374e-01 1.13167644e-01 2.97293123e+02] [-6.75031679e-01 7.32361708e-01 -8.93227929e-02 1.59858285e+02] [-1.43691890e-01 -1.17523460e-02 9.89552688e-01 1.17269441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:159.84, Z:117.26 [[ 7.23219590e-01 6.82563463e-01 1.05169120e-01 2.97318649e+02] [-6.75510842e-01 7.30826278e-01 -9.78675324e-02 1.59840446e+02] [-1.43661158e-01 -2.63164071e-04 9.89626901e-01 1.17260841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:159.82, Z:117.25 [[ 7.22686925e-01 6.84306201e-01 9.72040767e-02 2.97342305e+02] [-6.76417998e-01 7.29133776e-01 -1.04031864e-01 1.59820620e+02] [-1.42064425e-01 9.43188077e-03 9.89812477e-01 1.17251582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:159.79, Z:117.25 [[ 7.23968660e-01 6.80563314e-01 1.12707388e-01 2.97359294e+02] [-6.74107851e-01 7.32645313e-01 -9.38586739e-02 1.59793627e+02] [-1.46451310e-01 -8.02619656e-03 9.89185318e-01 1.17250227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.050385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.38, Y:159.77, Z:117.25 [[ 7.22734086e-01 6.82557241e-01 1.08494489e-01 2.97382215e+02] [-6.75578703e-01 7.30826367e-01 -9.73973184e-02 1.59768643e+02] [-1.45769878e-01 -2.90420411e-03 9.89314262e-01 1.17245557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:159.75, Z:117.24 [[ 7.22581524e-01 6.82877897e-01 1.07488232e-01 2.97405366e+02] [-6.75486719e-01 7.30532502e-01 -1.00199583e-01 1.59745880e+02] [-1.46947727e-01 -2.04505670e-04 9.89144238e-01 1.17239544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:159.72, Z:117.23 [[ 7.23995317e-01 6.81304346e-01 1.07959110e-01 2.97424686e+02] [-6.73789211e-01 7.32000195e-01 -1.00914882e-01 1.59724060e+02] [-1.47779837e-01 3.20219018e-04 9.89020231e-01 1.17233269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.45, Y:159.70, Z:117.23 [[ 7.22678989e-01 6.82485904e-01 1.09307230e-01 2.97445998e+02] [-6.75076132e-01 7.30897594e-01 -1.00304147e-01 1.59696976e+02] [-1.48348558e-01 -1.30300259e-03 9.88934279e-01 1.17229987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:159.67, Z:117.22 [[ 7.24389941e-01 6.80662719e-01 1.09350246e-01 2.97468888e+02] [-6.72965166e-01 7.32596845e-01 -1.02077166e-01 1.59674470e+02] [-1.49589767e-01 3.54765794e-04 9.88748085e-01 1.17222560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.49, Y:159.65, Z:117.22 [[ 7.22936248e-01 6.82233202e-01 1.09183512e-01 2.97489313e+02] [-6.74570846e-01 7.31134635e-01 -1.01962348e-01 1.59649826e+02] [-1.49389946e-01 6.02631061e-05 9.88778358e-01 1.17218244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:159.62, Z:117.21 [[ 7.22945224e-01 6.82286253e-01 1.08791879e-01 2.97509191e+02] [-6.74674187e-01 7.31085127e-01 -1.01633054e-01 1.59624662e+02] [-1.48878961e-01 7.60584831e-05 9.88855424e-01 1.17212974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.53, Y:159.60, Z:117.21 [[ 7.23426407e-01 6.81845366e-01 1.08356498e-01 2.97529769e+02] [-6.74281477e-01 7.31496312e-01 -1.01279986e-01 1.59599737e+02] [-1.48319668e-01 2.05837303e-04 9.88939449e-01 1.17207360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:159.58, Z:117.20 [[ 7.23449082e-01 6.81873363e-01 1.08028435e-01 2.97551869e+02] [-6.74347346e-01 7.31470204e-01 -1.01029687e-01 1.59576105e+02] [-1.47909034e-01 2.41146214e-04 9.89000940e-01 1.17201967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.320385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.57, Y:159.55, Z:117.20 [[ 7.24251545e-01 6.81013245e-01 1.08077101e-01 2.97572129e+02] [-6.73462276e-01 7.32270953e-01 -1.01132656e-01 1.59552104e+02] [-1.48014399e-01 4.59631952e-04 9.88985099e-01 1.17196166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.60, Y:159.53, Z:117.19 [[ 7.24811025e-01 6.80402971e-01 1.08170128e-01 2.97595015e+02] [-6.72824156e-01 7.32837914e-01 -1.01273130e-01 1.59528520e+02] [-1.48177710e-01 6.24406463e-04 9.88960554e-01 1.17190739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.62, Y:159.50, Z:117.18 [[ 7.26388570e-01 6.78628214e-01 1.08735423e-01 2.97615408e+02] [-6.70941098e-01 7.34481230e-01 -1.01859544e-01 1.59504956e+02] [-1.48988888e-01 1.03454477e-03 9.88838329e-01 1.17184622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:159.48, Z:117.18 [[ 7.27197995e-01 6.77790416e-01 1.08550583e-01 2.97637706e+02] [-6.70112364e-01 7.35254110e-01 -1.01738947e-01 1.59481500e+02] [-1.48769945e-01 1.24327078e-03 9.88871052e-01 1.17179733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:159.46, Z:117.17 [[ 7.28665491e-01 6.76138805e-01 1.09008804e-01 2.97657988e+02] [-6.68368310e-01 7.36772460e-01 -1.02225951e-01 1.59457700e+02] [-1.49433617e-01 1.63049284e-03 9.88770416e-01 1.17174219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:159.44, Z:117.16 [[ 7.30530402e-01 6.74358565e-01 1.07544677e-01 2.97680402e+02] [-6.65791913e-01 7.38372441e-01 -1.07365110e-01 1.59439389e+02] [-1.51810608e-01 6.83110066e-03 9.88385995e-01 1.17163509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.70, Y:159.41, Z:117.16 [[ 7.28214337e-01 6.75847169e-01 1.13729872e-01 2.97699305e+02] [-6.68498358e-01 7.37033001e-01 -9.94600512e-02 1.59410094e+02] [-1.51042463e-01 -3.59999746e-03 9.88520720e-01 1.17164004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:159.40, Z:117.15 [[ 7.29547385e-01 6.75485210e-01 1.07146364e-01 2.97723022e+02] [-6.66917715e-01 7.37340830e-01 -1.07467492e-01 1.59395294e+02] [-1.51596090e-01 6.94481965e-03 9.88418128e-01 1.17152292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.74, Y:159.36, Z:117.15 [[ 7.27307244e-01 6.76759285e-01 1.14109782e-01 2.97742723e+02] [-6.69611775e-01 7.36187588e-01 -9.82237509e-02 1.59363747e+02] [-1.50480041e-01 -4.97040812e-03 9.88600553e-01 1.17154278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5903857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.76, Y:159.34, Z:117.15 [[ 7.26343556e-01 6.77804145e-01 1.14046390e-01 2.97764717e+02] [-6.70814475e-01 7.35219188e-01 -9.72660573e-02 1.59339863e+02] [-1.49776431e-01 -5.85539520e-03 9.88702551e-01 1.17150622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:159.32, Z:117.14 [[ 7.25002355e-01 6.80642231e-01 1.05345805e-01 2.97790160e+02] [-6.71876259e-01 7.32567835e-01 -1.09209245e-01 1.59324148e+02] [-1.51505372e-01 8.39761440e-03 9.88420762e-01 1.17138686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:159.30, Z:117.14 [[ 7.23352334e-01 6.81715145e-01 1.09662493e-01 2.97808921e+02] [-6.73873034e-01 7.31617381e-01 -1.03107429e-01 1.59298189e+02] [-1.50520882e-01 6.84402450e-04 9.88606593e-01 1.17135837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:159.28, Z:117.13 [[ 7.23275459e-01 6.81801080e-01 1.09635296e-01 2.97832958e+02] [-6.73955568e-01 7.31537277e-01 -1.03136340e-01 1.59275474e+02] [-1.50520774e-01 7.06665025e-04 9.88606594e-01 1.17130735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:159.25, Z:117.13 [[ 7.22284106e-01 6.82882633e-01 1.09439395e-01 2.97855288e+02] [-6.75074110e-01 7.30527934e-01 -1.02975158e-01 1.59252262e+02] [-1.50268482e-01 4.97617453e-04 9.88645101e-01 1.17125563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:159.22, Z:117.13 [[ 7.21441803e-01 6.83168366e-01 1.13149054e-01 2.97873022e+02] [-6.76824731e-01 7.30202425e-01 -9.33418574e-02 1.59224274e+02] [-1.46389918e-01 -9.24136027e-03 9.89183800e-01 1.17126358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.90, Y:159.21, Z:117.11 [[ 7.20313175e-01 6.86172604e-01 1.01568140e-01 2.97899398e+02] [-6.77554457e-01 7.27375740e-01 -1.08832394e-01 1.59210069e+02] [-1.48556008e-01 9.57546109e-03 9.88857635e-01 1.17111119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:159.18, Z:117.11 [[ 7.20476986e-01 6.84980070e-01 1.08236852e-01 2.97917222e+02] [-6.77348378e-01 7.28561789e-01 -1.01965161e-01 1.59181286e+02] [-1.48701337e-01 1.49495705e-04 9.88882142e-01 1.17109571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:159.16, Z:117.10 [[ 7.23012955e-01 6.82386468e-01 1.07707827e-01 2.97937902e+02] [-6.74372687e-01 7.30986299e-01 -1.04309685e-01 1.59159027e+02] [-1.49912464e-01 2.78203649e-03 9.88695359e-01 1.17103149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:159.13, Z:117.10 [[ 7.22423093e-01 6.82584176e-01 1.10379882e-01 2.97957725e+02] [-6.75168294e-01 7.30804191e-01 -1.00364382e-01 1.59131459e+02] [-1.49173220e-01 -2.01944950e-03 9.88809017e-01 1.17102051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:159.11, Z:117.10 [[ 7.24199895e-01 6.80939735e-01 1.08883377e-01 2.97978894e+02] [-6.73150738e-01 7.32338654e-01 -1.02704334e-01 1.59108747e+02] [-1.49674968e-01 1.08354252e-03 9.88734661e-01 1.17095880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:159.09, Z:117.09 [[ 7.26568493e-01 6.78497604e-01 1.08347711e-01 2.98001016e+02] [-6.70356593e-01 7.34594039e-01 -1.04850542e-01 1.59090229e+02] [-1.50732424e-01 3.54949748e-03 9.88568226e-01 1.17088735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:159.06, Z:117.09 [[ 7.27353304e-01 6.77132923e-01 1.11571396e-01 2.98020548e+02] [-6.69499568e-01 7.35860111e-01 -1.01391445e-01 1.59060580e+02] [-1.50756425e-01 -9.49598505e-04 9.88570482e-01 1.17087003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:159.04, Z:117.08 [[ 7.28464740e-01 6.76260969e-01 1.09591174e-01 2.98044468e+02] [-6.68293562e-01 7.36658925e-01 -1.03524603e-01 1.59038186e+02] [-1.50740965e-01 2.17494733e-03 9.88570903e-01 1.17080540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:159.01, Z:117.07 [[ 7.30244298e-01 6.74246421e-01 1.10159104e-01 2.98066041e+02] [-6.66164291e-01 7.38501698e-01 -1.04117149e-01 1.59014898e+02] [-1.51553301e-01 2.64689300e-03 9.88445543e-01 1.17074311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:158.99, Z:117.07 [[ 7.30538361e-01 6.73917002e-01 1.10225125e-01 2.98088972e+02] [-6.65813415e-01 7.38801922e-01 -1.04231549e-01 1.58992130e+02] [-1.51677948e-01 2.75577796e-03 9.88426126e-01 1.17069266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:158.97, Z:117.06 [[ 7.29445194e-01 6.74998632e-01 1.10844740e-01 2.98112855e+02] [-6.66806922e-01 7.37814444e-01 -1.04873138e-01 1.58970144e+02] [-1.52572075e-01 2.58716675e-03 9.88288960e-01 1.17064372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:158.95, Z:117.06 [[ 7.27979845e-01 6.76513290e-01 1.11243486e-01 2.98136861e+02] [-6.68270568e-01 7.36426762e-01 -1.05309418e-01 1.58949419e+02] [-1.53165901e-01 2.32238561e-03 9.88197760e-01 1.17058774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:158.93, Z:117.05 [[ 7.24818455e-01 6.79975548e-01 1.10776627e-01 2.98161939e+02] [-6.71836672e-01 7.33233015e-01 -1.04903920e-01 1.58928934e+02] [-1.52557181e-01 1.61249655e-03 9.88293330e-01 1.17052756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:158.91, Z:117.05 [[ 7.23191883e-01 6.81746680e-01 1.10521334e-01 2.98185321e+02] [-6.73657170e-01 7.31587199e-01 -1.04719569e-01 1.58907994e+02] [-1.52248212e-01 1.27885315e-03 9.88341463e-01 1.17047542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:158.89, Z:117.04 [[ 7.20601789e-01 6.84457256e-01 1.10685709e-01 2.98209367e+02] [-6.76366895e-01 7.29052608e-01 -1.04929111e-01 1.58886765e+02] [-1.52515196e-01 7.47955532e-04 9.88300843e-01 1.17042333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:158.86, Z:117.04 [[ 7.19649828e-01 6.85448734e-01 1.10743661e-01 2.98233262e+02] [-6.77352708e-01 7.28120660e-01 -1.05041006e-01 1.58864631e+02] [-1.52634972e-01 5.80223777e-04 9.88282464e-01 1.17037187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:158.84, Z:117.03 [[ 7.18604097e-01 6.86644061e-01 1.10127584e-01 2.98257458e+02] [-6.78643708e-01 7.26993672e-01 -1.04512764e-01 1.58842938e+02] [-1.51825126e-01 3.65908707e-04 9.88407303e-01 1.17032034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.28, Y:158.82, Z:117.03 [[ 7.18247441e-01 6.87024535e-01 1.10081345e-01 2.98280757e+02] [-6.79026568e-01 7.26634145e-01 -1.04526258e-01 1.58821785e+02] [-1.51800968e-01 3.27558886e-04 9.88411027e-01 1.17026377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:158.80, Z:117.02 [[ 7.18330497e-01 6.87026256e-01 1.09527263e-01 2.98304943e+02] [-6.79100998e-01 7.26632501e-01 -1.04053077e-01 1.58799644e+02] [-1.51073265e-01 3.64425391e-04 9.88522501e-01 1.17021179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:158.78, Z:117.02 [[ 7.18874564e-01 6.86523060e-01 1.09112096e-01 2.98328032e+02] [-6.78643613e-01 7.27107851e-01 -1.03716051e-01 1.58777137e+02] [-1.50539722e-01 5.10603705e-04 9.88603829e-01 1.17016436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:158.75, Z:117.01 [[ 7.21433417e-01 6.83884831e-01 1.08790455e-01 2.98350300e+02] [-6.76013297e-01 7.29589148e-01 -1.03468342e-01 1.58754496e+02] [-1.50132765e-01 1.10172554e-03 9.88665231e-01 1.17011438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.37, Y:158.73, Z:117.01 [[ 7.22833118e-01 6.82416093e-01 1.08722398e-01 2.98373569e+02] [-6.74529718e-01 7.30962506e-01 -1.03457595e-01 1.58731514e+02] [-1.50073124e-01 1.44608745e-03 9.88673842e-01 1.17006156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:158.71, Z:117.00 [[ 7.26201211e-01 6.78741960e-01 1.09275582e-01 2.98396309e+02] [-6.70724286e-01 7.34373364e-01 -1.04041793e-01 1.58708366e+02] [-1.50866607e-01 2.26148901e-03 9.88551543e-01 1.17001574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:158.69, Z:117.00 [[ 7.27462327e-01 6.77325838e-01 1.09673477e-01 2.98419487e+02] [-6.69224431e-01 7.35678535e-01 -1.04478483e-01 1.58685788e+02] [-1.51450399e-01 2.60799011e-03 9.88461418e-01 1.16996602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:158.66, Z:116.99 [[ 7.29217772e-01 6.75446496e-01 1.09605989e-01 2.98443577e+02] [-6.67325118e-01 7.37402732e-01 -1.04471996e-01 1.58663390e+02] [-1.51389000e-01 3.04000669e-03 9.88469589e-01 1.16991689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:298.47, Y:158.64, Z:116.99 [[ 7.29529934e-01 6.75130195e-01 1.09477371e-01 2.98467357e+02] [-6.67015471e-01 7.37691890e-01 -1.04408035e-01 1.58641913e+02] [-1.51249586e-01 3.14568609e-03 9.88490601e-01 1.16986809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:158.62, Z:116.98 [[ 7.29014966e-01 6.75725718e-01 1.09233391e-01 2.98490947e+02] [-6.67645620e-01 7.37146807e-01 -1.04230091e-01 1.58620226e+02] [-1.50951999e-01 3.05610161e-03 9.88536370e-01 1.16981899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:158.60, Z:116.98 [[ 7.28383414e-01 6.76455010e-01 1.08932187e-01 2.98514600e+02] [-6.68418997e-01 7.36478090e-01 -1.04000322e-01 1.58598645e+02] [-1.50577708e-01 2.93976677e-03 9.88593805e-01 1.16977052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:298.54, Y:158.58, Z:116.97 [[ 7.26598307e-01 6.78369238e-01 1.08949883e-01 2.98538462e+02] [-6.70343734e-01 7.34716612e-01 -1.04071026e-01 1.58577513e+02] [-1.50645871e-01 2.58395971e-03 9.88584415e-01 1.16971809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.56, Y:158.56, Z:116.97 [[ 7.25064400e-01 6.80051390e-01 1.08681751e-01 2.98563273e+02] [-6.72076395e-01 7.33160940e-01 -1.03867011e-01 1.58556063e+02] [-1.50316120e-01 2.26783266e-03 9.88635383e-01 1.16966574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.59, Y:158.53, Z:116.96 [[ 7.24273013e-01 6.80930384e-01 1.08454671e-01 2.98587551e+02] [-6.72990082e-01 7.32345073e-01 -1.03706529e-01 1.58533958e+02] [-1.50043171e-01 2.12292238e-03 9.88677167e-01 1.16961242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.61, Y:158.51, Z:116.96 [[ 7.23253839e-01 6.81180855e-01 1.13562878e-01 2.98608697e+02] [-6.74735256e-01 7.32063285e-01 -9.38918592e-02 1.58508729e+02] [-1.47092551e-01 -8.71723023e-03 9.89084320e-01 1.16962892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.64, Y:158.50, Z:116.95 [[ 7.21629282e-01 6.84990953e-01 1.00192679e-01 2.98638338e+02] [-6.76120667e-01 7.28452360e-01 -1.10535071e-01 1.58495619e+02] [-1.48701117e-01 1.20230033e-02 9.88809094e-01 1.16947206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:298.66, Y:158.47, Z:116.95 [[ 7.19652196e-01 6.85888920e-01 1.07968079e-01 2.98659678e+02] [-6.78050320e-01 7.27705248e-01 -1.03406167e-01 1.58469554e+02] [-1.49494082e-01 1.20868413e-03 9.88761882e-01 1.16946687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:158.45, Z:116.94 [[ 7.18763392e-01 6.86738127e-01 1.08489314e-01 2.98682403e+02] [-6.78824075e-01 7.26904106e-01 -1.03962954e-01 1.58448059e+02] [-1.50256652e-01 1.07960748e-03 9.88646435e-01 1.16941974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:298.71, Y:158.43, Z:116.94 [[ 7.18379114e-01 6.87193884e-01 1.08148110e-01 2.98706593e+02] [-6.79326932e-01 7.26473348e-01 -1.03688933e-01 1.58425598e+02] [-1.49821120e-01 1.02004061e-03 9.88712593e-01 1.16937757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.73, Y:158.40, Z:116.93 [[ 7.18383446e-01 6.87255639e-01 1.07726099e-01 2.98730294e+02] [-6.79442297e-01 7.26414891e-01 -1.03342007e-01 1.58403483e+02] [-1.49276220e-01 1.04551946e-03 9.88794982e-01 1.16932822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.75, Y:158.38, Z:116.93 [[ 7.18579767e-01 6.87027492e-01 1.07871885e-01 2.98754122e+02] [-6.79181511e-01 7.26630534e-01 -1.03540057e-01 1.58381789e+02] [-1.49517871e-01 1.13720025e-03 9.88758369e-01 1.16927743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:158.36, Z:116.92 [[ 7.18463406e-01 6.87066605e-01 1.08396557e-01 2.98777211e+02] [-6.79135172e-01 7.26593485e-01 -1.04102476e-01 1.58359551e+02] [-1.50285567e-01 1.17790475e-03 9.88641928e-01 1.16923081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.80, Y:158.34, Z:116.92 [[ 7.18159024e-01 6.87435616e-01 1.08073545e-01 2.98800931e+02] [-6.79547604e-01 7.26244437e-01 -1.03846391e-01 1.58336937e+02] [-1.49875518e-01 1.13710418e-03 9.88704221e-01 1.16918397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:158.31, Z:116.91 [[ 7.17771660e-01 6.87820474e-01 1.08198152e-01 2.98824877e+02] [-6.79909866e-01 7.25880008e-01 -1.04023020e-01 1.58314493e+02] [-1.50088039e-01 1.09978429e-03 9.88672024e-01 1.16913495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:158.29, Z:116.91 [[ 7.16550269e-01 6.89088804e-01 1.08223529e-01 2.98848916e+02] [-6.81180146e-01 7.24676377e-01 -1.04104553e-01 1.58292052e+02] [-1.50164317e-01 8.76425745e-04 9.88660665e-01 1.16908863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.87, Y:158.27, Z:116.90 [[ 7.15748338e-01 6.89878442e-01 1.08499087e-01 2.98871549e+02] [-6.81929382e-01 7.23924833e-01 -1.04427744e-01 1.58270477e+02] [-1.50587632e-01 7.55268925e-04 9.88596376e-01 1.16903931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.90, Y:158.25, Z:116.90 [[ 7.14576232e-01 6.91040758e-01 1.08827755e-01 2.98895113e+02] [-6.83048274e-01 7.22815583e-01 -1.04798326e-01 1.58247601e+02] [-1.51082312e-01 5.51782639e-04 9.88521032e-01 1.16899204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.92, Y:158.22, Z:116.89 [[ 7.13735260e-01 6.91891796e-01 1.08939071e-01 2.98917585e+02] [-6.83883687e-01 7.22001088e-01 -1.04964432e-01 1.58224972e+02] [-1.51278158e-01 4.15162718e-04 9.88491147e-01 1.16894313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.120385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:298.94, Y:158.20, Z:116.89 [[ 7.13339819e-01 6.92475342e-01 1.07815599e-01 2.98940207e+02] [-6.84631004e-01 7.21441469e-01 -1.03935532e-01 1.58201006e+02] [-1.49755437e-01 3.27451670e-04 9.88723016e-01 1.16890071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.96, Y:158.18, Z:116.88 [[ 7.13643723e-01 6.92262858e-01 1.07167025e-01 2.98963274e+02] [-6.84502060e-01 7.21645318e-01 -1.03368098e-01 1.58178403e+02] [-1.48894477e-01 4.11944780e-04 9.88853005e-01 1.16884888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.99, Y:158.16, Z:116.88 [[ 7.14028074e-01 6.92060031e-01 1.05909510e-01 2.98985855e+02] [-6.84470557e-01 7.21839784e-01 -1.02212442e-01 1.58156182e+02] [-1.47186844e-01 4.90611156e-04 9.89108585e-01 1.16879002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.01, Y:158.13, Z:116.87 [[ 7.14641929e-01 6.91542900e-01 1.05144333e-01 2.99008087e+02] [-6.84049904e-01 7.22335116e-01 -1.01526893e-01 1.58132498e+02] [-1.46159646e-01 6.31403763e-04 9.89260815e-01 1.16873711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.03, Y:158.11, Z:116.87 [[ 7.15183775e-01 6.90988407e-01 1.05105610e-01 2.99029944e+02] [-6.83486559e-01 7.22865411e-01 -1.01546645e-01 1.58110130e+02] [-1.46144765e-01 7.86240857e-04 9.89262902e-01 1.16869110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:158.09, Z:116.86 [[ 7.15720828e-01 6.90423060e-01 1.05165084e-01 2.99052624e+02] [-6.82901538e-01 7.23405238e-01 -1.01638332e-01 1.58087262e+02] [-1.46250421e-01 9.27273382e-04 9.89247166e-01 1.16864563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.07, Y:158.06, Z:116.86 [[ 7.17211703e-01 6.88766955e-01 1.05865270e-01 2.99074489e+02] [-6.81117843e-01 7.24981621e-01 -1.02372524e-01 1.58063863e+02] [-1.47261186e-01 1.31604761e-03 9.89096765e-01 1.16860213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:158.04, Z:116.86 [[ 7.18962627e-01 6.86969892e-01 1.05665076e-01 2.99096776e+02] [-6.79325310e-01 7.26683874e-01 -1.02213847e-01 1.58040637e+02] [-1.47002942e-01 1.70697524e-03 9.89134582e-01 1.16856551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.11, Y:158.01, Z:116.86 [[ 7.20833389e-01 6.83251607e-01 1.16475173e-01 2.99114359e+02] [-6.78139450e-01 7.29972395e-01 -8.52478109e-02 1.58010591e+02] [-1.43269365e-01 -1.75369412e-02 9.89528345e-01 1.16864448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.15, Y:158.00, Z:116.84 [[ 7.21388309e-01 6.86392638e-01 9.20002958e-02 2.99148514e+02] [-6.76822901e-01 7.26910726e-01 -1.16239222e-01 1.58003840e+02] [-1.46661748e-01 2.15857085e-02 9.88951156e-01 1.16838465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:157.97, Z:116.84 [[ 7.21677684e-01 6.84177199e-01 1.05275268e-01 2.99165866e+02] [-6.76544382e-01 7.29312050e-01 -1.01939356e-01 1.57973307e+02] [-1.46523105e-01 2.34396703e-03 9.89204471e-01 1.16841228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.19, Y:157.95, Z:116.84 [[ 7.21490736e-01 6.84524514e-01 1.04294334e-01 2.99189221e+02] [-6.77029456e-01 7.28986236e-01 -1.01045452e-01 1.57951299e+02] [-1.45197223e-01 2.29302123e-03 9.89400075e-01 1.16836177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.480385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:299.21, Y:157.93, Z:116.83 [[ 7.20985675e-01 6.85081367e-01 1.04130578e-01 2.99213218e+02] [-6.77607510e-01 7.28463176e-01 -1.00942877e-01 1.57929317e+02] [-1.45009375e-01 2.21870640e-03 9.89427793e-01 1.16831161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.510385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:299.24, Y:157.91, Z:116.83 [[ 7.20160463e-01 6.85922871e-01 1.04301119e-01 2.99237343e+02] [-6.78424683e-01 7.27671235e-01 -1.01165824e-01 1.57908730e+02] [-1.45288876e-01 2.09517316e-03 9.89387059e-01 1.16826092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:157.89, Z:116.82 [[ 7.19876556e-01 6.86256947e-01 1.04063191e-01 2.99261319e+02] [-6.78788796e-01 7.27356275e-01 -1.00988215e-01 1.57887209e+02] [-1.44994879e-01 2.06212026e-03 9.89430257e-01 1.16821255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.28, Y:157.86, Z:116.82 [[ 7.19798575e-01 6.86342851e-01 1.04036063e-01 2.99284994e+02] [-6.78871556e-01 7.27275152e-01 -1.01016155e-01 1.57864120e+02] [-1.44994559e-01 2.08416044e-03 9.89430257e-01 1.16816150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.31, Y:157.84, Z:116.81 [[ 7.18907214e-01 6.87270932e-01 1.04072491e-01 2.99310196e+02] [-6.79800866e-01 7.26398654e-01 -1.01073137e-01 1.57842794e+02] [-1.45062746e-01 1.91363823e-03 9.89420607e-01 1.16811517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.33, Y:157.82, Z:116.81 [[ 7.18093746e-01 6.88103302e-01 1.04188378e-01 2.99333392e+02] [-6.80616874e-01 7.25610533e-01 -1.01242411e-01 1.57821123e+02] [-1.45265422e-01 1.78917423e-03 9.89391104e-01 1.16807075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.36, Y:157.80, Z:116.80 [[ 7.17328535e-01 6.88963812e-01 1.03772056e-01 2.99358528e+02] [-6.81538771e-01 7.24793871e-01 -1.00889784e-01 1.57799857e+02] [-1.44722760e-01 1.64644078e-03 9.89470875e-01 1.16802831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.38, Y:157.78, Z:116.80 [[ 7.17070345e-01 6.89262005e-01 1.03576099e-01 2.99382152e+02] [-6.81859747e-01 7.24510348e-01 -1.00757335e-01 1.57778794e+02] [-1.44490158e-01 1.62572379e-03 9.89504902e-01 1.16798171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.41, Y:157.76, Z:116.79 [[ 7.17241950e-01 6.89203311e-01 1.02775392e-01 2.99407027e+02] [-6.81910183e-01 7.24566129e-01 -1.00012134e-01 1.57758228e+02] [-1.43396262e-01 1.64931138e-03 9.89663979e-01 1.16793972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:299.43, Y:157.74, Z:116.79 [[ 7.17512760e-01 6.88878312e-01 1.03063628e-01 2.99431517e+02] [-6.81532616e-01 7.24874869e-01 -1.00347984e-01 1.57736247e+02] [-1.43835784e-01 1.75973481e-03 9.89600005e-01 1.16789111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.46, Y:157.72, Z:116.79 [[ 7.18455442e-01 6.87785710e-01 1.03791109e-01 2.99456876e+02] [-6.80315746e-01 7.25910930e-01 -1.01112848e-01 1.57715477e+02] [-1.44887072e-01 2.03435015e-03 9.89446107e-01 1.16785286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:157.69, Z:116.78 [[ 7.18882704e-01 6.87289243e-01 1.04120861e-01 2.99480434e+02] [-6.79757887e-01 7.26380568e-01 -1.01491311e-01 1.57694180e+02] [-1.45385256e-01 2.18337171e-03 9.89372711e-01 1.16780960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.50, Y:157.65, Z:116.81 [[ 7.18565802e-01 6.84487763e-01 1.23043452e-01 2.99495133e+02] [-6.82374237e-01 7.28082166e-01 -6.52821569e-02 1.57648356e+02] [-1.34270581e-01 -3.70521566e-02 9.90251760e-01 1.16807729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.54, Y:157.67, Z:116.76 [[ 7.20860916e-01 6.89065132e-01 7.44901677e-02 2.99541420e+02] [-6.77928385e-01 7.23368016e-01 -1.30964953e-01 1.57670861e+02] [-1.44127187e-01 4.39085167e-02 9.88584542e-01 1.16757652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:299.55, Y:157.63, Z:116.77 [[ 7.20603767e-01 6.85547336e-01 1.03706610e-01 2.99552962e+02] [-6.78044414e-01 7.28023435e-01 -1.01181277e-01 1.57632832e+02] [-1.44865398e-01 2.59392193e-03 9.89447971e-01 1.16768433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:299.58, Y:157.60, Z:116.78 [[ 7.17519784e-01 6.87681536e-01 1.10722468e-01 2.99575308e+02] [-6.82505421e-01 7.25872020e-01 -8.54175667e-02 1.57598698e+02] [-1.39110425e-01 -1.42798904e-02 9.90173911e-01 1.16777911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.39, Y:158.21, Z:117.20 [[ 7.15582060e-01 -2.83846653e-01 -6.38258093e-01 3.00387818e+02] [-6.69056157e-01 -5.41119205e-01 -5.09464292e-01 1.58206783e+02] [-2.00763978e-01 7.91594014e-01 -5.77124546e-01 1.17195716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.990385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:300.24, Y:157.85, Z:117.77 [[ 7.70349039e-01 -6.37510987e-01 1.19205740e-02 3.00242431e+02] [-6.05574111e-01 -7.25649207e-01 3.26669902e-01 1.57853471e+02] [-1.99605496e-01 -2.58868636e-01 -9.45063318e-01 1.17766227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.75, Y:157.47, Z:116.73 [[ 7.83017402e-01 6.05895464e-01 1.40621601e-01 2.99747065e+02] [-5.96067194e-01 7.95543223e-01 -1.08696278e-01 1.57473668e+02] [-1.77729144e-01 1.29115424e-03 9.84078597e-01 1.16732500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.050385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:299.78, Y:157.47, Z:116.72 [[ 7.82184938e-01 6.08550914e-01 1.33613282e-01 2.99776924e+02] [-5.96179431e-01 7.93338528e-01 -1.23223644e-01 1.57467169e+02] [-1.80988426e-01 1.67261874e-02 9.83342984e-01 1.16715452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.080385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:299.80, Y:157.44, Z:116.71 [[ 7.81809818e-01 6.07267890e-01 1.41418243e-01 2.99799787e+02] [-5.96385689e-01 7.94479927e-01 -1.14567691e-01 1.57444661e+02] [-1.81927235e-01 5.23032961e-03 9.83298085e-01 1.16712000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:157.42, Z:116.71 [[ 7.80963020e-01 6.08066581e-01 1.42659716e-01 2.99826038e+02] [-5.98052661e-01 7.93885869e-01 -1.09901056e-01 1.57424190e+02] [-1.80082691e-01 5.10637807e-04 9.83651343e-01 1.16708351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.85, Y:157.40, Z:116.72 [[ 7.80399829e-01 6.07111582e-01 1.49638343e-01 2.99846758e+02] [-6.00049634e-01 7.94443539e-01 -9.38077858e-02 1.57398157e+02] [-1.75831008e-01 -1.65828530e-02 9.84280684e-01 1.16715557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.170385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:299.88, Y:157.40, Z:116.69 [[ 7.80153098e-01 6.11972952e-01 1.29808508e-01 2.99882016e+02] [-5.99557863e-01 7.90650600e-01 -1.24104789e-01 1.57396284e+02] [-1.78581949e-01 1.89930235e-02 9.83741710e-01 1.16688587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.200385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:299.90, Y:157.37, Z:116.69 [[ 7.80499390e-01 6.08983469e-01 1.41279282e-01 2.99902787e+02] [-5.99478023e-01 7.93182234e-01 -1.07182290e-01 1.57368118e+02] [-1.77332460e-01 -1.03811327e-03 9.84150457e-01 1.16690391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.230385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.93, Y:157.35, Z:116.68 [[ 7.81164495e-01 6.08318881e-01 1.40464129e-01 2.99928347e+02] [-5.98778718e-01 7.93692675e-01 -1.07312558e-01 1.57349947e+02] [-1.76765606e-01 -2.78171108e-04 9.84252937e-01 1.16683719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.260385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:299.95, Y:157.32, Z:116.69 [[ 7.80161187e-01 6.08469774e-01 1.45303322e-01 2.99949616e+02] [-6.01487895e-01 7.93439552e-01 -9.30912987e-02 1.57322608e+02] [-1.71932644e-01 -1.47719712e-02 9.84997947e-01 1.16690786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:157.32, Z:116.66 [[ 7.78642947e-01 6.14754452e-01 1.25666719e-01 2.99984495e+02] [-6.02020630e-01 7.88386223e-01 -1.26563520e-01 1.57318680e+02] [-1.76879398e-01 2.28938345e-02 9.83966235e-01 1.16661636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:300.00, Y:157.29, Z:116.67 [[ 7.78750827e-01 6.10905271e-01 1.42625030e-01 3.00001345e+02] [-6.02230359e-01 7.91681913e-01 -1.02753799e-01 1.57289066e+02] [-1.75686494e-01 -5.87351675e-03 9.84428645e-01 1.16668543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.03, Y:157.28, Z:116.65 [[ 7.76335980e-01 6.15988017e-01 1.33645837e-01 3.00030629e+02] [-6.04728979e-01 7.87684698e-01 -1.17710148e-01 1.57276433e+02] [-1.77778822e-01 1.05631127e-02 9.84013776e-01 1.16653802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.05, Y:157.25, Z:116.65 [[ 7.74324789e-01 6.16802729e-01 1.41334760e-01 3.00051164e+02] [-6.07254105e-01 7.87114983e-01 -1.08131663e-01 1.57250765e+02] [-1.77942612e-01 -2.09708656e-03 9.84038632e-01 1.16652835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:300.07, Y:157.22, Z:116.66 [[ 7.73325920e-01 6.16918788e-01 1.46212960e-01 3.00070399e+02] [-6.10652761e-01 7.86778687e-01 -8.99027404e-02 1.57223485e+02] [-1.70499930e-01 -1.97612280e-02 9.85159514e-01 1.16663672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.10, Y:157.21, Z:116.65 [[ 7.72195990e-01 6.19466622e-01 1.41331019e-01 3.00098499e+02] [-6.11283816e-01 7.84975722e-01 -1.00723444e-01 1.57208496e+02] [-1.73336230e-01 -8.61512531e-03 9.84825026e-01 1.16653462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:157.19, Z:116.65 [[ 7.70305952e-01 6.22481846e-01 1.38365789e-01 3.00124334e+02] [-6.13060887e-01 7.82632373e-01 -1.07902353e-01 1.57191089e+02] [-1.75456801e-01 -1.70882856e-03 9.84485648e-01 1.16645135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.500385723 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:300.76, Y:157.68, Z:117.57 [[ 8.23742436e-01 -5.36575933e-01 -1.83124732e-01 3.00756981e+02] [-5.32604736e-01 -8.43077352e-01 7.45169367e-02 1.57677427e+02] [-1.94372309e-01 3.61503367e-02 -9.80261475e-01 1.17573132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.23, Y:157.15, Z:116.61 [[ 8.14529606e-01 5.64999077e-01 1.31596217e-01 3.00228886e+02] [-5.50128826e-01 8.24276623e-01 -1.33889224e-01 1.57150348e+02] [-1.84118973e-01 3.66618640e-02 9.82219991e-01 1.16608605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.560385723 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:300.36, Y:156.87, Z:117.44 [[ 8.29613176e-01 -7.02017168e-02 5.53907661e-01 3.00359533e+02] [-5.46833927e-01 9.81915341e-02 8.31463216e-01 1.56873438e+02] [-1.12759188e-01 -9.92688341e-01 4.30723100e-02 1.17442575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:300.91, Y:157.65, Z:117.52 [[ 8.67708583e-01 -4.65166396e-01 -1.75219975e-01 3.00912549e+02] [-4.77309978e-01 -8.78135421e-01 -3.24556365e-02 1.57652024e+02] [-1.38769595e-01 1.11796276e-01 -9.83994203e-01 1.17519238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:157.59, Z:117.56 [[ 9.02720325e-01 -4.13098720e-01 -1.20189279e-01 3.00892241e+02] [-4.07862200e-01 -9.10619888e-01 6.64819103e-02 1.57593857e+02] [-1.36910340e-01 -1.09939078e-02 -9.90522434e-01 1.17564788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.89, Y:157.59, Z:117.56 [[ 9.31977464e-01 -3.40599440e-01 -1.24137138e-01 3.00894081e+02] [-3.36066824e-01 -9.40145515e-01 5.64402396e-02 1.57589664e+02] [-1.35930487e-01 -1.08826577e-02 -9.90658604e-01 1.17561248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.90, Y:157.59, Z:117.56 [[ 9.55315150e-01 -2.66301413e-01 -1.28282978e-01 3.00896193e+02] [-2.62433674e-01 -9.63830013e-01 4.64787301e-02 1.57590108e+02] [-1.36020336e-01 -1.07360616e-02 -9.90647871e-01 1.17557942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.90, Y:157.61, Z:117.55 [[ 9.72222008e-01 -1.87589537e-01 -1.39980475e-01 3.00901813e+02] [-1.87116451e-01 -9.82196578e-01 1.66528189e-02 1.57609251e+02] [-1.40612238e-01 1.00024126e-02 -9.90014217e-01 1.17546167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.91, Y:157.67, Z:117.50 [[ 9.83031444e-01 -9.58579601e-02 -1.56398314e-01 3.00907058e+02] [-1.11976695e-01 -9.88894360e-01 -9.77198235e-02 1.57666586e+02] [-1.45294187e-01 1.13574625e-01 -9.82848108e-01 1.17498839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.90, Y:157.60, Z:117.55 [[ 9.88955937e-01 -3.53577370e-02 -1.43930484e-01 3.00902970e+02] [-3.33732320e-02 -9.99311985e-01 1.61797168e-02 1.57603136e+02] [-1.44403536e-01 -1.11976015e-02 -9.89455523e-01 1.17546625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.90, Y:157.60, Z:117.54 [[ 9.88752367e-01 4.28150540e-02 -1.43302573e-01 3.00899950e+02] [ 4.39523826e-02 -9.99022197e-01 4.77893108e-03 1.57599848e+02] [-1.42957842e-01 -1.10236690e-02 -9.89667386e-01 1.17543554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.90, Y:157.62, Z:117.53 [[ 9.81623513e-01 1.24274814e-01 -1.44813844e-01 3.00895742e+02] [ 1.21033308e-01 -9.92163711e-01 -3.10178879e-02 1.57619484e+02] [-1.47533783e-01 1.29205896e-02 -9.88972619e-01 1.17530242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.87, Y:157.69, Z:117.47 [[ 9.68706346e-01 2.16916406e-01 -1.20645302e-01 3.00874615e+02] [ 1.95782520e-01 -9.66532500e-01 -1.65783385e-01 1.57685588e+02] [-1.52568742e-01 1.36975176e-01 -9.78754607e-01 1.17471318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:157.62, Z:117.53 [[ 9.50593695e-01 2.72634861e-01 -1.48465010e-01 3.00894852e+02] [ 2.71174301e-01 -9.62050378e-01 -3.03902625e-02 1.57616508e+02] [-1.51116264e-01 -1.13711035e-02 -9.88450592e-01 1.17531402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:157.61, Z:117.53 [[ 9.26617494e-01 3.46947603e-01 -1.44939231e-01 3.00891146e+02] [ 3.44597182e-01 -9.37817896e-01 -4.18374873e-02 1.57612163e+02] [-1.50442021e-01 -1.11783031e-02 -9.88555635e-01 1.17527628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:157.61, Z:117.52 [[ 8.97354675e-01 4.18503197e-01 -1.40034500e-01 3.00889355e+02] [ 4.15317194e-01 -9.08150069e-01 -5.26790296e-02 1.57607633e+02] [-1.49218683e-01 -1.08869620e-02 -9.88744284e-01 1.17524310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:157.60, Z:117.52 [[ 8.62039976e-01 4.88511777e-01 -1.35067846e-01 3.00887300e+02] [ 4.84495263e-01 -8.72490986e-01 -6.34335841e-02 1.57602419e+02] [-1.48833531e-01 -1.07574462e-02 -9.88803751e-01 1.17520227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.88, Y:157.60, Z:117.52 [[ 8.21597163e-01 5.55302972e-01 -1.28905824e-01 3.00883820e+02] [ 5.50521189e-01 -8.31580691e-01 -7.34845198e-02 1.57598358e+02] [-1.48001767e-01 -1.05907147e-02 -9.88930389e-01 1.17517057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:157.59, Z:117.51 [[ 7.75386028e-01 6.19496974e-01 -1.22474514e-01 3.00882779e+02] [ 6.13958006e-01 -7.84927735e-01 -8.33307735e-02 1.57592095e+02] [-1.47756805e-01 -1.05806911e-02 -9.88967126e-01 1.17513025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:157.59, Z:117.51 [[ 7.23245467e-01 6.80961543e-01 -1.14923331e-01 3.00880607e+02] [ 6.74768868e-01 -7.32239280e-01 -9.22638164e-02 1.57586379e+02] [-1.46979488e-01 -1.08172988e-02 -9.89080389e-01 1.17509967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:157.58, Z:117.51 [[ 6.66544124e-01 7.37728960e-01 -1.07121014e-01 3.00880962e+02] [ 7.30870304e-01 -6.75007470e-01 -1.00962935e-01 1.57579757e+02] [-1.46790765e-01 -1.09953171e-02 -9.89106452e-01 1.17506133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:157.58, Z:117.50 [[ 6.06124737e-01 7.90419625e-01 -8.85980808e-02 3.00875585e+02] [ 7.82189845e-01 -6.12565668e-01 -1.13764447e-01 1.57577451e+02] [-1.44193794e-01 -3.45073725e-04 -9.89549408e-01 1.17503670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.85, Y:157.59, Z:117.47 [[ 5.40008009e-01 8.40709699e-01 -3.99819032e-02 3.00848277e+02] [ 8.28078170e-01 -5.39193669e-01 -1.53482023e-01 1.57585447e+02] [-1.50591814e-01 4.97733804e-02 -9.87342249e-01 1.17473700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.87, Y:157.57, Z:117.50 [[ 4.72264256e-01 8.77658734e-01 -8.17411747e-02 3.00874916e+02] [ 8.68745438e-01 -4.79140154e-01 -1.25323891e-01 1.57566699e+02] [-1.49157086e-01 -1.18262786e-02 -9.88742789e-01 1.17496102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.86, Y:157.57, Z:117.49 [[ 4.00744208e-01 9.13668098e-01 -6.79314871e-02 3.00859301e+02] [ 9.03961654e-01 -4.06380761e-01 -1.33071427e-01 1.57566122e+02] [-1.49189167e-01 -8.07985570e-03 -9.88775661e-01 1.17491020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.250385723 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:301.56, Y:157.12, Z:116.51 [[ 4.04455362e-01 -9.11692393e-01 7.23383807e-02 3.01559395e+02] [ 9.03085961e-01 4.10619458e-01 1.25807027e-01 1.57122138e+02] [-1.44400856e-01 1.44444493e-02 9.89413842e-01 1.16505631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.58, Y:157.14, Z:116.51 [[ 4.02322214e-01 -9.14201601e-01 4.87059430e-02 3.01582988e+02] [ 9.03545429e-01 4.05076012e-01 1.39710711e-01 1.57141853e+02] [-1.47453365e-01 -1.22006905e-02 9.88993755e-01 1.16512555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.59, Y:157.17, Z:116.50 [[ 4.00893328e-01 -9.14159068e-01 5.99811514e-02 3.01587825e+02] [ 9.04209213e-01 4.05355525e-01 1.34508727e-01 1.57168740e+02] [-1.47276063e-01 3.11858568e-04 9.89095377e-01 1.16502823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.60, Y:157.19, Z:116.50 [[ 3.96876814e-01 -9.15929331e-01 5.96846290e-02 3.01597551e+02] [ 9.06083298e-01 4.01338526e-01 1.33941950e-01 1.57194808e+02] [-1.46635102e-01 9.20791158e-04 9.89190224e-01 1.16496844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.61, Y:157.22, Z:116.49 [[ 3.94541707e-01 -9.16951682e-01 5.94680918e-02 3.01608481e+02] [ 9.07174322e-01 3.98996287e-01 1.33554160e-01 1.57220296e+02] [-1.46190259e-01 1.25523973e-03 9.89255696e-01 1.16492307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:301.62, Y:157.24, Z:116.49 [[ 3.91507239e-01 -9.18056192e-01 6.24092123e-02 3.01617011e+02] [ 9.08723243e-01 3.96411485e-01 1.30690484e-01 1.57244651e+02] [-1.44720936e-01 5.54643133e-03 9.89456966e-01 1.16486547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.430385723 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:301.62, Y:157.27, Z:116.48 [[ 3.87911389e-01 -9.18993460e-01 7.05391800e-02 3.01622283e+02] [ 9.10758237e-01 3.93939279e-01 1.23819539e-01 1.57273856e+02] [-1.41577500e-01 1.62131298e-02 9.89794396e-01 1.16478720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:301.65, Y:157.29, Z:116.49 [[ 3.85490005e-01 -9.21704761e-01 4.31020771e-02 3.01646422e+02] [ 9.10957054e-01 3.87596112e-01 1.41161254e-01 1.57293243e+02] [-1.46815197e-01 -1.51521112e-02 9.89047881e-01 1.16486659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:301.65, Y:157.32, Z:116.48 [[ 3.85377946e-01 -9.20848038e-01 5.93525868e-02 3.01649370e+02] [ 9.11051131e-01 3.89914031e-01 1.33988375e-01 1.57321630e+02] [-1.46525338e-01 2.43707663e-03 9.89203915e-01 1.16475119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.520385723 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:301.65, Y:157.35, Z:116.47 [[ 3.83131683e-01 -9.21076084e-01 6.94907218e-02 3.01651967e+02] [ 9.12437161e-01 3.89099294e-01 1.26728713e-01 1.57350918e+02] [-1.43765578e-01 1.48521319e-02 9.89500315e-01 1.16466390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.67, Y:157.37, Z:116.47 [[ 3.82414583e-01 -9.22708211e-01 4.86687185e-02 3.01670573e+02] [ 9.12152824e-01 3.85395517e-01 1.39454374e-01 1.57372305e+02] [-1.47432402e-01 -8.93607725e-03 9.89031766e-01 1.16470912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.68, Y:157.40, Z:116.47 [[ 3.82216720e-01 -9.23001495e-01 4.44816765e-02 3.01682721e+02] [ 9.12597593e-01 3.84595242e-01 1.38752058e-01 1.57398739e+02] [-1.45175798e-01 -1.24394858e-02 9.89327674e-01 1.16471333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.68, Y:157.43, Z:116.46 [[ 3.82486976e-01 -9.21856296e-01 6.23272198e-02 3.01682371e+02] [ 9.12317635e-01 3.87482062e-01 1.32416709e-01 1.57427974e+02] [-1.46219856e-01 6.21455521e-03 9.89232598e-01 1.16458316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:157.45, Z:116.45 [[ 3.84034613e-01 -9.20678578e-01 6.97737184e-02 3.01688211e+02] [ 9.11890363e-01 3.90049585e-01 1.27739138e-01 1.57454480e+02] [-1.44821898e-01 1.45697311e-02 9.89350464e-01 1.16451086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.70, Y:157.48, Z:116.45 [[ 3.81096115e-01 -9.22581653e-01 6.00736627e-02 3.01700844e+02] [ 9.12485504e-01 3.85790745e-01 1.36145904e-01 1.57479571e+02] [-1.48781576e-01 2.93167138e-03 9.88865738e-01 1.16446467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:301.71, Y:157.50, Z:116.44 [[ 3.82703384e-01 -9.21945058e-01 5.96274210e-02 3.01712041e+02] [ 9.11975999e-01 3.87311801e-01 1.35238110e-01 1.57504369e+02] [-1.47776511e-01 2.62269460e-03 9.89017302e-01 1.16443833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.71, Y:157.53, Z:116.43 [[ 3.79573915e-01 -9.22669047e-01 6.78636339e-02 3.01713572e+02] [ 9.12754519e-01 3.85447600e-01 1.35311995e-01 1.57530177e+02] [-1.51006064e-01 1.05819349e-02 9.88476197e-01 1.16431852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:301.73, Y:157.56, Z:116.44 [[ 3.81427318e-01 -9.22981187e-01 5.11754802e-02 3.01734243e+02] [ 9.12675203e-01 3.84801318e-01 1.37665974e-01 1.57555005e+02] [-1.46755497e-01 -5.80297169e-03 9.89155776e-01 1.16438173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:157.58, Z:116.42 [[ 3.79514456e-01 -9.22390252e-01 7.18679328e-02 3.01729680e+02] [ 9.13197208e-01 3.85929436e-01 1.30879067e-01 1.57581229e+02] [-1.48457526e-01 1.59590978e-02 9.88790003e-01 1.16420885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:301.76, Y:157.60, Z:116.43 [[ 3.79900546e-01 -9.23939114e-01 4.48563085e-02 3.01757055e+02] [ 9.13242244e-01 3.82335163e-01 1.40742411e-01 1.57604878e+02] [-1.47187563e-01 -1.25034430e-02 9.89029568e-01 1.16432765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:301.76, Y:157.63, Z:116.42 [[ 3.82053235e-01 -9.22205414e-01 5.97703927e-02 3.01760019e+02] [ 9.12102731e-01 3.86692293e-01 1.36153148e-01 1.57631889e+02] [-1.48673920e-01 2.49898786e-03 9.88883118e-01 1.16423473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.77, Y:157.66, Z:116.42 [[ 3.79807731e-01 -9.22984304e-01 6.20166252e-02 3.01766527e+02] [ 9.12672407e-01 3.84813347e-01 1.37650882e-01 1.57657364e+02] [-1.50914429e-01 4.31999344e-03 9.88537391e-01 1.16417284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.78, Y:157.68, Z:116.42 [[ 3.82466886e-01 -9.22133609e-01 5.82124352e-02 3.01780697e+02] [ 9.11764696e-01 3.86871418e-01 1.37897225e-01 1.57683302e+02] [-1.49680393e-01 3.34921115e-04 9.88734377e-01 1.16417398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.940385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:301.79, Y:157.71, Z:116.41 [[ 3.83916910e-01 -9.21382137e-01 6.05207715e-02 3.01789580e+02] [ 9.10990338e-01 3.88651945e-01 1.38008224e-01 1.57709800e+02] [-1.50679828e-01 2.15014732e-03 9.88580278e-01 1.16412214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.80, Y:157.74, Z:116.41 [[ 3.84919785e-01 -9.20969905e-01 6.04251090e-02 3.01800067e+02] [ 9.10590112e-01 3.89628868e-01 1.37894862e-01 1.57735370e+02] [-1.50540385e-01 1.94404608e-03 9.88601949e-01 1.16408313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:301.81, Y:157.76, Z:116.40 [[ 3.85990219e-01 -9.20531264e-01 6.02805340e-02 3.01810314e+02] [ 9.10180286e-01 3.90665084e-01 1.37668582e-01 1.57760391e+02] [-1.50277734e-01 1.72742743e-03 9.88642311e-01 1.16404117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:157.78, Z:116.39 [[ 3.85178550e-01 -9.20103720e-01 7.10396375e-02 3.01809501e+02] [ 9.09928911e-01 3.91494519e-01 1.36972331e-01 1.57784949e+02] [-1.53840380e-01 1.18822161e-02 9.88024266e-01 1.16389843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.060385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:301.84, Y:157.81, Z:116.40 [[ 3.90007427e-01 -9.19531933e-01 4.85307265e-02 3.01836578e+02] [ 9.08655525e-01 3.92859455e-01 1.41444640e-01 1.57809368e+02] [-1.49128618e-01 -1.10667474e-02 9.88755876e-01 1.16399607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:157.84, Z:116.39 [[ 3.90010723e-01 -9.18876389e-01 5.96474523e-02 3.01840592e+02] [ 9.08699572e-01 3.94544243e-01 1.36381554e-01 1.57836850e+02] [-1.48851349e-01 1.01134587e-03 9.88859066e-01 1.16390324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:157.86, Z:116.39 [[ 3.90353276e-01 -9.18765030e-01 5.91197017e-02 3.01851602e+02] [ 9.08750889e-01 3.94803723e-01 1.35284304e-01 1.57860943e+02] [-1.47635166e-01 9.16410028e-04 9.89041464e-01 1.16387404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.86, Y:157.88, Z:116.38 [[ 3.88018746e-01 -9.19183086e-01 6.74085077e-02 3.01855502e+02] [ 9.09238744e-01 3.93730897e-01 1.35132852e-01 1.57884739e+02] [-1.50752644e-01 8.85634702e-03 9.88531843e-01 1.16376190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.88, Y:157.91, Z:116.38 [[ 3.88282583e-01 -9.20043196e-01 5.25086111e-02 3.01875834e+02] [ 9.09498740e-01 3.91767448e-01 1.39033480e-01 1.57909537e+02] [-1.48487972e-01 -6.22776319e-03 9.88894604e-01 1.16379792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.89, Y:157.94, Z:116.38 [[ 3.89974777e-01 -9.19124926e-01 5.59378590e-02 3.01888367e+02] [ 9.09100597e-01 3.93961401e-01 1.35390248e-01 1.57936704e+02] [-1.46477909e-01 -1.94564060e-03 9.89212028e-01 1.16375922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.89, Y:157.96, Z:116.37 [[ 3.87004249e-01 -9.19707616e-01 6.60727849e-02 3.01893449e+02] [ 9.10786714e-01 3.92462079e-01 1.28222768e-01 1.57964004e+02] [-1.43858518e-01 1.05554587e-02 9.89541969e-01 1.16366397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.91, Y:157.99, Z:116.37 [[ 3.85557277e-01 -9.21311051e-01 5.03143437e-02 3.01912815e+02] [ 9.10935524e-01 3.88755879e-01 1.38077290e-01 1.57985778e+02] [-1.46772130e-01 -7.40358083e-03 9.89142623e-01 1.16370125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:158.01, Z:116.36 [[ 3.83803786e-01 -9.21553263e-01 5.86023586e-02 3.01919774e+02] [ 9.11704460e-01 3.88247544e-01 1.34383116e-01 1.58011801e+02] [-1.46593421e-01 1.85128311e-03 9.89195098e-01 1.16363018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.93, Y:158.04, Z:116.36 [[ 3.78219641e-01 -9.23870424e-01 5.84238174e-02 3.01928842e+02] [ 9.14099207e-01 3.82695834e-01 1.34039322e-01 1.58037670e+02] [-1.46193517e-01 2.70886110e-03 9.89252302e-01 1.16358995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.94, Y:158.06, Z:116.36 [[ 3.77648428e-01 -9.24056222e-01 5.91757012e-02 3.01941714e+02] [ 9.14017274e-01 3.82246498e-01 1.35867724e-01 1.58060919e+02] [-1.48169121e-01 2.77738057e-03 9.88958138e-01 1.16355137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.95, Y:158.09, Z:116.35 [[ 3.75252461e-01 -9.25034923e-01 5.91268301e-02 3.01950918e+02] [ 9.15014320e-01 3.79869152e-01 1.35824235e-01 1.58087612e+02] [-1.48102620e-01 3.13351780e-03 9.88967034e-01 1.16351133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:301.96, Y:158.11, Z:116.35 [[ 3.74809155e-01 -9.25219729e-01 5.90470185e-02 3.01961530e+02] [ 9.15212905e-01 3.79418576e-01 1.35745658e-01 1.58112340e+02] [-1.47998096e-01 3.16187804e-03 9.88982591e-01 1.16347208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.97, Y:158.14, Z:116.34 [[ 3.74471653e-01 -9.25368798e-01 5.88520959e-02 3.01971787e+02] [ 9.15415092e-01 3.79054786e-01 1.35398221e-01 1.58138073e+02] [-1.47601458e-01 3.17130103e-03 9.89041836e-01 1.16342394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.98, Y:158.16, Z:116.34 [[ 3.76716401e-01 -9.24478786e-01 5.85126283e-02 3.01984223e+02] [ 9.14613632e-01 3.81223474e-01 1.34724041e-01 1.58161351e+02] [-1.46855905e-01 2.76369163e-03 9.89154035e-01 1.16338145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.99, Y:158.19, Z:116.33 [[ 3.77447540e-01 -9.24245616e-01 5.74751703e-02 3.01993773e+02] [ 9.14718154e-01 3.81789557e-01 1.32391211e-01 1.58185671e+02] [-1.44305416e-01 2.60284495e-03 9.89529773e-01 1.16332807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.00, Y:158.21, Z:116.33 [[ 3.74669384e-01 -9.25494708e-01 5.55193584e-02 3.02001268e+02] [ 9.16007524e-01 3.78758201e-01 1.32183367e-01 1.58209839e+02] [-1.43363419e-01 1.33108939e-03 9.89669217e-01 1.16326685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.570385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:302.01, Y:158.24, Z:116.32 [[ 3.76617401e-01 -9.24605305e-01 5.71346035e-02 3.02014455e+02] [ 9.15403677e-01 3.80912416e-01 1.30160826e-01 1.58236201e+02] [-1.42110670e-01 3.28039421e-03 9.89845340e-01 1.16322978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.03, Y:158.26, Z:116.32 [[ 3.75286668e-01 -9.25174681e-01 5.66720993e-02 3.02025404e+02] [ 9.15887125e-01 3.79531100e-01 1.30793420e-01 1.58261578e+02] [-1.42515585e-01 2.82021933e-03 9.89788540e-01 1.16319491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:158.29, Z:116.32 [[ 3.74380979e-01 -9.25544520e-01 5.66235269e-02 3.02035647e+02] [ 9.16263486e-01 3.78627526e-01 1.30776227e-01 1.58286335e+02] [-1.42478446e-01 2.92193836e-03 9.89793592e-01 1.16315833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:158.31, Z:116.31 [[ 3.72039569e-01 -9.26487430e-01 5.66356966e-02 3.02043663e+02] [ 9.17076208e-01 3.76314369e-01 1.31752510e-01 1.58311074e+02] [-1.43379870e-01 2.92210298e-03 9.89663415e-01 1.16309754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.05, Y:158.34, Z:116.30 [[ 3.70950693e-01 -9.26315155e-01 6.58469240e-02 3.02047624e+02] [ 9.17101095e-01 3.76563350e-01 1.30864911e-01 1.58338282e+02] [-1.46017688e-01 1.18438569e-02 9.89211079e-01 1.16298191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.07, Y:158.36, Z:116.31 [[ 3.75088699e-01 -9.25739274e-01 4.81172068e-02 3.02069605e+02] [ 9.15733348e-01 3.78099103e-01 1.35917268e-01 1.58363233e+02] [-1.44017026e-01 -6.91850033e-03 9.89551025e-01 1.16305497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.08, Y:158.39, Z:116.30 [[ 3.75998226e-01 -9.24848380e-01 5.72783301e-02 3.02075285e+02] [ 9.15301120e-01 3.80327246e-01 1.32570907e-01 1.58390797e+02] [-1.44392498e-01 2.58049386e-03 9.89517129e-01 1.16297448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:158.42, Z:116.28 [[ 3.75434520e-01 -9.24112391e-01 7.11702974e-02 3.02075300e+02] [ 9.14869177e-01 3.81793773e-01 1.31331280e-01 1.58418584e+02] [-1.48537240e-01 1.58052153e-02 9.88780503e-01 1.16282002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.09, Y:158.44, Z:116.29 [[ 3.76449929e-01 -9.24783847e-01 5.53198551e-02 3.02094533e+02] [ 9.14483058e-01 3.80490900e-01 1.37649598e-01 1.58443086e+02] [-1.48344826e-01 -1.22911113e-03 9.88934933e-01 1.16285172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.10, Y:158.47, Z:116.28 [[ 3.78478502e-01 -9.23610499e-01 6.08084622e-02 3.02100994e+02] [ 9.13470336e-01 3.83312764e-01 1.36540363e-01 1.58470469e+02] [-1.49418772e-01 3.86913447e-03 9.88766434e-01 1.16277750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.12, Y:158.50, Z:116.29 [[ 3.82753524e-01 -9.22778334e-01 4.44959097e-02 3.02122550e+02] [ 9.12373626e-01 3.85128124e-01 1.38746872e-01 1.58495463e+02] [-1.45169234e-01 -1.25089599e-02 9.89327761e-01 1.16286421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.11, Y:158.53, Z:116.26 [[ 3.83614897e-01 -9.20552878e-01 7.36342978e-02 3.02114390e+02] [ 9.11430538e-01 3.90243965e-01 1.30399473e-01 1.58525676e+02] [-1.48774951e-01 1.70893672e-02 9.88723403e-01 1.16263473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.13, Y:158.55, Z:116.26 [[ 3.85522965e-01 -9.20764672e-01 5.97031200e-02 3.02132593e+02] [ 9.10664467e-01 3.90113691e-01 1.36020355e-01 1.58549771e+02] [-1.48533742e-01 1.93053960e-03 9.88905456e-01 1.16264033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:158.57, Z:116.27 [[ 3.90205533e-01 -9.19840176e-01 4.04189769e-02 3.02154090e+02] [ 9.09470034e-01 3.91906723e-01 1.38828592e-01 1.58573594e+02] [-1.43540585e-01 -1.74118364e-02 9.89491247e-01 1.16273234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:158.60, Z:116.25 [[ 3.89465555e-01 -9.18170272e-01 7.26631477e-02 3.02145081e+02] [ 9.09015268e-01 3.95889408e-01 1.30241389e-01 1.58602334e+02] [-1.48350342e-01 1.53273760e-02 9.88816084e-01 1.16249014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.17, Y:158.62, Z:116.26 [[ 3.92936850e-01 -9.18627554e-01 4.15216760e-02 3.02174963e+02] [ 9.08412381e-01 3.94786349e-01 1.37588823e-01 1.58624508e+02] [-1.42785074e-01 -1.63449140e-02 9.89618748e-01 1.16264033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.18, Y:158.65, Z:116.25 [[ 3.93495576e-01 -9.17597639e-01 5.63542879e-02 3.02178376e+02] [ 9.08207080e-01 3.97510322e-01 1.30940615e-01 1.58652574e+02] [-1.42552211e-01 -3.43189663e-04 9.89787224e-01 1.16254080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.19, Y:158.68, Z:116.25 [[ 3.93235135e-01 -9.17730709e-01 5.60042377e-02 3.02189591e+02] [ 9.08444166e-01 3.97203015e-01 1.30226581e-01 1.58676729e+02] [-1.41757985e-01 -3.32944282e-04 9.89901289e-01 1.16249044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.20, Y:158.70, Z:116.24 [[ 3.91481180e-01 -9.18493619e-01 5.57849262e-02 3.02201302e+02] [ 9.09278376e-01 3.95435792e-01 1.29782009e-01 1.58701232e+02] [-1.41263303e-01 -8.31868216e-05 9.89972056e-01 1.16244662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:158.73, Z:116.24 [[ 3.89958750e-01 -9.19142793e-01 5.57557070e-02 3.02213163e+02] [ 9.09931473e-01 3.93924500e-01 1.29800629e-01 1.58726625e+02] [-1.41268852e-01 1.16981457e-04 9.89971261e-01 1.16240691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:158.75, Z:116.24 [[ 3.86639817e-01 -9.20553865e-01 5.55898777e-02 3.02225771e+02] [ 9.11398338e-01 3.90615198e-01 1.29509984e-01 1.58750406e+02] [-1.40935167e-01 5.90805858e-04 9.90018651e-01 1.16237075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:158.78, Z:116.23 [[ 3.83503268e-01 -9.21667117e-01 5.87789883e-02 3.02234262e+02] [ 9.12480436e-01 3.87962684e-01 1.29863044e-01 1.58775922e+02] [-1.42494552e-01 3.83177498e-03 9.89788169e-01 1.16227940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.25, Y:158.80, Z:116.23 [[ 3.80465800e-01 -9.23199484e-01 5.42999861e-02 3.02248713e+02] [ 9.13900691e-01 3.84321093e-01 1.30701279e-01 1.58800556e+02] [-1.41531983e-01 -1.02571827e-04 9.89933678e-01 1.16225689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:158.83, Z:116.22 [[ 3.80480760e-01 -9.23242114e-01 5.34639095e-02 3.02261931e+02] [ 9.14130875e-01 3.84218521e-01 1.29386522e-01 1.58825911e+02] [-1.39996911e-01 -3.56072011e-04 9.90151876e-01 1.16224303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.27, Y:158.85, Z:116.22 [[ 3.78060628e-01 -9.24156495e-01 5.48172758e-02 3.02272823e+02] [ 9.15251470e-01 3.82009948e-01 1.27996664e-01 1.58849805e+02] [-1.39229693e-01 1.78109318e-03 9.90258512e-01 1.16219764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.28, Y:158.88, Z:116.22 [[ 3.76817966e-01 -9.24671123e-01 5.46949352e-02 3.02283989e+02] [ 9.15799148e-01 3.80761840e-01 1.27798053e-01 1.58875306e+02] [-1.38996913e-01 1.93297279e-03 9.90290928e-01 1.16215182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.30, Y:158.90, Z:116.21 [[ 3.75047498e-01 -9.25405121e-01 5.44493987e-02 3.02295530e+02] [ 9.16607222e-01 3.78973228e-01 1.27320434e-01 1.58900534e+02] [-1.38457846e-01 2.15750185e-03 9.90365978e-01 1.16210529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.380385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.31, Y:158.93, Z:116.21 [[ 3.74890553e-01 -9.25470818e-01 5.44135893e-02 3.02306575e+02] [ 9.16671389e-01 3.78812850e-01 1.27335736e-01 1.58926528e+02] [-1.38458075e-01 2.14241587e-03 9.90365979e-01 1.16206327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.32, Y:158.95, Z:116.20 [[ 3.74156888e-01 -9.25759488e-01 5.45526606e-02 3.02317592e+02] [ 9.16909677e-01 3.78106314e-01 1.27719460e-01 1.58952031e+02] [-1.38864207e-01 2.23274686e-03 9.90308915e-01 1.16201914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.33, Y:158.98, Z:116.20 [[ 3.74039706e-01 -9.25812814e-01 5.44511943e-02 3.02328730e+02] [ 9.16982915e-01 3.77975854e-01 1.27579732e-01 1.58977446e+02] [-1.38696188e-01 2.21092925e-03 9.90332510e-01 1.16198406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.34, Y:159.00, Z:116.19 [[ 3.73943908e-01 -9.25849675e-01 5.44824137e-02 3.02339367e+02] [ 9.16996322e-01 3.77885682e-01 1.27750369e-01 1.59002823e+02] [-1.38865762e-01 2.18870067e-03 9.90308795e-01 1.16194308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.35, Y:159.03, Z:116.19 [[ 3.75121775e-01 -9.25369780e-01 5.45382864e-02 3.02350102e+02] [ 9.16479314e-01 3.79060509e-01 1.27979674e-01 1.59027756e+02] [-1.39101834e-01 1.97524870e-03 9.90276112e-01 1.16190947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.36, Y:159.05, Z:116.19 [[ 3.74017429e-01 -9.25801280e-01 5.47991976e-02 3.02359462e+02] [ 9.16817300e-01 3.78004666e-01 1.28679880e-01 1.59054214e+02] [-1.39846350e-01 2.11233463e-03 9.90170963e-01 1.16185098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.37, Y:159.08, Z:116.18 [[ 3.76533404e-01 -9.24756281e-01 5.52124698e-02 3.02370342e+02] [ 9.15610176e-01 3.80556091e-01 1.29750017e-01 1.59078770e+02] [-1.40998585e-01 1.69788353e-03 9.90008342e-01 1.16183138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.38, Y:159.10, Z:116.18 [[ 3.77454940e-01 -9.24365730e-01 5.54595923e-02 3.02380959e+02] [ 9.15120152e-01 3.81504488e-01 1.30420218e-01 1.59104989e+02] [-1.41714063e-01 1.52443507e-03 9.89906460e-01 1.16179291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.39, Y:159.13, Z:116.17 [[ 3.77218380e-01 -9.24456594e-01 5.55544795e-02 3.02391077e+02] [ 9.15166013e-01 3.81284258e-01 1.30742050e-01 1.59130533e+02] [-1.42047398e-01 1.52326742e-03 9.89858685e-01 1.16174875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.40, Y:159.16, Z:116.17 [[ 3.75410220e-01 -9.25176957e-01 5.58100849e-02 3.02400032e+02] [ 9.15793572e-01 3.79531928e-01 1.31444470e-01 1.59156595e+02] [-1.42791104e-01 1.76491952e-03 9.89751275e-01 1.16169016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:159.18, Z:116.17 [[ 3.74801536e-01 -9.25435735e-01 5.56103296e-02 3.02411103e+02] [ 9.16107468e-01 3.78900252e-01 1.31079009e-01 1.59182507e+02] [-1.42375967e-01 1.81642445e-03 9.89810984e-01 1.16165767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.42, Y:159.21, Z:116.16 [[ 3.75379789e-01 -9.25204457e-01 5.55583255e-02 3.02422479e+02] [ 9.15875898e-01 3.79465242e-01 1.31062844e-01 1.59207089e+02] [-1.42342381e-01 1.68618855e-03 9.89816045e-01 1.16163228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.43, Y:159.23, Z:116.16 [[ 3.73282430e-01 -9.26059045e-01 5.54515310e-02 3.02433147e+02] [ 9.16762140e-01 3.77373503e-01 1.30906145e-01 1.59233163e+02] [-1.42152759e-01 1.97090007e-03 9.89842770e-01 1.16158822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.44, Y:159.26, Z:116.16 [[ 3.72524739e-01 -9.26348039e-01 5.57192042e-02 3.02444359e+02] [ 9.16949421e-01 3.76663106e-01 1.31638382e-01 1.59257910e+02] [-1.42930326e-01 2.05313805e-03 9.89730623e-01 1.16155476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:159.28, Z:116.15 [[ 3.71647358e-01 -9.26699728e-01 5.57302049e-02 3.02454566e+02] [ 9.17287371e-01 3.75796465e-01 1.31760757e-01 1.59283514e+02] [-1.43045871e-01 2.15207603e-03 9.89713720e-01 1.16151362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.46, Y:159.31, Z:116.15 [[ 3.70558179e-01 -9.27117092e-01 5.60404607e-02 3.02464459e+02] [ 9.17588832e-01 3.74764815e-01 1.32597395e-01 1.59309883e+02] [-1.43935304e-01 2.28705174e-03 9.89584457e-01 1.16146564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.48, Y:159.33, Z:116.14 [[ 3.70353235e-01 -9.27193658e-01 5.61284453e-02 3.02475172e+02] [ 9.17620812e-01 3.74575386e-01 1.32910965e-01 1.59334843e+02] [-1.44258538e-01 2.28062357e-03 9.89537404e-01 1.16142579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.890385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.49, Y:159.36, Z:116.14 [[ 3.70476966e-01 -9.27145095e-01 5.61140776e-02 3.02485730e+02] [ 9.17562913e-01 3.74695902e-01 1.32970982e-01 1.59360679e+02] [-1.44309109e-01 2.22551036e-03 9.89530155e-01 1.16138782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.50, Y:159.39, Z:116.14 [[ 3.71027912e-01 -9.27680641e-01 4.17961344e-02 3.02504464e+02] [ 9.17819430e-01 3.73185430e-01 1.35425736e-01 1.59386250e+02] [-1.41229542e-01 -1.18854240e-02 9.89905527e-01 1.16143132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.50, Y:159.41, Z:116.12 [[ 3.71761159e-01 -9.25756009e-01 6.90612178e-02 3.02497862e+02] [ 9.17187363e-01 3.77772662e-01 1.26708950e-01 1.59414705e+02] [-1.43391012e-01 1.62366102e-02 9.89532915e-01 1.16123668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.52, Y:159.44, Z:116.12 [[ 3.72109141e-01 -9.26516410e-01 5.56967698e-02 3.02515410e+02] [ 9.17035723e-01 3.76249681e-01 1.32218230e-01 1.59438752e+02] [-1.43458251e-01 1.87631577e-03 9.89654591e-01 1.16124630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.53, Y:159.46, Z:116.12 [[ 3.73870981e-01 -9.25830388e-01 5.53044436e-02 3.02525244e+02] [ 9.16461584e-01 3.77936040e-01 1.31386893e-01 1.59464304e+02] [-1.42543521e-01 1.56265134e-03 9.89787302e-01 1.16120574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.53, Y:159.49, Z:116.12 [[ 3.74806876e-01 -9.25465305e-01 5.50797152e-02 3.02534838e+02] [ 9.16154510e-01 3.78829865e-01 1.30953604e-01 1.59488821e+02] [-1.42058858e-01 1.37921833e-03 9.89857252e-01 1.16116646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.070385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:302.54, Y:159.51, Z:116.11 [[ 3.76858972e-01 -9.24649266e-01 5.47818348e-02 3.02544670e+02] [ 9.15418072e-01 3.80818424e-01 1.30334495e-01 1.59514369e+02] [-1.41375628e-01 1.03055761e-03 9.89955489e-01 1.16112588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.55, Y:159.54, Z:116.11 [[ 3.77227478e-01 -9.24498853e-01 5.47841236e-02 3.02554523e+02] [ 9.15251348e-01 3.81183674e-01 1.30437637e-01 1.59540107e+02] [-1.41472259e-01 9.36582187e-04 9.89941778e-01 1.16108701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.56, Y:159.57, Z:116.10 [[ 3.78955421e-01 -9.23793303e-01 5.47605860e-02 3.02564530e+02] [ 9.14532418e-01 3.82891016e-01 1.30479603e-01 1.59565984e+02] [-1.41503520e-01 6.34378220e-04 9.89937549e-01 1.16104311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.160385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:302.57, Y:159.59, Z:116.10 [[ 3.80675322e-01 -9.23101152e-01 5.45028695e-02 3.02574700e+02] [ 9.13906093e-01 3.84557085e-01 1.29967309e-01 1.59590657e+02] [-1.40932438e-01 3.35157116e-04 9.90019159e-01 1.16101271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.190385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:302.59, Y:159.62, Z:116.10 [[ 3.81245190e-01 -9.22874430e-01 5.43589108e-02 3.02585389e+02] [ 9.13712962e-01 3.85100947e-01 1.29714627e-01 1.59616306e+02] [-1.40643980e-01 2.15363903e-04 9.90060213e-01 1.16097719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.60, Y:159.64, Z:116.09 [[ 3.81957067e-01 -9.22586249e-01 5.42532324e-02 3.02595556e+02] [ 9.13443214e-01 3.85790888e-01 1.29564214e-01 1.59641227e+02] [-1.40464565e-01 6.92797682e-05 9.90085704e-01 1.16094425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.250385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:302.61, Y:159.67, Z:116.09 [[ 3.81820685e-01 -9.22657928e-01 5.39936309e-02 3.02606221e+02] [ 9.13590641e-01 3.85619429e-01 1.29034092e-01 1.59667336e+02] [-1.39875321e-01 6.01904672e-05 9.90169122e-01 1.16090735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.62, Y:159.69, Z:116.09 [[ 3.81290942e-01 -9.22880020e-01 5.39415065e-02 3.02616736e+02] [ 9.13818528e-01 3.85087598e-01 1.29008681e-01 1.59692591e+02] [-1.39831739e-01 1.02906576e-04 9.90175275e-01 1.16087152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:302.63, Y:159.72, Z:116.08 [[ 3.78922531e-01 -9.23857225e-01 5.39030882e-02 3.02627570e+02] [ 9.14804460e-01 3.82737048e-01 1.29016096e-01 1.59718147e+02] [-1.39823161e-01 4.23679922e-04 9.90176401e-01 1.16084085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3403857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.64, Y:159.74, Z:116.08 [[ 3.76849105e-01 -9.24700004e-01 5.39875365e-02 3.02638057e+02] [ 9.15613252e-01 3.80695960e-01 1.29317277e-01 1.59743424e+02] [-1.40132524e-01 6.98603623e-04 9.90132510e-01 1.16080437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.65, Y:159.77, Z:116.08 [[ 3.71923241e-01 -9.26694671e-01 5.39452470e-02 3.02648042e+02] [ 9.17628262e-01 3.75812470e-01 1.29318830e-01 1.59768490e+02] [-1.40112367e-01 1.40500483e-03 9.90134612e-01 1.16076837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.66, Y:159.79, Z:116.07 [[ 3.69151763e-01 -9.27811629e-01 5.37824908e-02 3.02658746e+02] [ 9.18798948e-01 3.73044750e-01 1.29019793e-01 1.59794454e+02] [-1.39769340e-01 1.78741199e-03 9.90182477e-01 1.16072989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.67, Y:159.82, Z:116.07 [[ 3.64762529e-01 -9.29568323e-01 5.33950496e-02 3.02668248e+02] [ 9.20690170e-01 3.68642058e-01 1.28189878e-01 1.59819183e+02] [-1.38844911e-01 2.40143326e-03 9.90311226e-01 1.16069545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.68, Y:159.84, Z:116.07 [[ 3.62591586e-01 -9.30438133e-01 5.30303944e-02 3.02677587e+02] [ 9.21678408e-01 3.66439200e-01 1.27401829e-01 1.59844813e+02] [-1.37971935e-01 2.68213811e-03 9.90432507e-01 1.16065152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.69, Y:159.87, Z:116.06 [[ 3.61658183e-01 -9.30820642e-01 5.26905232e-02 3.02686671e+02] [ 9.22163398e-01 3.65465796e-01 1.26686308e-01 1.59869603e+02] [-1.37178814e-01 2.77213195e-03 9.90542421e-01 1.16060699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.70, Y:159.90, Z:116.06 [[ 3.61121363e-01 -9.31055576e-01 5.22194934e-02 3.02695127e+02] [ 9.22543070e-01 3.64866640e-01 1.25644810e-01 1.59895396e+02] [-1.36035452e-01 2.80170669e-03 9.90700008e-01 1.16055999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.71, Y:159.92, Z:116.05 [[ 3.60621924e-01 -9.31248477e-01 5.22312330e-02 3.02705217e+02] [ 9.22725297e-01 3.64373631e-01 1.25737358e-01 1.59921646e+02] [-1.36124407e-01 2.85143224e-03 9.90687648e-01 1.16051799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.580385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:302.71, Y:159.95, Z:116.05 [[ 3.59726443e-01 -9.31585302e-01 5.23995307e-02 3.02714415e+02] [ 9.22996742e-01 3.63510810e-01 1.26241456e-01 1.59946741e+02] [-1.36652481e-01 2.95220610e-03 9.90614650e-01 1.16049051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.72, Y:159.97, Z:116.05 [[ 3.59826877e-01 -9.31538714e-01 5.25380233e-02 3.02724085e+02] [ 9.22891755e-01 3.63630523e-01 1.26663538e-01 1.59972091e+02] [-1.37096418e-01 2.90996319e-03 9.90553433e-01 1.16045290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.73, Y:160.00, Z:116.04 [[ 3.60945963e-01 -9.31111131e-01 5.24411388e-02 3.02732017e+02] [ 9.22479901e-01 3.64725531e-01 1.26515293e-01 1.59998891e+02] [-1.36926420e-01 2.71071239e-03 9.90577512e-01 1.16041265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.74, Y:160.02, Z:116.04 [[ 3.62031802e-01 -9.30706854e-01 5.21318124e-02 3.02740839e+02] [ 9.22159955e-01 3.65757395e-01 1.25867177e-01 1.60023889e+02] [-1.36213040e-01 2.50594897e-03 9.90676399e-01 1.16037370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:160.05, Z:116.03 [[ 3.63432107e-01 -9.30164356e-01 5.20708639e-02 3.02748982e+02] [ 9.21620058e-01 3.67136392e-01 1.25806751e-01 1.60050148e+02] [-1.36138065e-01 2.26733980e-03 9.90687280e-01 1.16032994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.730385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:302.76, Y:160.07, Z:116.03 [[ 3.63690858e-01 -9.30049626e-01 5.23130388e-02 3.02758470e+02] [ 9.21410190e-01 3.67427360e-01 1.26492673e-01 1.60074999e+02] [-1.36865704e-01 2.19753848e-03 9.90587174e-01 1.16029070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.77, Y:160.10, Z:116.03 [[ 3.64491720e-01 -9.29711234e-01 5.27523229e-02 3.02767671e+02] [ 9.20909231e-01 3.68283587e-01 1.27645553e-01 1.60101777e+02] [-1.38101320e-01 2.05435393e-03 9.90415976e-01 1.16025508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.78, Y:160.13, Z:116.02 [[ 3.63769301e-01 -9.29988336e-01 5.28544209e-02 3.02776631e+02] [ 9.21141597e-01 3.67582868e-01 1.27988254e-01 1.60127923e+02] [-1.38455963e-01 2.12820808e-03 9.90366305e-01 1.16020868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.78, Y:160.15, Z:116.02 [[ 3.64090452e-01 -9.29869567e-01 5.27326399e-02 3.02784831e+02] [ 9.21047961e-01 3.67883718e-01 1.27797592e-01 1.60154295e+02] [-1.38234571e-01 2.03940724e-03 9.90397417e-01 1.16016122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.81, Y:160.18, Z:116.04 [[ 3.64674880e-01 -9.30986123e-01 1.66454601e-02 3.02812438e+02] [ 9.21963685e-01 3.63528151e-01 1.33529951e-01 1.60176551e+02] [-1.30365625e-01 -3.33485092e-02 9.90904981e-01 1.16035761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.79, Y:160.21, Z:116.00 [[ 3.64262471e-01 -9.27311049e-01 8.60643358e-02 3.02786822e+02] [ 9.20856991e-01 3.72436172e-01 1.15385007e-01 1.60211595e+02] [-1.39051264e-01 3.72225175e-02 9.89585383e-01 1.15996175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.81, Y:160.23, Z:116.00 [[ 3.63643784e-01 -9.30015111e-01 5.32455761e-02 3.02814338e+02] [ 9.20990188e-01 3.67515662e-01 1.29264505e-01 1.60232709e+02] [-1.39786526e-01 2.03241953e-03 9.90179578e-01 1.16003818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:160.26, Z:116.01 [[ 3.63675632e-01 -9.30758223e-01 3.78043126e-02 3.02830927e+02] [ 9.21607038e-01 3.65413403e-01 1.30818623e-01 1.60256814e+02] [-1.35574712e-01 -1.27348249e-02 9.90685279e-01 1.16009877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:160.29, Z:115.99 [[ 3.64867566e-01 -9.28552110e-01 6.82835154e-02 3.02825658e+02] [ 9.21116338e-01 3.70688574e-01 1.18889329e-01 1.60287656e+02] [-1.35706856e-01 1.95182016e-02 9.90556757e-01 1.15990715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.85, Y:160.31, Z:115.99 [[ 3.64612924e-01 -9.29974257e-01 4.69606006e-02 3.02845065e+02] [ 9.21247954e-01 3.67611632e-01 1.27137307e-01 1.60310533e+02] [-1.35497686e-01 -3.09354798e-03 9.90772833e-01 1.15993276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.85, Y:160.34, Z:115.99 [[ 3.63183507e-01 -9.30194541e-01 5.32527520e-02 3.02849005e+02] [ 9.21619156e-01 3.67052108e-01 1.26059038e-01 1.60336025e+02] [-1.36805964e-01 3.29619293e-03 9.90592380e-01 1.15985067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.86, Y:160.36, Z:115.98 [[ 3.65206250e-01 -9.29605686e-01 4.95748340e-02 3.02863542e+02] [ 9.20950428e-01 3.68555220e-01 1.26559708e-01 1.60362086e+02] [-1.35921688e-01 -5.64431830e-04 9.90719424e-01 1.15983664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.87, Y:160.39, Z:115.98 [[ 3.63610215e-01 -9.29925063e-01 5.50180839e-02 3.02869080e+02] [ 9.21370689e-01 3.67716433e-01 1.25939184e-01 1.60386607e+02] [-1.37345057e-01 4.89927629e-03 9.90511147e-01 1.15976156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:160.41, Z:115.98 [[ 3.64714572e-01 -9.29901552e-01 4.76065682e-02 3.02886828e+02] [ 9.21264271e-01 3.67801532e-01 1.26468080e-01 1.60412641e+02] [-1.35112632e-01 -2.26652107e-03 9.90827654e-01 1.15977332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:160.44, Z:115.97 [[ 3.62763480e-01 -9.30215891e-01 5.56871175e-02 3.02891140e+02] [ 9.21798446e-01 3.66963971e-01 1.25000274e-01 1.60438647e+02] [-1.36712407e-01 5.98676399e-03 9.90592690e-01 1.15967969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.89, Y:160.46, Z:115.95 [[ 3.58338203e-01 -9.31104440e-01 6.81047294e-02 3.02892578e+02] [ 9.22783043e-01 3.64314206e-01 1.25485520e-01 1.60464507e+02] [-1.41651646e-01 1.78796335e-02 9.89755086e-01 1.15954104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.91, Y:160.49, Z:115.95 [[ 3.56344887e-01 -9.32466230e-01 5.93721405e-02 3.02908139e+02] [ 9.23406902e-01 3.61156677e-01 1.29944403e-01 1.60488135e+02] [-1.42611413e-01 8.51962057e-03 9.89742088e-01 1.15953203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:160.51, Z:115.95 [[ 3.55209496e-01 -9.33467157e-01 4.96515928e-02 3.02924546e+02] [ 9.23695788e-01 3.58657351e-01 1.34725633e-01 1.60513428e+02] [-1.43569862e-01 -1.99285706e-03 9.89638178e-01 1.15953364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.93, Y:160.54, Z:115.95 [[ 3.54705000e-01 -9.33341971e-01 5.52912960e-02 3.02932537e+02] [ 9.23918421e-01 3.58964703e-01 1.32359715e-01 1.60541322e+02] [-1.43384501e-01 4.13599416e-03 9.89658415e-01 1.15947160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.94, Y:160.57, Z:115.94 [[ 3.54575752e-01 -9.33501447e-01 5.33955502e-02 3.02944250e+02] [ 9.24015312e-01 3.58566483e-01 1.32762122e-01 1.60567355e+02] [-1.43079487e-01 2.26407688e-03 9.89708611e-01 1.15943796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.97, Y:160.59, Z:115.96 [[ 3.56781868e-01 -9.33759864e-01 2.82703823e-02 3.02970430e+02] [ 9.24114978e-01 3.57205232e-01 1.35705304e-01 1.60591685e+02] [-1.36814495e-01 -2.22921080e-02 9.90345827e-01 1.15958822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.96, Y:160.62, Z:115.94 [[ 3.55499261e-01 -9.32507420e-01 6.36410737e-02 3.02961573e+02] [ 9.24115785e-01 3.60873357e-01 1.25620206e-01 1.60622726e+02] [-1.40108142e-01 1.41538303e-02 9.90035039e-01 1.15936247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.98, Y:160.65, Z:115.95 [[ 3.56082551e-01 -9.33554098e-01 4.10117301e-02 3.02983676e+02] [ 9.24404633e-01 3.58332950e-01 1.30665876e-01 1.60645341e+02] [-1.36679518e-01 -8.61640519e-03 9.90577845e-01 1.15945956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.99, Y:160.67, Z:115.94 [[ 3.57057975e-01 -9.32664509e-01 5.14443065e-02 3.02987125e+02] [ 9.24135955e-01 3.60735577e-01 1.25867316e-01 1.60671897e+02] [-1.35949770e-01 2.59960418e-03 9.90712321e-01 1.15937897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.99, Y:160.70, Z:115.93 [[ 3.58243758e-01 -9.31640599e-01 6.08868104e-02 3.02991609e+02] [ 9.24156710e-01 3.63120327e-01 1.18650765e-01 1.60699935e+02] [-1.32649108e-01 1.37630585e-02 9.91067501e-01 1.15930046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.01, Y:160.72, Z:115.93 [[ 3.60991143e-01 -9.31670145e-01 4.09406400e-02 3.03012207e+02] [ 9.22809624e-01 3.63203556e-01 1.28474023e-01 1.60722552e+02] [-1.34565197e-01 -8.59756769e-03 9.90867443e-01 1.15933514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.510385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:303.01, Y:160.75, Z:115.92 [[ 3.61527538e-01 -9.30598816e-01 5.73034287e-02 3.03012838e+02] [ 9.22291045e-01 3.65955405e-01 1.24321635e-01 1.60749379e+02] [-1.36664066e-01 7.90474448e-03 9.90585912e-01 1.15919344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.03, Y:160.77, Z:115.92 [[ 3.62971532e-01 -9.30584726e-01 4.75787207e-02 3.03029486e+02] [ 9.21755321e-01 3.66067547e-01 1.27912781e-01 1.60774799e+02] [-1.36450705e-01 -2.57275898e-03 9.90643521e-01 1.15919902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.03, Y:160.80, Z:115.91 [[ 3.64896911e-01 -9.29293076e-01 5.71368763e-02 3.03034061e+02] [ 9.20788284e-01 3.69281073e-01 1.25620166e-01 1.60802149e+02] [-1.37837517e-01 6.77255592e-03 9.90431700e-01 1.15909933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.04, Y:160.83, Z:115.90 [[ 3.64747704e-01 -9.29326685e-01 5.75415038e-02 3.03043639e+02] [ 9.20648702e-01 3.69197885e-01 1.26881401e-01 1.60828053e+02] [-1.39158474e-01 6.69581095e-03 9.90247487e-01 1.15903687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.06, Y:160.85, Z:115.91 [[ 3.65900753e-01 -9.29541753e-01 4.54837134e-02 3.03061617e+02] [ 9.20425384e-01 3.68672820e-01 1.29990249e-01 1.60851335e+02] [-1.37599973e-01 -5.69916547e-03 9.90471487e-01 1.15905880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.07, Y:160.88, Z:115.90 [[ 3.65482171e-01 -9.29419324e-01 5.10147325e-02 3.03070233e+02] [ 9.20546102e-01 3.69025340e-01 1.28121707e-01 1.60877793e+02] [-1.37904519e-01 1.35213603e-04 9.90445519e-01 1.15900592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.690385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:303.08, Y:160.90, Z:115.90 [[ 3.64279189e-01 -9.29966991e-01 4.96192327e-02 3.03083834e+02] [ 9.20924941e-01 3.67640234e-01 1.29375078e-01 1.60902623e+02] [-1.38556578e-01 -1.43305952e-03 9.90353483e-01 1.15898465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.10, Y:160.93, Z:115.90 [[ 3.64486486e-01 -9.29977141e-01 4.78760734e-02 3.03097508e+02] [ 9.21146290e-01 3.67608785e-01 1.27879999e-01 1.60928053e+02] [-1.36525141e-01 -2.50966426e-03 9.90633427e-01 1.15899806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.11, Y:160.95, Z:115.90 [[ 3.61420149e-01 -9.30978495e-01 5.15220072e-02 3.03108216e+02] [ 9.22322920e-01 3.65069875e-01 1.26666565e-01 1.60953299e+02] [-1.36732981e-01 1.74007937e-03 9.90606412e-01 1.15895216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.12, Y:160.98, Z:115.89 [[ 3.59669367e-01 -9.31594550e-01 5.26264392e-02 3.03118199e+02] [ 9.23095027e-01 3.63483157e-01 1.25600824e-01 1.60979146e+02] [-1.36137867e-01 3.40443544e-03 9.90684052e-01 1.15887984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.13, Y:161.00, Z:115.88 [[ 3.56264757e-01 -9.33041461e-01 5.00904746e-02 3.03131855e+02] [ 9.24240675e-01 3.59768085e-01 1.27851864e-01 1.61003887e+02] [-1.37312044e-01 7.46540978e-04 9.90527559e-01 1.15883773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.14, Y:161.03, Z:115.88 [[ 3.55813595e-01 -9.33152274e-01 5.12203058e-02 3.03143494e+02] [ 9.24588762e-01 3.59472852e-01 1.26154233e-01 1.61029548e+02] [-1.36133419e-01 2.47032776e-03 9.90687433e-01 1.15881715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.16, Y:161.05, Z:115.88 [[ 3.54137039e-01 -9.33818520e-01 5.06944755e-02 3.03155513e+02] [ 9.25423974e-01 3.57737178e-01 1.24958312e-01 1.61053267e+02] [-1.34823684e-01 2.66151651e-03 9.90866031e-01 1.15877164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.17, Y:161.08, Z:115.87 [[ 3.53523633e-01 -9.34103419e-01 4.97176282e-02 3.03167019e+02] [ 9.26022153e-01 3.56992425e-01 1.22635152e-01 1.61078276e+02] [-1.32302731e-01 2.68520076e-03 9.91205719e-01 1.15873158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:303.17, Y:161.10, Z:115.87 [[ 3.54241817e-01 -9.33472128e-01 5.60581996e-02 3.03174962e+02] [ 9.25797667e-01 3.58525397e-01 1.19825784e-01 1.61103444e+02] [-1.31952318e-01 9.45124705e-03 9.91211007e-01 1.15865185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.19, Y:161.13, Z:115.87 [[ 3.54135051e-01 -9.34191698e-01 4.32924575e-02 3.03193013e+02] [ 9.25579403e-01 3.56739433e-01 1.26648118e-01 1.61126280e+02] [-1.33757747e-01 -4.77993063e-03 9.91002532e-01 1.15865940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:161.15, Z:115.86 [[ 3.56487798e-01 -9.32962288e-01 4.99781856e-02 3.03203247e+02] [ 9.24739957e-01 3.59967693e-01 1.23609357e-01 1.61151070e+02] [-1.33313400e-01 2.15159786e-03 9.91071596e-01 1.15860301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.21, Y:161.18, Z:115.86 [[ 3.57360472e-01 -9.32622422e-01 5.00890267e-02 3.03214853e+02] [ 9.24348046e-01 3.60848210e-01 1.23972817e-01 1.61175237e+02] [-1.33694364e-01 1.99670974e-03 9.91020600e-01 1.15856440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.050385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:303.23, Y:161.20, Z:115.85 [[ 3.59710151e-01 -9.31720998e-01 5.00458656e-02 3.03228066e+02] [ 9.23440371e-01 3.63171219e-01 1.23953812e-01 1.61199720e+02] [-1.33665588e-01 1.62692810e-03 9.91025158e-01 1.15852111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.23, Y:161.23, Z:115.84 [[ 3.61859480e-01 -9.30203885e-01 6.14690869e-02 3.03233112e+02] [ 9.23101279e-01 3.66741570e-01 1.15692049e-01 1.61226963e+02] [-1.30160463e-01 1.48779280e-02 9.91381310e-01 1.15843250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.110385723 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:303.25, Y:161.25, Z:115.84 [[ 3.64699849e-01 -9.29365831e-01 5.72116385e-02 3.03251671e+02] [ 9.21472249e-01 3.69061551e-01 1.21171228e-01 1.61251302e+02] [-1.33727015e-01 8.52780859e-03 9.90981514e-01 1.15838101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.27, Y:161.27, Z:115.84 [[ 3.64585645e-01 -9.30222333e-01 4.19966572e-02 3.03270973e+02] [ 9.21692372e-01 3.66926037e-01 1.25890643e-01 1.61273832e+02] [-1.32515954e-01 -7.18992255e-03 9.91154795e-01 1.15844792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:303.28, Y:161.30, Z:115.84 [[ 3.64935089e-01 -9.29841575e-01 4.70853009e-02 3.03281041e+02] [ 9.21251705e-01 3.67950568e-01 1.26125631e-01 1.61298421e+02] [-1.34601919e-01 -2.65025458e-03 9.90896210e-01 1.15839397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.30, Y:161.32, Z:115.84 [[ 3.65891604e-01 -9.29618620e-01 4.39608365e-02 3.03297657e+02] [ 9.20312522e-01 3.68444000e-01 1.31430135e-01 1.61322028e+02] [-1.38377007e-01 -7.63147433e-03 9.90350223e-01 1.15838058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.230385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:303.30, Y:161.35, Z:115.82 [[ 3.65862754e-01 -9.28348867e-01 6.56721102e-02 3.03298352e+02] [ 9.20919869e-01 3.71314699e-01 1.18456700e-01 1.61352185e+02] [-1.34354163e-01 1.71398567e-02 9.90785135e-01 1.15824798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.32, Y:161.37, Z:115.83 [[ 3.65271616e-01 -9.29639029e-01 4.84553577e-02 3.03318915e+02] [ 9.21195621e-01 3.68470108e-01 1.25013629e-01 1.61374643e+02] [-1.34071900e-01 -1.02706698e-03 9.90971075e-01 1.15828302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.33, Y:161.40, Z:115.81 [[ 3.62030059e-01 -9.30420254e-01 5.70297124e-02 3.03326328e+02] [ 9.21827059e-01 3.66430754e-01 1.26346253e-01 1.61400979e+02] [-1.38452553e-01 6.83039066e-03 9.90345514e-01 1.15814997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.35, Y:161.42, Z:115.83 [[ 3.64546540e-01 -9.30662791e-01 3.11863843e-02 3.03352902e+02] [ 9.21065255e-01 3.65306596e-01 1.34869890e-01 1.61421471e+02] [-1.36910980e-01 -2.04416569e-02 9.90372416e-01 1.15828308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:161.45, Z:115.82 [[ 3.63459242e-01 -9.30241132e-01 5.04858036e-02 3.03357189e+02] [ 9.21629753e-01 3.66948279e-01 1.26283646e-01 1.61447751e+02] [-1.35999920e-01 6.30260648e-04 9.90708648e-01 1.15816775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.380385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:303.37, Y:161.47, Z:115.81 [[ 3.61783791e-01 -9.30910224e-01 5.01860907e-02 3.03370078e+02] [ 9.22395425e-01 3.65247101e-01 1.25623390e-01 1.61472050e+02] [-1.35274422e-01 8.42914219e-04 9.90807812e-01 1.15812474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.38, Y:161.50, Z:115.81 [[ 3.60807122e-01 -9.31307660e-01 4.98423873e-02 3.03381078e+02] [ 9.22900015e-01 3.64232266e-01 1.24861599e-01 1.61497399e+02] [-1.34438769e-01 9.48585663e-04 9.90921449e-01 1.15808320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.39, Y:161.52, Z:115.80 [[ 3.58797812e-01 -9.32081967e-01 4.98732101e-02 3.03392189e+02] [ 9.23657288e-01 3.62245448e-01 1.25041789e-01 1.61521418e+02] [-1.34615540e-01 1.20103354e-03 9.90897176e-01 1.15803532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.40, Y:161.55, Z:115.80 [[ 3.58027062e-01 -9.32382367e-01 4.97970263e-02 3.03403037e+02] [ 9.23977219e-01 3.61471250e-01 1.24918509e-01 1.61545511e+02] [-1.34472009e-01 1.28711103e-03 9.90916557e-01 1.15799822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.41, Y:161.57, Z:115.80 [[ 3.57106790e-01 -9.32733774e-01 4.98241697e-02 3.03414253e+02] [ 9.24310604e-01 3.60563146e-01 1.25076474e-01 1.61571313e+02] [-1.34627811e-01 1.38735028e-03 9.90895266e-01 1.15795593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.43, Y:161.60, Z:115.79 [[ 3.55748085e-01 -9.33257619e-01 4.97344542e-02 3.03425954e+02] [ 9.24856407e-01 3.59204435e-01 1.24951196e-01 1.61596254e+02] [-1.34476492e-01 1.54607980e-03 9.90915578e-01 1.15792002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.44, Y:161.62, Z:115.79 [[ 3.56118533e-01 -9.33101444e-01 5.00128645e-02 3.03436584e+02] [ 9.24590128e-01 3.59610300e-01 1.25751851e-01 1.61620683e+02] [-1.35324375e-01 1.45883610e-03 9.90800275e-01 1.15789327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.45, Y:161.65, Z:115.78 [[ 3.56526422e-01 -9.32827521e-01 5.21701781e-02 3.03446760e+02] [ 9.24158833e-01 3.60311001e-01 1.26911130e-01 1.61647758e+02] [-1.37183683e-01 2.96636001e-03 9.90541184e-01 1.15782675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.45, Y:161.67, Z:115.78 [[ 3.57153322e-01 -9.32728134e-01 4.95956849e-02 3.03454244e+02] [ 9.23954138e-01 3.60580324e-01 1.27634563e-01 1.61672596e+02] [-1.36931576e-01 2.39030141e-04 9.90580480e-01 1.15782768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.46, Y:161.70, Z:115.78 [[ 3.57810427e-01 -9.32417290e-01 5.06921609e-02 3.03462458e+02] [ 9.23634026e-01 3.61381669e-01 1.27685060e-01 1.61699230e+02] [-1.37374975e-01 1.13395890e-03 9.90518465e-01 1.15778402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.47, Y:161.73, Z:115.77 [[ 3.58622520e-01 -9.32092422e-01 5.09274558e-02 3.03470129e+02] [ 9.23209493e-01 3.62219221e-01 1.28380170e-01 1.61726352e+02] [-1.38109087e-01 9.76690677e-04 9.90416542e-01 1.15774206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.48, Y:161.75, Z:115.77 [[ 3.58075784e-01 -9.32298083e-01 5.10099809e-02 3.03479139e+02] [ 9.23373642e-01 3.61689433e-01 1.28692935e-01 1.61752344e+02] [-1.38429948e-01 1.01944833e-03 9.90371703e-01 1.15770439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.49, Y:161.78, Z:115.77 [[ 3.55887393e-01 -9.33136626e-01 5.09921574e-02 3.03487347e+02] [ 9.24212407e-01 3.59519582e-01 1.28752077e-01 1.61778362e+02] [-1.38475957e-01 1.30634371e-03 9.90364934e-01 1.15766255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.50, Y:161.80, Z:115.76 [[ 3.53794089e-01 -9.33929467e-01 5.10440333e-02 3.03495815e+02] [ 9.24982038e-01 3.57453833e-01 1.28976691e-01 1.61803522e+02] [-1.38701018e-01 1.58362292e-03 9.90333035e-01 1.15762004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.50, Y:161.83, Z:115.76 [[ 3.50785657e-01 -9.35097868e-01 5.04122951e-02 3.03503358e+02] [ 9.26370998e-01 3.54384020e-01 1.27470548e-01 1.61830047e+02] [-1.37062750e-01 1.98564813e-03 9.90560377e-01 1.15758945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:161.85, Z:115.75 [[ 3.48295378e-01 -9.36004447e-01 5.08527710e-02 3.03512598e+02] [ 9.27118259e-01 3.51980502e-01 1.28691337e-01 1.61854669e+02] [-1.38354848e-01 2.32393466e-03 9.90379996e-01 1.15753399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.53, Y:161.88, Z:115.76 [[ 3.47498943e-01 -9.36974799e-01 3.63690788e-02 3.03530645e+02] [ 9.27879585e-01 3.49201245e-01 1.30759195e-01 1.61880089e+02] [-1.35218198e-01 -1.16925564e-02 9.90746851e-01 1.15758437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.52, Y:161.91, Z:115.74 [[ 3.45604226e-01 -9.36184473e-01 6.41587953e-02 3.03524336e+02] [ 9.28202786e-01 3.51098420e-01 1.23164474e-01 1.61909385e+02] [-1.37830720e-01 1.69862099e-02 9.90310134e-01 1.15739571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.54, Y:161.93, Z:115.74 [[ 3.46123313e-01 -9.36830344e-01 5.04733536e-02 3.03539256e+02] [ 9.28041699e-01 3.49775000e-01 1.28047083e-01 1.61934059e+02] [-1.37612710e-01 2.52129622e-03 9.90482905e-01 1.15740770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.55, Y:161.96, Z:115.74 [[ 3.47271412e-01 -9.36415366e-01 5.02874544e-02 3.03548555e+02] [ 9.27673291e-01 3.50885903e-01 1.27676733e-01 1.61960452e+02] [-1.37203614e-01 2.31184886e-03 9.90540168e-01 1.15736352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.57, Y:161.99, Z:115.74 [[ 3.51264805e-01 -9.35617980e-01 3.51003082e-02 3.03566280e+02] [ 9.26636126e-01 3.52769596e-01 1.29996544e-01 1.61986141e+02] [-1.34009425e-01 -1.31379970e-02 9.90892964e-01 1.15741980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.58, Y:162.01, Z:115.74 [[ 3.53982935e-01 -9.34507936e-01 3.72961118e-02 3.03576184e+02] [ 9.25802188e-01 3.55782102e-01 1.27708278e-01 1.62013830e+02] [-1.32613688e-01 -1.06777290e-02 9.91110284e-01 1.15740351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.56, Y:162.04, Z:115.72 [[ 3.56215478e-01 -9.31222831e-01 7.70361706e-02 3.03562009e+02] [ 9.23968390e-01 3.63325169e-01 1.19487386e-01 1.62042747e+02] [-1.39258562e-01 2.86157300e-02 9.89842509e-01 1.15715166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.59, Y:162.07, Z:115.72 [[ 3.57556962e-01 -9.32503302e-01 5.08980364e-02 3.03585574e+02] [ 9.23442212e-01 3.61160893e-01 1.29681495e-01 1.62065023e+02] [-1.39310802e-01 6.32874161e-04 9.90248504e-01 1.15721785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.60, Y:162.09, Z:115.72 [[ 3.59386388e-01 -9.31784208e-01 5.11821616e-02 3.03595322e+02] [ 9.22598984e-01 3.63012520e-01 1.30510635e-01 1.62091604e+02] [-1.40187514e-01 3.16864551e-04 9.90124922e-01 1.15718209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.60, Y:162.12, Z:115.71 [[ 3.59336076e-01 -9.31799594e-01 5.12552521e-02 3.03604928e+02] [ 9.22573343e-01 3.62973050e-01 1.30801343e-01 1.62117502e+02] [-1.40484914e-01 2.85087857e-04 9.90082778e-01 1.15714472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.61, Y:162.14, Z:115.71 [[ 3.57931958e-01 -9.32329857e-01 5.14368753e-02 3.03613110e+02] [ 9.23028161e-01 3.61608671e-01 1.31370402e-01 1.62142498e+02] [-1.41080568e-01 4.56019076e-04 9.89998013e-01 1.15709849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.62, Y:162.17, Z:115.71 [[ 3.57701415e-01 -9.32420098e-01 5.14048605e-02 3.03623360e+02] [ 9.23117530e-01 3.61375916e-01 1.31382928e-01 1.62168864e+02] [-1.41080562e-01 4.56868482e-04 9.89998013e-01 1.15705798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.63, Y:162.19, Z:115.70 [[ 3.54504783e-01 -9.33653738e-01 5.11571725e-02 3.03633229e+02] [ 9.24440123e-01 3.58175761e-01 1.30845645e-01 1.62194814e+02] [-1.40487785e-01 9.06335812e-04 9.90081997e-01 1.15701458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.65, Y:162.22, Z:115.70 [[ 3.52916769e-01 -9.34858743e-01 3.85860589e-02 3.03650503e+02] [ 9.25516708e-01 3.54850232e-01 1.32288079e-01 1.62220048e+02] [-1.37362939e-01 -1.09746391e-02 9.90459984e-01 1.15704892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.65, Y:162.25, Z:115.69 [[ 3.50943686e-01 -9.34317333e-01 6.23670635e-02 3.03647553e+02] [ 9.26005096e-01 3.56173438e-01 1.25120121e-01 1.62247687e+02] [-1.39115389e-01 1.38421022e-02 9.90179431e-01 1.15688384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:162.27, Z:115.70 [[ 3.48199818e-01 -9.36722793e-01 3.61565537e-02 3.03671729e+02] [ 9.27695984e-01 3.49872519e-01 1.30266577e-01 1.62272170e+02] [-1.34673856e-01 -1.18165087e-02 9.90819521e-01 1.15696735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:162.30, Z:115.68 [[ 3.45741104e-01 -9.36156127e-01 6.38341225e-02 3.03665696e+02] [ 9.28600708e-01 3.51134697e-01 1.20021454e-01 1.62301484e+02] [-1.34773195e-01 1.77800613e-02 9.90716940e-01 1.15679461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.68, Y:162.32, Z:115.68 [[ 3.44083408e-01 -9.37793330e-01 4.63711058e-02 3.03683958e+02] [ 9.29100542e-01 3.47193185e-01 1.27393392e-01 1.62324705e+02] [-1.35568405e-01 -7.50532896e-04 9.90767705e-01 1.15682910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.69, Y:162.35, Z:115.68 [[ 3.41944614e-01 -9.38444519e-01 4.89465715e-02 3.03691633e+02] [ 9.30005973e-01 3.45420406e-01 1.25593129e-01 1.62351778e+02] [-1.34769328e-01 2.57470983e-03 9.90873654e-01 1.15677676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.70, Y:162.38, Z:115.67 [[ 3.40954945e-01 -9.38815745e-01 4.87311193e-02 3.03701762e+02] [ 9.30441672e-01 3.44409418e-01 1.25141710e-01 1.62378255e+02] [-1.34268464e-01 2.67377929e-03 9.90941386e-01 1.15674110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.71, Y:162.40, Z:115.67 [[ 3.39449060e-01 -9.39378516e-01 4.83977230e-02 3.03710509e+02] [ 9.31111101e-01 3.42870144e-01 1.24387229e-01 1.62404257e+02] [-1.33440825e-01 2.84052900e-03 9.91052712e-01 1.15669957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.72, Y:162.43, Z:115.67 [[ 3.39519966e-01 -9.39350581e-01 4.84425351e-02 3.03719155e+02] [ 9.31052667e-01 3.42947050e-01 1.24612408e-01 1.62429436e+02] [-1.33667962e-01 2.79415117e-03 9.91022234e-01 1.15665892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.73, Y:162.46, Z:115.66 [[ 3.39234271e-01 -9.39459170e-01 4.83381512e-02 3.03728042e+02] [ 9.31188650e-01 3.42649374e-01 1.24415050e-01 1.62455868e+02] [-1.33445897e-01 2.80608897e-03 9.91052127e-01 1.15661578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:303.74, Y:162.48, Z:115.66 [[ 3.39264937e-01 -9.39426751e-01 4.87512315e-02 3.03736184e+02] [ 9.30999101e-01 3.42738448e-01 1.25582765e-01 1.62482663e+02] [-1.34684730e-01 2.78152391e-03 9.90884598e-01 1.15657184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.74, Y:162.51, Z:115.65 [[ 3.39334700e-01 -9.39387857e-01 4.90144362e-02 3.03744537e+02] [ 9.30853675e-01 3.42845330e-01 1.26366596e-01 1.62507963e+02] [-1.35511617e-01 2.74469711e-03 9.90771956e-01 1.15654313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.75, Y:162.53, Z:115.65 [[ 3.40189609e-01 -9.39062699e-01 4.93181179e-02 3.03753728e+02] [ 9.30405445e-01 3.43736082e-01 1.27244699e-01 1.62533952e+02] [-1.36443167e-01 2.59852115e-03 9.90644492e-01 1.15650540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:162.56, Z:115.65 [[ 3.41665466e-01 -9.38542269e-01 4.90216126e-02 3.03762136e+02] [ 9.29969708e-01 3.45156394e-01 1.26583594e-01 1.62559022e+02] [-1.35724177e-01 2.33937201e-03 9.90743900e-01 1.15646729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.77, Y:162.59, Z:115.64 [[ 3.41926951e-01 -9.38449800e-01 4.89687016e-02 3.03772301e+02] [ 9.29885432e-01 3.45408154e-01 1.26515967e-01 1.62585422e+02] [-1.35643072e-01 2.27606350e-03 9.90755155e-01 1.15643063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.78, Y:162.61, Z:115.64 [[ 3.41964013e-01 -9.38439458e-01 4.89080538e-02 3.03781761e+02] [ 9.29882273e-01 3.45436529e-01 1.26461704e-01 1.62610498e+02] [-1.35571281e-01 2.23338054e-03 9.90765078e-01 1.15639815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.79, Y:162.64, Z:115.64 [[ 3.41865115e-01 -9.38469663e-01 4.90197320e-02 3.03790431e+02] [ 9.29860908e-01 3.45354555e-01 1.26842118e-01 1.62637338e+02] [-1.35966667e-01 2.21863734e-03 9.90710928e-01 1.15636362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.760385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:303.80, Y:162.66, Z:115.63 [[ 3.42324698e-01 -9.38277867e-01 4.94817673e-02 3.03796942e+02] [ 9.29488466e-01 3.45875882e-01 1.28144705e-01 1.62663878e+02] [-1.37349890e-01 2.12563468e-03 9.90520313e-01 1.15631922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.81, Y:162.69, Z:115.63 [[ 3.42695794e-01 -9.38132854e-01 4.96622668e-02 3.03805277e+02] [ 9.29267506e-01 3.46269468e-01 1.28683171e-01 1.62689920e+02] [-1.37918437e-01 2.05034939e-03 9.90441468e-01 1.15627948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:303.81, Y:162.72, Z:115.62 [[ 3.43050284e-01 -9.38003054e-01 4.96666216e-02 3.03814042e+02] [ 9.29120030e-01 3.46621443e-01 1.28800413e-01 1.62716295e+02] [-1.38030697e-01 1.96123467e-03 9.90426010e-01 1.15624008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.82, Y:162.74, Z:115.62 [[ 3.43528598e-01 -9.37836631e-01 4.95030960e-02 3.03822175e+02] [ 9.28995923e-01 3.47072079e-01 1.28481700e-01 1.62742810e+02] [-1.37675987e-01 1.85103621e-03 9.90475591e-01 1.15619819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.880385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:303.82, Y:162.77, Z:115.61 [[ 3.41116167e-01 -9.38133075e-01 5.95490897e-02 3.03822481e+02] [ 9.29464631e-01 3.46075145e-01 1.27779081e-01 1.62768530e+02] [-1.40482242e-01 1.17612625e-02 9.90013340e-01 1.15605927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.84, Y:162.79, Z:115.60 [[ 3.41089435e-01 -9.38574962e-01 5.22975977e-02 3.03835677e+02] [ 9.29450619e-01 3.45051579e-01 1.30617588e-01 1.62793738e+02] [-1.40639766e-01 4.05575539e-03 9.90052527e-01 1.15603869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:303.86, Y:162.82, Z:115.61 [[ 3.43649191e-01 -9.38365717e-01 3.70811882e-02 3.03855215e+02] [ 9.29154201e-01 3.45476167e-01 1.31600488e-01 1.62819430e+02] [-1.36300053e-01 -1.07702594e-02 9.90609054e-01 1.15610981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.970385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:303.85, Y:162.85, Z:115.60 [[ 3.42614119e-01 -9.38031459e-01 5.20821259e-02 3.03854470e+02] [ 9.29625106e-01 3.46507311e-01 1.25418684e-01 1.62848155e+02] [-1.35693509e-01 5.44663970e-03 9.90735891e-01 1.15599423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.86, Y:162.87, Z:115.59 [[ 3.41305607e-01 -9.38240210e-01 5.67079493e-02 3.03859592e+02] [ 9.29540362e-01 3.45865003e-01 1.27797168e-01 1.62873753e+02] [-1.39517737e-01 9.09443782e-03 9.90177809e-01 1.15590296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.030385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:303.88, Y:162.90, Z:115.59 [[ 3.42199230e-01 -9.38688721e-01 4.19901451e-02 3.03877278e+02] [ 9.29549606e-01 3.44718299e-01 1.30793061e-01 1.62898424e+02] [-1.37248742e-01 -5.72536191e-03 9.90520067e-01 1.15593549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.060385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:303.88, Y:162.93, Z:115.59 [[ 3.42656300e-01 -9.38188388e-01 4.88795266e-02 3.03884325e+02] [ 9.29384108e-01 3.46121855e-01 1.28237444e-01 1.62926089e+02] [-1.37229154e-01 1.48648702e-03 9.90538212e-01 1.15586748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:162.95, Z:115.59 [[ 3.43285207e-01 -9.38178078e-01 4.44652786e-02 3.03896433e+02] [ 9.29582050e-01 3.46146192e-01 1.26728157e-01 1.62952003e+02] [-1.34285066e-01 -2.16977687e-03 9.90940368e-01 1.15588035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:162.98, Z:115.58 [[ 3.40234142e-01 -9.38947665e-01 5.11665051e-02 3.03901851e+02] [ 9.30452853e-01 3.44027854e-01 1.26104418e-01 1.62979818e+02] [-1.36008151e-01 4.70299236e-03 9.90696555e-01 1.15578783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.150385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:303.91, Y:163.00, Z:115.58 [[ 3.37673648e-01 -9.40157677e-01 4.56075693e-02 3.03912320e+02] [ 9.31700139e-01 3.40739700e-01 1.25822529e-01 1.63004866e+02] [-1.33833326e-01 5.62610276e-06 9.91003855e-01 1.15578894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.92, Y:163.03, Z:115.57 [[ 3.35755302e-01 -9.40422293e-01 5.36123820e-02 3.03917544e+02] [ 9.32722925e-01 3.39874362e-01 1.20471419e-01 1.63033135e+02] [-1.31515483e-01 9.55657998e-03 9.91268051e-01 1.15571141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.93, Y:163.06, Z:115.57 [[ 3.34122803e-01 -9.41618210e-01 4.14378970e-02 3.03933766e+02] [ 9.32947368e-01 3.36659284e-01 1.27552872e-01 1.63057419e+02] [-1.34056560e-01 -3.95894603e-03 9.90965774e-01 1.15572650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.94, Y:163.08, Z:115.57 [[ 3.32209217e-01 -9.41966917e-01 4.83256016e-02 3.03938591e+02] [ 9.33450903e-01 3.35691279e-01 1.26415101e-01 1.63083951e+02] [-1.35301325e-01 3.11331489e-03 9.90799606e-01 1.15566652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.270385723 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:303.94, Y:163.11, Z:115.56 [[ 3.32928578e-01 -9.41346937e-01 5.49955163e-02 3.03942714e+02] [ 9.33344139e-01 3.37279861e-01 1.22926862e-01 1.63111349e+02] [-1.34265705e-01 1.04038774e-02 9.90890751e-01 1.15559908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.95, Y:163.14, Z:115.56 [[ 3.31530510e-01 -9.42200627e-01 4.84303575e-02 3.03952855e+02] [ 9.33295486e-01 3.35040994e-01 1.29255825e-01 1.63136060e+02] [-1.38011074e-01 2.34758456e-03 9.90427904e-01 1.15555096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.97, Y:163.16, Z:115.56 [[ 3.35426053e-01 -9.41214617e-01 4.00550491e-02 3.03969188e+02] [ 9.32359296e-01 3.37757573e-01 1.28941714e-01 1.63162801e+02] [-1.34890723e-01 -5.90471298e-03 9.90842887e-01 1.15557990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.97, Y:163.19, Z:115.55 [[ 3.38135225e-01 -9.39882456e-01 4.78073112e-02 3.03973543e+02] [ 9.31537885e-01 3.41490565e-01 1.24985448e-01 1.63189742e+02] [-1.33797375e-01 2.27233900e-03 9.91006104e-01 1.15551881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.98, Y:163.22, Z:115.55 [[ 3.39326029e-01 -9.39445547e-01 4.79573843e-02 3.03982688e+02] [ 9.31031104e-01 3.42691938e-01 1.25472382e-01 1.63215996e+02] [-1.34309079e-01 2.07377151e-03 9.90937319e-01 1.15547904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:163.24, Z:115.54 [[ 3.42429456e-01 -9.38327675e-01 4.77832923e-02 3.03990374e+02] [ 9.29949973e-01 3.45743605e-01 1.25117572e-01 1.63243214e+02] [-1.33922048e-01 1.59212936e-03 9.90990590e-01 1.15543715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.00, Y:163.27, Z:115.54 [[ 3.43798834e-01 -9.37844987e-01 4.74251272e-02 3.03999399e+02] [ 9.29574850e-01 3.47051779e-01 1.24280575e-01 1.63269118e+02] [-1.33014889e-01 1.35768859e-03 9.91113110e-01 1.15539882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.01, Y:163.29, Z:115.54 [[ 3.46038921e-01 -9.37042409e-01 4.69956341e-02 3.04009038e+02] [ 9.28901359e-01 3.49214143e-01 1.23254806e-01 1.63294621e+02] [-1.31906521e-01 1.00334820e-03 9.91261652e-01 1.15535562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.01, Y:163.32, Z:115.53 [[ 3.44193956e-01 -9.37318402e-01 5.44493623e-02 3.04012320e+02] [ 9.29276328e-01 3.48374538e-01 1.22803450e-01 1.63320084e+02] [-1.34074705e-01 8.33029822e-03 9.90936214e-01 1.15525334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.03, Y:163.35, Z:115.53 [[ 3.45021795e-01 -9.37763034e-01 3.95025612e-02 3.04033769e+02] [ 9.29234680e-01 3.47207379e-01 1.26372250e-01 1.63345101e+02] [-1.32222806e-01 -6.89403087e-03 9.91196046e-01 1.15530441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.03, Y:163.37, Z:115.52 [[ 3.40218896e-01 -9.38636758e-01 5.66757440e-02 3.04030604e+02] [ 9.30442301e-01 3.44748095e-01 1.24200951e-01 1.63371465e+02] [-1.36118433e-01 1.04779990e-02 9.90637161e-01 1.15515895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.600385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.05, Y:163.40, Z:115.52 [[ 3.37864839e-01 -9.40547783e-01 3.48886608e-02 3.04053868e+02] [ 9.31590849e-01 3.39469395e-01 1.29996229e-01 1.63395348e+02] [-1.34111297e-01 -1.14191977e-02 9.90900480e-01 1.15523243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:304.06, Y:163.42, Z:115.52 [[ 3.38402529e-01 -9.39671414e-01 5.00136269e-02 3.04059842e+02] [ 9.31489227e-01 3.42046318e-01 1.23823004e-01 1.63424698e+02] [-1.33459914e-01 4.68513718e-03 9.91043138e-01 1.15515089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:304.07, Y:163.45, Z:115.51 [[ 3.36222019e-01 -9.40597397e-01 4.72365470e-02 3.04072421e+02] [ 9.32380348e-01 3.39516032e-01 1.24079614e-01 1.63449864e+02] [-1.32746527e-01 2.32412993e-03 9.91147294e-01 1.15511242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.08, Y:163.48, Z:115.51 [[ 3.35044029e-01 -9.41016886e-01 4.72516555e-02 3.04081350e+02] [ 9.32784332e-01 3.38350701e-01 1.24226380e-01 1.63476404e+02] [-1.32886752e-01 2.45429712e-03 9.91128189e-01 1.15509112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.09, Y:163.50, Z:115.51 [[ 3.35856636e-01 -9.40712452e-01 4.75436986e-02 3.04092246e+02] [ 9.32365127e-01 3.39197107e-01 1.25062355e-01 1.63501194e+02] [-1.33774399e-01 2.32506495e-03 9.91009084e-01 1.15505061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.09, Y:163.53, Z:115.49 [[ 3.36720089e-01 -9.39636921e-01 6.08443795e-02 3.04093514e+02] [ 9.32646515e-01 3.41711769e-01 1.15773678e-01 1.63529770e+02] [-1.29576463e-01 1.77629755e-02 9.91410317e-01 1.15494799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.12, Y:163.55, Z:115.50 [[ 3.36933224e-01 -9.40951413e-01 3.29611884e-02 3.04117657e+02] [ 9.31942816e-01 3.38281252e-01 1.30569451e-01 1.63551300e+02] [-1.34009661e-01 -1.32752433e-02 9.90891103e-01 1.15501531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.11, Y:163.58, Z:115.49 [[ 3.37488670e-01 -9.39889303e-01 5.20528163e-02 3.04114634e+02] [ 9.32510997e-01 3.41366847e-01 1.17863976e-01 1.63579957e+02] [-1.28548196e-01 8.76206725e-03 9.91664554e-01 1.15489645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8403857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:304.13, Y:163.60, Z:115.49 [[ 3.39557732e-01 -9.39720180e-01 4.03302699e-02 3.04133354e+02] [ 9.31384739e-01 3.41909660e-01 1.24981011e-01 1.63604424e+02] [-1.31236487e-01 -4.87527085e-03 9.91339103e-01 1.15489952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.14, Y:163.63, Z:115.48 [[ 3.40042194e-01 -9.39266286e-01 4.63697067e-02 3.04140334e+02] [ 9.31270946e-01 3.43185520e-01 1.22303410e-01 1.63630258e+02] [-1.30788881e-01 1.59444086e-03 9.91408960e-01 1.15484558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:163.66, Z:115.48 [[ 3.39873334e-01 -9.39359257e-01 4.57198443e-02 3.04149720e+02] [ 9.31576628e-01 3.42931047e-01 1.20678431e-01 1.63656337e+02] [-1.29039155e-01 1.57615790e-03 9.91638247e-01 1.15481343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.16, Y:163.68, Z:115.47 [[ 3.41203550e-01 -9.38622088e-01 5.06824673e-02 3.04156778e+02] [ 9.31167474e-01 3.44879321e-01 1.18259838e-01 1.63681939e+02] [-1.28480631e-01 6.84318855e-03 9.91688408e-01 1.15474811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.17, Y:163.71, Z:115.47 [[ 3.40309113e-01 -9.39446792e-01 4.03662377e-02 3.04172212e+02] [ 9.31337605e-01 3.42667229e-01 1.23245429e-01 1.63707042e+02] [-1.29614709e-01 -4.34694751e-03 9.91554906e-01 1.15474364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.19, Y:163.73, Z:115.48 [[ 3.40983244e-01 -9.39547341e-01 3.13244406e-02 3.04187518e+02] [ 9.31585173e-01 3.42184849e-01 1.22713466e-01 1.63732709e+02] [-1.26013860e-01 -1.26618513e-02 9.91947672e-01 1.15477447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.18, Y:163.76, Z:115.46 [[ 3.40537342e-01 -9.38368342e-01 5.91538184e-02 3.04183115e+02] [ 9.31325886e-01 3.45282242e-01 1.15811341e-01 1.63760575e+02] [-1.29098459e-01 1.56533961e-02 9.91508224e-01 1.15460168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.20, Y:163.78, Z:115.46 [[ 3.40371414e-01 -9.39195228e-01 4.53830840e-02 3.04200508e+02] [ 9.31463903e-01 3.43381037e-01 1.20268285e-01 1.63784742e+02] [-1.28539090e-01 1.33681817e-03 9.91703542e-01 1.15460720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.21, Y:163.81, Z:115.46 [[ 3.38470727e-01 -9.39879730e-01 4.54275170e-02 3.04212156e+02] [ 9.32126165e-01 3.41502050e-01 1.20487191e-01 1.63810282e+02] [-1.28757059e-01 1.56279003e-03 9.91674935e-01 1.15456778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.22, Y:163.84, Z:115.45 [[ 3.38229535e-01 -9.39968174e-01 4.53939822e-02 3.04222088e+02] [ 9.32213707e-01 3.41258549e-01 1.20499824e-01 1.63836776e+02] [-1.28757084e-01 1.56029307e-03 9.91674936e-01 1.15452814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:304.23, Y:163.86, Z:115.45 [[ 3.37206036e-01 -9.40335104e-01 4.54090585e-02 3.04232228e+02] [ 9.32566520e-01 3.40245660e-01 1.20634061e-01 1.63862869e+02] [-1.28886678e-01 1.66843407e-03 9.91657925e-01 1.15449010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.24, Y:163.89, Z:115.44 [[ 3.37219622e-01 -9.39842589e-01 5.45786962e-02 3.04237200e+02] [ 9.32751577e-01 3.41402412e-01 1.15839928e-01 1.63888967e+02] [-1.27504597e-01 1.18448681e-02 9.91767249e-01 1.15441377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:163.91, Z:115.45 [[ 3.36349558e-01 -9.41030563e-01 3.64753909e-02 3.04258093e+02] [ 9.32607050e-01 3.38218978e-01 1.25904782e-01 1.63912854e+02] [-1.30816917e-01 -8.33081097e-03 9.91371541e-01 1.15445199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:163.94, Z:115.44 [[ 3.37626037e-01 -9.40138204e-01 4.63553377e-02 3.04263522e+02] [ 9.32012443e-01 3.40789864e-01 1.23349401e-01 1.63939016e+02] [-1.31762914e-01 1.55778208e-03 9.91280035e-01 1.15438836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.27, Y:163.96, Z:115.44 [[ 3.38577582e-01 -9.39800409e-01 4.62645951e-02 3.04273340e+02] [ 9.31690967e-01 3.41721022e-01 1.23201807e-01 1.63964786e+02] [-1.31594693e-01 1.39093567e-03 9.91302629e-01 1.15435237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.28, Y:163.99, Z:115.43 [[ 3.40251456e-01 -9.39187641e-01 4.64275916e-02 3.04283230e+02] [ 9.31000925e-01 3.43402560e-01 1.23741501e-01 1.63990299e+02] [-1.32159842e-01 1.12090490e-03 9.91227784e-01 1.15430702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.29, Y:164.02, Z:115.43 [[ 3.40751847e-01 -9.39009603e-01 4.63588658e-02 3.04293361e+02] [ 9.30831642e-01 3.43889427e-01 1.23662917e-01 1.64016270e+02] [-1.32062990e-01 1.01393187e-03 9.91240808e-01 1.15426756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.30, Y:164.04, Z:115.42 [[ 3.40923762e-01 -9.38952604e-01 4.62492743e-02 3.04303196e+02] [ 9.30798784e-01 3.44045200e-01 1.23476815e-01 1.64041315e+02] [-1.31850717e-01 9.52588066e-04 9.91269126e-01 1.15422864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.31, Y:164.07, Z:115.42 [[ 3.41318415e-01 -9.38826256e-01 4.59020895e-02 3.04313922e+02] [ 9.30781392e-01 3.44390063e-01 1.22643734e-01 1.64065656e+02] [-1.30949381e-01 8.64245948e-04 9.91388679e-01 1.15418964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.33, Y:164.09, Z:115.42 [[ 3.40957795e-01 -9.38971539e-01 4.56095490e-02 3.04325642e+02] [ 9.31018629e-01 3.43993707e-01 1.21953445e-01 1.64091446e+02] [-1.30200212e-01 8.82362020e-04 9.91487330e-01 1.15415183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.34, Y:164.12, Z:115.41 [[ 3.40682522e-01 -9.39076733e-01 4.55006518e-02 3.04335696e+02] [ 9.31149500e-01 3.43706426e-01 1.21764120e-01 1.64116529e+02] [-1.29984718e-01 8.85001691e-04 9.91515602e-01 1.15411206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.35, Y:164.14, Z:115.41 [[ 3.40561123e-01 -9.39117640e-01 4.55651237e-02 3.04345960e+02] [ 9.31156278e-01 3.43594676e-01 1.22027395e-01 1.64142378e+02] [-1.30254013e-01 8.70464434e-04 9.91480274e-01 1.15407115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:164.17, Z:115.40 [[ 3.41825858e-01 -9.38654186e-01 4.56443010e-02 3.04356911e+02] [ 9.30647572e-01 3.44859224e-01 1.22340557e-01 1.64168077e+02] [-1.30576334e-01 6.59592045e-04 9.91438039e-01 1.15403360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.34, Y:164.19, Z:115.38 [[ 3.36107537e-01 -9.38535202e-01 7.86345906e-02 3.04341436e+02] [ 9.31450618e-01 3.43602534e-01 1.19737396e-01 1.64193364e+02] [-1.39396805e-01 3.29995969e-02 9.89686596e-01 1.15377353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.40, Y:164.22, Z:115.41 [[ 3.44303065e-01 -9.38775090e-01 1.25191884e-02 3.04395403e+02] [ 9.29877512e-01 3.42819150e-01 1.33427297e-01 1.64215158e+02] [-1.29550040e-01 -3.42981155e-02 9.90979529e-01 1.15407517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:164.25, Z:115.39 [[ 3.45088618e-01 -9.37480592e-01 4.52104599e-02 3.04389271e+02] [ 9.29589363e-01 3.48037528e-01 1.21381608e-01 1.64245159e+02] [-1.29527839e-01 1.39751063e-04 9.91575776e-01 1.15391365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.40, Y:164.27, Z:115.39 [[ 3.45253773e-01 -9.37401857e-01 4.55806047e-02 3.04401753e+02] [ 9.29365497e-01 3.48249557e-01 1.22482731e-01 1.64269627e+02] [-1.30688965e-01 7.34163843e-05 9.91423416e-01 1.15388530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:164.29, Z:115.39 [[ 3.44131617e-01 -9.37803142e-01 4.58115404e-02 3.04413143e+02] [ 9.29675663e-01 3.47167437e-01 1.23198749e-01 1.64294625e+02] [-1.31440449e-01 1.93289651e-04 9.91324050e-01 1.15385239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.42, Y:164.32, Z:115.38 [[ 3.42038081e-01 -9.38513087e-01 4.69375811e-02 3.04421487e+02] [ 9.30346576e-01 3.45240781e-01 1.23547770e-01 1.64320165e+02] [-1.32155966e-01 1.41017560e-03 9.91227931e-01 1.15380872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.44, Y:164.35, Z:115.38 [[ 3.42062026e-01 -9.38631050e-01 4.43319666e-02 3.04435719e+02] [ 9.30431517e-01 3.44921068e-01 1.23800848e-01 1.64345920e+02] [-1.31494350e-01 -1.09971010e-03 9.91316310e-01 1.15378827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.45, Y:164.37, Z:115.37 [[ 3.39332611e-01 -9.39487330e-01 4.70843431e-02 3.04445743e+02] [ 9.31388316e-01 3.42577347e-01 1.23112006e-01 1.64370780e+02] [-1.31792200e-01 2.07788851e-03 9.91275188e-01 1.15373920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.46, Y:164.40, Z:115.37 [[ 3.37962015e-01 -9.40010649e-01 4.64936167e-02 3.04456695e+02] [ 9.31851236e-01 3.41141558e-01 1.23594949e-01 1.64396653e+02] [-1.32041473e-01 1.55473613e-03 9.91242973e-01 1.15369960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.47, Y:164.42, Z:115.37 [[ 3.36130273e-01 -9.40809607e-01 4.35169238e-02 3.04471248e+02] [ 9.32462989e-01 3.38932391e-01 1.25050428e-01 1.64421624e+02] [-1.32397939e-01 -1.45531358e-03 9.91195575e-01 1.15368650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.830385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:304.48, Y:164.45, Z:115.36 [[ 3.34312303e-01 -9.41176651e-01 4.92117430e-02 3.04477706e+02] [ 9.32971306e-01 3.37885918e-01 1.24087265e-01 1.64447583e+02] [-1.33415991e-01 4.42924482e-03 9.91050228e-01 1.15360996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:164.47, Z:115.35 [[ 3.32090791e-01 -9.41958964e-01 4.92850581e-02 3.04488115e+02] [ 9.33613128e-01 3.35698693e-01 1.25191516e-01 1.64473501e+02] [-1.34470200e-01 4.43822766e-03 9.90907699e-01 1.15354591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.50, Y:164.50, Z:115.36 [[ 3.31980350e-01 -9.42426889e-01 4.02567426e-02 3.04504206e+02] [ 9.33880290e-01 3.34382368e-01 1.26712417e-01 1.64499411e+02] [-1.32878334e-01 -4.47105419e-03 9.91122272e-01 1.15356591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:164.52, Z:115.35 [[ 3.31517718e-01 -9.42329991e-01 4.59368070e-02 3.04511358e+02] [ 9.34123886e-01 3.34680535e-01 1.24102802e-01 1.64524876e+02] [-1.32319947e-01 1.76839101e-03 9.91205480e-01 1.15350338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.52, Y:164.55, Z:115.35 [[ 3.30935930e-01 -9.42533260e-01 4.59615459e-02 3.04522694e+02] [ 9.34310705e-01 3.34107343e-01 1.24240854e-01 1.64549442e+02] [-1.32457227e-01 1.82660171e-03 9.91187039e-01 1.15345676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.53, Y:164.58, Z:115.34 [[ 3.31401114e-01 -9.42363308e-01 4.60944291e-02 3.04533012e+02] [ 9.34081956e-01 3.34586859e-01 1.24669694e-01 1.64575686e+02] [-1.32906736e-01 1.74029898e-03 9.91127021e-01 1.15341215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.54, Y:164.60, Z:115.34 [[ 3.31657771e-01 -9.42274272e-01 4.60686391e-02 3.04542869e+02] [ 9.33987377e-01 3.34837891e-01 1.24704319e-01 1.64601978e+02] [-1.32931198e-01 1.66837068e-03 9.91123864e-01 1.15336604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:164.63, Z:115.33 [[ 3.32271393e-01 -9.42060550e-01 4.60178298e-02 3.04552923e+02] [ 9.33775960e-01 3.35439310e-01 1.24671275e-01 1.64627677e+02] [-1.32884079e-01 1.54564502e-03 9.91130381e-01 1.15332164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.56, Y:164.65, Z:115.33 [[ 3.33892291e-01 -9.41484821e-01 4.60680978e-02 3.04564206e+02] [ 9.33162536e-01 3.37052946e-01 1.24911943e-01 1.64652637e+02] [-1.33130087e-01 1.28188797e-03 9.91097743e-01 1.15327817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:164.68, Z:115.32 [[ 3.35743068e-01 -9.40819564e-01 4.62075742e-02 3.04577015e+02] [ 9.32425961e-01 3.38906446e-01 1.25396366e-01 1.64677875e+02] [-1.33635399e-01 9.84181238e-04 9.91030076e-01 1.15324235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.59, Y:164.70, Z:115.32 [[ 3.36909894e-01 -9.40398848e-01 4.62788371e-02 3.04587410e+02] [ 9.31960584e-01 3.40072636e-01 1.25698337e-01 1.64702659e+02] [-1.33944737e-01 7.81038823e-04 9.90988495e-01 1.15320335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.60, Y:164.73, Z:115.32 [[ 3.39755246e-01 -9.39379869e-01 4.61717859e-02 3.04598208e+02] [ 9.30958348e-01 3.42878029e-01 1.25503827e-01 1.64728407e+02] [-1.33727060e-01 3.43425820e-04 9.91018141e-01 1.15315916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.61, Y:164.75, Z:115.31 [[ 3.41096202e-01 -9.38892194e-01 4.62042218e-02 3.04608503e+02] [ 9.30439775e-01 3.44211324e-01 1.25699600e-01 1.64754624e+02] [-1.33922390e-01 1.14589518e-04 9.90991817e-01 1.15311549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.62, Y:164.78, Z:115.31 [[ 3.42312552e-01 -9.38449374e-01 4.62048556e-02 3.04618854e+02] [ 9.29977971e-01 3.45416795e-01 1.25810220e-01 1.64780435e+02] [-1.34026455e-01 -9.69195435e-05 9.90977750e-01 1.15307412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.250385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:304.63, Y:164.81, Z:115.30 [[ 3.44322019e-01 -9.37707833e-01 4.63289068e-02 3.04629622e+02] [ 9.29169160e-01 3.47424581e-01 1.26257015e-01 1.64805683e+02] [-1.34487993e-01 -4.25678872e-04 9.90915132e-01 1.15302512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.64, Y:164.83, Z:115.30 [[ 3.44822126e-01 -9.37528387e-01 4.62409448e-02 3.04639818e+02] [ 9.29005720e-01 3.47908378e-01 1.26127450e-01 1.64830302e+02] [-1.34335677e-01 -5.33433331e-04 9.90935740e-01 1.15298709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:164.86, Z:115.29 [[ 3.44844903e-01 -9.37528713e-01 4.60641312e-02 3.04651493e+02] [ 9.29058266e-01 3.47907447e-01 1.25742382e-01 1.64855854e+02] [-1.33913148e-01 -5.65357589e-04 9.90992911e-01 1.15294455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.66, Y:164.88, Z:115.29 [[ 3.43917772e-01 -9.37871573e-01 4.60160713e-02 3.04661675e+02] [ 9.29407318e-01 3.46982265e-01 1.25719307e-01 1.64881988e+02] [-1.33875325e-01 -4.69430734e-04 9.90998071e-01 1.15290091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.67, Y:164.91, Z:115.29 [[ 3.42465444e-01 -9.38402445e-01 4.60246803e-02 3.04672171e+02] [ 9.29925120e-01 3.45544153e-01 1.25851143e-01 1.64906931e+02] [-1.34002579e-01 -3.00161154e-04 9.90980938e-01 1.15286164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.400385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:304.68, Y:164.93, Z:115.28 [[ 3.41586263e-01 -9.38726501e-01 4.59497668e-02 3.04682439e+02] [ 9.30266750e-01 3.44662899e-01 1.25742834e-01 1.64932877e+02] [-1.33875310e-01 -2.06484571e-04 9.90998163e-01 1.15282411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.69, Y:164.96, Z:115.28 [[ 3.40415022e-01 -9.39153980e-01 4.59065819e-02 3.04691869e+02] [ 9.30699478e-01 3.43496427e-01 1.25732601e-01 1.64957502e+02] [-1.33851020e-01 -7.60344656e-05 9.91001463e-01 1.15278237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:304.70, Y:164.98, Z:115.27 [[ 3.39947654e-01 -9.39325137e-01 4.58680609e-02 3.04700889e+02] [ 9.30876813e-01 3.43028112e-01 1.25698346e-01 1.64983907e+02] [-1.33805650e-01 -3.33435005e-05 9.91007592e-01 1.15274013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.71, Y:165.01, Z:115.27 [[ 3.40458721e-01 -9.39158416e-01 4.54898854e-02 3.04709534e+02] [ 9.30833735e-01 3.43484282e-01 1.24768206e-01 1.65010351e+02] [-1.32802172e-01 -1.34903948e-04 9.91142555e-01 1.15269923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.72, Y:165.04, Z:115.27 [[ 3.40169133e-01 -9.39272159e-01 4.53075313e-02 3.04717552e+02] [ 9.31000994e-01 3.43173127e-01 1.24375860e-01 1.65035446e+02] [-1.32371109e-01 -1.27471706e-04 9.91200219e-01 1.15265899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.72, Y:165.06, Z:115.26 [[ 3.39457601e-01 -9.39537298e-01 4.51464600e-02 3.04724946e+02] [ 9.31314720e-01 3.42446583e-01 1.24029151e-01 1.65062673e+02] [-1.31990265e-01 -5.70753252e-05 9.91251011e-01 1.15261304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.73, Y:165.09, Z:115.26 [[ 3.38424633e-01 -9.39916333e-01 4.50117234e-02 3.04733950e+02] [ 9.31732241e-01 3.41404869e-01 1.23764887e-01 1.65089366e+02] [-1.31695860e-01 5.37875546e-05 9.91290168e-01 1.15257345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.74, Y:165.12, Z:115.25 [[ 3.37058793e-01 -9.40411740e-01 4.49124573e-02 3.04743034e+02] [ 9.32253882e-01 3.40037814e-01 1.23600101e-01 1.65115165e+02] [-1.31506920e-01 2.09311628e-04 9.91315230e-01 1.15254001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:165.14, Z:115.25 [[ 3.33775376e-01 -9.41577073e-01 4.50179286e-02 3.04752127e+02] [ 9.33381669e-01 3.36796973e-01 1.23961520e-01 1.65141869e+02] [-1.31881227e-01 6.43606380e-04 9.91265317e-01 1.15250499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.76, Y:165.17, Z:115.25 [[ 3.29828583e-01 -9.42975363e-01 4.48393867e-02 3.04760564e+02] [ 9.34844000e-01 3.32860511e-01 1.23574173e-01 1.65166816e+02] [-1.31452662e-01 1.15953716e-03 9.91321771e-01 1.15246779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.700385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:304.77, Y:165.19, Z:115.24 [[ 3.27906013e-01 -9.43656928e-01 4.46009880e-02 3.04769476e+02] [ 9.35606373e-01 3.30922436e-01 1.23008361e-01 1.65192983e+02] [-1.30837160e-01 1.39378736e-03 9.91402892e-01 1.15242764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:165.22, Z:115.24 [[ 3.23921831e-01 -9.45234222e-01 4.00863299e-02 3.04776145e+02] [ 9.37076381e-01 3.26382578e-01 1.23944619e-01 1.65216544e+02] [-1.30240175e-01 -2.58441483e-03 9.91479106e-01 1.15239629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.78, Y:165.24, Z:115.23 [[ 3.21409496e-01 -9.45978367e-01 4.26715930e-02 3.04783048e+02] [ 9.38121735e-01 3.24228427e-01 1.21669793e-01 1.65244156e+02] [-1.28932336e-01 9.25321886e-04 9.91652962e-01 1.15233613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.79, Y:165.27, Z:115.23 [[ 3.22157732e-01 -9.45491017e-01 4.75513602e-02 3.04793326e+02] [ 9.37833670e-01 3.25595418e-01 1.20231576e-01 1.65273292e+02] [-1.29160380e-01 5.86173492e-03 9.91606392e-01 1.15228047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.81, Y:165.30, Z:115.23 [[ 3.20331913e-01 -9.46748133e-01 3.24875151e-02 3.04808397e+02] [ 9.38635224e-01 3.21842675e-01 1.24021001e-01 1.65297185e+02] [-1.27872520e-01 -9.23395850e-03 9.91747626e-01 1.15233321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.81, Y:165.33, Z:115.22 [[ 3.20583632e-01 -9.46114979e-01 4.57447519e-02 3.04809601e+02] [ 9.38319303e-01 3.23805623e-01 1.21271612e-01 1.65325513e+02] [-1.29549297e-01 4.04548987e-03 9.91564730e-01 1.15224043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:304.82, Y:165.35, Z:115.22 [[ 3.22085650e-01 -9.45224125e-01 5.30300542e-02 3.04816165e+02] [ 9.37532274e-01 3.26243282e-01 1.20824485e-01 1.65353028e+02] [-1.31506917e-01 1.08015543e-02 9.91256403e-01 1.15215636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.83, Y:165.38, Z:115.22 [[ 3.22728260e-01 -9.45428696e-01 4.48447412e-02 3.04828859e+02] [ 9.37257581e-01 3.25822942e-01 1.24046915e-01 1.65378017e+02] [-1.31888959e-01 1.99762847e-03 9.91262484e-01 1.15215251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:165.40, Z:115.22 [[ 3.25788608e-01 -9.45053714e-01 2.71156907e-02 3.04846529e+02] [ 9.36634154e-01 3.26526421e-01 1.26873789e-01 1.65403557e+02] [-1.28756535e-01 -1.59365529e-02 9.91548174e-01 1.15223380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.84, Y:165.43, Z:115.21 [[ 3.26632106e-01 -9.43839878e-01 4.97770272e-02 3.04842371e+02] [ 9.36167173e-01 3.30322612e-01 1.20324546e-01 1.65432017e+02] [-1.30009582e-01 7.29775908e-03 9.91485881e-01 1.15209535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.85, Y:165.46, Z:115.21 [[ 3.26322355e-01 -9.44227619e-01 4.41352893e-02 3.04854886e+02] [ 9.36241774e-01 3.29290806e-01 1.22551645e-01 1.65457813e+02] [-1.30249993e-01 1.32995995e-03 9.91480293e-01 1.15207717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.86, Y:165.49, Z:115.20 [[ 3.29483381e-01 -9.42810650e-01 5.04854378e-02 3.04860284e+02] [ 9.34789853e-01 3.33261454e-01 1.22901321e-01 1.65485387e+02] [-1.32697524e-01 6.69933240e-03 9.91133940e-01 1.15200168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.87, Y:165.51, Z:115.19 [[ 3.30961177e-01 -9.42214178e-01 5.19340088e-02 3.04867985e+02] [ 9.34039210e-01 3.34928360e-01 1.24071548e-01 1.65511003e+02] [-1.34296144e-01 7.44553489e-03 9.90913271e-01 1.15194087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.87, Y:165.54, Z:115.19 [[ 3.32110871e-01 -9.41938688e-01 4.95366326e-02 3.04874274e+02] [ 9.33489530e-01 3.35755952e-01 1.25957290e-01 1.65537300e+02] [-1.35276264e-01 4.41014261e-03 9.90798104e-01 1.15188119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.89, Y:165.56, Z:115.19 [[ 3.33053585e-01 -9.42014410e-01 4.10385328e-02 3.04886958e+02] [ 9.33477719e-01 3.35550302e-01 1.26591245e-01 1.65564015e+02] [-1.33021269e-01 -3.85311211e-03 9.91105693e-01 1.15189823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.89, Y:165.59, Z:115.18 [[ 3.31859282e-01 -9.42228531e-01 4.55501075e-02 3.04892032e+02] [ 9.33677063e-01 3.34970370e-01 1.26656992e-01 1.65591244e+02] [-1.34597768e-01 4.96792183e-04 9.90900194e-01 1.15182210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.90, Y:165.62, Z:115.17 [[ 3.30001857e-01 -9.42644278e-01 5.02049677e-02 3.04896957e+02] [ 9.34264325e-01 3.33754023e-01 1.25532558e-01 1.65615990e+02] [-1.35088658e-01 5.47873292e-03 9.90818368e-01 1.15174560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:165.64, Z:115.18 [[ 3.28891309e-01 -9.43533606e-01 3.96842750e-02 3.04912183e+02] [ 9.35017133e-01 3.31245973e-01 1.26566452e-01 1.65642519e+02] [-1.32564957e-01 -4.52112909e-03 9.91164008e-01 1.15175742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.91, Y:165.67, Z:115.16 [[ 3.23534925e-01 -9.44767608e-01 5.23384969e-02 3.04912269e+02] [ 9.36667935e-01 3.27617983e-01 1.23772523e-01 1.65668939e+02] [-1.34083303e-01 8.97905787e-03 9.90929384e-01 1.15163245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.93, Y:165.69, Z:115.17 [[ 3.23683851e-01 -9.45460680e-01 3.65084638e-02 3.04933030e+02] [ 9.36965929e-01 3.25665618e-01 1.26636301e-01 1.65694945e+02] [-1.31619195e-01 -6.78293880e-03 9.91277146e-01 1.15169571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:165.72, Z:115.16 [[ 3.18516731e-01 -9.46873059e-01 4.44803671e-02 3.04935610e+02] [ 9.38711641e-01 3.21599776e-01 1.24072721e-01 1.65722488e+02] [-1.31785993e-01 2.23500094e-03 9.91275672e-01 1.15161862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:165.75, Z:115.16 [[ 3.15942255e-01 -9.47731464e-01 4.45596772e-02 3.04943581e+02] [ 9.39534595e-01 3.19058794e-01 1.24403501e-01 1.65749401e+02] [-1.32118269e-01 2.56103561e-03 9.91230651e-01 1.15157440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.95, Y:165.78, Z:115.15 [[ 3.12666372e-01 -9.48807806e-01 4.47603275e-02 3.04950726e+02] [ 9.40532505e-01 3.15839828e-01 1.25075217e-01 1.65775350e+02] [-1.32809436e-01 2.99172870e-03 9.91137076e-01 1.15153674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.96, Y:165.80, Z:115.15 [[ 3.11870239e-01 -9.49060229e-01 4.49626016e-02 3.04959352e+02] [ 9.40698786e-01 3.15079649e-01 1.25740247e-01 1.65802233e+02] [-1.33501868e-01 3.08162401e-03 9.91043770e-01 1.15150295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:165.83, Z:115.15 [[ 3.11740733e-01 -9.49066875e-01 4.57141300e-02 3.04965524e+02] [ 9.40406810e-01 3.15059439e-01 1.27955387e-01 1.65828078e+02] [-1.35840887e-01 3.10097316e-03 9.90725813e-01 1.15147374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.97, Y:165.85, Z:115.14 [[ 3.12492223e-01 -9.48814035e-01 4.58316261e-02 3.04972853e+02] [ 9.40096192e-01 3.15821274e-01 1.28359159e-01 1.65854874e+02] [-1.36263574e-01 2.97489826e-03 9.90668153e-01 1.15143670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:165.88, Z:115.14 [[ 3.15281800e-01 -9.47881939e-01 4.60132193e-02 3.04977319e+02] [ 9.39069039e-01 3.18611607e-01 1.28980560e-01 1.65883054e+02] [-1.36918689e-01 2.54436668e-03 9.90579022e-01 1.15139051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:165.91, Z:115.13 [[ 3.16794629e-01 -9.47365013e-01 4.62676376e-02 3.04984010e+02] [ 9.38432659e-01 3.20147241e-01 1.29807124e-01 1.65909547e+02] [-1.37787184e-01 2.29686249e-03 9.90459195e-01 1.15134896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.98, Y:165.94, Z:115.13 [[ 3.20993704e-01 -9.45478899e-01 5.50698910e-02 3.04984533e+02] [ 9.37391639e-01 3.25468428e-01 1.23964587e-01 1.65938182e+02] [-1.35129412e-01 1.18302035e-02 9.90757331e-01 1.15127022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:165.96, Z:115.13 [[ 3.22355585e-01 -9.45930372e-01 3.60916568e-02 3.05002414e+02] [ 9.36625995e-01 3.24246072e-01 1.32650785e-01 1.65962366e+02] [-1.37180984e-01 -8.95633738e-03 9.90505508e-01 1.15130707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.00, Y:165.99, Z:115.12 [[ 3.25797144e-01 -9.44339082e-01 4.56061279e-02 3.05002571e+02] [ 9.35597847e-01 3.28972463e-01 1.28194335e-01 1.65990850e+02] [-1.36062080e-01 9.03647098e-04 9.90699901e-01 1.15122812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.01, Y:166.02, Z:115.12 [[ 3.27000628e-01 -9.43933630e-01 4.53860269e-02 3.05009793e+02] [ 9.35257758e-01 3.30134549e-01 1.27687533e-01 1.66016765e+02] [-1.35512052e-01 6.93730379e-04 9.90775455e-01 1.15118869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.02, Y:166.04, Z:115.11 [[ 3.28609328e-01 -9.43392898e-01 4.50083402e-02 3.05015137e+02] [ 9.34842989e-01 3.31677032e-01 1.26723844e-01 1.66043776e+02] [-1.34478607e-01 4.33094128e-04 9.90916403e-01 1.15114538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.02, Y:166.07, Z:115.11 [[ 3.28754809e-01 -9.43350290e-01 4.48386581e-02 3.05022326e+02] [ 9.34849856e-01 3.31798263e-01 1.26355289e-01 1.66070342e+02] [-1.34074687e-01 3.77504260e-04 9.90971158e-01 1.15110665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:166.10, Z:115.11 [[ 3.28536352e-01 -9.43434682e-01 4.46639362e-02 3.05027265e+02] [ 9.34986710e-01 3.31558233e-01 1.25972182e-01 1.66097749e+02] [-1.33655221e-01 3.73745574e-04 9.91027821e-01 1.15107040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:166.12, Z:115.10 [[ 3.28057916e-01 -9.43599333e-01 4.47023679e-02 3.05034256e+02] [ 9.35122803e-01 3.31089317e-01 1.26195115e-01 1.66123987e+02] [-1.33878102e-01 4.02897334e-04 9.90997725e-01 1.15103217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.04, Y:166.15, Z:115.10 [[ 3.25831344e-01 -9.44373657e-01 4.46355425e-02 3.05040177e+02] [ 9.35916001e-01 3.28873725e-01 1.26108334e-01 1.66151589e+02] [-1.33772846e-01 6.85070579e-04 9.91011784e-01 1.15099628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:166.18, Z:115.10 [[ 3.23815328e-01 -9.45072987e-01 4.45048727e-02 3.05047998e+02] [ 9.36656400e-01 3.26858042e-01 1.25851539e-01 1.66178760e+02] [-1.33485666e-01 9.33116356e-04 9.91050305e-01 1.15095732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.06, Y:166.20, Z:115.09 [[ 3.21552715e-01 -9.45838074e-01 4.46563521e-02 3.05055414e+02] [ 9.37355764e-01 3.24636502e-01 1.26393485e-01 1.66204361e+02] [-1.34044853e-01 1.21672067e-03 9.90974519e-01 1.15091962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.06, Y:166.23, Z:115.09 [[ 3.17474472e-01 -9.47195594e-01 4.50607009e-02 3.05062771e+02] [ 9.38557640e-01 3.20651487e-01 1.27640827e-01 1.66231703e+02] [-1.35349610e-01 1.76936088e-03 9.90796322e-01 1.15089138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.07, Y:166.26, Z:115.09 [[ 3.14703462e-01 -9.48111471e-01 4.52368190e-02 3.05069161e+02] [ 9.39398978e-01 3.17930950e-01 1.28255494e-01 1.66258428e+02] [-1.35982690e-01 2.13297340e-03 9.90708917e-01 1.15085766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.08, Y:166.29, Z:115.08 [[ 3.13663181e-01 -9.48454587e-01 4.52692550e-02 3.05076339e+02] [ 9.39722469e-01 3.16905027e-01 1.28424632e-01 1.66285667e+02] [-1.36150986e-01 2.25845750e-03 9.90685525e-01 1.15081374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:166.31, Z:115.09 [[ 3.16046742e-01 -9.48535431e-01 1.98744212e-02 3.05098580e+02] [ 9.39926753e-01 3.15890207e-01 1.29425946e-01 1.66313512e+02] [-1.29043230e-01 -2.22241482e-02 9.91389899e-01 1.15092767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.08, Y:166.34, Z:115.07 [[ 3.14227164e-01 -9.46855052e-01 6.87517227e-02 3.05077886e+02] [ 9.39744211e-01 3.20506576e-01 1.18980472e-01 1.66343439e+02] [-1.34692640e-01 2.72221372e-02 9.90513426e-01 1.15065862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:166.37, Z:115.07 [[ 3.15402680e-01 -9.47761970e-01 4.76277085e-02 3.05097146e+02] [ 9.39468976e-01 3.18935204e-01 1.25213333e-01 1.66367012e+02] [-1.33862588e-01 5.25213361e-03 9.90985985e-01 1.15068238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:166.39, Z:115.07 [[ 3.16523685e-01 -9.47712299e-01 4.06712973e-02 3.05107086e+02] [ 9.39216111e-01 3.19120439e-01 1.26630339e-01 1.66393055e+02] [-1.32988172e-01 -1.88236399e-03 9.91115837e-01 1.15066304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:166.42, Z:115.06 [[ 3.17391813e-01 -9.47298311e-01 4.34551183e-02 3.05112655e+02] [ 9.39189008e-01 3.20349028e-01 1.23695221e-01 1.66420384e+02] [-1.31097079e-01 1.55271900e-03 9.91368320e-01 1.15061245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.12, Y:166.45, Z:115.06 [[ 3.17101204e-01 -9.47404334e-01 4.32649251e-02 3.05121367e+02] [ 9.39352965e-01 3.20035327e-01 1.23261501e-01 1.66446493e+02] [-1.30624784e-01 1.55466537e-03 9.91430658e-01 1.15057430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.13, Y:166.47, Z:115.05 [[ 3.16230297e-01 -9.47709978e-01 4.29441261e-02 3.05129358e+02] [ 9.39766665e-01 3.19128707e-01 1.22456054e-01 1.66472428e+02] [-1.29757528e-01 1.63314389e-03 9.91544410e-01 1.15054228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:166.50, Z:115.05 [[ 3.15192848e-01 -9.48061652e-01 4.28085510e-02 3.05138306e+02] [ 9.40159282e-01 3.18081864e-01 1.22165672e-01 1.66499090e+02] [-1.29437213e-01 1.74111031e-03 9.91586091e-01 1.15050360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:166.53, Z:115.05 [[ 3.14182744e-01 -9.48867798e-01 3.06448255e-02 3.05155601e+02] [ 9.40881258e-01 3.15518775e-01 1.23249181e-01 1.66525807e+02] [-1.26616197e-01 -9.88962402e-03 9.91902482e-01 1.15053525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.15, Y:166.55, Z:115.04 [[ 3.12275938e-01 -9.48404468e-01 5.48880974e-02 3.05150116e+02] [ 9.41033950e-01 3.16730281e-01 1.18899260e-01 1.66553364e+02] [-1.30149312e-01 1.45221852e-02 9.91388049e-01 1.15039840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.17, Y:166.58, Z:115.04 [[ 3.11136483e-01 -9.49386356e-01 4.31235058e-02 3.05166123e+02] [ 9.41342526e-01 3.14102899e-01 1.23343496e-01 1.66578106e+02] [-1.30645851e-01 2.21732828e-03 9.91426621e-01 1.15039714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.18, Y:166.60, Z:115.04 [[ 3.10960201e-01 -9.49441833e-01 4.31735954e-02 3.05175600e+02] [ 9.41364945e-01 3.13935235e-01 1.23598984e-01 1.66603150e+02] [-1.30903759e-01 2.20774419e-03 9.91392622e-01 1.15036127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.18, Y:166.63, Z:115.03 [[ 3.11352335e-01 -9.49317787e-01 4.30750882e-02 3.05184947e+02] [ 9.41263533e-01 3.14310754e-01 1.23416823e-01 1.66628353e+02] [-1.30700748e-01 2.11889378e-03 9.91419601e-01 1.15032614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.21, Y:166.66, Z:115.04 [[ 3.14163338e-01 -9.49025464e-01 2.55355877e-02 3.05205268e+02] [ 9.40915960e-01 3.14834771e-01 1.24724591e-01 1.66655180e+02] [-1.26406304e-01 -1.51570517e-02 9.91862748e-01 1.15037949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:166.68, Z:115.02 [[ 3.13961341e-01 -9.47540547e-01 5.99598862e-02 3.05194251e+02] [ 9.40348557e-01 3.19052325e-01 1.18110989e-01 1.66683803e+02] [-1.31045292e-01 1.93009081e-02 9.91188482e-01 1.15018614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.23, Y:166.71, Z:115.03 [[ 3.17784581e-01 -9.47881119e-01 2.31159132e-02 3.05226426e+02] [ 9.39820009e-01 3.18121789e-01 1.24647016e-01 1.66707592e+02] [-1.25504229e-01 -1.78861021e-02 9.91931840e-01 1.15032517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.21, Y:166.74, Z:115.01 [[ 3.17849603e-01 -9.46130324e-01 6.17174219e-02 3.05212455e+02] [ 9.39244408e-01 3.23095599e-01 1.15884322e-01 1.66735033e+02] [-1.29582299e-01 2.11339575e-02 9.91343424e-01 1.15011006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.23, Y:166.76, Z:115.01 [[ 3.18268283e-01 -9.47052853e-01 4.23815213e-02 3.05231570e+02] [ 9.39177569e-01 3.21076111e-01 1.21883650e-01 1.66757276e+02] [-1.29037953e-01 1.01207418e-03 9.91639139e-01 1.15012961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.24, Y:166.78, Z:115.01 [[ 3.18729452e-01 -9.46910663e-01 4.20919452e-02 3.05242443e+02] [ 9.39129671e-01 3.21495496e-01 1.21144982e-01 1.66782707e+02] [-1.28245846e-01 9.17320864e-04 9.91741983e-01 1.15009075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:166.81, Z:115.01 [[ 3.18246750e-01 -9.47083013e-01 4.18661360e-02 3.05252545e+02] [ 9.39373250e-01 3.20987338e-01 1.20602763e-01 1.66807602e+02] [-1.27659328e-01 9.46490852e-04 9.91817625e-01 1.15005621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.26, Y:166.83, Z:115.00 [[ 3.16795688e-01 -9.47586899e-01 4.14675852e-02 3.05263609e+02] [ 9.40016026e-01 3.19496232e-01 1.19549272e-01 1.66832663e+02] [-1.26532062e-01 1.10750054e-03 9.91961900e-01 1.15001935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5903857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:305.27, Y:166.86, Z:115.00 [[ 3.15650126e-01 -9.47983625e-01 4.11344689e-02 3.05273879e+02] [ 9.40526103e-01 3.18316732e-01 1.18680693e-01 1.66858109e+02] [-1.25601143e-01 1.22646614e-03 9.92080062e-01 1.14996394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.30, Y:166.88, Z:115.00 [[ 3.13988409e-01 -9.49085197e-01 2.54669907e-02 3.05295957e+02] [ 9.41684566e-01 3.14734473e-01 1.19047851e-01 1.66883652e+02] [-1.21001893e-01 -1.33977732e-02 9.92561858e-01 1.15004046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.29, Y:166.91, Z:114.99 [[ 3.12047253e-01 -9.48426990e-01 5.57920821e-02 3.05287932e+02] [ 9.41688284e-01 3.16543354e-01 1.14120466e-01 1.66911008e+02] [-1.25895543e-01 1.69277721e-02 9.91899069e-01 1.14985377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.31, Y:166.93, Z:114.99 [[ 3.10435238e-01 -9.49687261e-01 4.15219092e-02 3.05306586e+02] [ 9.42061799e-01 3.13194459e-01 1.20119934e-01 1.66933598e+02] [-1.27080803e-01 1.82674415e-03 9.91890686e-01 1.14986448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.32, Y:166.96, Z:114.98 [[ 3.09777000e-01 -9.49898479e-01 4.16063716e-02 3.05317115e+02] [ 9.42231640e-01 3.12552902e-01 1.20458374e-01 1.66959694e+02] [-1.27427418e-01 1.88760611e-03 9.91846102e-01 1.14982676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.33, Y:166.99, Z:114.98 [[ 3.09887319e-01 -9.49852415e-01 4.18358566e-02 3.05330411e+02] [ 9.42086739e-01 3.12693106e-01 1.21225401e-01 1.66985184e+02] [-1.28228023e-01 1.84679135e-03 9.91742993e-01 1.14979729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:167.01, Z:114.98 [[ 3.10248253e-01 -9.49724368e-01 4.20671615e-02 3.05341279e+02] [ 9.41856729e-01 3.13082249e-01 1.22005766e-01 1.67010455e+02] [-1.29042330e-01 1.76916339e-03 9.91637508e-01 1.14976648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.35, Y:167.04, Z:114.97 [[ 3.12577925e-01 -9.48943119e-01 4.24499391e-02 3.05352677e+02] [ 9.40909013e-01 3.15444023e-01 1.23228636e-01 1.67035432e+02] [-1.30327546e-01 1.42297881e-03 9.91469972e-01 1.14973083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.36, Y:167.06, Z:114.96 [[ 3.12518290e-01 -9.48458568e-01 5.25229702e-02 3.05356579e+02] [ 9.40541089e-01 3.16709302e-01 1.22791195e-01 1.67062540e+02] [-1.33096874e-01 1.10255173e-02 9.91041705e-01 1.14960483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.38, Y:167.09, Z:114.97 [[ 3.18368509e-01 -9.47407676e-01 3.25605418e-02 3.05380372e+02] [ 9.39103325e-01 3.19891641e-01 1.25516067e-01 1.67085713e+02] [-1.29330730e-01 -9.38265000e-03 9.91557123e-01 1.14968659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.39, Y:167.11, Z:114.96 [[ 3.20431764e-01 -9.46340629e-01 4.19869003e-02 3.05386133e+02] [ 9.38429924e-01 3.23170759e-01 1.22106262e-01 1.67112371e+02] [-1.29123055e-01 2.75038634e-04 9.91628540e-01 1.14961430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.40, Y:167.14, Z:114.96 [[ 3.20189175e-01 -9.46424236e-01 4.19530444e-02 3.05395279e+02] [ 9.38512722e-01 3.22925829e-01 1.22117893e-01 1.67139141e+02] [-1.29123055e-01 2.72638536e-04 9.91628541e-01 1.14957443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.41, Y:167.16, Z:114.95 [[ 3.22324121e-01 -9.45704536e-01 4.18341002e-02 3.05406389e+02] [ 9.37818725e-01 3.25027581e-01 1.21873338e-01 1.67164850e+02] [-1.28853405e-01 -4.99140546e-05 9.91663651e-01 1.14953622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.42, Y:167.19, Z:114.95 [[ 3.25840599e-01 -9.44354156e-01 4.49792428e-02 3.05417209e+02] [ 9.36737613e-01 3.28915650e-01 1.19737798e-01 1.67190999e+02] [-1.27869264e-01 3.11831271e-03 9.91786130e-01 1.14948257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.43, Y:167.22, Z:114.95 [[ 3.26267085e-01 -9.44258705e-01 4.38781019e-02 3.05427365e+02] [ 9.36798397e-01 3.29195252e-01 1.18487337e-01 1.67216480e+02] [-1.26327162e-01 2.44641758e-03 9.91985617e-01 1.14945434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.45, Y:167.24, Z:114.95 [[ 3.28534345e-01 -9.43950941e-01 3.19656793e-02 3.05448892e+02] [ 9.35892758e-01 3.29913263e-01 1.23539404e-01 1.67241069e+02] [-1.27161038e-01 -1.06704893e-02 9.91824688e-01 1.14946135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.45, Y:167.27, Z:114.94 [[ 3.27493917e-01 -9.43759103e-01 4.54586702e-02 3.05450611e+02] [ 9.36174985e-01 3.30616010e-01 1.19454810e-01 1.67265927e+02] [-1.27765928e-01 3.43654644e-03 9.91798396e-01 1.14938180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.47, Y:167.29, Z:114.94 [[ 3.26761474e-01 -9.44199900e-01 4.13942955e-02 3.05467245e+02] [ 9.36398471e-01 3.29371946e-01 1.21128136e-01 1.67289564e+02] [-1.28003294e-01 -8.18453233e-04 9.91773405e-01 1.14937349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.48, Y:167.31, Z:114.93 [[ 3.25864968e-01 -9.44507416e-01 4.14459089e-02 3.05478357e+02] [ 9.36674436e-01 3.28489268e-01 1.21391110e-01 1.67313883e+02] [-1.28269340e-01 -7.35786887e-04 9.91739096e-01 1.14934357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.49, Y:167.34, Z:114.93 [[ 3.24619745e-01 -9.44942833e-01 4.12924161e-02 3.05489676e+02] [ 9.37158921e-01 3.27234915e-01 1.21039115e-01 1.67339289e+02] [-1.27887364e-01 -5.94130506e-04 9.91788520e-01 1.14931086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.50, Y:167.37, Z:114.92 [[ 3.21849200e-01 -9.45435333e-01 5.06470553e-02 3.05497471e+02] [ 9.38526349e-01 3.25635556e-01 1.14585239e-01 1.67366773e+02] [-1.24825415e-01 1.06544285e-02 9.92121514e-01 1.14922970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:167.39, Z:114.93 [[ 3.21097247e-01 -9.46519635e-01 3.15775146e-02 3.05517288e+02] [ 9.38418826e-01 3.22485598e-01 1.23988494e-01 1.67389082e+02] [-1.27540838e-01 -1.01794301e-02 9.91781082e-01 1.14926728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:167.41, Z:114.92 [[ 3.18983274e-01 -9.46864714e-01 4.11932511e-02 3.05524114e+02] [ 9.39091988e-01 3.21632102e-01 1.21074478e-01 1.67414464e+02] [-1.27890223e-01 6.35187927e-05 9.91788328e-01 1.14919442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:167.44, Z:114.92 [[ 3.17435918e-01 -9.47382749e-01 4.12354902e-02 3.05535112e+02] [ 9.39585714e-01 3.20102905e-01 1.21296399e-01 1.67440207e+02] [-1.28113716e-01 2.40443712e-04 9.91759456e-01 1.14916119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:167.47, Z:114.93 [[ 3.16933823e-01 -9.48404187e-01 9.08020498e-03 3.05567524e+02] [ 9.40861386e-01 3.15592849e-01 1.23211225e-01 1.67465210e+02] [-1.19719689e-01 -3.05065903e-02 9.92338926e-01 1.14934834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:167.49, Z:114.90 [[ 3.14791307e-01 -9.46492808e-01 7.11182007e-02 3.05542244e+02] [ 9.40709749e-01 3.21087891e-01 1.09397141e-01 1.67494068e+02] [-1.26378800e-01 3.24643157e-02 9.91450688e-01 1.14897438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.57, Y:167.52, Z:114.91 [[ 3.13956866e-01 -9.48573756e-01 4.04835302e-02 3.05568677e+02] [ 9.41035400e-01 3.16555586e-01 1.19352152e-01 1.67515853e+02] [-1.26029606e-01 6.25007554e-04 9.92026284e-01 1.14905154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.60, Y:167.54, Z:114.92 [[ 3.16110938e-01 -9.48690464e-01 7.76389768e-03 3.05599892e+02] [ 9.41422660e-01 3.14681448e-01 1.21239276e-01 1.67541514e+02] [-1.17461699e-01 -3.10159519e-02 9.92592948e-01 1.14924489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.59, Y:167.57, Z:114.91 [[ 3.17030818e-01 -9.47439133e-01 4.30180307e-02 3.05593754e+02] [ 9.40948750e-01 3.19891522e-01 1.10837106e-01 1.67570951e+02] [-1.18772515e-01 5.33898390e-03 9.92907138e-01 1.14905074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.59, Y:167.60, Z:114.88 [[ 3.15581534e-01 -9.46595106e-01 6.60757159e-02 3.05589141e+02] [ 9.40596831e-01 3.21252142e-01 1.09884774e-01 1.67596317e+02] [-1.25243355e-01 2.74730034e-02 9.91745601e-01 1.14884467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.61, Y:167.62, Z:114.89 [[ 3.15346586e-01 -9.48128505e-01 4.01106944e-02 3.05613275e+02] [ 9.40662334e-01 3.17887177e-01 1.18752331e-01 1.67619535e+02] [-1.25343146e-01 2.82477191e-04 9.92113409e-01 1.14890732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:167.64, Z:114.89 [[ 3.15276314e-01 -9.48154679e-01 4.00443584e-02 3.05623441e+02] [ 9.40700051e-01 3.17809122e-01 1.18662448e-01 1.67644997e+02] [-1.25236818e-01 2.58270814e-04 9.92126843e-01 1.14887237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.63, Y:167.67, Z:114.88 [[ 3.15314279e-01 -9.48137854e-01 4.01436900e-02 3.05634609e+02] [ 9.40707882e-01 3.17859155e-01 1.18466190e-01 1.67670652e+02] [-1.25082319e-01 4.09404386e-04 9.92146283e-01 1.14883572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.65, Y:167.70, Z:114.88 [[ 3.15149503e-01 -9.48201466e-01 3.99345821e-02 3.05645487e+02] [ 9.40703871e-01 3.17669603e-01 1.19005253e-01 1.67695571e+02] [-1.25526958e-01 6.21696128e-05 9.92090207e-01 1.14879957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:305.66, Y:167.72, Z:114.88 [[ 3.14620132e-01 -9.48371271e-01 4.00762459e-02 3.05655365e+02] [ 9.40873644e-01 3.17162205e-01 1.19016479e-01 1.67720322e+02] [-1.25582480e-01 2.61703253e-04 9.92083148e-01 1.14876638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.67, Y:167.75, Z:114.87 [[ 3.13834427e-01 -9.48631453e-01 4.00789007e-02 3.05665430e+02] [ 9.41121165e-01 3.16383085e-01 1.19133105e-01 1.67746203e+02] [-1.25693697e-01 3.31031840e-04 9.92069042e-01 1.14873008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.68, Y:167.77, Z:114.87 [[ 3.13208615e-01 -9.48832512e-01 4.02147574e-02 3.05676163e+02] [ 9.41259426e-01 3.15779542e-01 1.19641022e-01 1.67772281e+02] [-1.26218289e-01 3.79920757e-04 9.92002419e-01 1.14869428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.69, Y:167.80, Z:114.87 [[ 3.13447998e-01 -9.48751448e-01 4.02621782e-02 3.05686033e+02] [ 9.41145727e-01 3.16023089e-01 1.19892152e-01 1.67798354e+02] [-1.26471631e-01 3.12621910e-04 9.91970175e-01 1.14865692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.70, Y:167.82, Z:114.86 [[ 3.14606694e-01 -9.48370523e-01 4.01992579e-02 3.05696352e+02] [ 9.40771409e-01 3.17164526e-01 1.19815769e-01 1.67823861e+02] [-1.26379522e-01 1.23469530e-04 9.91981956e-01 1.14862748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.70, Y:167.85, Z:114.86 [[ 3.14743303e-01 -9.48346959e-01 3.96824612e-02 3.05704936e+02] [ 9.40929018e-01 3.17234990e-01 1.18383039e-01 1.67850754e+02] [-1.24856860e-01 7.81105864e-05 9.92174762e-01 1.14860716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.790385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:305.71, Y:167.88, Z:114.86 [[ 3.15981977e-01 -9.47913260e-01 4.01975429e-02 3.05713337e+02] [ 9.40281174e-01 3.18528545e-01 1.20045329e-01 1.67876437e+02] [-1.26596624e-01 -1.35167631e-04 9.91954271e-01 1.14855011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.72, Y:167.90, Z:114.85 [[ 3.16631248e-01 -9.47697305e-01 4.01804856e-02 3.05722458e+02] [ 9.40062247e-01 3.19170426e-01 1.20055031e-01 1.67903230e+02] [-1.26600252e-01 -2.41016670e-04 9.91953788e-01 1.14851513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.73, Y:167.93, Z:114.84 [[ 3.14441235e-01 -9.48214273e-01 4.49043702e-02 3.05726562e+02] [ 9.40536592e-01 3.17601669e-01 1.20499373e-01 1.67927984e+02] [-1.28520928e-01 4.34423166e-03 9.91697282e-01 1.14843773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.880385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:305.74, Y:167.95, Z:114.84 [[ 3.13420407e-01 -9.48658648e-01 4.25959889e-02 3.05736307e+02] [ 9.40751327e-01 3.16296817e-01 1.22242643e-01 1.67954189e+02] [-1.29439516e-01 1.75889417e-03 9.91585759e-01 1.14839943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.75, Y:167.98, Z:114.84 [[ 3.13420496e-01 -9.49024051e-01 3.34804992e-02 3.05750660e+02] [ 9.41033495e-01 3.15124264e-01 1.23096142e-01 1.67981021e+02] [-1.27371717e-01 -7.07458283e-03 9.91829822e-01 1.14841918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.75, Y:168.01, Z:114.83 [[ 3.11308431e-01 -9.49000607e-01 4.98488561e-02 3.05748262e+02] [ 9.41400705e-01 3.15131176e-01 1.20237494e-01 1.68006375e+02] [-1.29814384e-01 9.49680260e-03 9.91492832e-01 1.14828479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.970385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:305.76, Y:168.03, Z:114.83 [[ 3.11194360e-01 -9.49341531e-01 4.36889876e-02 3.05760685e+02] [ 9.41454490e-01 3.14230720e-01 1.22157675e-01 1.68033769e+02] [-1.29697776e-01 3.11641408e-03 9.91548675e-01 1.14825592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.78, Y:168.06, Z:114.83 [[ 3.12130721e-01 -9.49665073e-01 2.66582389e-02 3.05779797e+02] [ 9.41754974e-01 3.12984676e-01 1.23037238e-01 1.68059925e+02] [-1.25187788e-01 -1.32981726e-02 9.92043939e-01 1.14833640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.78, Y:168.09, Z:114.82 [[ 3.11562120e-01 -9.49401375e-01 3.95736612e-02 3.05781887e+02] [ 9.41944416e-01 3.14065206e-01 1.18759265e-01 1.68088272e+02] [-1.25178920e-01 2.75300870e-04 9.92134145e-01 1.14824462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.79, Y:168.11, Z:114.82 [[ 3.11003942e-01 -9.49587420e-01 3.95003900e-02 3.05790733e+02] [ 9.42146360e-01 3.13502206e-01 1.18644864e-01 1.68114754e+02] [-1.25047130e-01 3.16128197e-04 9.92150752e-01 1.14821025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.79, Y:168.14, Z:114.80 [[ 3.07053819e-01 -9.49904181e-01 5.83095202e-02 3.05785556e+02] [ 9.42625248e-01 3.11994378e-01 1.18815612e-01 1.68141370e+02] [-1.31055690e-01 1.84812384e-02 9.91202729e-01 1.14802852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.82, Y:168.17, Z:114.82 [[ 3.08331373e-01 -9.51027711e-01 2.18645191e-02 3.05815380e+02] [ 9.42897017e-01 3.08578283e-01 1.25397999e-01 1.68166166e+02] [-1.26003888e-01 -1.80481472e-02 9.91865558e-01 1.14821386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.81, Y:168.20, Z:114.81 [[ 3.06770267e-01 -9.50614848e-01 4.71530815e-02 3.05811253e+02] [ 9.43584466e-01 3.10242943e-01 1.15748315e-01 1.68196281e+02] [-1.24660978e-01 8.98477367e-03 9.92158714e-01 1.14807209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.83, Y:168.22, Z:114.81 [[ 3.05149245e-01 -9.51756694e-01 3.22975910e-02 3.05828000e+02] [ 9.43792092e-01 3.06772157e-01 1.23074494e-01 1.68220990e+02] [-1.27044975e-01 -7.07387789e-03 9.91871733e-01 1.14810662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.83, Y:168.25, Z:114.80 [[ 3.03182418e-01 -9.52093138e-01 3.99884665e-02 3.05832315e+02] [ 9.44423534e-01 3.05805851e-01 1.20610820e-01 1.68247471e+02] [-1.27061441e-01 1.19896871e-03 9.91894124e-01 1.14803391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.84, Y:168.27, Z:114.80 [[ 3.02164426e-01 -9.52414452e-01 4.00421206e-02 3.05840471e+02] [ 9.44714066e-01 3.04803230e-01 1.20873179e-01 1.68273750e+02] [-1.27326330e-01 1.30477986e-03 9.91860022e-01 1.14799003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:168.30, Z:114.80 [[ 3.01623131e-01 -9.52582268e-01 4.01311478e-02 3.05849098e+02] [ 9.44834526e-01 3.04278186e-01 1.21253879e-01 1.68300812e+02] [-1.27715328e-01 1.34431946e-03 9.91809956e-01 1.14795706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:168.33, Z:114.79 [[ 3.01557883e-01 -9.52409701e-01 4.44815087e-02 3.05854659e+02] [ 9.44970483e-01 3.04758648e-01 1.18966185e-01 1.68327922e+02] [-1.26860673e-01 6.15852193e-03 9.91901428e-01 1.14789820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.330385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:305.87, Y:168.35, Z:114.79 [[ 3.00311066e-01 -9.53185044e-01 3.53770439e-02 3.05867291e+02] [ 9.45215701e-01 3.02367195e-01 1.23050223e-01 1.68354384e+02] [-1.27986490e-01 -3.51440637e-03 9.91769685e-01 1.14787902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.86, Y:168.38, Z:114.77 [[ 2.97125172e-01 -9.53343567e-01 5.34104530e-02 3.05861143e+02] [ 9.45325313e-01 3.01580657e-01 1.24133640e-01 1.68381038e+02] [-1.34449567e-01 1.36070239e-02 9.90827010e-01 1.14771941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.89, Y:168.41, Z:114.78 [[ 3.00478344e-01 -9.53374291e-01 2.81109655e-02 3.05887228e+02] [ 9.44865245e-01 3.01559996e-01 1.27637135e-01 1.68407855e+02] [-1.30163106e-01 -1.17911207e-02 9.91422481e-01 1.14784719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.89, Y:168.44, Z:114.78 [[ 3.00249981e-01 -9.52977308e-01 4.10390018e-02 3.05887586e+02] [ 9.44827285e-01 3.03038286e-01 1.24375230e-01 1.68436219e+02] [-1.30963161e-01 1.43110803e-03 9.91386203e-01 1.14775765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.89, Y:168.46, Z:114.77 [[ 3.00318634e-01 -9.52961796e-01 4.08966168e-02 3.05894596e+02] [ 9.44853252e-01 3.03087279e-01 1.24058186e-01 1.68461623e+02] [-1.30617956e-01 1.38431661e-03 9.91431810e-01 1.14771704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.90, Y:168.49, Z:114.77 [[ 3.01400006e-01 -9.52627838e-01 4.07214801e-02 3.05901336e+02] [ 9.44572605e-01 3.04136081e-01 1.23627821e-01 1.68488576e+02] [-1.30156175e-01 1.20296864e-03 9.91492775e-01 1.14767851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.91, Y:168.51, Z:114.76 [[ 3.01782762e-01 -9.52510922e-01 4.06215215e-02 3.05908285e+02] [ 9.44478895e-01 3.04502387e-01 1.23441948e-01 1.68514033e+02] [-1.29949154e-01 1.11351773e-03 9.91520034e-01 1.14763919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.90, Y:168.54, Z:114.74 [[ 2.97925602e-01 -9.52410579e-01 6.44548248e-02 3.05897362e+02] [ 9.44642209e-01 3.03870356e-01 1.23749362e-01 1.68539408e+02] [-1.37446112e-01 2.40186451e-02 9.90217992e-01 1.14740728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.92, Y:168.56, Z:114.75 [[ 2.99806185e-01 -9.53364858e-01 3.48094634e-02 3.05920612e+02] [ 9.44300610e-01 3.01750269e-01 1.31313114e-01 1.68564999e+02] [-1.35693074e-01 -6.49788641e-03 9.90729614e-01 1.14750101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.94, Y:168.59, Z:114.76 [[ 3.03489107e-01 -9.52528492e-01 2.41626644e-02 3.05937533e+02] [ 9.43875078e-01 3.04008061e-01 1.29146954e-01 1.68592717e+02] [-1.30361798e-01 -1.63881569e-02 9.91331040e-01 1.14758099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.92, Y:168.62, Z:114.73 [[ 3.01260032e-01 -9.51581335e-01 6.11175627e-02 3.05919062e+02] [ 9.44099018e-01 3.06661360e-01 1.20978736e-01 1.68621410e+02] [-1.33863502e-01 2.12549732e-02 9.90771815e-01 1.14730896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.95, Y:168.65, Z:114.75 [[ 3.04156387e-01 -9.52403663e-01 2.03998954e-02 3.05951977e+02] [ 9.43710850e-01 3.04164297e-01 1.29976583e-01 1.68646856e+02] [-1.29995094e-01 -2.02816053e-02 9.91307184e-01 1.14750816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.95, Y:168.68, Z:114.74 [[ 3.04111145e-01 -9.51780930e-01 4.03667325e-02 3.05949110e+02] [ 9.43787721e-01 3.06777805e-01 1.23093935e-01 1.68675968e+02] [-1.29542078e-01 6.63388779e-04 9.91573704e-01 1.14739033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.96, Y:168.70, Z:114.74 [[ 3.04024849e-01 -9.51812015e-01 4.02837413e-02 3.05956943e+02] [ 9.43837023e-01 3.06681397e-01 1.22956071e-01 1.68702890e+02] [-1.29385339e-01 6.39585630e-04 9.91594184e-01 1.14735274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.96, Y:168.73, Z:114.73 [[ 3.03714747e-01 -9.51916527e-01 4.01531883e-02 3.05964160e+02] [ 9.43979465e-01 3.06356831e-01 1.22671355e-01 1.68729798e+02] [-1.29074094e-01 6.46685536e-04 9.91634741e-01 1.14731372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:168.76, Z:114.73 [[ 3.03311586e-01 -9.52044466e-01 4.01673609e-02 3.05970244e+02] [ 9.44087392e-01 3.05958973e-01 1.22833640e-01 1.68756249e+02] [-1.29232651e-01 6.64632945e-04 9.91614078e-01 1.14727420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.98, Y:168.78, Z:114.72 [[ 3.03151693e-01 -9.52096381e-01 4.01438864e-02 3.05978961e+02] [ 9.44138745e-01 3.05797388e-01 1.22841311e-01 1.68783144e+02] [-1.29232663e-01 6.61847164e-04 9.91614079e-01 1.14723442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.99, Y:168.81, Z:114.72 [[ 3.01758977e-01 -9.52525696e-01 4.04514260e-02 3.05986655e+02] [ 9.44440003e-01 3.04457070e-01 1.23850606e-01 1.68809902e+02] [-1.30286607e-01 8.30912661e-04 9.91476026e-01 1.14720854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.99, Y:168.84, Z:114.72 [[ 3.00976025e-01 -9.52762866e-01 4.06983223e-02 3.05994247e+02] [ 9.44563850e-01 3.03713858e-01 1.24727804e-01 1.68835695e+02] [-1.31196665e-01 9.02085232e-04 9.91355951e-01 1.14717675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.00, Y:168.86, Z:114.71 [[ 3.00396419e-01 -9.52942846e-01 4.07667000e-02 3.06001832e+02] [ 9.44703535e-01 3.03148529e-01 1.25044790e-01 1.68862066e+02] [-1.31518903e-01 9.49438455e-04 9.91313208e-01 1.14714200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.01, Y:168.89, Z:114.71 [[ 2.99771524e-01 -9.53144642e-01 4.06487967e-02 3.06008658e+02] [ 9.44939582e-01 3.02513293e-01 1.24799419e-01 1.68889192e+02] [-1.31248699e-01 9.99344889e-04 9.91348970e-01 1.14710055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:168.92, Z:114.71 [[ 2.99560087e-01 -9.53215279e-01 4.05510310e-02 3.06016440e+02] [ 9.45034886e-01 3.02290668e-01 1.24617079e-01 1.68916152e+02] [-1.31045102e-01 9.91835823e-04 9.91375911e-01 1.14706141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.02, Y:168.94, Z:114.70 [[ 2.98888725e-01 -9.53006151e-01 4.94449860e-02 3.06019528e+02] [ 9.44980809e-01 3.02794911e-01 1.23800293e-01 1.68943730e+02] [-1.32954131e-01 9.72205103e-03 9.91074508e-01 1.14695635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.03, Y:168.97, Z:114.70 [[ 2.98389986e-01 -9.53882085e-01 3.27472762e-02 3.06034531e+02] [ 9.45457044e-01 3.00103618e-01 1.26683849e-01 1.68968206e+02] [-1.30669030e-01 -6.84004883e-03 9.91402450e-01 1.14701505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.04, Y:169.00, Z:114.70 [[ 2.98402388e-01 -9.53593696e-01 4.01880321e-02 3.06038129e+02] [ 9.45506110e-01 3.01094723e-01 1.23936130e-01 1.68996293e+02] [-1.30285117e-01 1.01519272e-03 9.91476050e-01 1.14695150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.080385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.05, Y:169.02, Z:114.69 [[ 2.98120140e-01 -9.53685426e-01 4.01059812e-02 3.06045810e+02] [ 9.45616225e-01 3.00804045e-01 1.23801782e-01 1.69023434e+02] [-1.30131996e-01 1.01706202e-03 9.91496157e-01 1.14691384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:169.05, Z:114.69 [[ 2.98172006e-01 -9.53662942e-01 4.02547860e-02 3.06052485e+02] [ 9.45517393e-01 3.00875462e-01 1.24381732e-01 1.69050041e+02] [-1.30729926e-01 9.74449672e-04 9.91417539e-01 1.14688040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.06, Y:169.08, Z:114.68 [[ 2.97651265e-01 -9.53823754e-01 4.02985190e-02 3.06060093e+02] [ 9.45647765e-01 3.00365142e-01 1.24623779e-01 1.69077302e+02] [-1.30973391e-01 1.01377904e-03 9.91385366e-01 1.14684078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.07, Y:169.10, Z:114.68 [[ 2.96123266e-01 -9.54301050e-01 4.02556502e-02 3.06065643e+02] [ 9.46131177e-01 2.98844603e-01 1.24610189e-01 1.69103385e+02] [-1.30945818e-01 1.18714950e-03 9.91388816e-01 1.14680187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.07, Y:169.13, Z:114.68 [[ 2.95217715e-01 -9.54585313e-01 4.01669174e-02 3.06072726e+02] [ 9.46440285e-01 2.97934970e-01 1.24440914e-01 1.69130685e+02] [-1.30756598e-01 1.27842649e-03 9.91413676e-01 1.14675945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.08, Y:169.16, Z:114.67 [[ 2.94784338e-01 -9.54723424e-01 4.00671746e-02 3.06079910e+02] [ 9.46605033e-01 2.97492000e-01 1.24247419e-01 1.69157574e+02] [-1.30541585e-01 1.30159614e-03 9.91441980e-01 1.14671679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.09, Y:169.18, Z:114.67 [[ 2.93738264e-01 -9.55056192e-01 3.98183570e-02 3.06086297e+02] [ 9.47026852e-01 2.96421478e-01 1.23589843e-01 1.69184907e+02] [-1.29838261e-01 1.40598718e-03 9.91534190e-01 1.14667840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.09, Y:169.21, Z:114.66 [[ 2.92604808e-01 -9.55414765e-01 3.95607555e-02 3.06091782e+02] [ 9.47477463e-01 2.95263132e-01 1.22907041e-01 1.69211325e+02] [-1.29108034e-01 1.51973326e-03 9.91629369e-01 1.14663971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:169.24, Z:114.66 [[ 2.91558259e-01 -9.55732738e-01 3.96070109e-02 3.06098537e+02] [ 9.47769867e-01 2.94231617e-01 1.23126094e-01 1.69238033e+02] [-1.29329274e-01 1.63990190e-03 9.91600348e-01 1.14660145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.11, Y:169.26, Z:114.66 [[ 2.90530375e-01 -9.56047613e-01 3.95608840e-02 3.06105380e+02] [ 9.48091036e-01 2.93206282e-01 1.23099404e-01 1.69263577e+02] [-1.29288391e-01 1.74320345e-03 9.91605503e-01 1.14656560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.11, Y:169.29, Z:114.65 [[ 2.88112289e-01 -9.56462125e-01 4.65994892e-02 3.06107846e+02] [ 9.48443147e-01 2.91732560e-01 1.23885873e-01 1.69291496e+02] [-1.32086733e-01 8.50392377e-03 9.91201684e-01 1.14647869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.12, Y:169.32, Z:114.65 [[ 2.88698163e-01 -9.56635883e-01 3.87447752e-02 3.06117852e+02] [ 9.48781948e-01 2.91282870e-01 1.22340123e-01 1.69316768e+02] [-1.28320641e-01 1.44097459e-03 9.91731686e-01 1.14649523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.13, Y:169.35, Z:114.65 [[ 2.88994306e-01 -9.56905901e-01 2.85199395e-02 3.06129914e+02] [ 9.48516630e-01 2.90239726e-01 1.26795519e-01 1.69345018e+02] [-1.29609000e-01 -9.59154624e-03 9.91518789e-01 1.14650412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.13, Y:169.37, Z:114.64 [[ 2.88574467e-01 -9.56386460e-01 4.52737997e-02 3.06126212e+02] [ 9.48641719e-01 2.91999528e-01 1.21717560e-01 1.69372271e+02] [-1.29628955e-01 7.82403512e-03 9.91531703e-01 1.14639504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.14, Y:169.40, Z:114.64 [[ 2.90924160e-01 -9.56224827e-01 3.15786978e-02 3.06141284e+02] [ 9.48121345e-01 2.92566365e-01 1.24381823e-01 1.69399456e+02] [-1.28175852e-01 -6.24523977e-03 9.91731792e-01 1.14642397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.530385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.14, Y:169.43, Z:114.63 [[ 2.90516593e-01 -9.55703566e-01 4.72313752e-02 3.06138257e+02] [ 9.48166700e-01 2.94165560e-01 1.20193728e-01 1.69427625e+02] [-1.28763419e-01 9.86494464e-03 9.91626273e-01 1.14630695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.17, Y:169.46, Z:114.65 [[ 2.95019735e-01 -9.55403925e-01 1.29110653e-02 3.06168843e+02] [ 9.47572947e-01 2.94284174e-01 1.24508371e-01 1.69456107e+02] [-1.22755309e-01 -2.44982504e-02 9.92134552e-01 1.14645722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5903857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:306.14, Y:169.48, Z:114.62 [[ 2.91855029e-01 -9.54272879e-01 6.46831827e-02 3.06143621e+02] [ 9.48010019e-01 2.97584474e-01 1.12785129e-01 1.69484109e+02] [-1.26876500e-01 2.84033982e-02 9.91511775e-01 1.14617562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.620385723 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:306.18, Y:169.51, Z:114.64 [[ 2.95830201e-01 -9.55132221e-01 1.43851851e-02 3.06184053e+02] [ 9.47220916e-01 2.95260588e-01 1.24874820e-01 1.69510165e+02] [-1.23519342e-01 -2.33157949e-02 9.92068216e-01 1.14635598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.650385723 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:306.17, Y:169.54, Z:114.62 [[ 2.94271274e-01 -9.54404905e-01 5.01567037e-02 3.06173648e+02] [ 9.47403573e-01 2.98217073e-01 1.16159578e-01 1.69540209e+02] [-1.25820857e-01 1.33362133e-02 9.91963335e-01 1.14616654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.680385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:306.18, Y:169.56, Z:114.61 [[ 2.87983057e-01 -9.56161805e-01 5.31070675e-02 3.06175850e+02] [ 9.49052118e-01 2.92370973e-01 1.17555485e-01 1.69561849e+02] [-1.27929030e-01 1.65473869e-02 9.91645273e-01 1.14610927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.710385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:306.19, Y:169.59, Z:114.61 [[ 2.86820910e-01 -9.57189533e-01 3.90123412e-02 3.06191808e+02] [ 9.49274243e-01 2.89456339e-01 1.22855359e-01 1.69586826e+02] [-1.28888233e-01 1.79592477e-03 9.91657500e-01 1.14611866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.740385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:306.20, Y:169.61, Z:114.61 [[ 2.86309640e-01 -9.57342997e-01 3.90022619e-02 3.06199806e+02] [ 9.49417840e-01 2.88948157e-01 1.22941973e-01 1.69613146e+02] [-1.28967268e-01 1.82997129e-03 9.91647163e-01 1.14607421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.770385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.21, Y:169.64, Z:114.60 [[ 2.87131552e-01 -9.57097375e-01 3.89882743e-02 3.06207360e+02] [ 9.49159705e-01 2.89761594e-01 1.23020623e-01 1.69638950e+02] [-1.29040020e-01 1.68299630e-03 9.91637959e-01 1.14602784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.22, Y:169.66, Z:114.60 [[ 2.88221009e-01 -9.56781848e-01 3.86929604e-02 3.06216285e+02] [ 9.48947784e-01 2.90802769e-01 1.22195956e-01 1.69664916e+02] [-1.28166893e-01 1.49815724e-03 9.91751483e-01 1.14598565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:306.23, Y:169.69, Z:114.59 [[ 2.88263446e-01 -9.56773626e-01 3.85799667e-02 3.06225147e+02] [ 9.48970187e-01 2.90830036e-01 1.21956857e-01 1.69690088e+02] [-1.27905317e-01 1.45553438e-03 9.91785315e-01 1.14594848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.860385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.23, Y:169.72, Z:114.59 [[ 2.87965805e-01 -9.56862939e-01 3.85877176e-02 3.06234630e+02] [ 9.49043704e-01 2.90536006e-01 1.22085532e-01 1.69716129e+02] [-1.28030243e-01 1.46497186e-03 9.91769182e-01 1.14591326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.26, Y:169.74, Z:114.60 [[ 2.88075179e-01 -9.57414918e-01 1.92188763e-02 3.06255299e+02] [ 9.49665180e-01 2.88207808e-01 1.22769320e-01 1.69741844e+02] [-1.23080209e-01 -1.71152964e-02 9.92249126e-01 1.14601015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.24, Y:169.77, Z:114.58 [[ 2.87285453e-01 -9.56173136e-01 5.65685608e-02 3.06243622e+02] [ 9.49348614e-01 2.92088873e-01 1.15850331e-01 1.69771047e+02] [-1.27296022e-01 2.04211700e-02 9.91654526e-01 1.14577871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.26, Y:169.80, Z:114.58 [[ 2.86413869e-01 -9.57336009e-01 3.84039257e-02 3.06261991e+02] [ 9.49558206e-01 2.88972766e-01 1.21794722e-01 1.69795212e+02] [-1.27696162e-01 1.58306519e-03 9.91812071e-01 1.14579144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.27, Y:169.82, Z:114.58 [[ 2.85373369e-01 -9.57642718e-01 3.85028028e-02 3.06271445e+02] [ 9.49812280e-01 2.87954107e-01 1.22225473e-01 1.69820994e+02] [-1.28135374e-01 1.69054008e-03 9.91755246e-01 1.14575323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.28, Y:169.85, Z:114.57 [[ 2.83808007e-01 -9.58106531e-01 3.85342798e-02 3.06282423e+02] [ 9.50252229e-01 2.86405988e-01 1.22443092e-01 1.69847005e+02] [-1.28349975e-01 1.86695531e-03 9.91727179e-01 1.14571940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.040385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:306.29, Y:169.87, Z:114.57 [[ 2.82782147e-01 -9.58418648e-01 3.83138597e-02 3.06291572e+02] [ 9.50642258e-01 2.85359141e-01 1.21858351e-01 1.69873440e+02] [-1.27724526e-01 1.96340810e-03 9.91807739e-01 1.14567851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.070385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:306.30, Y:169.90, Z:114.56 [[ 2.80938534e-01 -9.58975687e-01 3.79364283e-02 3.06300771e+02] [ 9.51342492e-01 2.83480098e-01 1.20774572e-01 1.69899741e+02] [-1.26574101e-01 2.16030495e-03 9.91954803e-01 1.14562971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.100385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:306.31, Y:169.92, Z:114.56 [[ 2.79891494e-01 -9.59288835e-01 3.77582161e-02 3.06309494e+02] [ 9.51714973e-01 2.82417847e-01 1.20327762e-01 1.69924960e+02] [-1.26092673e-01 2.25634259e-03 9.92015901e-01 1.14558914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.130385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:306.32, Y:169.95, Z:114.56 [[ 2.78917265e-01 -9.59577822e-01 3.76239732e-02 3.06319006e+02] [ 9.52047128e-01 2.81433634e-01 1.20005729e-01 1.69951021e+02] [-1.25743488e-01 2.34812578e-03 9.92060009e-01 1.14555081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.33, Y:169.98, Z:114.55 [[ 2.78173839e-01 -9.59792260e-01 3.76581183e-02 3.06329534e+02] [ 9.52234808e-01 2.80700894e-01 1.20232603e-01 1.69975466e+02] [-1.25968989e-01 2.41380640e-03 9.92031243e-01 1.14551841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.34, Y:170.00, Z:114.55 [[ 2.79124485e-01 -9.59502388e-01 3.80090599e-02 3.06340256e+02] [ 9.51786590e-01 2.81691310e-01 1.21459021e-01 1.70000936e+02] [-1.27247043e-01 2.27432665e-03 9.91868448e-01 1.14548754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.220385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.35, Y:170.03, Z:114.54 [[ 2.79989437e-01 -9.59256077e-01 3.78641452e-02 3.06349104e+02] [ 9.51582491e-01 2.82530136e-01 1.21109397e-01 1.70027288e+02] [-1.26872687e-01 2.12150580e-03 9.91916741e-01 1.14544672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.36, Y:170.05, Z:114.54 [[ 2.80889601e-01 -9.58999602e-01 3.76934457e-02 3.06357589e+02] [ 9.51378190e-01 2.83400619e-01 1.20679860e-01 1.70053604e+02] [-1.26414283e-01 1.96300454e-03 9.91975592e-01 1.14540141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.37, Y:170.08, Z:114.54 [[ 2.82722052e-01 -9.58471392e-01 3.74276924e-02 3.06367620e+02] [ 9.50938403e-01 2.85183740e-01 1.19943268e-01 1.70079395e+02] [-1.25635960e-01 1.68082325e-03 9.92074987e-01 1.14535627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.38, Y:170.10, Z:114.53 [[ 2.83533752e-01 -9.58233024e-01 3.73909544e-02 3.06379009e+02] [ 9.50697682e-01 2.85984446e-01 1.19945042e-01 1.70104359e+02] [-1.25628532e-01 1.53902584e-03 9.92076158e-01 1.14531677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3403857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.39, Y:170.13, Z:114.53 [[ 2.83491325e-01 -9.58171988e-01 3.92314994e-02 3.06388471e+02] [ 9.50638674e-01 2.86174136e-01 1.19960306e-01 1.70131691e+02] [-1.26169646e-01 3.28727430e-03 9.92003233e-01 1.14526568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.370385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:306.40, Y:170.16, Z:114.52 [[ 2.83247491e-01 -9.58365971e-01 3.61320362e-02 3.06399089e+02] [ 9.50626451e-01 2.85542744e-01 1.21551193e-01 1.70156936e+02] [-1.26807768e-01 -8.10011407e-05 9.91927308e-01 1.14524132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.400385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.41, Y:170.18, Z:114.52 [[ 2.83024532e-01 -9.58359492e-01 3.80026048e-02 3.06408920e+02] [ 9.50539983e-01 2.85560337e-01 1.22184431e-01 1.70182084e+02] [-1.27948646e-01 1.54180391e-03 9.91779596e-01 1.14519546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.430385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.42, Y:170.21, Z:114.52 [[ 2.83247261e-01 -9.58295050e-01 3.79682291e-02 3.06419187e+02] [ 9.50401434e-01 2.85777652e-01 1.22752789e-01 1.70208649e+02] [-1.28483862e-01 1.31566802e-03 9.91710727e-01 1.14515411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.43, Y:170.23, Z:114.51 [[ 2.84530435e-01 -9.57810629e-01 4.05120994e-02 3.06427933e+02] [ 9.49818515e-01 2.87380728e-01 1.23519662e-01 1.70233011e+02] [-1.29950842e-01 3.33403895e-03 9.91514832e-01 1.14510850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.44, Y:170.26, Z:114.51 [[ 2.83862365e-01 -9.58151814e-01 3.69764699e-02 3.06439514e+02] [ 9.49848258e-01 2.86259903e-01 1.25871185e-01 1.70259993e+02] [-1.31188585e-01 -6.08056801e-04 9.91357244e-01 1.14508317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.45, Y:170.29, Z:114.50 [[ 2.83490191e-01 -9.57873992e-01 4.59426516e-02 3.06447308e+02] [ 9.50095783e-01 2.87047129e-01 1.22155427e-01 1.70288279e+02] [-1.30197213e-01 9.02005414e-03 9.91447086e-01 1.14499461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.46, Y:170.31, Z:114.50 [[ 2.84192964e-01 -9.58211040e-01 3.26490850e-02 3.06463556e+02] [ 9.49634049e-01 2.86011614e-01 1.28033318e-01 1.70311090e+02] [-1.32020956e-01 -5.38148530e-03 9.91232317e-01 1.14501043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.47, Y:170.34, Z:114.49 [[ 2.84634748e-01 -9.57842809e-01 3.89899264e-02 3.06469779e+02] [ 9.49525482e-01 2.87290421e-01 1.25958617e-01 1.70337305e+02] [-1.31849988e-01 1.16972952e-03 9.91268991e-01 1.14494343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.48, Y:170.36, Z:114.49 [[ 2.86212656e-01 -9.57383170e-01 3.87270033e-02 3.06480287e+02] [ 9.49159415e-01 2.88819357e-01 1.25218941e-01 1.70362497e+02] [-1.31067615e-01 9.18854041e-04 9.91373006e-01 1.14489352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.640385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:306.49, Y:170.39, Z:114.48 [[ 2.87003525e-01 -9.57151380e-01 3.86032636e-02 3.06489650e+02] [ 9.48962125e-01 2.89587008e-01 1.24940989e-01 1.70388251e+02] [-1.30766444e-01 7.74530675e-04 9.91412900e-01 1.14484742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.50, Y:170.41, Z:114.48 [[ 2.88329535e-01 -9.56750092e-01 3.86696346e-02 3.06501505e+02] [ 9.48512703e-01 2.90910555e-01 1.25278498e-01 1.70413446e+02] [-1.31109619e-01 5.57148562e-04 9.91367721e-01 1.14480502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.51, Y:170.44, Z:114.48 [[ 2.88771314e-01 -9.56604115e-01 3.89832757e-02 3.06511761e+02] [ 9.48214116e-01 2.91390387e-01 1.26418484e-01 1.70438911e+02] [-1.32291794e-01 4.58460618e-04 9.91210710e-01 1.14476444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:170.47, Z:114.47 [[ 2.89157042e-01 -9.56491562e-01 3.88856995e-02 3.06522399e+02] [ 9.48126373e-01 2.91759757e-01 1.26224505e-01 1.70465192e+02] [-1.32077956e-01 3.69852612e-04 9.91239263e-01 1.14472566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.53, Y:170.49, Z:114.47 [[ 2.88911683e-01 -9.56567124e-01 3.88507047e-02 3.06530678e+02] [ 9.48201167e-01 2.91511926e-01 1.26235275e-01 1.70492255e+02] [-1.32077958e-01 3.67437710e-04 9.91239264e-01 1.14468574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.54, Y:170.52, Z:114.46 [[ 2.90069608e-01 -9.56226466e-01 3.86078902e-02 3.06543039e+02] [ 9.47947060e-01 2.92627605e-01 1.25560565e-01 1.70517295e+02] [-1.31362070e-01 1.76932008e-04 9.91334442e-01 1.14464308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.55, Y:170.54, Z:114.46 [[ 2.90915009e-01 -9.55973447e-01 3.85126623e-02 3.06552886e+02] [ 9.47715947e-01 2.93453177e-01 1.25378293e-01 1.70542247e+02] [-1.31159982e-01 2.46369589e-05 9.91361215e-01 1.14460244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.56, Y:170.57, Z:114.46 [[ 2.93068095e-01 -9.55315116e-01 3.85242838e-02 3.06564605e+02] [ 9.47035943e-01 2.95589142e-01 1.25498930e-01 1.70567390e+02] [-1.31278385e-01 -2.95850949e-04 9.91345499e-01 1.14456336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.57, Y:170.59, Z:114.45 [[ 2.94328844e-01 -9.54927266e-01 3.85285415e-02 3.06574325e+02] [ 9.46626506e-01 2.96839452e-01 1.25636768e-01 1.70593378e+02] [-1.31410767e-01 -5.06386078e-04 9.91327874e-01 1.14452310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.58, Y:170.62, Z:114.45 [[ 2.95593444e-01 -9.54533745e-01 3.85985255e-02 3.06583889e+02] [ 9.46182649e-01 2.98102014e-01 1.25990411e-01 1.70619203e+02] [-1.31768397e-01 -7.20684350e-04 9.91280268e-01 1.14447969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.59, Y:170.64, Z:114.44 [[ 2.93650964e-01 -9.55144981e-01 3.83037574e-02 3.06593163e+02] [ 9.46691619e-01 2.96136996e-01 1.26798492e-01 1.70643104e+02] [-1.32454103e-01 -9.72653364e-04 9.91188662e-01 1.14443613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.61, Y:170.67, Z:114.44 [[ 2.95834091e-01 -9.54471371e-01 3.82961239e-02 3.06606585e+02] [ 9.45999410e-01 2.98299651e-01 1.26895367e-01 1.70670427e+02] [-1.32541716e-01 -1.31186513e-03 9.91176560e-01 1.14440183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:306.62, Y:170.69, Z:114.44 [[ 2.93270297e-01 -9.55343753e-01 3.62056117e-02 3.06615170e+02] [ 9.46900888e-01 2.95482565e-01 1.26762622e-01 1.70694838e+02] [-1.31800006e-01 -2.89258582e-03 9.91272108e-01 1.14437703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:170.72, Z:114.43 [[ 2.93711950e-01 -9.55048319e-01 4.01994903e-02 3.06627949e+02] [ 9.46687098e-01 2.96448429e-01 1.26102610e-01 1.70721443e+02] [-1.32351162e-01 1.01849530e-03 9.91202367e-01 1.14431052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.64, Y:170.75, Z:114.43 [[ 2.92966758e-01 -9.55338554e-01 3.87133803e-02 3.06638589e+02] [ 9.46887776e-01 2.95513128e-01 1.26789317e-01 1.70746854e+02] [-1.32567035e-01 -4.87828450e-04 9.91173922e-01 1.14427707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.65, Y:170.77, Z:114.42 [[ 2.93171127e-01 -9.55274937e-01 3.87360966e-02 3.06650139e+02] [ 9.46797053e-01 2.95718596e-01 1.26987604e-01 1.70772803e+02] [-1.32763059e-01 -5.53876759e-04 9.91147650e-01 1.14423864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.120385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:306.66, Y:170.80, Z:114.42 [[ 2.93785235e-01 -9.55090141e-01 3.86401237e-02 3.06659198e+02] [ 9.46636322e-01 2.96314648e-01 1.26796305e-01 1.70798250e+02] [-1.32551536e-01 -6.72737778e-04 9.91175886e-01 1.14420072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:170.82, Z:114.42 [[ 2.94549569e-01 -9.54861449e-01 3.84729195e-02 3.06667498e+02] [ 9.46461675e-01 2.97050426e-01 1.26377779e-01 1.70824435e+02] [-1.32101666e-01 -8.11376541e-04 9.91235841e-01 1.14416271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:170.85, Z:114.41 [[ 2.97208836e-01 -9.54053134e-01 3.80726209e-02 3.06674994e+02] [ 9.45805474e-01 2.99635088e-01 1.25183142e-01 1.70850934e+02] [-1.30839262e-01 -1.19624260e-03 9.91402873e-01 1.14412496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.68, Y:170.88, Z:114.41 [[ 2.98092066e-01 -9.53787192e-01 3.78300416e-02 3.06681843e+02] [ 9.45626631e-01 3.00479936e-01 1.24507360e-01 1.70877726e+02] [-1.30120694e-01 -1.34156146e-03 9.91497254e-01 1.14408149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.69, Y:170.90, Z:114.40 [[ 2.98851358e-01 -9.53553042e-01 3.77420385e-02 3.06686323e+02] [ 9.45412769e-01 3.01221536e-01 1.24339383e-01 1.70904594e+02] [-1.29932912e-01 -1.47718838e-03 9.91521687e-01 1.14403039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.69, Y:170.93, Z:114.40 [[ 2.98276848e-01 -9.53735075e-01 3.76872581e-02 3.06693830e+02] [ 9.45603014e-01 3.00644886e-01 1.24288341e-01 1.70931576e+02] [-1.29868632e-01 -1.43514979e-03 9.91530170e-01 1.14399417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.70, Y:170.96, Z:114.40 [[ 2.96702934e-01 -9.54227515e-01 3.76459691e-02 3.06702065e+02] [ 9.46100787e-01 2.99079037e-01 1.24278038e-01 1.70958768e+02] [-1.29848643e-01 -1.25677744e-03 9.91533030e-01 1.14396333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.71, Y:170.99, Z:114.39 [[ 2.92655510e-01 -9.55473499e-01 3.77246122e-02 3.06711108e+02] [ 9.47306271e-01 2.95075984e-01 1.24663519e-01 1.70985515e+02] [-1.30244316e-01 -7.46703948e-04 9.91481649e-01 1.14393572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.72, Y:171.01, Z:114.39 [[ 2.89996290e-01 -9.56275424e-01 3.79402976e-02 3.06719467e+02] [ 9.48004093e-01 2.92467316e-01 1.25503424e-01 1.71012243e+02] [-1.31112137e-01 -4.27969751e-04 9.91367452e-01 1.14389914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:171.04, Z:114.39 [[ 2.84928556e-01 -9.57793210e-01 3.80510834e-02 3.06727795e+02] [ 9.49469486e-01 2.87458023e-01 1.25998336e-01 1.71038773e+02] [-1.31618440e-01 2.27818785e-04 9.91300426e-01 1.14385859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:171.06, Z:114.40 [[ 2.80927778e-01 -9.59571394e-01 1.73874315e-02 3.06743610e+02] [ 9.51216409e-01 2.80797972e-01 1.27827389e-01 1.71062272e+02] [-1.27541862e-01 -1.93710543e-02 9.91644007e-01 1.14396315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.73, Y:171.09, Z:114.37 [[ 2.78096583e-01 -9.58860423e-01 5.69998215e-02 3.06732848e+02] [ 9.51391838e-01 2.83134951e-01 1.21194764e-01 1.71093637e+02] [-1.32347505e-01 2.05253152e-02 9.90990842e-01 1.14369326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:306.75, Y:171.12, Z:114.37 [[ 2.75803412e-01 -9.60456254e-01 3.81609955e-02 3.06750360e+02] [ 9.52069079e-01 2.78427418e-01 1.26659551e-01 1.71119030e+02] [-1.32276025e-01 1.39876749e-03 9.91211933e-01 1.14373109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.76, Y:171.15, Z:114.37 [[ 2.73974537e-01 -9.60988263e-01 3.79408921e-02 3.06758483e+02] [ 9.52686496e-01 2.76584463e-01 1.26053462e-01 1.71145738e+02] [-1.31629759e-01 1.61033662e-03 9.91297641e-01 1.14369397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.77, Y:171.17, Z:114.37 [[ 2.71093750e-01 -9.61799717e-01 3.80720765e-02 3.06766573e+02] [ 9.53431136e-01 2.73746975e-01 1.26616206e-01 1.71171992e+02] [-1.32201546e-01 1.97424115e-03 9.91220890e-01 1.14365801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.77, Y:171.20, Z:114.36 [[ 2.70199145e-01 -9.62053167e-01 3.80279669e-02 3.06774084e+02] [ 9.53689420e-01 2.72854283e-01 1.26597907e-01 1.71198073e+02] [-1.32170011e-01 2.06022353e-03 9.91224921e-01 1.14362483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.78, Y:171.22, Z:114.37 [[ 2.66862574e-01 -9.63390431e-01 2.57535424e-02 3.06782325e+02] [ 9.54931116e-01 2.67934122e-01 1.27741417e-01 1.71221967e+02] [-1.29965112e-01 -9.49654431e-03 9.91473089e-01 1.14366564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.78, Y:171.25, Z:114.35 [[ 2.69491248e-01 -9.61797562e-01 4.81655142e-02 3.06781581e+02] [ 9.53947489e-01 2.73465921e-01 1.23290629e-01 1.71252655e+02] [-1.31752253e-01 1.27216260e-02 9.91201041e-01 1.14349851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:171.28, Z:114.35 [[ 2.69199760e-01 -9.62344288e-01 3.77486425e-02 3.06793834e+02] [ 9.54071593e-01 2.71825311e-01 1.25930125e-01 1.71278954e+02] [-1.31449173e-01 2.11454799e-03 9.91320656e-01 1.14349995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.80, Y:171.30, Z:114.35 [[ 2.66304676e-01 -9.63329955e-01 3.28209750e-02 3.06799744e+02] [ 9.55346309e-01 2.68314769e-01 1.23776472e-01 1.71304614e+02] [-1.28043936e-01 -1.60685611e-03 9.91767195e-01 1.14350482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.81, Y:171.33, Z:114.36 [[ 2.66502468e-01 -9.63614756e-01 2.05678370e-02 3.06812360e+02] [ 9.55293068e-01 2.66915283e-01 1.27166764e-01 1.71330005e+02] [-1.28029640e-01 -1.42419442e-02 9.91668079e-01 1.14355734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.81, Y:171.36, Z:114.34 [[ 2.66864853e-01 -9.63020380e-01 3.70796016e-02 3.06810663e+02] [ 9.54900502e-01 2.69420374e-01 1.24810629e-01 1.71356671e+02] [-1.30185179e-01 2.09976002e-03 9.91487474e-01 1.14344919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:171.39, Z:114.34 [[ 2.67448256e-01 -9.62924108e-01 3.53354427e-02 3.06818004e+02] [ 9.55260091e-01 2.69769174e-01 1.21254901e-01 1.71386850e+02] [-1.26291680e-01 1.32512643e-03 9.91992266e-01 1.14344485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.83, Y:171.41, Z:114.34 [[ 2.67719766e-01 -9.63156889e-01 2.55916674e-02 3.06829454e+02] [ 9.54667509e-01 2.68760443e-01 1.27975669e-01 1.71410776e+02] [-1.30138675e-01 -9.83008284e-03 9.91447071e-01 1.14344754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.83, Y:171.44, Z:114.33 [[ 2.67356696e-01 -9.62635903e-01 4.30408557e-02 3.06827000e+02] [ 9.54606143e-01 2.70685289e-01 1.24324517e-01 1.71438748e+02] [-1.31329770e-01 7.84807325e-03 9.91307671e-01 1.14332096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.83, Y:171.47, Z:114.32 [[ 2.69314340e-01 -9.61165221e-01 6.02594803e-02 3.06828555e+02] [ 9.53339523e-01 2.74939997e-01 1.24706664e-01 1.71467570e+02] [-1.36431450e-01 2.38624514e-02 9.90362077e-01 1.14315434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.85, Y:171.49, Z:114.33 [[ 2.66872494e-01 -9.63492355e-01 2.14838064e-02 3.06848974e+02] [ 9.54415707e-01 2.67319161e-01 1.32782247e-01 1.71489464e+02] [-1.33677713e-01 -1.49314471e-02 9.90912368e-01 1.14330266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.84, Y:171.52, Z:114.31 [[ 2.69334913e-01 -9.61488745e-01 5.47548926e-02 3.06842919e+02] [ 9.53342320e-01 2.74240666e-01 1.26216001e-01 1.71521266e+02] [-1.36371282e-01 1.82057808e-02 9.90490496e-01 1.14309220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:171.55, Z:114.31 [[ 2.68492227e-01 -9.62489381e-01 3.90655194e-02 3.06856440e+02] [ 9.53588534e-01 2.71310561e-01 1.30611973e-01 1.71546099e+02] [-1.36311525e-01 2.18413202e-03 9.90663615e-01 1.14310971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.87, Y:171.57, Z:114.32 [[ 2.65269328e-01 -9.63879821e-01 2.38301321e-02 3.06865796e+02] [ 9.54904895e-01 2.66057725e-01 1.31795022e-01 1.71568504e+02] [-1.33374753e-01 -1.22056671e-02 9.90990513e-01 1.14316177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.87, Y:171.60, Z:114.31 [[ 2.64256554e-01 -9.63719306e-01 3.75975241e-02 3.06865436e+02] [ 9.55224758e-01 2.66908952e-01 1.27692102e-01 1.71596337e+02] [-1.33094460e-01 2.17061094e-03 9.91100980e-01 1.14305996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.87, Y:171.63, Z:114.29 [[ 2.66233614e-01 -9.62599405e-01 5.02200031e-02 3.06871588e+02] [ 9.54395848e-01 2.70549729e-01 1.26219687e-01 1.71626431e+02] [-1.35086004e-01 1.43258390e-02 9.90730307e-01 1.14294757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.88, Y:171.65, Z:114.30 [[ 2.64954693e-01 -9.63480392e-01 3.87884528e-02 3.06884864e+02] [ 9.54697251e-01 2.67765940e-01 1.29825117e-01 1.71652539e+02] [-1.35470181e-01 2.63345527e-03 9.90777924e-01 1.14295430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.89, Y:171.68, Z:114.30 [[ 2.60754692e-01 -9.65007418e-01 2.77069381e-02 3.06892597e+02] [ 9.56006980e-01 2.62104754e-01 1.31726048e-01 1.71676388e+02] [-1.34378734e-01 -7.86015894e-03 9.90898872e-01 1.14297896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.89, Y:171.71, Z:114.28 [[ 2.62532839e-01 -9.63712294e-01 4.83231068e-02 3.06893411e+02] [ 9.55252937e-01 2.66647931e-01 1.28026201e-01 1.71706523e+02] [-1.36265680e-01 1.25497077e-02 9.90592837e-01 1.14284125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:171.73, Z:114.28 [[ 2.62114005e-01 -9.64249376e-01 3.89793460e-02 3.06904368e+02] [ 9.55342810e-01 2.64979993e-01 1.30788835e-01 1.71732944e+02] [-1.36441799e-01 2.95705270e-03 9.90643675e-01 1.14283519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.91, Y:171.76, Z:114.28 [[ 2.62113020e-01 -9.64250413e-01 3.89603008e-02 3.06910997e+02] [ 9.55334508e-01 2.64976618e-01 1.30856296e-01 1.71759952e+02] [-1.36501806e-01 2.92098087e-03 9.90635516e-01 1.14279477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.92, Y:171.78, Z:114.28 [[ 2.60309627e-01 -9.65155268e-01 2.67246281e-02 3.06920946e+02] [ 9.56081619e-01 2.61526599e-01 1.32332070e-01 1.71784962e+02] [-1.34710195e-01 -8.89638603e-03 9.90845103e-01 1.14282044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.92, Y:171.81, Z:114.27 [[ 2.60623484e-01 -9.64523054e-01 4.20794154e-02 3.06918284e+02] [ 9.55838721e-01 2.63918072e-01 1.29304257e-01 1.71812765e+02] [-1.35822455e-01 6.52140857e-03 9.90711730e-01 1.14270566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.93, Y:171.84, Z:114.26 [[ 2.62996500e-01 -9.63703696e-01 4.59132646e-02 3.06926633e+02] [ 9.54915735e-01 2.66801465e-01 1.30203373e-01 1.71841531e+02] [-1.37727198e-01 9.60026736e-03 9.90423674e-01 1.14264163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.320385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.93, Y:171.86, Z:114.26 [[ 2.62016219e-01 -9.64003329e-01 4.52225948e-02 3.06927909e+02] [ 9.54858545e-01 2.65757359e-01 1.32733511e-01 1.71864542e+02] [-1.39973784e-01 8.40284827e-03 9.90119554e-01 1.14256284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.95, Y:171.89, Z:114.26 [[ 2.63064055e-01 -9.64484700e-01 2.38026504e-02 3.06947652e+02] [ 9.54803857e-01 2.63803582e-01 1.36957165e-01 1.71892100e+02] [-1.38372315e-01 -1.33016449e-02 9.90290952e-01 1.14264992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.94, Y:171.92, Z:114.25 [[ 2.64229162e-01 -9.63350822e-01 4.62400662e-02 3.06944462e+02] [ 9.54459717e-01 2.68074992e-01 1.30929168e-01 1.71923880e+02] [-1.38526527e-01 9.53897616e-03 9.90312784e-01 1.14250993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.96, Y:171.95, Z:114.25 [[ 2.67897105e-01 -9.62645070e-01 3.93142459e-02 3.06955992e+02] [ 9.53483001e-01 2.70759166e-01 1.32512796e-01 1.71949765e+02] [-1.38207482e-01 1.98567073e-03 9.90401307e-01 1.14249764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.96, Y:171.98, Z:114.25 [[ 2.68513278e-01 -9.62481042e-01 3.91262615e-02 3.06962101e+02] [ 9.53386237e-01 2.71342596e-01 1.32014692e-01 1.71975882e+02] [-1.37678260e-01 1.85474155e-03 9.90475268e-01 1.14245198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.97, Y:172.00, Z:114.24 [[ 2.69873292e-01 -9.62106195e-01 3.89881546e-02 3.06969083e+02] [ 9.53055349e-01 2.72670189e-01 1.31668032e-01 1.72002832e+02] [-1.37309537e-01 1.62418417e-03 9.90526856e-01 1.14240574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.97, Y:172.03, Z:114.24 [[ 2.71855302e-01 -9.61568104e-01 3.84899463e-02 3.06974531e+02] [ 9.52724812e-01 2.74563468e-01 1.30116621e-01 1.72028718e+02] [-1.35683926e-01 1.29743364e-03 9.90751326e-01 1.14236063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:172.05, Z:114.23 [[ 2.72489792e-01 -9.61392157e-01 3.83983480e-02 3.06981156e+02] [ 9.52573188e-01 2.75179472e-01 1.29925283e-01 1.72054682e+02] [-1.35475585e-01 1.17392359e-03 9.90779990e-01 1.14231835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.99, Y:172.08, Z:114.23 [[ 2.74523006e-01 -9.60680558e-01 4.15930826e-02 3.06985471e+02] [ 9.52170922e-01 2.77618628e-01 1.27665315e-01 1.72079863e+02] [-1.34192601e-01 4.55665764e-03 9.90944793e-01 1.14226301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:172.11, Z:114.23 [[ 2.72128442e-01 -9.61662595e-01 3.39288294e-02 3.06997690e+02] [ 9.52701635e-01 2.74215186e-01 1.31017656e-01 1.72108383e+02] [-1.35298580e-01 -3.32957942e-03 9.90799278e-01 1.14225345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:172.14, Z:114.22 [[ 2.71925803e-01 -9.61556067e-01 3.82921463e-02 3.07003389e+02] [ 9.52765076e-01 2.74606038e-01 1.29731393e-01 1.72135938e+02] [-1.35259263e-01 1.20610644e-03 9.90809506e-01 1.14219610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.01, Y:172.16, Z:114.22 [[ 2.70944264e-01 -9.61826245e-01 3.84640124e-02 3.07011199e+02] [ 9.52941488e-01 2.73657727e-01 1.30437607e-01 1.72161107e+02] [-1.35984288e-01 1.31263164e-03 9.90710124e-01 1.14216105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:172.19, Z:114.21 [[ 2.67734264e-01 -9.62708784e-01 3.88608017e-02 3.07018587e+02] [ 9.53631384e-01 2.70534206e-01 1.31903097e-01 1.72187991e+02] [-1.37497447e-01 1.74390150e-03 9.90500586e-01 1.14213314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:172.22, Z:114.20 [[ 2.64238627e-01 -9.62982564e-01 5.33153857e-02 3.07016870e+02] [ 9.54077238e-01 2.69083596e-01 1.31645894e-01 1.72215426e+02] [-1.41118997e-01 1.60810656e-02 9.89862025e-01 1.14198210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.04, Y:172.24, Z:114.21 [[ 2.64739103e-01 -9.63985000e-01 2.54190318e-02 3.07040883e+02] [ 9.54308698e-01 2.65688028e-01 1.36765420e-01 1.72241192e+02] [-1.38593346e-01 -1.19495514e-02 9.90277281e-01 1.14211398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:172.27, Z:114.20 [[ 2.60469646e-01 -9.64642107e-01 4.02637517e-02 3.07039098e+02] [ 9.55364188e-01 2.63537470e-01 1.33518805e-01 1.72269338e+02] [-1.39408868e-01 3.68895068e-03 9.90228034e-01 1.14198825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.800385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:307.05, Y:172.30, Z:114.20 [[ 2.60916025e-01 -9.64611099e-01 3.80559438e-02 3.07048969e+02] [ 9.55248154e-01 2.63673192e-01 1.34079871e-01 1.72295799e+02] [-1.39369264e-01 1.36928293e-03 9.90239533e-01 1.14198226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:172.32, Z:114.19 [[ 2.60077993e-01 -9.64791454e-01 3.92031718e-02 3.07055259e+02] [ 9.55491698e-01 2.63002249e-01 1.33661634e-01 1.72321831e+02] [-1.39266124e-01 2.69585573e-03 9.90251321e-01 1.14193631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:172.35, Z:114.19 [[ 2.59287055e-01 -9.65010327e-01 3.90549824e-02 3.07061816e+02] [ 9.55766295e-01 2.62197248e-01 1.33279379e-01 1.72348828e+02] [-1.38856086e-01 2.76981811e-03 9.90308697e-01 1.14188509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:172.37, Z:114.18 [[ 2.59357270e-01 -9.64998008e-01 3.88928132e-02 3.07068542e+02] [ 9.55811867e-01 2.62243151e-01 1.32861602e-01 1.72374546e+02] [-1.38410556e-01 2.71558984e-03 9.90371215e-01 1.14184410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:172.40, Z:114.18 [[ 2.59471626e-01 -9.64974644e-01 3.87093181e-02 3.07075803e+02] [ 9.55858408e-01 2.62329696e-01 1.32354958e-01 1.72401660e+02] [-1.37873782e-01 2.65827104e-03 9.90446240e-01 1.14179690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:172.43, Z:114.18 [[ 2.61354201e-01 -9.64492131e-01 3.80645646e-02 3.07083185e+02] [ 9.55655684e-01 2.64101329e-01 1.30279319e-01 1.72428076e+02] [-1.35706280e-01 2.32757018e-03 9.90746379e-01 1.14175415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:172.45, Z:114.16 [[ 2.59927044e-01 -9.64495692e-01 4.67545962e-02 3.07083738e+02] [ 9.55861767e-01 2.63865316e-01 1.29241548e-01 1.72454901e+02] [-1.36989833e-01 1.10975573e-02 9.90510288e-01 1.14162294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:172.48, Z:114.16 [[ 2.61167776e-01 -9.64248535e-01 4.49016292e-02 3.07092183e+02] [ 9.55373382e-01 2.64855633e-01 1.30817408e-01 1.72482023e+02] [-1.38032943e-01 8.73252996e-03 9.90389141e-01 1.14157333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:172.51, Z:114.17 [[ 2.63949355e-01 -9.64246584e-01 2.36487540e-02 3.07111499e+02] [ 9.54944791e-01 2.64695123e-01 1.34227186e-01 1.72506697e+02] [-1.35687816e-01 -1.28459249e-02 9.90668360e-01 1.14168531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.070385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:307.11, Y:172.54, Z:114.16 [[ 2.63908506e-01 -9.63791405e-01 3.81893632e-02 3.07110226e+02] [ 9.54834675e-01 2.66650797e-01 1.31103379e-01 1.72535123e+02] [-1.36539534e-01 1.86523145e-03 9.90632867e-01 1.14157224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:172.56, Z:114.14 [[ 2.62764675e-01 -9.63284460e-01 5.51160188e-02 3.07106689e+02] [ 9.54828144e-01 2.67823950e-01 1.28738289e-01 1.72562045e+02] [-1.38772983e-01 1.87984514e-02 9.90145786e-01 1.14142830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:172.59, Z:114.15 [[ 2.60868067e-01 -9.64803994e-01 3.31829075e-02 3.07125967e+02] [ 9.55453644e-01 2.62949842e-01 1.34036244e-01 1.72588291e+02] [-1.38044144e-01 -3.26104601e-03 9.90420709e-01 1.14148096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:172.62, Z:114.14 [[ 2.60456263e-01 -9.64675520e-01 3.95433367e-02 3.07130762e+02] [ 9.55497278e-01 2.63421566e-01 1.32793186e-01 1.72615543e+02] [-1.38518903e-01 3.19673362e-03 9.90354631e-01 1.14141590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.190385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:307.14, Y:172.64, Z:114.14 [[ 2.61304972e-01 -9.64147340e-01 4.62560023e-02 3.07135558e+02] [ 9.55551875e-01 2.65158822e-01 1.28885275e-01 1.72642169e+02] [-1.36529582e-01 1.05216466e-02 9.90580117e-01 1.14135641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:172.67, Z:114.15 [[ 2.60552764e-01 -9.65298804e-01 1.76203434e-02 3.07158542e+02] [ 9.55446263e-01 2.60429206e-01 1.38921084e-01 1.72666242e+02] [-1.38689208e-01 -1.93609811e-02 9.90146684e-01 1.14148508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:172.69, Z:114.14 [[ 2.59930636e-01 -9.64847158e-01 3.88075518e-02 3.07154998e+02] [ 9.55562150e-01 2.62800975e-01 1.33553830e-01 1.72694747e+02] [-1.39057696e-01 2.36829564e-03 9.90281449e-01 1.14136954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:172.72, Z:114.13 [[ 2.59379186e-01 -9.64996357e-01 3.87874908e-02 3.07162259e+02] [ 9.55703727e-01 2.62252202e-01 1.33619490e-01 1.72721149e+02] [-1.39114426e-01 2.41123500e-03 9.90273378e-01 1.14133350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:172.75, Z:114.13 [[ 2.59331298e-01 -9.65011756e-01 3.87245154e-02 3.07169042e+02] [ 9.55730264e-01 2.62195825e-01 1.33540304e-01 1.72747885e+02] [-1.39021369e-01 2.37901099e-03 9.90286524e-01 1.14129899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:172.78, Z:114.12 [[ 2.57280845e-01 -9.65060527e-01 4.96462099e-02 3.07168799e+02] [ 9.55897864e-01 2.61696575e-01 1.33319830e-01 1.72775050e+02] [-1.41653948e-01 1.31560676e-02 9.89828812e-01 1.14115989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:172.80, Z:114.13 [[ 2.59784027e-01 -9.65262452e-01 2.79402515e-02 3.07186833e+02] [ 9.55702317e-01 2.61141543e-01 1.35787243e-01 1.72800502e+02] [-1.38366688e-01 -8.57279376e-03 9.90343964e-01 1.14125573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:307.19, Y:172.83, Z:114.12 [[ 2.60079419e-01 -9.64827059e-01 3.83071995e-02 3.07188547e+02] [ 9.55697681e-01 2.62876487e-01 1.32430718e-01 1.72828724e+02] [-1.37842802e-01 2.16759749e-03 9.90451747e-01 1.14117229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:172.86, Z:114.11 [[ 2.60291208e-01 -9.64774192e-01 3.82000732e-02 3.07195631e+02] [ 9.55676456e-01 2.63071018e-01 1.32197391e-01 1.72855828e+02] [-1.37589964e-01 2.09709190e-03 9.90487054e-01 1.14112992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:172.88, Z:114.11 [[ 2.60354272e-01 -9.64757985e-01 3.81796153e-02 3.07203182e+02] [ 9.55650613e-01 2.63130814e-01 1.32265193e-01 1.72882165e+02] [-1.37650135e-01 2.05056460e-03 9.90478791e-01 1.14109432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.21, Y:172.91, Z:114.10 [[ 2.60641671e-01 -9.64403091e-01 4.46385226e-02 3.07207357e+02] [ 9.55915650e-01 2.64272686e-01 1.28004760e-01 1.72909257e+02] [-1.35244928e-01 9.30728786e-03 9.90768481e-01 1.14102986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:172.93, Z:114.10 [[ 2.60614762e-01 -9.64952973e-01 3.07523367e-02 3.07222414e+02] [ 9.55653420e-01 2.62365846e-01 1.33756139e-01 1.72934798e+02] [-1.37136747e-01 -5.47024862e-03 9.90537021e-01 1.14104860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.550385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.23, Y:172.96, Z:114.10 [[ 2.61267071e-01 -9.64528615e-01 3.77368430e-02 3.07225637e+02] [ 9.55589066e-01 2.63971990e-01 1.31027958e-01 1.72962142e+02] [-1.36341684e-01 1.82762389e-03 9.90660186e-01 1.14096269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:172.99, Z:114.09 [[ 2.61766036e-01 -9.64398183e-01 3.76123207e-02 3.07233072e+02] [ 9.55497975e-01 2.64448849e-01 1.30730358e-01 1.72988881e+02] [-1.36022655e-01 1.71772861e-03 9.90704238e-01 1.14093872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.610385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:307.24, Y:173.01, Z:114.09 [[ 2.61945032e-01 -9.64353859e-01 3.75024549e-02 3.07241384e+02] [ 9.55486913e-01 2.64610845e-01 1.30483181e-01 1.73014790e+02] [-1.35755516e-01 1.65368375e-03 9.90740988e-01 1.14087315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:173.04, Z:114.09 [[ 2.62226641e-01 -9.64275209e-01 3.75567617e-02 3.07249931e+02] [ 9.55362614e-01 2.64897774e-01 1.30810726e-01 1.73040534e+02] [-1.36086242e-01 1.57826888e-03 9.90695737e-01 1.14086982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:173.07, Z:114.08 [[ 2.62037172e-01 -9.64327568e-01 3.75348127e-02 3.07258772e+02] [ 9.55413570e-01 2.64707092e-01 1.30824565e-01 1.73067375e+02] [-1.36093466e-01 1.58037025e-03 9.90694742e-01 1.14083458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:173.10, Z:114.08 [[ 2.62655535e-01 -9.63696444e-01 4.79711718e-02 3.07262476e+02] [ 9.55683002e-01 2.66679242e-01 1.24708387e-01 1.73095210e+02] [-1.32973944e-01 1.30898855e-02 9.91033090e-01 1.14075672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:173.12, Z:114.08 [[ 2.62198261e-01 -9.64664244e-01 2.59801609e-02 3.07282320e+02] [ 9.55337089e-01 2.63277979e-01 1.34222775e-01 1.73119451e+02] [-1.36319916e-01 -1.03731668e-02 9.90610558e-01 1.14081021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:173.15, Z:114.07 [[ 2.62322772e-01 -9.64251202e-01 3.75017808e-02 3.07284745e+02] [ 9.55301628e-01 2.64985931e-01 1.31077286e-01 1.73147421e+02] [-1.36328875e-01 1.44095521e-03 9.90662587e-01 1.14073007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:173.17, Z:114.07 [[ 2.61988230e-01 -9.64198917e-01 4.10197026e-02 3.07288702e+02] [ 9.55209500e-01 2.65137552e-01 1.31441582e-01 1.73172367e+02] [-1.37611694e-01 4.74626231e-03 9.90474883e-01 1.14065821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.30, Y:173.20, Z:114.07 [[ 2.65095823e-01 -9.63644825e-01 3.33595102e-02 3.07302628e+02] [ 9.54596649e-01 2.67168685e-01 1.31780615e-01 1.73199692e+02] [-1.35902324e-01 -3.08961389e-03 9.90717423e-01 1.14066436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.31, Y:173.22, Z:114.06 [[ 2.69028833e-01 -9.62384601e-01 3.79389899e-02 3.07306726e+02] [ 9.53817602e-01 2.71685371e-01 1.28136812e-01 1.73222885e+02] [-1.33624363e-01 1.71437952e-03 9.91030570e-01 1.14060582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.32, Y:173.25, Z:114.06 [[ 2.68693451e-01 -9.62609970e-01 3.44365449e-02 3.07317093e+02] [ 9.53872160e-01 2.70884359e-01 1.29420117e-01 1.73251518e+02] [-1.33909416e-01 -1.92627626e-03 9.90991704e-01 1.14057509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:173.28, Z:114.05 [[ 2.68162755e-01 -9.62503841e-01 4.09279075e-02 3.07319445e+02] [ 9.53963964e-01 2.71227089e-01 1.28018048e-01 1.73277573e+02] [-1.34318620e-01 4.71407651e-03 9.90926983e-01 1.14048781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.33, Y:173.30, Z:114.05 [[ 2.69976910e-01 -9.62163262e-01 3.68011698e-02 3.07330700e+02] [ 9.53417155e-01 2.72473555e-01 1.29436822e-01 1.73304854e+02] [-1.34566700e-01 1.41913351e-04 9.90904528e-01 1.14046338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.34, Y:173.33, Z:114.05 [[ 2.70893118e-01 -9.62100526e-01 3.12969130e-02 3.07342514e+02] [ 9.53430036e-01 2.72647350e-01 1.28975148e-01 1.73332093e+02] [-1.32620078e-01 -5.09906307e-03 9.91153830e-01 1.14047045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.35, Y:173.36, Z:114.04 [[ 2.72210752e-01 -9.61546555e-01 3.64627171e-02 3.07349545e+02] [ 9.52967462e-01 2.74641956e-01 1.28159326e-01 1.73358224e+02] [-1.33245350e-01 -1.38563482e-04 9.91083073e-01 1.14042103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.030385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:307.36, Y:173.38, Z:114.04 [[ 2.71423418e-01 -9.61764671e-01 3.65793232e-02 3.07358944e+02] [ 9.53115287e-01 2.73877188e-01 1.28695519e-01 1.73384259e+02] [-1.33793045e-01 -6.66654415e-05 9.91009292e-01 1.14039138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.37, Y:173.41, Z:114.04 [[ 2.70473616e-01 -9.62026979e-01 3.67166840e-02 3.07367399e+02] [ 9.53296107e-01 2.72954376e-01 1.29315282e-01 1.73410647e+02] [-1.34426770e-01 2.55000246e-05 9.90923530e-01 1.14035408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.38, Y:173.44, Z:114.03 [[ 2.67984930e-01 -9.62715027e-01 3.69303890e-02 3.07375667e+02] [ 9.53868862e-01 2.70517404e-01 1.30209557e-01 1.73436160e+02] [-1.35345010e-01 3.32549116e-04 9.90798475e-01 1.14031626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.37, Y:173.46, Z:114.02 [[ 2.63585113e-01 -9.63392256e-01 4.89719158e-02 3.07372837e+02] [ 9.54521501e-01 2.67817455e-01 1.31005785e-01 1.73461009e+02] [-1.39325493e-01 1.22135718e-02 9.90171316e-01 1.14016913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.150385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:307.40, Y:173.49, Z:114.02 [[ 2.65098889e-01 -9.63907043e-01 2.46128401e-02 3.07397840e+02] [ 9.54703962e-01 2.65974338e-01 1.33409134e-01 1.73488479e+02] [-1.35140388e-01 -1.18686373e-02 9.90755374e-01 1.14024408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.180385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:307.40, Y:173.52, Z:114.02 [[ 2.63464795e-01 -9.63968392e-01 3.67592309e-02 3.07401514e+02] [ 9.55173396e-01 2.66015342e-01 1.29921601e-01 1.73515024e+02] [-1.35018836e-01 8.81671380e-04 9.90842640e-01 1.14018834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.40, Y:173.54, Z:114.00 [[ 2.59397926e-01 -9.64404582e-01 5.13470418e-02 3.07399133e+02] [ 9.55800214e-01 2.63976803e-01 1.29468906e-01 1.73540581e+02] [-1.38414834e-01 1.54935478e-02 9.90253141e-01 1.14003538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.240385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:307.43, Y:173.57, Z:114.02 [[ 2.59658370e-01 -9.65452662e-01 2.18789421e-02 3.07426254e+02] [ 9.56336935e-01 2.60222014e-01 1.33057021e-01 1.73567058e+02] [-1.34153637e-01 -1.36257288e-02 9.90866864e-01 1.14015032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.43, Y:173.59, Z:114.01 [[ 2.56825526e-01 -9.65768834e-01 3.64857220e-02 3.07428381e+02] [ 9.57081798e-01 2.59398510e-01 1.29254964e-01 1.73594475e+02] [-1.34294758e-01 1.72384634e-03 9.90939931e-01 1.14007546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.300385723 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:307.44, Y:173.62, Z:114.00 [[ 2.55350765e-01 -9.66164239e-01 3.63682566e-02 3.07436210e+02] [ 9.57519294e-01 2.57920706e-01 1.28971746e-01 1.73620493e+02] [-1.33988015e-01 1.89027328e-03 9.90981150e-01 1.14003425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.330385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:307.44, Y:173.65, Z:114.00 [[ 2.53239514e-01 -9.66726572e-01 3.61867733e-02 3.07444751e+02] [ 9.58154853e-01 2.55802967e-01 1.28468363e-01 1.73647225e+02] [-1.33450465e-01 2.13926645e-03 9.91053176e-01 1.13999757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.360385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:307.45, Y:173.67, Z:114.00 [[ 2.52542248e-01 -9.66912648e-01 3.60880142e-02 3.07452949e+02] [ 9.58371141e-01 2.55098238e-01 1.28256168e-01 1.73673183e+02] [-1.33218499e-01 2.19561051e-03 9.91084260e-01 1.13996067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.390385723 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:307.46, Y:173.70, Z:113.99 [[ 2.50797990e-01 -9.67374115e-01 3.58843961e-02 3.07460411e+02] [ 9.58922099e-01 2.53340768e-01 1.27619997e-01 1.73699098e+02] [-1.32547262e-01 2.40350158e-03 9.91173772e-01 1.13989489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.420385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:307.47, Y:173.72, Z:113.99 [[ 2.50338713e-01 -9.67487244e-01 3.60411091e-02 3.07468136e+02] [ 9.58943604e-01 2.52908052e-01 1.28314776e-01 1.73724923e+02] [-1.33257996e-01 2.43923527e-03 9.91078381e-01 1.13988552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.48, Y:173.75, Z:113.98 [[ 2.49100753e-01 -9.67812145e-01 3.58952357e-02 3.07475624e+02] [ 9.59325082e-01 2.51660567e-01 1.27915384e-01 1.73752200e+02] [-1.32831477e-01 2.57138159e-03 9.91135302e-01 1.13984806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.480385723 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:307.48, Y:173.78, Z:113.98 [[ 2.48623631e-01 -9.67932434e-01 3.59596013e-02 3.07483662e+02] [ 9.59397799e-01 2.51197156e-01 1.28280366e-01 1.73779205e+02] [-1.33199676e-01 2.60603204e-03 9.91085796e-01 1.13980153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.510385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:307.49, Y:173.81, Z:113.98 [[ 2.48157174e-01 -9.68052165e-01 3.59586232e-02 3.07491927e+02] [ 9.59501031e-01 2.50735035e-01 1.28412285e-01 1.73805719e+02] [-1.33325877e-01 2.63590635e-03 9.91068748e-01 1.13977626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.540385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:307.50, Y:173.83, Z:113.97 [[ 2.47907836e-01 -9.68117378e-01 3.59228043e-02 3.07499506e+02] [ 9.59565477e-01 2.50483149e-01 1.28422304e-01 1.73832971e+02] [-1.33325921e-01 2.63338748e-03 9.91068748e-01 1.13973545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.570385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:307.51, Y:173.86, Z:113.97 [[ 2.47825754e-01 -9.68134588e-01 3.60252134e-02 3.07507067e+02] [ 9.59516410e-01 2.50416788e-01 1.28917380e-01 1.73859655e+02] [-1.33830693e-01 2.61773658e-03 9.91000753e-01 1.13969929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.600385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:307.51, Y:173.89, Z:113.97 [[ 2.48109762e-01 -9.68061934e-01 3.60227336e-02 3.07514583e+02] [ 9.59425423e-01 2.50698272e-01 1.29047412e-01 1.73886668e+02] [-1.33956724e-01 2.54320383e-03 9.90983919e-01 1.13966091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.630385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.51, Y:173.92, Z:113.95 [[ 2.48985195e-01 -9.66441795e-01 6.32188958e-02 3.07507774e+02] [ 9.59218795e-01 2.55089933e-01 1.21772041e-01 1.73915039e+02] [-1.33812094e-01 3.03213177e-02 9.90542751e-01 1.13945672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.660385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.54, Y:173.94, Z:113.97 [[ 2.48965798e-01 -9.68472875e-01 8.73626327e-03 3.07541803e+02] [ 9.59278310e-01 2.47824705e-01 1.35528745e-01 1.73936857e+02] [-1.33420975e-01 -2.53615142e-02 9.90734898e-01 1.13968776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.690385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:307.53, Y:173.97, Z:113.94 [[ 2.48417833e-01 -9.67180512e-01 5.33894874e-02 3.07526768e+02] [ 9.59152487e-01 2.53308035e-01 1.25942628e-01 1.73967881e+02] [-1.35333242e-01 1.99222648e-02 9.90599827e-01 1.13940052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.720385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:307.55, Y:173.99, Z:113.96 [[ 2.49526558e-01 -9.68199568e-01 1.80580538e-02 3.07552525e+02] [ 9.59497099e-01 2.49716068e-01 1.30411669e-01 1.73992176e+02] [-1.30773908e-01 -1.52145247e-02 9.91295467e-01 1.13956618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.750385723 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:307.55, Y:174.02, Z:113.95 [[ 2.49772949e-01 -9.67681615e-01 3.47241380e-02 3.07551744e+02] [ 9.59581868e-01 2.52166301e-01 1.24959175e-01 1.74020003e+02] [-1.29676954e-01 2.10923153e-03 9.91554052e-01 1.13946141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.780385723 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:307.55, Y:174.05, Z:113.93 [[ 2.49533719e-01 -9.66896554e-01 5.33289474e-02 3.07550910e+02] [ 9.59527318e-01 2.54304590e-01 1.20981411e-01 1.74049710e+02] [-1.30538306e-01 2.09816403e-02 9.91221227e-01 1.13929687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.810385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:307.57, Y:174.07, Z:113.94 [[ 2.48188988e-01 -9.68553327e-01 1.75122574e-02 3.07573420e+02] [ 9.60044832e-01 2.48341112e-01 1.28998500e-01 1.74069932e+02] [-1.29290940e-01 -1.52034551e-02 9.91490145e-01 1.13944274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8403857229999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:307.56, Y:174.10, Z:113.92 [[ 2.48402139e-01 -9.67051465e-01 5.57480107e-02 3.07564616e+02] [ 9.59569005e-01 2.53528822e-01 1.22272078e-01 1.74102390e+02] [-1.32377120e-01 2.31214174e-02 9.90929714e-01 1.13918833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.870385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.59, Y:174.13, Z:113.93 [[ 2.46189985e-01 -9.68918865e-01 2.42223820e-02 3.07590779e+02] [ 9.60157302e-01 2.47221345e-01 1.30305649e-01 1.74126683e+02] [-1.32243891e-01 -8.82264865e-03 9.91177943e-01 1.13931547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.900385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:307.59, Y:174.15, Z:113.93 [[ 2.43638693e-01 -9.69445636e-01 2.85542771e-02 3.07592952e+02] [ 9.60957587e-01 2.45277423e-01 1.28060537e-01 1.74150038e+02] [-1.31151448e-01 -3.76105267e-03 9.91355210e-01 1.13929628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.930385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:307.60, Y:174.18, Z:113.93 [[ 2.43635830e-01 -9.69230524e-01 3.51251078e-02 3.07597987e+02] [ 9.60825410e-01 2.46139882e-01 1.27395799e-01 1.74176817e+02] [-1.32121587e-01 2.71091502e-03 9.91229811e-01 1.13925011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.61, Y:174.20, Z:113.92 [[ 2.43241483e-01 -9.69332270e-01 3.50504255e-02 3.07605040e+02] [ 9.60947809e-01 2.45738680e-01 1.27247039e-01 1.74203583e+02] [-1.31957906e-01 2.72987126e-03 9.91251562e-01 1.13921211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.61, Y:174.23, Z:113.92 [[ 2.43116862e-01 -9.69360617e-01 3.51309870e-02 3.07612411e+02] [ 9.60919320e-01 2.45626973e-01 1.27677133e-01 1.74230067e+02] [-1.32394303e-01 2.71758015e-03 9.91193404e-01 1.13917044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.020385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:307.62, Y:174.26, Z:113.91 [[ 2.42855848e-01 -9.69417797e-01 3.53577811e-02 3.07619885e+02] [ 9.60848446e-01 2.45401040e-01 1.28641339e-01 1.74257085e+02] [-1.33384039e-01 2.73216767e-03 9.91060661e-01 1.13911707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.050385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:307.63, Y:174.28, Z:113.91 [[ 2.43357680e-01 -9.69284728e-01 3.55549797e-02 3.07627568e+02] [ 9.60597802e-01 2.45927141e-01 1.29505613e-01 1.74282888e+02] [-1.34271747e-01 2.63784987e-03 9.90941038e-01 1.13909523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:174.31, Z:113.91 [[ 2.43622580e-01 -9.69217429e-01 3.55754749e-02 3.07635222e+02] [ 9.60506929e-01 2.46192862e-01 1.29674646e-01 1.74309571e+02] [-1.34441355e-01 2.57881849e-03 9.90918196e-01 1.13905830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.64, Y:174.34, Z:113.90 [[ 2.44540812e-01 -9.68997448e-01 3.52666482e-02 3.07642308e+02] [ 9.60416827e-01 2.47059068e-01 1.28690855e-01 1.74335344e+02] [-1.33414055e-01 2.40051625e-03 9.91057479e-01 1.13901975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.140385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:307.65, Y:174.36, Z:113.90 [[ 2.44837601e-01 -9.68925097e-01 3.51952521e-02 3.07649336e+02] [ 9.60361595e-01 2.47343391e-01 1.28556813e-01 1.74362183e+02] [-1.33267235e-01 2.32462668e-03 9.91077414e-01 1.13897419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:174.39, Z:113.89 [[ 2.45102645e-01 -9.68859125e-01 3.51666004e-02 3.07656358e+02] [ 9.60290146e-01 2.47602354e-01 1.28592027e-01 1.74389405e+02] [-1.33294892e-01 2.25189372e-03 9.91073862e-01 1.13892844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:174.42, Z:113.89 [[ 2.44968569e-01 -9.68896715e-01 3.50650257e-02 3.07664025e+02] [ 9.60359109e-01 2.47455408e-01 1.28359661e-01 1.74416219e+02] [-1.33044284e-01 2.23093440e-03 9.91107583e-01 1.13889099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.230385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.67, Y:174.44, Z:113.89 [[ 2.44715425e-01 -9.68963509e-01 3.49868383e-02 3.07671646e+02] [ 9.60446226e-01 2.47193762e-01 1.28211896e-01 1.74442614e+02] [-1.32881177e-01 2.22754812e-03 9.91129472e-01 1.13885455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.260385723 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:307.67, Y:174.47, Z:113.86 [[ 2.43597931e-01 -9.68017267e-01 6.00218141e-02 3.07667390e+02] [ 9.60235376e-01 2.49418360e-01 1.25453199e-01 1.74470821e+02] [-1.36411405e-01 2.70749296e-02 9.90282221e-01 1.13862905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.70, Y:174.49, Z:113.89 [[ 2.43061306e-01 -9.69942816e-01 1.14949789e-02 3.07697067e+02] [ 9.60908527e-01 2.42383184e-01 1.33810297e-01 1.74491610e+02] [-1.32574526e-01 -2.14784824e-02 9.90940296e-01 1.13886307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.320385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:307.69, Y:174.52, Z:113.87 [[ 2.42663389e-01 -9.69497464e-01 3.44840047e-02 3.07692309e+02] [ 9.61173486e-01 2.45089813e-01 1.26793193e-01 1.74519826e+02] [-1.31377357e-01 2.37704512e-03 9.91329582e-01 1.13871089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.69, Y:174.55, Z:113.85 [[ 2.41078986e-01 -9.69057662e-01 5.29921636e-02 3.07687439e+02] [ 9.60711694e-01 2.46027741e-01 1.28465529e-01 1.74546075e+02] [-1.37528047e-01 1.99398518e-02 9.90297147e-01 1.13853151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:174.57, Z:113.85 [[ 2.41475492e-01 -9.69408321e-01 4.40124192e-02 3.07699982e+02] [ 9.60429982e-01 2.45233827e-01 1.32040221e-01 1.74571393e+02] [-1.38794223e-01 1.03863698e-02 9.90266776e-01 1.13850352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:174.60, Z:113.87 [[ 2.43640854e-01 -9.69799061e-01 1.13541163e-02 3.07725446e+02] [ 9.60726190e-01 2.42931780e-01 1.34124341e-01 1.74597119e+02] [-1.32831936e-01 -2.17699720e-02 9.90899463e-01 1.13869733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.72, Y:174.63, Z:113.85 [[ 2.41478352e-01 -9.69460426e-01 4.28332506e-02 3.07716242e+02] [ 9.60770694e-01 2.45052335e-01 1.29880819e-01 1.74625242e+02] [-1.36410703e-01 9.78952574e-03 9.90604000e-01 1.13847512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.470385723 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:307.71, Y:174.66, Z:113.83 [[ 2.43672727e-01 -9.67384482e-01 6.92160845e-02 3.07713670e+02] [ 9.60598884e-01 2.50568849e-01 1.20270683e-01 1.74655087e+02] [-1.33691387e-01 3.71822081e-02 9.90325248e-01 1.13831830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.500385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:307.75, Y:174.67, Z:113.85 [[ 2.41688101e-01 -9.70297881e-01 1.04347926e-02 3.07748093e+02] [ 9.60331956e-01 2.40719610e-01 1.40771459e-01 1.74674974e+02] [-1.39102108e-01 -2.40019217e-02 9.89987127e-01 1.13852017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.74, Y:174.70, Z:113.84 [[ 2.39697700e-01 -9.70547003e-01 2.41563027e-02 3.07744912e+02] [ 9.60983593e-01 2.40726721e-01 1.36239418e-01 1.74701218e+02] [-1.38041827e-01 -9.44246462e-03 9.90381388e-01 1.13844617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.560385723 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:307.74, Y:174.73, Z:113.82 [[ 2.41348626e-01 -9.68816421e-01 5.60854975e-02 3.07740829e+02] [ 9.60308097e-01 2.46758946e-01 1.30070680e-01 1.74733404e+02] [-1.39854209e-01 2.24669775e-02 9.89917186e-01 1.13824870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5903857229999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:307.76, Y:174.75, Z:113.84 [[ 2.38766440e-01 -9.70936785e-01 1.65029210e-02 3.07763987e+02] [ 9.61401469e-01 2.38746329e-01 1.36775021e-01 1.74753126e+02] [-1.36739911e-01 -1.67913523e-02 9.90464662e-01 1.13843600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.76, Y:174.78, Z:113.83 [[ 2.36712534e-01 -9.70923002e-01 3.57169453e-02 3.07761939e+02] [ 9.61746739e-01 2.39375376e-01 1.33201497e-01 1.74780630e+02] [-1.37878155e-01 2.82019170e-03 9.90445183e-01 1.13829828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.77, Y:174.81, Z:113.83 [[ 2.35506880e-01 -9.71283354e-01 3.38401570e-02 3.07769815e+02] [ 9.62078505e-01 2.37922993e-01 1.33407643e-01 1.74807288e+02] [-1.37627974e-01 1.13847005e-03 9.90483339e-01 1.13827319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.78, Y:174.84, Z:113.82 [[ 2.35664862e-01 -9.71075155e-01 3.84072379e-02 3.07775719e+02] [ 9.61933919e-01 2.38708578e-01 1.33046418e-01 1.74836310e+02] [-1.38366208e-01 5.59085918e-03 9.90365354e-01 1.13821136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.78, Y:174.86, Z:113.82 [[ 2.35220448e-01 -9.71287619e-01 3.56609270e-02 3.07782153e+02] [ 9.62203208e-01 2.37887710e-01 1.32568562e-01 1.74861017e+02] [-1.37245499e-01 3.13022175e-03 9.90532117e-01 1.13820799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:174.89, Z:113.82 [[ 2.35024904e-01 -9.71344891e-01 3.53892294e-02 3.07788863e+02] [ 9.62268049e-01 2.37656546e-01 1.32512520e-01 1.74886727e+02] [-1.37125841e-01 2.91018246e-03 9.90549360e-01 1.13817144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:174.91, Z:113.81 [[ 2.34929553e-01 -9.71371072e-01 3.53036224e-02 3.07795568e+02] [ 9.62325326e-01 2.37549697e-01 1.32287974e-01 1.74913876e+02] [-1.36887076e-01 2.89521526e-03 9.90582428e-01 1.13812836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:174.94, Z:113.81 [[ 2.34249286e-01 -9.71544406e-01 3.50533843e-02 3.07803164e+02] [ 9.62609463e-01 2.36839228e-01 1.31492213e-01 1.74941067e+02] [-1.36052540e-01 2.94076240e-03 9.90697259e-01 1.13808740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:174.97, Z:113.80 [[ 2.33094754e-01 -9.71839479e-01 3.45667939e-02 3.07809985e+02] [ 9.63136497e-01 2.35624302e-01 1.29804765e-01 1.74967712e+02] [-1.34294172e-01 3.03573101e-03 9.90936860e-01 1.13804467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:174.99, Z:113.78 [[ 2.28902743e-01 -9.71900541e-01 5.48896482e-02 3.07803044e+02] [ 9.63340394e-01 2.34270348e-01 1.30739011e-01 1.74994125e+02] [-1.39924332e-01 2.29508972e-02 9.89896175e-01 1.13783329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.890385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:307.83, Y:175.02, Z:113.80 [[ 2.31234767e-01 -9.72788223e-01 1.46135308e-02 3.07833327e+02] [ 9.63561910e-01 2.31065870e-01 1.34747949e-01 1.75019370e+02] [-1.34457906e-01 -1.70773689e-02 9.90772141e-01 1.13800378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:175.05, Z:113.79 [[ 2.31357761e-01 -9.72245747e-01 3.48108457e-02 3.07831052e+02] [ 9.63377771e-01 2.33939884e-01 1.31054954e-01 1.75048070e+02] [-1.35561267e-01 3.21541420e-03 9.90763748e-01 1.13793279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:175.07, Z:113.79 [[ 2.31646622e-01 -9.72177493e-01 3.47960446e-02 3.07838109e+02] [ 9.63297107e-01 2.34224374e-01 1.31139718e-01 1.75074675e+02] [-1.35641164e-01 3.14085650e-03 9.90753052e-01 1.13789645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:175.10, Z:113.77 [[ 2.30929691e-01 -9.71586255e-01 5.18808852e-02 3.07833535e+02] [ 9.62736657e-01 2.35889082e-01 1.32266660e-01 1.75101661e+02] [-1.40746603e-01 1.94033311e-02 9.89855497e-01 1.13771457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.86, Y:175.13, Z:113.79 [[ 2.34524264e-01 -9.71936644e-01 1.83719978e-02 3.07858925e+02] [ 9.62595146e-01 2.34825026e-01 1.35158398e-01 1.75127718e+02] [-1.35679605e-01 -1.40131280e-02 9.90653662e-01 1.13787812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.86, Y:175.16, Z:113.78 [[ 2.35890841e-01 -9.71164458e-01 3.45703299e-02 3.07857417e+02] [ 9.62341516e-01 2.38397942e-01 1.30633944e-01 1.75155475e+02] [-1.35108539e-01 2.45311292e-03 9.90827768e-01 1.13777488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:175.18, Z:113.76 [[ 2.37350776e-01 -9.70055270e-01 5.15498074e-02 3.07853634e+02] [ 9.61506053e-01 2.42160080e-01 1.29863795e-01 1.75182968e+02] [-1.38458364e-01 1.87421794e-02 9.90190897e-01 1.13759312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.87, Y:175.21, Z:113.76 [[ 2.38647355e-01 -9.70486362e-01 3.46938081e-02 3.07869467e+02] [ 9.61068321e-01 2.41153247e-01 1.34880665e-01 1.75210096e+02] [-1.39266371e-01 1.15420585e-03 9.90254283e-01 1.13761660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.88, Y:175.23, Z:113.76 [[ 2.41598147e-01 -9.69900071e-01 3.04004545e-02 3.07877179e+02] [ 9.60214008e-01 2.43472758e-01 1.36784780e-01 1.75234269e+02] [-1.40069250e-01 -3.85600717e-03 9.90134201e-01 1.13760364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.88, Y:175.26, Z:113.75 [[ 2.42344783e-01 -9.69432489e-01 3.83360944e-02 3.07880975e+02] [ 9.60301050e-01 2.45314620e-01 1.32825566e-01 1.75264184e+02] [-1.38169823e-01 4.62460885e-03 9.90397755e-01 1.13753490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:175.29, Z:113.75 [[ 2.43079051e-01 -9.69397731e-01 3.43600549e-02 3.07889550e+02] [ 9.60199386e-01 2.45494744e-01 1.33227135e-01 1.75291040e+02] [-1.37585296e-01 6.07777933e-04 9.90489736e-01 1.13751507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:175.32, Z:113.76 [[ 2.46583742e-01 -9.68744839e-01 2.70165662e-02 3.07899697e+02] [ 9.60042019e-01 2.47985669e-01 1.29701311e-01 1.75317392e+02] [-1.32347197e-01 -6.04519583e-03 9.91184985e-01 1.13755095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.90, Y:175.35, Z:113.74 [[ 2.44359637e-01 -9.68745314e-01 4.26718198e-02 3.07897238e+02] [ 9.60165537e-01 2.47877358e-01 1.28992082e-01 1.75345139e+02] [-1.35537853e-01 9.45155240e-03 9.90727086e-01 1.13740883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.91, Y:175.37, Z:113.74 [[ 2.44926936e-01 -9.69035345e-01 3.13256341e-02 3.07910585e+02] [ 9.60167798e-01 2.46914265e-01 1.30809579e-01 1.75371492e+02] [-1.34493852e-01 -1.96092438e-03 9.90912488e-01 1.13742787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.310385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:307.92, Y:175.40, Z:113.74 [[ 2.48961277e-01 -9.68139112e-01 2.69247575e-02 3.07924471e+02] [ 9.59227610e-01 2.50319396e-01 1.31234874e-01 1.75396456e+02] [-1.33793404e-01 -6.84543118e-03 9.90985603e-01 1.13741386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3403857229999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:307.93, Y:175.42, Z:113.73 [[ 2.47540475e-01 -9.68155771e-01 3.73913895e-02 3.07926134e+02] [ 9.59449021e-01 2.50319834e-01 1.29605393e-01 1.75424290e+02] [-1.34838015e-01 3.79255153e-03 9.90860397e-01 1.13732458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.93, Y:175.45, Z:113.73 [[ 2.41616491e-01 -9.69711242e-01 3.57991285e-02 3.07929357e+02] [ 9.61167815e-01 2.44230996e-01 1.28482112e-01 1.75450532e+02] [-1.33333805e-01 3.36557302e-03 9.91065472e-01 1.13730098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.94, Y:175.48, Z:113.73 [[ 2.42185599e-01 -9.69537899e-01 3.66387617e-02 3.07938165e+02] [ 9.60985368e-01 2.44907461e-01 1.28559161e-01 1.75478759e+02] [-1.33616084e-01 4.07413665e-03 9.91024795e-01 1.13725619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.95, Y:175.51, Z:113.72 [[ 2.41892855e-01 -9.69704467e-01 3.40748181e-02 3.07946290e+02] [ 9.61077920e-01 2.44276301e-01 1.29067117e-01 1.75505095e+02] [-1.33480631e-01 1.52814173e-03 9.91050244e-01 1.13722694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.96, Y:175.53, Z:113.73 [[ 2.40979708e-01 -9.70175272e-01 2.62435186e-02 3.07958406e+02] [ 9.61961827e-01 2.42350059e-01 1.26078913e-01 1.75531871e+02] [-1.28678762e-01 -5.13719644e-03 9.91673024e-01 1.13727385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.96, Y:175.56, Z:113.72 [[ 2.40164709e-01 -9.70300536e-01 2.89444830e-02 3.07964773e+02] [ 9.61978820e-01 2.41888450e-01 1.26833467e-01 1.75558533e+02] [-1.30067917e-01 -2.61694319e-03 9.91501633e-01 1.13722836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.520385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.96, Y:175.58, Z:113.71 [[ 2.34927435e-01 -9.70941479e-01 4.56261328e-02 3.07960424e+02] [ 9.62629415e-01 2.38909638e-01 1.27541340e-01 1.75583900e+02] [-1.34735701e-01 1.39580976e-02 9.90783257e-01 1.13706326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.550385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:307.98, Y:175.61, Z:113.72 [[ 2.34569924e-01 -9.71768472e-01 2.53572183e-02 3.07981590e+02] [ 9.63428087e-01 2.35874758e-01 1.27159033e-01 1.75611956e+02] [-1.29550267e-01 -5.39782840e-03 9.91558164e-01 1.13715472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.580385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:307.98, Y:175.64, Z:113.70 [[ 2.30609789e-01 -9.72224885e-01 3.99737119e-02 3.07978866e+02] [ 9.63764024e-01 2.33877898e-01 1.28296666e-01 1.75637326e+02] [-1.34082179e-01 8.93875833e-03 9.90929901e-01 1.13700680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.99, Y:175.66, Z:113.70 [[ 2.30146621e-01 -9.72417743e-01 3.78980949e-02 3.07989660e+02] [ 9.64214320e-01 2.33126034e-01 1.26265582e-01 1.75664723e+02] [-1.31617925e-01 7.48228869e-03 9.91272282e-01 1.13698410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:175.69, Z:113.70 [[ 2.29506470e-01 -9.72932224e-01 2.70123676e-02 3.08002784e+02] [ 9.64019346e-01 2.31053746e-01 1.31456716e-01 1.75690592e+02] [-1.34139784e-01 -4.12972203e-03 9.90953815e-01 1.13699242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.670385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.02, Y:175.72, Z:113.70 [[ 2.32403663e-01 -9.72381539e-01 2.15099840e-02 3.08015302e+02] [ 9.63878616e-01 2.33217026e-01 1.28638376e-01 1.75717882e+02] [-1.30102076e-01 -9.16301618e-03 9.91458264e-01 1.13703788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.01, Y:175.75, Z:113.68 [[ 2.31752078e-01 -9.71691835e-01 4.58906491e-02 3.08007921e+02] [ 9.63539418e-01 2.35781366e-01 1.26486907e-01 1.75745748e+02] [-1.33726455e-01 1.49038457e-02 9.90906207e-01 1.13684012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:175.77, Z:113.70 [[ 2.34721291e-01 -9.71863531e-01 1.96772234e-02 3.08029333e+02] [ 9.63508341e-01 2.35287643e-01 1.27637779e-01 1.75772468e+02] [-1.28676310e-01 -1.10001353e-02 9.91625637e-01 1.13696497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:175.80, Z:113.69 [[ 2.36714174e-01 -9.71044711e-01 3.22268398e-02 3.08030585e+02] [ 9.63118838e-01 2.38891580e-01 1.23826156e-01 1.75800389e+02] [-1.27939455e-01 1.72687030e-03 9.91780477e-01 1.13687331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:175.83, Z:113.67 [[ 2.35043736e-01 -9.70801886e-01 4.79389230e-02 3.08028154e+02] [ 9.62845259e-01 2.39297923e-01 1.25161939e-01 1.75826712e+02] [-1.32979132e-01 1.67392349e-02 9.90977471e-01 1.13670148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.05, Y:175.85, Z:113.69 [[ 2.38001070e-01 -9.71113697e-01 1.71370537e-02 3.08052978e+02] [ 9.62795347e-01 2.38213961e-01 1.27590080e-01 1.75852446e+02] [-1.27986760e-01 -1.38671001e-02 9.91678926e-01 1.13685652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.04, Y:175.88, Z:113.66 [[ 2.36736432e-01 -9.70373397e-01 4.82838711e-02 3.08042591e+02] [ 9.62495774e-01 2.41012379e-01 1.24558892e-01 1.75879710e+02] [-1.32505645e-01 1.69853944e-02 9.91036705e-01 1.13662580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.07, Y:175.91, Z:113.68 [[ 2.38997928e-01 -9.70881156e-01 1.64246996e-02 3.08067455e+02] [ 9.62604565e-01 2.39114834e-01 1.27344207e-01 1.75905680e+02] [-1.27563480e-01 -1.46245107e-02 9.91722583e-01 1.13678712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:175.93, Z:113.65 [[ 2.36616571e-01 -9.70362293e-01 4.90878609e-02 3.08055709e+02] [ 9.62523480e-01 2.40996885e-01 1.24374647e-01 1.75933396e+02] [-1.32518489e-01 1.78191163e-02 9.91020348e-01 1.13654200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.08, Y:175.96, Z:113.67 [[ 2.38456917e-01 -9.71026323e-01 1.56900664e-02 3.08081279e+02] [ 9.62698376e-01 2.38477306e-01 1.27829618e-01 1.75958795e+02] [-1.27867648e-01 -1.53770551e-02 9.91672028e-01 1.13671262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.970385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:308.07, Y:175.99, Z:113.65 [[ 2.35544666e-01 -9.70659651e-01 4.83585835e-02 3.08071400e+02] [ 9.62640219e-01 2.39859239e-01 1.25663658e-01 1.75986932e+02] [-1.33575896e-01 1.69525130e-02 9.90893583e-01 1.13648127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:176.01, Z:113.65 [[ 2.34812647e-01 -9.71433810e-01 3.43419974e-02 3.08085743e+02] [ 9.62673709e-01 2.37297601e-01 1.30189012e-01 1.76011416e+02] [-1.34619281e-01 2.49011156e-03 9.90894267e-01 1.13649486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.09, Y:176.04, Z:113.65 [[ 2.34204059e-01 -9.71663101e-01 3.19261143e-02 3.08094500e+02] [ 9.62928489e-01 2.36369899e-01 1.29992291e-01 1.76037913e+02] [-1.33855085e-01 2.97842947e-04 9.91000872e-01 1.13647405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:176.07, Z:113.66 [[ 2.35901288e-01 -9.71639711e-01 1.63356634e-02 3.08111203e+02] [ 9.63245923e-01 2.36019839e-01 1.28265064e-01 1.76065170e+02] [-1.28482970e-01 -1.45226325e-02 9.91605375e-01 1.13657182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:176.09, Z:113.65 [[ 2.35729842e-01 -9.71298955e-01 3.17770621e-02 3.08110088e+02] [ 9.63466632e-01 2.37856670e-01 1.23110736e-01 1.76093459e+02] [-1.27135716e-01 1.59526460e-03 9.91884048e-01 1.13645760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.12, Y:176.12, Z:113.64 [[ 2.35550022e-01 -9.71347126e-01 3.16377508e-02 3.08117163e+02] [ 9.63566789e-01 2.37659964e-01 1.22706091e-01 1.76119962e+02] [-1.26709236e-01 1.58166347e-03 9.91938641e-01 1.13641562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.13, Y:176.15, Z:113.64 [[ 2.35699749e-01 -9.71316862e-01 3.14512565e-02 3.08125764e+02] [ 9.63610534e-01 2.37784007e-01 1.22120860e-01 1.76146778e+02] [-1.26096656e-01 1.52290612e-03 9.92016791e-01 1.13638859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.180385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:308.12, Y:176.17, Z:113.62 [[ 2.33471449e-01 -9.71218871e-01 4.71697713e-02 3.08123187e+02] [ 9.63546571e-01 2.37599982e-01 1.22980710e-01 1.76173691e+02] [-1.30648723e-01 1.67377868e-02 9.91287424e-01 1.13621726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.14, Y:176.20, Z:113.62 [[ 2.32965466e-01 -9.71942837e-01 3.24686582e-02 3.08137629e+02] [ 9.63619329e-01 2.35210929e-01 1.26939382e-01 1.76198913e+02] [-1.31014807e-01 1.71493423e-03 9.91378928e-01 1.13623688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.15, Y:176.23, Z:113.62 [[ 2.33438099e-01 -9.71860742e-01 3.15174781e-02 3.08146138e+02] [ 9.63629162e-01 2.35554405e-01 1.26225830e-01 1.76226924e+02] [-1.30098010e-01 9.05243263e-04 9.91500725e-01 1.13621636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.15, Y:176.25, Z:113.61 [[ 2.32325594e-01 -9.71907670e-01 3.76868691e-02 3.08149075e+02] [ 9.63528416e-01 2.35267479e-01 1.27523348e-01 1.76252868e+02] [-1.32807415e-01 6.68543167e-03 9.91119315e-01 1.13612968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.16, Y:176.28, Z:113.62 [[ 2.33000452e-01 -9.72087955e-01 2.74917747e-02 3.08162099e+02] [ 9.63566114e-01 2.34591421e-01 1.28480383e-01 1.76280421e+02] [-1.31343567e-01 -3.44584480e-03 9.91330920e-01 1.13615294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.18, Y:176.31, Z:113.62 [[ 2.35249547e-01 -9.71789351e-01 1.68258327e-02 3.08177549e+02] [ 9.63627092e-01 2.35462391e-01 1.26413170e-01 1.76308015e+02] [-1.26808823e-01 -1.35248127e-02 9.91834967e-01 1.13623348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:176.34, Z:113.59 [[ 2.33357396e-01 -9.70465161e-01 6.11694069e-02 3.08159368e+02] [ 9.63751880e-01 2.39192823e-01 1.18190982e-01 1.76335758e+02] [-1.29331514e-01 3.13713911e-02 9.91105038e-01 1.13592055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:176.36, Z:113.61 [[ 2.31736817e-01 -9.72652196e-01 1.56765254e-02 3.08190784e+02] [ 9.64219849e-01 2.31801123e-01 1.28640280e-01 1.76361282e+02] [-1.28756087e-01 -1.46950720e-02 9.91567408e-01 1.13609018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:176.39, Z:113.61 [[ 2.33777615e-01 -9.71923845e-01 2.66845921e-02 3.08194184e+02] [ 9.64514182e-01 2.35284692e-01 1.19806122e-01 1.76387906e+02] [-1.22720903e-01 -2.27032191e-03 9.92438626e-01 1.13606650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.20, Y:176.42, Z:113.60 [[ 2.31168918e-01 -9.72680735e-01 2.12866059e-02 3.08204859e+02] [ 9.64781904e-01 2.32004783e-01 1.23974428e-01 1.76416534e+02] [-1.25526132e-01 -8.12210215e-03 9.92057066e-01 1.13604650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.21, Y:176.44, Z:113.60 [[ 2.29292036e-01 -9.72851846e-01 3.13759057e-02 3.08208716e+02] [ 9.65100073e-01 2.31418590e-01 1.22585829e-01 1.76444283e+02] [-1.26518818e-01 2.17293446e-03 9.91961827e-01 1.13598459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.22, Y:176.47, Z:113.60 [[ 2.28334850e-01 -9.73074719e-01 3.14449894e-02 3.08215921e+02] [ 9.65272152e-01 2.30478739e-01 1.23000911e-01 1.76469853e+02] [-1.26936478e-01 2.26757809e-03 9.91908256e-01 1.13595368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.22, Y:176.50, Z:113.59 [[ 2.26783263e-01 -9.73438334e-01 3.14191390e-02 3.08222727e+02] [ 9.65635809e-01 2.28936370e-01 1.23026920e-01 1.76497171e+02] [-1.26952104e-01 2.43899933e-03 9.91905850e-01 1.13591318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:176.52, Z:113.59 [[ 2.25765281e-01 -9.73676563e-01 3.13685987e-02 3.08229302e+02] [ 9.65882938e-01 2.27919995e-01 1.22974085e-01 1.76523490e+02] [-1.26886515e-01 2.53511542e-03 9.91914001e-01 1.13587495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.24, Y:176.55, Z:113.58 [[ 2.24760186e-01 -9.73911213e-01 3.13018892e-02 3.08235908e+02] [ 9.66136885e-01 2.26914124e-01 1.22839329e-01 1.76550488e+02] [-1.26737441e-01 2.63251920e-03 9.91932806e-01 1.13582530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.24, Y:176.58, Z:113.58 [[ 2.24213743e-01 -9.74047074e-01 3.09918494e-02 3.08242505e+02] [ 9.66409246e-01 2.26330032e-01 1.21769808e-01 1.76576125e+02] [-1.25623911e-01 2.64834538e-03 9.92074402e-01 1.13578979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.25, Y:176.60, Z:113.57 [[ 2.23359014e-01 -9.74036418e-01 3.69297658e-02 3.08245264e+02] [ 9.66414989e-01 2.26233213e-01 1.21904072e-01 1.76602956e+02] [-1.27093745e-01 8.46110577e-03 9.91854621e-01 1.13570120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.25, Y:176.63, Z:113.57 [[ 2.23991660e-01 -9.74101332e-01 3.08922627e-02 3.08254979e+02] [ 9.66354253e-01 2.26099337e-01 1.22631759e-01 1.76630681e+02] [-1.26440480e-01 2.38437817e-03 9.91971330e-01 1.13568572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.26, Y:176.66, Z:113.57 [[ 2.24176687e-01 -9.74089757e-01 2.98991318e-02 3.08262318e+02] [ 9.66364099e-01 2.26157160e-01 1.22447408e-01 1.76657590e+02] [-1.26036668e-01 1.44359345e-03 9.92024533e-01 1.13566137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.27, Y:176.69, Z:113.57 [[ 2.25258116e-01 -9.74073771e-01 2.09539785e-02 3.08274785e+02] [ 9.66410700e-01 2.26113855e-01 1.22159253e-01 1.76685051e+02] [-1.23730109e-01 -7.26721412e-03 9.92289296e-01 1.13569271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.27, Y:176.71, Z:113.55 [[ 2.22647497e-01 -9.74056455e-01 4.05230049e-02 3.08269278e+02] [ 9.66650520e-01 2.25968562e-01 1.20519629e-01 1.76710689e+02] [-1.26549848e-01 1.23381901e-02 9.91883514e-01 1.13554264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.28, Y:176.74, Z:113.56 [[ 2.23066468e-01 -9.74444900e-01 2.64289071e-02 3.08283792e+02] [ 9.66585048e-01 2.24617665e-01 1.23532379e-01 1.76738072e+02] [-1.26311897e-01 -2.01014512e-03 9.91988540e-01 1.13559464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.29, Y:176.77, Z:113.55 [[ 2.22943606e-01 -9.74337654e-01 3.10207158e-02 3.08287631e+02] [ 9.66620998e-01 2.25075273e-01 1.22413107e-01 1.76765179e+02] [-1.26253696e-01 2.69405565e-03 9.91994328e-01 1.13553851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.29, Y:176.79, Z:113.55 [[ 2.23324299e-01 -9.74251492e-01 3.09885142e-02 3.08293416e+02] [ 9.66531322e-01 2.25448938e-01 1.22433573e-01 1.76791076e+02] [-1.26267419e-01 2.60897782e-03 9.91992809e-01 1.13550241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.30, Y:176.82, Z:113.55 [[ 2.24179836e-01 -9.74061336e-01 3.07882269e-02 3.08298599e+02] [ 9.66427809e-01 2.26270722e-01 1.21732701e-01 1.76818447e+02] [-1.25541592e-01 2.46458166e-03 9.92085296e-01 1.13546235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.30, Y:176.84, Z:113.54 [[ 2.24953514e-01 -9.73886473e-01 3.06766088e-02 3.08304665e+02] [ 9.66288597e-01 2.27023637e-01 1.21435648e-01 1.76844876e+02] [-1.25228850e-01 2.32508169e-03 9.92125158e-01 1.13542211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:176.87, Z:113.55 [[ 2.26479922e-01 -9.73805193e-01 2.02556205e-02 3.08316941e+02] [ 9.66207493e-01 2.27243687e-01 1.21669170e-01 1.76873636e+02] [-1.23085032e-01 -7.98449185e-03 9.92364007e-01 1.13545309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.31, Y:176.90, Z:113.53 [[ 2.26483151e-01 -9.73146714e-01 4.11200034e-02 3.08311404e+02] [ 9.65920947e-01 2.29832081e-01 1.19054350e-01 1.76900534e+02] [-1.25308045e-01 1.27548685e-02 9.92035890e-01 1.13530821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.32, Y:176.93, Z:113.53 [[ 2.25135677e-01 -9.73761014e-01 3.32176836e-02 3.08320254e+02] [ 9.66113044e-01 2.27525531e-01 1.21892244e-01 1.76925744e+02] [-1.26251786e-01 4.64974461e-03 9.91987332e-01 1.13528030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.33, Y:176.95, Z:113.53 [[ 2.26166764e-01 -9.73551060e-01 3.23562803e-02 3.08327466e+02] [ 9.65655155e-01 2.28446440e-01 1.23783465e-01 1.76954290e+02] [-1.27901201e-01 3.24930318e-03 9.91781591e-01 1.13526227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:176.98, Z:113.53 [[ 2.27065985e-01 -9.73502185e-01 2.71022935e-02 3.08336430e+02] [ 9.65537906e-01 2.28668495e-01 1.24287057e-01 1.76981471e+02] [-1.27191163e-01 -2.05307135e-03 9.91876098e-01 1.13526511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.33, Y:177.01, Z:113.51 [[ 2.24119889e-01 -9.73609240e-01 4.30734671e-02 3.08331291e+02] [ 9.65826502e-01 2.27798344e-01 1.23640940e-01 1.77007753e+02] [-1.30190026e-01 1.38911023e-02 9.91391746e-01 1.13512451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.34, Y:177.03, Z:113.51 [[ 2.22349914e-01 -9.74171700e-01 3.93702298e-02 3.08337758e+02] [ 9.65935738e-01 2.25594150e-01 1.26788915e-01 1.77032952e+02] [-1.32395867e-01 9.83760764e-03 9.91148100e-01 1.13507400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.35, Y:177.06, Z:113.51 [[ 2.23198555e-01 -9.74494192e-01 2.33125371e-02 3.08354098e+02] [ 9.66083743e-01 2.24331845e-01 1.27896149e-01 1.77061542e+02] [-1.29863799e-01 -6.02437265e-03 9.91513540e-01 1.13512832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.200385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:308.36, Y:177.09, Z:113.51 [[ 2.21014737e-01 -9.74796931e-01 3.03879860e-02 3.08355412e+02] [ 9.66645170e-01 2.23088513e-01 1.25811885e-01 1.77089404e+02] [-1.29420250e-01 1.56811924e-03 9.91588594e-01 1.13507875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.230385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:308.35, Y:177.11, Z:113.50 [[ 2.17751180e-01 -9.75168295e-01 4.03883562e-02 3.08353857e+02] [ 9.66939891e-01 2.21170766e-01 1.26928087e-01 1.77114833e+02] [-1.32708970e-01 1.14143719e-02 9.91089321e-01 1.13496464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.260385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:308.37, Y:177.14, Z:113.50 [[ 2.15751959e-01 -9.76198913e-01 2.20629432e-02 3.08369574e+02] [ 9.67699550e-01 2.16782173e-01 1.28697591e-01 1.77142811e+02] [-1.30417301e-01 -6.41645723e-03 9.91438428e-01 1.13503047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.290385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:308.37, Y:177.17, Z:113.49 [[ 2.12684981e-01 -9.76577998e-01 3.25655185e-02 3.08368408e+02] [ 9.68363541e-01 2.15113783e-01 1.26483645e-01 1.77168910e+02] [-1.30526436e-01 4.63408921e-03 9.91433999e-01 1.13494696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.320385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:308.38, Y:177.20, Z:113.49 [[ 2.10757239e-01 -9.77141028e-01 2.78711038e-02 3.08376379e+02] [ 9.68886777e-01 2.12591925e-01 1.26740236e-01 1.77195532e+02] [-1.29768256e-01 2.92521672e-04 9.91544308e-01 1.13493523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.350385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:308.38, Y:177.22, Z:113.49 [[ 2.06371938e-01 -9.77988699e-01 3.08014309e-02 3.08379493e+02] [ 9.70096587e-01 2.08614042e-01 1.24067695e-01 1.77223047e+02] [-1.27762414e-01 4.27627247e-03 9.91795583e-01 1.13487785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.380385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:308.39, Y:177.25, Z:113.48 [[ 2.06357855e-01 -9.78031460e-01 2.95109844e-02 3.08386740e+02] [ 9.70118824e-01 2.08435740e-01 1.24193436e-01 1.77249472e+02] [-1.27616231e-01 3.00087041e-03 9.91819082e-01 1.13484506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.41, Y:177.28, Z:113.49 [[ 2.08357896e-01 -9.77945798e-01 1.44569289e-02 3.08405200e+02] [ 9.70344798e-01 2.08545350e-01 1.22228519e-01 1.77279479e+02] [-1.22547792e-01 -1.14390712e-02 9.92396688e-01 1.13492274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.440385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.40, Y:177.31, Z:113.48 [[ 2.04566118e-01 -9.78408875e-01 2.94750041e-02 3.08403367e+02] [ 9.71280746e-01 2.06629783e-01 1.17973920e-01 1.77307306e+02] [-1.21517144e-01 4.49503708e-03 9.92579155e-01 1.13483683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.41, Y:177.33, Z:113.48 [[ 2.02862627e-01 -9.78763273e-01 2.94823636e-02 3.08408662e+02] [ 9.71619545e-01 2.04940334e-01 1.18130945e-01 1.77333288e+02] [-1.21664356e-01 4.68128679e-03 9.92560260e-01 1.13480365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.500385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.42, Y:177.36, Z:113.48 [[ 2.01297232e-01 -9.79251387e-01 2.33697670e-02 3.08417407e+02] [ 9.72060590e-01 2.02646114e-01 1.18459960e-01 1.77361212e+02] [-1.20737872e-01 -1.12883250e-03 9.92683783e-01 1.13480806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.530385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:308.41, Y:177.39, Z:113.47 [[ 2.00358430e-01 -9.78911282e-01 3.98647851e-02 3.08412719e+02] [ 9.71889708e-01 2.03726971e-01 1.18007278e-01 1.77388345e+02] [-1.23640188e-01 1.51004213e-02 9.92212216e-01 1.13466815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.560385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.42, Y:177.41, Z:113.47 [[ 2.00000101e-01 -9.79287717e-01 3.15519579e-02 3.08420452e+02] [ 9.72550027e-01 2.02327200e-01 1.14935418e-01 1.77414317e+02] [-1.18938663e-01 7.69876214e-03 9.92871756e-01 1.13468490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.43, Y:177.44, Z:113.47 [[ 2.02486021e-01 -9.79089833e-01 1.95578628e-02 3.08433897e+02] [ 9.71622929e-01 2.03355079e-01 1.20812236e-01 1.77442065e+02] [-1.22263223e-01 -5.45992106e-03 9.92482692e-01 1.13469519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.43, Y:177.47, Z:113.46 [[ 2.06030222e-01 -9.78018330e-01 3.21200046e-02 3.08430273e+02] [ 9.70835290e-01 2.08409114e-01 1.18509416e-01 1.77470315e+02] [-1.22598482e-01 6.76671273e-03 9.92433284e-01 1.13461144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.650385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.44, Y:177.50, Z:113.46 [[ 2.07858097e-01 -9.77711419e-01 2.95870291e-02 3.08435807e+02] [ 9.70435313e-01 2.09916095e-01 1.19124042e-01 1.77497656e+02] [-1.22679729e-01 3.95140123e-03 9.92438447e-01 1.13458491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:177.52, Z:113.45 [[ 2.11927568e-01 -9.76827243e-01 2.99206076e-02 3.08437617e+02] [ 9.69358404e-01 2.14001604e-01 1.20613428e-01 1.77524884e+02] [-1.24221541e-01 3.44248176e-03 9.92248537e-01 1.13454476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:177.55, Z:113.45 [[ 2.13368952e-01 -9.76508734e-01 3.00729727e-02 3.08442251e+02] [ 9.68944048e-01 2.15453384e-01 1.21355968e-01 1.77552784e+02] [-1.24984487e-01 3.24543208e-03 9.92153388e-01 1.13450530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.45, Y:177.58, Z:113.45 [[ 2.14540654e-01 -9.76547487e-01 1.80918053e-02 3.08452493e+02] [ 9.68751419e-01 2.15115443e-01 1.23474834e-01 1.77580911e+02] [-1.24470865e-01 -8.96390944e-03 9.92182772e-01 1.13453573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.770385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.44, Y:177.61, Z:113.44 [[ 2.17579197e-01 -9.74820572e-01 4.88277192e-02 3.08439174e+02] [ 9.68032090e-01 2.21919417e-01 1.16900150e-01 1.77609503e+02] [-1.24792490e-01 2.18317583e-02 9.91942644e-01 1.13435759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.800385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.46, Y:177.64, Z:113.44 [[ 2.16485752e-01 -9.76010525e-01 2.31813215e-02 3.08456486e+02] [ 9.67832026e-01 2.17668632e-01 1.26180569e-01 1.77636889e+02] [-1.28199410e-01 -4.88066997e-03 9.91736402e-01 1.13440482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.830385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.46, Y:177.67, Z:113.43 [[ 2.15809731e-01 -9.75956427e-01 3.05812517e-02 3.08455580e+02] [ 9.68069737e-01 2.17946746e-01 1.23855564e-01 1.77665462e+02] [-1.27542718e-01 2.87554843e-03 9.91828910e-01 1.13433790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:177.69, Z:113.43 [[ 2.14716166e-01 -9.76199276e-01 3.05277256e-02 3.08459663e+02] [ 9.68323341e-01 2.16854990e-01 1.23789419e-01 1.77691981e+02] [-1.27463231e-01 2.98111980e-03 9.91838816e-01 1.13429471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:177.72, Z:113.42 [[ 2.13424570e-01 -9.76320014e-01 3.53437905e-02 3.08461963e+02] [ 9.68869149e-01 2.16164797e-01 1.20687003e-01 1.77721075e+02] [-1.25469220e-01 8.48593649e-03 9.92061220e-01 1.13422683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.920385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:308.46, Y:177.75, Z:113.42 [[ 2.11405686e-01 -9.76696189e-01 3.70430780e-02 3.08463164e+02] [ 9.69591078e-01 2.14347092e-01 1.18103622e-01 1.77748242e+02] [-1.23291433e-01 1.09488608e-02 9.92310105e-01 1.13417017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.47, Y:177.78, Z:113.42 [[ 2.10233663e-01 -9.77263021e-01 2.75462370e-02 3.08472343e+02] [ 9.69759386e-01 2.12026641e-01 1.20877780e-01 1.77775181e+02] [-1.23969921e-01 1.30064329e-03 9.92285124e-01 1.13415841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:177.80, Z:113.41 [[ 2.08316017e-01 -9.77866851e-01 1.95155920e-02 3.08478971e+02] [ 9.69811858e-01 2.09103921e-01 1.25461189e-01 1.77801507e+02] [-1.26765125e-01 -7.20912265e-03 9.91906564e-01 1.13414622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:177.83, Z:113.42 [[ 2.06451301e-01 -9.78398589e-01 1.06799691e-02 3.08486023e+02] [ 9.70562972e-01 2.06157208e-01 1.24525997e-01 1.77827830e+02] [-1.24037812e-01 -1.53429714e-02 9.92158866e-01 1.13417343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:177.86, Z:113.40 [[ 2.06989500e-01 -9.77126013e-01 4.87862957e-02 3.08475095e+02] [ 9.70040892e-01 2.11460276e-01 1.19604431e-01 1.77858325e+02] [-1.27184965e-01 2.25678404e-02 9.91622245e-01 1.13396493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:177.88, Z:113.40 [[ 2.05895890e-01 -9.78096207e-01 3.05727490e-02 3.08488309e+02] [ 9.70129428e-01 2.08114992e-01 1.24647680e-01 1.77884318e+02] [-1.28280071e-01 3.99507844e-03 9.91729934e-01 1.13398022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:177.91, Z:113.39 [[ 2.05985161e-01 -9.78080893e-01 3.04611345e-02 3.08493451e+02] [ 9.70152750e-01 2.08188020e-01 1.24343837e-01 1.77910759e+02] [-1.27959974e-01 3.93896824e-03 9.91771511e-01 1.13394058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.50, Y:177.94, Z:113.39 [[ 2.07522670e-01 -9.77754906e-01 3.04907456e-02 3.08497011e+02] [ 9.69790417e-01 2.09717815e-01 1.24599301e-01 1.77938575e+02] [-1.28222030e-01 3.71245330e-03 9.91738539e-01 1.13389238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.50, Y:177.97, Z:113.39 [[ 2.08946449e-01 -9.77447837e-01 3.06121975e-02 3.08501709e+02] [ 9.69396717e-01 2.11147900e-01 1.25246036e-01 1.77965952e+02] [-1.28885169e-01 3.50564914e-03 9.91653328e-01 1.13385011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:177.99, Z:113.38 [[ 2.11034991e-01 -9.76993471e-01 3.07894665e-02 3.08506170e+02] [ 9.68823905e-01 2.13245007e-01 1.26122200e-01 1.77992990e+02] [-1.29786265e-01 3.21337392e-03 9.91536787e-01 1.13380786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:178.02, Z:113.38 [[ 2.16255353e-01 -9.75831017e-01 3.14237072e-02 3.08509236e+02] [ 9.67286593e-01 2.18511897e-01 1.28876677e-01 1.78020094e+02] [-1.32628312e-01 2.52545950e-03 9.91162627e-01 1.13376147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:178.05, Z:113.37 [[ 2.18419414e-01 -9.75342991e-01 3.16071201e-02 3.08515229e+02] [ 9.66674357e-01 2.20683407e-01 1.29767183e-01 1.78047536e+02] [-1.33542679e-01 2.21012034e-03 9.91040599e-01 1.13372358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:178.07, Z:113.37 [[ 2.21580503e-01 -9.74623263e-01 3.18052892e-02 3.08519912e+02] [ 9.65816707e-01 2.23844666e-01 1.30735053e-01 1.78074673e+02] [-1.34536868e-01 1.74974073e-03 9.90907044e-01 1.13368434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:178.10, Z:113.36 [[ 2.22582047e-01 -9.74399433e-01 3.16698094e-02 3.08524499e+02] [ 9.65643749e-01 2.24818325e-01 1.30341361e-01 1.78101555e+02] [-1.34124501e-01 1.57010661e-03 9.90963245e-01 1.13364369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.53, Y:178.13, Z:113.36 [[ 2.23305833e-01 -9.74234227e-01 3.16571747e-02 3.08529263e+02] [ 9.65464060e-01 2.25534050e-01 1.30435966e-01 1.78129302e+02] [-1.34214953e-01 1.43675242e-03 9.90951201e-01 1.13359938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.53, Y:178.16, Z:113.36 [[ 2.22790187e-01 -9.74346001e-01 3.18496855e-02 3.08531821e+02] [ 9.65447172e-01 2.25050418e-01 1.31392801e-01 1.78155773e+02] [-1.35189835e-01 1.47616219e-03 9.90818616e-01 1.13355401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:178.18, Z:113.35 [[ 2.21669425e-01 -9.74598659e-01 3.19393082e-02 3.08537148e+02] [ 9.65637103e-01 2.23952812e-01 1.31871617e-01 1.78182927e+02] [-1.35674799e-01 1.60987560e-03 9.90752117e-01 1.13351560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:178.21, Z:113.35 [[ 2.19991572e-01 -9.74977998e-01 3.19626549e-02 3.08542494e+02] [ 9.65984566e-01 2.22294032e-01 1.32133197e-01 1.78208739e+02] [-1.35932067e-01 1.80724171e-03 9.90716512e-01 1.13348155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:178.24, Z:113.34 [[ 2.16125288e-01 -9.75841674e-01 3.19825929e-02 3.08548853e+02] [ 9.66825800e-01 2.18466634e-01 1.32363901e-01 1.78235909e+02] [-1.36153341e-01 2.31440960e-03 9.90685072e-01 1.13344587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:178.26, Z:113.34 [[ 2.14072028e-01 -9.76300084e-01 3.18011542e-02 3.08554952e+02] [ 9.67369727e-01 2.16406148e-01 1.31773252e-01 1.78263090e+02] [-1.35532203e-01 2.55450656e-03 9.90769649e-01 1.13340329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.56, Y:178.29, Z:113.34 [[ 2.12083216e-01 -9.76735654e-01 3.17517217e-02 3.08560643e+02] [ 9.67815993e-01 2.14428695e-01 1.31729034e-01 1.78290109e+02] [-1.35472925e-01 2.79230695e-03 9.90777114e-01 1.13336233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.56, Y:178.32, Z:113.33 [[ 2.09072288e-01 -9.77389469e-01 3.16006975e-02 3.08564936e+02] [ 9.68540529e-01 2.11423314e-01 1.31260910e-01 1.78317394e+02] [-1.34974156e-01 3.16353747e-03 9.90844069e-01 1.13331069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:178.35, Z:113.33 [[ 2.07563581e-01 -9.77711538e-01 3.15833572e-02 3.08570385e+02] [ 9.68854408e-01 2.09926213e-01 1.31347334e-01 1.78345099e+02] [-1.35049978e-01 3.33675188e-03 9.90833169e-01 1.13326656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:178.37, Z:113.32 [[ 2.05185847e-01 -9.78213425e-01 3.15794657e-02 3.08575183e+02] [ 9.69342790e-01 2.07570000e-01 1.31488596e-01 1.78372001e+02] [-1.35178859e-01 3.63172854e-03 9.90814557e-01 1.13322038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:178.40, Z:113.32 [[ 2.03988839e-01 -9.78468831e-01 3.14213431e-02 3.08581064e+02] [ 9.69668961e-01 2.06360596e-01 1.30986301e-01 1.78398193e+02] [-1.34650140e-01 3.74855759e-03 9.90886113e-01 1.13318507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:178.42, Z:113.31 [[ 2.02657855e-01 -9.78746136e-01 3.13973840e-02 3.08587245e+02] [ 9.69943968e-01 2.05038510e-01 1.31026365e-01 1.78424860e+02] [-1.34679221e-01 3.90018118e-03 9.90881575e-01 1.13314353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:178.45, Z:113.31 [[ 2.01099454e-01 -9.79066446e-01 3.14309381e-02 3.08592981e+02] [ 9.70228047e-01 2.03499865e-01 1.31321521e-01 1.78450579e+02] [-1.34968686e-01 4.08649147e-03 9.90841438e-01 1.13310794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:178.48, Z:113.31 [[ 1.98077406e-01 -9.79679620e-01 3.15148181e-02 3.08597320e+02] [ 9.70778662e-01 2.00518758e-01 1.31837086e-01 1.78478436e+02] [-1.35477419e-01 4.47996492e-03 9.90770306e-01 1.13306304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:178.51, Z:113.30 [[ 1.96537957e-01 -9.79990014e-01 3.15024497e-02 3.08602573e+02] [ 9.71077966e-01 1.98992128e-01 1.31945884e-01 1.78506008e+02] [-1.35574389e-01 4.65896025e-03 9.90756216e-01 1.13302341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.60, Y:178.53, Z:113.29 [[ 1.95580883e-01 -9.79794163e-01 4.18511346e-02 3.08602173e+02] [ 9.71728476e-01 1.99372851e-01 1.26468317e-01 1.78533027e+02] [-1.32256899e-01 1.59331542e-02 9.91087407e-01 1.13294600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:178.56, Z:113.30 [[ 1.92067233e-01 -9.81174856e-01 2.01514352e-02 3.08617882e+02] [ 9.71848847e-01 1.93016523e-01 1.35108995e-01 1.78559012e+02] [-1.36455109e-01 -6.36586189e-03 9.90625802e-01 1.13298058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:178.59, Z:113.29 [[ 1.91019011e-01 -9.81078902e-01 3.15582848e-02 3.08617760e+02] [ 9.72095293e-01 1.93534293e-01 1.32571558e-01 1.78586984e+02] [-1.36170769e-01 5.35397228e-03 9.90670912e-01 1.13291368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.880385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.62, Y:178.61, Z:113.29 [[ 1.90653811e-01 -9.81151603e-01 3.15064351e-02 3.08622989e+02] [ 9.72176767e-01 1.93165058e-01 1.32512618e-01 1.78614090e+02] [-1.36100910e-01 5.36578860e-03 9.90680448e-01 1.13287842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:178.64, Z:113.28 [[ 1.90787502e-01 -9.81122691e-01 3.15973742e-02 3.08625661e+02] [ 9.72073239e-01 1.93312855e-01 1.33055474e-01 1.78641732e+02] [-1.36651924e-01 5.32964037e-03 9.90604788e-01 1.13284095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:178.67, Z:113.28 [[ 1.91764441e-01 -9.80935015e-01 3.15102309e-02 3.08629766e+02] [ 9.71911150e-01 1.94267800e-01 1.32848555e-01 1.78668680e+02] [-1.36437222e-01 5.14951587e-03 9.90635335e-01 1.13280307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:178.70, Z:113.28 [[ 1.94716457e-01 -9.80354791e-01 3.14640196e-02 3.08631364e+02] [ 9.71335241e-01 1.97185920e-01 1.32761304e-01 1.78697291e+02] [-1.36357442e-01 4.71130028e-03 9.90648501e-01 1.13276137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.64, Y:178.73, Z:113.27 [[ 1.96229017e-01 -9.80053124e-01 3.14650143e-02 3.08635505e+02] [ 9.71006892e-01 1.98685447e-01 1.32927460e-01 1.78725148e+02] [-1.36527613e-01 4.46852091e-03 9.90626188e-01 1.13272054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.64, Y:178.75, Z:113.27 [[ 1.98010299e-01 -9.79695694e-01 3.14367524e-02 3.08639949e+02] [ 9.70638895e-01 2.00446605e-01 1.32971029e-01 1.78751394e+02] [-1.36572535e-01 4.18410129e-03 9.90621237e-01 1.13268322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.64, Y:178.78, Z:113.26 [[ 1.99305477e-01 -9.79434768e-01 3.13824985e-02 3.08644619e+02] [ 9.70386081e-01 2.01722061e-01 1.32887413e-01 1.78778667e+02] [-1.36485095e-01 3.96795041e-03 9.90634178e-01 1.13264720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:178.81, Z:113.26 [[ 2.00731953e-01 -9.79141456e-01 3.14434651e-02 3.08647383e+02] [ 9.70032085e-01 2.03145265e-01 1.33303246e-01 1.78806155e+02] [-1.36910326e-01 3.74294909e-03 9.90576374e-01 1.13261468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:178.83, Z:113.26 [[ 2.00379660e-01 -9.79212364e-01 3.14823559e-02 3.08652165e+02] [ 9.70058809e-01 2.02802826e-01 1.33629791e-01 1.78833377e+02] [-1.37236654e-01 3.76304466e-03 9.90531141e-01 1.13257679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.66, Y:178.86, Z:113.25 [[ 1.97870616e-01 -9.79720516e-01 3.15425209e-02 3.08656097e+02] [ 9.70515548e-01 2.00327220e-01 1.34046916e-01 1.78861099e+02] [-1.37647339e-01 4.08856120e-03 9.90472864e-01 1.13254228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.66, Y:178.89, Z:113.25 [[ 1.96082749e-01 -9.80080790e-01 3.15150828e-02 3.08660972e+02] [ 9.70873074e-01 1.98552589e-01 1.34098261e-01 1.78888146e+02] [-1.37684531e-01 4.30278963e-03 9.90466787e-01 1.13250435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.210385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:308.67, Y:178.91, Z:113.24 [[ 1.93769794e-01 -9.80546262e-01 3.13415847e-02 3.08665500e+02] [ 9.71423011e-01 1.96234857e-01 1.33526080e-01 1.78913874e+02] [-1.37078810e-01 4.57261553e-03 9.90549590e-01 1.13244743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.240385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:308.67, Y:178.94, Z:113.24 [[ 1.93618292e-01 -9.80577259e-01 3.13080759e-02 3.08671872e+02] [ 9.71453159e-01 1.96080207e-01 1.33533937e-01 1.78941400e+02] [-1.37079236e-01 4.55971652e-03 9.90549591e-01 1.13240795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:178.97, Z:113.24 [[ 1.91593874e-01 -9.80968061e-01 3.15190477e-02 3.08675974e+02] [ 9.71711863e-01 1.94108514e-01 1.34528584e-01 1.78968799e+02] [-1.38086360e-01 4.85257994e-03 9.90408305e-01 1.13238822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:179.00, Z:113.23 [[ 1.90997509e-01 -9.81088723e-01 3.13826260e-02 3.08680825e+02] [ 9.71891669e-01 1.93496890e-01 1.34110169e-01 1.78996310e+02] [-1.37646415e-01 4.88580458e-03 9.90469380e-01 1.13234825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:179.02, Z:113.23 [[ 1.90528558e-01 -9.81180049e-01 3.13780054e-02 3.08684972e+02] [ 9.71964033e-01 1.93032420e-01 1.34254997e-01 1.79023676e+02] [-1.37785297e-01 4.91888166e-03 9.90449906e-01 1.13230656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.69, Y:179.05, Z:113.23 [[ 1.90027940e-01 -9.81281573e-01 3.12386905e-02 3.08687355e+02] [ 9.72126215e-01 1.92515171e-01 1.33822758e-01 1.79051677e+02] [-1.37331728e-01 4.93788702e-03 9.90512804e-01 1.13225723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.69, Y:179.08, Z:113.22 [[ 1.89543656e-01 -9.81380782e-01 3.10638513e-02 3.08692343e+02] [ 9.72305974e-01 1.92008533e-01 1.33243450e-01 1.79078583e+02] [-1.36727086e-01 4.94811746e-03 9.90596396e-01 1.13221909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.420385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.70, Y:179.11, Z:113.22 [[ 1.88680341e-01 -9.81555274e-01 3.08054040e-02 3.08697729e+02] [ 9.72610780e-01 1.91113203e-01 1.32302740e-01 1.79105118e+02] [-1.35749772e-01 4.99874194e-03 9.90730545e-01 1.13216413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.70, Y:179.13, Z:113.21 [[ 1.87296049e-01 -9.81825360e-01 3.06455903e-02 3.08702828e+02] [ 9.72954496e-01 1.89717163e-01 1.31783716e-01 1.79132203e+02] [-1.35202588e-01 5.13419564e-03 9.90804673e-01 1.13213863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:179.16, Z:113.21 [[ 1.85755031e-01 -9.82120499e-01 3.05678453e-02 3.08708465e+02] [ 9.73275344e-01 1.88178680e-01 1.31620248e-01 1.79158121e+02] [-1.35019161e-01 5.30180678e-03 9.90828803e-01 1.13210445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:179.18, Z:113.21 [[ 1.83315668e-01 -9.82582515e-01 3.04461265e-02 3.08712220e+02] [ 9.73801669e-01 1.85742409e-01 1.31187142e-01 1.79184427e+02] [-1.34557328e-01 5.59983029e-03 9.90889988e-01 1.13207301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:179.21, Z:113.20 [[ 1.82359014e-01 -9.82764291e-01 3.03238749e-02 3.08716558e+02] [ 9.74036415e-01 1.84775698e-01 1.30809038e-01 1.79211929e+02] [-1.34157566e-01 5.68235122e-03 9.90943721e-01 1.13203653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:179.24, Z:113.20 [[ 1.82175008e-01 -9.82801869e-01 3.02118023e-02 3.08721057e+02] [ 9.74116943e-01 1.84576478e-01 1.30490252e-01 1.79238180e+02] [-1.33822452e-01 5.65776578e-03 9.90989173e-01 1.13200075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:179.27, Z:113.20 [[ 1.82832527e-01 -9.82679738e-01 3.02125897e-02 3.08724729e+02] [ 9.73972807e-01 1.85229138e-01 1.30641255e-01 1.79266213e+02] [-1.33974766e-01 5.54077008e-03 9.90969254e-01 1.13197018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:179.29, Z:113.19 [[ 1.83527612e-01 -9.82548016e-01 3.02821984e-02 3.08729108e+02] [ 9.73776760e-01 1.85929958e-01 1.31106338e-01 1.79294049e+02] [-1.34448641e-01 5.42646780e-03 9.90905705e-01 1.13193343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:179.32, Z:113.19 [[ 1.84638529e-01 -9.82340478e-01 3.02621834e-02 3.08733123e+02] [ 9.73556030e-01 1.87028669e-01 1.31182824e-01 1.79321923e+02] [-1.34526094e-01 5.24052755e-03 9.90896194e-01 1.13189125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:179.35, Z:113.19 [[ 1.87575507e-01 -9.81794247e-01 2.99246759e-02 3.08735337e+02] [ 9.73177024e-01 1.89887872e-01 1.29881011e-01 1.79349103e+02] [-1.33198762e-01 4.75951058e-03 9.91077917e-01 1.13185615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7203857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:308.74, Y:179.38, Z:113.18 [[ 1.88523436e-01 -9.81615282e-01 2.98387842e-02 3.08739800e+02] [ 9.73025962e-01 1.90814990e-01 1.29653835e-01 1.79375104e+02] [-1.32963873e-01 4.59112524e-03 9.91110251e-01 1.13181078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:179.40, Z:113.18 [[ 1.90599861e-01 -9.81207635e-01 3.00544605e-02 3.08743319e+02] [ 9.72468500e-01 1.92906747e-01 1.30736391e-01 1.79403465e+02] [-1.34077253e-01 4.30867827e-03 9.90961516e-01 1.13178554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.780385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.75, Y:179.43, Z:113.17 [[ 1.91017096e-01 -9.81135515e-01 2.97585286e-02 3.08748058e+02] [ 9.72545576e-01 1.93275973e-01 1.29612888e-01 1.79430058e+02] [-1.32919416e-01 4.18324790e-03 9.91118020e-01 1.13173922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.810385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:308.75, Y:179.46, Z:113.17 [[ 1.91407551e-01 -9.81064068e-01 2.96047802e-02 3.08752602e+02] [ 9.72542702e-01 1.93640443e-01 1.29089399e-01 1.79457715e+02] [-1.32377654e-01 4.08322710e-03 9.91190942e-01 1.13170387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:179.49, Z:113.17 [[ 1.91592964e-01 -9.81029007e-01 2.95672829e-02 3.08757125e+02] [ 9.72507466e-01 1.93819269e-01 1.29086481e-01 1.79485486e+02] [-1.32368292e-01 4.02234174e-03 9.91192442e-01 1.13167064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:179.51, Z:113.16 [[ 1.90914526e-01 -9.81164412e-01 2.94625174e-02 3.08760819e+02] [ 9.72683703e-01 1.93131642e-01 1.28788907e-01 1.79513485e+02] [-1.32053237e-01 4.07003740e-03 9.91234270e-01 1.13162824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:179.54, Z:113.17 [[ 1.91825444e-01 -9.81339253e-01 1.32766593e-02 3.08775746e+02] [ 9.72939401e-01 1.91924189e-01 1.28662460e-01 1.79541411e+02] [-1.28809634e-01 -1.17633485e-02 9.91599567e-01 1.13166890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:179.57, Z:113.15 [[ 1.89470881e-01 -9.80683527e-01 4.85860651e-02 3.08761711e+02] [ 9.72961957e-01 1.94175115e-01 1.25064203e-01 1.79570171e+02] [-1.32082608e-01 2.35763682e-02 9.90958294e-01 1.13151476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:179.60, Z:113.15 [[ 1.88003765e-01 -9.81815364e-01 2.63282346e-02 3.08777794e+02] [ 9.73014835e-01 1.89835913e-01 1.31165762e-01 1.79596379e+02] [-1.33778604e-01 9.58105745e-04 9.91010781e-01 1.13152056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:179.62, Z:113.15 [[ 1.87563470e-01 -9.81673896e-01 3.37091508e-02 3.08778922e+02] [ 9.73256877e-01 1.90370167e-01 1.28570022e-01 1.79623853e+02] [-1.32631051e-01 8.69262328e-03 9.91127359e-01 1.13146235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:179.65, Z:113.14 [[ 1.86105288e-01 -9.82078945e-01 2.97618556e-02 3.08785271e+02] [ 9.73550498e-01 1.88405717e-01 1.29238977e-01 1.79650242e+02] [-1.32530182e-01 4.92261224e-03 9.91166746e-01 1.13142758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:179.68, Z:113.13 [[ 1.83893910e-01 -9.82085639e-01 4.11196697e-02 3.08783350e+02] [ 9.73188361e-01 1.87788830e-01 1.32814797e-01 1.79676736e+02] [-1.38157320e-01 1.55933516e-02 9.90287535e-01 1.13128368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:179.70, Z:113.14 [[ 1.86241600e-01 -9.82414305e-01 1.32740129e-02 3.08804609e+02] [ 9.73484244e-01 1.86341468e-01 1.32684903e-01 1.79703814e+02] [-1.32825046e-01 -1.17894063e-02 9.91069381e-01 1.13138732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:179.73, Z:113.13 [[ 1.88026584e-01 -9.81725922e-01 2.93294865e-02 3.08800818e+02] [ 9.73202784e-01 1.90252652e-01 1.29152119e-01 1.79731397e+02] [-1.32371995e-01 4.25950621e-03 9.91190956e-01 1.13131636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:179.76, Z:113.13 [[ 1.89423929e-01 -9.81460438e-01 2.92230017e-02 3.08805670e+02] [ 9.72984211e-01 1.91622236e-01 1.28773613e-01 1.79758132e+02] [-1.31985984e-01 4.04071549e-03 9.91243347e-01 1.13128066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:179.78, Z:113.12 [[ 1.91084210e-01 -9.81139083e-01 2.92048590e-02 3.08810568e+02] [ 9.72649880e-01 1.93266042e-01 1.28842726e-01 1.79784458e+02] [-1.32056942e-01 3.78629213e-03 9.91234901e-01 1.13124001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:179.81, Z:113.12 [[ 1.95434266e-01 -9.80283784e-01 2.91401872e-02 3.08815055e+02] [ 9.71803441e-01 1.97569435e-01 1.28702721e-01 1.79811960e+02] [-1.31922401e-01 3.16561237e-03 9.91254992e-01 1.13120448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:179.84, Z:113.12 [[ 1.97400888e-01 -9.79887298e-01 2.92193775e-02 3.08819436e+02] [ 9.71333823e-01 1.99531014e-01 1.29220659e-01 1.79838533e+02] [-1.32451854e-01 2.87349690e-03 9.91185275e-01 1.13116725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.260385723 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:308.81, Y:179.87, Z:113.10 [[ 2.02073178e-01 -9.77703725e-01 5.71126731e-02 3.08810036e+02] [ 9.70023838e-01 2.07841479e-01 1.25919313e-01 1.79867709e+02] [-1.34982164e-01 2.99557387e-02 9.90395108e-01 1.13100948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:179.89, Z:113.11 [[ 2.04738278e-01 -9.78813734e-01 2.43150002e-03 3.08841282e+02] [ 9.69738203e-01 2.03176248e-01 1.35378098e-01 1.79888439e+02] [-1.33003965e-01 -2.53591603e-02 9.90791027e-01 1.13113730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.320385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.83, Y:179.92, Z:113.10 [[ 2.07428136e-01 -9.77514532e-01 3.79329395e-02 3.08829001e+02] [ 9.69670940e-01 2.10578573e-01 1.24076317e-01 1.79918230e+02] [-1.29274267e-01 1.10455500e-02 9.91547356e-01 1.13101736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:179.94, Z:113.10 [[ 2.08991951e-01 -9.77727443e-01 1.92720703e-02 3.08843648e+02] [ 9.69086361e-01 2.09706930e-01 1.29979336e-01 1.79944777e+02] [-1.31125851e-01 -8.48833463e-03 9.91329390e-01 1.13101277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:179.97, Z:113.10 [[ 2.11107479e-01 -9.77043477e-01 2.86299874e-02 3.08845222e+02] [ 9.68716466e-01 2.13038260e-01 1.27291428e-01 1.79972088e+02] [-1.30468542e-01 8.62167756e-04 9.91452075e-01 1.13095355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:180.00, Z:113.09 [[ 2.10975738e-01 -9.77074508e-01 2.85419632e-02 3.08852470e+02] [ 9.68777733e-01 2.12895970e-01 1.27063014e-01 1.79999382e+02] [-1.30226501e-01 8.43605215e-04 9.91483912e-01 1.13092021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:180.03, Z:113.09 [[ 2.09300371e-01 -9.77428334e-01 2.87612143e-02 3.08860692e+02] [ 9.68984470e-01 2.11264714e-01 1.28204204e-01 1.80025707e+02] [-1.31386651e-01 1.03598259e-03 9.91330659e-01 1.13088874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:180.05, Z:113.09 [[ 2.07891198e-01 -9.77723499e-01 2.89483830e-02 3.08867710e+02] [ 9.69149474e-01 2.09893620e-01 1.29205126e-01 1.80051143e+02] [-1.32402969e-01 1.19470174e-03 9.91195252e-01 1.13085741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.87, Y:180.08, Z:113.08 [[ 2.07230889e-01 -9.77090735e-01 4.84670439e-02 3.08865570e+02] [ 9.69987272e-01 2.11661059e-01 1.19684115e-01 1.80079949e+02] [-1.27200826e-01 2.22101700e-02 9.91628286e-01 1.13077697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:180.11, Z:113.08 [[ 2.04838636e-01 -9.78615519e-01 1.87829500e-02 3.08889540e+02] [ 9.70152299e-01 2.05537003e-01 1.28682001e-01 1.80105550e+02] [-1.29790795e-01 -8.13672351e-03 9.91508015e-01 1.13080737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:180.13, Z:113.08 [[ 2.03658348e-01 -9.78867165e-01 1.85027490e-02 3.08897030e+02] [ 9.69997646e-01 2.04303827e-01 1.31774475e-01 1.80131917e+02] [-1.32769889e-01 -8.88934890e-03 9.91107026e-01 1.13077474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:180.16, Z:113.07 [[ 2.03012681e-01 -9.78771317e-01 2.81524366e-02 3.08901769e+02] [ 9.70622537e-01 2.04948029e-01 1.26048388e-01 1.80159596e+02] [-1.29142333e-01 1.73596831e-03 9.91624548e-01 1.13073716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:180.19, Z:113.07 [[ 2.01887993e-01 -9.78773584e-01 3.52634293e-02 3.08903530e+02] [ 9.70614715e-01 2.04759573e-01 1.26414366e-01 1.80185762e+02] [-1.30951567e-01 8.70566074e-03 9.91350543e-01 1.13065936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:180.21, Z:113.06 [[ 2.01194237e-01 -9.79212547e-01 2.57617420e-02 3.08914730e+02] [ 9.70629992e-01 2.02834274e-01 1.29366439e-01 1.80212260e+02] [-1.31902605e-01 -1.02266272e-03 9.91262154e-01 1.13064175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.92, Y:180.24, Z:113.06 [[ 2.00855810e-01 -9.79299028e-01 2.51069146e-02 3.08921881e+02] [ 9.70540509e-01 2.02410142e-01 1.30695278e-01 1.80237973e+02] [-1.33071653e-01 -1.88362817e-03 9.91104630e-01 1.13060769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.93, Y:180.27, Z:113.06 [[ 2.00932949e-01 -9.78973209e-01 3.51767758e-02 3.08925480e+02] [ 9.70854316e-01 2.03798593e-01 1.26127038e-01 1.80265536e+02] [-1.30643969e-01 8.80844702e-03 9.91390218e-01 1.13055234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:180.29, Z:113.05 [[ 2.00678995e-01 -9.79258435e-01 2.79438264e-02 3.08935993e+02] [ 9.70909181e-01 2.02609478e-01 1.27611760e-01 1.80292482e+02] [-1.30626576e-01 1.52191777e-03 9.91430472e-01 1.13052864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:180.32, Z:113.05 [[ 2.00739820e-01 -9.79403858e-01 2.17165293e-02 3.08945974e+02] [ 9.70819233e-01 2.01851375e-01 1.29483741e-01 1.80318570e+02] [-1.31200386e-01 -4.90971842e-03 9.91343711e-01 1.13050458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.800385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:308.95, Y:180.35, Z:113.04 [[ 2.00854488e-01 -9.79212052e-01 2.83060327e-02 3.08949316e+02] [ 9.70846464e-01 2.02831035e-01 1.27736899e-01 1.80345539e+02] [-1.30822853e-01 1.82428234e-03 9.91404082e-01 1.13042489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.96, Y:180.37, Z:113.04 [[ 2.01218326e-01 -9.79139630e-01 2.82271105e-02 3.08956021e+02] [ 9.70798571e-01 2.03181106e-01 1.27544393e-01 1.80372221e+02] [-1.30618986e-01 1.73856918e-03 9.91431116e-01 1.13041047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.96, Y:180.40, Z:113.04 [[ 2.01596450e-01 -9.79058289e-01 2.83502730e-02 3.08963323e+02] [ 9.70623638e-01 2.03573331e-01 1.28248397e-01 1.80399383e+02] [-1.31334016e-01 1.66302344e-03 9.91336780e-01 1.13037131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.96, Y:180.43, Z:113.03 [[ 2.02052577e-01 -9.78414066e-01 4.33667202e-02 3.08962720e+02] [ 9.71073137e-01 2.05896549e-01 1.20927968e-01 1.80426890e+02] [-1.27246683e-01 1.76784495e-02 9.91713544e-01 1.13029427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:180.45, Z:113.03 [[ 2.02005322e-01 -9.79308997e-01 1.21547371e-02 3.08987395e+02] [ 9.70422956e-01 2.01816575e-01 1.32473984e-01 1.80449785e+02] [-1.32185992e-01 -1.49652140e-02 9.91111954e-01 1.13034265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:180.48, Z:113.02 [[ 2.02705480e-01 -9.78171116e-01 4.57357142e-02 3.08978616e+02] [ 9.70889648e-01 2.06843983e-01 1.20784347e-01 1.80479343e+02] [-1.27607917e-01 1.99206825e-02 9.91624620e-01 1.13022502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:180.50, Z:113.03 [[ 2.02934652e-01 -9.79132003e-01 1.08649931e-02 3.09003240e+02] [ 9.70190824e-01 2.02557811e-01 1.33041719e-01 1.80504366e+02] [-1.32466194e-01 -1.64576585e-02 9.91050883e-01 1.13027528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.010385723 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:309.00, Y:180.53, Z:113.02 [[ 2.04554368e-01 -9.78447156e-01 2.82608007e-02 3.09002632e+02] [ 9.69978621e-01 2.06494243e-01 1.28458561e-01 1.80531458e+02] [-1.31525607e-01 1.13561273e-03 9.91312123e-01 1.13019775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.01, Y:180.56, Z:113.02 [[ 2.05586918e-01 -9.78234653e-01 2.81244327e-02 3.09009634e+02] [ 9.69826015e-01 2.07499489e-01 1.27990089e-01 1.80558075e+02] [-1.31040145e-01 9.62718538e-04 9.91376595e-01 1.13015978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:180.58, Z:113.01 [[ 2.06552875e-01 -9.78034603e-01 2.80040280e-02 3.09016674e+02] [ 9.69674654e-01 2.08441071e-01 1.27606367e-01 1.80584618e+02] [-1.30640632e-01 7.97334282e-04 9.91429468e-01 1.13012366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:180.61, Z:113.01 [[ 2.07675146e-01 -9.77796951e-01 2.80027928e-02 3.09024049e+02] [ 9.69413016e-01 2.09553690e-01 1.27771891e-01 1.80611777e+02] [-1.30803054e-01 6.11225718e-04 9.91408184e-01 1.13008756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:180.64, Z:113.00 [[ 2.10716860e-01 -9.76974679e-01 3.34496997e-02 3.09029891e+02] [ 9.68725480e-01 2.13279639e-01 1.26817741e-01 1.80639400e+02] [-1.31031862e-01 5.68094018e-03 9.91361881e-01 1.13004245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.04, Y:180.67, Z:113.00 [[ 2.10397160e-01 -9.77210890e-01 2.81409295e-02 3.09038392e+02] [ 9.68805425e-01 2.12270467e-01 1.27895651e-01 1.80666716e+02] [-1.30954511e-01 3.54203493e-04 9.91388315e-01 1.13001614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:180.69, Z:113.00 [[ 2.11304051e-01 -9.77154288e-01 2.28056180e-02 3.09047927e+02] [ 9.68580171e-01 2.12466912e-01 1.29268188e-01 1.80693549e+02] [-1.31160403e-01 -5.22582240e-03 9.91347386e-01 1.13000453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:180.72, Z:112.99 [[ 2.14152198e-01 -9.76052906e-01 3.82042072e-02 3.09048717e+02] [ 9.67928142e-01 2.17304201e-01 1.26071394e-01 1.80721323e+02] [-1.31354285e-01 9.98046111e-03 9.91285248e-01 1.12991800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.06, Y:180.75, Z:112.99 [[ 2.16129837e-01 -9.76084023e-01 2.34067065e-02 3.09062426e+02] [ 9.67387980e-01 2.17324555e-01 1.30117384e-01 1.80746244e+02] [-1.32092352e-01 -5.47888255e-03 9.91222272e-01 1.12991192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:180.77, Z:113.00 [[ 2.18347557e-01 -9.75869765e-01 1.59601974e-03 3.09078944e+02] [ 9.66847752e-01 2.16550225e-01 1.35319711e-01 1.80768462e+02] [-1.32400033e-01 -2.80036202e-02 9.90800701e-01 1.12996313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:180.80, Z:112.98 [[ 2.19652275e-01 -9.74388304e-01 4.81696005e-02 3.09066452e+02] [ 9.66380259e-01 2.24080132e-01 1.26084455e-01 1.80800377e+02] [-1.33649069e-01 1.88554136e-02 9.90849333e-01 1.12977140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:180.82, Z:112.98 [[ 2.19719997e-01 -9.75152745e-01 2.82886441e-02 3.09083892e+02] [ 9.66461248e-01 2.21530301e-01 1.29911436e-01 1.80824994e+02] [-1.32950286e-01 -1.20426212e-03 9.91121976e-01 1.12978028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:180.85, Z:112.97 [[ 2.19339265e-01 -9.75243906e-01 2.81000229e-02 3.09091827e+02] [ 9.66648346e-01 2.21128788e-01 1.29201528e-01 1.80850851e+02] [-1.32216727e-01 -1.17612755e-03 9.91220134e-01 1.12974229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:180.88, Z:112.97 [[ 2.17538997e-01 -9.75647622e-01 2.80802816e-02 3.09100818e+02] [ 9.67047173e-01 2.19341712e-01 1.29263218e-01 1.80877290e+02] [-1.32274529e-01 -9.64833960e-04 9.91212650e-01 1.12970276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:180.90, Z:112.97 [[ 2.16709287e-01 -9.75944748e-01 2.38523546e-02 3.09110580e+02] [ 9.66997328e-01 2.17947782e-01 1.31965649e-01 1.80902838e+02] [-1.33989749e-01 -5.53301843e-03 9.90967271e-01 1.12968038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:180.93, Z:112.96 [[ 2.12726316e-01 -9.76572508e-01 3.24599957e-02 3.09117056e+02] [ 9.67853123e-01 2.15156683e-01 1.30261022e-01 1.80931052e+02] [-1.34193318e-01 3.70656104e-03 9.90948240e-01 1.12962953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:180.96, Z:112.96 [[ 2.10491606e-01 -9.77180112e-01 2.85010889e-02 3.09126932e+02] [ 9.68290199e-01 2.12412384e-01 1.31510723e-01 1.80956645e+02] [-1.34563648e-01 -8.45783214e-05 9.90904949e-01 1.12960678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:180.98, Z:112.96 [[ 2.07954805e-01 -9.77725075e-01 2.84337435e-02 3.09134784e+02] [ 9.68860544e-01 2.09889554e-01 1.31360657e-01 1.80982980e+02] [-1.34402554e-01 2.31252345e-04 9.90926788e-01 1.12956960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:181.01, Z:112.95 [[ 2.02785863e-01 -9.78822428e-01 2.80097802e-02 3.09144330e+02] [ 9.70209534e-01 2.04709165e-01 1.29567041e-01 1.81009125e+02] [-1.32556985e-01 9.00991501e-04 9.91174977e-01 1.12952487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.580385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.15, Y:181.04, Z:112.95 [[ 1.96659974e-01 -9.79967416e-01 3.14439019e-02 3.09151864e+02] [ 9.71889980e-01 1.99072241e-01 1.25698486e-01 1.81036347e+02] [-1.29440028e-01 5.84015214e-03 9.91570054e-01 1.12945402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:181.06, Z:112.94 [[ 1.93026633e-01 -9.80817926e-01 2.71461928e-02 3.09161597e+02] [ 9.72642110e-01 1.94915806e-01 1.26392855e-01 1.81063686e+02] [-1.29259600e-01 2.00634294e-03 9.91608759e-01 1.12944109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.640385723 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:309.19, Y:181.09, Z:112.96 [[ 1.91284535e-01 -9.81495997e-01 -8.70826912e-03 3.09185985e+02] [ 9.73930297e-01 1.88692869e-01 1.25915761e-01 1.81088969e+02] [-1.21942627e-01 -3.25669849e-02 9.92002715e-01 1.12961009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:181.12, Z:112.93 [[ 1.88631571e-01 -9.80263853e-01 5.91684878e-02 3.09160495e+02] [ 9.73501600e-01 1.94581681e-01 1.20135776e-01 1.81118695e+02] [-1.29277862e-01 3.49392175e-02 9.90992677e-01 1.12928627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:181.14, Z:112.94 [[ 1.85709049e-01 -9.82517848e-01 1.30700835e-02 3.09188514e+02] [ 9.74473152e-01 1.85863612e-01 1.25923761e-01 1.81142065e+02] [-1.26151595e-01 -1.06487363e-02 9.91953819e-01 1.12942009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:181.17, Z:112.93 [[ 1.86700961e-01 -9.81593969e-01 4.01998962e-02 3.09183553e+02] [ 9.73819055e-01 1.90313793e-01 1.24326619e-01 1.81171445e+02] [-1.29688854e-01 1.59355256e-02 9.91426679e-01 1.12926366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:181.20, Z:112.93 [[ 1.85960157e-01 -9.82426275e-01 1.60447552e-02 3.09199948e+02] [ 9.74224760e-01 1.86480701e-01 1.26929369e-01 1.81196892e+02] [-1.27690784e-01 -7.97260764e-03 9.91781983e-01 1.12932631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:181.22, Z:112.92 [[ 1.86235932e-01 -9.81603214e-01 4.20869059e-02 3.09192239e+02] [ 9.73517120e-01 1.90143752e-01 1.26924272e-01 1.81223828e+02] [-1.32591836e-01 1.73344632e-02 9.91019133e-01 1.12916952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:181.25, Z:112.92 [[ 1.89643212e-01 -9.81597494e-01 2.24011400e-02 3.09211908e+02] [ 9.73001922e-01 1.90941278e-01 1.29648326e-01 1.81251927e+02] [-1.31539774e-01 -2.79057272e-03 9.91306966e-01 1.12921158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:181.28, Z:112.91 [[ 1.87895221e-01 -9.81487526e-01 3.71163416e-02 3.09207667e+02] [ 9.72873190e-01 1.91172524e-01 1.30272108e-01 1.81276905e+02] [-1.34956074e-01 1.16319871e-02 9.90783304e-01 1.12908063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:181.31, Z:112.91 [[ 1.91067263e-01 -9.81421113e-01 1.74900152e-02 3.09226555e+02] [ 9.72702691e-01 1.91700366e-01 1.30768671e-01 1.81305134e+02] [-1.31691977e-01 -7.97302712e-03 9.91258621e-01 1.12914312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:181.33, Z:112.91 [[ 1.90708760e-01 -9.81258622e-01 2.75986405e-02 3.09227042e+02] [ 9.72713756e-01 1.92682842e-01 1.29233401e-01 1.81332399e+02] [-1.32129174e-01 2.19963547e-03 9.91230066e-01 1.12907622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:181.36, Z:112.90 [[ 1.89771110e-01 -9.81438946e-01 2.76499716e-02 3.09232659e+02] [ 9.72842393e-01 1.91761087e-01 1.29635505e-01 1.81359521e+02] [-1.32531522e-01 2.29799095e-03 9.91176127e-01 1.12903695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:181.39, Z:112.90 [[ 1.88762897e-01 -9.81633059e-01 2.76605605e-02 3.09238722e+02] [ 9.73007985e-01 1.90763665e-01 1.29864102e-01 1.81386615e+02] [-1.32755525e-01 2.40042218e-03 9.91145907e-01 1.12899980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:181.41, Z:112.90 [[ 1.87521000e-01 -9.81868457e-01 2.77526266e-02 3.09244437e+02] [ 9.73163334e-01 1.89546518e-01 1.30480813e-01 1.81412813e+02] [-1.33375408e-01 2.53994621e-03 9.91062334e-01 1.12896764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:181.44, Z:112.89 [[ 1.86726167e-01 -9.82016857e-01 2.78609119e-02 3.09249314e+02] [ 9.73222346e-01 1.88775011e-01 1.31157391e-01 1.81438780e+02] [-1.34058213e-01 2.62434512e-03 9.90969984e-01 1.12893435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:181.47, Z:112.89 [[ 1.84919226e-01 -9.82358740e-01 2.78601272e-02 3.09253844e+02] [ 9.73551923e-01 1.86984483e-01 1.31276261e-01 1.81466007e+02] [-1.34169794e-01 2.84777580e-03 9.90954266e-01 1.12889621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0903857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.26, Y:181.49, Z:112.89 [[ 1.83763200e-01 -9.82580399e-01 2.76919702e-02 3.09259319e+02] [ 9.73858580e-01 1.85814459e-01 1.30661600e-01 1.81493278e+02] [-1.33531095e-01 2.95726912e-03 9.91040212e-01 1.12885140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:181.52, Z:112.88 [[ 1.82867477e-01 -9.82748649e-01 2.76510031e-02 3.09264289e+02] [ 9.74030534e-01 1.84921171e-01 1.30647153e-01 1.81520013e+02] [-1.33506569e-01 3.04180596e-03 9.91043260e-01 1.12881287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:181.55, Z:112.88 [[ 1.81733768e-01 -9.82959758e-01 2.76215813e-02 3.09269549e+02] [ 9.74241160e-01 1.83793654e-01 1.30667726e-01 1.81547207e+02] [-1.33517788e-01 3.16334317e-03 9.91041368e-01 1.12876951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:181.57, Z:112.87 [[ 1.80582320e-01 -9.83170515e-01 2.76724325e-02 3.09275592e+02] [ 9.74398020e-01 1.82660614e-01 1.31086228e-01 1.81574180e+02] [-1.33934778e-01 3.29210822e-03 9.90984681e-01 1.12873214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:181.60, Z:112.87 [[ 1.79975544e-01 -9.83280618e-01 2.77133670e-02 3.09280937e+02] [ 9.74458875e-01 1.82066011e-01 1.31460522e-01 1.81600819e+02] [-1.34308245e-01 3.34585750e-03 9.90933954e-01 1.12869637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:181.63, Z:112.87 [[ 1.79574842e-01 -9.83352272e-01 2.77702341e-02 3.09284832e+02] [ 9.74472974e-01 1.81678030e-01 1.31892060e-01 1.81627814e+02] [-1.34741598e-01 3.37684676e-03 9.90875017e-01 1.12865115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:181.65, Z:112.86 [[ 1.79737246e-01 -9.83325142e-01 2.76801023e-02 3.09289692e+02] [ 9.74478942e-01 1.81825998e-01 1.31643832e-01 1.81653738e+02] [-1.34481652e-01 3.31237708e-03 9.90910548e-01 1.12861189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:181.68, Z:112.86 [[ 1.80106451e-01 -9.83256661e-01 2.77129022e-02 3.09295290e+02] [ 9.74366579e-01 1.82197341e-01 1.31961733e-01 1.81681183e+02] [-1.34801470e-01 3.23536627e-03 9.90867345e-01 1.12857237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.330385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.30, Y:181.71, Z:112.85 [[ 1.81824679e-01 -9.82937385e-01 2.78187691e-02 3.09300520e+02] [ 9.73950622e-01 1.83916401e-01 1.32645936e-01 1.81708455e+02] [-1.35498977e-01 2.97580283e-03 9.90773017e-01 1.12853265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.360385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.30, Y:181.74, Z:112.85 [[ 1.83949458e-01 -9.82413492e-01 3.20363618e-02 3.09303678e+02] [ 9.73629409e-01 1.86585383e-01 1.31269454e-01 1.81735512e+02] [-1.34938399e-01 7.04459912e-03 9.90828947e-01 1.12848744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:181.76, Z:112.85 [[ 1.84405761e-01 -9.82577128e-01 2.31668652e-02 3.09313904e+02] [ 9.73341265e-01 1.85841800e-01 1.34423240e-01 1.81763788e+02] [-1.36386573e-01 -2.23915388e-03 9.90653163e-01 1.12847897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:181.79, Z:112.84 [[ 1.86897220e-01 -9.81983735e-01 2.78814285e-02 3.09315600e+02] [ 9.72874987e-01 1.88952860e-01 1.33458148e-01 1.81791962e+02] [-1.36322007e-01 2.18218737e-03 9.90662177e-01 1.12842364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:181.82, Z:112.84 [[ 1.88362893e-01 -9.81702156e-01 2.79338185e-02 3.09320307e+02] [ 9.72529439e-01 1.90412962e-01 1.33900687e-01 1.81818407e+02] [-1.36769554e-01 1.94454019e-03 9.90600983e-01 1.12838535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:181.85, Z:112.84 [[ 1.90110713e-01 -9.81360361e-01 2.81026593e-02 3.09325491e+02] [ 9.72047955e-01 1.92169299e-01 1.34884146e-01 1.81845944e+02] [-1.37770423e-01 1.67421129e-03 9.90462775e-01 1.12835093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:181.87, Z:112.83 [[ 1.90762978e-01 -9.80960469e-01 3.64148974e-02 3.09326539e+02] [ 9.72207871e-01 1.93929799e-01 1.31160546e-01 1.81873688e+02] [-1.35725244e-01 1.03822735e-02 9.90692115e-01 1.12828414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.34, Y:181.90, Z:112.83 [[ 1.90479075e-01 -9.81422233e-01 2.29809277e-02 3.09338015e+02] [ 9.72210186e-01 1.91833374e-01 1.34191325e-01 1.81900171e+02] [-1.36106859e-01 -3.21834758e-03 9.90688935e-01 1.12827351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:181.93, Z:112.82 [[ 1.89986889e-01 -9.81513349e-01 2.31630773e-02 3.09343642e+02] [ 9.72145595e-01 1.91367088e-01 1.35320288e-01 1.81927782e+02] [-1.37251319e-01 -3.19119689e-03 9.90531116e-01 1.12823824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:181.95, Z:112.82 [[ 1.89601364e-01 -9.81471300e-01 2.76660527e-02 3.09347141e+02] [ 9.72346929e-01 1.91602659e-01 1.33528542e-01 1.81954955e+02] [-1.36355321e-01 1.58380775e-03 9.90658729e-01 1.12818695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:181.98, Z:112.81 [[ 1.90161776e-01 -9.81366245e-01 2.75461942e-02 3.09352260e+02] [ 9.72294863e-01 1.92140949e-01 1.33133599e-01 1.81981972e+02] [-1.35945572e-01 1.46610147e-03 9.90715222e-01 1.12814014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:182.01, Z:112.81 [[ 1.90636490e-01 -9.81275432e-01 2.75000996e-02 3.09357590e+02] [ 9.72207983e-01 1.92604959e-01 1.33097585e-01 1.82008071e+02] [-1.35902046e-01 1.36255989e-03 9.90721342e-01 1.12810307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:182.04, Z:112.81 [[ 1.91385280e-01 -9.81128566e-01 2.75392573e-02 3.09363590e+02] [ 9.72010511e-01 1.93352607e-01 1.33455372e-01 1.82035281e+02] [-1.36261665e-01 1.22705384e-03 9.90672122e-01 1.12806581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:182.06, Z:112.80 [[ 1.91783093e-01 -9.81050859e-01 2.75400968e-02 3.09369414e+02] [ 9.71905974e-01 1.93747056e-01 1.33644514e-01 1.82061946e+02] [-1.36447878e-01 1.13562638e-03 9.90646600e-01 1.12803232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:182.09, Z:112.80 [[ 1.91571985e-01 -9.81096182e-01 2.73944630e-02 3.09374128e+02] [ 9.72026187e-01 1.93517457e-01 1.33101787e-01 1.82089853e+02] [-1.35886962e-01 1.12956189e-03 9.90723704e-01 1.12799304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:182.12, Z:112.79 [[ 1.93736423e-01 -9.80663894e-01 2.76500456e-02 3.09381812e+02] [ 9.71390782e-01 1.95697977e-01 1.34544601e-01 1.82115757e+02] [-1.37354090e-01 7.92809671e-04 9.90521694e-01 1.12794893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:182.14, Z:112.79 [[ 1.95049023e-01 -9.80407099e-01 2.75281348e-02 3.09389999e+02] [ 9.71198622e-01 1.96981153e-01 1.34058429e-01 1.82142441e+02] [-1.36854359e-01 5.87320976e-04 9.90591005e-01 1.12790584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:182.17, Z:112.79 [[ 1.93924662e-01 -9.80733713e-01 2.35501501e-02 3.09396822e+02] [ 9.71481860e-01 1.95323325e-01 1.34431375e-01 1.82167700e+02] [-1.36441275e-01 -3.19101538e-03 9.90643021e-01 1.12786672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:182.20, Z:112.78 [[ 1.97267377e-01 -9.79882140e-01 3.02749553e-02 3.09404308e+02] [ 9.70983151e-01 1.99548138e-01 1.31803874e-01 1.82196063e+02] [-1.35193574e-01 3.39586687e-03 9.90813386e-01 1.12781894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.41, Y:182.22, Z:112.78 [[ 1.97889720e-01 -9.79849997e-01 2.70858316e-02 3.09413046e+02] [ 9.70874074e-01 1.99734752e-01 1.32323696e-01 1.82222611e+02] [-1.35067355e-01 1.11432429e-04 9.90836413e-01 1.12779141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.42, Y:182.25, Z:112.78 [[ 1.97778336e-01 -9.79872940e-01 2.70693954e-02 3.09419553e+02] [ 9.70882194e-01 1.99622179e-01 1.32433953e-01 1.82248261e+02] [-1.35172099e-01 8.86271434e-05 9.90822131e-01 1.12775575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:182.28, Z:112.77 [[ 1.98236066e-01 -9.79779265e-01 2.71118659e-02 3.09426883e+02] [ 9.70741816e-01 2.00081461e-01 1.32769482e-01 1.82275252e+02] [-1.35509367e-01 -1.07785280e-06 9.90776065e-01 1.12772144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.42, Y:182.30, Z:112.76 [[ 1.95286311e-01 -9.79917574e-01 4.03088782e-02 3.09423736e+02] [ 9.70579432e-01 1.99001214e-01 1.35551035e-01 1.82297457e+02] [-1.40850357e-01 1.26517066e-02 9.89950055e-01 1.12758501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:182.32, Z:112.76 [[ 1.96139761e-01 -9.80198274e-01 2.72128095e-02 3.09437285e+02] [ 9.70407925e-01 1.98017312e-01 1.38194075e-01 1.82323973e+02] [-1.40846202e-01 -6.97826971e-04 9.90031242e-01 1.12758633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:182.35, Z:112.75 [[ 1.96048052e-01 -9.80228843e-01 2.67689464e-02 3.09443187e+02] [ 9.70451814e-01 1.97864123e-01 1.38105270e-01 1.82351706e+02] [-1.40671383e-01 -1.09729655e-03 9.90055735e-01 1.12754894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:182.38, Z:112.75 [[ 1.95983100e-01 -9.80219235e-01 2.75839839e-02 3.09449385e+02] [ 9.70346160e-01 1.97914288e-01 1.38774150e-01 1.82378338e+02] [-1.41488356e-01 -4.31375220e-04 9.89939826e-01 1.12750904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:182.41, Z:112.76 [[ 1.99855068e-01 -9.79735502e-01 1.32777326e-02 3.09468195e+02] [ 9.70417855e-01 1.99791336e-01 1.35545596e-01 1.82408232e+02] [-1.35451609e-01 -1.42045256e-02 9.90682135e-01 1.12758585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:182.43, Z:112.74 [[ 1.97036667e-01 -9.79474991e-01 4.24887542e-02 3.09457401e+02] [ 9.70312978e-01 2.01026590e-01 1.34465740e-01 1.82434702e+02] [-1.40247199e-01 1.47327083e-02 9.90006904e-01 1.12738772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.48, Y:182.46, Z:112.75 [[ 1.98321666e-01 -9.80006014e-01 1.60227971e-02 3.09480251e+02] [ 9.70632803e-01 1.98643379e-01 1.35693658e-01 1.82461944e+02] [-1.36163424e-01 -1.13587399e-02 9.90621270e-01 1.12745381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:182.49, Z:112.74 [[ 1.99528209e-01 -9.79654773e-01 2.15643002e-02 3.09486621e+02] [ 9.70808450e-01 2.00620239e-01 1.31462824e-01 1.82490612e+02] [-1.33114418e-01 -5.29573690e-03 9.91086529e-01 1.12743884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:182.52, Z:112.74 [[ 1.98936713e-01 -9.79654193e-01 2.64924021e-02 3.09491146e+02] [ 9.70995849e-01 2.00692916e-01 1.29959284e-01 1.82516460e+02] [-1.32631995e-01 -1.29660252e-04 9.91165343e-01 1.12739074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:182.54, Z:112.73 [[ 1.97728046e-01 -9.79897897e-01 2.65279371e-02 3.09499214e+02] [ 9.71192757e-01 1.99499653e-01 1.30324663e-01 1.82542651e+02] [-1.32997177e-01 -5.10055582e-06 9.91116416e-01 1.12734995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:182.57, Z:112.73 [[ 1.97303608e-01 -9.79985392e-01 2.64559534e-02 3.09506139e+02] [ 9.71304807e-01 1.99069412e-01 1.30147383e-01 1.82569949e+02] [-1.32809105e-01 1.82464976e-05 9.91141635e-01 1.12730924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:182.60, Z:112.73 [[ 1.97230011e-01 -9.80003621e-01 2.63291939e-02 3.09513839e+02] [ 9.71383190e-01 1.98979657e-01 1.29698859e-01 1.82597032e+02] [-1.32344326e-01 -4.77119601e-06 9.91203803e-01 1.12727081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:182.62, Z:112.72 [[ 1.97511588e-01 -9.79951039e-01 2.61750773e-02 3.09521747e+02] [ 9.71408243e-01 1.99238442e-01 1.29112618e-01 1.82624275e+02] [-1.31739126e-01 -7.45523030e-05 9.91284418e-01 1.12723469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:182.65, Z:112.72 [[ 1.99289264e-01 -9.79592367e-01 2.61262891e-02 3.09531703e+02] [ 9.71055266e-01 2.00994212e-01 1.29046494e-01 1.82649537e+02] [-1.31664193e-01 -3.47510209e-04 9.91294315e-01 1.12720294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:182.67, Z:112.71 [[ 1.97677881e-01 -9.79433773e-01 4.04096627e-02 3.09529268e+02] [ 9.70660645e-01 2.01331309e-01 1.31467166e-01 1.82674556e+02] [-1.36899113e-01 1.32359185e-02 9.90496564e-01 1.12705018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:182.70, Z:112.72 [[ 2.02173761e-01 -9.79273786e-01 1.21910969e-02 3.09554585e+02] [ 9.70316431e-01 2.01980270e-01 1.33003739e-01 1.82701955e+02] [-1.32709436e-01 -1.50606446e-02 9.91040555e-01 1.12717985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.54, Y:182.73, Z:112.69 [[ 1.99245005e-01 -9.78718978e-01 4.90977588e-02 3.09540588e+02] [ 9.69951076e-01 2.04103275e-01 1.32426445e-01 1.82728537e+02] [-1.39629288e-01 2.12371163e-02 9.89976084e-01 1.12692302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:182.76, Z:112.71 [[ 2.02698943e-01 -9.79234436e-01 3.61349468e-03 3.09576371e+02] [ 9.70196997e-01 2.01325846e-01 1.34854333e-01 1.82755352e+02] [-1.32781496e-01 -2.38290290e-02 9.90858846e-01 1.12713724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:182.78, Z:112.69 [[ 1.98541446e-01 -9.78953426e-01 4.72385868e-02 3.09560359e+02] [ 9.70217989e-01 2.03137228e-01 1.31955754e-01 1.82782221e+02] [-1.38774453e-01 1.96330405e-02 9.90129383e-01 1.12687181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:182.81, Z:112.71 [[ 2.01016232e-01 -9.79573648e-01 5.28613244e-03 3.09591811e+02] [ 9.70606803e-01 1.99899411e-01 1.34024851e-01 1.82808754e+02] [-1.32343907e-01 -2.18104144e-02 9.90963872e-01 1.12706996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:182.84, Z:112.70 [[ 1.99868756e-01 -9.79474891e-01 2.61039991e-02 3.09589456e+02] [ 9.70846847e-01 2.01565367e-01 1.29722019e-01 1.82836666e+02] [-1.32321123e-01 -5.84393506e-04 9.91206729e-01 1.12696615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:182.86, Z:112.69 [[ 1.96663682e-01 -9.80122919e-01 2.61239346e-02 3.09597499e+02] [ 9.71461493e-01 1.98391097e-01 1.30013616e-01 1.82862449e+02] [-1.32612081e-01 -1.90559883e-04 9.91167998e-01 1.12692524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:182.89, Z:112.69 [[ 1.95610400e-01 -9.80361557e-01 2.50557103e-02 3.09604229e+02] [ 9.71790124e-01 1.97206250e-01 1.29358610e-01 1.82886217e+02] [-1.31759351e-01 -9.54997764e-04 9.91281273e-01 1.12689174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:182.91, Z:112.67 [[ 1.87495471e-01 -9.81260843e-01 4.44140438e-02 3.09600132e+02] [ 9.72547449e-01 1.91795220e-01 1.31780325e-01 1.82912846e+02] [-1.37829274e-01 1.84865508e-02 9.90283464e-01 1.12670378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.710385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:309.63, Y:182.94, Z:112.69 [[ 1.88868194e-01 -9.81967424e-01 8.29357564e-03 3.09628258e+02] [ 9.73029360e-01 1.88274836e-01 1.33290855e-01 1.82939725e+02] [-1.32448749e-01 -1.71045104e-02 9.91042262e-01 1.12687402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:182.97, Z:112.68 [[ 1.86586284e-01 -9.82092988e-01 2.60561302e-02 3.09627559e+02] [ 9.73462986e-01 1.88393468e-01 1.29914263e-01 1.82966264e+02] [-1.32496691e-01 1.12445884e-03 9.91182810e-01 1.12678213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:182.99, Z:112.67 [[ 1.82333036e-01 -9.82892550e-01 2.60172911e-02 3.09636760e+02] [ 9.74278511e-01 1.84172315e-01 1.29853538e-01 1.82993232e+02] [-1.32423740e-01 1.67149789e-03 9.91191787e-01 1.12674781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:183.02, Z:112.67 [[ 1.80052981e-01 -9.83313890e-01 2.59753295e-02 3.09642744e+02] [ 9.74706548e-01 1.81906639e-01 1.29834970e-01 1.83019251e+02] [-1.32393614e-01 1.94115045e-03 9.91195320e-01 1.12670512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.830385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.65, Y:183.05, Z:112.67 [[ 1.77537955e-01 -9.83772923e-01 2.59057833e-02 3.09649140e+02] [ 9.75193962e-01 1.79404011e-01 1.29657003e-01 1.83046118e+02] [-1.32200651e-01 2.24412416e-03 9.91220436e-01 1.12666096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:183.07, Z:112.66 [[ 1.72866656e-01 -9.84609955e-01 2.56973915e-02 3.09657395e+02] [ 9.76153224e-01 1.74743493e-01 1.28800604e-01 1.83071381e+02] [-1.31308809e-01 2.81926193e-03 9.91337505e-01 1.12661900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:183.10, Z:112.66 [[ 1.70491735e-01 -9.85025660e-01 2.56323445e-02 3.09664968e+02] [ 9.76600095e-01 1.72379788e-01 1.28598066e-01 1.83098189e+02] [-1.31090893e-01 3.10764252e-03 9.91365483e-01 1.12658240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:183.12, Z:112.65 [[ 1.66252970e-01 -9.85750018e-01 2.56291158e-02 3.09674244e+02] [ 9.77310222e-01 1.68177450e-01 1.28767521e-01 1.83123931e+02] [-1.31242825e-01 3.63961411e-03 9.91343570e-01 1.12654698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.68, Y:183.15, Z:112.65 [[ 1.64349163e-01 -9.86070048e-01 2.55971128e-02 3.09680997e+02] [ 9.77637643e-01 1.66285626e-01 1.28738996e-01 1.83150709e+02] [-1.31202100e-01 3.86655467e-03 9.91348102e-01 1.12651458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.69, Y:183.18, Z:112.65 [[ 1.63208866e-01 -9.86259951e-01 2.55768408e-02 3.09687270e+02] [ 9.77818718e-01 1.65152753e-01 1.28822057e-01 1.83177801e+02] [-1.31276122e-01 3.98461171e-03 9.91337835e-01 1.12648117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:309.69, Y:183.20, Z:112.64 [[ 1.62463467e-01 -9.86378378e-01 2.57549518e-02 3.09692791e+02] [ 9.77794366e-01 1.64441700e-01 1.29911915e-01 1.83204714e+02] [-1.32377492e-01 4.07710677e-03 9.91190989e-01 1.12644048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.040385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:309.69, Y:183.23, Z:112.63 [[ 1.58891259e-01 -9.86399345e-01 4.20701891e-02 3.09686875e+02] [ 9.77714541e-01 1.63128484e-01 1.32149062e-01 1.83230714e+02] [-1.37214594e-01 2.01353047e-02 9.90336672e-01 1.12625872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.71, Y:183.26, Z:112.64 [[ 1.62541824e-01 -9.86655765e-01 9.51618045e-03 3.09710973e+02] [ 9.77666407e-01 1.62348119e-01 1.33459677e-01 1.83258459e+02] [-1.33223694e-01 -1.23891294e-02 9.91008555e-01 1.12642312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.70, Y:183.28, Z:112.62 [[ 1.60676611e-01 -9.86269455e-01 3.81521899e-02 3.09699968e+02] [ 9.77626902e-01 1.64347150e-01 1.31284637e-01 1.83284587e+02] [-1.35752231e-01 1.62042366e-02 9.90610294e-01 1.12621677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.71, Y:183.31, Z:112.62 [[ 1.60532813e-01 -9.86627378e-01 2.82069667e-02 3.09708149e+02] [ 9.77577753e-01 1.62876053e-01 1.33465835e-01 1.83311854e+02] [-1.36275286e-01 6.14885717e-03 9.90651926e-01 1.12620085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.71, Y:183.34, Z:112.62 [[ 1.60327006e-01 -9.86715166e-01 2.62379781e-02 3.09714062e+02] [ 9.77657970e-01 1.62404035e-01 1.33453451e-01 1.83339081e+02] [-1.35941698e-01 4.25557609e-03 9.90707699e-01 1.12616589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.73, Y:183.37, Z:112.63 [[ 1.63133125e-01 -9.86547255e-01 1.05876144e-02 3.09728457e+02] [ 9.77610776e-01 1.63082453e-01 1.32970994e-01 1.83368044e+02] [-1.32908823e-01 -1.13414078e-02 9.91063377e-01 1.12626545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2203857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:309.72, Y:183.40, Z:112.61 [[ 1.61911111e-01 -9.86006450e-01 3.96997930e-02 3.09717914e+02] [ 9.77485695e-01 1.65768185e-01 1.30547405e-01 1.83395889e+02] [-1.35301546e-01 1.76689044e-02 9.90646911e-01 1.12605512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:183.42, Z:112.62 [[ 1.66210944e-01 -9.86019853e-01 1.17801724e-02 3.09736830e+02] [ 9.77147599e-01 1.66297093e-01 1.32392771e-01 1.83422277e+02] [-1.32500909e-01 -1.04941604e-02 9.91127329e-01 1.12619228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:183.45, Z:112.61 [[ 1.67769414e-01 -9.85496943e-01 2.54793727e-02 3.09735055e+02] [ 9.76909627e-01 1.69664751e-01 1.29851658e-01 1.83450630e+02] [-1.32291363e-01 3.10590799e-03 9.91206007e-01 1.12610200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:183.48, Z:112.61 [[ 1.69600713e-01 -9.85184684e-01 2.54310036e-02 3.09739172e+02] [ 9.76601773e-01 1.71473517e-01 1.29791409e-01 1.83477599e+02] [-1.32229251e-01 2.82324776e-03 9.91215140e-01 1.12606547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:183.50, Z:112.60 [[ 1.71788499e-01 -9.84805468e-01 2.54342701e-02 3.09743311e+02] [ 9.76189783e-01 1.73643211e-01 1.30005937e-01 1.83503913e+02] [-1.32447046e-01 2.49514972e-03 9.91186942e-01 1.12602632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:183.53, Z:112.60 [[ 1.74195399e-01 -9.84236852e-01 3.05578619e-02 3.09745214e+02] [ 9.76048826e-01 1.76686968e-01 1.26926769e-01 1.83531552e+02] [-1.30325180e-01 7.71590597e-03 9.91441280e-01 1.12596416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:183.56, Z:112.60 [[ 1.78771731e-01 -9.83747638e-01 1.67706249e-02 3.09757290e+02] [ 9.74926512e-01 1.79412882e-01 1.31640853e-01 1.83557620e+02] [-1.32510244e-01 -7.18353633e-03 9.91155604e-01 1.12598058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:183.59, Z:112.59 [[ 1.79956000e-01 -9.83188577e-01 3.09202092e-02 3.09756420e+02] [ 9.75018573e-01 1.82445154e-01 1.26698655e-01 1.83586066e+02] [-1.30209912e-01 7.34759514e-03 9.91459223e-01 1.12589101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.460385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:309.77, Y:183.61, Z:112.59 [[ 1.82542618e-01 -9.82929867e-01 2.29580068e-02 3.09765431e+02] [ 9.74456792e-01 1.83977127e-01 1.28788114e-01 1.83611613e+02] [-1.30813432e-01 -1.13773391e-03 9.91406350e-01 1.12588402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.77, Y:183.64, Z:112.58 [[ 1.84643820e-01 -9.82488675e-01 2.49532348e-02 3.09770395e+02] [ 9.74066183e-01 1.86321337e-01 1.28372237e-01 1.83639374e+02] [-1.30773589e-01 6.02961910e-04 9.91412076e-01 1.12583943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:183.67, Z:112.58 [[ 1.84886145e-01 -9.82443181e-01 2.49501323e-02 3.09775830e+02] [ 9.73997423e-01 1.86561275e-01 1.28545363e-01 1.83666523e+02] [-1.30943243e-01 5.35108031e-04 9.91389722e-01 1.12580015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.550385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.78, Y:183.69, Z:112.57 [[ 1.83124135e-01 -9.82633114e-01 2.99619022e-02 3.09778363e+02] [ 9.74084987e-01 1.85478101e-01 1.29446174e-01 1.83693346e+02] [-1.32755373e-01 5.48072057e-03 9.91133681e-01 1.12571094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.79, Y:183.72, Z:112.58 [[ 1.83639087e-01 -9.82791092e-01 1.99588557e-02 3.09792133e+02] [ 9.74232532e-01 1.84669642e-01 1.29491685e-01 1.83719577e+02] [-1.30949070e-01 -4.33516844e-03 9.91379618e-01 1.12575434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.79, Y:183.75, Z:112.57 [[ 1.80925353e-01 -9.83111076e-01 2.75432354e-02 3.09794502e+02] [ 9.74530716e-01 1.82978563e-01 1.29648486e-01 1.83746437e+02] [-1.32498685e-01 3.38503076e-03 9.91177401e-01 1.12566882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.81, Y:183.77, Z:112.57 [[ 1.79368866e-01 -9.83525234e-01 2.24705088e-02 3.09805725e+02] [ 9.74913104e-01 1.80765550e-01 1.29877851e-01 1.83774248e+02] [-1.31800037e-01 -1.38924937e-03 9.91275350e-01 1.12568028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.81, Y:183.80, Z:112.56 [[ 1.77362909e-01 -9.83829441e-01 2.49405051e-02 3.09810164e+02] [ 9.75306473e-01 1.79102366e-01 1.29227033e-01 1.83800072e+02] [-1.31604263e-01 1.40455364e-03 9.91301339e-01 1.12562942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:183.83, Z:112.56 [[ 1.75657788e-01 -9.84138401e-01 2.48183235e-02 3.09816367e+02] [ 9.75679113e-01 1.77395214e-01 1.28768033e-01 1.83827424e+02] [-1.31128218e-01 1.59561200e-03 9.91364133e-01 1.12558996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.82, Y:183.85, Z:112.55 [[ 1.73849853e-01 -9.84464278e-01 2.46234414e-02 3.09823599e+02] [ 9.76116292e-01 1.75575835e-01 1.27945734e-01 1.83854009e+02] [-1.30281286e-01 1.79199543e-03 9.91475454e-01 1.12554842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:183.88, Z:112.55 [[ 1.73591779e-01 -9.84512105e-01 2.45318217e-02 3.09829968e+02] [ 9.76202059e-01 1.75307504e-01 1.27658997e-01 1.83880559e+02] [-1.29982440e-01 1.78746246e-03 9.91514685e-01 1.12551250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.84, Y:183.91, Z:112.55 [[ 1.73490178e-01 -9.84535825e-01 2.42974738e-02 3.09837165e+02] [ 9.76358980e-01 1.75174590e-01 1.26637300e-01 1.83906167e+02] [-1.28935258e-01 1.75272907e-03 9.91651465e-01 1.12548254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:183.93, Z:112.54 [[ 1.73126887e-01 -9.84601669e-01 2.42205305e-02 3.09843026e+02] [ 9.76451681e-01 1.74804039e-01 1.26434424e-01 1.83933693e+02] [-1.28721391e-01 1.76097951e-03 9.91679234e-01 1.12544628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.850385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:309.85, Y:183.96, Z:112.54 [[ 1.72887191e-01 -9.84647630e-01 2.40637299e-02 3.09849200e+02] [ 9.76580045e-01 1.74545059e-01 1.25799197e-01 1.83961094e+02] [-1.28068086e-01 1.75108862e-03 9.91763832e-01 1.12541082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.880385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:309.86, Y:183.99, Z:112.53 [[ 1.72627089e-01 -9.84643944e-01 2.60037053e-02 3.09856771e+02] [ 9.76555199e-01 1.74536636e-01 1.26003595e-01 1.83988412e+02] [-1.28607276e-01 3.64241976e-03 9.91688914e-01 1.12534664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:184.01, Z:112.54 [[ 1.72533593e-01 -9.84748114e-01 2.24345865e-02 3.09864613e+02] [ 9.76641448e-01 1.73985998e-01 1.26096610e-01 1.84014592e+02] [-1.28076703e-01 1.54645844e-04 9.91764253e-01 1.12535109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.87, Y:184.04, Z:112.53 [[ 1.72462154e-01 -9.84675872e-01 2.58888670e-02 3.09870845e+02] [ 9.76482371e-01 1.74361112e-01 1.26808450e-01 1.84042848e+02] [-1.29379232e-01 3.41036390e-03 9.91589322e-01 1.12528062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:184.07, Z:112.52 [[ 1.72240580e-01 -9.84748243e-01 2.45780652e-02 3.09876661e+02] [ 9.76522355e-01 1.73972417e-01 1.27034205e-01 1.84070635e+02] [-1.29372615e-01 2.12058493e-03 9.91593783e-01 1.12524667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:184.10, Z:112.52 [[ 1.72726707e-01 -9.84707425e-01 2.27326326e-02 3.09884619e+02] [ 9.76549431e-01 1.74215856e-01 1.26491280e-01 1.84096146e+02] [-1.28517287e-01 3.51117215e-04 9.91707207e-01 1.12524198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:184.13, Z:112.52 [[ 1.73152683e-01 -9.84553170e-01 2.59461822e-02 3.09890335e+02] [ 9.76351788e-01 1.75053486e-01 1.26860018e-01 1.84125092e+02] [-1.29442402e-01 3.36644902e-03 9.91581228e-01 1.12516727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.90, Y:184.15, Z:112.51 [[ 1.73631138e-01 -9.84447342e-01 2.67517978e-02 3.09896036e+02] [ 9.76247994e-01 1.75632300e-01 1.26858778e-01 1.84152605e+02] [-1.29584266e-01 4.08975502e-03 9.91559979e-01 1.12511745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.90, Y:184.18, Z:112.51 [[ 1.74651240e-01 -9.84311488e-01 2.50566952e-02 3.09902713e+02] [ 9.76079031e-01 1.76424935e-01 1.27058915e-01 1.84177951e+02] [-1.29486175e-01 2.26631767e-03 9.91578637e-01 1.12508566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:184.20, Z:112.51 [[ 1.76086541e-01 -9.84187840e-01 1.91787689e-02 3.09911810e+02] [ 9.76084637e-01 1.77093694e-01 1.26081739e-01 1.84203366e+02] [-1.27484553e-01 -3.48119568e-03 9.91834447e-01 1.12510932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:184.23, Z:112.49 [[ 1.75583140e-01 -9.83760290e-01 3.72324205e-02 3.09910289e+02] [ 9.75688158e-01 1.78932108e-01 1.26554015e-01 1.84231801e+02] [-1.31160890e-01 1.41064805e-02 9.91260727e-01 1.12494765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.93, Y:184.26, Z:112.51 [[ 1.76523586e-01 -9.84233564e-01 1.11227703e-02 3.09929734e+02] [ 9.75982008e-01 1.76486974e-01 1.27716359e-01 1.84257666e+02] [-1.27665751e-01 -1.16893259e-02 9.91748363e-01 1.12507905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:184.29, Z:112.50 [[ 1.76993569e-01 -9.83928022e-01 2.36415838e-02 3.09929954e+02] [ 9.75917919e-01 1.78563284e-01 1.25297127e-01 1.84285099e+02] [-1.27504873e-01 8.95459429e-04 9.91837540e-01 1.12499203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:184.31, Z:112.49 [[ 1.77072547e-01 -9.83916770e-01 2.35181439e-02 3.09935593e+02] [ 9.75966022e-01 1.78625503e-01 1.24832907e-01 1.84312099e+02] [-1.27026131e-01 8.48428495e-04 9.91899008e-01 1.12494840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.94, Y:184.34, Z:112.49 [[ 1.78459253e-01 -9.83672219e-01 2.32650154e-02 3.09943013e+02] [ 9.75866681e-01 1.79968236e-01 1.23675603e-01 1.84338097e+02] [-1.25843219e-01 6.32497644e-04 9.92049940e-01 1.12491266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:184.37, Z:112.47 [[ 1.78459014e-01 -9.83035236e-01 4.23568681e-02 3.09940950e+02] [ 9.75236723e-01 1.82430543e-01 1.25029719e-01 1.84366779e+02] [-1.30635806e-01 1.89952928e-02 9.91248438e-01 1.12472404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.330385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.95, Y:184.39, Z:112.47 [[ 1.76167596e-01 -9.83684331e-01 3.64707561e-02 3.09946738e+02] [ 9.75311136e-01 1.79440491e-01 1.28721789e-01 1.84392703e+02] [-1.33165937e-01 1.28937265e-02 9.91009881e-01 1.12466968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:184.42, Z:112.49 [[ 1.80298657e-01 -9.83570166e-01 -9.06213651e-03 3.09976694e+02] [ 9.75766932e-01 1.77691777e-01 1.27689178e-01 1.84420426e+02] [-1.23980999e-01 -3.18647206e-02 9.91772833e-01 1.12493174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.95, Y:184.45, Z:112.45 [[ 1.78738761e-01 -9.82440616e-01 5.35059901e-02 3.09951525e+02] [ 9.74991353e-01 1.84159031e-01 1.24407850e-01 1.84447488e+02] [-1.32076936e-01 2.99313728e-02 9.90787463e-01 1.12453890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:184.47, Z:112.49 [[ 1.81119607e-01 -9.83437336e-01 -6.83336181e-03 3.09988616e+02] [ 9.75590686e-01 1.78788530e-01 1.27504807e-01 1.84473545e+02] [-1.24171260e-01 -2.97601846e-02 9.91814413e-01 1.12485797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:184.50, Z:112.47 [[ 1.81399027e-01 -9.83144580e-01 2.28282408e-02 3.09980672e+02] [ 9.75521548e-01 1.82829770e-01 1.22192408e-01 1.84500766e+02] [-1.24306486e-01 1.03856858e-04 9.92243865e-01 1.12470542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:184.53, Z:112.47 [[ 1.81166215e-01 -9.83186824e-01 2.28576397e-02 3.09987008e+02] [ 9.75528803e-01 1.82602457e-01 1.22474068e-01 1.84528353e+02] [-1.24588751e-01 1.10122543e-04 9.92208462e-01 1.12466651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:184.56, Z:112.45 [[ 1.78855973e-01 -9.83024568e-01 4.09052546e-02 3.09985527e+02] [ 9.75232960e-01 1.82630110e-01 1.24767453e-01 1.84555095e+02] [-1.30120003e-01 1.75767483e-02 9.91342445e-01 1.12449398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:184.58, Z:112.45 [[ 1.79052956e-01 -9.83556634e-01 2.35878574e-02 3.10001070e+02] [ 9.75265267e-01 1.80599872e-01 1.27441535e-01 1.84581068e+02] [-1.29605931e-01 1.85634530e-04 9.91565564e-01 1.12453047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:184.61, Z:112.46 [[ 1.79167825e-01 -9.83798267e-01 6.31344450e-03 3.10015165e+02] [ 9.75894939e-01 1.78533983e-01 1.25517666e-01 1.84607433e+02] [-1.24611227e-01 -1.63274687e-02 9.92071296e-01 1.12462851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:184.64, Z:112.45 [[ 1.78796339e-01 -9.83624313e-01 2.26953849e-02 3.10013600e+02] [ 9.76008836e-01 1.80230729e-01 1.22162339e-01 1.84635230e+02] [-1.24252252e-01 3.08717365e-04 9.92250615e-01 1.12452296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.630385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:310.02, Y:184.66, Z:112.45 [[ 1.78857353e-01 -9.83619408e-01 2.24255945e-02 3.10020799e+02] [ 9.76160727e-01 1.80257563e-01 1.20902629e-01 1.84661203e+02] [-1.22964555e-01 2.66660472e-04 9.92411027e-01 1.12447090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:184.69, Z:112.44 [[ 1.78953465e-01 -9.83602616e-01 2.23953577e-02 3.10026815e+02] [ 9.76147490e-01 1.80349221e-01 1.20872812e-01 1.84688731e+02] [-1.22929799e-01 2.30563650e-04 9.92415342e-01 1.12444903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.03, Y:184.72, Z:112.44 [[ 1.78880352e-01 -9.83617062e-01 2.23449311e-02 3.10033698e+02] [ 9.76172421e-01 1.80270446e-01 1.20788955e-01 1.84715726e+02] [-1.22838208e-01 2.05734711e-04 9.92426689e-01 1.12440934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:184.74, Z:112.44 [[ 1.78504867e-01 -9.83687984e-01 2.22252877e-02 3.10039703e+02] [ 9.76300576e-01 1.79883026e-01 1.20329887e-01 1.84743391e+02] [-1.22365016e-01 2.19090660e-04 9.92485141e-01 1.12437468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:184.77, Z:112.43 [[ 1.77155435e-01 -9.83929459e-01 2.23332066e-02 3.10046458e+02] [ 9.76448279e-01 1.78557262e-01 1.21103523e-01 1.84769361e+02] [-1.23145080e-01 3.53073894e-04 9.92388616e-01 1.12433710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:184.80, Z:112.42 [[ 1.73998900e-01 -9.83945590e-01 3.96920435e-02 3.10042540e+02] [ 9.76359894e-01 1.77626018e-01 1.23167999e-01 1.84795872e+02] [-1.28240950e-01 1.73226229e-02 9.91591743e-01 1.12416679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.07, Y:184.82, Z:112.43 [[ 1.75280455e-01 -9.84504777e-01 5.20628899e-03 3.10067097e+02] [ 9.76773120e-01 1.74561079e-01 1.24268665e-01 1.84822891e+02] [-1.23251910e-01 -1.66965050e-02 9.92234949e-01 1.12434604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:184.85, Z:112.41 [[ 1.71946328e-01 -9.84406349e-01 3.71294966e-02 3.10057081e+02] [ 9.76825361e-01 1.75256572e-01 1.22871266e-01 1.84850599e+02] [-1.27462442e-01 1.51417709e-02 9.91727812e-01 1.12412318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.07, Y:184.88, Z:112.42 [[ 1.69903720e-01 -9.85311335e-01 1.71551237e-02 3.10074509e+02] [ 9.77250710e-01 1.70705110e-01 1.25860300e-01 1.84877559e+02] [-1.26940048e-01 -4.61927643e-03 9.91899635e-01 1.12419282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.900385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.08, Y:184.91, Z:112.42 [[ 1.70377078e-01 -9.85284060e-01 1.36737710e-02 3.10082721e+02] [ 9.77561146e-01 1.70753593e-01 1.23358892e-01 1.84905036e+02] [-1.23878396e-01 -7.65058043e-03 9.92267913e-01 1.12421190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:184.93, Z:112.41 [[ 1.69032694e-01 -9.85357257e-01 2.23388530e-02 3.10084926e+02] [ 9.77783610e-01 1.70497982e-01 1.21941178e-01 1.84932525e+02] [-1.23964354e-01 1.23051855e-03 9.92285909e-01 1.12412935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:184.96, Z:112.41 [[ 1.68727297e-01 -9.85410748e-01 2.22880433e-02 3.10090584e+02] [ 9.77847946e-01 1.70188531e-01 1.21857532e-01 1.84958897e+02] [-1.23872891e-01 1.23362534e-03 9.92297327e-01 1.12409077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.10, Y:184.99, Z:112.40 [[ 1.68362251e-01 -9.85473225e-01 2.22862285e-02 3.10096380e+02] [ 9.77895455e-01 1.69826220e-01 1.21981700e-01 1.84985605e+02] [-1.23994485e-01 1.25648798e-03 9.92282112e-01 1.12404930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.10, Y:185.01, Z:112.40 [[ 1.69311857e-01 -9.85315564e-01 2.20620601e-02 3.10102465e+02] [ 9.77865872e-01 1.70739671e-01 1.20939249e-01 1.85012495e+02] [-1.22930194e-01 1.09728679e-03 9.92414713e-01 1.12401279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.10, Y:185.04, Z:112.39 [[ 1.68802244e-01 -9.84969211e-01 3.66258876e-02 3.10100536e+02] [ 9.78492281e-01 1.71930763e-01 1.13985387e-01 1.85040315e+02] [-1.18569214e-01 1.65971592e-02 9.92807069e-01 1.12390750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:185.07, Z:112.40 [[ 1.70297129e-01 -9.85365425e-01 7.33941991e-03 3.10119425e+02] [ 9.77747643e-01 1.69897200e-01 1.23062943e-01 1.85065023e+02] [-1.22508916e-01 -1.37811654e-02 9.92371727e-01 1.12399816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:185.09, Z:112.39 [[ 1.70883026e-01 -9.84897002e-01 2.78726779e-02 3.10115200e+02] [ 9.77934418e-01 1.72989711e-01 1.17127426e-01 1.85093559e+02] [-1.20180137e-01 7.24256207e-03 9.92725682e-01 1.12386893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.140385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:310.13, Y:185.12, Z:112.39 [[ 1.72881894e-01 -9.84820356e-01 1.55150436e-02 3.10126559e+02] [ 9.77456962e-01 1.73485075e-01 1.20336262e-01 1.85117958e+02] [-1.21201229e-01 -5.63867360e-03 9.92611942e-01 1.12388788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.13, Y:185.15, Z:112.38 [[ 1.73189879e-01 -9.84653069e-01 2.15313422e-02 3.10128752e+02] [ 9.77438510e-01 1.74522605e-01 1.18978228e-01 1.85145024e+02] [-1.20909984e-01 4.39738037e-04 9.92663378e-01 1.12382817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.200385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:310.13, Y:185.17, Z:112.38 [[ 1.73943225e-01 -9.84518204e-01 2.16254530e-02 3.10134198e+02] [ 9.77215108e-01 1.75282082e-01 1.19694718e-01 1.85172448e+02] [-1.21632184e-01 3.12634005e-04 9.92575193e-01 1.12379622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.230385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:310.14, Y:185.20, Z:112.38 [[ 1.73691331e-01 -9.84561951e-01 2.16584171e-02 3.10139349e+02] [ 9.77214661e-01 1.75036191e-01 1.20057646e-01 1.85200337e+02] [-1.21995197e-01 3.11950452e-04 9.92530642e-01 1.12376212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.260385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:310.14, Y:185.23, Z:112.37 [[ 1.73219198e-01 -9.84644651e-01 2.16799763e-02 3.10144518e+02] [ 9.77260021e-01 1.74570325e-01 1.20366332e-01 1.85227876e+02] [-1.22302746e-01 3.37214555e-04 9.92492783e-01 1.12372671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.290385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:310.15, Y:185.25, Z:112.37 [[ 1.71415551e-01 -9.84960884e-01 2.16510026e-02 3.10150275e+02] [ 9.77574160e-01 1.72776677e-01 1.20403416e-01 1.85253782e+02] [-1.22333443e-01 5.26442742e-04 9.92488918e-01 1.12370266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.320385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:310.16, Y:185.28, Z:112.37 [[ 1.70435719e-01 -9.85131120e-01 2.16412224e-02 3.10156095e+02] [ 9.77735755e-01 1.71803046e-01 1.20484464e-01 1.85280897e+02] [-1.22411023e-01 6.24540775e-04 9.92479295e-01 1.12366834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.350385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:310.16, Y:185.31, Z:112.36 [[ 1.68427433e-01 -9.85478713e-01 2.15385025e-02 3.10161673e+02] [ 9.78132375e-01 1.69796952e-01 1.20108504e-01 1.85307229e+02] [-1.22021546e-01 8.37939621e-04 9.92527098e-01 1.12363760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.380385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:310.17, Y:185.33, Z:112.36 [[ 1.67538894e-01 -9.85632091e-01 2.14499638e-02 3.10166556e+02] [ 9.78331221e-01 1.68903908e-01 1.19747616e-01 1.85333273e+02] [-1.21650076e-01 9.22786181e-04 9.92572621e-01 1.12360054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.410385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:310.17, Y:185.36, Z:112.36 [[ 1.66322215e-01 -9.85840372e-01 2.13467257e-02 3.10171589e+02] [ 9.78588150e-01 1.67683292e-01 1.19363083e-01 1.85360651e+02] [-1.21252436e-01 1.03692043e-03 9.92621162e-01 1.12356331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:185.39, Z:112.41 [[ 1.67484151e-01 -9.83986785e-01 -6.09841519e-02 3.10218746e+02] [ 9.80660025e-01 1.59925303e-01 1.12826475e-01 1.85393022e+02] [-1.01266852e-01 -7.87013663e-02 9.91741458e-01 1.12413874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4703857229999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:310.14, Y:185.42, Z:112.32 [[ 1.64704812e-01 -9.81201890e-01 1.00574234e-01 3.10144184e+02] [ 9.79192840e-01 1.74913972e-01 1.02890647e-01 1.85418434e+02] [-1.18548336e-01 8.15349852e-02 9.89595038e-01 1.12316189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.500385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:310.19, Y:185.44, Z:112.35 [[ 1.61588632e-01 -9.86640531e-01 2.07262298e-02 3.10187730e+02] [ 9.79752362e-01 1.62905542e-01 1.16391984e-01 1.85443785e+02] [-1.18213467e-01 1.49895112e-03 9.92987074e-01 1.12346506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.530385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:310.19, Y:185.47, Z:112.34 [[ 1.60806976e-01 -9.86769717e-01 2.06553434e-02 3.10192078e+02] [ 9.79908418e-01 1.62120625e-01 1.16173988e-01 1.85471298e+02] [-1.17985630e-01 1.55875726e-03 9.93014079e-01 1.12343217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.560385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:310.20, Y:185.50, Z:112.34 [[ 1.60025123e-01 -9.86898942e-01 2.05532843e-02 3.10196159e+02] [ 9.80084801e-01 1.61331544e-01 1.15783922e-01 1.85497703e+02] [-1.17582923e-01 1.61562529e-03 9.93061753e-01 1.12339942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5903857229999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:310.20, Y:185.53, Z:112.34 [[ 1.58441913e-01 -9.87159082e-01 2.03250327e-02 3.10199802e+02] [ 9.80475231e-01 1.59730595e-01 1.14692884e-01 1.85525653e+02] [-1.16466652e-01 1.75603120e-03 9.93193050e-01 1.12336430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.620385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:310.20, Y:185.55, Z:112.33 [[ 1.57519694e-01 -9.87308806e-01 2.02204767e-02 3.10203735e+02] [ 9.80674074e-01 1.58801701e-01 1.14282019e-01 1.85552129e+02] [-1.16042690e-01 1.82802851e-03 9.93242545e-01 1.12332840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.650385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:310.21, Y:185.58, Z:112.33 [[ 1.55664139e-01 -9.87605665e-01 2.00929437e-02 3.10207392e+02] [ 9.81034989e-01 1.56942763e-01 1.13751134e-01 1.85578384e+02] [-1.15494706e-01 2.00490860e-03 9.93306072e-01 1.12329674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.21, Y:185.61, Z:112.33 [[ 1.54243574e-01 -9.87827860e-01 2.01255655e-02 3.10211514e+02] [ 9.81215566e-01 1.55536233e-01 1.14124899e-01 1.85606074e+02] [-1.15866010e-01 2.14448576e-03 9.93262538e-01 1.12325662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.710385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:310.21, Y:185.63, Z:112.32 [[ 1.52922637e-01 -9.88030986e-01 2.02345948e-02 3.10214917e+02] [ 9.81326868e-01 1.54238661e-01 1.14926126e-01 1.85632320e+02] [-1.16671530e-01 2.28194528e-03 9.93167935e-01 1.12322049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.740385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:310.22, Y:185.66, Z:112.32 [[ 1.52021067e-01 -9.88167726e-01 2.03504635e-02 3.10218740e+02] [ 9.81364160e-01 1.53358827e-01 1.15781934e-01 1.85660310e+02] [-1.17532893e-01 2.36992237e-03 9.93066162e-01 1.12318250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.22, Y:185.69, Z:112.31 [[ 1.50353327e-01 -9.88417537e-01 2.06070342e-02 3.10220993e+02] [ 9.81420196e-01 1.51737202e-01 1.17431768e-01 1.85686870e+02] [-1.19198473e-01 2.56790263e-03 9.92867126e-01 1.12314883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.800385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:310.22, Y:185.71, Z:112.31 [[ 1.49620582e-01 -9.88526628e-01 2.07071744e-02 3.10224816e+02] [ 9.81437598e-01 1.51023677e-01 1.18203600e-01 1.85714484e+02] [-1.19974679e-01 2.63710821e-03 9.92773450e-01 1.12311233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:185.74, Z:112.32 [[ 1.50118032e-01 -9.88659957e-01 4.00829144e-03 3.10238195e+02] [ 9.81700961e-01 1.49539390e-01 1.17903324e-01 1.85744113e+02] [-1.17165693e-01 -1.37644714e-02 9.93016989e-01 1.12319376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:185.77, Z:112.31 [[ 1.50099265e-01 -9.88457109e-01 2.05609765e-02 3.10235585e+02] [ 9.81716883e-01 1.51473538e-01 1.15272415e-01 1.85772534e+02] [-1.17056282e-01 2.88275293e-03 9.93121099e-01 1.12308293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.890385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:310.23, Y:185.80, Z:112.29 [[ 1.48067553e-01 -9.88238452e-01 3.82199051e-02 3.10228677e+02] [ 9.81392816e-01 1.51599234e-01 1.17838077e-01 1.85799216e+02] [-1.22246227e-01 2.00607446e-02 9.92297046e-01 1.12291077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:310.24, Y:185.83, Z:112.29 [[ 1.47525540e-01 -9.88802913e-01 2.24725085e-02 3.10239524e+02] [ 9.81393008e-01 1.49167699e-01 1.20899804e-01 1.85825453e+02] [-1.22898250e-01 4.21855391e-03 9.92410310e-01 1.12293231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.950385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:310.23, Y:185.85, Z:112.28 [[ 1.46288480e-01 -9.88444245e-01 3.97197022e-02 3.10231637e+02] [ 9.80960716e-01 1.50131344e-01 1.23193561e-01 1.85851456e+02] [-1.27733139e-01 2.09416687e-02 9.91587460e-01 1.12275242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.980385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:310.21, Y:185.87, Z:112.24 [[ 1.36521182e-01 -9.87419012e-01 7.97851038e-02 3.10205577e+02] [ 9.80030095e-01 1.46374957e-01 1.34593406e-01 1.85870773e+02] [-1.44578629e-01 5.98169520e-02 9.87683630e-01 1.12236510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.26, Y:185.90, Z:112.28 [[ 1.42954708e-01 -9.89702231e-01 -7.31068372e-03 3.10257337e+02] [ 9.79961083e-01 1.40504739e-01 1.41190277e-01 1.85902215e+02] [-1.38709146e-01 -2.73480004e-02 9.89955484e-01 1.12276428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.040385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:310.28, Y:185.93, Z:112.30 [[ 1.48953498e-01 -9.88340814e-01 -3.15482447e-02 3.10276440e+02] [ 9.80902047e-01 1.43646455e-01 1.31136838e-01 1.85933835e+02] [-1.25076096e-01 -5.04790286e-02 9.90862169e-01 1.12299842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:185.96, Z:112.23 [[ 1.43128163e-01 -9.86416481e-01 8.06030682e-02 3.10219978e+02] [ 9.79973609e-01 1.52642366e-01 1.27875073e-01 1.85956645e+02] [-1.38441523e-01 6.06863554e-02 9.88509540e-01 1.12229484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:185.99, Z:112.26 [[ 1.47668851e-01 -9.88962840e-01 1.21000277e-02 3.10262013e+02] [ 9.79884701e-01 1.47951927e-01 1.33926102e-01 1.85986172e+02] [-1.34238160e-01 -7.92008152e-03 9.90917448e-01 1.12257100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:186.01, Z:112.25 [[ 1.49368641e-01 -9.88588965e-01 1.95158260e-02 3.10264797e+02] [ 9.79398760e-01 1.50635018e-01 1.34488513e-01 1.86012375e+02] [-1.35893626e-01 -9.74590672e-04 9.90722955e-01 1.12249749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.160385723 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:310.27, Y:186.04, Z:112.24 [[ 1.50921634e-01 -9.88263464e-01 2.36217509e-02 3.10268770e+02] [ 9.78979900e-01 1.52734734e-01 1.35168253e-01 1.86039251e+02] [-1.37189708e-01 2.72540570e-03 9.90541042e-01 1.12243517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.190385723 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:310.28, Y:186.07, Z:112.25 [[ 1.52696408e-01 -9.88221225e-01 1.01300429e-02 3.10280486e+02] [ 9.78955217e-01 1.52653014e-01 1.35439067e-01 1.86069906e+02] [-1.35390142e-01 -1.07642006e-02 9.90733890e-01 1.12248997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:186.09, Z:112.25 [[ 1.51953255e-01 -9.88381996e-01 3.35240344e-03 3.10284274e+02] [ 9.79515754e-01 1.51041864e-01 1.33173735e-01 1.86093708e+02] [-1.32132875e-01 -1.69524505e-02 9.91087038e-01 1.12253921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:186.12, Z:112.24 [[ 1.52212801e-01 -9.88097065e-01 2.22587658e-02 3.10280435e+02] [ 9.79375928e-01 1.53820456e-01 1.31004041e-01 1.86121099e+02] [-1.32868562e-01 1.85920755e-03 9.91131923e-01 1.12241886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:186.15, Z:112.24 [[ 1.51975398e-01 -9.88132357e-01 2.23141882e-02 3.10284995e+02] [ 9.79337868e-01 1.53593568e-01 1.31553627e-01 1.86147807e+02] [-1.33419712e-01 1.86021467e-03 9.91057879e-01 1.12237942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.29, Y:186.18, Z:112.23 [[ 1.51991776e-01 -9.88127104e-01 2.24349416e-02 3.10289441e+02] [ 9.79204133e-01 1.53627741e-01 1.32505785e-01 1.86175371e+02] [-1.34379187e-01 1.82859796e-03 9.90928297e-01 1.12233658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.29, Y:186.20, Z:112.23 [[ 1.51996025e-01 -9.88121780e-01 2.26397078e-02 3.10292301e+02] [ 9.79003182e-01 1.53662253e-01 1.33942827e-01 1.86203304e+02] [-1.35830693e-01 1.80556870e-03 9.90730419e-01 1.12228732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:310.30, Y:186.23, Z:112.22 [[ 1.52109490e-01 -9.88103601e-01 2.26710561e-02 3.10296128e+02] [ 9.78928394e-01 1.53779672e-01 1.34354056e-01 1.86230428e+02] [-1.36242074e-01 1.75681357e-03 9.90674019e-01 1.12224533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.30, Y:186.26, Z:112.22 [[ 1.51882456e-01 -9.88139294e-01 2.26374572e-02 3.10300119e+02] [ 9.78960589e-01 1.53550217e-01 1.34381906e-01 1.86258145e+02] [-1.36264028e-01 1.75092443e-03 9.90671009e-01 1.12219954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.30, Y:186.29, Z:112.21 [[ 1.51578187e-01 -9.88187748e-01 2.25616570e-02 3.10304580e+02] [ 9.79039897e-01 1.53238057e-01 1.34160273e-01 1.86285880e+02] [-1.36032843e-01 1.75299135e-03 9.90702777e-01 1.12214468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:186.31, Z:112.21 [[ 1.50185191e-01 -9.88349000e-01 2.47116110e-02 3.10309422e+02] [ 9.79290150e-01 1.52148357e-01 1.33572752e-01 1.86313212e+02] [-1.35776327e-01 4.13918803e-03 9.90730870e-01 1.12208384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:186.34, Z:112.21 [[ 1.49239593e-01 -9.88599417e-01 1.99684090e-02 3.10316610e+02] [ 9.79555732e-01 1.50569155e-01 1.33414759e-01 1.86340440e+02] [-1.34900379e-01 -3.50594812e-04 9.90859104e-01 1.12207322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:186.37, Z:112.20 [[ 1.48256026e-01 -9.88699906e-01 2.21956272e-02 3.10320094e+02] [ 9.79781489e-01 1.49893569e-01 1.32514721e-01 1.86367536e+02] [-1.34344274e-01 2.10075868e-03 9.90932492e-01 1.12201950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:186.39, Z:112.20 [[ 1.46254159e-01 -9.89001235e-01 2.20517368e-02 3.10324901e+02] [ 9.80172074e-01 1.47888957e-01 1.31877074e-01 1.86394212e+02] [-1.33687797e-01 2.32692604e-03 9.91020766e-01 1.12197054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.33, Y:186.42, Z:112.19 [[ 1.45197501e-01 -9.89155071e-01 2.21344098e-02 3.10330121e+02] [ 9.80228555e-01 1.46854633e-01 1.32611072e-01 1.86421416e+02] [-1.34423454e-01 2.44198439e-03 9.90920971e-01 1.12192955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:186.45, Z:112.19 [[ 1.43871765e-01 -9.89431777e-01 1.80464308e-02 3.10339663e+02] [ 9.80312472e-01 1.44990420e-01 1.34034456e-01 1.86450058e+02] [-1.35234510e-01 -1.59263252e-03 9.90812339e-01 1.12192110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:186.48, Z:112.18 [[ 1.43423717e-01 -9.89288297e-01 2.71717454e-02 3.10338435e+02] [ 9.80221943e-01 1.45785194e-01 1.33834300e-01 1.86476277e+02] [-1.36361945e-01 7.43932827e-03 9.90631151e-01 1.12184303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.670385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:310.34, Y:186.50, Z:112.18 [[ 1.42386687e-01 -9.89339275e-01 3.05586514e-02 3.10340766e+02] [ 9.79946313e-01 1.45248319e-01 1.36411693e-01 1.86504905e+02] [-1.39396038e-01 1.05226287e-02 9.90180801e-01 1.12175451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.35, Y:186.53, Z:112.18 [[ 1.45452728e-01 -9.89248222e-01 1.52137904e-02 3.10351117e+02] [ 9.79588642e-01 1.46154815e-01 1.38003125e-01 1.86531368e+02] [-1.38742914e-01 -5.16967470e-03 9.90314939e-01 1.12181022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.35, Y:186.56, Z:112.17 [[ 1.44858355e-01 -9.89044037e-01 2.84244568e-02 3.10347430e+02] [ 9.79275489e-01 1.47418893e-01 1.38878317e-01 1.86557797e+02] [-1.41547073e-01 7.71768934e-03 9.89901441e-01 1.12168947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.36, Y:186.59, Z:112.17 [[ 1.48421944e-01 -9.88777740e-01 1.70149431e-02 3.10358202e+02] [ 9.78938606e-01 1.49340389e-01 1.39200053e-01 1.86585801e+02] [-1.40178932e-01 -4.00375785e-03 9.90118092e-01 1.12173260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.36, Y:186.61, Z:112.17 [[ 1.51667524e-01 -9.88162555e-01 2.30591922e-02 3.10358112e+02] [ 9.78278498e-01 1.53403940e-01 1.39421703e-01 1.86613900e+02] [-1.41308677e-01 1.41256747e-03 9.89964576e-01 1.12167530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.36, Y:186.64, Z:112.16 [[ 1.53131357e-01 -9.87936100e-01 2.30878760e-02 3.10361263e+02] [ 9.77990061e-01 1.54857684e-01 1.39837540e-01 1.86640722e+02] [-1.41725889e-01 1.16620101e-03 9.89905254e-01 1.12163543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.36, Y:186.67, Z:112.16 [[ 1.54334359e-01 -9.87751724e-01 2.29660197e-02 3.10364439e+02] [ 9.77883949e-01 1.56030781e-01 1.39274468e-01 1.86667894e+02] [-1.41152002e-01 9.63266287e-04 9.89987467e-01 1.12159201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.880385723 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:310.35, Y:186.70, Z:112.13 [[ 1.54432616e-01 -9.86579698e-01 5.30194883e-02 3.10350263e+02] [ 9.77166680e-01 1.60444902e-01 1.39293622e-01 1.86695081e+02] [-1.45930966e-01 3.02973990e-02 9.88830734e-01 1.12133635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:186.72, Z:112.14 [[ 1.54272936e-01 -9.87770619e-01 2.25624714e-02 3.10366912e+02] [ 9.77360618e-01 1.55914091e-01 1.43028036e-01 1.86720161e+02] [-1.44796699e-01 -1.36839795e-05 9.89461427e-01 1.12142020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:186.75, Z:112.15 [[ 1.56017058e-01 -9.87702125e-01 1.01582208e-02 3.10377212e+02] [ 9.77256214e-01 1.55846103e-01 1.43813368e-01 1.86747085e+02] [-1.43627889e-01 -1.25101543e-02 9.89552690e-01 1.12145777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.37, Y:186.78, Z:112.13 [[ 1.57592706e-01 -9.87068926e-01 2.93168093e-02 3.10373553e+02] [ 9.77029285e-01 1.60164966e-01 1.40573680e-01 1.86776363e+02] [-1.43451437e-01 6.48999463e-03 9.89636077e-01 1.12132343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:186.80, Z:112.14 [[ 1.56518532e-01 -9.87520208e-01 1.74867848e-02 3.10382099e+02] [ 9.77533528e-01 1.57417790e-01 1.40170759e-01 1.86804706e+02] [-1.41174189e-01 -4.84540307e-03 9.89972914e-01 1.12135979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:186.83, Z:112.13 [[ 1.56489851e-01 -9.87551477e-01 1.59061871e-02 3.10386341e+02] [ 9.77707483e-01 1.57172476e-01 1.39229634e-01 1.86832379e+02] [-1.39996446e-01 -6.23642661e-03 9.90132366e-01 1.12134044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:186.86, Z:112.13 [[ 1.57057191e-01 -9.87332712e-01 2.25200737e-02 3.10388182e+02] [ 9.77636437e-01 1.58663169e-01 1.38032588e-01 1.86861052e+02] [-1.39857195e-01 3.37434176e-04 9.90171627e-01 1.12127664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:186.89, Z:112.13 [[ 1.57877808e-01 -9.87312399e-01 1.69948554e-02 3.10395464e+02] [ 9.77701540e-01 1.58708115e-01 1.37518847e-01 1.86889611e+02] [-1.38471284e-01 -5.09527781e-03 9.90353342e-01 1.12127227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:186.92, Z:112.13 [[ 1.59506787e-01 -9.87179297e-01 5.88399781e-03 3.10406626e+02] [ 9.78082306e-01 1.58839357e-01 1.34629349e-01 1.86917916e+02] [-1.33837916e-01 -1.57192607e-02 9.90878558e-01 1.12134126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:186.95, Z:112.12 [[ 1.58992030e-01 -9.87040469e-01 2.17404543e-02 3.10403425e+02] [ 9.78186655e-01 1.60471264e-01 1.31908456e-01 1.86945398e+02] [-1.33687703e-01 2.93829061e-04 9.91023467e-01 1.12124059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.180385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.41, Y:186.97, Z:112.12 [[ 1.57468066e-01 -9.87285013e-01 2.17281058e-02 3.10406904e+02] [ 9.78412502e-01 1.58959391e-01 1.32063956e-01 1.86971621e+02] [-1.33838651e-01 4.63194609e-04 9.91003028e-01 1.12119842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:187.00, Z:112.12 [[ 1.56019948e-01 -9.87514164e-01 2.17612501e-02 3.10410979e+02] [ 9.78583502e-01 1.57529015e-01 1.32510146e-01 1.86999099e+02] [-1.34283675e-01 6.20974159e-04 9.90942738e-01 1.12115562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:187.03, Z:112.11 [[ 1.53787937e-01 -9.87720739e-01 2.75138656e-02 3.10412374e+02] [ 9.78734966e-01 1.56096085e-01 1.33085984e-01 1.87026246e+02] [-1.35746593e-01 6.46176345e-03 9.90722518e-01 1.12106778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.42, Y:187.05, Z:112.11 [[ 1.52004925e-01 -9.88187982e-01 1.94683073e-02 3.10422005e+02] [ 9.79250159e-01 1.53242674e-01 1.32611498e-01 1.87052608e+02] [-1.34028464e-01 -1.09325777e-03 9.90976880e-01 1.12109348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.300385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.42, Y:187.08, Z:112.10 [[ 1.50917357e-01 -9.88256865e-01 2.39232276e-02 3.10423819e+02] [ 9.79284821e-01 1.52764572e-01 1.32906830e-01 1.87078032e+02] [-1.35000709e-01 3.36970610e-03 9.90839772e-01 1.12101926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:187.11, Z:112.10 [[ 1.48225014e-01 -9.88778375e-01 1.86190875e-02 3.10431130e+02] [ 9.79810003e-01 1.49382777e-01 1.32880188e-01 1.87107346e+02] [-1.34170427e-01 -1.45299945e-03 9.90957207e-01 1.12100715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:187.13, Z:112.10 [[ 1.47828849e-01 -9.88830848e-01 1.89785758e-02 3.10434731e+02] [ 9.79921126e-01 1.49038890e-01 1.32446200e-01 1.87133541e+02] [-1.33795434e-01 -9.81861907e-04 9.91008485e-01 1.12098052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:187.16, Z:112.10 [[ 1.47070465e-01 -9.89077675e-01 9.77911560e-03 3.10443970e+02] [ 9.80509261e-01 1.47084288e-01 1.30260513e-01 1.87161480e+02] [-1.30276120e-01 -9.56896080e-03 9.91431575e-01 1.12100049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:187.19, Z:112.08 [[ 1.45590546e-01 -9.88800787e-01 3.28084781e-02 3.10436846e+02] [ 9.80503513e-01 1.48633616e-01 1.28533689e-01 1.87187847e+02] [-1.31970656e-01 1.34555382e-02 9.91162295e-01 1.12083929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:187.22, Z:112.10 [[ 1.44252842e-01 -9.89532192e-01 4.14234551e-03 3.10456082e+02] [ 9.81367091e-01 1.43596973e-01 1.27665744e-01 1.87215971e+02] [-1.26924192e-01 -1.43509849e-02 9.91808600e-01 1.12095682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:187.24, Z:112.08 [[ 1.43245315e-01 -9.89130503e-01 3.31907694e-02 3.10446788e+02] [ 9.81659684e-01 1.46266293e-01 1.22271976e-01 1.87242951e+02] [-1.25797632e-01 1.50671525e-02 9.91941499e-01 1.12078058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:187.27, Z:112.08 [[ 1.43324664e-01 -9.89617184e-01 1.07643211e-02 3.10462135e+02] [ 9.80465629e-01 1.43462869e-01 1.34556886e-01 1.87267143e+02] [-1.34704087e-01 -8.73127359e-03 9.90847402e-01 1.12081476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:187.30, Z:112.08 [[ 1.42611938e-01 -9.89550803e-01 2.12377832e-02 3.10461939e+02] [ 9.81336663e-01 1.44159501e-01 1.27265046e-01 1.87295808e+02] [-1.28996857e-01 2.69190049e-03 9.91641349e-01 1.12077124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:187.32, Z:112.07 [[ 1.43435577e-01 -9.89068502e-01 3.42013553e-02 3.10460408e+02] [ 9.80659486e-01 1.46696376e-01 1.29565220e-01 1.87322227e+02] [-1.33166093e-01 1.49556215e-02 9.90980888e-01 1.12065082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:187.35, Z:112.07 [[ 1.43781570e-01 -9.89379156e-01 2.13482096e-02 3.10470975e+02] [ 9.80572612e-01 1.45344118e-01 1.31728658e-01 1.87348046e+02] [-1.33432425e-01 1.99331634e-03 9.91055909e-01 1.12066532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:187.38, Z:112.07 [[ 1.44842744e-01 -9.89412460e-01 9.14126313e-03 3.10481867e+02] [ 9.81009285e-01 1.44804829e-01 1.29043964e-01 1.87375824e+02] [-1.29001405e-01 -9.72341782e-03 9.91596739e-01 1.12071187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:187.40, Z:112.05 [[ 1.46017767e-01 -9.88742516e-01 3.26657284e-02 3.10475130e+02] [ 9.80441572e-01 1.49038454e-01 1.28537398e-01 1.87402002e+02] [-1.31958840e-01 1.32580943e-02 9.91166529e-01 1.12054805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:187.43, Z:112.06 [[ 1.46823749e-01 -9.89140139e-01 6.67621725e-03 3.10491753e+02] [ 9.80940340e-01 1.46468407e-01 1.27683417e-01 1.87429579e+02] [-1.27274648e-01 -1.21979872e-02 9.91792505e-01 1.12064740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.48, Y:187.46, Z:112.05 [[ 1.48074109e-01 -9.88373100e-01 3.45351172e-02 3.10482947e+02] [ 9.80255757e-01 1.51306018e-01 1.27299409e-01 1.87456590e+02] [-1.31044683e-01 1.50035008e-02 9.91262925e-01 1.12045301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:187.48, Z:112.05 [[ 1.48605988e-01 -9.88677530e-01 2.08086885e-02 3.10493729e+02] [ 9.80181991e-01 1.50051184e-01 1.29336407e-01 1.87482725e+02] [-1.30994368e-01 1.17613720e-03 9.91382415e-01 1.12047273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:187.51, Z:112.04 [[ 1.48444351e-01 -9.88702605e-01 2.07709920e-02 3.10498147e+02] [ 9.80206465e-01 1.49886005e-01 1.29342461e-01 1.87510670e+02] [-1.30994509e-01 1.15970300e-03 9.91382416e-01 1.12043399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:187.54, Z:112.05 [[ 1.50133899e-01 -9.88651754e-01 5.24604458e-03 3.10511027e+02] [ 9.80493668e-01 1.49571671e-01 1.27516596e-01 1.87539251e+02] [-1.26854166e-01 -1.40008502e-02 9.91822563e-01 1.12050344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:187.57, Z:112.04 [[ 1.51075456e-01 -9.88410022e-01 1.48941410e-02 3.10511560e+02] [ 9.80495953e-01 1.51747921e-01 1.24900983e-01 1.87565611e+02] [-1.25713538e-01 -4.26582796e-03 9.92057412e-01 1.12044012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:187.59, Z:112.02 [[ 1.51910901e-01 -9.87545111e-01 4.09601408e-02 3.10505051e+02] [ 9.79619662e-01 1.55942650e-01 1.26598612e-01 1.87592093e+02] [-1.31409273e-01 2.08936501e-02 9.91107995e-01 1.12023777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:187.62, Z:112.03 [[ 1.51840572e-01 -9.88185681e-01 2.08206955e-02 3.10519837e+02] [ 9.79551879e-01 1.53260224e-01 1.30343468e-01 1.87617782e+02] [-1.31994533e-01 6.03524734e-04 9.91250261e-01 1.12028655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:187.65, Z:112.03 [[ 1.51257747e-01 -9.88461285e-01 8.08590983e-03 3.10531058e+02] [ 9.80035491e-01 1.51026211e-01 1.29311720e-01 1.87645884e+02] [-1.29040813e-01 -1.16349207e-02 9.91571025e-01 1.12034190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:187.67, Z:112.02 [[ 1.50911339e-01 -9.88278732e-01 2.30415996e-02 3.10530404e+02] [ 9.79919645e-01 1.52626359e-01 1.28306989e-01 1.87672641e+02] [-1.30319824e-01 3.21593653e-03 9.91466793e-01 1.12023284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:187.70, Z:112.01 [[ 1.51137120e-01 -9.88032755e-01 3.08033577e-02 3.10532449e+02] [ 9.79482715e-01 1.53886096e-01 1.30125631e-01 1.87699910e+02] [-1.33308594e-01 1.05045433e-02 9.91018907e-01 1.12013792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:187.73, Z:112.02 [[ 1.50526136e-01 -9.88510012e-01 1.37782065e-02 3.10547954e+02] [ 9.79833105e-01 1.51028462e-01 1.30833829e-01 1.87727357e+02] [-1.31411451e-01 -6.19356786e-03 9.91308565e-01 1.12019568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:187.75, Z:112.01 [[ 1.51270928e-01 -9.88103163e-01 2.77352871e-02 3.10546485e+02] [ 9.79504573e-01 1.53611560e-01 1.30285379e-01 1.87753834e+02] [-1.32995856e-01 7.45845027e-03 9.91088530e-01 1.12007925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:187.78, Z:112.01 [[ 1.51491073e-01 -9.88241095e-01 2.07362533e-02 3.10554762e+02] [ 9.79535283e-01 1.52902922e-01 1.30886689e-01 1.87779724e+02] [-1.32518239e-01 4.83726731e-04 9.91180449e-01 1.12006436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:187.81, Z:112.00 [[ 1.52144506e-01 -9.88145368e-01 2.05129372e-02 3.10560405e+02] [ 9.79594721e-01 1.53520690e-01 1.29713459e-01 1.87806605e+02] [-1.31324914e-01 3.59174837e-04 9.91339315e-01 1.12001573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:187.83, Z:112.00 [[ 1.52005896e-01 -9.88167660e-01 2.04666594e-02 3.10565372e+02] [ 9.79626463e-01 1.53377178e-01 1.29643491e-01 1.87833476e+02] [-1.31248624e-01 3.43106122e-04 9.91349424e-01 1.11997526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:310.57, Y:187.86, Z:111.99 [[ 1.51223465e-01 -9.88291800e-01 2.02677349e-02 3.10572825e+02] [ 9.79888672e-01 1.52575056e-01 1.28604207e-01 1.87860691e+02] [-1.30190835e-01 4.12149913e-04 9.91488869e-01 1.11993393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:187.89, Z:111.99 [[ 1.50399932e-01 -9.88419298e-01 2.01780149e-02 3.10578914e+02] [ 9.80062539e-01 1.51746684e-01 1.28258971e-01 1.87886981e+02] [-1.29835589e-01 4.85575962e-04 9.91535417e-01 1.11990265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:187.91, Z:111.99 [[ 1.49383613e-01 -9.88573295e-01 2.01835702e-02 3.10584982e+02] [ 9.80192266e-01 1.50739798e-01 1.28454795e-01 1.87914544e+02] [-1.30029448e-01 5.94737984e-04 9.91509954e-01 1.11986497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.260385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:310.59, Y:187.94, Z:111.98 [[ 1.46999118e-01 -9.88930713e-01 2.01817786e-02 3.10591284e+02] [ 9.80525308e-01 1.48375467e-01 1.28665617e-01 1.87941796e+02] [-1.30235862e-01 8.75012423e-04 9.91482655e-01 1.11982520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.60, Y:187.97, Z:111.98 [[ 1.45838822e-01 -9.89103609e-01 2.01268381e-02 3.10596163e+02] [ 9.80716298e-01 1.47217751e-01 1.28539785e-01 1.87969096e+02] [-1.30102193e-01 9.92627340e-04 9.91500093e-01 1.11978572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.320385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:310.60, Y:188.00, Z:111.97 [[ 1.44174045e-01 -9.89348043e-01 2.01070836e-02 3.10602043e+02] [ 9.80950292e-01 1.45564634e-01 1.28636943e-01 1.87995667e+02] [-1.30193588e-01 1.17794107e-03 9.91487893e-01 1.11974396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:188.02, Z:111.97 [[ 1.39421112e-01 -9.90130696e-01 1.42463608e-02 3.10607009e+02] [ 9.81659352e-01 1.40088758e-01 1.29306055e-01 1.88020024e+02] [-1.30025649e-01 -4.04292071e-03 9.91502388e-01 1.11974114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.380385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:310.61, Y:188.05, Z:111.97 [[ 1.42086741e-01 -9.89544681e-01 2.47524198e-02 3.10611059e+02] [ 9.81145296e-01 1.44102387e-01 1.28796003e-01 1.88049611e+02] [-1.31016282e-01 5.98551589e-03 9.91362148e-01 1.11965275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.410385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:310.62, Y:188.07, Z:111.97 [[ 1.37490442e-01 -9.90419096e-01 1.28993614e-02 3.10615841e+02] [ 9.81811978e-01 1.37993885e-01 1.30395272e-01 1.88072080e+02] [-1.30926000e-01 -5.26335600e-03 9.91378172e-01 1.11967164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:188.10, Z:111.96 [[ 1.41682716e-01 -9.89579988e-01 2.56409104e-02 3.10619455e+02] [ 9.81178271e-01 1.43818730e-01 1.28861841e-01 1.88103420e+02] [-1.31206742e-01 6.90080857e-03 9.91331009e-01 1.11957196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:188.13, Z:111.95 [[ 1.41624645e-01 -9.89715742e-01 2.01298351e-02 3.10626383e+02] [ 9.81208929e-01 1.43041098e-01 1.29492402e-01 1.88130798e+02] [-1.31040062e-01 1.41225854e-03 9.91376068e-01 1.11954938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:188.16, Z:111.95 [[ 1.41992973e-01 -9.89664234e-01 2.00673649e-02 3.10631040e+02] [ 9.81179903e-01 1.43397842e-01 1.29317662e-01 1.88157841e+02] [-1.30858682e-01 1.32749584e-03 9.91400143e-01 1.11950954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:188.18, Z:111.95 [[ 1.39021324e-01 -9.90166530e-01 1.55985270e-02 3.10633427e+02] [ 9.81709332e-01 1.39868706e-01 1.29164751e-01 1.88181469e+02] [-1.30076359e-01 -2.64343521e-03 9.91500455e-01 1.11949782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:188.21, Z:111.95 [[ 1.38679699e-01 -9.90316390e-01 6.43346887e-03 3.10642742e+02] [ 9.82027154e-01 1.38352907e-01 1.28378900e-01 1.88209104e+02] [-1.28025818e-01 -1.14857061e-02 9.91704325e-01 1.11952746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:188.24, Z:111.96 [[ 1.41715681e-01 -9.89904768e-01 2.28383845e-03 3.10651688e+02] [ 9.82116476e-01 1.40888840e-01 1.24890199e-01 1.88238967e+02] [-1.23951170e-01 -1.54559042e-02 9.92167941e-01 1.11955387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:188.27, Z:111.92 [[ 1.43393997e-01 -9.88479068e-01 4.84488785e-02 3.10636073e+02] [ 9.81205845e-01 1.48385073e-01 1.23357044e-01 1.88267571e+02] [-1.29124947e-01 2.98496631e-02 9.91178968e-01 1.11923847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:188.29, Z:111.93 [[ 1.44644170e-01 -9.89288143e-01 1.96732148e-02 3.10653800e+02] [ 9.81045152e-01 1.45973357e-01 1.27444844e-01 1.88293402e+02] [-1.28951438e-01 8.66158351e-04 9.91650531e-01 1.11932407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:188.32, Z:111.93 [[ 1.42463486e-01 -9.89681138e-01 1.53427820e-02 3.10655618e+02] [ 9.81386577e-01 1.43252340e-01 1.27902908e-01 1.88317733e+02] [-1.28780985e-01 -3.16429375e-03 9.91668012e-01 1.11931636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.710385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:310.66, Y:188.35, Z:111.92 [[ 1.45740754e-01 -9.89069492e-01 2.23868875e-02 3.10661181e+02] [ 9.80859767e-01 1.47410515e-01 1.27217367e-01 1.88348783e+02] [-1.29126880e-01 3.41764223e-03 9.91622191e-01 1.11923658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.67, Y:188.38, Z:111.92 [[ 1.45653433e-01 -9.89142030e-01 1.95735013e-02 3.10665809e+02] [ 9.80919015e-01 1.46961245e-01 1.27280317e-01 1.88376167e+02] [-1.28774857e-01 6.61204447e-04 9.91673635e-01 1.11920817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:188.40, Z:111.92 [[ 1.40894487e-01 -9.89857914e-01 1.81673703e-02 3.10664062e+02] [ 9.81391088e-01 1.42060448e-01 1.29191181e-01 1.88397568e+02] [-1.30461778e-01 -3.73029859e-04 9.91453269e-01 1.11916829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.67, Y:188.43, Z:111.92 [[ 1.41462567e-01 -9.89917175e-01 7.23388858e-03 3.10674900e+02] [ 9.81554963e-01 1.41209370e-01 1.28878890e-01 1.88426273e+02] [-1.28600920e-01 -1.11310794e-02 9.91633956e-01 1.11920825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.67, Y:188.45, Z:111.90 [[ 1.40622709e-01 -9.89610252e-01 2.99466870e-02 3.10667888e+02] [ 9.81181422e-01 1.43339869e-01 1.29370399e-01 1.88452954e+02] [-1.32318827e-01 1.11907170e-02 9.91144034e-01 1.11904078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:188.48, Z:111.90 [[ 1.40539755e-01 -9.89885221e-01 1.93862294e-02 3.10677112e+02] [ 9.81095942e-01 1.41869575e-01 1.31619818e-01 1.88480517e+02] [-1.33038829e-01 5.21934083e-04 9.91110689e-01 1.11904165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:188.51, Z:111.90 [[ 1.45439857e-01 -9.89233255e-01 1.62731321e-02 3.10688914e+02] [ 9.80653635e-01 1.46317597e-01 1.30036954e-01 1.88512680e+02] [-1.31017925e-01 -2.95424987e-03 9.91375598e-01 1.11903733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:188.53, Z:111.89 [[ 1.40837301e-01 -9.89732304e-01 2.43889488e-02 3.10682339e+02] [ 9.80947527e-01 1.42832216e-01 1.31684877e-01 1.88534815e+02] [-1.33816304e-01 5.37813633e-03 9.90991560e-01 1.11893379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.70, Y:188.57, Z:111.90 [[ 1.46452036e-01 -9.89129279e-01 1.32314297e-02 3.10698888e+02] [ 9.80562263e-01 1.46923158e-01 1.30043198e-01 1.88567492e+02] [-1.30573538e-01 -6.07085048e-03 9.91420040e-01 1.11897872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.980385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:310.69, Y:188.59, Z:111.89 [[ 1.42686990e-01 -9.89543676e-01 2.10650513e-02 3.10692426e+02] [ 9.80856491e-01 1.44219789e-01 1.30847994e-01 1.88589728e+02] [-1.32517802e-01 1.99148594e-03 9.91178625e-01 1.11889096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.70, Y:188.62, Z:111.88 [[ 1.43858330e-01 -9.89379608e-01 2.08031834e-02 3.10695628e+02] [ 9.80740375e-01 1.45345536e-01 1.30472189e-01 1.88617452e+02] [-1.32110173e-01 1.63301055e-03 9.91233694e-01 1.11883128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.70, Y:188.65, Z:111.88 [[ 1.43487151e-01 -9.89418893e-01 2.14870112e-02 3.10699916e+02] [ 9.80888089e-01 1.45066025e-01 1.29670371e-01 1.88645063e+02] [-1.31415350e-01 2.47032125e-03 9.91324318e-01 1.11877099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:188.68, Z:111.88 [[ 1.46307737e-01 -9.89184157e-01 1.04282945e-02 3.10715858e+02] [ 9.80940596e-01 1.46434916e-01 1.27719862e-01 1.88675553e+02] [-1.27865530e-01 -8.45686656e-03 9.91755458e-01 1.11882721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:188.70, Z:111.88 [[ 1.45301663e-01 -9.89199828e-01 1.92646518e-02 3.10716430e+02] [ 9.81117171e-01 1.46572104e-01 1.26197128e-01 1.88703198e+02] [-1.27657837e-01 5.64228169e-04 9.91818107e-01 1.11875060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:188.73, Z:111.87 [[ 1.43964099e-01 -9.89396628e-01 1.92002900e-02 3.10720837e+02] [ 9.81339954e-01 1.45237120e-01 1.26008232e-01 1.88729641e+02] [-1.27460715e-01 7.01350153e-04 9.91843372e-01 1.11871821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:188.76, Z:111.87 [[ 1.40916464e-01 -9.89834975e-01 1.92164869e-02 3.10725975e+02] [ 9.81747659e-01 1.42216651e-01 1.26277309e-01 1.88757420e+02] [-1.27726601e-01 1.07118906e-03 9.91808836e-01 1.11868044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:188.78, Z:111.86 [[ 1.38311051e-01 -9.90204826e-01 1.90907088e-02 3.10730411e+02] [ 9.82197735e-01 1.39615652e-01 1.25678477e-01 1.88783555e+02] [-1.27112796e-01 1.36812862e-03 9.91887325e-01 1.11864145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:188.81, Z:111.86 [[ 1.37421872e-01 -9.90329979e-01 1.90200160e-02 3.10734537e+02] [ 9.82352483e-01 1.38724356e-01 1.25455781e-01 1.88810656e+02] [-1.26881160e-01 1.44399169e-03 9.91916875e-01 1.11860447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:188.84, Z:111.86 [[ 1.37056721e-01 -9.90380542e-01 1.90220132e-02 3.10738525e+02] [ 9.82372735e-01 1.38362757e-01 1.25696288e-01 1.88837954e+02] [-1.27119096e-01 1.45918613e-03 9.91886388e-01 1.11856605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:188.86, Z:111.85 [[ 1.37603168e-01 -9.90304516e-01 1.90350589e-02 3.10742303e+02] [ 9.82255730e-01 1.38906880e-01 1.26010157e-01 1.88864411e+02] [-1.27432528e-01 1.35789895e-03 9.91846312e-01 1.11853603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:188.89, Z:111.85 [[ 1.37702981e-01 -9.90289591e-01 1.90896448e-02 3.10746067e+02] [ 9.82162734e-01 1.39013666e-01 1.26615819e-01 1.88891677e+02] [-1.28040049e-01 1.31376210e-03 9.91768128e-01 1.11850035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:188.92, Z:111.85 [[ 1.37423728e-01 -9.90325467e-01 1.92402633e-02 3.10749262e+02] [ 9.82038773e-01 1.38757752e-01 1.27852002e-01 1.88918124e+02] [-1.29284830e-01 1.32478573e-03 9.91606614e-01 1.11846390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:188.95, Z:111.84 [[ 1.37326089e-01 -9.90338517e-01 1.92657123e-02 3.10753173e+02] [ 9.81997213e-01 1.38664784e-01 1.28271400e-01 1.88945609e+02] [-1.29703584e-01 1.30386613e-03 9.91551955e-01 1.11842631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:188.97, Z:111.84 [[ 1.37458227e-01 -9.90319857e-01 1.92825321e-02 3.10756955e+02] [ 9.81932296e-01 1.38798445e-01 1.28623319e-01 1.88972321e+02] [-1.30054613e-01 1.25380761e-03 9.91506039e-01 1.11839128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:189.00, Z:111.84 [[ 1.38473607e-01 -9.90177529e-01 1.93267088e-02 3.10760295e+02] [ 9.81727476e-01 1.39811500e-01 1.29088756e-01 1.88999919e+02] [-1.30522882e-01 1.09817543e-03 9.91444689e-01 1.11835446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.460385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:310.76, Y:189.03, Z:111.83 [[ 1.39154856e-01 -9.90084389e-01 1.92049354e-02 3.10763730e+02] [ 9.81710032e-01 1.40470493e-01 1.28504683e-01 1.89027855e+02] [-1.29928208e-01 9.71627067e-04 9.91522928e-01 1.11831572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:189.05, Z:111.82 [[ 1.37917175e-01 -9.89988163e-01 3.00381275e-02 3.10756790e+02] [ 9.81482791e-01 1.40676903e-01 1.30005920e-01 1.89052848e+02] [-1.32929993e-01 1.15518560e-02 9.91058107e-01 1.11817988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:189.08, Z:111.83 [[ 1.41672817e-01 -9.89886871e-01 7.26606905e-03 3.10774406e+02] [ 9.81466940e-01 1.41417009e-01 1.29320827e-01 1.89083137e+02] [-1.29040534e-01 -1.11898393e-02 9.91576184e-01 1.11828147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:189.11, Z:111.82 [[ 1.42099395e-01 -9.89669921e-01 1.90055368e-02 3.10771842e+02] [ 9.81382852e-01 1.43363900e-01 1.27806455e-01 1.89111143e+02] [-1.29210912e-01 4.90487955e-04 9.91617013e-01 1.11818986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.77, Y:189.14, Z:111.82 [[ 1.42632379e-01 -9.89593490e-01 1.89928442e-02 3.10774814e+02] [ 9.81284500e-01 1.43890847e-01 1.27969348e-01 1.89138032e+02] [-1.29370530e-01 3.84811040e-04 9.91596247e-01 1.11815673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:189.16, Z:111.81 [[ 1.42235114e-01 -9.89651308e-01 1.89594701e-02 3.10778590e+02] [ 9.81349486e-01 1.43492578e-01 1.27918199e-01 1.89164914e+02] [-1.29314956e-01 4.11406523e-04 9.91603486e-01 1.11811817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.80, Y:189.19, Z:111.82 [[ 1.45432737e-01 -9.89333127e-01 -8.32358853e-03 3.10795920e+02] [ 9.80082287e-01 1.42912711e-01 1.37893684e-01 1.89185228e+02] [-1.35233243e-01 -2.82120575e-02 9.90412061e-01 1.11820010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.79, Y:189.21, Z:111.81 [[ 1.45452188e-01 -9.89234301e-01 1.60984293e-02 3.10788309e+02] [ 9.80015346e-01 1.46290245e-01 1.34792753e-01 1.89211358e+02] [-1.35696658e-01 -3.82919310e-03 9.90743032e-01 1.11805467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:189.24, Z:111.79 [[ 1.40206775e-01 -9.89107057e-01 4.48251049e-02 3.10777588e+02] [ 9.81565663e-01 1.44791596e-01 1.24756733e-01 1.89243616e+02] [-1.29888064e-01 2.65070446e-02 9.91174287e-01 1.11790954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:189.26, Z:111.80 [[ 1.41556344e-01 -9.89835854e-01 1.36668842e-02 3.10795210e+02] [ 9.81153154e-01 1.42122258e-01 1.30918874e-01 1.89264743e+02] [-1.31530564e-01 -5.12309059e-03 9.91298878e-01 1.11800466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:189.29, Z:111.79 [[ 1.39396811e-01 -9.89844138e-01 2.78767314e-02 3.10791946e+02] [ 9.81691251e-01 1.41829509e-01 1.27148255e-01 1.89294237e+02] [-1.29810698e-01 9.64228203e-03 9.91491911e-01 1.11790796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:189.32, Z:111.79 [[ 1.37095338e-01 -9.90466346e-01 1.34642183e-02 3.10802925e+02] [ 9.81785763e-01 1.37673655e-01 1.30930058e-01 1.89322588e+02] [-1.31535484e-01 -4.73092273e-03 9.91300174e-01 1.11793401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:189.35, Z:111.79 [[ 1.36375633e-01 -9.90470693e-01 1.92222209e-02 3.10804135e+02] [ 9.81865789e-01 1.37719216e-01 1.30280428e-01 1.89350526e+02] [-1.31686215e-01 1.10656532e-03 9.91290833e-01 1.11787082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:189.38, Z:111.78 [[ 1.35816170e-01 -9.90549295e-01 1.91327795e-02 3.10806736e+02] [ 9.81992436e-01 1.37152433e-01 1.29923311e-01 1.89376998e+02] [-1.31319551e-01 1.14255830e-03 9.91339432e-01 1.11783648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:189.40, Z:111.78 [[ 1.35693692e-01 -9.90567913e-01 1.90376169e-02 3.10809005e+02] [ 9.82061713e-01 1.37018095e-01 1.29540857e-01 1.89404712e+02] [-1.30927515e-01 1.11823748e-03 9.91391313e-01 1.11779244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:189.43, Z:111.78 [[ 1.35633792e-01 -9.90576841e-01 1.89998933e-02 3.10812549e+02] [ 9.82071945e-01 1.36953760e-01 1.29531318e-01 1.89432559e+02] [-1.30912830e-01 1.09043837e-03 9.91393283e-01 1.11775114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:189.46, Z:111.77 [[ 1.35677649e-01 -9.90572748e-01 1.88999300e-02 3.10816070e+02] [ 9.82125023e-01 1.36983709e-01 1.29096485e-01 1.89460241e+02] [-1.30468443e-01 1.04658656e-03 9.91451910e-01 1.11771344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9703857229999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:310.82, Y:189.49, Z:111.77 [[ 1.35408538e-01 -9.90610716e-01 1.88397849e-02 3.10818567e+02] [ 9.82184976e-01 1.36708874e-01 1.28931599e-01 1.89488069e+02] [-1.30296589e-01 1.04571425e-03 9.91474511e-01 1.11765214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:189.51, Z:111.76 [[ 1.36727303e-01 -9.90428316e-01 1.89049088e-02 3.10821990e+02] [ 9.81909410e-01 1.38025527e-01 1.29625862e-01 1.89514592e+02] [-1.30994484e-01 8.39513314e-04 9.91382742e-01 1.11763714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:189.54, Z:111.76 [[ 1.38666820e-01 -9.90158244e-01 1.89252711e-02 3.10824779e+02] [ 9.81582811e-01 1.39951261e-01 1.30033959e-01 1.89541509e+02] [-1.31402812e-01 5.45325296e-04 9.91328908e-01 1.11760084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.83, Y:189.57, Z:111.76 [[ 1.39668097e-01 -9.90018228e-01 1.88873010e-02 3.10828301e+02] [ 9.81452649e-01 1.40938844e-01 1.29949759e-01 1.89569073e+02] [-1.31314585e-01 3.87155963e-04 9.91340673e-01 1.11756645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.83, Y:189.60, Z:111.75 [[ 1.40671533e-01 -9.89876517e-01 1.88679915e-02 3.10831846e+02] [ 9.81295232e-01 1.41931086e-01 1.30058584e-01 1.89595815e+02] [-1.31419892e-01 2.19529755e-04 9.91326769e-01 1.11753460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.83, Y:189.62, Z:111.75 [[ 1.42911955e-01 -9.89554371e-01 1.89293517e-02 3.10834905e+02] [ 9.80879479e-01 1.44160097e-01 1.30741406e-01 1.89623342e+02] [-1.32104587e-01 -1.17097299e-04 9.91235776e-01 1.11749882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:189.65, Z:111.75 [[ 1.43745473e-01 -9.89433633e-01 1.89294824e-02 3.10837979e+02] [ 9.80725289e-01 1.44986264e-01 1.30984319e-01 1.89650982e+02] [-1.32344806e-01 -2.63780886e-04 9.91203704e-01 1.11745603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.84, Y:189.68, Z:111.74 [[ 1.45402940e-01 -9.89192903e-01 1.88516684e-02 3.10841138e+02] [ 9.80522126e-01 1.46619003e-01 1.30687523e-01 1.89678433e+02] [-1.32039183e-01 -5.17872035e-04 9.91244362e-01 1.11741091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:189.71, Z:111.74 [[ 1.45691041e-01 -9.89150973e-01 1.88274468e-02 3.10844992e+02] [ 9.80467957e-01 1.46901328e-01 1.30776853e-01 1.89706545e+02] [-1.32123829e-01 -5.93307699e-04 9.91233041e-01 1.11737741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.85, Y:189.73, Z:111.73 [[ 1.45396207e-01 -9.89194510e-01 1.88192727e-02 3.10848905e+02] [ 9.80484993e-01 1.46607885e-01 1.30978267e-01 1.89733562e+02] [-1.32322036e-01 -5.91728791e-04 9.91206602e-01 1.11734070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:189.76, Z:111.73 [[ 1.44745014e-01 -9.89290585e-01 1.87888242e-02 3.10852897e+02] [ 9.80573497e-01 1.45958361e-01 1.31041114e-01 1.89761560e+02] [-1.32380126e-01 -5.43724726e-04 9.91198873e-01 1.11730436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:189.79, Z:111.73 [[ 1.42664047e-01 -9.89591896e-01 1.88374149e-02 3.10856852e+02] [ 9.80797642e-01 1.43902002e-01 1.31636620e-01 1.89788218e+02] [-1.32977274e-01 -3.04120942e-04 9.91119040e-01 1.11727264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:189.81, Z:111.72 [[ 1.41279672e-01 -9.89789571e-01 1.88854260e-02 3.10860578e+02] [ 9.80915243e-01 1.42536240e-01 1.32244871e-01 1.89814644e+02] [-1.33586451e-01 -1.58509654e-04 9.91037151e-01 1.11723772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:189.84, Z:111.72 [[ 1.37878933e-01 -9.90269433e-01 1.88640151e-02 3.10864397e+02] [ 9.81384222e-01 1.39163148e-01 1.32357950e-01 1.89841846e+02] [-1.33695208e-01 2.63473876e-04 9.91022463e-01 1.11720609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:189.87, Z:111.72 [[ 1.36194585e-01 -9.90503348e-01 1.88189625e-02 3.10868703e+02] [ 9.81628929e-01 1.37487857e-01 1.32294123e-01 1.89869542e+02] [-1.33625151e-01 4.55494764e-04 9.91031842e-01 1.11716940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.420385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:310.87, Y:189.90, Z:111.71 [[ 1.34427187e-01 -9.90745900e-01 1.87588430e-02 3.10872674e+02] [ 9.81896764e-01 1.35728145e-01 1.32123490e-01 1.89897296e+02] [-1.33446908e-01 6.58258280e-04 9.91055745e-01 1.11713189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:189.92, Z:111.71 [[ 1.31528959e-01 -9.91137767e-01 1.86026803e-02 3.10875775e+02] [ 9.82404090e-01 1.32834157e-01 1.31290863e-01 1.89924269e+02] [-1.32598404e-01 1.00679870e-03 9.91169335e-01 1.11709256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:189.95, Z:111.71 [[ 1.30099201e-01 -9.91327429e-01 1.85506457e-02 3.10878771e+02] [ 9.82619092e-01 1.31409890e-01 1.31115066e-01 1.89951724e+02] [-1.32415700e-01 1.17025323e-03 9.91193580e-01 1.11705063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.510385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:310.88, Y:189.98, Z:111.70 [[ 1.26950561e-01 -9.91737890e-01 1.84258424e-02 3.10880880e+02] [ 9.83115979e-01 1.28271431e-01 1.30496791e-01 1.89978374e+02] [-1.31782121e-01 1.54809926e-03 9.91277497e-01 1.11698322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:190.01, Z:111.70 [[ 1.26648047e-01 -9.91776798e-01 1.84134657e-02 3.10884611e+02] [ 9.83129399e-01 1.27970223e-01 1.30691267e-01 1.90005740e+02] [-1.31972941e-01 1.55102574e-03 9.91252106e-01 1.11697484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:190.03, Z:111.69 [[ 1.25728961e-01 -9.91894718e-01 1.83601985e-02 3.10888015e+02] [ 9.83261775e-01 1.27051955e-01 1.30591284e-01 1.90032163e+02] [-1.31865504e-01 1.63377487e-03 9.91266271e-01 1.11693652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:190.06, Z:111.70 [[ 1.24354452e-01 -9.92225100e-01 5.03196060e-03 3.10898607e+02] [ 9.83895814e-01 1.23963602e-01 1.28771319e-01 1.90061849e+02] [-1.28393915e-01 -1.10623619e-02 9.91661549e-01 1.11697702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:190.09, Z:111.69 [[ 1.24106973e-01 -9.92139880e-01 1.59974292e-02 3.10897438e+02] [ 9.83926773e-01 1.25133742e-01 1.27395651e-01 1.90090311e+02] [-1.28396124e-01 -7.03897117e-05 9.91722961e-01 1.11690190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.89, Y:190.12, Z:111.68 [[ 1.23022613e-01 -9.91851901e-01 3.30944502e-02 3.10890471e+02] [ 9.83740445e-01 1.26277587e-01 1.27705550e-01 1.90115852e+02] [-1.30844080e-01 1.68456787e-02 9.91259830e-01 1.11675308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:190.14, Z:111.68 [[ 1.23483309e-01 -9.92181644e-01 1.80957663e-02 3.10900582e+02] [ 9.83669509e-01 1.24789422e-01 1.29699255e-01 1.90143083e+02] [-1.30943380e-01 1.78456032e-03 9.91388242e-01 1.11678859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.90, Y:190.17, Z:111.67 [[ 1.23959353e-01 -9.92121840e-01 1.81199610e-02 3.10902504e+02] [ 9.83550864e-01 1.25265312e-01 1.30139537e-01 1.90170396e+02] [-1.31384079e-01 1.68989056e-03 9.91330100e-01 1.11674857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.91, Y:190.20, Z:111.67 [[ 1.23892392e-01 -9.92129350e-01 1.81666907e-02 3.10905362e+02] [ 9.83478597e-01 1.25206106e-01 1.30741270e-01 1.90198143e+02] [-1.31986831e-01 1.66870283e-03 9.91250065e-01 1.11671304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.91, Y:190.22, Z:111.67 [[ 1.23371906e-01 -9.92193054e-01 1.82295557e-02 3.10908117e+02] [ 9.83446834e-01 1.24699732e-01 1.31462170e-01 1.90224522e+02] [-1.32709073e-01 1.70906029e-03 9.91153561e-01 1.11667729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.91, Y:190.25, Z:111.66 [[ 1.23226615e-01 -9.92211066e-01 1.82319014e-02 3.10910811e+02] [ 9.83424585e-01 1.24556554e-01 1.31763994e-01 1.90252694e+02] [-1.33008596e-01 1.69286907e-03 9.91113438e-01 1.11664206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.91, Y:190.28, Z:111.66 [[ 1.22881801e-01 -9.92255115e-01 1.81617535e-02 3.10913617e+02] [ 9.83501638e-01 1.24205049e-01 1.31520472e-01 1.90279499e+02] [-1.32757643e-01 1.70064184e-03 9.91147071e-01 1.11660354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.92, Y:190.31, Z:111.66 [[ 1.23660718e-01 -9.92159996e-01 1.80712319e-02 3.10915260e+02] [ 9.83455813e-01 1.24964494e-01 1.31143205e-01 1.90307143e+02] [-1.32373304e-01 1.55499514e-03 9.91198714e-01 1.11656161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.92, Y:190.33, Z:111.65 [[ 1.24271116e-01 -9.92084438e-01 1.80321056e-02 3.10917600e+02] [ 9.83382540e-01 1.25564322e-01 1.31119723e-01 1.90334482e+02] [-1.32346026e-01 1.43806355e-03 9.91202533e-01 1.11652323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.92, Y:190.36, Z:111.65 [[ 1.25264577e-01 -9.91960572e-01 1.79724624e-02 3.10919921e+02] [ 9.83280672e-01 1.26540952e-01 1.30944677e-01 1.90362005e+02] [-1.32166209e-01 1.26924536e-03 9.91226756e-01 1.11648353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.92, Y:190.39, Z:111.64 [[ 1.27736215e-01 -9.91648504e-01 1.77962019e-02 3.10920825e+02] [ 9.83099775e-01 1.28966811e-01 1.29932266e-01 1.90388659e+02] [-1.31142257e-01 8.98386115e-04 9.91363153e-01 1.11644633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.92, Y:190.42, Z:111.63 [[ 1.27921773e-01 -9.91424953e-01 2.66942487e-02 3.10918680e+02] [ 9.82849813e-01 1.30328097e-01 1.30463915e-01 1.90415859e+02] [-1.32824191e-01 9.54726195e-03 9.91093630e-01 1.11634566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.93, Y:190.44, Z:111.64 [[ 1.30680082e-01 -9.91386348e-01 8.70779034e-03 3.10929398e+02] [ 9.82896581e-01 1.30700537e-01 1.29736968e-01 1.90443485e+02] [-1.29757572e-01 -8.39518028e-03 9.91510208e-01 1.11640786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.93, Y:190.47, Z:111.63 [[ 1.31040293e-01 -9.91223355e-01 1.74557029e-02 3.10928165e+02] [ 9.82934919e-01 1.32197214e-01 1.27917321e-01 1.90471441e+02] [-1.29102232e-01 3.95496684e-04 9.91631210e-01 1.11633282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.93, Y:190.50, Z:111.63 [[ 1.30963829e-01 -9.91235118e-01 1.73613309e-02 3.10930943e+02] [ 9.83002895e-01 1.32109058e-01 1.27485313e-01 1.90499293e+02] [-1.28661508e-01 3.70273819e-04 9.91688499e-01 1.11629221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.93, Y:190.53, Z:111.63 [[ 1.30594055e-01 -9.91285517e-01 1.72689659e-02 3.10934143e+02] [ 9.83107678e-01 1.31730322e-01 1.27068545e-01 1.90527195e+02] [-1.28236055e-01 3.82856398e-04 9.91743600e-01 1.11625359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.140385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:310.94, Y:190.55, Z:111.62 [[ 1.29225178e-01 -9.91464567e-01 1.72877065e-02 3.10937148e+02] [ 9.83235469e-01 1.30375367e-01 1.27476576e-01 1.90554952e+02] [-1.28642399e-01 5.24702976e-04 9.91690908e-01 1.11621932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.170385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:310.94, Y:190.58, Z:111.62 [[ 1.27576589e-01 -9.91680974e-01 1.71190120e-02 3.10940317e+02] [ 9.83580123e-01 1.28718130e-01 1.26498162e-01 1.90582599e+02] [-1.27649348e-01 6.99715858e-04 9.91819114e-01 1.11616094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.200385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:310.94, Y:190.61, Z:111.62 [[ 1.26221811e-01 -9.91850570e-01 1.73349802e-02 3.10943426e+02] [ 9.83507842e-01 1.27403818e-01 1.28376757e-01 1.90609794e+02] [-1.29539102e-01 8.45142285e-04 9.91573954e-01 1.11615005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.95, Y:190.64, Z:111.61 [[ 1.25549435e-01 -9.91936399e-01 1.73066100e-02 3.10946651e+02] [ 9.83598408e-01 1.26733395e-01 1.28346482e-01 1.90637204e+02] [-1.29504873e-01 9.08925603e-04 9.91578369e-01 1.11611306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.95, Y:190.66, Z:111.61 [[ 1.24870252e-01 -9.92022163e-01 1.73045516e-02 3.10950034e+02] [ 9.83651532e-01 1.26059906e-01 1.28602345e-01 1.90664881e+02] [-1.29757787e-01 9.63041440e-04 9.91545253e-01 1.11607066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.95, Y:190.69, Z:111.60 [[ 1.24385815e-01 -9.92083420e-01 1.72816924e-02 3.10953163e+02] [ 9.83699857e-01 1.25576694e-01 1.28705424e-01 1.90691606e+02] [-1.29856695e-01 9.90869337e-04 9.91532277e-01 1.11603324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.320385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:310.96, Y:190.72, Z:111.60 [[ 1.23467312e-01 -9.92199120e-01 1.72258245e-02 3.10956386e+02] [ 9.83833098e-01 1.24658562e-01 1.28579461e-01 1.90719256e+02] [-1.29723775e-01 1.07197589e-03 9.91549592e-01 1.11598643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.96, Y:190.75, Z:111.59 [[ 1.22685748e-01 -9.92296592e-01 1.71953762e-02 3.10959797e+02] [ 9.83926031e-01 1.23879685e-01 1.28621106e-01 1.90746416e+02] [-1.29760443e-01 1.13900170e-03 9.91544719e-01 1.11594904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.96, Y:190.77, Z:111.59 [[ 1.22289726e-01 -9.92346661e-01 1.71268151e-02 3.10963533e+02] [ 9.84008472e-01 1.23477827e-01 1.28376609e-01 1.90774376e+02] [-1.29508881e-01 1.15379073e-03 9.91577591e-01 1.11590596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.410385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:310.97, Y:190.80, Z:111.59 [[ 1.21698214e-01 -9.92420164e-01 1.70810543e-02 3.10967197e+02] [ 9.84092318e-01 1.22885269e-01 1.28302458e-01 1.90802223e+02] [-1.29428956e-01 1.19515436e-03 9.91587977e-01 1.11586363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.440385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:310.97, Y:190.83, Z:111.58 [[ 1.21158626e-01 -9.92486499e-01 1.70627317e-02 3.10971202e+02] [ 9.84141593e-01 1.22348006e-01 1.28437884e-01 1.90828591e+02] [-1.29560457e-01 1.23078642e-03 9.91570761e-01 1.11582123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4703857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:310.98, Y:190.86, Z:111.58 [[ 1.21426412e-01 -9.92455203e-01 1.69793151e-02 3.10975576e+02] [ 9.84167043e-01 1.22602229e-01 1.27999709e-01 1.90856195e+02] [-1.29115679e-01 1.16793690e-03 9.91628851e-01 1.11578457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.500385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:310.98, Y:190.88, Z:111.57 [[ 1.21920956e-01 -9.92395829e-01 1.69055920e-02 3.10979923e+02] [ 9.84145468e-01 1.23082811e-01 1.27704032e-01 1.90882475e+02] [-1.28813736e-01 1.06776408e-03 9.91668231e-01 1.11574554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.98, Y:190.91, Z:111.57 [[ 1.22127083e-01 -9.92371562e-01 1.68421624e-02 3.10983699e+02] [ 9.84147085e-01 1.23278853e-01 1.27502315e-01 1.90910132e+02] [-1.28605954e-01 1.00367915e-03 9.91695266e-01 1.11570613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.99, Y:190.94, Z:111.57 [[ 1.22745098e-01 -9.92295786e-01 1.68141337e-02 3.10987734e+02] [ 9.84063889e-01 1.23888186e-01 1.27553831e-01 1.90937892e+02] [-1.28654202e-01 8.89574287e-04 9.91689117e-01 1.11566535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.99, Y:190.97, Z:111.56 [[ 1.22488387e-01 -9.92328110e-01 1.67784936e-02 3.10991381e+02] [ 9.84095874e-01 1.23629024e-01 1.27558519e-01 1.90965969e+02] [-1.28654213e-01 8.87209129e-04 9.91689118e-01 1.11562600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.620385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:311.00, Y:190.99, Z:111.56 [[ 1.24308697e-01 -9.92099209e-01 1.69265533e-02 3.10995565e+02] [ 9.83684075e-01 1.25454271e-01 1.28945204e-01 1.90992083e+02] [-1.30049944e-01 6.21370628e-04 9.91507250e-01 1.11558868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.00, Y:191.02, Z:111.56 [[ 1.25513326e-01 -9.91946792e-01 1.69695955e-02 3.10999658e+02] [ 9.83448076e-01 1.26654572e-01 1.29570451e-01 1.91019233e+02] [-1.30676270e-01 4.25897892e-04 9.91425000e-01 1.11555448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.00, Y:191.05, Z:111.55 [[ 1.28441630e-01 -9.91569870e-01 1.70862467e-02 3.11004560e+02] [ 9.82912419e-01 1.29573115e-01 1.30743970e-01 1.91047103e+02] [-1.31855699e-01 1.31548169e-06 9.91268921e-01 1.11551447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.710385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.01, Y:191.07, Z:111.55 [[ 1.29647150e-01 -9.91413737e-01 1.70416623e-02 3.11008635e+02] [ 9.82762995e-01 1.30762242e-01 1.30683323e-01 1.91074590e+02] [-1.31789648e-01 -1.94805395e-04 9.91277686e-01 1.11547526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:191.10, Z:111.54 [[ 1.30848296e-01 -9.91256498e-01 1.70081818e-02 3.11012590e+02] [ 9.82601395e-01 1.31948483e-01 1.30706148e-01 1.91102305e+02] [-1.31807522e-01 -3.90413533e-04 9.91275252e-01 1.11543602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.02, Y:191.13, Z:111.54 [[ 1.31936664e-01 -9.91112502e-01 1.69919194e-02 3.11016532e+02] [ 9.82435701e-01 1.33025116e-01 1.30860280e-01 1.91129411e+02] [-1.31957612e-01 -5.71800515e-04 9.91255195e-01 1.11539221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.02, Y:191.16, Z:111.53 [[ 1.33458355e-01 -9.90907987e-01 1.70360887e-02 3.11021603e+02] [ 9.82146464e-01 1.34538827e-01 1.31482426e-01 1.91156714e+02] [-1.32579001e-01 -8.15493990e-04 9.91172106e-01 1.11534781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.03, Y:191.18, Z:111.53 [[ 1.33473539e-01 -9.90905420e-01 1.70664364e-02 3.11026167e+02] [ 9.82073536e-01 1.34557463e-01 1.32007040e-01 1.91184514e+02] [-1.33102908e-01 -8.58951170e-04 9.91101851e-01 1.11530826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.860385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:311.03, Y:191.21, Z:111.53 [[ 1.33687154e-01 -9.90875947e-01 1.71056006e-02 3.11031605e+02] [ 9.81963335e-01 1.34773851e-01 1.32604742e-01 1.91210987e+02] [-1.33700237e-01 -9.30478016e-04 9.91021383e-01 1.11526374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.890385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:311.04, Y:191.24, Z:111.52 [[ 1.33378474e-01 -9.90918443e-01 1.70535036e-02 3.11035885e+02] [ 9.82018815e-01 1.34461070e-01 1.32511386e-01 1.91237275e+02] [-1.33601009e-01 -9.27305005e-04 9.91034768e-01 1.11522334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:191.26, Z:111.52 [[ 1.32981813e-01 -9.90972071e-01 1.70350437e-02 3.11040197e+02] [ 9.82050463e-01 1.34065353e-01 1.32677690e-01 1.91264450e+02] [-1.33763694e-01 -9.14447114e-04 9.91012834e-01 1.11517967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:191.29, Z:111.51 [[ 1.32129467e-01 -9.91087685e-01 1.69412156e-02 3.11045967e+02] [ 9.82226778e-01 1.33208516e-01 1.32234822e-01 1.91291341e+02] [-1.33313017e-01 -8.32000866e-04 9.91073634e-01 1.11513215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:191.32, Z:111.51 [[ 1.31146621e-01 -9.91218843e-01 1.69047334e-02 3.11050749e+02] [ 9.82357001e-01 1.32229581e-01 1.32249993e-01 1.91317477e+02] [-1.33323991e-01 -7.37656514e-04 9.91072232e-01 1.11509403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.010385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:311.06, Y:191.34, Z:111.51 [[ 1.29098435e-01 -9.91486384e-01 1.69807264e-02 3.11057135e+02] [ 9.82509807e-01 1.30209446e-01 1.33116411e-01 1.91344836e+02] [-1.34194160e-01 -5.01390074e-04 9.90954932e-01 1.11505302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.040385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:311.06, Y:191.37, Z:111.50 [[ 1.27527074e-01 -9.91690132e-01 1.69566353e-02 3.11061921e+02] [ 9.82701295e-01 1.28649042e-01 1.33220078e-01 1.91371860e+02] [-1.34294492e-01 -3.25859296e-04 9.90941413e-01 1.11501760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.070385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:311.07, Y:191.40, Z:111.50 [[ 1.25669413e-01 -9.91927298e-01 1.69538945e-02 3.11066833e+02] [ 9.82902806e-01 1.26807820e-01 1.33498503e-01 1.91398015e+02] [-1.34570696e-01 -1.12647990e-04 9.90903989e-01 1.11498014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.100385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:311.07, Y:191.42, Z:111.49 [[ 1.22206007e-01 -9.92359323e-01 1.69901865e-02 3.11073713e+02] [ 9.83256138e-01 1.23381012e-01 1.34106277e-01 1.91423960e+02] [-1.35177881e-01 3.17112424e-04 9.90821296e-01 1.11493622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.130385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:311.08, Y:191.45, Z:111.49 [[ 1.20714584e-01 -9.92542117e-01 1.69745309e-02 3.11079026e+02] [ 9.83414556e-01 1.21901246e-01 1.34297795e-01 1.91451345e+02] [-1.35365434e-01 4.81298446e-04 9.90795624e-01 1.11489669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.160385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:311.08, Y:191.48, Z:111.49 [[ 1.19039430e-01 -9.92744797e-01 1.69523758e-02 3.11084006e+02] [ 9.83602915e-01 1.20238577e-01 1.34417228e-01 1.91478771e+02] [-1.35480333e-01 6.73456037e-04 9.90779807e-01 1.11485587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.190385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:311.09, Y:191.51, Z:111.48 [[ 1.16821945e-01 -9.93009259e-01 1.68891841e-02 3.11090745e+02] [ 9.83898289e-01 1.18032752e-01 1.34210381e-01 1.91505845e+02] [-1.35265628e-01 9.38521551e-04 9.90808927e-01 1.11481285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2203857229999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:311.10, Y:191.53, Z:111.48 [[ 1.15669964e-01 -9.93145811e-01 1.67885909e-02 3.11095284e+02] [ 9.84104144e-01 1.16877216e-01 1.33711447e-01 1.91532016e+02] [-1.34757168e-01 1.05532357e-03 9.90878091e-01 1.11477208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.250385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:311.10, Y:191.56, Z:111.47 [[ 1.14949925e-01 -9.93231462e-01 1.66666544e-02 3.11101333e+02] [ 9.84279285e-01 1.16146593e-01 1.33057351e-01 1.91559056e+02] [-1.34092523e-01 1.10971015e-03 9.90968195e-01 1.11472808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.280385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:311.11, Y:191.59, Z:111.47 [[ 1.14927561e-01 -9.93235418e-01 1.65849595e-02 3.11106168e+02] [ 9.84331471e-01 1.16113097e-01 1.32700053e-01 1.91586077e+02] [-1.33728123e-01 1.07420417e-03 9.91017475e-01 1.11468901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.310385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:311.11, Y:191.61, Z:111.47 [[ 1.15134374e-01 -9.93213210e-01 1.64801314e-02 3.11110905e+02] [ 9.84381295e-01 1.16303509e-01 1.32162625e-01 1.91612683e+02] [-1.33182362e-01 1.00627208e-03 9.91091038e-01 1.11465004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3403857229999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:311.12, Y:191.64, Z:111.46 [[ 1.15742036e-01 -9.93144750e-01 1.63489216e-02 3.11116561e+02] [ 9.84410762e-01 1.16887669e-01 1.31425736e-01 1.91640330e+02] [-1.32435767e-01 8.82572124e-04 9.91191197e-01 1.11460677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.370385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:311.12, Y:191.67, Z:111.46 [[ 1.16306950e-01 -9.93079758e-01 1.62876579e-02 3.11121352e+02] [ 9.84371431e-01 1.17439350e-01 1.31228372e-01 1.91667331e+02] [-1.32233052e-01 7.70333388e-04 9.91218355e-01 1.11456720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.400385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:311.13, Y:191.69, Z:111.45 [[ 1.16551527e-01 -9.93052017e-01 1.62305944e-02 3.11126299e+02] [ 9.84365506e-01 1.17674122e-01 1.31062397e-01 1.91694820e+02] [-1.32061699e-01 7.01314613e-04 9.91241250e-01 1.11452981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.430385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:311.13, Y:191.72, Z:111.45 [[ 1.16945437e-01 -9.93004976e-01 1.62751965e-02 3.11132447e+02] [ 9.84230443e-01 1.18070909e-01 1.31718244e-01 1.91720808e+02] [-1.32718499e-01 6.14696198e-04 9.91153582e-01 1.11450282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.460385723 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:311.14, Y:191.75, Z:111.45 [[ 1.17201444e-01 -9.92974137e-01 1.63151784e-02 3.11137138e+02] [ 9.84113497e-01 1.18330335e-01 1.32357687e-01 1.91748402e+02] [-1.33358341e-01 5.43475070e-04 9.91067736e-01 1.11446501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.490385723 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:311.14, Y:191.78, Z:111.44 [[ 1.18024626e-01 -9.92877020e-01 1.62914425e-02 3.11142871e+02] [ 9.84001609e-01 1.19143047e-01 1.32460442e-01 1.91776097e+02] [-1.33457941e-01 3.97211608e-04 9.91054398e-01 1.11443157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.520385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:311.15, Y:191.80, Z:111.44 [[ 1.18489373e-01 -9.92821145e-01 1.63230450e-02 3.11147577e+02] [ 9.83868493e-01 1.19608047e-01 1.33028959e-01 1.91802377e+02] [-1.34026331e-01 2.97211787e-04 9.90977726e-01 1.11439489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.550385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:311.15, Y:191.83, Z:111.44 [[ 1.19168428e-01 -9.92740239e-01 1.63004453e-02 3.11152311e+02] [ 9.83767408e-01 1.20277975e-01 1.33172429e-01 1.91830141e+02] [-1.34166213e-01 1.65897853e-04 9.90958829e-01 1.11436423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.580385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:311.16, Y:191.86, Z:111.43 [[ 1.20200543e-01 -9.92616664e-01 1.62477147e-02 3.11156997e+02] [ 9.83659327e-01 1.21293688e-01 1.33049502e-01 1.91856641e+02] [-1.34037898e-01 -1.04062503e-05 9.90976207e-01 1.11433200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.610385723 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:311.17, Y:191.89, Z:111.43 [[ 1.23288439e-01 -9.92313003e-01 1.07174929e-02 3.11166647e+02] [ 9.83242033e-01 1.23608699e-01 1.33999981e-01 1.91887009e+02] [-1.34294699e-01 -5.98275902e-03 9.90923378e-01 1.11433325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.640385723 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:311.16, Y:191.91, Z:111.42 [[ 1.27044789e-01 -9.91642317e-01 2.24752305e-02 3.11163178e+02] [ 9.82881973e-01 1.28905790e-01 1.31629497e-01 1.91911281e+02] [-1.33426567e-01 5.36765728e-03 9.91044166e-01 1.11422799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.670385723 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:311.17, Y:191.94, Z:111.42 [[ 1.27924680e-01 -9.91730774e-01 1.02639395e-02 3.11173381e+02] [ 9.82705610e-01 1.28143977e-01 1.33674254e-01 1.91941295e+02] [-1.33884134e-01 -7.01380520e-03 9.90972172e-01 1.11424769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.700385723 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:311.17, Y:191.97, Z:111.42 [[ 1.29386201e-01 -9.91480467e-01 1.50231364e-02 3.11174998e+02] [ 9.82614757e-01 1.30234114e-01 1.32315212e-01 1.91969935e+02] [-1.33144473e-01 -2.35780706e-03 9.91093835e-01 1.11418594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.730385723 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:311.18, Y:192.00, Z:111.41 [[ 1.30069851e-01 -9.91333412e-01 1.84363929e-02 3.11176725e+02] [ 9.82712443e-01 1.31364938e-01 1.30458834e-01 1.91996250e+02] [-1.31750097e-01 1.14891154e-03 9.91282297e-01 1.11413104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.760385723 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:311.18, Y:192.02, Z:111.41 [[ 1.29878940e-01 -9.91405188e-01 1.57230766e-02 3.11181256e+02] [ 9.82614062e-01 1.30816646e-01 1.31744490e-01 1.92023857e+02] [-1.32669011e-01 -1.66111860e-03 9.91159006e-01 1.11409950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.790385723 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:311.18, Y:192.05, Z:111.40 [[ 1.30909089e-01 -9.91152451e-01 2.19004405e-02 3.11181656e+02] [ 9.82684672e-01 1.32649104e-01 1.29364025e-01 1.92049955e+02] [-1.31124545e-01 4.58630048e-03 9.91355294e-01 1.11403264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.820385723 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:311.19, Y:192.08, Z:111.40 [[ 1.31139257e-01 -9.91241301e-01 1.55941946e-02 3.11186263e+02] [ 9.82678287e-01 1.32051890e-01 1.30021855e-01 1.92077775e+02] [-1.30942275e-01 -1.72689297e-03 9.91388490e-01 1.11401928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.850385723 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:311.19, Y:192.10, Z:111.40 [[ 1.31025321e-01 -9.91256682e-01 1.55742152e-02 3.11188124e+02] [ 9.82675058e-01 1.31936072e-01 1.30163755e-01 1.92104287e+02] [-1.31080492e-01 -1.75035488e-03 9.91370184e-01 1.11397562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.880385723 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:311.19, Y:192.13, Z:111.39 [[ 1.31289915e-01 -9.91222508e-01 1.55208691e-02 3.11188619e+02] [ 9.82656713e-01 1.32191607e-01 1.30042933e-01 1.92131780e+02] [-1.30953211e-01 -1.82163942e-03 9.91386876e-01 1.11393211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.910385723 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:311.19, Y:192.16, Z:111.39 [[ 1.30767204e-01 -9.91360668e-01 1.01962548e-02 3.11193484e+02] [ 9.82603541e-01 1.30966363e-01 1.31674194e-01 1.92160258e+02] [-1.31871983e-01 -7.19979012e-03 9.91240608e-01 1.11391652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.940385723 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:311.19, Y:192.19, Z:111.38 [[ 1.31100043e-01 -9.91142770e-01 2.11846448e-02 3.11190573e+02] [ 9.82731855e-01 1.32742807e-01 1.28908683e-01 1.92186200e+02] [-1.30579018e-01 3.91889137e-03 9.91430160e-01 1.11382864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9703857229999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:311.20, Y:192.22, Z:111.38 [[ 1.30701614e-01 -9.91377175e-01 9.40137953e-03 3.11199157e+02] [ 9.82609251e-01 1.30795556e-01 1.31801299e-01 1.92215884e+02] [-1.31894459e-01 -7.98876008e-03 9.91231573e-01 1.11383969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.000385723 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:311.19, Y:192.24, Z:111.37 [[ 1.27618039e-01 -9.91533004e-01 2.39987104e-02 3.11190100e+02] [ 9.82757573e-01 1.29678592e-01 1.31799147e-01 1.92238861e+02] [-1.33795324e-01 6.76496566e-03 9.90985896e-01 1.11369266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.030385723 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:311.19, Y:192.26, Z:111.36 [[ 1.24191367e-01 -9.91930512e-01 2.55022264e-02 3.11189800e+02] [ 9.82780135e-01 1.26508320e-01 1.34680552e-01 1.92263898e+02] [-1.36819992e-01 8.33691961e-03 9.90560844e-01 1.11359150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.060385723 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:311.21, Y:192.30, Z:111.37 [[ 1.26916731e-01 -9.91912526e-01 1.29760520e-03 3.11211253e+02] [ 9.83269502e-01 1.25982954e-01 1.31565125e-01 1.92296809e+02] [-1.30664571e-01 -1.54219199e-02 9.91306680e-01 1.11373882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0903857229999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:311.20, Y:192.32, Z:111.35 [[ 1.21836433e-01 -9.92208536e-01 2.60404545e-02 3.11197168e+02] [ 9.83235945e-01 1.24237367e-01 1.33462177e-01 1.92320277e+02] [-1.35657509e-01 9.34335525e-03 9.90711735e-01 1.11351653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.120385723 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:311.21, Y:192.35, Z:111.36 [[ 1.17802911e-01 -9.93018381e-01 6.08028644e-03 3.11210546e+02] [ 9.84015409e-01 1.17553964e-01 1.33771224e-01 1.92348537e+02] [-1.33552046e-01 -9.77554404e-03 9.90993587e-01 1.11359388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.150385723 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:311.21, Y:192.38, Z:111.35 [[ 1.18183354e-01 -9.92770589e-01 2.09583758e-02 3.11209215e+02] [ 9.84445936e-01 1.19903240e-01 1.28411104e-01 1.92378490e+02] [-1.29995744e-01 5.45633297e-03 9.91499539e-01 1.11350851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.180385723 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:311.21, Y:192.40, Z:111.35 [[ 1.14096249e-01 -9.93422884e-01 9.64461710e-03 3.11214930e+02] [ 9.84310328e-01 1.14354220e-01 1.34373697e-01 1.92402825e+02] [-1.34592809e-01 -5.83823863e-03 9.90883793e-01 1.11350323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.210385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:311.22, Y:192.43, Z:111.35 [[ 1.13352214e-01 -9.93490019e-01 1.13515127e-02 3.11221537e+02] [ 9.84502459e-01 1.13850879e-01 1.33389979e-01 1.92433100e+02] [-1.33813992e-01 -3.94445728e-03 9.90998616e-01 1.11350271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.240385723 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:311.22, Y:192.46, Z:111.34 [[ 1.08331748e-01 -9.93961621e-01 1.74507161e-02 3.11218934e+02] [ 9.84809260e-01 1.09697373e-01 1.34600182e-01 1.92456693e+02] [-1.35701712e-01 2.60415376e-03 9.90746317e-01 1.11342551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.270385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:311.23, Y:192.49, Z:111.34 [[ 1.07884127e-01 -9.94084766e-01 1.25097177e-02 3.11228047e+02] [ 9.84971198e-01 1.08585329e-01 1.34316660e-01 1.92488411e+02] [-1.34880518e-01 -2.16892407e-03 9.90859496e-01 1.11342393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.300385723 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:311.22, Y:192.51, Z:111.33 [[ 1.04129845e-01 -9.94396663e-01 1.82277934e-02 3.11224550e+02] [ 9.85161826e-01 1.05642231e-01 1.35262326e-01 1.92511866e+02] [-1.36430030e-01 3.87248119e-03 9.90642141e-01 1.11333917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.330385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:311.23, Y:192.54, Z:111.33 [[ 1.05371589e-01 -9.94361242e-01 1.19393824e-02 3.11234070e+02] [ 9.85161292e-01 1.06017304e-01 1.34972442e-01 1.92544358e+02] [-1.35477146e-01 -2.46004322e-03 9.90777418e-01 1.11334965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.360385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:311.23, Y:192.57, Z:111.33 [[ 1.04170630e-01 -9.94432350e-01 1.58990707e-02 3.11234986e+02] [ 9.85155091e-01 1.05365617e-01 1.35526873e-01 1.92571591e+02] [-1.36447522e-01 1.54513068e-03 9.90646095e-01 1.11329105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.390385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:311.24, Y:192.60, Z:111.33 [[ 1.03640753e-01 -9.94488655e-01 1.58401141e-02 3.11237193e+02] [ 9.85236236e-01 1.04832359e-01 1.35350418e-01 1.92598003e+02] [-1.36265012e-01 1.57843508e-03 9.90671164e-01 1.11325599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.420385723 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:311.24, Y:192.63, Z:111.32 [[ 1.03844121e-01 -9.94468164e-01 1.57945954e-02 3.11238583e+02] [ 9.85221651e-01 1.05027564e-01 1.35305248e-01 1.92625468e+02] [-1.36215630e-01 1.51052267e-03 9.90678061e-01 1.11320731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.450385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:311.24, Y:192.65, Z:111.32 [[ 1.04215438e-01 -9.94430266e-01 1.57349623e-02 3.11240937e+02] [ 9.85209108e-01 1.05387036e-01 1.35116939e-01 1.92653211e+02] [-1.36022635e-01 1.42095717e-03 9.90704711e-01 1.11316745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.480385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:311.24, Y:192.68, Z:111.31 [[ 1.04471642e-01 -9.94408044e-01 1.54375676e-02 3.11243263e+02] [ 9.85491658e-01 1.05597671e-01 1.32873342e-01 1.92681355e+02] [-1.33760491e-01 1.33209779e-03 9.91012793e-01 1.11313524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.510385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:311.25, Y:192.71, Z:111.31 [[ 1.04292337e-01 -9.94427475e-01 1.53982490e-02 3.11246477e+02] [ 9.85510630e-01 1.05414720e-01 1.32877898e-01 1.92709468e+02] [-1.33760635e-01 1.31699157e-03 9.91012794e-01 1.11309594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.540385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:311.25, Y:192.74, Z:111.31 [[ 1.06226726e-01 -9.94221060e-01 1.55037721e-02 3.11249165e+02] [ 9.85149627e-01 1.07347124e-01 1.34003014e-01 1.92736199e+02] [-1.34892903e-01 1.03883392e-03 9.90859640e-01 1.11305027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.570385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:311.25, Y:192.76, Z:111.30 [[ 1.09018248e-01 -9.93922664e-01 1.52564355e-02 3.11251469e+02] [ 9.85106954e-01 1.10078795e-01 1.32086895e-01 1.92764057e+02] [-1.32963568e-01 6.29338815e-04 9.91120726e-01 1.11300763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.600385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:311.25, Y:192.79, Z:111.30 [[ 1.12235032e-01 -9.93563999e-01 1.52930442e-02 3.11253186e+02] [ 9.84656259e-01 1.13272036e-01 1.32745992e-01 1.92791397e+02] [-1.33623913e-01 1.59641017e-04 9.91032101e-01 1.11297322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.630385723 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:311.26, Y:192.82, Z:111.29 [[ 1.14308261e-01 -9.93316533e-01 1.59964584e-02 3.11255328e+02] [ 9.84411108e-01 1.15420676e-01 1.32713368e-01 1.92816677e+02] [-1.33672704e-01 5.76857020e-04 9.91025366e-01 1.11293493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.660385723 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:311.26, Y:192.84, Z:111.29 [[ 1.14386602e-01 -9.93337319e-01 1.40241305e-02 3.11258711e+02] [ 9.84433953e-01 1.15234905e-01 1.32705346e-01 1.92844550e+02] [-1.33437242e-01 -1.37388327e-03 9.91056313e-01 1.11290661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.690385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:311.25, Y:192.87, Z:111.28 [[ 1.13571856e-01 -9.93200418e-01 2.55805180e-02 3.11254723e+02] [ 9.84012774e-01 1.16001836e-01 1.35138574e-01 1.92870906e+02] [-1.37187076e-01 9.82361778e-03 9.90496443e-01 1.11277243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7203857229999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:311.27, Y:192.90, Z:111.29 [[ 1.15792968e-01 -9.93262978e-01 4.54362916e-03 3.11270487e+02] [ 9.84302451e-01 1.15359372e-01 1.33569833e-01 1.92900178e+02] [-1.33194120e-01 -1.09941420e-02 9.91028988e-01 1.11287850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.750385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:311.27, Y:192.93, Z:111.28 [[ 1.14392195e-01 -9.93262602e-01 1.85426530e-02 3.11266117e+02] [ 9.83883621e-01 1.15854694e-01 1.36200995e-01 1.92927288e+02] [-1.37431608e-01 2.66348174e-03 9.90507677e-01 1.11275853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.780385723 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:311.27, Y:192.95, Z:111.28 [[ 1.16046549e-01 -9.93078745e-01 1.81053755e-02 3.11270053e+02] [ 9.83959030e-01 1.17429259e-01 1.34294442e-01 1.92953554e+02] [-1.35491057e-01 2.23054128e-03 9.90776059e-01 1.11275965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.810385723 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:311.27, Y:192.98, Z:111.27 [[ 1.15761437e-01 -9.93142776e-01 1.63314749e-02 3.11273074e+02] [ 9.84047158e-01 1.16906494e-01 1.34104670e-01 1.92979602e+02] [-1.35094340e-01 5.46792150e-04 9.90832589e-01 1.11272910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8403857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:311.28, Y:193.01, Z:111.27 [[ 1.16809499e-01 -9.93118842e-01 8.39682603e-03 3.11279331e+02] [ 9.83694637e-01 1.16856909e-01 1.36708899e-01 1.93005433e+02] [-1.36749411e-01 -7.70898526e-03 9.90575676e-01 1.11271072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.870385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:311.28, Y:193.03, Z:111.26 [[ 1.15669117e-01 -9.93067733e-01 2.09077113e-02 3.11275971e+02] [ 9.84127086e-01 1.17429087e-01 1.33057466e-01 1.93031777e+02] [-1.34590249e-01 5.18520545e-03 9.90887773e-01 1.11261792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.900385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:311.28, Y:193.06, Z:111.26 [[ 1.14901928e-01 -9.93198748e-01 1.88094052e-02 3.11279760e+02] [ 9.84007846e-01 1.16392243e-01 1.34838444e-01 1.93059160e+02] [-1.36110642e-01 3.01540507e-03 9.90689053e-01 1.11255307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.930385723 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:311.28, Y:193.09, Z:111.26 [[ 1.13569613e-01 -9.93414504e-01 1.51514330e-02 3.11284985e+02] [ 9.84573216e-01 1.14575794e-01 1.32242086e-01 1.93086692e+02] [-1.33107193e-01 -1.00987254e-04 9.91101642e-01 1.11256484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.960385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:311.29, Y:193.11, Z:111.26 [[ 1.11560952e-01 -9.93746809e-01 4.62958086e-03 3.11292719e+02] [ 9.84438717e-01 1.11150097e-01 1.36110504e-01 1.93113450e+02] [-1.35773957e-01 -1.06270787e-02 9.90682844e-01 1.11256382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.990385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:311.29, Y:193.14, Z:111.25 [[ 1.10264167e-01 -9.93787672e-01 1.50955772e-02 3.11291241e+02] [ 9.84549153e-01 1.11292682e-01 1.35192102e-01 1.93140994e+02] [-1.36032271e-01 -4.45067801e-05 9.90704406e-01 1.11247774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.020385723 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:311.29, Y:193.17, Z:111.24 [[ 1.08357378e-01 -9.93843214e-01 2.31159110e-02 3.11290082e+02] [ 9.85139065e-01 1.10467455e-01 1.31521726e-01 1.93165799e+02] [-1.33265531e-01 8.52103747e-03 9.91043738e-01 1.11240708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.050385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:311.30, Y:193.19, Z:111.24 [[ 1.04889808e-01 -9.94466263e-01 5.91444658e-03 3.11300648e+02] [ 9.85160655e-01 1.04717084e-01 1.35988292e-01 1.93192513e+02] [-1.35855112e-01 -8.43710576e-03 9.90692790e-01 1.11242844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.080385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:311.30, Y:193.22, Z:111.23 [[ 1.02083273e-01 -9.94665135e-01 1.48416187e-02 3.11299779e+02] [ 9.85559776e-01 1.03152426e-01 1.34281438e-01 1.93219911e+02] [-1.35096014e-01 9.19413590e-04 9.90832086e-01 1.11234980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.110385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:311.30, Y:193.25, Z:111.23 [[ 1.00921610e-01 -9.94784245e-01 1.48032182e-02 3.11302773e+02] [ 9.85680938e-01 1.01996201e-01 1.34275331e-01 1.93246686e+02] [-1.35084856e-01 1.03996736e-03 9.90833488e-01 1.11231168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.140385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:311.31, Y:193.27, Z:111.23 [[ 9.98007481e-02 -9.94897476e-01 1.47926979e-02 3.11305752e+02] [ 9.85774839e-01 1.00884353e-01 1.34425867e-01 1.93274608e+02] [-1.35232307e-01 1.16646738e-03 9.90813233e-01 1.11227076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.170385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:311.31, Y:193.30, Z:111.22 [[ 9.82024155e-02 -9.95054537e-01 1.49249168e-02 3.11308989e+02] [ 9.85721760e-01 9.93207943e-02 1.35970552e-01 1.93301986e+02] [-1.36780469e-01 1.35917867e-03 9.90600452e-01 1.11223636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.200385723 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:311.31, Y:193.33, Z:111.22 [[ 1.00922518e-01 -9.94776889e-01 1.52835375e-02 3.11314314e+02] [ 9.84933383e-01 1.02068658e-01 1.39600214e-01 1.93325836e+02] [-1.40431037e-01 9.64461212e-04 9.90089993e-01 1.11216499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.230385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:311.31, Y:193.35, Z:111.22 [[ 9.60886903e-02 -9.95260434e-01 1.49543520e-02 3.11313926e+02] [ 9.85774156e-01 9.72327591e-02 1.37095241e-01 1.93352124e+02] [-1.37899522e-01 1.56831158e-03 9.90444982e-01 1.11217355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.260385723 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:311.32, Y:193.37, Z:111.22 [[ 9.94125058e-02 -9.95022384e-01 6.90000850e-03 3.11320698e+02] [ 9.85244468e-01 9.94017779e-02 1.39329200e-01 1.93373123e+02] [-1.39321546e-01 -7.05286969e-03 9.90222078e-01 1.11217563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:311.32, Y:193.40, Z:111.21 [[ 9.55858196e-02 -9.95206992e-01 2.06493060e-02 3.11315243e+02] [ 9.85868609e-01 9.75151463e-02 1.36212639e-01 1.93404176e+02] [-1.37573390e-01 7.33750587e-03 9.90464398e-01 1.11207902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:193.43, Z:111.21 [[ 9.62853820e-02 -9.95244266e-01 1.47640020e-02 3.11319893e+02] [ 9.85786615e-01 9.74010399e-02 1.36886038e-01 1.93432429e+02] [-1.37673073e-01 1.37403109e-03 9.90476773e-01 1.11205895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:193.46, Z:111.20 [[ 9.63592421e-02 -9.95237054e-01 1.47683384e-02 3.11322154e+02] [ 9.85724031e-01 9.74753360e-02 1.37283261e-01 1.93460252e+02] [-1.38068937e-01 1.32899505e-03 9.90421730e-01 1.11201844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.32, Y:193.49, Z:111.20 [[ 9.68643580e-02 -9.95188628e-01 1.47271864e-02 3.11323321e+02] [ 9.85678355e-01 9.79699119e-02 1.37259157e-01 1.93488119e+02] [-1.38041573e-01 1.22074882e-03 9.90425683e-01 1.11198416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.32, Y:193.52, Z:111.19 [[ 9.72099991e-02 -9.95155814e-01 1.46670283e-02 3.11324863e+02] [ 9.85673421e-01 9.83037148e-02 1.37055780e-01 1.93515130e+02] [-1.37833679e-01 1.13370775e-03 9.90454740e-01 1.11194383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.54, Z:111.19 [[ 9.73688701e-02 -9.95140912e-01 1.46242488e-02 3.11326229e+02] [ 9.85661226e-01 9.84551529e-02 1.37034781e-01 1.93542250e+02] [-1.37808750e-01 1.07163319e-03 9.90458278e-01 1.11190448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.57, Z:111.19 [[ 9.81573034e-02 -9.95064256e-01 1.45694812e-02 3.11326749e+02] [ 9.85619120e-01 9.92282902e-02 1.36779736e-01 1.93569981e+02] [-1.37550330e-01 9.34029225e-04 9.90494338e-01 1.11186655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.60, Z:111.18 [[ 9.86888529e-02 -9.94964559e-01 1.74939150e-02 3.11329432e+02] [ 9.85547815e-01 1.00156877e-01 1.36616631e-01 1.93599837e+02] [-1.37680842e-01 3.75855108e-03 9.90469514e-01 1.11179328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.63, Z:111.18 [[ 9.67522672e-02 -9.95210182e-01 1.39889853e-02 3.11331353e+02] [ 9.85763691e-01 9.77567676e-02 1.36797513e-01 1.93627068e+02] [-1.37509796e-01 5.54364298e-04 9.90500252e-01 1.11177002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.65, Z:111.18 [[ 9.62891227e-02 -9.95262270e-01 1.34691525e-02 3.11331147e+02] [ 9.85885008e-01 9.72264844e-02 1.36300261e-01 1.93652912e+02] [-1.36964065e-01 1.54803020e-04 9.90576005e-01 1.11175378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:193.68, Z:111.17 [[ 9.56050989e-02 -9.95385456e-01 8.21330073e-03 3.11336826e+02] [ 9.86093358e-01 9.58329720e-02 1.35778977e-01 1.93682464e+02] [-1.35939524e-01 -4.88208121e-03 9.90705108e-01 1.11173796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.71, Z:111.16 [[ 9.35920569e-02 -9.95393183e-01 2.08071500e-02 3.11329987e+02] [ 9.86023207e-01 9.55638683e-02 1.36476311e-01 1.93708070e+02] [-1.37836001e-01 7.74323409e-03 9.90424797e-01 1.11164395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:193.74, Z:111.16 [[ 9.23506358e-02 -9.95643820e-01 1.28352676e-02 3.11337058e+02] [ 9.86257715e-01 9.32382971e-02 1.36390394e-01 1.93735690e+02] [-1.36992991e-01 6.31421156e-05 9.90572015e-01 1.11163613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.34, Y:193.76, Z:111.16 [[ 9.14111601e-02 -9.95680691e-01 1.62468949e-02 3.11335629e+02] [ 9.86233074e-01 9.27773513e-02 1.36882017e-01 1.93760883e+02] [-1.37798126e-01 3.51068109e-03 9.90454114e-01 1.11159007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:193.79, Z:111.16 [[ 9.07071890e-02 -9.95777260e-01 1.41369981e-02 3.11338622e+02] [ 9.86315313e-01 9.17896308e-02 1.36955347e-01 1.93789073e+02] [-1.37674650e-01 1.52070313e-03 9.90476339e-01 1.11155952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:193.82, Z:111.14 [[ 8.83371899e-02 -9.95377918e-01 3.76741586e-02 3.11327773e+02] [ 9.87460173e-01 9.24771812e-02 1.27946778e-01 1.93819576e+02] [-1.30839397e-01 2.58992724e-02 9.91065225e-01 1.11142927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.35, Y:193.84, Z:111.16 [[ 8.94011139e-02 -9.95962147e-01 -8.17579114e-03 3.11350649e+02] [ 9.86570523e-01 8.74255113e-02 1.37968774e-01 1.93844236e+02] [-1.36696904e-01 -2.04005567e-02 9.90402834e-01 1.11157823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:193.87, Z:111.15 [[ 9.04204443e-02 -9.95863283e-01 8.97024689e-03 3.11343618e+02] [ 9.86817184e-01 9.08057696e-02 1.33963271e-01 1.93874317e+02] [-1.34223653e-01 -3.26102471e-03 9.90945698e-01 1.11146704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.830385723 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:311.34, Y:193.90, Z:111.14 [[ 9.14529051e-02 -9.95633819e-01 1.86993132e-02 3.11338776e+02] [ 9.86855466e-01 9.31271085e-02 1.32074337e-01 1.93898426e+02] [-1.33239090e-01 6.37493760e-03 9.91063421e-01 1.11138575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:193.92, Z:111.14 [[ 9.07296371e-02 -9.95781992e-01 1.36513169e-02 3.11341456e+02] [ 9.86848677e-01 9.17402612e-02 1.33091748e-01 1.93924782e+02] [-1.33782741e-01 1.39641801e-03 9.91009701e-01 1.11137066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.34, Y:193.95, Z:111.13 [[ 9.17740834e-02 -9.95686994e-01 1.35988048e-02 3.11341277e+02] [ 9.86747609e-01 9.27683559e-02 1.33128463e-01 1.93953190e+02] [-1.33815818e-01 1.20084551e-03 9.91005492e-01 1.11133042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:193.98, Z:111.13 [[ 9.20978330e-02 -9.95657932e-01 1.35377681e-02 3.11342216e+02] [ 9.86750430e-01 9.30807636e-02 1.32889280e-01 1.93980889e+02] [-1.33572372e-01 1.11958381e-03 9.91038429e-01 1.11129413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:194.01, Z:111.13 [[ 9.33157223e-02 -9.95547872e-01 1.32894884e-02 3.11341830e+02] [ 9.86917884e-01 9.42528891e-02 1.30803225e-01 1.94007069e+02] [-1.31473445e-01 9.09636327e-04 9.91319275e-01 1.11125387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.34, Y:194.04, Z:111.11 [[ 9.14330298e-02 -9.95449047e-01 2.68550851e-02 3.11335503e+02] [ 9.87260526e-01 9.41414451e-02 1.28273314e-01 1.94036796e+02] [-1.30217725e-01 1.47845476e-02 9.91375187e-01 1.11113780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.35, Y:194.07, Z:111.12 [[ 9.48704063e-02 -9.95489152e-01 9.76832305e-04 3.11351929e+02] [ 9.86932284e-01 9.41832287e-02 1.30744741e-01 1.94067861e+02] [-1.30246973e-01 -1.14397394e-02 9.91415583e-01 1.11122094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:194.10, Z:111.11 [[ 9.37606549e-02 -9.95494517e-01 1.41281802e-02 3.11343427e+02] [ 9.87039304e-01 9.48019478e-02 1.29483600e-01 1.94095380e+02] [-1.30239593e-01 1.80460202e-03 9.91480908e-01 1.11113073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:194.12, Z:111.11 [[ 9.31131372e-02 -9.95559201e-01 1.38499542e-02 3.11343446e+02] [ 9.86988261e-01 9.41250924e-02 1.30363494e-01 1.94120023e+02] [-1.31088204e-01 1.53118832e-03 9.91369527e-01 1.11110408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.100385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.34, Y:194.15, Z:111.11 [[ 9.23879548e-02 -9.95589598e-01 1.63039072e-02 3.11344099e+02] [ 9.87094750e-01 9.37259945e-02 1.29843727e-01 1.94148894e+02] [-1.30799163e-01 4.09750485e-03 9.91400418e-01 1.11106273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.34, Y:194.18, Z:111.10 [[ 9.25746409e-02 -9.95522311e-01 1.91118879e-02 3.11344220e+02] [ 9.86732231e-01 9.42945590e-02 1.32166714e-01 1.94178072e+02] [-1.33377060e-01 6.62302965e-03 9.91043236e-01 1.11098584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.35, Y:194.20, Z:111.10 [[ 9.17151665e-02 -9.95700018e-01 1.30308469e-02 3.11347310e+02] [ 9.86854406e-01 9.26334994e-02 1.32428913e-01 1.94204891e+02] [-1.33066564e-01 7.13808909e-04 9.91106846e-01 1.11097051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.35, Y:194.23, Z:111.10 [[ 9.24416705e-02 -9.95709092e-01 4.23584976e-03 3.11351306e+02] [ 9.87130471e-01 9.22010781e-02 1.30661377e-01 1.94231808e+02] [-1.30491271e-01 -7.89721959e-03 9.91418006e-01 1.11099911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:194.26, Z:111.09 [[ 9.19192971e-02 -9.95686344e-01 1.26312177e-02 3.11348790e+02] [ 9.87202459e-01 9.27814919e-02 1.29703118e-01 1.94258216e+02] [-1.30315567e-01 5.47349672e-04 9.91472417e-01 1.11093079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.35, Y:194.29, Z:111.09 [[ 9.14261724e-02 -9.95732590e-01 1.25643681e-02 3.11350909e+02] [ 9.87287768e-01 9.22836911e-02 1.29408594e-01 1.94286441e+02] [-1.30015841e-01 5.73314487e-04 9.91511751e-01 1.11089557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.35, Y:194.31, Z:111.09 [[ 9.00154804e-02 -9.95860970e-01 1.25754792e-02 3.11352708e+02] [ 9.87353630e-01 9.08867714e-02 1.29893817e-01 1.94314464e+02] [-1.30499127e-01 7.23990755e-04 9.91448160e-01 1.11086092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:194.34, Z:111.08 [[ 8.88291296e-02 -9.95967664e-01 1.25617655e-02 3.11354539e+02] [ 9.87430639e-01 8.97089657e-02 1.30126992e-01 1.94341085e+02] [-1.30729179e-01 8.44804703e-04 9.91417757e-01 1.11082666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:194.37, Z:111.08 [[ 8.66237121e-02 -9.96162453e-01 1.25179669e-02 3.11355714e+02] [ 9.87634865e-01 8.75166596e-02 1.30070009e-01 1.94368828e+02] [-1.30666390e-01 1.09603354e-03 9.91425788e-01 1.11078752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.370385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.36, Y:194.40, Z:111.07 [[ 8.58521418e-02 -9.96229640e-01 1.24865413e-02 3.11357968e+02] [ 9.87695847e-01 8.67476487e-02 1.30122092e-01 1.94395649e+02] [-1.30714663e-01 1.16164469e-03 9.91419350e-01 1.11074887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.400385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.36, Y:194.42, Z:111.07 [[ 8.56057984e-02 -9.96251163e-01 1.24606132e-02 3.11360602e+02] [ 9.87717237e-01 8.65000291e-02 1.30124575e-01 1.94423844e+02] [-1.30714603e-01 1.16814430e-03 9.91419350e-01 1.11071051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.430385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.37, Y:194.45, Z:111.07 [[ 8.67711833e-02 -9.96146463e-01 1.27666224e-02 3.11366319e+02] [ 9.87702634e-01 8.76944964e-02 1.29434086e-01 1.94454741e+02] [-1.30054869e-01 1.37847778e-03 9.91505840e-01 1.11066043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:194.48, Z:111.06 [[ 8.64998425e-02 -9.96006179e-01 2.21239243e-02 3.11362869e+02] [ 9.87582513e-01 8.86492540e-02 1.29699998e-01 1.94480808e+02] [-1.31143269e-01 1.06301714e-02 9.91306432e-01 1.11056930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.37, Y:194.51, Z:111.05 [[ 8.49196878e-02 -9.96260472e-01 1.59285552e-02 3.11365099e+02] [ 9.87603354e-01 8.62783558e-02 1.31132227e-01 1.94505919e+02] [-1.32016144e-01 4.59538671e-03 9.91236914e-01 1.11054545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:194.53, Z:111.06 [[ 8.63082444e-02 -9.96268043e-01 9.34408183e-04 3.11373543e+02] [ 9.87873294e-01 8.57024216e-02 1.29466018e-01 1.94532268e+02] [-1.29062937e-01 -1.02509078e-02 9.91583419e-01 1.11061724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.550385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:311.37, Y:194.56, Z:111.05 [[ 9.10237224e-02 -9.95683271e-01 1.81522783e-02 3.11369661e+02] [ 9.87461871e-01 9.26028337e-02 1.27842750e-01 1.94562881e+02] [-1.28971840e-01 6.28795965e-03 9.91628321e-01 1.11048268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:194.59, Z:111.04 [[ 9.20251050e-02 -9.95649865e-01 1.45851510e-02 3.11372443e+02] [ 9.87422229e-01 9.31362094e-02 1.27761447e-01 1.94588370e+02] [-1.28564073e-01 2.64444172e-03 9.91697679e-01 1.11044915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.38, Y:194.61, Z:111.05 [[ 9.39455237e-02 -9.95561252e-01 5.65972807e-03 3.11376248e+02] [ 9.87532029e-01 9.39060968e-02 1.26341353e-01 1.94612027e+02] [-1.26312038e-01 -6.28004180e-03 9.91970680e-01 1.11047175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.38, Y:194.64, Z:111.04 [[ 9.51203273e-02 -9.95397149e-01 1.16892406e-02 3.11376263e+02] [ 9.87544483e-01 9.58353209e-02 1.24785758e-01 1.94639847e+02] [-1.25331630e-01 -3.26017066e-04 9.92114850e-01 1.11041506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.38, Y:194.67, Z:111.04 [[ 9.60923666e-02 -9.95304789e-01 1.16032251e-02 3.11379275e+02] [ 9.87522215e-01 9.67891973e-02 1.24224499e-01 1.94667001e+02] [-1.24764306e-01 -4.78583529e-04 9.92186293e-01 1.11037791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.38, Y:194.69, Z:111.03 [[ 9.71673596e-02 -9.95201084e-01 1.15458401e-02 3.11383153e+02] [ 9.87447069e-01 9.78487791e-02 1.23991542e-01 1.94694629e+02] [-1.24526264e-01 -6.47024849e-04 9.92216101e-01 1.11034165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.38, Y:194.72, Z:111.02 [[ 9.73056818e-02 -9.94979778e-01 2.33847371e-02 3.11381759e+02] [ 9.87103324e-01 9.94830996e-02 1.25419860e-01 1.94724064e+02] [-1.27116610e-01 1.08790868e-02 9.91828117e-01 1.11022034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.40, Y:194.75, Z:111.03 [[ 9.88516722e-02 -9.95102072e-01 4.61466596e-04 3.11396895e+02] [ 9.87250299e-01 9.81298108e-02 1.25329120e-01 1.94749940e+02] [-1.24760551e-01 -1.19334101e-02 9.92115114e-01 1.11031821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.40, Y:194.78, Z:111.02 [[ 9.93567926e-02 -9.94985659e-01 1.14789530e-02 3.11395203e+02] [ 9.87172605e-01 1.00012354e-01 1.24449900e-01 1.94776584e+02] [-1.24973903e-01 -1.03323501e-03 9.92159491e-01 1.11024432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.820385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:311.40, Y:194.80, Z:111.02 [[ 1.00075966e-01 -9.94914049e-01 1.14383616e-02 3.11399079e+02] [ 9.87105955e-01 1.00720858e-01 1.24407162e-01 1.94803275e+02] [-1.24926515e-01 -1.15929212e-03 9.92165320e-01 1.11021212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.40, Y:194.83, Z:111.02 [[ 1.00378173e-01 -9.94882774e-01 1.15103831e-02 3.11403451e+02] [ 9.86924249e-01 1.01028271e-01 1.25593852e-01 1.94828999e+02] [-1.26114034e-01 -1.24700519e-03 9.92014967e-01 1.11017449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.41, Y:194.86, Z:111.01 [[ 9.99489599e-02 -9.94925960e-01 1.15125703e-02 3.11407161e+02] [ 9.86910456e-01 1.00602217e-01 1.26043426e-01 1.94856014e+02] [-1.26562066e-01 -1.23603327e-03 9.91957920e-01 1.11013718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.41, Y:194.88, Z:111.01 [[ 9.86311131e-02 -9.95056941e-01 1.15580306e-02 3.11414029e+02] [ 9.86926814e-01 9.92997685e-02 1.26944949e-01 1.94883126e+02] [-1.27465162e-01 -1.11379130e-03 9.91842423e-01 1.11010950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.940385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.41, Y:194.91, Z:111.00 [[ 9.58253956e-02 -9.95183557e-01 2.06683909e-02 3.11413169e+02] [ 9.86704194e-01 9.77062874e-02 1.29878079e-01 1.94909552e+02] [-1.31271960e-01 7.94796965e-03 9.91314532e-01 1.11000252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.43, Y:194.94, Z:111.01 [[ 9.73675978e-02 -9.95246211e-01 2.12855715e-03 3.11428102e+02] [ 9.86937584e-01 9.68301165e-02 1.28756103e-01 1.94938082e+02] [-1.28350132e-01 -1.04359194e-02 9.91674007e-01 1.11008363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.43, Y:194.97, Z:111.00 [[ 9.71823002e-02 -9.95199460e-01 1.15600420e-02 3.11429215e+02] [ 9.86940959e-01 9.78620617e-02 1.27947493e-01 1.94965829e+02] [-1.28464566e-01 -1.02515271e-03 9.91713570e-01 1.11000836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.030385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.43, Y:194.99, Z:111.00 [[ 9.71972917e-02 -9.95198576e-01 1.15100281e-02 3.11433228e+02] [ 9.86962169e-01 9.78706873e-02 1.27777169e-01 1.94993473e+02] [-1.28290151e-01 -1.05963245e-03 9.91736111e-01 1.10997004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.44, Y:195.02, Z:110.99 [[ 9.75546590e-02 -9.95164324e-01 1.14480305e-02 3.11437465e+02] [ 9.86966025e-01 9.82174877e-02 1.27480943e-01 1.95020976e+02] [-1.27988883e-01 -1.13754275e-03 9.91774950e-01 1.10993173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.44, Y:195.05, Z:110.99 [[ 9.76897980e-02 -9.95151560e-01 1.14050667e-02 3.11443729e+02] [ 9.86963537e-01 9.83461109e-02 1.27401021e-01 1.95047064e+02] [-1.27904968e-01 -1.18939496e-03 9.91785715e-01 1.10989587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:195.07, Z:110.99 [[ 9.72440911e-02 -9.95196447e-01 1.12968512e-02 3.11447862e+02] [ 9.87109575e-01 9.78911785e-02 1.26617551e-01 1.95073199e+02] [-1.27115198e-01 -1.16157865e-03 9.91887280e-01 1.10985970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:195.10, Z:110.98 [[ 9.57838720e-02 -9.95339064e-01 1.12070444e-02 3.11453751e+02] [ 9.87346579e-01 9.64321652e-02 1.25887133e-01 1.95100212e+02] [-1.26381101e-01 -9.92720143e-04 9.91981266e-01 1.10981186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:195.13, Z:110.97 [[ 9.44481831e-02 -9.95298724e-01 2.14473777e-02 3.11453001e+02] [ 9.87854920e-01 9.63682577e-02 1.21884441e-01 1.95128695e+02] [-1.23378275e-01 9.67513361e-03 9.92312548e-01 1.10973256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:195.15, Z:110.98 [[ 9.36570166e-02 -9.95563626e-01 9.02385710e-03 3.11463051e+02] [ 9.87912364e-01 9.40540969e-02 1.23219268e-01 1.95154944e+02] [-1.23521352e-01 -2.62556901e-03 9.92338441e-01 1.10975213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.47, Y:195.18, Z:110.97 [[ 9.21839429e-02 -9.95737390e-01 3.02824633e-03 3.11472113e+02] [ 9.87716743e-01 9.18258921e-02 1.26426428e-01 1.95180323e+02] [-1.26165593e-01 -8.66343707e-03 9.91971365e-01 1.10974407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.47, Y:195.21, Z:110.96 [[ 8.99639309e-02 -9.95750914e-01 1.96623800e-02 3.11467401e+02] [ 9.87496262e-01 9.17494552e-02 1.28191925e-01 1.95207381e+02] [-1.29451239e-01 7.88387721e-03 9.91554447e-01 1.10960408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.48, Y:195.24, Z:110.97 [[ 8.92269246e-02 -9.96010499e-01 1.28123072e-03 3.11482937e+02] [ 9.87803667e-01 8.86563753e-02 1.27999853e-01 1.95235452e+02] [-1.27602786e-01 -1.01554288e-02 9.91773359e-01 1.10969442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.48, Y:195.26, Z:110.96 [[ 8.86980029e-02 -9.95995904e-01 1.11724816e-02 3.11482055e+02] [ 9.87795270e-01 8.93984523e-02 1.27547726e-01 1.95262446e+02] [-1.28035815e-01 -2.77104083e-04 9.91769506e-01 1.10961634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.49, Y:195.29, Z:110.96 [[ 8.79240367e-02 -9.96064446e-01 1.11795566e-02 3.11487174e+02] [ 9.87801460e-01 8.86316698e-02 1.28033990e-01 1.95289509e+02] [-1.28520968e-01 -2.14082876e-04 9.91706769e-01 1.10958044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.49, Y:195.32, Z:110.95 [[ 8.76326077e-02 -9.96090360e-01 1.11588741e-02 3.11490987e+02] [ 9.87805846e-01 8.83399656e-02 1.28201645e-01 1.95316795e+02] [-1.28686197e-01 -2.11843343e-04 9.91685342e-01 1.10954199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.49, Y:195.34, Z:110.95 [[ 8.78486980e-02 -9.96071780e-01 1.11182766e-02 3.11494690e+02] [ 9.87795161e-01 8.85490517e-02 1.28139709e-01 1.95344187e+02] [-1.28620861e-01 -2.74326738e-04 9.91693803e-01 1.10950346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.50, Y:195.37, Z:110.95 [[ 8.98084459e-02 -9.95858274e-01 1.41683325e-02 3.11497721e+02] [ 9.87703515e-01 9.08828658e-02 1.27208774e-01 1.95370426e+02] [-1.27969569e-01 2.56968947e-03 9.91774766e-01 1.10945836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.50, Y:195.40, Z:110.94 [[ 9.04982965e-02 -9.95866371e-01 7.76070618e-03 3.11503999e+02] [ 9.87607067e-01 9.07456458e-02 1.28052762e-01 1.95398332e+02] [-1.28227690e-01 -3.92402859e-03 9.91736992e-01 1.10944600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:195.43, Z:110.94 [[ 9.33917173e-02 -9.95569608e-01 1.09152755e-02 3.11506897e+02] [ 9.87428734e-01 9.40211225e-02 1.27061101e-01 1.95425976e+02] [-1.27524437e-01 -1.08839773e-03 9.91834832e-01 1.10938943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:195.45, Z:110.94 [[ 9.50072566e-02 -9.95417636e-01 1.08328962e-02 3.11510088e+02] [ 9.87346561e-01 9.56136949e-02 1.26510041e-01 1.95452739e+02] [-1.26966099e-01 -1.32354906e-03 9.91906174e-01 1.10935244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:195.48, Z:110.93 [[ 9.60134748e-02 -9.95322199e-01 1.07300327e-02 3.11512747e+02] [ 9.87349805e-01 9.65998815e-02 1.25733151e-01 1.95480832e+02] [-1.26181516e-01 -1.47778100e-03 9.92006069e-01 1.10931030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:195.51, Z:110.93 [[ 9.82154244e-02 -9.95108192e-01 1.06497332e-02 3.11515954e+02] [ 9.87203275e-01 9.87750448e-02 1.25192588e-01 1.95507901e+02] [-1.25632098e-01 -1.78239163e-03 9.92075299e-01 1.10927075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.630385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:311.52, Y:195.54, Z:110.92 [[ 9.78897975e-02 -9.95140856e-01 1.05954689e-02 3.11518422e+02] [ 9.87262819e-01 9.84455655e-02 1.24982388e-01 1.95535788e+02] [-1.25418158e-01 -1.77398820e-03 9.92102383e-01 1.10923016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:195.56, Z:110.92 [[ 9.67583181e-02 -9.95252111e-01 1.05386640e-02 3.11520142e+02] [ 9.87409404e-01 9.73163808e-02 1.24708424e-01 1.95562894e+02] [-1.25141907e-01 -1.66060142e-03 9.92137463e-01 1.10918940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:195.59, Z:110.91 [[ 9.54935938e-02 -9.95248889e-01 1.89900586e-02 3.11517559e+02] [ 9.87831400e-01 9.71000747e-02 1.21493625e-01 1.95589495e+02] [-1.22760331e-01 7.15711328e-03 9.92410538e-01 1.10911849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:195.62, Z:110.91 [[ 9.43257262e-02 -9.95380002e-01 1.79250850e-02 3.11520058e+02] [ 9.88102372e-01 9.58027269e-02 1.20314339e-01 1.95616943e+02] [-1.21475759e-01 6.36308164e-03 9.92574003e-01 1.10908618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:195.64, Z:110.92 [[ 9.28245384e-02 -9.95668510e-01 -5.27484120e-03 3.11532777e+02] [ 9.87689306e-01 9.14081360e-02 1.26942460e-01 1.95643832e+02] [-1.25910447e-01 -1.69932795e-02 9.91896057e-01 1.10915062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:195.67, Z:110.90 [[ 9.05757342e-02 -9.95833539e-01 1.05640207e-02 3.11526660e+02] [ 9.87755883e-01 9.11838771e-02 1.26585211e-01 1.95669987e+02] [-1.27021067e-01 -1.03087485e-03 9.91899484e-01 1.10904383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:195.70, Z:110.90 [[ 8.94436059e-02 -9.95935574e-01 1.05912588e-02 3.11529283e+02] [ 9.87754456e-01 9.00636585e-02 1.27395731e-01 1.95697594e+02] [-1.27831828e-01 -9.33170452e-04 9.91795419e-01 1.10901003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:195.73, Z:110.90 [[ 8.87453500e-02 -9.95998293e-01 1.05670781e-02 3.11531711e+02] [ 9.87799077e-01 8.93679204e-02 1.27539634e-01 1.95725109e+02] [-1.27973616e-01 -8.80399519e-04 9.91777182e-01 1.10897359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:195.75, Z:110.89 [[ 8.83122017e-02 -9.96037236e-01 1.05251747e-02 3.11533897e+02] [ 9.87847988e-01 8.89330403e-02 1.27464768e-01 1.95751962e+02] [-1.27895691e-01 -8.59421628e-04 9.91787252e-01 1.10893716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:195.78, Z:110.89 [[ 8.73051870e-02 -9.96126830e-01 1.04471724e-02 3.11535484e+02] [ 9.88001439e-01 8.79247172e-02 1.26974018e-01 1.95779859e+02] [-1.27400790e-01 -7.63669020e-04 9.91851025e-01 1.10889262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:195.81, Z:110.89 [[ 8.66778123e-02 -9.96182304e-01 1.03814110e-02 3.11537442e+02] [ 9.88104699e-01 8.72943544e-02 1.26604896e-01 1.95807336e+02] [-1.27027796e-01 -7.15914497e-04 9.91898899e-01 1.10885315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:195.83, Z:110.88 [[ 8.49850865e-02 -9.96329265e-01 1.02728649e-02 3.11539473e+02] [ 9.88366709e-01 8.56020763e-02 1.25712108e-01 1.95833845e+02] [-1.26130030e-01 -5.30296661e-04 9.92013576e-01 1.10881860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.54, Y:195.86, Z:110.88 [[ 8.35727870e-02 -9.96449289e-01 1.02178299e-02 3.11541637e+02] [ 9.88534206e-01 8.41942653e-02 1.25345317e-01 1.95861183e+02] [-1.25760535e-01 -3.74783091e-04 9.92060556e-01 1.10878125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:195.89, Z:110.88 [[ 8.21974964e-02 -9.96564623e-01 1.01254318e-02 3.11543741e+02] [ 9.88740715e-01 8.28184673e-02 1.24631060e-01 1.95887800e+02] [-1.25041478e-01 -2.32934418e-04 9.92151488e-01 1.10875017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:195.92, Z:110.87 [[ 8.06001416e-02 -9.96695603e-01 1.00743600e-02 3.11546023e+02] [ 9.88895460e-01 8.12272793e-02 1.24450382e-01 1.95915928e+02] [-1.24857462e-01 -6.82295101e-05 9.92174687e-01 1.10870921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:195.94, Z:110.87 [[ 7.77555857e-02 -9.96921699e-01 1.00595269e-02 3.11549112e+02] [ 9.89093110e-01 7.84031917e-02 1.24690653e-01 1.95943044e+02] [-1.25095517e-01 2.54413991e-04 9.92144670e-01 1.10868130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:195.97, Z:110.86 [[ 7.60660896e-02 -9.97052196e-01 1.00433646e-02 3.11551352e+02] [ 9.89192748e-01 7.67250516e-02 1.24943884e-01 1.95970353e+02] [-1.25346151e-01 4.30830767e-04 9.92112976e-01 1.10864721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:196.00, Z:110.86 [[ 7.37926352e-02 -9.97222720e-01 1.00744192e-02 3.11553209e+02] [ 9.89261697e-01 7.44739953e-02 1.25757385e-01 1.95998435e+02] [-1.26158404e-01 6.86268142e-04 9.92009872e-01 1.10861090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:196.03, Z:110.86 [[ 7.26191660e-02 -9.97308690e-01 1.00912635e-02 3.11554861e+02] [ 9.89266324e-01 7.33125559e-02 1.26401775e-01 1.96026184e+02] [-1.26801405e-01 8.03755679e-04 9.91927799e-01 1.10856830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:196.05, Z:110.85 [[ 7.11016988e-02 -9.97418251e-01 1.00688138e-02 3.11556713e+02] [ 9.89357684e-01 7.18046245e-02 1.26552239e-01 1.96052983e+02] [-1.26948500e-01 9.63579156e-04 9.91908842e-01 1.10853416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:196.08, Z:110.85 [[ 7.04458120e-02 -9.97464987e-01 1.00492899e-02 3.11558966e+02] [ 9.89381278e-01 7.11517490e-02 1.26736398e-01 1.96080018e+02] [-1.27130144e-01 1.01453086e-03 9.91885526e-01 1.10850190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:196.11, Z:110.85 [[ 7.01204241e-02 -9.97487932e-01 1.00474498e-02 3.11561253e+02] [ 9.89347225e-01 7.08292307e-02 1.27182110e-01 1.96107851e+02] [-1.27574273e-01 1.02235313e-03 9.91828493e-01 1.10846951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:196.14, Z:110.84 [[ 6.99517551e-02 -9.97499991e-01 1.00259408e-02 3.11563395e+02] [ 9.89359165e-01 7.06591960e-02 1.27183805e-01 1.96136080e+02] [-1.27574270e-01 1.02252604e-03 9.91828493e-01 1.10843157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.320385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:311.56, Y:196.16, Z:110.84 [[ 6.99172187e-02 -9.97501490e-01 1.01173200e-02 3.11564648e+02] [ 9.89174907e-01 7.06381440e-02 1.28620590e-01 1.96163735e+02] [-1.29013898e-01 1.01500521e-03 9.91642266e-01 1.10839584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:196.19, Z:110.83 [[ 7.00513311e-02 -9.97360531e-01 1.90992805e-02 3.11561025e+02] [ 9.89446981e-01 7.19044645e-02 1.25795153e-01 1.96189479e+02] [-1.26836444e-01 1.00856075e-02 9.91872369e-01 1.10831824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.22, Z:110.84 [[ 7.12740397e-02 -9.97456318e-01 9.51408018e-04 3.11570004e+02] [ 9.88980493e-01 7.07924134e-02 1.30023148e-01 1.96217858e+02] [-1.29759763e-01 -8.32635106e-03 9.91510502e-01 1.10835429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.24, Z:110.83 [[ 7.24120230e-02 -9.97324133e-01 1.00535413e-02 3.11566874e+02] [ 9.88916840e-01 7.31042610e-02 1.29225581e-01 1.96244561e+02] [-1.29614747e-01 5.84630598e-04 9.91564257e-01 1.10827957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.27, Z:110.82 [[ 7.35222175e-02 -9.97243273e-01 1.00169040e-02 3.11568342e+02] [ 9.88834687e-01 7.42003488e-02 1.29229524e-01 1.96272104e+02] [-1.29616532e-01 4.03820943e-04 9.91564114e-01 1.10824177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.30, Z:110.82 [[ 7.43551908e-02 -9.97181978e-01 9.97033409e-03 3.11569924e+02] [ 9.88792373e-01 7.50202234e-02 1.29079857e-01 1.96299399e+02] [-1.29464084e-01 2.60832898e-04 9.91584078e-01 1.10820618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.33, Z:110.81 [[ 7.59576372e-02 -9.97006604e-01 1.44315485e-02 3.11570480e+02] [ 9.88667179e-01 7.71860988e-02 1.28761464e-01 1.96329837e+02] [-1.29489945e-01 4.48758181e-03 9.91570580e-01 1.10812568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.36, Z:110.81 [[ 7.53691784e-02 -9.97135895e-01 6.28447634e-03 3.11574486e+02] [ 9.88822190e-01 7.55509134e-02 1.28540797e-01 1.96355515e+02] [-1.28647441e-01 -3.47378462e-03 9.91684309e-01 1.10814679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:196.38, Z:110.81 [[ 7.40005900e-02 -9.97210323e-01 9.77164991e-03 3.11573748e+02] [ 9.89012619e-01 7.46426377e-02 1.27602962e-01 1.96381781e+02] [-1.27976372e-01 2.21590620e-04 9.91777192e-01 1.10809769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.58, Y:196.41, Z:110.81 [[ 7.27080330e-02 -9.97305499e-01 9.76133557e-03 3.11575267e+02] [ 9.89076619e-01 7.33594773e-02 1.27850810e-01 1.96408880e+02] [-1.28222402e-01 3.58927887e-04 9.91745374e-01 1.10805632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.58, Y:196.43, Z:110.80 [[ 7.16686413e-02 -9.97381183e-01 9.71503495e-03 3.11576903e+02] [ 9.89166991e-01 7.23226750e-02 1.27742298e-01 1.96434815e+02] [-1.28110381e-01 4.54674995e-04 9.91759811e-01 1.10802377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.58, Y:196.46, Z:110.80 [[ 7.01884081e-02 -9.97486569e-01 9.70220319e-03 3.11578977e+02] [ 9.89226191e-01 7.08532150e-02 1.28106850e-01 1.96462156e+02] [-1.28472294e-01 6.06057670e-04 9.91712913e-01 1.10798323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.58, Y:196.49, Z:110.79 [[ 6.92624599e-02 -9.97551625e-01 9.66780198e-03 3.11580900e+02] [ 9.89290972e-01 6.99305194e-02 1.28113605e-01 1.96488982e+02] [-1.28476009e-01 6.90805796e-04 9.91712377e-01 1.10794553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.58, Y:196.52, Z:110.79 [[ 6.75513218e-02 -9.97669588e-01 9.60269810e-03 3.11582662e+02] [ 9.89458430e-01 6.82248609e-02 1.27739518e-01 1.96516952e+02] [-1.28096975e-01 8.72497310e-04 9.91761264e-01 1.10790545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.58, Y:196.55, Z:110.79 [[ 6.65258986e-02 -9.97738674e-01 9.58350630e-03 3.11584994e+02] [ 9.89505720e-01 6.72055899e-02 1.27913404e-01 1.96545041e+02] [-1.28268215e-01 9.73380175e-04 9.91739037e-01 1.10786599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:196.57, Z:110.78 [[ 6.54519770e-02 -9.97809886e-01 9.56405685e-03 3.11587588e+02] [ 9.89547994e-01 6.61382849e-02 1.28142480e-01 1.96572470e+02] [-1.28494384e-01 1.07691458e-03 9.91709652e-01 1.10782781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:196.60, Z:110.78 [[ 6.35191217e-02 -9.97935444e-01 9.49579400e-03 3.11590515e+02] [ 9.89731387e-01 6.42120990e-02 1.27705086e-01 1.96599369e+02] [-1.28051177e-01 1.28657047e-03 9.91766727e-01 1.10779171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:196.63, Z:110.78 [[ 6.25936993e-02 -9.97994638e-01 9.41977493e-03 3.11592951e+02] [ 9.89857921e-01 6.32838460e-02 1.27186681e-01 1.96626426e+02] [-1.27527745e-01 1.36315396e-03 9.91834067e-01 1.10775422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:196.65, Z:110.77 [[ 6.13849720e-02 -9.98070484e-01 9.33775456e-03 3.11595898e+02] [ 9.90012070e-01 6.20736255e-02 1.26581855e-01 1.96654068e+02] [-1.26917241e-01 1.47426612e-03 9.91912214e-01 1.10771525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:196.68, Z:110.77 [[ 6.10518422e-02 -9.98091292e-01 9.29760168e-03 3.11598439e+02] [ 9.90041939e-01 6.17379857e-02 1.26512375e-01 1.96681390e+02] [-1.26844915e-01 1.48120200e-03 9.91921455e-01 1.10768151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:196.71, Z:110.76 [[ 6.09661132e-02 -9.98096931e-01 9.25473076e-03 3.11600815e+02] [ 9.90061734e-01 6.16473478e-02 1.26401612e-01 1.96709545e+02] [-1.26731591e-01 1.45653978e-03 9.91935977e-01 1.10764398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:196.74, Z:110.76 [[ 6.14208457e-02 -9.98069565e-01 9.19910002e-03 3.11603011e+02] [ 9.90070134e-01 6.20909829e-02 1.26118355e-01 1.96736958e+02] [-1.26446073e-01 1.36145819e-03 9.91972549e-01 1.10761270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:196.76, Z:110.76 [[ 6.17378946e-02 -9.98050401e-01 9.15586260e-03 3.11605174e+02] [ 9.90064568e-01 6.23998828e-02 1.26009546e-01 1.96764150e+02] [-1.26335202e-01 1.28533110e-03 9.91986776e-01 1.10757574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:196.79, Z:110.75 [[ 6.22883349e-02 -9.98016449e-01 9.12862447e-03 3.11607284e+02] [ 9.90011862e-01 6.29426495e-02 1.26153618e-01 1.96791140e+02] [-1.26477966e-01 1.17954768e-03 9.91968716e-01 1.10753924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:196.82, Z:110.75 [[ 6.36461916e-02 -9.97930575e-01 9.15042794e-03 3.11609075e+02] [ 9.89819930e-01 6.42932032e-02 1.26975947e-01 1.96817781e+02] [-1.27301490e-01 9.75740471e-04 9.91863589e-01 1.10750519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:196.84, Z:110.75 [[ 6.60931785e-02 -9.97738633e-01 1.22193244e-02 3.11609257e+02] [ 9.89736519e-01 6.71082639e-02 1.26166970e-01 1.96843508e+02] [-1.26701678e-01 3.75513554e-03 9.91933760e-01 1.10745461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:196.87, Z:110.74 [[ 6.62000475e-02 -9.97789273e-01 5.84134251e-03 3.11614188e+02] [ 9.89593514e-01 6.64036017e-02 1.27652804e-01 1.96872510e+02] [-1.27758485e-01 -2.67006703e-03 9.91801714e-01 1.10744409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:196.90, Z:110.74 [[ 6.68639326e-02 -9.97720479e-01 9.11380179e-03 3.11614682e+02] [ 9.89538890e-01 6.74803991e-02 1.27511496e-01 1.96900473e+02] [-1.27835833e-01 4.92541251e-04 9.91795219e-01 1.10739082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.62, Y:196.93, Z:110.74 [[ 6.71609118e-02 -9.97701048e-01 9.05710605e-03 3.11616662e+02] [ 9.89556748e-01 6.77675754e-02 1.27220273e-01 1.96927439e+02] [-1.27541578e-01 4.18290884e-04 9.91833137e-01 1.10735576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.62, Y:196.95, Z:110.73 [[ 6.82396933e-02 -9.97628294e-01 9.00734101e-03 3.11618892e+02] [ 9.89527318e-01 6.88311191e-02 1.26877749e-01 1.96954890e+02] [-1.27196818e-01 2.54911305e-04 9.91877465e-01 1.10731479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.62, Y:196.98, Z:110.73 [[ 6.82764873e-02 -9.97626176e-01 8.96295481e-03 3.11620621e+02] [ 9.89541797e-01 6.88619410e-02 1.26748042e-01 1.96982786e+02] [-1.27064371e-01 2.15307350e-04 9.91894450e-01 1.10727257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.250385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.62, Y:197.01, Z:110.72 [[ 6.83632474e-02 -9.97620559e-01 8.92676209e-03 3.11622065e+02] [ 9.89537834e-01 6.89433970e-02 1.26734693e-01 1.97010333e+02] [-1.27048577e-01 1.69373650e-04 9.91896482e-01 1.10722980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.62, Y:197.04, Z:110.72 [[ 6.80238317e-02 -9.97644339e-01 8.86177664e-03 3.11623979e+02] [ 9.89617229e-01 6.85984036e-02 1.26301224e-01 1.97036815e+02] [-1.26611605e-01 1.78273643e-04 9.91952353e-01 1.10719897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.310385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:311.63, Y:197.06, Z:110.72 [[ 6.73269664e-02 -9.97692083e-01 8.80831114e-03 3.11626158e+02] [ 9.89696088e-01 6.79003219e-02 1.26060305e-01 1.97064743e+02] [-1.26367456e-01 2.30293125e-04 9.91983474e-01 1.10716359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3403857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:311.63, Y:197.09, Z:110.71 [[ 6.52551320e-02 -9.97830277e-01 8.74677969e-03 3.11626936e+02] [ 9.89885080e-01 6.58371395e-02 1.25670202e-01 1.97091520e+02] [-1.25973396e-01 4.57681079e-04 9.92033515e-01 1.10709466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:197.12, Z:110.71 [[ 6.52412386e-02 -9.97831380e-01 8.72451905e-03 3.11628878e+02] [ 9.89882696e-01 6.58205645e-02 1.25697659e-01 1.97119923e+02] [-1.25999322e-01 4.35579461e-04 9.92030232e-01 1.10708557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:197.15, Z:110.70 [[ 6.40595160e-02 -9.97908193e-01 8.69580745e-03 3.11630634e+02] [ 9.89948178e-01 6.46446898e-02 1.25792163e-01 1.97146192e+02] [-1.26091168e-01 5.50213657e-04 9.92018505e-01 1.10704932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:197.17, Z:110.70 [[ 6.30707847e-02 -9.97971508e-01 8.65706801e-03 3.11632424e+02] [ 9.90037677e-01 6.36588293e-02 1.25590410e-01 1.97173645e+02] [-1.25886750e-01 6.49737802e-04 9.92044406e-01 1.10701598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.460385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:311.63, Y:197.20, Z:110.70 [[ 6.24666015e-02 -9.98009722e-01 8.63243877e-03 3.11633981e+02] [ 9.90056863e-01 6.30564558e-02 1.25742958e-01 1.97200838e+02] [-1.26037026e-01 6.91869996e-04 9.92025297e-01 1.10698012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:197.23, Z:110.69 [[ 6.13583436e-02 -9.98078827e-01 8.59126232e-03 3.11634939e+02] [ 9.90133962e-01 6.19517926e-02 1.25684976e-01 1.97228390e+02] [-1.25975758e-01 7.94678649e-04 9.92033002e-01 1.10694516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.64, Y:197.26, Z:110.69 [[ 6.04895348e-02 -9.98132290e-01 8.54096721e-03 3.11636361e+02] [ 9.90217050e-01 6.10833638e-02 1.25455236e-01 1.97256035e+02] [-1.25742633e-01 8.68682467e-04 9.92062516e-01 1.10690430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.64, Y:197.28, Z:110.69 [[ 6.00387352e-02 -9.98160045e-01 8.47796479e-03 3.11637755e+02] [ 9.90298298e-01 6.06278451e-02 1.25034177e-01 1.97283558e+02] [-1.25318120e-01 8.88820258e-04 9.92116212e-01 1.10686640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.64, Y:197.31, Z:110.68 [[ 6.00931474e-02 -9.98156985e-01 8.45262358e-03 3.11639514e+02] [ 9.90277269e-01 6.06787749e-02 1.25175942e-01 1.97310998e+02] [-1.25458136e-01 8.48224633e-04 9.92098552e-01 1.10683162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.64, Y:197.34, Z:110.68 [[ 5.98744130e-02 -9.98169887e-01 8.48126557e-03 3.11641023e+02] [ 9.90168245e-01 6.04662086e-02 1.26137560e-01 1.97337308e+02] [-1.26419544e-01 8.45467500e-04 9.91976504e-01 1.10679356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.64, Y:197.37, Z:110.67 [[ 5.93506106e-02 -9.98101828e-01 1.64391408e-02 3.11638296e+02] [ 9.89673380e-01 6.09859687e-02 1.29720134e-01 1.97365076e+02] [-1.30476459e-01 8.57041088e-03 9.91414364e-01 1.10667030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:197.39, Z:110.68 [[ 6.04108857e-02 -9.98173136e-01 9.57244306e-04 3.11647352e+02] [ 9.90023970e-01 6.00399264e-02 1.27466647e-01 1.97392931e+02] [-1.27291256e-01 -6.75267826e-03 9.91842396e-01 1.10675170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.64, Y:197.42, Z:110.67 [[ 6.05231363e-02 -9.98130602e-01 8.50010962e-03 3.11644810e+02] [ 9.89970811e-01 6.11130377e-02 1.27369504e-01 1.97419151e+02] [-1.27650867e-01 7.06058563e-04 9.91818914e-01 1.10667401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:197.45, Z:110.66 [[ 6.06461638e-02 -9.98123570e-01 8.44881323e-03 3.11646594e+02] [ 9.89991088e-01 6.12283726e-02 1.27156329e-01 1.97446720e+02] [-1.27435036e-01 6.52706222e-04 9.91846705e-01 1.10663809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:197.47, Z:110.66 [[ 6.08769109e-02 -9.98109639e-01 8.43512608e-03 3.11648805e+02] [ 9.89936876e-01 6.14556841e-02 1.27468350e-01 1.97474099e+02] [-1.27745775e-01 5.90362960e-04 9.91806770e-01 1.10659978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:197.50, Z:110.66 [[ 6.13100488e-02 -9.98083134e-01 8.43415403e-03 3.11651588e+02] [ 9.89844982e-01 6.18854148e-02 1.27973072e-01 1.97500556e+02] [-1.28249716e-01 5.02469738e-04 9.91741780e-01 1.10656733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:197.53, Z:110.65 [[ 6.12353189e-02 -9.98087751e-01 8.43076598e-03 3.11653793e+02] [ 9.89784420e-01 6.18111174e-02 1.28476413e-01 1.97527297e+02] [-1.28751849e-01 4.77346699e-04 9.91676728e-01 1.10653369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:197.55, Z:110.65 [[ 6.10347032e-02 -9.98100052e-01 8.42919137e-03 3.11655804e+02] [ 9.89723454e-01 6.16122433e-02 1.29040368e-01 1.97554502e+02] [-1.29314539e-01 4.66627850e-04 9.91603516e-01 1.10649704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:197.58, Z:110.65 [[ 6.10977706e-02 -9.98096140e-01 8.43556493e-03 3.11658001e+02] [ 9.89629729e-01 6.16759126e-02 1.29726949e-01 1.97582684e+02] [-1.30000238e-01 4.22058497e-04 9.91513873e-01 1.10646455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:197.61, Z:110.64 [[ 6.09805719e-02 -9.98103355e-01 8.42988760e-03 3.11659711e+02] [ 9.89575042e-01 6.15591684e-02 1.30198713e-01 1.97609672e+02] [-1.30470709e-01 4.02414405e-04 9.91452083e-01 1.10642547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:197.64, Z:110.64 [[ 6.07467426e-02 -9.98117385e-01 8.45691586e-03 3.11661814e+02] [ 9.89454172e-01 6.13313049e-02 1.31220853e-01 1.97637370e+02] [-1.31492488e-01 3.96491312e-04 9.91317088e-01 1.10638657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:197.66, Z:110.64 [[ 6.06806710e-02 -9.98121525e-01 8.44258221e-03 3.11663704e+02] [ 9.89416016e-01 6.12640446e-02 1.31539591e-01 1.97663732e+02] [-1.31809724e-01 3.71315418e-04 9.91274966e-01 1.10635181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:197.69, Z:110.63 [[ 6.07302297e-02 -9.98118822e-01 8.40577292e-03 3.11665666e+02] [ 9.89407543e-01 6.13083334e-02 1.31582686e-01 1.97691271e+02] [-1.31850499e-01 3.25688385e-04 9.91269560e-01 1.10631412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:197.72, Z:110.63 [[ 6.09982117e-02 -9.98103168e-01 8.32369699e-03 3.11667847e+02] [ 9.89487716e-01 6.15629859e-02 1.30858926e-01 1.97718696e+02] [-1.31123140e-01 2.54035448e-04 9.91366056e-01 1.10627058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:197.75, Z:110.62 [[ 6.07705715e-02 -9.98117613e-01 8.25647277e-03 3.11669671e+02] [ 9.89566347e-01 6.13283823e-02 1.30373595e-01 1.97746095e+02] [-1.30634538e-01 2.47449697e-04 9.91430561e-01 1.10623033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:197.77, Z:110.62 [[ 6.05045456e-02 -9.98134769e-01 8.13524167e-03 3.11672153e+02] [ 9.89760078e-01 6.10485223e-02 1.29027386e-01 1.97773018e+02] [-1.29283364e-01 2.45194074e-04 9.91607660e-01 1.10619196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:197.80, Z:110.61 [[ 6.10152341e-02 -9.98030340e-01 1.45801690e-02 3.11673006e+02] [ 9.89557732e-01 6.23954239e-02 1.29931927e-01 1.97803167e+02] [-1.30585741e-01 6.50009205e-03 9.91415712e-01 1.10609056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:197.83, Z:110.61 [[ 5.97437419e-02 -9.98106795e-01 1.46120056e-02 3.11673451e+02] [ 9.90225558e-01 6.11074686e-02 1.25376323e-01 1.97828022e+02] [-1.26031862e-01 6.97873073e-03 9.92001647e-01 1.10609227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:197.86, Z:110.61 [[ 5.88967439e-02 -9.98249936e-01 -5.31394803e-03 3.11685731e+02] [ 9.89755672e-01 5.77004046e-02 1.30592393e-01 1.97856287e+02] [-1.30057231e-01 -1.29509770e-02 9.91421903e-01 1.10614052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.68, Y:197.88, Z:110.60 [[ 5.86988801e-02 -9.98243262e-01 8.05176096e-03 3.11681018e+02] [ 9.89771753e-01 5.92474949e-02 1.29775238e-01 1.97884195e+02] [-1.30024303e-01 3.51744431e-04 9.91510745e-01 1.10604514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.68, Y:197.91, Z:110.60 [[ 5.81160315e-02 -9.98277729e-01 8.00647400e-03 3.11682961e+02] [ 9.89833761e-01 5.86636226e-02 1.29567375e-01 1.97912462e+02] [-1.29813914e-01 3.95136595e-04 9.91538296e-01 1.10600801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:197.94, Z:110.60 [[ 5.80475719e-02 -9.98282003e-01 7.97005379e-03 3.11685090e+02] [ 9.89837870e-01 5.85910147e-02 1.29568842e-01 1.97939133e+02] [-1.29813217e-01 3.67904379e-04 9.91538397e-01 1.10597117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:197.97, Z:110.59 [[ 5.83531124e-02 -9.98225024e-01 1.19044125e-02 3.11687346e+02] [ 9.89821782e-01 5.94041163e-02 1.29321267e-01 1.97968015e+02] [-1.29798896e-01 4.23694840e-03 9.91531288e-01 1.10589251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:197.99, Z:110.59 [[ 5.84208601e-02 -9.98281658e-01 4.55361379e-03 3.11691810e+02] [ 9.89790717e-01 5.85167737e-02 1.29962006e-01 1.97994707e+02] [-1.30005150e-01 -3.08536752e-03 9.91508518e-01 1.10591409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:198.02, Z:110.59 [[ 5.92731964e-02 -9.98210306e-01 7.92924600e-03 3.11692291e+02] [ 9.89703378e-01 5.98010474e-02 1.30042525e-01 1.98022657e+02] [-1.30283965e-01 1.39565457e-04 9.91476711e-01 1.10586085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:198.05, Z:110.58 [[ 5.97919581e-02 -9.98179555e-01 7.90552941e-03 3.11694341e+02] [ 9.89674547e-01 6.03122973e-02 1.30025832e-01 1.98049877e+02] [-1.30265928e-01 4.94021261e-05 9.91479090e-01 1.10582575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:198.08, Z:110.58 [[ 6.01144740e-02 -9.98160511e-01 7.86410792e-03 3.11695911e+02] [ 9.89687280e-01 6.06266758e-02 1.29782485e-01 1.98077482e+02] [-1.30020526e-01 -1.87982446e-05 9.91511302e-01 1.10578414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:198.11, Z:110.57 [[ 6.07047113e-02 -9.98125337e-01 7.79425462e-03 3.11697533e+02] [ 9.89729715e-01 6.12029083e-02 1.29187053e-01 1.98105698e+02] [-1.29421902e-01 -1.28057335e-04 9.91589610e-01 1.10574063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:198.13, Z:110.57 [[ 6.10863408e-02 -9.98102380e-01 7.75233282e-03 3.11699209e+02] [ 9.89718595e-01 6.15759222e-02 1.29094960e-01 1.98133894e+02] [-1.29327343e-01 -2.13310746e-04 9.91601933e-01 1.10570215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:198.16, Z:110.57 [[ 6.09863308e-02 -9.98108590e-01 7.74017331e-03 3.11700831e+02] [ 9.89669988e-01 6.14750843e-02 1.29514974e-01 1.98161646e+02] [-1.29745836e-01 -2.38425832e-04 9.91547256e-01 1.10566481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:198.19, Z:110.56 [[ 6.15235240e-02 -9.98049205e-01 1.06132457e-02 3.11701590e+02] [ 9.89676908e-01 6.23795144e-02 1.29028730e-01 1.98188527e+02] [-1.29439071e-01 2.56538199e-03 9.91584059e-01 1.10561850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.22, Z:110.56 [[ 6.18766234e-02 -9.98072063e-01 4.84156681e-03 3.11706199e+02] [ 9.89539462e-01 6.19795626e-02 1.30269673e-01 1.98215446e+02] [-1.30318600e-01 -3.26972609e-03 9.91466778e-01 1.10561378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.24, Z:110.56 [[ 6.23040781e-02 -9.98027865e-01 7.65394798e-03 3.11705888e+02] [ 9.89521874e-01 6.27702399e-02 1.30024452e-01 1.98242949e+02] [-1.30248466e-01 -5.27304653e-04 9.91481245e-01 1.10555508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.27, Z:110.55 [[ 6.22312849e-02 -9.98032686e-01 7.61741442e-03 3.11707246e+02] [ 9.89525588e-01 6.26933038e-02 1.30033307e-01 1.98270952e+02] [-1.30255052e-01 -5.54513300e-04 9.91480365e-01 1.10551664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.30, Z:110.55 [[ 6.19582591e-02 -9.98049888e-01 7.58914749e-03 3.11708786e+02] [ 9.89523680e-01 6.24188418e-02 1.30179776e-01 1.98297754e+02] [-1.30399617e-01 -5.56071159e-04 9.91461361e-01 1.10548137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.33, Z:110.54 [[ 6.13466493e-02 -9.98087937e-01 7.55377009e-03 3.11710982e+02] [ 9.89554601e-01 6.18078144e-02 1.30236270e-01 1.98325594e+02] [-1.30454132e-01 -5.14690813e-04 9.91454212e-01 1.10544788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.35, Z:110.54 [[ 6.04379825e-02 -9.98143489e-01 7.53830930e-03 3.11712711e+02] [ 9.89564229e-01 6.09047493e-02 1.30588090e-01 1.98353307e+02] [-1.30804771e-01 -4.32839492e-04 9.91408052e-01 1.10541028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:198.38, Z:110.54 [[ 5.93959059e-02 -9.98206271e-01 7.50778733e-03 3.11714389e+02] [ 9.89615499e-01 5.98676064e-02 1.30679130e-01 1.98381598e+02] [-1.30894200e-01 -3.31982591e-04 9.91396287e-01 1.10537235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.41, Z:110.53 [[ 5.66272668e-02 -9.98367342e-01 7.48346913e-03 3.11715812e+02] [ 9.89748886e-01 5.71196080e-02 1.30898787e-01 1.98408964e+02] [-1.31112527e-01 -5.68529499e-06 9.91367493e-01 1.10533104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.44, Z:110.53 [[ 5.50254142e-02 -9.98457297e-01 7.43170284e-03 3.11717394e+02] [ 9.89872658e-01 5.55247547e-02 1.30648853e-01 1.98435833e+02] [-1.30859944e-01 1.67432195e-04 9.91400851e-01 1.10529625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.46, Z:110.53 [[ 5.16865472e-02 -9.98635980e-01 7.39460256e-03 3.11718852e+02] [ 9.90047466e-01 5.22097588e-02 1.30691069e-01 1.98464048e+02] [-1.30898875e-01 5.66037404e-04 9.91395564e-01 1.10525888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.49, Z:110.52 [[ 5.01865537e-02 -9.98712802e-01 7.35180537e-03 3.11720404e+02] [ 9.90139422e-01 5.07169830e-02 1.30582208e-01 1.98490777e+02] [-1.30786984e-01 7.25841350e-04 9.91410227e-01 1.10522726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.900385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:311.72, Y:198.52, Z:110.52 [[ 4.88388138e-02 -9.98779910e-01 7.31178948e-03 3.11722117e+02] [ 9.90239624e-01 4.93753629e-02 1.30336335e-01 1.98517831e+02] [-1.30538335e-01 8.74951674e-04 9.91442877e-01 1.10519365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.55, Z:110.52 [[ 4.64994518e-02 -9.98892222e-01 7.22007125e-03 3.11723063e+02] [ 9.90479895e-01 4.70429442e-02 1.29369778e-01 1.98545373e+02] [-1.29566119e-01 1.13571164e-03 9.91570134e-01 1.10516023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.57, Z:110.51 [[ 4.53162026e-02 -9.98946945e-01 7.17241455e-03 3.11723782e+02] [ 9.90564096e-01 4.58632064e-02 1.29148515e-01 1.98572973e+02] [-1.29341464e-01 1.25221608e-03 9.91599323e-01 1.10512067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.60, Z:110.51 [[ 4.40467736e-02 -9.99004149e-01 7.11275416e-03 3.11723570e+02] [ 9.90679920e-01 4.45960986e-02 1.28703088e-01 1.98600684e+02] [-1.28892120e-01 1.37750694e-03 9.91657665e-01 1.10507844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.63, Z:110.50 [[ 4.32412551e-02 -9.99039629e-01 7.07206425e-03 3.11724137e+02] [ 9.90728575e-01 4.37919040e-02 1.28604663e-01 1.98627499e+02] [-1.28790854e-01 1.44546910e-03 9.91670725e-01 1.10503964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.73, Y:198.66, Z:110.50 [[ 4.24822724e-02 -9.99072540e-01 7.02253963e-03 3.11725310e+02] [ 9.90790892e-01 4.30325182e-02 1.28380728e-01 1.98655307e+02] [-1.28563858e-01 1.50396323e-03 9.91700092e-01 1.10500406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.73, Y:198.68, Z:110.50 [[ 4.18373689e-02 -9.99100123e-01 6.96990602e-03 3.11726704e+02] [ 9.90861739e-01 4.23856774e-02 1.28048699e-01 1.98683094e+02] [-1.28228895e-01 1.54899255e-03 9.91743390e-01 1.10496982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:311.73, Y:198.71, Z:110.49 [[ 4.10067356e-02 -9.99134860e-01 6.92677041e-03 3.11727586e+02] [ 9.90917383e-01 4.15561031e-02 1.27889919e-01 1.98711537e+02] [-1.28067126e-01 1.61950909e-03 9.91764180e-01 1.10494846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.73, Y:198.74, Z:110.49 [[ 4.03777776e-02 -9.99160617e-01 6.90630491e-03 3.11727914e+02] [ 9.90905888e-01 4.09301873e-02 1.28180499e-01 1.98738100e+02] [-1.28355583e-01 1.66785452e-03 9.91726809e-01 1.10492000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:198.76, Z:110.49 [[ 3.70294996e-02 -9.99291467e-01 6.73643331e-03 3.11723587e+02] [ 9.90623613e-01 3.75937314e-02 1.31345231e-01 1.98762273e+02] [-1.31505416e-01 1.80962174e-03 9.91313800e-01 1.10486148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.200385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:311.72, Y:198.79, Z:110.48 [[ 3.75134143e-02 -9.99264698e-01 7.92509584e-03 3.11723844e+02] [ 9.90584426e-01 3.82301243e-02 1.31457038e-01 1.98791418e+02] [-1.31663354e-01 2.91907420e-03 9.91290190e-01 1.10481630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:311.73, Y:198.82, Z:110.48 [[ 4.08303919e-02 -9.99157003e-01 4.26177569e-03 3.11728441e+02] [ 9.90673337e-01 4.10379149e-02 1.29931635e-01 1.98821302e+02] [-1.29996997e-01 -1.08313203e-03 9.91513796e-01 1.10482464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.73, Y:198.85, Z:110.48 [[ 4.12688331e-02 -9.99124629e-01 6.84531340e-03 3.11728052e+02] [ 9.90678195e-01 4.18082168e-02 1.29648709e-01 1.98849435e+02] [-1.29821409e-01 1.43105176e-03 9.91536360e-01 1.10477709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.290385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:311.73, Y:198.88, Z:110.47 [[ 4.15347002e-02 -9.99113994e-01 6.78939054e-03 3.11728657e+02] [ 9.90718301e-01 4.20640458e-02 1.29258906e-01 1.98876154e+02] [-1.29429971e-01 1.35764356e-03 9.91587636e-01 1.10474443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.73, Y:198.90, Z:110.47 [[ 4.24238472e-02 -9.99076836e-01 6.75972348e-03 3.11727663e+02] [ 9.90661198e-01 4.29420626e-02 1.29407767e-01 1.98903813e+02] [-1.29578579e-01 1.20662045e-03 9.91568422e-01 1.10470650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.350385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.73, Y:198.93, Z:110.47 [[ 4.16498980e-02 -9.99110939e-01 6.52827829e-03 3.11727025e+02] [ 9.91182425e-01 4.21402261e-02 1.25624844e-01 1.98931935e+02] [-1.25788259e-01 1.23845274e-03 9.92056339e-01 1.10470201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.73, Y:198.96, Z:110.46 [[ 4.29558005e-02 -9.99054521e-01 6.69796579e-03 3.11728277e+02] [ 9.90613141e-01 4.34617425e-02 1.29602017e-01 1.98958811e+02] [-1.29770586e-01 1.06793455e-03 9.91543471e-01 1.10463252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.410385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:311.73, Y:198.99, Z:110.46 [[ 4.22850394e-02 -9.99083057e-01 6.70979665e-03 3.11728069e+02] [ 9.90522986e-01 4.27992327e-02 1.30508394e-01 1.98986664e+02] [-1.30675899e-01 1.12765523e-03 9.91424499e-01 1.10459577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.440385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:311.73, Y:199.01, Z:110.46 [[ 4.13575550e-02 -9.99122160e-01 6.66802336e-03 3.11728987e+02] [ 9.90575505e-01 4.18741156e-02 1.30409844e-01 1.99014736e+02] [-1.30574583e-01 1.21174831e-03 9.91437749e-01 1.10455848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4703857229999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:311.73, Y:199.04, Z:110.45 [[ 3.85010797e-02 -9.99236559e-01 6.63072554e-03 3.11729324e+02] [ 9.90693712e-01 3.90371736e-02 1.30391977e-01 1.99042039e+02] [-1.30551275e-01 1.54878619e-03 9.91440349e-01 1.10452742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.73, Y:199.07, Z:110.45 [[ 3.70171344e-02 -9.99292846e-01 6.59850089e-03 3.11730245e+02] [ 9.90733970e-01 3.75619267e-02 1.30519354e-01 1.99069782e+02] [-1.30674909e-01 1.70590651e-03 9.91423804e-01 1.10449496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.530385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:311.73, Y:199.10, Z:110.45 [[ 3.54968617e-02 -9.99348272e-01 6.55781570e-03 3.11730861e+02] [ 9.90802637e-01 3.60491793e-02 1.30424654e-01 1.99098031e+02] [-1.30576057e-01 1.86783519e-03 9.91436536e-01 1.10445896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.560385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:311.73, Y:199.13, Z:110.44 [[ 3.42915467e-02 -9.99390646e-01 6.51356525e-03 3.11731663e+02] [ 9.90866034e-01 3.48480818e-02 1.30269392e-01 1.99126110e+02] [-1.30416997e-01 1.98693163e-03 9.91457240e-01 1.10442668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5903857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.74, Y:199.15, Z:110.46 [[ 3.09632702e-02 -9.99274254e-01 -2.21865199e-02 3.11742481e+02] [ 9.91682546e-01 2.79385180e-02 1.25639034e-01 1.99153486e+02] [-1.24927993e-01 -2.58921799e-02 9.91827904e-01 1.10459496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.620385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:311.72, Y:199.18, Z:110.43 [[ 3.15589386e-02 -9.98922898e-01 3.40158324e-02 3.11718984e+02] [ 9.91127956e-01 3.56725706e-02 1.28034535e-01 1.99180953e+02] [-1.29110061e-01 2.96734085e-02 9.91186199e-01 1.10425025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.650385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:311.75, Y:199.21, Z:110.47 [[ 2.97571621e-02 -9.98586982e-01 -4.40289782e-02 3.11753575e+02] [ 9.92329461e-01 2.42257539e-02 1.21224392e-01 1.99211489e+02] [-1.19986465e-01 -4.72985461e-02 9.91648171e-01 1.10467296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.680385723 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:311.71, Y:199.24, Z:110.41 [[ 3.02247281e-02 -9.97972826e-01 5.60062980e-02 3.11707457e+02] [ 9.91264134e-01 3.71240559e-02 1.26559160e-01 1.99235871e+02] [-1.28381783e-01 5.16918183e-02 9.90376733e-01 1.10408873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.710385723 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:311.74, Y:199.27, Z:110.45 [[ 2.91475964e-02 -9.99289635e-01 -2.38881491e-02 3.11743422e+02] [ 9.91925418e-01 2.59653053e-02 1.24136086e-01 1.99266435e+02] [-1.23427641e-01 -2.73135308e-02 9.91977615e-01 1.10445042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.740385723 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:311.72, Y:199.29, Z:110.42 [[ 2.70490780e-02 -9.99388738e-01 2.21471807e-02 3.11718372e+02] [ 9.91814814e-01 2.95966058e-02 1.24207152e-01 1.99290880e+02] [-1.24786710e-01 1.86062129e-02 9.92009116e-01 1.10418407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.770385723 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:311.72, Y:199.32, Z:110.41 [[ 3.08130337e-02 -9.99323536e-01 2.00755418e-02 3.11723309e+02] [ 9.91481351e-01 3.31019007e-02 1.25972199e-01 1.99320739e+02] [-1.26551522e-01 1.60229397e-02 9.91830619e-01 1.10412608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.800385723 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:311.73, Y:199.35, Z:110.41 [[ 3.07785854e-02 -9.99507540e-01 6.11202711e-03 3.11729358e+02] [ 9.91494556e-01 3.13043318e-02 1.26327289e-01 1.99347662e+02] [-1.26456411e-01 2.17186635e-03 9.91969787e-01 1.10414634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.830385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:311.73, Y:199.38, Z:110.41 [[ 3.07038674e-02 -9.99510252e-01 6.04398639e-03 3.11727355e+02] [ 9.91613164e-01 3.12196492e-02 1.25413980e-01 1.99376066e+02] [-1.25541250e-01 2.14260226e-03 9.92086087e-01 1.10411357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.860385723 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:311.73, Y:199.40, Z:110.41 [[ 2.97523580e-02 -9.99539294e-01 5.99981707e-03 3.11726913e+02] [ 9.91670493e-01 3.02696183e-02 1.25193384e-01 1.99404012e+02] [-1.25317318e-01 2.22504318e-03 9.92114217e-01 1.10408318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.890385723 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:311.72, Y:199.43, Z:110.41 [[ 2.80386500e-02 -9.99589170e-01 5.94349524e-03 3.11724578e+02] [ 9.91776994e-01 2.85612749e-02 1.24750345e-01 1.99431205e+02] [-1.24868847e-01 2.39679059e-03 9.92170362e-01 1.10405175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.920385723 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:311.72, Y:199.46, Z:110.40 [[ 2.68258918e-02 -9.99622789e-01 5.88659626e-03 3.11724032e+02] [ 9.91862970e-01 2.73498505e-02 1.24337581e-01 1.99458759e+02] [-1.24451677e-01 2.50323035e-03 9.92222512e-01 1.10401619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.950385723 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:311.72, Y:199.49, Z:110.40 [[ 2.50089443e-02 -9.99670092e-01 5.85326298e-03 3.11723034e+02] [ 9.91906995e-01 2.55429480e-02 1.24370701e-01 1.99486241e+02] [-1.24479180e-01 2.69551256e-03 9.92218559e-01 1.10398035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.980385723 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:311.72, Y:199.51, Z:110.39 [[ 2.24230750e-02 -9.99731443e-01 5.85211692e-03 3.11720133e+02] [ 9.91878940e-01 2.29792028e-02 1.25092462e-01 1.99514503e+02] [-1.25193344e-01 2.99963387e-03 9.92127829e-01 1.10394377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.010385723 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:311.71, Y:199.53, Z:110.38 [[ 1.58066386e-02 -9.99806403e-01 1.17177827e-02 3.11709042e+02] [ 9.91550760e-01 1.71830388e-02 1.28576178e-01 1.99534547e+02] [-1.28752633e-01 9.58641920e-03 9.91630405e-01 1.10384394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.040385723 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:311.72, Y:199.57, Z:110.39 [[ 2.05022380e-02 -9.99786598e-01 -2.53316557e-03 3.11722007e+02] [ 9.91906660e-01 2.00229699e-02 1.25380459e-01 1.99569834e+02] [-1.25302981e-01 -5.08324381e-03 9.92105500e-01 1.10389143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.070385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:311.71, Y:199.60, Z:110.38 [[ 1.97013921e-02 -9.99789139e-01 5.79079855e-03 3.11714757e+02] [ 9.91955544e-01 2.02707581e-02 1.24953172e-01 1.99597748e+02] [-1.25044208e-01 3.28246329e-03 9.92145741e-01 1.10382161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.100385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:311.71, Y:199.62, Z:110.38 [[ 1.77280793e-02 -9.99816595e-01 7.24506795e-03 3.11709580e+02] [ 9.91773506e-01 1.85032985e-02 1.26660730e-01 1.99621921e+02] [-1.26771557e-01 4.94001499e-03 9.91919638e-01 1.10376257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.130385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:311.71, Y:199.65, Z:110.37 [[ 1.76437671e-02 -9.99834847e-01 4.35609295e-03 3.11712211e+02] [ 9.91767372e-01 1.80537316e-02 1.26773586e-01 1.99649243e+02] [-1.26831293e-01 2.08346724e-03 9.91922115e-01 1.10373626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.160385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:311.71, Y:199.68, Z:110.37 [[ 2.07051499e-02 -9.99781753e-01 2.78250324e-03 3.11714204e+02] [ 9.91926861e-01 2.08905856e-02 1.25078716e-01 1.99680966e+02] [-1.25109546e-01 1.70266146e-04 9.92142919e-01 1.10372053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.190385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:311.71, Y:199.71, Z:110.37 [[ 2.15931262e-02 -9.99750523e-01 5.71216652e-03 3.11712085e+02] [ 9.91882638e-01 2.21386171e-02 1.25214674e-01 1.99708803e+02] [-1.25309895e-01 2.96202254e-03 9.92113228e-01 1.10367088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2203857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.71, Y:199.74, Z:110.36 [[ 2.22282622e-02 -9.99736598e-01 5.71305604e-03 3.11711208e+02] [ 9.91765082e-01 2.27712272e-02 1.26029735e-01 1.99735735e+02] [-1.26126632e-01 2.86458748e-03 9.92010014e-01 1.10362642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.250385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.71, Y:199.76, Z:110.36 [[ 2.48090738e-02 -9.99675904e-01 5.70938773e-03 3.11708632e+02] [ 9.91622407e-01 2.53326061e-02 1.26662000e-01 1.99763862e+02] [-1.26765583e-01 2.51918991e-03 9.91929504e-01 1.10357659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.280385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.71, Y:199.79, Z:110.35 [[ 2.58418036e-02 -9.99649972e-01 5.66879179e-03 3.11708076e+02] [ 9.91610659e-01 2.63515947e-02 1.26546014e-01 1.99791277e+02] [-1.26651101e-01 2.35105713e-03 9.91944540e-01 1.10353425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.310385723 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:311.69, Y:199.82, Z:110.33 [[ 2.90205219e-02 -9.99061926e-01 3.21415337e-02 3.11694284e+02] [ 9.90758872e-01 3.30117310e-02 1.31556386e-01 1.99817849e+02] [-1.32494024e-01 2.80266746e-02 9.90787484e-01 1.10331663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3403857229999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:311.72, Y:199.84, Z:110.35 [[ 3.08992836e-02 -9.99377456e-01 -1.70274617e-02 3.11717668e+02] [ 9.91178771e-01 2.84403137e-02 1.29444170e-01 1.99844595e+02] [-1.28879319e-01 -2.08769906e-02 9.91440504e-01 1.10351656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.370385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:311.69, Y:199.87, Z:110.32 [[ 2.91340631e-02 -9.99231708e-01 2.62145009e-02 3.11694290e+02] [ 9.90523688e-01 3.23817083e-02 1.33470026e-01 1.99867169e+02] [-1.34216353e-01 2.20775599e-02 9.90706088e-01 1.10324129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.71, Y:199.90, Z:110.34 [[ 2.76136949e-02 -9.99544165e-01 -1.22043305e-02 3.11711964e+02] [ 9.90737549e-01 2.57424761e-02 1.33328295e-01 1.99896728e+02] [-1.32953350e-01 -1.57729753e-02 9.90996781e-01 1.10336618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.430385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.71, Y:199.93, Z:110.33 [[ 3.01125467e-02 -9.99540399e-01 3.49659672e-03 3.11705436e+02] [ 9.90749465e-01 3.03104339e-02 1.32275379e-01 1.99926995e+02] [-1.32320568e-01 -5.18897186e-04 9.91206839e-01 1.10327227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:199.95, Z:110.32 [[ 3.15121115e-02 -9.99490833e-01 5.00611956e-03 3.11705079e+02] [ 9.90727129e-01 3.18972998e-02 1.32069369e-01 1.99951126e+02] [-1.32161805e-01 7.97913780e-04 9.91227835e-01 1.10323288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:199.99, Z:110.33 [[ 3.39029484e-02 -9.99398285e-01 -7.32523984e-03 3.11716915e+02] [ 9.90948988e-01 3.26619640e-02 1.30204835e-01 1.99985557e+02] [-1.29887232e-01 -1.16732668e-02 9.91460056e-01 1.10328312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.520385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.71, Y:200.01, Z:110.32 [[ 3.34322627e-02 -9.99423100e-01 5.97929910e-03 3.11711586e+02] [ 9.90907179e-01 3.39263443e-02 1.30199718e-01 2.00011806e+02] [-1.30327462e-01 1.57205921e-03 9.91469758e-01 1.10319779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:200.04, Z:110.31 [[ 3.21941428e-02 -9.99463720e-01 5.98406474e-03 3.11712367e+02] [ 9.90857840e-01 3.27005919e-02 1.30887022e-01 2.00039877e+02] [-1.31012512e-01 1.71556198e-03 9.91379230e-01 1.10314879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:200.07, Z:110.31 [[ 3.15699366e-02 -9.99483803e-01 5.95541758e-03 3.11713325e+02] [ 9.90854532e-01 3.20783258e-02 1.31065926e-01 2.00067798e+02] [-1.31189310e-01 1.76320952e-03 9.91355767e-01 1.10310228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:200.09, Z:110.31 [[ 3.11958838e-02 -9.99495928e-01 5.89123425e-03 3.11714564e+02] [ 9.90945807e-01 3.16980201e-02 1.30467023e-01 2.00094933e+02] [-1.30587999e-01 1.76785977e-03 9.91435146e-01 1.10306164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:200.12, Z:110.30 [[ 3.03854139e-02 -9.99520992e-01 5.87479551e-03 3.11716467e+02] [ 9.90946025e-01 3.08926943e-02 1.30658397e-01 2.00122734e+02] [-1.30777299e-01 1.85149580e-03 9.91410041e-01 1.10300918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.72, Y:200.15, Z:110.30 [[ 3.12775401e-02 -9.99506723e-01 2.83313224e-03 3.11719958e+02] [ 9.90795045e-01 3.13781871e-02 1.31683669e-01 2.00148585e+02] [-1.31707611e-01 -1.31168786e-03 9.91287741e-01 1.10297824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:200.18, Z:110.29 [[ 2.95002422e-02 -9.99434345e-01 1.61470105e-02 3.11715036e+02] [ 9.91283716e-01 3.13270928e-02 1.27965651e-01 2.00177265e+02] [-1.28399106e-01 1.22312509e-02 9.91647148e-01 1.10290011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.730385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.73, Y:200.21, Z:110.29 [[ 2.78132520e-02 -9.99607088e-01 -3.47740311e-03 3.11726668e+02] [ 9.90953590e-01 2.71152356e-02 1.31437237e-01 2.00206300e+02] [-1.31291303e-01 -7.10164208e-03 9.91318395e-01 1.10293209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.72, Y:200.23, Z:110.28 [[ 2.77679233e-02 -9.99447598e-01 1.82603778e-02 3.11718144e+02] [ 9.90660947e-01 2.99540927e-02 1.33017445e-01 2.00231752e+02] [-1.33490939e-01 1.43962250e-02 9.90945467e-01 1.10277696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.73, Y:200.26, Z:110.28 [[ 2.69413453e-02 -9.99633676e-01 2.58420370e-03 3.11727290e+02] [ 9.91237540e-01 2.70492991e-02 1.29292211e-01 2.00259889e+02] [-1.29314749e-01 -9.21746377e-04 9.91603170e-01 1.10282744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.73, Y:200.29, Z:110.28 [[ 2.56386627e-02 -9.99664279e-01 -3.74006129e-03 3.11732384e+02] [ 9.90905591e-01 2.49193067e-02 1.32231382e-01 2.00288282e+02] [-1.32093789e-01 -7.09628344e-03 9.91211821e-01 1.10280456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.850385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.73, Y:200.31, Z:110.27 [[ 2.25024654e-02 -9.99727495e-01 6.21085046e-03 3.11727077e+02] [ 9.90672782e-01 2.31329044e-02 1.34284429e-01 2.00313073e+02] [-1.34391511e-01 3.13118978e-03 9.90923366e-01 1.10269196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.73, Y:200.34, Z:110.27 [[ 2.45805032e-02 -9.99688138e-01 4.40754878e-03 3.11732956e+02] [ 9.90913423e-01 2.49474649e-02 1.32167368e-01 2.00343417e+02] [-1.32236107e-01 1.11875882e-03 9.91217615e-01 1.10270089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.910385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:311.73, Y:200.37, Z:110.26 [[ 2.10668938e-02 -9.99725027e-01 1.02983986e-02 3.11730314e+02] [ 9.90612098e-01 2.22642655e-02 1.34877622e-01 2.00369255e+02] [-1.35069821e-01 7.36026566e-03 9.90808745e-01 1.10258911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.74, Y:200.40, Z:110.26 [[ 2.12414562e-02 -9.99774114e-01 7.22837045e-04 3.11738173e+02] [ 9.90798956e-01 2.11474181e-02 1.33679527e-01 2.00399448e+02] [-1.33664616e-01 -2.12336162e-03 9.91024350e-01 1.10260815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:200.43, Z:110.26 [[ 2.04658138e-02 -9.99773997e-01 5.75373745e-03 3.11737577e+02] [ 9.90733644e-01 2.10529509e-02 1.34177571e-01 2.00427138e+02] [-1.34268380e-01 2.95436807e-03 9.90940601e-01 1.10255028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:200.45, Z:110.25 [[ 2.03397710e-02 -9.99776879e-01 5.69964053e-03 3.11740265e+02] [ 9.90620030e-01 2.09232980e-02 1.35033969e-01 2.00454521e+02] [-1.35123096e-01 2.89961806e-03 9.90824576e-01 1.10251550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:200.48, Z:110.25 [[ 1.94845370e-02 -9.99787781e-01 6.68923463e-03 3.11741453e+02] [ 9.90468025e-01 2.02145189e-02 1.36251479e-01 2.00481989e+02] [-1.36357784e-01 3.97067602e-03 9.90651699e-01 1.10247193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.74, Y:200.51, Z:110.24 [[ 1.67502684e-02 -9.99778511e-01 1.27419963e-02 3.11739743e+02] [ 9.90201336e-01 1.83541504e-02 1.38435690e-01 2.00507332e+02] [-1.38638896e-01 1.02983068e-02 9.90289453e-01 1.10238808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.75, Y:200.54, Z:110.24 [[ 1.61643491e-02 -9.99853662e-01 5.60075574e-03 3.11745409e+02] [ 9.90178487e-01 1.67854194e-02 1.38797748e-01 2.00535566e+02] [-1.38871447e-01 3.30217259e-03 9.90304911e-01 1.10237252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.75, Y:200.56, Z:110.23 [[ 1.54994547e-02 -9.99866100e-01 5.24862887e-03 3.11747285e+02] [ 9.90304716e-01 1.60755350e-02 1.37978788e-01 2.00563153e+02] [-1.38044687e-01 3.05914596e-03 9.90421277e-01 1.10234065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.75, Y:200.59, Z:110.23 [[ 1.57214114e-02 -9.99867606e-01 4.19612654e-03 3.11750362e+02] [ 9.90465317e-01 1.61477339e-02 1.36812667e-01 2.00590794e+02] [-1.36862312e-01 2.00522958e-03 9.90588051e-01 1.10230492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:200.62, Z:110.23 [[ 1.72776175e-02 -9.99850085e-01 -1.13608676e-03 3.11755104e+02] [ 9.90618307e-01 1.69640130e-02 1.35600855e-01 2.00618455e+02] [-1.35561254e-01 -3.46828805e-03 9.90762897e-01 1.10232311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.75, Y:200.65, Z:110.23 [[ 1.72054657e-02 -9.99846466e-01 3.31923336e-03 3.11754831e+02] [ 9.90702613e-01 1.74960025e-02 1.34915616e-01 2.00647151e+02] [-1.34952975e-01 9.67087152e-04 9.90851532e-01 1.10225653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.240385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.76, Y:200.68, Z:110.22 [[ 1.84620872e-02 -9.99821608e-01 3.98781093e-03 3.11757310e+02] [ 9.90543993e-01 1.88327997e-02 1.35896740e-01 2.00675898e+02] [-1.35947599e-01 1.44116470e-03 9.90714981e-01 1.10221946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.75, Y:200.70, Z:110.21 [[ 1.79379416e-02 -9.99786712e-01 1.02353158e-02 3.11753790e+02] [ 9.90606834e-01 1.91593150e-02 1.35392105e-01 2.00701149e+02] [-1.35559329e-01 7.71051808e-03 9.90739227e-01 1.10214856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:200.73, Z:110.21 [[ 2.00906538e-02 -9.99782786e-01 5.54491459e-03 3.11759458e+02] [ 9.90484515e-01 2.06584370e-02 1.36064893e-01 2.00728405e+02] [-1.36149887e-01 2.75851938e-03 9.90684409e-01 1.10214324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.76, Y:200.76, Z:110.21 [[ 1.87526675e-02 -9.99809520e-01 5.40932650e-03 3.11760303e+02] [ 9.90835851e-01 1.93076358e-02 1.33684450e-01 2.00756445e+02] [-1.33763428e-01 2.85281457e-03 9.91009186e-01 1.10211543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:200.78, Z:110.21 [[ 1.83356269e-02 -9.99817426e-01 5.37767855e-03 3.11761420e+02] [ 9.90818222e-01 1.88906565e-02 1.33874549e-01 2.00783005e+02] [-1.33951695e-01 2.87362810e-03 9.90983696e-01 1.10207625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.77, Y:200.81, Z:110.21 [[ 1.88493226e-02 -9.99815268e-01 -3.75944616e-03 3.11768041e+02] [ 9.90889964e-01 1.81792973e-02 1.33441346e-01 2.00810866e+02] [-1.33348351e-01 -6.24047645e-03 9.91049582e-01 1.10207593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.76, Y:200.83, Z:110.19 [[ 1.70025615e-02 -9.99694610e-01 1.79332126e-02 3.11756958e+02] [ 9.90578267e-01 1.92797103e-02 1.35583882e-01 2.00834925e+02] [-1.35888223e-01 1.54589773e-02 9.90603559e-01 1.10191581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.77, Y:200.87, Z:110.20 [[ 1.86111672e-02 -9.99793314e-01 -8.18257871e-03 3.11774194e+02] [ 9.90903400e-01 1.73534780e-02 1.33451524e-01 2.00865609e+02] [-1.33281945e-01 -1.05918337e-02 9.91021562e-01 1.10202010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:200.89, Z:110.18 [[ 1.70768462e-02 -9.99718401e-01 1.64772364e-02 3.11761108e+02] [ 9.90540837e-01 1.91595380e-02 1.35874069e-01 2.00890190e+02] [-1.36151503e-01 1.40010750e-02 9.90589086e-01 1.10184423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.78, Y:200.92, Z:110.19 [[ 1.94082160e-02 -9.99795332e-01 -5.71107181e-03 3.11775709e+02] [ 9.90822940e-01 1.84691821e-02 1.33898438e-01 2.00920513e+02] [-1.33765555e-01 -8.25739077e-03 9.90978603e-01 1.10192417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.77, Y:200.95, Z:110.18 [[ 1.77875182e-02 -9.99749431e-01 1.35897190e-02 3.11765876e+02] [ 9.90474861e-01 1.94753764e-02 1.36309427e-01 2.00945506e+02] [-1.36539937e-01 1.10356686e-02 9.90573097e-01 1.10178145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.78, Y:200.98, Z:110.19 [[ 1.93385370e-02 -9.99770600e-01 -9.20699136e-03 3.11782462e+02] [ 9.90858086e-01 1.79347851e-02 1.33710871e-01 2.00975914e+02] [-1.33515073e-01 -1.17085945e-02 9.90977615e-01 1.10188029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.78, Y:201.00, Z:110.18 [[ 1.93371816e-02 -9.99810658e-01 -2.17302830e-03 3.11782421e+02] [ 9.91166041e-01 1.88846680e-02 1.31275471e-01 2.01003584e+02] [-1.31209578e-01 -4.69232948e-03 9.91343547e-01 1.10184256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.78, Y:201.03, Z:110.18 [[ 1.73201641e-02 -9.99838738e-01 4.74448701e-03 3.11782209e+02] [ 9.91243881e-01 1.77921428e-02 1.30839628e-01 2.01030923e+02] [-1.30902944e-01 2.43677987e-03 9.91392194e-01 1.10178706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.78, Y:201.06, Z:110.16 [[ 1.73909189e-02 -9.99568321e-01 2.36796766e-02 3.11776289e+02] [ 9.90631485e-01 2.04341572e-02 1.35024833e-01 2.01058574e+02] [-1.35450419e-01 2.11096272e-02 9.90559220e-01 1.10162528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.78, Y:201.09, Z:110.16 [[ 1.61642212e-02 -9.99737507e-01 1.62368463e-02 3.11782203e+02] [ 9.91031092e-01 1.81736113e-02 1.32389936e-01 2.01087774e+02] [-1.32650267e-01 1.39512393e-02 9.91064715e-01 1.10160875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:201.12, Z:110.18 [[ 1.51852319e-02 -9.99689256e-01 -1.97686774e-02 3.11802228e+02] [ 9.91295326e-01 1.24659306e-02 1.31065547e-01 2.01116295e+02] [-1.30778385e-01 -2.15868583e-02 9.91176585e-01 1.10175964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:201.14, Z:110.16 [[ 1.48551362e-02 -9.99887194e-01 2.21923754e-03 3.11793430e+02] [ 9.91344200e-01 1.50176952e-02 1.30426781e-01 2.01143316e+02] [-1.30445396e-01 2.62520679e-04 9.91455460e-01 1.10163875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.80, Y:201.17, Z:110.16 [[ 1.56908469e-02 -9.99876885e-01 -1.10242379e-04 3.11797301e+02] [ 9.91530190e-01 1.55456474e-02 1.28942683e-01 2.01171857e+02] [-1.28925094e-01 -2.13252854e-03 9.91652042e-01 1.10162770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:201.20, Z:110.14 [[ 1.66384221e-02 -9.99511637e-01 2.64508903e-02 3.11786846e+02] [ 9.90789077e-01 2.00373487e-02 1.33923522e-01 2.01197079e+02] [-1.34388124e-01 2.39789771e-02 9.90638603e-01 1.10142096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.81, Y:201.23, Z:110.16 [[ 1.68931313e-02 -9.99679370e-01 -1.88621386e-02 3.11810556e+02] [ 9.91454021e-01 1.43075034e-02 1.29669654e-01 2.01226839e+02] [-1.29358208e-01 -2.08914697e-02 9.91377829e-01 1.10163387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:201.25, Z:110.15 [[ 1.77679660e-02 -9.99839113e-01 2.45919407e-03 3.11802727e+02] [ 9.91396157e-01 1.79368401e-02 1.29660825e-01 2.01254601e+02] [-1.29684074e-01 1.34226436e-04 9.91555356e-01 1.10151176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:201.28, Z:110.14 [[ 1.74882445e-02 -9.99789524e-01 1.07269867e-02 3.11801280e+02] [ 9.91293127e-01 1.87380063e-02 1.30333509e-01 2.01280575e+02] [-1.30507080e-01 8.35428396e-03 9.91412179e-01 1.10142400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:201.31, Z:110.13 [[ 1.81258828e-02 -9.99559389e-01 2.35048908e-02 3.11798389e+02] [ 9.90707047e-01 2.11249239e-02 1.34362516e-01 2.01307116e+02] [-1.34799853e-01 2.08510217e-02 9.90653438e-01 1.10128319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:201.33, Z:110.13 [[ 1.76488340e-02 -9.99832215e-01 4.90525636e-03 3.11811158e+02] [ 9.90783535e-01 1.81476691e-02 1.34233564e-01 2.01334375e+02] [-1.34300060e-01 2.49098135e-03 9.90937581e-01 1.10131577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:201.36, Z:110.13 [[ 1.69563327e-02 -9.99844403e-01 4.86337145e-03 3.11813560e+02] [ 9.90853421e-01 1.74547188e-02 1.33808934e-01 2.01361423e+02] [-1.33873002e-01 2.54997944e-03 9.90995215e-01 1.10127796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:201.39, Z:110.12 [[ 1.67930883e-02 -9.99847285e-01 4.83732103e-03 3.11814509e+02] [ 9.90856191e-01 1.72894572e-02 1.33809875e-01 2.01389707e+02] [-1.33873075e-01 2.54600844e-03 9.90995216e-01 1.10123992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:201.41, Z:110.12 [[ 1.35749327e-02 -9.99905936e-01 1.95970770e-03 3.11814991e+02] [ 9.90991533e-01 1.37150066e-02 1.33220418e-01 2.01414459e+02] [-1.33234764e-01 1.33595533e-04 9.91084497e-01 1.10121996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:201.44, Z:110.12 [[ 1.32032791e-02 -9.99894141e-01 6.11399706e-03 3.11815295e+02] [ 9.90918968e-01 1.39025358e-02 1.33739741e-01 2.01441074e+02] [-1.33810583e-01 4.29267254e-03 9.90997629e-01 1.10115490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:201.47, Z:110.11 [[ 1.44513095e-02 -9.99886580e-01 4.24113977e-03 3.11822566e+02] [ 9.90959097e-01 1.48878407e-02 1.33335740e-01 2.01470723e+02] [-1.33383758e-01 2.27591999e-03 9.91061851e-01 1.10113262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:201.49, Z:110.10 [[ 9.57874364e-03 -9.99833274e-01 1.55457931e-02 3.11814067e+02] [ 9.90659447e-01 1.16033323e-02 1.35864722e-01 2.01493395e+02] [-1.36022453e-01 1.40991735e-02 9.90605424e-01 1.10100047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.83, Y:201.53, Z:110.11 [[ 1.28584143e-02 -9.99887373e-01 -7.73965992e-03 3.11834755e+02] [ 9.91006484e-01 1.17123921e-02 1.33300298e-01 2.01525919e+02] [-1.33194634e-01 -9.38408362e-03 9.91045472e-01 1.10110436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:201.55, Z:110.10 [[ 1.23351874e-02 -9.99912718e-01 4.73283350e-03 3.11830849e+02] [ 9.91041513e-01 1.28549597e-02 1.32934079e-01 2.01553437e+02] [-1.32983317e-01 3.05066768e-03 9.91113581e-01 1.10101798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:201.58, Z:110.09 [[ 8.07054719e-03 -9.99841392e-01 1.58762814e-02 3.11822292e+02] [ 9.90709982e-01 1.01502012e-02 1.35612337e-01 2.01576509e+02] [-1.35751975e-01 1.46343247e-02 9.90634765e-01 1.10088405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.61, Z:110.10 [[ 1.23458228e-02 -9.99889810e-01 -8.24306616e-03 3.11842702e+02] [ 9.91128918e-01 1.11458532e-02 1.32435790e-01 2.01610054e+02] [-1.32329321e-01 -9.80497005e-03 9.91157310e-01 1.10099815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:201.63, Z:110.08 [[ 9.85068006e-03 -9.99902182e-01 9.92924855e-03 3.11831432e+02] [ 9.90821540e-01 1.10990204e-02 1.34720032e-01 2.01632592e+02] [-1.34817059e-01 8.51102941e-03 9.90833953e-01 1.10084862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.66, Z:110.09 [[ 1.48998638e-02 -9.99886856e-01 -2.06624389e-03 3.11844076e+02] [ 9.91127441e-01 1.44963076e-02 1.32122111e-01 2.01664089e+02] [-1.32077210e-01 -4.01651249e-03 9.91231294e-01 1.10089976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.69, Z:110.08 [[ 1.60900784e-02 -9.99860120e-01 4.56609426e-03 3.11841970e+02] [ 9.91128560e-01 1.65517914e-02 1.31871971e-01 2.01690450e+02] [-1.31929102e-01 2.40375607e-03 9.91256240e-01 1.10083664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.72, Z:110.08 [[ 1.87433158e-02 -9.99814067e-01 4.52985540e-03 3.11843122e+02] [ 9.91074887e-01 1.91771724e-02 1.31919692e-01 2.01718177e+02] [-1.31982033e-01 2.01681348e-03 9.91250057e-01 1.10080119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.84, Y:201.74, Z:110.07 [[ 1.72698629e-02 -9.99795519e-01 1.05201238e-02 3.11838008e+02] [ 9.90772399e-01 1.85267655e-02 1.34263969e-01 2.01742986e+02] [-1.34431418e-01 8.10432799e-03 9.90889759e-01 1.10070190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:201.77, Z:110.08 [[ 2.02385638e-02 -9.99792166e-01 -2.45453103e-03 3.11847864e+02] [ 9.91051172e-01 1.97375192e-02 1.32015169e-01 2.01774028e+02] [-1.31939285e-01 -5.10436327e-03 9.91244657e-01 1.10075301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.80, Z:110.07 [[ 2.02316908e-02 -9.99788415e-01 3.71527089e-03 3.11842912e+02] [ 9.91083270e-01 2.05447546e-02 1.31650542e-01 2.01800796e+02] [-1.31699016e-01 1.01862977e-03 9.91289227e-01 1.10067235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.83, Z:110.06 [[ 2.10688234e-02 -9.99766455e-01 4.81032945e-03 3.11843435e+02] [ 9.91152728e-01 2.15174583e-02 1.30970492e-01 2.01828275e+02] [-1.31043411e-01 2.00837698e-03 9.91374597e-01 1.10063918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.86, Z:110.06 [[ 2.05758815e-02 -9.99778775e-01 4.36291060e-03 3.11843739e+02] [ 9.91185648e-01 2.09698702e-02 1.30810076e-01 2.01855292e+02] [-1.30872627e-01 1.63292174e-03 9.91397846e-01 1.10060144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.88, Z:110.06 [[ 1.86627945e-02 -9.99816533e-01 4.31274636e-03 3.11843441e+02] [ 9.91272709e-01 1.90659766e-02 1.30441191e-01 2.01882088e+02] [-1.30499486e-01 1.84071063e-03 9.91446668e-01 1.10056243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.91, Z:110.05 [[ 1.71316875e-02 -9.99844064e-01 4.28412591e-03 3.11844106e+02] [ 9.91263712e-01 1.75447887e-02 1.30722737e-01 2.01909830e+02] [-1.30777517e-01 2.00719747e-03 9.91409710e-01 1.10052682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.94, Z:110.05 [[ 1.35675281e-02 -9.99883628e-01 6.97516762e-03 3.11841580e+02] [ 9.91200476e-01 1.43676550e-02 1.31587181e-01 2.01936941e+02] [-1.31672085e-01 5.12847669e-03 9.91280062e-01 1.10047073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:201.97, Z:110.05 [[ 1.34708243e-02 -9.99908477e-01 1.25523722e-03 3.11844946e+02] [ 9.91252946e-01 1.35190210e-02 1.31281502e-01 2.01965541e+02] [-1.31286456e-01 -5.24212461e-04 9.91344336e-01 1.10047175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.680385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:311.84, Y:201.99, Z:110.04 [[ 1.26976343e-02 -9.99910559e-01 4.20048861e-03 3.11842687e+02] [ 9.91318127e-01 1.31381084e-02 1.30827220e-01 2.01993418e+02] [-1.30870706e-01 2.50282429e-03 9.91396285e-01 1.10041660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:202.02, Z:110.04 [[ 1.10915991e-02 -9.99929879e-01 4.14882053e-03 3.11840833e+02] [ 9.91403336e-01 1.15377795e-02 1.30331518e-01 2.02021079e+02] [-1.30370247e-01 2.66756956e-03 9.91461791e-01 1.10037047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.84, Y:202.05, Z:110.03 [[ 1.02119020e-02 -9.99939417e-01 4.10837069e-03 3.11840728e+02] [ 9.91432193e-01 1.06599094e-02 1.30186687e-01 2.02049341e+02] [-1.30222595e-01 2.74371727e-03 9.91480987e-01 1.10033226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:202.08, Z:110.03 [[ 8.43672531e-03 -9.99956174e-01 4.05853275e-03 3.11839587e+02] [ 9.91509903e-01 8.89198691e-03 1.29726810e-01 2.02077526e+02] [-1.29757213e-01 2.92960594e-03 9.91541468e-01 1.10029531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:202.10, Z:110.03 [[ 7.37467296e-03 -9.99964717e-01 4.02220703e-03 3.11839472e+02] [ 9.91522352e-01 7.83410915e-03 1.29699854e-01 2.02104612e+02] [-1.29726788e-01 3.03161417e-03 9.91545143e-01 1.10025447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.85, Y:202.14, Z:110.03 [[ 7.21079033e-03 -9.99926460e-01 -9.75085524e-03 3.11848127e+02] [ 9.92002766e-01 5.92420082e-03 1.26077023e-01 2.02136334e+02] [-1.26009985e-01 -1.05819903e-02 9.91972533e-01 1.10030850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.83, Y:202.16, Z:110.01 [[ 5.79571239e-03 -9.99816046e-01 1.82834284e-02 3.11832792e+02] [ 9.91623773e-01 8.10548930e-03 1.28905369e-01 2.02159695e+02] [-1.29029852e-01 1.73831838e-02 9.91488337e-01 1.10012552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:202.19, Z:110.03 [[ 8.00380913e-03 -9.99834908e-01 -1.63124156e-02 3.11854058e+02] [ 9.92213365e-01 5.91304632e-03 1.24409303e-01 2.02194626e+02] [-1.24292308e-01 -1.71811451e-02 9.92096886e-01 1.10028749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:202.21, Z:110.00 [[ 6.30748265e-03 -9.99654184e-01 2.55289637e-02 3.11829592e+02] [ 9.91668186e-01 9.53780483e-03 1.28464933e-01 2.02214350e+02] [-1.28663998e-01 2.45059708e-02 9.91385411e-01 1.10002683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:202.24, Z:110.01 [[ 6.95573122e-03 -9.99968288e-01 3.87821944e-03 3.11840725e+02] [ 9.91576150e-01 7.39887816e-03 1.29313553e-01 2.02242921e+02] [-1.29338146e-01 2.94607959e-03 9.91596170e-01 1.10007699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.84, Y:202.27, Z:110.01 [[ 9.10697345e-03 -9.99951110e-01 3.85243043e-03 3.11840954e+02] [ 9.91513055e-01 9.52964519e-03 1.29657424e-01 2.02269474e+02] [-1.29687798e-01 2.63894834e-03 9.91551366e-01 1.10005027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.84, Y:202.30, Z:110.00 [[ 1.00011091e-02 -9.99942721e-01 3.81220335e-03 3.11841370e+02] [ 9.91513760e-01 1.04108351e-02 1.29584250e-01 2.02297497e+02] [-1.29616516e-01 2.48386587e-03 9.91561087e-01 1.10001282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:202.33, Z:110.00 [[ 1.18097611e-02 -9.99929559e-01 -1.18581266e-03 3.11845669e+02] [ 9.91796343e-01 1.15627336e-02 1.27304032e-01 2.02327379e+02] [-1.27281353e-01 -2.67951486e-03 9.91863034e-01 1.10000750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:202.35, Z:109.99 [[ 1.25049304e-02 -9.99894544e-01 7.38428210e-03 3.11842491e+02] [ 9.91699831e-01 1.33468473e-02 1.27880047e-01 2.02354504e+02] [-1.27965118e-01 5.72386022e-03 9.91762152e-01 1.09992195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.84, Y:202.38, Z:109.99 [[ 1.35063475e-02 -9.99893739e-01 5.48542540e-03 3.11843732e+02] [ 9.91707381e-01 1.40965560e-02 1.27740978e-01 2.02380287e+02] [-1.27804730e-01 3.71462282e-03 9.91792394e-01 1.09990145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:202.41, Z:109.99 [[ 1.47671789e-02 -9.99884308e-01 3.64699710e-03 3.11846198e+02] [ 9.91692885e-01 1.51121126e-02 1.27737413e-01 2.02407883e+02] [-1.27777749e-01 1.73037984e-03 9.91801317e-01 1.09987726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:202.44, Z:109.98 [[ 1.50720114e-02 -9.99879904e-01 3.60722747e-03 3.11847250e+02] [ 9.91707701e-01 1.54091150e-02 1.27586814e-01 2.02436105e+02] [-1.27627076e-01 1.65432535e-03 9.91820847e-01 1.09984501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:202.46, Z:109.98 [[ 1.53146803e-02 -9.99876327e-01 3.57663267e-03 3.11848134e+02] [ 9.91681043e-01 1.56461818e-02 1.27765043e-01 2.02463401e+02] [-1.27805202e-01 1.59019803e-03 9.91798015e-01 1.09980793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2203857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.85, Y:202.49, Z:109.98 [[ 1.60100266e-02 -9.99865625e-01 3.52289111e-03 3.11849115e+02] [ 9.91744625e-01 1.63281104e-02 1.27184876e-01 2.02491498e+02] [-1.27225307e-01 1.45757508e-03 9.91872772e-01 1.09977358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.250385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:311.85, Y:202.52, Z:109.97 [[ 1.58973540e-02 -9.99867586e-01 3.47616902e-03 3.11850488e+02] [ 9.91800894e-01 1.62097973e-02 1.26760523e-01 2.02519637e+02] [-1.26800086e-01 1.43251064e-03 9.91927259e-01 1.09973771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.280385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:311.85, Y:202.55, Z:109.97 [[ 1.44227101e-02 -9.99890142e-01 3.41908089e-03 3.11852936e+02] [ 9.91927267e-01 1.47385274e-02 1.25948691e-01 2.02547081e+02] [-1.25985247e-01 1.57495810e-03 9.92030865e-01 1.09970367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.310385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:311.85, Y:202.57, Z:109.97 [[ 1.32787176e-02 -9.99906132e-01 3.37696208e-03 3.11854515e+02] [ 9.91972581e-01 1.35979515e-02 1.25719902e-01 2.02574347e+02] [-1.25754021e-01 1.68045472e-03 9.92060030e-01 1.09966932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3403857229999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:311.86, Y:202.60, Z:109.96 [[ 1.19678993e-02 -9.99922804e-01 3.33995076e-03 3.11855952e+02] [ 9.92045446e-01 1.22920734e-02 1.25278644e-01 2.02602037e+02] [-1.25310028e-01 1.81406074e-03 9.92115974e-01 1.09963627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.86, Y:202.63, Z:109.96 [[ 9.94517547e-03 -9.99945072e-01 3.30855201e-03 3.11856966e+02] [ 9.92048221e-01 1.02816755e-02 1.25437695e-01 2.02629397e+02] [-1.25464822e-01 2.03474325e-03 9.92095982e-01 1.09960351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.86, Y:202.66, Z:109.96 [[ 8.89523436e-03 -9.99955076e-01 3.27413506e-03 3.11857369e+02] [ 9.92041916e-01 9.23598959e-03 1.25568838e-01 2.02657744e+02] [-1.25593437e-01 2.13111498e-03 9.92079506e-01 1.09956966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.430385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:311.86, Y:202.68, Z:109.95 [[ 7.57507145e-03 -9.99966023e-01 3.25142425e-03 3.11857516e+02] [ 9.91990972e-01 7.92454616e-03 1.26059959e-01 2.02684402e+02] [-1.26081442e-01 2.27047030e-03 9.92017296e-01 1.09954166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.86, Y:202.71, Z:109.95 [[ 6.93542681e-03 -9.99970813e-01 3.20521980e-03 3.11858725e+02] [ 9.92039511e-01 7.28337803e-03 1.25716190e-01 2.02711815e+02] [-1.25735865e-01 2.30780925e-03 9.92061070e-01 1.09950969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.490385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:311.86, Y:202.74, Z:109.95 [[ 5.84556661e-03 -9.99977912e-01 3.16303954e-03 3.11859665e+02] [ 9.92083608e-01 6.19615560e-03 1.25426164e-01 2.02740014e+02] [-1.25442992e-01 2.40481269e-03 9.92097915e-01 1.09947425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.520385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:311.86, Y:202.77, Z:109.94 [[ 4.30696680e-03 -9.99985908e-01 3.10376828e-03 3.11861043e+02] [ 9.92217889e-01 4.65970613e-03 1.24426480e-01 2.02766892e+02] [-1.24439189e-01 2.54371369e-03 9.92223976e-01 1.09944862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:202.79, Z:109.93 [[ 2.42604282e-03 -9.99795607e-01 2.00713332e-02 3.11852159e+02] [ 9.91737529e-01 4.97989705e-03 1.28186875e-01 2.02792680e+02] [-1.28260628e-01 1.95945075e-02 9.91546906e-01 1.09926470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:311.87, Y:202.82, Z:109.94 [[ 1.53281982e-03 -9.99900077e-01 -1.40530228e-02 3.11869266e+02] [ 9.92264137e-01 -2.23664316e-04 1.24144402e-01 2.02822980e+02] [-1.24135140e-01 -1.41346015e-02 9.92164644e-01 1.09944722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.86, Y:202.85, Z:109.93 [[ 9.07029056e-04 -9.99995095e-01 2.99805153e-03 3.11860867e+02] [ 9.92302746e-01 1.27129968e-03 1.23829096e-01 2.02849265e+02] [-1.23832300e-01 2.86265818e-03 9.92299031e-01 1.09934511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:202.88, Z:109.93 [[ 1.95998966e-04 -9.99995590e-01 2.96332007e-03 3.11860716e+02] [ 9.92299744e-01 5.61524290e-04 1.23858401e-01 2.02876721e+02] [-1.23859518e-01 2.91622562e-03 9.92295478e-01 1.09931140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:202.90, Z:109.93 [[-5.64022002e-04 -9.99995540e-01 2.93287790e-03 3.11858624e+02] [ 9.92280160e-01 -1.95944001e-04 1.24016315e-01 2.02903150e+02] [-1.24015187e-01 2.98018448e-03 9.92275845e-01 1.09927560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:202.93, Z:109.91 [[-1.05723170e-03 -9.99729674e-01 2.32262885e-02 3.11848442e+02] [ 9.91667600e-01 1.94384306e-03 1.28808355e-01 2.02929989e+02] [-1.28818683e-01 2.31689380e-02 9.91397472e-01 1.09907599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.87, Y:202.96, Z:109.93 [[-4.74541908e-04 -9.99856587e-01 -1.69286767e-02 3.11866116e+02] [ 9.92242723e-01 -2.57527782e-03 1.24288967e-01 2.02958847e+02] [-1.24314739e-01 -1.67383759e-02 9.92101644e-01 1.09927947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.760385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.86, Y:202.98, Z:109.92 [[-1.39053604e-04 -9.99995945e-01 2.84435995e-03 3.11855869e+02] [ 9.92277847e-01 2.14820653e-04 1.24034789e-01 2.02984638e+02] [-1.24034897e-01 2.83964285e-03 9.92273793e-01 1.09916485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:203.01, Z:109.91 [[ 5.49624912e-05 -9.99996023e-01 2.81992029e-03 3.11854742e+02] [ 9.92213166e-01 4.05759087e-04 1.24550670e-01 2.03012254e+02] [-1.24551318e-01 2.79111642e-03 9.92209241e-01 1.09912066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:203.04, Z:109.91 [[-4.75303125e-05 -9.99996110e-01 2.78892815e-03 3.11851737e+02] [ 9.92197737e-01 3.00548022e-04 1.24673816e-01 2.03039939e+02] [-1.24674169e-01 2.77309398e-03 9.92193863e-01 1.09906751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:203.07, Z:109.90 [[-5.15093240e-05 -9.99996198e-01 2.75700229e-03 3.11851257e+02] [ 9.92178002e-01 2.93053483e-04 1.24830793e-01 2.03066680e+02] [-1.24831126e-01 2.74186697e-03 9.92174215e-01 1.09903100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:203.09, Z:109.90 [[-4.37320760e-04 -9.99996185e-01 2.72748788e-03 3.11850573e+02] [ 9.92205379e-01 -9.40310603e-05 1.24613314e-01 2.03094812e+02] [-1.24612582e-01 2.76072413e-03 9.92201634e-01 1.09898864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:203.12, Z:109.90 [[-6.87943734e-04 -9.99996135e-01 2.69373020e-03 3.11851131e+02] [ 9.92205231e-01 -3.46906095e-04 1.24614043e-01 2.03123134e+02] [-1.24612627e-01 2.75846064e-03 9.92201635e-01 1.09895068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:203.15, Z:109.89 [[-7.52499291e-04 -9.99996165e-01 2.66541433e-03 3.11849806e+02] [ 9.92187508e-01 -4.14098561e-04 1.24754870e-01 2.03150597e+02] [-1.24753288e-01 2.73846875e-03 9.92184014e-01 1.09890415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:203.18, Z:109.89 [[-1.15101558e-03 -9.99995856e-01 2.63865339e-03 3.11849649e+02] [ 9.92140440e-01 -8.11806485e-04 1.25126693e-01 2.03178114e+02] [-1.25124032e-01 2.76193751e-03 9.92137263e-01 1.09886104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:203.20, Z:109.88 [[-1.85661385e-03 -9.99994852e-01 2.61690648e-03 3.11849430e+02] [ 9.92062172e-01 -1.51283629e-03 1.25739248e-01 2.03204927e+02] [-1.25734642e-01 2.82958315e-03 9.92059874e-01 1.09882109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:203.23, Z:109.88 [[-2.39218047e-03 -9.99993793e-01 2.58671903e-03 3.11849502e+02] [ 9.92021085e-01 -2.04703613e-03 1.26055453e-01 2.03232924e+02] [-1.26049375e-01 2.86762721e-03 9.92019824e-01 1.09877509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:203.27, Z:109.89 [[-1.50890714e-03 -9.99811454e-01 -1.93592084e-02 3.11863526e+02] [ 9.92521038e-01 -3.86041831e-03 1.22012653e-01 2.03265372e+02] [-1.22064382e-01 -1.90303159e-02 9.92339727e-01 1.09886255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0903857229999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:311.84, Y:203.29, Z:109.86 [[-3.97848362e-03 -9.99665195e-01 2.55669633e-02 3.11839246e+02] [ 9.92121802e-01 -7.44493337e-04 1.25274802e-01 2.03285579e+02] [-1.25213825e-01 2.58639454e-02 9.91792597e-01 1.09860554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.120385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:311.85, Y:203.31, Z:109.86 [[-4.62212471e-03 -9.99986233e-01 2.48391743e-03 3.11851156e+02] [ 9.92017981e-01 -4.27225617e-03 1.26024099e-01 2.03314690e+02] [-1.26011752e-01 3.04658986e-03 9.92024071e-01 1.09864868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.85, Y:203.34, Z:109.86 [[-4.98229619e-03 -9.99984528e-01 2.47399302e-03 3.11850845e+02] [ 9.91853534e-01 -4.62684162e-03 1.27299487e-01 2.03341275e+02] [-1.27286071e-01 3.08808247e-03 9.91861240e-01 1.09860658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:203.37, Z:109.86 [[-4.94496234e-03 -9.99984779e-01 2.44733818e-03 3.11850956e+02] [ 9.91784561e-01 -4.59154676e-03 1.27837018e-01 2.03368864e+02] [-1.27823835e-01 3.05938146e-03 9.91792169e-01 1.09856835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.210385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:311.85, Y:203.40, Z:109.85 [[-4.98083186e-03 -9.99984658e-01 2.42379058e-03 3.11851270e+02] [ 9.91709646e-01 -4.62835757e-03 1.28415561e-01 2.03397166e+02] [-1.28402373e-01 3.04331282e-03 9.91717484e-01 1.09853009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.240385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:311.85, Y:203.42, Z:109.85 [[-4.14802972e-03 -9.99962422e-01 7.61243825e-03 3.11849001e+02] [ 9.91831412e-01 -3.14354951e-03 1.27516933e-01 2.03423212e+02] [-1.27488211e-01 8.07919941e-03 9.91807180e-01 1.09846355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.270385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:311.85, Y:203.45, Z:109.85 [[-4.27862118e-03 -9.99986715e-01 -2.87445256e-03 3.11853987e+02] [ 9.91631000e-01 -4.61374228e-03 1.29021992e-01 2.03449365e+02] [-1.29033540e-01 -2.29836004e-03 9.91637567e-01 1.09846473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.300385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:311.85, Y:203.48, Z:109.84 [[-4.06073652e-03 -9.99989072e-01 2.31638780e-03 3.11851898e+02] [ 9.91684700e-01 -3.72903720e-03 1.28637280e-01 2.03477238e+02] [-1.28627236e-01 2.81948844e-03 9.91689006e-01 1.09840082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.330385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:311.85, Y:203.50, Z:109.83 [[-4.46980483e-03 -9.99924291e-01 1.14644061e-02 3.11847914e+02] [ 9.92061100e-01 -2.99322745e-03 1.25721180e-01 2.03503611e+02] [-1.25677346e-01 1.19353404e-02 9.91999371e-01 1.09832128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.360385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:311.86, Y:203.53, Z:109.84 [[-3.92790392e-03 -9.99973201e-01 -6.17802449e-03 3.11856940e+02] [ 9.91727620e-01 -4.68801948e-03 1.28274508e-01 2.03530412e+02] [-1.28300033e-01 -5.62306759e-03 9.91719458e-01 1.09835021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.390385723 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:311.85, Y:203.56, Z:109.83 [[-3.29332692e-03 -9.99950304e-01 9.40978371e-03 3.11849605e+02] [ 9.92028560e-01 -2.08158226e-03 1.25996046e-01 2.03556356e+02] [-1.25970198e-01 9.74972035e-03 9.91986115e-01 1.09825876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.420385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:311.88, Y:203.59, Z:109.85 [[-1.77136369e-03 -9.99128717e-01 -4.16973632e-02 3.11877752e+02] [ 9.92576554e-01 -6.82746069e-03 1.21429692e-01 2.03589862e+02] [-1.21608580e-01 -4.11727289e-02 9.91723832e-01 1.09850786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.450385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:311.83, Y:203.61, Z:109.80 [[-5.84239504e-03 -9.98844825e-01 4.76957276e-02 3.11828655e+02] [ 9.91169479e-01 5.34270459e-04 1.32600072e-01 2.03606363e+02] [-1.32472378e-01 4.80492514e-02 9.90021383e-01 1.09796775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.480385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:311.85, Y:203.64, Z:109.81 [[-7.35263332e-03 -9.99971164e-01 1.89990758e-03 3.11851751e+02] [ 9.90941552e-01 -7.03143668e-03 1.34109653e-01 2.03635206e+02] [-1.34092426e-01 2.86875646e-03 9.90964677e-01 1.09808860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.510385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:311.87, Y:203.67, Z:109.83 [[-6.98092516e-03 -9.99563917e-01 -2.86922121e-02 3.11870872e+02] [ 9.92064305e-01 -1.05249702e-02 1.25290227e-01 2.03670031e+02] [-1.25537575e-01 -2.75898778e-02 9.91705156e-01 1.09829158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:203.70, Z:109.80 [[-6.63178937e-03 -9.99482728e-01 3.14689607e-02 3.11842668e+02] [ 9.92781001e-01 -2.81198261e-03 1.19908200e-01 2.03695799e+02] [-1.19757685e-01 3.20369922e-02 9.92286112e-01 1.09800850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.570385723 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:311.87, Y:203.72, Z:109.81 [[-9.12014221e-03 -9.99824467e-01 -1.63663817e-02 3.11866399e+02] [ 9.91545012e-01 -1.11608748e-02 1.29282341e-01 2.03724912e+02] [-1.29442311e-01 -1.50489308e-02 9.91472752e-01 1.09809916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.600385723 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:311.85, Y:203.75, Z:109.79 [[-8.49440442e-03 -9.99820474e-01 1.69371090e-02 3.11851170e+02] [ 9.91971155e-01 -6.28804222e-03 1.26307908e-01 2.03749398e+02] [-1.26178731e-01 1.78740341e-02 9.91846483e-01 1.09794651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.630385723 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:311.85, Y:203.77, Z:109.79 [[-1.12543896e-02 -9.99727218e-01 2.04653113e-02 3.11846613e+02] [ 9.91925323e-01 -8.57631617e-03 1.26533003e-01 2.03773150e+02] [-1.26322970e-01 2.17241122e-02 9.91751264e-01 1.09787197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.660385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.87, Y:203.81, Z:109.81 [[-8.50696638e-03 -9.99771620e-01 -1.96045838e-02 3.11871415e+02] [ 9.92355245e-01 -1.08545198e-02 1.22935949e-01 2.03806223e+02] [-1.23120672e-01 -1.84088996e-02 9.92220950e-01 1.09805731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.690385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:311.86, Y:203.83, Z:109.79 [[-6.23398506e-03 -9.99973995e-01 3.62593384e-03 3.11860732e+02] [ 9.92562324e-01 -5.74684792e-03 1.21601838e-01 2.03833065e+02] [-1.21577838e-01 4.35702936e-03 9.92572338e-01 1.09793423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7203857229999 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:311.86, Y:203.86, Z:109.78 [[-6.39064385e-03 -9.99913120e-01 1.15287544e-02 3.11856082e+02] [ 9.91989208e-01 -4.88462048e-03 1.26228174e-01 2.03858111e+02] [-1.26160894e-01 1.22430793e-02 9.91934240e-01 1.09782221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.750385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:311.86, Y:203.88, Z:109.78 [[-8.02867787e-03 -9.99963962e-01 2.75943434e-03 3.11856368e+02] [ 9.91249570e-01 -7.59505228e-03 1.31782413e-01 2.03881259e+02] [-1.31756706e-01 3.79332665e-03 9.91274826e-01 1.09778115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.86, Y:203.91, Z:109.77 [[-5.29542827e-03 -9.99984364e-01 1.79744733e-03 3.11856732e+02] [ 9.91087375e-01 -5.00903565e-03 1.33119213e-01 2.03907932e+02] [-1.33108128e-01 2.48635060e-03 9.91098403e-01 1.09774986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:203.93, Z:109.77 [[-2.04114775e-03 -9.99975845e-01 6.64396411e-03 3.11852988e+02] [ 9.91082780e-01 -1.13771387e-03 1.33242741e-01 2.03934116e+02] [-1.33231964e-01 6.85668654e-03 9.91061163e-01 1.09767600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:203.96, Z:109.76 [[-1.40272070e-03 -9.99980946e-01 6.01160075e-03 3.11853329e+02] [ 9.91442309e-01 -6.05948746e-04 1.30544172e-01 2.03961231e+02] [-1.30538042e-01 6.14327234e-03 9.91424268e-01 1.09764421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.870385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.86, Y:203.99, Z:109.76 [[-5.26750550e-04 -9.99998305e-01 1.76437383e-03 3.11855605e+02] [ 9.91515915e-01 -2.92939887e-04 1.29985014e-01 2.03988524e+02] [-1.29984277e-01 1.81787441e-03 9.91514389e-01 1.09762549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.86, Y:204.02, Z:109.76 [[-2.32812397e-04 -9.99968801e-01 -7.89581470e-03 3.11860763e+02] [ 9.91155410e-01 -1.27856862e-03 1.32700109e-01 2.04016208e+02] [-1.32706064e-01 -7.79508522e-03 9.91124784e-01 1.09762602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.86, Y:204.04, Z:109.76 [[ 6.52275384e-05 -9.99998662e-01 1.63442865e-03 3.11855958e+02] [ 9.91089333e-01 2.82350232e-04 1.33198553e-01 2.04042635e+02] [-1.33198837e-01 1.61117658e-03 9.91088025e-01 1.09755625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.960385723 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:311.87, Y:204.08, Z:109.76 [[ 3.48771299e-03 -9.99989535e-01 -2.96081452e-03 3.11865150e+02] [ 9.91405558e-01 3.07053014e-03 1.30788350e-01 2.04077255e+02] [-1.30777890e-01 -3.39152020e-03 9.91405891e-01 1.09756347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.990385723 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:311.86, Y:204.10, Z:109.75 [[ 1.67229283e-03 -9.99945865e-01 1.02698454e-02 3.11858721e+02] [ 9.91500461e-01 2.99402684e-03 1.30068719e-01 2.04101817e+02] [-1.30092426e-01 9.96504350e-03 9.91451793e-01 1.09749071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.020385723 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:311.87, Y:204.13, Z:109.75 [[-9.42810854e-04 -9.99943885e-01 -1.05517025e-02 3.11868131e+02] [ 9.91184804e-01 -2.33237260e-03 1.32466011e-01 2.04132919e+02] [-1.32483188e-01 -1.03337967e-02 9.91131383e-01 1.09753029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.050385723 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:311.86, Y:204.16, Z:109.74 [[-1.21694013e-03 -9.99936227e-01 1.12277189e-02 3.11856488e+02] [ 9.91310551e-01 2.70569134e-04 1.31542077e-01 2.04155931e+02] [-1.31536726e-01 1.12902350e-02 9.91247003e-01 1.09741297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.080385723 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:311.84, Y:204.18, Z:109.73 [[-3.74316109e-03 -9.99692651e-01 2.45069779e-02 3.11843245e+02] [ 9.91567474e-01 -5.35893725e-04 1.29590347e-01 2.04175935e+02] [-1.29537384e-01 2.47853997e-02 9.91264723e-01 1.09731769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.110385723 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:311.86, Y:204.20, Z:109.74 [[-3.64064883e-03 -9.99987322e-01 -3.47881825e-03 3.11856417e+02] [ 9.91436045e-01 -4.06361181e-03 1.30529904e-01 2.04204929e+02] [-1.30542386e-01 -2.97381227e-03 9.91438269e-01 1.09738337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.140385723 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:311.85, Y:204.23, Z:109.73 [[-3.94206591e-03 -9.99987162e-01 3.18381000e-03 3.11851223e+02] [ 9.91503022e-01 -3.49460295e-03 1.30036709e-01 2.04230854e+02] [-1.30023913e-01 3.66937052e-03 9.91504068e-01 1.09732492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:204.26, Z:109.73 [[-3.05349244e-03 -9.99951982e-01 -9.31180927e-03 3.11856483e+02] [ 9.91114694e-01 -4.26449312e-03 1.32941632e-01 2.04255233e+02] [-1.32974959e-01 -8.82313473e-03 9.91080124e-01 1.09733780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.200385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.85, Y:204.28, Z:109.73 [[-2.90027671e-03 -9.99995148e-01 1.13712520e-03 3.11848672e+02] [ 9.91199352e-01 -2.72426751e-03 1.32349623e-01 2.04282827e+02] [-1.32345883e-01 1.51096829e-03 9.91202444e-01 1.09725483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.85, Y:204.31, Z:109.72 [[-2.83452870e-03 -9.99995376e-01 1.10182761e-03 3.11847400e+02] [ 9.91190489e-01 -2.66366925e-03 1.32417219e-01 2.04309251e+02] [-1.32413672e-01 1.46746145e-03 9.91193455e-01 1.09721345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.85, Y:204.34, Z:109.72 [[-3.10065403e-03 -9.99994627e-01 1.06400511e-03 3.11846083e+02] [ 9.91190196e-01 -2.93246474e-03 1.32413732e-01 2.04337367e+02] [-1.32409900e-01 1.46520061e-03 9.91193963e-01 1.09717343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.84, Y:204.36, Z:109.71 [[-3.50402108e-03 -9.99993319e-01 1.04062826e-03 3.11843443e+02] [ 9.90964857e-01 -3.33285619e-03 1.34080367e-01 2.04364483e+02] [-1.34076003e-01 1.50104646e-03 9.90969915e-01 1.09713546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:204.39, Z:109.71 [[-3.88239098e-03 -9.99991943e-01 1.02032038e-03 3.11842913e+02] [ 9.90844729e-01 -3.70917875e-03 1.34955417e-01 2.04392567e+02] [-1.34950545e-01 1.53492876e-03 9.90851146e-01 1.09709849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:204.42, Z:109.71 [[-5.68482543e-03 -9.99983355e-01 9.86510972e-04 3.11841938e+02] [ 9.90794045e-01 -5.49914121e-03 1.35266110e-01 2.04420463e+02] [-1.35258433e-01 1.74639342e-03 9.90808814e-01 1.09706122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:204.45, Z:109.70 [[-6.40812896e-03 -9.99979021e-01 9.44876656e-04 3.11840817e+02] [ 9.90858030e-01 -6.22234012e-03 1.34765154e-01 2.04447668e+02] [-1.34756447e-01 1.79983111e-03 9.90877117e-01 1.09702208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:204.48, Z:109.70 [[-8.04261336e-03 -9.99951040e-01 5.76495294e-03 3.11836918e+02] [ 9.91032419e-01 -7.20164029e-03 1.33427434e-01 2.04475114e+02] [-1.33379385e-01 6.78636052e-03 9.91041818e-01 1.09695600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:204.50, Z:109.69 [[-7.33156820e-03 -9.99967892e-01 -3.23481573e-03 3.11837772e+02] [ 9.90939998e-01 -7.69912992e-03 1.34084467e-01 2.04499659e+02] [-1.34105067e-01 -2.22245888e-03 9.90964627e-01 1.09694678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.83, Y:204.53, Z:109.69 [[-7.37765292e-03 -9.99972456e-01 8.10321001e-04 3.11834455e+02] [ 9.90927784e-01 -7.20217269e-03 1.34202297e-01 2.04526860e+02] [-1.34192765e-01 1.79306756e-03 9.90953625e-01 1.09688809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:204.55, Z:109.68 [[-7.26962535e-03 -9.99973271e-01 7.80547547e-04 3.11832073e+02] [ 9.90753230e-01 -7.09683771e-03 1.35490485e-01 2.04554402e+02] [-1.35481324e-01 1.75829507e-03 9.90778340e-01 1.09684899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.530385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:311.83, Y:204.58, Z:109.68 [[-6.78351471e-03 -9.99976715e-01 7.44166449e-04 3.11830941e+02] [ 9.90723536e-01 -6.61973495e-03 1.35731552e-01 2.04581153e+02] [-1.35723465e-01 1.65800019e-03 9.90745372e-01 1.09680728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.82, Y:204.61, Z:109.67 [[-7.98733415e-03 -9.99911764e-01 1.06144359e-02 3.11824567e+02] [ 9.91096964e-01 -6.50525663e-03 1.32983043e-01 2.04610761e+02] [-1.32902260e-01 1.15821152e-02 9.91061473e-01 1.09672545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:204.64, Z:109.68 [[-6.55007502e-03 -9.99943501e-01 -8.37206597e-03 3.11832309e+02] [ 9.90741131e-01 -7.62469530e-03 1.35550267e-01 2.04636931e+02] [-1.35606443e-01 -7.40668569e-03 9.90735098e-01 1.09675527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:204.67, Z:109.66 [[-7.82710717e-03 -9.99936712e-01 8.08138620e-03 3.11821254e+02] [ 9.91135755e-01 -6.68587307e-03 1.32684642e-01 2.04666810e+02] [-1.32622214e-01 9.04828772e-03 9.91125359e-01 1.09664659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.650385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.82, Y:204.70, Z:109.66 [[-8.17828990e-03 -9.99961007e-01 3.33182060e-03 3.11820897e+02] [ 9.91450136e-01 -7.67466217e-03 1.30260229e-01 2.04695039e+02] [-1.30229579e-01 4.36863991e-03 9.91474242e-01 1.09661785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:204.72, Z:109.66 [[-7.57998645e-03 -9.99945596e-01 -7.16578591e-03 3.11824485e+02] [ 9.91040671e-01 -8.46767556e-03 1.33291734e-01 2.04720416e+02] [-1.33345160e-01 -6.09123574e-03 9.91050940e-01 1.09661803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:204.75, Z:109.66 [[-8.45504101e-03 -9.99964108e-01 5.42424308e-04 3.11819655e+02] [ 9.91125535e-01 -8.30834218e-03 1.32669307e-01 2.04748393e+02] [-1.32660039e-01 1.65933502e-03 9.91160209e-01 1.09655868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:204.77, Z:109.65 [[-1.04803930e-02 -9.99944951e-01 5.06476025e-04 3.11816521e+02] [ 9.91070433e-01 -1.03200451e-02 1.32939437e-01 2.04774907e+02] [-1.32926892e-01 1.89521096e-03 9.91124033e-01 1.09651745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:204.81, Z:109.66 [[-1.09977968e-02 -9.99834469e-01 -1.44942275e-02 3.11822996e+02] [ 9.91602780e-01 -1.27728035e-02 1.28688703e-01 2.04805006e+02] [-1.28852533e-01 -1.29572241e-02 9.91579112e-01 1.09657269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:204.83, Z:109.64 [[-1.31197557e-02 -9.99791231e-01 1.56641642e-02 3.11803517e+02] [ 9.91118125e-01 -1.09294663e-02 1.32534561e-01 2.04830172e+02] [-1.32335691e-01 1.72638581e-02 9.91054602e-01 1.09638238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:204.86, Z:109.64 [[-1.32840328e-02 -9.99911679e-01 4.11148939e-04 3.11811290e+02] [ 9.91083267e-01 -1.31122235e-02 1.32597241e-01 2.04859099e+02] [-1.32580139e-01 2.16890893e-03 9.91169916e-01 1.09639377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:204.89, Z:109.64 [[-1.46537898e-02 -9.99892552e-01 3.88511036e-04 3.11809827e+02] [ 9.91063863e-01 -1.44728798e-02 1.32600737e-01 2.04887130e+02] [-1.32580866e-01 2.32814258e-03 9.91169458e-01 1.09635133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:204.91, Z:109.63 [[-1.62809779e-02 -9.99867394e-01 3.51930717e-04 3.11808706e+02] [ 9.91063313e-01 -1.60910116e-02 1.32418236e-01 2.04914640e+02] [-1.32395014e-01 2.50468399e-03 9.91193870e-01 1.09631180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:204.94, Z:109.63 [[-1.90812531e-02 -9.99817887e-01 3.14312995e-04 3.11807416e+02] [ 9.91086003e-01 -1.88731483e-02 1.31880018e-01 2.04941105e+02] [-1.31850069e-01 2.82794721e-03 9.91265637e-01 1.09627815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:204.97, Z:109.62 [[-2.11160228e-02 -9.99776991e-01 2.87694330e-04 3.11805631e+02] [ 9.91058310e-01 -2.08939561e-02 1.31783420e-01 2.04968291e+02] [-1.31748020e-01 3.06786355e-03 9.91278491e-01 1.09623683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:205.00, Z:109.62 [[-2.14857396e-02 -9.99769123e-01 2.50757224e-04 3.11804768e+02] [ 9.90982598e-01 -2.12637300e-02 1.32292650e-01 2.04995846e+02] [-1.32256775e-01 3.09090149e-03 9.91210670e-01 1.09619848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:205.02, Z:109.61 [[-2.21745896e-02 -9.99723302e-01 7.84900308e-03 3.11799803e+02] [ 9.90993025e-01 -2.09425039e-02 1.32265781e-01 2.05024103e+02] [-1.32064805e-01 1.07112467e-02 9.91183210e-01 1.09611206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:205.05, Z:109.61 [[-2.01439798e-02 -9.99772491e-01 -7.01328131e-03 3.11804828e+02] [ 9.90925039e-01 -2.08971609e-02 1.32781306e-01 2.05050462e+02] [-1.32897655e-01 -4.27489210e-03 9.91120547e-01 1.09613291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:205.08, Z:109.60 [[-1.96120073e-02 -9.99765225e-01 9.21217295e-03 3.11795490e+02] [ 9.91002694e-01 -1.82183301e-02 1.32596205e-01 2.05078240e+02] [-1.32397244e-01 1.17297659e-02 9.91127329e-01 1.09601515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:205.11, Z:109.60 [[-1.70058139e-02 -9.99854798e-01 1.08846092e-03 3.11798866e+02] [ 9.91025321e-01 -1.67112609e-02 1.32625587e-01 2.05106891e+02] [-1.32588140e-01 3.33409837e-03 9.91165611e-01 1.09599787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:205.14, Z:109.59 [[-1.52079086e-02 -9.99879663e-01 3.06250984e-03 3.11798282e+02] [ 9.91011588e-01 -1.46657574e-02 1.32969727e-01 2.05135832e+02] [-1.32908812e-01 5.05717418e-03 9.91115368e-01 1.09594712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.160385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.81, Y:205.16, Z:109.60 [[-1.37851767e-02 -9.99837817e-01 -1.15891972e-02 3.11806296e+02] [ 9.91005385e-01 -1.52044971e-02 1.32955447e-01 2.05163084e+02] [-1.33110091e-01 -9.65214252e-03 9.91054257e-01 1.09597838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.80, Y:205.19, Z:109.59 [[-1.30870845e-02 -9.99914359e-01 4.83969936e-05 3.11800060e+02] [ 9.90908047e-01 -1.29627264e-02 1.33914934e-01 2.05189829e+02] [-1.33902838e-01 1.80051303e-03 9.90992830e-01 1.09590485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2203857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.79, Y:205.22, Z:109.58 [[-1.38211553e-02 -9.99792517e-01 1.49632559e-02 3.11792448e+02] [ 9.91259053e-01 -1.17365070e-02 1.31406792e-01 2.05217996e+02] [-1.31203911e-01 1.66486565e-02 9.91215595e-01 1.09578824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.250385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.80, Y:205.36, Z:109.56 [[-1.44655352e-02 -9.99894939e-01 -9.27444161e-04 3.11803001e+02] [ 9.91064944e-01 -1.44607776e-02 1.32593978e-01 2.05361899e+02] [-1.32593459e-01 9.98885456e-04 9.91170004e-01 1.09564717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:205.21, Z:109.59 [[-1.53076765e-02 -9.99838207e-01 -9.44637392e-03 3.11808992e+02] [ 9.91463883e-01 -1.64015117e-02 1.29345893e-01 2.05206161e+02] [-1.29479901e-01 -7.38575347e-03 9.91554540e-01 1.09590158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.310385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:311.81, Y:205.20, Z:109.59 [[-1.64150294e-02 -9.99865256e-01 -1.27135577e-04 3.11805933e+02] [ 9.91352611e-01 -1.62918317e-02 1.30209739e-01 2.05201636e+02] [-1.30194266e-01 2.01136051e-03 9.91486464e-01 1.09585883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.80, Y:205.34, Z:109.56 [[-1.64778468e-02 -9.99831984e-01 8.03021052e-03 3.11802187e+02] [ 9.91033808e-01 -1.52667682e-02 1.32736271e-01 2.05343803e+02] [-1.32591374e-01 1.01454181e-02 9.91118862e-01 1.09564090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.370385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.81, Y:205.25, Z:109.58 [[-1.60862919e-02 -9.99870606e-01 5.92741404e-05 3.11809550e+02] [ 9.90855011e-01 -1.59333027e-02 1.33986852e-01 2.05252603e+02] [-1.33968570e-01 2.21408369e-03 9.90983108e-01 1.09578399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:205.20, Z:109.59 [[-1.57509753e-02 -9.99838502e-01 -8.65310126e-03 3.11815668e+02] [ 9.90960970e-01 -1.67630285e-02 1.33099048e-01 2.05199202e+02] [-1.33222605e-01 -6.47844580e-03 9.91064966e-01 1.09589902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:205.49, Z:109.55 [[-1.36460950e-02 -9.99899645e-01 3.80580734e-03 3.11812535e+02] [ 9.90882408e-01 -1.30126238e-02 1.34099681e-01 2.05488195e+02] [-1.34036700e-01 5.60104452e-03 9.90960540e-01 1.09547201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:205.19, Z:109.59 [[-1.39952677e-02 -9.99894167e-01 -3.97345471e-03 3.11819109e+02] [ 9.91084462e-01 -1.43983194e-02 1.32454813e-01 2.05193407e+02] [-1.32498006e-01 -2.08428866e-03 9.91181081e-01 1.09588614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.82, Y:205.19, Z:109.59 [[-1.38548667e-02 -9.99903954e-01 -3.54576158e-04 3.11819938e+02] [ 9.91144852e-01 -1.37803316e-02 1.32068110e-01 2.05193303e+02] [-1.32060311e-01 1.47834972e-03 9.91240581e-01 1.09586087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.520385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.82, Y:205.19, Z:109.59 [[-1.31524539e-02 -9.99913422e-01 -4.01364192e-04 3.11823646e+02] [ 9.91216181e-01 -1.30908789e-02 1.31602099e-01 2.05190630e+02] [-1.31595960e-01 1.33305186e-03 9.91302540e-01 1.09588009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:205.18, Z:109.60 [[-1.34646655e-02 -9.99844071e-01 -1.14252594e-02 3.11830825e+02] [ 9.92048739e-01 -1.47878674e-02 1.24982471e-01 2.05179555e+02] [-1.25131938e-01 -9.65156699e-03 9.92093164e-01 1.09595966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:205.19, Z:109.58 [[-1.31541283e-02 -9.99860131e-01 1.03289555e-02 3.11822540e+02] [ 9.91282460e-01 -1.16855743e-02 1.31234645e-01 2.05187398e+02] [-1.31095589e-01 1.19651897e-02 9.91297524e-01 1.09583211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.610385723 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:311.83, Y:205.96, Z:109.49 [[-1.29277301e-02 -9.99915570e-01 1.31416763e-03 3.11826857e+02] [ 9.91285986e-01 -1.26438327e-02 1.31119133e-01 2.05961134e+02] [-1.31091447e-01 2.99778872e-03 9.91365748e-01 1.09485552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.640385723 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:311.15, Y:206.06, Z:110.51 [[-7.35644483e-02 9.97216847e-01 -1.21174614e-02 3.11153062e+02] [ 9.89666820e-01 7.14972151e-02 -1.24288916e-01 2.06060180e+02] [-1.23076636e-01 -2.11354950e-02 -9.92172078e-01 1.10514989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.670385723 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:311.15, Y:206.02, Z:110.51 [[-1.51057750e-01 9.88264466e-01 2.26914517e-02 3.11154475e+02] [ 9.80848419e-01 1.52700375e-01 -1.20908952e-01 2.06020472e+02] [-1.22955014e-01 3.99264038e-03 -9.92404214e-01 1.10507785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.00, Y:205.24, Z:109.59 [[-1.74562083e-01 -9.84387032e-01 -2.25887113e-02 3.12002678e+02] [ 9.77289237e-01 -1.76011341e-01 1.18007440e-01 2.05242523e+02] [-1.20140863e-01 -1.47607990e-03 9.92755758e-01 1.09589846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.01, Y:205.25, Z:109.59 [[-1.73301521e-01 -9.84543429e-01 -2.53144125e-02 3.12007176e+02] [ 9.77867257e-01 -1.75072071e-01 1.14566126e-01 2.05251757e+02] [-1.17227173e-01 -4.89965128e-03 9.93093039e-01 1.09591594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:205.25, Z:109.59 [[-1.73575235e-01 -9.84663365e-01 -1.75981663e-02 3.12006047e+02] [ 9.77956293e-01 -1.74444014e-01 1.14763995e-01 2.05245886e+02] [-1.16073796e-01 2.70994998e-03 9.93236895e-01 1.09589736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.01, Y:205.25, Z:109.59 [[-1.72485139e-01 -9.84764279e-01 -2.20950630e-02 3.12012616e+02] [ 9.78375884e-01 -1.73879381e-01 1.12011566e-01 2.05249801e+02] [-1.14146865e-01 -2.29694619e-03 9.93461231e-01 1.09592339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:205.24, Z:109.60 [[-1.72569717e-01 -9.84738380e-01 -2.25835261e-02 3.12016790e+02] [ 9.78916985e-01 -1.74002957e-01 1.06979006e-01 2.05244093e+02] [-1.09275934e-01 -3.64606036e-03 9.94004767e-01 1.09596623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:312.02, Y:205.25, Z:109.60 [[-1.72717094e-01 -9.84711504e-01 -2.26287304e-02 3.12018879e+02] [ 9.79148775e-01 -1.74145112e-01 1.04599985e-01 2.05249572e+02] [-1.06941491e-01 -4.09068819e-03 9.94256900e-01 1.09597165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.880385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:312.01, Y:205.24, Z:109.57 [[-1.77289709e-01 -9.84140592e-01 5.97109205e-03 3.12007132e+02] [ 9.76544283e-01 -1.75161518e-01 1.25218635e-01 2.05241798e+02] [-1.22186836e-01 2.80310112e-02 9.92111203e-01 1.09573993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:205.25, Z:109.61 [[-1.73637209e-01 -9.83945161e-01 -4.12557944e-02 3.12035961e+02] [ 9.79228569e-01 -1.76955254e-01 9.89861036e-02 2.05248817e+02] [-1.04697327e-01 -2.32111817e-02 9.94233228e-01 1.09606352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.940385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.03, Y:205.24, Z:109.60 [[-1.73211550e-01 -9.84718145e-01 -1.81089598e-02 3.12029848e+02] [ 9.79620158e-01 -1.74155133e-01 1.00071654e-01 2.05237169e+02] [-1.01696142e-01 -4.06335683e-04 9.94815425e-01 1.09600585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.03, Y:205.24, Z:109.60 [[-1.71153970e-01 -9.85024636e-01 -2.08034676e-02 3.12032526e+02] [ 9.80185303e-01 -1.72374194e-01 9.75905146e-02 2.05244156e+02] [-9.97150421e-02 -3.68824911e-03 9.95009200e-01 1.09602814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.03, Y:205.24, Z:109.60 [[-1.69938515e-01 -9.85325260e-01 -1.59697307e-02 3.12033188e+02] [ 9.80429117e-01 -1.70684211e-01 9.81103764e-02 2.05238179e+02] [-9.93964130e-02 1.01554273e-03 9.95047397e-01 1.09601870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:205.24, Z:109.60 [[-1.69054649e-01 -9.85498608e-01 -1.45952109e-02 3.12036019e+02] [ 9.80714658e-01 -1.69670691e-01 9.70083269e-02 2.05244416e+02] [-9.80779506e-02 2.08597143e-03 9.95176549e-01 1.09601017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:205.25, Z:109.60 [[-1.68461972e-01 -9.85525644e-01 -1.89675721e-02 3.12039605e+02] [ 9.81021834e-01 -1.69504161e-01 9.41514759e-02 2.05250905e+02] [-9.60037764e-02 -2.74665908e-03 9.95377180e-01 1.09603528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:205.24, Z:109.60 [[-1.69235025e-01 -9.85482556e-01 -1.35513421e-02 3.12040765e+02] [ 9.80943452e-01 -1.69755208e-01 9.45151518e-02 2.05238066e+02] [-9.54434443e-02 2.70217372e-03 9.95431187e-01 1.09603308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:205.23, Z:109.61 [[-1.69724965e-01 -9.85298592e-01 -1.94966996e-02 3.12049305e+02] [ 9.81064849e-01 -1.70802557e-01 9.13140154e-02 2.05234150e+02] [-9.33016569e-02 -3.62925853e-03 9.95631272e-01 1.09608106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:205.24, Z:109.60 [[-1.69259709e-01 -9.85502243e-01 -1.16825099e-02 3.12045231e+02] [ 9.80863926e-01 -1.69596580e-01 9.56188164e-02 2.05243123e+02] [-9.62138717e-02 4.72546049e-03 9.95349467e-01 1.09602333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:205.22, Z:109.61 [[-1.72385044e-01 -9.84928646e-01 -1.41052984e-02 3.12049440e+02] [ 9.80044343e-01 -1.72933867e-01 9.80151159e-02 2.05224269e+02] [-9.89771792e-02 3.07252207e-03 9.95084960e-01 1.09605423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:205.23, Z:109.61 [[-1.69562859e-01 -9.85314745e-01 -2.00820828e-02 3.12053000e+02] [ 9.80880745e-01 -1.70704458e-01 9.34502666e-02 2.05231088e+02] [-9.55060266e-02 -3.85243397e-03 9.95421397e-01 1.09610282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.05, Y:205.23, Z:109.61 [[-1.69273051e-01 -9.85402343e-01 -1.81343854e-02 3.12050406e+02] [ 9.80892486e-01 -1.70231662e-01 9.41865796e-02 2.05232487e+02] [-9.58987229e-02 -1.84463277e-03 9.95389387e-01 1.09607986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.270385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.03, Y:205.23, Z:109.58 [[-1.73085784e-01 -9.84782272e-01 1.56584892e-02 3.12026042e+02] [ 9.77777048e-01 -1.69901601e-01 1.22823006e-01 2.05230080e+02] [-1.18293517e-01 3.65694278e-02 9.92305054e-01 1.09576204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:205.23, Z:109.62 [[-1.70445310e-01 -9.84277263e-01 -4.63321218e-02 3.12061409e+02] [ 9.80763237e-01 -1.74001294e-01 8.84704578e-02 2.05233094e+02] [-9.51413093e-02 -3.03614672e-02 9.95000660e-01 1.09620881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.05, Y:205.23, Z:109.61 [[-1.72844618e-01 -9.84663506e-01 -2.37174742e-02 3.12048352e+02] [ 9.80292856e-01 -1.74316290e-01 9.29502395e-02 2.05230033e+02] [-9.56590508e-02 -7.18412188e-03 9.95388233e-01 1.09609874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:205.23, Z:109.58 [[-1.77080494e-01 -9.84038207e-01 1.76438527e-02 3.12020423e+02] [ 9.77113718e-01 -1.73631055e-01 1.22886284e-01 2.05233105e+02] [-1.17861278e-01 3.90008144e-02 9.92263904e-01 1.09578151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:205.23, Z:109.62 [[-1.76694024e-01 -9.83259455e-01 -4.44979366e-02 3.12057475e+02] [ 9.79358591e-01 -1.80142141e-01 9.16818402e-02 2.05229515e+02] [-9.81629898e-02 -2.73798031e-02 9.94793634e-01 1.09618659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.05, Y:205.22, Z:109.61 [[-1.79509569e-01 -9.83580199e-01 -1.86092974e-02 3.12045878e+02] [ 9.78852537e-01 -1.80469213e-01 9.63253523e-02 2.05218001e+02] [-9.81021145e-02 -9.24435439e-04 9.95175924e-01 1.09608359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:205.21, Z:109.60 [[-1.81471208e-01 -9.83339823e-01 -1.05352942e-02 3.12041207e+02] [ 9.78236551e-01 -1.81604702e-01 1.00364246e-01 2.05213311e+02] [-1.00605419e-01 7.90721106e-03 9.94894982e-01 1.09603527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:205.59, Z:109.56 [[-1.79993979e-01 -9.83521721e-01 -1.69467484e-02 3.11981175e+02] [ 9.77631168e-01 -1.80768552e-01 1.07517584e-01 2.05585289e+02] [-1.08809318e-01 2.78484831e-03 9.94058739e-01 1.09555668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.510385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:311.21, Y:205.16, Z:110.52 [[-2.20302684e-01 9.48752369e-01 2.26573762e-01 3.11214818e+02] [ 9.62370554e-01 2.49292263e-01 -1.08149368e-01 2.05160639e+02] [-1.59090054e-01 1.94222321e-01 -9.67971097e-01 1.10520600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.540385723 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:311.91, Y:205.99, Z:109.50 [[-2.60220496e-01 -9.64215315e-01 -5.07357767e-02 3.11908372e+02] [ 9.57063045e-01 -2.64528414e-01 1.18553979e-01 2.05992882e+02] [-1.27732617e-01 -1.77071617e-02 9.91650561e-01 1.09504595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.570385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:312.02, Y:205.51, Z:109.56 [[-2.58809630e-01 -9.65455164e-01 -3.02307974e-02 3.12018872e+02] [ 9.57652913e-01 -2.60554618e-01 1.22524242e-01 2.05505837e+02] [-1.26168436e-01 2.75984247e-03 9.92004995e-01 1.09563474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.600385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:312.02, Y:205.49, Z:109.56 [[-2.57962748e-01 -9.65697950e-01 -2.97101015e-02 3.12020921e+02] [ 9.57978518e-01 -2.59650864e-01 1.21895806e-01 2.05494796e+02] [-1.25428784e-01 2.98293814e-03 9.92098141e-01 1.09564669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.630385723 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:311.90, Y:205.99, Z:109.50 [[-2.56252220e-01 -9.66116181e-01 -3.08921359e-02 3.11895731e+02] [ 9.58452145e-01 -2.58103134e-01 1.21458876e-01 2.05994752e+02] [-1.25316742e-01 1.51547270e-03 9.92115627e-01 1.09495373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:205.26, Z:109.61 [[-2.52615971e-01 -9.66603654e-01 -4.31572316e-02 3.12091132e+02] [ 9.62155332e-01 -2.55663906e-01 9.43031556e-02 2.05263177e+02] [-1.02187521e-01 -1.77014773e-02 9.94607645e-01 1.09611515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.08, Y:205.25, Z:109.60 [[-2.50926890e-01 -9.67749717e-01 -2.22751228e-02 3.12082414e+02] [ 9.62484754e-01 -2.51883840e-01 1.00884242e-01 2.05251666e+02] [-1.03241440e-01 3.87510303e-03 9.94648777e-01 1.09603596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.08, Y:205.25, Z:109.60 [[-2.51323895e-01 -9.67583034e-01 -2.48871731e-02 3.12084347e+02] [ 9.62383910e-01 -2.52550130e-01 1.00178046e-01 2.05249874e+02] [-1.03215837e-01 1.22612184e-03 9.94658227e-01 1.09604935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.750385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:312.09, Y:205.25, Z:109.61 [[-2.51219128e-01 -9.67466443e-01 -2.99604857e-02 3.12087566e+02] [ 9.62575496e-01 -2.52960999e-01 9.72581536e-02 2.05249371e+02] [-1.01672834e-01 -4.40612078e-03 9.94808133e-01 1.09606987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.08, Y:205.25, Z:109.60 [[-2.51034783e-01 -9.67707235e-01 -2.28963808e-02 3.12082882e+02] [ 9.62516730e-01 -2.52057713e-01 1.00142170e-01 2.05251982e+02] [-1.02679511e-01 3.10101827e-03 9.94709657e-01 1.09604966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:205.54, Z:109.55 [[-2.55365801e-01 -9.66819013e-01 -7.02169250e-03 3.11998831e+02] [ 9.59245643e-01 -2.54260828e-01 1.23285150e-01 2.05535120e+02] [-1.20979769e-01 2.47472833e-02 9.92346445e-01 1.09550000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:205.25, Z:109.62 [[-2.54863086e-01 -9.65732487e-01 -4.90466235e-02 3.12099045e+02] [ 9.61946654e-01 -2.58377883e-01 8.88791545e-02 2.05248458e+02] [-9.85060496e-02 -2.45282198e-02 9.94834119e-01 1.09618768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:205.25, Z:109.61 [[-2.54754331e-01 -9.66633918e-01 -2.68160356e-02 3.12088367e+02] [ 9.61925860e-01 -2.56157311e-01 9.52999112e-02 2.05246062e+02] [-9.89892501e-02 -1.51697295e-03 9.95087347e-01 1.09608852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.900385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.05, Y:205.33, Z:109.57 [[-2.59990453e-01 -9.65610323e-01 1.29204695e-03 3.12046017e+02] [ 9.58629127e-01 -2.57949687e-01 1.20383370e-01 2.05332538e+02] [-1.15910142e-01 3.25371207e-02 9.92726637e-01 1.09573379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.01, Y:205.56, Z:109.57 [[-2.58847131e-01 -9.65183836e-01 -3.76606588e-02 3.12012233e+02] [ 9.59981104e-01 -2.61376796e-01 1.00590509e-01 2.05561629e+02] [-1.06931956e-01 -1.01159563e-02 9.94214878e-01 1.09566161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:205.04, Z:109.77 [[-2.19078139e-01 -1.65207623e-02 9.75567442e-01 3.11211280e+02] [ 9.59788078e-01 1.76227976e-01 2.18518984e-01 2.05037824e+02] [-1.75532376e-01 9.84210732e-01 -2.27512663e-02 1.09774735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:205.25, Z:109.63 [[-2.63003937e-01 -9.63734537e-01 -4.52180476e-02 3.12082761e+02] [ 9.47817562e-01 -2.66845640e-01 1.74457082e-01 2.05254754e+02] [-1.80196554e-01 3.02443983e-03 9.83625973e-01 1.09633005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.06, Y:205.34, Z:109.62 [[-2.63507315e-01 -9.63589247e-01 -4.53834671e-02 3.12061340e+02] [ 9.47789496e-01 -2.67372424e-01 1.73801778e-01 2.05337494e+02] [-1.79607812e-01 2.78406648e-03 9.83734356e-01 1.09615617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:205.20, Z:110.64 [[-2.97637445e-01 9.51954536e-01 7.20729631e-02 3.11337224e+02] [ 9.30477608e-01 3.06155240e-01 -2.01197390e-01 2.05201811e+02] [-2.13596284e-01 7.17840108e-03 -9.76895643e-01 1.10635822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:205.23, Z:110.70 [[-3.73650250e-01 9.23823509e-01 -8.32803361e-02 3.11459367e+02] [ 9.06323433e-01 3.44510865e-01 -2.44724535e-01 2.05229535e+02] [-1.97391298e-01 -1.66920304e-01 -9.66009466e-01 1.10695514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.42, Y:205.17, Z:110.64 [[-4.43866988e-01 8.92681479e-01 7.81144886e-02 3.11424897e+02] [ 8.74867186e-01 4.50564319e-01 -1.77761643e-01 2.05168773e+02] [-1.93880127e-01 -1.05627222e-02 -9.80968361e-01 1.10642049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:205.15, Z:110.64 [[-5.07664148e-01 8.54477214e-01 1.10207998e-01 3.11462248e+02] [ 8.41008565e-01 5.19255668e-01 -1.51914925e-01 2.05149090e+02] [-1.87033970e-01 1.55641094e-02 -9.82230143e-01 1.10640426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.44, Y:205.12, Z:110.58 [[-5.74168610e-01 7.84934723e-01 2.32825877e-01 3.11439399e+02] [ 7.94983854e-01 6.02494834e-01 -7.07152561e-02 2.05122127e+02] [-1.95783248e-01 1.44490332e-01 -9.69944052e-01 1.10583145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.50, Y:205.08, Z:110.59 [[-6.33790987e-01 7.28362207e-01 2.60379491e-01 3.11496264e+02] [ 7.46546090e-01 6.64098761e-01 -4.05187673e-02 2.05083225e+02] [-2.02430036e-01 1.68704861e-01 -9.64655768e-01 1.10586484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:205.03, Z:110.56 [[-6.88621071e-01 6.41606254e-01 3.37849723e-01 3.11528075e+02] [ 6.94826966e-01 7.17119943e-01 5.43550809e-02 2.05029529e+02] [-2.07404214e-01 2.72177152e-01 -9.39629230e-01 1.10555604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.49, Y:204.98, Z:110.42 [[-7.32929437e-01 4.72626820e-01 4.89324360e-01 3.11490787e+02] [ 6.37041866e-01 7.29210482e-01 2.49859429e-01 2.04983832e+02] [-2.38730185e-01 4.94849434e-01 -8.35542899e-01 1.10419382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.52, Y:204.95, Z:110.33 [[-7.62604494e-01 3.14276807e-01 5.65388783e-01 3.11516229e+02] [ 5.82623679e-01 7.13455225e-01 3.89270202e-01 2.04947840e+02] [-2.81040985e-01 6.26268098e-01 -7.27189270e-01 1.10328415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:205.01, Z:110.38 [[-7.86906771e-01 3.01034041e-01 5.38661527e-01 3.11507109e+02] [ 5.24084268e-01 7.86856316e-01 3.25872396e-01 2.05009984e+02] [-3.25750540e-01 5.38735226e-01 -7.76949768e-01 1.10381818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.61, Y:205.09, Z:110.57 [[-8.15188317e-01 3.75257360e-01 4.41191480e-01 3.11614409e+02] [ 4.53448146e-01 8.87405037e-01 8.30486550e-02 2.05085775e+02] [-3.60350923e-01 2.67757752e-01 -8.93561973e-01 1.10570650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.68, Y:205.24, Z:110.70 [[-8.50927590e-01 4.16399556e-01 3.20208755e-01 3.11677663e+02] [ 3.80090768e-01 9.08851795e-01 -1.71812176e-01 2.05240958e+02] [-3.62564815e-01 -2.44913291e-02 -9.31636694e-01 1.10699519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.410385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.67, Y:205.26, Z:110.68 [[-8.80627959e-01 3.35666621e-01 3.34398442e-01 3.11665267e+02] [ 3.12936203e-01 9.41978040e-01 -1.21442600e-01 2.05260306e+02] [-3.55760216e-01 -2.30037018e-03 -9.34574436e-01 1.10678852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:205.18, Z:110.60 [[-8.96469452e-01 1.83160363e-01 4.03478379e-01 3.11695274e+02] [ 2.38643158e-01 9.66801503e-01 9.13471181e-02 2.05175975e+02] [-3.73352332e-01 1.78177256e-01 -9.10417982e-01 1.10597567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:205.30, Z:110.68 [[-9.13634546e-01 1.82644389e-01 3.63198215e-01 3.11722147e+02] [ 1.59890515e-01 9.82834763e-01 -9.20372285e-02 2.05300470e+02] [-3.73773915e-01 -2.60164419e-02 -9.27154898e-01 1.10681318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:205.96, Z:109.73 [[-9.23414864e-01 -1.59502596e-01 -3.49090120e-01 3.12203028e+02] [ 1.48371373e-01 -9.87194820e-01 5.85860325e-02 2.05962107e+02] [-3.53964582e-01 2.30423269e-03 9.35255989e-01 1.09730358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:205.96, Z:109.73 [[-9.23378810e-01 -1.59561777e-01 -3.49158435e-01 3.12201669e+02] [ 1.48376898e-01 -9.87184953e-01 5.87380969e-02 2.05960149e+02] [-3.54056309e-01 2.43046831e-03 9.35220949e-01 1.09729969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:205.33, Z:110.68 [[-9.24189301e-01 1.05506317e-01 3.67072953e-01 3.11743221e+02] [ 8.77467519e-02 9.94033660e-01 -6.47888125e-02 2.05327166e+02] [-3.71718500e-01 -2.76676680e-02 -9.27933110e-01 1.10679369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:205.36, Z:110.67 [[-9.29174208e-01 2.75404738e-02 3.68614722e-01 3.11744637e+02] [ 6.59552151e-03 9.98297075e-01 -5.79607506e-02 2.05359837e+02] [-3.69583265e-01 -5.14244282e-02 -9.27773538e-01 1.10672789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:206.07, Z:109.71 [[-9.36565374e-01 3.98983415e-03 -3.50470230e-01 3.12108176e+02] [-4.39084617e-03 -9.99990299e-01 3.49584684e-04 2.06067944e+02] [-3.50465436e-01 1.86626977e-03 9.36573807e-01 1.09712435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.11, Y:206.07, Z:109.71 [[-9.36635854e-01 3.23349979e-03 -3.50289625e-01 3.12106161e+02] [-3.63404001e-03 -9.99993279e-01 4.86152317e-04 2.06066624e+02] [-3.50285699e-01 1.72831420e-03 9.36641309e-01 1.09711735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:206.06, Z:109.71 [[-9.36618815e-01 2.13123275e-03 -3.50343621e-01 3.12106523e+02] [-2.50859021e-03 -9.99996659e-01 6.23294227e-04 2.06064254e+02] [-3.50341122e-01 1.46265768e-03 9.36621033e-01 1.09712042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.10, Y:206.06, Z:109.71 [[-9.36243242e-01 1.58775344e-03 -3.51348932e-01 3.12103024e+02] [-1.98212190e-03 -9.99997745e-01 7.62769857e-04 2.06061100e+02] [-3.51346928e-01 1.41055453e-03 9.36244277e-01 1.09710506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.10, Y:206.06, Z:109.71 [[-9.36017828e-01 1.32409283e-03 -3.51950099e-01 3.12102602e+02] [-1.75366273e-03 -9.99998056e-01 9.01745217e-04 2.06059086e+02] [-3.51948221e-01 1.46125137e-03 9.36018330e-01 1.09709859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:206.06, Z:109.71 [[-9.35915835e-01 1.21473332e-03 -3.52221628e-01 3.12099788e+02] [-1.68933142e-03 -9.99998032e-01 1.04008687e-03 2.06057464e+02] [-3.52219672e-01 1.56845283e-03 9.35916045e-01 1.09708911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:206.06, Z:109.71 [[-9.35918550e-01 2.26174649e-03 -3.52209246e-01 3.12099078e+02] [-2.85973023e-03 -9.99995218e-01 1.17753549e-03 2.06055325e+02] [-3.52204898e-01 2.10930073e-03 9.35920542e-01 1.09709532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.830385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:312.10, Y:206.05, Z:109.71 [[-9.36161188e-01 3.63027544e-03 -3.51552346e-01 3.12098328e+02] [-4.37057491e-03 -9.99989588e-01 1.31225109e-03 2.06054156e+02] [-3.51543922e-01 2.76496440e-03 9.36167307e-01 1.09708198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.860385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:312.10, Y:206.05, Z:109.71 [[-9.35767221e-01 5.03273908e-03 -3.52582443e-01 3.12096091e+02] [-5.92590340e-03 -9.99981385e-01 1.45390324e-03 2.06050689e+02] [-3.52568563e-01 3.44988449e-03 9.35779625e-01 1.09708148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.10, Y:206.05, Z:109.71 [[-9.35844632e-01 5.60408553e-03 -3.52368301e-01 3.12095568e+02] [-6.58687138e-03 -9.99977042e-01 1.59018658e-03 2.06048744e+02] [-3.52351299e-01 3.80917224e-03 9.35860060e-01 1.09707923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.09, Y:206.04, Z:109.71 [[-9.36106309e-01 6.65947614e-03 -3.51654134e-01 3.12094669e+02] [-7.76126147e-03 -9.99968396e-01 1.72356896e-03 2.06044190e+02] [-3.51631542e-01 4.34272345e-03 9.36128410e-01 1.09707292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.09, Y:206.04, Z:109.71 [[-9.36313948e-01 6.45197763e-03 -3.51104776e-01 3.12090831e+02] [-7.58703380e-03 -9.99969493e-01 1.85717997e-03 2.06041771e+02] [-3.51082083e-01 4.40274731e-03 9.36334335e-01 1.09705420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:206.04, Z:109.70 [[-9.36294531e-01 6.05385288e-03 -3.51163640e-01 3.12088458e+02] [-7.21346052e-03 -9.99971995e-01 1.99405694e-03 2.06036607e+02] [-3.51141734e-01 4.40012966e-03 9.36311979e-01 1.09703998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.09, Y:206.03, Z:109.70 [[-9.36304842e-01 5.76615279e-03 -3.51140989e-01 3.12086800e+02] [-6.95727264e-03 -9.99973528e-01 2.13056275e-03 2.06033854e+02] [-3.51119408e-01 4.43783981e-03 9.36320173e-01 1.09703229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:206.03, Z:109.70 [[-9.36331147e-01 5.37921977e-03 -3.51076982e-01 3.12084153e+02] [-6.59478125e-03 -9.99975685e-01 2.26676813e-03 2.06029310e+02] [-3.51056252e-01 4.43772150e-03 9.36343855e-01 1.09702562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:206.03, Z:109.70 [[-9.36177111e-01 5.17426434e-03 -3.51490604e-01 3.12083092e+02] [-6.43036881e-03 -9.99976430e-01 2.40638498e-03 2.06027432e+02] [-3.51469868e-01 4.51301675e-03 9.36188317e-01 1.09701963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:206.03, Z:109.70 [[-9.36200761e-01 5.10119474e-03 -3.51428674e-01 3.12079163e+02] [-6.40315009e-03 -9.99976267e-01 2.54265054e-03 2.06025346e+02] [-3.51407363e-01 4.63068192e-03 9.36211206e-01 1.09701030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:206.01, Z:109.70 [[-9.33596132e-01 8.74960384e-03 -3.58220194e-01 3.12100726e+02] [-1.34701086e-02 -9.99852190e-01 1.06842962e-02 2.06012455e+02] [-3.58073762e-01 1.48000825e-02 9.33575995e-01 1.09699827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.09, Y:206.01, Z:109.70 [[-9.32691656e-01 1.24772779e-02 -3.60458864e-01 3.12091529e+02] [-1.45561716e-02 -9.99889392e-01 3.05311378e-03 2.06012687e+02] [-3.60380900e-01 8.09451481e-03 9.32770114e-01 1.09697187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:206.02, Z:109.70 [[-9.36031833e-01 1.36754507e-02 -3.51649528e-01 3.12076002e+02] [-1.01724567e-02 -9.99878547e-01 -1.18073426e-02 2.06018891e+02] [-3.51768289e-01 -7.47490891e-03 9.36057261e-01 1.09704544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:206.01, Z:109.70 [[-9.36258228e-01 1.18493935e-02 -3.51112692e-01 3.12079993e+02] [-1.37384800e-02 -9.99901448e-01 2.88949749e-03 2.06005951e+02] [-3.51043850e-01 7.52907049e-03 9.36328750e-01 1.09700525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:206.00, Z:109.70 [[-9.34016207e-01 1.39244033e-02 -3.56959153e-01 3.12094662e+02] [-1.92501432e-02 -9.99750034e-01 1.13711136e-02 2.05995909e+02] [-3.56711590e-01 1.74923192e-02 9.34050781e-01 1.09696834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.08, Y:206.01, Z:109.70 [[-9.36150168e-01 1.80051802e-02 -3.51139112e-01 3.12077297e+02] [-1.64347678e-02 -9.99837167e-01 -7.45242426e-03 2.06005418e+02] [-3.51216117e-01 -1.20569845e-03 9.36293643e-01 1.09701839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:205.99, Z:109.70 [[-9.36070257e-01 1.46237155e-02 -3.51509063e-01 3.12075542e+02] [-1.68212617e-02 -9.99853397e-01 3.19852662e-03 2.05994604e+02] [-3.51410756e-01 8.90687155e-03 9.36179015e-01 1.09699194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:205.98, Z:109.69 [[-9.34765478e-01 1.52941695e-02 -3.54936035e-01 3.12079730e+02] [-1.99251249e-02 -9.99757326e-01 9.39566751e-03 2.05984553e+02] [-3.54706202e-01 1.58548905e-02 9.34843373e-01 1.09694829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.370385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:312.07, Y:205.99, Z:109.70 [[-9.36066373e-01 1.83315729e-02 -3.51345554e-01 3.12073409e+02] [-1.81475779e-02 -9.99828033e-01 -3.81699168e-03 2.05990322e+02] [-3.51355106e-01 2.80311326e-03 9.36238075e-01 1.09700248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.07, Y:205.98, Z:109.70 [[-9.35915588e-01 1.53222586e-02 -3.51890950e-01 3.12074293e+02] [-1.82118546e-02 -9.99822130e-01 4.90272755e-03 2.05982894e+02] [-3.51753239e-01 1.09971260e-02 9.36028163e-01 1.09696551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:205.98, Z:109.70 [[-9.35755329e-01 1.58587235e-02 -3.52293153e-01 3.12064556e+02] [-1.77450883e-02 -9.99840284e-01 2.12570232e-03 2.05979600e+02] [-3.52203175e-01 8.24061039e-03 9.35887288e-01 1.09697150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.07, Y:205.98, Z:109.70 [[-9.35609183e-01 1.53386545e-02 -3.52704100e-01 3.12065245e+02] [-1.78845766e-02 -9.99832214e-01 3.96052452e-03 2.05976118e+02] [-3.52584172e-01 1.00134666e-02 9.35726527e-01 1.09696960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.490385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:312.06, Y:205.97, Z:109.69 [[-9.35940583e-01 1.50912323e-02 -3.51834449e-01 3.12062696e+02] [-1.76574835e-02 -9.99835745e-01 4.08601794e-03 2.05971896e+02] [-3.51714996e-01 1.00367810e-02 9.36053324e-01 1.09694010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:205.97, Z:109.69 [[-9.35921764e-01 1.31687119e-02 -3.51961697e-01 3.12055902e+02] [-1.56565981e-02 -9.99868510e-01 4.22310325e-03 2.05967341e+02] [-3.51859805e-01 9.46301709e-03 9.36004877e-01 1.09693803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:205.47, Z:110.60 [[-9.29071999e-01 -3.60242539e-02 3.68140564e-01 3.11613460e+02] [-4.08946092e-02 9.99148689e-01 -5.43393036e-03 2.05465301e+02] [-3.67631409e-01 -2.01034770e-02 -9.29754267e-01 1.10600465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:206.02, Z:109.69 [[-9.31994296e-01 9.54445800e-02 -3.49681232e-01 3.12027640e+02] [-9.20159840e-02 -9.95406276e-01 -2.64462625e-02 2.06016686e+02] [-3.50599045e-01 7.52849680e-03 9.36495398e-01 1.09691146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:206.01, Z:109.69 [[-9.32448437e-01 9.17124520e-02 -3.49469225e-01 3.12025284e+02] [-8.86308706e-02 -9.95754861e-01 -2.48359588e-02 2.06011869e+02] [-3.50263447e-01 7.81551078e-03 9.36618618e-01 1.09689638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:206.01, Z:109.69 [[-9.32482618e-01 9.13277447e-02 -3.49478768e-01 3.12023050e+02] [-8.82706075e-02 -9.95790220e-01 -2.47009791e-02 2.06011566e+02] [-3.50263424e-01 7.81546954e-03 9.36618627e-01 1.09688736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:206.01, Z:109.69 [[-9.32685758e-01 8.95964772e-02 -3.49384815e-01 3.12018755e+02] [-8.64742342e-02 -9.95951342e-01 -2.45587237e-02 2.06009529e+02] [-3.50170650e-01 7.30721245e-03 9.36657419e-01 1.09687212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:206.01, Z:109.69 [[-9.33028014e-01 8.56148070e-02 -3.49469355e-01 3.12013728e+02] [-8.22716825e-02 -9.96310494e-01 -2.44288836e-02 2.06006691e+02] [-3.50271460e-01 5.95859907e-03 9.36629275e-01 1.09685766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:206.01, Z:109.68 [[-9.33162540e-01 8.37018713e-02 -3.49573556e-01 3.12008231e+02] [-8.02779961e-02 -9.96476277e-01 -2.42996365e-02 2.06005154e+02] [-3.50375681e-01 5.38755408e-03 9.36593752e-01 1.09684031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:206.00, Z:109.68 [[-9.33249130e-01 8.06448490e-02 -3.50060666e-01 3.12007152e+02] [-7.70545107e-02 -9.96733223e-01 -2.41967921e-02 2.06002827e+02] [-3.50868442e-01 4.39211818e-03 9.36414463e-01 1.09684056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.790385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.33248817e-01 8.01227981e-02 -3.50181356e-01 3.12004513e+02] [-7.65456484e-02 -9.96775539e-01 -2.40684129e-02 2.06001227e+02] [-3.50980639e-01 4.34304107e-03 9.36372645e-01 1.09681057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.32812723e-01 7.89439365e-02 -3.51608133e-01 3.12002854e+02] [-7.53081381e-02 -9.96870769e-01 -2.40282078e-02 2.06000859e+02] [-3.52404752e-01 4.06513598e-03 9.35838857e-01 1.09682823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.32652694e-01 7.91868818e-02 -3.51977825e-01 3.11998174e+02] [-7.56118326e-02 -9.96850478e-01 -2.39159999e-02 2.06000575e+02] [-3.52763097e-01 4.30836665e-03 9.35702750e-01 1.09681281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.32489523e-01 7.98162994e-02 -3.52267863e-01 3.11997432e+02] [-7.63305705e-02 -9.96798522e-01 -2.37981175e-02 2.06000249e+02] [-3.53039563e-01 4.69731175e-03 9.35596602e-01 1.09681005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.32438844e-01 8.26052786e-02 -3.51758681e-01 3.11997710e+02] [-7.93732070e-02 -9.96564939e-01 -2.36266038e-02 2.05999553e+02] [-3.52502051e-01 5.88985143e-03 9.35792506e-01 1.09681140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.32019559e-01 8.57280035e-02 -3.52122494e-01 3.12000730e+02] [-8.27562928e-02 -9.96292380e-01 -2.35136160e-02 2.05998614e+02] [-3.52832733e-01 7.22520215e-03 9.35658516e-01 1.09681162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9703857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.31982775e-01 8.65821601e-02 -3.52010847e-01 3.11999223e+02] [-8.37227696e-02 -9.96215022e-01 -2.33693634e-02 2.05997584e+02] [-3.52701863e-01 7.69147885e-03 9.35704140e-01 1.09679584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:206.00, Z:109.68 [[-9.31614030e-01 8.73316049e-02 -3.52800922e-01 3.11998542e+02] [-8.45631177e-02 -9.96146026e-01 -2.32846454e-02 2.05996091e+02] [-3.53474722e-01 8.14164356e-03 9.35408646e-01 1.09680043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:206.00, Z:109.68 [[-9.31902842e-01 8.67660227e-02 -3.52177158e-01 3.11994894e+02] [-8.40196411e-02 -9.96196144e-01 -2.31072194e-02 2.05995545e+02] [-3.52842448e-01 8.05611503e-03 9.35648067e-01 1.09678823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:205.99, Z:109.68 [[-9.32114904e-01 8.54177354e-02 -3.51945473e-01 3.11990489e+02] [-8.26334436e-02 -9.96315587e-01 -2.29557062e-02 2.05994710e+02] [-3.52609585e-01 7.68511055e-03 9.35738970e-01 1.09676504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:205.99, Z:109.67 [[-9.32781185e-01 8.24094466e-02 -3.50895916e-01 3.11986676e+02] [-7.94869104e-02 -9.96576240e-01 -2.27514816e-02 2.05992959e+02] [-3.51569470e-01 6.66947829e-03 9.36138038e-01 1.09674387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:205.99, Z:109.67 [[-9.33393257e-01 7.92890570e-02 -3.49986103e-01 3.11984442e+02] [-7.62203833e-02 -9.96835815e-01 -2.25568383e-02 2.05991320e+02] [-3.50667193e-01 5.62167414e-03 9.36483271e-01 1.09672541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:205.99, Z:109.67 [[-9.33662503e-01 7.78682325e-02 -3.49586713e-01 3.11979978e+02] [-7.47611129e-02 -9.96949963e-01 -2.23952556e-02 2.05990880e+02] [-3.50264340e-01 5.22588131e-03 9.36636313e-01 1.09670834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.180385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.98, Y:205.99, Z:109.67 [[-9.33612972e-01 7.74651559e-02 -3.49808473e-01 3.11978894e+02] [-7.43776735e-02 -9.96981377e-01 -2.22732083e-02 2.05990872e+02] [-3.50477931e-01 5.22338420e-03 9.36556425e-01 1.09669168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.98, Y:205.99, Z:109.67 [[-9.33552910e-01 7.69029849e-02 -3.50092696e-01 3.11976710e+02] [-7.38233140e-02 -9.97025216e-01 -2.21548339e-02 2.05991962e+02] [-3.50755019e-01 5.16229337e-03 9.36453025e-01 1.09669550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:205.99, Z:109.67 [[-9.33335671e-01 7.68833804e-02 -3.50675735e-01 3.11974875e+02] [-7.38432994e-02 -9.97025950e-01 -2.20549623e-02 2.05992425e+02] [-3.51328468e-01 5.31037031e-03 9.36237207e-01 1.09669499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:205.99, Z:109.67 [[-9.32920974e-01 7.76441741e-02 -3.51610350e-01 3.11973407e+02] [-7.46915318e-02 -9.96964496e-01 -2.19765664e-02 2.05992643e+02] [-3.52249388e-01 5.75991597e-03 9.35888451e-01 1.09668466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.300385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:311.97, Y:205.99, Z:109.66 [[-9.32608103e-01 7.84144221e-02 -3.52268797e-01 3.11967918e+02] [-7.55554827e-02 -9.96901507e-01 -2.18804512e-02 2.05992523e+02] [-3.52893038e-01 6.20995297e-03 9.35643063e-01 1.09664299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:205.99, Z:109.67 [[-9.32369798e-01 7.80506666e-02 -3.52979680e-01 3.11969942e+02] [-7.52069689e-02 -9.96929908e-01 -2.17869130e-02 2.05992570e+02] [-3.53596483e-01 6.23307209e-03 9.35377291e-01 1.09667409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:205.99, Z:109.67 [[-9.32270927e-01 7.76371549e-02 -3.53331842e-01 3.11965088e+02] [-7.48111414e-02 -9.96962216e-01 -2.16710098e-02 2.05992410e+02] [-3.53940972e-01 6.22990598e-03 9.35247014e-01 1.09665417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:205.99, Z:109.66 [[-9.32075284e-01 7.64694645e-02 -3.54101801e-01 3.11958745e+02] [-7.36019697e-02 -9.97054182e-01 -2.15802984e-02 2.05992194e+02] [-3.54708916e-01 5.94812727e-03 9.34957863e-01 1.09663386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:205.99, Z:109.67 [[-9.32117971e-01 7.53456202e-02 -3.54230330e-01 3.11962397e+02] [-7.24502084e-02 -9.97141355e-01 -2.14495826e-02 2.05992002e+02] [-3.54833843e-01 5.67051980e-03 9.34912183e-01 1.09665264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.450385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:311.96, Y:205.99, Z:109.66 [[-9.32460722e-01 7.28143412e-02 -3.53857420e-01 3.11956998e+02] [-6.98011114e-02 -9.97333729e-01 -2.12893761e-02 2.05990273e+02] [-3.54464112e-01 4.84813420e-03 9.35057051e-01 1.09661392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.480385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:311.95, Y:205.99, Z:109.66 [[-9.32763850e-01 7.12405924e-02 -3.53378520e-01 3.11954412e+02] [-6.81784420e-02 -9.97449501e-01 -2.11232628e-02 2.05989656e+02] [-3.53982063e-01 4.38978100e-03 9.35241910e-01 1.09659709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:205.99, Z:109.66 [[-9.32972311e-01 6.99174511e-02 -3.53092362e-01 3.11951838e+02] [-6.68207285e-02 -9.97544638e-01 -2.09687029e-02 2.05989238e+02] [-3.53691471e-01 4.03066962e-03 9.35353461e-01 1.09660442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:205.99, Z:109.66 [[-9.32932445e-01 6.96975521e-02 -3.53241143e-01 3.11949965e+02] [-6.66350423e-02 -9.97559759e-01 -2.08398160e-02 2.05989524e+02] [-3.53831634e-01 4.09609799e-03 9.35300164e-01 1.09659541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.570385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:311.93, Y:205.99, Z:109.65 [[-9.33019673e-01 6.86069124e-02 -3.53224264e-01 3.11929181e+02] [-6.75681742e-02 -9.97597543e-01 -1.52867511e-02 2.05987292e+02] [-3.53424435e-01 9.60387906e-03 9.35413777e-01 1.09647463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:205.99, Z:109.62 [[-9.33083575e-01 7.02539048e-02 -3.52731387e-01 3.11849923e+02] [-6.75533154e-02 -9.97515651e-01 -1.99769024e-02 2.05985546e+02] [-3.53258534e-01 5.18805513e-03 9.35511353e-01 1.09620997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:206.25, Z:110.20 [[-9.50163923e-01 3.11750681e-01 -1.79878060e-04 3.11599539e+02] [-5.26173672e-02 -1.60937595e-01 -9.85561009e-01 2.06252437e+02] [-3.07278265e-01 -9.36435050e-01 1.69320597e-01 1.10201715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:205.50, Z:110.52 [[-9.47575224e-01 -1.02565867e-01 3.02624253e-01 3.11512749e+02] [-1.05337888e-01 9.94410468e-01 7.19373623e-03 2.05496549e+02] [-3.01670557e-01 -2.50611933e-02 -9.53082794e-01 1.10523790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.690385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:311.65, Y:205.20, Z:109.99 [[-9.30286828e-01 -3.66773950e-01 -6.57928152e-03 3.11652161e+02] [-1.29800562e-01 3.12345686e-01 9.41058971e-01 2.05198265e+02] [-3.43100906e-01 8.76308760e-01 -3.38178542e-01 1.09990945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7203857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:311.68, Y:206.03, Z:109.57 [[-9.24918802e-01 1.64784687e-01 -3.42594829e-01 3.11681058e+02] [-1.56313973e-01 -9.86316449e-01 -5.24004245e-02 2.06031392e+02] [-3.46541703e-01 5.08622113e-03 9.38020777e-01 1.09570315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:206.03, Z:109.57 [[-9.24942348e-01 1.62841852e-01 -3.43459146e-01 3.11673547e+02] [-1.56005682e-01 -9.86606336e-01 -4.76462532e-02 2.06029916e+02] [-3.46617773e-01 9.51154087e-03 9.37958235e-01 1.09568071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.780385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.68, Y:206.04, Z:109.57 [[-9.24937808e-01 1.65803853e-01 -3.42051360e-01 3.11676073e+02] [-1.55490545e-01 -9.86158750e-01 -5.75639751e-02 2.06036067e+02] [-3.46861271e-01 -5.73444906e-05 9.37916444e-01 1.09571195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:206.03, Z:109.57 [[-9.24999342e-01 1.63359232e-01 -3.43059730e-01 3.11674326e+02] [-1.54914900e-01 -9.86554129e-01 -5.20799826e-02 2.06033719e+02] [-3.46954740e-01 4.97111411e-03 9.37868699e-01 1.09570553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:206.04, Z:109.57 [[-9.24355042e-01 1.62968103e-01 -3.44977035e-01 3.11671890e+02] [-1.54451422e-01 -9.86618670e-01 -5.22336861e-02 2.06035477e+02] [-3.48873208e-01 4.99972240e-03 9.37156597e-01 1.09570187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:206.04, Z:109.57 [[-9.24090634e-01 1.62493183e-01 -3.45908176e-01 3.11667561e+02] [-1.53948345e-01 -9.86697099e-01 -5.22373562e-02 2.06037148e+02] [-3.49794808e-01 4.97993949e-03 9.36813104e-01 1.09568700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:206.04, Z:109.57 [[-9.24159041e-01 1.62183736e-01 -3.45870644e-01 3.11665817e+02] [-1.53670966e-01 -9.86747876e-01 -5.20947486e-02 2.06037912e+02] [-3.49736044e-01 5.00644296e-03 9.36834903e-01 1.09567887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.930385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:311.67, Y:206.04, Z:109.56 [[-9.24494560e-01 1.62031869e-01 -3.45044174e-01 3.11666214e+02] [-1.53601343e-01 -9.86772454e-01 -5.18338820e-02 2.06038956e+02] [-3.48878827e-01 5.07910668e-03 9.37154078e-01 1.09564301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:206.04, Z:109.57 [[-9.25083423e-01 1.60552340e-01 -3.44156369e-01 3.11662411e+02] [-1.52117782e-01 -9.87016369e-01 -5.15642038e-02 2.06039758e+02] [-3.47966723e-01 4.65111324e-03 9.37495348e-01 1.09565219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:205.47, Z:110.47 [[-9.12485878e-01 -2.01399535e-01 3.56100758e-01 3.11313349e+02] [-1.95188791e-01 9.79294490e-01 5.36995188e-02 2.05473696e+02] [-3.59542568e-01 -2.05068240e-02 -9.32903324e-01 1.10473427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:206.07, Z:109.53 [[-9.12055097e-01 2.31991579e-01 -3.38135190e-01 3.11539061e+02] [-2.18905736e-01 -9.72710087e-01 -7.69114161e-02 2.06071145e+02] [-3.46750311e-01 3.87228367e-03 9.37949480e-01 1.09530358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.050385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:311.53, Y:206.07, Z:109.53 [[-9.12391772e-01 2.31177427e-01 -3.37784328e-01 3.11532679e+02] [-2.18116038e-01 -9.72904571e-01 -7.66947867e-02 2.06071426e+02] [-3.46362020e-01 3.70048695e-03 9.38093629e-01 1.09525513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:206.07, Z:109.53 [[-9.12532019e-01 2.29761941e-01 -3.38370752e-01 3.11530437e+02] [-2.16624107e-01 -9.73241093e-01 -7.66535795e-02 2.06073695e+02] [-3.46928396e-01 3.35041623e-03 9.37885634e-01 1.09529354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:206.07, Z:109.53 [[-9.12745996e-01 2.29141962e-01 -3.38213997e-01 3.11528018e+02] [-2.16026456e-01 -9.73387568e-01 -7.64801415e-02 2.06074427e+02] [-3.46738109e-01 3.25622815e-03 9.37956332e-01 1.09528299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:206.08, Z:109.53 [[-9.12688310e-01 2.30463305e-01 -3.37471058e-01 3.11529549e+02] [-2.17638037e-01 -9.73072156e-01 -7.59227569e-02 2.06076725e+02] [-3.45881099e-01 4.15272585e-03 9.38269162e-01 1.09527496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:206.08, Z:109.53 [[-9.13290373e-01 2.28946147e-01 -3.36874394e-01 3.11522479e+02] [-2.15649718e-01 -9.73436148e-01 -7.69237576e-02 2.06078307e+02] [-3.45537110e-01 2.39314069e-03 9.38402035e-01 1.09526790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:206.08, Z:109.52 [[-9.13181764e-01 2.28517298e-01 -3.37459495e-01 3.11514673e+02] [-2.15566830e-01 -9.73533836e-01 -7.59131812e-02 2.06077501e+02] [-3.45875712e-01 3.42254103e-03 9.38274095e-01 1.09523348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:206.08, Z:109.53 [[-9.11588137e-01 2.30815628e-01 -3.40192909e-01 3.11529400e+02] [-2.18727979e-01 -9.72972921e-01 -7.40389494e-02 2.06081665e+02] [-3.48087835e-01 6.91667933e-03 9.37436408e-01 1.09525314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.260385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.52, Y:206.08, Z:109.52 [[-9.12997365e-01 2.30758163e-01 -3.36431987e-01 3.11517564e+02] [-2.16849564e-01 -9.73010708e-01 -7.89077257e-02 2.06084843e+02] [-3.45560528e-01 9.12584339e-04 9.38396019e-01 1.09524033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:206.09, Z:109.52 [[-9.12700354e-01 2.30896192e-01 -3.37142423e-01 3.11514588e+02] [-2.18240663e-01 -9.72967340e-01 -7.55352085e-02 2.06085528e+02] [-3.45469359e-01 4.63717440e-03 9.38418573e-01 1.09524432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.320385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:311.51, Y:206.09, Z:109.52 [[-9.12796874e-01 2.31754413e-01 -3.36291183e-01 3.11512353e+02] [-2.19270825e-01 -9.72761017e-01 -7.52084401e-02 2.06087082e+02] [-3.44560841e-01 5.08881600e-03 9.38750196e-01 1.09520164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:206.09, Z:109.52 [[-9.12853207e-01 2.31515791e-01 -3.36302632e-01 3.11505952e+02] [-2.19072435e-01 -9.72817465e-01 -7.50562979e-02 2.06090066e+02] [-3.44537792e-01 5.15925416e-03 9.38758271e-01 1.09522673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.380385723 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:311.51, Y:206.09, Z:109.52 [[-9.13381706e-01 2.30596155e-01 -3.35498543e-01 3.11508264e+02] [-2.18203640e-01 -9.73037002e-01 -7.47406481e-02 2.06091775e+02] [-3.43687403e-01 4.94026254e-03 9.39071117e-01 1.09520548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.48, Y:206.09, Z:109.51 [[-9.12692894e-01 2.29831448e-01 -3.37889312e-01 3.11482862e+02] [-2.17651942e-01 -9.73212293e-01 -7.40639269e-02 2.06085823e+02] [-3.45860252e-01 5.94464514e-03 9.38267205e-01 1.09511083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.50, Y:206.09, Z:109.52 [[-9.14656494e-01 2.26063725e-01 -3.35109967e-01 3.11498522e+02] [-2.12950137e-01 -9.74110585e-01 -7.58999844e-02 2.06093622e+02] [-3.43592400e-01 1.93930000e-03 9.39116874e-01 1.09521285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.49, Y:206.09, Z:109.52 [[-9.15266072e-01 2.23519865e-01 -3.35152037e-01 3.11489301e+02] [-2.10806551e-01 -9.74695910e-01 -7.43537591e-02 2.06093331e+02] [-3.43290862e-01 2.59877203e-03 9.39225548e-01 1.09517636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.49, Y:206.09, Z:109.52 [[-9.15385588e-01 2.22769363e-01 -3.35325270e-01 3.11490927e+02] [-2.10043808e-01 -9.74868071e-01 -7.42552599e-02 2.06094867e+02] [-3.43439696e-01 2.46080188e-03 9.39171507e-01 1.09518273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.530385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.49, Y:206.09, Z:109.52 [[-9.15467198e-01 2.22390212e-01 -3.35354146e-01 3.11488774e+02] [-2.09687868e-01 -9.74954633e-01 -7.41246336e-02 2.06094245e+02] [-3.43439671e-01 2.46102510e-03 9.39171516e-01 1.09517385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.49, Y:206.10, Z:109.52 [[-9.15627115e-01 2.21706901e-01 -3.35369999e-01 3.11486596e+02] [-2.09008930e-01 -9.75110528e-01 -7.39913840e-02 2.06095274e+02] [-3.43427217e-01 2.34680698e-03 9.39176362e-01 1.09517012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5903857229999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.48, Y:206.10, Z:109.52 [[-9.16077267e-01 2.21163016e-01 -3.34498672e-01 3.11483667e+02] [-2.08547374e-01 -9.75234194e-01 -7.36631542e-02 2.06098275e+02] [-3.42506108e-01 2.27767860e-03 9.39512841e-01 1.09516625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.620385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:311.36, Y:206.07, Z:109.47 [[-9.15079505e-01 2.21444778e-01 -3.37033694e-01 3.11360525e+02] [-2.10016991e-01 -9.75152747e-01 -7.04981132e-02 2.06070508e+02] [-3.44270771e-01 6.27142375e-03 9.38849458e-01 1.09465498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.650385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:311.34, Y:206.07, Z:109.46 [[-9.15445060e-01 2.22668626e-01 -3.35229811e-01 3.11338283e+02] [-2.09629268e-01 -9.74892992e-01 -7.50947691e-02 2.06073027e+02] [-3.43534442e-01 1.52884438e-03 9.39138834e-01 1.09459913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.680385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:311.10, Y:206.26, Z:110.09 [[-9.33877526e-01 3.30330625e-01 1.36946868e-01 3.11098586e+02] [-2.02516071e-01 -1.72928433e-01 -9.63889515e-01 2.06255246e+02] [-2.94720219e-01 -9.27888698e-01 2.28391238e-01 1.10088134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.710385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:311.33, Y:206.07, Z:109.42 [[-9.40540746e-01 2.01431280e-01 -2.73511509e-01 3.11328939e+02] [-1.93761607e-01 -9.79501911e-01 -5.50676561e-02 2.06066649e+02] [-2.78997394e-01 1.20265508e-03 9.60291106e-01 1.09420880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.740385723 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:310.82, Y:205.96, Z:109.26 [[-9.40634891e-01 1.98162496e-01 -2.75567826e-01 3.10818163e+02] [-1.92427618e-01 -9.80137400e-01 -4.79821716e-02 2.05963148e+02] [-2.79602600e-01 7.89315562e-03 9.60083374e-01 1.09261967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.770385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:310.97, Y:206.20, Z:110.06 [[-9.55099105e-01 2.48334139e-01 1.61604007e-01 3.10972670e+02] [-1.92388142e-01 -1.05000020e-01 -9.75685297e-01 2.06203239e+02] [-2.25327544e-01 -9.62966849e-01 1.48061968e-01 1.10063028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.800385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:310.89, Y:205.98, Z:109.26 [[-9.59312653e-01 1.87205894e-01 -2.11360325e-01 3.10885868e+02] [-1.83104016e-01 -9.82319848e-01 -3.89953348e-02 2.05982735e+02] [-2.14923598e-01 1.29220610e-03 9.76630010e-01 1.09262571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.830385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:310.86, Y:205.98, Z:109.26 [[-9.59413040e-01 1.85432465e-01 -2.12465105e-01 3.10855477e+02] [-1.81699490e-01 -9.82652514e-01 -3.71393594e-02 2.05980510e+02] [-2.15666213e-01 2.97281548e-03 9.76462619e-01 1.09255041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.860385723 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:310.88, Y:206.21, Z:109.94 [[-9.71790409e-01 1.98820773e-01 1.26860954e-01 3.10878618e+02] [-1.74643519e-01 -2.45139020e-01 -9.53628073e-01 2.06206612e+02] [-1.58502501e-01 -9.48882059e-01 2.72946508e-01 1.09937646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.890385723 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:311.02, Y:206.01, Z:109.26 [[-9.74497818e-01 1.67135201e-01 -1.49732522e-01 3.11017681e+02] [-1.65196113e-01 -9.85933986e-01 -2.53854222e-02 2.06007328e+02] [-1.51869180e-01 -2.80801300e-06 9.88400603e-01 1.09256914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.920385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:310.99, Y:205.33, Z:110.23 [[-9.55879949e-01 -2.41096788e-01 1.67826879e-01 3.10986520e+02] [-2.39655584e-01 9.70421787e-01 2.90990819e-02 2.05328301e+02] [-1.69878555e-01 -1.24054198e-02 -9.85386920e-01 1.10231863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.950385723 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:310.96, Y:205.35, Z:110.22 [[-9.35166253e-01 -3.13976475e-01 1.63959911e-01 3.10960269e+02] [-3.11403255e-01 9.49355913e-01 4.18492999e-02 2.05349355e+02] [-1.68796006e-01 -1.19215969e-02 -9.85578908e-01 1.10223844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.980385723 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:310.87, Y:206.07, Z:109.25 [[-9.37043277e-01 3.20046750e-01 -1.39713906e-01 3.10868604e+02] [-3.14971469e-01 -9.47348853e-01 -5.76465481e-02 2.06071657e+02] [-1.50807399e-01 -1.00114160e-02 9.88512468e-01 1.09248790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.010385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:310.88, Y:206.07, Z:109.24 [[-9.36902083e-01 3.16736776e-01 -1.47960472e-01 3.10881262e+02] [-3.14438621e-01 -9.48463855e-01 -3.93022840e-02 2.06067059e+02] [-1.52783639e-01 9.70209509e-03 9.88212037e-01 1.09244407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.040385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:310.88, Y:206.08, Z:109.25 [[-9.36250630e-01 3.19770561e-01 -1.45538815e-01 3.10882548e+02] [-3.16074268e-01 -9.47494812e-01 -4.84833832e-02 2.06077840e+02] [-1.53400831e-01 6.08476558e-04 9.88163860e-01 1.09249217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:206.08, Z:109.25 [[-9.36045401e-01 3.20437484e-01 -1.45391974e-01 3.10879775e+02] [-3.16765936e-01 -9.47269349e-01 -4.83748097e-02 2.06079280e+02] [-1.53226463e-01 7.74206723e-04 9.88190797e-01 1.09249117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.100385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.88, Y:206.08, Z:109.25 [[-9.35896559e-01 3.20917754e-01 -1.45290834e-01 3.10876952e+02] [-3.17266303e-01 -9.47106630e-01 -4.82817159e-02 2.06080792e+02] [-1.53100372e-01 9.09194028e-04 9.88210225e-01 1.09248716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.130385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:310.87, Y:206.08, Z:109.25 [[-9.35520002e-01 3.22311062e-01 -1.44630238e-01 3.10874477e+02] [-3.18718557e-01 -9.46633069e-01 -4.80032729e-02 2.06084622e+02] [-1.52383752e-01 1.18831874e-03 9.88320687e-01 1.09248440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.160385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:310.87, Y:206.08, Z:109.25 [[-9.35503260e-01 3.22623697e-01 -1.44040277e-01 3.10867279e+02] [-3.19073291e-01 -9.46526432e-01 -4.77488141e-02 2.06084239e+02] [-1.51742828e-01 1.29023406e-03 9.88419167e-01 1.09247009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.190385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.86, Y:206.09, Z:109.25 [[-9.35541804e-01 3.23196086e-01 -1.42498504e-01 3.10858964e+02] [-3.19737044e-01 -9.46330949e-01 -4.71800572e-02 2.06086082e+02] [-1.50099154e-01 1.42313451e-03 9.88669924e-01 1.09245316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:206.09, Z:109.25 [[-9.35722874e-01 3.22877460e-01 -1.42031156e-01 3.10862156e+02] [-3.19446339e-01 -9.46439708e-01 -4.69671810e-02 2.06089643e+02] [-1.49588570e-01 1.42306721e-03 9.88747306e-01 1.09245969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.86, Y:206.09, Z:109.25 [[-9.36146451e-01 3.21988842e-01 -1.41255116e-01 3.10859266e+02] [-3.18593920e-01 -9.46742531e-01 -4.66529243e-02 2.06093837e+02] [-1.48753947e-01 1.32905167e-03 9.88873347e-01 1.09246248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:206.09, Z:109.24 [[-9.36470111e-01 3.21087289e-01 -1.41161905e-01 3.10851756e+02] [-3.17695359e-01 -9.47048792e-01 -4.65644123e-02 2.06093446e+02] [-1.48638453e-01 1.24030181e-03 9.88890829e-01 1.09244589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:206.10, Z:109.25 [[-9.37171975e-01 3.19275958e-01 -1.40611353e-01 3.10853587e+02] [-3.15898877e-01 -9.47661255e-01 -4.63254281e-02 2.06098639e+02] [-1.48042526e-01 1.00407553e-03 9.88980486e-01 1.09245210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3403857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:310.84, Y:206.10, Z:109.24 [[-9.37648903e-01 3.17806127e-01 -1.40761503e-01 3.10843337e+02] [-3.14412764e-01 -9.48155363e-01 -4.63251678e-02 2.06098044e+02] [-1.48186196e-01 8.20470421e-04 9.88959139e-01 1.09243624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:206.10, Z:109.24 [[-9.37892397e-01 3.16985057e-01 -1.40990517e-01 3.10841858e+02] [-3.13595676e-01 -9.48430153e-01 -4.62384692e-02 2.06099883e+02] [-1.48376561e-01 8.47307799e-04 9.88930573e-01 1.09243610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.83, Y:206.10, Z:109.24 [[-9.38519167e-01 3.14905377e-01 -1.41479242e-01 3.10832531e+02] [-3.11477547e-01 -9.49122896e-01 -4.63407604e-02 2.06101745e+02] [-1.48874143e-01 5.75915436e-04 9.88855984e-01 1.09243150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.83, Y:206.10, Z:109.24 [[-9.38809930e-01 3.13635815e-01 -1.42367449e-01 3.10831447e+02] [-3.10158925e-01 -9.49543252e-01 -4.65730921e-02 2.06103235e+02] [-1.49791040e-01 4.33253517e-04 9.88717582e-01 1.09243609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.460385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:310.80, Y:206.09, Z:109.24 [[-9.39845187e-01 3.09961018e-01 -1.43579918e-01 3.10800974e+02] [-3.06390681e-01 -9.50749261e-01 -4.69104731e-02 2.06093861e+02] [-1.51048919e-01 -9.70335419e-05 9.88526284e-01 1.09238777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.490385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:310.82, Y:206.10, Z:109.24 [[-9.40429769e-01 3.08203431e-01 -1.43535689e-01 3.10824885e+02] [-3.04624031e-01 -9.51320420e-01 -4.68365051e-02 2.06101028e+02] [-1.50983603e-01 -3.22023557e-04 9.88536215e-01 1.09242724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.520385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:310.82, Y:206.10, Z:109.24 [[-9.40925319e-01 3.06694729e-01 -1.43519638e-01 3.10818632e+02] [-3.03107745e-01 -9.51807799e-01 -4.67718809e-02 2.06098638e+02] [-1.50947800e-01 -5.06933267e-04 9.88541605e-01 1.09241057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:206.10, Z:109.24 [[-9.40856242e-01 3.06829696e-01 -1.43683927e-01 3.10821905e+02] [-3.03245028e-01 -9.51764337e-01 -4.67664331e-02 2.06099326e+02] [-1.51102568e-01 -4.29054064e-04 9.88517997e-01 1.09241538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:206.10, Z:109.24 [[-9.40427455e-01 3.07863321e-01 -1.44278817e-01 3.10808063e+02] [-3.04269935e-01 -9.51430572e-01 -4.69006824e-02 2.06095168e+02] [-1.51710277e-01 -2.06983173e-04 9.88424984e-01 1.09239526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.81, Y:206.10, Z:109.24 [[-9.40227346e-01 3.08548868e-01 -1.44118474e-01 3.10813585e+02] [-3.04980580e-01 -9.51208492e-01 -4.67894374e-02 2.06097022e+02] [-1.51523544e-01 -3.93728622e-05 9.88453648e-01 1.09240854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:206.09, Z:109.24 [[-9.39611931e-01 3.10879687e-01 -1.43119670e-01 3.10807045e+02] [-3.07396724e-01 -9.50449193e-01 -4.64067482e-02 2.06094018e+02] [-1.50454890e-01 3.90183505e-04 9.88616798e-01 1.09239621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:206.10, Z:109.24 [[-9.39301706e-01 3.12215688e-01 -1.42245101e-01 3.10813113e+02] [-3.08799399e-01 -9.50011018e-01 -4.60651467e-02 2.06095049e+02] [-1.49516674e-01 6.56130765e-04 9.88758987e-01 1.09240196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.81, Y:206.09, Z:109.24 [[-9.38886141e-01 3.13563053e-01 -1.42024735e-01 3.10814717e+02] [-3.10181498e-01 -9.49566931e-01 -4.59356296e-02 2.06094828e+02] [-1.49265708e-01 9.25119062e-04 9.88796689e-01 1.09239738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:206.09, Z:109.24 [[-9.38083791e-01 3.16288035e-01 -1.41282272e-01 3.10811899e+02] [-3.12981239e-01 -9.48662164e-01 -4.56381681e-02 2.06092906e+02] [-1.48463953e-01 1.40627481e-03 9.88916820e-01 1.09239200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.81, Y:206.09, Z:109.24 [[-9.38078300e-01 3.16551518e-01 -1.40727535e-01 3.10808530e+02] [-3.13282264e-01 -9.48574138e-01 -4.54018500e-02 2.06091523e+02] [-1.47862524e-01 1.49695034e-03 9.89006791e-01 1.09239181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:206.09, Z:109.24 [[-9.37950870e-01 3.16946014e-01 -1.40688984e-01 3.10805588e+02] [-3.13691543e-01 -9.48442207e-01 -4.53320570e-02 2.06088603e+02] [-1.47803185e-01 1.61370217e-03 9.89015477e-01 1.09238756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:206.08, Z:109.24 [[-9.38547839e-01 3.20667141e-01 -1.27673560e-01 3.10766812e+02] [-3.15958519e-01 -9.47111634e-01 -5.61227797e-02 2.06081165e+02] [-1.38917845e-01 -1.23343648e-02 9.90227093e-01 1.09242033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.98, Y:205.24, Z:109.31 [[-9.34951660e-01 -1.78659485e-01 -3.06506415e-01 3.10982134e+02] [-2.82736070e-01 -1.46645023e-01 9.47921701e-01 2.05240570e+02] [-2.14302843e-01 9.72921387e-01 8.65925268e-02 1.09305166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:205.21, Z:109.32 [[-9.20677047e-01 -2.41685389e-01 -3.06499506e-01 3.10898944e+02] [-2.72221745e-01 -1.65168392e-01 9.47952912e-01 2.05210319e+02] [-2.79730399e-01 9.56194319e-01 8.62747288e-02 1.09318030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.30, Y:205.98, Z:110.10 [[-9.22747260e-01 2.01138092e-01 3.28756692e-01 3.10304435e+02] [-3.02423251e-01 1.50893902e-01 -9.41154189e-01 2.05981932e+02] [-2.38909338e-01 -9.67871117e-01 -7.84080988e-02 1.10103157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.940385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.24, Y:205.96, Z:110.06 [[-9.34772648e-01 1.36753646e-01 3.27869694e-01 3.10236344e+02] [-3.10880932e-01 1.31720583e-01 -9.41277183e-01 2.05961931e+02] [-1.71910274e-01 -9.81808601e-01 -8.06146969e-02 1.10055114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.17, Y:205.94, Z:110.01 [[-9.42519192e-01 7.13545772e-02 3.26444630e-01 3.10167537e+02] [-3.17695587e-01 1.11451545e-01 -9.41619917e-01 2.05941147e+02] [-1.03571649e-01 -9.91204862e-01 -8.23761859e-02 1.10012065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.46, Y:205.08, Z:109.16 [[-9.43240512e-01 -1.18626758e-01 -3.10201593e-01 3.10461536e+02] [-2.95364170e-01 -1.27416132e-01 9.46850113e-01 2.05078508e+02] [-1.51846446e-01 9.84729822e-01 8.51459636e-02 1.09159918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.21, Y:205.89, Z:109.11 [[-9.38842316e-01 3.12060042e-01 -1.45580343e-01 3.10209679e+02] [-3.08536180e-01 -9.50061854e-01 -4.67749935e-02 2.05894257e+02] [-1.52906937e-01 1.00245967e-03 9.88240084e-01 1.09111238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.21, Y:205.89, Z:109.11 [[-9.40013584e-01 3.08324492e-01 -1.45981061e-01 3.10208426e+02] [-3.04745543e-01 -9.51281137e-01 -4.68439083e-02 2.05894158e+02] [-1.53312154e-01 4.53167585e-04 9.88177706e-01 1.09110235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.20, Y:205.89, Z:109.11 [[-9.40815525e-01 3.06090432e-01 -1.45515619e-01 3.10203720e+02] [-3.02516963e-01 -9.52002430e-01 -4.66354007e-02 2.05893452e+02] [-1.52805873e-01 1.45634256e-04 9.88256214e-01 1.09109433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.20, Y:205.89, Z:109.11 [[-9.42094432e-01 3.02644680e-01 -1.44444727e-01 3.10200488e+02] [-2.99092576e-01 -9.53103390e-01 -4.62337408e-02 2.05893275e+02] [-1.51663155e-01 -3.54204361e-04 9.88432174e-01 1.09107955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.150385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:310.20, Y:205.89, Z:109.11 [[-9.42695945e-01 3.00859977e-01 -1.44248500e-01 3.10200032e+02] [-2.97305802e-01 -9.53668146e-01 -4.61121069e-02 2.05892942e+02] [-1.51438487e-01 -5.83780005e-04 9.88466511e-01 1.09107418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.180385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:310.20, Y:205.89, Z:109.11 [[-9.43109258e-01 2.99472233e-01 -1.44434444e-01 3.10196321e+02] [-2.95901704e-01 -9.54104721e-01 -4.61125148e-02 2.05891729e+02] [-1.51615003e-01 -7.50741553e-04 9.88439339e-01 1.09106124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.210385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:310.19, Y:205.89, Z:109.10 [[-9.43457660e-01 2.98537378e-01 -1.44093989e-01 3.10193633e+02] [-2.94981892e-01 -9.54397572e-01 -4.59451698e-02 2.05891673e+02] [-1.51239304e-01 -8.42204727e-04 9.88496820e-01 1.09104829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.240385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:310.16, Y:205.88, Z:109.10 [[-9.43465303e-01 2.98275621e-01 -1.44585189e-01 3.10158160e+02] [-2.94701738e-01 -9.54479421e-01 -4.60425973e-02 2.05883497e+02] [-1.51736972e-01 -8.30086595e-04 9.88420560e-01 1.09099637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:205.88, Z:109.10 [[-9.43265655e-01 2.98516535e-01 -1.45388385e-01 3.10156409e+02] [-2.94914757e-01 -9.54404178e-01 -4.62379863e-02 2.05884287e+02] [-1.52562085e-01 -7.37524268e-04 9.88293613e-01 1.09100100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.18, Y:205.89, Z:109.10 [[-9.43121335e-01 2.98649596e-01 -1.46049876e-01 3.10183507e+02] [-2.95025870e-01 -9.54362606e-01 -4.63869891e-02 2.05893810e+02] [-1.53237996e-01 -6.60067242e-04 9.88189092e-01 1.09104957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.330385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.17, Y:205.89, Z:109.10 [[-9.42811434e-01 2.99034256e-01 -1.47258663e-01 3.10171337e+02] [-2.95364180e-01 -9.54242222e-01 -4.67095570e-02 2.05890963e+02] [-1.54488192e-01 -5.43370049e-04 9.87994486e-01 1.09102815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.11, Y:205.03, Z:110.04 [[-9.12294147e-01 -3.80116381e-01 1.52416948e-01 3.10114798e+02] [-3.73790868e-01 9.24917287e-01 6.93426254e-02 2.05033238e+02] [-1.67331338e-01 6.28880796e-03 -9.85880659e-01 1.10041586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:205.88, Z:109.08 [[-9.25111749e-01 3.47789498e-01 -1.52350642e-01 3.10051740e+02] [-3.44892189e-01 -9.37518595e-01 -4.59158262e-02 2.05877211e+02] [-1.58800602e-01 1.00672761e-02 9.87259347e-01 1.09082795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:205.88, Z:109.08 [[-9.25026473e-01 3.49283012e-01 -1.49423566e-01 3.10034380e+02] [-3.44749120e-01 -9.37017201e-01 -5.60964259e-02 2.05876782e+02] [-1.59605980e-01 -3.77036099e-04 9.87180728e-01 1.09084465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:205.88, Z:109.08 [[-9.25155182e-01 3.48933031e-01 -1.49444403e-01 3.10032234e+02] [-3.44403578e-01 -9.37147586e-01 -5.60408594e-02 2.05875866e+02] [-1.59605969e-01 -3.77304235e-04 9.87180729e-01 1.09084055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.87, Z:109.08 [[-9.24946464e-01 3.49046883e-01 -1.50466980e-01 3.10017430e+02] [-3.44466819e-01 -9.37105215e-01 -5.63597922e-02 2.05870857e+02] [-1.60675602e-01 -2.98908457e-04 9.87007225e-01 1.09082078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:205.87, Z:109.08 [[-9.24942725e-01 3.49023531e-01 -1.50544118e-01 3.10014304e+02] [-3.44448928e-01 -9.37113929e-01 -5.63242340e-02 2.05869760e+02] [-1.60735473e-01 -2.41930387e-04 9.86997492e-01 1.09082127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.87, Z:109.08 [[-9.24885531e-01 3.49074673e-01 -1.50776747e-01 3.10021437e+02] [-3.44497093e-01 -9.37094896e-01 -5.63463388e-02 2.05871786e+02] [-1.60961200e-01 -1.71762469e-04 9.86960720e-01 1.09083406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:205.88, Z:109.09 [[-9.24649393e-01 3.49335536e-01 -1.51618544e-01 3.10035787e+02] [-3.44720553e-01 -9.36997694e-01 -5.65955947e-02 2.05875669e+02] [-1.61837079e-01 -6.50537628e-05 9.86817489e-01 1.09085634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:205.87, Z:109.09 [[-9.24417199e-01 3.49707532e-01 -1.52175836e-01 3.10035344e+02] [-3.45074005e-01 -9.36858921e-01 -5.67388122e-02 2.05874516e+02] [-1.62409279e-01 6.15912116e-05 9.86723478e-01 1.09086074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:205.87, Z:109.09 [[-9.24345023e-01 3.50009201e-01 -1.51920502e-01 3.10032053e+02] [-3.45405895e-01 -9.36746246e-01 -5.65794900e-02 2.05873144e+02] [-1.62114302e-01 1.75266882e-04 9.86771971e-01 1.09085975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:310.03, Y:205.87, Z:109.09 [[-9.23918378e-01 3.51358689e-01 -1.51399810e-01 3.10033350e+02] [-3.46815482e-01 -9.36240808e-01 -5.63220349e-02 2.05872798e+02] [-1.61535917e-01 4.70835137e-04 9.86866721e-01 1.09086926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:205.87, Z:109.09 [[-9.23548642e-01 3.52302402e-01 -1.51462614e-01 3.10028659e+02] [-3.47778439e-01 -9.35885961e-01 -5.62816576e-02 2.05870592e+02] [-1.61579897e-01 6.96582930e-04 9.86859388e-01 1.09086238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:205.87, Z:109.09 [[-9.23147415e-01 3.53336440e-01 -1.51499871e-01 3.10027986e+02] [-3.48834496e-01 -9.35495847e-01 -5.62317944e-02 2.05870121e+02] [-1.61596242e-01 9.38145338e-04 9.86856512e-01 1.09086241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:205.87, Z:109.09 [[-9.22197341e-01 3.55886542e-01 -1.51316998e-01 3.10029734e+02] [-3.51439970e-01 -9.34528055e-01 -5.61004560e-02 2.05869549e+02] [-1.61375378e-01 1.44315012e-03 9.86892043e-01 1.09087757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.02, Y:205.86, Z:109.09 [[-9.21014941e-01 3.58802173e-01 -1.51632715e-01 3.10021286e+02] [-3.54387862e-01 -9.33411430e-01 -5.61457565e-02 2.05864111e+02] [-1.61680929e-01 2.02571324e-03 9.86841007e-01 1.09087004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.86, Z:109.09 [[-9.20381818e-01 3.60438767e-01 -1.51595530e-01 3.10023815e+02] [-3.56063130e-01 -9.32779799e-01 -5.60436745e-02 2.05863820e+02] [-1.61605561e-01 2.39599997e-03 9.86852523e-01 1.09087555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.86, Z:109.09 [[-9.19915493e-01 3.61801218e-01 -1.51179906e-01 3.10022490e+02] [-3.57478220e-01 -9.32251392e-01 -5.58270993e-02 2.05862322e+02] [-1.61135990e-01 2.68731016e-03 9.86928554e-01 1.09087300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.86, Z:109.09 [[-9.18620896e-01 3.65164343e-01 -1.50965731e-01 3.10023161e+02] [-3.60912946e-01 -9.30937028e-01 -5.56605373e-02 2.05860616e+02] [-1.60864833e-01 3.35455429e-03 9.86970746e-01 1.09087844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.02, Y:205.86, Z:109.09 [[-9.18112988e-01 3.66582730e-01 -1.50617541e-01 3.10023630e+02] [-3.62382806e-01 -9.30378225e-01 -5.54532292e-02 2.05859786e+02] [-1.60459476e-01 3.66887700e-03 9.87035610e-01 1.09088502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.86, Z:109.09 [[-9.17180651e-01 3.68951685e-01 -1.50513480e-01 3.10023289e+02] [-3.64799385e-01 -9.29439359e-01 -5.53523871e-02 2.05856617e+02] [-1.60315509e-01 4.13908648e-03 9.87057144e-01 1.09088888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.85, Z:109.09 [[-9.16991814e-01 3.69334413e-01 -1.50725266e-01 3.10022891e+02] [-3.65185673e-01 -9.29286743e-01 -5.53676276e-02 2.05854427e+02] [-1.60516161e-01 4.27104637e-03 9.87023971e-01 1.09088361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:205.85, Z:109.09 [[-9.16915114e-01 3.69814945e-01 -1.50011935e-01 3.10022326e+02] [-3.65721995e-01 -9.29095052e-01 -5.50436873e-02 2.05850023e+02] [-1.59731324e-01 4.39227517e-03 9.87150755e-01 1.09088300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:205.84, Z:109.09 [[-9.17407015e-01 3.68714486e-01 -1.49713045e-01 3.10012707e+02] [-3.64632932e-01 -9.29532992e-01 -5.48747770e-02 2.05844605e+02] [-1.59396340e-01 4.24780106e-03 9.87205532e-01 1.09086392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.02, Y:205.84, Z:109.08 [[-9.16261490e-01 3.71003443e-01 -1.51067294e-01 3.10017783e+02] [-3.67196828e-01 -9.28608510e-01 -5.34109053e-02 2.05839952e+02] [-1.60098005e-01 6.53307561e-03 9.87079504e-01 1.09084733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.080385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.02, Y:205.84, Z:109.08 [[-9.16614651e-01 3.70253651e-01 -1.50764105e-01 3.10015457e+02] [-3.66170712e-01 -9.28918524e-01 -5.50398614e-02 2.05838287e+02] [-1.60426280e-01 4.75505626e-03 9.87036371e-01 1.09084983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:205.81, Z:109.05 [[-9.08027039e-01 3.72236964e-01 -1.92162796e-01 3.10046787e+02] [-3.75865165e-01 -9.26487376e-01 -1.86150240e-02 2.05812763e+02] [-1.84965604e-01 5.53243558e-02 9.81186497e-01 1.09054332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:205.85, Z:109.10 [[-9.16178399e-01 3.74480373e-01 -1.42764109e-01 3.10005590e+02] [-3.63985228e-01 -9.26583528e-01 -9.46452268e-02 2.05848453e+02] [-1.67725652e-01 -3.47478857e-02 9.85221138e-01 1.09095131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:205.82, Z:109.07 [[-9.16307601e-01 3.66836244e-01 -1.60659733e-01 3.10007330e+02] [-3.62561257e-01 -9.30261307e-01 -5.62426427e-02 2.05821544e+02] [-1.70087373e-01 6.71343379e-03 9.85406117e-01 1.09074252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:205.83, Z:109.08 [[-9.18187935e-01 3.64623938e-01 -1.54855742e-01 3.10012929e+02] [-3.59418920e-01 -9.31154593e-01 -6.13935199e-02 2.05825475e+02] [-1.66580183e-01 -7.12705658e-04 9.86027654e-01 1.09079818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:205.71, Z:109.04 [[-9.22571423e-01 3.59457852e-01 -1.40185668e-01 3.09700519e+02] [-3.53821179e-01 -9.33112368e-01 -6.41239508e-02 2.05714421e+02] [-1.53858838e-01 -9.55826628e-03 9.88046607e-01 1.09035416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:205.80, Z:109.06 [[-9.18802276e-01 3.57930136e-01 -1.66398305e-01 3.09991917e+02] [-3.55861555e-01 -9.33542912e-01 -4.31298577e-02 2.05798303e+02] [-1.70777434e-01 1.95869480e-02 9.85114927e-01 1.09063423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.290385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:309.99, Y:205.81, Z:109.07 [[-9.19016760e-01 3.60545957e-01 -1.59420227e-01 3.09992775e+02] [-3.55800423e-01 -9.32736415e-01 -5.83852640e-02 2.05805881e+02] [-1.69747622e-01 3.06474783e-03 9.85482802e-01 1.09067786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.320385723 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:309.45, Y:205.61, Z:108.97 [[-9.21248168e-01 3.54386058e-01 -1.60350662e-01 3.09452803e+02] [-3.51257223e-01 -9.35025850e-01 -4.84254382e-02 2.05605221e+02] [-1.67093314e-01 1.17124821e-02 9.85871514e-01 1.08969121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.350385723 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:309.25, Y:205.55, Z:108.96 [[-9.25041469e-01 3.58023367e-01 -1.26954909e-01 3.09251632e+02] [-3.52331123e-01 -9.33577174e-01 -6.55472376e-02 2.05545235e+02] [-1.41989648e-01 -1.59037472e-02 9.89740375e-01 1.08958119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.380385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:309.97, Y:205.79, Z:109.06 [[-9.26488572e-01 3.52088408e-01 -1.32863383e-01 3.09965223e+02] [-3.48875677e-01 -9.35963841e-01 -4.75126465e-02 2.05788618e+02] [-1.41083975e-01 2.33287874e-03 9.89994884e-01 1.09064512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.66, Y:205.67, Z:109.00 [[-9.23651778e-01 3.52087552e-01 -1.51333240e-01 3.09657253e+02] [-3.51045404e-01 -9.35724534e-01 -3.44488048e-02 2.05665634e+02] [-1.53735221e-01 2.13061385e-02 9.87882346e-01 1.08997476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.70, Y:205.88, Z:109.76 [[-9.37065318e-01 1.45443300e-01 3.17419024e-01 3.09695161e+02] [-3.35069223e-01 -1.18988720e-01 -9.34649828e-01 2.05877264e+02] [-9.81692719e-02 -9.82185283e-01 1.60233777e-01 1.09757217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4703857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:309.48, Y:205.59, Z:108.95 [[-9.34903023e-01 3.42114408e-01 -9.44143473e-02 3.09478099e+02] [-3.43170691e-01 -9.39257986e-01 -5.32094609e-03 2.05588296e+02] [-9.04998021e-02 2.74256682e-02 9.95518769e-01 1.08948467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.53, Y:205.62, Z:108.96 [[-9.34838023e-01 3.43843307e-01 -8.85982582e-02 3.09533133e+02] [-3.42782595e-01 -9.39015011e-01 -2.74026089e-02 2.05616871e+02] [-9.26172981e-02 4.75294007e-03 9.95690437e-01 1.08961840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.74, Y:205.70, Z:108.99 [[-9.40123300e-01 3.32136863e-01 -7.65067606e-02 3.09743569e+02] [-3.28834461e-01 -9.42915824e-01 -5.27033877e-02 2.05695321e+02] [-8.96441731e-02 -2.43896234e-02 9.95675182e-01 1.08993733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:205.69, Z:109.00 [[-9.44055994e-01 3.23719476e-01 -6.29601540e-02 3.09721525e+02] [-3.21369926e-01 -9.45898059e-01 -4.47015909e-02 2.05688162e+02] [-7.40246630e-02 -2.19673048e-02 9.97014437e-01 1.09002976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.72, Y:205.68, Z:108.99 [[-9.44480674e-01 3.21000202e-01 -7.01079649e-02 3.09724658e+02] [-3.20187466e-01 -9.47078725e-01 -2.28445951e-02 2.05676167e+02] [-7.37308816e-02 8.71413058e-04 9.97277794e-01 1.08994558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.72, Y:205.67, Z:108.99 [[-9.45110078e-01 3.19164534e-01 -7.00067207e-02 3.09720812e+02] [-3.18351194e-01 -9.47699020e-01 -2.27834457e-02 2.05673043e+02] [-7.36169685e-02 7.53858986e-04 9.97286305e-01 1.08994615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.650385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:309.72, Y:205.67, Z:108.99 [[-9.45189074e-01 3.19006516e-01 -6.96595731e-02 3.09718910e+02] [-3.18202854e-01 -9.47752214e-01 -2.26425608e-02 2.05670313e+02] [-7.32431391e-02 7.64373935e-04 9.97313821e-01 1.08992149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:204.93, Z:109.94 [[-9.23801579e-01 -3.73556044e-01 8.39435837e-02 3.09589125e+02] [-3.71613781e-01 9.27598286e-01 3.82703350e-02 2.04932041e+02] [-9.21620393e-02 4.15960342e-03 -9.95735334e-01 1.09939906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.65, Y:204.70, Z:109.33 [[-9.04521789e-01 -2.62198942e-01 -3.36291611e-01 3.09649396e+02] [-4.05006229e-01 2.81418880e-01 8.69927220e-01 2.04699700e+02] [-1.33455188e-01 9.23068323e-01 -3.60741714e-01 1.09334651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.740385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:309.62, Y:205.70, Z:109.03 [[-9.01275359e-01 4.13555419e-01 -1.29130329e-01 3.09616754e+02] [-4.10581530e-01 -9.10445166e-01 -5.01239049e-02 2.05696148e+02] [-1.38295096e-01 7.84308751e-03 9.90360012e-01 1.09029597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.770385723 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:309.14, Y:205.48, Z:108.94 [[-9.00492475e-01 4.08564487e-01 -1.48957588e-01 3.09135291e+02] [-4.07009671e-01 -9.12448815e-01 -4.21934603e-02 2.05476439e+02] [-1.53154924e-01 2.26322853e-02 9.87942989e-01 1.08938118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:205.71, Z:109.85 [[-9.11232964e-01 3.08680455e-02 4.10733062e-01 3.09352870e+02] [-4.01769171e-01 1.53099989e-01 -9.02852107e-01 2.05705364e+02] [-9.07525072e-02 -9.87728484e-01 -1.27107928e-01 1.09848542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:205.01, Z:109.94 [[-8.79930927e-01 -4.66764233e-01 8.86155434e-02 3.09614009e+02] [-4.68220353e-01 8.83598379e-01 4.85864101e-03 2.05013802e+02] [-8.05683903e-02 -3.72163325e-02 -9.96054054e-01 1.09942796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:205.63, Z:108.96 [[-8.72200690e-01 4.84983219e-01 -6.36964180e-02 3.09359094e+02] [-4.83745316e-01 -8.74523248e-01 -3.46346349e-02 2.05630537e+02] [-7.25012151e-02 6.04491373e-04 9.97368141e-01 1.08963024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:205.63, Z:108.96 [[-8.72632220e-01 4.84163547e-01 -6.40208459e-02 3.09363055e+02] [-4.82913010e-01 -8.74977337e-01 -3.47805259e-02 2.05634207e+02] [-7.28562520e-02 5.65891858e-04 9.97342292e-01 1.08963605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.08, Y:205.48, Z:108.93 [[-8.73185789e-01 4.81769327e-01 -7.37895185e-02 3.09077412e+02] [-4.80927312e-01 -8.76248438e-01 -2.99598977e-02 2.05477588e+02] [-7.90917101e-02 9.32683790e-03 9.96823711e-01 1.08931370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.19, Y:205.55, Z:109.89 [[-8.67173764e-01 -1.52274049e-01 4.74154276e-01 3.09191231e+02] [-4.97636100e-01 3.01631117e-01 -8.13250872e-01 2.05549353e+02] [-1.91826810e-02 -9.41186104e-01 -3.37343655e-01 1.09889038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:205.56, Z:108.92 [[-8.64938864e-01 5.01787736e-01 -9.47789828e-03 3.09193616e+02] [-5.01758323e-01 -8.64990789e-01 -5.43327278e-03 2.05562708e+02] [-1.09246444e-02 5.61655610e-05 9.99940323e-01 1.08916479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.19, Y:205.56, Z:108.92 [[-8.65847858e-01 5.00201842e-01 -1.02764116e-02 3.09190263e+02] [-5.00167225e-01 -8.65908838e-01 -5.88491436e-03 2.05564564e+02] [-1.18420807e-02 4.44838008e-05 9.99929879e-01 1.08917120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.19, Y:205.56, Z:108.92 [[-8.66317548e-01 4.99387787e-01 -1.02832293e-02 3.09186085e+02] [-4.99353125e-01 -8.66378576e-01 -5.88384572e-03 2.05563969e+02] [-1.18474902e-02 3.76838780e-05 9.99929815e-01 1.08917546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:205.56, Z:108.91 [[-8.65963435e-01 4.99587374e-01 -2.27988128e-02 3.09189977e+02] [-4.99703907e-01 -8.66196026e-01 -6.70484645e-04 2.05563899e+02] [-2.00832067e-02 1.08120407e-02 9.99739849e-01 1.08907037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.05, Y:205.64, Z:109.73 [[-8.69080034e-01 -4.31330595e-02 4.92787412e-01 3.09050840e+02] [-4.91896254e-01 -3.00210066e-02 -8.70136089e-01 2.05641535e+02] [ 5.23256058e-02 -9.98618185e-01 4.87366710e-03 1.09725640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:204.92, Z:109.84 [[-8.28122895e-01 -5.55583179e-01 -7.44298535e-02 3.09466583e+02] [-5.57633886e-01 8.30043711e-01 8.47864123e-03 2.04917194e+02] [ 5.70694414e-02 4.85259653e-02 -9.97190207e-01 1.09839739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.00, Y:205.51, Z:108.89 [[-8.23754995e-01 5.65591268e-01 3.91692024e-02 3.09004857e+02] [-5.64625624e-01 -8.24667581e-01 3.34856131e-02 2.05510024e+02] [ 5.12407418e-02 5.46800568e-03 9.98671361e-01 1.08887154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:205.51, Z:108.89 [[-8.24722214e-01 5.63741775e-01 4.50386724e-02 3.08996679e+02] [-5.63110244e-01 -8.25944885e-01 2.68682053e-02 2.05514520e+02] [ 5.23461908e-02 -3.20293210e-03 9.98623862e-01 1.08888917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.41, Y:204.89, Z:109.83 [[-7.89306796e-01 -6.08253203e-01 -8.38022913e-02 3.09411450e+02] [-6.12034176e-01 7.90328511e-01 2.81959694e-02 2.04892917e+02] [ 4.90810514e-02 7.35451366e-02 -9.96083412e-01 1.09831745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:204.90, Z:109.87 [[-7.37176939e-01 -6.75680214e-01 -5.13898370e-03 3.09304149e+02] [-6.74565544e-01 7.36358728e-01 -5.23177869e-02 2.04904614e+02] [ 3.91342290e-02 -3.51008846e-02 -9.98617264e-01 1.09872731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:205.46, Z:108.90 [[-7.25480635e-01 6.86628279e-01 4.71110946e-02 3.08782449e+02] [-6.86385301e-01 -7.26851221e-01 2.37175308e-02 2.05455424e+02] [ 5.05278840e-02 -1.51297535e-02 9.98608043e-01 1.08900844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.73, Y:205.41, Z:108.90 [[-7.24154106e-01 6.88507795e-01 3.94695651e-02 3.08730403e+02] [-6.87682383e-01 -7.25224062e-01 3.38082806e-02 2.05406401e+02] [ 5.19015431e-02 -2.66011938e-03 9.98648664e-01 1.08898873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.73, Y:205.40, Z:108.90 [[-7.24431931e-01 6.88291571e-01 3.81194301e-02 3.08729343e+02] [-6.87387026e-01 -7.25433870e-01 3.52814085e-02 2.05404009e+02] [ 5.19370218e-02 -6.43822809e-04 9.98650155e-01 1.08898218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:205.47, Z:108.91 [[-7.29273788e-01 6.81586112e-01 6.00009520e-02 3.08781967e+02] [-6.81185875e-01 -7.31492697e-01 3.00705347e-02 2.05473098e+02] [ 6.43859171e-02 -1.89421483e-02 9.97745283e-01 1.08905849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:204.64, Z:109.38 [[-7.17551311e-01 -4.03779611e-01 -5.67522812e-01 3.09375934e+02] [-6.96437533e-01 4.27334653e-01 5.76506597e-01 2.04643282e+02] [ 9.74055436e-03 8.08917252e-01 -5.87841817e-01 1.09376659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:204.68, Z:109.27 [[-6.95791859e-01 -3.16991305e-01 -6.44507720e-01 3.09361213e+02] [-7.16538027e-01 2.44552111e-01 6.53274461e-01 2.04675390e+02] [-4.94666000e-02 9.16357342e-01 -3.97293692e-01 1.09269099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:205.27, Z:108.94 [[-6.75357833e-01 7.36135366e-01 -4.46824395e-02 3.08535901e+02] [-7.34811679e-01 -6.76827844e-01 -4.42251734e-02 2.05266865e+02] [-6.27980334e-02 2.96536109e-03 9.98021850e-01 1.08940184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:205.37, Z:108.96 [[-6.82230962e-01 7.30536954e-01 -2.96086503e-02 3.08622645e+02] [-7.29203205e-01 -6.82811821e-01 -4.50633134e-02 2.05373451e+02] [-5.31375522e-02 -9.15286502e-03 9.98545255e-01 1.08957216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:204.57, Z:109.41 [[-6.68856136e-01 -5.03234968e-01 -5.47161801e-01 3.09274046e+02] [-7.33582471e-01 3.27628085e-01 5.95412962e-01 2.04571683e+02] [-1.20367050e-01 7.99633919e-01 -5.88300407e-01 1.09414432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.50, Y:205.28, Z:108.98 [[-6.56739419e-01 7.52758013e-01 -4.52626802e-02 3.08501413e+02] [-7.47048963e-01 -6.57609321e-01 -9.73027659e-02 2.05283588e+02] [-1.03010597e-01 -3.00891237e-02 9.94225056e-01 1.08978994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:204.51, Z:109.22 [[-6.50840947e-01 -3.36720593e-01 -6.80459627e-01 3.09140836e+02] [-7.36020286e-01 5.99934169e-02 6.74295877e-01 2.04508219e+02] [-1.86226209e-01 9.39691456e-01 -2.86879359e-01 1.09220053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.67, Y:204.36, Z:109.93 [[-5.72847397e-01 -7.89950868e-01 2.18685819e-01 3.08669641e+02] [-7.96540631e-01 5.99431881e-01 7.87682897e-02 2.04356694e+02] [-1.93310330e-01 -1.29069930e-01 -9.72610955e-01 1.09925411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:308.29, Y:205.11, Z:108.97 [[-5.82642777e-01 8.10324919e-01 -6.24573441e-02 3.08287831e+02] [-7.98809232e-01 -5.85132491e-01 -1.39727519e-01 2.05110412e+02] [-1.49770512e-01 -3.15197269e-02 9.88218245e-01 1.08968001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:204.15, Z:109.34 [[-5.53270299e-01 -5.92893538e-01 -5.85123260e-01 3.08870887e+02] [-7.98253826e-01 1.76604549e-01 5.75848646e-01 2.04150183e+02] [-2.38081511e-01 7.85676833e-01 -5.70989587e-01 1.09344541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.88, Y:204.58, Z:109.79 [[-5.31966925e-01 -3.54178868e-02 8.46024092e-01 3.07879666e+02] [-8.30715178e-01 2.15436594e-01 -5.13321895e-01 2.04580239e+02] [-1.64083772e-01 -9.75875324e-01 -1.44027318e-01 1.09789088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:204.77, Z:108.86 [[-5.41484066e-01 8.37707530e-01 -7.10007003e-02 3.08045139e+02] [-8.29220286e-01 -5.46090384e-01 -1.19075649e-01 2.04768784e+02] [-1.38523368e-01 -5.60234573e-03 9.90343319e-01 1.08864159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:203.94, Z:109.51 [[-4.97347648e-01 -7.76360162e-01 -3.87182408e-01 3.08676752e+02] [-8.43216309e-01 3.27622381e-01 4.26203979e-01 2.03944501e+02] [-2.04038168e-01 5.38450067e-01 -8.17581770e-01 1.09509610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.790385723 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:307.85, Y:204.49, Z:108.82 [[-4.90869532e-01 8.67341048e-01 -8.22593961e-02 3.07848849e+02] [-8.53157590e-01 -4.97670944e-01 -1.56351396e-01 2.04491790e+02] [-1.76548095e-01 -6.56790827e-03 9.84270102e-01 1.08820442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:204.40, Z:109.96 [[-4.42564000e-01 -7.31679513e-01 5.18442086e-01 3.08316381e+02] [-8.78943354e-01 4.68538312e-01 -8.90529601e-02 2.04403374e+02] [-1.77751754e-01 -4.95092861e-01 -8.50463035e-01 1.09961718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:204.77, Z:108.86 [[-4.34600083e-01 8.98568623e-01 -6.08045899e-02 3.07974599e+02] [-8.89221366e-01 -4.38827912e-01 -1.29288152e-01 2.04771535e+02] [-1.42857028e-01 -2.11990116e-03 9.89741065e-01 1.08859801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.98, Y:204.77, Z:108.85 [[-4.34312773e-01 8.97991632e-01 -7.05935187e-02 3.07979411e+02] [-8.88841191e-01 -4.39954836e-01 -1.28066699e-01 2.04766967e+02] [-1.46060784e-01 7.12542425e-03 9.89249956e-01 1.08852097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:204.57, Z:109.73 [[-4.30350743e-01 -6.91715869e-02 9.00007517e-01 3.07798178e+02] [-8.96229449e-01 1.51560943e-01 -4.16895738e-01 2.04566791e+02] [-1.07568649e-01 -9.86024631e-01 -1.27217978e-01 1.09733131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.51, Y:204.09, Z:109.74 [[-3.94382881e-01 -9.17287022e-01 -5.51965739e-02 3.08505586e+02] [-9.12302687e-01 3.83615267e-01 1.43328763e-01 2.04085828e+02] [-1.10299366e-01 1.06882393e-01 -9.88134709e-01 1.09740758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.52, Y:204.04, Z:108.88 [[-3.97072216e-01 3.56928674e-02 -9.17093057e-01 3.08519422e+02] [-9.05568517e-01 -1.77746637e-01 3.85164633e-01 2.04037037e+02] [-1.49262576e-01 9.83428773e-01 1.02900588e-01 1.08880613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:204.16, Z:109.67 [[-3.64436520e-01 -4.89648214e-02 9.29940035e-01 3.07576142e+02] [-9.23979602e-01 1.43369311e-01 -3.54551740e-01 2.04157819e+02] [-1.15964299e-01 -9.88457226e-01 -9.74915088e-02 1.09667686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.53, Y:204.07, Z:109.62 [[-3.64896979e-01 -7.39942438e-02 9.28102929e-01 3.07528906e+02] [-9.29668344e-01 8.32021972e-02 -3.58879038e-01 2.04065216e+02] [-5.06652199e-02 -9.93781790e-01 -9.91503365e-02 1.09623631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.07, Y:203.71, Z:109.78 [[-3.20897738e-01 -8.95832234e-01 3.07423567e-01 3.08068066e+02] [-9.46587685e-01 3.14172112e-01 -7.25785021e-02 2.03709473e+02] [-3.15657497e-02 -3.14293640e-01 -9.48800881e-01 1.09776594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.52, Y:203.89, Z:108.69 [[-3.02334762e-01 9.53198800e-01 2.39572354e-03 3.07524043e+02] [-9.53171444e-01 -3.02344237e-01 7.22227084e-03 2.03893036e+02] [ 7.60859310e-03 -9.99917331e-05 9.99971049e-01 1.08690971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.120385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:307.37, Y:203.42, Z:108.68 [[-3.04019928e-01 9.52654035e-01 -4.70884899e-03 3.07371333e+02] [-9.52633915e-01 -3.03965721e-01 9.66774175e-03 2.03417317e+02] [ 7.77868451e-03 7.42499540e-03 9.99942179e-01 1.08683327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.19, Y:203.50, Z:109.39 [[-3.13237003e-01 2.29908437e-01 9.21425358e-01 3.07190671e+02] [-9.48244286e-01 -1.28956050e-01 -2.90177725e-01 2.03503943e+02] [ 5.21090670e-02 -9.64630731e-01 2.58403169e-01 1.09388534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.75, Y:203.60, Z:109.73 [[-2.75034855e-01 -7.33283312e-01 6.21813005e-01 3.07745504e+02] [-9.57900542e-01 1.53597102e-01 -2.42558202e-01 2.03600171e+02] [ 8.23552058e-02 -6.62346974e-01 -7.44657039e-01 1.09733351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.41, Y:203.58, Z:108.63 [[-2.76452507e-01 9.60407464e-01 3.45183124e-02 3.07406318e+02] [-9.53304100e-01 -2.78598364e-01 1.16594360e-01 2.03577976e+02] [ 1.21594839e-01 -6.73645468e-04 9.92579589e-01 1.08625952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.240385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:308.01, Y:203.02, Z:109.66 [[-2.11967456e-01 -9.76780325e-01 -3.11447226e-02 3.08006412e+02] [-9.73836804e-01 2.13785622e-01 -7.70557336e-02 2.03017734e+02] [ 8.19248184e-02 1.39965692e-02 -9.96540225e-01 1.09660385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.35, Y:203.54, Z:108.63 [[-2.04899170e-01 9.78539140e-01 2.18513529e-02 3.07352325e+02] [-9.71194697e-01 -2.06034505e-01 1.19710661e-01 2.03542136e+02] [ 1.21643700e-01 3.30669706e-03 9.92568323e-01 1.08628741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.35, Y:203.54, Z:108.63 [[-2.06304571e-01 9.78157533e-01 2.54217203e-02 3.07348949e+02] [-9.71020911e-01 -2.07864657e-01 1.17943523e-01 2.03538773e+02] [ 1.20651623e-01 -3.52734076e-04 9.92694848e-01 1.08631268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:203.53, Z:108.63 [[-2.06892997e-01 9.78036279e-01 2.53046380e-02 3.07347928e+02] [-9.70992856e-01 -2.08434469e-01 1.17166317e-01 2.03534747e+02] [ 1.19867267e-01 -3.29732382e-04 9.92789872e-01 1.08632443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:203.53, Z:108.63 [[-2.07537604e-01 9.77900928e-01 2.52570300e-02 3.07345992e+02] [-9.70911176e-01 -2.09068612e-01 1.16712488e-01 2.03528918e+02] [ 1.19413703e-01 -3.00102604e-04 9.92844539e-01 1.08634132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.34, Y:203.52, Z:108.64 [[-2.08596626e-01 9.77677931e-01 2.51656723e-02 3.07343564e+02] [-9.70765933e-01 -2.10109052e-01 1.16050376e-01 2.03524743e+02] [ 1.18747427e-01 -2.22260404e-04 9.92924468e-01 1.08635979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.34, Y:203.53, Z:108.64 [[-2.09649816e-01 9.77454675e-01 2.50861300e-02 3.07343711e+02] [-9.70617581e-01 -2.11145295e-01 1.15408738e-01 2.03526062e+02] [ 1.18103629e-01 -1.53618116e-04 9.93001264e-01 1.08636173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.450385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.34, Y:203.52, Z:108.64 [[-2.11735545e-01 9.77007967e-01 2.49697946e-02 3.07339994e+02] [-9.70258589e-01 -2.13202790e-01 1.14642234e-01 2.03516427e+02] [ 1.17330006e-01 4.66782495e-05 9.93092980e-01 1.08638514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.480385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.33, Y:203.48, Z:108.64 [[-2.12592776e-01 9.76820171e-01 2.50332960e-02 3.07331125e+02] [-9.70064308e-01 -2.14061544e-01 1.14686066e-01 2.03480415e+02] [ 1.17386329e-01 9.75222062e-05 9.93086321e-01 1.08642784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.510385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:307.34, Y:203.51, Z:108.64 [[-2.14048834e-01 9.76503837e-01 2.49670248e-02 3.07337798e+02] [-9.69806142e-01 -2.15499895e-01 1.14174616e-01 2.03512800e+02] [ 1.16872342e-01 2.25769437e-04 9.93146920e-01 1.08639326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.540385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:307.33, Y:203.49, Z:108.64 [[-2.16768462e-01 9.75902970e-01 2.49965558e-02 3.07332449e+02] [-9.69232200e-01 -2.18204441e-01 1.13911212e-01 2.03487700e+02] [ 1.16620649e-01 4.64891386e-04 9.93176423e-01 1.08641629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.570385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.33, Y:203.49, Z:108.64 [[-2.16260490e-01 9.76007752e-01 2.53035128e-02 3.07330469e+02] [-9.69321481e-01 -2.17735731e-01 1.14048313e-01 2.03489668e+02] [ 1.16821517e-01 1.36905513e-04 9.93152916e-01 1.08642204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.33, Y:203.49, Z:108.64 [[-2.16139821e-01 9.76034314e-01 2.53099856e-02 3.07328791e+02] [-9.69371004e-01 -2.17616664e-01 1.13854484e-01 2.03488307e+02] [ 1.16633758e-01 7.37217821e-05 9.93174990e-01 1.08643165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.630385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:307.32, Y:203.48, Z:108.64 [[-2.15338004e-01 9.76221603e-01 2.49183718e-02 3.07324206e+02] [-9.69789702e-01 -2.16774943e-01 1.11877428e-01 2.03476694e+02] [ 1.14618841e-01 -7.41183179e-05 9.93409541e-01 1.08644753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.660385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:307.32, Y:203.47, Z:108.65 [[-2.15058509e-01 9.76286527e-01 2.47882013e-02 3.07322318e+02] [-9.69947071e-01 -2.16482316e-01 1.11076936e-01 2.03472952e+02] [ 1.13809124e-01 -1.55202982e-04 9.93502622e-01 1.08645434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.690385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:307.32, Y:203.48, Z:108.64 [[-2.14585818e-01 9.76395418e-01 2.45950067e-02 3.07323089e+02] [-9.70179682e-01 -2.15990558e-01 1.09997561e-01 2.03479728e+02] [ 1.12713403e-01 -2.57659211e-04 9.93627507e-01 1.08644963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7203857229999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:307.32, Y:203.47, Z:108.65 [[-2.13701275e-01 9.76587435e-01 2.46728060e-02 3.07319965e+02] [-9.70357898e-01 -2.15120471e-01 1.10130530e-01 2.03474763e+02] [ 1.12859717e-01 -4.06417485e-04 9.93610849e-01 1.08645867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.750385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:307.32, Y:203.48, Z:108.65 [[-2.12982545e-01 9.76745845e-01 2.46168530e-02 3.07318943e+02] [-9.70569991e-01 -2.14399783e-01 1.09665976e-01 2.03476750e+02] [ 1.12393634e-01 -5.35440164e-04 9.93663617e-01 1.08645720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.780385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:307.25, Y:203.19, Z:108.67 [[-2.12952774e-01 9.76751445e-01 2.46521942e-02 3.07254170e+02] [-9.70641623e-01 -2.14373799e-01 1.09081228e-01 2.03191642e+02] [ 1.11830032e-01 -6.99295636e-04 9.93727103e-01 1.08674951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.810385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:308.07, Y:203.28, Z:109.60 [[-1.58762391e-01 -9.83014347e-01 -9.20722353e-02 3.08072309e+02] [-9.83670051e-01 1.65494465e-01 -7.07447105e-02 2.03282073e+02] [ 8.47805107e-02 7.93371010e-02 -9.93236069e-01 1.09598936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8403857229999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:307.24, Y:203.30, Z:108.66 [[-1.48592575e-01 9.88766622e-01 1.61497499e-02 3.07244024e+02] [-9.83250860e-01 -1.49467126e-01 1.04294417e-01 2.03298543e+02] [ 1.05536695e-01 -3.81879559e-04 9.94415336e-01 1.08664696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.870385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:307.24, Y:203.27, Z:108.67 [[-1.50147520e-01 9.88529587e-01 1.62781403e-02 3.07237387e+02] [-9.83027098e-01 -1.51026898e-01 1.04156615e-01 2.03265360e+02] [ 1.05420333e-01 -3.62995530e-04 9.94427686e-01 1.08667915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.24, Y:203.27, Z:108.67 [[-1.50976847e-01 9.88403208e-01 1.62816017e-02 3.07237613e+02] [-9.82928166e-01 -1.51851893e-01 1.03890440e-01 2.03270101e+02] [ 1.05158036e-01 -3.18593827e-04 9.94455472e-01 1.08667547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.930385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:307.22, Y:203.14, Z:108.68 [[-1.52075825e-01 9.88319273e-01 9.89740827e-03 3.07220537e+02] [-9.82821424e-01 -1.52274168e-01 1.04281479e-01 2.03142993e+02] [ 1.04570515e-01 6.13130706e-03 9.94498574e-01 1.08676690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.29, Y:203.26, Z:109.66 [[-1.23607591e-01 -3.54170045e-01 9.26976128e-01 3.07292975e+02] [-9.80531587e-01 -1.00035508e-01 -1.68969537e-01 2.03263355e+02] [ 1.52574477e-01 -9.29815291e-01 -3.34909768e-01 1.09661306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:203.07, Z:108.66 [[-1.33959719e-01 9.90735214e-01 2.23277850e-02 3.07197193e+02] [-9.76712195e-01 -1.35806995e-01 1.66101623e-01 2.03065761e+02] [ 1.67594996e-01 4.43106729e-04 9.85855832e-01 1.08657930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:203.04, Z:108.66 [[-1.35908386e-01 9.90447298e-01 2.33036441e-02 3.07193979e+02] [-9.76524567e-01 -1.37891547e-01 1.65486226e-01 2.03044329e+02] [ 1.67118761e-01 -2.65615069e-04 9.85936737e-01 1.08661529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:203.03, Z:108.66 [[-1.37065514e-01 9.90279835e-01 2.36409329e-02 3.07191702e+02] [-9.76452142e-01 -1.39088525e-01 1.64910873e-01 2.03031126e+02] [ 1.66596095e-01 -4.80646005e-04 9.86025106e-01 1.08663703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.19, Y:203.03, Z:108.66 [[-1.38122681e-01 9.90130424e-01 2.37458984e-02 3.07191864e+02] [-9.76348264e-01 -1.40148294e-01 1.64628437e-01 2.03033876e+02] [ 1.66331572e-01 -4.45345612e-04 9.86069780e-01 1.08663493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:203.03, Z:108.66 [[-1.39283482e-01 9.89968512e-01 2.37161670e-02 3.07191924e+02] [-9.76299474e-01 -1.41287801e-01 1.63942352e-01 2.03031269e+02] [ 1.65648572e-01 -3.19619740e-04 9.86184794e-01 1.08663404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.19, Y:203.02, Z:108.66 [[-1.40988268e-01 9.89723590e-01 2.38647007e-02 3.07191907e+02] [-9.75950952e-01 -1.42993731e-01 1.64537330e-01 2.03020949e+02] [ 1.66258980e-01 -9.29441946e-05 9.86082118e-01 1.08664213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.170385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:307.19, Y:203.02, Z:108.66 [[-1.41474722e-01 9.89648354e-01 2.41047509e-02 3.07192240e+02] [-9.75669438e-01 -1.43513523e-01 1.65749860e-01 2.03017052e+02] [ 1.67493433e-01 -6.88534024e-05 9.85873189e-01 1.08663453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.95, Y:202.96, Z:109.64 [[-7.48473327e-02 -9.96642598e-01 -3.31874858e-02 3.07951836e+02] [-9.85924175e-01 7.89499834e-02 -1.47378499e-01 2.02955052e+02] [ 1.49503842e-01 2.16894570e-02 -9.88523226e-01 1.09644203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:202.87, Z:109.67 [[-7.00163428e-03 -9.99868132e-01 -1.46524944e-02 3.07903988e+02] [-9.88778516e-01 9.10911385e-03 -1.49110932e-01 2.02868164e+02] [ 1.49224740e-01 1.34440515e-02 -9.88711907e-01 1.09666153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:202.72, Z:108.71 [[-8.62912726e-03 9.99961972e-01 1.26222042e-03 3.07109705e+02] [-9.86331872e-01 -8.71920058e-03 1.64540009e-01 2.02718407e+02] [ 1.64544757e-01 1.74868445e-04 9.86369602e-01 1.08705582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.11, Y:202.72, Z:108.71 [[-8.29850226e-03 9.99964692e-01 1.32253892e-03 3.07110913e+02] [-9.86500605e-01 -8.40306470e-03 1.63541877e-01 2.02719311e+02] [ 1.63547216e-01 5.24671890e-05 9.86535506e-01 1.08706064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:202.71, Z:108.71 [[-7.88973608e-03 9.99967915e-01 1.38583297e-03 3.07111806e+02] [-9.86591314e-01 -8.01011165e-03 1.63013550e-01 2.02713322e+02] [ 1.63019421e-01 -8.11168826e-05 9.86622857e-01 1.08706721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.11, Y:202.71, Z:108.70 [[-6.39510185e-03 9.99978500e-01 1.44989121e-03 3.07113940e+02] [-9.86544303e-01 -6.54605070e-03 1.63363057e-01 2.02714664e+02] [ 1.63369035e-01 -3.85658528e-04 9.86564955e-01 1.08704898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.11, Y:202.71, Z:108.71 [[-6.62858703e-03 9.99976880e-01 1.51721035e-03 3.07114014e+02] [-9.86557017e-01 -6.78736063e-03 1.63276404e-01 2.02707002e+02] [ 1.63282926e-01 -4.14522668e-04 9.86579198e-01 1.08706587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.11, Y:202.71, Z:108.71 [[-6.19246165e-03 9.99979572e-01 1.58390571e-03 3.07114589e+02] [-9.86578450e-01 -6.36791531e-03 1.63163759e-01 2.02709138e+02] [ 1.63170512e-01 -5.52261915e-04 9.86597729e-01 1.08705948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.12, Y:202.71, Z:108.71 [[-6.09124242e-03 9.99980102e-01 1.64060335e-03 3.07115082e+02] [-9.86640150e-01 -6.27706925e-03 1.62793772e-01 2.02707575e+02] [ 1.62800831e-01 -6.27068809e-04 9.86658754e-01 1.08705980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.12, Y:202.69, Z:108.71 [[-8.34119990e-03 9.99963756e-01 1.70600455e-03 3.07115566e+02] [-9.86723803e-01 -8.50745606e-03 1.62184339e-01 2.02685884e+02] [ 1.62192975e-01 -3.30543298e-04 9.86759003e-01 1.08710187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.12, Y:202.66, Z:108.71 [[-8.64794134e-03 9.99960429e-01 2.08665495e-03 3.07116912e+02] [-9.87034261e-01 -8.87058194e-03 1.60264408e-01 2.02662735e+02] [ 1.60276576e-01 -6.73642723e-04 9.87071915e-01 1.08714336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:202.67, Z:108.71 [[-8.95904840e-03 9.99957532e-01 2.16092431e-03 3.07118147e+02] [-9.87122141e-01 -9.18917402e-03 1.59704222e-01 2.02670208e+02] [ 1.59717297e-01 -7.02298373e-04 9.87162546e-01 1.08713340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:202.60, Z:108.73 [[-2.04945877e-02 9.99787465e-01 2.23519638e-03 3.07121793e+02] [-9.87059936e-01 -2.05892132e-02 1.59024426e-01 2.02598947e+02] [ 1.59036649e-01 1.05286725e-03 9.87272118e-01 1.08725081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:202.60, Z:108.73 [[-2.13045652e-02 9.99764774e-01 4.06363169e-03 3.07121802e+02] [-9.87065459e-01 -2.16795881e-02 1.58845128e-01 2.02599719e+02] [ 1.58895861e-01 -6.26944113e-04 9.87295150e-01 1.08725684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.12, Y:202.56, Z:108.73 [[-2.26640685e-02 9.99734636e-01 4.12284103e-03 3.07122103e+02] [-9.87077379e-01 -2.30311037e-02 1.58580631e-01 2.02558791e+02] [ 1.58633503e-01 -4.75480822e-04 9.87337422e-01 1.08731694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.12, Y:202.56, Z:108.73 [[-2.33311278e-02 9.99719082e-01 4.17316723e-03 3.07123190e+02] [-9.87117216e-01 -2.36975524e-02 1.58234091e-01 2.02564634e+02] [ 1.58288534e-01 -4.27625416e-04 9.87392808e-01 1.08730759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:202.48, Z:108.74 [[-2.38777019e-02 9.99713993e-01 1.33712798e-03 3.07125091e+02] [-9.87049341e-01 -2.37873999e-02 1.58643495e-01 2.02479925e+02] [ 1.58629929e-01 2.46823079e-03 9.87335026e-01 1.08742859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:202.57, Z:108.73 [[-2.52271914e-02 9.99656443e-01 7.11225265e-03 3.07126776e+02] [-9.87005732e-01 -2.60360582e-02 1.58561687e-01 2.02572326e+02] [ 1.58692387e-01 -3.01976810e-03 9.87323456e-01 1.08729817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.13, Y:202.58, Z:108.73 [[-2.55209426e-02 9.99664183e-01 4.49465322e-03 3.07129829e+02] [-9.87000124e-01 -2.59108036e-02 1.58617102e-01 2.02575792e+02] [ 1.58680296e-01 -3.88165338e-04 9.87329941e-01 1.08727895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:202.57, Z:108.73 [[-2.55166792e-02 9.99664080e-01 4.54169896e-03 3.07132789e+02] [-9.87105853e-01 -2.59137629e-02 1.57957310e-01 2.02572587e+02] [ 1.58021941e-01 -4.52591639e-04 9.87435497e-01 1.08728177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:202.57, Z:108.73 [[-2.62323019e-02 9.99645326e-01 4.59224933e-03 3.07134553e+02] [-9.87130774e-01 -2.66282742e-02 1.57682496e-01 2.02574524e+02] [ 1.57748854e-01 -3.96775797e-04 9.87479186e-01 1.08727808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:202.57, Z:108.73 [[-2.73464607e-02 9.99615280e-01 4.63281706e-03 3.07138064e+02] [-9.87195890e-01 -2.77347204e-02 1.57082973e-01 2.02569906e+02] [ 1.57151030e-01 -2.77834616e-04 9.87574542e-01 1.08728764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.14, Y:202.57, Z:108.73 [[-2.81952548e-02 9.99591478e-01 4.68029525e-03 3.07140046e+02] [-9.87228205e-01 -2.85803593e-02 1.56727900e-01 2.02566328e+02] [ 1.56797637e-01 -2.01536418e-04 9.87630731e-01 1.08729426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.15, Y:202.54, Z:108.73 [[-2.70180954e-02 9.99634944e-01 4.77982484e-05 3.07147612e+02] [-9.87791577e-01 -2.67053319e-02 1.53475166e-01 2.02543912e+02] [ 1.53420416e-01 4.09939198e-03 9.88152504e-01 1.08727470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:202.56, Z:108.73 [[-2.94340213e-02 9.99524695e-01 9.16636193e-03 3.07145342e+02] [-9.87195775e-01 -3.05068092e-02 1.56568953e-01 2.02560570e+02] [ 1.56774171e-01 -4.44053987e-03 9.87624494e-01 1.08731073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.15, Y:202.56, Z:108.73 [[-2.86536535e-02 9.99577364e-01 4.90533960e-03 3.07152401e+02] [-9.87120951e-01 -2.90685787e-02 1.57312572e-01 2.02556108e+02] [ 1.57388677e-01 -3.34583565e-04 9.87536679e-01 1.08729596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:202.56, Z:108.73 [[-2.76496485e-02 9.99605346e-01 4.96471705e-03 3.07154465e+02] [-9.87143147e-01 -2.80864521e-02 1.57351704e-01 2.02556039e+02] [ 1.57429045e-01 -5.50167118e-04 9.87530148e-01 1.08729367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:202.56, Z:108.73 [[-2.64170469e-02 9.99574765e-01 1.23462412e-02 3.07152232e+02] [-9.86430210e-01 -2.80676880e-02 1.61764168e-01 2.02555533e+02] [ 1.62041911e-01 -7.90537373e-03 9.86752210e-01 1.08734991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:202.47, Z:108.97 [[-2.53314438e-02 -9.52858943e-02 -9.95127588e-01 3.08020514e+02] [-9.94621096e-01 1.02412121e-01 1.55123404e-02 2.02472071e+02] [ 1.00435020e-01 9.90167842e-01 -9.73676075e-02 1.08972277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:202.50, Z:108.77 [[-3.61647566e-03 9.99971912e-01 -6.56483887e-03 3.07168190e+02] [-9.96608657e-01 -3.06446950e-03 8.22301272e-02 2.02497199e+02] [ 8.22076997e-02 6.83995850e-03 9.96591747e-01 1.08766508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:202.48, Z:108.78 [[-7.93554803e-03 9.99916544e-01 1.01947051e-02 3.07159339e+02] [-9.96111405e-01 -8.79911358e-03 8.76621083e-02 2.02475619e+02] [ 8.77444968e-02 -9.45941511e-03 9.96098099e-01 1.08777761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:202.44, Z:108.77 [[-5.48041544e-03 9.99982229e-01 -2.34661519e-03 3.07171454e+02] [-9.96428478e-01 -5.26317021e-03 8.42768517e-02 2.02444850e+02] [ 8.42630034e-02 2.80010636e-03 9.96439615e-01 1.08773901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.17, Y:202.43, Z:108.78 [[-9.72891564e-03 9.99929806e-01 6.76253872e-03 3.07169672e+02] [-9.96034148e-01 -1.02886930e-02 8.83748794e-02 2.02432427e+02] [ 8.84382537e-02 -5.87592774e-03 9.96064330e-01 1.08780609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.43, Z:108.78 [[-9.67003028e-03 9.99949217e-01 2.83808866e-03 3.07175131e+02] [-9.95989070e-01 -9.88413017e-03 8.89273659e-02 2.02429090e+02] [ 8.89509019e-02 -1.96677497e-03 9.96034070e-01 1.08779707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.43, Z:108.78 [[-1.05018949e-02 9.99940606e-01 2.91458474e-03 3.07182649e+02] [-9.95881960e-01 -1.07216646e-02 9.00231533e-02 2.02425982e+02] [ 9.00490556e-02 -1.95716867e-03 9.95935408e-01 1.08779170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.42, Z:108.78 [[-1.05446688e-02 9.99939985e-01 2.97264371e-03 3.07187041e+02] [-9.95823217e-01 -1.07707866e-02 9.06648300e-02 2.02423024e+02] [ 9.06914064e-02 -2.00419701e-03 9.95877027e-01 1.08779321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.39, Z:108.80 [[-8.35904477e-03 9.99651564e-01 2.50374949e-02 3.07184153e+02] [-9.94641241e-01 -1.08921831e-02 1.02811294e-01 2.02393108e+02] [ 1.03048183e-01 -2.40439207e-02 9.94385721e-01 1.08795649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.310385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.20, Y:202.38, Z:108.79 [[-8.98290694e-03 9.99954481e-01 3.21612931e-03 3.07197612e+02] [-9.94443476e-01 -9.27066785e-03 1.04862898e-01 2.02375549e+02] [ 1.04887941e-01 -2.25628516e-03 9.94481488e-01 1.08791043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.42, Z:108.77 [[-5.16099034e-03 9.99820045e-01 -1.82549355e-02 3.07218768e+02] [-9.95576637e-01 -3.42481223e-03 9.38905256e-02 2.02418969e+02] [ 9.38111098e-02 1.86587554e-02 9.95415153e-01 1.08771886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.41, Z:108.79 [[-2.95396360e-03 9.99890895e-01 1.44731354e-02 3.07207183e+02] [-9.95030306e-01 -4.37949330e-03 9.94761762e-02 2.02413338e+02] [ 9.95287079e-02 -1.41073594e-02 9.94934681e-01 1.08786035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:202.41, Z:108.78 [[-3.51614427e-03 9.99960657e-01 -8.14381440e-03 3.07226269e+02] [-9.95507677e-01 -2.72971322e-03 9.46414977e-02 2.02414874e+02] [ 9.46155439e-02 8.44000292e-03 9.95478109e-01 1.08775519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:202.42, Z:108.78 [[-4.00239973e-03 9.99986604e-01 3.28203361e-03 3.07225091e+02] [-9.95493388e-01 -4.29533904e-03 9.47336512e-02 2.02416599e+02] [ 9.47464797e-02 -2.88808082e-03 9.95497244e-01 1.08778279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:202.41, Z:108.78 [[-4.82693282e-03 9.99982762e-01 3.34300494e-03 3.07229931e+02] [-9.95417152e-01 -5.12412528e-03 9.54905030e-02 2.02414680e+02] [ 9.55059869e-02 -2.86675821e-03 9.95424728e-01 1.08778297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:202.41, Z:108.78 [[-7.04822075e-03 9.99969382e-01 3.39958581e-03 3.07238845e+02] [-9.95343612e-01 -7.34236142e-03 9.61102666e-02 2.02407143e+02] [ 9.61322849e-02 -2.70634964e-03 9.95364888e-01 1.08778180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:202.40, Z:108.78 [[-8.84373898e-03 9.99954958e-01 3.44536970e-03 3.07242468e+02] [-9.95299123e-01 -9.13476885e-03 9.64168669e-02 2.02403410e+02] [ 9.64439967e-02 -2.57648783e-03 9.95335078e-01 1.08778314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:202.40, Z:108.78 [[-1.30001845e-02 9.99909281e-01 3.52481136e-03 3.07250505e+02] [-9.95133234e-01 -1.32822806e-02 9.76392751e-02 2.02398403e+02] [ 9.76772349e-02 -2.23832834e-03 9.95215629e-01 1.08778137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:202.39, Z:108.78 [[-1.58317527e-02 9.99868255e-01 3.58157550e-03 3.07254729e+02] [-9.95034352e-01 -1.61070428e-02 9.82201677e-02 2.02392696e+02] [ 9.82649163e-02 -2.00879325e-03 9.95158264e-01 1.08778085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:202.39, Z:108.78 [[-1.87089526e-02 9.99818403e-01 3.62451135e-03 3.07258886e+02] [-9.94964447e-01 -1.89748983e-02 9.84159645e-02 2.02390911e+02] [ 9.84668671e-02 -1.76500032e-03 9.95138765e-01 1.08777571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:202.38, Z:108.78 [[-2.37533124e-02 9.99711117e-01 3.66919753e-03 3.07264477e+02] [-9.94832384e-01 -2.39994774e-02 9.86536997e-02 2.02384754e+02] [ 9.87132591e-02 -1.30688438e-03 9.95115061e-01 1.08777545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.38, Z:108.78 [[-2.61710872e-02 9.99650560e-01 3.71912661e-03 3.07266798e+02] [-9.94734471e-01 -2.64107953e-02 9.90242465e-02 2.02376088e+02] [ 9.90878685e-02 -1.10797126e-03 9.95078071e-01 1.08778218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.38, Z:108.78 [[-2.95864074e-02 9.99555242e-01 3.73678897e-03 3.07271109e+02] [-9.94686366e-01 -2.98106820e-02 9.85411396e-02 2.02375297e+02] [ 9.86087089e-02 -8.01454742e-04 9.95125962e-01 1.08777960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.37, Z:108.78 [[-3.09604408e-02 9.99513470e-01 3.77806335e-03 3.07272327e+02] [-9.94630800e-01 -3.11821888e-02 9.86774732e-02 2.02371565e+02] [ 9.87472720e-02 -7.02680096e-04 9.95112296e-01 1.08778517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.36, Z:108.78 [[-3.34264664e-02 9.99433954e-01 3.80034106e-03 3.07274664e+02] [-9.94585798e-01 -3.36381933e-02 9.83237655e-02 2.02363956e+02] [ 9.83959464e-02 -4.93149209e-04 9.95147223e-01 1.08779701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.36, Z:108.78 [[-3.51207042e-02 9.99375854e-01 3.79975981e-03 3.07276821e+02] [-9.94618864e-01 -3.53238350e-02 9.73937467e-02 2.02360332e+02] [ 9.74671809e-02 -3.58775816e-04 9.95238675e-01 1.08780083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.36, Z:108.78 [[-3.81432161e-02 9.99265117e-01 3.78445767e-03 3.07279506e+02] [-9.94632560e-01 -3.83303718e-02 9.61085451e-02 2.02358699e+02] [ 9.61829761e-02 -9.82558145e-05 9.95363665e-01 1.08780004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.36, Z:108.78 [[-3.92460126e-02 9.99222388e-01 3.79064176e-03 3.07279508e+02] [-9.94659510e-01 -3.94286411e-02 9.53826031e-02 2.02356256e+02] [ 9.54578923e-02 -2.70110337e-05 9.95433468e-01 1.08780145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.35, Z:108.78 [[-4.08006904e-02 9.99160095e-01 3.79582480e-03 3.07279848e+02] [-9.94667363e-01 -4.09767889e-02 9.46453364e-02 2.02354922e+02] [ 9.47213840e-02 8.60120196e-05 9.95503818e-01 1.08781015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.910385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.28, Y:202.35, Z:108.78 [[-4.17572876e-02 9.99120496e-01 3.81615236e-03 3.07280054e+02] [-9.94661099e-01 -4.19310628e-02 9.42925438e-02 2.02350263e+02] [ 9.43696285e-02 1.41622570e-04 9.95537218e-01 1.08781067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.34, Z:108.78 [[-4.29190773e-02 9.99071111e-01 3.85580231e-03 3.07279744e+02] [-9.94599910e-01 -4.30913823e-02 9.44147874e-02 2.02342844e+02] [ 9.44932385e-02 2.17214932e-04 9.95525480e-01 1.08781551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.34, Z:108.78 [[-4.53532156e-02 9.98963341e-01 3.91535517e-03 3.07278889e+02] [-9.94434858e-01 -4.55200122e-02 9.50118022e-02 2.02340516e+02] [ 9.50915343e-02 4.15525087e-04 9.95468446e-01 1.08782066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.34, Z:108.78 [[-4.66671206e-02 9.98902706e-01 3.94516939e-03 3.07278816e+02] [-9.94385846e-01 -4.68308591e-02 9.48876173e-02 2.02338623e+02] [ 9.49682533e-02 5.05111280e-04 9.95480174e-01 1.08782171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.33, Z:108.78 [[-4.88191904e-02 9.98799774e-01 3.96198313e-03 3.07277286e+02] [-9.94323411e-01 -4.89750878e-02 9.44584271e-02 2.02334955e+02] [ 9.45390941e-02 6.71891354e-04 9.95520923e-01 1.08783203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:202.33, Z:108.78 [[-5.01699837e-02 9.98732784e-01 3.97474180e-03 3.07275969e+02] [-9.94305178e-01 -5.03214350e-02 9.39412904e-02 2.02331031e+02] [ 9.40222612e-02 7.60926653e-04 9.95569804e-01 1.08783795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.33, Z:108.78 [[-5.20346795e-02 9.98637270e-01 3.99937293e-03 3.07272511e+02] [-9.94231367e-01 -5.21803917e-02 9.37080399e-02 2.02330174e+02] [ 9.37890300e-02 8.99765811e-04 9.95591688e-01 1.08784971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.33, Z:108.79 [[-5.30641024e-02 9.98582944e-01 4.03795156e-03 3.07270587e+02] [-9.94168178e-01 -5.32088021e-02 9.38000902e-02 2.02326852e+02] [ 9.38820248e-02 9.63014650e-04 9.95582864e-01 1.08786049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.32, Z:108.79 [[-5.34304415e-02 9.98563269e-01 4.07250496e-03 3.07270540e+02] [-9.94148558e-01 -5.35767669e-02 9.37985903e-02 2.02324426e+02] [ 9.38820186e-02 9.63025151e-04 9.95582864e-01 1.08786275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.32, Z:108.79 [[-5.49325245e-02 9.98481478e-01 4.14200328e-03 3.07267822e+02] [-9.93991670e-01 -5.50778947e-02 9.45885074e-02 2.02320636e+02] [ 9.46730055e-02 1.07886874e-03 9.95507839e-01 1.08786287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:202.33, Z:108.79 [[-5.32096576e-02 9.98450822e-01 1.62692443e-02 3.07262135e+02] [-9.93190078e-01 -5.46062582e-02 1.02915627e-01 2.02330055e+02] [ 1.03644595e-01 -1.06823467e-02 9.94557030e-01 1.08792204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:202.32, Z:108.78 [[-5.54087783e-02 9.98433743e-01 -7.74129932e-03 3.07269024e+02] [-9.93694077e-01 -5.43855025e-02 9.80525322e-02 2.02316673e+02] [ 9.74779423e-02 1.31254543e-02 9.95151131e-01 1.08784356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:202.31, Z:108.79 [[-5.46970971e-02 9.98493387e-01 4.37998178e-03 3.07260822e+02] [-9.93658135e-01 -5.48627713e-02 9.81508367e-02 2.02313112e+02] [ 9.82432593e-02 1.01636131e-03 9.95161911e-01 1.08788086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:202.31, Z:108.79 [[-5.34024892e-02 9.98563330e-01 4.41031271e-03 3.07258758e+02] [-9.93741239e-01 -5.35775251e-02 9.80193769e-02 2.02314171e+02] [ 9.81148490e-02 8.51769104e-04 9.95174734e-01 1.08787995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:202.32, Z:108.79 [[-5.01225267e-02 9.98733314e-01 4.41597171e-03 3.07254035e+02] [-9.93977502e-01 -5.03142951e-02 9.73508963e-02 2.02315862e+02] [ 9.74497697e-02 4.90096366e-04 9.95240324e-01 1.08788657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:202.32, Z:108.79 [[-4.70780084e-02 9.98881597e-01 4.38356274e-03 3.07250643e+02] [-9.94270427e-01 -4.72813972e-02 9.58685957e-02 2.02316279e+02] [ 9.59686370e-02 1.54855764e-04 9.95384346e-01 1.08788450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:202.32, Z:108.79 [[-4.60825125e-02 9.98927918e-01 4.40648955e-03 3.07249047e+02] [-9.94342528e-01 -4.62927049e-02 9.56029408e-02 2.02315535e+02] [ 9.57044349e-02 2.40637507e-05 9.95409795e-01 1.08788414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:202.31, Z:108.79 [[-4.53244134e-02 9.98962452e-01 4.44033870e-03 3.07246871e+02] [-9.94379814e-01 -4.55413229e-02 9.55760087e-02 2.02311142e+02] [ 9.56790630e-02 -8.34566397e-05 9.95412231e-01 1.08788808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:202.31, Z:108.79 [[-4.32244600e-02 9.99055432e-01 4.45972148e-03 3.07242324e+02] [-9.94505258e-01 -4.34527522e-02 9.52425821e-02 2.02311702e+02] [ 9.53464062e-02 -3.18407285e-04 9.95444103e-01 1.08788632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:202.31, Z:108.79 [[-4.23674422e-02 9.99092096e-01 4.47027757e-03 3.07240485e+02] [-9.94591193e-01 -4.26004264e-02 9.47288948e-02 2.02311435e+02] [ 9.48333258e-02 -4.32677723e-04 9.95493070e-01 1.08788535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.510385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.24, Y:202.31, Z:108.79 [[-4.12560942e-02 9.99138786e-01 4.42962986e-03 3.07237618e+02] [-9.94786762e-01 -4.14893916e-02 9.31553962e-02 2.02311418e+02] [ 9.32589521e-02 -5.63309343e-04 9.95641728e-01 1.08787691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:202.31, Z:108.79 [[-4.14075502e-02 9.99132560e-01 4.42078847e-03 3.07236463e+02] [-9.94863434e-01 -4.16388638e-02 9.22656607e-02 2.02309901e+02] [ 9.23697024e-02 -5.77585821e-04 9.95724613e-01 1.08787410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:202.28, Z:108.79 [[-4.10191086e-02 9.99153531e-01 -3.10729128e-03 3.07236111e+02] [-9.95165938e-01 -4.05772730e-02 8.94328896e-02 2.02281465e+02] [ 8.92311020e-02 6.76072785e-03 9.95988004e-01 1.08785614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:202.30, Z:108.79 [[-4.31448440e-02 9.99000772e-01 1.16610909e-02 3.07227057e+02] [-9.94803157e-01 -4.40351383e-02 9.18018815e-02 2.02302580e+02] [ 9.22236482e-02 -7.63971221e-03 9.95709011e-01 1.08790117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:202.30, Z:108.79 [[-4.36559760e-02 9.99036585e-01 4.47854358e-03 3.07227652e+02] [-9.94802807e-01 -4.38828471e-02 9.18785635e-02 2.02302400e+02] [ 9.19865775e-02 -4.44219364e-04 9.95760148e-01 1.08787373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:202.30, Z:108.79 [[-4.34493678e-02 9.99045399e-01 4.52153133e-03 3.07226135e+02] [-9.94794239e-01 -4.36811639e-02 9.20672506e-02 2.02297970e+02] [ 9.21768688e-02 -4.97729485e-04 9.95742526e-01 1.08787219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.30, Z:108.79 [[-4.30746729e-02 9.99061393e-01 4.57229687e-03 3.07224335e+02] [-9.94778612e-01 -4.33129405e-02 9.24094233e-02 2.02298142e+02] [ 9.25207267e-02 -5.67917454e-04 9.95710597e-01 1.08787168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.30, Z:108.79 [[-4.13021222e-02 9.99136125e-01 4.59769751e-03 3.07220171e+02] [-9.94869396e-01 -4.15502094e-02 9.22413387e-02 2.02297973e+02] [ 9.23526890e-02 -7.64345496e-04 9.95726065e-01 1.08787133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.29, Z:108.79 [[-4.09576630e-02 9.99150255e-01 4.60835261e-03 3.07216860e+02] [-9.94925825e-01 -4.12078312e-02 9.17851727e-02 2.02294085e+02] [ 9.18970789e-02 -8.25662843e-04 9.95768168e-01 1.08787184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.29, Z:108.79 [[-4.14299695e-02 9.99130590e-01 4.64986122e-03 3.07215988e+02] [-9.94891651e-01 -4.16820839e-02 9.19413230e-02 2.02293411e+02] [ 9.20552042e-02 -8.16981901e-04 9.95753570e-01 1.08787230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.29, Z:108.79 [[-4.24517338e-02 9.99087689e-01 4.65180371e-03 3.07215168e+02] [-9.94905382e-01 -4.26992343e-02 9.13239086e-02 2.02290810e+02] [ 9.14392213e-02 -7.51246291e-04 9.95810376e-01 1.08786219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.29, Z:108.79 [[-4.28864982e-02 9.99069053e-01 4.66639598e-03 3.07214600e+02] [-9.94919956e-01 -4.31332452e-02 9.09604555e-02 2.02286045e+02] [ 9.10770529e-02 -7.41715068e-04 9.95843572e-01 1.08786172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.29, Z:108.79 [[-4.33649871e-02 9.99048057e-01 4.73892288e-03 3.07212165e+02] [-9.94829593e-01 -4.36169237e-02 9.17150220e-02 2.02286102e+02] [ 9.18344118e-02 -7.37199968e-04 9.95774019e-01 1.08786365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.28, Z:108.79 [[-4.39800417e-02 9.99021117e-01 4.75015850e-03 3.07210751e+02] [-9.94841685e-01 -4.42301131e-02 9.12892107e-02 2.02283478e+02] [ 9.14099493e-02 -7.10752392e-04 9.95813093e-01 1.08786862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.28, Z:108.79 [[-4.43866196e-02 9.99003166e-01 4.74359984e-03 3.07210170e+02] [-9.94892811e-01 -4.46338706e-02 9.05323883e-02 2.02278651e+02] [ 9.06538678e-02 -7.00946701e-04 9.95882214e-01 1.08787243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.22, Z:108.80 [[-4.01990355e-02 9.99049770e-01 1.68402923e-02 3.07203296e+02] [-9.94587458e-01 -4.16242203e-02 9.52009106e-02 2.02223345e+02] [ 9.58114118e-02 -1.29221587e-02 9.95315624e-01 1.08796268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.27, Z:108.78 [[-4.33995060e-02 9.99027806e-01 -7.74120976e-03 3.07215444e+02] [-9.94924140e-01 -4.25145064e-02 9.12056587e-02 2.02274997e+02] [ 9.07878754e-02 1.16601970e-02 9.95801989e-01 1.08783534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.25, Z:108.80 [[-3.79801518e-02 9.99040408e-01 2.18122037e-02 3.07200754e+02] [-9.94402506e-01 -3.99395243e-02 9.78186579e-02 2.02254748e+02] [ 9.85959609e-02 -1.79749426e-02 9.94965194e-01 1.08796790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.21, Z:108.79 [[-3.80135092e-02 9.99275379e-01 1.92096662e-03 3.07207195e+02] [-9.94517978e-01 -3.80197875e-02 9.74088674e-02 2.02208641e+02] [ 9.74113176e-02 1.79241704e-03 9.95242595e-01 1.08794867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.27, Z:108.78 [[-3.81625233e-02 9.99230124e-01 -9.09845255e-03 3.07213558e+02] [-9.95255435e-01 -3.71920724e-02 8.99075565e-02 2.02273700e+02] [ 8.94999485e-02 1.24863836e-02 9.95908555e-01 1.08783302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.29, Z:108.80 [[-3.70440738e-02 9.99035643e-01 2.35694998e-02 3.07198788e+02] [-9.94378411e-01 -3.91920227e-02 9.83644285e-02 2.02285828e+02] [ 9.91933064e-02 -1.97931826e-02 9.94871307e-01 1.08795584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.28, Z:108.79 [[-3.76063989e-02 9.99289341e-01 2.56368621e-03 3.07209581e+02] [-9.94401208e-01 -3.76757250e-02 9.87257700e-02 2.02279434e+02] [ 9.87521983e-02 1.16338802e-03 9.95111376e-01 1.08788417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.27, Z:108.79 [[-3.82910029e-02 9.99253304e-01 -5.16068731e-03 3.07212944e+02] [-9.94586257e-01 -3.76118814e-02 9.68685932e-02 2.02274360e+02] [ 9.66021587e-02 8.84194426e-03 9.95283800e-01 1.08785146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.27, Z:108.79 [[-3.89960742e-02 9.99197561e-01 9.14009525e-03 3.07204350e+02] [-9.94442816e-01 -3.97024285e-02 9.75048869e-02 2.02271597e+02] [ 9.77895292e-02 -5.28699426e-03 9.95193075e-01 1.08790642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.28, Z:108.79 [[-3.80211383e-02 9.99247575e-01 7.66008628e-03 3.07205647e+02] [-9.94365572e-01 -3.85922343e-02 9.87306840e-02 2.02278814e+02] [ 9.89520164e-02 -3.86307309e-03 9.95084708e-01 1.08790483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.27, Z:108.79 [[-3.69219923e-02 9.99318061e-01 4.24570608e-04 3.07208484e+02] [-9.94616039e-01 -3.67894257e-02 9.68786475e-02 2.02274783e+02] [ 9.68282018e-02 3.15466794e-03 9.95296110e-01 1.08788678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.290385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.20, Y:202.27, Z:108.79 [[-3.72152635e-02 9.99246451e-01 1.10251929e-02 3.07202796e+02] [-9.94329146e-01 -3.81274958e-02 9.92765992e-02 2.02274012e+02] [ 9.96221524e-02 -7.26806584e-03 9.94998795e-01 1.08793878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.27, Z:108.79 [[-3.74105977e-02 9.99261764e-01 8.73929580e-03 3.07203786e+02] [-9.94245275e-01 -3.80984501e-02 1.00124133e-01 2.02270979e+02] [ 1.00383171e-01 -4.94329990e-03 9.94936572e-01 1.08794684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.26, Z:108.79 [[-3.81411214e-02 9.99205374e-01 -1.15704302e-02 3.07213269e+02] [-9.95164615e-01 -3.69329842e-02 9.10128736e-02 2.02258748e+02] [ 9.05132219e-02 1.49858158e-02 9.95782497e-01 1.08785921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.27, Z:108.80 [[-3.82575718e-02 9.99047507e-01 2.09866069e-02 3.07199100e+02] [-9.94353169e-01 -4.01414263e-02 9.82366568e-02 2.02270265e+02] [ 9.89855193e-02 -1.71098031e-02 9.94941768e-01 1.08798243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.27, Z:108.79 [[-3.82035468e-02 9.99266996e-01 2.44122274e-03 3.07209173e+02] [-9.94337529e-01 -3.82572923e-02 9.91426183e-02 2.02269069e+02] [ 9.91633409e-02 1.36020028e-03 9.95070240e-01 1.08792019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.21, Y:202.25, Z:108.79 [[-4.00152295e-02 9.99170981e-01 -7.49213381e-03 3.07213009e+02] [-9.94984230e-01 -3.91573383e-02 9.20493640e-02 2.02253050e+02] [ 9.16796813e-02 1.11379314e-02 9.95726259e-01 1.08786738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.25, Z:108.79 [[-4.12405464e-02 9.99135398e-01 5.26059172e-03 3.07207090e+02] [-9.94861948e-01 -4.15502412e-02 9.23216239e-02 2.02252054e+02] [ 9.24603813e-02 -1.42616831e-03 9.95715343e-01 1.08790287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.26, Z:108.80 [[-4.06243541e-02 9.98969510e-01 2.02380709e-02 3.07201044e+02] [-9.94059993e-01 -4.24548789e-02 1.00211347e-01 2.02264601e+02] [ 1.00967285e-01 -1.60468354e-02 9.94760326e-01 1.08797325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.26, Z:108.79 [[-4.26884412e-02 9.99073434e-01 5.47461018e-03 3.07207487e+02] [-9.94005128e-01 -4.30226621e-02 1.00512966e-01 2.02255323e+02] [ 1.00655367e-01 -1.15104874e-03 9.94920686e-01 1.08793797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.25, Z:108.79 [[-4.32988721e-02 9.99037493e-01 7.02112817e-03 3.07207085e+02] [-9.93910486e-01 -4.37873030e-02 1.01116856e-01 2.02252196e+02] [ 1.01326966e-01 -2.60012712e-03 9.94849780e-01 1.08794781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.25, Z:108.80 [[-4.63869224e-02 9.98880490e-01 9.27475512e-03 3.07205052e+02] [-9.93681712e-01 -4.70914459e-02 1.01877626e-01 2.02246492e+02] [ 1.02200334e-01 -4.49036503e-03 9.94753702e-01 1.08797389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:202.23, Z:108.79 [[-4.93052879e-02 9.98682317e-01 -1.42344437e-02 3.07215235e+02] [-9.94686198e-01 -4.78083943e-02 9.11796349e-02 2.02232010e+02] [ 9.03789631e-02 1.86544429e-02 9.95732723e-01 1.08787664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.24, Z:108.80 [[-5.16801615e-02 9.98409330e-01 2.25382049e-02 3.07197664e+02] [-9.93493667e-01 -5.36929691e-02 1.00436046e-01 2.02236980e+02] [ 1.01486428e-01 -1.72010127e-02 9.94688208e-01 1.08802179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.23, Z:108.79 [[-5.31287686e-02 9.98522909e-01 -1.13724788e-02 3.07213432e+02] [-9.94407235e-01 -5.18619320e-02 9.20032134e-02 2.02229187e+02] [ 9.12775176e-02 1.61968927e-02 9.95693766e-01 1.08788195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.23, Z:108.79 [[-5.27815069e-02 9.98591240e-01 5.44495570e-03 3.07203397e+02] [-9.94355289e-01 -5.30586120e-02 9.18822220e-02 2.02226219e+02] [ 9.20416838e-02 -5.64538362e-04 9.95754995e-01 1.08793201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.23, Z:108.79 [[-5.23449222e-02 9.98613978e-01 5.48919671e-03 3.07202572e+02] [-9.94361869e-01 -5.26280653e-02 9.20584667e-02 2.02226981e+02] [ 9.22197574e-02 -6.39454619e-04 9.95738473e-01 1.08792489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.22, Z:108.79 [[-5.11150805e-02 9.98677145e-01 5.58648255e-03 3.07200295e+02] [-9.94327352e-01 -5.14133019e-02 9.31117095e-02 2.02221626e+02] [ 9.32757557e-02 -7.95379879e-04 9.95639996e-01 1.08793093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.800385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:307.20, Y:202.22, Z:108.79 [[-5.08013670e-02 9.98706331e-01 2.21018075e-03 3.07200682e+02] [-9.94295594e-01 -5.07845741e-02 9.37933861e-02 2.02220937e+02] [ 9.37842916e-02 2.56725925e-03 9.95589231e-01 1.08792281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.24, Z:108.80 [[-4.93901850e-02 9.98447845e-01 2.57392734e-02 3.07190145e+02] [-9.93296345e-01 -5.17993922e-02 1.03340184e-01 2.02236936e+02] [ 1.04513063e-01 -2.04627354e-02 9.94312977e-01 1.08802884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:202.21, Z:108.79 [[-5.17269313e-02 9.98578290e-01 -1.28733236e-02 3.07206090e+02] [-9.94232614e-01 -5.02806242e-02 9.47278603e-02 2.02213948e+02] [ 9.39459060e-02 1.76990597e-02 9.95419967e-01 1.08788468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.24, Z:108.80 [[-4.87929684e-02 9.98542368e-01 2.30734874e-02 3.07190439e+02] [-9.93455936e-01 -5.09069874e-02 1.02243739e-01 2.02236631e+02] [ 1.03269307e-01 -1.79337175e-02 9.94491746e-01 1.08800909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:202.21, Z:108.79 [[-5.28725335e-02 9.98554177e-01 -9.69794047e-03 3.07200773e+02] [-9.94260006e-01 -5.17356266e-02 9.36507589e-02 2.02211498e+02] [ 9.30136275e-02 1.45938272e-02 9.95557876e-01 1.08789718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.21, Z:108.79 [[-5.35274769e-02 9.98564862e-01 1.73937974e-03 3.07192257e+02] [-9.94227111e-01 -5.34570035e-02 9.30311865e-02 2.02206163e+02] [ 9.29906560e-02 3.25038620e-03 9.95661676e-01 1.08793677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.21, Z:108.80 [[-5.37853512e-02 9.98527619e-01 7.05199405e-03 3.07188802e+02] [-9.94179976e-01 -5.42086751e-02 9.30999248e-02 2.02206974e+02] [ 9.33451254e-02 -2.00353912e-03 9.95631796e-01 1.08795005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.20, Z:108.80 [[-5.43336105e-02 9.98487664e-01 8.38117668e-03 3.07187173e+02] [-9.94177055e-01 -5.48774806e-02 9.27385881e-02 2.02204743e+02] [ 9.30582740e-02 -3.29355122e-03 9.95655217e-01 1.08795360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.21, Z:108.79 [[-5.43135889e-02 9.98506956e-01 5.82180991e-03 3.07185784e+02] [-9.94139564e-01 -5.46199593e-02 9.32908760e-02 2.02206185e+02] [ 9.34695756e-02 -7.20729281e-04 9.95621876e-01 1.08794172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.20, Z:108.79 [[-5.46760786e-02 9.98486973e-01 5.85587178e-03 3.07185693e+02] [-9.94119694e-01 -5.49840457e-02 9.32887382e-02 2.02203789e+02] [ 9.34695694e-02 -7.20775081e-04 9.95621876e-01 1.08794396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.20, Z:108.79 [[-5.50371574e-02 9.98472347e-01 4.88719013e-03 3.07184857e+02] [-9.94109622e-01 -5.52530428e-02 9.32371234e-02 2.02195321e+02] [ 9.33647215e-02 2.73103496e-04 9.95631937e-01 1.08794663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.21, Z:108.81 [[-5.39559071e-02 9.98202093e-01 2.61025207e-02 3.07175461e+02] [-9.92686778e-01 -5.64481483e-02 1.06707863e-01 2.02214103e+02] [ 1.07989451e-01 -2.01541076e-02 9.93947730e-01 1.08805936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.20, Z:108.80 [[-5.50020767e-02 9.98419659e-01 1.15306290e-02 3.07181144e+02] [-9.92700806e-01 -5.59210829e-02 1.06854770e-01 2.02203091e+02] [ 1.07330708e-01 -5.56923049e-03 9.94207777e-01 1.08801828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:202.15, Z:108.79 [[-6.28793472e-02 9.97797276e-01 -2.11372616e-02 3.07190620e+02] [-9.93553497e-01 -6.05820919e-02 9.58188903e-02 2.02151889e+02] [ 9.43272882e-02 2.70260294e-02 9.95174335e-01 1.08790119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:202.14, Z:108.80 [[-6.34094782e-02 9.97985775e-01 1.90538060e-03 3.07176797e+02] [-9.93497385e-01 -6.33049733e-02 9.46331156e-02 2.02139317e+02] [ 9.45631233e-02 4.10764584e-03 9.95510393e-01 1.08798636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.250385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.17, Y:202.13, Z:108.80 [[-6.68655331e-02 9.97690435e-01 1.19497416e-02 3.07168252e+02] [-9.93226100e-01 -6.76974812e-02 9.44402745e-02 2.02127452e+02] [ 9.50311260e-02 -5.55399591e-03 9.95458808e-01 1.08802524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:202.13, Z:108.80 [[-6.69403250e-02 9.97733792e-01 6.80237674e-03 3.07169059e+02] [-9.93168011e-01 -6.72840235e-02 9.53423381e-02 2.02125176e+02] [ 9.55839639e-02 -3.73655878e-04 9.95421301e-01 1.08801441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:202.14, Z:108.81 [[-6.23383618e-02 9.97757296e-01 2.43784029e-02 3.07161301e+02] [-9.92446842e-01 -6.45553516e-02 1.04316216e-01 2.02142033e+02] [ 1.05656022e-01 -1.76913670e-02 9.94245352e-01 1.08810013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:202.11, Z:108.80 [[-6.57197247e-02 9.97777594e-01 -1.09905241e-02 3.07172245e+02] [-9.93205745e-01 -6.43505738e-02 9.69605719e-02 2.02113400e+02] [ 9.60378396e-02 1.72880737e-02 9.95227540e-01 1.08796393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:202.13, Z:108.81 [[-6.13389492e-02 9.97852333e-01 2.29838158e-02 3.07157154e+02] [-9.92594762e-01 -6.34023234e-02 1.03613632e-01 2.02131880e+02] [ 1.04848332e-01 -1.64580639e-02 9.94352030e-01 1.08809565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:202.11, Z:108.80 [[-6.57502890e-02 9.97833765e-01 2.16272411e-03 3.07161322e+02] [-9.93196097e-01 -6.56531679e-02 9.61830281e-02 2.02108585e+02] [ 9.61166627e-02 4.17605275e-03 9.95361315e-01 1.08800804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:202.07, Z:108.80 [[-7.01462936e-02 9.97491534e-01 -9.49410987e-03 3.07161978e+02] [-9.93070403e-01 -6.89294321e-02 9.51835503e-02 2.02067146e+02] [ 9.42903619e-02 1.61050928e-02 9.95414463e-01 1.08802167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:202.07, Z:108.81 [[-7.06677303e-02 9.97441878e-01 1.07597196e-02 3.07151168e+02] [-9.93064471e-01 -7.13654980e-02 9.34340515e-02 2.02069113e+02] [ 9.39629086e-02 -4.08232289e-03 9.95567329e-01 1.08808796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.15, Y:202.07, Z:108.81 [[-7.13652931e-02 9.97422571e-01 7.43029975e-03 3.07151513e+02] [-9.92969591e-01 -7.17480299e-02 9.41467601e-02 2.02067632e+02] [ 9.44372129e-02 -6.59250573e-04 9.95530601e-01 1.08806799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:202.06, Z:108.81 [[-7.24459346e-02 9.97343690e-01 7.55981835e-03 3.07148883e+02] [-9.92776695e-01 -7.28368466e-02 9.53374380e-02 2.02058019e+02] [ 9.56348255e-02 -5.98401676e-04 9.95416306e-01 1.08806989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:202.06, Z:108.81 [[-7.28543981e-02 9.97313434e-01 7.62566526e-03 3.07147465e+02] [-9.92709448e-01 -7.32499719e-02 9.57203939e-02 2.02061947e+02] [ 9.60218145e-02 -5.96418271e-04 9.95379051e-01 1.08806669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:202.06, Z:108.81 [[-7.31203339e-02 9.97293670e-01 7.66501122e-03 3.07144591e+02] [-9.92685270e-01 -7.35184855e-02 9.57652684e-02 2.02058555e+02] [ 9.60696160e-02 -6.06555336e-04 9.95374433e-01 1.08807781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.14, Y:202.05, Z:108.81 [[-7.30677700e-02 9.97297171e-01 7.71067560e-03 3.07141352e+02] [-9.92681696e-01 -7.34706001e-02 9.58390371e-02 2.02054493e+02] [ 9.61465085e-02 -6.51501808e-04 9.95366980e-01 1.08807834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.640385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:307.14, Y:202.05, Z:108.81 [[-7.36830473e-02 9.97251381e-01 7.77760309e-03 3.07140318e+02] [-9.92602848e-01 -7.40896851e-02 9.61785009e-02 2.02052643e+02] [ 9.64903830e-02 -6.33345950e-04 9.95333715e-01 1.08807466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:202.04, Z:108.81 [[-7.54521348e-02 9.97118660e-01 7.83280615e-03 3.07136907e+02] [-9.92446490e-01 -7.58559725e-02 9.64149152e-02 2.02043434e+02] [ 9.67312762e-02 -4.98929795e-04 9.95310410e-01 1.08807950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:202.04, Z:108.81 [[-7.66376167e-02 9.97028656e-01 7.78041602e-03 3.07134602e+02] [-9.92464477e-01 -7.70304080e-02 9.52920653e-02 2.02039732e+02] [ 9.56082484e-02 -4.18829737e-04 9.95418951e-01 1.08808142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.13, Y:202.04, Z:108.81 [[-7.86341113e-02 9.96873117e-01 7.78881157e-03 3.07130376e+02] [-9.92339932e-01 -7.90184814e-02 9.49607242e-02 2.02040137e+02] [ 9.52792531e-02 -2.61996595e-04 9.95450549e-01 1.08807567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.13, Y:202.04, Z:108.81 [[-7.97522415e-02 9.96783947e-01 7.83221878e-03 3.07128530e+02] [-9.92245481e-01 -8.01356725e-02 9.50114688e-02 2.02040370e+02] [ 9.53335470e-02 -1.94106081e-04 9.95445366e-01 1.08808419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.790385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:307.12, Y:202.03, Z:108.81 [[-8.17496637e-02 9.96621277e-01 7.93873857e-03 3.07124340e+02] [-9.92000397e-01 -8.21342170e-02 9.58602230e-02 2.02030953e+02] [ 9.61883799e-02 -3.86908206e-05 9.95363147e-01 1.08808658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.12, Y:202.00, Z:108.81 [[-8.03358241e-02 9.96733805e-01 8.23874217e-03 3.07122735e+02] [-9.91813182e-01 -8.07568640e-02 9.89188663e-02 2.01996014e+02] [ 9.92611130e-02 -2.24564437e-04 9.95061396e-01 1.08812175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:202.03, Z:108.81 [[-8.38959199e-02 9.96442274e-01 8.01682248e-03 3.07118467e+02] [-9.91827994e-01 -8.42780379e-02 9.57833149e-02 2.02026489e+02] [ 9.61181862e-02 8.45203634e-05 9.95369925e-01 1.08809519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.11, Y:202.02, Z:108.81 [[-8.47808170e-02 9.96367552e-01 7.99468756e-03 3.07113567e+02] [-9.91824069e-01 -8.51568285e-02 9.50438401e-02 2.02024682e+02] [ 9.53794005e-02 1.28570873e-04 9.95440984e-01 1.08811520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:202.02, Z:108.81 [[-8.49987054e-02 9.96348693e-01 8.03133350e-03 3.07111066e+02] [-9.91808466e-01 -8.53772224e-02 9.50089266e-02 2.02017762e+02] [ 9.53477127e-02 1.10091190e-04 9.95444022e-01 1.08812631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.940385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:307.11, Y:202.04, Z:108.81 [[-8.29531243e-02 9.96518619e-01 8.33194739e-03 3.07113421e+02] [-9.91682640e-01 -8.33704122e-02 9.80556763e-02 2.02035196e+02] [ 9.84089450e-02 -1.28622887e-04 9.95146051e-01 1.08813109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.11, Y:202.02, Z:108.81 [[-8.49374666e-02 9.96353516e-01 8.08069573e-03 3.07105458e+02] [-9.91856359e-01 -8.53209857e-02 9.45584063e-02 2.02016368e+02] [ 9.49030535e-02 1.66620279e-05 9.95486519e-01 1.08812216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:202.01, Z:108.81 [[-8.52289221e-02 9.96327517e-01 8.21647937e-03 3.07102742e+02] [-9.91723220e-01 -8.56240601e-02 9.56743176e-02 2.02008166e+02] [ 9.60264836e-02 5.74558564e-06 9.95378779e-01 1.08812683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.10, Y:201.96, Z:108.82 [[-8.24982127e-02 9.96554992e-01 8.49665649e-03 3.07098035e+02] [-9.91686077e-01 -8.29340268e-02 9.83904101e-02 2.01963518e+02] [ 9.87561163e-02 -3.08982961e-04 9.95111619e-01 1.08816212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.060385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.10, Y:202.01, Z:108.81 [[-8.29181039e-02 9.96519601e-01 8.55993054e-03 3.07098732e+02] [-9.91647561e-01 -8.33581252e-02 9.84202124e-02 2.02008123e+02] [ 9.87912106e-02 -3.27616838e-04 9.95108130e-01 1.08812863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.10, Y:202.00, Z:108.81 [[-8.33447641e-02 9.96482210e-01 8.76670989e-03 3.07095601e+02] [-9.91555934e-01 -8.38033845e-02 9.89637425e-02 2.02000198e+02] [ 9.93502888e-02 -4.44573442e-04 9.95052422e-01 1.08814082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:201.97, Z:108.82 [[-8.59949241e-02 9.96258283e-01 8.62018028e-03 3.07088452e+02] [-9.91538392e-01 -8.64256162e-02 9.68619147e-02 2.01973232e+02] [ 9.72444891e-02 -2.17606695e-04 9.95260500e-01 1.08815562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:201.98, Z:108.82 [[-8.54658522e-02 9.96302995e-01 8.71374769e-03 3.07085732e+02] [-9.91530374e-01 -8.59083340e-02 9.74026502e-02 2.01982640e+02] [ 9.77911357e-02 -3.15344999e-04 9.95206910e-01 1.08815119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:201.97, Z:108.82 [[-8.55439716e-02 9.96295791e-01 8.77072225e-03 3.07082455e+02] [-9.91509978e-01 -8.59916992e-02 9.75366111e-02 2.01970880e+02] [ 9.79295245e-02 -3.52589532e-04 9.95193290e-01 1.08816469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.08, Y:202.00, Z:108.82 [[-8.07601144e-02 9.96593317e-01 1.67201783e-02 3.07080169e+02] [-9.91464727e-01 -8.20444473e-02 1.01323270e-01 2.02001251e+02] [ 1.02349891e-01 -8.39458820e-03 9.94713039e-01 1.08817383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:201.97, Z:108.81 [[-8.66177414e-02 9.96241420e-01 6.32360310e-04 3.07080793e+02] [-9.91306979e-01 -8.62517829e-02 9.93534249e-02 2.01968836e+02] [ 9.90345393e-02 7.97890607e-03 9.95052007e-01 1.08813680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:201.96, Z:108.82 [[-8.77241227e-02 9.96104641e-01 8.94550054e-03 3.07073465e+02] [-9.91271687e-01 -8.81786299e-02 9.80049580e-02 2.01964936e+02] [ 9.84119955e-02 -2.70022457e-04 9.95145721e-01 1.08817135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:201.92, Z:108.82 [[-9.40435569e-02 9.95527453e-01 8.99448631e-03 3.07066531e+02] [-9.90754202e-01 -9.44723820e-02 9.73708355e-02 2.01916069e+02] [ 9.77850704e-02 2.45774599e-04 9.95207526e-01 1.08822733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.91, Z:108.82 [[-9.44138593e-02 9.95487684e-01 9.50233472e-03 3.07064686e+02] [-9.90752431e-01 -9.48904874e-02 9.69815268e-02 2.01914723e+02] [ 9.74455967e-02 -2.58061000e-04 9.95240820e-01 1.08823427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.88, Z:108.83 [[-9.08616588e-02 9.95698645e-01 1.81209336e-02 3.07058588e+02] [-9.90787817e-01 -9.22183947e-02 9.91729271e-02 2.01882767e+02] [ 1.00417433e-01 -8.94298360e-03 9.94905203e-01 1.08829918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.90, Z:108.82 [[-9.55716650e-02 9.95422457e-01 4.33995639e-04 3.07064063e+02] [-9.90786665e-01 -9.51685882e-02 9.63572725e-02 2.01901291e+02] [ 9.59574958e-02 8.77902788e-03 9.95346717e-01 1.08821994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.90, Z:108.83 [[-9.62097443e-02 9.95315416e-01 9.53457412e-03 3.07057887e+02] [-9.90731292e-01 -9.66806710e-02 9.54167452e-02 2.01898610e+02] [ 9.58915665e-02 -2.66180276e-04 9.95391750e-01 1.08826658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.89, Z:108.83 [[-9.73684500e-02 9.95202103e-01 9.59994440e-03 3.07056074e+02] [-9.90597339e-01 -9.78403519e-02 9.56251954e-02 2.01894611e+02] [ 9.61056575e-02 -1.98802322e-04 9.95371118e-01 1.08827940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.89, Z:108.83 [[-9.91279131e-02 9.95027673e-01 9.67406335e-03 3.07055569e+02] [-9.90393766e-01 -9.95988220e-02 9.59180015e-02 2.01886247e+02] [ 9.64045911e-02 -7.29807097e-05 9.95342227e-01 1.08828734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:201.84, Z:108.83 [[-1.05937898e-01 9.94324390e-01 9.80660629e-03 3.07052377e+02] [-9.89653649e-01 -1.06389683e-01 9.62646868e-02 2.01838662e+02] [ 9.67616477e-02 4.92934850e-04 9.95307460e-01 1.08833044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:201.82, Z:108.83 [[-1.06799622e-01 9.94225969e-01 1.04194066e-02 3.07051631e+02] [-9.89497640e-01 -1.07306673e-01 9.68488398e-02 2.01822396e+02] [ 9.74077034e-02 3.34412160e-05 9.95244562e-01 1.08834883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:201.82, Z:108.83 [[-1.07062568e-01 9.94196831e-01 1.05008810e-02 3.07053435e+02] [-9.89442942e-01 -1.07576307e-01 9.71082035e-02 2.01815604e+02] [ 9.76743141e-02 6.63105863e-06 9.95218433e-01 1.08834743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:201.67, Z:108.85 [[-1.01009019e-01 9.94814306e-01 1.19027358e-02 3.07039526e+02] [-9.90017975e-01 -1.01689653e-01 9.75890592e-02 2.01665070e+02] [ 9.82933773e-02 -1.92654729e-03 9.95155616e-01 1.08847552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.06, Y:201.81, Z:108.83 [[-1.02410009e-01 9.94701410e-01 9.01633649e-03 3.07058005e+02] [-9.89817621e-01 -1.02799625e-01 9.84546314e-02 2.01813487e+02] [ 9.88598367e-02 1.15821094e-03 9.95100694e-01 1.08834936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:201.78, Z:108.84 [[-1.02687049e-01 9.94654805e-01 1.08254318e-02 3.07052727e+02] [-9.89803831e-01 -1.03254107e-01 9.81170975e-02 2.01783330e+02] [ 9.87104127e-02 -6.39698690e-04 9.95115996e-01 1.08838995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:201.80, Z:108.84 [[-1.01817416e-01 9.94743137e-01 1.09227041e-02 3.07054910e+02] [-9.89851409e-01 -1.02398652e-01 9.85327611e-02 2.01798529e+02] [ 9.91332581e-02 -7.79502939e-04 9.95073861e-01 1.08837927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:201.76, Z:108.84 [[-9.61824031e-02 9.95298124e-01 1.14276225e-02 3.07052827e+02] [-9.90082391e-01 -9.68468778e-02 1.01772010e-01 2.01758857e+02] [ 1.02400220e-01 -1.52561130e-03 9.94742111e-01 1.08841063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:201.63, Z:108.85 [[-9.63238666e-02 9.95290880e-01 1.08525299e-02 3.07039123e+02] [-9.90168898e-01 -9.69278100e-02 1.00849159e-01 2.01629516e+02] [ 1.01426160e-01 -1.03165668e-03 9.94842535e-01 1.08852840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.06, Y:201.79, Z:108.84 [[-9.49923564e-02 9.95415655e-01 1.11411820e-02 3.07057354e+02] [-9.90456655e-01 -9.56299725e-02 9.92498056e-02 2.01794094e+02] [ 9.98602412e-02 -1.60688490e-03 9.95000176e-01 1.08838662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.80, Z:108.84 [[-9.45279407e-02 9.95458669e-01 1.12475513e-02 3.07057828e+02] [-9.90461135e-01 -9.51791714e-02 9.96376721e-02 2.01798434e+02] [ 1.00255717e-01 -1.72171850e-03 9.94960214e-01 1.08839094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.80, Z:108.84 [[-9.45176710e-02 9.95459506e-01 1.12597229e-02 3.07057726e+02] [-9.90492194e-01 -9.51696460e-02 9.93375692e-02 2.01797035e+02] [ 9.99581115e-02 -1.76351197e-03 9.94990083e-01 1.08839901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.06, Y:201.79, Z:108.84 [[-9.50425918e-02 9.95409718e-01 1.12427631e-02 3.07057897e+02] [-9.90497275e-01 -9.56892985e-02 9.87861679e-02 2.01790349e+02] [ 9.94085236e-02 -1.74703276e-03 9.95045172e-01 1.08840370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.79, Z:108.84 [[-9.61340809e-02 9.95304475e-01 1.12800589e-02 3.07059144e+02] [-9.90398764e-01 -9.67789835e-02 9.87122971e-02 2.01790214e+02] [ 9.93404637e-02 -1.68214041e-03 9.95052080e-01 1.08841254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.78, Z:108.84 [[-9.70308436e-02 9.95217308e-01 1.12927312e-02 3.07058477e+02] [-9.90339657e-01 -9.76721174e-02 9.84252063e-02 2.01779452e+02] [ 9.90574538e-02 -1.63335875e-03 9.95080375e-01 1.08842555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.67, Z:108.85 [[-1.31247304e-01 9.91280313e-01 1.17254619e-02 3.07058626e+02] [-9.86388412e-01 -1.31763170e-01 9.83685351e-02 2.01667463e+02] [ 9.90557763e-02 1.34474530e-03 9.95080974e-01 1.08852355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.66, Z:108.85 [[-1.31348986e-01 9.91226772e-01 1.47285563e-02 3.07057223e+02] [-9.86377965e-01 -1.32161711e-01 9.79376971e-02 2.01655204e+02] [ 9.90250185e-02 -1.66390619e-03 9.95083553e-01 1.08854758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:201.66, Z:108.85 [[-1.31250277e-01 9.91240490e-01 1.46851999e-02 3.07059238e+02] [-9.86447641e-01 -1.32058247e-01 9.73738729e-02 2.01664851e+02] [ 9.84602273e-02 -1.70583294e-03 9.95139525e-01 1.08854186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.81, Y:201.53, Z:109.83 [[-9.97644593e-02 -9.94847304e-01 -1.80525542e-02 3.07812858e+02] [-9.92061181e-01 1.00848342e-01 -7.51280607e-02 2.01527038e+02] [ 7.65615187e-02 1.04141279e-02 -9.97010471e-01 1.09833855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.50, Z:108.87 [[-6.42139496e-02 9.97904261e-01 7.97843835e-03 3.07007907e+02] [-9.93185989e-01 -6.46853898e-02 9.69401489e-02 2.01499585e+02] [ 9.72530760e-02 -1.69916335e-03 9.95258234e-01 1.08868445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.01, Y:201.49, Z:108.87 [[-6.56964809e-02 9.97806829e-01 8.09350931e-03 3.07008910e+02] [-9.93004991e-01 -6.61734974e-02 9.77862824e-02 2.01493986e+02] [ 9.81073962e-02 -1.61268050e-03 9.95174527e-01 1.08868821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.49, Z:108.87 [[-6.71233976e-02 9.97711366e-01 8.15347485e-03 3.07010232e+02] [-9.92891479e-01 -6.75997011e-02 9.79632169e-02 2.01493980e+02] [ 9.82901874e-02 -1.51989174e-03 9.95156635e-01 1.08867917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.49, Z:108.87 [[-6.98588807e-02 9.97522817e-01 8.24414156e-03 3.07012899e+02] [-9.92647567e-01 -7.03316048e-02 9.85102719e-02 2.01488955e+02] [ 9.88460677e-02 -1.30170973e-03 9.95101885e-01 1.08867738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.49, Z:108.87 [[-7.14911357e-02 9.97406877e-01 8.27887456e-03 3.07013639e+02] [-9.92538003e-01 -7.19592300e-02 9.84387218e-02 2.01486061e+02] [ 9.87791995e-02 -1.17960161e-03 9.95108677e-01 1.08867883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.01, Y:201.48, Z:108.87 [[-7.37905944e-02 9.97239363e-01 8.28261806e-03 3.07013321e+02] [-9.92413252e-01 -7.42473993e-02 9.79962302e-02 2.01479657e+02] [ 9.83406610e-02 -9.88579842e-04 9.95152319e-01 1.08869499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.47, Z:108.87 [[-7.53934333e-02 9.97119215e-01 8.31272631e-03 3.07012070e+02] [-9.92316599e-01 -7.58452269e-02 9.77510556e-02 2.01469717e+02] [ 9.80999364e-02 -8.79068609e-04 9.95176180e-01 1.08871699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.47, Z:108.87 [[-7.61488957e-02 9.97061663e-01 8.32977385e-03 3.07012686e+02] [-9.92341469e-01 -7.65979992e-02 9.69079726e-02 2.01468950e+02] [ 9.72612683e-02 -8.86544930e-04 9.95258489e-01 1.08872934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.320385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:307.01, Y:201.46, Z:108.87 [[-7.76002129e-02 9.96949914e-01 8.31120961e-03 3.07012560e+02] [-9.92303294e-01 -7.80400596e-02 9.61453204e-02 2.01456832e+02] [ 9.65006762e-02 -7.86343338e-04 9.95332608e-01 1.08873563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.01, Y:201.45, Z:108.87 [[-7.81966292e-02 9.96902537e-01 8.40349541e-03 3.07014224e+02] [-9.92273559e-01 -7.86424490e-02 9.59611840e-02 2.01451110e+02] [ 9.63248193e-02 -8.34725182e-04 9.95349603e-01 1.08873445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:201.40, Z:108.86 [[-7.04273893e-02 9.97503460e-01 -5.17985982e-03 3.07020819e+02] [-9.93810061e-01 -6.97174790e-02 8.64929813e-02 2.01395466e+02] [ 8.59159213e-02 1.12392717e-02 9.96238994e-01 1.08864334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:201.33, Z:108.87 [[-6.92448277e-02 9.97594719e-01 -3.15121650e-03 3.07015123e+02] [-9.94478219e-01 -6.87781284e-02 7.92631108e-02 2.01326923e+02] [ 7.88557259e-02 8.62237662e-03 9.96848749e-01 1.08868553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:201.43, Z:108.89 [[-7.98427967e-02 9.96350193e-01 3.01897437e-02 3.07003591e+02] [-9.92265489e-01 -8.23304482e-02 9.29026160e-02 2.01432541e+02] [ 9.50490745e-02 -2.25386361e-02 9.95217405e-01 1.08885402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:201.43, Z:108.88 [[-8.05370010e-02 9.96714027e-01 8.65677285e-03 3.07014871e+02] [-9.92120162e-01 -8.09960242e-02 9.55888478e-02 2.01426904e+02] [ 9.59759096e-02 -8.90119754e-04 9.95383259e-01 1.08877379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.75, Y:201.33, Z:109.85 [[-3.28485525e-02 -9.99367893e-01 -1.35936505e-02 3.07747958e+02] [-9.96347921e-01 3.38157698e-02 -7.84048138e-02 2.01334978e+02] [ 7.88149333e-02 1.09685207e-02 -9.96828921e-01 1.09851497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:201.19, Z:108.90 [[-2.34887523e-02 9.99721676e-01 2.20212086e-03 3.06978887e+02] [-9.95363266e-01 -2.35917532e-02 9.32491158e-02 2.01190119e+02] [ 9.32751143e-02 -1.60482762e-06 9.95640373e-01 1.08895387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.98, Y:200.92, Z:108.90 [[-1.79819652e-02 9.99767516e-01 -1.18980137e-02 3.06980337e+02] [-9.96470030e-01 -1.69441561e-02 8.22215014e-02 2.00917960e+02] [ 8.20007845e-02 1.33345182e-02 9.96543056e-01 1.08904117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.97, Y:201.14, Z:108.91 [[-2.83718041e-02 9.99395601e-01 2.00866469e-02 3.06971602e+02] [-9.95215062e-01 -3.01213042e-02 9.29499155e-02 2.01144842e+02] [ 9.34987726e-02 -1.73533767e-02 9.95468151e-01 1.08906055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.620385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:306.98, Y:201.14, Z:108.90 [[-2.67257036e-02 9.99634864e-01 3.98447860e-03 3.06979004e+02] [-9.95079123e-01 -2.69839163e-02 9.53383799e-02 2.01142067e+02] [ 9.54110852e-02 -1.41688619e-03 9.95436948e-01 1.08901288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:201.11, Z:109.88 [[ 2.71441352e-03 -9.99952087e-01 -9.40506984e-03 3.07698770e+02] [-9.96151816e-01 -1.87994494e-03 -8.76243458e-02 2.01107982e+02] [ 8.76024664e-02 9.60672611e-03 -9.96109190e-01 1.09884313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.77, Y:201.10, Z:109.80 [[ 7.90202799e-02 -9.75618446e-01 -2.04754595e-01 3.07772143e+02] [-9.93967787e-01 -6.14403442e-02 -9.08467014e-02 2.01104447e+02] [ 7.60515248e-02 2.10698203e-01 -9.74588340e-01 1.09804679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.710385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:307.76, Y:201.10, Z:109.80 [[ 1.56728394e-01 -9.65653754e-01 -2.07241496e-01 3.07759958e+02] [-9.86036569e-01 -1.41031573e-01 -8.85549502e-02 2.01103333e+02] [ 5.62858259e-02 2.18226769e-01 -9.74273567e-01 1.09796586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.65, Y:201.09, Z:109.89 [[ 2.35209975e-01 -9.71907457e-01 8.49483450e-03 3.07653688e+02] [-9.70519379e-01 -2.35329243e-01 -5.20795811e-02 2.01090800e+02] [ 5.26156162e-02 4.00523547e-03 -9.98606807e-01 1.09889544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:201.09, Z:109.89 [[ 3.10359469e-01 -9.50536422e-01 1.25503335e-02 3.07643847e+02] [-9.49164646e-01 -3.10587632e-01 -5.12034935e-02 2.01088744e+02] [ 5.25687638e-02 3.97915622e-03 -9.98609379e-01 1.09891203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.800385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:307.63, Y:201.08, Z:109.89 [[ 3.83374019e-01 -9.23448088e-01 1.63703942e-02 3.07627279e+02] [-9.22120032e-01 -3.83703099e-01 -4.96646657e-02 2.01082838e+02] [ 5.21441116e-02 3.94467411e-03 -9.98631780e-01 1.09892715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.61, Y:201.07, Z:109.90 [[ 4.54546024e-01 -8.90489513e-01 2.04043784e-02 3.07611852e+02] [-8.89173402e-01 -4.54986812e-01 -4.85557581e-02 2.01072619e+02] [ 5.25221164e-02 3.92779622e-03 -9.98612037e-01 1.09895046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:201.06, Z:109.90 [[ 5.23004341e-01 -8.51979182e-01 2.44526629e-02 3.07598885e+02] [-8.50676244e-01 -5.23561006e-01 -4.72631080e-02 2.01061051e+02] [ 5.30696449e-02 3.91751124e-03 -9.98583129e-01 1.09897306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:201.05, Z:109.90 [[ 5.89083975e-01 -8.07583811e-01 2.80794980e-02 3.07585926e+02] [-8.06328802e-01 -5.89739432e-01 -4.51803718e-02 2.01049205e+02] [ 5.30465241e-02 3.97372506e-03 -9.98584136e-01 1.09898511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.58, Y:201.04, Z:109.90 [[ 6.50846182e-01 -7.58568870e-01 3.11851985e-02 3.07577146e+02] [-7.57391878e-01 -6.51580621e-01 -4.24292116e-02 2.01038053e+02] [ 5.25051501e-02 3.99547428e-03 -9.98612660e-01 1.09900027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.57, Y:201.02, Z:109.90 [[ 7.08564772e-01 -7.04795159e-01 3.46373836e-02 3.07566285e+02] [-7.03667558e-01 -7.09399555e-01 -4.00529561e-02 2.01022171e+02] [ 5.28008741e-02 4.00691058e-03 -9.98597022e-01 1.09901544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:201.01, Z:109.90 [[ 7.61630178e-01 -6.46907396e-01 3.78192097e-02 3.07557395e+02] [-6.45842144e-01 -7.62558065e-01 -3.73245520e-02 2.01007934e+02] [ 5.29848722e-02 4.00226575e-03 -9.98587295e-01 1.09903107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.010385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.55, Y:200.99, Z:109.91 [[ 8.09503161e-01 -5.85703258e-01 4.06979958e-02 3.07548376e+02] [-5.84712547e-01 -8.10515923e-01 -3.42808365e-02 2.00988756e+02] [ 5.30647712e-02 3.95381673e-03 -9.98583245e-01 1.09905085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:200.97, Z:109.91 [[ 8.52510585e-01 -5.20930971e-01 4.30885784e-02 3.07542830e+02] [-5.20030124e-01 -8.53589848e-01 -3.08713630e-02 2.00971130e+02] [ 5.28618222e-02 3.91080496e-03 -9.98594179e-01 1.09907117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.54, Y:200.95, Z:109.91 [[ 8.89938594e-01 -4.53842910e-01 4.51210795e-02 3.07537870e+02] [-4.53039547e-01 -8.91073528e-01 -2.72605454e-02 2.00953258e+02] [ 5.25782047e-02 3.81857806e-03 -9.98609509e-01 1.09908788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:200.94, Z:109.91 [[ 9.22463404e-01 -3.83135105e-01 4.76314929e-02 3.07536463e+02] [-3.82411723e-01 -9.23684621e-01 -2.38326573e-02 2.00937580e+02] [ 5.31276051e-02 3.76991296e-03 -9.98580615e-01 1.09910875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:200.92, Z:109.91 [[ 9.49240090e-01 -3.10444153e-01 5.06722792e-02 3.07535028e+02] [-3.09793884e-01 -9.50584483e-01 -2.04178753e-02 2.00921044e+02] [ 5.45068923e-02 3.68350359e-03 -9.98506600e-01 1.09911959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.53, Y:200.91, Z:109.91 [[ 9.70568956e-01 -2.34924019e-01 5.29774139e-02 3.07533029e+02] [-2.34367955e-01 -9.72006847e-01 -1.65635285e-02 2.00905679e+02] [ 5.53855798e-02 3.65983843e-03 -9.98458333e-01 1.09913793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.53, Y:200.89, Z:109.92 [[ 9.86240047e-01 -1.56303585e-01 5.38494046e-02 3.07531035e+02] [-1.55863464e-01 -9.87701974e-01 -1.23041233e-02 2.00887329e+02] [ 5.51103418e-02 3.74166438e-03 -9.98473260e-01 1.09915878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.53, Y:200.87, Z:109.92 [[ 9.95546765e-01 -7.70290740e-02 5.43429859e-02 3.07530991e+02] [-7.67060388e-02 -9.97021589e-01 -8.00840955e-03 2.00870421e+02] [ 5.47980105e-02 3.80431104e-03 -9.98490213e-01 1.09918201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.53, Y:200.85, Z:109.92 [[ 9.98514956e-01 2.55476063e-03 5.44183475e-02 3.07531378e+02] [ 2.76085369e-03 -9.99989298e-01 -3.71235865e-03 2.00853038e+02] [ 5.44082809e-02 3.85708673e-03 -9.98511323e-01 1.09920854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.53, Y:200.84, Z:109.92 [[ 9.95237925e-01 8.08900744e-02 5.43899609e-02 3.07534545e+02] [ 8.09792230e-02 -9.96715629e-01 5.66418902e-04 2.00837113e+02] [ 5.42571417e-02 3.84073520e-03 -9.98519610e-01 1.09922407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:200.82, Z:109.92 [[ 9.85922876e-01 1.58094464e-01 5.44263078e-02 3.07538480e+02] [ 1.58064253e-01 -9.87416738e-01 4.88654638e-03 2.00821448e+02] [ 5.45139832e-02 3.78509582e-03 -9.98505833e-01 1.09923339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:200.81, Z:109.92 [[ 9.70580118e-01 2.34714611e-01 5.36962412e-02 3.07544463e+02] [ 2.34567977e-01 -9.72057065e-01 9.10643359e-03 2.00805807e+02] [ 5.43332236e-02 3.75689528e-03 -9.98515792e-01 1.09924741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.55, Y:200.79, Z:109.93 [[ 9.49242018e-01 3.09953087e-01 5.35600113e-02 3.07552442e+02] [ 3.09678640e-01 -9.50744593e-01 1.35594392e-02 2.00787925e+02] [ 5.51246812e-02 3.71520203e-03 -9.98472567e-01 1.09926871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:200.77, Z:109.93 [[ 9.22012527e-01 3.83550995e-01 5.27402591e-02 3.07561289e+02] [ 3.83150293e-01 -9.23512319e-01 1.79123023e-02 2.00772687e+02] [ 5.55765604e-02 3.69207863e-03 -9.98447602e-01 1.09928939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.57, Y:200.76, Z:109.93 [[ 8.89043963e-01 4.54891772e-01 5.17137037e-02 3.07572141e+02] [ 4.54359868e-01 -8.90539150e-01 2.22964854e-02 2.00757264e+02] [ 5.61955655e-02 3.67407582e-03 -9.98413021e-01 1.09930644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.460385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:307.57, Y:200.76, Z:109.93 [[ 8.52091737e-01 5.16653928e-01 8.37161355e-02 3.07572626e+02] [ 5.19896226e-01 -8.53959459e-01 -2.14745783e-02 2.00764479e+02] [ 6.03952605e-02 6.18220136e-02 -9.96258225e-01 1.09927861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.52, Y:200.86, Z:109.80 [[ 8.11018798e-01 5.37139186e-01 2.31797336e-01 3.07524548e+02] [ 5.83944489e-01 -7.67287595e-01 -2.65101075e-01 2.00863233e+02] [ 3.54590447e-02 3.50358732e-01 -9.35944130e-01 1.09801142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.62, Y:200.73, Z:109.94 [[ 7.63389516e-01 6.45506303e-01 2.36232793e-02 3.07623505e+02] [ 6.45273099e-01 -7.63752534e-01 1.74554752e-02 2.00730083e+02] [ 2.93099587e-02 1.91813988e-03 -9.99568531e-01 1.09941472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:200.72, Z:109.94 [[ 7.10196917e-01 7.03677910e-01 2.13948249e-02 3.07638130e+02] [ 7.03438493e-01 -7.10516452e-01 1.84569225e-02 2.00720560e+02] [ 2.81891037e-02 1.94189398e-03 -9.99600722e-01 1.09943985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.65, Y:200.71, Z:109.95 [[ 6.52609296e-01 7.57451881e-01 1.91769482e-02 3.07651927e+02] [ 7.57210033e-01 -6.52888036e-01 1.92399931e-02 2.00714103e+02] [ 2.70937690e-02 1.96477929e-03 -9.99630966e-01 1.09945274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:200.71, Z:109.95 [[ 5.91161668e-01 8.06370392e-01 1.71660721e-02 3.07664691e+02] [ 8.06122973e-01 -5.91407558e-01 2.00711658e-02 2.00708226e+02] [ 2.63369386e-02 1.97266119e-03 -9.99651176e-01 1.09946217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:200.70, Z:109.95 [[ 5.26298027e-01 8.50154990e-01 1.57124379e-02 3.07677992e+02] [ 8.49881398e-01 -5.26528883e-01 2.16551131e-02 2.00704595e+02] [ 2.66832549e-02 1.95666540e-03 -9.99642024e-01 1.09947526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.69, Y:200.70, Z:109.95 [[ 4.58255869e-01 8.88707831e-01 1.41403700e-02 3.07691138e+02] [ 8.88407535e-01 -4.58469881e-01 2.31823098e-02 2.00702064e+02] [ 2.70852340e-02 1.93898177e-03 -9.99631247e-01 1.09948377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:200.70, Z:109.95 [[ 3.87458094e-01 9.21802411e-01 1.25115812e-02 3.07706375e+02] [ 9.21470308e-01 -3.87655325e-01 2.48157413e-02 2.00699222e+02] [ 2.77253912e-02 1.91399077e-03 -9.99613745e-01 1.09949297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.730385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.72, Y:200.70, Z:109.95 [[ 3.13918050e-01 9.49390839e-01 1.06062721e-02 3.07720133e+02] [ 9.49036983e-01 -3.14091383e-01 2.59886275e-02 2.00697053e+02] [ 2.80047035e-02 1.90744517e-03 -9.99605972e-01 1.09950128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:200.70, Z:109.95 [[ 2.38315982e-01 9.71150168e-01 8.53484507e-03 3.07733067e+02] [ 9.70783348e-01 -2.38461125e-01 2.67578682e-02 2.00697598e+02] [ 2.80211370e-02 1.90865782e-03 -9.99605509e-01 1.09950939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.790385723 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:308.31, Y:200.62, Z:108.95 [[ 2.08078135e-01 -9.77779290e-01 2.55176366e-02 3.08313877e+02] [ 9.77738886e-01 2.07207191e-01 -3.30431790e-02 2.00623841e+02] [ 2.70214983e-02 3.18251486e-02 9.99128119e-01 1.08953288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:200.64, Z:108.98 [[ 2.08296346e-01 -9.77326762e-01 -3.80135879e-02 3.08350345e+02] [ 9.77587721e-01 2.09252245e-01 -2.31461752e-02 2.00640871e+02] [ 3.05758051e-02 -3.23403531e-02 9.99009120e-01 1.08982120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:200.67, Z:108.97 [[ 2.07749948e-01 -9.78157962e-01 -6.85271135e-03 3.08341595e+02] [ 9.77698707e-01 2.07862399e-01 -2.99743470e-02 2.00671628e+02] [ 3.07440672e-02 -4.72718008e-04 9.99527178e-01 1.08972956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:200.70, Z:108.97 [[ 2.07497371e-01 -9.78211631e-01 -6.84446975e-03 3.08347888e+02] [ 9.77752343e-01 2.07609688e-01 -2.99762288e-02 2.00699475e+02] [ 3.07440739e-02 -4.72207672e-04 9.99527178e-01 1.08973799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.910385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.36, Y:200.73, Z:108.97 [[ 2.06308626e-01 -9.78462583e-01 -6.90822318e-03 3.08355431e+02] [ 9.77993702e-01 2.06423633e-01 -3.02919725e-02 2.00726442e+02] [ 3.10655822e-02 -5.06703508e-04 9.99517220e-01 1.08974974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.36, Y:200.75, Z:108.98 [[ 2.05734332e-01 -9.78585290e-01 -6.64940692e-03 3.08363070e+02] [ 9.78149885e-01 2.05841157e-01 -2.91928296e-02 2.00753200e+02] [ 2.99363953e-02 -4.98149297e-04 9.99551682e-01 1.08975203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:200.78, Z:108.98 [[ 2.05959520e-01 -9.78537497e-01 -6.71144526e-03 3.08369747e+02] [ 9.78092752e-01 2.06068264e-01 -2.95032160e-02 2.00780062e+02] [ 3.02530190e-02 -4.87947761e-04 9.99542154e-01 1.08976346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.38, Y:200.81, Z:108.98 [[ 2.06311302e-01 -9.78462353e-01 -6.86073358e-03 3.08376104e+02] [ 9.77996325e-01 2.06424788e-01 -3.01992691e-02 2.00806609e+02] [ 3.09650734e-02 -4.79321717e-04 9.99520352e-01 1.08977013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.38, Y:200.83, Z:108.98 [[ 2.07413183e-01 -9.78226905e-01 -7.20374269e-03 3.08383194e+02] [ 9.77711721e-01 2.07537737e-01 -3.17470906e-02 2.00832369e+02] [ 3.25509066e-02 -4.58418567e-04 9.99469974e-01 1.08977509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.39, Y:200.86, Z:108.98 [[ 2.07272710e-01 -9.78255691e-01 -7.33665631e-03 3.08389771e+02] [ 9.77720290e-01 2.07401993e-01 -3.23642938e-02 2.00859239e+02] [ 3.31821918e-02 -4.64962844e-04 9.99449211e-01 1.08978049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.40, Y:200.89, Z:108.98 [[ 2.07069124e-01 -9.78297209e-01 -7.54647487e-03 3.08397776e+02] [ 9.77729295e-01 2.07206044e-01 -3.33328760e-02 2.00886071e+02] [ 3.41731347e-02 -4.76200119e-04 9.99415814e-01 1.08978236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.40, Y:200.91, Z:108.98 [[ 2.06658748e-01 -9.78384307e-01 -7.50399907e-03 3.08404699e+02] [ 9.77821414e-01 2.06794387e-01 -3.31868074e-02 2.00913084e+02] [ 3.40212365e-02 -4.79226919e-04 9.99420995e-01 1.08979079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.41, Y:200.94, Z:108.98 [[ 2.06197738e-01 -9.78483341e-01 -7.26934977e-03 3.08413087e+02] [ 9.77953875e-01 2.06325296e-01 -3.21883628e-02 2.00939927e+02] [ 3.29956275e-02 -4.71921185e-04 9.99455385e-01 1.08979595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.42, Y:200.96, Z:108.98 [[ 2.07036232e-01 -9.78319544e-01 -5.18351315e-03 3.08419171e+02] [ 9.77736649e-01 2.07092079e-01 -3.38218268e-02 2.00964845e+02] [ 3.41620187e-02 1.93423281e-03 9.99414436e-01 1.08979871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.43, Y:201.00, Z:108.97 [[ 2.04750909e-01 -9.78813732e-01 8.62139973e-04 3.08426343e+02] [ 9.78315083e-01 2.04618319e-01 -3.21082868e-02 2.00995090e+02] [ 3.12516224e-02 7.41764543e-03 9.99484024e-01 1.08974257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:201.02, Z:108.98 [[ 2.06189634e-01 -9.78420056e-01 -1.34174949e-02 3.08440099e+02] [ 9.78044069e-01 2.06495679e-01 -2.80950848e-02 2.01016531e+02] [ 3.02594491e-02 -7.32998607e-03 9.99515201e-01 1.08979949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:201.05, Z:108.98 [[ 2.04254877e-01 -9.78917560e-01 -5.96709556e-04 3.08441909e+02] [ 9.78427924e-01 2.04171917e-01 -3.15059728e-02 2.01048677e+02] [ 3.09635813e-02 5.85141130e-03 9.99503386e-01 1.08975972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.45, Y:201.07, Z:108.98 [[ 2.04027075e-01 -9.78938289e-01 -7.26490420e-03 3.08452883e+02] [ 9.78469621e-01 2.04154277e-01 -3.03023407e-02 2.01074808e+02] [ 3.11472828e-02 -9.25990129e-04 9.99514377e-01 1.08979568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:201.10, Z:108.98 [[ 2.03367154e-01 -9.79071142e-01 -7.84220900e-03 3.08463828e+02] [ 9.78603507e-01 2.03512676e-01 -3.02946803e-02 2.01101571e+02] [ 3.12566362e-02 -1.51347030e-03 9.99510246e-01 1.08982122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.360385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.48, Y:201.13, Z:108.99 [[ 2.03968665e-01 -9.78858811e-01 -1.52384887e-02 3.08475414e+02] [ 9.78399977e-01 2.04358208e-01 -3.11642099e-02 2.01125806e+02] [ 3.36194717e-02 -8.55281471e-03 9.99398109e-01 1.08990088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.48, Y:201.15, Z:108.99 [[ 2.03641048e-01 -9.79018181e-01 -7.32973702e-03 3.08480799e+02] [ 9.78474397e-01 2.03772235e-01 -3.26302280e-02 2.01153562e+02] [ 3.34391833e-02 -5.27106179e-04 9.99440615e-01 1.08988294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:201.18, Z:108.98 [[ 2.01602949e-01 -9.79432046e-01 8.31375265e-03 3.08479302e+02] [ 9.79047274e-01 2.01260668e-01 -3.09932170e-02 2.01183610e+02] [ 2.86825185e-02 1.43878808e-02 9.99485018e-01 1.08977071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.450385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:308.50, Y:201.21, Z:108.99 [[ 2.02149894e-01 -9.79302083e-01 -1.01415508e-02 3.08497453e+02] [ 9.78751397e-01 2.02377944e-01 -3.29980365e-02 2.01206065e+02] [ 3.43674721e-02 -3.25550739e-03 9.99403962e-01 1.08987807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:201.23, Z:108.98 [[ 2.00362432e-01 -9.79684478e-01 -8.55684064e-03 3.08505018e+02] [ 9.79251814e-01 2.00529179e-01 -2.92221371e-02 2.01233208e+02] [ 3.03443704e-02 -2.52428326e-03 9.99536316e-01 1.08984629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.510385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:308.52, Y:201.26, Z:108.99 [[ 2.00000625e-01 -9.79649132e-01 -1.69507653e-02 3.08519975e+02] [ 9.79197100e-01 2.00453192e-01 -3.14890143e-02 2.01257603e+02] [ 3.42460205e-02 -1.03003177e-02 9.99360352e-01 1.08993477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:201.29, Z:108.99 [[ 1.99266618e-01 -9.79916439e-01 -7.52251248e-03 3.08522719e+02] [ 9.79336474e-01 1.99407503e-01 -3.37152619e-02 2.01285072e+02] [ 3.45381848e-02 -6.48744636e-04 9.99403168e-01 1.08991249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.53, Y:201.31, Z:108.99 [[ 1.98788492e-01 -9.80015705e-01 -7.23555182e-03 3.08530519e+02] [ 9.79478180e-01 1.98919118e-01 -3.24604180e-02 2.01312508e+02] [ 3.32510090e-02 -6.34307584e-04 9.99446831e-01 1.08991744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:201.34, Z:108.99 [[ 1.98648425e-01 -9.80044876e-01 -7.13059689e-03 3.08536572e+02] [ 9.79521486e-01 1.98775390e-01 -3.20312896e-02 2.01339032e+02] [ 3.28094884e-02 -6.21607650e-04 9.99461431e-01 1.08992302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:201.37, Z:108.99 [[ 1.99899421e-01 -9.79790715e-01 -7.09769861e-03 3.08543998e+02] [ 9.79270552e-01 2.00024581e-01 -3.19273238e-02 2.01366446e+02] [ 3.27018095e-02 -5.68313705e-04 9.99464991e-01 1.08992813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.53, Y:201.40, Z:108.97 [[ 1.98152897e-01 -9.79963746e-01 2.01615057e-02 3.08534792e+02] [ 9.79732344e-01 1.97406885e-01 -3.39861166e-02 2.01396365e+02] [ 2.93251421e-02 2.64873267e-02 9.99218924e-01 1.08974690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:201.42, Z:109.00 [[ 2.01467141e-01 -9.79139873e-01 -2.63837067e-02 3.08569226e+02] [ 9.78868159e-01 2.02228821e-01 -3.03419175e-02 2.01417592e+02] [ 3.50445272e-02 -1.97132710e-02 9.99191307e-01 1.09000682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.56, Y:201.45, Z:108.99 [[ 1.99594946e-01 -9.79872710e-01 -3.36587474e-03 3.08563898e+02] [ 9.79416024e-01 1.99605090e-01 -3.00343212e-02 2.01447571e+02] [ 3.01016575e-02 2.69810707e-03 9.99543201e-01 1.08988164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:201.47, Z:108.99 [[ 1.98592198e-01 -9.80058251e-01 -6.85297955e-03 3.08572472e+02] [ 9.79624727e-01 1.98708264e-01 -2.91619688e-02 2.01474419e+02] [ 2.99421718e-02 -9.22008739e-04 9.99551207e-01 1.08990172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:201.50, Z:108.99 [[ 1.98930968e-01 -9.79996837e-01 -5.71567395e-03 3.08578061e+02] [ 9.79548616e-01 1.99012841e-01 -2.96378025e-02 2.01502492e+02] [ 3.01824452e-02 2.97096242e-04 9.99544362e-01 1.08990220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:201.53, Z:108.99 [[ 1.99965507e-01 -9.79756224e-01 -9.56755447e-03 3.08586058e+02] [ 9.79331354e-01 2.00162658e-01 -2.90690440e-02 2.01526903e+02] [ 3.03956439e-02 -3.55699997e-03 9.99531617e-01 1.08992807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.59, Y:201.56, Z:108.99 [[ 2.00281890e-01 -9.79732516e-01 -3.37069488e-03 3.08591974e+02] [ 9.79265444e-01 2.00290917e-01 -3.03766146e-02 2.01555729e+02] [ 3.04360766e-02 2.78308075e-03 9.99532841e-01 1.08991503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.870385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.61, Y:201.58, Z:109.00 [[ 2.03581990e-01 -9.78881460e-01 -1.85865529e-02 3.08610139e+02] [ 9.78484497e-01 2.04075725e-01 -3.03510889e-02 2.01579899e+02] [ 3.35031824e-02 -1.20077188e-02 9.99366475e-01 1.09003258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.61, Y:201.61, Z:109.00 [[ 2.01554943e-01 -9.79466032e-01 -4.67945653e-03 3.08609088e+02] [ 9.78895301e-01 2.01597557e-01 -3.35024688e-02 2.01608899e+02] [ 3.37578972e-02 2.17189017e-03 9.99427680e-01 1.08998918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.61, Y:201.64, Z:108.99 [[ 1.98637966e-01 -9.80072310e-01 1.10692927e-03 3.08609903e+02] [ 9.79619332e-01 1.98511545e-01 -3.06452582e-02 2.01635750e+02] [ 2.98148308e-02 7.17168106e-03 9.99529711e-01 1.08992932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:201.66, Z:109.00 [[ 1.99796737e-01 -9.79730521e-01 -1.44696034e-02 3.08628478e+02] [ 9.79270621e-01 2.00161593e-01 -3.10545799e-02 2.01662081e+02] [ 3.33213787e-02 -7.96505372e-03 9.99412950e-01 1.09004263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:201.69, Z:108.99 [[ 1.96209301e-01 -9.80561233e-01 1.25660842e-03 3.08625864e+02] [ 9.80078280e-01 1.96072091e-01 -3.16591153e-02 2.01689611e+02] [ 3.07973152e-02 7.44338750e-03 9.99497935e-01 1.08994578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.64, Y:201.72, Z:109.00 [[ 1.94593494e-01 -9.80859046e-01 -6.99316171e-03 3.08639165e+02] [ 9.80380926e-01 1.94717056e-01 -3.06350885e-02 2.01715284e+02] [ 3.14103916e-02 -8.94573431e-04 9.99506172e-01 1.08999469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:201.74, Z:109.01 [[ 1.96521783e-01 -9.80394508e-01 -1.43456140e-02 3.08652439e+02] [ 9.79907234e-01 1.96890502e-01 -3.18738687e-02 2.01742993e+02] [ 3.40734810e-02 -7.79346136e-03 9.99388943e-01 1.09008123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.67, Y:201.77, Z:109.02 [[ 1.95483335e-01 -9.80359670e-01 -2.60994836e-02 3.08665167e+02] [ 9.79972781e-01 1.96297412e-01 -3.34764677e-02 2.01767785e+02] [ 3.79422399e-02 -1.90326919e-02 9.99098665e-01 1.09017470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.66, Y:201.80, Z:109.01 [[ 1.95707525e-01 -9.80658848e-01 -2.60534937e-03 3.08661162e+02] [ 9.79955442e-01 1.95666621e-01 -3.74420200e-02 2.01798842e+02] [ 3.72276282e-02 4.77455878e-03 9.99295405e-01 1.09008054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.66, Y:201.83, Z:109.00 [[ 1.95875981e-01 -9.80616132e-01 4.96011145e-03 3.08664468e+02] [ 9.79995683e-01 1.95565329e-01 -3.69142737e-02 2.01826366e+02] [ 3.52287064e-02 1.20915074e-02 9.99306126e-01 1.09002255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.69, Y:201.85, Z:109.02 [[ 1.95639984e-01 -9.80388403e-01 -2.37397630e-02 3.08685370e+02] [ 9.79951041e-01 1.96368610e-01 -3.36946162e-02 2.01850175e+02] [ 3.76955552e-02 -1.66717912e-02 9.99150187e-01 1.09017910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.68, Y:201.88, Z:109.01 [[ 1.94734057e-01 -9.80832661e-01 -6.77772974e-03 3.08684168e+02] [ 9.80102099e-01 1.94850607e-01 -3.78565341e-02 2.01879285e+02] [ 3.84515698e-02 7.29089315e-04 9.99260199e-01 1.09010730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:201.91, Z:109.00 [[ 1.95149272e-01 -9.80748827e-01 6.96411788e-03 3.08684547e+02] [ 9.80139996e-01 1.94763112e-01 -3.73218306e-02 2.01908332e+02] [ 3.52469883e-02 1.41091386e-02 9.99279031e-01 1.09003611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.260385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:308.70, Y:201.93, Z:109.01 [[ 1.94560747e-01 -9.80860230e-01 -7.70221475e-03 3.08698583e+02] [ 9.80221178e-01 1.94712022e-01 -3.54072003e-02 2.01934110e+02] [ 3.62292285e-02 -6.61022657e-04 9.99343287e-01 1.09009947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.70, Y:201.96, Z:109.01 [[ 1.94315164e-01 -9.80909291e-01 -7.65376050e-03 3.08704500e+02] [ 9.80276627e-01 1.94464731e-01 -3.52307096e-02 2.01960173e+02] [ 3.60465168e-02 -6.56941420e-04 9.99349897e-01 1.09010530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:201.99, Z:109.02 [[ 1.94758198e-01 -9.80490296e-01 -2.66087053e-02 3.08721320e+02] [ 9.80040529e-01 1.95628377e-01 -3.53567538e-02 2.01985745e+02] [ 3.98723719e-02 -1.91915920e-02 9.99020459e-01 1.09024247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.72, Y:202.02, Z:109.01 [[ 1.94361646e-01 -9.80923390e-01 -3.58513496e-03 3.08716698e+02] [ 9.80186496e-01 1.94355310e-01 -3.82157913e-02 2.02015479e+02] [ 3.81835536e-02 3.91358325e-03 9.99263079e-01 1.09014758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:202.04, Z:109.02 [[ 1.94016676e-01 -9.80958543e-01 -8.82425881e-03 3.08727071e+02] [ 9.80246412e-01 1.94212240e-01 -3.73975627e-02 2.02042241e+02] [ 3.83992376e-02 -1.39419725e-03 9.99261505e-01 1.09018666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:202.07, Z:109.02 [[ 1.93369291e-01 -9.81112015e-01 -5.24701787e-03 3.08731723e+02] [ 9.80408329e-01 1.93429594e-01 -3.72088921e-02 2.02070358e+02] [ 3.75210196e-02 2.05083705e-03 9.99293734e-01 1.09017124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:202.10, Z:109.02 [[ 1.91955760e-01 -9.81361213e-01 -9.11894771e-03 3.08740108e+02] [ 9.80678606e-01 1.92162763e-01 -3.66462013e-02 2.02097736e+02] [ 3.77154828e-02 -1.90830750e-03 9.99286696e-01 1.09019408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4703857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:308.74, Y:202.13, Z:109.01 [[ 1.89089141e-01 -9.81943688e-01 5.64721785e-03 3.08737254e+02] [ 9.81331920e-01 1.88759439e-01 -3.68447726e-02 2.02126044e+02] [ 3.51135262e-02 1.25087415e-02 9.99305044e-01 1.09008518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.75, Y:202.15, Z:109.02 [[ 1.89494856e-01 -9.81844089e-01 -8.59564435e-03 3.08752208e+02] [ 9.81253269e-01 1.89679476e-01 -3.41133137e-02 2.02151518e+02] [ 3.51243727e-02 -1.97020666e-03 9.99381007e-01 1.09016899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.76, Y:202.18, Z:109.01 [[ 1.85785003e-01 -9.82581668e-01 -4.14705046e-03 3.08756230e+02] [ 9.82006845e-01 1.85818447e-01 -3.36758157e-02 2.02178332e+02] [ 3.38598377e-02 2.18402959e-03 9.99424205e-01 1.09014389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:202.21, Z:109.02 [[ 1.85885818e-01 -9.82540663e-01 -7.76590332e-03 3.08765809e+02] [ 9.81959638e-01 1.86043137e-01 -3.38115502e-02 2.02206357e+02] [ 3.46660159e-02 -1.34071595e-03 9.99398054e-01 1.09018137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:202.23, Z:109.02 [[ 1.87546516e-01 -9.82205241e-01 -9.95834190e-03 3.08774499e+02] [ 9.81578490e-01 1.87783986e-01 -3.52255940e-02 2.02233212e+02] [ 3.64687802e-02 -3.16845677e-03 9.99329770e-01 1.09021312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:202.26, Z:109.02 [[ 1.85321082e-01 -9.82675499e-01 -2.22699435e-03 3.08774412e+02] [ 9.82067938e-01 1.85285396e-01 -3.48121645e-02 2.02260601e+02] [ 3.46216907e-02 4.26436824e-03 9.99391392e-01 1.09015680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.78, Y:202.29, Z:109.02 [[ 1.83933294e-01 -9.82923614e-01 -5.45097802e-03 3.08781753e+02] [ 9.82369116e-01 1.84012646e-01 -3.30191783e-02 2.02286187e+02] [ 3.34583790e-02 7.18453789e-04 9.99439854e-01 1.09016047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:202.31, Z:109.02 [[ 1.83607852e-01 -9.82969110e-01 -7.73856876e-03 3.08790520e+02] [ 9.82416739e-01 1.83764355e-01 -3.29850365e-02 2.02314071e+02] [ 3.38453451e-02 -1.54618778e-03 9.99425886e-01 1.09018464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:202.34, Z:109.02 [[ 1.82089369e-01 -9.83270896e-01 -4.66977234e-03 3.08796163e+02] [ 9.82742813e-01 1.82144722e-01 -3.22469098e-02 2.02340705e+02] [ 3.25580223e-02 1.28263424e-03 9.99469024e-01 1.09016902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.80, Y:202.37, Z:109.02 [[ 1.81872086e-01 -9.83304455e-01 -5.90708498e-03 3.08802948e+02] [ 9.82781762e-01 1.81967988e-01 -3.20571411e-02 2.02367711e+02] [ 3.25968300e-02 2.49237316e-05 9.99468582e-01 1.09017659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.81, Y:202.40, Z:109.02 [[ 1.81696389e-01 -9.83332451e-01 -6.61156187e-03 3.08809279e+02] [ 9.82810898e-01 1.81815375e-01 -3.20297976e-02 2.02395595e+02] [ 3.26980230e-02 -6.78216478e-04 9.99465047e-01 1.09018834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:202.42, Z:109.03 [[ 1.85387382e-01 -9.82538809e-01 -1.57799529e-02 3.08822983e+02] [ 9.81983287e-01 1.85833063e-01 -3.42767637e-02 2.02422952e+02] [ 3.66106875e-02 -9.14117056e-03 9.99287795e-01 1.09028058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:308.83, Y:202.45, Z:109.03 [[ 1.85852402e-01 -9.82547997e-01 -7.63666421e-03 3.08825100e+02] [ 9.81900982e-01 1.86007193e-01 -3.56620979e-02 2.02451076e+02] [ 3.64601973e-02 -8.70561557e-04 9.99334727e-01 1.09025483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:308.82, Y:202.48, Z:109.02 [[ 1.84565921e-01 -9.82816386e-01 2.71522812e-03 3.08823625e+02] [ 9.82298534e-01 1.84377269e-01 -3.30849305e-02 2.02478804e+02] [ 3.20157854e-02 8.77351527e-03 9.99448856e-01 1.09016795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.83, Y:202.50, Z:109.02 [[ 1.84675314e-01 -9.82794234e-01 -3.24370528e-03 3.08831169e+02] [ 9.82322335e-01 1.84687473e-01 -3.05510555e-02 2.02504444e+02] [ 3.06244730e-02 2.45566162e-03 9.99527944e-01 1.09018264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.85, Y:202.53, Z:109.03 [[ 1.91155294e-01 -9.81369538e-01 -1.93257184e-02 3.08848153e+02] [ 9.80934496e-01 1.91699161e-01 -3.19209336e-02 2.02531754e+02] [ 3.50309559e-02 -1.28554084e-02 9.99303543e-01 1.09031875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:202.56, Z:109.03 [[ 1.92831675e-01 -9.81203962e-01 -7.39799359e-03 3.08847228e+02] [ 9.80591333e-01 1.92972698e-01 -3.46724034e-02 2.02559687e+02] [ 3.54483104e-02 -5.68470763e-04 9.99371350e-01 1.09027010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:202.59, Z:109.03 [[ 1.94145859e-01 -9.80944700e-01 -7.40812328e-03 3.08852719e+02] [ 9.80328493e-01 1.94286470e-01 -3.47680016e-02 2.02587141e+02] [ 3.55447850e-02 -5.12330785e-04 9.99367953e-01 1.09027558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:202.61, Z:109.02 [[ 1.94630478e-01 -9.80871594e-01 3.14540136e-03 3.08850388e+02] [ 9.80351635e-01 1.94420401e-01 -3.33373466e-02 2.02614837e+02] [ 3.20881261e-02 9.57206308e-03 9.99439207e-01 1.09017773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:202.64, Z:109.03 [[ 1.98854848e-01 -9.79879551e-01 -1.71118654e-02 3.08869923e+02] [ 9.79367784e-01 1.99331662e-01 -3.32510638e-02 2.02640672e+02] [ 3.59929741e-02 -1.01466745e-02 9.99300531e-01 1.09032662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:202.67, Z:109.01 [[ 1.98056937e-01 -9.80063596e-01 1.57733098e-02 3.08857068e+02] [ 9.79706444e-01 1.97427815e-01 -3.46055028e-02 2.02670514e+02] [ 3.08015035e-02 2.23070732e-02 9.99276569e-01 1.09011592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.89, Y:202.69, Z:109.04 [[ 2.01216201e-01 -9.79112124e-01 -2.91803005e-02 3.08888623e+02] [ 9.78889740e-01 2.02082951e-01 -3.06162968e-02 2.02693178e+02] [ 3.58736286e-02 -2.24038018e-02 9.99105176e-01 1.09039231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:202.72, Z:109.01 [[ 1.96743667e-01 -9.80224982e-01 2.12347273e-02 3.08864778e+02] [ 9.80055461e-01 1.95999164e-01 -3.27966495e-02 2.02723743e+02] [ 2.79861064e-02 2.72637436e-02 9.99236442e-01 1.09008398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:202.75, Z:109.04 [[ 2.00070031e-01 -9.79205293e-01 -3.36002530e-02 3.08903308e+02] [ 9.79173161e-01 2.01036563e-01 -2.83587863e-02 2.02746620e+02] [ 3.45239530e-02 -2.72267227e-02 9.99032934e-01 1.09043126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:202.78, Z:109.02 [[ 1.94733725e-01 -9.80831840e-01 6.90491960e-03 3.08886376e+02] [ 9.80395316e-01 1.94421645e-01 -3.20195140e-02 2.02776639e+02] [ 3.00632930e-02 1.30048301e-02 9.99463392e-01 1.09019933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:202.80, Z:109.04 [[ 1.96724776e-01 -9.80251082e-01 -2.01786791e-02 3.08910084e+02] [ 9.79827430e-01 1.97294910e-01 -3.18265086e-02 2.02802449e+02] [ 3.51791202e-02 -1.35105605e-02 9.99289695e-01 1.09039307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:202.83, Z:109.03 [[ 1.93022735e-01 -9.81166512e-01 -7.38232992e-03 3.08910758e+02] [ 9.80543973e-01 1.93163227e-01 -3.49497502e-02 2.02830490e+02] [ 3.57175192e-02 -4.92602743e-04 9.99361804e-01 1.09034488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.280385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:308.91, Y:202.86, Z:109.02 [[ 1.87205402e-01 -9.82298283e-01 6.64980520e-03 3.08906191e+02] [ 9.81819219e-01 1.86889229e-01 -3.32180369e-02 2.02857452e+02] [ 3.13872437e-02 1.27475025e-02 9.99426006e-01 1.09021552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:308.93, Y:202.88, Z:109.04 [[ 1.86899246e-01 -9.82170950e-01 -2.02211905e-02 3.08930374e+02] [ 9.81732707e-01 1.87483278e-01 -3.24177732e-02 2.02882925e+02] [ 3.56309302e-02 -1.37929468e-02 9.99269829e-01 1.09041233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.93, Y:202.91, Z:109.04 [[ 1.85656647e-01 -9.82586091e-01 -7.49550751e-03 3.08930138e+02] [ 9.81941500e-01 1.85806371e-01 -3.55933148e-02 2.02911855e+02] [ 3.63662091e-02 -7.52014419e-04 9.99338248e-01 1.09036882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.94, Y:202.94, Z:109.04 [[ 1.84701475e-01 -9.82764765e-01 -7.66693891e-03 3.08935792e+02] [ 9.82088611e-01 1.84858820e-01 -3.64578731e-02 2.02939749e+02] [ 3.72468144e-02 -7.95790449e-04 9.99305780e-01 1.09036563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:202.97, Z:109.04 [[ 1.84992333e-01 -9.82709978e-01 -7.67703023e-03 3.08941330e+02] [ 9.82030117e-01 1.85149932e-01 -3.65561447e-02 2.02967137e+02] [ 3.73454898e-02 -7.76468398e-04 9.99302112e-01 1.09037512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.430385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:308.95, Y:202.99, Z:109.04 [[ 1.86570710e-01 -9.82411862e-01 -7.63562585e-03 3.08946341e+02] [ 9.81737180e-01 1.86725570e-01 -3.64097824e-02 2.02993943e+02] [ 3.71951687e-02 -7.03178818e-04 9.99307773e-01 1.09037859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.95, Y:203.02, Z:109.04 [[ 1.87286780e-01 -9.82276230e-01 -7.55445928e-03 3.08951644e+02] [ 9.81613802e-01 1.87437918e-01 -3.60745137e-02 2.03021641e+02] [ 3.68511294e-02 -6.59281995e-04 9.99320549e-01 1.09038796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.96, Y:203.05, Z:109.04 [[ 1.88614974e-01 -9.82022149e-01 -7.54261207e-03 3.08956272e+02] [ 9.81359863e-01 1.88764774e-01 -3.60649368e-02 2.03048527e+02] [ 3.68403462e-02 -5.99629636e-04 9.99320984e-01 1.09040084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:203.08, Z:109.03 [[ 1.87035818e-01 -9.82339808e-01 5.10934012e-03 3.08953855e+02] [ 9.81807158e-01 1.86755970e-01 -3.43061514e-02 2.03077659e+02] [ 3.27460984e-02 1.14328658e-02 9.99398310e-01 1.09029653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:203.10, Z:109.05 [[ 1.89680340e-01 -9.81654381e-01 -1.93918534e-02 3.08971728e+02] [ 9.81128865e-01 1.90259521e-01 -3.44596189e-02 2.03102387e+02] [ 3.75169206e-02 -1.24895948e-02 9.99217940e-01 1.09046542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:203.13, Z:109.04 [[ 1.90486520e-01 -9.81678838e-01 -4.64163458e-03 3.08969071e+02] [ 9.80932194e-01 1.90523108e-01 -3.83793748e-02 2.03130971e+02] [ 3.85605587e-02 2.75762475e-03 9.99252460e-01 1.09041122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:203.16, Z:109.05 [[ 1.88918138e-01 -9.81935490e-01 -1.06127625e-02 3.08977133e+02] [ 9.81297313e-01 1.89179994e-01 -3.55881098e-02 2.03158027e+02] [ 3.69529504e-02 -3.69103583e-03 9.99310190e-01 1.09045310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:203.19, Z:109.05 [[ 1.88599245e-01 -9.82024383e-01 -7.64440838e-03 3.08981113e+02] [ 9.81336044e-01 1.88753251e-01 -3.67665513e-02 2.03185629e+02] [ 3.75485567e-02 -5.67589685e-04 9.99294643e-01 1.09045421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:203.21, Z:109.05 [[ 1.88238132e-01 -9.82094357e-01 -7.55513924e-03 3.08986130e+02] [ 9.81420341e-01 1.88388837e-01 -3.63835140e-02 2.03212223e+02] [ 3.71553477e-02 -5.66002622e-04 9.99309341e-01 1.09045951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:203.24, Z:109.04 [[ 1.87719340e-01 -9.82201243e-01 6.49372956e-03 3.08982751e+02] [ 9.81632453e-01 1.87373266e-01 -3.59024513e-02 2.03243387e+02] [ 3.40466809e-02 1.31140401e-02 9.99334201e-01 1.09035952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:203.27, Z:109.04 [[ 1.86659133e-01 -9.82398550e-01 -7.17339400e-03 3.08992088e+02] [ 9.81881241e-01 1.86793741e-01 -3.18955619e-02 2.03268441e+02] [ 3.26740988e-02 -1.08982309e-03 9.99465465e-01 1.09040977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:203.30, Z:109.04 [[ 1.87217985e-01 -9.82316030e-01 -2.15473476e-03 3.08993915e+02] [ 9.81777584e-01 1.87187240e-01 -3.27675660e-02 2.03297681e+02] [ 3.25914442e-02 4.01920739e-03 9.99460676e-01 1.09038874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.01, Y:203.32, Z:109.06 [[ 1.90016932e-01 -9.81425060e-01 -2.64275704e-02 3.09013800e+02] [ 9.81037110e-01 1.90851725e-01 -3.37906527e-02 2.03322301e+02] [ 3.82067408e-02 -1.95056311e-02 9.99079464e-01 1.09058878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.01, Y:203.35, Z:109.05 [[ 1.90122855e-01 -9.81729362e-01 -7.79491415e-03 3.09010772e+02] [ 9.81006752e-01 1.90281960e-01 -3.76633477e-02 2.03351204e+02] [ 3.84584458e-02 -4.86200227e-04 9.99260082e-01 1.09052877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.02, Y:203.38, Z:109.05 [[ 1.90205476e-01 -9.81712925e-01 -7.84926136e-03 3.09016213e+02] [ 9.80978593e-01 1.90366764e-01 -3.79670418e-02 2.03378239e+02] [ 3.87669741e-02 -4.78418113e-04 9.99248164e-01 1.09054130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.02, Y:203.41, Z:109.05 [[ 1.91509684e-01 -9.81459978e-01 -7.76875349e-03 3.09020489e+02] [ 9.80738480e-01 1.91666748e-01 -3.76283310e-02 2.03405839e+02] [ 3.84197126e-02 -4.12925705e-04 9.99261605e-01 1.09054812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:203.43, Z:109.06 [[ 1.92296778e-01 -9.81306067e-01 -7.76871555e-03 3.09025693e+02] [ 9.80582459e-01 1.92453281e-01 -3.76799219e-02 2.03433521e+02] [ 3.84706507e-02 -3.72138612e-04 9.99259661e-01 1.09055578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:203.46, Z:109.04 [[ 1.93509982e-01 -9.81039127e-01 1.07758388e-02 3.09023052e+02] [ 9.80467520e-01 1.92980108e-01 -3.79752735e-02 2.03464666e+02] [ 3.51757066e-02 1.79139544e-02 9.99220576e-01 1.09043553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.04, Y:203.49, Z:109.05 [[ 1.92719633e-01 -9.81184789e-01 -1.16427250e-02 3.09038294e+02] [ 9.80610296e-01 1.93009337e-01 -3.39240742e-02 2.03488118e+02] [ 3.55329402e-02 -4.87914088e-03 9.99356595e-01 1.09054390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.04, Y:203.52, Z:109.05 [[ 1.94440828e-01 -9.80912527e-01 -1.83801155e-03 3.09041550e+02] [ 9.80321559e-01 1.94388129e-01 -3.43932591e-02 2.03519243e+02] [ 3.40940663e-02 4.88561143e-03 9.99406687e-01 1.09051371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.030385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:309.05, Y:203.55, Z:109.05 [[ 1.94013788e-01 -9.80991156e-01 -3.87329309e-03 3.09047905e+02] [ 9.80429139e-01 1.94034150e-01 -3.33084553e-02 2.03547476e+02] [ 3.34268512e-02 2.66481018e-03 9.99437614e-01 1.09053059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.06, Y:203.57, Z:109.07 [[ 1.94389626e-01 -9.80541695e-01 -2.73981513e-02 3.09063032e+02] [ 9.80221293e-01 1.95231847e-01 -3.24151651e-02 2.03569464e+02] [ 3.71334126e-02 -2.05550795e-02 9.99098893e-01 1.09071083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.06, Y:203.60, Z:109.06 [[ 1.94129891e-01 -9.80948076e-01 -7.37959989e-03 3.09058875e+02] [ 9.80282038e-01 1.94269982e-01 -3.61427875e-02 2.03599081e+02] [ 3.68878325e-02 -2.17693817e-04 9.99319389e-01 1.09064277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.120385723 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:309.06, Y:203.63, Z:109.05 [[ 1.93130806e-01 -9.81080325e-01 1.34865530e-02 3.09056061e+02] [ 9.80584624e-01 1.92520798e-01 -3.72764907e-02 2.03631822e+02] [ 3.39747897e-02 2.04239451e-02 9.99213979e-01 1.09051567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:203.65, Z:109.07 [[ 1.90683436e-01 -9.81253892e-01 -2.79396882e-02 3.09079538e+02] [ 9.80914131e-01 1.91566021e-01 -3.33155806e-02 2.03651727e+02] [ 3.80433380e-02 -2.10537056e-02 9.99054276e-01 1.09074115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:203.68, Z:109.05 [[ 1.87576977e-01 -9.82229007e-01 6.40751812e-03 3.09066430e+02] [ 9.81657398e-01 1.87233295e-01 -3.59505977e-02 2.03683397e+02] [ 3.41120192e-02 1.30334920e-02 9.99333027e-01 1.09054237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.09, Y:203.71, Z:109.07 [[ 1.88742296e-01 -9.81806819e-01 -2.07777548e-02 3.09086373e+02] [ 9.81281015e-01 1.89381115e-01 -3.49623061e-02 2.03707866e+02] [ 3.82611449e-02 -1.37899505e-02 9.99172619e-01 1.09072597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.08, Y:203.74, Z:109.07 [[ 1.87520658e-01 -9.82230644e-01 -7.67881736e-03 3.09084681e+02] [ 9.81501996e-01 1.87677290e-01 -3.78294410e-02 2.03736638e+02] [ 3.85983759e-02 -4.42972878e-04 9.99254707e-01 1.09068047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:203.76, Z:109.06 [[ 1.86485137e-01 -9.82449303e-01 4.08184684e-03 3.09082233e+02] [ 9.81816757e-01 1.86211792e-01 -3.68920757e-02 2.03762722e+02] [ 3.54845061e-02 1.08874494e-02 9.99310919e-01 1.09058563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:203.79, Z:109.07 [[ 1.86408773e-01 -9.82306617e-01 -1.80410419e-02 3.09099695e+02] [ 9.81728217e-01 1.86950717e-01 -3.54843237e-02 2.03790463e+02] [ 3.82292717e-02 -1.10968106e-02 9.99207378e-01 1.09074896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:203.82, Z:109.07 [[ 1.85846509e-01 -9.82551216e-01 -7.36095601e-03 3.09098964e+02] [ 9.81880585e-01 1.85991604e-01 -3.62993143e-02 2.03818334e+02] [ 3.70350114e-02 -4.81478945e-04 9.99313853e-01 1.09072442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.360385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:309.10, Y:203.85, Z:109.06 [[ 1.85212046e-01 -9.82648345e-01 9.93616529e-03 3.09096013e+02] [ 9.82122686e-01 1.84747936e-01 -3.61002614e-02 2.03850283e+02] [ 3.36381761e-02 1.64447366e-02 9.99298776e-01 1.09060798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:203.88, Z:109.07 [[ 1.84439006e-01 -9.82808988e-01 -8.29135591e-03 3.09108079e+02] [ 9.82264805e-01 1.84613329e-01 -3.27684519e-02 2.03876083e+02] [ 3.37358239e-02 -2.10052639e-03 9.99428578e-01 1.09068927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:203.90, Z:109.07 [[ 1.81442534e-01 -9.83335436e-01 -1.14029931e-02 3.09107578e+02] [ 9.82825716e-01 1.81720854e-01 -3.21114269e-02 2.03901323e+02] [ 3.36484656e-02 -5.38077624e-03 9.99419245e-01 1.09070209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:203.93, Z:109.08 [[ 1.85501787e-01 -9.82454159e-01 -1.93109642e-02 3.09119670e+02] [ 9.81855832e-01 1.86104130e-01 -3.63920152e-02 2.03930343e+02] [ 3.93473369e-02 -1.22097990e-02 9.99150994e-01 1.09081974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.480385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:309.11, Y:203.96, Z:109.07 [[ 1.83128580e-01 -9.83085932e-01 2.44393976e-03 3.09108168e+02] [ 9.82422603e-01 1.82912368e-01 -3.72678775e-02 2.03959487e+02] [ 3.61904993e-02 9.22579514e-03 9.99302323e-01 1.09068523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:203.99, Z:109.07 [[ 1.83698820e-01 -9.82947199e-01 -8.33948996e-03 3.09117554e+02] [ 9.82314541e-01 1.83880096e-01 -3.53023018e-02 2.03987328e+02] [ 3.62337649e-02 -1.70701105e-03 9.99341884e-01 1.09073835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:204.02, Z:109.07 [[ 1.84199060e-01 -9.82865775e-01 -6.75085378e-03 3.09119500e+02] [ 9.82233274e-01 1.84322676e-01 -3.52554600e-02 2.04016497e+02] [ 3.58957205e-02 -1.36890609e-04 9.99355532e-01 1.09074303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:204.04, Z:109.08 [[ 1.86362471e-01 -9.82360825e-01 -1.53700731e-02 3.09129339e+02] [ 9.81719320e-01 1.86811110e-01 -3.64525186e-02 2.04043675e+02] [ 3.86808267e-02 -8.29571624e-03 9.99217181e-01 1.09083564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:204.07, Z:109.08 [[ 1.86239135e-01 -9.82476097e-01 -7.46351754e-03 3.09127271e+02] [ 9.81782009e-01 1.86388081e-01 -3.69265594e-02 2.04072496e+02] [ 3.76705727e-02 -4.50376746e-04 9.99290111e-01 1.09081112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:204.10, Z:109.08 [[ 1.85899395e-01 -9.82541292e-01 -7.35017003e-03 3.09130935e+02] [ 9.81866271e-01 1.86044109e-01 -3.64172342e-02 2.04099490e+02] [ 3.71488921e-02 -4.46942231e-04 9.99309642e-01 1.09082027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:204.13, Z:109.08 [[ 1.85742568e-01 -9.82572800e-01 -7.09862612e-03 3.09135066e+02] [ 9.81941380e-01 1.85877672e-01 -3.52224018e-02 2.04126791e+02] [ 3.59280501e-02 -4.28135360e-04 9.99354288e-01 1.09082964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:204.15, Z:109.08 [[ 1.85490378e-01 -9.82620510e-01 -7.08894104e-03 3.09140632e+02] [ 9.81989050e-01 1.85625297e-01 -3.52243509e-02 2.04154801e+02] [ 3.59280564e-02 -4.27484300e-04 9.99354288e-01 1.09084007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.14, Y:204.18, Z:109.09 [[ 1.84241730e-01 -9.82857567e-01 -6.78138831e-03 3.09143301e+02] [ 9.82278421e-01 1.84365952e-01 -3.37387063e-02 2.04182782e+02] [ 3.44105999e-02 -4.45133784e-04 9.99407681e-01 1.09085784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:204.21, Z:109.10 [[ 1.82342405e-01 -9.83039560e-01 -1.96079463e-02 3.09152710e+02] [ 9.82543235e-01 1.82925848e-01 -3.38662888e-02 2.04210132e+02] [ 3.68787018e-02 -1.30903944e-02 9.99234008e-01 1.09095457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:204.24, Z:109.08 [[ 1.80858476e-01 -9.83492617e-01 5.69951901e-03 3.09144254e+02] [ 9.82939471e-01 1.80553475e-01 -3.50776180e-02 2.04239859e+02] [ 3.34695103e-02 1.19463667e-02 9.99368339e-01 1.09084511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:204.27, Z:109.09 [[ 1.79426057e-01 -9.83749973e-01 -6.50235030e-03 3.09151991e+02] [ 9.83214403e-01 1.79542939e-01 -3.24618523e-02 2.04265374e+02] [ 3.31017974e-02 -5.68702321e-04 9.99451824e-01 1.09090229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:204.29, Z:109.09 [[ 1.79085121e-01 -9.83812200e-01 -6.48647960e-03 3.09154415e+02] [ 9.83277674e-01 1.79201647e-01 -3.24312587e-02 2.04293901e+02] [ 3.30686558e-02 -5.70054671e-04 9.99452920e-01 1.09090821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:204.32, Z:109.09 [[ 1.78813282e-01 -9.83861959e-01 -6.43857082e-03 3.09153299e+02] [ 9.83333846e-01 1.78928264e-01 -3.22370090e-02 2.04322699e+02] [ 3.28688091e-02 -5.66859230e-04 9.99459514e-01 1.09090069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.15, Y:204.35, Z:109.09 [[ 1.76315590e-01 -9.84312387e-01 -6.47596787e-03 3.09154293e+02] [ 9.83776858e-01 1.76433298e-01 -3.24712927e-02 2.04350111e+02] [ 3.31044720e-02 -6.45712173e-04 9.99451688e-01 1.09091599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.38, Z:109.10 [[ 1.75065021e-01 -9.84352328e-01 -2.00682249e-02 3.09165393e+02] [ 9.83887955e-01 1.75660969e-01 -3.32823711e-02 2.04377774e+02] [ 3.62867833e-02 -1.39183058e-02 9.99244490e-01 1.09101680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.15, Y:204.41, Z:109.09 [[ 1.70555338e-01 -9.85326641e-01 6.50287696e-03 3.09150326e+02] [ 9.84797846e-01 1.70235857e-01 -3.45392012e-02 2.04407601e+02] [ 3.29253723e-02 1.22948643e-02 9.99382187e-01 1.09089202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:204.43, Z:109.09 [[ 1.69191050e-01 -9.85561846e-01 -6.49890754e-03 3.09158065e+02] [ 9.85019007e-01 1.69313607e-01 -3.27178597e-02 2.04434511e+02] [ 3.33458277e-02 -8.65978412e-04 9.99443498e-01 1.09093706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.46, Z:109.10 [[ 1.68603044e-01 -9.85425807e-01 -2.25608730e-02 3.09167462e+02] [ 9.84932254e-01 1.69324086e-01 -3.51825097e-02 2.04461864e+02] [ 3.84898522e-02 -1.62890533e-02 9.99126217e-01 1.09103140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:204.49, Z:109.09 [[ 1.68099230e-01 -9.85737251e-01 8.04492512e-03 3.09150246e+02] [ 9.85106853e-01 1.67681222e-01 -3.80459672e-02 2.04493134e+02] [ 3.61543442e-02 1.43206087e-02 9.99243606e-01 1.09088630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:204.52, Z:109.09 [[ 1.68311455e-01 -9.85694498e-01 8.80965558e-03 3.09151731e+02] [ 9.84895974e-01 1.67793257e-01 -4.27240442e-02 2.04520462e+02] [ 4.06346546e-02 1.58675403e-02 9.99048070e-01 1.09088579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.55, Z:109.10 [[ 1.67707241e-01 -9.85572543e-01 -2.28264011e-02 3.09167271e+02] [ 9.85177637e-01 1.68396776e-01 -3.26733706e-02 2.04546623e+02] [ 3.60458693e-02 -1.70084991e-02 9.99205387e-01 1.09100134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:204.58, Z:109.09 [[ 1.67431429e-01 -9.85880226e-01 2.62605004e-03 3.09156216e+02] [ 9.85095728e-01 1.67190534e-01 -4.04194563e-02 2.04578128e+02] [ 3.94096920e-02 9.35439798e-03 9.99179349e-01 1.09092304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:204.60, Z:109.10 [[ 1.68026579e-01 -9.85625125e-01 -1.76119997e-02 3.09163911e+02] [ 9.85064452e-01 1.68559166e-01 -3.51544105e-02 2.04603727e+02] [ 3.76177342e-02 -1.14420795e-02 9.99226694e-01 1.09099141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:204.63, Z:109.10 [[ 1.68526767e-01 -9.85669160e-01 -7.41857520e-03 3.09161246e+02] [ 9.84950572e-01 1.68687222e-01 -3.76429591e-02 2.04632670e+02] [ 3.83549227e-02 -9.63083689e-04 9.99263715e-01 1.09096798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:204.66, Z:109.10 [[ 1.70367595e-01 -9.85352731e-01 -7.40794857e-03 3.09162100e+02] [ 9.84633821e-01 1.70526301e-01 -3.76433181e-02 2.04660068e+02] [ 3.83551963e-02 -8.80915127e-04 9.99263781e-01 1.09098042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.69, Z:109.10 [[ 1.71108335e-01 -9.85224490e-01 -7.39206766e-03 3.09165321e+02] [ 9.84506352e-01 1.71265871e-01 -3.76197367e-02 2.04687848e+02] [ 3.83298948e-02 -8.40487050e-04 9.99264786e-01 1.09099449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.72, Z:109.10 [[ 1.71781739e-01 -9.85108067e-01 -7.28913097e-03 3.09165899e+02] [ 9.84407676e-01 1.71934485e-01 -3.71491637e-02 2.04715377e+02] [ 3.78491938e-02 -7.93928540e-04 9.99283147e-01 1.09099971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.74, Z:109.10 [[ 1.71383530e-01 -9.85176896e-01 -7.36005095e-03 3.09166888e+02] [ 9.84460642e-01 1.71539597e-01 -3.75687506e-02 2.04744220e+02] [ 3.82744052e-02 -8.07015410e-04 9.99266941e-01 1.09100730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.77, Z:109.10 [[ 1.71306967e-01 -9.85189998e-01 -7.38856490e-03 3.09170607e+02] [ 9.84466013e-01 1.71464348e-01 -3.77709802e-02 2.04770679e+02] [ 3.84784674e-02 -8.03358948e-04 9.99259107e-01 1.09101429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:204.80, Z:109.10 [[ 1.71262531e-01 -9.85197683e-01 -7.39400181e-03 3.09174763e+02] [ 9.84470660e-01 1.71420217e-01 -3.78500889e-02 2.04798109e+02] [ 3.85573013e-02 -7.96875819e-04 9.99256073e-01 1.09102457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:204.83, Z:109.10 [[ 1.72621752e-01 -9.84961176e-01 -7.29468522e-03 3.09177532e+02] [ 9.84251246e-01 1.72774295e-01 -3.73968909e-02 2.04826371e+02] [ 3.80948197e-02 -7.24286213e-04 9.99273866e-01 1.09103688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:204.85, Z:109.10 [[ 1.73841480e-01 -9.84747360e-01 -7.19559354e-03 3.09180906e+02] [ 9.84054370e-01 1.73989089e-01 -3.69431255e-02 2.04853158e+02] [ 3.76316000e-02 -6.58607660e-04 9.99291464e-01 1.09104391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:204.88, Z:109.11 [[ 1.76339269e-01 -9.84303226e-01 -7.18481133e-03 3.09183340e+02] [ 9.83610524e-01 1.76484703e-01 -3.69254156e-02 2.04881750e+02] [ 3.76138150e-02 -5.55655236e-04 9.99292196e-01 1.09105040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:204.91, Z:109.11 [[ 1.77710824e-01 -9.84056711e-01 -7.15909669e-03 3.09187352e+02] [ 9.83366676e-01 1.77854288e-01 -3.68487790e-02 2.04910034e+02] [ 3.75345643e-02 -4.91590248e-04 9.99295209e-01 1.09106275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:204.94, Z:109.10 [[ 1.78290641e-01 -9.83977091e-01 1.23782375e-03 3.09187349e+02] [ 9.83199607e-01 1.78099460e-01 -3.99889397e-02 2.04937792e+02] [ 3.91277448e-02 8.34668150e-03 9.99199356e-01 1.09104507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:204.96, Z:109.11 [[ 1.79456390e-01 -9.83643982e-01 -1.54894061e-02 3.09199363e+02] [ 9.83132579e-01 1.79883515e-01 -3.30492579e-02 2.04963623e+02] [ 3.52949924e-02 -9.29723930e-03 9.99333691e-01 1.09111022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:204.99, Z:109.11 [[ 1.79781295e-01 -9.83684002e-01 -6.66859513e-03 3.09199251e+02] [ 9.83080746e-01 1.79904565e-01 -3.44469788e-02 2.04992676e+02] [ 3.50846526e-02 -3.62845010e-04 9.99384278e-01 1.09109544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:205.02, Z:109.12 [[ 1.79377086e-01 -9.83523956e-01 -2.24608379e-02 3.09210163e+02] [ 9.83038812e-01 1.80081469e-01 -3.47182809e-02 2.05017994e+02] [ 3.81910417e-02 -1.58522113e-02 9.99144710e-01 1.09117364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:205.05, Z:109.11 [[ 1.78979468e-01 -9.83815749e-01 8.53942244e-03 3.09201042e+02] [ 9.83200199e-01 1.78537925e-01 -3.79681098e-02 2.05049323e+02] [ 3.58290136e-02 1.51914739e-02 9.99242464e-01 1.09107082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:205.07, Z:109.11 [[ 1.75561948e-01 -9.84442823e-01 -7.09443668e-03 3.09214446e+02] [ 9.83755787e-01 1.75704454e-01 -3.67763153e-02 2.05074659e+02] [ 3.74507038e-02 -5.22671591e-04 9.99298340e-01 1.09111007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:205.10, Z:109.11 [[ 1.72878106e-01 -9.84916499e-01 -7.25607978e-03 3.09220017e+02] [ 9.84196171e-01 1.73029170e-01 -3.76670029e-02 2.05101734e+02] [ 3.83543661e-02 -6.29605831e-04 9.99264002e-01 1.09111876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:205.13, Z:109.11 [[ 1.67456283e-01 -9.85851608e-01 -7.41616198e-03 3.09226436e+02] [ 9.85097689e-01 1.67618273e-01 -3.85571951e-02 2.05129193e+02] [ 3.92547570e-02 -8.48999447e-04 9.99228874e-01 1.09113288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:205.16, Z:109.11 [[ 1.65340255e-01 -9.86208153e-01 -7.48856832e-03 3.09232085e+02] [ 9.85437442e-01 1.65507127e-01 -3.89927966e-02 2.05155463e+02] [ 3.96944254e-02 -9.32436666e-04 9.99211431e-01 1.09114440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:205.18, Z:109.12 [[ 1.62073184e-01 -9.86748673e-01 -7.70323031e-03 3.09237828e+02] [ 9.85931398e-01 1.62252519e-01 -4.01671441e-02 2.05182562e+02] [ 4.08847446e-02 -1.08483968e-03 9.99163280e-01 1.09115513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:205.21, Z:109.12 [[ 1.61289255e-01 -9.86877318e-01 -7.67687930e-03 3.09242931e+02] [ 9.86063324e-01 1.61468077e-01 -4.00896763e-02 2.05208996e+02] [ 4.08031632e-02 -1.10385508e-03 9.99166594e-01 1.09116347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:205.24, Z:109.12 [[ 1.61245883e-01 -9.86884498e-01 -7.66510018e-03 3.09248334e+02] [ 9.86070766e-01 1.61424252e-01 -4.00831069e-02 2.05236674e+02] [ 4.07947299e-02 -1.09509525e-03 9.99166948e-01 1.09117554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:205.26, Z:109.12 [[ 1.60895615e-01 -9.86942872e-01 -7.50791351e-03 3.09253059e+02] [ 9.86159926e-01 1.61067086e-01 -3.93191214e-02 2.05263335e+02] [ 4.00150044e-02 -1.07772921e-03 9.99198498e-01 1.09118796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:205.29, Z:109.12 [[ 1.60253987e-01 -9.87049245e-01 -7.24202837e-03 3.09256889e+02] [ 9.86318661e-01 1.60414067e-01 -3.79845666e-02 2.05290794e+02] [ 3.86543611e-02 -1.05576946e-03 9.99252083e-01 1.09119825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:205.32, Z:109.12 [[ 1.60049855e-01 -9.87082082e-01 -7.28062157e-03 3.09261305e+02] [ 9.86341482e-01 1.60211859e-01 -3.82445021e-02 2.05318011e+02] [ 3.89169047e-02 -1.06015203e-03 9.99241888e-01 1.09120820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:205.35, Z:109.12 [[ 1.59628148e-01 -9.87150014e-01 -7.32830807e-03 3.09265518e+02] [ 9.86397459e-01 1.59792664e-01 -3.85533195e-02 2.05346146e+02] [ 3.92289197e-02 -1.07442947e-03 9.99229672e-01 1.09121299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:205.37, Z:109.12 [[ 1.59107715e-01 -9.87234026e-01 -7.32891444e-03 3.09269465e+02] [ 9.86479156e-01 1.59272718e-01 -3.86144646e-02 2.05374288e+02] [ 3.92888094e-02 -1.08596211e-03 9.99227307e-01 1.09122341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:205.40, Z:109.12 [[ 1.57886665e-01 -9.87429926e-01 -7.34454967e-03 3.09274501e+02] [ 9.86669686e-01 1.58053377e-01 -3.87564367e-02 2.05401022e+02] [ 3.94300963e-02 -1.12751999e-03 9.99221695e-01 1.09123674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:205.43, Z:109.13 [[ 1.56830527e-01 -9.87598308e-01 -7.33269247e-03 3.09279604e+02] [ 9.86838564e-01 1.56997575e-01 -3.87480432e-02 2.05427245e+02] [ 3.94187168e-02 -1.15930769e-03 9.99222108e-01 1.09125173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:205.45, Z:109.13 [[ 1.55903624e-01 -9.87746472e-01 -7.13918966e-03 3.09283869e+02] [ 9.87024230e-01 1.56062717e-01 -3.77835790e-02 2.05454646e+02] [ 3.84347582e-02 -1.15595629e-03 9.99260443e-01 1.09126640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:205.48, Z:109.13 [[ 1.55578646e-01 -9.87797687e-01 -7.14241448e-03 3.09287752e+02] [ 9.87072686e-01 1.55738186e-01 -3.78566977e-02 2.05482032e+02] [ 3.85071051e-02 -1.16038847e-03 9.99257653e-01 1.09127312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:205.51, Z:109.13 [[ 1.55926539e-01 -9.87742463e-01 -7.19310255e-03 3.09291719e+02] [ 9.87004816e-01 1.56088160e-01 -3.81834905e-02 2.05509917e+02] [ 3.88382131e-02 -1.14580732e-03 9.99244855e-01 1.09127815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:205.54, Z:109.13 [[ 1.57461357e-01 -9.87498226e-01 -7.29209696e-03 3.09294295e+02] [ 9.86737536e-01 1.57626342e-01 -3.87681753e-02 2.05537351e+02] [ 3.94329309e-02 -1.09089629e-03 9.99221624e-01 1.09128185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:205.57, Z:109.13 [[ 1.58334196e-01 -9.87359295e-01 -7.20446711e-03 3.09297875e+02] [ 9.86614618e-01 1.58494638e-01 -3.83542137e-02 2.05565216e+02] [ 3.90112588e-02 -1.03524898e-03 9.99238235e-01 1.09128484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:205.59, Z:109.13 [[ 1.57686493e-01 -9.87463629e-01 -7.10989883e-03 3.09302813e+02] [ 9.86736336e-01 1.57843285e-01 -3.79064614e-02 2.05592604e+02] [ 3.85535017e-02 -1.03825856e-03 9.99255998e-01 1.09129183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:205.62, Z:109.13 [[ 1.56366920e-01 -9.87673878e-01 -7.04955345e-03 3.09307657e+02] [ 9.86956963e-01 1.56522078e-01 -3.76402989e-02 2.05620210e+02] [ 3.82797507e-02 -1.07190826e-03 9.99266487e-01 1.09130325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:205.65, Z:109.13 [[ 1.53191830e-01 -9.88172632e-01 -6.86389319e-03 3.09311873e+02] [ 9.87491395e-01 1.53341173e-01 -3.67046373e-02 2.05646650e+02] [ 3.73230355e-02 -1.15518491e-03 9.99302585e-01 1.09131298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:205.67, Z:109.13 [[ 1.51364073e-01 -9.88455467e-01 -6.68639811e-03 3.09316168e+02] [ 9.87807509e-01 1.51507047e-01 -3.58042034e-02 2.05674569e+02] [ 3.64038970e-02 -1.18540421e-03 9.99336455e-01 1.09132147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:205.70, Z:109.13 [[ 1.47728159e-01 -9.89006318e-01 -6.54936331e-03 3.09320202e+02] [ 9.88383288e-01 1.47867687e-01 -3.51229811e-02 2.05702019e+02] [ 3.57052894e-02 -1.28462791e-03 9.99361537e-01 1.09133230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:205.73, Z:109.13 [[ 1.44783524e-01 -9.89441704e-01 -6.54566009e-03 3.09324605e+02] [ 9.88817890e-01 1.44924820e-01 -3.51564770e-02 2.05730067e+02] [ 3.57339131e-02 -1.38238716e-03 9.99360384e-01 1.09133847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:205.76, Z:109.13 [[ 1.38482244e-01 -9.90342225e-01 -6.70413566e-03 3.09327180e+02] [ 9.89686687e-01 1.38634720e-01 -3.60648959e-02 2.05757297e+02] [ 3.66460152e-02 -1.64064609e-03 9.99326962e-01 1.09134658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:205.79, Z:109.14 [[ 1.31868064e-01 -9.91245158e-01 -6.62198840e-03 3.09328666e+02] [ 9.90604824e-01 1.32021185e-01 -3.56719705e-02 2.05785784e+02] [ 3.62339108e-02 -1.85577996e-03 9.99341613e-01 1.09136291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:205.81, Z:109.14 [[ 1.28546127e-01 -9.91681484e-01 -6.61273463e-03 3.09331461e+02] [ 9.91041498e-01 1.28701065e-01 -3.56761223e-02 2.05813916e+02] [ 3.62304159e-02 -1.96746710e-03 9.99341526e-01 1.09137597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.520385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.33, Y:205.84, Z:109.14 [[ 1.25879851e-01 -9.92023562e-01 -6.59666196e-03 3.09333593e+02] [ 9.91385087e-01 1.26035863e-01 -3.56450593e-02 2.05841524e+02] [ 3.61921547e-02 -2.05283753e-03 9.99342741e-01 1.09137854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:205.87, Z:109.14 [[ 1.23032083e-01 -9.92380921e-01 -6.57378801e-03 3.09331529e+02] [ 9.91745519e-01 1.23188940e-01 -3.55711961e-02 2.05869818e+02] [ 3.61099943e-02 -2.14312646e-03 9.99345524e-01 1.09139296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:205.90, Z:109.14 [[ 1.22781686e-01 -9.92411990e-01 -6.56500280e-03 3.09336640e+02] [ 9.91776551e-01 1.22938391e-01 -3.55728174e-02 2.05897878e+02] [ 3.61099814e-02 -2.14332533e-03 9.99345524e-01 1.09140350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:205.93, Z:109.14 [[ 1.21564149e-01 -9.92562762e-01 -6.42809360e-03 3.09337211e+02] [ 9.91952042e-01 1.21715237e-01 -3.48790310e-02 2.05925610e+02] [ 3.54020243e-02 -2.13632085e-03 9.99370869e-01 1.09141416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:205.95, Z:109.14 [[ 1.19835291e-01 -9.92773584e-01 -6.33363836e-03 3.09333325e+02] [ 9.92179045e-01 1.19983121e-01 -3.44208389e-02 2.05954857e+02] [ 3.49320293e-02 -2.15927202e-03 9.99387358e-01 1.09141480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:205.98, Z:109.14 [[ 1.18595090e-01 -9.92922756e-01 -6.29324793e-03 3.09329918e+02] [ 9.92334188e-01 1.18741886e-01 -3.42523663e-02 2.05984410e+02] [ 3.47572260e-02 -2.18284261e-03 9.99393401e-01 1.09142204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:206.01, Z:109.14 [[ 1.17974980e-01 -9.92996805e-01 -6.26496279e-03 3.09330251e+02] [ 9.92411849e-01 1.18120935e-01 -3.41491729e-02 2.06012504e+02] [ 3.46500428e-02 -2.18867532e-03 9.99397110e-01 1.09143389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:206.04, Z:109.14 [[ 1.18572437e-01 -9.92943933e-01 1.70966434e-03 3.09321119e+02] [ 9.92240881e-01 1.18423281e-01 -3.78676639e-02 2.06040795e+02] [ 3.73980030e-02 6.18646005e-03 9.99281300e-01 1.09142226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:206.07, Z:109.15 [[ 1.18600254e-01 -9.92838322e-01 -1.43543224e-02 3.09330014e+02] [ 9.92325389e-01 1.19023632e-01 -3.35215940e-02 2.06068454e+02] [ 3.49900267e-02 -1.02684890e-02 9.99334907e-01 1.09146673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:206.10, Z:109.15 [[ 1.20487817e-01 -9.92704268e-01 -4.57405333e-03 3.09324736e+02] [ 9.92040586e-01 1.20574495e-01 -3.62941840e-02 2.06095478e+02] [ 3.65809055e-02 -1.64639533e-04 9.99330681e-01 1.09145342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:206.13, Z:109.15 [[ 1.23089977e-01 -9.92363266e-01 -8.00041991e-03 3.09321624e+02] [ 9.91800613e-01 1.23291291e-01 -3.36274100e-02 2.06126626e+02] [ 3.43569885e-02 -3.79562424e-03 9.99402417e-01 1.09148201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.16, Z:109.15 [[ 1.26794383e-01 -9.91910555e-01 -6.05269116e-03 3.09314430e+02] [ 9.91358459e-01 1.26926025e-01 -3.31389557e-02 2.06155090e+02] [ 3.36391240e-02 -1.79855315e-03 9.99432426e-01 1.09148612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.18, Z:109.15 [[ 1.29054526e-01 -9.91619291e-01 -6.00924576e-03 3.09314444e+02] [ 9.91073262e-01 1.29183123e-01 -3.29470940e-02 2.06183682e+02] [ 3.34472671e-02 -1.70363121e-03 9.99439032e-01 1.09149420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.21, Z:109.15 [[ 1.34238084e-01 -9.90932344e-01 -5.76425463e-03 3.09310437e+02] [ 9.90427766e-01 1.34353854e-01 -3.16525381e-02 2.06211548e+02] [ 3.21399736e-02 -1.46010177e-03 9.99482311e-01 1.09150684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.24, Z:109.15 [[ 1.36748446e-01 -9.90588724e-01 -5.81740223e-03 3.09311364e+02] [ 9.90073015e-01 1.36865120e-01 -3.19900678e-02 2.06239558e+02] [ 3.24851999e-02 -1.38506092e-03 9.99471257e-01 1.09152082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9703857229999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:309.31, Y:206.27, Z:109.15 [[ 1.41670231e-01 -9.89893868e-01 -6.29889323e-03 3.09308657e+02] [ 9.89286488e-01 1.41804085e-01 -3.46964748e-02 2.06268057e+02] [ 3.52390364e-02 -1.31595238e-03 9.99378046e-01 1.09148798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.30, Z:109.15 [[ 1.44783389e-01 -9.89444547e-01 -6.10407002e-03 3.09310630e+02] [ 9.88872247e-01 1.44907350e-01 -3.36680863e-02 2.06296155e+02] [ 3.41972290e-02 -1.16156581e-03 9.99414429e-01 1.09153439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.32, Z:109.15 [[ 1.49357005e-01 -9.88763498e-01 -6.26344443e-03 3.09310475e+02] [ 9.88158372e-01 1.49484791e-01 -3.46024510e-02 2.06324370e+02] [ 3.51499302e-02 -1.02115660e-03 9.99381529e-01 1.09154101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.35, Z:109.16 [[ 1.51358961e-01 -9.88457600e-01 -6.48361846e-03 3.09312470e+02] [ 9.87806789e-01 1.51494631e-01 -3.58765071e-02 2.06351568e+02] [ 3.64446395e-02 -9.74331498e-04 9.99335199e-01 1.09155299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.38, Z:109.16 [[ 1.53461176e-01 -9.88132158e-01 -6.67130345e-03 3.09314300e+02] [ 9.87440811e-01 1.53603394e-01 -3.69681366e-02 2.06379513e+02] [ 3.75541395e-02 -9.14343576e-04 9.99294176e-01 1.09156455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:206.41, Z:109.16 [[ 1.58406654e-01 -9.87351460e-01 -6.66532088e-03 3.09314270e+02] [ 9.86658522e-01 1.58545201e-01 -3.69916200e-02 2.06407562e+02] [ 3.75804846e-02 -7.16676912e-04 9.99293347e-01 1.09157128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:206.44, Z:109.16 [[ 1.60615807e-01 -9.86993697e-01 -6.78272567e-03 3.09317870e+02] [ 9.86273502e-01 1.60757709e-01 -3.77032880e-02 2.06435105e+02] [ 3.83032830e-02 -6.33878565e-04 9.99265959e-01 1.09158376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:206.46, Z:109.16 [[ 1.66462410e-01 -9.86025241e-01 -6.67010459e-03 3.09320553e+02] [ 9.85325767e-01 1.66595534e-01 -3.71357072e-02 2.06463074e+02] [ 3.77279543e-02 -3.90526591e-04 9.99287971e-01 1.09159891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:206.49, Z:109.16 [[ 1.73553158e-01 -9.84803420e-01 -6.44406245e-03 3.09322938e+02] [ 9.84147638e-01 1.73672719e-01 -3.59334499e-02 2.06490925e+02] [ 3.65065422e-02 -1.05545144e-04 9.99333409e-01 1.09161167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:206.52, Z:109.16 [[ 1.77259537e-01 -9.84142085e-01 -6.58887235e-03 3.09327520e+02] [ 9.83453735e-01 1.77381946e-01 -3.68021140e-02 2.06517077e+02] [ 3.73872562e-02 4.36745496e-05 9.99300851e-01 1.09162097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:206.54, Z:109.16 [[ 1.80684548e-01 -9.83517670e-01 -6.78874284e-03 3.09332737e+02] [ 9.82784246e-01 1.80811938e-01 -3.79758945e-02 2.06544149e+02] [ 3.85774490e-02 1.89787815e-04 9.99255595e-01 1.09162869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:206.57, Z:109.16 [[ 1.86794088e-01 -9.82374754e-01 -6.91461036e-03 3.09340921e+02] [ 9.81610569e-01 1.86921484e-01 -3.87433813e-02 2.06571603e+02] [ 3.93530089e-02 4.49579957e-04 9.99225269e-01 1.09163921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:206.60, Z:109.17 [[ 1.89376492e-01 -9.81879757e-01 -6.97763314e-03 3.09348510e+02] [ 9.81098717e-01 1.89504137e-01 -3.91597866e-02 2.06598750e+02] [ 3.97724921e-02 5.70196080e-04 9.99208599e-01 1.09165239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:206.63, Z:109.17 [[ 1.93902862e-01 -9.81020703e-01 -2.45327182e-04 3.09355099e+02] [ 9.80110278e-01 1.93733672e-01 -4.30244959e-02 2.06625273e+02] [ 4.22554493e-02 8.10212518e-03 9.99073988e-01 1.09166070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:206.65, Z:109.17 [[ 1.96555576e-01 -9.80393064e-01 -1.39766198e-02 3.09371146e+02] [ 9.79701518e-01 1.96949548e-01 -3.73605501e-02 2.06652018e+02] [ 3.93807131e-02 -6.34949115e-03 9.99204105e-01 1.09169471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:206.68, Z:109.17 [[ 1.97817571e-01 -9.80215445e-01 -6.77426237e-03 3.09374701e+02] [ 9.79472875e-01 1.97931423e-01 -3.81580791e-02 2.06680017e+02] [ 3.87439778e-02 9.13132288e-04 9.99248753e-01 1.09169491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:206.71, Z:109.17 [[ 1.99664932e-01 -9.79840872e-01 -6.76615733e-03 3.09386606e+02] [ 9.79097519e-01 1.99777055e-01 -3.81729779e-02 2.06706260e+02] [ 3.87551669e-02 9.97077164e-04 9.99248239e-01 1.09170612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:206.73, Z:109.17 [[ 2.00160762e-01 -9.79739639e-01 -6.77561200e-03 3.09396408e+02] [ 9.78991758e-01 2.00272758e-01 -3.82878639e-02 2.06733184e+02] [ 3.88691084e-02 1.03045971e-03 9.99243779e-01 1.09172157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.41, Y:206.76, Z:109.17 [[ 2.00775013e-01 -9.79613826e-01 -6.79314654e-03 3.09406264e+02] [ 9.78859591e-01 2.00887053e-01 -3.84485943e-02 2.06758417e+02] [ 3.90294297e-02 1.06998038e-03 9.99237489e-01 1.09173733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.540385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.42, Y:206.78, Z:109.18 [[ 2.01064456e-01 -9.79554937e-01 -6.72382470e-03 3.09420780e+02] [ 9.78813876e-01 2.01173945e-01 -3.81108946e-02 2.06783920e+02] [ 3.86843733e-02 1.08137338e-03 9.99250894e-01 1.09175574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.570385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:309.43, Y:206.81, Z:109.17 [[ 2.01035839e-01 -9.79559804e-01 -6.86883127e-03 3.09434905e+02] [ 9.78783940e-01 2.01150051e-01 -3.89955954e-02 2.06810420e+02] [ 3.95801836e-02 1.11641054e-03 9.99215774e-01 1.09174107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:206.84, Z:109.18 [[ 2.00966924e-01 -9.79575380e-01 -6.66112100e-03 3.09444220e+02] [ 9.78843541e-01 2.01074325e-01 -3.78739696e-02 2.06835729e+02] [ 3.84397885e-02 1.09121990e-03 9.99260322e-01 1.09177923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:206.86, Z:109.18 [[ 2.00623134e-01 -9.79644104e-01 -6.91290915e-03 3.09459707e+02] [ 9.78853981e-01 2.00739025e-01 -3.93538803e-02 2.06861429e+02] [ 3.99404875e-02 1.12857015e-03 9.99201423e-01 1.09179089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:206.89, Z:109.18 [[ 2.00922339e-01 -9.79581770e-01 -7.05480093e-03 3.09470506e+02] [ 9.78756075e-01 2.01042704e-01 -4.02290585e-02 2.06886711e+02] [ 4.08259686e-02 1.17798725e-03 9.99165578e-01 1.09180128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.48, Y:206.91, Z:109.18 [[ 2.01280632e-01 -9.79506941e-01 -7.22904203e-03 3.09482101e+02] [ 9.78637223e-01 2.01406617e-01 -4.12863239e-02 2.06913195e+02] [ 4.18962177e-02 1.23552777e-03 9.99121204e-01 1.09181133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:206.94, Z:109.18 [[ 2.02101808e-01 -9.79334465e-01 -7.67239338e-03 3.09499237e+02] [ 9.78351271e-01 2.02242785e-01 -4.38935772e-02 2.06937456e+02] [ 4.45381791e-02 1.36467549e-03 9.99006751e-01 1.09182051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:206.96, Z:109.18 [[ 2.02716169e-01 -9.79205752e-01 -7.88992118e-03 3.09515658e+02] [ 9.78162688e-01 2.02864494e-01 -4.52078843e-02 2.06962955e+02] [ 4.58684052e-02 1.44674259e-03 9.98946443e-01 1.09181818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:206.99, Z:109.18 [[ 2.02398182e-01 -9.79270945e-01 -7.96195549e-03 3.09526849e+02] [ 9.78205311e-01 2.02549461e-01 -4.56955738e-02 2.06988456e+02] [ 4.63610375e-02 1.46027391e-03 9.98923682e-01 1.09182818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.54, Y:207.01, Z:109.18 [[ 2.02206526e-01 -9.79309396e-01 -8.10111293e-03 3.09538814e+02] [ 9.78202445e-01 2.02363233e-01 -4.65735766e-02 2.07014328e+02] [ 4.72493086e-02 1.49295263e-03 9.98882012e-01 1.09184453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:207.04, Z:109.19 [[ 2.01448335e-01 -9.79465031e-01 -8.17441433e-03 3.09557306e+02] [ 9.78334385e-01 2.01608647e-01 -4.70721283e-02 2.07039257e+02] [ 4.77535363e-02 1.48529125e-03 9.98858045e-01 1.09186156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:207.06, Z:109.19 [[ 2.00950146e-01 -9.79566513e-01 -8.27557524e-03 3.09568014e+02] [ 9.78403883e-01 2.01114917e-01 -4.77350133e-02 2.07064733e+02] [ 4.84239622e-02 1.49550293e-03 9.98825752e-01 1.09187236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:207.09, Z:109.19 [[ 2.00250794e-01 -9.79707962e-01 -8.48112803e-03 3.09585057e+02] [ 9.78483014e-01 2.00424597e-01 -4.89997199e-02 2.07089460e+02] [ 4.97052424e-02 1.51359312e-03 9.98762784e-01 1.09188197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:207.12, Z:109.19 [[ 1.99310010e-01 -9.79899118e-01 -8.55796743e-03 3.09596437e+02] [ 9.78647752e-01 1.99488045e-01 -4.95287464e-02 2.07116022e+02] [ 5.02403871e-02 1.49633937e-03 9.98736033e-01 1.09189630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:207.14, Z:109.19 [[ 1.97699914e-01 -9.80224438e-01 -8.64839645e-03 3.09614525e+02] [ 9.78942583e-01 1.97883708e-01 -5.01344027e-02 2.07141153e+02] [ 5.08543435e-02 1.44528356e-03 9.98705035e-01 1.09191447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:207.17, Z:109.19 [[ 1.96976297e-01 -9.80370185e-01 -8.63938901e-03 3.09626233e+02] [ 9.79086918e-01 1.97160536e-01 -5.01650336e-02 2.07167635e+02] [ 5.08836499e-02 1.42260983e-03 9.98703575e-01 1.09193496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:207.19, Z:109.20 [[ 1.95274267e-01 -9.80711911e-01 -8.49160990e-03 3.09643139e+02] [ 9.79468412e-01 1.95454306e-01 -4.93887082e-02 2.07192319e+02] [ 5.00958162e-02 1.32708015e-03 9.98743535e-01 1.09195638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.65, Y:207.22, Z:109.20 [[ 1.94802561e-01 -9.80806472e-01 -8.40402467e-03 3.09653051e+02] [ 9.79584713e-01 1.94979392e-01 -4.89574046e-02 2.07218034e+02] [ 4.96563509e-02 1.30457368e-03 9.98765511e-01 1.09197020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:207.24, Z:109.20 [[ 1.93963001e-01 -9.80998042e-01 -4.60390806e-03 3.09666210e+02] [ 9.79741196e-01 1.93948732e-01 -4.99107133e-02 2.07242027e+02] [ 4.98552341e-02 5.17019331e-03 9.98743072e-01 1.09197028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.110385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:309.68, Y:207.27, Z:109.20 [[ 1.91653698e-01 -9.81390122e-01 -1.19284935e-02 3.09680342e+02] [ 9.80180769e-01 1.92010214e-01 -4.87620572e-02 2.07268744e+02] [ 5.01449938e-02 -2.34665129e-03 9.98739192e-01 1.09198755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.140385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:309.70, Y:207.29, Z:109.20 [[ 1.89316020e-01 -9.81879359e-01 -8.50702091e-03 3.09695322e+02] [ 9.80617206e-01 1.89503968e-01 -4.97809412e-02 2.07294540e+02] [ 5.04909928e-02 1.08219861e-03 9.98723930e-01 1.09200530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.170385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:309.70, Y:207.32, Z:109.20 [[ 1.86884885e-01 -9.82353566e-01 -7.45059660e-03 3.09702921e+02] [ 9.81118664e-01 1.87023699e-01 -4.92778076e-02 2.07320493e+02] [ 4.98016682e-02 1.89935802e-03 9.98757321e-01 1.09200442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.200385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:309.72, Y:207.35, Z:109.20 [[ 1.86601746e-01 -9.82392137e-01 -9.24541214e-03 3.09718713e+02] [ 9.81110169e-01 1.86830416e-01 -5.01720222e-02 2.07348042e+02] [ 5.10159243e-02 2.91419080e-04 9.98697797e-01 1.09202843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.72, Y:207.37, Z:109.20 [[ 1.86734057e-01 -9.82408247e-01 -2.10435369e-03 3.09723678e+02] [ 9.81049723e-01 1.86587680e-01 -5.22157060e-02 2.07374888e+02] [ 5.16897867e-02 7.68597502e-03 9.98633612e-01 1.09202775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:207.40, Z:109.21 [[ 1.85397886e-01 -9.82551179e-01 -1.48595028e-02 3.09744057e+02] [ 9.81400301e-01 1.85904886e-01 -4.78834285e-02 2.07400966e+02] [ 4.98103733e-02 -5.70563410e-03 9.98742396e-01 1.09209880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:207.43, Z:109.21 [[ 1.83879893e-01 -9.82913189e-01 -8.35754979e-03 3.09755063e+02] [ 9.81679644e-01 1.84067767e-01 -4.92354957e-02 2.07427187e+02] [ 4.99325736e-02 8.48981192e-04 9.98752230e-01 1.09209045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:207.45, Z:109.21 [[ 1.83144584e-01 -9.83050067e-01 -8.40396645e-03 3.09763552e+02] [ 9.81798995e-01 1.83335418e-01 -4.95868755e-02 2.07452970e+02] [ 5.02871260e-02 8.30561870e-04 9.98734457e-01 1.09210365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:207.48, Z:109.21 [[ 1.80885412e-01 -9.83467516e-01 -8.49187909e-03 3.09775790e+02] [ 9.82187104e-01 1.81083141e-01 -5.01735803e-02 2.07479691e+02] [ 5.08818226e-02 7.35054599e-04 9.98704411e-01 1.09211199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:207.51, Z:109.21 [[ 1.79597640e-01 -9.83703152e-01 -8.53208637e-03 3.09784071e+02] [ 9.82406485e-01 1.79798879e-01 -5.04961622e-02 2.07506944e+02] [ 5.12072935e-02 6.87014602e-04 9.98687810e-01 1.09212471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.79, Y:207.53, Z:109.21 [[ 1.78517493e-01 -9.83898879e-01 -8.63133627e-03 3.09792455e+02] [ 9.82567569e-01 1.78724837e-01 -5.11703474e-02 2.07534195e+02] [ 5.18890816e-02 6.53931009e-04 9.98652640e-01 1.09213240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.80, Y:207.56, Z:109.21 [[ 1.76880087e-01 -9.84192832e-01 -8.82634952e-03 3.09804614e+02] [ 9.82796605e-01 1.77099167e-01 -5.24091491e-02 2.07559455e+02] [ 5.31438480e-02 5.95628502e-04 9.98586690e-01 1.09214538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.81, Y:207.59, Z:109.22 [[ 1.76135470e-01 -9.84326216e-01 -8.84290166e-03 3.09813378e+02] [ 9.82921105e-01 1.76356391e-01 -5.25787438e-02 2.07586506e+02] [ 5.33141382e-02 5.69107071e-04 9.98577628e-01 1.09215546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:207.61, Z:109.22 [[ 1.75886135e-01 -9.84370925e-01 -8.82894285e-03 3.09818033e+02] [ 9.82965753e-01 1.76106667e-01 -5.25810882e-02 2.07614691e+02] [ 5.33141301e-02 5.69735956e-04 9.98577628e-01 1.09216613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:207.64, Z:109.22 [[ 1.76327741e-01 -9.84291472e-01 -8.87841077e-03 3.09828217e+02] [ 9.82865834e-01 1.76550060e-01 -5.29606259e-02 2.07641737e+02] [ 5.36961764e-02 6.12140919e-04 9.98557132e-01 1.09218702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:207.67, Z:109.22 [[ 1.76942341e-01 -9.84182637e-01 -8.71461367e-03 3.09831736e+02] [ 9.82804340e-01 1.77155624e-01 -5.20722010e-02 2.07668836e+02] [ 5.27923990e-02 6.49017007e-04 9.98605298e-01 1.09219553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.83, Y:207.70, Z:109.22 [[ 1.76056840e-01 -9.84340841e-01 -8.78057467e-03 3.09833241e+02] [ 9.82936780e-01 1.76274563e-01 -5.25601068e-02 2.07697230e+02] [ 5.32848516e-02 6.22816495e-04 9.98579159e-01 1.09219395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:207.73, Z:109.21 [[ 1.74231568e-01 -9.84704686e-01 2.05062176e-04 3.09830678e+02] [ 9.83372640e-01 1.73985043e-01 -5.20332159e-02 2.07726237e+02] [ 5.12016738e-02 9.26748132e-03 9.98645334e-01 1.09212316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:207.75, Z:109.22 [[ 1.70553897e-01 -9.85195544e-01 -1.73524900e-02 3.09838319e+02] [ 9.83899386e-01 1.71231373e-01 -5.12036731e-02 2.07751204e+02] [ 5.34169213e-02 -8.34011819e-03 9.98537468e-01 1.09224139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:207.78, Z:109.22 [[ 1.68579752e-01 -9.85650965e-01 -8.54654905e-03 3.09838393e+02] [ 9.84307644e-01 1.68796057e-01 -5.14427206e-02 2.07779827e+02] [ 5.21471910e-02 2.59767514e-04 9.98639376e-01 1.09222133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.710385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:309.84, Y:207.81, Z:109.22 [[ 1.64910252e-01 -9.86274130e-01 -8.24308970e-03 3.09843437e+02] [ 9.85021043e-01 1.65116122e-01 -4.97012186e-02 2.07805952e+02] [ 5.03800931e-02 7.66236473e-05 9.98730114e-01 1.09224203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.740385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:309.85, Y:207.83, Z:109.23 [[ 1.63538877e-01 -9.86503862e-01 -8.07259702e-03 3.09847534e+02] [ 9.85298045e-01 1.63737994e-01 -4.87609747e-02 2.07832909e+02] [ 4.94246807e-02 2.04009841e-05 9.98777854e-01 1.09225911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.85, Y:207.86, Z:109.23 [[ 1.60771597e-01 -9.86958416e-01 -8.09803395e-03 3.09850943e+02] [ 9.85741147e-01 1.60975382e-01 -4.90032410e-02 2.07860054e+02] [ 4.96677452e-02 -1.04235950e-04 9.98765791e-01 1.09225306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.86, Y:207.89, Z:109.23 [[ 1.59139585e-01 -9.87222492e-01 -8.14518878e-03 3.09855312e+02] [ 9.85986979e-01 1.59347801e-01 -4.93756608e-02 2.07888091e+02] [ 5.00426808e-02 -1.73427892e-04 9.98747065e-01 1.09225638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:207.92, Z:109.23 [[ 1.55653324e-01 -9.87777029e-01 -8.28151145e-03 3.09858798e+02] [ 9.86496185e-01 1.55873101e-01 -5.02877023e-02 2.07915678e+02] [ 5.09639021e-02 -3.42231447e-04 9.98700437e-01 1.09225376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:207.94, Z:109.23 [[ 1.53869595e-01 -9.88055785e-01 -8.36143508e-03 3.09863183e+02] [ 9.86745990e-01 1.54096027e-01 -5.08602592e-02 2.07943685e+02] [ 5.15412373e-02 -4.24765042e-04 9.98670777e-01 1.09226093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.87, Y:207.97, Z:109.22 [[ 1.52238429e-01 -9.88327298e-01 -5.71067951e-03 3.09871344e+02] [ 9.87043972e-01 1.52331912e-01 -5.03903386e-02 2.07974331e+02] [ 5.06720659e-02 2.03465420e-03 9.98713273e-01 1.09224954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:208.00, Z:109.23 [[ 1.50378321e-01 -9.88567120e-01 -1.10186051e-02 3.09877689e+02] [ 9.87359365e-01 1.50740504e-01 -4.89773845e-02 2.07996370e+02] [ 5.00783820e-02 -3.51418611e-03 9.98739108e-01 1.09232166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:208.02, Z:109.23 [[ 1.49848438e-01 -9.88676714e-01 -7.98749559e-03 3.09880771e+02] [ 9.87468644e-01 1.50060105e-01 -4.88635103e-02 2.08024645e+02] [ 4.95088192e-02 -5.65280730e-04 9.98773527e-01 1.09232413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:208.05, Z:109.23 [[ 1.49239371e-01 -9.88769948e-01 -7.84854782e-03 3.09885146e+02] [ 9.87599775e-01 1.49444506e-01 -4.80939135e-02 2.08052490e+02] [ 4.87267387e-02 -5.73718656e-04 9.98811982e-01 1.09233571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.89, Y:208.08, Z:109.23 [[ 1.47773309e-01 -9.88991510e-01 -7.67082336e-03 3.09888623e+02] [ 9.87870443e-01 1.47970968e-01 -4.70805730e-02 2.08079163e+02] [ 4.76973462e-02 -6.20527607e-04 9.98861641e-01 1.09233949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:208.11, Z:109.23 [[ 1.47497194e-01 -9.89032901e-01 -7.64838145e-03 3.09892561e+02] [ 9.87915351e-01 1.47694050e-01 -4.70077323e-02 2.08106067e+02] [ 4.76218143e-02 -6.22444846e-04 9.98865244e-01 1.09234723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.070385723 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:309.89, Y:208.14, Z:109.23 [[ 1.47700839e-01 -9.89031761e-01 7.99030597e-04 3.09893066e+02] [ 9.87825586e-01 1.47480722e-01 -4.94979631e-02 2.08135369e+02] [ 4.88372160e-02 8.10019356e-03 9.98773905e-01 1.09232239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.91, Y:208.16, Z:109.24 [[ 1.47821497e-01 -9.88885074e-01 -1.59723591e-02 3.09905904e+02] [ 9.87950863e-01 1.48391966e-01 -4.39649606e-02 2.08159691e+02] [ 4.58464631e-02 -9.28093968e-03 9.98905384e-01 1.09240463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:208.19, Z:109.24 [[ 1.49575906e-01 -9.88722874e-01 -7.35706081e-03 3.09905656e+02] [ 9.87675877e-01 1.49756017e-01 -4.54917343e-02 2.08188538e+02] [ 4.60804824e-02 -4.61924128e-04 9.98937624e-01 1.09238248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.91, Y:208.22, Z:109.24 [[ 1.50197955e-01 -9.88628804e-01 -7.32539847e-03 3.09909493e+02] [ 9.87586997e-01 1.50375901e-01 -4.53763364e-02 2.08216347e+02] [ 4.59619166e-02 -4.19035355e-04 9.98943105e-01 1.09238877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.91, Y:208.24, Z:109.24 [[ 1.52150650e-01 -9.88330982e-01 -7.21455058e-03 3.09912785e+02] [ 9.87316530e-01 1.52321282e-01 -4.47693797e-02 2.08243038e+02] [ 4.53458946e-02 -3.11354824e-04 9.98971297e-01 1.09239701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.92, Y:208.27, Z:109.24 [[ 1.52917666e-01 -9.88213190e-01 -7.13286547e-03 3.09916831e+02] [ 9.87217788e-01 1.53083711e-01 -4.43442994e-02 2.08270529e+02] [ 4.49135471e-02 -2.60664897e-04 9.98990844e-01 1.09240250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.92, Y:208.30, Z:109.24 [[ 1.53534627e-01 -9.88117370e-01 -7.15418416e-03 3.09921622e+02] [ 9.87112354e-01 1.53701058e-01 -4.45554193e-02 2.08298406e+02] [ 4.51255894e-02 -2.21183857e-04 9.98981297e-01 1.09240776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.93, Y:208.33, Z:109.24 [[ 1.52717340e-01 -9.88243573e-01 -7.21483474e-03 3.09926647e+02] [ 9.87217924e-01 1.52887469e-01 -4.50132458e-02 2.08326180e+02] [ 4.55871087e-02 -2.48311016e-04 9.98960337e-01 1.09241932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:208.35, Z:109.24 [[ 1.50741059e-01 -9.88547069e-01 -7.19894697e-03 3.09932516e+02] [ 9.87522628e-01 1.50912507e-01 -4.49941667e-02 2.08352845e+02] [ 4.55652628e-02 -3.26654701e-04 9.98961311e-01 1.09243796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:309.94, Y:208.38, Z:109.25 [[ 1.49546345e-01 -9.88728435e-01 -7.20915733e-03 3.09938238e+02] [ 9.87697477e-01 1.49719553e-01 -4.51414381e-02 2.08380199e+02] [ 4.57119753e-02 -3.69729410e-04 9.98954593e-01 1.09245697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:208.41, Z:109.25 [[ 1.46424206e-01 -9.89196861e-01 -7.03721317e-03 3.09943034e+02] [ 9.88211800e-01 1.46592391e-01 -4.41373979e-02 2.08406626e+02] [ 4.46921774e-02 -4.91473625e-04 9.99000685e-01 1.09246452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.95, Y:208.43, Z:109.25 [[ 1.44589623e-01 -9.89466855e-01 -7.01317932e-03 3.09947005e+02] [ 9.88486162e-01 1.44758509e-01 -4.40463629e-02 2.08434785e+02] [ 4.45976335e-02 -5.63783709e-04 9.99004872e-01 1.09246960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.95, Y:208.46, Z:109.25 [[ 1.42938067e-01 -9.89707214e-01 -6.95260867e-03 3.09951036e+02] [ 9.88740264e-01 1.43105706e-01 -4.37429787e-02 2.08461821e+02] [ 4.42876995e-02 -6.21787319e-04 9.99018625e-01 1.09247606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:208.49, Z:109.25 [[ 1.39956211e-01 -9.90134573e-01 -6.76658843e-03 3.09956786e+02] [ 9.89215850e-01 1.40117818e-01 -4.26497399e-02 2.08489090e+02] [ 4.31771016e-02 -7.24520506e-04 9.99067171e-01 1.09249285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:208.52, Z:109.25 [[ 1.36499838e-01 -9.90618311e-01 -6.56933597e-03 3.09962519e+02] [ 9.89749854e-01 1.36655247e-01 -4.14797668e-02 2.08516976e+02] [ 4.19883508e-02 -8.40017846e-04 9.99117747e-01 1.09251610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:208.54, Z:109.25 [[ 1.34884396e-01 -9.90840806e-01 -6.37944144e-03 3.09966260e+02] [ 9.90019263e-01 1.35032349e-01 -4.03500237e-02 2.08543792e+02] [ 4.08418810e-02 -8.73181331e-04 9.99165241e-01 1.09252434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:208.57, Z:109.25 [[ 1.33020649e-01 -9.91093521e-01 -6.25621062e-03 3.09969406e+02] [ 9.90301583e-01 1.33164477e-01 -3.96231871e-02 2.08571942e+02] [ 4.01033890e-02 -9.24833219e-04 9.99195108e-01 1.09253771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:208.60, Z:109.27 [[ 1.30674936e-01 -9.91082086e-01 -2.60836945e-02 3.09979703e+02] [ 9.90522865e-01 1.31633068e-01 -3.92070192e-02 2.08595345e+02] [ 4.22908511e-02 -2.07131211e-02 9.98890610e-01 1.09265792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:208.63, Z:109.25 [[ 1.35259345e-01 -9.90719918e-01 1.33773856e-02 3.09965758e+02] [ 9.89961264e-01 1.34572336e-01 -4.32085921e-02 2.08628983e+02] [ 4.10073867e-02 1.90874595e-02 9.98976508e-01 1.09248005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:208.65, Z:109.26 [[ 1.36798635e-01 -9.90578793e-01 -6.30778976e-03 3.09978250e+02] [ 9.89765516e-01 1.36941918e-01 -4.01389501e-02 2.08654012e+02] [ 4.06245936e-02 -7.52279196e-04 9.99174197e-01 1.09256344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:208.68, Z:109.26 [[ 1.36106928e-01 -9.90673439e-01 -6.40629831e-03 3.09978415e+02] [ 9.89831444e-01 1.36255367e-01 -4.08434591e-02 2.08682095e+02] [ 4.13354226e-02 -7.82077758e-04 9.99145020e-01 1.09257136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.98, Y:208.71, Z:109.26 [[ 1.41132632e-01 -9.89970974e-01 -6.24911990e-03 3.09982223e+02] [ 9.89166125e-01 1.41269852e-01 -3.99149891e-02 2.08709164e+02] [ 4.03974929e-02 -5.48110235e-04 9.99183538e-01 1.09256581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:208.74, Z:109.26 [[ 1.41560543e-01 -9.89910037e-01 -6.22343300e-03 3.09984894e+02] [ 9.89108620e-01 1.41696332e-01 -3.98282260e-02 2.08735966e+02] [ 4.03081983e-02 -5.17545948e-04 9.99187160e-01 1.09257048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:208.76, Z:109.26 [[ 1.41179577e-01 -9.89964428e-01 -6.22561408e-03 3.09987271e+02] [ 9.89160307e-01 1.41315799e-01 -3.98965221e-02 2.08763969e+02] [ 4.03759153e-02 -5.25556210e-04 9.99184422e-01 1.09257479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:208.79, Z:109.26 [[ 1.38840716e-01 -9.90294913e-01 -6.26427342e-03 3.09990951e+02] [ 9.89478077e-01 1.38980604e-01 -4.02184817e-02 2.08791234e+02] [ 4.06987703e-02 -6.14398400e-04 9.99171273e-01 1.09260052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:208.82, Z:109.26 [[ 1.37543836e-01 -9.90476375e-01 -6.18409597e-03 3.09994783e+02] [ 9.89677449e-01 1.37681259e-01 -3.97796304e-02 2.08817768e+02] [ 4.02522183e-02 -6.48817342e-04 9.99189340e-01 1.09261538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:208.85, Z:109.26 [[ 1.34782232e-01 -9.90857529e-01 -5.92520140e-03 3.09996441e+02] [ 9.90121790e-01 1.34910487e-01 -3.81837897e-02 2.08845896e+02] [ 3.86340673e-02 -7.20174606e-04 9.99253166e-01 1.09263139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:208.87, Z:109.26 [[ 1.33437107e-01 -9.91040401e-01 -5.78463530e-03 3.09998357e+02] [ 9.90336888e-01 1.33560351e-01 -3.73427627e-02 2.08874055e+02] [ 3.77807844e-02 -7.45827484e-04 9.99285773e-01 1.09263754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:208.90, Z:109.26 [[ 1.32550017e-01 -9.91159900e-01 -5.70494667e-03 3.10000170e+02] [ 9.90473338e-01 1.32670552e-01 -3.68929653e-02 2.08901338e+02] [ 3.73237062e-02 -7.60434383e-04 9.99302938e-01 1.09263819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:208.93, Z:109.26 [[ 1.31419748e-01 -9.91309980e-01 -5.77693797e-03 3.10001048e+02] [ 9.90603429e-01 1.31544203e-01 -3.74295227e-02 2.08929491e+02] [ 3.78641821e-02 -8.03676126e-04 9.99282572e-01 1.09263623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:208.96, Z:109.26 [[ 1.30051431e-01 -9.91506719e-01 -1.02550087e-03 3.10001926e+02] [ 9.90736851e-01 1.29991077e-01 -3.92786402e-02 2.08959370e+02] [ 3.90783416e-02 4.09224187e-03 9.99227770e-01 1.09262438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:208.99, Z:109.27 [[ 1.30795342e-01 -9.91352075e-01 -1.06603023e-02 3.10008030e+02] [ 9.90713656e-01 1.31098762e-01 -3.60495046e-02 2.08985529e+02] [ 3.71353036e-02 -5.84619980e-03 9.99293146e-01 1.09267460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.01, Y:209.02, Z:109.26 [[ 1.30900293e-01 -9.91393639e-01 -1.94040947e-03 3.10006129e+02] [ 9.90659995e-01 1.30878305e-01 -3.82575952e-02 2.09015655e+02] [ 3.81822941e-02 3.08564439e-03 9.99266026e-01 1.09264808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.060385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:310.01, Y:209.04, Z:109.27 [[ 1.32659563e-01 -9.91114552e-01 -9.66355683e-03 3.10009822e+02] [ 9.90429510e-01 1.32929945e-01 -3.71350926e-02 2.09042483e+02] [ 3.80897068e-02 -4.64474669e-03 9.99263529e-01 1.09268659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:209.07, Z:109.27 [[ 1.33919548e-01 -9.90975005e-01 -5.83895624e-03 3.10010146e+02] [ 9.90243123e-01 1.34045046e-01 -3.80852226e-02 2.09070839e+02] [ 3.85241868e-02 -6.81630451e-04 9.99257436e-01 1.09267778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:209.10, Z:109.27 [[ 1.36780746e-01 -9.90583500e-01 -5.94617171e-03 3.10011301e+02] [ 9.89821287e-01 1.36908742e-01 -3.88563539e-02 2.09099185e+02] [ 3.93045459e-02 -5.70846264e-04 9.99227115e-01 1.09268469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.01, Y:209.13, Z:109.27 [[ 1.39068719e-01 -9.90275833e-01 3.69670867e-03 3.10007304e+02] [ 9.89380153e-01 1.38781655e-01 -4.32037557e-02 2.09127742e+02] [ 4.22705998e-02 9.66574117e-03 9.99059443e-01 1.09265361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.02, Y:209.15, Z:109.27 [[ 1.40085790e-01 -9.90009401e-01 -1.60423490e-02 3.10018763e+02] [ 9.89331510e-01 1.40607481e-01 -3.81142901e-02 2.09154195e+02] [ 3.99891798e-02 -1.05319310e-02 9.99144606e-01 1.09273546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.210385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:310.02, Y:209.18, Z:109.27 [[ 1.40824916e-01 -9.90015876e-01 -6.07520701e-03 3.10015369e+02] [ 9.89212251e-01 1.40955350e-01 -3.98837361e-02 2.09182247e+02] [ 4.03418649e-02 -3.93045403e-04 9.99185858e-01 1.09270507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:209.21, Z:109.27 [[ 1.41025256e-01 -9.89987340e-01 -6.07814406e-03 3.10015963e+02] [ 9.89179727e-01 1.41155683e-01 -3.99817540e-02 2.09210722e+02] [ 4.04393948e-02 -3.73939801e-04 9.99181923e-01 1.09270968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:209.24, Z:109.27 [[ 1.40392813e-01 -9.90095628e-01 -7.11394376e-04 3.10016566e+02] [ 9.89207584e-01 1.40297247e-01 -4.22497079e-02 2.09239817e+02] [ 4.19310578e-02 5.22783861e-03 9.99106829e-01 1.09269973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:209.27, Z:109.28 [[ 1.37919017e-01 -9.90376563e-01 -1.15155579e-02 3.10024469e+02] [ 9.89644921e-01 1.38265297e-01 -3.85439708e-02 2.09266468e+02] [ 3.97652473e-02 -6.08036683e-03 9.99190550e-01 1.09275894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:209.30, Z:109.28 [[ 1.36246100e-01 -9.90657230e-01 -5.93738084e-03 3.10025119e+02] [ 9.89879577e-01 1.36374380e-01 -3.92486004e-02 2.09295200e+02] [ 3.96916164e-02 -5.29823292e-04 9.99211837e-01 1.09275129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:209.32, Z:109.27 [[ 1.32518589e-01 -9.91180231e-01 7.57801036e-04 3.10022563e+02] [ 9.90315089e-01 1.32370902e-01 -4.18804198e-02 2.09323263e+02] [ 4.14107334e-02 6.30039593e-03 9.99122343e-01 1.09272789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:209.35, Z:109.28 [[ 1.32257514e-01 -9.91197003e-01 -6.03746698e-03 3.10030147e+02] [ 9.90350668e-01 1.32394050e-01 -4.09557017e-02 2.09350949e+02] [ 4.13944935e-02 -5.62510178e-04 9.99142722e-01 1.09276280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:209.38, Z:109.29 [[ 1.29721823e-01 -9.91006386e-01 -3.28419215e-02 3.10044348e+02] [ 9.90584191e-01 1.30986171e-01 -3.98193897e-02 2.09375663e+02] [ 4.37631071e-02 -2.73672445e-02 9.98667024e-01 1.09292476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:209.41, Z:109.28 [[ 1.26734037e-01 -9.91935564e-01 -1.52360192e-03 3.10029839e+02] [ 9.90980958e-01 1.26679185e-01 -4.36935330e-02 2.09406685e+02] [ 4.35341779e-02 4.02759734e-03 9.99043820e-01 1.09280529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:209.44, Z:109.27 [[ 1.27005965e-01 -9.91859438e-01 9.18370716e-03 3.10029917e+02] [ 9.91050319e-01 1.26507893e-01 -4.26030398e-02 2.09436069e+02] [ 4.10944157e-02 1.45123561e-02 9.99049869e-01 1.09274004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:209.46, Z:109.28 [[ 1.27271571e-01 -9.91849069e-01 -6.11323801e-03 3.10039667e+02] [ 9.91012239e-01 1.27415316e-01 -4.07440830e-02 2.09462971e+02] [ 4.11909010e-02 -8.72730234e-04 9.99150914e-01 1.09281272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.04, Y:209.49, Z:109.28 [[ 1.28021508e-01 -9.91752415e-01 -6.13516333e-03 3.10042255e+02] [ 9.90906296e-01 1.28165712e-01 -4.09666029e-02 2.09491247e+02] [ 4.14150450e-02 -8.34765694e-04 9.99141680e-01 1.09282270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:209.52, Z:109.28 [[ 1.29980142e-01 -9.91496157e-01 -6.36657380e-03 3.10043329e+02] [ 9.90581114e-01 1.30133690e-01 -4.25943529e-02 2.09519081e+02] [ 4.30606430e-02 -7.70187738e-04 9.99072164e-01 1.09282867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:209.55, Z:109.28 [[ 1.30255002e-01 -9.91459529e-01 -6.45262176e-03 3.10045779e+02] [ 9.90515876e-01 1.30412531e-01 -4.32535810e-02 2.09546866e+02] [ 4.37256778e-02 -7.57429015e-04 9.99043288e-01 1.09283425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.05, Y:209.57, Z:109.28 [[ 1.31972056e-01 -9.91238167e-01 -5.50199633e-03 3.10047489e+02] [ 9.90242892e-01 1.32086052e-01 -4.44104591e-02 2.09572881e+02] [ 4.47480790e-02 4.12626820e-04 9.98998218e-01 1.09283677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:209.60, Z:109.29 [[ 1.30785352e-01 -9.91382746e-01 -7.44599560e-03 3.10053126e+02] [ 9.90415837e-01 1.30986806e-01 -4.38055494e-02 2.09601742e+02] [ 4.44033931e-02 -1.64550776e-03 9.99012328e-01 1.09285603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:209.63, Z:109.29 [[ 1.29884739e-01 -9.91507567e-01 -6.53452361e-03 3.10056953e+02] [ 9.90530466e-01 1.30046815e-01 -4.40138801e-02 2.09629699e+02] [ 4.44898891e-02 -7.55913379e-04 9.99009549e-01 1.09286919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:209.66, Z:109.29 [[ 1.29492674e-01 -9.91559094e-01 -6.49692222e-03 3.10060795e+02] [ 9.90589824e-01 1.29653332e-01 -4.38384929e-02 2.09656555e+02] [ 4.43108040e-02 -7.59021364e-04 9.99017506e-01 1.09288118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:209.68, Z:109.29 [[ 1.29302356e-01 -9.91584371e-01 -6.42931184e-03 3.10065154e+02] [ 9.90632483e-01 1.29459918e-01 -4.34443787e-02 2.09684264e+02] [ 4.39111051e-02 -7.51624613e-04 9.99035160e-01 1.09289499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.07, Y:209.71, Z:109.29 [[ 1.29413154e-01 -9.91569966e-01 -6.42162867e-03 3.10070204e+02] [ 9.90616702e-01 1.29570295e-01 -4.34751416e-02 2.09711864e+02] [ 4.39406970e-02 -7.35117412e-04 9.99033871e-01 1.09290605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:209.74, Z:109.29 [[ 1.30739050e-01 -9.91396957e-01 -6.27497792e-03 3.10076765e+02] [ 9.90483095e-01 1.30887933e-01 -4.25627499e-02 2.09737714e+02] [ 4.30178996e-02 -6.50646082e-04 9.99074090e-01 1.09292973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:209.76, Z:109.29 [[ 1.29632785e-01 -9.91561733e-01 -8.19261115e-04 3.10077392e+02] [ 9.90720801e-01 1.29556784e-01 -4.10771780e-02 2.09764928e+02] [ 4.08366987e-02 4.51328996e-03 9.99155641e-01 1.09289111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:209.79, Z:109.30 [[ 1.32857705e-01 -9.91073394e-01 -1.10615691e-02 3.10090139e+02] [ 9.90259172e-01 1.33201132e-01 -4.05491151e-02 2.09791425e+02] [ 4.16605627e-02 -5.56655786e-03 9.99116315e-01 1.09296933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.09, Y:209.82, Z:109.30 [[ 1.33542251e-01 -9.91024258e-01 -6.11455036e-03 3.10092366e+02] [ 9.90147904e-01 1.33681266e-01 -4.16706998e-02 2.09819396e+02] [ 4.21140752e-02 -4.89510157e-04 9.99112689e-01 1.09296274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.09, Y:209.85, Z:109.29 [[ 1.33789917e-01 -9.90975144e-01 8.27787163e-03 3.10088726e+02] [ 9.90254880e-01 1.33357390e-01 -4.01382646e-02 2.09847583e+02] [ 3.86721071e-02 1.35672978e-02 9.99159845e-01 1.09285525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.10, Y:209.87, Z:109.29 [[ 1.35091288e-01 -9.90833155e-01 5.20883396e-05 3.10097573e+02] [ 9.90074033e-01 1.34985731e-01 -3.91441110e-02 2.09872444e+02] [ 3.87782518e-02 5.33959968e-03 9.99233574e-01 1.09287967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.11, Y:209.90, Z:109.29 [[ 1.35184749e-01 -9.90791739e-01 -7.53743748e-03 3.10110163e+02] [ 9.90072793e-01 1.35374302e-01 -3.78108933e-02 2.09901585e+02] [ 3.84830961e-02 -2.35115564e-03 9.99256485e-01 1.09292880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:209.93, Z:109.30 [[ 1.35063291e-01 -9.90794964e-01 -9.12392605e-03 3.10116537e+02] [ 9.90081382e-01 1.35314119e-01 -3.78014088e-02 2.09928669e+02] [ 3.86880415e-02 -3.92784664e-03 9.99243618e-01 1.09295524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.12, Y:209.96, Z:109.29 [[ 1.34444376e-01 -9.90913387e-01 -3.92042119e-03 3.10119861e+02] [ 9.90214737e-01 1.34496844e-01 -3.72205977e-02 2.09956479e+02] [ 3.74096728e-02 1.12204121e-03 9.99299383e-01 1.09294670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.13, Y:209.98, Z:109.30 [[ 1.33577114e-01 -9.91027373e-01 -4.67985653e-03 3.10125510e+02] [ 9.90336179e-01 1.33658711e-01 -3.70081298e-02 2.09984540e+02] [ 3.73015732e-02 3.08807936e-04 9.99304006e-01 1.09295606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.14, Y:210.01, Z:109.31 [[ 1.34084316e-01 -9.90768115e-01 -1.99984465e-02 3.10142432e+02] [ 9.90050921e-01 1.34801606e-01 -4.03447835e-02 2.10010941e+02] [ 4.26681478e-02 -1.43898777e-02 9.98985666e-01 1.09309209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.14, Y:210.04, Z:109.31 [[ 1.33001965e-01 -9.91096434e-01 -6.19158898e-03 3.10141566e+02] [ 9.90184189e-01 1.33145153e-01 -4.25163523e-02 2.10040011e+02] [ 4.29621853e-02 -4.76055129e-04 9.99076586e-01 1.09305131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.15, Y:210.07, Z:109.31 [[ 1.30161657e-01 -9.91472775e-01 -6.29923365e-03 3.10150017e+02] [ 9.90525129e-01 1.30312623e-01 -4.33426880e-02 2.10066288e+02] [ 4.37939648e-02 -5.97993139e-04 9.99040405e-01 1.09306477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:210.09, Z:109.31 [[ 1.28502995e-01 -9.91688749e-01 -6.35651997e-03 3.10156810e+02] [ 9.90720004e-01 1.28658393e-01 -4.38279733e-02 2.10093727e+02] [ 4.42815277e-02 -6.65505653e-04 9.99018870e-01 1.09307515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.17, Y:210.12, Z:109.31 [[ 1.25430620e-01 -9.92081603e-01 -6.42285892e-03 3.10165452e+02] [ 9.91089131e-01 1.25592411e-01 -4.43720640e-02 2.10120386e+02] [ 4.48273707e-02 -8.00010165e-04 9.98994428e-01 1.09308580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.17, Y:210.15, Z:109.31 [[ 1.24083234e-01 -9.92251259e-01 -6.38673242e-03 3.10171107e+02] [ 9.91266276e-01 1.24244616e-01 -4.42091025e-02 2.10146577e+02] [ 4.46600548e-02 -8.45344060e-04 9.99001884e-01 1.09309275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.18, Y:210.17, Z:109.31 [[ 1.23427958e-01 -9.92333160e-01 -6.35909088e-03 3.10179229e+02] [ 9.91352758e-01 1.23588670e-01 -4.41083869e-02 2.10172900e+02] [ 4.45561266e-02 -8.59894153e-04 9.99006513e-01 1.09310254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.17, Y:210.20, Z:109.30 [[ 1.22479123e-01 -9.92333153e-01 1.65462194e-02 3.10171683e+02] [ 9.91500190e-01 1.21605045e-01 -4.62556555e-02 2.10200307e+02] [ 4.38889168e-02 2.20709318e-02 9.98792590e-01 1.09295622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:210.22, Z:109.32 [[ 1.25423685e-01 -9.91711427e-01 -2.78808903e-02 3.10203622e+02] [ 9.91123818e-01 1.26498821e-01 -4.08855207e-02 2.10224605e+02] [ 4.40735379e-02 -2.25054017e-02 9.98774765e-01 1.09321035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.20, Y:210.25, Z:109.31 [[ 1.25133831e-01 -9.92120191e-01 -6.24909169e-03 3.10198645e+02] [ 9.91165607e-01 1.25287536e-01 -4.35175077e-02 2.10254454e+02] [ 4.39575314e-02 -7.48372303e-04 9.99033120e-01 1.09311973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.21, Y:210.28, Z:109.31 [[ 1.27458117e-01 -9.91825198e-01 -6.09956622e-03 3.10205525e+02] [ 9.90911895e-01 1.27602477e-01 -4.25584734e-02 2.10281746e+02] [ 4.29888861e-02 -6.19709838e-04 9.99075358e-01 1.09313762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.21, Y:210.31, Z:109.31 [[ 1.27832931e-01 -9.91776514e-01 -6.17156563e-03 3.10210200e+02] [ 9.90837694e-01 1.27980417e-01 -4.31471541e-02 2.10308386e+02] [ 4.35821737e-02 -5.99392667e-04 9.99049666e-01 1.09314415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:210.34, Z:109.32 [[ 1.28211861e-01 -9.91727428e-01 -6.19898484e-03 3.10215286e+02] [ 9.90776219e-01 1.28360350e-01 -4.34293100e-02 2.10335905e+02] [ 4.38657418e-02 -5.73654112e-04 9.99037270e-01 1.09315102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.22, Y:210.36, Z:109.32 [[ 1.28736231e-01 -9.91659639e-01 -6.17598196e-03 3.10222430e+02] [ 9.90711700e-01 1.28883168e-01 -4.33526944e-02 2.10362821e+02] [ 4.37870974e-02 -5.37555122e-04 9.99040741e-01 1.09316091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:210.39, Z:109.32 [[ 1.28337852e-01 -9.91712309e-01 -6.00771440e-03 3.10228860e+02] [ 9.90811967e-01 1.28477298e-01 -4.22519759e-02 2.10389639e+02] [ 4.26736594e-02 -5.29987495e-04 9.99088924e-01 1.09317146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:210.42, Z:109.32 [[ 1.28069043e-01 -9.91746822e-01 -6.04666562e-03 3.10233457e+02] [ 9.90831024e-01 1.28210597e-01 -4.26136680e-02 2.10417757e+02] [ 4.30372164e-02 -5.33732195e-04 9.99073327e-01 1.09318248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:210.45, Z:109.32 [[ 1.27624385e-01 -9.91804019e-01 -6.06657936e-03 3.10237774e+02] [ 9.90878665e-01 1.27767331e-01 -4.28366679e-02 2.10445261e+02] [ 4.32606901e-02 -5.44240648e-04 9.99063670e-01 1.09318885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:210.47, Z:109.32 [[ 1.27206526e-01 -9.91857318e-01 -6.12867594e-03 3.10241654e+02] [ 9.90909290e-01 1.27352857e-01 -4.33592919e-02 2.10472757e+02] [ 4.37867353e-02 -5.57377063e-04 9.99040746e-01 1.09319898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.24, Y:210.50, Z:109.32 [[ 1.26251822e-01 -9.91978550e-01 -6.24774339e-03 3.10244090e+02] [ 9.90989585e-01 1.26404892e-01 -4.42882211e-02 2.10501054e+02] [ 4.47227107e-02 -5.99980039e-04 9.98999259e-01 1.09320458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:210.53, Z:109.32 [[ 1.25047881e-01 -9.92130887e-01 -6.27140045e-03 3.10245136e+02] [ 9.91130587e-01 1.25203380e-01 -4.45451729e-02 2.10528234e+02] [ 4.49798425e-02 -6.45497308e-04 9.98987686e-01 1.09320806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:210.56, Z:109.32 [[ 1.24252839e-01 -9.92250529e-01 -3.45825838e-04 3.10244858e+02] [ 9.91133983e-01 1.24129536e-01 -4.73844604e-02 2.10557337e+02] [ 4.70601831e-02 5.54489398e-03 9.98876666e-01 1.09319062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:210.58, Z:109.33 [[ 1.22900721e-01 -9.92342709e-01 -1.23028771e-02 3.10253756e+02] [ 9.91354126e-01 1.23333541e-01 -4.47865474e-02 2.10583824e+02] [ 4.59609611e-02 -6.69220903e-03 9.98920820e-01 1.09326031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.770385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.25, Y:210.61, Z:109.32 [[ 1.21777909e-01 -9.92538381e-01 -6.14033888e-03 3.10253813e+02] [ 9.91570452e-01 1.21930302e-01 -4.38296689e-02 2.10611162e+02] [ 4.42513220e-02 -7.51093191e-04 9.99020148e-01 1.09323953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:210.64, Z:109.33 [[ 1.19879683e-01 -9.92769387e-01 -6.14871126e-03 3.10256665e+02] [ 9.91794832e-01 1.20034428e-01 -4.39857594e-02 2.10638695e+02] [ 4.44057724e-02 -8.25261158e-04 9.99013236e-01 1.09325201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.26, Y:210.67, Z:109.33 [[ 1.19355400e-01 -9.92765961e-01 -1.30397507e-02 3.10264146e+02] [ 9.91790965e-01 1.19824522e-01 -4.46404007e-02 2.10667491e+02] [ 4.58799522e-02 -7.60463401e-03 9.98918014e-01 1.09329908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:310.26, Y:210.69, Z:109.32 [[ 1.18752350e-01 -9.92923813e-01 4.24790297e-04 3.10258845e+02] [ 9.91935406e-01 1.18615031e-01 -4.46612143e-02 2.10694558e+02] [ 4.42947967e-02 5.72498870e-03 9.99002100e-01 1.09324017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.27, Y:210.72, Z:109.33 [[ 1.18792344e-01 -9.92900522e-01 -6.07727745e-03 3.10266073e+02] [ 9.91939138e-01 1.18944743e-01 -4.36909099e-02 2.10722244e+02] [ 4.41035874e-02 -8.38143759e-04 9.99026612e-01 1.09327488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.920385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:310.27, Y:210.75, Z:109.33 [[ 1.18965778e-01 -9.92880015e-01 -6.03483615e-03 3.10269620e+02] [ 9.91928185e-01 1.19115962e-01 -4.34725652e-02 2.10749339e+02] [ 4.38818865e-02 -8.14376513e-04 9.99036394e-01 1.09328895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.27, Y:210.78, Z:109.33 [[ 1.20178783e-01 -9.92735187e-01 -5.82315371e-03 3.10272572e+02] [ 9.91845182e-01 1.20317599e-01 -4.20334433e-02 2.10777148e+02] [ 4.24287061e-02 -7.24138876e-04 9.99099235e-01 1.09330342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.27, Y:210.81, Z:109.33 [[ 1.19742790e-01 -9.92804060e-01 1.32798046e-03 3.10271792e+02] [ 9.92018344e-01 1.19594575e-01 -3.99592547e-02 2.10806421e+02] [ 3.95128911e-02 6.10221365e-03 9.99200428e-01 1.09325392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.29, Y:210.83, Z:109.34 [[ 1.22838252e-01 -9.92310446e-01 -1.51902346e-02 3.10287469e+02] [ 9.91537874e-01 1.23361515e-01 -4.04299532e-02 2.10834223e+02] [ 4.19929552e-02 -1.00953482e-02 9.99066903e-01 1.09336617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:210.86, Z:109.33 [[ 1.20971643e-01 -9.92653316e-01 -2.29239878e-03 3.10281808e+02] [ 9.91828864e-01 1.20964778e-01 -4.05342606e-02 2.10858328e+02] [ 4.05137677e-02 2.62982883e-03 9.99175519e-01 1.09332114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.070385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:310.29, Y:210.89, Z:109.33 [[ 1.19830734e-01 -9.92790423e-01 -2.78783334e-03 3.10290518e+02] [ 9.92010030e-01 1.19847192e-01 -3.94049679e-02 2.10888383e+02] [ 3.94549887e-02 1.95636760e-03 9.99219434e-01 1.09332628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.29, Y:210.91, Z:109.34 [[ 1.16674010e-01 -9.93134248e-01 -8.45815716e-03 3.10294112e+02] [ 9.92356139e-01 1.16918898e-01 -3.94875197e-02 2.10910919e+02] [ 4.02053266e-02 -3.78633692e-03 9.99184265e-01 1.09337885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.30, Y:210.94, Z:109.34 [[ 1.12893617e-01 -9.93591646e-01 -5.53820952e-03 3.10295478e+02] [ 9.92772091e-01 1.13025454e-01 -4.03586667e-02 2.10939341e+02] [ 4.07259927e-02 -9.41944004e-04 9.99169909e-01 1.09336970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.30, Y:210.97, Z:109.34 [[ 1.09869174e-01 -9.93930663e-01 -5.53180585e-03 3.10298520e+02] [ 9.93109993e-01 1.10003283e-01 -4.03957898e-02 2.10967327e+02] [ 4.07591309e-02 -1.05543960e-03 9.99168444e-01 1.09337645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.30, Y:210.99, Z:109.34 [[ 1.09448070e-01 -9.93977248e-01 -5.50917338e-03 3.10302544e+02] [ 9.93159965e-01 1.09581518e-01 -4.03134560e-02 2.10994685e+02] [ 4.06743616e-02 -1.05926048e-03 9.99171894e-01 1.09339097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:211.02, Z:109.34 [[ 1.09550512e-01 -9.93965568e-01 -5.57990027e-03 3.10306246e+02] [ 9.93123617e-01 1.09687412e-01 -4.09164066e-02 2.11021373e+02] [ 4.12815442e-02 -1.05911743e-03 9.99146992e-01 1.09340662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:211.05, Z:109.34 [[ 1.11967371e-01 -9.93695899e-01 -5.63632524e-03 3.10308610e+02] [ 9.92833782e-01 1.12105025e-01 -4.13949964e-02 2.11049081e+02] [ 4.17658986e-02 -9.61045178e-04 9.99126962e-01 1.09341046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:211.08, Z:109.34 [[ 1.13446398e-01 -9.93527903e-01 -5.67632480e-03 3.10310735e+02] [ 9.92649618e-01 1.13584789e-01 -4.17759641e-02 2.11075832e+02] [ 4.21503301e-02 -8.95268995e-04 9.99110879e-01 1.09341354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:211.10, Z:109.34 [[ 1.13192935e-01 -9.93556881e-01 -5.66426254e-03 3.10314503e+02] [ 9.92678552e-01 1.13331043e-01 -4.17775996e-02 2.11104142e+02] [ 4.21503583e-02 -8.93862824e-04 9.99110879e-01 1.09342480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:211.13, Z:109.34 [[ 1.17075468e-01 -9.93107284e-01 -5.59074745e-03 3.10316952e+02] [ 9.92247817e-01 1.17206726e-01 -4.13140686e-02 2.11132240e+02] [ 4.16845757e-02 -7.10543048e-04 9.99130568e-01 1.09342663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.32, Y:211.16, Z:109.34 [[ 1.18810935e-01 -9.92916567e-01 8.07635425e-04 3.10319230e+02] [ 9.92086479e-01 1.18678269e-01 -4.09864286e-02 2.11161514e+02] [ 4.06002552e-02 5.67088008e-03 9.99159377e-01 1.09339128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.33, Y:211.19, Z:109.35 [[ 1.21742796e-01 -9.92491494e-01 -1.18036158e-02 3.10328306e+02] [ 9.91754080e-01 1.22114765e-01 -3.88822447e-02 2.11185591e+02] [ 4.00316929e-02 -6.97265099e-03 9.99174082e-01 1.09348418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.33, Y:211.21, Z:109.35 [[ 1.22235294e-01 -9.92487202e-01 -5.26190678e-03 3.10329221e+02] [ 9.91715098e-01 1.22347728e-01 -3.91432941e-02 2.11214151e+02] [ 3.94930007e-02 -4.33620357e-04 9.99219753e-01 1.09347126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.33, Y:211.24, Z:109.35 [[ 1.22674502e-01 -9.92433400e-01 -5.18786291e-03 3.10332920e+02] [ 9.91679802e-01 1.22783495e-01 -3.86701979e-02 2.11241037e+02] [ 3.90145799e-02 -4.00851603e-04 9.99238561e-01 1.09348328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.490385723 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:310.33, Y:211.27, Z:109.35 [[ 1.23625597e-01 -9.92298470e-01 7.77546985e-03 3.10329977e+02] [ 9.91424492e-01 1.23174665e-01 -4.36517876e-02 2.11269014e+02] [ 4.23578612e-02 1.31052695e-02 9.99016548e-01 1.09345986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.35, Y:211.30, Z:109.36 [[ 1.23679306e-01 -9.92238347e-01 -1.29032087e-02 3.10345621e+02] [ 9.91497592e-01 1.24096080e-01 -3.91495579e-02 2.11295457e+02] [ 4.04469303e-02 -7.95151014e-03 9.99150049e-01 1.09355677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.34, Y:211.32, Z:109.35 [[ 1.22127719e-01 -9.92513112e-01 1.59473467e-03 3.10341633e+02] [ 9.91777531e-01 1.21974989e-01 -3.87225026e-02 2.11321943e+02] [ 3.82380738e-02 6.31071295e-03 9.99248730e-01 1.09347490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:211.35, Z:109.35 [[ 1.18042368e-01 -9.93008255e-01 -7.78346225e-04 3.10344059e+02] [ 9.92347549e-01 1.17992351e-01 -3.63888298e-02 2.11349508e+02] [ 3.62262472e-02 3.52303368e-03 9.99337404e-01 1.09345468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.36, Y:211.38, Z:109.36 [[ 1.19835812e-01 -9.92542927e-01 -2.23140280e-02 3.10360019e+02] [ 9.91914483e-01 1.20645156e-01 -3.93751745e-02 2.11376102e+02] [ 4.17736303e-02 -1.74150516e-02 9.98975315e-01 1.09362375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.35, Y:211.41, Z:109.36 [[ 1.18503243e-01 -9.92938374e-01 -5.51053150e-03 3.10354689e+02] [ 9.92062605e-01 1.18630133e-01 -4.16974690e-02 2.11405895e+02] [ 4.20567321e-02 -5.25506931e-04 9.99115086e-01 1.09356372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.35, Y:211.44, Z:109.35 [[ 1.15155964e-01 -9.93336492e-01 4.66018320e-03 3.10354182e+02] [ 9.92324576e-01 1.14823279e-01 -4.59080787e-02 2.11435956e+02] [ 4.50670723e-02 9.91100337e-03 9.98934798e-01 1.09353507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.37, Y:211.46, Z:109.36 [[ 1.15069571e-01 -9.93224672e-01 -1.62402262e-02 3.10368772e+02] [ 9.92465462e-01 1.15643551e-01 -4.04830409e-02 2.11459997e+02] [ 4.20868324e-02 -1.14594974e-02 9.99048236e-01 1.09363634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:211.49, Z:109.36 [[ 1.12987094e-01 -9.93580880e-01 -5.56350832e-03 3.10366981e+02] [ 9.92679630e-01 1.13121554e-01 -4.23162630e-02 2.11489220e+02] [ 4.26739826e-02 -7.41589805e-04 9.99088776e-01 1.09360369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:211.52, Z:109.36 [[ 1.12098065e-01 -9.93681278e-01 -5.61612325e-03 3.10369342e+02] [ 9.92759023e-01 1.12235974e-01 -4.28089706e-02 2.11515939e+02] [ 4.31688037e-02 -7.76654241e-04 9.99067491e-01 1.09360776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:211.54, Z:109.36 [[ 1.11898749e-01 -9.93703666e-01 -5.62983627e-03 3.10371359e+02] [ 9.92774002e-01 1.12037571e-01 -4.29809631e-02 2.11544444e+02] [ 4.33410938e-02 -7.79639061e-04 9.99060029e-01 1.09361112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.37, Y:211.57, Z:109.36 [[ 1.11679783e-01 -9.93738163e-01 3.47688115e-03 3.10369791e+02] [ 9.92679935e-01 1.11397603e-01 -4.66596322e-02 2.11573195e+02] [ 4.59801410e-02 8.66236774e-03 9.98904795e-01 1.09357818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:211.60, Z:109.36 [[ 1.10397404e-01 -9.93761759e-01 -1.58107510e-02 3.10379282e+02] [ 9.93044211e-01 1.10944959e-01 -3.94260299e-02 2.11597101e+02] [ 4.09342040e-02 -1.13482434e-02 9.99097397e-01 1.09363754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:211.63, Z:109.36 [[ 1.13864804e-01 -9.93488857e-01 -3.83371611e-03 3.10379706e+02] [ 9.92556067e-01 1.13924040e-01 -4.30553957e-02 2.11627679e+02] [ 4.32118083e-02 1.09731602e-03 9.99065331e-01 1.09363872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.38, Y:211.65, Z:109.37 [[ 1.13687931e-01 -9.93500676e-01 -5.60905317e-03 3.10383255e+02] [ 9.92568779e-01 1.13824209e-01 -4.30263737e-02 2.11654664e+02] [ 4.33851774e-02 -6.75791653e-04 9.99058191e-01 1.09365765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:211.68, Z:109.37 [[ 1.12754189e-01 -9.93607184e-01 -5.59082322e-03 3.10386190e+02] [ 9.92678551e-01 1.12890500e-01 -4.29537978e-02 2.11682912e+02] [ 4.33103529e-02 -7.06669676e-04 9.99061417e-01 1.09366746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:211.71, Z:109.37 [[ 1.09953027e-01 -9.93920630e-01 -5.66691030e-03 3.10387883e+02] [ 9.92962872e-01 1.10095838e-01 -4.36307309e-02 2.11710927e+02] [ 4.39893867e-02 -8.29700594e-04 9.99031654e-01 1.09367958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:211.74, Z:109.36 [[ 1.04174531e-01 -9.94557449e-01 1.77427278e-03 3.10382414e+02] [ 9.93737432e-01 1.04015809e-01 -4.08243630e-02 2.11736737e+02] [ 4.04176219e-02 6.01602017e-03 9.99164763e-01 1.09360909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:211.76, Z:109.37 [[ 1.03023206e-01 -9.94598083e-01 -1.26835210e-02 3.10393327e+02] [ 9.93762911e-01 1.03467086e-01 -4.15913246e-02 2.11764562e+02] [ 4.26789787e-02 -8.31954113e-03 9.99054198e-01 1.09371573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:211.79, Z:109.37 [[ 1.01312736e-01 -9.94802986e-01 -1.01364872e-02 3.10392830e+02] [ 9.93932823e-01 1.01652120e-01 -4.20046407e-02 2.11792037e+02] [ 4.28167374e-02 -5.81938232e-03 9.99065995e-01 1.09371735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.39, Y:211.83, Z:109.37 [[ 1.01057309e-01 -9.94880602e-01 9.00248085e-05 3.10386704e+02] [ 9.93895746e-01 1.00953244e-01 -4.44936977e-02 2.11826428e+02] [ 4.42568284e-02 4.58588863e-03 9.99009661e-01 1.09369680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.39, Y:211.85, Z:109.37 [[ 1.04244954e-01 -9.94535774e-01 -5.61989359e-03 3.10393059e+02] [ 9.93592868e-01 1.04390856e-01 -4.33100589e-02 2.11852845e+02] [ 4.36600685e-02 -1.06903109e-03 9.99045873e-01 1.09373190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:211.88, Z:109.37 [[ 1.04415483e-01 -9.94518104e-01 -5.58106187e-03 3.10394257e+02] [ 9.93585236e-01 1.04559288e-01 -4.30782390e-02 2.11881236e+02] [ 4.34256404e-02 -1.04722555e-03 9.99056113e-01 1.09374250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:211.91, Z:109.38 [[ 1.04872628e-01 -9.94469867e-01 -5.60493485e-03 3.10395408e+02] [ 9.93524908e-01 1.05017328e-01 -4.33545583e-02 2.11908017e+02] [ 4.37034171e-02 -1.02193591e-03 9.99044027e-01 1.09376099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.40, Y:211.94, Z:109.38 [[ 1.05159057e-01 -9.94439460e-01 -5.63330327e-03 3.10396166e+02] [ 9.93480545e-01 1.05305048e-01 -4.36721149e-02 2.11935356e+02] [ 4.40224896e-02 -1.00405879e-03 9.99030036e-01 1.09377201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.40, Y:211.96, Z:109.38 [[ 1.02641702e-01 -9.94701293e-01 -5.83263383e-03 3.10395156e+02] [ 9.93668700e-01 1.02800931e-01 -4.53264192e-02 2.11963504e+02] [ 4.56858479e-02 -1.14332485e-03 9.98955202e-01 1.09380020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:211.99, Z:109.38 [[ 1.04982075e-01 -9.94458706e-01 -5.53589596e-03 3.10399118e+02] [ 9.93524231e-01 1.05123420e-01 -4.31122954e-02 2.11990743e+02] [ 4.34553498e-02 -9.74028557e-04 9.99054895e-01 1.09379917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.02, Z:109.38 [[ 1.05934628e-01 -9.94357553e-01 -5.55988004e-03 3.10398439e+02] [ 9.93410274e-01 1.06076395e-01 -4.34030693e-02 2.12018456e+02] [ 4.37479418e-02 -9.25353933e-04 9.99042172e-01 1.09380260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.05, Z:109.38 [[ 1.06333614e-01 -9.94314795e-01 -5.59030342e-03 3.10400286e+02] [ 9.93352629e-01 1.06476643e-01 -4.37410510e-02 2.12046610e+02] [ 4.40876109e-02 -9.01998550e-04 9.99027261e-01 1.09381435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.07, Z:109.39 [[ 1.03362586e-01 -9.94561963e-01 -1.27545358e-02 3.10401389e+02] [ 9.93721461e-01 1.03810342e-01 -4.17261536e-02 2.12071528e+02] [ 4.28232980e-02 -8.36153282e-03 9.99047672e-01 1.09385262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.40, Y:212.10, Z:109.38 [[ 1.05897636e-01 -9.94374468e-01 2.26002727e-03 3.10399950e+02] [ 9.93452389e-01 1.05700899e-01 -4.33551723e-02 2.12103432e+02] [ 4.28723895e-02 6.83643973e-03 9.99057166e-01 1.09381706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.420385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:310.40, Y:212.13, Z:109.39 [[ 1.02275338e-01 -9.94682714e-01 -1.20853040e-02 3.10403464e+02] [ 9.93854387e-01 1.02692262e-01 -4.13250161e-02 2.12127987e+02] [ 4.23463463e-02 -7.78450242e-03 9.99072664e-01 1.09387202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.16, Z:109.38 [[ 1.05178218e-01 -9.94451720e-01 1.82167606e-03 3.10402157e+02] [ 9.93546231e-01 1.05003871e-01 -4.28960792e-02 2.12160887e+02] [ 4.24667967e-02 6.32165256e-03 9.99077879e-01 1.09384175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.480385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:310.41, Y:212.18, Z:109.39 [[ 1.02345521e-01 -9.94666212e-01 -1.28265902e-02 3.10407741e+02] [ 9.93858462e-01 1.02790866e-01 -4.09804366e-02 2.12184534e+02] [ 4.20803119e-02 -8.55365113e-03 9.99077616e-01 1.09389989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.21, Z:109.39 [[ 1.02998626e-01 -9.94664901e-01 -5.74617265e-03 3.10404226e+02] [ 9.93774117e-01 1.03149647e-01 -4.21088451e-02 2.12214540e+02] [ 4.24769059e-02 -1.37324444e-03 9.99096505e-01 1.09389406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.25, Z:109.39 [[ 1.05888946e-01 -9.94344622e-01 8.14275601e-03 3.10400097e+02] [ 9.93500596e-01 1.05448054e-01 -4.28634247e-02 2.12245176e+02] [ 4.17623780e-02 1.26285958e-02 9.99047758e-01 1.09385536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:212.27, Z:109.39 [[ 1.05033005e-01 -9.94422715e-01 -9.56720499e-03 3.10411111e+02] [ 9.93670656e-01 1.05329202e-01 -3.90433954e-02 2.12271856e+02] [ 3.98333453e-02 -5.40580572e-03 9.99191714e-01 1.09393125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.600385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.41, Y:212.30, Z:109.39 [[ 1.00272551e-01 -9.94910393e-01 -9.93602877e-03 3.10405638e+02] [ 9.94115964e-01 1.00593745e-01 -4.01789546e-02 2.12296653e+02] [ 4.09739619e-02 -5.84871856e-03 9.99143096e-01 1.09393431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.630385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.40, Y:212.33, Z:109.39 [[ 9.80712710e-02 -9.95166683e-01 5.02981200e-03 3.10397597e+02] [ 9.94411096e-01 9.77957446e-02 -3.97814683e-02 2.12325425e+02] [ 3.90972977e-02 8.90312002e-03 9.99195745e-01 1.09385677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.42, Y:212.35, Z:109.40 [[ 9.92125172e-02 -9.94769123e-01 -2.43159925e-02 3.10416176e+02] [ 9.94085975e-01 1.00169606e-01 -4.19419248e-02 2.12352712e+02] [ 4.41582552e-02 -2.00110231e-02 9.98824112e-01 1.09403341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.38, Z:109.39 [[ 9.50798413e-02 -9.95460599e-01 4.24496061e-03 3.10399084e+02] [ 9.94562111e-01 9.48102505e-02 -4.30955304e-02 2.12381433e+02] [ 4.24974367e-02 8.31939317e-03 9.99061938e-01 1.09391878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.41, Z:109.40 [[ 9.14053102e-02 -9.95801462e-01 -4.95148598e-03 3.10401908e+02] [ 9.94876680e-01 9.15338274e-02 -4.29179494e-02 2.12408596e+02] [ 4.31909852e-02 -1.00318945e-03 9.99066330e-01 1.09395615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.40, Y:212.44, Z:109.39 [[ 8.92173700e-02 -9.96005025e-01 3.77518573e-03 3.10397967e+02] [ 9.94902165e-01 8.89384052e-02 -4.75356946e-02 2.12437677e+02] [ 4.70100317e-02 7.99695011e-03 9.98862406e-01 1.09393497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:212.47, Z:109.41 [[ 8.72332883e-02 -9.95915085e-01 -2.33130299e-02 3.10410714e+02] [ 9.94974818e-01 8.82577598e-02 -4.72829640e-02 2.12465068e+02] [ 4.91473729e-02 -1.90712292e-02 9.98609445e-01 1.09406177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.49, Z:109.40 [[ 8.54253514e-02 -9.96341872e-01 -2.32037347e-03 3.10400596e+02] [ 9.95093300e-01 8.54345179e-02 -4.99025777e-02 2.12494417e+02] [ 4.99182677e-02 1.95395715e-03 9.98751395e-01 1.09399859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.52, Z:109.40 [[ 8.53565238e-02 -9.96340236e-01 4.51632690e-03 3.10399963e+02] [ 9.95151554e-01 8.50306341e-02 -4.94284932e-02 2.12524217e+02] [ 4.88635704e-02 8.71347409e-03 9.98767454e-01 1.09396362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.55, Z:109.40 [[ 8.50402984e-02 -9.96358420e-01 -6.16821074e-03 3.10402350e+02] [ 9.95143081e-01 8.52413742e-02 -4.92357291e-02 2.12551988e+02] [ 4.95822200e-02 -1.95123114e-03 9.98768139e-01 1.09400640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.58, Z:109.40 [[ 8.53064528e-02 -9.96335461e-01 -6.20152567e-03 3.10400917e+02] [ 9.95101322e-01 8.55095947e-02 -4.96131886e-02 2.12579269e+02] [ 4.99616690e-02 -1.93882127e-03 9.98749254e-01 1.09400979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:212.61, Z:109.40 [[ 8.69742200e-02 -9.96205583e-01 -3.14986921e-03 3.10394567e+02] [ 9.94798476e-01 8.70187933e-02 -5.29501758e-02 2.12608637e+02] [ 5.30233586e-02 1.47181515e-03 9.98592188e-01 1.09399579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:212.64, Z:109.40 [[ 8.67506955e-02 -9.96229053e-01 1.41118376e-03 3.10387785e+02] [ 9.94996776e-01 8.65727541e-02 -4.98655709e-02 2.12635163e+02] [ 4.95553604e-02 5.72999625e-03 9.98754942e-01 1.09395056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.66, Z:109.41 [[ 9.02862544e-02 -9.95771958e-01 -1.69292398e-02 3.10401823e+02] [ 9.94554001e-01 9.10384254e-02 -5.07379927e-02 2.12663289e+02] [ 5.20646817e-02 -1.22560999e-02 9.98568504e-01 1.09406975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.020385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:310.40, Y:212.69, Z:109.40 [[ 9.12061643e-02 -9.95810596e-01 -6.53392108e-03 3.10397180e+02] [ 9.94419874e-01 9.14241663e-02 -5.26377836e-02 2.12691906e+02] [ 5.30146210e-02 -1.69657064e-03 9.98592295e-01 1.09404010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:212.72, Z:109.41 [[ 9.58442291e-02 -9.95375572e-01 -6.43079578e-03 3.10394696e+02] [ 9.94021285e-01 9.60492967e-02 -5.19251091e-02 2.12719705e+02] [ 5.23026585e-02 -1.41562584e-03 9.98630276e-01 1.09406333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:212.75, Z:109.41 [[ 9.76506055e-02 -9.95199947e-01 -6.43619324e-03 3.10394748e+02] [ 9.93836467e-01 9.78537192e-02 -5.20934475e-02 2.12747536e+02] [ 5.24732017e-02 -1.30956686e-03 9.98621474e-01 1.09407052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:212.78, Z:109.40 [[ 9.97054384e-02 -9.95011660e-01 3.25902422e-03 3.10386594e+02] [ 9.93806469e-01 9.94220888e-02 -4.96381928e-02 2.12775369e+02] [ 4.90665616e-02 8.18803713e-03 9.98761948e-01 1.09399569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.140385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:310.40, Y:212.80, Z:109.41 [[ 1.03257003e-01 -9.94532258e-01 -1.56070540e-02 3.10399234e+02] [ 9.93180066e-01 1.03945327e-01 -5.28083820e-02 2.12803688e+02] [ 5.41419197e-02 -1.00477797e-02 9.98482696e-01 1.09409860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.170385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.40, Y:212.83, Z:109.41 [[ 1.05300102e-01 -9.94430251e-01 -4.51265026e-03 3.10395883e+02] [ 9.92932400e-01 1.05389149e-01 -5.45745084e-02 2.12832384e+02] [ 5.47461265e-02 1.26594463e-03 9.98499504e-01 1.09408507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.200385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.40, Y:212.86, Z:109.41 [[ 1.05039054e-01 -9.94446706e-01 -6.52280146e-03 3.10400332e+02] [ 9.92960135e-01 1.05238593e-01 -5.43599892e-02 2.12860564e+02] [ 5.47445627e-02 -7.66959983e-04 9.98500098e-01 1.09410252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.230385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:310.39, Y:212.89, Z:109.40 [[ 1.05748061e-01 -9.94337980e-01 1.04560765e-02 3.10392694e+02] [ 9.93070875e-01 1.05059588e-01 -5.26566231e-02 2.12892928e+02] [ 5.12599691e-02 1.59519608e-02 9.98557936e-01 1.09399150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:212.92, Z:109.42 [[ 1.04468836e-01 -9.94219203e-01 -2.47878813e-02 3.10411853e+02] [ 9.93107177e-01 1.05619053e-01 -5.08207804e-02 2.12916247e+02] [ 5.31450683e-02 -1.93078350e-02 9.98400125e-01 1.09417139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:212.95, Z:109.41 [[ 1.02222721e-01 -9.94741028e-01 -6.38769022e-03 3.10403533e+02] [ 9.93360546e-01 1.02417328e-01 -5.23976775e-02 2.12946125e+02] [ 5.27763298e-02 -9.89046256e-04 9.98605869e-01 1.09413163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:212.97, Z:109.41 [[ 1.02030888e-01 -9.94769481e-01 -4.83506807e-03 3.10405190e+02] [ 9.93338354e-01 1.02143382e-01 -5.33445787e-02 2.12971186e+02] [ 5.35594291e-02 6.39936190e-04 9.98564459e-01 1.09413584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:213.00, Z:109.42 [[ 9.83423124e-02 -9.95122793e-01 -7.70825829e-03 3.10409219e+02] [ 9.93734339e-01 9.86126041e-02 -5.26081495e-02 2.13000453e+02] [ 5.31117000e-02 -2.48635389e-03 9.98585482e-01 1.09415173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:213.03, Z:109.42 [[ 9.75721714e-02 -9.95208211e-01 -6.34736780e-03 3.10411821e+02] [ 9.93831506e-01 9.77710349e-02 -5.23427398e-02 2.13027887e+02] [ 5.27125132e-02 -1.20101931e-03 9.98609007e-01 1.09415589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.410385723 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:310.42, Y:213.05, Z:109.42 [[ 9.58269713e-02 -9.95377260e-01 -6.42664197e-03 3.10415750e+02] [ 9.93959310e-01 9.60334753e-02 -5.31268512e-02 2.13054764e+02] [ 5.34984324e-02 -1.29683537e-03 9.98567091e-01 1.09415500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.440385723 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:310.42, Y:213.08, Z:109.42 [[ 9.44296836e-02 -9.95510166e-01 -6.52264301e-03 3.10418924e+02] [ 9.94042763e-01 9.46446298e-02 -5.40497958e-02 2.13082831e+02] [ 5.44244544e-02 -1.37988095e-03 9.98516938e-01 1.09415353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.42, Y:213.11, Z:109.42 [[ 9.37449355e-02 -9.95578151e-01 -6.00278223e-03 3.10422059e+02] [ 9.94330300e-01 9.39279899e-02 -4.98476506e-02 2.13110492e+02] [ 5.01910611e-02 -1.29578346e-03 9.98738794e-01 1.09416689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.500385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.42, Y:213.14, Z:109.42 [[ 9.34006234e-02 -9.95610770e-01 -5.95968614e-03 3.10424928e+02] [ 9.94375091e-01 9.35816349e-02 -4.96049933e-02 2.13137562e+02] [ 4.99449828e-02 -1.29302615e-03 9.98751134e-01 1.09416593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:213.17, Z:109.42 [[ 9.49111313e-02 -9.95468712e-01 -5.82413632e-03 3.10427215e+02] [ 9.94283360e-01 9.50823365e-02 -4.85793126e-02 2.13165381e+02] [ 4.89129582e-02 -1.18012432e-03 9.98802348e-01 1.09416304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:213.19, Z:109.42 [[ 9.59502938e-02 -9.95369081e-01 -5.82521425e-03 3.10430063e+02] [ 9.94177603e-01 9.61204508e-02 -4.87006519e-02 2.13192367e+02] [ 4.90350454e-02 -1.11845567e-03 9.98796432e-01 1.09416555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:213.22, Z:109.42 [[ 9.73646107e-02 -9.95232481e-01 -5.69579841e-03 3.10434004e+02] [ 9.94087721e-01 9.75257907e-02 -4.77317826e-02 2.13220381e+02] [ 4.80597077e-02 -1.01473683e-03 9.98843949e-01 1.09416353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:213.25, Z:109.42 [[ 9.73207848e-02 -9.95237406e-01 -5.58306170e-03 3.10438514e+02] [ 9.94132398e-01 9.74758066e-02 -4.68960840e-02 2.13247998e+02] [ 4.72169505e-02 -9.86338815e-04 9.98884171e-01 1.09417349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.650385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.44, Y:213.28, Z:109.42 [[ 9.62533387e-02 -9.95341929e-01 -5.45340800e-03 3.10443705e+02] [ 9.94282851e-01 9.64024861e-02 -4.59148463e-02 2.13275233e+02] [ 4.62266938e-02 -1.00277280e-03 9.98930472e-01 1.09417261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.680385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.45, Y:213.30, Z:109.42 [[ 9.58080263e-02 -9.95385341e-01 -5.37083241e-03 3.10446943e+02] [ 9.94353278e-01 9.59532599e-02 -4.53269234e-02 2.13301685e+02] [ 4.56331039e-02 -9.97821749e-04 9.98957769e-01 1.09417355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:213.33, Z:109.42 [[ 9.56540288e-02 -9.95401057e-01 -5.20021451e-03 3.10450859e+02] [ 9.94429473e-01 9.57904243e-02 -4.39797556e-02 2.13328396e+02] [ 4.42756260e-02 -9.64405759e-04 9.99018888e-01 1.09417986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:213.36, Z:109.42 [[ 9.57314102e-02 -9.95394259e-01 -5.07599487e-03 3.10455425e+02] [ 9.94464616e-01 9.58613823e-02 -4.30200306e-02 2.13355838e+02] [ 4.33084834e-02 -9.29529092e-04 9.99061315e-01 1.09418735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:213.38, Z:109.42 [[ 9.61266119e-02 -9.95356941e-01 -4.92285657e-03 3.10461546e+02] [ 9.94478381e-01 9.62486018e-02 -4.18205381e-02 2.13382064e+02] [ 4.21001810e-02 -8.75607787e-04 9.99113011e-01 1.09420189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:213.41, Z:109.42 [[ 9.55252156e-02 -9.95415450e-01 -4.79742579e-03 3.10466329e+02] [ 9.94577630e-01 9.56416497e-02 -4.08413244e-02 2.13409902e+02] [ 4.11129191e-02 -8.70036048e-04 9.99154128e-01 1.09420950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:213.44, Z:109.42 [[ 9.49721671e-02 -9.95468400e-01 -4.79076225e-03 3.10471135e+02] [ 9.94628948e-01 9.50888290e-02 -4.08823936e-02 2.13436198e+02] [ 4.11526789e-02 -8.82341301e-04 9.99152480e-01 1.09421801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:213.46, Z:109.42 [[ 9.36385952e-02 -9.95594767e-01 -4.78265706e-03 3.10477520e+02] [ 9.94754031e-01 9.37560803e-02 -4.09171706e-02 2.13463357e+02] [ 4.11853241e-02 -9.26141019e-04 9.99151095e-01 1.09422302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:213.49, Z:109.42 [[ 9.22334265e-02 -9.95725604e-01 -4.84941475e-03 3.10484034e+02] [ 9.94857202e-01 9.23555326e-02 -4.15885039e-02 2.13490581e+02] [ 4.18586084e-02 -9.88624973e-04 9.99123055e-01 1.09422674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.49, Y:213.52, Z:109.42 [[ 9.12681774e-02 -9.95814486e-01 -4.86093347e-03 3.10488414e+02] [ 9.94937810e-01 9.13918141e-02 -4.17886515e-02 2.13518206e+02] [ 4.20579940e-02 -1.02235244e-03 9.99114648e-01 1.09423372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.950385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:310.49, Y:213.54, Z:109.42 [[ 8.99407283e-02 -9.95934777e-01 -4.95833184e-03 3.10494146e+02] [ 9.95018230e-01 9.00706993e-02 -4.27316112e-02 2.13544854e+02] [ 4.30044981e-02 -1.09031834e-03 9.99074284e-01 1.09422424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:213.57, Z:109.45 [[ 9.23474495e-02 -9.94613144e-01 -4.70812396e-02 3.10524749e+02] [ 9.94371121e-01 9.45851180e-02 -4.77465045e-02 2.13573021e+02] [ 5.19424855e-02 -4.24069571e-02 9.97749281e-01 1.09450372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:213.60, Z:109.42 [[ 8.95664869e-02 -9.95379308e-01 3.46103648e-02 3.10484659e+02] [ 9.95122578e-01 8.79929340e-02 -4.45903307e-02 2.13602840e+02] [ 4.13388250e-02 3.84353547e-02 9.98405642e-01 1.09415661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.51, Y:213.63, Z:109.43 [[ 8.97333449e-02 -9.95955207e-01 -4.59909966e-03 3.10510520e+02] [ 9.95150845e-01 8.98457314e-02 -4.00317409e-02 2.13626963e+02] [ 4.02830302e-02 -9.84615903e-04 9.99187824e-01 1.09427296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:213.65, Z:109.43 [[ 8.90944827e-02 -9.96012425e-01 -4.62850632e-03 3.10516137e+02] [ 9.95193534e-01 8.92089397e-02 -4.03929992e-02 2.13654870e+02] [ 4.06448332e-02 -1.00746620e-03 9.99173149e-01 1.09427362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:213.68, Z:109.43 [[ 8.86987831e-02 -9.96047709e-01 -4.63542317e-03 3.10520277e+02] [ 9.95222503e-01 8.88140067e-02 -4.05492626e-02 2.13682491e+02] [ 4.08006907e-02 -1.01660719e-03 9.99166788e-01 1.09427902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:213.71, Z:109.43 [[ 8.81542137e-02 -9.96095651e-01 -4.72115356e-03 3.10525128e+02] [ 9.95235289e-01 8.82743169e-02 -4.14048840e-02 2.13710366e+02] [ 4.16599815e-02 -1.04864363e-03 9.99131296e-01 1.09428890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.53, Y:213.74, Z:109.43 [[ 8.71888322e-02 -9.96180381e-01 -4.77036361e-03 3.10532011e+02] [ 9.95297637e-01 8.73124189e-02 -4.19422939e-02 2.13736339e+02] [ 4.21986022e-02 -1.09103201e-03 9.99108647e-01 1.09430056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:213.76, Z:109.43 [[ 8.66877017e-02 -9.96224152e-01 -4.76247509e-03 3.10536473e+02] [ 9.95341332e-01 8.68114029e-02 -4.19453637e-02 2.13762901e+02] [ 4.22004215e-02 -1.10414112e-03 9.99108555e-01 1.09431088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:213.79, Z:109.43 [[ 8.72540396e-02 -9.96173959e-01 -4.91701869e-03 3.10543205e+02] [ 9.95227742e-01 8.73854908e-02 -4.34225493e-02 2.13790266e+02] [ 4.36860889e-02 -1.10476057e-03 9.99044696e-01 1.09432570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:213.82, Z:109.43 [[ 8.79681917e-02 -9.96111010e-01 -4.94494398e-03 3.10548639e+02] [ 9.95149196e-01 8.81005690e-02 -4.37763406e-02 2.13817404e+02] [ 4.40417473e-02 -1.07003150e-03 9.99029119e-01 1.09433799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:213.84, Z:109.44 [[ 9.00173524e-02 -9.95927560e-01 -5.01710288e-03 3.10554939e+02] [ 9.94932172e-01 9.01516933e-02 -4.45269085e-02 2.13844872e+02] [ 4.47978757e-02 -9.83482652e-04 9.98995587e-01 1.09435056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:213.87, Z:109.44 [[ 9.11615579e-02 -9.95823577e-01 -4.99730094e-03 3.10559402e+02] [ 9.94830837e-01 9.12938104e-02 -4.44639962e-02 2.13871433e+02] [ 4.47345185e-02 -9.18061911e-04 9.98998489e-01 1.09435992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:213.90, Z:109.45 [[ 9.23232520e-02 -9.95307138e-01 -2.89847835e-02 3.10577094e+02] [ 9.94454319e-01 9.36384657e-02 -4.78794891e-02 2.13897766e+02] [ 5.03688880e-02 -2.44036530e-02 9.98432490e-01 1.09453376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:213.93, Z:109.45 [[ 9.49535410e-02 -9.95453813e-01 -7.45190128e-03 3.10573159e+02] [ 9.94218834e-01 9.52073671e-02 -4.96434128e-02 2.13927273e+02] [ 5.01272005e-02 -2.69500276e-03 9.98739206e-01 1.09449096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:213.96, Z:109.44 [[ 9.51874512e-02 -9.95455605e-01 2.73624904e-03 3.10572224e+02] [ 9.94286462e-01 9.49415423e-02 -4.87907312e-02 2.13955298e+02] [ 4.83092231e-02 7.36488072e-03 9.98805275e-01 1.09443243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:213.98, Z:109.45 [[ 9.66999154e-02 -9.95305567e-01 -3.99443759e-03 3.10581099e+02] [ 9.93933425e-01 9.67763215e-02 -5.22560128e-02 2.13982619e+02] [ 5.23972674e-02 1.08294698e-03 9.98625733e-01 1.09447607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.59, Y:214.01, Z:109.45 [[ 9.73690796e-02 -9.95204948e-01 -9.29377427e-03 3.10589450e+02] [ 9.93970482e-01 9.77128771e-02 -4.97481173e-02 2.14009766e+02] [ 5.04176939e-02 -4.39380889e-03 9.98718554e-01 1.09449631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.490385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.59, Y:214.04, Z:109.44 [[ 9.93870200e-02 -9.95032414e-01 5.71981877e-03 3.10590187e+02] [ 9.93631627e-01 9.89371383e-02 -5.39224763e-02 2.14037965e+02] [ 5.30887092e-02 1.10425871e-02 9.98528743e-01 1.09444921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:214.06, Z:109.45 [[ 1.00243339e-01 -9.94852713e-01 -1.48105462e-02 3.10606359e+02] [ 9.93686165e-01 1.00857478e-01 -4.91484899e-02 2.14063618e+02] [ 5.03892629e-02 -9.79022611e-03 9.98681668e-01 1.09452560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:214.09, Z:109.45 [[ 1.02036685e-01 -9.94779406e-01 -1.56503029e-03 3.10605823e+02] [ 9.93475188e-01 1.01983228e-01 -5.10536295e-02 2.14090871e+02] [ 5.09467061e-02 3.65452433e-03 9.98694687e-01 1.09448437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:214.12, Z:109.45 [[ 1.01631147e-01 -9.94802287e-01 -6.28654860e-03 3.10613803e+02] [ 9.93503168e-01 1.01819673e-01 -5.08351238e-02 2.14119504e+02] [ 5.12109917e-02 -1.07927404e-03 9.98687273e-01 1.09451519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:310.62, Y:214.15, Z:109.45 [[ 1.01712189e-01 -9.94812286e-01 1.77380944e-03 3.10619468e+02] [ 9.93050679e-01 1.01425643e-01 -5.96924448e-02 2.14147889e+02] [ 5.92028677e-02 7.83293192e-03 9.98215240e-01 1.09453490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:214.17, Z:109.47 [[ 1.00611239e-01 -9.94503652e-01 -2.89804297e-02 3.10641944e+02] [ 9.93356132e-01 1.02045450e-01 -5.32007743e-02 2.14172350e+02] [ 5.58656853e-02 -2.34352917e-02 9.98163219e-01 1.09466598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:214.20, Z:109.46 [[ 1.00491658e-01 -9.94909100e-01 -7.57024353e-03 3.10641586e+02] [ 9.93207633e-01 1.00762530e-01 -5.81851389e-02 2.14200896e+02] [ 5.86517211e-02 -1.67170256e-03 9.98277106e-01 1.09462848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:214.23, Z:109.46 [[ 9.93399869e-02 -9.95045544e-01 -3.99143602e-03 3.10645618e+02] [ 9.93438957e-01 9.94064157e-02 -5.65455789e-02 2.14227673e+02] [ 5.66622006e-02 1.65198902e-03 9.98392040e-01 1.09461844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:214.25, Z:109.47 [[ 9.78160606e-02 -9.95180775e-01 -6.87332941e-03 3.10655758e+02] [ 9.93499483e-01 9.80502531e-02 -5.78353287e-02 2.14253318e+02] [ 5.82305389e-02 -1.17142521e-03 9.98302475e-01 1.09465373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.66, Y:214.28, Z:109.47 [[ 9.70050430e-02 -9.95260555e-01 -6.81542868e-03 3.10661629e+02] [ 9.93559070e-01 9.72376323e-02 -5.81826273e-02 2.14280677e+02] [ 5.85695901e-02 -1.12752271e-03 9.98282691e-01 1.09466657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.67, Y:214.31, Z:109.47 [[ 9.53050384e-02 -9.95436967e-01 -4.71100013e-03 3.10665584e+02] [ 9.93733541e-01 9.54174640e-02 -5.82164690e-02 2.14307761e+02] [ 5.84003371e-02 8.66843969e-04 9.98292868e-01 1.09466219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.68, Y:214.33, Z:109.47 [[ 9.26980557e-02 -9.95597544e-01 -1.38780819e-02 3.10679648e+02] [ 9.93978152e-01 9.33472755e-02 -5.73909395e-02 2.14333574e+02] [ 5.84337595e-02 -8.47448173e-03 9.98255318e-01 1.09472682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.68, Y:214.36, Z:109.47 [[ 9.12561067e-02 -9.95826682e-01 1.24216445e-03 3.10679455e+02] [ 9.93960193e-01 9.10085712e-02 -6.13235250e-02 2.14363137e+02] [ 6.09545548e-02 6.83080816e-03 9.98117169e-01 1.09469337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.880385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:310.70, Y:214.39, Z:109.48 [[ 9.06110594e-02 -9.95643296e-01 -2.20014217e-02 3.10700834e+02] [ 9.94185790e-01 9.17247687e-02 -5.64019596e-02 2.14386186e+02] [ 5.81743083e-02 -1.67628595e-02 9.98165696e-01 1.09481638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.69, Y:214.42, Z:109.48 [[ 9.05399651e-02 -9.95892823e-01 -1.33275924e-05 3.10694973e+02] [ 9.93889638e-01 9.03586972e-02 -6.33931636e-02 2.14417763e+02] [ 6.31340009e-02 5.72636866e-03 9.97988631e-01 1.09476247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.71, Y:214.44, Z:109.48 [[ 8.97518225e-02 -9.95868228e-01 -1.38232976e-02 3.10708375e+02] [ 9.94250404e-01 9.04026146e-02 -5.73890413e-02 2.14443617e+02] [ 5.84015851e-02 -8.59304820e-03 9.98256187e-01 1.09482008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:214.47, Z:109.48 [[ 8.94072417e-02 -9.95985486e-01 -4.38816650e-03 3.10708389e+02] [ 9.94386853e-01 8.95122802e-02 -5.64122259e-02 2.14471236e+02] [ 5.65785530e-02 6.80126444e-04 9.98397919e-01 1.09479185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.71, Y:214.50, Z:109.48 [[ 9.00284794e-02 -9.95939191e-01 -1.37717951e-05 3.10713960e+02] [ 9.94403270e-01 8.98904066e-02 -5.55144217e-02 2.14498882e+02] [ 5.52902262e-02 4.98418425e-03 9.98457885e-01 1.09478783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:214.53, Z:109.49 [[ 9.09778723e-02 -9.95771576e-01 -1.27277027e-02 3.10727011e+02] [ 9.94222844e-01 9.15525025e-02 -5.60274645e-02 2.14526978e+02] [ 5.69558096e-02 -7.55691325e-03 9.98348100e-01 1.09487494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:214.56, Z:109.46 [[ 9.12690642e-02 -9.95221548e-01 3.46991193e-02 3.10707770e+02] [ 9.94606162e-01 8.93775393e-02 -5.26330563e-02 2.14556974e+02] [ 4.92802298e-02 3.93157276e-02 9.98010888e-01 1.09459251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:214.58, Z:109.47 [[ 9.12485652e-02 -9.95814543e-01 -5.20535009e-03 3.10731744e+02] [ 9.94623317e-01 9.13939718e-02 -4.86990687e-02 2.14582172e+02] [ 4.89709784e-02 -7.33642429e-04 9.98799933e-01 1.09474807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:214.61, Z:109.48 [[ 9.09977216e-02 -9.95837564e-01 -5.19247241e-03 3.10734696e+02] [ 9.94646298e-01 9.11427986e-02 -4.87004421e-02 2.14610582e+02] [ 4.89709861e-02 -7.33044186e-04 9.98799933e-01 1.09475845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.74, Y:214.64, Z:109.48 [[ 9.21661905e-02 -9.95729629e-01 -5.28194931e-03 3.10736860e+02] [ 9.94490588e-01 9.23149459e-02 -4.96630824e-02 2.14638992e+02] [ 4.99386055e-02 -6.75591759e-04 9.98752061e-01 1.09476097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:214.67, Z:109.48 [[ 9.24613040e-02 -9.95702533e-01 -5.23197135e-03 3.10739637e+02] [ 9.94480899e-01 9.26069760e-02 -4.93121692e-02 2.14665465e+02] [ 4.95847688e-02 -6.43628108e-04 9.98769711e-01 1.09477023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:214.69, Z:109.48 [[ 9.25746413e-02 -9.95691626e-01 -5.30293743e-03 3.10743338e+02] [ 9.94431238e-01 9.27242153e-02 -5.00872625e-02 2.14693293e+02] [ 5.03631786e-02 -6.36596268e-04 9.98730767e-01 1.09479255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:214.72, Z:109.48 [[ 9.24361650e-02 -9.95704321e-01 -5.33483481e-03 3.10747483e+02] [ 9.94421909e-01 9.25878066e-02 -5.05229191e-02 2.14719794e+02] [ 5.07998295e-02 -6.34931728e-04 9.98708653e-01 1.09482126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.75, Y:214.75, Z:109.48 [[ 9.11680064e-02 -9.95833416e-01 -2.05000396e-03 3.10747203e+02] [ 9.94476124e-01 9.11508874e-02 -5.20456992e-02 2.14750030e+02] [ 5.20157061e-02 2.70622264e-03 9.98642600e-01 1.09482223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:214.77, Z:109.49 [[ 9.13049968e-02 -9.95645571e-01 -1.87961512e-02 3.10754785e+02] [ 9.94494635e-01 9.21415465e-02 -4.99034690e-02 2.14771639e+02] [ 5.14180743e-02 -1.41362355e-02 9.98577162e-01 1.09490258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:214.80, Z:109.50 [[ 9.30819849e-02 -9.95442333e-01 -2.07438232e-02 3.10757452e+02] [ 9.94110132e-01 9.40785096e-02 -5.37985121e-02 2.14801202e+02] [ 5.55048644e-02 -1.56139725e-02 9.98336323e-01 1.09496109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:214.83, Z:109.48 [[ 9.12084836e-02 -9.95806694e-01 7.07392636e-03 3.10743301e+02] [ 9.94544757e-01 9.07272624e-02 -5.14712648e-02 2.14829245e+02] [ 5.06136320e-02 1.17299524e-02 9.98649422e-01 1.09480846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:214.86, Z:109.48 [[ 9.12930664e-02 -9.95823978e-01 4.25941692e-04 3.10748763e+02] [ 9.94588134e-01 9.11584490e-02 -4.98455803e-02 2.14857273e+02] [ 4.95985959e-02 4.97419242e-03 9.98756846e-01 1.09483612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:214.88, Z:109.49 [[ 9.24385881e-02 -9.95698966e-01 -6.21904204e-03 3.10754957e+02] [ 9.94478468e-01 9.26332765e-02 -4.93118011e-02 2.14884837e+02] [ 4.96757996e-02 -1.62639013e-03 9.98764071e-01 1.09487952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:214.91, Z:109.49 [[ 9.34571949e-02 -9.95616147e-01 3.77379180e-03 3.10752472e+02] [ 9.94326788e-01 9.31414500e-02 -5.13703092e-02 2.14914923e+02] [ 5.07936129e-02 8.55330728e-03 9.98672544e-01 1.09486301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:214.94, Z:109.49 [[ 9.38467198e-02 -9.95573619e-01 -5.09536971e-03 3.10757774e+02] [ 9.94366347e-01 9.39837852e-02 -4.90164923e-02 2.14942292e+02] [ 4.92784087e-02 -4.66627151e-04 9.98784972e-01 1.09489179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:214.97, Z:109.49 [[ 9.53218163e-02 -9.95433852e-01 -5.01973004e-03 3.10761923e+02] [ 9.94255471e-01 9.54531592e-02 -4.84226462e-02 2.14969548e+02] [ 4.86806903e-02 -3.75159467e-04 9.98814322e-01 1.09490362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:215.00, Z:109.49 [[ 9.57208470e-02 -9.95394254e-01 -5.27250954e-03 3.10763546e+02] [ 9.94086330e-01 9.58652776e-02 -5.10119421e-02 2.14997917e+02] [ 5.12824446e-02 -3.58423351e-04 9.98684126e-01 1.09493215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:215.03, Z:109.49 [[ 9.56099618e-02 -9.95405706e-01 -5.12006146e-03 3.10765324e+02] [ 9.94165642e-01 9.57463498e-02 -4.96720473e-02 2.15025760e+02] [ 4.99340665e-02 -3.41046645e-04 9.98752458e-01 1.09492599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:215.05, Z:109.49 [[ 9.65369689e-02 -9.95316821e-01 -5.00396293e-03 3.10768360e+02] [ 9.94125654e-01 9.66661800e-02 -4.86809356e-02 2.15052856e+02] [ 4.89366680e-02 -2.75057953e-04 9.98801846e-01 1.09493749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:215.08, Z:109.49 [[ 9.65905885e-02 -9.95311618e-01 -5.00404431e-03 3.10771013e+02] [ 9.94114124e-01 9.67197737e-02 -4.88097710e-02 2.15079602e+02] [ 4.90649222e-02 -2.60026623e-04 9.98795558e-01 1.09494930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.77, Y:215.11, Z:109.49 [[ 9.32844110e-02 -9.95639463e-01 2.79566272e-04 3.10767552e+02] [ 9.94534315e-01 9.31676326e-02 -4.71305520e-02 2.15106271e+02] [ 4.68989910e-02 4.67458404e-03 9.98888699e-01 1.09491257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.78, Y:215.13, Z:109.51 [[ 9.37618894e-02 -9.95306831e-01 -2.39378569e-02 3.10784955e+02] [ 9.94293260e-01 9.48412195e-02 -4.88472667e-02 2.15134789e+02] [ 5.08883137e-02 -1.92212378e-02 9.98519366e-01 1.09508282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.16, Z:109.50 [[ 9.18928010e-02 -9.95757063e-01 -4.85638600e-03 3.10779161e+02] [ 9.94517422e-01 9.20206552e-02 -4.96718889e-02 2.15164169e+02] [ 4.99080220e-02 -2.65271484e-04 9.98753783e-01 1.09504670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.19, Z:109.51 [[ 9.04204494e-02 -9.95895564e-01 -4.02096391e-03 3.10781456e+02] [ 9.94733648e-01 9.05091380e-02 -4.80943447e-02 2.15192150e+02] [ 4.82608786e-02 3.48924167e-04 9.98834704e-01 1.09505261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.22, Z:109.50 [[ 8.85606528e-02 -9.96040663e-01 7.74654834e-03 3.10775662e+02] [ 9.95047284e-01 8.81145088e-02 -4.60080040e-02 2.15220128e+02] [ 4.51432595e-02 1.17826807e-02 9.98911034e-01 1.09499100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:215.25, Z:109.51 [[ 8.85246800e-02 -9.95875510e-01 -1.98833812e-02 3.10792254e+02] [ 9.94875428e-01 8.93795054e-02 -4.72671948e-02 2.15247979e+02] [ 4.88494085e-02 -1.55971741e-02 9.98684366e-01 1.09514581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.78, Y:215.28, Z:109.51 [[ 8.75425436e-02 -9.96152422e-01 -4.08107920e-03 3.10783247e+02] [ 9.94970750e-01 8.76374213e-02 -4.85065895e-02 2.15275139e+02] [ 4.86776119e-02 1.85835790e-04 9.98814525e-01 1.09508389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.30, Z:109.50 [[ 8.73268772e-02 -9.96132776e-01 9.66997989e-03 3.10776590e+02] [ 9.95144815e-01 8.67896925e-02 -4.64149495e-02 2.15303080e+02] [ 4.53961979e-02 1.36763029e-02 9.98875440e-01 1.09500257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.33, Z:109.51 [[ 8.69852948e-02 -9.96199371e-01 -4.51354483e-03 3.10784546e+02] [ 9.95189091e-01 8.71003194e-02 -4.48576327e-02 2.15330205e+02] [ 4.50802767e-02 -5.89876171e-04 9.98983193e-01 1.09506689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.78, Y:215.36, Z:109.51 [[ 8.77234888e-02 -9.96135073e-01 -4.41658177e-03 3.10784036e+02] [ 9.95162391e-01 8.78329739e-02 -4.40134664e-02 2.15357501e+02] [ 4.42312791e-02 -5.34201240e-04 9.99021175e-01 1.09508696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.39, Z:109.51 [[ 8.78046232e-02 -9.96127693e-01 -4.46848927e-03 3.10784071e+02] [ 9.95126354e-01 8.79166817e-02 -4.46564242e-02 2.15386010e+02] [ 4.48763556e-02 -5.25670939e-04 9.98992411e-01 1.09510544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.41, Z:109.51 [[ 8.93567621e-02 -9.95992946e-01 -3.66349935e-03 3.10784328e+02] [ 9.94983278e-01 8.94310996e-02 -4.48369766e-02 2.15412009e+02] [ 4.49849431e-02 3.61366450e-04 9.98987600e-01 1.09510978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.44, Z:109.51 [[ 8.98121696e-02 -9.95946650e-01 -4.90350954e-03 3.10783715e+02] [ 9.94991333e-01 8.99407940e-02 -4.36222645e-02 2.15440982e+02] [ 4.38864737e-02 -9.61139277e-04 9.99036062e-01 1.09513464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.78, Y:215.47, Z:109.51 [[ 9.09392836e-02 -9.95847235e-01 -4.28141956e-03 3.10784173e+02] [ 9.94915288e-01 9.10393681e-02 -4.30743843e-02 2.15469027e+02] [ 4.32852843e-02 -3.42496124e-04 9.99062694e-01 1.09514520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.79, Y:215.50, Z:109.52 [[ 9.23423134e-02 -9.95718184e-01 -4.26564751e-03 3.10785168e+02] [ 9.94787701e-01 9.24403921e-02 -4.30372348e-02 2.15495734e+02] [ 4.32472754e-02 -2.69255855e-04 9.99064363e-01 1.09515604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.110385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:310.78, Y:215.52, Z:109.51 [[ 9.38522376e-02 -9.95584427e-01 1.84553463e-03 3.10780319e+02] [ 9.94695198e-01 9.36896837e-02 -4.24700604e-02 2.15524421e+02] [ 4.21096232e-02 5.82165463e-03 9.99096035e-01 1.09511350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:215.55, Z:109.52 [[ 9.77046305e-02 -9.95162286e-01 -1.02873991e-02 3.10785637e+02] [ 9.94225026e-01 9.80632317e-02 -4.35912939e-02 2.15552005e+02] [ 4.43892272e-02 -5.96891834e-03 9.98996481e-01 1.09519644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.58, Z:109.52 [[ 9.83922407e-02 -9.95138464e-01 -4.28994474e-03 3.10783058e+02] [ 9.94183649e-01 9.84857153e-02 -4.35825168e-02 2.15579660e+02] [ 4.37931371e-02 2.31885660e-05 9.99040620e-01 1.09518564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.61, Z:109.52 [[ 9.90022684e-02 -9.95078639e-01 -4.12950964e-03 3.10782049e+02] [ 9.94188632e-01 9.90883362e-02 -4.20769093e-02 2.15607569e+02] [ 4.22790199e-02 6.01979304e-05 9.99105841e-01 1.09520021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.64, Z:109.52 [[ 9.88727478e-02 -9.95091658e-01 -4.09525254e-03 3.10782979e+02] [ 9.94211388e-01 9.89575010e-02 -4.18465003e-02 2.15635841e+02] [ 4.20463593e-02 6.59317569e-05 9.99115659e-01 1.09521641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.66, Z:109.52 [[ 9.72210490e-02 -9.95254672e-01 -4.02558267e-03 3.10781676e+02] [ 9.94399661e-01 9.73043557e-02 -4.12453227e-02 2.15663511e+02] [ 4.14413068e-02 6.87549415e-06 9.99140940e-01 1.09523036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.69, Z:109.52 [[ 9.58283057e-02 -9.95389817e-01 -4.00596500e-03 3.10782480e+02] [ 9.94539413e-01 9.59119917e-02 -4.11369166e-02 2.15691625e+02] [ 4.13314880e-02 -4.20090624e-05 9.99145488e-01 1.09524086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.72, Z:109.53 [[ 9.33005992e-02 -9.95629909e-01 -4.01019620e-03 3.10780954e+02] [ 9.94772892e-01 9.33866428e-02 -4.13016830e-02 2.15718914e+02] [ 4.14956897e-02 -1.35762695e-04 9.99138674e-01 1.09525603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.350385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.78, Y:215.75, Z:109.53 [[ 9.19776544e-02 -9.95752940e-01 -4.02425813e-03 3.10781166e+02] [ 9.94884734e-01 9.20654724e-02 -4.15730000e-02 2.15747017e+02] [ 4.17669321e-02 -1.79885959e-04 9.99127365e-01 1.09525936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.77, Z:109.53 [[ 8.93656856e-02 -9.95990032e-01 -4.19892083e-03 3.10778787e+02] [ 9.95039276e-01 8.94638066e-02 -4.35093910e-02 2.15774890e+02] [ 4.37105711e-02 -2.89844589e-04 9.99044194e-01 1.09526088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.80, Z:109.53 [[ 8.73709507e-02 -9.96166350e-01 -4.34965497e-03 3.10778671e+02] [ 9.95139932e-01 8.74783365e-02 -4.52112338e-02 2.15802773e+02] [ 4.54184104e-02 -3.78366877e-04 9.98967980e-01 1.09526412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:215.83, Z:109.52 [[ 8.38286430e-02 -9.96480124e-01 -3.46809875e-04 3.10774192e+02] [ 9.95254350e-01 8.37427727e-02 -4.95573043e-02 2.15830637e+02] [ 4.94119116e-02 3.80915754e-03 9.98771222e-01 1.09524431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.86, Z:109.53 [[ 8.06382590e-02 -9.96704486e-01 -8.81134851e-03 3.10779093e+02] [ 9.95550979e-01 8.09709283e-02 -4.81866936e-02 2.15859168e+02] [ 4.87413567e-02 -4.88645556e-03 9.98799481e-01 1.09528262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.89, Z:109.53 [[ 7.56410864e-02 -9.97123476e-01 -4.81665516e-03 3.10775892e+02] [ 9.95849830e-01 7.57878877e-02 -5.03915999e-02 2.15888165e+02] [ 5.06116913e-02 -9.84989862e-04 9.98717921e-01 1.09528564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.92, Z:109.53 [[ 7.33690355e-02 -9.97293354e-01 -4.79066516e-03 3.10776700e+02] [ 9.96026272e-01 7.35172894e-02 -5.02680256e-02 2.15915750e+02] [ 5.04841646e-02 -1.08351180e-03 9.98724274e-01 1.09529652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.94, Z:109.53 [[ 7.08459659e-02 -9.97476425e-01 -4.65079996e-03 3.10775595e+02] [ 9.96275567e-01 7.09888821e-02 -4.89445874e-02 2.15943915e+02] [ 4.91512272e-02 -1.16595180e-03 9.98790668e-01 1.09531545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:215.97, Z:109.53 [[ 7.04046210e-02 -9.97507979e-01 -4.58495809e-03 3.10776177e+02] [ 9.96334226e-01 7.05441990e-02 -4.83903593e-02 2.15971749e+02] [ 4.85932117e-02 -1.16124576e-03 9.98817977e-01 1.09532621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.00, Z:109.53 [[ 7.20958768e-02 -9.97386921e-01 -4.63828832e-03 3.10773230e+02] [ 9.96178217e-01 7.22368420e-02 -4.90998864e-02 2.16000197e+02] [ 4.93066398e-02 -1.08066243e-03 9.98783103e-01 1.09533676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.03, Z:109.53 [[ 7.33033336e-02 -9.97298610e-01 -4.70145174e-03 3.10772904e+02] [ 9.96048827e-01 7.34468182e-02 -4.99229357e-02 2.16027213e+02] [ 5.01333811e-02 -1.02335787e-03 9.98742007e-01 1.09533955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.06, Z:109.53 [[ 7.76645335e-02 -9.96968993e-01 -4.58781129e-03 3.10771751e+02] [ 9.95771060e-01 7.77960777e-02 -4.88647819e-02 2.16055151e+02] [ 4.90735861e-02 -7.73349226e-04 9.98794866e-01 1.09534307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.08, Z:109.54 [[ 8.00285549e-02 -9.96782592e-01 -4.46042657e-03 3.10772990e+02] [ 9.95643475e-01 8.01502997e-02 -4.76445175e-02 2.16083016e+02] [ 4.78487302e-02 -6.28072723e-04 9.98854396e-01 1.09535547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.11, Z:109.54 [[ 8.52704178e-02 -9.96348174e-01 -4.39010608e-03 3.10772452e+02] [ 9.95237609e-01 8.53826002e-02 -4.70309937e-02 2.16110794e+02] [ 4.72340833e-02 -3.58846200e-04 9.98883783e-01 1.09537086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.14, Z:109.54 [[ 8.76225049e-02 -9.96144186e-01 -4.36559455e-03 3.10773072e+02] [ 9.95039183e-01 8.77308790e-02 -4.69075444e-02 2.16139206e+02] [ 4.71096750e-02 -2.33781099e-04 9.98889696e-01 1.09537902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.17, Z:109.54 [[ 9.07459656e-02 -9.95864208e-01 -4.43268271e-03 3.10771486e+02] [ 9.94717699e-01 9.08541329e-02 -4.77726418e-02 2.16167829e+02] [ 4.79777916e-02 -7.40934450e-05 9.98848400e-01 1.09538687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:216.20, Z:109.54 [[ 9.13522004e-02 -9.95808710e-01 -4.44840393e-03 3.10773089e+02] [ 9.94646931e-01 9.14604385e-02 -4.80881578e-02 2.16196197e+02] [ 4.82934594e-02 -3.16322872e-05 9.98833190e-01 1.09540007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:216.22, Z:109.54 [[ 9.21550019e-02 -9.95734757e-01 -4.44407391e-03 3.10776021e+02] [ 9.94567872e-01 9.22620925e-02 -4.81918531e-02 2.16223149e+02] [ 4.83963227e-02 2.11871908e-05 9.98828211e-01 1.09540889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:216.25, Z:109.54 [[ 9.13321617e-02 -9.95810611e-01 -4.43426379e-03 3.10778852e+02] [ 9.94641430e-01 9.14397421e-02 -4.82410643e-02 2.16250035e+02] [ 4.84444316e-02 -4.54179085e-06 9.98825879e-01 1.09542318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:216.28, Z:109.54 [[ 8.89428968e-02 -9.96026350e-01 -4.54650126e-03 3.10782645e+02] [ 9.94789631e-01 8.90589556e-02 -4.96194880e-02 2.16277357e+02] [ 4.98272242e-02 -1.09511311e-04 9.98757846e-01 1.09544035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.79, Y:216.30, Z:109.55 [[ 8.76947691e-02 -9.96136648e-01 -4.62667785e-03 3.10785806e+02] [ 9.94849020e-01 8.78165829e-02 -5.06327458e-02 2.16304528e+02] [ 5.08434327e-02 -1.62618974e-04 9.98706623e-01 1.09545056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:216.33, Z:109.55 [[ 8.50639281e-02 -9.96364480e-01 -4.68517277e-03 3.10788176e+02] [ 9.95037881e-01 8.51923633e-02 -5.13991897e-02 2.16332553e+02] [ 5.16114678e-02 -2.89707416e-04 9.98667198e-01 1.09545826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:216.36, Z:109.55 [[ 8.48174948e-02 -9.96385551e-01 -4.67188958e-03 3.10790679e+02] [ 9.95058917e-01 8.49455730e-02 -5.14003976e-02 2.16360979e+02] [ 5.16114698e-02 -2.89152426e-04 9.98667198e-01 1.09546774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:216.39, Z:109.55 [[ 8.35791680e-02 -9.96490341e-01 -4.63936949e-03 3.10792669e+02] [ 9.95174914e-01 8.37071455e-02 -5.11859782e-02 2.16388891e+02] [ 5.13946813e-02 -3.38902661e-04 9.98678363e-01 1.09546989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:216.42, Z:109.55 [[ 8.18691030e-02 -9.96632273e-01 -4.64350666e-03 3.10797453e+02] [ 9.95306787e-01 8.19996347e-02 -5.13854069e-02 2.16416454e+02] [ 5.15931208e-02 -4.14836519e-04 9.98668102e-01 1.09548963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.100385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:310.80, Y:216.44, Z:109.55 [[ 8.12477457e-02 -9.96683366e-01 -4.59048328e-03 3.10801905e+02] [ 9.95379896e-01 8.13761923e-02 -5.09585938e-02 2.16442924e+02] [ 5.11631388e-02 -4.29003894e-04 9.98690217e-01 1.09550034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:216.47, Z:109.55 [[ 8.07440433e-02 -9.96724114e-01 -4.63042850e-03 3.10807942e+02] [ 9.95389276e-01 8.08754796e-02 -5.15688572e-02 2.16470462e+02] [ 5.17744116e-02 -4.45200832e-04 9.98658707e-01 1.09552188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:216.50, Z:109.55 [[ 8.03092490e-02 -9.96759092e-01 -4.66229770e-03 3.10811409e+02] [ 9.95398188e-01 8.04431583e-02 -5.20705894e-02 2.16497664e+02] [ 5.22768834e-02 -4.59092750e-04 9.98632523e-01 1.09553102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:216.53, Z:109.55 [[ 7.92749957e-02 -9.96841871e-01 -4.66473858e-03 3.10815356e+02] [ 9.95472584e-01 7.94105276e-02 -5.22331527e-02 2.16525784e+02] [ 5.24386230e-02 -5.02836404e-04 9.98624022e-01 1.09553567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:216.55, Z:109.56 [[ 7.84092629e-02 -9.96910366e-01 -4.65946412e-03 3.10819074e+02] [ 9.95535666e-01 7.85457641e-02 -5.23383232e-02 2.16553974e+02] [ 5.25425981e-02 -5.34853373e-04 9.98618541e-01 1.09555227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:216.58, Z:109.56 [[ 7.77316446e-02 -9.96963987e-01 -4.53884142e-03 3.10823321e+02] [ 9.95651527e-01 7.78621475e-02 -5.11421842e-02 2.16581687e+02] [ 5.13403198e-02 -5.43738307e-04 9.98681068e-01 1.09556310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.280385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:310.83, Y:216.61, Z:109.56 [[ 7.66120477e-02 -9.97050289e-01 -4.61685942e-03 3.10830589e+02] [ 9.95683549e-01 7.67487009e-02 -5.21910588e-02 2.16609696e+02] [ 5.23914482e-02 -5.98467086e-04 9.98626446e-01 1.09557414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:216.64, Z:109.56 [[ 7.74155724e-02 -9.96988995e-01 -4.44662127e-03 3.10836621e+02] [ 9.95713334e-01 7.75413988e-02 -5.04210999e-02 2.16635795e+02] [ 5.06140789e-02 -5.24181784e-04 9.98718149e-01 1.09560526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:216.66, Z:109.56 [[ 7.76633267e-02 -9.96969889e-01 -4.41005185e-03 3.10840387e+02] [ 9.95707531e-01 7.77868568e-02 -5.01569419e-02 2.16663218e+02] [ 5.03480049e-02 -4.95766871e-04 9.98731612e-01 1.09561377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:216.69, Z:109.58 [[ 7.95599895e-02 -9.96322945e-01 -3.17930392e-02 3.10859713e+02] [ 9.95292622e-01 8.11675850e-02 -5.29567745e-02 2.16690725e+02] [ 5.53426137e-02 -2.74301369e-02 9.98090568e-01 1.09578789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:216.72, Z:109.57 [[ 8.06618531e-02 -9.96726725e-01 -5.43159622e-03 3.10851021e+02] [ 9.95144154e-01 8.08397772e-02 -5.61519668e-02 2.16720267e+02] [ 5.64072550e-02 -8.75899534e-04 9.98407459e-01 1.09572177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:216.75, Z:109.56 [[ 7.96952362e-02 -9.96573220e-01 2.21469253e-02 3.10839493e+02] [ 9.95534827e-01 7.84453831e-02 -5.25045826e-02 2.16747451e+02] [ 5.05873370e-02 2.62324005e-02 9.98375071e-01 1.09556216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:216.77, Z:109.57 [[ 7.82277595e-02 -9.96925778e-01 -4.40583570e-03 3.10858889e+02] [ 9.95639591e-01 7.83505714e-02 -5.06260203e-02 2.16773393e+02] [ 5.08155844e-02 -4.26264306e-04 9.98707963e-01 1.09565916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:216.80, Z:109.57 [[ 7.71748241e-02 -9.97008136e-01 -4.33852401e-03 3.10865181e+02] [ 9.95753106e-01 7.72953055e-02 -5.00118853e-02 2.16799848e+02] [ 5.01976041e-02 -4.60440301e-04 9.98739200e-01 1.09566979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:216.83, Z:109.57 [[ 7.71094841e-02 -9.97014549e-01 4.01460796e-03 3.10865244e+02] [ 9.95610274e-01 7.67853793e-02 -5.35181139e-02 2.16828964e+02] [ 5.30500750e-02 8.12373907e-03 9.98558809e-01 1.09565324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:216.86, Z:109.57 [[ 7.84320968e-02 -9.96839224e-01 -1.26478302e-02 3.10878402e+02] [ 9.95585653e-01 7.89769138e-02 -5.07134580e-02 2.16855544e+02] [ 5.15520507e-02 -8.61443540e-03 9.98633155e-01 1.09571620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:216.88, Z:109.57 [[ 7.93692787e-02 -9.96835265e-01 -4.46904940e-03 3.10877870e+02] [ 9.95482597e-01 7.94943199e-02 -5.19138890e-02 2.16883262e+02] [ 5.21048594e-02 -3.28492977e-04 9.98641565e-01 1.09569993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:216.91, Z:109.57 [[ 7.98401763e-02 -9.96797797e-01 -4.43833458e-03 3.10881427e+02] [ 9.95456215e-01 7.99629176e-02 -5.16996775e-02 2.16909969e+02] [ 5.18890268e-02 -2.90456379e-04 9.98652815e-01 1.09570313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:216.94, Z:109.57 [[ 8.04770928e-02 -9.96746354e-01 -4.48814229e-03 3.10888370e+02] [ 9.95364885e-01 8.06017719e-02 -5.24604546e-02 2.16937320e+02] [ 5.26515191e-02 -2.45474358e-04 9.98612917e-01 1.09571399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:216.96, Z:109.57 [[ 7.86942592e-02 -9.96898656e-01 -5.31822287e-04 3.10892710e+02] [ 9.95580297e-01 7.86175952e-02 -5.13726230e-02 2.16964479e+02] [ 5.12551094e-02 3.51325872e-03 9.98679413e-01 1.09568963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:216.99, Z:109.58 [[ 7.97853955e-02 -9.96778556e-01 -8.17319548e-03 3.10903278e+02] [ 9.95349480e-01 8.01096565e-02 -5.34963068e-02 2.16992095e+02] [ 5.39787233e-02 -3.86696189e-03 9.98534598e-01 1.09575227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:217.02, Z:109.56 [[ 7.72501112e-02 -9.96955942e-01 1.05484967e-02 3.10896118e+02] [ 9.95790746e-01 7.66277320e-02 -5.02889760e-02 2.17019733e+02] [ 4.93275860e-02 1.43889244e-02 9.98679002e-01 1.09563676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.92, Y:217.05, Z:109.58 [[ 7.94188844e-02 -9.96665031e-01 -1.87471864e-02 3.10920618e+02] [ 9.95420554e-01 8.02954023e-02 -5.18707024e-02 2.17046926e+02] [ 5.32030281e-02 -1.45418213e-02 9.98477828e-01 1.09581566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:217.07, Z:109.56 [[ 7.66048813e-02 -9.96909198e-01 1.74282493e-02 3.10903254e+02] [ 9.96023307e-01 7.57159460e-02 -4.69538978e-02 2.17074016e+02] [ 4.54891762e-02 2.09558403e-02 9.98745006e-01 1.09561448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.92, Y:217.10, Z:109.57 [[ 7.76160385e-02 -9.96969005e-01 -5.34354123e-03 3.10922075e+02] [ 9.95995869e-01 7.77765369e-02 -4.40799169e-02 2.17099384e+02] [ 4.43619130e-02 -1.90083646e-03 9.99013717e-01 1.09571059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:217.13, Z:109.58 [[ 7.97371608e-02 -9.96553565e-01 -2.28686873e-02 3.10937184e+02] [ 9.95825967e-01 8.06592023e-02 -4.27169418e-02 2.17125598e+02] [ 4.44142907e-02 -1.93671050e-02 9.98825453e-01 1.09583307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:310.94, Y:217.16, Z:109.58 [[ 8.10683896e-02 -9.96699073e-01 -4.34454431e-03 3.10935979e+02] [ 9.95567214e-01 8.11833284e-02 -4.74888373e-02 2.17156282e+02] [ 4.76847846e-02 -4.75442305e-04 9.98862321e-01 1.09582335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:217.18, Z:109.58 [[ 8.15155989e-02 -9.96664008e-01 -4.00785356e-03 3.10940145e+02] [ 9.95507001e-01 8.16140303e-02 -4.80100118e-02 2.17183685e+02] [ 4.81769479e-02 -7.62814116e-05 9.98838814e-01 1.09583216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:217.21, Z:109.58 [[ 8.22246765e-02 -9.96613259e-01 1.05566140e-03 3.10943772e+02] [ 9.95365380e-01 8.20686267e-02 -5.01248478e-02 2.17210634e+02] [ 4.98684512e-02 5.17226820e-03 9.98742402e-01 1.09581446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.93, Y:217.24, Z:109.56 [[ 7.61131111e-02 -9.96899884e-01 1.99353052e-02 3.10932311e+02] [ 9.96305956e-01 7.52400161e-02 -4.13930252e-02 2.17236098e+02] [ 3.97647693e-02 2.30122152e-02 9.98944043e-01 1.09563746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.97, Y:217.26, Z:109.60 [[ 8.03660404e-02 -9.96268912e-01 -3.14571777e-02 3.10969667e+02] [ 9.95541493e-01 8.17908462e-02 -4.69829026e-02 2.17264490e+02] [ 4.93805144e-02 -2.75410958e-02 9.98400247e-01 1.09595893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.96, Y:217.29, Z:109.59 [[ 8.00111105e-02 -9.96785736e-01 -4.05196258e-03 3.10960705e+02] [ 9.95586714e-01 8.01135505e-02 -4.88765286e-02 2.17293560e+02] [ 4.90440436e-02 -1.23414784e-04 9.98796609e-01 1.09586534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.96, Y:217.32, Z:109.58 [[ 7.65812389e-02 -9.97041225e-01 6.64157679e-03 3.10958785e+02] [ 9.96062698e-01 7.62043299e-02 -4.52990281e-02 2.17319110e+02] [ 4.46588816e-02 1.00844826e-02 9.98951394e-01 1.09577974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.98, Y:217.35, Z:109.59 [[ 7.88018588e-02 -9.96794100e-01 -1.38487865e-02 3.10976312e+02] [ 9.95708671e-01 7.93770464e-02 -4.75765505e-02 2.17347499e+02] [ 4.85233006e-02 -1.00402361e-02 9.98771587e-01 1.09593015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.98, Y:217.37, Z:109.59 [[ 7.78408208e-02 -9.96958029e-01 -3.93632052e-03 3.10976892e+02] [ 9.95808314e-01 7.79400436e-02 -4.78659806e-02 2.17374738e+02] [ 4.80271707e-02 -1.93893487e-04 9.98846011e-01 1.09590202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.97, Y:217.40, Z:109.58 [[ 7.37512162e-02 -9.97263936e-01 5.03986292e-03 3.10972445e+02] [ 9.96293434e-01 7.34532094e-02 -4.47662668e-02 2.17401079e+02] [ 4.42735893e-02 8.32274895e-03 9.98984775e-01 1.09582116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.98, Y:217.43, Z:109.59 [[ 7.22484422e-02 -9.97384357e-01 -2.14639216e-03 3.10981803e+02] [ 9.96355323e-01 7.22714072e-02 -4.53090984e-02 2.17428241e+02] [ 4.53457088e-02 1.13494252e-03 9.98970710e-01 1.09585143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.00, Y:217.46, Z:109.60 [[ 7.29718981e-02 -9.97247652e-01 -1.31233639e-02 3.10996492e+02] [ 9.96085438e-01 7.35324502e-02 -4.90589344e-02 2.17456917e+02] [ 4.98889003e-02 -9.49206807e-03 9.98709667e-01 1.09595192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.00, Y:217.48, Z:109.59 [[ 7.23127661e-02 -9.97373905e-01 -4.01967094e-03 3.10996725e+02] [ 9.96136229e-01 7.24232289e-02 -4.96738346e-02 2.17484484e+02] [ 4.98345039e-02 -4.12087466e-04 9.98757404e-01 1.09592513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.00, Y:217.51, Z:109.59 [[ 7.16857721e-02 -9.97419225e-01 -4.00505250e-03 3.11001589e+02] [ 9.96181822e-01 7.17962826e-02 -4.96696237e-02 2.17512335e+02] [ 4.98289854e-02 -4.29155173e-04 9.98757672e-01 1.09593912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:217.54, Z:109.59 [[ 7.05870239e-02 -9.97497806e-01 -3.94967420e-03 3.11006883e+02] [ 9.96285996e-01 7.06959081e-02 -4.91558990e-02 2.17539018e+02] [ 4.93121272e-02 -4.65236476e-04 9.98783309e-01 1.09594788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.330385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.01, Y:217.57, Z:109.60 [[ 6.99501507e-02 -9.97542857e-01 -3.90194507e-03 3.11010126e+02] [ 9.96351704e-01 7.00572603e-02 -4.87366725e-02 2.17566704e+02] [ 4.88902791e-02 -4.78572031e-04 9.98804041e-01 1.09595704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:217.59, Z:109.59 [[ 6.64959419e-02 -9.97780264e-01 3.58267819e-03 3.11007935e+02] [ 9.96764496e-01 6.62649022e-02 -4.54917876e-02 2.17592438e+02] [ 4.51534020e-02 6.59610569e-03 9.98958288e-01 1.09589979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.02, Y:217.62, Z:109.60 [[ 6.84631358e-02 -9.97597813e-01 -1.05547772e-02 3.11021920e+02] [ 9.96490116e-01 6.88902691e-02 -4.75560644e-02 2.17620708e+02] [ 4.81689472e-02 -7.26189390e-03 9.98812804e-01 1.09601428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.02, Y:217.65, Z:109.60 [[ 6.75430954e-02 -9.97709349e-01 -3.73968001e-03 3.11023788e+02] [ 9.96596497e-01 6.76443506e-02 -4.71133042e-02 2.17649038e+02] [ 4.72583523e-02 -5.44773600e-04 9.98882551e-01 1.09600619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.02, Y:217.68, Z:109.60 [[ 6.63728535e-02 -9.97793545e-01 1.63883859e-03 3.11022511e+02] [ 9.96809793e-01 6.62342696e-02 -4.45337908e-02 2.17675516e+02] [ 4.43269817e-02 4.58944512e-03 9.99006534e-01 1.09596510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:217.70, Z:109.60 [[ 6.72849562e-02 -9.97697694e-01 -8.48795933e-03 3.11031633e+02] [ 9.96653685e-01 6.76054268e-02 -4.59449524e-02 2.17702488e+02] [ 4.64130052e-02 -5.36815183e-03 9.98907912e-01 1.09603820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.510385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:311.03, Y:217.73, Z:109.60 [[ 6.75466429e-02 -9.97709513e-01 -3.63031886e-03 3.11032185e+02] [ 9.96635703e-01 6.76423391e-02 -4.62794819e-02 2.17730618e+02] [ 4.64190426e-02 -4.92081745e-04 9.98921934e-01 1.09602703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:217.76, Z:109.60 [[ 6.78871405e-02 -9.97686700e-01 -3.54755450e-03 3.11035449e+02] [ 9.96654222e-01 6.79782464e-02 -4.53797235e-02 2.17758946e+02] [ 4.55159031e-02 -4.54985508e-04 9.98963511e-01 1.09604077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:217.79, Z:109.61 [[ 6.79744203e-02 -9.97680880e-01 -3.51279779e-03 3.11037511e+02] [ 9.96661394e-01 6.80637317e-02 -4.50931788e-02 2.17787029e+02] [ 4.52276965e-02 -4.35887252e-04 9.98976609e-01 1.09605031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:217.81, Z:109.61 [[ 6.81157338e-02 -9.97671458e-01 -3.45097153e-03 3.11039646e+02] [ 9.96680666e-01 6.82018553e-02 -4.44539990e-02 2.17814949e+02] [ 4.45858486e-02 -4.11499844e-04 9.99005472e-01 1.09606122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:217.84, Z:109.61 [[ 6.79150315e-02 -9.97685176e-01 -3.44080882e-03 3.11041675e+02] [ 9.96693260e-01 6.80009096e-02 -4.44794531e-02 2.17843099e+02] [ 4.46104691e-02 -4.08607503e-04 9.99004374e-01 1.09607496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.660385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:311.04, Y:217.87, Z:109.61 [[ 6.87929101e-02 -9.97630905e-01 3.37126868e-04 3.11041468e+02] [ 9.96568666e-01 6.87040637e-02 -4.61589083e-02 2.17870044e+02] [ 4.60263915e-02 3.51137570e-03 9.98934053e-01 1.09606069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:217.90, Z:109.61 [[ 6.82285857e-02 -9.97644172e-01 -7.13913426e-03 3.11046862e+02] [ 9.96656620e-01 6.84799572e-02 -4.45654328e-02 2.17898503e+02] [ 4.49493319e-02 -4.07462897e-03 9.98980958e-01 1.09610188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:217.93, Z:109.61 [[ 6.84540939e-02 -9.97648256e-01 -3.46317021e-03 3.11046182e+02] [ 9.96627364e-01 6.85406814e-02 -4.51228685e-02 2.17925935e+02] [ 4.52541192e-02 -3.62645122e-04 9.98975442e-01 1.09609649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:217.95, Z:109.61 [[ 6.82017851e-02 -9.97665578e-01 -3.45110545e-03 3.11047559e+02] [ 9.96644129e-01 6.82880894e-02 -4.51355496e-02 2.17952798e+02] [ 4.52658536e-02 -3.61198926e-04 9.98974911e-01 1.09610476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.05, Y:217.98, Z:109.61 [[ 6.73914122e-02 -9.97720697e-01 -3.43639774e-03 3.11048510e+02] [ 9.96700480e-01 6.74778704e-02 -4.51097532e-02 2.17981240e+02] [ 4.52388152e-02 -3.85049307e-04 9.98976127e-01 1.09611567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:218.01, Z:109.61 [[ 6.60992474e-02 -9.97807258e-01 -3.40093568e-03 3.11050085e+02] [ 9.96800898e-01 6.61852950e-02 -4.48048630e-02 2.18008921e+02] [ 4.49317095e-02 -4.28488018e-04 9.98989969e-01 1.09612527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:218.04, Z:109.61 [[ 6.34391527e-02 -9.97980021e-01 -3.36921258e-03 3.11052263e+02] [ 9.96985292e-01 6.35263236e-02 -4.45503639e-02 2.18035458e+02] [ 4.46744068e-02 -5.32818051e-04 9.99001458e-01 1.09614449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.05, Y:218.06, Z:109.62 [[ 6.21059138e-02 -9.98063954e-01 -3.34645565e-03 3.11054558e+02] [ 9.97075269e-01 6.21933205e-02 -4.44173216e-02 2.18063814e+02] [ 4.45394548e-02 -5.78089819e-04 9.99007459e-01 1.09616002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:218.09, Z:109.62 [[ 6.06216463e-02 -9.98155312e-01 -3.31489736e-03 3.11056500e+02] [ 9.97178297e-01 6.07089560e-02 -4.41573015e-02 2.18092212e+02] [ 4.42770891e-02 -6.28655391e-04 9.99019091e-01 1.09616777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:218.12, Z:109.62 [[ 6.03699692e-02 -9.98170605e-01 -3.30317544e-03 3.11058558e+02] [ 9.97193565e-01 6.04570068e-02 -4.41581787e-02 2.18120707e+02] [ 4.42770961e-02 -6.28077401e-04 9.99019091e-01 1.09617746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:218.15, Z:109.62 [[ 5.83371432e-02 -9.98291423e-01 -3.31866590e-03 3.11060007e+02] [ 9.97298497e-01 5.84271176e-02 -4.45194366e-02 2.18148634e+02] [ 4.46372718e-02 -7.12563763e-04 9.99003006e-01 1.09618003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:218.18, Z:109.62 [[ 5.73419375e-02 -9.98349201e-01 -3.28261492e-03 3.11061229e+02] [ 9.97370756e-01 5.74310558e-02 -4.41955868e-02 2.18177113e+02] [ 4.43111528e-02 -7.39723550e-04 9.99017505e-01 1.09618658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:218.20, Z:109.62 [[ 5.75975185e-02 -9.98328882e-01 4.68724920e-03 3.11058790e+02] [ 9.97249426e-01 5.73145900e-02 -4.69959538e-02 2.18204202e+02] [ 4.66487702e-02 7.38120689e-03 9.98884082e-01 1.09616500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.23, Z:109.62 [[ 5.72602535e-02 -9.98295833e-01 -1.12558354e-02 3.11067749e+02] [ 9.97383693e-01 5.76989628e-02 -4.35499482e-02 2.18230482e+02] [ 4.41251819e-02 -8.73270564e-03 9.98987842e-01 1.09623381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.080385723 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:311.06, Y:218.26, Z:109.62 [[ 5.89248427e-02 -9.98262403e-01 -1.96505344e-04 3.11064836e+02] [ 9.97306629e-01 5.88770355e-02 -4.37376673e-02 2.18261088e+02] [ 4.36732385e-02 2.38125908e-03 9.99043031e-01 1.09618372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.07, Y:218.28, Z:109.62 [[ 5.86271108e-02 -9.98258541e-01 -6.53808190e-03 3.11067117e+02] [ 9.97310000e-01 5.88575311e-02 -4.36870097e-02 2.18283797e+02] [ 4.39957459e-02 -3.95925130e-03 9.99023873e-01 1.09624158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.31, Z:109.62 [[ 5.92657658e-02 -9.98237116e-01 -3.19822405e-03 3.11067797e+02] [ 9.97273427e-01 5.93490621e-02 -4.38566037e-02 2.18310751e+02] [ 4.39691012e-02 -5.90308654e-04 9.99032717e-01 1.09624223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.34, Z:109.63 [[ 5.95480411e-02 -9.98220332e-01 -3.19362505e-03 3.11069897e+02] [ 9.97251821e-01 5.96309248e-02 -4.39654342e-02 2.18339180e+02] [ 4.40776292e-02 -5.66792905e-04 9.99027948e-01 1.09625714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.37, Z:109.63 [[ 6.00060732e-02 -9.98192991e-01 -3.16598375e-03 3.11070270e+02] [ 9.97233934e-01 6.00871804e-02 -4.37494219e-02 2.18367651e+02] [ 4.38606014e-02 -5.31995422e-04 9.99037519e-01 1.09626026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.39, Z:109.63 [[ 5.99516976e-02 -9.98196357e-01 -3.13489303e-03 3.11070406e+02] [ 9.97248734e-01 6.00313596e-02 -4.34879021e-02 2.18394481e+02] [ 4.35976573e-02 -5.19094549e-04 9.99049035e-01 1.09626225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.42, Z:109.63 [[ 5.99532696e-02 -9.98196390e-01 -3.09382082e-03 3.11071003e+02] [ 9.97266459e-01 6.00309394e-02 -4.30801228e-02 2.18421216e+02] [ 4.31881481e-02 -5.02569516e-04 9.99066830e-01 1.09626925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:218.45, Z:109.63 [[ 5.91739692e-02 -9.98242890e-01 -3.09426923e-03 3.11073568e+02] [ 9.97307079e-01 5.92524575e-02 -4.32173227e-02 2.18449168e+02] [ 4.33247282e-02 -5.28596081e-04 9.99060903e-01 1.09628734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.48, Z:109.63 [[ 5.73578677e-02 -9.98348975e-01 -3.06572355e-03 3.11076633e+02] [ 9.97423371e-01 5.74366850e-02 -4.29842663e-02 2.18476602e+02] [ 4.30893832e-02 -5.92338461e-04 9.99071046e-01 1.09631003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.50, Z:109.63 [[ 5.60588501e-02 -9.98422854e-01 -3.03473516e-03 3.11077952e+02] [ 9.97509268e-01 5.61373627e-02 -4.27066327e-02 2.18503425e+02] [ 4.28096402e-02 -6.33091729e-04 9.99083047e-01 1.09632462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.53, Z:109.63 [[ 5.45700306e-02 -9.98505565e-01 -2.95787907e-03 3.11079007e+02] [ 9.97632560e-01 5.46459967e-02 -4.17503427e-02 2.18531238e+02] [ 4.18495858e-02 -6.72558989e-04 9.99123696e-01 1.09633268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.56, Z:109.63 [[ 5.20908552e-02 -9.98642034e-01 7.94327169e-04 3.11076058e+02] [ 9.97736619e-01 5.20097255e-02 -4.26219203e-02 2.18559209e+02] [ 4.25227284e-02 3.01274158e-03 9.99090957e-01 1.09631481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.07, Y:218.59, Z:109.63 [[ 4.74962989e-02 -9.98871329e-01 4.11950330e-04 3.11074125e+02] [ 9.98063363e-01 4.74412866e-02 -4.02349136e-02 2.18585873e+02] [ 4.01699581e-02 2.32216201e-03 9.99190163e-01 1.09627751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.08, Y:218.62, Z:109.64 [[ 4.79382592e-02 -9.98802151e-01 -9.80751209e-03 3.11083959e+02] [ 9.97896140e-01 4.83192292e-02 -4.32266899e-02 2.18615218e+02] [ 4.36488023e-02 -7.71466619e-03 9.99017150e-01 1.09637384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.64, Z:109.64 [[ 4.65796033e-02 -9.98909821e-01 -3.08396126e-03 3.11082785e+02] [ 9.97940884e-01 4.66702595e-02 -4.39986358e-02 2.18643728e+02] [ 4.40945987e-02 -1.02817202e-03 9.99026831e-01 1.09636120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.67, Z:109.63 [[ 4.18314038e-02 -9.99109655e-01 5.48012584e-03 3.11075116e+02] [ 9.98239993e-01 4.15629669e-02 -4.23017257e-02 2.18670887e+02] [ 4.20362923e-02 7.24002136e-03 9.99089852e-01 1.09628544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:218.70, Z:109.64 [[ 4.36483097e-02 -9.98984973e-01 -1.11287704e-02 3.11086076e+02] [ 9.98075782e-01 4.40942247e-02 -4.35939474e-02 2.18699700e+02] [ 4.40404128e-02 -9.20455415e-03 9.98987346e-01 1.09640147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.73, Z:109.64 [[ 4.34954076e-02 -9.99048790e-01 -3.10877937e-03 3.11080476e+02] [ 9.98046111e-01 4.35910469e-02 -4.47636127e-02 2.18728778e+02] [ 4.48565481e-02 -1.15569358e-03 9.98992770e-01 1.09637265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.76, Z:109.64 [[ 4.38626415e-02 -9.99032720e-01 -3.11347157e-03 3.11081972e+02] [ 9.98019027e-01 4.39584007e-02 -4.50075753e-02 2.18756633e+02] [ 4.51009036e-02 -1.13315273e-03 9.98981794e-01 1.09638611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.78, Z:109.64 [[ 4.48147537e-02 -9.98990619e-01 -3.06278482e-03 3.11083936e+02] [ 9.98001855e-01 4.49066722e-02 -4.44487164e-02 2.18783710e+02] [ 4.45413902e-02 -1.06470665e-03 9.99006972e-01 1.09641460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.08, Y:218.81, Z:109.64 [[ 4.50755355e-02 -9.98979042e-01 -3.01153730e-03 3.11084412e+02] [ 9.98015300e-01 4.51643377e-02 -4.38821540e-02 2.18811489e+02] [ 4.39733663e-02 -1.02754871e-03 9.99032175e-01 1.09642544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.08, Y:218.84, Z:109.64 [[ 4.60092954e-02 -9.98936613e-01 -2.96439973e-03 3.11080976e+02] [ 9.97995337e-01 4.60946322e-02 -4.33657944e-02 2.18838477e+02] [ 4.34563227e-02 -9.63227464e-04 9.99054864e-01 1.09642079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.08, Y:218.87, Z:109.64 [[ 4.65314325e-02 -9.98912468e-01 -2.95083697e-03 3.11080545e+02] [ 9.97971859e-01 4.66156725e-02 -4.33491423e-02 2.18865564e+02] [ 4.34395540e-02 -9.27754566e-04 9.99055626e-01 1.09642395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.08, Y:218.89, Z:109.64 [[ 4.69991067e-02 -9.98890577e-01 -2.94959338e-03 3.11081055e+02] [ 9.97942323e-01 4.70830098e-02 -4.35236693e-02 2.18892194e+02] [ 4.36142589e-02 -8.97950489e-04 9.99048042e-01 1.09643229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.92, Z:109.65 [[ 4.81649484e-02 -9.98834962e-01 -2.97605601e-03 3.11081491e+02] [ 9.97860581e-01 4.82494087e-02 -4.41163930e-02 2.18919262e+02] [ 4.42085887e-02 -8.44825181e-04 9.99021965e-01 1.09645662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.08, Y:218.95, Z:109.64 [[ 4.94063999e-02 -9.98774485e-01 2.92154177e-03 3.11078155e+02] [ 9.97775227e-01 4.92254543e-02 -4.49605502e-02 2.18947431e+02] [ 4.47616362e-02 5.13638093e-03 9.98984491e-01 1.09644527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:218.98, Z:109.65 [[ 4.81226053e-02 -9.98806170e-01 -8.39344318e-03 3.11082912e+02] [ 9.97813668e-01 4.84524980e-02 -4.49470661e-02 2.18975407e+02] [ 4.53000902e-02 -6.21212241e-03 9.98954109e-01 1.09651388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.08, Y:219.00, Z:109.65 [[ 4.97255915e-02 -9.98758881e-01 -2.83951124e-03 3.11081080e+02] [ 9.97849711e-01 4.98014734e-02 -4.26118241e-02 2.19002467e+02] [ 4.27003496e-02 -7.14507315e-04 9.99087669e-01 1.09648855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.03, Z:109.65 [[ 4.95339503e-02 -9.98768545e-01 -2.78936505e-03 3.11078634e+02] [ 9.97883774e-01 4.96074700e-02 -4.20365675e-02 2.19028556e+02] [ 4.21231747e-02 -7.01224878e-04 9.99112179e-01 1.09648997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.06, Z:109.65 [[ 4.92274272e-02 -9.98783657e-01 -2.80474008e-03 3.11078444e+02] [ 9.97880868e-01 4.93021726e-02 -4.24625607e-02 2.19056344e+02] [ 4.25491915e-02 -7.08473853e-04 9.99094122e-01 1.09649898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.08, Z:109.65 [[ 4.93798145e-02 -9.98776020e-01 -2.84521647e-03 3.11077505e+02] [ 9.97839034e-01 4.94567201e-02 -4.32584654e-02 2.19084239e+02] [ 4.33462330e-02 -7.02973057e-04 9.99059863e-01 1.09650447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.11, Z:109.65 [[ 4.86908453e-02 -9.98809778e-01 -2.86872986e-03 3.11078506e+02] [ 9.97849229e-01 4.87698192e-02 -4.37997836e-02 2.19112524e+02] [ 4.38875596e-02 -7.29911386e-04 9.99036210e-01 1.09651649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.14, Z:109.65 [[ 4.81418125e-02 -9.98836375e-01 -2.87423420e-03 3.11079472e+02] [ 9.97864545e-01 4.82217497e-02 -4.40569215e-02 2.19139210e+02] [ 4.41442564e-02 -7.47116351e-04 9.99024888e-01 1.09653027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.17, Z:109.65 [[ 4.66112924e-02 -9.98910711e-01 -2.18599237e-03 3.11077060e+02] [ 9.97919122e-01 4.66624005e-02 -4.44977094e-02 2.19167195e+02] [ 4.45512422e-02 -1.07347842e-04 9.99007095e-01 1.09652843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.19, Z:109.65 [[ 4.57996171e-02 -9.98944229e-01 -3.58072630e-03 3.11076922e+02] [ 9.97966289e-01 4.59132814e-02 -4.42182932e-02 2.19194892e+02] [ 4.43360117e-02 -1.54826324e-03 9.99015476e-01 1.09654074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.22, Z:109.65 [[ 4.46558722e-02 -9.98998251e-01 -2.88927345e-03 3.11075439e+02] [ 9.97997693e-01 4.47404527e-02 -4.47090237e-02 2.19222839e+02] [ 4.47935039e-02 -8.86967787e-04 9.98995874e-01 1.09654507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.25, Z:109.66 [[ 4.37848796e-02 -9.99036753e-01 -2.90715768e-03 3.11076187e+02] [ 9.98014770e-01 4.38715795e-02 -4.51863158e-02 2.19249970e+02] [ 4.52703318e-02 -9.22908903e-04 9.98974347e-01 1.09655544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.190385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.08, Y:219.28, Z:109.66 [[ 4.30763501e-02 -9.99067567e-01 -2.90254401e-03 3.11077116e+02] [ 9.98039575e-01 4.31636927e-02 -4.53200023e-02 2.19277722e+02] [ 4.54030290e-02 -9.44633498e-04 9.98968304e-01 1.09656663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.30, Z:109.66 [[ 4.16197329e-02 -9.99129296e-01 -2.90659338e-03 3.11075232e+02] [ 9.98089481e-01 4.17090230e-02 -4.55823013e-02 2.19304674e+02] [ 4.56638438e-02 -1.00391707e-03 9.98956358e-01 1.09658028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.33, Z:109.66 [[ 4.08730400e-02 -9.99160205e-01 -2.87750705e-03 3.11075264e+02] [ 9.98132017e-01 4.09615208e-02 -4.53280367e-02 2.19332305e+02] [ 4.54078375e-02 -1.01943726e-03 9.98968012e-01 1.09659000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.36, Z:109.66 [[ 4.03135320e-02 -9.99183147e-01 -2.80315018e-03 3.11074701e+02] [ 9.98199257e-01 4.03982348e-02 -4.43421483e-02 2.19360817e+02] [ 4.44191696e-02 -1.01051381e-03 9.99012471e-01 1.09661215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.39, Z:109.66 [[ 4.02344355e-02 -9.99186390e-01 -2.78359255e-03 3.11074963e+02] [ 9.98207894e-01 4.03182259e-02 -4.42203787e-02 2.19388450e+02] [ 4.42966301e-02 -9.99422080e-04 9.99017923e-01 1.09662820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.07, Y:219.42, Z:109.66 [[ 4.02909168e-02 -9.99184284e-01 -2.72188814e-03 3.11072911e+02] [ 9.98240653e-01 4.03711617e-02 -4.34254268e-02 2.19416485e+02] [ 4.34998897e-02 -9.67449131e-04 9.99052963e-01 1.09663794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.44, Z:109.66 [[ 3.99595062e-02 -9.99197699e-01 -2.68243658e-03 3.11072705e+02] [ 9.98273064e-01 4.00379302e-02 -4.29866747e-02 2.19444149e+02] [ 4.30595857e-02 -9.60077891e-04 9.99072045e-01 1.09664721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.47, Z:109.67 [[ 3.94051839e-02 -9.99219726e-01 -2.67765755e-03 3.11070750e+02] [ 9.98289982e-01 3.94840317e-02 -4.31059561e-02 2.19471422e+02] [ 4.31780464e-02 -9.74480577e-04 9.99066918e-01 1.09665646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.50, Z:109.67 [[ 3.90746467e-02 -9.99232683e-01 -2.68641349e-03 3.11071004e+02] [ 9.98287938e-01 3.91545237e-02 -4.34524639e-02 2.19499964e+02] [ 4.35243074e-02 -9.83924509e-04 9.99051884e-01 1.09666708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.460385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.07, Y:219.53, Z:109.67 [[ 3.92014323e-02 -9.99227644e-01 -2.71359057e-03 3.11071488e+02] [ 9.98254763e-01 3.92830098e-02 -4.40939227e-02 2.19528522e+02] [ 4.41664645e-02 -9.80309787e-04 9.99023705e-01 1.09667779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.56, Z:109.67 [[ 3.97827206e-02 -9.99204564e-01 -2.75216776e-03 3.11070013e+02] [ 9.98194984e-01 3.98662399e-02 -4.49161137e-02 2.19555914e+02] [ 4.49901043e-02 -9.60314847e-04 9.98986971e-01 1.09668889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.520385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:311.07, Y:219.58, Z:109.67 [[ 4.02661019e-02 -9.99185185e-01 -2.75797226e-03 3.11069489e+02] [ 9.98163759e-01 4.03496398e-02 -4.51776163e-02 2.19582623e+02] [ 4.52520881e-02 -9.33781456e-04 9.98975163e-01 1.09670021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.61, Z:109.67 [[ 4.26758880e-02 -9.99085160e-01 -2.75911833e-03 3.11067219e+02] [ 9.98052871e-01 4.27572068e-02 -4.54124270e-02 2.19611211e+02] [ 4.54888541e-02 -8.15730323e-04 9.98964513e-01 1.09671382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.64, Z:109.67 [[ 4.37585703e-02 -9.99038305e-01 -2.76651894e-03 3.11067357e+02] [ 9.97990560e-01 4.38393651e-02 -4.57487878e-02 2.19638098e+02] [ 4.58260739e-02 -7.59058239e-04 9.98949145e-01 1.09672398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.67, Z:109.67 [[ 4.46579863e-02 -9.98998499e-01 -2.76825748e-03 3.11067280e+02] [ 9.97939159e-01 4.47380965e-02 -4.59993272e-02 2.19666417e+02] [ 4.60771054e-02 -7.08315216e-04 9.98937635e-01 1.09673387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.640385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.07, Y:219.70, Z:109.67 [[ 4.66752835e-02 -9.98908620e-01 -1.72844819e-03 3.11066120e+02] [ 9.97844693e-01 4.67053269e-02 -4.60931884e-02 2.19695032e+02] [ 4.61236109e-02 4.26689785e-04 9.98935649e-01 1.09673308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.72, Z:109.68 [[ 4.75720946e-02 -9.98860624e-01 -3.78798727e-03 3.11067526e+02] [ 9.97814608e-01 4.76956946e-02 -4.57288641e-02 2.19722608e+02] [ 4.58574324e-02 -1.60429119e-03 9.98946706e-01 1.09675109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.75, Z:109.68 [[ 4.77978465e-02 -9.98853264e-01 -2.74297486e-03 3.11067700e+02] [ 9.97782595e-01 4.78735891e-02 -4.62386410e-02 2.19750017e+02] [ 4.63169335e-02 -5.26785112e-04 9.98926656e-01 1.09675960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.78, Z:109.68 [[ 4.81458550e-02 -9.98836466e-01 -2.77313796e-03 3.11067985e+02] [ 9.97731159e-01 4.82230095e-02 -4.69795279e-02 2.19778545e+02] [ 4.70585947e-02 -5.04976616e-04 9.98892003e-01 1.09676406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.81, Z:109.68 [[ 4.78067790e-02 -9.98852774e-01 -2.76554338e-03 3.11069759e+02] [ 9.97743152e-01 4.78839984e-02 -4.70714944e-02 2.19806252e+02] [ 4.71499180e-02 -5.08965443e-04 9.98887695e-01 1.09677685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.83, Z:109.68 [[ 4.77337487e-02 -9.98856459e-01 -2.69518010e-03 3.11072151e+02] [ 9.97792460e-01 4.78072762e-02 -4.60941587e-02 2.19832672e+02] [ 4.61702973e-02 -4.88983395e-04 9.98933464e-01 1.09679800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.86, Z:109.68 [[ 4.74745938e-02 -9.98868845e-01 -2.68195153e-03 3.11073746e+02] [ 9.97804823e-01 4.75477870e-02 -4.60949288e-02 2.19861173e+02] [ 4.61703092e-02 -4.87726146e-04 9.98933464e-01 1.09680789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.89, Z:109.68 [[ 4.76103291e-02 -9.98865819e-01 5.76112582e-04 3.11073464e+02] [ 9.97798335e-01 4.75327723e-02 -4.62506056e-02 2.19889387e+02] [ 4.61707648e-02 2.77685073e-03 9.98929702e-01 1.09681119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.92, Z:109.68 [[ 4.79973452e-02 -9.98837982e-01 -4.35213884e-03 3.11076408e+02] [ 9.97824101e-01 4.81448990e-02 -4.50458896e-02 2.19918346e+02] [ 4.52030787e-02 -2.18058591e-03 9.98975439e-01 1.09683918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.95, Z:109.68 [[ 4.94173483e-02 -9.98770203e-01 -4.00084839e-03 3.11076253e+02] [ 9.97772944e-01 4.95468920e-02 -4.46571071e-02 2.19945984e+02] [ 4.48004175e-02 -1.78510246e-03 9.98994362e-01 1.09684272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.97, Z:109.68 [[ 5.05026931e-02 -9.98720382e-01 -2.66037555e-03 3.11077342e+02] [ 9.97640364e-01 5.05717720e-02 -4.64348930e-02 2.19973393e+02] [ 4.65100139e-02 -3.09010888e-04 9.98917776e-01 1.09684693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:220.00, Z:109.68 [[ 5.25272859e-02 -9.98612872e-01 3.63553504e-03 3.11076032e+02] [ 9.97536751e-01 5.23005028e-02 -4.67449287e-02 2.20001275e+02] [ 4.64899472e-02 6.08196404e-03 9.98900243e-01 1.09684312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:220.03, Z:109.69 [[ 5.23348443e-02 -9.98591269e-01 -8.74886011e-03 3.11083914e+02] [ 9.97629569e-01 5.26724031e-02 -4.42816223e-02 2.20028702e+02] [ 4.46800649e-02 -6.41064972e-03 9.98980778e-01 1.09689459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:220.06, Z:109.69 [[ 5.13798606e-02 -9.98675681e-01 -2.64482267e-03 3.11081613e+02] [ 9.97576309e-01 5.14473674e-02 -4.68473658e-02 2.20056645e+02] [ 4.69213941e-02 -2.31401313e-04 9.98898558e-01 1.09689577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:220.08, Z:109.69 [[ 5.16490449e-02 -9.98658865e-01 3.58440518e-03 3.11082115e+02] [ 9.97623598e-01 5.14309450e-02 -4.58477407e-02 2.20083535e+02] [ 4.56019034e-02 5.94387921e-03 9.98942009e-01 1.09686761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:220.11, Z:109.69 [[ 4.87433696e-02 -9.98776021e-01 -8.39905310e-03 3.11088645e+02] [ 9.97698530e-01 4.90841756e-02 -4.67802104e-02 2.20111434e+02] [ 4.71352130e-02 -6.09949784e-03 9.98869895e-01 1.09692693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:220.14, Z:109.69 [[ 4.71796022e-02 -9.98883226e-01 -2.52701472e-03 3.11091005e+02] [ 9.97854239e-01 4.72456771e-02 -4.53295102e-02 2.20138384e+02] [ 4.53982780e-02 -3.82964083e-04 9.98968893e-01 1.09691005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:220.17, Z:109.69 [[ 4.37688736e-02 -9.99038575e-01 -2.49211578e-03 3.11092302e+02] [ 9.98028300e-01 4.38366674e-02 -4.49205863e-02 2.20166650e+02] [ 4.49866446e-02 -5.21078620e-04 9.98987453e-01 1.09690117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:220.19, Z:109.69 [[ 4.22385486e-02 -9.99104380e-01 -2.51854225e-03 3.11095049e+02] [ 9.98061997e-01 4.23095061e-02 -4.56306400e-02 2.20193402e+02] [ 4.56963306e-02 -5.86289304e-04 9.98955205e-01 1.09691265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.210385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.09, Y:220.22, Z:109.68 [[ 3.76514686e-02 -9.99263371e-01 7.42181258e-03 3.11091027e+02] [ 9.98386082e-01 3.73003452e-02 -4.28242504e-02 2.20219223e+02] [ 4.25158686e-02 9.02223030e-03 9.99055054e-01 1.09684471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:220.25, Z:109.70 [[ 3.77507618e-02 -9.99217273e-01 -1.18204155e-02 3.11104520e+02] [ 9.98252620e-01 3.82471595e-02 -4.50428786e-02 2.20248784e+02] [ 4.54597197e-02 -1.00993577e-02 9.98915120e-01 1.09695462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:220.28, Z:109.69 [[ 3.60660372e-02 -9.99346267e-01 -2.50598149e-03 3.11102588e+02] [ 9.98287759e-01 3.61431654e-02 -4.59915490e-02 2.20277482e+02] [ 4.60520569e-02 -8.42957735e-04 9.98938686e-01 1.09694253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:220.30, Z:109.69 [[ 3.50206455e-02 -9.99383552e-01 -2.46387451e-03 3.11103693e+02] [ 9.98349569e-01 3.50964829e-02 -4.54573992e-02 2.20304242e+02] [ 4.55158504e-02 -8.67860591e-04 9.98963240e-01 1.09694760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:220.33, Z:109.70 [[ 3.55934730e-02 -9.99363247e-01 -2.49113411e-03 3.11106377e+02] [ 9.98295714e-01 3.56705839e-02 -4.61874065e-02 2.20331098e+02] [ 4.62468568e-02 -8.42918296e-04 9.98929686e-01 1.09698090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:220.36, Z:109.70 [[ 3.38987934e-02 -9.99422201e-01 -2.47706837e-03 3.11108591e+02] [ 9.98356418e-01 3.39770319e-02 -4.61521801e-02 2.20358683e+02] [ 4.62096769e-02 -9.08493892e-04 9.98931349e-01 1.09697272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:220.39, Z:109.70 [[ 3.58524519e-02 -9.99326060e-01 7.87579392e-03 3.11106667e+02] [ 9.98163914e-01 3.54235420e-02 -4.91322086e-02 2.20385351e+02] [ 4.88201079e-02 9.62284343e-03 9.98761232e-01 1.09696436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:220.41, Z:109.70 [[ 3.51722148e-02 -9.99293213e-01 -1.32661204e-02 3.11119678e+02] [ 9.98357410e-01 3.57338030e-02 -4.47836666e-02 2.20411343e+02] [ 4.52260630e-02 -1.16691888e-02 9.98908621e-01 1.09704253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:220.44, Z:109.70 [[ 3.48295540e-02 -9.99390518e-01 -2.34408371e-03 3.11117013e+02] [ 9.98402562e-01 3.48993430e-02 -4.44337751e-02 2.20439275e+02] [ 4.44885005e-02 -7.92730614e-04 9.99009582e-01 1.09702159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:220.47, Z:109.70 [[ 3.44788068e-02 -9.99399964e-01 3.30509864e-03 3.11118649e+02] [ 9.98402590e-01 3.42959080e-02 -4.49005377e-02 2.20467573e+02] [ 4.47602445e-02 4.84793601e-03 9.98985995e-01 1.09702376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:220.49, Z:109.71 [[ 3.38218904e-02 -9.99397737e-01 -7.76166121e-03 3.11126647e+02] [ 9.98512915e-01 3.41221423e-02 -4.25163320e-02 2.20494092e+02] [ 4.27555705e-02 -6.31213624e-03 9.99065623e-01 1.09707730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:220.52, Z:109.71 [[ 3.41882660e-02 -9.99412910e-01 -2.23571307e-03 3.11126267e+02] [ 9.98485022e-01 3.42528571e-02 -4.30627706e-02 2.20522175e+02] [ 4.31140684e-02 -7.60084554e-04 9.99069867e-01 1.09707624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:220.55, Z:109.70 [[ 3.40793882e-02 -9.99366035e-01 1.03015918e-02 3.11119377e+02] [ 9.98640002e-01 3.36440837e-02 -3.98274126e-02 2.20549593e+02] [ 3.94555758e-02 1.16448755e-02 9.99153469e-01 1.09696594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:220.58, Z:109.70 [[ 3.56702503e-02 -9.99362068e-01 -1.75812679e-03 3.11127254e+02] [ 9.98589464e-01 3.57117957e-02 -3.92905951e-02 2.20578208e+02] [ 3.93283162e-02 -3.54141526e-04 9.99226280e-01 1.09701320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.13, Y:220.61, Z:109.70 [[ 3.81963723e-02 -9.99266920e-01 -2.58083944e-03 3.11130949e+02] [ 9.98492626e-01 3.82683923e-02 -3.93447196e-02 2.20605713e+02] [ 3.94146413e-02 -1.07412359e-03 9.99222364e-01 1.09702816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:220.63, Z:109.70 [[ 3.85009478e-02 -9.99256813e-01 -1.87026436e-03 3.11133146e+02] [ 9.98481848e-01 3.85447355e-02 -3.93484884e-02 2.20634114e+02] [ 3.93913340e-02 -3.52470914e-04 9.99223798e-01 1.09704002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:220.66, Z:109.70 [[ 3.85439336e-02 -9.99255884e-01 -1.42931298e-03 3.11135913e+02] [ 9.98473471e-01 3.85703046e-02 -3.95355353e-02 2.20661847e+02] [ 3.95612453e-02 9.67239576e-05 9.99217143e-01 1.09704911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:220.69, Z:109.71 [[ 3.79807300e-02 -9.99228711e-01 -9.97233573e-03 3.11145747e+02] [ 9.98377266e-01 3.83683240e-02 -4.20797604e-02 2.20690401e+02] [ 4.24299265e-02 -8.35793327e-03 9.99064486e-01 1.09712556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:220.72, Z:109.71 [[ 3.70557750e-02 -9.99313188e-01 -1.48876298e-04 3.11144059e+02] [ 9.98368498e-01 3.70272203e-02 -4.34663836e-02 2.20717760e+02] [ 4.34420428e-02 1.46204712e-03 9.99054879e-01 1.09710324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.780385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.15, Y:220.75, Z:109.72 [[ 3.51044933e-02 -9.99357665e-01 -7.20644818e-03 3.11152210e+02] [ 9.98357644e-01 3.53942057e-02 -4.50473592e-02 2.20746141e+02] [ 4.52734902e-02 -5.61324791e-03 9.98958859e-01 1.09716298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:220.77, Z:109.71 [[ 3.35489085e-02 -9.99437076e-01 -3.74377378e-05 3.11150304e+02] [ 9.98344980e-01 3.35139999e-02 -4.67344984e-02 2.20774616e+02] [ 4.67094451e-02 1.53051563e-03 9.98907346e-01 1.09713410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.16, Y:220.80, Z:109.72 [[ 3.06450482e-02 -9.99521495e-01 -4.20262727e-03 3.11156388e+02] [ 9.98556934e-01 3.08004496e-02 -4.39929839e-02 2.20803053e+02] [ 4.41013758e-02 -2.84839549e-03 9.99023000e-01 1.09716085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.16, Y:220.83, Z:109.72 [[ 3.08881340e-02 -9.99518459e-01 -2.96183719e-03 3.11159134e+02] [ 9.98547759e-01 3.09887243e-02 -4.40689576e-02 2.20828923e+02] [ 4.41395202e-02 -1.59632803e-03 9.99024101e-01 1.09718282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.16, Y:220.86, Z:109.72 [[ 2.98726705e-02 -9.99552664e-01 -1.44780015e-03 3.11161502e+02] [ 9.98551003e-01 2.99075346e-02 -4.47373854e-02 2.20858716e+02] [ 4.47606728e-02 -1.09277119e-04 9.98997733e-01 1.09719401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.16, Y:220.88, Z:109.72 [[ 2.81727654e-02 -9.99594859e-01 4.05128518e-03 3.11163475e+02] [ 9.98488096e-01 2.79497384e-02 -4.73321725e-02 2.20884529e+02] [ 4.71997639e-02 5.37863822e-03 9.98870989e-01 1.09718329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:220.91, Z:109.72 [[ 2.65543791e-02 -9.99613128e-01 -8.27404583e-03 3.11171505e+02] [ 9.98612588e-01 2.69024912e-02 -4.52675874e-02 2.20911902e+02] [ 4.54726671e-02 -7.06051365e-03 9.98940632e-01 1.09723663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:220.94, Z:109.72 [[ 2.57718648e-02 -9.99665317e-01 -2.25072856e-03 3.11171564e+02] [ 9.98619902e-01 2.58478479e-02 -4.57184831e-02 2.20938919e+02] [ 4.57613583e-02 -1.06937177e-03 9.98951828e-01 1.09722909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:220.97, Z:109.72 [[ 2.51251942e-02 -9.99681808e-01 -2.23788870e-03 3.11173491e+02] [ 9.98638870e-01 2.52012079e-02 -4.56651679e-02 2.20965570e+02] [ 4.57070351e-02 -1.08749643e-03 9.98954295e-01 1.09724112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.050385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.18, Y:220.99, Z:109.73 [[ 2.41076102e-02 -9.99706885e-01 -2.22869167e-03 3.11175614e+02] [ 9.98659725e-01 2.41843705e-02 -4.57588227e-02 2.20993519e+02] [ 4.57993096e-02 -1.12256875e-03 9.98950030e-01 1.09725076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.02, Z:109.72 [[ 2.35649195e-02 -9.99719163e-01 2.50783043e-03 3.11176401e+02] [ 9.98628364e-01 2.34217394e-02 -4.68274828e-02 2.21020675e+02] [ 4.67555942e-02 3.60787647e-03 9.98899844e-01 1.09724956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.05, Z:109.73 [[ 2.36299078e-02 -9.99697281e-01 -6.85382065e-03 3.11183009e+02] [ 9.98725889e-01 2.39116168e-02 -4.44390991e-02 2.21047404e+02] [ 4.45895324e-02 -5.79499631e-03 9.98988584e-01 1.09729335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.08, Z:109.73 [[ 2.53273245e-02 -9.99676902e-01 -2.14912713e-03 3.11183375e+02] [ 9.98673965e-01 2.53981835e-02 -4.47799572e-02 2.21075767e+02] [ 4.48200728e-02 -1.01212080e-03 9.98994563e-01 1.09729605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.17, Y:221.10, Z:109.71 [[ 2.46563172e-02 -9.99435581e-01 2.28163649e-02 3.11168610e+02] [ 9.98954530e-01 2.37527474e-02 -3.90596352e-02 2.21099330e+02] [ 3.84956378e-02 2.37555778e-02 9.98976355e-01 1.09709637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.13, Z:109.71 [[ 2.49031187e-02 -9.99637208e-01 1.02609670e-02 3.11175802e+02] [ 9.98939176e-01 2.44854080e-02 -3.89998394e-02 2.21128679e+02] [ 3.87344466e-02 1.12212995e-02 9.99186532e-01 1.09712969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.16, Z:109.71 [[ 2.69517513e-02 -9.99610522e-01 7.23933403e-03 3.11178663e+02] [ 9.98897608e-01 2.66526781e-02 -3.86420046e-02 2.21156107e+02] [ 3.84340067e-02 8.27282314e-03 9.99226895e-01 1.09711404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.20, Y:221.18, Z:109.74 [[ 3.09962301e-02 -9.99025770e-01 -3.14124993e-02 3.11202546e+02] [ 9.98352893e-01 3.24627399e-02 -4.73040255e-02 2.21182151e+02] [ 4.82776763e-02 -2.98945131e-02 9.98386490e-01 1.09739369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.21, Z:109.71 [[ 2.92149081e-02 -9.99249249e-01 2.54445951e-02 3.11175007e+02] [ 9.98838811e-01 2.82084158e-02 -3.90552802e-02 2.21211267e+02] [ 3.83082077e-02 2.65560455e-02 9.98913038e-01 1.09709572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.19, Y:221.24, Z:109.72 [[ 3.17985921e-02 -9.99487717e-01 -3.62684867e-03 3.11193617e+02] [ 9.98680147e-01 3.19189136e-02 -4.02386362e-02 2.21236688e+02] [ 4.03337877e-02 -2.34252978e-03 9.99183516e-01 1.09723977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.20, Y:221.27, Z:109.73 [[ 3.19583587e-02 -9.99453731e-01 -8.42036699e-03 3.11199956e+02] [ 9.98617644e-01 3.22811062e-02 -4.14816997e-02 2.21267737e+02] [ 4.17308583e-02 -7.08304000e-03 9.99103781e-01 1.09729399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:221.29, Z:109.75 [[ 3.26790828e-02 -9.99065427e-01 -2.82904759e-02 3.11211905e+02] [ 9.98334468e-01 3.39754709e-02 -4.66257118e-02 2.21293141e+02] [ 4.75433189e-02 -2.67196717e-02 9.98511739e-01 1.09746960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:221.32, Z:109.71 [[ 2.82061405e-02 -9.99089699e-01 3.20029228e-02 3.11179006e+02] [ 9.98874256e-01 2.69495998e-02 -3.90376844e-02 2.21319561e+02] [ 3.81396824e-02 3.30679981e-02 9.98725123e-01 1.09710320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.20, Y:221.35, Z:109.73 [[ 2.83868238e-02 -9.99567925e-01 -7.62567630e-03 3.11204149e+02] [ 9.98734508e-01 2.86783471e-02 -4.13150769e-02 2.21349279e+02] [ 4.15159175e-02 -6.44322226e-03 9.99117067e-01 1.09731869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4703857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.22, Y:221.38, Z:109.75 [[ 2.68735658e-02 -9.99263523e-01 -2.73902092e-02 3.11218864e+02] [ 9.98509952e-01 2.81349523e-02 -4.67578986e-02 2.21376481e+02] [ 4.74940848e-02 -2.60928450e-02 9.98530658e-01 1.09752422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.19, Y:221.40, Z:109.72 [[ 2.21397066e-02 -9.99497839e-01 2.26694302e-02 3.11192524e+02] [ 9.98958407e-01 2.12114484e-02 -4.04001836e-02 2.21402596e+02] [ 3.98990447e-02 2.35402661e-02 9.98926385e-01 1.09722267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:221.43, Z:109.75 [[ 2.27436715e-02 -9.99399156e-01 -2.61544072e-02 3.11221773e+02] [ 9.98605381e-01 2.39568178e-02 -4.70463979e-02 2.21432138e+02] [ 4.76447067e-02 -2.50479239e-02 9.98550241e-01 1.09753985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:221.46, Z:109.75 [[ 2.10421404e-02 -9.99777280e-01 -1.61837587e-03 3.11212715e+02] [ 9.98571284e-01 2.10962302e-02 -4.90952054e-02 2.21459417e+02] [ 4.91184126e-02 -5.82995464e-04 9.98792792e-01 1.09746073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:221.49, Z:109.75 [[ 1.98476505e-02 -9.99799087e-01 -2.80289995e-03 3.11215114e+02] [ 9.98612315e-01 1.99607155e-02 -4.87341170e-02 2.21488487e+02] [ 4.87802735e-02 -1.83175268e-03 9.98807854e-01 1.09747935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.620385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.20, Y:221.52, Z:109.73 [[ 1.75269432e-02 -9.99646188e-01 2.00076287e-02 3.11204063e+02] [ 9.98906934e-01 1.66397126e-02 -4.36813271e-02 2.21517443e+02] [ 4.33329509e-02 2.07513592e-02 9.98845151e-01 1.09731045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.650385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:311.22, Y:221.54, Z:109.74 [[ 1.86163612e-02 -9.99809635e-01 -5.84169595e-03 3.11218543e+02] [ 9.98875029e-01 1.88531872e-02 -4.35113187e-02 2.21544186e+02] [ 4.36131703e-02 -5.02510178e-03 9.99035855e-01 1.09742484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.23, Y:221.57, Z:109.76 [[ 2.07519957e-02 -9.99602564e-01 -1.90805908e-02 3.11226666e+02] [ 9.98602657e-01 2.16514281e-02 -4.82073659e-02 2.21570048e+02] [ 4.86013286e-02 -1.80535296e-02 9.98655086e-01 1.09756302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:221.60, Z:109.75 [[ 2.52610165e-02 -9.99674910e-01 3.45772211e-03 3.11216079e+02] [ 9.98354058e-01 2.50491916e-02 -5.15917837e-02 2.21596625e+02] [ 5.14883986e-02 4.75529180e-03 9.98662271e-01 1.09748681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:221.62, Z:109.75 [[ 2.49522881e-02 -9.99686574e-01 -2.03394432e-03 3.11219849e+02] [ 9.98363361e-01 2.50238864e-02 -5.14237716e-02 2.21624159e+02] [ 5.14585513e-02 -7.47474727e-04 9.98674851e-01 1.09751806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.22, Y:221.65, Z:109.75 [[ 2.74003842e-02 -9.99595196e-01 -7.65925377e-03 3.11223739e+02] [ 9.98464599e-01 2.77367958e-02 -4.79490822e-02 2.21652680e+02] [ 4.81421153e-02 -6.33367047e-03 9.98820415e-01 1.09754999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.800385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.22, Y:221.68, Z:109.75 [[ 2.96267287e-02 -9.99542124e-01 6.14810488e-03 3.11218129e+02] [ 9.98173521e-01 2.92610698e-02 -5.28527459e-02 2.21680314e+02] [ 5.26486458e-02 7.70272945e-03 9.98583391e-01 1.09752196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.23, Y:221.71, Z:109.76 [[ 3.03840517e-02 -9.99484948e-01 -1.03270763e-02 3.11226877e+02] [ 9.98287750e-01 3.08610810e-02 -4.96906644e-02 2.21707988e+02] [ 4.99837759e-02 -8.79959001e-03 9.98711264e-01 1.09759148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:221.74, Z:109.76 [[ 3.12791220e-02 -9.99509266e-01 1.68646736e-03 3.11221455e+02] [ 9.98193538e-01 3.11512644e-02 -5.13737189e-02 2.21736036e+02] [ 5.12959724e-02 3.29034564e-03 9.98678075e-01 1.09755560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.77, Z:109.76 [[ 3.25385002e-02 -9.99462859e-01 -3.90385284e-03 3.11226469e+02] [ 9.98249348e-01 3.26915175e-02 -4.92900064e-02 2.21766714e+02] [ 4.93911536e-02 -2.29319566e-03 9.98776880e-01 1.09757422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.79, Z:109.76 [[ 3.14681966e-02 -9.99487737e-01 -5.83226596e-03 3.11227945e+02] [ 9.98277398e-01 3.17181056e-02 -4.93578648e-02 2.21794811e+02] [ 4.95175691e-02 -4.26901629e-03 9.98764129e-01 1.09760823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.82, Z:109.76 [[ 2.97202418e-02 -9.99557903e-01 -8.39855900e-04 3.11225048e+02] [ 9.98363337e-01 2.97257745e-02 -4.88571955e-02 2.21819803e+02] [ 4.88605613e-02 6.13566327e-04 9.98805421e-01 1.09760762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.85, Z:109.76 [[ 2.92980005e-02 -9.99568623e-01 -2.04803997e-03 3.11228290e+02] [ 9.98412189e-01 2.93626009e-02 -4.80722145e-02 2.21846260e+02] [ 4.81116130e-02 -6.36368309e-04 9.98841763e-01 1.09763493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.87, Z:109.76 [[ 2.90033309e-02 -9.99577231e-01 -2.04114348e-03 3.11229498e+02] [ 9.98416957e-01 2.90679919e-02 -4.81521854e-02 2.21873855e+02] [ 4.81911600e-02 -6.41338495e-04 9.98837925e-01 1.09764710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.90, Z:109.77 [[ 2.94468709e-02 -9.99564264e-01 -2.04062217e-03 3.11230810e+02] [ 9.98389343e-01 2.95111779e-02 -4.84542186e-02 2.21901694e+02] [ 4.84933265e-02 -6.10510307e-04 9.98823320e-01 1.09766086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.93, Z:109.77 [[ 3.00436846e-02 -9.99546529e-01 -2.02800038e-03 3.11231970e+02] [ 9.98370574e-01 3.01066896e-02 -4.84745668e-02 2.21928645e+02] [ 4.85136414e-02 -5.68341303e-04 9.98822358e-01 1.09767055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:221.96, Z:109.77 [[ 3.05736035e-02 -9.99530450e-01 -2.03330917e-03 3.11233187e+02] [ 9.98331727e-01 3.06364948e-02 -4.89404582e-02 2.21956379e+02] [ 4.89797717e-02 -5.33630893e-04 9.98799628e-01 1.09767924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.23, Y:221.98, Z:109.77 [[ 3.11402013e-02 -9.99512956e-01 -2.03430210e-03 3.11234544e+02] [ 9.98296888e-01 3.12026383e-02 -4.92921796e-02 2.21984783e+02] [ 4.93316478e-02 -4.95869061e-04 9.98782330e-01 1.09769171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.01, Z:109.77 [[ 3.19290592e-02 -9.99488070e-01 -2.03295055e-03 3.11236458e+02] [ 9.98258079e-01 3.19905962e-02 -4.95722758e-02 2.22011884e+02] [ 4.96119335e-02 -4.46613185e-04 9.98768470e-01 1.09770864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.04, Z:109.77 [[ 3.12973351e-02 -9.99508122e-01 -1.99781126e-03 3.11238186e+02] [ 9.98307981e-01 3.13576326e-02 -4.89680836e-02 2.22040360e+02] [ 4.90066439e-02 -4.61860406e-04 9.98798346e-01 1.09771958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.07, Z:109.77 [[ 3.03530798e-02 -9.99537299e-01 -1.96928351e-03 3.11240274e+02] [ 9.98355611e-01 3.04129299e-02 -4.85914348e-02 2.22068357e+02] [ 4.86288432e-02 -4.91145541e-04 9.98816797e-01 1.09773729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.10, Z:109.78 [[ 2.95334247e-02 -9.99561937e-01 -1.92634923e-03 3.11241280e+02] [ 9.98416151e-01 2.95917849e-02 -4.78488928e-02 2.22096479e+02] [ 4.78849361e-02 -5.10156507e-04 9.98852728e-01 1.09775240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.12, Z:109.78 [[ 2.91286919e-02 -9.99573885e-01 -1.88900499e-03 3.11242612e+02] [ 9.98457218e-01 2.91854212e-02 -4.72376567e-02 2.22124038e+02] [ 4.72726594e-02 -5.10119523e-04 9.98881893e-01 1.09776511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.310385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.24, Y:222.15, Z:109.78 [[ 2.92110999e-02 -9.99571593e-01 -1.82809388e-03 3.11244133e+02] [ 9.98511653e-01 2.92642943e-02 -4.60225988e-02 2.22151867e+02] [ 4.60563803e-02 -4.81002309e-04 9.98938726e-01 1.09778083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.18, Z:109.78 [[ 2.92568852e-02 -9.99570325e-01 -1.78871380e-03 3.11244617e+02] [ 9.98541962e-01 2.93079066e-02 -4.53320657e-02 2.22178694e+02] [ 4.53650111e-02 -4.59830743e-04 9.98970372e-01 1.09778766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.21, Z:109.78 [[ 2.97614075e-02 -9.99555450e-01 -1.77773922e-03 3.11244957e+02] [ 9.98528711e-01 2.98113964e-02 -4.52956271e-02 2.22207167e+02] [ 4.53284879e-02 -4.27062032e-04 9.98972045e-01 1.09778931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:222.23, Z:109.77 [[ 2.67788075e-02 -9.99605932e-01 8.41886151e-03 3.11238233e+02] [ 9.98783605e-01 2.64060641e-02 -4.16416897e-02 2.22232854e+02] [ 4.14029710e-02 9.52373564e-03 9.99097139e-01 1.09770182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:222.26, Z:109.78 [[ 2.88983716e-02 -9.99518102e-01 -1.13335159e-02 3.11252144e+02] [ 9.98563854e-01 2.93787782e-02 -4.48008713e-02 2.22262142e+02] [ 4.51122467e-02 -1.00225670e-02 9.98931646e-01 1.09783818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.24, Y:222.29, Z:109.77 [[ 2.55420894e-02 -9.99654586e-01 6.18955581e-03 3.11242292e+02] [ 9.98790207e-01 2.52587673e-02 -4.21914256e-02 2.22289499e+02] [ 4.20205115e-02 7.25972489e-03 9.99090373e-01 1.09773282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:222.32, Z:109.78 [[ 2.40333816e-02 -9.99711142e-01 -1.70092715e-04 3.11246063e+02] [ 9.98841745e-01 2.40195745e-02 -4.16920741e-02 2.22317324e+02] [ 4.16841166e-02 8.32105823e-04 9.99130493e-01 1.09775859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.25, Y:222.35, Z:109.78 [[ 2.40100742e-02 -9.99701409e-01 -4.53982739e-03 3.11251939e+02] [ 9.98556561e-01 2.42003249e-02 -4.79493386e-02 2.22346110e+02] [ 4.80448866e-02 -3.38200725e-03 9.98839452e-01 1.09782839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.26, Y:222.37, Z:109.79 [[ 2.45477134e-02 -9.99670168e-01 -7.54750067e-03 3.11255454e+02] [ 9.98610052e-01 2.48725182e-02 -4.64685163e-02 2.22374516e+02] [ 4.66409148e-02 -6.39631421e-03 9.98891242e-01 1.09786098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.25, Y:222.40, Z:109.78 [[ 2.35134219e-02 -9.99721953e-01 -1.77066140e-03 3.11252909e+02] [ 9.98604013e-01 2.35708502e-02 -4.72698655e-02 2.22402371e+02] [ 4.72984583e-02 -6.56713293e-04 9.98880586e-01 1.09784462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:222.43, Z:109.78 [[ 2.13009936e-02 -9.99771514e-01 -1.78541812e-03 3.11253604e+02] [ 9.98618123e-01 2.13621672e-02 -4.80156490e-02 2.22430560e+02] [ 4.80428185e-02 -7.60169865e-04 9.98844988e-01 1.09784556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.46, Z:109.79 [[ 1.98846352e-02 -9.99800696e-01 -1.78021746e-03 3.11255056e+02] [ 9.98637087e-01 1.99473685e-02 -4.82293697e-02 2.22458851e+02] [ 4.82552681e-02 -8.18767752e-04 9.98834700e-01 1.09785430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.26, Y:222.49, Z:109.79 [[ 1.66427825e-02 -9.99859910e-01 -1.78284516e-03 3.11256371e+02] [ 9.98675299e-01 1.67098415e-02 -4.86665127e-02 2.22485789e+02] [ 4.86894860e-02 -9.70537233e-04 9.98813492e-01 1.09785681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.26, Y:222.51, Z:109.79 [[ 1.52550350e-02 -9.99882067e-01 -1.77105788e-03 3.11257894e+02] [ 9.98694265e-01 1.53232331e-02 -4.87336052e-02 2.22511498e+02] [ 4.87549962e-02 -1.02531249e-03 9.98810242e-01 1.09786705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.26, Y:222.54, Z:109.79 [[ 1.37047483e-02 -9.99904578e-01 -1.73653391e-03 3.11259130e+02] [ 9.98743177e-01 1.37725236e-02 -4.81911161e-02 2.22539142e+02] [ 4.82104340e-02 -1.07390428e-03 9.98836624e-01 1.09787996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.760385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.26, Y:222.57, Z:109.79 [[ 1.17710585e-02 -9.99929296e-01 -1.68682153e-03 3.11259483e+02] [ 9.98815351e-01 1.18375675e-02 -4.71992179e-02 2.22565141e+02] [ 4.72158486e-02 -1.12923848e-03 9.98884072e-01 1.09788983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.59, Z:109.79 [[ 1.12237353e-02 -9.99935662e-01 -1.64325823e-03 3.11259700e+02] [ 9.98860423e-01 1.12878738e-02 -4.63728316e-02 2.22593325e+02] [ 4.63883969e-02 -1.12090922e-03 9.98922850e-01 1.09789716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.62, Z:109.79 [[ 1.18927457e-02 -9.99928014e-01 -1.59069328e-03 3.11260970e+02] [ 9.98905007e-01 1.19525337e-02 -4.52319016e-02 2.22621059e+02] [ 4.52476583e-02 -1.05101998e-03 9.98975247e-01 1.09790844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.65, Z:109.79 [[ 1.25596300e-02 -9.99919917e-01 -1.55431150e-03 3.11262451e+02] [ 9.98927831e-01 1.26164069e-02 -4.45422821e-02 2.22648800e+02] [ 4.45583249e-02 -9.93210432e-04 9.99006291e-01 1.09791964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.68, Z:109.79 [[ 1.32237644e-02 -9.99911385e-01 -1.53423292e-03 3.11263641e+02] [ 9.98929334e-01 1.32787731e-02 -4.43154573e-02 2.22676613e+02] [ 4.43319030e-02 -9.46573104e-04 9.99016410e-01 1.09793263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.70, Z:109.79 [[ 1.53261864e-02 -9.99881385e-01 -1.52420811e-03 3.11263984e+02] [ 9.98896007e-01 1.53787466e-02 -4.43876388e-02 2.22703231e+02] [ 4.44058142e-02 -8.42232171e-04 9.99013220e-01 1.09794023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:222.73, Z:109.80 [[ 1.56712866e-02 -9.99774006e-01 -1.43648420e-02 3.11269588e+02] [ 9.98799125e-01 1.63197387e-02 -4.61949514e-02 2.22730360e+02] [ 4.64189420e-02 -1.36236573e-02 9.98829154e-01 1.09802391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.26, Y:222.76, Z:109.79 [[ 2.04901734e-02 -9.99726364e-01 1.12849195e-02 3.11257357e+02] [ 9.98755936e-01 1.99544327e-02 -4.56990263e-02 2.22759449e+02] [ 4.54613373e-02 1.22072613e-02 9.98891510e-01 1.09789725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.79, Z:109.80 [[ 2.21924040e-02 -9.99752577e-01 -1.51078419e-03 3.11264509e+02] [ 9.98744149e-01 2.22378632e-02 -4.48954636e-02 2.22787430e+02] [ 4.49179520e-02 -5.12548600e-04 9.98990548e-01 1.09795189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:222.82, Z:109.80 [[ 2.38004631e-02 -9.99715614e-01 -1.49295785e-03 3.11265983e+02] [ 9.98714771e-01 2.38434268e-02 -4.47246759e-02 2.22815458e+02] [ 4.47475540e-02 -4.26571065e-04 9.98998236e-01 1.09796838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.27, Y:222.84, Z:109.80 [[ 2.66166289e-02 -9.99644640e-01 -1.46565918e-03 3.11267728e+02] [ 9.98664258e-01 2.66554223e-02 -4.42627137e-02 2.22842831e+02] [ 4.42860523e-02 -2.85577216e-04 9.99018851e-01 1.09798015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.26, Y:222.87, Z:109.79 [[ 2.76403659e-02 -9.99582977e-01 8.35961466e-03 3.11263523e+02] [ 9.98510892e-01 2.72153197e-02 -4.72792356e-02 2.22872844e+02] [ 4.70320095e-02 9.65398166e-03 9.98846730e-01 1.09794339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:222.90, Z:109.80 [[ 2.91804920e-02 -9.99513081e-01 -1.10498524e-02 3.11272654e+02] [ 9.98582216e-01 2.96421151e-02 -4.42142940e-02 2.22899509e+02] [ 4.45203063e-02 -9.74399120e-03 9.98960959e-01 1.09802029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:222.93, Z:109.79 [[ 3.09483101e-02 -9.99493053e-01 7.47262081e-03 3.11264054e+02] [ 9.98436716e-01 3.05657361e-02 -4.67959400e-02 2.22928144e+02] [ 4.65438108e-02 8.90919425e-03 9.98876519e-01 1.09794309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:222.95, Z:109.80 [[ 3.16097414e-02 -9.99446627e-01 -1.03568192e-02 3.11274095e+02] [ 9.98507946e-01 3.20382883e-02 -4.42202525e-02 2.22954311e+02] [ 4.45275969e-02 -8.94357554e-03 9.98968120e-01 1.09802924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:222.98, Z:109.80 [[ 3.17596390e-02 -9.99494555e-01 -1.40031873e-03 3.11274025e+02] [ 9.98527261e-01 3.17904947e-02 -4.39621783e-02 2.22982264e+02] [ 4.39844747e-02 -2.03351749e-06 9.99032215e-01 1.09800847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.28, Y:223.01, Z:109.80 [[ 3.16086012e-02 -9.99499340e-01 -1.40214871e-03 3.11276277e+02] [ 9.98512210e-01 3.16396852e-02 -4.44105452e-02 2.23010376e+02] [ 4.44326742e-02 3.69261149e-06 9.99012381e-01 1.09802314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:223.04, Z:109.80 [[ 3.16043745e-02 -9.99481834e-01 6.10136962e-03 3.11274618e+02] [ 9.98405763e-01 3.12835475e-02 -4.69816110e-02 2.23039076e+02] [ 4.67663943e-02 7.57646702e-03 9.98877120e-01 1.09800496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:223.07, Z:109.81 [[ 3.25377330e-02 -9.99429626e-01 -9.03989161e-03 3.11283417e+02] [ 9.98447445e-01 3.29122294e-02 -4.49386694e-02 2.23065300e+02] [ 4.52105605e-02 -7.56365426e-03 9.98948846e-01 1.09806264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:223.09, Z:109.80 [[ 3.27816771e-02 -9.99461567e-01 -1.39198876e-03 3.11280866e+02] [ 9.98445915e-01 3.28111024e-02 -4.50465034e-02 2.23093960e+02] [ 4.50679215e-02 8.68744392e-05 9.98983921e-01 1.09803687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:223.12, Z:109.80 [[ 3.26320044e-02 -9.99466486e-01 -1.37658330e-03 3.11283533e+02] [ 9.98455172e-01 3.26608965e-02 -4.49503751e-02 2.23122110e+02] [ 4.49713539e-02 9.23641273e-05 9.98988273e-01 1.09804350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:223.15, Z:109.81 [[ 3.18740658e-02 -9.99490964e-01 -1.36273520e-03 3.11286173e+02] [ 9.98481458e-01 3.19031049e-02 -4.49106906e-02 2.23148985e+02] [ 4.49313050e-02 7.08204751e-05 9.98990076e-01 1.09805278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:223.18, Z:109.81 [[ 3.09546596e-02 -9.99519860e-01 -1.36362935e-03 3.11289164e+02] [ 9.98488999e-01 3.09846505e-02 -4.53835860e-02 2.23175500e+02] [ 4.54040471e-02 4.32645497e-05 9.98968704e-01 1.09806580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:223.20, Z:109.81 [[ 2.89309677e-02 -9.99580520e-01 -1.33527292e-03 3.11292676e+02] [ 9.98573143e-01 2.89617436e-02 -4.48653099e-02 2.23203372e+02] [ 4.48851616e-02 -3.53708463e-05 9.98992153e-01 1.09807726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:223.23, Z:109.81 [[ 2.81149015e-02 -9.99603851e-01 -1.30169619e-03 3.11293903e+02] [ 9.98629030e-01 2.81449572e-02 -4.41352617e-02 2.23231887e+02] [ 4.41544137e-02 -5.90530697e-05 9.99024717e-01 1.09808378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:223.26, Z:109.81 [[ 2.76916841e-02 -9.99615648e-01 -1.31426097e-03 3.11296553e+02] [ 9.98603452e-01 2.77227732e-02 -4.49732488e-02 2.23259232e+02] [ 4.49923982e-02 -6.70405434e-05 9.98987327e-01 1.09809093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:223.29, Z:109.81 [[ 2.72880593e-02 -9.99626735e-01 -1.32361038e-03 3.11299149e+02] [ 9.98585143e-01 2.73200333e-02 -4.56215659e-02 2.23287517e+02] [ 4.56406981e-02 -7.68136635e-05 9.98957917e-01 1.09810231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:223.32, Z:109.81 [[ 2.69203842e-02 -9.99636680e-01 -1.34185127e-03 3.11301601e+02] [ 9.98545561e-01 2.69536784e-02 -4.66932734e-02 2.23315831e+02] [ 4.67124766e-02 -8.28987708e-05 9.98908373e-01 1.09811316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:223.34, Z:109.81 [[ 2.66416060e-02 -9.99644149e-01 -1.34151234e-03 3.11305696e+02] [ 9.98532071e-01 2.66752287e-02 -4.71395231e-02 2.23344175e+02] [ 4.71585336e-02 -8.36704934e-05 9.98887414e-01 1.09812175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:223.37, Z:109.81 [[ 2.63822577e-02 -9.99651045e-01 -1.32860275e-03 3.11306431e+02] [ 9.98538957e-01 2.64155601e-02 -4.71398872e-02 2.23372728e+02] [ 4.71585333e-02 -8.30049536e-05 9.98887414e-01 1.09813317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.660385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.31, Y:223.40, Z:109.81 [[ 2.53978249e-02 -9.99676560e-01 -1.31360617e-03 3.11307769e+02] [ 9.98568789e-01 2.54315047e-02 -4.70490518e-02 2.23399898e+02] [ 4.70672413e-02 -1.16782545e-04 9.98891716e-01 1.09812786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.31, Y:223.43, Z:109.81 [[ 2.49020772e-02 -9.99689066e-01 -1.28753322e-03 3.11310599e+02] [ 9.98602620e-01 2.49350247e-02 -4.65945428e-02 2.23427792e+02] [ 4.66121597e-02 -1.25433147e-04 9.98913055e-01 1.09814660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.31, Y:223.46, Z:109.82 [[ 2.39835624e-02 -9.99711517e-01 -1.29322691e-03 3.11312893e+02] [ 9.98593302e-01 2.40178858e-02 -4.72711257e-02 2.23455405e+02] [ 4.72885494e-02 -1.57677742e-04 9.98881258e-01 1.09815033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.48, Z:109.82 [[ 2.34132139e-02 -9.99725036e-01 -1.29381151e-03 3.11315756e+02] [ 9.98582922e-01 2.34482931e-02 -4.77736837e-02 2.23482946e+02] [ 4.77908854e-02 -1.73442609e-04 9.98857348e-01 1.09816720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.51, Z:109.82 [[ 2.34321725e-02 -9.99724583e-01 -1.30031902e-03 3.11319987e+02] [ 9.98546977e-01 2.34676667e-02 -4.85098300e-02 2.23510791e+02] [ 4.85269850e-02 -1.61738917e-04 9.98821859e-01 1.09818675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.54, Z:109.82 [[ 2.38206011e-02 -9.99715430e-01 -1.28022219e-03 3.11321262e+02] [ 9.98550179e-01 2.38546303e-02 -4.82545079e-02 2.23537873e+02] [ 4.82713153e-02 -1.28914717e-04 9.98834252e-01 1.09819869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.56, Z:109.82 [[ 2.55086913e-02 -9.99673822e-01 -1.24727396e-03 3.11321870e+02] [ 9.98543439e-01 2.55391450e-02 -4.75263410e-02 2.23564845e+02] [ 4.75426933e-02 -3.31224699e-05 9.98869206e-01 1.09819967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.59, Z:109.82 [[ 2.58525389e-02 -9.99665004e-01 -1.23544784e-03 3.11322617e+02] [ 9.98529984e-01 2.58820419e-02 -4.76234388e-02 2.23592061e+02] [ 4.76394611e-02 -2.44490380e-06 9.98864596e-01 1.09820656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.62, Z:109.82 [[ 2.57177489e-02 -9.99668513e-01 -1.20876679e-03 3.11323569e+02] [ 9.98556643e-01 2.57461395e-02 -4.71356353e-02 2.23619452e+02] [ 4.71511315e-02 5.20032365e-06 9.98887767e-01 1.09821546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.930385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:311.33, Y:223.65, Z:109.82 [[ 2.51544916e-02 -9.99682894e-01 -1.16760566e-03 3.11326021e+02] [ 9.98622137e-01 2.51815744e-02 -4.60403686e-02 2.23645716e+02] [ 4.60551711e-02 -7.87479850e-06 9.98938898e-01 1.09821392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:223.67, Z:109.84 [[ 2.50518773e-02 -9.99331599e-01 -2.66225190e-02 3.11339171e+02] [ 9.98443257e-01 2.63394068e-02 -4.91660276e-02 2.23671786e+02] [ 4.98343864e-02 -2.53493733e-02 9.98435748e-01 1.09841800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:223.70, Z:109.82 [[ 2.60698570e-02 -9.99365092e-01 2.42852793e-02 3.11318582e+02] [ 9.98644351e-01 2.49407984e-02 -4.56882596e-02 2.23700879e+02] [ 4.50535575e-02 2.54434434e-02 9.98660507e-01 1.09816211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:223.73, Z:109.83 [[ 2.65753583e-02 -9.99646182e-01 -1.12292295e-03 3.11332364e+02] [ 9.98616713e-01 2.65989393e-02 -4.53558970e-02 2.23727568e+02] [ 4.53697179e-02 8.39795904e-05 9.98970261e-01 1.09827790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:223.75, Z:109.83 [[ 2.73881339e-02 -9.99624246e-01 -1.12093233e-03 3.11333358e+02] [ 9.98574334e-01 2.74107298e-02 -4.58033987e-02 2.23753621e+02] [ 4.58169135e-02 1.35135362e-04 9.98949845e-01 1.09828755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:223.78, Z:109.83 [[ 2.94209324e-02 -9.99566517e-01 -1.08976628e-03 3.11334297e+02] [ 9.98555516e-01 2.94401770e-02 -4.49461666e-02 2.23782172e+02] [ 4.49587661e-02 2.34166004e-04 9.98988816e-01 1.09828491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:223.81, Z:109.83 [[ 3.02676870e-02 -9.99541254e-01 -1.07159728e-03 3.11335389e+02] [ 9.98540949e-01 3.02853268e-02 -4.47076243e-02 2.23809926e+02] [ 4.47195685e-02 2.83162611e-04 9.98999540e-01 1.09829474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:223.83, Z:109.84 [[ 2.98943434e-02 -9.99448879e-01 -1.44314133e-02 3.11341278e+02] [ 9.98432149e-01 3.05412718e-02 -4.69092181e-02 2.23833852e+02] [ 4.73241192e-02 -1.30064667e-02 9.98794904e-01 1.09838710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:223.87, Z:109.83 [[ 3.29442404e-02 -9.99378532e-01 1.25390235e-02 3.11331931e+02] [ 9.98417509e-01 3.23352831e-02 -4.60098559e-02 2.23865335e+02] [ 4.55758094e-02 1.40349404e-02 9.98862286e-01 1.09826284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:223.89, Z:109.83 [[ 3.32989343e-02 -9.99423687e-01 -6.59353809e-03 3.11342270e+02] [ 9.98428444e-01 3.35618653e-02 -4.48803170e-02 2.23891355e+02] [ 4.50757433e-02 -5.08870926e-03 9.98970611e-01 1.09834857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:223.92, Z:109.83 [[ 3.36469896e-02 -9.99419174e-01 5.40330750e-03 3.11338360e+02] [ 9.98281005e-01 3.33480974e-02 -4.81968906e-02 2.23918531e+02] [ 4.79887066e-02 7.01569952e-03 9.98823240e-01 1.09830029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:223.95, Z:109.83 [[ 3.32229800e-02 -9.99445560e-01 -2.19240719e-03 3.11342961e+02] [ 9.98247967e-01 3.32904728e-02 -4.89156443e-02 2.23945239e+02] [ 4.89615098e-02 -5.63442547e-04 9.98800507e-01 1.09833781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:223.97, Z:109.83 [[ 3.22398766e-02 -9.99479541e-01 -1.11265259e-03 3.11345105e+02] [ 9.98256106e-01 3.22554511e-02 -4.94401913e-02 2.23971575e+02] [ 4.94503488e-02 4.83233423e-04 9.98776466e-01 1.09833378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.00, Z:109.83 [[ 3.11768684e-02 -9.99513268e-01 -1.10943684e-03 3.11346945e+02] [ 9.98269363e-01 3.11934034e-02 -4.98522958e-02 2.23997971e+02] [ 4.98626382e-02 4.46721665e-04 9.98755985e-01 1.09834593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.03, Z:109.84 [[ 3.01276999e-02 -9.99545474e-01 -1.08035018e-03 3.11348893e+02] [ 9.98332840e-01 3.01443512e-02 -4.92225512e-02 2.24025413e+02] [ 4.92327447e-02 4.04413186e-04 9.98787251e-01 1.09835514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.05, Z:109.84 [[ 2.83221532e-02 -9.99598294e-01 -1.05228205e-03 3.11350330e+02] [ 9.98415940e-01 2.83398199e-02 -4.86052019e-02 2.24052575e+02] [ 4.86154984e-02 3.25988802e-04 9.98817514e-01 1.09836734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.35, Y:224.08, Z:109.84 [[ 2.74881558e-02 -9.99621604e-01 -1.02452821e-03 3.11350356e+02] [ 9.98469772e-01 2.75056519e-02 -4.79745073e-02 2.24080490e+02] [ 4.79845342e-02 2.95770278e-04 9.98848035e-01 1.09837744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.11, Z:109.84 [[ 2.70557234e-02 -9.99633416e-01 -1.01027056e-03 3.11349049e+02] [ 9.98483941e-01 2.70730478e-02 -4.79256726e-02 2.24108165e+02] [ 4.79354549e-02 2.87924813e-04 9.98850394e-01 1.09838668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.14, Z:109.84 [[ 2.70470851e-02 -9.99633651e-01 -1.00995464e-03 3.11348309e+02] [ 9.98454047e-01 2.70642193e-02 -4.85494065e-02 2.24136202e+02] [ 4.85589541e-02 3.04726636e-04 9.98820272e-01 1.09839766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.16, Z:109.84 [[ 2.71393049e-02 -9.99631138e-01 -1.02260796e-03 3.11346625e+02] [ 9.98390422e-01 2.71565551e-02 -4.97904375e-02 2.24163030e+02] [ 4.97998422e-02 3.30315875e-04 9.98759164e-01 1.09840691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.19, Z:109.84 [[ 2.62442726e-02 -9.99655044e-01 -1.01514885e-03 3.11346634e+02] [ 9.98406523e-01 2.62622160e-02 -4.99470817e-02 2.24191255e+02] [ 4.99565123e-02 2.97293599e-04 9.98751350e-01 1.09841688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.22, Z:109.84 [[ 2.50053715e-02 -9.99687184e-01 5.15327277e-04 3.11346269e+02] [ 9.98433871e-01 2.49482097e-02 -5.00738745e-02 2.24218344e+02] [ 5.00453541e-02 1.76663604e-03 9.98745384e-01 1.09842266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.24, Z:109.84 [[ 2.01826537e-02 -9.99793292e-01 -2.45654760e-03 3.11347739e+02] [ 9.98601311e-01 2.02785652e-02 -4.88282906e-02 2.24244876e+02] [ 4.88680127e-02 -1.46762717e-03 9.98804167e-01 1.09844433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.620385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:311.35, Y:224.27, Z:109.84 [[ 1.78401929e-02 -9.99840389e-01 -9.61550711e-04 3.11347336e+02] [ 9.98630494e-01 1.78658942e-02 -4.91726172e-02 2.24272851e+02] [ 4.91819476e-02 -8.29848875e-05 9.98789832e-01 1.09842608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.30, Z:109.85 [[ 1.42288763e-02 -9.99898313e-01 -9.50149237e-04 3.11346653e+02] [ 9.98683036e-01 1.42584142e-02 -4.92837896e-02 2.24300460e+02] [ 4.92923257e-02 -2.47644979e-04 9.98784364e-01 1.09845515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.680385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:311.35, Y:224.33, Z:109.84 [[ 1.26329923e-02 -9.99919758e-01 -9.41083556e-04 3.11347163e+02] [ 9.98692227e-01 1.26641015e-02 -4.95323753e-02 2.24327888e+02] [ 4.95403186e-02 -3.14110718e-04 9.98772075e-01 1.09844743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.36, Z:109.85 [[ 1.13059207e-02 -9.99935663e-01 -9.19616109e-04 3.11346984e+02] [ 9.98727323e-01 1.13374556e-02 -4.91446500e-02 2.24355483e+02] [ 4.91519143e-02 -3.62820218e-04 9.98791248e-01 1.09847842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.38, Z:109.85 [[ 9.62429522e-03 -9.99953281e-01 -8.99242768e-04 3.11346419e+02] [ 9.98762555e-01 9.65670761e-03 -4.87863408e-02 2.24382308e+02] [ 4.87927453e-02 -4.28595858e-04 9.98808833e-01 1.09849112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.41, Z:109.85 [[ 7.13494871e-03 -9.99966167e-01 -4.09366520e-03 3.11346057e+02] [ 9.98766283e-01 7.32745190e-03 -4.91143712e-02 2.24408601e+02] [ 4.91427056e-02 -3.73818626e-03 9.98784772e-01 1.09851701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.44, Z:109.85 [[ 8.40591821e-03 -9.99961237e-01 2.62028597e-03 3.11344638e+02] [ 9.98795118e-01 8.26935996e-03 -4.83728345e-02 2.24437471e+02] [ 4.83492913e-02 3.02374692e-03 9.98825912e-01 1.09850481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.46, Z:109.85 [[ 5.66803903e-03 -9.99978992e-01 -3.14452289e-03 3.11345159e+02] [ 9.98805544e-01 5.81394680e-03 -4.85147857e-02 2.24463857e+02] [ 4.85320486e-02 -2.86578319e-03 9.98817515e-01 1.09853388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.49, Z:109.85 [[ 7.20560768e-03 -9.99972632e-01 1.67738296e-03 3.11344174e+02] [ 9.98819829e-01 7.11670910e-03 -4.80447853e-02 2.24492786e+02] [ 4.80315330e-02 2.02159523e-03 9.98843774e-01 1.09852932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.52, Z:109.86 [[ 7.12729656e-03 -9.99974258e-01 -8.27256480e-04 3.11345705e+02] [ 9.98823905e-01 7.15876848e-03 -4.79537121e-02 2.24519770e+02] [ 4.79583998e-02 -4.84503221e-04 9.98849216e-01 1.09855559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.55, Z:109.86 [[ 6.86826284e-03 -9.99976086e-01 -8.09616966e-04 3.11346142e+02] [ 9.98836458e-01 6.89907918e-03 -4.77297965e-02 2.24547702e+02] [ 4.77342407e-02 -4.80854154e-04 9.98859956e-01 1.09857050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.58, Z:109.86 [[ 5.55325631e-03 -9.99984266e-01 -7.93444651e-04 3.11344533e+02] [ 9.98853087e-01 5.58470605e-03 -4.75533649e-02 2.24575998e+02] [ 4.75570479e-02 -5.28458614e-04 9.98868384e-01 1.09857903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.35, Y:224.60, Z:109.86 [[ 7.67783947e-03 -9.99970230e-01 -7.67527231e-04 3.11345189e+02] [ 9.98875447e-01 7.70534047e-03 -4.67810728e-02 2.24603328e+02] [ 4.67855942e-02 -4.07486538e-04 9.98904871e-01 1.09859785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.63, Z:109.86 [[ 9.37474203e-03 -9.99955779e-01 -7.44340162e-04 3.11343087e+02] [ 9.98899650e-01 9.39904253e-03 -4.59472204e-02 2.24631834e+02] [ 4.59521846e-02 -3.12777790e-04 9.98943592e-01 1.09861025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.66, Z:109.86 [[ 1.05696195e-02 -9.99943873e-01 -7.30972178e-04 3.11342522e+02] [ 9.98890181e-01 1.05920306e-02 -4.58935165e-02 2.24660401e+02] [ 4.58986831e-02 -2.45083923e-04 9.98946070e-01 1.09862196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.69, Z:109.86 [[ 1.29000891e-02 -9.99916544e-01 -7.02242521e-04 3.11341317e+02] [ 9.98910249e-01 1.29186042e-02 -4.48489021e-02 2.24687766e+02] [ 4.48542312e-02 -1.22922417e-04 9.98993535e-01 1.09863540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.71, Z:109.86 [[ 1.52827654e-02 -9.99868903e-01 5.34915685e-03 3.11338622e+02] [ 9.98804868e-01 1.50176727e-02 -4.65113552e-02 2.24714025e+02] [ 4.64249258e-02 6.05358603e-03 9.98903439e-01 1.09862883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.74, Z:109.86 [[ 1.38619218e-02 -9.99900301e-01 2.68980984e-03 3.11338912e+02] [ 9.98950225e-01 1.37311876e-02 -4.37024413e-02 2.24743932e+02] [ 4.36611499e-02 3.29278596e-03 9.99040971e-01 1.09861520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.35, Y:224.77, Z:109.87 [[ 1.62280640e-02 -9.99816657e-01 -1.01637700e-02 3.11346778e+02] [ 9.98757978e-01 1.66881252e-02 -4.69468634e-02 2.24771085e+02] [ 4.71078703e-02 -9.38928970e-03 9.98845679e-01 1.09873025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.34, Y:224.80, Z:109.87 [[ 1.67418062e-02 -9.99859571e-01 -7.42015902e-04 3.11341826e+02] [ 9.98690843e-01 1.67581033e-02 -4.83297557e-02 2.24798234e+02] [ 4.83354036e-02 6.80829161e-05 9.98831159e-01 1.09870302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2203857229999 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:311.34, Y:224.83, Z:109.86 [[ 1.72967375e-02 -9.99770062e-01 1.26745868e-02 3.11338036e+02] [ 9.98775137e-01 1.66890058e-02 -4.65800633e-02 2.24830005e+02] [ 4.63578266e-02 1.34647453e-02 9.98834147e-01 1.09863277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.85, Z:109.88 [[ 1.39006722e-02 -9.99817314e-01 -1.31190775e-02 3.11347654e+02] [ 9.98779214e-01 1.45058262e-02 -4.72193033e-02 2.24851980e+02] [ 4.74009801e-02 -1.24466819e-02 9.98798392e-01 1.09876572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:224.88, Z:109.88 [[ 1.33089482e-02 -9.99907876e-01 -2.66681076e-03 3.11342587e+02] [ 9.98774073e-01 1.34209341e-02 -4.76469356e-02 2.24878530e+02] [ 4.76783373e-02 -2.02941084e-03 9.98860680e-01 1.09875925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.310385723 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:311.34, Y:224.91, Z:109.87 [[ 1.40047665e-02 -9.99877668e-01 6.96535394e-03 3.11342205e+02] [ 9.98813283e-01 1.36642066e-02 -4.67473464e-02 2.24912529e+02] [ 4.66464516e-02 7.61177371e-03 9.98882460e-01 1.09870960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.35, Y:224.93, Z:109.88 [[ 8.56392769e-03 -9.99922187e-01 -9.07074135e-03 3.11347554e+02] [ 9.98759013e-01 8.99832434e-03 -4.89843295e-02 2.24933051e+02] [ 4.90621394e-02 -8.63998641e-03 9.98758358e-01 1.09882303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.370385723 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:311.34, Y:224.96, Z:109.87 [[ 7.06455418e-03 -9.99941651e-01 8.17234878e-03 3.11343278e+02] [ 9.98787336e-01 6.65772490e-03 -4.87804477e-02 2.24964641e+02] [ 4.87231922e-02 8.50705058e-03 9.98776091e-01 1.09874547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:224.99, Z:109.89 [[ 3.30536079e-03 -9.99944961e-01 -9.95734320e-03 3.11348311e+02] [ 9.98798903e-01 3.78802353e-03 -4.88508118e-02 2.24986320e+02] [ 4.88858418e-02 -9.78391391e-03 9.98756452e-01 1.09885809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:225.02, Z:109.88 [[ 1.62099644e-03 -9.99995231e-01 -2.62871757e-03 3.11345121e+02] [ 9.98767089e-01 1.74941930e-03 -4.96109037e-02 2.25016620e+02] [ 4.96152658e-02 -2.54505749e-03 9.98765162e-01 1.09884267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.35, Y:225.05, Z:109.89 [[-8.75683279e-05 -9.99983559e-01 -5.73357461e-03 3.11345464e+02] [ 9.98755219e-01 1.98532279e-04 -4.98795870e-02 2.25045299e+02] [ 4.98799053e-02 -5.73080544e-03 9.98738781e-01 1.09887954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.490385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:311.34, Y:225.07, Z:109.89 [[-2.99661659e-03 -9.99995055e-01 -9.53671619e-04 3.11340602e+02] [ 9.98783513e-01 -2.94604409e-03 -4.92220912e-02 2.25073491e+02] [ 4.92190383e-02 -1.10001123e-03 9.98787403e-01 1.09886795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.34, Y:225.10, Z:109.89 [[-4.64642024e-03 -9.99984713e-01 2.99748651e-03 3.11338385e+02] [ 9.98794745e-01 -4.78731487e-03 -4.88481154e-02 2.25101248e+02] [ 4.88617186e-02 2.76690490e-03 9.98801720e-01 1.09885726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.34, Y:225.13, Z:109.89 [[-5.00048989e-03 -9.99987221e-01 -7.43211219e-04 3.11340429e+02] [ 9.98798480e-01 -4.95831008e-03 -4.87546105e-02 2.25129730e+02] [ 4.87503024e-02 -9.86115173e-04 9.98810510e-01 1.09888360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:225.16, Z:109.89 [[-5.00613629e-03 -9.99983823e-01 2.70038658e-03 3.11338746e+02] [ 9.98913816e-01 -5.12584520e-03 -4.63132150e-02 2.25155969e+02] [ 4.63263076e-02 2.46560320e-03 9.98923317e-01 1.09888287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.34, Y:225.18, Z:109.89 [[-7.19724927e-03 -9.99973967e-01 -5.14448369e-04 3.11340060e+02] [ 9.98758323e-01 -7.16313672e-03 -4.93001137e-02 2.25182894e+02] [ 4.92951452e-02 -8.68634797e-04 9.98783878e-01 1.09891851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.640385723 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:311.34, Y:225.21, Z:109.89 [[-7.45693886e-03 -9.99959503e-01 5.03844643e-03 3.11336512e+02] [ 9.98667863e-01 -7.70438375e-03 -5.10209977e-02 2.25209069e+02] [ 5.10577496e-02 4.65127407e-03 9.98684871e-01 1.09891498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.34, Y:225.23, Z:109.90 [[-8.45063878e-03 -9.99947156e-01 -5.85425811e-03 3.11338893e+02] [ 9.98789809e-01 -8.15690337e-03 -4.85013745e-02 2.25234841e+02] [ 4.84510589e-02 -6.25704093e-03 9.98805959e-01 1.09896879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.700385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.33, Y:225.26, Z:109.90 [[-8.62863947e-03 -9.99962674e-01 -4.44236940e-04 3.11334680e+02] [ 9.98813827e-01 -8.59743424e-03 -4.79272799e-02 2.25262688e+02] [ 4.79216717e-02 -8.57257217e-04 9.98850729e-01 1.09895593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.730385723 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:311.33, Y:225.29, Z:109.89 [[-8.48190052e-03 -9.99945638e-01 6.06451775e-03 3.11328500e+02] [ 9.98683474e-01 -8.77771048e-03 -5.05397862e-02 2.25289493e+02] [ 5.05902714e-02 5.62786022e-03 9.98703636e-01 1.09894597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:225.32, Z:109.90 [[-8.29475096e-03 -9.99888811e-01 -1.23920189e-02 3.11337239e+02] [ 9.98656963e-01 -7.64946776e-03 -5.12421397e-02 2.25319190e+02] [ 5.11416498e-02 -1.28004167e-02 9.98609374e-01 1.09903580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:225.35, Z:109.90 [[-8.09113464e-03 -9.99965832e-01 1.69385398e-03 3.11329259e+02] [ 9.98649679e-01 -8.16738975e-03 -5.13041200e-02 2.25346595e+02] [ 5.13162014e-02 1.27645819e-03 9.98681640e-01 1.09898725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.33, Y:225.38, Z:109.90 [[-6.33344737e-03 -9.99966717e-01 -5.14328122e-03 3.11330570e+02] [ 9.98639151e-01 -6.05861319e-03 -5.17990266e-02 2.25375427e+02] [ 5.17661414e-02 -5.46434840e-03 9.98644285e-01 1.09904535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.33, Y:225.40, Z:109.91 [[-6.22055661e-03 -9.99978869e-01 -1.88846146e-03 3.11326803e+02] [ 9.98666240e-01 -6.11557267e-03 -5.12673583e-02 2.25403710e+02] [ 5.12547259e-02 -2.20485421e-03 9.98683179e-01 1.09905041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:225.43, Z:109.90 [[-6.09661816e-03 -9.99979619e-01 1.89535819e-03 3.11322617e+02] [ 9.98725496e-01 -6.18391505e-03 -5.00913382e-02 2.25431466e+02] [ 5.01020380e-02 1.58755479e-03 9.98742843e-01 1.09903287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.910385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.32, Y:225.46, Z:109.91 [[-4.92914659e-03 -9.99964246e-01 -6.87091983e-03 3.11323182e+02] [ 9.98612142e-01 -4.56195962e-03 -5.24688299e-02 2.25460300e+02] [ 5.24356091e-02 -7.12001052e-03 9.98598925e-01 1.09909210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:225.49, Z:109.91 [[-4.47462567e-03 -9.99964064e-01 -7.20063378e-03 3.11321317e+02] [ 9.98503527e-01 -4.07538729e-03 -5.45352924e-02 2.25488667e+02] [ 5.45039872e-02 -7.43388325e-03 9.98485880e-01 1.09913085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:225.52, Z:109.91 [[-4.76315795e-03 -9.99984357e-01 2.93218355e-03 3.11315200e+02] [ 9.98573238e-01 -4.91235159e-03 -5.31728996e-02 2.25516192e+02] [ 5.31864717e-02 2.67472910e-03 9.98581016e-01 1.09910401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:225.54, Z:109.91 [[-4.25181042e-03 -9.99972341e-01 6.10244033e-03 3.11312414e+02] [ 9.98398279e-01 -4.58924285e-03 -5.63898524e-02 2.25543890e+02] [ 5.64162983e-02 5.85290697e-03 9.98390177e-01 1.09912134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.32, Y:225.57, Z:109.92 [[-4.55511788e-03 -9.99860974e-01 -1.60400549e-02 3.11321306e+02] [ 9.98553486e-01 -3.68864125e-03 -5.36407396e-02 2.25571745e+02] [ 5.35741161e-02 -1.62611926e-02 9.98431464e-01 1.09923515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:225.60, Z:109.92 [[-3.35553164e-03 -9.99993802e-01 -1.06588622e-03 3.11310096e+02] [ 9.98528303e-01 -3.29291406e-03 -5.41330373e-02 2.25600124e+02] [ 5.41291919e-02 -1.24596268e-03 9.98533163e-01 1.09919342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:225.63, Z:109.93 [[-2.91189820e-03 -9.99962203e-01 -8.19223315e-03 3.11311578e+02] [ 9.98425568e-01 -2.44832005e-03 -5.60391888e-02 2.25627791e+02] [ 5.60170135e-02 -8.34251544e-03 9.98394960e-01 1.09925236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:225.66, Z:109.93 [[-1.53161200e-03 -9.99966406e-01 -8.05244913e-03 3.11307890e+02] [ 9.98411005e-01 -1.07553133e-03 -5.63410046e-02 2.25655527e+02] [ 5.63304512e-02 -8.12594639e-03 9.98379111e-01 1.09927151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:225.68, Z:109.92 [[-8.13596289e-04 -9.99990948e-01 4.17627176e-03 3.11299833e+02] [ 9.98444544e-01 -1.04514259e-03 -5.57440649e-02 2.25683254e+02] [ 5.57479252e-02 4.12442259e-03 9.98436357e-01 1.09922481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:225.71, Z:109.92 [[-9.62400423e-04 -9.99931083e-01 1.17005952e-02 3.11290193e+02] [ 9.98550629e-01 -1.59057152e-03 -5.37969517e-02 2.25708971e+02] [ 5.38118548e-02 1.16318625e-02 9.98483342e-01 1.09917615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.29, Y:225.74, Z:109.92 [[-1.98671710e-03 -9.99997292e-01 1.21193114e-03 3.11292228e+02] [ 9.98645875e-01 -2.04703211e-03 -5.19829355e-02 2.25736589e+02] [ 5.19852756e-02 1.10701464e-03 9.98647238e-01 1.09920956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.29, Y:225.76, Z:109.92 [[-2.64516898e-03 -9.99983955e-01 5.00935709e-03 3.11287837e+02] [ 9.98748551e-01 -2.89202047e-03 -4.99296390e-02 2.25764921e+02] [ 4.99433250e-02 4.87101581e-03 9.98740175e-01 1.09918201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.25, Y:225.79, Z:109.89 [[-9.12692680e-03 -9.98667000e-01 5.08027715e-02 3.11254846e+02] [ 9.99203410e-01 -1.10820601e-02 -3.83371074e-02 2.25788297e+02] [ 3.88490035e-02 5.04124026e-02 9.97972617e-01 1.09886846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.30, Y:225.82, Z:109.93 [[-5.42582992e-03 -9.99261353e-01 -3.80435059e-02 3.11301170e+02] [ 9.98844424e-01 -3.59895993e-03 -4.79256141e-02 2.25817945e+02] [ 4.77532970e-02 -3.82595800e-02 9.98126158e-01 1.09930326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.330385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.27, Y:225.85, Z:109.90 [[-9.36886089e-03 -9.99676859e-01 2.36305130e-02 3.11265886e+02] [ 9.99007402e-01 -1.03865119e-02 -4.33166303e-02 2.25845480e+02] [ 4.35480716e-02 2.32012300e-02 9.98781892e-01 1.09902810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:225.84, Z:109.92 [[-5.00364292e-03 -9.99922299e-01 -1.14174965e-02 3.11284487e+02] [ 9.98507925e-01 -4.37504621e-03 -5.44314456e-02 2.25841229e+02] [ 5.43772641e-02 -1.16728163e-02 9.98452232e-01 1.09919911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:225.87, Z:109.91 [[-7.68377165e-03 -9.99882620e-01 1.32554351e-02 3.11269732e+02] [ 9.98645287e-01 -8.35513347e-03 -5.13593404e-02 2.25866992e+02] [ 5.14640627e-02 1.28428443e-02 9.98592265e-01 1.09908453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.28, Y:225.89, Z:109.93 [[-7.67396242e-03 -9.99855782e-01 -1.51500886e-02 3.11282786e+02] [ 9.98392645e-01 -6.81019023e-03 -5.62649874e-02 2.25894068e+02] [ 5.61536980e-02 -1.55575124e-02 9.98300920e-01 1.09925869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:225.92, Z:109.92 [[-7.76760556e-03 -9.99964880e-01 -3.14708483e-03 3.11274127e+02] [ 9.98399635e-01 -7.57907123e-03 -5.60421813e-02 2.25919998e+02] [ 5.60163611e-02 -3.57736190e-03 9.98423442e-01 1.09922017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.480385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.27, Y:225.95, Z:109.92 [[-8.01709035e-03 -9.99967856e-01 -1.15170212e-04 3.11270834e+02] [ 9.98386152e-01 -7.99793375e-03 -5.62238814e-02 2.25946015e+02] [ 5.62211530e-02 -5.65736281e-04 9.98418180e-01 1.09921854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:225.97, Z:109.92 [[-7.98587301e-03 -9.99968108e-01 -9.61561767e-05 3.11269488e+02] [ 9.98367223e-01 -7.96764904e-03 -5.65632869e-02 2.25974151e+02] [ 5.65607168e-02 -5.47706400e-04 9.98399011e-01 1.09922730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:226.00, Z:109.92 [[-8.05044706e-03 -9.99967591e-01 -8.06170566e-05 3.11268914e+02] [ 9.98352807e-01 -8.03286705e-03 -5.68079696e-02 2.26000760e+02] [ 5.68054810e-02 -5.37813817e-04 9.98385120e-01 1.09923899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:226.03, Z:109.92 [[-8.46165305e-03 -9.99942420e-01 6.59972021e-03 3.11265370e+02] [ 9.98470820e-01 -8.80939980e-03 -5.45748764e-02 2.26028786e+02] [ 5.46298736e-02 6.12783438e-03 9.98487870e-01 1.09920609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.600385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.27, Y:226.06, Z:109.93 [[-7.67256160e-03 -9.99952339e-01 -6.03751201e-03 3.11272340e+02] [ 9.98385512e-01 -7.32044562e-03 -5.63274425e-02 2.26058329e+02] [ 5.62805606e-02 -6.45994029e-03 9.98394094e-01 1.09929452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:226.08, Z:109.92 [[-1.03351163e-02 -9.99790501e-01 1.76674475e-02 3.11257409e+02] [ 9.98632394e-01 -1.12254693e-02 -5.10620261e-02 2.26084477e+02] [ 5.12496540e-02 1.71155535e-02 9.98539198e-01 1.09915960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.660385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.27, Y:226.11, Z:109.92 [[-9.99813441e-03 -9.99948581e-01 -1.69486454e-03 3.11266824e+02] [ 9.98607204e-01 -9.89688363e-03 -5.18237874e-02 2.26112776e+02] [ 5.18043488e-02 -2.21064513e-03 9.98654807e-01 1.09924260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.27, Y:226.14, Z:109.93 [[-7.43914532e-03 -9.99970946e-01 -1.66349867e-03 3.11267961e+02] [ 9.98398480e-01 -7.33412994e-03 -5.60953359e-02 2.26140514e+02] [ 5.60815058e-02 -2.07813590e-03 9.98424031e-01 1.09928979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:226.17, Z:109.93 [[-7.28062831e-03 -9.99973350e-01 5.40353022e-04 3.11266642e+02] [ 9.98596069e-01 -7.29895115e-03 -5.24653927e-02 2.26169266e+02] [ 5.24679385e-02 1.57613379e-04 9.98622597e-01 1.09927475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.26, Y:226.20, Z:109.92 [[-7.07783284e-03 -9.99727476e-01 2.22458523e-02 3.11256766e+02] [ 9.98853962e-01 -8.12122406e-03 -4.71678699e-02 2.26198056e+02] [ 4.73356791e-02 2.18865114e-02 9.98639231e-01 1.09915793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:225.77, Z:109.92 [[-4.42648587e-03 -9.99631560e-01 -2.67796663e-02 3.11282028e+02] [ 9.97983741e-01 -2.72041732e-03 -6.34117651e-02 2.25771774e+02] [ 6.33155498e-02 -2.70063629e-02 9.97628086e-01 1.09921058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.810385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.27, Y:225.80, Z:109.91 [[-3.65375853e-03 -9.99987635e-01 3.37353275e-03 3.11267455e+02] [ 9.97930938e-01 -3.86275581e-03 -6.41788282e-02 2.25798237e+02] [ 6.41910657e-02 3.13205876e-03 9.97932712e-01 1.09911701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:225.82, Z:109.91 [[-3.58593895e-03 -9.99988044e-01 -3.32475603e-03 3.11269828e+02] [ 9.98046842e-01 -3.37158053e-03 -6.23789605e-02 2.25823922e+02] [ 6.23670050e-02 -3.54194940e-03 9.98046999e-01 1.09914775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:225.82, Z:109.91 [[-4.74489928e-03 -9.99955012e-01 8.21341206e-03 3.11264037e+02] [ 9.98439048e-01 -5.19447528e-03 -5.56101248e-02 2.25816680e+02] [ 5.56502874e-02 7.93672687e-03 9.98418777e-01 1.09905599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.900385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.27, Y:226.17, Z:109.93 [[ 2.09358805e-03 -9.99997795e-01 -1.63731064e-04 3.11273752e+02] [ 9.98318511e-01 2.09955708e-03 -5.79287711e-02 2.26169335e+02] [ 5.79289871e-02 -4.21767691e-05 9.98320705e-01 1.09928985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.930385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:311.28, Y:226.20, Z:109.94 [[ 2.21605279e-03 -9.99962191e-01 -8.40867396e-03 3.11278385e+02] [ 9.98220717e-01 2.71307857e-03 -5.95654184e-02 2.26196495e+02] [ 5.95859797e-02 -8.26171244e-03 9.98188988e-01 1.09936219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.960385723 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:311.27, Y:226.23, Z:109.93 [[ 3.63167804e-03 -9.99978563e-01 5.44831695e-03 3.11273906e+02] [ 9.98265496e-01 3.30519831e-03 -5.87798814e-02 2.26225699e+02] [ 5.87606135e-02 5.65233643e-03 9.98256100e-01 1.09931630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.990385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.28, Y:226.25, Z:109.94 [[ 7.31360341e-04 -9.99955881e-01 -9.36494338e-03 3.11277397e+02] [ 9.98186843e-01 1.29365188e-03 -6.01776763e-02 2.26248686e+02] [ 6.01871362e-02 -9.30395170e-03 9.98143750e-01 1.09939063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:226.28, Z:109.94 [[ 2.15708962e-03 -9.99990349e-01 -3.82750223e-03 3.11277374e+02] [ 9.98108761e-01 2.38814266e-03 -6.14263672e-02 2.26278913e+02] [ 6.14349149e-02 -3.68776133e-03 9.98104279e-01 1.09940156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:226.31, Z:109.94 [[ 3.93511323e-04 -9.99996773e-01 -2.51001673e-03 3.11277316e+02] [ 9.98113824e-01 5.46855956e-04 -6.13880744e-02 2.26307007e+02] [ 6.13892489e-02 -2.48112550e-03 9.98110818e-01 1.09942230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:226.28, Z:109.94 [[-2.38900331e-03 -9.99980412e-01 5.78524897e-03 3.11272775e+02] [ 9.98288993e-01 -2.72288268e-03 -5.84095242e-02 2.26279286e+02] [ 5.84241326e-02 5.63580983e-03 9.98275943e-01 1.09936448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:226.28, Z:109.94 [[-2.86708848e-03 -9.99995884e-01 1.12700494e-04 3.11276132e+02] [ 9.98262780e-01 -2.86875182e-03 -5.88488892e-02 2.26276322e+02] [ 5.88489702e-02 -5.62202634e-05 9.98266896e-01 1.09938051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.28, Y:226.28, Z:109.94 [[-4.12467675e-03 -9.99991484e-01 1.35465620e-04 3.11277584e+02] [ 9.98230081e-01 -4.12544829e-03 -5.93269404e-02 2.26275340e+02] [ 5.93269940e-02 -1.09478595e-04 9.98238597e-01 1.09936559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.28, Y:226.27, Z:109.94 [[-4.91278059e-03 -9.99987920e-01 1.59683267e-04 3.11278839e+02] [ 9.98175600e-01 -4.91348640e-03 -6.01774772e-02 2.26271133e+02] [ 6.01775348e-02 -1.36246800e-04 9.98187681e-01 1.09936499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:226.27, Z:109.94 [[-5.44329847e-03 -9.99985169e-01 1.80848672e-04 3.11282888e+02] [ 9.98188192e-01 -5.44435388e-03 -5.99223932e-02 2.26267403e+02] [ 5.99224891e-02 -1.45654462e-04 9.98203023e-01 1.09936260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:226.27, Z:109.94 [[-5.88217504e-03 -9.99982680e-01 2.01575525e-04 3.11285143e+02] [ 9.98204755e-01 -5.88373173e-03 -5.96040960e-02 2.26266109e+02] [ 5.96042497e-02 -1.49388078e-04 9.98222075e-01 1.09936835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.29, Y:226.27, Z:109.94 [[-6.17897697e-03 -9.99980885e-01 2.22294337e-04 3.11287302e+02] [ 9.98218716e-01 -6.18127945e-03 -5.93395977e-02 2.26267759e+02] [ 5.93398375e-02 -1.44759640e-04 9.98237829e-01 1.09936926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:226.26, Z:109.95 [[-1.52120197e-03 -9.99905432e-01 -1.36679559e-02 3.11298834e+02] [ 9.97644911e-01 -5.80218340e-04 -6.85878663e-02 2.26259685e+02] [ 6.85734497e-02 -1.37401026e-02 9.97551448e-01 1.09946298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:226.26, Z:109.93 [[-3.77952627e-03 -9.99899448e-01 1.36678402e-02 3.11284906e+02] [ 9.98215743e-01 -4.58694434e-03 -5.95339487e-02 2.26260558e+02] [ 5.95906560e-02 1.34184432e-02 9.98132706e-01 1.09931532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.30, Y:226.26, Z:109.95 [[ 7.52151081e-04 -9.99902833e-01 -1.39197500e-02 3.11304361e+02] [ 9.97778382e-01 1.67769066e-03 -6.65994394e-02 2.26260642e+02] [ 6.66163212e-02 -1.38387328e-02 9.97682693e-01 1.09945125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:226.44, Z:109.95 [[ 1.17375158e-03 -9.99967214e-01 8.01203413e-03 3.11295050e+02] [ 9.98131114e-01 6.82005486e-04 -6.11049387e-02 2.26444049e+02] [ 6.10974711e-02 8.06878257e-03 9.98099190e-01 1.09945153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.31, Y:226.26, Z:109.94 [[ 3.99276032e-03 -9.99974576e-01 -5.90815543e-03 3.11305365e+02] [ 9.97843875e-01 4.37116753e-03 -6.54865910e-02 2.26261648e+02] [ 6.55107516e-02 -5.63394445e-03 9.97835959e-01 1.09943838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.30, Y:226.26, Z:109.94 [[ 3.72980641e-03 -9.99993037e-01 -1.24255344e-04 3.11302750e+02] [ 9.97846632e-01 3.72993751e-03 -6.54842435e-02 2.26259370e+02] [ 6.54842510e-02 1.20255775e-04 9.97853596e-01 1.09941625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:226.26, Z:109.93 [[ 2.64365475e-03 -9.99927968e-01 1.17076894e-02 3.11298026e+02] [ 9.98333068e-01 1.96406496e-03 -5.76821317e-02 2.26258191e+02] [ 5.76549821e-02 1.18406651e-02 9.98266348e-01 1.09932048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:226.25, Z:109.94 [[ 2.93672247e-03 -9.99995630e-01 3.40211588e-04 3.11304817e+02] [ 9.98330386e-01 2.91220573e-03 -5.76884665e-02 2.26254696e+02] [ 5.76872236e-02 5.09058582e-04 9.98334576e-01 1.09935621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:226.25, Z:109.93 [[ 2.91614647e-03 -9.99995683e-01 3.61437787e-04 3.11308821e+02] [ 9.98330107e-01 2.89043636e-03 -5.76943948e-02 2.26254796e+02] [ 5.76931010e-02 5.29079530e-04 9.98334226e-01 1.09934954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:226.26, Z:109.94 [[ 2.38917411e-03 -9.99997073e-01 3.80966865e-04 3.11311598e+02] [ 9.98345399e-01 2.36334011e-03 -5.74532708e-02 2.26255284e+02] [ 5.74522023e-02 5.17602384e-04 9.98348124e-01 1.09935417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:226.62, Z:109.96 [[ 4.70059161e-03 -9.99978962e-01 -4.46997687e-03 3.11316068e+02] [ 9.98224001e-01 4.95771016e-03 -5.93655168e-02 2.26616629e+02] [ 5.93864287e-02 -4.18298514e-03 9.98226304e-01 1.09957059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:226.19, Z:110.86 [[-9.19012384e-02 9.94110870e-01 5.74259501e-02 3.10583064e+02] [ 9.94998059e-01 8.94097347e-02 4.45506719e-02 2.26191803e+02] [ 3.91538683e-02 6.12329708e-02 -9.97355252e-01 1.10863826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.64, Y:226.16, Z:110.88 [[-1.70243713e-01 9.85179108e-01 2.09571588e-02 3.10639574e+02] [ 9.84719325e-01 1.69295785e-01 4.08263290e-02 2.26156299e+02] [ 3.66732878e-02 2.75873451e-02 -9.98946449e-01 1.10877146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.680385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:310.69, Y:226.12, Z:110.89 [[-2.47271894e-01 9.68931583e-01 -5.31021718e-03 3.10692559e+02] [ 9.68281850e-01 2.47301559e-01 3.56679018e-02 2.26124228e+02] [ 3.58729815e-02 3.67788271e-03 -9.99349590e-01 1.10886981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.74, Y:226.10, Z:110.89 [[-3.22106965e-01 9.46671221e-01 -7.79114652e-03 3.10737221e+02] [ 9.46060114e-01 3.22180541e-01 3.42046879e-02 2.26099253e+02] [ 3.48907494e-02 3.64667525e-03 -9.99384479e-01 1.10887132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.72, Y:226.23, Z:110.89 [[-3.94680658e-01 9.18815437e-01 2.31755275e-03 3.10718683e+02] [ 9.18228133e-01 3.94335476e-01 3.68324325e-02 2.26227186e+02] [ 3.29283143e-02 1.66650908e-02 -9.99318768e-01 1.10889363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.79, Y:226.06, Z:110.86 [[-4.63029078e-01 8.84136801e-01 6.24995295e-02 3.10794886e+02] [ 8.85894607e-01 4.59399913e-01 6.43619783e-02 2.26064354e+02] [ 2.81925152e-02 8.51694636e-02 -9.95967542e-01 1.10857470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:226.06, Z:110.89 [[-5.30503907e-01 8.47587319e-01 -1.27020288e-02 3.10881153e+02] [ 8.47197216e-01 5.30647637e-01 2.58836391e-02 2.26061074e+02] [ 2.86789459e-02 2.97024823e-03 -9.99584261e-01 1.10890897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.93, Y:226.05, Z:110.89 [[-5.93711533e-01 8.04547509e-01 -1.44886518e-02 3.10926250e+02] [ 8.04179129e-01 5.93881193e-01 2.45164926e-02 2.26053643e+02] [ 2.83292208e-02 2.90425304e-03 -9.99594428e-01 1.10890544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:226.15, Z:110.90 [[-6.54859760e-01 7.55576556e-01 -1.62099604e-02 3.10891742e+02] [ 7.55228426e-01 6.55053956e-01 2.31157810e-02 2.26151451e+02] [ 2.80841408e-02 2.89537189e-03 -9.99601370e-01 1.10895394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:226.05, Z:110.89 [[-7.11486690e-01 7.02467888e-01 -1.80431954e-02 3.11031947e+02] [ 7.02134447e-01 7.11709681e-01 2.18299751e-02 2.26050331e+02] [ 2.81763733e-02 2.86298769e-03 -9.99598867e-01 1.10890520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:226.05, Z:110.89 [[-7.63958352e-01 6.45050474e-01 -1.66590012e-02 3.11086533e+02] [ 6.44559012e-01 7.64075312e-01 2.70665220e-02 2.26046829e+02] [ 3.01880044e-02 9.93998613e-03 -9.99494813e-01 1.10889933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:226.05, Z:110.88 [[-8.12273452e-01 5.83242593e-01 6.31800360e-03 3.11116009e+02] [ 5.82741479e-01 8.11016360e-01 5.16220151e-02 2.26050009e+02] [ 2.49841537e-02 4.56129551e-02 -9.98646710e-01 1.10875537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:226.08, Z:110.89 [[-8.54971514e-01 5.18260154e-01 -2.07394127e-02 3.11170282e+02] [ 5.18033365e-01 8.55219241e-01 1.55397328e-02 2.26080374e+02] [ 2.57903690e-02 2.54232111e-03 -9.99664140e-01 1.10893854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:226.09, Z:110.89 [[-8.92687123e-01 4.50120163e-01 -2.23950846e-02 3.11223182e+02] [ 4.49905963e-01 8.92964434e-01 1.41118768e-02 2.26092559e+02] [ 2.63500543e-02 2.52180855e-03 -9.99649596e-01 1.10893692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:226.11, Z:110.89 [[-9.25089591e-01 3.78979037e-01 -2.41689449e-02 3.11271471e+02] [ 3.78777593e-01 9.25401858e-01 1.26069706e-02 2.26109271e+02] [ 2.71437641e-02 2.50792250e-03 -9.99628394e-01 1.10892604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:226.13, Z:110.89 [[-9.51876700e-01 3.05404079e-01 -2.56728679e-02 3.11314564e+02] [ 3.05221345e-01 9.52219575e-01 1.08541041e-02 2.26132807e+02] [ 2.77610950e-02 2.49586153e-03 -9.99611471e-01 1.10892377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:226.15, Z:110.89 [[-9.72070107e-01 2.33641714e-01 -2.21643069e-02 3.11374492e+02] [ 2.33004088e-01 9.72072783e-01 2.79928594e-02 2.26146997e+02] [ 2.80856191e-02 2.20466478e-02 -9.99362368e-01 1.10886439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.39, Y:226.14, Z:110.85 [[-9.88046791e-01 1.54150124e-01 -1.13017758e-03 3.11389748e+02] [ 1.53014560e-01 9.81605378e-01 1.14181553e-01 2.26139538e+02] [ 1.87104889e-02 1.12643783e-01 -9.93459257e-01 1.10847722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.44, Y:226.22, Z:110.90 [[-9.97070173e-01 7.43745259e-02 -1.78745665e-02 3.11438520e+02] [ 7.43295233e-02 9.97228697e-01 3.16991782e-03 2.26222584e+02] [ 1.80607918e-02 1.83202250e-03 -9.99835212e-01 1.10897427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:226.26, Z:110.90 [[-9.99853216e-01 -4.35221323e-03 -1.65711828e-02 3.11210033e+02] [-4.54070830e-03 9.99925228e-01 1.13542886e-02 2.26259603e+02] [ 1.65205275e-02 1.14278668e-02 -9.99798218e-01 1.10900885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.44, Y:227.10, Z:109.94 [[-9.99586283e-01 3.12422174e-03 2.85920035e-02 3.11443525e+02] [-2.98757522e-03 -9.99983918e-01 4.82065849e-03 2.27099831e+02] [ 2.86066045e-02 4.73324334e-03 9.99579541e-01 1.09941602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.47, Y:227.10, Z:109.94 [[-9.99585401e-01 9.34611426e-03 2.72337448e-02 3.11472824e+02] [-9.37210972e-03 -9.99955739e-01 -8.27042164e-04 2.27102105e+02] [ 2.72248098e-02 -1.08193692e-03 9.99628751e-01 1.09940715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:311.48, Y:227.10, Z:109.94 [[-9.99553018e-01 1.20894911e-02 2.73424453e-02 3.11477105e+02] [-1.18770582e-02 -9.99898112e-01 7.91845503e-03 2.27097317e+02] [ 2.74353895e-02 7.59016780e-03 9.99594762e-01 1.09936968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.42, Y:227.11, Z:109.95 [[-9.99510949e-01 8.17339846e-03 3.01837565e-02 3.11424839e+02] [-8.35672944e-03 -9.99947364e-01 -5.95268235e-03 2.27107518e+02] [ 3.01335141e-02 -6.20200867e-03 9.99526641e-01 1.09946998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.44, Y:227.11, Z:109.95 [[-9.99315338e-01 1.13572712e-02 3.52117480e-02 3.11441791e+02] [-1.17056344e-02 -9.99884408e-01 -9.70305697e-03 2.27109416e+02] [ 3.50974776e-02 -1.01085895e-02 9.99332769e-01 1.09950021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:227.10, Z:109.94 [[-9.99477779e-01 1.07786404e-02 3.04629396e-02 3.11457893e+02] [-1.04740732e-02 -9.99893732e-01 1.01399117e-02 2.27100700e+02] [ 3.05689969e-02 9.81554536e-03 9.99484463e-01 1.09939830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:227.10, Z:109.94 [[-9.99453557e-01 1.20904807e-02 3.07637399e-02 3.11456410e+02] [-1.20926602e-02 -9.99926875e-01 1.15210501e-04 2.27103813e+02] [ 3.07628832e-02 -2.56867908e-04 9.99526678e-01 1.09943529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:226.30, Z:110.90 [[-9.97210560e-01 -7.32531007e-02 -1.43207127e-02 3.11518221e+02] [-7.32689595e-02 9.97312046e-01 5.85195777e-04 2.26302794e+02] [ 1.42393519e-02 1.63282713e-03 -9.99897282e-01 1.10898741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:226.35, Z:110.90 [[-9.88662506e-01 -1.49435759e-01 -1.46766294e-02 3.11543422e+02] [-1.49443096e-01 9.88770145e-01 -6.01668293e-04 2.26345270e+02] [ 1.46017237e-02 1.59847406e-03 -9.99892112e-01 1.10899309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:227.16, Z:109.94 [[-9.84903224e-01 1.70561420e-01 2.95709495e-02 3.11364386e+02] [-1.70494576e-01 -9.85346992e-01 4.78592013e-03 2.27163715e+02] [ 2.99539395e-02 -3.28018328e-04 9.99551226e-01 1.09942804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.38, Y:227.17, Z:109.94 [[-9.84816233e-01 1.71110832e-01 2.92928502e-02 3.11383579e+02] [-1.71045808e-01 -9.85251724e-01 4.72995451e-03 2.27165897e+02] [ 2.96701776e-02 -3.52283240e-04 9.99559681e-01 1.09942387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:226.39, Z:110.90 [[-9.74924499e-01 -2.22008379e-01 -1.53134382e-02 3.11564085e+02] [-2.22005342e-01 9.75043560e-01 -1.91946691e-03 2.26391128e+02] [ 1.53574071e-02 1.52832977e-03 -9.99880900e-01 1.10898856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:227.19, Z:109.94 [[-9.67794642e-01 2.50167616e-01 2.81015247e-02 3.11349020e+02] [-2.50075061e-01 -9.68202448e-01 6.81792091e-03 2.27194052e+02] [ 2.89135880e-02 -4.29143161e-04 9.99581823e-01 1.09943244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:226.44, Z:110.90 [[-9.55390907e-01 -2.94943200e-01 -1.53857990e-02 3.11585206e+02] [-2.94929563e-01 9.55513640e-01 -3.19953621e-03 2.26438112e+02] [ 1.56450222e-02 1.48091917e-03 -9.99876513e-01 1.10897883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:227.22, Z:109.94 [[-9.44891398e-01 3.26204967e-01 2.77590506e-02 3.11306775e+02] [-3.26079142e-01 -9.45298942e-01 9.07215933e-03 2.27217236e+02] [ 2.91999846e-02 -4.79442064e-04 9.99573475e-01 1.09943802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:226.48, Z:110.90 [[-9.29498074e-01 -3.68555498e-01 -1.41483296e-02 3.11590750e+02] [-3.68536813e-01 9.29604545e-01 -4.00100539e-03 2.26483262e+02] [ 1.46269440e-02 1.49525349e-03 -9.99891903e-01 1.10898729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:311.58, Y:226.52, Z:110.90 [[-8.97780919e-01 -4.40256194e-01 -1.28025491e-02 3.11577412e+02] [-4.40234600e-01 8.97870950e-01 -4.61030879e-03 2.26521560e+02] [ 1.35247539e-02 1.49707783e-03 -9.99907416e-01 1.10900018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.19, Y:227.24, Z:109.94 [[-8.84911081e-01 4.64942221e-01 2.75882169e-02 3.11186764e+02] [-4.64730826e-01 -8.85340930e-01 1.40248690e-02 2.27238273e+02] [ 3.09457314e-02 -4.10332817e-04 9.99520982e-01 1.09943381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.18, Y:227.23, Z:109.94 [[-8.85631229e-01 4.63619540e-01 2.67254187e-02 3.11182568e+02] [-4.63420918e-01 -8.86034305e-01 1.35743300e-02 2.27232949e+02] [ 2.99729624e-02 -3.63267520e-04 9.99550644e-01 1.09942962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:227.23, Z:109.94 [[-8.85726153e-01 4.63454313e-01 2.64439392e-02 3.11182606e+02] [-4.63260136e-01 -8.86120740e-01 1.34193734e-02 2.27232764e+02] [ 2.96517895e-02 -3.64532955e-04 9.99560223e-01 1.09943783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:227.23, Z:109.95 [[-8.85467857e-01 4.63986918e-01 2.57451851e-02 3.11182191e+02] [-4.63803427e-01 -8.85841969e-01 1.30532566e-02 2.27232587e+02] [ 2.88627058e-02 -3.82465985e-04 9.99583312e-01 1.09945100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:226.54, Z:110.90 [[-8.61266372e-01 -5.07910861e-01 -1.57096793e-02 3.11530159e+02] [-5.07927912e-01 8.61393703e-01 -3.18197403e-03 2.26541870e+02] [ 1.51483780e-02 5.23885735e-03 -9.99871532e-01 1.10898737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:227.24, Z:109.95 [[-8.46751107e-01 5.31520141e-01 2.23361338e-02 3.11123129e+02] [-5.31289301e-01 -8.47044408e-01 1.57305433e-02 2.27239552e+02] [ 2.72807978e-02 1.45290603e-03 9.99626754e-01 1.09945102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:227.24, Z:109.95 [[-8.47274874e-01 5.30680578e-01 2.24368499e-02 3.11122977e+02] [-5.30505363e-01 -8.47571829e-01 1.36402049e-02 2.27239241e+02] [ 2.62554337e-02 -3.45866328e-04 9.99655207e-01 1.09945742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:227.24, Z:109.95 [[-8.47842617e-01 5.29780062e-01 2.22706621e-02 3.11117803e+02] [-5.29607410e-01 -8.48135001e-01 1.35281759e-02 2.27235237e+02] [ 2.60554859e-02 -3.24943602e-04 9.99660445e-01 1.09946267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:227.23, Z:109.95 [[-8.46108050e-01 5.32371418e-01 2.61120842e-02 3.11108259e+02] [-5.32309433e-01 -8.46492576e-01 9.84819886e-03 2.27226894e+02] [ 2.73465850e-02 -5.56706841e-03 9.99610510e-01 1.09947726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:227.24, Z:109.95 [[-8.47947186e-01 5.29434278e-01 2.61708777e-02 3.11128102e+02] [-5.29325063e-01 -8.48341070e-01 1.15068638e-02 2.27237794e+02] [ 2.82939585e-02 -4.09568865e-03 9.99591255e-01 1.09946404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.11, Y:227.22, Z:109.94 [[-8.51546116e-01 5.23959337e-01 1.83255635e-02 3.11111952e+02] [-5.23580221e-01 -8.51695315e-01 2.18824926e-02 2.27223143e+02] [ 2.70733329e-02 9.03904900e-03 9.99592582e-01 1.09941929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.11, Y:227.22, Z:109.95 [[-8.53576509e-01 5.20458505e-01 2.30236335e-02 3.11108809e+02] [-5.20271529e-01 -8.53886959e-01 1.39497966e-02 2.27224603e+02] [ 2.69198707e-02 -7.13222842e-05 9.99637592e-01 1.09945128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:227.23, Z:109.95 [[-8.50747123e-01 5.24709123e-01 3.01607163e-02 3.11123843e+02] [-5.24707271e-01 -8.51239161e-01 8.61226873e-03 2.27233196e+02] [ 3.01929188e-02 -8.49868429e-03 9.99507959e-01 1.09947854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.120385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:311.10, Y:227.21, Z:109.94 [[-8.55805612e-01 5.16929331e-01 1.95146180e-02 3.11102360e+02] [-5.16539217e-01 -8.55984669e-01 2.18513955e-02 2.27214387e+02] [ 2.79998411e-02 8.62048137e-03 9.99570756e-01 1.09941138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.10, Y:227.22, Z:109.94 [[-8.56427677e-01 5.15700757e-01 2.41736367e-02 3.11102411e+02] [-5.15493723e-01 -8.56768771e-01 1.46114435e-02 2.27219439e+02] [ 2.82463495e-02 5.22866672e-05 9.99600991e-01 1.09944530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:227.23, Z:109.95 [[-8.54136136e-01 5.19014382e-01 3.27953233e-02 3.11116796e+02] [-5.19040590e-01 -8.54708548e-01 8.37637457e-03 2.27230613e+02] [ 3.23779021e-02 -9.86753974e-03 9.99426987e-01 1.09949234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:227.23, Z:109.94 [[-8.54526827e-01 5.18778960e-01 2.55400213e-02 3.11121657e+02] [-5.18451361e-01 -8.54904223e-01 1.86267372e-02 2.27227021e+02] [ 3.14974314e-02 2.67578779e-03 9.99500251e-01 1.09943133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:227.21, Z:109.94 [[-8.57438750e-01 5.14172942e-01 2.06149478e-02 3.11097429e+02] [-5.13784343e-01 -8.57651004e-01 2.14570281e-02 2.27212753e+02] [ 2.87130540e-02 7.80644994e-03 9.99557212e-01 1.09941379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:227.21, Z:109.94 [[-8.57679757e-01 5.13595038e-01 2.46083662e-02 3.11089696e+02] [-5.13380732e-01 -8.58032709e-01 1.48356115e-02 2.27213576e+02] [ 2.87342796e-02 9.07426281e-05 9.99587081e-01 1.09944274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:227.21, Z:109.94 [[-8.57914047e-01 5.13210315e-01 2.44675450e-02 3.11086821e+02] [-5.12998647e-01 -8.58262876e-01 1.47385395e-02 2.27212556e+02] [ 2.85635561e-02 9.25825774e-05 9.99591974e-01 1.09944375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:227.22, Z:109.94 [[-8.58132547e-01 5.12867830e-01 2.39816672e-02 3.11090662e+02] [-5.12664684e-01 -8.58467577e-01 1.44340478e-02 2.27215279e+02] [ 2.79902425e-02 9.17723771e-05 9.99608192e-01 1.09944229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:227.21, Z:109.94 [[-8.58319818e-01 5.12554110e-01 2.39869627e-02 3.11088666e+02] [-5.12351087e-01 -8.58654923e-01 1.44252431e-02 2.27213995e+02] [ 2.79902412e-02 9.17256329e-05 9.99608192e-01 1.09944283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:227.20, Z:109.94 [[-8.58470774e-01 5.12332186e-01 2.33165388e-02 3.11067587e+02] [-5.12140582e-01 -8.58787357e-01 1.40107064e-02 2.27201312e+02] [ 2.72020846e-02 8.64362109e-05 9.99629951e-01 1.09944962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.420385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:311.04, Y:227.19, Z:109.95 [[-8.57441622e-01 5.14023334e-01 2.39557222e-02 3.11043126e+02] [-5.13822083e-01 -8.57776201e-01 1.43824815e-02 2.27185245e+02] [ 2.79415795e-02 2.31591956e-05 9.99609558e-01 1.09947053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:227.21, Z:109.95 [[-8.57481389e-01 5.13952545e-01 2.40509768e-02 3.11087893e+02] [-5.13750006e-01 -8.57818618e-01 1.44273950e-02 2.27213419e+02] [ 2.80463721e-02 1.50332378e-05 9.99606623e-01 1.09946340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:227.22, Z:109.95 [[-8.56988951e-01 5.14214811e-01 3.39568300e-02 3.11082682e+02] [-5.14322000e-01 -8.57574967e-01 6.16895465e-03 2.27219790e+02] [ 3.22926952e-02 -1.21780188e-02 9.99404261e-01 1.09953598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:226.47, Z:110.00 [[-8.64791758e-01 2.53456876e-02 -5.01490590e-01 3.11452397e+02] [-5.00328747e-01 -1.28028827e-01 8.56317560e-01 2.26468514e+02] [-4.25012946e-02 9.91446527e-01 1.23399451e-01 1.10000591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:226.41, Z:110.88 [[-8.24054033e-01 -5.66325894e-01 -1.44890412e-02 3.11342461e+02] [-5.63541696e-01 8.16851136e-01 1.23186761e-01 2.26408596e+02] [-5.79284626e-02 1.09677726e-01 -9.92277728e-01 1.10884476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.92, Y:227.14, Z:109.97 [[-8.19717000e-01 5.71057946e-01 -4.42364349e-02 3.10915011e+02] [-5.70370899e-01 -8.20906792e-01 -2.80905108e-02 2.27143032e+02] [-5.23552993e-02 2.20490587e-03 9.98626087e-01 1.09973802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:227.13, Z:109.98 [[-8.21029887e-01 5.69526247e-01 -3.93672392e-02 3.10884218e+02] [-5.68756054e-01 -8.21970778e-01 -2.96747628e-02 2.27125316e+02] [-4.92592765e-02 -1.97351154e-03 9.98784075e-01 1.09976347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.91, Y:227.14, Z:109.97 [[-8.19006236e-01 5.72084025e-01 -4.41435506e-02 3.10914062e+02] [-5.71432136e-01 -8.20190406e-01 -2.74410608e-02 2.27142552e+02] [-5.19047092e-02 2.75064346e-03 9.98648254e-01 1.09973663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:227.12, Z:109.97 [[-8.18748758e-01 5.72404279e-01 -4.47639811e-02 3.10884842e+02] [-5.71687158e-01 -8.19968918e-01 -2.87187719e-02 2.27123029e+02] [-5.31438210e-02 2.07753430e-03 9.98584708e-01 1.09971128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:310.89, Y:227.13, Z:109.98 [[-8.19649843e-01 5.71587482e-01 -3.82346093e-02 3.10886421e+02] [-5.70735830e-01 -8.20531637e-01 -3.14395436e-02 2.27129054e+02] [-4.93431561e-02 -3.94755547e-03 9.98774084e-01 1.09976220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:227.13, Z:109.97 [[-8.18441217e-01 5.72970617e-01 -4.31120237e-02 3.10889803e+02] [-5.72395729e-01 -8.19568509e-01 -2.58957277e-02 2.27125417e+02] [-5.01707481e-02 3.48300737e-03 9.98734582e-01 1.09972056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:227.14, Z:110.78 [[-8.26534707e-01 3.61028798e-02 5.61726767e-01 3.10718794e+02] [-5.62882730e-01 -5.62871797e-02 -8.24617964e-01 2.27140484e+02] [ 1.84693227e-03 -9.97761663e-01 6.68449951e-02 1.10780969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.98, Y:226.63, Z:111.02 [[-7.99089701e-01 -5.32086840e-01 2.79891487e-01 3.10984155e+02] [-5.99925765e-01 6.75266595e-01 -4.29073539e-01 2.26628000e+02] [ 3.93030121e-02 -5.10782360e-01 -8.58811186e-01 1.11018439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:226.18, Z:110.20 [[-7.86921844e-01 -1.84458923e-01 -5.88836920e-01 3.11174879e+02] [-6.17043593e-01 2.30056035e-01 7.52549949e-01 2.26176566e+02] [-3.34906612e-03 9.55536042e-01 -2.94855316e-01 1.10202530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:226.94, Z:109.95 [[-7.71727737e-01 6.35851480e-01 -1.13664438e-02 3.10577227e+02] [-6.35846931e-01 -7.71802212e-01 -4.47504069e-03 2.26939444e+02] [-1.16181077e-02 3.77380540e-03 9.99925386e-01 1.09953881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:226.93, Z:109.96 [[-7.72094309e-01 6.35440682e-01 -9.24759377e-03 3.10563718e+02] [-6.35395525e-01 -7.72149687e-01 -7.57549012e-03 2.26930727e+02] [-1.19543012e-02 2.68868907e-05 9.99928544e-01 1.09955304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:226.88, Z:109.96 [[-7.73861764e-01 6.33261442e-01 -1.08589648e-02 3.10510002e+02] [-6.33200524e-01 -7.73937943e-01 -8.78385386e-03 2.26884940e+02] [-1.39666408e-02 7.84135388e-05 9.99902459e-01 1.09955070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:226.87, Z:109.96 [[-7.78299825e-01 6.27872286e-01 -5.07689031e-03 3.10483960e+02] [-6.27815650e-01 -7.78305498e-01 -9.38410667e-03 2.26865377e+02] [-9.84339215e-03 -4.11629739e-03 9.99943080e-01 1.09959507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:226.91, Z:110.72 [[-7.93252899e-01 6.67155851e-02 6.05226295e-01 3.10324349e+02] [-6.08341228e-01 -1.29116549e-01 -7.83102718e-01 2.26910166e+02] [ 2.58995743e-02 -9.89382609e-01 1.43007917e-01 1.10715991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.79, Y:226.19, Z:110.90 [[-7.68081141e-01 -6.40337906e-01 -4.32750969e-03 3.10792841e+02] [-6.38598503e-01 7.66459610e-01 -6.87867605e-02 2.26185709e+02] [ 4.73636316e-02 -5.00702723e-02 -9.97622000e-01 1.10902100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:226.72, Z:109.93 [[-7.34160042e-01 6.77368642e-01 4.66985704e-02 3.10259624e+02] [-6.76121345e-01 -7.35642431e-01 4.11113144e-02 2.26716008e+02] [ 6.22009651e-02 -1.39161590e-03 9.98062675e-01 1.09930138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.27, Y:226.72, Z:109.93 [[-7.32814384e-01 6.79029585e-01 4.36107889e-02 3.10268907e+02] [-6.77932307e-01 -7.34109803e-01 3.86080795e-02 2.26715832e+02] [ 5.82311359e-02 -1.27260677e-03 9.98302317e-01 1.09926427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:226.69, Z:109.93 [[-7.35616474e-01 6.76005890e-01 4.34101287e-02 3.10239759e+02] [-6.74678549e-01 -7.36893794e-01 4.23838657e-02 2.26685156e+02] [ 6.06403973e-02 1.89038721e-03 9.98157888e-01 1.09929440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.18, Y:226.74, Z:110.78 [[-7.45110503e-01 -1.17439288e-01 6.56519880e-01 3.10179991e+02] [-6.59827961e-01 -1.35789533e-02 -7.51294000e-01 2.26739745e+02] [ 9.71462853e-02 -9.92987223e-01 -6.73719054e-02 1.10782557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:226.50, Z:110.94 [[-7.19246350e-01 -4.97988418e-01 4.84450435e-01 3.10311099e+02] [-6.76874649e-01 3.45096320e-01 -6.50191695e-01 2.26500540e+02] [ 1.56605871e-01 -7.95560221e-01 -5.85285004e-01 1.10942448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.62, Y:226.11, Z:110.85 [[-6.73802273e-01 -7.28530976e-01 -1.23422506e-01 3.10620891e+02] [-7.18898978e-01 6.84954500e-01 -1.18412803e-01 2.26107535e+02] [ 1.70806196e-01 8.94149826e-03 -9.85264073e-01 1.10846890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.58, Y:226.07, Z:110.84 [[-6.20340559e-01 -7.63497484e-01 -1.79580577e-01 3.10577800e+02] [-7.65406203e-01 6.39284704e-01 -7.39487070e-02 2.26069188e+02] [ 1.71262768e-01 9.15787057e-02 -9.80959941e-01 1.10835325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.230385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:310.60, Y:225.81, Z:110.38 [[-5.90818753e-01 -3.56623795e-01 -7.23707586e-01 3.10599341e+02] [-7.97049638e-01 3.97060593e-01 4.55032702e-01 2.25812923e+02] [ 1.25080274e-01 8.45672723e-01 -5.18837712e-01 1.10382874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:225.81, Z:110.13 [[-5.83376225e-01 3.24353572e-02 -8.11554143e-01 3.10460589e+02] [-8.09425648e-01 5.93304684e-02 5.84217440e-01 2.25814035e+02] [ 6.70991888e-02 9.97711303e-01 -8.35797466e-03 1.10128028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.75, Y:226.24, Z:110.00 [[-5.61069438e-01 8.27709742e-01 9.88277693e-03 3.09747771e+02] [-8.26547498e-01 -5.60850031e-01 4.76075171e-02 2.26244474e+02] [ 4.49479615e-02 1.85425383e-02 9.98817228e-01 1.09998690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:309.73, Y:226.23, Z:110.01 [[-5.61359048e-01 8.26901713e-01 3.33103049e-02 3.09726221e+02] [-8.26089638e-01 -5.62307538e-01 3.72309381e-02 2.26227612e+02] [ 4.95169621e-02 -6.61737369e-03 9.98751361e-01 1.10010678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:226.30, Z:110.00 [[-5.61344327e-01 8.27067557e-01 2.91856610e-02 3.09781761e+02] [-8.26058528e-01 -5.62101307e-01 4.08586399e-02 2.26297643e+02] [ 5.01981537e-02 -1.17329845e-03 9.98738589e-01 1.10004829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:226.30, Z:110.01 [[-5.65477071e-01 8.24054412e-01 3.42053745e-02 3.09779589e+02] [-8.22990228e-01 -5.66493964e-01 4.20912520e-02 2.26298085e+02] [ 5.40626201e-02 -4.34905107e-03 9.98528076e-01 1.10009968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.79, Y:226.29, Z:110.00 [[-5.59783398e-01 8.28451306e-01 1.76346478e-02 3.09792496e+02] [-8.27344929e-01 -5.59971515e-01 4.39575961e-02 2.26294426e+02] [ 4.62916284e-02 1.00167961e-02 9.98877745e-01 1.09998011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.78, Y:226.29, Z:110.01 [[-5.64789030e-01 8.24243982e-01 4.04377283e-02 3.09777978e+02] [-8.23474696e-01 -5.66106201e-01 3.75924869e-02 2.26290913e+02] [ 5.38774299e-02 -1.20676218e-02 9.98474634e-01 1.10011794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:226.21, Z:110.01 [[-5.62066702e-01 8.26651130e-01 2.69987594e-02 3.09735108e+02] [-8.25447964e-01 -5.62707685e-01 4.46734839e-02 2.26212666e+02] [ 5.21217953e-02 2.82340677e-03 9.98636744e-01 1.10007653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.77, Y:226.26, Z:110.01 [[-5.65393205e-01 8.24296323e-01 2.94294985e-02 3.09767706e+02] [-8.22987665e-01 -5.66154874e-01 4.64753921e-02 2.26261036e+02] [ 5.49711489e-02 2.05675670e-03 9.98485825e-01 1.10008755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:226.21, Z:110.76 [[-5.80250542e-01 3.73679730e-02 8.13580324e-01 3.09525064e+02] [-8.09735730e-01 -1.33659691e-01 -5.71369526e-01 2.26214950e+02] [ 8.73919738e-02 -9.90322534e-01 1.07814291e-01 1.10755321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.560385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.78, Y:226.15, Z:110.95 [[-5.57951919e-01 -4.64355497e-01 6.87796211e-01 3.09775787e+02] [-8.16545705e-01 1.59249297e-01 -5.54880865e-01 2.26154665e+02] [ 1.48130917e-01 -8.71213885e-01 -4.68020937e-01 1.10951453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.06, Z:109.97 [[-5.38376518e-01 8.36538498e-01 1.01754928e-01 3.09610524e+02] [-8.23134835e-01 -5.47897364e-01 1.49189551e-01 2.26055349e+02] [ 1.80554060e-01 -3.43787443e-03 9.83559054e-01 1.09969164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:226.06, Z:109.95 [[-5.35489592e-01 8.40295216e-01 8.45863260e-02 3.09626338e+02] [-8.26983503e-01 -5.42036776e-01 1.49313159e-01 2.26055740e+02] [ 1.71316032e-01 1.00041462e-02 9.85165333e-01 1.09954355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.650385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.61, Y:226.05, Z:109.97 [[-5.41303067e-01 8.33200063e-01 1.12998424e-01 3.09606572e+02] [-8.21079414e-01 -5.52749760e-01 1.42465078e-01 2.26053068e+02] [ 1.81161764e-01 -1.56638963e-02 9.83328560e-01 1.09973165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.680385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.61, Y:226.04, Z:109.97 [[-5.42728860e-01 8.33648497e-01 1.02350224e-01 3.09609746e+02] [-8.20097325e-01 -5.52288888e-01 1.49724286e-01 2.26044930e+02] [ 1.81344317e-01 -2.67745382e-03 9.83416021e-01 1.09969808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.04, Z:109.97 [[-5.44186921e-01 8.32731119e-01 1.02075842e-01 3.09606355e+02] [-8.19258666e-01 -5.53672262e-01 1.49205443e-01 2.26038504e+02] [ 1.80764578e-01 -2.43086774e-03 9.83523390e-01 1.09972030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:226.04, Z:109.96 [[-5.41192421e-01 8.35730839e-01 9.30845274e-02 3.09618562e+02] [-8.22409500e-01 -5.49125392e-01 1.48673867e-01 2.26044545e+02] [ 1.75366413e-01 3.90757044e-03 9.84495481e-01 1.09962678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.04, Z:109.97 [[-5.42131010e-01 8.33434135e-01 1.07151815e-01 3.09607942e+02] [-8.20702903e-01 -5.52543677e-01 1.45403678e-01 2.26040462e+02] [ 1.80390447e-01 -9.11196310e-03 9.83552876e-01 1.09972737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.04, Z:109.97 [[-5.41073421e-01 8.34732469e-01 1.02280289e-01 3.09611139e+02] [-8.21289199e-01 -5.50646106e-01 1.49241143e-01 2.26037541e+02] [ 1.80896671e-01 -3.25128025e-03 9.83496733e-01 1.09970448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.61, Y:226.03, Z:109.97 [[-5.40241865e-01 8.35270272e-01 1.02285388e-01 3.09610317e+02] [-8.21856777e-01 -5.49828467e-01 1.49131134e-01 2.26034735e+02] [ 1.80804221e-01 -3.49705746e-03 9.83512890e-01 1.09970632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.03, Z:109.97 [[-5.38718511e-01 8.36274930e-01 1.02110760e-01 3.09608309e+02] [-8.22946821e-01 -5.48296537e-01 1.48759665e-01 2.26031239e+02] [ 1.80390955e-01 -3.89214026e-03 9.83587289e-01 1.09972218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:309.61, Y:226.03, Z:109.97 [[-5.38663978e-01 8.36314670e-01 1.02072972e-01 3.09609927e+02] [-8.23018636e-01 -5.48235368e-01 1.48587706e-01 2.26033015e+02] [ 1.80226092e-01 -3.96911298e-03 9.83617203e-01 1.09972101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.920385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:309.61, Y:226.03, Z:109.97 [[-5.39277650e-01 8.35851451e-01 1.02625382e-01 3.09609495e+02] [-8.22423349e-01 -5.48941829e-01 1.49273925e-01 2.26029363e+02] [ 1.81106191e-01 -3.90141885e-03 9.83455808e-01 1.09972958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.950385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:309.61, Y:226.03, Z:109.97 [[-5.40138177e-01 8.35288412e-01 1.02684077e-01 3.09609137e+02] [-8.21856322e-01 -5.49799036e-01 1.49242107e-01 2.26026607e+02] [ 1.81115809e-01 -3.78019802e-03 9.83454510e-01 1.09972549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.02, Z:109.97 [[-5.41496658e-01 8.34383339e-01 1.02887379e-01 3.09608428e+02] [-8.20903036e-01 -5.51173149e-01 1.49420096e-01 2.26023623e+02] [ 1.81382399e-01 -3.55007904e-03 9.83406235e-01 1.09972742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:226.03, Z:109.96 [[-5.40341133e-01 8.36161806e-01 9.41535678e-02 3.09620144e+02] [-8.22864986e-01 -5.48475737e-01 1.48551610e-01 2.26026508e+02] [ 1.75854130e-01 2.79287129e-03 9.84412274e-01 1.09964345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.02, Z:109.98 [[-5.44480882e-01 8.31921794e-01 1.06989241e-01 3.09605755e+02] [-8.19204122e-01 -5.54826141e-01 1.45163905e-01 2.26018874e+02] [ 1.80125444e-01 -8.60705630e-03 9.83605990e-01 1.09975946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:226.01, Z:109.97 [[-5.45907394e-01 8.31618792e-01 1.01957355e-01 3.09607276e+02] [-8.18396157e-01 -5.55339884e-01 1.47734030e-01 2.26013376e+02] [ 1.79479381e-01 -2.79240775e-03 9.83757772e-01 1.09974370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:226.01, Z:109.98 [[-5.46482203e-01 8.31182707e-01 1.02432951e-01 3.09603922e+02] [-8.17849269e-01 -5.55992685e-01 1.48306126e-01 2.26009035e+02] [ 1.80221459e-01 -2.72805549e-03 9.83622277e-01 1.09975937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:226.01, Z:109.98 [[-5.46987569e-01 8.30800612e-01 1.02834542e-01 3.09603580e+02] [-8.17376464e-01 -5.56563713e-01 1.48770123e-01 2.26009589e+02] [ 1.80832284e-01 -2.67912674e-03 9.83510299e-01 1.09976232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:225.76, Z:110.92 [[-5.12969384e-01 -8.53420352e-01 -9.23910953e-02 3.10162972e+02] [-8.43163496e-01 5.21126632e-01 -1.32296453e-01 2.25764583e+02] [ 1.61051946e-01 1.00367690e-02 -9.86894895e-01 1.10917802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:225.95, Z:109.99 [[-4.84672227e-01 8.69935026e-01 9.11366184e-02 3.09530150e+02] [-8.55979103e-01 -4.93158526e-01 1.55223848e-01 2.25947668e+02] [ 1.79979463e-01 -2.77835266e-03 9.83666444e-01 1.09988750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:225.94, Z:109.99 [[-4.85191616e-01 8.69634064e-01 9.12452217e-02 3.09529547e+02] [-8.55663246e-01 -4.93689287e-01 1.55278132e-01 2.25943104e+02] [ 1.80081941e-01 -2.73553498e-03 9.83647809e-01 1.09989177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:225.94, Z:109.99 [[-4.85506080e-01 8.69452555e-01 9.13022475e-02 3.09528386e+02] [-8.55484860e-01 -4.94008878e-01 1.55244595e-01 2.25941042e+02] [ 1.80081930e-01 -2.73549574e-03 9.83647811e-01 1.09989606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:225.94, Z:109.99 [[-4.86310988e-01 8.68990633e-01 9.14160978e-02 3.09527358e+02] [-8.55003657e-01 -4.94821529e-01 1.55307443e-01 2.25939180e+02] [ 1.80195366e-01 -2.63338209e-03 9.83627315e-01 1.09990020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:225.94, Z:109.99 [[-4.87099850e-01 8.68502655e-01 9.18524569e-02 3.09525939e+02] [-8.54396344e-01 -4.95678052e-01 1.55917144e-01 2.25937703e+02] [ 1.80943701e-01 -2.53118578e-03 9.83490198e-01 1.09990746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:225.93, Z:109.99 [[-4.87844053e-01 8.68069569e-01 9.19967595e-02 3.09523065e+02] [-8.53935079e-01 -4.96436569e-01 1.56030811e-01 2.25933970e+02] [ 1.81116154e-01 -2.44055707e-03 9.83458684e-01 1.09992043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.370385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.52, Y:225.93, Z:109.99 [[-4.88522062e-01 8.67664281e-01 9.22219631e-02 3.09521423e+02] [-8.53477065e-01 -4.97144962e-01 1.56281113e-01 2.25931634e+02] [ 1.81447224e-01 -2.36255859e-03 9.83397846e-01 1.09992999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:225.93, Z:109.99 [[-4.89187384e-01 8.67297220e-01 9.21479005e-02 3.09518011e+02] [-8.53150673e-01 -4.97785380e-01 1.56024498e-01 2.25927687e+02] [ 1.81189491e-01 -2.29082720e-03 9.83445535e-01 1.09994827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:225.93, Z:110.00 [[-4.89821853e-01 8.66958239e-01 9.19671911e-02 3.09518166e+02] [-8.52885673e-01 -4.98375814e-01 1.55587843e-01 2.25928171e+02] [ 1.80722386e-01 -2.22717430e-03 9.83531626e-01 1.09995151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:225.92, Z:110.00 [[-4.90487243e-01 8.66560922e-01 9.21652432e-02 3.09515345e+02] [-8.52445109e-01 -4.99066657e-01 1.55787701e-01 2.25922645e+02] [ 1.80996133e-01 -2.15393100e-03 9.83481449e-01 1.09995827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:225.92, Z:110.00 [[-4.91051105e-01 8.66218145e-01 9.23847279e-02 3.09514023e+02] [-8.52064450e-01 -4.99661467e-01 1.55963429e-01 2.25919322e+02] [ 1.81259441e-01 -2.13172797e-03 9.83433003e-01 1.09995961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:225.92, Z:110.00 [[-4.92574440e-01 8.65350354e-01 9.24077144e-02 3.09512110e+02] [-8.51198599e-01 -5.01163878e-01 1.55870818e-01 2.25918545e+02] [ 1.81194276e-01 -1.87933621e-03 9.83445526e-01 1.09996606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:225.92, Z:110.00 [[-4.93299306e-01 8.65000639e-01 9.18133357e-02 3.09508112e+02] [-8.51049462e-01 -5.01767512e-01 1.54739062e-01 2.25919161e+02] [ 1.79918337e-01 -1.80501789e-03 9.83679894e-01 1.09998782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:225.92, Z:110.00 [[-4.93488891e-01 8.64922872e-01 9.15267195e-02 3.09506383e+02] [-8.51081550e-01 -5.01901437e-01 1.54127034e-01 2.25918055e+02] [ 1.79245389e-01 -1.83672340e-03 9.83802682e-01 1.09999700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:225.92, Z:110.00 [[-4.93701622e-01 8.64819711e-01 9.13541274e-02 3.09505056e+02] [-8.51052605e-01 -5.02079081e-01 1.53707710e-01 2.25915677e+02] [ 1.78796454e-01 -1.86142222e-03 9.83884324e-01 1.09999848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:225.91, Z:110.00 [[-4.94286300e-01 8.64469429e-01 9.15076982e-02 3.09503817e+02] [-8.50673175e-01 -5.02682158e-01 1.53836917e-01 2.25912529e+02] [ 1.78986599e-01 -1.80366356e-03 9.83849859e-01 1.09999841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.50, Y:225.91, Z:110.00 [[-4.95520520e-01 8.63775559e-01 9.13848828e-02 3.09499073e+02] [-8.50028229e-01 -5.03874161e-01 1.53501920e-01 2.25908194e+02] [ 1.78637688e-01 -1.61637903e-03 9.83913596e-01 1.10000508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.700385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:309.49, Y:225.91, Z:110.00 [[-4.96134350e-01 8.63417472e-01 9.14383671e-02 3.09494318e+02] [-8.49671290e-01 -5.04487713e-01 1.53462852e-01 2.25905238e+02] [ 1.78632041e-01 -1.55436269e-03 9.83914721e-01 1.10002223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.730385723 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:309.49, Y:225.91, Z:110.00 [[-4.96104537e-01 8.63434760e-01 9.14368804e-02 3.09490554e+02] [-8.49712718e-01 -5.04457896e-01 1.53331432e-01 2.25907530e+02] [ 1.78517745e-01 -1.62666101e-03 9.83935348e-01 1.10003815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.760385723 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:309.49, Y:225.91, Z:110.00 [[-4.95891056e-01 8.63555356e-01 9.14560494e-02 3.09491146e+02] [-8.49852919e-01 -5.04251061e-01 1.53234731e-01 2.25909150e+02] [ 1.78443483e-01 -1.73645806e-03 9.83948631e-01 1.10003489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.790385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:309.49, Y:225.91, Z:110.00 [[-4.95533155e-01 8.63802694e-01 9.10593135e-02 3.09489973e+02] [-8.50247052e-01 -5.03826717e-01 1.52442087e-01 2.25906325e+02] [ 1.77558000e-01 -1.88280482e-03 9.84108537e-01 1.10002984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.820385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:309.49, Y:225.91, Z:110.00 [[-4.95641213e-01 8.63706652e-01 9.13816580e-02 3.09488646e+02] [-8.50078553e-01 -5.03991169e-01 1.52837674e-01 2.25905894e+02] [ 1.78062465e-01 -1.92893739e-03 9.84017296e-01 1.10003169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.850385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:309.49, Y:225.90, Z:110.00 [[-4.95703226e-01 8.63617787e-01 9.18837849e-02 3.09486390e+02] [-8.49860254e-01 -5.04143255e-01 1.53548453e-01 2.25904903e+02] [ 1.78929766e-01 -1.97391311e-03 9.83859869e-01 1.10004035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.880385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:309.48, Y:225.91, Z:110.01 [[-4.95399753e-01 8.63745001e-01 9.23236636e-02 3.09482673e+02] [-8.49880170e-01 -5.03924777e-01 1.54154194e-01 2.25905473e+02] [ 1.79674096e-01 -2.09610133e-03 9.83723958e-01 1.10005829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.910385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:309.48, Y:225.90, Z:110.01 [[-4.95390109e-01 8.63752218e-01 9.23078874e-02 3.09477521e+02] [-8.49915753e-01 -5.03912118e-01 1.53999319e-01 2.25898803e+02] [ 1.79532317e-01 -2.16418812e-03 9.83749696e-01 1.10007263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.940385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:309.47, Y:225.89, Z:110.01 [[-4.94808066e-01 8.64602980e-01 8.73307798e-02 3.09473710e+02] [-8.50663183e-01 -5.02450703e-01 1.54646179e-01 2.25888008e+02] [ 1.77586959e-01 2.23109733e-03 9.84102583e-01 1.10005821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9703857229999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:309.42, Y:226.00, Z:110.83 [[-4.89366608e-01 -1.93633634e-01 8.50309555e-01 3.09420393e+02] [-8.42929528e-01 -1.44956102e-01 -5.18128883e-01 2.25998195e+02] [ 2.23584737e-01 -9.70306006e-01 -9.22828315e-02 1.10825022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.000385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:309.37, Y:225.93, Z:110.81 [[-4.84698107e-01 -2.26421265e-01 8.44867537e-01 3.09368413e+02] [-8.26292025e-01 -1.98291968e-01 -5.27182876e-01 2.25931133e+02] [ 2.86895860e-01 -9.53631850e-01 -9.09783445e-02 1.10813486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.030385723 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:310.02, Y:225.59, Z:110.90 [[-4.22783927e-01 -8.96814547e-01 -1.30297429e-01 3.10018374e+02] [-8.57387733e-01 4.42406363e-01 -2.62988376e-01 2.25586331e+02] [ 2.93496213e-01 5.28159435e-04 -9.55960090e-01 1.10900584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.060385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:309.28, Y:225.63, Z:110.01 [[-4.01815327e-01 9.05849760e-01 1.34091967e-01 3.09278845e+02] [-8.61539124e-01 -4.23587978e-01 2.79863473e-01 2.25627243e+02] [ 3.10314005e-01 -3.07204279e-03 9.50629150e-01 1.10014554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0903857229999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:309.27, Y:225.62, Z:110.02 [[-4.02959308e-01 9.05343742e-01 1.34076488e-01 3.09274310e+02] [-8.61105463e-01 -4.24670281e-01 2.79557746e-01 2.25623269e+02] [ 3.10034156e-01 -2.80360042e-03 9.50721285e-01 1.10017299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.120385723 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:309.27, Y:225.61, Z:110.02 [[-4.02623350e-01 9.06266732e-01 1.28744118e-01 3.09273078e+02] [-8.61344972e-01 -4.22698505e-01 2.81799241e-01 2.25614918e+02] [ 3.09805224e-01 2.56585590e-03 9.50796582e-01 1.10017032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.150385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:309.27, Y:225.61, Z:110.02 [[-4.04029524e-01 9.04022352e-01 1.39655760e-01 3.09266694e+02] [-8.60539546e-01 -4.27406257e-01 2.77120157e-01 2.25614348e+02] [ 3.10212561e-01 -8.21457883e-03 9.50631731e-01 1.10022648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.180385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:309.27, Y:225.61, Z:110.02 [[-4.03158363e-01 9.05138956e-01 1.34858460e-01 3.09265491e+02] [-8.60639825e-01 -4.25104910e-01 2.80329996e-01 2.25611291e+02] [ 3.11066594e-01 -3.04717932e-03 9.50383233e-01 1.10021497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.210385723 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:309.26, Y:225.61, Z:110.02 [[-4.03380794e-01 9.05104588e-01 1.34423289e-01 3.09263800e+02] [-8.60754612e-01 -4.25179689e-01 2.79863771e-01 2.25612444e+02] [ 3.10460036e-01 -2.81379588e-03 9.50582268e-01 1.10022489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:225.61, Z:110.02 [[-4.03139447e-01 9.05146109e-01 1.34867002e-01 3.09259657e+02] [-8.61049651e-01 -4.25085261e-01 2.79098585e-01 2.25614016e+02] [ 3.09954972e-01 -3.61153550e-03 9.50744378e-01 1.10024803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.270385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:309.26, Y:225.61, Z:110.03 [[-4.03326596e-01 9.05045282e-01 1.34984055e-01 3.09255693e+02] [-8.60953212e-01 -4.25299485e-01 2.79069732e-01 2.25607409e+02] [ 3.09979393e-01 -3.65871029e-03 9.50736236e-01 1.10027176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.300385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:309.26, Y:225.61, Z:110.03 [[-4.04071688e-01 9.04693713e-01 1.35112387e-01 3.09255221e+02] [-8.60584974e-01 -4.26048047e-01 2.79063729e-01 2.25607451e+02] [ 3.10031570e-01 -3.51393812e-03 9.50719769e-01 1.10026633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.330385723 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:309.25, Y:225.61, Z:110.03 [[-4.05292976e-01 9.04072467e-01 1.35611867e-01 3.09253168e+02] [-8.59683945e-01 -4.27367412e-01 2.79822461e-01 2.25606049e+02] [ 3.10935875e-01 -3.17326700e-03 9.50425595e-01 1.10025732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.360385723 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:309.26, Y:225.59, Z:110.01 [[-3.99783343e-01 9.09486119e-01 1.14053837e-01 3.09260322e+02] [-8.66592495e-01 -4.15572307e-01 2.76255508e-01 2.25591472e+02] [ 2.98648166e-01 1.16041517e-02 9.54292731e-01 1.10008062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.390385723 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:309.24, Y:225.61, Z:110.03 [[-4.06413048e-01 9.01502833e-01 1.48731557e-01 3.09242295e+02] [-8.59112353e-01 -4.32456813e-01 2.73691559e-01 2.25605983e+02] [ 3.11053691e-01 -1.65452974e-02 9.50248312e-01 1.10031997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.420385723 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:309.25, Y:225.60, Z:110.03 [[-4.06874650e-01 9.03337406e-01 1.35773891e-01 3.09245440e+02] [-8.58994641e-01 -4.28920999e-01 2.79562128e-01 2.25603351e+02] [ 3.10775200e-01 -2.88230193e-03 9.50479073e-01 1.10027395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.450385723 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:309.24, Y:225.60, Z:110.03 [[-4.05856998e-01 9.03858152e-01 1.35353381e-01 3.09241514e+02] [-8.59912458e-01 -4.27818823e-01 2.78427046e-01 2.25604293e+02] [ 3.09565279e-01 -3.39049333e-03 9.50872148e-01 1.10029075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.480385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:309.24, Y:225.60, Z:110.03 [[-4.03616042e-01 9.04881085e-01 1.35219496e-01 3.09240166e+02] [-8.61167408e-01 -4.25642842e-01 2.77882829e-01 2.25604538e+02] [ 3.09006126e-01 -4.28865546e-03 9.51050378e-01 1.10027402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.510385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:309.24, Y:225.60, Z:110.03 [[-4.02350905e-01 9.05422082e-01 1.35368394e-01 3.09237920e+02] [-8.61726733e-01 -4.24485019e-01 2.77919963e-01 2.25603011e+02] [ 3.09096727e-01 -4.82921555e-03 9.51018345e-01 1.10027241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.540385723 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:309.24, Y:225.60, Z:110.03 [[-4.01600747e-01 9.05745285e-01 1.35433819e-01 3.09235589e+02] [-8.62111609e-01 -4.23790561e-01 2.77786131e-01 2.25603420e+02] [ 3.08999052e-01 -5.19995018e-03 9.51048130e-01 1.10027544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:309.23, Y:225.60, Z:110.03 [[-4.00507176e-01 9.06308858e-01 1.34900911e-01 3.09229534e+02] [-8.63143233e-01 -4.22577152e-01 2.76427766e-01 2.25601814e+02] [ 3.07534976e-01 -5.72750435e-03 9.51519540e-01 1.10029995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.600385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:309.23, Y:225.60, Z:110.03 [[-4.00781958e-01 9.06223399e-01 1.34658728e-01 3.09228940e+02] [-8.63297250e-01 -4.22759834e-01 2.75666430e-01 2.25603308e+02] [ 3.06743671e-01 -5.76837831e-03 9.51774683e-01 1.10029761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:225.60, Z:110.03 [[-4.01695789e-01 9.05914615e-01 1.34011956e-01 3.09228224e+02] [-8.63477327e-01 -4.23423112e-01 2.74079870e-01 2.25600729e+02] [ 3.05036719e-01 -5.61955559e-03 9.52324010e-01 1.10028053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:225.59, Z:110.03 [[-4.02316269e-01 9.05623876e-01 1.34115677e-01 3.09224318e+02] [-8.63187939e-01 -4.24045887e-01 2.74028588e-01 2.25592315e+02] [ 3.05038033e-01 -5.52087528e-03 9.52324167e-01 1.10029595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:309.22, Y:225.59, Z:110.03 [[-4.03204109e-01 9.05174691e-01 1.34481317e-01 3.09223695e+02] [-8.62562027e-01 -4.25006510e-01 2.74510869e-01 2.25593588e+02] [ 3.05635726e-01 -5.31456689e-03 9.52133687e-01 1.10029226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7203857229999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:309.22, Y:225.59, Z:110.03 [[-4.04935323e-01 9.04334365e-01 1.34932357e-01 3.09217191e+02] [-8.61468936e-01 -4.26797561e-01 2.75163797e-01 2.25590414e+02] [ 3.06428879e-01 -4.81649251e-03 9.51881371e-01 1.10031442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.750385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:309.21, Y:225.58, Z:110.03 [[-4.05979360e-01 9.03852896e-01 1.35021118e-01 3.09211836e+02] [-8.61034040e-01 -4.27818225e-01 2.74939901e-01 2.25583422e+02] [ 3.06269721e-01 -4.63785349e-03 9.51933479e-01 1.10034905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.780385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:309.21, Y:225.58, Z:110.04 [[-4.06500077e-01 9.03671109e-01 1.34670761e-01 3.09207550e+02] [-8.61281857e-01 -4.28200453e-01 2.73565230e-01 2.25575963e+02] [ 3.04879076e-01 -4.78519599e-03 9.52379048e-01 1.10037187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:225.58, Z:110.03 [[-4.06625864e-01 9.03665544e-01 1.34327923e-01 3.09210886e+02] [-8.61590850e-01 -4.28210899e-01 2.72574087e-01 2.25581123e+02] [ 3.03836491e-01 -4.90003573e-03 9.52711591e-01 1.10034119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.21, Y:225.58, Z:110.04 [[-4.07094483e-01 9.03435418e-01 1.34456414e-01 3.09208233e+02] [-8.61349576e-01 -4.28696761e-01 2.72572916e-01 2.25576083e+02] [ 3.03893055e-01 -4.85104528e-03 9.52693801e-01 1.10035158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:225.58, Z:110.03 [[-4.07975888e-01 9.03016837e-01 1.34596684e-01 3.09205530e+02] [-8.60902202e-01 -4.29579862e-01 2.72595928e-01 2.25576222e+02] [ 3.03978738e-01 -4.66201556e-03 9.52667409e-01 1.10034805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:225.57, Z:110.04 [[-4.08504273e-01 9.02772471e-01 1.34633299e-01 3.09202297e+02] [-8.60704665e-01 -4.30093843e-01 2.72409188e-01 2.25573923e+02] [ 3.03828468e-01 -4.59919106e-03 9.52715650e-01 1.10036056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:225.57, Z:110.04 [[-4.09683552e-01 9.02251437e-01 1.34542679e-01 3.09199353e+02] [-8.60297043e-01 -4.31188618e-01 2.71965758e-01 2.25573617e+02] [ 3.03394768e-01 -4.32677127e-03 9.52855127e-01 1.10037075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.960385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:309.22, Y:225.58, Z:110.01 [[-4.04016747e-01 9.08082636e-01 1.10256039e-01 3.09217890e+02] [-8.67634580e-01 -4.18597294e-01 2.68303075e-01 2.25577830e+02] [ 2.89794243e-01 1.27369837e-02 9.57004214e-01 1.10011967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.990385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.19, Y:225.57, Z:110.05 [[-4.11120283e-01 8.99252475e-01 1.49415859e-01 3.09189061e+02] [-8.59830820e-01 -4.36977053e-01 2.64087137e-01 2.25572316e+02] [ 3.02772313e-01 -1.99007824e-02 9.52855123e-01 1.10045148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.020385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:309.01, Y:225.19, Z:110.17 [[-4.10965608e-01 9.01960396e-01 1.32569650e-01 3.09007238e+02] [-8.59809464e-01 -4.31814174e-01 2.72514595e-01 2.25188885e+02] [ 3.03042826e-01 -1.99051333e-03 9.52974860e-01 1.10171526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.050385723 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:308.88, Y:224.89, Z:110.25 [[-4.11534449e-01 9.05966259e-01 9.93203681e-02 3.08875321e+02] [-8.67372494e-01 -4.22783591e-01 2.62524270e-01 2.24893327e+02] [ 2.79829153e-01 2.18900254e-02 9.59800225e-01 1.10250875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.14, Y:225.74, Z:110.78 [[-4.23328452e-01 -1.27785463e-02 9.05886158e-01 3.09136133e+02] [-8.36281835e-01 -3.79076018e-01 -3.96149044e-01 2.25737752e+02] [ 3.48461927e-01 -9.25277300e-01 1.49787198e-01 1.10777852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.110385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:309.14, Y:225.42, Z:110.02 [[-4.05800522e-01 9.04117133e-01 1.33783956e-01 3.09144343e+02] [-8.46609797e-01 -4.26997829e-01 3.17686490e-01 2.25422306e+02] [ 3.44351257e-01 1.56545353e-02 9.38710364e-01 1.10018676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.01, Y:225.21, Z:110.14 [[-4.11959921e-01 8.94220161e-01 1.75098053e-01 3.09009584e+02] [-8.35832585e-01 -4.47366890e-01 3.18192954e-01 2.25212645e+02] [ 3.62867626e-01 -1.52699145e-02 9.31715577e-01 1.10143886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:225.47, Z:110.90 [[-4.19343889e-01 -9.99618822e-02 9.02307223e-01 3.09024854e+02] [-8.08551718e-01 -4.10810021e-01 -4.21282857e-01 2.25468992e+02] [ 4.12789077e-01 -9.06224447e-01 9.14463203e-02 1.10900309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.78, Y:225.36, Z:111.02 [[-3.77202106e-01 -9.25472633e-01 3.49138571e-02 3.09784775e+02] [-8.10848706e-01 3.11799155e-01 -4.95283417e-01 2.25355686e+02] [ 4.47485136e-01 -2.15131803e-01 -8.68029585e-01 1.11017968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:225.24, Z:110.85 [[-3.03705978e-01 -8.70792553e-01 -3.86630325e-01 3.09937790e+02] [-8.43527563e-01 4.34419412e-01 -3.15818025e-01 2.25240114e+02] [ 4.42971703e-01 2.30217514e-01 -8.66473293e-01 1.10849782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:225.24, Z:110.80 [[-2.37002758e-01 -8.42813596e-01 -4.83213137e-01 3.09941805e+02] [-8.75765776e-01 4.00654619e-01 -2.69277149e-01 2.25237915e+02] [ 4.20552017e-01 3.59362100e-01 -8.33063552e-01 1.10795660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.91, Y:225.28, Z:110.82 [[-1.70216854e-01 -8.76545191e-01 -4.50216337e-01 3.09905975e+02] [-9.01735757e-01 3.22794195e-01 -2.87535270e-01 2.25277374e+02] [ 3.97364878e-01 3.57032821e-01 -8.45357154e-01 1.10817713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:225.03, Z:110.28 [[-1.43854350e-01 -5.93718525e-02 -9.87816233e-01 3.09828925e+02] [-9.30425231e-01 3.48111729e-01 1.14573617e-01 2.25025425e+02] [ 3.37067969e-01 9.35571059e-01 -1.05318456e-01 1.10275235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.92, Y:225.12, Z:110.13 [[-1.30137232e-01 9.91428421e-01 1.15752760e-02 3.08921096e+02] [-9.42987867e-01 -1.27368882e-01 3.07491545e-01 2.25121412e+02] [ 3.06330187e-01 2.91007536e-02 9.51480406e-01 1.10129648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:225.13, Z:110.15 [[-1.32674361e-01 9.89186747e-01 6.25067554e-02 3.08894209e+02] [-9.41607541e-01 -1.45481215e-01 3.03661743e-01 2.25130711e+02] [ 3.09471731e-01 -1.85687044e-02 9.50727328e-01 1.10152372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.89, Y:225.11, Z:110.16 [[-1.37761622e-01 9.88837834e-01 5.67580271e-02 3.08890967e+02] [-9.38463126e-01 -1.48638151e-01 3.11758980e-01 2.25113494e+02] [ 3.16715482e-01 -1.03168930e-02 9.48464478e-01 1.10162703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:225.09, Z:110.17 [[-1.39544936e-01 9.88885997e-01 5.13000519e-02 3.08888675e+02] [-9.38009254e-01 -1.48609951e-01 3.13135311e-01 2.25090502e+02] [ 3.17278822e-01 -4.42347637e-03 9.48321982e-01 1.10167430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:225.11, Z:110.15 [[-1.40929020e-01 9.88841834e-01 4.82787593e-02 3.08891657e+02] [-9.38733026e-01 -1.48961446e-01 3.10790596e-01 2.25111881e+02] [ 3.14514417e-01 -1.52145164e-03 9.49251477e-01 1.10153774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:225.11, Z:110.16 [[-1.42689130e-01 9.88317863e-01 5.35501111e-02 3.08886983e+02] [-9.37869026e-01 -1.52298745e-01 3.11780022e-01 2.25109861e+02] [ 3.16293380e-01 -5.73537032e-03 9.48644087e-01 1.10158630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:225.11, Z:110.16 [[-1.44325368e-01 9.88180045e-01 5.16757814e-02 3.08886956e+02] [-9.37052342e-01 -1.53265582e-01 3.13755590e-01 2.25113725e+02] [ 3.17967131e-01 -3.14002101e-03 9.48096537e-01 1.10158467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.88, Y:225.10, Z:110.17 [[-1.45783050e-01 9.87962211e-01 5.17491181e-02 3.08882197e+02] [-9.36921479e-01 -1.54670279e-01 3.13456931e-01 2.25097606e+02] [ 3.17687653e-01 -2.78815275e-03 9.48191321e-01 1.10165438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.88, Y:225.07, Z:110.18 [[-1.45334773e-01 9.88029980e-01 5.17161672e-02 3.08875510e+02] [-9.37307877e-01 -1.54231736e-01 3.12516424e-01 2.25065582e+02] [ 3.16751870e-01 -3.05446754e-03 9.48503518e-01 1.10176265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.620385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:308.88, Y:225.10, Z:110.17 [[-1.43637364e-01 9.88277881e-01 5.17217283e-02 3.08878038e+02] [-9.37810711e-01 -1.52620431e-01 3.11798130e-01 2.25098455e+02] [ 3.16036988e-01 -3.71932935e-03 9.48739579e-01 1.10166584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.650385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:308.87, Y:225.09, Z:110.17 [[-1.42045962e-01 9.88481993e-01 5.22139290e-02 3.08873896e+02] [-9.37388452e-01 -1.51275061e-01 3.13717623e-01 2.25086353e+02] [ 3.18002886e-01 -4.38241260e-03 9.48079616e-01 1.10172978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:225.07, Z:110.18 [[-1.41831278e-01 9.88518495e-01 5.21063707e-02 3.08870800e+02] [-9.37889736e-01 -1.51030754e-01 3.12334042e-01 2.25072962e+02] [ 3.16617642e-01 -4.57129384e-03 9.48542235e-01 1.10176708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:225.09, Z:110.17 [[-1.40214315e-01 9.88732100e-01 5.24288147e-02 3.08872455e+02] [-9.37723711e-01 -1.49605315e-01 3.13516335e-01 2.25094266e+02] [ 3.17827294e-01 -5.20426448e-03 9.48134340e-01 1.10169575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.740385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:308.87, Y:225.10, Z:110.18 [[-1.39871944e-01 9.87891992e-01 6.71211654e-02 3.08867209e+02] [-9.35281878e-01 -1.54070421e-01 3.18606519e-01 2.25102132e+02] [ 3.25090215e-01 -1.82130966e-02 9.45507607e-01 1.10176514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:224.89, Z:110.30 [[-1.62764637e-01 -1.13962081e-02 -9.86599108e-01 3.09775511e+02] [-9.50136282e-01 2.71373584e-01 1.53614529e-01 2.24888136e+02] [ 2.65986313e-01 9.62406621e-01 -5.49979737e-02 1.10297370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.86, Y:225.02, Z:110.22 [[-1.39978885e-01 9.89289390e-01 4.13813279e-02 3.08862396e+02] [-9.56533755e-01 -1.45905923e-01 2.52496805e-01 2.25019576e+02] [ 2.55830191e-01 -4.23841568e-03 9.66712444e-01 1.10224291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.830385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:308.86, Y:225.01, Z:110.23 [[-1.40772905e-01 9.89168560e-01 4.15758164e-02 3.08861666e+02] [-9.56252043e-01 -1.46725970e-01 2.53087968e-01 2.25014958e+02] [ 2.56446913e-01 -4.12903104e-03 9.66549498e-01 1.10226218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:225.02, Z:110.23 [[-1.40744860e-01 9.89161057e-01 4.18483923e-02 3.08861461e+02] [-9.55963639e-01 -1.46773511e-01 2.54147707e-01 2.25015328e+02] [ 2.57535250e-01 -4.23555806e-03 9.66259621e-01 1.10227233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:225.01, Z:110.23 [[-1.40497974e-01 9.89191212e-01 4.19650603e-02 3.08861575e+02] [-9.55966978e-01 -1.46565453e-01 2.54255196e-01 2.25012611e+02] [ 2.57657634e-01 -4.39487194e-03 9.66226282e-01 1.10227840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.920385723 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:309.66, Y:224.69, Z:111.25 [[-9.88321977e-02 -9.93493601e-01 -5.65920550e-02 3.09663084e+02] [-9.65625539e-01 1.09489020e-01 -2.35752991e-01 2.24689667e+02] [ 2.40415296e-01 3.13467475e-02 -9.70163835e-01 1.11246033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.950385723 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:309.71, Y:224.32, Z:110.50 [[-8.08633668e-02 -9.39003412e-02 -9.92292216e-01 3.09706062e+02] [-9.76997074e-01 2.04561805e-01 6.02593153e-02 2.24322110e+02] [ 1.97326717e-01 9.74339363e-01 -1.08281915e-01 1.10504150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.82, Y:224.96, Z:110.28 [[-4.68698941e-02 9.98897043e-01 -2.81266755e-03 3.08822899e+02] [-9.83602624e-01 -4.56609774e-02 1.74473359e-01 2.24959246e+02] [ 1.74152493e-01 1.09440950e-02 9.84657878e-01 1.10283998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.010385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:308.81, Y:224.95, Z:110.30 [[-4.75391076e-02 9.98637366e-01 2.15277666e-02 3.08810739e+02] [-9.83800164e-01 -5.05405565e-02 1.71996771e-01 2.24949360e+02] [ 1.72850428e-01 -1.30024473e-02 9.84862257e-01 1.10297738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.95, Z:110.29 [[-4.56233234e-02 9.98921069e-01 8.67241213e-03 3.08818764e+02] [-9.84173929e-01 -4.64344820e-02 1.71013208e-01 2.24953293e+02] [ 1.71231395e-01 -7.32971043e-04 9.85230568e-01 1.10289541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.95, Z:110.29 [[-4.75054797e-02 9.98735030e-01 1.64793582e-02 3.08815569e+02] [-9.83504135e-01 -4.96510277e-02 1.73937899e-01 2.24953960e+02] [ 1.74536090e-01 -7.94451359e-03 9.84618727e-01 1.10294811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.95, Z:110.30 [[-5.00675787e-02 9.98634966e-01 1.48809369e-02 3.08818393e+02] [-9.82921995e-01 -5.19106025e-02 1.76549261e-01 2.24948764e+02] [ 1.77080744e-01 -5.78740612e-03 9.84179311e-01 1.10295540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.93, Z:110.29 [[-5.17555560e-02 9.98654056e-01 3.38229852e-03 3.08824246e+02] [-9.83503910e-01 -5.15576205e-02 1.73383594e-01 2.24933464e+02] [ 1.73324612e-01 5.64706047e-03 9.84848562e-01 1.10291349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.93, Z:110.29 [[-5.54776927e-02 9.98396493e-01 1.12547063e-02 3.08822624e+02] [-9.83271952e-01 -5.65889261e-02 1.73129899e-01 2.24932111e+02] [ 1.73489175e-01 -1.46158967e-03 9.84834692e-01 1.10294603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.93, Z:110.30 [[-5.69415509e-02 9.98313622e-01 1.12947533e-02 3.08822660e+02] [-9.83124204e-01 -5.80380049e-02 1.73488875e-01 2.24926842e+02] [ 1.73851832e-01 -1.22541979e-03 9.84771059e-01 1.10295868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.92, Z:110.31 [[-5.98453805e-02 9.97922392e-01 2.38627267e-02 3.08815979e+02] [-9.81671767e-01 -6.31704148e-02 1.79805565e-01 2.24923629e+02] [ 1.80939418e-01 -1.26648326e-02 9.83412695e-01 1.10305385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.83, Y:224.92, Z:110.30 [[-5.98187304e-02 9.98193825e-01 5.55045590e-03 3.08826609e+02] [-9.82061011e-01 -5.98462372e-02 1.78814424e-01 2.24915038e+02] [ 1.78823628e-01 5.24556552e-03 9.83867163e-01 1.10296607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.91, Z:110.30 [[-5.94958970e-02 9.98062900e-01 1.81847909e-02 3.08820832e+02] [-9.82216501e-01 -6.17816148e-02 1.77295736e-01 2.24907861e+02] [ 1.78075782e-01 -7.31303282e-03 9.83989601e-01 1.10302492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.82, Y:224.90, Z:110.30 [[-6.19109118e-02 9.97997752e-01 1.29432118e-02 3.08822682e+02] [-9.81552110e-01 -6.32308173e-02 1.80436468e-01 2.24903516e+02] [ 1.80893599e-01 -1.53345062e-03 9.83501477e-01 1.10304677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.91, Z:110.31 [[-6.18565328e-02 9.97978141e-01 1.46082027e-02 3.08820375e+02] [-9.80733486e-01 -6.34919328e-02 1.84744697e-01 2.24910196e+02] [ 1.85298673e-01 -2.89908712e-03 9.82677972e-01 1.10307051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.89, Z:110.31 [[-6.43661157e-02 9.97817935e-01 1.47095737e-02 3.08815137e+02] [-9.80530451e-01 -6.59774593e-02 1.84951372e-01 2.24886621e+02] [ 1.85518296e-01 -2.51858357e-03 9.82637583e-01 1.10312866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.91, Z:110.31 [[-5.90401885e-02 9.98124550e-01 1.61752341e-02 3.08820569e+02] [-9.81140373e-01 -6.10079341e-02 1.83416466e-01 2.24911345e+02] [ 1.84059296e-01 -5.04123244e-03 9.82902214e-01 1.10305128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.82, Y:224.88, Z:110.31 [[-6.55820763e-02 9.97777412e-01 1.17995063e-02 3.08818026e+02] [-9.80469557e-01 -6.66326984e-02 1.85039272e-01 2.24882489e+02] [ 1.85414238e-01 5.66202948e-04 9.82660287e-01 1.10310529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.89, Z:110.31 [[-6.19280444e-02 9.97972364e-01 1.46996149e-02 3.08819981e+02] [-9.80982342e-01 -6.35749863e-02 1.83389930e-01 2.24889983e+02] [ 1.83952609e-01 -3.06308300e-03 9.82930341e-01 1.10306595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.88, Z:110.30 [[-6.35230070e-02 9.97963225e-01 5.85051644e-03 3.08822263e+02] [-9.81550812e-01 -6.35355281e-02 1.80336463e-01 2.24875958e+02] [ 1.80340874e-01 5.71293522e-03 9.83587582e-01 1.10303437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:308.81, Y:224.89, Z:110.31 [[-6.55026302e-02 9.97627534e-01 2.11827432e-02 3.08814482e+02] [-9.80661162e-01 -6.82831199e-02 1.83415106e-01 2.24889665e+02] [ 1.84426384e-01 -8.75892168e-03 9.82807301e-01 1.10310837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:224.87, Z:110.31 [[-7.03021059e-02 9.97418504e-01 1.46267358e-02 3.08812985e+02] [-9.80077665e-01 -7.17955035e-02 1.85184168e-01 2.24867262e+02] [ 1.85756250e-01 -1.31650005e-03 9.82594974e-01 1.10314476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:224.84, Z:110.31 [[-6.90136274e-02 9.97589201e-01 7.27367625e-03 3.08818033e+02] [-9.81245411e-01 -6.91947658e-02 1.79915335e-01 2.24839023e+02] [ 1.79984896e-01 5.27934845e-03 9.83655207e-01 1.10310803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:224.81, Z:110.33 [[-7.43916129e-02 9.96973418e-01 2.25807904e-02 3.08805811e+02] [-9.79719097e-01 -7.72913004e-02 1.84868998e-01 2.24813396e+02] [ 1.86054775e-01 -8.37012859e-03 9.82503721e-01 1.10327346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:224.82, Z:110.32 [[-7.08572549e-02 9.97371712e-01 1.51300012e-02 3.08811623e+02] [-9.80312094e-01 -7.24318178e-02 1.83689495e-01 2.24824256e+02] [ 1.84302600e-01 -1.81638976e-03 9.82867871e-01 1.10319981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.81, Y:224.82, Z:110.32 [[-7.49280478e-02 9.97056024e-01 1.62810547e-02 3.08808362e+02] [-9.79520963e-01 -7.66504748e-02 1.86181065e-01 2.24824714e+02] [ 1.86880903e-01 -1.99745068e-03 9.82380547e-01 1.10323724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:224.81, Z:110.33 [[-7.54394824e-02 9.97016420e-01 1.63445000e-02 3.08807293e+02] [-9.79537890e-01 -7.71641654e-02 1.85879568e-01 2.24812972e+02] [ 1.86586191e-01 -1.98739865e-03 9.82436585e-01 1.10325749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:224.81, Z:111.27 [[-3.09073483e-02 -9.99151883e-01 -2.72075329e-02 3.09613395e+02] [-9.85738116e-01 3.49749015e-02 -1.64612036e-01 2.24808427e+02] [ 1.65424007e-01 2.17317807e-02 -9.85983077e-01 1.11266695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:224.66, Z:110.35 [[-7.90471757e-03 9.99962318e-01 3.58864230e-03 3.08771972e+02] [-9.82739401e-01 -8.43178725e-03 1.84803069e-01 2.24657254e+02] [ 1.84826364e-01 -2.06588411e-03 9.82769020e-01 1.10347991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.78, Y:224.67, Z:110.34 [[-3.02594353e-03 9.99995398e-01 2.19932915e-04 3.08776493e+02] [-9.83493184e-01 -3.01579900e-03 1.80920041e-01 2.24673746e+02] [ 1.80919872e-01 3.31151307e-04 9.83497784e-01 1.10339350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:224.65, Z:110.35 [[-8.45050776e-03 9.99946922e-01 5.89432988e-03 3.08769645e+02] [-9.82718715e-01 -9.39463564e-03 1.84866622e-01 2.24647657e+02] [ 1.84912185e-01 -4.23025146e-03 9.82745943e-01 1.10350920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:224.70, Z:111.29 [[ 3.45768425e-02 -9.99240283e-01 -1.79805281e-02 3.09576189e+02] [-9.85880240e-01 -3.11539872e-02 -1.64528359e-01 2.24697500e+02] [ 1.63843199e-01 2.34155186e-02 -9.86208457e-01 1.11290702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:224.70, Z:111.30 [[ 1.09887225e-01 -9.93835730e-01 -1.46744913e-02 3.09554565e+02] [-9.80083097e-01 -1.05885950e-01 -1.68003833e-01 2.24703599e+02] [ 1.65414390e-01 3.28436959e-02 -9.85677113e-01 1.11298262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:309.59, Y:224.71, Z:111.25 [[ 1.85530438e-01 -9.74144107e-01 -1.28925231e-01 3.09587729e+02] [-9.70070130e-01 -1.60656662e-01 -1.82080694e-01 2.24705511e+02] [ 1.56660138e-01 1.58848027e-01 -9.74794802e-01 1.11249075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:224.71, Z:111.25 [[ 2.63622536e-01 -9.57242760e-01 -1.19119510e-01 3.09570914e+02] [-9.54254876e-01 -2.40732916e-01 -1.77328211e-01 2.24705443e+02] [ 1.41070159e-01 1.60418086e-01 -9.76916193e-01 1.11247228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.49, Y:224.70, Z:111.32 [[ 3.39122754e-01 -9.39972321e-01 3.80498863e-02 3.09485277e+02] [-9.30503194e-01 -3.41108499e-01 -1.33449608e-01 2.24696224e+02] [ 1.38418077e-01 9.85025774e-03 -9.90324900e-01 1.11320194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.48, Y:224.70, Z:111.32 [[ 4.09560997e-01 -9.11755102e-01 3.10229534e-02 3.09482161e+02] [-9.02234176e-01 -4.09848866e-01 -1.34154386e-01 2.24699600e+02] [ 1.35030668e-01 2.69544352e-02 -9.90474723e-01 1.11317423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:224.19, Z:110.40 [[ 4.37758745e-01 8.95796821e-01 -7.69112300e-02 3.08792024e+02] [-8.84768351e-01 4.44414244e-01 1.40288795e-01 2.24187704e+02] [ 1.59850703e-01 6.63597529e-03 9.87118897e-01 1.10398194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:224.16, Z:110.41 [[ 4.38011156e-01 8.96357818e-01 -6.84754692e-02 3.08799972e+02] [-8.84670589e-01 4.43323545e-01 1.44298942e-01 2.24160852e+02] [ 1.59700272e-01 -2.62631266e-03 9.87162056e-01 1.10406262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:224.14, Z:110.41 [[ 4.38915421e-01 8.95920211e-01 -6.84121937e-02 3.08812121e+02] [-8.84258890e-01 4.44206456e-01 1.44107042e-01 2.24135392e+02] [ 1.59497550e-01 -2.75671243e-03 9.87194475e-01 1.10411087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.84, Y:224.11, Z:110.40 [[ 4.41754833e-01 8.93042207e-01 -8.56053997e-02 3.08837089e+02] [-8.83126449e-01 4.49669468e-01 1.33734984e-01 2.24113283e+02] [ 1.57925120e-01 1.65223171e-02 9.87312853e-01 1.10400148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.83, Y:224.08, Z:110.43 [[ 4.39364619e-01 8.96870192e-01 -5.08191902e-02 3.08828603e+02] [-8.84307971e-01 4.41773181e-01 1.51115414e-01 2.24080335e+02] [ 1.57981466e-01 -2.14549513e-02 9.87208966e-01 1.10428448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:224.06, Z:110.43 [[ 4.39123490e-01 8.95869493e-01 -6.77378247e-02 3.08849118e+02] [-8.84434036e-01 4.44308729e-01 1.42710160e-01 2.24058813e+02] [ 1.57946186e-01 -2.75774595e-03 9.87443870e-01 1.10425079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:224.03, Z:110.43 [[ 4.38611841e-01 8.96176721e-01 -6.69846124e-02 3.08862483e+02] [-8.85009354e-01 4.43689739e-01 1.41059769e-01 2.24033651e+02] [ 1.56134867e-01 -2.58847656e-03 9.87732354e-01 1.10429338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:224.01, Z:110.43 [[ 4.37949959e-01 8.96513238e-01 -6.68120369e-02 3.08874849e+02] [-8.85411586e-01 4.43010168e-01 1.40670943e-01 2.24009390e+02] [ 1.55711774e-01 -2.45068198e-03 9.87799493e-01 1.10433301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:223.99, Z:110.43 [[ 4.40084968e-01 8.94699235e-01 -7.64100727e-02 3.08897930e+02] [-8.85125394e-01 4.46556769e-01 1.30920159e-01 2.23985477e+02] [ 1.51255602e-01 1.00165016e-02 9.88443935e-01 1.10425253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:223.95, Z:110.44 [[ 4.38470440e-01 8.96329191e-01 -6.58608734e-02 3.08906325e+02] [-8.85785607e-01 4.43385665e-01 1.37087603e-01 2.23954716e+02] [ 1.52077387e-01 -1.77024783e-03 9.88367004e-01 1.10435330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:223.92, Z:110.45 [[ 4.31784911e-01 9.00122707e-01 -5.78005437e-02 3.08911870e+02] [-8.87944337e-01 4.35453439e-01 1.48105219e-01 2.23922703e+02] [ 1.58482317e-01 -1.26259335e-02 9.87281085e-01 1.10452568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:223.90, Z:110.43 [[ 4.33399075e-01 8.97440486e-01 -8.22545763e-02 3.08943326e+02] [-8.88067083e-01 4.40825973e-01 1.30419772e-01 2.23900248e+02] [ 1.53303937e-01 1.65237730e-02 9.88040924e-01 1.10434981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:223.86, Z:110.46 [[ 4.26889728e-01 9.02763952e-01 -5.27485305e-02 3.08938236e+02] [-8.90001365e-01 4.29755910e-01 1.52339846e-01 2.23864481e+02] [ 1.60195914e-01 -1.80860514e-02 9.86919533e-01 1.10463766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.96, Y:223.84, Z:110.46 [[ 4.26106836e-01 9.02074313e-01 -6.85193225e-02 3.08958829e+02] [-8.90375421e-01 4.31580175e-01 1.44810778e-01 2.23842170e+02] [ 1.60201664e-01 -6.96941959e-04 9.87084060e-01 1.10460235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.65, Y:224.33, Z:111.39 [[ 4.87352415e-01 -8.72776418e-01 2.73669075e-02 3.09645115e+02] [-8.61983460e-01 -4.85861331e-01 -1.44648823e-01 2.24326014e+02] [ 1.39542604e-01 4.69051317e-02 -9.89104530e-01 1.11386036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.71, Y:224.35, Z:111.30 [[ 5.53388037e-01 -8.24648185e-01 -1.17119817e-01 3.09709043e+02] [-8.23914741e-01 -5.21338976e-01 -2.22193997e-01 2.24353218e+02] [ 1.22172751e-01 2.19456243e-01 -9.67942548e-01 1.11301067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:224.31, Z:111.40 [[ 6.18043693e-01 -7.83233396e-01 6.75828513e-02 3.09617528e+02] [-7.76799583e-01 -6.21651959e-01 -1.00654111e-01 2.24307110e+02] [ 1.20848673e-01 9.71030777e-03 -9.92623447e-01 1.11402027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:224.30, Z:111.40 [[ 6.76477076e-01 -7.32584548e-01 7.54893838e-02 3.09607314e+02] [-7.26440448e-01 -6.80609266e-01 -9.51593572e-02 2.24300502e+02] [ 1.21091049e-01 9.53458185e-03 -9.92595612e-01 1.11404968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.29, Z:111.41 [[ 7.30467681e-01 -6.77859153e-01 8.32101887e-02 3.09596844e+02] [-6.72018762e-01 -7.35133037e-01 -8.92759856e-02 2.24292304e+02] [ 1.21687103e-01 9.29441419e-03 -9.92524994e-01 1.11408894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.59, Y:224.28, Z:111.41 [[ 7.80806309e-01 -6.18165714e-01 9.06237129e-02 3.09588462e+02] [-6.12652638e-01 -7.85993992e-01 -8.28866137e-02 2.24284123e+02] [ 1.22467357e-01 9.19753423e-03 -9.92429923e-01 1.11413183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:224.28, Z:111.41 [[ 8.25836752e-01 -5.57201728e-01 8.67173217e-02 3.09586347e+02] [-5.51152420e-01 -8.30078011e-01 -8.48616893e-02 2.24280750e+02] [ 1.19267222e-01 2.22874402e-02 -9.92612009e-01 1.11411911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.29, Z:111.39 [[ 8.66881027e-01 -4.95333271e-01 5.62337636e-02 3.09598624e+02] [-4.84576274e-01 -8.63752308e-01 -1.38267078e-01 2.24293644e+02] [ 1.17060327e-01 9.26115593e-02 -9.88797239e-01 1.11386233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:224.25, Z:111.43 [[ 9.02572601e-01 -4.18336681e-01 1.01769945e-01 3.09568269e+02] [-4.14639253e-01 -9.08252522e-01 -5.61395249e-02 2.24247272e+02] [ 1.15918032e-01 8.47218281e-03 -9.93222650e-01 1.11425868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:224.25, Z:111.42 [[ 9.31254548e-01 -3.52795378e-01 9.11064671e-02 3.09565422e+02] [-3.44868278e-01 -9.34119581e-01 -9.21220953e-02 2.24248323e+02] [ 1.17604584e-01 5.43693898e-02 -9.91571042e-01 1.11420655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.32, Z:111.31 [[ 9.56543507e-01 -2.91517573e-01 6.48260376e-03 3.09604186e+02] [-2.74150185e-01 -9.06685273e-01 -3.20567454e-01 2.24323004e+02] [ 9.93287276e-02 3.04859509e-01 -9.47203507e-01 1.11305893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.32, Z:111.28 [[ 9.76598441e-01 -2.14960291e-01 -6.89629910e-03 3.09602999e+02] [-2.03415112e-01 -9.12783977e-01 -3.54185973e-01 2.24315920e+02] [ 6.98410885e-02 3.47300281e-01 -9.35149580e-01 1.11280273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:224.19, Z:111.44 [[ 9.89936056e-01 -1.27592688e-01 6.12103903e-02 3.09563155e+02] [-1.25099791e-01 -9.91212848e-01 -4.29782868e-02 2.24191165e+02] [ 6.61562405e-02 3.48883486e-02 -9.97199155e-01 1.11444435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8403857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:309.57, Y:224.26, Z:111.37 [[ 9.97310649e-01 -6.06111284e-02 4.12038873e-02 3.09572879e+02] [-5.05313578e-02 -9.75868439e-01 -2.12432043e-01 2.24258232e+02] [ 5.30853190e-02 2.09778650e-01 -9.76306748e-01 1.11367390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:224.22, Z:111.39 [[ 9.98843691e-01 2.16545175e-02 4.29227484e-02 3.09566026e+02] [ 2.78745424e-02 -9.88281904e-01 -1.50072942e-01 2.24218011e+02] [ 3.91700184e-02 1.51095863e-01 -9.87742755e-01 1.11392938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:224.14, Z:111.45 [[ 9.93860650e-01 1.02188114e-01 4.24098895e-02 3.09563058e+02] [ 1.03341649e-01 -9.94307171e-01 -2.59567568e-02 2.24144414e+02] [ 3.95159852e-02 3.01801070e-02 -9.98763059e-01 1.11454784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:224.19, Z:111.39 [[ 9.83409638e-01 1.72695430e-01 5.55137227e-02 3.09557451e+02] [ 1.79279359e-01 -9.71932314e-01 -1.52336763e-01 2.24186655e+02] [ 2.76477181e-02 1.59761905e-01 -9.86768330e-01 1.11393562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:224.10, Z:111.46 [[ 9.66564269e-01 2.55073629e-01 2.62860658e-02 3.09568815e+02] [ 2.55044692e-01 -9.66918775e-01 4.50410316e-03 2.24104655e+02] [ 2.65653685e-02 2.35061638e-03 -9.99644315e-01 1.11461530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:224.10, Z:111.46 [[ 9.44502099e-01 3.26230943e-01 3.85896034e-02 3.09567628e+02] [ 3.27173393e-01 -9.44727312e-01 -2.11630870e-02 2.24102775e+02] [ 2.95525985e-02 3.26140716e-02 -9.99031014e-01 1.11457687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:224.15, Z:111.39 [[ 9.16603436e-01 3.90108506e-01 8.74842552e-02 3.09549085e+02] [ 3.99421654e-01 -9.03036086e-01 -1.58076468e-01 2.24152602e+02] [ 1.73344644e-02 1.79836540e-01 -9.83543764e-01 1.11387810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:224.06, Z:111.47 [[ 8.82833388e-01 4.69402494e-01 1.63250764e-02 3.09588338e+02] [ 4.69380432e-01 -8.82979555e-01 5.39587252e-03 2.24059823e+02] [ 1.69475447e-02 2.89901501e-03 -9.99852177e-01 1.11468096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:224.06, Z:111.47 [[ 8.42044826e-01 5.39199590e-01 1.49771348e-02 3.09586658e+02] [ 5.39185483e-01 -8.42170300e-01 5.31039767e-03 2.24061852e+02] [ 1.54766624e-02 3.60386077e-03 -9.99873735e-01 1.11465744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.04, Z:111.48 [[ 7.97822087e-01 6.02782408e-01 -1.15449105e-02 3.09597081e+02] [ 6.02627725e-01 -7.96756925e-01 4.49246970e-02 2.24041510e+02] [ 1.78813296e-02 -4.27991987e-02 -9.98923664e-01 1.11484568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:224.04, Z:111.47 [[ 7.47390572e-01 6.64345372e-01 7.24979088e-03 3.09590171e+02] [ 6.64148672e-01 -7.47371297e-01 1.85117741e-02 2.24044737e+02] [ 1.77164971e-02 -9.02058643e-03 -9.99802358e-01 1.11471267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:224.05, Z:111.47 [[ 6.91804670e-01 7.22019800e-01 9.68029419e-03 3.09589249e+02] [ 7.21870165e-01 -6.91863750e-01 1.51002177e-02 2.24046477e+02] [ 1.76001008e-02 -3.45848554e-03 -9.99839125e-01 1.11470140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.03, Z:111.48 [[ 6.31849159e-01 7.74922691e-01 -1.61698267e-02 3.09604078e+02] [ 7.74876540e-01 -6.31045405e-01 3.67157264e-02 2.24027592e+02] [ 1.82479547e-02 -3.57284202e-02 -9.99194922e-01 1.11483579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:224.03, Z:111.47 [[ 5.68786059e-01 8.22401145e-01 1.17802780e-02 3.09601571e+02] [ 8.22289628e-01 -5.68904840e-01 1.36766596e-02 2.24028312e+02] [ 1.79495577e-02 1.90770707e-03 -9.99837074e-01 1.11470633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:224.02, Z:111.47 [[ 5.01964052e-01 8.64827801e-01 1.02452966e-02 3.09613363e+02] [ 8.64719558e-01 -5.02064911e-01 1.38170457e-02 2.24017666e+02] [ 1.70931692e-02 1.92364811e-03 -9.99852051e-01 1.11470625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:224.01, Z:111.47 [[ 4.32769749e-01 9.01460194e-01 8.93663224e-03 3.09624546e+02] [ 9.01350793e-01 -4.32857748e-01 1.41745706e-02 2.24010091e+02] [ 1.66461016e-02 1.92071521e-03 -9.99859599e-01 1.11470944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.320385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.62, Y:224.01, Z:111.46 [[ 3.61619929e-01 9.31997813e-01 2.47204992e-02 3.09616576e+02] [ 9.32237673e-01 -3.61822843e-01 4.14137937e-03 2.24013162e+02] [ 1.28041978e-02 2.15477754e-02 -9.99685824e-01 1.11464793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:224.03, Z:111.43 [[ 2.89815998e-01 9.49649159e-01 1.19051094e-01 3.09575024e+02] [ 9.57032002e-01 -2.88826281e-01 -2.58674672e-02 2.24026935e+02] [ 9.82006633e-03 1.21432513e-01 -9.92551113e-01 1.11425703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.380385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:309.64, Y:224.01, Z:111.47 [[ 2.13663473e-01 9.76902530e-01 3.06069997e-03 3.09638646e+02] [ 9.76869324e-01 -2.13681747e-01 8.15079837e-03 2.24006303e+02] [ 8.61655126e-03 1.24837602e-03 -9.99962098e-01 1.11472319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.65, Y:224.00, Z:111.47 [[ 1.37647346e-01 9.90478188e-01 2.48360049e-03 3.09653068e+02] [ 9.90438322e-01 -1.37664299e-01 8.97056849e-03 2.24003550e+02] [ 9.22705554e-03 1.22507815e-03 -9.99956679e-01 1.11472993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:224.00, Z:111.47 [[ 6.00515416e-02 9.98193756e-01 1.74271624e-03 3.09664206e+02] [ 9.98157938e-01 -6.00643044e-02 8.54457743e-03 2.24002391e+02] [ 8.63381889e-03 1.22639100e-03 -9.99961976e-01 1.11473225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.68, Y:224.00, Z:111.47 [[-1.84431367e-02 9.99829338e-01 1.07029928e-03 3.09680938e+02] [ 9.99794403e-01 1.84334494e-02 8.44745151e-03 2.24002518e+02] [ 8.42628054e-03 1.22587674e-03 -9.99963747e-01 1.11473513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.73, Y:223.98, Z:111.47 [[-9.69836869e-02 9.95285877e-01 4.33257902e-04 3.09725148e+02] [ 9.95252696e-01 9.69768757e-02 8.21929319e-03 2.23984378e+02] [ 8.13853043e-03 1.22833845e-03 -9.99966127e-01 1.11474080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.77, Y:223.96, Z:111.47 [[-1.75028780e-01 9.84563309e-01 -1.27227694e-04 3.09769289e+02] [ 9.84533466e-01 1.75024478e-01 7.76440478e-03 2.23958955e+02] [ 7.66681603e-03 1.23373437e-03 -9.99969849e-01 1.11473731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:223.98, Z:111.48 [[-2.49213329e-01 9.68331309e-01 1.50729203e-02 3.09800675e+02] [ 9.68358246e-01 2.48947275e-01 1.75374592e-02 2.23980507e+02] [ 1.32297083e-02 1.89665553e-02 -9.99732587e-01 1.11475335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5903857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.82, Y:223.92, Z:111.44 [[-3.26885597e-01 9.40111992e-01 9.66190899e-02 3.09819973e+02] [ 9.45063426e-01 3.25068473e-01 3.44326660e-02 2.23917153e+02] [ 9.62742248e-04 1.02566711e-01 -9.94725662e-01 1.11442096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:223.92, Z:111.48 [[-4.00833251e-01 9.16150510e-01 9.73499902e-04 3.09912961e+02] [ 9.16150693e-01 4.00833787e-01 -4.29081110e-04 2.23918286e+02] [-7.83314528e-04 7.19882633e-04 -9.99999434e-01 1.11477857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:224.04, Z:111.48 [[-4.69067243e-01 8.83023009e-01 1.56935194e-02 3.09885235e+02] [ 8.83145042e-01 4.68872350e-01 1.46134984e-02 2.24038558e+02] [ 5.54579806e-03 2.07143673e-02 -9.99770053e-01 1.11479332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.680385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.97, Y:223.89, Z:111.44 [[-5.37929580e-01 8.36709743e-01 1.02706248e-01 3.09967331e+02] [ 8.42954835e-01 5.35009357e-01 5.64989803e-02 2.23886670e+02] [-7.67555660e-03 1.16969201e-01 -9.93105882e-01 1.11441345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.06, Y:223.92, Z:111.48 [[-6.03421717e-01 7.97404064e-01 5.38424156e-03 3.10058715e+02] [ 7.97373739e-01 6.03445730e-01 -6.95501697e-03 2.23915474e+02] [-8.79505637e-03 9.64445400e-05 -9.99961318e-01 1.11482203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.11, Y:223.92, Z:111.48 [[-6.65502196e-01 7.46377009e-01 5.30916598e-03 3.10106596e+02] [ 7.46354101e-01 6.65523370e-01 -5.84817851e-03 2.23921797e+02] [-7.89832002e-03 7.05421587e-05 -9.99968805e-01 1.11482373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.770385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.15, Y:223.93, Z:111.48 [[-7.23190624e-01 6.90627812e-01 5.34296139e-03 3.10151686e+02] [ 6.90609494e-01 7.23210359e-01 -5.03032750e-03 2.23931233e+02] [-7.33816909e-03 5.20141771e-05 -9.99973074e-01 1.11482964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:223.94, Z:111.48 [[-7.77623537e-01 6.28702798e-01 5.86739630e-03 3.10196829e+02] [ 6.28685124e-01 7.77645672e-01 -4.71429601e-03 2.23944833e+02] [-7.52664643e-03 2.27972323e-05 -9.99971674e-01 1.11483078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:223.96, Z:111.48 [[-8.25762060e-01 5.63985984e-01 6.06872681e-03 3.10238504e+02] [ 5.63970802e-01 8.25784360e-01 -4.13826411e-03 2.23961131e+02] [-7.34538264e-03 5.36322470e-06 -9.99973022e-01 1.11483142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:223.98, Z:111.48 [[-8.68266969e-01 4.96053431e-01 6.59274207e-03 3.10280258e+02] [ 4.96039062e-01 8.68291998e-01 -3.77560208e-03 2.23979925e+02] [-7.59732555e-03 -7.97298886e-06 -9.99971140e-01 1.11482875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:223.99, Z:111.48 [[-9.04790381e-01 4.25730154e-01 1.04020805e-02 3.10323102e+02] [ 4.25851527e-01 9.04634579e-01 1.69338470e-02 2.23992162e+02] [-2.20083241e-03 1.97513238e-02 -9.99802501e-01 1.11483987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:223.98, Z:111.45 [[-9.36040667e-01 3.47374973e-01 5.62005177e-02 3.10335824e+02] [ 3.51487475e-01 9.30618162e-01 1.02011719e-01 2.23978795e+02] [-1.68649042e-02 1.15240896e-01 -9.93194397e-01 1.11448155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:224.06, Z:111.49 [[-9.61544166e-01 2.74235978e-01 1.50812890e-02 3.10389030e+02] [ 2.74188780e-01 9.61662080e-01 -5.15340738e-03 2.24055738e+02] [-1.59163534e-02 -8.20108581e-04 -9.99872991e-01 1.11488087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:224.08, Z:111.49 [[-9.79774203e-01 1.99574731e-01 1.45752346e-02 3.10425214e+02] [ 1.99806218e-01 9.79693742e-01 1.66627270e-02 2.24076283e+02] [-1.09538068e-02 1.92379326e-02 -9.99754928e-01 1.11489022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:224.06, Z:111.45 [[-9.92159202e-01 1.19429655e-01 3.68330661e-02 3.10447420e+02] [ 1.23279753e-01 9.83645725e-01 1.31313331e-01 2.24056161e+02] [-2.05479822e-02 1.34824501e-01 -9.90656416e-01 1.11453333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:224.09, Z:111.46 [[-9.98553773e-01 3.95895046e-02 3.63735386e-02 3.10477665e+02] [ 4.42620864e-02 9.89411127e-01 1.38226229e-01 2.24085732e+02] [-3.05160758e-02 1.39636291e-01 -9.89732527e-01 1.11455380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:224.13, Z:111.46 [[-9.98245427e-01 -4.18796362e-02 4.18588528e-02 3.10494119e+02] [-3.63858700e-02 9.91572492e-01 1.24338498e-01 2.24126126e+02] [-4.67133380e-02 1.22597266e-01 -9.91356532e-01 1.11458275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:224.20, Z:111.50 [[-9.93013769e-01 -1.13792212e-01 3.12247738e-02 3.10523730e+02] [-1.12410434e-01 9.92734279e-01 4.29248895e-02 2.24202365e+02] [-3.58824214e-02 3.91150160e-02 -9.98590240e-01 1.11500515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:224.02, Z:110.83 [[-9.86847288e-01 -1.34549729e-01 -8.96035760e-02 3.10556216e+02] [-1.09717861e-01 1.50411243e-01 9.82516386e-01 2.24023720e+02] [-1.18719929e-01 9.79424744e-01 -1.63195435e-01 1.10829708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:224.85, Z:110.59 [[-9.89565917e-01 1.04328469e-01 -9.93723633e-02 3.10479750e+02] [-1.03694238e-01 -9.94542270e-01 -1.15403161e-02 2.24852256e+02] [-1.00033999e-01 -1.11556201e-03 9.94983394e-01 1.10594257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:224.25, Z:111.53 [[-9.73091881e-01 -2.01666178e-01 1.11458261e-01 3.10477230e+02] [-2.01442927e-01 9.79408881e-01 1.33787226e-02 2.24250198e+02] [-1.11861246e-01 -9.43375194e-03 -9.93679056e-01 1.11530525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:224.28, Z:111.53 [[-9.54998339e-01 -2.75651953e-01 1.09517915e-01 3.10489692e+02] [-2.74925826e-01 9.61214233e-01 2.19769920e-02 2.24283758e+02] [-1.11328179e-01 -9.12131224e-03 -9.93741837e-01 1.11530297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.250385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:310.12, Y:224.17, Z:111.48 [[-9.31407491e-01 -3.52577673e-01 9.03829051e-02 3.10115141e+02] [-3.48459224e-01 9.35502015e-01 5.84136130e-02 2.24173831e+02] [-1.05148726e-01 2.29121198e-02 -9.94192527e-01 1.11483788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.51, Y:224.24, Z:110.69 [[-9.30107253e-01 -1.05416351e-01 -3.51835035e-01 3.10505220e+02] [-3.20754842e-01 -2.33543820e-01 9.17918087e-01 2.24237131e+02] [-1.78932473e-01 9.66615062e-01 1.83407996e-01 1.10685550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.28, Y:224.93, Z:110.62 [[-9.30671978e-01 3.29113795e-01 -1.59792925e-01 3.10276579e+02] [-3.24269183e-01 -9.44290109e-01 -5.62644385e-02 2.24931636e+02] [-1.69408282e-01 -5.47814945e-04 9.85545805e-01 1.10624646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3403857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:310.27, Y:224.93, Z:110.62 [[-9.30538493e-01 3.29526196e-01 -1.59720377e-01 3.10272891e+02] [-3.24703521e-01 -9.44146344e-01 -5.61720929e-02 2.24932468e+02] [-1.69309587e-01 -4.08525718e-04 9.85562833e-01 1.10624037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.27, Y:224.93, Z:110.62 [[-9.30508664e-01 3.29666272e-01 -1.59605063e-01 3.10270893e+02] [-3.24864083e-01 -9.44097478e-01 -5.60649637e-02 2.24934907e+02] [-1.69165465e-01 -3.18982097e-04 9.85587614e-01 1.10623460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.400385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.00, Y:224.84, Z:110.57 [[-9.30445146e-01 3.28677329e-01 -1.61997050e-01 3.10001423e+02] [-3.24772777e-01 -9.44427118e-01 -5.07943087e-02 2.24838781e+02] [-1.69689345e-01 5.35091394e-03 9.85483076e-01 1.10570187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:224.77, Z:111.55 [[-9.22978305e-01 -8.90486315e-02 3.74408052e-01 3.10030020e+02] [-3.66499601e-01 5.00220512e-01 -7.84510983e-01 2.24766332e+02] [-1.17426958e-01 -8.61307019e-01 -4.94328969e-01 1.11553516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.460385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:310.10, Y:224.90, Z:110.56 [[-9.27218406e-01 3.59889823e-01 -1.03659743e-01 3.10098870e+02] [-3.57610063e-01 -9.32994710e-01 -4.04464485e-02 2.24901113e+02] [-1.11270257e-01 -4.32924199e-04 9.93790090e-01 1.10562325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.10, Y:224.90, Z:110.56 [[-9.28295669e-01 3.57339733e-01 -1.02837083e-01 3.10095974e+02] [-3.55085318e-01 -9.33974216e-01 -4.00821760e-02 2.24904678e+02] [-1.10370138e-01 -6.92171983e-04 9.93890313e-01 1.10562690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.09, Y:224.91, Z:110.56 [[-9.29301369e-01 3.54933771e-01 -1.02083222e-01 3.10090240e+02] [-3.52702641e-01 -9.34890984e-01 -3.97453707e-02 2.24907719e+02] [-1.09543658e-01 -9.30405530e-04 9.93981550e-01 1.10562142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:224.11, Z:111.45 [[-8.89355120e-01 -4.43614382e-01 1.10696663e-01 3.09944668e+02] [-4.39582161e-01 8.96206121e-01 5.98507528e-02 2.24113284e+02] [-1.25757682e-01 4.56829503e-03 -9.92050471e-01 1.11453083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:224.12, Z:110.59 [[-8.89564895e-01 -9.75619832e-02 -4.46268929e-01 3.10094735e+02] [-4.13121794e-01 -2.45096265e-01 8.77073660e-01 2.24124656e+02] [-1.94947893e-01 9.64577359e-01 1.77724051e-01 1.10592645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.96, Y:224.90, Z:110.60 [[-8.96346214e-01 4.14007662e-01 -1.58622573e-01 3.09959778e+02] [-4.06130838e-01 -9.10238453e-01 -8.07694350e-02 2.24900881e+02] [-1.77823530e-01 -7.97585901e-03 9.84030070e-01 1.10596181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:309.96, Y:224.90, Z:110.59 [[-8.97132013e-01 4.11057998e-01 -1.61819260e-01 3.09959300e+02] [-4.04057128e-01 -9.11605978e-01 -7.55802721e-02 2.24901534e+02] [-1.78583281e-01 -2.42125601e-03 9.83921821e-01 1.10594181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:224.90, Z:110.59 [[-8.97545487e-01 4.09978371e-01 -1.62264703e-01 3.09957014e+02] [-4.02934556e-01 -9.12091610e-01 -7.57141921e-02 2.24902773e+02] [-1.79041456e-01 -2.57487527e-03 9.83838161e-01 1.10594408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.84, Y:224.85, Z:110.57 [[-8.98050176e-01 4.07647468e-01 -1.65316133e-01 3.09838808e+02] [-4.00726012e-01 -9.13138911e-01 -7.48063666e-02 2.24850537e+02] [-1.81451219e-01 -9.33395986e-04 9.83399504e-01 1.10567785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:224.37, Z:111.59 [[-8.61182363e-01 -3.70098260e-01 3.48413857e-01 3.09864870e+02] [-4.85435577e-01 8.02093403e-01 -3.47848349e-01 2.24374810e+02] [-1.50722388e-01 -4.68693344e-01 -8.70407555e-01 1.11594755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:224.87, Z:110.55 [[-8.77164008e-01 4.62111189e-01 -1.30524139e-01 3.09782755e+02] [-4.56668646e-01 -8.86818584e-01 -7.07569558e-02 2.24867368e+02] [-1.48448813e-01 -2.45917301e-03 9.88917035e-01 1.10551254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:224.87, Z:110.55 [[-8.77460406e-01 4.61509222e-01 -1.30661673e-01 3.09778508e+02] [-4.56057986e-01 -8.87131868e-01 -7.07683658e-02 2.24867965e+02] [-1.48574388e-01 -2.50713934e-03 9.88898056e-01 1.10550111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:224.87, Z:110.55 [[-8.77460897e-01 4.61315635e-01 -1.31340241e-01 3.09776650e+02] [-4.55814749e-01 -8.87232582e-01 -7.10722219e-02 2.24868953e+02] [-1.49316068e-01 -2.49627653e-03 9.88786367e-01 1.10549612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:224.87, Z:110.55 [[-8.77455554e-01 4.61325350e-01 -1.31341818e-01 3.09776886e+02] [-4.55833999e-01 -8.87227693e-01 -7.10097675e-02 2.24871680e+02] [-1.49288704e-01 -2.43784878e-03 9.88790645e-01 1.10550426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.77, Y:224.87, Z:110.55 [[-8.77106025e-01 4.62014541e-01 -1.31253893e-01 3.09772359e+02] [-4.56547769e-01 -8.86869464e-01 -7.08991473e-02 2.24874824e+02] [-1.49161506e-01 -2.26239736e-03 9.88810258e-01 1.10550839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.77, Y:224.88, Z:110.55 [[-8.76966911e-01 4.62317726e-01 -1.31115817e-01 3.09769895e+02] [-4.56875361e-01 -8.86711728e-01 -7.07616796e-02 2.24875633e+02] [-1.48976312e-01 -2.15206527e-03 9.88838423e-01 1.10550466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:224.87, Z:110.55 [[-8.76863535e-01 4.62709979e-01 -1.30421690e-01 3.09764779e+02] [-4.57339061e-01 -8.86507418e-01 -7.03248263e-02 2.24874342e+02] [-1.48159795e-01 -2.01834247e-03 9.88961375e-01 1.10549349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:224.88, Z:110.55 [[-8.76776089e-01 4.63324921e-01 -1.28816566e-01 3.09763892e+02] [-4.58101800e-01 -8.86186577e-01 -6.93980680e-02 2.24877220e+02] [-1.46309366e-01 -1.83546598e-03 9.89237181e-01 1.10548853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:224.88, Z:110.55 [[-8.76799731e-01 4.63538743e-01 -1.27883012e-01 3.09759856e+02] [-4.58402675e-01 -8.86074960e-01 -6.88342448e-02 2.24877008e+02] [-1.45221274e-01 -1.73193243e-03 9.89397687e-01 1.10548191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.76, Y:224.88, Z:110.55 [[-8.76526708e-01 4.64212168e-01 -1.27310615e-01 3.09761088e+02] [-4.59138200e-01 -8.85722662e-01 -6.84651648e-02 2.24879294e+02] [-1.44544259e-01 -1.55837914e-03 9.89497109e-01 1.10547895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.76, Y:224.88, Z:110.55 [[-8.75309892e-01 4.66553604e-01 -1.27123276e-01 3.09756982e+02] [-4.61528028e-01 -8.84492221e-01 -6.83036617e-02 2.24881470e+02] [-1.44306868e-01 -1.11591589e-03 9.89532356e-01 1.10547528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.68, Y:223.96, Z:111.42 [[-8.26661480e-01 -5.44960187e-01 1.40175576e-01 3.09681871e+02] [-5.38549766e-01 8.38437541e-01 8.35861214e-02 2.23957836e+02] [-1.63079574e-01 -6.39409708e-03 -9.86592200e-01 1.11417796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:224.89, Z:110.54 [[-8.35282633e-01 5.35680807e-01 -1.23891067e-01 3.09666864e+02] [-5.30295429e-01 -8.44417199e-01 -7.58046898e-02 2.24892478e+02] [-1.45222865e-01 2.38052572e-03 9.89396105e-01 1.10541771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:224.89, Z:110.54 [[-8.34561072e-01 5.37086348e-01 -1.22662428e-01 3.09659897e+02] [-5.31383136e-01 -8.43527269e-01 -7.80622150e-02 2.24891443e+02] [-1.45395253e-01 3.30599362e-05 9.89373650e-01 1.10541945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:224.89, Z:110.54 [[-8.33801691e-01 5.38290249e-01 -1.22549371e-01 3.09655342e+02] [-5.32619938e-01 -8.42759467e-01 -7.79261305e-02 2.24890120e+02] [-1.45226519e-01 2.97299207e-04 9.89398388e-01 1.10541450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:224.90, Z:110.55 [[-8.32752681e-01 5.40022379e-01 -1.22060652e-01 3.09668354e+02] [-5.34425285e-01 -8.41650406e-01 -7.75513275e-02 2.24903225e+02] [-1.44611850e-01 6.51223134e-04 9.89488246e-01 1.10545343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:224.07, Z:111.44 [[-7.91999665e-01 -5.95080428e-01 1.36439788e-01 3.09834489e+02] [-5.88737377e-01 8.03589041e-01 8.73667823e-02 2.24069663e+02] [-1.61631781e-01 -1.11327408e-02 -9.86788341e-01 1.11442624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:224.84, Z:110.52 [[-7.88486739e-01 6.04159047e-01 -1.15241084e-01 3.09490175e+02] [-5.97987291e-01 -7.96863139e-01 -8.61413807e-02 2.24835330e+02] [-1.43874466e-01 9.91367137e-04 9.89595450e-01 1.10520171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:224.17, Z:111.49 [[-7.51090448e-01 -6.29231096e-01 1.99828346e-01 3.09829999e+02] [-6.41404096e-01 7.67187367e-01 4.93252417e-03 2.24168306e+02] [-1.56409480e-01 -1.24465948e-01 -9.79818505e-01 1.11487697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.41, Y:224.83, Z:110.51 [[-7.46587617e-01 6.57446288e-01 -1.01839620e-01 3.09413168e+02] [-6.51547991e-01 -7.53501039e-01 -8.78714931e-02 2.24825494e+02] [-1.34507046e-01 7.49631128e-04 9.90912354e-01 1.10512551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:224.84, Z:110.52 [[-7.47180514e-01 6.56816628e-01 -1.01553915e-01 3.09429720e+02] [-6.50956962e-01 -7.54050019e-01 -8.75420024e-02 2.24842794e+02] [-1.34075774e-01 6.97549653e-04 9.90970837e-01 1.10516439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.42, Y:224.84, Z:110.52 [[-7.47573893e-01 6.56388319e-01 -1.01428050e-01 3.09424204e+02] [-6.50550607e-01 -7.54422897e-01 -8.73498706e-02 2.24838550e+02] [-1.33855078e-01 6.83596368e-04 9.91000682e-01 1.10515105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.420385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:309.41, Y:224.83, Z:110.51 [[-7.47947294e-01 6.55924068e-01 -1.01678230e-01 3.09411580e+02] [-6.50063059e-01 -7.54826592e-01 -8.74919192e-02 2.24830485e+02] [-1.34137487e-01 6.57916941e-04 9.90962513e-01 1.10512883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.51 [[-7.48314396e-01 6.55463916e-01 -1.01944200e-01 3.09403214e+02] [-6.49579194e-01 -7.55226221e-01 -8.76369017e-02 2.24825605e+02] [-1.34433760e-01 6.40876468e-04 9.90922375e-01 1.10512079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:224.80, Z:110.51 [[-7.48543890e-01 6.55116813e-01 -1.02489052e-01 3.09376136e+02] [-6.49175806e-01 -7.55527334e-01 -8.80296583e-02 2.24804455e+02] [-1.35102989e-01 6.39350031e-04 9.90831355e-01 1.10507849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.510385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.51 [[-7.48945479e-01 6.54559548e-01 -1.03113854e-01 3.09399693e+02] [-6.48550797e-01 -7.56010210e-01 -8.84897001e-02 2.24827935e+02] [-1.35876904e-01 6.00611312e-04 9.90725545e-01 1.10514770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.51 [[-7.49390573e-01 6.53989360e-01 -1.03497273e-01 3.09398819e+02] [-6.47942047e-01 -7.56503535e-01 -8.87327739e-02 2.24827812e+02] [-1.36326343e-01 5.64730833e-04 9.90663823e-01 1.10514915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.570385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.52 [[-7.49939372e-01 6.53350839e-01 -1.03554912e-01 3.09402118e+02] [-6.47302228e-01 -7.57055096e-01 -8.86984071e-02 2.24830337e+02] [-1.36347953e-01 5.12897702e-04 9.90660877e-01 1.10515312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.600385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.51 [[-7.50691353e-01 6.52481826e-01 -1.03585520e-01 3.09404936e+02] [-6.46434279e-01 -7.57804252e-01 -8.86309117e-02 2.24830514e+02] [-1.36327607e-01 4.26772104e-04 9.90663718e-01 1.10514526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.51 [[-7.51354858e-01 6.51716366e-01 -1.03593708e-01 3.09403429e+02] [-6.45670909e-01 -7.58462695e-01 -8.85630720e-02 2.24828012e+02] [-1.36289967e-01 3.45149349e-04 9.90668929e-01 1.10513641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:224.83, Z:110.51 [[-7.51510504e-01 6.51522354e-01 -1.03685021e-01 3.09401416e+02] [-6.45474639e-01 -7.58629348e-01 -8.85663824e-02 2.24826602e+02] [-1.36361478e-01 3.67485043e-04 9.90659080e-01 1.10514076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.690385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:309.39, Y:224.82, Z:110.51 [[-7.51387922e-01 6.51624935e-01 -1.03928512e-01 3.09388828e+02] [-6.45559962e-01 -7.58541197e-01 -8.86994253e-02 2.24816343e+02] [-1.36632815e-01 4.44409430e-04 9.90621662e-01 1.10512079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:224.82, Z:110.51 [[-7.51240033e-01 6.51846018e-01 -1.03610718e-01 3.09392007e+02] [-6.45829815e-01 -7.58351160e-01 -8.83593133e-02 2.24817216e+02] [-1.36169975e-01 5.35837233e-04 9.90685344e-01 1.10512473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:224.82, Z:110.51 [[-7.51364088e-01 6.51711176e-01 -1.03559406e-01 3.09393021e+02] [-6.45722278e-01 -7.58466965e-01 -8.81510276e-02 2.24816460e+02] [-1.35995398e-01 6.37099282e-04 9.90709264e-01 1.10511878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:224.81, Z:110.51 [[-7.51451983e-01 6.51634424e-01 -1.03404520e-01 3.09386969e+02] [-6.45674179e-01 -7.58532865e-01 -8.79360396e-02 2.24809285e+02] [-1.35737878e-01 6.85917509e-04 9.90744547e-01 1.10510544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:224.79, Z:110.50 [[-7.51705784e-01 6.51385166e-01 -1.03129913e-01 3.09363251e+02] [-6.45464501e-01 -7.58746915e-01 -8.76281773e-02 2.24785874e+02] [-1.35329198e-01 6.96090150e-04 9.90800446e-01 1.10504747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:224.81, Z:110.51 [[-7.51810453e-01 6.51281023e-01 -1.03024613e-01 3.09390294e+02] [-6.45380255e-01 -7.58836282e-01 -8.74747111e-02 2.24807122e+02] [-1.35149433e-01 7.25648456e-04 9.90824961e-01 1.10509136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:224.80, Z:110.51 [[-7.52444568e-01 6.50540899e-01 -1.03071389e-01 3.09383728e+02] [-6.44640772e-01 -7.59470931e-01 -8.74195596e-02 2.24801371e+02] [-1.35149723e-01 6.65647089e-04 9.90824964e-01 1.10507819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:223.89, Z:111.38 [[-7.05458611e-01 -7.00270323e-01 1.09314331e-01 3.09582517e+02] [-6.91218862e-01 7.13868423e-01 1.12286949e-01 2.23889177e+02] [-1.56667267e-01 3.65366792e-03 -9.87644682e-01 1.11376726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:224.28, Z:110.40 [[-7.23190273e-01 2.03240324e-01 -6.60067572e-01 3.09699973e+02] [-6.62826044e-01 -4.72777163e-01 5.80640499e-01 2.24278348e+02] [-1.94055311e-01 8.57423539e-01 4.76620826e-01 1.10400051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:224.72, Z:110.52 [[-7.14054353e-01 6.85585962e-01 -1.41768369e-01 3.09259881e+02] [-6.72844116e-01 -7.27990260e-01 -1.31571186e-01 2.24715159e+02] [-1.93409350e-01 1.43903515e-03 9.81117094e-01 1.10522339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.990385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:309.26, Y:224.71, Z:110.52 [[-7.14056979e-01 6.85630303e-01 -1.41540520e-01 3.09258469e+02] [-6.72954695e-01 -7.27948294e-01 -1.31237422e-01 2.24713001e+02] [-1.93014533e-01 1.53936049e-03 9.81194690e-01 1.10522141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:224.71, Z:110.52 [[-7.13542921e-01 6.86151488e-01 -1.41607328e-01 3.09256048e+02] [-6.73500660e-01 -7.27456501e-01 -1.31163640e-01 2.24709075e+02] [-1.93011298e-01 1.78174150e-03 9.81194917e-01 1.10521709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:224.71, Z:110.52 [[-7.13402395e-01 6.86248570e-01 -1.41844716e-01 3.09254976e+02] [-6.73583705e-01 -7.27364588e-01 -1.31246899e-01 2.24706883e+02] [-1.93240820e-01 1.91243767e-03 9.81149493e-01 1.10521368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:224.70, Z:110.52 [[-7.12295370e-01 6.87341352e-01 -1.42116754e-01 3.09253777e+02] [-6.74673063e-01 -7.26330888e-01 -1.31376175e-01 2.24703118e+02] [-1.93524066e-01 2.30370459e-03 9.81092824e-01 1.10520426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:224.70, Z:110.52 [[-7.11845329e-01 6.87663536e-01 -1.42811376e-01 3.09246923e+02] [-6.74903585e-01 -7.26025196e-01 -1.31880876e-01 2.24695114e+02] [-1.94374327e-01 2.50512413e-03 9.80924230e-01 1.10517786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:224.70, Z:110.52 [[-7.11547761e-01 6.87917661e-01 -1.43070173e-01 3.09248478e+02] [-6.75140659e-01 -7.25783822e-01 -1.31995964e-01 2.24695115e+02] [-1.94640372e-01 2.67105878e-03 9.80871037e-01 1.10518296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:224.69, Z:110.51 [[-7.07992449e-01 6.89835849e-01 -1.51238861e-01 3.09251744e+02] [-6.77381861e-01 -7.23899467e-01 -1.30856318e-01 2.24689831e+02] [-1.99751110e-01 9.80117598e-03 9.79797648e-01 1.10510943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:309.24, Y:224.69, Z:110.52 [[-7.10234614e-01 6.90049093e-01 -1.39280445e-01 3.09242699e+02] [-6.76080848e-01 -7.23751581e-01 -1.38196731e-01 2.24691558e+02] [-1.96166971e-01 -3.98726007e-03 9.80562401e-01 1.10521092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:224.68, Z:110.52 [[-7.09971225e-01 6.89246596e-01 -1.44499098e-01 3.09243609e+02] [-6.76321430e-01 -7.24518972e-01 -1.32896889e-01 2.24684246e+02] [-1.96291066e-01 3.37486984e-03 9.80539865e-01 1.10516953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:224.68, Z:110.51 [[-7.07875887e-01 6.90425066e-01 -1.49080373e-01 3.09243641e+02] [-6.77798731e-01 -7.23361432e-01 -1.31670498e-01 2.24677717e+02] [-1.98747605e-01 7.84011719e-03 9.80019348e-01 1.10510976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.24, Y:224.68, Z:110.52 [[-7.10656430e-01 6.89295034e-01 -1.40853807e-01 3.09237718e+02] [-6.75827489e-01 -7.24479806e-01 -1.35595780e-01 2.24678858e+02] [-1.95511236e-01 -1.16913824e-03 9.80700765e-01 1.10516735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:224.67, Z:110.51 [[-7.11466867e-01 6.87999378e-01 -1.43079534e-01 3.09237190e+02] [-6.75379969e-01 -7.25703854e-01 -1.31209048e-01 2.24671721e+02] [-1.94105113e-01 3.28216052e-03 9.80975246e-01 1.10513470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:224.67, Z:110.51 [[-7.11875380e-01 6.87500265e-01 -1.43446260e-01 3.09235967e+02] [-6.74829852e-01 -7.26176874e-01 -1.31422291e-01 2.24668391e+02] [-1.94520216e-01 3.24552503e-03 9.80893140e-01 1.10512280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:224.66, Z:110.51 [[-7.12496277e-01 6.86713532e-01 -1.44130427e-01 3.09234897e+02] [-6.73929559e-01 -7.26921372e-01 -1.31925238e-01 2.24663774e+02] [-1.95366334e-01 3.13751442e-03 9.80725319e-01 1.10511321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:224.65, Z:110.50 [[-7.08798483e-01 6.88396536e-01 -1.53996491e-01 3.09236403e+02] [-6.76108090e-01 -7.25236166e-01 -1.30039816e-01 2.24654901e+02] [-2.01202784e-01 1.19462496e-02 9.79476762e-01 1.10501780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:224.57, Z:110.49 [[-7.13629553e-01 6.86732204e-01 -1.38317540e-01 3.09124904e+02] [-6.72788499e-01 -7.26891411e-01 -1.37784293e-01 2.24567186e+02] [-1.95162743e-01 -5.26849320e-03 9.80756721e-01 1.10485126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:224.65, Z:110.51 [[-7.14322439e-01 6.84791518e-01 -1.44236020e-01 3.09222825e+02] [-6.71930349e-01 -7.28734602e-01 -1.32119209e-01 2.24649918e+02] [-1.95583892e-01 2.54084338e-03 9.80683683e-01 1.10509682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:224.64, Z:110.51 [[-7.14437675e-01 6.84526707e-01 -1.44920653e-01 3.09214293e+02] [-6.71695549e-01 -7.28981314e-01 -1.31952012e-01 2.24640278e+02] [-1.95969124e-01 3.07106899e-03 9.80605258e-01 1.10506951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:224.64, Z:110.51 [[-7.14681589e-01 6.83919616e-01 -1.46574846e-01 3.09219706e+02] [-6.70800974e-01 -7.29551112e-01 -1.33346273e-01 2.24642017e+02] [-1.98131974e-01 3.02242335e-03 9.80170692e-01 1.10507776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:224.64, Z:110.51 [[-7.14993460e-01 6.83522727e-01 -1.46904848e-01 3.09217442e+02] [-6.70369883e-01 -7.29922885e-01 -1.33479592e-01 2.24638213e+02] [-1.98465545e-01 3.04355022e-03 9.80103140e-01 1.10506594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:224.63, Z:110.50 [[-7.15250276e-01 6.83256959e-01 -1.46891017e-01 3.09211924e+02] [-6.70126375e-01 -7.30171589e-01 -1.33342016e-01 2.24631860e+02] [-1.98362508e-01 3.06263084e-03 9.80123939e-01 1.10504637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.21, Y:224.63, Z:110.50 [[-7.12853821e-01 6.83867737e-01 -1.55448861e-01 3.09214314e+02] [-6.71181877e-01 -7.29529452e-01 -1.31535797e-01 2.24625238e+02] [-2.03357610e-01 1.05686623e-02 9.79047489e-01 1.10496384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.20, Y:224.63, Z:110.50 [[-7.16246890e-01 6.83194547e-01 -1.42251903e-01 3.09202482e+02] [-6.68802111e-01 -7.30220410e-01 -1.39577539e-01 2.24625233e+02] [-1.99233857e-01 -4.83360511e-03 9.79940053e-01 1.10504473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:224.62, Z:110.50 [[-7.16897190e-01 6.81206856e-01 -1.48376674e-01 3.09204052e+02] [-6.67891738e-01 -7.32084879e-01 -1.34061021e-01 2.24619964e+02] [-1.99947606e-01 2.99158589e-03 9.79802024e-01 1.10500764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:224.62, Z:110.50 [[-7.17512812e-01 6.80583523e-01 -1.48261366e-01 3.09200707e+02] [-6.67301680e-01 -7.32664728e-01 -1.33831476e-01 2.24616041e+02] [-1.99709371e-01 2.90926030e-03 9.79850858e-01 1.10499684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.740385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.20, Y:224.61, Z:110.50 [[-7.18087276e-01 6.79971150e-01 -1.48289918e-01 3.09198316e+02] [-6.66693973e-01 -7.33233433e-01 -1.33745577e-01 2.24612788e+02] [-1.99674259e-01 2.82299718e-03 9.79858266e-01 1.10498287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:224.60, Z:110.49 [[-7.17497930e-01 6.79550652e-01 -1.52995527e-01 3.09192239e+02] [-6.66768129e-01 -7.33587920e-01 -1.31411664e-01 2.24602153e+02] [-2.01536552e-01 7.72494479e-03 9.79450531e-01 1.10490531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.92, Y:224.48, Z:111.27 [[-7.32680213e-01 1.18485593e-01 6.70179730e-01 3.08922441e+02] [-6.63059039e-01 9.76854740e-02 -7.42165924e-01 2.24480454e+02] [-1.53402794e-01 -9.88139015e-01 6.99072947e-03 1.11266821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:223.85, Z:111.38 [[-6.99242977e-01 -6.86253047e-01 2.00289828e-01 3.09345558e+02] [-7.01851237e-01 7.12255139e-01 -9.87214005e-03 2.23853088e+02] [-1.35882673e-01 -1.47476688e-01 -9.79686953e-01 1.11384571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:224.41, Z:110.41 [[-6.81365067e-01 7.27052145e-01 -8.44797307e-02 3.08936716e+02] [-7.21818797e-01 -6.86580293e-01 -8.70926287e-02 2.24414875e+02] [-1.21323001e-01 1.63718281e-03 9.92611731e-01 1.10408344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.94, Y:224.41, Z:110.41 [[-6.81780333e-01 7.26655212e-01 -8.45445496e-02 3.08935491e+02] [-7.21419564e-01 -6.87000427e-01 -8.70874614e-02 2.24412714e+02] [-1.21364699e-01 1.61757370e-03 9.92606666e-01 1.10407301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.93, Y:224.41, Z:110.41 [[-6.82070614e-01 7.26314097e-01 -8.51323174e-02 3.08932400e+02] [-7.21011466e-01 -6.87361051e-01 -8.76199319e-02 2.24410211e+02] [-1.22156231e-01 1.61839617e-03 9.92509565e-01 1.10407418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:223.63, Z:111.30 [[-6.42467836e-01 -7.61984181e-01 8.13338094e-02 3.09207327e+02] [-7.55175654e-01 6.47583746e-01 1.01710491e-01 2.23631248e+02] [-1.30172238e-01 3.92440604e-03 -9.91483630e-01 1.11298173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.87, Y:224.40, Z:110.40 [[-6.24227906e-01 7.76723371e-01 -8.39066550e-02 3.08868780e+02] [-7.71257610e-01 -6.29801607e-01 -9.22585205e-02 2.24403743e+02] [-1.24503895e-01 7.12330310e-03 9.92193549e-01 1.10402981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:224.22, Z:110.37 [[-6.25214862e-01 7.75428390e-01 -8.84148607e-02 3.08716863e+02] [-7.69717036e-01 -6.31370668e-01 -9.43756520e-02 2.24220826e+02] [-1.29004110e-01 9.04936427e-03 9.91602768e-01 1.10367572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.040385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:308.83, Y:224.09, Z:111.38 [[-6.12751827e-01 -3.83255933e-01 6.91122340e-01 3.08829799e+02] [-7.85603944e-01 3.90354527e-01 -4.80051859e-01 2.24094319e+02] [-8.58000111e-02 -8.37101089e-01 -5.40277822e-01 1.11384682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:223.98, Z:110.32 [[-6.02914494e-01 7.96269765e-01 -4.94830607e-02 3.08506541e+02] [-7.94610586e-01 -6.04889153e-01 -5.19916237e-02 2.23979282e+02] [-7.13311247e-02 7.97326036e-03 9.97420823e-01 1.10318764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.100385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.77, Y:223.98, Z:111.36 [[-5.81865108e-01 -4.79968096e-01 6.56554357e-01 3.08768480e+02] [-8.12812500e-01 3.70717001e-01 -4.49338119e-01 2.23984488e+02] [-2.77279012e-02 -7.95109761e-01 -6.05831356e-01 1.11360046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:223.49, Z:110.80 [[-5.49594909e-01 -5.51100645e-01 -6.27880176e-01 3.09309528e+02] [-8.32530943e-01 2.98716140e-01 4.66541421e-01 2.23491654e+02] [-6.95533356e-02 7.79138464e-01 -6.22981209e-01 1.10796410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.88, Y:223.26, Z:111.23 [[-4.78048564e-01 -8.77918267e-01 2.70015956e-02 3.08884235e+02] [-8.74864037e-01 4.78664922e-01 7.41134838e-02 2.23261870e+02] [-7.79902980e-02 1.18071195e-02 -9.96884199e-01 1.11228950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.15, Y:223.52, Z:110.50 [[-4.72642972e-01 -1.45222895e-01 -8.69205920e-01 3.09153820e+02] [-8.70435576e-01 -7.71433925e-02 4.86200375e-01 2.23517531e+02] [-1.37660920e-01 9.86386946e-01 -8.99458920e-02 1.10501131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2203857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.18, Y:223.81, Z:111.11 [[-4.68826389e-01 1.13673638e-01 8.75945273e-01 3.08179733e+02] [-8.80397266e-01 2.00601503e-02 -4.73812457e-01 2.23806277e+02] [-7.14315795e-02 -9.93315607e-01 9.06732323e-02 1.11106990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.31, Y:223.79, Z:110.31 [[-4.76200675e-01 8.78775028e-01 -3.14224078e-02 3.08313449e+02] [-8.76854207e-01 -4.77236252e-01 -5.80711629e-02 2.23792250e+02] [-6.60273999e-02 -1.00656504e-04 9.97817805e-01 1.10312168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.31, Y:223.79, Z:110.31 [[-4.77299032e-01 8.78170410e-01 -3.16601621e-02 3.08308691e+02] [-8.76223426e-01 -4.78347894e-01 -5.84448508e-02 2.23786142e+02] [-6.64691104e-02 -1.54295033e-04 9.97788471e-01 1.10312085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.31, Y:223.78, Z:110.31 [[-4.77324548e-01 8.78158314e-01 -3.16109502e-02 3.08305262e+02] [-8.76226672e-01 -4.78370116e-01 -5.82138475e-02 2.23781007e+02] [-6.62427081e-02 -8.85407357e-05 9.97803536e-01 1.10312209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.30, Y:223.78, Z:110.31 [[-4.75854797e-01 8.78938855e-01 -3.20733754e-02 3.08302285e+02] [-8.76957918e-01 -4.76934467e-01 -5.89773185e-02 2.23777754e+02] [-6.71343550e-02 6.23605340e-05 9.97743942e-01 1.10312758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.30, Y:223.77, Z:110.31 [[-4.75436631e-01 8.79167900e-01 -3.19970865e-02 3.08297053e+02] [-8.77201101e-01 -4.76512107e-01 -5.87744933e-02 2.23769108e+02] [-6.69196469e-02 1.24332414e-04 9.97758360e-01 1.10312092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.400385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.30, Y:223.77, Z:110.31 [[-4.74342131e-01 8.79767522e-01 -3.17592468e-02 3.08296311e+02] [-8.77836828e-01 -4.75404086e-01 -5.82533909e-02 2.23768630e+02] [-6.63479171e-02 2.47398992e-04 9.97796519e-01 1.10311102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.30, Y:223.77, Z:110.31 [[-4.74266759e-01 8.79807583e-01 -3.17751335e-02 3.08295189e+02] [-8.77879758e-01 -4.75329922e-01 -5.82116511e-02 2.23766843e+02] [-6.63187238e-02 2.86895433e-04 9.97798449e-01 1.10310686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.29, Y:223.76, Z:110.31 [[-4.74071380e-01 8.79910189e-01 -3.18494330e-02 3.08293013e+02] [-8.77977805e-01 -4.75139926e-01 -5.82840041e-02 2.23763757e+02] [-6.64176263e-02 3.32317025e-04 9.97791856e-01 1.10310184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.29, Y:223.76, Z:110.31 [[-4.72627881e-01 8.80675750e-01 -3.21420201e-02 3.08290407e+02] [-8.78713762e-01 -4.73719324e-01 -5.87547912e-02 2.23763493e+02] [-6.69702158e-02 4.74482957e-04 9.97754862e-01 1.10310373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.29, Y:223.76, Z:110.31 [[-4.72067451e-01 8.80977936e-01 -3.20966966e-02 3.08286432e+02] [-8.79026446e-01 -4.73157032e-01 -5.86082717e-02 2.23759528e+02] [-6.68193719e-02 5.46787748e-04 9.97764939e-01 1.10310603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.28, Y:223.76, Z:110.31 [[-4.71338107e-01 8.81381515e-01 -3.17334876e-02 3.08281777e+02] [-8.79478971e-01 -4.72404735e-01 -5.78835591e-02 2.23755042e+02] [-6.60085488e-02 6.26207860e-04 9.97818861e-01 1.10310445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.28, Y:223.75, Z:110.31 [[-4.71579280e-01 8.81256910e-01 -3.16107845e-02 3.08280372e+02] [-8.79373317e-01 -4.72637124e-01 -5.75909625e-02 2.23752472e+02] [-6.56928639e-02 6.38975747e-04 9.97839686e-01 1.10309995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.28, Y:223.75, Z:110.31 [[-4.72747844e-01 8.80623970e-01 -3.17946510e-02 3.08276985e+02] [-8.78721564e-01 -4.73815448e-01 -5.78561499e-02 2.23749613e+02] [-6.60143092e-02 5.87275302e-04 9.97818504e-01 1.10310186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.27, Y:223.75, Z:110.31 [[-4.73493200e-01 8.80222864e-01 -3.18103813e-02 3.08273587e+02] [-8.78322206e-01 -4.74560209e-01 -5.78161744e-02 2.23745268e+02] [-6.59870598e-02 5.64198880e-04 9.97820319e-01 1.10309743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.27, Y:223.74, Z:110.31 [[-4.74160063e-01 8.79868490e-01 -3.16808406e-02 3.08269460e+02] [-8.77987521e-01 -4.75216939e-01 -5.75045519e-02 2.23739106e+02] [-6.56517154e-02 5.49020801e-04 9.97842448e-01 1.10309033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.27, Y:223.74, Z:110.31 [[-4.74957051e-01 8.79460412e-01 -3.10674104e-02 3.08268241e+02] [-8.77654632e-01 -4.75971767e-01 -5.63313753e-02 2.23739323e+02] [-6.43284248e-02 5.11472761e-04 9.97928651e-01 1.10307961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.730385723 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:308.01, Y:223.26, Z:110.27 [[-4.74871060e-01 8.79363474e-01 -3.48906321e-02 3.08006576e+02] [-8.77718121e-01 -4.76125048e-01 -5.39985120e-02 2.23263546e+02] [-6.40966230e-02 4.98180940e-03 9.97931262e-01 1.10266795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.22, Y:223.55, Z:111.23 [[-4.60153551e-01 -2.57290913e-01 8.49741193e-01 3.08219824e+02] [-8.87648467e-01 1.53166625e-01 -4.34304252e-01 2.23547481e+02] [-1.84094534e-02 -9.54118112e-01 -2.98864051e-01 1.11234515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.16, Y:223.58, Z:110.26 [[-4.57602153e-01 8.89156777e-01 7.03302483e-04 3.08162201e+02] [-8.89155783e-01 -4.57602694e-01 1.32969012e-03 2.23581194e+02] [ 1.50413610e-03 -1.68764063e-05 9.99998869e-01 1.10255338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:223.58, Z:110.26 [[-4.57732987e-01 8.89089450e-01 6.79693666e-04 3.08162655e+02] [-8.89088524e-01 -4.57733492e-01 1.28340329e-03 2.23583426e+02] [ 1.45217888e-03 -1.68518147e-05 9.99998946e-01 1.10255308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.16, Y:223.58, Z:110.26 [[-4.57989189e-01 8.88957477e-01 7.12415770e-04 3.08159893e+02] [-8.88956461e-01 -4.57989743e-01 1.34405342e-03 2.23579345e+02] [ 1.52108545e-03 -1.77446639e-05 9.99998843e-01 1.10255179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:223.57, Z:110.26 [[-4.58352687e-01 8.88770277e-01 4.57750426e-04 3.08155607e+02] [-8.88769861e-01 -4.58352915e-01 8.60109788e-04 2.23573243e+02] [ 9.74251255e-04 -1.26011501e-05 9.99999525e-01 1.10255392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.15, Y:223.57, Z:110.26 [[-4.59658820e-01 8.88095446e-01 4.99006334e-04 3.08150999e+02] [-8.88094959e-01 -4.59659090e-01 9.29823954e-04 2.23566468e+02] [ 1.05514521e-03 -1.57632283e-05 9.99999443e-01 1.10255842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.15, Y:223.57, Z:110.26 [[-4.61329383e-01 8.87228721e-01 6.31071657e-04 3.08149136e+02] [-8.87227930e-01 -4.61329814e-01 1.18460842e-03 2.23566486e+02] [ 1.34215078e-03 -1.34097277e-05 9.99999099e-01 1.10255649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.15, Y:223.56, Z:110.25 [[-4.62177535e-01 8.86787078e-01 7.77062514e-04 3.08147551e+02] [-8.86785879e-01 -4.62178188e-01 1.45867740e-03 2.23563484e+02] [ 1.65267761e-03 -1.49201387e-05 9.99998634e-01 1.10254871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:223.56, Z:110.25 [[-4.62998416e-01 8.86358644e-01 9.06321064e-04 3.08143454e+02] [-8.86357014e-01 -4.62999303e-01 1.69967490e-03 2.23556213e+02] [ 1.92614756e-03 -1.63772485e-05 9.99998145e-01 1.10254087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.030385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:308.13, Y:223.54, Z:110.25 [[-4.63123434e-01 8.86293173e-01 1.04694901e-03 3.08134521e+02] [-8.86290999e-01 -4.63124617e-01 1.96310762e-03 2.23542226e+02] [ 2.22475674e-03 -1.87403452e-05 9.99997525e-01 1.10253143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.13, Y:223.54, Z:110.26 [[-4.63782811e-01 8.85938204e-01 4.35930110e-03 3.08130805e+02] [-8.85939103e-01 -4.63795227e-01 2.42768290e-03 2.23542245e+02] [ 4.17260006e-03 -2.73615771e-03 9.99987551e-01 1.10255012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.97, Y:222.98, Z:110.72 [[-4.42395844e-01 -5.86732715e-01 -6.78255585e-01 3.08966169e+02] [-8.94802328e-01 2.38079202e-01 3.77686495e-01 2.22983305e+02] [-6.01224743e-02 7.73991612e-01 -6.30335048e-01 1.10724701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:223.44, Z:110.28 [[-4.24397140e-01 9.05228342e-01 -2.11829404e-02 3.08049696e+02] [-9.04142909e-01 -4.24925324e-01 -4.43178168e-02 2.23436801e+02] [-4.91189117e-02 3.44050679e-04 9.98792879e-01 1.10277447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:223.44, Z:110.28 [[-4.24860122e-01 9.05011542e-01 -2.11656578e-02 3.08048036e+02] [-9.03933548e-01 -4.25386849e-01 -4.41607371e-02 2.23436267e+02] [-4.89695693e-02 3.70212059e-04 9.98800202e-01 1.10277801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:223.43, Z:110.28 [[-4.26005009e-01 9.04485852e-01 -2.06173770e-02 3.08040049e+02] [-9.03465276e-01 -4.26503501e-01 -4.29564770e-02 2.23425322e+02] [-4.76469092e-02 3.27409869e-04 9.98864187e-01 1.10277053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:223.43, Z:110.28 [[-4.27036342e-01 9.04003097e-01 -2.04539397e-02 3.08040373e+02] [-9.03000677e-01 -4.27525805e-01 -4.25612860e-02 2.23428189e+02] [-4.72201214e-02 2.94705553e-04 9.98884464e-01 1.10276714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.93, Y:223.21, Z:110.26 [[-4.27476364e-01 9.03702088e-01 -2.42176391e-02 3.07933576e+02] [-9.02722175e-01 -4.28144918e-01 -4.22445693e-02 2.23207359e+02] [-4.85451646e-02 3.80324495e-03 9.98813748e-01 1.10258218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.86, Y:223.33, Z:111.01 [[-4.33409941e-01 1.76668307e-01 8.83710435e-01 3.07857728e+02] [-9.01184971e-01 -9.00054652e-02 -4.23986633e-01 2.23327457e+02] [ 4.63376806e-03 -9.80146584e-01 1.98220087e-01 1.11010592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:222.93, Z:110.24 [[-4.45030114e-01 8.95450533e-01 1.07953555e-02 3.07795468e+02] [-8.95279876e-01 -4.45157219e-01 1.75782575e-02 2.22934415e+02] [ 2.05460905e-02 -1.84201056e-03 9.99787210e-01 1.10235572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:222.76, Z:111.06 [[-3.92321567e-01 -8.93535584e-01 -2.18352805e-01 3.08714461e+02] [-9.19609887e-01 3.75846145e-01 1.14268682e-01 2.22760435e+02] [-2.00360733e-02 2.45629467e-01 -9.69156706e-01 1.11055143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:223.12, Z:110.24 [[-3.83255851e-01 9.23642165e-01 3.21707395e-04 3.07846407e+02] [-9.23641859e-01 -3.83255986e-01 7.52782251e-04 2.23119352e+02] [ 8.18597711e-04 -8.63421416e-06 9.99999665e-01 1.10243629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:223.12, Z:110.24 [[-3.84071874e-01 9.23303198e-01 2.49265945e-05 3.07844513e+02] [-9.23303197e-01 -3.84071874e-01 4.63380657e-05 2.23120552e+02] [ 5.23576864e-05 -5.21765683e-06 9.99999999e-01 1.10244769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:223.12, Z:110.24 [[-3.84961272e-01 9.22932726e-01 -5.42567894e-05 3.07841961e+02] [-9.22932715e-01 -3.84961276e-01 -1.41965245e-04 2.23116454e+02] [-1.51911135e-04 -4.57575557e-06 9.99999989e-01 1.10244838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.450385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:307.84, Y:223.11, Z:110.24 [[-3.85791222e-01 9.22586100e-01 1.47196511e-04 3.07840819e+02] [-9.22586039e-01 -3.85791250e-01 3.36523290e-04 2.23114567e+02] [ 3.67258834e-04 -5.97371500e-06 9.99999933e-01 1.10244996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:223.10, Z:110.24 [[-3.87075972e-01 9.22047586e-01 6.63696156e-04 3.07834508e+02] [-9.22046266e-01 -3.87076541e-01 1.56050500e-03 2.23100833e+02] [ 1.69576108e-03 -7.92457304e-06 9.99998562e-01 1.10244557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.83, Y:223.09, Z:110.24 [[-3.88462863e-01 9.21463820e-01 1.01598057e-03 3.07830200e+02] [-9.21460715e-01 -3.88464191e-01 2.39219697e-03 2.23090459e+02] [ 2.59899503e-03 -6.90650193e-06 9.99996623e-01 1.10244406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:223.10, Z:110.24 [[-3.90840537e-01 9.20457161e-01 1.51279389e-03 3.07833709e+02] [-9.20450264e-01 -3.90843465e-01 3.56331133e-03 2.23098456e+02] [ 3.87114104e-03 2.34980243e-07 9.99992507e-01 1.10244458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:223.08, Z:110.24 [[-3.92267717e-01 9.19849533e-01 1.69577157e-03 3.07826605e+02] [-9.19840886e-01 -3.92271382e-01 3.98845637e-03 2.23081544e+02] [ 4.33398239e-03 4.70265314e-06 9.99990608e-01 1.10244208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.82, Y:223.07, Z:110.24 [[-3.93290274e-01 9.19413003e-01 1.57833344e-03 3.07824470e+02] [-9.19405529e-01 -3.93293441e-01 3.70712137e-03 2.23073777e+02] [ 4.02912378e-03 6.84629243e-06 9.99991883e-01 1.10244727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.82, Y:223.06, Z:110.24 [[-3.93497648e-01 9.19324796e-01 1.23319445e-03 3.07817128e+02] [-9.19320250e-01 -3.93499581e-01 2.89100898e-03 2.23055307e+02] [ 3.14303774e-03 3.90460193e-06 9.99995061e-01 1.10244744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.660385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:307.82, Y:223.07, Z:110.24 [[-3.93815294e-01 9.19189003e-01 1.04406896e-03 3.07822258e+02] [-9.19185766e-01 -3.93816678e-01 2.43953987e-03 2.23066066e+02] [ 2.65356999e-03 1.03478130e-06 9.99996479e-01 1.10244772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:223.07, Z:110.25 [[-3.93311924e-01 9.19404272e-01 1.23090021e-03 3.07825343e+02] [-9.19399784e-01 -3.93313851e-01 2.87272390e-03 2.23071543e+02] [ 3.12532473e-03 -1.81281822e-06 9.99995116e-01 1.10245301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.81, Y:223.03, Z:110.25 [[-3.96002720e-01 9.18248535e-01 1.21366983e-03 3.07807057e+02] [-9.18244503e-01 -3.96004579e-01 2.72143838e-03 2.23029251e+02] [ 2.97957561e-03 -3.67486500e-05 9.99995560e-01 1.10245530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:223.03, Z:110.25 [[-3.94603453e-01 9.18850912e-01 1.05689553e-03 3.07808948e+02] [-9.18847683e-01 -3.94604868e-01 2.43593160e-03 2.23034074e+02] [ 2.65531409e-03 -9.89898985e-06 9.99996475e-01 1.10247003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:223.03, Z:110.25 [[-3.93967122e-01 9.19124117e-01 8.74045665e-04 3.07810101e+02] [-9.19121921e-01 -3.93968092e-01 2.00910127e-03 2.23034704e+02] [ 2.19095953e-03 -1.18346861e-05 9.99997600e-01 1.10247102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:223.03, Z:110.25 [[-3.93008333e-01 9.19534547e-01 8.17461354e-04 3.07808041e+02] [-9.19532631e-01 -3.93009183e-01 1.87674304e-03 2.23027469e+02] [ 2.04699987e-03 -1.41067391e-05 9.99997905e-01 1.10246884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:223.01, Z:110.25 [[-3.90653195e-01 9.20537759e-01 5.60809645e-04 3.07799801e+02] [-9.20536871e-01 -3.90653598e-01 1.27892121e-03 2.23007014e+02] [ 1.39637757e-03 -1.66312971e-05 9.99999025e-01 1.10247334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:223.02, Z:110.25 [[-3.88402853e-01 9.21489544e-01 4.94263870e-04 3.07805433e+02] [-9.21488856e-01 -3.88403167e-01 1.12622274e-03 2.23019976e+02] [ 1.22977613e-03 -1.80305223e-05 9.99999244e-01 1.10248014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:223.02, Z:110.25 [[-3.87688449e-01 9.21790231e-01 6.61512243e-04 3.07804305e+02] [-9.21788995e-01 -3.87689012e-01 1.50960497e-03 2.23017381e+02] [ 1.64800014e-03 -2.45182977e-05 9.99998642e-01 1.10248424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:223.02, Z:110.25 [[-3.87187732e-01 9.22000597e-01 7.48483526e-04 3.07803565e+02] [-9.21999016e-01 -3.87188454e-01 1.70739570e-03 2.23016149e+02] [ 1.86402403e-03 -2.90184084e-05 9.99998262e-01 1.10248777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:223.01, Z:110.25 [[-3.86755232e-01 9.22182227e-01 5.74682502e-04 3.07801259e+02] [-9.22181303e-01 -3.86755658e-01 1.30622878e-03 2.23010491e+02] [ 1.42684267e-03 -2.47706429e-05 9.99998982e-01 1.10249042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:223.00, Z:110.25 [[-3.86183861e-01 9.22421602e-01 6.43047577e-04 3.07800002e+02] [-9.22420445e-01 -3.86184396e-01 1.46108138e-03 2.23003152e+02] [ 1.59606796e-03 -2.89141841e-05 9.99998726e-01 1.10249403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:223.00, Z:110.25 [[-3.86712928e-01 9.22200044e-01 4.35428894e-04 3.07802282e+02] [-9.22199520e-01 -3.86713173e-01 9.83965410e-04 2.23003081e+02] [ 1.07579903e-03 -2.10401715e-05 9.99999421e-01 1.10249237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:222.99, Z:110.25 [[-3.87980124e-01 9.21667712e-01 2.29492167e-04 3.07796500e+02] [-9.21667570e-01 -3.87980192e-01 5.11959968e-04 2.22987796e+02] [ 5.60895386e-04 -1.28851962e-05 9.99999843e-01 1.10248565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:222.98, Z:110.25 [[-3.89281964e-01 9.21118565e-01 3.77080139e-04 3.07792154e+02] [-9.21118173e-01 -3.89282146e-01 8.49259721e-04 2.22975206e+02] [ 9.29059460e-04 -1.67338770e-05 9.99999568e-01 1.10248577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.81, Y:222.98, Z:110.23 [[-3.88173486e-01 9.21413321e-01 -1.78559808e-02 3.07807924e+02] [-9.21541589e-01 -3.88272675e-01 -2.32997674e-03 2.22982955e+02] [-9.07986104e-03 1.55505937e-02 9.99837854e-01 1.10234401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.77, Y:222.93, Z:110.26 [[-4.00289019e-01 9.16223863e-01 1.73935332e-02 3.07768176e+02] [-9.16388628e-01 -4.00232608e-01 -6.76336945e-03 2.22931829e+02] [ 7.64698666e-04 -1.86465385e-02 9.99825846e-01 1.10256224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.67, Y:222.68, Z:110.24 [[-4.03055468e-01 9.15123586e-01 -9.75253518e-03 3.07669404e+02] [-9.15160411e-01 -4.03087211e-01 -1.45669815e-03 2.22675253e+02] [-5.26418105e-03 8.33800395e-03 9.99951382e-01 1.10237515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:307.73, Y:222.80, Z:111.13 [[-3.92127627e-01 -1.45003822e-01 9.08410599e-01 3.07728460e+02] [-9.18521199e-01 7.45901698e-03 -3.95301367e-01 2.22803614e+02] [ 5.05443590e-02 -9.89402979e-01 -1.36113971e-01 1.11133384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:222.70, Z:111.11 [[-3.82264494e-01 -1.72410785e-01 9.07826182e-01 3.07680364e+02] [-9.16302849e-01 -5.62485278e-02 -3.96516321e-01 2.22702909e+02] [ 1.19427577e-01 -9.83417828e-01 -1.36478679e-01 1.11107890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.33, Y:222.19, Z:110.23 [[-4.06711245e-01 1.48067779e-01 -9.01477618e-01 3.08331298e+02] [-9.11406170e-01 1.90516540e-03 4.11503541e-01 2.22189553e+02] [ 6.26478794e-02 9.88975380e-01 1.34175035e-01 1.10228353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:222.51, Z:110.24 [[-3.98206006e-01 9.16913708e-01 2.64807265e-02 3.07592238e+02] [-9.14914389e-01 -3.99085499e-01 6.05179738e-02 2.22507441e+02] [ 6.60578337e-02 -1.28977094e-04 9.97815788e-01 1.10235868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:222.50, Z:110.24 [[-3.98416476e-01 9.16821619e-01 2.65034297e-02 3.07589945e+02] [-9.14828660e-01 -3.99296994e-01 6.04188207e-02 2.22500020e+02] [ 6.59760208e-02 -1.74243503e-04 9.97821194e-01 1.10235852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:222.50, Z:110.24 [[-3.98338957e-01 9.16860631e-01 2.63184182e-02 3.07591941e+02] [-9.14900396e-01 -3.99207389e-01 5.99226716e-02 2.22501750e+02] [ 6.54472455e-02 -2.09196770e-04 9.97856009e-01 1.10235219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:307.59, Y:222.50, Z:110.23 [[-3.97922951e-01 9.17035253e-01 2.65267714e-02 3.07590156e+02] [-9.15049216e-01 -3.98806058e-01 6.03213055e-02 2.22496260e+02] [ 6.58958008e-02 -2.70069442e-04 9.97826473e-01 1.10233825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:222.49, Z:110.24 [[-3.98792121e-01 9.16681347e-01 2.56934210e-02 3.07584747e+02] [-9.14822388e-01 -3.99618884e-01 5.83502094e-02 2.22486015e+02] [ 6.37561248e-02 -2.35312995e-04 9.97965481e-01 1.10236154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.57, Y:222.45, Z:110.24 [[-3.98323645e-01 9.16986768e-01 2.17609867e-02 3.07569111e+02] [-9.15050498e-01 -3.98898931e-01 5.96844132e-02 2.22447907e+02] [ 6.34102515e-02 3.86131135e-03 9.97980075e-01 1.10237254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:222.48, Z:110.24 [[-3.98991869e-01 9.16490025e-01 2.91808660e-02 3.07578465e+02] [-9.14809939e-01 -4.00032329e-01 5.56498961e-02 2.22477550e+02] [ 6.26758645e-02 -4.49109016e-03 9.98023831e-01 1.10237796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:222.47, Z:110.24 [[-3.99388976e-01 9.16432793e-01 2.52859906e-02 3.07579784e+02] [-9.14654811e-01 -4.00188481e-01 5.70592358e-02 2.22473692e+02] [ 6.24101170e-02 -3.39123238e-04 9.98050531e-01 1.10235476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.530385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.58, Y:222.47, Z:110.24 [[-3.99909597e-01 9.16201632e-01 2.54339141e-02 3.07577411e+02] [-9.14406787e-01 -4.00717430e-01 5.73216292e-02 2.22466465e+02] [ 6.27099830e-02 -3.33474020e-04 9.98031736e-01 1.10235014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.53, Y:222.35, Z:110.24 [[-4.00994308e-01 9.15819270e-01 2.18776258e-02 3.07528973e+02] [-9.13874335e-01 -4.01570938e-01 5.97869680e-02 2.22352218e+02] [ 6.35394761e-02 3.98083310e-03 9.97971386e-01 1.10239578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.49, Y:222.43, Z:111.06 [[-4.00118474e-01 -2.58061577e-02 9.16100021e-01 3.07487562e+02] [-9.08359555e-01 -1.21471299e-01 -4.00159522e-01 2.22431784e+02] [ 1.21606439e-01 -9.92259425e-01 2.51616408e-02 1.11059034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.620385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.43, Y:222.13, Z:110.23 [[-4.00611493e-01 9.14937233e-01 4.89927658e-02 3.07429461e+02] [-9.06868456e-01 -4.03574618e-01 1.21314188e-01 2.22128888e+02] [ 1.30767104e-01 4.16986406e-03 9.91404346e-01 1.10234060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:222.22, Z:110.22 [[-4.14649374e-01 9.08051861e-01 5.92259656e-02 3.07472598e+02] [-9.00525051e-01 -4.18828942e-01 1.16777355e-01 2.22223465e+02] [ 1.30845443e-01 -4.91280869e-03 9.91390606e-01 1.10224635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:222.22, Z:110.22 [[-4.15038742e-01 9.08120038e-01 5.53248438e-02 3.07473030e+02] [-9.00342583e-01 -4.18709505e-01 1.18598413e-01 2.22219529e+02] [ 1.30866633e-01 -5.88376666e-04 9.91399807e-01 1.10223309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:221.79, Z:111.17 [[-3.53655287e-01 -9.33305214e-01 -6.22038206e-02 3.08140270e+02] [-9.27097897e-01 3.58577309e-01 -1.09141202e-01 2.21787318e+02] [ 1.24166931e-01 1.90706683e-02 -9.92078063e-01 1.11171660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.41, Y:222.15, Z:110.23 [[-3.46102063e-01 9.37321991e-01 4.05073753e-02 3.07409400e+02] [-9.29255161e-01 -3.48430558e-01 1.22804690e-01 2.22154800e+02] [ 1.29221543e-01 4.86126882e-03 9.91603833e-01 1.10226894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.40, Y:222.15, Z:110.23 [[-3.46123947e-01 9.37072487e-01 4.57533384e-02 3.07404323e+02] [-9.29253074e-01 -3.49134159e-01 1.20805890e-01 2.22151263e+02] [ 1.29177929e-01 -7.02618792e-04 9.91621182e-01 1.10230079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.40, Y:222.16, Z:110.23 [[-3.45327844e-01 9.37365420e-01 4.57684359e-02 3.07404365e+02] [-9.29563131e-01 -3.48346552e-01 1.20694102e-01 2.22156035e+02] [ 1.29077755e-01 -8.65616526e-04 9.91634098e-01 1.10229764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.40, Y:222.16, Z:110.23 [[-3.44819586e-01 9.37552158e-01 4.57755927e-02 3.07404921e+02] [-9.29768699e-01 -3.47843319e-01 1.20561984e-01 2.22157008e+02] [ 1.28955882e-01 -9.88579973e-04 9.91649839e-01 1.10228880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.35, Y:221.99, Z:110.25 [[-3.44009239e-01 9.38075224e-01 4.08964248e-02 3.07345346e+02] [-9.30041928e-01 -3.46407000e-01 1.22573257e-01 2.21993509e+02] [ 1.29149743e-01 4.13094306e-03 9.91616498e-01 1.10247961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.53, Y:222.11, Z:111.23 [[-3.24818675e-01 -4.40329901e-01 8.37019956e-01 3.07528256e+02] [-9.29250178e-01 -1.61357354e-02 -3.69098557e-01 2.22111691e+02] [ 1.76031064e-01 -8.97691047e-01 -4.03935451e-01 1.11230431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:221.88, Z:110.24 [[-3.14277762e-01 9.47646544e-01 5.65288956e-02 3.07292860e+02] [-9.30051054e-01 -3.19288518e-01 1.81823757e-01 2.21880738e+02] [ 1.90353682e-01 4.56840459e-03 9.81704948e-01 1.10238527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:221.92, Z:111.24 [[-2.95777350e-01 -4.31345495e-01 8.52324365e-01 3.07429797e+02] [-9.25201338e-01 -9.26982857e-02 -3.67980314e-01 2.21919541e+02] [ 2.37735658e-01 -8.97411885e-01 -3.71663376e-01 1.11235165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:221.52, Z:110.57 [[-2.77677878e-01 -3.73137876e-01 -8.85247491e-01 3.08200718e+02] [-9.40676853e-01 2.92646631e-01 1.71711992e-01 2.21518965e+02] [ 1.94992448e-01 8.80412446e-01 -4.32263659e-01 1.10568257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:221.74, Z:110.27 [[-2.60657899e-01 9.63964067e-01 5.32046710e-02 3.07217172e+02] [-9.45840565e-01 -2.66026200e-01 1.86052915e-01 2.21738734e+02] [ 1.93502162e-01 -1.82697405e-03 9.81098148e-01 1.10272226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:221.74, Z:110.27 [[-2.61236047e-01 9.63803591e-01 5.32763196e-02 3.07215740e+02] [-9.45678864e-01 -2.66607326e-01 1.86043058e-01 2.21735544e+02] [ 1.93512824e-01 -1.78113643e-03 9.81096129e-01 1.10272769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.070385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.21, Y:221.73, Z:110.27 [[-2.61645674e-01 9.63691635e-01 5.32914005e-02 3.07214514e+02] [-9.45605604e-01 -2.67011798e-01 1.85835255e-01 2.21734189e+02] [ 1.93317313e-01 -1.76965646e-03 9.81134692e-01 1.10273392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:221.73, Z:110.28 [[-2.63001648e-01 9.63319866e-01 5.33382592e-02 3.07211447e+02] [-9.45245717e-01 -2.68351217e-01 1.85736799e-01 2.21725742e+02] [ 1.93237335e-01 -1.56867692e-03 9.81150790e-01 1.10275298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:221.71, Z:110.28 [[-2.65351975e-01 9.62668362e-01 5.34598437e-02 3.07207833e+02] [-9.44568116e-01 -2.70680997e-01 1.85803315e-01 2.21711590e+02] [ 1.93337537e-01 -1.19318712e-03 9.81131578e-01 1.10277505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:221.71, Z:110.28 [[-2.66259210e-01 9.62390099e-01 5.39567528e-02 3.07205555e+02] [-9.44233231e-01 -2.71667666e-01 1.86065273e-01 2.21705897e+02] [ 1.93725681e-01 -1.40616640e-03 9.81054730e-01 1.10278296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.70, Z:110.28 [[-2.66666105e-01 9.62270191e-01 5.40857396e-02 3.07203684e+02] [-9.44080556e-01 -2.72092100e-01 1.86219742e-01 2.21702387e+02] [ 1.93910010e-01 -1.40280173e-03 9.81018318e-01 1.10279319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.70, Z:110.28 [[-2.67321341e-01 9.62096455e-01 5.39417495e-02 3.07202605e+02] [-9.44051877e-01 -2.72706074e-01 1.85465497e-01 2.21702190e+02] [ 1.93145940e-01 -1.34492439e-03 9.81169118e-01 1.10279397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.70, Z:110.28 [[-2.67208450e-01 9.62146819e-01 5.36017011e-02 3.07199484e+02] [-9.44393972e-01 -2.72527735e-01 1.83980054e-01 2.21697097e+02] [ 1.91623774e-01 -1.46009825e-03 9.81467370e-01 1.10281258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.70, Z:110.28 [[-2.67097063e-01 9.62187114e-01 5.34332902e-02 3.07200176e+02] [-9.44596641e-01 -2.72384915e-01 1.83149239e-01 2.21700181e+02] [ 1.90778260e-01 -1.55428257e-03 9.81631927e-01 1.10280462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.70, Z:110.28 [[-2.66100879e-01 9.62459204e-01 5.35032950e-02 3.07200287e+02] [-9.44876953e-01 -2.71420269e-01 1.83135418e-01 2.21696821e+02] [ 1.90782248e-01 -1.82153458e-03 9.81630692e-01 1.10279698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.69, Z:110.28 [[-2.65851842e-01 9.62520613e-01 5.36364501e-02 3.07198748e+02] [-9.44906537e-01 -2.71201534e-01 1.83306749e-01 2.21689536e+02] [ 1.90982812e-01 -1.94899557e-03 9.81591446e-01 1.10280208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.69, Z:110.28 [[-2.65735289e-01 9.62549063e-01 5.37034300e-02 3.07198681e+02] [-9.44946340e-01 -2.71099794e-01 1.83252057e-01 2.21690003e+02] [ 1.90948085e-01 -2.05032134e-03 9.81597996e-01 1.10280041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:221.67, Z:110.29 [[-2.64943207e-01 9.62765350e-01 5.37399161e-02 3.07190051e+02] [-9.45191922e-01 -2.70328868e-01 1.83124369e-01 2.21666702e+02] [ 1.90833248e-01 -2.27697686e-03 9.81619828e-01 1.10285179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:221.64, Z:110.29 [[-2.65030315e-01 9.62740673e-01 5.37524778e-02 3.07180838e+02] [-9.45208604e-01 -2.70416279e-01 1.82909078e-01 2.21635760e+02] [ 1.90629554e-01 -2.33085388e-03 9.81659279e-01 1.10291117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:221.68, Z:110.28 [[-2.63795852e-01 9.63056710e-01 5.41620008e-02 3.07196947e+02] [-9.45387820e-01 -2.69284550e-01 1.83651033e-01 2.21679619e+02] [ 1.91451350e-01 -2.75771519e-03 9.81498230e-01 1.10280265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.19, Y:221.63, Z:110.29 [[-2.69492345e-01 9.61466385e-01 5.43715582e-02 3.07185527e+02] [-9.43704126e-01 -2.74917052e-01 1.83965043e-01 2.21631397e+02] [ 1.91823873e-01 -1.73349285e-03 9.81427836e-01 1.10288614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:221.63, Z:110.29 [[-2.69470875e-01 9.61404367e-01 5.55615919e-02 3.07184528e+02] [-9.43708452e-01 -2.75123501e-01 1.83633923e-01 2.21628190e+02] [ 1.91832755e-01 -2.94995007e-03 9.81423197e-01 1.10289049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:221.62, Z:110.29 [[-2.68873299e-01 9.61572018e-01 5.55554009e-02 3.07180305e+02] [-9.43937196e-01 -2.74534802e-01 1.83339063e-01 2.21622111e+02] [ 1.91545603e-01 -3.14583067e-03 9.81478673e-01 1.10291727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.18, Y:221.62, Z:110.29 [[-2.68615533e-01 9.61642052e-01 5.55901081e-02 3.07179907e+02] [-9.44034225e-01 -2.74287981e-01 1.83208858e-01 2.21622723e+02] [ 1.91429040e-01 -3.26621955e-03 9.81501021e-01 1.10291944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:221.62, Z:110.29 [[-2.68308163e-01 9.61706388e-01 5.59602864e-02 3.07180439e+02] [-9.43910999e-01 -2.74060642e-01 1.84181408e-01 2.21617008e+02] [ 1.92464948e-01 -3.40415467e-03 9.81297944e-01 1.10291529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.96, Y:221.46, Z:111.23 [[-2.38045044e-01 -9.69018094e-01 -6.58672180e-02 3.07964912e+02] [-9.53991006e-01 2.46005081e-01 -1.71413711e-01 2.21463234e+02] [ 1.82306657e-01 2.20325494e-02 -9.82994837e-01 1.11231322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.11, Y:221.46, Z:110.32 [[-2.04471638e-01 9.77918410e-01 4.32080191e-02 3.07113293e+02] [-9.59764807e-01 -2.08963824e-01 1.87578345e-01 2.21464239e+02] [ 1.92465230e-01 -3.11508465e-03 9.81298849e-01 1.10316329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:221.46, Z:110.32 [[-2.05654372e-01 9.77659139e-01 4.34613266e-02 3.07112946e+02] [-9.59544604e-01 -2.10172645e-01 1.87354246e-01 2.21464968e+02] [ 1.92302972e-01 -3.17286168e-03 9.81330474e-01 1.10317261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:221.44, Z:110.32 [[-2.05778738e-01 9.77638191e-01 4.33437170e-02 3.07107287e+02] [-9.59698247e-01 -2.10269224e-01 1.86456774e-01 2.21441333e+02] [ 1.91401113e-01 -3.22804965e-03 9.81506594e-01 1.10322536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:221.45, Z:110.32 [[-2.04886296e-01 9.77839597e-01 4.30270558e-02 3.07110879e+02] [-9.60234736e-01 -2.09326833e-01 1.84747203e-01 2.21449620e+02] [ 1.89659848e-01 -3.46390333e-03 9.81843747e-01 1.10320930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.11, Y:221.46, Z:110.32 [[-2.04649890e-01 9.77887331e-01 4.30672732e-02 3.07114329e+02] [-9.60310631e-01 -2.09101805e-01 1.84607497e-01 2.21458530e+02] [ 1.89530777e-01 -3.57805642e-03 9.81868261e-01 1.10318495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:221.45, Z:110.32 [[-2.04887395e-01 9.77835342e-01 4.31184442e-02 3.07113793e+02] [-9.60275168e-01 -2.09344411e-01 1.84516990e-01 2.21449879e+02] [ 1.89453840e-01 -3.60036562e-03 9.81883028e-01 1.10319466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.10, Y:221.38, Z:110.33 [[-2.05272032e-01 9.77856008e-01 4.07556134e-02 3.07099286e+02] [-9.60200216e-01 -2.09275603e-01 1.84984504e-01 2.21375632e+02] [ 1.89417364e-01 -1.16140387e-03 9.81895979e-01 1.10331882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:221.50, Z:111.29 [[-2.06300312e-01 -3.28802655e-01 9.21590471e-01 3.07183586e+02] [-9.50663633e-01 -1.55659831e-01 -2.68344321e-01 2.21500825e+02] [ 2.31686942e-01 -9.31482062e-01 -2.80468054e-01 1.11286621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.07, Y:221.26, Z:110.33 [[-1.85593156e-01 9.81208665e-01 5.27706023e-02 3.07065631e+02] [-9.49584288e-01 -1.92902970e-01 2.47139888e-01 2.21260976e+02] [ 2.52675406e-01 -4.24266287e-03 9.67541802e-01 1.10325603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:221.26, Z:110.33 [[-1.86302841e-01 9.81042813e-01 5.33502670e-02 3.07067573e+02] [-9.49406264e-01 -1.93736468e-01 2.47171858e-01 2.21262750e+02] [ 2.52822067e-01 -4.60225811e-03 9.67501846e-01 1.10325015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:221.26, Z:110.33 [[-1.87010819e-01 9.80897929e-01 5.35369637e-02 3.07068847e+02] [-9.49148003e-01 -1.94470781e-01 2.47586720e-01 2.21258086e+02] [ 2.53268676e-01 -4.51310694e-03 9.67385451e-01 1.10325484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.82, Y:221.08, Z:111.31 [[-1.44477498e-01 -9.87994951e-01 -5.47012683e-02 3.07820141e+02] [-9.58393806e-01 1.53474316e-01 -2.40680178e-01 2.21079284e+02] [ 2.46186040e-01 1.76524870e-02 -9.69061826e-01 1.11308562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:221.06, Z:110.62 [[-1.18565026e-01 -2.66697823e-01 -9.56459411e-01 3.07971697e+02] [-9.72556021e-01 2.25397997e-01 5.77107344e-02 2.21062031e+02] [ 2.00192708e-01 9.37052834e-01 -2.86102893e-01 1.10618784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:221.13, Z:110.39 [[-9.38330402e-02 9.95359731e-01 2.13158933e-02 3.07010974e+02] [-9.77225004e-01 -9.61743979e-02 1.89160717e-01 2.21125711e+02] [ 1.90333003e-01 -3.08089874e-03 9.81714753e-01 1.10388511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:221.13, Z:110.39 [[-9.35874247e-02 9.95383506e-01 2.12854439e-02 3.07012728e+02] [-9.77422280e-01 -9.59245988e-02 1.88266189e-01 2.21131678e+02] [ 1.89438857e-01 -3.18551932e-03 9.81887352e-01 1.10387209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:220.98, Z:110.41 [[-8.89995177e-02 9.95926748e-01 1.44567600e-02 3.07002020e+02] [-9.78902096e-01 -9.01399494e-02 1.83372508e-01 2.20978704e+02] [ 1.83928717e-01 2.16831210e-03 9.82937193e-01 1.10409547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.01, Y:221.12, Z:110.39 [[-9.23172959e-02 9.95374566e-01 2.65892744e-02 3.07012408e+02] [-9.77477430e-01 -9.56821711e-02 1.88103155e-01 2.21120578e+02] [ 1.89777216e-01 -8.62524094e-03 9.81789292e-01 1.10391967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:221.12, Z:110.39 [[-9.19780301e-02 9.95525960e-01 2.16357190e-02 3.07016384e+02] [-9.77410527e-01 -9.44137852e-02 1.89089130e-01 2.21120134e+02] [ 1.90285848e-01 -3.75493376e-03 9.81721547e-01 1.10389799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.02, Y:221.12, Z:110.39 [[-9.16806201e-02 9.95554406e-01 2.15891093e-02 3.07019626e+02] [-9.77636852e-01 -9.41089505e-02 1.88068316e-01 2.21120540e+02] [ 1.89263969e-01 -3.86408905e-03 9.81918642e-01 1.10389279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.03, Y:221.13, Z:110.38 [[-8.68660460e-02 9.96174612e-01 9.50962910e-03 3.07030741e+02] [-9.79630768e-01 -8.71504209e-02 1.80909821e-01 2.21125593e+02] [ 1.81046539e-01 6.39899560e-03 9.83453712e-01 1.10377652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:221.11, Z:110.39 [[-9.27590593e-02 9.95191945e-01 3.14444034e-02 3.07019701e+02] [-9.77758808e-01 -9.70094566e-02 1.85948591e-01 2.21114422e+02] [ 1.88104944e-01 -1.34966261e-02 9.82056196e-01 1.10394305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.03, Y:221.11, Z:110.39 [[-9.35720433e-02 9.95373836e-01 2.17990721e-02 3.07025826e+02] [-9.77486700e-01 -9.60053958e-02 1.87890168e-01 2.21109960e+02] [ 1.89113786e-01 -3.72703610e-03 9.81948107e-01 1.10391077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.03, Y:221.11, Z:110.39 [[-9.40623328e-02 9.95323066e-01 2.20061747e-02 3.07027888e+02] [-9.77209091e-01 -9.65305538e-02 1.89061485e-01 2.21107079e+02] [ 1.90301526e-01 -3.72106964e-03 9.81718637e-01 1.10391497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.03, Y:221.10, Z:110.39 [[-9.43386017e-02 9.95295879e-01 2.20531622e-02 3.07032009e+02] [-9.77220391e-01 -9.68099734e-02 1.88860099e-01 2.21103600e+02] [ 1.90106644e-01 -3.73400212e-03 9.81756345e-01 1.10390884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.03, Y:221.10, Z:110.39 [[-9.43655921e-02 9.95290725e-01 2.21699815e-02 3.07033822e+02] [-9.77139579e-01 -9.68602110e-02 1.89252060e-01 2.21103180e+02] [ 1.90508209e-01 -3.80428369e-03 9.81678231e-01 1.10391026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:221.10, Z:110.39 [[-9.20695742e-02 9.95592453e-01 1.78566665e-02 3.07040889e+02] [-9.77850815e-01 -9.37849268e-02 1.87115393e-01 2.21103136e+02] [ 1.87965359e-01 -2.33521374e-04 9.82175631e-01 1.10386781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:221.10, Z:110.39 [[-9.47101137e-02 9.95170104e-01 2.58158567e-02 3.07037131e+02] [-9.77118185e-01 -9.78906326e-02 1.88831873e-01 2.21098229e+02] [ 1.90446966e-01 -7.34085484e-03 9.81670039e-01 1.10393669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:221.09, Z:110.39 [[-9.51038667e-02 9.95217915e-01 2.22835602e-02 3.07040005e+02] [-9.77143302e-01 -9.76051060e-02 1.88849703e-01 2.21090792e+02] [ 1.90121597e-01 -3.81389461e-03 9.81753142e-01 1.10393569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:221.09, Z:110.39 [[-9.44963952e-02 9.95352879e-01 1.85223808e-02 3.07046141e+02] [-9.77593934e-01 -9.62936735e-02 1.87183412e-01 2.21093219e+02] [ 1.88097136e-01 -4.19209428e-04 9.82150341e-01 1.10389674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.05, Y:221.08, Z:110.39 [[-9.50941699e-02 9.95225307e-01 2.19929084e-02 3.07045360e+02] [-9.77572583e-01 -9.75321805e-02 1.86652937e-01 2.21083669e+02] [ 1.87906743e-01 -3.75005816e-03 9.82179715e-01 1.10392392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.05, Y:221.09, Z:110.39 [[-9.66842660e-02 9.95062589e-01 2.24186917e-02 3.07048599e+02] [-9.77331778e-01 -9.91756380e-02 1.87047555e-01 2.21085978e+02] [ 1.88347412e-01 -3.82594425e-03 9.82095013e-01 1.10391854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:221.07, Z:110.40 [[-9.92441040e-02 9.94730300e-01 2.57339948e-02 3.07045852e+02] [-9.76606160e-01 -1.02328654e-01 1.89127617e-01 2.21072077e+02] [ 1.90764296e-01 -6.36217694e-03 9.81615254e-01 1.10398192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:221.07, Z:110.40 [[-9.96173688e-02 9.94764195e-01 2.28161466e-02 3.07047011e+02] [-9.76557641e-01 -1.02140086e-01 1.89479753e-01 2.21069378e+02] [ 1.90818117e-01 -3.40580787e-03 9.81619502e-01 1.10397622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.05, Y:221.07, Z:110.40 [[-1.00402101e-01 9.94683413e-01 2.28981645e-02 3.07048365e+02] [-9.76457364e-01 -1.02926417e-01 1.89571016e-01 2.21070255e+02] [ 1.90919971e-01 -3.32575295e-03 9.81599971e-01 1.10397645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:220.97, Z:110.42 [[-1.01159730e-01 9.94606480e-01 2.29054265e-02 3.07037946e+02] [-9.76480379e-01 -1.03669831e-01 1.89046651e-01 2.20973643e+02] [ 1.90401626e-01 -3.24279130e-03 9.81700925e-01 1.10416152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.05, Y:221.06, Z:110.40 [[-1.03264955e-01 9.94387974e-01 2.29979688e-02 3.07050665e+02] [-9.76226561e-01 -1.05754766e-01 1.89202620e-01 2.21060916e+02] [ 1.90572955e-01 -2.91322800e-03 9.81668713e-01 1.10399273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.05, Y:221.06, Z:110.40 [[-1.05340820e-01 9.94168173e-01 2.30858406e-02 3.07050832e+02] [-9.76007643e-01 -1.07809376e-01 1.89172462e-01 2.21056341e+02] [ 1.90558111e-01 -2.60437465e-03 9.81672463e-01 1.10400721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.05, Y:221.06, Z:110.40 [[-1.06784331e-01 9.94012391e-01 2.31618884e-02 3.07050945e+02] [-9.75840298e-01 -1.09241109e-01 1.89214411e-01 2.21056595e+02] [ 1.90611699e-01 -2.39716987e-03 9.81662587e-01 1.10400840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.05, Y:221.01, Z:110.41 [[-1.13466214e-01 9.93269527e-01 2.32607901e-02 3.07046281e+02] [-9.75074159e-01 -1.15819638e-01 1.89251676e-01 2.21008101e+02] [ 1.90671979e-01 -1.20732419e-03 9.81653065e-01 1.10409887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8403857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.03, Y:220.81, Z:110.43 [[-1.13775935e-01 9.93480217e-01 7.21768612e-03 3.07031225e+02] [-9.76961998e-01 -1.13198605e-01 1.80918019e-01 2.20811061e+02] [ 1.80555505e-01 1.35327118e-02 9.83471695e-01 1.10434128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.870385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:306.88, Y:221.06, Z:111.14 [[-1.27994958e-01 9.39144266e-02 9.87318273e-01 3.06884518e+02] [-9.61194473e-01 -2.57047889e-01 -1.00157714e-01 2.21056965e+02] [ 2.44381823e-01 -9.61824549e-01 1.23170862e-01 1.11137933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.88, Y:220.97, Z:111.13 [[-1.34342938e-01 8.24909190e-02 9.87495430e-01 3.06876275e+02] [-9.40897522e-01 -3.23281996e-01 -1.00998045e-01 2.20966929e+02] [ 3.10908072e-01 -9.42700376e-01 1.21046154e-01 1.11131504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.87, Y:220.89, Z:111.13 [[-1.39173316e-01 7.04679843e-02 9.87757587e-01 3.06869652e+02] [-9.16679954e-01 -3.86494815e-01 -1.01585530e-01 2.20889570e+02] [ 3.74604658e-01 -9.19595575e-01 1.18386354e-01 1.11126842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.99, Y:220.56, Z:110.43 [[-1.40034666e-01 9.88379735e-01 5.91252209e-02 3.06991678e+02] [-9.13214626e-01 -1.52001295e-01 3.78066996e-01 2.20560935e+02] [ 3.82660867e-01 -1.05153101e-03 9.23888281e-01 1.10434051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:220.55, Z:110.43 [[-1.38392898e-01 9.89334695e-01 4.54342103e-02 3.06996975e+02] [-9.16547896e-01 -1.45321845e-01 3.72587595e-01 2.20549680e+02] [ 3.75216418e-01 9.92084742e-03 9.26884144e-01 1.10426761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.98, Y:220.56, Z:110.44 [[-1.41200130e-01 9.87326689e-01 7.24467605e-02 3.06983196e+02] [-9.13157556e-01 -1.58158548e-01 3.75671601e-01 2.20555315e+02] [ 3.82368672e-01 -1.31104280e-02 9.23916833e-01 1.10440947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.00, Y:220.56, Z:110.42 [[-1.37476195e-01 9.89718999e-01 3.94537618e-02 3.06998242e+02] [-9.17758036e-01 -1.42261355e-01 3.70785510e-01 2.20556870e+02] [ 3.72586209e-01 1.47651742e-02 9.27880114e-01 1.10418800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:220.56, Z:110.44 [[-1.41926020e-01 9.86876317e-01 7.70203860e-02 3.06975550e+02] [-9.12826435e-01 -1.60578482e-01 3.75449664e-01 2.20557084e+02] [ 3.82890198e-01 -1.70201678e-02 9.23637055e-01 1.10443263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.110385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.99, Y:220.54, Z:110.42 [[-1.35698975e-01 9.90031557e-01 3.77267207e-02 3.06993701e+02] [-9.18987216e-01 -1.40007066e-01 3.68592619e-01 2.20542767e+02] [ 3.70200331e-01 1.53472664e-02 9.28825159e-01 1.10422701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.98, Y:220.56, Z:110.43 [[-1.37660672e-01 9.88650591e-01 6.01626867e-02 3.06982632e+02] [-9.17265586e-01 -1.50168598e-01 3.68881061e-01 2.20559865e+02] [ 3.73729025e-01 -4.40474730e-03 9.27527474e-01 1.10426743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.98, Y:220.56, Z:110.43 [[-1.37375429e-01 9.88870385e-01 5.71257740e-02 3.06981530e+02] [-9.16778027e-01 -1.48772484e-01 3.70654553e-01 2.20558264e+02] [ 3.75028054e-01 -1.45282599e-03 9.27012324e-01 1.10425644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.97, Y:220.55, Z:110.44 [[-1.40675548e-01 9.87206256e-01 7.50613009e-02 3.06967468e+02] [-9.12877075e-01 -1.58682584e-01 3.76132002e-01 2.20552437e+02] [ 3.83230787e-01 -1.56091654e-02 9.23520719e-01 1.10443383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:220.55, Z:110.43 [[-1.35247033e-01 9.89689452e-01 4.71490062e-02 3.06980679e+02] [-9.16889954e-01 -1.43050472e-01 3.72624979e-01 2.20554678e+02] [ 3.75527699e-01 7.16597277e-03 9.26783468e-01 1.10425039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.96, Y:220.44, Z:110.48 [[-1.34764695e-01 9.89260946e-01 5.65796591e-02 3.06955346e+02] [-9.17024322e-01 -1.46148091e-01 3.71089110e-01 2.20441527e+02] [ 3.75372973e-01 -1.87521264e-03 9.26871952e-01 1.10476543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.96, Y:220.53, Z:110.44 [[-1.32476865e-01 9.88996223e-01 6.58509777e-02 3.06963580e+02] [-9.16086742e-01 -1.47536380e-01 3.72851309e-01 2.20532522e+02] [ 3.78463951e-01 -1.09310351e-02 9.25551484e-01 1.10444196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.320385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:306.96, Y:220.55, Z:110.44 [[-1.33976904e-01 9.88880125e-01 6.45467906e-02 3.06963870e+02] [-9.13812438e-01 -1.48480924e-01 3.78021486e-01 2.20546576e+02] [ 3.83401901e-01 -8.33751192e-03 9.23543972e-01 1.10439100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:220.73, Z:111.35 [[-8.85197645e-02 -9.93613417e-01 -6.99759109e-02 3.07714691e+02] [-9.21416462e-01 1.08367854e-01 -3.73159634e-01 2.20734134e+02] [ 3.78359559e-01 3.14449532e-02 -9.25124456e-01 1.11351137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:220.61, Z:111.03 [[-3.51825553e-02 -7.29029447e-01 -6.83577540e-01 3.07890027e+02] [-9.38949376e-01 2.58358629e-01 -2.27211108e-01 2.20613392e+02] [ 3.42251745e-01 6.33850837e-01 -6.93611462e-01 1.11031714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.63, Y:220.77, Z:111.38 [[ 4.09284933e-02 -9.99132097e-01 -7.74027611e-03 3.07632631e+02] [-9.42893230e-01 -3.60593992e-02 -3.31137549e-01 2.20772302e+02] [ 3.30571044e-01 2.08512149e-02 -9.43550747e-01 1.11380631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:220.78, Z:111.39 [[ 1.14696402e-01 -9.93279260e-01 1.55256951e-02 3.07602188e+02] [-9.36647230e-01 -1.13337477e-01 -3.31431113e-01 2.20776799e+02] [ 3.30963294e-01 2.34718569e-02 -9.43351668e-01 1.11390520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:220.78, Z:111.39 [[ 1.90499832e-01 -9.81602010e-01 1.29347582e-02 3.07585644e+02] [-9.24978356e-01 -1.83893111e-01 -3.32563324e-01 2.20777323e+02] [ 3.28823440e-01 5.13888859e-02 -9.42992220e-01 1.11390734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:220.78, Z:111.40 [[ 2.66946636e-01 -9.63242356e-01 3.00609013e-02 3.07564316e+02] [-9.08662246e-01 -2.61967170e-01 -3.25124782e-01 2.20775516e+02] [ 3.21048930e-01 5.94757608e-02 -9.45193217e-01 1.11395341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.52, Y:220.77, Z:111.42 [[ 3.40576960e-01 -9.35728803e-01 9.17547888e-02 3.07516659e+02] [-8.83794331e-01 -3.51908414e-01 -3.08331072e-01 2.20772306e+02] [ 3.20803547e-01 2.39180969e-02 -9.46843709e-01 1.11421835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:220.77, Z:111.42 [[ 4.13817182e-01 -9.06275727e-01 8.61373753e-02 3.07506999e+02] [-8.53838215e-01 -4.19203726e-01 -3.08591217e-01 2.20768175e+02] [ 3.15777838e-01 5.41529649e-02 -9.47286553e-01 1.11416135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.46, Y:220.76, Z:111.44 [[ 4.84525483e-01 -8.62830308e-01 1.44079545e-01 3.07463601e+02] [-8.15976671e-01 -5.05150475e-01 -2.81078407e-01 2.20757945e+02] [ 3.15304820e-01 1.86241036e-02 -9.48807680e-01 1.11439899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.43, Y:220.74, Z:111.46 [[ 5.52033384e-01 -8.10376536e-01 1.96339025e-01 3.07426140e+02] [-7.72858492e-01 -5.85666290e-01 -2.44304623e-01 2.20743351e+02] [ 3.12967883e-01 -1.68779749e-02 -9.49613731e-01 1.11457382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:220.67, Z:111.54 [[ 6.12590729e-01 -6.75887746e-01 4.09766219e-01 3.07285190e+02] [-7.20601129e-01 -6.90589344e-01 -6.18091565e-02 2.20669788e+02] [ 3.24756236e-01 -2.57414284e-01 -9.10094102e-01 1.11539982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:220.59, Z:111.58 [[ 6.56294204e-01 -5.27526789e-01 5.39438045e-01 3.07176255e+02] [-6.66252171e-01 -7.40726745e-01 8.62086702e-02 2.20586129e+02] [ 3.54098804e-01 -4.15980019e-01 -8.37600538e-01 1.11583337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.36, Y:220.71, Z:111.48 [[ 7.05580801e-01 -6.48663674e-01 2.85291380e-01 3.07356761e+02] [-6.10974410e-01 -7.60814267e-01 -2.18796531e-01 2.20712755e+02] [ 3.58979114e-01 -1.99271011e-02 -9.33132845e-01 1.11476699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:220.60, Z:111.56 [[ 7.48178738e-01 -4.77009555e-01 4.61183761e-01 3.07220929e+02] [-5.47238179e-01 -8.36677219e-01 2.23965882e-02 2.20597805e+02] [ 3.75178560e-01 -2.69134013e-01 -8.87021945e-01 1.11562254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:220.60, Z:111.55 [[ 7.85081722e-01 -4.36852495e-01 4.39097470e-01 3.07233166e+02] [-4.81090452e-01 -8.76589581e-01 -1.19450129e-02 2.20604359e+02] [ 3.90126476e-01 -2.01867789e-01 -8.98360022e-01 1.11549609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:220.57, Z:111.56 [[ 8.15818192e-01 -3.47501223e-01 4.62259210e-01 3.07206520e+02] [-4.11739233e-01 -9.10318033e-01 4.23306381e-02 2.20569168e+02] [ 4.06092946e-01 -2.24864357e-01 -8.85733899e-01 1.11564565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.56, Z:111.56 [[ 8.40187201e-01 -2.88473439e-01 4.59204249e-01 3.07202398e+02] [-3.40249821e-01 -9.39784779e-01 3.21656373e-02 2.20562059e+02] [ 4.22274232e-01 -1.83269320e-01 -8.87748179e-01 1.11564672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:220.64, Z:111.50 [[ 8.64984008e-01 -3.05161641e-01 3.98345376e-01 3.07260947e+02] [-2.66023344e-01 -9.51967570e-01 -1.51622314e-01 2.20643935e+02] [ 4.25481194e-01 2.51817077e-02 -9.04616844e-01 1.11501760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:220.63, Z:111.51 [[ 8.85606348e-01 -2.21048158e-01 4.08459434e-01 3.07246526e+02] [-1.89779154e-01 -9.74933753e-01 -1.16138063e-01 2.20627671e+02] [ 4.23892994e-01 2.53355202e-02 -9.05357853e-01 1.11513212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:220.61, Z:111.53 [[ 8.99578654e-01 -1.35585857e-01 4.15180348e-01 3.07234084e+02] [-1.12344627e-01 -9.90441235e-01 -8.00302689e-02 2.20610488e+02] [ 4.22062709e-01 2.53502401e-02 -9.06212136e-01 1.11525153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.950385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:307.22, Y:220.58, Z:111.54 [[ 9.07121666e-01 -4.93472090e-02 4.17965473e-01 3.07221972e+02] [-3.42089935e-02 -9.98461510e-01 -4.36389388e-02 2.20581439e+02] [ 4.19475897e-01 2.52876487e-02 -9.07414187e-01 1.11538321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:220.55, Z:111.55 [[ 9.07468950e-01 3.74245409e-02 4.18448931e-01 3.07212190e+02] [ 4.45866686e-02 -9.98978497e-01 -7.34786376e-03 2.20551183e+02] [ 4.17746494e-01 2.53252020e-02 -9.08210604e-01 1.11550718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.20, Y:220.52, Z:111.56 [[ 9.01257959e-01 1.24275662e-01 4.15077886e-01 3.07203955e+02] [ 1.23616282e-01 -9.91918565e-01 2.85757906e-02 2.20520962e+02] [ 4.15274737e-01 2.55562263e-02 -9.09336996e-01 1.11562864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.49, Z:111.58 [[ 8.87857761e-01 2.10016749e-01 4.09391697e-01 3.07199668e+02] [ 2.01671783e-01 -9.77359181e-01 6.40118996e-02 2.20490939e+02] [ 4.13566305e-01 2.57292918e-02 -9.10110386e-01 1.11575052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.46, Z:111.59 [[ 8.67740527e-01 2.94071678e-01 4.00684697e-01 3.07196832e+02] [ 2.78244934e-01 -9.55432393e-01 9.86341685e-02 2.20461913e+02] [ 4.11832654e-01 2.58996216e-02 -9.10891363e-01 1.11586940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.43, Z:111.60 [[ 8.40879395e-01 3.76134642e-01 3.89158804e-01 3.07196687e+02] [ 3.53088052e-01 -9.26194687e-01 1.32258191e-01 2.20433843e+02] [ 4.10183704e-01 2.61941360e-02 -9.11626676e-01 1.11598549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.40, Z:111.61 [[ 8.07708467e-01 4.54805275e-01 3.75178884e-01 3.07197665e+02] [ 4.24698192e-01 -8.90205150e-01 1.64821836e-01 2.20404851e+02] [ 4.08948015e-01 2.62098008e-02 -9.12181214e-01 1.11610212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.38, Z:111.62 [[ 7.68268946e-01 5.30087122e-01 3.58846024e-01 3.07200706e+02] [ 4.93155257e-01 -8.47536434e-01 1.96162908e-01 2.20376449e+02] [ 4.08118511e-01 2.62609329e-02 -9.12551174e-01 1.11621959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.21, Y:220.35, Z:111.63 [[ 7.23151025e-01 6.01327080e-01 3.39791611e-01 3.07206258e+02] [ 5.57940545e-01 -7.98570255e-01 2.25804994e-01 2.20350031e+02] [ 4.07130131e-01 2.62924034e-02 -9.12991657e-01 1.11633882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:220.32, Z:111.64 [[ 6.72898277e-01 6.67922684e-01 3.17942129e-01 3.07214971e+02] [ 6.18610833e-01 -7.43766671e-01 2.53242526e-01 2.20323676e+02] [ 4.05621186e-01 2.62759858e-02 -9.13663519e-01 1.11644763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:220.30, Z:111.66 [[ 6.17516774e-01 7.29542042e-01 2.94009256e-01 3.07224353e+02] [ 6.74734036e-01 -6.83430319e-01 2.78670020e-01 2.20298203e+02] [ 4.04236335e-01 2.62946406e-02 -9.14276532e-01 1.11655527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:220.27, Z:111.67 [[ 5.57199452e-01 7.85914204e-01 2.68081397e-01 3.07235712e+02] [ 7.26113425e-01 -6.17769148e-01 3.01861847e-01 2.20273533e+02] [ 4.02849929e-01 2.64602459e-02 -9.14883484e-01 1.11666638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.25, Y:220.25, Z:111.68 [[ 4.93013140e-01 8.36115155e-01 2.40519211e-01 3.07251258e+02] [ 7.71693195e-01 -5.47918094e-01 3.22916980e-01 2.20248161e+02] [ 4.01780609e-01 2.64047241e-02 -9.15355195e-01 1.11678321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:220.22, Z:111.69 [[ 4.25106659e-01 8.80186326e-01 2.11083776e-01 3.07267078e+02] [ 8.11896277e-01 -4.73891555e-01 3.40956344e-01 2.20224811e+02] [ 4.00135931e-01 2.64353199e-02 -9.16074457e-01 1.11689173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:220.20, Z:111.70 [[ 3.54361791e-01 9.17558104e-01 1.80318738e-01 3.07287169e+02] [ 8.45997958e-01 -3.96729718e-01 3.56220416e-01 2.20202676e+02] [ 3.98390732e-01 2.63183793e-02 -9.16838136e-01 1.11700754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.31, Y:220.18, Z:111.71 [[ 2.80633185e-01 9.48250259e-01 1.48547847e-01 3.07307935e+02] [ 8.73969358e-01 -3.16431586e-01 3.68847683e-01 2.20182178e+02] [ 3.96765141e-01 2.63153665e-02 -9.17542873e-01 1.11711820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.33, Y:220.16, Z:111.72 [[ 2.05351852e-01 9.71781822e-01 1.16063375e-01 3.07329497e+02] [ 8.95152809e-01 -2.34439837e-01 3.79129808e-01 2.20163972e+02] [ 3.95641334e-01 2.60394483e-02 -9.18035883e-01 1.11722672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:220.15, Z:111.73 [[ 1.28715932e-01 9.87671904e-01 8.90865819e-02 3.07348913e+02] [ 9.10163181e-01 -1.53325910e-01 3.84830027e-01 2.20149428e+02] [ 3.93745087e-01 3.15495713e-02 -9.18678089e-01 1.11731546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:220.14, Z:111.73 [[ 5.09425061e-02 9.94427385e-01 9.22986323e-02 3.07354913e+02] [ 9.19249573e-01 -8.28130141e-02 3.84866506e-01 2.20143927e+02] [ 3.90365321e-01 6.52394140e-02 -9.18345651e-01 1.11728593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.38, Y:220.13, Z:111.74 [[-2.90568871e-02 9.98599008e-01 4.42235141e-02 3.07383299e+02] [ 9.20520636e-01 9.48799332e-03 3.90578719e-01 2.20127113e+02] [ 3.89611929e-01 5.20576591e-02 -9.19506686e-01 1.11744838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:220.05, Z:111.75 [[-1.07703435e-01 9.92765007e-01 -5.30811826e-02 3.07472368e+02] [ 9.14502603e-01 1.19873636e-01 3.86413380e-01 2.20049276e+02] [ 3.89980716e-01 -6.92483120e-03 -9.20796985e-01 1.11752364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.51, Y:220.03, Z:111.74 [[-1.85244576e-01 9.81349336e-01 -5.13607575e-02 3.07512996e+02] [ 9.02251237e-01 1.90558588e-01 3.86820540e-01 2.20030874e+02] [ 3.89393314e-01 2.53160999e-02 -9.20723597e-01 1.11741633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.57, Y:220.01, Z:111.74 [[-2.61873551e-01 9.61419114e-01 -8.42349754e-02 3.07574849e+02] [ 8.83141372e-01 2.73918425e-01 3.80828063e-01 2.20005752e+02] [ 3.89208890e-01 2.53374054e-02 -9.20800986e-01 1.11741354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:219.98, Z:111.74 [[-3.36384326e-01 9.34512092e-01 -1.16330282e-01 3.07639543e+02] [ 8.57742788e-01 3.55032236e-01 3.71792175e-01 2.19981970e+02] [ 3.88745284e-01 2.52835995e-02 -9.20998287e-01 1.11738568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:219.97, Z:111.74 [[-4.08099196e-01 9.00884033e-01 -1.47861440e-01 3.07704056e+02] [ 8.25827613e-01 4.33329665e-01 3.60879696e-01 2.19969880e+02] [ 3.89183505e-01 2.51666537e-02 -9.20816398e-01 1.11738427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:307.77, Y:219.96, Z:111.74 [[-4.77198225e-01 8.60622200e-01 -1.77795623e-01 3.07769052e+02] [ 7.88244127e-01 5.08622955e-01 3.46372466e-01 2.19964006e+02] [ 3.88526769e-01 2.51419708e-02 -9.21094366e-01 1.11739166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.83, Y:219.96, Z:111.74 [[-5.43184380e-01 8.13922459e-01 -2.06109098e-01 3.07834457e+02] [ 7.44844061e-01 5.80424590e-01 3.29111865e-01 2.19963266e+02] [ 3.87502327e-01 2.52492868e-02 -9.21522881e-01 1.11739905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:219.97, Z:111.74 [[-6.06300892e-01 7.60430355e-01 -2.32690577e-01 3.07899409e+02] [ 6.95077948e-01 6.48902248e-01 3.09503665e-01 2.19968411e+02] [ 3.86349420e-01 2.59142596e-02 -9.21988382e-01 1.11739607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.96, Y:219.98, Z:111.74 [[-6.64082770e-01 7.01786600e-01 -2.57855857e-01 3.07962275e+02] [ 6.40425521e-01 7.11903871e-01 2.88180553e-01 2.19979775e+02] [ 3.85809833e-01 2.62382680e-02 -9.22205143e-01 1.11740206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:219.98, Z:111.73 [[-7.11175538e-01 6.47590088e-01 -2.73599036e-01 3.08041844e+02] [ 5.84715517e-01 7.60937462e-01 2.81215120e-01 2.19980282e+02] [ 3.90303880e-01 4.00157124e-02 -9.19816082e-01 1.11731669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:219.98, Z:111.70 [[-7.60781427e-01 6.06318835e-01 -2.31493176e-01 3.08061885e+02] [ 5.22306367e-01 7.83708733e-01 3.36149790e-01 2.19975822e+02] [ 3.85237173e-01 1.34826158e-01 -9.12915236e-01 1.11698117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:220.01, Z:111.70 [[-8.12553626e-01 5.39371323e-01 -2.20986834e-01 3.08064322e+02] [ 4.54685170e-01 8.23741230e-01 3.38691279e-01 2.20009771e+02] [ 3.64716330e-01 1.74725390e-01 -9.14578065e-01 1.11698289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:220.07, Z:111.75 [[-8.44827147e-01 4.33267371e-01 -3.13921133e-01 3.08200880e+02] [ 3.88070866e-01 9.00120800e-01 1.97948350e-01 2.20068758e+02] [ 3.68331502e-01 4.54084938e-02 -9.28584931e-01 1.11752004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.21, Y:220.07, Z:111.71 [[-8.82443733e-01 3.81048425e-01 -2.75853505e-01 3.08209517e+02] [ 3.12202409e-01 9.13032808e-01 2.62489519e-01 2.20065503e+02] [ 3.51884518e-01 1.45510102e-01 -9.24664315e-01 1.11709606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.02, Y:220.23, Z:111.87 [[-9.06282375e-01 2.61381215e-01 -3.32162787e-01 3.08022979e+02] [ 2.35564728e-01 9.64847869e-01 1.16524031e-01 2.20229626e+02] [ 3.50943750e-01 2.73578385e-02 -9.35996813e-01 1.11871549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:220.21, Z:111.76 [[-9.23100055e-01 1.81106245e-01 -3.39244480e-01 3.08341532e+02] [ 1.59289501e-01 9.82997326e-01 9.13406374e-02 2.20208345e+02] [ 3.50018777e-01 3.02784633e-02 -9.36253209e-01 1.11764267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.21, Y:220.27, Z:111.83 [[-9.33624599e-01 9.80173964e-02 -3.44583369e-01 3.08206918e+02] [ 8.13595685e-02 9.94722470e-01 6.25126286e-02 2.20273666e+02] [ 3.48892145e-01 3.03281736e-02 -9.36672020e-01 1.11831160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.36, Y:220.31, Z:111.79 [[-9.37699559e-01 1.87162575e-02 -3.46942703e-01 3.08359911e+02] [ 4.03640863e-03 9.99067498e-01 4.29865388e-02 2.20309597e+02] [ 3.47423725e-01 3.89080560e-02 -9.36900698e-01 1.11785009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:220.40, Z:111.78 [[-9.31984109e-01 -7.61642743e-02 -3.54407426e-01 3.08486619e+02] [-6.60428688e-02 9.96991007e-01 -4.05865996e-02 2.20396045e+02] [ 3.56432266e-01 -1.44199827e-02 -9.34209882e-01 1.11779393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:220.35, Z:111.71 [[-9.28410797e-01 -9.54225790e-02 -3.59093197e-01 3.08478701e+02] [-1.48691447e-01 9.81114006e-01 1.23718067e-01 2.20353319e+02] [ 3.40505868e-01 1.68255276e-01 -9.25065357e-01 1.11706310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:220.48, Z:111.77 [[-9.13857579e-01 -2.29818659e-01 -3.34735284e-01 3.08518054e+02] [-2.24403135e-01 9.72923915e-01 -5.53379496e-02 2.20479848e+02] [ 3.38389656e-01 2.45446423e-02 -9.40685921e-01 1.11770361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:220.54, Z:111.77 [[-8.93637754e-01 -3.06508651e-01 -3.27817040e-01 3.08537316e+02] [-2.96039818e-01 9.51586940e-01 -8.27207492e-02 2.20537208e+02] [ 3.37301039e-01 2.31245123e-02 -9.41112781e-01 1.11771788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:220.60, Z:111.77 [[-8.67192950e-01 -3.82835883e-01 -3.18454194e-01 3.08551607e+02] [-3.67601527e-01 9.23546225e-01 -1.09231350e-01 2.20596604e+02] [ 3.35924849e-01 2.23395917e-02 -9.41623831e-01 1.11772152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:220.66, Z:111.77 [[-8.35016003e-01 -4.56606822e-01 -3.07015448e-01 3.08568587e+02] [-4.36801963e-01 8.89406823e-01 -1.34757367e-01 2.20660617e+02] [ 3.34592767e-01 2.15803925e-02 -9.42115687e-01 1.11769957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.58, Y:220.72, Z:111.76 [[-7.99972177e-01 -5.11189990e-01 -3.14212206e-01 3.08583234e+02] [-4.95479238e-01 8.58126227e-01 -1.34609451e-01 2.20715751e+02] [ 3.38444739e-01 4.80018089e-02 -9.39761132e-01 1.11763056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:220.70, Z:111.70 [[-7.59383912e-01 -5.32721513e-01 -3.73555704e-01 3.08592955e+02] [-5.65564077e-01 8.24300316e-01 -2.58120814e-02 2.20697967e+02] [ 3.21672736e-01 1.91668408e-01 -9.27248550e-01 1.11703050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:308.37, Y:220.68, Z:111.87 [[-7.12014042e-01 -6.55508878e-01 -2.51682569e-01 3.08372113e+02] [-6.25898961e-01 7.54967403e-01 -1.95639237e-01 2.20675574e+02] [ 3.18255392e-01 1.82299743e-02 -9.47829718e-01 1.11868078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.80, Y:221.24, Z:110.86 [[-6.77396591e-01 6.98338694e-01 2.31207541e-01 3.07796681e+02] [-6.63447043e-01 -7.15744888e-01 2.18053380e-01 2.21243382e+02] [ 3.17760728e-01 -5.68534276e-03 9.48153889e-01 1.10862265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.79, Y:221.24, Z:110.86 [[-6.77583964e-01 6.99549922e-01 2.26957878e-01 3.07793797e+02] [-6.64236270e-01 -7.14580794e-01 2.19464044e-01 2.21237227e+02] [ 3.15705796e-01 -2.04833758e-03 9.48854918e-01 1.10861560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.79, Y:221.24, Z:110.87 [[-6.77006559e-01 6.98373865e-01 2.32241389e-01 3.07790974e+02] [-6.64027240e-01 -7.15692020e-01 2.16454979e-01 2.21236072e+02] [ 3.17379810e-01 -7.67316808e-03 9.48267462e-01 1.10865485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:221.24, Z:110.87 [[-6.76849352e-01 6.97121928e-01 2.36423293e-01 3.07788578e+02] [-6.62922923e-01 -7.16874510e-01 2.15926227e-01 2.21235646e+02] [ 3.20012739e-01 -1.05808936e-02 9.47354153e-01 1.10869180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:221.23, Z:110.87 [[-6.76515669e-01 6.98259506e-01 2.34009001e-01 3.07787024e+02] [-6.63371292e-01 -7.15803389e-01 2.18091811e-01 2.21231148e+02] [ 3.19789116e-01 -7.69232538e-03 9.47457519e-01 1.10869679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.79, Y:221.23, Z:110.87 [[-6.76936314e-01 6.97588805e-01 2.34791582e-01 3.07785293e+02] [-6.62816015e-01 -7.16450430e-01 2.17655030e-01 2.21229626e+02] [ 3.20050242e-01 -8.28502697e-03 9.47364345e-01 1.10871731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.78, Y:221.23, Z:110.87 [[-6.77027955e-01 6.98320693e-01 2.32338886e-01 3.07783932e+02] [-6.64138337e-01 -7.15739244e-01 2.15957412e-01 2.21225712e+02] [ 3.17101588e-01 -8.09595659e-03 9.48357020e-01 1.10870321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.78, Y:221.22, Z:110.88 [[-6.78812488e-01 6.94855281e-01 2.37465248e-01 3.07779093e+02] [-6.60228206e-01 -7.19085578e-01 2.16828614e-01 2.21224406e+02] [ 3.21422342e-01 -9.59528376e-03 9.46887326e-01 1.10879144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:220.89, Z:111.78 [[-6.65709341e-01 -6.99333420e-01 -2.60314889e-01 3.08539519e+02] [-6.74077903e-01 7.13214453e-01 -1.92208545e-01 2.20894244e+02] [ 3.20078200e-01 4.75174904e-02 -9.46198729e-01 1.11777583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:220.87, Z:111.70 [[-6.10914138e-01 -6.90515621e-01 -3.87262305e-01 3.08568705e+02] [-7.27237538e-01 6.82784501e-01 -7.02202883e-02 2.20874434e+02] [ 3.12904906e-01 2.38733118e-01 -9.19291585e-01 1.11702525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:220.66, Z:111.23 [[-5.83056816e-01 -1.45164806e-01 -7.99357197e-01 3.08511519e+02] [-7.67320898e-01 4.21691948e-01 4.83109243e-01 2.20659451e+02] [ 2.66952034e-01 8.95043619e-01 -3.57258354e-01 1.11225465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:221.18, Z:110.91 [[-5.56223026e-01 8.22548185e-01 1.18450112e-01 3.07695022e+02] [-7.97360057e-01 -5.68398610e-01 2.02829877e-01 2.21177933e+02] [ 2.34164226e-01 1.83712599e-02 9.72023463e-01 1.10908422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:221.18, Z:110.92 [[-5.58374689e-01 8.17739861e-01 1.39711227e-01 3.07681870e+02] [-7.95655419e-01 -5.75559614e-01 1.88848045e-01 2.21179552e+02] [ 2.34840714e-01 -5.71402668e-03 9.72017072e-01 1.10920970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.67, Y:221.18, Z:110.93 [[-5.61781282e-01 8.12962575e-01 1.53276362e-01 3.07673030e+02] [-7.90854177e-01 -5.82120254e-01 1.88906538e-01 2.21178515e+02] [ 2.42799221e-01 -1.50950941e-02 9.69959111e-01 1.10933523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.69, Y:221.17, Z:110.91 [[-5.58412412e-01 8.19524513e-01 1.28666824e-01 3.07690334e+02] [-7.95998702e-01 -5.73007196e-01 1.95061067e-01 2.21171499e+02] [ 2.33584342e-01 6.50589573e-03 9.72314779e-01 1.10913988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.68, Y:221.17, Z:110.92 [[-5.58910393e-01 8.17238922e-01 1.40498106e-01 3.07684389e+02] [-7.94898374e-01 -5.76272120e-01 1.89860524e-01 2.21172888e+02] [ 2.36126551e-01 -5.56669567e-03 9.71706367e-01 1.10920992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.69, Y:221.17, Z:110.92 [[-5.58275040e-01 8.18239173e-01 1.37162807e-01 3.07687359e+02] [-7.95897916e-01 -5.74869390e-01 1.89925493e-01 2.21172739e+02] [ 2.34255178e-01 -3.13692995e-03 9.72170084e-01 1.10918548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.67, Y:221.17, Z:110.94 [[-5.60054235e-01 8.13849857e-01 1.54879515e-01 3.07673626e+02] [-7.92560485e-01 -5.80775708e-01 1.85869458e-01 2.21170066e+02] [ 2.41220092e-01 -1.86544063e-02 9.70291132e-01 1.10935534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:221.17, Z:110.93 [[-5.58358298e-01 8.18129903e-01 1.37475350e-01 3.07684969e+02] [-7.95353731e-01 -5.75028858e-01 1.91713992e-01 2.21166928e+02] [ 2.35899244e-01 -2.29643428e-03 9.71774806e-01 1.10925401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:221.16, Z:110.93 [[-5.57956217e-01 8.17971996e-01 1.40023833e-01 3.07681926e+02] [-7.95456438e-01 -5.75236299e-01 1.90662677e-01 2.21162311e+02] [ 2.36503522e-01 -5.00143306e-03 9.71617759e-01 1.10927932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.68, Y:221.16, Z:110.93 [[-5.57633318e-01 8.17050716e-01 1.46537402e-01 3.07679141e+02] [-7.95568068e-01 -5.76429116e-01 1.86550056e-01 2.21162127e+02] [ 2.36889282e-01 -1.25539511e-02 9.71455540e-01 1.10930482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:221.15, Z:110.93 [[-5.56605434e-01 8.19359207e-01 1.37262089e-01 3.07678756e+02] [-7.96162810e-01 -5.73278421e-01 1.93588823e-01 2.21146256e+02] [ 2.37308178e-01 -1.53037948e-03 9.71433213e-01 1.10928054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:221.04, Z:110.96 [[-5.55597583e-01 8.20015108e-01 1.37428338e-01 3.07601832e+02] [-7.97575804e-01 -5.72329675e-01 1.90555977e-01 2.21043091e+02] [ 2.34913097e-01 -3.73707699e-03 9.72009193e-01 1.10957494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.60, Y:221.04, Z:110.96 [[-5.55911719e-01 8.19087195e-01 1.41627425e-01 3.07595062e+02] [-7.96880320e-01 -5.73620413e-01 1.89582113e-01 2.21035987e+02] [ 2.36524663e-01 -7.46918971e-03 9.71596776e-01 1.10962987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.58, Y:221.02, Z:110.97 [[-5.55941937e-01 8.19138474e-01 1.41211628e-01 3.07584477e+02] [-7.96779259e-01 -5.73555820e-01 1.90201298e-01 2.21017774e+02] [ 2.36793952e-01 -6.77361802e-03 9.71536280e-01 1.10967906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.68, Y:221.15, Z:110.94 [[-5.58664767e-01 8.15281059e-01 1.52349835e-01 3.07677874e+02] [-7.93143168e-01 -5.78869061e-01 1.89300095e-01 2.21147872e+02] [ 2.42523388e-01 -1.50799367e-02 9.70028351e-01 1.10937653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.64, Y:221.07, Z:110.95 [[-5.57034256e-01 8.19069561e-01 1.37251198e-01 3.07635156e+02] [-7.95758972e-01 -5.73693078e-01 1.94020389e-01 2.21072068e+02] [ 2.37656258e-01 -1.14286900e-03 9.71348649e-01 1.10947524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.58, Y:221.01, Z:110.98 [[-5.60593223e-01 8.14539987e-01 1.49197346e-01 3.07579913e+02] [-7.91334652e-01 -5.80026131e-01 1.93285168e-01 2.21005605e+02] [ 2.43976858e-01 -9.71067413e-03 9.69732435e-01 1.10976480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.200385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:307.70, Y:221.27, Z:111.82 [[-5.68014821e-01 -3.20404386e-01 7.58089832e-01 3.07704241e+02] [-7.76197515e-01 -9.76984307e-02 -6.22874333e-01 2.21266125e+02] [ 2.73635855e-01 -9.42229296e-01 -1.93202932e-01 1.11822653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.230385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.22, Y:220.74, Z:111.90 [[-5.24697041e-01 -8.29522078e-01 -1.91275030e-01 3.08224093e+02] [-7.96443535e-01 5.57685584e-01 -2.33804374e-01 2.20735467e+02] [ 3.00617217e-01 2.96632975e-02 -9.53283472e-01 1.11904739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.260385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.33, Y:220.54, Z:111.29 [[-4.98259586e-01 -1.43578983e-01 -8.55056993e-01 3.08326060e+02] [-8.26223408e-01 3.77609147e-01 4.18050491e-01 2.20538794e+02] [ 2.62854077e-01 9.14765767e-01 -3.06775694e-01 1.11294905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.50, Y:220.94, Z:111.00 [[-4.63110674e-01 8.77782798e-01 1.22580029e-01 3.07497003e+02] [-8.52247621e-01 -4.79006570e-01 2.10301449e-01 2.20935568e+02] [ 2.43315633e-01 -7.07569257e-03 9.69921356e-01 1.10999121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.50, Y:220.93, Z:111.00 [[-4.64514084e-01 8.77024869e-01 1.22694931e-01 3.07495395e+02] [-8.51460152e-01 -4.80397229e-01 2.10319072e-01 2.20930013e+02] [ 2.43397361e-01 -6.77367327e-03 9.69903007e-01 1.11001861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.49, Y:220.93, Z:111.00 [[-4.65795684e-01 8.76292891e-01 1.23065635e-01 3.07494508e+02] [-8.50591409e-01 -4.81734894e-01 2.10774160e-01 2.20926075e+02] [ 2.43984909e-01 -6.50087751e-03 9.69757239e-01 1.11003282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.380385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.50, Y:220.93, Z:111.00 [[-4.68883283e-01 8.74644303e-01 1.23068318e-01 3.07496881e+02] [-8.48930881e-01 -4.84731377e-01 2.10598792e-01 2.20925063e+02] [ 2.43854109e-01 -5.73024229e-03 9.69794998e-01 1.11002910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.50, Y:220.92, Z:111.00 [[-4.69198856e-01 8.74464026e-01 1.23146667e-01 3.07495737e+02] [-8.48756512e-01 -4.85056524e-01 2.10552969e-01 2.20923045e+02] [ 2.43854092e-01 -5.73032334e-03 9.69795002e-01 1.11003510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:220.67, Z:111.98 [[-4.43426738e-01 -8.86673143e-01 -1.31085720e-01 3.08110184e+02] [-8.64793007e-01 4.61676095e-01 -1.97454394e-01 2.20666909e+02] [ 2.35596651e-01 2.58054556e-02 -9.71508259e-01 1.11975582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.15, Y:220.51, Z:111.17 [[-4.33657635e-01 1.41847578e-01 -8.89842863e-01 3.08151009e+02] [-8.80354573e-01 1.43875995e-01 4.51968499e-01 2.20507607e+02] [ 1.92137664e-01 9.79376824e-01 6.24832400e-02 1.11171529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.11186889e-01 9.08278204e-01 7.71754306e-02 3.07421205e+02] [-8.94378852e-01 -4.18348371e-01 1.58338592e-01 2.20833922e+02] [ 1.76101708e-01 -3.91731985e-03 9.84364182e-01 1.11060590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.11742937e-01 9.08033373e-01 7.70918113e-02 3.07421554e+02] [-8.94186352e-01 -4.18879947e-01 1.58020117e-01 2.20833531e+02] [ 1.75779754e-01 -3.87077830e-03 9.84421909e-01 1.11061865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.12138362e-01 9.07877625e-01 7.68126913e-02 3.07421584e+02] [-8.94154736e-01 -4.19217579e-01 1.57302033e-01 2.20830833e+02] [ 1.75012227e-01 -3.85222946e-03 9.84558724e-01 1.11062041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.12475397e-01 9.07713568e-01 7.69423546e-02 3.07420185e+02] [-8.93967228e-01 -4.19572692e-01 1.57420938e-01 2.20826811e+02] [ 1.75176032e-01 -3.85167949e-03 9.84529595e-01 1.11063197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.12798922e-01 9.07575423e-01 7.68368516e-02 3.07420611e+02] [-8.93890585e-01 -4.19871445e-01 1.57059199e-01 2.20826751e+02] [ 1.74804669e-01 -3.84987003e-03 9.84595605e-01 1.11062948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.650385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.43, Y:220.83, Z:111.06 [[-4.11324230e-01 9.08518510e-01 7.35288720e-02 3.07425720e+02] [-8.95020290e-01 -4.17841436e-01 1.56035944e-01 2.20829812e+02] [ 1.72484953e-01 -1.62846776e-03 9.85010807e-01 1.11059062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.11653736e-01 9.07932381e-01 7.87400399e-02 3.07419673e+02] [-8.94592498e-01 -4.19065499e-01 1.55204286e-01 2.20825702e+02] [ 1.73912231e-01 -6.54982483e-03 9.84739375e-01 1.11063655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.42, Y:220.83, Z:111.06 [[-4.10180783e-01 9.08745223e-01 7.70314499e-02 3.07418800e+02] [-8.95069128e-01 -4.17327081e-01 1.57128491e-01 2.20825381e+02] [ 1.74937076e-01 -4.49738513e-03 9.84569344e-01 1.11062462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:220.82, Z:111.06 [[-4.10246983e-01 9.08699662e-01 7.72161751e-02 3.07417176e+02] [-8.94982662e-01 -4.17425696e-01 1.57358900e-01 2.20821990e+02] [ 1.75223995e-01 -4.55112390e-03 9.84518074e-01 1.11063681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:220.82, Z:111.06 [[-4.10426993e-01 9.08576903e-01 7.77026092e-02 3.07415618e+02] [-8.94709373e-01 -4.17692398e-01 1.58203029e-01 2.20818067e+02] [ 1.76195407e-01 -4.59045943e-03 9.84344506e-01 1.11063028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.41, Y:220.82, Z:111.06 [[-4.10222794e-01 9.08641244e-01 7.80278794e-02 3.07414566e+02] [-8.94684102e-01 -4.17551188e-01 1.58717873e-01 2.20816169e+02] [ 1.76798240e-01 -4.70061379e-03 9.84235890e-01 1.11062925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.830385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:307.41, Y:220.82, Z:111.06 [[-4.09480017e-01 9.08911077e-01 7.87830562e-02 3.07413543e+02] [-8.94724216e-01 -4.16960537e-01 1.60039021e-01 2.20816009e+02] [ 1.78310664e-01 -4.95632706e-03 9.83961758e-01 1.11060774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:220.61, Z:112.03 [[-3.99552381e-01 -9.13738465e-01 -7.37557621e-02 3.08032850e+02] [-9.02271003e-01 4.06207942e-01 -1.44575740e-01 2.20608869e+02] [ 1.62064591e-01 8.78210433e-03 -9.86741072e-01 1.12032284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.33, Y:220.71, Z:111.08 [[-3.43446253e-01 9.36806033e-01 6.66267816e-02 3.07329954e+02] [-9.22439757e-01 -3.49809057e-01 1.63519170e-01 2.20712666e+02] [ 1.76492397e-01 -5.29914571e-03 9.84287739e-01 1.11082077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.33, Y:220.71, Z:111.08 [[-3.43437888e-01 9.36802701e-01 6.67166941e-02 3.07329014e+02] [-9.22435481e-01 -3.49816738e-01 1.63526858e-01 2.20713148e+02] [ 1.76531019e-01 -5.38052703e-03 9.84280371e-01 1.11082014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.32, Y:220.71, Z:111.09 [[-3.46126411e-01 9.34939357e-01 7.80058078e-02 3.07320574e+02] [-9.20347499e-01 -3.54506299e-01 1.65184034e-01 2.20709268e+02] [ 1.82090605e-01 -1.46178933e-02 9.83173092e-01 1.11089621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.980385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.16, Y:220.33, Z:111.48 [[-3.70137683e-01 -3.15612036e-01 -8.73720286e-01 3.08161107e+02] [-9.19669384e-01 2.57293827e-01 2.96661610e-01 2.20333456e+02] [ 1.31172861e-01 9.13339438e-01 -3.85492867e-01 1.11479945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:220.62, Z:111.13 [[-3.26080710e-01 9.44455535e-01 4.09281456e-02 3.07276780e+02] [-9.38270639e-01 -3.28623659e-01 1.07956931e-01 2.20620803e+02] [ 1.15410478e-01 -3.19900446e-03 9.93312734e-01 1.11127436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.28, Y:220.62, Z:111.13 [[-3.27500542e-01 9.43967754e-01 4.08445272e-02 3.07275777e+02] [-9.37818262e-01 -3.30023508e-01 1.07616880e-01 2.20620333e+02] [ 1.15066518e-01 -3.06015711e-03 9.93353075e-01 1.11128384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:220.61, Z:111.14 [[-3.31531895e-01 9.41335722e-01 6.30369748e-02 3.07258233e+02] [-9.35011462e-01 -3.36747795e-01 1.11150745e-01 2.20609616e+02] [ 1.25857729e-01 -2.20902768e-02 9.91802325e-01 1.11144191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:220.15, Z:111.39 [[-3.68306715e-01 -1.36074557e-01 -9.19692274e-01 3.08027559e+02] [-9.28053973e-01 1.12727518e-01 3.54976520e-01 2.20154669e+02] [ 5.53713546e-02 9.84264305e-01 -1.67802835e-01 1.11389761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:220.52, Z:111.20 [[-3.25828381e-01 9.43423375e-01 6.15483675e-02 3.07203633e+02] [-9.43111130e-01 -3.28895844e-01 4.86715514e-02 2.20520859e+02] [ 6.61608815e-02 -4.21883777e-02 9.96916686e-01 1.11197401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.96, Y:219.88, Z:111.48 [[-3.44190053e-01 -2.76976489e-01 -8.97116064e-01 3.07957093e+02] [-9.38733894e-01 8.35460681e-02 3.34363171e-01 2.19882536e+02] [-1.76602175e-02 9.57237734e-01 -2.88762944e-01 1.11480811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.31, Y:220.33, Z:112.23 [[-2.89567519e-01 -5.80263709e-01 7.61212638e-01 3.07313679e+02] [-9.57112665e-01 1.67832907e-01 -2.36151353e-01 2.20329514e+02] [ 9.27352980e-03 -7.96948018e-01 -6.03976703e-01 1.12232614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:220.35, Z:111.18 [[-2.62279463e-01 9.64935911e-01 1.04005387e-02 3.07130996e+02] [-9.64289141e-01 -2.62484488e-01 3.53319337e-02 2.20350309e+02] [ 3.68230317e-02 -7.62285993e-04 9.99321512e-01 1.11176812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:220.22, Z:111.18 [[-2.62981441e-01 9.64707787e-01 1.34032528e-02 3.07090366e+02] [-9.64097485e-01 -2.63294737e-01 3.45242216e-02 2.20219535e+02] [ 3.68347914e-02 -3.84281277e-03 9.99313980e-01 1.11181811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:220.01, Z:111.28 [[-2.96639215e-01 1.27131907e-01 -9.46489648e-01 3.07852414e+02] [-9.54851136e-01 -5.63619164e-02 2.91689290e-01 2.20011542e+02] [-1.62629547e-02 9.90283198e-01 1.38111201e-01 1.11279553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:220.24, Z:111.21 [[-2.73437868e-01 9.61851946e-01 -8.51861594e-03 3.07101421e+02] [-9.61447257e-01 -2.73569956e-01 -2.79043423e-02 2.20241441e+02] [-2.91702833e-02 5.60096063e-04 9.99574300e-01 1.11214317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:220.24, Z:111.21 [[-2.74617716e-01 9.61516748e-01 -8.40556803e-03 3.07097820e+02] [-9.61123509e-01 -2.74745822e-01 -2.75015333e-02 2.20236631e+02] [-2.87525796e-02 5.26380775e-04 9.99586421e-01 1.11214115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:220.24, Z:111.21 [[-2.74831527e-01 9.61454089e-01 -8.58295661e-03 3.07097230e+02] [-9.61045420e-01 -2.74964980e-01 -2.80349974e-02 2.20238330e+02] [-2.93143754e-02 5.43709987e-04 9.99570094e-01 1.11214190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:220.23, Z:111.21 [[-2.74635332e-01 9.61508555e-01 -8.75975402e-03 3.07094786e+02] [-9.61084325e-01 -2.74774397e-01 -2.85648572e-02 2.20234497e+02] [-2.98723107e-02 5.73943227e-04 9.99553558e-01 1.11214481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:220.23, Z:111.21 [[-2.73415865e-01 9.61853371e-01 -9.04747177e-03 3.07090152e+02] [-9.61402494e-01 -2.73564757e-01 -2.94545286e-02 2.20228544e+02] [-3.08060071e-02 6.44926482e-04 9.99525174e-01 1.11214509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:220.23, Z:111.21 [[-2.72947313e-01 9.61986382e-01 -9.05340544e-03 3.07088506e+02] [-9.61536639e-01 -2.73096584e-01 -2.94201986e-02 2.20227975e+02] [-3.07742845e-02 6.75016863e-04 9.99526132e-01 1.11214996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:220.23, Z:111.22 [[-2.72069366e-01 9.62236307e-01 -8.91905997e-03 3.07085551e+02] [-9.61801272e-01 -2.72214608e-01 -2.89399303e-02 2.20226201e+02] [-3.02749501e-02 7.04694731e-04 9.99541360e-01 1.11215000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:220.22, Z:111.21 [[-2.72041377e-01 9.62244982e-01 -8.83646754e-03 3.07082306e+02] [-9.61819658e-01 -2.72183915e-01 -2.86157640e-02 2.20217194e+02] [-2.99405196e-02 7.14416334e-04 9.99551427e-01 1.11214535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.08, Y:220.22, Z:111.21 [[-2.71610815e-01 9.62366308e-01 -8.86868328e-03 3.07081089e+02] [-9.61939511e-01 -2.71754547e-01 -2.86678240e-02 2.20217220e+02] [-2.99990530e-02 7.44645807e-04 9.99549650e-01 1.11213793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:220.21, Z:111.21 [[-2.71625376e-01 9.62361399e-01 -8.95509139e-03 3.07077855e+02] [-9.61927629e-01 -2.71771880e-01 -2.89012577e-02 2.20208735e+02] [-3.02471968e-02 7.63834837e-04 9.99542157e-01 1.11212831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:220.21, Z:111.21 [[-2.71726994e-01 9.62333766e-01 -8.84099903e-03 3.07075512e+02] [-9.61912483e-01 -2.71869707e-01 -2.84822266e-02 2.20205182e+02] [-2.98130083e-02 7.64877487e-04 9.99555201e-01 1.11213040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:220.20, Z:111.21 [[-2.71819585e-01 9.62306940e-01 -8.91436148e-03 3.07073288e+02] [-9.61880018e-01 -2.71964599e-01 -2.86720650e-02 2.20202928e+02] [-3.00157179e-02 7.80917371e-04 9.99549122e-01 1.11212743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:220.20, Z:111.21 [[-2.72558503e-01 9.62100717e-01 -8.60661773e-03 3.07071009e+02] [-9.61703817e-01 -2.72693343e-01 -2.76425336e-02 2.20203395e+02] [-2.89418687e-02 7.42809567e-04 9.99580820e-01 1.11212089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:219.94, Z:111.20 [[-2.74175231e-01 9.61651359e-01 -7.38958035e-03 3.06984677e+02] [-9.61275336e-01 -2.74274663e-01 -2.68912370e-02 2.19935821e+02] [-2.78867693e-02 -2.69489786e-04 9.99611052e-01 1.11200244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.92, Y:219.78, Z:111.89 [[-2.70277562e-01 -7.95446937e-01 -5.42415164e-01 3.07915735e+02] [-9.60195559e-01 1.81430619e-01 2.12385073e-01 2.19783601e+02] [-7.05303368e-02 5.78227552e-01 -8.12821241e-01 1.11890239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.99, Y:220.07, Z:111.23 [[-2.21307581e-01 9.75073650e-01 -1.59477974e-02 3.06990876e+02] [-9.73026475e-01 -2.21876122e-01 -6.31701323e-02 2.20066159e+02] [-6.51339669e-02 1.53759995e-03 9.97875344e-01 1.11227856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.790385723 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:307.56, Y:219.20, Z:112.15 [[-1.86722812e-01 -9.82404691e-01 3.95166036e-03 3.07559897e+02] [-9.78875184e-01 1.86390001e-01 8.40365519e-02 2.19199501e+02] [-8.32944527e-02 1.18233590e-02 -9.96454837e-01 1.12145305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.92, Y:219.99, Z:111.22 [[-1.56462491e-01 9.87477395e-01 -2.01961262e-02 3.06922794e+02] [-9.85376968e-01 -1.57461158e-01 -6.51015748e-02 2.19994938e+02] [-6.74664389e-02 9.71484302e-03 9.97674246e-01 1.11221425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.85, Y:219.63, Z:111.20 [[-1.58263728e-01 9.87292050e-01 -1.43874823e-02 3.06852255e+02] [-9.85042311e-01 -1.58875244e-01 -6.67105915e-02 2.19633928e+02] [-6.81486514e-02 3.61441191e-03 9.97668631e-01 1.11195228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.93, Y:219.78, Z:112.19 [[-1.50502117e-01 -3.33353218e-01 9.30711956e-01 3.06926815e+02] [-9.87989761e-01 8.40511542e-02 -1.29659695e-01 2.19776686e+02] [-3.50049377e-02 -9.39047941e-01 -3.41999443e-01 1.12187782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:219.76, Z:111.17 [[-1.41879992e-01 9.89883584e-01 -7.46377071e-04 3.06860589e+02] [-9.89870038e-01 -1.41881955e-01 -5.17874501e-03 2.19758847e+02] [-5.23225211e-03 4.05599685e-06 9.99986312e-01 1.11173844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:219.76, Z:111.17 [[-1.42233092e-01 9.89832807e-01 -8.72784725e-04 3.06857537e+02] [-9.89817980e-01 -1.42235739e-01 -5.41850910e-03 2.19755210e+02] [-5.48755925e-03 9.32067104e-05 9.99984939e-01 1.11174224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:219.75, Z:111.17 [[-1.42353628e-01 9.89815371e-01 -9.87406588e-04 3.06855349e+02] [-9.89796552e-01 -1.42357012e-01 -6.10467990e-03 2.19752638e+02] [-6.18307025e-03 1.08308302e-04 9.99980879e-01 1.11174759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.000385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:306.85, Y:219.74, Z:111.17 [[-1.42267223e-01 9.89827707e-01 -1.07105109e-03 3.06852372e+02] [-9.89805730e-01 -1.42271203e-01 -6.59709852e-03 2.19744922e+02] [-6.68237063e-03 1.21581614e-04 9.99977665e-01 1.11174242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.85, Y:219.73, Z:111.17 [[-1.42105909e-01 9.89850460e-01 -1.40636330e-03 3.06848922e+02] [-9.89812931e-01 -1.42112770e-01 -8.62107022e-03 2.19730260e+02] [-8.73343251e-03 1.66931563e-04 9.99961849e-01 1.11174688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.84, Y:219.74, Z:111.18 [[-1.44321199e-01 9.89501584e-01 7.61623140e-03 3.06844833e+02] [-9.89520326e-01 -1.44279810e-01 -5.73239361e-03 2.19736658e+02] [-4.57334413e-03 -8.36372169e-03 9.99954565e-01 1.11180570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:219.46, Z:111.48 [[-1.52131135e-01 -3.45445836e-01 -9.26025535e-01 3.07790331e+02] [-9.86416803e-01 -5.66059789e-03 1.64164088e-01 2.19460664e+02] [-6.19516589e-02 9.38421617e-01 -3.39892424e-01 1.11478735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:306.82, Y:219.61, Z:111.20 [[-1.19009661e-01 9.92819183e-01 -1.21149190e-02 3.06816792e+02] [-9.90259644e-01 -1.19573264e-01 -7.13307305e-02 2.19614043e+02] [-7.22671380e-02 3.50786931e-03 9.97379143e-01 1.11199560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.64, Y:219.46, Z:111.92 [[-1.40135522e-01 2.26225329e-01 9.63941978e-01 3.06636797e+02] [-9.89702642e-01 -3.32575066e-03 -1.43100032e-01 2.19455411e+02] [-2.91670210e-02 -9.74069320e-01 2.24361861e-01 1.11923841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.80, Y:219.42, Z:111.16 [[-1.35618905e-01 9.90716918e-01 -9.35421432e-03 3.06795249e+02] [-9.90759788e-01 -1.35627917e-01 -3.32880755e-04 2.19418872e+02] [-1.59848320e-03 9.22263448e-03 9.99956193e-01 1.11157354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:219.24, Z:112.24 [[-1.17694821e-01 -6.61688016e-01 7.40484233e-01 3.07053512e+02] [-9.92957285e-01 6.82361378e-02 -9.68486457e-02 2.19235463e+02] [ 1.35558040e-02 -7.46667797e-01 -6.65058976e-01 1.12238748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:219.24, Z:111.14 [[-9.03883237e-02 9.95765641e-01 1.67552594e-02 3.06736306e+02] [-9.94462394e-01 -9.11501954e-02 5.23085886e-02 2.19241243e+02] [ 5.36143405e-02 -1.19343897e-02 9.98490397e-01 1.11140195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.61, Y:219.04, Z:111.26 [[-1.29480046e-01 -1.82142133e-02 -9.91414727e-01 3.07614719e+02] [-9.91552194e-01 -5.37751300e-03 1.29596795e-01 2.19036720e+02] [-7.69184925e-03 9.99819646e-01 -1.73640626e-02 1.11257258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.72, Y:219.14, Z:111.18 [[-8.89197086e-02 9.95946050e-01 1.35923077e-02 3.06720273e+02] [-9.95971008e-01 -8.87461683e-02 -1.28790487e-02 2.19137584e+02] [-1.16205725e-02 -1.46827456e-02 9.99824674e-01 1.11178498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:218.90, Z:111.48 [[-1.12960162e-01 -3.75778438e-01 -9.19799199e-01 3.07695310e+02] [-9.90456725e-01 -3.09844450e-02 1.34296092e-01 2.18901993e+02] [-7.89650436e-02 9.26191411e-01 -3.68692273e-01 1.11478155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:218.78, Z:112.27 [[-4.86671895e-02 -7.41963551e-01 6.68671514e-01 3.07046560e+02] [-9.96148229e-01 8.49441328e-02 2.17531561e-02 2.18781276e+02] [-7.29397708e-02 -6.65037280e-01 -7.43239670e-01 1.12274989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.66, Y:218.84, Z:111.16 [[-4.28861516e-03 9.99990009e-01 -1.26121431e-03 3.06660088e+02] [-9.99294382e-01 -4.33268706e-03 -3.73090633e-02 2.18840157e+02] [-3.73141550e-02 1.10032016e-03 9.99302979e-01 1.11162635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:218.84, Z:111.18 [[-5.37945768e-03 9.99861740e-01 1.57341118e-02 3.06650227e+02] [-9.99512152e-01 -4.89216296e-03 -3.08467850e-02 2.18835344e+02] [-3.07655463e-02 -1.58923750e-02 9.99400277e-01 1.11175361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:218.67, Z:111.44 [[-2.94027986e-02 -3.20450323e-01 -9.46808886e-01 3.07639265e+02] [-9.96230921e-01 -6.79367491e-02 5.39309792e-02 2.18668416e+02] [-8.16053174e-02 9.44826010e-01 -3.17244990e-01 1.11436172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:218.71, Z:111.20 [[ 1.62234386e-02 9.99628565e-01 2.18982210e-02 3.06633720e+02] [-9.95595728e-01 1.81727650e-02 -9.19722607e-02 2.18705736e+02] [-9.23360502e-02 -2.03096690e-02 9.95520754e-01 1.11203494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:218.41, Z:111.34 [[-2.36481655e-02 -1.64570512e-01 -9.86081797e-01 3.07580171e+02] [-9.87898422e-01 -1.47393083e-01 4.82906597e-02 2.18408868e+02] [-1.53288855e-01 9.75290637e-01 -1.59093373e-01 1.11336347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.62, Y:218.39, Z:111.19 [[ 2.55795282e-02 9.99358951e-01 2.50474426e-02 3.06622876e+02] [-9.87320649e-01 2.91821345e-02 -1.56033132e-01 2.18387737e+02] [-1.56664045e-01 -2.07386034e-02 9.87434194e-01 1.11190098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.570385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:307.63, Y:218.40, Z:111.52 [[ 7.91211205e-03 -3.99918296e-01 -9.16516642e-01 3.07633385e+02] [-9.76771323e-01 -1.99364430e-01 7.85595760e-02 2.18403357e+02] [-2.14138229e-01 8.94605601e-01 -3.92206117e-01 1.11517164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:218.24, Z:112.16 [[ 7.64143208e-02 -9.97047729e-01 -7.52846986e-03 3.07422647e+02] [-9.66152278e-01 -7.59081284e-02 2.46551684e-01 2.18240925e+02] [-2.46395268e-01 -1.15664311e-02 -9.69100402e-01 1.12155723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:218.24, Z:112.15 [[ 1.54725923e-01 -9.87577450e-01 -2.73983500e-02 3.07418732e+02] [-9.56759388e-01 -1.56696473e-01 2.45066702e-01 2.18240953e+02] [-2.46315573e-01 -1.17045431e-02 -9.69119003e-01 1.12148481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.59, Y:218.28, Z:111.21 [[ 2.09205677e-01 9.75793586e-01 6.37170427e-02 3.06592725e+02] [-9.52397925e-01 2.18098500e-01 -2.13005252e-01 2.18281390e+02] [-2.21745750e-01 -1.61220714e-02 9.74971231e-01 1.11208584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:218.34, Z:111.35 [[ 1.75890919e-01 -1.23263780e-01 -9.76661879e-01 3.07557434e+02] [-9.44518746e-01 -3.00699929e-01 -1.32151016e-01 2.18343991e+02] [-2.77392724e-01 9.45719617e-01 -1.69315338e-01 1.11351226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:218.04, Z:112.10 [[ 2.38816668e-01 -9.70662004e-01 -2.79619920e-02 3.07432906e+02] [-9.19097673e-01 -2.35236173e-01 3.16106645e-01 2.18044649e+02] [-3.13410381e-01 -4.97917340e-02 -9.48311508e-01 1.12101890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.62, Y:217.74, Z:111.95 [[ 2.81361200e-01 -4.20857635e-02 9.58678603e-01 3.06624522e+02] [-9.24243281e-01 2.56810932e-01 2.82528766e-01 2.17743400e+02] [-2.58089585e-01 -9.65544890e-01 3.33591478e-02 1.11952036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:217.93, Z:111.10 [[ 2.95121055e-01 9.53418935e-01 6.24171294e-02 3.06666839e+02] [-9.29686626e-01 3.01617645e-01 -2.11446385e-01 2.17927481e+02] [-2.20423094e-01 4.37390967e-03 9.75394550e-01 1.11099564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:217.92, Z:112.04 [[ 3.11902296e-01 -9.47761170e-01 -6.68260614e-02 3.07481342e+02] [-9.19138481e-01 -3.18799444e-01 2.31411684e-01 2.17920253e+02] [-2.40627120e-01 -1.07554311e-02 -9.70558040e-01 1.12038963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:217.83, Z:111.08 [[ 3.70122629e-01 9.25741063e-01 7.75417525e-02 3.06682684e+02] [-9.02284457e-01 3.78098336e-01 -2.07182062e-01 2.17827645e+02] [-2.21115350e-01 6.71805142e-03 9.75224523e-01 1.11082062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:217.85, Z:112.03 [[ 3.85001789e-01 -9.22307769e-01 -3.34962871e-02 3.07475891e+02] [-8.90701727e-01 -3.80823971e-01 2.48240884e-01 2.17851789e+02] [-2.41710685e-01 -6.57379839e-02 -9.68119033e-01 1.12026372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.70, Y:217.68, Z:111.09 [[ 4.38749296e-01 8.87833409e-01 1.38747587e-01 3.06696062e+02] [-8.73584817e-01 4.57600528e-01 -1.65684416e-01 2.17677547e+02] [-2.10591129e-01 -4.85138649e-02 9.76369695e-01 1.11091007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:217.95, Z:111.16 [[ 4.03807336e-01 4.82803738e-02 -9.13569177e-01 3.07595551e+02] [-8.75994642e-01 -2.67511554e-01 -4.01336461e-01 2.17945528e+02] [-2.63766985e-01 9.62344312e-01 -6.57297794e-02 1.11163855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.960385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:306.78, Y:217.57, Z:111.03 [[ 4.31913607e-01 8.93806343e-01 1.20668382e-01 3.06781554e+02] [-8.56358682e-01 4.48394013e-01 -2.56110556e-01 2.17568404e+02] [-2.83020219e-01 7.28221757e-03 9.59086297e-01 1.11030807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:217.64, Z:111.95 [[ 4.57274733e-01 -8.79458547e-01 -1.32107844e-01 3.07602162e+02] [-8.38772606e-01 -4.75866502e-01 2.64597029e-01 2.17639978e+02] [-2.95567816e-01 -1.01850955e-02 -9.55267465e-01 1.11952538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:217.47, Z:111.01 [[ 4.94618904e-01 8.57694835e-01 1.40398400e-01 3.06818757e+02] [-8.21582874e-01 5.14118049e-01 -2.46341658e-01 2.17470880e+02] [-2.83467319e-01 6.49631991e-03 9.58959893e-01 1.11009387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.050385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:307.78, Y:217.78, Z:111.30 [[ 4.80808149e-01 -2.11442592e-01 -8.50949796e-01 3.07777046e+02] [-8.10672043e-01 -4.77004981e-01 -3.39524795e-01 2.17778765e+02] [-3.34117288e-01 8.53087498e-01 -4.00758479e-01 1.11303501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:217.44, Z:111.87 [[ 5.40532016e-01 -8.21710362e-01 -1.80602385e-01 3.07714468e+02] [-7.64018258e-01 -5.69306634e-01 3.03588632e-01 2.17438319e+02] [-3.52280060e-01 -2.61158559e-02 -9.35530182e-01 1.11874531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.05, Y:216.86, Z:111.68 [[ 5.67645775e-01 -1.09729499e-01 8.15927516e-01 3.07047935e+02] [-7.68316886e-01 2.85422503e-01 5.72907634e-01 2.16862205e+02] [-2.95748941e-01 -9.52099486e-01 7.77118508e-02 1.11677165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:217.52, Z:110.99 [[ 5.50778744e-01 1.28851089e-01 -8.24645483e-01 3.07837651e+02] [-7.65976375e-01 -3.14433798e-01 -5.60724157e-01 2.17516094e+02] [-3.31546329e-01 9.40493904e-01 -7.44865629e-02 1.10993341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:217.00, Z:110.85 [[ 5.69643766e-01 7.97205122e-01 1.99924921e-01 3.07107076e+02] [-7.49224631e-01 6.03684298e-01 -2.72447646e-01 2.17004373e+02] [-3.37888194e-01 5.40942791e-03 9.41170711e-01 1.10846285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.200385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:307.13, Y:216.98, Z:110.84 [[ 5.70022913e-01 7.96861089e-01 2.00215595e-01 3.07125242e+02] [-7.49022681e-01 6.04141256e-01 -2.71989643e-01 2.16979959e+02] [-3.37696465e-01 5.07430660e-03 9.41241387e-01 1.10835495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:216.96, Z:110.82 [[ 5.71746914e-01 7.95742922e-01 1.99746512e-01 3.07143875e+02] [-7.47502209e-01 6.05597064e-01 -2.72933406e-01 2.16956642e+02] [-3.38150727e-01 6.73787379e-03 9.41067844e-01 1.10824153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.16, Y:216.93, Z:110.81 [[ 5.72343327e-01 7.95201208e-01 2.00195289e-01 3.07162667e+02] [-7.46840974e-01 6.06307160e-01 -2.73166959e-01 2.16931644e+02] [-3.38602533e-01 6.83124161e-03 9.40904702e-01 1.10812830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.18, Y:216.91, Z:110.80 [[ 5.72992872e-01 7.94546784e-01 2.00934257e-01 3.07181869e+02] [-7.45717407e-01 6.07158371e-01 -2.74343326e-01 2.16907822e+02] [-3.39977524e-01 7.35659694e-03 9.40404787e-01 1.10802414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:216.89, Z:110.79 [[ 5.74268605e-01 7.95484047e-01 1.93444309e-01 3.07204205e+02] [-7.45443117e-01 6.05775926e-01 -2.78118837e-01 2.16885810e+02] [-3.38423003e-01 1.55131879e-02 9.40866203e-01 1.10787543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:307.58, Y:216.57, Z:111.71 [[ 5.81878044e-01 -5.26575690e-01 6.19787047e-01 3.07577214e+02] [-7.52234449e-01 -5.88010614e-02 6.56266538e-01 2.16565042e+02] [-3.09129869e-01 -8.48092258e-01 -4.30323421e-01 1.11712480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.33, Y:216.71, Z:110.71 [[ 6.07890445e-01 7.74625729e-01 1.74425307e-01 3.07326660e+02] [-7.41916146e-01 6.32391175e-01 -2.22804475e-01 2.16706456e+02] [-2.82895104e-01 6.03176048e-03 9.59131888e-01 1.10714105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.35, Y:216.68, Z:110.70 [[ 6.07021738e-01 7.75477284e-01 1.73665170e-01 3.07348411e+02] [-7.42764538e-01 6.31343613e-01 -2.22948613e-01 2.16684406e+02] [-2.82533981e-01 6.34232472e-03 9.59236324e-01 1.10704102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.37, Y:216.66, Z:110.70 [[ 6.05347958e-01 7.76683680e-01 1.74115799e-01 3.07369863e+02] [-7.44109639e-01 6.29869292e-01 -2.22633151e-01 2.16661607e+02] [-2.82585730e-01 5.20927869e-03 9.59227902e-01 1.10695575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:216.64, Z:110.69 [[ 6.05034762e-01 7.76907794e-01 1.74204523e-01 3.07390043e+02] [-7.44301391e-01 6.29593537e-01 -2.22772121e-01 2.16639223e+02] [-2.82751439e-01 5.12420829e-03 9.59179528e-01 1.10686088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.41, Y:216.62, Z:110.68 [[ 6.04939524e-01 7.77032120e-01 1.73980623e-01 3.07411361e+02] [-7.44479841e-01 6.29439958e-01 -2.22609760e-01 2.16615451e+02] [-2.82485290e-01 5.14037523e-03 9.59257858e-01 1.10676106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:216.59, Z:110.67 [[ 6.04871701e-01 7.77023568e-01 1.74254413e-01 3.07433327e+02] [-7.44327091e-01 6.29449694e-01 -2.23092503e-01 2.16594578e+02] [-2.83032520e-01 5.24006125e-03 9.59095999e-01 1.10666335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:216.57, Z:110.66 [[ 6.04759041e-01 7.77060719e-01 1.74479631e-01 3.07454042e+02] [-7.44242922e-01 6.29403236e-01 -2.23504004e-01 2.16571154e+02] [-2.83494227e-01 5.31083666e-03 9.58959237e-01 1.10656354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:216.55, Z:110.65 [[ 6.04377493e-01 7.77279479e-01 1.74826937e-01 3.07476217e+02] [-7.44298069e-01 6.29133104e-01 -2.24080169e-01 2.16548629e+02] [-2.84162330e-01 5.30565905e-03 9.58761503e-01 1.10646964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.620385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:307.50, Y:216.53, Z:110.64 [[ 6.04054725e-01 7.77470701e-01 1.75091972e-01 3.07496650e+02] [-7.44355713e-01 6.28896736e-01 -2.24551705e-01 2.16525022e+02] [-2.84697141e-01 5.31080896e-03 9.58602803e-01 1.10637619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.52, Y:216.50, Z:110.63 [[ 6.04112981e-01 7.77425434e-01 1.75091981e-01 3.07516706e+02] [-7.44268949e-01 6.28951765e-01 -2.24685134e-01 2.16502354e+02] [-2.84800348e-01 5.41968132e-03 9.58571536e-01 1.10628606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:216.49, Z:110.62 [[ 6.07340191e-01 7.73362715e-01 1.81791099e-01 3.07537432e+02] [-7.41214963e-01 6.33963388e-01 -2.20659925e-01 2.16485998e+02] [-2.85899059e-01 -7.30641893e-04 9.58259461e-01 1.10621109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:216.46, Z:110.61 [[ 6.03605768e-01 7.78307537e-01 1.72908807e-01 3.07562505e+02] [-7.44360744e-01 6.27824022e-01 -2.27517211e-01 2.16460762e+02] [-2.85634662e-01 8.62417252e-03 9.58299777e-01 1.10607719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:216.44, Z:110.60 [[ 6.03289470e-01 7.77983920e-01 1.75450381e-01 3.07582211e+02] [-7.44587334e-01 6.28260626e-01 -2.25562160e-01 2.16435333e+02] [-2.85712300e-01 5.44114509e-03 9.58299993e-01 1.10599049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.60, Y:216.41, Z:110.59 [[ 6.03424895e-01 7.77883796e-01 1.75428603e-01 3.07602014e+02] [-7.44452084e-01 6.28383420e-01 -2.25666507e-01 2.16412340e+02] [-2.85778745e-01 5.57459915e-03 9.58279413e-01 1.10589209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.62, Y:216.39, Z:110.58 [[ 6.03338012e-01 7.77921977e-01 1.75558086e-01 3.07624490e+02] [-7.44404556e-01 6.28335553e-01 -2.25956389e-01 2.16390426e+02] [-2.86085828e-01 5.64183983e-03 9.58187387e-01 1.10579597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.64, Y:216.37, Z:110.57 [[ 6.03496169e-01 7.77842603e-01 1.75366071e-01 3.07644715e+02] [-7.44356715e-01 6.28432730e-01 -2.25843716e-01 2.16368076e+02] [-2.85876643e-01 5.76090532e-03 9.58249110e-01 1.10570088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.860385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.67, Y:216.35, Z:110.56 [[ 6.03534800e-01 7.78160356e-01 1.73816584e-01 3.07666963e+02] [-7.44438417e-01 6.28021635e-01 -2.26716274e-01 2.16346398e+02] [-2.85582192e-01 7.43541801e-03 9.58325376e-01 1.10559858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:216.31, Z:110.57 [[ 6.04992829e-01 7.70947851e-01 1.99055488e-01 3.07676966e+02] [-7.45533721e-01 6.36264916e-01 -1.98359338e-01 2.16307738e+02] [-2.79576729e-01 -2.83966016e-02 9.59703332e-01 1.10572362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.72, Y:216.31, Z:110.53 [[ 6.03302727e-01 7.83213276e-01 1.50342224e-01 3.07720164e+02] [-7.43798497e-01 6.20594260e-01 -2.48246973e-01 2.16312870e+02] [-2.87731846e-01 3.79437550e-02 9.56959067e-01 1.10531781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.72, Y:216.26, Z:110.55 [[ 6.04208088e-01 7.71979820e-01 1.97432885e-01 3.07720497e+02] [-7.45127051e-01 6.35183107e-01 -2.03293134e-01 2.16264670e+02] [-2.82344230e-01 -2.42812273e-02 9.59005817e-01 1.10551523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.980385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:307.76, Y:216.27, Z:110.51 [[ 6.02674626e-01 7.83780550e-01 1.49904449e-01 3.07759467e+02] [-7.44394257e-01 6.19872049e-01 -2.48265651e-01 2.16267627e+02] [-2.87507366e-01 3.80353977e-02 9.57022896e-01 1.10511813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.76, Y:216.21, Z:110.54 [[ 6.01941401e-01 7.71743619e-01 2.05130048e-01 3.07756586e+02] [-7.47869954e-01 6.34876513e-01 -1.93964805e-01 2.16211921e+02] [-2.79923350e-01 -3.66551532e-02 9.59322322e-01 1.10539718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:216.22, Z:110.49 [[ 6.00284296e-01 7.86569651e-01 1.44799683e-01 3.07802458e+02] [-7.45556453e-01 6.15865865e-01 -2.54666080e-01 2.16223654e+02] [-2.89489792e-01 4.49157100e-02 9.56126686e-01 1.10491748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.070385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.81, Y:216.19, Z:110.49 [[ 5.98447458e-01 7.82133499e-01 1.73573704e-01 3.07810696e+02] [-7.46785020e-01 6.23036612e-01 -2.32674696e-01 2.16189137e+02] [-2.90125447e-01 9.62133826e-03 9.56940257e-01 1.10492431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:216.16, Z:110.49 [[ 5.98062406e-01 7.80203184e-01 1.83314896e-01 3.07826764e+02] [-7.46454380e-01 6.25525236e-01 -2.26989071e-01 2.16160570e+02] [-2.91765690e-01 -1.08257743e-03 9.56489211e-01 1.10486447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:216.14, Z:110.48 [[ 5.97724797e-01 7.81734396e-01 1.77810014e-01 3.07847559e+02] [-7.47198074e-01 6.23595153e-01 -2.29834992e-01 2.16138922e+02] [-2.90551382e-01 4.51877379e-03 9.56848721e-01 1.10475154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.160385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:307.87, Y:216.11, Z:110.46 [[ 5.98187790e-01 7.81530771e-01 1.77146893e-01 3.07866449e+02] [-7.47223266e-01 6.23849338e-01 -2.29061990e-01 2.16114503e+02] [-2.89531965e-01 4.65380544e-03 9.57157032e-01 1.10463899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:216.09, Z:110.46 [[ 5.97361490e-01 7.82067056e-01 1.77567933e-01 3.07886443e+02] [-7.47575299e-01 6.23178098e-01 -2.29739484e-01 2.16088977e+02] [-2.90328128e-01 4.49211980e-03 9.56916610e-01 1.10455824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.91, Y:216.06, Z:110.45 [[ 5.97211877e-01 7.82196420e-01 1.77501368e-01 3.07905991e+02] [-7.47694980e-01 6.23015536e-01 -2.29790903e-01 2.16063624e+02] [-2.90327731e-01 4.51697489e-03 9.56916614e-01 1.10446119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.93, Y:216.04, Z:110.44 [[ 5.96477623e-01 7.82740041e-01 1.77573854e-01 3.07926406e+02] [-7.48204335e-01 6.22333830e-01 -2.29980167e-01 2.16039284e+02] [-2.90524902e-01 4.31649593e-03 9.56857696e-01 1.10436199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.94, Y:216.00, Z:110.44 [[ 5.96712047e-01 7.79252203e-01 1.91574366e-01 3.07939113e+02] [-7.50330814e-01 6.26457888e-01 -2.11078622e-01 2.16004911e+02] [-2.84496754e-01 -1.77909935e-02 9.58511908e-01 1.10440853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:215.99, Z:110.42 [[ 5.95166169e-01 7.84635694e-01 1.73562836e-01 3.07965121e+02] [-7.51369293e-01 6.19943237e-01 -2.26085312e-01 2.15988601e+02] [-2.84993712e-01 4.14854404e-03 9.58520409e-01 1.10424075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.98, Y:215.96, Z:110.42 [[ 5.94332991e-01 7.84983546e-01 1.74840292e-01 3.07982508e+02] [-7.51872456e-01 6.19511063e-01 -2.25596660e-01 2.15962513e+02] [-2.85405161e-01 2.62193833e-03 9.58403370e-01 1.10415532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:215.94, Z:110.40 [[ 5.94033512e-01 7.86314404e-01 1.69805315e-01 3.08002011e+02] [-7.51766622e-01 6.17755146e-01 -2.30706578e-01 2.15940282e+02] [-2.86306012e-01 9.39347054e-03 9.58092183e-01 1.10403096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:215.91, Z:110.40 [[ 5.94144824e-01 7.84826258e-01 1.76180799e-01 3.08018473e+02] [-7.51541715e-01 6.19712775e-01 -2.26144043e-01 2.15912542e+02] [-2.86665275e-01 1.95509282e-03 9.58028809e-01 1.10396090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:215.89, Z:110.39 [[ 5.94750933e-01 7.85205593e-01 1.72405059e-01 3.08038669e+02] [-7.51406135e-01 6.19205669e-01 -2.27976227e-01 2.15890065e+02] [-2.85762398e-01 6.04285481e-03 9.58281449e-01 1.10385474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:215.86, Z:110.38 [[ 5.96327120e-01 7.83538946e-01 1.74529903e-01 3.08055830e+02] [-7.50235749e-01 6.21330712e-01 -2.26040854e-01 2.15862881e+02] [-2.85552601e-01 3.85571885e-03 9.58355282e-01 1.10376893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.08, Y:215.85, Z:110.35 [[ 5.98070874e-01 7.85591092e-01 1.58612316e-01 3.08080164e+02] [-7.46671233e-01 6.18083785e-01 -2.45874978e-01 2.15852698e+02] [-2.91192893e-01 2.86194098e-02 9.56236178e-01 1.10354708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:215.82, Z:110.35 [[ 5.99165525e-01 7.80614990e-01 1.77878922e-01 3.08089928e+02] [-7.45627341e-01 6.24984618e-01 -2.31158161e-01 2.15818481e+02] [-2.91617116e-01 5.87061320e-03 9.56517116e-01 1.10352970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:215.79, Z:110.35 [[ 6.01136929e-01 7.77890832e-01 1.83085353e-01 3.08105641e+02] [-7.44948439e-01 6.28397019e-01 -2.23984396e-01 2.15787552e+02] [-2.89285698e-01 -1.74385574e-03 9.57241215e-01 1.10347706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.13, Y:215.77, Z:110.34 [[ 6.01660234e-01 7.79023061e-01 1.76431386e-01 3.08127586e+02] [-7.44418004e-01 6.26957659e-01 -2.29708358e-01 2.15765541e+02] [-2.89563117e-01 6.86768407e-03 9.57134283e-01 1.10335421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.15, Y:215.75, Z:110.32 [[ 6.02035234e-01 7.79761583e-01 1.71829715e-01 3.08147417e+02] [-7.43883858e-01 6.25938236e-01 -2.34175428e-01 2.15745366e+02] [-2.90155791e-01 1.31605079e-02 9.56888927e-01 1.10322246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:215.72, Z:110.31 [[ 6.01165497e-01 7.80322988e-01 1.72325504e-01 3.08165123e+02] [-7.44317554e-01 6.25245776e-01 -2.34646751e-01 2.15722693e+02] [-2.90846048e-01 1.27966334e-02 9.56684286e-01 1.10312236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.18, Y:215.69, Z:110.31 [[ 6.00948566e-01 7.78998971e-01 1.78945309e-01 3.08180452e+02] [-7.44405399e-01 6.27006991e-01 -2.29614536e-01 2.15693991e+02] [-2.91069448e-01 4.77867221e-03 9.56689992e-01 1.10305472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.700385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.20, Y:215.67, Z:110.29 [[ 6.00864083e-01 7.80459506e-01 1.72757961e-01 3.08200720e+02] [-7.44037160e-01 6.25065423e-01 -2.36012545e-01 2.15672712e+02] [-2.92183262e-01 1.32731185e-02 9.56270237e-01 1.10290415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.730385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:308.21, Y:215.64, Z:110.29 [[ 6.00073965e-01 7.78329469e-01 1.84701040e-01 3.08213297e+02] [-7.45523063e-01 6.27846241e-01 -2.23616772e-01 2.15640370e+02] [-2.90011377e-01 -3.51228187e-03 9.57016753e-01 1.10289798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.760385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:308.24, Y:215.62, Z:110.28 [[ 5.98301129e-01 7.82574176e-01 1.72085496e-01 3.08235687e+02] [-7.47686822e-01 6.22481836e-01 -2.31259120e-01 2.15621582e+02] [-2.88097511e-01 9.69653464e-03 9.57551984e-01 1.10276370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.25, Y:215.60, Z:110.27 [[ 5.97544583e-01 7.83355497e-01 1.71156760e-01 3.08254765e+02] [-7.48300657e-01 6.21484805e-01 -2.31954227e-01 2.15598649e+02] [-2.88073945e-01 1.05262758e-02 9.57550312e-01 1.10265741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.26, Y:215.56, Z:110.27 [[ 5.96024170e-01 7.80188145e-01 1.89899044e-01 3.08264162e+02] [-7.49859764e-01 6.25393931e-01 -2.15853575e-01 2.15561968e+02] [-2.87168110e-01 -1.37437046e-02 9.57781597e-01 1.10266536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:215.95, Z:110.38 [[ 5.67528882e-01 2.22826066e-01 -7.92628231e-01 3.08988460e+02] [-7.49913090e-01 -2.57542693e-01 -6.09345648e-01 2.15948912e+02] [-3.39913703e-01 9.40223540e-01 2.09372673e-02 1.10377798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:215.48, Z:110.22 [[ 5.82387577e-01 7.85158355e-01 2.10596932e-01 3.08336762e+02] [-7.33002439e-01 6.19220541e-01 -2.81555229e-01 2.15480974e+02] [-3.51471386e-01 9.60620265e-03 9.36149339e-01 1.10220606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:215.46, Z:110.21 [[ 5.80486060e-01 7.87055485e-01 2.08757270e-01 3.08354896e+02] [-7.34198107e-01 6.16775544e-01 -2.83797584e-01 2.15458742e+02] [-3.52120824e-01 1.14713489e-02 9.35884252e-01 1.10207506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:215.43, Z:110.20 [[ 5.79518381e-01 7.86852810e-01 2.12181765e-01 3.08372418e+02] [-7.34999465e-01 6.17102238e-01 -2.80999314e-01 2.15432778e+02] [-3.52042942e-01 6.89078331e-03 9.35958484e-01 1.10196373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9703857229999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:308.48, Y:215.02, Z:110.92 [[ 5.79216694e-01 -1.95919051e-01 7.91279816e-01 3.08483979e+02] [-7.55017617e-01 2.37033978e-01 6.11361834e-01 2.15018494e+02] [-3.07337633e-01 -9.51541181e-01 -1.06282978e-02 1.10918501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:215.66, Z:110.26 [[ 5.67495760e-01 2.16824328e-01 -7.94314657e-01 3.09207815e+02] [-7.49384726e-01 -2.63673030e-01 -6.07370616e-01 2.15663215e+02] [-3.41132078e-01 9.39927521e-01 1.28515127e-02 1.10256194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.55, Y:215.19, Z:110.10 [[ 5.79537553e-01 7.86268506e-01 2.14284999e-01 3.08548818e+02] [-7.34281521e-01 6.17859341e-01 -2.81212523e-01 2.15189679e+02] [-3.53506538e-01 5.62770231e-03 9.35415125e-01 1.10103343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:215.17, Z:110.09 [[ 5.80065496e-01 7.85930416e-01 2.14096713e-01 3.08565601e+02] [-7.33949853e-01 6.18286390e-01 -2.81139739e-01 2.15165092e+02] [-3.53329355e-01 5.94321100e-03 9.35480115e-01 1.10092022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:215.14, Z:110.08 [[ 5.80238598e-01 7.85868402e-01 2.13855149e-01 3.08584359e+02] [-7.33944056e-01 6.18363878e-01 -2.80984406e-01 2.15141227e+02] [-3.53057065e-01 6.08028241e-03 9.35582032e-01 1.10079537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:215.12, Z:110.07 [[ 5.80159800e-01 7.86074111e-01 2.13312209e-01 3.08603132e+02] [-7.34371334e-01 6.18102643e-01 -2.80442270e-01 2.15117215e+02] [-3.52297248e-01 6.05095942e-03 9.35868599e-01 1.10067127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:215.09, Z:110.05 [[ 5.79607618e-01 7.86705083e-01 2.12485582e-01 3.08620472e+02] [-7.35393541e-01 6.17302195e-01 -2.79525205e-01 2.15091831e+02] [-3.51071716e-01 5.75441361e-03 9.36330891e-01 1.10054401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.64, Y:215.07, Z:110.04 [[ 5.78770586e-01 7.87360504e-01 2.12339459e-01 3.08637517e+02] [-7.36101219e-01 6.16468636e-01 -2.79502088e-01 2.15065540e+02] [-3.50969522e-01 5.46425275e-03 9.36370940e-01 1.10042913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.65, Y:215.04, Z:110.03 [[ 5.77763260e-01 7.88102719e-01 2.12329270e-01 3.08653098e+02] [-7.36833598e-01 6.15522414e-01 -2.79657660e-01 2.15038225e+02] [-3.51092388e-01 5.12458145e-03 9.36326799e-01 1.10031506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.67, Y:215.01, Z:110.02 [[ 5.77357025e-01 7.88454522e-01 2.12128104e-01 3.08670325e+02] [-7.37244131e-01 6.15072580e-01 -2.79565400e-01 2.15013776e+02] [-3.50898784e-01 5.01884811e-03 9.36399944e-01 1.10020029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.69, Y:214.99, Z:110.01 [[ 5.77312034e-01 7.88537125e-01 2.11943431e-01 3.08688281e+02] [-7.37364291e-01 6.14966265e-01 -2.79482370e-01 2.14989369e+02] [-3.50720285e-01 5.06901744e-03 9.36466543e-01 1.10008011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.70, Y:214.96, Z:110.00 [[ 5.76938372e-01 7.88791869e-01 2.12012977e-01 3.08704892e+02] [-7.37538488e-01 6.14639839e-01 -2.79740678e-01 2.14963876e+02] [-3.50968794e-01 5.02540082e-03 9.36373671e-01 1.09995484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:214.94, Z:109.98 [[ 5.76612424e-01 7.89112072e-01 2.11707937e-01 3.08722149e+02] [-7.37968979e-01 6.14229438e-01 -2.79506679e-01 2.14937700e+02] [-3.50599342e-01 4.93313395e-03 9.36512555e-01 1.09983748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.360385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:308.74, Y:214.91, Z:109.97 [[ 5.75193858e-01 7.90034985e-01 2.12124371e-01 3.08737174e+02] [-7.38680216e-01 6.13045300e-01 -2.80226693e-01 2.14909996e+02] [-3.51430740e-01 4.49259642e-03 9.36203104e-01 1.09972619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.390385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:308.75, Y:214.88, Z:109.96 [[ 5.74142811e-01 7.90804628e-01 2.12103921e-01 3.08753929e+02] [-7.39447149e-01 6.12054707e-01 -2.80369310e-01 2.14884709e+02] [-3.51536551e-01 4.13238395e-03 9.36165037e-01 1.09961620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:214.86, Z:109.95 [[ 5.72687108e-01 7.91887577e-01 2.11998919e-01 3.08771266e+02] [-7.40615303e-01 6.10656675e-01 -2.80334441e-01 2.14859660e+02] [-3.51451916e-01 3.53427640e-03 9.36199263e-01 1.09949896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:308.79, Y:214.83, Z:109.94 [[ 5.69891374e-01 7.93978137e-01 2.11713343e-01 3.08787993e+02] [-7.42924173e-01 6.07941753e-01 -2.80125862e-01 2.14834690e+02] [-3.51123191e-01 2.35435278e-03 9.36326312e-01 1.09937199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.480385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:308.80, Y:214.81, Z:109.92 [[ 5.69041699e-01 7.94646740e-01 2.11490198e-01 3.08804671e+02] [-7.43685466e-01 6.07068662e-01 -2.79999228e-01 2.14809720e+02] [-3.50889545e-01 2.04905015e-03 9.36414614e-01 1.09922276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:214.78, Z:109.91 [[ 5.66302847e-01 7.96659125e-01 2.11270736e-01 3.08819665e+02] [-7.45879105e-01 6.04428164e-01 -2.79876679e-01 2.14781149e+02] [-3.50664293e-01 9.12532552e-04 9.36500785e-01 1.09914582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.84, Y:214.76, Z:109.90 [[ 5.65145088e-01 7.97487114e-01 2.11247089e-01 3.08836378e+02] [-7.46710967e-01 6.03335764e-01 -2.80015514e-01 2.14755377e+02] [-3.50761688e-01 5.08874160e-04 9.36464617e-01 1.09902611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:214.73, Z:109.89 [[ 5.63894205e-01 7.98475822e-01 2.10854660e-01 3.08851198e+02] [-7.47896482e-01 6.02026878e-01 -2.79668536e-01 2.14729497e+02] [-3.50248737e-01 6.00814124e-06 9.36656726e-01 1.09890907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:214.70, Z:109.88 [[ 5.63077222e-01 7.99096840e-01 2.10685269e-01 3.08867359e+02] [-7.48603931e-01 6.01202248e-01 -2.79549658e-01 2.14703735e+02] [-3.50051706e-01 -3.11775765e-04 9.36730327e-01 1.09878978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:214.69, Z:109.86 [[ 5.64562889e-01 7.99146222e-01 2.06480168e-01 3.08888158e+02] [-7.45691072e-01 6.01078910e-01 -2.87487337e-01 2.14686332e+02] [-3.53855294e-01 8.33426365e-03 9.35263049e-01 1.09859228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.660385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:308.89, Y:214.64, Z:109.86 [[ 5.61527678e-01 7.97474882e-01 2.20727160e-01 3.08894442e+02] [-7.49947809e-01 6.03210441e-01 -2.71505889e-01 2.14643054e+02] [-3.49664055e-01 -1.30757784e-02 9.36783899e-01 1.09856455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.92, Y:214.63, Z:109.84 [[ 5.62651718e-01 7.99368289e-01 2.10792273e-01 3.08915131e+02] [-7.48196011e-01 6.00841036e-01 -2.81412117e-01 2.14627040e+02] [-3.51604570e-01 6.23073293e-04 9.36148406e-01 1.09841349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7203857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.93, Y:214.59, Z:109.84 [[ 5.63153179e-01 7.97361556e-01 2.16963235e-01 3.08925557e+02] [-7.48752420e-01 6.03448870e-01 -2.74261327e-01 2.14594179e+02] [-3.49611658e-01 -8.00060957e-03 9.36860544e-01 1.09835467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:214.57, Z:109.82 [[ 5.62743189e-01 7.99086686e-01 2.11614204e-01 3.08942932e+02] [-7.49057866e-01 6.01212838e-01 -2.78308170e-01 2.14569251e+02] [-3.49617530e-01 -1.89525656e-03 9.36890597e-01 1.09820560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.96, Y:214.54, Z:109.81 [[ 5.63267455e-01 7.99049429e-01 2.10356326e-01 3.08958190e+02] [-7.49035236e-01 6.01264766e-01 -2.78256891e-01 2.14543958e+02] [-3.48820856e-01 -8.31249412e-04 9.37189052e-01 1.09808979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:214.52, Z:109.80 [[ 5.63973957e-01 7.98355988e-01 2.11094986e-01 3.08971445e+02] [-7.48628012e-01 6.02183643e-01 -2.77364309e-01 2.14515733e+02] [-3.48553404e-01 -1.60537267e-03 9.37287548e-01 1.09797203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:214.49, Z:109.79 [[ 5.64601287e-01 7.97992816e-01 2.10791017e-01 3.08987167e+02] [-7.48109771e-01 6.02666293e-01 -2.77714078e-01 2.14490019e+02] [-3.48650480e-01 -8.97093414e-04 9.37252388e-01 1.09785392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.870385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:309.00, Y:214.46, Z:109.77 [[ 5.64877805e-01 7.98550844e-01 2.07917328e-01 3.09000142e+02] [-7.47849389e-01 6.01921365e-01 -2.80021358e-01 2.14460193e+02] [-3.48761174e-01 2.68700301e-03 9.37207780e-01 1.09774039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:214.43, Z:109.76 [[ 5.67396844e-01 7.96587280e-01 2.08589373e-01 3.09017061e+02] [-7.46080767e-01 6.04517226e-01 -2.79145863e-01 2.14434166e+02] [-3.48459913e-01 2.76196173e-03 9.37319615e-01 1.09762852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:214.41, Z:109.75 [[ 5.67934818e-01 7.96283975e-01 2.08283157e-01 3.09031858e+02] [-7.45844200e-01 6.04915261e-01 -2.78915679e-01 2.14406613e+02] [-3.48089746e-01 3.05914100e-03 9.37456223e-01 1.09752190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:214.38, Z:109.74 [[ 5.67076532e-01 7.96771053e-01 2.08758461e-01 3.09048999e+02] [-7.46062327e-01 6.04274455e-01 -2.79720194e-01 2.14378339e+02] [-3.49020359e-01 2.87593409e-03 9.37110729e-01 1.09741116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:214.35, Z:109.73 [[ 5.64888945e-01 7.97992564e-01 2.10019873e-01 3.09066963e+02] [-7.46632295e-01 6.02662889e-01 -2.81669414e-01 2.14354914e+02] [-3.51341282e-01 2.30431873e-03 9.36244623e-01 1.09727870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:214.33, Z:109.72 [[ 5.62979638e-01 7.99375292e-01 2.09888232e-01 3.09085094e+02] [-7.48105653e-01 6.00830019e-01 -2.81675735e-01 2.14331839e+02] [-3.51271774e-01 1.55913006e-03 9.36272241e-01 1.09715769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:214.31, Z:109.70 [[ 5.63217528e-01 7.99395885e-01 2.09170349e-01 3.09105583e+02] [-7.48431479e-01 6.00802404e-01 -2.80867926e-01 2.14306651e+02] [-3.50194713e-01 1.64006514e-03 9.36675490e-01 1.09703355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:214.28, Z:109.69 [[ 5.62628840e-01 8.00006825e-01 2.08417534e-01 3.09123634e+02] [-7.49369839e-01 5.99989238e-01 -2.80103121e-01 2.14280485e+02] [-3.49132686e-01 1.41228003e-03 9.37072235e-01 1.09692987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:214.26, Z:109.68 [[ 5.62360949e-01 8.00219756e-01 2.08323080e-01 3.09142229e+02] [-7.49570894e-01 5.99705233e-01 -2.80173355e-01 2.14255464e+02] [-3.49132695e-01 1.40563663e-03 9.37072241e-01 1.09681051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:214.23, Z:109.67 [[ 5.61034687e-01 8.00848756e-01 2.09478760e-01 3.09160507e+02] [-7.49580185e-01 5.98865538e-01 -2.81939026e-01 2.14230265e+02] [-3.51240128e-01 1.15644556e-03 9.36284698e-01 1.09668130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:214.21, Z:109.66 [[ 5.60953210e-01 8.00905105e-01 2.09481522e-01 3.09179762e+02] [-7.49550733e-01 5.98789943e-01 -2.82177785e-01 2.14206026e+02] [-3.51433058e-01 1.27150593e-03 9.36212150e-01 1.09656131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:214.18, Z:109.64 [[ 5.63226837e-01 7.99630802e-01 2.08245315e-01 3.09201316e+02] [-7.48752514e-01 6.00488047e-01 -2.80684482e-01 2.14184445e+02] [-3.49492780e-01 2.16482949e-03 9.36936556e-01 1.09643665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:214.16, Z:109.63 [[ 5.61993467e-01 8.00453053e-01 2.08418457e-01 3.09219038e+02] [-7.49477613e-01 5.99392853e-01 -2.81089870e-01 2.14160308e+02] [-3.49923778e-01 1.76570320e-03 9.36776511e-01 1.09631256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:214.14, Z:109.62 [[ 5.63535080e-01 7.99441122e-01 2.08139632e-01 3.09237570e+02] [-7.48473389e-01 6.00739225e-01 -2.80891384e-01 2.14135254e+02] [-3.49593764e-01 2.50517240e-03 9.36898033e-01 1.09619691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:214.11, Z:109.61 [[ 5.64918333e-01 7.98723541e-01 2.07142422e-01 3.09255407e+02] [-7.48148304e-01 6.01690480e-01 -2.79718934e-01 2.14109664e+02] [-3.48053720e-01 3.04510187e-03 9.37469645e-01 1.09609255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:214.09, Z:109.60 [[ 5.67147435e-01 7.97972927e-01 2.03919087e-01 3.09275104e+02] [-7.46611112e-01 6.02645976e-01 -2.81761736e-01 2.14090074e+02] [-3.47729255e-01 7.55218947e-03 9.37564574e-01 1.09595449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:214.06, Z:109.60 [[ 5.70229059e-01 7.91011180e-01 2.21675739e-01 3.09288009e+02] [-7.45068828e-01 6.11653040e-01 -2.65994362e-01 2.14055633e+02] [-3.45993154e-01 -1.34859680e-02 9.38140110e-01 1.09595235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:214.45, Z:109.59 [[ 5.35526559e-01 2.90762656e-01 -7.92886110e-01 3.10088547e+02] [-7.42742556e-01 -2.84668162e-01 -6.06050768e-01 2.14453300e+02] [-4.01926363e-01 9.13466538e-01 6.35144368e-02 1.09587760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.39, Y:213.93, Z:109.53 [[ 5.52426921e-01 7.97236517e-01 2.43389470e-01 3.09392264e+02] [-7.24490895e-01 6.03620309e-01 -3.32799436e-01 2.13931862e+02] [-4.12234690e-01 7.51391252e-03 9.11046706e-01 1.09530217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.41, Y:213.91, Z:109.52 [[ 5.53162690e-01 7.96685675e-01 2.43522017e-01 3.09409475e+02] [-7.23710895e-01 6.04339994e-01 -3.33190205e-01 2.13908588e+02] [-4.12617958e-01 8.06885291e-03 9.10868440e-01 1.09517968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:213.89, Z:109.50 [[ 5.52934719e-01 7.96732569e-01 2.43886061e-01 3.09427523e+02] [-7.23443610e-01 6.04276695e-01 -3.33884740e-01 2.13885423e+02] [-4.13391510e-01 8.17865207e-03 9.10516650e-01 1.09503766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:213.86, Z:109.49 [[ 5.52269732e-01 7.99168973e-01 2.37333301e-01 3.09448063e+02] [-7.24900985e-01 6.00945253e-01 -3.36724465e-01 2.13864460e+02] [-4.11724065e-01 1.39195868e-02 9.11202249e-01 1.09486711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.530385723 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:309.65, Y:213.45, Z:110.30 [[ 5.55380732e-01 -2.28010158e-01 7.99727210e-01 3.09649675e+02] [-7.44063276e-01 2.93223021e-01 6.00324996e-01 2.13454849e+02] [-3.71378626e-01 -9.28456584e-01 -6.80356863e-03 1.10300934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:213.97, Z:110.38 [[ 6.01701780e-01 -7.71807211e-01 -2.05593282e-01 3.10403250e+02] [-7.11622147e-01 -6.34909614e-01 3.00805091e-01 2.13970606e+02] [-3.62696689e-01 -3.46902259e-02 -9.31261349e-01 1.10378440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:213.90, Z:110.32 [[ 6.54853647e-01 -7.17286057e-01 -2.38049185e-01 3.10485282e+02] [-6.63532185e-01 -6.96462754e-01 2.73248369e-01 2.13897316e+02] [-3.61789636e-01 -2.09843947e-02 -9.32023559e-01 1.10319827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:213.55, Z:109.38 [[ 6.74371015e-01 6.96055482e-01 2.46435590e-01 3.09698758e+02] [-6.51981001e-01 7.17978332e-01 -2.43778362e-01 2.13554194e+02] [-3.46618679e-01 3.72573921e-03 9.37998726e-01 1.09381676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:213.53, Z:109.37 [[ 6.75406389e-01 6.93069398e-01 2.51954400e-01 3.09718480e+02] [-6.49693664e-01 7.20870537e-01 -2.41337548e-01 2.13533877e+02] [-3.48890173e-01 -6.92255748e-04 9.37163363e-01 1.09370638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.74, Y:213.52, Z:109.36 [[ 6.75591541e-01 6.94909313e-01 2.46327255e-01 3.09741617e+02] [-6.49697905e-01 7.19067142e-01 -2.46647679e-01 2.13515948e+02] [-3.48523605e-01 6.59478367e-03 9.37276803e-01 1.09355567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:213.49, Z:109.35 [[ 6.74882392e-01 6.95046992e-01 2.47877863e-01 3.09761139e+02] [-6.50460952e-01 7.18952691e-01 -2.44964443e-01 2.13489244e+02] [-3.48474256e-01 4.08731890e-03 9.37309440e-01 1.09347563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:213.47, Z:109.33 [[ 6.76564606e-01 6.93140891e-01 2.48628314e-01 3.09780879e+02] [-6.47598839e-01 7.20775263e-01 -2.47181642e-01 2.13473069e+02] [-3.50536842e-01 6.22294283e-03 9.36528268e-01 1.09333911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:213.45, Z:109.33 [[ 6.76839902e-01 6.92642358e-01 2.49267549e-01 3.09802112e+02] [-6.48496316e-01 7.21274728e-01 -2.43341930e-01 2.13447341e+02] [-3.48339312e-01 3.05444095e-03 9.37363534e-01 1.09326646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:213.43, Z:109.31 [[ 6.77646034e-01 6.92582240e-01 2.47236110e-01 3.09823046e+02] [-6.47375428e-01 7.21306952e-01 -2.46214008e-01 2.13429347e+02] [-3.48856574e-01 6.79136341e-03 9.37151518e-01 1.09312143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:213.40, Z:109.31 [[ 6.76870979e-01 6.89512344e-01 2.57717687e-01 3.09839405e+02] [-6.47542054e-01 7.24244947e-01 -2.36977941e-01 2.13402599e+02] [-3.50049948e-01 -6.47954951e-03 9.36708626e-01 1.09307861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.87, Y:213.39, Z:109.29 [[ 6.76643080e-01 6.95692041e-01 2.41177790e-01 3.09867582e+02] [-6.48269544e-01 7.18188373e-01 -2.52887444e-01 2.13386920e+02] [-3.49142867e-01 1.47663234e-02 9.36953155e-01 1.09286917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:213.36, Z:109.28 [[ 6.76178781e-01 6.93818896e-01 2.47785382e-01 3.09886762e+02] [-6.48626260e-01 7.20125546e-01 -2.46380141e-01 2.13361218e+02] [-3.49379781e-01 5.87691829e-03 9.36962769e-01 1.09279075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:213.34, Z:109.27 [[ 6.76507139e-01 6.94724605e-01 2.44327269e-01 3.09907324e+02] [-6.50682521e-01 7.19252901e-01 -2.43490288e-01 2.13341634e+02] [-3.44891791e-01 5.74343492e-03 9.38624880e-01 1.09269274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:213.32, Z:109.26 [[ 6.75269310e-01 6.94838746e-01 2.47407510e-01 3.09929328e+02] [-6.50536932e-01 7.19154824e-01 -2.44168056e-01 2.13318910e+02] [-3.47581730e-01 3.93147247e-03 9.37641448e-01 1.09257424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.95, Y:213.30, Z:109.25 [[ 6.72997247e-01 6.96935329e-01 2.47701137e-01 3.09950697e+02] [-6.51795726e-01 7.17119004e-01 -2.46784655e-01 2.13298578e+02] [-3.49624137e-01 4.63485089e-03 9.36878584e-01 1.09245670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:213.28, Z:109.23 [[ 6.74630040e-01 6.96263638e-01 2.45135178e-01 3.09973038e+02] [-6.51810730e-01 7.17765782e-01 -2.44857212e-01 2.13277798e+02] [-3.46434816e-01 5.40629137e-03 9.38058469e-01 1.09234663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:213.26, Z:109.22 [[ 6.73658246e-01 6.96333682e-01 2.47596387e-01 3.09994623e+02] [-6.51027057e-01 7.17698711e-01 -2.47128167e-01 2.13257806e+02] [-3.49783274e-01 5.28798035e-03 9.36815723e-01 1.09222106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:213.24, Z:109.21 [[ 6.73735860e-01 6.97034072e-01 2.45404755e-01 3.10016073e+02] [-6.51665143e-01 7.17005768e-01 -2.47457612e-01 2.13238609e+02] [-3.48443012e-01 6.79934182e-03 9.37305306e-01 1.09209557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:213.21, Z:109.20 [[ 6.73040234e-01 6.96580837e-01 2.48579928e-01 3.10036129e+02] [-6.52692414e-01 7.17476668e-01 -2.43351276e-01 2.13212378e+02] [-3.47864134e-01 1.53896643e-03 9.37543693e-01 1.09201318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:213.19, Z:109.19 [[ 6.73060186e-01 6.97419498e-01 2.46162610e-01 3.10058371e+02] [-6.52717416e-01 7.16647676e-01 -2.45715453e-01 2.13191852e+02] [-3.47778610e-01 4.70666557e-03 9.37564870e-01 1.09188592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:213.17, Z:109.18 [[ 6.73117843e-01 6.97246721e-01 2.46494177e-01 3.10080000e+02] [-6.52354981e-01 7.16814385e-01 -2.46191220e-01 2.13170375e+02] [-3.48346593e-01 4.91399879e-03 9.37352924e-01 1.09177033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.10, Y:213.15, Z:109.17 [[ 6.74634176e-01 6.96122713e-01 2.45523720e-01 3.10103885e+02] [-6.51470387e-01 7.17901125e-01 -2.45365668e-01 2.13149377e+02] [-3.47066369e-01 5.58063256e-03 9.37823967e-01 1.09167076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:213.13, Z:109.15 [[ 6.74558208e-01 6.95782921e-01 2.46692826e-01 3.10124690e+02] [-6.50611659e-01 7.18227886e-01 -2.46684359e-01 2.13129115e+02] [-3.48820431e-01 5.90172996e-03 9.37170996e-01 1.09154225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.15, Y:213.11, Z:109.14 [[ 6.75003933e-01 6.95445856e-01 2.46423927e-01 3.10146882e+02] [-6.50303142e-01 7.18551971e-01 -2.46554028e-01 2.13107758e+02] [-3.48533376e-01 6.17468458e-03 9.37276032e-01 1.09142387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.17, Y:213.09, Z:109.13 [[ 6.75728544e-01 6.94786606e-01 2.46297598e-01 3.10168545e+02] [-6.49596482e-01 7.19185473e-01 -2.46569800e-01 2.13087869e+02] [-3.48447049e-01 6.62019839e-03 9.37305088e-01 1.09130679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:213.07, Z:109.12 [[ 6.76783696e-01 6.94231982e-01 2.44960783e-01 3.10190876e+02] [-6.49464391e-01 7.19717627e-01 -2.45362066e-01 2.13066364e+02] [-3.46640786e-01 6.96373991e-03 9.37972106e-01 1.09120904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.21, Y:213.05, Z:109.11 [[ 6.76199861e-01 6.94301022e-01 2.46373371e-01 3.10211210e+02] [-6.48945325e-01 7.19649783e-01 -2.46929454e-01 2.13045326e+02] [-3.48745915e-01 7.09081557e-03 9.37190486e-01 1.09108552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:213.02, Z:109.10 [[ 6.77562496e-01 6.92978384e-01 2.46353452e-01 3.10233034e+02] [-6.47493130e-01 7.20915300e-01 -2.47050152e-01 2.13024944e+02] [-3.48800388e-01 7.87974969e-03 9.37163913e-01 1.09097369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:213.00, Z:109.09 [[ 6.78648582e-01 6.91294587e-01 2.48088484e-01 3.10256037e+02] [-6.46458968e-01 7.22549161e-01 -2.44976554e-01 2.13003177e+02] [-3.48607092e-01 5.87396533e-03 9.37250549e-01 1.09085444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:213.45, Z:109.69 [[ 6.75412460e-01 -4.43070364e-01 -5.89496957e-01 3.11221914e+02] [-6.32174952e-01 -7.59471439e-01 -1.53486037e-01 2.13448598e+02] [-3.79700988e-01 4.76331592e-01 -7.93054458e-01 1.09686915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.39, Y:212.87, Z:109.02 [[ 7.09499972e-01 6.44433860e-01 2.85157482e-01 3.10386089e+02] [-5.92938232e-01 7.64592541e-01 -2.52631152e-01 2.12871384e+02] [-3.80833352e-01 1.01610215e-02 9.24587860e-01 1.09020266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:212.85, Z:109.01 [[ 7.10052613e-01 6.42462412e-01 2.88214045e-01 3.10407909e+02] [-5.92984958e-01 7.66302926e-01 -2.47282561e-01 2.12848150e+02] [-3.79729017e-01 4.67703560e-03 9.25085941e-01 1.09011117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.43, Y:212.83, Z:109.00 [[ 7.10044978e-01 6.42861214e-01 2.87342286e-01 3.10431318e+02] [-5.94088357e-01 7.65973667e-01 -2.45648867e-01 2.12826453e+02] [-3.78014754e-01 3.71503786e-03 9.25792117e-01 1.09001079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:212.81, Z:108.98 [[ 7.10261022e-01 6.45790162e-01 2.80150579e-01 3.10457111e+02] [-5.94404812e-01 7.63403984e-01 -2.52779107e-01 2.12813240e+02] [-3.77110329e-01 1.30162946e-02 9.26076874e-01 1.08984024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:212.79, Z:108.97 [[ 7.09885635e-01 6.45845864e-01 2.80972428e-01 3.10481139e+02] [-5.95109973e-01 7.63387289e-01 -2.51165219e-01 2.12794997e+02] [-3.76704798e-01 1.10890867e-02 9.26266985e-01 1.08970708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.32, Y:213.38, Z:109.21 [[ 6.81550932e-01 2.77824430e-02 -7.31243095e-01 3.11322702e+02] [-5.95509469e-01 -5.59679062e-01 -5.76305319e-01 2.13378630e+02] [-4.25272619e-01 8.28243614e-01 -3.64905078e-01 1.09214721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.59, Y:212.69, Z:108.91 [[ 7.07455498e-01 6.20125506e-01 3.39044355e-01 3.10592644e+02] [-5.59208446e-01 7.84502617e-01 -2.68032757e-01 2.12685028e+02] [-4.32195132e-01 2.47806244e-05 9.01780110e-01 1.08909178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:212.67, Z:108.89 [[ 7.06066978e-01 6.22313611e-01 3.37927791e-01 3.10617162e+02] [-5.59317878e-01 7.82759525e-01 -2.72857174e-01 2.12668292e+02] [-4.34318931e-01 3.64638539e-03 9.00751781e-01 1.08894188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:213.25, Z:109.23 [[ 6.85549366e-01 -5.72685125e-02 -7.25770200e-01 3.11508467e+02] [-5.48059706e-01 -6.96803542e-01 -4.62704423e-01 2.13246291e+02] [-4.79220852e-01 7.14972126e-01 -5.09079791e-01 1.09228146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:212.18, Z:109.51 [[ 7.12448461e-01 -3.08375757e-01 6.30334501e-01 3.11039295e+02] [-5.40309598e-01 3.32090642e-01 7.73163207e-01 2.12175071e+02] [-4.47752978e-01 -8.91414717e-01 6.99790854e-02 1.09509354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:212.47, Z:108.75 [[ 7.25709911e-01 5.97137125e-01 3.41719738e-01 3.10859591e+02] [-5.41723073e-01 8.02134297e-01 -2.51230338e-01 2.12470942e+02] [-4.24124083e-01 -2.79712037e-03 9.05599767e-01 1.08745858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:212.46, Z:108.73 [[ 7.24337219e-01 6.02259652e-01 3.35587403e-01 3.10885751e+02] [-5.44265347e-01 7.98289459e-01 -2.57893722e-01 2.12457138e+02] [-4.23214869e-01 4.15342671e-03 9.06019825e-01 1.08731345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.91, Y:212.44, Z:108.72 [[ 7.23897411e-01 6.03159699e-01 3.34919270e-01 3.10910219e+02] [-5.44325068e-01 7.97599119e-01 -2.59895876e-01 2.12442659e+02] [-4.23890032e-01 5.83299724e-03 9.05694881e-01 1.08717438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.62, Y:213.04, Z:108.82 [[ 6.94347290e-01 2.88720656e-01 -6.59182998e-01 3.11624570e+02] [-5.38434704e-01 -3.99306331e-01 -7.42052912e-01 2.13042024e+02] [-4.77461948e-01 8.70169430e-01 -1.21800048e-01 1.08815915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.02, Y:212.36, Z:108.64 [[ 7.04965042e-01 5.94509163e-01 3.86759802e-01 3.11022959e+02] [-5.16578667e-01 8.04051766e-01 -2.94359030e-01 2.12358033e+02] [-4.85974043e-01 7.72096300e-03 8.73939138e-01 1.08643015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:212.34, Z:108.63 [[ 7.04566661e-01 5.95194153e-01 3.86432064e-01 3.11046525e+02] [-5.17791354e-01 8.03553488e-01 -2.93587987e-01 2.12343768e+02] [-4.85260686e-01 6.76112604e-03 8.74343385e-01 1.08626329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:212.33, Z:108.61 [[ 7.04456173e-01 5.95606277e-01 3.85998269e-01 3.11069953e+02] [-5.18348979e-01 8.03249143e-01 -2.93436791e-01 2.12327178e+02] [-4.84825574e-01 6.63155025e-03 8.74585722e-01 1.08609845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9703857229999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:311.09, Y:212.31, Z:108.59 [[ 7.05915750e-01 5.94772627e-01 3.84614710e-01 3.11093030e+02] [-5.17887062e-01 8.03860392e-01 -2.92577274e-01 2.12312196e+02] [-4.83193486e-01 7.34792334e-03 8.75482760e-01 1.08591626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:212.30, Z:108.58 [[ 7.06034125e-01 5.94166998e-01 3.85332833e-01 3.11117489e+02] [-5.16779815e-01 8.04302302e-01 -2.93319672e-01 2.12295388e+02] [-4.84204954e-01 7.96146796e-03 8.74918383e-01 1.08577245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:212.28, Z:108.56 [[ 7.05884743e-01 5.94405272e-01 3.85239019e-01 3.11140655e+02] [-5.16984058e-01 8.04126098e-01 -2.93442843e-01 2.12277764e+02] [-4.84204722e-01 7.97439406e-03 8.74918394e-01 1.08560817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.16, Y:212.26, Z:108.54 [[ 7.07582364e-01 5.92851565e-01 3.84518166e-01 3.11164822e+02] [-5.15429746e-01 8.05259449e-01 -2.93068928e-01 2.12263132e+02] [-4.83383259e-01 9.17830493e-03 8.75360716e-01 1.08543601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.19, Y:212.24, Z:108.53 [[ 7.10210434e-01 5.91540578e-01 3.81681652e-01 3.11187881e+02] [-5.17300316e-01 8.06250011e-01 -2.86986589e-01 2.12242827e+02] [-4.77495049e-01 6.37683052e-03 8.78611299e-01 1.08533496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.120385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.21, Y:212.22, Z:108.52 [[ 7.10086813e-01 5.88621662e-01 3.86395207e-01 3.11210144e+02] [-5.14826633e-01 8.08400090e-01 -2.85381908e-01 2.12223982e+02] [-4.80343893e-01 3.71938641e-03 8.77072352e-01 1.08517785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:212.21, Z:108.50 [[ 7.09626371e-01 5.92649163e-01 3.81047744e-01 3.11236317e+02] [-5.13445836e-01 8.05327523e-01 -2.96346006e-01 2.12214363e+02] [-4.82497448e-01 1.46475630e-02 8.75774892e-01 1.08498439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:311.26, Y:212.21, Z:108.48 [[ 7.08927240e-01 5.94378769e-01 3.79652535e-01 3.11258466e+02] [-5.12018248e-01 8.03934355e-01 -3.02534076e-01 2.12205220e+02] [-4.85035548e-01 2.00856220e-02 8.74263739e-01 1.08478156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:212.18, Z:108.46 [[ 7.08882216e-01 5.90546151e-01 3.85669870e-01 3.11280784e+02] [-5.11976999e-01 8.06924205e-01 -2.94538419e-01 2.12184566e+02] [-4.85144883e-01 1.13389444e-02 8.74360264e-01 1.08464887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.30, Y:212.17, Z:108.45 [[ 7.09200072e-01 5.90190539e-01 3.85629855e-01 3.11304665e+02] [-5.11485520e-01 8.07178398e-01 -2.94695769e-01 2.12170016e+02] [-4.85198744e-01 1.17541738e-02 8.74324893e-01 1.08448863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:212.15, Z:108.43 [[ 7.09173471e-01 5.90250142e-01 3.85587549e-01 3.11328344e+02] [-5.11474866e-01 8.07133073e-01 -2.94838370e-01 2.12153106e+02] [-4.85248853e-01 1.18732105e-02 8.74295475e-01 1.08432943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:212.14, Z:108.42 [[ 7.09075802e-01 5.90185124e-01 3.85866592e-01 3.11352488e+02] [-5.11171796e-01 8.07177165e-01 -2.95242984e-01 2.12137430e+02] [-4.85710719e-01 1.21055369e-02 8.74035785e-01 1.08417499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.38, Y:212.12, Z:108.40 [[ 7.08911391e-01 5.90350564e-01 3.85915602e-01 3.11376021e+02] [-5.11230597e-01 8.07055152e-01 -2.95474633e-01 2.12121018e+02] [-4.85888791e-01 1.21734696e-02 8.73935861e-01 1.08401552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.40, Y:212.11, Z:108.39 [[ 7.09007166e-01 5.90560680e-01 3.85417854e-01 3.11399858e+02] [-5.11580708e-01 8.06901166e-01 -2.95289158e-01 2.12106036e+02] [-4.85380282e-01 1.21897908e-02 8.74218160e-01 1.08385897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.42, Y:212.09, Z:108.37 [[ 7.08779475e-01 5.90965167e-01 3.85216598e-01 3.11422557e+02] [-5.12028753e-01 8.06606734e-01 -2.95317006e-01 2.12089761e+02] [-4.85240365e-01 1.20726587e-02 8.74297454e-01 1.08369970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.45, Y:212.07, Z:108.35 [[ 7.07812282e-01 5.92240308e-01 3.85036610e-01 3.11446166e+02] [-5.13460397e-01 8.05681356e-01 -2.95357366e-01 2.12073937e+02] [-4.85139355e-01 1.13565211e-02 8.74363103e-01 1.08354005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.450385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:311.47, Y:212.06, Z:108.34 [[ 7.06812815e-01 5.94215130e-01 3.83828119e-01 3.11469886e+02] [-5.16133973e-01 8.04242311e-01 -2.94618443e-01 2.12059668e+02] [-4.83757550e-01 1.01333594e-02 8.75143387e-01 1.08335089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.49, Y:212.04, Z:108.32 [[ 7.05430964e-01 5.95685091e-01 3.84091692e-01 3.11494401e+02] [-5.17586247e-01 8.03164118e-01 -2.95011656e-01 2.12042843e+02] [-4.84222710e-01 9.30977992e-03 8.74895248e-01 1.08320764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:212.03, Z:108.30 [[ 7.04872459e-01 5.96588114e-01 3.83715310e-01 3.11517689e+02] [-5.18674064e-01 8.02498763e-01 -2.94911767e-01 2.12026242e+02] [-4.83871916e-01 8.85200294e-03 8.75094058e-01 1.08304529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.54, Y:212.01, Z:108.29 [[ 7.03470709e-01 5.97810343e-01 3.84384906e-01 3.11540473e+02] [-5.19665285e-01 8.01595526e-01 -2.95622404e-01 2.12009540e+02] [-4.84847351e-01 8.21021033e-03 8.74560254e-01 1.08289495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:211.99, Z:108.27 [[ 7.02680897e-01 5.98336956e-01 3.85009668e-01 3.11563801e+02] [-5.19890886e-01 8.01204336e-01 -2.96285469e-01 2.11992145e+02] [-4.85749961e-01 8.03112178e-03 8.74060911e-01 1.08274643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.59, Y:211.98, Z:108.26 [[ 7.02198145e-01 5.98718776e-01 3.85296760e-01 3.11587269e+02] [-5.20093049e-01 8.00919845e-01 -2.96699550e-01 2.11975105e+02] [-4.86231413e-01 7.95170727e-03 8.73793902e-01 1.08258141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.61, Y:211.96, Z:108.24 [[ 7.01848944e-01 5.98890733e-01 3.85665593e-01 3.11610500e+02] [-5.20015718e-01 8.00790531e-01 -2.97183746e-01 2.11959442e+02] [-4.86817946e-01 8.02592754e-03 8.73466583e-01 1.08241846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:211.94, Z:108.23 [[ 7.01591206e-01 5.99042305e-01 3.85899077e-01 3.11632856e+02] [-5.20016993e-01 8.00677007e-01 -2.97487239e-01 2.11942654e+02] [-4.87187959e-01 8.04035265e-03 8.73260125e-01 1.08225883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:211.92, Z:108.21 [[ 7.01154964e-01 5.99536123e-01 3.85925063e-01 3.11655861e+02] [-5.20466584e-01 8.00309038e-01 -2.97691081e-01 2.11924802e+02] [-4.87335872e-01 7.86648012e-03 8.73179172e-01 1.08209897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7203857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.68, Y:211.91, Z:108.19 [[ 7.01209068e-01 6.00074422e-01 3.84989002e-01 3.11678024e+02] [-5.21385293e-01 7.99907647e-01 -2.97161797e-01 2.11907075e+02] [-4.86274840e-01 7.64494333e-03 8.73772473e-01 1.08192692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:211.89, Z:108.18 [[ 7.00083728e-01 6.01536639e-01 3.84755047e-01 3.11701945e+02] [-5.23048217e-01 7.98816251e-01 -2.97175301e-01 2.11889930e+02] [-4.86110416e-01 6.80215111e-03 8.73870925e-01 1.08177703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.780385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:311.72, Y:211.87, Z:108.16 [[ 7.00212017e-01 6.01972365e-01 3.83839032e-01 3.11724223e+02] [-5.23839563e-01 7.98489189e-01 -2.96659952e-01 2.11873490e+02] [-4.85072410e-01 6.65479229e-03 8.74448667e-01 1.08159388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.810385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.75, Y:211.86, Z:108.14 [[ 6.99715523e-01 6.02749032e-01 3.83525477e-01 3.11747478e+02] [-5.24756291e-01 7.97906080e-01 -2.96608704e-01 2.11855349e+02] [-4.84797919e-01 6.28430750e-03 8.74603616e-01 1.08143788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8403857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.77, Y:211.84, Z:108.13 [[ 6.99808822e-01 6.02903660e-01 3.83111981e-01 3.11769607e+02] [-5.25007544e-01 7.97788789e-01 -2.96479557e-01 2.11836723e+02] [-4.84391053e-01 6.34232896e-03 8.74828602e-01 1.08127732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:211.82, Z:108.11 [[ 6.99877212e-01 6.02481591e-01 3.83650650e-01 3.11790184e+02] [-5.24184406e-01 7.98103628e-01 -2.97088048e-01 2.11818130e+02] [-4.85183055e-01 6.82146624e-03 8.74385996e-01 1.08112334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.81, Y:211.80, Z:108.10 [[ 6.99658996e-01 6.02614453e-01 3.83839953e-01 3.11812822e+02] [-5.24187533e-01 7.98003145e-01 -2.97352334e-01 2.11799888e+02] [-4.85494304e-01 6.84111796e-03 8.74213063e-01 1.08096306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.930385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.83, Y:211.78, Z:108.08 [[ 6.98709685e-01 6.03583429e-01 3.84046638e-01 3.11834695e+02] [-5.25093070e-01 7.97274544e-01 -2.97708868e-01 2.11782558e+02] [-4.85882747e-01 6.35184131e-03 8.74000921e-01 1.08080297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:211.76, Z:108.06 [[ 6.98325838e-01 6.04283664e-01 3.83643426e-01 3.11856937e+02] [-5.25967775e-01 7.96746498e-01 -2.97578424e-01 2.11764368e+02] [-4.85488336e-01 6.02262339e-03 8.74222399e-01 1.08063903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.990385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.88, Y:211.75, Z:108.05 [[ 6.98136953e-01 6.05021822e-01 3.82822922e-01 3.11876906e+02] [-5.27063096e-01 7.96188717e-01 -2.97133002e-01 2.11745219e+02] [-4.84571241e-01 5.66769405e-03 8.74733439e-01 1.08046418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.020385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:311.90, Y:211.73, Z:108.03 [[ 6.97574322e-01 6.05763224e-01 3.82676079e-01 3.11897961e+02] [-5.27867383e-01 7.95627160e-01 -2.97209436e-01 2.11726815e+02] [-4.84506028e-01 5.32344997e-03 8.74771724e-01 1.08030429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.050385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.92, Y:211.71, Z:108.02 [[ 6.96540973e-01 6.06624754e-01 3.83193270e-01 3.11920373e+02] [-5.28525765e-01 7.94973240e-01 -2.97788621e-01 2.11706816e+02] [-4.85274344e-01 4.89445927e-03 8.74348246e-01 1.08015772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:211.69, Z:108.00 [[ 6.96532055e-01 6.06523338e-01 3.83369974e-01 3.11941615e+02] [-5.28223845e-01 7.95049028e-01 -2.98121810e-01 2.11689162e+02] [-4.85615761e-01 5.14623484e-03 8.74157222e-01 1.07999926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:211.67, Z:107.98 [[ 6.96895527e-01 6.06079106e-01 3.83411974e-01 3.11962434e+02] [-5.27597202e-01 7.95384503e-01 -2.98336530e-01 2.11669563e+02] [-4.85775480e-01 5.62230844e-03 8.74065543e-01 1.07983879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.98, Y:211.66, Z:107.96 [[ 6.96132163e-01 6.12011081e-01 3.75289818e-01 3.11984979e+02] [-5.26679909e-01 7.90601966e-01 -3.12340848e-01 2.11657236e+02] [-4.87860928e-01 1.97729030e-02 8.72697397e-01 1.07956802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.170385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.51, Y:211.32, Z:108.79 [[ 7.21524188e-01 -5.73720556e-01 3.87617814e-01 3.12509931e+02] [-5.25467910e-01 -8.91792931e-02 8.46126781e-01 2.11321998e+02] [-4.50872845e-01 -8.14181661e-01 -3.65816758e-01 1.08793641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.200385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:312.14, Y:211.52, Z:107.86 [[ 7.38072946e-01 5.80511003e-01 3.43882687e-01 3.12141983e+02] [-5.17948938e-01 8.14100668e-01 -2.62619495e-01 2.11520658e+02] [-4.32408631e-01 1.57186717e-02 9.01540736e-01 1.07863618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.16, Y:211.49, Z:107.86 [[ 7.38889880e-01 5.73573546e-01 3.53631351e-01 3.12161927e+02] [-5.17793443e-01 8.19153678e-01 -2.46733060e-01 2.11492656e+02] [-4.31197978e-01 -7.99433164e-04 9.02256984e-01 1.07860178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.19, Y:211.48, Z:107.84 [[ 7.39048764e-01 5.76601469e-01 3.48335572e-01 3.12185797e+02] [-5.17585698e-01 8.16990260e-01 -2.54228165e-01 2.11480242e+02] [-4.31175103e-01 7.59350110e-03 9.02236316e-01 1.07842708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:211.46, Z:107.83 [[ 7.39764967e-01 5.76050826e-01 3.47725811e-01 3.12207423e+02] [-5.17124413e-01 8.17374410e-01 -2.53931911e-01 2.11460549e+02] [-4.30499866e-01 8.03242600e-03 9.02554899e-01 1.07828030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.320385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:312.23, Y:211.44, Z:107.81 [[ 7.40689969e-01 5.75022364e-01 3.47458848e-01 3.12228336e+02] [-5.16005274e-01 8.18090662e-01 -2.53901999e-01 2.11439159e+02] [-4.30252167e-01 8.77206589e-03 9.02666120e-01 1.07814659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.350385723 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:312.25, Y:211.42, Z:107.80 [[ 7.40078435e-01 5.77904132e-01 3.43963261e-01 3.12252514e+02] [-5.16692526e-01 8.15982338e-01 -2.59232827e-01 2.11418314e+02] [-4.30479668e-01 1.41293791e-02 9.02489677e-01 1.07795076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.09, Y:211.63, Z:108.69 [[ 7.54129293e-01 -6.10648402e-01 -2.41655825e-01 3.13089881e+02] [-4.92627835e-01 -7.69338919e-01 4.06737561e-01 2.11634982e+02] [-4.34288873e-01 -1.87686323e-01 -8.81003416e-01 1.08685415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.40, Y:211.31, Z:107.73 [[ 7.82999831e-01 5.11007906e-01 3.54657842e-01 3.12404580e+02] [-4.61135903e-01 8.59528833e-01 -2.20372105e-01 2.11314167e+02] [-4.17450529e-01 9.00585668e-03 9.08655023e-01 1.07728398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.43, Y:211.30, Z:107.71 [[ 7.82646177e-01 5.15886471e-01 3.48318979e-01 3.12428551e+02] [-4.64317081e-01 8.56532494e-01 -2.25303651e-01 2.11301592e+02] [-4.14577629e-01 1.46025897e-02 9.09896782e-01 1.07711292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.45, Y:211.28, Z:107.70 [[ 7.81025158e-01 5.14792614e-01 3.53536798e-01 3.12451673e+02] [-4.64698695e-01 8.57269012e-01 -2.21686636e-01 2.11280913e+02] [-4.17198784e-01 8.85475158e-03 9.08772121e-01 1.07696002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.48, Y:211.26, Z:107.68 [[ 7.80383813e-01 5.16014363e-01 3.53171746e-01 3.12475281e+02] [-4.65373809e-01 8.56524075e-01 -2.23145080e-01 2.11264427e+02] [-4.17646169e-01 9.78192768e-03 9.08557093e-01 1.07681778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.530385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:312.50, Y:211.25, Z:107.67 [[ 7.80194362e-01 5.18344110e-01 3.50165876e-01 3.12497644e+02] [-4.66980599e-01 8.55084295e-01 -2.25299730e-01 2.11248117e+02] [-4.16204129e-01 1.22569084e-02 9.09188589e-01 1.07667787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.52, Y:211.22, Z:107.67 [[ 7.79048635e-01 5.12156400e-01 3.61633857e-01 3.12519333e+02] [-4.68999899e-01 8.58843577e-01 -2.05977681e-01 2.11218705e+02] [-4.16079702e-01 -9.13961126e-03 9.09282216e-01 1.07667485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5903857229999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.55, Y:211.21, Z:107.65 [[ 7.78451166e-01 5.18782420e-01 3.53381639e-01 3.12545051e+02] [-4.69903432e-01 8.54890983e-01 -2.19891273e-01 2.11209556e+02] [-4.16178504e-01 5.11937273e-03 9.09268522e-01 1.07647372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.57, Y:211.20, Z:107.62 [[ 7.76395565e-01 5.25398217e-01 3.48089990e-01 3.12568217e+02] [-4.70966509e-01 8.50679101e-01 -2.33528617e-01 2.11196833e+02] [-4.18808399e-01 1.73718549e-02 9.07908445e-01 1.07623009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.59, Y:211.17, Z:107.62 [[ 7.76418250e-01 5.17959707e-01 3.59015936e-01 3.12589199e+02] [-4.72451608e-01 8.55391872e-01 -2.12354007e-01 2.11167237e+02] [-4.17090133e-01 -4.74212982e-03 9.08852757e-01 1.07621098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.680385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:312.61, Y:211.15, Z:107.61 [[ 7.75148398e-01 5.23424378e-01 3.53796385e-01 3.12611303e+02] [-4.75768395e-01 8.52071734e-01 -2.18215934e-01 2.11153149e+02] [-4.15679439e-01 8.24592963e-04 9.09510816e-01 1.07607180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:211.14, Z:107.59 [[ 7.73578057e-01 5.26065232e-01 3.53316235e-01 3.12636969e+02] [-4.77731393e-01 8.50442701e-01 -2.20272397e-01 2.11135925e+02] [-4.16352863e-01 1.60763611e-03 9.09201688e-01 1.07594416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:312.66, Y:211.12, Z:107.58 [[ 7.72198338e-01 5.28235322e-01 3.53096547e-01 3.12660357e+02] [-4.80111996e-01 8.49097822e-01 -2.20284726e-01 2.11117700e+02] [-4.16175682e-01 5.77611624e-04 9.09284042e-01 1.07578924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:312.69, Y:211.10, Z:107.56 [[ 7.70989614e-01 5.31514735e-01 3.50809209e-01 3.12687207e+02] [-4.81810074e-01 8.47039438e-01 -2.24462121e-01 2.11098603e+02] [-4.16454160e-01 4.03455334e-03 9.09147763e-01 1.07559057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.52, Y:211.34, Z:108.50 [[ 8.06892762e-01 -5.68548818e-01 -1.60238301e-01 3.13517428e+02] [-4.28391412e-01 -7.50010934e-01 5.03948805e-01 2.11335758e+02] [-4.06699974e-01 -3.37987931e-01 -8.48739824e-01 1.08498355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:312.87, Y:210.98, Z:107.48 [[ 8.12024040e-01 4.68603716e-01 3.47890091e-01 3.12866109e+02] [-4.30451755e-01 8.83408255e-01 -1.85205673e-01 2.10976531e+02] [-3.94117044e-01 6.41558705e-04 9.19060033e-01 1.07482804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.89, Y:210.96, Z:107.47 [[ 8.10220257e-01 4.71222004e-01 3.48558402e-01 3.12893669e+02] [-4.33076208e-01 8.82014513e-01 -1.85729363e-01 2.10962828e+02] [-3.94953332e-01 -4.70658745e-04 9.18701064e-01 1.07469801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.92, Y:210.95, Z:107.46 [[ 8.09685890e-01 4.72338877e-01 3.48288308e-01 3.12920175e+02] [-4.34296967e-01 8.81416585e-01 -1.85717385e-01 2.10949645e+02] [-3.94708632e-01 -8.87809920e-04 9.18805914e-01 1.07455994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.95, Y:210.94, Z:107.44 [[ 8.09613968e-01 4.72502760e-01 3.48233205e-01 3.12947184e+02] [-4.34430948e-01 8.81328790e-01 -1.85820654e-01 2.10935203e+02] [-3.94708721e-01 -8.40284502e-04 9.18805920e-01 1.07442555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.950385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:312.97, Y:210.93, Z:107.42 [[ 8.09093266e-01 4.75658969e-01 3.45132775e-01 3.12973458e+02] [-4.33912120e-01 8.79593038e-01 -1.95029126e-01 2.10928828e+02] [-3.96343739e-01 8.03945793e-03 9.18066995e-01 1.07420832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.00, Y:210.90, Z:107.42 [[ 8.09762605e-01 4.69699266e-01 3.51663368e-01 3.12998595e+02] [-4.35186528e-01 8.82772959e-01 -1.76987539e-01 2.10904352e+02] [-3.93569829e-01 -9.72126922e-03 9.19243323e-01 1.07419171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.010385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.03, Y:210.90, Z:107.40 [[ 8.10785050e-01 4.73247657e-01 3.44476788e-01 3.13025889e+02] [-4.31675083e-01 8.80886313e-01 -1.94154388e-01 2.10900300e+02] [-3.95327997e-01 8.71542875e-03 9.18498675e-01 1.07395867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.040385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.05, Y:210.88, Z:107.39 [[ 8.11984623e-01 4.66314593e-01 3.51043691e-01 3.13051489e+02] [-4.31198175e-01 8.84590454e-01 -1.77673470e-01 2.10876025e+02] [-3.93381630e-01 -7.10127380e-03 9.19347848e-01 1.07394074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.070385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:313.08, Y:210.87, Z:107.37 [[ 8.13830972e-01 4.66143853e-01 3.46971263e-01 3.13079967e+02] [-4.25813264e-01 8.84683513e-01 -1.89784474e-01 2.10869008e+02] [-3.95426622e-01 6.70751691e-03 9.18473078e-01 1.07373032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.100385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.11, Y:210.85, Z:107.36 [[ 8.15254359e-01 4.62091825e-01 3.49043660e-01 3.13105881e+02] [-4.23721473e-01 8.86828791e-01 -1.84376811e-01 2.10851983e+02] [-3.94740984e-01 2.41670517e-03 9.18789266e-01 1.07363481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.130385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.13, Y:210.84, Z:107.35 [[ 8.17286736e-01 4.60034848e-01 3.47001917e-01 3.13132718e+02] [-4.19062850e-01 8.87845619e-01 -1.90043376e-01 2.10840617e+02] [-3.95510707e-01 9.90431821e-03 9.18407962e-01 1.07348005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.16, Y:210.83, Z:107.34 [[ 8.18440776e-01 4.57554303e-01 3.47561155e-01 3.13157320e+02] [-4.17270714e-01 8.89138294e-01 -1.87931491e-01 2.10827633e+02] [-3.95018795e-01 8.78370381e-03 9.18631046e-01 1.07338559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.18, Y:210.81, Z:107.33 [[ 8.19998162e-01 4.54201942e-01 3.48286678e-01 3.13183954e+02] [-4.14060596e-01 8.90852752e-01 -1.86909595e-01 2.10814299e+02] [-3.95166847e-01 9.05373441e-03 9.18564746e-01 1.07325739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2203857229999 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:313.21, Y:210.81, Z:107.31 [[ 8.22032114e-01 4.57724889e-01 3.38749361e-01 3.13211914e+02] [-4.13680715e-01 8.88823780e-01 -1.97130803e-01 2.10807616e+02] [-3.91320163e-01 2.19137732e-02 9.19993651e-01 1.07308688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.56, Y:210.49, Z:108.09 [[ 8.22428650e-01 -2.83727894e-01 4.93061454e-01 3.13560877e+02] [-4.39450918e-01 2.33518561e-01 8.67382253e-01 2.10489803e+02] [-3.61239541e-01 -9.30036324e-01 6.73678719e-02 1.08087079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.280385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:313.93, Y:211.46, Z:107.33 [[ 8.09565867e-01 2.97575874e-01 -5.06015519e-01 3.13931732e+02] [-4.49331384e-01 -2.40585262e-01 -8.60360413e-01 2.11460022e+02] [-3.77762378e-01 9.23887077e-01 -6.10594374e-02 1.07327498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.310385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.48, Y:210.65, Z:107.22 [[ 8.21479189e-01 4.47420463e-01 3.53534824e-01 3.13482399e+02] [-4.11753282e-01 8.94322000e-01 -1.75063976e-01 2.10648343e+02] [-3.94501176e-01 -1.75771108e-03 9.18893755e-01 1.07216464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:210.64, Z:107.20 [[ 8.20999106e-01 4.52929574e-01 3.47584909e-01 3.13510605e+02] [-4.12564668e-01 8.91486979e-01 -1.87193380e-01 2.10641805e+02] [-3.94652838e-01 1.02843452e-02 9.18772752e-01 1.07198639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.54, Y:210.61, Z:107.20 [[ 8.21279411e-01 4.48542580e-01 3.52575782e-01 3.13539619e+02] [-4.15995398e-01 8.93718937e-01 -1.67971100e-01 2.10612021e+02] [-3.90445844e-01 -8.71869648e-03 9.20584612e-01 1.07196770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.57, Y:210.63, Z:107.16 [[ 8.20414426e-01 4.63125641e-01 3.35313003e-01 3.13566039e+02] [-4.14486902e-01 8.85692179e-01 -2.09164940e-01 2.10629129e+02] [-3.93853751e-01 3.26190865e-02 9.18594153e-01 1.07163085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.430385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.59, Y:210.60, Z:107.16 [[ 8.19849637e-01 4.55224583e-01 3.47299802e-01 3.13590796e+02] [-4.15015484e-01 8.90326808e-01 -1.87297418e-01 2.10602197e+02] [-3.94472713e-01 9.42092527e-03 9.18859361e-01 1.07159082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.62, Y:210.59, Z:107.15 [[ 8.19155165e-01 4.56117311e-01 3.47766895e-01 3.13618195e+02] [-4.15816030e-01 8.89872811e-01 -1.87679007e-01 2.10587559e+02] [-3.95071949e-01 9.13117796e-03 9.18604799e-01 1.07147017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.65, Y:210.58, Z:107.13 [[ 8.19794882e-01 4.60603315e-01 3.40265981e-01 3.13646216e+02] [-4.16895348e-01 8.87392159e-01 -1.96808090e-01 2.10579617e+02] [-3.92599823e-01 1.94869598e-02 9.19502930e-01 1.07129601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.67, Y:210.55, Z:107.13 [[ 8.18912451e-01 4.51054259e-01 3.54869630e-01 3.13672089e+02] [-4.17727834e-01 8.92454001e-01 -1.70379906e-01 2.10549631e+02] [-3.93555403e-01 -8.71269499e-03 9.19259612e-01 1.07128398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.70, Y:210.55, Z:107.11 [[ 8.18777930e-01 4.59480266e-01 3.44210090e-01 3.13700187e+02] [-4.18840004e-01 8.88122612e-01 -1.89238677e-01 2.10546942e+02] [-3.92652202e-01 1.07754969e-02 9.19623911e-01 1.07107877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.73, Y:210.53, Z:107.09 [[ 8.18138465e-01 4.60830560e-01 3.43925351e-01 3.13727684e+02] [-4.19900582e-01 8.87417589e-01 -1.90193386e-01 2.10533848e+02] [-3.92852330e-01 1.11900703e-02 9.19533485e-01 1.07094911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.75, Y:210.52, Z:107.08 [[ 8.17681998e-01 4.61258278e-01 3.44437151e-01 3.13754586e+02] [-4.20549416e-01 8.87206140e-01 -1.89745763e-01 2.10519537e+02] [-3.93108559e-01 1.02988517e-02 9.19434388e-01 1.07081985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:313.78, Y:210.51, Z:107.07 [[ 8.16569423e-01 4.64480698e-01 3.42741970e-01 3.13778798e+02] [-4.20234124e-01 8.85395972e-01 -1.98688835e-01 2.10514711e+02] [-3.95749489e-01 1.82113561e-02 9.18177918e-01 1.07065015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.80, Y:210.49, Z:107.06 [[ 8.15778031e-01 4.61723681e-01 3.48306541e-01 3.13804333e+02] [-4.21662126e-01 8.86998544e-01 -1.88240893e-01 2.10494631e+02] [-3.95862673e-01 6.69510810e-03 9.18285315e-01 1.07056965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.83, Y:210.48, Z:107.04 [[ 8.14332711e-01 4.64263340e-01 3.48312772e-01 3.13831005e+02] [-4.24363781e-01 8.85679553e-01 -1.88380228e-01 2.10481783e+02] [-3.95951534e-01 5.59285620e-03 9.18254378e-01 1.07044608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.86, Y:210.45, Z:107.04 [[ 8.14132908e-01 4.61142864e-01 3.52894980e-01 3.13859531e+02] [-4.28995624e-01 8.87226985e-01 -1.69679202e-01 2.10452742e+02] [-3.91344303e-01 -1.32489800e-02 9.20148956e-01 1.07042298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.760385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:313.89, Y:210.45, Z:107.02 [[ 8.13826120e-01 4.71297004e-01 3.39950262e-01 3.13887028e+02] [-4.29740194e-01 8.81897281e-01 -1.93857039e-01 2.10454052e+02] [-3.91165453e-01 1.16756300e-02 9.20246308e-01 1.07019504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.91, Y:210.45, Z:107.00 [[ 8.12910215e-01 4.74630895e-01 3.37494439e-01 3.13910128e+02] [-4.27657443e-01 8.79852907e-01 -2.07287178e-01 2.10453909e+02] [-3.95330362e-01 2.41738554e-02 9.18220850e-01 1.06998791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.94, Y:210.41, Z:107.00 [[ 8.12821902e-01 4.64344429e-01 3.51716942e-01 3.13936869e+02] [-4.32566057e-01 8.85537374e-01 -1.69440745e-01 2.10412962e+02] [-3.90137363e-01 -1.44156620e-02 9.20643811e-01 1.07004675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.850385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:313.97, Y:210.41, Z:106.98 [[ 8.12366047e-01 4.74193813e-01 3.39413662e-01 3.13965452e+02] [-4.33009826e-01 8.80360498e-01 -1.93566226e-01 2.10413242e+02] [-3.90594287e-01 1.02771789e-02 9.20505558e-01 1.06980211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.99, Y:210.41, Z:106.96 [[ 8.11907695e-01 4.77155591e-01 3.36345711e-01 3.13989115e+02] [-4.31062293e-01 8.78540917e-01 -2.05793967e-01 2.10413450e+02] [-3.93689211e-01 2.20997525e-02 9.18977914e-01 1.06959334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.01, Y:210.39, Z:106.95 [[ 8.12003150e-01 4.70119099e-01 3.45888591e-01 3.14013740e+02] [-4.30993538e-01 8.82596372e-01 -1.87798332e-01 2.10389345e+02] [-3.93567598e-01 3.41708978e-03 9.19289328e-01 1.06953701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.04, Y:210.37, Z:106.95 [[ 8.12258580e-01 4.67021756e-01 3.49466277e-01 3.14040488e+02] [-4.31609585e-01 8.84226426e-01 -1.78484719e-01 2.10367411e+02] [-3.92363564e-01 -5.85725051e-03 9.19791567e-01 1.06945524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9703857229999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:314.07, Y:210.37, Z:106.92 [[ 8.13017701e-01 4.72867258e-01 3.39703950e-01 3.14066260e+02] [-4.29338126e-01 8.80992372e-01 -1.98799429e-01 2.10367455e+02] [-3.93282330e-01 1.57795971e-02 9.19282336e-01 1.06923815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.09, Y:210.35, Z:106.92 [[ 8.13622449e-01 4.67760006e-01 3.45281171e-01 3.14091256e+02] [-4.28458077e-01 8.83842425e-01 -1.87739830e-01 2.10346297e+02] [-3.92991332e-01 4.81083385e-03 9.19529591e-01 1.06915444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.12, Y:210.34, Z:106.90 [[ 8.15507895e-01 4.68535340e-01 3.39737411e-01 3.14118559e+02] [-4.26288183e-01 8.83331360e-01 -1.94946385e-01 2.10335633e+02] [-3.91439981e-01 1.41542724e-02 9.20094777e-01 1.06899384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.14, Y:210.32, Z:106.89 [[ 8.15307525e-01 4.62916065e-01 3.47825181e-01 3.14142909e+02] [-4.22792903e-01 8.86376518e-01 -1.88634114e-01 2.10319400e+02] [-3.95625835e-01 6.73679483e-03 9.18387072e-01 1.06886926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0903857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.17, Y:210.31, Z:106.87 [[ 8.16473763e-01 4.61014047e-01 3.47615653e-01 3.14168300e+02] [-4.20799519e-01 8.87360282e-01 -1.88466162e-01 2.10307886e+02] [-3.95345872e-01 7.60117713e-03 9.18500878e-01 1.06873752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:210.29, Z:106.86 [[ 8.16712470e-01 4.60384067e-01 3.47889713e-01 3.14195197e+02] [-4.20613500e-01 8.87694971e-01 -1.87301688e-01 2.10292928e+02] [-3.95050661e-01 6.64451452e-03 9.18635306e-01 1.06860990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.22, Y:210.28, Z:106.85 [[ 8.17365089e-01 4.59883426e-01 3.47018076e-01 3.14221630e+02] [-4.19674584e-01 8.87941207e-01 -1.88238296e-01 2.10280484e+02] [-3.94699322e-01 8.22474492e-03 9.18773530e-01 1.06847608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.180385723 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:314.25, Y:210.26, Z:106.84 [[ 8.17414936e-01 4.57226144e-01 3.50395599e-01 3.14247156e+02] [-4.21626196e-01 8.89344967e-01 -1.76909242e-01 2.10261692e+02] [-3.92510093e-01 -3.12770669e-03 9.19742379e-01 1.06840869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.28, Y:210.26, Z:106.82 [[ 8.17803636e-01 4.64294997e-01 3.40040246e-01 3.14276141e+02] [-4.21172170e-01 8.85513446e-01 -1.96163047e-01 2.10260377e+02] [-3.92187732e-01 1.72073647e-02 9.19724247e-01 1.06817657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.240385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:314.30, Y:210.23, Z:106.82 [[ 8.18058205e-01 4.58900786e-01 3.46685509e-01 3.14301401e+02] [-4.23767662e-01 8.88482991e-01 -1.76121956e-01 2.10232564e+02] [-3.88846682e-01 -2.83609634e-03 9.21298114e-01 1.06817084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.33, Y:210.22, Z:106.80 [[ 8.17807627e-01 4.64090082e-01 3.40310273e-01 3.14329412e+02] [-4.25181965e-01 8.85755812e-01 -1.86163740e-01 2.10223902e+02] [-3.87828547e-01 7.55233591e-03 9.21700591e-01 1.06801896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.36, Y:210.22, Z:106.78 [[ 8.16780344e-01 4.67162949e-01 3.38568529e-01 3.14355978e+02] [-4.24039981e-01 8.84004566e-01 -1.96789284e-01 2.10218285e+02] [-3.91228788e-01 1.71670263e-02 9.20133321e-01 1.06780726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.38, Y:210.19, Z:106.78 [[ 8.15843134e-01 4.62781642e-01 3.46746496e-01 3.14382407e+02] [-4.27664212e-01 8.86463347e-01 -1.76878650e-01 2.10193552e+02] [-3.89234252e-01 -3.98583481e-03 9.21130181e-01 1.06779899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.41, Y:210.19, Z:106.76 [[ 8.14792918e-01 4.68327887e-01 3.41733069e-01 3.14410559e+02] [-4.28586582e-01 8.83523001e-01 -1.88946153e-01 2.10187387e+02] [-3.90417779e-01 7.48977895e-03 9.20607333e-01 1.06759936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.390385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:314.44, Y:210.18, Z:106.74 [[ 8.12726470e-01 4.73437814e-01 3.39606127e-01 3.14437357e+02] [-4.30760112e-01 8.80719840e-01 -1.96922037e-01 2.10180100e+02] [-3.92328193e-01 1.37549783e-02 9.19722453e-01 1.06742388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.46, Y:210.15, Z:106.74 [[ 8.11777762e-01 4.69331605e-01 3.47483394e-01 3.14462663e+02] [-4.34672996e-01 8.82992386e-01 -1.77154830e-01 2.10153548e+02] [-3.89969552e-01 -7.23129621e-03 9.20799358e-01 1.06743261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.450385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:314.49, Y:210.15, Z:106.72 [[ 8.10827548e-01 4.76863915e-01 3.39351579e-01 3.14490226e+02] [-4.33460452e-01 8.78857451e-01 -1.99302828e-01 2.10154239e+02] [-3.93281991e-01 1.45047343e-02 9.19303480e-01 1.06717273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.52, Y:210.14, Z:106.70 [[ 8.10252619e-01 4.75318656e-01 3.42874420e-01 3.14515907e+02] [-4.32581421e-01 8.79737809e-01 -1.97318783e-01 2.10143082e+02] [-3.95428890e-01 1.15569566e-02 9.18423884e-01 1.06702181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.54, Y:210.12, Z:106.69 [[ 8.10087801e-01 4.72184165e-01 3.47562756e-01 3.14540419e+02] [-4.32935398e-01 8.81497118e-01 -1.88493429e-01 2.10124882e+02] [-3.95379180e-01 2.22400761e-03 9.18515301e-01 1.06692254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.540385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:314.57, Y:210.10, Z:106.69 [[ 8.11378292e-01 4.69642256e-01 3.47996293e-01 3.14567263e+02] [-4.36900309e-01 8.82776371e-01 -1.72696263e-01 2.10098908e+02] [-3.88308367e-01 -1.19176888e-02 9.21452430e-01 1.06691689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.570385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:314.59, Y:210.09, Z:106.68 [[ 8.10725148e-01 4.73063841e-01 3.44870028e-01 3.14592939e+02] [-4.36930271e-01 8.81020615e-01 -1.81368726e-01 2.10089255e+02] [-3.89636590e-01 -3.64396701e-03 9.20961481e-01 1.06676392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.600385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:314.62, Y:210.08, Z:106.66 [[ 8.10296978e-01 4.76085736e-01 3.41703349e-01 3.14619194e+02] [-4.37420417e-01 8.79394298e-01 -1.87960229e-01 2.10078844e+02] [-3.89977161e-01 2.83558435e-03 9.20820163e-01 1.06661828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:210.06, Z:106.65 [[ 8.10078986e-01 4.76354314e-01 3.41845877e-01 3.14645583e+02] [-4.37628443e-01 8.79248893e-01 -1.88156132e-01 2.10064286e+02] [-3.90196594e-01 2.81984997e-03 9.20727249e-01 1.06648972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.67, Y:210.07, Z:106.62 [[ 8.08988791e-01 4.82176631e-01 3.36218432e-01 3.14670339e+02] [-4.34523767e-01 8.75742212e-01 -2.10391716e-01 2.10068307e+02] [-3.95886642e-01 2.41096401e-02 9.17982839e-01 1.06619506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.69, Y:210.04, Z:106.61 [[ 8.08843202e-01 4.74467948e-01 3.47351179e-01 3.14694200e+02] [-4.34815670e-01 8.80269042e-01 -1.89899306e-01 2.10042060e+02] [-3.95863624e-01 2.56502757e-03 9.18305729e-01 1.06613135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7203857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.72, Y:210.02, Z:106.61 [[ 8.09219682e-01 4.71959481e-01 3.49882489e-01 3.14720335e+02] [-4.37404790e-01 8.81570203e-01 -1.77513457e-01 2.10017362e+02] [-3.92225135e-01 -9.39289309e-03 9.19821296e-01 1.06607376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.75, Y:210.01, Z:106.59 [[ 8.09310577e-01 4.76051306e-01 3.44080723e-01 3.14746859e+02] [-4.37773828e-01 8.79417202e-01 -1.87027967e-01 2.10008005e+02] [-3.91625414e-01 7.34176421e-04 9.20124446e-01 1.06591052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.780385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:314.77, Y:209.98, Z:106.59 [[ 8.09866855e-01 4.73338629e-01 3.46505727e-01 3.14773283e+02] [-4.40943272e-01 8.80784422e-01 -1.72591521e-01 2.09981878e+02] [-3.86891080e-01 -1.30132165e-02 9.22033594e-01 1.06590036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.810385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:314.80, Y:209.98, Z:106.57 [[ 8.09820018e-01 4.78937859e-01 3.38836339e-01 3.14799816e+02] [-4.40734389e-01 8.77845329e-01 -1.87458735e-01 2.09975056e+02] [-3.87226983e-01 2.47100887e-03 9.21981105e-01 1.06571199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8403857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:314.83, Y:209.96, Z:106.56 [[ 8.09748035e-01 4.79096465e-01 3.38784144e-01 3.14826651e+02] [-4.40866870e-01 8.77758661e-01 -1.87553021e-01 2.09960163e+02] [-3.87226706e-01 2.51198510e-03 9.21981110e-01 1.06557886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.85, Y:209.96, Z:106.53 [[ 8.10091978e-01 4.80861316e-01 3.35445049e-01 3.14850655e+02] [-4.36643013e-01 8.76625963e-01 -2.02162805e-01 2.09955375e+02] [-3.91272112e-01 1.73007294e-02 9.20112395e-01 1.06533484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.900385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.87, Y:209.92, Z:106.54 [[ 8.11247023e-01 4.71011813e-01 3.46447889e-01 3.14874603e+02] [-4.38265359e-01 8.82051443e-01 -1.72941397e-01 2.09920690e+02] [-3.87042301e-01 -1.15379153e-02 9.21989769e-01 1.06538723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.90, Y:209.91, Z:106.52 [[ 8.11496363e-01 4.76320691e-01 3.38514775e-01 3.14902475e+02] [-4.37778538e-01 8.79261785e-01 -1.87746280e-01 2.09913420e+02] [-3.87070543e-01 4.16092024e-03 9.22040716e-01 1.06519533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.93, Y:209.91, Z:106.49 [[ 8.11768064e-01 4.78857925e-01 3.34256934e-01 3.14927068e+02] [-4.32332716e-01 8.77571446e-01 -2.07260172e-01 2.09913241e+02] [-3.92582517e-01 2.37369807e-02 9.19410422e-01 1.06491835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.95, Y:209.87, Z:106.50 [[ 8.13730661e-01 4.64992931e-01 3.48746304e-01 3.14950647e+02] [-4.33770921e-01 8.85196339e-01 -1.68137529e-01 2.09871153e+02] [-3.86891714e-01 -1.44573429e-02 9.22011815e-01 1.06501614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.98, Y:209.88, Z:106.47 [[ 8.14431558e-01 4.73114182e-01 3.35952689e-01 3.14977159e+02] [-4.30146095e-01 8.80846575e-01 -1.97695849e-01 2.09876153e+02] [-3.89455485e-01 1.65010014e-02 9.20897466e-01 1.06471968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.00, Y:209.85, Z:106.47 [[ 8.15464866e-01 4.66558909e-01 3.42549028e-01 3.15001476e+02] [-4.29967379e-01 8.84490030e-01 -1.81122723e-01 2.09850105e+02] [-3.87485620e-01 4.14309220e-04 9.21875655e-01 1.06466689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.03, Y:209.83, Z:106.46 [[ 8.15594831e-01 4.69375598e-01 3.38366103e-01 3.15028611e+02] [-4.32199186e-01 8.82993181e-01 -1.83103540e-01 2.09834721e+02] [-3.84719296e-01 3.09674620e-03 9.23028425e-01 1.06456060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.05, Y:209.82, Z:106.44 [[ 8.15428718e-01 4.71824986e-01 3.35346371e-01 3.15054550e+02] [-4.33359906e-01 8.81664952e-01 -1.86724674e-01 2.09820660e+02] [-3.83764509e-01 6.93498922e-03 9.23404953e-01 1.06441852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.08, Y:209.81, Z:106.43 [[ 8.15110037e-01 4.72389962e-01 3.35325740e-01 3.15081146e+02] [-4.33923677e-01 8.81363515e-01 -1.86838426e-01 2.09805060e+02] [-3.83804470e-01 6.78809881e-03 9.23389436e-01 1.06429019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.11, Y:209.79, Z:106.42 [[ 8.14490560e-01 4.72902669e-01 3.36107415e-01 3.15107589e+02] [-4.34235749e-01 8.81089270e-01 -1.87406009e-01 2.09789733e+02] [-3.84765439e-01 6.69056991e-03 9.22990137e-01 1.06415620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:209.78, Z:106.41 [[ 8.13127929e-01 4.73647063e-01 3.38351047e-01 3.15129195e+02] [-4.36079887e-01 8.80710326e-01 -1.84888222e-01 2.09775026e+02] [-3.85561024e-01 2.78969086e-03 9.22678121e-01 1.06405548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.16, Y:209.76, Z:106.39 [[ 8.13064456e-01 4.75212233e-01 3.36302725e-01 3.15158025e+02] [-4.36739460e-01 8.79854111e-01 -1.87391003e-01 2.09758619e+02] [-3.84947832e-01 5.48429314e-03 9.22922038e-01 1.06390860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.18, Y:209.74, Z:106.38 [[ 8.12179265e-01 4.76640867e-01 3.36419867e-01 3.15183922e+02] [-4.38186368e-01 8.79084047e-01 -1.87627147e-01 2.09743317e+02] [-3.85172104e-01 4.97227933e-03 9.22831364e-01 1.06378206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.21, Y:209.73, Z:106.37 [[ 8.11292779e-01 4.77994285e-01 3.36638515e-01 3.15210659e+02] [-4.39544627e-01 8.78351631e-01 -1.87880101e-01 2.09728351e+02] [-3.85492604e-01 4.45811879e-03 9.22700156e-01 1.06365235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.24, Y:209.72, Z:106.35 [[ 8.09878062e-01 4.80037722e-01 3.37136932e-01 3.15236369e+02] [-4.41583619e-01 8.77240387e-01 -1.88290233e-01 2.09715015e+02] [-3.86136547e-01 3.61798232e-03 9.22434538e-01 1.06351865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.26, Y:209.70, Z:106.34 [[ 8.09467378e-01 4.80847712e-01 3.36968903e-01 3.15261714e+02] [-4.42449128e-01 8.76797737e-01 -1.88320198e-01 2.09700014e+02] [-3.86006908e-01 3.34745949e-03 9.22489817e-01 1.06339114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.29, Y:209.68, Z:106.33 [[ 8.09066369e-01 4.81634104e-01 3.36808848e-01 3.15286773e+02] [-4.43305825e-01 8.76367111e-01 -1.88309938e-01 2.09682783e+02] [-3.85864685e-01 3.04591398e-03 9.22550360e-01 1.06327087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:209.67, Z:106.31 [[ 8.08973661e-01 4.81703901e-01 3.36931696e-01 3.15312208e+02] [-4.43297861e-01 8.76328425e-01 -1.88508614e-01 2.09665322e+02] [-3.86068157e-01 3.13740329e-03 9.22464924e-01 1.06314315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.34, Y:209.65, Z:106.30 [[ 8.09286897e-01 4.81249798e-01 3.36828368e-01 3.15337401e+02] [-4.42774844e-01 8.76576594e-01 -1.88583966e-01 2.09649961e+02] [-3.86011859e-01 3.47940405e-03 9.22487256e-01 1.06301607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.36, Y:209.63, Z:106.29 [[ 8.10068504e-01 4.80050637e-01 3.36660668e-01 3.15362831e+02] [-4.41464450e-01 8.77230887e-01 -1.88613655e-01 2.09634852e+02] [-3.85873241e-01 4.16626509e-03 9.22542402e-01 1.06288477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.39, Y:209.62, Z:106.28 [[ 8.10287428e-01 4.79733861e-01 3.36585363e-01 3.15389047e+02] [-4.41088582e-01 8.77402862e-01 -1.88693083e-01 2.09619794e+02] [-3.85843422e-01 4.43167269e-03 9.22553638e-01 1.06275031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.41, Y:209.60, Z:106.26 [[ 8.10095960e-01 4.79572681e-01 3.37275226e-01 3.15414295e+02] [-4.40693163e-01 8.77489869e-01 -1.89211697e-01 2.09602485e+02] [-3.86696355e-01 4.64474452e-03 9.22195400e-01 1.06262015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:315.44, Y:209.59, Z:106.25 [[ 8.10481080e-01 4.78829270e-01 3.37406209e-01 3.15439437e+02] [-4.39823711e-01 8.77893368e-01 -1.89362976e-01 2.09586396e+02] [-3.86879209e-01 5.07585875e-03 9.22116432e-01 1.06249574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.47, Y:209.57, Z:106.24 [[ 8.11059616e-01 4.77720241e-01 3.37588020e-01 3.15465564e+02] [-4.38522804e-01 8.78493302e-01 -1.89597650e-01 2.09569705e+02] [-3.87143450e-01 5.73495188e-03 9.22001659e-01 1.06237120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.620385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:315.49, Y:209.55, Z:106.22 [[ 8.11117921e-01 4.78065289e-01 3.36958896e-01 3.15491902e+02] [-4.38408616e-01 8.78296313e-01 -1.90770733e-01 2.09553231e+02] [-3.87150622e-01 7.01187728e-03 9.21989821e-01 1.06221080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:315.52, Y:209.54, Z:106.21 [[ 8.11620890e-01 4.78763045e-01 3.34749874e-01 3.15517417e+02] [-4.37861556e-01 8.77877449e-01 -1.93928962e-01 2.09539703e+02] [-3.86715386e-01 1.08226960e-02 9.22135608e-01 1.06205567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.54, Y:209.52, Z:106.20 [[ 8.12527948e-01 4.76192729e-01 3.36212461e-01 3.15541867e+02] [-4.36862419e-01 8.79311396e-01 -1.89638328e-01 2.09524848e+02] [-3.85939841e-01 7.20785303e-03 9.22495792e-01 1.06198205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.57, Y:209.51, Z:106.19 [[ 8.12313203e-01 4.76039975e-01 3.36946884e-01 3.15566774e+02] [-4.36697968e-01 8.79396665e-01 -1.89621703e-01 2.09508282e+02] [-3.86577477e-01 6.88819356e-03 9.22231211e-01 1.06185568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.59, Y:209.49, Z:106.17 [[ 8.12450789e-01 4.75938736e-01 3.36758125e-01 3.15592417e+02] [-4.36582836e-01 8.79450185e-01 -1.89638600e-01 2.09492881e+02] [-3.86418351e-01 7.04921323e-03 9.22296680e-01 1.06172974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.62, Y:209.48, Z:106.16 [[ 8.12698293e-01 4.75548423e-01 3.36712313e-01 3.15618081e+02] [-4.36118202e-01 8.79658797e-01 -1.89740123e-01 2.09476599e+02] [-3.86422565e-01 7.35510587e-03 9.22292526e-01 1.06159854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.64, Y:209.46, Z:106.15 [[ 8.12558886e-01 4.75894128e-01 3.36560300e-01 3.15643274e+02] [-4.36474154e-01 8.79472170e-01 -1.89786760e-01 2.09461831e+02] [-3.86313822e-01 7.31304606e-03 9.22338414e-01 1.06147066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:315.67, Y:209.45, Z:106.13 [[ 8.11967445e-01 4.77038550e-01 3.36367494e-01 3.15668910e+02] [-4.37708702e-01 8.78855436e-01 -1.89800464e-01 2.09446649e+02] [-3.86160539e-01 6.88081819e-03 9.22405926e-01 1.06134190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.69, Y:209.43, Z:106.12 [[ 8.11170652e-01 4.77988063e-01 3.36941515e-01 3.15694930e+02] [-4.38540220e-01 8.78341763e-01 -1.90258305e-01 2.09430951e+02] [-3.86891003e-01 6.56954667e-03 9.22102051e-01 1.06121116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.72, Y:209.42, Z:106.11 [[ 8.09842817e-01 4.79723479e-01 3.37668471e-01 3.15719904e+02] [-4.40185765e-01 8.77400005e-01 -1.90802839e-01 2.09415167e+02] [-3.87802920e-01 5.88345398e-03 9.21723538e-01 1.06108711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.75, Y:209.40, Z:106.10 [[ 8.09430934e-01 4.80765790e-01 3.37173276e-01 3.15746276e+02] [-4.41383805e-01 8.76831846e-01 -1.90646927e-01 2.09399860e+02] [-3.87300786e-01 5.49269613e-03 9.21937054e-01 1.06095933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.77, Y:209.39, Z:106.08 [[ 8.07923831e-01 4.83288597e-01 3.37181280e-01 3.15771170e+02] [-4.44058588e-01 8.75449978e-01 -1.90786025e-01 2.09385176e+02] [-3.87390054e-01 4.41233310e-03 9.21905352e-01 1.06083080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.80, Y:209.37, Z:106.07 [[ 8.06902158e-01 4.84890468e-01 3.37327943e-01 3.15797069e+02] [-4.45706830e-01 8.74566791e-01 -1.90993063e-01 2.09370206e+02] [-3.87626533e-01 3.76334639e-03 9.21808824e-01 1.06070335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.82, Y:209.36, Z:106.06 [[ 8.05873075e-01 4.89614777e-01 3.32935367e-01 3.15824203e+02] [-4.48664684e-01 8.71894997e-01 -1.96211916e-01 2.09357541e+02] [-3.86352934e-01 8.74555859e-03 9.22309561e-01 1.06055546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.85, Y:209.34, Z:106.05 [[ 8.04394379e-01 4.86783862e-01 3.40574741e-01 3.15847747e+02] [-4.49824606e-01 8.73515395e-01 -1.86087824e-01 2.09336456e+02] [-3.88081829e-01 -3.51089890e-03 9.21618233e-01 1.06048625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.87, Y:209.32, Z:106.03 [[ 8.03487860e-01 4.90295457e-01 3.37664958e-01 3.15874092e+02] [-4.51356063e-01 8.71555075e-01 -1.91492704e-01 2.09323391e+02] [-3.88181610e-01 1.45493739e-03 9.21581749e-01 1.06033988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.100385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:315.90, Y:209.31, Z:106.02 [[ 8.03151296e-01 4.90959553e-01 3.37500686e-01 3.15899883e+02] [-4.52061197e-01 8.71181462e-01 -1.91529462e-01 2.09308271e+02] [-3.88057560e-01 1.25617132e-03 9.21634283e-01 1.06021281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.93, Y:209.29, Z:106.01 [[ 8.02358832e-01 4.92116627e-01 3.37700355e-01 3.15925010e+02] [-4.53213714e-01 8.70528893e-01 -1.91772721e-01 2.09293724e+02] [-3.88352461e-01 8.20104152e-04 9.21510550e-01 1.06008042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.95, Y:209.28, Z:105.99 [[ 8.02048659e-01 4.92889426e-01 3.37309892e-01 3.15950695e+02] [-4.54112622e-01 8.70091802e-01 -1.91629807e-01 2.09278415e+02] [-3.87942877e-01 5.19750287e-04 9.21683272e-01 1.05994801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.98, Y:209.26, Z:105.98 [[ 8.02314477e-01 4.92709031e-01 3.36941079e-01 3.15975667e+02] [-4.53948866e-01 8.70193814e-01 -1.91554571e-01 2.09263523e+02] [-3.87584709e-01 7.32984726e-04 9.21833801e-01 1.05982327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.00, Y:209.25, Z:105.97 [[ 8.02449816e-01 4.92336962e-01 3.37162585e-01 3.16001446e+02] [-4.53439619e-01 8.70404074e-01 -1.91805263e-01 2.09247643e+02] [-3.87900508e-01 1.03122377e-03 9.21700674e-01 1.05969799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.03, Y:209.23, Z:105.96 [[ 8.03586512e-01 4.90243963e-01 3.37504925e-01 3.16026057e+02] [-4.51030820e-01 8.71582553e-01 -1.92132904e-01 2.09231501e+02] [-3.88355400e-01 2.17028691e-03 9.21507121e-01 1.05958354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.05, Y:209.22, Z:105.95 [[ 8.04036602e-01 4.89342421e-01 3.37741229e-01 3.16052048e+02] [-4.49943175e-01 8.72087476e-01 -1.92391719e-01 2.09216654e+02] [-3.88685325e-01 2.72562261e-03 9.21366533e-01 1.05945270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.08, Y:209.20, Z:105.93 [[ 8.05240234e-01 4.87645974e-01 3.37327096e-01 3.16077451e+02] [-4.48148903e-01 8.73033774e-01 -1.92287779e-01 2.09202951e+02] [-3.88266309e-01 3.66508822e-03 9.21539929e-01 1.05931873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.10, Y:209.19, Z:105.92 [[ 8.05808611e-01 4.86888424e-01 3.37064006e-01 3.16103175e+02] [-4.47340386e-01 8.73454349e-01 -1.92260446e-01 2.09188293e+02] [-3.88019408e-01 4.14278013e-03 9.21641892e-01 1.05919075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.13, Y:209.17, Z:105.91 [[ 8.07210159e-01 4.85144078e-01 3.36224603e-01 3.16129041e+02] [-4.45605182e-01 8.74419461e-01 -1.91902653e-01 2.09172560e+02] [-3.87101771e-01 5.08234523e-03 9.22022987e-01 1.05906417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.16, Y:209.16, Z:105.89 [[ 8.07649333e-01 4.84565321e-01 3.36004472e-01 3.16155057e+02] [-4.44978226e-01 8.74737927e-01 -1.91906065e-01 2.09157004e+02] [-3.86906880e-01 5.47813150e-03 9.22102520e-01 1.05893687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.18, Y:209.14, Z:105.88 [[ 8.08917768e-01 4.82498578e-01 3.35927325e-01 3.16180900e+02] [-4.42703570e-01 8.75871951e-01 -1.91994466e-01 2.09142649e+02] [-3.86866378e-01 6.59150880e-03 9.22112226e-01 1.05881411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.21, Y:209.13, Z:105.87 [[ 8.09309292e-01 4.81912154e-01 3.35826065e-01 3.16207540e+02] [-4.42060042e-01 8.76192007e-01 -1.92016893e-01 2.09128386e+02] [-3.86783388e-01 6.94577096e-03 9.22144439e-01 1.05867971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:209.12, Z:105.86 [[ 8.09488834e-01 4.81372562e-01 3.36167048e-01 3.16234461e+02] [-4.41334310e-01 8.76485350e-01 -1.92347237e-01 2.09115605e+02] [-3.87236175e-01 7.34088804e-03 9.21951331e-01 1.05855072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.26, Y:209.10, Z:105.84 [[ 8.09008183e-01 4.81932145e-01 3.36522166e-01 3.16261276e+02] [-4.41798961e-01 8.76178946e-01 -1.92676236e-01 2.09100465e+02] [-3.87710509e-01 7.20150839e-03 9.21753058e-01 1.05842433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.29, Y:209.10, Z:105.82 [[ 8.07562026e-01 4.85687880e-01 3.34590582e-01 3.16287527e+02] [-4.40389383e-01 8.73931333e-01 -2.05672599e-01 2.09095719e+02] [-3.92301882e-01 1.87432405e-02 9.19645543e-01 1.05820915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:209.07, Z:105.81 [[ 8.07127506e-01 4.81334059e-01 3.41851888e-01 3.16312997e+02] [-4.41242885e-01 8.76526047e-01 -1.92371528e-01 2.09073667e+02] [-3.92237053e-01 4.42863852e-03 9.19853511e-01 1.05814774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:209.05, Z:105.81 [[ 8.06680024e-01 4.80643604e-01 3.43873618e-01 3.16340497e+02] [-4.44580006e-01 8.76899030e-01 -1.82747665e-01 2.09053962e+02] [-3.89378939e-01 -5.46044410e-03 9.21061467e-01 1.05810212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.37, Y:209.05, Z:105.79 [[ 8.06468428e-01 4.85784226e-01 3.37079161e-01 3.16367474e+02] [-4.45627385e-01 8.74059335e-01 -1.93485177e-01 2.09047233e+02] [-3.88619234e-01 5.82798133e-03 9.21380012e-01 1.05792782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.40, Y:209.03, Z:105.78 [[ 8.05667566e-01 4.87227358e-01 3.36911375e-01 3.16395091e+02] [-4.47181140e-01 8.73259400e-01 -1.93512402e-01 2.09034377e+02] [-3.88495561e-01 5.24625286e-03 9.21435660e-01 1.05779343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.42, Y:209.02, Z:105.77 [[ 8.05423061e-01 4.87752655e-01 3.36735861e-01 3.16421373e+02] [-4.47738275e-01 8.72966885e-01 -1.93543936e-01 2.09019586e+02] [-3.88360824e-01 5.11521549e-03 9.21493193e-01 1.05766994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.730385723 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:316.45, Y:209.01, Z:105.75 [[ 8.04400148e-01 4.92407412e-01 3.32378312e-01 3.16449001e+02] [-4.48691568e-01 8.70245110e-01 -2.03345335e-01 2.09006585e+02] [-3.89379351e-01 1.44356720e-02 9.20964349e-01 1.05746651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.760385723 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:317.11, Y:209.04, Z:106.73 [[ 8.27893494e-01 -5.48429759e-01 1.17546426e-01 3.17105396e+02] [-4.27163457e-01 -4.80695572e-01 7.65808820e-01 2.09041458e+02] [-3.63488300e-01 -6.84219677e-01 -6.32233888e-01 1.06726276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.790385723 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:317.14, Y:209.67, Z:105.73 [[ 8.14292646e-01 3.25977234e-01 -4.80277347e-01 3.17142629e+02] [-4.19946490e-01 -2.40358338e-01 -8.75141597e-01 2.09668764e+02] [-4.00714903e-01 9.14312152e-01 -5.88290320e-02 1.05729216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.820385723 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:316.73, Y:208.85, Z:105.63 [[ 8.23458220e-01 4.33638320e-01 3.65888462e-01 3.16726269e+02] [-3.99140246e-01 9.01064509e-01 -1.69616672e-01 2.08854292e+02] [-4.03241396e-01 -6.36856740e-03 9.15071482e-01 1.05632252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.75, Y:208.85, Z:105.61 [[ 8.22512995e-01 4.38770994e-01 3.61873443e-01 3.16751965e+02] [-3.99786487e-01 8.98589651e-01 -1.80851884e-01 2.08847844e+02] [-4.04528292e-01 4.08091191e-03 9.14516379e-01 1.05614964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.78, Y:208.84, Z:105.60 [[ 8.22433910e-01 4.39672879e-01 3.60957371e-01 3.16778311e+02] [-3.99774802e-01 8.98135883e-01 -1.83117568e-01 2.08835783e+02] [-4.04700595e-01 6.30043611e-03 9.14427544e-01 1.05601382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.80, Y:208.82, Z:105.59 [[ 8.22586230e-01 4.39306710e-01 3.61056102e-01 3.16803931e+02] [-3.98933165e-01 8.98306563e-01 -1.84113140e-01 2.08824254e+02] [-4.05221204e-01 7.41168069e-03 9.14188626e-01 1.05587324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.940385723 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:316.83, Y:208.82, Z:105.56 [[ 8.20758900e-01 4.45945277e-01 3.57054111e-01 3.16834824e+02] [-3.99624778e-01 8.94822536e-01 -1.98979058e-01 2.08816611e+02] [-4.08233837e-01 2.06261631e-02 9.12644343e-01 1.05562402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.48, Y:208.85, Z:106.53 [[ 8.40655499e-01 -5.33603510e-01 9.25506672e-02 3.17477917e+02] [-3.82247248e-01 -4.63556644e-01 7.99376181e-01 2.08846164e+02] [-3.83647459e-01 -7.07377221e-01 -5.93659915e-01 1.06528140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.000385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:317.64, Y:209.56, Z:105.80 [[ 8.39918330e-01 1.35667064e-01 -5.25482300e-01 3.17635688e+02] [-3.56631390e-01 -5.91876015e-01 -7.22839425e-01 2.09556057e+02] [-4.09085872e-01 7.94529565e-01 -4.48744380e-01 1.05800704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.030385723 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:317.15, Y:208.68, Z:105.45 [[ 8.48190144e-01 3.70160002e-01 3.78886596e-01 3.17146000e+02] [-3.26571429e-01 9.28613143e-01 -1.76149743e-01 2.08679268e+02] [-4.17042662e-01 2.56749385e-02 9.08524197e-01 1.05446581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.17, Y:208.66, Z:105.45 [[ 8.49717943e-01 3.56593102e-01 3.88356508e-01 3.17171359e+02] [-3.26697482e-01 9.34244504e-01 -1.43024339e-01 2.08656103e+02] [-4.13821426e-01 -5.34474617e-03 9.10342387e-01 1.05453510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0903857229999 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:317.20, Y:208.65, Z:105.43 [[ 8.48803072e-01 3.63337138e-01 3.84082634e-01 3.17197983e+02] [-3.28598490e-01 9.31641671e-01 -1.55134875e-01 2.08653441e+02] [-4.14193648e-01 5.46998480e-03 9.10172347e-01 1.05434682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.120385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:317.23, Y:208.65, Z:105.42 [[ 8.48920328e-01 3.63853129e-01 3.83334289e-01 3.17227041e+02] [-3.27341751e-01 9.31406599e-01 -1.59151269e-01 2.08650250e+02] [-4.14947774e-01 9.62543013e-03 9.09794315e-01 1.05416131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:317.25, Y:208.64, Z:105.41 [[ 8.49478285e-01 3.62397101e-01 3.83477489e-01 3.17254633e+02] [-3.28765981e-01 9.32017320e-01 -1.52501293e-01 2.08637119e+02] [-4.12673688e-01 3.47218379e-03 9.10872313e-01 1.05407759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:317.28, Y:208.63, Z:105.39 [[ 8.50039059e-01 3.62684598e-01 3.81960052e-01 3.17283327e+02] [-3.27717419e-01 9.31885394e-01 -1.55534257e-01 2.08629276e+02] [-4.12352874e-01 7.03523083e-03 9.10997044e-01 1.05393463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:317.31, Y:208.62, Z:105.38 [[ 8.50207702e-01 3.62249228e-01 3.81997853e-01 3.17310520e+02] [-3.25695408e-01 9.32019659e-01 -1.58939789e-01 2.08623083e+02] [-4.13605325e-01 1.07168866e-02 9.10393203e-01 1.05376560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.34, Y:208.61, Z:105.37 [[ 8.51270584e-01 3.59075711e-01 3.82626484e-01 3.17338417e+02] [-3.25500839e-01 9.33297237e-01 -1.51675543e-01 2.08610352e+02] [-4.11567244e-01 4.57168695e-03 9.11367930e-01 1.05367616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.36, Y:208.61, Z:105.35 [[ 8.50985886e-01 3.62067485e-01 3.80434170e-01 3.17364667e+02] [-3.22999446e-01 9.31995069e-01 -1.64488749e-01 2.08610277e+02] [-4.14118798e-01 1.70975778e-02 9.10062247e-01 1.05345813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:317.39, Y:208.59, Z:105.34 [[ 8.51924732e-01 3.55211075e-01 3.84771806e-01 3.17393962e+02] [-3.24056585e-01 9.34785817e-01 -1.45474420e-01 2.08590345e+02] [-4.11353352e-01 -7.54580879e-04 9.11475644e-01 1.05342588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:317.42, Y:208.60, Z:105.32 [[ 8.51178308e-01 3.61351886e-01 3.80683993e-01 3.17419254e+02] [-3.20423911e-01 9.32184791e-01 -1.68404374e-01 2.08596833e+02] [-4.15721066e-01 2.13618965e-02 9.09241258e-01 1.05315691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.45, Y:208.58, Z:105.31 [[ 8.50963069e-01 3.55651650e-01 3.86489017e-01 3.17446776e+02] [-3.20293564e-01 9.34584865e-01 -1.54800399e-01 2.08581389e+02] [-4.16261803e-01 7.93947811e-03 9.09210139e-01 1.05307809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.48, Y:208.56, Z:105.30 [[ 8.51696476e-01 3.53061208e-01 3.87247849e-01 3.17476160e+02] [-3.23007742e-01 9.35593138e-01 -1.42588493e-01 2.08562875e+02] [-4.12648896e-01 -3.64193602e-03 9.10882882e-01 1.05304060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.50, Y:208.56, Z:105.29 [[ 8.51353597e-01 3.59660124e-01 3.81892194e-01 3.17504791e+02] [-3.24050373e-01 9.33036781e-01 -1.56312894e-01 2.08563199e+02] [-4.12538978e-01 9.32523681e-03 9.10892217e-01 1.05285078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.53, Y:208.57, Z:105.26 [[ 8.51042836e-01 3.66418586e-01 3.76116354e-01 3.17530713e+02] [-3.23038370e-01 9.30042620e-01 -1.75119776e-01 2.08567244e+02] [-4.13971380e-01 2.75344166e-02 9.09873372e-01 1.05259378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.56, Y:208.54, Z:105.26 [[ 8.50094312e-01 3.56571820e-01 3.87551542e-01 3.17558604e+02] [-3.23880098e-01 9.34267046e-01 -1.49153508e-01 2.08544082e+02] [-4.15260572e-01 1.27431777e-03 9.09701618e-01 1.05255792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.59, Y:208.54, Z:105.24 [[ 8.49851531e-01 3.60647399e-01 3.84299139e-01 3.17587579e+02] [-3.24694873e-01 9.32660407e-01 -1.57218971e-01 2.08538491e+02] [-4.15121205e-01 8.83282345e-03 9.09723236e-01 1.05238590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:317.62, Y:208.53, Z:105.22 [[ 8.49467023e-01 3.61741286e-01 3.84121099e-01 3.17617217e+02] [-3.26315966e-01 9.32248936e-01 -1.56300388e-01 2.08531467e+02] [-4.14636789e-01 7.42717765e-03 9.09956686e-01 1.05223927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:317.65, Y:208.51, Z:105.22 [[ 8.50142189e-01 3.59354704e-01 3.84866801e-01 3.17645891e+02] [-3.29291736e-01 9.33190886e-01 -1.43950419e-01 2.08514433e+02] [-4.10883452e-01 -4.35513268e-03 9.11677477e-01 1.05219920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.68, Y:208.52, Z:105.20 [[ 8.50932051e-01 3.69381353e-01 3.73459583e-01 3.17675384e+02] [-3.31114809e-01 9.29133998e-01 -1.64538743e-01 2.08517107e+02] [-4.07771539e-01 1.63532915e-02 9.12937535e-01 1.05197955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.70, Y:208.50, Z:105.19 [[ 8.50210792e-01 3.64543327e-01 3.79802280e-01 3.17701245e+02] [-3.31473196e-01 9.31181192e-01 -1.51746854e-01 2.08500254e+02] [-4.08983043e-01 3.12253732e-03 9.12536640e-01 1.05190077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.660385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:317.73, Y:208.49, Z:105.18 [[ 8.49261440e-01 3.64093008e-01 3.82349693e-01 3.17729619e+02] [-3.31263593e-01 9.31361107e-01 -1.51099038e-01 2.08489961e+02] [-4.11119737e-01 1.66405353e-03 9.11579833e-01 1.05176906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:317.76, Y:208.49, Z:105.16 [[ 8.49038715e-01 3.65975768e-01 3.81044613e-01 3.17756186e+02] [-3.29922195e-01 9.30580992e-01 -1.58651704e-01 2.08485201e+02] [-4.12655553e-01 8.98636376e-03 9.10842819e-01 1.05158390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:208.48, Z:105.14 [[ 8.49512608e-01 3.69043708e-01 3.77008051e-01 3.17783167e+02] [-3.30720308e-01 9.29290738e-01 -1.64446960e-01 2.08480390e+02] [-4.11038206e-01 1.50155474e-02 9.11494447e-01 1.05142397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.750385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:317.81, Y:208.46, Z:105.14 [[ 8.48640043e-01 3.62555954e-01 3.85179513e-01 3.17810619e+02] [-3.31977903e-01 9.31952775e-01 -1.45789907e-01 2.08458296e+02] [-4.11826115e-01 -4.14793373e-03 9.11253009e-01 1.05138366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.780385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:317.84, Y:208.45, Z:105.12 [[ 8.48285369e-01 3.68549836e-01 3.80240648e-01 3.17838637e+02] [-3.33512544e-01 9.29586389e-01 -1.56966648e-01 2.08452760e+02] [-4.11316564e-01 6.33748569e-03 9.11470527e-01 1.05121827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.810385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:317.87, Y:208.44, Z:105.11 [[ 8.48035047e-01 3.69287704e-01 3.80083085e-01 3.17866254e+02] [-3.34296437e-01 9.29295090e-01 -1.57023972e-01 2.08441137e+02] [-4.11196367e-01 6.10141045e-03 9.11526369e-01 1.05108337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.89, Y:208.43, Z:105.09 [[ 8.47908561e-01 3.69948242e-01 3.79722754e-01 3.17893407e+02] [-3.35029827e-01 9.29033566e-01 -1.57008436e-01 2.08430507e+02] [-4.10860179e-01 5.91034805e-03 9.11679210e-01 1.05094739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.92, Y:208.41, Z:105.09 [[ 8.48895507e-01 3.65300780e-01 3.82010156e-01 3.17921735e+02] [-3.35668401e-01 9.30871567e-01 -1.44238867e-01 2.08412506e+02] [-4.08292963e-01 -5.78501247e-03 9.12832619e-01 1.05087405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.95, Y:208.42, Z:105.06 [[ 8.47129196e-01 3.76874206e-01 3.74617082e-01 3.17948697e+02] [-3.36822929e-01 9.26092652e-01 -1.70007986e-01 2.08416995e+02] [-4.11001752e-01 1.78391061e-02 9.11459997e-01 1.05062421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.930385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:317.98, Y:208.40, Z:105.05 [[ 8.46592570e-01 3.72451182e-01 3.80211965e-01 3.17975898e+02] [-3.37517517e-01 9.28037952e-01 -1.57567398e-01 2.08398354e+02] [-4.11537297e-01 5.06719011e-03 9.11378833e-01 1.05052594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:208.39, Z:105.04 [[ 8.46420079e-01 3.78181190e-01 3.74902705e-01 3.18001463e+02] [-3.40025174e-01 9.25639219e-01 -1.66056968e-01 2.08390930e+02] [-4.09824269e-01 1.30775942e-02 9.12070746e-01 1.05037396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.03, Y:208.37, Z:105.03 [[ 8.45427257e-01 3.70523705e-01 3.84662108e-01 3.18028671e+02] [-3.39913056e-01 9.28803788e-01 -1.47589424e-01 2.08368752e+02] [-4.11961003e-01 -5.97555114e-03 9.11181883e-01 1.05030348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.020385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:318.06, Y:208.36, Z:105.01 [[ 8.44841081e-01 3.76723579e-01 3.79898530e-01 3.18056283e+02] [-3.42073479e-01 9.26319452e-01 -1.57854390e-01 2.08362880e+02] [-4.11374868e-01 3.40866196e-03 9.11459872e-01 1.05012913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.050385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:318.08, Y:208.35, Z:105.00 [[ 8.44438114e-01 3.77841872e-01 3.79683806e-01 3.18083083e+02] [-3.43279373e-01 9.25865282e-01 -1.57901084e-01 2.08351551e+02] [-4.11197695e-01 3.00007501e-03 9.11541253e-01 1.04999353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.080385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:318.11, Y:208.34, Z:104.99 [[ 8.43681332e-01 3.80041042e-01 3.79170959e-01 3.18110643e+02] [-3.45731367e-01 9.24967346e-01 -1.57813914e-01 2.08339195e+02] [-4.10696519e-01 2.05335917e-03 9.11769792e-01 1.04985105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.110385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:318.14, Y:208.33, Z:104.98 [[ 8.45767821e-01 3.80514109e-01 3.74013109e-01 3.18140225e+02] [-3.47161060e-01 9.24773104e-01 -1.55800850e-01 2.08326006e+02] [-4.05161685e-01 1.92855785e-03 9.14243015e-01 1.04976118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.140385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:318.16, Y:208.31, Z:104.96 [[ 8.42787051e-01 3.81796965e-01 3.79395657e-01 3.18163952e+02] [-3.47526191e-01 9.24245166e-01 -1.58102562e-01 2.08313071e+02] [-4.11017681e-01 1.39686446e-03 9.11626302e-01 1.04958880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.170385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:318.19, Y:208.30, Z:104.94 [[ 8.42654271e-01 3.81980617e-01 3.79505715e-01 3.18191382e+02] [-3.47649128e-01 9.24169217e-01 -1.58276156e-01 2.08300217e+02] [-4.11185923e-01 1.43724836e-03 9.11550367e-01 1.04944881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.200385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:318.22, Y:208.29, Z:104.93 [[ 8.42839038e-01 3.82268905e-01 3.78804489e-01 3.18217315e+02] [-3.48037911e-01 9.24050021e-01 -1.58117587e-01 2.08286957e+02] [-4.10477732e-01 1.42935197e-03 9.11869502e-01 1.04931684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.230385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:318.24, Y:208.27, Z:104.92 [[ 8.42552499e-01 3.82415335e-01 3.79293815e-01 3.18243901e+02] [-3.48049309e-01 9.23989340e-01 -1.58446767e-01 2.08273752e+02] [-4.11055916e-01 1.48676878e-03 9.11608920e-01 1.04917358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:318.27, Y:208.26, Z:104.90 [[ 8.42456699e-01 3.82633053e-01 3.79287038e-01 3.18270508e+02] [-3.48228149e-01 9.23899152e-01 -1.58579677e-01 2.08261051e+02] [-4.11100798e-01 1.51808833e-03 9.11588629e-01 1.04903791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:318.30, Y:208.25, Z:104.89 [[ 8.42283644e-01 3.82634197e-01 3.79670035e-01 3.18297430e+02] [-3.48099387e-01 9.23898456e-01 -1.58866170e-01 2.08247669e+02] [-4.11564188e-01 1.64746992e-03 9.11379287e-01 1.04890052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.32, Y:208.23, Z:104.88 [[ 8.42606104e-01 3.82018301e-01 3.79574725e-01 3.18323033e+02] [-3.47381230e-01 9.24152408e-01 -1.58961028e-01 2.08231790e+02] [-4.11510918e-01 2.08439724e-03 9.11402447e-01 1.04877262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.35, Y:208.22, Z:104.86 [[ 8.42787349e-01 3.82029114e-01 3.79161233e-01 3.18350044e+02] [-3.47415970e-01 9.24147663e-01 -1.58912682e-01 2.08218358e+02] [-4.11110238e-01 2.20293011e-03 9.11582974e-01 1.04863678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.38, Y:208.21, Z:104.85 [[ 8.42873428e-01 3.81976717e-01 3.79022653e-01 3.18375243e+02] [-3.47324601e-01 9.24168925e-01 -1.58988742e-01 2.08205149e+02] [-4.11010956e-01 2.36349409e-03 9.11627341e-01 1.04849749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.40, Y:208.19, Z:104.84 [[ 8.42343291e-01 3.82724486e-01 3.79446634e-01 3.18400813e+02] [-3.48006822e-01 9.23860075e-01 -1.59291598e-01 2.08190483e+02] [-4.11520391e-01 2.12819134e-03 9.11398068e-01 1.04836362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.43, Y:208.18, Z:104.82 [[ 8.42106637e-01 3.83408506e-01 3.79281334e-01 3.18428183e+02] [-3.48733136e-01 9.23576873e-01 -1.59345413e-01 2.08177036e+02] [-4.11389855e-01 1.91786112e-03 9.11457464e-01 1.04822570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:208.16, Z:104.81 [[ 8.42060473e-01 3.84129346e-01 3.78653939e-01 3.18454088e+02] [-3.49584837e-01 9.23277733e-01 -1.59212654e-01 2.08162363e+02] [-4.10761003e-01 1.69500717e-03 9.11741479e-01 1.04808748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.48, Y:208.15, Z:104.79 [[ 8.42229511e-01 3.84221018e-01 3.78184689e-01 3.18480497e+02] [-3.49715689e-01 9.23239425e-01 -1.59147421e-01 2.08149640e+02] [-4.10302799e-01 1.78153526e-03 9.11947608e-01 1.04794802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.51, Y:208.14, Z:104.78 [[ 8.42502177e-01 3.84277963e-01 3.77518911e-01 3.18507501e+02] [-3.49846609e-01 9.23215523e-01 -1.58998262e-01 2.08136566e+02] [-4.09630847e-01 1.88267131e-03 9.12249431e-01 1.04780339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.53, Y:208.12, Z:104.77 [[ 8.42981195e-01 3.83574169e-01 3.77165166e-01 3.18533614e+02] [-3.49084665e-01 9.23507073e-01 -1.58979818e-01 2.08121803e+02] [-4.09295250e-01 2.35442138e-03 9.12398956e-01 1.04765991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.56, Y:208.11, Z:104.75 [[ 8.43140074e-01 3.83260968e-01 3.77128421e-01 3.18559259e+02] [-3.48687933e-01 9.23636316e-01 -1.59099595e-01 2.08109032e+02] [-4.09306171e-01 2.64311502e-03 9.12393267e-01 1.04752658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.59, Y:208.09, Z:104.74 [[ 8.43604554e-01 3.82152242e-01 3.77214819e-01 3.18585549e+02] [-3.47400347e-01 9.24093454e-01 -1.59261692e-01 2.08094433e+02] [-4.09443958e-01 3.30932973e-03 9.12329268e-01 1.04738571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.61, Y:208.08, Z:104.72 [[ 8.43558534e-01 3.82301889e-01 3.77166098e-01 3.18613527e+02] [-3.47512719e-01 9.24031321e-01 -1.59376998e-01 2.08082586e+02] [-4.09443416e-01 3.37381076e-03 9.12329275e-01 1.04724551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.64, Y:208.06, Z:104.72 [[ 8.45019913e-01 3.74915697e-01 3.81286725e-01 3.18640550e+02] [-3.46733969e-01 9.26989811e-01 -1.43057492e-01 2.08057838e+02] [-4.07083408e-01 -1.13186299e-02 9.13320857e-01 1.04720426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.67, Y:208.05, Z:104.70 [[ 8.44257469e-01 3.83158599e-01 3.74724984e-01 3.18666234e+02] [-3.47271088e-01 9.23658453e-01 -1.62042755e-01 2.08054536e+02] [-4.08205974e-01 6.67465354e-03 9.12865451e-01 1.04699671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.69, Y:208.05, Z:104.68 [[ 8.43272813e-01 3.87819996e-01 3.72137896e-01 3.18689989e+02] [-3.47353483e-01 9.21580543e-01 -1.73305686e-01 2.08045133e+02] [-4.10166454e-01 1.68805789e-02 9.11854443e-01 1.04679205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.72, Y:208.02, Z:104.68 [[ 8.43741923e-01 3.79096036e-01 3.79981267e-01 3.18716575e+02] [-3.48137149e-01 9.25340413e-01 -1.50152074e-01 2.08019287e+02] [-4.08534078e-01 -5.59599484e-03 9.12725913e-01 1.04676773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:208.01, Z:104.66 [[ 8.43243352e-01 3.82790866e-01 3.77374882e-01 3.18742578e+02] [-3.49516588e-01 9.23834986e-01 -1.56099565e-01 2.08006953e+02] [-4.08385607e-01 -2.68860734e-04 9.12809468e-01 1.04661194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.77, Y:208.00, Z:104.64 [[ 8.42591917e-01 3.89475441e-01 3.71951263e-01 3.18767767e+02] [-3.49632449e-01 9.20912968e-01 -1.72268559e-01 2.08002719e+02] [-4.09629115e-01 1.51058637e-02 9.12127075e-01 1.04640017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:207.98, Z:104.63 [[ 8.42558642e-01 3.83225761e-01 3.78461294e-01 3.18791982e+02] [-3.47938557e-01 9.23647330e-01 -1.60668512e-01 2.07979794e+02] [-4.11137077e-01 3.69136678e-03 9.11566058e-01 1.04630214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:207.97, Z:104.62 [[ 8.42814934e-01 3.82893808e-01 3.78226544e-01 3.18818253e+02] [-3.47557082e-01 9.23783732e-01 -1.60709958e-01 2.07965469e+02] [-4.10934376e-01 3.99343841e-03 9.11656180e-01 1.04616884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.84, Y:207.95, Z:104.60 [[ 8.43429839e-01 3.81768244e-01 3.77993537e-01 3.18844793e+02] [-3.46309178e-01 9.24246266e-01 -1.60744493e-01 2.07950518e+02] [-4.10726258e-01 4.67407084e-03 9.11746727e-01 1.04603555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:207.94, Z:104.59 [[ 8.42918565e-01 3.82369982e-01 3.78525415e-01 3.18870091e+02] [-3.46826553e-01 9.23998483e-01 -1.61053237e-01 2.07938019e+02] [-4.11338833e-01 4.47209840e-03 9.11471538e-01 1.04589153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.980385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:318.90, Y:207.92, Z:104.58 [[ 8.43837594e-01 3.77956326e-01 3.80903046e-01 3.18895870e+02] [-3.46346478e-01 9.25813930e-01 -1.51369367e-01 2.07918639e+02] [-4.09856355e-01 -4.19326574e-03 9.12140441e-01 1.04581051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.92, Y:207.92, Z:104.56 [[ 8.42936200e-01 3.86041234e-01 3.74740881e-01 3.18921694e+02] [-3.46694787e-01 9.22380246e-01 -1.70344964e-01 2.07915476e+02] [-4.11413767e-01 1.36692267e-02 9.11346183e-01 1.04557699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.95, Y:207.89, Z:104.55 [[ 8.42884617e-01 3.82389006e-01 3.78581789e-01 3.18946516e+02] [-3.46693724e-01 9.23989050e-01 -1.61392992e-01 2.07894739e+02] [-4.11520333e-01 4.78373990e-03 9.11388025e-01 1.04549322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.97, Y:207.88, Z:104.54 [[ 8.42513116e-01 3.83111210e-01 3.78678557e-01 3.18973313e+02] [-3.47411253e-01 9.23690990e-01 -1.61556112e-01 2.07882212e+02] [-4.11675928e-01 4.55595098e-03 9.11318920e-01 1.04535946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:207.87, Z:104.52 [[ 8.41534920e-01 3.84983778e-01 3.78954442e-01 3.19001154e+02] [-3.49351880e-01 9.22915624e-01 -1.61802398e-01 2.07871515e+02] [-4.12034273e-01 3.77392162e-03 9.11160532e-01 1.04520902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:207.86, Z:104.51 [[ 8.41481326e-01 3.85853324e-01 3.78188300e-01 3.19028701e+02] [-3.50395827e-01 9.22553593e-01 -1.61609508e-01 2.07859687e+02] [-4.11256541e-01 3.47578100e-03 9.11513015e-01 1.04506830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.05, Y:207.85, Z:104.49 [[ 8.41577866e-01 3.86182728e-01 3.77636858e-01 3.19054918e+02] [-3.50805262e-01 9.22415871e-01 -1.61507364e-01 2.07847192e+02] [-4.10709586e-01 3.44402570e-03 9.11759713e-01 1.04493112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:207.84, Z:104.48 [[ 8.41520868e-01 3.86538775e-01 3.77399529e-01 3.19082149e+02] [-3.51186362e-01 9.22266915e-01 -1.61529803e-01 2.07835099e+02] [-4.10500632e-01 3.39313258e-03 9.11854000e-01 1.04479794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:207.82, Z:104.47 [[ 8.41568579e-01 3.86480742e-01 3.77352571e-01 3.19108729e+02] [-3.51071863e-01 9.22290622e-01 -1.61643301e-01 2.07823859e+02] [-4.10500760e-01 3.55605297e-03 9.11853322e-01 1.04466466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.14, Y:207.81, Z:104.45 [[ 8.42167499e-01 3.85662421e-01 3.76853287e-01 3.19135563e+02] [-3.50237290e-01 9.22631156e-01 -1.61510340e-01 2.07813729e+02] [-4.09985053e-01 4.03068461e-03 9.12083335e-01 1.04452354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.17, Y:207.79, Z:104.45 [[ 8.44479051e-01 3.75917417e-01 3.81498660e-01 3.19165237e+02] [-3.50733659e-01 9.26468432e-01 -1.36536240e-01 2.07790160e+02] [-4.04772816e-01 -1.85024266e-02 9.14230074e-01 1.04454335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:207.81, Z:104.42 [[ 8.42573421e-01 3.94860757e-01 3.66271775e-01 3.19190949e+02] [-3.50113997e-01 9.18334951e-01 -1.84610692e-01 2.07807344e+02] [-4.09255690e-01 2.73111868e-02 9.12010899e-01 1.04415429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.22, Y:207.78, Z:104.41 [[ 8.42455959e-01 3.84926149e-01 3.76961295e-01 3.19217599e+02] [-3.49266231e-01 9.22935346e-01 -1.61874790e-01 2.07783701e+02] [-4.10220742e-01 4.71253037e-03 9.11974087e-01 1.04411323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.25, Y:207.78, Z:104.40 [[ 8.42982527e-01 3.83645977e-01 3.77089146e-01 3.19245636e+02] [-3.47777567e-01 9.23464018e-01 -1.62064711e-01 2.07775171e+02] [-4.10403732e-01 5.47457353e-03 9.11887496e-01 1.04397574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.27, Y:207.77, Z:104.38 [[ 8.43414235e-01 3.82662772e-01 3.77122834e-01 3.19273649e+02] [-3.46637363e-01 9.23868079e-01 -1.62204536e-01 2.07766117e+02] [-4.10481385e-01 6.08075015e-03 9.11848703e-01 1.04382271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.30, Y:207.75, Z:104.37 [[ 8.43613199e-01 3.82485889e-01 3.76857155e-01 3.19301351e+02] [-3.46437573e-01 9.23939886e-01 -1.62222365e-01 2.07754791e+02] [-4.10241122e-01 6.29544988e-03 9.11955366e-01 1.04369091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.33, Y:207.74, Z:104.36 [[ 8.43649682e-01 3.82612045e-01 3.76647365e-01 3.19328105e+02] [-3.46557076e-01 9.23887160e-01 -1.62267400e-01 2.07744477e+02] [-4.10065126e-01 6.36703087e-03 9.12034020e-01 1.04356118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.36, Y:207.73, Z:104.34 [[ 8.43642571e-01 3.83249110e-01 3.76015068e-01 3.19356010e+02] [-3.47325373e-01 9.23624395e-01 -1.62120518e-01 2.07733840e+02] [-4.09429234e-01 6.17219675e-03 9.12321000e-01 1.04342156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.38, Y:207.72, Z:104.33 [[ 8.43263340e-01 3.84445826e-01 3.75643908e-01 3.19383452e+02] [-3.48649710e-01 9.23129831e-01 -1.62094711e-01 2.07723623e+02] [-4.09084732e-01 5.72038761e-03 9.12478470e-01 1.04327942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.41, Y:207.71, Z:104.31 [[ 8.42528645e-01 3.87136184e-01 3.74527780e-01 3.19411342e+02] [-3.51757249e-01 9.22011403e-01 -1.61746127e-01 2.07714079e+02] [-4.07936663e-01 4.53288377e-03 9.12998977e-01 1.04314140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.44, Y:207.70, Z:104.30 [[ 8.41292142e-01 3.89947820e-01 3.74390478e-01 3.19438340e+02] [-3.54800482e-01 9.20831017e-01 -1.61823535e-01 2.07703129e+02] [-4.07853099e-01 3.30694647e-03 9.13041573e-01 1.04300946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.47, Y:207.69, Z:104.29 [[ 8.40320067e-01 3.91398410e-01 3.75059289e-01 3.19465532e+02] [-3.56200136e-01 9.20217253e-01 -1.62239544e-01 2.07691316e+02] [-4.08636329e-01 2.73697446e-03 9.12693191e-01 1.04287350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.49, Y:207.68, Z:104.27 [[ 8.38444741e-01 3.93467174e-01 3.77086196e-01 3.19492262e+02] [-3.58006051e-01 9.19336745e-01 -1.63253232e-01 2.07679426e+02] [-4.10903983e-01 1.87967448e-03 9.11676688e-01 1.04274875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.52, Y:207.67, Z:104.26 [[ 8.37566294e-01 3.94842468e-01 3.77600489e-01 3.19519864e+02] [-3.59355721e-01 9.18747867e-01 -1.63602639e-01 2.07667433e+02] [-4.11516913e-01 1.33515992e-03 9.11401145e-01 1.04261541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.55, Y:207.66, Z:104.25 [[ 8.36386525e-01 3.97154003e-01 3.77791316e-01 3.19547927e+02] [-3.61794866e-01 9.17751921e-01 -1.63816626e-01 2.07656421e+02] [-4.11779135e-01 3.31059852e-04 9.11283619e-01 1.04247272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.58, Y:207.64, Z:104.23 [[ 8.35804649e-01 3.98639860e-01 3.77514041e-01 3.19575502e+02] [-3.63420553e-01 9.17107513e-01 -1.63827079e-01 2.07644614e+02] [-4.11528966e-01 -2.68927450e-04 9.11396641e-01 1.04232997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:207.63, Z:104.22 [[ 8.34829879e-01 4.00879581e-01 3.77299133e-01 3.19602341e+02] [-3.65861306e-01 9.16129916e-01 -1.63864217e-01 2.07631742e+02] [-4.11344841e-01 -1.24040887e-03 9.11478954e-01 1.04219901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.63, Y:207.62, Z:104.21 [[ 8.34289528e-01 4.02093715e-01 3.77202370e-01 3.19629094e+02] [-3.67152288e-01 9.15596931e-01 -1.63955657e-01 2.07619154e+02] [-4.11290872e-01 -1.70422502e-03 9.11502559e-01 1.04206585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.66, Y:207.61, Z:104.19 [[ 8.33667200e-01 4.03582057e-01 3.76988756e-01 3.19656041e+02] [-3.68766913e-01 9.14940556e-01 -1.63996169e-01 2.07607375e+02] [-4.11108214e-01 -2.30275246e-03 9.11583641e-01 1.04192133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:207.60, Z:104.18 [[ 8.33516494e-01 4.04835457e-01 3.75976737e-01 3.19681857e+02] [-3.70277788e-01 9.14385329e-01 -1.63688209e-01 2.07595798e+02] [-4.10054404e-01 -2.77901214e-03 9.12056831e-01 1.04177607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:207.58, Z:104.16 [[ 8.33670686e-01 4.05118260e-01 3.75329700e-01 3.19707809e+02] [-3.70657267e-01 9.14260037e-01 -1.63529124e-01 2.07583375e+02] [-4.09397579e-01 -2.78924364e-03 9.12351819e-01 1.04164160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:207.57, Z:104.15 [[ 8.34035304e-01 4.05281133e-01 3.74342511e-01 3.19734878e+02] [-3.70972315e-01 9.14187993e-01 -1.63217204e-01 2.07570265e+02] [-4.08368282e-01 -2.74179760e-03 9.12813140e-01 1.04150640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.76, Y:207.56, Z:104.13 [[ 8.35845931e-01 4.06479512e-01 3.68966105e-01 3.19761891e+02] [-3.69501150e-01 9.13644383e-01 -1.69478144e-01 2.07560953e+02] [-4.05993202e-01 5.32421674e-03 9.13860587e-01 1.04133424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:207.54, Z:104.13 [[ 8.35716419e-01 3.99764755e-01 3.76518536e-01 3.19786802e+02] [-3.67913740e-01 9.16585530e-01 -1.56558127e-01 2.07541986e+02] [-4.07697863e-01 -7.68814501e-03 9.13084522e-01 1.04126127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:207.53, Z:104.11 [[ 8.36836728e-01 3.99720711e-01 3.74069037e-01 3.19813716e+02] [-3.64799045e-01 9.16636939e-01 -1.63396389e-01 2.07532456e+02] [-4.08198418e-01 2.76072281e-04 9.12893190e-01 1.04109481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:207.52, Z:104.10 [[ 8.38173495e-01 3.97041040e-01 3.73929947e-01 3.19840064e+02] [-3.61830833e-01 9.17799248e-01 -1.63471675e-01 2.07519786e+02] [-4.08097588e-01 1.71824139e-03 9.12936693e-01 1.04095955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.87, Y:207.51, Z:104.08 [[ 8.38538455e-01 3.96189629e-01 3.74014755e-01 3.19866702e+02] [-3.60825224e-01 9.18165926e-01 -1.63635233e-01 2.07507526e+02] [-4.08238186e-01 2.26047770e-03 9.12872649e-01 1.04082414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:207.50, Z:104.07 [[ 8.39178463e-01 3.94013928e-01 3.74876688e-01 3.19893534e+02] [-3.58214517e-01 9.19097976e-01 -1.64137963e-01 2.07495532e+02] [-4.09221049e-01 3.45477197e-03 9.12428736e-01 1.04068363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:207.48, Z:104.05 [[ 8.39338604e-01 3.93578570e-01 3.74975490e-01 3.19920274e+02] [-3.57657969e-01 9.19283117e-01 -1.64314723e-01 2.07483706e+02] [-4.09379391e-01 3.80271746e-03 9.12356320e-01 1.04054914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:207.47, Z:104.04 [[ 8.39252601e-01 3.92549312e-01 3.76244746e-01 3.19946648e+02] [-3.56217795e-01 9.19720203e-01 -1.64995851e-01 2.07472419e+02] [-4.10808902e-01 4.44812336e-03 9.11710623e-01 1.04041561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.97, Y:207.46, Z:104.03 [[ 8.38893137e-01 3.92853682e-01 3.76728402e-01 3.19974428e+02] [-3.56397344e-01 9.19590318e-01 -1.65331726e-01 2.07459916e+02] [-4.11386969e-01 4.43064806e-03 9.11450016e-01 1.04028132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:207.45, Z:104.01 [[ 8.38565964e-01 3.93308516e-01 3.76982142e-01 3.20001872e+02] [-3.56785316e-01 9.19396297e-01 -1.65573815e-01 2.07447324e+02] [-4.11717577e-01 4.34287336e-03 9.11301145e-01 1.04014819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.03, Y:207.44, Z:104.00 [[ 8.38072216e-01 3.95008911e-01 3.76301637e-01 3.20028968e+02] [-3.58729192e-01 9.18670115e-01 -1.65404312e-01 2.07435453e+02] [-4.11033245e-01 3.63037638e-03 9.11613126e-01 1.04001436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.06, Y:207.43, Z:103.99 [[ 8.37072032e-01 3.97874713e-01 3.75507825e-01 3.20056904e+02] [-3.61969586e-01 9.17436740e-01 -1.65190335e-01 2.07425007e+02] [-4.10229732e-01 2.35379749e-03 9.11979181e-01 1.03987302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:207.41, Z:103.97 [[ 8.36267727e-01 3.99672264e-01 3.75390957e-01 3.20084254e+02] [-3.63930133e-01 9.16656802e-01 -1.65212488e-01 2.07414121e+02] [-4.10135523e-01 1.54579068e-03 9.12023280e-01 1.03973539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:207.40, Z:103.96 [[ 8.34864392e-01 4.02438588e-01 3.75559091e-01 3.20112739e+02] [-3.66867275e-01 9.15446927e-01 -1.65424685e-01 2.07403203e+02] [-4.10377692e-01 3.26838776e-04 9.11915590e-01 1.03959958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:207.40, Z:103.95 [[ 8.34676917e-01 4.05436473e-01 3.72740809e-01 3.20138732e+02] [-3.68017693e-01 9.14110193e-01 -1.70192632e-01 2.07395070e+02] [-4.09728473e-01 4.88064884e-03 9.12194474e-01 1.03945134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:207.38, Z:103.94 [[ 8.33938593e-01 4.01424785e-01 3.78687952e-01 3.20166158e+02] [-3.67900826e-01 9.15876544e-01 -1.60683348e-01 2.07377683e+02] [-4.11333691e-01 -5.31956456e-03 9.11469307e-01 1.03936216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:207.37, Z:103.92 [[ 8.33686411e-01 4.03953510e-01 3.76548178e-01 3.20194586e+02] [-3.68220808e-01 9.14779500e-01 -1.66108108e-01 2.07368586e+02] [-4.11558507e-01 -1.70802185e-04 9.11383326e-01 1.03920860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.22, Y:207.36, Z:103.91 [[ 8.33204810e-01 4.04470429e-01 3.77058903e-01 3.20222025e+02] [-3.68624835e-01 9.14551031e-01 -1.66469648e-01 2.07357384e+02] [-4.12171658e-01 -2.89964330e-04 9.11106163e-01 1.03906753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:207.35, Z:103.89 [[ 8.32828841e-01 4.04964788e-01 3.77358771e-01 3.20249212e+02] [-3.69045899e-01 9.14332195e-01 -1.66738605e-01 2.07346708e+02] [-4.12554537e-01 -3.97987544e-04 9.10932816e-01 1.03893193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.28, Y:207.34, Z:103.88 [[ 8.31752080e-01 4.06986168e-01 3.77558919e-01 3.20277160e+02] [-3.69546147e-01 9.13431403e-01 -1.70524830e-01 2.07337907e+02] [-4.14275420e-01 2.30893847e-03 9.10148639e-01 1.03876172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.30, Y:207.32, Z:103.86 [[ 8.31674068e-01 4.06275724e-01 3.78494755e-01 3.20303989e+02] [-3.69790057e-01 9.13750532e-01 -1.68271442e-01 2.07324671e+02] [-4.14214386e-01 -1.66023512e-05 9.10179346e-01 1.03863518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.33, Y:207.32, Z:103.85 [[ 8.31705772e-01 4.05757359e-01 3.78980837e-01 3.20329778e+02] [-3.69419145e-01 9.13980741e-01 -1.67835338e-01 2.07315049e+02] [-4.14481610e-01 -4.13157394e-04 9.10057594e-01 1.03851017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.36, Y:207.30, Z:103.84 [[ 8.31330158e-01 4.05631901e-01 3.79938060e-01 3.20356850e+02] [-3.71038393e-01 9.14024691e-01 -1.63979799e-01 2.07301598e+02] [-4.13788205e-01 -4.65025495e-03 9.10361300e-01 1.03840763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.38, Y:207.30, Z:103.82 [[ 8.31288177e-01 4.08060531e-01 3.77420945e-01 3.20383909e+02] [-3.70020051e-01 9.12948576e-01 -1.72075738e-01 2.07295343e+02] [-4.14783232e-01 3.39120924e-03 9.09913936e-01 1.03821848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.41, Y:207.28, Z:103.82 [[ 8.31565804e-01 4.05555298e-01 3.79503904e-01 3.20410643e+02] [-3.71327411e-01 9.14055443e-01 -1.63152078e-01 2.07278008e+02] [-4.13054799e-01 -5.24851365e-03 9.10691049e-01 1.03815030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.44, Y:207.27, Z:103.80 [[ 8.31788223e-01 4.08079218e-01 3.76297361e-01 3.20438691e+02] [-3.72353929e-01 9.12945703e-01 -1.66981122e-01 2.07268551e+02] [-4.11680585e-01 -1.22286970e-03 9.11327384e-01 1.03799255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.47, Y:207.26, Z:103.78 [[ 8.30841653e-01 4.11539347e-01 3.74616488e-01 3.20465757e+02] [-3.72490968e-01 9.11372795e-01 -1.75071721e-01 2.07261420e+02] [-4.13464178e-01 5.91561993e-03 9.10501169e-01 1.03778930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.49, Y:207.24, Z:103.77 [[ 8.31187059e-01 4.07093586e-01 3.78685734e-01 3.20493016e+02] [-3.74373817e-01 9.13345356e-01 -1.60139022e-01 2.07243570e+02] [-4.11062425e-01 -8.66454060e-03 9.11566020e-01 1.03774059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.52, Y:207.24, Z:103.76 [[ 8.30884442e-01 4.10552274e-01 3.75603347e-01 3.20520489e+02] [-3.75076524e-01 9.11834515e-01 -1.66959333e-01 2.07236371e+02] [-4.11033629e-01 -2.15608568e-03 9.11617632e-01 1.03757172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.55, Y:207.23, Z:103.74 [[ 8.30507024e-01 4.11461921e-01 3.75442634e-01 3.20547935e+02] [-3.76044238e-01 9.11423613e-01 -1.67026129e-01 2.07225269e+02] [-4.10912174e-01 -2.46666585e-03 9.11671597e-01 1.03744209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.58, Y:207.21, Z:103.73 [[ 8.30350732e-01 4.11613796e-01 3.75621812e-01 3.20575745e+02] [-3.76117506e-01 9.11355173e-01 -1.67234476e-01 2.07213348e+02] [-4.11160899e-01 -2.41466977e-03 9.11559589e-01 1.03730954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.60, Y:207.21, Z:103.71 [[ 8.29899543e-01 4.12364626e-01 3.75795376e-01 3.20601773e+02] [-3.74091193e-01 9.11012434e-01 -1.73528456e-01 2.07208089e+02] [-4.13911257e-01 3.42944580e-03 9.10310777e-01 1.03714162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.63, Y:207.19, Z:103.71 [[ 8.29877498e-01 4.08490987e-01 3.80050591e-01 3.20629930e+02] [-3.75590113e-01 9.12715654e-01 -1.60879465e-01 2.07188080e+02] [-4.12595935e-01 -9.23299670e-03 9.10867359e-01 1.03708060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.66, Y:207.18, Z:103.69 [[ 8.29807559e-01 4.11476131e-01 3.76970568e-01 3.20657935e+02] [-3.75529889e-01 9.11418378e-01 -1.68207740e-01 2.07181944e+02] [-4.12791374e-01 -1.98366159e-03 9.10823445e-01 1.03691988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.69, Y:207.17, Z:103.68 [[ 8.29870699e-01 4.11794520e-01 3.76483593e-01 3.20685747e+02] [-3.75939208e-01 9.11274408e-01 -1.68073391e-01 2.07170340e+02] [-4.12291565e-01 -2.05576155e-03 9.11049636e-01 1.03678440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:207.16, Z:103.66 [[ 8.29998974e-01 4.14840041e-01 3.72839701e-01 3.20713063e+02] [-3.75870257e-01 9.09876923e-01 -1.75628969e-01 2.07164175e+02] [-4.12096169e-01 5.63251003e-03 9.11122946e-01 1.03658383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.74, Y:207.15, Z:103.65 [[ 8.30295705e-01 4.09835356e-01 3.77682436e-01 3.20739715e+02] [-3.77137232e-01 9.12114756e-01 -1.60667922e-01 2.07145387e+02] [-4.10337118e-01 -9.03622266e-03 9.11889136e-01 1.03653721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:207.14, Z:103.63 [[ 8.29790523e-01 4.15479957e-01 3.72591055e-01 3.20767488e+02] [-3.76423636e-01 9.09584109e-01 -1.75960210e-01 2.07144701e+02] [-4.12010843e-01 5.75803488e-03 9.11160749e-01 1.03630989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.79, Y:207.12, Z:103.63 [[ 8.29926847e-01 4.10155982e-01 3.78144812e-01 3.20794113e+02] [-3.77574991e-01 9.11965037e-01 -1.60489557e-01 2.07124521e+02] [-4.10680599e-01 -9.58343245e-03 9.11728909e-01 1.03627024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.82, Y:207.12, Z:103.61 [[ 8.30196011e-01 4.12613426e-01 3.74866302e-01 3.20821888e+02] [-3.76915485e-01 9.10904231e-01 -1.67893414e-01 2.07116766e+02] [-4.10742377e-01 -1.90847117e-03 9.11749449e-01 1.03611572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.85, Y:207.10, Z:103.60 [[ 8.30488334e-01 4.12154973e-01 3.74723104e-01 3.20849849e+02] [-3.76402986e-01 9.11112358e-01 -1.67913854e-01 2.07104778e+02] [-4.10621382e-01 -1.59639868e-03 9.11804547e-01 1.03597799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.88, Y:207.09, Z:103.58 [[ 8.31326847e-01 4.10255529e-01 3.74948096e-01 3.20878224e+02] [-3.74212068e-01 9.11970466e-01 -1.68152305e-01 2.07094325e+02] [-4.10927002e-01 -5.20576892e-04 9.11668102e-01 1.03583810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.91, Y:207.09, Z:103.57 [[ 8.32627808e-01 4.11603269e-01 3.70558608e-01 3.20906943e+02] [-3.73117671e-01 9.11339684e-01 -1.73905674e-01 2.07085864e+02] [-4.09284909e-01 6.53673496e-03 9.12383217e-01 1.03567847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.93, Y:207.07, Z:103.56 [[ 8.33306964e-01 4.04317790e-01 3.76996854e-01 3.20932452e+02] [-3.70386761e-01 9.14607605e-01 -1.62193020e-01 2.07068157e+02] [-4.10381713e-01 -4.47807077e-03 9.11902844e-01 1.03559543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.260385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:320.96, Y:207.07, Z:103.54 [[ 8.33505654e-01 4.08917135e-01 3.71557669e-01 3.20959901e+02] [-3.67649003e-01 9.12478879e-01 -1.79489571e-01 2.07066668e+02] [-4.12434887e-01 1.30027657e-02 9.10894282e-01 1.03535265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.99, Y:207.05, Z:103.53 [[ 8.34619793e-01 3.99482301e-01 3.79240943e-01 3.20987029e+02] [-3.66819818e-01 9.16714611e-01 -1.58358907e-01 2.07045064e+02] [-4.10917294e-01 -6.94361570e-03 9.11646183e-01 1.03533834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.02, Y:207.04, Z:103.52 [[ 8.34594638e-01 4.03231578e-01 3.75307988e-01 3.21015350e+02] [-3.66210151e-01 9.15091472e-01 -1.68812687e-01 2.07039505e+02] [-4.11511745e-01 3.44856854e-03 9.11397932e-01 1.03516374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.04, Y:207.03, Z:103.50 [[ 8.34900585e-01 4.02217421e-01 3.75715531e-01 3.21043579e+02] [-3.64952151e-01 9.15535045e-01 -1.69131631e-01 2.07028854e+02] [-4.12008424e-01 4.08990597e-03 9.11170858e-01 1.03503193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:321.07, Y:207.02, Z:103.48 [[ 8.34447947e-01 4.05220059e-01 3.73488056e-01 3.21070834e+02] [-3.63613106e-01 9.14113675e-01 -1.79392584e-01 2.07023455e+02] [-4.14104013e-01 1.38886209e-02 9.10123603e-01 1.03481499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.10, Y:207.00, Z:103.48 [[ 8.35784472e-01 3.97338561e-01 3.78927940e-01 3.21097962e+02] [-3.63557184e-01 9.17664517e-01 -1.60368352e-01 2.07003547e+02] [-4.11449255e-01 -3.72859657e-03 9.11425042e-01 1.03479345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.440385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:321.13, Y:207.01, Z:103.45 [[ 8.35102895e-01 4.06273446e-01 3.70870653e-01 3.21125693e+02] [-3.62433292e-01 9.13537515e-01 -1.84638344e-01 2.07005150e+02] [-4.13817911e-01 1.97761437e-02 9.10144846e-01 1.03451498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.15, Y:206.98, Z:103.45 [[ 8.36641834e-01 3.94419235e-01 3.80084081e-01 3.21151408e+02] [-3.62233809e-01 9.18904053e-01 -1.56211426e-01 2.06980331e+02] [-4.10873594e-01 -6.98629093e-03 9.11665554e-01 1.03454662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.18, Y:206.98, Z:103.44 [[ 8.36952736e-01 3.99647933e-01 3.73887212e-01 3.21179312e+02] [-3.62253085e-01 9.16649616e-01 -1.68896961e-01 2.06978153e+02] [-4.10222891e-01 5.91697814e-03 9.11966101e-01 1.03436654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:206.97, Z:103.42 [[ 8.36913775e-01 3.99900190e-01 3.73704658e-01 3.21206660e+02] [-3.62512071e-01 9.16539611e-01 -1.68938271e-01 2.06967109e+02] [-4.10073569e-01 5.91431611e-03 9.12033272e-01 1.03422996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.23, Y:206.96, Z:103.41 [[ 8.36689865e-01 4.00347935e-01 3.73726639e-01 3.21234094e+02] [-3.62940486e-01 9.16344705e-01 -1.69075678e-01 2.06956996e+02] [-4.10151526e-01 5.82337817e-03 9.11998802e-01 1.03410001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.26, Y:206.95, Z:103.39 [[ 8.36767274e-01 4.03899153e-01 3.69710703e-01 3.21261171e+02] [-3.64567027e-01 9.14737603e-01 -1.74201033e-01 2.06949007e+02] [-4.08547932e-01 1.09813919e-02 9.12670804e-01 1.03394668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.620385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:321.29, Y:206.93, Z:103.39 [[ 8.35637816e-01 3.99275243e-01 3.77211772e-01 3.21287860e+02] [-3.64621966e-01 9.16829756e-01 -1.62708390e-01 2.06932377e+02] [-4.10804409e-01 -1.57441449e-03 9.11722139e-01 1.03386248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.31, Y:206.93, Z:103.36 [[ 8.34328901e-01 4.06410659e-01 3.72458938e-01 3.21314989e+02] [-3.63846972e-01 9.13547774e-01 -1.81785164e-01 2.06932244e+02] [-4.14138462e-01 1.61505591e-02 9.10070598e-01 1.03361111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:321.34, Y:206.91, Z:103.36 [[ 8.34843693e-01 3.99542906e-01 3.78683871e-01 3.21341302e+02] [-3.66781245e-01 9.16691432e-01 -1.58582273e-01 2.06908092e+02] [-4.10496682e-01 -6.50273091e-03 9.11838905e-01 1.03361561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:321.37, Y:206.90, Z:103.34 [[ 8.33894776e-01 4.06174544e-01 3.73686691e-01 3.21369198e+02] [-3.69116317e-01 9.13789031e-01 -1.69536875e-01 2.06903301e+02] [-4.10332362e-01 3.44205913e-03 9.11929551e-01 1.03344467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.40, Y:206.89, Z:103.33 [[ 8.33031609e-01 4.08036713e-01 3.73583163e-01 3.21397854e+02] [-3.71121138e-01 9.12961668e-01 -1.69617493e-01 2.06893206e+02] [-4.10277272e-01 2.65212448e-03 9.11956976e-01 1.03330918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:206.88, Z:103.32 [[ 8.32402619e-01 4.09154559e-01 3.73762526e-01 3.21425488e+02] [-3.72248480e-01 9.12462350e-01 -1.69833827e-01 2.06882159e+02] [-4.10532518e-01 2.23758994e-03 9.11843213e-01 1.03316816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.45, Y:206.87, Z:103.30 [[ 8.31226414e-01 4.11172413e-01 3.74165598e-01 3.21453699e+02] [-3.74316300e-01 9.11556551e-01 -1.70152764e-01 2.06870898e+02] [-4.11035225e-01 1.37918947e-03 9.11618419e-01 1.03303092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.48, Y:206.86, Z:103.29 [[ 8.30623699e-01 4.12427077e-01 3.74123210e-01 3.21480859e+02] [-3.75639520e-01 9.10990179e-01 -1.70269921e-01 2.06859104e+02] [-4.11046495e-01 8.94769191e-04 9.11613941e-01 1.03289742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.51, Y:206.86, Z:103.27 [[ 8.28842611e-01 4.18801903e-01 3.70978290e-01 3.21508303e+02] [-3.76530668e-01 9.07989500e-01 -1.83792610e-01 2.06856663e+02] [-4.13817087e-01 1.26504434e-02 9.10272149e-01 1.03265965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:321.53, Y:206.83, Z:103.27 [[ 8.29253371e-01 4.10374740e-01 3.79382945e-01 3.21533616e+02] [-3.78912369e-01 9.11829166e-01 -1.58091709e-01 2.06831413e+02] [-4.10809279e-01 -1.26548082e-02 9.11633475e-01 1.03266067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.56, Y:206.83, Z:103.25 [[ 8.28720935e-01 4.17282724e-01 3.72956755e-01 3.21561971e+02] [-3.81014325e-01 9.08776070e-01 -1.70159155e-01 2.06825917e+02] [-4.09938650e-01 -1.08741235e-03 9.12112450e-01 1.03247548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.950385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:321.59, Y:206.82, Z:103.22 [[ 8.27272366e-01 4.22771090e-01 3.69979781e-01 3.21588327e+02] [-3.81022384e-01 9.06171676e-01 -1.83507050e-01 2.06820462e+02] [-4.12846674e-01 1.08397332e-02 9.10736034e-01 1.03224925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:321.61, Y:206.80, Z:103.22 [[ 8.26855300e-01 4.18951819e-01 3.75219518e-01 3.21613962e+02] [-3.82808100e-01 9.08003959e-01 -1.70255012e-01 2.06800377e+02] [-4.12029454e-01 -2.86081146e-03 9.11166036e-01 1.03217532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.64, Y:206.78, Z:103.21 [[ 8.27065544e-01 4.16962082e-01 3.76968445e-01 3.21639276e+02] [-3.84543829e-01 9.08853449e-01 -1.61590384e-01 2.06784562e+02] [-4.09986135e-01 -1.13150502e-02 9.12021567e-01 1.03211563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.67, Y:206.78, Z:103.19 [[ 8.26263910e-01 4.22627601e-01 3.72389397e-01 3.21666784e+02] [-3.86756008e-01 9.06297751e-01 -1.70423523e-01 2.06777856e+02] [-4.09521357e-01 -3.20903031e-03 9.12294887e-01 1.03194668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.69, Y:206.77, Z:103.18 [[ 8.25735443e-01 4.23852645e-01 3.72169200e-01 3.21694148e+02] [-3.88086831e-01 9.05723655e-01 -1.70450204e-01 2.06765190e+02] [-4.09328218e-01 -3.68719038e-03 9.12379754e-01 1.03180925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.100385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:321.72, Y:206.75, Z:103.17 [[ 8.25083121e-01 4.25554639e-01 3.71673368e-01 3.21720662e+02] [-3.89992230e-01 9.04922085e-01 -1.70358682e-01 2.06751432e+02] [-4.08832366e-01 -4.38965202e-03 9.12598941e-01 1.03168194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:206.74, Z:103.15 [[ 8.24827423e-01 4.26342928e-01 3.71337354e-01 3.21747564e+02] [-3.90867615e-01 9.04549656e-01 -1.70330349e-01 2.06737679e+02] [-4.08512215e-01 -4.65060327e-03 9.12741005e-01 1.03154669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.77, Y:206.72, Z:103.14 [[ 8.25364055e-01 4.26402561e-01 3.70074361e-01 3.21773143e+02] [-3.91123043e-01 9.04522188e-01 -1.69889306e-01 2.06723977e+02] [-4.07181706e-01 -4.52408325e-03 9.13335968e-01 1.03140668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.190385723 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:321.80, Y:206.71, Z:103.12 [[ 8.25327012e-01 4.30301579e-01 3.65617115e-01 3.21801305e+02] [-3.90803843e-01 9.02666396e-01 -1.80182503e-01 2.06714887e+02] [-4.07563099e-01 5.82491287e-03 9.13158470e-01 1.03120310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:321.82, Y:206.69, Z:103.12 [[ 8.26572612e-01 4.21797055e-01 3.72645894e-01 3.21823816e+02] [-3.89141941e-01 9.06632472e-01 -1.63052477e-01 2.06691846e+02] [-4.06627923e-01 -1.02374344e-02 9.13536495e-01 1.03116995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:321.85, Y:206.68, Z:103.10 [[ 8.26591449e-01 4.23199890e-01 3.71010013e-01 3.21849944e+02] [-3.87269055e-01 9.06032589e-01 -1.70668178e-01 2.06677783e+02] [-4.08373917e-01 -2.60784045e-03 9.12811012e-01 1.03102452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.88, Y:206.66, Z:103.09 [[ 8.26667373e-01 4.22473517e-01 3.71668106e-01 3.21876332e+02] [-3.86276983e-01 9.06372798e-01 -1.71109450e-01 2.06663866e+02] [-4.09159072e-01 -2.11623522e-03 9.12460616e-01 1.03089648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.90, Y:206.66, Z:103.06 [[ 8.26077569e-01 4.27094039e-01 3.67677211e-01 3.21901623e+02] [-3.83119611e-01 9.04072741e-01 -1.89398633e-01 2.06662010e+02] [-4.13297971e-01 1.55936124e-02 9.10462315e-01 1.03063656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.93, Y:206.63, Z:103.06 [[ 8.27726533e-01 4.17161804e-01 3.75292974e-01 3.21926339e+02] [-3.82076293e-01 9.08819940e-01 -1.67523203e-01 2.06633563e+02] [-4.10958020e-01 -4.72714854e-03 9.11642013e-01 1.03059123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.95, Y:206.63, Z:103.04 [[ 8.27693472e-01 4.21017609e-01 3.71035968e-01 3.21952316e+02] [-3.80335448e-01 9.07012704e-01 -1.80756470e-01 2.06628259e+02] [-4.12635993e-01 8.49281934e-03 9.10856415e-01 1.03038425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.98, Y:206.61, Z:103.03 [[ 8.28665549e-01 4.16871897e-01 3.73538793e-01 3.21976285e+02] [-3.79948677e-01 9.08965223e-01 -1.71526168e-01 2.06608387e+02] [-4.11038211e-01 2.12255799e-04 9.11618091e-01 1.03029724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.00, Y:206.59, Z:103.02 [[ 8.28758478e-01 4.14251927e-01 3.76237593e-01 3.22003241e+02] [-3.79663712e-01 9.10146030e-01 -1.65800090e-01 2.06590365e+02] [-4.11114159e-01 -5.43553076e-03 9.11567663e-01 1.03018650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:206.58, Z:103.00 [[ 8.28774943e-01 4.16972953e-01 3.73183132e-01 3.22031377e+02] [-3.79953995e-01 9.08918723e-01 -1.71760638e-01 2.06580787e+02] [-4.10812676e-01 5.58490891e-04 9.11719602e-01 1.03002562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:322.06, Y:206.57, Z:102.99 [[ 8.30638933e-01 4.18325382e-01 3.67481753e-01 3.22057855e+02] [-3.78637481e-01 9.08254956e-01 -1.78063449e-01 2.06570546e+02] [-4.08255584e-01 8.76406804e-03 9.12825596e-01 1.02986697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:322.08, Y:206.55, Z:102.98 [[ 8.30608533e-01 4.12042023e-01 3.74580882e-01 3.22082295e+02] [-3.76611024e-01 9.11162153e-01 -1.67175556e-01 2.06551570e+02] [-4.10187277e-01 -2.21384640e-03 9.11998628e-01 1.02976635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:322.11, Y:206.53, Z:102.98 [[ 8.31964146e-01 4.08053171e-01 3.75936523e-01 3.22109890e+02] [-3.78863164e-01 9.12823757e-01 -1.52366307e-01 2.06527838e+02] [-4.05337344e-01 -1.56651957e-02 9.14032953e-01 1.02976349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.580385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:322.14, Y:206.52, Z:102.96 [[ 8.32959287e-01 4.14076650e-01 3.67041351e-01 3.22135332e+02] [-3.77605648e-01 9.10237195e-01 -1.69947710e-01 2.06520980e+02] [-4.04466068e-01 2.96263616e-03 9.14548207e-01 1.02956997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.610385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:322.16, Y:206.51, Z:102.94 [[ 8.33401681e-01 4.13287807e-01 3.66926189e-01 3.22162085e+02] [-3.76711499e-01 9.10593840e-01 -1.70021482e-01 2.06507167e+02] [-4.04388533e-01 3.47087395e-03 9.14580706e-01 1.02943537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.640385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:322.19, Y:206.49, Z:102.93 [[ 8.33485309e-01 4.12643775e-01 3.67460685e-01 3.22188952e+02] [-3.75835210e-01 9.10884021e-01 -1.70405972e-01 2.06493994e+02] [-4.05031030e-01 3.92621069e-03 9.14294509e-01 1.02929778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.670385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:322.21, Y:206.48, Z:102.92 [[ 8.33669249e-01 4.11853815e-01 3.67929366e-01 3.22214460e+02] [-3.74812267e-01 9.11239048e-01 -1.70760540e-01 2.06480278e+02] [-4.05599985e-01 4.45337164e-03 9.14039835e-01 1.02916767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.24, Y:206.48, Z:102.89 [[ 8.31775440e-01 4.20034164e-01 3.62933767e-01 3.22238661e+02] [-3.72996149e-01 9.07112006e-01 -1.94991494e-01 2.06479833e+02] [-4.11124666e-01 2.68162380e-02 9.11184613e-01 1.02886370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:206.45, Z:102.88 [[ 8.31627706e-01 4.11082757e-01 3.73371566e-01 3.22262856e+02] [-3.73837550e-01 9.11594238e-01 -1.71001259e-01 2.06452484e+02] [-4.10659037e-01 2.62907333e-03 9.11785196e-01 1.02883424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:206.43, Z:102.89 [[ 8.32763180e-01 4.05279977e-01 3.77165251e-01 3.22289877e+02] [-3.76678345e-01 9.14039133e-01 -1.50485505e-01 2.06427039e+02] [-4.05732562e-01 -1.67511948e-02 9.13838326e-01 1.02887222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.32, Y:206.44, Z:102.84 [[ 8.29778363e-01 4.25155473e-01 3.61539338e-01 3.22315840e+02] [-3.75545940e-01 9.04565737e-01 -2.01807026e-01 2.06443295e+02] [-4.12835459e-01 3.16804728e-02 9.10254487e-01 1.02844391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.34, Y:206.41, Z:102.84 [[ 8.29138792e-01 4.14542741e-01 3.75077566e-01 3.22341337e+02] [-3.77356653e-01 9.10029538e-01 -1.71604770e-01 2.06412202e+02] [-4.12469175e-01 7.46156684e-04 9.10971253e-01 1.02842540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:206.39, Z:102.83 [[ 8.28425945e-01 4.15938570e-01 3.75107398e-01 3.22367192e+02] [-3.80136345e-01 9.09388656e-01 -1.68844993e-01 2.06394934e+02] [-4.11347558e-01 -2.71638233e-03 9.11474524e-01 1.02832196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.39, Y:206.37, Z:102.83 [[ 8.29471844e-01 4.11661556e-01 3.77506586e-01 3.22393558e+02] [-3.82456373e-01 9.11173504e-01 -1.53264372e-01 2.06373080e+02] [-4.07067049e-01 -1.72513186e-02 9.13235353e-01 1.02833145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.910385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:322.42, Y:206.37, Z:102.81 [[ 8.28584713e-01 4.20979054e-01 3.69085369e-01 3.22420528e+02] [-3.84170669e-01 9.07069959e-01 -1.72153963e-01 2.06369410e+02] [-4.07259463e-01 8.52369042e-04 9.13312106e-01 1.02811723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.45, Y:206.36, Z:102.80 [[ 8.27589361e-01 4.22954210e-01 3.69060409e-01 3.22446352e+02] [-3.86277026e-01 9.06151056e-01 -1.72279782e-01 2.06355614e+02] [-4.07290938e-01 1.73575693e-05 9.13298468e-01 1.02797844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.47, Y:206.34, Z:102.78 [[ 8.27199203e-01 4.23940546e-01 3.68803324e-01 3.22473022e+02] [-3.87373188e-01 9.05689939e-01 -1.72243281e-01 2.06341775e+02] [-4.07042370e-01 -3.85014855e-04 9.13409197e-01 1.02784419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.50, Y:206.33, Z:102.77 [[ 8.26703516e-01 4.25018058e-01 3.68674583e-01 3.22499397e+02] [-3.88520146e-01 9.05184533e-01 -1.72316738e-01 2.06328083e+02] [-4.06956255e-01 -7.82649781e-04 9.13447313e-01 1.02770556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.53, Y:206.32, Z:102.75 [[ 8.26615936e-01 4.28727461e-01 3.64552958e-01 3.22525414e+02] [-3.90435588e-01 9.03424546e-01 -1.77155695e-01 2.06317440e+02] [-4.05297602e-01 4.10527210e-03 9.14175585e-01 1.02753810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:206.30, Z:102.74 [[ 8.25217327e-01 4.26283867e-01 3.70538026e-01 3.22549779e+02] [-3.91896116e-01 9.04564752e-01 -1.67869127e-01 2.06298245e+02] [-4.06735538e-01 -6.68390055e-03 9.13521498e-01 1.02743768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:206.29, Z:102.73 [[ 8.24959611e-01 4.28674568e-01 3.68347331e-01 3.22576185e+02] [-3.92449302e-01 9.03456132e-01 -1.72483518e-01 2.06286315e+02] [-4.06724952e-01 -2.26571660e-03 9.13547853e-01 1.02728100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:206.27, Z:102.72 [[ 8.24895242e-01 4.28664089e-01 3.68503648e-01 3.22600766e+02] [-3.92345973e-01 9.03461436e-01 -1.72690682e-01 2.06269503e+02] [-4.06955128e-01 -2.12920049e-03 9.13445669e-01 1.02715561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:206.25, Z:102.70 [[ 8.24856455e-01 4.28658602e-01 3.68596842e-01 3.22626798e+02] [-3.92265198e-01 9.03464326e-01 -1.72858980e-01 2.06254973e+02] [-4.07111585e-01 -2.00386804e-03 9.13376232e-01 1.02702376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.180385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:322.65, Y:206.24, Z:102.69 [[ 8.25122914e-01 4.30366928e-01 3.66000661e-01 3.22652329e+02] [-3.92487642e-01 9.02651747e-01 -1.76559550e-01 2.06242162e+02] [-4.06356528e-01 2.03259407e-03 9.13712341e-01 1.02686874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.68, Y:206.23, Z:102.68 [[ 8.24279076e-01 4.28016130e-01 3.70629460e-01 3.22677037e+02] [-3.92942887e-01 9.03753195e-01 -1.69782361e-01 2.06225434e+02] [-4.07627148e-01 -5.68816252e-03 9.13130743e-01 1.02676478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.70, Y:206.21, Z:102.66 [[ 8.23719459e-01 4.30960500e-01 3.68455289e-01 3.22703262e+02] [-3.94675429e-01 9.02366361e-01 -1.73107645e-01 2.06213012e+02] [-4.07084216e-01 -2.82811385e-03 9.13386251e-01 1.02660717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.270385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:322.73, Y:206.20, Z:102.65 [[ 8.23428146e-01 4.31755495e-01 3.68175612e-01 3.22730039e+02] [-3.95544781e-01 9.01985400e-01 -1.73108825e-01 2.06198947e+02] [-4.06829713e-01 -3.08726307e-03 9.13498798e-01 1.02646648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.76, Y:206.18, Z:102.63 [[ 8.23309221e-01 4.32500668e-01 3.67566456e-01 3.22755326e+02] [-3.96427634e-01 9.01627504e-01 -1.72953680e-01 2.06183769e+02] [-4.06210608e-01 -3.31914052e-03 9.13773454e-01 1.02633867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.330385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:322.78, Y:206.17, Z:102.62 [[ 8.23385377e-01 4.32725623e-01 3.67130844e-01 3.22782334e+02] [-3.96709364e-01 9.01519611e-01 -1.72870099e-01 2.06170508e+02] [-4.05780977e-01 -3.30553252e-03 9.13964371e-01 1.02620018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:322.81, Y:206.16, Z:102.61 [[ 8.23329786e-01 4.33075213e-01 3.66843186e-01 3.22808849e+02] [-3.97089762e-01 9.01351605e-01 -1.72872803e-01 2.06158092e+02] [-4.05521620e-01 -3.33834541e-03 9.14079357e-01 1.02605940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.390385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:322.84, Y:206.15, Z:102.59 [[ 8.23739000e-01 4.35189480e-01 3.63406352e-01 3.22836413e+02] [-3.97545234e-01 9.00337834e-01 -1.77058104e-01 2.06148931e+02] [-4.04242311e-01 1.37920211e-03 9.14650891e-01 1.02589385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:322.86, Y:206.13, Z:102.58 [[ 8.23039072e-01 4.32113544e-01 3.68625246e-01 3.22861453e+02] [-3.97875909e-01 9.01785672e-01 -1.68752370e-01 2.06132710e+02] [-4.05341149e-01 -7.77731092e-03 9.14132412e-01 1.02580353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:322.89, Y:206.13, Z:102.56 [[ 8.23982639e-01 4.35657177e-01 3.62291920e-01 3.22890448e+02] [-3.97656910e-01 9.00108990e-01 -1.77968506e-01 2.06125968e+02] [-4.03635471e-01 2.57507365e-03 9.14916267e-01 1.02562454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:206.11, Z:102.55 [[ 8.23356610e-01 4.31719182e-01 3.68378122e-01 3.22915269e+02] [-3.97575528e-01 9.01974652e-01 -1.68450071e-01 2.06108672e+02] [-4.04990856e-01 -7.76364742e-03 9.14287773e-01 1.02554048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:206.10, Z:102.54 [[ 8.23535780e-01 4.33371129e-01 3.66030440e-01 3.22942983e+02] [-3.97341588e-01 9.01210740e-01 -1.73028510e-01 2.06098558e+02] [-4.04856125e-01 -2.94394773e-03 9.14375662e-01 1.02538301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:206.09, Z:102.52 [[ 8.24024991e-01 4.32229234e-01 3.66279544e-01 3.22970675e+02] [-3.95979732e-01 9.01760961e-01 -1.73283645e-01 2.06086250e+02] [-4.05194850e-01 -2.24922190e-03 9.14227583e-01 1.02524299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:206.07, Z:102.51 [[ 8.24306769e-01 4.31594587e-01 3.66393863e-01 3.22997549e+02] [-3.95201121e-01 9.02065884e-01 -1.73473959e-01 2.06074034e+02] [-4.05381826e-01 -1.80350678e-03 9.14145679e-01 1.02510450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.02, Y:206.06, Z:102.50 [[ 8.25129364e-01 4.29709023e-01 3.66758350e-01 3.23023962e+02] [-3.93001061e-01 9.02967111e-01 -1.73783090e-01 2.06062308e+02] [-4.05846890e-01 -7.42890090e-04 9.13940780e-01 1.02497220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.05, Y:206.05, Z:102.48 [[ 8.25901977e-01 4.28012669e-01 3.67002833e-01 3.23051121e+02] [-3.91037025e-01 9.03772708e-01 -1.74025681e-01 2.06049398e+02] [-4.06172341e-01 2.16457645e-04 9.13796467e-01 1.02483709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.660385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:323.08, Y:206.04, Z:102.47 [[ 8.26554592e-01 4.26614121e-01 3.67161951e-01 3.23077988e+02] [-3.89413405e-01 9.04433147e-01 -1.74235138e-01 2.06037020e+02] [-4.06404609e-01 1.03706733e-03 9.13692628e-01 1.02468756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.10, Y:206.03, Z:102.46 [[ 8.27094074e-01 4.26542119e-01 3.66028979e-01 3.23104493e+02] [-3.88753642e-01 9.04463052e-01 -1.75548266e-01 2.06025689e+02] [-4.05938417e-01 2.89983179e-03 9.13895833e-01 1.02455985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7203857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:323.13, Y:206.01, Z:102.44 [[ 8.27096137e-01 4.23896004e-01 3.69085570e-01 3.23131608e+02] [-3.86676026e-01 9.05710374e-01 -1.73696201e-01 2.06011600e+02] [-4.07913755e-01 9.46915596e-04 9.13019974e-01 1.02443237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.16, Y:206.00, Z:102.43 [[ 8.27032109e-01 4.24241614e-01 3.68831865e-01 3.23158694e+02] [-3.86278665e-01 9.05545254e-01 -1.75432568e-01 2.05997616e+02] [-4.08419741e-01 2.61648600e-03 9.12790485e-01 1.02429564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.18, Y:205.98, Z:102.42 [[ 8.27129934e-01 4.24020202e-01 3.68867104e-01 3.23184997e+02] [-3.85966891e-01 9.05648205e-01 -1.75587266e-01 2.05984398e+02] [-4.08516379e-01 2.86299405e-03 9.12746499e-01 1.02415986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.21, Y:205.98, Z:102.40 [[ 8.27344004e-01 4.26411531e-01 3.65616064e-01 3.23211893e+02] [-3.85808664e-01 9.04480551e-01 -1.81842261e-01 2.05977477e+02] [-4.08232256e-01 9.38825866e-03 9.12829823e-01 1.02397951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.24, Y:205.96, Z:102.39 [[ 8.25370978e-01 4.23159180e-01 3.73763370e-01 3.23237112e+02] [-3.87502118e-01 9.06044385e-01 -1.70075513e-01 2.05958021e+02] [-4.10615217e-01 -4.45870474e-03 9.11797819e-01 1.02390594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:323.26, Y:205.95, Z:102.37 [[ 8.25123546e-01 4.26356166e-01 3.70663665e-01 3.23264144e+02] [-3.87965035e-01 9.04552938e-01 -1.76825094e-01 2.05949099e+02] [-4.10675377e-01 2.09800699e-03 9.11779213e-01 1.02374023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.29, Y:205.94, Z:102.36 [[ 8.26145828e-01 4.25144409e-01 3.69777369e-01 3.23291640e+02] [-3.86770817e-01 9.05121130e-01 -1.76533495e-01 2.05936828e+02] [-4.09745539e-01 2.82331526e-03 9.12195496e-01 1.02360624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.930385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:323.32, Y:205.92, Z:102.35 [[ 8.24568951e-01 4.27558816e-01 3.70512488e-01 3.23316897e+02] [-3.89191709e-01 9.03985794e-01 -1.77029651e-01 2.05922055e+02] [-4.10628614e-01 1.77276505e-03 9.11800964e-01 1.02346991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:323.34, Y:205.91, Z:102.33 [[ 8.24471219e-01 4.27553201e-01 3.70736389e-01 3.23342441e+02] [-3.89076499e-01 9.03988171e-01 -1.77270596e-01 2.05908413e+02] [-4.10933922e-01 1.90968828e-03 9.11663131e-01 1.02334109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.37, Y:205.90, Z:102.32 [[ 8.25149712e-01 4.26645876e-01 3.70271859e-01 3.23369497e+02] [-3.88121281e-01 9.04415322e-01 -1.77185770e-01 2.05895997e+02] [-4.10475121e-01 2.49439905e-03 9.11868386e-01 1.02320252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.40, Y:205.88, Z:102.31 [[ 8.25639339e-01 4.26019404e-01 3.69901541e-01 3.23395847e+02] [-3.87452662e-01 9.04709244e-01 -1.77148581e-01 2.05883966e+02] [-4.10122076e-01 2.94150068e-03 9.12025893e-01 1.02306195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.050385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:323.42, Y:205.87, Z:102.29 [[ 8.25867731e-01 4.25830678e-01 3.69608880e-01 3.23422247e+02] [-3.87271920e-01 9.04797504e-01 -1.77093020e-01 2.05871349e+02] [-4.09832833e-01 3.11627033e-03 9.12155326e-01 1.02292207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.45, Y:205.86, Z:102.28 [[ 8.26631357e-01 4.24929249e-01 3.68938657e-01 3.23448819e+02] [-3.86371833e-01 9.05219054e-01 -1.76904694e-01 2.05858136e+02] [-4.09142281e-01 3.68746202e-03 9.12463148e-01 1.02279081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.110385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:323.47, Y:205.85, Z:102.27 [[ 8.27953085e-01 4.21103274e-01 3.70358909e-01 3.23473737e+02] [-3.82532908e-01 9.07003277e-01 -1.76106870e-01 2.05849533e+02] [-4.10075924e-01 4.13375576e-03 9.12042022e-01 1.02266356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.140385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:323.50, Y:205.83, Z:102.25 [[ 8.27038699e-01 4.22720640e-01 3.70559375e-01 3.23501405e+02] [-3.85057331e-01 9.06258673e-01 -1.74430703e-01 2.05831916e+02] [-4.09558106e-01 1.57433800e-03 9.12282675e-01 1.02253804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.53, Y:205.82, Z:102.24 [[ 8.27352707e-01 4.23383430e-01 3.69098862e-01 3.23528732e+02] [-3.84485776e-01 9.05937850e-01 -1.77333864e-01 2.05822049e+02] [-4.09460849e-01 4.80439012e-03 9.12315039e-01 1.02238024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:323.56, Y:205.81, Z:102.22 [[ 8.27356475e-01 4.23451567e-01 3.69012240e-01 3.23555078e+02] [-3.84517952e-01 9.05905462e-01 -1.77429533e-01 2.05809687e+02] [-4.09423018e-01 4.90564245e-03 9.12331479e-01 1.02224632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:323.58, Y:205.81, Z:102.21 [[ 8.28188025e-01 4.21369226e-01 3.69530204e-01 3.23578275e+02] [-3.80212110e-01 9.06832237e-01 -1.81917690e-01 2.05806164e+02] [-4.11756417e-01 1.01621935e-02 9.11237281e-01 1.02208694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.61, Y:205.78, Z:102.20 [[ 8.27295642e-01 4.20140961e-01 3.72912180e-01 3.23607043e+02] [-3.85141804e-01 9.07446775e-01 -1.67946844e-01 2.05778936e+02] [-4.08959303e-01 -4.68237781e-03 9.12540610e-01 1.02202753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:205.77, Z:102.18 [[ 8.26909609e-01 4.24561899e-01 3.68737973e-01 3.23635239e+02] [-3.85595757e-01 9.05386235e-01 -1.77740476e-01 2.05773097e+02] [-4.09312119e-01 4.79150939e-03 9.12381845e-01 1.02184296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.320385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.66, Y:205.76, Z:102.17 [[ 8.26676995e-01 4.25240232e-01 3.68477804e-01 3.23662619e+02] [-3.86334115e-01 9.05068885e-01 -1.77753386e-01 2.05760895e+02] [-4.09085686e-01 4.58908854e-03 9.12484434e-01 1.02170471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.69, Y:205.75, Z:102.15 [[ 8.27693090e-01 4.28560208e-01 3.62298630e-01 3.23690507e+02] [-3.87141975e-01 9.03430720e-01 -1.84211903e-01 2.05752250e+02] [-4.06257604e-01 1.22099122e-02 9.13677009e-01 1.02152970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.72, Y:205.74, Z:102.14 [[ 8.27685220e-01 4.26055644e-01 3.65258489e-01 3.23717593e+02] [-3.87218440e-01 9.04678749e-01 -1.77815189e-01 2.05735420e+02] [-4.06200758e-01 5.74018160e-03 9.13765831e-01 1.02141701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.74, Y:205.72, Z:102.13 [[ 8.27840599e-01 4.19735335e-01 3.72158824e-01 3.23741207e+02] [-3.84078382e-01 9.07642322e-01 -1.69319850e-01 2.05724265e+02] [-4.08856623e-01 -2.76831311e-03 9.12594433e-01 1.02133283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.77, Y:205.71, Z:102.12 [[ 8.26501052e-01 4.26717314e-01 3.67162559e-01 3.23770620e+02] [-3.88093801e-01 9.04375452e-01 -1.77449272e-01 2.05710658e+02] [-4.07773482e-01 4.16849649e-03 9.13073607e-01 1.02116752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.80, Y:205.70, Z:102.11 [[ 8.27553328e-01 4.19002521e-01 3.73620633e-01 3.23795001e+02] [-3.84808585e-01 9.07962018e-01 -1.65913614e-01 2.05697264e+02] [-4.08751566e-01 -6.47006393e-03 9.12622757e-01 1.02110583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.82, Y:205.69, Z:102.09 [[ 8.25855398e-01 4.28460814e-01 3.66584495e-01 3.23824082e+02] [-3.87855446e-01 9.03521937e-01 -1.82253290e-01 2.05688594e+02] [-4.09305526e-01 8.33307075e-03 9.12359330e-01 1.02088136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.85, Y:205.67, Z:102.08 [[ 8.25508986e-01 4.27444179e-01 3.68546318e-01 3.23851801e+02] [-3.88375426e-01 9.04031581e-01 -1.78581715e-01 2.05673857e+02] [-4.09511225e-01 4.28647737e-03 9.12295008e-01 1.02076751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.88, Y:205.67, Z:102.07 [[ 8.26695396e-01 4.23103755e-01 3.70888035e-01 3.23876372e+02] [-3.85262722e-01 9.06079635e-01 -1.74906634e-01 2.05666103e+02] [-4.10057749e-01 1.70517494e-03 9.12057967e-01 1.02066235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.91, Y:205.65, Z:102.05 [[ 8.25385978e-01 4.27171917e-01 3.69137022e-01 3.23905399e+02] [-3.88475353e-01 9.04164541e-01 -1.77689008e-01 2.05649560e+02] [-4.09664360e-01 3.26138024e-03 9.12230495e-01 1.02050486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.93, Y:205.65, Z:102.03 [[ 8.26720422e-01 4.24654583e-01 3.69055319e-01 3.23929611e+02] [-3.83626641e-01 9.05309101e-01 -1.82334944e-01 2.05646903e+02] [-4.11538509e-01 9.16056946e-03 9.11346334e-01 1.02033943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.96, Y:205.62, Z:102.03 [[ 8.27725030e-01 4.18463234e-01 3.73844616e-01 3.23957053e+02] [-3.84328675e-01 9.08210106e-01 -1.65667959e-01 2.05624083e+02] [-4.08855408e-01 -6.55168904e-03 9.12575658e-01 1.02029367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.98, Y:205.61, Z:102.01 [[ 8.28155583e-01 4.21895359e-01 3.69002217e-01 3.23984564e+02] [-3.84899334e-01 9.06643922e-01 -1.72769506e-01 2.05614708e+02] [-4.07444270e-01 1.05132286e-03 9.13229468e-01 1.02013979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:205.61, Z:101.99 [[ 8.27144441e-01 4.27608640e-01 3.64668240e-01 3.24012206e+02] [-3.86475712e-01 9.03900848e-01 -1.83302432e-01 2.05605314e+02] [-4.08005634e-01 1.06821695e-02 9.12916915e-01 1.01994909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.04, Y:205.59, Z:101.98 [[ 8.26519133e-01 4.26748038e-01 3.67086142e-01 3.24040450e+02] [-3.87559892e-01 9.04354153e-01 -1.78720161e-01 2.05591811e+02] [-4.08244355e-01 5.44776652e-03 9.12856434e-01 1.01983750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:205.58, Z:101.97 [[ 8.25449139e-01 4.28676006e-01 3.67247329e-01 3.24068038e+02] [-3.89572836e-01 9.03446417e-01 -1.78934563e-01 2.05583426e+02] [-4.08493237e-01 4.63179746e-03 9.12749594e-01 1.01969590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.10, Y:205.57, Z:101.96 [[ 8.24886749e-01 4.30053513e-01 3.66900296e-01 3.24095572e+02] [-3.91120678e-01 9.02794414e-01 -1.78848709e-01 2.05571782e+02] [-4.08150054e-01 4.02763800e-03 9.12905971e-01 1.01955802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:205.56, Z:101.94 [[ 8.24483964e-01 4.31453115e-01 3.66161717e-01 3.24122812e+02] [-3.92756787e-01 9.02128732e-01 -1.78622110e-01 2.05559071e+02] [-4.07392071e-01 3.45856616e-03 9.13246812e-01 1.01942667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:205.55, Z:101.93 [[ 8.23860442e-01 4.33494412e-01 3.65152799e-01 3.24150799e+02] [-3.94251627e-01 9.01144664e-01 -1.80288518e-01 2.05548748e+02] [-4.07209561e-01 4.57049306e-03 9.13323318e-01 1.01929382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.18, Y:205.54, Z:101.92 [[ 8.23269888e-01 4.32557824e-01 3.67587297e-01 3.24178277e+02] [-3.94442465e-01 9.01605426e-01 -1.77546608e-01 2.05535506e+02] [-4.08217876e-01 1.17673649e-03 9.12883772e-01 1.01917239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:205.53, Z:101.90 [[ 8.22908574e-01 4.33260484e-01 3.67568814e-01 3.24205825e+02] [-3.94237141e-01 9.01263797e-01 -1.79723803e-01 2.05527243e+02] [-4.09143687e-01 2.98698009e-03 9.12465080e-01 1.01902809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.950385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:324.23, Y:205.51, Z:101.89 [[ 8.24319582e-01 4.28980984e-01 3.69421903e-01 3.24232303e+02] [-3.93328947e-01 9.03304117e-01 -1.71271748e-01 2.05512257e+02] [-4.07172648e-01 -4.12167217e-03 9.13341911e-01 1.01893031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.26, Y:205.51, Z:101.87 [[ 8.22814698e-01 4.36343075e-01 3.64116319e-01 3.24260795e+02] [-3.94576153e-01 8.99726723e-01 -1.86551557e-01 2.05509757e+02] [-4.09005662e-01 9.82574648e-03 9.12478944e-01 1.01873144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:205.49, Z:101.86 [[ 8.22591550e-01 4.33873071e-01 3.67555847e-01 3.24287203e+02] [-3.94764727e-01 9.00968997e-01 -1.80043542e-01 2.05494587e+02] [-4.09272467e-01 3.00421293e-03 9.12407268e-01 1.01862144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:205.49, Z:101.85 [[ 8.22421867e-01 4.33489450e-01 3.68387254e-01 3.24315548e+02] [-3.94100648e-01 9.01152486e-01 -1.80579281e-01 2.05485627e+02] [-4.10252303e-01 3.33069399e-03 9.11965983e-01 1.01848394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.34, Y:205.48, Z:101.83 [[ 8.22438045e-01 4.33120644e-01 3.68784720e-01 3.24343374e+02] [-3.93546229e-01 9.01328555e-01 -1.80909375e-01 2.05475106e+02] [-4.10751784e-01 3.65291656e-03 9.11739891e-01 1.01834331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.37, Y:205.47, Z:101.82 [[ 8.22720247e-01 4.31971822e-01 3.69502016e-01 3.24371211e+02] [-3.92062325e-01 9.01876498e-01 -1.81399878e-01 2.05466080e+02] [-4.11604820e-01 4.37353307e-03 9.11351932e-01 1.01820616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.40, Y:205.45, Z:101.81 [[ 8.22933307e-01 4.31706682e-01 3.69337397e-01 3.24399082e+02] [-3.91751141e-01 9.02002160e-01 -1.81447365e-01 2.05453993e+02] [-4.11475170e-01 4.63073391e-03 9.11409206e-01 1.01806905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.43, Y:205.44, Z:101.79 [[ 8.23384786e-01 4.31185678e-01 3.68939568e-01 3.24427872e+02] [-3.91208345e-01 9.02249242e-01 -1.81390010e-01 2.05444836e+02] [-4.11088220e-01 5.02153704e-03 9.11581735e-01 1.01792563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.46, Y:205.44, Z:101.78 [[ 8.23803871e-01 4.30772549e-01 3.68486354e-01 3.24455747e+02] [-3.90795459e-01 9.02444617e-01 -1.81308088e-01 2.05436667e+02] [-4.10641073e-01 5.35951096e-03 9.11781325e-01 1.01778064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:205.43, Z:101.76 [[ 8.23842847e-01 4.30702988e-01 3.68480530e-01 3.24483768e+02] [-3.90661567e-01 9.02476828e-01 -1.81436259e-01 2.05425459e+02] [-4.10690278e-01 5.52378298e-03 9.11758183e-01 1.01764182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.51, Y:205.42, Z:101.75 [[ 8.24001081e-01 4.30395813e-01 3.68485636e-01 3.24510703e+02] [-3.90262553e-01 9.02621553e-01 -1.81574978e-01 2.05415024e+02] [-4.10752187e-01 5.81183338e-03 9.11728503e-01 1.01750058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:324.54, Y:205.41, Z:101.74 [[ 8.24767896e-01 4.29489797e-01 3.67826633e-01 3.24539389e+02] [-3.89383817e-01 9.03049510e-01 -1.81333468e-01 2.05405406e+02] [-4.10046535e-01 6.33228498e-03 9.12042620e-01 1.01735670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.57, Y:205.40, Z:101.72 [[ 8.25084269e-01 4.28338368e-01 3.68459212e-01 3.24566457e+02] [-3.87917087e-01 9.03590900e-01 -1.81779592e-01 2.05395122e+02] [-4.10799565e-01 7.05185802e-03 9.11698409e-01 1.01721521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:324.59, Y:205.40, Z:101.69 [[ 8.25665796e-01 4.30954071e-01 3.64080460e-01 3.24590567e+02] [-3.82140005e-01 9.01974303e-01 -2.01025801e-01 2.05400861e+02] [-4.15024107e-01 2.68504188e-02 9.09414122e-01 1.01694399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:205.36, Z:101.70 [[ 8.25778210e-01 4.17314850e-01 3.79392494e-01 3.24618812e+02] [-3.85807945e-01 9.08646730e-01 -1.59728991e-01 2.05360939e+02] [-4.11391029e-01 -1.44719182e-02 9.11344054e-01 1.01702107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.65, Y:205.36, Z:101.68 [[ 8.26619710e-01 4.24684826e-01 3.69246062e-01 3.24648834e+02] [-3.83592031e-01 9.05294496e-01 -1.82480217e-01 2.05364286e+02] [-4.11773007e-01 9.20189704e-03 9.11239988e-01 1.01680558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.68, Y:205.35, Z:101.67 [[ 8.27012632e-01 4.23930667e-01 3.69232848e-01 3.24675465e+02] [-3.82710497e-01 9.05642633e-01 -1.82603663e-01 2.05352696e+02] [-4.11804301e-01 9.70624895e-03 9.11220614e-01 1.01667296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:205.34, Z:101.65 [[ 8.27325189e-01 4.22742055e-01 3.69894832e-01 3.24703266e+02] [-3.81194248e-01 9.06189818e-01 -1.83059988e-01 2.05341085e+02] [-4.12582086e-01 1.04483566e-02 9.10860502e-01 1.01654227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:205.33, Z:101.64 [[ 8.27099898e-01 4.22547609e-01 3.70620124e-01 3.24731207e+02] [-3.80746486e-01 9.06277474e-01 -1.83557223e-01 2.05329372e+02] [-4.13446336e-01 1.07078502e-02 9.10465524e-01 1.01640246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.520385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:324.76, Y:205.32, Z:101.63 [[ 8.26399232e-01 4.23249063e-01 3.71381933e-01 3.24759347e+02] [-3.81270261e-01 9.05952269e-01 -1.84074647e-01 2.05321241e+02] [-4.14363727e-01 1.05222600e-02 9.10050539e-01 1.01626689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.550385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:324.79, Y:205.31, Z:101.61 [[ 8.25747420e-01 4.24495660e-01 3.71408983e-01 3.24786881e+02] [-3.82571286e-01 9.05374447e-01 -1.84218138e-01 2.05310546e+02] [-4.14464003e-01 1.00272398e-02 9.10010464e-01 1.01612483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.82, Y:205.30, Z:101.60 [[ 8.24522202e-01 4.27355716e-01 3.70850685e-01 3.24815516e+02] [-3.85777920e-01 9.04041616e-01 -1.84076488e-01 2.05301625e+02] [-4.13930591e-01 8.70914566e-03 9.10266783e-01 1.01597777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:205.29, Z:101.58 [[ 8.23474336e-01 4.29412913e-01 3.70802600e-01 3.24842234e+02] [-3.87982278e-01 9.03074488e-01 -1.84190720e-01 2.05290094e+02] [-4.13956242e-01 7.81149302e-03 9.10263264e-01 1.01584104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.87, Y:205.28, Z:101.57 [[ 8.21541999e-01 4.33195103e-01 3.70689556e-01 3.24870181e+02] [-3.92098890e-01 9.01279983e-01 -1.84263000e-01 2.05278749e+02] [-4.13916906e-01 6.03282971e-03 9.10294678e-01 1.01570486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.90, Y:205.27, Z:101.56 [[ 8.20417556e-01 4.35134455e-01 3.70908399e-01 3.24897921e+02] [-3.94112002e-01 9.00350483e-01 -1.84512164e-01 2.05266669e+02] [-4.14235155e-01 5.19756689e-03 9.10155054e-01 1.01556875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.93, Y:205.26, Z:101.54 [[ 8.18291057e-01 4.38521337e-01 3.71616446e-01 3.24926667e+02] [-3.97602066e-01 8.98713438e-01 -1.85004740e-01 2.05256696e+02] [-4.15105219e-01 3.63225755e-03 9.09766159e-01 1.01543321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:205.25, Z:101.53 [[ 8.16986238e-01 4.40952993e-01 3.71609937e-01 3.24955082e+02] [-4.00209557e-01 8.97526610e-01 -1.85143985e-01 2.05245628e+02] [-4.15169601e-01 2.53823954e-03 9.09740490e-01 1.01530071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:205.23, Z:101.52 [[ 8.16275941e-01 4.42097862e-01 3.71810529e-01 3.24982043e+02] [-4.01355903e-01 8.96964367e-01 -1.85387062e-01 2.05232418e+02] [-4.15460019e-01 2.09864776e-03 9.09609019e-01 1.01516555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.01, Y:205.22, Z:101.50 [[ 8.15716361e-01 4.42881836e-01 3.72105493e-01 3.25009464e+02] [-4.02083687e-01 8.96578096e-01 -1.85678289e-01 2.05219548e+02] [-4.15855176e-01 1.84326934e-03 9.09428983e-01 1.01503829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:205.21, Z:101.49 [[ 8.15223575e-01 4.43242321e-01 3.72755640e-01 3.25036046e+02] [-4.02264383e-01 8.96400016e-01 -1.86146119e-01 2.05207667e+02] [-4.16646000e-01 1.80438724e-03 9.09067025e-01 1.01490770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:205.20, Z:101.48 [[ 8.14941768e-01 4.43605324e-01 3.72939984e-01 3.25063501e+02] [-4.02559754e-01 8.96220536e-01 -1.86371660e-01 2.05195564e+02] [-4.16911933e-01 1.75142180e-03 9.08945198e-01 1.01477133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.09, Y:205.18, Z:101.46 [[ 8.14485695e-01 4.44289288e-01 3.73122073e-01 3.25091180e+02] [-4.03203487e-01 8.95882047e-01 -1.86607361e-01 2.05183336e+02] [-4.17181018e-01 1.54490511e-03 9.08822101e-01 1.01463229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:205.17, Z:101.45 [[ 8.14286342e-01 4.45630231e-01 3.71956247e-01 3.25117524e+02] [-4.04881569e-01 8.95216570e-01 -1.86167152e-01 2.05170181e+02] [-4.15943107e-01 9.95140538e-04 9.09390093e-01 1.01450481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.940385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:325.14, Y:205.16, Z:101.44 [[ 8.13777111e-01 4.46754976e-01 3.71721408e-01 3.25144364e+02] [-4.06111188e-01 8.94656184e-01 -1.86182747e-01 2.05156392e+02] [-4.15740925e-01 5.51035277e-04 9.09482919e-01 1.01437152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9703857229999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:325.17, Y:205.14, Z:101.42 [[ 8.12485678e-01 4.49566811e-01 3.71155904e-01 3.25171507e+02] [-4.09268991e-01 8.93246394e-01 -1.86037021e-01 2.05142963e+02] [-4.15169743e-01 -7.50187073e-04 9.09743657e-01 1.01423767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:205.12, Z:101.42 [[ 8.13568864e-01 4.44413524e-01 3.74969762e-01 3.25199531e+02] [-4.12498750e-01 8.95615416e-01 -1.66486663e-01 2.05117930e+02] [-4.09817624e-01 -1.92261927e-02 9.11964840e-01 1.01421573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.23, Y:205.13, Z:101.39 [[ 8.10156408e-01 4.62362550e-01 3.60371291e-01 3.25226601e+02] [-4.15023213e-01 8.86545512e-01 -2.04432845e-01 2.05128270e+02] [-4.14007642e-01 1.60601281e-02 9.10131719e-01 1.01390888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:205.10, Z:101.38 [[ 8.10085443e-01 4.55904452e-01 3.68663404e-01 3.25251371e+02] [-4.16632159e-01 8.90021396e-01 -1.85147396e-01 2.05104767e+02] [-4.12527840e-01 -3.61181954e-03 9.10937833e-01 1.01383870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:205.09, Z:101.37 [[ 8.08289578e-01 4.59764153e-01 3.67810931e-01 3.25275754e+02] [-4.20996115e-01 8.88024500e-01 -1.84864164e-01 2.05089516e+02] [-4.11619034e-01 -5.42319610e-03 9.11339871e-01 1.01370209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.120385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:325.30, Y:205.07, Z:101.36 [[ 8.07479029e-01 4.61142082e-01 3.67866277e-01 3.25302291e+02] [-4.22436467e-01 8.87306065e-01 -1.85028045e-01 2.05074773e+02] [-4.11734197e-01 -5.99386429e-03 9.11284272e-01 1.01356675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.150385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:325.33, Y:205.06, Z:101.34 [[ 8.06105581e-01 4.63307701e-01 3.68157259e-01 3.25327826e+02] [-4.24687097e-01 8.86170114e-01 -1.85319718e-01 2.05059929e+02] [-4.12110013e-01 -6.96437839e-03 9.11107477e-01 1.01344326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.180385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:325.35, Y:205.05, Z:101.33 [[ 8.05387106e-01 4.64542559e-01 3.68173627e-01 3.25353928e+02] [-4.25980013e-01 8.85519330e-01 -1.85463056e-01 2.05046339e+02] [-4.12180346e-01 -7.46505290e-03 9.11071696e-01 1.01330934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:325.38, Y:205.03, Z:101.32 [[ 8.04385961e-01 4.66791400e-01 3.67517367e-01 3.25379461e+02] [-4.28537714e-01 8.84326850e-01 -1.85260491e-01 2.05031073e+02] [-4.11483479e-01 -8.47411398e-03 9.11377823e-01 1.01317866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.240385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:325.41, Y:205.02, Z:101.30 [[ 8.04029936e-01 4.67513461e-01 3.67378587e-01 3.25405755e+02] [-4.29306100e-01 8.83942941e-01 -1.85313651e-01 2.05015550e+02] [-4.11378336e-01 -8.72014532e-03 9.11422967e-01 1.01304329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.270385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:325.43, Y:205.00, Z:101.29 [[ 8.03971113e-01 4.67659789e-01 3.67321075e-01 3.25432903e+02] [-4.29414942e-01 8.83866176e-01 -1.85427587e-01 2.05001821e+02] [-4.11379700e-01 -8.65473511e-03 9.11422974e-01 1.01290375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:204.98, Z:101.28 [[ 8.03423165e-01 4.68560515e-01 3.67372103e-01 3.25457168e+02] [-4.30366318e-01 8.83384970e-01 -1.85515031e-01 2.04984082e+02] [-4.11456013e-01 -9.05750601e-03 9.11384612e-01 1.01278769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:204.97, Z:101.27 [[ 8.03192989e-01 4.68778043e-01 3.67597835e-01 3.25482323e+02] [-4.30496640e-01 8.83269660e-01 -1.85761541e-01 2.04969782e+02] [-4.11768947e-01 -9.04726555e-03 9.11243371e-01 1.01265905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.51, Y:204.95, Z:101.25 [[ 8.02906230e-01 4.68972855e-01 3.67975606e-01 3.25507558e+02] [-4.30569432e-01 8.83166402e-01 -1.86083504e-01 2.04954194e+02] [-4.12251804e-01 -9.03144276e-03 9.11025183e-01 1.01252823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:204.94, Z:101.24 [[ 8.02734792e-01 4.69037064e-01 3.68267682e-01 3.25533834e+02] [-4.30519105e-01 8.83133128e-01 -1.86357666e-01 2.04938995e+02] [-4.12638042e-01 -8.95049061e-03 9.10851105e-01 1.01239048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:204.92, Z:101.23 [[ 8.03323354e-01 4.68626833e-01 3.67505755e-01 3.25558168e+02] [-4.30174197e-01 8.83354470e-01 -1.86104919e-01 2.04921716e+02] [-4.11851610e-01 -8.58906531e-03 9.11210447e-01 1.01225549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.58, Y:204.91, Z:101.21 [[ 8.03775658e-01 4.68216184e-01 3.67039911e-01 3.25582990e+02] [-4.29759364e-01 8.83575656e-01 -1.86013304e-01 2.04906372e+02] [-4.11401970e-01 -8.22587263e-03 9.11416894e-01 1.01211915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.61, Y:204.89, Z:101.20 [[ 8.04969462e-01 4.66502676e-01 3.66605264e-01 3.25607314e+02] [-4.27910912e-01 8.84490412e-01 -1.85927302e-01 2.04888595e+02] [-4.10994425e-01 -7.20859252e-03 9.11609357e-01 1.01198118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:325.63, Y:204.87, Z:101.18 [[ 8.05934853e-01 4.65338605e-01 3.65963108e-01 3.25631871e+02] [-4.26713290e-01 8.85109097e-01 -1.85735442e-01 2.04871181e+02] [-4.10347147e-01 -6.47065550e-03 9.11906437e-01 1.01184380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:325.66, Y:204.86, Z:101.17 [[ 8.06312498e-01 4.65170966e-01 3.65343849e-01 3.25657380e+02] [-4.26602279e-01 8.85198901e-01 -1.85562391e-01 2.04855710e+02] [-4.09720210e-01 -6.23524396e-03 9.12189932e-01 1.01170819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.68, Y:204.84, Z:101.16 [[ 8.06473010e-01 4.65203183e-01 3.64948329e-01 3.25683032e+02] [-4.26661184e-01 8.85182873e-01 -1.85503414e-01 2.04839934e+02] [-4.09342788e-01 -6.10578950e-03 9.12360237e-01 1.01156820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.71, Y:204.82, Z:101.14 [[ 8.07015894e-01 4.64989223e-01 3.64019737e-01 3.25707230e+02] [-4.26568232e-01 8.85297062e-01 -1.85171963e-01 2.04821805e+02] [-4.08368571e-01 -5.84253880e-03 9.12798431e-01 1.01143829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.73, Y:204.82, Z:101.12 [[ 8.07125436e-01 4.66555225e-01 3.61766157e-01 3.25729324e+02] [-4.21105258e-01 8.84435807e-01 -2.01106104e-01 2.04822265e+02] [-4.13786047e-01 9.97622095e-03 9.10319495e-01 1.01119979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.660385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:325.75, Y:204.78, Z:101.12 [[ 8.07892885e-01 4.55572294e-01 3.73848863e-01 3.25754628e+02] [-4.25334314e-01 8.89832046e-01 -1.65195795e-01 2.04778028e+02] [-4.07921326e-01 -2.55502428e-02 9.12659508e-01 1.01123501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:325.78, Y:204.77, Z:101.10 [[ 8.07939496e-01 4.63737974e-01 3.63566860e-01 3.25782380e+02] [-4.25108318e-01 8.85959425e-01 -1.85361308e-01 2.04772606e+02] [-4.08064564e-01 -4.79457451e-03 9.12940482e-01 1.01102630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:325.81, Y:204.76, Z:101.09 [[ 8.08549541e-01 4.63016390e-01 3.63130091e-01 3.25806711e+02] [-4.24351450e-01 8.86339349e-01 -1.85279264e-01 2.04755144e+02] [-4.07643824e-01 -4.28731711e-03 9.13130950e-01 1.01089256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:325.83, Y:204.74, Z:101.08 [[ 8.08459363e-01 4.62995678e-01 3.63357207e-01 3.25830694e+02] [-4.24215424e-01 8.86350851e-01 -1.85535558e-01 2.04738576e+02] [-4.07964131e-01 -4.14377238e-03 9.12988552e-01 1.01076291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:325.86, Y:204.72, Z:101.06 [[ 8.08305938e-01 4.63530491e-01 3.63016521e-01 3.25856225e+02] [-4.24819624e-01 8.86070620e-01 -1.85491627e-01 2.04722593e+02] [-4.07639299e-01 -4.28255862e-03 9.13132992e-01 1.01063478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:204.71, Z:101.05 [[ 8.08115292e-01 4.64007235e-01 3.62831862e-01 3.25880474e+02] [-4.25320760e-01 8.85820560e-01 -1.85537562e-01 2.04705466e+02] [-4.07494695e-01 -4.38418186e-03 9.13197050e-01 1.01050253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:204.69, Z:101.04 [[ 8.07854328e-01 4.64562293e-01 3.62702717e-01 3.25906139e+02] [-4.25899738e-01 8.85528827e-01 -1.85602019e-01 2.04690865e+02] [-4.07407411e-01 -4.53559781e-03 9.13235254e-01 1.01036121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.93, Y:204.70, Z:101.01 [[ 8.06732972e-01 4.69525410e-01 3.58786567e-01 3.25927160e+02] [-4.20952994e-01 8.82748914e-01 -2.08693393e-01 2.04695485e+02] [-4.14705303e-01 1.73275624e-02 9.09790782e-01 1.01007058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.95, Y:204.65, Z:101.02 [[ 8.07727477e-01 4.54588111e-01 3.75401081e-01 3.25954021e+02] [-4.27090202e-01 8.90128809e-01 -1.58948617e-01 2.04645780e+02] [-4.06411469e-01 -3.19429587e-02 9.13131625e-01 1.01019882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.98, Y:204.67, Z:100.98 [[ 8.06888143e-01 4.71077514e-01 3.56395146e-01 3.25976291e+02] [-4.20292619e-01 8.81795159e-01 -2.13989280e-01 2.04667836e+02] [-4.15073053e-01 2.28751628e-02 9.09500461e-01 1.00977920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.00, Y:204.61, Z:101.00 [[ 8.08665646e-01 4.51161720e-01 3.77508908e-01 3.26003193e+02] [-4.25874245e-01 8.91685920e-01 -1.53386268e-01 2.04611477e+02] [-4.05821391e-01 -3.67331159e-02 9.13213927e-01 1.00996437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.03, Y:204.62, Z:100.96 [[ 8.08701798e-01 4.65249060e-01 3.59923206e-01 3.26027442e+02] [-4.20898132e-01 8.85134107e-01 -1.98449931e-01 2.04624016e+02] [-4.10908950e-01 8.99581118e-03 9.11632004e-01 1.00961283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.05, Y:204.60, Z:100.95 [[ 8.09068160e-01 4.60957437e-01 3.64591489e-01 3.26050231e+02] [-4.18927135e-01 8.87417607e-01 -1.92327964e-01 2.04603900e+02] [-4.12199912e-01 2.86916426e-03 9.11088909e-01 1.00947694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.08, Y:204.58, Z:100.94 [[ 8.10083981e-01 4.54631712e-01 3.70234993e-01 3.26075466e+02] [-4.18415558e-01 8.90616320e-01 -1.78131951e-01 2.04581285e+02] [-4.10721761e-01 -1.06102412e-02 9.11698995e-01 1.00941306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.10, Y:204.57, Z:100.93 [[ 8.10396983e-01 4.57009737e-01 3.66604460e-01 3.26100468e+02] [-4.18818685e-01 8.89446104e-01 -1.82965945e-01 2.04569058e+02] [-4.09692127e-01 -5.26574830e-03 9.12208657e-01 1.00926115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.12, Y:204.56, Z:100.91 [[ 8.10166841e-01 4.59828561e-01 3.63575830e-01 3.26124463e+02] [-4.18291152e-01 8.88003717e-01 -1.91002385e-01 2.04557295e+02] [-4.10685041e-01 2.66324597e-03 9.11773385e-01 1.00906706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.15, Y:204.54, Z:100.90 [[ 8.09902070e-01 4.58667924e-01 3.65626001e-01 3.26149037e+02] [-4.19689402e-01 8.88600607e-01 -1.85066926e-01 2.04535045e+02] [-4.09779750e-01 -3.56327146e-03 9.12177538e-01 1.00895032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.18, Y:204.52, Z:100.88 [[ 8.09948666e-01 4.59134591e-01 3.64936414e-01 3.26175366e+02] [-4.20423064e-01 8.88357987e-01 -1.84565800e-01 2.04518548e+02] [-4.08934721e-01 -3.93886227e-03 9.12555138e-01 1.00881808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.20, Y:204.49, Z:100.88 [[ 8.10813114e-01 4.52866247e-01 3.70802180e-01 3.26199039e+02] [-4.22624663e-01 8.91270840e-01 -1.64391863e-01 2.04490015e+02] [-4.04932696e-01 -2.34190680e-02 9.14046530e-01 1.00882315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.23, Y:204.49, Z:100.86 [[ 8.11704776e-01 4.62144898e-01 3.57151860e-01 3.26227044e+02] [-4.22268887e-01 8.86802938e-01 -1.87801853e-01 2.04488063e+02] [-4.03514987e-01 1.62554301e-03 9.14971591e-01 1.00858558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.25, Y:204.47, Z:100.85 [[ 8.11554762e-01 4.60956388e-01 3.59023784e-01 3.26252013e+02] [-4.22055382e-01 8.87422092e-01 -1.85340998e-01 2.04470959e+02] [-4.04039754e-01 -1.11355056e-03 9.14740749e-01 1.00845710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.27, Y:204.45, Z:100.84 [[ 8.11157342e-01 4.59066386e-01 3.62328331e-01 3.26274515e+02] [-4.21541142e-01 8.88386625e-01 -1.81857831e-01 2.04450410e+02] [-4.05372460e-01 -5.22098386e-03 9.14136702e-01 1.00835796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.30, Y:204.44, Z:100.82 [[ 8.09913203e-01 4.60059273e-01 3.63848966e-01 3.26296210e+02] [-4.22495536e-01 8.87866745e-01 -1.82181682e-01 2.04435523e+02] [-4.06863769e-01 -6.17321425e-03 9.13467988e-01 1.00824143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.32, Y:204.44, Z:100.79 [[ 8.10308435e-01 4.68830809e-01 3.51564948e-01 3.26320813e+02] [-4.18221265e-01 8.82907062e-01 -2.13462159e-01 2.04438539e+02] [-4.10476812e-01 2.59382511e-02 9.11502054e-01 1.00789284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.380385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:326.34, Y:204.40, Z:100.79 [[ 8.10661634e-01 4.55397308e-01 3.68023106e-01 3.26343435e+02] [-4.17615876e-01 8.90265502e-01 -1.81725938e-01 2.04404566e+02] [-4.10395778e-01 -6.37404571e-03 9.11885232e-01 1.00790002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.37, Y:204.38, Z:100.79 [[ 8.11510805e-01 4.51614083e-01 3.70803092e-01 3.26371216e+02] [-4.20262388e-01 8.91974947e-01 -1.66613980e-01 2.04376378e+02] [-4.05992289e-01 -2.06255482e-02 9.13643721e-01 1.00789219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.40, Y:204.37, Z:100.77 [[ 8.11269363e-01 4.60557619e-01 3.60178706e-01 3.26398466e+02] [-4.20937928e-01 8.87629810e-01 -1.86881195e-01 2.04372148e+02] [-4.05774915e-01 -1.89048161e-06 9.13973040e-01 1.00766762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.42, Y:204.37, Z:100.74 [[ 8.10989822e-01 4.63554705e-01 3.56948939e-01 3.26420224e+02] [-4.16798575e-01 8.85918536e-01 -2.03536965e-01 2.04370635e+02] [-4.10578199e-01 1.62905981e-02 9.11679856e-01 1.00739974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.500385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:326.45, Y:204.33, Z:100.75 [[ 8.11636158e-01 4.53150422e-01 3.68648129e-01 3.26448027e+02] [-4.21657377e-01 8.91214749e-01 -1.67156597e-01 2.04329764e+02] [-4.04291732e-01 -1.97728644e-02 9.14416333e-01 1.00748828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.48, Y:204.33, Z:100.73 [[ 8.11268313e-01 4.61863375e-01 3.58505157e-01 3.26475560e+02] [-4.22546301e-01 8.86951059e-01 -1.86473706e-01 2.04326261e+02] [-4.04101904e-01 -2.04819147e-04 9.14713950e-01 1.00726800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.50, Y:204.31, Z:100.71 [[ 8.10118599e-01 4.63484668e-01 3.59012281e-01 3.26502808e+02] [-4.24142482e-01 8.86104500e-01 -1.86874211e-01 2.04313605e+02] [-4.04735730e-01 -8.82085702e-04 9.14433273e-01 1.00712403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.53, Y:204.30, Z:100.70 [[ 8.09810310e-01 4.64048982e-01 3.58978835e-01 3.26528664e+02] [-4.24705727e-01 8.85808943e-01 -1.86996154e-01 2.04300678e+02] [-4.04762037e-01 -1.02895366e-03 9.14421475e-01 1.00699352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.56, Y:204.30, Z:100.67 [[ 8.08932240e-01 4.68955733e-01 3.54554865e-01 3.26555119e+02] [-4.22801882e-01 8.83100470e-01 -2.03401398e-01 2.04297710e+02] [-4.08493820e-01 1.46314843e-02 9.12643807e-01 1.00673823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.58, Y:204.28, Z:100.67 [[ 8.09987568e-01 4.59769359e-01 3.64049828e-01 3.26580189e+02] [-4.20994814e-01 8.88031271e-01 -1.84834597e-01 2.04275468e+02] [-4.08268916e-01 -3.54936365e-03 9.12854805e-01 1.00669736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.61, Y:204.25, Z:100.67 [[ 8.11030775e-01 4.57458082e-01 3.64638431e-01 3.26606948e+02] [-4.23304244e-01 8.89132072e-01 -1.73947335e-01 2.04253338e+02] [-4.03785338e-01 -1.32763531e-02 9.14757421e-01 1.00667062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.710385723 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:326.63, Y:204.25, Z:100.65 [[ 8.12234247e-01 4.61985722e-01 3.56152665e-01 3.26634379e+02] [-4.21538546e-01 8.86880699e-01 -1.89071099e-01 2.04248996e+02] [-4.03213073e-01 3.43794498e-03 9.15099666e-01 1.00647065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:326.66, Y:204.23, Z:100.63 [[ 8.14166209e-01 4.55944024e-01 3.59511378e-01 3.26661930e+02] [-4.17432866e-01 8.90008134e-01 -1.83399358e-01 2.04232914e+02] [-4.03587892e-01 -7.54304382e-04 9.14940569e-01 1.00634775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.69, Y:204.22, Z:100.62 [[ 8.15509103e-01 4.51464035e-01 3.62112038e-01 3.26688803e+02] [-4.13264050e-01 8.92288178e-01 -1.81754318e-01 2.04218660e+02] [-4.05163829e-01 -1.42558637e-03 9.14242987e-01 1.00623386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.72, Y:204.21, Z:100.61 [[ 8.16262668e-01 4.52549816e-01 3.59045849e-01 3.26715577e+02] [-4.11810249e-01 8.91722904e-01 -1.87730074e-01 2.04208563e+02] [-4.05126618e-01 5.37829027e-03 9.14244769e-01 1.00607487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.74, Y:204.20, Z:100.59 [[ 8.17839712e-01 4.49918656e-01 3.58763723e-01 3.26741995e+02] [-4.08942088e-01 8.93043552e-01 -1.87722089e-01 2.04195656e+02] [-4.04851300e-01 6.81299333e-03 9.14357156e-01 1.00594055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.77, Y:204.18, Z:100.58 [[ 8.18501721e-01 4.49158498e-01 3.58206054e-01 3.26768545e+02] [-4.08188819e-01 8.93422254e-01 -1.87559494e-01 2.04181771e+02] [-4.04273201e-01 7.30206232e-03 9.14609129e-01 1.00579952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.80, Y:204.17, Z:100.57 [[ 8.18317513e-01 4.49336832e-01 3.58403208e-01 3.26795010e+02] [-4.08274102e-01 8.93332136e-01 -1.87802962e-01 2.04170068e+02] [-4.04559891e-01 7.35570502e-03 9.14481923e-01 1.00566391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.920385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:326.82, Y:204.16, Z:100.55 [[ 8.18666346e-01 4.48308004e-01 3.58894620e-01 3.26822049e+02] [-4.06967912e-01 8.93843177e-01 -1.88205988e-01 2.04158440e+02] [-4.05169758e-01 8.01931403e-03 9.14206299e-01 1.00551079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.950385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:326.85, Y:204.15, Z:100.54 [[ 8.17023793e-01 4.51811067e-01 3.58244165e-01 3.26848378e+02] [-4.10887400e-01 8.92090644e-01 -1.88004859e-01 2.04145477e+02] [-4.04528944e-01 6.40642912e-03 9.14502756e-01 1.00538946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.980385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:326.88, Y:204.13, Z:100.53 [[ 8.16949068e-01 4.52186669e-01 3.57940549e-01 3.26875939e+02] [-4.11305939e-01 8.91900677e-01 -1.87990975e-01 2.04132985e+02] [-4.04254431e-01 6.35597817e-03 9.14624489e-01 1.00525468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.90, Y:204.12, Z:100.51 [[ 8.15038225e-01 4.55142862e-01 3.58549392e-01 3.26902763e+02] [-4.14340360e-01 8.90404342e-01 -1.88420204e-01 2.04121197e+02] [-4.05012046e-01 5.00818485e-03 9.14297632e-01 1.00511972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.93, Y:204.11, Z:100.50 [[ 8.14491904e-01 4.58968365e-01 3.54895729e-01 3.26929516e+02] [-4.16683744e-01 8.88406823e-01 -1.92634303e-01 2.04110873e+02] [-4.03704838e-01 9.01979886e-03 9.14844822e-01 1.00496182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.96, Y:204.09, Z:100.49 [[ 8.13047232e-01 4.55814021e-01 3.62198533e-01 3.26956900e+02] [-4.17400673e-01 8.90072164e-01 -1.83161732e-01 2.04091432e+02] [-4.05870518e-01 -2.26277254e-03 9.13927789e-01 1.00487495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.100385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:326.98, Y:204.08, Z:100.47 [[ 8.12480908e-01 4.59017454e-01 3.59413064e-01 3.26984136e+02] [-4.18239076e-01 8.88420839e-01 -1.89167882e-01 2.04080950e+02] [-4.06141416e-01 3.37470435e-03 9.13804006e-01 1.00470643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.01, Y:204.07, Z:100.46 [[ 8.12708857e-01 4.59649639e-01 3.58087311e-01 3.27012494e+02] [-4.19183578e-01 8.88094647e-01 -1.88608128e-01 2.04069120e+02] [-4.04709082e-01 3.17917534e-03 9.14439966e-01 1.00458752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.04, Y:204.05, Z:100.44 [[ 8.12589978e-01 4.59905872e-01 3.58028096e-01 3.27039428e+02] [-4.19414081e-01 8.87961942e-01 -1.88720474e-01 2.04054934e+02] [-4.04708977e-01 3.19034120e-03 9.14439974e-01 1.00444984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:327.06, Y:204.04, Z:100.43 [[ 8.10585000e-01 4.62447231e-01 3.59297255e-01 3.27064347e+02] [-4.21833863e-01 8.86644417e-01 -1.89520104e-01 2.04040516e+02] [-4.06211953e-01 2.05840453e-03 9.13776566e-01 1.00430161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.09, Y:204.03, Z:100.42 [[ 8.11341005e-01 4.61539137e-01 3.58758135e-01 3.27092373e+02] [-4.20909416e-01 8.87115926e-01 -1.89368946e-01 2.04029910e+02] [-4.05661235e-01 2.63811329e-03 9.14019695e-01 1.00416249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.12, Y:204.02, Z:100.40 [[ 8.10251882e-01 4.63049015e-01 3.59273570e-01 3.27115421e+02] [-4.20100956e-01 8.86305264e-01 -1.94879877e-01 2.04022967e+02] [-4.08664991e-01 6.97061641e-03 9.12657842e-01 1.00399152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.14, Y:204.00, Z:100.39 [[ 8.09436621e-01 4.60698605e-01 3.64100471e-01 3.27143222e+02] [-4.23357033e-01 8.87529290e-01 -1.81825690e-01 2.03997021e+02] [-4.06916674e-01 -6.96812346e-03 9.13438704e-01 1.00393050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.17, Y:203.99, Z:100.38 [[ 8.09189154e-01 4.63862679e-01 3.60616595e-01 3.27170910e+02] [-4.22910273e-01 8.85905480e-01 -1.90573825e-01 2.03987246e+02] [-4.07872302e-01 1.70180936e-03 9.13037397e-01 1.00376563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.20, Y:203.98, Z:100.36 [[ 8.09856420e-01 4.65815117e-01 3.56579383e-01 3.27197584e+02] [-4.22724422e-01 8.84847163e-01 -1.95830441e-01 2.03976338e+02] [-4.06739035e-01 7.85972596e-03 9.13510582e-01 1.00360255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.22, Y:203.97, Z:100.35 [[ 8.10843989e-01 4.62226820e-01 3.58996369e-01 3.27221805e+02] [-4.19813508e-01 8.86740054e-01 -1.93516654e-01 2.03965528e+02] [-4.07785047e-01 6.20029039e-03 9.13056905e-01 1.00346476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.25, Y:203.95, Z:100.34 [[ 8.10313208e-01 4.59042046e-01 3.64242920e-01 3.27246763e+02] [-4.20207530e-01 8.88408412e-01 -1.84813759e-01 2.03947682e+02] [-4.08433760e-01 -3.30058824e-03 9.12781995e-01 1.00336779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.27, Y:203.93, Z:100.33 [[ 8.09831530e-01 4.61498954e-01 3.62203822e-01 3.27274506e+02] [-4.23317660e-01 8.87129669e-01 -1.83856220e-01 2.03930183e+02] [-4.06171210e-01 -4.43471029e-03 9.13786234e-01 1.00325508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.30, Y:203.93, Z:100.31 [[ 8.10279818e-01 4.64241337e-01 3.57668279e-01 3.27299397e+02] [-4.21787113e-01 8.85685789e-01 -1.94052351e-01 2.03925429e+02] [-4.06868834e-01 6.37683300e-03 9.13464333e-01 1.00306263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.490385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:327.33, Y:203.91, Z:100.29 [[ 8.10938096e-01 4.61660099e-01 3.59512668e-01 3.27325440e+02] [-4.22040230e-01 8.87056905e-01 -1.87115182e-01 2.03907737e+02] [-4.05291808e-01 1.00201217e-05 9.14187372e-01 1.00294356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.35, Y:203.90, Z:100.28 [[ 8.10397726e-01 4.62848241e-01 3.59203330e-01 3.27351101e+02] [-4.21501349e-01 8.86430280e-01 -1.91253685e-01 2.03897163e+02] [-4.06930140e-01 3.58686302e-03 9.13452241e-01 1.00279353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.38, Y:203.88, Z:100.27 [[ 8.11089419e-01 4.60920718e-01 3.60119490e-01 3.27377702e+02] [-4.21132435e-01 8.87441270e-01 -1.87337834e-01 2.03880580e+02] [-4.05932787e-01 2.89737194e-04 9.13902888e-01 1.00267996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.40, Y:203.86, Z:100.26 [[ 8.10843656e-01 4.61461079e-01 3.59980886e-01 3.27404196e+02] [-4.22979202e-01 8.87156467e-01 -1.84504737e-01 2.03861469e+02] [-4.04501126e-01 -2.65993281e-03 9.14533632e-01 1.00258341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.43, Y:203.85, Z:100.24 [[ 8.11406264e-01 4.62902875e-01 3.56848432e-01 3.27430960e+02] [-4.22001374e-01 8.86400828e-01 -1.90285083e-01 2.03849690e+02] [-4.04394257e-01 3.80797935e-03 9.14576833e-01 1.00243025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.46, Y:203.84, Z:100.23 [[ 8.12693059e-01 4.62029837e-01 3.55047070e-01 3.27458811e+02] [-4.20045330e-01 8.86833722e-01 -1.92582114e-01 2.03836933e+02] [-4.03846397e-01 7.37428377e-03 9.14797085e-01 1.00227162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.48, Y:203.84, Z:100.21 [[ 8.11267270e-01 4.63003242e-01 3.57034193e-01 3.27480956e+02] [-4.16282273e-01 8.86206001e-01 -2.03342061e-01 2.03835781e+02] [-4.10553878e-01 1.63377531e-02 9.11689964e-01 1.00205116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.51, Y:203.80, Z:100.21 [[ 8.11302379e-01 4.57693190e-01 3.63738085e-01 3.27508508e+02] [-4.21971833e-01 8.89059797e-01 -1.77517464e-01 2.03802316e+02] [-4.04633442e-01 -9.46688571e-03 9.14429962e-01 1.00207868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.54, Y:203.80, Z:100.19 [[ 8.11197835e-01 4.63640073e-01 3.56364918e-01 3.27535103e+02] [-4.22580238e-01 8.86013748e-01 -1.90802464e-01 2.03795928e+02] [-4.04207886e-01 4.18577403e-03 9.14657567e-01 1.00189897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.56, Y:203.79, Z:100.17 [[ 8.10713597e-01 4.65753275e-01 3.54707416e-01 3.27560475e+02] [-4.20758558e-01 8.84818929e-01 -2.00144195e-01 2.03790593e+02] [-4.07069650e-01 1.30134393e-02 9.13304413e-01 1.00169130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.59, Y:203.76, Z:100.17 [[ 8.10366987e-01 4.61008018e-01 3.61630964e-01 3.27587150e+02] [-4.24168552e-01 8.87368773e-01 -1.80714415e-01 2.03762947e+02] [-4.04210819e-01 -6.94748618e-03 9.14639463e-01 1.00167489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.61, Y:203.76, Z:100.15 [[ 8.10148235e-01 4.66170818e-01 3.55449864e-01 3.27614890e+02] [-4.25416743e-01 8.84688806e-01 -1.90647087e-01 2.03755555e+02] [-4.03336624e-01 3.23807750e-03 9.15045946e-01 1.00148373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.64, Y:203.75, Z:100.13 [[ 8.10303667e-01 4.67916689e-01 3.52791638e-01 3.27640065e+02] [-4.23932105e-01 8.83701806e-01 -1.98375120e-01 2.03748905e+02] [-4.04585637e-01 1.11843857e-02 9.14431721e-01 1.00128790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.66, Y:203.73, Z:100.12 [[ 8.10189824e-01 4.64957706e-01 3.56940865e-01 3.27664397e+02] [-4.24291433e-01 8.85328966e-01 -1.90182550e-01 2.03730933e+02] [-4.04436929e-01 2.63701498e-03 9.14562090e-01 1.00118765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.69, Y:203.72, Z:100.10 [[ 8.10062330e-01 4.64727965e-01 3.57528937e-01 3.27690188e+02] [-4.23687953e-01 8.85447656e-01 -1.90973735e-01 2.03717813e+02] [-4.05323994e-01 3.21992552e-03 9.14167431e-01 1.00104600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.72, Y:203.69, Z:100.10 [[ 8.10026072e-01 4.62803571e-01 3.60098066e-01 3.27717769e+02] [-4.26859692e-01 8.86418278e-01 -1.79034744e-01 2.03693524e+02] [-4.02055427e-01 -8.68853905e-03 9.15574106e-01 1.00100830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.74, Y:203.69, Z:100.08 [[ 8.09630725e-01 4.68250553e-01 3.53891945e-01 3.27742965e+02] [-4.23381433e-01 8.83508434e-01 -2.00402120e-01 2.03694267e+02] [-4.06504922e-01 1.24204355e-02 9.13564164e-01 1.00075828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.77, Y:203.67, Z:100.07 [[ 8.09611761e-01 4.63883993e-01 3.59639315e-01 3.27768380e+02] [-4.23123499e-01 8.85894170e-01 -1.90152637e-01 2.03673961e+02] [-4.06811136e-01 1.77796583e-03 9.13510557e-01 1.00067726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.80, Y:203.65, Z:100.06 [[ 8.09054252e-01 4.63468672e-01 3.61424969e-01 3.27795284e+02] [-4.26379759e-01 8.86085538e-01 -1.81804072e-01 2.03651125e+02] [-4.04513930e-01 -7.01493321e-03 9.14504932e-01 1.00062352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.82, Y:203.64, Z:100.04 [[ 8.08565253e-01 4.67878183e-01 3.56808404e-01 3.27822348e+02] [-4.26419656e-01 8.83785766e-01 -1.92585041e-01 2.03641871e+02] [-4.05448527e-01 3.56745624e-03 9.14110915e-01 1.00044674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.85, Y:203.63, Z:100.03 [[ 8.08604593e-01 4.68105886e-01 3.56420387e-01 3.27847921e+02] [-4.26701234e-01 8.83665117e-01 -1.92514982e-01 2.03628020e+02] [-4.05073659e-01 3.58347937e-03 9.14277031e-01 1.00030562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.87, Y:203.61, Z:100.02 [[ 8.08846305e-01 4.68188730e-01 3.55762517e-01 3.27874289e+02] [-4.26894646e-01 8.83620917e-01 -1.92288939e-01 2.03613993e+02] [-4.04386716e-01 3.65908428e-03 9.14580776e-01 1.00016948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.90, Y:203.61, Z:100.00 [[ 8.09532316e-01 4.68432182e-01 3.53876701e-01 3.27898580e+02] [-4.23423836e-01 8.83408519e-01 -2.00752695e-01 2.03608861e+02] [-4.06656716e-01 1.26759640e-02 9.13493096e-01 9.99960265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.92, Y:203.58, Z:99.99 [[ 8.09016712e-01 4.64115437e-01 3.60678279e-01 3.27924247e+02] [-4.27029219e-01 8.85748303e-01 -1.81923033e-01 2.03579575e+02] [-4.03903462e-01 -6.84139000e-03 9.14776032e-01 9.99949933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.95, Y:203.57, Z:99.98 [[ 8.09299390e-01 4.68413228e-01 3.54434121e-01 3.27951083e+02] [-4.27324925e-01 8.83501196e-01 -1.91882897e-01 2.03569979e+02] [-4.03023456e-01 3.83217733e-03 9.15181626e-01 9.99782794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.98, Y:203.56, Z:99.96 [[ 8.09124495e-01 4.68690249e-01 3.54467210e-01 3.27977369e+02] [-4.27558117e-01 8.83354284e-01 -1.92039750e-01 2.03556721e+02] [-4.03127286e-01 3.82873279e-03 9.15135909e-01 9.99645503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.00, Y:203.54, Z:99.95 [[ 8.08876787e-01 4.69069834e-01 3.54530441e-01 3.28003943e+02] [-4.27895905e-01 8.83153013e-01 -1.92213036e-01 2.03542697e+02] [-4.03265964e-01 3.77453939e-03 9.15075033e-01 9.99507320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.03, Y:203.53, Z:99.94 [[ 8.08641918e-01 4.69546231e-01 3.54435587e-01 3.28029273e+02] [-4.28378186e-01 8.82900262e-01 -1.92299913e-01 2.03528594e+02] [-4.03224972e-01 3.66929618e-03 9.15093524e-01 9.99378167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.06, Y:203.52, Z:99.92 [[ 8.08919888e-01 4.72494720e-01 3.49853333e-01 3.28056320e+02] [-4.29032072e-01 8.81274029e-01 -1.98210917e-01 2.03517345e+02] [-4.01970268e-01 1.02384526e-02 9.15595477e-01 9.99211960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.08, Y:203.50, Z:99.91 [[ 8.07584107e-01 4.68056263e-01 3.58791367e-01 3.28081420e+02] [-4.28869169e-01 8.83695251e-01 -1.87493841e-01 2.03496622e+02] [-4.04819894e-01 -2.45750921e-03 9.14393140e-01 9.99135007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.11, Y:203.49, Z:99.90 [[ 8.07444193e-01 4.70418935e-01 3.56005480e-01 3.28108115e+02] [-4.28819496e-01 8.82436143e-01 -1.93443254e-01 2.03485821e+02] [-4.05151472e-01 3.53254188e-03 9.14242750e-01 9.98979100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.14, Y:203.47, Z:99.89 [[ 8.08808032e-01 4.69261631e-01 3.54433475e-01 3.28135807e+02] [-4.27880377e-01 8.83049091e-01 -1.92724378e-01 2.03472338e+02] [-4.03420314e-01 4.22189615e-03 9.15005041e-01 9.98860589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.16, Y:203.46, Z:99.87 [[ 8.06963747e-01 4.71002465e-01 3.56323154e-01 3.28160073e+02] [-4.29253725e-01 8.82124884e-01 -1.93899273e-01 2.03456511e+02] [-4.05648556e-01 3.51664254e-03 9.14022364e-01 9.98714484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.19, Y:203.44, Z:99.87 [[ 8.08452318e-01 4.65484206e-01 3.60179545e-01 3.28185684e+02] [-4.29437346e-01 8.85007573e-01 -1.79847609e-01 2.03435675e+02] [-4.02477846e-01 -9.27633158e-03 9.15382725e-01 9.98673301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.21, Y:203.43, Z:99.85 [[ 8.07733817e-01 4.72797022e-01 3.52177595e-01 3.28211960e+02] [-4.30631380e-01 8.81150476e-01 -1.95270207e-01 2.03430960e+02] [-4.02644627e-01 6.06762625e-03 9.15336270e-01 9.98464593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.540385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:328.24, Y:203.42, Z:99.83 [[ 8.05701861e-01 4.77365631e-01 3.50665889e-01 3.28237586e+02] [-4.33085335e-01 8.78646592e-01 -2.01040439e-01 2.03420052e+02] [-4.04081185e-01 1.01104015e-02 9.14667249e-01 9.98276140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.26, Y:203.40, Z:99.82 [[ 8.05313645e-01 4.75492666e-01 3.54085666e-01 3.28263235e+02] [-4.34482486e-01 8.79717980e-01 -1.93187072e-01 2.03401501e+02] [-4.03354562e-01 1.73216428e-03 9.15042128e-01 9.98171161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.29, Y:203.39, Z:99.81 [[ 8.06547746e-01 4.71832075e-01 3.56167414e-01 3.28288621e+02] [-4.34030386e-01 8.81672647e-01 -1.85124194e-01 2.03385114e+02] [-4.01370599e-01 -5.27597919e-03 9.15900544e-01 9.98090436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.31, Y:203.38, Z:99.79 [[ 8.04858869e-01 4.79358077e-01 3.49882889e-01 3.28314507e+02] [-4.36358027e-01 8.77590368e-01 -1.98561875e-01 2.03375759e+02] [-4.02236092e-01 7.14007871e-03 9.15508135e-01 9.97892687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.34, Y:203.36, Z:99.78 [[ 8.04203261e-01 4.77669702e-01 3.53678910e-01 3.28340128e+02] [-4.36834552e-01 8.78539029e-01 -1.93247898e-01 2.03357846e+02] [-4.03029391e-01 9.11421582e-04 9.15186582e-01 9.97784353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.36, Y:203.35, Z:99.76 [[ 8.04877784e-01 4.75961530e-01 3.54446575e-01 3.28364743e+02] [-4.34332424e-01 8.79461801e-01 -1.94685095e-01 2.03348488e+02] [-4.04384839e-01 2.75006761e-03 9.14584791e-01 9.97649629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.39, Y:203.33, Z:99.76 [[ 8.05786270e-01 4.75078998e-01 3.53565315e-01 3.28392016e+02] [-4.35850615e-01 8.79941363e-01 -1.89043486e-01 2.03329467e+02] [-4.00927335e-01 -1.77301469e-03 9.16108142e-01 9.97561728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.42, Y:203.32, Z:99.74 [[ 8.04298960e-01 4.75645412e-01 3.56180606e-01 3.28416932e+02] [-4.34682873e-01 8.79636972e-01 -1.93105144e-01 2.03317970e+02] [-4.05159206e-01 4.88656906e-04 9.14246017e-01 9.97407719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.44, Y:203.30, Z:99.73 [[ 8.03616203e-01 4.76450054e-01 3.56645964e-01 3.28443052e+02] [-4.36105176e-01 8.79200524e-01 -1.91882031e-01 2.03299635e+02] [-4.04985523e-01 -1.33564152e-03 9.14322122e-01 9.97283202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.47, Y:203.29, Z:99.71 [[ 8.03862802e-01 4.77400317e-01 3.54814787e-01 3.28468410e+02] [-4.35940545e-01 8.78684162e-01 -1.94602119e-01 2.03286794e+02] [-4.04673247e-01 1.75525287e-03 9.14459667e-01 9.97141772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.50, Y:203.27, Z:99.70 [[ 8.05819108e-01 4.75261833e-01 3.53244611e-01 3.28495213e+02] [-4.33932574e-01 8.79839505e-01 -1.93868425e-01 2.03273200e+02] [-4.02936827e-01 2.93853789e-03 9.15223076e-01 9.97012720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.52, Y:203.26, Z:99.69 [[ 8.05925925e-01 4.74711600e-01 3.53740442e-01 3.28519785e+02] [-4.32422610e-01 8.80127574e-01 -1.95923814e-01 2.03261542e+02] [-4.04344024e-01 4.93471628e-03 9.14593658e-01 9.96856404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.900385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:328.55, Y:203.24, Z:99.67 [[ 8.06364466e-01 4.72875401e-01 3.55197414e-01 3.28545110e+02] [-4.32603385e-01 8.81129247e-01 -1.90959581e-01 2.03241807e+02] [-4.03274918e-01 3.23416824e-04 9.15078814e-01 9.96746987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.57, Y:203.24, Z:99.66 [[ 8.08566742e-01 4.71619285e-01 3.51845242e-01 3.28569724e+02] [-4.28443293e-01 8.81758285e-01 -1.97328842e-01 2.03235205e+02] [-4.03306544e-01 8.80780451e-03 9.15022543e-01 9.96573277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.60, Y:203.22, Z:99.65 [[ 8.08873106e-01 4.69221734e-01 3.54337781e-01 3.28595625e+02] [-4.28548887e-01 8.83076160e-01 -1.91108206e-01 2.03216208e+02] [-4.02579371e-01 2.73122653e-03 9.15381008e-01 9.96468575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.62, Y:203.20, Z:99.64 [[ 8.08818263e-01 4.70086452e-01 3.53315361e-01 3.28621663e+02] [-4.30432048e-01 8.82620044e-01 -1.88971187e-01 2.03197791e+02] [-4.00676015e-01 7.65092334e-04 9.16219486e-01 9.96360936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.65, Y:203.19, Z:99.62 [[ 8.09604112e-01 4.70886900e-01 3.50437883e-01 3.28649170e+02] [-4.29460198e-01 8.82173646e-01 -1.93219041e-01 2.03187328e+02] [-4.00131380e-01 5.93180698e-03 9.16438592e-01 9.96198395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:203.17, Z:99.61 [[ 8.08645261e-01 4.72359425e-01 3.50669953e-01 3.28675061e+02] [-4.30947311e-01 8.81389843e-01 -1.93484779e-01 2.03171753e+02] [-4.00471294e-01 5.34027662e-03 9.16293744e-01 9.96064996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.70, Y:203.16, Z:99.59 [[ 8.08573194e-01 4.72526040e-01 3.50611652e-01 3.28701770e+02] [-4.31083135e-01 8.81300231e-01 -1.93590373e-01 2.03156982e+02] [-4.00470623e-01 5.38921598e-03 9.16293750e-01 9.95928206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.73, Y:203.14, Z:99.58 [[ 8.08993550e-01 4.72240925e-01 3.50025635e-01 3.28728793e+02] [-4.30884792e-01 8.81451782e-01 -1.93341802e-01 2.03143407e+02] [-3.99834631e-01 5.59154830e-03 9.16570239e-01 9.95807438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.75, Y:203.13, Z:99.57 [[ 8.08524022e-01 4.72915408e-01 3.50199832e-01 3.28753911e+02] [-4.31513337e-01 8.81091283e-01 -1.93583033e-01 2.03128914e+02] [-4.00106418e-01 5.40063444e-03 9.16452774e-01 9.95685830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.78, Y:203.12, Z:99.55 [[ 8.08037353e-01 4.72708957e-01 3.51599031e-01 3.28779682e+02] [-4.30881287e-01 8.81200440e-01 -1.94491907e-01 2.03115406e+02] [-4.01767287e-01 5.65928289e-03 9.15724314e-01 9.95542399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.81, Y:203.10, Z:99.54 [[ 8.07188793e-01 4.73844305e-01 3.52019641e-01 3.28805207e+02] [-4.31958450e-01 8.80593137e-01 -1.94852829e-01 2.03101093e+02] [-4.02315983e-01 5.22516128e-03 9.15485963e-01 9.95408486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.83, Y:203.09, Z:99.53 [[ 8.06852514e-01 4.74391117e-01 3.52054100e-01 3.28831277e+02] [-4.32490730e-01 8.80299558e-01 -1.94998605e-01 2.03086760e+02] [-4.02418675e-01 5.07497986e-03 9.15441672e-01 9.95270709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.86, Y:203.07, Z:99.51 [[ 8.07008748e-01 4.73797377e-01 3.52495286e-01 3.28857950e+02] [-4.31673203e-01 8.80616657e-01 -1.95377962e-01 2.03073977e+02] [-4.02982787e-01 5.50895532e-03 9.15190977e-01 9.95131690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.88, Y:203.06, Z:99.50 [[ 8.06003402e-01 4.75088251e-01 3.53057601e-01 3.28883285e+02] [-4.32874516e-01 8.79923841e-01 -1.95840977e-01 2.03059255e+02] [-4.03705548e-01 5.01885585e-03 9.14875206e-01 9.95003483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.91, Y:203.05, Z:99.49 [[ 8.05754965e-01 4.75408056e-01 3.53194163e-01 3.28909809e+02] [-4.33127542e-01 8.79751228e-01 -1.96056902e-01 2.03045121e+02] [-4.03930029e-01 4.99570222e-03 9.14776243e-01 9.94863784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:203.03, Z:99.47 [[ 8.06825670e-01 4.74526264e-01 3.51933464e-01 3.28936237e+02] [-4.32423737e-01 8.80223908e-01 -1.95488065e-01 2.03032499e+02] [-4.02544471e-01 5.54040518e-03 9.15383665e-01 9.94723186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.96, Y:203.02, Z:99.46 [[ 8.07736604e-01 4.74336374e-01 3.50095106e-01 3.28962543e+02] [-4.32613669e-01 8.80324983e-01 -1.94610733e-01 2.03017273e+02] [-4.00508418e-01 5.73828473e-03 9.16275111e-01 9.94606308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.410385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:328.99, Y:203.00, Z:99.45 [[ 8.07839495e-01 4.70959413e-01 3.54390436e-01 3.28987902e+02] [-4.32232252e-01 8.82152418e-01 -1.87035805e-01 2.02998130e+02] [-4.00712653e-01 -2.08406616e-03 9.16201411e-01 9.94513354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.02, Y:202.99, Z:99.44 [[ 8.08662062e-01 4.73271501e-01 3.49399134e-01 3.29015159e+02] [-4.31415082e-01 8.80890995e-01 -1.94710252e-01 2.02989019e+02] [-3.99933364e-01 6.71873746e-03 9.16519592e-01 9.94356082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:202.98, Z:99.42 [[ 8.08167316e-01 4.76541739e-01 3.46083169e-01 3.29041096e+02] [-4.30725430e-01 8.79002128e-01 -2.04525948e-01 2.02981334e+02] [-4.01672993e-01 1.62243651e-02 9.15639436e-01 9.94163515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.07, Y:202.95, Z:99.41 [[ 8.08833678e-01 4.68871845e-01 3.54890511e-01 3.29066544e+02] [-4.31258705e-01 8.83256297e-01 -1.84049567e-01 2.02954169e+02] [-3.99754938e-01 -4.18413411e-03 9.16612504e-01 9.94134765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.530385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:329.09, Y:202.95, Z:99.39 [[ 8.10077790e-01 4.71888542e-01 3.47987325e-01 3.29092984e+02] [-4.28326277e-01 8.81581323e-01 -1.98370792e-01 2.02949780e+02] [-4.00388031e-01 1.16436575e-02 9.16271712e-01 9.93945556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.12, Y:202.94, Z:99.38 [[ 8.11239142e-01 4.72264308e-01 3.44757129e-01 3.29118621e+02] [-4.25644367e-01 8.81229439e-01 -2.05576141e-01 2.02941348e+02] [-4.00896405e-01 2.00274828e-02 9.15904456e-01 9.93776633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:202.92, Z:99.37 [[ 8.11342388e-01 4.65044881e-01 3.54198798e-01 3.29142159e+02] [-4.25404146e-01 8.85285351e-01 -1.87886027e-01 2.02917305e+02] [-4.00942442e-01 1.76226081e-03 9.16101552e-01 9.93728343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.17, Y:202.91, Z:99.35 [[ 8.10037336e-01 4.71979001e-01 3.47958816e-01 3.29169607e+02] [-4.25857887e-01 8.81441081e-01 -2.04222136e-01 2.02911749e+02] [-4.03093755e-01 1.72465490e-02 9.14996165e-01 9.93512917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.19, Y:202.89, Z:99.34 [[ 8.09543288e-01 4.69497340e-01 3.52437104e-01 3.29194426e+02] [-4.26408048e-01 8.82888618e-01 -1.96682143e-01 2.02894287e+02] [-4.03504450e-01 8.94069138e-03 9.14933999e-01 9.93411380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.22, Y:202.89, Z:99.32 [[ 8.09473906e-01 4.70696009e-01 3.50994676e-01 3.29219511e+02] [-4.25757091e-01 8.82193771e-01 -2.01159266e-01 2.02888911e+02] [-4.04330181e-01 1.33947048e-02 9.14515001e-01 9.93244342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.25, Y:202.86, Z:99.32 [[ 8.08267500e-01 4.69560714e-01 3.55269453e-01 3.29246467e+02] [-4.29921921e-01 8.82900177e-01 -1.88823782e-01 2.02864554e+02] [-4.02331692e-01 -1.17999814e-04 9.15493963e-01 9.93175219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.27, Y:202.86, Z:99.30 [[ 8.08170875e-01 4.78934087e-01 3.42756441e-01 3.29274316e+02] [-4.33574266e-01 8.77698777e-01 -2.04103438e-01 2.02862627e+02] [-3.98589002e-01 1.63400814e-02 9.16984083e-01 9.92971685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:329.30, Y:202.84, Z:99.29 [[ 8.07145720e-01 4.70879168e-01 3.56073863e-01 3.29299158e+02] [-4.32987322e-01 8.82184919e-01 -1.85126300e-01 2.02838420e+02] [-4.01295110e-01 -4.75156750e-03 9.15936492e-01 9.92918203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.33, Y:202.83, Z:99.27 [[ 8.07014095e-01 4.75304379e-01 3.50448283e-01 3.29327659e+02] [-4.33048353e-01 8.79797921e-01 -1.96022302e-01 2.02831966e+02] [-4.01493929e-01 6.43170866e-03 9.15839101e-01 9.92737374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:202.82, Z:99.26 [[ 8.07183062e-01 4.74891854e-01 3.50618356e-01 3.29353600e+02] [-4.32495447e-01 8.80018103e-01 -1.96254498e-01 2.02818667e+02] [-4.01750163e-01 6.77246421e-03 9.15724271e-01 9.92606698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:329.38, Y:202.81, Z:99.25 [[ 8.07757201e-01 4.73520859e-01 3.51149969e-01 3.29381507e+02] [-4.30809372e-01 8.80749894e-01 -1.96679710e-01 2.02806366e+02] [-4.02407243e-01 7.59075427e-03 9.15429294e-01 9.92468614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.41, Y:202.79, Z:99.23 [[ 8.07911585e-01 4.72913208e-01 3.51613381e-01 3.29407600e+02] [-4.29967083e-01 8.81072336e-01 -1.97078272e-01 2.02793650e+02] [-4.02997741e-01 8.03963970e-03 9.15165660e-01 9.92337171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.43, Y:202.78, Z:99.22 [[ 8.08140475e-01 4.71825949e-01 3.52546801e-01 3.29434849e+02] [-4.28503141e-01 8.81648868e-01 -1.97687460e-01 2.02781314e+02] [-4.04096561e-01 8.69182621e-03 9.14675036e-01 9.92204561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:329.46, Y:202.77, Z:99.21 [[ 8.08229796e-01 4.71576833e-01 3.52675329e-01 3.29461950e+02] [-4.28137270e-01 8.81779527e-01 -1.97897306e-01 2.02767313e+02] [-4.04305670e-01 8.95304681e-03 9.14580105e-01 9.92069332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:329.49, Y:202.76, Z:99.19 [[ 8.08554410e-01 4.70639594e-01 3.53182869e-01 3.29488820e+02] [-4.26921049e-01 8.82273613e-01 -1.98322186e-01 2.02755452e+02] [-4.04942199e-01 9.57307681e-03 9.14292170e-01 9.91933960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.52, Y:202.74, Z:99.18 [[ 8.08553611e-01 4.70560149e-01 3.53290538e-01 3.29515672e+02] [-4.26748658e-01 8.82314139e-01 -1.98512830e-01 2.02741602e+02] [-4.05125464e-01 9.74200283e-03 9.14209195e-01 9.91801303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.040385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:329.54, Y:202.73, Z:99.17 [[ 8.08787935e-01 4.70578655e-01 3.52729082e-01 3.29542113e+02] [-4.26853022e-01 8.82303075e-01 -1.98337545e-01 2.02729773e+02] [-4.04547369e-01 9.84953925e-03 9.14464003e-01 9.91671404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.57, Y:202.72, Z:99.15 [[ 8.08711010e-01 4.70848968e-01 3.52544682e-01 3.29569221e+02] [-4.27138055e-01 8.82159018e-01 -1.98364686e-01 2.02716834e+02] [-4.04400278e-01 9.83445590e-03 9.14529222e-01 9.91535250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1003857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:329.60, Y:202.71, Z:99.14 [[ 8.08556211e-01 4.71160929e-01 3.52482954e-01 3.29595771e+02] [-4.27433027e-01 8.81992708e-01 -1.98468817e-01 2.02706050e+02] [-4.04398147e-01 9.81033884e-03 9.14530424e-01 9.91400886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:329.62, Y:202.69, Z:99.13 [[ 8.09045503e-01 4.70531315e-01 3.52201159e-01 3.29623043e+02] [-4.26762803e-01 8.82323878e-01 -1.98439119e-01 2.02693129e+02] [-4.04127313e-01 1.02399232e-02 9.14645428e-01 9.91276168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.160385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:329.65, Y:202.68, Z:99.11 [[ 8.09278665e-01 4.70074011e-01 3.52276122e-01 3.29650107e+02] [-4.26184344e-01 8.82563321e-01 -1.98617445e-01 2.02679718e+02] [-4.04270883e-01 1.06022929e-02 9.14577850e-01 9.91141935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:329.68, Y:202.67, Z:99.10 [[ 8.09939340e-01 4.68749702e-01 3.52522314e-01 3.29678212e+02] [-4.24615540e-01 8.83257419e-01 -1.98891870e-01 2.02669015e+02] [-4.04598454e-01 1.14038976e-02 9.14423339e-01 9.91005866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.71, Y:202.66, Z:99.09 [[ 8.10122867e-01 4.68398235e-01 3.52567772e-01 3.29705145e+02] [-4.24159527e-01 8.83439799e-01 -1.99054810e-01 2.02655821e+02] [-4.04709323e-01 1.17138739e-02 9.14370357e-01 9.90874329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.73, Y:202.63, Z:99.09 [[ 8.12039558e-01 4.61175230e-01 3.57643906e-01 3.29733621e+02] [-4.26980277e-01 8.87241951e-01 -1.74612608e-01 2.02627251e+02] [-3.97843687e-01 -1.09145491e-02 9.17388290e-01 9.90901641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.76, Y:202.64, Z:99.05 [[ 8.10855918e-01 4.77537132e-01 3.38335585e-01 3.29761291e+02] [-4.24457063e-01 8.77864255e-01 -2.21789432e-01 2.02643638e+02] [-4.02925405e-01 3.62303444e-02 9.14515435e-01 9.90531172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.79, Y:202.62, Z:99.05 [[ 8.10262990e-01 4.68740971e-01 3.51789412e-01 3.29785885e+02] [-4.24619906e-01 8.83257236e-01 -1.98883360e-01 2.02620556e+02] [-4.03945323e-01 1.17710387e-02 9.14707395e-01 9.90478295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.81, Y:202.61, Z:99.03 [[ 8.09867909e-01 4.69361753e-01 3.51871446e-01 3.29813230e+02] [-4.25216280e-01 8.82929865e-01 -1.99062727e-01 2.02607354e+02] [-4.04110238e-01 1.15930471e-02 9.14636822e-01 9.90340816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.370385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:329.84, Y:202.60, Z:99.02 [[ 8.08907620e-01 4.71296174e-01 3.51494493e-01 3.29840999e+02] [-4.27364976e-01 8.81909574e-01 -1.98984120e-01 2.02595009e+02] [-4.03766813e-01 1.07433354e-02 9.14798853e-01 9.90205608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.87, Y:202.58, Z:99.01 [[ 8.08072848e-01 4.72706747e-01 3.51520418e-01 3.29867578e+02] [-4.28834818e-01 8.81161068e-01 -1.99137819e-01 2.02581793e+02] [-4.03879898e-01 1.01736705e-02 9.14755445e-01 9.90071209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.90, Y:202.56, Z:99.00 [[ 8.06645501e-01 4.73105808e-01 3.54251225e-01 3.29895464e+02] [-4.33824380e-01 8.81004461e-01 -1.88752610e-01 2.02562587e+02] [-4.01396865e-01 -1.42637445e-03 9.15903118e-01 9.89998097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.92, Y:202.56, Z:98.98 [[ 8.04765332e-01 4.82739334e-01 3.45420752e-01 3.29922007e+02] [-4.35114800e-01 8.75566015e-01 -2.09902989e-01 2.02563570e+02] [-4.03767101e-01 1.86249669e-02 9.14672203e-01 9.89767135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.95, Y:202.54, Z:98.97 [[ 8.02722391e-01 4.80878748e-01 3.52693057e-01 3.29948565e+02] [-4.41000900e-01 8.76785606e-01 -1.91742555e-01 2.02540451e+02] [-4.01441116e-01 -1.62191340e-03 9.15883399e-01 9.89711784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:202.54, Z:98.95 [[ 8.01258997e-01 4.88204362e-01 3.45890910e-01 3.29974835e+02] [-4.42209079e-01 8.72630522e-01 -2.07285077e-01 2.02537775e+02] [-4.03032444e-01 1.31329324e-02 9.15091457e-01 9.89514476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.00, Y:202.52, Z:98.94 [[ 7.99657432e-01 4.87634777e-01 3.50371683e-01 3.30000687e+02] [-4.45199637e-01 8.73042097e-01 -1.98984373e-01 2.02520441e+02] [-4.02920929e-01 3.13398640e-03 9.15229427e-01 9.89414132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:202.51, Z:98.93 [[ 7.99061201e-01 4.88600194e-01 3.50386997e-01 3.30027760e+02] [-4.46188779e-01 8.72503366e-01 -1.99131740e-01 2.02506554e+02] [-4.03009641e-01 2.77970135e-03 9.15191511e-01 9.89277369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.05, Y:202.49, Z:98.91 [[ 7.98507533e-01 4.89613786e-01 3.50234295e-01 3.30053563e+02] [-4.47271497e-01 8.71936103e-01 -1.99187453e-01 2.02494096e+02] [-4.02906849e-01 2.40286446e-03 9.15237837e-01 9.89144416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.08, Y:202.48, Z:98.90 [[ 7.98723133e-01 4.89553113e-01 3.49827253e-01 3.30079761e+02] [-4.47250124e-01 8.71969734e-01 -1.99088196e-01 2.02479761e+02] [-4.02503022e-01 2.55606490e-03 9.15415088e-01 9.89010114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.11, Y:202.46, Z:98.89 [[ 7.99802333e-01 4.88562915e-01 3.48744185e-01 3.30106240e+02] [-4.46382200e-01 8.72522885e-01 -1.98612053e-01 2.02464851e+02] [-4.01321765e-01 3.17718693e-03 9.15931627e-01 9.88877465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.13, Y:202.44, Z:98.88 [[ 8.00878675e-01 4.85032729e-01 3.51193108e-01 3.30132598e+02] [-4.46269829e-01 8.74484333e-01 -1.90053654e-01 2.02443480e+02] [-3.99295114e-01 -4.51696933e-03 9.16811327e-01 9.88789807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.16, Y:202.44, Z:98.86 [[ 8.01874862e-01 4.88551757e-01 3.43967857e-01 3.30158420e+02] [-4.42070053e-01 8.72403191e-01 -2.08534746e-01 2.02440937e+02] [-4.01958673e-01 1.51608819e-02 9.15532290e-01 9.88577734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.18, Y:202.41, Z:98.86 [[ 8.04496126e-01 4.77719473e-01 3.52944879e-01 3.30183589e+02] [-4.40235125e-01 8.78491484e-01 -1.85595656e-01 2.02410011e+02] [-3.98721730e-01 -6.06774644e-03 9.17051888e-01 9.88553610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.21, Y:202.40, Z:98.84 [[ 8.05441314e-01 4.80168351e-01 3.47422862e-01 3.30210187e+02] [-4.38815513e-01 8.77164271e-01 -1.94996891e-01 2.02399703e+02] [-3.98378257e-01 4.60401088e-03 9.17209664e-01 9.88397650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.23, Y:202.40, Z:98.82 [[ 8.05939668e-01 4.85610671e-01 3.38590501e-01 3.30234604e+02] [-4.35276902e-01 8.73741012e-01 -2.17049907e-01 2.02399635e+02] [-4.01242158e-01 2.75485058e-02 9.15557650e-01 9.88160477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8503857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.26, Y:202.37, Z:98.81 [[ 8.06016372e-01 4.78299532e-01 3.48664835e-01 3.30257725e+02] [-4.35051458e-01 8.78154078e-01 -1.98936283e-01 2.02374779e+02] [-4.01332577e-01 8.65875636e-03 9.15891472e-01 9.88087864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:202.36, Z:98.80 [[ 8.05778892e-01 4.79088962e-01 3.48129492e-01 3.30282712e+02] [-4.35991963e-01 8.77726359e-01 -1.98764801e-01 2.02359850e+02] [-4.00788454e-01 8.37882044e-03 9.16132311e-01 9.87956107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:202.34, Z:98.78 [[ 8.05451824e-01 4.79855428e-01 3.47830603e-01 3.30308631e+02] [-4.36850002e-01 8.77310106e-01 -1.98718527e-01 2.02344373e+02] [-4.00511467e-01 8.10840047e-03 9.16255870e-01 9.87820738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.33, Y:202.33, Z:98.77 [[ 8.04789590e-01 4.81481532e-01 3.47115616e-01 3.30333035e+02] [-4.38744059e-01 8.76424853e-01 -1.98451829e-01 2.02328152e+02] [-3.99771644e-01 7.41705176e-03 9.16584759e-01 9.87694060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.36, Y:202.31, Z:98.76 [[ 8.04732435e-01 4.81604462e-01 3.47077584e-01 3.30359518e+02] [-4.38849265e-01 8.76357117e-01 -1.98518325e-01 2.02312950e+02] [-3.99771222e-01 7.43939212e-03 9.16584762e-01 9.87557071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:202.29, Z:98.75 [[ 8.04056447e-01 4.81003115e-01 3.49469932e-01 3.30385110e+02] [-4.41330662e-01 8.76718782e-01 -1.91288849e-01 2.02291810e+02] [-3.98397385e-01 -4.24763924e-04 9.17212812e-01 9.87464574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.41, Y:202.29, Z:98.73 [[ 8.02925027e-01 4.87577333e-01 3.42899030e-01 3.30411513e+02] [-4.41989092e-01 8.72965638e-01 -2.06341072e-01 2.02285989e+02] [-3.99946300e-01 1.41187794e-02 9.16429821e-01 9.87264589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.44, Y:202.27, Z:98.72 [[ 8.02522880e-01 4.85280043e-01 3.47073920e-01 3.30435814e+02] [-4.42760167e-01 8.74339441e-01 -1.98730913e-01 2.02266095e+02] [-3.99900564e-01 5.81559751e-03 9.16540080e-01 9.87157013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:330.46, Y:202.25, Z:98.70 [[ 8.01540303e-01 4.87594924e-01 3.46098732e-01 3.30461281e+02] [-4.44208216e-01 8.73037452e-01 -2.01208023e-01 2.02248666e+02] [-4.00265166e-01 7.53643965e-03 9.16368375e-01 9.87007276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.49, Y:202.23, Z:98.69 [[ 8.01598762e-01 4.86647159e-01 3.47295217e-01 3.30485902e+02] [-4.44707555e-01 8.73589395e-01 -1.97678424e-01 2.02231784e+02] [-3.99593062e-01 4.01397345e-03 9.16683846e-01 9.86905749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:202.22, Z:98.68 [[ 8.00559213e-01 4.87998122e-01 3.47797038e-01 3.30510703e+02] [-4.45381227e-01 8.72831422e-01 -1.99501556e-01 2.02217259e+02] [-4.00924568e-01 4.81053694e-03 9.16098439e-01 9.86768535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.54, Y:202.20, Z:98.66 [[ 7.99896997e-01 4.88717060e-01 3.48310825e-01 3.30536683e+02] [-4.45976936e-01 8.72430314e-01 -1.99924784e-01 2.02201801e+02] [-4.01583575e-01 4.58064004e-03 9.15810925e-01 9.86633192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.56, Y:202.19, Z:98.65 [[ 7.98505053e-01 4.90174489e-01 3.49454790e-01 3.30561123e+02] [-4.47211833e-01 8.71615170e-01 -2.00720132e-01 2.02185017e+02] [-4.02977985e-01 3.99572253e-03 9.15200950e-01 9.86504928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.59, Y:202.17, Z:98.64 [[ 7.97855651e-01 4.90950468e-01 3.49848536e-01 3.30586806e+02] [-4.47900757e-01 8.71179496e-01 -2.01075104e-01 2.02168627e+02] [-4.03498788e-01 3.73148427e-03 9.14972570e-01 9.86368564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:202.15, Z:98.62 [[ 7.97198639e-01 4.91996163e-01 3.49877272e-01 3.30612004e+02] [-4.48974737e-01 8.70590986e-01 -2.01228778e-01 2.02151572e+02] [-4.03603786e-01 3.33325199e-03 9.14927797e-01 9.86232587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.64, Y:202.13, Z:98.61 [[ 7.97624977e-01 4.91921661e-01 3.49009276e-01 3.30636337e+02] [-4.49055388e-01 8.70632456e-01 -2.00869074e-01 2.02134175e+02] [-4.02670652e-01 3.49369436e-03 9.15338266e-01 9.86097564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.66, Y:202.12, Z:98.60 [[ 7.98120464e-01 4.91502378e-01 3.48466839e-01 3.30660965e+02] [-4.48676150e-01 8.70867806e-01 -2.00696228e-01 2.02117809e+02] [-4.02111225e-01 3.83100705e-03 9.15582812e-01 9.85966710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:202.10, Z:98.58 [[ 7.98758116e-01 4.90138070e-01 3.48927134e-01 3.30685865e+02] [-4.47011460e-01 8.71632412e-01 -2.01091256e-01 2.02100283e+02] [-4.02698679e-01 4.64884553e-03 9.15320797e-01 9.85838231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.71, Y:202.08, Z:98.57 [[ 7.98778216e-01 4.89838482e-01 3.49301622e-01 3.30711012e+02] [-4.46526700e-01 8.71799223e-01 -2.01444834e-01 2.02084613e+02] [-4.03196314e-01 4.93724503e-03 9.15100189e-01 9.85705700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.74, Y:202.07, Z:98.56 [[ 7.98894720e-01 4.89854877e-01 3.49012071e-01 3.30736149e+02] [-4.46558174e-01 8.71789322e-01 -2.01417914e-01 2.02068132e+02] [-4.02930544e-01 5.05751534e-03 9.15216585e-01 9.85565430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.450385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:330.76, Y:202.05, Z:98.54 [[ 7.99322651e-01 4.89746806e-01 3.48182949e-01 3.30760709e+02] [-4.46594790e-01 8.71849022e-01 -2.01078034e-01 2.02051359e+02] [-4.02040289e-01 5.22953605e-03 9.15607044e-01 9.85431156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.79, Y:202.04, Z:98.53 [[ 7.99395055e-01 4.89857850e-01 3.47860365e-01 3.30785885e+02] [-4.46739010e-01 8.71786213e-01 -2.01029985e-01 2.02035641e+02] [-4.01735987e-01 5.29958116e-03 9.15740199e-01 9.85295683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.81, Y:202.02, Z:98.52 [[ 7.99371949e-01 4.89976574e-01 3.47746236e-01 3.30811085e+02] [-4.46837279e-01 8.71719061e-01 -2.01102774e-01 2.02019814e+02] [-4.01672670e-01 5.36993416e-03 9.15767563e-01 9.85163436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:330.84, Y:202.01, Z:98.49 [[ 7.98756089e-01 4.93919098e-01 3.43558780e-01 3.30835560e+02] [-4.44236950e-01 8.69263620e-01 -2.16873906e-01 2.02013412e+02] [-4.05761313e-01 2.06078482e-02 9.13746723e-01 9.84918327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.86, Y:201.98, Z:98.50 [[ 7.99768023e-01 4.83335171e-01 3.56031209e-01 3.30858291e+02] [-4.45526874e-01 8.75393261e-01 -1.87596488e-01 2.01981002e+02] [-4.02339302e-01 -8.58779891e-03 9.15450346e-01 9.84960327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.89, Y:201.97, Z:98.48 [[ 8.00272806e-01 4.88208825e-01 3.48160277e-01 3.30885501e+02] [-4.44666550e-01 8.72702193e-01 -2.01649554e-01 2.01971894e+02] [-4.02287329e-01 6.55942527e-03 9.15489967e-01 9.84779755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.91, Y:201.96, Z:98.46 [[ 8.00618725e-01 4.87608541e-01 3.48206214e-01 3.30910838e+02] [-4.43938992e-01 8.73034358e-01 -2.01814721e-01 2.01955821e+02] [-4.02402570e-01 6.99432888e-03 9.15436099e-01 9.84643340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:330.94, Y:201.94, Z:98.45 [[ 8.00449321e-01 4.87810927e-01 3.48312193e-01 3.30935633e+02] [-4.44069809e-01 8.72921008e-01 -2.02017126e-01 2.01941093e+02] [-4.02595192e-01 7.02954201e-03 9.15351133e-01 9.84510892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.96, Y:201.93, Z:98.44 [[ 7.99845438e-01 4.88557352e-01 3.48653107e-01 3.30960922e+02] [-4.44736333e-01 8.72505388e-01 -2.02346095e-01 2.01925443e+02] [-4.03059387e-01 6.78689660e-03 9.15148659e-01 9.84373804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.99, Y:201.91, Z:98.42 [[ 7.99286454e-01 4.89508303e-01 3.48601185e-01 3.30986929e+02] [-4.45726501e-01 8.71974869e-01 -2.02454228e-01 2.01909735e+02] [-4.03074499e-01 6.43813538e-03 9.15144524e-01 9.84236564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.01, Y:201.89, Z:98.41 [[ 7.98561423e-01 4.91349295e-01 3.47671576e-01 3.31012639e+02] [-4.47917763e-01 8.70944457e-01 -2.02053040e-01 2.01894371e+02] [-4.02081250e-01 5.62348919e-03 9.15586722e-01 9.84098844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.04, Y:201.88, Z:98.40 [[ 7.98140346e-01 4.92306324e-01 3.47284425e-01 3.31037477e+02] [-4.49001691e-01 8.70406080e-01 -2.01967169e-01 2.01880115e+02] [-4.01708190e-01 5.26685151e-03 9.15752582e-01 9.83963788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.06, Y:201.86, Z:98.38 [[ 7.97803625e-01 4.93264799e-01 3.46697583e-01 3.31062948e+02] [-4.50162788e-01 8.69865659e-01 -2.01710683e-01 2.01864018e+02] [-4.01077101e-01 4.85516398e-03 9.16031433e-01 9.83829057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.09, Y:201.85, Z:98.37 [[ 7.97780553e-01 4.93455897e-01 3.46478668e-01 3.31087755e+02] [-4.50367865e-01 8.69757094e-01 -2.01721055e-01 2.01848305e+02] [-4.00892724e-01 4.88627705e-03 9.16111974e-01 9.83700160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:331.11, Y:201.83, Z:98.36 [[ 7.98350453e-01 4.92522838e-01 3.46493591e-01 3.31113274e+02] [-4.49309990e-01 8.70282548e-01 -2.01813824e-01 2.01832146e+02] [-4.00945242e-01 5.43512641e-03 9.16085898e-01 9.83569384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.14, Y:201.82, Z:98.34 [[ 7.99398721e-01 4.90814676e-01 3.46500560e-01 3.31139329e+02] [-4.47384823e-01 8.71240299e-01 -2.01958315e-01 2.01816798e+02] [-4.01009357e-01 6.42612683e-03 9.16051418e-01 9.83429365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.16, Y:201.80, Z:98.33 [[ 7.99721774e-01 4.90161417e-01 3.46679780e-01 3.31164677e+02] [-4.46564583e-01 8.71604442e-01 -2.02202298e-01 2.01801263e+02] [-4.01279402e-01 6.89066911e-03 9.15929779e-01 9.83291496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.19, Y:201.80, Z:98.30 [[ 8.00251803e-01 4.91314075e-01 3.43813223e-01 3.31188585e+02] [-4.41225162e-01 8.70700479e-01 -2.17257986e-01 2.01797176e+02] [-4.06100245e-01 2.21620498e-02 9.13559760e-01 9.83048182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:331.21, Y:201.76, Z:98.31 [[ 8.00640976e-01 4.82404790e-01 3.55330335e-01 3.31212826e+02] [-4.44661792e-01 8.75910994e-01 -1.87231998e-01 2.01761693e+02] [-4.01559360e-01 -8.09621398e-03 9.15797211e-01 9.83092619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.24, Y:201.76, Z:98.29 [[ 8.00935215e-01 4.88894650e-01 3.45665738e-01 3.31240142e+02] [-4.45310829e-01 8.72307899e-01 -2.01933639e-01 2.01756005e+02] [-4.00251229e-01 7.80706673e-03 9.16372197e-01 9.82896734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.050385723 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:331.27, Y:201.74, Z:98.28 [[ 8.01316668e-01 4.89771962e-01 3.43533146e-01 3.31266861e+02] [-4.45477816e-01 8.71790131e-01 -2.03792747e-01 2.01742639e+02] [-3.99300779e-01 1.02661292e-02 9.16762507e-01 9.82751994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.91, Y:201.77, Z:99.23 [[ 8.17880938e-01 -5.71863881e-01 6.35804517e-02 3.31913354e+02] [-4.28568064e-01 -5.31723504e-01 7.30478973e-01 2.01774174e+02] [-3.83927320e-01 -6.24693378e-01 -6.79969114e-01 9.92319025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:331.45, Y:201.65, Z:98.22 [[ 8.37497908e-01 4.43053992e-01 3.19844360e-01 3.31446291e+02] [-4.11477958e-01 8.96474479e-01 -1.64375784e-01 2.01654014e+02] [-3.59559653e-01 6.05547078e-03 9.33102453e-01 9.82205652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.140385723 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:331.47, Y:201.64, Z:98.21 [[ 8.36778149e-01 4.44228446e-01 3.20099073e-01 3.31473925e+02] [-4.12278032e-01 8.95889504e-01 -1.65556098e-01 2.01640889e+02] [-3.60318128e-01 6.56390943e-03 9.32806390e-01 9.82081882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.170385723 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:332.21, Y:202.11, Z:99.07 [[ 8.49754654e-01 -4.17637340e-01 -3.21708066e-01 3.32205581e+02] [-3.73882970e-01 -9.07652010e-01 1.90733723e-01 2.02114631e+02] [-3.71656498e-01 -4.17957013e-02 -9.27429009e-01 9.90655287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.13, Y:202.39, Z:98.35 [[ 8.42923485e-01 2.47662078e-01 -4.77643689e-01 3.32133491e+02] [-3.45182811e-01 -4.32041888e-01 -8.33179833e-01 2.02392327e+02] [-4.12709130e-01 8.67181240e-01 -2.78689562e-01 9.83530728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.71, Y:201.55, Z:98.09 [[ 8.51194537e-01 3.54399243e-01 3.87129225e-01 3.31710160e+02] [-3.19877422e-01 9.35074069e-01 -1.52692240e-01 2.01552519e+02] [-4.16108514e-01 6.13690254e-03 9.09294256e-01 9.80938595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:331.74, Y:201.54, Z:98.08 [[ 8.51425507e-01 3.54826337e-01 3.86229046e-01 3.31737034e+02] [-3.20476926e-01 9.34912989e-01 -1.52421271e-01 2.01539977e+02] [-4.15173633e-01 5.99786046e-03 9.09722419e-01 9.80802969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.76, Y:201.53, Z:98.07 [[ 8.51593694e-01 3.54883725e-01 3.85805290e-01 3.31764402e+02] [-3.20556570e-01 9.34890524e-01 -1.52391580e-01 2.01529574e+02] [-4.14767001e-01 6.10328798e-03 9.09907185e-01 9.80660184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.79, Y:201.52, Z:98.05 [[ 8.51599495e-01 3.55067323e-01 3.85623515e-01 3.31790742e+02] [-3.20729760e-01 9.34820496e-01 -1.52456753e-01 2.01518800e+02] [-4.14621177e-01 6.15115672e-03 9.09973320e-01 9.80523029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.82, Y:201.51, Z:98.04 [[ 8.51961960e-01 3.54663839e-01 3.85193952e-01 3.31817648e+02] [-3.20309709e-01 9.34971501e-01 -1.52413855e-01 2.01505889e+02] [-4.14201050e-01 6.46944420e-03 9.10162423e-01 9.80384086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.84, Y:201.50, Z:98.02 [[ 8.51040435e-01 3.58099190e-01 3.84050971e-01 3.31844372e+02] [-3.19501055e-01 9.33553829e-01 -1.62469457e-01 2.01498850e+02] [-4.16712436e-01 1.55633873e-02 9.08905126e-01 9.80175262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.87, Y:201.48, Z:98.01 [[ 8.51710593e-01 3.50418321e-01 3.89610147e-01 3.31871518e+02] [-3.19119242e-01 9.36592724e-01 -1.44765252e-01 2.01477526e+02] [-4.15634425e-01 -1.03399594e-03 9.09531174e-01 9.80145033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.90, Y:201.48, Z:97.99 [[ 8.51073886e-01 3.56407507e-01 3.85547571e-01 3.31897109e+02] [-3.16872636e-01 9.34167120e-01 -1.64083898e-01 2.01479429e+02] [-4.18646597e-01 1.74780458e-02 9.07981027e-01 9.79895721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:331.92, Y:201.45, Z:97.99 [[ 8.51980258e-01 3.49206035e-01 3.90108684e-01 3.31924975e+02] [-3.19513112e-01 9.37035025e-01 -1.40984870e-01 2.01453830e+02] [-4.14778268e-01 -4.52851447e-03 9.09911249e-01 9.79887003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.500385723 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:331.95, Y:201.45, Z:97.97 [[ 8.52442142e-01 3.56080700e-01 3.82817097e-01 3.31952561e+02] [-3.20313166e-01 9.34398923e-01 -1.55878568e-01 2.01449712e+02] [-4.13209233e-01 1.02561044e-02 9.10578356e-01 9.79695986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.98, Y:201.44, Z:97.95 [[ 8.51032118e-01 3.56201171e-01 3.85830352e-01 3.31975688e+02] [-3.17583634e-01 9.34282951e-01 -1.62037042e-01 2.01444057e+02] [-4.18192504e-01 1.53653220e-02 9.08228461e-01 9.79508941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.00, Y:201.43, Z:97.94 [[ 8.49487526e-01 3.55792086e-01 3.89593294e-01 3.32003854e+02] [-3.19610187e-01 9.34526729e-01 -1.56553896e-01 2.01426834e+02] [-4.19785984e-01 8.47259588e-03 9.07583573e-01 9.79376818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5903857229999 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:332.03, Y:201.41, Z:97.92 [[ 8.48504623e-01 3.58005789e-01 3.89707275e-01 3.32031704e+02] [-3.21236405e-01 9.33674733e-01 -1.58299289e-01 2.01414579e+02] [-4.20531898e-01 9.12951420e-03 9.07231820e-01 9.79224712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.06, Y:201.40, Z:97.92 [[ 8.49795948e-01 3.50527164e-01 3.93671887e-01 3.32057800e+02] [-3.21547236e-01 9.36520064e-01 -1.39776767e-01 2.01395650e+02] [-4.17677174e-01 -7.80237738e-03 9.08561996e-01 9.79212473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.08, Y:201.39, Z:97.90 [[ 8.49388980e-01 3.57244018e-01 3.88477891e-01 3.32083162e+02] [-3.22663409e-01 9.33997909e-01 -1.53415221e-01 2.01391809e+02] [-4.17644208e-01 4.96159793e-03 9.08597104e-01 9.79032390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:201.38, Z:97.89 [[ 8.50133789e-01 3.56882380e-01 3.87178909e-01 3.32110775e+02] [-3.21740919e-01 9.34124276e-01 -1.54578843e-01 2.01379216e+02] [-4.16839683e-01 6.84139997e-03 9.08954275e-01 9.78892422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:201.37, Z:97.87 [[ 8.50010096e-01 3.56985419e-01 3.87355454e-01 3.32138493e+02] [-3.21771413e-01 9.34084441e-01 -1.54755988e-01 2.01367807e+02] [-4.17068334e-01 6.90424088e-03 9.08848908e-01 9.78746193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.17, Y:201.36, Z:97.86 [[ 8.49914582e-01 3.57016237e-01 3.87536593e-01 3.32165778e+02] [-3.21708832e-01 9.34071715e-01 -1.54962763e-01 2.01357135e+02] [-4.17311193e-01 7.03116713e-03 9.08736448e-01 9.78603468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.19, Y:201.35, Z:97.85 [[ 8.49552206e-01 3.57751566e-01 3.87653024e-01 3.32193335e+02] [-3.22433478e-01 9.33791974e-01 -1.55142523e-01 2.01345303e+02] [-4.17489763e-01 6.80935994e-03 9.08656112e-01 9.78459728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.22, Y:201.35, Z:97.82 [[ 8.48465498e-01 3.60510535e-01 3.87477036e-01 3.32215888e+02] [-3.18630785e-01 9.32525323e-01 -1.69914521e-01 2.01346877e+02] [-4.22588123e-01 2.07044963e-02 9.06085317e-01 9.78214685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.25, Y:201.31, Z:97.83 [[ 8.48927591e-01 3.52517357e-01 3.93768280e-01 3.32245226e+02] [-3.24687781e-01 9.35741328e-01 -1.37717146e-01 2.01312603e+02] [-4.17012938e-01 -1.09398639e-02 9.08834710e-01 9.78258753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.860385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:332.27, Y:201.31, Z:97.80 [[ 8.48803375e-01 3.60521095e-01 3.86726481e-01 3.32272165e+02] [-3.25449254e-01 9.32732460e-01 -1.55219011e-01 2.01311277e+02] [-4.16672070e-01 5.89057607e-03 9.09037781e-01 9.78047156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.890385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:332.30, Y:201.30, Z:97.79 [[ 8.48761661e-01 3.60666551e-01 3.86682404e-01 3.32300253e+02] [-3.25559110e-01 9.32675853e-01 -1.55328745e-01 2.01299959e+02] [-4.16671224e-01 5.94910401e-03 9.09037788e-01 9.77904777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.33, Y:201.29, Z:97.78 [[ 8.48169363e-01 3.61163250e-01 3.87517535e-01 3.32327745e+02] [-3.25919107e-01 9.32484701e-01 -1.55720964e-01 2.01289546e+02] [-4.17594862e-01 5.77838175e-03 9.08614958e-01 9.77765751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.35, Y:201.29, Z:97.76 [[ 8.47860221e-01 3.60118200e-01 3.89163114e-01 3.32352408e+02] [-3.22434459e-01 9.32844087e-01 -1.60741805e-01 2.01285522e+02] [-4.20914559e-01 1.08069845e-02 9.07035911e-01 9.77571729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.38, Y:201.26, Z:97.75 [[ 8.47723844e-01 3.57179388e-01 3.92157071e-01 3.32382294e+02] [-3.24413095e-01 9.34035653e-01 -1.49444116e-01 2.01263276e+02] [-4.19667044e-01 -5.33548837e-04 9.07677965e-01 9.77513281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.010385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:332.40, Y:201.27, Z:97.72 [[ 8.46603100e-01 3.62919452e-01 3.89297654e-01 3.32404411e+02] [-3.18680343e-01 9.31501206e-01 -1.75352051e-01 2.01271935e+02] [-4.26269904e-01 2.43920800e-02 9.04267104e-01 9.77222754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.44, Y:201.23, Z:97.73 [[ 8.47527962e-01 3.50312587e-01 3.98719758e-01 3.32435375e+02] [-3.23049544e-01 9.36536813e-01 -1.36153553e-01 2.01233452e+02] [-4.21112034e-01 -1.34122930e-02 9.06909458e-01 9.77299759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.46, Y:201.23, Z:97.71 [[ 8.47932401e-01 3.59520737e-01 3.89558062e-01 3.32462978e+02] [-3.23382035e-01 9.33107930e-01 -1.57269355e-01 2.01234576e+02] [-4.20041311e-01 7.37770319e-03 9.07474995e-01 9.77070353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.49, Y:201.22, Z:97.69 [[ 8.48049114e-01 3.60209199e-01 3.88666995e-01 3.32489515e+02] [-3.24250876e-01 9.32844101e-01 -1.57045385e-01 2.01224702e+02] [-4.19134906e-01 7.15658553e-03 9.07895762e-01 9.76918521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.52, Y:201.21, Z:97.68 [[ 8.47957830e-01 3.60594124e-01 3.88509198e-01 3.32516878e+02] [-3.24646808e-01 9.32695863e-01 -1.57107851e-01 2.01213923e+02] [-4.19013089e-01 7.09256179e-03 9.07952491e-01 9.76773463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:201.20, Z:97.66 [[ 8.47565505e-01 3.61475889e-01 3.88545875e-01 3.32544100e+02] [-3.25546432e-01 9.32356675e-01 -1.57259504e-01 2.01202333e+02] [-4.19108859e-01 6.79800725e-03 9.07910541e-01 9.76621142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.57, Y:201.19, Z:97.65 [[ 8.47436315e-01 3.61808324e-01 3.88518248e-01 3.32571125e+02] [-3.25854810e-01 9.32227907e-01 -1.57384156e-01 2.01190796e+02] [-4.19130450e-01 6.77250923e-03 9.07900765e-01 9.76481214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:201.18, Z:97.63 [[ 8.47681294e-01 3.63533178e-01 3.86367768e-01 3.32598188e+02] [-3.26748232e-01 9.31537297e-01 -1.59605317e-01 2.01179896e+02] [-4.17937814e-01 9.04945666e-03 9.08430565e-01 9.76329199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.63, Y:201.17, Z:97.62 [[ 8.47217084e-01 3.61644628e-01 3.89148269e-01 3.32625084e+02] [-3.26819538e-01 9.32307234e-01 -1.54894193e-01 2.01165855e+02] [-4.18822399e-01 4.04774970e-03 9.08059147e-01 9.76210387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.65, Y:201.17, Z:97.59 [[ 8.45698013e-01 3.68559868e-01 3.85951414e-01 3.32649088e+02] [-3.25005053e-01 9.29324108e-01 -1.75295233e-01 2.01168393e+02] [-4.23280742e-01 2.28106709e-02 9.05711371e-01 9.75938920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.67, Y:201.15, Z:97.59 [[ 8.46527962e-01 3.58787978e-01 3.93270387e-01 3.32674446e+02] [-3.25181255e-01 9.33418971e-01 -1.51611925e-01 2.01145064e+02] [-4.21482576e-01 4.59575844e-04 9.06836384e-01 9.75919711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.70, Y:201.13, Z:97.58 [[ 8.45865925e-01 3.58728889e-01 3.94746021e-01 3.32699749e+02] [-3.23947273e-01 9.33438495e-01 -1.54112750e-01 2.01134713e+02] [-4.23755827e-01 2.48182644e-03 9.05773062e-01 9.75769934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.73, Y:201.12, Z:97.56 [[ 8.45514917e-01 3.59644659e-01 3.94664725e-01 3.32727513e+02] [-3.25295775e-01 9.33088420e-01 -1.53390543e-01 2.01121535e+02] [-4.23423174e-01 1.31122489e-03 9.05931066e-01 9.75638223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.76, Y:201.10, Z:97.56 [[ 8.45325991e-01 3.60155307e-01 3.94603755e-01 3.32758607e+02] [-3.31844857e-01 9.32812819e-01 -1.40496394e-01 2.01096266e+02] [-4.18691963e-01 -1.21819725e-02 9.08046607e-01 9.75594395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.79, Y:201.09, Z:97.54 [[ 8.44923674e-01 3.68948009e-01 3.87274260e-01 3.32786492e+02] [-3.33035750e-01 9.29435203e-01 -1.58862811e-01 2.01094746e+02] [-4.18558448e-01 5.25077627e-03 9.08174683e-01 9.75381984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.81, Y:201.08, Z:97.52 [[ 8.43628554e-01 3.71232018e-01 3.87914492e-01 3.32813113e+02] [-3.35360298e-01 9.28530329e-01 -1.59263616e-01 2.01083440e+02] [-4.19314124e-01 4.26821482e-03 9.07831178e-01 9.75237033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.84, Y:201.07, Z:97.51 [[ 8.43135773e-01 3.75109866e-01 3.85246229e-01 3.32839733e+02] [-3.38125351e-01 9.26955446e-01 -1.62557214e-01 2.01072589e+02] [-4.18082905e-01 6.79628529e-03 9.08383452e-01 9.75079713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.87, Y:201.06, Z:97.50 [[ 8.42447472e-01 3.73187771e-01 3.88604098e-01 3.32865135e+02] [-3.39169506e-01 9.27755601e-01 -1.55671422e-01 2.01056893e+02] [-4.18624299e-01 -6.57664022e-04 9.08159272e-01 9.74979855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.89, Y:201.05, Z:97.48 [[ 8.42837871e-01 3.73943990e-01 3.87027410e-01 3.32892805e+02] [-3.38379618e-01 9.27445716e-01 -1.59196980e-01 2.01048028e+02] [-4.18477667e-01 3.21505634e-03 9.08221397e-01 9.74821336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.92, Y:201.03, Z:97.47 [[ 8.42435713e-01 3.76136087e-01 3.85776767e-01 3.32918675e+02] [-3.40993786e-01 9.26561814e-01 -1.58765371e-01 2.01034109e+02] [-4.17163407e-01 2.20213776e-03 9.08828830e-01 9.74690038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.95, Y:201.02, Z:97.45 [[ 8.42578487e-01 3.76212254e-01 3.85390495e-01 3.32946106e+02] [-3.41087506e-01 9.26530642e-01 -1.58745967e-01 2.01022142e+02] [-4.16798281e-01 2.30405407e-03 9.08996086e-01 9.74546660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.97, Y:201.01, Z:97.44 [[ 8.43110664e-01 3.75455806e-01 3.84964084e-01 3.32972999e+02] [-3.40276348e-01 9.26836036e-01 -1.58704034e-01 2.01008588e+02] [-4.16384936e-01 2.81089096e-03 9.09184076e-01 9.74409781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.00, Y:200.99, Z:97.44 [[ 8.44705306e-01 3.67250294e-01 3.89358661e-01 3.32999377e+02] [-3.38875673e-01 9.30045364e-01 -1.42052456e-01 2.00988461e+02] [-4.14290024e-01 -1.19517151e-02 9.10066444e-01 9.74377810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:200.99, Z:97.41 [[ 8.43986556e-01 3.79302248e-01 3.79231457e-01 3.33025421e+02] [-3.37761121e-01 9.25089853e-01 -1.73568976e-01 2.00992029e+02] [-4.16658276e-01 1.84002403e-02 9.08876951e-01 9.74079566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.05, Y:200.97, Z:97.40 [[ 8.44059310e-01 3.72448002e-01 3.85806126e-01 3.33052060e+02] [-3.36658941e-01 9.28041487e-01 -1.59373011e-01 2.00972320e+02] [-4.17402250e-01 4.63519184e-03 9.08710007e-01 9.73991261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.08, Y:200.95, Z:97.39 [[ 8.46234502e-01 3.64706272e-01 3.88428247e-01 3.33077883e+02] [-3.33846770e-01 9.31107271e-01 -1.46920332e-01 2.00954163e+02] [-4.15251132e-01 -5.34646204e-03 9.09691109e-01 9.73933170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.10, Y:200.95, Z:97.37 [[ 8.45685762e-01 3.73950594e-01 3.80757856e-01 3.33103406e+02] [-3.33572613e-01 9.27299731e-01 -1.69836746e-01 2.00953649e+02] [-4.16587209e-01 1.66181254e-02 9.08943857e-01 9.73680433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.13, Y:200.93, Z:97.36 [[ 8.46450797e-01 3.68118027e-01 3.84720894e-01 3.33129582e+02] [-3.31934323e-01 9.29751568e-01 -1.59316123e-01 2.00934149e+02] [-4.16341992e-01 7.15118927e-03 9.09179964e-01 9.73595271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.16, Y:200.92, Z:97.35 [[ 8.46576838e-01 3.67796035e-01 3.84751524e-01 3.33156725e+02] [-3.31516579e-01 9.29876727e-01 -1.59455419e-01 2.00922384e+02] [-4.16418559e-01 7.43975565e-03 9.09142582e-01 9.73459042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.18, Y:200.91, Z:97.33 [[ 8.46677627e-01 3.67819496e-01 3.84507236e-01 3.33183368e+02] [-3.31527967e-01 9.29866451e-01 -1.59491660e-01 2.00911142e+02] [-4.16204522e-01 7.56311803e-03 9.09239570e-01 9.73321918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.21, Y:200.90, Z:97.32 [[ 8.46520736e-01 3.68314857e-01 3.84378472e-01 3.33209765e+02] [-3.32039020e-01 9.29671287e-01 -1.59566249e-01 2.00900552e+02] [-4.16116249e-01 7.44748765e-03 9.09280926e-01 9.73183572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.24, Y:200.87, Z:97.32 [[ 8.47549857e-01 3.61043161e-01 3.88982102e-01 3.33239839e+02] [-3.35104310e-01 9.32417192e-01 -1.35289621e-01 2.00873958e+02] [-4.11538991e-01 -1.56848799e-02 9.11257177e-01 9.73201393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.27, Y:200.88, Z:97.29 [[ 8.46777870e-01 3.73856688e-01 3.78415665e-01 3.33265312e+02] [-3.35523902e-01 9.27393853e-01 -1.65421745e-01 2.00880064e+02] [-4.12784387e-01 1.31079722e-02 9.10734446e-01 9.72928848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.29, Y:200.87, Z:97.28 [[ 8.46101317e-01 3.73477713e-01 3.80298513e-01 3.33291891e+02] [-3.36553027e-01 9.27593218e-01 -1.62181634e-01 2.00867764e+02] [-4.13333547e-01 9.23147852e-03 9.10532898e-01 9.72799275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.32, Y:200.87, Z:97.26 [[ 8.44651179e-01 3.78952898e-01 3.78099309e-01 3.33317078e+02] [-3.36354176e-01 9.25169245e-01 -1.75862832e-01 2.00865273e+02] [-4.16449582e-01 2.13674671e-02 9.08907683e-01 9.72577076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.34, Y:200.85, Z:97.25 [[ 8.44142390e-01 3.72955803e-01 3.85133217e-01 3.33344332e+02] [-3.36757197e-01 9.27831659e-01 -1.60383925e-01 2.00845408e+02] [-4.17154908e-01 5.69048670e-03 9.08817584e-01 9.72501314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.37, Y:200.83, Z:97.24 [[ 8.44169633e-01 3.73049095e-01 3.84983121e-01 3.33372344e+02] [-3.36825676e-01 9.27793578e-01 -1.60460403e-01 2.00833609e+02] [-4.17044476e-01 5.78359919e-03 9.08867678e-01 9.72368234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.40, Y:200.82, Z:97.22 [[ 8.44575056e-01 3.72172732e-01 3.84942116e-01 3.33398915e+02] [-3.35807199e-01 9.28141717e-01 -1.60581688e-01 2.00821864e+02] [-4.17044962e-01 6.35695448e-03 9.08863625e-01 9.72244836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.43, Y:200.81, Z:97.21 [[ 8.44759936e-01 3.71557722e-01 3.85130509e-01 3.33426647e+02] [-3.35034741e-01 9.28384982e-01 -1.60788828e-01 2.00810086e+02] [-4.17291711e-01 6.79585943e-03 9.08747184e-01 9.72108498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.45, Y:200.80, Z:97.20 [[ 8.45303866e-01 3.70572277e-01 3.84886426e-01 3.33454515e+02] [-3.33938567e-01 9.28774031e-01 -1.60822366e-01 2.00799329e+02] [-4.17068828e-01 7.41534580e-03 9.08844654e-01 9.71966445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.48, Y:200.79, Z:97.18 [[ 8.45711641e-01 3.70390864e-01 3.84164585e-01 3.33480106e+02] [-3.31731408e-01 9.28794804e-01 -1.65210429e-01 2.00794028e+02] [-4.18002504e-01 1.22809247e-02 9.08362860e-01 9.71788743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.51, Y:200.78, Z:97.17 [[ 8.46237077e-01 3.67095113e-01 3.86165751e-01 3.33508166e+02] [-3.32796672e-01 9.30179731e-01 -1.54958201e-01 2.00776112e+02] [-4.16087952e-01 2.61669796e-03 9.09320608e-01 9.71705330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.54, Y:200.77, Z:97.15 [[ 8.46592320e-01 3.68771812e-01 3.83782223e-01 3.33535926e+02] [-3.32042165e-01 9.29480274e-01 -1.60668666e-01 2.00767323e+02] [-4.15968081e-01 8.58897799e-03 9.09338653e-01 9.71546890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.56, Y:200.77, Z:97.14 [[ 8.47302085e-01 3.72168636e-01 3.78905904e-01 3.33559778e+02] [-3.30677870e-01 9.27940309e-01 -1.71985259e-01 2.00765642e+02] [-4.15609581e-01 2.04276714e-02 9.09313690e-01 9.71351944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.59, Y:200.74, Z:97.13 [[ 8.46361613e-01 3.62484407e-01 3.90226953e-01 3.33588849e+02] [-3.31138661e-01 9.31979606e-01 -1.47516781e-01 2.00738357e+02] [-4.17156095e-01 -4.36668953e-03 9.08824364e-01 9.71339692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.62, Y:200.74, Z:97.11 [[ 8.46346620e-01 3.69072610e-01 3.84034906e-01 3.33615295e+02] [-3.29489112e-01 9.29283443e-01 -1.66940734e-01 2.00740811e+02] [-4.18490532e-01 1.47544061e-02 9.08101306e-01 9.71101620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.64, Y:200.73, Z:97.10 [[ 8.45509486e-01 3.67516464e-01 3.87356888e-01 3.33642410e+02] [-3.30104660e-01 9.29974096e-01 -1.61799549e-01 2.00727948e+02] [-4.19695870e-01 8.93473927e-03 9.07620817e-01 9.70981160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.67, Y:200.72, Z:97.08 [[ 8.45175547e-01 3.67598031e-01 3.88007709e-01 3.33669829e+02] [-3.30285352e-01 9.29946686e-01 -1.61588201e-01 2.00717721e+02] [-4.20225988e-01 8.41713383e-03 9.07380445e-01 9.70841868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.70, Y:200.70, Z:97.08 [[ 8.44144549e-01 3.68131346e-01 3.89742598e-01 3.33699726e+02] [-3.35143514e-01 9.29771573e-01 -1.52327435e-01 2.00699038e+02] [-4.18448092e-01 -2.03333013e-03 9.08238438e-01 9.70777010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.72, Y:200.71, Z:97.05 [[ 8.43106238e-01 3.77475967e-01 3.82993166e-01 3.33724839e+02] [-3.33085902e-01 9.25721962e-01 -1.79144164e-01 2.00706980e+02] [-4.22167801e-01 2.34679383e-02 9.06213884e-01 9.70479909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.75, Y:200.69, Z:97.04 [[ 8.42246666e-01 3.72895219e-01 3.89319546e-01 3.33750970e+02] [-3.32580587e-01 9.27782661e-01 -1.69143391e-01 2.00693618e+02] [-4.24276686e-01 1.29803342e-02 9.05439564e-01 9.70356548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.78, Y:200.67, Z:97.03 [[ 8.42422131e-01 3.65481873e-01 3.95914074e-01 3.33778095e+02] [-3.34386822e-01 9.30784644e-01 -1.47734217e-01 2.00669649e+02] [-4.22504919e-01 -7.93387489e-03 9.06325905e-01 9.70335911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.81, Y:200.65, Z:97.03 [[ 8.42914383e-01 3.68421322e-01 3.92123797e-01 3.33808922e+02] [-3.37877466e-01 9.29620271e-01 -1.47122296e-01 2.00654562e+02] [-4.18729221e-01 -8.47829587e-03 9.08071560e-01 9.70264326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.84, Y:200.65, Z:97.01 [[ 8.43171014e-01 3.74606265e-01 3.85658901e-01 3.33836756e+02] [-3.37367004e-01 9.27155068e-01 -1.62993821e-01 2.00652814e+02] [-4.18624111e-01 7.32307768e-03 9.08130071e-01 9.70065426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.86, Y:200.65, Z:96.99 [[ 8.44430125e-01 3.76518262e-01 3.81014123e-01 3.33864686e+02] [-3.36420498e-01 9.26285039e-01 -1.69756516e-01 2.00647471e+02] [-4.16844111e-01 1.51665551e-02 9.08851453e-01 9.69895950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.89, Y:200.63, Z:96.98 [[ 8.44152341e-01 3.68695612e-01 3.89191946e-01 3.33891584e+02] [-3.34227249e-01 9.29549243e-01 -1.55661013e-01 2.00629403e+02] [-4.19164611e-01 1.32305531e-03 9.07909290e-01 9.69815905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.92, Y:200.62, Z:96.96 [[ 8.44497416e-01 3.71546388e-01 3.85716731e-01 3.33919869e+02] [-3.33869454e-01 9.28369675e-01 -1.63281764e-01 2.00622363e+02] [-4.18754466e-01 9.11199341e-03 9.08053781e-01 9.69645737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.95, Y:200.61, Z:96.95 [[ 8.44979069e-01 3.72446768e-01 3.83788715e-01 3.33947983e+02] [-3.33706705e-01 9.27975252e-01 -1.65836566e-01 2.00612911e+02] [-4.17911723e-01 1.20555596e-02 9.08407648e-01 9.69487750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.98, Y:200.60, Z:96.94 [[ 8.45105822e-01 3.69264856e-01 3.86574205e-01 3.33975365e+02] [-3.32563010e-01 9.29296221e-01 -1.60656088e-01 2.00600107e+02] [-4.18566595e-01 7.21111385e-03 9.08157478e-01 9.69370340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.00, Y:200.59, Z:96.92 [[ 8.45064350e-01 3.70619122e-01 3.85366982e-01 3.34003373e+02] [-3.32750654e-01 9.28731724e-01 -1.63506539e-01 2.00589754e+02] [-4.18501191e-01 9.94243179e-03 9.08161826e-01 9.69218648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.03, Y:200.58, Z:96.91 [[ 8.45009519e-01 3.70103308e-01 3.85982454e-01 3.34031329e+02] [-3.32013735e-01 9.28933384e-01 -1.63858620e-01 2.00579700e+02] [-4.19196604e-01 1.03106176e-02 9.07836934e-01 9.69078973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.06, Y:200.57, Z:96.89 [[ 8.45037930e-01 3.69710478e-01 3.86296595e-01 3.34056896e+02] [-3.29219543e-01 9.29016191e-01 -1.68947951e-01 2.00574745e+02] [-4.21337619e-01 1.55910384e-02 9.06769833e-01 9.68887346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.09, Y:200.56, Z:96.88 [[ 8.45546881e-01 3.68093255e-01 3.86727071e-01 3.34085916e+02] [-3.31948345e-01 9.29768005e-01 -1.59190933e-01 2.00555614e+02] [-4.18163566e-01 6.22998587e-03 9.08350384e-01 9.68820902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.11, Y:200.55, Z:96.87 [[ 8.45270152e-01 3.69352319e-01 3.86131110e-01 3.34112258e+02] [-3.31991652e-01 9.29247419e-01 -1.62113472e-01 2.00546771e+02] [-4.18688325e-01 8.83737448e-03 9.08086994e-01 9.68683245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.14, Y:200.54, Z:96.85 [[ 8.44971703e-01 3.71066696e-01 3.85139364e-01 3.34140522e+02] [-3.33074584e-01 9.28550292e-01 -1.63877019e-01 2.00539143e+02] [-4.18430572e-01 1.01913106e-02 9.08191606e-01 9.68532946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.17, Y:200.53, Z:96.84 [[ 8.45189765e-01 3.74003063e-01 3.81806195e-01 3.34168636e+02] [-3.34811987e-01 9.27329259e-01 -1.67216562e-01 2.00533202e+02] [-4.16599563e-01 1.34964359e-02 9.08989907e-01 9.68371763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.20, Y:200.52, Z:96.83 [[ 8.44208266e-01 3.71990033e-01 3.85922038e-01 3.34195914e+02] [-3.35695127e-01 9.28218378e-01 -1.60372765e-01 2.00518930e+02] [-4.17876999e-01 5.83586667e-03 9.08484869e-01 9.68267829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.22, Y:200.51, Z:96.81 [[ 8.43709770e-01 3.74331589e-01 3.84746262e-01 3.34224017e+02] [-3.36596518e-01 9.27252303e-01 -1.64030334e-01 2.00509710e+02] [-4.18158593e-01 8.88974324e-03 9.08330537e-01 9.68117109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.25, Y:200.50, Z:96.80 [[ 8.43129186e-01 3.75003434e-01 3.85364243e-01 3.34252659e+02] [-3.37145471e-01 9.26982506e-01 -1.64427387e-01 2.00499637e+02] [-4.18886746e-01 8.70971964e-03 9.07996715e-01 9.67981746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:334.28, Y:200.49, Z:96.78 [[ 8.43492673e-01 3.72657679e-01 3.86841524e-01 3.34278542e+02] [-3.34259671e-01 9.27915910e-01 -1.65053135e-01 2.00493452e+02] [-4.20464723e-01 9.91558943e-03 9.07254704e-01 9.67830904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.110385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:334.31, Y:200.48, Z:96.77 [[ 8.42653113e-01 3.74335474e-01 3.87051269e-01 3.34307043e+02] [-3.37527375e-01 9.27274895e-01 -1.61976977e-01 2.00480986e+02] [-4.19536653e-01 5.85000516e-03 9.07719546e-01 9.67703458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.34, Y:200.47, Z:96.76 [[ 8.42169643e-01 3.76203595e-01 3.86291531e-01 3.34336390e+02] [-3.38111901e-01 9.26498101e-01 -1.65171462e-01 2.00472171e+02] [-4.20036468e-01 8.49262740e-03 9.07467488e-01 9.67568931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.37, Y:200.46, Z:96.74 [[ 8.41346521e-01 3.77505045e-01 3.86815167e-01 3.34365373e+02] [-3.39370904e-01 9.25972993e-01 -1.65533702e-01 2.00463212e+02] [-4.20670205e-01 7.99739184e-03 9.07178384e-01 9.67425728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.39, Y:200.45, Z:96.73 [[ 8.40873034e-01 3.78284719e-01 3.87082951e-01 3.34393433e+02] [-3.40109404e-01 9.25656814e-01 -1.65786173e-01 2.00452872e+02] [-4.21020348e-01 7.75457028e-03 9.07018045e-01 9.67285984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:200.44, Z:96.71 [[ 8.40809224e-01 3.79239243e-01 3.86286740e-01 3.34421514e+02] [-3.41261000e-01 9.25269061e-01 -1.65584099e-01 2.00443201e+02] [-4.20215158e-01 7.40003872e-03 9.07394325e-01 9.67146374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.45, Y:200.43, Z:96.70 [[ 8.40896547e-01 3.79544234e-01 3.85796803e-01 3.34448544e+02] [-3.41633112e-01 9.25144159e-01 -1.65514660e-01 2.00432700e+02] [-4.19737793e-01 7.37974373e-03 9.07615406e-01 9.67008769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.48, Y:200.42, Z:96.69 [[ 8.41098751e-01 3.79649114e-01 3.85252438e-01 3.34475730e+02] [-3.41800944e-01 9.25100578e-01 -1.65411718e-01 2.00423501e+02] [-4.19195665e-01 7.44794286e-03 9.07865366e-01 9.66868699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.50, Y:200.42, Z:96.68 [[ 8.43941324e-01 3.76081295e-01 3.82525688e-01 3.34501748e+02] [-3.39686324e-01 9.26564701e-01 -1.61527261e-01 2.00415972e+02] [-4.15182181e-01 6.38078613e-03 9.09715913e-01 9.66757761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3503857229999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:334.53, Y:200.40, Z:96.66 [[ 8.41342382e-01 3.79029245e-01 3.85330804e-01 3.34529141e+02] [-3.41725607e-01 9.25362675e-01 -1.64096094e-01 2.00403470e+02] [-4.18767962e-01 6.38359601e-03 9.08070836e-01 9.66575420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.56, Y:200.39, Z:96.65 [[ 8.41255982e-01 3.79773143e-01 3.84786607e-01 3.34557290e+02] [-3.41863429e-01 9.25047173e-01 -1.65581172e-01 2.00393151e+02] [-4.18829045e-01 7.75168244e-03 9.08032016e-01 9.66454826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.58, Y:200.38, Z:96.63 [[ 8.41424617e-01 3.79554521e-01 3.84633567e-01 3.34584996e+02] [-3.41595158e-01 9.25134881e-01 -1.65644804e-01 2.00382329e+02] [-4.18709163e-01 7.98865182e-03 9.08085248e-01 9.66321115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:334.61, Y:200.37, Z:96.62 [[ 8.41412733e-01 3.79662157e-01 3.84553325e-01 3.34611403e+02] [-3.41664572e-01 9.25089936e-01 -1.65752616e-01 2.00371427e+02] [-4.18676406e-01 8.07811439e-03 9.08099560e-01 9.66188476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.64, Y:200.36, Z:96.60 [[ 8.41803542e-01 3.79100228e-01 3.84252279e-01 3.34639893e+02] [-3.41048713e-01 9.25316719e-01 -1.65755074e-01 2.00361807e+02] [-4.18392845e-01 8.48446312e-03 9.08226536e-01 9.66041030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.67, Y:200.35, Z:96.59 [[ 8.41949024e-01 3.78776615e-01 3.84252674e-01 3.34667768e+02] [-3.40629087e-01 9.25446419e-01 -1.65893797e-01 2.00351450e+02] [-4.18441952e-01 8.78648304e-03 9.08201041e-01 9.65899713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.70, Y:200.34, Z:96.58 [[ 8.41942020e-01 3.78136159e-01 3.84898273e-01 3.34695586e+02] [-3.39724693e-01 9.25703614e-01 -1.66312814e-01 2.00341223e+02] [-4.19190611e-01 9.26629889e-03 9.07850961e-01 9.65761211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.72, Y:200.33, Z:96.56 [[ 8.41740647e-01 3.78542028e-01 3.84939758e-01 3.34722957e+02] [-3.40097868e-01 9.25538306e-01 -1.66470069e-01 2.00329773e+02] [-4.19292409e-01 9.20743320e-03 9.07804549e-01 9.65625711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:334.75, Y:200.32, Z:96.55 [[ 8.41228145e-01 3.79605014e-01 3.85013299e-01 3.34750031e+02] [-3.41186848e-01 9.25106593e-01 -1.66641313e-01 2.00319339e+02] [-4.19436220e-01 8.82188837e-03 9.07741941e-01 9.65493663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.620385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:334.78, Y:200.31, Z:96.54 [[ 8.40800842e-01 3.80741309e-01 3.84824635e-01 3.34778024e+02] [-3.42416310e-01 9.24643604e-01 -1.66689158e-01 2.00308521e+02] [-4.19291086e-01 8.38215258e-03 9.07813155e-01 9.65351016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:334.81, Y:200.30, Z:96.52 [[ 8.40171818e-01 3.82809877e-01 3.84145695e-01 3.34805049e+02] [-3.44769835e-01 9.23796914e-01 -1.66532347e-01 2.00300479e+02] [-4.18622835e-01 7.47393645e-03 9.08129430e-01 9.65195781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.83, Y:200.29, Z:96.51 [[ 8.41272871e-01 3.78009687e-01 3.86482384e-01 3.34831688e+02] [-3.45006820e-01 9.25795560e-01 -1.54508496e-01 2.00286109e+02] [-4.16209383e-01 -3.35525212e-03 9.09262609e-01 9.65139009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:334.86, Y:200.28, Z:96.50 [[ 8.40989603e-01 3.83947402e-01 3.81209759e-01 3.34859186e+02] [-3.46462760e-01 9.23326794e-01 -1.65623633e-01 2.00281376e+02] [-4.15571948e-01 7.21276873e-03 9.09531710e-01 9.64956624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.89, Y:200.27, Z:96.48 [[ 8.40417142e-01 3.84164932e-01 3.82251662e-01 3.34885237e+02] [-3.46331232e-01 9.23234260e-01 -1.66412678e-01 2.00270758e+02] [-4.16837745e-01 7.47037799e-03 9.08950212e-01 9.64809217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:334.91, Y:200.26, Z:96.47 [[ 8.40053501e-01 3.82261586e-01 3.84949602e-01 3.34911405e+02] [-3.45995147e-01 9.24048045e-01 -1.62550205e-01 2.00257227e+02] [-4.17848626e-01 3.36017515e-03 9.08510448e-01 9.64689754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.94, Y:200.25, Z:96.45 [[ 8.39308954e-01 3.85189829e-01 3.83652545e-01 3.34937599e+02] [-3.44689216e-01 9.22753507e-01 -1.72381290e-01 2.00252082e+02] [-4.20416251e-01 1.24402655e-02 9.07246061e-01 9.64498540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:334.96, Y:200.24, Z:96.43 [[ 8.39058571e-01 3.82792383e-01 3.86588549e-01 3.34962334e+02] [-3.41818861e-01 9.23745257e-01 -1.72784742e-01 2.00243332e+02] [-4.23250022e-01 1.28332615e-02 9.05922031e-01 9.64336559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.99, Y:200.21, Z:96.43 [[ 8.38887597e-01 3.77150117e-01 3.92460684e-01 3.34992218e+02] [-3.47329992e-01 9.26066952e-01 -1.47519075e-01 2.00209831e+02] [-4.19081706e-01 -1.25614444e-02 9.07861627e-01 9.64324933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:335.02, Y:200.22, Z:96.41 [[ 8.39513246e-01 3.84079923e-01 3.84317736e-01 3.35017101e+02] [-3.42491821e-01 9.23180627e-01 -1.74461695e-01 2.00218173e+02] [-4.21801923e-01 1.48372224e-02 9.06566597e-01 9.64079689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.04, Y:200.20, Z:96.40 [[ 8.39069700e-01 3.80187364e-01 3.89126724e-01 3.35042669e+02] [-3.42160998e-01 9.24889958e-01 -1.65844557e-01 2.00201104e+02] [-4.22951404e-01 6.01115478e-03 9.06132427e-01 9.63968717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.07, Y:200.19, Z:96.38 [[ 8.38997312e-01 3.79590809e-01 3.89864500e-01 3.35069184e+02] [-3.42693081e-01 9.25148264e-01 -1.63285462e-01 2.00186071e+02] [-4.22664126e-01 3.39219684e-03 9.06280050e-01 9.63840053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.10, Y:200.16, Z:96.38 [[ 8.38879066e-01 3.80622244e-01 3.89112606e-01 3.35098744e+02] [-3.46932370e-01 9.24723508e-01 -1.56602569e-01 2.00164833e+02] [-4.19427996e-01 -3.62514173e-03 9.07781370e-01 9.63757304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.13, Y:200.16, Z:96.36 [[ 8.38408395e-01 3.86661847e-01 3.84140573e-01 3.35126233e+02] [-3.47952353e-01 9.22187956e-01 -1.68815087e-01 2.00160162e+02] [-4.19524163e-01 7.87336996e-03 9.07710023e-01 9.63573821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.040385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:335.15, Y:200.15, Z:96.34 [[ 8.37873405e-01 3.87610171e-01 3.84352070e-01 3.35153620e+02] [-3.48891223e-01 9.21792598e-01 -1.69036451e-01 2.00147846e+02] [-4.19813140e-01 7.53408263e-03 9.07579289e-01 9.63435703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:200.14, Z:96.33 [[ 8.36595043e-01 3.89923576e-01 3.84796490e-01 3.35179388e+02] [-3.51277411e-01 9.20824095e-01 -1.69372864e-01 2.00135326e+02] [-4.20372352e-01 6.52618402e-03 9.07328218e-01 9.63305262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1003857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:335.21, Y:200.12, Z:96.32 [[ 8.36135697e-01 3.92116562e-01 3.83564464e-01 3.35206688e+02] [-3.53910367e-01 9.19899157e-01 -1.68917118e-01 2.00123115e+02] [-4.19075827e-01 5.49019199e-03 9.07934639e-01 9.63157348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.23, Y:200.11, Z:96.30 [[ 8.35856178e-01 3.92992045e-01 3.83277580e-01 3.35233049e+02] [-3.54869914e-01 9.19527244e-01 -1.68928958e-01 2.00111334e+02] [-4.18821913e-01 5.18663133e-03 9.08053580e-01 9.63018025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.26, Y:200.10, Z:96.29 [[ 8.35558779e-01 3.93698205e-01 3.83201318e-01 3.35259787e+02] [-3.55603448e-01 9.19226362e-01 -1.69023911e-01 2.00099183e+02] [-4.18793164e-01 4.96170274e-03 9.08068096e-01 9.62876278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.28, Y:200.09, Z:96.27 [[ 8.35361458e-01 3.94183522e-01 3.83132595e-01 3.35284858e+02] [-3.56087315e-01 9.19018902e-01 -1.69133325e-01 2.00086739e+02] [-4.18775667e-01 4.85880360e-03 9.08076722e-01 9.62728959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.31, Y:200.07, Z:96.26 [[ 8.34948355e-01 3.94849254e-01 3.83347508e-01 3.35311923e+02] [-3.56734898e-01 9.18734327e-01 -1.69314645e-01 2.00073386e+02] [-4.19048277e-01 4.61555013e-03 9.07952223e-01 9.62598561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:200.06, Z:96.25 [[ 8.35217657e-01 3.94342861e-01 3.83282107e-01 3.35338653e+02] [-3.56127920e-01 9.18949742e-01 -1.69423365e-01 2.00059316e+02] [-4.19027888e-01 5.00792616e-03 9.07959553e-01 9.62458896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.36, Y:200.05, Z:96.23 [[ 8.35381893e-01 3.93652085e-01 3.83634109e-01 3.35364869e+02] [-3.55229613e-01 9.19243044e-01 -1.69717848e-01 2.00045702e+02] [-4.19462771e-01 5.50102120e-03 9.07755872e-01 9.62313112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.39, Y:200.03, Z:96.22 [[ 8.35520790e-01 3.93564677e-01 3.83421250e-01 3.35390686e+02] [-3.55113588e-01 9.19279363e-01 -1.69763934e-01 2.00032764e+02] [-4.19284330e-01 5.68320082e-03 9.07837184e-01 9.62178416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.42, Y:200.02, Z:96.20 [[ 8.35433262e-01 3.93802329e-01 3.83367958e-01 3.35417429e+02] [-3.55326039e-01 9.19177508e-01 -1.69870878e-01 2.00019250e+02] [-4.19278751e-01 5.69516356e-03 9.07839685e-01 9.62038458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.370385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.44, Y:200.01, Z:96.19 [[ 8.35113620e-01 3.94840342e-01 3.82996536e-01 3.35443415e+02] [-3.56482207e-01 9.18734412e-01 -1.69845566e-01 2.00005240e+02] [-4.18933979e-01 5.30889493e-03 9.08001177e-01 9.61894454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.47, Y:199.99, Z:96.18 [[ 8.34679713e-01 3.95855582e-01 3.82894417e-01 3.35470507e+02] [-3.57555717e-01 9.18299489e-01 -1.69941040e-01 1.99992487e+02] [-4.18883857e-01 4.94025054e-03 9.08026381e-01 9.61752673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.50, Y:199.98, Z:96.16 [[ 8.34146523e-01 3.97479884e-01 3.82373274e-01 3.35496303e+02] [-3.59387800e-01 9.17601004e-01 -1.69849364e-01 1.99979109e+02] [-4.18377805e-01 4.25896700e-03 9.08263108e-01 9.61612379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.52, Y:199.97, Z:96.15 [[ 8.33770989e-01 3.98191496e-01 3.82451919e-01 3.35522707e+02] [-3.60094175e-01 9.17293440e-01 -1.70014498e-01 1.99965954e+02] [-4.18518964e-01 4.03444750e-03 9.08199097e-01 9.61475103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.490385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:335.55, Y:199.95, Z:96.13 [[ 8.33354635e-01 3.98815156e-01 3.82709450e-01 3.35549480e+02] [-3.60662508e-01 9.17023194e-01 -1.70267487e-01 1.99951920e+02] [-4.18858696e-01 3.86424955e-03 9.08043204e-01 9.61334542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.58, Y:199.94, Z:96.12 [[ 8.33271621e-01 3.99190858e-01 3.82498451e-01 3.35575637e+02] [-3.61056732e-01 9.16859929e-01 -1.70311209e-01 1.99937935e+02] [-4.18684180e-01 3.81185685e-03 9.08123905e-01 9.61195879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.60, Y:199.92, Z:96.11 [[ 8.33140509e-01 3.99403555e-01 3.82562011e-01 3.35602513e+02] [-3.61213214e-01 9.16767149e-01 -1.70478760e-01 1.99924809e+02] [-4.18810107e-01 3.84630748e-03 9.08065691e-01 9.61052071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.63, Y:199.91, Z:96.09 [[ 8.33089546e-01 3.99624515e-01 3.82442226e-01 3.35629586e+02] [-3.61417510e-01 9.16670737e-01 -1.70564193e-01 1.99911712e+02] [-4.18735230e-01 3.87392930e-03 9.08100105e-01 9.60910317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:335.66, Y:199.90, Z:96.08 [[ 8.32986322e-01 3.99747886e-01 3.82538123e-01 3.35656634e+02] [-3.61469172e-01 9.16616606e-01 -1.70745529e-01 1.99898544e+02] [-4.18895961e-01 3.95295185e-03 9.08025632e-01 9.60764584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.68, Y:199.89, Z:96.06 [[ 8.32887121e-01 3.99955717e-01 3.82536886e-01 3.35683684e+02] [-3.61634419e-01 9.16525789e-01 -1.70883073e-01 1.99885466e+02] [-4.18950583e-01 3.98780640e-03 9.08000279e-01 9.60625862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.71, Y:199.87, Z:96.05 [[ 8.33416274e-01 3.99183606e-01 3.82190741e-01 3.35710154e+02] [-3.60794877e-01 9.16859920e-01 -1.70865278e-01 1.99871464e+02] [-4.18621990e-01 4.50944201e-03 9.08149379e-01 9.60493031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.74, Y:199.86, Z:96.04 [[ 8.33355958e-01 3.99358967e-01 3.82139063e-01 3.35737821e+02] [-3.60934834e-01 9.16783299e-01 -1.70980786e-01 1.99859066e+02] [-4.18621421e-01 4.56055761e-03 9.08149386e-01 9.60351573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:335.76, Y:199.85, Z:96.02 [[ 8.35220007e-01 3.93895124e-01 3.83737114e-01 3.35760965e+02] [-3.55462171e-01 9.19139472e-01 -1.69791863e-01 1.99850195e+02] [-4.19588115e-01 5.40953313e-03 9.07698491e-01 9.60210859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.79, Y:199.83, Z:96.01 [[ 8.34736503e-01 3.95524613e-01 3.83112584e-01 3.35790039e+02] [-3.58004427e-01 9.18449712e-01 -1.68175377e-01 1.99831678e+02] [-4.18387143e-01 3.22612507e-03 9.08263063e-01 9.60084330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.82, Y:199.82, Z:95.99 [[ 8.35545916e-01 3.99098231e-01 3.77602469e-01 3.35815781e+02] [-3.58180959e-01 9.16827260e-01 -1.76448792e-01 1.99824750e+02] [-4.16616638e-01 1.21810534e-02 9.09000660e-01 9.59923368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.84, Y:199.81, Z:95.98 [[ 8.36502662e-01 3.91910936e-01 3.82974039e-01 3.35842971e+02] [-3.55651332e-01 9.20001902e-01 -1.64646985e-01 1.99806799e+02] [-4.16863799e-01 1.52241407e-03 9.08967687e-01 9.59833624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.87, Y:199.80, Z:95.97 [[ 8.35084022e-01 3.96423108e-01 3.81422856e-01 3.35868535e+02] [-3.57526010e-01 9.18043111e-01 -1.71382611e-01 1.99796591e+02] [-4.18102652e-01 6.75028798e-03 9.08374706e-01 9.59674089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:199.78, Z:95.95 [[ 8.36192881e-01 3.95793842e-01 3.79642859e-01 3.35895748e+02] [-3.57152173e-01 9.18311420e-01 -1.70723348e-01 1.99784862e+02] [-4.16201622e-01 7.16737622e-03 9.09244103e-01 9.59536955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.92, Y:199.76, Z:95.95 [[ 8.36709171e-01 3.91053429e-01 3.83399243e-01 3.35921611e+02] [-3.58058878e-01 9.20350629e-01 -1.57316750e-01 1.99764162e+02] [-4.14380989e-01 -5.65113521e-03 9.10085964e-01 9.59466838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.95, Y:199.76, Z:95.92 [[ 8.35547360e-01 4.02270444e-01 3.74217984e-01 3.35948082e+02] [-3.58774114e-01 9.15332961e-01 -1.82884404e-01 1.99764227e+02] [-4.16103046e-01 1.85488557e-02 9.09128261e-01 9.59216987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9703857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:335.98, Y:199.75, Z:95.91 [[ 8.36608093e-01 3.96143219e-01 3.78361532e-01 3.35975535e+02] [-3.57642286e-01 9.18159428e-01 -1.70514693e-01 1.99745785e+02] [-4.14944447e-01 7.33588838e-03 9.09817174e-01 9.59127972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.000385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:336.00, Y:199.74, Z:95.90 [[ 8.35531893e-01 3.97958321e-01 3.78834568e-01 3.35998746e+02] [-3.56611930e-01 9.17313131e-01 -1.77100399e-01 1.99737515e+02] [-4.17988501e-01 1.28761051e-02 9.08361062e-01 9.58952741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.030385723 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:336.03, Y:199.72, Z:95.88 [[ 8.35288896e-01 3.95012292e-01 3.82436596e-01 3.36025235e+02] [-3.56952782e-01 9.18663009e-01 -1.69242394e-01 1.99720352e+02] [-4.18183180e-01 4.85448528e-03 9.08349747e-01 9.58846301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.060385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:336.05, Y:199.71, Z:95.87 [[ 8.34360561e-01 3.96152321e-01 3.83282915e-01 3.36052639e+02] [-3.58149980e-01 9.18175956e-01 -1.69356148e-01 1.99706448e+02] [-4.19011989e-01 4.03132236e-03 9.07971752e-01 9.58707920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0903857229999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:336.08, Y:199.69, Z:95.86 [[ 8.33876767e-01 3.96502025e-01 3.83973542e-01 3.36079529e+02] [-3.60084214e-01 9.18033834e-01 -1.65991680e-01 1.99689547e+02] [-4.18316741e-01 1.53794589e-04 9.08301206e-01 9.58614919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.120385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:336.11, Y:199.69, Z:95.84 [[ 8.34321623e-01 3.99920770e-01 3.79434852e-01 3.36105257e+02] [-3.58500946e-01 9.16468563e-01 -1.77658225e-01 1.99685475e+02] [-4.18789328e-01 1.21963450e-02 9.08001513e-01 9.58410632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.13, Y:199.66, Z:95.84 [[ 8.34328350e-01 3.95947398e-01 3.83564678e-01 3.36131807e+02] [-3.59405319e-01 9.18272878e-01 -1.66140718e-01 1.99664201e+02] [-4.18000026e-01 7.60725442e-04 9.08446696e-01 9.58350160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.16, Y:199.65, Z:95.82 [[ 8.34883614e-01 3.97910727e-01 3.80310932e-01 3.36158634e+02] [-3.58720526e-01 9.17393677e-01 -1.72361325e-01 1.99653878e+02] [-4.17479264e-01 7.47630809e-03 9.08655693e-01 9.58192978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.19, Y:199.64, Z:95.80 [[ 8.35068820e-01 3.97733758e-01 3.80089362e-01 3.36185123e+02] [-3.58510187e-01 9.17468563e-01 -1.72400353e-01 1.99640898e+02] [-4.17289481e-01 7.70025131e-03 9.08740995e-01 9.58042198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.21, Y:199.62, Z:95.79 [[ 8.35226647e-01 3.95778229e-01 3.81780096e-01 3.36212531e+02] [-3.59652926e-01 9.18345874e-01 -1.65198755e-01 1.99622035e+02] [-4.15988247e-01 6.70073322e-04 9.09369743e-01 9.57949571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.24, Y:199.62, Z:95.78 [[ 8.34951192e-01 4.01378503e-01 3.76499407e-01 3.36238862e+02] [-3.59803131e-01 9.15812865e-01 -1.78405445e-01 1.99617375e+02] [-4.16411111e-01 1.34941735e-02 9.09076286e-01 9.57758356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.26, Y:199.60, Z:95.77 [[ 8.34643712e-01 3.98740662e-01 3.79968101e-01 3.36264696e+02] [-3.60752623e-01 9.17051419e-01 -1.69924216e-01 1.99598287e+02] [-4.16205981e-01 4.75168910e-03 9.09257941e-01 9.57667886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.29, Y:199.59, Z:95.75 [[ 8.34339848e-01 4.00703277e-01 3.78568227e-01 3.36290782e+02] [-3.61019620e-01 9.16167845e-01 -1.74072724e-01 1.99588356e+02] [-4.16583548e-01 8.56525290e-03 9.09057085e-01 9.57517807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.32, Y:199.58, Z:95.73 [[ 8.33765362e-01 4.03329492e-01 3.77041963e-01 3.36317314e+02] [-3.61650711e-01 9.14963778e-01 -1.79025272e-01 1.99577711e+02] [-4.17185911e-01 1.29075769e-02 9.08729503e-01 9.57340386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.34, Y:199.56, Z:95.72 [[ 8.33879625e-01 4.01680494e-01 3.78546631e-01 3.36343783e+02] [-3.62154263e-01 9.15745352e-01 -1.73938899e-01 1.99561434e+02] [-4.16520181e-01 7.95182781e-03 9.09091694e-01 9.57223449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:336.37, Y:199.54, Z:95.72 [[ 8.35542253e-01 3.97284737e-01 3.79518091e-01 3.36369135e+02] [-3.62459726e-01 9.17693922e-01 -1.62667797e-01 1.99540516e+02] [-4.12906878e-01 -1.64420609e-03 9.10771764e-01 9.57152130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.40, Y:199.53, Z:95.70 [[ 8.35666350e-01 4.02150031e-01 3.74081681e-01 3.36395494e+02] [-3.61132934e-01 9.15478929e-01 -1.77429803e-01 1.99534546e+02] [-4.13817297e-01 1.31789005e-02 9.10264556e-01 9.56975123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.42, Y:199.53, Z:95.68 [[ 8.35418365e-01 4.03527179e-01 3.73151405e-01 3.36419248e+02] [-3.59156100e-01 9.14735132e-01 -1.85112220e-01 1.99528265e+02] [-4.16032512e-01 2.06265446e-02 9.09115776e-01 9.56809169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.45, Y:199.50, Z:95.68 [[ 8.36784447e-01 3.93402936e-01 3.80822687e-01 3.36445845e+02] [-3.58203796e-01 9.19366105e-01 -1.62653020e-01 1.99499627e+02] [-4.14103646e-01 -3.06614107e-04 9.10229683e-01 9.56768049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.47, Y:199.49, Z:95.66 [[ 8.37503797e-01 3.95233431e-01 3.77329994e-01 3.36473380e+02] [-3.57416826e-01 9.18557463e-01 -1.68835424e-01 1.99489863e+02] [-4.13328686e-01 6.53621968e-03 9.10558442e-01 9.56621444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.50, Y:199.49, Z:95.64 [[ 8.37752858e-01 4.00956932e-01 3.70680033e-01 3.36496755e+02] [-3.53667461e-01 9.15637279e-01 -1.91122212e-01 1.99492249e+02] [-4.16040233e-01 2.90157134e-02 9.08883168e-01 9.56381834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.52, Y:199.47, Z:95.63 [[ 8.38240112e-01 3.92270844e-01 3.78783712e-01 3.36522687e+02] [-3.52319973e-01 9.19778638e-01 -1.72852228e-01 1.99468715e+02] [-4.16202056e-01 1.14386039e-02 9.09200202e-01 9.56315565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.55, Y:199.46, Z:95.62 [[ 8.39023444e-01 3.90605286e-01 3.78770604e-01 3.36548801e+02] [-3.50432967e-01 9.20474703e-01 -1.72982824e-01 1.99455651e+02] [-4.16216765e-01 1.24029378e-02 9.09180825e-01 9.56187858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.58, Y:199.44, Z:95.60 [[ 8.39121060e-01 3.90311154e-01 3.78857560e-01 3.36575687e+02] [-3.50052423e-01 9.20596277e-01 -1.73106312e-01 1.99443153e+02] [-4.16340184e-01 1.26371446e-02 9.09121089e-01 9.56047349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.60, Y:199.43, Z:95.59 [[ 8.39491898e-01 3.90226413e-01 3.78122599e-01 3.36602917e+02] [-3.50063456e-01 9.20630169e-01 -1.72903640e-01 1.99431422e+02] [-4.15582639e-01 1.27843016e-02 9.09465575e-01 9.55911896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:199.40, Z:95.59 [[ 8.40922430e-01 3.82190479e-01 3.83118656e-01 3.36632352e+02] [-3.52192712e-01 9.24031134e-01 -1.48750653e-01 1.99403749e+02] [-4.10864650e-01 -9.84383780e-03 9.11643208e-01 9.55912283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.66, Y:199.41, Z:95.56 [[ 8.40630404e-01 3.96379374e-01 3.69085241e-01 3.36659452e+02] [-3.53878938e-01 9.17858314e-01 -1.79738178e-01 1.99410078e+02] [-4.10012464e-01 2.04818842e-02 9.11849918e-01 9.55636101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:199.39, Z:95.56 [[ 8.40638124e-01 3.92685119e-01 3.72995901e-01 3.36686186e+02] [-3.55111462e-01 9.19632377e-01 -1.67845589e-01 1.99390714e+02] [-4.08929572e-01 8.64228133e-03 9.12525022e-01 9.55567794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.71, Y:199.40, Z:95.53 [[ 8.38710136e-01 4.03694810e-01 3.65507603e-01 3.36709504e+02] [-3.54155737e-01 9.14192408e-01 -1.97043028e-01 1.99399026e+02] [-4.13689523e-01 3.58153701e-02 9.09713272e-01 9.55274009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.74, Y:199.36, Z:95.54 [[ 8.39170861e-01 3.87072989e-01 3.82055974e-01 3.36737595e+02] [-3.56039800e-01 9.22010843e-01 -1.52090978e-01 1.99359258e+02] [-4.11130060e-01 -8.39681549e-03 9.11538023e-01 9.55352460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.76, Y:199.37, Z:95.50 [[ 8.37105398e-01 4.04338272e-01 3.68463181e-01 3.36762829e+02] [-3.55750540e-01 9.14049368e-01 -1.94821215e-01 1.99373722e+02] [-4.15567211e-01 3.20049151e-02 9.08999218e-01 9.55019825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.79, Y:199.35, Z:95.49 [[ 8.37915809e-01 3.98596159e-01 3.72851443e-01 3.36789144e+02] [-3.55642894e-01 9.16928488e-01 -1.80998014e-01 1.99353794e+02] [-4.14023223e-01 1.90591310e-02 9.10066767e-01 9.54933360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.82, Y:199.32, Z:95.50 [[ 8.38050715e-01 3.84625117e-01 3.86955449e-01 3.36815449e+02] [-3.55857367e-01 9.22954827e-01 -1.46696700e-01 1.99322018e+02] [-4.13565635e-01 -1.47616733e-02 9.10354634e-01 9.54978882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.84, Y:199.33, Z:95.47 [[ 8.37865857e-01 3.96314480e-01 3.75387318e-01 3.36843956e+02] [-3.55781444e-01 9.18020666e-01 -1.75093179e-01 1.99325615e+02] [-4.14005278e-01 1.31487550e-02 9.10179510e-01 9.54721556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.87, Y:199.33, Z:95.45 [[ 8.36959787e-01 4.02591438e-01 3.70699944e-01 3.36869319e+02] [-3.54272411e-01 9.14861847e-01 -1.93697857e-01 1.99326987e+02] [-4.17120335e-01 3.07885544e-02 9.08329616e-01 9.54483802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.90, Y:199.30, Z:95.44 [[ 8.36775127e-01 3.94479229e-01 3.79728224e-01 3.36895173e+02] [-3.54020681e-01 9.18832865e-01 -1.74400468e-01 1.99304034e+02] [-4.17704134e-01 1.15023298e-02 9.08510293e-01 9.54418361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.050385723 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:336.92, Y:199.30, Z:95.42 [[ 8.37922726e-01 3.98633060e-01 3.72796445e-01 3.36923928e+02] [-3.54838466e-01 9.16871495e-01 -1.82856020e-01 1.99297754e+02] [-4.14698889e-01 2.09366960e-02 9.09717806e-01 9.54240982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.95, Y:199.28, Z:95.42 [[ 8.36374019e-01 3.91924685e-01 3.83240841e-01 3.36949542e+02] [-3.55563021e-01 9.19995865e-01 -1.64871301e-01 1.99277402e+02] [-4.17197122e-01 1.62780148e-03 9.08814564e-01 9.54170093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.98, Y:199.27, Z:95.40 [[ 8.35563920e-01 3.97333049e-01 3.79419799e-01 3.36977461e+02] [-3.57067139e-01 9.17615423e-01 -1.74599524e-01 1.99271026e+02] [-4.17535621e-01 1.04107203e-02 9.08600915e-01 9.54002424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.01, Y:199.25, Z:95.39 [[ 8.35749379e-01 3.93589534e-01 3.82897186e-01 3.37005152e+02] [-3.58973399e-01 9.19282776e-01 -1.61422665e-01 1.99250435e+02] [-4.15525059e-01 -2.54101208e-03 9.09578182e-01 9.53947557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.03, Y:199.25, Z:95.37 [[ 8.33326968e-01 4.03711392e-01 3.77602009e-01 3.37032937e+02] [-3.61603192e-01 9.14787164e-01 -1.80021043e-01 1.99248507e+02] [-4.18102017e-01 1.34742978e-02 9.08300141e-01 9.53735142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.06, Y:199.24, Z:95.36 [[ 8.31748911e-01 4.07239496e-01 3.77292648e-01 3.37057667e+02] [-3.63043201e-01 9.13160308e-01 -1.85304847e-01 1.99240848e+02] [-4.19992123e-01 1.71535733e-02 9.07365622e-01 9.53579055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.09, Y:199.22, Z:95.35 [[ 8.30130579e-01 4.06393085e-01 3.81743216e-01 3.37085104e+02] [-3.66356790e-01 9.13676956e-01 -1.76003188e-01 1.99224756e+02] [-4.20316458e-01 6.25140897e-03 9.07356046e-01 9.53475477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.11, Y:199.21, Z:95.33 [[ 8.29633147e-01 4.07642337e-01 3.81492550e-01 3.37112490e+02] [-3.67722222e-01 9.13123542e-01 -1.76027738e-01 1.99213639e+02] [-4.20106187e-01 5.75515789e-03 9.07456704e-01 9.53325652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.14, Y:199.20, Z:95.32 [[ 8.28366842e-01 4.10996416e-01 3.80644614e-01 3.37139329e+02] [-3.71531800e-01 9.11627324e-01 -1.75783228e-01 1.99202926e+02] [-4.19252307e-01 4.19141863e-03 9.07860086e-01 9.53183521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.17, Y:199.20, Z:95.30 [[ 8.28685835e-01 4.15639866e-01 3.74864360e-01 3.37167292e+02] [-3.73729972e-01 9.09463978e-01 -1.82211913e-01 1.99195306e+02] [-4.16660167e-01 1.08983844e-02 9.08996991e-01 9.53006242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.19, Y:199.18, Z:95.29 [[ 8.27396826e-01 4.12810367e-01 3.80791403e-01 3.37189855e+02] [-3.72268295e-01 9.10797642e-01 -1.78504826e-01 1.99184740e+02] [-4.20512555e-01 5.93775991e-03 9.07267289e-01 9.52866641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.22, Y:199.16, Z:95.28 [[ 8.27326835e-01 4.09130328e-01 3.84893080e-01 3.37218265e+02] [-3.75180084e-01 9.12429702e-01 -1.63437888e-01 1.99160367e+02] [-4.18055276e-01 -9.18766744e-03 9.08375128e-01 9.52817914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.24, Y:199.17, Z:95.25 [[ 8.26330208e-01 4.19337157e-01 3.75945125e-01 3.37242490e+02] [-3.71968661e-01 9.07585607e-01 -1.94750304e-01 1.99169355e+02] [-4.22868423e-01 2.10882546e-02 9.05945684e-01 9.52504170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.27, Y:199.15, Z:95.24 [[ 8.26224949e-01 4.11205501e-01 3.85048530e-01 3.37267655e+02] [-3.71449403e-01 9.11538569e-01 -1.76416491e-01 1.99146504e+02] [-4.23530018e-01 2.73365945e-03 9.05877945e-01 9.52432934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.30, Y:199.11, Z:95.25 [[ 8.27318528e-01 4.05000049e-01 3.89254434e-01 3.37297810e+02] [-3.76118431e-01 9.14076825e-01 -1.51652511e-01 1.99114513e+02] [-4.17227732e-01 -2.09408346e-02 9.08560676e-01 9.52461642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.32, Y:199.13, Z:95.21 [[ 8.27003396e-01 4.17322955e-01 3.76705367e-01 3.37323094e+02] [-3.72030861e-01 9.08602139e-01 -1.89829375e-01 1.99128857e+02] [-4.21495458e-01 1.68435159e-02 9.06674073e-01 9.52122250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.35, Y:199.11, Z:95.20 [[ 8.26862442e-01 4.11726425e-01 3.83118589e-01 3.37349177e+02] [-3.72363419e-01 9.11303724e-01 -1.75701468e-01 1.99107784e+02] [-4.21478335e-01 2.62159707e-03 9.06834682e-01 9.52025474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.37, Y:199.09, Z:95.19 [[ 8.27579169e-01 4.10406322e-01 3.82987429e-01 3.37374710e+02] [-3.72850871e-01 9.11902361e-01 -1.71511843e-01 1.99092245e+02] [-4.19636685e-01 -8.57568056e-04 9.07691752e-01 9.51909045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.40, Y:199.08, Z:95.18 [[ 8.27562361e-01 4.11597556e-01 3.81743357e-01 3.37402390e+02] [-3.73148213e-01 9.11364769e-01 -1.73708576e-01 1.99080546e+02] [-4.19405472e-01 1.30782790e-03 9.07798072e-01 9.51760041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.43, Y:199.07, Z:95.16 [[ 8.27781974e-01 4.11334168e-01 3.81551053e-01 3.37429784e+02] [-3.73409458e-01 9.11484555e-01 -1.72514587e-01 1.99066140e+02] [-4.18739036e-01 3.29693274e-04 9.08106553e-01 9.51634345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.45, Y:199.06, Z:95.15 [[ 8.28040855e-01 4.11430404e-01 3.80884977e-01 3.37454906e+02] [-3.71334762e-01 9.11425620e-01 -1.77239483e-01 1.99057695e+02] [-4.20070039e-01 5.32570045e-03 9.07476060e-01 9.51470164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.48, Y:199.04, Z:95.14 [[ 8.28313916e-01 4.08986393e-01 3.82917991e-01 3.37481928e+02] [-3.72087585e-01 9.12538605e-01 -1.69776686e-01 1.99039285e+02] [-4.18863804e-01 -1.85063867e-03 9.08047184e-01 9.51372131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:199.02, Z:95.13 [[ 8.29596385e-01 4.07344440e-01 3.81890488e-01 3.37509798e+02] [-3.73845121e-01 9.13236118e-01 -1.61986475e-01 1.99017927e+02] [-4.14740477e-01 -8.38450150e-03 9.09901114e-01 9.51319089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.54, Y:199.01, Z:95.11 [[ 8.29951213e-01 4.12568393e-01 3.75457462e-01 3.37536828e+02] [-3.73373260e-01 9.10909689e-01 -1.75601671e-01 1.99012817e+02] [-4.14455539e-01 5.55504319e-03 9.10052607e-01 9.51137373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.56, Y:199.00, Z:95.10 [[ 8.30596325e-01 4.11590967e-01 3.75103481e-01 3.37562721e+02] [-3.72319931e-01 9.11347831e-01 -1.75564803e-01 1.99000062e+02] [-4.14110631e-01 6.16497825e-03 9.10205679e-01 9.50986415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.59, Y:198.99, Z:95.09 [[ 8.30480744e-01 4.11790449e-01 3.75140454e-01 3.37589607e+02] [-3.72467112e-01 9.11257434e-01 -1.75721768e-01 1.98987503e+02] [-4.14210073e-01 6.20606335e-03 9.10160151e-01 9.50862472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.61, Y:198.98, Z:95.07 [[ 8.30390334e-01 4.13631884e-01 3.73310270e-01 3.37614272e+02] [-3.71027653e-01 9.10340419e-01 -1.83354307e-01 1.98982285e+02] [-4.15680615e-01 1.37472111e-02 9.09406752e-01 9.50659025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.64, Y:198.96, Z:95.06 [[ 8.30242281e-01 4.09336394e-01 3.78340418e-01 3.37641222e+02] [-3.74001017e-01 9.12377411e-01 -1.66405225e-01 1.98957672e+02] [-4.13304966e-01 -3.34304773e-03 9.10586530e-01 9.50625611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.67, Y:198.96, Z:95.03 [[ 8.29079094e-01 4.18193367e-01 3.71136314e-01 3.37666247e+02] [-3.71952643e-01 9.08105382e-01 -1.92343042e-01 1.98963423e+02] [-4.17467469e-01 2.14224626e-02 9.08439316e-01 9.50337645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.69, Y:198.93, Z:95.04 [[ 8.29705986e-01 4.06751051e-01 3.82284657e-01 3.37692574e+02] [-3.74987624e-01 9.13457354e-01 -1.58050450e-01 1.98928519e+02] [-4.13487918e-01 -1.22166106e-02 9.10427645e-01 9.50391352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.72, Y:198.93, Z:95.02 [[ 8.28777267e-01 4.14583162e-01 3.75831137e-01 3.37720511e+02] [-3.75140103e-01 9.09995705e-01 -1.76572138e-01 1.98925296e+02] [-4.15208555e-01 5.34964235e-03 9.09710524e-01 9.50196102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.75, Y:198.91, Z:95.01 [[ 8.28200183e-01 4.14954704e-01 3.76692248e-01 3.37747644e+02] [-3.75298542e-01 9.09826592e-01 -1.77106121e-01 1.98912412e+02] [-4.16215642e-01 5.30727015e-03 9.09250445e-01 9.50062587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.78, Y:198.91, Z:94.99 [[ 8.28603546e-01 4.21162533e-01 3.68833682e-01 3.37775120e+02] [-3.76991669e-01 9.06822370e-01 -1.88548325e-01 1.98907294e+02] [-4.13876124e-01 1.71845853e-02 9.10170997e-01 9.49878189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.80, Y:198.88, Z:94.98 [[ 8.26539224e-01 4.11566628e-01 3.83986748e-01 3.37799570e+02] [-3.76907609e-01 9.11345137e-01 -1.65501344e-01 1.98881914e+02] [-4.18059286e-01 -7.93417429e-03 9.08385096e-01 9.49842483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.83, Y:198.88, Z:94.97 [[ 8.25409735e-01 4.18849432e-01 3.78502208e-01 3.37826959e+02] [-3.79042033e-01 9.08048297e-01 -1.78256634e-01 1.98876755e+02] [-4.18360976e-01 3.66651474e-03 9.08273445e-01 9.49658731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1003857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.85, Y:198.86, Z:94.95 [[ 8.25164943e-01 4.19585583e-01 3.78220513e-01 3.37854435e+02] [-3.79855312e-01 9.07709346e-01 -1.78251750e-01 1.98864015e+02] [-4.18106159e-01 3.41802411e-03 9.08391742e-01 9.49517993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.88, Y:198.85, Z:94.94 [[ 8.25186607e-01 4.19703939e-01 3.78041885e-01 3.37880453e+02] [-3.79962584e-01 9.07654346e-01 -1.78303178e-01 1.98851943e+02] [-4.17965906e-01 3.49162273e-03 9.08456003e-01 9.49381697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.91, Y:198.84, Z:94.92 [[ 8.25529759e-01 4.19430091e-01 3.77596367e-01 3.37907170e+02] [-3.79721627e-01 9.07780065e-01 -1.78176427e-01 1.98839576e+02] [-4.17507009e-01 3.70843646e-03 9.08666135e-01 9.49243343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.190385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:337.93, Y:198.83, Z:94.91 [[ 8.25705312e-01 4.19008881e-01 3.77680149e-01 3.37933195e+02] [-3.79176750e-01 9.07973059e-01 -1.78353348e-01 1.98827752e+02] [-4.17655037e-01 4.05977566e-03 9.08596604e-01 9.49110267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2203857229999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:337.96, Y:198.81, Z:94.90 [[ 8.27109159e-01 4.17080794e-01 3.76741358e-01 3.37960342e+02] [-3.77227439e-01 9.08855086e-01 -1.77994079e-01 1.98814737e+02] [-4.16641211e-01 5.10335499e-03 9.09056686e-01 9.48971898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.99, Y:198.80, Z:94.88 [[ 8.29072969e-01 4.13941777e-01 3.75885909e-01 3.37987066e+02] [-3.73907344e-01 9.10277936e-01 -1.77728383e-01 1.98801514e+02] [-4.15729852e-01 6.80329641e-03 9.09462702e-01 9.48832143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.01, Y:198.79, Z:94.87 [[ 8.29751887e-01 4.12598760e-01 3.75864429e-01 3.38014202e+02] [-3.72374673e-01 9.10881051e-01 -1.77856162e-01 1.98789315e+02] [-4.15751018e-01 7.61409219e-03 9.09446599e-01 9.48691717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.04, Y:198.78, Z:94.86 [[ 8.30361307e-01 4.11388989e-01 3.75844648e-01 3.38040105e+02] [-3.70986517e-01 9.11421521e-01 -1.77988245e-01 1.98777801e+02] [-4.15775305e-01 8.36125478e-03 9.09428934e-01 9.48555346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.07, Y:198.77, Z:94.84 [[ 8.31041434e-01 4.09841154e-01 3.76032397e-01 3.38067805e+02] [-3.69184828e-01 9.12109771e-01 -1.78208668e-01 1.98765689e+02] [-4.16020070e-01 9.27333156e-03 9.09308147e-01 9.48415916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.10, Y:198.76, Z:94.83 [[ 8.32098494e-01 4.12620621e-01 3.70616134e-01 3.38095979e+02] [-3.69531091e-01 9.10755075e-01 -1.84314859e-01 1.98756516e+02] [-4.13592637e-01 1.64139319e-02 9.10314074e-01 9.48253377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.12, Y:198.74, Z:94.81 [[ 8.32497643e-01 4.10417676e-01 3.72162608e-01 3.38123101e+02] [-3.69311664e-01 9.11819638e-01 -1.79426427e-01 1.98742950e+02] [-4.12984951e-01 1.19280857e-02 9.10659734e-01 9.48133264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.430385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:338.15, Y:198.73, Z:94.80 [[ 8.32371621e-01 4.11284483e-01 3.71486957e-01 3.38148146e+02] [-3.69555967e-01 9.11408872e-01 -1.81003467e-01 1.98733319e+02] [-4.13020426e-01 1.33769278e-02 9.10623515e-01 9.47984540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:338.18, Y:198.72, Z:94.78 [[ 8.29792868e-01 4.09082191e-01 3.79599206e-01 3.38176785e+02] [-3.68114621e-01 9.12457971e-01 -1.78639517e-01 1.98718380e+02] [-4.19446566e-01 8.49777968e-03 9.07740253e-01 9.47833338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.20, Y:198.70, Z:94.78 [[ 8.29046634e-01 4.09883753e-01 3.80364282e-01 3.38202706e+02] [-3.71989999e-01 9.12136960e-01 -1.72132525e-01 1.98704135e+02] [-4.17498646e-01 1.21418165e-03 9.08676734e-01 9.47764931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.23, Y:198.69, Z:94.77 [[ 8.29590063e-01 4.08804014e-01 3.80341433e-01 3.38232399e+02] [-3.71486837e-01 9.12622159e-01 -1.70640925e-01 1.98691318e+02] [-4.16866715e-01 2.70179916e-04 9.08967584e-01 9.47668382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.26, Y:198.69, Z:94.75 [[ 8.28788560e-01 4.13581426e-01 3.76908380e-01 3.38260544e+02] [-3.72696937e-01 9.10429454e-01 -1.79485940e-01 1.98685744e+02] [-4.17380542e-01 8.28329504e-03 9.08694047e-01 9.47495864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.29, Y:198.67, Z:94.73 [[ 8.28807844e-01 4.13696432e-01 3.76739725e-01 3.38286636e+02] [-3.72798080e-01 9.10376500e-01 -1.79544477e-01 1.98674897e+02] [-4.17251902e-01 8.36002440e-03 9.08752420e-01 9.47342073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.31, Y:198.66, Z:94.72 [[ 8.28425532e-01 4.14704803e-01 3.76471863e-01 3.38314402e+02] [-3.73927454e-01 9.09921435e-01 -1.79502764e-01 1.98663052e+02] [-4.17000476e-01 7.93150732e-03 9.08871660e-01 9.47217813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.34, Y:198.65, Z:94.71 [[ 8.28159856e-01 4.15173321e-01 3.76539992e-01 3.38341832e+02] [-3.74363806e-01 9.09708602e-01 -1.79671927e-01 1.98652284e+02] [-4.17136661e-01 7.83413305e-03 9.08810009e-01 9.47084980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.37, Y:198.64, Z:94.69 [[ 8.28198586e-01 4.14669874e-01 3.77009280e-01 3.38370269e+02] [-3.73664311e-01 9.09935109e-01 -1.79980777e-01 1.98641276e+02] [-4.17686586e-01 8.18491188e-03 9.08554304e-01 9.46947981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.40, Y:198.63, Z:94.68 [[ 8.28631987e-01 4.16625957e-01 3.73887472e-01 3.38397141e+02] [-3.74062985e-01 9.08991943e-01 -1.83876403e-01 1.98632691e+02] [-4.16468382e-01 1.25084057e-02 9.09064149e-01 9.46801545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.43, Y:198.61, Z:94.67 [[ 8.27748318e-01 4.12658937e-01 3.80191167e-01 3.38425342e+02] [-3.73204261e-01 9.10877261e-01 -1.76128350e-01 1.98614664e+02] [-4.18988427e-01 3.90098196e-03 9.07983194e-01 9.46664465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.760385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:338.45, Y:198.61, Z:94.65 [[ 8.28772409e-01 4.13733278e-01 3.76777215e-01 3.38452575e+02] [-3.71227064e-01 9.10321233e-01 -1.83045675e-01 1.98611739e+02] [-4.18720386e-01 1.18333058e-02 9.08038111e-01 9.46523007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.48, Y:198.60, Z:94.64 [[ 8.28980738e-01 4.12334416e-01 3.77850851e-01 3.38480476e+02] [-3.70858428e-01 9.10983167e-01 -1.80481845e-01 1.98600583e+02] [-4.18634641e-01 9.48680073e-03 9.08105191e-01 9.46388849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.51, Y:198.59, Z:94.61 [[ 8.27736093e-01 4.18929162e-01 3.73297893e-01 3.38509223e+02] [-3.71425382e-01 9.07731500e-01 -1.95106920e-01 1.98594233e+02] [-4.20590235e-01 2.28447275e-02 9.06963049e-01 9.46147881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.53, Y:198.57, Z:94.62 [[ 8.29275371e-01 4.07548508e-01 3.82369681e-01 3.38534321e+02] [-3.69755997e-01 9.13183250e-01 -1.71396774e-01 1.98574687e+02] [-4.19026088e-01 7.51640865e-04 9.07973884e-01 9.46153718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.56, Y:198.57, Z:94.60 [[ 8.29353980e-01 4.11422653e-01 3.78025629e-01 3.38562315e+02] [-3.69657893e-01 9.11386517e-01 -1.80907876e-01 1.98568840e+02] [-4.18957059e-01 1.02965091e-02 9.07947666e-01 9.45980655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.59, Y:198.56, Z:94.58 [[ 8.29320566e-01 4.11577882e-01 3.77929948e-01 3.38590029e+02] [-3.69786119e-01 9.11315756e-01 -1.81002262e-01 1.98557481e+02] [-4.18910044e-01 1.03556496e-02 9.07968687e-01 9.45840323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.62, Y:198.55, Z:94.56 [[ 8.27878449e-01 4.16187533e-01 3.76038842e-01 3.38618401e+02] [-3.69614464e-01 9.09052751e-01 -1.92375268e-01 1.98552758e+02] [-4.21903332e-01 2.02739436e-02 9.06414114e-01 9.45614670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.64, Y:198.54, Z:94.56 [[ 8.28497080e-01 4.09186979e-01 3.82306951e-01 3.38644764e+02] [-3.70561999e-01 9.12448084e-01 -1.73557768e-01 1.98535637e+02] [-4.19852823e-01 2.12367602e-03 9.07589718e-01 9.45598953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:198.53, Z:94.54 [[ 8.28609786e-01 4.12899100e-01 3.78047821e-01 3.38673440e+02] [-3.71052511e-01 9.10721487e-01 -1.81401233e-01 1.98528760e+02] [-4.19196679e-01 1.00352432e-02 9.07839985e-01 9.45430221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.030385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.70, Y:198.52, Z:94.53 [[ 8.28936547e-01 4.12755907e-01 3.77487433e-01 3.38701152e+02] [-3.70962444e-01 9.10784251e-01 -1.81270277e-01 1.98517672e+02] [-4.18629987e-01 1.02278967e-02 9.08099292e-01 9.45292949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.73, Y:198.51, Z:94.52 [[ 8.29767316e-01 4.11263431e-01 3.77291124e-01 3.38729802e+02] [-3.69304189e-01 9.11448762e-01 -1.81316217e-01 1.98508026e+02] [-4.18450257e-01 1.11150787e-02 9.08171700e-01 9.45152549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.76, Y:198.50, Z:94.50 [[ 8.30993079e-01 4.08944367e-01 3.77114050e-01 3.38758562e+02] [-3.66733916e-01 9.12474811e-01 -1.81372420e-01 1.98498660e+02] [-4.18278301e-01 1.24187133e-02 9.08234022e-01 9.45014721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.79, Y:198.49, Z:94.49 [[ 8.31396846e-01 4.07992263e-01 3.77255349e-01 3.38786574e+02] [-3.65590170e-01 9.12892184e-01 -1.81581079e-01 1.98487854e+02] [-4.18477135e-01 1.30450897e-02 9.08133643e-01 9.44871195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.81, Y:198.48, Z:94.47 [[ 8.31739640e-01 4.07141557e-01 3.77418764e-01 3.38814451e+02] [-3.64552347e-01 9.13263490e-01 -1.81800396e-01 1.98477137e+02] [-4.18701274e-01 1.36216998e-02 9.08021857e-01 9.44733303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.84, Y:198.47, Z:94.46 [[ 8.31981893e-01 4.06265689e-01 3.77828427e-01 3.38841739e+02] [-3.63427689e-01 9.13644301e-01 -1.82138426e-01 1.98468539e+02] [-4.19197383e-01 1.42225605e-02 9.07783715e-01 9.44596558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.87, Y:198.46, Z:94.45 [[ 8.32051564e-01 4.06370643e-01 3.77562042e-01 3.38869073e+02] [-3.63546481e-01 9.13596586e-01 -1.82140699e-01 1.98457477e+02] [-4.18956025e-01 1.42891017e-02 9.07894086e-01 9.44459449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.90, Y:198.45, Z:94.43 [[ 8.31871924e-01 4.06965040e-01 3.77317583e-01 3.38896432e+02] [-3.64193414e-01 9.13334610e-01 -1.82162143e-01 1.98448420e+02] [-4.18750832e-01 1.41189938e-02 9.07991407e-01 9.44321085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.92, Y:198.44, Z:94.42 [[ 8.31166250e-01 4.07795128e-01 3.77975923e-01 3.38923550e+02] [-3.64886949e-01 9.12968239e-01 -1.82610263e-01 1.98437396e+02] [-4.19547589e-01 1.38610056e-02 9.07627508e-01 9.44178006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.95, Y:198.43, Z:94.40 [[ 8.30582593e-01 4.08892429e-01 3.78073456e-01 3.38949893e+02] [-3.66004232e-01 9.12483441e-01 -1.82797353e-01 1.98426712e+02] [-4.19730222e-01 1.34518142e-02 9.07549222e-01 9.44041921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.98, Y:198.42, Z:94.39 [[ 8.31060790e-01 4.16115572e-01 3.69033595e-01 3.38977305e+02] [-3.69582859e-01 9.09001858e-01 -1.92676238e-01 1.98424052e+02] [-4.15627806e-01 2.37371751e-02 9.09224985e-01 9.43865118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.360385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:339.00, Y:198.40, Z:94.38 [[ 8.29135032e-01 4.08939584e-01 3.81186982e-01 3.39001652e+02] [-3.71908573e-01 9.12561131e-01 -1.70047629e-01 1.98401002e+02] [-4.17395630e-01 -7.74259847e-04 9.08724539e-01 9.43775952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.03, Y:198.40, Z:94.36 [[ 8.27954190e-01 4.15730734e-01 3.76377226e-01 3.39031433e+02] [-3.73773337e-01 9.09429981e-01 -1.82292629e-01 1.98395349e+02] [-4.18073382e-01 1.02501743e-02 9.08355427e-01 9.43618888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.06, Y:198.38, Z:94.35 [[ 8.27192854e-01 4.17152795e-01 3.76477792e-01 3.39059161e+02] [-3.75248347e-01 9.08784892e-01 -1.82479309e-01 1.98383483e+02] [-4.18259083e-01 9.67291128e-03 9.08276265e-01 9.43477064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.09, Y:198.37, Z:94.33 [[ 8.25609328e-01 4.19783269e-01 3.77029502e-01 3.39086734e+02] [-3.77945439e-01 9.07584610e-01 -1.82886362e-01 1.98372289e+02] [-4.18958808e-01 8.49610539e-03 9.07965491e-01 9.43333130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.480385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:339.11, Y:198.36, Z:94.32 [[ 8.24809559e-01 4.21708857e-01 3.76630894e-01 3.39113341e+02] [-3.80090794e-01 9.06699037e-01 -1.82832836e-01 1.98360908e+02] [-4.18593095e-01 7.64833507e-03 9.08141687e-01 9.43173233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.510385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:339.14, Y:198.35, Z:94.30 [[ 8.24759087e-01 4.21857388e-01 3.76575082e-01 3.39140671e+02] [-3.80201632e-01 9.06629389e-01 -1.82947727e-01 1.98347613e+02] [-4.18591886e-01 7.71334006e-03 9.08141694e-01 9.43033011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.17, Y:198.33, Z:94.29 [[ 8.23684430e-01 4.23138792e-01 3.77488441e-01 3.39169264e+02] [-3.81368502e-01 9.06036694e-01 -1.83454557e-01 1.98334612e+02] [-4.19645119e-01 7.14646122e-03 9.07660125e-01 9.42919860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.20, Y:198.32, Z:94.28 [[ 8.23258313e-01 4.24239351e-01 3.77182612e-01 3.39195392e+02] [-3.82583862e-01 9.05525141e-01 -1.83449742e-01 1.98322864e+02] [-4.19374938e-01 6.72254494e-03 9.07788229e-01 9.42772407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6003857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.22, Y:198.31, Z:94.26 [[ 8.23482017e-01 4.24522695e-01 3.76374614e-01 3.39221897e+02] [-3.83021771e-01 9.05392550e-01 -1.83190211e-01 1.98309722e+02] [-4.18535174e-01 6.69417366e-03 9.08175917e-01 9.42632496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.25, Y:198.30, Z:94.25 [[ 8.23510790e-01 4.24328242e-01 3.76530905e-01 3.39248858e+02] [-3.82706819e-01 9.05481876e-01 -1.83406824e-01 1.98296630e+02] [-4.18766605e-01 6.93655381e-03 9.08067406e-01 9.42496772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.28, Y:198.28, Z:94.24 [[ 8.24153411e-01 4.22840683e-01 3.76798238e-01 3.39275489e+02] [-3.80943478e-01 9.06170119e-01 -1.83678474e-01 1.98283771e+02] [-4.19110036e-01 7.84040960e-03 9.07901595e-01 9.42358822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.30, Y:198.27, Z:94.22 [[ 8.24377699e-01 4.22104805e-01 3.77132528e-01 3.39301923e+02] [-3.79989868e-01 9.06508437e-01 -1.83984113e-01 1.98270568e+02] [-4.19534397e-01 8.36586038e-03 9.07700888e-01 9.42222570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.33, Y:198.26, Z:94.21 [[ 8.24627183e-01 4.21069320e-01 3.77744142e-01 3.39327637e+02] [-3.78640070e-01 9.06983272e-01 -1.84426250e-01 1.98258064e+02] [-4.20263854e-01 9.05383103e-03 9.07356777e-01 9.42090730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.35, Y:198.25, Z:94.19 [[ 8.24563517e-01 4.21204402e-01 3.77732523e-01 3.39354774e+02] [-3.78729460e-01 9.06919902e-01 -1.84554296e-01 1.98245482e+02] [-4.20308225e-01 9.11830501e-03 9.07335579e-01 9.41945921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.38, Y:198.23, Z:94.18 [[ 8.24356803e-01 4.21756304e-01 3.77567849e-01 3.39380331e+02] [-3.79309510e-01 9.06664808e-01 -1.84616418e-01 1.98232420e+02] [-4.20190620e-01 8.97472439e-03 9.07391480e-01 9.41800422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.41, Y:198.22, Z:94.17 [[ 8.24070905e-01 4.22526486e-01 3.77330772e-01 3.39406488e+02] [-3.80171562e-01 9.06309162e-01 -1.84589511e-01 1.98218262e+02] [-4.19972293e-01 8.66441630e-03 9.07495565e-01 9.41662847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.43, Y:198.20, Z:94.15 [[ 8.23877450e-01 4.23021265e-01 3.77198831e-01 3.39432557e+02] [-3.80681646e-01 9.06079420e-01 -1.84666104e-01 1.98204637e+02] [-4.19889786e-01 8.54956684e-03 9.07534833e-01 9.41525727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.870385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:339.46, Y:198.19, Z:94.14 [[ 8.24230594e-01 4.24011997e-01 3.75310211e-01 3.39458090e+02] [-3.82152176e-01 9.05620041e-01 -1.83880548e-01 1.98190233e+02] [-4.17856007e-01 8.13435923e-03 9.08476852e-01 9.41366170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.48, Y:198.18, Z:94.12 [[ 8.23506554e-01 4.24265827e-01 3.76610492e-01 3.39484793e+02] [-3.82059274e-01 9.05500736e-01 -1.84659493e-01 1.98176034e+02] [-4.19365790e-01 8.18077196e-03 9.07780485e-01 9.41244096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.51, Y:198.16, Z:94.11 [[ 8.23704403e-01 4.24320681e-01 3.76115696e-01 3.39510093e+02] [-3.82171058e-01 9.05474119e-01 -1.84558668e-01 1.98162097e+02] [-4.18875089e-01 8.28125382e-03 9.08006102e-01 9.41111955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.54, Y:198.15, Z:94.10 [[ 8.23946194e-01 4.24206246e-01 3.75714959e-01 3.39535813e+02] [-3.82079160e-01 9.05526082e-01 -1.84493985e-01 1.98146166e+02] [-4.18483196e-01 8.46026100e-03 9.08185135e-01 9.40973756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.56, Y:198.13, Z:94.08 [[ 8.23865011e-01 4.24251241e-01 3.75842159e-01 3.39561501e+02] [-3.82032646e-01 9.05503844e-01 -1.84699342e-01 1.98131577e+02] [-4.18685445e-01 8.58335044e-03 9.08090758e-01 9.40836435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.59, Y:198.12, Z:94.07 [[ 8.25828221e-01 4.28637450e-01 3.66439199e-01 3.39587727e+02] [-3.81542404e-01 9.03194524e-01 -1.96634295e-01 1.98123121e+02] [-4.15250701e-01 2.25740577e-02 9.09426890e-01 9.40668347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.61, Y:198.09, Z:94.06 [[ 8.24027337e-01 4.17798952e-01 3.82652562e-01 3.39609561e+02] [-3.80602884e-01 9.08532361e-01 -1.72367035e-01 1.98094732e+02] [-4.19667002e-01 -3.60351928e-03 9.07670988e-01 9.40611048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.64, Y:198.08, Z:94.05 [[ 8.25009194e-01 4.20444906e-01 3.77605496e-01 3.39637610e+02] [-3.81619884e-01 9.07316848e-01 -1.76472099e-01 1.98079019e+02] [-4.16804623e-01 1.48933840e-03 9.08994878e-01 9.40470369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.66, Y:198.08, Z:94.03 [[ 8.25231948e-01 4.26878587e-01 3.69820097e-01 3.39661613e+02] [-3.80023403e-01 9.04068831e-01 -1.95555009e-01 1.98079867e+02] [-4.17821069e-01 2.08379492e-02 9.08290336e-01 9.40258045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.69, Y:198.06, Z:94.02 [[ 8.24647900e-01 4.22848225e-01 3.75706294e-01 3.39686549e+02] [-3.80316690e-01 9.06148188e-01 -1.85080192e-01 1.98059595e+02] [-4.18706408e-01 9.73861753e-03 9.08069437e-01 9.40163913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.71, Y:198.05, Z:94.00 [[ 8.24338833e-01 4.23644893e-01 3.75487008e-01 3.39712801e+02] [-3.81203388e-01 9.05779411e-01 -1.85061169e-01 1.98045529e+02] [-4.18508620e-01 9.41618833e-03 9.08164011e-01 9.40024115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.74, Y:198.03, Z:93.99 [[ 8.24299613e-01 4.24268857e-01 3.74868089e-01 3.39737572e+02] [-3.81971562e-01 9.05489317e-01 -1.84896791e-01 1.98030388e+02] [-4.17885000e-01 9.22140384e-03 9.08453132e-01 9.39898723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.76, Y:198.02, Z:93.98 [[ 8.24230786e-01 4.24333777e-01 3.74945940e-01 3.39763545e+02] [-3.81984016e-01 9.05458316e-01 -1.85022837e-01 1.98015930e+02] [-4.18009359e-01 9.27816282e-03 9.08395339e-01 9.39767095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.79, Y:198.00, Z:93.96 [[ 8.24442246e-01 4.24841510e-01 3.73904633e-01 3.39789233e+02] [-3.81710167e-01 9.05196833e-01 -1.86858349e-01 1.98002743e+02] [-4.17842473e-01 1.13307171e-02 9.08448833e-01 9.39607045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.82, Y:197.99, Z:93.95 [[ 8.24222828e-01 4.25032971e-01 3.74170686e-01 3.39815361e+02] [-3.82006080e-01 9.05112027e-01 -1.86664335e-01 1.97988985e+02] [-4.18004885e-01 1.09175292e-02 9.08379174e-01 9.39459476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.84, Y:197.97, Z:93.93 [[ 8.24210916e-01 4.24569713e-01 3.74722464e-01 3.39840429e+02] [-3.81964467e-01 9.05341440e-01 -1.85634113e-01 1.97974824e+02] [-4.18066397e-01 9.87099650e-03 9.08362841e-01 9.39330106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.87, Y:197.96, Z:93.92 [[ 8.24649720e-01 4.24075245e-01 3.74316746e-01 3.39865063e+02] [-3.83172890e-01 9.05603524e-01 -1.81826276e-01 1.97957333e+02] [-4.16090587e-01 6.51495850e-03 9.09299829e-01 9.39231372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.89, Y:197.94, Z:93.91 [[ 8.24797297e-01 4.25292833e-01 3.72606260e-01 3.39891640e+02] [-3.83376286e-01 9.05009097e-01 -1.84339788e-01 1.97944764e+02] [-4.15610446e-01 9.19455472e-03 9.09496244e-01 9.39080764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.92, Y:197.94, Z:93.89 [[ 8.25999714e-01 4.28254305e-01 3.66500645e-01 3.39917483e+02] [-3.83195217e-01 9.03474613e-01 -1.92080843e-01 1.97936069e+02] [-4.13383476e-01 1.82174272e-02 9.10374773e-01 9.38906966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.94, Y:197.91, Z:93.89 [[ 8.25673725e-01 4.17933682e-01 3.78938435e-01 3.39942013e+02] [-3.82968722e-01 9.08451818e-01 -1.67482094e-01 1.97906971e+02] [-4.14243719e-01 -6.83600358e-03 9.10140325e-01 9.38872940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:197.91, Z:93.86 [[ 8.25215993e-01 4.28496941e-01 3.67979533e-01 3.39968295e+02] [-3.82028431e-01 9.03311549e-01 -1.95147442e-01 1.97908584e+02] [-4.16020244e-01 2.04601463e-02 9.09125150e-01 9.38640150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.99, Y:197.89, Z:93.85 [[ 8.25113138e-01 4.24110551e-01 3.73254004e-01 3.39993451e+02] [-3.81758909e-01 9.05553301e-01 -1.85022578e-01 1.97888544e+02] [-4.16471422e-01 1.01715185e-02 9.09091907e-01 9.38538410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.02, Y:197.87, Z:93.84 [[ 8.25172620e-01 4.24491592e-01 3.72688926e-01 3.40019324e+02] [-3.82248716e-01 9.05375557e-01 -1.84881096e-01 1.97873569e+02] [-4.15903915e-01 1.00989554e-02 9.09352486e-01 9.38401810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.05, Y:197.84, Z:93.84 [[ 8.26690316e-01 4.15527131e-01 3.79368325e-01 3.40047220e+02] [-3.85439349e-01 9.09419820e-01 -1.56179700e-01 1.97840628e+02] [-4.09901977e-01 -1.71112346e-02 9.11969065e-01 9.38432779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.07, Y:197.86, Z:93.80 [[ 8.24141388e-01 4.38444421e-01 3.58549107e-01 3.40073699e+02] [-3.84822024e-01 8.97955079e-01 -2.13515071e-01 1.97863059e+02] [-4.15575483e-01 3.79890142e-02 9.08765015e-01 9.38022878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.620385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.10, Y:197.83, Z:93.80 [[ 8.23067554e-01 4.28049923e-01 3.73273447e-01 3.40097149e+02] [-3.85876375e-01 9.03713982e-01 -1.85473615e-01 1.97832899e+02] [-4.16724400e-01 8.61990994e-03 9.08992009e-01 9.37976809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.12, Y:197.82, Z:93.78 [[ 8.21440044e-01 4.30882435e-01 3.73599493e-01 3.40123080e+02] [-3.88845502e-01 9.02378292e-01 -1.85775654e-01 1.97817902e+02] [-4.17175538e-01 7.33107896e-03 9.08796361e-01 9.37846390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.15, Y:197.80, Z:93.77 [[ 8.20501668e-01 4.32080503e-01 3.74277240e-01 3.40149471e+02] [-3.89936939e-01 9.01808827e-01 -1.86252582e-01 1.97803460e+02] [-4.18002628e-01 6.87603240e-03 9.08419795e-01 9.37707054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.18, Y:197.79, Z:93.76 [[ 8.19453076e-01 4.33551573e-01 3.74872898e-01 3.40176073e+02] [-3.91348236e-01 9.01106891e-01 -1.86689393e-01 1.97788587e+02] [-4.18740032e-01 6.27735014e-03 9.08084457e-01 9.37570325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.20, Y:197.78, Z:93.74 [[ 8.19140790e-01 4.33884963e-01 3.75169570e-01 3.40201550e+02] [-3.91579833e-01 9.00946588e-01 -1.86977219e-01 1.97775542e+02] [-4.19134347e-01 6.25182944e-03 9.07902701e-01 9.37439386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.23, Y:197.76, Z:93.73 [[ 8.19112350e-01 4.33071799e-01 3.76169874e-01 3.40227974e+02] [-3.90386193e-01 9.01333629e-01 -1.87606796e-01 1.97761537e+02] [-4.20301771e-01 6.81951823e-03 9.07358758e-01 9.37298509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:197.74, Z:93.73 [[ 8.20640583e-01 4.26902499e-01 3.79872728e-01 3.40254695e+02] [-3.90432765e-01 9.04274083e-01 -1.72773375e-01 1.97738685e+02] [-4.17266448e-01 -6.52991630e-03 9.08760734e-01 9.37262085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:197.74, Z:93.70 [[ 8.20561476e-01 4.36690584e-01 3.68754929e-01 3.40280518e+02] [-3.88293926e-01 8.99348947e-01 -2.00995766e-01 1.97740911e+02] [-4.19412316e-01 2.17440835e-02 9.07535401e-01 9.36981049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:197.71, Z:93.70 [[ 8.21942948e-01 4.25238828e-01 3.78921799e-01 3.40305388e+02] [-3.89203318e-01 9.05057382e-01 -1.71440698e-01 1.97709722e+02] [-4.15849213e-01 -6.56314916e-03 9.09409895e-01 9.36995260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:340.33, Y:197.70, Z:93.68 [[ 8.22008712e-01 4.31235035e-01 3.71938197e-01 3.40332241e+02] [-3.90777150e-01 9.02227859e-01 -1.82422889e-01 1.97700917e+02] [-4.14240144e-01 4.60825601e-03 9.10155958e-01 9.36826160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.36, Y:197.70, Z:93.65 [[ 8.20349285e-01 4.40308538e-01 3.64904703e-01 3.40356852e+02] [-3.90157421e-01 8.97456939e-01 -2.05786854e-01 1.97703395e+02] [-4.18095966e-01 2.64468212e-02 9.08017802e-01 9.36547082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.38, Y:197.68, Z:93.65 [[ 8.19410002e-01 4.35472072e-01 3.72734924e-01 3.40380216e+02] [-3.93568044e-01 9.00181486e-01 -1.86487234e-01 1.97680438e+02] [-4.16739059e-01 6.11294986e-03 9.09005604e-01 9.36468424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.980385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:340.41, Y:197.67, Z:93.63 [[ 8.18951684e-01 4.36999320e-01 3.71953939e-01 3.40406799e+02] [-3.95370249e-01 8.99445316e-01 -1.86226985e-01 1.97666569e+02] [-4.15933294e-01 5.45138126e-03 9.09378787e-01 9.36321772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.43, Y:197.65, Z:93.62 [[ 8.18444830e-01 4.38699618e-01 3.71066984e-01 3.40433304e+02] [-3.97381287e-01 8.98621405e-01 -1.85923863e-01 1.97651881e+02] [-4.15013462e-01 4.71334877e-03 9.09803062e-01 9.36181674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.46, Y:197.63, Z:93.61 [[ 8.19026608e-01 4.35030210e-01 3.74091075e-01 3.40460302e+02] [-3.98658067e-01 9.00392996e-01 -1.74253261e-01 1.97630501e+02] [-4.12634416e-01 -6.41636738e-03 9.10874123e-01 9.36120038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.49, Y:197.62, Z:93.60 [[ 8.19492635e-01 4.36870790e-01 3.70912029e-01 3.40487851e+02] [-3.98852989e-01 8.99522351e-01 -1.78257775e-01 1.97616842e+02] [-4.11519275e-01 -1.85843796e-03 9.11399162e-01 9.35994410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.51, Y:197.61, Z:93.58 [[ 8.19447354e-01 4.39834327e-01 3.67493945e-01 3.40514162e+02] [-3.98097732e-01 8.98051222e-01 -1.87142190e-01 1.97608099e+02] [-4.12339945e-01 7.05466644e-03 9.11002745e-01 9.35823109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.54, Y:197.59, Z:93.57 [[ 8.20287185e-01 4.36166236e-01 3.69983715e-01 3.40540612e+02] [-3.98213697e-01 8.99865087e-01 -1.77956954e-01 1.97586015e+02] [-4.10554243e-01 -1.35677464e-03 9.11835168e-01 9.35740421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.57, Y:197.58, Z:93.56 [[ 8.20424950e-01 4.39492702e-01 3.65717194e-01 3.40567239e+02] [-3.97151005e-01 8.98197368e-01 -1.88447785e-01 1.97578639e+02] [-4.11307647e-01 9.36231321e-03 9.11448499e-01 9.35558272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.190385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:340.59, Y:197.57, Z:93.54 [[ 8.20182193e-01 4.39650385e-01 3.66072000e-01 3.40592151e+02] [-3.95700761e-01 8.98080053e-01 -1.92023764e-01 1.97567553e+02] [-4.13185283e-01 1.26395033e-02 9.10559259e-01 9.35389215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.62, Y:197.55, Z:93.53 [[ 8.20118542e-01 4.37119672e-01 3.69231593e-01 3.40616808e+02] [-3.96184393e-01 8.99388045e-01 -1.84767613e-01 1.97549846e+02] [-4.12848039e-01 5.24755035e-03 9.10784804e-01 9.35285789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.64, Y:197.55, Z:93.50 [[ 8.18569295e-01 4.43860198e-01 3.64599005e-01 3.40640987e+02] [-3.95564516e-01 8.95837271e-01 -2.02495179e-01 1.97546701e+02] [-4.16500928e-01 2.15339075e-02 9.08880228e-01 9.35028641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:197.52, Z:93.49 [[ 8.18198102e-01 4.38132533e-01 3.72279129e-01 3.40665575e+02] [-3.96036141e-01 8.98890596e-01 -1.87486189e-01 1.97523448e+02] [-4.16782007e-01 5.96485483e-03 9.08986897e-01 9.34940532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.69, Y:197.50, Z:93.49 [[ 8.19313163e-01 4.33631722e-01 3.75085951e-01 3.40690654e+02] [-3.97473509e-01 9.01063445e-01 -1.73492011e-01 1.97500167e+02] [-4.13207879e-01 -6.94244089e-03 9.10610263e-01 9.34896923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.72, Y:197.50, Z:93.46 [[ 8.17881087e-01 4.44384642e-01 3.65503513e-01 3.40716551e+02] [-3.97373133e-01 8.95652555e-01 -1.99752582e-01 1.97501676e+02] [-4.16131135e-01 1.81325827e-02 9.09123802e-01 9.34617898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.74, Y:197.48, Z:93.45 [[ 8.17778897e-01 4.40138301e-01 3.70831434e-01 3.40739382e+02] [-3.98443476e-01 8.97914828e-01 -1.87060842e-01 1.97478769e+02] [-4.15307684e-01 5.21904334e-03 9.09666032e-01 9.34523404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.77, Y:197.47, Z:93.44 [[ 8.17712920e-01 4.40290504e-01 3.70796242e-01 3.40766462e+02] [-3.98578978e-01 8.97840156e-01 -1.87130577e-01 1.97465055e+02] [-4.15307572e-01 5.22750286e-03 9.09666034e-01 9.34382751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.79, Y:197.45, Z:93.42 [[ 8.17615904e-01 4.40992820e-01 3.70175048e-01 3.40792401e+02] [-3.99462136e-01 8.97497059e-01 -1.86893102e-01 1.97449626e+02] [-4.14649533e-01 4.93585733e-03 9.09967803e-01 9.34245013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.82, Y:197.43, Z:93.41 [[ 8.17352565e-01 4.41716915e-01 3.69893162e-01 3.40817383e+02] [-4.00258553e-01 8.97142147e-01 -1.86893173e-01 1.97434711e+02] [-4.14400622e-01 4.70471235e-03 9.10082409e-01 9.34113967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.84, Y:197.42, Z:93.40 [[ 8.17171634e-01 4.42407495e-01 3.69467358e-01 3.40842756e+02] [-4.01056573e-01 8.96802960e-01 -1.86810267e-01 1.97418273e+02] [-4.13985682e-01 4.47873859e-03 9.10272374e-01 9.33976885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.87, Y:197.40, Z:93.38 [[ 8.17377483e-01 4.42684666e-01 3.68679178e-01 3.40867184e+02] [-4.01482246e-01 8.96666241e-01 -1.86552027e-01 1.97402161e+02] [-4.13165894e-01 4.46528172e-03 9.10644829e-01 9.33837511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.89, Y:197.39, Z:93.37 [[ 8.18382204e-01 4.40673506e-01 3.68859634e-01 3.40890877e+02] [-3.98779293e-01 8.97644135e-01 -1.87643497e-01 1.97391775e+02] [-4.13794205e-01 6.47051487e-03 9.10347455e-01 9.33693931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.92, Y:197.37, Z:93.36 [[ 8.17783780e-01 4.40582042e-01 3.70293335e-01 3.40916039e+02] [-4.01169138e-01 8.97712260e-01 -1.82142859e-01 1.97367571e+02] [-4.12665739e-01 4.03217851e-04 9.10882443e-01 9.33580926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.94, Y:197.35, Z:93.35 [[ 8.19237415e-01 4.36812455e-01 3.71543992e-01 3.40941395e+02] [-4.00073351e-01 8.99539050e-01 -1.75416113e-01 1.97350615e+02] [-4.10842272e-01 -4.93740710e-03 9.11693067e-01 9.33497551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:340.97, Y:197.35, Z:93.33 [[ 8.18147225e-01 4.45512795e-01 3.63529183e-01 3.40967978e+02] [-4.00681091e-01 8.95164360e-01 -1.95282955e-01 1.97346054e+02] [-4.12419424e-01 1.41109380e-02 9.10884790e-01 9.33253574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:197.32, Z:93.32 [[ 8.19745982e-01 4.36324242e-01 3.70995527e-01 3.40990733e+02] [-3.99733770e-01 8.99776348e-01 -1.74972678e-01 1.97318958e+02] [-4.10157821e-01 -4.86629111e-03 9.12001580e-01 9.33225859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.02, Y:197.31, Z:93.30 [[ 8.18593895e-01 4.45387080e-01 3.62676694e-01 3.41016080e+02] [-4.00420520e-01 8.95214400e-01 -1.95587792e-01 1.97312863e+02] [-4.11785675e-01 1.48837822e-02 9.11159169e-01 9.32985680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.730385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:341.04, Y:197.29, Z:93.29 [[ 8.18360000e-01 4.41939900e-01 3.67390847e-01 3.41041028e+02] [-4.00663040e-01 8.97027890e-01 -1.86574629e-01 1.97292962e+02] [-4.12014609e-01 5.48527943e-03 9.11160729e-01 9.32872537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.07, Y:197.28, Z:93.27 [[ 8.16613224e-01 4.44401204e-01 3.68307497e-01 3.41067546e+02] [-4.03082418e-01 8.95817086e-01 -1.87179896e-01 1.97277256e+02] [-4.13119120e-01 4.39530195e-03 9.10666390e-01 9.32745259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.09, Y:197.26, Z:93.26 [[ 8.15961935e-01 4.45690652e-01 3.68192833e-01 3.41093864e+02] [-4.04459721e-01 8.95178632e-01 -1.87263320e-01 1.97263335e+02] [-4.13059868e-01 3.88057021e-03 9.10695606e-01 9.32607656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:341.12, Y:197.25, Z:93.25 [[ 8.14696722e-01 4.47981667e-01 3.68214174e-01 3.41119186e+02] [-4.06904203e-01 8.94038171e-01 -1.87415898e-01 1.97250284e+02] [-4.13156413e-01 2.85922328e-03 9.10655590e-01 9.32466508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.15, Y:197.24, Z:93.23 [[ 8.14071809e-01 4.49100800e-01 3.68233026e-01 3.41145514e+02] [-4.08088579e-01 8.93477936e-01 -1.87512374e-01 1.97237214e+02] [-4.13220041e-01 2.37684530e-03 9.10628107e-01 9.32328353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.17, Y:197.22, Z:93.22 [[ 8.13649397e-01 4.49919068e-01 3.68167748e-01 3.41172299e+02] [-4.08938835e-01 8.93066869e-01 -1.87618219e-01 1.97223586e+02] [-4.13211433e-01 2.09736019e-03 9.10632699e-01 9.32184935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:341.20, Y:197.21, Z:93.20 [[ 8.13907981e-01 4.49773982e-01 3.67773250e-01 3.41198865e+02] [-4.08809143e-01 8.93139439e-01 -1.87555396e-01 1.97209582e+02] [-4.12830331e-01 2.30376678e-03 9.10805034e-01 9.32046110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.22, Y:197.20, Z:93.19 [[ 8.15104034e-01 4.47790107e-01 3.67545146e-01 3.41224883e+02] [-4.06622308e-01 8.94132067e-01 -1.87579704e-01 1.97196510e+02] [-4.12630237e-01 3.44491816e-03 9.10892101e-01 9.31911022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.25, Y:197.18, Z:93.18 [[ 8.15707341e-01 4.46702460e-01 3.67530198e-01 3.41251362e+02] [-4.05393704e-01 8.94673274e-01 -1.87658408e-01 1.97183709e+02] [-4.12646918e-01 4.07991242e-03 9.10881922e-01 9.31779762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.28, Y:197.17, Z:93.16 [[ 8.17044231e-01 4.44248000e-01 3.67535631e-01 3.41278499e+02] [-4.02642629e-01 8.95887296e-01 -1.87789418e-01 1.97171724e+02] [-4.12695576e-01 5.44674776e-03 9.10852729e-01 9.31647886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.31, Y:197.16, Z:93.15 [[ 8.17448667e-01 4.43390311e-01 3.67672014e-01 3.41305441e+02] [-4.01608563e-01 8.96308457e-01 -1.87993915e-01 1.97159123e+02] [-4.12902216e-01 6.01514573e-03 9.10755499e-01 9.31506777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.33, Y:197.15, Z:93.14 [[ 8.17936391e-01 4.41590604e-01 3.68751677e-01 3.41332706e+02] [-3.99311925e-01 8.97188677e-01 -1.88686153e-01 1.97148222e+02] [-4.14161862e-01 7.08632851e-03 9.10175662e-01 9.31366211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.36, Y:197.14, Z:93.12 [[ 8.18373016e-01 4.40362261e-01 3.69251522e-01 3.41360778e+02] [-3.97779427e-01 8.97785781e-01 -1.89082571e-01 1.97136673e+02] [-4.14773594e-01 7.85941560e-03 9.09890705e-01 9.31225735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.39, Y:197.12, Z:93.12 [[ 8.19990739e-01 4.35768943e-01 3.71107284e-01 3.41388009e+02] [-3.97549696e-01 9.00057779e-01 -1.78466338e-01 1.97117920e+02] [-4.11788085e-01 -1.19284401e-03 9.11278854e-01 9.31151576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:197.12, Z:93.09 [[ 8.19565042e-01 4.43194186e-01 3.63169458e-01 3.41414180e+02] [-3.96696189e-01 8.96232434e-01 -1.98493220e-01 1.97118371e+02] [-4.13455289e-01 1.86101643e-02 9.10334217e-01 9.30909970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:197.10, Z:93.08 [[ 8.21283889e-01 4.37048242e-01 3.66717341e-01 3.41440875e+02] [-3.94625818e-01 8.99385144e-01 -1.88087286e-01 1.97102000e+02] [-4.12023347e-01 9.75692684e-03 9.11121048e-01 9.30796609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.47, Y:197.09, Z:93.07 [[ 8.20740431e-01 4.38051279e-01 3.66737265e-01 3.41466844e+02] [-3.95655008e-01 8.98900893e-01 -1.88240003e-01 1.97088187e+02] [-4.12119229e-01 9.39474522e-03 9.11081489e-01 9.30667546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.240385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:341.49, Y:197.08, Z:93.05 [[ 8.19929722e-01 4.38639183e-01 3.67846323e-01 3.41493576e+02] [-3.95968262e-01 8.98615514e-01 -1.88942565e-01 1.97076429e+02] [-4.13430025e-01 9.26415539e-03 9.10488764e-01 9.30537930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.52, Y:197.06, Z:93.04 [[ 8.20143649e-01 4.36456445e-01 3.69959681e-01 3.41519968e+02] [-3.96756071e-01 8.99722203e-01 -1.81891665e-01 1.97060046e+02] [-4.12248729e-01 2.39354468e-03 9.11068195e-01 9.30447352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.300385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.55, Y:197.06, Z:93.02 [[ 8.18173120e-01 4.44584326e-01 3.64605982e-01 3.41547121e+02] [-3.99483743e-01 8.95621009e-01 -1.95641886e-01 1.97056299e+02] [-4.13528093e-01 1.44147699e-02 9.10377246e-01 9.30233955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.330385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:341.57, Y:197.04, Z:93.01 [[ 8.16807754e-01 4.44199200e-01 3.68119768e-01 3.41573542e+02] [-4.01864353e-01 8.95902621e-01 -1.89376703e-01 1.97040562e+02] [-4.13920445e-01 6.75014670e-03 9.10288032e-01 9.30132630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.60, Y:197.02, Z:93.00 [[ 8.16930662e-01 4.42842444e-01 3.69479178e-01 3.41600327e+02] [-4.03483499e-01 8.96599447e-01 -1.82511636e-01 1.97023031e+02] [-4.12098726e-01 2.06003447e-05 9.11139199e-01 9.30026316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.63, Y:197.02, Z:92.98 [[ 8.15363185e-01 4.50036176e-01 3.64211912e-01 3.41626059e+02] [-4.04892039e-01 8.92914664e-01 -1.96890425e-01 1.97020019e+02] [-4.13817971e-01 1.30706996e-02 9.10265809e-01 9.29837417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.65, Y:197.00, Z:92.97 [[ 8.14937878e-01 4.47532653e-01 3.68226533e-01 3.41651066e+02] [-4.05351985e-01 8.94251462e-01 -1.89747443e-01 1.97002263e+02] [-4.14205292e-01 5.37102219e-03 9.10167637e-01 9.29730697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.68, Y:196.99, Z:92.96 [[ 8.14671588e-01 4.48037238e-01 3.68202169e-01 3.41676946e+02] [-4.05850977e-01 8.93999511e-01 -1.89868006e-01 1.96988896e+02] [-4.14240496e-01 5.24485975e-03 9.10152352e-01 9.29603473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.70, Y:196.98, Z:92.95 [[ 8.14758010e-01 4.47290713e-01 3.68917882e-01 3.41703564e+02] [-4.04798474e-01 8.94370032e-01 -1.90369223e-01 1.96976806e+02] [-4.15099483e-01 5.76745357e-03 9.09757746e-01 9.29462606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.73, Y:196.96, Z:92.93 [[ 8.15423409e-01 4.45965633e-01 3.69051918e-01 3.41730242e+02] [-4.03252209e-01 8.95025951e-01 -1.90568105e-01 1.96963614e+02] [-4.15297869e-01 6.57269255e-03 9.09661739e-01 9.29321458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.76, Y:196.95, Z:92.92 [[ 8.15781995e-01 4.45478353e-01 3.68847902e-01 3.41757151e+02] [-4.02703175e-01 8.95265701e-01 -1.90602930e-01 1.96949981e+02] [-4.15126355e-01 6.95421720e-03 9.09737187e-01 9.29184029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.78, Y:196.94, Z:92.90 [[ 8.16440301e-01 4.44444611e-01 3.68638337e-01 3.41782839e+02] [-4.01554327e-01 8.95773951e-01 -1.90638797e-01 1.96937469e+02] [-4.14945005e-01 7.61687791e-03 9.09814611e-01 9.29047290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.81, Y:196.93, Z:92.89 [[ 8.17151484e-01 4.44404856e-01 3.67107309e-01 3.41807910e+02] [-3.99136655e-01 8.95723765e-01 -1.95879728e-01 1.96929984e+02] [-4.15876643e-01 1.35374269e-02 9.09320271e-01 9.28862963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.83, Y:196.91, Z:92.88 [[ 8.16681093e-01 4.41014054e-01 3.72207733e-01 3.41834871e+02] [-4.00350608e-01 8.97497845e-01 -1.84978402e-01 1.96908290e+02] [-4.15633714e-01 2.05477115e-03 9.09529765e-01 9.28786963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.86, Y:196.90, Z:92.86 [[ 8.16390975e-01 4.43794625e-01 3.69529575e-01 3.41861997e+02] [-4.00469477e-01 8.96090093e-01 -1.91433393e-01 1.96898853e+02] [-4.16088902e-01 8.29917894e-03 9.09286066e-01 9.28625465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.690385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:341.89, Y:196.88, Z:92.85 [[ 8.17243582e-01 4.40393466e-01 3.71707578e-01 3.41887734e+02] [-4.01470379e-01 8.97803951e-01 -1.81023758e-01 1.96879327e+02] [-4.13442212e-01 -1.28907724e-03 9.10529448e-01 9.28536815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.92, Y:196.88, Z:92.83 [[ 8.15474677e-01 4.50147359e-01 3.63824693e-01 3.41915046e+02] [-4.02547508e-01 8.92762086e-01 -2.02315008e-01 1.96880745e+02] [-4.15880458e-01 1.85260425e-02 9.09230571e-01 9.28310470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.94, Y:196.86, Z:92.82 [[ 8.15020128e-01 4.46386193e-01 3.69434104e-01 3.41939840e+02] [-4.03202386e-01 8.94810910e-01 -1.91680125e-01 1.96861719e+02] [-4.16137028e-01 7.26644750e-03 9.09272881e-01 9.28212754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.97, Y:196.85, Z:92.81 [[ 8.14707215e-01 4.46832948e-01 3.69584186e-01 3.41966925e+02] [-4.03616473e-01 8.94589027e-01 -1.91844249e-01 1.96849089e+02] [-4.16348289e-01 7.12662770e-03 9.09177273e-01 9.28077379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.99, Y:196.84, Z:92.79 [[ 8.14474498e-01 4.47193646e-01 3.69660839e-01 3.41993926e+02] [-4.03928909e-01 8.94409119e-01 -1.92025424e-01 1.96835656e+02] [-4.16500575e-01 7.08311072e-03 9.09107860e-01 9.27936783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.02, Y:196.82, Z:92.78 [[ 8.14140646e-01 4.47658729e-01 3.69833301e-01 3.42020886e+02] [-4.04332429e-01 8.94177181e-01 -1.92256227e-01 1.96822543e+02] [-4.16761677e-01 6.98801141e-03 9.08988929e-01 9.27796035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.05, Y:196.81, Z:92.77 [[ 8.13480063e-01 4.48677342e-01 3.70052470e-01 3.42047531e+02] [-4.05332662e-01 8.93669378e-01 -1.92510975e-01 1.96810195e+02] [-4.17079873e-01 6.60948739e-03 9.08845803e-01 9.27656765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.900385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:342.07, Y:196.80, Z:92.75 [[ 8.13104908e-01 4.49333917e-01 3.70080315e-01 3.42073139e+02] [-4.05983047e-01 8.93340884e-01 -1.92665072e-01 1.96797269e+02] [-4.17178827e-01 6.41058159e-03 9.08801810e-01 9.27524436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:342.10, Y:196.78, Z:92.74 [[ 8.12601988e-01 4.50249649e-01 3.70071970e-01 3.42100085e+02] [-4.06931411e-01 8.92882090e-01 -1.92791077e-01 1.96784729e+02] [-4.17234749e-01 6.06850350e-03 9.08778486e-01 9.27383921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.13, Y:196.77, Z:92.72 [[ 8.11857254e-01 4.50923593e-01 3.70885040e-01 3.42126483e+02] [-4.07407253e-01 8.92543220e-01 -1.93354420e-01 1.96773825e+02] [-4.18218997e-01 5.87493299e-03 9.08327229e-01 9.27245998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.15, Y:196.76, Z:92.71 [[ 8.11769417e-01 4.51128071e-01 3.70828636e-01 3.42153768e+02] [-4.07586309e-01 8.92439747e-01 -1.93454641e-01 1.96760646e+02] [-4.18215033e-01 5.89588644e-03 9.08328919e-01 9.27106105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.18, Y:196.75, Z:92.70 [[ 8.11591633e-01 4.53174405e-01 3.68716665e-01 3.42179396e+02] [-4.08631735e-01 8.91381423e-01 -1.96110337e-01 1.96750242e+02] [-4.17539371e-01 8.49217769e-03 9.08619148e-01 9.26964441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.21, Y:196.73, Z:92.68 [[ 8.10947602e-01 4.50826104e-01 3.72987682e-01 3.42205804e+02] [-4.08626637e-01 8.92609479e-01 -1.90453641e-01 1.96733181e+02] [-4.18793814e-01 2.03522118e-03 9.08079071e-01 9.26846072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.23, Y:196.72, Z:92.67 [[ 8.10169380e-01 4.53901756e-01 3.70943084e-01 3.42233185e+02] [-4.10437882e-01 8.91038648e-01 -1.93883659e-01 1.96722988e+02] [-4.18528757e-01 4.82951040e-03 9.08190704e-01 9.26695469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.110385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:342.26, Y:196.71, Z:92.65 [[ 8.10616486e-01 4.58161381e-01 3.64676653e-01 3.42259900e+02] [-4.11807597e-01 8.88774768e-01 -2.01231002e-01 1.96714744e+02] [-4.16311681e-01 1.29445516e-02 9.09129816e-01 9.26531239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.28, Y:196.69, Z:92.65 [[ 8.08489954e-01 4.53529593e-01 3.75039869e-01 3.42284732e+02] [-4.13259086e-01 8.91232666e-01 -1.86872315e-01 1.96692936e+02] [-4.18999907e-01 -3.90424390e-03 9.07977882e-01 9.26459707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.31, Y:196.68, Z:92.63 [[ 8.07838179e-01 4.57834544e-01 3.71194030e-01 3.42311694e+02] [-4.14528873e-01 8.89031778e-01 -1.94392160e-01 1.96684524e+02] [-4.19002734e-01 3.16676593e-03 9.07979449e-01 9.26301118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.200385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:342.34, Y:196.67, Z:92.62 [[ 8.07770080e-01 4.58267428e-01 3.70807851e-01 3.42338276e+02] [-4.15037600e-01 8.88809054e-01 -1.94325129e-01 1.96670355e+02] [-4.18630253e-01 3.07082466e-03 9.08151574e-01 9.26162191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.36, Y:196.66, Z:92.60 [[ 8.08164844e-01 4.58105442e-01 3.70147254e-01 3.42364159e+02] [-4.14955291e-01 8.88891777e-01 -1.94122424e-01 1.96655827e+02] [-4.17949389e-01 3.28835636e-03 9.08464361e-01 9.26031610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.260385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:342.39, Y:196.65, Z:92.59 [[ 8.09260928e-01 4.60999549e-01 3.64110102e-01 3.42391526e+02] [-4.15252657e-01 8.87331248e-01 -2.00520540e-01 1.96646346e+02] [-4.15526150e-01 1.10757506e-02 9.09513797e-01 9.25865653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.42, Y:196.63, Z:92.58 [[ 8.09014221e-01 4.54441106e-01 3.72799238e-01 3.42415565e+02] [-4.14391543e-01 8.90769728e-01 -1.86571541e-01 1.96625710e+02] [-4.16864053e-01 -3.54582126e-03 9.08961929e-01 9.25778113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.44, Y:196.62, Z:92.56 [[ 8.08962312e-01 4.57612417e-01 3.69013351e-01 3.42443270e+02] [-4.14561603e-01 8.89143627e-01 -1.93809927e-01 1.96615733e+02] [-4.16795699e-01 3.80616045e-03 9.08992221e-01 9.25611699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.47, Y:196.61, Z:92.54 [[ 8.09827810e-01 4.60195385e-01 3.63866905e-01 3.42469997e+02] [-4.14784543e-01 8.87752790e-01 -1.99621560e-01 1.96605500e+02] [-4.14888781e-01 1.07327230e-02 9.09808830e-01 9.25448290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.380385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:342.49, Y:196.58, Z:92.53 [[ 8.10255420e-01 4.53256775e-01 3.71543335e-01 3.42491640e+02] [-4.12917743e-01 8.91377857e-01 -1.86934354e-01 1.96584012e+02] [-4.15914765e-01 -1.95226198e-03 9.09401505e-01 9.25349155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.410385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:342.52, Y:196.57, Z:92.52 [[ 8.10486709e-01 4.55666010e-01 3.68075782e-01 3.42519432e+02] [-4.12496185e-01 8.90136040e-01 -1.93661375e-01 1.96572624e+02] [-4.15882425e-01 5.13011436e-03 9.09403921e-01 9.25206410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.440385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:342.55, Y:196.56, Z:92.51 [[ 8.11383156e-01 4.55633856e-01 3.66135444e-01 3.42545410e+02] [-4.11068489e-01 8.90120479e-01 -1.96744072e-01 1.96559420e+02] [-4.15547917e-01 9.12808292e-03 9.09525485e-01 9.25064649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4703857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:342.57, Y:196.54, Z:92.49 [[ 8.10577334e-01 4.53426012e-01 3.70633562e-01 3.42572344e+02] [-4.12175448e-01 8.91293829e-01 -1.88962194e-01 1.96536680e+02] [-4.16023781e-01 4.02416890e-04 9.09353645e-01 9.24948057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.60, Y:196.53, Z:92.48 [[ 8.11320435e-01 4.56504079e-01 3.65189235e-01 3.42597441e+02] [-4.10264883e-01 8.89627242e-01 -2.00614296e-01 1.96533799e+02] [-4.16463537e-01 1.29381590e-02 9.09060354e-01 9.24789628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.62, Y:196.52, Z:92.47 [[ 8.11197858e-01 4.54278108e-01 3.68224709e-01 3.42622094e+02] [-4.10756788e-01 8.90838162e-01 -1.94129416e-01 1.96516047e+02] [-4.16217367e-01 6.22656789e-03 9.09243825e-01 9.24677767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.65, Y:196.50, Z:92.45 [[ 8.10692277e-01 4.55161168e-01 3.68247665e-01 3.42647395e+02] [-4.11658338e-01 8.90389472e-01 -1.94278154e-01 1.96502586e+02] [-4.16311715e-01 5.90757707e-03 9.09202759e-01 9.24546087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5903857229999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:342.67, Y:196.49, Z:92.44 [[ 8.10665498e-01 4.55638160e-01 3.67716355e-01 3.42673440e+02] [-4.12252683e-01 8.90146286e-01 -1.94132212e-01 1.96489352e+02] [-4.15775392e-01 5.78423252e-03 9.09448936e-01 9.24381743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.620385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:342.70, Y:196.48, Z:92.43 [[ 8.09688130e-01 4.57935007e-01 3.67015887e-01 3.42700640e+02] [-4.14883242e-01 8.88973075e-01 -1.93904017e-01 1.96475443e+02] [-4.15062679e-01 4.73303940e-03 9.09780507e-01 9.24260040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:342.73, Y:196.46, Z:92.41 [[ 8.09513076e-01 4.59074202e-01 3.65977401e-01 3.42726746e+02] [-4.16325281e-01 8.88387657e-01 -1.93495815e-01 1.96461261e+02] [-4.13958743e-01 4.27174825e-03 9.10285621e-01 9.24113185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:342.75, Y:196.45, Z:92.40 [[ 8.09551270e-01 4.59827268e-01 3.64946058e-01 3.42751749e+02] [-4.16782353e-01 8.87993097e-01 -1.94321204e-01 1.96448276e+02] [-4.13423768e-01 5.20990034e-03 9.10523830e-01 9.23978623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:342.78, Y:196.43, Z:92.39 [[ 8.10090266e-01 4.58358259e-01 3.65597413e-01 3.42777410e+02] [-4.16245801e-01 8.88761342e-01 -1.91944548e-01 1.96432589e+02] [-4.12908216e-01 3.31402155e-03 9.10766613e-01 9.23858973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.80, Y:196.43, Z:92.36 [[ 8.10637142e-01 4.60700297e-01 3.61417570e-01 3.42800781e+02] [-4.11403474e-01 8.87326143e-01 -2.08325460e-01 1.96433585e+02] [-4.16670859e-01 2.01879117e-02 9.08833232e-01 9.23620226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.770385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:342.83, Y:196.39, Z:92.36 [[ 8.11601273e-01 4.49406589e-01 3.73278838e-01 3.42825092e+02] [-4.14267311e-01 8.93234706e-01 -1.74683586e-01 1.96394334e+02] [-4.11929568e-01 -1.28637994e-02 9.11124884e-01 9.23640160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.85, Y:196.40, Z:92.34 [[ 8.11144192e-01 4.60017510e-01 3.61149541e-01 3.42853104e+02] [-4.12253680e-01 8.87741809e-01 -2.04844780e-01 1.96399746e+02] [-4.14839733e-01 1.72734261e-02 9.09730523e-01 9.23370549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.88, Y:196.37, Z:92.34 [[ 8.11740788e-01 4.51972222e-01 3.69862141e-01 3.42877758e+02] [-4.14375239e-01 8.92007141e-01 -1.80600172e-01 1.96369507e+02] [-4.11545932e-01 -6.66118670e-03 9.11364677e-01 9.23372145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.91, Y:196.36, Z:92.32 [[ 8.11858761e-01 4.57205696e-01 3.63109218e-01 3.42905616e+02] [-4.14617092e-01 8.89341001e-01 -1.92782914e-01 1.96362248e+02] [-4.11069362e-01 5.96120945e-03 9.11584579e-01 9.23190800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.93, Y:196.35, Z:92.31 [[ 8.12024514e-01 4.56720639e-01 3.63348932e-01 3.42931263e+02] [-4.13961828e-01 8.89587497e-01 -1.93053596e-01 1.96348544e+02] [-4.11402228e-01 6.35166457e-03 9.11431766e-01 9.23055583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.96, Y:196.34, Z:92.29 [[ 8.12045594e-01 4.56081775e-01 3.64103514e-01 3.42955318e+02] [-4.11910920e-01 8.89890310e-01 -1.96022014e-01 1.96338830e+02] [-4.13414257e-01 9.20059931e-03 9.10496569e-01 9.22885015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.950385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:342.98, Y:196.32, Z:92.28 [[ 8.11859216e-01 4.55189987e-01 3.65631905e-01 3.42980939e+02] [-4.13838034e-01 8.90390528e-01 -1.89585838e-01 1.96317417e+02] [-4.11852760e-01 2.60462103e-03 9.11246685e-01 9.22807125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.01, Y:196.31, Z:92.27 [[ 8.11494270e-01 4.57165703e-01 3.63973309e-01 3.43006241e+02] [-4.14167834e-01 8.89358417e-01 -1.93666239e-01 1.96305048e+02] [-4.12240288e-01 6.41300595e-03 9.11052588e-01 9.22665343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.03, Y:196.29, Z:92.25 [[ 8.11520967e-01 4.56967711e-01 3.64162370e-01 3.43032803e+02] [-4.13836988e-01 8.89458336e-01 -1.93914455e-01 1.96290187e+02] [-4.12519900e-01 6.66178814e-03 9.10924230e-01 9.22538708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.06, Y:196.28, Z:92.24 [[ 8.11292553e-01 4.56981841e-01 3.64653246e-01 3.43059223e+02] [-4.13660287e-01 8.89449911e-01 -1.94329676e-01 1.96276541e+02] [-4.13145930e-01 6.81565204e-03 9.10639329e-01 9.22398710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.09, Y:196.27, Z:92.22 [[ 8.11855777e-01 4.58983756e-01 3.60865777e-01 3.43085633e+02] [-4.14030644e-01 8.88367593e-01 -1.98448093e-01 1.96265901e+02] [-4.11665913e-01 1.17017403e-02 9.11259703e-01 9.22240058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1003857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.11, Y:196.25, Z:92.21 [[ 8.11157644e-01 4.55584268e-01 3.66696403e-01 3.43110770e+02] [-4.13943910e-01 8.90188947e-01 -1.90299966e-01 1.96247463e+02] [-4.13126755e-01 2.57152916e-03 9.10669902e-01 9.22134333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.14, Y:196.24, Z:92.20 [[ 8.11048465e-01 4.57649084e-01 3.64359305e-01 3.43137249e+02] [-4.14316859e-01 8.89106983e-01 -1.94500162e-01 1.96236324e+02] [-4.12967223e-01 6.78885450e-03 9.10720585e-01 9.21982550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.16, Y:196.22, Z:92.18 [[ 8.11060208e-01 4.57989481e-01 3.63905171e-01 3.43164060e+02] [-4.14743854e-01 8.88932105e-01 -1.94389424e-01 1.96223208e+02] [-4.12515302e-01 6.73409384e-03 9.10925781e-01 9.21843175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.19, Y:196.21, Z:92.17 [[ 8.10976943e-01 4.58314770e-01 3.63681136e-01 3.43190454e+02] [-4.15093923e-01 8.88764707e-01 -1.94407640e-01 1.96209443e+02] [-4.12326851e-01 6.69828376e-03 9.11011361e-01 9.21705313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.22, Y:196.20, Z:92.16 [[ 8.10843547e-01 4.58395073e-01 3.63877314e-01 3.43216998e+02] [-4.15070281e-01 8.88722546e-01 -1.94650710e-01 1.96196716e+02] [-4.12612899e-01 6.79661371e-03 9.10881113e-01 9.21567267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.24, Y:196.18, Z:92.14 [[ 8.10594075e-01 4.58763032e-01 3.63969404e-01 3.43243510e+02] [-4.15386927e-01 8.88533028e-01 -1.94840344e-01 1.96183388e+02] [-4.12784383e-01 6.74829620e-03 9.10803773e-01 9.21431391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.27, Y:196.17, Z:92.13 [[ 8.09863149e-01 4.59601885e-01 3.64537773e-01 3.43269898e+02] [-4.16100360e-01 8.88101485e-01 -1.95285029e-01 1.96170876e+02] [-4.13499905e-01 6.46984972e-03 9.10481175e-01 9.21295360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.310385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.29, Y:196.16, Z:92.11 [[ 8.09440181e-01 4.62009352e-01 3.62427858e-01 3.43294358e+02] [-4.17715055e-01 8.86833920e-01 -1.97584743e-01 1.96160024e+02] [-4.12699317e-01 8.54145685e-03 9.10827271e-01 9.21141698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.32, Y:196.14, Z:92.10 [[ 8.09423399e-01 4.58904979e-01 3.66387748e-01 3.43321004e+02] [-4.17385583e-01 8.88484133e-01 -1.90749106e-01 1.96142038e+02] [-4.13065415e-01 1.47182657e-03 9.10700169e-01 9.21049161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.35, Y:196.14, Z:92.08 [[ 8.09316980e-01 4.62266491e-01 3.62375107e-01 3.43346705e+02] [-4.14818129e-01 8.86610054e-01 -2.04569138e-01 1.96140635e+02] [-4.15850871e-01 1.52415134e-02 9.09305092e-01 9.20827943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.37, Y:196.12, Z:92.08 [[ 8.09817331e-01 4.55869431e-01 3.69295211e-01 3.43372849e+02] [-4.16068692e-01 8.90042337e-01 -1.86310176e-01 1.96115157e+02] [-4.13621487e-01 -2.77496642e-03 9.10444707e-01 9.20774671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.40, Y:196.11, Z:92.06 [[ 8.09868160e-01 4.60958605e-01 3.62809494e-01 3.43398932e+02] [-4.14308119e-01 8.87315727e-01 -2.02532919e-01 1.96112842e+02] [-4.15285861e-01 1.37100436e-02 9.09587647e-01 9.20563914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.460385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.42, Y:196.09, Z:92.05 [[ 8.10220154e-01 4.57721000e-01 3.66107619e-01 3.43424330e+02] [-4.16468440e-01 8.89094789e-01 -1.89906543e-01 1.96090599e+02] [-4.12428589e-01 1.39383892e-03 9.10988867e-01 9.20504742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.45, Y:196.08, Z:92.04 [[ 8.10314347e-01 4.58442750e-01 3.64994388e-01 3.43449975e+02] [-4.16057782e-01 8.88714096e-01 -1.92569931e-01 1.96078773e+02] [-4.12657946e-01 4.18342201e-03 9.10876456e-01 9.20363253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.520385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:343.48, Y:196.07, Z:92.02 [[ 8.10827468e-01 4.59572766e-01 3.62424738e-01 3.43476506e+02] [-4.12942105e-01 8.88024988e-01 -2.02213842e-01 1.96073480e+02] [-4.14774199e-01 1.43001032e-02 9.09811998e-01 9.20156220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:343.50, Y:196.05, Z:92.01 [[ 8.11790471e-01 4.54508252e-01 3.66631258e-01 3.43502254e+02] [-4.15238671e-01 8.90739804e-01 -1.84822746e-01 1.96047810e+02] [-4.10576518e-01 -2.20213236e-03 9.11823488e-01 9.20104057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.53, Y:196.04, Z:91.99 [[ 8.11230468e-01 4.59316417e-01 3.61847421e-01 3.43528318e+02] [-4.15765896e-01 8.88236169e-01 -1.95384819e-01 1.96040596e+02] [-4.11149422e-01 8.05830175e-03 9.11532345e-01 9.19941882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.55, Y:196.03, Z:91.98 [[ 8.11000660e-01 4.59976938e-01 3.61523369e-01 3.43554118e+02] [-4.15415280e-01 8.87872164e-01 -1.97770487e-01 1.96029072e+02] [-4.11956399e-01 1.02096634e-02 9.11146360e-01 9.19790786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.58, Y:196.02, Z:91.96 [[ 8.09994880e-01 4.61636739e-01 3.61662571e-01 3.43579029e+02] [-4.16045644e-01 8.86989990e-01 -2.00386576e-01 1.96018491e+02] [-4.13296886e-01 1.18439630e-02 9.10519305e-01 9.19634625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.60, Y:196.00, Z:91.95 [[ 8.09855740e-01 4.58501241e-01 3.65937552e-01 3.43604733e+02] [-4.16746062e-01 8.88690716e-01 -1.91184549e-01 1.95997912e+02] [-4.12863658e-01 2.32887068e-03 9.10789864e-01 9.19528553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.63, Y:195.99, Z:91.94 [[ 8.09204929e-01 4.61343829e-01 3.63798371e-01 3.43629980e+02] [-4.17703964e-01 8.87196719e-01 -1.95972906e-01 1.95987472e+02] [-4.13171612e-01 6.62222018e-03 9.10629104e-01 9.19386769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.730385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:343.66, Y:195.97, Z:91.92 [[ 8.09578210e-01 4.60567736e-01 3.63951209e-01 3.43655246e+02] [-4.18851833e-01 8.87620647e-01 -1.91553462e-01 1.95971158e+02] [-4.11273952e-01 2.63587758e-03 9.11507975e-01 9.19249346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.68, Y:195.95, Z:91.92 [[ 8.08807317e-01 4.62229664e-01 3.63558058e-01 3.43683032e+02] [-4.21347247e-01 8.86760085e-01 -1.90060648e-01 1.95953517e+02] [-4.10240444e-01 5.38255869e-04 9.11977241e-01 9.19173728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.790385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:343.71, Y:195.95, Z:91.89 [[ 8.09161914e-01 4.65343193e-01 3.58765536e-01 3.43707614e+02] [-4.18787003e-01 8.85014359e-01 -2.03388865e-01 1.95950616e+02] [-4.12158275e-01 1.43281795e-02 9.10999594e-01 9.18921981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:195.93, Z:91.88 [[ 8.08834033e-01 4.61844745e-01 3.63987553e-01 3.43733729e+02] [-4.18224094e-01 8.86938192e-01 -1.96033799e-01 1.95930933e+02] [-4.13371642e-01 6.33044375e-03 9.10540395e-01 9.18843423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8503857229999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:343.76, Y:195.91, Z:91.87 [[ 8.10014681e-01 4.59164765e-01 3.64751882e-01 3.43760371e+02] [-4.20095547e-01 8.88345786e-01 -1.85368540e-01 1.95908544e+02] [-4.09140500e-01 -3.07940257e-03 9.12466202e-01 9.18748026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.79, Y:195.90, Z:91.86 [[ 8.09626621e-01 4.63102140e-01 3.60612177e-01 3.43787721e+02] [-4.19586944e-01 8.86273331e-01 -1.96128475e-01 1.95899917e+02] [-4.10428472e-01 7.48267284e-03 9.11862094e-01 9.18602211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.81, Y:195.89, Z:91.85 [[ 8.09903865e-01 4.62333488e-01 3.60975726e-01 3.43813310e+02] [-4.18612450e-01 8.86670307e-01 -1.96416350e-01 1.95885785e+02] [-4.10876314e-01 7.96942785e-03 9.11656264e-01 9.18454349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.940385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:343.84, Y:195.87, Z:91.83 [[ 8.10475153e-01 4.62009742e-01 3.60106963e-01 3.43838032e+02] [-4.18413562e-01 8.86836455e-01 -1.96089757e-01 1.95871566e+02] [-4.09951361e-01 8.25223887e-03 9.12070053e-01 9.18315967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9703857229999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:343.86, Y:195.86, Z:91.82 [[ 8.11485464e-01 4.61023597e-01 3.59094118e-01 3.43863759e+02] [-4.17552775e-01 8.87344163e-01 -1.95627238e-01 1.95857351e+02] [-4.08828842e-01 8.80791444e-03 9.12568572e-01 9.18180270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.89, Y:195.84, Z:91.81 [[ 8.11190076e-01 4.61398478e-01 3.59279981e-01 3.43891204e+02] [-4.17856789e-01 8.87149850e-01 -1.95859257e-01 1.95843199e+02] [-4.09104344e-01 8.75150600e-03 9.12445640e-01 9.18061737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.92, Y:195.84, Z:91.78 [[ 8.10852686e-01 4.63369803e-01 3.57500136e-01 3.43915759e+02] [-4.14547925e-01 8.85928083e-01 -2.08041941e-01 1.95839582e+02] [-4.13119763e-01 2.04904275e-02 9.10446156e-01 9.17834571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.94, Y:195.82, Z:91.77 [[ 8.10659691e-01 4.59776945e-01 3.62541067e-01 3.43939172e+02] [-4.14799964e-01 8.87970825e-01 -1.98617231e-01 1.95818714e+02] [-4.13245514e-01 1.06289613e-02 9.10557615e-01 9.17722806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.97, Y:195.80, Z:91.77 [[ 8.11393254e-01 4.55341412e-01 3.66476721e-01 3.43965612e+02] [-4.15560659e-01 8.90316013e-01 -1.86136338e-01 1.95796358e+02] [-4.11035676e-01 -1.26353872e-03 9.11618383e-01 9.17660886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.99, Y:195.78, Z:91.75 [[ 8.11859778e-01 4.58781422e-01 3.61113983e-01 3.43993275e+02] [-4.17354431e-01 8.88540190e-01 -1.90556055e-01 1.95783553e+02] [-4.08287864e-01 3.99227525e-03 9.12844500e-01 9.17537086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.150385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:344.02, Y:195.77, Z:91.74 [[ 8.12683854e-01 4.59743377e-01 3.58023715e-01 3.44018437e+02] [-4.16191036e-01 8.87996293e-01 -1.95569948e-01 1.95773786e+02] [-4.07835720e-01 9.93027834e-03 9.13001322e-01 9.17365123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.180385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:344.04, Y:195.76, Z:91.72 [[ 8.13702967e-01 4.58258162e-01 3.57612834e-01 3.44043002e+02] [-4.14616277e-01 8.88753689e-01 -1.95474353e-01 1.95759648e+02] [-4.07407443e-01 1.07859590e-02 9.13182807e-01 9.17221434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.210385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:344.07, Y:195.75, Z:91.71 [[ 8.13619896e-01 4.58433424e-01 3.57577209e-01 3.44069643e+02] [-4.14779099e-01 8.88663380e-01 -1.95539500e-01 1.95745031e+02] [-4.07407614e-01 1.07792748e-02 9.13182809e-01 9.17081668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.10, Y:195.73, Z:91.70 [[ 8.13625702e-01 4.58313393e-01 3.57717838e-01 3.44096593e+02] [-4.14570718e-01 8.88723398e-01 -1.95708566e-01 1.95729694e+02] [-4.07608069e-01 1.09341784e-02 9.13091510e-01 9.16967667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.12, Y:195.72, Z:91.68 [[ 8.13726024e-01 4.58123597e-01 3.57732761e-01 3.44122435e+02] [-4.14299697e-01 8.88818439e-01 -1.95850821e-01 1.95715085e+02] [-4.07683356e-01 1.11603352e-02 9.13055162e-01 9.16827003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.300385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:344.15, Y:195.70, Z:91.67 [[ 8.14037393e-01 4.57487542e-01 3.57838332e-01 3.44147077e+02] [-4.13515866e-01 8.89140133e-01 -1.96047067e-01 1.95701238e+02] [-4.07857513e-01 1.16178160e-02 9.12971673e-01 9.16662889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:344.17, Y:195.70, Z:91.65 [[ 8.13094089e-01 4.60670962e-01 3.55893618e-01 3.44172499e+02] [-4.11928276e-01 8.87297287e-01 -2.07409308e-01 1.95695671e+02] [-4.11330887e-01 2.20406377e-02 9.11219574e-01 9.16479573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:344.20, Y:195.67, Z:91.64 [[ 8.12832972e-01 4.53897991e-01 3.65074204e-01 3.44196726e+02] [-4.14459201e-01 8.91053215e-01 -1.85061447e-01 1.95667206e+02] [-4.09299562e-01 -8.84317249e-04 9.12399631e-01 9.16438891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:344.22, Y:195.66, Z:91.63 [[ 8.12305561e-01 4.59401292e-01 3.59318980e-01 3.44222260e+02] [-4.17870926e-01 8.88215023e-01 -1.90939683e-01 1.95655380e+02] [-4.06870453e-01 4.95241153e-03 9.13472445e-01 9.16301337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.25, Y:195.65, Z:91.61 [[ 8.13648469e-01 4.63714822e-01 3.50634757e-01 3.44251789e+02] [-4.18228621e-01 8.85823328e-01 -2.01002119e-01 1.95646038e+02] [-4.03808109e-01 1.68995751e-02 9.14687605e-01 9.16126606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.450385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:344.28, Y:195.62, Z:91.60 [[ 8.12146810e-01 4.58994397e-01 3.60196755e-01 3.44275383e+02] [-4.18806281e-01 8.88437549e-01 -1.87829764e-01 1.95623345e+02] [-4.06225132e-01 1.69268002e-03 9.13771458e-01 9.16047131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.480385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:344.30, Y:195.61, Z:91.59 [[ 8.10870776e-01 4.64393819e-01 3.56127738e-01 3.44303152e+02] [-4.21367000e-01 8.85589111e-01 -1.95401581e-01 1.95612538e+02] [-4.06126133e-01 8.38495506e-03 9.13778560e-01 9.15898024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.510385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:344.33, Y:195.60, Z:91.58 [[ 8.10340467e-01 4.65366119e-01 3.56065589e-01 3.44329027e+02] [-4.22381794e-01 8.85081828e-01 -1.95509023e-01 1.95597895e+02] [-4.06130457e-01 8.03325041e-03 9.13779798e-01 9.15760299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.540385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:344.35, Y:195.58, Z:91.56 [[ 8.09918759e-01 4.66031628e-01 3.56154638e-01 3.44354008e+02] [-4.23023542e-01 8.84733340e-01 -1.95698747e-01 1.95583738e+02] [-4.06303688e-01 7.83829013e-03 9.13704479e-01 9.15595977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.38, Y:195.58, Z:91.54 [[ 8.07911709e-01 4.69954731e-01 3.55557620e-01 3.44379275e+02] [-4.21252173e-01 8.82480471e-01 -2.09224342e-01 1.95579974e+02] [-4.12098625e-01 1.92553754e-02 9.10935757e-01 9.15394322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.40, Y:195.55, Z:91.54 [[ 8.07536832e-01 4.63229183e-01 3.65106820e-01 3.44403911e+02] [-4.25555602e-01 8.86206940e-01 -1.83138442e-01 1.95546856e+02] [-4.08395268e-01 -7.48221527e-03 9.12774518e-01 9.15405707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.43, Y:195.55, Z:91.51 [[ 8.06696195e-01 4.71690589e-01 3.56018592e-01 3.44429484e+02] [-4.23102881e-01 8.81576055e-01 -2.09302678e-01 1.95550063e+02] [-4.12583569e-01 1.82111818e-02 9.10737696e-01 9.15127125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.45, Y:195.52, Z:91.51 [[ 8.06737025e-01 4.64793513e-01 3.64886782e-01 3.44454163e+02] [-4.26729819e-01 8.85391519e-01 -1.84346195e-01 1.95516983e+02] [-4.08750577e-01 -6.98916946e-03 9.12619371e-01 9.15136687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.48, Y:195.51, Z:91.50 [[ 8.06347911e-01 4.70983282e-01 3.57739843e-01 3.44481659e+02] [-4.27791013e-01 8.82122360e-01 -1.97116693e-01 1.95509275e+02] [-4.08408982e-01 5.90674341e-03 9.12779937e-01 9.14953796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.51, Y:195.49, Z:91.48 [[ 8.05364553e-01 4.72538112e-01 3.57904555e-01 3.44507168e+02] [-4.29388046e-01 8.81294562e-01 -1.97346906e-01 1.95493957e+02] [-4.08673273e-01 5.25626526e-03 9.12665617e-01 9.14819022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.53, Y:195.48, Z:91.47 [[ 8.04471925e-01 4.73557240e-01 3.58564448e-01 3.44532819e+02] [-4.30273577e-01 8.80749500e-01 -1.97850873e-01 1.95478825e+02] [-4.09499171e-01 4.88466537e-03 9.12297413e-01 9.14679467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.56, Y:195.46, Z:91.45 [[ 8.03621296e-01 4.75171722e-01 3.58335943e-01 3.44557581e+02] [-4.32035242e-01 8.79883075e-01 -1.97866935e-01 1.95463624e+02] [-4.09314503e-01 4.19632656e-03 9.12383707e-01 9.14542546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.58, Y:195.45, Z:91.44 [[ 8.03308474e-01 4.75679453e-01 3.58363718e-01 3.44583665e+02] [-4.32524847e-01 8.79609305e-01 -1.98014460e-01 1.95448893e+02] [-4.09411471e-01 4.06548092e-03 9.12340791e-01 9.14397858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8403857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:344.61, Y:195.43, Z:91.42 [[ 8.03574482e-01 4.76155021e-01 3.57133656e-01 3.44607413e+02] [-4.33082077e-01 8.79350366e-01 -1.97946582e-01 1.95433088e+02] [-4.08298870e-01 4.39663665e-03 9.12837720e-01 9.14248054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.870385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:344.63, Y:195.42, Z:91.41 [[ 8.03977126e-01 4.74997774e-01 3.57767937e-01 3.44632017e+02] [-4.32425671e-01 8.79980680e-01 -1.96575795e-01 1.95416692e+02] [-4.08201937e-01 3.33440248e-03 9.12885568e-01 9.14114642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.66, Y:195.42, Z:91.38 [[ 8.03010938e-01 4.81378848e-01 3.51351446e-01 3.44657105e+02] [-4.27560236e-01 8.76036407e-01 -2.23052589e-01 1.95421761e+02] [-4.15169457e-01 2.88897613e-02 9.09285271e-01 9.13826520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:344.68, Y:195.39, Z:91.38 [[ 8.03252074e-01 4.69642152e-01 3.66363691e-01 3.44679891e+02] [-4.27857350e-01 8.82856058e-01 -1.93657605e-01 1.95386928e+02] [-4.14396179e-01 -1.19552538e-03 9.10095807e-01 9.13808557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.70, Y:195.37, Z:91.37 [[ 8.02804139e-01 4.69415095e-01 3.67634306e-01 3.44703070e+02] [-4.27354962e-01 8.82976809e-01 -1.94215582e-01 1.95373333e+02] [-4.15780292e-01 -1.19327138e-03 9.09464307e-01 9.13680101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.73, Y:195.35, Z:91.37 [[ 8.04759916e-01 4.66387860e-01 3.67210897e-01 3.44731033e+02] [-4.30441555e-01 8.84482130e-01 -1.80031745e-01 1.95345338e+02] [-4.08756096e-01 -1.31804974e-02 9.12548480e-01 9.13670847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.76, Y:195.34, Z:91.35 [[ 8.04971386e-01 4.73646598e-01 3.57323338e-01 3.44759041e+02] [-4.30203592e-01 8.80695511e-01 -1.98243001e-01 1.95340274e+02] [-4.08590182e-01 5.85815998e-03 9.12699154e-01 9.13460062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.78, Y:195.32, Z:91.33 [[ 8.05350140e-01 4.73295205e-01 3.56935289e-01 3.44784493e+02] [-4.29857427e-01 8.80882344e-01 -1.98163793e-01 1.95324016e+02] [-4.08207968e-01 6.15995384e-03 9.12868178e-01 9.13319989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.81, Y:195.31, Z:91.32 [[ 8.06068181e-01 4.72343391e-01 3.56575108e-01 3.44809104e+02] [-4.28881989e-01 8.81389211e-01 -1.98023480e-01 1.95307730e+02] [-4.07816535e-01 6.69178439e-03 9.13039371e-01 9.13187266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.83, Y:195.31, Z:91.29 [[ 8.06129459e-01 4.75034640e-01 3.52841871e-01 3.44832989e+02] [-4.25163237e-01 8.79699961e-01 -2.12988735e-01 1.95305913e+02] [-4.11572007e-01 2.16811020e-02 9.11119319e-01 9.12937012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.86, Y:195.27, Z:91.30 [[ 8.06917191e-01 4.65013895e-01 3.64206981e-01 3.44856665e+02] [-4.27868621e-01 8.85260516e-01 -1.82324607e-01 1.95270048e+02] [-4.07201535e-01 -8.71187919e-03 9.13296782e-01 9.12971839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.88, Y:195.26, Z:91.28 [[ 8.07403940e-01 4.70554261e-01 3.55917920e-01 3.44883221e+02] [-4.26955251e-01 8.82335857e-01 -1.97971332e-01 1.95262567e+02] [-4.07195397e-01 7.88180857e-03 9.13307060e-01 9.12777714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.91, Y:195.25, Z:91.26 [[ 8.07478202e-01 4.70218616e-01 3.56192934e-01 3.44908887e+02] [-4.26455253e-01 8.82511938e-01 -1.98263959e-01 1.95246131e+02] [-4.07571920e-01 8.19347718e-03 9.13136352e-01 9.12645025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.93, Y:195.23, Z:91.25 [[ 8.08121702e-01 4.69360844e-01 3.55864740e-01 3.44933103e+02] [-4.25540235e-01 8.82963078e-01 -1.98221370e-01 1.95229616e+02] [-4.07252776e-01 8.75222552e-03 9.13273549e-01 9.12519929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.96, Y:195.21, Z:91.24 [[ 8.08461032e-01 4.69123246e-01 3.55407006e-01 3.44959115e+02] [-4.25341269e-01 8.83087012e-01 -1.98096275e-01 1.95214460e+02] [-4.06786878e-01 8.98385201e-03 9.13478914e-01 9.12380602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.98, Y:195.20, Z:91.22 [[ 8.08642042e-01 4.69128484e-01 3.54988046e-01 3.44984590e+02] [-4.25394236e-01 8.83083025e-01 -1.98000292e-01 1.95199768e+02] [-4.06371494e-01 9.10149176e-03 9.13662614e-01 9.12240135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.01, Y:195.19, Z:91.20 [[ 8.11260553e-01 4.71993053e-01 3.45078068e-01 3.45013250e+02] [-4.24156319e-01 8.81312530e-01 -2.08277800e-01 1.95191706e+02] [-4.02427300e-01 2.26005201e-02 9.15172926e-01 9.12044846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.03, Y:195.17, Z:91.20 [[ 8.09875091e-01 4.63592968e-01 3.59421615e-01 3.45033948e+02] [-4.23443754e-01 8.86048050e-01 -1.88717354e-01 1.95165700e+02] [-4.05952860e-01 6.42646619e-04 9.13893792e-01 9.12000185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.06, Y:195.15, Z:91.18 [[ 8.10376098e-01 4.66630362e-01 3.54325677e-01 3.45059531e+02] [-4.22722962e-01 8.84389086e-01 -1.97891994e-01 1.95154938e+02] [-4.05704175e-01 1.05853426e-02 9.13943146e-01 9.11834612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.08, Y:195.14, Z:91.17 [[ 8.10389993e-01 4.66708376e-01 3.54191121e-01 3.45084809e+02] [-4.22785271e-01 8.84346930e-01 -1.97947274e-01 1.95140102e+02] [-4.05611481e-01 1.06677013e-02 9.13983329e-01 9.11705383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.11, Y:195.13, Z:91.16 [[ 8.10099427e-01 4.67033027e-01 3.54427807e-01 3.45109805e+02] [-4.23020715e-01 8.84175879e-01 -1.98208200e-01 1.95126676e+02] [-4.05946293e-01 1.06380444e-02 9.13835018e-01 9.11568811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.14, Y:195.12, Z:91.14 [[ 8.10451031e-01 4.71098207e-01 3.48189038e-01 3.45137572e+02] [-4.24567411e-01 8.81891254e-01 -2.04964214e-01 1.95118838e+02] [-4.03623141e-01 1.82837396e-02 9.14742622e-01 9.11384221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.16, Y:195.10, Z:91.13 [[ 8.08872292e-01 4.66240342e-01 3.58253485e-01 3.45161746e+02] [-4.25194712e-01 8.84654814e-01 -1.91299024e-01 1.95096621e+02] [-4.06121992e-01 2.40899235e-03 9.13815695e-01 9.11312603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.19, Y:195.09, Z:91.12 [[ 8.07642522e-01 4.71138428e-01 3.54601380e-01 3.45188534e+02] [-4.27330720e-01 8.82014802e-01 -1.98590897e-01 1.95087605e+02] [-4.06327469e-01 8.85838980e-03 9.13684583e-01 9.11159971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:345.21, Y:195.07, Z:91.10 [[ 8.06980455e-01 4.71823082e-01 3.55197867e-01 3.45214879e+02] [-4.27865148e-01 8.81650738e-01 -1.99056254e-01 1.95073513e+02] [-4.07079797e-01 8.65771867e-03 9.13351566e-01 9.11025122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5903857229999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:345.24, Y:195.07, Z:91.08 [[ 8.05378194e-01 4.78012948e-01 3.50527584e-01 3.45241476e+02] [-4.27740011e-01 8.78053907e-01 -2.14615517e-01 1.95067928e+02] [-4.10371110e-01 2.29119853e-02 9.11630733e-01 9.10776477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.26, Y:195.04, Z:91.08 [[ 8.05452525e-01 4.68609516e-01 3.62837914e-01 3.45264480e+02] [-4.29547848e-01 8.83391612e-01 -1.87371041e-01 1.95039417e+02] [-4.08331823e-01 -4.93776722e-03 9.12820213e-01 9.10810410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.29, Y:195.03, Z:91.06 [[ 8.05051944e-01 4.74644376e-01 3.55814677e-01 3.45291484e+02] [-4.30644853e-01 8.80145212e-01 -1.99723349e-01 1.95033526e+02] [-4.07966149e-01 7.55791063e-03 9.12965771e-01 9.10627457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.32, Y:195.02, Z:91.05 [[ 8.03491786e-01 4.76807644e-01 3.56448343e-01 3.45318697e+02] [-4.32806764e-01 8.78983188e-01 -2.00167078e-01 1.95021052e+02] [-4.08753294e-01 6.55934895e-03 9.12621345e-01 9.10479208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.35, Y:195.02, Z:91.03 [[ 8.04929010e-01 4.84735341e-01 3.42229364e-01 3.45348817e+02] [-4.34617917e-01 8.74296907e-01 -2.16130020e-01 1.95017186e+02] [-4.03975934e-01 2.52303099e-02 9.14421608e-01 9.10268229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.37, Y:194.99, Z:91.03 [[ 8.01500124e-01 4.75536867e-01 3.62577220e-01 3.45370841e+02] [-4.36571807e-01 8.79667267e-01 -1.88654597e-01 1.94987239e+02] [-4.08659528e-01 -7.08430880e-03 9.12659412e-01 9.10257506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.770385723 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:345.40, Y:194.98, Z:91.01 [[ 8.00685686e-01 4.84308537e-01 3.52629655e-01 3.45398659e+02] [-4.38813049e-01 8.74845410e-01 -2.05155104e-01 1.94983543e+02] [-4.07854803e-01 9.52626093e-03 9.12997103e-01 9.10063827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.42, Y:194.96, Z:91.00 [[ 7.98660274e-01 4.80539968e-01 3.62247300e-01 3.45422480e+02] [-4.39962042e-01 8.76958746e-01 -1.93330698e-01 1.94962305e+02] [-4.10579066e-01 -4.96951348e-03 9.11811458e-01 9.09975069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.45, Y:194.95, Z:90.98 [[ 7.97038767e-01 4.86345269e-01 3.58046762e-01 3.45450174e+02] [-4.42585225e-01 8.73763844e-01 -2.01631008e-01 1.94953662e+02] [-4.10910602e-01 2.24152305e-03 9.11672887e-01 9.09812319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.48, Y:194.94, Z:90.97 [[ 7.96524417e-01 4.87169279e-01 3.58071148e-01 3.45476737e+02] [-4.43418012e-01 8.73305375e-01 -2.01787484e-01 1.94939291e+02] [-4.11010121e-01 1.95346114e-03 9.11628688e-01 9.09674548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.50, Y:194.93, Z:90.95 [[ 7.96554611e-01 4.87184948e-01 3.57982651e-01 3.45502630e+02] [-4.43393934e-01 8.73296340e-01 -2.01879473e-01 1.94925565e+02] [-4.10977579e-01 2.08068890e-03 9.11643077e-01 9.09542772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.53, Y:194.91, Z:90.94 [[ 7.97145236e-01 4.86614670e-01 3.57443193e-01 3.45528599e+02] [-4.42848020e-01 8.73613146e-01 -2.01706971e-01 1.94911274e+02] [-4.10420644e-01 2.49674071e-03 9.11892900e-01 9.09397617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.55, Y:194.90, Z:90.93 [[ 7.97517352e-01 4.85992875e-01 3.57459088e-01 3.45554863e+02] [-4.42099357e-01 8.73957788e-01 -2.01856246e-01 1.94896656e+02] [-4.10504851e-01 2.95142582e-03 9.11853638e-01 9.09254279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.58, Y:194.88, Z:90.91 [[ 7.98327467e-01 4.84457248e-01 3.57735140e-01 3.45580448e+02] [-4.40282167e-01 8.74806336e-01 -2.02152138e-01 1.94882063e+02] [-4.10883035e-01 3.87920178e-03 9.11679814e-01 9.09142457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.61, Y:194.87, Z:90.90 [[ 7.98878051e-01 4.83416755e-01 3.57913538e-01 3.45606606e+02] [-4.39036923e-01 8.75378552e-01 -2.02383228e-01 1.94867852e+02] [-4.11145278e-01 4.54226075e-03 9.11558516e-01 9.09011789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.63, Y:194.85, Z:90.89 [[ 7.98947189e-01 4.83096621e-01 3.58191351e-01 3.45632582e+02] [-4.38549838e-01 8.75553630e-01 -2.02681722e-01 1.94854193e+02] [-4.11530593e-01 4.84723334e-03 9.11383056e-01 9.08872860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.66, Y:194.84, Z:90.87 [[ 7.99164318e-01 4.82805182e-01 3.58099914e-01 3.45658375e+02] [-4.38190201e-01 8.75712747e-01 -2.02772121e-01 1.94840719e+02] [-4.11492090e-01 5.13237041e-03 9.11398880e-01 9.08724868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.69, Y:194.84, Z:90.86 [[ 7.99928134e-01 4.88952414e-01 3.47908778e-01 3.45686086e+02] [-4.39988850e-01 8.72121802e-01 -2.14040592e-01 1.94835034e+02] [-4.08074495e-01 1.81411084e-02 9.12768375e-01 9.08554959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.71, Y:194.81, Z:90.85 [[ 7.99879483e-01 4.83708995e-01 3.55272319e-01 3.45710020e+02] [-4.40144714e-01 8.75219136e-01 -2.00659153e-01 1.94812373e+02] [-4.08001769e-01 4.13190648e-03 9.12971787e-01 9.08471828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.73, Y:194.79, Z:90.84 [[ 7.98176285e-01 4.80000584e-01 3.64024802e-01 3.45734568e+02] [-4.40445753e-01 8.77232567e-01 -1.90972674e-01 1.94791347e+02] [-4.11001407e-01 -7.90331847e-03 9.11600450e-01 9.08381593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.190385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.76, Y:194.78, Z:90.82 [[ 7.97738958e-01 4.85141085e-01 3.58121045e-01 3.45762201e+02] [-4.41470670e-01 8.74432639e-01 -2.01174569e-01 1.94782647e+02] [-4.10750780e-01 2.38485358e-03 9.11744542e-01 9.08198382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.79, Y:194.77, Z:90.81 [[ 7.96674680e-01 4.87175605e-01 3.57728087e-01 3.45788446e+02] [-4.42791600e-01 8.73297095e-01 -2.03193954e-01 1.94769608e+02] [-4.11394037e-01 3.48048640e-03 9.11450949e-01 9.08073285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.82, Y:194.76, Z:90.79 [[ 7.97038431e-01 4.93713700e-01 3.47816794e-01 3.45817765e+02] [-4.45367174e-01 8.69488768e-01 -2.13629030e-01 1.94764131e+02] [-4.07894374e-01 1.53643642e-02 9.12899839e-01 9.07880838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.84, Y:194.74, Z:90.78 [[ 7.94853367e-01 4.86233828e-01 3.63021747e-01 3.45839662e+02] [-4.46510122e-01 8.73783130e-01 -1.92696011e-01 1.94737840e+02] [-4.10897598e-01 -8.92781110e-03 9.11637789e-01 9.07843121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.87, Y:194.73, Z:90.77 [[ 7.94288036e-01 4.91445717e-01 3.57194099e-01 3.45867749e+02] [-4.47503436e-01 8.70906920e-01 -2.03130037e-01 1.94729786e+02] [-4.10910199e-01 1.49817132e-03 9.11674593e-01 9.07673007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.89, Y:194.72, Z:90.75 [[ 7.93195997e-01 4.92861994e-01 3.57669072e-01 3.45894100e+02] [-4.48866596e-01 8.70107021e-01 -2.03549875e-01 1.94715999e+02] [-4.11532368e-01 9.09247125e-04 9.11394692e-01 9.07548096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.92, Y:194.70, Z:90.74 [[ 7.92527077e-01 4.93622367e-01 3.58103046e-01 3.45921345e+02] [-4.49525606e-01 8.69676111e-01 -2.03936736e-01 1.94702434e+02] [-4.12101399e-01 6.48896145e-04 9.11137759e-01 9.07409437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.95, Y:194.69, Z:90.73 [[ 7.92251751e-01 4.93902703e-01 3.58325666e-01 3.45948335e+02] [-4.49709939e-01 8.69516939e-01 -2.04208871e-01 1.94690273e+02] [-4.12429550e-01 6.42222646e-04 9.10989272e-01 9.07279168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.98, Y:194.68, Z:90.72 [[ 7.93427053e-01 4.93527135e-01 3.56236548e-01 3.45975513e+02] [-4.49776954e-01 8.69729870e-01 -2.03151778e-01 1.94676107e+02] [-4.10090482e-01 9.59127000e-04 9.12044339e-01 9.07158120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.00, Y:194.66, Z:90.70 [[ 7.93224150e-01 4.92787084e-01 3.57709853e-01 3.46001329e+02] [-4.48516682e-01 8.70148645e-01 -2.04142405e-01 1.94664663e+02] [-4.11859484e-01 1.49184981e-03 9.11246147e-01 9.07013491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.03, Y:194.65, Z:90.69 [[ 7.93434101e-01 4.92223422e-01 3.58020153e-01 3.46028061e+02] [-4.47754488e-01 8.70466782e-01 -2.04459043e-01 1.94650791e+02] [-4.12284180e-01 1.91964682e-03 9.11053275e-01 9.06879178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.05, Y:194.64, Z:90.67 [[ 7.93794581e-01 4.91772815e-01 3.57840275e-01 3.46054541e+02] [-4.47241746e-01 8.70720536e-01 -2.04500780e-01 1.94637101e+02] [-4.12146800e-01 2.29050177e-03 9.11114575e-01 9.06745129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.550385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:346.08, Y:194.63, Z:90.66 [[ 7.95179058e-01 4.90711319e-01 3.56219970e-01 3.46081323e+02] [-4.46436589e-01 8.71317179e-01 -2.03717317e-01 1.94625622e+02] [-4.10346973e-01 2.96211617e-03 9.11924661e-01 9.06594092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.11, Y:194.61, Z:90.65 [[ 7.95801519e-01 4.90652844e-01 3.54908058e-01 3.46109430e+02] [-4.46650531e-01 8.71349578e-01 -2.03108879e-01 1.94612940e+02] [-4.08904935e-01 3.11448182e-03 9.12571671e-01 9.06468551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.14, Y:194.60, Z:90.63 [[ 7.96619543e-01 4.90360523e-01 3.53473989e-01 3.46136734e+02] [-4.46640113e-01 8.71513116e-01 -2.02428996e-01 1.94602520e+02] [-4.07320406e-01 3.38323219e-03 9.13279060e-01 9.06312962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.16, Y:194.59, Z:90.62 [[ 7.96755178e-01 4.90519677e-01 3.52947070e-01 3.46163082e+02] [-4.46888162e-01 8.71423365e-01 -2.02267866e-01 1.94589400e+02] [-4.06782692e-01 3.43010258e-03 9.13518514e-01 9.06194961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.19, Y:194.58, Z:90.61 [[ 7.96985614e-01 4.90333435e-01 3.52685487e-01 3.46189467e+02] [-4.46694201e-01 8.71527294e-01 -2.02248526e-01 1.94575969e+02] [-4.06544243e-01 3.64660376e-03 9.13623818e-01 9.06050922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.22, Y:194.56, Z:90.60 [[ 7.98304613e-01 4.85339885e-01 3.56587915e-01 3.46217407e+02] [-4.45599093e-01 8.74309575e-01 -1.92416775e-01 1.94558214e+02] [-4.05155764e-01 -5.28805251e-03 9.14232380e-01 9.05982105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.25, Y:194.56, Z:90.58 [[ 7.97560286e-01 4.92261126e-01 3.48678325e-01 3.46245152e+02] [-4.44158441e-01 8.70321495e-01 -2.12752847e-01 1.94556518e+02] [-4.08192197e-01 1.48148005e-02 9.12775795e-01 9.05762391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.27, Y:194.53, Z:90.58 [[ 8.00221527e-01 4.81016791e-01 3.58145717e-01 3.46270662e+02] [-4.42091937e-01 8.76686876e-01 -1.89670347e-01 1.94531366e+02] [-4.05216271e-01 -6.55503932e-03 9.14197356e-01 9.05750170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.30, Y:194.53, Z:90.55 [[ 7.99691402e-01 4.90201754e-01 3.46692807e-01 3.46298097e+02] [-4.40953140e-01 8.71400769e-01 -2.14990761e-01 1.94533025e+02] [-4.07497227e-01 1.90509812e-02 9.13007706e-01 9.05484568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.820385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:346.32, Y:194.51, Z:90.54 [[ 8.00470048e-01 4.84781437e-01 3.52469377e-01 3.46322316e+02] [-4.40421430e-01 8.74607090e-01 -2.02710146e-01 1.94513204e+02] [-4.06542331e-01 7.02833308e-03 9.13604912e-01 9.05375836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:194.50, Z:90.53 [[ 8.01193836e-01 4.84361775e-01 3.51400211e-01 3.46351516e+02] [-4.40183090e-01 8.74836932e-01 -2.02235479e-01 1.94501417e+02] [-4.05373019e-01 7.34938856e-03 9.14121820e-01 9.05258343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:194.49, Z:90.51 [[ 8.01256536e-01 4.84529699e-01 3.51025545e-01 3.46377823e+02] [-4.40401728e-01 8.74743576e-01 -2.02163289e-01 1.94488145e+02] [-4.05011458e-01 7.39240006e-03 9.14281724e-01 9.05122561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.910385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:346.40, Y:194.48, Z:90.50 [[ 8.00769885e-01 4.85197809e-01 3.51213152e-01 3.46404671e+02] [-4.41042936e-01 8.74375244e-01 -2.02358744e-01 1.94476352e+02] [-4.05276105e-01 7.14270883e-03 9.14166429e-01 9.04963107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.43, Y:194.46, Z:90.48 [[ 7.99908324e-01 4.86326206e-01 3.51615549e-01 3.46432680e+02] [-4.42107823e-01 8.73751547e-01 -2.02728655e-01 1.94462605e+02] [-4.05816887e-01 6.71235376e-03 9.13929756e-01 9.04845521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.46, Y:194.44, Z:90.48 [[ 8.00815514e-01 4.81427893e-01 3.56260715e-01 3.46458798e+02] [-4.43771495e-01 8.76444782e-01 -1.86845937e-01 1.94439823e+02] [-4.02195690e-01 -8.46922469e-03 9.15514554e-01 9.04811895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.000385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:346.49, Y:194.45, Z:90.45 [[ 7.98789219e-01 4.94639159e-01 3.42443989e-01 3.46487155e+02] [-4.45073098e-01 8.68850022e-01 -2.16816923e-01 1.94445128e+02] [-4.04778607e-01 2.07784136e-02 9.14178613e-01 9.04530492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.51, Y:194.42, Z:90.45 [[ 8.00033132e-01 4.87671486e-01 3.49461742e-01 3.46512039e+02] [-4.46202423e-01 8.73025905e-01 -1.96797274e-01 1.94421080e+02] [-4.01061573e-01 1.51366388e-03 9.16049848e-01 9.04500022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.060385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:346.54, Y:194.40, Z:90.44 [[ 7.99225892e-01 4.87040871e-01 3.52177745e-01 3.46536836e+02] [-4.48762278e-01 8.73353600e-01 -1.89382965e-01 1.94404012e+02] [-3.99812945e-01 -6.68431785e-03 9.16572381e-01 9.04380662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0903857229999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:346.56, Y:194.40, Z:90.41 [[ 7.97324921e-01 4.98125191e-01 3.40799449e-01 3.46564728e+02] [-4.49789632e-01 8.66918656e-01 -2.14805331e-01 1.94404533e+02] [-4.02445347e-01 1.79815846e-02 9.15267396e-01 9.04116606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.59, Y:194.37, Z:90.41 [[ 7.97657764e-01 4.87791821e-01 3.54684692e-01 3.46588353e+02] [-4.50581451e-01 8.72896519e-01 -1.87157752e-01 1.94374567e+02] [-4.00897054e-01 -1.05265094e-02 9.16062632e-01 9.04134966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:346.62, Y:194.38, Z:90.38 [[ 7.96143902e-01 5.03142780e-01 3.36158044e-01 3.46615951e+02] [-4.52838985e-01 8.63887782e-01 -2.20532888e-01 1.94381327e+02] [-4.01362358e-01 2.33504463e-02 9.15621655e-01 9.03841068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.64, Y:194.35, Z:90.38 [[ 7.95433268e-01 4.92346260e-01 3.53385168e-01 3.46636989e+02] [-4.52437080e-01 8.70382866e-01 -1.94253326e-01 1.94350422e+02] [-4.03220294e-01 -5.36899557e-03 9.15087192e-01 9.03800184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.66, Y:194.33, Z:90.38 [[ 7.96813232e-01 4.89217168e-01 3.54619847e-01 3.46661969e+02] [-4.54039617e-01 8.72026894e-01 -1.82803509e-01 1.94328816e+02] [-3.98668658e-01 -1.53512049e-02 9.16966543e-01 9.03758714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.240385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:346.69, Y:194.33, Z:90.35 [[ 7.95453073e-01 5.03335168e-01 3.37502767e-01 3.46690091e+02] [-4.54134845e-01 8.63857081e-01 -2.17973591e-01 1.94334308e+02] [-4.01267929e-01 2.01159955e-02 9.15739808e-01 9.03456977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.270385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:346.71, Y:194.31, Z:90.34 [[ 7.95598252e-01 4.96250760e-01 3.47503387e-01 3.46712276e+02] [-4.53586560e-01 8.68175494e-01 -2.01321993e-01 1.94308958e+02] [-4.01600117e-01 2.54856025e-03 9.15811581e-01 9.03372435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.74, Y:194.30, Z:90.32 [[ 7.95901176e-01 4.94553566e-01 3.49224983e-01 3.46736255e+02] [-4.50506662e-01 8.69132141e-01 -2.04090834e-01 1.94298514e+02] [-4.04456507e-01 5.10795368e-03 9.14542970e-01 9.03249995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.76, Y:194.27, Z:90.31 [[ 7.95264201e-01 4.94327392e-01 3.50991852e-01 3.46761171e+02] [-4.53268902e-01 8.69272975e-01 -1.97260736e-01 1.94274791e+02] [-4.02619116e-01 -2.21929014e-03 9.15364912e-01 9.03148898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.79, Y:194.27, Z:90.30 [[ 7.95615563e-01 4.95710547e-01 3.48234015e-01 3.46785770e+02] [-4.50914476e-01 8.68460344e-01 -2.06040691e-01 1.94267152e+02] [-4.04563976e-01 6.90542231e-03 9.14483627e-01 9.02981998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.81, Y:194.24, Z:90.29 [[ 7.95239403e-01 4.94358151e-01 3.51004716e-01 3.46809501e+02] [-4.53938548e-01 8.69250794e-01 -1.95813310e-01 1.94241167e+02] [-4.01913034e-01 -3.61611143e-03 9.15670703e-01 9.02886854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.84, Y:194.23, Z:90.27 [[ 7.94687541e-01 4.97451221e-01 3.47870658e-01 3.46836530e+02] [-4.54525786e-01 8.67488227e-01 -2.02164502e-01 1.94228280e+02] [-4.02340679e-01 2.54142632e-03 9.15486493e-01 9.02737900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.86, Y:194.23, Z:90.25 [[ 7.94278646e-01 5.01060116e-01 3.43598884e-01 3.46858811e+02] [-4.48811514e-01 8.65086875e-01 -2.24037771e-01 1.94229768e+02] [-4.09499277e-01 2.37372820e-02 9.12001581e-01 9.02489128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.88, Y:194.18, Z:90.26 [[ 7.95172230e-01 4.88039208e-01 3.59887283e-01 3.46880876e+02] [-4.53235860e-01 8.72626780e-01 -1.81933391e-01 1.94182951e+02] [-4.02837909e-01 -1.84454422e-02 9.15085452e-01 9.02554775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.91, Y:194.18, Z:90.24 [[ 7.93969290e-01 4.95471807e-01 3.52307331e-01 3.46905775e+02] [-4.53881237e-01 8.68621409e-01 -1.98717565e-01 1.94177712e+02] [-4.04480641e-01 -2.13004353e-03 9.14544080e-01 9.02378706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.540385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:346.93, Y:194.17, Z:90.22 [[ 7.94518645e-01 4.95497019e-01 3.51031092e-01 3.46930938e+02] [-4.50458239e-01 8.68589336e-01 -2.06494407e-01 1.94165945e+02] [-4.07219226e-01 5.93880855e-03 9.13311137e-01 9.02207036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.570385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:346.95, Y:194.14, Z:90.21 [[ 7.95280205e-01 4.93501829e-01 3.52115522e-01 3.46954629e+02] [-4.52085071e-01 8.69742903e-01 -1.97904953e-01 1.94141912e+02] [-4.03916433e-01 -1.79627899e-03 9.14794124e-01 9.02105944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.98, Y:194.13, Z:90.19 [[ 7.94985460e-01 4.95932262e-01 3.49355564e-01 3.46980264e+02] [-4.50154159e-01 8.68321418e-01 -2.08276613e-01 1.94132903e+02] [-4.06644011e-01 8.31301820e-03 9.13548873e-01 9.01944224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.00, Y:194.11, Z:90.19 [[ 7.95293532e-01 4.92881226e-01 3.52953672e-01 3.47004302e+02] [-4.50799884e-01 8.70096376e-01 -1.99278099e-01 1.94107634e+02] [-4.05324145e-01 -6.26890741e-04 9.14172820e-01 9.01857137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.660385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:347.03, Y:194.10, Z:90.17 [[ 7.96262502e-01 4.94346658e-01 3.48693862e-01 3.47029320e+02] [-4.50332167e-01 8.69248108e-01 -2.03982023e-01 1.94095119e+02] [-4.03939311e-01 5.39517377e-03 9.14769875e-01 9.01686831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.690385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:347.05, Y:194.09, Z:90.14 [[ 7.95951721e-01 4.99368463e-01 3.42187077e-01 3.47053146e+02] [-4.47150294e-01 8.66027013e-01 -2.23727129e-01 1.94091976e+02] [-4.08065525e-01 2.50669413e-02 9.12608446e-01 9.01434635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.07, Y:194.05, Z:90.15 [[ 7.96767978e-01 4.85435511e-01 3.59879361e-01 3.47074912e+02] [-4.49751344e-01 8.74130361e-01 -1.83357138e-01 1.94049575e+02] [-4.03589542e-01 -1.57631306e-02 9.14804354e-01 9.01518721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.10, Y:194.05, Z:90.13 [[ 7.96688457e-01 4.94084592e-01 3.48091824e-01 3.47102835e+02] [-4.50063473e-01 8.69394337e-01 -2.03951852e-01 1.94045239e+02] [-4.03398528e-01 5.82267126e-03 9.15005860e-01 9.01309464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.13, Y:194.03, Z:90.12 [[ 7.96889189e-01 4.93837208e-01 3.47983379e-01 3.47126497e+02] [-4.49759264e-01 8.69533108e-01 -2.04031317e-01 1.94027575e+02] [-4.03341325e-01 6.08160222e-03 9.15029393e-01 9.01181751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.15, Y:194.01, Z:90.10 [[ 7.96803962e-01 4.93919769e-01 3.48061357e-01 3.47151916e+02] [-4.49770109e-01 8.69485608e-01 -2.04209760e-01 1.94010894e+02] [-4.03497578e-01 6.16755098e-03 9.14959926e-01 9.01045320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.18, Y:194.01, Z:90.08 [[ 7.96232063e-01 4.98444582e-01 3.42881176e-01 3.47175887e+02] [-4.46496752e-01 8.66578666e-01 -2.22894741e-01 1.94009331e+02] [-4.08234188e-01 2.43806078e-02 9.12551606e-01 9.00779673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.870385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:347.20, Y:193.97, Z:90.08 [[ 7.97518824e-01 4.86368292e-01 3.56944828e-01 3.47197669e+02] [-4.50569460e-01 8.73636507e-01 -1.83701975e-01 1.93968114e+02] [-4.01186848e-01 -1.43226547e-02 9.15884258e-01 9.00832026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:347.23, Y:193.97, Z:90.05 [[ 7.95857631e-01 4.99477250e-01 3.42247145e-01 3.47225544e+02] [-4.48960301e-01 8.66063207e-01 -2.19929921e-01 1.93974844e+02] [-4.06257652e-01 2.13775249e-02 9.13508468e-01 9.00517454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.25, Y:193.95, Z:90.05 [[ 7.95453050e-01 4.92203678e-01 3.53539226e-01 3.47247876e+02] [-4.49910390e-01 8.70480018e-01 -1.99612573e-01 1.93945752e+02] [-4.05998875e-01 -2.78541574e-04 9.13873534e-01 9.00472012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.27, Y:193.92, Z:90.04 [[ 7.95727555e-01 4.92027897e-01 3.53165977e-01 3.47273300e+02] [-4.52928738e-01 8.70552020e-01 -1.92340166e-01 1.93923338e+02] [-4.02086082e-01 -6.90865028e-03 9.15575804e-01 9.00423659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.30, Y:193.92, Z:90.02 [[ 7.94854808e-01 4.98716688e-01 3.45669638e-01 3.47299124e+02] [-4.50542344e-01 8.66641496e-01 -2.14345779e-01 1.93921186e+02] [-4.06469469e-01 1.46349641e-02 9.13547146e-01 9.00176709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.32, Y:193.90, Z:90.01 [[ 7.94714643e-01 4.94935791e-01 3.51378995e-01 3.47323839e+02] [-4.50780157e-01 8.68920174e-01 -2.04389288e-01 1.93899829e+02] [-4.06479872e-01 4.03648173e-03 9.13650820e-01 9.00074617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.050385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:347.35, Y:193.88, Z:90.00 [[ 7.95284688e-01 4.93095712e-01 3.52673905e-01 3.47348606e+02] [-4.53223572e-01 8.69958917e-01 -1.94319010e-01 1.93875882e+02] [-4.02629679e-01 -5.30119374e-03 9.15347606e-01 9.00003581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.080385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:347.37, Y:193.87, Z:89.98 [[ 7.94754411e-01 4.98179961e-01 3.46672976e-01 3.47374424e+02] [-4.54241704e-01 8.67058308e-01 -2.04632266e-01 1.93865627e+02] [-4.02529378e-01 5.15907234e-03 9.15392530e-01 8.99829522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:347.40, Y:193.85, Z:89.97 [[ 7.94033758e-01 4.99077287e-01 3.47033504e-01 3.47400501e+02] [-4.55067151e-01 8.66543990e-01 -2.04976588e-01 1.93849467e+02] [-4.03018957e-01 4.83478292e-03 9.15178860e-01 8.99701155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.43, Y:193.83, Z:89.96 [[ 7.93633680e-01 4.99812930e-01 3.46889920e-01 3.47426025e+02] [-4.55846405e-01 8.66121210e-01 -2.05031960e-01 1.93833616e+02] [-4.02926342e-01 4.59174549e-03 9.15220891e-01 8.99565883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.170385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:347.45, Y:193.82, Z:89.94 [[ 7.93531550e-01 5.00878837e-01 3.45583666e-01 3.47450144e+02] [-4.57294582e-01 8.65507401e-01 -2.04398152e-01 1.93815844e+02] [-4.01483929e-01 4.16284439e-03 9.15856607e-01 8.99417771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.48, Y:193.80, Z:89.93 [[ 7.92622884e-01 5.02228602e-01 3.45709987e-01 3.47475536e+02] [-4.58671710e-01 8.64727337e-01 -2.04614015e-01 1.93799187e+02] [-4.01707888e-01 3.61435955e-03 9.15760727e-01 8.99297123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.230385723 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:347.50, Y:193.78, Z:89.91 [[ 7.91023794e-01 5.06525654e-01 3.43093455e-01 3.47501366e+02] [-4.60886923e-01 8.62185788e-01 -2.10282932e-01 1.93782944e+02] [-4.02324001e-01 8.21151624e-03 9.15460523e-01 8.99107462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.53, Y:193.76, Z:89.90 [[ 7.91487118e-01 5.03259877e-01 3.46810666e-01 3.47525296e+02] [-4.61445384e-01 8.64134457e-01 -2.00847696e-01 1.93761918e+02] [-4.00769633e-01 -1.06581696e-03 9.16178239e-01 8.99031126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.55, Y:193.75, Z:89.89 [[ 7.91706612e-01 5.06475703e-01 3.41588940e-01 3.47549232e+02] [-4.61006632e-01 8.62210133e-01 -2.09920394e-01 1.93753753e+02] [-4.00841024e-01 8.72059685e-03 9.16106121e-01 8.98873674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.57, Y:193.73, Z:89.88 [[ 7.91803483e-01 5.04260352e-01 3.44628411e-01 3.47572860e+02] [-4.61167785e-01 8.63547811e-01 -2.03983951e-01 1.93733897e+02] [-4.00464129e-01 2.58368177e-03 9.16308794e-01 8.98763667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3503857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.60, Y:193.72, Z:89.86 [[ 7.92291317e-01 5.03442960e-01 3.44702270e-01 3.47595632e+02] [-4.60198202e-01 8.64022814e-01 -2.04162171e-01 1.93716308e+02] [-4.00614633e-01 3.12455023e-03 9.16241318e-01 8.98625954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.62, Y:193.70, Z:89.85 [[ 7.92224747e-01 5.03343957e-01 3.44999725e-01 3.47621286e+02] [-4.59954386e-01 8.64079832e-01 -2.04470061e-01 1.93699277e+02] [-4.01026074e-01 3.30210521e-03 9.16060688e-01 8.98506269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.65, Y:193.68, Z:89.84 [[ 7.92430667e-01 5.02723940e-01 3.45430570e-01 3.47646772e+02] [-4.59102293e-01 8.64438858e-01 -2.04867140e-01 1.93682849e+02] [-4.01595223e-01 3.75503755e-03 9.15809574e-01 8.98369713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.67, Y:193.67, Z:89.82 [[ 7.93447807e-01 5.00872505e-01 3.45785065e-01 3.47670592e+02] [-4.56925895e-01 8.65507580e-01 -2.05220260e-01 1.93666675e+02] [-4.02068781e-01 4.83341474e-03 9.15596709e-01 8.98240790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.69, Y:193.66, Z:89.80 [[ 7.93868830e-01 5.01480025e-01 3.43933229e-01 3.47694777e+02] [-4.54402622e-01 8.65080219e-01 -2.12495817e-01 1.93656242e+02] [-4.04092241e-01 1.24096449e-02 9.14634059e-01 8.98049512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.72, Y:193.63, Z:89.80 [[ 7.95165082e-01 4.95330533e-01 3.49800165e-01 3.47717104e+02] [-4.53752773e-01 8.68704253e-01 -1.98648789e-01 1.93629169e+02] [-4.02269701e-01 -7.64214081e-04 9.15520892e-01 8.98010005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.74, Y:193.62, Z:89.78 [[ 7.95437179e-01 4.99413448e-01 3.43316039e-01 3.47743282e+02] [-4.52110171e-01 8.66252239e-01 -2.12611036e-01 1.93621030e+02] [-4.03579098e-01 1.39020495e-02 9.14839136e-01 8.97785734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.77, Y:193.60, Z:89.77 [[ 7.96335895e-01 4.94483042e-01 3.48332691e-01 3.47765738e+02] [-4.52810228e-01 8.69187136e-01 -1.98687241e-01 1.93595256e+02] [-4.01013765e-01 4.93176724e-04 9.16071895e-01 8.97731232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5903857229999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:347.79, Y:193.59, Z:89.75 [[ 7.95728174e-01 5.00548108e-01 3.40981326e-01 3.47792720e+02] [-4.53344382e-01 8.65584387e-01 -2.12702938e-01 1.93586248e+02] [-4.01616165e-01 1.46717520e-02 9.15690557e-01 8.97511728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.620385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:347.81, Y:193.56, Z:89.74 [[ 7.96230894e-01 4.96457319e-01 3.45754962e-01 3.47813520e+02] [-4.54843968e-01 8.68060358e-01 -1.98967785e-01 1.93564571e+02] [-3.98915189e-01 1.15973780e-03 9.16987092e-01 8.97439632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.84, Y:193.55, Z:89.73 [[ 7.95266309e-01 5.00190252e-01 3.42580223e-01 3.47839115e+02] [-4.56680241e-01 8.65895527e-01 -2.04127641e-01 1.93551734e+02] [-3.98741339e-01 5.88621709e-03 9.17044545e-01 8.97305639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.86, Y:193.54, Z:89.72 [[ 7.94689523e-01 5.01486067e-01 3.42023810e-01 3.47864061e+02] [-4.58183749e-01 8.65149206e-01 -2.03922787e-01 1.93535176e+02] [-3.98166064e-01 5.34555046e-03 9.17297776e-01 8.97171356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.89, Y:193.52, Z:89.70 [[ 7.93436850e-01 5.03714969e-01 3.41656544e-01 3.47888083e+02] [-4.60648780e-01 8.63858964e-01 -2.03839135e-01 1.93517332e+02] [-3.97819892e-01 4.34981094e-03 9.17453221e-01 8.97042853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.91, Y:193.50, Z:89.69 [[ 7.92887779e-01 5.04624277e-01 3.41589388e-01 3.47913541e+02] [-4.61602056e-01 8.63329746e-01 -2.03924720e-01 1.93500588e+02] [-3.97809644e-01 4.01105507e-03 9.17459208e-01 8.96911339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.94, Y:193.48, Z:89.68 [[ 7.92126256e-01 5.05095755e-01 3.42657661e-01 3.47938572e+02] [-4.61775163e-01 8.63054432e-01 -2.04696719e-01 1.93483690e+02] [-3.99123657e-01 3.91484815e-03 9.16888751e-01 8.96775225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.96, Y:193.47, Z:89.66 [[ 7.91808342e-01 5.05515376e-01 3.42773618e-01 3.47963069e+02] [-4.62139455e-01 8.62809054e-01 -2.04908907e-01 1.93468187e+02] [-3.99332784e-01 3.83936871e-03 9.16798008e-01 8.96645644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.99, Y:193.45, Z:89.65 [[ 7.91623887e-01 5.05887238e-01 3.42651025e-01 3.47988552e+02] [-4.62519423e-01 8.62591359e-01 -2.04968120e-01 1.93452118e+02] [-3.99258569e-01 3.77490600e-03 9.16830598e-01 8.96509265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.01, Y:193.44, Z:89.63 [[ 7.90401425e-01 5.10881808e-01 3.38031606e-01 3.48014111e+02] [-4.62244075e-01 8.59498715e-01 -2.18156767e-01 1.93441913e+02] [-4.01990054e-01 1.61783126e-02 9.15501097e-01 8.96280352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.04, Y:193.42, Z:89.62 [[ 7.90432559e-01 5.05712925e-01 3.45645494e-01 3.48038182e+02] [-4.62516036e-01 8.62699965e-01 -2.04518185e-01 1.93416758e+02] [-4.01615845e-01 1.79124906e-03 9.15806478e-01 8.96212703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.06, Y:193.40, Z:89.62 [[ 7.90265106e-01 5.04529594e-01 3.47751278e-01 3.48062283e+02] [-4.64111717e-01 8.63380035e-01 -1.97927334e-01 1.93398032e+02] [-4.00101708e-01 -4.98037779e-03 9.16457211e-01 8.96169564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.950385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:348.09, Y:193.39, Z:89.60 [[ 7.89693270e-01 5.08106837e-01 3.43819695e-01 3.48088587e+02] [-4.64511325e-01 8.61289103e-01 -2.05937634e-01 1.93387852e+02] [-4.00766477e-01 2.91942103e-03 9.16175588e-01 8.95984922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.11, Y:193.37, Z:89.59 [[ 7.89123152e-01 5.09045655e-01 3.43739978e-01 3.48114826e+02] [-4.65494277e-01 8.60735666e-01 -2.06032014e-01 1.93372704e+02] [-4.00748960e-01 2.57563966e-03 9.16184281e-01 8.95864582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.14, Y:193.37, Z:89.56 [[ 7.88296854e-01 5.12951161e-01 3.39807559e-01 3.48140842e+02] [-4.63791362e-01 8.58276529e-01 -2.19679250e-01 1.93365759e+02] [-4.04333578e-01 1.55726510e-02 9.14479005e-01 8.95619164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.16, Y:193.34, Z:89.57 [[ 7.89350333e-01 5.04388741e-01 3.50025785e-01 3.48164577e+02] [-4.65633713e-01 8.63421715e-01 -1.94134459e-01 1.93335840e+02] [-4.00139098e-01 -9.74370609e-03 9.16402620e-01 8.95657761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.19, Y:193.33, Z:89.55 [[ 7.89327097e-01 5.09170847e-01 3.43085677e-01 3.48192297e+02] [-4.65646370e-01 8.60660764e-01 -2.06001232e-01 1.93327905e+02] [-4.00170203e-01 2.84575398e-03 9.16436419e-01 8.95475495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.22, Y:193.32, Z:89.52 [[ 7.88001698e-01 5.16046386e-01 3.35781851e-01 3.48219791e+02] [-4.64465056e-01 8.56275229e-01 -2.25975539e-01 1.93323654e+02] [-4.04135541e-01 2.21101721e-02 9.14431848e-01 8.95189301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.24, Y:193.30, Z:89.51 [[ 7.89788858e-01 5.06118457e-01 3.46522245e-01 3.48243557e+02] [-4.61166333e-01 8.62449883e-01 -2.08580469e-01 1.93303307e+02] [-4.04424495e-01 4.93013759e-03 9.14558102e-01 8.95124911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.27, Y:193.29, Z:89.50 [[ 7.90164215e-01 5.06528911e-01 3.45063728e-01 3.48269736e+02] [-4.61208787e-01 8.62199153e-01 -2.09521063e-01 1.93287507e+02] [-4.03642130e-01 6.40962243e-03 9.14894501e-01 8.94981319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.29, Y:193.26, Z:89.50 [[ 7.93324888e-01 4.96676897e-01 3.52062044e-01 3.48293485e+02] [-4.59844339e-01 8.67843336e-01 -1.88125298e-01 1.93260065e+02] [-3.98972188e-01 -1.26492565e-02 9.16875777e-01 8.95022847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.32, Y:193.27, Z:89.46 [[ 7.93028400e-01 5.08793559e-01 3.35015031e-01 3.48321971e+02] [-4.56129167e-01 8.60456797e-01 -2.27068894e-01 1.93268411e+02] [-4.03797152e-01 2.72619547e-02 9.14442260e-01 8.94648356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.34, Y:193.23, Z:89.48 [[ 7.94629890e-01 4.93618148e-01 3.53418253e-01 3.48344386e+02] [-4.56829995e-01 8.69588465e-01 -1.87409333e-01 1.93228121e+02] [-3.99837084e-01 -1.25310005e-02 9.16500562e-01 8.94759549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:193.22, Z:89.46 [[ 7.95490551e-01 4.99798651e-01 3.42631132e-01 3.48372028e+02] [-4.55172411e-01 8.66100895e-01 -2.06609091e-01 1.93223829e+02] [-4.00016075e-01 8.39934131e-03 9.16469634e-01 8.94560165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.40, Y:193.21, Z:89.44 [[ 7.96067496e-01 5.01758860e-01 3.38400041e-01 3.48399021e+02] [-4.55236615e-01 8.64889252e-01 -2.11485710e-01 1.93211501e+02] [-3.98793387e-01 1.43048101e-02 9.16929227e-01 8.94400775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.42, Y:193.19, Z:89.43 [[ 7.94955479e-01 4.98340572e-01 3.45980436e-01 3.48423506e+02] [-4.55455425e-01 8.66975383e-01 -2.02272197e-01 1.93191214e+02] [-4.00756963e-01 3.21872459e-03 9.16178747e-01 8.94310676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:348.45, Y:193.18, Z:89.41 [[ 7.95893331e-01 5.04406385e-01 3.34855199e-01 3.48451404e+02] [-4.56282763e-01 8.63257132e-01 -2.15854499e-01 1.93184728e+02] [-3.97944527e-01 1.90085014e-02 9.17212533e-01 8.94113226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.48, Y:193.17, Z:89.39 [[ 7.92490038e-01 5.06803992e-01 3.39277546e-01 3.48475475e+02] [-4.57259823e-01 8.61858636e-01 -2.19347090e-01 1.93172186e+02] [-4.03575264e-01 1.86923928e-02 9.14755487e-01 8.93910414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.50, Y:193.14, Z:89.40 [[ 7.93312975e-01 4.96763342e-01 3.51966909e-01 3.48498482e+02] [-4.59974190e-01 8.67792817e-01 -1.88040878e-01 1.93140224e+02] [-3.98846170e-01 -1.27204259e-02 9.16929617e-01 8.93972567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.53, Y:193.14, Z:89.38 [[ 7.92575904e-01 5.05840754e-01 3.40512216e-01 3.48527446e+02] [-4.62149002e-01 8.62608108e-01 -2.05731746e-01 1.93137052e+02] [-3.97796100e-01 5.69064359e-03 9.17456200e-01 8.93762068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:348.55, Y:193.12, Z:89.36 [[ 7.92271954e-01 5.06397115e-01 3.40392587e-01 3.48553619e+02] [-4.62727655e-01 8.62282612e-01 -2.05795564e-01 1.93121915e+02] [-3.97728889e-01 5.53699034e-03 9.17486279e-01 8.93622796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.520385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:348.58, Y:193.11, Z:89.34 [[ 7.90577112e-01 5.10599230e-01 3.38047713e-01 3.48580870e+02] [-4.63476948e-01 8.59720377e-01 -2.14639213e-01 1.93108226e+02] [-4.00221124e-01 1.30115270e-02 9.16326226e-01 8.93412641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.60, Y:193.10, Z:89.33 [[ 7.91784091e-01 5.06058755e-01 3.42027030e-01 3.48604983e+02] [-4.59695811e-01 8.62434831e-01 -2.11862984e-01 1.93096804e+02] [-4.02191142e-01 1.05213476e-02 9.15495269e-01 8.93305940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.580385723 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:348.63, Y:193.08, Z:89.31 [[ 7.90199424e-01 5.09669803e-01 3.40325672e-01 3.48631312e+02] [-4.61362613e-01 8.60247670e-01 -2.17067929e-01 1.93082350e+02] [-4.03397335e-01 1.45134115e-02 9.14909805e-01 8.93127895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.610385723 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:349.08, Y:192.81, Z:90.18 [[ 8.06480521e-01 -4.33603402e-01 4.01966738e-01 3.49078719e+02] [-4.64417404e-01 -4.37977060e-02 8.84532778e-01 1.92812566e+02] [-3.65931201e-01 -9.00038805e-01 -2.36694963e-01 9.01801508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.640385723 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:349.58, Y:193.64, Z:89.89 [[ 8.17706195e-01 -2.37199737e-01 -5.24492959e-01 3.49575991e+02] [-4.28977419e-01 -8.58672981e-01 -2.80462273e-01 1.93642005e+02] [-3.83842355e-01 4.54331374e-01 -8.03895547e-01 8.98885115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.59, Y:193.48, Z:90.08 [[ 8.48012074e-01 -3.57091309e-01 -3.91613737e-01 3.49594735e+02] [-3.55410804e-01 -9.31314811e-01 7.95982585e-02 1.93481210e+02] [-3.93139520e-01 7.16834692e-02 -9.16680314e-01 9.00774388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.48, Y:193.69, Z:89.36 [[ 8.37676838e-01 3.23832414e-01 -4.39806870e-01 3.49477534e+02] [-3.28252759e-01 -3.45089499e-01 -8.79297085e-01 1.93694627e+02] [-4.36517630e-01 8.80934620e-01 -1.82774596e-01 8.93621746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.08, Y:192.85, Z:89.14 [[ 8.44415943e-01 3.46553382e-01 4.08488027e-01 3.49079282e+02] [-3.06811140e-01 9.37965037e-01 -1.61519393e-01 1.92847470e+02] [-4.39122579e-01 1.10608730e-02 8.98359069e-01 8.91384187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.11, Y:192.83, Z:89.13 [[ 8.43283614e-01 3.43953907e-01 4.12999342e-01 3.49106208e+02] [-3.08138515e-01 9.38985137e-01 -1.52831832e-01 1.92833817e+02] [-4.40367350e-01 1.61957554e-03 8.97816225e-01 8.91277784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.790385723 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:349.13, Y:192.83, Z:89.11 [[ 8.43443118e-01 3.49837782e-01 4.07697478e-01 3.49132824e+02] [-3.09747264e-01 9.36743380e-01 -1.62998380e-01 1.92830009e+02] [-4.38930905e-01 1.11966837e-02 8.98451053e-01 8.91105782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.820385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:349.16, Y:192.82, Z:89.10 [[ 8.43693462e-01 3.45239320e-01 4.11085336e-01 3.49160478e+02] [-3.09282475e-01 9.38511856e-01 -1.53427008e-01 1.92815395e+02] [-4.38777498e-01 2.30387325e-03 8.98592789e-01 8.90972289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8503857229999 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:349.19, Y:192.81, Z:89.08 [[ 8.43679247e-01 3.52290573e-01 4.05088485e-01 3.49189572e+02] [-3.10714189e-01 9.35774272e-01 -1.66682944e-01 1.92814201e+02] [-4.37792212e-01 1.47602008e-02 8.98955013e-01 8.90802455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.21, Y:192.79, Z:89.07 [[ 8.41424628e-01 3.43650436e-01 4.17023947e-01 3.49213556e+02] [-3.10759130e-01 9.39078201e-01 -1.46836287e-01 1.92793477e+02] [-4.42078452e-01 -6.04233123e-03 8.96956037e-01 8.90733401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.24, Y:192.79, Z:89.06 [[ 8.40684221e-01 3.49104294e-01 4.13976125e-01 3.49241310e+02] [-3.10902199e-01 9.37071343e-01 -1.58861956e-01 1.92789705e+02] [-4.43384554e-01 4.84665266e-03 8.96318385e-01 8.90551946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.27, Y:192.78, Z:89.04 [[ 8.40642815e-01 3.49261589e-01 4.13927529e-01 3.49269171e+02] [-3.11015231e-01 9.37012373e-01 -1.58988486e-01 1.92778982e+02] [-4.43383788e-01 4.91476234e-03 8.96318393e-01 8.90400743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.30, Y:192.77, Z:89.03 [[ 8.40356773e-01 3.49504334e-01 4.14303288e-01 3.49295798e+02] [-3.11181169e-01 9.36922156e-01 -1.59195335e-01 1.92769269e+02] [-4.43809390e-01 4.85749654e-03 8.96108046e-01 8.90261618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:349.32, Y:192.76, Z:89.01 [[ 8.39999753e-01 3.49917617e-01 4.14678282e-01 3.49323136e+02] [-3.11431371e-01 9.36767487e-01 -1.59615717e-01 1.92759773e+02] [-4.44309483e-01 4.93333692e-03 8.95859780e-01 8.90111102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.35, Y:192.77, Z:88.98 [[ 8.38247057e-01 3.57036970e-01 4.12148606e-01 3.49347569e+02] [-3.08544418e-01 9.33759271e-01 -1.81366937e-01 1.92766723e+02] [-4.49602284e-01 2.48641494e-02 8.92882725e-01 8.89826687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.38, Y:192.73, Z:88.99 [[ 8.39783003e-01 3.39857388e-01 4.23392801e-01 3.49377423e+02] [-3.12222692e-01 9.40296843e-01 -1.35494792e-01 1.92728092e+02] [-4.44163820e-01 -1.84066165e-02 8.95756494e-01 8.89924967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.40, Y:192.73, Z:88.97 [[ 8.39520565e-01 3.50339993e-01 4.15291597e-01 3.49404739e+02] [-3.11594773e-01 9.36608648e-01 -1.60227771e-01 1.92732191e+02] [-4.45099897e-01 5.11181837e-03 8.95466332e-01 8.89699203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.43, Y:192.72, Z:88.95 [[ 8.39721143e-01 3.49921481e-01 4.15238919e-01 3.49431802e+02] [-3.11070278e-01 9.36763028e-01 -1.60344354e-01 1.92722509e+02] [-4.45088401e-01 5.47605823e-03 8.95469892e-01 8.89540711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.46, Y:192.71, Z:88.94 [[ 8.39711717e-01 3.49789503e-01 4.15369155e-01 3.49458974e+02] [-3.10824460e-01 9.36810974e-01 -1.60540818e-01 1.92713427e+02] [-4.45277876e-01 5.70111251e-03 8.95374285e-01 8.89405070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.180385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:349.49, Y:192.71, Z:88.93 [[ 8.40197656e-01 3.49479116e-01 4.14647135e-01 3.49486811e+02] [-3.10554862e-01 9.36924976e-01 -1.60397215e-01 1.92705769e+02] [-4.44548734e-01 5.99467974e-03 8.95734607e-01 8.89250483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.210385723 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:349.51, Y:192.71, Z:88.89 [[ 8.38532264e-01 3.59270288e-01 4.09619950e-01 3.49513135e+02] [-3.09843711e-01 9.32834709e-01 -1.83892034e-01 1.92708111e+02] [-4.48174651e-01 2.72812383e-02 8.93529639e-01 8.88936563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.54, Y:192.68, Z:88.90 [[ 8.41618779e-01 3.39337166e-01 4.20152494e-01 3.49539645e+02] [-3.09110298e-01 9.40592806e-01 -1.40484862e-01 1.92676945e+02] [-4.42864149e-01 -1.16387647e-02 8.96513182e-01 8.89023588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.57, Y:192.68, Z:88.88 [[ 8.42285222e-01 3.47306403e-01 4.12230357e-01 3.49567617e+02] [-3.08454930e-01 9.37722243e-01 -1.59789083e-01 1.92677562e+02] [-4.42053346e-01 7.43349763e-03 8.96957960e-01 8.88806247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.300385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:349.59, Y:192.67, Z:88.86 [[ 8.43894256e-01 3.48124876e-01 4.08229783e-01 3.49594582e+02] [-3.07467070e-01 9.37362487e-01 -1.63754602e-01 1.92671087e+02] [-4.39666335e-01 1.26743528e-02 8.98071754e-01 8.88616728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.62, Y:192.66, Z:88.85 [[ 8.43238394e-01 3.43639147e-01 4.13353539e-01 3.49623212e+02] [-3.06541672e-01 9.39091925e-01 -1.55365891e-01 1.92658322e+02] [-4.41566773e-01 4.30039964e-03 8.97218085e-01 8.88526177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.65, Y:192.66, Z:88.83 [[ 8.44175595e-01 3.48531962e-01 4.07299690e-01 3.49650577e+02] [-3.06519395e-01 9.37163147e-01 -1.66646622e-01 1.92656166e+02] [-4.39787934e-01 1.58337571e-02 8.97962063e-01 8.88335410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.390385723 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:349.68, Y:192.65, Z:88.82 [[ 8.44629450e-01 3.49239878e-01 4.05749431e-01 3.49677466e+02] [-3.07241230e-01 9.36892355e-01 -1.66839868e-01 1.92648988e+02] [-4.38410675e-01 1.62549115e-02 8.98627764e-01 8.88183113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.420385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:349.70, Y:192.63, Z:88.81 [[ 8.43935925e-01 3.39068711e-01 4.15697684e-01 3.49703042e+02] [-3.05769148e-01 9.40755442e-01 -1.46575671e-01 1.92629016e+02] [-4.40769082e-01 -3.40705175e-03 8.97614064e-01 8.88086872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.73, Y:192.63, Z:88.79 [[ 8.43382645e-01 3.45278880e-01 4.11689456e-01 3.49732373e+02] [-3.05918629e-01 9.38453969e-01 -1.60368142e-01 1.92628766e+02] [-4.41723337e-01 9.30823388e-03 8.97103032e-01 8.87917829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.76, Y:192.62, Z:88.78 [[ 8.43212206e-01 3.45305428e-01 4.12016185e-01 3.49761110e+02] [-3.05814783e-01 9.38442829e-01 -1.60631176e-01 1.92619484e+02] [-4.42120452e-01 9.44552818e-03 8.96905953e-01 8.87774375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.79, Y:192.62, Z:88.76 [[ 8.44154732e-01 3.50976095e-01 4.05238904e-01 3.49789797e+02] [-3.06505286e-01 9.36143335e-01 -1.72308344e-01 1.92617131e+02] [-4.39837809e-01 2.12470375e-02 8.97825855e-01 8.87584842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.540385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:349.82, Y:192.60, Z:88.75 [[ 8.43106958e-01 3.38973786e-01 4.17453505e-01 3.49815144e+02] [-3.04658566e-01 9.40793955e-01 -1.48626688e-01 1.92597757e+02] [-4.43118285e-01 -1.87259171e-03 8.96461197e-01 8.87512130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.84, Y:192.60, Z:88.73 [[ 8.42038616e-01 3.45234220e-01 4.14468700e-01 3.49844771e+02] [-3.05080836e-01 9.38464606e-01 -1.61894616e-01 1.92595910e+02] [-4.44855767e-01 9.87506069e-03 8.95547782e-01 8.87344449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.87, Y:192.59, Z:88.72 [[ 8.41344093e-01 3.45946819e-01 4.15284140e-01 3.49873870e+02] [-3.05636199e-01 9.38204282e-01 -1.62355288e-01 1.92588381e+02] [-4.45787653e-01 9.67079619e-03 8.95086501e-01 8.87199979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.90, Y:192.58, Z:88.71 [[ 8.41062547e-01 3.46246712e-01 4.15604387e-01 3.49902103e+02] [-3.05832308e-01 9.38093627e-01 -1.62625170e-01 1.92579322e+02] [-4.46184257e-01 9.67269022e-03 8.94888847e-01 8.87050196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.93, Y:192.57, Z:88.69 [[ 8.41190922e-01 3.47112597e-01 4.14621126e-01 3.49929683e+02] [-3.06927183e-01 9.37776936e-01 -1.62388800e-01 1.92572016e+02] [-4.45189327e-01 9.34149070e-03 8.95387737e-01 8.86900844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.96, Y:192.56, Z:88.67 [[ 8.41369281e-01 3.47649947e-01 4.13808226e-01 3.49957309e+02] [-3.07648291e-01 9.37579944e-01 -1.62161581e-01 1.92563071e+02] [-4.44353758e-01 9.13037899e-03 8.95804875e-01 8.86749691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.98, Y:192.56, Z:88.66 [[ 8.41848279e-01 3.48483948e-01 4.12129121e-01 3.49984490e+02] [-3.08849773e-01 9.37273461e-01 -1.61648625e-01 1.92556577e+02] [-4.42609639e-01 8.79763116e-03 8.96671238e-01 8.86599292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.01, Y:192.55, Z:88.64 [[ 8.41671367e-01 3.49162379e-01 4.11916184e-01 3.50012763e+02] [-3.09581962e-01 9.37022986e-01 -1.61700132e-01 1.92547428e+02] [-4.42434536e-01 8.57655079e-03 8.96759792e-01 8.86449649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.04, Y:192.52, Z:88.64 [[ 8.42994827e-01 3.41433453e-01 4.15671648e-01 3.50042822e+02] [-3.12077204e-01 9.39823011e-01 -1.39070220e-01 1.92523100e+02] [-4.38141006e-01 -1.24861698e-02 8.98819534e-01 8.86415239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.07, Y:192.54, Z:88.61 [[ 8.41003367e-01 3.64980042e-01 3.99378149e-01 3.50069255e+02] [-3.14048216e-01 9.30412735e-01 -1.88959942e-01 1.92544066e+02] [-4.40553124e-01 3.34919522e-02 8.97101574e-01 8.86100536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:192.52, Z:88.60 [[ 8.40839915e-01 3.57098633e-01 4.06778568e-01 3.50094314e+02] [-3.15514204e-01 9.33980557e-01 -1.67723302e-01 1.92523952e+02] [-4.39817035e-01 1.26840306e-02 8.97997823e-01 8.86029941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.870385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.12, Y:192.51, Z:88.59 [[ 8.40002182e-01 3.50445448e-01 4.14227381e-01 3.50123052e+02] [-3.16089686e-01 9.36575518e-01 -1.51372420e-01 1.92506655e+02] [-4.41003000e-01 -3.77983935e-03 8.97497670e-01 8.85912648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.900385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.15, Y:192.50, Z:88.58 [[ 8.39409212e-01 3.53946045e-01 4.12449236e-01 3.50149583e+02] [-3.16690402e-01 9.35263541e-01 -1.58080038e-01 1.92501192e+02] [-4.41700537e-01 2.07512620e-03 8.97160147e-01 8.85758788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.18, Y:192.50, Z:88.56 [[ 8.39803003e-01 3.57872753e-01 4.08237687e-01 3.50178940e+02] [-3.16796246e-01 9.33708275e-01 -1.66820248e-01 1.92497118e+02] [-4.40875328e-01 1.07679781e-02 8.97503758e-01 8.85593934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.960385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:350.20, Y:192.48, Z:88.55 [[ 8.40106868e-01 3.52893782e-01 4.11930127e-01 3.50203956e+02] [-3.15717701e-01 9.35660280e-01 -1.57677435e-01 1.92482980e+02] [-4.41070044e-01 2.41226291e-03 8.97469441e-01 8.85464585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.23, Y:192.48, Z:88.53 [[ 8.39681573e-01 3.54732036e-01 4.11217751e-01 3.50233268e+02] [-3.15471090e-01 9.34944775e-01 -1.62346111e-01 1.92475017e+02] [-4.42055254e-01 6.59172567e-03 8.96963601e-01 8.85324770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.26, Y:192.47, Z:88.52 [[ 8.40273989e-01 3.53523163e-01 4.11048656e-01 3.50261231e+02] [-3.14089051e-01 9.35396710e-01 -1.62422486e-01 1.92466056e+02] [-4.41913671e-01 7.37350827e-03 8.97027279e-01 8.85174286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.29, Y:192.46, Z:88.50 [[ 8.40524043e-01 3.53245130e-01 4.10776352e-01 3.50288405e+02] [-3.13763120e-01 9.35499391e-01 -1.62461052e-01 1.92456238e+02] [-4.41669603e-01 7.66595013e-03 8.97145025e-01 8.85024299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.32, Y:192.45, Z:88.49 [[ 8.40967292e-01 3.53259299e-01 4.09855929e-01 3.50316191e+02] [-3.13894760e-01 9.35493019e-01 -1.62243308e-01 1.92445802e+02] [-4.40731317e-01 7.78968708e-03 8.97605273e-01 8.84881239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.34, Y:192.44, Z:88.47 [[ 8.40955493e-01 3.53757985e-01 4.09449810e-01 3.50342749e+02] [-3.14459914e-01 9.35305522e-01 -1.62229907e-01 1.92435476e+02] [-4.40350793e-01 7.67257979e-03 8.97793022e-01 8.84736712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.140385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.37, Y:192.43, Z:88.46 [[ 8.42028157e-01 3.56561093e-01 4.04787314e-01 3.50369899e+02] [-3.15820594e-01 9.34196454e-01 -1.65934738e-01 1.92427465e+02] [-4.37316745e-01 1.18815516e-02 8.99229055e-01 8.84557737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.170385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.40, Y:192.41, Z:88.44 [[ 8.41718254e-01 3.55392278e-01 4.06456284e-01 3.50395876e+02] [-3.17031963e-01 9.34695101e-01 -1.60735197e-01 1.92413948e+02] [-4.37036745e-01 6.43411607e-03 8.99420639e-01 8.84431544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.200385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.42, Y:192.40, Z:88.43 [[ 8.41279806e-01 3.54473334e-01 4.08162888e-01 3.50421952e+02] [-3.16600573e-01 9.35052974e-01 -1.59499254e-01 1.92404179e+02] [-4.38192155e-01 4.95889680e-03 8.98867646e-01 8.84302093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.45, Y:192.39, Z:88.42 [[ 8.40342994e-01 3.57104629e-01 4.07798892e-01 3.50449702e+02] [-3.20778487e-01 9.34063789e-01 -1.56926734e-01 1.92388307e+02] [-4.36949441e-01 1.05917049e-03 8.99485444e-01 8.84178135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.48, Y:192.38, Z:88.40 [[ 8.39762931e-01 3.60346290e-01 4.06138856e-01 3.50477283e+02] [-3.22146738e-01 9.32806172e-01 -1.61536759e-01 1.92380126e+02] [-4.37058004e-01 4.81627474e-03 8.99420427e-01 8.84020579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.50, Y:192.37, Z:88.39 [[ 8.38953420e-01 3.62366754e-01 4.06014155e-01 3.50503685e+02] [-3.24342876e-01 9.32027349e-01 -1.61637615e-01 1.92368526e+02] [-4.36988395e-01 3.91863124e-03 8.99458608e-01 8.83881547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.320385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.53, Y:192.36, Z:88.37 [[ 8.39150493e-01 3.62784921e-01 4.05232713e-01 3.50528402e+02] [-3.23162915e-01 9.31842477e-01 -1.65031295e-01 1.92360758e+02] [-4.37483921e-01 7.52990794e-03 8.99194706e-01 8.83701586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3503857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.56, Y:192.35, Z:88.36 [[ 8.38743073e-01 3.61289922e-01 4.07406002e-01 3.50555070e+02] [-3.23718794e-01 9.32449653e-01 -1.60448709e-01 1.92345123e+02] [-4.37854087e-01 2.69026344e-03 8.99042024e-01 8.83583254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.58, Y:192.33, Z:88.34 [[ 8.38390984e-01 3.62016763e-01 4.07485486e-01 3.50581463e+02] [-3.23943132e-01 9.32164938e-01 -1.61645837e-01 1.92333749e+02] [-4.38362185e-01 3.52028806e-03 8.98791523e-01 8.83447573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.61, Y:192.32, Z:88.33 [[ 8.38062930e-01 3.61977836e-01 4.08194281e-01 3.50607107e+02] [-3.23747189e-01 9.32179849e-01 -1.61952114e-01 1.92321639e+02] [-4.39133559e-01 3.57431231e-03 8.98414682e-01 8.83302922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.63, Y:192.31, Z:88.32 [[ 8.38630289e-01 3.59899445e-01 4.08866270e-01 3.50633308e+02] [-3.22797095e-01 9.32989900e-01 -1.59159929e-01 1.92306703e+02] [-4.38749671e-01 1.49549312e-03 8.98608085e-01 8.83176815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.66, Y:192.30, Z:88.30 [[ 8.39005314e-01 3.61796833e-01 4.06414979e-01 3.50659896e+02] [-3.22970123e-01 9.32239988e-01 -1.63153008e-01 1.92296612e+02] [-4.37904537e-01 5.62634467e-03 8.99003871e-01 8.83014874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.69, Y:192.28, Z:88.29 [[ 8.39711765e-01 3.59217119e-01 4.07243433e-01 3.50687204e+02] [-3.23393298e-01 9.33253937e-01 -1.56377313e-01 1.92277813e+02] [-4.36234945e-01 -3.87927286e-04 8.99832719e-01 8.82896358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.71, Y:192.27, Z:88.27 [[ 8.39328792e-01 3.64011392e-01 4.03760927e-01 3.50712848e+02] [-3.22789814e-01 9.31327063e-01 -1.68631663e-01 1.92273048e+02] [-4.37417325e-01 1.12074955e-02 8.99188788e-01 8.82703296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.74, Y:192.26, Z:88.26 [[ 8.39301601e-01 3.60624320e-01 4.06845084e-01 3.50738382e+02] [-3.22328918e-01 9.32699556e-01 -1.61788772e-01 1.92257001e+02] [-4.37809195e-01 4.65164014e-03 8.99055878e-01 8.82588206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:192.24, Z:88.24 [[ 8.39719975e-01 3.60200709e-01 4.06356757e-01 3.50764538e+02] [-3.21042349e-01 9.32849958e-01 -1.63470995e-01 1.92244859e+02] [-4.37952252e-01 6.81213174e-03 8.98972425e-01 8.82437918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.79, Y:192.23, Z:88.23 [[ 8.40323175e-01 3.59189976e-01 4.06004340e-01 3.50790734e+02] [-3.20254108e-01 9.33239897e-01 -1.62790052e-01 1.92230737e+02] [-4.37372003e-01 6.77169589e-03 8.99255178e-01 8.82282973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.82, Y:192.22, Z:88.21 [[ 8.40757318e-01 3.58940124e-01 4.05325942e-01 3.50815944e+02] [-3.20067362e-01 9.33334425e-01 -1.62615297e-01 1.92219191e+02] [-4.36673810e-01 6.98839557e-03 8.99592767e-01 8.82139508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.680385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.84, Y:192.20, Z:88.21 [[ 8.40819292e-01 3.56177917e-01 4.07627538e-01 3.50843594e+02] [-3.21920108e-01 9.34413195e-01 -1.52444824e-01 1.92198750e+02] [-4.35190031e-01 -3.04495191e-03 9.00333475e-01 8.82055231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.87, Y:192.20, Z:88.18 [[ 8.40292726e-01 3.62866200e-01 4.02785620e-01 3.50868457e+02] [-3.20332457e-01 9.31724472e-01 -1.71104135e-01 1.92197566e+02] [-4.37373127e-01 1.47522523e-02 8.99159118e-01 8.81830692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.90, Y:192.17, Z:88.18 [[ 8.40506570e-01 3.57067156e-01 4.07494482e-01 3.50896018e+02] [-3.22609998e-01 9.34074479e-01 -1.53060956e-01 1.92173252e+02] [-4.35283236e-01 -2.81305464e-03 9.00289171e-01 8.81783563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.92, Y:192.17, Z:88.16 [[ 8.40382588e-01 3.62046737e-01 4.03335179e-01 3.50923288e+02] [-3.23502717e-01 9.32139139e-01 -1.62673348e-01 1.92165413e+02] [-4.34859861e-01 6.22782274e-03 9.00476605e-01 8.81604277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.95, Y:192.15, Z:88.15 [[ 8.40270156e-01 3.58841336e-01 4.06422146e-01 3.50951221e+02] [-3.24984414e-01 9.33389220e-01 -1.52215946e-01 1.92145811e+02] [-4.33971424e-01 -4.17834612e-03 9.00916947e-01 8.81508869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.98, Y:192.14, Z:88.13 [[ 8.40138522e-01 3.64306753e-01 4.01805741e-01 3.50979382e+02] [-3.25287709e-01 9.31250837e-01 -1.64194352e-01 1.92141046e+02] [-4.33999044e-01 7.24353130e-03 9.00884211e-01 8.81320475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.01, Y:192.13, Z:88.12 [[ 8.40437073e-01 3.63468791e-01 4.01940251e-01 3.51006302e+02] [-3.26743588e-01 9.31603042e-01 -1.59230648e-01 1.92125419e+02] [-4.32324132e-01 2.49194001e-03 9.01714830e-01 8.81214440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.890385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:351.03, Y:192.11, Z:88.11 [[ 8.39575829e-01 3.67111298e-01 4.00426925e-01 3.51033208e+02] [-3.29200138e-01 9.30165426e-01 -1.62540913e-01 1.92112784e+02] [-4.32133887e-01 4.64482291e-03 9.01797499e-01 8.81067908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.06, Y:192.11, Z:88.08 [[ 8.37596237e-01 3.76102168e-01 3.96206642e-01 3.51056053e+02] [-3.29497536e-01 9.26304832e-01 -1.82731313e-01 1.92113045e+02] [-4.35733769e-01 2.25059479e-02 8.99794179e-01 8.80834578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.08, Y:192.08, Z:88.08 [[ 8.38755755e-01 3.61999182e-01 4.06749771e-01 3.51083109e+02] [-3.30347960e-01 9.32125554e-01 -1.48365014e-01 1.92080232e+02] [-4.32849869e-01 -9.92694778e-03 9.01411364e-01 8.80837316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.11, Y:192.07, Z:88.07 [[ 8.38922314e-01 3.68039475e-01 4.00944257e-01 3.51110894e+02] [-3.30679907e-01 9.29805388e-01 -1.61594368e-01 1.92073994e+02] [-4.32273237e-01 2.98091198e-03 9.01737746e-01 8.80658723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:351.14, Y:192.07, Z:88.05 [[ 8.39034051e-01 3.71184670e-01 3.97798694e-01 3.51135314e+02] [-3.28289413e-01 9.28432871e-01 -1.73892106e-01 1.92068101e+02] [-4.33875468e-01 1.53082984e-02 9.00842791e-01 8.80462328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.15, Y:192.08, Z:88.01 [[ 8.37195996e-01 3.77999468e-01 3.95245830e-01 3.51153116e+02] [-3.21046138e-01 9.24749839e-01 -2.04370040e-01 1.92081533e+02] [-4.42755284e-01 4.42056317e-02 8.95552132e-01 8.80124843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.18, Y:192.02, Z:88.03 [[ 8.38746003e-01 3.47822507e-01 4.18956615e-01 3.51182770e+02] [-3.24003275e-01 9.37165353e-01 -1.29394666e-01 1.92019008e+02] [-4.37638001e-01 -2.72140565e-02 8.98739326e-01 8.80327912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.21, Y:192.03, Z:88.01 [[ 8.38933001e-01 3.63354736e-01 4.05172501e-01 3.51210040e+02] [-3.24067217e-01 9.31626921e-01 -1.64474072e-01 1.92025470e+02] [-4.37232043e-01 6.67960198e-03 8.99323926e-01 8.80071902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.130385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:351.24, Y:192.01, Z:87.99 [[ 8.38862902e-01 3.63388940e-01 4.05286947e-01 3.51237183e+02] [-3.24038481e-01 9.31613028e-01 -1.64609323e-01 1.92013325e+02] [-4.37387808e-01 6.75608775e-03 8.99247608e-01 8.79926160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.26, Y:192.01, Z:87.97 [[ 8.38336017e-01 3.66405598e-01 4.03657852e-01 3.51262982e+02] [-3.23102593e-01 9.30334639e-01 -1.73442133e-01 1.92006726e+02] [-4.39087050e-01 1.49798885e-02 8.98319634e-01 8.79728798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.29, Y:191.98, Z:87.96 [[ 8.37995444e-01 3.62516729e-01 4.07854456e-01 3.51290768e+02] [-3.25669405e-01 9.31977059e-01 -1.59242583e-01 1.91984265e+02] [-4.37839097e-01 6.18840783e-04 8.99053137e-01 8.79642778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2203857229999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:351.31, Y:191.98, Z:87.94 [[ 8.35745938e-01 3.73376122e-01 4.02640036e-01 3.51314037e+02] [-3.26175706e-01 9.27428482e-01 -1.82991314e-01 1.91984741e+02] [-4.41744424e-01 2.16028492e-02 8.96880806e-01 8.79388985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.34, Y:191.96, Z:87.94 [[ 8.37153342e-01 3.59828712e-01 4.11943662e-01 3.51339882e+02] [-3.26295657e-01 9.32989926e-01 -1.51858300e-01 1.91957722e+02] [-4.38982263e-01 -7.28674430e-03 8.98466180e-01 8.79415961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:351.37, Y:191.95, Z:87.92 [[ 8.36996069e-01 3.66318747e-01 4.06507264e-01 3.51367304e+02] [-3.26669489e-01 9.30469830e-01 -1.65870255e-01 1.91952528e+02] [-4.39004129e-01 6.03923139e-03 8.98464748e-01 8.79221885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.310385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:351.39, Y:191.94, Z:87.91 [[ 8.37441237e-01 3.66148671e-01 4.05742930e-01 3.51392576e+02] [-3.26567549e-01 9.30535278e-01 -1.65703747e-01 1.91940967e+02] [-4.38230317e-01 6.26467712e-03 8.98840889e-01 8.79057856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.42, Y:191.93, Z:87.89 [[ 8.37585390e-01 3.66054075e-01 4.05530676e-01 3.51419814e+02] [-3.26440567e-01 9.30571230e-01 -1.65752052e-01 1.91927302e+02] [-4.38049394e-01 6.44983285e-03 8.98927766e-01 8.78931885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.370385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:351.45, Y:191.92, Z:87.88 [[ 8.37769090e-01 3.66154131e-01 4.05060619e-01 3.51445931e+02] [-3.26577756e-01 9.30531237e-01 -1.65706327e-01 1.91915213e+02] [-4.37595615e-01 6.53985120e-03 8.99148101e-01 8.78792391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.400385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:351.47, Y:191.92, Z:87.85 [[ 8.36684280e-01 3.70850284e-01 4.03025411e-01 3.51467953e+02] [-3.21561090e-01 9.28312789e-01 -1.86638237e-01 1.91920806e+02] [-4.43348487e-01 2.65599886e-02 8.95955739e-01 8.78510958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.49, Y:191.90, Z:87.84 [[ 8.36414975e-01 3.60872799e-01 4.12529772e-01 3.51492242e+02] [-3.20835436e-01 9.32596274e-01 -1.65314286e-01 1.91897331e+02] [-4.44381157e-01 5.91717562e-03 8.95818271e-01 8.78435411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.460385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.52, Y:191.86, Z:87.85 [[ 8.36982879e-01 3.52543397e-01 4.18536514e-01 3.51524119e+02] [-3.24887783e-01 9.35577913e-01 -1.38354245e-01 1.91863777e+02] [-4.40349393e-01 -2.01772656e-02 8.97599738e-01 8.78470929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.54, Y:191.89, Z:87.80 [[ 8.35977212e-01 3.74558520e-01 4.01058620e-01 3.51544839e+02] [-3.20927942e-01 9.26525840e-01 -1.96354589e-01 1.91890213e+02] [-4.45137459e-01 3.54370440e-02 8.94760783e-01 8.78040070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.57, Y:191.86, Z:87.80 [[ 8.35293897e-01 3.61752814e-01 4.14027786e-01 3.51571589e+02] [-3.22940522e-01 9.32270760e-01 -1.63035733e-01 1.91858261e+02] [-4.44964634e-01 2.47640286e-03 8.95544718e-01 8.78004461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.60, Y:191.85, Z:87.79 [[ 8.35485588e-01 3.61074889e-01 4.14232733e-01 3.51597341e+02] [-3.21485542e-01 9.32527292e-01 -1.64438120e-01 1.91849148e+02] [-4.45657805e-01 4.21584412e-03 8.95193469e-01 8.77862680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.63, Y:191.82, Z:87.79 [[ 8.37611948e-01 3.53535677e-01 4.16435769e-01 3.51629455e+02] [-3.26270446e-01 9.35195414e-01 -1.37684908e-01 1.91816697e+02] [-4.38125349e-01 -2.05441597e-02 8.98679095e-01 8.77906685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.65, Y:191.84, Z:87.75 [[ 8.36380798e-01 3.73440481e-01 4.01259727e-01 3.51652154e+02] [-3.22313731e-01 9.27154012e-01 -1.91047891e-01 1.91837274e+02] [-4.43374582e-01 3.04572671e-02 8.95818807e-01 8.77489752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.68, Y:191.81, Z:87.74 [[ 8.37028545e-01 3.60417901e-01 4.11682100e-01 3.51678062e+02] [-3.21375024e-01 9.32780993e-01 -1.63210639e-01 1.91811399e+02] [-4.42833275e-01 4.30761916e-03 8.96593629e-01 8.77448447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.71, Y:191.78, Z:87.75 [[ 8.39156690e-01 3.54345962e-01 4.12619665e-01 3.51710164e+02] [-3.26238432e-01 9.34948535e-01 -1.39426403e-01 1.91780302e+02] [-4.35183335e-01 -1.76117939e-02 9.00169590e-01 8.77483558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.74, Y:191.79, Z:87.72 [[ 8.40901212e-01 3.67228424e-01 3.97527908e-01 3.51736845e+02] [-3.25059136e-01 9.30009670e-01 -1.71518434e-01 1.91786656e+02] [-4.32691242e-01 1.50099804e-02 9.01417212e-01 8.77217980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.730385723 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:351.76, Y:191.78, Z:87.70 [[ 8.42692125e-01 3.73027223e-01 3.88227606e-01 3.51760687e+02] [-3.26110044e-01 9.27403678e-01 -1.83233886e-01 1.91784164e+02] [-4.28394938e-01 2.78048310e-02 9.03163700e-01 8.77039194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.78, Y:191.76, Z:87.70 [[ 8.40423202e-01 3.55591536e-01 4.08954155e-01 3.51784653e+02] [-3.21796511e-01 9.34631157e-01 -1.51365804e-01 1.91756895e+02] [-4.36045693e-01 -4.38868680e-03 8.99913825e-01 8.76959968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:351.81, Y:191.75, Z:87.68 [[ 8.40412046e-01 3.58786595e-01 4.06177022e-01 3.51812820e+02] [-3.21835758e-01 9.33416070e-01 -1.58607016e-01 1.91747820e+02] [-4.36038231e-01 2.57295676e-03 8.99924464e-01 8.76799855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.84, Y:191.74, Z:87.67 [[ 8.41186484e-01 3.63523430e-01 4.00319891e-01 3.51841501e+02] [-3.25217803e-01 9.31562017e-01 -1.62559494e-01 1.91735745e+02] [-4.32016990e-01 6.55169354e-03 9.01841669e-01 8.76687854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8503857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:351.87, Y:191.73, Z:87.64 [[ 8.39134620e-01 3.70335145e-01 3.98377924e-01 3.51868334e+02] [-3.25268361e-01 9.28684335e-01 -1.78173792e-01 1.91731454e+02] [-4.35951354e-01 1.99320628e-02 8.99749482e-01 8.76428292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.880385723 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:351.89, Y:191.72, Z:87.64 [[ 8.40852284e-01 3.71622204e-01 3.93528110e-01 3.51892678e+02] [-3.27907887e-01 9.28192647e-01 -1.75882993e-01 1.91721752e+02] [-4.30631924e-01 1.88506455e-02 9.02330759e-01 8.76351683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.92, Y:191.70, Z:87.63 [[ 8.37061540e-01 3.59061454e-01 4.12798803e-01 3.51916358e+02] [-3.26485821e-01 9.33266239e-01 -1.49736889e-01 1.91696008e+02] [-4.39015931e-01 -9.43396562e-03 8.98429748e-01 8.76289314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.94, Y:191.70, Z:87.61 [[ 8.37236086e-01 3.67989151e-01 4.04499348e-01 3.51943263e+02] [-3.26403475e-01 9.29770627e-01 -1.70256728e-01 1.91696142e+02] [-4.38744241e-01 1.05150837e-02 8.98550457e-01 8.76053119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.97, Y:191.69, Z:87.59 [[ 8.37204215e-01 3.72307566e-01 4.00594782e-01 3.51969554e+02] [-3.27546700e-01 9.27940535e-01 -1.77875018e-01 1.91687874e+02] [-4.37952352e-01 1.77042161e-02 8.98823842e-01 8.75906418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.00, Y:191.67, Z:87.58 [[ 8.36135802e-01 3.64788377e-01 4.09641747e-01 3.51995226e+02] [-3.26523896e-01 9.31087747e-01 -1.62658393e-01 1.91667213e+02] [-4.40748303e-01 2.24668606e-03 8.97627922e-01 8.75829949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.02, Y:191.66, Z:87.57 [[ 8.38077223e-01 3.66907088e-01 4.03739716e-01 3.52023085e+02] [-3.25250273e-01 9.30188877e-01 -1.70179062e-01 1.91660570e+02] [-4.37994097e-01 1.13067428e-02 8.98906741e-01 8.75669338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:191.65, Z:87.55 [[ 8.38166483e-01 3.66071712e-01 4.04312316e-01 3.52048916e+02] [-3.24120706e-01 9.30510223e-01 -1.70576942e-01 1.91650545e+02] [-4.38660136e-01 1.19258823e-02 8.98573903e-01 8.75512666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.08, Y:191.64, Z:87.53 [[ 8.38848923e-01 3.63787728e-01 4.04957989e-01 3.52076434e+02] [-3.21395111e-01 9.31387701e-01 -1.70944826e-01 1.91641221e+02] [-4.39360521e-01 1.32453653e-02 8.98213167e-01 8.75348514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.10, Y:191.63, Z:87.52 [[ 8.39268444e-01 3.63377036e-01 4.04457179e-01 3.52103523e+02] [-3.20976474e-01 9.31542933e-01 -1.70885541e-01 1.91629403e+02] [-4.38865108e-01 1.35976030e-02 8.98450067e-01 8.75206583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.13, Y:191.62, Z:87.51 [[ 8.39448028e-01 3.62977029e-01 4.04443674e-01 3.52129978e+02] [-3.20461094e-01 9.31693447e-01 -1.71032186e-01 1.91618746e+02] [-4.38898275e-01 1.39641685e-02 8.98428242e-01 8.75071134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.180385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:352.16, Y:191.61, Z:87.49 [[ 8.40581745e-01 3.62283083e-01 4.02707459e-01 3.52158054e+02] [-3.20011027e-01 9.31956924e-01 -1.70438363e-01 1.91608383e+02] [-4.37052940e-01 1.43965489e-02 8.99320558e-01 8.74921970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.18, Y:191.60, Z:87.48 [[ 8.40333220e-01 3.61976792e-01 4.03500782e-01 3.52184425e+02] [-3.19417310e-01 9.32070342e-01 -1.70931156e-01 1.91599042e+02] [-4.37964223e-01 1.47539945e-02 8.98871325e-01 8.74757408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.240385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:352.21, Y:191.59, Z:87.46 [[ 8.41056113e-01 3.63316981e-01 4.00780970e-01 3.52211748e+02] [-3.21440723e-01 9.31559089e-01 -1.69922115e-01 1.91587644e+02] [-4.35086745e-01 1.40867091e-02 9.00278340e-01 8.74619259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.24, Y:191.58, Z:87.45 [[ 8.40331427e-01 3.64600447e-01 4.01135399e-01 3.52239304e+02] [-3.22711141e-01 9.31064850e-01 -1.70222691e-01 1.91576242e+02] [-4.35546339e-01 1.35926149e-02 9.00063680e-01 8.74487289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.26, Y:191.57, Z:87.43 [[ 8.38853496e-01 3.67530018e-01 4.01555101e-01 3.52263599e+02] [-3.22271469e-01 9.29802384e-01 -1.77788150e-01 1.91570504e+02] [-4.38709372e-01 1.97284585e-02 8.98412419e-01 8.74286369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.29, Y:191.56, Z:87.42 [[ 8.39975076e-01 3.69490055e-01 3.97390200e-01 3.52290671e+02] [-3.24310173e-01 9.29000356e-01 -1.78272968e-01 1.91557868e+02] [-4.35045726e-01 2.08671648e-02 9.00166528e-01 8.74166874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.32, Y:191.54, Z:87.41 [[ 8.38385188e-01 3.62266386e-01 4.07275511e-01 3.52315581e+02] [-3.22449516e-01 9.32046501e-01 -1.65274409e-01 1.91540375e+02] [-4.39473078e-01 7.23782503e-03 8.98226602e-01 8.74057796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.34, Y:191.53, Z:87.39 [[ 8.39958700e-01 3.63619333e-01 4.02803132e-01 3.52343429e+02] [-3.23344869e-01 9.31497046e-01 -1.66617371e-01 1.91528440e+02] [-4.35795225e-01 9.70738417e-03 8.99993494e-01 8.73938348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.37, Y:191.52, Z:87.38 [[ 8.38993707e-01 3.63608995e-01 4.04818550e-01 3.52369190e+02] [-3.22717674e-01 9.31496152e-01 -1.67833914e-01 1.91518338e+02] [-4.38112842e-01 1.01694971e-02 8.98862459e-01 8.73793126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:352.39, Y:191.51, Z:87.36 [[ 8.38209457e-01 3.66772274e-01 4.03587668e-01 3.52394838e+02] [-3.20669473e-01 9.30077723e-01 -1.79238720e-01 1.91514904e+02] [-4.41107692e-01 2.08213456e-02 8.97212615e-01 8.73586566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.480385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.42, Y:191.49, Z:87.35 [[ 8.38669929e-01 3.59818126e-01 4.08856536e-01 3.52422891e+02] [-3.21934643e-01 9.33017035e-01 -1.60739847e-01 1.91491965e+02] [-4.39307223e-01 3.18259288e-03 8.98331250e-01 8.73531133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.45, Y:191.49, Z:87.33 [[ 8.37803013e-01 3.68150137e-01 4.03176869e-01 3.52447281e+02] [-3.20504926e-01 9.29460470e-01 -1.82701471e-01 1.91494711e+02] [-4.41998534e-01 2.38476702e-02 8.96698715e-01 8.73286821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.47, Y:191.48, Z:87.32 [[ 8.37250319e-01 3.62920212e-01 4.09024233e-01 3.52472124e+02] [-3.20092252e-01 9.31734169e-01 -1.71500405e-01 1.91477767e+02] [-4.43342817e-01 1.26632810e-02 8.96262678e-01 8.73187713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.50, Y:191.46, Z:87.31 [[ 8.37425229e-01 3.62504050e-01 4.09035207e-01 3.52500557e+02] [-3.21141752e-01 9.31931764e-01 -1.68437416e-01 1.91462945e+02] [-4.42252147e-01 9.69545852e-03 8.96838356e-01 8.73057974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.53, Y:191.44, Z:87.30 [[ 8.37505205e-01 3.62255246e-01 4.09091883e-01 3.52528777e+02] [-3.23838339e-01 9.32072281e-01 -1.62388405e-01 1.91444986e+02] [-4.40129256e-01 3.52149857e-03 8.97927523e-01 8.72982562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.56, Y:191.44, Z:87.28 [[ 8.37594269e-01 3.66844656e-01 4.04797281e-01 3.52556358e+02] [-3.23689895e-01 9.30176270e-01 -1.73196303e-01 1.91439606e+02] [-4.40068963e-01 1.40394410e-02 8.97854221e-01 8.72800989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:191.43, Z:87.26 [[ 8.37856901e-01 3.64253229e-01 4.06589964e-01 3.52580495e+02] [-3.20860553e-01 9.31186803e-01 -1.73030762e-01 1.91432313e+02] [-4.41638222e-01 1.45163374e-02 8.97075781e-01 8.72641923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:191.42, Z:87.25 [[ 8.37739515e-01 3.64241243e-01 4.06842503e-01 3.52607535e+02] [-3.20485730e-01 9.31181002e-01 -1.73755113e-01 1.91421934e+02] [-4.42132788e-01 1.51743079e-02 8.96821241e-01 8.72481880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7203857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:352.63, Y:191.41, Z:87.23 [[ 8.37368702e-01 3.65271351e-01 4.06682306e-01 3.52634045e+02] [-3.20303023e-01 9.30736708e-01 -1.76451563e-01 1.91413333e+02] [-4.42966851e-01 1.74934445e-02 8.96367307e-01 8.72302183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.750385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:352.66, Y:191.40, Z:87.22 [[ 8.37241019e-01 3.63532508e-01 4.08499194e-01 3.52661355e+02] [-3.20549380e-01 9.31490288e-01 -1.71970746e-01 1.91398945e+02] [-4.43029989e-01 1.30367990e-02 8.96411999e-01 8.72169502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.69, Y:191.39, Z:87.20 [[ 8.37260248e-01 3.63528864e-01 4.08463024e-01 3.52687005e+02] [-3.20556708e-01 9.31491800e-01 -1.71948899e-01 1.91388697e+02] [-4.42988345e-01 1.30304157e-02 8.96432671e-01 8.72033732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.72, Y:191.37, Z:87.20 [[ 8.37115989e-01 3.64749966e-01 4.07669331e-01 3.52716078e+02] [-3.25634917e-01 9.31092756e-01 -1.64402495e-01 1.91369152e+02] [-4.39543766e-01 4.87258854e-03 8.98207958e-01 8.71963478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.74, Y:191.36, Z:87.18 [[ 8.36939475e-01 3.69734574e-01 4.03520335e-01 3.52743449e+02] [-3.26678164e-01 9.29038647e-01 -1.73691017e-01 1.91362932e+02] [-4.39105560e-01 1.35475860e-02 8.98333329e-01 8.71785245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.77, Y:191.37, Z:87.15 [[ 8.35103329e-01 3.75977512e-01 4.01551168e-01 3.52766549e+02] [-3.23684669e-01 9.26076845e-01 -1.93932753e-01 1.91369422e+02] [-4.44781592e-01 3.19779303e-02 8.95068013e-01 8.71506258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:352.80, Y:191.33, Z:87.16 [[ 8.35281691e-01 3.62051401e-01 4.13791349e-01 3.52795411e+02] [-3.28607639e-01 9.32116455e-01 -1.52236444e-01 1.91332117e+02] [-4.40819143e-01 -8.81468400e-03 8.97552664e-01 8.71574593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.82, Y:191.33, Z:87.14 [[ 8.34486386e-01 3.73066401e-01 4.05529201e-01 3.52822934e+02] [-3.29764468e-01 9.27724358e-01 -1.74879709e-01 1.91334620e+02] [-4.41461061e-01 1.22056152e-02 8.97197389e-01 8.71350603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.85, Y:191.32, Z:87.12 [[ 8.34005535e-01 3.73622450e-01 4.06006198e-01 3.52850568e+02] [-3.30208699e-01 9.27502380e-01 -1.75218578e-01 1.91322825e+02] [-4.42037309e-01 1.20664857e-02 8.96915502e-01 8.71208877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.88, Y:191.31, Z:87.10 [[ 8.33629868e-01 3.73880727e-01 4.06539599e-01 3.52876525e+02] [-3.29219377e-01 9.27365513e-01 -1.77785846e-01 1.91312534e+02] [-4.43481505e-01 1.43668773e-02 8.96168370e-01 8.71032454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.020385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:352.91, Y:191.31, Z:87.09 [[ 8.37572521e-01 3.80423144e-01 3.92110321e-01 3.52907833e+02] [-3.30101072e-01 9.24290697e-01 -1.91624606e-01 1.91310106e+02] [-4.35322357e-01 3.10634672e-02 8.99738577e-01 8.70852001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.050385723 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:352.93, Y:191.29, Z:87.06 [[ 8.33779663e-01 3.79638599e-01 4.00856593e-01 3.52930653e+02] [-3.30461999e-01 9.24805218e-01 -1.88494500e-01 1.91294669e+02] [-4.42274057e-01 2.46950098e-02 8.96539913e-01 8.70646765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:191.28, Z:87.07 [[ 8.37268478e-01 3.70180945e-01 4.02427092e-01 3.52958425e+02] [-3.29835449e-01 9.28924029e-01 -1.68251969e-01 1.91278118e+02] [-4.36107869e-01 8.13734944e-03 8.99857606e-01 8.70654201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:191.27, Z:87.05 [[ 8.35656966e-01 3.71629552e-01 4.04436536e-01 3.52985871e+02] [-3.31677962e-01 9.28361554e-01 -1.67733582e-01 1.91268670e+02] [-4.37798087e-01 6.02505021e-03 8.99053132e-01 8.70511720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.01, Y:191.26, Z:87.04 [[ 8.34084811e-01 3.72667019e-01 4.06720815e-01 3.53011454e+02] [-3.32786628e-01 9.27953717e-01 -1.67794398e-01 1.91258409e+02] [-4.39949530e-01 4.60351021e-03 8.98010701e-01 8.70369795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.04, Y:191.25, Z:87.02 [[ 8.31609791e-01 3.79787147e-01 4.05199800e-01 3.53037657e+02] [-3.37459056e-01 9.25036424e-01 -1.74439102e-01 1.91254153e+02] [-4.41074303e-01 8.32692258e-03 8.97431959e-01 8.70216027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.06, Y:191.24, Z:87.01 [[ 8.30579318e-01 3.82324997e-01 4.04926652e-01 3.53064107e+02] [-3.39800636e-01 9.23992334e-01 -1.75424327e-01 1.91244544e+02] [-4.41218227e-01 8.10948380e-03 8.97363200e-01 8.70069784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.230385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:353.09, Y:191.25, Z:86.98 [[ 8.28014819e-01 3.89582853e-01 4.03257561e-01 3.53087043e+02] [-3.37899576e-01 9.20632817e-01 -1.95599318e-01 1.91251936e+02] [-4.47454285e-01 2.56985756e-02 8.93937496e-01 8.69789467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.12, Y:191.21, Z:86.99 [[ 8.28536810e-01 3.76685907e-01 4.14287923e-01 3.53117076e+02] [-3.44972840e-01 9.26188598e-01 -1.52211765e-01 1.91211562e+02] [-4.41044777e-01 -1.68050315e-02 8.97327753e-01 8.69861365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.290385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:353.14, Y:191.21, Z:86.96 [[ 8.28775135e-01 3.87353222e-01 4.03843110e-01 3.53144517e+02] [-3.45478681e-01 9.21913511e-01 -1.75271104e-01 1.91212963e+02] [-4.40200246e-01 5.74114730e-03 8.97881274e-01 8.69613167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.320385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:353.17, Y:191.22, Z:86.94 [[ 8.26875119e-01 3.93686249e-01 4.01607613e-01 3.53169351e+02] [-3.42739405e-01 9.18938990e-01 -1.95143109e-01 1.91216179e+02] [-4.45878053e-01 2.37122267e-02 8.94779578e-01 8.69366047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3503857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:353.20, Y:191.18, Z:86.94 [[ 8.27994693e-01 3.81209466e-01 4.11222727e-01 3.53196803e+02] [-3.45940003e-01 9.24440596e-01 -1.60421628e-01 1.91182666e+02] [-4.41305226e-01 -9.43013436e-03 8.97307512e-01 8.69385716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.22, Y:191.18, Z:86.92 [[ 8.26013735e-01 3.89748033e-01 4.07182735e-01 3.53223826e+02] [-3.48136923e-01 9.20916630e-01 -1.75251944e-01 1.91179186e+02] [-4.43285453e-01 3.00516813e-03 8.96375466e-01 8.69202752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.25, Y:191.18, Z:86.90 [[ 8.26379176e-01 3.94987253e-01 4.01350878e-01 3.53249886e+02] [-3.46921885e-01 9.18520241e-01 -1.89646440e-01 1.91177677e+02] [-4.43556832e-01 1.74824658e-02 8.96075723e-01 8.68961278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.28, Y:191.15, Z:86.89 [[ 8.25997833e-01 3.86799413e-01 4.10016823e-01 3.53276397e+02] [-3.49215450e-01 9.22146118e-01 -1.66418468e-01 1.91152078e+02] [-4.42465987e-01 -5.72291555e-03 8.96767026e-01 8.68918823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.30, Y:191.14, Z:86.87 [[ 8.25003364e-01 3.91774213e-01 4.07286651e-01 3.53303465e+02] [-3.50710655e-01 9.20060585e-01 -1.74615451e-01 1.91144785e+02] [-4.43138225e-01 1.21856622e-03 8.96452469e-01 8.68726239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.500385723 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:353.33, Y:191.14, Z:86.85 [[ 8.24109933e-01 4.00095582e-01 4.00956785e-01 3.53329079e+02] [-3.53680457e-01 9.16385541e-01 -1.87477134e-01 1.91137678e+02] [-4.42439773e-01 1.26911891e-02 8.96708415e-01 8.68525325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.35, Y:191.13, Z:86.84 [[ 8.25751959e-01 3.96079894e-01 4.01564964e-01 3.53353957e+02] [-3.52014037e-01 9.18174418e-01 -1.81774188e-01 1.91126402e+02] [-4.40703778e-01 8.74388756e-03 8.97610007e-01 8.68410905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.38, Y:191.11, Z:86.83 [[ 8.24164045e-01 3.93385600e-01 4.07432691e-01 3.53379808e+02] [-3.52761565e-01 9.19373544e-01 -1.74102168e-01 1.91108494e+02] [-4.43072123e-01 -2.37846367e-04 8.96485938e-01 8.68281113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.41, Y:191.09, Z:86.82 [[ 8.25140499e-01 3.90210478e-01 4.08508188e-01 3.53406108e+02] [-3.54089686e-01 9.20680279e-01 -1.64220336e-01 1.91090494e+02] [-4.40185929e-01 -9.14368581e-03 8.97860090e-01 8.68221841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.620385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:353.43, Y:191.08, Z:86.80 [[ 8.25076456e-01 3.95731431e-01 4.03293288e-01 3.53433112e+02] [-3.54276396e-01 9.18362540e-01 -1.76347613e-01 1.91084954e+02] [-4.40155741e-01 2.62297082e-03 8.97917615e-01 8.68037970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.650385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.46, Y:191.07, Z:86.79 [[ 8.25077355e-01 3.95538818e-01 4.03480361e-01 3.53459844e+02] [-3.53955643e-01 9.18444794e-01 -1.76563197e-01 1.91073089e+02] [-4.40412035e-01 2.86414521e-03 8.97791198e-01 8.67891616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.49, Y:191.06, Z:86.77 [[ 8.25499504e-01 3.95409924e-01 4.02742549e-01 3.53486008e+02] [-3.53901848e-01 9.18499611e-01 -1.76385788e-01 1.91061805e+02] [-4.39663566e-01 3.07504816e-03 8.98157276e-01 8.67748445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.51, Y:191.05, Z:86.76 [[ 8.25652919e-01 3.95325626e-01 4.02510754e-01 3.53511991e+02] [-3.53792427e-01 9.18535273e-01 -1.76419588e-01 1.91050048e+02] [-4.39463509e-01 3.25609162e-03 8.98254542e-01 8.67604378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.54, Y:191.04, Z:86.75 [[ 8.25755939e-01 3.94951288e-01 4.02666872e-01 3.53538400e+02] [-3.53276423e-01 9.18695034e-01 -1.76621637e-01 1.91036541e+02] [-4.39684999e-01 3.59365367e-03 8.98144859e-01 8.67457299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.56, Y:191.02, Z:86.73 [[ 8.26103128e-01 3.94634821e-01 4.02264813e-01 3.53564641e+02] [-3.52940462e-01 9.18829736e-01 -1.76592598e-01 1.91024094e+02] [-4.39302460e-01 3.90816907e-03 8.98330716e-01 8.67313938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.59, Y:191.01, Z:86.72 [[ 8.26265469e-01 3.94500095e-01 4.02063490e-01 3.53590177e+02] [-3.52767872e-01 9.18886675e-01 -1.76641179e-01 1.91012081e+02] [-4.39135746e-01 4.11742447e-03 8.98411289e-01 8.67169310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.62, Y:191.00, Z:86.70 [[ 8.27542901e-01 3.94599448e-01 3.99329467e-01 3.53615834e+02] [-3.50602428e-01 9.18798063e-01 -1.81350648e-01 1.91004073e+02] [-4.38464006e-01 1.00695605e-02 8.98692339e-01 8.66992638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:353.64, Y:190.99, Z:86.68 [[ 8.25945938e-01 3.93626913e-01 4.03572994e-01 3.53639309e+02] [-3.49077420e-01 9.19220490e-01 -1.82150064e-01 1.90994182e+02] [-4.42671733e-01 9.56788617e-03 8.96632697e-01 8.66832107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.67, Y:190.97, Z:86.68 [[ 8.26256725e-01 3.89012052e-01 4.07393481e-01 3.53667109e+02] [-3.52441973e-01 9.21203033e-01 -1.64832121e-01 1.90967642e+02] [-4.39413792e-01 -7.38891402e-03 8.98254376e-01 8.66798874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:190.97, Z:86.65 [[ 8.24868950e-01 3.97899285e-01 4.01581093e-01 3.53692070e+02] [-3.50464999e-01 9.17303569e-01 -1.89019700e-01 1.90970214e+02] [-4.43582573e-01 1.51763641e-02 8.96105004e-01 8.66529513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.950385723 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:353.72, Y:190.95, Z:86.64 [[ 8.23620856e-01 3.97276588e-01 4.04746833e-01 3.53720124e+02] [-3.53299131e-01 9.17674145e-01 -1.81807279e-01 1.90949197e+02] [-4.43653480e-01 6.74356230e-03 8.96173038e-01 8.66390809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.75, Y:190.94, Z:86.63 [[ 8.24866169e-01 3.93612345e-01 4.05789509e-01 3.53745198e+02] [-3.51627162e-01 9.19270790e-01 -1.76916800e-01 1.90938086e+02] [-4.42667079e-01 3.24606983e-03 8.96680166e-01 8.66279799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.77, Y:190.92, Z:86.62 [[ 8.27102902e-01 3.94664759e-01 4.00175609e-01 3.53773448e+02] [-3.53645638e-01 9.18818841e-01 -1.75233276e-01 1.90924581e+02] [-4.36847288e-01 3.41559232e-03 8.99529200e-01 8.66167782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.80, Y:190.91, Z:86.60 [[ 8.26464711e-01 3.93174076e-01 4.02951893e-01 3.53798984e+02] [-3.53684853e-01 9.19463868e-01 -1.71735901e-01 1.90909126e+02] [-4.38021811e-01 -5.84319259e-04 8.98964155e-01 8.66049063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:190.90, Z:86.58 [[ 8.25280120e-01 3.95529052e-01 4.03075047e-01 3.53823039e+02] [-3.50934995e-01 9.18406228e-01 -1.82687246e-01 1.90904770e+02] [-4.42444747e-01 9.31501285e-03 8.96747387e-01 8.65844598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1003857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.85, Y:190.88, Z:86.58 [[ 8.25921426e-01 3.90552348e-01 4.06598895e-01 3.53850254e+02] [-3.53557930e-01 9.20556959e-01 -1.66047209e-01 1.90880271e+02] [-4.39147569e-01 -6.61431591e-03 8.98390596e-01 8.65800021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:190.87, Z:86.56 [[ 8.25943777e-01 3.95533665e-01 4.01708847e-01 3.53875925e+02] [-3.53599140e-01 9.18440976e-01 -1.77295862e-01 1.90873392e+02] [-4.39072347e-01 4.39251113e-03 8.98440972e-01 8.65620697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.160385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.90, Y:190.86, Z:86.55 [[ 8.25906078e-01 3.95769461e-01 4.01554086e-01 3.53902483e+02] [-3.53828138e-01 9.18339327e-01 -1.77365525e-01 1.90861057e+02] [-4.38958767e-01 4.40613072e-03 8.98496403e-01 8.65472520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.190385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:353.93, Y:190.85, Z:86.53 [[ 8.25795244e-01 3.96274273e-01 4.01284083e-01 3.53928474e+02] [-3.54376193e-01 9.18122172e-01 -1.77395578e-01 1.90848303e+02] [-4.38725118e-01 4.28689873e-03 8.98611091e-01 8.65334019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2203857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:353.96, Y:190.84, Z:86.52 [[ 8.25666159e-01 3.96580885e-01 4.01246801e-01 3.53955004e+02] [-3.54657523e-01 9.17989874e-01 -1.77517980e-01 1.90835990e+02] [-4.38740738e-01 4.26539254e-03 8.98603567e-01 8.65186807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.250385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:353.98, Y:190.82, Z:86.50 [[ 8.26100340e-01 3.95919518e-01 4.01006189e-01 3.53980436e+02] [-3.53903685e-01 9.18272857e-01 -1.77558838e-01 1.90824486e+02] [-4.38532108e-01 4.76384787e-03 8.98702896e-01 8.65017587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:190.81, Z:86.49 [[ 8.25501676e-01 3.96264447e-01 4.01897339e-01 3.54007190e+02] [-3.54016136e-01 9.18124155e-01 -1.78102813e-01 1.90810886e+02] [-4.39567467e-01 4.74602796e-03 8.98197037e-01 8.64899549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:190.81, Z:86.47 [[ 8.26115221e-01 3.95205558e-01 4.01679236e-01 3.54030294e+02] [-3.49943452e-01 9.18521413e-01 -1.84005418e-01 1.90805097e+02] [-4.41670943e-01 1.14446584e-02 8.97104118e-01 8.64714020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.06, Y:190.78, Z:86.46 [[ 8.26559903e-01 3.90902657e-01 4.04961528e-01 3.54057906e+02] [-3.52759427e-01 9.20424939e-01 -1.68459845e-01 1.90779612e+02] [-4.38588091e-01 -3.61184303e-03 8.98680945e-01 8.64645866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.08, Y:190.77, Z:86.45 [[ 8.27172142e-01 3.94486364e-01 4.00208392e-01 3.54084993e+02] [-3.52185783e-01 9.18881242e-01 -1.77826985e-01 1.90772469e+02] [-4.37894305e-01 6.14582182e-03 8.99005454e-01 8.64461582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.11, Y:190.76, Z:86.43 [[ 8.27928099e-01 3.93035019e-01 4.00073165e-01 3.54111069e+02] [-3.50532726e-01 9.19496394e-01 -1.77913432e-01 1.90759428e+02] [-4.37792041e-01 7.06079224e-03 8.99048538e-01 8.64312645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.14, Y:190.74, Z:86.42 [[ 8.29191160e-01 3.87198388e-01 4.03136985e-01 3.54137759e+02] [-3.49280992e-01 9.21993727e-01 -1.67123774e-01 1.90741459e+02] [-4.36399827e-01 -2.23053012e-03 8.99750085e-01 8.64234228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:190.73, Z:86.41 [[ 8.29797439e-01 3.88361510e-01 4.00763705e-01 3.54164237e+02] [-3.47655116e-01 9.21496841e-01 -1.73145870e-01 1.90730882e+02] [-4.36545680e-01 4.34844700e-03 8.99671585e-01 8.64073366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.490385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:354.19, Y:190.71, Z:86.40 [[ 8.30565994e-01 3.86092052e-01 4.01363996e-01 3.54191602e+02] [-3.48488340e-01 9.22458460e-01 -1.66211509e-01 1.90713018e+02] [-4.34414556e-01 -1.82104562e-03 9.00711206e-01 8.63981987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:190.72, Z:86.37 [[ 8.29109948e-01 4.00094621e-01 3.90513751e-01 3.54216622e+02] [-3.47002918e-01 9.15925648e-01 -2.01666019e-01 1.90720470e+02] [-4.38367050e-01 3.16938916e-02 8.98237066e-01 8.63650901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.24, Y:190.68, Z:86.37 [[ 8.30390490e-01 3.82241488e-01 4.05392500e-01 3.54242484e+02] [-3.46690470e-01 9.24037795e-01 -1.61120673e-01 1.90682429e+02] [-4.36184998e-01 -6.75264180e-03 8.99831679e-01 8.63700780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.27, Y:190.69, Z:86.34 [[ 8.29616951e-01 3.96564099e-01 3.93030062e-01 3.54267078e+02] [-3.45625721e-01 9.17609389e-01 -1.96305553e-01 1.90690570e+02] [-4.38495810e-01 2.70171158e-02 8.98327056e-01 8.63382255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:190.67, Z:86.33 [[ 8.29371659e-01 3.89561584e-01 4.00480242e-01 3.54292462e+02] [-3.46147607e-01 9.20948046e-01 -1.78987519e-01 1.90667610e+02] [-4.38548157e-01 9.82189803e-03 8.98654018e-01 8.63298225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.32, Y:190.66, Z:86.31 [[ 8.29313652e-01 3.89740923e-01 4.00425873e-01 3.54319787e+02] [-3.46288087e-01 9.20871598e-01 -1.79109077e-01 1.90655370e+02] [-4.38546951e-01 9.87489327e-03 8.98654026e-01 8.63149029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.35, Y:190.64, Z:86.30 [[ 8.29137334e-01 3.90647734e-01 3.99907025e-01 3.54346142e+02] [-3.47375326e-01 9.20491618e-01 -1.78956877e-01 1.90642894e+02] [-4.38020163e-01 9.46199480e-03 8.98915350e-01 8.63006948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.37, Y:190.63, Z:86.29 [[ 8.28115797e-01 3.92483172e-01 4.00226419e-01 3.54372197e+02] [-3.49268590e-01 9.19718506e-01 -1.79246537e-01 1.90629937e+02] [-4.38446894e-01 8.65037218e-03 8.98715468e-01 8.62863544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.730385723 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:354.40, Y:190.62, Z:86.27 [[ 8.27283913e-01 3.94470779e-01 3.99992665e-01 3.54398920e+02] [-3.51462733e-01 9.18875955e-01 -1.79278909e-01 1.90616566e+02] [-4.38263933e-01 7.73204195e-03 8.98813073e-01 8.62713781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:190.60, Z:86.26 [[ 8.27045104e-01 3.90578202e-01 4.04283396e-01 3.54424319e+02] [-3.51761507e-01 9.20567969e-01 -1.69760000e-01 1.90599364e+02] [-4.38474900e-01 -1.81215991e-03 8.98741608e-01 8.62625228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.45, Y:190.60, Z:86.24 [[ 8.24828633e-01 4.02126482e-01 3.97431778e-01 3.54448828e+02] [-3.52821091e-01 9.15371191e-01 -1.93940353e-01 1.90600585e+02] [-4.41786152e-01 1.97452428e-02 8.96903073e-01 8.62357783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.48, Y:190.58, Z:86.23 [[ 8.25200109e-01 3.93710277e-01 4.05014813e-01 3.54476345e+02] [-3.54395323e-01 9.19232396e-01 -1.71510226e-01 1.90575148e+02] [-4.39828076e-01 -2.00509812e-03 8.98079753e-01 8.62326445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:190.57, Z:86.22 [[ 8.24878828e-01 3.97835025e-01 4.01624467e-01 3.54503136e+02] [-3.55975261e-01 9.17449950e-01 -1.77671614e-01 1.90565568e+02] [-4.39154338e-01 3.58917783e-03 8.98404466e-01 8.62157575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:190.56, Z:86.20 [[ 8.25231241e-01 4.01843214e-01 3.96882136e-01 3.54528298e+02] [-3.57664223e-01 9.15660101e-01 -1.83419965e-01 1.90556325e+02] [-4.37115205e-01 9.41334473e-03 8.99356262e-01 8.61996090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:190.53, Z:86.19 [[ 8.25015621e-01 3.96471263e-01 4.02690654e-01 3.54553691e+02] [-3.58251094e-01 9.18037965e-01 -1.69889520e-01 1.90534694e+02] [-4.37041621e-01 -4.10285944e-03 8.99431925e-01 8.61898166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.58, Y:190.54, Z:86.16 [[ 8.23980954e-01 4.08003164e-01 3.93177829e-01 3.54577563e+02] [-3.56961064e-01 9.12674700e-01 -1.99006762e-01 1.90541110e+02] [-4.40038845e-01 2.36286054e-02 8.97667814e-01 8.61593376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:190.52, Z:86.15 [[ 8.24048755e-01 4.00227078e-01 4.00951288e-01 3.54602791e+02] [-3.57280176e-01 9.16399808e-01 -1.80450183e-01 1.90518102e+02] [-4.39652733e-01 5.44780160e-03 8.98151321e-01 8.61511424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.63, Y:190.49, Z:86.15 [[ 8.26277561e-01 3.91626436e-01 4.04838396e-01 3.54631895e+02] [-3.59625685e-01 9.19972163e-01 -1.55950586e-01 1.90487141e+02] [-4.33514427e-01 -1.67318159e-02 9.00991281e-01 8.61517303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.65, Y:190.51, Z:86.11 [[ 8.25200846e-01 4.10339824e-01 3.88155630e-01 3.54654359e+02] [-3.56891508e-01 9.11424010e-01 -2.04779699e-01 1.90505350e+02] [-4.37803626e-01 3.04549327e-02 8.98554663e-01 8.61111104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.68, Y:190.46, Z:86.12 [[ 8.26649118e-01 3.90311245e-01 4.05349687e-01 3.54681102e+02] [-3.56135049e-01 9.20605326e-01 -1.60167601e-01 1.90463880e+02] [-4.35682296e-01 -1.19568245e-02 9.00021095e-01 8.61208150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.71, Y:190.45, Z:86.10 [[ 8.27571744e-01 3.96028304e-01 3.97852473e-01 3.54708827e+02] [-3.57302639e-01 9.18237954e-01 -1.70803643e-01 1.90453969e+02] [-4.32966318e-01 -8.01470390e-04 9.01409743e-01 8.61047193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:190.44, Z:86.09 [[ 8.27864165e-01 3.97702381e-01 3.95567617e-01 3.54735119e+02] [-3.56972800e-01 9.17505877e-01 -1.75366436e-01 1.90442222e+02] [-4.32679262e-01 3.97270824e-03 9.01539169e-01 8.60893536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:190.45, Z:86.05 [[ 8.26038506e-01 4.11304078e-01 3.85343150e-01 3.54755737e+02] [-3.52822062e-01 9.10525882e-01 -2.15543989e-01 1.90454994e+02] [-4.39519033e-01 4.20900695e-02 8.97246592e-01 8.60512405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.78, Y:190.42, Z:86.05 [[ 8.26027360e-01 3.95817076e-01 4.01257577e-01 3.54780223e+02] [-3.51956532e-01 9.18289707e-01 -1.81302550e-01 1.90422584e+02] [-4.40233348e-01 8.53564131e-03 8.97842827e-01 8.60499223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.81, Y:190.41, Z:86.03 [[ 8.25680007e-01 3.96207208e-01 4.01587318e-01 3.54805131e+02] [-3.52239570e-01 9.18121863e-01 -1.81602671e-01 1.90408533e+02] [-4.40658384e-01 8.49075039e-03 8.97634723e-01 8.60349650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.84, Y:190.37, Z:86.05 [[ 8.27891747e-01 3.82753212e-01 4.09994189e-01 3.54836562e+02] [-3.56149342e-01 9.23435258e-01 -1.42915955e-01 1.90369471e+02] [-4.33304630e-01 -2.77002211e-02 9.00821733e-01 8.60456165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.86, Y:190.38, Z:86.01 [[ 8.27336190e-01 4.00682815e-01 3.93659894e-01 3.54861013e+02] [-3.55680581e-01 9.16124602e-01 -1.84951447e-01 1.90382630e+02] [-4.34748380e-01 1.29998457e-02 9.00458134e-01 8.60132471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.88, Y:190.39, Z:85.98 [[ 8.23819443e-01 4.14468048e-01 3.86701129e-01 3.54881747e+02] [-3.54815485e-01 9.09059228e-01 -2.18442879e-01 1.90391964e+02] [-4.42071824e-01 4.27499424e-02 8.95960348e-01 8.59753221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.91, Y:190.36, Z:85.97 [[ 8.23659686e-01 3.99144364e-01 4.02825642e-01 3.54907054e+02] [-3.55081235e-01 9.16859539e-01 -1.82444243e-01 1.90358661e+02] [-4.42156124e-01 7.23614201e-03 8.96908914e-01 8.59740598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.93, Y:190.35, Z:85.96 [[ 8.23596381e-01 3.99635750e-01 4.02467723e-01 3.54932247e+02] [-3.55637368e-01 9.16646390e-01 -1.82432064e-01 1.90346072e+02] [-4.41826960e-01 7.11782621e-03 8.97072056e-01 8.59595705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.96, Y:190.33, Z:85.95 [[ 8.23654739e-01 3.99592598e-01 4.02391137e-01 3.54958580e+02] [-3.55538722e-01 9.16663919e-01 -1.82536236e-01 1.90333501e+02] [-4.41797565e-01 7.28120585e-03 8.97085222e-01 8.59453896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:190.32, Z:85.93 [[ 8.23505717e-01 3.99587413e-01 4.02701171e-01 3.54985625e+02] [-3.55387230e-01 9.16664875e-01 -1.82826212e-01 1.90321660e+02] [-4.42197072e-01 7.44357723e-03 8.96887029e-01 8.59304892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:190.31, Z:85.92 [[ 8.23568735e-01 3.99700913e-01 4.02459588e-01 3.55012924e+02] [-3.55496813e-01 9.16614696e-01 -1.82864746e-01 1.90310607e+02] [-4.41991578e-01 7.52858671e-03 8.96987606e-01 8.59151947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:190.29, Z:85.91 [[ 8.25264896e-01 3.93049879e-01 4.05523912e-01 3.55039967e+02] [-3.54867669e-01 9.19506626e-01 -1.69045860e-01 1.90292734e+02] [-4.39325379e-01 -4.39971102e-03 8.98317235e-01 8.59097344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:190.29, Z:85.88 [[ 8.24113616e-01 4.03896861e-01 3.97119721e-01 3.55065633e+02] [-3.54814025e-01 9.14609465e-01 -1.93898260e-01 1.90294219e+02] [-4.41524354e-01 1.88905498e-02 8.97050384e-01 8.58808092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:190.28, Z:85.87 [[ 8.24337839e-01 3.98575337e-01 4.02001029e-01 3.55091999e+02] [-3.54179255e-01 9.17096405e-01 -1.83006116e-01 1.90276576e+02] [-4.41615423e-01 8.47844141e-03 8.97164385e-01 8.58706660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:190.26, Z:85.86 [[ 8.25535100e-01 3.93411564e-01 4.04622219e-01 3.55118675e+02] [-3.53376271e-01 9.19362433e-01 -1.72910172e-01 1.90262585e+02] [-4.40019329e-01 -2.40475400e-04 8.97988270e-01 8.58624387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:190.26, Z:85.84 [[ 8.24429929e-01 4.02145326e-01 3.98239160e-01 3.55145323e+02] [-3.54272358e-01 9.15429327e-01 -1.90998018e-01 1.90261182e+02] [-4.41368766e-01 1.63793567e-02 8.97176309e-01 8.58381886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.17, Y:190.24, Z:85.83 [[ 8.25883895e-01 3.93259627e-01 4.04057742e-01 3.55171226e+02] [-3.52705202e-01 9.19426763e-01 -1.73935239e-01 1.90243347e+02] [-4.39903209e-01 1.13704546e-03 8.98044472e-01 8.58327909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.20, Y:190.24, Z:85.81 [[ 8.24440640e-01 4.00456795e-01 3.99914974e-01 3.55198755e+02] [-3.52965572e-01 9.16187843e-01 -1.89776554e-01 1.90239380e+02] [-4.42394549e-01 1.53032859e-02 8.96689954e-01 8.58094019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:190.23, Z:85.80 [[ 8.25187105e-01 3.96271383e-01 4.02536002e-01 3.55226319e+02] [-3.51217870e-01 9.18075733e-01 -1.83801408e-01 1.90225162e+02] [-4.42393773e-01 1.02927142e-02 8.96761847e-01 8.57975483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.25, Y:190.21, Z:85.78 [[ 8.24325851e-01 3.96870900e-01 4.03708286e-01 3.55251909e+02] [-3.51530537e-01 9.17818175e-01 -1.84488700e-01 1.90212972e+02] [-4.43748998e-01 1.01630139e-02 8.96093488e-01 8.57835876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:190.22, Z:85.76 [[ 8.24040457e-01 4.00418680e-01 4.00777004e-01 3.55273821e+02] [-3.46217789e-01 9.15883002e-01 -2.03203270e-01 1.90220329e+02] [-4.48431231e-01 2.86915871e-02 8.93356717e-01 8.57568596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.30, Y:190.19, Z:85.76 [[ 8.24824587e-01 3.90180634e-01 4.09174136e-01 3.55302248e+02] [-3.49491566e-01 9.20738326e-01 -1.73483661e-01 1.90188842e+02] [-4.44432274e-01 9.06798934e-05 8.95812450e-01 8.57555260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.33, Y:190.18, Z:85.74 [[ 8.23108272e-01 3.94600275e-01 4.08391229e-01 3.55328906e+02] [-3.50948818e-01 9.18838018e-01 -1.80476105e-01 1.90183328e+02] [-4.46461308e-01 5.22695592e-03 8.94787673e-01 8.57370374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.35, Y:190.18, Z:85.72 [[ 8.21659756e-01 3.99123254e-01 4.06910153e-01 3.55354649e+02] [-3.52187029e-01 9.16828076e-01 -1.88123830e-01 1.90178069e+02] [-4.48151248e-01 1.12653028e-02 8.93886767e-01 8.57185206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.870385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.38, Y:190.16, Z:85.70 [[ 8.20466097e-01 3.98561455e-01 4.09858695e-01 3.55381755e+02] [-3.54480723e-01 9.17131839e-01 -1.82243261e-01 1.90160603e+02] [-4.48529598e-01 4.23741034e-03 8.93757934e-01 8.57045319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.41, Y:190.14, Z:85.70 [[ 8.21165359e-01 3.95066207e-01 4.11837524e-01 3.55408050e+02] [-3.55633784e-01 9.18638396e-01 -1.72128178e-01 1.90143603e+02] [-4.46331789e-01 -5.11764031e-03 8.94852918e-01 8.56972841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.44, Y:190.14, Z:85.68 [[ 8.20580199e-01 4.02671886e-01 4.05590298e-01 3.55435754e+02] [-3.58611794e-01 9.15331331e-01 -1.83210634e-01 1.90135447e+02] [-4.45023279e-01 4.88955428e-03 8.95505652e-01 8.56796779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:190.13, Z:85.67 [[ 8.20692896e-01 4.00436855e-01 4.07570235e-01 3.55460789e+02] [-3.56696081e-01 9.16315585e-01 -1.82026519e-01 1.90127226e+02] [-4.46353085e-01 4.00916584e-03 8.94847948e-01 8.56654924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.48, Y:190.13, Z:85.64 [[ 8.19481536e-01 4.05612944e-01 4.04880417e-01 3.55484840e+02] [-3.55110313e-01 9.13877695e-01 -1.96784716e-01 1.90126153e+02] [-4.49829610e-01 1.74842291e-02 8.92943237e-01 8.56433881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.51, Y:190.10, Z:85.64 [[ 8.19102930e-01 3.95392111e-01 4.15614568e-01 3.55512862e+02] [-3.56685793e-01 9.18474702e-01 -1.70819983e-01 1.90096472e+02] [-4.49272340e-01 -8.32466371e-03 8.93356068e-01 8.56427706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.54, Y:190.09, Z:85.62 [[ 8.18945477e-01 4.03458535e-01 4.08104787e-01 3.55542181e+02] [-3.56937283e-01 9.14958277e-01 -1.88274077e-01 1.90092570e+02] [-4.49359636e-01 8.51839037e-03 8.93310335e-01 8.56207006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.57, Y:190.08, Z:85.60 [[ 8.18312397e-01 4.05324685e-01 4.07525118e-01 3.55568427e+02] [-3.57629538e-01 9.14111354e-01 -1.91053777e-01 1.90079936e+02] [-4.49962149e-01 1.05986543e-02 8.92984733e-01 8.56044260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:190.07, Z:85.59 [[ 8.17945326e-01 4.02829604e-01 4.10723453e-01 3.55592756e+02] [-3.56695234e-01 9.15250421e-01 -1.87310378e-01 1.90066775e+02] [-4.51368978e-01 6.70654992e-03 8.92312203e-01 8.55926798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.62, Y:190.06, Z:85.58 [[ 8.18068266e-01 4.03298777e-01 4.10017572e-01 3.55619134e+02] [-3.56334577e-01 9.15028204e-01 -1.89074205e-01 1.90055335e+02] [-4.51431038e-01 8.57216862e-03 8.92264835e-01 8.55768852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.170385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:355.64, Y:190.04, Z:85.56 [[ 8.19370982e-01 4.01998677e-01 4.08690908e-01 3.55644653e+02] [-3.55131722e-01 9.15591993e-01 -1.88607431e-01 1.90043671e+02] [-4.50014060e-01 9.40035012e-03 8.92971992e-01 8.55602936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.67, Y:190.03, Z:85.55 [[ 8.20269879e-01 4.00558246e-01 4.08301869e-01 3.55672981e+02] [-3.53545067e-01 9.16213101e-01 -1.88572106e-01 1.90033154e+02] [-4.49625634e-01 1.03269070e-02 8.93157402e-01 8.55464865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.70, Y:190.02, Z:85.53 [[ 8.19678323e-01 4.01182519e-01 4.08876551e-01 3.55698511e+02] [-3.54027323e-01 9.15941866e-01 -1.88984529e-01 1.90021069e+02] [-4.50324441e-01 1.01530510e-02 8.92807266e-01 8.55309034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.73, Y:190.01, Z:85.52 [[ 8.19648464e-01 4.01054559e-01 4.09061897e-01 3.55725107e+02] [-3.53761939e-01 9.15995298e-01 -1.89222368e-01 1.90009394e+02] [-4.50587268e-01 1.03852938e-02 8.92671978e-01 8.55151525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:190.00, Z:85.50 [[ 8.20111457e-01 4.00463018e-01 4.08713310e-01 3.55751860e+02] [-3.53115553e-01 9.16248752e-01 -1.89202620e-01 1.89998280e+02] [-4.50251712e-01 1.08442104e-02 8.92835819e-01 8.55001178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.78, Y:189.99, Z:85.49 [[ 8.20028165e-01 4.00653453e-01 4.08693797e-01 3.55778634e+02] [-3.53256667e-01 9.16164897e-01 -1.89345212e-01 1.89986504e+02] [-4.50292723e-01 1.08945980e-02 8.92814522e-01 8.54850510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.80, Y:189.98, Z:85.47 [[ 8.20460858e-01 3.99805466e-01 4.08655809e-01 3.55803025e+02] [-3.50274019e-01 9.16468721e-01 -1.93373201e-01 1.89981780e+02] [-4.51831929e-01 1.55136301e-02 8.91968181e-01 8.54674907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.83, Y:189.96, Z:85.46 [[ 8.19788644e-01 3.97934953e-01 4.11818350e-01 3.55831328e+02] [-3.54036381e-01 9.17408157e-01 -1.81715474e-01 1.89960154e+02] [-4.50116452e-01 3.16960363e-03 8.92964240e-01 8.54585668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.86, Y:189.95, Z:85.44 [[ 8.19291141e-01 4.01896644e-01 4.08951237e-01 3.55858750e+02] [-3.54367196e-01 9.15623025e-01 -1.89890406e-01 1.89953770e+02] [-4.50761486e-01 1.06566242e-02 8.92580819e-01 8.54410688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.89, Y:189.94, Z:85.43 [[ 8.18848498e-01 4.02359551e-01 4.09382376e-01 3.55885401e+02] [-3.54699423e-01 9.15420653e-01 -1.90245496e-01 1.89942154e+02] [-4.51304174e-01 1.05745461e-02 8.92307527e-01 8.54265827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.91, Y:189.94, Z:85.41 [[ 8.19098190e-01 4.01421794e-01 4.09803245e-01 3.55910382e+02] [-3.52473463e-01 9.15797045e-01 -1.92557082e-01 1.89935297e+02] [-4.52593210e-01 1.32783884e-02 8.91618231e-01 8.54106954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.94, Y:189.92, Z:85.40 [[ 8.17941804e-01 4.01126903e-01 4.12393518e-01 3.55938646e+02] [-3.55217007e-01 9.16002793e-01 -1.86439700e-01 1.89918139e+02] [-4.52539594e-01 6.00763297e-03 8.91724074e-01 8.53993102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.96, Y:189.91, Z:85.38 [[ 8.17961637e-01 4.02851985e-01 4.10669014e-01 3.55963205e+02] [-3.53243229e-01 9.15161865e-01 -1.94159681e-01 1.89914292e+02] [-4.54046234e-01 1.37491225e-02 8.90872033e-01 8.53806760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:189.90, Z:85.37 [[ 8.17759898e-01 4.00817202e-01 4.13054863e-01 3.55989868e+02] [-3.53594756e-01 9.16119082e-01 -1.88935375e-01 1.89898698e+02] [-4.54135990e-01 8.44973919e-03 8.90892308e-01 8.53674880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.02, Y:189.88, Z:85.36 [[ 8.16695189e-01 4.03061708e-01 4.12977272e-01 3.56018000e+02] [-3.57550210e-01 9.15162552e-01 -1.86105751e-01 1.89882244e+02] [-4.52953437e-01 4.33156133e-03 8.91523652e-01 8.53555964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.04, Y:189.88, Z:85.34 [[ 8.16767117e-01 4.06005901e-01 4.09939856e-01 3.56043264e+02] [-3.56193302e-01 9.13770548e-01 -1.95319525e-01 1.89878371e+02] [-4.53891846e-01 1.35127342e-02 8.90954319e-01 8.53360430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.07, Y:189.86, Z:85.33 [[ 8.16105219e-01 4.04722638e-01 4.12518918e-01 3.56070832e+02] [-3.59519271e-01 9.14433159e-01 -1.85897527e-01 1.89858722e+02] [-4.52457915e-01 3.40344134e-03 8.91779262e-01 8.53261245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.10, Y:189.85, Z:85.31 [[ 8.15310111e-01 4.09720088e-01 4.09144074e-01 3.56099154e+02] [-3.62380773e-01 9.12178506e-01 -1.91338832e-01 1.89851829e+02] [-4.51607793e-01 7.73453850e-03 8.92183041e-01 8.53086259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.12, Y:189.85, Z:85.29 [[ 8.15519027e-01 4.10569721e-01 4.07874026e-01 3.56123752e+02] [-3.61317478e-01 9.11751089e-01 -1.95344905e-01 1.89846273e+02] [-4.52082291e-01 1.19354722e-02 8.91896377e-01 8.52913349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.15, Y:189.83, Z:85.28 [[ 8.14975201e-01 4.08377765e-01 4.11148421e-01 3.56151340e+02] [-3.63639027e-01 9.12810913e-01 -1.85857192e-01 1.89828207e+02] [-4.51200710e-01 1.95939056e-03 8.92420349e-01 8.52810760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.770385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:356.18, Y:189.82, Z:85.26 [[ 8.15251981e-01 4.10828431e-01 4.08147287e-01 3.56178707e+02] [-3.63690657e-01 9.11682217e-01 -1.91218830e-01 1.89819073e+02] [-4.50658755e-01 7.45217491e-03 8.92665196e-01 8.52643770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:356.21, Y:189.81, Z:85.25 [[ 8.15620308e-01 4.10177522e-01 4.08066066e-01 3.56205195e+02] [-3.62905966e-01 9.11970916e-01 -1.91332976e-01 1.89807455e+02] [-4.50624870e-01 7.96545097e-03 8.92677869e-01 8.52495430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.23, Y:189.80, Z:85.23 [[ 8.16692495e-01 4.08102417e-01 4.08002188e-01 3.56231792e+02] [-3.60525390e-01 9.12889144e-01 -1.91454576e-01 1.89796526e+02] [-4.50593843e-01 9.26436706e-03 8.92680996e-01 8.52345350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.26, Y:189.78, Z:85.22 [[ 8.17329018e-01 4.07113598e-01 4.07715336e-01 3.56258425e+02] [-3.59420615e-01 9.13323389e-01 -1.91460722e-01 1.89784941e+02] [-4.50322216e-01 9.94510705e-03 8.92810728e-01 8.52192178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.28, Y:189.77, Z:85.20 [[ 8.18178642e-01 4.05612579e-01 4.07507234e-01 3.56284391e+02] [-3.57717045e-01 9.13979812e-01 -1.91518718e-01 1.89774202e+02] [-4.50135787e-01 1.09242412e-02 8.92893294e-01 8.52045867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.31, Y:189.76, Z:85.19 [[ 8.18264703e-01 4.05488225e-01 4.07458189e-01 3.56311489e+02] [-3.57517399e-01 9.14032393e-01 -1.91640534e-01 1.89761854e+02] [-4.50137963e-01 1.11392925e-02 8.92889540e-01 8.51894682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.34, Y:189.75, Z:85.18 [[ 8.18324245e-01 4.05676173e-01 4.07151413e-01 3.56337521e+02] [-3.57727001e-01 9.13948463e-01 -1.91649678e-01 1.89750012e+02] [-4.49863116e-01 1.11825247e-02 8.93027507e-01 8.51751631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.36, Y:189.74, Z:85.16 [[ 8.18419085e-01 4.06378315e-01 4.06259605e-01 3.56364790e+02] [-3.58687071e-01 9.13640331e-01 -1.91324151e-01 1.89738642e+02] [-4.48925146e-01 1.08632693e-02 8.93503331e-01 8.51594745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:356.39, Y:189.73, Z:85.14 [[ 8.18457239e-01 4.07088573e-01 4.05470888e-01 3.56391568e+02] [-3.59601538e-01 9.13327161e-01 -1.91102669e-01 1.89727219e+02] [-4.48123288e-01 1.06014078e-02 8.93908904e-01 8.51441726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.42, Y:189.72, Z:85.13 [[ 8.18020404e-01 4.08173289e-01 4.05261871e-01 3.56417912e+02] [-3.60789100e-01 9.12848000e-01 -1.91153746e-01 1.89716852e+02] [-4.47966342e-01 1.01535991e-02 8.93992763e-01 8.51297941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.44, Y:189.70, Z:85.12 [[ 8.17283089e-01 4.08822379e-01 4.06094343e-01 3.56444981e+02] [-3.61236171e-01 9.12559559e-01 -1.91685891e-01 1.89704687e+02] [-4.48950756e-01 9.96567195e-03 8.93500926e-01 8.51151089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.47, Y:189.69, Z:85.10 [[ 8.16493310e-01 4.09693695e-01 4.06804316e-01 3.56472527e+02] [-3.61955988e-01 9.12171980e-01 -1.92172165e-01 1.89692455e+02] [-4.49807223e-01 9.66202846e-03 8.93073405e-01 8.51015998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.50, Y:189.68, Z:85.09 [[ 8.16465495e-01 4.09877075e-01 4.06675397e-01 3.56499579e+02] [-3.62115873e-01 9.12089045e-01 -1.92264580e-01 1.89680746e+02] [-4.49729019e-01 9.71377920e-03 8.93112228e-01 8.50868302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.53, Y:189.67, Z:85.07 [[ 8.16418501e-01 4.10071399e-01 4.06573830e-01 3.56525242e+02] [-3.62281395e-01 9.12001203e-01 -1.92369430e-01 1.89669679e+02] [-4.49681023e-01 9.75982764e-03 8.93135893e-01 8.50722178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.55, Y:189.66, Z:85.06 [[ 8.16487379e-01 4.10449149e-01 4.06054006e-01 3.56551177e+02] [-3.62761978e-01 9.11832094e-01 -1.92265387e-01 1.89658759e+02] [-4.49168239e-01 9.68130691e-03 8.93394742e-01 8.50574329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:189.65, Z:85.04 [[ 8.16305405e-01 4.12007239e-01 4.04840118e-01 3.56575914e+02] [-3.60472076e-01 9.11011173e-01 -2.00296093e-01 1.89653687e+02] [-4.51337311e-01 1.75692257e-02 8.92180449e-01 8.50371306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:356.60, Y:189.63, Z:85.03 [[ 8.16760349e-01 4.05889800e-01 4.10068291e-01 3.56603028e+02] [-3.62073364e-01 9.13921024e-01 -1.83442748e-01 1.89630068e+02] [-4.49227573e-01 1.35395680e-03 8.93416339e-01 8.50315659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.280385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:356.63, Y:189.62, Z:85.01 [[ 8.17077039e-01 4.09820262e-01 4.05502731e-01 3.56630409e+02] [-3.62023435e-01 9.12107411e-01 -1.92351509e-01 1.89622347e+02] [-4.48691592e-01 1.03645100e-02 8.93626562e-01 8.50132404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:189.61, Z:85.00 [[ 8.17487184e-01 4.09607917e-01 4.04890181e-01 3.56656614e+02] [-3.61864816e-01 9.12199913e-01 -1.92211271e-01 1.89609797e+02] [-4.48072047e-01 1.06147401e-02 8.93934432e-01 8.49989543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.68, Y:189.61, Z:84.98 [[ 8.17680419e-01 4.10653284e-01 4.03438488e-01 3.56680428e+02] [-3.58421859e-01 9.11569909e-01 -2.01430065e-01 1.89607659e+02] [-4.50480304e-01 2.01042474e-02 8.92559979e-01 8.49773524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.71, Y:189.58, Z:84.97 [[ 8.17641881e-01 4.04247610e-01 4.09933683e-01 3.56707212e+02] [-3.61410711e-01 9.14649585e-01 -1.81103378e-01 1.89581174e+02] [-4.48156281e-01 -7.67171143e-05 8.93955224e-01 8.49735724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.73, Y:189.58, Z:84.96 [[ 8.17493073e-01 4.09082659e-01 4.05408995e-01 3.56734342e+02] [-3.60935677e-01 9.12426715e-01 -1.92880602e-01 1.89575903e+02] [-4.48810107e-01 1.13519856e-02 8.93555046e-01 8.49550119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.76, Y:189.56, Z:84.94 [[ 8.17380937e-01 4.09404079e-01 4.05310626e-01 3.56760788e+02] [-3.61249435e-01 9.12283010e-01 -1.92972942e-01 1.89563666e+02] [-4.48761907e-01 1.13141695e-02 8.93579734e-01 8.49404238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.79, Y:189.55, Z:84.93 [[ 8.17023328e-01 4.10052849e-01 4.05375804e-01 3.56787104e+02] [-3.61883190e-01 9.11994092e-01 -1.93151064e-01 1.89551387e+02] [-4.48902483e-01 1.11102357e-02 8.93511681e-01 8.49253983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.81, Y:189.54, Z:84.91 [[ 8.16702108e-01 4.11263657e-01 4.04796086e-01 3.56814015e+02] [-3.63304098e-01 9.11454999e-01 -1.93028282e-01 1.89538488e+02] [-4.48338933e-01 1.05825274e-02 8.93800991e-01 8.49105724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.84, Y:189.53, Z:84.90 [[ 8.15422747e-01 4.13828924e-01 4.04760875e-01 3.56840090e+02] [-3.66098439e-01 9.10306855e-01 -1.93166672e-01 1.89526509e+02] [-4.48394555e-01 9.33017340e-03 8.93787039e-01 8.48968238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.86, Y:189.52, Z:84.87 [[ 8.14224569e-01 4.17434077e-01 4.03468888e-01 3.56864778e+02] [-3.64725542e-01 9.08511046e-01 -2.03919001e-01 1.89523326e+02] [-4.51678681e-01 1.88804522e-02 8.91980884e-01 8.48745847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.89, Y:189.51, Z:84.86 [[ 8.12745500e-01 4.14273036e-01 4.09661573e-01 3.56890600e+02] [-3.66540568e-01 9.10126909e-01 -1.93176139e-01 1.89505989e+02] [-4.52871687e-01 6.84545180e-03 8.91549424e-01 8.48642214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:356.92, Y:189.49, Z:84.85 [[ 8.12017543e-01 4.15826453e-01 4.09531282e-01 3.56917342e+02] [-3.67740126e-01 9.09416065e-01 -1.94241140e-01 1.89493736e+02] [-4.53204931e-01 7.12612840e-03 8.91377871e-01 8.48493342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.94, Y:189.47, Z:84.84 [[ 8.12061529e-01 4.14364288e-01 4.10923728e-01 3.56944622e+02] [-3.71365852e-01 9.10105072e-01 -1.83837324e-01 1.89472964e+02] [-4.50159391e-01 -3.31582235e-03 8.92942063e-01 8.48430133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.97, Y:189.47, Z:84.82 [[ 8.10701768e-01 4.23722127e-01 4.04007677e-01 3.56970662e+02] [-3.71187684e-01 9.05646843e-01 -2.04996339e-01 1.89473075e+02] [-4.52749762e-01 1.62282209e-02 8.91489932e-01 8.48170883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.700385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.00, Y:189.45, Z:84.81 [[ 8.10727410e-01 4.17259542e-01 4.10628229e-01 3.56996987e+02] [-3.74682614e-01 9.08773987e-01 -1.83692078e-01 1.89447146e+02] [-4.49815525e-01 -4.93105576e-03 8.93107876e-01 8.48145549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.02, Y:189.44, Z:84.80 [[ 8.10068095e-01 4.23389455e-01 4.05624274e-01 3.57023754e+02] [-3.76110241e-01 9.05934048e-01 -1.94485442e-01 1.89441118e+02] [-4.49811926e-01 4.98700754e-03 8.93109378e-01 8.47958084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.05, Y:189.44, Z:84.77 [[ 8.08811955e-01 4.28415684e-01 4.02843920e-01 3.57049030e+02] [-3.76158990e-01 9.03461540e-01 -2.05576407e-01 1.89437615e+02] [-4.52026146e-01 1.47392936e-02 8.91882905e-01 8.47713863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.07, Y:189.41, Z:84.77 [[ 8.09396082e-01 4.21078973e-01 4.09353735e-01 3.57074846e+02] [-3.79166967e-01 9.06997909e-01 -1.83268124e-01 1.89411116e+02] [-4.48453335e-01 -6.87691233e-03 8.93779791e-01 8.47692309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.10, Y:189.40, Z:84.75 [[ 8.09913814e-01 4.25280919e-01 4.03950188e-01 3.57100983e+02] [-3.78445461e-01 9.05051171e-01 -1.94065481e-01 1.89403367e+02] [-4.48127937e-01 4.30319843e-03 8.93959079e-01 8.47505246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.13, Y:189.39, Z:84.74 [[ 8.10658438e-01 4.24239911e-01 4.03550981e-01 3.57126136e+02] [-3.77302648e-01 9.05535857e-01 -1.94029700e-01 1.89390052e+02] [-4.47745026e-01 5.03095977e-03 8.94147125e-01 8.47363555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.880385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.15, Y:189.38, Z:84.72 [[ 8.11256176e-01 4.22906621e-01 4.03749189e-01 3.57151137e+02] [-3.75715955e-01 9.06154265e-01 -1.94221443e-01 1.89376735e+02] [-4.47996584e-01 5.86833359e-03 8.94016009e-01 8.47219084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.18, Y:189.36, Z:84.71 [[ 8.12261114e-01 4.19971492e-01 4.04791093e-01 3.57177232e+02] [-3.72104209e-01 9.07504983e-01 -1.94867041e-01 1.89362577e+02] [-4.49188536e-01 7.65845057e-03 8.93404168e-01 8.47071970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.20, Y:189.35, Z:84.69 [[ 8.12987701e-01 4.18655302e-01 4.04695858e-01 3.57203008e+02] [-3.70579381e-01 9.08105043e-01 -1.94977315e-01 1.89349311e+02] [-4.49134636e-01 8.54221877e-03 8.93423253e-01 8.46927904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9703857229999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:357.23, Y:189.34, Z:84.68 [[ 8.14397171e-01 4.17179414e-01 4.03383917e-01 3.57228106e+02] [-3.68563912e-01 9.08760708e-01 -1.95741201e-01 1.89335448e+02] [-4.48238653e-01 1.07383260e-02 8.93849427e-01 8.46783652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.25, Y:189.32, Z:84.66 [[ 8.15023480e-01 4.15021326e-01 4.04343947e-01 3.57253408e+02] [-3.67403832e-01 9.09767884e-01 -1.93227385e-01 1.89320059e+02] [-4.48052622e-01 8.92734006e-03 8.93962611e-01 8.46643716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.28, Y:189.31, Z:84.65 [[ 8.15802544e-01 4.14421221e-01 4.03387234e-01 3.57278646e+02] [-3.65985062e-01 9.10015763e-01 -1.94746617e-01 1.89307753e+02] [-4.47795872e-01 1.12410842e-02 8.94065151e-01 8.46492692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.30, Y:189.29, Z:84.63 [[ 8.16728754e-01 4.12550625e-01 4.03430446e-01 3.57304516e+02] [-3.63815099e-01 9.10850052e-01 -1.94912175e-01 1.89293687e+02] [-4.47875782e-01 1.24162899e-02 8.94009575e-01 8.46336566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.33, Y:189.28, Z:84.62 [[ 8.17275406e-01 4.11994662e-01 4.02891187e-01 3.57329893e+02] [-3.63257740e-01 9.11095571e-01 -1.94804198e-01 1.89280034e+02] [-4.47330666e-01 1.28553378e-02 8.94276253e-01 8.46186410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.35, Y:189.28, Z:84.59 [[ 8.16125510e-01 4.17197234e-01 3.99856999e-01 3.57354411e+02] [-3.61329815e-01 9.08409963e-01 -2.10314299e-01 1.89278088e+02] [-4.50976625e-01 2.71626090e-02 8.92122344e-01 8.45921201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.38, Y:189.25, Z:84.60 [[ 8.16878578e-01 4.06694013e-01 4.09034680e-01 3.57380420e+02] [-3.65073424e-01 9.13559822e-01 -1.79248004e-01 1.89245740e+02] [-4.46576740e-01 -2.90383711e-03 8.94740624e-01 8.45951057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.41, Y:189.24, Z:84.57 [[ 8.16849823e-01 4.14506938e-01 4.01173736e-01 3.57407355e+02] [-3.66288477e-01 9.09969056e-01 -1.94394105e-01 1.89241157e+02] [-4.45633391e-01 1.18454734e-02 8.95137177e-01 8.45748761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.43, Y:189.24, Z:84.55 [[ 8.15731994e-01 4.20923397e-01 3.96742749e-01 3.57430697e+02] [-3.65285217e-01 9.06690906e-01 -2.10898820e-01 1.89238583e+02] [-4.48495290e-01 2.71126541e-02 8.93373874e-01 8.45489070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.46, Y:189.21, Z:84.55 [[ 8.15987636e-01 4.08996820e-01 4.08516560e-01 3.57456764e+02] [-3.67656473e-01 9.12527277e-01 -1.79228029e-01 1.89205234e+02] [-4.46086198e-01 -3.94590206e-03 8.94981304e-01 8.45521433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.48, Y:189.21, Z:84.52 [[ 8.14716567e-01 4.21470910e-01 3.98245136e-01 3.57481793e+02] [-3.66331302e-01 9.06493235e-01 -2.09931875e-01 1.89211151e+02] [-4.49486700e-01 2.51453170e-02 8.92933043e-01 8.45208288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.51, Y:189.18, Z:84.52 [[ 8.15686251e-01 4.10644485e-01 4.07464167e-01 3.57507776e+02] [-3.68810429e-01 9.11790724e-01 -1.80600509e-01 1.89180213e+02] [-4.45684650e-01 -2.96368171e-03 8.95185126e-01 8.45230214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.53, Y:189.17, Z:84.50 [[ 8.14724563e-01 4.18486896e-01 4.01363431e-01 3.57534252e+02] [-3.70433829e-01 9.08165909e-01 -1.94970410e-01 1.89174931e+02] [-4.46097147e-01 1.01685894e-02 8.94926777e-01 8.45034129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.56, Y:189.18, Z:84.47 [[ 8.12236249e-01 4.27026446e-01 3.97392364e-01 3.57558201e+02] [-3.67743669e-01 9.03669792e-01 -2.19420829e-01 1.89178736e+02] [-4.52809972e-01 3.20830251e-02 8.91029634e-01 8.44720298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.58, Y:189.14, Z:84.48 [[ 8.13169653e-01 4.09736792e-01 4.13365307e-01 3.57584356e+02] [-3.71986227e-01 9.12101876e-01 -1.72326474e-01 1.89135956e+02] [-4.47639768e-01 -1.36355419e-02 8.94110010e-01 8.44829047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.61, Y:189.14, Z:84.46 [[ 8.13016805e-01 4.21063642e-01 4.02130681e-01 3.57611614e+02] [-3.72932725e-01 9.06985029e-01 -1.95702170e-01 1.89135399e+02] [-4.47129576e-01 9.14146180e-03 8.94422482e-01 8.44592769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:189.12, Z:84.44 [[ 8.12952434e-01 4.21246011e-01 4.02069817e-01 3.57638434e+02] [-3.73074391e-01 9.06899789e-01 -1.95827145e-01 1.89122328e+02] [-4.47128436e-01 9.19620185e-03 8.94422491e-01 8.44441461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.66, Y:189.11, Z:84.43 [[ 8.13735064e-01 4.23287424e-01 3.98325247e-01 3.57663814e+02] [-3.73674318e-01 9.05897426e-01 -1.99292144e-01 1.89111874e+02] [-4.45199674e-01 1.33270904e-02 8.95332139e-01 8.44280194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.69, Y:189.10, Z:84.41 [[ 8.11910113e-01 4.25203252e-01 4.00005203e-01 3.57688319e+02] [-3.72879325e-01 9.04931443e-01 -2.05085576e-01 1.89102628e+02] [-4.49180339e-01 1.73573827e-02 8.93272492e-01 8.44062886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.71, Y:189.08, Z:84.40 [[ 8.13426018e-01 4.20348116e-01 4.02051707e-01 3.57713348e+02] [-3.75158352e-01 9.07356475e-01 -1.89632376e-01 1.89080932e+02] [-4.44515832e-01 3.41885298e-03 8.95764471e-01 8.44027012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.74, Y:189.07, Z:84.38 [[ 8.11868533e-01 4.23165000e-01 4.02244787e-01 3.57738595e+02] [-3.73028499e-01 9.05966753e-01 -2.00184869e-01 1.89072565e+02] [-4.49131634e-01 1.24750269e-02 8.93378503e-01 8.43796125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.76, Y:189.05, Z:84.38 [[ 8.12994061e-01 4.17576282e-01 4.05796384e-01 3.57764473e+02] [-3.75474838e-01 9.08634009e-01 -1.82764560e-01 1.89048045e+02] [-4.45038540e-01 -3.77982980e-03 8.95503440e-01 8.43778261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.79, Y:189.04, Z:84.35 [[ 8.11948917e-01 4.26048170e-01 3.99026206e-01 3.57790599e+02] [-3.75552386e-01 9.04593850e-01 -2.01668964e-01 1.89044231e+02] [-4.46877346e-01 1.38896529e-02 8.94487404e-01 8.43523425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.81, Y:189.03, Z:84.34 [[ 8.12383130e-01 4.23008706e-01 4.01369263e-01 3.57814523e+02] [-3.77273998e-01 9.06116666e-01 -1.91355477e-01 1.89025297e+02] [-4.44632411e-01 4.02777460e-03 8.95704079e-01 8.43449340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.84, Y:189.02, Z:84.32 [[ 8.10745179e-01 4.30614188e-01 3.96564845e-01 3.57842207e+02] [-3.79122517e-01 9.02399721e-01 -2.04794678e-01 1.89015971e+02] [-4.46047499e-01 1.56896358e-02 8.94871758e-01 8.43216275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.87, Y:189.00, Z:84.31 [[ 8.11275725e-01 4.27993651e-01 3.98312858e-01 3.57865748e+02] [-3.76982454e-01 9.03662676e-01 -2.03169875e-01 1.89004388e+02] [-4.46895880e-01 1.46698292e-02 8.94465689e-01 8.43066260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.89, Y:188.99, Z:84.30 [[ 8.11035132e-01 4.25495281e-01 4.01467037e-01 3.57890247e+02] [-3.77639842e-01 9.04929502e-01 -1.96190588e-01 1.88985868e+02] [-4.46777535e-01 7.50751121e-03 8.94613588e-01 8.42952238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.92, Y:188.97, Z:84.28 [[ 8.11144741e-01 4.26017427e-01 4.00691104e-01 3.57916588e+02] [-3.77614082e-01 9.04671832e-01 -1.97424623e-01 1.88972209e+02] [-4.46600285e-01 8.83334141e-03 8.94689978e-01 8.42801441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.94, Y:188.95, Z:84.28 [[ 8.12687073e-01 4.20962499e-01 4.02902342e-01 3.57941748e+02] [-3.78821313e-01 9.07071654e-01 -1.83617613e-01 1.88949458e+02] [-4.42757422e-01 -3.40433392e-03 8.96634973e-01 8.42775730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.97, Y:188.96, Z:84.24 [[ 8.11353735e-01 4.33085516e-01 3.92609288e-01 3.57966300e+02] [-3.75414050e-01 9.00872351e-01 -2.17929574e-01 1.88957454e+02] [-4.48072994e-01 2.94269308e-02 8.93512534e-01 8.42421759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.99, Y:188.92, Z:84.25 [[ 8.13355710e-01 4.15692463e-01 4.07004011e-01 3.57991275e+02] [-3.78250248e-01 9.09408015e-01 -1.72927187e-01 1.88915839e+02] [-4.42017238e-01 -1.32980536e-02 8.96907979e-01 8.42524174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.02, Y:188.91, Z:84.23 [[ 8.13190633e-01 4.25893085e-01 3.96656117e-01 3.58017170e+02] [-3.78809314e-01 9.04736614e-01 -1.94820849e-01 1.88914645e+02] [-4.41842165e-01 8.16945738e-03 8.97055607e-01 8.42296201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.04, Y:188.91, Z:84.20 [[ 8.11409835e-01 4.33657046e-01 3.91861770e-01 3.58042807e+02] [-3.77662498e-01 9.00695224e-01 -2.14753700e-01 1.88912297e+02] [-4.46077480e-01 2.62617695e-02 8.94608966e-01 8.42005988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:358.07, Y:188.88, Z:84.21 [[ 8.11742377e-01 4.20391289e-01 4.05395458e-01 3.58066854e+02] [-3.80709658e-01 9.07294146e-01 -1.78542683e-01 1.88877148e+02] [-4.42870714e-01 -9.40730446e-03 8.96536131e-01 8.42072431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.990385723 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:358.09, Y:188.89, Z:84.17 [[ 8.10547307e-01 4.37758741e-01 3.89076275e-01 3.58092417e+02] [-3.81389544e-01 8.98681854e-01 -2.16593955e-01 1.88886229e+02] [-4.44471685e-01 2.71700244e-02 8.95380763e-01 8.41716532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.12, Y:188.85, Z:84.18 [[ 8.10400747e-01 4.21175260e-01 4.07261624e-01 3.58117580e+02] [-3.83437920e-01 9.06864001e-01 -1.74851497e-01 1.88848489e+02] [-4.42974030e-01 -1.44597660e-02 8.96417829e-01 8.41788889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.15, Y:188.85, Z:84.16 [[ 8.10151337e-01 4.31341856e-01 3.96987423e-01 3.58145230e+02] [-3.84522762e-01 9.02170198e-01 -1.95527953e-01 1.88846739e+02] [-4.42489612e-01 5.75653261e-03 8.96755154e-01 8.41559405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.17, Y:188.84, Z:84.14 [[ 8.10975641e-01 4.35035086e-01 3.91232647e-01 3.58171136e+02] [-3.85255156e-01 9.00312004e-01 -2.02525949e-01 1.88837844e+02] [-4.40337342e-01 1.35192173e-02 8.97730614e-01 8.41387520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.110385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:358.20, Y:188.83, Z:84.12 [[ 8.10578385e-01 4.36890121e-01 3.89986800e-01 3.58196236e+02] [-3.82648234e-01 8.99229462e-01 -2.12053541e-01 1.88828789e+02] [-4.43331718e-01 2.26582564e-02 8.96071198e-01 8.41161538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.22, Y:188.79, Z:84.12 [[ 8.10075205e-01 4.21114431e-01 4.07971565e-01 3.58220087e+02] [-3.84230304e-01 9.06857416e-01 -1.73137809e-01 1.88791527e+02] [-4.42882869e-01 -1.65003922e-02 8.96427633e-01 8.41248542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.25, Y:188.79, Z:84.10 [[ 8.10827516e-01 4.30298998e-01 3.96738594e-01 3.58246967e+02] [-3.83240306e-01 9.02661586e-01 -1.95777752e-01 1.88790468e+02] [-4.42363660e-01 6.69576793e-03 8.96810771e-01 8.41007891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.27, Y:188.78, Z:84.09 [[ 8.10673953e-01 4.30630740e-01 3.96692461e-01 3.58272735e+02] [-3.83545874e-01 9.02503579e-01 -1.95907767e-01 1.88777303e+02] [-4.42380272e-01 6.66756747e-03 8.96802787e-01 8.40854330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.30, Y:188.77, Z:84.07 [[ 8.12306870e-01 4.36127686e-01 3.87234026e-01 3.58298840e+02] [-3.84693824e-01 8.99692084e-01 -2.06312425e-01 1.88770206e+02] [-4.38369948e-01 1.86224616e-02 8.98601688e-01 8.40652150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.32, Y:188.74, Z:84.06 [[ 8.10158479e-01 4.27266584e-01 4.01355835e-01 3.58321566e+02] [-3.85133145e-01 9.04113786e-01 -1.85069506e-01 1.88744060e+02] [-4.41945359e-01 -4.63980588e-03 8.97029973e-01 8.40600513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.35, Y:188.74, Z:84.04 [[ 8.09629606e-01 4.33268934e-01 3.95951931e-01 3.58348175e+02] [-3.86497285e-01 9.01247510e-01 -1.95889699e-01 1.88735227e+02] [-4.41723613e-01 5.56375346e-03 8.97133933e-01 8.40410791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.37, Y:188.73, Z:84.02 [[ 8.10536945e-01 4.38142116e-01 3.88666113e-01 3.58374149e+02] [-3.87565186e-01 8.98772418e-01 -2.04942353e-01 1.88727698e+02] [-4.39116258e-01 1.54798948e-02 8.98296880e-01 8.40230965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3503857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.40, Y:188.70, Z:84.02 [[ 8.08508271e-01 4.30913820e-01 4.00783803e-01 3.58398107e+02] [-3.88116483e-01 9.02383576e-01 -1.87268466e-01 1.88703877e+02] [-4.42357291e-01 -4.14269645e-03 8.96829340e-01 8.40170553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.42, Y:188.70, Z:84.00 [[ 8.07523210e-01 4.36539319e-01 3.96660672e-01 3.58424990e+02] [-3.89814486e-01 8.99675899e-01 -1.96539927e-01 1.88696156e+02] [-4.42663453e-01 4.08647685e-03 8.96678520e-01 8.39988900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.45, Y:188.69, Z:83.98 [[ 8.08597129e-01 4.43194432e-01 3.86974648e-01 3.58452580e+02] [-3.91307161e-01 8.96256218e-01 -2.08814504e-01 1.88690559e+02] [-4.39373860e-01 1.74208570e-02 8.98135360e-01 8.39790449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.48, Y:188.65, Z:83.98 [[ 8.06858410e-01 4.28660161e-01 4.06484899e-01 3.58478871e+02] [-3.92529056e-01 9.03251627e-01 -1.73370814e-01 1.88652624e+02] [-4.41475307e-01 -1.96714340e-02 8.97057740e-01 8.39797378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.50, Y:188.67, Z:83.95 [[ 8.07062542e-01 4.43662589e-01 3.89632598e-01 3.58503365e+02] [-3.89717512e-01 8.95969873e-01 -2.12974756e-01 1.88666530e+02] [-4.43588001e-01 2.00373015e-02 8.96006804e-01 8.39486788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:188.64, Z:83.94 [[ 8.08065120e-01 4.35139788e-01 3.97094606e-01 3.58528508e+02] [-3.88189139e-01 9.00350254e-01 -1.96668791e-01 1.88643671e+02] [-4.43102646e-01 4.77337693e-03 8.96458176e-01 8.39397623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.55, Y:188.63, Z:83.92 [[ 8.09047429e-01 4.37518892e-01 3.92453152e-01 3.58554373e+02] [-3.88460196e-01 8.99146320e-01 -2.01580185e-01 1.88633995e+02] [-4.41067947e-01 1.06355017e-02 8.97410693e-01 8.39228838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.560385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:358.58, Y:188.62, Z:83.91 [[ 8.09189994e-01 4.34302790e-01 3.95717881e-01 3.58580725e+02] [-3.88119192e-01 9.00757367e-01 -1.94935013e-01 1.88616874e+02] [-4.41106616e-01 4.15375775e-03 8.97445096e-01 8.39109204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5903857229999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:358.61, Y:188.60, Z:83.90 [[ 8.09181160e-01 4.31258632e-01 3.99051177e-01 3.58606364e+02] [-3.86830269e-01 9.02228343e-01 -1.90647214e-01 1.88603191e+02] [-4.42253539e-01 -9.69405931e-05 8.96890070e-01 8.38950657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.64, Y:188.57, Z:83.90 [[ 8.09833576e-01 4.26063343e-01 4.03286012e-01 3.58639246e+02] [-3.92580225e-01 9.04401907e-01 -1.67146517e-01 1.88569663e+02] [-4.35947642e-01 -2.29612522e-02 8.99679073e-01 8.38982935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.66, Y:188.60, Z:83.86 [[ 8.10232468e-01 4.50933747e-01 3.74409005e-01 3.58664937e+02] [-3.89754376e-01 8.91625850e-01 -2.30423240e-01 1.88600351e+02] [-4.37738363e-01 4.07688424e-02 8.98177615e-01 8.38560547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.69, Y:188.54, Z:83.87 [[ 8.10977254e-01 4.22553910e-01 4.04677758e-01 3.58691536e+02] [-3.91167365e-01 9.05939305e-01 -1.62055756e-01 1.88544061e+02] [-4.35090780e-01 -2.68732007e-02 8.99985469e-01 8.38724434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:358.72, Y:188.58, Z:83.82 [[ 8.10218787e-01 4.48435209e-01 3.77427318e-01 3.58716332e+02] [-3.85696748e-01 8.92779228e-01 -2.32772997e-01 1.88579504e+02] [-4.41342877e-01 4.30245656e-02 8.96306505e-01 8.38233787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.74, Y:188.53, Z:83.83 [[ 8.12446747e-01 4.27621345e-01 3.96320916e-01 3.58742410e+02] [-3.88108907e-01 9.03924149e-01 -1.79701445e-01 1.88531619e+02] [-4.35088220e-01 -7.81782290e-03 9.00353887e-01 8.38331548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.770385723 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:358.77, Y:188.54, Z:83.80 [[ 8.13365789e-01 4.39837052e-01 3.80761685e-01 3.58770340e+02] [-3.87421481e-01 8.97786259e-01 -2.09486105e-01 1.88536637e+02] [-4.33982360e-01 2.28735748e-02 9.00630952e-01 8.38049416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.79, Y:188.53, Z:83.79 [[ 8.13899180e-01 4.30557376e-01 3.90113409e-01 3.58793676e+02] [-3.79706599e-01 9.02389491e-01 -2.03755012e-01 1.88528609e+02] [-4.39762464e-01 1.77074018e-02 8.97939543e-01 8.37908985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.830385723 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:358.82, Y:188.50, Z:83.78 [[ 8.13055292e-01 4.24460476e-01 3.98465052e-01 3.58822953e+02] [-3.82826785e-01 9.05439863e-01 -1.83363866e-01 1.88496620e+02] [-4.38616856e-01 -3.45813321e-03 8.98667511e-01 8.37842825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.64, Y:189.21, Z:84.34 [[ 8.04689595e-01 -1.35177852e-01 -5.78101725e-01 3.59636167e+02] [-3.64204362e-01 -8.81384309e-01 -3.00860238e-01 1.89213320e+02] [-4.68860149e-01 4.52646273e-01 -7.58473146e-01 8.43397684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.890385723 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:359.69, Y:189.01, Z:84.57 [[ 8.28336386e-01 -3.43912408e-01 -4.42247767e-01 3.59688694e+02] [-2.89893014e-01 -9.38623547e-01 1.86943516e-01 1.89009255e+02] [-4.79396363e-01 -2.66475784e-02 -8.77193841e-01 8.45674946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.04, Y:188.43, Z:83.68 [[ 8.47069425e-01 2.81872709e-01 4.50578701e-01 3.59042374e+02] [-2.46979997e-01 9.59444167e-01 -1.35896177e-01 1.88427995e+02] [-4.70610530e-01 3.82957026e-03 8.82332740e-01 8.36801708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.950385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:359.07, Y:188.42, Z:83.66 [[ 8.46905225e-01 2.86153676e-01 4.48182568e-01 3.59070417e+02] [-2.47561178e-01 9.58121207e-01 -1.43934760e-01 1.88424835e+02] [-4.70600684e-01 1.09464955e-02 8.82278397e-01 8.36618642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.10, Y:188.42, Z:83.65 [[ 8.46647124e-01 2.86977300e-01 4.48143589e-01 3.59098283e+02] [-2.48420560e-01 9.57878183e-01 -1.44071551e-01 1.88417725e+02] [-4.70612232e-01 1.06496828e-02 8.82275870e-01 8.36462886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.13, Y:188.41, Z:83.63 [[ 8.46174351e-01 2.88123928e-01 4.48300759e-01 3.59126151e+02] [-2.49606864e-01 9.57538979e-01 -1.44275834e-01 1.88412811e+02] [-4.70834771e-01 1.01835634e-02 8.82162634e-01 8.36296440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.15, Y:188.41, Z:83.61 [[ 8.45986778e-01 2.89641649e-01 4.47676319e-01 3.59154506e+02] [-2.51357822e-01 9.57088137e-01 -1.44227401e-01 1.88406612e+02] [-4.70239956e-01 9.48752982e-03 8.82487604e-01 8.36145456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.18, Y:188.40, Z:83.60 [[ 8.45705424e-01 2.90488181e-01 4.47659416e-01 3.59182665e+02] [-2.52236830e-01 9.56834515e-01 -1.44375524e-01 1.88399002e+02] [-4.70275364e-01 9.18297159e-03 8.82471957e-01 8.35989335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.21, Y:188.39, Z:83.58 [[ 8.45402082e-01 2.91249690e-01 4.47737577e-01 3.59210962e+02] [-2.53002254e-01 9.56605410e-01 -1.44554310e-01 1.88391388e+02] [-4.70409587e-01 8.92789862e-03 8.82403034e-01 8.35832596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.24, Y:188.37, Z:83.57 [[ 8.45784483e-01 2.88459644e-01 4.48820278e-01 3.59242922e+02] [-2.56797719e-01 9.57483390e-01 -1.31455274e-01 1.88373737e+02] [-4.67657503e-01 -4.07319237e-03 8.83900373e-01 8.35742928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.27, Y:188.39, Z:83.55 [[ 8.46533120e-01 3.02139635e-01 4.38284517e-01 3.59266369e+02] [-2.56694246e-01 9.52963758e-01 -1.61146329e-01 1.88386795e+02] [-4.66357954e-01 2.39105914e-02 8.84272889e-01 8.35493299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.30, Y:188.37, Z:83.54 [[ 8.46463960e-01 2.93186191e-01 4.44455423e-01 3.59297648e+02] [-2.57973960e-01 9.56049679e-01 -1.39350092e-01 1.88365587e+02] [-4.65776987e-01 3.29690527e-03 8.84895999e-01 8.35387716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.32, Y:188.37, Z:83.52 [[ 8.45562169e-01 2.98529334e-01 4.42611405e-01 3.59321255e+02] [-2.55971304e-01 9.54241264e-01 -1.54603694e-01 1.88370539e+02] [-4.68511804e-01 1.74312165e-02 8.83285255e-01 8.35172835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.250385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:359.35, Y:188.36, Z:83.50 [[ 8.46405949e-01 2.92875359e-01 4.44770720e-01 3.59347855e+02] [-2.55291013e-01 9.56115991e-01 -1.43766167e-01 1.88358097e+02] [-4.67357966e-01 8.13857106e-03 8.84030710e-01 8.35037502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.38, Y:188.35, Z:83.49 [[ 8.45987957e-01 2.93288752e-01 4.45293258e-01 3.59376574e+02] [-2.55586970e-01 9.55989775e-01 -1.44079320e-01 1.88349971e+02] [-4.67952646e-01 8.07821492e-03 8.83716620e-01 8.34896381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.40, Y:188.34, Z:83.47 [[ 8.45935531e-01 2.93062615e-01 4.45541671e-01 3.59404946e+02] [-2.55205474e-01 9.56056577e-01 -1.44312118e-01 1.88342037e+02] [-4.68255532e-01 8.37407505e-03 8.83553412e-01 8.34740105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.43, Y:188.33, Z:83.46 [[ 8.45978673e-01 2.92351101e-01 4.45927033e-01 3.59433082e+02] [-2.54249179e-01 9.56269227e-01 -1.44590871e-01 1.88334224e+02] [-4.68697600e-01 8.94421100e-03 8.83313399e-01 8.34594084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.46, Y:188.33, Z:83.44 [[ 8.45944535e-01 2.92518835e-01 4.45881795e-01 3.59461071e+02] [-2.54365339e-01 9.56217249e-01 -1.44730258e-01 1.88325127e+02] [-4.68696189e-01 9.01689669e-03 8.83313409e-01 8.34434790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.49, Y:188.32, Z:83.43 [[ 8.46716403e-01 2.87841389e-01 4.47458006e-01 3.59489301e+02] [-2.52835613e-01 9.57672100e-01 -1.37616504e-01 1.88315341e+02] [-4.68129774e-01 3.38883156e-03 8.83653230e-01 8.34317354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.52, Y:188.31, Z:83.42 [[ 8.46789096e-01 2.89228558e-01 4.46424761e-01 3.59517678e+02] [-2.53541600e-01 9.57248368e-01 -1.39255947e-01 1.88307404e+02] [-4.67616171e-01 4.73316887e-03 8.83918952e-01 8.34167328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.54, Y:188.30, Z:83.40 [[ 8.46614188e-01 2.92533933e-01 4.44599051e-01 3.59544827e+02] [-2.53583368e-01 9.56190830e-01 -1.46268839e-01 1.88302906e+02] [-4.67910134e-01 1.10903494e-02 8.83706462e-01 8.33995491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.57, Y:188.30, Z:83.38 [[ 8.46457373e-01 2.93108720e-01 4.44519059e-01 3.59572817e+02] [-2.53916824e-01 9.56010601e-01 -1.46867213e-01 1.88295119e+02] [-4.68012993e-01 1.14459680e-02 8.83647457e-01 8.33834966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.60, Y:188.29, Z:83.37 [[ 8.46538203e-01 2.92224587e-01 4.44947033e-01 3.59598534e+02] [-2.52619374e-01 9.56269417e-01 -1.47418636e-01 1.88289132e+02] [-4.68568589e-01 1.23932664e-02 8.83340186e-01 8.33673323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:359.63, Y:188.28, Z:83.35 [[ 8.47617446e-01 2.90471925e-01 4.44039105e-01 3.59625827e+02] [-2.53265925e-01 9.56847476e-01 -1.42475541e-01 1.88279389e+02] [-4.66262841e-01 8.30477952e-03 8.84607254e-01 8.33524668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.65, Y:188.28, Z:83.33 [[ 8.46769413e-01 2.94541346e-01 4.42975120e-01 3.59652860e+02] [-2.52883061e-01 9.55494127e-01 -1.51924754e-01 1.88277215e+02] [-4.68008247e-01 1.66243304e-02 8.83567718e-01 8.33334018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.610385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:359.68, Y:188.27, Z:83.32 [[ 8.46527545e-01 2.93961838e-01 4.43821534e-01 3.59679509e+02] [-2.52255573e-01 9.55673328e-01 -1.51840757e-01 1.88269755e+02] [-4.68783790e-01 1.65809284e-02 8.83157308e-01 8.33175968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:359.71, Y:188.26, Z:83.30 [[ 8.46698863e-01 2.90404566e-01 4.45832058e-01 3.59707853e+02] [-2.51453382e-01 9.56837576e-01 -1.45715651e-01 1.88258133e+02] [-4.68905356e-01 1.12712971e-02 8.83176497e-01 8.33042608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.670385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:359.73, Y:188.25, Z:83.28 [[ 8.46705564e-01 2.90091077e-01 4.46023379e-01 3.59732195e+02] [-2.49435266e-01 9.56885078e-01 -1.48838824e-01 1.88252897e+02] [-4.69969931e-01 1.47687000e-02 8.82558865e-01 8.32847237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.76, Y:188.24, Z:83.27 [[ 8.46511691e-01 2.87248522e-01 4.48225662e-01 3.59759871e+02] [-2.47965709e-01 9.57780670e-01 -1.45496378e-01 1.88243692e+02] [-4.71095494e-01 1.20197904e-02 8.82000318e-01 8.32719929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:359.79, Y:188.24, Z:83.26 [[ 8.46235028e-01 2.87177545e-01 4.48793199e-01 3.59786214e+02] [-2.47372339e-01 9.57790467e-01 -1.46438888e-01 1.88236940e+02] [-4.71903808e-01 1.29026934e-02 8.81555623e-01 8.32553552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.81, Y:188.23, Z:83.24 [[ 8.45670391e-01 2.84917800e-01 4.51290856e-01 3.59812727e+02] [-2.45139660e-01 9.58468735e-01 -1.45754008e-01 1.88231199e+02] [-4.74076088e-01 1.26305614e-02 8.80393283e-01 8.32396111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.84, Y:188.22, Z:83.23 [[ 8.45441306e-01 2.82958689e-01 4.52949643e-01 3.59839610e+02] [-2.44284903e-01 9.59075757e-01 -1.43173247e-01 1.88221310e+02] [-4.74925136e-01 1.03958178e-02 8.79964796e-01 8.32254461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.87, Y:188.20, Z:83.22 [[ 8.46013934e-01 2.80080518e-01 4.53668742e-01 3.59870818e+02] [-2.45882140e-01 9.59974579e-01 -1.34129718e-01 1.88203476e+02] [-4.73077581e-01 1.92656936e-03 8.81018667e-01 8.32170564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8503857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:359.90, Y:188.20, Z:83.20 [[ 8.47109643e-01 2.78740081e-01 4.52448031e-01 3.59898140e+02] [-2.43693242e-01 9.60356372e-01 -1.35385531e-01 1.88198480e+02] [-4.72248723e-01 4.42786153e-03 8.81454218e-01 8.32029888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.92, Y:188.21, Z:83.17 [[ 8.46485311e-01 2.92193666e-01 4.45067949e-01 3.59920841e+02] [-2.41352677e-01 9.55713568e-01 -1.68405645e-01 1.88211433e+02] [-4.74564540e-01 3.51345638e-02 8.79519221e-01 8.31723118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.95, Y:188.18, Z:83.17 [[ 8.46233309e-01 2.77753180e-01 4.54689299e-01 3.59952079e+02] [-2.44056258e-01 9.60651661e-01 -1.32608177e-01 1.88179484e+02] [-4.73630373e-01 1.24768738e-03 8.80722836e-01 8.31714175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.98, Y:188.18, Z:83.15 [[ 8.46174218e-01 2.85662728e-01 4.49873315e-01 3.59979372e+02] [-2.44739096e-01 9.58209206e-01 -1.48114459e-01 1.88180812e+02] [-4.73383532e-01 1.52290484e-02 8.80724763e-01 8.31493948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.01, Y:188.18, Z:83.13 [[ 8.45482757e-01 2.87609827e-01 4.49932768e-01 3.60007699e+02] [-2.46848621e-01 9.57640730e-01 -1.48290226e-01 1.88176073e+02] [-4.73523670e-01 1.43115455e-02 8.80664813e-01 8.31347114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.03, Y:188.17, Z:83.12 [[ 8.45258323e-01 2.88588342e-01 4.49727847e-01 3.60034804e+02] [-2.47918891e-01 9.57352178e-01 -1.48367889e-01 1.88168921e+02] [-4.73365177e-01 1.39131640e-02 8.80756398e-01 8.31168186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.06, Y:188.16, Z:83.10 [[ 8.44638768e-01 2.91794628e-01 4.48822066e-01 3.60063428e+02] [-2.50788680e-01 9.56378821e-01 -1.49815185e-01 1.88162838e+02] [-4.72959184e-01 1.39802199e-02 8.80973418e-01 8.31025025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.09, Y:188.15, Z:83.09 [[ 8.44028939e-01 2.90816096e-01 4.50600875e-01 3.60090155e+02] [-2.51490286e-01 9.56724173e-01 -1.46394988e-01 1.88152964e+02] [-4.73674769e-01 1.02398638e-02 8.80640312e-01 8.30887090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.12, Y:188.15, Z:83.07 [[ 8.44959351e-01 2.97196254e-01 4.44655015e-01 3.60117078e+02] [-2.53540641e-01 9.54621563e-01 -1.56252409e-01 1.88152213e+02] [-4.70914896e-01 1.92888165e-02 8.81967745e-01 8.30699024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.14, Y:188.14, Z:83.06 [[ 8.45036517e-01 2.92741187e-01 4.47454895e-01 3.60144755e+02] [-2.53200382e-01 9.56125851e-01 -1.47353059e-01 1.88139190e+02] [-4.70959502e-01 1.12229654e-02 8.82083439e-01 8.30565312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.17, Y:188.13, Z:83.04 [[ 8.44395761e-01 2.86467993e-01 4.52694033e-01 3.60172961e+02] [-2.50683547e-01 9.58082951e-01 -1.38689647e-01 1.88126731e+02] [-4.73448580e-01 3.62600453e-03 8.80813995e-01 8.30439046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.180385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.20, Y:188.12, Z:83.02 [[ 8.44737951e-01 2.90514803e-01 4.49465175e-01 3.60199999e+02] [-2.49796997e-01 9.56774670e-01 -1.48941908e-01 1.88123887e+02] [-4.73306723e-01 1.35418307e-02 8.80793600e-01 8.30230615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.23, Y:188.12, Z:83.01 [[ 8.44341225e-01 2.89818226e-01 4.50658731e-01 3.60229369e+02] [-2.48689179e-01 9.56977099e-01 -1.49494227e-01 1.88115628e+02] [-4.74596236e-01 1.41501893e-02 8.80089873e-01 8.30094766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.26, Y:188.11, Z:82.99 [[ 8.44038474e-01 2.89724486e-01 4.51285693e-01 3.60257001e+02] [-2.48374586e-01 9.57001776e-01 -1.49858819e-01 1.88107383e+02] [-4.75298979e-01 1.43987117e-02 8.79706518e-01 8.29941661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.29, Y:188.09, Z:82.99 [[ 8.45966637e-01 2.81579931e-01 4.52827993e-01 3.60286520e+02] [-2.48745954e-01 9.59537250e-01 -1.31961044e-01 1.88090137e+02] [-4.71662908e-01 -1.00448998e-03 8.81778369e-01 8.29885867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.31, Y:188.09, Z:82.97 [[ 8.46157541e-01 2.89142399e-01 4.47676322e-01 3.60313558e+02] [-2.48708380e-01 9.57183668e-01 -1.48133612e-01 1.88091852e+02] [-4.71340172e-01 1.40035195e-02 8.81840316e-01 8.29661889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.34, Y:188.08, Z:82.95 [[ 8.46079197e-01 2.90713252e-01 4.46806219e-01 3.60341046e+02] [-2.48991545e-01 9.56668415e-01 -1.50959448e-01 1.88084509e+02] [-4.71331310e-01 1.64726778e-02 8.81802386e-01 8.29490832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.37, Y:188.08, Z:82.93 [[ 8.44670329e-01 2.96592750e-01 4.45606077e-01 3.60365054e+02] [-2.48161815e-01 9.54571250e-01 -1.64952846e-01 1.88084018e+02] [-4.74286568e-01 2.87483620e-02 8.79901008e-01 8.29263832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.39, Y:188.07, Z:82.92 [[ 8.44722962e-01 2.89603121e-01 4.50081271e-01 3.60392253e+02] [-2.48151811e-01 9.57028176e-01 -1.50059152e-01 1.88067470e+02] [-4.74198056e-01 1.50699287e-02 8.80289214e-01 8.29154219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.42, Y:188.06, Z:82.90 [[ 8.45771607e-01 2.94117708e-01 4.45157459e-01 3.60419334e+02] [-2.49254072e-01 9.55505400e-01 -1.57739782e-01 1.88063900e+02] [-4.71744419e-01 2.24545198e-02 8.81449373e-01 8.28967043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.45, Y:188.05, Z:82.89 [[ 8.44484471e-01 2.87204399e-01 4.52061512e-01 3.60446814e+02] [-2.50330141e-01 9.57851575e-01 -1.40908411e-01 1.88047094e+02] [-4.73477347e-01 5.83034316e-03 8.80786699e-01 8.28859773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.47, Y:188.04, Z:82.87 [[ 8.43719902e-01 2.92854371e-01 4.49858917e-01 3.60474139e+02] [-2.51674145e-01 9.56059627e-01 -1.50366601e-01 1.88043468e+02] [-4.74127464e-01 1.36494354e-02 8.80350408e-01 8.28681969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.50, Y:188.03, Z:82.85 [[ 8.43072852e-01 2.93790425e-01 4.50461267e-01 3.60502025e+02] [-2.52536680e-01 9.55777243e-01 -1.50715251e-01 1.88033812e+02] [-4.74819325e-01 1.33059435e-02 8.79982705e-01 8.28527840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.540385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.53, Y:188.02, Z:82.83 [[ 8.43101269e-01 2.94131677e-01 4.50185304e-01 3.60528287e+02] [-2.52894877e-01 9.55672769e-01 -1.50777118e-01 1.88024861e+02] [-4.74578162e-01 1.32708220e-02 8.80113318e-01 8.28349459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.56, Y:188.02, Z:82.82 [[ 8.42462471e-01 2.95098326e-01 4.50748226e-01 3.60557000e+02] [-2.53793195e-01 9.55379520e-01 -1.51125731e-01 1.88015633e+02] [-4.75232574e-01 1.29209249e-02 8.79765338e-01 8.28210314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.58, Y:188.01, Z:82.80 [[ 8.42709382e-01 2.95196991e-01 4.50221762e-01 3.60584156e+02] [-2.53923287e-01 9.55347714e-01 -1.51108275e-01 1.88007723e+02] [-4.74725039e-01 1.30185711e-02 8.80037871e-01 8.28048269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.61, Y:188.00, Z:82.79 [[ 8.43254074e-01 2.93929607e-01 4.50031058e-01 3.60610408e+02] [-2.52438630e-01 9.55726027e-01 -1.51203503e-01 1.87999178e+02] [-4.74549581e-01 1.38977462e-02 8.80119053e-01 8.27893620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.64, Y:187.99, Z:82.77 [[ 8.43635586e-01 2.92751736e-01 4.50083791e-01 3.60637767e+02] [-2.51013310e-01 9.56075122e-01 -1.51369350e-01 1.87989639e+02] [-4.74627555e-01 1.47235476e-02 8.80063578e-01 8.27738949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.66, Y:187.98, Z:82.76 [[ 8.44045419e-01 2.91357036e-01 4.50220400e-01 3.60664702e+02] [-2.49320265e-01 9.56485779e-01 -1.51572952e-01 1.87980076e+02] [-4.74791257e-01 1.56853860e-02 8.79958653e-01 8.27590457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.69, Y:187.97, Z:82.74 [[ 8.45228484e-01 2.88148344e-01 4.50065931e-01 3.60692011e+02] [-2.45637237e-01 9.57423281e-01 -1.51667432e-01 1.87970344e+02] [-4.74606320e-01 1.76406818e-02 8.80021391e-01 8.27441694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.72, Y:187.96, Z:82.73 [[ 8.45696377e-01 2.86940104e-01 4.49958903e-01 3.60719025e+02] [-2.44204398e-01 9.57770113e-01 -1.51791376e-01 1.87961861e+02] [-4.74512223e-01 1.84874739e-02 8.80054750e-01 8.27283177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.75, Y:187.94, Z:82.73 [[ 8.48806648e-01 2.75173828e-01 4.51449486e-01 3.60750919e+02] [-2.44901630e-01 9.61386156e-01 -1.25538246e-01 1.87938215e+02] [-4.68562125e-01 -4.00301738e-03 8.83421480e-01 8.27270588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:187.96, Z:82.69 [[ 8.47267351e-01 2.98367962e-01 4.39448058e-01 3.60773618e+02] [-2.43330401e-01 9.53433911e-01 -1.78196780e-01 1.87961291e+02] [-4.72152890e-01 4.40492415e-02 8.80415420e-01 8.26901605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.80, Y:187.94, Z:82.68 [[ 8.46652315e-01 2.86578395e-01 4.48388984e-01 3.60800549e+02] [-2.43941692e-01 9.57869121e-01 -1.51588910e-01 1.87937931e+02] [-4.72940069e-01 1.89623340e-02 8.80890528e-01 8.26815808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.83, Y:187.93, Z:82.67 [[ 8.46193636e-01 2.89236194e-01 4.47547489e-01 3.60827695e+02] [-2.47035570e-01 9.57095829e-01 -1.51462872e-01 1.87930462e+02] [-4.72154380e-01 1.76067690e-02 8.81340027e-01 8.26660182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.86, Y:187.92, Z:82.65 [[ 8.45892423e-01 2.91517386e-01 4.46635894e-01 3.60855235e+02] [-2.49721591e-01 9.56424073e-01 -1.51301418e-01 1.87922407e+02] [-4.71280315e-01 1.64500975e-02 8.81830062e-01 8.26500342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.88, Y:187.92, Z:82.63 [[ 8.44915969e-01 2.96111333e-01 4.45460530e-01 3.60883645e+02] [-2.55069059e-01 9.55050733e-01 -1.51055863e-01 1.87915929e+02] [-4.70166758e-01 1.40063128e-02 8.82466454e-01 8.26337398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.91, Y:187.91, Z:82.62 [[ 8.44222053e-01 2.98728120e-01 4.45028803e-01 3.60911700e+02] [-2.58029773e-01 9.54253735e-01 -1.51064379e-01 1.87907515e+02] [-4.69797576e-01 1.27011993e-02 8.82682796e-01 8.26183743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.94, Y:187.90, Z:82.60 [[ 8.43086706e-01 3.00961791e-01 4.45675674e-01 3.60940070e+02] [-2.60344890e-01 9.53565060e-01 -1.51440468e-01 1.87899235e+02] [-4.70558545e-01 1.16480612e-02 8.82291890e-01 8.26028032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.97, Y:187.89, Z:82.59 [[ 8.41522143e-01 3.04372023e-01 4.46316205e-01 3.60967691e+02] [-2.63993998e-01 9.52501459e-01 -1.51816135e-01 1.87891392e+02] [-4.71325421e-01 9.93183960e-03 8.81903457e-01 8.25882830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.99, Y:187.88, Z:82.57 [[ 8.40582748e-01 3.06475093e-01 4.46647133e-01 3.60994576e+02] [-2.66258396e-01 9.51837374e-01 -1.52026576e-01 1.87882514e+02] [-4.71727793e-01 8.86736757e-03 8.81699642e-01 8.25737107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.02, Y:187.87, Z:82.56 [[ 8.40182885e-01 3.07069234e-01 4.46991282e-01 3.61022421e+02] [-2.66813214e-01 9.51647902e-01 -1.52239874e-01 1.87873418e+02] [-4.72126497e-01 8.64615619e-03 8.81488409e-01 8.25582494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.110385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:361.05, Y:187.86, Z:82.54 [[ 8.40520148e-01 3.07333017e-01 4.46175186e-01 3.61049065e+02] [-2.67186454e-01 9.51562749e-01 -1.52117498e-01 1.87864924e+02] [-4.71314417e-01 8.64585643e-03 8.81922882e-01 8.25417931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.08, Y:187.86, Z:82.53 [[ 8.39972159e-01 3.07876070e-01 4.46832293e-01 3.61077545e+02] [-2.67596579e-01 9.51388375e-01 -1.52486824e-01 1.87856753e+02] [-4.72058093e-01 8.51389389e-03 8.81526330e-01 8.25267279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.10, Y:187.85, Z:82.51 [[ 8.39919658e-01 3.07983819e-01 4.46856728e-01 3.61104685e+02] [-2.67630163e-01 9.51352520e-01 -1.52651496e-01 1.87847867e+02] [-4.72132465e-01 8.62265323e-03 8.81485443e-01 8.25113147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.13, Y:187.84, Z:82.50 [[ 8.39956499e-01 3.08438568e-01 4.46473660e-01 3.61132271e+02] [-2.68167972e-01 9.51206630e-01 -1.52616797e-01 1.87838404e+02] [-4.71761612e-01 8.46153475e-03 8.81685536e-01 8.24960619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.16, Y:187.83, Z:82.48 [[ 8.39713851e-01 3.09115513e-01 4.46461923e-01 3.61159107e+02] [-2.68852880e-01 9.50988713e-01 -1.52769751e-01 1.87829019e+02] [-4.71803750e-01 8.25030184e-03 8.81664990e-01 8.24805938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.19, Y:187.82, Z:82.46 [[ 8.39677700e-01 3.09278659e-01 4.46416925e-01 3.61186927e+02] [-2.68967811e-01 9.50935096e-01 -1.52901144e-01 1.87819475e+02] [-4.71802582e-01 8.31589770e-03 8.81664998e-01 8.24646142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.21, Y:187.81, Z:82.45 [[ 8.39635339e-01 3.10214080e-01 4.45847195e-01 3.61214287e+02] [-2.70101567e-01 9.50634320e-01 -1.52772814e-01 1.87809820e+02] [-4.71229923e-01 7.84942730e-03 8.81975479e-01 8.24495204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.24, Y:187.80, Z:82.43 [[ 8.39203819e-01 3.12681770e-01 4.44934896e-01 3.61241098e+02] [-2.72985990e-01 9.49834895e-01 -1.52618219e-01 1.87800339e+02] [-4.70335625e-01 6.61679914e-03 8.82462814e-01 8.24343390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3503857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.27, Y:187.79, Z:82.42 [[ 8.39025379e-01 3.13709923e-01 4.44547521e-01 3.61267626e+02] [-2.74171905e-01 9.49499031e-01 -1.52582294e-01 1.87791311e+02] [-4.69964021e-01 6.13797614e-03 8.82664231e-01 8.24173034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.29, Y:187.78, Z:82.40 [[ 8.38453285e-01 3.15540436e-01 4.44331321e-01 3.61294408e+02] [-2.76198753e-01 9.48897429e-01 -1.52669310e-01 1.87782102e+02] [-4.69798189e-01 5.28232797e-03 8.82758041e-01 8.24028176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.32, Y:187.77, Z:82.39 [[ 8.38156713e-01 3.16437441e-01 4.44252935e-01 3.61321280e+02] [-2.77148999e-01 9.48600520e-01 -1.52792299e-01 1.87771942e+02] [-4.69767769e-01 4.93963472e-03 8.82776214e-01 8.23874302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.35, Y:187.76, Z:82.37 [[ 8.38007645e-01 3.17025433e-01 4.44114919e-01 3.61348534e+02] [-2.77755600e-01 9.48404992e-01 -1.52904539e-01 1.87761115e+02] [-4.69675434e-01 4.77976701e-03 8.82826223e-01 8.23715328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.37, Y:187.75, Z:82.36 [[ 8.38384569e-01 3.17367214e-01 4.43158399e-01 3.61373885e+02] [-2.78238213e-01 9.48290840e-01 -1.52734999e-01 1.87748786e+02] [-4.68716131e-01 4.74706496e-03 8.83336093e-01 8.23567649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.40, Y:187.74, Z:82.34 [[ 8.38256508e-01 3.17933062e-01 4.42995028e-01 3.61400073e+02] [-2.78857065e-01 9.48102322e-01 -1.52776715e-01 1.87738312e+02] [-4.68577383e-01 4.53378265e-03 8.83410822e-01 8.23412739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.43, Y:187.73, Z:82.33 [[ 8.38023017e-01 3.18869240e-01 4.42763854e-01 3.61426821e+02] [-2.79882715e-01 9.47789575e-01 -1.52841710e-01 1.87726606e+02] [-4.68383485e-01 4.16292124e-03 8.83515467e-01 8.23252967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:187.72, Z:82.31 [[ 8.37567529e-01 3.19451373e-01 4.43205883e-01 3.61453314e+02] [-2.80374799e-01 9.47594183e-01 -1.53151026e-01 1.87715777e+02] [-4.68903622e-01 4.01056567e-03 8.83240233e-01 8.23093159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.48, Y:187.70, Z:82.29 [[ 8.37612464e-01 3.20478437e-01 4.42378720e-01 3.61479796e+02] [-2.81609959e-01 9.47248995e-01 -1.53020169e-01 1.87702951e+02] [-4.68082463e-01 3.59334744e-03 8.83677484e-01 8.22938549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.51, Y:187.69, Z:82.28 [[ 8.37606974e-01 3.20921330e-01 4.42067933e-01 3.61505807e+02] [-2.82086862e-01 9.47099353e-01 -1.53068016e-01 1.87691925e+02] [-4.67805044e-01 3.50928138e-03 8.83824714e-01 8.22786109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.53, Y:187.68, Z:82.26 [[ 8.37487838e-01 3.21273363e-01 4.42037947e-01 3.61531479e+02] [-2.82413989e-01 9.46980150e-01 -1.53202268e-01 1.87680687e+02] [-4.67820969e-01 3.46733662e-03 8.83816451e-01 8.22634859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.680385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.56, Y:187.67, Z:82.25 [[ 8.37785362e-01 3.21342681e-01 4.41423345e-01 3.61556980e+02] [-2.82532392e-01 9.46956229e-01 -1.53131800e-01 1.87666707e+02] [-4.67216369e-01 3.57518675e-03 8.84135783e-01 8.22478254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.58, Y:187.66, Z:82.23 [[ 8.37987706e-01 3.21913367e-01 4.40622728e-01 3.61581948e+02] [-2.82737675e-01 9.46758690e-01 -1.53972044e-01 1.87656184e+02] [-4.66729056e-01 4.44603388e-03 8.84389180e-01 8.22331946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.61, Y:187.64, Z:82.22 [[ 8.38480987e-01 3.20077632e-01 4.41021477e-01 3.61608010e+02] [-2.81779255e-01 9.47386391e-01 -1.51853478e-01 1.87641498e+02] [-4.66422647e-01 3.05555075e-03 8.84556713e-01 8.22181027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.63, Y:187.63, Z:82.20 [[ 8.38687685e-01 3.20689871e-01 4.40182886e-01 3.61633948e+02] [-2.81837603e-01 9.47174438e-01 -1.53062566e-01 1.87630524e+02] [-4.66015593e-01 4.31159955e-03 8.84766002e-01 8.22022321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:187.62, Z:82.19 [[ 8.38924170e-01 3.20651673e-01 4.39759868e-01 3.61660671e+02] [-2.81797794e-01 9.47186575e-01 -1.53060760e-01 1.87618615e+02] [-4.65613832e-01 4.48300995e-03 8.84976645e-01 8.21865920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.69, Y:187.60, Z:82.17 [[ 8.38667087e-01 3.20799257e-01 4.40142426e-01 3.61686939e+02] [-2.81812325e-01 9.47136193e-01 -1.53345510e-01 1.87603947e+02] [-4.66067947e-01 4.56827148e-03 8.84737136e-01 8.21713898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.860385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:361.71, Y:187.59, Z:82.15 [[ 8.39371491e-01 3.21242529e-01 4.38473189e-01 3.61711366e+02] [-2.81829291e-01 9.46978399e-01 -1.54285976e-01 1.87590795e+02] [-4.64787856e-01 5.92866210e-03 8.85402225e-01 8.21541414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.74, Y:187.58, Z:82.14 [[ 8.38249520e-01 3.21912172e-01 4.40125319e-01 3.61738526e+02] [-2.83061377e-01 9.46761204e-01 -1.53360620e-01 1.87578379e+02] [-4.66062227e-01 3.97198705e-03 8.84743027e-01 8.21411684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.77, Y:187.57, Z:82.13 [[ 8.38249780e-01 3.22584712e-01 4.39632130e-01 3.61765297e+02] [-2.83772134e-01 9.46532643e-01 -1.53457918e-01 1.87566900e+02] [-4.65629340e-01 3.88071834e-03 8.84971332e-01 8.21254343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.79, Y:187.55, Z:82.11 [[ 8.38531039e-01 3.22302715e-01 4.39302465e-01 3.61790703e+02] [-2.83434857e-01 9.46627346e-01 -1.53497065e-01 1.87553953e+02] [-4.65328248e-01 4.19842230e-03 8.85128236e-01 8.21099165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.82, Y:187.54, Z:82.09 [[ 8.38658724e-01 3.22145277e-01 4.39174185e-01 3.61817424e+02] [-2.83232142e-01 9.46680092e-01 -1.53545942e-01 1.87542019e+02] [-4.65221558e-01 4.38439893e-03 8.85183415e-01 8.20942379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.84, Y:187.52, Z:82.08 [[ 8.39775148e-01 3.17037210e-01 4.40755158e-01 3.61843969e+02] [-2.81500963e-01 9.48411764e-01 -1.45850378e-01 1.87522546e+02] [-4.64257374e-01 -1.59147844e-03 8.85698909e-01 8.20836533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.87, Y:187.52, Z:82.06 [[ 8.39189590e-01 3.23864453e-01 4.36889743e-01 3.61868403e+02] [-2.80805565e-01 9.46011684e-01 -1.61895423e-01 1.87520245e+02] [-4.65734975e-01 1.31798820e-02 8.84826098e-01 8.20617956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.90, Y:187.50, Z:82.05 [[ 8.39082351e-01 3.19894684e-01 4.40009316e-01 3.61895426e+02] [-2.80350111e-01 9.47434006e-01 -1.54183717e-01 1.87504210e+02] [-4.66202341e-01 6.01617487e-03 8.84657664e-01 8.20486394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.92, Y:187.48, Z:82.04 [[ 8.40023831e-01 3.13920139e-01 4.42508882e-01 3.61923168e+02] [-2.79647990e-01 9.49441419e-01 -1.42681445e-01 1.87483349e+02] [-4.64926839e-01 -3.89090536e-03 8.85340553e-01 8.20379818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.95, Y:187.48, Z:82.02 [[ 8.39895654e-01 3.20065030e-01 4.38330546e-01 3.61948045e+02] [-2.79115839e-01 9.47348390e-01 -1.56924748e-01 1.87480051e+02] [-4.65477861e-01 9.45541570e-03 8.85009015e-01 8.20173404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.97, Y:187.47, Z:82.00 [[ 8.40217528e-01 3.22452402e-01 4.35957515e-01 3.61972840e+02] [-2.77435492e-01 9.46415555e-01 -1.65309240e-01 1.87472058e+02] [-4.65901335e-01 1.79456336e-02 8.84654679e-01 8.19993606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:362.00, Y:187.45, Z:81.99 [[ 8.40131201e-01 3.11945081e-01 4.43700161e-01 3.61998537e+02] [-2.76897291e-01 9.50097693e-01 -1.43674160e-01 1.87448442e+02] [-4.66376946e-01 -2.15422791e-03 8.84583463e-01 8.19910890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.02, Y:187.45, Z:81.97 [[ 8.38808603e-01 3.23465504e-01 4.37915741e-01 3.62022284e+02] [-2.77233624e-01 9.46042780e-01 -1.67763451e-01 1.87448198e+02] [-4.68552715e-01 1.93164577e-02 8.83224336e-01 8.19668413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.05, Y:187.43, Z:81.96 [[ 8.39003908e-01 3.17746191e-01 4.41712351e-01 3.62048208e+02] [-2.77305737e-01 9.48143493e-01 -1.55323677e-01 1.87430040e+02] [-4.68160199e-01 7.82780330e-03 8.83608937e-01 8.19558559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.07, Y:187.42, Z:81.94 [[ 8.39132380e-01 3.17869815e-01 4.41379236e-01 3.62074953e+02] [-2.77433154e-01 9.48101384e-01 -1.55353181e-01 1.87418741e+02] [-4.67854351e-01 7.90865067e-03 8.83770196e-01 8.19393193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.10, Y:187.41, Z:81.92 [[ 8.39338402e-01 3.17680969e-01 4.41123394e-01 3.62100920e+02] [-2.77187606e-01 9.48162417e-01 -1.55418993e-01 1.87406419e+02] [-4.67630280e-01 8.17519165e-03 8.83886354e-01 8.19227511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.13, Y:187.40, Z:81.91 [[ 8.39150879e-01 3.17909610e-01 4.41315400e-01 3.62127795e+02] [-2.77325481e-01 9.48085395e-01 -1.55642737e-01 1.87395393e+02] [-4.67885007e-01 8.21973423e-03 8.83751128e-01 8.19067193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.15, Y:187.38, Z:81.89 [[ 8.38944018e-01 3.18025054e-01 4.41625407e-01 3.62152952e+02] [-2.77311071e-01 9.48045695e-01 -1.55910005e-01 1.87382863e+02] [-4.68264354e-01 8.33215151e-03 8.83549133e-01 8.18917786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.18, Y:187.37, Z:81.88 [[ 8.38923815e-01 3.18269816e-01 4.41487437e-01 3.62179646e+02] [-2.77537191e-01 9.47963400e-01 -1.56008013e-01 1.87371296e+02] [-4.68166574e-01 8.34965418e-03 8.83600782e-01 8.18761747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.21, Y:187.36, Z:81.86 [[ 8.39191342e-01 3.18517950e-01 4.40799510e-01 3.62205183e+02] [-2.77871084e-01 9.47879948e-01 -1.55920704e-01 1.87360589e+02] [-4.67488559e-01 8.36186715e-03 8.83959573e-01 8.18610571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.23, Y:187.35, Z:81.85 [[ 8.39475149e-01 3.18905893e-01 4.39977848e-01 3.62231721e+02] [-2.78395179e-01 9.47750208e-01 -1.55774417e-01 1.87348117e+02] [-4.66666476e-01 8.28103997e-03 8.84394609e-01 8.18451937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:362.26, Y:187.34, Z:81.83 [[ 8.39096734e-01 3.19484214e-01 4.40280035e-01 3.62257580e+02] [-2.78905486e-01 9.47556678e-01 -1.56038686e-01 1.87337485e+02] [-4.67042184e-01 8.13503443e-03 8.84197613e-01 8.18299960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.28, Y:187.33, Z:81.81 [[ 8.38766824e-01 3.20050443e-01 4.40497366e-01 3.62283230e+02] [-2.79424753e-01 9.47366882e-01 -1.56261952e-01 1.87325349e+02] [-4.67324323e-01 7.98147306e-03 8.84049927e-01 8.18143343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.31, Y:187.31, Z:81.80 [[ 8.38661678e-01 3.20569539e-01 4.40320067e-01 3.62309540e+02] [-2.79970236e-01 9.47192522e-01 -1.56342550e-01 1.87314270e+02] [-4.67186534e-01 7.84199180e-03 8.84123999e-01 8.17985591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.34, Y:187.30, Z:81.78 [[ 8.38616727e-01 3.21112256e-01 4.40010119e-01 3.62335715e+02] [-2.80561035e-01 9.47009822e-01 -1.56390228e-01 1.87303306e+02] [-4.66912723e-01 7.70176626e-03 8.84269864e-01 8.17834287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.36, Y:187.29, Z:81.77 [[ 8.38078271e-01 3.22825673e-01 4.39782214e-01 3.62361738e+02] [-2.82463546e-01 9.46433294e-01 -1.56455632e-01 1.87290708e+02] [-4.66732424e-01 6.89962192e-03 8.84371664e-01 8.17680984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.39, Y:187.28, Z:81.75 [[ 8.37602304e-01 3.24279427e-01 4.39619419e-01 3.62387233e+02] [-2.84054262e-01 9.45940658e-01 -1.56554936e-01 1.87279533e+02] [-4.66621427e-01 6.25500598e-03 8.84435028e-01 8.17525525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:187.27, Z:81.74 [[ 8.37280415e-01 3.24903842e-01 4.39771531e-01 3.62414375e+02] [-2.84652527e-01 9.45727601e-01 -1.56755361e-01 1.87269153e+02] [-4.66834494e-01 6.06611622e-03 8.84323898e-01 8.17364259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:187.26, Z:81.72 [[ 8.36434424e-01 3.25698220e-01 4.40792610e-01 3.62440758e+02] [-2.85265443e-01 9.45455924e-01 -1.57279123e-01 1.87259861e+02] [-4.67975515e-01 5.81077314e-03 8.83722328e-01 8.17210768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.46, Y:187.26, Z:81.70 [[ 8.34553006e-01 3.31217166e-01 4.40245919e-01 3.62463258e+02] [-2.83359343e-01 9.43357558e-01 -1.72580420e-01 1.87261806e+02] [-4.72470912e-01 1.92797137e-02 8.81135364e-01 8.16956543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.49, Y:187.23, Z:81.70 [[ 8.35179710e-01 3.20122189e-01 4.47209834e-01 3.62493589e+02] [-2.87678356e-01 9.47312263e-01 -1.40856807e-01 1.87230954e+02] [-4.68738749e-01 -1.10118429e-02 8.83268206e-01 8.16985486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.52, Y:187.23, Z:81.68 [[ 8.35242630e-01 3.28473826e-01 4.40992851e-01 3.62519928e+02] [-2.88216376e-01 9.44502076e-01 -1.57629782e-01 1.87230957e+02] [-4.68295921e-01 4.55775179e-03 8.83559934e-01 8.16767986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.54, Y:187.23, Z:81.66 [[ 8.35180279e-01 3.28333358e-01 4.41215490e-01 3.62544514e+02] [-2.86310058e-01 9.44527431e-01 -1.60917627e-01 1.87225807e+02] [-4.69574758e-01 8.07079629e-03 8.82855826e-01 8.16579426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.57, Y:187.21, Z:81.65 [[ 8.35387063e-01 3.25500009e-01 4.42920082e-01 3.62573200e+02] [-2.87019022e-01 9.45541361e-01 -1.53530503e-01 1.87211213e+02] [-4.68773437e-01 1.13090703e-03 8.83317715e-01 8.16470075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.60, Y:187.21, Z:81.63 [[ 8.36428851e-01 3.24974919e-01 4.41336695e-01 3.62599439e+02] [-2.84012465e-01 9.45697554e-01 -1.58091922e-01 1.87207523e+02] [-4.68746943e-01 6.88752210e-03 8.83305647e-01 8.16284461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.63, Y:187.20, Z:81.61 [[ 8.37359034e-01 3.23684534e-01 4.40520342e-01 3.62627316e+02] [-2.82634654e-01 9.46133255e-01 -1.57954160e-01 1.87196482e+02] [-4.67918264e-01 7.75802869e-03 8.83737694e-01 8.16139732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.65, Y:187.19, Z:81.60 [[ 8.38468135e-01 3.22842235e-01 4.39026284e-01 3.62653420e+02] [-2.81021946e-01 9.46398479e-01 -1.59237513e-01 1.87188039e+02] [-4.66902401e-01 1.01395602e-02 8.84250721e-01 8.15980917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.68, Y:187.18, Z:81.58 [[ 8.41888152e-01 3.23262508e-01 4.32117682e-01 3.62680626e+02] [-2.77092428e-01 9.46062709e-01 -1.67884296e-01 1.87184569e+02] [-4.63081123e-01 2.16032618e-02 8.86052579e-01 8.15784873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:187.17, Z:81.57 [[ 8.41971633e-01 3.13863823e-01 4.38831710e-01 3.62708641e+02] [-2.74900929e-01 9.49442009e-01 -1.51622395e-01 1.87165499e+02] [-4.64234045e-01 7.02651110e-03 8.85684695e-01 8.15689983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:187.16, Z:81.55 [[ 8.42739277e-01 3.14585515e-01 4.36836886e-01 3.62736414e+02] [-2.73083426e-01 9.49143407e-01 -1.56691527e-01 1.87158648e+02] [-4.63913735e-01 1.27571905e-02 8.85788519e-01 8.15518220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.76, Y:187.15, Z:81.54 [[ 8.42949259e-01 3.11896223e-01 4.38357496e-01 3.62761951e+02] [-2.69837100e-01 9.50011488e-01 -1.57054486e-01 1.87150282e+02] [-4.65429358e-01 1.41038466e-02 8.84972652e-01 8.15377503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.79, Y:187.14, Z:81.52 [[ 8.43777062e-01 3.12159648e-01 4.36573732e-01 3.62789517e+02] [-2.68300892e-01 9.49851690e-01 -1.60612573e-01 1.87143302e+02] [-4.64817062e-01 1.83880835e-02 8.85215780e-01 8.15205326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.82, Y:187.13, Z:81.51 [[ 8.42849694e-01 3.03117617e-01 4.44661785e-01 3.62817331e+02] [-2.64768780e-01 9.52929029e-01 -1.47728664e-01 1.87128042e+02] [-4.68510284e-01 6.78050089e-03 8.83432023e-01 8.15109644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.85, Y:187.12, Z:81.49 [[ 8.43146622e-01 3.07794523e-01 4.40869942e-01 3.62845069e+02] [-2.64225610e-01 9.51293276e-01 -1.58826728e-01 1.87124807e+02] [-4.68282609e-01 1.74250901e-02 8.83406908e-01 8.14914411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:187.11, Z:81.48 [[ 8.43101815e-01 3.07988554e-01 4.40820122e-01 3.62872701e+02] [-2.64372395e-01 9.51229414e-01 -1.58964898e-01 1.87114838e+02] [-4.68280436e-01 1.74829221e-02 8.83406917e-01 8.14754413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:187.11, Z:81.46 [[ 8.44163977e-01 3.06152177e-01 4.40065932e-01 3.62900797e+02] [-2.62417130e-01 9.51801754e-01 -1.58778686e-01 1.87106974e+02] [-4.67465966e-01 1.85544079e-02 8.83816330e-01 8.14603539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:187.10, Z:81.45 [[ 8.43730776e-01 3.04975658e-01 4.41710567e-01 3.62927880e+02] [-2.60687110e-01 9.52162615e-01 -1.59463430e-01 1.87097833e+02] [-4.69212753e-01 1.93959524e-02 8.82872125e-01 8.14457955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.96, Y:187.09, Z:81.43 [[ 8.43829545e-01 3.04087402e-01 4.42134087e-01 3.62955007e+02] [-2.59510782e-01 9.52432483e-01 -1.59770206e-01 1.87089775e+02] [-4.69686973e-01 2.00802576e-02 8.82604629e-01 8.14306306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.98, Y:187.08, Z:81.42 [[ 8.44112395e-01 3.02514677e-01 4.42672717e-01 3.62983655e+02] [-2.57541362e-01 9.52910205e-01 -1.60108054e-01 1.87082322e+02] [-4.70262386e-01 2.11426587e-02 8.82273357e-01 8.14150675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.330385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:363.01, Y:187.08, Z:81.40 [[ 8.44753240e-01 3.00518561e-01 4.42809844e-01 3.63008028e+02] [-2.53320957e-01 9.53416458e-01 -1.63785072e-01 1.87081100e+02] [-4.71402647e-01 2.61849570e-02 8.81529292e-01 8.13975496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:187.06, Z:81.39 [[ 8.45888419e-01 2.90903354e-01 4.47043645e-01 3.63038411e+02] [-2.54593837e-01 9.56737665e-01 -1.40836847e-01 1.87058889e+02] [-4.68673405e-01 5.31770073e-03 8.83355513e-01 8.13928530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:187.07, Z:81.36 [[ 8.47318160e-01 3.02558475e-01 4.36474861e-01 3.63067100e+02] [-2.53899357e-01 9.52624310e-01 -1.67457576e-01 1.87069120e+02] [-4.66462273e-01 3.10691587e-02 8.83995280e-01 8.13641885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.09, Y:187.05, Z:81.36 [[ 8.47758590e-01 2.94254111e-01 4.41270768e-01 3.63093214e+02] [-2.54023752e-01 9.55618664e-01 -1.49214286e-01 1.87051739e+02] [-4.65593499e-01 1.44044363e-02 8.84881465e-01 8.13569283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.450385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:363.12, Y:187.07, Z:81.33 [[ 8.48651702e-01 3.05670550e-01 4.31689476e-01 3.63118670e+02] [-2.52518942e-01 9.51240645e-01 -1.77131077e-01 1.87065304e+02] [-4.64784329e-01 4.13128202e-02 8.84459597e-01 8.13267822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:187.04, Z:81.32 [[ 8.47804316e-01 2.96765471e-01 4.39497551e-01 3.63150166e+02] [-2.55078551e-01 9.54793349e-01 -1.52658420e-01 1.87040651e+02] [-4.64933087e-01 1.73180683e-02 8.85176428e-01 8.13224122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.18, Y:187.04, Z:81.31 [[ 8.48101048e-01 2.99017916e-01 4.37393299e-01 3.63178360e+02] [-2.55199497e-01 9.53997694e-01 -1.57358244e-01 1.87035720e+02] [-4.64325132e-01 2.18331419e-02 8.85395666e-01 8.13059978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:187.03, Z:81.29 [[ 8.47695806e-01 2.96046055e-01 4.40191497e-01 3.63207786e+02] [-2.54317637e-01 9.55015987e-01 -1.52535253e-01 1.87027706e+02] [-4.65547377e-01 1.73550325e-02 8.84852780e-01 8.12932567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.24, Y:187.02, Z:81.28 [[ 8.47599055e-01 2.99198877e-01 4.38241799e-01 3.63236063e+02] [-2.54260163e-01 9.53895077e-01 -1.59486527e-01 1.87024268e+02] [-4.65754884e-01 2.37531979e-02 8.84594921e-01 8.12753025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6003857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:363.26, Y:187.02, Z:81.26 [[ 8.46588178e-01 2.99090131e-01 4.40265318e-01 3.63264457e+02] [-2.53603881e-01 9.53919893e-01 -1.60380513e-01 1.87021783e+02] [-4.67946074e-01 2.41232527e-02 8.83427722e-01 8.12596988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.630385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:363.29, Y:187.02, Z:81.24 [[ 8.45610687e-01 2.99710278e-01 4.41719725e-01 3.63289762e+02] [-2.51241329e-01 9.53576258e-01 -1.66042510e-01 1.87022417e+02] [-4.70978089e-01 2.94290706e-02 8.81653883e-01 8.12412669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.660385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:363.32, Y:187.01, Z:81.23 [[ 8.43953485e-01 2.97516641e-01 4.46347805e-01 3.63321328e+02] [-2.55669070e-01 9.54600287e-01 -1.52877793e-01 1.87006765e+02] [-4.71567430e-01 1.49044178e-02 8.81704042e-01 8.12324089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.35, Y:187.00, Z:81.22 [[ 8.43228489e-01 3.03286509e-01 4.43827679e-01 3.63350394e+02] [-2.57334129e-01 9.52634977e-01 -1.62067106e-01 1.87004821e+02] [-4.71958538e-01 2.24475913e-02 8.81334922e-01 8.12154468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.38, Y:187.00, Z:81.20 [[ 8.42458830e-01 3.05389093e-01 4.43847522e-01 3.63378784e+02] [-2.59621133e-01 9.51986226e-01 -1.62231602e-01 1.87002942e+02] [-4.72080489e-01 2.14412493e-02 8.81294664e-01 8.11996332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.750385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:363.41, Y:187.00, Z:81.18 [[ 8.42584230e-01 3.06195991e-01 4.43052853e-01 3.63406457e+02] [-2.60658248e-01 9.51735851e-01 -1.62037490e-01 1.86996713e+02] [-4.71284513e-01 2.10448531e-02 8.81730130e-01 8.11829527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.43, Y:186.99, Z:81.17 [[ 8.43235845e-01 3.01574606e-01 4.44978727e-01 3.63434633e+02] [-2.60593651e-01 9.53361147e-01 -1.52294034e-01 1.86987198e+02] [-4.70153442e-01 1.24611575e-02 8.82496720e-01 8.11736976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.46, Y:186.99, Z:81.15 [[ 8.42856866e-01 3.10111432e-01 4.39799050e-01 3.63463932e+02] [-2.61381317e-01 9.50299118e-01 -1.69149030e-01 1.86991770e+02] [-4.70395697e-01 2.76131667e-02 8.82023470e-01 8.11511182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.49, Y:186.97, Z:81.15 [[ 8.44553108e-01 2.97429616e-01 4.45270335e-01 3.63492856e+02] [-2.61388462e-01 9.54737316e-01 -1.41960310e-01 1.86971655e+02] [-4.67339405e-01 3.50449295e-03 8.84071038e-01 8.11486259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.52, Y:186.99, Z:81.12 [[ 8.43492945e-01 3.14337920e-01 4.35558635e-01 3.63520298e+02] [-2.60556712e-01 9.48537898e-01 -1.79961262e-01 1.86988441e+02] [-4.69712521e-01 3.83083294e-02 8.81987880e-01 8.11174208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.55, Y:186.97, Z:81.11 [[ 8.43654054e-01 3.05662416e-01 4.41382290e-01 3.63547820e+02] [-2.60107655e-01 9.51888350e-01 -1.62026471e-01 1.86972540e+02] [-4.69672062e-01 2.18873769e-02 8.82569599e-01 8.11066067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.58, Y:186.96, Z:81.10 [[ 8.47171241e-01 2.99563601e-01 4.38819483e-01 3.63576046e+02] [-2.60717320e-01 9.54013881e-01 -1.47932396e-01 1.86961382e+02] [-4.62955039e-01 1.09162317e-02 8.86314542e-01 8.11010521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.60, Y:186.97, Z:81.07 [[ 8.44889329e-01 3.08789066e-01 4.36819567e-01 3.63604368e+02] [-2.59157213e-01 9.50623516e-01 -1.70740943e-01 1.86969816e+02] [-4.67973889e-01 3.10522590e-02 8.83196579e-01 8.10725138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.63, Y:186.96, Z:81.06 [[ 8.45006662e-01 3.04259326e-01 4.39761304e-01 3.63632320e+02] [-2.58634346e-01 9.52309677e-01 -1.61909094e-01 1.86958135e+02] [-4.68051297e-01 2.30768862e-02 8.83399933e-01 8.10588123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.020385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:363.66, Y:186.95, Z:81.04 [[ 8.45677654e-01 3.02505254e-01 4.39681564e-01 3.63660229e+02] [-2.56592289e-01 9.52840140e-01 -1.62037233e-01 1.86953994e+02] [-4.67963357e-01 2.42123683e-02 8.83416129e-01 8.10428513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.69, Y:186.95, Z:81.03 [[ 8.45242321e-01 3.02334204e-01 4.40635277e-01 3.63688691e+02] [-2.56105463e-01 9.52886230e-01 -1.62535612e-01 1.86946793e+02] [-4.69015363e-01 2.45328762e-02 8.82849210e-01 8.10284725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.72, Y:186.94, Z:81.01 [[ 8.45260404e-01 3.02218621e-01 4.40679877e-01 3.63715886e+02] [-2.55880895e-01 9.52916732e-01 -1.62710384e-01 1.86940543e+02] [-4.69105336e-01 2.47710836e-02 8.82794754e-01 8.10134539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.74, Y:186.94, Z:81.00 [[ 8.45471087e-01 3.03338131e-01 4.39504972e-01 3.63744878e+02] [-2.57358346e-01 9.52576362e-01 -1.62372892e-01 1.86937745e+02] [-4.67915937e-01 2.41713133e-02 8.83442372e-01 8.09975361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.77, Y:186.93, Z:80.98 [[ 8.44992983e-01 3.04161106e-01 4.39855521e-01 3.63772886e+02] [-2.58130572e-01 9.52320900e-01 -1.62645353e-01 1.86931605e+02] [-4.68353996e-01 2.38940245e-02 8.83217759e-01 8.09821035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.80, Y:186.93, Z:80.97 [[ 8.43599790e-01 3.06282995e-01 4.41055690e-01 3.63802874e+02] [-2.60201809e-01 9.51665087e-01 -1.63182663e-01 1.86927440e+02] [-4.69717376e-01 2.28973724e-02 8.82519857e-01 8.09669862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.83, Y:186.92, Z:80.95 [[ 8.42892365e-01 3.07577091e-01 4.41507411e-01 3.63831083e+02] [-2.61476654e-01 9.51260076e-01 -1.63506047e-01 1.86920326e+02] [-4.70279088e-01 2.23741185e-02 8.82234084e-01 8.09515247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.86, Y:186.92, Z:80.94 [[ 8.41811000e-01 3.10777115e-01 4.41329611e-01 3.63860172e+02] [-2.65042749e-01 9.50256293e-01 -1.63601094e-01 1.86917052e+02] [-4.70219717e-01 2.07499873e-02 8.82305421e-01 8.09362409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.89, Y:186.91, Z:80.92 [[ 8.41468841e-01 3.12922244e-01 4.40465503e-01 3.63888842e+02] [-2.67577355e-01 9.49575198e-01 -1.63429811e-01 1.86910770e+02] [-4.69395940e-01 1.96624994e-02 8.82768847e-01 8.09205092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:186.90, Z:80.90 [[ 8.40861405e-01 3.15104689e-01 4.40069463e-01 3.63916416e+02] [-2.70045763e-01 9.48874844e-01 -1.63437501e-01 1.86904863e+02] [-4.69070766e-01 1.85893926e-02 8.82964921e-01 8.09047203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.320385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:363.95, Y:186.90, Z:80.89 [[ 8.40000032e-01 3.18862808e-01 4.39006214e-01 3.63945483e+02] [-2.74443559e-01 9.47655615e-01 -1.63185688e-01 1.86901511e+02] [-4.68060550e-01 1.65935557e-02 8.83540591e-01 8.08871962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3503857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:363.97, Y:186.89, Z:80.87 [[ 8.38901809e-01 3.20968999e-01 4.39570992e-01 3.63974306e+02] [-2.76614585e-01 9.46961013e-01 -1.63551860e-01 1.86894342e+02] [-4.68751669e-01 1.56122038e-02 8.83192013e-01 8.08718664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.00, Y:186.89, Z:80.86 [[ 8.37224903e-01 3.24203972e-01 4.40393287e-01 3.64003342e+02] [-2.80005424e-01 9.45883511e-01 -1.64016299e-01 1.86889729e+02] [-4.69735484e-01 1.40060212e-02 8.82696101e-01 8.08577136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.410385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:364.03, Y:186.88, Z:80.84 [[ 8.36808763e-01 3.25613049e-01 4.40144563e-01 3.64031179e+02] [-2.81572889e-01 9.45408682e-01 -1.64070509e-01 1.86882150e+02] [-4.69539990e-01 1.33628635e-02 8.82810077e-01 8.08407938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:364.06, Y:186.87, Z:80.83 [[ 8.36284945e-01 3.27195009e-01 4.39966950e-01 3.64059286e+02] [-2.83316699e-01 9.44872393e-01 -1.64157878e-01 1.86874197e+02] [-4.69424264e-01 1.26327784e-02 8.82882367e-01 8.08251546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.09, Y:186.87, Z:80.81 [[ 8.35322674e-01 3.29147103e-01 4.40338750e-01 3.64088094e+02] [-2.85361714e-01 9.44206014e-01 -1.64449675e-01 1.86868535e+02] [-4.69898630e-01 1.17127214e-02 8.82642674e-01 8.08107989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.500385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:364.12, Y:186.86, Z:80.79 [[ 8.34792340e-01 3.29371152e-01 4.41176148e-01 3.64116187e+02] [-2.85359694e-01 9.44127199e-01 -1.64905054e-01 1.86861145e+02] [-4.70841369e-01 1.17675848e-02 8.82139405e-01 8.07941371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.14, Y:186.85, Z:80.78 [[ 8.33951907e-01 3.29692322e-01 4.42523660e-01 3.64144750e+02] [-2.85348551e-01 9.44014668e-01 -1.65567239e-01 1.86851801e+02] [-4.72335074e-01 1.18016292e-02 8.81340059e-01 8.07795983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.17, Y:186.84, Z:80.76 [[ 8.33577206e-01 3.29861709e-01 4.43103029e-01 3.64171779e+02] [-2.85329063e-01 9.43954291e-01 -1.65944639e-01 1.86842731e+02] [-4.73007788e-01 1.18974962e-02 8.80977913e-01 8.07644476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.20, Y:186.83, Z:80.75 [[ 8.33137905e-01 3.30415852e-01 4.43516175e-01 3.64199514e+02] [-2.85814138e-01 9.43762898e-01 -1.66198290e-01 1.86833034e+02] [-4.73488660e-01 1.17029016e-02 8.80722165e-01 8.07484760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.23, Y:186.82, Z:80.73 [[ 8.33224538e-01 3.32005329e-01 4.42164372e-01 3.64227112e+02] [-2.87822206e-01 9.43214264e-01 -1.65847006e-01 1.86824421e+02] [-4.72117833e-01 1.09230702e-02 8.81467775e-01 8.07336897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.26, Y:186.82, Z:80.72 [[ 8.33311550e-01 3.37228068e-01 4.38028641e-01 3.64255693e+02] [-2.90921446e-01 9.41299338e-01 -1.71231625e-01 1.86820692e+02] [-4.70060180e-01 1.52573650e-02 8.82502487e-01 8.07162094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:186.81, Z:80.70 [[ 8.32123093e-01 3.32907031e-01 4.43558415e-01 3.64281573e+02] [-2.91827904e-01 9.42951582e-01 -1.60246027e-01 1.86806524e+02] [-4.71601138e-01 3.90169664e-03 8.81803348e-01 8.07032013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.31, Y:186.80, Z:80.69 [[ 8.31622547e-01 3.36722672e-01 4.41612705e-01 3.64309282e+02] [-2.93098242e-01 9.41564619e-01 -1.65980387e-01 1.86800192e+02] [-4.71696258e-01 8.59712444e-03 8.81719190e-01 8.06866147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.34, Y:186.80, Z:80.67 [[ 8.32114806e-01 3.40687836e-01 4.37626265e-01 3.64336379e+02] [-2.93850562e-01 9.40049861e-01 -1.73084103e-01 1.86795333e+02] [-4.70358158e-01 1.54291212e-02 8.82340720e-01 8.06704775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.36, Y:186.78, Z:80.66 [[ 8.31587998e-01 3.32651713e-01 4.44751885e-01 3.64362547e+02] [-2.92741771e-01 9.43049009e-01 -1.57989943e-01 1.86777090e+02] [-4.71978450e-01 1.18508654e-03 8.81609289e-01 8.06580741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:364.39, Y:186.77, Z:80.64 [[ 8.32569157e-01 3.35672783e-01 4.40627259e-01 3.64390891e+02] [-2.91969815e-01 9.41931101e-01 -1.65889808e-01 1.86771383e+02] [-4.70725213e-01 9.46487856e-03 8.82229103e-01 8.06408432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.42, Y:186.77, Z:80.62 [[ 8.33503109e-01 3.38312921e-01 4.36825979e-01 3.64418637e+02] [-2.91835709e-01 9.40901607e-01 -1.71860657e-01 1.86765167e+02] [-4.69152946e-01 1.57649728e-02 8.82976205e-01 8.06243299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.44, Y:186.75, Z:80.61 [[ 8.33115663e-01 3.31541805e-01 4.42716979e-01 3.64444930e+02] [-2.90840289e-01 9.43432558e-01 -1.59207205e-01 1.86748547e+02] [-4.70457456e-01 3.87808208e-03 8.82414156e-01 8.06110400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.47, Y:186.74, Z:80.60 [[ 8.34097383e-01 3.31920204e-01 4.40579770e-01 3.64471996e+02] [-2.87465723e-01 9.43229559e-01 -1.66377454e-01 1.86743398e+02] [-4.70791901e-01 1.21234166e-02 8.82160988e-01 8.05950441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.50, Y:186.74, Z:80.57 [[ 8.33949096e-01 3.34748924e-01 4.38716382e-01 3.64496631e+02] [-2.84975742e-01 9.42034958e-01 -1.77084626e-01 1.86741169e+02] [-4.72565056e-01 2.26560375e-02 8.81004524e-01 8.05737702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.52, Y:186.72, Z:80.57 [[ 8.35876043e-01 3.22468432e-01 4.44213182e-01 3.64523336e+02] [-2.83219623e-01 9.46575161e-01 -1.54214491e-01 1.86717010e+02] [-4.70210469e-01 3.09430861e-03 8.82548888e-01 8.05674731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.55, Y:186.71, Z:80.55 [[ 8.36032360e-01 3.27305271e-01 4.40364796e-01 3.64551814e+02] [-2.82092801e-01 9.44797621e-01 -1.66676657e-01 1.86713542e+02] [-4.70609760e-01 1.51233403e-02 8.82211845e-01 8.05499892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:186.70, Z:80.54 [[ 8.35851843e-01 3.26442338e-01 4.41346913e-01 3.64579283e+02] [-2.80812947e-01 9.45084605e-01 -1.67209981e-01 1.86704938e+02] [-4.71694590e-01 1.58268437e-02 8.81619944e-01 8.05351155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.61, Y:186.70, Z:80.52 [[ 8.35705737e-01 3.26624497e-01 4.41488799e-01 3.64606855e+02] [-2.80934190e-01 9.45021498e-01 -1.67362925e-01 1.86695290e+02] [-4.71881237e-01 1.58368587e-02 8.81519876e-01 8.05190991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.63, Y:186.68, Z:80.50 [[ 8.35668113e-01 3.26792375e-01 4.41435782e-01 3.64634354e+02] [-2.81050306e-01 9.44962213e-01 -1.67502659e-01 1.86684849e+02] [-4.71878725e-01 1.59109697e-02 8.81519886e-01 8.05030985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:186.67, Z:80.49 [[ 8.35859509e-01 3.27089064e-01 4.40853293e-01 3.64661751e+02] [-2.81479234e-01 9.44861587e-01 -1.67349997e-01 1.86674939e+02] [-4.71283697e-01 1.57900390e-02 8.81840321e-01 8.04875278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.69, Y:186.67, Z:80.47 [[ 8.36191980e-01 3.27262464e-01 4.40093459e-01 3.64688967e+02] [-2.81759429e-01 9.44800900e-01 -1.67221062e-01 1.86666008e+02] [-4.70525873e-01 1.58284296e-02 8.82244220e-01 8.04723743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.72, Y:186.66, Z:80.46 [[ 8.35906420e-01 3.27385220e-01 4.40544407e-01 3.64715815e+02] [-2.81717997e-01 9.44756500e-01 -1.67541414e-01 1.86656767e+02] [-4.71057775e-01 1.59396551e-02 8.81958332e-01 8.04570268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:186.65, Z:80.44 [[ 8.34883929e-01 3.27578129e-01 4.42336291e-01 3.64743779e+02] [-2.81455457e-01 9.44687393e-01 -1.68370293e-01 1.86648612e+02] [-4.73023943e-01 1.60716884e-02 8.80902974e-01 8.04418134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.77, Y:186.64, Z:80.43 [[ 8.34429760e-01 3.28077369e-01 4.42823008e-01 3.64770919e+02] [-2.81825950e-01 9.44515675e-01 -1.68713587e-01 1.86639526e+02] [-4.73604382e-01 1.59806232e-02 8.80592703e-01 8.04261798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.80, Y:186.63, Z:80.41 [[ 8.33784877e-01 3.29261240e-01 4.43158904e-01 3.64797661e+02] [-2.83004283e-01 9.44111714e-01 -1.69001913e-01 1.86630536e+02] [-4.74037292e-01 1.54953712e-02 8.80368411e-01 8.04106751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.280385723 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:364.82, Y:186.62, Z:80.39 [[ 8.33334594e-01 3.32506897e-01 4.41579686e-01 3.64824437e+02] [-2.86978717e-01 9.43001442e-01 -1.68497767e-01 1.86622990e+02] [-4.72436950e-01 1.36910469e-02 8.81258126e-01 8.03936494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.85, Y:186.61, Z:80.38 [[ 8.32197743e-01 3.34966424e-01 4.41864697e-01 3.64851851e+02] [-2.89612623e-01 9.42147424e-01 -1.68768365e-01 1.86614042e+02] [-4.72833422e-01 1.24790588e-02 8.81063464e-01 8.03793737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3403857229999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:364.88, Y:186.60, Z:80.36 [[ 8.31554201e-01 3.37318776e-01 4.41286363e-01 3.64879016e+02] [-2.92349596e-01 9.41323510e-01 -1.68646860e-01 1.86604832e+02] [-4.72280980e-01 1.12291151e-02 8.81376527e-01 8.03622218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.91, Y:186.60, Z:80.35 [[ 8.28672648e-01 3.41269136e-01 4.43663182e-01 3.64908165e+02] [-2.96221595e-01 9.39920471e-01 -1.69712332e-01 1.86597021e+02] [-4.74925688e-01 9.21335218e-03 8.79977673e-01 8.03476054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.94, Y:186.59, Z:80.33 [[ 8.27895968e-01 3.42656457e-01 4.44043713e-01 3.64935141e+02] [-2.97626491e-01 9.39421438e-01 -1.70017159e-01 1.86588045e+02] [-4.75401660e-01 8.59734845e-03 8.79726859e-01 8.03320108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.430385723 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:364.96, Y:186.58, Z:80.31 [[ 8.27353775e-01 3.44009601e-01 4.44008024e-01 3.64961618e+02] [-2.99089798e-01 9.38932244e-01 -1.70151505e-01 1.86578872e+02] [-4.75427202e-01 7.97721937e-03 8.79718898e-01 8.03135928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.99, Y:186.57, Z:80.30 [[ 8.26436287e-01 3.44959399e-01 4.44978738e-01 3.64988922e+02] [-2.99870151e-01 9.38586647e-01 -1.70683912e-01 1.86568620e+02] [-4.76530121e-01 7.62353679e-03 8.79125091e-01 8.03006750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.490385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:365.01, Y:186.56, Z:80.28 [[ 8.26794466e-01 3.45543925e-01 4.43858431e-01 3.65014665e+02] [-3.00696957e-01 9.38373233e-01 -1.70402510e-01 1.86558603e+02] [-4.75386423e-01 7.42097249e-03 8.79745803e-01 8.02832226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.04, Y:186.55, Z:80.27 [[ 8.25946267e-01 3.46709020e-01 4.44528536e-01 3.65042456e+02] [-3.01788791e-01 9.37947117e-01 -1.70817832e-01 1.86547496e+02] [-4.76168342e-01 6.93262115e-03 8.79326816e-01 8.02686747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.07, Y:186.54, Z:80.25 [[ 8.25915237e-01 3.47507843e-01 4.43962071e-01 3.65068828e+02] [-3.02730905e-01 9.37653608e-01 -1.70762145e-01 1.86536562e+02] [-4.75623822e-01 6.63401838e-03 8.79623766e-01 8.02532221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.10, Y:186.52, Z:80.24 [[ 8.24891397e-01 3.49390104e-01 4.44388049e-01 3.65095162e+02] [-3.04721777e-01 9.36960232e-01 -1.71026789e-01 1.86524808e+02] [-4.76128997e-01 5.66381065e-03 8.79357208e-01 8.02375841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.12, Y:186.51, Z:80.22 [[ 8.23990777e-01 3.50961579e-01 4.44820380e-01 3.65122247e+02] [-3.06327099e-01 9.36376865e-01 -1.71353656e-01 1.86513516e+02] [-4.76658062e-01 4.93329567e-03 8.79074942e-01 8.02216151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.15, Y:186.50, Z:80.21 [[ 8.23078344e-01 3.52669087e-01 4.45159022e-01 3.65147742e+02] [-3.08108475e-01 9.35739039e-01 -1.71643874e-01 1.86502597e+02] [-4.77086163e-01 4.11908866e-03 8.78846873e-01 8.02064995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.670385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:365.17, Y:186.49, Z:80.19 [[ 8.21366298e-01 3.56450546e-01 4.45309346e-01 3.65172598e+02] [-3.12295852e-01 9.34311867e-01 -1.71850620e-01 1.86489754e+02] [-4.77314054e-01 2.08404568e-03 8.78730306e-01 8.01891670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.700385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:365.20, Y:186.48, Z:80.18 [[ 8.20306324e-01 3.58621606e-01 4.45520010e-01 3.65198304e+02] [-3.14635774e-01 9.33482493e-01 -1.72089409e-01 1.86478169e+02] [-4.77600109e-01 9.89497600e-04 8.78576779e-01 8.01750142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.22, Y:186.46, Z:80.16 [[ 8.18858051e-01 3.63010723e-01 4.44628729e-01 3.65223935e+02] [-3.19737579e-01 9.31783895e-01 -1.71891401e-01 1.86464397e+02] [-4.76696311e-01 -1.40985546e-03 8.79066914e-01 8.01594913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.760385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:365.25, Y:186.46, Z:80.14 [[ 8.20369417e-01 3.70791289e-01 4.35324982e-01 3.65250788e+02] [-3.22113730e-01 9.28654632e-01 -1.83965540e-01 1.86459353e+02] [-4.72479381e-01 1.06955490e-02 8.81276824e-01 8.01392624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.27, Y:186.44, Z:80.13 [[ 8.18894063e-01 3.64751425e-01 4.43135319e-01 3.65274648e+02] [-3.24622063e-01 9.31074648e-01 -1.66494796e-01 1.86438873e+02] [-4.73321276e-01 -7.50990115e-03 8.80857861e-01 8.01289030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.30, Y:186.43, Z:80.11 [[ 8.18793501e-01 3.71942166e-01 4.37305645e-01 3.65300874e+02] [-3.26792732e-01 9.28252437e-01 -1.77634242e-01 1.86432234e+02] [-4.71999696e-01 2.53745606e-03 8.81595059e-01 8.01116896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8503857229999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:365.32, Y:186.41, Z:80.10 [[ 8.16516617e-01 3.61732767e-01 4.49944464e-01 3.65321606e+02] [-3.27059751e-01 9.32068784e-01 -1.55819449e-01 1.86408340e+02] [-4.75744190e-01 -1.99295554e-02 8.79357879e-01 8.00988493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.35, Y:186.40, Z:80.08 [[ 8.14957986e-01 3.70898380e-01 4.45284036e-01 3.65349291e+02] [-3.28246302e-01 9.28657965e-01 -1.72767905e-01 1.86401128e+02] [-4.77595903e-01 -5.36425447e-03 8.78563247e-01 8.00822838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.37, Y:186.39, Z:80.07 [[ 8.14619889e-01 3.71593156e-01 4.45323437e-01 3.65374131e+02] [-3.28940237e-01 9.28378798e-01 -1.72948338e-01 1.86388729e+02] [-4.77695256e-01 -5.59764067e-03 8.78507774e-01 8.00671330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:365.40, Y:186.38, Z:80.05 [[ 8.15959613e-01 3.76611621e-01 4.38604147e-01 3.65400985e+02] [-3.29403503e-01 9.26360156e-01 -1.82620354e-01 1.86381493e+02] [-4.75082354e-01 4.53309073e-03 8.79929661e-01 8.00491018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.42, Y:186.36, Z:80.04 [[ 8.14768752e-01 3.67870393e-01 4.48133076e-01 3.65422800e+02] [-3.29584855e-01 9.29770695e-01 -1.64013043e-01 1.86355363e+02] [-4.76996545e-01 -1.40651726e-02 8.78792619e-01 8.00371006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.45, Y:186.35, Z:80.02 [[ 8.14844705e-01 3.72008664e-01 4.44564575e-01 3.65449169e+02] [-3.29366952e-01 9.28213334e-01 -1.73024325e-01 1.86346119e+02] [-4.77017315e-01 -5.43692399e-03 8.78877080e-01 8.00193179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.47, Y:186.33, Z:80.00 [[ 8.14880425e-01 3.72311301e-01 4.44245639e-01 3.65473547e+02] [-3.29687966e-01 9.28091991e-01 -1.73063864e-01 1.86328288e+02] [-4.76734452e-01 -5.43608607e-03 8.79030552e-01 8.00029771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.50, Y:186.31, Z:79.99 [[ 8.14793973e-01 3.72861606e-01 4.43942568e-01 3.65498648e+02] [-3.30287628e-01 9.27870189e-01 -1.73109778e-01 1.86314113e+02] [-4.76467064e-01 -5.57993421e-03 8.79174613e-01 7.99876193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.52, Y:186.30, Z:79.97 [[ 8.14348743e-01 3.74552929e-01 4.43335346e-01 3.65522709e+02] [-3.32254601e-01 9.27183465e-01 -1.73025152e-01 1.86295738e+02] [-4.75860280e-01 -6.39739415e-03 8.79497622e-01 7.99720318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.55, Y:186.28, Z:79.96 [[ 8.13899290e-01 3.75729850e-01 4.43164783e-01 3.65548232e+02] [-3.33543591e-01 9.26703437e-01 -1.73116760e-01 1.86281661e+02] [-4.75727462e-01 -6.91516536e-03 8.79565553e-01 7.99563591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:186.27, Z:79.94 [[ 8.13622742e-01 3.76655670e-01 4.42886599e-01 3.65572937e+02] [-3.34564011e-01 9.26324768e-01 -1.73174325e-01 1.86267795e+02] [-4.75483918e-01 -7.27534726e-03 8.79694330e-01 7.99410418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.180385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:365.60, Y:186.25, Z:79.92 [[ 8.14004024e-01 3.77394210e-01 4.41555273e-01 3.65595860e+02] [-3.35617531e-01 9.26021765e-01 -1.72755792e-01 1.86249158e+02] [-4.74086829e-01 -7.56978028e-03 8.80445556e-01 7.99240785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.210385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:365.62, Y:186.23, Z:79.91 [[ 8.13425199e-01 3.77644213e-01 4.42407385e-01 3.65621640e+02] [-3.35641046e-01 9.25919919e-01 -1.73255278e-01 1.86234594e+02] [-4.75062663e-01 -7.55986849e-03 8.79919493e-01 7.99088220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.65, Y:186.22, Z:79.89 [[ 8.13695966e-01 3.77175381e-01 4.42309402e-01 3.65645104e+02] [-3.35037282e-01 9.26114571e-01 -1.73383452e-01 1.86216550e+02] [-4.75025151e-01 -7.10872465e-03 8.79943505e-01 7.98935987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.67, Y:186.20, Z:79.88 [[ 8.14421900e-01 3.76592077e-01 4.41469565e-01 3.65670213e+02] [-3.34460475e-01 9.26355757e-01 -1.73208551e-01 1.86202246e+02] [-4.74186842e-01 -6.58928292e-03 8.80399580e-01 7.98776860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.70, Y:186.19, Z:79.86 [[ 8.14745166e-01 3.75743486e-01 4.41596137e-01 3.65695095e+02] [-3.33381257e-01 9.26704767e-01 -1.73422063e-01 1.86187956e+02] [-4.74391456e-01 -5.92508798e-03 8.80294065e-01 7.98621053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.72, Y:186.17, Z:79.85 [[ 8.15741159e-01 3.73476513e-01 4.41680491e-01 3.65718910e+02] [-3.30703695e-01 9.27628979e-01 -1.73607444e-01 1.86169053e+02] [-4.74553925e-01 -4.44663238e-03 8.80215201e-01 7.98469742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.74, Y:186.16, Z:79.83 [[ 8.17607617e-01 3.77913972e-01 4.34394768e-01 3.65744052e+02] [-3.29562585e-01 9.25804337e-01 -1.85134631e-01 1.86160994e+02] [-4.72129524e-01 8.20722238e-03 8.81490984e-01 7.98283648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.77, Y:186.13, Z:79.82 [[ 8.16847698e-01 3.65099382e-01 4.46612001e-01 3.65765301e+02] [-3.26984390e-01 9.30878537e-01 -1.62930534e-01 1.86129828e+02] [-4.75227364e-01 -1.29457210e-02 8.79767788e-01 7.98203388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.79, Y:186.12, Z:79.80 [[ 8.17186012e-01 3.69893258e-01 4.42024886e-01 3.65790294e+02] [-3.26381176e-01 9.29072061e-01 -1.74070198e-01 1.86121906e+02] [-4.75060364e-01 -2.02087098e-03 8.79950889e-01 7.98023079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.82, Y:186.11, Z:79.79 [[ 8.17630971e-01 3.69355278e-01 4.41651757e-01 3.65815707e+02] [-3.25766352e-01 9.29286978e-01 -1.74074688e-01 1.86107903e+02] [-4.74716631e-01 -1.54642590e-03 8.80137335e-01 7.97860813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.84, Y:186.09, Z:79.77 [[ 8.17967206e-01 3.69017240e-01 4.41311598e-01 3.65839631e+02] [-3.25366745e-01 9.29421803e-01 -1.74102248e-01 1.86090067e+02] [-4.74411352e-01 -1.17818875e-03 8.80302494e-01 7.97696317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.87, Y:186.08, Z:79.75 [[ 8.18181989e-01 3.69197517e-01 4.40762324e-01 3.65865012e+02] [-3.25600408e-01 9.29350290e-01 -1.74047158e-01 1.86075522e+02] [-4.73880372e-01 -1.11014264e-03 8.80588531e-01 7.97541039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.89, Y:186.06, Z:79.74 [[ 8.17658388e-01 3.70158543e-01 4.40927901e-01 3.65888932e+02] [-3.26569611e-01 9.28967392e-01 -1.74275282e-01 1.86057751e+02] [-4.74117126e-01 -1.49600695e-03 8.80460512e-01 7.97382988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.91, Y:186.04, Z:79.72 [[ 8.17354370e-01 3.71010251e-01 4.40775711e-01 3.65914757e+02] [-3.27480211e-01 9.28626998e-01 -1.74380649e-01 1.86043593e+02] [-4.74013234e-01 -1.81453706e-03 8.80515850e-01 7.97227498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6003857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:365.94, Y:186.03, Z:79.71 [[ 8.16837680e-01 3.71884388e-01 4.40996833e-01 3.65939714e+02] [-3.28338087e-01 9.28276566e-01 -1.74633095e-01 1.86029805e+02] [-4.74310347e-01 -2.14916459e-03 8.80355085e-01 7.97071526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.96, Y:186.02, Z:79.69 [[ 8.17298232e-01 3.76508454e-01 4.36193747e-01 3.65964450e+02] [-3.29909491e-01 9.26402612e-01 -1.81488094e-01 1.86015748e+02] [-4.72422828e-01 4.42544084e-03 8.81360929e-01 7.96892517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.660385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:365.99, Y:185.99, Z:79.68 [[ 8.16151390e-01 3.70176607e-01 4.43696054e-01 3.65987506e+02] [-3.29990178e-01 9.28914820e-01 -1.67999226e-01 1.85994376e+02] [-4.74345223e-01 -9.30253765e-03 8.80289766e-01 7.96791450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.690385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:366.01, Y:185.98, Z:79.66 [[ 8.15751653e-01 3.73169069e-01 4.41920905e-01 3.66011874e+02] [-3.29398839e-01 9.27759982e-01 -1.75379079e-01 1.85979627e+02] [-4.75442579e-01 -2.50245903e-03 8.79743197e-01 7.96614229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:185.97, Z:79.65 [[ 8.15761457e-01 3.72785160e-01 4.42226717e-01 3.66036689e+02] [-3.28810573e-01 9.27915280e-01 -1.75661151e-01 1.85965517e+02] [-4.75832799e-01 -2.11122342e-03 8.79533223e-01 7.96466161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.06, Y:185.95, Z:79.63 [[ 8.15839370e-01 3.71657587e-01 4.43031331e-01 3.66060826e+02] [-3.27275182e-01 9.28368973e-01 -1.76130646e-01 1.85947710e+02] [-4.76756833e-01 -1.29884471e-03 8.79034263e-01 7.96310320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.09, Y:185.93, Z:79.62 [[ 8.15900131e-01 3.71404966e-01 4.43131276e-01 3.66085568e+02] [-3.26880536e-01 9.28470453e-01 -1.76328481e-01 1.85934241e+02] [-4.76923570e-01 -9.84558480e-04 8.78944219e-01 7.96156898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.810385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:366.11, Y:185.92, Z:79.60 [[ 8.16087555e-01 3.71182631e-01 4.42972411e-01 3.66111439e+02] [-3.26581922e-01 9.28559619e-01 -1.76412251e-01 1.85920773e+02] [-4.76807457e-01 -6.98938291e-04 8.79007486e-01 7.95994103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.14, Y:185.91, Z:79.58 [[ 8.16179664e-01 3.71665934e-01 4.42397095e-01 3.66136488e+02] [-3.27169412e-01 9.28366185e-01 -1.76341721e-01 1.85905295e+02] [-4.76246714e-01 -8.12270822e-04 8.79311326e-01 7.95833731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.16, Y:185.89, Z:79.57 [[ 8.15946785e-01 3.72321393e-01 4.42275507e-01 3.66162655e+02] [-3.27852654e-01 9.28103300e-01 -1.76456514e-01 1.85892213e+02] [-4.76175893e-01 -1.02207320e-03 8.79349461e-01 7.95672001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:185.88, Z:79.55 [[ 8.15682847e-01 3.73119852e-01 4.42089436e-01 3.66187496e+02] [-3.28712991e-01 9.27782218e-01 -1.76544402e-01 1.85877628e+02] [-4.76034938e-01 -1.31630037e-03 8.79425384e-01 7.95515225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:185.86, Z:79.54 [[ 8.15519817e-01 3.73721920e-01 4.41881606e-01 3.66212938e+02] [-3.29355277e-01 9.27539587e-01 -1.76622243e-01 1.85864859e+02] [-4.75870286e-01 -1.49709971e-03 8.79514201e-01 7.95357292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:185.85, Z:79.52 [[ 8.15541795e-01 3.74350449e-01 4.41308648e-01 3.66238848e+02] [-3.30105893e-01 9.27285760e-01 -1.76553729e-01 1.85851675e+02] [-4.75312192e-01 -1.69164037e-03 8.79815582e-01 7.95201254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.27, Y:185.84, Z:79.50 [[ 8.15470583e-01 3.74570539e-01 4.41253487e-01 3.66266092e+02] [-3.30281592e-01 9.27196951e-01 -1.76691496e-01 1.85840762e+02] [-4.75312317e-01 -1.65118660e-03 8.79815592e-01 7.95040980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:185.83, Z:79.49 [[ 8.15449640e-01 3.76115077e-01 4.39976516e-01 3.66290487e+02] [-3.32250651e-01 9.26569780e-01 -1.76289387e-01 1.85825411e+02] [-4.73974040e-01 -2.42736625e-03 8.80535472e-01 7.94882249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.31, Y:185.82, Z:79.47 [[ 8.15083645e-01 3.79117549e-01 4.38073665e-01 3.66312429e+02] [-3.29909754e-01 9.25315159e-01 -1.86952965e-01 1.85823091e+02] [-4.76233353e-01 7.85752886e-03 8.79283829e-01 7.94651397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:185.81, Z:79.45 [[ 8.13881804e-01 3.77960365e-01 4.41296240e-01 3.66335934e+02] [-3.31408184e-01 9.25820295e-01 -1.81728914e-01 1.85806668e+02] [-4.77247341e-01 1.65667087e-03 8.78767450e-01 7.94485859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.36, Y:185.79, Z:79.43 [[ 8.14398956e-01 3.75732518e-01 4.42243616e-01 3.66361793e+02] [-3.31744373e-01 9.26723227e-01 -1.76436195e-01 1.85790709e+02] [-4.76130247e-01 -3.02237878e-03 8.79369577e-01 7.94346123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:185.77, Z:79.42 [[ 8.13260756e-01 3.74006467e-01 4.45787064e-01 3.66386551e+02] [-3.33100328e-01 9.27372810e-01 -1.70363856e-01 1.85774015e+02] [-4.77127986e-01 -9.94157894e-03 8.78777589e-01 7.94218175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:185.74, Z:79.42 [[ 8.14394347e-01 3.68982962e-01 4.47898897e-01 3.66416611e+02] [-3.38493128e-01 9.28964822e-01 -1.49822433e-01 1.85740675e+02] [-4.71364244e-01 -2.95961564e-02 8.81441897e-01 7.94206857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.44, Y:185.76, Z:79.38 [[ 8.12684535e-01 3.87668928e-01 4.35036376e-01 3.66436206e+02] [-3.33598374e-01 9.21661855e-01 -1.98120040e-01 1.85758259e+02] [-4.77761417e-01 1.58816648e-02 8.78346060e-01 7.93814191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.46, Y:185.73, Z:79.37 [[ 8.12649969e-01 3.77170923e-01 4.44232060e-01 3.66461074e+02] [-3.32791756e-01 9.26136829e-01 -1.77539353e-01 1.85734230e+02] [-4.78382353e-01 -3.55941751e-03 8.78144439e-01 7.93724207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.49, Y:185.71, Z:79.36 [[ 8.13257535e-01 3.72303933e-01 4.47215791e-01 3.66487052e+02] [-3.33293880e-01 9.28010173e-01 -1.66470145e-01 1.85714032e+02] [-4.76998293e-01 -1.36711863e-02 8.78797888e-01 7.93626802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.51, Y:185.70, Z:79.34 [[ 8.13794544e-01 3.75191188e-01 4.43813038e-01 3.66512676e+02] [-3.33255078e-01 9.26917098e-01 -1.72527521e-01 1.85703940e+02] [-4.76108699e-01 -7.50099371e-03 8.79354446e-01 7.93449643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:185.67, Z:79.35 [[ 8.15569013e-01 3.68649762e-01 4.46031993e-01 3.66544216e+02] [-3.38464623e-01 9.29102641e-01 -1.49030137e-01 1.85671230e+02] [-4.69349427e-01 -2.94216889e-02 8.82522226e-01 7.93450664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:185.69, Z:79.31 [[ 8.14300874e-01 3.86695846e-01 4.32874587e-01 3.66565067e+02] [-3.34550064e-01 9.22108747e-01 -1.94400909e-01 1.85694091e+02] [-4.74331467e-01 1.34826090e-02 8.80243079e-01 7.93069387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.60, Y:185.65, Z:79.31 [[ 8.15802767e-01 3.71996790e-01 4.42813994e-01 3.66597343e+02] [-3.40225008e-01 9.27866920e-01 -1.52675873e-01 1.85654259e+02] [-4.67667392e-01 -2.61029954e-02 8.83519012e-01 7.93121744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:185.66, Z:79.29 [[ 8.15765163e-01 3.83475298e-01 4.32982558e-01 3.66624242e+02] [-3.40655591e-01 9.23543244e-01 -1.76129628e-01 1.85657886e+02] [-4.67419477e-01 -3.81751430e-03 8.84027408e-01 7.92868694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.65, Y:185.66, Z:79.26 [[ 8.14762622e-01 3.88185937e-01 4.30666401e-01 3.66646771e+02] [-3.36504947e-01 9.21487692e-01 -1.93971274e-01 1.85663420e+02] [-4.72150708e-01 1.31191697e-02 8.81420215e-01 7.92592665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.68, Y:185.63, Z:79.26 [[ 8.16213412e-01 3.72881894e-01 4.41310275e-01 3.66678096e+02] [-3.40085927e-01 9.27574194e-01 -1.54750368e-01 1.85626077e+02] [-4.67051633e-01 -2.37740885e-02 8.83910383e-01 7.92649509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.71, Y:185.63, Z:79.24 [[ 8.16499384e-01 3.82531019e-01 4.32433551e-01 3.66705151e+02] [-3.39446935e-01 9.23938509e-01 -1.76389935e-01 1.85627994e+02] [-4.67016633e-01 -2.76597040e-03 8.84244205e-01 7.92410358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:185.62, Z:79.23 [[ 8.16771867e-01 3.82180624e-01 4.32228745e-01 3.66732053e+02] [-3.39010807e-01 9.24084527e-01 -1.76463764e-01 1.85617819e+02] [-4.66856927e-01 -2.39957745e-03 8.84329606e-01 7.92252267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:185.61, Z:79.21 [[ 8.17084665e-01 3.81676390e-01 4.32083074e-01 3.66757953e+02] [-3.38387454e-01 9.24293975e-01 -1.76563242e-01 1.85607910e+02] [-4.66761803e-01 -1.94437360e-03 8.84380935e-01 7.92097530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.78, Y:185.61, Z:79.18 [[ 8.16474405e-01 3.85907155e-01 4.29470853e-01 3.66781166e+02] [-3.34310543e-01 9.22427632e-01 -1.93296986e-01 1.85610665e+02] [-4.70750472e-01 1.42454074e-02 8.82151383e-01 7.91829735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:185.59, Z:79.17 [[ 8.17647993e-01 3.75660962e-01 4.36268956e-01 3.66808186e+02] [-3.33060425e-01 9.26751617e-01 -1.73787786e-01 1.85588526e+02] [-4.69598247e-01 -3.20668935e-03 8.82874399e-01 7.91745938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.83, Y:185.58, Z:79.16 [[ 8.17722033e-01 3.76957491e-01 4.35010030e-01 3.66832815e+02] [-3.31148778e-01 9.26224872e-01 -1.80133209e-01 1.85582975e+02] [-4.70819672e-01 3.24585390e-03 8.82223498e-01 7.91558758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:185.57, Z:79.14 [[ 8.18430356e-01 3.74871945e-01 4.35479940e-01 3.66858000e+02] [-3.29457613e-01 9.27071996e-01 -1.78872006e-01 1.85572440e+02] [-4.70775354e-01 2.92209822e-03 8.82248280e-01 7.91397158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.89, Y:185.54, Z:79.15 [[ 8.20521322e-01 3.63293395e-01 4.41319238e-01 3.66890156e+02] [-3.34394039e-01 9.31232418e-01 -1.44868254e-01 1.85536840e+02] [-4.63600461e-01 -2.87070309e-02 8.85579200e-01 7.91457515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.92, Y:185.54, Z:79.12 [[ 8.20425680e-01 3.78018163e-01 4.28956842e-01 3.66916509e+02] [-3.34363329e-01 9.25797325e-01 -1.76353271e-01 1.85543621e+02] [-4.63791836e-01 1.25731465e-03 8.85943312e-01 7.91176618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.94, Y:185.53, Z:79.10 [[ 8.20232444e-01 3.77763222e-01 4.29550563e-01 3.66942168e+02] [-3.33863377e-01 9.25900904e-01 -1.76756222e-01 1.85532699e+02] [-4.64493255e-01 1.56998636e-03 8.85575266e-01 7.91025350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.97, Y:185.52, Z:79.09 [[ 8.19724557e-01 3.78220214e-01 4.30117565e-01 3.66968304e+02] [-3.34178165e-01 9.25714489e-01 -1.77137345e-01 1.85521534e+02] [-4.65162987e-01 1.46793290e-03 8.85223837e-01 7.90872763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.830385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:366.99, Y:185.51, Z:79.07 [[ 8.18851653e-01 3.78134272e-01 4.31852339e-01 3.66992465e+02] [-3.35147435e-01 9.25749784e-01 -1.75110062e-01 1.85509057e+02] [-4.66002326e-01 -1.34503998e-03 8.84782472e-01 7.90719343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:185.50, Z:79.06 [[ 8.19098055e-01 3.79241025e-01 4.30412153e-01 3.67021210e+02] [-3.35135726e-01 9.25297208e-01 -1.77508093e-01 1.85498231e+02] [-4.65577514e-01 1.15004426e-03 8.85006359e-01 7.90569765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:185.49, Z:79.04 [[ 8.18978584e-01 3.79459318e-01 4.30447099e-01 3.67046673e+02] [-3.35299848e-01 9.25207677e-01 -1.77664758e-01 1.85486219e+02] [-4.65669509e-01 1.17478487e-03 8.84957925e-01 7.90429333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:185.48, Z:79.03 [[ 8.18959479e-01 3.79283705e-01 4.30638181e-01 3.67071959e+02] [-3.34983119e-01 9.25279327e-01 -1.77888943e-01 1.85475489e+02] [-4.65930984e-01 1.42731500e-03 8.84819915e-01 7.90276165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.10, Y:185.48, Z:79.00 [[ 8.18158310e-01 3.82344779e-01 4.29452500e-01 3.67095002e+02] [-3.31204798e-01 9.23905919e-01 -1.91575662e-01 1.85476768e+02] [-4.70021661e-01 1.45024908e-02 8.82535731e-01 7.90018818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.12, Y:185.44, Z:79.00 [[ 8.19135726e-01 3.71800779e-01 4.36784664e-01 3.67124447e+02] [-3.35146916e-01 9.28206542e-01 -1.61583291e-01 1.85443929e+02] [-4.65503176e-01 -1.40283868e-02 8.84935025e-01 7.90036437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.15, Y:185.45, Z:78.97 [[ 8.17960950e-01 3.82516068e-01 4.29675857e-01 3.67147803e+02] [-3.32107256e-01 9.23858676e-01 -1.90236478e-01 1.85452657e+02] [-4.69728278e-01 1.29075401e-02 8.82716682e-01 7.89728168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.18, Y:185.42, Z:78.97 [[ 8.18762973e-01 3.72582035e-01 4.36817835e-01 3.67177167e+02] [-3.34448454e-01 9.27930064e-01 -1.64590489e-01 1.85424203e+02] [-4.66659861e-01 -1.13324511e-02 8.84364263e-01 7.89723458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:185.44, Z:78.94 [[ 8.17232566e-01 3.84668332e-01 4.29140079e-01 3.67198582e+02] [-3.29854220e-01 9.22813757e-01 -1.99025032e-01 1.85438632e+02] [-4.72574995e-01 2.10960716e-02 8.81037927e-01 7.89372443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.23, Y:185.41, Z:78.94 [[ 8.18261450e-01 3.70799616e-01 4.39267395e-01 3.67226007e+02] [-3.30821088e-01 9.28677440e-01 -1.67677128e-01 1.85409081e+02] [-4.70112335e-01 -8.11518753e-03 8.82569281e-01 7.89361501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.130385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:367.25, Y:185.41, Z:78.92 [[ 8.18528614e-01 3.76502803e-01 4.33885408e-01 3.67252053e+02] [-3.30715403e-01 9.26407544e-01 -1.79989960e-01 1.85405494e+02] [-4.69721439e-01 3.83434492e-03 8.82806359e-01 7.89153294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.28, Y:185.38, Z:78.91 [[ 8.20169336e-01 3.70093299e-01 4.36294866e-01 3.67281666e+02] [-3.33931122e-01 9.28884488e-01 -1.60198672e-01 1.85380674e+02] [-4.64555988e-01 -1.43023955e-02 8.85428244e-01 7.89129340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.31, Y:185.38, Z:78.89 [[ 8.20788484e-01 3.78394932e-01 4.27929364e-01 3.67309182e+02] [-3.33931540e-01 9.25638724e-01 -1.77996291e-01 1.85381463e+02] [-4.63460885e-01 3.19819388e-03 8.86111607e-01 7.88891500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.33, Y:185.38, Z:78.87 [[ 8.20664941e-01 3.80019779e-01 4.26724761e-01 3.67333971e+02] [-3.31550717e-01 9.24910503e-01 -1.86050218e-01 1.85378524e+02] [-4.65384976e-01 1.12039903e-02 8.85037454e-01 7.88675986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:185.36, Z:78.86 [[ 8.21564810e-01 3.74011928e-01 4.30286348e-01 3.67361810e+02] [-3.30371447e-01 9.27421953e-01 -1.75337468e-01 1.85362503e+02] [-4.64635309e-01 1.89676994e-03 8.85500103e-01 7.88571157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.39, Y:185.36, Z:78.84 [[ 8.21490728e-01 3.76091840e-01 4.28611610e-01 3.67388068e+02] [-3.29471692e-01 9.26548571e-01 -1.81538287e-01 1.85356010e+02] [-4.65404543e-01 7.91662696e-03 8.85062675e-01 7.88383151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:367.41, Y:185.35, Z:78.82 [[ 8.21494394e-01 3.75090665e-01 4.29481028e-01 3.67412043e+02] [-3.26993867e-01 9.26925444e-01 -1.84076705e-01 1.85349427e+02] [-4.67142346e-01 1.07803197e-02 8.84116403e-01 7.88213421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.44, Y:185.33, Z:78.81 [[ 8.21919046e-01 3.69801658e-01 4.33238751e-01 3.67440466e+02] [-3.26807954e-01 9.29110490e-01 -1.73061430e-01 1.85331538e+02] [-4.66525072e-01 6.56615972e-04 8.84507731e-01 7.88112843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.46, Y:185.32, Z:78.80 [[ 8.20779943e-01 3.68554877e-01 4.36448839e-01 3.67464614e+02] [-3.27969919e-01 9.29592115e-01 -1.68208893e-01 1.85319193e+02] [-4.67713607e-01 -5.07960447e-03 8.83865476e-01 7.88013489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.49, Y:185.31, Z:78.78 [[ 8.21331355e-01 3.73736050e-01 4.30971195e-01 3.67494382e+02] [-3.27378546e-01 9.27507958e-01 -1.80422489e-01 1.85314615e+02] [-4.67159602e-01 7.09592420e-03 8.84144533e-01 7.87801017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.52, Y:185.30, Z:78.77 [[ 8.21417154e-01 3.71615536e-01 4.32638132e-01 3.67521817e+02] [-3.28751037e-01 9.28386711e-01 -1.73265319e-01 1.85299330e+02] [-4.66043576e-01 9.28710417e-05 8.84761762e-01 7.87687803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:185.28, Z:78.76 [[ 8.21448234e-01 3.72255307e-01 4.32028686e-01 3.67551014e+02] [-3.32982646e-01 9.28103759e-01 -1.66571216e-01 1.85283598e+02] [-4.62974467e-01 -7.02842399e-03 8.86343751e-01 7.87605006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.58, Y:185.28, Z:78.74 [[ 8.20483686e-01 3.80930148e-01 4.26261357e-01 3.67577085e+02] [-3.33590244e-01 9.24561178e-01 -1.84130869e-01 1.85284150e+02] [-4.64245701e-01 8.87974432e-03 8.85661944e-01 7.87365345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.61, Y:185.27, Z:78.73 [[ 8.19977364e-01 3.78235055e-01 4.29622352e-01 3.67605348e+02] [-3.36648539e-01 9.25703973e-01 -1.72452646e-01 1.85266583e+02] [-4.62930754e-01 -3.22447096e-03 8.86388583e-01 7.87281866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:185.26, Z:78.71 [[ 8.19058860e-01 3.84071856e-01 4.26182348e-01 3.67631361e+02] [-3.37996356e-01 9.23287333e-01 -1.82480036e-01 1.85261842e+02] [-4.63574210e-01 5.41381022e-03 8.86041558e-01 7.87095322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.66, Y:185.25, Z:78.70 [[ 8.19459814e-01 3.81661221e-01 4.27574935e-01 3.67658411e+02] [-3.39153969e-01 9.24300955e-01 -1.75049509e-01 1.85246718e+02] [-4.62017530e-01 -1.56769860e-03 8.86869407e-01 7.86979694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:185.24, Z:78.68 [[ 8.18586220e-01 3.87163194e-01 4.24289125e-01 3.67684111e+02] [-3.40200051e-01 9.21984173e-01 -1.84957047e-01 1.85242016e+02] [-4.62796419e-01 7.06010838e-03 8.86436478e-01 7.86789513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.71, Y:185.22, Z:78.67 [[ 8.19639993e-01 3.82067008e-01 4.26866588e-01 3.67711633e+02] [-3.40422347e-01 9.24129362e-01 -1.73486451e-01 1.85224627e+02] [-4.60763397e-01 -3.11849245e-03 8.87517531e-01 7.86691317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.74, Y:185.22, Z:78.65 [[ 8.18826601e-01 3.88459490e-01 4.22637223e-01 3.67738058e+02] [-3.40209814e-01 9.21411915e-01 -1.87769447e-01 1.85222421e+02] [-4.62363797e-01 9.96528758e-03 8.86634317e-01 7.86461160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:185.21, Z:78.63 [[ 8.19231015e-01 3.84293878e-01 4.25650984e-01 3.67763056e+02] [-3.39508539e-01 9.23205925e-01 -1.80068796e-01 1.85208589e+02] [-4.62162846e-01 3.00579827e-03 8.86789980e-01 7.86346133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:185.20, Z:78.62 [[ 8.19269089e-01 3.83374668e-01 4.26405937e-01 3.67789895e+02] [-3.39764199e-01 9.23592707e-01 -1.77586039e-01 1.85195750e+02] [-4.61907403e-01 6.13281072e-04 8.86927943e-01 7.86214790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.82, Y:185.19, Z:78.61 [[ 8.19919186e-01 3.83409924e-01 4.25122758e-01 3.67816807e+02] [-3.38759001e-01 9.23572582e-01 -1.79599627e-01 1.85185403e+02] [-4.61492002e-01 3.24301908e-03 8.87138442e-01 7.86054365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.84, Y:185.17, Z:78.59 [[ 8.20683090e-01 3.80686192e-01 4.26095400e-01 3.67844519e+02] [-3.39372341e-01 9.24699313e-01 -1.72503901e-01 1.85168370e+02] [-4.59679977e-01 -3.03395904e-03 8.88079453e-01 7.85942094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.87, Y:185.16, Z:78.58 [[ 8.20575709e-01 3.84337930e-01 4.23012839e-01 3.67872118e+02] [-3.39617852e-01 9.23183721e-01 -1.79976478e-01 1.85160822e+02] [-4.59690353e-01 4.02161405e-03 8.88070158e-01 7.85764155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.90, Y:185.15, Z:78.56 [[ 8.20167080e-01 3.86826872e-01 4.21534023e-01 3.67897639e+02] [-3.38889991e-01 9.22094193e-01 -1.86804371e-01 1.85154833e+02] [-4.60955025e-01 1.03571338e-02 8.87363057e-01 7.85570644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:185.14, Z:78.54 [[ 8.20131856e-01 3.84876695e-01 4.23383596e-01 3.67924702e+02] [-3.38852185e-01 9.22946460e-01 -1.82617165e-01 1.85141007e+02] [-4.61045482e-01 6.30569822e-03 8.87354102e-01 7.85427851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:185.13, Z:78.53 [[ 8.19433497e-01 3.86656318e-01 4.23114212e-01 3.67950478e+02] [-3.39819501e-01 9.22193421e-01 -1.84613111e-01 1.85130324e+02] [-4.61574968e-01 7.49570731e-03 8.87069537e-01 7.85268331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.97, Y:185.12, Z:78.51 [[ 8.19229395e-01 3.86162969e-01 4.23959149e-01 3.67974393e+02] [-3.38612445e-01 9.22389608e-01 -1.85846774e-01 1.85122558e+02] [-4.62822655e-01 8.69329646e-03 8.86408268e-01 7.85129094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:185.11, Z:78.50 [[ 8.19160262e-01 3.83822665e-01 4.26211952e-01 3.68000968e+02] [-3.38798023e-01 9.23400624e-01 -1.80408388e-01 1.85108105e+02] [-4.62809211e-01 3.38361588e-03 8.86451457e-01 7.84995433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.03, Y:185.10, Z:78.48 [[ 8.18900508e-01 3.86449893e-01 4.24332934e-01 3.68028198e+02] [-3.39147131e-01 9.22276219e-01 -1.85434082e-01 1.85099210e+02] [-4.63013155e-01 7.94076693e-03 8.86315837e-01 7.84796437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:185.09, Z:78.47 [[ 8.18714050e-01 3.85298075e-01 4.25737827e-01 3.68053906e+02] [-3.39586672e-01 9.22781188e-01 -1.82087263e-01 1.85086615e+02] [-4.63020730e-01 4.50250887e-03 8.86336015e-01 7.84662518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.08, Y:185.08, Z:78.45 [[ 8.18875302e-01 3.85792807e-01 4.24978999e-01 3.68081485e+02] [-3.39981108e-01 9.22572516e-01 -1.82408327e-01 1.85076958e+02] [-4.62445765e-01 4.88484312e-03 8.86634114e-01 7.84502599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.11, Y:185.07, Z:78.44 [[ 8.18955003e-01 3.86050501e-01 4.24591231e-01 3.68107169e+02] [-3.40124601e-01 9.22462965e-01 -1.82694649e-01 1.85066953e+02] [-4.62199047e-01 5.20477327e-03 8.86760933e-01 7.84350926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:185.06, Z:78.42 [[ 8.19101151e-01 3.86311644e-01 4.24071477e-01 3.68134178e+02] [-3.40182353e-01 9.22350326e-01 -1.83155243e-01 1.85056288e+02] [-4.61897469e-01 5.76103783e-03 8.86914618e-01 7.84187058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.16, Y:185.04, Z:78.40 [[ 8.19448892e-01 3.85560617e-01 4.24083157e-01 3.68160418e+02] [-3.40189728e-01 9.22671660e-01 -1.81515719e-01 1.85044110e+02] [-4.61274823e-01 4.47412101e-03 8.87246031e-01 7.84034644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.19, Y:185.03, Z:78.39 [[ 8.19205361e-01 3.85693803e-01 4.24432406e-01 3.68185937e+02] [-3.39739875e-01 9.22610788e-01 -1.82664038e-01 1.85033527e+02] [-4.62038304e-01 5.44274618e-03 8.86843268e-01 7.83893191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.210385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:368.21, Y:185.02, Z:78.37 [[ 8.18853814e-01 3.87676352e-01 4.23303057e-01 3.68213797e+02] [-3.41081333e-01 9.21771865e-01 -1.84391305e-01 1.85020414e+02] [-4.61672997e-01 6.60875238e-03 8.87025574e-01 7.83714566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:185.01, Z:78.36 [[ 8.18874227e-01 3.85471903e-01 4.25272163e-01 3.68238027e+02] [-3.40378743e-01 9.22713232e-01 -1.80949170e-01 1.85012776e+02] [-4.62155073e-01 3.42100764e-03 8.86792526e-01 7.83627287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:185.00, Z:78.35 [[ 8.18687221e-01 3.86557521e-01 4.24646343e-01 3.68264973e+02] [-3.41653843e-01 9.22260482e-01 -1.80854235e-01 1.85003383e+02] [-4.61545106e-01 2.98099623e-03 8.87111734e-01 7.83467358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.29, Y:185.00, Z:78.32 [[ 8.17949777e-01 3.91389424e-01 4.21630740e-01 3.68291335e+02] [-3.40899505e-01 9.20119267e-01 -1.92790203e-01 1.84998401e+02] [-4.63406614e-01 1.39589933e-02 8.86035810e-01 7.83223212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.330385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:368.32, Y:184.98, Z:78.31 [[ 8.18125609e-01 3.87485503e-01 4.24882893e-01 3.68317681e+02] [-3.40430816e-01 9.21850170e-01 -1.85200226e-01 1.84983126e+02] [-4.63440770e-01 6.87381829e-03 8.86101238e-01 7.83101065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.360385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:368.34, Y:184.97, Z:78.29 [[ 8.18501113e-01 3.86082357e-01 4.25436648e-01 3.68342901e+02] [-3.38730420e-01 9.22432539e-01 -1.85418213e-01 1.84973204e+02] [-4.64023308e-01 7.65667915e-03 8.85789899e-01 7.82932625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.390385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:368.37, Y:184.96, Z:78.28 [[ 8.18557732e-01 3.84850475e-01 4.26442670e-01 3.68369031e+02] [-3.35756707e-01 9.22912837e-01 -1.88412654e-01 1.84963892e+02] [-4.66080114e-01 1.10456481e-02 8.84673567e-01 7.82769295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.39, Y:184.94, Z:78.27 [[ 8.18909370e-01 3.78750686e-01 4.31202227e-01 3.68394497e+02] [-3.35210935e-01 9.25498726e-01 -1.76311478e-01 1.84944702e+02] [-4.65855205e-01 -1.60580402e-04 8.84860951e-01 7.82678628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.450385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.42, Y:184.93, Z:78.26 [[ 8.19398909e-01 3.77588668e-01 4.31291348e-01 3.68421582e+02] [-3.35447224e-01 9.25969724e-01 -1.73364445e-01 1.84931788e+02] [-4.64823180e-01 -2.62084826e-03 8.85399651e-01 7.82598290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.480385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:368.45, Y:184.93, Z:78.23 [[ 8.18860829e-01 3.87608182e-01 4.23351911e-01 3.68447313e+02] [-3.33234520e-01 9.21560666e-01 -1.99200136e-01 1.84934597e+02] [-4.67356071e-01 2.20417175e-02 8.83794357e-01 7.82286009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.47, Y:184.91, Z:78.23 [[ 8.20346391e-01 3.75573020e-01 4.31250166e-01 3.68474511e+02] [-3.32737879e-01 9.26792613e-01 -1.74186558e-01 1.84910740e+02] [-4.65099239e-01 -5.99951753e-04 8.85258345e-01 7.82290630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.540385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:368.50, Y:184.91, Z:78.21 [[ 8.20445789e-01 3.81213099e-01 4.26081309e-01 3.68502074e+02] [-3.32840858e-01 9.24422626e-01 -1.86171351e-01 1.84906853e+02] [-4.64850160e-01 1.09262326e-02 8.85321945e-01 7.82086270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.53, Y:184.89, Z:78.20 [[ 8.19489520e-01 3.77514558e-01 4.31184051e-01 3.68527463e+02] [-3.33033839e-01 9.26001268e-01 -1.77792333e-01 1.84891283e+02] [-4.66396172e-01 2.10007417e-03 8.84573457e-01 7.81975682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6003857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.55, Y:184.88, Z:78.18 [[ 8.19131013e-01 3.81536757e-01 4.28315406e-01 3.68554728e+02] [-3.34389304e-01 9.24324121e-01 -1.83871457e-01 1.84884609e+02] [-4.66055981e-01 7.39072229e-03 8.84724364e-01 7.81794478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.630385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.58, Y:184.87, Z:78.16 [[ 8.18487379e-01 3.82574300e-01 4.28620247e-01 3.68581573e+02] [-3.35406184e-01 9.23898442e-01 -1.84158522e-01 1.84874159e+02] [-4.66455895e-01 6.96954465e-03 8.84517000e-01 7.81630565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.61, Y:184.88, Z:78.13 [[ 8.16545965e-01 3.94472723e-01 4.21478301e-01 3.68606884e+02] [-3.35295568e-01 9.18413104e-01 -2.09986315e-01 1.84877788e+02] [-4.69925068e-01 3.01436719e-02 8.82191470e-01 7.81289950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.63, Y:184.85, Z:78.12 [[ 8.16029422e-01 3.83811748e-01 4.32185753e-01 3.68632013e+02] [-3.36369356e-01 9.23394795e-01 -1.84926224e-01 1.84854697e+02] [-4.70054932e-01 5.53119632e-03 8.82619832e-01 7.81229618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.66, Y:184.83, Z:78.12 [[ 8.17032276e-01 3.77540077e-01 4.35800127e-01 3.68659833e+02] [-3.39613851e-01 9.25904087e-01 -1.65420838e-01 1.84833563e+02] [-4.65962114e-01 -1.28495954e-02 8.84711363e-01 7.81234703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.69, Y:184.84, Z:78.10 [[ 8.17362613e-01 3.89651902e-01 4.24369832e-01 3.68685857e+02] [-3.40968375e-01 9.20911567e-01 -1.88845049e-01 1.84835562e+02] [-4.64390920e-01 9.65819020e-03 8.85577661e-01 7.80998563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.71, Y:184.82, Z:78.09 [[ 8.16680582e-01 3.84509848e-01 4.30331273e-01 3.68712447e+02] [-3.40339054e-01 9.23120832e-01 -1.78933671e-01 1.84818385e+02] [-4.66049522e-01 -3.26883857e-04 8.84758575e-01 7.80878682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.810385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.74, Y:184.81, Z:78.07 [[ 8.16290248e-01 3.87125936e-01 4.28723386e-01 3.68738945e+02] [-3.40185098e-01 9.22013084e-01 -1.84840396e-01 1.84809851e+02] [-4.66845082e-01 5.03810541e-03 8.84324763e-01 7.80698990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.77, Y:184.80, Z:78.05 [[ 8.16254663e-01 3.86918881e-01 4.28977977e-01 3.68765558e+02] [-3.39807120e-01 9.22098368e-01 -1.85110022e-01 1.84798998e+02] [-4.67182455e-01 5.32714728e-03 8.84144883e-01 7.80540137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.870385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.79, Y:184.79, Z:78.04 [[ 8.16194906e-01 3.86601719e-01 4.29377441e-01 3.68791469e+02] [-3.39270484e-01 9.22229272e-01 -1.85441929e-01 1.84788226e+02] [-4.67676613e-01 5.68166580e-03 8.83881386e-01 7.80389022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.82, Y:184.78, Z:78.02 [[ 8.16033619e-01 3.86968271e-01 4.29353806e-01 3.68818017e+02] [-3.39611975e-01 9.22075871e-01 -1.85579620e-01 1.84776726e+02] [-4.67710209e-01 5.62551499e-03 8.83863968e-01 7.80237767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.84, Y:184.77, Z:78.01 [[ 8.15547755e-01 3.87495843e-01 4.29800920e-01 3.68843715e+02] [-3.40019649e-01 9.21855081e-01 -1.85929686e-01 1.84765331e+02] [-4.68261143e-01 5.49377993e-03 8.83573042e-01 7.80094114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.87, Y:184.75, Z:77.99 [[ 8.15017562e-01 3.87469428e-01 4.30829219e-01 3.68870108e+02] [-3.39668489e-01 9.21865062e-01 -1.86521110e-01 1.84754812e+02] [-4.69437633e-01 5.67887062e-03 8.82947371e-01 7.79948460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.90, Y:184.74, Z:77.98 [[ 8.14995644e-01 3.87227755e-01 4.31087888e-01 3.68896584e+02] [-3.39256429e-01 9.21964737e-01 -1.86778209e-01 1.84743717e+02] [-4.69773538e-01 5.97408892e-03 8.82766749e-01 7.79790795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.92, Y:184.73, Z:77.96 [[ 8.15963946e-01 3.85752368e-01 4.30578623e-01 3.68923322e+02] [-3.37627643e-01 9.22575996e-01 -1.86711292e-01 1.84732044e+02] [-4.69265825e-01 6.97443719e-03 8.83029412e-01 7.79632624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.95, Y:184.72, Z:77.95 [[ 8.16406991e-01 3.85123805e-01 4.30301383e-01 3.68950325e+02] [-3.36898411e-01 9.22834464e-01 -1.86751205e-01 1.84720110e+02] [-4.69019281e-01 7.49713716e-03 8.83156106e-01 7.79477049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.98, Y:184.71, Z:77.93 [[ 8.16454828e-01 3.84810760e-01 4.30490642e-01 3.68976717e+02] [-3.36413967e-01 9.22962121e-01 -1.86993490e-01 1.84708592e+02] [-4.69283663e-01 7.84867302e-03 8.83012595e-01 7.79322715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.110385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:369.00, Y:184.70, Z:77.92 [[ 8.16527198e-01 3.84368534e-01 4.30748378e-01 3.69002095e+02] [-3.35764729e-01 9.23142603e-01 -1.87269273e-01 1.84697581e+02] [-4.69622595e-01 8.28034297e-03 8.82828440e-01 7.79172085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.03, Y:184.69, Z:77.90 [[ 8.16300342e-01 3.84316276e-01 4.31224712e-01 3.69028788e+02] [-3.35536312e-01 9.23163022e-01 -1.87577766e-01 1.84686828e+02] [-4.70179897e-01 8.42824505e-03 8.82530356e-01 7.79015065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.06, Y:184.68, Z:77.89 [[ 8.16472893e-01 3.84400628e-01 4.30822669e-01 3.69056079e+02] [-3.35644000e-01 9.23126902e-01 -1.87562864e-01 1.84675968e+02] [-4.69803279e-01 8.53695022e-03 8.82729857e-01 7.78856246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.08, Y:184.67, Z:77.87 [[ 8.16184231e-01 3.84745660e-01 4.31061571e-01 3.69082440e+02] [-3.35891239e-01 9.22983390e-01 -1.87826348e-01 1.84665029e+02] [-4.70128043e-01 8.51109871e-03 8.82557185e-01 7.78696632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.11, Y:184.65, Z:77.85 [[ 8.16083375e-01 3.85117871e-01 4.30920122e-01 3.69109152e+02] [-3.36262202e-01 9.22828628e-01 -1.87923004e-01 1.84653483e+02] [-4.70037932e-01 8.45869052e-03 8.82605684e-01 7.78542156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.14, Y:184.64, Z:77.84 [[ 8.15582707e-01 3.85885852e-01 4.31180887e-01 3.69136004e+02] [-3.36983285e-01 9.22510203e-01 -1.88194556e-01 1.84641188e+02] [-4.70390384e-01 8.18747346e-03 8.82420451e-01 7.78388553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.16, Y:184.64, Z:77.81 [[ 8.14584155e-01 3.88212929e-01 4.30979555e-01 3.69158098e+02] [-3.32894185e-01 9.21351778e-01 -2.00729577e-01 1.84642658e+02] [-4.75009596e-01 2.00405447e-02 8.79752386e-01 7.78148644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.19, Y:184.61, Z:77.81 [[ 8.15059974e-01 3.79155832e-01 4.38084573e-01 3.69187961e+02] [-3.38274274e-01 9.25294370e-01 -1.71466745e-01 1.84610352e+02] [-4.70369805e-01 -8.43706024e-03 8.82429069e-01 7.78141000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.22, Y:184.61, Z:77.79 [[ 8.15104054e-01 3.87842847e-01 4.30329301e-01 3.69215054e+02] [-3.39204983e-01 9.21695582e-01 -1.88194672e-01 1.84608782e+02] [-4.69622572e-01 7.42839672e-03 8.82836032e-01 7.77920673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.380385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:369.24, Y:184.61, Z:77.77 [[ 8.14532403e-01 3.90124231e-01 4.29348400e-01 3.69237659e+02] [-3.37158018e-01 9.20629832e-01 -1.96888762e-01 1.84608149e+02] [-4.72082022e-01 1.56140207e-02 8.81416342e-01 7.77697577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:369.27, Y:184.58, Z:77.77 [[ 8.14273694e-01 3.84544355e-01 4.34837890e-01 3.69266139e+02] [-3.42147879e-01 9.23088447e-01 -1.75620469e-01 1.84580022e+02] [-4.68927692e-01 -5.77573404e-03 8.83217674e-01 7.77657487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.440385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:369.29, Y:184.57, Z:77.75 [[ 8.13130489e-01 3.92032187e-01 4.30266862e-01 3.69293598e+02] [-3.43690254e-01 9.19934844e-01 -1.88671385e-01 1.84574953e+02] [-4.69782734e-01 5.53592867e-03 8.82764712e-01 7.77462893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.32, Y:184.56, Z:77.73 [[ 8.12603222e-01 3.92814532e-01 4.30549356e-01 3.69320204e+02] [-3.44421946e-01 9.19602698e-01 -1.88956083e-01 1.84563713e+02] [-4.70159044e-01 5.25567524e-03 8.82566060e-01 7.77306246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.35, Y:184.55, Z:77.71 [[ 8.11691711e-01 3.94288812e-01 4.30920988e-01 3.69347120e+02] [-3.45915995e-01 9.18975196e-01 -1.89279462e-01 1.84552868e+02] [-4.70636474e-01 4.57410828e-03 8.82315356e-01 7.77149451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.37, Y:184.54, Z:77.70 [[ 8.11389346e-01 3.95184788e-01 4.30669609e-01 3.69374277e+02] [-3.46904233e-01 9.18591952e-01 -1.89331136e-01 1.84541172e+02] [-4.70430422e-01 4.22015625e-03 8.82426999e-01 7.76996542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.40, Y:184.52, Z:77.69 [[ 8.11981413e-01 3.88435901e-01 4.35664706e-01 3.69400770e+02] [-3.47993083e-01 9.21407874e-01 -1.72940294e-01 1.84522603e+02] [-4.68601109e-01 -1.11840001e-02 8.83339073e-01 7.76940154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.43, Y:184.53, Z:77.66 [[ 8.09986707e-01 4.04177459e-01 4.24926012e-01 3.69426603e+02] [-3.49615506e-01 9.14536569e-01 -2.03449899e-01 1.84526835e+02] [-4.70840241e-01 1.62309909e-02 8.82069171e-01 7.76647631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.45, Y:184.51, Z:77.65 [[ 8.09106052e-01 3.99589767e-01 4.30900701e-01 3.69452519e+02] [-3.51626077e-01 9.16691718e-01 -1.89829913e-01 1.84507894e+02] [-4.70857195e-01 2.07660793e-03 8.82206999e-01 7.76542190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:184.50, Z:77.64 [[ 8.08594290e-01 4.00696318e-01 4.30833767e-01 3.69479124e+02] [-3.52810686e-01 9.16209533e-01 -1.89959763e-01 1.84495915e+02] [-4.70850182e-01 1.59762281e-03 8.82211740e-01 7.76382346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:184.48, Z:77.63 [[ 8.09527383e-01 3.94893173e-01 4.34424674e-01 3.69505365e+02] [-3.54515465e-01 9.18637736e-01 -1.74423320e-01 1.84477515e+02] [-4.67957478e-01 -1.28098119e-02 8.83658140e-01 7.76317101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.53, Y:184.48, Z:77.60 [[ 8.07942617e-01 4.09923628e-01 4.23309989e-01 3.69529838e+02] [-3.55916010e-01 9.12011734e-01 -2.03858753e-01 1.84482030e+02] [-4.69630197e-01 1.40433723e-02 8.82751529e-01 7.76025576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.56, Y:184.46, Z:77.60 [[ 8.08695308e-01 3.97152680e-01 4.33914333e-01 3.69555401e+02] [-3.55058216e-01 9.17698740e-01 -1.78220893e-01 1.84457878e+02] [-4.68983542e-01 -9.93844972e-03 8.83150986e-01 7.75986282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.58, Y:184.46, Z:77.57 [[ 8.07837705e-01 4.05756653e-01 4.27504130e-01 3.69578264e+02] [-3.53507266e-01 9.13926683e-01 -1.99425753e-01 1.84458752e+02] [-4.71625758e-01 9.97782643e-03 8.81742359e-01 7.75734786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.60, Y:184.44, Z:77.56 [[ 8.07699559e-01 3.99693961e-01 4.33435300e-01 3.69604588e+02] [-3.53800932e-01 9.16643298e-01 -1.85983777e-01 1.84439254e+02] [-4.71642156e-01 -3.13079824e-03 8.81784483e-01 7.75624003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.63, Y:184.43, Z:77.55 [[ 8.07938764e-01 3.99496853e-01 4.33171119e-01 3.69629777e+02] [-3.53757022e-01 9.16728815e-01 -1.85645492e-01 1.84426669e+02] [-4.71265237e-01 -3.24713574e-03 8.81985563e-01 7.75473780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.66, Y:184.41, Z:77.53 [[ 8.08389696e-01 3.99834715e-01 4.32016551e-01 3.69655391e+02] [-3.54251242e-01 9.16581866e-01 -1.85428534e-01 1.84411968e+02] [-4.70119301e-01 -3.14388306e-03 8.82597280e-01 7.75316069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.68, Y:184.40, Z:77.52 [[ 8.08886210e-01 3.98764549e-01 4.32076306e-01 3.69681530e+02] [-3.55187260e-01 9.17028518e-01 -1.81385524e-01 1.84396099e+02] [-4.68556411e-01 -6.74775037e-03 8.83407810e-01 7.75186330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.71, Y:184.38, Z:77.50 [[ 8.09041708e-01 4.00779819e-01 4.29915169e-01 3.69707196e+02] [-3.56231567e-01 9.16163194e-01 -1.83695597e-01 1.84382902e+02] [-4.67493942e-01 -4.53195430e-03 8.83984658e-01 7.75028638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.73, Y:184.37, Z:77.49 [[ 8.09498432e-01 3.99484433e-01 4.30260940e-01 3.69733380e+02] [-3.57527058e-01 9.16692168e-01 -1.78465324e-01 1.84366103e+02] [-4.65710953e-01 -9.36252815e-03 8.84887367e-01 7.74914235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.76, Y:184.36, Z:77.46 [[ 8.07884318e-01 4.10794510e-01 4.22576382e-01 3.69757592e+02] [-3.58154416e-01 9.11656006e-01 -2.01516104e-01 1.84363570e+02] [-4.68026007e-01 1.14541028e-02 8.83640459e-01 7.74639160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.78, Y:184.33, Z:77.46 [[ 8.09633626e-01 3.97597073e-01 4.31752198e-01 3.69784268e+02] [-3.59093216e-01 9.17416753e-01 -1.71460095e-01 1.84333351e+02] [-4.64268731e-01 -1.62194272e-02 8.85545863e-01 7.74646593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.81, Y:184.33, Z:77.44 [[ 8.09562678e-01 4.06052393e-01 4.23945426e-01 3.69809400e+02] [-3.59488079e-01 9.13849690e-01 -1.88804306e-01 1.84329526e+02] [-4.64086837e-01 4.45592983e-04 8.85789597e-01 7.74433862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.83, Y:184.31, Z:77.43 [[ 8.10071026e-01 4.03443019e-01 4.25462882e-01 3.69833473e+02] [-3.58733878e-01 9.14999620e-01 -1.84623128e-01 1.84314137e+02] [-4.63783288e-01 -3.07010275e-03 8.85943360e-01 7.74311764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.86, Y:184.30, Z:77.42 [[ 8.09924741e-01 4.04915076e-01 4.24341485e-01 3.69859452e+02] [-3.59349633e-01 9.14353314e-01 -1.86616879e-01 1.84301418e+02] [-4.63562030e-01 -1.34132918e-03 8.86063454e-01 7.74151268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.88, Y:184.29, Z:77.40 [[ 8.09440315e-01 4.05561727e-01 4.24648163e-01 3.69881987e+02] [-3.57627546e-01 9.14062829e-01 -1.91289527e-01 1.84290461e+02] [-4.65734812e-01 2.97157498e-03 8.84919349e-01 7.73976968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.91, Y:184.28, Z:77.38 [[ 8.09230764e-01 4.05567257e-01 4.25042081e-01 3.69907772e+02] [-3.57610744e-01 9.14060822e-01 -1.91330525e-01 1.84275987e+02] [-4.66111710e-01 2.83093257e-03 8.84721346e-01 7.73813503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.93, Y:184.26, Z:77.37 [[ 8.09264789e-01 4.04998488e-01 4.25519361e-01 3.69934019e+02] [-3.58076869e-01 9.14317036e-01 -1.89222919e-01 1.84260052e+02] [-4.65694597e-01 7.62805477e-04 8.84945174e-01 7.73658809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.96, Y:184.26, Z:77.34 [[ 8.09193023e-01 4.12362301e-01 4.18525966e-01 3.69955852e+02] [-3.57141334e-01 9.10842803e-01 -2.06918961e-01 1.84256838e+02] [-4.66536942e-01 1.79644576e-02 8.84319264e-01 7.73403189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.98, Y:184.23, Z:77.33 [[ 8.09475008e-01 4.04870616e-01 4.25241103e-01 3.69979804e+02] [-3.57268360e-01 9.14371173e-01 -1.90485375e-01 1.84232988e+02] [-4.65950137e-01 2.26795883e-03 8.84808073e-01 7.73313189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.01, Y:184.22, Z:77.32 [[ 8.09559069e-01 4.04956111e-01 4.24999602e-01 3.70005431e+02] [-3.57345176e-01 9.14333055e-01 -1.90524251e-01 1.84220186e+02] [-4.65745144e-01 2.36907773e-03 8.84915730e-01 7.73155214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.03, Y:184.21, Z:77.30 [[ 8.09366318e-01 4.05340204e-01 4.25000568e-01 3.70030953e+02] [-3.57695681e-01 9.14162993e-01 -1.90682517e-01 1.84207299e+02] [-4.65811081e-01 2.31113956e-03 8.84881176e-01 7.72999575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.05, Y:184.19, Z:77.28 [[ 8.09677496e-01 4.05187922e-01 4.24552824e-01 3.70054741e+02] [-3.57548379e-01 9.14229844e-01 -1.90638266e-01 1.84192788e+02] [-4.65383185e-01 2.55733960e-03 8.85105616e-01 7.72846910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.08, Y:184.18, Z:77.27 [[ 8.09788388e-01 4.05006729e-01 4.24514212e-01 3.70080531e+02] [-3.57276562e-01 9.14309382e-01 -1.90766384e-01 1.84179191e+02] [-4.65398996e-01 2.81142423e-03 8.85096532e-01 7.72687748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.11, Y:184.16, Z:77.25 [[ 8.09956910e-01 4.04488682e-01 4.24686603e-01 3.70105101e+02] [-3.56569360e-01 9.14537160e-01 -1.90997579e-01 1.84163780e+02] [-4.65648038e-01 3.26957883e-03 8.84963962e-01 7.72544532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.13, Y:184.15, Z:77.24 [[ 8.09995785e-01 4.04338052e-01 4.24755891e-01 3.70130315e+02] [-3.56307397e-01 9.14602896e-01 -1.91171601e-01 1.84150502e+02] [-4.65780921e-01 3.50452503e-03 8.84893130e-01 7.72394353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.16, Y:184.14, Z:77.22 [[ 8.09974991e-01 4.04461383e-01 4.24678118e-01 3.70156208e+02] [-3.56391013e-01 9.14548075e-01 -1.91277978e-01 1.84137546e+02] [-4.65753111e-01 3.57891364e-03 8.84907470e-01 7.72241260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.18, Y:184.13, Z:77.21 [[ 8.09008911e-01 4.05643825e-01 4.25391195e-01 3.70181534e+02] [-3.57336048e-01 9.14025154e-01 -1.92012935e-01 1.84126134e+02] [-4.66707114e-01 3.33256672e-03 8.84405656e-01 7.72094794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.21, Y:184.11, Z:77.19 [[ 8.08785953e-01 4.04635690e-01 4.26773055e-01 3.70208063e+02] [-3.57186241e-01 9.14476992e-01 -1.90131062e-01 1.84112811e+02] [-4.67207953e-01 1.33786899e-03 8.84146446e-01 7.71947736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.23, Y:184.10, Z:77.18 [[ 8.07804634e-01 4.07348623e-01 4.26050199e-01 3.70234849e+02] [-3.59137766e-01 9.13269880e-01 -1.92245133e-01 1.84102007e+02] [-4.67409604e-01 2.28579291e-03 8.84037916e-01 7.71783106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:370.26, Y:184.09, Z:77.16 [[ 8.07539276e-01 4.08356493e-01 4.25588174e-01 3.70261245e+02] [-3.60311176e-01 9.12820655e-01 -1.92183007e-01 1.84090141e+02] [-4.66964854e-01 1.85115069e-03 8.84273939e-01 7.71630427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.29, Y:184.08, Z:77.15 [[ 8.08022927e-01 4.08469526e-01 4.24560473e-01 3.70288728e+02] [-3.60609104e-01 9.12769915e-01 -1.91864942e-01 1.84078663e+02] [-4.65897009e-01 1.93090026e-03 8.84836849e-01 7.71483571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.32, Y:184.07, Z:77.13 [[ 8.08809528e-01 4.08779420e-01 4.22760609e-01 3.70315005e+02] [-3.61342213e-01 9.12631366e-01 -1.91143390e-01 1.84068063e+02] [-4.63960076e-01 1.83734085e-03 8.85854205e-01 7.71311140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.34, Y:184.04, Z:77.13 [[ 8.10270445e-01 3.99471499e-01 4.28817359e-01 3.70340537e+02] [-3.62651011e-01 9.16550460e-01 -1.68580839e-01 1.84044206e+02] [-4.60375988e-01 -1.89149771e-02 8.87522492e-01 7.71279862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.36, Y:184.06, Z:77.09 [[ 8.08685617e-01 4.19189782e-01 4.12683293e-01 3.70363878e+02] [-3.61351505e-01 9.07587335e-01 -2.13799718e-01 1.84058623e+02] [-4.64168787e-01 2.37730283e-02 8.85427682e-01 7.70876730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.39, Y:184.04, Z:77.08 [[ 8.09505369e-01 4.06002868e-01 4.24102263e-01 3.70387615e+02] [-3.57199521e-01 9.13859254e-01 -1.93053789e-01 1.84039278e+02] [-4.65950170e-01 4.78895390e-03 8.84798003e-01 7.70811548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.41, Y:184.03, Z:77.07 [[ 8.09442962e-01 4.02657634e-01 4.27397848e-01 3.70413381e+02] [-3.55562537e-01 9.15350120e-01 -1.88969415e-01 1.84025576e+02] [-4.67308649e-01 9.93299887e-04 8.84093683e-01 7.70674410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.44, Y:184.01, Z:77.05 [[ 8.09119054e-01 4.02691160e-01 4.27979190e-01 3.70439701e+02] [-3.55073939e-01 9.15334261e-01 -1.89962334e-01 1.84014238e+02] [-4.68240168e-01 1.73788706e-03 8.83599527e-01 7.70510149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.47, Y:184.00, Z:77.03 [[ 8.08981915e-01 4.02728487e-01 4.28203254e-01 3.70466148e+02] [-3.54437029e-01 9.15314768e-01 -1.91241390e-01 1.84003476e+02] [-4.68959117e-01 2.93973662e-03 8.83214982e-01 7.70340584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8503857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:370.49, Y:184.00, Z:77.01 [[ 8.08899909e-01 4.03522521e-01 4.27610234e-01 3.70490985e+02] [-3.52519259e-01 9.14932595e-01 -1.96541392e-01 1.83996689e+02] [-4.70543419e-01 8.24147127e-03 8.82338353e-01 7.70140620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.52, Y:183.98, Z:77.00 [[ 8.08888137e-01 3.99155649e-01 4.31711420e-01 3.70518511e+02] [-3.53573590e-01 9.16878928e-01 -1.85253199e-01 1.83977495e+02] [-4.69771965e-01 -2.79264158e-03 8.82783383e-01 7.70045672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.55, Y:183.96, Z:76.99 [[ 8.09383891e-01 4.01096963e-01 4.28974291e-01 3.70546497e+02] [-3.56072034e-01 9.16029736e-01 -1.84667889e-01 1.83962927e+02] [-4.67022937e-01 -3.27853328e-03 8.84239124e-01 7.69916597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.57, Y:183.96, Z:76.97 [[ 8.09460657e-01 4.05427858e-01 4.24737209e-01 3.70572472e+02] [-3.55959132e-01 9.14107477e-01 -1.94166467e-01 1.83957433e+02] [-4.66975953e-01 5.98102745e-03 8.84249787e-01 7.69727854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.60, Y:183.95, Z:76.96 [[ 8.09186698e-01 4.05436253e-01 4.25250906e-01 3.70598261e+02] [-3.55789221e-01 9.14103062e-01 -1.94498387e-01 1.83946517e+02] [-4.67579852e-01 6.08581911e-03 8.83929887e-01 7.69570824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.63, Y:183.94, Z:76.94 [[ 8.08570956e-01 4.05736177e-01 4.26135147e-01 3.70625513e+02] [-3.55829982e-01 9.13970024e-01 -1.95048250e-01 1.83936036e+02] [-4.68612882e-01 6.07868868e-03 8.83382713e-01 7.69408904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.65, Y:183.94, Z:76.91 [[ 8.06945058e-01 4.13121249e-01 4.22102485e-01 3.70647721e+02] [-3.52256322e-01 9.10281077e-01 -2.17494472e-01 1.83942884e+02] [-4.74083492e-01 2.68178207e-02 8.80071388e-01 7.69103700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.67, Y:183.92, Z:76.90 [[ 8.05946014e-01 4.04227840e-01 4.32493787e-01 3.70673356e+02] [-3.53272235e-01 9.14641075e-01 -1.96546260e-01 1.83919405e+02] [-4.75026052e-01 5.61762794e-03 8.79953801e-01 7.69020878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.70, Y:183.90, Z:76.89 [[ 8.06483929e-01 3.99016208e-01 4.36313808e-01 3.70701752e+02] [-3.55457134e-01 9.16902422e-01 -1.81494282e-01 1.83897070e+02] [-4.72476347e-01 -8.71863464e-03 8.81300225e-01 7.68949356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.73, Y:183.90, Z:76.87 [[ 8.05577787e-01 4.08574625e-01 4.29081817e-01 3.70725156e+02] [-3.55497905e-01 9.12671377e-01 -2.01623903e-01 1.83898622e+02] [-4.73989103e-01 9.88605037e-03 8.80475211e-01 7.68708203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.75, Y:183.87, Z:76.87 [[ 8.07307731e-01 3.96188430e-01 4.37365929e-01 3.70754832e+02] [-3.56877263e-01 9.18020204e-01 -1.72851163e-01 1.83866185e+02] [-4.69992390e-01 -1.65418755e-02 8.82515450e-01 7.68736472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.78, Y:183.87, Z:76.85 [[ 8.07511640e-01 4.07134167e-01 4.26809936e-01 3.70782031e+02] [-3.56995906e-01 9.13350221e-01 -1.95819553e-01 1.83866714e+02] [-4.69551780e-01 5.75716895e-03 8.82886166e-01 7.68488898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.81, Y:183.86, Z:76.83 [[ 8.07682374e-01 4.06576264e-01 4.27018647e-01 3.70807680e+02] [-3.56230659e-01 9.13595508e-01 -1.96068777e-01 1.83856379e+02] [-4.69839228e-01 6.24416114e-03 8.82729919e-01 7.68330695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.240385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:370.83, Y:183.84, Z:76.82 [[ 8.08168479e-01 4.06033542e-01 4.26615133e-01 3.70833755e+02] [-3.55638004e-01 9.13833547e-01 -1.96035350e-01 1.83844930e+02] [-4.69452148e-01 6.70903597e-03 8.82932427e-01 7.68156421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.86, Y:183.84, Z:76.79 [[ 8.07117531e-01 4.10294987e-01 4.24522455e-01 3.70857961e+02] [-3.53297437e-01 9.11752745e-01 -2.09494279e-01 1.83842624e+02] [-4.73013966e-01 1.91038098e-02 8.80847792e-01 7.67906981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.88, Y:183.82, Z:76.79 [[ 8.09068311e-01 4.02045926e-01 4.28681165e-01 3.70884807e+02] [-3.54728945e-01 9.15618915e-01 -1.89233661e-01 1.83817303e+02] [-4.68589206e-01 1.03734134e-03 8.83415576e-01 7.67879700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.91, Y:183.81, Z:76.77 [[ 8.08330597e-01 4.02547297e-01 4.29601350e-01 3.70910635e+02] [-3.54435586e-01 9.15396995e-01 -1.90850092e-01 1.83805535e+02] [-4.70081973e-01 2.00396223e-03 8.82620486e-01 7.67726543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.94, Y:183.80, Z:76.75 [[ 8.09289023e-01 4.10228998e-01 4.20432453e-01 3.70935694e+02] [-3.55656604e-01 9.11834039e-01 -2.05102573e-01 1.83801814e+02] [-4.67503644e-01 1.64576822e-02 8.83837930e-01 7.67518737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.96, Y:183.78, Z:76.74 [[ 8.09167739e-01 4.04090263e-01 4.26566092e-01 3.70961858e+02] [-3.54779253e-01 9.14704052e-01 -1.93515323e-01 1.83782774e+02] [-4.68379390e-01 5.24955707e-03 8.83511850e-01 7.67403487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.99, Y:183.78, Z:76.72 [[ 8.09959982e-01 4.08748378e-01 4.20582443e-01 3.70988001e+02] [-3.55638851e-01 9.12539523e-01 -2.01971847e-01 1.83776574e+02] [-4.66353767e-01 1.40136566e-02 8.84487299e-01 7.67217867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.01, Y:183.75, Z:76.71 [[ 8.07607777e-01 4.00741327e-01 4.32638495e-01 3.71012423e+02] [-3.55886856e-01 9.16176864e-01 -1.84294602e-01 1.83754002e+02] [-4.70227843e-01 -5.13260020e-03 8.82530131e-01 7.67144953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.04, Y:183.75, Z:76.69 [[ 8.08036177e-01 4.10766054e-01 4.22313611e-01 3.71037816e+02] [-3.57527349e-01 9.11651525e-01 -2.02646718e-01 1.83753014e+02] [-4.68243240e-01 1.27572134e-02 8.83507511e-01 7.66926019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.06, Y:183.73, Z:76.68 [[ 8.06222432e-01 4.06719154e-01 4.29633473e-01 3.71064093e+02] [-3.59320923e-01 9.13552936e-01 -1.90550537e-01 1.83734259e+02] [-4.69993474e-01 -7.50179034e-04 8.82669571e-01 7.66812239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.09, Y:183.73, Z:76.66 [[ 8.05633894e-01 4.11107211e-01 4.26549986e-01 3.71090331e+02] [-3.60808164e-01 9.11573875e-01 -1.97105402e-01 1.83726593e+02] [-4.69863276e-01 4.89207544e-03 8.82725648e-01 7.66626462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.12, Y:183.72, Z:76.65 [[ 8.05195941e-01 4.12434533e-01 4.26095357e-01 3.71116402e+02] [-3.62339471e-01 9.10977204e-01 -1.97054921e-01 1.83715312e+02] [-4.69435411e-01 4.27665657e-03 8.82956457e-01 7.66467998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.14, Y:183.70, Z:76.63 [[ 8.04106699e-01 4.14521811e-01 4.26126842e-01 3.71142666e+02] [-3.64606380e-01 9.10033653e-01 -1.97233210e-01 1.83704463e+02] [-4.69547234e-01 3.22798039e-03 8.82901453e-01 7.66312849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.17, Y:183.69, Z:76.62 [[ 8.03490050e-01 4.15540918e-01 4.26297413e-01 3.71168969e+02] [-3.65663507e-01 9.09570365e-01 -1.97413149e-01 1.83692480e+02] [-4.69780735e-01 2.73809364e-03 8.82778888e-01 7.66156766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.19, Y:183.68, Z:76.60 [[ 8.02655439e-01 4.16806663e-01 4.26633861e-01 3.71194362e+02] [-3.66925535e-01 9.08992577e-01 -1.97732513e-01 1.83680496e+02] [-4.70223242e-01 2.16821934e-03 8.82544844e-01 7.66008201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.22, Y:183.67, Z:76.58 [[ 8.02591534e-01 4.16989257e-01 4.26575655e-01 3.71221035e+02] [-3.67065614e-01 9.08908709e-01 -1.97858015e-01 1.83668112e+02] [-4.70222994e-01 2.21791336e-03 8.82544852e-01 7.65848823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.25, Y:183.66, Z:76.57 [[ 8.02034849e-01 4.17664184e-01 4.26962213e-01 3.71247684e+02] [-3.67685603e-01 9.08599447e-01 -1.98127088e-01 1.83655570e+02] [-4.70688219e-01 1.91697017e-03 8.82297527e-01 7.65694555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.750385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:371.27, Y:183.65, Z:76.55 [[ 8.03086854e-01 4.22810830e-01 4.19860104e-01 3.71274861e+02] [-3.68301969e-01 9.06132684e-01 -2.08031774e-01 1.83649142e+02] [-4.68407050e-01 1.24322800e-02 8.83425308e-01 7.65490768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.30, Y:183.64, Z:76.53 [[ 8.00564774e-01 4.20312001e-01 4.27122774e-01 3.71298468e+02] [-3.67548579e-01 9.07357669e-01 -2.03985545e-01 1.83636325e+02] [-4.73290697e-01 6.31527321e-03 8.80883666e-01 7.65310137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.33, Y:183.62, Z:76.52 [[ 8.02143734e-01 4.18089121e-01 4.26341316e-01 3.71326625e+02] [-3.71343599e-01 9.08396348e-01 -1.92145793e-01 1.83617622e+02] [-4.67620960e-01 -4.19057437e-03 8.83919157e-01 7.65249406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.35, Y:183.60, Z:76.51 [[ 8.00100801e-01 4.17735246e-01 4.30506647e-01 3.71351443e+02] [-3.72454358e-01 9.08525851e-01 -1.89363486e-01 1.83604173e+02] [-4.70230221e-01 -8.83419985e-03 8.82499573e-01 7.65115903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.870385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:371.38, Y:183.60, Z:76.49 [[ 8.00413127e-01 4.22044829e-01 4.25695888e-01 3.71376107e+02] [-3.72685191e-01 9.06574954e-01 -1.98059588e-01 1.83598457e+02] [-4.69515255e-01 -1.21058697e-04 8.82924352e-01 7.64906428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.40, Y:183.59, Z:76.48 [[ 7.99585845e-01 4.23603782e-01 4.25702140e-01 3.71403249e+02] [-3.74370701e-01 9.05847147e-01 -1.98210807e-01 1.83585418e+02] [-4.69583917e-01 -8.83853002e-04 8.82887402e-01 7.64778464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.43, Y:183.57, Z:76.46 [[ 7.99545218e-01 4.24059254e-01 4.25324810e-01 3.71429241e+02] [-3.74892442e-01 9.05633913e-01 -1.98199071e-01 1.83572790e+02] [-4.69236722e-01 -9.81937520e-04 8.83071874e-01 7.64625231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:371.45, Y:183.56, Z:76.45 [[ 7.99570610e-01 4.24234487e-01 4.25102271e-01 3.71454374e+02] [-3.75058488e-01 9.05551910e-01 -1.98259600e-01 1.83560870e+02] [-4.69060733e-01 -9.15665919e-04 8.83165438e-01 7.64476979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:371.48, Y:183.55, Z:76.43 [[ 7.99413871e-01 4.24235794e-01 4.25395645e-01 3.71480803e+02] [-3.74906208e-01 9.05551442e-01 -1.98549546e-01 1.83549050e+02] [-4.69449464e-01 -7.60207306e-04 8.82959016e-01 7.64319790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.51, Y:183.54, Z:76.42 [[ 7.99394433e-01 4.24013980e-01 4.25653245e-01 3.71506248e+02] [-3.74505210e-01 9.05655525e-01 -1.98831382e-01 1.83537930e+02] [-4.69802499e-01 -4.64657788e-04 8.82771429e-01 7.64167968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.050385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:371.53, Y:183.53, Z:76.40 [[ 8.00819674e-01 4.28016232e-01 4.18915213e-01 3.71532186e+02] [-3.74600201e-01 9.03725757e-01 -2.07254546e-01 1.83531645e+02] [-4.67292778e-01 9.04779511e-03 8.84056332e-01 7.63982261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.56, Y:183.51, Z:76.39 [[ 8.00135290e-01 4.18007847e-01 4.30177822e-01 3.71558155e+02] [-3.73063249e-01 9.08394546e-01 -1.88793966e-01 1.83508125e+02] [-4.69688546e-01 -9.42282156e-03 8.82781899e-01 7.63910953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.59, Y:183.50, Z:76.37 [[ 8.00563146e-01 4.22084180e-01 4.25374652e-01 3.71585462e+02] [-3.72187144e-01 9.06556025e-01 -1.99080142e-01 1.83501433e+02] [-4.69654533e-01 1.05724816e-03 8.82849649e-01 7.63719124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.61, Y:183.49, Z:76.36 [[ 8.00832355e-01 4.21882172e-01 4.25068197e-01 3.71611215e+02] [-3.71946641e-01 9.06649669e-01 -1.99103175e-01 1.83489871e+02] [-4.69386020e-01 1.34557616e-03 8.82992046e-01 7.63566083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.64, Y:183.48, Z:76.34 [[ 8.01156084e-01 4.21603629e-01 4.24734398e-01 3.71637218e+02] [-3.71632843e-01 9.06778696e-01 -1.99101549e-01 1.83478286e+02] [-4.69082039e-01 1.66616550e-03 8.83153025e-01 7.63405426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.66, Y:183.47, Z:76.33 [[ 8.02031102e-01 4.20608205e-01 4.24069392e-01 3.71663299e+02] [-3.70587373e-01 9.07239176e-01 -1.98952446e-01 1.83466786e+02] [-4.68413398e-01 2.41128747e-03 8.83506126e-01 7.63255978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.69, Y:183.46, Z:76.31 [[ 8.02586862e-01 4.19488293e-01 4.24127222e-01 3.71690052e+02] [-3.69225796e-01 9.07755031e-01 -1.99130900e-01 1.83455518e+02] [-4.68536701e-01 3.22113299e-03 8.83438161e-01 7.63101489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.72, Y:183.44, Z:76.30 [[ 8.02941896e-01 4.19045384e-01 4.23893003e-01 3.71715616e+02] [-3.68698314e-01 9.07957978e-01 -1.99182992e-01 1.83444171e+02] [-4.68343748e-01 3.64373349e-03 8.83538826e-01 7.62953379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.74, Y:183.42, Z:76.28 [[ 8.03453784e-01 4.14922956e-01 4.26967164e-01 3.71743291e+02] [-3.69223071e-01 9.09840007e-01 -1.89381850e-01 1.83424422e+02] [-4.67050684e-01 -5.48656344e-03 8.84213524e-01 7.62844162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.77, Y:183.42, Z:76.27 [[ 8.03502116e-01 4.19001138e-01 4.22873972e-01 3.71771579e+02] [-3.69658051e-01 9.07983051e-01 -1.97280777e-01 1.83415772e+02] [-4.66623269e-01 2.19675406e-03 8.84453446e-01 7.62669136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3503857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:371.79, Y:183.42, Z:76.24 [[ 8.03073872e-01 4.26583799e-01 4.16051221e-01 3.71794825e+02] [-3.67420283e-01 9.04178137e-01 -2.17862875e-01 1.83420784e+02] [-4.69121191e-01 2.20943253e-02 8.82857378e-01 7.62431345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:371.82, Y:183.40, Z:76.23 [[ 8.02831445e-01 4.18534007e-01 4.24606826e-01 3.71821206e+02] [-3.67684204e-01 9.08190260e-01 -1.99996945e-01 1.83400434e+02] [-4.69329307e-01 4.44261367e-03 8.83012041e-01 7.62340401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:183.39, Z:76.22 [[ 8.02691729e-01 4.19113833e-01 4.24298932e-01 3.71847207e+02] [-3.68332462e-01 9.07923669e-01 -2.00014522e-01 1.83389839e+02] [-4.69059896e-01 4.26693214e-03 8.83156049e-01 7.62187557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.87, Y:183.38, Z:76.20 [[ 8.02250519e-01 4.19787216e-01 4.24467664e-01 3.71874136e+02] [-3.68997895e-01 9.07613832e-01 -2.00194120e-01 1.83378856e+02] [-4.69291656e-01 3.97816243e-03 8.83034267e-01 7.62027256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:371.90, Y:183.37, Z:76.19 [[ 8.01272742e-01 4.21415887e-01 4.24700651e-01 3.71901558e+02] [-3.70695870e-01 9.06861875e-01 -2.00464740e-01 1.83369670e+02] [-4.69623855e-01 3.19215494e-03 8.82860830e-01 7.61869362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.93, Y:183.36, Z:76.17 [[ 8.00675909e-01 4.22731654e-01 4.24518595e-01 3.71928627e+02] [-3.72146483e-01 9.06251221e-01 -2.00538573e-01 1.83358955e+02] [-4.69494497e-01 2.58330234e-03 8.82931619e-01 7.61710469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.96, Y:183.35, Z:76.16 [[ 7.99353811e-01 4.24697481e-01 4.25047684e-01 3.71955598e+02] [-3.74150869e-01 9.05333911e-01 -2.00951828e-01 1.83349985e+02] [-4.70153818e-01 1.59964923e-03 8.82583044e-01 7.61557738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.98, Y:183.34, Z:76.14 [[ 7.98828658e-01 4.25737002e-01 4.24995037e-01 3.71981684e+02] [-3.75260885e-01 9.04846229e-01 -2.01078517e-01 1.83338869e+02] [-4.70161721e-01 1.14326829e-03 8.82579543e-01 7.61410230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.01, Y:183.33, Z:76.13 [[ 7.98263765e-01 4.26285381e-01 4.25506446e-01 3.72008185e+02] [-3.75672002e-01 9.04588205e-01 -2.01471404e-01 1.83328218e+02] [-4.70792426e-01 9.76463238e-04 8.82243469e-01 7.61255863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.620385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:372.04, Y:183.32, Z:76.11 [[ 7.97656792e-01 4.27417989e-01 4.25508524e-01 3.72036172e+02] [-3.76870084e-01 9.04054003e-01 -2.01631594e-01 1.83319029e+02] [-4.70863655e-01 4.71377523e-04 8.82205869e-01 7.61094658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.650385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:372.06, Y:183.31, Z:76.09 [[ 7.97380447e-01 4.28096329e-01 4.25344515e-01 3.72063077e+02] [-3.77594443e-01 9.03733079e-01 -2.01715045e-01 1.83309600e+02] [-4.70751378e-01 2.35908060e-04 8.82265881e-01 7.60941523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.680385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.09, Y:183.30, Z:76.08 [[ 7.97182336e-01 4.28662573e-01 4.25145531e-01 3.72090311e+02] [-3.78206543e-01 9.03464662e-01 -2.01770700e-01 1.83298351e+02] [-4.70595511e-01 5.52167171e-05 8.82349059e-01 7.60788086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.710385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:372.12, Y:183.29, Z:76.06 [[ 7.96863625e-01 4.29123272e-01 4.25278239e-01 3.72116453e+02] [-3.78608232e-01 9.03245933e-01 -2.01996516e-01 1.83287567e+02] [-4.70812246e-01 -5.01658978e-05 8.82233431e-01 7.60635681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.740385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:372.14, Y:183.29, Z:76.04 [[ 7.95994598e-01 4.33941447e-01 4.22004054e-01 3.72143676e+02] [-3.77235012e-01 9.00864026e-01 -2.14797006e-01 1.83286557e+02] [-4.73377594e-01 1.17825516e-02 8.80780804e-01 7.60395733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.17, Y:183.26, Z:76.04 [[ 7.96963450e-01 4.23718566e-01 4.30478613e-01 3.72169627e+02] [-3.78747511e-01 9.05722476e-01 -1.90307958e-01 1.83261580e+02] [-4.70531171e-01 -1.13742164e-02 8.82310062e-01 7.60371270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.800385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:372.20, Y:183.26, Z:76.02 [[ 7.97328071e-01 4.28965059e-01 4.24566750e-01 3.72197826e+02] [-3.78358231e-01 9.03320930e-01 -2.02129530e-01 1.83258494e+02] [-4.70226537e-01 5.25223442e-04 8.82545595e-01 7.60173532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.22, Y:183.25, Z:76.00 [[ 7.97567592e-01 4.28548888e-01 4.24537144e-01 3.72223431e+02] [-3.77806167e-01 9.03518106e-01 -2.02280827e-01 1.83248142e+02] [-4.70264220e-01 9.39881137e-04 8.82525173e-01 7.60021440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.860385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.25, Y:183.24, Z:75.98 [[ 7.98327216e-01 4.29924715e-01 4.21708900e-01 3.72251243e+02] [-3.76767478e-01 9.02841256e-01 -2.07180922e-01 1.83241382e+02] [-4.69808391e-01 6.51197010e-03 8.82744397e-01 7.59814585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:372.28, Y:183.23, Z:75.97 [[ 7.98927170e-01 4.27907806e-01 4.22623103e-01 3.72277827e+02] [-3.76490685e-01 9.03816040e-01 -2.03399436e-01 1.83228882e+02] [-4.69009746e-01 3.38767413e-03 8.83186494e-01 7.59667618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.920385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:372.30, Y:183.22, Z:75.95 [[ 7.99045942e-01 4.28009130e-01 4.22295829e-01 3.72304657e+02] [-3.76285956e-01 9.03765090e-01 -2.04003776e-01 1.83217979e+02] [-4.68971707e-01 4.10439984e-03 8.83203653e-01 7.59500474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.33, Y:183.21, Z:75.94 [[ 7.99387032e-01 4.25142650e-01 4.24539869e-01 3.72331189e+02] [-3.76251227e-01 9.05125123e-01 -1.97948292e-01 1.83205398e+02] [-4.68417963e-01 -1.49634944e-03 8.83505729e-01 7.59407710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.36, Y:183.20, Z:75.92 [[ 7.98851694e-01 4.27531866e-01 4.23145926e-01 3.72358384e+02] [-3.76757146e-01 9.03998023e-01 -2.02093113e-01 1.83195843e+02] [-4.68924327e-01 2.01917435e-03 8.83236038e-01 7.59238502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.010385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.39, Y:183.19, Z:75.90 [[ 7.98451998e-01 4.32439703e-01 4.18891765e-01 3.72385495e+02] [-3.77785352e-01 9.01607864e-01 -2.10669142e-01 1.83190899e+02] [-4.68777810e-01 9.95802437e-03 8.83259986e-01 7.59018329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.41, Y:183.17, Z:75.89 [[ 7.98765651e-01 4.26963282e-01 4.23881813e-01 3.72413255e+02] [-3.79912466e-01 9.04253167e-01 -1.94917237e-01 1.83169418e+02] [-4.66518974e-01 -5.34479099e-03 8.84495042e-01 7.58923665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.44, Y:183.17, Z:75.87 [[ 7.97963828e-01 4.34834221e-01 4.17340304e-01 3.72439324e+02] [-3.79850035e-01 9.00448474e-01 -2.11911531e-01 1.83171478e+02] [-4.67939826e-01 1.05710073e-02 8.83697105e-01 7.58686597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.46, Y:183.15, Z:75.86 [[ 7.98017493e-01 4.28611910e-01 4.23627090e-01 3.72464151e+02] [-3.81727106e-01 9.03468194e-01 -1.95011892e-01 1.83151420e+02] [-4.66318022e-01 -6.08704185e-03 8.84596208e-01 7.58635011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.130385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.49, Y:183.14, Z:75.85 [[ 7.97639209e-01 4.32199585e-01 4.20684218e-01 3.72491087e+02] [-3.82436506e-01 9.01777931e-01 -2.01342698e-01 1.83143598e+02] [-4.66383974e-01 -2.86172514e-04 8.84582335e-01 7.58459911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.160385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.52, Y:183.13, Z:75.83 [[ 7.97129138e-01 4.32721310e-01 4.21114480e-01 3.72517560e+02] [-3.82831342e-01 9.01527641e-01 -2.01712856e-01 1.83133240e+02] [-4.66931795e-01 -4.24626754e-04 8.84293231e-01 7.58307725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.54, Y:183.12, Z:75.81 [[ 7.96472783e-01 4.34504671e-01 4.20519675e-01 3.72544562e+02] [-3.83449277e-01 9.00668297e-01 -2.04360640e-01 1.83122257e+02] [-4.67544393e-01 1.51972224e-03 8.83968286e-01 7.58142128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.57, Y:183.11, Z:75.80 [[ 7.96405255e-01 4.33180673e-01 4.22010870e-01 3.72569627e+02] [-3.84223451e-01 9.01302715e-01 -2.00064377e-01 1.83108159e+02] [-4.67023564e-01 -2.81415154e-03 8.84240392e-01 7.58026642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.60, Y:183.10, Z:75.79 [[ 7.95616683e-01 4.35070108e-01 4.21554379e-01 3.72596392e+02] [-3.85193066e-01 9.00395416e-01 -2.02273077e-01 1.83096552e+02] [-4.67568600e-01 -1.44798904e-03 8.83955603e-01 7.57868487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.280385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.63, Y:183.07, Z:75.78 [[ 7.95693398e-01 4.31619405e-01 4.24943179e-01 3.72625663e+02] [-3.89575067e-01 9.01894211e-01 -1.86596087e-01 1.83072003e+02] [-4.63792285e-01 -1.70739929e-02 8.85779428e-01 7.57796656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.65, Y:183.08, Z:75.75 [[ 7.93764842e-01 4.46712999e-01 4.12777024e-01 3.72649402e+02] [-3.88577030e-01 8.94552861e-01 -2.20868898e-01 1.83083558e+02] [-4.67915876e-01 1.49222960e-02 8.83647021e-01 7.57504695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.67, Y:183.06, Z:75.74 [[ 7.93580783e-01 4.38547738e-01 4.21788363e-01 3.72673724e+02] [-3.88842028e-01 8.98702699e-01 -2.02818481e-01 1.83060527e+02] [-4.68007926e-01 -3.05619365e-03 8.83718983e-01 7.57403093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.70, Y:183.05, Z:75.72 [[ 7.94714410e-01 4.42873080e-01 4.15081248e-01 3.72699786e+02] [-3.89479982e-01 8.96564663e-01 -2.10896060e-01 1.83052493e+02] [-4.65547367e-01 5.93630155e-03 8.85003056e-01 7.57226265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.400385723 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:372.72, Y:183.03, Z:75.71 [[ 7.95402908e-01 4.38856709e-01 4.18017946e-01 3.72724627e+02] [-3.88847823e-01 8.98556772e-01 -2.03452938e-01 1.83034178e+02] [-4.64899544e-01 -7.18309526e-04 8.85363145e-01 7.57097119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.75, Y:183.01, Z:75.70 [[ 7.94546839e-01 4.33267683e-01 4.25410903e-01 3.72748257e+02] [-3.88038570e-01 9.01189876e-01 -1.93087743e-01 1.83014767e+02] [-4.67034678e-01 -1.16585825e-02 8.84162139e-01 7.56983031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.460385723 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:372.78, Y:183.01, Z:75.68 [[ 7.95975026e-01 4.39107677e-01 4.16663182e-01 3.72775348e+02] [-3.87445518e-01 8.98429209e-01 -2.06666224e-01 1.83008085e+02] [-4.65091098e-01 3.06687052e-03 8.85257513e-01 7.56780820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.490385723 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:373.21, Y:182.71, Z:76.45 [[ 8.29822667e-01 -4.36287190e-01 3.47919286e-01 3.73213156e+02] [-3.75417526e-01 2.48126972e-02 9.26523616e-01 1.82710446e+02] [-4.12863201e-01 -8.99465296e-01 -1.43199719e-01 7.64456017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.63, Y:183.42, Z:76.46 [[ 8.48255779e-01 -3.37015715e-01 -4.08512596e-01 3.73631715e+02] [-3.13234817e-01 -9.41265102e-01 1.26110892e-01 1.83420670e+02] [-4.27020003e-01 2.09860753e-02 -9.03998618e-01 7.64602274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.550385723 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:373.05, Y:182.91, Z:75.58 [[ 8.55648540e-01 3.56443915e-01 3.75250999e-01 3.73050072e+02] [-3.19441719e-01 9.34177171e-01 -1.58965408e-01 1.82911103e+02] [-4.07213169e-01 1.61476949e-02 9.13190389e-01 7.55814835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.07, Y:182.88, Z:75.58 [[ 8.54289667e-01 3.43914485e-01 3.89758889e-01 3.73074731e+02] [-3.18668792e-01 9.38908950e-01 -1.30000708e-01 1.82883012e+02] [-4.10657236e-01 -1.31457328e-02 9.11695028e-01 7.55770360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.10, Y:182.88, Z:75.56 [[ 8.54213364e-01 3.49475693e-01 3.84949695e-01 3.73103667e+02] [-3.18854493e-01 9.36945274e-01 -1.43057211e-01 1.82879246e+02] [-4.10671816e-01 -5.41558403e-04 9.11783070e-01 7.55587476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:373.13, Y:182.87, Z:75.55 [[ 8.54445917e-01 3.49001009e-01 3.84864224e-01 3.73130382e+02] [-3.18322654e-01 9.37122314e-01 -1.43081995e-01 1.82865237e+02] [-4.10600613e-01 -2.55174485e-04 9.11815262e-01 7.55451119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.16, Y:182.85, Z:75.54 [[ 8.55846796e-01 3.46660811e-01 3.83865269e-01 3.73158898e+02] [-3.19313149e-01 9.37965024e-01 -1.35132258e-01 1.82847672e+02] [-4.06897254e-01 -6.92071776e-03 9.13447715e-01 7.55372245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.19, Y:182.83, Z:75.52 [[ 8.54201314e-01 3.49436847e-01 3.85011695e-01 3.73188124e+02] [-3.19872663e-01 9.36955216e-01 -1.40699692e-01 1.82834086e+02] [-4.09904373e-01 -2.96885437e-03 9.12123671e-01 7.55200289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.730385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:373.21, Y:182.84, Z:75.50 [[ 8.55033358e-01 3.56877366e-01 3.76239954e-01 3.73210397e+02] [-3.17226249e-01 9.33900158e-01 -1.64918165e-01 1.82841350e+02] [-4.10226113e-01 2.16573431e-02 9.11726656e-01 7.54984490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.760385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:373.24, Y:182.81, Z:75.50 [[ 8.54550098e-01 3.44559895e-01 3.88616275e-01 3.73235853e+02] [-3.16499739e-01 9.38741980e-01 -1.36350326e-01 1.82811098e+02] [-4.11791265e-01 -6.47876521e-03 9.11255167e-01 7.54954460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.790385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:373.26, Y:182.81, Z:75.48 [[ 8.54784698e-01 3.51927948e-01 3.81431305e-01 3.73262056e+02] [-3.17933455e-01 9.35993790e-01 -1.51109046e-01 1.82807080e+02] [-4.10196830e-01 7.89592723e-03 9.11962837e-01 7.54779471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.29, Y:182.79, Z:75.47 [[ 8.54101675e-01 3.44314507e-01 3.89817712e-01 3.73288506e+02] [-3.16626059e-01 9.38822810e-01 -1.35497858e-01 1.82785317e+02] [-4.12623638e-01 -7.69749819e-03 9.10869081e-01 7.54699085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8503857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.32, Y:182.78, Z:75.45 [[ 8.53847303e-01 3.48339513e-01 3.86787238e-01 3.73315468e+02] [-3.16955291e-01 9.37368105e-01 -1.44500447e-01 1.82778872e+02] [-4.12897235e-01 7.87055630e-04 9.10777280e-01 7.54534237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.34, Y:182.77, Z:75.43 [[ 8.53963915e-01 3.52503449e-01 3.82736138e-01 3.73341268e+02] [-3.17125970e-01 9.35753171e-01 -1.54263157e-01 1.82774188e+02] [-4.12524850e-01 1.03596006e-02 9.10887439e-01 7.54349971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.37, Y:182.75, Z:75.43 [[ 8.54079897e-01 3.43224848e-01 3.90825068e-01 3.73369073e+02] [-3.16429869e-01 9.39202028e-01 -1.33310495e-01 1.82747952e+02] [-4.12819171e-01 -9.81091113e-03 9.10760165e-01 7.54303608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.40, Y:182.74, Z:75.42 [[ 8.55187151e-01 3.45268504e-01 3.86580648e-01 3.73397805e+02] [-3.16635800e-01 9.38492633e-01 -1.37743780e-01 1.82735613e+02] [-4.10361679e-01 -4.60856164e-03 9.11911209e-01 7.54169775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.43, Y:182.73, Z:75.40 [[ 8.55373031e-01 3.48673482e-01 3.83097614e-01 3.73425537e+02] [-3.16354667e-01 9.37234579e-01 -1.46666520e-01 1.82729020e+02] [-4.10191057e-01 4.25986774e-03 9.11989666e-01 7.53991989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.45, Y:182.72, Z:75.39 [[ 8.55445296e-01 3.48240203e-01 3.83330285e-01 3.73452564e+02] [-3.16009286e-01 9.37396451e-01 -1.46376312e-01 1.82717690e+02] [-4.10306565e-01 4.08099794e-03 9.11938522e-01 7.53853389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.48, Y:182.70, Z:75.37 [[ 8.55124602e-01 3.48344125e-01 3.83950889e-01 3.73479652e+02] [-3.16209078e-01 9.37359837e-01 -1.46179191e-01 1.82703374e+02] [-4.10820805e-01 3.59266634e-03 9.11709032e-01 7.53719330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.51, Y:182.69, Z:75.36 [[ 8.55407052e-01 3.46388213e-01 3.85089576e-01 3.73506774e+02] [-3.16126952e-01 9.38091054e-01 -1.41594226e-01 1.82689471e+02] [-4.10295657e-01 -6.16494795e-04 9.11952353e-01 7.53609532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.53, Y:182.69, Z:75.34 [[ 8.55712586e-01 3.53323067e-01 3.78046004e-01 3.73531516e+02] [-3.16433046e-01 9.35372376e-01 -1.57951404e-01 1.82686127e+02] [-4.09421663e-01 1.55347557e-02 9.12213009e-01 7.53405648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:373.56, Y:182.66, Z:75.34 [[ 8.55664697e-01 3.43252425e-01 3.87318601e-01 3.73559244e+02] [-3.16192698e-01 9.39209442e-01 -1.33820036e-01 1.82660202e+02] [-4.09707339e-01 -7.96223296e-03 9.12182273e-01 7.53378564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.58, Y:182.66, Z:75.31 [[ 8.55004103e-01 3.51596857e-01 3.81244848e-01 3.73582724e+02] [-3.15848167e-01 9.36073867e-01 -1.54937572e-01 1.82660891e+02] [-4.11348903e-01 1.20567727e-02 9.11398220e-01 7.53147912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.180385723 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:373.61, Y:182.66, Z:75.30 [[ 8.56538388e-01 3.56955524e-01 3.72726098e-01 3.73613580e+02] [-3.15921743e-01 9.33749579e-01 -1.68241424e-01 1.82655830e+02] [-4.08087543e-01 2.63529597e-02 9.12562370e-01 7.52951455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.64, Y:182.62, Z:75.30 [[ 8.54554066e-01 3.39806304e-01 3.92770957e-01 3.73636053e+02] [-3.16840543e-01 9.40316594e-01 -1.24164304e-01 1.82620889e+02] [-4.11520861e-01 -1.83406526e-02 9.11215782e-01 7.52995303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.66, Y:182.62, Z:75.28 [[ 8.53993629e-01 3.49904358e-01 3.85047819e-01 3.73662580e+02] [-3.18509581e-01 9.36784816e-01 -1.44864958e-01 1.82619301e+02] [-4.11395830e-01 1.07233166e-03 9.11456154e-01 7.52783017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:373.69, Y:182.61, Z:75.27 [[ 8.53811152e-01 3.50789168e-01 3.84647211e-01 3.73688966e+02] [-3.19511993e-01 9.36454179e-01 -1.44795226e-01 1.82607559e+02] [-4.10997085e-01 7.28381405e-04 9.11636367e-01 7.52651393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.72, Y:182.59, Z:75.25 [[ 8.53531423e-01 3.51820120e-01 3.84326310e-01 3.73715370e+02] [-3.20642882e-01 9.36067560e-01 -1.44795253e-01 1.82594301e+02] [-4.10697275e-01 3.55802783e-04 9.11771694e-01 7.52521680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.74, Y:182.58, Z:75.23 [[ 8.52663206e-01 3.54040011e-01 3.84214951e-01 3.73741447e+02] [-3.19973980e-01 9.35208524e-01 -1.51663012e-01 1.82584664e+02] [-4.13015871e-01 6.37868254e-03 9.10701489e-01 7.52337401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.77, Y:182.57, Z:75.22 [[ 8.52692698e-01 3.51536012e-01 3.86442228e-01 3.73766734e+02] [-3.19603416e-01 9.36173421e-01 -1.46400077e-01 1.82570353e+02] [-4.13241842e-01 1.32602068e-03 9.10620350e-01 7.52225821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.79, Y:182.55, Z:75.22 [[ 8.53541783e-01 3.48969936e-01 3.86893278e-01 3.73794355e+02] [-3.20537252e-01 9.37113847e-01 -1.38106875e-01 1.82553289e+02] [-4.10758195e-01 -6.13372023e-03 9.11723688e-01 7.52155030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.82, Y:182.55, Z:75.19 [[ 8.53524278e-01 3.53245615e-01 3.83032431e-01 3.73820858e+02] [-3.19243845e-01 9.35505027e-01 -1.51372761e-01 1.82547848e+02] [-4.11800529e-01 6.91958037e-03 9.11247740e-01 7.51938360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.85, Y:182.53, Z:75.18 [[ 8.54099509e-01 3.50404075e-01 3.84357924e-01 3.73846423e+02] [-3.19362200e-01 9.36598538e-01 -1.44190721e-01 1.82531822e+02] [-4.10514086e-01 4.03832133e-04 9.11854167e-01 7.51837651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.87, Y:182.52, Z:75.17 [[ 8.54551987e-01 3.49652843e-01 3.84036185e-01 3.73874279e+02] [-3.20529377e-01 9.36872160e-01 -1.39755056e-01 1.82517367e+02] [-4.08658562e-01 -3.66691839e-03 9.12679973e-01 7.51744725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.90, Y:182.51, Z:75.15 [[ 8.54046043e-01 3.53262234e-01 3.81852262e-01 3.73900325e+02] [-3.19340187e-01 9.35496561e-01 -1.51221788e-01 1.82513237e+02] [-4.10642425e-01 7.20959716e-03 9.11767964e-01 7.51541302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.93, Y:182.49, Z:75.15 [[ 8.54627859e-01 3.48952259e-01 3.84504283e-01 3.73928222e+02] [-3.20311143e-01 9.37128375e-01 -1.38532234e-01 1.82494516e+02] [-4.08671010e-01 -4.76749998e-03 9.12669314e-01 7.51496033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.95, Y:182.49, Z:75.13 [[ 8.54403829e-01 3.52840876e-01 3.81441231e-01 3.73954599e+02] [-3.18804873e-01 9.35651276e-01 -1.51393997e-01 1.82493835e+02] [-4.10313965e-01 7.74628764e-03 9.11911424e-01 7.51285008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.98, Y:182.47, Z:75.12 [[ 8.55375691e-01 3.48208713e-01 3.83514170e-01 3.73983579e+02] [-3.20426046e-01 9.37396634e-01 -1.36435702e-01 1.82474960e+02] [-4.07012992e-01 -6.18414588e-03 9.13401434e-01 7.51232485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.01, Y:182.47, Z:75.11 [[ 8.55812212e-01 3.51247561e-01 3.79750719e-01 3.74011734e+02] [-3.20333460e-01 9.36281128e-01 -1.44097622e-01 1.82469066e+02] [-4.06167369e-01 1.67364248e-03 9.13797170e-01 7.51065308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.04, Y:182.47, Z:75.09 [[ 8.56515474e-01 3.51375678e-01 3.78042823e-01 3.74037156e+02] [-3.16409911e-01 9.36162145e-01 -1.53248837e-01 1.82467642e+02] [-4.07757295e-01 1.16435045e-02 9.13016110e-01 7.50856404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.06, Y:182.45, Z:75.07 [[ 8.56549117e-01 3.46623091e-01 3.82329758e-01 3.74063419e+02] [-3.15373854e-01 9.38000777e-01 -1.43853655e-01 1.82451670e+02] [-4.08488609e-01 2.64091235e-03 9.12759597e-01 7.50748064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.09, Y:182.44, Z:75.06 [[ 8.58398410e-01 3.44769071e-01 3.79850572e-01 3.74092281e+02] [-3.11532129e-01 9.38647565e-01 -1.47947561e-01 1.82444006e+02] [-4.07553558e-01 8.66229363e-03 9.13140220e-01 7.50591632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:374.12, Y:182.44, Z:75.05 [[ 8.59372454e-01 3.42612909e-01 3.79598972e-01 3.74119041e+02] [-3.09645051e-01 9.39436378e-01 -1.46898720e-01 1.82435003e+02] [-4.06938481e-01 8.69977089e-03 9.13414138e-01 7.50469686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.15, Y:182.41, Z:75.05 [[ 8.60276083e-01 3.31934264e-01 3.86968610e-01 3.74148908e+02] [-3.07232065e-01 9.43244953e-01 -1.26084960e-01 1.82412635e+02] [-4.06858106e-01 -1.04212900e-02 9.13431923e-01 7.50468967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.810385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:374.18, Y:182.41, Z:75.03 [[ 8.60463878e-01 3.38899976e-01 3.80458567e-01 3.74176957e+02] [-3.06519187e-01 9.40788700e-01 -1.44784700e-01 1.82412255e+02] [-4.06998652e-01 7.96415422e-03 9.13394039e-01 7.50265971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.21, Y:182.40, Z:75.01 [[ 8.60621413e-01 3.37492399e-01 3.81352415e-01 3.74205827e+02] [-3.04783967e-01 9.41287721e-01 -1.45203859e-01 1.82402543e+02] [-4.07967544e-01 8.73544869e-03 9.12954640e-01 7.50133659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.23, Y:182.39, Z:75.00 [[ 8.60562638e-01 3.37023968e-01 3.81898928e-01 3.74234348e+02] [-3.04112826e-01 9.41451984e-01 -1.45545703e-01 1.82392893e+02] [-4.08591894e-01 9.11083172e-03 9.12671714e-01 7.49994635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.26, Y:182.39, Z:74.99 [[ 8.60267581e-01 3.36699991e-01 3.82848280e-01 3.74261805e+02] [-3.03524698e-01 9.41564734e-01 -1.46043178e-01 1.82385187e+02] [-4.09649175e-01 9.43230333e-03 9.12194379e-01 7.49857357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.29, Y:182.38, Z:74.97 [[ 8.60241066e-01 3.36706236e-01 3.82902363e-01 3.74290551e+02] [-3.03465430e-01 9.41561211e-01 -1.46188981e-01 1.82376152e+02] [-4.09748754e-01 9.56013463e-03 9.12148323e-01 7.49713900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.32, Y:182.37, Z:74.96 [[ 8.60189316e-01 3.36993967e-01 3.82765473e-01 3.74317915e+02] [-3.03747951e-01 9.41458360e-01 -1.46264616e-01 1.82366855e+02] [-4.09648048e-01 9.55103229e-03 9.12193650e-01 7.49576588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.35, Y:182.36, Z:74.94 [[ 8.60231517e-01 3.36781681e-01 3.82857463e-01 3.74345578e+02] [-3.03445306e-01 9.41531994e-01 -1.46418750e-01 1.82357250e+02] [-4.09783703e-01 9.77772331e-03 9.12130316e-01 7.49445542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.37, Y:182.35, Z:74.92 [[ 8.59755902e-01 3.39412473e-01 3.81600527e-01 3.74372122e+02] [-3.01339910e-01 9.40415580e-01 -1.57520777e-01 1.82354893e+02] [-4.12327598e-01 2.04379488e-02 9.10806369e-01 7.49229598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.40, Y:182.33, Z:74.92 [[ 8.60505996e-01 3.31845315e-01 3.86533464e-01 3.74400971e+02] [-3.03014546e-01 9.43333551e-01 -1.35292260e-01 1.82331986e+02] [-4.09526088e-01 -7.05461336e-04 9.12298134e-01 7.49226815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.080385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:374.43, Y:182.34, Z:74.90 [[ 8.60365910e-01 3.41023426e-01 3.78778991e-01 3.74427674e+02] [-3.01924309e-01 9.39759866e-01 -1.60290692e-01 1.82338247e+02] [-4.10624174e-01 2.35460620e-02 9.11500615e-01 7.48953419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.45, Y:182.33, Z:74.88 [[ 8.59218672e-01 3.37667139e-01 3.84349030e-01 3.74453323e+02] [-2.99841931e-01 9.41069809e-01 -1.56468626e-01 1.82327555e+02] [-4.14533582e-01 1.91968094e-02 9.09831519e-01 7.48794727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.48, Y:182.30, Z:74.89 [[ 8.60648839e-01 3.26127653e-01 3.91055405e-01 3.74482561e+02] [-3.01464804e-01 9.45268105e-01 -1.24848639e-01 1.82300488e+02] [-4.10368795e-01 -1.04386050e-02 9.11859906e-01 7.48850416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.51, Y:182.30, Z:74.86 [[ 8.60920446e-01 3.35394098e-01 3.82526842e-01 3.74511031e+02] [-3.01761831e-01 9.42014311e-01 -1.46795215e-01 1.82301817e+02] [-4.09580009e-01 1.09470016e-02 9.12208518e-01 7.48631229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.54, Y:182.30, Z:74.84 [[ 8.59274838e-01 3.41388066e-01 3.80921175e-01 3.74536550e+02] [-3.01447944e-01 9.39604352e-01 -1.62088862e-01 1.82299583e+02] [-4.13250397e-01 2.44509755e-02 9.10289108e-01 7.48383405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.57, Y:182.28, Z:74.84 [[ 8.60973204e-01 3.30964548e-01 3.86248121e-01 3.74566044e+02] [-3.01712316e-01 9.43643003e-01 -1.36042500e-01 1.82276686e+02] [-4.09505581e-01 5.93132265e-04 9.12307419e-01 7.48405551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.59, Y:182.28, Z:74.81 [[ 8.60038761e-01 3.39512030e-01 3.80873880e-01 3.74592731e+02] [-3.00901681e-01 9.40345721e-01 -1.58770602e-01 1.82279872e+02] [-4.12057652e-01 2.19432806e-02 9.10893508e-01 7.48135685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.62, Y:182.25, Z:74.82 [[ 8.60540155e-01 3.29659952e-01 3.88323266e-01 3.74622683e+02] [-3.02375505e-01 9.44089708e-01 -1.31391314e-01 1.82253350e+02] [-4.09926453e-01 -4.35194224e-03 9.12108197e-01 7.48166124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.65, Y:182.25, Z:74.80 [[ 8.59563248e-01 3.37778315e-01 3.83479899e-01 3.74651109e+02] [-3.03948594e-01 9.41168166e-01 -1.47708279e-01 1.82251625e+02] [-4.10811727e-01 1.04064319e-02 9.11660809e-01 7.47980191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.68, Y:182.25, Z:74.77 [[ 8.57882405e-01 3.43237530e-01 3.82394793e-01 3.74676830e+02] [-3.03127697e-01 9.38949427e-01 -1.62750030e-01 1.82250862e+02] [-4.14911290e-01 2.37059344e-02 9.09552995e-01 7.47733993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.380385723 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:374.71, Y:182.23, Z:74.76 [[ 8.56282203e-01 3.41905252e-01 3.87145435e-01 3.74705967e+02] [-3.07626556e-01 9.39692275e-01 -1.49480203e-01 1.82230633e+02] [-4.14905641e-01 8.90102093e-03 9.09820906e-01 7.47638344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.73, Y:182.22, Z:74.76 [[ 8.56980287e-01 3.39591173e-01 3.87637232e-01 3.74731907e+02] [-3.09425408e-01 9.40573141e-01 -1.39921703e-01 1.82219333e+02] [-4.12117344e-01 -3.46672692e-05 9.11130778e-01 7.47591802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.76, Y:182.22, Z:74.73 [[ 8.55857353e-01 3.49020112e-01 3.81697723e-01 3.74759243e+02] [-3.09676786e-01 9.36886351e-01 -1.62309130e-01 1.82220628e+02] [-4.14256538e-01 2.07105385e-02 9.09924499e-01 7.47319297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.79, Y:182.20, Z:74.73 [[ 8.56523651e-01 3.39920602e-01 3.88357078e-01 3.74785788e+02] [-3.11005177e-01 9.40448557e-01 -1.37230794e-01 1.82198508e+02] [-4.11877428e-01 -3.23964104e-03 9.11233499e-01 7.47323109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.81, Y:182.19, Z:74.71 [[ 8.56544997e-01 3.44733920e-01 3.84043217e-01 3.74814412e+02] [-3.11216693e-01 9.38669247e-01 -1.48472944e-01 1.82193473e+02] [-4.11673217e-01 7.65309785e-03 9.11299398e-01 7.47142152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.84, Y:182.18, Z:74.70 [[ 8.56204341e-01 3.44431494e-01 3.85072816e-01 3.74843023e+02] [-3.11937852e-01 9.38798167e-01 -1.46125900e-01 1.82179517e+02] [-4.11836016e-01 4.99484269e-03 9.11244286e-01 7.47000017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.87, Y:182.17, Z:74.69 [[ 8.56145475e-01 3.46497087e-01 3.83346702e-01 3.74871379e+02] [-3.12586860e-01 9.38013767e-01 -1.49731853e-01 1.82169788e+02] [-4.11466135e-01 8.36310695e-03 9.11386679e-01 7.46856251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.90, Y:182.16, Z:74.67 [[ 8.55921314e-01 3.46887685e-01 3.83493987e-01 3.74898925e+02] [-3.11939432e-01 9.37847176e-01 -1.52106758e-01 1.82160343e+02] [-4.12422713e-01 1.05645197e-02 9.10931335e-01 7.46714139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.92, Y:182.16, Z:74.66 [[ 8.55729833e-01 3.47270197e-01 3.83575109e-01 3.74923974e+02] [-3.10520863e-01 9.37652731e-01 -1.56154249e-01 1.82155099e+02] [-4.13887965e-01 1.45177757e-02 9.10212056e-01 7.46577871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.95, Y:182.14, Z:74.65 [[ 8.56143722e-01 3.43693093e-01 3.85866540e-01 3.74950928e+02] [-3.09574466e-01 9.39042897e-01 -1.49539585e-01 1.82141250e+02] [-4.13740956e-01 8.57294867e-03 9.10354286e-01 7.46463504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.98, Y:182.13, Z:74.63 [[ 8.56504445e-01 3.43077744e-01 3.85613534e-01 3.74978733e+02] [-3.08889379e-01 9.39263954e-01 -1.49567968e-01 1.82130607e+02] [-4.13506333e-01 8.99370431e-03 9.10456823e-01 7.46317297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.01, Y:182.12, Z:74.62 [[ 8.56703827e-01 3.43058968e-01 3.85187094e-01 3.75006805e+02] [-3.08887893e-01 9.39269511e-01 -1.49536135e-01 1.82119799e+02] [-4.13094206e-01 9.12854933e-03 9.10642546e-01 7.46180116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.03, Y:182.11, Z:74.60 [[ 8.56893973e-01 3.43018103e-01 3.84800339e-01 3.75034962e+02] [-3.08854678e-01 9.39282997e-01 -1.49520033e-01 1.82108824e+02] [-4.12724493e-01 9.27543040e-03 9.10808684e-01 7.46039963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.770385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:375.06, Y:182.10, Z:74.59 [[ 8.57389850e-01 3.43409153e-01 3.83344230e-01 3.75063030e+02] [-3.07956038e-01 9.39100130e-01 -1.52492706e-01 1.82099307e+02] [-4.12366007e-01 1.26925286e-02 9.10929842e-01 7.45878291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.800385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:375.09, Y:182.09, Z:74.58 [[ 8.58001474e-01 3.40265405e-01 3.84776461e-01 3.75089901e+02] [-3.06751375e-01 9.40290784e-01 -1.47501987e-01 1.82088017e+02] [-4.11991583e-01 8.52621417e-03 9.11147759e-01 7.45776116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.12, Y:182.08, Z:74.56 [[ 8.58010280e-01 3.40490566e-01 3.84557582e-01 3.75117011e+02] [-3.05990655e-01 9.40185879e-01 -1.49733869e-01 1.82079024e+02] [-4.12538578e-01 1.08021722e-02 9.10876081e-01 7.45635072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.15, Y:182.06, Z:74.55 [[ 8.58575191e-01 3.38589874e-01 3.84974725e-01 3.75146486e+02] [-3.06271854e-01 9.40913944e-01 -1.44493950e-01 1.82064103e+02] [-4.11152276e-01 6.15199786e-03 9.11545917e-01 7.45526569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.17, Y:182.06, Z:74.53 [[ 8.58103252e-01 3.42485169e-01 3.82573809e-01 3.75173075e+02] [-3.05193823e-01 9.39361412e-01 -1.56386919e-01 1.82062193e+02] [-4.12935273e-01 1.74369607e-02 9.10593440e-01 7.45338826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.20, Y:182.05, Z:74.52 [[ 8.57667261e-01 3.41417260e-01 3.84501138e-01 3.75200355e+02] [-3.04850476e-01 9.39787609e-01 -1.54484427e-01 1.82051387e+02] [-4.14093054e-01 1.52808804e-02 9.10106278e-01 7.45191533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.23, Y:182.04, Z:74.51 [[ 8.57896605e-01 3.38756563e-01 3.86338460e-01 3.75227279e+02] [-3.05602117e-01 9.40844239e-01 -1.46353905e-01 1.82037126e+02] [-4.13062660e-01 7.49066673e-03 9.10671801e-01 7.45111470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.26, Y:182.02, Z:74.50 [[ 8.57947300e-01 3.38921120e-01 3.86081474e-01 3.75256344e+02] [-3.06505438e-01 9.40796524e-01 -1.44762965e-01 1.82024360e+02] [-4.12287335e-01 5.86292373e-03 9.11035005e-01 7.44988314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.29, Y:182.01, Z:74.49 [[ 8.57344839e-01 3.42588327e-01 3.84178429e-01 3.75285051e+02] [-3.09154939e-01 9.39451817e-01 -1.47829318e-01 1.82014311e+02] [-4.11561722e-01 7.97004449e-03 9.11347040e-01 7.44859610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.31, Y:182.01, Z:74.47 [[ 8.56656984e-01 3.45462564e-01 3.83137612e-01 3.75311755e+02] [-3.09608771e-01 9.38340458e-01 -1.53816758e-01 1.82010401e+02] [-4.12651453e-01 1.31454347e-02 9.10794146e-01 7.44700339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.34, Y:182.01, Z:74.45 [[ 8.55593064e-01 3.49290186e-01 3.82043027e-01 3.75336410e+02] [-3.08913132e-01 9.36736610e-01 -1.64612273e-01 1.82009416e+02] [-4.15371141e-01 2.28230112e-02 9.09365672e-01 7.44503480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1003857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:375.36, Y:181.99, Z:74.44 [[ 8.54887629e-01 3.46083642e-01 3.86514236e-01 3.75363196e+02] [-3.11456509e-01 9.38162061e-01 -1.51151551e-01 1.81991618e+02] [-4.14924072e-01 8.83521660e-03 9.09813142e-01 7.44418765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.39, Y:181.98, Z:74.43 [[ 8.54707376e-01 3.45982741e-01 3.87002900e-01 3.75391936e+02] [-3.13720160e-01 9.38235023e-01 -1.45927046e-01 1.81976105e+02] [-4.13587914e-01 3.31431114e-03 9.10458155e-01 7.44300841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.42, Y:181.98, Z:74.41 [[ 8.54269232e-01 3.51707425e-01 3.82787103e-01 3.75416789e+02] [-3.14481334e-01 9.35993955e-01 -1.58167020e-01 1.81975283e+02] [-4.13914930e-01 1.47378196e-02 9.10196258e-01 7.44123501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.45, Y:181.95, Z:74.41 [[ 8.54488953e-01 3.47497315e-01 3.86127239e-01 3.75446183e+02] [-3.16596284e-01 9.37680964e-01 -1.43252235e-01 1.81953167e+02] [-4.11843929e-01 1.61003659e-04 9.11254384e-01 7.44052136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.47, Y:181.94, Z:74.39 [[ 8.54777345e-01 3.50119610e-01 3.83108275e-01 3.75474237e+02] [-3.17373609e-01 9.36692430e-01 -1.47923240e-01 1.81943164e+02] [-4.10645448e-01 4.85297815e-03 9.11782192e-01 7.43920731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.250385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:375.50, Y:181.95, Z:74.37 [[ 8.54028852e-01 3.55543300e-01 3.79767932e-01 3.75498155e+02] [-3.14561982e-01 9.34364860e-01 -1.67371050e-01 1.81946948e+02] [-4.14349466e-01 2.34791521e-02 9.09814954e-01 7.43693558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.52, Y:181.93, Z:74.36 [[ 8.54424872e-01 3.46996242e-01 3.86719210e-01 3.75524032e+02] [-3.12229700e-01 9.37824989e-01 -1.51647302e-01 1.81927007e+02] [-4.15295982e-01 8.82600413e-03 9.09643528e-01 7.43622004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.55, Y:181.92, Z:74.35 [[ 8.54842850e-01 3.46274289e-01 3.86442516e-01 3.75552166e+02] [-3.11432326e-01 9.38087227e-01 -1.51664966e-01 1.81915653e+02] [-4.15034466e-01 9.29901998e-03 9.09758166e-01 7.43483275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.58, Y:181.91, Z:74.33 [[ 8.55601903e-01 3.45870407e-01 3.85122119e-01 3.75578846e+02] [-3.08944635e-01 9.38167884e-01 -1.56186537e-01 1.81907077e+02] [-4.15329504e-01 1.46520863e-02 9.09553033e-01 7.43302486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.61, Y:181.89, Z:74.32 [[ 8.56288207e-01 3.41919276e-01 3.87119769e-01 3.75605019e+02] [-3.08183890e-01 9.39697974e-01 -1.48291629e-01 1.81893065e+02] [-4.14479429e-01 7.67629670e-03 9.10026306e-01 7.43214120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.63, Y:181.88, Z:74.31 [[ 8.57292835e-01 3.41034982e-01 3.85673614e-01 3.75632954e+02] [-3.05705148e-01 9.39972727e-01 -1.51643119e-01 1.81883785e+02] [-4.14238287e-01 1.21001498e-02 9.10088033e-01 7.43057420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.66, Y:181.88, Z:74.29 [[ 8.57264541e-01 3.41752859e-01 3.85100624e-01 3.75660077e+02] [-3.03667834e-01 9.39610064e-01 -1.57856818e-01 1.81876274e+02] [-4.15792441e-01 1.83823800e-02 9.09273740e-01 7.42870326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.69, Y:181.86, Z:74.28 [[ 8.58047268e-01 3.37222131e-01 3.87344964e-01 3.75686816e+02] [-3.03843601e-01 9.41391024e-01 -1.46499168e-01 1.81860014e+02] [-4.14045834e-01 8.01092242e-03 9.10220783e-01 7.42801638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.490385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:375.71, Y:181.85, Z:74.26 [[ 8.58418265e-01 3.39450683e-01 3.84566400e-01 3.75714315e+02] [-3.04051176e-01 9.40532331e-01 -1.51498568e-01 1.81851995e+02] [-4.13123425e-01 1.31212715e-02 9.10580511e-01 7.42623843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.74, Y:181.84, Z:74.25 [[ 8.57555034e-01 3.41573816e-01 3.84612392e-01 3.75743120e+02] [-3.06311290e-01 9.39775358e-01 -1.51643233e-01 1.81840344e+02] [-4.13246607e-01 1.22313001e-02 9.10537005e-01 7.42499673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:181.83, Z:74.23 [[ 8.58676300e-01 3.45986087e-01 3.78111941e-01 3.75771510e+02] [-3.07596767e-01 9.38007152e-01 -1.59771124e-01 1.81834354e+02] [-4.09950291e-01 2.08856670e-02 9.11868712e-01 7.42329251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:181.82, Z:74.22 [[ 8.56233267e-01 3.44285440e-01 3.85139102e-01 3.75797025e+02] [-3.08392247e-01 9.38778693e-01 -1.53586418e-01 1.81823325e+02] [-4.14437951e-01 1.27318874e-02 9.09988508e-01 7.42168580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.83, Y:181.80, Z:74.21 [[ 8.56004006e-01 3.42892708e-01 3.86887236e-01 3.75825758e+02] [-3.13182197e-01 9.39373131e-01 -1.39624613e-01 1.81804143e+02] [-4.11307736e-01 -1.64696628e-03 9.11495054e-01 7.42128371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.85, Y:181.80, Z:74.20 [[ 8.56070665e-01 3.48571998e-01 3.81628849e-01 3.75853668e+02] [-3.14350866e-01 9.37236698e-01 -1.50900313e-01 1.81799456e+02] [-4.10276186e-01 9.21597184e-03 9.11914753e-01 7.41952642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.88, Y:181.79, Z:74.18 [[ 8.55540390e-01 3.49997281e-01 3.81513493e-01 3.75881781e+02] [-3.15898177e-01 9.36711153e-01 -1.50932293e-01 1.81787997e+02] [-4.10193836e-01 8.60925624e-03 9.11957728e-01 7.41826649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.91, Y:181.78, Z:74.17 [[ 8.54794503e-01 3.50547611e-01 3.82678365e-01 3.75908165e+02] [-3.16216862e-01 9.36506132e-01 -1.51536008e-01 1.81777316e+02] [-4.11501220e-01 8.52279489e-03 9.11369359e-01 7.41690356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.94, Y:181.76, Z:74.16 [[ 8.54893410e-01 3.46439436e-01 3.86182567e-01 3.75937319e+02] [-3.17924748e-01 9.38058840e-01 -1.37729687e-01 1.81756531e+02] [-4.09976966e-01 -5.03279404e-03 9.12081991e-01 7.41642077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.96, Y:181.76, Z:74.14 [[ 8.54280366e-01 3.53445969e-01 3.81157452e-01 3.75964658e+02] [-3.17355148e-01 9.35373026e-01 -1.56086555e-01 1.81756038e+02] [-4.11692562e-01 1.23794000e-02 9.11238709e-01 7.41427239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.790385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:375.99, Y:181.75, Z:74.13 [[ 8.53050633e-01 3.56568213e-01 3.81003580e-01 3.75989686e+02] [-3.17013681e-01 9.34066973e-01 -1.64381317e-01 1.81751409e+02] [-4.14496013e-01 1.94422392e-02 9.09843423e-01 7.41252275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.02, Y:181.74, Z:74.11 [[ 8.52867165e-01 3.52515427e-01 3.85162917e-01 3.76015096e+02] [-3.16606466e-01 9.35746388e-01 -1.55367446e-01 1.81737806e+02] [-4.15184230e-01 1.05627229e-02 9.09676033e-01 7.41135526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.04, Y:181.72, Z:74.10 [[ 8.53012596e-01 3.51413980e-01 3.85846765e-01 3.76041548e+02] [-3.18032941e-01 9.36207501e-01 -1.49567923e-01 1.81723812e+02] [-4.13792895e-01 4.87134073e-03 9.10358012e-01 7.41027131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.880385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:376.07, Y:181.71, Z:74.09 [[ 8.52766815e-01 3.53500166e-01 3.84481980e-01 3.76068704e+02] [-3.20360271e-01 9.35424505e-01 -1.49500141e-01 1.81710911e+02] [-4.12502190e-01 4.31600791e-03 9.10946384e-01 7.40894786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.910385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:376.09, Y:181.71, Z:74.07 [[ 8.53409923e-01 3.53002308e-01 3.83511244e-01 3.76093641e+02] [-3.17511363e-01 9.35567218e-01 -1.54597916e-01 1.81706289e+02] [-4.13373969e-01 1.01662178e-02 9.10504591e-01 7.40732441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.12, Y:181.69, Z:74.06 [[ 8.53293832e-01 3.51666588e-01 3.84993828e-01 3.76122820e+02] [-3.18920128e-01 9.36117990e-01 -1.48233133e-01 1.81688613e+02] [-4.12528289e-01 3.70413766e-03 9.10937259e-01 7.40621778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9703857229999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:376.15, Y:181.68, Z:74.05 [[ 8.54699151e-01 3.51247309e-01 3.82249513e-01 3.76148987e+02] [-3.16703757e-01 9.36239501e-01 -1.52165460e-01 1.81679360e+02] [-4.11324801e-01 8.99583260e-03 9.11444449e-01 7.40452984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.18, Y:181.67, Z:74.03 [[ 8.55034488e-01 3.49342567e-01 3.83243780e-01 3.76175443e+02] [-3.14277904e-01 9.36938669e-01 -1.52889926e-01 1.81670437e+02] [-4.12486876e-01 1.02811079e-02 9.10905525e-01 7.40347175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.20, Y:181.65, Z:74.02 [[ 8.55777849e-01 3.47932037e-01 3.82867564e-01 3.76202534e+02] [-3.14250735e-01 9.37488503e-01 -1.49538566e-01 1.81653387e+02] [-4.10963197e-01 7.65537865e-03 9.11619793e-01 7.40227961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.23, Y:181.65, Z:74.00 [[ 8.56004591e-01 3.49963835e-01 3.80501582e-01 3.76226241e+02] [-3.10199570e-01 9.36506633e-01 -1.63497867e-01 1.81654761e+02] [-4.13560597e-01 2.19234977e-02 9.10212609e-01 7.40014002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.25, Y:181.62, Z:74.00 [[ 8.56697098e-01 3.42221961e-01 3.85945865e-01 3.76254926e+02] [-3.13751025e-01 9.39610776e-01 -1.36718266e-01 1.81624237e+02] [-4.09426887e-01 -3.96476878e-03 9.12334316e-01 7.40001474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.28, Y:181.62, Z:73.98 [[ 8.56738993e-01 3.48826232e-01 3.79892825e-01 3.76282481e+02] [-3.14252065e-01 9.37126805e-01 -1.51786006e-01 1.81620886e+02] [-4.08954690e-01 1.06588850e-02 9.12492438e-01 7.39806802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:376.31, Y:181.61, Z:73.97 [[ 8.56931408e-01 3.47436533e-01 3.80731426e-01 3.76307346e+02] [-3.12470138e-01 9.37631982e-01 -1.52343951e-01 1.81612220e+02] [-4.09915815e-01 1.15811147e-02 9.12049835e-01 7.39676286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.34, Y:181.59, Z:73.97 [[ 8.56923730e-01 3.44068653e-01 3.83794846e-01 3.76335936e+02] [-3.16767497e-01 9.38923060e-01 -1.34468735e-01 1.81587945e+02] [-4.06620308e-01 -6.34428283e-03 9.13575216e-01 7.39652080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.36, Y:181.58, Z:73.95 [[ 8.56260370e-01 3.51974272e-01 3.78063870e-01 3.76364194e+02] [-3.18476499e-01 9.35974593e-01 -1.50080913e-01 1.81584864e+02] [-4.06682797e-01 8.10388022e-03 9.13533486e-01 7.39457665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.240385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:376.39, Y:181.57, Z:73.93 [[ 8.55483966e-01 3.54939172e-01 3.77048231e-01 3.76391426e+02] [-3.21728407e-01 9.34862584e-01 -1.50075915e-01 1.81573704e+02] [-4.05756105e-01 7.08041248e-03 9.13953966e-01 7.39328995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.42, Y:181.56, Z:73.92 [[ 8.54980085e-01 3.56712316e-01 3.76517434e-01 3.76417818e+02] [-3.22848959e-01 9.34177089e-01 -1.51926677e-01 1.81563858e+02] [-4.05928077e-01 8.33602121e-03 9.13867007e-01 7.39189910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.45, Y:181.55, Z:73.91 [[ 8.54058159e-01 3.56583659e-01 3.78725170e-01 3.76446630e+02] [-3.25702743e-01 9.34263191e-01 -1.45155131e-01 1.81546091e+02] [-4.05588934e-01 6.19097388e-04 9.14055378e-01 7.39097920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.47, Y:181.54, Z:73.89 [[ 8.53448920e-01 3.61239228e-01 3.75674275e-01 3.76473784e+02] [-3.25885103e-01 9.32409245e-01 -1.56243081e-01 1.81540370e+02] [-4.06723297e-01 1.09188389e-02 9.13486146e-01 7.38917958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.50, Y:181.53, Z:73.87 [[ 8.51962985e-01 3.65774347e-01 3.74657443e-01 3.76497873e+02] [-3.26108994e-01 9.30489049e-01 -1.66862379e-01 1.81534065e+02] [-4.09648625e-01 1.99814087e-02 9.12024532e-01 7.38708693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.53, Y:181.50, Z:73.87 [[ 8.52965885e-01 3.54664577e-01 3.82965061e-01 3.76527230e+02] [-3.27831671e-01 9.34942079e-01 -1.35682367e-01 1.81504205e+02] [-4.06171879e-01 -9.81564525e-03 9.13743978e-01 7.38739155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.56, Y:181.50, Z:73.85 [[ 8.52792291e-01 3.62084436e-01 3.76351125e-01 3.76555740e+02] [-3.28249437e-01 9.32119537e-01 -1.52988483e-01 1.81502096e+02] [-4.06198985e-01 6.93035385e-03 9.13758368e-01 7.38533975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.58, Y:181.50, Z:73.83 [[ 8.51437189e-01 3.69485267e-01 3.72203374e-01 3.76579098e+02] [-3.28760440e-01 9.28964579e-01 -1.70121673e-01 1.81502385e+02] [-4.08621202e-01 2.24821740e-02 9.12427129e-01 7.38277352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.61, Y:181.47, Z:73.83 [[ 8.53014441e-01 3.57753481e-01 3.79972118e-01 3.76605394e+02] [-3.29766871e-01 9.33791058e-01 -1.38881502e-01 1.81472198e+02] [-4.04499906e-01 -6.83428913e-03 9.14512503e-01 7.38290935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.63, Y:181.47, Z:73.80 [[ 8.51753803e-01 3.68458127e-01 3.72497070e-01 3.76630577e+02] [-3.30255054e-01 9.29491060e-01 -1.64249713e-01 1.81473653e+02] [-4.06751839e-01 1.68812781e-02 9.13382704e-01 7.38026027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.540385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:376.66, Y:181.45, Z:73.80 [[ 8.53112280e-01 3.60530113e-01 3.77117324e-01 3.76655852e+02] [-3.28766509e-01 9.32744825e-01 -1.47985382e-01 1.81451299e+02] [-4.05107419e-01 2.26460032e-03 9.14266291e-01 7.37983635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.68, Y:181.44, Z:73.78 [[ 8.52436234e-01 3.63308466e-01 3.75977958e-01 3.76682029e+02] [-3.29165538e-01 9.31638973e-01 -1.53944382e-01 1.81440404e+02] [-4.06205016e-01 7.46878199e-03 9.13751445e-01 7.37813338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6003857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:376.71, Y:181.42, Z:73.77 [[ 8.53075743e-01 3.60515840e-01 3.77213608e-01 3.76707110e+02] [-3.26709222e-01 9.32727398e-01 -1.52580098e-01 1.81424947e+02] [-4.06845009e-01 6.92321595e-03 9.13470967e-01 7.37690552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.73, Y:181.41, Z:73.76 [[ 8.53512504e-01 3.59701124e-01 3.77003324e-01 3.76733925e+02] [-3.25822605e-01 9.33038323e-01 -1.52574957e-01 1.81411859e+02] [-4.06639933e-01 7.38842865e-03 9.13558633e-01 7.37556946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.76, Y:181.40, Z:73.74 [[ 8.54025820e-01 3.59041240e-01 3.76469504e-01 3.76760486e+02] [-3.25144937e-01 9.33288923e-01 -1.52487890e-01 1.81397140e+02] [-4.06104259e-01 7.82144232e-03 9.13793279e-01 7.37420895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.690385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:376.79, Y:181.38, Z:73.73 [[ 8.53935000e-01 3.59352519e-01 3.76378510e-01 3.76787856e+02] [-3.25444148e-01 9.33169251e-01 -1.52581964e-01 1.81384350e+02] [-4.06055566e-01 7.80489593e-03 9.13815059e-01 7.37280997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7203857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:376.81, Y:181.37, Z:73.72 [[ 8.53626401e-01 3.60482144e-01 3.75998126e-01 3.76813285e+02] [-3.26690811e-01 9.32736793e-01 -1.52562083e-01 1.81370569e+02] [-4.05703193e-01 7.39588885e-03 9.13974956e-01 7.37150322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.84, Y:181.36, Z:73.70 [[ 8.52662790e-01 3.62056109e-01 3.76671661e-01 3.76840423e+02] [-3.28228279e-01 9.32131578e-01 -1.52960516e-01 1.81358087e+02] [-4.06487839e-01 6.78944907e-03 9.13630965e-01 7.37017775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.780385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:376.87, Y:181.35, Z:73.69 [[ 8.51903209e-01 3.63371421e-01 3.77123499e-01 3.76868181e+02] [-3.29522312e-01 9.31623017e-01 -1.53276220e-01 1.81347202e+02] [-4.07033130e-01 6.30589682e-03 9.13391629e-01 7.36877634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.810385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:376.90, Y:181.34, Z:73.67 [[ 8.51686821e-01 3.64371979e-01 3.76646546e-01 3.76895455e+02] [-3.30647458e-01 9.31234459e-01 -1.53214363e-01 1.81336657e+02] [-4.06573263e-01 5.95343066e-03 9.13598784e-01 7.36735045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8403857229999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:376.92, Y:181.33, Z:73.66 [[ 8.50731680e-01 3.66591554e-01 3.76651352e-01 3.76924076e+02] [-3.33014809e-01 9.30368396e-01 -1.53348574e-01 1.81327208e+02] [-4.06640806e-01 5.02801193e-03 9.13574285e-01 7.36594616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.870385723 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:376.95, Y:181.32, Z:73.65 [[ 8.50491033e-01 3.67306889e-01 3.76497877e-01 3.76952018e+02] [-3.33766843e-01 9.30087324e-01 -1.53418594e-01 1.81316706e+02] [-4.06527610e-01 4.81863080e-03 9.13625790e-01 7.36454302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.900385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:376.98, Y:181.31, Z:73.63 [[ 8.50199425e-01 3.67819166e-01 3.76656340e-01 3.76979112e+02] [-3.34238341e-01 9.29885404e-01 -1.53615969e-01 1.81307277e+02] [-4.06750130e-01 4.71121813e-03 9.13527305e-01 7.36323398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.930385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:377.01, Y:181.30, Z:73.62 [[ 8.50343783e-01 3.67394281e-01 3.76745131e-01 3.77007517e+02] [-3.33702014e-01 9.30051625e-01 -1.53775617e-01 1.81299126e+02] [-4.06888704e-01 5.04153059e-03 9.13463828e-01 7.36174151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.960385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:377.03, Y:181.29, Z:73.60 [[ 8.50926005e-01 3.66866223e-01 3.75944290e-01 3.77034105e+02] [-3.33216556e-01 9.30257952e-01 -1.53580172e-01 1.81289677e+02] [-4.06068543e-01 5.41450072e-03 9.13826582e-01 7.36032467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:377.06, Y:181.28, Z:73.59 [[ 8.51289452e-01 3.66023209e-01 3.75943188e-01 3.77061943e+02] [-3.32240916e-01 9.30586758e-01 -1.53701852e-01 1.81279683e+02] [-4.06106197e-01 5.94105587e-03 9.13806577e-01 7.35898743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.020385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:377.09, Y:181.27, Z:73.58 [[ 8.51554448e-01 3.65462079e-01 3.75888936e-01 3.77089876e+02] [-3.31580352e-01 9.30804643e-01 -1.53808932e-01 1.81268570e+02] [-4.06090499e-01 6.33929393e-03 9.13810878e-01 7.35760144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.050385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:377.11, Y:181.27, Z:73.55 [[ 8.50894528e-01 3.65808232e-01 3.77044878e-01 3.77113288e+02] [-3.27729076e-01 9.30564097e-01 -1.63230250e-01 1.81266382e+02] [-4.10575396e-01 1.53231568e-02 9.11697891e-01 7.35534244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.080385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:377.14, Y:181.24, Z:73.55 [[ 8.52645736e-01 3.58164397e-01 3.80412294e-01 3.77144055e+02] [-3.27629434e-01 9.33657709e-01 -1.44714330e-01 1.81242950e+02] [-4.07006391e-01 -1.24420812e-03 9.13424463e-01 7.35520588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.17, Y:181.24, Z:73.54 [[ 8.53207664e-01 3.60666273e-01 3.76771181e-01 3.77171391e+02] [-3.25998128e-01 9.32651119e-01 -1.54554555e-01 1.81236875e+02] [-4.07138679e-01 9.04043103e-03 9.13321612e-01 7.35364856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:377.20, Y:181.24, Z:73.51 [[ 8.52604197e-01 3.63746887e-01 3.75172341e-01 3.77196775e+02] [-3.23158353e-01 9.31228502e-01 -1.68470042e-01 1.81235512e+02] [-4.10651631e-01 2.23981888e-02 9.11517175e-01 7.35116329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:377.22, Y:181.22, Z:73.50 [[ 8.52841758e-01 3.57629746e-01 3.80475886e-01 3.77224100e+02] [-3.22807948e-01 9.33823270e-01 -1.54172401e-01 1.81217197e+02] [-4.10433873e-01 8.66402188e-03 9.11849204e-01 7.35045026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.25, Y:181.20, Z:73.50 [[ 8.53194416e-01 3.53810731e-01 3.83245685e-01 3.77252385e+02] [-3.23082376e-01 9.35316724e-01 -1.44223450e-01 1.81200565e+02] [-4.09483903e-01 -7.69284303e-04 9.12317018e-01 7.35009519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.28, Y:181.20, Z:73.48 [[ 8.52900404e-01 3.58560730e-01 3.79466867e-01 3.77281035e+02] [-3.22995390e-01 9.33447053e-01 -1.56046715e-01 1.81195544e+02] [-4.10164453e-01 1.05262574e-02 9.11950832e-01 7.34830209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.31, Y:181.19, Z:73.46 [[ 8.51302859e-01 3.62324405e-01 3.79479208e-01 3.77307159e+02] [-3.21196751e-01 9.31790514e-01 -1.69112641e-01 1.81193516e+02] [-4.14868763e-01 2.20785861e-02 9.09613350e-01 7.34591644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.290385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:377.33, Y:181.18, Z:73.45 [[ 8.50737953e-01 3.58030008e-01 3.84784937e-01 3.77333333e+02] [-3.22005377e-01 9.33661767e-01 -1.56806384e-01 1.81177863e+02] [-4.15400376e-01 9.49832374e-03 9.09589089e-01 7.34503862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.36, Y:181.17, Z:73.44 [[ 8.50297110e-01 3.58989087e-01 3.84865769e-01 3.77361026e+02] [-3.22707855e-01 9.33290488e-01 -1.57570636e-01 1.81167370e+02] [-4.15757700e-01 9.78264993e-03 9.09422803e-01 7.34365726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3503857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:377.39, Y:181.15, Z:73.43 [[ 8.49752228e-01 3.57462505e-01 3.87481237e-01 3.77390436e+02] [-3.25847322e-01 9.33926503e-01 -1.46985748e-01 1.81148846e+02] [-4.14420891e-01 -1.35825659e-03 9.10084326e-01 7.34301037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:377.42, Y:181.14, Z:73.41 [[ 8.49433914e-01 3.63666924e-01 3.82372063e-01 3.77417875e+02] [-3.27873076e-01 9.31490580e-01 -1.57558070e-01 1.81144017e+02] [-4.13474633e-01 8.46566366e-03 9.10476282e-01 7.34147555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.410385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:377.45, Y:181.13, Z:73.40 [[ 8.48404181e-01 3.66665714e-01 3.81793924e-01 3.77446258e+02] [-3.31124015e-01 9.30323865e-01 -1.57652760e-01 1.81134867e+02] [-4.12997861e-01 7.33212388e-03 9.10702480e-01 7.34003755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.47, Y:181.12, Z:73.39 [[ 8.47735717e-01 3.68198814e-01 3.81803335e-01 3.77473830e+02] [-3.32742187e-01 9.29722769e-01 -1.57791667e-01 1.81124542e+02] [-4.13069959e-01 6.72355556e-03 9.10674477e-01 7.33871199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.50, Y:181.11, Z:73.37 [[ 8.46784627e-01 3.69626275e-01 3.82533936e-01 3.77502192e+02] [-3.34127373e-01 9.29160308e-01 -1.58177182e-01 1.81114784e+02] [-4.13901792e-01 6.12694652e-03 9.10300921e-01 7.33727511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.500385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:377.53, Y:181.10, Z:73.36 [[ 8.46850658e-01 3.68918674e-01 3.83070458e-01 3.77530267e+02] [-3.33183226e-01 9.29438075e-01 -1.58536442e-01 1.81104471e+02] [-4.14527323e-01 6.62403943e-03 9.10012758e-01 7.33578823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.56, Y:181.10, Z:73.34 [[ 8.46030669e-01 3.70903097e-01 3.82966056e-01 3.77556036e+02] [-3.30662528e-01 9.28530674e-01 -1.68798936e-01 1.81100533e+02] [-4.18203778e-01 1.61765528e-02 9.08209183e-01 7.33382364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.58, Y:181.08, Z:73.34 [[ 8.47037214e-01 3.62785559e-01 3.88477278e-01 3.77584919e+02] [-3.30786702e-01 9.31869811e-01 -1.48992661e-01 1.81076432e+02] [-4.16062634e-01 -2.30078904e-03 9.09333048e-01 7.33374267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.61, Y:181.08, Z:73.31 [[ 8.46695610e-01 3.68616946e-01 3.83703129e-01 3.77610273e+02] [-3.26665977e-01 9.29360218e-01 -1.71985246e-01 1.81081367e+02] [-4.19995100e-01 2.02763954e-02 9.07299831e-01 7.33105002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:377.64, Y:181.06, Z:73.31 [[ 8.47229641e-01 3.59839880e-01 3.90790476e-01 3.77637602e+02] [-3.27419328e-01 9.33012898e-01 -1.49276641e-01 1.81057265e+02] [-4.18328243e-01 -1.48076036e-03 9.08294714e-01 7.33107266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.66, Y:181.06, Z:73.29 [[ 8.47666549e-01 3.63226503e-01 3.86688413e-01 3.77664432e+02] [-3.23334863e-01 9.31565200e-01 -1.66255362e-01 1.81058510e+02] [-4.20613823e-01 1.58992639e-02 9.07100450e-01 7.32873731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.680385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:377.69, Y:181.04, Z:73.28 [[ 8.49077415e-01 3.58176287e-01 3.88300517e-01 3.77693275e+02] [-3.25344358e-01 9.33653575e-01 -1.49806714e-01 1.81038813e+02] [-4.16195379e-01 8.66115099e-04 9.09274797e-01 7.32838674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:377.72, Y:181.03, Z:73.27 [[ 8.49644563e-01 3.62113192e-01 3.83377299e-01 3.77721211e+02] [-3.25182296e-01 9.32068985e-01 -1.59699351e-01 1.81034506e+02] [-4.15163332e-01 1.10201746e-02 9.09680144e-01 7.32651833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.740385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:377.75, Y:181.03, Z:73.25 [[ 8.50010676e-01 3.61723755e-01 3.82933122e-01 3.77749207e+02] [-3.24784129e-01 9.32216443e-01 -1.59648909e-01 1.81025087e+02] [-4.14725356e-01 1.13326766e-02 9.09876063e-01 7.32502461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.78, Y:181.02, Z:73.24 [[ 8.49537847e-01 3.61816637e-01 3.83893434e-01 3.77777844e+02] [-3.24626289e-01 9.32178783e-01 -1.60188918e-01 1.81015694e+02] [-4.15816329e-01 1.14646479e-02 9.09376348e-01 7.32397237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:377.80, Y:181.02, Z:73.21 [[ 8.49139823e-01 3.64551888e-01 3.82182524e-01 3.77802125e+02] [-3.19762636e-01 9.30750048e-01 -1.77358970e-01 1.81021235e+02] [-4.20372950e-01 2.83948730e-02 9.06907004e-01 7.32135112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.83, Y:181.00, Z:73.21 [[ 8.48648762e-01 3.55048298e-01 3.92091807e-01 3.77830893e+02] [-3.21252672e-01 9.34844991e-01 -1.51200406e-01 1.80998759e+02] [-4.20228508e-01 2.35549681e-03 9.07415259e-01 7.32110431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.860385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:377.86, Y:180.98, Z:73.20 [[ 8.48942901e-01 3.57163371e-01 3.89525708e-01 3.77861927e+02] [-3.24823763e-01 9.34041821e-01 -1.48510603e-01 1.80983972e+02] [-4.16875850e-01 -4.50184397e-04 9.08963324e-01 7.32014262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.89, Y:180.98, Z:73.18 [[ 8.48704123e-01 3.63261431e-01 3.84372794e-01 3.77890737e+02] [-3.25986987e-01 9.31621631e-01 -1.60666177e-01 1.80983098e+02] [-4.16453835e-01 1.10575176e-02 9.09089619e-01 7.31846704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.91, Y:180.99, Z:73.16 [[ 8.47507003e-01 3.68506808e-01 3.82013889e-01 3.77914242e+02] [-3.21150801e-01 9.29038755e-01 -1.83709429e-01 1.80992154e+02] [-4.22603884e-01 3.30109609e-02 9.05713108e-01 7.31563992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.95, Y:180.95, Z:73.17 [[ 8.47956628e-01 3.53601840e-01 3.94886434e-01 3.77945268e+02] [-3.27304998e-01 9.35274717e-01 -1.34657497e-01 1.80951930e+02] [-4.16942436e-01 -1.50645863e-02 9.08808045e-01 7.31662346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.980385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:377.98, Y:180.96, Z:73.14 [[ 8.48003951e-01 3.64857828e-01 3.84406120e-01 3.77975535e+02] [-3.27573118e-01 9.31002544e-01 -1.61028310e-01 1.80956526e+02] [-4.16635515e-01 1.06315313e-02 9.09011451e-01 7.31434490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.00, Y:180.95, Z:73.13 [[ 8.48178299e-01 3.64897466e-01 3.83983609e-01 3.78004954e+02] [-3.27641690e-01 9.30985817e-01 -1.60985504e-01 1.80949148e+02] [-4.16226497e-01 1.07353724e-02 9.09197589e-01 7.31293112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.03, Y:180.94, Z:73.12 [[ 8.48008959e-01 3.65232990e-01 3.84038628e-01 3.78032324e+02] [-3.27935172e-01 9.30854478e-01 -1.61147334e-01 1.80940025e+02] [-4.16340400e-01 1.07146099e-02 9.09145681e-01 7.31157572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.06, Y:180.93, Z:73.10 [[ 8.47473190e-01 3.65962353e-01 3.84526656e-01 3.78061675e+02] [-3.28576272e-01 9.30570360e-01 -1.61482008e-01 1.80932489e+02] [-4.16925444e-01 1.05053371e-02 9.08879977e-01 7.31017271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.09, Y:180.92, Z:73.09 [[ 8.47236294e-01 3.67666459e-01 3.83421489e-01 3.78089763e+02] [-3.30609638e-01 9.29906354e-01 -1.61156569e-01 1.80924998e+02] [-4.15797944e-01 9.77485432e-03 9.09404488e-01 7.30885662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.130385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:378.12, Y:180.92, Z:73.07 [[ 8.47084011e-01 3.68506447e-01 3.82951271e-01 3.78118099e+02] [-3.31568329e-01 9.29576849e-01 -1.61087941e-01 1.80915336e+02] [-4.15344581e-01 9.48050609e-03 9.09614753e-01 7.30742656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.160385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:378.14, Y:180.91, Z:73.06 [[ 8.47079037e-01 3.69113205e-01 3.82377494e-01 3.78144878e+02] [-3.32288567e-01 9.29337856e-01 -1.60982789e-01 1.80906171e+02] [-4.14778753e-01 9.30547614e-03 9.09874713e-01 7.30579024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.190385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:378.17, Y:180.90, Z:73.04 [[ 8.46436797e-01 3.70824614e-01 3.82143761e-01 3.78173038e+02] [-3.34151744e-01 9.28663103e-01 -1.61020043e-01 1.80897901e+02] [-4.14593006e-01 8.59928540e-03 9.09966313e-01 7.30443818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.20, Y:180.89, Z:73.03 [[ 8.46643317e-01 3.75042811e-01 3.77542029e-01 3.78202356e+02] [-3.36138641e-01 9.26894832e-01 -1.66963423e-01 1.80890887e+02] [-4.12560187e-01 1.44520018e-02 9.10815696e-01 7.30309820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.23, Y:180.87, Z:73.02 [[ 8.45169044e-01 3.71583926e-01 3.84206551e-01 3.78229778e+02] [-3.37937160e-01 9.28399065e-01 -1.54511012e-01 1.80873933e+02] [-4.14110811e-01 7.50253216e-04 9.10226166e-01 7.30221538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.26, Y:180.87, Z:73.01 [[ 8.44973166e-01 3.74961869e-01 3.81344916e-01 3.78257388e+02] [-3.38700548e-01 9.27014618e-01 -1.61015020e-01 1.80866917e+02] [-4.13886805e-01 6.89163929e-03 9.10302267e-01 7.30069279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.29, Y:180.86, Z:72.99 [[ 8.44929600e-01 3.75106820e-01 3.81298892e-01 3.78285392e+02] [-3.38810432e-01 9.26955536e-01 -1.61123944e-01 1.80855053e+02] [-4.13885809e-01 6.95034756e-03 9.10302274e-01 7.29929544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.31, Y:180.85, Z:72.98 [[ 8.44654021e-01 3.75840796e-01 3.81186674e-01 3.78313004e+02] [-3.39611858e-01 9.26660407e-01 -1.61134340e-01 1.80845402e+02] [-4.13791457e-01 6.64725353e-03 9.10347431e-01 7.29791507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.34, Y:180.83, Z:72.97 [[ 8.44998192e-01 3.76004587e-01 3.80261233e-01 3.78340969e+02] [-3.39920754e-01 9.26593776e-01 -1.60865957e-01 1.80834478e+02] [-4.12834029e-01 6.67275769e-03 9.10781828e-01 7.29653958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.37, Y:180.82, Z:72.95 [[ 8.45055823e-01 3.75965799e-01 3.80171507e-01 3.78368064e+02] [-3.39831769e-01 9.26608337e-01 -1.60970057e-01 1.80824092e+02] [-4.12789324e-01 6.83432789e-03 9.10800893e-01 7.29517494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.430385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:378.40, Y:180.81, Z:72.94 [[ 8.45697258e-01 3.75451020e-01 3.79252791e-01 3.78395069e+02] [-3.39391831e-01 9.26814280e-01 -1.60712400e-01 1.80812382e+02] [-4.11836537e-01 7.19873666e-03 9.11229305e-01 7.29363723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.42, Y:180.79, Z:72.93 [[ 8.47081305e-01 3.69882593e-01 3.81628262e-01 3.78423698e+02] [-3.38691399e-01 9.29072672e-01 -1.48701399e-01 1.80793864e+02] [-4.09562448e-01 -3.29203535e-03 9.12276144e-01 7.29301907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.490385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:378.45, Y:180.80, Z:72.91 [[ 8.46628232e-01 3.78740855e-01 3.73866290e-01 3.78449408e+02] [-3.37870599e-01 9.25297101e-01 -1.72246144e-01 1.80795838e+02] [-4.11174046e-01 1.95100212e-02 9.11348047e-01 7.29057984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.48, Y:180.77, Z:72.90 [[ 8.48061718e-01 3.67346024e-01 3.81900800e-01 3.78476841e+02] [-3.37204646e-01 9.30070270e-01 -1.45816046e-01 1.80769207e+02] [-4.08759525e-01 -5.11771787e-03 9.12627777e-01 7.29047943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.550385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:378.50, Y:180.77, Z:72.88 [[ 8.47368721e-01 3.78678586e-01 3.72248276e-01 3.78502863e+02] [-3.36443879e-01 9.25233739e-01 -1.75351206e-01 1.80774278e+02] [-4.10818411e-01 2.33464727e-02 9.11418222e-01 7.28768697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.580385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:378.53, Y:180.75, Z:72.87 [[ 8.47403767e-01 3.72229058e-01 3.78619049e-01 3.78528460e+02] [-3.35785953e-01 9.28095225e-01 -1.60894521e-01 1.80753936e+02] [-4.11284148e-01 9.20766512e-03 9.11460679e-01 7.28682381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.56, Y:180.74, Z:72.86 [[ 8.47448548e-01 3.72441376e-01 3.78309900e-01 3.78556525e+02] [-3.36043442e-01 9.28010310e-01 -1.60846729e-01 1.80740740e+02] [-4.10981465e-01 9.18076578e-03 9.11597471e-01 7.28565289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.58, Y:180.73, Z:72.84 [[ 8.47619403e-01 3.71835137e-01 3.78523419e-01 3.78584002e+02] [-3.35275738e-01 9.28248960e-01 -1.61071562e-01 1.80726590e+02] [-4.11256036e-01 9.61766291e-03 9.11469129e-01 7.28443517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.61, Y:180.71, Z:72.83 [[ 8.48075340e-01 3.70379064e-01 3.78929500e-01 3.78611001e+02] [-3.33536657e-01 9.28821620e-01 -1.61380595e-01 1.80713970e+02] [-4.11729906e-01 1.04760238e-02 9.11245706e-01 7.28311638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.700385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:378.64, Y:180.70, Z:72.82 [[ 8.48540989e-01 3.69701614e-01 3.78548419e-01 3.78637006e+02] [-3.32811350e-01 9.29086234e-01 -1.61354811e-01 1.80702023e+02] [-4.11357260e-01 1.09309607e-02 9.11408646e-01 7.28158797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.730385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:378.66, Y:180.69, Z:72.80 [[ 8.48756855e-01 3.69575331e-01 3.78187620e-01 3.78664196e+02] [-3.32690052e-01 9.29134365e-01 -1.61327806e-01 1.80689590e+02] [-4.11009891e-01 1.11088222e-02 9.11563198e-01 7.28021606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.69, Y:180.68, Z:72.79 [[ 8.49854339e-01 3.69355158e-01 3.75931338e-01 3.78692398e+02] [-3.32851065e-01 9.29219934e-01 -1.60500728e-01 1.80677158e+02] [-4.08604664e-01 1.12730939e-02 9.12641850e-01 7.27921759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.790385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:378.72, Y:180.66, Z:72.78 [[ 8.48281204e-01 3.70686526e-01 3.78167289e-01 3.78718727e+02] [-3.33791580e-01 9.28694791e-01 -1.61583311e-01 1.80663556e+02] [-4.11098748e-01 1.08390287e-02 9.11526377e-01 7.27778152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.75, Y:180.65, Z:72.77 [[ 8.49299558e-01 3.69906442e-01 3.76642385e-01 3.78746779e+02] [-3.33189609e-01 9.29000258e-01 -1.61068947e-01 1.80651059e+02] [-4.09481314e-01 1.13024566e-02 9.12248490e-01 7.27668399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8503857229999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:378.77, Y:180.64, Z:72.75 [[ 8.48119482e-01 3.70108560e-01 3.79094972e-01 3.78771031e+02] [-3.32841155e-01 9.28918114e-01 -1.62258754e-01 1.80638447e+02] [-4.12201540e-01 1.14364021e-02 9.11020911e-01 7.27489965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.880385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:378.80, Y:180.63, Z:72.74 [[ 8.48484090e-01 3.69195534e-01 3.79169363e-01 3.78798630e+02] [-3.31786884e-01 9.29274646e-01 -1.62376403e-01 1.80625369e+02] [-4.12301119e-01 1.19703728e-02 9.10968988e-01 7.27356376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.910385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:378.83, Y:180.61, Z:72.72 [[ 8.48403190e-01 3.69232562e-01 3.79314305e-01 3.78827169e+02] [-3.31736037e-01 9.29258310e-01 -1.62573658e-01 1.80612974e+02] [-4.12508459e-01 1.20957855e-02 9.10873462e-01 7.27241712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.85, Y:180.60, Z:72.71 [[ 8.49011472e-01 3.69566457e-01 3.77624357e-01 3.78854110e+02] [-3.32392492e-01 9.29126727e-01 -1.61983815e-01 1.80600871e+02] [-4.10724668e-01 1.20066158e-02 9.11680365e-01 7.27098136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.88, Y:180.59, Z:72.70 [[ 8.49912144e-01 3.70067047e-01 3.75099626e-01 3.78882245e+02] [-3.33402487e-01 9.28930041e-01 -1.61033416e-01 1.80589129e+02] [-4.08034471e-01 1.18051079e-02 9.12890196e-01 7.26964255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.91, Y:180.58, Z:72.68 [[ 8.48866360e-01 3.72137224e-01 3.75419486e-01 3.78907551e+02] [-3.35536890e-01 9.28112958e-01 -1.61311289e-01 1.80577406e+02] [-4.08461625e-01 1.09646398e-02 9.12709635e-01 7.26806955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.93, Y:180.57, Z:72.67 [[ 8.48855698e-01 3.71931517e-01 3.75647376e-01 3.78934994e+02] [-3.35206791e-01 9.28192552e-01 -1.61539448e-01 1.80565855e+02] [-4.08754708e-01 1.12041297e-02 9.12575507e-01 7.26673745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.96, Y:180.55, Z:72.65 [[ 8.48467776e-01 3.71480581e-01 3.76967653e-01 3.78962131e+02] [-3.34377010e-01 9.28368085e-01 -1.62248928e-01 1.80552224e+02] [-4.10237064e-01 1.16136706e-02 9.11904970e-01 7.26544398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.99, Y:180.55, Z:72.63 [[ 8.47519683e-01 3.73363039e-01 3.77240544e-01 3.78986859e+02] [-3.30895985e-01 9.27399253e-01 -1.74466250e-01 1.80548080e+02] [-4.14991848e-01 2.30361996e-02 9.09533452e-01 7.26334122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.01, Y:180.53, Z:72.62 [[ 8.47359411e-01 3.68311801e-01 3.82529013e-01 3.79012206e+02] [-3.30769008e-01 9.29636453e-01 -1.62382048e-01 1.80528993e+02] [-4.15420139e-01 1.10672146e-02 9.09562326e-01 7.26235282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.150385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:379.04, Y:180.52, Z:72.61 [[ 8.47920449e-01 3.67475728e-01 3.82089651e-01 3.79038362e+02] [-3.29395136e-01 9.29946555e-01 -1.63395989e-01 1.80517886e+02] [-4.15367014e-01 1.26883279e-02 9.09565418e-01 7.26100761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.07, Y:180.50, Z:72.60 [[ 8.48083396e-01 3.66986428e-01 3.82198268e-01 3.79065442e+02] [-3.29428086e-01 9.30153901e-01 -1.62144554e-01 1.80504909e+02] [-4.15008060e-01 1.16052605e-02 9.09743716e-01 7.25969112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.210385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:379.09, Y:180.48, Z:72.59 [[ 8.48942638e-01 3.63745949e-01 3.83386597e-01 3.79092906e+02] [-3.31580188e-01 9.31498179e-01 -1.49551732e-01 1.80483613e+02] [-4.11522753e-01 -1.62558305e-04 9.11399472e-01 7.25918948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.12, Y:180.48, Z:72.57 [[ 8.48578152e-01 3.70168946e-01 3.78008030e-01 3.79122019e+02] [-3.32413911e-01 9.28873623e-01 -1.63385386e-01 1.80478969e+02] [-4.11601885e-01 1.29901408e-02 9.11271170e-01 7.25744545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.15, Y:180.47, Z:72.56 [[ 8.47890474e-01 3.71751402e-01 3.77998202e-01 3.79149691e+02] [-3.34087822e-01 9.28250058e-01 -1.63515006e-01 1.80467478e+02] [-4.11663785e-01 1.23582201e-02 9.11251997e-01 7.25616001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.300385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:379.18, Y:180.46, Z:72.54 [[ 8.48183311e-01 3.71564886e-01 3.77524313e-01 3.79176335e+02] [-3.33922375e-01 9.28321924e-01 -1.63444954e-01 1.80456717e+02] [-4.11194502e-01 1.25674674e-02 9.11460992e-01 7.25444252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.20, Y:180.44, Z:72.53 [[ 8.47096368e-01 3.74341042e-01 3.77222120e-01 3.79203917e+02] [-3.36960640e-01 9.27221594e-01 -1.63455322e-01 1.80443746e+02] [-4.10956531e-01 1.13534023e-02 9.11584242e-01 7.25345067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:379.23, Y:180.43, Z:72.52 [[ 8.47685065e-01 3.73870511e-01 3.76365345e-01 3.79230293e+02] [-3.36566061e-01 9.27407332e-01 -1.63214362e-01 1.80432998e+02] [-4.10065017e-01 1.16825758e-02 9.11981469e-01 7.25173338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.26, Y:180.42, Z:72.51 [[ 8.48281601e-01 3.73980313e-01 3.74909391e-01 3.79257857e+02] [-3.36926872e-01 9.27362610e-01 -1.62723299e-01 1.80421351e+02] [-4.08532262e-01 1.17181322e-02 9.12668656e-01 7.25064559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:180.41, Z:72.49 [[ 8.48588124e-01 3.73092519e-01 3.75100211e-01 3.79285791e+02] [-3.35857953e-01 9.27712795e-01 -1.62936814e-01 1.80409521e+02] [-4.08775772e-01 1.22858564e-02 9.12552150e-01 7.24925277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.450385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:379.31, Y:180.40, Z:72.48 [[ 8.49938239e-01 3.70449181e-01 3.74663041e-01 3.79311592e+02] [-3.32998347e-01 9.28751978e-01 -1.62886046e-01 1.80397740e+02] [-4.08310043e-01 1.36809060e-02 9.12740786e-01 7.24766719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:379.34, Y:180.39, Z:72.46 [[ 8.49843478e-01 3.69864187e-01 3.75455119e-01 3.79339632e+02] [-3.32152737e-01 9.28979053e-01 -1.63317110e-01 1.80385842e+02] [-4.09195092e-01 1.40855353e-02 9.12338191e-01 7.24643368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.510385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:379.37, Y:180.38, Z:72.45 [[ 8.51761103e-01 3.65614159e-01 3.75272314e-01 3.79366899e+02] [-3.27520662e-01 9.30625860e-01 -1.63296432e-01 1.80375105e+02] [-4.08941608e-01 1.61801123e-02 9.12417101e-01 7.24500833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.40, Y:180.36, Z:72.44 [[ 8.52505133e-01 3.61636590e-01 3.77430755e-01 3.79395778e+02] [-3.26637278e-01 9.32273080e-01 -1.55483093e-01 1.80359157e+02] [-4.08096908e-01 9.26718027e-03 9.12891578e-01 7.24432637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:379.42, Y:180.36, Z:72.42 [[ 8.53345092e-01 3.65634534e-01 3.71636303e-01 3.79421341e+02] [-3.24033077e-01 9.30401227e-01 -1.71336284e-01 1.80357357e+02] [-4.08417335e-01 2.57865224e-02 9.12431003e-01 7.24219040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.45, Y:180.34, Z:72.41 [[ 8.54031383e-01 3.61559079e-01 3.74039342e-01 3.79449020e+02] [-3.23226037e-01 9.32168519e-01 -1.63054536e-01 1.80342449e+02] [-4.07621547e-01 1.83544361e-02 9.12966477e-01 7.24117343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.48, Y:180.33, Z:72.40 [[ 8.54556946e-01 3.60429836e-01 3.73928816e-01 3.79476597e+02] [-3.24034414e-01 9.32677302e-01 -1.58476334e-01 1.80328850e+02] [-4.05874519e-01 1.42612473e-02 9.13817538e-01 7.24000941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.50, Y:180.31, Z:72.39 [[ 8.55243059e-01 3.60720993e-01 3.72074825e-01 3.79504880e+02] [-3.26277173e-01 9.32615068e-01 -1.54182820e-01 1.80314511e+02] [-4.02619568e-01 1.04642643e-02 9.15307589e-01 7.23894155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.690385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:379.53, Y:180.31, Z:72.37 [[ 8.54810876e-01 3.66102379e-01 3.67787187e-01 3.79531938e+02] [-3.26659154e-01 9.30303518e-01 -1.66820747e-01 1.80310859e+02] [-4.03227186e-01 2.24591379e-02 9.14824258e-01 7.23695762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.56, Y:180.29, Z:72.36 [[ 8.53395565e-01 3.65110485e-01 3.72035407e-01 3.79561156e+02] [-3.31081891e-01 9.30926551e-01 -1.54144541e-01 1.80292636e+02] [-4.02617426e-01 8.37208149e-03 9.15330059e-01 7.23638158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.59, Y:180.29, Z:72.34 [[ 8.52441743e-01 3.73557681e-01 3.65783724e-01 3.79587536e+02] [-3.32203403e-01 9.27249118e-01 -1.72771446e-01 1.80292835e+02] [-4.03712736e-01 2.57629944e-02 9.14522988e-01 7.23416357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.61, Y:180.28, Z:72.33 [[ 8.50574387e-01 3.73110149e-01 3.70556378e-01 3.79613985e+02] [-3.35294257e-01 9.27655861e-01 -1.64415221e-01 1.80276912e+02] [-4.05093784e-01 1.56019506e-02 9.14142005e-01 7.23325792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.64, Y:180.27, Z:72.32 [[ 8.49779655e-01 3.73755689e-01 3.71727352e-01 3.79640285e+02] [-3.35632814e-01 9.27395808e-01 -1.65189680e-01 1.80266207e+02] [-4.06478970e-01 1.56109327e-02 9.13526762e-01 7.23187696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.67, Y:180.26, Z:72.30 [[ 8.49203981e-01 3.80268793e-01 3.66399022e-01 3.79666085e+02] [-3.37587143e-01 9.24491430e-01 -1.77060775e-01 1.80261710e+02] [-4.06063442e-01 2.66691161e-02 9.13455658e-01 7.23026567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.870385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:379.69, Y:180.24, Z:72.30 [[ 8.48193953e-01 3.70942769e-01 3.78111731e-01 3.79690035e+02] [-3.36766394e-01 9.28644159e-01 -1.55590561e-01 1.80238365e+02] [-4.08846444e-01 4.63564923e-03 9.12591418e-01 7.22954416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.72, Y:180.23, Z:72.28 [[ 8.47170534e-01 3.76003616e-01 3.75397611e-01 3.79717983e+02] [-3.38389730e-01 9.26537526e-01 -1.64379447e-01 1.80232710e+02] [-4.09627241e-01 1.22267278e-02 9.12171054e-01 7.22807250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.74, Y:180.23, Z:72.26 [[ 8.45826690e-01 3.79478697e-01 3.74930832e-01 3.79744996e+02] [-3.37997852e-01 9.24980198e-01 -1.73692505e-01 1.80226940e+02] [-4.12716201e-01 2.01879405e-02 9.10635923e-01 7.22602924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.77, Y:180.21, Z:72.26 [[ 8.45780286e-01 3.74328019e-01 3.80176593e-01 3.79771830e+02] [-3.39776539e-01 9.27288915e-01 -1.57121521e-01 1.80206176e+02] [-4.11348528e-01 3.71519771e-03 9.11470562e-01 7.22568291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.80, Y:180.20, Z:72.24 [[ 8.45158370e-01 3.78169373e-01 3.77750254e-01 3.79799894e+02] [-3.40107931e-01 9.25663615e-01 -1.65751219e-01 1.80198443e+02] [-4.12351700e-01 1.16101726e-02 9.10950756e-01 7.22405090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.83, Y:180.19, Z:72.23 [[ 8.44904174e-01 3.78481733e-01 3.78005971e-01 3.79827218e+02] [-3.40337592e-01 9.25536103e-01 -1.65991706e-01 1.80185602e+02] [-4.12683002e-01 1.15974429e-02 9.10800878e-01 7.22274166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.050385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:379.85, Y:180.17, Z:72.21 [[ 8.45208874e-01 3.78506057e-01 3.77299781e-01 3.79854112e+02] [-3.40456555e-01 9.25524997e-01 -1.65809574e-01 1.80173362e+02] [-4.11960306e-01 1.16895398e-02 9.11126808e-01 7.22136315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.88, Y:180.16, Z:72.20 [[ 8.45676767e-01 3.78534466e-01 3.76221296e-01 3.79879931e+02] [-3.40654989e-01 9.25512300e-01 -1.65472541e-01 1.80162005e+02] [-4.10834497e-01 1.17746218e-02 9.11633904e-01 7.21992045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.91, Y:180.15, Z:72.19 [[ 8.45236468e-01 3.79429810e-01 3.76308827e-01 3.79907048e+02] [-3.41578476e-01 9.25149945e-01 -1.65595062e-01 1.80150349e+02] [-4.10973793e-01 1.14279901e-02 9.11575528e-01 7.21855081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.140385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:379.93, Y:180.14, Z:72.17 [[ 8.45484794e-01 3.79846887e-01 3.75328930e-01 3.79933438e+02] [-3.42181498e-01 9.24980019e-01 -1.65299082e-01 1.80137885e+02] [-4.09960103e-01 1.13272452e-02 9.12033118e-01 7.21696745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.170385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:379.96, Y:180.12, Z:72.16 [[ 8.45250963e-01 3.80425431e-01 3.75269637e-01 3.79960111e+02] [-3.42765494e-01 9.24743978e-01 -1.65409766e-01 1.80124107e+02] [-4.09954419e-01 1.11832819e-02 9.12037449e-01 7.21569370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.99, Y:180.12, Z:72.14 [[ 8.44524667e-01 3.83747504e-01 3.73518327e-01 3.79986321e+02] [-3.40918926e-01 9.23159790e-01 -1.77624008e-01 1.80117656e+02] [-4.12979870e-01 2.26683891e-02 9.10458001e-01 7.21350644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.01, Y:180.09, Z:72.13 [[ 8.46122197e-01 3.75170161e-01 3.78582327e-01 3.80011898e+02] [-3.41896659e-01 9.26955097e-01 -1.54469812e-01 1.80092862e+02] [-4.08881282e-01 1.26430365e-03 9.12586708e-01 7.21346171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.04, Y:180.09, Z:72.12 [[ 8.46160102e-01 3.79737943e-01 3.73914665e-01 3.80040463e+02] [-3.42166687e-01 9.25019242e-01 -1.65110147e-01 1.80086221e+02] [-4.08576847e-01 1.17684771e-02 9.12648050e-01 7.21171681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.290385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:380.07, Y:180.07, Z:72.10 [[ 8.48235810e-01 3.76860766e-01 3.72118226e-01 3.80066337e+02] [-3.39379671e-01 9.26176761e-01 -1.64371671e-01 1.80072855e+02] [-4.06592487e-01 1.31365763e-02 9.13515178e-01 7.21005425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:380.09, Y:180.06, Z:72.09 [[ 8.48341229e-01 3.75648219e-01 3.73102633e-01 3.80093721e+02] [-3.37784247e-01 9.26658072e-01 -1.64944296e-01 1.80059970e+02] [-4.07699598e-01 1.39008549e-02 9.13010298e-01 7.20888026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:380.12, Y:180.05, Z:72.08 [[ 8.49056142e-01 3.73830785e-01 3.73301770e-01 3.80121054e+02] [-3.35699356e-01 9.27377027e-01 -1.65159897e-01 1.80046774e+02] [-4.07933340e-01 1.49128611e-02 9.12889915e-01 7.20757648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.15, Y:180.03, Z:72.06 [[ 8.51028799e-01 3.68703940e-01 3.73908262e-01 3.80147197e+02] [-3.29907241e-01 9.29381284e-01 -1.65564616e-01 1.80032186e+02] [-4.08547667e-01 1.75452131e-02 9.12568337e-01 7.20631368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.17, Y:180.03, Z:72.04 [[ 8.52444212e-01 3.65725034e-01 3.73609510e-01 3.80170913e+02] [-3.21972563e-01 9.30248018e-01 -1.75989472e-01 1.80026301e+02] [-4.11913262e-01 2.97291947e-02 9.10737965e-01 7.20425810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.440385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:380.20, Y:180.01, Z:72.04 [[ 8.55857845e-01 3.59690101e-01 3.71658957e-01 3.80199732e+02] [-3.19981525e-01 9.32786913e-01 -1.65892733e-01 1.80007823e+02] [-4.06348585e-01 2.30565975e-02 9.13427184e-01 7.20351580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:380.22, Y:179.99, Z:72.03 [[ 8.57734479e-01 3.47243674e-01 3.79095496e-01 3.80224941e+02] [-3.12164105e-01 9.37690851e-01 -1.52608780e-01 1.79989104e+02] [-4.08466812e-01 1.25578060e-02 9.12686784e-01 7.20259540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.25, Y:179.98, Z:72.01 [[ 8.58600942e-01 3.50720212e-01 3.73898054e-01 3.80253620e+02] [-3.10246432e-01 9.36112992e-01 -1.65649078e-01 1.79984770e+02] [-4.08107306e-01 2.62259175e-02 9.12557192e-01 7.20086510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.28, Y:179.98, Z:72.00 [[ 8.58371079e-01 3.48808736e-01 3.76206800e-01 3.80281383e+02] [-3.07568781e-01 9.36791251e-01 -1.66804071e-01 1.79975888e+02] [-4.10609956e-01 2.74703242e-02 9.11397194e-01 7.19955932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.31, Y:179.97, Z:71.98 [[ 8.57753477e-01 3.49452747e-01 3.77016910e-01 3.80309279e+02] [-3.08027874e-01 9.36554486e-01 -1.67285754e-01 1.79965720e+02] [-4.11555344e-01 2.73582200e-02 9.10974054e-01 7.19821680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.34, Y:179.96, Z:71.97 [[ 8.56949374e-01 3.50717446e-01 3.77670548e-01 3.80337967e+02] [-3.09198029e-01 9.36093751e-01 -1.67705300e-01 1.79955689e+02] [-4.12352215e-01 2.69399629e-02 9.10626098e-01 7.19689126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.37, Y:179.95, Z:71.96 [[ 8.55026598e-01 3.54299717e-01 3.78683545e-01 3.80366416e+02] [-3.12818021e-01 9.34786112e-01 -1.68284911e-01 1.79949215e+02] [-4.13611415e-01 2.54290375e-02 9.10098325e-01 7.19552943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.40, Y:179.94, Z:71.94 [[ 8.53429546e-01 3.57805106e-01 3.78990128e-01 3.80395760e+02] [-3.16525347e-01 9.33490929e-01 -1.68541956e-01 1.79942729e+02] [-4.14089019e-01 2.38787029e-02 9.09923124e-01 7.19407936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.42, Y:179.93, Z:71.93 [[ 8.52702857e-01 3.59449700e-01 3.79069587e-01 3.80423249e+02] [-3.18243068e-01 9.32875324e-01 -1.68715676e-01 1.79933501e+02] [-4.14269463e-01 2.32280704e-02 9.09857829e-01 7.19269975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.45, Y:179.93, Z:71.91 [[ 8.51316980e-01 3.62091101e-01 3.79670166e-01 3.80453162e+02] [-3.20936521e-01 9.31880265e-01 -1.69112158e-01 1.79925501e+02] [-4.15041142e-01 2.21180291e-02 9.09533750e-01 7.19136215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.48, Y:179.92, Z:71.90 [[ 8.50887802e-01 3.65412529e-01 3.77443548e-01 3.80480382e+02] [-3.22948757e-01 9.30505983e-01 -1.72808322e-01 1.79918397e+02] [-4.14359805e-01 2.51455687e-02 9.09765713e-01 7.18994978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.51, Y:179.90, Z:71.89 [[ 8.49335521e-01 3.63029142e-01 3.83195792e-01 3.80508279e+02] [-3.23761406e-01 9.31638985e-01 -1.65007131e-01 1.79903547e+02] [-4.16902535e-01 1.60824090e-02 9.08808909e-01 7.18881454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.54, Y:179.90, Z:71.87 [[ 8.48383064e-01 3.67380383e-01 3.81153291e-01 3.80538303e+02] [-3.26266302e-01 9.29857762e-01 -1.70043647e-01 1.79898083e+02] [-4.16889046e-01 1.99046758e-02 9.08739416e-01 7.18729702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.57, Y:179.89, Z:71.86 [[ 8.47960963e-01 3.68248381e-01 3.81254948e-01 3.80566134e+02] [-3.27130825e-01 9.29520275e-01 -1.70227737e-01 1.79890753e+02] [-4.17070293e-01 1.96262296e-02 9.08662304e-01 7.18588668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.59, Y:179.88, Z:71.84 [[ 8.47781772e-01 3.68597406e-01 3.81316166e-01 3.80594508e+02] [-3.27440187e-01 9.29382683e-01 -1.70384133e-01 1.79880647e+02] [-4.17191791e-01 1.95903257e-02 9.08607302e-01 7.18448616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.62, Y:179.87, Z:71.83 [[ 8.47871122e-01 3.68821283e-01 3.80900803e-01 3.80622744e+02] [-3.27718338e-01 9.29293800e-01 -1.70334154e-01 1.79871204e+02] [-4.16791616e-01 1.95932325e-02 9.08790875e-01 7.18306435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.65, Y:179.86, Z:71.82 [[ 8.48230332e-01 3.68391654e-01 3.80516615e-01 3.80649429e+02] [-3.27270325e-01 9.29457134e-01 -1.70304349e-01 1.79860767e+02] [-4.16412583e-01 1.99255180e-02 9.08957389e-01 7.18171278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.950385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:380.68, Y:179.85, Z:71.80 [[ 8.48952673e-01 3.67620481e-01 3.79650551e-01 3.80676513e+02] [-3.26563712e-01 9.29752506e-01 -1.70048289e-01 1.79850315e+02] [-4.15494285e-01 2.03828560e-02 9.09367384e-01 7.18017785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.71, Y:179.84, Z:71.79 [[ 8.49525415e-01 3.66429373e-01 3.79520860e-01 3.80705995e+02] [-3.25228166e-01 9.30206740e-01 -1.70123664e-01 1.79841332e+02] [-4.15371170e-01 2.10935032e-02 9.09407420e-01 7.17882972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.73, Y:179.83, Z:71.77 [[ 8.50386317e-01 3.64672797e-01 3.79284672e-01 3.80733050e+02] [-3.23295310e-01 9.30873917e-01 -1.70158437e-01 1.79832550e+02] [-4.15118362e-01 2.20794508e-02 9.09499447e-01 7.17745027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.76, Y:179.82, Z:71.76 [[ 8.50612109e-01 3.64196415e-01 3.79236088e-01 3.80760840e+02] [-3.22725373e-01 9.31051720e-01 -1.70267520e-01 1.79821607e+02] [-4.15099233e-01 2.24425063e-02 9.09499291e-01 7.17605086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.79, Y:179.81, Z:71.75 [[ 8.51260586e-01 3.63823254e-01 3.78137613e-01 3.80788494e+02] [-3.22508613e-01 9.31191673e-01 -1.69912518e-01 1.79812228e+02] [-4.13936721e-01 2.26871927e-02 9.10022902e-01 7.17466594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.82, Y:179.80, Z:71.73 [[ 8.51263643e-01 3.64550838e-01 3.77429328e-01 3.80816314e+02] [-3.23409932e-01 9.30913686e-01 -1.69722495e-01 1.79801107e+02] [-4.13226605e-01 2.24141962e-02 9.10352337e-01 7.17322789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.84, Y:179.79, Z:71.72 [[ 8.51293221e-01 3.66514934e-01 3.75455262e-01 3.80843529e+02] [-3.25949261e-01 9.30164556e-01 -1.68970345e-01 1.79792004e+02] [-4.11165333e-01 2.14639444e-02 9.11308054e-01 7.17181684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.87, Y:179.78, Z:71.70 [[ 8.50652655e-01 3.68128238e-01 3.75328737e-01 3.80871362e+02] [-3.27683945e-01 9.29542227e-01 -1.69039879e-01 1.79781115e+02] [-4.11112263e-01 2.08050206e-02 9.11347277e-01 7.17036911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.90, Y:179.77, Z:71.69 [[ 8.49631090e-01 3.71269891e-01 3.74547298e-01 3.80898704e+02] [-3.31231879e-01 9.28322769e-01 -1.68826182e-01 1.79771175e+02] [-4.10380863e-01 1.93779680e-02 9.11708310e-01 7.16900959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.93, Y:179.76, Z:71.68 [[ 8.48834834e-01 3.73251831e-01 3.74382819e-01 3.80926688e+02] [-3.33396587e-01 9.27545663e-01 -1.68836487e-01 1.79759885e+02] [-4.10275688e-01 1.84963376e-02 9.11773955e-01 7.16763902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.95, Y:179.75, Z:71.66 [[ 8.46913831e-01 3.76922153e-01 3.75055534e-01 3.80953740e+02] [-3.37195962e-01 9.26090830e-01 -1.69276865e-01 1.79749639e+02] [-4.11139692e-01 1.68957069e-02 9.11415761e-01 7.16629102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.98, Y:179.74, Z:71.65 [[ 8.45747264e-01 3.80263559e-01 3.74314295e-01 3.80981595e+02] [-3.40957802e-01 9.24750547e-01 -1.69068632e-01 1.79736778e+02] [-4.10437989e-01 1.53639541e-02 9.11759073e-01 7.16498880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.01, Y:179.69, Z:71.66 [[ 8.47998888e-01 3.66853856e-01 3.82512921e-01 3.81011829e+02] [-3.47341860e-01 9.29805996e-01 -1.21714591e-01 1.79693353e+02] [-4.00314275e-01 -2.96489119e-02 9.15898151e-01 7.16627226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.04, Y:179.74, Z:71.61 [[ 8.45446590e-01 4.02915330e-01 3.50541439e-01 3.81040262e+02] [-3.45588759e-01 9.13164872e-01 -2.16097954e-01 1.79737988e+02] [-4.07171307e-01 6.15560970e-02 9.11275136e-01 7.16116776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.06, Y:179.70, Z:71.61 [[ 8.44429903e-01 3.86575872e-01 3.70806195e-01 3.81060394e+02] [-3.47558433e-01 9.22142549e-01 -1.69871288e-01 1.79702323e+02] [-4.07604311e-01 1.45675756e-02 9.13042448e-01 7.16098041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.09, Y:179.69, Z:71.60 [[ 8.44674485e-01 3.86251974e-01 3.70586598e-01 3.81088490e+02] [-3.47143709e-01 9.22271951e-01 -1.70016748e-01 1.79689562e+02] [-4.07450929e-01 1.49620027e-02 9.13104528e-01 7.15950974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.12, Y:179.65, Z:71.61 [[ 8.47383368e-01 3.68085330e-01 3.82693895e-01 3.81116343e+02] [-3.48995244e-01 9.29275280e-01 -1.21036246e-01 1.79647002e+02] [-4.00179644e-01 -3.09942472e-02 9.15912447e-01 7.16071223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.15, Y:179.66, Z:71.58 [[ 8.48072919e-01 3.89770953e-01 3.58958114e-01 3.81145474e+02] [-3.47082845e-01 9.20497032e-01 -1.79495718e-01 1.79663713e+02] [-4.00382096e-01 2.76372546e-02 9.15931416e-01 7.15766055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.17, Y:179.65, Z:71.57 [[ 8.48183196e-01 3.84853914e-01 3.63968035e-01 3.81169232e+02] [-3.46112898e-01 9.22810987e-01 -1.69191440e-01 1.79645438e+02] [-4.00987690e-01 1.75313053e-02 9.15915676e-01 7.15653420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.19, Y:179.63, Z:71.56 [[ 8.48184056e-01 3.81346297e-01 3.67639508e-01 3.81194501e+02] [-3.46076390e-01 9.24390056e-01 -1.60418693e-01 1.79627134e+02] [-4.01017380e-01 8.83322417e-03 9.16027857e-01 7.15557330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.22, Y:179.64, Z:71.52 [[ 8.45527590e-01 3.97113721e-01 3.56908654e-01 3.81218361e+02] [-3.42142630e-01 9.16153315e-01 -2.08809782e-01 1.79643545e+02] [-4.09904276e-01 5.44407660e-02 9.10502437e-01 7.15181100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.24, Y:179.58, Z:71.54 [[ 8.48116866e-01 3.66740325e-01 3.82360190e-01 3.81242516e+02] [-3.42897966e-01 9.30117860e-01 -1.31536126e-01 1.79584741e+02] [-4.03879643e-01 -1.95525244e-02 9.14603156e-01 7.15367263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.27, Y:179.60, Z:71.51 [[ 8.49835136e-01 3.88627050e-01 3.56018619e-01 3.81273415e+02] [-3.43273763e-01 9.20709465e-01 -1.85626522e-01 1.79600521e+02] [-3.99929200e-01 3.55400895e-02 9.15856723e-01 7.15057913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.29, Y:179.59, Z:71.48 [[ 8.45877102e-01 3.86946607e-01 3.67102508e-01 3.81293429e+02] [-3.39129281e-01 9.21397615e-01 -1.89783470e-01 1.79591554e+02] [-4.11683445e-01 3.60382823e-02 9.10614069e-01 7.14824546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.32, Y:179.57, Z:71.47 [[ 8.47112901e-01 3.75950584e-01 3.75580739e-01 3.81316629e+02] [-3.35560212e-01 9.26456600e-01 -1.70521296e-01 1.79566773e+02] [-4.12066836e-01 1.84208373e-02 9.10967396e-01 7.14749420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.34, Y:179.55, Z:71.46 [[ 8.47553819e-01 3.74454263e-01 3.76080481e-01 3.81343340e+02] [-3.33750029e-01 9.27044236e-01 -1.70879794e-01 1.79553942e+02] [-4.12629909e-01 1.93129503e-02 9.10694003e-01 7.14609322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.37, Y:179.54, Z:71.45 [[ 8.48494692e-01 3.71789530e-01 3.76602314e-01 3.81370091e+02] [-3.30653666e-01 9.28084398e-01 -1.71252749e-01 1.79541771e+02] [-4.13188711e-01 2.07821131e-02 9.10408256e-01 7.14465316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.40, Y:179.53, Z:71.43 [[ 8.48710599e-01 3.71041536e-01 3.76853416e-01 3.81396975e+02] [-3.29715447e-01 9.28371907e-01 -1.71503139e-01 1.79528547e+02] [-4.13494913e-01 2.13021396e-02 9.10257203e-01 7.14326796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:179.51, Z:71.42 [[ 8.49221832e-01 3.69356692e-01 3.77356482e-01 3.81423076e+02] [-3.27693022e-01 9.29020159e-01 -1.71868637e-01 1.79514601e+02] [-4.14052610e-01 2.22975130e-02 9.09979812e-01 7.14197592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.45, Y:179.50, Z:71.41 [[ 8.49845249e-01 3.68156373e-01 3.77125890e-01 3.81450493e+02] [-3.26376515e-01 9.29479484e-01 -1.71890255e-01 1.79502163e+02] [-4.13813271e-01 2.29950835e-02 9.10071318e-01 7.14052842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.48, Y:179.49, Z:71.39 [[ 8.51062334e-01 3.71834529e-01 3.70718205e-01 3.81477631e+02] [-3.27423949e-01 9.27785279e-01 -1.78907891e-01 1.79494798e+02] [-4.10471025e-01 3.08797483e-02 9.11350635e-01 7.13889959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.50, Y:179.47, Z:71.38 [[ 8.50021004e-01 3.64609366e-01 3.80163521e-01 3.81502262e+02] [-3.26714821e-01 9.31057101e-01 -1.62450303e-01 1.79473757e+02] [-4.13184848e-01 1.38811125e-02 9.10541375e-01 7.13808706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.53, Y:179.47, Z:71.36 [[ 8.49838735e-01 3.72371326e-01 3.72979518e-01 3.81531170e+02] [-3.29693288e-01 9.27726385e-01 -1.75003114e-01 1.79469402e+02] [-4.11189082e-01 2.57555806e-02 9.11186144e-01 7.13634336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.56, Y:179.46, Z:71.35 [[ 8.48807136e-01 3.72729436e-01 3.74965617e-01 3.81558839e+02] [-3.31656664e-01 9.27699596e-01 -1.71398126e-01 1.79455852e+02] [-4.11740578e-01 2.11241065e-02 9.11056238e-01 7.13503425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.59, Y:179.44, Z:71.34 [[ 8.46419320e-01 3.75270145e-01 3.77818281e-01 3.81585189e+02] [-3.35803193e-01 9.26785379e-01 -1.68241126e-01 1.79444417e+02] [-4.13292330e-01 1.55299540e-02 9.10465963e-01 7.13383231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.61, Y:179.44, Z:71.32 [[ 8.43881273e-01 3.81323861e-01 3.77434115e-01 3.81613477e+02] [-3.40455222e-01 9.24282255e-01 -1.72605203e-01 1.79436045e+02] [-4.14674137e-01 1.71588833e-02 9.09808185e-01 7.13237371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.64, Y:179.43, Z:71.31 [[ 8.42633551e-01 3.83522180e-01 3.77993962e-01 3.81640562e+02] [-3.42672085e-01 9.23388729e-01 -1.73000284e-01 1.79425195e+02] [-4.15384810e-01 1.62478641e-02 9.09500669e-01 7.13105479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.67, Y:179.42, Z:71.30 [[ 8.40205901e-01 3.87815219e-01 3.79016358e-01 3.81668058e+02] [-3.47106441e-01 9.21626788e-01 -1.73554553e-01 1.79415556e+02] [-4.16618725e-01 1.42625404e-02 9.08969426e-01 7.12965065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.70, Y:179.40, Z:71.28 [[ 8.39034425e-01 3.90047610e-01 3.79320572e-01 3.81695793e+02] [-3.49448238e-01 9.20699316e-01 -1.73777726e-01 1.79404148e+02] [-4.17021778e-01 1.32525890e-02 9.08799871e-01 7.12826733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.72, Y:179.39, Z:71.27 [[ 8.38990089e-01 3.90192904e-01 3.79269202e-01 3.81723367e+02] [-3.49557080e-01 9.20636841e-01 -1.73889776e-01 1.79391478e+02] [-4.17019757e-01 1.33155636e-02 9.08799878e-01 7.12685376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:179.36, Z:71.28 [[ 8.39729890e-01 3.80248816e-01 3.87639717e-01 3.81753315e+02] [-3.55632699e-01 9.24593842e-01 -1.36570905e-01 1.79359109e+02] [-4.10340220e-01 -2.31746880e-02 9.11637997e-01 7.12762740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.78, Y:179.39, Z:71.23 [[ 8.36269255e-01 4.09562988e-01 3.64570833e-01 3.81781898e+02] [-3.54597664e-01 9.11097926e-01 -2.10145348e-01 1.79388750e+02] [-4.18227486e-01 4.64621277e-02 9.07153262e-01 7.12327386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.81, Y:179.33, Z:71.26 [[ 8.38249401e-01 3.80668279e-01 3.90422338e-01 3.81808146e+02] [-3.60804654e-01 9.24049371e-01 -1.26304245e-01 1.79329833e+02] [-4.08849536e-01 -3.49917394e-02 9.11930719e-01 7.12557863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.84, Y:179.37, Z:71.20 [[ 8.34639274e-01 4.17096423e-01 3.59733034e-01 3.81836771e+02] [-3.57838075e-01 9.07124613e-01 -2.21532950e-01 1.79372937e+02] [-4.18723291e-01 5.61739244e-02 9.06374810e-01 7.12036021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.86, Y:179.34, Z:71.20 [[ 8.33419658e-01 3.99302279e-01 3.82059372e-01 3.81859093e+02] [-3.58804762e-01 9.16773729e-01 -1.75456754e-01 1.79336144e+02] [-4.20322277e-01 9.14438608e-03 9.07328807e-01 7.12013354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.89, Y:179.32, Z:71.19 [[ 8.33049181e-01 3.99835179e-01 3.82309942e-01 3.81886171e+02] [-3.59267995e-01 9.16542588e-01 -1.75716228e-01 1.79324155e+02] [-4.20660873e-01 9.02853304e-03 9.07173035e-01 7.11876634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.91, Y:179.31, Z:71.17 [[ 8.32706405e-01 4.00435059e-01 3.82428827e-01 3.81913898e+02] [-3.59834516e-01 9.16282165e-01 -1.75915078e-01 1.79312941e+02] [-4.20855278e-01 8.87452050e-03 9.07084383e-01 7.11734159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.94, Y:179.30, Z:71.16 [[ 8.32606898e-01 4.01088172e-01 3.81960772e-01 3.81941287e+02] [-3.60591668e-01 9.15998366e-01 -1.75842665e-01 1.79300793e+02] [-4.20403856e-01 8.67594386e-03 9.07295611e-01 7.11591049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.97, Y:179.29, Z:71.15 [[ 8.32771839e-01 4.02156419e-01 3.80475070e-01 3.81967429e+02] [-3.62032455e-01 9.15533890e-01 -1.75300307e-01 1.79288745e+02] [-4.18835965e-01 8.24083550e-03 9.08024517e-01 7.11453670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.420385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:381.99, Y:179.28, Z:71.13 [[ 8.33414741e-01 4.02306135e-01 3.78905850e-01 3.81993927e+02] [-3.62485021e-01 9.15467967e-01 -1.74708358e-01 1.79276080e+02] [-4.17162413e-01 8.25682603e-03 9.08794447e-01 7.11299321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.02, Y:179.26, Z:71.12 [[ 8.32363171e-01 4.03186769e-01 3.80278820e-01 3.82020857e+02] [-3.63081615e-01 9.15082783e-01 -1.75485729e-01 1.79263078e+02] [-4.18740125e-01 7.99560982e-03 9.08070910e-01 7.11169056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.480385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.05, Y:179.25, Z:71.10 [[ 8.32554187e-01 4.02643539e-01 3.80436206e-01 3.82047313e+02] [-3.62382678e-01 9.15318145e-01 -1.75702838e-01 1.79249342e+02] [-4.18965775e-01 8.41864213e-03 9.07962998e-01 7.11028765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.07, Y:179.24, Z:71.09 [[ 8.32922733e-01 4.02275243e-01 3.80018880e-01 3.82073456e+02] [-3.62004128e-01 9.15477068e-01 -1.75655200e-01 1.79236471e+02] [-4.18560309e-01 8.73880569e-03 9.08146960e-01 7.10891601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.10, Y:179.22, Z:71.08 [[ 8.32701185e-01 4.02403963e-01 3.80367964e-01 3.82099248e+02] [-3.62004852e-01 9.15419710e-01 -1.75952383e-01 1.79222215e+02] [-4.19000268e-01 8.82070935e-03 9.07943264e-01 7.10754397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.13, Y:179.21, Z:71.06 [[ 8.32580611e-01 4.02570453e-01 3.80455722e-01 3.82126414e+02] [-3.62108663e-01 9.15346035e-01 -1.76121981e-01 1.79208917e+02] [-4.19150142e-01 8.86943393e-03 9.07873610e-01 7.10616829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.15, Y:179.20, Z:71.05 [[ 8.32641687e-01 4.03122118e-01 3.79737249e-01 3.82152931e+02] [-3.62809974e-01 9.15104683e-01 -1.75932779e-01 1.79195863e+02] [-4.18421729e-01 8.71650414e-03 9.08211032e-01 7.10479810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.18, Y:179.18, Z:71.03 [[ 8.32640695e-01 4.03681312e-01 3.79144920e-01 3.82179879e+02] [-3.63491157e-01 9.14859587e-01 -1.75801350e-01 1.79182871e+02] [-4.17832085e-01 8.56353217e-03 9.08483910e-01 7.10337870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.21, Y:179.17, Z:71.02 [[ 8.32412251e-01 4.04651968e-01 3.78611449e-01 3.82206513e+02] [-3.64611150e-01 9.14433949e-01 -1.75696507e-01 1.79168766e+02] [-4.17311100e-01 8.20596934e-03 9.08726641e-01 7.10202069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:179.16, Z:71.01 [[ 8.31818327e-01 4.05503564e-01 3.79005449e-01 3.82232420e+02] [-3.65393538e-01 9.14059049e-01 -1.76021641e-01 1.79155627e+02] [-4.17810763e-01 7.93188504e-03 9.08499450e-01 7.10067342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.26, Y:179.14, Z:70.99 [[ 8.31132241e-01 4.07199730e-01 3.78691930e-01 3.82258175e+02] [-3.67266479e-01 9.13310716e-01 -1.76008150e-01 1.79141206e+02] [-4.17533869e-01 7.20519650e-03 9.08632793e-01 7.09938120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.28, Y:179.13, Z:70.98 [[ 8.30370937e-01 4.09506999e-01 3.77873159e-01 3.82283852e+02] [-3.69324027e-01 9.12276385e-01 -1.77063717e-01 1.79129282e+02] [-4.17233591e-01 7.47092789e-03 9.08768571e-01 7.09801308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.31, Y:179.11, Z:70.97 [[ 8.30557254e-01 4.07867449e-01 3.79234481e-01 3.82310929e+02] [-3.69519774e-01 9.13035208e-01 -1.72690026e-01 1.79113605e+02] [-4.16689074e-01 3.29431427e-03 9.09043103e-01 7.09658901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.34, Y:179.10, Z:70.95 [[ 8.30785293e-01 4.09065601e-01 3.77440234e-01 3.82336370e+02] [-3.68789255e-01 9.12469876e-01 -1.77181295e-01 1.79104972e+02] [-4.16881617e-01 8.00371149e-03 9.08925552e-01 7.09508888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.36, Y:179.09, Z:70.94 [[ 8.30477335e-01 4.08518258e-01 3.78708633e-01 3.82361903e+02] [-3.69509819e-01 9.12737543e-01 -1.74277571e-01 1.79088484e+02] [-4.16857157e-01 4.79701478e-03 9.08959350e-01 7.09387692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.39, Y:179.07, Z:70.93 [[ 8.29721025e-01 4.10419645e-01 3.78310369e-01 3.82387759e+02] [-3.72421409e-01 9.11894054e-01 -1.72486313e-01 1.79070502e+02] [-4.15770747e-01 2.22463977e-03 9.09466732e-01 7.09267397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.41, Y:179.06, Z:70.91 [[ 8.29534756e-01 4.12358053e-01 3.76607123e-01 3.82414456e+02] [-3.73036549e-01 9.11006107e-01 -1.75816968e-01 1.79058318e+02] [-4.15590931e-01 5.35806445e-03 9.09535854e-01 7.09118491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.44, Y:179.05, Z:70.90 [[ 8.30103073e-01 4.18156072e-01 3.68882621e-01 3.82439850e+02] [-3.74770755e-01 9.08228723e-01 -1.86192020e-01 1.79049847e+02] [-4.12887115e-01 1.63121493e-02 9.10636121e-01 7.08955998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.46, Y:179.02, Z:70.89 [[ 8.28768980e-01 4.08295230e-01 3.82670854e-01 3.82464221e+02] [-3.73951329e-01 9.12822082e-01 -1.64061725e-01 1.79023211e+02] [-4.16296026e-01 -7.13100648e-03 9.09201170e-01 7.08882776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.49, Y:179.01, Z:70.87 [[ 8.28373835e-01 4.13637685e-01 3.77757402e-01 3.82490294e+02] [-3.74004427e-01 9.10427077e-01 -1.76757534e-01 1.79014271e+02] [-4.17034145e-01 5.13837586e-03 9.08876295e-01 7.08712991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.52, Y:179.00, Z:70.86 [[ 8.27951179e-01 4.14296346e-01 3.77962145e-01 3.82516337e+02] [-3.74623266e-01 9.10128633e-01 -1.76983842e-01 1.78999647e+02] [-4.17317930e-01 4.94056702e-03 9.08747125e-01 7.08578203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.54, Y:178.98, Z:70.84 [[ 8.27013481e-01 4.15990020e-01 3.78154738e-01 3.82540892e+02] [-3.76377076e-01 9.09359330e-01 -1.77217112e-01 1.78984851e+02] [-4.17599090e-01 4.23216590e-03 9.08621532e-01 7.08436950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.57, Y:178.97, Z:70.83 [[ 8.26632003e-01 4.16983799e-01 3.77894222e-01 3.82566882e+02] [-3.77466091e-01 9.08905722e-01 -1.77227930e-01 1.78970519e+02] [-4.17371396e-01 3.86002424e-03 9.08727802e-01 7.08294971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.59, Y:178.95, Z:70.82 [[ 8.26339210e-01 4.17017033e-01 3.78497431e-01 3.82592071e+02] [-3.77304598e-01 9.08889903e-01 -1.77652427e-01 1.78953026e+02] [-4.18096581e-01 3.99234525e-03 9.08393808e-01 7.08152873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.62, Y:178.94, Z:70.80 [[ 8.26336188e-01 4.16802047e-01 3.78740753e-01 3.82617552e+02] [-3.76946839e-01 9.08987339e-01 -1.77913175e-01 1.78938247e+02] [-4.18425125e-01 4.25096569e-03 9.08241347e-01 7.08020279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.64, Y:178.92, Z:70.79 [[ 8.26479090e-01 4.16031315e-01 3.79275966e-01 3.82642797e+02] [-3.75917093e-01 9.09337693e-01 -1.78301146e-01 1.78920906e+02] [-4.19068792e-01 4.78585067e-03 9.07941872e-01 7.07881059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.67, Y:178.91, Z:70.77 [[ 8.26528555e-01 4.16297235e-01 3.78876180e-01 3.82668536e+02] [-3.76234413e-01 9.09215992e-01 -1.78252477e-01 1.78905925e+02] [-4.18686295e-01 4.78450527e-03 9.08118326e-01 7.07746847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.69, Y:178.89, Z:70.76 [[ 8.26255867e-01 4.16914343e-01 3.78792388e-01 3.82692899e+02] [-3.76867151e-01 9.08934083e-01 -1.78353534e-01 1.78889523e+02] [-4.18655459e-01 4.61124580e-03 9.08133439e-01 7.07604449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.72, Y:178.87, Z:70.75 [[ 8.25713571e-01 4.17657944e-01 3.79155563e-01 3.82718982e+02] [-3.77564356e-01 9.08594038e-01 -1.78611398e-01 1.78874583e+02] [-4.19096954e-01 4.32622963e-03 9.07931180e-01 7.07460210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.74, Y:178.86, Z:70.73 [[ 8.25195348e-01 4.19446581e-01 3.78308346e-01 3.82742229e+02] [-3.77499226e-01 9.07742818e-01 -1.83022703e-01 1.78862420e+02] [-4.20174931e-01 8.21837579e-03 9.07405910e-01 7.07286535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.320385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:382.77, Y:178.84, Z:70.72 [[ 8.24285625e-01 4.19344098e-01 3.80399443e-01 3.82766367e+02] [-3.80252491e-01 9.07826716e-01 -1.76801293e-01 1.78841829e+02] [-4.19477356e-01 1.08692795e-03 9.07765149e-01 7.07167989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3503857229999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:382.79, Y:178.82, Z:70.71 [[ 8.23485375e-01 4.20747900e-01 3.80582503e-01 3.82792543e+02] [-3.83828573e-01 9.07168291e-01 -1.72398720e-01 1.78821747e+02] [-4.17788778e-01 -4.11061503e-03 9.08534886e-01 7.07069027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.82, Y:178.81, Z:70.69 [[ 8.22401260e-01 4.25459609e-01 3.77677493e-01 3.82816990e+02] [-3.86193522e-01 9.04976903e-01 -1.78525543e-01 1.78806508e+02] [-4.17744815e-01 9.63030596e-04 9.08563890e-01 7.06913344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.84, Y:178.79, Z:70.68 [[ 8.21812769e-01 4.26726186e-01 3.77529516e-01 3.82842750e+02] [-3.87555610e-01 9.04380757e-01 -1.78594783e-01 1.78790801e+02] [-4.17641500e-01 4.57791258e-04 9.08611781e-01 7.06771441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.87, Y:178.77, Z:70.66 [[ 8.21221448e-01 4.28027785e-01 3.77342747e-01 3.82866922e+02] [-3.88964994e-01 9.03765573e-01 -1.78644962e-01 1.78771952e+02] [-4.17494391e-01 -6.60455553e-05 9.08679497e-01 7.06629225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:178.76, Z:70.65 [[ 8.20756402e-01 4.28870390e-01 3.77397823e-01 3.82891926e+02] [-3.89816803e-01 9.03365962e-01 -1.78809394e-01 1.78755812e+02] [-4.17614402e-01 -3.57057740e-04 9.08624281e-01 7.06490461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.92, Y:178.74, Z:70.64 [[ 8.20725117e-01 4.29700534e-01 3.76520562e-01 3.82915128e+02] [-3.90856099e-01 9.02971231e-01 -1.78534213e-01 1.78735843e+02] [-4.16703482e-01 -6.37844774e-04 9.09042244e-01 7.06358369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.94, Y:178.72, Z:70.62 [[ 8.20571813e-01 4.30118943e-01 3.76376931e-01 3.82940041e+02] [-3.91287730e-01 9.02771940e-01 -1.78596575e-01 1.78719163e+02] [-4.16600302e-01 -7.20360072e-04 9.09089473e-01 7.06222561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.96, Y:178.70, Z:70.61 [[ 8.20507848e-01 4.30205196e-01 3.76417800e-01 3.82964134e+02] [-3.91310341e-01 9.02730910e-01 -1.78754358e-01 1.78699140e+02] [-4.16705037e-01 -6.26824524e-04 9.09041539e-01 7.06087511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.99, Y:178.68, Z:70.59 [[ 8.20148848e-01 4.30332250e-01 3.77054402e-01 3.82988665e+02] [-3.91247860e-01 9.02670398e-01 -1.79196161e-01 1.78683185e+02] [-4.17469734e-01 -5.54202525e-04 9.08690659e-01 7.05949878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.01, Y:178.66, Z:70.58 [[ 8.20343129e-01 4.29902439e-01 3.77122054e-01 3.83012146e+02] [-3.90700808e-01 9.02875324e-01 -1.79357264e-01 1.78663131e+02] [-4.17600322e-01 -2.07392536e-04 9.08630799e-01 7.05812265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.04, Y:178.65, Z:70.57 [[ 8.20455160e-01 4.29905516e-01 3.76874750e-01 3.83037036e+02] [-3.90694926e-01 9.02873880e-01 -1.79377346e-01 1.78646630e+02] [-4.17385678e-01 -7.19835707e-05 9.08729437e-01 7.05679876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.06, Y:178.63, Z:70.55 [[ 8.20716922e-01 4.29529418e-01 3.76733610e-01 3.83059622e+02] [-3.90253022e-01 9.03052832e-01 -1.79438460e-01 1.78626851e+02] [-4.17284451e-01 2.46750385e-04 9.08775894e-01 7.05546389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.08, Y:178.61, Z:70.54 [[ 8.20969274e-01 4.29126551e-01 3.76642874e-01 3.83082988e+02] [-3.89771594e-01 9.03244192e-01 -1.79521682e-01 1.78607624e+02] [-4.17238009e-01 5.77091421e-04 9.08797068e-01 7.05406845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.11, Y:178.59, Z:70.53 [[ 8.20966987e-01 4.29193067e-01 3.76572062e-01 3.83107643e+02] [-3.89794949e-01 9.03212512e-01 -1.79630331e-01 1.78591583e+02] [-4.17220691e-01 6.84683851e-04 9.08804944e-01 7.05272862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.13, Y:178.57, Z:70.51 [[ 8.21548510e-01 4.28436561e-01 3.76165068e-01 3.83130846e+02] [-3.88991813e-01 9.03571069e-01 -1.79568075e-01 1.78573024e+02] [-4.16825401e-01 1.19875294e-03 9.08985780e-01 7.05134913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.16, Y:178.56, Z:70.50 [[ 8.21018198e-01 4.29407048e-01 3.76216301e-01 3.83157083e+02] [-3.89991573e-01 9.03110680e-01 -1.79715531e-01 1.78559250e+02] [-4.16936075e-01 8.28534069e-04 9.08935434e-01 7.04996928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.18, Y:178.55, Z:70.49 [[ 8.19998283e-01 4.31188347e-01 3.76403275e-01 3.83183278e+02] [-3.91845770e-01 9.02261939e-01 -1.79945233e-01 1.78547396e+02] [-4.17204636e-01 6.27511702e-05 9.08812570e-01 7.04858881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.21, Y:178.54, Z:70.47 [[ 8.18203068e-01 4.34300039e-01 3.76732287e-01 3.83210010e+02] [-3.95159004e-01 9.00767122e-01 -1.80188661e-01 1.78535538e+02] [-4.17604001e-01 -1.43823987e-03 9.08627993e-01 7.04720283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.24, Y:178.52, Z:70.46 [[ 8.17797686e-01 4.35919404e-01 3.75740893e-01 3.83237152e+02] [-3.97098351e-01 8.99983183e-01 -1.79842071e-01 1.78523838e+02] [-4.16557133e-01 -2.13165991e-03 9.09107040e-01 7.04577334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.26, Y:178.51, Z:70.44 [[ 8.18002162e-01 4.36197854e-01 3.74971858e-01 3.83263446e+02] [-3.97508292e-01 8.99848258e-01 -1.79611443e-01 1.78511354e+02] [-4.15763899e-01 -2.13187406e-03 9.09470085e-01 7.04440382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.29, Y:178.50, Z:70.43 [[ 8.18649152e-01 4.35391146e-01 3.74497151e-01 3.83290218e+02] [-3.96665365e-01 9.00239975e-01 -1.79512048e-01 1.78497867e+02] [-4.15295262e-01 -1.59266299e-03 9.09685280e-01 7.04296515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.32, Y:178.49, Z:70.42 [[ 8.19131779e-01 4.34596773e-01 3.74364493e-01 3.83316942e+02] [-3.95758863e-01 9.00624523e-01 -1.79583938e-01 1.78485299e+02] [-4.15208443e-01 -1.05515552e-03 9.09725693e-01 7.04153333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.34, Y:178.48, Z:70.39 [[ 8.20001548e-01 4.34354905e-01 3.72737546e-01 3.83341930e+02] [-3.91187613e-01 9.00695147e-01 -1.88998689e-01 1.78482250e+02] [-4.17815406e-01 9.16890673e-03 9.08485673e-01 7.03935311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.37, Y:178.46, Z:70.38 [[ 8.19917035e-01 4.30437136e-01 3.77438641e-01 3.83367806e+02] [-3.91501685e-01 9.02619902e-01 -1.78895900e-01 1.78463646e+02] [-4.17687068e-01 -1.08806800e-03 9.08590298e-01 7.03840452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.40, Y:178.44, Z:70.38 [[ 8.20692021e-01 4.27428975e-01 3.79168932e-01 3.83395158e+02] [-3.92377855e-01 9.03999617e-01 -1.69777241e-01 1.78444170e+02] [-4.15336281e-01 -9.44266553e-03 9.09618937e-01 7.03773000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.42, Y:178.45, Z:70.35 [[ 8.21087271e-01 4.32174090e-01 3.72882354e-01 3.83420468e+02] [-3.88296554e-01 9.01719684e-01 -1.90072083e-01 1.78445861e+02] [-4.18379588e-01 1.12768344e-02 9.08202265e-01 7.03515907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.45, Y:178.42, Z:70.35 [[ 8.23062422e-01 4.23021556e-01 3.78973630e-01 3.83448017e+02] [-3.87977185e-01 9.06083268e-01 -1.68780378e-01 1.78417954e+02] [-4.14779403e-01 -8.11633554e-03 9.09885802e-01 7.03500969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.48, Y:178.41, Z:70.33 [[ 8.24733935e-01 4.24325638e-01 3.73847147e-01 3.83475522e+02] [-3.84258101e-01 9.05496690e-01 -1.80059593e-01 1.78412306e+02] [-4.14921256e-01 4.84746232e-03 9.09844412e-01 7.03297237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.50, Y:178.40, Z:70.32 [[ 8.25035262e-01 4.24285528e-01 3.73227287e-01 3.83501597e+02] [-3.84287368e-01 9.05514639e-01 -1.79906803e-01 1.78398094e+02] [-4.14294625e-01 5.00292501e-03 9.10129076e-01 7.03172204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.53, Y:178.39, Z:70.30 [[ 8.25275164e-01 4.23409096e-01 3.73691906e-01 3.83527887e+02] [-3.83157882e-01 9.05921363e-01 -1.80267918e-01 1.78385457e+02] [-4.14862557e-01 5.58763709e-03 9.09866934e-01 7.03032566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.56, Y:178.36, Z:70.30 [[ 8.25523591e-01 4.19069560e-01 3.78009928e-01 3.83555598e+02] [-3.84303239e-01 9.07925752e-01 -1.67277764e-01 1.78364391e+02] [-4.13305967e-01 -7.17869929e-03 9.10563915e-01 7.02972033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.58, Y:178.37, Z:70.27 [[ 8.23848094e-01 4.30342848e-01 3.68889350e-01 3.83581358e+02] [-3.84353215e-01 9.02477884e-01 -1.94438357e-01 1.78368355e+02] [-4.16589636e-01 1.84038622e-02 9.08908341e-01 7.02701260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.61, Y:178.35, Z:70.26 [[ 8.24091688e-01 4.26340368e-01 3.72970215e-01 3.83606589e+02] [-3.84857104e-01 9.04529457e-01 -1.83606837e-01 1.78349625e+02] [-4.15641552e-01 7.76863113e-03 9.09495326e-01 7.02613581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.63, Y:178.33, Z:70.25 [[ 8.23074756e-01 4.25831576e-01 3.75786395e-01 3.83632075e+02] [-3.86403051e-01 9.04800012e-01 -1.78968208e-01 1.78334914e+02] [-4.16221849e-01 2.09920498e-03 9.09260670e-01 7.02495642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.66, Y:178.32, Z:70.24 [[ 8.23405875e-01 4.23895356e-01 3.77247256e-01 3.83659432e+02] [-3.87497279e-01 9.05699353e-01 -1.71914341e-01 1.78317584e+02] [-4.14546286e-01 -4.62700647e-03 9.10016466e-01 7.02405234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.69, Y:178.32, Z:70.22 [[ 8.21716280e-01 4.32811244e-01 3.70751645e-01 3.83685382e+02] [-3.88913249e-01 9.01402054e-01 -1.90317689e-01 1.78315281e+02] [-4.16567930e-01 1.21969170e-02 9.09022769e-01 7.02186360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.71, Y:178.30, Z:70.21 [[ 8.21437019e-01 4.29792317e-01 3.74859691e-01 3.83710843e+02] [-3.89616146e-01 9.02922753e-01 -1.81465594e-01 1.78297745e+02] [-4.16461862e-01 3.01116866e-03 9.09148201e-01 7.02093305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.74, Y:178.29, Z:70.20 [[ 8.21377868e-01 4.30025253e-01 3.74722136e-01 3.83737054e+02] [-3.89843450e-01 9.02811804e-01 -1.81529421e-01 1.78286594e+02] [-4.16365803e-01 3.02127875e-03 9.09192163e-01 7.01950175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.76, Y:178.27, Z:70.18 [[ 8.21596517e-01 4.29629006e-01 3.74697317e-01 3.83763658e+02] [-3.89354608e-01 9.02999278e-01 -1.81646064e-01 1.78273695e+02] [-4.16391825e-01 3.34964622e-03 9.09179096e-01 7.01805279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.79, Y:178.26, Z:70.17 [[ 8.23138750e-01 4.27498598e-01 3.73747973e-01 3.83789474e+02] [-3.87166477e-01 9.04004556e-01 -1.81322589e-01 1.78258809e+02] [-4.15385024e-01 4.55096325e-03 9.09634306e-01 7.01673985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.82, Y:178.24, Z:70.15 [[ 8.23810382e-01 4.26389705e-01 3.73534837e-01 3.83816231e+02] [-3.85933938e-01 9.04524357e-01 -1.81357888e-01 1.78244238e+02] [-4.15200494e-01 5.24474022e-03 9.09714814e-01 7.01537315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.84, Y:178.23, Z:70.14 [[ 8.24945032e-01 4.24108018e-01 3.73628270e-01 3.83841812e+02] [-3.83343727e-01 9.05588031e-01 -1.81543120e-01 1.78230575e+02] [-4.15347182e-01 6.53504119e-03 9.09639496e-01 7.01405688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.87, Y:178.22, Z:70.13 [[ 8.24749346e-01 4.24368054e-01 3.73764995e-01 3.83868325e+02] [-3.83538303e-01 9.05466194e-01 -1.81739764e-01 1.78218891e+02] [-4.15556117e-01 6.53655946e-03 9.09544055e-01 7.01270693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.90, Y:178.21, Z:70.11 [[ 8.24795428e-01 4.24787496e-01 3.73186395e-01 3.83895504e+02] [-3.84073644e-01 9.05270187e-01 -1.81585588e-01 1.78207041e+02] [-4.14969804e-01 6.43990388e-03 9.09812392e-01 7.01122089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.92, Y:178.19, Z:70.10 [[ 8.24680137e-01 4.25373751e-01 3.72773180e-01 3.83922151e+02] [-3.84750962e-01 9.04996058e-01 -1.81518135e-01 1.78194435e+02] [-4.14571308e-01 6.26956061e-03 9.09995233e-01 7.00985277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.95, Y:178.18, Z:70.09 [[ 8.24438284e-01 4.25754086e-01 3.72873940e-01 3.83948219e+02] [-3.85084179e-01 9.04817578e-01 -1.81701199e-01 1.78182145e+02] [-4.14742923e-01 6.21357009e-03 9.09917414e-01 7.00855385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.98, Y:178.17, Z:70.07 [[ 8.24435515e-01 4.25962787e-01 3.72641633e-01 3.83975103e+02] [-3.85309892e-01 9.04719250e-01 -1.81712314e-01 1.78168733e+02] [-4.14538742e-01 6.22757794e-03 9.10010356e-01 7.00717890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.00, Y:178.16, Z:70.06 [[ 8.24564290e-01 4.26055955e-01 3.72249990e-01 3.84001871e+02] [-3.85441949e-01 9.04674849e-01 -1.81653302e-01 1.78156088e+02] [-4.14159675e-01 6.30406385e-03 9.10182412e-01 7.00587589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.03, Y:178.15, Z:70.04 [[ 8.25099897e-01 4.25197282e-01 3.72044931e-01 3.84027355e+02] [-3.82392110e-01 9.05028506e-01 -1.86278497e-01 1.78151106e+02] [-4.15916379e-01 1.14313221e-02 9.09331013e-01 7.00408319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.05, Y:178.14, Z:70.03 [[ 8.25101819e-01 4.22543704e-01 3.75051739e-01 3.84053354e+02] [-3.82260600e-01 9.06327287e-01 -1.80132404e-01 1.78135125e+02] [-4.16033438e-01 5.26007180e-03 9.09334103e-01 7.00296166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.08, Y:178.12, Z:70.02 [[ 8.25213946e-01 4.22019234e-01 3.75395403e-01 3.84079237e+02] [-3.81597188e-01 9.06569882e-01 -1.80318152e-01 1.78122890e+02] [-4.16419895e-01 5.55122352e-03 9.09155463e-01 7.00160404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.10, Y:178.11, Z:70.00 [[ 8.25664013e-01 4.21574155e-01 3.74905549e-01 3.84104941e+02] [-3.79338234e-01 9.06740325e-01 -1.84186013e-01 1.78113004e+02] [-4.17590042e-01 9.85975438e-03 9.08582050e-01 7.00002941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.13, Y:178.09, Z:69.99 [[ 8.26642649e-01 4.17569368e-01 3.77223745e-01 3.84132087e+02] [-3.80571214e-01 9.08643805e-01 -1.71848734e-01 1.78088675e+02] [-4.14520786e-01 -1.50300558e-03 9.10038603e-01 6.99942680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.16, Y:178.08, Z:69.98 [[ 8.27204143e-01 4.21203134e-01 3.71915617e-01 3.84158535e+02] [-3.79844161e-01 9.06916563e-01 -1.82265631e-01 1.78081742e+02] [-4.14067288e-01 9.50090952e-03 9.10196690e-01 6.99762176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.18, Y:178.08, Z:69.96 [[ 8.28249822e-01 4.19867529e-01 3.71097685e-01 3.84182150e+02] [-3.74469897e-01 9.07384143e-01 -1.90856788e-01 1.78078989e+02] [-4.16862722e-01 1.91121890e-02 9.08768505e-01 6.99559816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.21, Y:178.05, Z:69.95 [[ 8.28396973e-01 4.13978978e-01 3.77332560e-01 3.84209840e+02] [-3.76810222e-01 9.10286428e-01 -1.71442924e-01 1.78050176e+02] [-4.14454475e-01 -1.59966486e-04 9.10070032e-01 6.99539836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.24, Y:178.04, Z:69.94 [[ 8.28898279e-01 4.17360628e-01 3.72475166e-01 3.84237314e+02] [-3.75357752e-01 9.08664931e-01 -1.82851308e-01 1.78043865e+02] [-4.14770058e-01 1.17536935e-02 9.09850345e-01 6.99362700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.26, Y:178.03, Z:69.92 [[ 8.28838264e-01 4.16976418e-01 3.73038604e-01 3.84264443e+02] [-3.74745780e-01 9.08836877e-01 -1.83251555e-01 1.78031370e+02] [-4.15442816e-01 1.20912580e-02 9.09538932e-01 6.99220252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.29, Y:178.02, Z:69.91 [[ 8.29037073e-01 4.16600775e-01 3.73016522e-01 3.84291408e+02] [-3.74278790e-01 9.09004823e-01 -1.83372898e-01 1.78018877e+02] [-4.15467109e-01 1.24107579e-02 9.09523532e-01 6.99082225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.32, Y:178.01, Z:69.89 [[ 8.29076319e-01 4.16736813e-01 3.72777260e-01 3.84318483e+02] [-3.74423736e-01 9.08941685e-01 -1.83389964e-01 1.78006045e+02] [-4.15258140e-01 1.24676216e-02 9.09618181e-01 6.98944622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.35, Y:177.99, Z:69.88 [[ 8.28986696e-01 4.16761580e-01 3.72948849e-01 3.84346167e+02] [-3.74346992e-01 9.08928512e-01 -1.83611793e-01 1.77994696e+02] [-4.15506184e-01 1.25994538e-02 9.09503087e-01 6.98802985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.37, Y:177.99, Z:69.86 [[ 8.28219417e-01 4.19160969e-01 3.71963277e-01 3.84371440e+02] [-3.73262630e-01 9.07692171e-01 -1.91754876e-01 1.77989487e+02] [-4.18004314e-01 1.99751202e-02 9.08225406e-01 6.98601237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.40, Y:177.97, Z:69.86 [[ 8.27284002e-01 4.12376438e-01 3.81506034e-01 3.84397470e+02] [-3.75347598e-01 9.11011564e-01 -1.70798455e-01 1.77965183e+02] [-4.17989666e-01 -1.89854407e-03 9.08449797e-01 6.98581182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.43, Y:177.96, Z:69.84 [[ 8.27442993e-01 4.20556696e-01 3.72115787e-01 3.84425348e+02] [-3.76549615e-01 9.07135978e-01 -1.87922070e-01 1.77963088e+02] [-4.16591503e-01 1.53747435e-02 9.08963771e-01 6.98369282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.45, Y:177.95, Z:69.82 [[ 8.27331074e-01 4.20223941e-01 3.72740034e-01 3.84452952e+02] [-3.77307681e-01 9.07330312e-01 -1.85447080e-01 1.77949879e+02] [-4.16127634e-01 1.27884539e-02 9.09216282e-01 6.98241958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.48, Y:177.93, Z:69.82 [[ 8.26375402e-01 4.18435538e-01 3.76849301e-01 3.84477634e+02] [-3.78949364e-01 9.08238288e-01 -1.77484060e-01 1.77932894e+02] [-4.16534602e-01 3.86165836e-03 9.09111662e-01 6.98153924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.51, Y:177.93, Z:69.79 [[ 8.25943824e-01 4.23840687e-01 3.71720152e-01 3.84505797e+02] [-3.78411391e-01 9.05563958e-01 -1.91725680e-01 1.77929878e+02] [-4.17877517e-01 1.76915015e-02 9.08331103e-01 6.97948870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.360385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:384.53, Y:177.92, Z:69.78 [[ 8.25142570e-01 4.21950750e-01 3.75629211e-01 3.84532279e+02] [-3.79093854e-01 9.06555089e-01 -1.85595585e-01 1.77915514e+02] [-4.18840769e-01 1.07440925e-02 9.07996131e-01 6.97831839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.56, Y:177.90, Z:69.77 [[ 8.24813354e-01 4.22499384e-01 3.75735547e-01 3.84559331e+02] [-3.79610448e-01 9.06301223e-01 -1.85779444e-01 1.77902892e+02] [-4.19021287e-01 1.06002271e-02 9.07914532e-01 6.97692218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.59, Y:177.89, Z:69.76 [[ 8.24365217e-01 4.22809781e-01 3.76369337e-01 3.84586637e+02] [-3.79732791e-01 9.06156387e-01 -1.86235361e-01 1.77890810e+02] [-4.19791611e-01 1.06061756e-02 9.07558545e-01 6.97554164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:177.88, Z:69.74 [[ 8.24196781e-01 4.23343271e-01 3.76138460e-01 3.84614085e+02] [-3.79975397e-01 9.05900258e-01 -1.86985078e-01 1.77877609e+02] [-4.19902803e-01 1.11891388e-02 9.07500104e-01 6.97402660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.64, Y:177.87, Z:69.73 [[ 8.25009444e-01 4.21905120e-01 3.75972722e-01 3.84639946e+02] [-3.78301548e-01 9.06557848e-01 -1.87191898e-01 1.77868511e+02] [-4.19818242e-01 1.22040210e-02 9.07526146e-01 6.97279014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.67, Y:177.86, Z:69.71 [[ 8.25194638e-01 4.21077809e-01 3.76493411e-01 3.84665959e+02] [-3.77641762e-01 9.06947345e-01 -1.86636582e-01 1.77856614e+02] [-4.20048222e-01 1.18318714e-02 9.07424652e-01 6.97141717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.69, Y:177.84, Z:69.70 [[ 8.25823834e-01 4.18408428e-01 3.78086475e-01 3.84694138e+02] [-3.77928870e-01 9.08242644e-01 -1.79624802e-01 1.77839521e+02] [-4.18550790e-01 5.44864799e-03 9.08177047e-01 6.97038378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:384.72, Y:177.83, Z:69.69 [[ 8.25658380e-01 4.22074683e-01 3.74354380e-01 3.84721809e+02] [-3.78398428e-01 9.06466329e-01 -1.87439120e-01 1.77831010e+02] [-4.18452947e-01 1.31055716e-02 9.08143918e-01 6.96868131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.75, Y:177.82, Z:69.67 [[ 8.25711221e-01 4.23645619e-01 3.72458546e-01 3.84747267e+02] [-3.80352248e-01 9.05738344e-01 -1.87003260e-01 1.77820958e+02] [-4.16573099e-01 1.27452448e-02 9.09012878e-01 6.96747974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.77, Y:177.82, Z:69.66 [[ 8.25079440e-01 4.25096353e-01 3.72205601e-01 3.84774024e+02] [-3.78426333e-01 9.04932533e-01 -1.94655136e-01 1.77815332e+02] [-4.19568145e-01 1.97535500e-02 9.07508881e-01 6.96552918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.80, Y:177.80, Z:69.64 [[ 8.23961816e-01 4.25746440e-01 3.73934346e-01 3.84799687e+02] [-3.81108640e-01 9.04729427e-01 -1.90317811e-01 1.77803999e+02] [-4.19336537e-01 1.43049995e-02 9.07718148e-01 6.96436748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.83, Y:177.79, Z:69.63 [[ 8.23569578e-01 4.25727502e-01 3.74818949e-01 3.84825827e+02] [-3.82357717e-01 9.04782897e-01 -1.87537956e-01 1.77791192e+02] [-4.18969841e-01 1.11356379e-02 9.07931864e-01 6.96309673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.85, Y:177.77, Z:69.62 [[ 8.22858046e-01 4.22635589e-01 3.79847068e-01 3.84853728e+02] [-3.82555134e-01 9.06296190e-01 -1.79662976e-01 1.77774629e+02] [-4.20185918e-01 2.52467894e-03 9.07434527e-01 6.96193707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.88, Y:177.77, Z:69.60 [[ 8.23332186e-01 4.25462323e-01 3.75640683e-01 3.84881155e+02] [-3.82325647e-01 9.04917435e-01 -1.86953296e-01 1.77767391e+02] [-4.19465388e-01 1.03075992e-02 9.07712808e-01 6.96031163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.91, Y:177.76, Z:69.59 [[ 8.23929115e-01 4.27870003e-01 3.71575126e-01 3.84908319e+02] [-3.82730524e-01 9.03699741e-01 -1.91948233e-01 1.77758792e+02] [-4.17921236e-01 1.59385948e-02 9.08343438e-01 6.95871622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.810385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:384.94, Y:177.74, Z:69.58 [[ 8.23926721e-01 4.22102776e-01 3.78119035e-01 3.84936743e+02] [-3.82120603e-01 9.06542044e-01 -1.79347060e-01 1.77738254e+02] [-4.18483694e-01 3.28176131e-03 9.08218381e-01 6.95769866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.96, Y:177.74, Z:69.56 [[ 8.24732258e-01 4.25301580e-01 3.72740216e-01 3.84963168e+02] [-3.79928583e-01 9.04899038e-01 -1.91864546e-01 1.77737209e+02] [-4.18892557e-01 1.66222179e-02 9.07883653e-01 6.95592382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.99, Y:177.71, Z:69.55 [[ 8.25585494e-01 4.19192406e-01 3.77738428e-01 3.84991324e+02] [-3.80488223e-01 9.07896141e-01 -1.75935529e-01 1.77714246e+02] [-4.16698099e-01 1.52479753e-03 9.09043657e-01 6.95533897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.02, Y:177.72, Z:69.53 [[ 8.25554558e-01 4.26488927e-01 3.69549547e-01 3.85017897e+02] [-3.77745568e-01 9.04142394e-01 -1.99586617e-01 1.77717436e+02] [-4.19246894e-01 2.51739376e-02 9.07523176e-01 6.95291292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.930385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.04, Y:177.70, Z:69.52 [[ 8.25314504e-01 4.21854534e-01 3.75359458e-01 3.85043904e+02] [-3.77861490e-01 9.06565070e-01 -1.88043795e-01 1.77697345e+02] [-4.19614900e-01 1.33613870e-02 9.07603883e-01 6.95191905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.07, Y:177.68, Z:69.51 [[ 8.25790953e-01 4.20091582e-01 3.76287608e-01 3.85072247e+02] [-3.78342933e-01 9.07441259e-01 -1.82775784e-01 1.77680457e+02] [-4.18241469e-01 8.56883196e-03 9.08295463e-01 6.95088669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.10, Y:177.67, Z:69.50 [[ 8.27072319e-01 4.19661699e-01 3.73945767e-01 3.85101289e+02] [-3.77058944e-01 9.07605415e-01 -1.84604884e-01 1.77671612e+02] [-4.16866803e-01 1.16819932e-02 9.08892513e-01 6.94951920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.13, Y:177.68, Z:69.47 [[ 8.27380628e-01 4.23128053e-01 3.69329051e-01 3.85128102e+02] [-3.74003700e-01 9.05663714e-01 -1.99735999e-01 1.77675471e+02] [-4.19001824e-01 2.71272649e-02 9.07580070e-01 6.94738307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.15, Y:177.66, Z:69.46 [[ 8.27089844e-01 4.19442696e-01 3.74152662e-01 3.85154759e+02] [-3.74356760e-01 9.07621954e-01 -1.89945796e-01 1.77657157e+02] [-4.19260547e-01 1.70356607e-02 9.07706109e-01 6.94619271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:177.65, Z:69.45 [[ 8.26768387e-01 4.19081903e-01 3.75265763e-01 3.85181448e+02] [-3.75036160e-01 9.07835183e-01 -1.87571745e-01 1.77647267e+02] [-4.19287386e-01 1.43401585e-02 9.07740298e-01 6.94512057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:177.64, Z:69.44 [[ 8.26357309e-01 4.20468517e-01 3.74619572e-01 3.85208957e+02] [-3.76549008e-01 9.07199487e-01 -1.87616460e-01 1.77635398e+02] [-4.18741498e-01 1.39756054e-02 9.07997930e-01 6.94372910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.24, Y:177.62, Z:69.42 [[ 8.25849272e-01 4.22800665e-01 3.73112017e-01 3.85238791e+02] [-3.80960701e-01 9.06172816e-01 -1.83629442e-01 1.77622311e+02] [-4.15742618e-01 9.50922600e-03 9.09432598e-01 6.94233775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.26, Y:177.62, Z:69.41 [[ 8.25278919e-01 4.26742767e-01 3.69872028e-01 3.85264889e+02] [-3.81332263e-01 9.04199412e-01 -1.92377568e-01 1.77619531e+02] [-4.16533806e-01 1.77210139e-02 9.08947498e-01 6.94072491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.29, Y:177.60, Z:69.40 [[ 8.24537353e-01 4.24801689e-01 3.73740122e-01 3.85293658e+02] [-3.84934301e-01 9.05276107e-01 -1.79724107e-01 1.77599587e+02] [-4.14685107e-01 4.32384639e-03 9.09954706e-01 6.93982589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.32, Y:177.60, Z:69.38 [[ 8.23587285e-01 4.31090996e-01 3.68598070e-01 3.85319814e+02] [-3.84049633e-01 9.02073161e-01 -1.96900715e-01 1.77599994e+02] [-4.17384551e-01 2.06049722e-02 9.08496325e-01 6.93790795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.35, Y:177.57, Z:69.38 [[ 8.23677797e-01 4.22127297e-01 3.78633638e-01 3.85347866e+02] [-3.87911799e-01 9.06486519e-01 -1.66753193e-01 1.77567645e+02] [-4.13617363e-01 -9.52555282e-03 9.10400978e-01 6.93809098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.37, Y:177.59, Z:69.35 [[ 8.21601100e-01 4.39205019e-01 3.63415169e-01 3.85374871e+02] [-3.86618575e-01 8.97787075e-01 -2.10960767e-01 1.77585305e+02] [-4.18924469e-01 3.28225438e-02 9.07427666e-01 6.93494099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:385.40, Y:177.54, Z:69.36 [[ 8.22609375e-01 4.22831347e-01 3.80167685e-01 3.85402132e+02] [-3.91107571e-01 9.06069608e-01 -1.61470532e-01 1.77540751e+02] [-4.12733187e-01 -1.58592867e-02 9.10713895e-01 6.93573632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.43, Y:177.57, Z:69.32 [[ 8.20583624e-01 4.43817961e-01 3.60094617e-01 3.85428980e+02] [-3.89119185e-01 8.95321407e-01 -2.16762169e-01 1.77565556e+02] [-4.18603363e-01 3.77517623e-02 9.07384168e-01 6.93200795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.45, Y:177.54, Z:69.32 [[ 8.20237531e-01 4.32544703e-01 3.74320013e-01 3.85452389e+02] [-3.89509716e-01 9.01571108e-01 -1.88286270e-01 1.77536442e+02] [-4.18918338e-01 8.63818301e-03 9.07982824e-01 6.93153791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.410385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.48, Y:177.52, Z:69.30 [[ 8.20402210e-01 4.32078499e-01 3.74497510e-01 3.85478952e+02] [-3.88888863e-01 9.01790872e-01 -1.88517045e-01 1.77522336e+02] [-4.19172598e-01 9.02188999e-03 9.07861740e-01 6.93027113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.51, Y:177.51, Z:69.29 [[ 8.20603572e-01 4.31613989e-01 3.74591968e-01 3.85505322e+02] [-3.88288860e-01 9.02009375e-01 -1.88708368e-01 1.77508787e+02] [-4.19334638e-01 9.40487238e-03 9.07783019e-01 6.92891167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.53, Y:177.50, Z:69.28 [[ 8.21077447e-01 4.30820718e-01 3.74466735e-01 3.85532009e+02] [-3.87381177e-01 9.02382693e-01 -1.88789033e-01 1.77495895e+02] [-4.19246527e-01 9.94905281e-03 9.07817914e-01 6.92752550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.56, Y:177.48, Z:69.26 [[ 8.21248941e-01 4.30771341e-01 3.74147335e-01 3.85557782e+02] [-3.87338742e-01 9.02404512e-01 -1.88771811e-01 1.77483270e+02] [-4.18949729e-01 1.01068918e-02 9.07953179e-01 6.92615217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.58, Y:177.47, Z:69.25 [[ 8.21371923e-01 4.30723054e-01 3.73932901e-01 3.85584652e+02] [-3.87276547e-01 9.02425862e-01 -1.88797352e-01 1.77469460e+02] [-4.18766093e-01 1.02574015e-02 9.08036203e-01 6.92472668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.61, Y:177.46, Z:69.23 [[ 8.21342320e-01 4.30837014e-01 3.73866636e-01 3.85611544e+02] [-3.87352968e-01 9.02370550e-01 -1.88904921e-01 1.77455618e+02] [-4.18753474e-01 1.03372552e-02 9.08041117e-01 6.92332678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.64, Y:177.44, Z:69.22 [[ 8.21455491e-01 4.30830709e-01 3.73625183e-01 3.85638396e+02] [-3.87340374e-01 9.02372002e-01 -1.88923810e-01 1.77441776e+02] [-4.18543083e-01 1.04723832e-02 9.08136563e-01 6.92189689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.620385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:385.66, Y:177.43, Z:69.20 [[ 8.21429129e-01 4.31137131e-01 3.73329560e-01 3.85664711e+02] [-3.87685246e-01 9.02225956e-01 -1.88913934e-01 1.77428228e+02] [-4.18275430e-01 1.04450463e-02 9.08260186e-01 6.92049816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.69, Y:177.41, Z:69.19 [[ 8.21142884e-01 4.31899770e-01 3.73077677e-01 3.85690832e+02] [-3.88519938e-01 9.01864065e-01 -1.88927143e-01 1.77414506e+02] [-4.18062940e-01 1.01880633e-02 9.08360931e-01 6.91910313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.72, Y:177.40, Z:69.18 [[ 8.20879848e-01 4.33208953e-01 3.72137445e-01 3.85717414e+02] [-3.90123238e-01 9.01242056e-01 -1.88591135e-01 1.77399088e+02] [-4.17085284e-01 9.63119699e-03 9.08816321e-01 6.91779148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.74, Y:177.39, Z:69.16 [[ 8.20207135e-01 4.33511276e-01 3.73266968e-01 3.85743278e+02] [-3.90108049e-01 9.01096309e-01 -1.89317597e-01 1.77385878e+02] [-4.18420800e-01 9.66519468e-03 9.08201860e-01 6.91636187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.77, Y:177.37, Z:69.15 [[ 8.19944885e-01 4.34180444e-01 3.73065314e-01 3.85769232e+02] [-3.90849104e-01 9.00776758e-01 -1.89309825e-01 1.77372202e+02] [-4.18243188e-01 9.41137917e-03 9.08286333e-01 6.91499663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.79, Y:177.36, Z:69.14 [[ 8.19490899e-01 4.35352076e-01 3.72697245e-01 3.85794973e+02] [-3.92165699e-01 9.00215955e-01 -1.89254587e-01 1.77357913e+02] [-4.17900383e-01 8.93333598e-03 9.08448934e-01 6.91360586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.800385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:385.82, Y:177.34, Z:69.12 [[ 8.19012252e-01 4.36117652e-01 3.72854296e-01 3.85820128e+02] [-3.92901946e-01 8.99847695e-01 -1.89478724e-01 1.77343849e+02] [-4.18147095e-01 8.69021842e-03 9.08337761e-01 6.91230875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.85, Y:177.33, Z:69.11 [[ 8.18689466e-01 4.36378897e-01 3.73257307e-01 3.85846646e+02] [-3.93028474e-01 8.99720927e-01 -1.89817997e-01 1.77329504e+02] [-4.18659978e-01 8.70124496e-03 9.08101377e-01 6.91087782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:385.87, Y:177.31, Z:69.10 [[ 8.19599449e-01 4.30373348e-01 3.78200378e-01 3.85872261e+02] [-3.93648641e-01 9.02629613e-01 -1.74070475e-01 1.77305875e+02] [-4.16290153e-01 -6.20999952e-03 9.09210616e-01 6.91031149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.90, Y:177.31, Z:69.08 [[ 8.17989126e-01 4.43132247e-01 3.66780045e-01 3.85899628e+02] [-3.93191937e-01 8.96131823e-01 -2.05785948e-01 1.77309342e+02] [-4.19873660e-01 2.41157118e-02 9.07262113e-01 6.90767763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.920385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:385.92, Y:177.30, Z:69.06 [[ 8.17679197e-01 4.37502890e-01 3.74154984e-01 3.85920630e+02] [-3.88590083e-01 8.98999771e-01 -2.01983066e-01 1.77299111e+02] [-4.24733421e-01 1.97644351e-02 9.05102695e-01 6.90604362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.95, Y:177.26, Z:69.06 [[ 8.17854960e-01 4.30512686e-01 3.81801116e-01 3.85946636e+02] [-3.92532026e-01 9.02569511e-01 -1.76880992e-01 1.77264820e+02] [-4.20751557e-01 -5.20616869e-03 9.07160969e-01 6.90597017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.97, Y:177.26, Z:69.04 [[ 8.18244528e-01 4.35918695e-01 3.74767641e-01 3.85973985e+02] [-3.91852451e-01 8.99934633e-01 -1.91231045e-01 1.77258421e+02] [-4.20627567e-01 9.62013773e-03 9.07182398e-01 6.90411868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.00, Y:177.25, Z:69.03 [[ 8.19953551e-01 4.37268154e-01 3.69422165e-01 3.85999772e+02] [-3.90365260e-01 8.99150728e-01 -1.97845728e-01 1.77247070e+02] [-4.18677845e-01 1.80147281e-02 9.07956129e-01 6.90251238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.02, Y:177.23, Z:69.01 [[ 8.20204758e-01 4.31927468e-01 3.75103743e-01 3.86024330e+02] [-3.89018469e-01 9.01871394e-01 -1.87863303e-01 1.77225551e+02] [-4.19438656e-01 8.16409150e-03 9.07746970e-01 6.90148838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.05, Y:177.21, Z:69.00 [[ 8.19603125e-01 4.32601075e-01 3.75642152e-01 3.86049523e+02] [-3.89286095e-01 9.01544714e-01 -1.88874204e-01 1.77212796e+02] [-4.20365380e-01 8.56962092e-03 9.07314449e-01 6.90013572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1003857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.08, Y:177.20, Z:68.99 [[ 8.19569643e-01 4.34362629e-01 3.73677276e-01 3.86075006e+02] [-3.90222492e-01 9.00673452e-01 -1.91085689e-01 1.77200323e+02] [-4.19561684e-01 1.07907517e-02 9.07662687e-01 6.89856198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.130385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:386.10, Y:177.19, Z:68.97 [[ 8.19531745e-01 4.35028075e-01 3.72985647e-01 3.86100809e+02] [-3.91085462e-01 9.00355508e-01 -1.90819601e-01 1.77186239e+02] [-4.18831566e-01 1.05134560e-02 9.08003077e-01 6.89716030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.13, Y:177.17, Z:68.96 [[ 8.19457016e-01 4.35715962e-01 3.72346345e-01 3.86126905e+02] [-3.91935473e-01 9.00025522e-01 -1.90632227e-01 1.77172272e+02] [-4.18182717e-01 1.02791748e-02 9.08304769e-01 6.89575581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.190385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:386.15, Y:177.16, Z:68.94 [[ 8.19537674e-01 4.36566827e-01 3.71170319e-01 3.86152151e+02] [-3.93097432e-01 8.99616878e-01 -1.90168037e-01 1.77157891e+02] [-4.16932141e-01 9.94377196e-03 9.08883222e-01 6.89430416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.18, Y:177.14, Z:68.93 [[ 8.19861960e-01 4.35692722e-01 3.71481114e-01 3.86176456e+02] [-3.91996366e-01 9.00033776e-01 -1.90467979e-01 1.77142926e+02] [-4.17331062e-01 1.05382035e-02 9.08693420e-01 6.89295710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.20, Y:177.13, Z:68.92 [[ 8.20185536e-01 4.34891441e-01 3.71705691e-01 3.86201769e+02] [-3.91000651e-01 9.00414673e-01 -1.90714205e-01 1.77128779e+02] [-4.17629234e-01 1.10838655e-02 9.08549928e-01 6.89166056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.23, Y:177.11, Z:68.90 [[ 8.20538878e-01 4.33627213e-01 3.72402188e-01 3.86227702e+02] [-3.89378653e-01 9.01014006e-01 -1.91201531e-01 1.77113186e+02] [-4.18449774e-01 1.18828275e-02 9.08162202e-01 6.89030832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.25, Y:177.10, Z:68.89 [[ 8.20585049e-01 4.33349225e-01 3.72623976e-01 3.86252919e+02] [-3.88951188e-01 9.01143821e-01 -1.91459625e-01 1.77098794e+02] [-4.18756673e-01 1.21763674e-02 9.08016842e-01 6.88896446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.28, Y:177.08, Z:68.88 [[ 8.20669193e-01 4.33180943e-01 3.72634334e-01 3.86278612e+02] [-3.88701979e-01 9.01221737e-01 -1.91598937e-01 1.77083372e+02] [-4.18823170e-01 1.23956420e-02 9.07983205e-01 6.88758427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.30, Y:177.07, Z:68.86 [[ 8.20631738e-01 4.33267900e-01 3.72615722e-01 3.86304498e+02] [-3.88736788e-01 9.01178615e-01 -1.91731096e-01 1.77069567e+02] [-4.18864250e-01 1.24911839e-02 9.07962946e-01 6.88615055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.33, Y:177.06, Z:68.85 [[ 8.20387303e-01 4.33880869e-01 3.72440687e-01 3.86330268e+02] [-3.89389019e-01 9.00886133e-01 -1.91782082e-01 1.77055025e+02] [-4.18737227e-01 1.23112714e-02 9.08023991e-01 6.88470824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.36, Y:177.04, Z:68.83 [[ 8.20193733e-01 4.34540856e-01 3.72097414e-01 3.86355415e+02] [-3.90134988e-01 9.00570819e-01 -1.91746948e-01 1.77041336e+02] [-4.18421956e-01 1.21014248e-02 9.08172133e-01 6.88335528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.38, Y:177.04, Z:68.81 [[ 8.19837852e-01 4.36141491e-01 3.71007408e-01 3.86378297e+02] [-3.87124684e-01 8.99607797e-01 -2.02089810e-01 1.77039299e+02] [-4.21900907e-01 2.20547502e-02 9.06373661e-01 6.88116397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.40, Y:177.00, Z:68.81 [[ 8.19000248e-01 4.31848717e-01 3.77816462e-01 3.86404531e+02] [-3.93717409e-01 9.01939593e-01 -1.77458653e-01 1.77004970e+02] [-4.17402917e-01 -3.41423756e-03 9.08715108e-01 6.88105547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.43, Y:177.01, Z:68.78 [[ 8.18566057e-01 4.39376062e-01 3.69997685e-01 3.86427976e+02] [-3.90424728e-01 8.98047029e-01 -2.02682179e-01 1.77012361e+02] [-4.21329019e-01 2.14525067e-02 9.06654095e-01 6.87836346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.45, Y:176.98, Z:68.78 [[ 8.17681475e-01 4.34000603e-01 3.78206929e-01 3.86454545e+02] [-3.96409812e-01 9.00896457e-01 -1.76762086e-01 1.76976328e+02] [-4.17440135e-01 -5.38985430e-03 9.08688441e-01 6.87838232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:176.99, Z:68.75 [[ 8.17079039e-01 4.47153913e-01 3.63916506e-01 3.86477602e+02] [-3.93404463e-01 8.93865308e-01 -2.15029626e-01 1.76992054e+02] [-4.21443678e-01 3.25298230e-02 9.06270951e-01 6.87496031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.50, Y:176.94, Z:68.76 [[ 8.15797545e-01 4.32720382e-01 3.83702278e-01 3.86503714e+02] [-4.00864893e-01 9.01308788e-01 -1.64163965e-01 1.76938815e+02] [-4.16871328e-01 -1.98882129e-02 9.08747905e-01 6.87618383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:386.53, Y:176.96, Z:68.72 [[ 8.14575491e-01 4.51210971e-01 3.64520822e-01 3.86527183e+02] [-3.97486540e-01 8.91883867e-01 -2.15748970e-01 1.76962295e+02] [-4.22458543e-01 3.08517025e-02 9.05857026e-01 6.87222191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:386.55, Y:176.93, Z:68.72 [[ 8.13442339e-01 4.42376779e-01 3.77643146e-01 3.86548420e+02] [-4.00021261e-01 8.96825521e-01 -1.88909970e-01 1.76930674e+02] [-4.22249395e-01 2.60207989e-03 9.06475966e-01 6.87176914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.58, Y:176.91, Z:68.70 [[ 8.14046878e-01 4.43096417e-01 3.75490674e-01 3.86575442e+02] [-4.00549274e-01 8.96465661e-01 -1.89498279e-01 1.76914545e+02] [-4.20580504e-01 3.85796583e-03 9.07247020e-01 6.87046906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.60, Y:176.89, Z:68.70 [[ 8.14065451e-01 4.38802157e-01 3.80460391e-01 3.86599677e+02] [-4.01965308e-01 8.98533898e-01 -1.76240533e-01 1.76887642e+02] [-4.19191284e-01 -9.46054960e-03 9.07848647e-01 6.86995117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.63, Y:176.88, Z:68.68 [[ 8.14116237e-01 4.45133539e-01 3.72922091e-01 3.86626110e+02] [-4.01593692e-01 8.95439538e-01 -1.92121160e-01 1.76881126e+02] [-4.19448757e-01 6.64579613e-03 9.07754688e-01 6.86790655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.65, Y:176.87, Z:68.67 [[ 8.14461663e-01 4.45220463e-01 3.72063085e-01 3.86650701e+02] [-4.02065593e-01 8.95399318e-01 -1.91319941e-01 1.76865271e+02] [-4.18324585e-01 6.22899232e-03 9.08276247e-01 6.86664609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.67, Y:176.84, Z:68.66 [[ 8.13992731e-01 4.44092953e-01 3.74429277e-01 3.86674876e+02] [-4.02708215e-01 8.95979289e-01 -1.87208994e-01 1.76844787e+02] [-4.18619073e-01 1.60101490e-03 9.08160508e-01 6.86553420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.70, Y:176.83, Z:68.64 [[ 8.13949479e-01 4.46016935e-01 3.72229955e-01 3.86702201e+02] [-4.03072595e-01 8.95007898e-01 -1.91032316e-01 1.76832819e+02] [-4.18352397e-01 5.45496032e-03 9.08268416e-01 6.86399172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.73, Y:176.82, Z:68.63 [[ 8.12983325e-01 4.48376304e-01 3.71506130e-01 3.86726987e+02] [-4.05246369e-01 8.93827938e-01 -1.91955720e-01 1.76815010e+02] [-4.18130954e-01 5.50528928e-03 9.08370077e-01 6.86259905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.75, Y:176.80, Z:68.61 [[ 8.12613503e-01 4.49452689e-01 3.71014252e-01 3.86751657e+02] [-4.06493855e-01 8.93289788e-01 -1.91823096e-01 1.76799409e+02] [-4.17638649e-01 5.06302446e-03 9.08599100e-01 6.86128783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.77, Y:176.79, Z:68.60 [[ 8.11332702e-01 4.52526972e-01 3.70079162e-01 3.86772655e+02] [-4.07028937e-01 8.91694419e-01 -1.98011384e-01 1.76788695e+02] [-4.19603015e-01 1.00201832e-02 9.07652415e-01 6.85954307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.80, Y:176.76, Z:68.59 [[ 8.11178629e-01 4.47846961e-01 3.76061606e-01 3.86797343e+02] [-4.08423582e-01 8.94098859e-01 -1.83786313e-01 1.76763954e+02] [-4.18544395e-01 -4.50889842e-03 9.08185146e-01 6.85887484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.82, Y:176.74, Z:68.58 [[ 8.13113189e-01 4.47021592e-01 3.72852034e-01 3.86824884e+02] [-4.10807310e-01 8.94471209e-01 -1.76518017e-01 1.76738138e+02] [-4.12412775e-01 -9.64121332e-03 9.10946074e-01 6.85839005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.85, Y:176.74, Z:68.55 [[ 8.13286616e-01 4.57408614e-01 3.59641822e-01 3.86849089e+02] [-4.08149139e-01 8.88981843e-01 -2.07666952e-01 1.76744576e+02] [-4.14703702e-01 2.21052523e-02 9.09687967e-01 6.85511437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.060385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:386.87, Y:176.72, Z:68.54 [[ 8.13837546e-01 4.50634013e-01 3.66875230e-01 3.86873348e+02] [-4.06098896e-01 8.92650545e-01 -1.95598292e-01 1.76721357e+02] [-4.15634617e-01 1.01976081e-02 9.09474504e-01 6.85407329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.90, Y:176.68, Z:68.55 [[ 8.16247773e-01 4.42094002e-01 3.71876952e-01 3.86898481e+02] [-4.08105149e-01 8.96879843e-01 -1.70460362e-01 1.76684744e+02] [-4.08888446e-01 -1.26270080e-02 9.12497012e-01 6.85451619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.92, Y:176.70, Z:68.51 [[ 8.15031342e-01 4.57016071e-01 3.56174428e-01 3.86923054e+02] [-4.05513562e-01 8.88986797e-01 -2.12746858e-01 1.76699409e+02] [-4.13863097e-01 2.89617963e-02 9.09878317e-01 6.85058162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.95, Y:176.65, Z:68.52 [[ 8.15475008e-01 4.41638997e-01 3.74106278e-01 3.86948225e+02] [-4.08992045e-01 8.97042003e-01 -1.67454926e-01 1.76654972e+02] [-4.09543670e-01 -1.64511850e-02 9.12142171e-01 6.85192314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.98, Y:176.66, Z:68.50 [[ 8.14629986e-01 4.53526057e-01 3.61513625e-01 3.86976874e+02] [-4.11572084e-01 8.91219336e-01 -1.90621390e-01 1.76655293e+02] [-4.08639701e-01 6.49698429e-03 9.12672660e-01 6.84961786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.00, Y:176.66, Z:68.46 [[ 8.13015611e-01 4.60807297e-01 3.55896405e-01 3.87001489e+02] [-4.08020843e-01 8.86969934e-01 -2.16340769e-01 1.76662518e+02] [-4.15360816e-01 3.06752713e-02 9.09139384e-01 6.84632831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:387.03, Y:176.63, Z:68.46 [[ 8.11311334e-01 4.53885822e-01 3.68458383e-01 3.87025817e+02] [-4.10863430e-01 8.91044927e-01 -1.92951241e-01 1.76633800e+02] [-4.15890805e-01 5.15745383e-03 9.09399933e-01 6.84594583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.05, Y:176.60, Z:68.46 [[ 8.12417508e-01 4.46152631e-01 3.75400615e-01 3.87053166e+02] [-4.13333802e-01 8.94776991e-01 -1.68906200e-01 1.76603921e+02] [-4.11257778e-01 -1.79434094e-02 9.11342457e-01 6.84644813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.08, Y:176.63, Z:68.42 [[ 8.11974697e-01 4.62920976e-01 3.55529552e-01 3.87079080e+02] [-4.07417055e-01 8.85668564e-01 -2.22716273e-01 1.76628299e+02] [-4.17981382e-01 3.59911754e-02 9.07742364e-01 6.84177358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.11, Y:176.57, Z:68.44 [[ 8.13129271e-01 4.41027875e-01 3.79888409e-01 3.87105220e+02] [-4.11633567e-01 8.97118758e-01 -1.60423628e-01 1.76571941e+02] [-4.11556309e-01 -2.59296729e-02 9.11015399e-01 6.84412038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.13, Y:176.58, Z:68.41 [[ 8.13954696e-01 4.52669089e-01 3.64099503e-01 3.87134724e+02] [-4.09750693e-01 8.91646822e-01 -1.92536527e-01 1.76576893e+02] [-4.11803499e-01 7.52598692e-03 9.11241591e-01 6.84141441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.16, Y:176.58, Z:68.39 [[ 8.13671059e-01 4.56072783e-01 3.60467786e-01 3.87159395e+02] [-4.05843133e-01 8.89614898e-01 -2.09467624e-01 1.76576557e+02] [-4.16209995e-01 2.41443677e-02 9.08947903e-01 6.83867798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.19, Y:176.54, Z:68.39 [[ 8.15162778e-01 4.43693366e-01 3.72351772e-01 3.87185291e+02] [-4.07221046e-01 8.96144010e-01 -1.76343227e-01 1.76541152e+02] [-4.11923130e-01 -7.88104319e-03 9.11184517e-01 6.83942094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.21, Y:176.54, Z:68.37 [[ 8.15809655e-01 4.49800524e-01 3.63502540e-01 3.87212770e+02] [-4.06574009e-01 8.93080024e-01 -1.92628259e-01 1.76536934e+02] [-4.11281149e-01 9.35730889e-03 9.11460508e-01 6.83735374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.24, Y:176.52, Z:68.36 [[ 8.17083149e-01 4.47529200e-01 3.63445653e-01 3.87238858e+02] [-4.04039088e-01 8.94206059e-01 -1.92738010e-01 1.76524246e+02] [-4.11251193e-01 1.06367301e-02 9.11459992e-01 6.83601918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.27, Y:176.51, Z:68.35 [[ 8.17662689e-01 4.45806164e-01 3.64258962e-01 3.87266218e+02] [-4.01888417e-01 8.95053544e-01 -1.93299905e-01 1.76510947e+02] [-4.12205564e-01 1.16626628e-02 9.11016221e-01 6.83468672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.29, Y:176.50, Z:68.33 [[ 8.17882350e-01 4.45163928e-01 3.64551147e-01 3.87293188e+02] [-4.01048566e-01 8.95366884e-01 -1.93592848e-01 1.76497505e+02] [-4.12587578e-01 1.21334587e-02 9.10837126e-01 6.83331076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:176.48, Z:68.32 [[ 8.17766753e-01 4.45425619e-01 3.64490818e-01 3.87319045e+02] [-4.01286303e-01 8.95236663e-01 -1.93702403e-01 1.76484144e+02] [-4.12585557e-01 1.21382120e-02 9.10837978e-01 6.83197007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.35, Y:176.47, Z:68.31 [[ 8.17526678e-01 4.46147358e-01 3.64146490e-01 3.87345402e+02] [-4.02124814e-01 8.94881113e-01 -1.93606375e-01 1.76470564e+02] [-4.12244789e-01 1.18460370e-02 9.10996106e-01 6.83061487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.37, Y:176.46, Z:68.29 [[ 8.16436739e-01 4.48661663e-01 3.63502083e-01 3.87371173e+02] [-4.04978165e-01 8.93637755e-01 -1.93401780e-01 1.76456949e+02] [-4.11611149e-01 1.06899118e-02 9.11296871e-01 6.82929249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.40, Y:176.44, Z:68.28 [[ 8.15594499e-01 4.50150062e-01 3.63552659e-01 3.87397717e+02] [-4.06536573e-01 8.92896176e-01 -1.93557316e-01 1.76443032e+02] [-4.11744616e-01 1.00668299e-02 9.11243672e-01 6.82789084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.42, Y:176.43, Z:68.26 [[ 8.14370815e-01 4.52661430e-01 3.63177374e-01 3.87423544e+02] [-4.09319069e-01 8.91637852e-01 -1.93493776e-01 1.76430110e+02] [-4.11409863e-01 8.92025955e-03 9.11406799e-01 6.82635701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.45, Y:176.42, Z:68.25 [[ 8.13164951e-01 4.55130195e-01 3.62793700e-01 3.87450737e+02] [-4.10930630e-01 8.90366119e-01 -1.95918838e-01 1.76417160e+02] [-4.12187798e-01 1.02312883e-02 9.11041459e-01 6.82474335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.750385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:387.48, Y:176.40, Z:68.24 [[ 8.11147951e-01 4.57628804e-01 3.64163259e-01 3.87475858e+02] [-4.14951639e-01 8.89126427e-01 -1.93052674e-01 1.76401851e+02] [-4.12133642e-01 5.48413951e-03 9.11106901e-01 6.82378764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.50, Y:176.39, Z:68.22 [[ 8.10656331e-01 4.59230432e-01 3.63240587e-01 3.87501921e+02] [-4.16348025e-01 8.88297454e-01 -1.93860663e-01 1.76387056e+02] [-4.11692404e-01 5.91987280e-03 9.11303637e-01 6.82232705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.53, Y:176.37, Z:68.21 [[ 8.09097108e-01 4.61588688e-01 3.63727580e-01 3.87527727e+02] [-4.18750613e-01 8.87080746e-01 -1.94256724e-01 1.76372976e+02] [-4.12322439e-01 4.86140649e-03 9.11025012e-01 6.82105933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.55, Y:176.36, Z:68.20 [[ 8.09439124e-01 4.61994248e-01 3.62449471e-01 3.87554116e+02] [-4.19447754e-01 8.86870088e-01 -1.93713779e-01 1.76358594e+02] [-4.10940246e-01 4.77089454e-03 9.11649797e-01 6.81968367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.58, Y:176.34, Z:68.18 [[ 8.08947246e-01 4.63100793e-01 3.62135346e-01 3.87580681e+02] [-4.20672916e-01 8.86294977e-01 -1.93689214e-01 1.76343977e+02] [-4.10656366e-01 4.34382412e-03 9.11779842e-01 6.81831053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.61, Y:176.32, Z:68.18 [[ 8.09136682e-01 4.57884281e-01 3.68293111e-01 3.87607085e+02] [-4.22166887e-01 8.88934633e-01 -1.77680439e-01 1.76318706e+02] [-4.08745581e-01 -1.17133950e-02 9.12573201e-01 6.81784409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.63, Y:176.32, Z:68.16 [[ 8.09312579e-01 4.66434068e-01 3.57004776e-01 3.87633367e+02] [-4.21855505e-01 8.84491544e-01 -1.99280309e-01 1.76316024e+02] [-4.08718831e-01 1.06756306e-02 9.12597912e-01 6.81565216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.66, Y:176.29, Z:68.15 [[ 8.09296756e-01 4.62572196e-01 3.62030004e-01 3.87658702e+02] [-4.22328638e-01 8.86581600e-01 -1.88710329e-01 1.76294431e+02] [-4.08261292e-01 -1.72981712e-04 9.12865099e-01 6.81487142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.68, Y:176.30, Z:68.12 [[ 8.08715060e-01 4.70591718e-01 3.52878715e-01 3.87683065e+02] [-4.20798932e-01 8.82054144e-01 -2.11916838e-01 1.76295615e+02] [-4.10984442e-01 2.28893518e-02 9.11354962e-01 6.81222488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.71, Y:176.26, Z:68.13 [[ 8.10503006e-01 4.56612203e-01 3.66865335e-01 3.87707771e+02] [-4.21556988e-01 8.89583415e-01 -1.75872265e-01 1.76258702e+02] [-4.06662740e-01 -1.21096465e-02 9.13498097e-01 6.81277418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.73, Y:176.25, Z:68.11 [[ 8.11604030e-01 4.61782152e-01 3.57849330e-01 3.87734374e+02] [-4.19996344e-01 8.86975951e-01 -1.92033159e-01 1.76254746e+02] [-4.06081235e-01 5.55947488e-03 9.13820071e-01 6.81076689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.76, Y:176.24, Z:68.10 [[ 8.12077195e-01 4.59306967e-01 3.59955192e-01 3.87760792e+02] [-4.19960013e-01 8.88277601e-01 -1.86001321e-01 1.76235654e+02] [-4.05171837e-01 -1.19355909e-04 9.14240542e-01 6.80982312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.79, Y:176.24, Z:68.07 [[ 8.11313210e-01 4.70537035e-01 3.46937710e-01 3.87785052e+02] [-4.16557970e-01 8.81673342e-01 -2.21656436e-01 1.76244929e+02] [-4.10183293e-01 3.53131257e-02 9.11319181e-01 6.80650075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.81, Y:176.19, Z:68.08 [[ 8.13975848e-01 4.47633906e-01 3.70225884e-01 3.87809980e+02] [-4.17626202e-01 8.93940916e-01 -1.62659136e-01 1.76194297e+02] [-4.03771810e-01 -2.22154219e-02 9.14589963e-01 6.80839735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.84, Y:176.22, Z:68.04 [[ 8.12159240e-01 4.70705660e-01 3.44722426e-01 3.87836970e+02] [-4.15529730e-01 8.81421583e-01 -2.24568559e-01 1.76219842e+02] [-4.09551478e-01 3.91430135e-02 9.11446878e-01 6.80371034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.86, Y:176.17, Z:68.05 [[ 8.14253684e-01 4.48163400e-01 3.68972229e-01 3.87861643e+02] [-4.16587919e-01 8.93763619e-01 -1.66256127e-01 1.76170633e+02] [-4.04283865e-01 -1.83347090e-02 9.14449777e-01 6.80544809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.89, Y:176.19, Z:68.01 [[ 8.13307729e-01 4.67619794e-01 3.46211303e-01 3.87889072e+02] [-4.13839204e-01 8.83186495e-01 -2.20723193e-01 1.76191790e+02] [-4.08983682e-01 3.62400689e-02 9.11821806e-01 6.80113411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:176.16, Z:68.01 [[ 8.13835962e-01 4.55421924e-01 3.60918133e-01 3.87912647e+02] [-4.12073891e-01 8.90227434e-01 -1.94139704e-01 1.76163996e+02] [-4.09714701e-01 9.27293321e-03 9.12166584e-01 6.80088448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.290385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:387.94, Y:176.15, Z:68.00 [[ 8.14098402e-01 4.55099417e-01 3.60733023e-01 3.87939123e+02] [-4.11709021e-01 8.90389339e-01 -1.94171336e-01 1.76150772e+02] [-4.09560099e-01 9.55753460e-03 9.12233073e-01 6.79955939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.320385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:387.97, Y:176.14, Z:67.98 [[ 8.14376325e-01 4.54308530e-01 3.61102426e-01 3.87966769e+02] [-4.10687948e-01 8.90787117e-01 -1.94508924e-01 1.76138837e+02] [-4.10032452e-01 1.01030485e-02 9.12014976e-01 6.79810962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.99, Y:176.13, Z:67.97 [[ 8.14252719e-01 4.54437865e-01 3.61218407e-01 3.87993830e+02] [-4.10737985e-01 8.90720310e-01 -1.94709111e-01 1.76125625e+02] [-4.10227764e-01 1.01763019e-02 9.11926326e-01 6.79680923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.02, Y:176.11, Z:67.96 [[ 8.14243517e-01 4.54197082e-01 3.61541845e-01 3.88020302e+02] [-4.10328781e-01 8.90839991e-01 -1.95024105e-01 1.76114086e+02] [-4.10655313e-01 1.04460892e-02 9.11730823e-01 6.79553745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.410385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:388.05, Y:176.10, Z:67.94 [[ 8.14125232e-01 4.54432986e-01 3.61511782e-01 3.88046170e+02] [-4.10535705e-01 8.90719586e-01 -1.95138551e-01 1.76101019e+02] [-4.10683019e-01 1.04537243e-02 9.11718256e-01 6.79421124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.07, Y:176.08, Z:67.93 [[ 8.13857916e-01 4.52993111e-01 3.63912811e-01 3.88073379e+02] [-4.12645129e-01 8.91511904e-01 -1.86897092e-01 1.76081261e+02] [-4.09095698e-01 1.94082910e-03 9.12489421e-01 6.79345139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:176.07, Z:67.92 [[ 8.13674745e-01 4.57390512e-01 3.58785910e-01 3.88100224e+02] [-4.14395311e-01 8.89220170e-01 -1.93814384e-01 1.76071788e+02] [-4.07688529e-01 9.02267090e-03 9.13076478e-01 6.79196200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.13, Y:176.06, Z:67.91 [[ 8.12019323e-01 4.60979477e-01 3.57942092e-01 3.88127853e+02] [-4.17208255e-01 8.87353569e-01 -1.96318403e-01 1.76060159e+02] [-4.08119948e-01 1.00779407e-02 9.12872688e-01 6.79055966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.16, Y:176.05, Z:67.89 [[ 8.10017247e-01 4.64278283e-01 3.58214651e-01 3.88155283e+02] [-4.20215586e-01 8.85637664e-01 -1.97648146e-01 1.76047643e+02] [-4.09012128e-01 9.57102780e-03 9.12478753e-01 6.78914451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.18, Y:176.04, Z:67.87 [[ 8.08799156e-01 4.68148943e-01 3.55922030e-01 3.88179905e+02] [-4.20541579e-01 8.83480859e-01 -2.06413062e-01 1.76041981e+02] [-4.11082358e-01 1.72666975e-02 9.11434669e-01 6.78729535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.21, Y:176.03, Z:67.86 [[ 8.06252391e-01 4.70971893e-01 3.57970053e-01 3.88205496e+02] [-4.22828964e-01 8.81995588e-01 -2.08085197e-01 1.76031567e+02] [-4.13730286e-01 1.64090810e-02 9.10251609e-01 6.78555937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:176.01, Z:67.85 [[ 8.05436324e-01 4.68820525e-01 3.62601220e-01 3.88229491e+02] [-4.24042695e-01 8.83262452e-01 -2.00088067e-01 1.76014462e+02] [-4.14077435e-01 7.39979850e-03 9.10211581e-01 6.78457340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.26, Y:176.00, Z:67.84 [[ 8.04375561e-01 4.68731949e-01 3.65062074e-01 3.88256210e+02] [-4.26521497e-01 8.83340209e-01 -1.94395184e-01 1.75997073e+02] [-4.13593242e-01 6.59912277e-04 9.10461528e-01 6.78353708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.28, Y:175.99, Z:67.82 [[ 8.03898069e-01 4.72780249e-01 3.60869411e-01 3.88280806e+02] [-4.27929848e-01 8.81150504e-01 -2.01121443e-01 1.75988117e+02] [-4.13066509e-01 7.25434705e-03 9.10671968e-01 6.78201469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:388.31, Y:175.97, Z:67.80 [[ 8.03299609e-01 4.72326446e-01 3.62791218e-01 3.88307508e+02] [-4.26645532e-01 8.81386160e-01 -2.02810321e-01 1.75974006e+02] [-4.15551836e-01 8.13419944e-03 9.09533125e-01 6.78048246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.740385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:388.33, Y:175.96, Z:67.79 [[ 8.03301013e-01 4.71300579e-01 3.64119826e-01 3.88334019e+02] [-4.26744306e-01 8.81956374e-01 -2.00105601e-01 1.75957962e+02] [-4.15447687e-01 5.35896986e-03 9.09601287e-01 6.77918473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.36, Y:175.94, Z:67.78 [[ 8.03586498e-01 4.70530762e-01 3.64485313e-01 3.88360145e+02] [-4.25795187e-01 8.82364632e-01 -2.00327522e-01 1.75944009e+02] [-4.15869210e-01 5.78439995e-03 9.09406038e-01 6.77781761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.39, Y:175.92, Z:67.77 [[ 8.05197874e-01 4.66252753e-01 3.66421552e-01 3.88386752e+02] [-4.24770419e-01 8.84651153e-01 -1.92256152e-01 1.75924040e+02] [-4.13795209e-01 -8.40791430e-04 9.10369605e-01 6.77692161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.41, Y:175.91, Z:67.75 [[ 8.07307849e-01 4.66149416e-01 3.61882244e-01 3.88413077e+02] [-4.22526168e-01 8.84684802e-01 -1.96988422e-01 1.75911823e+02] [-4.11977760e-01 6.12558096e-03 9.11173311e-01 6.77544970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.44, Y:175.90, Z:67.74 [[ 8.08096832e-01 4.65670700e-01 3.60735789e-01 3.88439339e+02] [-4.21878666e-01 8.84928496e-01 -1.97281395e-01 1.75897048e+02] [-4.11093545e-01 7.23573658e-03 9.11564447e-01 6.77404105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.46, Y:175.88, Z:67.73 [[ 8.08837062e-01 4.65532246e-01 3.59252468e-01 3.88463991e+02] [-4.21050792e-01 8.84979438e-01 -1.98815557e-01 1.75884624e+02] [-4.10486100e-01 9.54585507e-03 9.11816889e-01 6.77268383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.49, Y:175.87, Z:67.71 [[ 8.09654043e-01 4.65136285e-01 3.57922571e-01 3.88489868e+02] [-4.18796784e-01 8.85122267e-01 -2.02898561e-01 1.75873501e+02] [-4.11180721e-01 1.43808182e-02 9.11440402e-01 6.77099348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.51, Y:175.85, Z:67.71 [[ 8.10426035e-01 4.58668057e-01 3.64462968e-01 3.88514927e+02] [-4.19444245e-01 8.88604296e-01 -1.85604232e-01 1.75848069e+02] [-4.08994091e-01 -2.45339233e-03 9.12533733e-01 6.77067833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.54, Y:175.84, Z:67.69 [[ 8.09786814e-01 4.66399502e-01 3.55973061e-01 3.88540937e+02] [-4.19409076e-01 8.84421199e-01 -2.04683093e-01 1.75843464e+02] [-4.10294214e-01 1.64513372e-02 9.11804810e-01 6.76855936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.57, Y:175.83, Z:67.67 [[ 8.08684760e-01 4.66387433e-01 3.58485315e-01 3.88566677e+02] [-4.20326866e-01 8.84483653e-01 -2.02519119e-01 1.75827661e+02] [-4.11526773e-01 1.30931164e-02 9.11303619e-01 6.76722128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.59, Y:175.81, Z:67.66 [[ 8.09101082e-01 4.66547409e-01 3.57335914e-01 3.88592046e+02] [-4.21833014e-01 8.84430762e-01 -1.99597435e-01 1.75812752e+02] [-4.09160541e-01 1.07584147e-02 9.12398985e-01 6.76605986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.62, Y:175.80, Z:67.64 [[ 8.06832430e-01 4.68170064e-01 3.60330710e-01 3.88616619e+02] [-4.21734610e-01 8.83552044e-01 -2.03655849e-01 1.75801561e+02] [-4.13716508e-01 1.23522123e-02 9.10321962e-01 6.76434140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1003857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:388.64, Y:175.79, Z:67.63 [[ 8.06329954e-01 4.67906748e-01 3.61794527e-01 3.88640743e+02] [-4.21580562e-01 8.83704145e-01 -2.03314566e-01 1.75789954e+02] [-4.14851581e-01 1.14130847e-02 9.09817513e-01 6.76313700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.130385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:388.67, Y:175.76, Z:67.63 [[ 8.06581370e-01 4.62606812e-01 3.67996509e-01 3.88667940e+02] [-4.23867939e-01 8.86540296e-01 -1.85424577e-01 1.75761990e+02] [-4.12022406e-01 -6.42191211e-03 9.11151083e-01 6.76260248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.160385723 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:388.69, Y:175.76, Z:67.61 [[ 8.07872884e-01 4.67383442e-01 3.59018275e-01 3.88694775e+02] [-4.22781526e-01 8.84005098e-01 -1.99476236e-01 1.75756007e+02] [-4.10605875e-01 9.36514763e-03 9.11764832e-01 6.76068715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.190385723 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:388.72, Y:175.74, Z:67.60 [[ 8.08455954e-01 4.65965263e-01 3.59548805e-01 3.88720989e+02] [-4.22639227e-01 8.84777154e-01 -1.96330008e-01 1.75738824e+02] [-4.09603532e-01 6.76473465e-03 9.12238557e-01 6.75955755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2203857229999 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:388.75, Y:175.74, Z:67.57 [[ 8.08359189e-01 4.71503382e-01 3.52476925e-01 3.88745047e+02] [-4.19822506e-01 8.81454737e-01 -2.16302128e-01 1.75740873e+02] [-4.12679640e-01 2.68720664e-02 9.10479767e-01 6.75721472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.250385723 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:388.77, Y:175.70, Z:67.58 [[ 8.10128620e-01 4.55564054e-01 3.68989176e-01 3.88770517e+02] [-4.20504323e-01 8.90110932e-01 -1.75723199e-01 1.75699727e+02] [-4.08494472e-01 -1.28031504e-02 9.12670995e-01 6.75785601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.280385723 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:388.80, Y:175.72, Z:67.54 [[ 8.09444990e-01 4.71201140e-01 3.50383068e-01 3.88797037e+02] [-4.17188277e-01 8.81402399e-01 -2.21548532e-01 1.75716556e+02] [-4.13222398e-01 3.31556408e-02 9.10026348e-01 6.75430697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.310385723 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:388.82, Y:175.67, Z:67.55 [[ 8.11345664e-01 4.53183927e-01 3.69245910e-01 3.88823297e+02] [-4.18043511e-01 8.91335437e-01 -1.75387463e-01 1.75673246e+02] [-4.08604744e-01 -1.20609985e-02 9.12631742e-01 6.75525266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3403857229999 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:388.85, Y:175.67, Z:67.53 [[ 8.11502631e-01 4.63511729e-01 3.55837543e-01 3.88851251e+02] [-4.17967058e-01 8.85975678e-01 -2.00874677e-01 1.75674139e+02] [-4.08371177e-01 1.42819578e-02 9.12704228e-01 6.75283185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.370385723 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:388.88, Y:175.67, Z:67.51 [[ 8.12114405e-01 4.64415020e-01 3.53254700e-01 3.88876792e+02] [-4.14992867e-01 8.85297598e-01 -2.09831084e-01 1.75668930e+02] [-4.10184244e-01 2.38086651e-02 9.11691852e-01 6.75085861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.400385723 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:388.90, Y:175.65, Z:67.50 [[ 8.12089525e-01 4.60237658e-01 3.58736537e-01 3.88902086e+02] [-4.13463330e-01 8.87644596e-01 -2.02818010e-01 1.75652422e+02] [-4.11775034e-01 1.63819786e-02 9.11138273e-01 6.74967455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.430385723 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:388.93, Y:175.65, Z:67.48 [[ 8.11564208e-01 4.61184940e-01 3.58708779e-01 3.88927806e+02] [-4.11490049e-01 8.87021884e-01 -2.09447170e-01 1.75646917e+02] [-4.14776418e-01 2.23747335e-02 9.09648226e-01 6.74784181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.460385723 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:388.96, Y:175.62, Z:67.47 [[ 8.11712075e-01 4.54785893e-01 3.66460503e-01 3.88955604e+02] [-4.12696056e-01 8.90592270e-01 -1.91121358e-01 1.75624458e+02] [-4.13286188e-01 3.89870950e-03 9.10592844e-01 6.74736843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.490385723 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:388.98, Y:175.62, Z:67.45 [[ 8.11184153e-01 4.60869905e-01 3.59971112e-01 3.88982173e+02] [-4.11802275e-01 8.87232336e-01 -2.07936694e-01 1.75623501e+02] [-4.15209775e-01 2.04380283e-02 9.09496086e-01 6.74516642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.520385723 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:389.01, Y:175.61, Z:67.44 [[ 8.10504465e-01 4.57568976e-01 3.65668081e-01 3.89009054e+02] [-4.11377234e-01 8.89089651e-01 -2.00719614e-01 1.75607203e+02] [-4.16954774e-01 1.22566196e-02 9.08844592e-01 6.74409113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.550385723 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:389.03, Y:175.61, Z:67.42 [[ 8.09676333e-01 4.61656032e-01 3.62350582e-01 3.89034590e+02] [-4.08601705e-01 8.86638143e-01 -2.16604363e-01 1.75606481e+02] [-4.21270558e-01 2.73223602e-02 9.06523362e-01 6.74180359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.580385723 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:389.06, Y:175.59, Z:67.41 [[ 8.08949955e-01 4.55949632e-01 3.71092850e-01 3.89061183e+02] [-4.08966613e-01 8.89930295e-01 -2.01916764e-01 1.75587297e+02] [-4.22310644e-01 1.15759713e-02 9.06377249e-01 6.74094739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.610385723 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:389.09, Y:175.56, Z:67.40 [[ 8.08271870e-01 4.53993744e-01 3.74948349e-01 3.89089610e+02] [-4.12489454e-01 8.91003804e-01 -1.89643536e-01 1.75564467e+02] [-4.20177385e-01 -1.37870442e-03 9.07440943e-01 6.74021666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.640385723 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:389.12, Y:175.57, Z:67.38 [[ 8.07831981e-01 4.60885023e-01 3.67413237e-01 3.89118756e+02] [-4.11711592e-01 8.87304478e-01 -2.07808393e-01 1.75569402e+02] [-4.21783186e-01 1.66059766e-02 9.06544641e-01 6.73814199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.670385723 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:389.14, Y:175.57, Z:67.36 [[ 8.06814626e-01 4.62454769e-01 3.67676142e-01 3.89144625e+02] [-4.09793858e-01 8.86337691e-01 -2.15579431e-01 1.75565242e+02] [-4.25580959e-01 2.32612135e-02 9.04621337e-01 6.73617367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.700385723 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:389.17, Y:175.54, Z:67.36 [[ 8.05546677e-01 4.56318576e-01 3.77978713e-01 3.89171155e+02] [-4.12667441e-01 8.89816006e-01 -1.94764109e-01 1.75543013e+02] [-4.25205990e-01 9.12072820e-04 9.05096146e-01 6.73572652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.730385723 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:389.20, Y:175.53, Z:67.35 [[ 8.04914004e-01 4.57272705e-01 3.78173399e-01 3.89199590e+02] [-4.16429888e-01 8.89310313e-01 -1.88979668e-01 1.75528239e+02] [-4.22728748e-01 -5.37032503e-03 9.06240346e-01 6.73488867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.760385723 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:389.23, Y:175.52, Z:67.33 [[ 8.04626489e-01 4.63881977e-01 3.70661199e-01 3.89227872e+02] [-4.17070172e-01 8.85851637e-01 -2.03271615e-01 1.75524169e+02] [-4.22644869e-01 8.96599610e-03 9.06251028e-01 6.73291934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.790385723 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:389.26, Y:175.50, Z:67.33 [[ 8.05552896e-01 4.58102932e-01 3.75800792e-01 3.89257830e+02] [-4.21317310e-01 8.88803175e-01 -1.80334801e-01 1.75498139e+02] [-4.16624838e-01 -1.30621573e-02 9.08984667e-01 6.73292408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.820385723 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:389.29, Y:175.50, Z:67.31 [[ 8.06620089e-01 4.68781741e-01 3.60010710e-01 3.89287496e+02] [-4.21598768e-01 8.83204178e-01 -2.05438211e-01 1.75501010e+02] [-4.14268646e-01 1.39305160e-02 9.10048037e-01 6.73058607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8503857229999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:389.31, Y:175.49, Z:67.29 [[ 8.06517001e-01 4.65156141e-01 3.64911074e-01 3.89313307e+02] [-4.19108950e-01 8.85172087e-01 -2.02034808e-01 1.75490762e+02] [-4.16986828e-01 1.00070103e-02 9.08857439e-01 6.72908468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.880385723 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:389.34, Y:175.47, Z:67.28 [[ 8.07013316e-01 4.62237529e-01 3.67513230e-01 3.89340128e+02] [-4.20267401e-01 8.86755730e-01 -1.92456713e-01 1.75471262e+02] [-4.14855178e-01 8.61300421e-04 9.09887048e-01 6.72832946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.910385723 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:389.37, Y:175.46, Z:67.27 [[ 8.09045104e-01 4.60352018e-01 3.65406677e-01 3.89369349e+02] [-4.18909256e-01 8.87735401e-01 -1.90894981e-01 1.75460595e+02] [-4.12263332e-01 1.37041041e-03 9.11063701e-01 6.72714902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.940385723 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:389.40, Y:175.47, Z:67.25 [[ 8.09866901e-01 4.70531759e-01 3.50307675e-01 3.89397512e+02] [-4.18332218e-01 8.81888637e-01 -2.17418002e-01 1.75465078e+02] [-4.11234433e-01 2.95346574e-02 9.11051012e-01 6.72473232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9703857229999 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:389.42, Y:175.44, Z:67.24 [[ 8.11339589e-01 4.59235451e-01 3.61705505e-01 3.89423233e+02] [-4.15239847e-01 8.88267788e-01 -1.96357344e-01 1.75444374e+02] [-4.11465602e-01 9.11794825e-03 9.11379680e-01 6.72397671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.000385723 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:389.45, Y:175.43, Z:67.23 [[ 8.11535384e-01 4.57656632e-01 3.63263992e-01 3.89449475e+02] [-4.14130050e-01 8.89095048e-01 -1.94952040e-01 1.75432694e+02] [-4.12197310e-01 7.77194385e-03 9.11061455e-01 6.72270540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.030385723 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:389.48, Y:175.42, Z:67.21 [[ 8.12964106e-01 4.52075242e-01 3.67038607e-01 3.89478485e+02] [-4.09774735e-01 8.91966503e-01 -1.90998496e-01 1.75420332e+02] [-4.13731834e-01 4.87177349e-03 9.10385762e-01 6.72144005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.060385723 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:389.51, Y:175.41, Z:67.20 [[ 8.13980619e-01 4.53972701e-01 3.62414596e-01 3.89508380e+02] [-4.07802634e-01 8.90888796e-01 -2.00035409e-01 1.75414437e+02] [-4.13681718e-01 1.50313185e-02 9.10297477e-01 6.71975177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0903857229999 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:389.54, Y:175.41, Z:67.18 [[ 8.14594069e-01 4.56859289e-01 3.57373886e-01 3.89536292e+02] [-4.08114425e-01 8.89256658e-01 -2.06555591e-01 1.75406394e+02] [-4.12163947e-01 2.24095210e-02 9.10834065e-01 6.71814744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.120385723 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:389.56, Y:175.39, Z:67.17 [[ 8.13715780e-01 4.51001864e-01 3.66693261e-01 3.89562452e+02] [-4.07789323e-01 8.92492866e-01 -1.92780579e-01 1.75390432e+02] [-4.14215520e-01 7.33500223e-03 9.10149274e-01 6.71721961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.150385723 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:389.59, Y:175.38, Z:67.16 [[ 8.13370610e-01 4.55460093e-01 3.61917607e-01 3.89591049e+02] [-4.09415263e-01 8.90136943e-01 -2.00088393e-01 1.75383002e+02] [-4.13288511e-01 1.45714263e-02 9.10483542e-01 6.71553784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.180385723 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:389.62, Y:175.37, Z:67.14 [[ 8.11833513e-01 4.58874917e-01 3.61054231e-01 3.89619208e+02] [-4.13318722e-01 8.88406711e-01 -1.99752721e-01 1.75373476e+02] [-4.12424515e-01 1.29354797e-02 9.10899936e-01 6.71414713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.210385723 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:389.65, Y:175.37, Z:67.12 [[ 8.12671907e-01 4.68321955e-01 3.46754839e-01 3.89648210e+02] [-4.17176425e-01 8.83048478e-01 -2.14916765e-01 1.75371193e+02] [-4.06851573e-01 2.99988733e-02 9.13001569e-01 6.71222232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.240385723 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:389.67, Y:175.34, Z:67.12 [[ 8.08591605e-01 4.57424970e-01 3.70056770e-01 3.89669787e+02] [-4.19926679e-01 8.89206926e-01 -1.81583664e-01 1.75341137e+02] [-4.12117945e-01 -8.56968460e-03 9.11090204e-01 6.71196032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.270385723 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:389.70, Y:175.34, Z:67.10 [[ 8.07752828e-01 4.67034346e-01 3.59741975e-01 3.89698496e+02] [-4.22470995e-01 8.84193327e-01 -1.99299820e-01 1.75337960e+02] [-4.11161315e-01 9.00444373e-03 9.11518126e-01 6.71010253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.300385723 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:389.73, Y:175.33, Z:67.09 [[ 8.06739472e-01 4.69429825e-01 3.58897009e-01 3.89725699e+02] [-4.25254409e-01 8.82934561e-01 -1.98960418e-01 1.75325497e+02] [-4.10280528e-01 7.88668704e-03 9.11925265e-01 6.70863756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.330385723 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:389.75, Y:175.31, Z:67.07 [[ 8.05521544e-01 4.70421803e-01 3.60330918e-01 3.89752993e+02] [-4.25903782e-01 8.82409327e-01 -1.99899345e-01 1.75311803e+02] [-4.11996373e-01 7.55692859e-03 9.11154148e-01 6.70726776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.360385723 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:389.78, Y:175.30, Z:67.06 [[ 8.05463168e-01 4.70384773e-01 3.60509710e-01 3.89779136e+02] [-4.25751139e-01 8.82427649e-01 -2.00143480e-01 1.75297328e+02] [-4.12268182e-01 7.72078203e-03 9.11029822e-01 6.70582886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.390385723 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:389.80, Y:175.28, Z:67.04 [[ 8.05054950e-01 4.70695074e-01 3.61016170e-01 3.89804952e+02] [-4.25893054e-01 8.82262213e-01 -2.00570423e-01 1.75282423e+02] [-4.12918435e-01 7.71593314e-03 9.10735324e-01 6.70440326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.420385723 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:389.83, Y:175.27, Z:67.03 [[ 8.04663643e-01 4.71213838e-01 3.61211767e-01 3.89830376e+02] [-4.26344646e-01 8.81986298e-01 -2.00824333e-01 1.75267718e+02] [-4.13215034e-01 7.59533673e-03 9.10601805e-01 6.70322187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.450385723 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:389.86, Y:175.25, Z:67.02 [[ 8.04508518e-01 4.70951503e-01 3.61898780e-01 3.89855680e+02] [-4.25815620e-01 8.82123917e-01 -2.01341632e-01 1.75252795e+02] [-4.14061714e-01 7.87890444e-03 9.10214711e-01 6.70175607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.480385723 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:389.88, Y:175.24, Z:67.00 [[ 8.04635704e-01 4.70644462e-01 3.62015434e-01 3.89881741e+02] [-4.25383080e-01 8.82285042e-01 -2.01549845e-01 1.75237364e+02] [-4.14259121e-01 8.17896118e-03 9.10122237e-01 6.70038217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.510385723 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:389.91, Y:175.22, Z:66.99 [[ 8.05295666e-01 4.69224136e-01 3.62391501e-01 3.89907095e+02] [-4.23660840e-01 8.83032624e-01 -2.01903140e-01 1.75221115e+02] [-4.14741345e-01 9.06063603e-03 9.09894237e-01 6.69897390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.540385723 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:389.93, Y:175.21, Z:66.98 [[ 8.05634567e-01 4.68565541e-01 3.62490385e-01 3.89932301e+02] [-4.22846703e-01 8.83377195e-01 -2.02102443e-01 1.75206044e+02] [-4.14913980e-01 9.54284990e-03 9.09810598e-01 6.69759099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.570385723 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:389.96, Y:175.19, Z:66.96 [[ 8.06347835e-01 4.67499619e-01 3.62280659e-01 3.89957934e+02] [-4.21668188e-01 8.83934141e-01 -2.02129598e-01 1.75190248e+02] [-4.14727753e-01 1.02245352e-02 9.09888098e-01 6.69618738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6003857229999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:389.98, Y:175.18, Z:66.95 [[ 8.06731785e-01 4.66886500e-01 3.62216542e-01 3.89982664e+02] [-4.20947208e-01 8.84252775e-01 -2.02238668e-01 1.75175307e+02] [-4.14713486e-01 1.06783197e-02 9.09889388e-01 6.69484418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.630385723 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:390.01, Y:175.16, Z:66.93 [[ 8.07614876e-01 4.65634906e-01 3.61859567e-01 3.90007244e+02] [-4.19630589e-01 8.84903554e-01 -2.02128348e-01 1.75158172e+02] [-4.14328832e-01 1.13945173e-02 9.10055924e-01 6.69339471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.660385723 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:390.03, Y:175.14, Z:66.92 [[ 8.07560193e-01 4.65777104e-01 3.61798597e-01 3.90033758e+02] [-4.19737570e-01 8.84827890e-01 -2.02237430e-01 1.75143327e+02] [-4.14327053e-01 1.14584340e-02 9.10055931e-01 6.69199061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.690385723 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:390.06, Y:175.13, Z:66.91 [[ 8.07799900e-01 4.65302818e-01 3.61873746e-01 3.90059416e+02] [-4.19169604e-01 8.85073375e-01 -2.02341208e-01 1.75127207e+02] [-4.14434752e-01 1.17647324e-02 9.10002982e-01 6.69062899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7203857229999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:390.08, Y:175.11, Z:66.89 [[ 8.08520565e-01 4.63669354e-01 3.62360629e-01 3.90084230e+02] [-4.17182587e-01 8.85916373e-01 -2.02758153e-01 1.75110088e+02] [-4.15033956e-01 1.27635922e-02 9.09716388e-01 6.68927570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.750385723 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:390.11, Y:175.09, Z:66.88 [[ 8.09669600e-01 4.62130656e-01 3.61760135e-01 3.90109020e+02] [-4.15594319e-01 8.86706548e-01 -2.02565695e-01 1.75092590e+02] [-4.14386898e-01 1.36658289e-02 9.09998211e-01 6.68787478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.780385723 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:390.13, Y:175.08, Z:66.87 [[ 8.10250508e-01 4.61483074e-01 3.61285879e-01 3.90133455e+02] [-4.14948183e-01 8.87036701e-01 -2.02444800e-01 1.75077289e+02] [-4.13898683e-01 1.41160835e-02 9.10213501e-01 6.68652930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.810385723 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:390.16, Y:175.06, Z:66.85 [[ 8.11520287e-01 4.60431881e-01 3.59773966e-01 3.90157999e+02] [-4.12522234e-01 8.87508395e-01 -2.05315017e-01 1.75062693e+02] [-4.13835994e-01 1.82025412e-02 9.10169455e-01 6.68508311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8403857229999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:390.18, Y:175.05, Z:66.84 [[ 8.12013462e-01 4.60613808e-01 3.58425806e-01 3.90182619e+02] [-4.12077361e-01 8.87370186e-01 -2.06800390e-01 1.75048685e+02] [-4.13311489e-01 2.02255406e-02 9.10365059e-01 6.68369391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.870385723 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:390.21, Y:175.02, Z:66.83 [[ 8.12881083e-01 4.52215871e-01 3.67049248e-01 3.90206400e+02] [-4.08026251e-01 8.91864240e-01 -1.95173655e-01 1.75023947e+02] [-4.15618723e-01 8.88724356e-03 9.09495516e-01 6.68275433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.900385723 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:390.23, Y:174.98, Z:66.84 [[ 8.15582705e-01 4.40639663e-01 3.75048716e-01 3.90234026e+02] [-4.13122054e-01 8.97251004e-01 -1.55790900e-01 1.74980236e+02] [-4.05160487e-01 -2.78805321e-02 9.13820363e-01 6.68385628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.930385723 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:390.27, Y:175.03, Z:66.78 [[ 8.15505400e-01 4.75725714e-01 3.29599739e-01 3.90265245e+02] [-4.06433525e-01 8.76191805e-01 -2.59036121e-01 1.75029689e+02] [-4.12022733e-01 7.72849718e-02 9.07890027e-01 6.67832429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.960385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:390.28, Y:174.98, Z:66.79 [[ 8.13616654e-01 4.48222620e-01 3.70303150e-01 3.90279924e+02] [-4.03903100e-01 8.93879576e-01 -1.94529149e-01 1.74977470e+02] [-4.18198787e-01 8.70556568e-03 9.08313816e-01 6.67900458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.990385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:390.31, Y:174.97, Z:66.77 [[ 8.13799030e-01 4.52149132e-01 3.65092181e-01 3.90307822e+02] [-4.03354675e-01 8.91722870e-01 -2.05268921e-01 1.74968635e+02] [-4.18373212e-01 1.97860107e-02 9.08059673e-01 6.67732460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.020385723 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:390.33, Y:174.95, Z:66.76 [[ 8.13739367e-01 4.52192254e-01 3.65171752e-01 3.90334332e+02] [-4.03314826e-01 8.91698318e-01 -2.05453793e-01 1.74954607e+02] [-4.18527651e-01 1.99066579e-02 9.07985865e-01 6.67591865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.050385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:390.36, Y:174.94, Z:66.74 [[ 8.14067635e-01 4.52302551e-01 3.64302468e-01 3.90361826e+02] [-4.03614197e-01 8.91641702e-01 -2.05111323e-01 1.74941993e+02] [-4.17599647e-01 1.99368420e-02 9.08412383e-01 6.67448004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.080385723 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:390.39, Y:174.93, Z:66.73 [[ 8.14413309e-01 4.54722100e-01 3.60497953e-01 3.90386618e+02] [-4.04749447e-01 8.90309985e-01 -2.08628895e-01 1.74932079e+02] [-4.15823096e-01 2.39988015e-02 9.09128820e-01 6.67305413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.110385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:390.41, Y:174.91, Z:66.72 [[ 8.14081139e-01 4.50354412e-01 3.66678064e-01 3.90413538e+02] [-4.04183417e-01 8.92741785e-01 -1.99117734e-01 1.74912557e+02] [-4.17022379e-01 1.38927988e-02 9.08790034e-01 6.67202024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.140385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:390.44, Y:174.90, Z:66.71 [[ 8.13695844e-01 4.53689028e-01 3.63407952e-01 3.90440584e+02] [-4.05224668e-01 8.90946460e-01 -2.04957003e-01 1.74902650e+02] [-4.16763772e-01 1.95107945e-02 9.08805418e-01 6.67051963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.170385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:390.47, Y:174.89, Z:66.69 [[ 8.12617815e-01 4.55651647e-01 3.63364643e-01 3.90466665e+02] [-4.07324555e-01 8.89963129e-01 -2.05066664e-01 1.74891767e+02] [-4.16820098e-01 1.86334832e-02 9.08797997e-01 6.66907242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.200385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:390.49, Y:174.88, Z:66.67 [[ 8.12516872e-01 4.61235792e-01 3.56479842e-01 3.90494403e+02] [-4.10056897e-01 8.86873555e-01 -2.12858261e-01 1.74883992e+02] [-4.14330393e-01 2.67739105e-02 9.09732644e-01 6.66749188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.52, Y:174.86, Z:66.67 [[ 8.10718348e-01 4.55438682e-01 3.67846934e-01 3.90519828e+02] [-4.11512042e-01 8.90240140e-01 -1.95269897e-01 1.74862998e+02] [-4.16405571e-01 6.93544571e-03 9.09152518e-01 6.66657686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.260385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:390.55, Y:174.86, Z:66.65 [[ 8.11215425e-01 4.64912334e-01 3.54663299e-01 3.90548220e+02] [-4.13591652e-01 8.84946649e-01 -2.14035915e-01 1.74861305e+02] [-4.13366035e-01 2.69434558e-02 9.10166233e-01 6.66465219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.290385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:390.57, Y:174.84, Z:66.64 [[ 8.08913570e-01 4.56107643e-01 3.70977970e-01 3.90571866e+02] [-4.12460879e-01 8.89913091e-01 -1.94758090e-01 1.74835896e+02] [-4.18968806e-01 4.52856202e-03 9.07989335e-01 6.66405704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.320385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:390.60, Y:174.83, Z:66.62 [[ 8.08872527e-01 4.60775895e-01 3.65254446e-01 3.90600275e+02] [-4.12163585e-01 8.87360814e-01 -2.06668731e-01 1.74828556e+02] [-4.19340452e-01 1.66240767e-02 9.07676829e-01 6.66242038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3503857229999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:390.63, Y:174.82, Z:66.61 [[ 8.09126549e-01 4.60636971e-01 3.64866836e-01 3.90627291e+02] [-4.10121568e-01 8.87342560e-01 -2.10768785e-01 1.74817479e+02] [-4.20849767e-01 2.08988608e-02 9.06889581e-01 6.66085279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:390.65, Y:174.80, Z:66.60 [[ 8.12053149e-01 4.54193977e-01 3.66438964e-01 3.90653261e+02] [-4.05856152e-01 8.90731761e-01 -2.04640451e-01 1.74803259e+02] [-4.19345284e-01 1.74574143e-02 9.07658951e-01 6.65989193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.68, Y:174.79, Z:66.59 [[ 8.13362844e-01 4.53017298e-01 3.64987961e-01 3.90680661e+02] [-4.03584088e-01 8.91255944e-01 -2.06839857e-01 1.74791001e+02] [-4.18999723e-01 2.09325211e-02 9.07745042e-01 6.65851471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.71, Y:174.78, Z:66.57 [[ 8.14655431e-01 4.50501060e-01 3.65219556e-01 3.90706798e+02] [-4.00692038e-01 8.92495080e-01 -2.07119344e-01 1.74778693e+02] [-4.19264141e-01 2.23903305e-02 9.07588152e-01 6.65721249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.73, Y:174.77, Z:66.56 [[ 8.17626161e-01 4.45309748e-01 3.64947515e-01 3.90734071e+02] [-3.95022504e-01 8.95022734e-01 -2.07102698e-01 1.74768798e+02] [-4.18861173e-01 2.51701024e-02 9.07701374e-01 6.65589633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.76, Y:174.76, Z:66.55 [[ 8.18573596e-01 4.43514734e-01 3.65009519e-01 3.90760998e+02] [-3.92978345e-01 8.95883311e-01 -2.07270628e-01 1.74756729e+02] [-4.18933514e-01 2.62254267e-02 9.07638110e-01 6.65450749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.79, Y:174.75, Z:66.53 [[ 8.20068958e-01 4.40636967e-01 3.65138285e-01 3.90789822e+02] [-3.89724940e-01 8.97253258e-01 -2.07487498e-01 1.74746946e+02] [-4.19048177e-01 2.78505601e-02 9.07536760e-01 6.65311510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.82, Y:174.73, Z:66.52 [[ 8.20187642e-01 4.40138747e-01 3.65472454e-01 3.90816128e+02] [-3.89013383e-01 8.97484320e-01 -2.07823201e-01 1.74734854e+02] [-4.19476841e-01 2.82803453e-02 9.07325412e-01 6.65178944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.84, Y:174.73, Z:66.50 [[ 8.20612309e-01 4.40004236e-01 3.64680285e-01 3.90844649e+02] [-3.89039021e-01 8.97546229e-01 -2.07507608e-01 1.74725103e+02] [-4.18621641e-01 2.84084361e-02 9.07716301e-01 6.65038865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.87, Y:174.72, Z:66.49 [[ 8.20766508e-01 4.41478323e-01 3.62545487e-01 3.90874263e+02] [-3.91215682e-01 8.96847295e-01 -2.06434541e-01 1.74717408e+02] [-4.16284314e-01 2.76010767e-02 9.08815466e-01 6.64891127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.90, Y:174.71, Z:66.47 [[ 8.20315568e-01 4.42950333e-01 3.61769778e-01 3.90902448e+02] [-3.92986329e-01 8.96141746e-01 -2.06135188e-01 1.74706414e+02] [-4.15504651e-01 2.69253266e-02 9.09192450e-01 6.64748026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.93, Y:174.70, Z:66.46 [[ 8.18144287e-01 4.47936772e-01 3.60544830e-01 3.90931879e+02] [-3.98725364e-01 8.93731284e-01 -2.05578397e-01 1.74698377e+02] [-4.14316318e-01 2.44344226e-02 9.09804896e-01 6.64606780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.96, Y:174.69, Z:66.45 [[ 8.16719924e-01 4.51164089e-01 3.59749261e-01 3.90958829e+02] [-4.02415766e-01 8.92147787e-01 -2.05265385e-01 1.74686691e+02] [-4.13557877e-01 2.28755553e-02 9.10190415e-01 6.64472427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.99, Y:174.68, Z:66.43 [[ 8.13105332e-01 4.57992866e-01 3.59308021e-01 3.90987893e+02] [-4.09943634e-01 8.88741792e-01 -2.05144449e-01 1.74678246e+02] [-4.13286748e-01 1.95080088e-02 9.10391949e-01 6.64339203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.02, Y:174.66, Z:66.42 [[ 8.10516645e-01 4.62142503e-01 3.59843127e-01 3.91016861e+02] [-4.14941057e-01 8.86659190e-01 -2.04106343e-01 1.74661271e+02] [-4.13384432e-01 1.61179013e-02 9.10413931e-01 6.64184058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.04, Y:174.66, Z:66.41 [[ 8.06901576e-01 4.69885967e-01 3.57934386e-01 3.91044446e+02] [-4.19799245e-01 8.82479523e-01 -2.12128465e-01 1.74660573e+02] [-4.15545955e-01 2.09062078e-02 9.09331892e-01 6.64058477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.07, Y:174.65, Z:66.39 [[ 8.05179630e-01 4.70003343e-01 3.61638800e-01 3.91070554e+02] [-4.22290059e-01 8.82556888e-01 -2.06795660e-01 1.74645113e+02] [-4.16361465e-01 1.37911827e-02 9.09094568e-01 6.63929941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.10, Y:174.63, Z:66.38 [[ 8.03120845e-01 4.73254521e-01 3.61976611e-01 3.91098227e+02] [-4.25697310e-01 8.80840478e-01 -2.07127623e-01 1.74634323e+02] [-4.16867735e-01 1.22560419e-02 9.08884526e-01 6.63787200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.12, Y:174.62, Z:66.37 [[ 8.01880452e-01 4.75412281e-01 3.61899024e-01 3.91124595e+02] [-4.28018810e-01 8.79690899e-01 -2.07228910e-01 1.74622376e+02] [-4.16878446e-01 1.12732223e-02 9.08892335e-01 6.63650419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.15, Y:174.61, Z:66.35 [[ 8.01421772e-01 4.76474954e-01 3.61517305e-01 3.91151417e+02] [-4.29227793e-01 8.79121243e-01 -2.07145702e-01 1.74608602e+02] [-4.16517281e-01 1.08378003e-02 9.09063197e-01 6.63506872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.18, Y:174.59, Z:66.34 [[ 8.00766024e-01 4.77710630e-01 3.61339630e-01 3.91178056e+02] [-4.30569904e-01 8.78456622e-01 -2.07179923e-01 1.74594571e+02] [-4.16393242e-01 1.03206736e-02 9.09126037e-01 6.63367909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.20, Y:174.58, Z:66.32 [[ 7.99378341e-01 4.79359945e-01 3.62226878e-01 3.91203782e+02] [-4.32067932e-01 8.77565518e-01 -2.07836628e-01 1.74582107e+02] [-4.17506372e-01 9.63348053e-03 9.08622928e-01 6.63229172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.010385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:391.23, Y:174.57, Z:66.31 [[ 7.97736209e-01 4.81542493e-01 3.62951468e-01 3.91230347e+02] [-4.34223226e-01 8.76380531e-01 -2.08344319e-01 1.74569245e+02] [-4.18410243e-01 8.60185010e-03 9.08217417e-01 6.63089038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.26, Y:174.56, Z:66.30 [[ 7.97038306e-01 4.82754933e-01 3.62874101e-01 3.91256245e+02] [-4.35508902e-01 8.75717981e-01 -2.08446670e-01 1.74555481e+02] [-4.18404034e-01 8.10507960e-03 9.08224847e-01 6.62951983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.28, Y:174.54, Z:66.28 [[ 7.95865295e-01 4.84788200e-01 3.62737968e-01 3.91282824e+02] [-4.37717431e-01 8.74602230e-01 -2.08505133e-01 1.74541640e+02] [-4.18332264e-01 7.16526779e-03 9.08265807e-01 6.62804123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.31, Y:174.53, Z:66.27 [[ 7.95145910e-01 4.85900031e-01 3.62827979e-01 3.91308216e+02] [-4.38847140e-01 8.73988530e-01 -2.08703709e-01 1.74527000e+02] [-4.18516631e-01 6.72388000e-03 9.08184243e-01 6.62667092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.33, Y:174.51, Z:66.25 [[ 7.94528022e-01 4.86757373e-01 3.63032344e-01 3.91334032e+02] [-4.39670700e-01 8.73513705e-01 -2.08958088e-01 1.74512357e+02] [-4.18825618e-01 6.40837184e-03 9.08044071e-01 6.62527456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.36, Y:174.50, Z:66.24 [[ 7.93630712e-01 4.88223180e-01 3.63026747e-01 3.91360104e+02] [-4.41217328e-01 8.72699713e-01 -2.09099211e-01 1.74497668e+02] [-4.18900420e-01 5.77386477e-03 9.08013822e-01 6.62379075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.38, Y:174.48, Z:66.22 [[ 7.93643972e-01 4.88890501e-01 3.62098501e-01 3.91384172e+02] [-4.42134493e-01 8.72327512e-01 -2.08714644e-01 1.74482264e+02] [-4.17907091e-01 5.54888152e-03 9.08472825e-01 6.62238530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.41, Y:174.47, Z:66.21 [[ 7.93872099e-01 4.88908492e-01 3.61573751e-01 3.91408327e+02] [-4.42232529e-01 8.72316689e-01 -2.08552116e-01 1.74466633e+02] [-4.17369718e-01 5.66403167e-03 9.08719119e-01 6.62106082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.43, Y:174.45, Z:66.20 [[ 7.94930317e-01 4.86926043e-01 3.61923775e-01 3.91433280e+02] [-4.39918188e-01 8.73416745e-01 -2.08842469e-01 1.74449212e+02] [-4.17801123e-01 6.79835834e-03 9.08513073e-01 6.61964586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.280385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:391.46, Y:174.43, Z:66.18 [[ 7.96308190e-01 4.85255713e-01 3.61137314e-01 3.91458151e+02] [-4.38232640e-01 8.74337544e-01 -2.08533002e-01 1.74433373e+02] [-4.16947743e-01 7.79437915e-03 9.08897039e-01 6.61816152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.48, Y:174.42, Z:66.17 [[ 7.96839649e-01 4.83840525e-01 3.61863124e-01 3.91483773e+02] [-4.36410893e-01 8.75112957e-01 -2.09100084e-01 1.74417380e+02] [-4.17842203e-01 8.69822806e-03 9.08477977e-01 6.61690158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3403857229999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:391.51, Y:174.40, Z:66.15 [[ 7.98961308e-01 4.80674770e-01 3.61403645e-01 3.91507804e+02] [-4.32995221e-01 8.76836298e-01 -2.08981448e-01 1.74402148e+02] [-4.17343943e-01 1.04820404e-02 9.08688153e-01 6.61545310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.53, Y:174.39, Z:66.14 [[ 7.98594342e-01 4.80180170e-01 3.62869234e-01 3.91534132e+02] [-4.31979478e-01 8.77101829e-01 -2.09966930e-01 1.74386357e+02] [-4.19095225e-01 1.09263398e-02 9.07876538e-01 6.61417466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.56, Y:174.37, Z:66.13 [[ 7.99196014e-01 4.79611274e-01 3.62296504e-01 3.91558939e+02] [-4.31447202e-01 8.77407711e-01 -2.09783271e-01 1.74370907e+02] [-4.18496168e-01 1.13461411e-02 9.08147688e-01 6.61278616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.430385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:391.58, Y:174.36, Z:66.11 [[ 7.99354583e-01 4.79783310e-01 3.61718437e-01 3.91584273e+02] [-4.31734912e-01 8.77313382e-01 -2.09585771e-01 1.74355841e+02] [-4.17896180e-01 1.13668692e-02 9.08423677e-01 6.61132703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.61, Y:174.34, Z:66.10 [[ 7.99034475e-01 4.80207891e-01 3.61862252e-01 3.91610405e+02] [-4.32093932e-01 8.77082045e-01 -2.09814013e-01 1.74340591e+02] [-4.18137229e-01 1.12901463e-02 9.08313707e-01 6.61003235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.490385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:391.64, Y:174.33, Z:66.08 [[ 7.98994144e-01 4.80796031e-01 3.61169675e-01 3.91636417e+02] [-4.32867414e-01 8.76762264e-01 -2.09556043e-01 1.74326285e+02] [-4.17413655e-01 1.10954683e-02 9.08648849e-01 6.60848352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.520385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:391.66, Y:174.31, Z:66.07 [[ 7.98584243e-01 4.81645682e-01 3.60944101e-01 3.91662658e+02] [-4.33796196e-01 8.76299695e-01 -2.09570284e-01 1.74311865e+02] [-4.17233829e-01 1.07833481e-02 9.08735194e-01 6.60704415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.550385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:391.69, Y:174.30, Z:66.06 [[ 7.98492896e-01 4.81845271e-01 3.60879800e-01 3.91688931e+02] [-4.33965231e-01 8.76189520e-01 -2.09680958e-01 1.74296597e+02] [-4.17232877e-01 1.08194698e-02 9.08735201e-01 6.60563999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.580385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:391.71, Y:174.28, Z:66.04 [[ 7.96783346e-01 4.84214982e-01 3.61486032e-01 3.91714919e+02] [-4.36349900e-01 8.74895306e-01 -2.10135594e-01 1.74281816e+02] [-4.18013235e-01 9.69814819e-03 9.08389168e-01 6.60444299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.74, Y:174.27, Z:66.03 [[ 7.96763524e-01 4.87791638e-01 3.56689226e-01 3.91741924e+02] [-4.37871648e-01 8.72821807e-01 -2.15523813e-01 1.74270141e+02] [-4.16456849e-01 1.55374136e-02 9.09022707e-01 6.60301846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.76, Y:174.25, Z:66.02 [[ 7.95244184e-01 4.83919460e-01 3.65251480e-01 3.91764551e+02] [-4.38707541e-01 8.75109796e-01 -2.04251162e-01 1.74248398e+02] [-4.18476260e-01 2.19097047e-03 9.08225093e-01 6.60198155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.79, Y:174.24, Z:66.00 [[ 7.94788533e-01 4.87033412e-01 3.62090657e-01 3.91791785e+02] [-4.39150406e-01 8.73341984e-01 -2.10762188e-01 1.74236095e+02] [-4.18877200e-01 8.49911113e-03 9.08003115e-01 6.60046667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.82, Y:174.22, Z:65.99 [[ 7.94371459e-01 4.87687584e-01 3.62125401e-01 3.91816625e+02] [-4.39789396e-01 8.72978755e-01 -2.10934542e-01 1.74220932e+02] [-4.18997939e-01 8.30146843e-03 9.07949235e-01 6.59910267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.84, Y:174.21, Z:65.98 [[ 7.94122928e-01 4.87981785e-01 3.62274140e-01 3.91842622e+02] [-4.40005863e-01 8.72814477e-01 -2.11162802e-01 1.74205565e+02] [-4.19241716e-01 8.28647720e-03 9.07836835e-01 6.59767220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.87, Y:174.19, Z:65.96 [[ 7.94070553e-01 4.88200665e-01 3.62094002e-01 3.91867773e+02] [-4.40228359e-01 8.72691860e-01 -2.11205846e-01 1.74189874e+02] [-4.19107323e-01 8.30829434e-03 9.07898686e-01 6.59624618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.790385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:391.89, Y:174.18, Z:65.95 [[ 7.94297142e-01 4.88273704e-01 3.61498051e-01 3.91891800e+02] [-4.40405359e-01 8.72650135e-01 -2.11009150e-01 1.74175046e+02] [-4.18491542e-01 8.39828609e-03 9.08181864e-01 6.59479144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.92, Y:174.16, Z:65.94 [[ 7.93526136e-01 4.88763862e-01 3.62527458e-01 3.91916888e+02] [-4.40590955e-01 8.72376599e-01 -2.11751459e-01 1.74159029e+02] [-4.19756932e-01 8.30399789e-03 9.07598569e-01 6.59357021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.94, Y:174.14, Z:65.92 [[ 7.92959800e-01 4.89461216e-01 3.62825680e-01 3.91942150e+02] [-4.41210247e-01 8.71987674e-01 -2.12063705e-01 1.74143107e+02] [-4.20176480e-01 8.07558501e-03 9.07406475e-01 6.59225215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:174.13, Z:65.91 [[ 7.92588848e-01 4.90108247e-01 3.62762765e-01 3.91967652e+02] [-4.41870905e-01 8.71626021e-01 -2.12174889e-01 1.74127878e+02] [-4.20182129e-01 7.87313990e-03 9.07405638e-01 6.59086587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.99, Y:174.11, Z:65.89 [[ 7.91953990e-01 4.90810635e-01 3.63199391e-01 3.91993149e+02] [-4.42450550e-01 8.71232622e-01 -2.12582289e-01 1.74113235e+02] [-4.20768806e-01 7.65762207e-03 9.07135587e-01 6.58947544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.02, Y:174.10, Z:65.88 [[ 7.92046059e-01 4.90600412e-01 3.63282641e-01 3.92017467e+02] [-4.42125235e-01 8.71348693e-01 -2.12783298e-01 1.74098555e+02] [-4.20937428e-01 7.91775009e-03 9.07055120e-01 6.58806209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9703857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:392.04, Y:174.08, Z:65.87 [[ 7.92455302e-01 4.89960300e-01 3.63254041e-01 3.92042908e+02] [-4.41363375e-01 8.71704341e-01 -2.12908226e-01 1.74082692e+02] [-4.20966703e-01 8.39322306e-03 9.07037259e-01 6.58662340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.07, Y:174.07, Z:65.85 [[ 7.93294988e-01 4.88001940e-01 3.64056547e-01 3.92068381e+02] [-4.38911141e-01 8.72789706e-01 -2.13530185e-01 1.74065801e+02] [-4.21947951e-01 9.60395062e-03 9.06569187e-01 6.58534394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.030385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:392.09, Y:174.05, Z:65.84 [[ 7.94080773e-01 4.87026680e-01 3.63649198e-01 3.92091769e+02] [-4.37884132e-01 8.73326894e-01 -2.13442318e-01 1.74051087e+02] [-4.21536728e-01 1.02542280e-02 9.06753350e-01 6.58379950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.060385723 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:392.12, Y:174.04, Z:65.82 [[ 7.96101569e-01 4.84481768e-01 3.62628885e-01 3.92116529e+02] [-4.35313282e-01 8.74723127e-01 -2.12983091e-01 1.74035681e+02] [-4.20386297e-01 1.16990033e-02 9.07269803e-01 6.58231365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.14, Y:174.02, Z:65.81 [[ 7.97772300e-01 4.81875385e-01 3.62429952e-01 3.92142621e+02] [-4.32440058e-01 8.76140246e-01 -2.13011420e-01 1.74020002e+02] [-4.20184427e-01 1.32053808e-02 9.07342639e-01 6.58111067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:174.00, Z:65.80 [[ 7.98621134e-01 4.80714736e-01 3.62101681e-01 3.92168401e+02] [-4.31192772e-01 8.76766193e-01 -2.12964403e-01 1.74004285e+02] [-4.19853638e-01 1.39422455e-02 9.07484731e-01 6.57968866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.19, Y:173.99, Z:65.78 [[ 7.99587687e-01 4.79420004e-01 3.61684934e-01 3.92192542e+02] [-4.29822873e-01 8.77461669e-01 -2.12869248e-01 1.73988752e+02] [-4.19418442e-01 1.47471717e-02 9.07673230e-01 6.57839318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.22, Y:173.97, Z:65.77 [[ 7.99690504e-01 4.79161435e-01 3.61800245e-01 3.92217719e+02] [-4.29441157e-01 8.77598208e-01 -2.13076698e-01 1.73973757e+02] [-4.19613383e-01 1.50234967e-02 9.07578594e-01 6.57702467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.24, Y:173.96, Z:65.76 [[ 7.99408638e-01 4.80136331e-01 3.61130078e-01 3.92243375e+02] [-4.30663849e-01 8.77072941e-01 -2.12771485e-01 1.73959019e+02] [-4.18896740e-01 1.45656933e-02 9.07917046e-01 6.57563938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.27, Y:173.94, Z:65.74 [[ 7.98598869e-01 4.81636587e-01 3.60923878e-01 3.92269307e+02] [-4.32303156e-01 8.76260666e-01 -2.12793859e-01 1.73944131e+02] [-4.18752705e-01 1.39084038e-02 9.07993793e-01 6.57430580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.30, Y:173.93, Z:65.73 [[ 7.96501275e-01 4.85260682e-01 3.60704573e-01 3.92295831e+02] [-4.36275663e-01 8.74285272e-01 -2.12811677e-01 1.73929467e+02] [-4.18627836e-01 1.21381456e-02 9.08076759e-01 6.57292611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.32, Y:173.91, Z:65.72 [[ 7.95200927e-01 4.87472623e-01 3.60591081e-01 3.92322196e+02] [-4.38668390e-01 8.73067559e-01 -2.12892184e-01 1.73914815e+02] [-4.18599486e-01 1.11121527e-02 9.08102962e-01 6.57154890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.35, Y:173.90, Z:65.70 [[ 7.93449693e-01 4.90868384e-01 3.59841375e-01 3.92347466e+02] [-4.42541705e-01 8.71182589e-01 -2.12597591e-01 1.73901669e+02] [-4.17844977e-01 9.44067793e-03 9.08469289e-01 6.57017453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.37, Y:173.90, Z:65.68 [[ 7.92788765e-01 4.94685296e-01 3.56051165e-01 3.92371656e+02] [-4.41244308e-01 8.68819014e-01 -2.24626313e-01 1.73898740e+02] [-4.20463357e-01 2.09756673e-02 9.07067025e-01 6.56809740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.39, Y:173.86, Z:65.68 [[ 7.92170635e-01 4.87787498e-01 3.66782008e-01 3.92394508e+02] [-4.45997672e-01 8.72934345e-01 -1.97665642e-01 1.73864000e+02] [-4.16595441e-01 -6.99900424e-03 9.09065043e-01 6.56780296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.420385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:392.42, Y:173.86, Z:65.66 [[ 7.91835977e-01 4.94327674e-01 3.58658525e-01 3.92423355e+02] [-4.46523131e-01 8.69239769e-01 -2.12224687e-01 1.73856178e+02] [-4.16668789e-01 7.89781435e-03 9.09024062e-01 6.56607468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.450385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:392.45, Y:173.84, Z:65.65 [[ 7.91732792e-01 4.94579524e-01 3.58539093e-01 3.92447554e+02] [-4.46765799e-01 8.69096453e-01 -2.12300912e-01 1.73841750e+02] [-4.16604738e-01 7.90258954e-03 9.09053377e-01 6.56453587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.47, Y:173.83, Z:65.63 [[ 7.90714746e-01 4.95866849e-01 3.59007325e-01 3.92473276e+02] [-4.47984880e-01 8.68367315e-01 -2.12715196e-01 1.73825827e+02] [-4.17228641e-01 7.36718924e-03 9.08771691e-01 6.56343676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.50, Y:173.81, Z:65.62 [[ 7.90219385e-01 4.96881068e-01 3.58695592e-01 3.92498045e+02] [-4.49124115e-01 8.67790788e-01 -2.12665648e-01 1.73809782e+02] [-4.16942265e-01 6.95367735e-03 9.08906373e-01 6.56203754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.52, Y:173.80, Z:65.60 [[ 7.90796363e-01 5.02030401e-01 3.50152237e-01 3.92524355e+02] [-4.50766021e-01 8.64673277e-01 -2.21698261e-01 1.73799750e+02] [-4.14066549e-01 1.74814480e-02 9.10078728e-01 6.56044145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.54, Y:173.77, Z:65.60 [[ 7.88972652e-01 4.93746750e-01 3.65699743e-01 3.92544649e+02] [-4.50314284e-01 8.69592088e-01 -2.02550355e-01 1.73772383e+02] [-4.18018183e-01 -4.87312739e-03 9.08425590e-01 6.55961825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.57, Y:173.76, Z:65.58 [[ 7.87792371e-01 4.99480241e-01 3.60420128e-01 3.92571355e+02] [-4.51305178e-01 8.66304435e-01 -2.14103392e-01 1.73760993e+02] [-4.19173969e-01 6.00954879e-03 9.07886044e-01 6.55803835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:173.74, Z:65.57 [[ 7.86519430e-01 5.00810912e-01 3.61352482e-01 3.92595908e+02] [-4.52439604e-01 8.65539525e-01 -2.14801621e-01 1.73743246e+02] [-4.20339851e-01 5.45547439e-03 9.07350344e-01 6.55668929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.62, Y:173.73, Z:65.55 [[ 7.85875653e-01 5.01554563e-01 3.61721548e-01 3.92619969e+02] [-4.53083610e-01 8.65110332e-01 -2.15172850e-01 1.73727525e+02] [-4.20849974e-01 5.20899949e-03 9.07115299e-01 6.55533669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.64, Y:173.71, Z:65.54 [[ 7.85686752e-01 5.03062720e-01 3.60033649e-01 3.92643750e+02] [-4.55152966e-01 8.64238143e-01 -2.14308678e-01 1.73709603e+02] [-4.18965519e-01 4.50910583e-03 9.07990948e-01 6.55398581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.67, Y:173.69, Z:65.53 [[ 7.84808012e-01 5.03360583e-01 3.61530784e-01 3.92667526e+02] [-4.55028008e-01 8.64065055e-01 -2.15269813e-01 1.73694176e+02] [-4.20744455e-01 4.43884201e-03 9.07168342e-01 6.55259976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.69, Y:173.68, Z:65.51 [[ 7.84226923e-01 5.04516837e-01 3.61179866e-01 3.92690435e+02] [-4.56331055e-01 8.63392796e-01 -2.15208849e-01 1.73675126e+02] [-4.20416582e-01 3.95498456e-03 9.07322575e-01 6.55126783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.72, Y:173.66, Z:65.50 [[ 7.84170718e-01 5.04776156e-01 3.60939493e-01 3.92715091e+02] [-4.56619155e-01 8.63241253e-01 -2.15205686e-01 1.73658016e+02] [-4.20208559e-01 3.94611087e-03 9.07418975e-01 6.54988760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.74, Y:173.63, Z:65.49 [[ 7.85456404e-01 5.00183092e-01 3.64520387e-01 3.92737872e+02] [-4.59142161e-01 8.65846413e-01 -1.98742207e-01 1.73629318e+02] [-4.15026161e-01 -1.12633385e-02 9.09739756e-01 6.54911710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.77, Y:173.63, Z:65.47 [[ 7.84978260e-01 5.11795488e-01 3.49105299e-01 3.92765503e+02] [-4.57408150e-01 8.58842828e-01 -2.30579229e-01 1.73633680e+02] [-4.17835992e-01 2.13160735e-02 9.08272376e-01 6.54675939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.79, Y:173.61, Z:65.46 [[ 7.85491141e-01 5.04999882e-01 3.57741228e-01 3.92785834e+02] [-4.57609292e-01 8.63109700e-01 -2.13624391e-01 1.73605885e+02] [-4.16650216e-01 4.09435685e-03 9.09057663e-01 6.54577099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.81, Y:173.59, Z:65.44 [[ 7.85715391e-01 5.04517820e-01 3.57928895e-01 3.92810396e+02] [-4.56958386e-01 8.63389577e-01 -2.13886588e-01 1.73589004e+02] [-4.16941672e-01 4.49537412e-03 9.08922128e-01 6.54436991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.83, Y:173.57, Z:65.43 [[ 7.87281911e-01 5.02582314e-01 3.57208918e-01 3.92834515e+02] [-4.54964545e-01 8.64510887e-01 -2.13607561e-01 1.73570546e+02] [-4.16166380e-01 5.65197587e-03 9.09270916e-01 6.54298953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.86, Y:173.54, Z:65.42 [[ 7.89373638e-01 4.94896253e-01 3.63272567e-01 3.92858026e+02] [-4.56071522e-01 8.68845312e-01 -1.92630709e-01 1.73539534e+02] [-4.10959884e-01 -1.36206688e-02 9.11551673e-01 6.54248216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.89, Y:173.55, Z:65.40 [[ 7.89440062e-01 5.08479243e-01 3.43850620e-01 3.92886411e+02] [-4.52086232e-01 8.60558964e-01 -2.34640808e-01 1.73549298e+02] [-4.15213713e-01 2.97847231e-02 9.09236186e-01 6.53977639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.90, Y:173.50, Z:65.40 [[ 7.92893637e-01 4.89414097e-01 3.63033776e-01 3.92904628e+02] [-4.50514269e-01 8.71973592e-01 -1.91569696e-01 1.73503815e+02] [-4.10312775e-01 -1.16575032e-02 9.11870347e-01 6.53985770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.93, Y:173.52, Z:65.37 [[ 7.95668878e-01 5.03636083e-01 3.36543806e-01 3.92933327e+02] [-4.44595681e-01 8.62917970e-01 -2.40223350e-01 1.73517846e+02] [-4.11394845e-01 4.15123205e-02 9.10511400e-01 6.53692200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.95, Y:173.48, Z:65.37 [[ 7.96244130e-01 4.86196947e-01 3.60010853e-01 3.92950831e+02] [-4.40690038e-01 8.73835386e-01 -2.05436144e-01 1.73482115e+02] [-4.14472649e-01 4.92412751e-03 9.10048447e-01 6.53654293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.98, Y:173.47, Z:65.35 [[ 7.98226862e-01 4.85978005e-01 3.55892197e-01 3.92977198e+02] [-4.36911754e-01 8.73846122e-01 -2.13309809e-01 1.73469423e+02] [-4.14658892e-01 1.47761354e-02 9.09856950e-01 6.53499162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.140385723 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:393.00, Y:173.45, Z:65.33 [[ 7.98964489e-01 4.84884001e-01 3.55729183e-01 3.93000799e+02] [-4.35694720e-01 8.74441516e-01 -2.13359195e-01 1.73454260e+02] [-4.14518826e-01 1.54770932e-02 9.09909118e-01 6.53339546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.03, Y:173.44, Z:65.32 [[ 7.98411935e-01 4.84220981e-01 3.57866488e-01 3.93026309e+02] [-4.34278600e-01 8.74798168e-01 -2.14779567e-01 1.73436983e+02] [-4.17061721e-01 1.60688123e-02 9.08736108e-01 6.53243335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.200385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:393.05, Y:173.42, Z:65.31 [[ 7.98228697e-01 4.84685182e-01 3.57646784e-01 3.93050156e+02] [-4.34790440e-01 8.74543354e-01 -2.14781738e-01 1.73421622e+02] [-4.16879144e-01 1.59435443e-02 9.08822086e-01 6.53080263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.230385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:393.08, Y:173.41, Z:65.29 [[ 7.97045702e-01 4.87234542e-01 3.56820193e-01 3.93075570e+02] [-4.37758746e-01 8.73147229e-01 -2.14432267e-01 1.73405813e+02] [-4.16035370e-01 1.47111566e-02 9.09229428e-01 6.52948369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.10, Y:173.39, Z:65.28 [[ 7.95497605e-01 4.91241781e-01 3.54774679e-01 3.93102593e+02] [-4.41037855e-01 8.70874313e-01 -2.16941332e-01 1.73392095e+02] [-4.15534801e-01 1.61072467e-02 9.09434652e-01 6.52827192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.13, Y:173.37, Z:65.27 [[ 7.93756440e-01 4.91455337e-01 3.58360666e-01 3.93127804e+02] [-4.43873664e-01 8.70861091e-01 -2.11132970e-01 1.73374059e+02] [-4.15844785e-01 8.52129319e-03 9.09395680e-01 6.52703699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.320385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.15, Y:173.36, Z:65.26 [[ 7.89638833e-01 5.00438243e-01 3.55009970e-01 3.93152692e+02] [-4.51144213e-01 8.65701284e-01 -2.16864443e-01 1.73364282e+02] [-4.15859848e-01 1.10838918e-02 9.09361168e-01 6.52566265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.18, Y:173.35, Z:65.24 [[ 7.87461710e-01 4.99837625e-01 3.60647203e-01 3.93178467e+02] [-4.52769066e-01 8.66112151e-01 -2.11777983e-01 1.73345097e+02] [-4.18215529e-01 3.47715555e-03 9.08341170e-01 6.52447240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:393.20, Y:173.33, Z:65.23 [[ 7.83211070e-01 5.07498871e-01 3.59200941e-01 3.93204454e+02] [-4.59040959e-01 8.61639866e-01 -2.16467411e-01 1.73332740e+02] [-4.19358817e-01 4.65172808e-03 9.07808650e-01 6.52309125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.23, Y:173.32, Z:65.22 [[ 7.80101899e-01 5.12958132e-01 3.58210805e-01 3.93228790e+02] [-4.65283723e-01 8.58411731e-01 -2.15963787e-01 1.73317526e+02] [-4.18272738e-01 1.80410358e-03 9.08319691e-01 6.52175430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.25, Y:173.30, Z:65.20 [[ 7.78376177e-01 5.15669021e-01 3.58072602e-01 3.93253977e+02] [-4.68242835e-01 8.56787741e-01 -2.16017164e-01 1.73301757e+02] [-4.18185575e-01 4.77684347e-04 9.08361490e-01 6.52037965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.28, Y:173.29, Z:65.19 [[ 7.78276938e-01 5.15864859e-01 3.58006222e-01 3.93279970e+02] [-4.68407816e-01 8.56669822e-01 -2.16127126e-01 1.73286057e+02] [-4.18185516e-01 5.13845493e-04 9.08361498e-01 6.51897377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.31, Y:173.27, Z:65.18 [[ 7.76759799e-01 5.18412622e-01 3.57620705e-01 3.93305133e+02] [-4.71271989e-01 8.55130270e-01 -2.15997533e-01 1.73270336e+02] [-4.17788137e-01 -7.58420769e-04 9.08544164e-01 6.51757607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.33, Y:173.25, Z:65.16 [[ 7.73866826e-01 5.23022938e-01 3.57179427e-01 3.93328839e+02] [-4.76400262e-01 8.52312984e-01 -2.15882764e-01 1.73253546e+02] [-4.17340300e-01 -3.09586338e-03 9.08745008e-01 6.51625536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.35, Y:173.24, Z:65.15 [[ 7.70814401e-01 5.27494136e-01 3.57204558e-01 3.93353288e+02] [-4.81276342e-01 8.49541355e-01 -2.15992058e-01 1.73235739e+02] [-4.17394588e-01 -5.42431410e-03 9.08709158e-01 6.51490705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.38, Y:173.22, Z:65.13 [[ 7.69458755e-01 5.29565042e-01 3.57063147e-01 3.93377791e+02] [-4.83531516e-01 8.48245117e-01 -2.16049748e-01 1.73219576e+02] [-4.17289464e-01 -6.40991473e-03 9.08751020e-01 6.51349151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.40, Y:173.20, Z:65.12 [[ 7.67505594e-01 5.32687011e-01 3.56622646e-01 3.93399594e+02] [-4.87022582e-01 8.46274960e-01 -2.15934472e-01 1.73200315e+02] [-4.16826304e-01 -7.95236692e-03 9.08951370e-01 6.51218238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.42, Y:173.18, Z:65.11 [[ 7.66904018e-01 5.33560466e-01 3.56611072e-01 3.93423822e+02] [-4.87924215e-01 8.45721239e-01 -2.16068384e-01 1.73181846e+02] [-4.16879106e-01 -8.29546514e-03 9.08924087e-01 6.51081182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.45, Y:173.16, Z:65.10 [[ 7.66891424e-01 5.33901536e-01 3.56127356e-01 3.93445309e+02] [-4.88362666e-01 8.45505616e-01 -2.15921652e-01 1.73161380e+02] [-4.16388581e-01 -8.33084221e-03 9.09148584e-01 6.50952922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.47, Y:173.14, Z:65.08 [[ 7.66829603e-01 5.33997261e-01 3.56116954e-01 3.93469085e+02] [-4.88408554e-01 8.45445899e-01 -2.16051653e-01 1.73142832e+02] [-4.16448610e-01 -8.25576367e-03 9.09121773e-01 6.50817042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.49, Y:173.12, Z:65.07 [[ 7.67350585e-01 5.33756532e-01 3.55354815e-01 3.93490087e+02] [-4.88279736e-01 8.45600672e-01 -2.15736884e-01 1.73121795e+02] [-4.15639242e-01 -7.96673107e-03 9.09494669e-01 6.50686378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.51, Y:173.10, Z:65.05 [[ 7.67219488e-01 5.34400055e-01 3.54670041e-01 3.93514011e+02] [-4.89109322e-01 8.45192199e-01 -2.15458159e-01 1.73103565e+02] [-4.14905204e-01 -8.16872485e-03 9.09827975e-01 6.50544358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.800385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:393.54, Y:173.09, Z:65.04 [[ 7.67222638e-01 5.35262768e-01 3.53359863e-01 3.93537132e+02] [-4.90342659e-01 8.44643208e-01 -2.14806721e-01 1.73085803e+02] [-4.13441048e-01 -8.46283530e-03 9.10491560e-01 6.50389967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.56, Y:173.06, Z:65.03 [[ 7.66139308e-01 5.37491521e-01 3.52325738e-01 3.93558019e+02] [-4.93004545e-01 8.43215665e-01 -2.14321863e-01 1.73064423e+02] [-4.12282766e-01 -9.49778640e-03 9.11006429e-01 6.50262550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.58, Y:173.04, Z:65.01 [[ 7.64503212e-01 5.40553535e-01 3.51193274e-01 3.93580008e+02] [-4.96611269e-01 8.41237945e-01 -2.13766152e-01 1.73043282e+02] [-4.10989157e-01 -1.09816272e-02 9.11574087e-01 6.50124390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.60, Y:173.03, Z:65.00 [[ 7.63642741e-01 5.42010649e-01 3.50819356e-01 3.93603405e+02] [-4.98248440e-01 8.40291276e-01 -2.13679815e-01 1.73025171e+02] [-4.10607179e-01 -1.16201573e-02 9.11738294e-01 6.49985373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.62, Y:173.00, Z:64.98 [[ 7.62523597e-01 5.44063172e-01 3.50075746e-01 3.93623971e+02] [-5.00636504e-01 8.38950199e-01 -2.13367420e-01 1.73003469e+02] [-4.09781472e-01 -1.25630051e-02 9.12097208e-01 6.49848787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.65, Y:172.98, Z:64.97 [[ 7.62121981e-01 5.45192490e-01 3.49192261e-01 3.93646686e+02] [-5.02048320e-01 8.38209923e-01 -2.12959172e-01 1.72983818e+02] [-4.08800160e-01 -1.30105215e-02 9.12531181e-01 6.49716246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.67, Y:172.96, Z:64.96 [[ 7.62143630e-01 5.45833491e-01 3.48142052e-01 3.93667466e+02] [-5.02961382e-01 8.37790008e-01 -2.12456470e-01 1.72959352e+02] [-4.07635789e-01 -1.31796623e-02 9.13049484e-01 6.49587879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.69, Y:172.93, Z:64.95 [[ 7.62905501e-01 5.44265736e-01 3.48926936e-01 3.93688852e+02] [-5.02653365e-01 8.38765871e-01 -2.09311748e-01 1.72932449e+02] [-4.06589218e-01 -1.57042147e-02 9.13476100e-01 6.49467889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.71, Y:172.91, Z:64.93 [[ 7.63066725e-01 5.44684851e-01 3.47918937e-01 3.93712261e+02] [-5.02187415e-01 8.38533048e-01 -2.11353088e-01 1.72914393e+02] [-4.06862352e-01 -1.34440029e-02 9.13390544e-01 6.49331013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:172.90, Z:64.92 [[ 7.62537016e-01 5.46770332e-01 3.45802696e-01 3.93734516e+02] [-5.01186898e-01 8.37256818e-01 -2.18661183e-01 1.72900671e+02] [-4.09083113e-01 -6.57453462e-03 9.12473442e-01 6.49165477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.75, Y:172.87, Z:64.91 [[ 7.64396148e-01 5.42065942e-01 3.49088877e-01 3.93754163e+02] [-4.98457720e-01 8.40264443e-01 -2.13296902e-01 1.72873462e+02] [-4.08947956e-01 -1.09627151e-02 9.12491856e-01 6.49050636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.78, Y:172.85, Z:64.89 [[ 7.65764959e-01 5.40329818e-01 3.48780326e-01 3.93777147e+02] [-4.96565058e-01 8.41395199e-01 -2.13253985e-01 1.72853054e+02] [-4.08689579e-01 -9.88969352e-03 9.12619867e-01 6.48916543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.80, Y:172.83, Z:64.88 [[ 7.69986096e-01 5.37583167e-01 3.43694268e-01 3.93796984e+02] [-4.91700197e-01 8.43209100e-01 -2.17323100e-01 1.72831927e+02] [-4.06635375e-01 -1.65877334e-03 9.13589033e-01 6.48756964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.82, Y:172.81, Z:64.87 [[ 7.71152701e-01 5.32706419e-01 3.48636463e-01 3.93818186e+02] [-4.89498441e-01 8.46257821e-01 -2.10330635e-01 1.72808257e+02] [-4.07080813e-01 -8.45996791e-03 9.13352966e-01 6.48653123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.84, Y:172.78, Z:64.85 [[ 7.72866759e-01 5.30579465e-01 3.48083905e-01 3.93839081e+02] [-4.87486246e-01 8.47600266e-01 -2.09597110e-01 1.72784492e+02] [-4.06243933e-01 -7.69547695e-03 9.13732262e-01 6.48535814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.86, Y:172.77, Z:64.84 [[ 7.74502645e-01 5.29673422e-01 3.45820357e-01 3.93860312e+02] [-4.83323179e-01 8.48201392e-01 -2.16686647e-01 1.72767249e+02] [-4.08098466e-01 6.81386869e-04 9.12937664e-01 6.48359049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:393.88, Y:172.75, Z:64.82 [[ 7.74744643e-01 5.27293595e-01 3.48901424e-01 3.93882375e+02] [-4.82211857e-01 8.49678030e-01 -2.13351752e-01 1.72746106e+02] [-4.08952887e-01 -2.95127685e-03 9.12550726e-01 6.48243740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.90, Y:172.73, Z:64.81 [[ 7.74739629e-01 5.27091461e-01 3.49217838e-01 3.93904928e+02] [-4.81413521e-01 8.49806593e-01 -2.14638711e-01 1.72727685e+02] [-4.09901853e-01 -1.82907376e-03 9.12127801e-01 6.48113132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.93, Y:172.70, Z:64.80 [[ 7.74672677e-01 5.24714416e-01 3.52926375e-01 3.93925799e+02] [-4.81507015e-01 8.51238029e-01 -2.08673939e-01 1.72699569e+02] [-4.09918576e-01 -8.28252652e-03 9.12084514e-01 6.48049153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.95, Y:172.68, Z:64.79 [[ 7.74886670e-01 5.24135190e-01 3.53317070e-01 3.93950259e+02] [-4.81755739e-01 8.51575961e-01 -2.06711856e-01 1.72677789e+02] [-4.09221281e-01 -1.00342644e-02 9.12379996e-01 6.47938559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.400385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:393.97, Y:172.67, Z:64.77 [[ 7.74514446e-01 5.29523379e-01 3.46023647e-01 3.93973046e+02] [-4.79441524e-01 8.48254495e-01 -2.24944741e-01 1.72669009e+02] [-4.12629613e-01 8.32484741e-03 9.10860856e-01 6.47733835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.00, Y:172.64, Z:64.77 [[ 7.73361313e-01 5.23683261e-01 3.57306762e-01 3.93998656e+02] [-4.81076002e-01 8.51833711e-01 -2.07232258e-01 1.72639820e+02] [-4.12890010e-01 -1.16262973e-02 9.10706687e-01 6.47699753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.02, Y:172.64, Z:64.75 [[ 7.73159387e-01 5.31132544e-01 3.46587339e-01 3.94024296e+02] [-4.79371907e-01 8.47218911e-01 -2.28960024e-01 1.72641087e+02] [-4.15243468e-01 1.08783577e-02 9.09645274e-01 6.47459849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.05, Y:172.62, Z:64.74 [[ 7.74496254e-01 5.24575877e-01 3.53519026e-01 3.94048620e+02] [-4.77404162e-01 8.51363610e-01 -2.17405773e-01 1.72623017e+02] [-4.15019058e-01 -3.91497897e-04 9.09812634e-01 6.47363572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.07, Y:172.61, Z:64.72 [[ 7.75137589e-01 5.23819248e-01 3.53235209e-01 3.94074749e+02] [-4.76610038e-01 8.51829434e-01 -2.17323461e-01 1.72609373e+02] [-4.14734361e-01 1.00137447e-04 9.09942526e-01 6.47217344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.10, Y:172.59, Z:64.71 [[ 7.75871037e-01 5.22808854e-01 3.53121844e-01 3.94100430e+02] [-4.75464499e-01 8.52449586e-01 -2.17401043e-01 1.72594713e+02] [-4.14677760e-01 7.78271979e-04 9.09967994e-01 6.47081521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.13, Y:172.57, Z:64.70 [[ 7.75558200e-01 5.22082534e-01 3.54879285e-01 3.94127409e+02] [-4.77222420e-01 8.52879715e-01 -2.11789881e-01 1.72571600e+02] [-4.13241141e-01 -5.10097244e-03 9.10607346e-01 6.46975293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.15, Y:172.57, Z:64.68 [[ 7.75595854e-01 5.26746615e-01 3.47834839e-01 3.94151386e+02] [-4.76303630e-01 8.49975522e-01 -2.25114335e-01 1.72571090e+02] [-4.14229313e-01 8.92274845e-03 9.10128816e-01 6.46786175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.18, Y:172.55, Z:64.67 [[ 7.75804543e-01 5.23650301e-01 3.52019424e-01 3.94175535e+02] [-4.76485438e-01 8.51932965e-01 -2.17190816e-01 1.72552329e+02] [-4.13628987e-01 7.65492136e-04 9.10445207e-01 6.46681622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.20, Y:172.54, Z:64.65 [[ 7.76331598e-01 5.26618739e-01 3.46384114e-01 3.94202066e+02] [-4.78441174e-01 8.50085967e-01 -2.20108820e-01 1.72538083e+02] [-4.10369704e-01 5.15300916e-03 9.11904684e-01 6.46505185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.23, Y:172.52, Z:64.64 [[ 7.76668117e-01 5.22819412e-01 3.51349540e-01 3.94228123e+02] [-4.76166225e-01 8.52443386e-01 -2.15884230e-01 1.72520143e+02] [-4.12374057e-01 3.69614234e-04 9.11014545e-01 6.46366633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.25, Y:172.51, Z:64.62 [[ 7.78574742e-01 5.20886211e-01 3.49998466e-01 3.94254725e+02] [-4.73580491e-01 8.53620364e-01 -2.16918861e-01 1.72505559e+02] [-4.11755862e-01 3.13510150e-03 9.11288803e-01 6.46220100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.28, Y:172.49, Z:64.61 [[ 7.79407764e-01 5.19685641e-01 3.49929095e-01 3.94280454e+02] [-4.72327107e-01 8.54349634e-01 -2.16780552e-01 1.72489606e+02] [-4.11619535e-01 3.67944840e-03 9.11348353e-01 6.46091116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.31, Y:172.48, Z:64.59 [[ 7.79872824e-01 5.21453018e-01 3.46244318e-01 3.94306199e+02] [-4.69014013e-01 8.53134337e-01 -2.28446181e-01 1.72482599e+02] [-4.14516867e-01 1.57655315e-02 9.09905058e-01 6.45892808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.820385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:394.33, Y:172.46, Z:64.58 [[ 7.80015724e-01 5.16556311e-01 3.53192649e-01 3.94330866e+02] [-4.69430005e-01 8.56249994e-01 -2.15572304e-01 1.72458416e+02] [-4.13776438e-01 2.35055961e-03 9.10375491e-01 6.45818310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8503857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:394.36, Y:172.45, Z:64.57 [[ 7.81430571e-01 5.16836607e-01 3.49637218e-01 3.94355276e+02] [-4.68478647e-01 8.56056574e-01 -2.18391620e-01 1.72448862e+02] [-4.12182023e-01 6.86031744e-03 9.11075692e-01 6.45703340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.880385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:394.38, Y:172.43, Z:64.55 [[ 7.80215046e-01 5.18634576e-01 3.49689374e-01 3.94380981e+02] [-4.69389868e-01 8.54957892e-01 -2.20726427e-01 1.72432407e+02] [-4.13446047e-01 8.07342975e-03 9.10492826e-01 6.45522238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.910385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:394.41, Y:172.42, Z:64.54 [[ 7.79835477e-01 5.20041168e-01 3.48444848e-01 3.94405711e+02] [-4.70031081e-01 8.54083604e-01 -2.22737468e-01 1.72421273e+02] [-4.13433685e-01 9.91867091e-03 9.10480208e-01 6.45364564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.43, Y:172.40, Z:64.52 [[ 7.79366848e-01 5.19724566e-01 3.49962415e-01 3.94431406e+02] [-4.71017790e-01 8.54309604e-01 -2.19766564e-01 1.72403968e+02] [-4.13194334e-01 6.44025107e-03 9.10620100e-01 6.45232207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9703857229999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:394.46, Y:172.40, Z:64.51 [[ 7.78338980e-01 5.23209355e-01 3.47045246e-01 3.94455655e+02] [-4.71315596e-01 8.52096162e-01 -2.27582379e-01 1.72395874e+02] [-4.14789152e-01 1.35684003e-02 9.09816387e-01 6.45056383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:394.48, Y:172.38, Z:64.50 [[ 7.77712535e-01 5.21245752e-01 3.51377402e-01 3.94480021e+02] [-4.72688773e-01 8.53393113e-01 -2.19739661e-01 1.72375254e+02] [-4.14401420e-01 4.80213570e-03 9.10081536e-01 6.44958396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.030385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:394.50, Y:172.35, Z:64.50 [[ 7.79135980e-01 5.15696263e-01 3.56376893e-01 3.94504034e+02] [-4.74182934e-01 8.56703143e-01 -2.03003130e-01 1.72351248e+02] [-4.09997159e-01 -1.08207976e-02 9.12022609e-01 6.44958696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:394.53, Y:172.34, Z:64.48 [[ 7.78880812e-01 5.21506426e-01 3.48390196e-01 3.94529787e+02] [-4.74859794e-01 8.53243721e-01 -2.15599927e-01 1.72342687e+02] [-4.09698494e-01 2.49014957e-03 9.12217596e-01 6.44776658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0903857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:394.56, Y:172.34, Z:64.45 [[ 7.77419590e-01 5.28189227e-01 3.41518552e-01 3.94556942e+02] [-4.74518909e-01 8.48916614e-01 -2.32749622e-01 1.72335236e+02] [-4.12856616e-01 1.88871052e-02 9.10600182e-01 6.44508217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.58, Y:172.31, Z:64.46 [[ 7.78903842e-01 5.16455695e-01 3.55784091e-01 3.94578232e+02] [-4.74979117e-01 8.56245597e-01 -2.03072193e-01 1.72305716e+02] [-4.09516352e-01 -1.08163019e-02 9.12238656e-01 6.44551963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:394.60, Y:172.30, Z:64.44 [[ 7.78893382e-01 5.21784528e-01 3.47945407e-01 3.94604088e+02] [-4.75098510e-01 8.53072923e-01 -2.15749844e-01 1.72297373e+02] [-4.09397736e-01 2.73778120e-03 9.12351905e-01 6.44368112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:394.63, Y:172.28, Z:64.42 [[ 7.78764488e-01 5.21224182e-01 3.49071948e-01 3.94629233e+02] [-4.74126754e-01 8.53414070e-01 -2.16536941e-01 1.72280744e+02] [-4.10767202e-01 3.12693026e-03 9.11734900e-01 6.44241458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.65, Y:172.27, Z:64.41 [[ 7.79154513e-01 5.20530264e-01 3.49237011e-01 3.94654178e+02] [-4.73255581e-01 8.53835514e-01 -2.16781158e-01 1.72265233e+02] [-4.11032117e-01 3.62765326e-03 9.11613646e-01 6.44114026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.68, Y:172.25, Z:64.40 [[ 7.79512686e-01 5.19607054e-01 3.49812066e-01 3.94679504e+02] [-4.72020209e-01 8.54394800e-01 -2.17270448e-01 1.72248754e+02] [-4.11772868e-01 4.24670617e-03 9.11276616e-01 6.43979217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.270385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:394.70, Y:172.23, Z:64.38 [[ 7.79090563e-01 5.19850721e-01 3.50389958e-01 3.94704338e+02] [-4.72054093e-01 8.54246464e-01 -2.17779503e-01 1.72233429e+02] [-4.12532214e-01 4.26694158e-03 9.10933019e-01 6.43849323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:394.73, Y:172.23, Z:64.35 [[ 7.76725387e-01 5.29430781e-01 3.41175499e-01 3.94731107e+02] [-4.71119301e-01 8.47886016e-01 -2.43178757e-01 1.72230998e+02] [-4.18024254e-01 2.81487517e-02 9.07999654e-01 6.43527679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:394.75, Y:172.19, Z:64.37 [[ 7.77561930e-01 5.12950270e-01 3.63702440e-01 3.94751613e+02] [-4.73069991e-01 8.58244344e-01 -1.99051325e-01 1.72191731e+02] [-4.14248993e-01 -1.72819780e-02 9.09999508e-01 6.43672418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:394.78, Y:172.19, Z:64.34 [[ 7.77502942e-01 5.21455397e-01 3.51530146e-01 3.94779803e+02] [-4.73336959e-01 8.53270343e-01 -2.18819207e-01 1.72186999e+02] [-4.14054705e-01 3.74036746e-03 9.10244314e-01 6.43446742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.81, Y:172.17, Z:64.33 [[ 7.76883494e-01 5.22355674e-01 3.51563063e-01 3.94805138e+02] [-4.74278557e-01 8.52721181e-01 -2.18921078e-01 1.72171320e+02] [-4.14139937e-01 3.33735013e-03 9.10207105e-01 6.43309185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:394.83, Y:172.16, Z:64.32 [[ 7.76418193e-01 5.23073423e-01 3.51523802e-01 3.94829745e+02] [-4.75010509e-01 8.52282014e-01 -2.19044256e-01 1.72156474e+02] [-4.14173643e-01 3.09244494e-03 9.10192634e-01 6.43172905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.85, Y:172.14, Z:64.30 [[ 7.75840513e-01 5.24198493e-01 3.51123111e-01 3.94854498e+02] [-4.76298057e-01 8.51592093e-01 -2.18931652e-01 1.72141334e+02] [-4.13777307e-01 2.61678929e-03 9.10374370e-01 6.43040713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.88, Y:172.13, Z:64.29 [[ 7.75213224e-01 5.25555980e-01 3.50478773e-01 3.94879563e+02] [-4.77910953e-01 8.50756637e-01 -2.18664733e-01 1.72125584e+02] [-4.13092700e-01 2.01414858e-03 9.10686754e-01 6.42894935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:394.90, Y:172.11, Z:64.28 [[ 7.75073957e-01 5.26188818e-01 3.49836661e-01 3.94904680e+02] [-4.78722552e-01 8.50365837e-01 -2.18409390e-01 1.72110245e+02] [-4.12413724e-01 1.80873115e-03 9.10994868e-01 6.42758162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.93, Y:172.09, Z:64.26 [[ 7.74470785e-01 5.27365193e-01 3.49400853e-01 3.94930671e+02] [-4.80071647e-01 8.49637701e-01 -2.18281908e-01 1.72094819e+02] [-4.11978418e-01 1.31551743e-03 9.11192654e-01 6.42615570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:394.96, Y:172.08, Z:64.25 [[ 7.74166668e-01 5.27832133e-01 3.49369731e-01 3.94955739e+02] [-4.80527621e-01 8.49347865e-01 -2.18406523e-01 1.72079271e+02] [-4.12018416e-01 1.20124490e-03 9.11174726e-01 6.42478023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6003857229999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:394.98, Y:172.07, Z:64.22 [[ 7.72473825e-01 5.34761221e-01 3.42512227e-01 3.94982942e+02] [-4.80936881e-01 8.44845433e-01 -2.34384111e-01 1.72069232e+02] [-4.14709424e-01 1.63288287e-02 9.09807377e-01 6.42215299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.59, Y:171.96, Z:65.17 [[ 8.07895683e-01 -5.37524938e-01 2.41601959e-01 3.95585089e+02] [-4.57588016e-01 -3.13815731e-01 8.31945248e-01 1.71955518e+02] [-3.71372823e-01 -7.82679135e-01 -4.99495344e-01 6.51672943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:395.17, Y:171.95, Z:64.16 [[ 8.11403146e-01 4.93610443e-01 3.13007453e-01 3.95165596e+02] [-4.60038572e-01 8.69682304e-01 -1.78933514e-01 1.71950112e+02] [-3.60540494e-01 1.19171454e-03 9.32742801e-01 6.41579310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.19, Y:171.93, Z:64.15 [[ 8.11565220e-01 4.93214133e-01 3.13211929e-01 3.95191584e+02] [-4.59519596e-01 8.69906668e-01 -1.79176255e-01 1.71934917e+02] [-3.60837407e-01 1.48619785e-03 9.32627555e-01 6.41463577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.22, Y:171.92, Z:64.13 [[ 8.11601734e-01 4.92941812e-01 3.13545841e-01 3.95218603e+02] [-4.59123159e-01 8.70060654e-01 -1.79444652e-01 1.71919585e+02] [-3.61259671e-01 1.68143347e-03 9.32463738e-01 6.41345267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.750385723 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:395.25, Y:171.91, Z:64.11 [[ 8.10268749e-01 5.00230911e-01 3.05341760e-01 3.95248806e+02] [-4.59055579e-01 8.65616679e-01 -1.99939342e-01 1.71912692e+02] [-3.64324759e-01 2.18357621e-02 9.31015934e-01 6.41068333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.77, Y:171.81, Z:65.08 [[ 8.39597397e-01 -4.67420817e-01 2.76756192e-01 3.95773900e+02] [-4.39864115e-01 -2.86058587e-01 8.51287287e-01 1.71812422e+02] [-3.18740914e-01 -8.36473708e-01 -4.45775690e-01 6.50763615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.810385723 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:396.14, Y:172.60, Z:64.59 [[ 8.48408636e-01 -1.27431220e-01 -5.13774339e-01 3.96142167e+02] [-3.97628677e-01 -7.94110845e-01 -4.59651392e-01 1.72595864e+02] [-3.49419836e-01 5.94263621e-01 -7.24400806e-01 6.45866127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.56, Y:171.75, Z:64.01 [[ 8.53785950e-01 4.15009813e-01 3.14350770e-01 3.95556739e+02] [-3.88464606e-01 9.09813236e-01 -1.46065486e-01 1.71748116e+02] [-3.46619101e-01 2.59451142e-03 9.38002381e-01 6.40118006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.58, Y:171.73, Z:64.00 [[ 8.54061574e-01 4.14877386e-01 3.13776325e-01 3.95584678e+02] [-3.88595657e-01 9.09874692e-01 -1.45332239e-01 1.71734915e+02] [-3.45792197e-01 2.19056380e-03 9.38308562e-01 6.40001086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.61, Y:171.72, Z:63.99 [[ 8.54120386e-01 4.14828081e-01 3.13681414e-01 3.95611346e+02] [-3.88517659e-01 9.09896852e-01 -1.45402020e-01 1.71722766e+02] [-3.45734572e-01 2.32006136e-03 9.38329486e-01 6.39886778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.64, Y:171.71, Z:63.98 [[ 8.53827405e-01 4.15440450e-01 3.13668608e-01 3.95638799e+02] [-3.89146584e-01 9.09617862e-01 -1.45465738e-01 1.71711008e+02] [-3.45750920e-01 2.13956664e-03 9.38323891e-01 6.39769170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.67, Y:171.70, Z:63.96 [[ 8.53577594e-01 4.15933061e-01 3.13695680e-01 3.95666475e+02] [-3.89628434e-01 9.09392942e-01 -1.45582142e-01 1.71698410e+02] [-3.45825064e-01 2.04089824e-03 9.38296787e-01 6.39649857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.990385723 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:395.70, Y:171.70, Z:63.93 [[ 8.52227799e-01 4.25089623e-01 3.04969820e-01 3.95696047e+02] [-3.89129879e-01 9.04677843e-01 -1.73597056e-01 1.71699815e+02] [-3.49693746e-01 2.92713681e-02 9.36406680e-01 6.39338986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.72, Y:171.67, Z:63.94 [[ 8.53442480e-01 4.12082240e-01 3.19098982e-01 3.95720282e+02] [-3.87993302e-01 9.11131571e-01 -1.38926087e-01 1.71671372e+02] [-3.47990130e-01 -5.24284311e-03 9.37483537e-01 6.39391511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.75, Y:171.65, Z:63.94 [[ 8.53905093e-01 4.10448518e-01 3.19965790e-01 3.95748199e+02] [-3.91636249e-01 9.11682639e-01 -1.24321415e-01 1.71649306e+02] [-3.42734797e-01 -1.91515123e-02 9.39236966e-01 6.39418997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.78, Y:171.66, Z:63.90 [[ 8.52623656e-01 4.24150273e-01 3.05171178e-01 3.95777736e+02] [-3.89641633e-01 9.05228857e-01 -1.69529095e-01 1.71662240e+02] [-3.48155569e-01 2.56371204e-02 9.37086142e-01 6.39045771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.80, Y:171.62, Z:63.92 [[ 8.53539919e-01 4.09240273e-01 3.22477917e-01 3.95802732e+02] [-3.91192209e-01 9.12164365e-01 -1.22167209e-01 1.71622086e+02] [-3.44148606e-01 -2.18762589e-02 9.38660304e-01 6.39204453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.83, Y:171.62, Z:63.90 [[ 8.53421918e-01 4.16799804e-01 3.12967976e-01 3.95832752e+02] [-3.90435644e-01 9.08995341e-01 -1.45902288e-01 1.71621987e+02] [-3.45298478e-01 2.32235704e-03 9.38490047e-01 6.38996379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.86, Y:171.61, Z:63.89 [[ 8.53405952e-01 4.16424851e-01 3.13510167e-01 3.95859742e+02] [-3.89900154e-01 9.09166456e-01 -1.46267647e-01 1.71609658e+02] [-3.45942411e-01 2.58801839e-03 9.38252179e-01 6.38885103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.89, Y:171.60, Z:63.88 [[ 8.53260813e-01 4.16123727e-01 3.14304041e-01 3.95887294e+02] [-3.89401427e-01 9.09303632e-01 -1.46742745e-01 1.71597044e+02] [-3.46860944e-01 2.81939177e-03 9.37912329e-01 6.38767572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.92, Y:171.58, Z:63.86 [[ 8.53247634e-01 4.15914709e-01 3.14616320e-01 3.95915400e+02] [-3.89082150e-01 9.09398623e-01 -1.47000765e-01 1.71584481e+02] [-3.47251429e-01 3.01646087e-03 9.37767213e-01 6.38649183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.94, Y:171.59, Z:63.84 [[ 8.52997366e-01 4.20129207e-01 3.09656170e-01 3.95942150e+02] [-3.84987893e-01 9.07092796e-01 -1.70196892e-01 1.71588749e+02] [-3.52391566e-01 2.59636244e-02 9.35492424e-01 6.38357434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.97, Y:171.56, Z:63.83 [[ 8.53258357e-01 4.12000839e-01 3.19695926e-01 3.95968072e+02] [-3.85239492e-01 9.11182266e-01 -1.46073310e-01 1.71562583e+02] [-3.51483584e-01 1.47877651e-03 9.36192877e-01 6.38335694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.00, Y:171.54, Z:63.84 [[ 8.54081637e-01 4.07801661e-01 3.22865859e-01 3.95995618e+02] [-3.88305475e-01 9.12895527e-01 -1.25859504e-01 1.71536813e+02] [-3.46068513e-01 -1.78762898e-02 9.38038924e-01 6.38388970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.02, Y:171.55, Z:63.80 [[ 8.53596388e-01 4.19945658e-01 3.08251280e-01 3.96024149e+02] [-3.85081872e-01 9.07176316e-01 -1.69537854e-01 1.71550799e+02] [-3.50834946e-01 2.60149198e-02 9.36075886e-01 6.38019884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.05, Y:171.51, Z:63.82 [[ 8.54332234e-01 4.06609149e-01 3.23705782e-01 3.96049868e+02] [-3.87345235e-01 9.13413918e-01 -1.25054720e-01 1.71511766e+02] [-3.46525760e-01 -1.85476142e-02 9.37857070e-01 6.38175204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.410385723 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:396.08, Y:171.51, Z:63.80 [[ 8.55178758e-01 4.14321356e-01 3.11459638e-01 3.96078749e+02] [-3.87034568e-01 9.10110769e-01 -1.47995377e-01 1.71514401e+02] [-3.44780415e-01 6.01685611e-03 9.38664084e-01 6.37962987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.11, Y:171.51, Z:63.78 [[ 8.55141076e-01 4.14960968e-01 3.10710693e-01 3.96107378e+02] [-3.85490197e-01 9.09760562e-01 -1.54055278e-01 1.71506147e+02] [-3.46599262e-01 1.19630699e-02 9.37937011e-01 6.37778936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.13, Y:171.48, Z:63.78 [[ 8.56042482e-01 4.09601457e-01 3.15306067e-01 3.96133847e+02] [-3.86493886e-01 9.12247032e-01 -1.35749139e-01 1.71484124e+02] [-3.43240069e-01 -5.65683735e-03 9.39230672e-01 6.37797582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.16, Y:171.48, Z:63.76 [[ 8.55862105e-01 4.13617643e-01 3.10516508e-01 3.96162171e+02] [-3.84567699e-01 9.10380967e-01 -1.52689818e-01 1.71481479e+02] [-3.45843522e-01 1.12668103e-02 9.38224556e-01 6.37574004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.19, Y:171.46, Z:63.76 [[ 8.56523565e-01 4.09611022e-01 3.13984383e-01 3.96189731e+02] [-3.84518478e-01 9.12260259e-01 -1.41162179e-01 1.71463960e+02] [-3.44257059e-01 1.75936017e-04 9.38875416e-01 6.37557817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.22, Y:171.46, Z:63.74 [[ 8.56495404e-01 4.11214571e-01 3.11958650e-01 3.96218720e+02] [-3.84180567e-01 9.11519829e-01 -1.46754534e-01 1.71455588e+02] [-3.44704098e-01 5.84613297e-03 9.38693191e-01 6.37428771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.25, Y:171.44, Z:63.73 [[ 8.55809809e-01 4.12291621e-01 3.12418295e-01 3.96248041e+02] [-3.85871989e-01 9.11044154e-01 -1.45263062e-01 1.71439212e+02] [-3.44517605e-01 3.76408470e-03 9.38772311e-01 6.37301803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.28, Y:171.44, Z:63.72 [[ 8.55968484e-01 4.13718213e-01 3.10089011e-01 3.96275291e+02] [-3.84853191e-01 9.10339055e-01 -1.52219664e-01 1.71436641e+02] [-3.45262184e-01 1.09564895e-02 9.38442316e-01 6.37183429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.30, Y:171.42, Z:63.71 [[ 8.55710555e-01 4.12353237e-01 3.12608789e-01 3.96302148e+02] [-3.85176101e-01 9.11006437e-01 -1.47331746e-01 1.71422246e+02] [-3.45541341e-01 5.66389589e-03 9.38386435e-01 6.37092943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:396.33, Y:171.41, Z:63.69 [[ 8.57665250e-01 4.12768103e-01 3.06647699e-01 3.96332215e+02] [-3.84026121e-01 9.10750762e-01 -1.51845278e-01 1.71413354e+02] [-3.41956513e-01 1.24716917e-02 9.39633014e-01 6.36940535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.36, Y:171.40, Z:63.69 [[ 8.57313032e-01 4.09572113e-01 3.11873452e-01 3.96359667e+02] [-3.84042823e-01 9.12274916e-01 -1.42357254e-01 1.71398470e+02] [-3.42819889e-01 2.27196870e-03 9.39398404e-01 6.36870761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.39, Y:171.39, Z:63.68 [[ 8.56787764e-01 4.11737887e-01 3.10461978e-01 3.96387436e+02] [-3.84888628e-01 9.11283129e-01 -1.46368721e-01 1.71388751e+02] [-3.43184311e-01 5.91364489e-03 9.39249465e-01 6.36754139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.42, Y:171.38, Z:63.66 [[ 8.56946447e-01 4.11330787e-01 3.10563636e-01 3.96416817e+02] [-3.84397756e-01 9.11465161e-01 -1.46525173e-01 1.71378531e+02] [-3.43338249e-01 6.18426180e-03 9.39191462e-01 6.36645126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:396.45, Y:171.37, Z:63.65 [[ 8.56485659e-01 4.11463220e-01 3.11657399e-01 3.96445901e+02] [-3.84300948e-01 9.11404838e-01 -1.47152990e-01 1.71369583e+02] [-3.44594105e-01 6.26419196e-03 9.38730879e-01 6.36531436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.47, Y:171.36, Z:63.64 [[ 8.56315888e-01 4.11926614e-01 3.11511741e-01 3.96474812e+02] [-3.84782347e-01 9.11196101e-01 -1.47187670e-01 1.71358248e+02] [-3.44478802e-01 6.17492136e-03 9.38773788e-01 6.36417367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.860385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:396.50, Y:171.35, Z:63.63 [[ 8.56177272e-01 4.13092027e-01 3.10347316e-01 3.96502891e+02] [-3.86191690e-01 9.10670898e-01 -1.46746361e-01 1.71349386e+02] [-3.43244020e-01 5.78734406e-03 9.39228433e-01 6.36298846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.53, Y:171.34, Z:63.62 [[ 8.56010734e-01 4.13742568e-01 3.09939851e-01 3.96531311e+02] [-3.86919562e-01 9.10376594e-01 -1.46655074e-01 1.71338148e+02] [-3.42839433e-01 5.61652648e-03 9.39377229e-01 6.36180354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.56, Y:171.33, Z:63.61 [[ 8.55355180e-01 4.15400772e-01 3.09531444e-01 3.96560871e+02] [-3.88717189e-01 9.09624494e-01 -1.46568164e-01 1.71327883e+02] [-3.42441911e-01 5.04764518e-03 9.39525443e-01 6.36065607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.59, Y:171.32, Z:63.60 [[ 8.54713519e-01 4.16509214e-01 3.09814259e-01 3.96589634e+02] [-3.89805480e-01 9.09119267e-01 -1.46812280e-01 1.71316376e+02] [-3.42806779e-01 4.71514476e-03 9.39394102e-01 6.35952950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.62, Y:171.31, Z:63.58 [[ 8.53956642e-01 4.18381273e-01 3.09378675e-01 3.96619261e+02] [-3.91833829e-01 9.08262403e-01 -1.46716252e-01 1.71306456e+02] [-3.42380351e-01 4.06428698e-03 9.39552647e-01 6.35836669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.65, Y:171.29, Z:63.57 [[ 8.53438951e-01 4.19603458e-01 3.09151896e-01 3.96647643e+02] [-3.93133143e-01 9.07700061e-01 -1.46720587e-01 1.71294842e+02] [-3.42181661e-01 3.67920729e-03 9.39626615e-01 6.35722609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.68, Y:171.29, Z:63.55 [[ 8.52945595e-01 4.21813402e-01 3.07501651e-01 3.96675551e+02] [-3.92498535e-01 9.06610352e-01 -1.54927627e-01 1.71290381e+02] [-3.44134730e-01 1.14508898e-02 9.38850449e-01 6.35547952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.70, Y:171.27, Z:63.55 [[ 8.52754373e-01 4.18454970e-01 3.12578657e-01 3.96702459e+02] [-3.95150263e-01 9.08217845e-01 -1.37828210e-01 1.71266580e+02] [-3.41564414e-01 -5.98192942e-03 9.39839331e-01 6.35539095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.73, Y:171.26, Z:63.54 [[ 8.52224034e-01 4.22296130e-01 3.08836809e-01 3.96732469e+02] [-3.95955810e-01 9.06453442e-01 -1.46837170e-01 1.71259532e+02] [-3.41954957e-01 2.85243674e-03 9.39712015e-01 6.35391035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.76, Y:171.25, Z:63.52 [[ 8.51801298e-01 4.24150398e-01 3.07458923e-01 3.96759982e+02] [-3.94163487e-01 9.05502977e-01 -1.57160760e-01 1.71254611e+02] [-3.45064769e-01 1.26806579e-02 9.38493211e-01 6.35203062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.79, Y:171.23, Z:63.52 [[ 8.51999703e-01 4.18890412e-01 3.14049883e-01 3.96786671e+02] [-3.94384888e-01 9.08029897e-01 -1.41217089e-01 1.71233266e+02] [-3.44321167e-01 -3.53960996e-03 9.38845251e-01 6.35160241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.81, Y:171.22, Z:63.51 [[ 8.52159302e-01 4.20838927e-01 3.10996981e-01 3.96814595e+02] [-3.95710634e-01 9.07134833e-01 -1.43246251e-01 1.71220820e+02] [-3.42399793e-01 -9.96187406e-04 9.39553825e-01 6.35075299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2203857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:396.84, Y:171.21, Z:63.49 [[ 8.52489869e-01 4.21831973e-01 3.08737447e-01 3.96841254e+02] [-3.95342001e-01 9.06667640e-01 -1.47168246e-01 1.71210263e+02] [-3.42002524e-01 3.40255894e-03 9.39692873e-01 6.34919035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.87, Y:171.19, Z:63.48 [[ 8.52385301e-01 4.22566556e-01 3.08020786e-01 3.96869690e+02] [-3.96211155e-01 9.06326237e-01 -1.46933564e-01 1.71194966e+02] [-3.41256530e-01 3.20273863e-03 9.39964746e-01 6.34848511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.90, Y:171.18, Z:63.47 [[ 8.52311260e-01 4.22735666e-01 3.07993624e-01 3.96897996e+02] [-3.96370402e-01 9.06247374e-01 -1.46990480e-01 1.71181406e+02] [-3.41256531e-01 3.20208528e-03 9.39964748e-01 6.34732813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.93, Y:171.17, Z:63.46 [[ 8.51746247e-01 4.22706155e-01 3.09593018e-01 3.96925595e+02] [-3.96029282e-01 9.06260783e-01 -1.47824898e-01 1.71170137e+02] [-3.43058505e-01 3.30140199e-03 9.39308236e-01 6.34612114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3403857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:396.95, Y:171.16, Z:63.45 [[ 8.51532374e-01 4.23226060e-01 3.09471031e-01 3.96953514e+02] [-3.96561295e-01 9.06018453e-01 -1.47884083e-01 1.71157400e+02] [-3.42974862e-01 3.20385134e-03 9.39339118e-01 6.34497942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.98, Y:171.15, Z:63.43 [[ 8.52127342e-01 4.27533280e-01 3.01818303e-01 3.96982082e+02] [-3.98337129e-01 9.03912859e-01 -1.55785351e-01 1.71149704e+02] [-3.39420867e-01 1.25235207e-02 9.40551241e-01 6.34340868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.01, Y:171.13, Z:63.43 [[ 8.51200859e-01 4.21894512e-01 3.12189235e-01 3.97005989e+02] [-3.98774926e-01 9.06617204e-01 -1.37926803e-01 1.71127041e+02] [-3.41226693e-01 -7.08982585e-03 9.39954296e-01 6.34299926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.430385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:397.03, Y:171.12, Z:63.41 [[ 8.50557247e-01 4.26604406e-01 3.07507807e-01 3.97033573e+02] [-4.00413921e-01 9.04435975e-01 -1.47187838e-01 1.71119304e+02] [-3.40912103e-01 2.06127540e-03 9.40092915e-01 6.34134498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.06, Y:171.11, Z:63.40 [[ 8.49779035e-01 4.27859086e-01 3.07915889e-01 3.97061529e+02] [-4.01639279e-01 9.03843930e-01 -1.47485726e-01 1.71105121e+02] [-3.41411015e-01 1.65916245e-03 9.39912637e-01 6.34044362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.09, Y:171.09, Z:63.39 [[ 8.49287981e-01 4.29492530e-01 3.06995264e-01 3.97088246e+02] [-4.03497014e-01 9.03069732e-01 -1.47157122e-01 1.71090848e+02] [-3.40441015e-01 1.10710245e-03 9.40265223e-01 6.33933137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.12, Y:171.08, Z:63.38 [[ 8.49088539e-01 4.30369796e-01 3.06317632e-01 3.97116268e+02] [-4.04510236e-01 9.02652264e-01 -1.46936581e-01 1.71076819e+02] [-3.39735370e-01 8.53549213e-04 9.40520680e-01 6.33817263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.14, Y:171.06, Z:63.37 [[ 8.48646184e-01 4.31765625e-01 3.05578303e-01 3.97143102e+02] [-4.06082642e-01 9.01985746e-01 -1.46692203e-01 1.71062315e+02] [-3.38963924e-01 3.99733600e-04 9.40799287e-01 6.33702165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.17, Y:171.05, Z:63.36 [[ 8.48047003e-01 4.32687766e-01 3.05937215e-01 3.97170479e+02] [-4.06960585e-01 9.01543831e-01 -1.46975520e-01 1.71047928e+02] [-3.39410318e-01 1.37761653e-04 9.40638409e-01 6.33590016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.20, Y:171.03, Z:63.35 [[ 8.47316812e-01 4.33833354e-01 3.06337791e-01 3.97196779e+02] [-4.08067824e-01 9.00993106e-01 -1.47282295e-01 1.71032351e+02] [-3.39904210e-01 -2.11830784e-04 9.40460038e-01 6.33484876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.22, Y:171.02, Z:63.34 [[ 8.46884131e-01 4.34971069e-01 3.05920641e-01 3.97222163e+02] [-4.09324367e-01 9.00444229e-01 -1.47152142e-01 1.71016948e+02] [-3.39471400e-01 -5.99958517e-04 9.40616186e-01 6.33373775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.25, Y:171.01, Z:63.32 [[ 8.46439831e-01 4.36872762e-01 3.04436860e-01 3.97247068e+02] [-4.07489142e-01 8.99473001e-01 -1.57800253e-01 1.71011709e+02] [-3.42771369e-01 9.51370445e-03 9.39370682e-01 6.33180888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.27, Y:170.99, Z:63.31 [[ 8.46487838e-01 4.36498185e-01 3.04840409e-01 3.97272624e+02] [-4.09194216e-01 8.99696539e-01 -1.52007339e-01 1.70994394e+02] [-3.40614789e-01 3.93343181e-03 9.40194711e-01 6.33087113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.30, Y:170.96, Z:63.31 [[ 8.45188298e-01 4.32315098e-01 3.14261669e-01 3.97299216e+02] [-4.13177321e-01 9.01480506e-01 -1.28908490e-01 1.70961464e+02] [-3.39029855e-01 -2.08938472e-02 9.40543569e-01 6.33111263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.33, Y:170.96, Z:63.29 [[ 8.44217531e-01 4.40288706e-01 3.05683850e-01 3.97326627e+02] [-4.14905147e-01 8.97852969e-01 -1.47355915e-01 1.70955526e+02] [-3.39338297e-01 -2.42935598e-03 9.40661267e-01 6.32933281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.35, Y:170.94, Z:63.28 [[ 8.43639351e-01 4.41380720e-01 3.05705258e-01 3.97353537e+02] [-4.16025830e-01 8.97315654e-01 -1.47469066e-01 1.70940684e+02] [-3.39404116e-01 -2.77057660e-03 9.40636577e-01 6.32820174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.38, Y:170.93, Z:63.26 [[ 8.42717537e-01 4.43901134e-01 3.04596350e-01 3.97378391e+02] [-4.14596822e-01 8.96044123e-01 -1.58790445e-01 1.70933331e+02] [-3.43419028e-01 7.53081416e-03 9.39152096e-01 6.32622001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.40, Y:170.91, Z:63.26 [[ 8.42526679e-01 4.40298794e-01 3.10299480e-01 3.97403773e+02] [-4.14984897e-01 8.97838823e-01 -1.47217468e-01 1.70911560e+02] [-3.43418594e-01 -4.73495297e-03 9.39170512e-01 6.32558765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:397.43, Y:170.89, Z:63.25 [[ 8.42682461e-01 4.39308808e-01 3.11278078e-01 3.97430133e+02] [-4.17459718e-01 8.98226318e-01 -1.37538599e-01 1.70886954e+02] [-3.40020080e-01 -1.40446933e-02 9.40313295e-01 6.32530175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.46, Y:170.88, Z:63.24 [[ 8.43081780e-01 4.41868489e-01 3.06537684e-01 3.97457006e+02] [-4.16052815e-01 8.97077485e-01 -1.48835617e-01 1.70879433e+02] [-3.40753824e-01 -2.05526916e-03 9.40150311e-01 6.32351826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.48, Y:170.86, Z:63.22 [[ 8.43680183e-01 4.40983947e-01 3.06164836e-01 3.97483665e+02] [-4.15589198e-01 8.97510671e-01 -1.47513439e-01 1.70863874e+02] [-3.39837266e-01 -2.78463371e-03 9.40480132e-01 6.32239563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.51, Y:170.85, Z:63.21 [[ 8.44972021e-01 4.40245904e-01 3.03654126e-01 3.97508642e+02] [-4.14942403e-01 8.97875647e-01 -1.47112626e-01 1.70846746e+02] [-3.37409376e-01 -1.69291935e-03 9.41356493e-01 6.32127051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.53, Y:170.83, Z:63.20 [[ 8.45760945e-01 4.39592217e-01 3.02402227e-01 3.97533408e+02] [-4.14423810e-01 8.98196491e-01 -1.46615036e-01 1.70828856e+02] [-3.36067448e-01 -1.32141154e-03 9.41836994e-01 6.32030200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.56, Y:170.81, Z:63.19 [[ 8.46288112e-01 4.38748980e-01 3.02151889e-01 3.97559951e+02] [-4.13546578e-01 8.98609196e-01 -1.46563094e-01 1.70812923e+02] [-3.35820874e-01 -9.19275670e-04 9.41925419e-01 6.31921347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.59, Y:170.79, Z:63.18 [[ 8.48065920e-01 4.36868064e-01 2.99884128e-01 3.97586047e+02] [-4.11901566e-01 8.99525592e-01 -1.45570637e-01 1.70794258e+02] [-3.33348610e-01 -6.92460423e-05 9.42803638e-01 6.31837463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.61, Y:170.78, Z:63.17 [[ 8.47342054e-01 4.36549470e-01 3.02383869e-01 3.97611878e+02] [-4.11091455e-01 8.99680239e-01 -1.46898886e-01 1.70779571e+02] [-3.36177422e-01 1.66179216e-04 9.41798659e-01 6.31709627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:397.64, Y:170.76, Z:63.16 [[ 8.47784154e-01 4.35425678e-01 3.02764772e-01 3.97638436e+02] [-4.09807160e-01 9.00224427e-01 -1.47153230e-01 1.70763128e+02] [-3.36630538e-01 6.79005769e-04 9.41636565e-01 6.31590848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.67, Y:170.75, Z:63.15 [[ 8.47939680e-01 4.35361227e-01 3.02421728e-01 3.97665796e+02] [-4.09759729e-01 9.00255491e-01 -1.47095257e-01 1.70748013e+02] [-3.36296393e-01 8.07659948e-04 9.41755852e-01 6.31475431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.69, Y:170.73, Z:63.14 [[ 8.47869188e-01 4.35186466e-01 3.02870566e-01 3.97692005e+02] [-4.09456795e-01 9.00339811e-01 -1.47422381e-01 1.70731458e+02] [-3.36842653e-01 9.82482877e-04 9.41560440e-01 6.31364724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.72, Y:170.72, Z:63.13 [[ 8.47668869e-01 4.35107095e-01 3.03544568e-01 3.97718118e+02] [-4.09214751e-01 9.00378008e-01 -1.47860511e-01 1.70716856e+02] [-3.37640011e-01 1.12183753e-03 9.41274649e-01 6.31253260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.75, Y:170.70, Z:63.12 [[ 8.47321982e-01 4.35452028e-01 3.04018074e-01 3.97745163e+02] [-4.09460921e-01 9.00211284e-01 -1.48193787e-01 1.70700843e+02] [-3.38211786e-01 1.08433242e-03 9.41069398e-01 6.31150116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.77, Y:170.67, Z:63.11 [[ 8.47806883e-01 4.32307162e-01 3.07138416e-01 3.97774029e+02] [-4.11653302e-01 9.01619514e-01 -1.32754707e-01 1.70674884e+02] [-3.34312799e-01 -1.38841888e-02 9.42359900e-01 6.31133773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:397.80, Y:170.68, Z:63.09 [[ 8.46437112e-01 4.42885271e-01 2.95629585e-01 3.97799483e+02] [-4.11547349e-01 8.96404682e-01 -1.64582583e-01 1.70681386e+02] [-3.37894946e-01 1.76432338e-02 9.41018449e-01 6.30864755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.83, Y:170.65, Z:63.09 [[ 8.46935037e-01 4.33927713e-01 3.07258495e-01 3.97826625e+02] [-4.14504428e-01 9.00775410e-01 -1.29575229e-01 1.70645159e+02] [-3.32997180e-01 -1.76182053e-02 9.42763214e-01 6.30929078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.85, Y:170.66, Z:63.06 [[ 8.44724362e-01 4.47141889e-01 2.94117125e-01 3.97853706e+02] [-4.14998722e-01 8.94249885e-01 -1.67610276e-01 1.70655418e+02] [-3.37959780e-01 1.95262522e-02 9.40957976e-01 6.30615820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.88, Y:170.63, Z:63.06 [[ 8.44339650e-01 4.41878114e-01 3.03041726e-01 3.97879597e+02] [-4.16330180e-01 8.97074377e-01 -1.48076819e-01 1.70630557e+02] [-3.37282873e-01 -1.13828666e-03 9.41402660e-01 6.30581453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.91, Y:170.62, Z:63.05 [[ 8.44080249e-01 4.43125157e-01 3.01941433e-01 3.97906373e+02] [-4.17806470e-01 8.96458458e-01 -1.47648188e-01 1.70617090e+02] [-3.36104578e-01 -1.52616469e-03 9.41823436e-01 6.30463804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.93, Y:170.60, Z:63.03 [[ 8.43993077e-01 4.43573962e-01 3.01525830e-01 3.97933345e+02] [-4.18318713e-01 8.96236332e-01 -1.47546239e-01 1.70603215e+02] [-3.35686074e-01 -1.60589313e-03 9.41972548e-01 6.30344758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.96, Y:170.58, Z:63.03 [[ 8.44487961e-01 4.41764064e-01 3.02794644e-01 3.97961200e+02] [-4.19066569e-01 8.97089822e-01 -1.40046641e-01 1.70583755e+02] [-3.33501566e-01 -8.62341017e-03 9.42710105e-01 6.30286928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.99, Y:170.57, Z:63.02 [[ 8.44609836e-01 4.43829438e-01 2.99415523e-01 3.97989011e+02] [-4.19862937e-01 8.96101692e-01 -1.43933568e-01 1.70572273e+02] [-3.32188712e-01 -4.14577312e-03 9.43203834e-01 6.30173805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.02, Y:170.57, Z:63.00 [[ 8.44160655e-01 4.47278002e-01 2.95525259e-01 3.98015577e+02] [-4.18135503e-01 8.94329772e-01 -1.59175880e-01 1.70569602e+02] [-3.35492907e-01 1.08004120e-02 9.41980818e-01 6.29975822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.04, Y:170.55, Z:62.99 [[ 8.44382634e-01 4.42937159e-01 3.01371268e-01 3.98042502e+02] [-4.17544661e-01 8.96552081e-01 -1.47820234e-01 1.70549151e+02] [-3.35670112e-01 -1.01912523e-03 9.41979054e-01 6.29912010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.07, Y:170.54, Z:62.98 [[ 8.45230215e-01 4.40876120e-01 3.02016773e-01 3.98070218e+02] [-4.15204533e-01 8.97567957e-01 -1.48246275e-01 1.70535217e+02] [-3.36438820e-01 -9.65018843e-05 9.41705321e-01 6.29804642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:398.10, Y:170.52, Z:62.97 [[ 8.45678524e-01 4.40047424e-01 3.01970362e-01 3.98096490e+02] [-4.14293004e-01 8.97974471e-01 -1.48334611e-01 1.70521886e+02] [-3.36435939e-01 3.39186559e-04 9.41706294e-01 6.29682490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.13, Y:170.50, Z:62.96 [[ 8.46322469e-01 4.37023514e-01 3.04546756e-01 3.98125119e+02] [-4.13716179e-01 8.99425217e-01 -1.40972345e-01 1.70502961e+02] [-3.35525262e-01 -6.68785737e-03 9.42007469e-01 6.29629718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.15, Y:170.50, Z:62.94 [[ 8.46126125e-01 4.41250135e-01 2.98946314e-01 3.98152352e+02] [-4.12412767e-01 8.97331490e-01 -1.57200215e-01 1.70500917e+02] [-3.37618557e-01 9.72193203e-03 9.41232805e-01 6.29445463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.18, Y:170.48, Z:62.94 [[ 8.46131336e-01 4.38448373e-01 3.03026050e-01 3.98180041e+02] [-4.12298745e-01 8.98755478e-01 -1.49158759e-01 1.70483686e+02] [-3.37744738e-01 1.27063949e-03 9.41236887e-01 6.29363232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.21, Y:170.47, Z:62.93 [[ 8.45705807e-01 4.39066466e-01 3.03318853e-01 3.98207469e+02] [-4.12862803e-01 8.98453870e-01 -1.49415360e-01 1.70471899e+02] [-3.38121272e-01 1.13236586e-03 9.41101867e-01 6.29252531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.24, Y:170.45, Z:62.92 [[ 8.45551652e-01 4.37222815e-01 3.06396173e-01 3.98236488e+02] [-4.14491088e-01 8.99307235e-01 -1.39440437e-01 1.70450547e+02] [-3.36510835e-01 -9.09439095e-03 9.41635678e-01 6.29195286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.26, Y:170.45, Z:62.90 [[ 8.45010602e-01 4.44489702e-01 2.97297810e-01 3.98263682e+02] [-4.14516916e-01 8.95692742e-01 -1.60966576e-01 1.70453098e+02] [-3.37835476e-01 1.27834918e-02 9.41118363e-01 6.28990076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.29, Y:170.43, Z:62.89 [[ 8.45077801e-01 4.39650241e-01 3.04222249e-01 3.98291746e+02] [-4.15311106e-01 8.98158358e-01 -1.44319957e-01 1.70429091e+02] [-3.36690060e-01 -4.38528707e-03 9.41605317e-01 6.28944298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.32, Y:170.43, Z:62.88 [[ 8.44650822e-01 4.43597887e-01 2.99642961e-01 3.98318805e+02] [-4.15318551e-01 8.96195884e-01 -1.56023839e-01 1.70425380e+02] [-3.37750634e-01 7.33838388e-03 9.41207022e-01 6.28779528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.35, Y:170.41, Z:62.87 [[ 8.44570063e-01 4.41049191e-01 3.03606686e-01 3.98347076e+02] [-4.16269593e-01 8.97477036e-01 -1.45789560e-01 1.70406414e+02] [-3.36780396e-01 -3.25273367e-03 9.41577604e-01 6.28707194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.37, Y:170.40, Z:62.86 [[ 8.44856828e-01 4.44012651e-01 2.98445482e-01 3.98374236e+02] [-4.16702590e-01 8.96005172e-01 -1.53406922e-01 1.70400215e+02] [-3.35523310e-01 5.24388014e-03 9.42017309e-01 6.28571838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.40, Y:170.38, Z:62.85 [[ 8.45006539e-01 4.40764821e-01 3.02804097e-01 3.98401897e+02] [-4.16941933e-01 8.97606515e-01 -1.43045340e-01 1.70380152e+02] [-3.34848283e-01 -5.37747805e-03 9.42256711e-01 6.28503417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.43, Y:170.38, Z:62.83 [[ 8.44596945e-01 4.44796580e-01 2.98013429e-01 3.98430379e+02] [-4.15966822e-01 8.95583150e-01 -1.57805020e-01 1.70375829e+02] [-3.37086939e-01 9.31793832e-03 9.41427412e-01 6.28310825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.46, Y:170.36, Z:62.82 [[ 8.44656362e-01 4.41266066e-01 3.03050967e-01 3.98456441e+02] [-4.14416492e-01 8.97372960e-01 -1.51594004e-01 1.70361421e+02] [-3.38843033e-01 2.45552165e-03 9.40839715e-01 6.28231202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.48, Y:170.35, Z:62.81 [[ 8.44363749e-01 4.40786670e-01 3.04560292e-01 3.98484769e+02] [-4.13477840e-01 8.97606666e-01 -1.52768942e-01 1.70349879e+02] [-3.40713862e-01 3.06362431e-03 9.40162049e-01 6.28116887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.51, Y:170.33, Z:62.80 [[ 8.44226769e-01 4.40134722e-01 3.05880025e-01 3.98512780e+02] [-4.14019778e-01 8.97931580e-01 -1.49353612e-01 1.70333922e+02] [-3.40395044e-01 -5.52062807e-04 9.40282356e-01 6.28027408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.54, Y:170.32, Z:62.79 [[ 8.43925323e-01 4.41343258e-01 3.04969143e-01 3.98539996e+02] [-4.13344125e-01 8.97326822e-01 -1.54761782e-01 1.70324127e+02] [-3.41960061e-01 4.55018347e-03 9.39703471e-01 6.27890579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.57, Y:170.31, Z:62.78 [[ 8.43328091e-01 4.40383414e-01 3.07993797e-01 3.98567975e+02] [-4.13129783e-01 8.97808738e-01 -1.52522958e-01 1.70308545e+02] [-3.43688103e-01 1.38548426e-03 9.39082834e-01 6.27796138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.60, Y:170.29, Z:62.77 [[ 8.43294109e-01 4.40730722e-01 3.07589786e-01 3.98596197e+02] [-4.13260775e-01 8.97637005e-01 -1.53177478e-01 1.70294905e+02] [-3.43613994e-01 2.05887160e-03 9.39108718e-01 6.27678005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.62, Y:170.29, Z:62.75 [[ 8.42996278e-01 4.42752782e-01 3.05495089e-01 3.98623726e+02] [-4.12016123e-01 8.96575133e-01 -1.62467675e-01 1.70288259e+02] [-3.45832315e-01 1.10907433e-02 9.38230785e-01 6.27507141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.65, Y:170.26, Z:62.75 [[ 8.43028334e-01 4.37963621e-01 3.12235640e-01 3.98651691e+02] [-4.14292252e-01 8.98943995e-01 -1.42343330e-01 1.70262936e+02] [-3.43023554e-01 -9.35734552e-03 9.39280193e-01 6.27501643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.68, Y:170.26, Z:62.73 [[ 8.42625594e-01 4.42693768e-01 3.06601266e-01 3.98680517e+02] [-4.14209184e-01 8.96660506e-01 -1.56303197e-01 1.70257805e+02] [-3.44111698e-01 4.70801448e-03 9.38916916e-01 6.27322481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.71, Y:170.24, Z:62.72 [[ 8.42335337e-01 4.41708034e-01 3.08812552e-01 3.98708839e+02] [-4.15240347e-01 8.97157814e-01 -1.50609800e-01 1.70241638e+02] [-3.43579153e-01 -1.36747438e-03 9.39122727e-01 6.27244756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.74, Y:170.23, Z:62.71 [[ 8.42316941e-01 4.43293687e-01 3.06582580e-01 3.98737045e+02] [-4.15173001e-01 8.96369107e-01 -1.55414943e-01 1.70231806e+02] [-3.43705616e-01 3.62383002e-03 9.39070454e-01 6.27107181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.76, Y:170.21, Z:62.70 [[ 8.42732216e-01 4.41161515e-01 3.08510826e-01 3.98764308e+02] [-4.15840739e-01 8.97418352e-01 -1.47366150e-01 1.70213706e+02] [-3.41875551e-01 -4.10116822e-03 9.39736286e-01 6.27042380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.79, Y:170.21, Z:62.69 [[ 8.43665567e-01 4.42497456e-01 3.04013837e-01 3.98791986e+02] [-4.14256585e-01 8.96753683e-01 -1.55641622e-01 1.70207985e+02] [-3.41496549e-01 5.36974309e-03 9.39867689e-01 6.26889010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.82, Y:170.20, Z:62.68 [[ 8.45177942e-01 4.40299246e-01 3.03003005e-01 3.98818706e+02] [-4.13032226e-01 8.97842995e-01 -1.52585506e-01 1.70196301e+02] [-3.39232409e-01 3.81189800e-03 9.40694872e-01 6.26798737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.85, Y:170.18, Z:62.67 [[ 8.45594641e-01 4.39317719e-01 3.03264975e-01 3.98846416e+02] [-4.12569442e-01 8.98328152e-01 -1.50973467e-01 1.70182442e+02] [-3.38756783e-01 2.54449332e-03 9.40870537e-01 6.26691555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.88, Y:170.17, Z:62.66 [[ 8.45629767e-01 4.38602882e-01 3.04200278e-01 3.98875720e+02] [-4.12306428e-01 8.98680343e-01 -1.49589606e-01 1.70166566e+02] [-3.38989243e-01 1.07369391e-03 9.40789637e-01 6.26574233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.500385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:398.90, Y:170.16, Z:62.64 [[ 8.45978965e-01 4.39208158e-01 3.02350435e-01 3.98904135e+02] [-4.11385859e-01 8.98366257e-01 -1.53947207e-01 1.70157994e+02] [-3.39236298e-01 5.85340546e-03 9.40682982e-01 6.26437062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.93, Y:170.15, Z:62.63 [[ 8.46211312e-01 4.38830543e-01 3.02248522e-01 3.98931848e+02] [-4.11440027e-01 8.98556766e-01 -1.52685441e-01 1.70146263e+02] [-3.38590489e-01 4.84700708e-03 9.40921350e-01 6.26344752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:398.96, Y:170.14, Z:62.61 [[ 8.45157415e-01 4.40737684e-01 3.02422284e-01 3.98961285e+02] [-4.09776238e-01 8.97531226e-01 -1.62853103e-01 1.70141482e+02] [-3.43208943e-01 1.37110418e-02 9.39159001e-01 6.26144371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:398.99, Y:170.13, Z:62.61 [[ 8.46290577e-01 4.39513004e-01 3.01032520e-01 3.98987823e+02] [-4.11810703e-01 8.98215524e-01 -1.53690658e-01 1.70125064e+02] [-3.37941125e-01 6.09854263e-03 9.41147493e-01 6.26101940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.02, Y:170.11, Z:62.60 [[ 8.45343046e-01 4.37245112e-01 3.06939485e-01 3.99015620e+02] [-4.10564612e-01 8.99341675e-01 -1.50403626e-01 1.70112173e+02] [-3.41806721e-01 1.12416894e-03 9.39769600e-01 6.25960292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.04, Y:170.10, Z:62.59 [[ 8.46356934e-01 4.39199103e-01 3.01303979e-01 3.99042765e+02] [-4.13341856e-01 8.98389050e-01 -1.48477691e-01 1.70099858e+02] [-3.35899464e-01 1.12357767e-03 9.41897175e-01 6.25898857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.07, Y:170.08, Z:62.58 [[ 8.45441094e-01 4.36822478e-01 3.07271021e-01 3.99070541e+02] [-4.13163423e-01 8.99521122e-01 -1.41977947e-01 1.70082897e+02] [-3.38415932e-01 -6.91915573e-03 9.40971191e-01 6.25817180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:399.10, Y:170.07, Z:62.57 [[ 8.44426476e-01 4.39913959e-01 3.05646259e-01 3.99101400e+02] [-4.15304390e-01 8.98029265e-01 -1.45140290e-01 1.70070844e+02] [-3.38328524e-01 -4.37592943e-03 9.41017886e-01 6.25707809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.13, Y:170.07, Z:62.55 [[ 8.44081988e-01 4.43726637e-01 3.01051939e-01 3.99130460e+02] [-4.15281752e-01 8.96134415e-01 -1.56474206e-01 1.70065791e+02] [-3.39214776e-01 7.05568219e-03 9.40682493e-01 6.25548731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.16, Y:170.05, Z:62.55 [[ 8.43943098e-01 4.42878960e-01 3.02685108e-01 3.99159931e+02] [-4.16103060e-01 8.96579059e-01 -1.51671472e-01 1.70052532e+02] [-3.38553233e-01 2.05389209e-03 9.40944999e-01 6.25461151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.19, Y:170.05, Z:62.53 [[ 8.44256097e-01 4.44435469e-01 2.99514201e-01 3.99185422e+02] [-4.14624041e-01 8.95740166e-01 -1.60425870e-01 1.70048997e+02] [-3.39585847e-01 1.12547311e-02 9.40507727e-01 6.25315749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.21, Y:170.03, Z:62.52 [[ 8.44284955e-01 4.41825270e-01 3.03271076e-01 3.99211939e+02] [-4.14897315e-01 8.97097845e-01 -1.51906794e-01 1.70031867e+02] [-3.39180089e-01 2.42626591e-03 9.40718332e-01 6.25239173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.24, Y:170.02, Z:62.51 [[ 8.44452627e-01 4.41503779e-01 3.03272441e-01 3.99241077e+02] [-4.14518317e-01 8.97255466e-01 -1.52010508e-01 1.70021339e+02] [-3.39226069e-01 2.65369134e-03 9.40701139e-01 6.25124732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.27, Y:170.00, Z:62.50 [[ 8.43913519e-01 4.41738360e-01 3.04429293e-01 3.99271219e+02] [-4.16288558e-01 8.97141668e-01 -1.47785870e-01 1.70002383e+02] [-3.38398892e-01 -2.01193749e-03 9.41000607e-01 6.25024402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.30, Y:170.01, Z:62.49 [[ 8.44898970e-01 4.43641453e-01 2.98877887e-01 3.99298392e+02] [-4.13908315e-01 8.96129828e-01 -1.60097590e-01 1.70005112e+02] [-3.38859317e-01 1.15582462e-02 9.40766055e-01 6.24863530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.33, Y:169.99, Z:62.48 [[ 8.45034807e-01 4.40859558e-01 3.02587221e-01 3.99325314e+02] [-4.13861524e-01 8.97570515e-01 -1.51940149e-01 1.69989481e+02] [-3.38577634e-01 3.16550578e-03 9.40933135e-01 6.24778288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.35, Y:169.98, Z:62.47 [[ 8.44910239e-01 4.41112796e-01 3.02566008e-01 3.99353816e+02] [-4.14097329e-01 8.97446100e-01 -1.52032559e-01 1.69977219e+02] [-3.38600191e-01 3.16209036e-03 9.40925030e-01 6.24662542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.38, Y:169.96, Z:62.46 [[ 8.44629702e-01 4.39756118e-01 3.05311682e-01 3.99384034e+02] [-4.16328429e-01 8.98087287e-01 -1.41809254e-01 1.69956077e+02] [-3.36558028e-01 -7.33362528e-03 9.41634171e-01 6.24609130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.41, Y:169.95, Z:62.44 [[ 8.44253134e-01 4.45343602e-01 2.98170626e-01 3.99413280e+02] [-4.16830306e-01 8.95321565e-01 -1.57008889e-01 1.69953753e+02] [-3.36881496e-01 8.26869375e-03 9.41510747e-01 6.24449996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.070385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:399.44, Y:169.95, Z:62.43 [[ 8.44270881e-01 4.45890920e-01 2.97301137e-01 3.99438770e+02] [-4.15324441e-01 8.94977584e-01 -1.62851873e-01 1.69949153e+02] [-3.38692025e-01 1.40146655e-02 9.40792911e-01 6.24304715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.47, Y:169.93, Z:62.42 [[ 8.44075938e-01 4.42753057e-01 3.02498828e-01 3.99465863e+02] [-4.15716733e-01 8.96639024e-01 -1.52374729e-01 1.69931583e+02] [-3.38696631e-01 2.86201801e-03 9.40891280e-01 6.24223553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.130385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:399.50, Y:169.91, Z:62.42 [[ 8.43437676e-01 4.41931004e-01 3.05466651e-01 3.99495151e+02] [-4.19292873e-01 8.96993207e-01 -1.39988117e-01 1.69907239e+02] [-3.35866600e-01 -1.00087372e-02 9.41856386e-01 6.24172381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.52, Y:169.92, Z:62.39 [[ 8.43364780e-01 4.49472723e-01 2.94465820e-01 3.99522447e+02] [-4.17296159e-01 8.93094954e-01 -1.68063437e-01 1.69916453e+02] [-3.38525869e-01 1.88593282e-02 9.40768070e-01 6.23948075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.55, Y:169.90, Z:62.39 [[ 8.43116717e-01 4.47564206e-01 2.98061206e-01 3.99548745e+02] [-4.19020262e-01 8.94217129e-01 -1.57473000e-01 1.69898668e+02] [-3.37010714e-01 7.87443457e-03 9.41467882e-01 6.23872087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.58, Y:169.87, Z:62.38 [[ 8.42949663e-01 4.41163666e-01 3.07913115e-01 3.99576113e+02] [-4.19449739e-01 8.97327041e-01 -1.37353911e-01 1.69872375e+02] [-3.36894320e-01 -1.33716426e-02 9.41447511e-01 6.23834722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.60, Y:169.88, Z:62.36 [[ 8.42483622e-01 4.49766694e-01 2.96532068e-01 3.99604001e+02] [-4.18826402e-01 8.93029143e-01 -1.64570336e-01 1.69878074e+02] [-3.38830034e-01 1.44523537e-02 9.40736593e-01 6.23617913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.63, Y:169.85, Z:62.36 [[ 8.42193804e-01 4.44324792e-01 3.05426056e-01 3.99631227e+02] [-4.22509392e-01 8.95775242e-01 -1.38103331e-01 1.69848625e+02] [-3.34955833e-01 -1.27356078e-02 9.42147756e-01 6.23619796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:399.66, Y:169.86, Z:62.34 [[ 8.41097764e-01 4.54059121e-01 2.93913024e-01 3.99659276e+02] [-4.22254340e-01 8.90808566e-01 -1.67813502e-01 1.69855949e+02] [-3.38017491e-01 1.70415114e-02 9.40985528e-01 6.23381357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.69, Y:169.84, Z:62.33 [[ 8.39780180e-01 4.51761455e-01 3.01132590e-01 3.99685670e+02] [-4.25405665e-01 8.92138674e-01 -1.52048037e-01 1.69835070e+02] [-3.37341473e-01 -4.16581632e-04 9.41382259e-01 6.23313098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.71, Y:169.82, Z:62.32 [[ 8.39142480e-01 4.53039529e-01 3.00990173e-01 3.99712864e+02] [-4.26748638e-01 8.91490049e-01 -1.52089093e-01 1.69821501e+02] [-3.37232115e-01 -8.22727417e-04 9.41421172e-01 6.23199068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.400385723 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:399.74, Y:169.79, Z:62.32 [[ 8.38434936e-01 4.52170009e-01 3.04251774e-01 3.99742618e+02] [-4.32464363e-01 8.91715114e-01 -1.33486815e-01 1.69789623e+02] [-3.31664640e-01 -1.96580403e-02 9.43192519e-01 6.23191840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.77, Y:169.81, Z:62.29 [[ 8.37303931e-01 4.63710311e-01 2.89646120e-01 3.99769784e+02] [-4.30286786e-01 8.85733475e-01 -1.74153645e-01 1.69805124e+02] [-3.37306105e-01 2.11886338e-02 9.41156540e-01 6.22915510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.79, Y:169.78, Z:62.29 [[ 8.36750085e-01 4.57548111e-01 3.00830552e-01 3.99793378e+02] [-4.31474014e-01 8.89181658e-01 -1.52270005e-01 1.69779638e+02] [-3.37163863e-01 -2.38862591e-03 9.41442948e-01 6.22876272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.82, Y:169.74, Z:62.30 [[ 8.37101354e-01 4.51351636e-01 3.09100345e-01 3.99822403e+02] [-4.39817098e-01 8.91281795e-01 -1.10352538e-01 1.69736268e+02] [-3.25303309e-01 -4.35713578e-02 9.44605364e-01 6.23013782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.85, Y:169.75, Z:62.28 [[ 8.35741323e-01 4.68389205e-01 2.86614712e-01 3.99853650e+02] [-4.42256204e-01 8.83519548e-01 -1.54281101e-01 1.69746014e+02] [-3.25493303e-01 2.18195645e-03 9.45541828e-01 6.22751131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.88, Y:169.76, Z:62.24 [[ 8.33473418e-01 4.77476008e-01 2.78098407e-01 3.99877317e+02] [-4.38494738e-01 8.77785884e-01 -1.92910101e-01 1.69761574e+02] [-3.36220801e-01 3.88407528e-02 9.40981918e-01 6.22413290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.90, Y:169.70, Z:62.27 [[ 8.34457517e-01 4.58069564e-01 3.06354250e-01 3.99900813e+02] [-4.45727492e-01 8.87934196e-01 -1.13577580e-01 1.69696657e+02] [-3.24048847e-01 -4.17748459e-02 9.45117562e-01 6.22660833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.610385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:399.93, Y:169.73, Z:62.22 [[ 8.31689805e-01 4.80135245e-01 2.78858772e-01 3.99929526e+02] [-4.42277613e-01 8.76505933e-01 -1.90073308e-01 1.69729458e+02] [-3.35682262e-01 3.47490405e-02 9.41334119e-01 6.22203074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:399.95, Y:169.69, Z:62.22 [[ 8.31540054e-01 4.68266929e-01 2.98776208e-01 3.99950637e+02] [-4.43076201e-01 8.83564737e-01 -1.51647075e-01 1.69693326e+02] [-3.34999432e-01 -6.28001013e-03 9.42197401e-01 6.22219144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:399.98, Y:169.66, Z:62.22 [[ 8.32111920e-01 4.64867020e-01 3.02470506e-01 3.99978890e+02] [-4.47223799e-01 8.84959588e-01 -1.29759009e-01 1.69661900e+02] [-3.27994858e-01 -2.72979908e-02 9.44285017e-01 6.22248012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.01, Y:169.66, Z:62.20 [[ 8.30480490e-01 4.74932990e-01 2.91102749e-01 4.00007288e+02] [-4.47485522e-01 8.80019937e-01 -1.59127679e-01 1.69662196e+02] [-3.31751207e-01 1.88816733e-03 9.43365026e-01 6.22009643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.03, Y:169.65, Z:62.19 [[ 8.30126442e-01 4.73783967e-01 2.93970819e-01 4.00032487e+02] [-4.47611699e-01 8.80637099e-01 -1.55312803e-01 1.69645622e+02] [-3.32466325e-01 -2.65551339e-03 9.43111389e-01 6.21901473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:400.06, Y:169.64, Z:62.17 [[ 8.28642676e-01 4.76836943e-01 2.93219791e-01 4.00057639e+02] [-4.47839312e-01 8.78980642e-01 -1.63807759e-01 1.69635327e+02] [-3.35844111e-01 4.42274992e-03 9.41907199e-01 6.21725039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.08, Y:169.62, Z:62.16 [[ 8.28153559e-01 4.74350350e-01 2.98585714e-01 4.00081965e+02] [-4.48503552e-01 8.80316251e-01 -1.54556987e-01 1.69615017e+02] [-3.36164017e-01 -5.91983443e-03 9.41784853e-01 6.21640492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.11, Y:169.60, Z:62.15 [[ 8.28213601e-01 4.74006718e-01 2.98964650e-01 4.00107075e+02] [-4.49125007e-01 8.80479692e-01 -1.51796708e-01 1.69599121e+02] [-3.35184962e-01 -8.55240276e-03 9.42113527e-01 6.21546768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.13, Y:169.59, Z:62.13 [[ 8.28191805e-01 4.78451027e-01 2.91861181e-01 4.00132749e+02] [-4.48433964e-01 8.78083074e-01 -1.66964357e-01 1.69591646e+02] [-3.36162631e-01 7.39804550e-03 9.41774896e-01 6.21336041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:169.56, Z:62.14 [[ 8.28363174e-01 4.69764693e-01 3.05181234e-01 4.00156085e+02] [-4.50068969e-01 8.82463054e-01 -1.36736540e-01 1.69558940e+02] [-3.33545163e-01 -2.40850889e-02 9.42426407e-01 6.21375740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.18, Y:169.56, Z:62.11 [[ 8.27582544e-01 4.78286149e-01 2.93852842e-01 4.00182871e+02] [-4.47436266e-01 8.78162395e-01 -1.69208734e-01 1.69561051e+02] [-3.38980709e-01 8.55377632e-03 9.40754438e-01 6.21091934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.21, Y:169.53, Z:62.11 [[ 8.28243420e-01 4.71704209e-01 3.02502855e-01 4.00206832e+02] [-4.47569644e-01 8.81679921e-01 -1.49405261e-01 1.69533684e+02] [-3.37185783e-01 -1.16471707e-02 9.41366077e-01 6.21054500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.23, Y:169.52, Z:62.09 [[ 8.28218927e-01 4.73450949e-01 2.99829299e-01 4.00233242e+02] [-4.46849618e-01 8.80809485e-01 -1.56524980e-01 1.69521707e+02] [-3.38199391e-01 -4.34165674e-03 9.41064462e-01 6.20907913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.26, Y:169.49, Z:62.09 [[ 8.29615706e-01 4.67704734e-01 3.04942720e-01 4.00257691e+02] [-4.46154974e-01 8.83688837e-01 -1.41561925e-01 1.69492715e+02] [-3.35683660e-01 -1.86097148e-02 9.41790932e-01 6.20886804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:400.28, Y:169.48, Z:62.08 [[ 8.30610006e-01 4.68085222e-01 3.01634288e-01 4.00284068e+02] [-4.45841420e-01 8.83549714e-01 -1.43406175e-01 1.69477462e+02] [-3.33635201e-01 -1.53664553e-02 9.42577013e-01 6.20802099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.060385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:400.31, Y:169.47, Z:62.06 [[ 8.31173206e-01 4.70843666e-01 2.95731879e-01 4.00309656e+02] [-4.41779096e-01 8.82203719e-01 -1.62935043e-01 1.69470201e+02] [-3.37612696e-01 4.77907998e-03 9.41272983e-01 6.20585328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0903857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:400.34, Y:169.45, Z:62.05 [[ 8.31189180e-01 4.67610357e-01 3.00774169e-01 4.00335558e+02] [-4.42027612e-01 8.83913968e-01 -1.52668555e-01 1.69450652e+02] [-3.37247886e-01 -6.05403699e-03 9.41396416e-01 6.20512326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.36, Y:169.43, Z:62.05 [[ 8.32137678e-01 4.64285206e-01 3.03292158e-01 4.00360732e+02] [-4.42554165e-01 8.85530279e-01 -1.41357474e-01 1.69426780e+02] [-3.34204573e-01 -1.65943281e-02 9.42354462e-01 6.20474453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.39, Y:169.42, Z:62.03 [[ 8.33017427e-01 4.67226416e-01 2.96279332e-01 4.00386790e+02] [-4.40029423e-01 8.84137572e-01 -1.57082339e-01 1.69417145e+02] [-3.35344708e-01 4.80702179e-04 9.42095375e-01 6.20290478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.41, Y:169.40, Z:62.02 [[ 8.34424316e-01 4.63481225e-01 2.98196606e-01 4.00411368e+02] [-4.38321961e-01 8.86092909e-01 -1.50709042e-01 1.69399740e+02] [-3.34080709e-01 -4.95083220e-03 9.42531468e-01 6.20220125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.44, Y:169.39, Z:62.00 [[ 8.33737201e-01 4.66626206e-01 2.95198685e-01 4.00436116e+02] [-4.36430108e-01 8.84408321e-01 -1.65380421e-01 1.69387983e+02] [-3.38247012e-01 9.05021506e-03 9.41013843e-01 6.20014018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.46, Y:169.36, Z:62.00 [[ 8.35408583e-01 4.58314933e-01 3.03380819e-01 4.00459909e+02] [-4.36156979e-01 8.88677684e-01 -1.41488739e-01 1.69359513e+02] [-3.34454166e-01 -1.41207546e-02 9.42306222e-01 6.20044105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.49, Y:169.35, Z:61.99 [[ 8.35426902e-01 4.62020368e-01 2.97655963e-01 4.00486626e+02] [-4.36156820e-01 8.86865855e-01 -1.52434195e-01 1.69349350e+02] [-3.34408613e-01 -2.47705121e-03 9.42424928e-01 6.19896736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.51, Y:169.33, Z:61.98 [[ 8.35489280e-01 4.62069958e-01 2.97403794e-01 4.00511747e+02] [-4.36218104e-01 8.86840236e-01 -1.52407878e-01 1.69332033e+02] [-3.34172753e-01 -2.39777082e-03 9.42508791e-01 6.19782302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.54, Y:169.32, Z:61.97 [[ 8.35072255e-01 4.62610424e-01 2.97734654e-01 4.00538185e+02] [-4.36696508e-01 8.86558085e-01 -1.52679150e-01 1.69316825e+02] [-3.34590031e-01 -2.52156144e-03 9.42360416e-01 6.19663460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.56, Y:169.30, Z:61.96 [[ 8.33992694e-01 4.64640430e-01 2.97599492e-01 4.00564148e+02] [-4.38837036e-01 8.85493553e-01 -1.52719425e-01 1.69299496e+02] [-3.34482051e-01 -3.23079456e-03 9.42396583e-01 6.19550229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.59, Y:169.28, Z:61.94 [[ 8.33427746e-01 4.65660888e-01 2.97587181e-01 4.00591070e+02] [-4.39883381e-01 8.84956177e-01 -1.52824003e-01 1.69283637e+02] [-3.34515775e-01 -3.53589106e-03 9.42383517e-01 6.19438314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.62, Y:169.27, Z:61.93 [[ 8.32394314e-01 4.67057591e-01 2.98289983e-01 4.00616882e+02] [-4.41201737e-01 8.84217838e-01 -1.53296585e-01 1.69266456e+02] [-3.35351657e-01 -4.00285326e-03 9.42084520e-01 6.19328164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.64, Y:169.25, Z:61.92 [[ 8.31872356e-01 4.67728864e-01 2.98693981e-01 4.00644086e+02] [-4.41803143e-01 8.83862136e-01 -1.53615453e-01 1.69250888e+02] [-3.35854681e-01 -4.17549114e-03 9.41904559e-01 6.19213311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.480385723 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:400.67, Y:169.24, Z:61.91 [[ 8.31666796e-01 4.70251384e-01 2.95286262e-01 4.00671663e+02] [-4.42730579e-01 8.82531827e-01 -1.58515640e-01 1.69238416e+02] [-3.35141724e-01 1.09993631e-03 9.42167085e-01 6.19079098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:400.70, Y:169.22, Z:61.90 [[ 8.30712160e-01 4.67530301e-01 3.02213047e-01 4.00696170e+02] [-4.43084855e-01 8.83923795e-01 -1.49514331e-01 1.69217963e+02] [-3.37035783e-01 -9.70265101e-03 9.41441841e-01 6.18996056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.72, Y:169.21, Z:61.89 [[ 8.29962630e-01 4.70127793e-01 3.00236392e-01 4.00723770e+02] [-4.43978455e-01 8.82584667e-01 -1.54684963e-01 1.69205924e+02] [-3.37705736e-01 -4.91575040e-03 9.41238902e-01 6.18866472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.75, Y:169.19, Z:61.87 [[ 8.30290319e-01 4.72621717e-01 2.95375522e-01 4.00750697e+02] [-4.44803698e-01 8.81264502e-01 -1.59757778e-01 1.69193786e+02] [-3.35808957e-01 1.26121216e-03 9.41929272e-01 6.18726392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.78, Y:169.17, Z:61.87 [[ 8.29964035e-01 4.68973643e-01 3.02032155e-01 4.00776140e+02] [-4.44774992e-01 8.83148459e-01 -1.49077184e-01 1.69173223e+02] [-3.36652502e-01 -1.06076484e-02 9.41569207e-01 6.18662329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.80, Y:169.16, Z:61.85 [[ 8.30201478e-01 4.70639232e-01 2.98771181e-01 4.00803792e+02] [-4.44662779e-01 8.82312807e-01 -1.54269649e-01 1.69161745e+02] [-3.36214988e-01 -4.77753347e-03 9.41773145e-01 6.18524574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.83, Y:169.15, Z:61.84 [[ 8.31402900e-01 4.68928524e-01 2.98119537e-01 4.00830316e+02] [-4.42922168e-01 8.83227192e-01 -1.54044410e-01 1.69148666e+02] [-3.35543100e-01 -3.97078268e-03 9.42016487e-01 6.18402871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.690385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:400.86, Y:169.14, Z:61.83 [[ 8.32041790e-01 4.68115652e-01 2.97614174e-01 4.00858127e+02] [-4.42112904e-01 8.83660121e-01 -1.53886225e-01 1.69135198e+02] [-3.35026327e-01 -3.53929648e-03 9.42202119e-01 6.18281118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.88, Y:169.11, Z:61.83 [[ 8.34379069e-01 4.61400503e-01 3.01531335e-01 4.00884896e+02] [-4.40400296e-01 8.87027360e-01 -1.38672424e-01 1.69113916e+02] [-3.31450070e-01 -1.70891211e-02 9.43317981e-01 6.18253560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.91, Y:169.12, Z:61.80 [[ 8.34084202e-01 4.69720205e-01 2.89251574e-01 4.00913791e+02] [-4.38883033e-01 8.82718221e-01 -1.67899449e-01 1.69117099e+02] [-3.34193399e-01 1.30946701e-02 9.42413552e-01 6.17992397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.94, Y:169.10, Z:61.79 [[ 8.35377372e-01 4.62427190e-01 2.97162819e-01 4.00938631e+02] [-4.36059020e-01 8.86656699e-01 -1.53923453e-01 1.69096008e+02] [-3.34659794e-01 -9.96358102e-04 9.42338490e-01 6.17943301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.97, Y:169.08, Z:61.79 [[ 8.36814077e-01 4.57555629e-01 3.00641062e-01 4.00965658e+02] [-4.35026844e-01 8.89103786e-01 -1.42288797e-01 1.69075541e+02] [-3.32406146e-01 -1.17176641e-02 9.43063545e-01 6.17902707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.99, Y:169.08, Z:61.77 [[ 8.36452893e-01 4.63814676e-01 2.91928935e-01 4.00993638e+02] [-4.33431650e-01 8.85851848e-01 -1.65540049e-01 1.69075404e+02] [-3.35385691e-01 1.19352125e-02 9.42005302e-01 6.17672291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.02, Y:169.06, Z:61.76 [[ 8.37541535e-01 4.58053564e-01 2.97844104e-01 4.01019106e+02] [-4.31217481e-01 8.88924084e-01 -1.54484488e-01 1.69056323e+02] [-3.35522967e-01 9.51591385e-04 9.42031546e-01 6.17611141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.05, Y:169.04, Z:61.75 [[ 8.38462009e-01 4.56938264e-01 2.96966131e-01 4.01046616e+02] [-4.29803367e-01 8.89495065e-01 -1.55137344e-01 1.69044135e+02] [-3.35038097e-01 2.43972587e-03 9.42201423e-01 6.17491381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.07, Y:169.02, Z:61.75 [[ 8.39471302e-01 4.51206713e-01 3.02820798e-01 4.01074576e+02] [-4.29892958e-01 8.92301683e-01 -1.37803311e-01 1.69019269e+02] [-3.32385287e-01 -1.44986037e-02 9.43032243e-01 6.17478662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.10, Y:169.02, Z:61.72 [[ 8.39322480e-01 4.58177089e-01 2.92594480e-01 4.01102895e+02] [-4.28581410e-01 8.88794386e-01 -1.62365375e-01 1.69020885e+02] [-3.34448426e-01 1.08763551e-02 9.42351291e-01 6.17245644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:169.01, Z:61.71 [[ 8.38783892e-01 4.58104191e-01 2.94248420e-01 4.01128281e+02] [-4.27051690e-01 8.88789977e-01 -1.66370763e-01 1.69012000e+02] [-3.37740190e-01 1.38898313e-02 9.41136885e-01 6.17093230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.15, Y:168.99, Z:61.70 [[ 8.37779491e-01 4.55781665e-01 3.00646967e-01 4.01154559e+02] [-4.28526657e-01 8.90090757e-01 -1.55252530e-01 1.68992696e+02] [-3.38364344e-01 1.23214611e-03 9.41014374e-01 6.17023870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.18, Y:168.98, Z:61.69 [[ 8.37201233e-01 4.56399834e-01 3.01319245e-01 4.01180973e+02] [-4.30210413e-01 8.89772446e-01 -1.52394210e-01 1.68977575e+02] [-3.37658254e-01 -2.04605627e-03 9.41266550e-01 6.16939050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.21, Y:168.97, Z:61.68 [[ 8.36742650e-01 4.58626735e-01 2.99204372e-01 4.01208231e+02] [-4.29730338e-01 8.88611577e-01 -1.60316253e-01 1.68969829e+02] [-3.39401789e-01 5.56625063e-03 9.40625028e-01 6.16777726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.23, Y:168.95, Z:61.67 [[ 8.35922944e-01 4.59956499e-01 2.99454255e-01 4.01233834e+02] [-4.33011193e-01 8.87941451e-01 -1.55117012e-01 1.68953935e+02] [-3.37244923e-01 -1.17523779e-06 9.41416944e-01 6.16705329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.140385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:401.26, Y:168.94, Z:61.66 [[ 8.35790837e-01 4.58090436e-01 3.02666200e-01 4.01261130e+02] [-4.32641630e-01 8.88891307e-01 -1.50643502e-01 1.68936729e+02] [-3.38045702e-01 -5.03953986e-03 9.41116203e-01 6.16593351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.29, Y:168.93, Z:61.64 [[ 8.34081899e-01 4.63472973e-01 2.99165823e-01 4.01287057e+02] [-4.34398064e-01 8.86097682e-01 -1.61645353e-01 1.68930331e+02] [-3.40008395e-01 4.86840822e-03 9.40409799e-01 6.16436620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.31, Y:168.91, Z:61.63 [[ 8.33037165e-01 4.63058095e-01 3.02698336e-01 4.01312968e+02] [-4.35646600e-01 8.86327227e-01 -1.56958868e-01 1.68913421e+02] [-3.40970851e-01 -1.11693066e-03 9.40073205e-01 6.16341572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.34, Y:168.89, Z:61.63 [[ 8.32740679e-01 4.62716808e-01 3.04033085e-01 4.01341661e+02] [-4.38091408e-01 8.86461037e-01 -1.49207066e-01 1.68893534e+02] [-3.38554101e-01 -8.94348844e-03 9.40904424e-01 6.16288795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.37, Y:168.88, Z:61.61 [[ 8.32492012e-01 4.64497538e-01 3.01991866e-01 4.01369561e+02] [-4.37052618e-01 8.85573808e-01 -1.57302382e-01 1.68884741e+02] [-3.40502656e-01 -1.03335888e-03 9.40242986e-01 6.16143032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.290385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:401.40, Y:168.87, Z:61.60 [[ 8.32429977e-01 4.64606827e-01 3.01994751e-01 4.01396219e+02] [-4.37131758e-01 8.85516533e-01 -1.57404879e-01 1.68871461e+02] [-3.40552726e-01 -9.82956087e-04 9.40224906e-01 6.16005046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.42, Y:168.85, Z:61.59 [[ 8.32024282e-01 4.64267046e-01 3.03630867e-01 4.01424975e+02] [-4.37324295e-01 8.85689903e-01 -1.55887322e-01 1.68854411e+02] [-3.41296140e-01 -3.08311775e-03 9.39950764e-01 6.15915514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.45, Y:168.85, Z:61.57 [[ 8.31456778e-01 4.67899579e-01 2.99582393e-01 4.01452828e+02] [-4.36637746e-01 8.83733564e-01 -1.68411599e-01 1.68847243e+02] [-3.43550733e-01 9.21798472e-03 9.39088879e-01 6.15730161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.48, Y:168.83, Z:61.57 [[ 8.31778104e-01 4.63287701e-01 3.05793544e-01 4.01479529e+02] [-4.35178894e-01 8.86207490e-01 -1.58920149e-01 1.68828482e+02] [-3.44622280e-01 -8.88595900e-04 9.38741016e-01 6.15659822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.51, Y:168.81, Z:61.56 [[ 8.31974112e-01 4.62464117e-01 3.06506145e-01 4.01505833e+02] [-4.36471914e-01 8.86614221e-01 -1.52995071e-01 1.68811618e+02] [-3.42507437e-01 -6.49338583e-03 9.39492678e-01 6.15602477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.53, Y:168.80, Z:61.55 [[ 8.32008306e-01 4.64525971e-01 3.03278422e-01 4.01532961e+02] [-4.36652939e-01 8.85559318e-01 -1.58489446e-01 1.68800882e+02] [-3.42193497e-01 -5.62878891e-04 9.39629339e-01 6.15468252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.56, Y:168.79, Z:61.54 [[ 8.32079511e-01 4.64594058e-01 3.02978629e-01 4.01560071e+02] [-4.36756772e-01 8.85523623e-01 -1.58402764e-01 1.68786807e+02] [-3.41887716e-01 -5.24274008e-04 9.39740664e-01 6.15353413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.500385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:401.59, Y:168.77, Z:61.52 [[ 8.32944369e-01 4.63640583e-01 3.02061399e-01 4.01587746e+02] [-4.35876076e-01 8.86023369e-01 -1.58033657e-01 1.68773716e+02] [-3.40904275e-01 -2.80927925e-05 9.40098013e-01 6.15218430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.62, Y:168.76, Z:61.51 [[ 8.32735185e-01 4.64531810e-01 3.01267837e-01 4.01615772e+02] [-4.34230129e-01 8.85530949e-01 -1.65163959e-01 1.68763641e+02] [-3.43505906e-01 6.71826791e-03 9.39126486e-01 6.15051974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.64, Y:168.74, Z:61.50 [[ 8.33294176e-01 4.60759566e-01 3.05485580e-01 4.01640995e+02] [-4.34799319e-01 8.87506826e-01 -1.52581736e-01 1.68743384e+02] [-3.41424032e-01 -5.67945020e-03 9.39892214e-01 6.15021684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:168.73, Z:61.49 [[ 8.34038570e-01 4.61477439e-01 3.02354489e-01 4.01669091e+02] [-4.33416277e-01 8.87151231e-01 -1.58470895e-01 1.68734103e+02] [-3.41364900e-01 1.12548230e-03 9.39930178e-01 6.14882422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.69, Y:168.73, Z:61.47 [[ 8.33985348e-01 4.63424499e-01 2.99509890e-01 4.01693595e+02] [-4.32026901e-01 8.86071462e-01 -1.68018219e-01 1.68728547e+02] [-3.43250925e-01 1.07284032e-02 9.39182466e-01 6.14699028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.72, Y:168.71, Z:61.46 [[ 8.34280546e-01 4.60223533e-01 3.03595570e-01 4.01722202e+02] [-4.31287637e-01 8.87797717e-01 -1.60643044e-01 1.68708458e+02] [-3.43463163e-01 3.08435049e-03 9.39161084e-01 6.14605905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.75, Y:168.69, Z:61.46 [[ 8.34628406e-01 4.57525027e-01 3.06702258e-01 4.01747261e+02] [-4.32416790e-01 8.89163439e-01 -1.49679986e-01 1.68689950e+02] [-3.41190774e-01 -7.69603741e-03 9.39962567e-01 6.14584792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.78, Y:168.69, Z:61.44 [[ 8.35857094e-01 4.62485928e-01 2.95718929e-01 4.01777114e+02] [-4.31640328e-01 8.86552031e-01 -1.66469588e-01 1.68687033e+02] [-3.39160059e-01 1.15005705e-02 9.40658382e-01 6.14409743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.80, Y:168.67, Z:61.44 [[ 8.34773493e-01 4.57491581e-01 3.06357092e-01 4.01801571e+02] [-4.31821234e-01 8.89193289e-01 -1.51214140e-01 1.68665433e+02] [-3.41589866e-01 -6.06194175e-03 9.39829568e-01 6.14365999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.83, Y:168.66, Z:61.42 [[ 8.34395038e-01 4.60882631e-01 3.02278217e-01 4.01829477e+02] [-4.32643554e-01 8.87459332e-01 -1.58856823e-01 1.68656502e+02] [-3.41473974e-01 1.77062257e-03 9.39889563e-01 6.14219619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:401.86, Y:168.64, Z:61.41 [[ 8.34025730e-01 4.62307475e-01 3.01119378e-01 4.01857044e+02] [-4.34343095e-01 8.86718758e-01 -1.58353783e-01 1.68643250e+02] [-3.40216339e-01 1.28200706e-03 9.40346319e-01 6.14086984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.89, Y:168.63, Z:61.40 [[ 8.33224499e-01 4.64308683e-01 3.00257191e-01 4.01885599e+02] [-4.36594761e-01 8.85673260e-01 -1.58012313e-01 1.68629569e+02] [-3.39296254e-01 5.69013534e-04 9.40679397e-01 6.13981864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.91, Y:168.62, Z:61.39 [[ 8.32932335e-01 4.65107000e-01 2.99831959e-01 4.01912261e+02] [-4.37483161e-01 8.85254402e-01 -1.57902274e-01 1.68616403e+02] [-3.38869015e-01 3.50476391e-04 9.40833497e-01 6.13870330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.94, Y:168.61, Z:61.37 [[ 8.31978090e-01 4.68246867e-01 2.97585835e-01 4.01940060e+02] [-4.37385481e-01 8.83550436e-01 -1.67429293e-01 1.68607511e+02] [-3.41330336e-01 9.13778019e-03 9.39898985e-01 6.13687831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.97, Y:168.59, Z:61.37 [[ 8.32521745e-01 4.63463399e-01 3.03495013e-01 4.01965478e+02] [-4.38546968e-01 8.86078987e-01 -1.50135223e-01 1.68585258e+02] [-3.38502734e-01 -8.10597976e-03 9.40930493e-01 6.13684944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.99, Y:168.58, Z:61.35 [[ 8.33130053e-01 4.66378810e-01 2.97296351e-01 4.01994394e+02] [-4.38137081e-01 8.84580273e-01 -1.59855059e-01 1.68577403e+02] [-3.37535499e-01 2.92349830e-03 9.41308260e-01 6.13533260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.02, Y:168.57, Z:61.34 [[ 8.33550307e-01 4.63901230e-01 2.99982557e-01 4.02019394e+02] [-4.35477454e-01 8.85882945e-01 -1.59908706e-01 1.68566173e+02] [-3.39931277e-01 2.65631082e-03 9.40446528e-01 6.13410478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.05, Y:168.55, Z:61.33 [[ 8.33456759e-01 4.63143829e-01 3.01409397e-01 4.02046737e+02] [-4.35696104e-01 8.86283039e-01 -1.57070941e-01 1.68549861e+02] [-3.39880474e-01 -4.11062371e-04 9.40468551e-01 6.13305971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.07, Y:168.54, Z:61.32 [[ 8.33934194e-01 4.62766000e-01 3.00668237e-01 4.02073101e+02] [-4.34894238e-01 8.86479724e-01 -1.58179329e-01 1.68537236e+02] [-3.39736312e-01 1.15226734e-03 9.40520022e-01 6.13191378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:402.10, Y:168.52, Z:61.31 [[ 8.34490857e-01 4.60563239e-01 3.02500434e-01 4.02100426e+02] [-4.33318335e-01 8.87626488e-01 -1.56059088e-01 1.68522561e+02] [-3.40382477e-01 -8.49102244e-04 9.40286684e-01 6.13093146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.13, Y:168.51, Z:61.30 [[ 8.34509204e-01 4.60758103e-01 3.02152874e-01 4.02127096e+02] [-4.32579767e-01 8.87524120e-01 -1.58668466e-01 1.68510703e+02] [-3.41275745e-01 1.70507512e-03 9.39961680e-01 6.12971055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.130385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:402.15, Y:168.50, Z:61.29 [[ 8.35271395e-01 4.58319812e-01 3.03750961e-01 4.02153982e+02] [-4.30617715e-01 8.88787306e-01 -1.56925171e-01 1.68497633e+02] [-3.41891913e-01 2.74562265e-04 9.39739243e-01 6.12863296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.18, Y:168.48, Z:61.28 [[ 8.34594634e-01 4.59614413e-01 3.03655049e-01 4.02183168e+02] [-4.33215206e-01 8.88112115e-01 -1.53562547e-01 1.68478776e+02] [-3.40259288e-01 -3.38550687e-03 9.40325558e-01 6.12790199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.21, Y:168.47, Z:61.27 [[ 8.34842218e-01 4.60882878e-01 3.01040604e-01 4.02212510e+02] [-4.32651329e-01 8.87457821e-01 -1.58844086e-01 1.68468767e+02] [-3.40369357e-01 2.36413182e-03 9.40288845e-01 6.12652782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.24, Y:168.46, Z:61.25 [[ 8.34675594e-01 4.62487291e-01 2.99035380e-01 4.02238635e+02] [-4.31388364e-01 8.86564483e-01 -1.67055372e-01 1.68463529e+02] [-3.42375134e-01 1.04366587e-02 9.39505372e-01 6.12490906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.27, Y:168.45, Z:61.24 [[ 8.33737043e-01 4.61229002e-01 3.03562764e-01 4.02266545e+02] [-4.32835901e-01 8.87279948e-01 -1.59334169e-01 1.68447712e+02] [-3.42834693e-01 1.44993688e-03 9.39394630e-01 6.12403105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.29, Y:168.43, Z:61.24 [[ 8.32728086e-01 4.61777816e-01 3.05491707e-01 4.02294185e+02] [-4.36594365e-01 8.86960021e-01 -1.50622982e-01 1.68427303e+02] [-3.40513282e-01 -7.94797015e-03 9.40206113e-01 6.12356064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.32, Y:168.43, Z:61.22 [[ 8.32710454e-01 4.66541633e-01 2.98215031e-01 4.02323548e+02] [-4.35930112e-01 8.84457534e-01 -1.66432594e-01 1.68428152e+02] [-3.41406265e-01 8.58924909e-03 9.39876581e-01 6.12155867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.35, Y:168.41, Z:61.21 [[ 8.32297739e-01 4.64766619e-01 3.02113329e-01 4.02350390e+02] [-4.39195853e-01 8.85412569e-01 -1.52156449e-01 1.68405275e+02] [-3.38212177e-01 -6.04745255e-03 9.41050451e-01 6.12120021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.38, Y:168.40, Z:61.20 [[ 8.32421226e-01 4.67910913e-01 2.96874183e-01 4.02380210e+02] [-4.40283432e-01 8.83774887e-01 -1.58405961e-01 1.68397404e+02] [-3.36489825e-01 1.15170032e-03 9.41686398e-01 6.11972348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.41, Y:168.38, Z:61.19 [[ 8.32680047e-01 4.67777015e-01 2.96358911e-01 4.02408497e+02] [-4.40201458e-01 8.83845553e-01 -1.58239424e-01 1.68383886e+02] [-3.35956271e-01 1.30518658e-03 9.41876680e-01 6.11856103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.44, Y:168.38, Z:61.17 [[ 8.33718763e-01 4.65758441e-01 2.96617766e-01 4.02435636e+02] [-4.35993538e-01 8.84880920e-01 -1.63998150e-01 1.68377961e+02] [-3.38854924e-01 7.40490578e-03 9.40809496e-01 6.11704249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.46, Y:168.36, Z:61.16 [[ 8.33627573e-01 4.63636337e-01 3.00177310e-01 4.02461735e+02] [-4.35448132e-01 8.86023311e-01 -1.59209347e-01 1.68362155e+02] [-3.39779333e-01 2.00965320e-03 9.40503039e-01 6.11608487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:168.34, Z:61.15 [[ 8.33794720e-01 4.62595591e-01 3.01316586e-01 4.02490333e+02] [-4.37042600e-01 8.86554192e-01 -1.51708372e-01 1.68342338e+02] [-3.37313106e-01 -5.19454476e-03 9.41378184e-01 6.11549588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.52, Y:168.33, Z:61.14 [[ 8.34079259e-01 4.64845460e-01 2.97036172e-01 4.02518530e+02] [-4.36748033e-01 8.85386587e-01 -1.59190914e-01 1.68333244e+02] [-3.36991016e-01 3.04787612e-03 9.41502929e-01 6.11411475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.55, Y:168.32, Z:61.13 [[ 8.34200165e-01 4.64689014e-01 2.96941418e-01 4.02546616e+02] [-4.36575894e-01 8.85468262e-01 -1.59208813e-01 1.68319533e+02] [-3.36914787e-01 3.17455275e-03 9.41529792e-01 6.11296537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.580385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:402.57, Y:168.31, Z:61.12 [[ 8.34238264e-01 4.64667041e-01 2.96868759e-01 4.02573624e+02] [-4.36525342e-01 8.85479366e-01 -1.59285650e-01 1.68307942e+02] [-3.36885953e-01 3.29144727e-03 9.41539708e-01 6.11180670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.61, Y:168.30, Z:61.10 [[ 8.36245681e-01 4.68554311e-01 2.84868423e-01 4.02605768e+02] [-4.36196154e-01 8.83213277e-01 -1.72241757e-01 1.68301327e+02] [-3.32304191e-01 1.97779149e-02 9.42964877e-01 6.11002283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.63, Y:168.27, Z:61.10 [[ 8.34341424e-01 4.60996245e-01 3.02252956e-01 4.02628594e+02] [-4.37126877e-01 8.87349130e-01 -1.46736550e-01 1.68274922e+02] [-3.35848896e-01 -9.69450902e-03 9.41865986e-01 6.10998069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.66, Y:168.27, Z:61.08 [[ 8.33882689e-01 4.66108758e-01 2.95604952e-01 4.02657853e+02] [-4.38285925e-01 8.84723196e-01 -1.58651552e-01 1.68267693e+02] [-3.35477436e-01 2.73729270e-03 9.42044265e-01 6.10847559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.69, Y:168.25, Z:61.07 [[ 8.33088251e-01 4.67830242e-01 2.95125110e-01 4.02685953e+02] [-4.40165380e-01 8.83815739e-01 -1.58506079e-01 1.68254681e+02] [-3.34990155e-01 2.14569603e-03 9.42219185e-01 6.10736978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.730385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:402.71, Y:168.24, Z:61.06 [[ 8.32694316e-01 4.68609962e-01 2.94999797e-01 4.02712431e+02] [-4.40977077e-01 8.83403054e-01 -1.58550503e-01 1.68241199e+02] [-3.34902067e-01 1.93595393e-03 9.42250953e-01 6.10626172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.74, Y:168.22, Z:61.06 [[ 8.33132093e-01 4.66159603e-01 2.97634240e-01 4.02738951e+02] [-4.41324176e-01 8.84679106e-01 -1.50252627e-01 1.68223448e+02] [-3.33352498e-01 -6.17290038e-03 9.42782057e-01 6.10566041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.77, Y:168.22, Z:61.04 [[ 8.31221620e-01 4.73773216e-01 2.90877221e-01 4.02767606e+02] [-4.43906043e-01 8.80604111e-01 -1.65782462e-01 1.68219258e+02] [-3.34690967e-01 8.67981024e-03 9.42287970e-01 6.10378641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.820385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:402.79, Y:168.20, Z:61.03 [[ 8.30702058e-01 4.72411345e-01 2.94553243e-01 4.02794060e+02] [-4.44984771e-01 8.81377919e-01 -1.58623826e-01 1.68201954e+02] [-3.34548419e-01 6.97430826e-04 9.42378305e-01 6.10287877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.82, Y:168.19, Z:61.02 [[ 8.30222308e-01 4.73603674e-01 2.93990613e-01 4.02820942e+02] [-4.46317384e-01 8.80738018e-01 -1.58434013e-01 1.68189468e+02] [-3.33963640e-01 3.22330215e-04 9.42585902e-01 6.10175509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.880385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:402.85, Y:168.17, Z:61.01 [[ 8.30109958e-01 4.73905063e-01 2.93822138e-01 4.02848446e+02] [-4.46632141e-01 8.80575892e-01 -1.58448189e-01 1.68174684e+02] [-3.33822090e-01 2.99009046e-04 9.42636050e-01 6.10064405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.87, Y:168.16, Z:61.00 [[ 8.30179537e-01 4.73778359e-01 2.93829889e-01 4.02874791e+02] [-4.46455813e-01 8.80644002e-01 -1.58566545e-01 1.68159799e+02] [-3.33884926e-01 4.56639332e-04 9.42613732e-01 6.09959923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.90, Y:168.15, Z:60.98 [[ 8.30020288e-01 4.73932119e-01 2.94031747e-01 4.02902091e+02] [-4.46542617e-01 8.80561243e-01 -1.58781575e-01 1.68145035e+02] [-3.34164648e-01 4.94222740e-04 9.42514585e-01 6.09847462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.93, Y:168.13, Z:60.97 [[ 8.30063023e-01 4.74051341e-01 2.93718749e-01 4.02929300e+02] [-4.46690583e-01 8.80497034e-01 -1.58721445e-01 1.68130928e+02] [-3.33860601e-01 5.47403194e-04 9.42622300e-01 6.09736683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.96, Y:168.12, Z:60.96 [[ 8.29692299e-01 4.74269801e-01 2.94412712e-01 4.02956414e+02] [-4.46749413e-01 8.80379371e-01 -1.59207805e-01 1.68116821e+02] [-3.34702332e-01 5.64783237e-04 9.42323740e-01 6.09619395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.98, Y:168.12, Z:60.94 [[ 8.29257816e-01 4.76913657e-01 2.91350028e-01 4.02982016e+02] [-4.42369109e-01 8.78727077e-01 -1.79299459e-01 1.68117392e+02] [-3.41527519e-01 1.98012251e-02 9.39663166e-01 6.09381265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.060385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.00, Y:168.09, Z:60.93 [[ 8.28130323e-01 4.70789121e-01 3.04233086e-01 4.03002683e+02] [-4.43116532e-01 8.82240364e-01 -1.59058730e-01 1.68092282e+02] [-3.43289828e-01 -3.08935276e-03 9.39224441e-01 6.09343398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.03, Y:168.06, Z:60.94 [[ 8.28473404e-01 4.68216528e-01 3.07254132e-01 4.03030464e+02] [-4.47448946e-01 8.83344454e-01 -1.39613814e-01 1.68061393e+02] [-3.36780729e-01 -2.18142065e-02 9.41330378e-01 6.09374417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.06, Y:168.06, Z:60.92 [[ 8.27900364e-01 4.75584312e-01 2.97322299e-01 4.03060127e+02] [-4.48784092e-01 8.79664680e-01 -1.57425824e-01 1.68055275e+02] [-3.36413177e-01 -3.10062117e-03 9.41709382e-01 6.09196632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.09, Y:168.04, Z:60.91 [[ 8.26063491e-01 4.80139416e-01 2.95102102e-01 4.03087825e+02] [-4.52750421e-01 8.77190809e-01 -1.59854127e-01 1.68041703e+02] [-3.35613119e-01 -1.55794255e-03 9.41998624e-01 6.09066183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.11, Y:168.03, Z:60.89 [[ 8.24669662e-01 4.82479009e-01 2.95184610e-01 4.03114807e+02] [-4.55179767e-01 8.75904226e-01 -1.60009896e-01 1.68026382e+02] [-3.35754863e-01 -2.40675451e-03 9.41946325e-01 6.08944375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:168.03, Z:60.87 [[ 8.23221311e-01 4.88555767e-01 2.89171120e-01 4.03140847e+02] [-4.53346118e-01 8.72310329e-01 -1.83172014e-01 1.68028513e+02] [-3.41736699e-01 1.96965012e-02 9.39589313e-01 6.08674995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.16, Y:168.00, Z:60.86 [[ 8.21528052e-01 4.85415422e-01 2.99104545e-01 4.03162692e+02] [-4.56540700e-01 8.74282984e-01 -1.64923779e-01 1.68001813e+02] [-3.41558560e-01 -1.06388757e-03 9.39859893e-01 6.08614175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.19, Y:167.96, Z:60.87 [[ 8.21578957e-01 4.80059429e-01 3.07491402e-01 4.03187785e+02] [-4.63487499e-01 8.76509949e-01 -1.30037100e-01 1.67961836e+02] [-3.31944809e-01 -3.56826761e-02 9.42623674e-01 6.08720169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.22, Y:167.98, Z:60.83 [[ 8.20213794e-01 4.96189829e-01 2.84684010e-01 4.03216548e+02] [-4.60723477e-01 8.67962170e-01 -1.85406443e-01 1.67980952e+02] [-3.39091742e-01 2.09123150e-02 9.40520848e-01 6.08314977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.330385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:403.24, Y:167.95, Z:60.83 [[ 8.19987033e-01 4.88107975e-01 2.98951286e-01 4.03238619e+02] [-4.62407160e-01 8.72727982e-01 -1.56606157e-01 1.67947546e+02] [-3.37343867e-01 -9.82219733e-03 9.41330250e-01 6.08312407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.26, Y:167.93, Z:60.82 [[ 8.18961344e-01 4.88622282e-01 3.00916238e-01 4.03262560e+02] [-4.64120522e-01 8.72382938e-01 -1.53427998e-01 1.67926640e+02] [-3.37482530e-01 -1.40098018e-02 9.41227532e-01 6.08236656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.29, Y:167.91, Z:60.81 [[ 8.19251273e-01 4.89410899e-01 2.98838290e-01 4.03289788e+02] [-4.63836775e-01 8.71991132e-01 -1.56482946e-01 1.67911431e+02] [-3.37168798e-01 -1.04133364e-02 9.41386618e-01 6.08122092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.32, Y:167.90, Z:60.80 [[ 8.18524417e-01 4.91987479e-01 2.96590795e-01 4.03316324e+02] [-4.64068032e-01 8.70593667e-01 -1.63424386e-01 1.67898243e+02] [-3.38612819e-01 -3.87145615e-03 9.40917834e-01 6.07983007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.34, Y:167.86, Z:60.81 [[ 8.18582272e-01 4.87161157e-01 3.04297669e-01 4.03340526e+02] [-4.68632411e-01 8.72769115e-01 -1.36593318e-01 1.67859604e+02] [-3.32124566e-01 -3.07908818e-02 9.42732833e-01 6.08067291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.480385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:403.37, Y:167.86, Z:60.78 [[ 8.18465345e-01 4.94640494e-01 2.92310212e-01 4.03369009e+02] [-4.68088722e-01 8.69077785e-01 -1.59989851e-01 1.67855648e+02] [-3.33177771e-01 -5.88096513e-03 9.42845686e-01 6.07846966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.39, Y:167.84, Z:60.78 [[ 8.18299776e-01 4.94345135e-01 2.93271827e-01 4.03394155e+02] [-4.67556286e-01 8.69247151e-01 -1.60625371e-01 1.67835528e+02] [-3.34330071e-01 -5.68138100e-03 9.42438924e-01 6.07765508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.42, Y:167.82, Z:60.76 [[ 8.19250651e-01 4.95797697e-01 2.88119790e-01 4.03420694e+02] [-4.66858801e-01 8.68435158e-01 -1.66922845e-01 1.67822351e+02] [-3.32973318e-01 2.24038972e-03 9.42933587e-01 6.07630404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.44, Y:167.80, Z:60.76 [[ 8.20597104e-01 4.89918703e-01 2.94278878e-01 4.03444152e+02] [-4.65006248e-01 8.71710681e-01 -1.54562861e-01 1.67800801e+02] [-3.32249277e-01 -1.00076810e-02 9.43138518e-01 6.07573007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.47, Y:167.78, Z:60.74 [[ 8.19943346e-01 4.90134926e-01 2.95737491e-01 4.03468366e+02] [-4.63426915e-01 8.71625194e-01 -1.59702898e-01 1.67782641e+02] [-3.36048216e-01 -6.10538457e-03 9.41824995e-01 6.07439285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.49, Y:167.77, Z:60.73 [[ 8.19549193e-01 4.91322817e-01 2.94857608e-01 4.03493847e+02] [-4.63904401e-01 8.70967848e-01 -1.61887968e-01 1.67766073e+02] [-3.36350749e-01 -4.11058819e-03 9.41727815e-01 6.07345014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.52, Y:167.75, Z:60.72 [[ 8.19670290e-01 4.91101011e-01 2.94890509e-01 4.03518617e+02] [-4.63619809e-01 8.71093858e-01 -1.62025191e-01 1.67746708e+02] [-3.36448047e-01 -3.90984596e-03 9.41693913e-01 6.07238763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.54, Y:167.73, Z:60.71 [[ 8.19594995e-01 4.91379708e-01 2.94635413e-01 4.03544864e+02] [-4.63924375e-01 8.70936652e-01 -1.61998525e-01 1.67729968e+02] [-3.36211568e-01 -3.91536947e-03 9.41778345e-01 6.07125332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.57, Y:167.71, Z:60.70 [[ 8.19887657e-01 4.91802624e-01 2.93111599e-01 4.03569580e+02] [-4.64624784e-01 8.70697706e-01 -1.61274038e-01 1.67712157e+02] [-3.34526592e-01 -3.96032068e-03 9.42377990e-01 6.07009589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.60, Y:167.70, Z:60.69 [[ 8.19990747e-01 4.92126728e-01 2.92278052e-01 4.03595449e+02] [-4.65090444e-01 8.70514460e-01 -1.60920643e-01 1.67695526e+02] [-3.33625620e-01 -3.98229061e-03 9.42697240e-01 6.06894136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.62, Y:167.68, Z:60.68 [[ 8.20720007e-01 4.91770726e-01 2.90826794e-01 4.03620253e+02] [-4.64948919e-01 8.70716813e-01 -1.60233376e-01 1.67676176e+02] [-3.32025863e-01 -3.71286604e-03 9.43262976e-01 6.06783903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.65, Y:167.66, Z:60.67 [[ 8.21274976e-01 4.91181044e-01 2.90256088e-01 4.03646468e+02] [-4.64392616e-01 8.71051012e-01 -1.60030100e-01 1.67658969e+02] [-3.31431611e-01 -3.36406764e-03 9.43473249e-01 6.06675029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:167.64, Z:60.66 [[ 8.21964583e-01 4.90079511e-01 2.90165982e-01 4.03672106e+02] [-4.63202000e-01 8.71673190e-01 -1.60092963e-01 1.67642205e+02] [-3.31388188e-01 -2.81471757e-03 9.43490300e-01 6.06565965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.70, Y:167.62, Z:60.65 [[ 8.23842812e-01 4.86523213e-01 2.90823288e-01 4.03697555e+02] [-4.59280532e-01 8.73666649e-01 -1.60524078e-01 1.67623345e+02] [-3.32181297e-01 -1.32286625e-03 9.43214629e-01 6.06461984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.73, Y:167.61, Z:60.63 [[ 8.23767217e-01 4.86679777e-01 2.90775458e-01 4.03725059e+02] [-4.59415997e-01 8.73579506e-01 -1.60610673e-01 1.67608118e+02] [-3.32181448e-01 -1.28109015e-03 9.43214633e-01 6.06347770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.75, Y:167.59, Z:60.62 [[ 8.24607884e-01 4.84961783e-01 2.91262608e-01 4.03751015e+02] [-4.57478062e-01 8.74535182e-01 -1.60941101e-01 1.67591270e+02] [-3.32769681e-01 -5.32952893e-04 9.43007983e-01 6.06242960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.78, Y:167.55, Z:60.64 [[ 8.28218338e-01 4.71624789e-01 3.02695296e-01 4.03776251e+02] [-4.55396721e-01 8.81192360e-01 -1.26940346e-01 1.67553728e+02] [-3.26600996e-01 -3.27121232e-02 9.44596055e-01 6.06367603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:403.81, Y:167.58, Z:60.59 [[ 8.26871285e-01 4.90865454e-01 2.74472194e-01 4.03806482e+02] [-4.52382123e-01 8.70483462e-01 -1.93930290e-01 1.67575628e+02] [-3.34117185e-01 3.61890738e-02 9.41836534e-01 6.05888603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:403.83, Y:167.54, Z:60.59 [[ 8.27467145e-01 4.79286444e-01 2.92545087e-01 4.03828233e+02] [-4.51123578e-01 8.77656300e-01 -1.61885568e-01 1.67542025e+02] [-3.34343597e-01 1.98100204e-03 9.42449169e-01 6.05917426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.85, Y:167.53, Z:60.58 [[ 8.27729774e-01 4.78422337e-01 2.93215773e-01 4.03854469e+02] [-4.50036537e-01 8.78126499e-01 -1.62360609e-01 1.67525824e+02] [-3.35157482e-01 2.43289918e-03 9.42158980e-01 6.05800347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.88, Y:167.51, Z:60.57 [[ 8.27758399e-01 4.78567082e-01 2.92898585e-01 4.03881648e+02] [-4.50214222e-01 8.78047508e-01 -1.62295185e-01 1.67510316e+02] [-3.34848006e-01 2.47409386e-03 9.42268906e-01 6.05687258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.91, Y:167.50, Z:60.56 [[ 8.28450415e-01 4.77522059e-01 2.92647557e-01 4.03906393e+02] [-4.48480345e-01 8.78607371e-01 -1.64056292e-01 1.67501273e+02] [-3.35462799e-01 4.66582564e-03 9.42041900e-01 6.05565297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.93, Y:167.48, Z:60.55 [[ 8.27723165e-01 4.77646408e-01 2.94496642e-01 4.03931773e+02] [-4.50194402e-01 8.78552036e-01 -1.59597369e-01 1.67483416e+02] [-3.34961734e-01 -4.78300029e-04 9.42231611e-01 6.05480798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.96, Y:167.47, Z:60.54 [[ 8.27275998e-01 4.78930282e-01 2.93666832e-01 4.03958674e+02] [-4.51558604e-01 8.77852747e-01 -1.59591293e-01 1.67468060e+02] [-3.34229339e-01 -5.81738263e-04 9.42491597e-01 6.05374202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.99, Y:167.43, Z:60.55 [[ 8.27330725e-01 4.74341867e-01 3.00871508e-01 4.03986438e+02] [-4.57535302e-01 8.79794965e-01 -1.28927372e-01 1.67431721e+02] [-3.25860888e-01 -3.09937603e-02 9.44909556e-01 6.05475386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.02, Y:167.43, Z:60.52 [[ 8.26808320e-01 4.85650242e-01 2.83781332e-01 4.04017469e+02] [-4.58546294e-01 8.74150565e-01 -1.59987768e-01 1.67433135e+02] [-3.25765709e-01 2.15233959e-03 9.45448079e-01 6.05217307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.04, Y:167.43, Z:60.50 [[ 8.25523479e-01 4.91734948e-01 2.76961598e-01 4.04044388e+02] [-4.57084834e-01 8.70401811e-01 -1.82959400e-01 1.67434727e+02] [-3.31035407e-01 2.44423342e-02 9.43301718e-01 6.04952350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.290385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:404.07, Y:167.41, Z:60.49 [[ 8.25748110e-01 4.83813270e-01 2.89939268e-01 4.04068933e+02] [-4.56929852e-01 8.75170483e-01 -1.59033760e-01 1.67406201e+02] [-3.30688932e-01 -1.16008033e-03 9.43739098e-01 6.04946600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.10, Y:167.40, Z:60.48 [[ 8.26184644e-01 4.84625509e-01 2.87327427e-01 4.04095227e+02] [-4.54449796e-01 8.74678605e-01 -1.68560732e-01 1.67397916e+02] [-3.33007984e-01 8.68639804e-03 9.42883996e-01 6.04792473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.12, Y:167.36, Z:60.49 [[ 8.27382730e-01 4.75481340e-01 2.98923591e-01 4.04121365e+02] [-4.55995781e-01 8.79419851e-01 -1.36706156e-01 1.67362577e+02] [-3.27880566e-01 -2.31995837e-02 9.44434282e-01 6.04892897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.380385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:404.15, Y:167.37, Z:60.46 [[ 8.26536164e-01 4.86306581e-01 2.83449958e-01 4.04151747e+02] [-4.55517620e-01 8.73706121e-01 -1.70708263e-01 1.67365497e+02] [-3.30668516e-01 1.19801024e-02 9.43670923e-01 6.04611955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.18, Y:167.35, Z:60.45 [[ 8.27182156e-01 4.82727516e-01 2.87652266e-01 4.04178732e+02] [-4.54187401e-01 8.75758149e-01 -1.63589333e-01 1.67346367e+02] [-3.30882888e-01 4.67014201e-03 9.43660270e-01 6.04544119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.21, Y:167.33, Z:60.45 [[ 8.27058714e-01 4.82046524e-01 2.89145348e-01 4.04207484e+02] [-4.54292581e-01 8.76143384e-01 -1.61217310e-01 1.67330487e+02] [-3.31047027e-01 1.97959515e-03 9.43612180e-01 6.04450541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.23, Y:167.33, Z:60.42 [[ 8.26603644e-01 4.86707353e-01 2.82563920e-01 4.04233013e+02] [-4.51319434e-01 8.73223605e-01 -1.83824111e-01 1.67334800e+02] [-3.36210031e-01 2.44230912e-02 9.41470301e-01 6.04199568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.26, Y:167.30, Z:60.43 [[ 8.25886144e-01 4.78984752e-01 2.97465435e-01 4.04259291e+02] [-4.55402939e-01 8.77735044e-01 -1.48960920e-01 1.67296755e+02] [-3.32445846e-01 -1.24418732e-02 9.43040275e-01 6.04273461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.29, Y:167.29, Z:60.41 [[ 8.24916824e-01 4.86099295e-01 2.88478264e-01 4.04288969e+02] [-4.57242303e-01 8.73893278e-01 -1.65045495e-01 1.67292060e+02] [-3.32327715e-01 4.24433902e-03 9.43154428e-01 6.04087009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:404.32, Y:167.28, Z:60.40 [[ 8.24871126e-01 4.87045693e-01 2.87008916e-01 4.04315489e+02] [-4.57734422e-01 8.73355999e-01 -1.66518764e-01 1.67279885e+02] [-3.31763206e-01 5.98265986e-03 9.43343725e-01 6.03966180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.34, Y:167.26, Z:60.39 [[ 8.25331411e-01 4.83706589e-01 2.91300529e-01 4.04342606e+02] [-4.59281604e-01 8.75190446e-01 -1.51993720e-01 1.67258135e+02] [-3.28463803e-01 -8.34378295e-03 9.44479704e-01 6.03948209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.37, Y:167.26, Z:60.37 [[ 8.24475857e-01 4.90215736e-01 2.82715569e-01 4.04370932e+02] [-4.58497725e-01 8.71491063e-01 -1.74020583e-01 1.67257277e+02] [-3.31691720e-01 1.38513245e-02 9.43286141e-01 6.03712261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.40, Y:167.24, Z:60.36 [[ 8.24624054e-01 4.87138040e-01 2.87561645e-01 4.04396334e+02] [-4.58720468e-01 8.73318702e-01 -1.63981635e-01 1.67238603e+02] [-3.31014655e-01 3.31278833e-03 9.43619798e-01 6.03644277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.42, Y:167.23, Z:60.35 [[ 8.24278665e-01 4.89743497e-01 2.84105596e-01 4.04422533e+02] [-4.59327574e-01 8.71811695e-01 -1.70183867e-01 1.67230928e+02] [-3.31033024e-01 9.78139671e-03 9.43568472e-01 6.03499730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:404.45, Y:167.21, Z:60.34 [[ 8.24457148e-01 4.86551887e-01 2.89028844e-01 4.04448759e+02] [-4.58992506e-01 8.73651577e-01 -1.61427390e-01 1.67211530e+02] [-3.31053307e-01 4.27891696e-04 9.43611957e-01 6.03427520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.48, Y:167.20, Z:60.33 [[ 8.25628263e-01 4.85210203e-01 2.87939282e-01 4.04475897e+02] [-4.57699372e-01 8.74396732e-01 -1.61064089e-01 1.67198434e+02] [-3.29923106e-01 1.18943600e-03 9.44007060e-01 6.03323160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.50, Y:167.19, Z:60.32 [[ 8.26566421e-01 4.84540283e-01 2.86371553e-01 4.04502926e+02] [-4.55700228e-01 8.74750421e-01 -1.64769543e-01 1.67187072e+02] [-3.30341117e-01 5.69338966e-03 9.43844443e-01 6.03188894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.53, Y:167.17, Z:60.31 [[ 8.27314020e-01 4.82771811e-01 2.87198347e-01 4.04528743e+02] [-4.54841155e-01 8.75740041e-01 -1.61860755e-01 1.67170866e+02] [-3.29652902e-01 3.28004407e-03 9.44096502e-01 6.03099709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:167.17, Z:60.29 [[ 8.28132062e-01 4.84818366e-01 2.81333325e-01 4.04554686e+02] [-4.49041482e-01 8.74209065e-01 -1.84716695e-01 1.67172299e+02] [-3.35498190e-01 2.66394842e-02 9.41664114e-01 6.02853592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.58, Y:167.14, Z:60.29 [[ 8.28353593e-01 4.76735967e-01 2.94199154e-01 4.04578076e+02] [-4.49270503e-01 8.79046536e-01 -1.59477907e-01 1.67144067e+02] [-3.34643602e-01 -7.09043138e-05 9.42344764e-01 6.02864854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.61, Y:167.12, Z:60.28 [[ 8.27803992e-01 4.76746804e-01 2.95724594e-01 4.04607632e+02] [-4.50882726e-01 8.79026174e-01 -1.54976623e-01 1.67121894e+02] [-3.33834268e-01 -5.04684406e-03 9.42618274e-01 6.02793456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.920385723 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:404.64, Y:167.12, Z:60.26 [[ 8.27060901e-01 4.82310102e-01 2.88699205e-01 4.04636779e+02] [-4.50996813e-01 8.75924985e-01 -1.71339709e-01 1.67115685e+02] [-3.35517719e-01 1.15059526e-02 9.41963626e-01 6.02598095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.66, Y:167.10, Z:60.25 [[ 8.27454919e-01 4.79380219e-01 2.92425996e-01 4.04662803e+02] [-4.50441302e-01 8.77597957e-01 -1.64086744e-01 1.67099682e+02] [-3.35292396e-01 4.05363736e-03 9.42105396e-01 6.02519119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.980385723 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:404.69, Y:167.09, Z:60.24 [[ 8.26213365e-01 4.83255128e-01 2.89544395e-01 4.04690288e+02] [-4.52647090e-01 8.75433588e-01 -1.69489365e-01 1.67087114e+02] [-3.35383493e-01 8.97295031e-03 9.42038958e-01 6.02373736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.71, Y:167.08, Z:60.23 [[ 8.26832526e-01 4.82035037e-01 2.89810624e-01 4.04713790e+02] [-4.51685626e-01 8.76111094e-01 -1.68551018e-01 1.67077820e+02] [-3.35153799e-01 8.46017112e-03 9.42125446e-01 6.02277513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.040385723 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:404.74, Y:167.06, Z:60.22 [[ 8.25505649e-01 4.83000721e-01 2.91977270e-01 4.04742168e+02] [-4.53730250e-01 8.75609601e-01 -1.65640237e-01 1.67057122e+02] [-3.35662455e-01 4.25803187e-03 9.41972710e-01 6.02159420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.48, Y:167.52, Z:61.09 [[ 8.44514578e-01 -4.51730282e-01 -2.87636717e-01 4.05480659e+02] [-3.99613950e-01 -8.89125998e-01 2.23077680e-01 1.67520030e+02] [-3.56516226e-01 -7.34487078e-02 -9.31397589e-01 6.10858396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:167.52, Z:61.03 [[ 8.73368744e-01 -3.63972596e-01 -3.23652571e-01 4.05544153e+02] [-3.32926840e-01 -9.31145957e-01 1.48751220e-01 1.67523209e+02] [-3.55509151e-01 -2.21620388e-02 -9.34410021e-01 6.10336134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.56, Y:167.52, Z:61.02 [[ 8.97567651e-01 -2.87806450e-01 -3.33975688e-01 4.05556645e+02] [-2.61484809e-01 -9.57425112e-01 1.22322726e-01 1.67520759e+02] [-3.54961980e-01 -2.24633525e-02 -9.34610823e-01 6.10176684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:405.56, Y:167.52, Z:61.01 [[ 9.16592995e-01 -2.08134355e-01 -3.41375706e-01 4.05558340e+02] [-1.87060915e-01 -9.77847453e-01 9.39285493e-02 1.67523648e+02] [-3.53363122e-01 -2.22361985e-02 -9.35221928e-01 6.10063177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.56, Y:167.52, Z:61.00 [[ 9.29312182e-01 -1.27270783e-01 -3.46671337e-01 4.05557365e+02] [-1.11543531e-01 -9.91629045e-01 6.50375163e-02 1.67524559e+02] [-3.52046742e-01 -2.17712111e-02 -9.35729184e-01 6.09951922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.56, Y:167.52, Z:60.98 [[ 9.35837296e-01 -4.49492168e-02 -3.49554178e-01 4.05556587e+02] [-3.45673646e-02 -9.98757890e-01 3.58855845e-02 1.67524321e+02] [-3.50733022e-01 -2.14999016e-02 -9.36228659e-01 6.09846130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:405.56, Y:167.52, Z:60.97 [[ 9.35804904e-01 3.77368483e-02 -3.50492672e-01 4.05555603e+02] [ 4.27954004e-02 -9.99061422e-01 6.69547882e-03 1.67523989e+02] [-3.49911041e-01 -2.12651361e-02 -9.36541541e-01 6.09742444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.55, Y:167.52, Z:60.96 [[ 9.29555873e-01 1.19751793e-01 -3.48690962e-01 4.05550504e+02] [ 1.19486836e-01 -9.92584138e-01 -2.23522854e-02 1.67522957e+02] [-3.48781844e-01 -2.08862817e-02 -9.36971178e-01 6.09649020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.55, Y:167.52, Z:60.95 [[ 9.16957706e-01 2.01351079e-01 -3.44450734e-01 4.05546060e+02] [ 1.95858868e-01 -9.79301658e-01 -5.10643324e-02 1.67523804e+02] [-3.47603033e-01 -2.06398978e-02 -9.37414597e-01 6.09548899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:167.52, Z:60.94 [[ 8.98578728e-01 2.81715830e-01 -3.36440873e-01 4.05542446e+02] [ 2.71250588e-01 -9.59279477e-01 -7.87781971e-02 1.67522398e+02] [-3.44933890e-01 -2.04713727e-02 -9.38403716e-01 6.09449745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:167.52, Z:60.94 [[ 8.73070764e-01 3.61185957e-01 -3.27554797e-01 4.05537340e+02] [ 3.45887431e-01 -9.32263803e-01 -1.06047570e-01 1.67521854e+02] [-3.43670374e-01 -2.07100545e-02 -9.38861954e-01 6.09360228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.51, Y:167.55, Z:60.91 [[ 8.43416413e-01 4.57025565e-01 -2.82447141e-01 4.05514333e+02] [ 4.16928767e-01 -8.88338152e-01 -1.92420713e-01 1.67553239e+02] [-3.38849756e-01 4.45304490e-02 -9.39786083e-01 6.09146988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.40, Y:167.65, Z:60.74 [[ 8.00232054e-01 5.91682933e-01 -9.76727573e-02 4.05397071e+02] [ 4.74620294e-01 -7.24435055e-01 -4.99929423e-01 1.67651631e+02] [-3.66557277e-01 3.53702076e-01 -8.60540879e-01 6.07425326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.64, Y:166.78, Z:60.01 [[ 7.90683524e-01 -5.32209127e-01 3.02610326e-01 4.05641936e+02] [ 5.01955339e-01 8.46531639e-01 1.77271041e-01 1.66781930e+02] [-3.50514481e-01 1.17315773e-02 9.36483833e-01 6.00135432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.490385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:405.66, Y:166.80, Z:60.01 [[ 7.91841296e-01 -5.32438672e-01 2.99159528e-01 4.05662910e+02] [ 4.99360409e-01 8.46462977e-01 1.84769074e-01 1.66796917e+02] [-3.51605665e-01 3.08064115e-03 9.36143133e-01 6.00053802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.68, Y:166.81, Z:59.99 [[ 7.92346654e-01 -5.31773355e-01 2.99004816e-01 4.05682985e+02] [ 4.98670805e-01 8.46882244e-01 1.84710297e-01 1.66811946e+02] [-3.51445883e-01 2.75038682e-03 9.36204159e-01 5.99949451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.70, Y:166.83, Z:59.98 [[ 7.92970371e-01 -5.31364576e-01 2.98076631e-01 4.05703362e+02] [ 4.98427650e-01 8.47139516e-01 1.84186096e-01 1.66828755e+02] [-3.50382460e-01 2.51551850e-03 9.36603333e-01 5.99847616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.72, Y:166.84, Z:59.97 [[ 7.92672112e-01 -5.31943081e-01 2.97838012e-01 4.05724839e+02] [ 4.99054600e-01 8.46775938e-01 1.84160302e-01 1.66844295e+02] [-3.50164861e-01 2.65869407e-03 9.36684313e-01 5.99741815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.74, Y:166.86, Z:59.96 [[ 7.91456163e-01 -5.33562483e-01 2.98174813e-01 4.05743541e+02] [ 5.00661755e-01 8.45754339e-01 1.84492289e-01 1.66861750e+02] [-3.50620805e-01 3.26716592e-03 9.36511813e-01 5.99644925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:405.76, Y:166.88, Z:59.95 [[ 7.90705362e-01 -5.34472102e-01 2.98537439e-01 4.05764232e+02] [ 5.01532109e-01 8.45178325e-01 1.84767807e-01 1.66877456e+02] [-3.51070611e-01 3.62921583e-03 9.36341954e-01 5.99541294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.79, Y:166.89, Z:59.94 [[ 7.90047556e-01 -5.35379969e-01 2.98652219e-01 4.05785957e+02] [ 5.02431325e-01 8.44602201e-01 1.84959147e-01 1.66892910e+02] [-3.51265744e-01 3.92570754e-03 9.36267572e-01 5.99437933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.81, Y:166.91, Z:59.93 [[ 7.89317171e-01 -5.36552972e-01 2.98478328e-01 4.05806601e+02] [ 5.03679378e-01 8.43855506e-01 1.84972889e-01 1.66909413e+02] [-3.51120334e-01 4.33510066e-03 9.36320307e-01 5.99336393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:166.93, Z:59.92 [[ 7.88848036e-01 -5.36675269e-01 2.99496965e-01 4.05828157e+02] [ 5.03947444e-01 8.43772275e-01 1.84622107e-01 1.66925088e+02] [-3.51789354e-01 5.29194398e-03 9.36064232e-01 5.99214038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:166.94, Z:59.91 [[ 7.88544781e-01 -5.37073560e-01 2.99581574e-01 4.05849604e+02] [ 5.04230059e-01 8.43519548e-01 1.85004920e-01 1.66942038e+02] [-3.52064165e-01 5.17337109e-03 9.35961570e-01 5.99105214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.87, Y:166.96, Z:59.90 [[ 7.88429154e-01 -5.37167995e-01 2.99716557e-01 4.05872111e+02] [ 5.04424589e-01 8.43457246e-01 1.84758512e-01 1.66956268e+02] [-3.52044462e-01 5.51540397e-03 9.35967028e-01 5.99001549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.89, Y:166.97, Z:59.89 [[ 7.88224607e-01 -5.38006435e-01 2.98749132e-01 4.05891792e+02] [ 5.05033359e-01 8.42927878e-01 1.85509833e-01 1.66971150e+02] [-3.51629456e-01 4.65486294e-03 9.36127693e-01 5.98922767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.91, Y:166.99, Z:59.88 [[ 7.87562479e-01 -5.36411059e-01 3.03329057e-01 4.05910935e+02] [ 5.04441799e-01 8.43907067e-01 1.82645377e-01 1.66989300e+02] [-3.53954535e-01 9.16720940e-03 9.35217702e-01 5.98774629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.94, Y:167.00, Z:59.87 [[ 7.87949996e-01 -5.39302143e-01 2.97132972e-01 4.05935519e+02] [ 5.04802068e-01 8.42112226e-01 1.89794288e-01 1.67001360e+02] [-3.52575774e-01 4.44929739e-04 9.35783162e-01 5.98728207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.95, Y:167.02, Z:59.86 [[ 7.87943189e-01 -5.36423121e-01 3.02317326e-01 4.05954958e+02] [ 5.04373689e-01 8.43907196e-01 1.82832784e-01 1.67018752e+02] [-3.53203500e-01 8.41905782e-03 9.35508636e-01 5.98577220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:405.98, Y:167.03, Z:59.85 [[ 7.89001459e-01 -5.37678800e-01 2.97284723e-01 4.05978248e+02] [ 5.03242617e-01 8.43149724e-01 1.89328843e-01 1.67031806e+02] [-3.52453637e-01 2.25609295e-04 9.35829249e-01 5.98520068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.00, Y:167.05, Z:59.84 [[ 7.89427710e-01 -5.36037472e-01 2.99111551e-01 4.05997896e+02] [ 5.02647548e-01 8.44187702e-01 1.86259404e-01 1.67048187e+02] [-3.52348313e-01 3.30935292e-03 9.35863085e-01 5.98409257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.02, Y:167.06, Z:59.83 [[ 7.91962956e-01 -5.34650707e-01 2.94861490e-01 4.06021969e+02] [ 5.00406377e-01 8.45071714e-01 1.88274417e-01 1.67063221e+02] [-3.49840155e-01 -1.55579405e-03 9.36808116e-01 5.98315464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.04, Y:167.08, Z:59.82 [[ 7.91810287e-01 -5.31437834e-01 3.01015445e-01 4.06037686e+02] [ 4.99829995e-01 8.47065143e-01 1.80694827e-01 1.67081400e+02] [-3.51007758e-01 7.38052584e-03 9.36343463e-01 5.98179265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.06, Y:167.09, Z:59.81 [[ 7.92282324e-01 -5.32454069e-01 2.97962050e-01 4.06060742e+02] [ 4.98971302e-01 8.46457680e-01 1.85841429e-01 1.67092956e+02] [-3.51164291e-01 1.43563268e-03 9.36312757e-01 5.98106690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.08, Y:167.11, Z:59.80 [[ 7.94041733e-01 -5.27022039e-01 3.02895191e-01 4.06079755e+02] [ 4.96833423e-01 8.49785088e-01 1.76130220e-01 1.67111138e+02] [-3.50220324e-01 1.06337098e-02 9.36606987e-01 5.97980251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.120385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:406.11, Y:167.12, Z:59.79 [[ 7.93055707e-01 -5.33684723e-01 2.93672032e-01 4.06109983e+02] [ 4.96260373e-01 8.45622358e-01 1.96592141e-01 1.67118672e+02] [-3.53253859e-01 -1.01707278e-02 9.35472216e-01 5.97943494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.13, Y:167.14, Z:59.78 [[ 7.93660806e-01 -5.29019225e-01 3.00401705e-01 4.06126287e+02] [ 4.94663209e-01 8.48609805e-01 1.87535887e-01 1.67137427e+02] [-3.54133922e-01 -2.42212035e-04 9.35194689e-01 5.97806202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:406.15, Y:167.15, Z:59.77 [[ 7.93907906e-01 -5.28573240e-01 3.00533803e-01 4.06147753e+02] [ 4.94134881e-01 8.48887560e-01 1.87671600e-01 1.67151414e+02] [-3.54317592e-01 -4.89732168e-04 9.35125021e-01 5.97702375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.17, Y:167.17, Z:59.76 [[ 7.94525327e-01 -5.27834518e-01 3.00200309e-01 4.06170286e+02] [ 4.93377837e-01 8.49346724e-01 1.87585855e-01 1.67165606e+02] [-3.53988439e-01 -9.29533963e-04 9.35249337e-01 5.97601179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.240385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:406.19, Y:167.18, Z:59.75 [[ 7.95558989e-01 -5.25703202e-01 3.01200993e-01 4.06192785e+02] [ 4.90813718e-01 8.50665712e-01 1.88334120e-01 1.67179838e+02] [-3.55229208e-01 -1.99732318e-03 9.34777097e-01 5.97498421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.270385723 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:406.21, Y:167.19, Z:59.74 [[ 7.96436879e-01 -5.24459570e-01 3.01048928e-01 4.06214868e+02] [ 4.89474206e-01 8.51431191e-01 1.88361168e-01 1.67193326e+02] [-3.55110265e-01 -2.66209637e-03 9.34820632e-01 5.97401516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.24, Y:167.21, Z:59.73 [[ 7.98361740e-01 -5.21258880e-01 3.01509058e-01 4.06235969e+02] [ 4.85893827e-01 8.53388227e-01 1.88774264e-01 1.67206401e+02] [-3.55704542e-01 -4.20876034e-03 9.34588982e-01 5.97301364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.26, Y:167.22, Z:59.72 [[ 7.99880198e-01 -5.17532068e-01 3.03895092e-01 4.06255850e+02] [ 4.84923014e-01 8.55659457e-01 1.80821912e-01 1.67223414e+02] [-3.53611847e-01 2.72985708e-03 9.35388267e-01 5.97168628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.28, Y:167.23, Z:59.71 [[ 8.00771645e-01 -5.19923744e-01 2.97395484e-01 4.06281746e+02] [ 4.82299691e-01 8.54122970e-01 1.94578933e-01 1.67231502e+02] [-3.55178521e-01 -1.23795422e-02 9.34716516e-01 5.97116450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:406.30, Y:167.25, Z:59.70 [[ 8.02583673e-01 -5.15163935e-01 3.00774945e-01 4.06301587e+02] [ 4.79495839e-01 8.57062616e-01 1.88487170e-01 1.67245937e+02] [-3.54884754e-01 -7.05639052e-03 9.34883425e-01 5.96997362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.32, Y:167.26, Z:59.69 [[ 8.02861736e-01 -5.14766290e-01 3.00713651e-01 4.06324304e+02] [ 4.79066152e-01 8.57299644e-01 1.88501835e-01 1.67258763e+02] [-3.54836097e-01 -7.27917906e-03 9.34900186e-01 5.96902722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.35, Y:167.27, Z:59.68 [[ 8.03025952e-01 -5.14427701e-01 3.00854553e-01 4.06346713e+02] [ 4.78623861e-01 8.57500571e-01 1.88711341e-01 1.67270126e+02] [-3.55061292e-01 -7.54393647e-03 9.34812585e-01 5.96812668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.35, Y:167.29, Z:59.65 [[ 7.98674152e-01 -5.08016228e-01 3.22550943e-01 4.06352770e+02] [ 4.79769812e-01 8.61106953e-01 1.68272823e-01 1.67293109e+02] [-3.63236184e-01 2.03550508e-02 9.31474716e-01 5.96527736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.40, Y:167.28, Z:59.67 [[ 8.01282648e-01 -5.24980460e-01 2.86952321e-01 4.06400149e+02] [ 4.80342841e-01 8.50431283e-01 2.14563250e-01 1.67284172e+02] [-3.56674744e-01 -3.40903161e-02 9.33606436e-01 5.96665074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.540385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:406.41, Y:167.31, Z:59.65 [[ 8.00239764e-01 -5.18252475e-01 3.01712930e-01 4.06414636e+02] [ 4.81577390e-01 8.55189532e-01 1.91661374e-01 1.67306905e+02] [-3.57350721e-01 -8.07692761e-03 9.33935343e-01 5.96463991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.570385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:406.44, Y:167.32, Z:59.64 [[ 8.00152935e-01 -5.18044200e-01 3.02300328e-01 4.06436344e+02] [ 4.81835105e-01 8.55327730e-01 1.90392769e-01 1.67319454e+02] [-3.57197723e-01 -6.68442254e-03 9.34004874e-01 5.96375995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.46, Y:167.33, Z:59.63 [[ 7.99414497e-01 -5.19610975e-01 3.01564084e-01 4.06460165e+02] [ 4.83672768e-01 8.54381801e-01 1.89979978e-01 1.67330076e+02] [-3.56366547e-01 -6.01441350e-03 9.34326876e-01 5.96268645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.630385723 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:406.48, Y:167.34, Z:59.61 [[ 7.98642760e-01 -5.21296294e-01 3.00699045e-01 4.06482750e+02] [ 4.85642218e-01 8.53358966e-01 1.89552399e-01 1.67342535e+02] [-3.55417190e-01 -5.35249987e-03 9.34692448e-01 5.96142916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.660385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:406.49, Y:167.36, Z:59.59 [[ 7.95350546e-01 -5.14877917e-01 3.19872225e-01 4.06494101e+02] [ 4.86643353e-01 8.57008946e-01 1.69451801e-01 1.67362123e+02] [-3.61380349e-01 2.08901094e-02 9.32184449e-01 5.95883743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.54, Y:167.36, Z:59.61 [[ 7.97854086e-01 -5.30676198e-01 2.86027326e-01 4.06541269e+02] [ 4.86758707e-01 8.46997923e-01 2.13683129e-01 1.67356801e+02] [-3.55661101e-01 -3.12616661e-02 9.34092013e-01 5.96051621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7203857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:406.55, Y:167.38, Z:59.58 [[ 7.97286539e-01 -5.22989474e-01 3.01357237e-01 4.06554919e+02] [ 4.87170021e-01 8.52325071e-01 1.90282275e-01 1.67376393e+02] [-3.56369955e-01 -4.89728486e-03 9.34332099e-01 5.95845228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.750385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:406.58, Y:167.39, Z:59.57 [[ 7.97018672e-01 -5.18501206e-01 3.09705886e-01 4.06575374e+02] [ 4.85892034e-01 8.55054718e-01 1.81081087e-01 1.67392464e+02] [-3.58706241e-01 6.15861579e-03 9.33430182e-01 5.95678256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.780385723 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:406.61, Y:167.40, Z:59.57 [[ 7.97575756e-01 -5.25750641e-01 2.95734978e-01 4.06605221e+02] [ 4.86858094e-01 8.50511113e-01 1.98997596e-01 1.67397292e+02] [-3.56148999e-01 -1.47346901e-02 9.34312999e-01 5.95681659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.810385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:406.63, Y:167.41, Z:59.56 [[ 7.98303088e-01 -5.21376467e-01 3.01461041e-01 4.06625231e+02] [ 4.85294758e-01 8.53306236e-01 1.90676338e-01 1.67411382e+02] [-3.56652742e-01 -5.92004649e-03 9.34218269e-01 5.95562713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8403857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:406.65, Y:167.42, Z:59.55 [[ 7.98650732e-01 -5.20935044e-01 3.01303317e-01 4.06648765e+02] [ 4.84841678e-01 8.53574076e-01 1.90630123e-01 1.67423933e+02] [-3.56490612e-01 -6.16248167e-03 9.34278581e-01 5.95464191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.67, Y:167.43, Z:59.54 [[ 7.99314539e-01 -5.19799101e-01 3.01504830e-01 4.06671966e+02] [ 4.83529032e-01 8.54261544e-01 1.90884493e-01 1.67433977e+02] [-3.56785570e-01 -6.79041167e-03 9.34161628e-01 5.95367783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.70, Y:167.45, Z:59.53 [[ 7.99243209e-01 -5.19795913e-01 3.01699357e-01 4.06695004e+02] [ 4.83456533e-01 8.54263040e-01 1.91061349e-01 1.67446220e+02] [-3.57043518e-01 -6.84596054e-03 9.34062663e-01 5.95263800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.72, Y:167.46, Z:59.52 [[ 7.99045157e-01 -5.20111154e-01 3.01680668e-01 4.06717455e+02] [ 4.83748976e-01 8.54071335e-01 1.91178147e-01 1.67457897e+02] [-3.57090697e-01 -6.82225806e-03 9.34044801e-01 5.95163205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.74, Y:167.47, Z:59.51 [[ 7.98275372e-01 -5.21568501e-01 3.01202140e-01 4.06741872e+02] [ 4.85404970e-01 8.53186813e-01 1.90930032e-01 1.67467644e+02] [-3.56564785e-01 -6.20972686e-03 9.34249963e-01 5.95071681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.76, Y:167.48, Z:59.50 [[ 7.97535646e-01 -5.22543675e-01 3.01471393e-01 4.06764091e+02] [ 4.86359442e-01 8.52592588e-01 1.91155362e-01 1.67479093e+02] [-3.56919300e-01 -5.82975646e-03 9.34117031e-01 5.94975743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.020385723 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:406.79, Y:167.49, Z:59.49 [[ 7.96527921e-01 -5.23518895e-01 3.02442124e-01 4.06787529e+02] [ 4.88630200e-01 8.52011933e-01 1.87926032e-01 1.67490114e+02] [-3.56067127e-01 -1.90597624e-03 9.34458436e-01 5.94876059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:406.81, Y:167.50, Z:59.48 [[ 7.95292345e-01 -5.26901451e-01 2.99808182e-01 4.06813670e+02] [ 4.89715046e-01 8.49889301e-01 1.94595351e-01 1.67500045e+02] [-3.57336339e-01 -7.93961503e-03 9.33942024e-01 5.94801495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.84, Y:167.51, Z:59.47 [[ 7.94780058e-01 -5.26228734e-01 3.02337526e-01 4.06835492e+02] [ 4.90670284e-01 8.50338448e-01 1.90176751e-01 1.67514143e+02] [-3.57165694e-01 -2.80064965e-03 9.34036843e-01 5.94683656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.87, Y:167.52, Z:59.46 [[ 7.95184357e-01 -5.30986467e-01 2.92805754e-01 4.06870469e+02] [ 4.91744184e-01 8.47232732e-01 2.00958594e-01 1.67520325e+02] [-3.54780913e-01 -1.58136034e-02 9.34815722e-01 5.94648027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.88, Y:167.54, Z:59.44 [[ 7.93169679e-01 -5.24789262e-01 3.08995294e-01 4.06878304e+02] [ 4.93682575e-01 8.51159894e-01 1.78337742e-01 1.67542562e+02] [-3.56594133e-01 1.10935026e-02 9.34193534e-01 5.94425130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:406.91, Y:167.55, Z:59.44 [[ 7.92154958e-01 -5.31665906e-01 2.99702998e-01 4.06908125e+02] [ 4.96352668e-01 8.46951356e-01 1.90545084e-01 1.67548631e+02] [-3.55140185e-01 -2.18284989e-03 9.34810507e-01 5.94368829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.93, Y:167.56, Z:59.42 [[ 7.91809316e-01 -5.30804209e-01 3.02133909e-01 4.06929099e+02] [ 4.98261973e-01 8.47476139e-01 1.83082494e-01 1.67563741e+02] [-3.53232237e-01 5.57541341e-03 9.35519055e-01 5.94238059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:406.96, Y:167.57, Z:59.42 [[ 7.90330319e-01 -5.35938888e-01 2.96896438e-01 4.06957576e+02] [ 4.99652531e-01 8.44242503e-01 1.93912209e-01 1.67569068e+02] [-3.54577685e-01 -4.90964097e-03 9.35013669e-01 5.94188550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.99, Y:167.58, Z:59.42 [[ 7.90918725e-01 -5.40189660e-01 2.87476438e-01 4.06989860e+02] [ 5.00587697e-01 8.41366639e-01 2.03750179e-01 1.67577493e+02] [-3.51936824e-01 -1.72426634e-02 9.35864928e-01 5.94178435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.00, Y:167.60, Z:59.39 [[ 7.89402953e-01 -5.30472298e-01 3.08937079e-01 4.06995132e+02] [ 5.01369842e-01 8.47523507e-01 1.74161383e-01 1.67600254e+02] [-3.54219225e-01 1.74082240e-02 9.35000371e-01 5.93897338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.03, Y:167.61, Z:59.39 [[ 7.89796815e-01 -5.37457254e-01 2.95568422e-01 4.07028431e+02] [ 5.01437817e-01 8.43278364e-01 1.93498623e-01 1.67605588e+02] [-3.53243694e-01 -4.61541225e-03 9.35519958e-01 5.93895488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.05, Y:167.62, Z:59.37 [[ 7.90952557e-01 -5.33158300e-01 3.00227048e-01 4.07047188e+02] [ 4.99567124e-01 8.46011348e-01 1.86272618e-01 1.67620553e+02] [-3.53308282e-01 2.65075944e-03 9.35503197e-01 5.93748595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.07, Y:167.63, Z:59.37 [[ 7.91763439e-01 -5.33671263e-01 2.97162648e-01 4.07070596e+02] [ 4.98813148e-01 8.45689682e-01 1.89721917e-01 1.67631640e+02] [-3.52556521e-01 -1.98624165e-03 9.35788413e-01 5.93670815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.09, Y:167.64, Z:59.36 [[ 7.91031508e-01 -5.33952125e-01 2.98603888e-01 4.07088505e+02] [ 4.99365096e-01 8.45514602e-01 1.89049089e-01 1.67644879e+02] [-3.53417111e-01 -4.31426889e-04 9.35465745e-01 5.93563802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.12, Y:167.65, Z:59.35 [[ 7.93884812e-01 -5.32740825e-01 2.93145216e-01 4.07118331e+02] [ 4.96667797e-01 8.46245188e-01 1.92847558e-01 1.67654234e+02] [-3.50810496e-01 -7.50295814e-03 9.36416415e-01 5.93489135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:167.67, Z:59.34 [[ 7.94567704e-01 -5.30808775e-01 2.94795199e-01 4.07139150e+02] [ 4.96259531e-01 8.47484780e-01 1.88403889e-01 1.67668575e+02] [-3.49840882e-01 -3.40471863e-03 9.36802949e-01 5.93369581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.16, Y:167.68, Z:59.33 [[ 7.95564342e-01 -5.29788784e-01 2.93940848e-01 4.07162008e+02] [ 4.95333839e-01 8.48120414e-01 1.87979124e-01 1.67680756e+02] [-3.48886466e-01 -3.95063943e-03 9.37156671e-01 5.93265982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.19, Y:167.69, Z:59.32 [[ 7.95795813e-01 -5.29656168e-01 2.93553006e-01 4.07185035e+02] [ 4.95240981e-01 8.48202465e-01 1.87853531e-01 1.67694339e+02] [-3.48490165e-01 -4.11357442e-03 9.37303411e-01 5.93165228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.21, Y:167.71, Z:59.31 [[ 7.96085483e-01 -5.29005686e-01 2.93940279e-01 4.07207068e+02] [ 4.94407049e-01 8.48606253e-01 1.88226189e-01 1.67707010e+02] [-3.49012283e-01 -4.51799052e-03 9.37107259e-01 5.93068506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.23, Y:167.72, Z:59.30 [[ 7.96069751e-01 -5.28858201e-01 2.94248118e-01 4.07228745e+02] [ 4.94155954e-01 8.48697550e-01 1.88473771e-01 1.67720807e+02] [-3.49403556e-01 -4.63380869e-03 9.36960876e-01 5.92967554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.25, Y:167.74, Z:59.29 [[ 7.95861913e-01 -5.29000381e-01 2.94554601e-01 4.07250739e+02] [ 4.94186612e-01 8.48608634e-01 1.88793481e-01 1.67735278e+02] [-3.49833401e-01 -4.68860053e-03 9.36800197e-01 5.92865908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.27, Y:167.75, Z:59.28 [[ 7.95512989e-01 -5.29115144e-01 2.95290109e-01 4.07273489e+02] [ 4.94082845e-01 8.48536672e-01 1.89387589e-01 1.67749507e+02] [-3.50772328e-01 -4.76250945e-03 9.36448660e-01 5.92770959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:167.77, Z:59.26 [[ 7.95187673e-01 -5.28367580e-01 2.97496665e-01 4.07295266e+02] [ 4.95578837e-01 8.49013976e-01 1.83239964e-01 1.67766925e+02] [-3.49396883e-01 1.72289039e-03 9.36973239e-01 5.92639068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.32, Y:167.78, Z:59.26 [[ 7.95062467e-01 -5.30019697e-01 2.94880983e-01 4.07319472e+02] [ 4.95879591e-01 8.47981397e-01 1.87165655e-01 1.67779970e+02] [-3.49255072e-01 -2.58292567e-03 9.37024132e-01 5.92553853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.34, Y:167.79, Z:59.25 [[ 7.94423649e-01 -5.32139657e-01 2.92777137e-01 4.07342411e+02] [ 4.95794490e-01 8.46613464e-01 1.93477303e-01 1.67792819e+02] [-3.50826011e-01 -8.54565351e-03 9.36401667e-01 5.92480755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.37, Y:167.81, Z:59.25 [[ 7.93726442e-01 -5.37226387e-01 2.85282570e-01 4.07366826e+02] [ 4.98654068e-01 8.43267310e-01 2.00609983e-01 1.67805165e+02] [-3.48342442e-01 -1.69721334e-02 9.37213684e-01 5.92451884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.38, Y:167.83, Z:59.22 [[ 7.92789380e-01 -5.29215602e-01 3.02350533e-01 4.07379150e+02] [ 4.97892607e-01 8.48447854e-01 1.79552755e-01 1.67826885e+02] [-3.51550780e-01 8.19057756e-03 9.36132984e-01 5.92201270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.41, Y:167.83, Z:59.23 [[ 7.92374452e-01 -5.41975299e-01 2.80009827e-01 4.07414828e+02] [ 5.02180119e-01 8.40110872e-01 2.05009393e-01 1.67831568e+02] [-3.46349327e-01 -2.18288368e-02 9.37851612e-01 5.92288664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.43, Y:167.85, Z:59.21 [[ 7.91370490e-01 -5.40023550e-01 2.86543736e-01 4.07432400e+02] [ 5.04556587e-01 8.41613094e-01 1.92639694e-01 1.67850597e+02] [-3.45188932e-01 -7.87183931e-03 9.38500205e-01 5.92149950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.45, Y:167.87, Z:59.20 [[ 7.91416336e-01 -5.39377787e-01 2.87631337e-01 4.07454241e+02] [ 5.05349920e-01 8.42054880e-01 1.88586949e-01 1.67865974e+02] [-3.43920982e-01 -3.89631891e-03 9.38990509e-01 5.92040902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.47, Y:167.88, Z:59.19 [[ 7.90795886e-01 -5.38820943e-01 2.90368487e-01 4.07473816e+02] [ 5.06302250e-01 8.42419427e-01 1.84357103e-01 1.67881898e+02] [-3.43947522e-01 1.22537983e-03 9.38988073e-01 5.91911658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.50, Y:167.90, Z:59.18 [[ 7.91355867e-01 -5.39682619e-01 2.87225630e-01 4.07497717e+02] [ 5.06651481e-01 8.41867036e-01 1.85914417e-01 1.67895661e+02] [-3.42140570e-01 -1.60117373e-03 9.39647416e-01 5.91833799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:407.52, Y:167.91, Z:59.17 [[ 7.90485536e-01 -5.39816149e-01 2.89363340e-01 4.07517686e+02] [ 5.07595184e-01 8.41781317e-01 1.83715388e-01 1.67910963e+02] [-3.42753187e-01 1.65508067e-03 9.39424033e-01 5.91700130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.54, Y:167.93, Z:59.16 [[ 7.90003861e-01 -5.39936235e-01 2.90452684e-01 4.07539358e+02] [ 5.07359370e-01 8.41704695e-01 1.84715122e-01 1.67925972e+02] [-3.44209775e-01 1.43823073e-03 9.38891667e-01 5.91610578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.56, Y:167.94, Z:59.15 [[ 7.89858168e-01 -5.40250188e-01 2.90265067e-01 4.07562066e+02] [ 5.07425081e-01 8.41504057e-01 1.85447325e-01 1.67940349e+02] [-3.44447183e-01 8.10690829e-04 9.38805348e-01 5.91504419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.58, Y:167.96, Z:59.14 [[ 7.89651657e-01 -5.39200246e-01 2.92768434e-01 4.07580824e+02] [ 5.07737050e-01 8.42161089e-01 1.81570339e-01 1.67956528e+02] [-3.44460954e-01 5.27206222e-03 9.38785842e-01 5.91372005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.60, Y:167.97, Z:59.13 [[ 7.89281782e-01 -5.40732662e-01 2.90933766e-01 4.07604219e+02] [ 5.08146032e-01 8.41192334e-01 1.84886635e-01 1.67969776e+02] [-3.44705496e-01 1.90918608e-03 9.38708941e-01 5.91278707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.62, Y:167.99, Z:59.11 [[ 7.87661250e-01 -5.39673828e-01 2.97223677e-01 4.07621682e+02] [ 5.09004997e-01 8.41816921e-01 1.79605638e-01 1.67987293e+02] [-3.47136383e-01 9.81993508e-03 9.37763244e-01 5.91118878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.65, Y:168.00, Z:59.10 [[ 7.87064719e-01 -5.42813045e-01 2.93058230e-01 4.07646968e+02] [ 5.09528577e-01 8.39851150e-01 1.87164832e-01 1.67998934e+02] [-3.47720804e-01 2.01070731e-03 9.37595968e-01 5.91046524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.66, Y:168.02, Z:59.09 [[ 7.84720753e-01 -5.42568830e-01 2.99720543e-01 4.07663808e+02] [ 5.10897943e-01 8.39956570e-01 1.82910504e-01 1.68016770e+02] [-3.50993777e-01 9.59294017e-03 9.36328652e-01 5.90882601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.69, Y:168.03, Z:59.08 [[ 7.83496819e-01 -5.46065048e-01 2.96556400e-01 4.07689052e+02] [ 5.11113677e-01 8.37742222e-01 1.92225852e-01 1.68028325e+02] [-3.53405637e-01 9.65688940e-04 9.35469681e-01 5.90816674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.71, Y:168.04, Z:59.07 [[ 7.83616804e-01 -5.45288841e-01 2.97665556e-01 4.07710110e+02] [ 5.09959880e-01 8.38248075e-01 1.93083105e-01 1.68041424e+02] [-3.54803642e-01 4.94325527e-04 9.34940710e-01 5.90721139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.73, Y:168.06, Z:59.06 [[ 7.83096001e-01 -5.45314402e-01 2.98986383e-01 4.07732025e+02] [ 5.09640088e-01 8.38231468e-01 1.93997386e-01 1.68056695e+02] [-3.56409363e-01 4.56869922e-04 9.34329790e-01 5.90624747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.75, Y:168.07, Z:59.05 [[ 7.82867635e-01 -5.45569018e-01 2.99119897e-01 4.07754213e+02] [ 5.09831352e-01 8.38065771e-01 1.94210597e-01 1.68071325e+02] [-3.56637432e-01 4.59510596e-04 9.34242758e-01 5.90525601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.76, Y:168.09, Z:59.03 [[ 7.80421211e-01 -5.41280903e-01 3.12981976e-01 4.07763356e+02] [ 5.11120589e-01 8.40602651e-01 1.79284488e-01 1.68092956e+02] [-3.60136748e-01 2.00541143e-02 9.32683953e-01 5.90292254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.80, Y:168.10, Z:59.03 [[ 7.80764941e-01 -5.49260527e-01 2.97857317e-01 4.07795048e+02] [ 5.11371901e-01 8.35640439e-01 2.00508943e-01 1.68099222e+02] [-3.59033267e-01 -4.23449074e-03 9.33315157e-01 5.90293608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.82, Y:168.11, Z:59.02 [[ 7.81154959e-01 -5.48978398e-01 2.97354416e-01 4.07816856e+02] [ 5.11342324e-01 8.35826824e-01 1.99806276e-01 1.68113795e+02] [-3.58226126e-01 -4.02976519e-03 9.33626158e-01 5.90192304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.84, Y:168.13, Z:59.01 [[ 7.81651684e-01 -5.47485799e-01 2.98797497e-01 4.07837235e+02] [ 5.10748748e-01 8.36813606e-01 1.97176839e-01 1.68129043e+02] [-3.57989330e-01 -1.51316019e-03 9.33724451e-01 5.90079483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.87, Y:168.14, Z:59.01 [[ 7.82465971e-01 -5.50542097e-01 2.90947423e-01 4.07866463e+02] [ 5.10868461e-01 8.34718016e-01 2.05570545e-01 1.68140615e+02] [-3.56034295e-01 -1.22160939e-02 9.34393037e-01 5.90057348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:168.16, Z:58.99 [[ 7.82079602e-01 -5.46860566e-01 2.98822720e-01 4.07882388e+02] [ 5.11099843e-01 8.37223479e-01 1.94509117e-01 1.68158778e+02] [-3.56550763e-01 6.06632384e-04 9.34275755e-01 5.89908075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:168.17, Z:58.98 [[ 7.81596094e-01 -5.48420101e-01 2.97225400e-01 4.07906890e+02] [ 5.11935338e-01 8.36201475e-01 1.96695966e-01 1.68172787e+02] [-3.56412339e-01 -1.57661283e-03 9.34327437e-01 5.89826305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.94, Y:168.18, Z:58.98 [[ 7.82111427e-01 -5.51754565e-01 2.89600789e-01 4.07936043e+02] [ 5.12350327e-01 8.33919449e-01 2.05123121e-01 1.68184512e+02] [-3.54681349e-01 -1.20520777e-02 9.34909562e-01 5.89798344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.95, Y:168.21, Z:58.96 [[ 7.80732639e-01 -5.43999415e-01 3.07442974e-01 4.07945358e+02] [ 5.11949426e-01 8.38978784e-01 1.84451579e-01 1.68207121e+02] [-3.58279684e-01 1.33878862e-02 9.33518309e-01 5.89569595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.98, Y:168.22, Z:58.96 [[ 7.81622036e-01 -5.51523828e-01 2.91356243e-01 4.07979019e+02] [ 5.12312043e-01 8.34091921e-01 2.04516597e-01 1.68215413e+02] [-3.55813665e-01 -1.05893668e-02 9.34496924e-01 5.89594895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.00, Y:168.23, Z:58.95 [[ 7.81870725e-01 -5.48903761e-01 2.95605870e-01 4.07997713e+02] [ 5.12279474e-01 8.35881124e-01 1.97161069e-01 1.68232551e+02] [-3.55313820e-01 -2.72164848e-03 9.34743110e-01 5.89478671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.01, Y:168.25, Z:58.93 [[ 7.79883403e-01 -5.42790641e-01 3.11705307e-01 4.08007031e+02] [ 5.12273255e-01 8.39654021e-01 1.80436244e-01 1.68254906e+02] [-3.59663718e-01 1.89590604e-02 9.32889363e-01 5.89254644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:168.26, Z:58.94 [[ 7.82037590e-01 -5.54260600e-01 2.84977885e-01 4.08048841e+02] [ 5.12480089e-01 8.32108222e-01 2.12037888e-01 1.68257716e+02] [-3.54656688e-01 -1.97761074e-02 9.34787430e-01 5.89360756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.06, Y:168.28, Z:58.92 [[ 7.81906351e-01 -5.46725447e-01 2.99522528e-01 4.08061408e+02] [ 5.12377246e-01 8.37300915e-01 1.90779287e-01 1.68281133e+02] [-3.55094377e-01 4.29699225e-03 9.34820581e-01 5.89151751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.08, Y:168.30, Z:58.90 [[ 7.80551029e-01 -5.45568785e-01 3.05114391e-01 4.08077342e+02] [ 5.12876407e-01 8.37993415e-01 1.86345987e-01 1.68300516e+02] [-3.57348405e-01 1.10334207e-02 9.33905981e-01 5.88989634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:168.32, Z:58.88 [[ 7.78216735e-01 -5.46598173e-01 3.09207293e-01 4.08091586e+02] [ 5.14306537e-01 8.37268734e-01 1.85660584e-01 1.68318351e+02] [-3.60371335e-01 1.45431579e-02 9.32695555e-01 5.88841367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.12, Y:168.33, Z:58.88 [[ 7.77523128e-01 -5.51914243e-01 3.01410774e-01 4.08118158e+02] [ 5.15507351e-01 8.33898243e-01 1.97144343e-01 1.68329266e+02] [-3.60152686e-01 2.09518385e-03 9.32891019e-01 5.88789467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.14, Y:168.34, Z:58.87 [[ 7.77972833e-01 -5.53540308e-01 2.97239631e-01 4.08144176e+02] [ 5.15982445e-01 8.32818436e-01 2.00438444e-01 1.68342660e+02] [-3.58497402e-01 -2.56523251e-03 9.33527200e-01 5.88715867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.16, Y:168.36, Z:58.85 [[ 7.76011255e-01 -5.51384604e-01 3.06237736e-01 4.08157332e+02] [ 5.17935174e-01 8.34170884e-01 1.89478474e-01 1.68363805e+02] [-3.59930116e-01 1.15738661e-02 9.32907475e-01 5.88543871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.18, Y:168.38, Z:58.85 [[ 7.75224843e-01 -5.55656604e-01 3.00453294e-01 4.08179408e+02] [ 5.18820506e-01 8.31410261e-01 1.98952909e-01 1.68378649e+02] [-3.60349449e-01 1.64809183e-03 9.32815929e-01 5.88490528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.20, Y:168.40, Z:58.84 [[ 7.75131597e-01 -5.55313091e-01 3.01327693e-01 4.08199081e+02] [ 5.19022005e-01 8.31634746e-01 1.97483692e-01 1.68395452e+02] [-3.60259859e-01 3.31985434e-03 9.32846082e-01 5.88384512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:168.41, Z:58.83 [[ 7.74698947e-01 -5.55639304e-01 3.01838542e-01 4.08218407e+02] [ 5.19194912e-01 8.31416652e-01 1.97946950e-01 1.68411254e+02] [-3.60940696e-01 3.36374172e-03 9.32582704e-01 5.88281543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.24, Y:168.43, Z:58.82 [[ 7.74828027e-01 -5.55388262e-01 3.01969216e-01 4.08238660e+02] [ 5.18859342e-01 8.31585126e-01 1.98119060e-01 1.68428903e+02] [-3.61146108e-01 3.17134811e-03 9.32503850e-01 5.88183035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:168.44, Z:58.81 [[ 7.74933196e-01 -5.55194100e-01 3.02056374e-01 4.08259484e+02] [ 5.18580102e-01 8.31715514e-01 1.98302755e-01 1.68444896e+02] [-3.61321492e-01 2.96903765e-03 9.32436574e-01 5.88083314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.29, Y:168.46, Z:58.81 [[ 7.77741035e-01 -5.58216823e-01 2.88985917e-01 4.08290389e+02] [ 5.16990400e-01 8.29564109e-01 2.11055244e-01 1.68458162e+02] [-3.57546933e-01 -1.47433795e-02 9.33778787e-01 5.88088580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.30, Y:168.48, Z:58.79 [[ 7.76546053e-01 -5.49561670e-01 3.08152882e-01 4.08295739e+02] [ 5.16980163e-01 8.35333560e-01 1.86947469e-01 1.68483959e+02] [-3.60149607e-01 1.41356081e-02 9.32787460e-01 5.87856017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.31, Y:168.50, Z:58.77 [[ 7.75801516e-01 -5.50603979e-01 3.08167596e-01 4.08314450e+02] [ 5.16554831e-01 8.34693397e-01 1.90939884e-01 1.68499434e+02] [-3.62357717e-01 1.10540094e-02 9.31973548e-01 5.87745001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.34, Y:168.51, Z:58.77 [[ 7.76422122e-01 -5.52420314e-01 3.03315818e-01 4.08336347e+02] [ 5.15124160e-01 8.33564673e-01 1.99542067e-01 1.68514197e+02] [-3.63064442e-01 1.31643075e-03 9.31763102e-01 5.87676743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.36, Y:168.53, Z:58.76 [[ 7.76193962e-01 -5.52173184e-01 3.04348005e-01 4.08356096e+02] [ 5.15118987e-01 8.33725967e-01 1.98880472e-01 1.68530749e+02] [-3.63559298e-01 2.40561470e-03 9.31567953e-01 5.87569155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:168.54, Z:58.76 [[ 7.78790277e-01 -5.54611985e-01 2.93072093e-01 4.08384259e+02] [ 5.13798560e-01 8.32017744e-01 2.09182966e-01 1.68544385e+02] [-3.59856561e-01 -1.23296403e-02 9.32926168e-01 5.87558526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.40, Y:168.57, Z:58.74 [[ 7.79549591e-01 -5.48310269e-01 3.02751192e-01 4.08398006e+02] [ 5.12983210e-01 8.36263801e-01 1.93677778e-01 1.68566341e+02] [-3.59375377e-01 4.32484576e-03 9.33183066e-01 5.87390583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.42, Y:168.58, Z:58.73 [[ 7.81242611e-01 -5.49047739e-01 2.96995898e-01 4.08420384e+02] [ 5.11654784e-01 8.35782997e-01 1.99188764e-01 1.68582038e+02] [-3.57588262e-01 -3.65537860e-03 9.33872193e-01 5.87326242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:168.60, Z:58.72 [[ 7.80673558e-01 -5.47646801e-01 3.01051120e-01 4.08437802e+02] [ 5.11621546e-01 8.36708240e-01 1.95352798e-01 1.68599812e+02] [-3.58876288e-01 1.51747536e-03 9.33383902e-01 5.87193942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.330385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:408.46, Y:168.61, Z:58.71 [[ 7.81020608e-01 -5.49523203e-01 2.96700285e-01 4.08461855e+02] [ 5.11820947e-01 8.35466795e-01 2.00086365e-01 1.68613523e+02] [-3.57835336e-01 -4.41415393e-03 9.33774270e-01 5.87125638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:168.63, Z:58.70 [[ 7.81031938e-01 -5.48949560e-01 2.97730571e-01 4.08482005e+02] [ 5.12379559e-01 8.35854431e-01 1.97014106e-01 1.68631230e+02] [-3.57010224e-01 -1.32325100e-03 9.34099539e-01 5.87025892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:168.65, Z:58.68 [[ 7.78133615e-01 -5.43963392e-01 3.14025326e-01 4.08489487e+02] [ 5.13380731e-01 8.38861147e-01 1.80975692e-01 1.68653630e+02] [-3.61867796e-01 2.03912815e-02 9.32006381e-01 5.86796785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:168.66, Z:58.69 [[ 7.79404682e-01 -5.55573947e-01 2.89596151e-01 4.08529187e+02] [ 5.14378721e-01 8.31330145e-01 2.10486867e-01 1.68658330e+02] [-3.57691030e-01 -1.50923518e-02 9.33718024e-01 5.86856241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:168.68, Z:58.66 [[ 7.76731912e-01 -5.47215344e-01 3.11837946e-01 4.08533818e+02] [ 5.15632296e-01 8.36802280e-01 1.84079548e-01 1.68683723e+02] [-3.61677858e-01 1.78132568e-02 9.32132939e-01 5.86600460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:168.69, Z:58.67 [[ 7.78809773e-01 -5.57565482e-01 2.87360525e-01 4.08573879e+02] [ 5.15862605e-01 8.29957317e-01 2.12265458e-01 1.68686779e+02] [-3.56848863e-01 -1.70758638e-02 9.34006051e-01 5.86665355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.58, Y:168.72, Z:58.64 [[ 7.75834135e-01 -5.47798767e-01 3.13046173e-01 4.08575970e+02] [ 5.17319911e-01 8.36341629e-01 1.81418821e-01 1.68715035e+02] [-3.61194553e-01 2.11941041e-02 9.32249594e-01 5.86380194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.61, Y:168.72, Z:58.63 [[ 7.76212155e-01 -5.54310146e-01 3.00391333e-01 4.08605049e+02] [ 5.17463588e-01 8.32309350e-01 1.98727406e-01 1.68722729e+02] [-3.60175133e-01 1.18694899e-03 9.32883950e-01 5.86335121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.63, Y:168.74, Z:58.62 [[ 7.76542405e-01 -5.53925149e-01 3.00247937e-01 4.08626397e+02] [ 5.17038264e-01 8.32565991e-01 1.98759413e-01 1.68737038e+02] [-3.60074058e-01 8.94559480e-04 9.32923294e-01 5.86231670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:168.75, Z:58.61 [[ 7.76395412e-01 -5.54163839e-01 3.00187614e-01 4.08648568e+02] [ 5.17258964e-01 8.32407142e-01 1.98850481e-01 1.68751728e+02] [-3.60074060e-01 8.88132617e-04 9.32923300e-01 5.86127312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.67, Y:168.77, Z:58.60 [[ 7.76776413e-01 -5.53799626e-01 2.99873938e-01 4.08670488e+02] [ 5.16901185e-01 8.32649748e-01 1.98765093e-01 1.68766152e+02] [-3.59765993e-01 6.09158311e-04 9.33042367e-01 5.86026006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.69, Y:168.78, Z:58.59 [[ 7.77688422e-01 -5.52532998e-01 2.99846634e-01 4.08692980e+02] [ 5.15500450e-01 8.33491018e-01 1.98876869e-01 1.68780146e+02] [-3.59805510e-01 -9.31638893e-05 9.33027324e-01 5.85923801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.71, Y:168.79, Z:58.58 [[ 7.78274207e-01 -5.51783799e-01 2.99706353e-01 4.08714326e+02] [ 5.14681955e-01 8.33987007e-01 1.98917465e-01 1.68793858e+02] [-3.59710639e-01 -5.58880878e-04 9.33063741e-01 5.85821928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.73, Y:168.81, Z:58.57 [[ 7.78634221e-01 -5.48986659e-01 3.03878920e-01 4.08734653e+02] [ 5.13338252e-01 8.35819377e-01 1.94653045e-01 1.68809102e+02] [-3.60849814e-01 4.42915183e-03 9.32613422e-01 5.85679230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.76, Y:168.82, Z:58.56 [[ 7.79264343e-01 -5.51862352e-01 2.96976477e-01 4.08759641e+02] [ 5.13133869e-01 8.33914061e-01 2.03177193e-01 1.68819812e+02] [-3.59778704e-01 -5.94005318e-03 9.33018757e-01 5.85639359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.78, Y:168.84, Z:58.55 [[ 7.79439574e-01 -5.50024634e-01 2.99911408e-01 4.08779742e+02] [ 5.12656707e-01 8.35146945e-01 1.99280407e-01 1.68835217e+02] [-3.60079229e-01 -1.57544073e-03 9.32920397e-01 5.85524184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.810385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.80, Y:168.85, Z:58.54 [[ 7.79733620e-01 -5.49175468e-01 3.00702158e-01 4.08801526e+02] [ 5.11491200e-01 8.35704453e-01 1.99937039e-01 1.68847795e+02] [-3.61098650e-01 -2.09112314e-03 9.32525277e-01 5.85431536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.82, Y:168.86, Z:58.53 [[ 7.79751432e-01 -5.48932836e-01 3.01098731e-01 4.08822999e+02] [ 5.11106101e-01 8.35863414e-01 2.00257103e-01 1.68860964e+02] [-3.61605113e-01 -2.25736451e-03 9.32328615e-01 5.85331817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:168.87, Z:58.52 [[ 7.79498371e-01 -5.48969076e-01 3.01687328e-01 4.08845637e+02] [ 5.10970115e-01 8.35839511e-01 2.00703398e-01 1.68873566e+02] [-3.62342147e-01 -2.29476329e-03 9.32042329e-01 5.85234763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.87, Y:168.89, Z:58.51 [[ 7.79036636e-01 -5.49498354e-01 3.01916344e-01 4.08868027e+02] [ 5.11428687e-01 8.35491997e-01 2.00982139e-01 1.68887315e+02] [-3.62688044e-01 -2.16377025e-03 9.31908097e-01 5.85132172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:168.90, Z:58.50 [[ 7.78724442e-01 -5.49858031e-01 3.02066861e-01 4.08890427e+02] [ 5.11725354e-01 8.35255461e-01 2.01210033e-01 1.68900763e+02] [-3.62939948e-01 -2.11189920e-03 9.31810138e-01 5.85030138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:168.92, Z:58.49 [[ 7.77337973e-01 -5.48829582e-01 3.07460186e-01 4.08911309e+02] [ 5.12237612e-01 8.35923273e-01 1.97091124e-01 1.68915499e+02] [-3.65182564e-01 4.28625624e-03 9.30926057e-01 5.84870595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.990385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:408.94, Y:168.92, Z:58.48 [[ 7.77890474e-01 -5.53254303e-01 2.97986722e-01 4.08937877e+02] [ 5.13601153e-01 8.32982629e-01 2.05800377e-01 1.68924479e+02] [-3.62077707e-01 -7.04382926e-03 9.32121300e-01 5.84825322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:168.94, Z:58.46 [[ 7.77084635e-01 -5.48091393e-01 3.09411206e-01 4.08956994e+02] [ 5.13004662e-01 8.36373832e-01 1.93145100e-01 1.68941376e+02] [-3.64644603e-01 8.63930106e-03 9.31106694e-01 5.84636557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.99, Y:168.95, Z:58.46 [[ 7.77321382e-01 -5.54157148e-01 2.97794097e-01 4.08986104e+02] [ 5.14080187e-01 8.32374947e-01 2.07059193e-01 1.68949454e+02] [-3.62619677e-01 -7.86149327e-03 9.31904054e-01 5.84612745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.01, Y:168.96, Z:58.45 [[ 7.78271172e-01 -5.53358463e-01 2.96796893e-01 4.09011490e+02] [ 5.14319356e-01 8.32919251e-01 2.04257491e-01 1.68962526e+02] [-3.60235456e-01 -6.31933005e-03 9.32840009e-01 5.84514479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:168.98, Z:58.44 [[ 7.77309539e-01 -5.50948132e-01 3.03720326e-01 4.09025671e+02] [ 5.15557186e-01 8.34521304e-01 1.94357869e-01 1.68979982e+02] [-3.60542187e-01 5.50897127e-03 9.32726639e-01 5.84371785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:168.99, Z:58.43 [[ 7.77144093e-01 -5.53603074e-01 2.99283636e-01 4.09050488e+02] [ 5.16158490e-01 8.32779986e-01 2.00144717e-01 1.68990735e+02] [-3.60038152e-01 -1.06349500e-03 9.32936974e-01 5.84290198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.08, Y:169.00, Z:58.42 [[ 7.77445000e-01 -5.55415312e-01 2.95115405e-01 4.09080820e+02] [ 5.16214622e-01 8.31542814e-01 2.05082940e-01 1.68999125e+02] [-3.59307300e-01 -7.09781856e-03 9.33192309e-01 5.84214371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.09, Y:169.02, Z:58.41 [[ 7.75705328e-01 -5.52624016e-01 3.04775230e-01 4.09093814e+02] [ 5.17994285e-01 8.33388656e-01 1.92731079e-01 1.69017080e+02] [-3.60504042e-01 8.36930211e-03 9.32720103e-01 5.84061482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.12, Y:169.03, Z:58.40 [[ 7.74662526e-01 -5.56517930e-01 3.00309448e-01 4.09120556e+02] [ 5.18900204e-01 8.30835599e-01 2.01133750e-01 1.69025509e+02] [-3.61442318e-01 1.98551960e-05 9.32394471e-01 5.83990393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.14, Y:169.04, Z:58.39 [[ 7.74165043e-01 -5.56959859e-01 3.00772674e-01 4.09143097e+02] [ 5.19202863e-01 8.30539405e-01 2.01575504e-01 1.69039060e+02] [-3.62073022e-01 1.09324614e-04 9.32149728e-01 5.83885024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.17, Y:169.05, Z:58.38 [[ 7.74038355e-01 -5.57128547e-01 3.00786314e-01 4.09165602e+02] [ 5.19329294e-01 8.30426262e-01 2.01715909e-01 1.69052750e+02] [-3.62162545e-01 7.12932582e-05 9.32114953e-01 5.83780407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.19, Y:169.06, Z:58.37 [[ 7.75204047e-01 -5.55959230e-01 2.99946697e-01 4.09187679e+02] [ 5.18243130e-01 8.31209352e-01 2.01283560e-01 1.69064621e+02] [-3.61223953e-01 -5.90515622e-04 9.32478905e-01 5.83679966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3503857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:409.21, Y:169.08, Z:58.36 [[ 7.76632771e-01 -5.54516268e-01 2.98920137e-01 4.09210125e+02] [ 5.16942301e-01 8.32171857e-01 2.00650588e-01 1.69075630e+02] [-3.60016941e-01 -1.30735859e-03 9.32944850e-01 5.83583476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:169.09, Z:58.35 [[ 7.77709040e-01 -5.52079785e-01 3.00626946e-01 4.09230369e+02] [ 5.16416182e-01 8.33784315e-01 1.95238427e-01 1.69090209e+02] [-3.58445221e-01 3.40992997e-03 9.33544534e-01 5.83465447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.26, Y:169.10, Z:58.34 [[ 7.77246426e-01 -5.55873075e-01 2.94776385e-01 4.09257983e+02] [ 5.16501650e-01 8.31232782e-01 2.05616407e-01 1.69100313e+02] [-3.59324419e-01 -7.56212846e-03 9.33182070e-01 5.83402529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.28, Y:169.11, Z:58.33 [[ 7.77321501e-01 -5.54014665e-01 2.98058778e-01 4.09278810e+02] [ 5.16550243e-01 8.32505136e-01 2.00277423e-01 1.69114936e+02] [-3.59092093e-01 -1.71761294e-03 9.33300551e-01 5.83274050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:169.13, Z:58.32 [[ 7.76774549e-01 -5.54683028e-01 2.98241579e-01 4.09300203e+02] [ 5.17168723e-01 8.32060342e-01 2.00529547e-01 1.69128027e+02] [-3.59385326e-01 -1.52503174e-03 9.33188010e-01 5.83168432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.32, Y:169.14, Z:58.31 [[ 7.76787600e-01 -5.55196371e-01 2.97250758e-01 4.09323044e+02] [ 5.17922699e-01 8.31718108e-01 2.00002668e-01 1.69139942e+02] [-3.58269594e-01 -1.40667788e-03 9.33617116e-01 5.83061663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:169.15, Z:58.30 [[ 7.76640718e-01 -5.55493043e-01 2.97080249e-01 4.09344360e+02] [ 5.18229372e-01 8.31520010e-01 2.00031974e-01 1.69152270e+02] [-3.58144542e-01 -1.39726521e-03 9.33665109e-01 5.82959925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.37, Y:169.17, Z:58.29 [[ 7.76484771e-01 -5.56025268e-01 2.96491656e-01 4.09366875e+02] [ 5.18931234e-01 8.31164525e-01 1.99689525e-01 1.69165214e+02] [-3.57465768e-01 -1.19709390e-03 9.33925474e-01 5.82858903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:169.17, Z:58.28 [[ 7.79029883e-01 -5.57243764e-01 2.87387941e-01 4.09399711e+02] [ 5.17749598e-01 8.30262317e-01 2.06397282e-01 1.69171368e+02] [-3.53620976e-01 -1.19946593e-02 9.35311891e-01 5.82845770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.41, Y:169.19, Z:58.26 [[ 7.75013312e-01 -5.55084714e-01 3.02051859e-01 4.09412258e+02] [ 5.20738791e-01 8.31753608e-01 1.92398148e-01 1.69191458e+02] [-3.58029995e-01 8.17899452e-03 9.33674262e-01 5.82629862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:169.20, Z:58.26 [[ 7.76865495e-01 -5.59578397e-01 2.88707501e-01 4.09447156e+02] [ 5.19742562e-01 8.28700789e-01 2.07659992e-01 1.69198501e+02] [-3.55454179e-01 -1.12703062e-02 9.34625758e-01 5.82631191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:169.22, Z:58.24 [[ 7.74593059e-01 -5.52553330e-01 3.07718070e-01 4.09452215e+02] [ 5.20956499e-01 8.33303346e-01 1.84959077e-01 1.69221293e+02] [-3.58622252e-01 1.70397115e-02 9.33327236e-01 5.82393832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.48, Y:169.23, Z:58.24 [[ 7.74383496e-01 -5.58808058e-01 2.96755380e-01 4.09482138e+02] [ 5.21556144e-01 8.29296823e-01 2.00613976e-01 1.69228474e+02] [-3.58203000e-01 -5.77560729e-04 9.33643549e-01 5.82359661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.51, Y:169.24, Z:58.23 [[ 7.74658715e-01 -5.58952198e-01 2.95763954e-01 4.09505723e+02] [ 5.21919825e-01 8.29199648e-01 2.00069090e-01 1.69240795e+02] [-3.57076424e-01 -6.20192711e-04 9.34074967e-01 5.82256406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.53, Y:169.25, Z:58.22 [[ 7.74533426e-01 -5.59111110e-01 2.95791717e-01 4.09528472e+02] [ 5.22034800e-01 8.29092476e-01 2.00213220e-01 1.69253256e+02] [-3.57180123e-01 -6.58261539e-04 9.34035292e-01 5.82151449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:169.27, Z:58.21 [[ 7.74384583e-01 -5.59090458e-01 2.96220150e-01 4.09550524e+02] [ 5.22215321e-01 8.29106662e-01 1.99683006e-01 1.69267312e+02] [-3.57238963e-01 5.92589071e-05 9.34013019e-01 5.82050087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.58, Y:169.28, Z:58.19 [[ 7.74491136e-01 -5.59237551e-01 2.95663395e-01 4.09576670e+02] [ 5.21764515e-01 8.29005877e-01 2.01273561e-01 1.69280122e+02] [-3.57666426e-01 -1.61792103e-03 9.33848012e-01 5.81941676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.59, Y:169.30, Z:58.18 [[ 7.72551854e-01 -5.58396808e-01 3.02252605e-01 4.09593702e+02] [ 5.23527843e-01 8.29534880e-01 1.94397739e-01 1.69296443e+02] [-3.59280156e-01 8.05532063e-03 9.33194986e-01 5.81791224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:169.31, Z:58.18 [[ 7.72539035e-01 -5.63366196e-01 2.92919731e-01 4.09620752e+02] [ 5.24658844e-01 8.26192777e-01 2.05276867e-01 1.69305893e+02] [-3.57654214e-01 -4.90146508e-03 9.33841228e-01 5.81778091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.64, Y:169.32, Z:58.17 [[ 7.71766715e-01 -5.63183600e-01 2.95297089e-01 4.09640850e+02] [ 5.26274531e-01 8.26331540e-01 2.00527564e-01 1.69318816e+02] [-3.56947134e-01 6.46837775e-04 9.34124363e-01 5.81655311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.66, Y:169.33, Z:58.16 [[ 7.71065453e-01 -5.64021179e-01 2.95530334e-01 4.09663273e+02] [ 5.27078254e-01 8.25759765e-01 2.00771822e-01 1.69332405e+02] [-3.57276619e-01 9.59395994e-04 9.33998125e-01 5.81553330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.69, Y:169.34, Z:58.15 [[ 7.69900715e-01 -5.65722666e-01 2.95314671e-01 4.09687144e+02] [ 5.28908276e-01 8.24593953e-01 2.00750710e-01 1.69344795e+02] [-3.57083919e-01 1.63625826e-03 9.34070874e-01 5.81452425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:169.36, Z:58.14 [[ 7.68971257e-01 -5.67317794e-01 2.94675631e-01 4.09710005e+02] [ 5.29981831e-01 8.23498782e-01 2.02408043e-01 1.69357826e+02] [-3.57494708e-01 5.26763019e-04 9.33915016e-01 5.81355551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:169.37, Z:58.12 [[ 7.69277013e-01 -5.65955271e-01 2.96492005e-01 4.09730396e+02] [ 5.29895105e-01 8.24425485e-01 1.98831077e-01 1.69373124e+02] [-3.56965061e-01 4.15348480e-03 9.34108502e-01 5.81238964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:169.39, Z:58.11 [[ 7.69594959e-01 -5.65712159e-01 2.96130633e-01 4.09754558e+02] [ 5.28515729e-01 8.24601846e-01 2.01749644e-01 1.69387776e+02] [-3.58322094e-01 1.24418871e-03 9.33597199e-01 5.81123403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:169.40, Z:58.10 [[ 7.69712717e-01 -5.64835231e-01 2.97495370e-01 4.09774797e+02] [ 5.28428817e-01 8.25195773e-01 1.99536770e-01 1.69403636e+02] [-3.58197319e-01 3.61913714e-03 9.33638893e-01 5.81013588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.79, Y:169.42, Z:58.09 [[ 7.69234099e-01 -5.65820352e-01 2.96860625e-01 4.09794612e+02] [ 5.28890798e-01 8.24525257e-01 2.01078653e-01 1.69417826e+02] [-3.58543477e-01 2.33029679e-03 9.33510120e-01 5.80937074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.82, Y:169.43, Z:58.08 [[ 7.68627492e-01 -5.66850731e-01 2.96465897e-01 4.09815911e+02] [ 5.29604346e-01 8.23818817e-01 2.02093527e-01 1.69432254e+02] [-3.58791047e-01 1.67498663e-03 9.33416402e-01 5.80835992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:169.45, Z:58.07 [[ 7.68345681e-01 -5.67316932e-01 2.96304595e-01 4.09836220e+02] [ 5.30093941e-01 8.23497637e-01 2.02118915e-01 1.69446717e+02] [-3.58671617e-01 1.77207519e-03 9.33462121e-01 5.80735409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:169.46, Z:58.06 [[ 7.67401812e-01 -5.68555336e-01 2.96376936e-01 4.09856613e+02] [ 5.31381193e-01 8.22641799e-01 2.02223881e-01 1.69462130e+02] [-3.58787523e-01 2.30215673e-03 9.33416420e-01 5.80626077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:169.48, Z:58.05 [[ 7.66722000e-01 -5.69467217e-01 2.96385667e-01 4.09878057e+02] [ 5.32308693e-01 8.22009871e-01 2.02354214e-01 1.69477473e+02] [-3.58866035e-01 2.61923922e-03 9.33385402e-01 5.80521576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.90, Y:169.49, Z:58.04 [[ 7.65758183e-01 -5.70678373e-01 2.96547803e-01 4.09898842e+02] [ 5.33515504e-01 8.21167913e-01 2.02594338e-01 1.69493466e+02] [-3.59131748e-01 3.07457858e-03 9.33281809e-01 5.80416112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:169.51, Z:58.03 [[ 7.65425173e-01 -5.71101633e-01 2.96592700e-01 4.09918692e+02] [ 5.33907207e-01 8.20873286e-01 2.02756365e-01 1.69508315e+02] [-3.59259515e-01 3.15815426e-03 9.33232354e-01 5.80319666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:169.52, Z:58.02 [[ 7.64771126e-01 -5.71756968e-01 2.97016993e-01 4.09939549e+02] [ 5.34478640e-01 8.20415903e-01 2.03101773e-01 1.69524099e+02] [-3.59802318e-01 3.42286754e-03 9.33022280e-01 5.80211387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:169.55, Z:57.99 [[ 7.60195216e-01 -5.63797140e-01 3.22856034e-01 4.09942307e+02] [ 5.35703851e-01 8.25106420e-01 1.79501476e-01 1.69550729e+02] [-3.67593005e-01 3.64990574e-02 9.29270252e-01 5.79869751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:169.55, Z:58.01 [[ 7.61845121e-01 -5.84646470e-01 2.78891585e-01 4.09994879e+02] [ 5.36716306e-01 8.10796464e-01 2.33548071e-01 1.69545475e+02] [-3.62667366e-01 -2.82417970e-02 9.31490624e-01 5.80132728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:169.57, Z:57.99 [[ 7.61514260e-01 -5.75184098e-01 2.98762926e-01 4.10002759e+02] [ 5.37597968e-01 8.18009722e-01 2.04569107e-01 1.69571195e+02] [-3.62055875e-01 4.83204950e-03 9.32143870e-01 5.79896680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.02, Y:169.59, Z:57.98 [[ 7.61260888e-01 -5.75657693e-01 2.98496368e-01 4.10024299e+02] [ 5.38125458e-01 8.17675876e-01 2.04516877e-01 1.69586588e+02] [-3.61804993e-01 4.93779544e-03 9.32240723e-01 5.79788746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.05, Y:169.60, Z:57.97 [[ 7.61182415e-01 -5.75967432e-01 2.98098725e-01 4.10045365e+02] [ 5.38510431e-01 8.17457582e-01 2.04376164e-01 1.69601792e+02] [-3.61397077e-01 4.96173079e-03 9.32398806e-01 5.79680903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:169.62, Z:57.96 [[ 7.61031069e-01 -5.76199121e-01 2.98037390e-01 4.10067311e+02] [ 5.38724245e-01 8.17294328e-01 2.04465572e-01 1.69616854e+02] [-3.61397151e-01 4.95531534e-03 9.32398812e-01 5.79576563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:169.63, Z:57.95 [[ 7.61009724e-01 -5.76175122e-01 2.98138271e-01 4.10088055e+02] [ 5.38624457e-01 8.17311950e-01 2.04657937e-01 1.69632711e+02] [-3.61590783e-01 4.83788408e-03 9.32324354e-01 5.79467525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.580385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:410.11, Y:169.65, Z:57.93 [[ 7.61320446e-01 -5.75980003e-01 2.97721706e-01 4.10107585e+02] [ 5.38472537e-01 8.17450714e-01 2.04503441e-01 1.69648028e+02] [-3.61162714e-01 4.62231128e-03 9.32491356e-01 5.79349577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:169.67, Z:57.91 [[ 7.59871308e-01 -5.67753889e-01 3.16624569e-01 4.10114368e+02] [ 5.37629122e-01 8.22661124e-01 1.84888081e-01 1.69670582e+02] [-3.65445651e-01 2.97354413e-02 9.30357609e-01 5.79064327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:169.67, Z:57.92 [[ 7.61872288e-01 -5.83382318e-01 2.81452816e-01 4.10162909e+02] [ 5.37701954e-01 8.11902978e-01 2.27354708e-01 1.69670928e+02] [-3.61147096e-01 -2.18775227e-02 9.32252192e-01 5.79248182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:169.70, Z:57.90 [[ 7.62962900e-01 -5.72559543e-01 3.00105285e-01 4.10171469e+02] [ 5.36782868e-01 8.19814387e-01 1.99420471e-01 1.69695529e+02] [-3.60210724e-01 8.94095473e-03 9.32828116e-01 5.79021178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.20, Y:169.71, Z:57.90 [[ 7.63683724e-01 -5.73928992e-01 2.95622532e-01 4.10197528e+02] [ 5.34051610e-01 8.18900748e-01 2.10215229e-01 1.69707153e+02] [-3.62734128e-01 -2.66025986e-03 9.31888875e-01 5.78964272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:169.73, Z:57.87 [[ 7.63762125e-01 -5.66273557e-01 3.09841371e-01 4.10212595e+02] [ 5.31885892e-01 8.24064267e-01 1.94975590e-01 1.69728295e+02] [-3.65738723e-01 1.58852829e-02 9.30581992e-01 5.78722142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:169.74, Z:57.88 [[ 7.64863145e-01 -5.73624006e-01 2.93155025e-01 4.10242345e+02] [ 5.31596649e-01 8.19067595e-01 2.15715732e-01 1.69735784e+02] [-3.63853504e-01 -9.15278421e-03 9.31411216e-01 5.78771331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.790385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:410.26, Y:169.76, Z:57.86 [[ 7.66613947e-01 -5.67220250e-01 3.00938938e-01 4.10257960e+02] [ 5.29782799e-01 8.23556215e-01 2.02695208e-01 1.69755698e+02] [-3.62812959e-01 4.04329934e-03 9.31853212e-01 5.78609643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:169.77, Z:57.85 [[ 7.66683063e-01 -5.68985614e-01 2.97409568e-01 4.10282734e+02] [ 5.29006000e-01 8.22340767e-01 2.09543109e-01 1.69768222e+02] [-3.63799027e-01 -3.32170682e-03 9.31471542e-01 5.78535041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.30, Y:169.78, Z:57.84 [[ 7.67547708e-01 -5.66174590e-01 3.00527618e-01 4.10301590e+02] [ 5.27605149e-01 8.24284846e-01 2.05395472e-01 1.69783496e+02] [-3.64010058e-01 9.09094787e-04 9.31394573e-01 5.78414787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:169.80, Z:57.83 [[ 7.67093625e-01 -5.68095386e-01 2.98052016e-01 4.10326175e+02] [ 5.28424771e-01 8.22958911e-01 2.08580663e-01 1.69797526e+02] [-3.63778274e-01 -2.50282864e-03 9.31482208e-01 5.78321729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:169.81, Z:57.82 [[ 7.66832867e-01 -5.67697907e-01 2.99476945e-01 4.10346994e+02] [ 5.28799671e-01 8.23236956e-01 2.06523175e-01 1.69812978e+02] [-3.63783262e-01 -5.44820122e-06 9.31483622e-01 5.78207423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:169.83, Z:57.81 [[ 7.66062671e-01 -5.68856199e-01 2.99250079e-01 4.10367955e+02] [ 5.30053389e-01 8.22436892e-01 2.06496885e-01 1.69827501e+02] [-3.63581338e-01 4.28963038e-04 9.31562358e-01 5.78098642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9703857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:410.39, Y:169.84, Z:57.80 [[ 7.65787416e-01 -5.69752654e-01 2.98247459e-01 4.10388670e+02] [ 5.31233629e-01 8.21815899e-01 2.05935574e-01 1.69841815e+02] [-3.62436843e-01 7.36209166e-04 9.32008043e-01 5.77974144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:169.86, Z:57.78 [[ 7.63777977e-01 -5.68420359e-01 3.05845545e-01 4.10405898e+02] [ 5.32314216e-01 8.22673354e-01 1.99624971e-01 1.69858486e+02] [-3.65081878e-01 1.03367746e-02 9.30918027e-01 5.77805801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:169.87, Z:57.78 [[ 7.64760965e-01 -5.73887654e-01 2.92905493e-01 4.10436990e+02] [ 5.32475570e-01 8.18896503e-01 2.14192168e-01 1.69867016e+02] [-3.62781525e-01 -7.84078943e-03 9.31841235e-01 5.77820714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:169.88, Z:57.77 [[ 7.63937222e-01 -5.73347454e-01 2.96095624e-01 4.10457160e+02] [ 5.32902933e-01 8.19303398e-01 2.11557097e-01 1.69881387e+02] [-3.63887874e-01 -3.82611506e-03 9.31434902e-01 5.77702971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:169.90, Z:57.76 [[ 7.63779200e-01 -5.71095136e-01 3.00818349e-01 4.10475726e+02] [ 5.34139921e-01 8.20860118e-01 2.02195974e-01 1.69899612e+02] [-3.62402923e-01 6.24600980e-03 9.32000595e-01 5.77557217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.120385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:410.50, Y:169.91, Z:57.75 [[ 7.63492111e-01 -5.73201362e-01 2.97523102e-01 4.10499139e+02] [ 5.34895550e-01 8.19412484e-01 2.06033813e-01 1.69912284e+02] [-3.61893006e-01 1.83859279e-03 9.32217824e-01 5.77461341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.51, Y:169.93, Z:57.72 [[ 7.59248457e-01 -5.68817897e-01 3.16208762e-01 4.10505449e+02] [ 5.36423723e-01 8.22091433e-01 1.90827842e-01 1.69934880e+02] [-3.68498806e-01 2.47361367e-02 9.29299066e-01 5.77188330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:169.94, Z:57.74 [[ 7.62375923e-01 -5.81795265e-01 2.83367644e-01 4.10551853e+02] [ 5.35819082e-01 8.13043686e-01 2.27723246e-01 1.69935083e+02] [-3.62878580e-01 -2.17769293e-02 9.31581935e-01 5.77355782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:169.96, Z:57.71 [[ 7.60318693e-01 -5.72110569e-01 3.07579228e-01 4.10557631e+02] [ 5.36691051e-01 8.20056626e-01 1.98670193e-01 1.69960000e+02] [-3.65893702e-01 1.40223576e-02 9.30551005e-01 5.77060062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:169.97, Z:57.71 [[ 7.61966753e-01 -5.78662490e-01 2.90785816e-01 4.10591043e+02] [ 5.36898329e-01 8.15523098e-01 2.16014491e-01 1.69967595e+02] [-3.62142033e-01 -8.47344153e-03 9.32084411e-01 5.77102204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:169.99, Z:57.69 [[ 7.59864545e-01 -5.74601152e-01 3.04038467e-01 4.10604563e+02] [ 5.38214758e-01 8.18365891e-01 2.01499737e-01 1.69989161e+02] [-3.64596692e-01 1.05254839e-02 9.31106045e-01 5.76881432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:170.00, Z:57.69 [[ 7.60167253e-01 -5.79790175e-01 2.93238984e-01 4.10631738e+02] [ 5.39245489e-01 8.14756885e-01 2.13038778e-01 1.70000266e+02] [-3.62436272e-01 -3.81730364e-03 9.32000739e-01 5.76881536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:170.02, Z:57.67 [[ 7.59077789e-01 -5.75687497e-01 3.03948708e-01 4.10647330e+02] [ 5.39407739e-01 8.17595202e-01 2.01438269e-01 1.70021170e+02] [-3.64472498e-01 1.10449695e-02 9.31148649e-01 5.76679164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:170.03, Z:57.67 [[ 7.59649347e-01 -5.79878578e-01 2.94403983e-01 4.10672948e+02] [ 5.39671822e-01 8.14699671e-01 2.12176273e-01 1.70032621e+02] [-3.62887303e-01 -2.29803330e-03 9.31830202e-01 5.76672035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:170.05, Z:57.65 [[ 7.59757760e-01 -5.77779407e-01 2.98226596e-01 4.10691970e+02] [ 5.39347224e-01 8.16185878e-01 2.07232201e-01 1.70049951e+02] [-3.63142834e-01 3.40141388e-03 9.31727274e-01 5.76547431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:170.06, Z:57.65 [[ 7.60245761e-01 -5.77167744e-01 2.98167366e-01 4.10712918e+02] [ 5.38654539e-01 8.16620131e-01 2.07323055e-01 1.70064631e+02] [-3.63149654e-01 2.99273140e-03 9.31726018e-01 5.76460949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:410.73, Y:170.08, Z:57.64 [[ 7.60720879e-01 -5.76881975e-01 2.97507868e-01 4.10733766e+02] [ 5.38489335e-01 8.16822813e-01 2.06953443e-01 1.70080036e+02] [-3.62398925e-01 2.77100875e-03 9.32018959e-01 5.76359029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:170.10, Z:57.62 [[ 7.61511492e-01 -5.73977640e-01 3.01081246e-01 4.10752076e+02] [ 5.37314068e-01 8.18832436e-01 2.02007507e-01 1.70098191e+02] [-3.62482883e-01 7.94415114e-03 9.31956571e-01 5.76188811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:170.11, Z:57.62 [[ 7.62155693e-01 -5.76983782e-01 2.93612696e-01 4.10775703e+02] [ 5.37510041e-01 8.16753039e-01 2.09755643e-01 1.70111091e+02] [-3.60834666e-01 -2.04668551e-03 9.32627554e-01 5.76155015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:170.13, Z:57.60 [[ 7.62695895e-01 -5.72534388e-01 3.00831094e-01 4.10795175e+02] [ 5.35924135e-01 8.19846640e-01 2.01585734e-01 1.70129360e+02] [-3.62050126e-01 7.47403221e-03 9.32128663e-01 5.75980575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.82, Y:170.14, Z:57.59 [[ 7.63327963e-01 -5.72801258e-01 2.98712469e-01 4.10817060e+02] [ 5.34705005e-01 8.19689101e-01 2.05427200e-01 1.70142734e+02] [-3.62520314e-01 2.91472629e-03 9.31971312e-01 5.75909185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:170.15, Z:57.58 [[ 7.65582840e-01 -5.69996080e-01 2.98307533e-01 4.10838405e+02] [ 5.31459978e-01 8.21647013e-01 2.06025430e-01 1.70154927e+02] [-3.62537181e-01 8.08981234e-04 9.31968958e-01 5.75828480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:170.17, Z:57.58 [[ 7.64433531e-01 -5.74898875e-01 2.91775018e-01 4.10860914e+02] [ 5.31516607e-01 8.18126312e-01 2.19452577e-01 1.70166368e+02] [-3.64871859e-01 -1.26736407e-02 9.30971485e-01 5.75809002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.660385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:410.88, Y:170.19, Z:57.56 [[ 7.63507912e-01 -5.71996152e-01 2.99793380e-01 4.10878501e+02] [ 5.33860498e-01 8.20249924e-01 2.05385079e-01 1.70189902e+02] [-3.63384972e-01 3.23471031e-03 9.31633457e-01 5.75636558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:170.21, Z:57.55 [[ 7.62713205e-01 -5.73461881e-01 2.99015115e-01 4.10900299e+02] [ 5.34212851e-01 8.19231941e-01 2.08508170e-01 1.70205599e+02] [-3.64534220e-01 7.05782498e-04 9.31189725e-01 5.75546484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.92, Y:170.22, Z:57.54 [[ 7.61591058e-01 -5.72406097e-01 3.03859048e-01 4.10919536e+02] [ 5.34753269e-01 8.19941228e-01 2.04292252e-01 1.70222996e+02] [-3.66084691e-01 6.90246645e-03 9.30555939e-01 5.75389922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.750385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:410.95, Y:170.23, Z:57.54 [[ 7.61649677e-01 -5.76224218e-01 2.96404152e-01 4.10945167e+02] [ 5.35254164e-01 8.17282314e-01 2.13430551e-01 1.70234805e+02] [-3.65229723e-01 -3.90775383e-03 9.30909222e-01 5.75363808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:170.25, Z:57.52 [[ 7.60347472e-01 -5.76435542e-01 2.99322215e-01 4.10964168e+02] [ 5.37198018e-01 8.17140532e-01 2.09044592e-01 1.70252346e+02] [-3.65089046e-01 1.84877343e-03 9.30970768e-01 5.75243696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.810385723 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:410.99, Y:170.27, Z:57.51 [[ 7.59785881e-01 -5.74824172e-01 3.03813409e-01 4.10985093e+02] [ 5.37841682e-01 8.18226092e-01 2.03057594e-01 1.70270490e+02] [-3.65310471e-01 9.12322230e-03 9.30841032e-01 5.75081808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:170.29, Z:57.50 [[ 7.57966979e-01 -5.80232664e-01 2.98020325e-01 4.11007134e+02] [ 5.41213724e-01 8.14446210e-01 2.09201043e-01 1.70285733e+02] [-3.64106803e-01 2.72520760e-03 9.31353214e-01 5.75014157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:170.30, Z:57.49 [[ 7.57717217e-01 -5.81918632e-01 2.95356270e-01 4.11028332e+02] [ 5.42068776e-01 8.13246973e-01 2.11638377e-01 1.70300739e+02] [-3.63353907e-01 -2.58630384e-04 9.31651153e-01 5.74947643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:170.32, Z:57.48 [[ 7.57061367e-01 -5.81575101e-01 2.97705372e-01 4.11047630e+02] [ 5.42886466e-01 8.13484346e-01 2.08608497e-01 1.70317698e+02] [-3.63500167e-01 3.69078370e-03 9.31586822e-01 5.74830875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:170.33, Z:57.47 [[ 7.55952721e-01 -5.82969101e-01 2.97796090e-01 4.11068372e+02] [ 5.44309741e-01 8.12483212e-01 2.08801190e-01 1.70334301e+02] [-3.63678966e-01 4.24948461e-03 9.31514655e-01 5.74731145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:170.36, Z:57.45 [[ 7.52288143e-01 -5.81549147e-01 3.09617731e-01 4.11077899e+02] [ 5.47311472e-01 8.13246838e-01 1.97685947e-01 1.70356341e+02] [-3.66759734e-01 2.07405423e-02 9.30084473e-01 5.74504297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:170.37, Z:57.45 [[ 7.52209967e-01 -5.87842202e-01 2.97693989e-01 4.11106749e+02] [ 5.48156110e-01 8.08968274e-01 2.12356329e-01 1.70367172e+02] [-3.65657004e-01 3.44623140e-03 9.30743294e-01 5.74466784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.020385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:411.12, Y:170.38, Z:57.43 [[ 7.51327564e-01 -5.87342019e-01 3.00892415e-01 4.11123319e+02] [ 5.49340428e-01 8.09288868e-01 2.08030343e-01 1.70384472e+02] [-3.65693843e-01 8.99343730e-03 9.30691749e-01 5.74311183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.15, Y:170.40, Z:57.43 [[ 7.51518931e-01 -5.92647755e-01 2.89806719e-01 4.11152401e+02] [ 5.50330797e-01 8.05440530e-01 2.20003559e-01 1.70397781e+02] [-3.63806693e-01 -5.84727712e-03 9.31456118e-01 5.74314774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:411.17, Y:170.42, Z:57.42 [[ 7.50755542e-01 -5.89486394e-01 2.98113918e-01 4.11166052e+02] [ 5.51418077e-01 8.07740503e-01 2.08550675e-01 1.70418870e+02] [-3.63736471e-01 7.81482850e-03 9.31469113e-01 5.74159946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.19, Y:170.43, Z:57.41 [[ 7.50627099e-01 -5.90551148e-01 2.96324653e-01 4.11188740e+02] [ 5.52006281e-01 8.06978018e-01 2.09941767e-01 1.70434562e+02] [-3.63108833e-01 5.98509010e-03 9.31727511e-01 5.74063235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:411.21, Y:170.45, Z:57.40 [[ 7.50055029e-01 -5.90554069e-01 2.97763910e-01 4.11208392e+02] [ 5.52454887e-01 8.06959720e-01 2.08829135e-01 1.70451198e+02] [-3.63608377e-01 7.86778414e-03 9.31518678e-01 5.73954260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.23, Y:170.47, Z:57.39 [[ 7.49476332e-01 -5.91183866e-01 2.97971250e-01 4.11227957e+02] [ 5.52772330e-01 8.06501913e-01 2.09755608e-01 1.70468680e+02] [-3.64318514e-01 7.50339806e-03 9.31244178e-01 5.73856433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.25, Y:170.49, Z:57.38 [[ 7.49004939e-01 -5.91875667e-01 2.97783137e-01 4.11248298e+02] [ 5.53375091e-01 8.05995218e-01 2.10113582e-01 1.70485427e+02] [-3.64372901e-01 7.40965995e-03 9.31223650e-01 5.73762256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:170.50, Z:57.37 [[ 7.49283210e-01 -5.94036989e-01 2.92736616e-01 4.11272672e+02] [ 5.53986922e-01 8.04436323e-01 2.14431092e-01 1.70502079e+02] [-3.62867967e-01 1.50264005e-03 9.31839354e-01 5.73717577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:170.52, Z:57.36 [[ 7.48773673e-01 -5.94535229e-01 2.93028750e-01 4.11292892e+02] [ 5.54317351e-01 8.04068207e-01 2.14957189e-01 1.70518369e+02] [-3.63414723e-01 1.47663667e-03 9.31626298e-01 5.73621670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.290385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:411.30, Y:170.54, Z:57.34 [[ 7.45849139e-01 -5.91075979e-01 3.07145324e-01 4.11300482e+02] [ 5.56469712e-01 8.06331217e-01 2.00428114e-01 1.70542675e+02] [-3.66129106e-01 2.14279332e-02 9.30317323e-01 5.73411562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:170.55, Z:57.34 [[ 7.47587713e-01 -5.96249091e-01 2.92574149e-01 4.11331979e+02] [ 5.55846991e-01 8.02798384e-01 2.15751890e-01 1.70552751e+02] [-3.63519922e-01 1.33299792e-03 9.31585471e-01 5.73408767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3503857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:411.35, Y:170.57, Z:57.33 [[ 7.47051514e-01 -5.95062498e-01 2.96335382e-01 4.11346083e+02] [ 5.57193455e-01 8.03629896e-01 2.09079993e-01 1.70573534e+02] [-3.62559635e-01 8.92261055e-03 9.31917860e-01 5.73263259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.37, Y:170.59, Z:57.32 [[ 7.46676039e-01 -5.95264792e-01 2.96874923e-01 4.11366571e+02] [ 5.57246901e-01 8.03479290e-01 2.09515924e-01 1.70591201e+02] [-3.63250305e-01 8.99211078e-03 9.31648194e-01 5.73169157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.39, Y:170.61, Z:57.31 [[ 7.46571313e-01 -5.95427617e-01 2.96811774e-01 4.11388285e+02] [ 5.57386589e-01 8.03359065e-01 2.09605350e-01 1.70606555e+02] [-3.63251243e-01 8.95356060e-03 9.31648200e-01 5.73065286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.40, Y:170.63, Z:57.29 [[ 7.45413653e-01 -5.95189502e-01 3.00179851e-01 4.11401961e+02] [ 5.58120846e-01 8.03478555e-01 2.07179470e-01 1.70627396e+02] [-3.64499118e-01 1.31022270e-02 9.31111553e-01 5.72930867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.42, Y:170.64, Z:57.29 [[ 7.46688211e-01 -5.95804606e-01 2.95759340e-01 4.11423443e+02] [ 5.57102406e-01 8.03099297e-01 2.11349069e-01 1.70642106e+02] [-3.63446867e-01 6.95638189e-03 9.31588957e-01 5.72854950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.45, Y:170.66, Z:57.28 [[ 7.49050104e-01 -5.95276830e-01 2.90808249e-01 4.11449912e+02] [ 5.54922073e-01 8.03520688e-01 2.15443721e-01 1.70657180e+02] [-3.61919100e-01 -2.22569877e-06 9.32209507e-01 5.72784093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:170.68, Z:57.26 [[ 7.49103799e-01 -5.92119411e-01 2.97048989e-01 4.11461804e+02] [ 5.54522918e-01 8.05799556e-01 2.07825430e-01 1.70678932e+02] [-3.62419415e-01 9.03765241e-03 9.31971292e-01 5.72640050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.48, Y:170.69, Z:57.26 [[ 7.49613497e-01 -5.93084257e-01 2.93820812e-01 4.11483887e+02] [ 5.53946856e-01 8.05130914e-01 2.11912934e-01 1.70693392e+02] [-3.62246444e-01 3.90831950e-03 9.32074159e-01 5.72558206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.51, Y:170.71, Z:57.25 [[ 7.51606015e-01 -5.95035022e-01 2.84643147e-01 4.11511350e+02] [ 5.52832025e-01 8.03658123e-01 2.20250705e-01 1.70707525e+02] [-3.59812661e-01 -8.18190714e-03 9.32988695e-01 5.72530487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.53, Y:170.73, Z:57.24 [[ 7.52631147e-01 -5.91122300e-01 2.90035832e-01 4.11529471e+02] [ 5.52007505e-01 8.06581378e-01 2.11457312e-01 1.70726992e+02] [-3.58934634e-01 9.52596402e-04 9.33362213e-01 5.72413086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.55, Y:170.74, Z:57.23 [[ 7.53934747e-01 -5.89467410e-01 2.90018223e-01 4.11548852e+02] [ 5.50993797e-01 8.07790006e-01 2.09478262e-01 1.70744762e+02] [-3.57754431e-01 1.86530115e-03 9.33813840e-01 5.72315310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.57, Y:170.76, Z:57.22 [[ 7.53928468e-01 -5.88008122e-01 2.92981764e-01 4.11567545e+02] [ 5.50883693e-01 8.08830478e-01 2.05719261e-01 1.70762452e+02] [-3.57937176e-01 6.30126874e-03 9.33724409e-01 5.72192761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:411.58, Y:170.78, Z:57.20 [[ 7.53310523e-01 -5.82651962e-01 3.05024504e-01 4.11579932e+02] [ 5.49255878e-01 8.12468736e-01 1.95480263e-01 1.70782178e+02] [-3.61719832e-01 2.02791631e-02 9.32066263e-01 5.71990789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.63, Y:170.79, Z:57.21 [[ 7.56454727e-01 -5.95885042e-01 2.69624300e-01 4.11625053e+02] [ 5.49724630e-01 8.02618295e-01 2.31531216e-01 1.70785235e+02] [-3.54371384e-01 -2.69237639e-02 9.34717087e-01 5.72135864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.61, Y:170.82, Z:57.17 [[ 7.53651162e-01 -5.76600489e-01 3.15502459e-01 4.11614025e+02] [ 5.48918135e-01 8.16177611e-01 1.80396754e-01 1.70821537e+02] [-3.61522900e-01 3.72287979e-02 9.31619670e-01 5.71724737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.66, Y:170.82, Z:57.19 [[ 7.55278932e-01 -5.95710881e-01 2.73280589e-01 4.11663072e+02] [ 5.49505765e-01 8.02823471e-01 2.31339335e-01 1.70818482e+02] [-3.57207430e-01 -2.45564665e-02 9.33702218e-01 5.71921011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.66, Y:170.85, Z:57.15 [[ 7.53177398e-01 -5.78206948e-01 3.13688593e-01 4.11658259e+02] [ 5.48668235e-01 8.15241397e-01 1.85323050e-01 1.70853563e+02] [-3.62887002e-01 3.25298337e-02 9.31265179e-01 5.71536897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.71, Y:170.85, Z:57.18 [[ 7.56755722e-01 -5.98460091e-01 2.62994861e-01 4.11713655e+02] [ 5.49724039e-01 8.00317750e-01 2.39363697e-01 1.70847554e+02] [-3.53729076e-01 -3.65652505e-02 9.34632935e-01 5.71781482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.71, Y:170.88, Z:57.14 [[ 7.54595602e-01 -5.82538691e-01 3.02049913e-01 4.11707550e+02] [ 5.50417557e-01 8.12521229e-01 1.91962928e-01 1.70882164e+02] [-3.57247800e-01 2.13991938e-02 9.33764469e-01 5.71437945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.72, Y:170.90, Z:57.12 [[ 7.52590439e-01 -5.80535081e-01 3.10783930e-01 4.11722434e+02] [ 5.49995636e-01 8.13705883e-01 1.88115753e-01 1.70899451e+02] [-3.62094506e-01 2.93556879e-02 9.31679029e-01 5.71222794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.950385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:411.75, Y:170.91, Z:57.12 [[ 7.52037886e-01 -5.89961290e-01 2.93912733e-01 4.11753030e+02] [ 5.51662135e-01 8.07416986e-01 2.09157119e-01 1.70905956e+02] [-3.60704736e-01 4.84644772e-03 9.32667468e-01 5.71179627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.980385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:411.77, Y:170.92, Z:57.11 [[ 7.51489812e-01 -5.90380279e-01 2.94472730e-01 4.11774215e+02] [ 5.51910854e-01 8.07110065e-01 2.09684889e-01 1.70921596e+02] [-3.61465728e-01 4.94663857e-03 9.32372275e-01 5.71092051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.79, Y:170.94, Z:57.10 [[ 7.50589879e-01 -5.91775378e-01 2.93967235e-01 4.11794020e+02] [ 5.53495444e-01 8.06084179e-01 2.09454268e-01 1.70937005e+02] [-3.60912216e-01 5.49527150e-03 9.32583602e-01 5.70992822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.82, Y:170.95, Z:57.09 [[ 7.50313904e-01 -5.92627038e-01 2.92954330e-01 4.11815208e+02] [ 5.54661241e-01 8.05455862e-01 2.08786404e-01 1.70952604e+02] [-3.59694251e-01 5.83507063e-03 9.33051980e-01 5.70889987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.84, Y:170.97, Z:57.08 [[ 7.49268647e-01 -5.94485249e-01 2.91862611e-01 4.11835604e+02] [ 5.56898464e-01 8.04079522e-01 2.08135107e-01 1.70967624e+02] [-3.58414000e-01 6.58872935e-03 9.33539498e-01 5.70789185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.86, Y:170.98, Z:57.07 [[ 7.48309454e-01 -5.95621857e-01 2.92006102e-01 4.11856756e+02] [ 5.58059896e-01 8.03233662e-01 2.08290268e-01 1.70982942e+02] [-3.58611367e-01 7.09131810e-03 9.33460016e-01 5.70692878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.88, Y:171.00, Z:57.06 [[ 7.47336390e-01 -5.96677515e-01 2.92342715e-01 4.11877710e+02] [ 5.59055823e-01 8.02446065e-01 2.08654977e-01 1.70998515e+02] [-3.59088995e-01 7.50043956e-03 9.33273185e-01 5.70591729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.90, Y:171.01, Z:57.05 [[ 7.46417093e-01 -5.97754762e-01 2.92490629e-01 4.11898920e+02] [ 5.60122188e-01 8.01640002e-01 2.08893373e-01 1.71014590e+02] [-3.59339197e-01 7.90890653e-03 9.33173505e-01 5.70496493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.92, Y:171.03, Z:57.04 [[ 7.46604259e-01 -5.97623241e-01 2.92281616e-01 4.11919479e+02] [ 5.59985202e-01 8.01739853e-01 2.08877431e-01 1.71030744e+02] [-3.59163827e-01 7.72460009e-03 9.33242560e-01 5.70398280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.94, Y:171.05, Z:57.03 [[ 7.46826479e-01 -5.97151625e-01 2.92677547e-01 4.11939060e+02] [ 5.59321340e-01 8.02094301e-01 2.09294936e-01 1.71045963e+02] [-3.59735804e-01 7.39379787e-03 9.33024910e-01 5.70295784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.97, Y:171.06, Z:57.03 [[ 7.48263198e-01 -6.01210555e-01 2.80442605e-01 4.11966274e+02] [ 5.59457056e-01 7.99051257e-01 2.20283662e-01 1.71058313e+02] [-3.56524879e-01 -7.93456362e-03 9.34252136e-01 5.70290928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.98, Y:171.08, Z:57.01 [[ 7.49554934e-01 -5.93405239e-01 2.93321707e-01 4.11978977e+02] [ 5.56433674e-01 8.04858592e-01 2.06359427e-01 1.71080115e+02] [-3.58537261e-01 8.53634858e-03 9.33476386e-01 5.70124610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.00, Y:171.10, Z:57.00 [[ 7.49480656e-01 -5.89701011e-01 3.00884469e-01 4.11997193e+02] [ 5.54546190e-01 8.07462048e-01 2.01205279e-01 1.71097817e+02] [-3.61603746e-01 1.60548718e-02 9.32193635e-01 5.69961954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.02, Y:171.11, Z:56.99 [[ 7.50342072e-01 -5.91794247e-01 2.94561275e-01 4.12021978e+02] [ 5.52956379e-01 8.06075771e-01 2.10905416e-01 1.71109830e+02] [-3.62251318e-01 4.62832874e-03 9.32068968e-01 5.69895938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.04, Y:171.13, Z:56.98 [[ 7.51034702e-01 -5.90917744e-01 2.94555762e-01 4.12042213e+02] [ 5.51963734e-01 8.06721456e-01 2.11036796e-01 1.71125130e+02] [-3.62329841e-01 4.08814123e-03 9.32040972e-01 5.69797225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.06, Y:171.14, Z:56.97 [[ 7.52820477e-01 -5.88423635e-01 2.94989756e-01 4.12062730e+02] [ 5.49143233e-01 8.08547804e-01 2.11405198e-01 1.71141933e+02] [-3.62909134e-01 2.84146671e-03 9.31820201e-01 5.69692185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.08, Y:171.16, Z:56.96 [[ 7.54103532e-01 -5.86927223e-01 2.94693568e-01 4.12083301e+02] [ 5.47566993e-01 8.09637215e-01 2.11324322e-01 1.71157729e+02] [-3.62626877e-01 2.00405363e-03 9.31932257e-01 5.69592550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.10, Y:171.17, Z:56.95 [[ 7.55228948e-01 -5.85502597e-01 2.94645457e-01 4.12104029e+02] [ 5.45999039e-01 8.10669638e-01 2.11423244e-01 1.71173578e+02] [-3.62648985e-01 1.20318201e-03 9.31925033e-01 5.69488860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.13, Y:171.19, Z:56.94 [[ 7.57499726e-01 -5.82356278e-01 2.95051402e-01 4.12125013e+02] [ 5.42456956e-01 8.12933569e-01 2.11847737e-01 1.71188923e+02] [-3.63228048e-01 -4.21917136e-04 9.31700170e-01 5.69382752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.15, Y:171.20, Z:56.93 [[ 7.59108028e-01 -5.80229902e-01 2.95107205e-01 4.12146057e+02] [ 5.40107113e-01 8.14451246e-01 2.12022345e-01 1.71204596e+02] [-3.63372135e-01 -1.55836336e-03 9.31642776e-01 5.69275760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.17, Y:171.22, Z:56.92 [[ 7.59437716e-01 -5.79794802e-01 2.95114119e-01 4.12167321e+02] [ 5.39586160e-01 8.14760357e-01 2.12161110e-01 1.71220094e+02] [-3.63457194e-01 -1.88365446e-03 9.31608995e-01 5.69171221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.19, Y:171.23, Z:56.91 [[ 7.59699451e-01 -5.79480691e-01 2.95057407e-01 4.12187895e+02] [ 5.39210364e-01 8.14983115e-01 2.12260937e-01 1.71234823e+02] [-3.63467919e-01 -2.15650584e-03 9.31604219e-01 5.69065214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.21, Y:171.25, Z:56.90 [[ 7.59851651e-01 -5.79600942e-01 2.94428628e-01 4.12208890e+02] [ 5.39493690e-01 8.14897626e-01 2.11868870e-01 1.71248767e+02] [-3.62728586e-01 -2.14652342e-03 9.31892357e-01 5.68964958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.23, Y:171.26, Z:56.89 [[ 7.59913015e-01 -5.79838042e-01 2.93802749e-01 4.12230618e+02] [ 5.39902011e-01 8.14729110e-01 2.11476466e-01 1.71263301e+02] [-3.61991752e-01 -2.07902402e-03 9.32178979e-01 5.68860505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.25, Y:171.28, Z:56.88 [[ 7.60377403e-01 -5.79670072e-01 2.92931413e-01 4.12251945e+02] [ 5.39916041e-01 8.14848125e-01 2.10981518e-01 1.71276688e+02] [-3.60994284e-01 -2.26720951e-03 9.32565272e-01 5.68754996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.27, Y:171.29, Z:56.86 [[ 7.60467163e-01 -5.79652657e-01 2.92732798e-01 4.12273825e+02] [ 5.39931830e-01 8.14860360e-01 2.10893846e-01 1.71291052e+02] [-3.60781531e-01 -2.32208900e-03 9.32647465e-01 5.68648980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.30, Y:171.30, Z:56.86 [[ 7.60938052e-01 -5.79071830e-01 2.92658670e-01 4.12296877e+02] [ 5.39277719e-01 8.15272004e-01 2.10976544e-01 1.71303908e+02] [-3.60766994e-01 -2.71578074e-03 9.32652026e-01 5.68550906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.32, Y:171.32, Z:56.85 [[ 7.61202976e-01 -5.78720314e-01 2.92665043e-01 4.12318477e+02] [ 5.38845927e-01 8.15520557e-01 2.11119131e-01 1.71317523e+02] [-3.60853289e-01 -3.00314391e-03 9.32617760e-01 5.68452523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.34, Y:171.33, Z:56.83 [[ 7.61184786e-01 -5.78677401e-01 2.92797179e-01 4.12340810e+02] [ 5.38740157e-01 8.15550738e-01 2.11272427e-01 1.71331819e+02] [-3.61049534e-01 -3.07575880e-03 9.32541567e-01 5.68348677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.36, Y:171.34, Z:56.82 [[ 7.61336597e-01 -5.78174573e-01 2.93395210e-01 4.12363852e+02] [ 5.37978801e-01 8.15905827e-01 2.11840722e-01 1.71344671e+02] [-3.61863780e-01 -3.44169151e-03 9.32224629e-01 5.68249839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.38, Y:171.36, Z:56.81 [[ 7.62132127e-01 -5.76112850e-01 2.95378749e-01 4.12382581e+02] [ 5.37249331e-01 8.17370148e-01 2.08012494e-01 1.71358885e+02] [-3.61272442e-01 1.59030836e-04 9.32460293e-01 5.68140733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.41, Y:171.37, Z:56.81 [[ 7.61876597e-01 -5.79083645e-01 2.90183017e-01 4.12410892e+02] [ 5.37139691e-01 8.15217010e-01 2.16569109e-01 1.71368831e+02] [-3.61973761e-01 -9.13011989e-03 9.32143571e-01 5.68061631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.43, Y:171.38, Z:56.79 [[ 7.62039608e-01 -5.77269296e-01 2.93352682e-01 4.12431756e+02] [ 5.36893147e-01 8.16543239e-01 2.12138839e-01 1.71384173e+02] [-3.61996387e-01 -4.15915299e-03 9.32170219e-01 5.67942931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.45, Y:171.40, Z:56.78 [[ 7.62098430e-01 -5.77381529e-01 2.92978761e-01 4.12453826e+02] [ 5.37067428e-01 8.16463577e-01 2.12004259e-01 1.71397222e+02] [-3.61613830e-01 -4.21876343e-03 9.32318422e-01 5.67845923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.48, Y:171.41, Z:56.77 [[ 7.62264778e-01 -5.77400449e-01 2.92508344e-01 4.12478311e+02] [ 5.37199800e-01 8.16450025e-01 2.11720882e-01 1.71408735e+02] [-3.61066177e-01 -4.25194730e-03 9.32530502e-01 5.67745417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.000385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.50, Y:171.42, Z:56.76 [[ 7.62244547e-01 -5.77872498e-01 2.91627549e-01 4.12500746e+02] [ 5.37904842e-01 8.16116608e-01 2.11215679e-01 1.71420626e+02] [-3.60057818e-01 -4.13012855e-03 9.32920849e-01 5.67635876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.52, Y:171.43, Z:56.75 [[ 7.62039654e-01 -5.78492150e-01 2.90933667e-01 4.12522554e+02] [ 5.38743948e-01 8.15678747e-01 2.10767977e-01 1.71434374e+02] [-3.59236029e-01 -3.87480410e-03 9.33238695e-01 5.67535080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.55, Y:171.45, Z:56.74 [[ 7.61936766e-01 -5.78739754e-01 2.90710617e-01 4.12545566e+02] [ 5.39021058e-01 8.15503106e-01 2.10739138e-01 1.71447845e+02] [-3.59038528e-01 -3.87075317e-03 9.33314713e-01 5.67435784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.57, Y:171.46, Z:56.73 [[ 7.61243249e-01 -5.79539901e-01 2.90933358e-01 4.12568998e+02] [ 5.39762404e-01 8.14935849e-01 2.11035802e-01 1.71458093e+02] [-3.59395691e-01 -3.61469047e-03 9.33178264e-01 5.67345675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.120385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:412.59, Y:171.47, Z:56.72 [[ 7.60852419e-01 -5.80036400e-01 2.90966272e-01 4.12591688e+02] [ 5.40262955e-01 8.14583336e-01 2.11115911e-01 1.71471289e+02] [-3.59471190e-01 -3.42975364e-03 9.33149881e-01 5.67244433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.62, Y:171.48, Z:56.72 [[ 7.60601301e-01 -5.84804094e-01 2.81939413e-01 4.12621620e+02] [ 5.42584100e-01 8.11065988e-01 2.18573690e-01 1.71479882e+02] [-3.56494257e-01 -1.32715908e-02 9.34203248e-01 5.67202372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.64, Y:171.50, Z:56.70 [[ 7.59508484e-01 -5.81636365e-01 2.91283371e-01 4.12637805e+02] [ 5.43457382e-01 8.13448433e-01 2.07257617e-01 1.71497889e+02] [-3.57492569e-01 8.86179937e-04 9.33915563e-01 5.67035110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.67, Y:171.51, Z:56.70 [[ 7.60604557e-01 -5.83800228e-01 2.84003524e-01 4.12666444e+02] [ 5.44498912e-01 8.11878138e-01 2.10653328e-01 1.71505964e+02] [-3.53555713e-01 -5.58427100e-03 9.35396800e-01 5.66983727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.70, Y:171.52, Z:56.69 [[ 7.60735228e-01 -5.86966554e-01 2.77041835e-01 4.12696802e+02] [ 5.44524063e-01 8.09446787e-01 2.19748594e-01 1.71515879e+02] [-3.53235698e-01 -1.63145508e-02 9.35392098e-01 5.66944385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.70, Y:171.54, Z:56.66 [[ 7.57984863e-01 -5.74616021e-01 3.08667095e-01 4.12695777e+02] [ 5.44456298e-01 8.17968466e-01 1.85728101e-01 1.71541749e+02] [-3.59202293e-01 2.72766545e-02 9.32861028e-01 5.66620261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.75, Y:171.54, Z:56.68 [[ 7.60896029e-01 -5.88386183e-01 2.73567053e-01 4.12746792e+02] [ 5.43904435e-01 8.08257060e-01 2.25584775e-01 1.71536544e+02] [-3.53843467e-01 -2.28522265e-02 9.35025442e-01 5.66768316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.76, Y:171.56, Z:56.66 [[ 7.60904623e-01 -5.82093513e-01 2.86690247e-01 4.12760248e+02] [ 5.43626690e-01 8.13118012e-01 2.08108433e-01 1.71559020e+02] [-3.54251572e-01 -2.49819860e-03 9.35146824e-01 5.66582057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.77, Y:171.58, Z:56.63 [[ 7.57669644e-01 -5.78291786e-01 3.02514991e-01 4.12772504e+02] [ 5.43439233e-01 8.15706384e-01 1.98234444e-01 1.71577891e+02] [-3.61400761e-01 1.42022939e-02 9.32302411e-01 5.66343854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.80, Y:171.58, Z:56.63 [[ 7.58747742e-01 -5.82123082e-01 2.92291945e-01 4.12803991e+02] [ 5.41694061e-01 8.13093495e-01 2.13181878e-01 1.71583577e+02] [-3.61758771e-01 -3.41845789e-03 9.32265470e-01 5.66296574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.83, Y:171.60, Z:56.62 [[ 7.59318898e-01 -5.81358981e-01 2.92329518e-01 4.12826374e+02] [ 5.40811172e-01 8.13637820e-01 2.13346608e-01 1.71596171e+02] [-3.61881318e-01 -3.90304225e-03 9.32216004e-01 5.66196424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.85, Y:171.61, Z:56.61 [[ 7.59865238e-01 -5.80548913e-01 2.92519710e-01 4.12850022e+02] [ 5.39865466e-01 8.14213788e-01 2.13544342e-01 1.71606268e+02] [-3.62146517e-01 -4.34363217e-03 9.32111063e-01 5.66100924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.87, Y:171.62, Z:56.60 [[ 7.59969289e-01 -5.80410962e-01 2.92523155e-01 4.12873097e+02] [ 5.39694784e-01 8.14311511e-01 2.13603144e-01 1.71618994e+02] [-3.62182579e-01 -4.45860836e-03 9.32096508e-01 5.65999637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.89, Y:171.63, Z:56.59 [[ 7.58239344e-01 -5.81401210e-01 2.95035133e-01 4.12894465e+02] [ 5.41258833e-01 8.13616003e-01 2.12291958e-01 1.71629314e+02] [-3.63472107e-01 -1.27774303e-03 9.31604205e-01 5.65882614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.92, Y:171.64, Z:56.58 [[ 7.58093650e-01 -5.83372384e-01 2.91497308e-01 4.12920712e+02] [ 5.41598290e-01 8.12178470e-01 2.16881130e-01 1.71640171e+02] [-3.63270299e-01 -6.54176378e-03 9.31660826e-01 5.65806543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.95, Y:171.65, Z:56.57 [[ 7.58617362e-01 -5.83305060e-01 2.90266956e-01 4.12945405e+02] [ 5.41656377e-01 8.12222399e-01 2.16571337e-01 1.71653421e+02] [-3.62088480e-01 -7.06982845e-03 9.32116919e-01 5.65712686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.97, Y:171.67, Z:56.56 [[ 7.57850707e-01 -5.83656200e-01 2.91560880e-01 4.12968191e+02] [ 5.43307598e-01 8.11994520e-01 2.13264514e-01 1.71665787e+02] [-3.61218993e-01 -3.21542161e-03 9.32475469e-01 5.65587097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.99, Y:171.68, Z:56.55 [[ 7.57373921e-01 -5.84452179e-01 2.91205072e-01 4.12991504e+02] [ 5.44213123e-01 8.11422819e-01 2.13131617e-01 1.71678960e+02] [-3.60855678e-01 -2.94270680e-03 9.32617028e-01 5.65483698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.02, Y:171.69, Z:56.54 [[ 7.56624902e-01 -5.85445359e-01 2.91157156e-01 4.13015373e+02] [ 5.45241580e-01 8.10707763e-01 2.13224162e-01 1.71690805e+02] [-3.60874463e-01 -2.57972287e-03 9.32610834e-01 5.65392296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.04, Y:171.70, Z:56.54 [[ 7.56234621e-01 -5.90550763e-01 2.81707286e-01 4.13037711e+02] [ 5.46772523e-01 8.06859213e-01 2.23647083e-01 1.71702576e+02] [-3.59373074e-01 -1.50998633e-02 9.33071802e-01 5.65386276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.05, Y:171.73, Z:56.51 [[ 7.57091406e-01 -5.81862750e-01 2.97066227e-01 4.13051754e+02] [ 5.44233941e-01 8.13266556e-01 2.05929419e-01 1.71725680e+02] [-3.61416686e-01 5.76613016e-03 9.32386578e-01 5.65144130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.07, Y:171.74, Z:56.51 [[ 7.57482468e-01 -5.84959069e-01 2.89902050e-01 4.13074896e+02] [ 5.44985453e-01 8.11057230e-01 2.12548879e-01 1.71740284e+02] [-3.59459548e-01 -3.00964927e-03 9.33155815e-01 5.65079131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.09, Y:171.76, Z:56.50 [[ 7.57134791e-01 -5.85710319e-01 2.89292813e-01 4.13094270e+02] [ 5.45912235e-01 8.10515756e-01 2.12235814e-01 1.71756857e+02] [-3.58785089e-01 -2.76263275e-03 9.33416106e-01 5.64974267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.11, Y:171.77, Z:56.49 [[ 7.55553221e-01 -5.87825117e-01 2.89138309e-01 4.13113721e+02] [ 5.48199275e-01 8.08986014e-01 2.12177247e-01 1.71774218e+02] [-3.58631963e-01 -1.80579082e-03 9.33477292e-01 5.64871367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.14, Y:171.79, Z:56.48 [[ 7.54543754e-01 -5.88983637e-01 2.89416652e-01 4.13135409e+02] [ 5.49309714e-01 8.08143795e-01 2.12514577e-01 1.71789987e+02] [-3.59057880e-01 -1.37216821e-03 9.33314286e-01 5.64776547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.16, Y:171.81, Z:56.47 [[ 7.53183875e-01 -5.90501810e-01 2.89864905e-01 4.13155797e+02] [ 5.50756398e-01 8.07035949e-01 2.12979734e-01 1.71805807e+02] [-3.59696317e-01 -7.67950403e-04 9.33069113e-01 5.64687147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.18, Y:171.82, Z:56.46 [[ 7.52666691e-01 -5.91272001e-01 2.89638176e-01 4.13176238e+02] [ 5.51624522e-01 8.06472083e-01 2.12868896e-01 1.71822044e+02] [-3.59448521e-01 -4.47807149e-04 9.33164809e-01 5.64578357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.20, Y:171.84, Z:56.45 [[ 7.51492969e-01 -5.93341280e-01 2.88451804e-01 4.13196176e+02] [ 5.54125859e-01 8.04950896e-01 2.12128707e-01 1.71838254e+02] [-3.58054256e-01 4.25371882e-04 9.33700685e-01 5.64466921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.22, Y:171.85, Z:56.44 [[ 7.50496659e-01 -5.94754707e-01 2.88134696e-01 4.13217105e+02] [ 5.55678936e-01 8.03906629e-01 2.12026066e-01 1.71853822e+02] [-3.57736893e-01 9.85527083e-04 9.33821902e-01 5.64360662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.24, Y:171.87, Z:56.43 [[ 7.48479829e-01 -5.97590241e-01 2.87513217e-01 4.13238104e+02] [ 5.58840540e-01 8.01798583e-01 2.11698568e-01 1.71869688e+02] [-3.57036688e-01 2.22193380e-03 9.34087719e-01 5.64252448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.25, Y:171.89, Z:56.41 [[ 7.47562722e-01 -5.97609234e-01 2.89850274e-01 4.13254907e+02] [ 5.59985532e-01 8.01763294e-01 2.08786553e-01 1.71885502e+02] [-3.57164082e-01 6.23091594e-03 9.34020875e-01 5.64133419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.28, Y:171.90, Z:56.41 [[ 7.46674186e-01 -6.01529116e-01 2.83972503e-01 4.13284443e+02] [ 5.61110686e-01 7.98846862e-01 2.16791348e-01 1.71898392e+02] [-3.57256851e-01 -2.53249738e-03 9.34002746e-01 5.64074975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.30, Y:171.91, Z:56.40 [[ 7.46134164e-01 -6.00425390e-01 2.87703251e-01 4.13303623e+02] [ 5.61728624e-01 7.99673713e-01 2.12091740e-01 1.71913905e+02] [-3.57413992e-01 3.36225841e-03 9.33940005e-01 5.63965264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:413.32, Y:171.93, Z:56.39 [[ 7.46553335e-01 -5.99571737e-01 2.88395302e-01 4.13324186e+02] [ 5.61461884e-01 8.00306357e-01 2.10405058e-01 1.71929863e+02] [-3.56957520e-01 4.84437183e-03 9.34108057e-01 5.63852620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.35, Y:171.94, Z:56.38 [[ 7.46399822e-01 -6.00553529e-01 2.86745121e-01 4.13346589e+02] [ 5.60790988e-01 7.99584449e-01 2.14891083e-01 1.71944431e+02] [-3.58330538e-01 4.09413505e-04 9.33594697e-01 5.63762072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.37, Y:171.96, Z:56.36 [[ 7.46735436e-01 -5.99197607e-01 2.88701257e-01 4.13365517e+02] [ 5.60048636e-01 8.00596960e-01 2.13049367e-01 1.71960254e+02] [-3.58792020e-01 2.59523351e-03 9.33413923e-01 5.63646741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.39, Y:171.98, Z:56.35 [[ 7.47479063e-01 -5.98221925e-01 2.88800241e-01 4.13387239e+02] [ 5.58941782e-01 8.01327842e-01 2.13208287e-01 1.71975157e+02] [-3.58969546e-01 2.05379007e-03 9.33347013e-01 5.63536920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:413.41, Y:171.99, Z:56.34 [[ 7.47792304e-01 -5.97932471e-01 2.88588687e-01 4.13408142e+02] [ 5.58640643e-01 8.01544458e-01 2.13183287e-01 1.71989137e+02] [-3.58785872e-01 1.80054868e-03 9.33418157e-01 5.63440339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.43, Y:172.00, Z:56.33 [[ 7.48304912e-01 -5.97310269e-01 2.88548438e-01 4.13430257e+02] [ 5.57951759e-01 8.02008981e-01 2.13240310e-01 1.72003225e+02] [-3.58789066e-01 1.42733721e-03 9.33417575e-01 5.63347097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.44, Y:172.02, Z:56.32 [[ 7.45628401e-01 -5.95777553e-01 2.98475116e-01 4.13440745e+02] [ 5.58813391e-01 8.03052623e-01 2.06963956e-01 1.72021828e+02] [-3.62995704e-01 1.24736882e-02 9.31707318e-01 5.63152089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.47, Y:172.03, Z:56.31 [[ 7.47054287e-01 -5.98065930e-01 2.90218945e-01 4.13466136e+02] [ 5.56913667e-01 8.01445941e-01 2.18017365e-01 1.72034659e+02] [-3.62983554e-01 -1.24391048e-03 9.31794716e-01 5.63100059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.50, Y:172.05, Z:56.31 [[ 7.51393631e-01 -5.97971088e-01 2.78994962e-01 4.13497539e+02] [ 5.54126135e-01 8.01384015e-01 2.25228520e-01 1.72047382e+02] [-3.58262246e-01 -1.46368754e-02 9.33506253e-01 5.63094823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.50, Y:172.07, Z:56.28 [[ 7.48799890e-01 -5.87275518e-01 3.07255904e-01 4.13496717e+02] [ 5.53643797e-01 8.09075142e-01 1.97169876e-01 1.72074857e+02] [-3.64386156e-01 2.24695441e-02 9.30976825e-01 5.62753905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.53, Y:172.08, Z:56.28 [[ 7.50177463e-01 -5.98898164e-01 2.80276229e-01 4.13534810e+02] [ 5.54592358e-01 8.00693914e-01 2.26531617e-01 1.72081113e+02] [-3.60084840e-01 -1.44998589e-02 9.32806873e-01 5.62831105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.56, Y:172.10, Z:56.28 [[ 7.52751328e-01 -5.96716993e-01 2.78018468e-01 4.13559604e+02] [ 5.53899504e-01 8.02340029e-01 2.22364156e-01 1.72096942e+02] [-3.55753816e-01 -1.33906227e-02 9.34483769e-01 5.62771723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.57, Y:172.12, Z:56.25 [[ 7.48541017e-01 -5.94418158e-01 2.93859489e-01 4.13567735e+02] [ 5.57646832e-01 8.04098397e-01 2.06048002e-01 1.72118656e+02] [-3.58770618e-01 9.63443210e-03 9.33376034e-01 5.62548572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.60, Y:172.13, Z:56.26 [[ 7.48758337e-01 -6.01171502e-01 2.79202040e-01 4.13602892e+02] [ 5.59058005e-01 7.99062666e-01 2.21253256e-01 1.72128443e+02] [-3.56111079e-01 -9.57508430e-03 9.34394573e-01 5.62569937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.530385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:413.62, Y:172.15, Z:56.24 [[ 7.47649136e-01 -5.99053526e-01 2.86628057e-01 4.13618081e+02] [ 5.60344377e-01 8.00705920e-01 2.11858938e-01 1.72146935e+02] [-3.56419626e-01 2.21426853e-03 9.34323364e-01 5.62415351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.63, Y:172.17, Z:56.23 [[ 7.44188122e-01 -5.99340851e-01 2.94914536e-01 4.13632037e+02] [ 5.62381363e-01 8.00412528e-01 2.07525872e-01 1.72165801e+02] [-3.60432022e-01 1.14161498e-02 9.32715621e-01 5.62256815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.65, Y:172.18, Z:56.21 [[ 7.42083656e-01 -6.02154250e-01 2.94486176e-01 4.13651851e+02] [ 5.64150867e-01 7.98320410e-01 2.10756548e-01 1.72181571e+02] [-3.62002276e-01 9.73564165e-03 9.32126370e-01 5.62139315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.69, Y:172.19, Z:56.22 [[ 7.45011672e-01 -6.07642174e-01 2.75188293e-01 4.13688612e+02] [ 5.63656834e-01 7.94081675e-01 2.27431895e-01 1.72190448e+02] [-3.56719192e-01 -1.43276543e-02 9.34101781e-01 5.62192818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.70, Y:172.21, Z:56.20 [[ 7.45430702e-01 -6.02347159e-01 2.85501259e-01 4.13701211e+02] [ 5.64082063e-01 7.98226392e-01 2.11296128e-01 1.72210596e+02] [-3.55168262e-01 3.53951867e-03 9.34795688e-01 5.62022152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.72, Y:172.23, Z:56.19 [[ 7.45831467e-01 -6.02024765e-01 2.85134365e-01 4.13722274e+02] [ 5.63818348e-01 7.98470448e-01 2.11077744e-01 1.72226147e+02] [-3.54745393e-01 3.33556259e-03 9.34956994e-01 5.61920121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.74, Y:172.25, Z:56.17 [[ 7.44854318e-01 -5.99346370e-01 2.93216597e-01 4.13737257e+02] [ 5.63212112e-01 8.00396710e-01 2.05322242e-01 1.72245399e+02] [-3.57748740e-01 1.22079808e-02 9.33738081e-01 5.61736392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:413.77, Y:172.26, Z:56.18 [[ 7.46924869e-01 -6.03723301e-01 2.78606204e-01 4.13768182e+02] [ 5.62450127e-01 7.97160927e-01 2.19509251e-01 1.72255348e+02] [-3.54616829e-01 -7.25482397e-03 9.34983568e-01 5.61757006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.78, Y:172.27, Z:56.16 [[ 7.48057060e-01 -5.99060822e-01 2.85546437e-01 4.13783852e+02] [ 5.60414832e-01 8.00701782e-01 2.11688147e-01 1.72274433e+02] [-3.55451616e-01 1.66964524e-03 9.34693191e-01 5.61620804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.80, Y:172.29, Z:56.15 [[ 7.48267245e-01 -5.98397438e-01 2.86385470e-01 4.13804746e+02] [ 5.59448077e-01 8.01198344e-01 2.12365400e-01 1.72290478e+02] [-3.56530475e-01 1.31172755e-03 9.34282773e-01 5.61520204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.83, Y:172.31, Z:56.14 [[ 7.48498258e-01 -5.97808595e-01 2.87010873e-01 4.13826229e+02] [ 5.58591498e-01 8.01638343e-01 2.12958932e-01 1.72306264e+02] [-3.57387601e-01 9.22444318e-04 9.33955701e-01 5.61423566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.85, Y:172.32, Z:56.13 [[ 7.49394299e-01 -5.96413450e-01 2.87574654e-01 4.13846875e+02] [ 5.56887014e-01 8.02677379e-01 2.13508497e-01 1.72321387e+02] [-3.58169009e-01 1.44539719e-04 9.33656757e-01 5.61332987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.86, Y:172.34, Z:56.11 [[ 7.48820960e-01 -5.93026870e-01 2.95949830e-01 4.13862948e+02] [ 5.55824938e-01 8.05126337e-01 2.06954632e-01 1.72340204e+02] [-3.61006660e-01 9.52432998e-03 9.32514600e-01 5.61136971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.89, Y:172.35, Z:56.12 [[ 7.51449038e-01 -5.97083017e-01 2.80742257e-01 4.13892417e+02] [ 5.54804961e-01 8.02113946e-01 2.20917795e-01 1.72350488e+02] [-3.57093543e-01 -1.02512674e-02 9.34012373e-01 5.61151272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.91, Y:172.37, Z:56.10 [[ 7.51904753e-01 -5.93659502e-01 2.86718745e-01 4.13909266e+02] [ 5.54097085e-01 8.04715200e-01 2.13095914e-01 1.72369165e+02] [-3.57233346e-01 -1.35780969e-03 9.34014182e-01 5.61009163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.93, Y:172.39, Z:56.08 [[ 7.51467383e-01 -5.90644164e-01 2.94000416e-01 4.13925956e+02] [ 5.52989597e-01 8.06905474e-01 2.07619993e-01 1.72388039e+02] [-3.59860082e-01 6.55951890e-03 9.32983223e-01 5.60827190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.95, Y:172.40, Z:56.08 [[ 7.52567691e-01 -5.95009984e-01 2.82143563e-01 4.13953615e+02] [ 5.53001173e-01 8.03663414e-01 2.19806322e-01 1.72399218e+02] [-3.57535415e-01 -9.39341526e-03 9.33852339e-01 5.60832217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.97, Y:172.42, Z:56.07 [[ 7.52438804e-01 -5.92941932e-01 2.86802566e-01 4.13970338e+02] [ 5.53182141e-01 8.05242795e-01 2.13479648e-01 1.72416466e+02] [-3.57526735e-01 -1.97631358e-03 9.33900813e-01 5.60708010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.99, Y:172.43, Z:56.06 [[ 7.52260045e-01 -5.93467651e-01 2.86183460e-01 4.13991547e+02] [ 5.53901393e-01 8.04855899e-01 2.13073297e-01 1.72431526e+02] [-3.56788554e-01 -1.76911075e-03 9.34183493e-01 5.60615075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.01, Y:172.45, Z:56.04 [[ 7.50262364e-01 -5.92298277e-01 2.93750125e-01 4.14008011e+02] [ 5.55176512e-01 8.05677884e-01 2.06548271e-01 1.72450042e+02] [-3.59006165e-01 8.11777564e-03 9.33299885e-01 5.60430335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.03, Y:172.46, Z:56.04 [[ 7.49806275e-01 -5.95828971e-01 2.87712336e-01 4.14032386e+02] [ 5.55797597e-01 8.03110616e-01 2.14714626e-01 1.72462816e+02] [-3.58998026e-01 -1.08454907e-03 9.33337689e-01 5.60368103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.06, Y:172.48, Z:56.04 [[ 7.50762575e-01 -5.98038451e-01 2.80545125e-01 4.14057638e+02] [ 5.55960084e-01 8.01409632e-01 2.20569687e-01 1.72476264e+02] [-3.56740719e-01 -9.62357548e-03 9.34153866e-01 5.60350322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.07, Y:172.50, Z:56.01 [[ 7.48812663e-01 -5.92766251e-01 2.96492441e-01 4.14069465e+02] [ 5.56394507e-01 8.05290583e-01 2.04773608e-01 1.72499283e+02] [-3.60145454e-01 1.16296946e-02 9.32823672e-01 5.60112698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.10, Y:172.51, Z:56.01 [[ 7.48728744e-01 -5.96437184e-01 2.89254134e-01 4.14095478e+02] [ 5.56646255e-01 8.02659508e-01 2.14202385e-01 1.72511749e+02] [-3.59930847e-01 6.32748030e-04 9.32978770e-01 5.60053495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:172.53, Z:55.99 [[ 7.47232076e-01 -5.96192379e-01 2.93596444e-01 4.14111385e+02] [ 5.58003480e-01 8.02812253e-01 2.10058569e-01 1.72529917e+02] [-3.60938141e-01 6.86533684e-03 9.32564489e-01 5.59917734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.15, Y:172.54, Z:56.00 [[ 7.49964302e-01 -6.03126430e-01 2.71646931e-01 4.14147666e+02] [ 5.57967776e-01 7.97372502e-01 2.29932718e-01 1.72537989e+02] [-3.55282293e-01 -2.08710964e-02 9.34526024e-01 5.60005267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.16, Y:172.56, Z:55.98 [[ 7.49870734e-01 -5.97227305e-01 2.84628580e-01 4.14160003e+02] [ 5.58132139e-01 8.02071871e-01 2.12530537e-01 1.72560031e+02] [-3.55221617e-01 -5.10071567e-04 9.34781976e-01 5.59818853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.18, Y:172.58, Z:55.97 [[ 7.49695161e-01 -5.97391575e-01 2.84746330e-01 4.14180392e+02] [ 5.58225721e-01 8.01949508e-01 2.12746401e-01 1.72575877e+02] [-3.55445087e-01 -5.42222105e-04 9.34697008e-01 5.59710538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.20, Y:172.59, Z:55.96 [[ 7.49673675e-01 -5.97462835e-01 2.84653371e-01 4.14201007e+02] [ 5.58279524e-01 8.01896364e-01 2.12805534e-01 1.72591517e+02] [-3.55405901e-01 -6.18558213e-04 9.34711861e-01 5.59609398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.22, Y:172.61, Z:55.95 [[ 7.49410261e-01 -5.97786512e-01 2.84667431e-01 4.14222029e+02] [ 5.58571470e-01 8.01655132e-01 2.12948261e-01 1.72607420e+02] [-3.55502705e-01 -5.78506557e-04 9.34675073e-01 5.59500606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.24, Y:172.62, Z:55.94 [[ 7.48781004e-01 -5.98809391e-01 2.84173049e-01 4.14242505e+02] [ 5.59756161e-01 8.00891548e-01 2.12710530e-01 1.72622479e+02] [-3.54964856e-01 -2.05989004e-04 9.34879623e-01 5.59408119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.26, Y:172.64, Z:55.93 [[ 7.48857915e-01 -5.97789991e-01 2.86110032e-01 4.14261794e+02] [ 5.60372103e-01 8.01640665e-01 2.08219477e-01 1.72639697e+02] [-3.53828955e-01 4.40127731e-03 9.35299791e-01 5.59287049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.28, Y:172.65, Z:55.92 [[ 7.48387907e-01 -5.99641082e-01 2.83453900e-01 4.14284757e+02] [ 5.61189775e-01 8.00268491e-01 2.11273234e-01 1.72653441e+02] [-3.53527335e-01 9.57096798e-04 9.35423705e-01 5.59208217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.31, Y:172.67, Z:55.91 [[ 7.46949172e-01 -6.03039366e-01 2.80018674e-01 4.14309919e+02] [ 5.61936328e-01 7.97687623e-01 2.18910984e-01 1.72667109e+02] [-3.55379371e-01 -6.16271259e-03 9.34701837e-01 5.59136802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.33, Y:172.68, Z:55.90 [[ 7.46483735e-01 -6.01333140e-01 2.84886798e-01 4.14327586e+02] [ 5.62151256e-01 7.98998041e-01 2.13513691e-01 1.72684683e+02] [-3.56016852e-01 7.64973905e-04 9.34479222e-01 5.59008905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.35, Y:172.70, Z:55.89 [[ 7.46288484e-01 -6.01589342e-01 2.84857443e-01 4.14346930e+02] [ 5.62383446e-01 7.98805148e-01 2.13623956e-01 1.72700626e+02] [-3.56059488e-01 7.74012355e-04 9.34462970e-01 5.58908598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.38, Y:172.71, Z:55.90 [[ 7.48961140e-01 -6.06864844e-01 2.66030586e-01 4.14383557e+02] [ 5.62377099e-01 7.94500494e-01 2.29130889e-01 1.72711147e+02] [-3.50412913e-01 -2.20006229e-02 9.36336885e-01 5.58954159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.38, Y:172.74, Z:55.86 [[ 7.46046360e-01 -5.93627796e-01 3.01696650e-01 4.14377314e+02] [ 5.62190725e-01 8.04317150e-01 1.92394157e-01 1.72742032e+02] [-3.56870309e-01 2.60760974e-02 9.33789923e-01 5.58600857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.41, Y:172.75, Z:55.86 [[ 7.45971398e-01 -6.01597881e-01 2.85668799e-01 4.14408761e+02] [ 5.62076371e-01 7.98798874e-01 2.14453988e-01 1.72749877e+02] [-3.57206980e-01 5.91140375e-04 9.34025066e-01 5.58601556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.43, Y:172.77, Z:55.85 [[ 7.46508798e-01 -6.00744002e-01 2.86061634e-01 4.14428606e+02] [ 5.60999534e-01 7.99441455e-01 2.14878766e-01 1.72765621e+02] [-3.57776658e-01 7.15535678e-05 9.33807184e-01 5.58510413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.46, Y:172.78, Z:55.85 [[ 7.48943690e-01 -6.02835944e-01 2.75085758e-01 4.14459696e+02] [ 5.59924741e-01 7.97749674e-01 2.23785036e-01 1.72778151e+02] [-3.54355237e-01 -1.35750682e-02 9.35012344e-01 5.58494388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.46, Y:172.80, Z:55.82 [[ 7.47859556e-01 -5.94282215e-01 2.95862694e-01 4.14463143e+02] [ 5.59124299e-01 8.04126972e-01 2.01890639e-01 1.72803059e+02] [-3.57891188e-01 1.44381777e-02 9.33651668e-01 5.58243469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.49, Y:172.81, Z:55.82 [[ 7.48046834e-01 -5.98971904e-01 2.85759677e-01 4.14489628e+02] [ 5.59080595e-01 8.00769393e-01 2.14935498e-01 1.72814325e+02] [-3.57567928e-01 -1.01912880e-03 9.33886577e-01 5.58198335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.51, Y:172.83, Z:55.81 [[ 7.48549988e-01 -5.98568846e-01 2.85286264e-01 4.14509739e+02] [ 5.58737368e-01 8.01070283e-01 2.14706673e-01 1.72830605e+02] [-3.57051074e-01 -1.31858133e-03 9.34083932e-01 5.58097362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.53, Y:172.85, Z:55.80 [[ 7.49363015e-01 -5.97780644e-01 2.84804098e-01 4.14529723e+02] [ 5.57984044e-01 8.01657691e-01 2.14473198e-01 1.72847439e+02] [-3.56523322e-01 -1.80213989e-03 9.34284685e-01 5.57990487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.55, Y:172.86, Z:55.79 [[ 7.49716149e-01 -5.97386403e-01 2.84701918e-01 4.14549747e+02] [ 5.57540115e-01 8.01950780e-01 2.14531971e-01 1.72862723e+02] [-3.56475408e-01 -2.10534317e-03 9.34302334e-01 5.57902611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.57, Y:172.88, Z:55.78 [[ 7.49742086e-01 -5.97222312e-01 2.84977743e-01 4.14570932e+02] [ 5.57262902e-01 8.02072638e-01 2.14796510e-01 1.72878750e+02] [-3.56854119e-01 -2.23445931e-03 9.34157452e-01 5.57807102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.59, Y:172.89, Z:55.77 [[ 7.49257973e-01 -5.97724561e-01 2.85197896e-01 4.14591716e+02] [ 5.57685761e-01 8.01698756e-01 2.15094623e-01 1.72894989e+02] [-3.57210138e-01 -2.11055562e-03 9.34021661e-01 5.57706498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.61, Y:172.91, Z:55.76 [[ 7.49032554e-01 -5.98023351e-01 2.85163646e-01 4.14612639e+02] [ 5.57965117e-01 8.01475977e-01 2.15200341e-01 1.72911328e+02] [-3.57246641e-01 -2.08069377e-03 9.34007767e-01 5.57602225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.63, Y:172.93, Z:55.75 [[ 7.48291084e-01 -5.98974568e-01 2.85113874e-01 4.14632840e+02] [ 5.58947318e-01 8.00766160e-01 2.15293876e-01 1.72927950e+02] [-3.57265098e-01 -1.73885265e-03 9.34001406e-01 5.57492763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.030385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:414.66, Y:172.94, Z:55.74 [[ 7.48571873e-01 -6.01112961e-01 2.79827374e-01 4.14659662e+02] [ 5.59061004e-01 7.99112917e-01 2.21064106e-01 1.72941905e+02] [-3.56498169e-01 -9.04179911e-03 9.34252269e-01 5.57429999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.67, Y:172.96, Z:55.73 [[ 7.46151737e-01 -5.98486891e-01 2.91669380e-01 4.14670595e+02] [ 5.61138202e-01 8.01090000e-01 2.08275611e-01 1.72963021e+02] [-3.58303647e-01 8.26162246e-03 9.33568553e-01 5.57258351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0903857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:414.70, Y:172.98, Z:55.72 [[ 7.45564010e-01 -6.02114436e-01 2.85644031e-01 4.14695136e+02] [ 5.62042563e-01 7.98409649e-01 2.15986550e-01 1.72976020e+02] [-3.58109571e-01 -4.87695069e-04 9.33679441e-01 5.57191954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.72, Y:172.99, Z:55.71 [[ 7.44902335e-01 -6.02994664e-01 2.85513479e-01 4.14715110e+02] [ 5.62972196e-01 7.97745200e-01 2.16020608e-01 1.72991519e+02] [-3.58026282e-01 -1.78104980e-04 9.33711492e-01 5.57093683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.74, Y:173.01, Z:55.70 [[ 7.44345778e-01 -6.03925391e-01 2.84997342e-01 4.14736035e+02] [ 5.64084569e-01 7.97040830e-01 2.15718601e-01 1.73007490e+02] [-3.57432458e-01 1.93373014e-04 9.33938971e-01 5.56991231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.76, Y:173.02, Z:55.69 [[ 7.43474780e-01 -6.05301752e-01 2.84350208e-01 4.14756317e+02] [ 5.65695634e-01 7.95995753e-01 2.15358332e-01 1.73024012e+02] [-3.56698334e-01 7.42182826e-04 9.34219325e-01 5.56883447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.79, Y:173.03, Z:55.69 [[ 7.46332943e-01 -6.10285908e-01 2.65590377e-01 4.14794039e+02] [ 5.64977585e-01 7.91846556e-01 2.31903775e-01 1.73033838e+02] [-3.51834431e-01 -2.30248170e-02 9.35779029e-01 5.56928453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.80, Y:173.06, Z:55.67 [[ 7.45800089e-01 -6.03602867e-01 2.81861323e-01 4.14803896e+02] [ 5.65456852e-01 7.97282914e-01 2.11183578e-01 1.73057872e+02] [-3.52194230e-01 1.87968462e-03 9.35925046e-01 5.56737148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.80, Y:173.08, Z:55.64 [[ 7.41013023e-01 -5.96939107e-01 3.07511630e-01 4.14801790e+02] [ 5.66955753e-01 8.01579067e-01 1.89821428e-01 1.73082696e+02] [-3.59806719e-01 3.36853375e-02 9.32418588e-01 5.56435536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:414.86, Y:173.08, Z:55.66 [[ 7.44429402e-01 -6.12943079e-01 2.64812476e-01 4.14856218e+02] [ 5.66349910e-01 7.89713612e-01 2.35796926e-01 1.73082700e+02] [-3.53656111e-01 -2.55576430e-02 9.35026290e-01 5.56640969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.84, Y:173.12, Z:55.62 [[ 7.40747277e-01 -5.98154648e-01 3.05785036e-01 4.14844754e+02] [ 5.67286336e-01 8.00777244e-01 1.92203065e-01 1.73115389e+02] [-3.59832855e-01 3.10937761e-02 9.32498522e-01 5.56239353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.89, Y:173.12, Z:55.63 [[ 7.42831049e-01 -6.10680796e-01 2.74355606e-01 4.14889260e+02] [ 5.67084964e-01 7.91769868e-01 2.26969426e-01 1.73118621e+02] [-3.55832371e-01 -1.30169980e-02 9.34459138e-01 5.56346562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.89, Y:173.14, Z:55.61 [[ 7.40997750e-01 -6.02452102e-01 2.96603775e-01 4.14890577e+02] [ 5.67237916e-01 7.97967278e-01 2.03689397e-01 1.73144369e+02] [-3.59393212e-01 1.73115224e-02 9.33025632e-01 5.56080740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.93, Y:173.15, Z:55.62 [[ 7.44177502e-01 -6.11699556e-01 2.68371942e-01 4.14933869e+02] [ 5.66522407e-01 7.90829217e-01 2.31606373e-01 1.73150438e+02] [-3.53909888e-01 -2.03175335e-02 9.35058816e-01 5.56186444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.450385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:414.95, Y:173.17, Z:55.61 [[ 7.46995701e-01 -6.05780379e-01 2.73911585e-01 4.14954379e+02] [ 5.64353787e-01 7.95568380e-01 2.20399082e-01 1.73171790e+02] [-3.51428835e-01 -1.00541262e-02 9.36160610e-01 5.56075332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.95, Y:173.20, Z:55.57 [[ 7.43305623e-01 -5.93546136e-01 3.08544544e-01 4.14945479e+02] [ 5.65152421e-01 8.03957977e-01 1.85079205e-01 1.73202638e+02] [-3.57909894e-01 3.68042821e-02 9.33030521e-01 5.55723983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.00, Y:173.20, Z:55.59 [[ 7.48024122e-01 -6.09797808e-01 2.61928514e-01 4.15000118e+02] [ 5.63442935e-01 7.92057775e-01 2.34896871e-01 1.73201686e+02] [-3.50702113e-01 -2.81267551e-02 9.36064588e-01 5.55943667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:414.99, Y:173.24, Z:55.55 [[ 7.44013034e-01 -5.94280119e-01 3.05410782e-01 4.14987415e+02] [ 5.63807823e-01 8.03676333e-01 1.90328901e-01 1.73235587e+02] [-3.58560100e-01 3.05858052e-02 9.33005447e-01 5.55537884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.02, Y:173.24, Z:55.56 [[ 7.44030110e-01 -6.04061779e-01 2.85532069e-01 4.15019707e+02] [ 5.63697982e-01 7.96937281e-01 2.17107244e-01 1.73242137e+02] [-3.58697339e-01 -5.80475266e-04 9.33453739e-01 5.55556924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6003857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:415.04, Y:173.26, Z:55.55 [[ 7.44757565e-01 -6.04043431e-01 2.83668296e-01 4.15044337e+02] [ 5.62799961e-01 7.96942552e-01 2.19405501e-01 1.73258966e+02] [-3.58597788e-01 -3.75540051e-03 9.33484614e-01 5.55474652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.630385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:415.06, Y:173.28, Z:55.53 [[ 7.45524736e-01 -6.00117576e-01 2.89916822e-01 4.15059038e+02] [ 5.62083579e-01 7.99888184e-01 2.10335313e-01 1.73277195e+02] [-3.58126958e-01 6.14730606e-03 9.33652662e-01 5.55336915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.660385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:415.08, Y:173.29, Z:55.53 [[ 7.43844403e-01 -6.05051762e-01 2.83915251e-01 4.15083194e+02] [ 5.63545088e-01 7.96176837e-01 2.20271147e-01 1.73292291e+02] [-3.59322192e-01 -3.84841446e-03 9.33205632e-01 5.55264518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.09, Y:173.31, Z:55.51 [[ 7.42028230e-01 -6.01081812e-01 2.96807618e-01 4.15093596e+02] [ 5.64273136e-01 7.99073920e-01 2.07549267e-01 1.73314177e+02] [-3.61925316e-01 1.34731499e-02 9.32109725e-01 5.55061380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7203857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:415.13, Y:173.32, Z:55.51 [[ 7.42984012e-01 -6.09060736e-01 2.77524373e-01 4.15125805e+02] [ 5.65065007e-01 7.93028304e-01 2.27612932e-01 1.73323031e+02] [-3.58714783e-01 -1.22934578e-02 9.33366260e-01 5.55089016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.14, Y:173.34, Z:55.49 [[ 7.42053114e-01 -6.06730422e-01 2.85018193e-01 4.15140241e+02] [ 5.66444763e-01 7.94907654e-01 2.17398601e-01 1.73343170e+02] [-3.58465488e-01 1.25753993e-04 9.33542971e-01 5.54947011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.780385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:415.16, Y:173.36, Z:55.48 [[ 7.41023525e-01 -6.07884479e-01 2.85237788e-01 4.15160606e+02] [ 5.67595297e-01 7.94025224e-01 2.17622434e-01 1.73359673e+02] [-3.58775298e-01 6.36284155e-04 9.33423741e-01 5.54842704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.810385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:415.18, Y:173.38, Z:55.47 [[ 7.39161447e-01 -6.09983337e-01 2.85588313e-01 4.15179850e+02] [ 5.69690399e-01 7.92412742e-01 2.18024989e-01 1.73376007e+02] [-3.59295428e-01 1.54125357e-03 9.33222599e-01 5.54746477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8403857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:415.20, Y:173.39, Z:55.46 [[ 7.37811283e-01 -6.11286041e-01 2.86293360e-01 4.15200242e+02] [ 5.70859111e-01 7.91406867e-01 2.18620781e-01 1.73392814e+02] [-3.60214362e-01 2.13229412e-03 9.32867122e-01 5.54640371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.870385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:415.22, Y:173.41, Z:55.45 [[ 7.36453297e-01 -6.12941567e-01 2.86250200e-01 4.15218616e+02] [ 5.72596443e-01 7.90123178e-01 2.18720547e-01 1.73409485e+02] [-3.60235832e-01 2.82837853e-03 9.32856980e-01 5.54541556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.900385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:415.24, Y:173.43, Z:55.44 [[ 7.36012118e-01 -6.13531429e-01 2.86121212e-01 4.15238922e+02] [ 5.73232459e-01 7.89664451e-01 2.18711231e-01 1.73426056e+02] [-3.60125964e-01 3.03984997e-03 9.32898735e-01 5.54434706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:415.26, Y:173.44, Z:55.43 [[ 7.35419364e-01 -6.14359912e-01 2.85867554e-01 4.15258950e+02] [ 5.74143864e-01 7.89018894e-01 2.18650427e-01 1.73442718e+02] [-3.59884958e-01 3.32934379e-03 9.32990746e-01 5.54329640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.960385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:415.28, Y:173.46, Z:55.42 [[ 7.34736865e-01 -6.15244061e-01 2.85720990e-01 4.15277464e+02] [ 5.75082243e-01 7.88328273e-01 2.18675440e-01 1.73459820e+02] [-3.59780700e-01 3.64416074e-03 9.33029779e-01 5.54222466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.990385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:415.30, Y:173.48, Z:55.41 [[ 7.36052177e-01 -6.12698867e-01 2.87797309e-01 4.15302275e+02] [ 5.73147602e-01 7.90297360e-01 2.16637736e-01 1.73476731e+02] [-3.60179149e-01 5.49366039e-03 9.32866979e-01 5.54077153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.020385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:415.32, Y:173.49, Z:55.40 [[ 7.34019214e-01 -6.15478665e-01 2.87057149e-01 4.15315979e+02] [ 5.76208415e-01 7.88126386e-01 2.16427035e-01 1.73493949e+02] [-3.59443536e-01 6.54314300e-03 9.33143897e-01 5.54008506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.34, Y:173.51, Z:55.39 [[ 7.34668741e-01 -6.17537527e-01 2.80907894e-01 4.15344811e+02] [ 5.75900369e-01 7.86538874e-01 2.22924573e-01 1.73508569e+02] [-3.58609268e-01 -2.00075539e-03 9.33485613e-01 5.53935453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.35, Y:173.53, Z:55.38 [[ 7.32431715e-01 -6.15068280e-01 2.91949984e-01 4.15352921e+02] [ 5.77870662e-01 7.88348184e-01 2.11122332e-01 1.73529529e+02] [-3.60012889e-01 1.40766390e-02 9.32841127e-01 5.53778310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.110385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.38, Y:173.54, Z:55.37 [[ 7.32019170e-01 -6.18765858e-01 2.85090770e-01 4.15376904e+02] [ 5.78878747e-01 7.85559570e-01 2.18621955e-01 1.73542727e+02] [-3.59231585e-01 4.99752556e-03 9.33235069e-01 5.53710005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.40, Y:173.56, Z:55.36 [[ 7.31861985e-01 -6.18980947e-01 2.85027404e-01 4.15398020e+02] [ 5.79077414e-01 7.85390141e-01 2.18704540e-01 1.73558955e+02] [-3.59231657e-01 4.99139331e-03 9.33235074e-01 5.53606460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:415.42, Y:173.57, Z:55.35 [[ 7.31732791e-01 -6.19218841e-01 2.84842324e-01 4.15418202e+02] [ 5.79339079e-01 7.85202531e-01 2.18685199e-01 1.73574895e+02] [-3.59072909e-01 5.00115841e-03 9.33296113e-01 5.53503697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.200385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.44, Y:173.59, Z:55.34 [[ 7.32181868e-01 -6.18741526e-01 2.84725544e-01 4.15437990e+02] [ 5.78809623e-01 7.85580852e-01 2.18728476e-01 1.73591599e+02] [-3.59011326e-01 4.65286059e-03 9.33321605e-01 5.53400564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.46, Y:173.61, Z:55.33 [[ 7.32842107e-01 -6.18058596e-01 2.84510136e-01 4.15457598e+02] [ 5.78087736e-01 7.86120807e-01 2.18697615e-01 1.73607089e+02] [-3.58827279e-01 4.20099930e-03 9.33394523e-01 5.53307002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.260385723 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:415.49, Y:173.62, Z:55.33 [[ 7.35815709e-01 -6.19194330e-01 2.74178090e-01 4.15493447e+02] [ 5.75611440e-01 7.85170765e-01 2.28425785e-01 1.73620352e+02] [-3.56716571e-01 -1.02592357e-02 9.34156323e-01 5.53255956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.49, Y:173.65, Z:55.30 [[ 7.35329312e-01 -6.08647705e-01 2.98058342e-01 4.15489550e+02] [ 5.75485827e-01 7.93056422e-01 1.99693702e-01 1.73648015e+02] [-3.57920196e-01 2.46877194e-02 9.33425760e-01 5.53019564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.320385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:415.52, Y:173.66, Z:55.30 [[ 7.35836582e-01 -6.14671989e-01 2.84117705e-01 4.15518845e+02] [ 5.74475927e-01 7.88779373e-01 2.18642424e-01 1.73656970e+02] [-3.58499559e-01 2.33368818e-03 9.33526979e-01 5.52991095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3503857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.54, Y:173.67, Z:55.29 [[ 7.36406417e-01 -6.14068248e-01 2.83946786e-01 4.15539993e+02] [ 5.73828000e-01 7.89250580e-01 2.18643431e-01 1.73673181e+02] [-3.58367153e-01 1.92619089e-03 9.33578745e-01 5.52890554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.56, Y:173.69, Z:55.28 [[ 7.37293098e-01 -6.12983416e-01 2.83989824e-01 4.15560863e+02] [ 5.72601990e-01 7.90094726e-01 2.18808788e-01 1.73688847e+02] [-3.58505021e-01 1.28692921e-03 9.33526911e-01 5.52786923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.58, Y:173.70, Z:55.27 [[ 7.37972671e-01 -6.12271024e-01 2.83761398e-01 4.15581504e+02] [ 5.71854638e-01 7.90647526e-01 2.18766457e-01 1.73704332e+02] [-3.58299610e-01 8.26605259e-04 9.33606291e-01 5.52685774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:415.60, Y:173.72, Z:55.26 [[ 7.39069050e-01 -6.11193914e-01 2.83229482e-01 4.15602145e+02] [ 5.70805503e-01 7.91480868e-01 2.18492823e-01 1.73719141e+02] [-3.57712200e-01 1.87664028e-04 9.33831862e-01 5.52579360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.62, Y:173.73, Z:55.25 [[ 7.39545359e-01 -6.10718029e-01 2.83012633e-01 4.15623704e+02] [ 5.70337984e-01 7.91848142e-01 2.18382929e-01 1.73734447e+02] [-3.57473420e-01 -9.12277958e-05 9.33923308e-01 5.52475340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.65, Y:173.75, Z:55.24 [[ 7.40130471e-01 -6.09838784e-01 2.83378799e-01 4.15645031e+02] [ 5.69236277e-01 7.92525242e-01 2.18800827e-01 1.73748426e+02] [-3.58018082e-01 -6.31666698e-04 9.33714439e-01 5.52382363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.67, Y:173.76, Z:55.23 [[ 7.39951707e-01 -6.09768502e-01 2.83996206e-01 4.15665972e+02] [ 5.68942443e-01 7.92579220e-01 2.19368817e-01 1.73763690e+02] [-3.58853686e-01 -7.44835361e-04 9.33393528e-01 5.52280713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.69, Y:173.78, Z:55.22 [[ 7.39907833e-01 -6.09771121e-01 2.84104874e-01 4.15687185e+02] [ 5.68860743e-01 7.92577089e-01 2.19588278e-01 1.73779311e+02] [-3.59073604e-01 -8.58977692e-04 9.33308850e-01 5.52174841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.71, Y:173.79, Z:55.21 [[ 7.39849897e-01 -6.09939578e-01 2.83894067e-01 4.15708862e+02] [ 5.69052157e-01 7.92447423e-01 2.19560298e-01 1.73793342e+02] [-3.58889637e-01 -8.91132821e-04 9.33379577e-01 5.52067889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.620385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:415.72, Y:173.81, Z:55.19 [[ 7.40911425e-01 -6.06007557e-01 2.89491108e-01 4.15724931e+02] [ 5.69369257e-01 7.95384694e-01 2.07802402e-01 1.73811245e+02] [-3.56186622e-01 1.08641637e-02 9.34351679e-01 5.51929353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:415.76, Y:173.82, Z:55.19 [[ 7.39497615e-01 -6.14357976e-01 2.75150060e-01 4.15758436e+02] [ 5.70050773e-01 7.88923270e-01 2.29438861e-01 1.73816325e+02] [-3.58029879e-01 -1.28199863e-02 9.33622115e-01 5.51903975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:415.77, Y:173.83, Z:55.18 [[ 7.38968837e-01 -6.11129750e-01 2.83629135e-01 4.15774597e+02] [ 5.70280863e-01 7.91530215e-01 2.19680804e-01 1.73834119e+02] [-3.58754505e-01 -5.89000355e-04 9.33431764e-01 5.51763665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.710385723 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:415.80, Y:173.85, Z:55.17 [[ 7.38381266e-01 -6.11466529e-01 2.84432400e-01 4.15795778e+02] [ 5.71105814e-01 7.91269499e-01 2.18473636e-01 1.73849701e+02] [-3.58651999e-01 1.12415753e-03 9.33470664e-01 5.51654029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.82, Y:173.86, Z:55.16 [[ 7.37161619e-01 -6.13264995e-01 2.83723092e-01 4.15817683e+02] [ 5.71869390e-01 7.89876569e-01 2.21495840e-01 1.73862055e+02] [-3.59941868e-01 -1.02568022e-03 9.32974169e-01 5.51560580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.84, Y:173.88, Z:55.15 [[ 7.36497877e-01 -6.13532402e-01 2.84866405e-01 4.15838975e+02] [ 5.72385752e-01 7.89669463e-01 2.20899730e-01 1.73876776e+02] [-3.60479443e-01 3.61288985e-04 9.32767088e-01 5.51455137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:415.86, Y:173.89, Z:55.14 [[ 7.35854860e-01 -6.14088174e-01 2.85330231e-01 4.15862544e+02] [ 5.72791237e-01 7.89237254e-01 2.21392764e-01 1.73889292e+02] [-3.61147926e-01 5.21714171e-04 9.32508393e-01 5.51359639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.88, Y:173.90, Z:55.13 [[ 7.35813742e-01 -6.14360129e-01 2.84850433e-01 4.15884214e+02] [ 5.73175364e-01 7.89025563e-01 2.21153033e-01 1.73903813e+02] [-3.60621879e-01 5.41810238e-04 9.32711942e-01 5.51258843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.91, Y:173.92, Z:55.12 [[ 7.37095310e-01 -6.17187711e-01 2.75263207e-01 4.15913345e+02] [ 5.73295873e-01 7.86740792e-01 2.28846603e-01 1.73915525e+02] [-3.57802105e-01 -1.08744978e-02 9.33734116e-01 5.51222124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.93, Y:173.93, Z:55.11 [[ 7.39203153e-01 -6.14117212e-01 2.76475584e-01 4.15934537e+02] [ 5.72731599e-01 7.89195443e-01 2.21695891e-01 1.73931091e+02] [-3.54340534e-01 -5.53199805e-03 9.35100093e-01 5.51106844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.95, Y:173.95, Z:55.10 [[ 7.38932233e-01 -6.11466337e-01 2.82998364e-01 4.15951738e+02] [ 5.72605239e-01 7.91262629e-01 2.14538323e-01 1.73949375e+02] [-3.55108993e-01 3.51706389e-03 9.34818289e-01 5.50964153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:415.97, Y:173.96, Z:55.09 [[ 7.39345603e-01 -6.10459901e-01 2.84089404e-01 4.15972488e+02] [ 5.72175214e-01 7.92030214e-01 2.12846577e-01 1.73963131e+02] [-3.54941692e-01 5.18173500e-03 9.34874080e-01 5.50858937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:416.00, Y:173.98, Z:55.08 [[ 7.37494278e-01 -6.13806008e-01 2.81681335e-01 4.15996258e+02] [ 5.73596940e-01 7.89456777e-01 2.18505258e-01 1.73976034e+02] [-3.56495079e-01 4.25174332e-04 9.34297104e-01 5.50765028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.01, Y:173.99, Z:55.06 [[ 7.35299510e-01 -6.10351332e-01 2.94628379e-01 4.16007485e+02] [ 5.73853340e-01 7.91973877e-01 2.08493937e-01 1.73994906e+02] [-3.60592532e-01 1.57679898e-02 9.32590155e-01 5.50564156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.05, Y:174.00, Z:55.06 [[ 7.36954598e-01 -6.20141183e-01 2.68929050e-01 4.16049749e+02] [ 5.74781046e-01 7.84295453e-01 2.33468180e-01 1.73999620e+02] [-3.55703065e-01 -1.74801275e-02 9.34435538e-01 5.50643461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.06, Y:174.02, Z:55.04 [[ 7.35204510e-01 -6.14633098e-01 2.85832965e-01 4.16060133e+02] [ 5.76087795e-01 7.88781425e-01 2.14351851e-01 1.74021017e+02] [-3.57207475e-01 7.07243442e-03 9.33998287e-01 5.50425102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.08, Y:174.03, Z:55.03 [[ 7.34405622e-01 -6.16907962e-01 2.82971639e-01 4.16083331e+02] [ 5.76620746e-01 7.87032449e-01 2.19290763e-01 1.74034727e+02] [-3.57990080e-01 2.11894822e-03 9.33722985e-01 5.50340388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.130385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:416.10, Y:174.05, Z:55.01 [[ 7.31659170e-01 -6.14625892e-01 2.94804804e-01 4.16095982e+02] [ 5.77540340e-01 7.88656974e-01 2.10872786e-01 1.74054525e+02] [-3.62107739e-01 1.59746594e-02 9.31999354e-01 5.50140854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.12, Y:174.06, Z:55.01 [[ 7.31388658e-01 -6.19073080e-01 2.86040473e-01 4.16124607e+02] [ 5.77373583e-01 7.85331362e-01 2.23370539e-01 1.74062824e+02] [-3.62919241e-01 1.78153364e-03 9.31818894e-01 5.50100382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.15, Y:174.07, Z:55.01 [[ 7.31832060e-01 -6.22321000e-01 2.77738023e-01 4.16151721e+02] [ 5.78338043e-01 7.82724836e-01 2.29928119e-01 1.74074975e+02] [-3.60481545e-01 -7.64230438e-03 9.32735038e-01 5.50079402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.17, Y:174.09, Z:54.99 [[ 7.31397399e-01 -6.17632088e-01 2.89116671e-01 4.16165210e+02] [ 5.78173960e-01 7.86424692e-01 2.17373126e-01 1.74093836e+02] [-3.61625107e-01 8.17359099e-03 9.32287764e-01 5.49895062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.19, Y:174.11, Z:54.98 [[ 7.32014962e-01 -6.17762014e-01 2.87270237e-01 4.16187270e+02] [ 5.76847969e-01 7.86355676e-01 2.21113483e-01 1.74107914e+02] [-3.62492092e-01 3.85287459e-03 9.31978883e-01 5.49787512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:416.21, Y:174.12, Z:54.97 [[ 7.31674889e-01 -6.20354960e-01 2.82509433e-01 4.16207501e+02] [ 5.77879231e-01 7.84319085e-01 2.25608439e-01 1.74122122e+02] [-3.61534855e-01 -1.81569605e-03 9.32356827e-01 5.49718313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.23, Y:174.14, Z:54.96 [[ 7.33695631e-01 -6.16333190e-01 2.86049158e-01 4.16228142e+02] [ 5.74947202e-01 7.87483969e-01 2.22046647e-01 1.74138426e+02] [-3.62113845e-01 1.54850825e-03 9.32132590e-01 5.49571149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.25, Y:174.15, Z:54.95 [[ 7.34310368e-01 -6.16183026e-01 2.84792488e-01 4.16249327e+02] [ 5.74430814e-01 7.87602985e-01 2.22959140e-01 1.74152631e+02] [-3.61687051e-01 -1.27627351e-04 9.32299555e-01 5.49479810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.27, Y:174.17, Z:54.94 [[ 7.35428224e-01 -6.15179131e-01 2.84077392e-01 4.16271475e+02] [ 5.73536324e-01 7.88387057e-01 2.22490300e-01 1.74166387e+02] [-3.60834328e-01 -6.96942612e-04 9.32629670e-01 5.49377315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.29, Y:174.18, Z:54.93 [[ 7.35660403e-01 -6.14925419e-01 2.84025529e-01 4.16292796e+02] [ 5.73228181e-01 7.88584717e-01 2.22583911e-01 1.74181372e+02] [-3.60850695e-01 -9.34732225e-04 9.32623130e-01 5.49276724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.31, Y:174.20, Z:54.92 [[ 7.35964580e-01 -6.14621666e-01 2.83894956e-01 4.16313142e+02] [ 5.72890147e-01 7.88821130e-01 2.22616497e-01 1.74195847e+02] [-3.60767262e-01 -1.19723398e-03 9.32655107e-01 5.49181534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.33, Y:174.21, Z:54.91 [[ 7.36320303e-01 -6.14130116e-01 2.84036287e-01 4.16334831e+02] [ 5.72297851e-01 7.89203388e-01 2.22785058e-01 1.74210952e+02] [-3.60981413e-01 -1.48780501e-03 9.32571823e-01 5.49075158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.36, Y:174.23, Z:54.90 [[ 7.36303361e-01 -6.13849167e-01 2.84686777e-01 4.16355058e+02] [ 5.71745834e-01 7.89421410e-01 2.23429049e-01 1.74225614e+02] [-3.61889573e-01 -1.74308110e-03 9.32219341e-01 5.48973613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.38, Y:174.24, Z:54.89 [[ 7.35895433e-01 -6.14168611e-01 2.85052328e-01 4.16376191e+02] [ 5.71953967e-01 7.89173136e-01 2.23773149e-01 1.74241827e+02] [-3.62390083e-01 -1.63682877e-03 9.32025079e-01 5.48869816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.40, Y:174.26, Z:54.88 [[ 7.35712995e-01 -6.14318770e-01 2.85199645e-01 4.16396996e+02] [ 5.72018959e-01 7.89056174e-01 2.24019343e-01 1.74257244e+02] [-3.62657828e-01 -1.67433791e-03 9.31920864e-01 5.48768504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.42, Y:174.27, Z:54.87 [[ 7.35564696e-01 -6.14440356e-01 2.85320219e-01 4.16418273e+02] [ 5.72058601e-01 7.88961374e-01 2.24251882e-01 1.74271701e+02] [-3.62896038e-01 -1.73188234e-03 9.31828024e-01 5.48671134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.44, Y:174.29, Z:54.86 [[ 7.35461301e-01 -6.14416050e-01 2.85638920e-01 4.16438847e+02] [ 5.71911145e-01 7.88980159e-01 2.24561685e-01 1.74286999e+02] [-3.63337744e-01 -1.79634756e-03 9.31655761e-01 5.48564374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.46, Y:174.30, Z:54.85 [[ 7.35782398e-01 -6.14220912e-01 2.85231369e-01 4.16458532e+02] [ 5.71773982e-01 7.89131578e-01 2.24378847e-01 1.74302054e+02] [-3.62903260e-01 -2.00613000e-03 9.31824661e-01 5.48467388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.48, Y:174.32, Z:54.84 [[ 7.35684469e-01 -6.14336036e-01 2.85236038e-01 4.16478010e+02] [ 5.71842595e-01 7.89041804e-01 2.24519661e-01 1.74317889e+02] [-3.62993676e-01 -2.06551140e-03 9.31789314e-01 5.48363135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.50, Y:174.33, Z:54.83 [[ 7.35548117e-01 -6.14796309e-01 2.84595268e-01 4.16498251e+02] [ 5.72511011e-01 7.88683683e-01 2.24074073e-01 1.74334541e+02] [-3.62215557e-01 -1.88333773e-03 9.32092455e-01 5.48256904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.52, Y:174.35, Z:54.82 [[ 7.34596957e-01 -6.16045036e-01 2.84351587e-01 4.16517790e+02] [ 5.73872075e-01 7.87709721e-01 2.24018386e-01 1.74350990e+02] [-3.61991924e-01 -1.38178963e-03 9.32180207e-01 5.48151418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.54, Y:174.37, Z:54.81 [[ 7.33853564e-01 -6.16882639e-01 2.84455191e-01 4.16536596e+02] [ 5.74688539e-01 7.87054412e-01 2.24228533e-01 1.74367039e+02] [-3.62204402e-01 -1.07777017e-03 9.32098069e-01 5.48052222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.56, Y:174.38, Z:54.79 [[ 7.33046338e-01 -6.18161799e-01 2.83758799e-01 4.16556173e+02] [ 5.76251222e-01 7.86050727e-01 2.23738203e-01 1.74384301e+02] [-3.61355220e-01 -4.94115842e-04 9.32428100e-01 5.47948935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.58, Y:174.40, Z:54.79 [[ 7.32671907e-01 -6.18714391e-01 2.83521392e-01 4.16575684e+02] [ 5.76863828e-01 7.85615930e-01 2.23686687e-01 1.74400379e+02] [-3.61137094e-01 -3.35716047e-04 9.32512674e-01 5.47853739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.60, Y:174.42, Z:54.78 [[ 7.32182937e-01 -6.19275736e-01 2.83559005e-01 4.16595549e+02] [ 5.77431939e-01 7.85173580e-01 2.23774004e-01 1.74416943e+02] [-3.61220850e-01 -1.07481328e-04 9.32480287e-01 5.47750467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.61, Y:174.43, Z:54.77 [[ 7.31469175e-01 -6.20380649e-01 2.82985329e-01 4.16613867e+02] [ 5.78739795e-01 7.84300800e-01 2.23455822e-01 1.74433544e+02] [-3.60573288e-01 3.23825430e-04 9.32730829e-01 5.47650868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.63, Y:174.45, Z:54.75 [[ 7.30313382e-01 -6.21814347e-01 2.82823764e-01 4.16632518e+02] [ 5.80303947e-01 7.83164065e-01 2.23386159e-01 1.74450101e+02] [-3.60402127e-01 9.81845213e-04 9.32796517e-01 5.47545085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.65, Y:174.47, Z:54.74 [[ 7.29553767e-01 -6.22835841e-01 2.82536400e-01 4.16652933e+02] [ 5.81464747e-01 7.82351232e-01 2.23215808e-01 1.74466800e+02] [-3.60069506e-01 1.43702312e-03 9.32924373e-01 5.47442327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.66, Y:174.49, Z:54.73 [[ 7.25751171e-01 -6.24414400e-01 2.88776546e-01 4.16664114e+02] [ 5.84218274e-01 7.81045673e-01 2.20582557e-01 1.74485000e+02] [-3.63282597e-01 8.62048642e-03 9.31639116e-01 5.47285864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.69, Y:174.50, Z:54.73 [[ 7.25428898e-01 -6.29318761e-01 2.78766590e-01 4.16690399e+02] [ 5.84302018e-01 7.77117995e-01 2.33834926e-01 1.74496984e+02] [-3.63791239e-01 -6.74673148e-03 9.31456073e-01 5.47256843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.71, Y:174.51, Z:54.71 [[ 7.25504071e-01 -6.28151893e-01 2.81192181e-01 4.16708828e+02] [ 5.84224895e-01 7.78084312e-01 2.30794444e-01 1.74513947e+02] [-3.63765192e-01 -3.16283658e-03 9.31485310e-01 5.47141915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.73, Y:174.53, Z:54.71 [[ 7.26849054e-01 -6.28760768e-01 2.76315670e-01 4.16734236e+02] [ 5.84605412e-01 7.77569265e-01 2.31565433e-01 1.74530315e+02] [-3.60453832e-01 -6.77747963e-03 9.32752433e-01 5.47075745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.75, Y:174.55, Z:54.69 [[ 7.27657861e-01 -6.24429942e-01 2.83903654e-01 4.16753310e+02] [ 5.83434337e-01 7.81072080e-01 2.22555118e-01 1.74549403e+02] [-3.60719297e-01 3.69515917e-03 9.32667108e-01 5.46931987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.78, Y:174.56, Z:54.69 [[ 7.26605639e-01 -6.30285087e-01 2.73468381e-01 4.16777220e+02] [ 5.85623172e-01 7.76307958e-01 2.33219758e-01 1.74562268e+02] [-3.59290616e-01 -9.30937101e-03 9.33179291e-01 5.46917294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.79, Y:174.58, Z:54.68 [[ 7.26805393e-01 -6.26517192e-01 2.81478470e-01 4.16794737e+02] [ 5.82311827e-01 7.79396660e-01 2.31200741e-01 1.74578896e+02] [-3.64234618e-01 -4.12970341e-03 9.31298066e-01 5.46768553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.81, Y:174.60, Z:54.66 [[ 7.26402471e-01 -6.22382108e-01 2.91513228e-01 4.16808741e+02] [ 5.85174125e-01 7.82546629e-01 2.12584143e-01 1.74602716e+02] [-3.60431261e-01 1.61643514e-02 9.32645710e-01 5.46569263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.210385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:416.83, Y:174.61, Z:54.65 [[ 7.25344762e-01 -6.27712345e-01 2.82581294e-01 4.16834333e+02] [ 5.86448145e-01 7.78438195e-01 2.23858323e-01 1.74613819e+02] [-3.60490706e-01 3.34481331e-03 9.32756808e-01 5.46503197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.85, Y:174.63, Z:54.64 [[ 7.23992026e-01 -6.29214174e-01 2.82710223e-01 4.16854970e+02] [ 5.87998430e-01 7.77221437e-01 2.24019384e-01 1.74629796e+02] [-3.60684617e-01 4.04492006e-03 9.32679069e-01 5.46419056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.88, Y:174.65, Z:54.63 [[ 7.22855734e-01 -6.30537081e-01 2.82670440e-01 4.16875391e+02] [ 5.89408555e-01 7.76145161e-01 2.24045184e-01 1.74645828e+02] [-3.60662090e-01 4.65603008e-03 9.32684930e-01 5.46315189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.300385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:416.90, Y:174.66, Z:54.62 [[ 7.21085968e-01 -6.32524543e-01 2.82750297e-01 4.16896280e+02] [ 5.91467307e-01 7.74520505e-01 2.24241861e-01 1.74661417e+02] [-3.60834383e-01 5.53989684e-03 9.32613456e-01 5.46214701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.330385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:416.92, Y:174.68, Z:54.61 [[ 7.20480109e-01 -6.33266065e-01 2.82634928e-01 4.16917280e+02] [ 5.92246334e-01 7.73912456e-01 2.24285064e-01 1.74677770e+02] [-3.60766811e-01 5.79657256e-03 9.32638037e-01 5.46111733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.94, Y:174.69, Z:54.60 [[ 7.19826048e-01 -6.33713569e-01 2.83297676e-01 4.16936308e+02] [ 5.92475217e-01 7.73545096e-01 2.24946887e-01 1.74694521e+02] [-3.61695422e-01 5.92422344e-03 9.32277494e-01 5.46013645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.96, Y:174.71, Z:54.60 [[ 7.18571742e-01 -6.38430884e-01 2.75790968e-01 4.16956551e+02] [ 5.94929126e-01 7.69675488e-01 2.31644077e-01 1.74708894e+02] [-3.60158281e-01 -2.37680803e-03 9.32888184e-01 5.45979000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.97, Y:174.73, Z:54.58 [[ 7.19956290e-01 -6.31852394e-01 2.87098403e-01 4.16972813e+02] [ 5.92504964e-01 7.74998078e-01 2.19808660e-01 1.74729732e+02] [-3.61387338e-01 1.18546020e-02 9.32340421e-01 5.45782309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.99, Y:174.75, Z:54.57 [[ 7.18974283e-01 -6.35071004e-01 2.82419547e-01 4.16991310e+02] [ 5.94155321e-01 7.72426476e-01 2.24358626e-01 1.74745344e+02] [-3.60631994e-01 6.49299447e-03 9.32685588e-01 5.45700290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.480385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:417.02, Y:174.76, Z:54.56 [[ 7.21345423e-01 -6.33866609e-01 2.79058959e-01 4.17016346e+02] [ 5.92130426e-01 7.73439638e-01 2.26213803e-01 1.74759694e+02] [-3.59224637e-01 2.06100879e-03 9.33248848e-01 5.45593678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.03, Y:174.78, Z:54.55 [[ 7.23068335e-01 -6.31164522e-01 2.80719665e-01 4.17034752e+02] [ 5.90353602e-01 7.75637328e-01 2.23314486e-01 1.74778294e+02] [-3.58684832e-01 4.25223135e-03 9.33449040e-01 5.45492772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.05, Y:174.80, Z:54.54 [[ 7.22022305e-01 -6.32558261e-01 2.80274575e-01 4.17053363e+02] [ 5.91929651e-01 7.74497773e-01 2.23097487e-01 1.74797380e+02] [-3.58194193e-01 4.82147010e-03 9.33634658e-01 5.45388363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.07, Y:174.81, Z:54.53 [[ 7.21116750e-01 -6.32041280e-01 2.83750690e-01 4.17068450e+02] [ 5.91633559e-01 7.74899042e-01 2.22488668e-01 1.74813849e+02] [-3.60500160e-01 7.43612509e-03 9.32729510e-01 5.45260418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6003857229999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:417.10, Y:174.83, Z:54.52 [[ 7.23973077e-01 -6.31649647e-01 2.77275509e-01 4.17095626e+02] [ 5.88739984e-01 7.75250139e-01 2.28850284e-01 1.74828679e+02] [-3.59511078e-01 -2.43826573e-03 9.33137632e-01 5.45184883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.11, Y:174.85, Z:54.51 [[ 7.24153943e-01 -6.29675159e-01 2.81265466e-01 4.17113324e+02] [ 5.88340632e-01 7.76852825e-01 2.24399173e-01 1.74847382e+02] [-3.59800457e-01 2.98035565e-03 9.33024517e-01 5.45075400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.13, Y:174.86, Z:54.50 [[ 7.24056861e-01 -6.29705709e-01 2.81446944e-01 4.17133053e+02] [ 5.88264948e-01 7.76828430e-01 2.24681868e-01 1.74864413e+02] [-3.60119442e-01 2.88292362e-03 9.32901751e-01 5.44992752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.15, Y:174.88, Z:54.49 [[ 7.21596323e-01 -6.32326892e-01 2.81889071e-01 4.17148381e+02] [ 5.90453491e-01 7.74695302e-01 2.26300384e-01 1.74881826e+02] [-3.61473958e-01 3.14486112e-03 9.32376902e-01 5.44880187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.17, Y:174.90, Z:54.48 [[ 7.21193891e-01 -6.33840963e-01 2.79508507e-01 4.17168779e+02] [ 5.90971086e-01 7.73463398e-01 2.29145254e-01 1.74899347e+02] [-3.61431248e-01 -7.67111483e-05 9.32398760e-01 5.44792827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.19, Y:174.92, Z:54.47 [[ 7.22718046e-01 -6.31153120e-01 2.81645814e-01 4.17190576e+02] [ 5.89416188e-01 7.75652944e-01 2.25723434e-01 1.74917089e+02] [-3.60925454e-01 2.87220334e-03 9.32590246e-01 5.44680765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.21, Y:174.93, Z:54.46 [[ 7.23981399e-01 -6.29395963e-01 2.82332527e-01 4.17206577e+02] [ 5.88647817e-01 7.77069536e-01 2.22837799e-01 1.74934741e+02] [-3.59645217e-01 4.86400467e-03 9.33076449e-01 5.44574252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.23, Y:174.95, Z:54.45 [[ 7.23147004e-01 -6.32003865e-01 2.78620757e-01 4.17230174e+02] [ 5.89307305e-01 7.74964662e-01 2.28356460e-01 1.74950858e+02] [-3.60243406e-01 -9.42042491e-04 9.32857868e-01 5.44495705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.25, Y:174.97, Z:54.44 [[ 7.23344630e-01 -6.30403855e-01 2.81715329e-01 4.17247886e+02] [ 5.88732686e-01 7.76262273e-01 2.25412306e-01 1.74969867e+02] [-3.60785769e-01 2.80424103e-03 9.32644501e-01 5.44384844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.27, Y:174.99, Z:54.43 [[ 7.23322544e-01 -6.30360150e-01 2.81869790e-01 4.17267015e+02] [ 5.88586300e-01 7.76298229e-01 2.25670614e-01 1.74986862e+02] [-3.61068781e-01 2.67205401e-03 9.32535359e-01 5.44285466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.28, Y:175.01, Z:54.42 [[ 7.23044885e-01 -6.30586183e-01 2.82076514e-01 4.17284837e+02] [ 5.88743186e-01 7.76114400e-01 2.25893557e-01 1.75005478e+02] [-3.61369000e-01 2.73944423e-03 9.32418866e-01 5.44180671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.30, Y:175.02, Z:54.41 [[ 7.22775957e-01 -6.31037979e-01 2.81755187e-01 4.17304848e+02] [ 5.89275607e-01 7.75746697e-01 2.25768291e-01 1.75023068e+02] [-3.61039022e-01 2.85156646e-03 9.32546349e-01 5.44077119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.32, Y:175.04, Z:54.40 [[ 7.22328844e-01 -6.31630874e-01 2.81573225e-01 4.17324502e+02] [ 5.89916877e-01 7.75263324e-01 2.25753975e-01 1.75039817e+02] [-3.60886574e-01 3.03618966e-03 9.32604773e-01 5.43977848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.34, Y:175.06, Z:54.39 [[ 7.21297621e-01 -6.33019680e-01 2.81097541e-01 4.17343185e+02] [ 5.91500582e-01 7.74127281e-01 2.25508344e-01 1.75057235e+02] [-3.60356495e-01 3.61072727e-03 9.32807675e-01 5.43880767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.36, Y:175.08, Z:54.37 [[ 7.18931573e-01 -6.34326571e-01 2.84195698e-01 4.17358089e+02] [ 5.93779263e-01 7.73021595e-01 2.23302037e-01 1.75075964e+02] [-3.61335827e-01 8.21062731e-03 9.32399596e-01 5.43743512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.38, Y:175.09, Z:54.37 [[ 7.17200265e-01 -6.37610841e-01 2.81204899e-01 4.17377640e+02] [ 5.95782926e-01 7.70344880e-01 2.27181581e-01 1.75092490e+02] [-3.61478193e-01 4.60238744e-03 9.32369205e-01 5.43657552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.39, Y:175.11, Z:54.35 [[ 7.15657381e-01 -6.36900567e-01 2.86691789e-01 4.17393298e+02] [ 5.96845625e-01 7.70855712e-01 2.22613504e-01 1.75111714e+02] [-3.62780670e-01 1.17957428e-02 9.31799896e-01 5.43511017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.42, Y:175.13, Z:54.35 [[ 7.14522701e-01 -6.40916194e-01 2.80506225e-01 4.17416632e+02] [ 5.98272934e-01 7.67602660e-01 2.29903572e-01 1.75126830e+02] [-3.62666247e-01 3.54796099e-03 9.31912338e-01 5.43453381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.44, Y:175.14, Z:54.34 [[ 7.14502908e-01 -6.42653676e-01 2.76553517e-01 4.17440699e+02] [ 5.98747287e-01 7.66155824e-01 2.33467214e-01 1.75143251e+02] [-3.61921651e-01 -1.22733548e-03 9.32207709e-01 5.43390939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.46, Y:175.16, Z:54.33 [[ 7.14449682e-01 -6.40520437e-01 2.81594073e-01 4.17457957e+02] [ 5.98683342e-01 7.67918797e-01 2.27769570e-01 1.75162701e+02] [-3.62132446e-01 5.85578392e-03 9.32108256e-01 5.43267610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.48, Y:175.18, Z:54.32 [[ 7.15054776e-01 -6.40930090e-01 2.79115185e-01 4.17478988e+02] [ 5.98114767e-01 7.67595991e-01 2.30336972e-01 1.75180638e+02] [-3.61877594e-01 2.23936211e-03 9.32222931e-01 5.43199940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.230385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:417.49, Y:175.20, Z:54.30 [[ 7.14621431e-01 -6.39728431e-01 2.82955377e-01 4.17494259e+02] [ 5.99190603e-01 7.68545273e-01 2.24296197e-01 1.75200364e+02] [-3.60952672e-01 9.25733348e-03 9.32538187e-01 5.43041001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.260385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:417.51, Y:175.22, Z:54.30 [[ 7.16049772e-01 -6.39386882e-01 2.80102016e-01 4.17512823e+02] [ 5.96968694e-01 7.68878451e-01 2.29029051e-01 1.75215779e+02] [-3.61802575e-01 3.21593525e-03 9.32249191e-01 5.42969659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.53, Y:175.24, Z:54.28 [[ 7.16109545e-01 -6.37372042e-01 2.84506590e-01 4.17530653e+02] [ 5.97406100e-01 7.70481916e-01 2.22404065e-01 1.75237840e+02] [-3.60961316e-01 1.07002987e-02 9.32519400e-01 5.42847709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.56, Y:175.25, Z:54.28 [[ 7.16595392e-01 -6.40455155e-01 2.76239458e-01 4.17556196e+02] [ 5.96235471e-01 7.67990150e-01 2.33868324e-01 1.75253809e+02] [-3.61931356e-01 -2.88519961e-03 9.32200284e-01 5.42810563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.57, Y:175.27, Z:54.27 [[ 7.16955525e-01 -6.37685486e-01 2.81659362e-01 4.17572066e+02] [ 5.95895395e-01 7.70280512e-01 2.27104848e-01 1.75273752e+02] [-3.61778183e-01 5.01544110e-03 9.32250713e-01 5.42680478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.59, Y:175.29, Z:54.26 [[ 7.18674957e-01 -6.36030993e-01 2.81017584e-01 4.17590697e+02] [ 5.94262718e-01 7.71652845e-01 2.26723861e-01 1.75292025e+02] [-3.61051421e-01 4.05751237e-03 9.32537081e-01 5.42588633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.61, Y:175.31, Z:54.24 [[ 7.19189536e-01 -6.33343057e-01 2.85732364e-01 4.17608208e+02] [ 5.93313095e-01 7.73806548e-01 2.21817489e-01 1.75312149e+02] [-3.61588141e-01 9.99993601e-03 9.32284301e-01 5.42429472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.63, Y:175.33, Z:54.24 [[ 7.22675205e-01 -6.32232029e-01 2.79326349e-01 4.17627705e+02] [ 5.89826885e-01 7.74779067e-01 2.27643676e-01 1.75327172e+02] [-3.60339831e-01 2.41750596e-04 9.32821069e-01 5.42389390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.65, Y:175.35, Z:54.22 [[ 7.22424968e-01 -6.31390149e-01 2.81866360e-01 4.17648305e+02] [ 5.89338249e-01 7.75461538e-01 2.26582947e-01 1.75347375e+02] [-3.61638762e-01 2.42544829e-03 9.32315142e-01 5.42247869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.67, Y:175.36, Z:54.21 [[ 7.23449250e-01 -6.30060869e-01 2.82213544e-01 4.17667008e+02] [ 5.88097999e-01 7.76542059e-01 2.26104344e-01 1.75364435e+02] [-3.61610186e-01 2.39420237e-03 9.32326306e-01 5.42144979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.69, Y:175.38, Z:54.21 [[ 7.25179187e-01 -6.30113447e-01 2.77618787e-01 4.17686839e+02] [ 5.86666531e-01 7.76493339e-01 2.29957553e-01 1.75380008e+02] [-3.60468486e-01 -3.89078078e-03 9.32763278e-01 5.42089813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.71, Y:175.40, Z:54.20 [[ 7.26608793e-01 -6.28205451e-01 2.78204192e-01 4.17709273e+02] [ 5.86307995e-01 7.78047094e-01 2.25578490e-01 1.75397357e+02] [-3.58165600e-01 -7.93972419e-04 9.33657739e-01 5.41968592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.72, Y:175.42, Z:54.18 [[ 7.25926870e-01 -6.25880781e-01 2.85137559e-01 4.17724400e+02] [ 5.86500026e-01 7.79872482e-01 2.18670141e-01 1.75416157e+02] [-3.59232374e-01 8.49465493e-03 9.33209485e-01 5.41814685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.75, Y:175.43, Z:54.18 [[ 7.28704516e-01 -6.26538146e-01 2.76477269e-01 4.17750424e+02] [ 5.85294802e-01 7.79389992e-01 2.23564834e-01 1.75428599e+02] [-3.55555513e-01 -1.09199567e-03 9.34654527e-01 5.41776790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.77, Y:175.45, Z:54.17 [[ 7.28835920e-01 -6.24966335e-01 2.79669952e-01 4.17768891e+02] [ 5.84670366e-01 7.80647400e-01 2.20794477e-01 1.75446181e+02] [-3.56312736e-01 2.59178763e-03 9.34363161e-01 5.41654349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.80, Y:175.46, Z:54.16 [[ 7.29159707e-01 -6.27466304e-01 2.73152263e-01 4.17798137e+02] [ 5.83411370e-01 7.78589555e-01 2.31148174e-01 1.75459796e+02] [-3.57711189e-01 -9.18379876e-03 9.33787108e-01 5.41593824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.82, Y:175.48, Z:54.15 [[ 7.30105281e-01 -6.23770737e-01 2.79027501e-01 4.17815526e+02] [ 5.82364724e-01 7.81607078e-01 2.23476406e-01 1.75478016e+02] [-3.57487913e-01 -6.65530365e-04 9.33917528e-01 5.41475982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.84, Y:175.49, Z:54.14 [[ 7.31294706e-01 -6.23406414e-01 2.76717357e-01 4.17838999e+02] [ 5.81321503e-01 7.81888611e-01 2.25201044e-01 1.75493017e+02] [-3.56753925e-01 -3.82658067e-03 9.34190556e-01 5.41395940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.85, Y:175.51, Z:54.12 [[ 7.30677376e-01 -6.19090735e-01 2.87814582e-01 4.17849827e+02] [ 5.80019693e-01 7.85271751e-01 2.16622791e-01 1.75510522e+02] [-3.60121823e-01 8.65675311e-03 9.32865121e-01 5.41242506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.88, Y:175.52, Z:54.12 [[ 7.32911509e-01 -6.22431846e-01 2.74625776e-01 4.17883400e+02] [ 5.79207328e-01 7.82632368e-01 2.28047029e-01 1.75521391e+02] [-3.56874754e-01 -8.07303018e-03 9.34117357e-01 5.41194599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.91, Y:175.54, Z:54.11 [[ 7.32936395e-01 -6.21280815e-01 2.77154093e-01 4.17906553e+02] [ 5.78676461e-01 7.83569494e-01 2.26168968e-01 1.75537235e+02] [-3.57683933e-01 -5.38491831e-03 9.33827183e-01 5.41075906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:175.55, Z:54.10 [[ 7.32828202e-01 -6.20170776e-01 2.79912550e-01 4.17924693e+02] [ 5.79116150e-01 7.84466667e-01 2.21893068e-01 1.75553141e+02] [-3.57193661e-01 -5.07619251e-04 9.34030209e-01 5.40964604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.94, Y:175.57, Z:54.08 [[ 7.30531157e-01 -6.20352370e-01 2.85459572e-01 4.17940540e+02] [ 5.80513832e-01 7.84301269e-01 2.18804046e-01 1.75566913e+02] [-3.59621912e-01 5.87005739e-03 9.33079644e-01 5.40843326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.97, Y:175.58, Z:54.08 [[ 7.30041829e-01 -6.24108480e-01 2.78437666e-01 4.17967452e+02] [ 5.81330119e-01 7.81327764e-01 2.27117191e-01 1.75578027e+02] [-3.59296843e-01 -3.94084810e-03 9.33215006e-01 5.40785200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.99, Y:175.59, Z:54.07 [[ 7.29878513e-01 -6.24329781e-01 2.78369684e-01 4.17988076e+02] [ 5.81535204e-01 7.81150911e-01 2.27200487e-01 1.75594876e+02] [-3.59296762e-01 -3.94698272e-03 9.33215012e-01 5.40681483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.01, Y:175.61, Z:54.06 [[ 7.29020766e-01 -6.25338985e-01 2.78352073e-01 4.18010278e+02] [ 5.82570860e-01 7.80345110e-01 2.27316304e-01 1.75608942e+02] [-3.59360426e-01 -3.55849953e-03 9.33192060e-01 5.40583673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.03, Y:175.62, Z:54.04 [[ 7.26832843e-01 -6.26658448e-01 2.81092882e-01 4.18033749e+02] [ 5.85311743e-01 7.79291916e-01 2.23862175e-01 1.75622682e+02] [-3.59338533e-01 1.81658354e-03 9.33205507e-01 5.40445623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.06, Y:175.63, Z:54.04 [[ 7.25120338e-01 -6.31069531e-01 2.75593437e-01 4.18058746e+02] [ 5.88018069e-01 7.75715475e-01 2.29129336e-01 1.75632233e+02] [-3.58378636e-01 -4.09242091e-03 9.33567355e-01 5.40395544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.08, Y:175.65, Z:54.03 [[ 7.24460425e-01 -6.31259865e-01 2.76890006e-01 4.18078605e+02] [ 5.89256591e-01 7.75570899e-01 2.26420958e-01 1.75646442e+02] [-3.57678294e-01 -8.73762676e-04 9.33844459e-01 5.40287742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.10, Y:175.66, Z:54.02 [[ 7.23767148e-01 -6.32270791e-01 2.76396025e-01 4.18100453e+02] [ 5.90471125e-01 7.74747357e-01 2.26076055e-01 1.75660420e+02] [-3.57078376e-01 -4.22549423e-04 9.34074331e-01 5.40188539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.12, Y:175.68, Z:54.00 [[ 7.21266457e-01 -6.32635036e-01 2.82041858e-01 4.18119995e+02] [ 5.92476160e-01 7.74418078e-01 2.21920348e-01 1.75675013e+02] [-3.58812901e-01 7.03937419e-03 9.33382960e-01 5.40024432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.14, Y:175.69, Z:53.99 [[ 7.20282890e-01 -6.35287027e-01 2.78573064e-01 4.18144984e+02] [ 5.93377920e-01 7.72273901e-01 2.26926564e-01 1.75685611e+02] [-3.59298209e-01 1.84778432e-03 9.33220972e-01 5.39942314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.17, Y:175.70, Z:53.99 [[ 7.21526020e-01 -6.37116672e-01 2.71076648e-01 4.18172331e+02] [ 5.93061390e-01 7.70732914e-01 2.32914068e-01 1.75697305e+02] [-3.57321131e-01 -7.28846713e-03 9.33953151e-01 5.39919650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.19, Y:175.71, Z:53.98 [[ 7.20971698e-01 -6.35337034e-01 2.76670677e-01 4.18192719e+02] [ 5.93478349e-01 7.72234670e-01 2.26797408e-01 1.75712627e+02] [-3.57747482e-01 6.83544383e-04 9.33818115e-01 5.39795699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.21, Y:175.73, Z:53.97 [[ 7.21064928e-01 -6.35341512e-01 2.76417318e-01 4.18214866e+02] [ 5.93510461e-01 7.72231077e-01 2.26725599e-01 1.75727752e+02] [-3.57506228e-01 5.72692398e-04 9.33910579e-01 5.39693738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.24, Y:175.74, Z:53.96 [[ 7.21869476e-01 -6.34895551e-01 2.75339970e-01 4.18237500e+02] [ 5.93317405e-01 7.72597944e-01 2.25979808e-01 1.75740504e+02] [-3.56200669e-01 2.36070858e-04 9.34409454e-01 5.39592054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.26, Y:175.76, Z:53.95 [[ 7.22455935e-01 -6.34441304e-01 2.74848418e-01 4.18258873e+02] [ 5.92949817e-01 7.72971039e-01 2.25668534e-01 1.75755400e+02] [-3.55623307e-01 -6.42526876e-05 9.34629370e-01 5.39492385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:418.28, Y:175.77, Z:53.94 [[ 7.23126349e-01 -6.33653842e-01 2.74901968e-01 4.18279088e+02] [ 5.92038019e-01 7.73616499e-01 2.25850606e-01 1.75770171e+02] [-3.55779803e-01 -5.66107601e-04 9.34569640e-01 5.39399622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:418.30, Y:175.79, Z:53.93 [[ 7.25122292e-01 -6.30980369e-01 2.75792379e-01 4.18298603e+02] [ 5.88875411e-01 7.75796386e-01 2.26640063e-01 1.75787878e+02] [-3.56964161e-01 -1.93441198e-03 9.34116077e-01 5.39293554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.32, Y:175.81, Z:53.92 [[ 7.26119256e-01 -6.29929424e-01 2.75571672e-01 4.18318409e+02] [ 5.87769457e-01 7.76648157e-01 2.26593702e-01 1.75805238e+02] [-3.56760271e-01 -2.56143794e-03 9.34192458e-01 5.39190544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.34, Y:175.82, Z:53.91 [[ 7.26761765e-01 -6.29291894e-01 2.75334430e-01 4.18338222e+02] [ 5.87111539e-01 7.77163310e-01 2.26533067e-01 1.75822219e+02] [-3.56535240e-01 -2.98355025e-03 9.34277112e-01 5.39090518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.36, Y:175.84, Z:53.90 [[ 7.26946543e-01 -6.28977464e-01 2.75565008e-01 4.18358302e+02] [ 5.86651017e-01 7.77416732e-01 2.26856363e-01 1.75839609e+02] [-3.56916388e-01 -3.25195707e-03 9.34130675e-01 5.38989509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.38, Y:175.86, Z:53.89 [[ 7.26029862e-01 -6.29930916e-01 2.75803700e-01 4.18378511e+02] [ 5.87543268e-01 7.76645762e-01 2.27187739e-01 1.75855973e+02] [-3.57314355e-01 -2.89847607e-03 9.33979684e-01 5.38900318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.40, Y:175.87, Z:53.88 [[ 7.25202931e-01 -6.30848830e-01 2.75881247e-01 4.18399015e+02] [ 5.88478966e-01 7.75901754e-01 2.27308105e-01 1.75872911e+02] [-3.57453795e-01 -2.49419295e-03 9.33927494e-01 5.38798831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.42, Y:175.89, Z:53.87 [[ 7.24390665e-01 -6.31842586e-01 2.75741020e-01 4.18418601e+02] [ 5.89537333e-01 7.75093861e-01 2.27321886e-01 1.75889460e+02] [-3.57356821e-01 -2.11022677e-03 9.33965551e-01 5.38696195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.44, Y:175.91, Z:53.86 [[ 7.23180137e-01 -6.33694241e-01 2.74667250e-01 4.18437732e+02] [ 5.91807321e-01 7.73582521e-01 2.26570472e-01 1.75906798e+02] [-3.56054187e-01 -1.30117552e-03 9.34464404e-01 5.38583924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.46, Y:175.92, Z:53.85 [[ 7.22162759e-01 -6.34991542e-01 2.74347757e-01 4.18457540e+02] [ 5.93244383e-01 7.72518702e-01 2.26441952e-01 1.75923641e+02] [-3.55727497e-01 -7.72679297e-04 9.34589402e-01 5.38480321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:418.46, Y:175.94, Z:53.83 [[ 7.16485092e-01 -6.36850043e-01 2.84729937e-01 4.18464689e+02] [ 5.97667224e-01 7.70888856e-01 2.20282229e-01 1.75942428e+02] [-3.59781882e-01 1.23448177e-02 9.32954770e-01 5.38270637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.50, Y:175.95, Z:53.83 [[ 7.19475310e-01 -6.42651864e-01 2.63351210e-01 4.18504509e+02] [ 5.96853307e-01 7.66019976e-01 2.38703848e-01 1.75951511e+02] [-3.55135761e-01 -1.45594847e-02 9.34701350e-01 5.38339451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.52, Y:175.97, Z:53.82 [[ 7.18102605e-01 -6.39841481e-01 2.73736238e-01 4.18517935e+02] [ 5.98505666e-01 7.68505711e-01 2.26251941e-01 1.75972580e+02] [-3.55133239e-01 1.36058155e-03 9.34814704e-01 5.38173001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.54, Y:175.99, Z:53.81 [[ 7.17371965e-01 -6.40558956e-01 2.73973883e-01 4.18537888e+02] [ 5.99147576e-01 7.67907317e-01 2.26584498e-01 1.75989377e+02] [-3.55527279e-01 1.60542129e-03 9.34664526e-01 5.38067998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.56, Y:176.01, Z:53.80 [[ 7.16907805e-01 -6.41018826e-01 2.74113233e-01 4.18556589e+02] [ 5.99542770e-01 7.67523231e-01 2.26840377e-01 1.76005653e+02] [-3.55797226e-01 1.71897042e-03 9.34561597e-01 5.37970614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.58, Y:176.02, Z:53.79 [[ 7.16912920e-01 -6.41107532e-01 2.73892310e-01 4.18575724e+02] [ 5.99670819e-01 7.67449215e-01 2.26752310e-01 1.76022070e+02] [-3.55571052e-01 1.68356496e-03 9.34647737e-01 5.37873732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.60, Y:176.04, Z:53.78 [[ 7.16657186e-01 -6.41393825e-01 2.73891291e-01 4.18595392e+02] [ 5.99955760e-01 7.67209749e-01 2.26808923e-01 1.76038793e+02] [-3.55605911e-01 1.77841341e-03 9.34634299e-01 5.37772345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8503857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:418.62, Y:176.06, Z:53.77 [[ 7.15993972e-01 -6.41938746e-01 2.74348826e-01 4.18615079e+02] [ 6.00345220e-01 7.66753460e-01 2.27320805e-01 1.76055645e+02] [-3.56283944e-01 1.94368018e-03 9.34375713e-01 5.37663233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.62, Y:176.07, Z:53.75 [[ 7.13458831e-01 -6.39230541e-01 2.86985733e-01 4.18622803e+02] [ 6.00978731e-01 7.68835467e-01 2.18441272e-01 1.76074595e+02] [-3.60279142e-01 1.66234674e-02 9.32696414e-01 5.37456045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.65, Y:176.09, Z:53.74 [[ 7.12975386e-01 -6.44568098e-01 2.76039972e-01 4.18653275e+02] [ 6.01782175e-01 7.64545492e-01 2.30929436e-01 1.76086311e+02] [-3.59894863e-01 1.46893109e-03 9.32991709e-01 5.37418457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.68, Y:176.10, Z:53.73 [[ 7.13189785e-01 -6.45793213e-01 2.72601277e-01 4.18676424e+02] [ 6.01825601e-01 7.63506498e-01 2.34230172e-01 1.76101761e+02] [-3.59397101e-01 -2.99213913e-03 9.33179924e-01 5.37336619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.69, Y:176.12, Z:53.72 [[ 7.12716752e-01 -6.43558861e-01 2.79046275e-01 4.18691262e+02] [ 6.01750851e-01 7.65378625e-01 2.28235566e-01 1.76120570e+02] [-3.60459075e-01 5.24902219e-03 9.32760260e-01 5.37188931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.72, Y:176.14, Z:53.71 [[ 7.13381238e-01 -6.45912159e-01 2.71817388e-01 4.18716863e+02] [ 6.01427765e-01 7.63397907e-01 2.35601952e-01 1.76135749e+02] [-3.59682990e-01 -4.59548793e-03 9.33063250e-01 5.37130758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.030385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:418.74, Y:176.15, Z:53.71 [[ 7.16267949e-01 -6.46452157e-01 2.62792379e-01 4.18742631e+02] [ 6.00878788e-01 7.62841601e-01 2.38783112e-01 1.76151125e+02] [-3.54830816e-01 -1.31263237e-02 9.34838377e-01 5.37081583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.75, Y:176.18, Z:53.69 [[ 7.17966896e-01 -6.37715196e-01 2.79003343e-01 4.18749546e+02] [ 6.00407227e-01 7.70163727e-01 2.15311393e-01 1.76176062e+02] [-3.52185602e-01 1.29291713e-02 9.35840872e-01 5.36914859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.78, Y:176.19, Z:53.68 [[ 7.16053982e-01 -6.41963973e-01 2.74133093e-01 4.18776167e+02] [ 5.99881619e-01 7.66734432e-01 2.28605236e-01 1.76188991e+02] [-3.56943607e-01 7.53713861e-04 9.34125630e-01 5.36819803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.80, Y:176.20, Z:53.68 [[ 7.16266406e-01 -6.45325933e-01 2.65550138e-01 4.18800119e+02] [ 6.01790247e-01 7.63873688e-01 2.33121185e-01 1.76203528e+02] [-3.53285910e-01 -7.17139025e-03 9.35487914e-01 5.36802231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.82, Y:176.22, Z:53.67 [[ 7.14806586e-01 -6.44386175e-01 2.71694688e-01 4.18815682e+02] [ 6.03663237e-01 7.64694924e-01 2.25460352e-01 1.76222063e+02] [-3.53047082e-01 2.85155030e-03 9.35601211e-01 5.36658034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.83, Y:176.24, Z:53.64 [[ 7.11873293e-01 -6.40720358e-01 2.87600137e-01 4.18826083e+02] [ 6.03924393e-01 7.67496905e-01 2.14997275e-01 1.76243018e+02] [-3.58485345e-01 2.06379201e-02 9.33307202e-01 5.36416534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.86, Y:176.25, Z:53.65 [[ 7.12428728e-01 -6.51424119e-01 2.60944294e-01 4.18863042e+02] [ 6.05495528e-01 7.58594732e-01 2.40643301e-01 1.76250613e+02] [-3.54711817e-01 -1.34405982e-02 9.34879071e-01 5.36518436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.87, Y:176.27, Z:53.63 [[ 7.12348536e-01 -6.46532525e-01 2.73048086e-01 4.18874727e+02] [ 6.05439025e-01 7.62877370e-01 2.26851725e-01 1.76272772e+02] [-3.54969225e-01 3.71647245e-03 9.34870599e-01 5.36346471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.89, Y:176.29, Z:53.62 [[ 7.12088568e-01 -6.46744673e-01 2.73223715e-01 4.18894111e+02] [ 6.05559080e-01 7.62697546e-01 2.27135763e-01 1.76290175e+02] [-3.55285902e-01 3.71232123e-03 9.34750312e-01 5.36245842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.91, Y:176.31, Z:53.62 [[ 7.12074450e-01 -6.46664652e-01 2.73449824e-01 4.18912813e+02] [ 6.05349921e-01 7.62766109e-01 2.27462824e-01 1.76306806e+02] [-3.55670426e-01 3.56236428e-03 9.34604653e-01 5.36151639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.93, Y:176.32, Z:53.61 [[ 7.11865943e-01 -6.46814458e-01 2.73638333e-01 4.18931866e+02] [ 6.05428936e-01 7.62638943e-01 2.27678823e-01 1.76323168e+02] [-3.55953204e-01 3.59176498e-03 9.34496879e-01 5.36052690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.95, Y:176.34, Z:53.59 [[ 7.10535815e-01 -6.48029216e-01 2.74220699e-01 4.18951276e+02] [ 6.06513126e-01 7.61604256e-01 2.28255965e-01 1.76340413e+02] [-3.56764185e-01 4.13441513e-03 9.34185326e-01 5.35948889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.97, Y:176.36, Z:53.59 [[ 7.09826382e-01 -6.48886961e-01 2.74029596e-01 4.18970483e+02] [ 6.07439755e-01 7.60871812e-01 2.28234593e-01 1.76356847e+02] [-3.56599847e-01 4.44953500e-03 9.34246622e-01 5.35853304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.99, Y:176.37, Z:53.58 [[ 7.08989266e-01 -6.49818202e-01 2.73990007e-01 4.18989831e+02] [ 6.08427796e-01 7.60074075e-01 2.28260854e-01 1.76373771e+02] [-3.56580759e-01 4.86864104e-03 9.34251818e-01 5.35755097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.01, Y:176.39, Z:53.56 [[ 7.07369554e-01 -6.51488775e-01 2.74209210e-01 4.19008947e+02] [ 6.10128583e-01 7.58637101e-01 2.28501339e-01 1.76390753e+02] [-3.56891337e-01 5.66798623e-03 9.34128710e-01 5.35648572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.03, Y:176.41, Z:53.55 [[ 7.05747764e-01 -6.53069127e-01 2.74628493e-01 4.19029276e+02] [ 6.11642582e-01 7.57271507e-01 2.28983006e-01 1.76407664e+02] [-3.57510065e-01 6.37023623e-03 9.33887560e-01 5.35548388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.05, Y:176.42, Z:53.55 [[ 7.05288854e-01 -6.53721284e-01 2.74255566e-01 4.19048990e+02] [ 6.12405942e-01 7.56706813e-01 2.28809445e-01 1.76423807e+02] [-3.57108660e-01 6.57898666e-03 9.34039679e-01 5.35454102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.07, Y:176.44, Z:53.53 [[ 7.04016915e-01 -6.55096976e-01 2.74241019e-01 4.19068618e+02] [ 6.13864298e-01 7.55510226e-01 2.28855681e-01 1.76440596e+02] [-3.57114558e-01 7.22849978e-03 9.34032623e-01 5.35346008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.570385723 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:419.08, Y:176.46, Z:53.52 [[ 7.05211688e-01 -6.52045573e-01 2.78411648e-01 4.19083964e+02] [ 6.14335350e-01 7.58000432e-01 2.19151598e-01 1.76460053e+02] [-3.53932978e-01 1.64898488e-02 9.35125410e-01 5.35213806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.11, Y:176.47, Z:53.52 [[ 7.03378837e-01 -6.58942312e-01 2.66558139e-01 4.19114032e+02] [ 6.14738447e-01 7.52187305e-01 2.37299181e-01 1.76471820e+02] [-3.56868119e-01 -3.04768511e-03 9.34149805e-01 5.35184439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.12, Y:176.49, Z:53.49 [[ 7.00468710e-01 -6.53701914e-01 2.86386791e-01 4.19119489e+02] [ 6.15549729e-01 7.56449085e-01 2.21095708e-01 1.76494574e+02] [-3.61167714e-01 2.14146861e-02 9.32254951e-01 5.34921670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.660385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:419.16, Y:176.50, Z:53.50 [[ 7.02760064e-01 -6.60904587e-01 2.63312398e-01 4.19155149e+02] [ 6.15805666e-01 7.50441405e-01 2.40043911e-01 1.76504604e+02] [-3.56246648e-01 -6.54400821e-03 9.34369039e-01 5.35001128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.690385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:419.17, Y:176.53, Z:53.48 [[ 7.01979039e-01 -6.57740302e-01 2.73135723e-01 4.19167819e+02] [ 6.16868376e-01 7.53200542e-01 2.28390785e-01 1.76525342e+02] [-3.55947798e-01 8.16324615e-03 9.34470185e-01 5.34814169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.18, Y:176.55, Z:53.46 [[ 7.00030312e-01 -6.52605429e-01 2.89937436e-01 4.19179478e+02] [ 6.16321054e-01 7.57206785e-01 2.16301279e-01 1.76548596e+02] [-3.60701983e-01 2.72770943e-02 9.32282167e-01 5.34578777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.22, Y:176.56, Z:53.47 [[ 7.01324638e-01 -6.63035656e-01 2.61777523e-01 4.19217131e+02] [ 6.16664667e-01 7.48526964e-01 2.43786943e-01 1.76555820e+02] [-3.57586970e-01 -9.54484031e-03 9.33831063e-01 5.34703701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.780385723 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:419.22, Y:176.58, Z:53.45 [[ 7.02464183e-01 -6.54612446e-01 2.79332451e-01 4.19224824e+02] [ 6.17231954e-01 7.55733692e-01 2.18840812e-01 1.76581718e+02] [-3.54356864e-01 1.86850830e-02 9.34923570e-01 5.34498695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.25, Y:176.59, Z:53.45 [[ 7.01186163e-01 -6.61230413e-01 2.66668906e-01 4.19253389e+02] [ 6.16579941e-01 7.50176559e-01 2.38881366e-01 1.76592375e+02] [-3.58004386e-01 -3.07761003e-03 9.33714832e-01 5.34469159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.27, Y:176.61, Z:53.43 [[ 7.01120512e-01 -6.58175991e-01 2.74288885e-01 4.19268819e+02] [ 6.16798233e-01 7.52821126e-01 2.29826657e-01 1.76612780e+02] [-3.57756854e-01 8.04471609e-03 9.33780122e-01 5.34321439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.29, Y:176.63, Z:53.42 [[ 7.01328955e-01 -6.58060568e-01 2.74032818e-01 4.19287386e+02] [ 6.16705810e-01 7.52923811e-01 2.29738283e-01 1.76629515e+02] [-3.57507538e-01 7.87552115e-03 9.33877046e-01 5.34222208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.31, Y:176.65, Z:53.41 [[ 7.01423616e-01 -6.58057334e-01 2.73798204e-01 4.19305453e+02] [ 6.16753599e-01 7.52927216e-01 2.29598794e-01 1.76647774e+02] [-3.57239290e-01 7.82001163e-03 9.33980159e-01 5.34112174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.33, Y:176.67, Z:53.40 [[ 7.01158862e-01 -6.58304451e-01 2.73882275e-01 4.19325220e+02] [ 6.16942547e-01 7.52710924e-01 2.29800258e-01 1.76665434e+02] [-3.57432713e-01 7.84314071e-03 9.33905959e-01 5.34008079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.34, Y:176.68, Z:53.39 [[ 7.00263014e-01 -6.59316985e-01 2.73738607e-01 4.19344921e+02] [ 6.18023766e-01 7.51819847e-01 2.29811973e-01 1.76683504e+02] [-3.57321054e-01 8.24813981e-03 9.33945198e-01 5.33908498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.36, Y:176.70, Z:53.38 [[ 6.99780627e-01 -6.59965249e-01 2.73409847e-01 4.19363462e+02] [ 6.18769536e-01 7.51248531e-01 2.29673477e-01 1.76700053e+02] [-3.56975260e-01 8.45663405e-03 9.34075559e-01 5.33810793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.38, Y:176.72, Z:53.37 [[ 6.98461643e-01 -6.61439248e-01 2.73220524e-01 4.19382852e+02] [ 6.20388509e-01 7.49942871e-01 2.29573057e-01 1.76718025e+02] [-3.56748415e-01 9.15489865e-03 9.34155638e-01 5.33707542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.40, Y:176.73, Z:53.36 [[ 6.97748822e-01 -6.62167834e-01 2.73277043e-01 4.19402563e+02] [ 6.21101656e-01 7.49296340e-01 2.29755800e-01 1.76734933e+02] [-3.56902388e-01 9.42098539e-03 9.34094177e-01 5.33608870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.42, Y:176.75, Z:53.35 [[ 6.97191555e-01 -6.62606404e-01 2.73636053e-01 4.19422502e+02] [ 6.21409606e-01 7.48906881e-01 2.30192496e-01 1.76752036e+02] [-3.57454945e-01 9.55180749e-03 9.33881537e-01 5.33509733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.45, Y:176.77, Z:53.34 [[ 6.96856561e-01 -6.63060523e-01 2.73389240e-01 4.19445504e+02] [ 6.20948366e-01 7.48526903e-01 2.32659843e-01 1.76770030e+02] [-3.58906759e-01 7.63006422e-03 9.33342231e-01 5.33396184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.46, Y:176.79, Z:53.33 [[ 6.96623459e-01 -6.61553186e-01 2.77602482e-01 4.19462344e+02] [ 6.21041404e-01 7.49779634e-01 2.28337636e-01 1.76789479e+02] [-3.59198178e-01 1.33372813e-02 9.33166001e-01 5.33266332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.49, Y:176.81, Z:53.32 [[ 6.99066254e-01 -6.59744959e-01 2.75758883e-01 4.19485327e+02] [ 6.18636771e-01 7.51420610e-01 2.29468107e-01 1.76806324e+02] [-3.58601335e-01 1.01811747e-02 9.33435282e-01 5.33174564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.50, Y:176.83, Z:53.30 [[ 6.98375326e-01 -6.56797225e-01 2.84410460e-01 4.19497855e+02] [ 6.18481770e-01 7.53779144e-01 2.22029957e-01 1.76826637e+02] [-3.60211333e-01 2.08424408e-02 9.32637866e-01 5.33015039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.52, Y:176.84, Z:53.30 [[ 6.99019954e-01 -6.59617499e-01 2.76180844e-01 4.19520304e+02] [ 6.17970216e-01 7.51543939e-01 2.30856060e-01 1.76842567e+02] [-3.59838736e-01 9.29854352e-03 9.32968178e-01 5.32961869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.54, Y:176.86, Z:53.29 [[ 6.99722912e-01 -6.61487150e-01 2.69856624e-01 4.19540310e+02] [ 6.18292036e-01 7.49952895e-01 2.35128930e-01 1.76858545e+02] [-3.57914522e-01 2.32510179e-03 9.33751460e-01 5.32918601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.55, Y:176.88, Z:53.27 [[ 7.00324690e-01 -6.55408391e-01 2.82816493e-01 4.19554832e+02] [ 6.16504307e-01 7.55058725e-01 2.23178766e-01 1.76880735e+02] [-3.59816297e-01 1.80599864e-02 9.32848364e-01 5.32699378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.58, Y:176.90, Z:53.26 [[ 6.99561345e-01 -6.60007468e-01 2.73868702e-01 4.19577238e+02] [ 6.17938846e-01 7.51226822e-01 2.31969488e-01 1.76896786e+02] [-3.58839110e-01 6.95722264e-03 9.33373500e-01 5.32648360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.60, Y:176.92, Z:53.26 [[ 6.99901441e-01 -6.59846230e-01 2.73387866e-01 4.19598961e+02] [ 6.18058721e-01 7.51366592e-01 2.31196156e-01 1.76915568e+02] [-3.57968421e-01 7.15523243e-03 9.33706277e-01 5.32550240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.62, Y:176.93, Z:53.25 [[ 6.98686292e-01 -6.63177507e-01 2.68389754e-01 4.19618563e+02] [ 6.20324120e-01 7.48457573e-01 2.34540504e-01 1.76932535e+02] [-3.56420331e-01 2.61840333e-03 9.34322049e-01 5.32509008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.63, Y:176.95, Z:53.23 [[ 6.96817519e-01 -6.60664457e-01 2.79227184e-01 4.19632717e+02] [ 6.21112896e-01 7.50507920e-01 2.25735759e-01 1.76953912e+02] [-3.58697806e-01 1.61349738e-02 9.33314281e-01 5.32319331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.440385723 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:419.65, Y:176.97, Z:53.23 [[ 6.97034232e-01 -6.63057801e-01 2.72942544e-01 4.19652941e+02] [ 6.22761690e-01 7.48485518e-01 2.27897581e-01 1.76968820e+02] [-3.55402811e-01 1.11257446e-02 9.34647024e-01 5.32279662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.68, Y:176.99, Z:53.22 [[ 6.93510531e-01 -6.69215290e-01 2.66822111e-01 4.19676429e+02] [ 6.25151867e-01 7.43067632e-01 2.38821351e-01 1.76985226e+02] [-3.58089773e-01 1.17921884e-03 9.33686416e-01 5.32211514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.69, Y:177.01, Z:53.21 [[ 6.91573271e-01 -6.68621712e-01 2.73260712e-01 4.19688601e+02] [ 6.27298557e-01 7.43518510e-01 2.31682425e-01 1.77007943e+02] [-3.58082297e-01 1.11906779e-02 9.33622963e-01 5.32066729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.71, Y:177.03, Z:53.20 [[ 6.90864372e-01 -6.69531238e-01 2.72826576e-01 4.19706786e+02] [ 6.28360381e-01 7.42694344e-01 2.31448359e-01 1.77026708e+02] [-3.57588661e-01 1.15339857e-02 9.33807966e-01 5.31965592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.72, Y:177.04, Z:53.19 [[ 6.89980945e-01 -6.70271853e-01 2.73243370e-01 4.19724915e+02] [ 6.28974180e-01 7.42021366e-01 2.31939157e-01 1.77044799e+02] [-3.58214707e-01 1.18294259e-02 9.33564293e-01 5.31860353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5903857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:419.74, Y:177.06, Z:53.18 [[ 6.88553235e-01 -6.71422440e-01 2.74018887e-01 4.19742138e+02] [ 6.29916259e-01 7.40971795e-01 2.32736558e-01 1.77064234e+02] [-3.59304814e-01 1.23574422e-02 9.33138438e-01 5.31764664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.620385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:419.76, Y:177.08, Z:53.17 [[ 6.88345052e-01 -6.71787139e-01 2.73647818e-01 4.19759164e+02] [ 6.30401769e-01 7.40639091e-01 2.32480852e-01 1.77084563e+02] [-3.58851918e-01 1.24810242e-02 9.33311055e-01 5.31666584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.79, Y:177.10, Z:53.16 [[ 6.89857425e-01 -6.74276751e-01 2.63529119e-01 4.19786349e+02] [ 6.30626119e-01 7.38477140e-01 2.38667579e-01 1.77101428e+02] [-3.55538229e-01 1.54174404e-03 9.34660468e-01 5.31621798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.80, Y:177.12, Z:53.15 [[ 6.91004418e-01 -6.70945381e-01 2.68970613e-01 4.19800845e+02] [ 6.30705853e-01 7.41420608e-01 2.29141023e-01 1.77122921e+02] [-3.53161466e-01 1.13038807e-02 9.35494095e-01 5.31496140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.81, Y:177.14, Z:53.14 [[ 6.90102287e-01 -6.69567133e-01 2.74661040e-01 4.19813889e+02] [ 6.31003532e-01 7.42527307e-01 2.24694772e-01 1.77143052e+02] [-3.54391557e-01 1.82497108e-02 9.34919019e-01 5.31355993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.83, Y:177.16, Z:53.12 [[ 6.90202286e-01 -6.67848204e-01 2.78567014e-01 4.19827064e+02] [ 6.30127240e-01 7.43970692e-01 2.22367425e-01 1.77164290e+02] [-3.55753379e-01 2.20541585e-02 9.34319617e-01 5.31214658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.86, Y:177.18, Z:53.12 [[ 6.92449888e-01 -6.72390836e-01 2.61541041e-01 4.19857888e+02] [ 6.29185745e-01 7.40196218e-01 2.37138899e-01 1.77177615e+02] [-3.53041712e-01 3.51090225e-04 9.35607517e-01 5.31215757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.86, Y:177.20, Z:53.10 [[ 6.91718404e-01 -6.66522437e-01 2.77981096e-01 4.19864069e+02] [ 6.28913169e-01 7.45176965e-01 2.21764553e-01 1.77202767e+02] [-3.54956160e-01 2.14273490e-02 9.34637359e-01 5.31006700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.88, Y:177.22, Z:53.09 [[ 6.92669458e-01 -6.68196363e-01 2.71519138e-01 4.19884238e+02] [ 6.27750905e-01 7.43893605e-01 2.29240278e-01 1.77219861e+02] [-3.55158871e-01 1.16586456e-02 9.34733252e-01 5.30926227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.90, Y:177.24, Z:53.08 [[ 6.92398714e-01 -6.68891846e-01 2.70495322e-01 4.19903960e+02] [ 6.27890935e-01 7.43292014e-01 2.30802852e-01 1.77237850e+02] [-3.55439158e-01 1.00339626e-02 9.34645561e-01 5.30825067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.92, Y:177.26, Z:53.07 [[ 6.91754015e-01 -6.69265385e-01 2.71219885e-01 4.19921437e+02] [ 6.28010441e-01 7.42954207e-01 2.31564102e-01 1.77256028e+02] [-3.56481792e-01 1.01435228e-02 9.34247205e-01 5.30732239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.94, Y:177.27, Z:53.06 [[ 6.91330645e-01 -6.69620820e-01 2.71421991e-01 4.19940422e+02] [ 6.28305647e-01 7.42631890e-01 2.31797086e-01 1.77273797e+02] [-3.56782781e-01 1.02875404e-02 9.34130726e-01 5.30635955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.96, Y:177.29, Z:53.05 [[ 6.91227386e-01 -6.69691785e-01 2.71509879e-01 4.19958619e+02] [ 6.28300211e-01 7.42568889e-01 2.32013554e-01 1.77291220e+02] [-3.56992361e-01 1.02155918e-02 9.34051442e-01 5.30538566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.98, Y:177.31, Z:53.04 [[ 6.91606409e-01 -6.69192249e-01 2.71776212e-01 4.19975790e+02] [ 6.27656266e-01 7.43023095e-01 2.32302157e-01 1.77309320e+02] [-3.57390805e-01 9.92038205e-03 9.33902243e-01 5.30443140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.99, Y:177.33, Z:53.03 [[ 6.92837258e-01 -6.67989824e-01 2.71599208e-01 4.19994295e+02] [ 6.26398102e-01 7.44112969e-01 2.32209618e-01 1.77328276e+02] [-3.57214155e-01 9.24575301e-03 9.33976747e-01 5.30338793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.01, Y:177.35, Z:53.02 [[ 6.93572522e-01 -6.67211604e-01 2.71635478e-01 4.20012611e+02] [ 6.25497226e-01 7.44817016e-01 2.32380793e-01 1.77345668e+02] [-3.57365888e-01 8.73430500e-03 9.33923623e-01 5.30237455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:420.03, Y:177.36, Z:53.01 [[ 6.94374925e-01 -6.66328716e-01 2.71752657e-01 4.20031284e+02] [ 6.24489006e-01 7.45612642e-01 2.32540900e-01 1.77363485e+02] [-3.57570896e-01 8.23597701e-03 9.33849679e-01 5.30135046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.05, Y:177.38, Z:53.00 [[ 6.96612587e-01 -6.64124726e-01 2.71420804e-01 4.20048971e+02] [ 6.22175983e-01 7.47589190e-01 2.32395028e-01 1.77381514e+02] [-3.57250543e-01 6.98220389e-03 9.33982494e-01 5.30040234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.07, Y:177.40, Z:52.99 [[ 6.97447607e-01 -6.63384712e-01 2.71085889e-01 4.20068129e+02] [ 6.21466597e-01 7.48249868e-01 2.32166759e-01 1.77399344e+02] [-3.56855859e-01 6.54667453e-03 9.34136520e-01 5.29934827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.09, Y:177.42, Z:52.98 [[ 6.98767249e-01 -6.62502357e-01 2.69842471e-01 4.20086463e+02] [ 6.20865058e-01 7.49036169e-01 2.31238835e-01 1.77416648e+02] [-3.55318043e-01 5.95363652e-03 9.34726507e-01 5.29826697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.11, Y:177.43, Z:52.97 [[ 6.98980795e-01 -6.62570257e-01 2.69121724e-01 4.20106067e+02] [ 6.21132498e-01 7.48976561e-01 2.30713093e-01 1.77433511e+02] [-3.54429497e-01 5.89622754e-03 9.35064151e-01 5.29723605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.13, Y:177.45, Z:52.96 [[ 6.98733311e-01 -6.63045106e-01 2.68594391e-01 4.20126529e+02] [ 6.21757756e-01 7.48555277e-01 2.30395943e-01 1.77450618e+02] [-3.53820651e-01 6.01532580e-03 9.35293945e-01 5.29623515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.15, Y:177.47, Z:52.95 [[ 6.97217679e-01 -6.64549966e-01 2.68813785e-01 4.20147453e+02] [ 6.23248657e-01 7.47214018e-01 2.30721309e-01 1.77467048e+02] [-3.54187266e-01 6.67485487e-03 9.35150697e-01 5.29527886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.17, Y:177.48, Z:52.94 [[ 6.96419487e-01 -6.65432986e-01 2.68698415e-01 4.20166832e+02] [ 6.24177465e-01 7.46424716e-01 2.30765327e-01 1.77483121e+02] [-3.54121999e-01 7.00602496e-03 9.35172992e-01 5.29425294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.19, Y:177.50, Z:52.93 [[ 6.94885334e-01 -6.67021078e-01 2.68732682e-01 4.20187276e+02] [ 6.25846327e-01 7.44998350e-01 2.30854571e-01 1.77500108e+02] [-3.54190270e-01 7.76790613e-03 9.35141119e-01 5.29325994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.21, Y:177.52, Z:52.92 [[ 6.94626031e-01 -6.67283782e-01 2.68750874e-01 4.20206753e+02] [ 6.26069189e-01 7.44762819e-01 2.31010204e-01 1.77516268e+02] [-3.54305021e-01 7.79094077e-03 9.35097457e-01 5.29229479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.370385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:420.23, Y:177.53, Z:52.91 [[ 6.94813364e-01 -6.67537893e-01 2.67633239e-01 4.20226681e+02] [ 6.26659698e-01 7.44534875e-01 2.30142223e-01 1.77532233e+02] [-3.52890935e-01 7.80907254e-03 9.35631876e-01 5.29115303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.25, Y:177.55, Z:52.90 [[ 6.94387151e-01 -6.67933743e-01 2.67751751e-01 4.20247716e+02] [ 6.26296142e-01 7.44192919e-01 2.32228426e-01 1.77548702e+02] [-3.54372159e-01 6.43545353e-03 9.35082327e-01 5.29038318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.27, Y:177.57, Z:52.89 [[ 6.94828343e-01 -6.66813033e-01 2.69395533e-01 4.20266804e+02] [ 6.25584428e-01 7.45181646e-01 2.30972807e-01 1.77565228e+02] [-3.54764285e-01 8.04319764e-03 9.34921178e-01 5.28926347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.29, Y:177.58, Z:52.88 [[ 6.95076044e-01 -6.66472998e-01 2.69597914e-01 4.20287453e+02] [ 6.24773169e-01 7.45495609e-01 2.32152503e-01 1.77581198e+02] [-3.55707436e-01 7.07389987e-03 9.34570586e-01 5.28821136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.31, Y:177.60, Z:52.87 [[ 6.95900813e-01 -6.64750509e-01 2.71714591e-01 4.20306122e+02] [ 6.24831075e-01 7.46974223e-01 2.27190752e-01 1.77599395e+02] [-3.53988964e-01 1.16734912e-02 9.35176744e-01 5.28701831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.33, Y:177.61, Z:52.86 [[ 6.95815831e-01 -6.67256402e-01 2.65723963e-01 4.20331426e+02] [ 6.24180203e-01 7.44826065e-01 2.35866926e-01 1.77612972e+02] [-3.55301850e-01 1.73969595e-03 9.34750004e-01 5.28634185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.35, Y:177.63, Z:52.85 [[ 6.96963775e-01 -6.64781831e-01 2.68898891e-01 4.20349136e+02] [ 6.23067302e-01 7.47013892e-01 2.31856383e-01 1.77629653e+02] [-3.55005118e-01 5.94660621e-03 9.34845444e-01 5.28519863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.580385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.37, Y:177.65, Z:52.84 [[ 6.98215072e-01 -6.62279132e-01 2.71812555e-01 4.20367392e+02] [ 6.22150098e-01 7.49184671e-01 2.27269849e-01 1.77647043e+02] [-3.54153878e-01 1.04249741e-02 9.35129056e-01 5.28396199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.610385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:420.39, Y:177.66, Z:52.83 [[ 6.98193794e-01 -6.64595317e-01 2.66155015e-01 4.20392376e+02] [ 6.21152474e-01 7.47203432e-01 2.36340085e-01 1.77660595e+02] [-3.55942454e-01 3.11665581e-04 9.34507824e-01 5.28328544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.640385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:420.41, Y:177.68, Z:52.82 [[ 6.98387841e-01 -6.63306538e-01 2.68847281e-01 4.20410404e+02] [ 6.21412200e-01 7.48331076e-01 2.32050595e-01 1.77678350e+02] [-3.55107452e-01 5.00366637e-03 9.34812099e-01 5.28203351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.43, Y:177.69, Z:52.81 [[ 6.98169255e-01 -6.63301249e-01 2.69427437e-01 4.20431430e+02] [ 6.21168176e-01 7.48336413e-01 2.32685862e-01 1.77694709e+02] [-3.55963184e-01 4.90563427e-03 9.34487103e-01 5.28104031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.45, Y:177.71, Z:52.80 [[ 6.97957955e-01 -6.63653040e-01 2.69108407e-01 4.20452401e+02] [ 6.21596130e-01 7.48024035e-01 2.32547403e-01 1.77711039e+02] [-3.55630347e-01 4.96843415e-03 9.34613488e-01 5.28002869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.47, Y:177.73, Z:52.79 [[ 6.97338919e-01 -6.64459239e-01 2.68723559e-01 4.20474149e+02] [ 6.22531725e-01 7.47305996e-01 2.32353180e-01 1.77726275e+02] [-3.55207944e-01 5.26002537e-03 9.34772512e-01 5.27902275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.49, Y:177.74, Z:52.78 [[ 6.97222645e-01 -6.64609469e-01 2.68653751e-01 4.20494280e+02] [ 6.22661637e-01 7.47172659e-01 2.32433869e-01 1.77743717e+02] [-3.55208488e-01 5.22222711e-03 9.34772517e-01 5.27799539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.51, Y:177.76, Z:52.77 [[ 6.96582082e-01 -6.65353940e-01 2.68472601e-01 4.20514617e+02] [ 6.23485022e-01 7.46507584e-01 2.32363627e-01 1.77760389e+02] [-3.55020888e-01 5.52830625e-03 9.34842023e-01 5.27697351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.53, Y:177.78, Z:52.76 [[ 6.96396501e-01 -6.65688449e-01 2.68124601e-01 4.20534547e+02] [ 6.23901449e-01 7.46208946e-01 2.32205064e-01 1.77776646e+02] [-3.54653204e-01 5.57653277e-03 9.34981287e-01 5.27599285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.55, Y:177.79, Z:52.75 [[ 6.94309516e-01 -6.68070698e-01 2.67611356e-01 4.20554179e+02] [ 6.26596581e-01 7.44067373e-01 2.31819907e-01 1.77794034e+02] [-3.53992966e-01 6.72959352e-03 9.35223873e-01 5.27493932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:420.57, Y:177.81, Z:52.74 [[ 6.95098032e-01 -6.67234134e-01 2.67651519e-01 4.20574389e+02] [ 6.25631927e-01 7.44822340e-01 2.32000806e-01 1.77808841e+02] [-3.54151687e-01 6.18803201e-03 9.35167520e-01 5.27402115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:420.59, Y:177.82, Z:52.73 [[ 6.93711287e-01 -6.69858532e-01 2.64677536e-01 4.20594677e+02] [ 6.27875273e-01 7.42476678e-01 2.33454546e-01 1.77824280e+02] [-3.52898417e-01 4.23442660e-03 9.35652060e-01 5.27318357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:420.62, Y:177.84, Z:52.72 [[ 6.93502121e-01 -6.69586267e-01 2.65911714e-01 4.20615243e+02] [ 6.27704600e-01 7.42715933e-01 2.33152263e-01 1.77841069e+02] [-3.53612420e-01 5.22241727e-03 9.35377455e-01 5.27226219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.65, Y:177.85, Z:52.72 [[ 6.95900570e-01 -6.72869652e-01 2.50935904e-01 4.20647805e+02] [ 6.27411659e-01 7.39664493e-01 2.43415382e-01 1.77853751e+02] [-3.49395201e-01 -1.19527915e-02 9.36899207e-01 5.27237306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.65, Y:177.88, Z:52.69 [[ 6.94570215e-01 -6.61826793e-01 2.82059415e-01 4.20647280e+02] [ 6.26507193e-01 7.49158149e-01 2.15060004e-01 1.77880974e+02] [-3.53639582e-01 2.73379790e-02 9.34982182e-01 5.26928166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.030385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:420.68, Y:177.89, Z:52.69 [[ 6.94894156e-01 -6.68014673e-01 2.66230180e-01 4.20677053e+02] [ 6.26777014e-01 7.44121955e-01 2.31155989e-01 1.77890553e+02] [-3.52523315e-01 6.23801160e-03 9.35782240e-01 5.26889772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:420.70, Y:177.91, Z:52.68 [[ 6.95281708e-01 -6.67634930e-01 2.66170897e-01 4.20698389e+02] [ 6.26339126e-01 7.44465139e-01 2.31237879e-01 1.77906826e+02] [-3.52537439e-01 5.93777982e-03 9.35778872e-01 5.26797988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.72, Y:177.92, Z:52.67 [[ 6.95228732e-01 -6.67703772e-01 2.66136586e-01 4.20718848e+02] [ 6.26372458e-01 7.44403986e-01 2.31344440e-01 1.77923445e+02] [-3.52582690e-01 5.86332588e-03 9.35762293e-01 5.26702381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.74, Y:177.94, Z:52.66 [[ 6.94905827e-01 -6.67909651e-01 2.66463112e-01 4.20738957e+02] [ 6.26436848e-01 7.44219232e-01 2.31764127e-01 1.77940100e+02] [-3.53104469e-01 5.86806941e-03 9.35565497e-01 5.26600769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.76, Y:177.96, Z:52.65 [[ 6.94420578e-01 -6.68225822e-01 2.66935033e-01 4.20759896e+02] [ 6.26570788e-01 7.43934869e-01 2.32314354e-01 1.77955226e+02] [-3.53820728e-01 5.92982572e-03 9.35294461e-01 5.26508761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.78, Y:177.97, Z:52.64 [[ 6.94200181e-01 -6.68488420e-01 2.66850784e-01 4.20780227e+02] [ 6.26857323e-01 7.43698224e-01 2.32299049e-01 1.77971414e+02] [-3.53745678e-01 6.01532615e-03 9.35322303e-01 5.26408818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.81, Y:177.99, Z:52.64 [[ 6.94848012e-01 -6.70680135e-01 2.59565784e-01 4.20806413e+02] [ 6.28053232e-01 7.41746545e-01 2.35289612e-01 1.77985751e+02] [-3.50336092e-01 -4.69389618e-04 9.36623939e-01 5.26361637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.83, Y:178.00, Z:52.63 [[ 6.95866920e-01 -6.70731796e-01 2.56686751e-01 4.20829937e+02] [ 6.28326414e-01 7.41697152e-01 2.34715258e-01 1.78002371e+02] [-3.47814819e-01 -2.04751828e-03 9.37561017e-01 5.26291687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.84, Y:178.02, Z:52.60 [[ 6.92691392e-01 -6.65105474e-01 2.78950434e-01 4.20835886e+02] [ 6.28934266e-01 7.46343738e-01 2.17744608e-01 1.78023869e+02] [-3.53016040e-01 2.46116709e-02 9.35293505e-01 5.26038792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:420.86, Y:178.03, Z:52.60 [[ 6.91968157e-01 -6.71089461e-01 2.66118405e-01 4.20864316e+02] [ 6.29760285e-01 7.41342662e-01 2.31976380e-01 1.78033730e+02] [-3.52961830e-01 7.07053464e-03 9.35611006e-01 5.26004105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.89, Y:178.05, Z:52.60 [[ 6.92001195e-01 -6.73780750e-01 2.59140593e-01 4.20889954e+02] [ 6.30960989e-01 7.38931321e-01 2.36365678e-01 1.78049023e+02] [-3.50745745e-01 -5.77265658e-05 9.36470725e-01 5.25968494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.92, Y:178.06, Z:52.59 [[ 6.92598119e-01 -6.75784222e-01 2.52237054e-01 4.20917127e+02] [ 6.32109187e-01 7.37073884e-01 2.39081714e-01 1.78064046e+02] [-3.47484995e-01 -6.14618668e-03 9.37665400e-01 5.25942699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.92, Y:178.09, Z:52.57 [[ 6.89997354e-01 -6.69561133e-01 2.74939159e-01 4.20921782e+02] [ 6.33009390e-01 7.42410875e-01 2.19374578e-01 1.78088465e+02] [-3.51002512e-01 2.26711909e-02 9.36100023e-01 5.25693456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.96, Y:178.10, Z:52.57 [[ 6.90286128e-01 -6.75737863e-01 2.58618254e-01 4.20955548e+02] [ 6.33363114e-01 7.37141005e-01 2.35529840e-01 1.78097600e+02] [-3.49794550e-01 1.21628161e-03 9.36825647e-01 5.25693392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.98, Y:178.11, Z:52.56 [[ 6.91680821e-01 -6.75253150e-01 2.56146103e-01 4.20979370e+02] [ 6.33234961e-01 7.37586051e-01 2.34478786e-01 1.78114328e+02] [-3.47262331e-01 1.61882515e-05 9.37768027e-01 5.25625675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.97, Y:178.14, Z:52.53 [[ 6.87566441e-01 -6.64118659e-01 2.93596315e-01 4.20969029e+02] [ 6.33410748e-01 7.46257123e-01 2.04673231e-01 1.78141100e+02] [-3.55025653e-01 4.52406166e-02 9.33761250e-01 5.25259110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.99, Y:178.15, Z:52.51 [[ 6.84394532e-01 -6.69465981e-01 2.88824211e-01 4.20990220e+02] [ 6.33064841e-01 7.42144532e-01 2.20114517e-01 1.78152095e+02] [-3.61708490e-01 3.21992810e-02 9.31735035e-01 5.25117666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.02, Y:178.16, Z:52.51 [[ 6.83714413e-01 -6.77507200e-01 2.71143129e-01 4.21021114e+02] [ 6.32647447e-01 7.35493764e-01 2.42499755e-01 1.78160171e+02] [-3.63719411e-01 5.73743047e-03 9.31490887e-01 5.25096397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.06, Y:178.17, Z:52.51 [[ 6.87723927e-01 -6.79915171e-01 2.54462493e-01 4.21058772e+02] [ 6.30034634e-01 7.33120299e-01 2.56107373e-01 1.78171030e+02] [-3.60682908e-01 -1.58109842e-02 9.32554477e-01 5.25099977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6003857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:421.07, Y:178.19, Z:52.50 [[ 6.88063780e-01 -6.75583253e-01 2.64868842e-01 4.21072932e+02] [ 6.30707815e-01 7.37283564e-01 2.42116912e-01 1.78192720e+02] [-3.58853574e-01 4.62970905e-04 9.33393753e-01 5.24961273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.11, Y:178.21, Z:52.50 [[ 6.90917058e-01 -6.77027813e-01 2.53509289e-01 4.21105333e+02] [ 6.29645830e-01 7.35851064e-01 2.49137190e-01 1.78205671e+02] [-3.55217887e-01 -1.25120679e-02 9.34699792e-01 5.24957563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.660385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:421.09, Y:178.23, Z:52.46 [[ 6.85264927e-01 -6.66212537e-01 2.94232620e-01 4.21093820e+02] [ 6.31899506e-01 7.44748368e-01 2.14599354e-01 1.78232971e+02] [-3.62098044e-01 3.88680367e-02 9.31329309e-01 5.24569376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:421.16, Y:178.23, Z:52.48 [[ 6.90340524e-01 -6.82160009e-01 2.41013866e-01 4.21157642e+02] [ 6.29875562e-01 7.30579039e-01 2.63649471e-01 1.78230594e+02] [-3.55930805e-01 -3.01991695e-02 9.34024236e-01 5.24827655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.16, Y:178.26, Z:52.46 [[ 6.90276091e-01 -6.72422421e-01 2.67146037e-01 4.21161463e+02] [ 6.30321016e-01 7.40137616e-01 2.34289835e-01 1.78256823e+02] [-3.55266569e-01 6.66309037e-03 9.34741284e-01 5.24581468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.18, Y:178.27, Z:52.45 [[ 6.89890527e-01 -6.72876873e-01 2.66997704e-01 4.21181220e+02] [ 6.30803207e-01 7.39723411e-01 2.34300211e-01 1.78271990e+02] [-3.55159646e-01 6.78151187e-03 9.34781064e-01 5.24484867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.20, Y:178.29, Z:52.44 [[ 6.89090573e-01 -6.73840876e-01 2.66632062e-01 4.21202590e+02] [ 6.31933219e-01 7.38841220e-01 2.34038584e-01 1.78285454e+02] [-3.54703522e-01 7.21987515e-03 9.34950953e-01 5.24392390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.22, Y:178.30, Z:52.43 [[ 6.88357126e-01 -6.74665590e-01 2.66441005e-01 4.21223613e+02] [ 6.32844481e-01 7.38084755e-01 2.33963156e-01 1.78301357e+02] [-3.54502935e-01 7.56551363e-03 9.35024295e-01 5.24291959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.24, Y:178.32, Z:52.41 [[ 6.86322792e-01 -6.73606809e-01 2.74253336e-01 4.21238588e+02] [ 6.34298734e-01 7.38874082e-01 2.27442756e-01 1.78319139e+02] [-3.55845671e-01 1.78593965e-02 9.34374069e-01 5.24116263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:421.25, Y:178.34, Z:52.39 [[ 6.83840638e-01 -6.73555579e-01 2.80508223e-01 4.21250499e+02] [ 6.35291962e-01 7.38737959e-01 2.25100756e-01 1.78337848e+02] [-3.58839942e-01 2.42715747e-02 9.33083483e-01 5.23948976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:421.29, Y:178.35, Z:52.40 [[ 6.86512145e-01 -6.79485393e-01 2.58844887e-01 4.21288209e+02] [ 6.33724467e-01 7.33676545e-01 2.45177540e-01 1.78348488e+02] [-3.56502980e-01 -4.28102061e-03 9.34284378e-01 5.23975387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:421.32, Y:178.36, Z:52.40 [[ 6.90781692e-01 -6.79377005e-01 2.47522808e-01 4.21318839e+02] [ 6.32285939e-01 7.33625480e-01 2.49014350e-01 1.78364668e+02] [-3.50763662e-01 -1.55093628e-02 9.36335577e-01 5.23998867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:421.31, Y:178.39, Z:52.36 [[ 6.87376062e-01 -6.67547548e-01 2.86172013e-01 4.21310827e+02] [ 6.32287788e-01 7.43873252e-01 2.16482649e-01 1.78394884e+02] [-3.57388168e-01 3.21380785e-02 9.33402829e-01 5.23621077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.990385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:421.33, Y:178.41, Z:52.35 [[ 6.85304993e-01 -6.72871224e-01 2.78570245e-01 4.21334987e+02] [ 6.32284367e-01 7.39542309e-01 2.30854179e-01 1.78408018e+02] [-3.61349617e-01 1.79300897e-02 9.32257994e-01 5.23535843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.36, Y:178.42, Z:52.35 [[ 6.85207439e-01 -6.77945085e-01 2.66235286e-01 4.21362339e+02] [ 6.32110394e-01 7.35112450e-01 2.45043132e-01 1.78421008e+02] [-3.61838660e-01 3.84715131e-04 9.32240654e-01 5.23503505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.40, Y:178.43, Z:52.36 [[ 6.90293482e-01 -6.82984892e-01 2.38802316e-01 4.21403753e+02] [ 6.31449543e-01 7.29813495e-01 2.61999500e-01 1.78432390e+02] [-3.53222853e-01 -3.00649339e-02 9.35055996e-01 5.23644100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.080385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:421.41, Y:178.46, Z:52.34 [[ 6.90560306e-01 -6.73014382e-01 2.64911505e-01 4.21406477e+02] [ 6.31466844e-01 7.39601223e-01 2.32894085e-01 1.78459842e+02] [-3.52669942e-01 6.45542102e-03 9.35725515e-01 5.23394223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.110385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:421.43, Y:178.48, Z:52.33 [[ 6.89872466e-01 -6.73748529e-01 2.64837499e-01 4.21426218e+02] [ 6.32224619e-01 7.38930162e-01 2.32968341e-01 1.78477791e+02] [-3.52658493e-01 6.71834353e-03 9.35727979e-01 5.23294549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:421.44, Y:178.49, Z:52.32 [[ 6.89598346e-01 -6.73933199e-01 2.65081430e-01 4.21444773e+02] [ 6.32290201e-01 7.38761828e-01 2.33323943e-01 1.78494672e+02] [-3.53076793e-01 6.70858573e-03 9.35570293e-01 5.23200933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.46, Y:178.51, Z:52.31 [[ 6.89616787e-01 -6.73998171e-01 2.64868182e-01 4.21463376e+02] [ 6.32406992e-01 7.38702724e-01 2.33194514e-01 1.78512956e+02] [-3.52831524e-01 6.68963925e-03 9.35662955e-01 5.23097908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.48, Y:178.53, Z:52.30 [[ 6.90017652e-01 -6.73793382e-01 2.64344696e-01 4.21481916e+02] [ 6.32304458e-01 7.38891574e-01 2.32874032e-01 1.78530484e+02] [-3.52231050e-01 6.45913720e-03 9.35890788e-01 5.22997325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.49, Y:178.55, Z:52.28 [[ 6.88321881e-01 -6.70621021e-01 2.76550963e-01 4.21490678e+02] [ 6.32286815e-01 7.41519844e-01 2.24414135e-01 1.78551126e+02] [-3.55564864e-01 2.03903684e-02 9.34429163e-01 5.22769869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.260385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:421.53, Y:178.56, Z:52.28 [[ 6.90778825e-01 -6.77231655e-01 2.53341472e-01 4.21526543e+02] [ 6.31772596e-01 7.35720097e-01 2.44088767e-01 1.78561761e+02] [-3.51693052e-01 -8.55715232e-03 9.36076264e-01 5.22849053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.54, Y:178.58, Z:52.27 [[ 6.91861288e-01 -6.72257211e-01 2.63435383e-01 4.21539306e+02] [ 6.30047555e-01 7.40308192e-01 2.34486372e-01 1.78582646e+02] [-3.52658527e-01 3.74477516e-03 9.35744591e-01 5.22703481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.55, Y:178.60, Z:52.25 [[ 6.90368467e-01 -6.69402589e-01 2.74393063e-01 4.21552743e+02] [ 6.29977298e-01 7.42723068e-01 2.26916390e-01 1.78604508e+02] [-3.55696476e-01 1.62054803e-02 9.34461021e-01 5.22505931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3503857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:421.58, Y:178.62, Z:52.25 [[ 6.91724614e-01 -6.72355757e-01 2.63542774e-01 4.21582187e+02] [ 6.28689753e-01 7.40227719e-01 2.38352929e-01 1.78617632e+02] [-3.55339630e-01 8.12054008e-04 9.34736908e-01 5.22476729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:421.61, Y:178.64, Z:52.24 [[ 6.94076497e-01 -6.71940868e-01 2.58366574e-01 4.21607898e+02] [ 6.27705812e-01 7.40592507e-01 2.39808577e-01 1.78635063e+02] [-3.52481532e-01 -4.26729681e-03 9.35809040e-01 5.22411569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.62, Y:178.66, Z:52.23 [[ 6.92745273e-01 -6.68623202e-01 2.70272085e-01 4.21615183e+02] [ 6.28805423e-01 7.43500217e-01 2.27620666e-01 1.78657267e+02] [-3.53139812e-01 1.22654122e-02 9.35490156e-01 5.22268770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.440385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:421.64, Y:178.67, Z:52.22 [[ 6.92278020e-01 -6.71233926e-01 2.64945579e-01 4.21638142e+02] [ 6.29190514e-01 7.41230075e-01 2.33874482e-01 1.78671041e+02] [-3.53370119e-01 4.79508200e-03 9.35471307e-01 5.22208018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.66, Y:178.69, Z:52.21 [[ 6.91490294e-01 -6.71980080e-01 2.65111195e-01 4.21658519e+02] [ 6.29913422e-01 7.40551425e-01 2.34078339e-01 1.78688320e+02] [-3.53624454e-01 5.13420101e-03 9.35373394e-01 5.22112835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.69, Y:178.70, Z:52.21 [[ 6.92662755e-01 -6.75228433e-01 2.53544614e-01 4.21688976e+02] [ 6.30189602e-01 7.37562312e-01 2.42616779e-01 1.78702034e+02] [-3.50826699e-01 -8.27042691e-03 9.36403881e-01 5.22090527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.70, Y:178.72, Z:52.19 [[ 6.91404287e-01 -6.73082993e-01 2.62525039e-01 4.21703109e+02] [ 6.31965651e-01 7.39545015e-01 2.31716609e-01 1.78723490e+02] [-3.50113593e-01 5.69695034e-03 9.36689926e-01 5.21941335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.72, Y:178.74, Z:52.18 [[ 6.89728558e-01 -6.74101629e-01 2.64313282e-01 4.21720597e+02] [ 6.34315227e-01 7.38569087e-01 2.28385413e-01 1.78741769e+02] [-3.49168598e-01 1.01339981e-02 9.37005119e-01 5.21826183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.73, Y:178.76, Z:52.17 [[ 6.87685530e-01 -6.73290089e-01 2.71604618e-01 4.21733628e+02] [ 6.35497131e-01 7.39131736e-01 2.23221134e-01 1.78761017e+02] [-3.51044170e-01 1.90980120e-02 9.36164119e-01 5.21665437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.76, Y:178.77, Z:52.16 [[ 6.87850274e-01 -6.77345880e-01 2.60891854e-01 4.21760570e+02] [ 6.36172854e-01 7.35640585e-01 2.32630673e-01 1.78774449e+02] [-3.49494065e-01 5.95724320e-03 9.36919639e-01 5.21626893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.78, Y:178.79, Z:52.15 [[ 6.87594993e-01 -6.76540820e-01 2.63639232e-01 4.21778729e+02] [ 6.36414759e-01 7.36339703e-01 2.29739193e-01 1.78793233e+02] [-3.49555976e-01 9.81637942e-03 9.36864055e-01 5.21508331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.80, Y:178.81, Z:52.14 [[ 6.86476848e-01 -6.76371574e-01 2.66966348e-01 4.21795901e+02] [ 6.37353102e-01 7.36419517e-01 2.26864097e-01 1.78811860e+02] [-3.50043655e-01 1.44148801e-02 9.36622470e-01 5.21371867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.81, Y:178.83, Z:52.13 [[ 6.84908377e-01 -6.77251377e-01 2.68758419e-01 4.21811439e+02] [ 6.38128406e-01 7.35582987e-01 2.27397904e-01 1.78829374e+02] [-3.51699664e-01 1.57556526e-02 9.35980291e-01 5.21265769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:421.84, Y:178.84, Z:52.12 [[ 6.86196136e-01 -6.79431942e-01 2.59821283e-01 4.21839084e+02] [ 6.37228839e-01 7.33728746e-01 2.35757361e-01 1.78844359e+02] [-3.50819425e-01 3.78982439e-03 9.36435459e-01 5.21207727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.85, Y:178.86, Z:52.11 [[ 6.85642232e-01 -6.76986526e-01 2.67551815e-01 4.21849875e+02] [ 6.37184411e-01 7.35873417e-01 2.29098977e-01 1.78864483e+02] [-3.51981188e-01 1.33999118e-02 9.35911153e-01 5.21073141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.88, Y:178.88, Z:52.10 [[ 6.87426471e-01 -6.79352074e-01 2.56759822e-01 4.21878768e+02] [ 6.36103797e-01 7.33812204e-01 2.38519620e-01 1.78878881e+02] [-3.50452289e-01 -6.38802702e-04 9.36580368e-01 5.21030333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.89, Y:178.90, Z:52.09 [[ 6.89371557e-01 -6.74658054e-01 2.63824500e-01 4.21894518e+02] [ 6.33754610e-01 7.38090944e-01 2.31466742e-01 1.78899769e+02] [-3.50887376e-01 7.63340481e-03 9.36386555e-01 5.20890434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.90, Y:178.92, Z:52.08 [[ 6.90686300e-01 -6.69824359e-01 2.72557815e-01 4.21904983e+02] [ 6.31138553e-01 7.42332956e-01 2.24957571e-01 1.78919101e+02] [-3.53010710e-01 1.66466326e-02 9.35471180e-01 5.20757098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:178.93, Z:52.07 [[ 6.90759357e-01 -6.74096652e-01 2.61620363e-01 4.21932573e+02] [ 6.30550783e-01 7.38643081e-01 2.38352907e-01 1.78933079e+02] [-3.53916968e-01 3.20423712e-04 9.35276792e-01 5.20713901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.920385723 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:421.95, Y:178.95, Z:52.05 [[ 6.91199722e-01 -6.69634114e-01 2.71722464e-01 4.21947604e+02] [ 6.29461993e-01 7.42579353e-01 2.28808881e-01 1.78954694e+02] [-3.54993724e-01 1.28863290e-02 9.34779867e-01 5.20521248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.97, Y:178.97, Z:52.05 [[ 6.91787487e-01 -6.73725511e-01 2.59853820e-01 4.21972261e+02] [ 6.29306919e-01 7.38975940e-01 2.40597927e-01 1.78967592e+02] [-3.54122683e-01 -2.91482866e-03 9.35194434e-01 5.20512975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.99, Y:178.99, Z:52.04 [[ 6.92443204e-01 -6.71113615e-01 2.64818664e-01 4.21989508e+02] [ 6.28364810e-01 7.41347678e-01 2.35714416e-01 1.78986933e+02] [-3.54513856e-01 3.18388415e-03 9.35045341e-01 5.20389319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.01, Y:179.00, Z:52.03 [[ 6.92281901e-01 -6.71381273e-01 2.64561819e-01 4.22010046e+02] [ 6.28684943e-01 7.41105184e-01 2.35623321e-01 1.79004124e+02] [-3.54261221e-01 3.20827105e-03 9.35141003e-01 5.20293271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.03, Y:179.02, Z:52.02 [[ 6.91389798e-01 -6.72227131e-01 2.64746730e-01 4.22029510e+02] [ 6.29475861e-01 7.40336544e-01 2.35927833e-01 1.79021499e+02] [-3.54598769e-01 3.53357911e-03 9.35011886e-01 5.20189196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.05, Y:179.04, Z:52.01 [[ 6.90106055e-01 -6.73487963e-01 2.64891670e-01 4.22048854e+02] [ 6.30724937e-01 7.39186967e-01 2.36196278e-01 1.79039342e+02] [-3.54879820e-01 4.07329971e-03 9.34903055e-01 5.20088660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.07, Y:179.06, Z:52.00 [[ 6.87743104e-01 -6.76012737e-01 2.64605749e-01 4.22066636e+02] [ 6.33470159e-01 7.36871209e-01 2.36085535e-01 1.79057062e+02] [-3.54577187e-01 5.25364766e-03 9.35011988e-01 5.19985494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.09, Y:179.08, Z:51.99 [[ 6.86071143e-01 -6.77720582e-01 2.64577400e-01 4.22085903e+02] [ 6.35286734e-01 7.35294338e-01 2.36120737e-01 1.79075252e+02] [-3.54566148e-01 6.08688854e-03 9.35011121e-01 5.19880915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.10, Y:179.09, Z:51.98 [[ 6.82768062e-01 -6.81171795e-01 2.64258888e-01 4.22104986e+02] [ 6.39038431e-01 7.32082549e-01 2.35976749e-01 1.79093214e+02] [-3.54200025e-01 7.75419789e-03 9.35137538e-01 5.19783614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.12, Y:179.11, Z:51.97 [[ 6.81188959e-01 -6.82842579e-01 2.64021995e-01 4.22124220e+02] [ 6.40854612e-01 7.30516057e-01 2.35906036e-01 1.79111090e+02] [-3.53958993e-01 8.50312588e-03 9.35222288e-01 5.19683755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.15, Y:179.13, Z:51.96 [[ 6.81076641e-01 -6.85023956e-01 2.58605470e-01 4.22149883e+02] [ 6.41701399e-01 7.28515709e-01 2.39758578e-01 1.79128003e+02] [-3.52638517e-01 2.65352438e-03 9.35755863e-01 5.19612003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:422.16, Y:179.15, Z:51.94 [[ 6.78768669e-01 -6.82596898e-01 2.70803564e-01 4.22156229e+02] [ 6.43050305e-01 7.30567580e-01 2.29689608e-01 1.79151486e+02] [-3.54625718e-01 1.82342047e-02 9.34830527e-01 5.19448782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.18, Y:179.17, Z:51.94 [[ 6.78193149e-01 -6.85455444e-01 2.64962048e-01 4.22178712e+02] [ 6.43214072e-01 7.28050940e-01 2.37102271e-01 1.79167596e+02] [-3.55428911e-01 9.62618191e-03 9.34653747e-01 5.19379949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.310385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:422.20, Y:179.19, Z:51.93 [[ 6.78733313e-01 -6.84661375e-01 2.65631119e-01 4.22195950e+02] [ 6.42087482e-01 7.28804144e-01 2.37840671e-01 1.79187166e+02] [-3.56433381e-01 9.12802946e-03 9.34276150e-01 5.19281059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.21, Y:179.21, Z:51.92 [[ 6.79525415e-01 -6.83943444e-01 2.65455414e-01 4.22213918e+02] [ 6.41321638e-01 7.29483923e-01 2.37822967e-01 1.79205143e+02] [-3.56302915e-01 8.63555048e-03 9.34330595e-01 5.19187796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.370385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:422.23, Y:179.22, Z:51.91 [[ 6.80067302e-01 -6.83436226e-01 2.65374055e-01 4.22231926e+02] [ 6.40781630e-01 7.29962803e-01 2.37809188e-01 1.79223158e+02] [-3.56240603e-01 8.32056656e-03 9.34357213e-01 5.19067544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:422.26, Y:179.24, Z:51.90 [[ 6.83013420e-01 -6.82491362e-01 2.60188794e-01 4.22256530e+02] [ 6.38433366e-01 7.30892431e-01 2.41244880e-01 1.79242541e+02] [-3.54817567e-01 1.33971698e-03 9.34934596e-01 5.19009087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.26, Y:179.27, Z:51.88 [[ 6.81561016e-01 -6.77866540e-01 2.75629345e-01 4.22263611e+02] [ 6.38226212e-01 7.34921960e-01 2.29253169e-01 1.79265822e+02] [-3.57969111e-01 1.96638499e-02 9.33526351e-01 5.18804947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.29, Y:179.28, Z:51.88 [[ 6.82251434e-01 -6.80240493e-01 2.67966141e-01 4.22287960e+02] [ 6.36609120e-01 7.32955718e-01 2.39801467e-01 1.79281737e+02] [-3.59529984e-01 6.98479427e-03 9.33107391e-01 5.18753201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:422.31, Y:179.30, Z:51.87 [[ 6.83432235e-01 -6.80883989e-01 2.63281927e-01 4.22308810e+02] [ 6.36099437e-01 7.32389763e-01 2.42863627e-01 1.79298793e+02] [-3.58186943e-01 1.49265383e-03 9.33648695e-01 5.18706100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.32, Y:179.32, Z:51.85 [[ 6.82973701e-01 -6.77785871e-01 2.72310920e-01 4.22320465e+02] [ 6.35959535e-01 7.35147208e-01 2.34763822e-01 1.79320945e+02] [-3.59308214e-01 1.28412093e-02 9.33130597e-01 5.18530697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.550385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:422.35, Y:179.34, Z:51.85 [[ 6.84246611e-01 -6.81080469e-01 2.60645296e-01 4.22346252e+02] [ 6.35401032e-01 7.32205304e-01 2.45236459e-01 1.79335116e+02] [-3.57871631e-01 -2.18792614e-03 9.33768231e-01 5.18504119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.36, Y:179.36, Z:51.83 [[ 6.83279378e-01 -6.77183293e-01 2.73042268e-01 4.22355242e+02] [ 6.34725069e-01 7.35719069e-01 2.36308143e-01 1.79359610e+02] [-3.60906330e-01 1.18422908e-02 9.32526880e-01 5.18321816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.37, Y:179.38, Z:51.82 [[ 6.81921488e-01 -6.77323703e-01 2.76071884e-01 4.22370080e+02] [ 6.34693526e-01 7.35557958e-01 2.36893688e-01 1.79378698e+02] [-3.63520581e-01 1.36781411e-02 9.31485746e-01 5.18184971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.40, Y:179.39, Z:51.82 [[ 6.84948642e-01 -6.82631921e-01 2.54674339e-01 4.22404689e+02] [ 6.33647482e-01 7.30650785e-01 2.54244565e-01 1.79390385e+02] [-3.59633462e-01 -1.27707160e-02 9.33006261e-01 5.18241362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.41, Y:179.42, Z:51.80 [[ 6.82119963e-01 -6.78763177e-01 2.72016370e-01 4.22410076e+02] [ 6.35593125e-01 7.34285588e-01 2.38424108e-01 1.79417782e+02] [-3.61571205e-01 1.02578913e-02 9.32288067e-01 5.18038424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.43, Y:179.43, Z:51.80 [[ 6.82120899e-01 -6.81901819e-01 2.64047321e-01 4.22433617e+02] [ 6.36335715e-01 7.31443229e-01 2.45087049e-01 1.79433812e+02] [-3.60260930e-01 8.43742814e-04 9.32851194e-01 5.17996486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.45, Y:179.46, Z:51.79 [[ 6.79497355e-01 -6.83258720e-01 2.67284243e-01 4.22448258e+02] [ 6.39514357e-01 7.30138842e-01 2.40662957e-01 1.79455251e+02] [-3.59589671e-01 7.40226726e-03 9.33081173e-01 5.17879587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:422.47, Y:179.47, Z:51.78 [[ 6.78927214e-01 -6.86969844e-01 2.59095101e-01 4.22471555e+02] [ 6.41560796e-01 7.26685732e-01 2.45616761e-01 1.79471597e+02] [-3.57012021e-01 -5.30643998e-04 9.34099639e-01 5.17819485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.48, Y:179.50, Z:51.77 [[ 6.77351084e-01 -6.86455876e-01 2.64525688e-01 4.22484692e+02] [ 6.44049046e-01 7.27111359e-01 2.37718106e-01 1.79495351e+02] [-3.55522623e-01 9.34890086e-03 9.34620919e-01 5.17700145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.50, Y:179.52, Z:51.75 [[ 6.74975000e-01 -6.85244663e-01 2.73584542e-01 4.22495080e+02] [ 6.45316131e-01 7.28028173e-01 2.31391596e-01 1.79517079e+02] [-3.57737110e-01 2.03649755e-02 9.33600251e-01 5.17526269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.52, Y:179.53, Z:51.75 [[ 6.75048327e-01 -6.88892095e-01 2.64078469e-01 4.22517286e+02] [ 6.45255224e-01 7.24825701e-01 2.41398839e-01 1.79531108e+02] [-3.57708613e-01 7.44212947e-03 9.33803600e-01 5.17472233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.880385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:422.53, Y:179.55, Z:51.74 [[ 6.73746629e-01 -6.89954726e-01 2.64627958e-01 4.22533391e+02] [ 6.47707352e-01 7.23767988e-01 2.37981273e-01 1.79552488e+02] [-3.55725548e-01 1.10623938e-02 9.34524991e-01 5.17353047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.910385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:422.55, Y:179.57, Z:51.72 [[ 6.73089902e-01 -6.90976559e-01 2.63631142e-01 4.22551131e+02] [ 6.48830038e-01 7.22794439e-01 2.37881863e-01 1.79571230e+02] [-3.54921914e-01 1.09359243e-02 9.34831985e-01 5.17240435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.57, Y:179.59, Z:51.72 [[ 6.72648665e-01 -6.91441269e-01 2.63538889e-01 4.22566399e+02] [ 6.49273240e-01 7.22348912e-01 2.38025858e-01 1.79591362e+02] [-3.54947931e-01 1.10009730e-02 9.34821344e-01 5.17160175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.59, Y:179.61, Z:51.70 [[ 6.71111070e-01 -6.93533697e-01 2.61955995e-01 4.22586140e+02] [ 6.51136762e-01 7.20352204e-01 2.38984559e-01 1.79611359e+02] [-3.54444423e-01 1.01839948e-02 9.35021624e-01 5.17047217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.60, Y:179.63, Z:51.70 [[ 6.70514623e-01 -6.93773773e-01 2.62846140e-01 4.22601084e+02] [ 6.51932051e-01 7.20092242e-01 2.37595798e-01 1.79632539e+02] [-3.54111199e-01 1.20463665e-02 9.35125737e-01 5.16958122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.62, Y:179.65, Z:51.69 [[ 6.69803142e-01 -6.94199219e-01 2.63535947e-01 4.22618627e+02] [ 6.52139530e-01 7.19678460e-01 2.38279139e-01 1.79651912e+02] [-3.55074337e-01 1.22620922e-02 9.34757646e-01 5.16852847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.64, Y:179.67, Z:51.68 [[ 6.69761255e-01 -6.94309107e-01 2.63352854e-01 4.22636100e+02] [ 6.52265172e-01 7.19573440e-01 2.38252408e-01 1.79671309e+02] [-3.54922536e-01 1.22036628e-02 9.34816059e-01 5.16756688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.65, Y:179.69, Z:51.67 [[ 6.69991562e-01 -6.93557439e-01 2.64743999e-01 4.22651062e+02] [ 6.50942866e-01 7.20305218e-01 2.39653457e-01 1.79692375e+02] [-3.56909922e-01 1.17674233e-02 9.34064685e-01 5.16664032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.67, Y:179.71, Z:51.66 [[ 6.70234908e-01 -6.93159401e-01 2.65170158e-01 4.22668684e+02] [ 6.50349838e-01 7.20692101e-01 2.40099947e-01 1.79711891e+02] [-3.57533574e-01 1.15300034e-02 9.33829108e-01 5.16559112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.68, Y:179.73, Z:51.65 [[ 6.71645338e-01 -6.91569813e-01 2.65751265e-01 4.22684394e+02] [ 6.48392111e-01 7.22231830e-01 2.40767220e-01 1.79733898e+02] [-3.58441364e-01 1.06008428e-02 9.33492052e-01 5.16457479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.180385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:422.70, Y:179.75, Z:51.63 [[ 6.72859802e-01 -6.90915621e-01 2.64377175e-01 4.22701279e+02] [ 6.48093855e-01 7.22865148e-01 2.39667130e-01 1.79752560e+02] [-3.56698810e-01 1.00788452e-02 9.34165069e-01 5.16342476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.72, Y:179.77, Z:51.62 [[ 6.74534293e-01 -6.89265329e-01 2.64417841e-01 4.22717501e+02] [ 6.46269713e-01 7.24451484e-01 2.39803056e-01 1.79772569e+02] [-3.56845830e-01 9.12985766e-03 9.34118675e-01 5.16248007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.240385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:422.74, Y:179.79, Z:51.61 [[ 6.75418871e-01 -6.88916530e-01 2.63065323e-01 4.22735119e+02] [ 6.45928528e-01 7.24796131e-01 2.39680842e-01 1.79790317e+02] [-3.55788822e-01 8.03643286e-03 9.34531824e-01 5.16145512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.75, Y:179.81, Z:51.60 [[ 6.75435167e-01 -6.88408797e-01 2.64349511e-01 4.22753447e+02] [ 6.45491056e-01 7.25268126e-01 2.39431497e-01 1.79810489e+02] [-3.56551024e-01 8.91479178e-03 9.34233319e-01 5.16041834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.77, Y:179.83, Z:51.59 [[ 6.76653406e-01 -6.86566301e-01 2.66020457e-01 4.22767893e+02] [ 6.44985126e-01 7.26965698e-01 2.35616346e-01 1.79831391e+02] [-3.55153990e-01 1.21486349e-02 9.34728867e-01 5.15922232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.79, Y:179.85, Z:51.58 [[ 6.76215463e-01 -6.89275696e-01 2.60060880e-01 4.22790862e+02] [ 6.44972695e-01 7.24491586e-01 2.43150497e-01 1.79848181e+02] [-3.56009648e-01 3.31004104e-03 9.34476417e-01 5.15839624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.81, Y:179.87, Z:51.57 [[ 6.77243118e-01 -6.87353234e-01 2.62463884e-01 4.22806762e+02] [ 6.44712526e-01 7.26282236e-01 2.38453083e-01 1.79868401e+02] [-3.54524354e-01 7.72304434e-03 9.35014886e-01 5.15721195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.390385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:422.82, Y:179.89, Z:51.56 [[ 6.77400198e-01 -6.87753621e-01 2.61005612e-01 4.22824562e+02] [ 6.45577417e-01 7.25902545e-01 2.37266292e-01 1.79886700e+02] [-3.52645389e-01 7.77509564e-03 9.35724734e-01 5.15608076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.420385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:422.84, Y:179.90, Z:51.55 [[ 6.77245167e-01 -6.88242539e-01 2.60117649e-01 4.22843153e+02] [ 6.46344978e-01 7.25437753e-01 2.36597203e-01 1.79904593e+02] [-3.51535422e-01 7.89142323e-03 9.36141321e-01 5.15502307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.86, Y:179.92, Z:51.54 [[ 6.76546428e-01 -6.88474726e-01 2.61318738e-01 4.22862282e+02] [ 6.46140791e-01 7.25216801e-01 2.37829078e-01 1.79922690e+02] [-3.53252048e-01 7.94628256e-03 9.35494440e-01 5.15409948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.88, Y:179.94, Z:51.53 [[ 6.75288364e-01 -6.89494265e-01 2.61884105e-01 4.22881486e+02] [ 6.46992377e-01 7.24242513e-01 2.38481962e-01 1.79941006e+02] [-3.54099548e-01 8.39292569e-03 9.35170075e-01 5.15308976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.90, Y:179.96, Z:51.52 [[ 6.74692226e-01 -6.90019540e-01 2.62037086e-01 4.22901023e+02] [ 6.47450992e-01 7.23740061e-01 2.38762513e-01 1.79958672e+02] [-3.54397536e-01 8.56495975e-03 9.35055628e-01 5.15209217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.92, Y:179.97, Z:51.51 [[ 6.73460399e-01 -6.90932703e-01 2.62798575e-01 4.22920315e+02] [ 6.48120286e-01 7.22863511e-01 2.39600584e-01 1.79974888e+02] [-3.55515380e-01 8.96358293e-03 9.34627449e-01 5.15118599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.94, Y:179.99, Z:51.50 [[ 6.73283587e-01 -6.91116517e-01 2.62768285e-01 4.22939971e+02] [ 6.48304639e-01 7.22687164e-01 2.39633799e-01 1.79992869e+02] [-3.55514143e-01 9.01239432e-03 9.34627450e-01 5.15015763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.96, Y:180.01, Z:51.49 [[ 6.72573525e-01 -6.91669399e-01 2.63131706e-01 4.22959690e+02] [ 6.48725558e-01 7.22155443e-01 2.40097201e-01 1.80010451e+02] [-3.56089881e-01 9.21724228e-03 9.34406250e-01 5.14918334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.98, Y:180.03, Z:51.48 [[ 6.71982933e-01 -6.92132695e-01 2.63422229e-01 4.22978123e+02] [ 6.49069844e-01 7.21709548e-01 2.40507102e-01 1.80027029e+02] [-3.56577167e-01 9.36275747e-03 9.34218959e-01 5.14820703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.00, Y:180.04, Z:51.47 [[ 6.71969066e-01 -6.92219966e-01 2.63228214e-01 4.22997425e+02] [ 6.49205683e-01 7.21625960e-01 2.40391255e-01 1.80044344e+02] [-3.56355939e-01 9.35376480e-03 9.34303458e-01 5.14722549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.690385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:423.01, Y:180.06, Z:51.46 [[ 6.71067267e-01 -6.92154772e-01 2.65688717e-01 4.23014191e+02] [ 6.50054527e-01 7.21632843e-01 2.38065436e-01 1.80062376e+02] [-3.56507832e-01 1.29542318e-02 9.34202523e-01 5.14584445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.04, Y:180.08, Z:51.45 [[ 6.72905761e-01 -6.92572038e-01 2.59888070e-01 4.23037034e+02] [ 6.48649946e-01 7.21329858e-01 2.42768376e-01 1.80078112e+02] [-3.55599614e-01 5.21614390e-03 9.34623832e-01 5.14533877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.05, Y:180.10, Z:51.44 [[ 6.71953316e-01 -6.91299057e-01 2.65677162e-01 4.23052158e+02] [ 6.48944794e-01 7.22467315e-01 2.38561593e-01 1.80098536e+02] [-3.56860470e-01 1.21075579e-02 9.34079232e-01 5.14389463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.07, Y:180.11, Z:51.43 [[ 6.74751662e-01 -6.90980235e-01 2.59338601e-01 4.23074933e+02] [ 6.46927890e-01 7.22862906e-01 2.42803467e-01 1.80113911e+02] [-3.55238652e-01 3.94133130e-03 9.34767333e-01 5.14331081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.09, Y:180.13, Z:51.42 [[ 6.75559839e-01 -6.89257999e-01 2.61805872e-01 4.23091925e+02] [ 6.46308868e-01 7.24478870e-01 2.39614720e-01 1.80132580e+02] [-3.54829185e-01 7.33337503e-03 9.34902386e-01 5.14219736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.11, Y:180.15, Z:51.41 [[ 6.77267528e-01 -6.87860142e-01 2.61069189e-01 4.23111305e+02] [ 6.45037107e-01 7.25813861e-01 2.39000776e-01 1.80149590e+02] [-3.53886743e-01 6.53184948e-03 9.35265475e-01 5.14120159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.12, Y:180.17, Z:51.39 [[ 6.77394711e-01 -6.83976858e-01 2.70762006e-01 4.23122178e+02] [ 6.44789301e-01 7.29244408e-01 2.29018233e-01 1.80169995e+02] [-3.54094850e-01 1.94487047e-02 9.35007265e-01 5.13946477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.16, Y:180.18, Z:51.40 [[ 6.79295394e-01 -6.90009250e-01 2.49889980e-01 4.23157622e+02] [ 6.43321074e-01 7.23746667e-01 2.49657280e-01 1.80179593e+02] [-3.53122873e-01 -8.83154999e-03 9.35535269e-01 5.13953325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.17, Y:180.20, Z:51.38 [[ 6.79388897e-01 -6.86070720e-01 2.60264659e-01 4.23170629e+02] [ 6.43274196e-01 7.27515304e-01 2.38578693e-01 1.80200759e+02] [-3.53028378e-01 5.33382424e-03 9.35597411e-01 5.13812890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.19, Y:180.22, Z:51.37 [[ 6.78626587e-01 -6.86782217e-01 2.60376924e-01 4.23191160e+02] [ 6.43975416e-01 7.26841214e-01 2.38741518e-01 1.80216679e+02] [-3.53216109e-01 5.65999649e-03 9.35524636e-01 5.13715498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.21, Y:180.23, Z:51.36 [[ 6.77774473e-01 -6.87610990e-01 2.60409083e-01 4.23211686e+02] [ 6.44799094e-01 7.26054631e-01 2.38911703e-01 1.80233385e+02] [-3.53349533e-01 5.98328719e-03 9.35472238e-01 5.13613651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.23, Y:180.25, Z:51.35 [[ 6.76748080e-01 -6.88622134e-01 2.60406593e-01 4.23231484e+02] [ 6.45827406e-01 7.25092163e-01 2.39057142e-01 1.80249320e+02] [-3.53438819e-01 6.39625205e-03 9.35435775e-01 5.13518623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.25, Y:180.27, Z:51.34 [[ 6.75441215e-01 -6.89862023e-01 2.60517858e-01 4.23252915e+02] [ 6.47094910e-01 7.23907031e-01 2.39221210e-01 1.80265825e+02] [-3.53620337e-01 6.99991539e-03 9.35362848e-01 5.13423666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.27, Y:180.28, Z:51.33 [[ 6.75552364e-01 -6.89770171e-01 2.60472869e-01 4.23272038e+02] [ 6.46958121e-01 7.23996075e-01 2.39321696e-01 1.80281753e+02] [-3.53658301e-01 6.84070045e-03 9.35349673e-01 5.13329373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.29, Y:180.30, Z:51.32 [[ 6.75747700e-01 -6.89591484e-01 2.60439304e-01 4.23292030e+02] [ 6.46742151e-01 7.24167839e-01 2.39385736e-01 1.80298808e+02] [-3.53680133e-01 6.67271468e-03 9.35342632e-01 5.13228746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.31, Y:180.32, Z:51.31 [[ 6.76263363e-01 -6.89063572e-01 2.60498097e-01 4.23311351e+02] [ 6.46102226e-01 7.24673627e-01 2.39583069e-01 1.80315277e+02] [-3.53864067e-01 6.28714851e-03 9.35275732e-01 5.13131870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.33, Y:180.33, Z:51.30 [[ 6.76950309e-01 -6.88494989e-01 2.60217083e-01 4.23332822e+02] [ 6.45566156e-01 7.25216806e-01 2.39384467e-01 1.80331424e+02] [-3.53528808e-01 5.93595350e-03 9.35404804e-01 5.13032414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.35, Y:180.35, Z:51.29 [[ 6.76578884e-01 -6.88871019e-01 2.60187881e-01 4.23352523e+02] [ 6.45925180e-01 7.24858926e-01 2.39499894e-01 1.80348347e+02] [-3.53584044e-01 6.02133309e-03 9.35383380e-01 5.12921857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.37, Y:180.36, Z:51.28 [[ 6.77450553e-01 -6.88693154e-01 2.58384378e-01 4.23372445e+02] [ 6.46291270e-01 7.25030000e-01 2.37989695e-01 1.80364124e+02] [-3.51238299e-01 5.76531778e-03 9.36268347e-01 5.12829866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.39, Y:180.38, Z:51.27 [[ 6.77177560e-01 -6.88583193e-01 2.59391092e-01 4.23391360e+02] [ 6.46881348e-01 7.25114335e-01 2.36122262e-01 1.80381538e+02] [-3.50678020e-01 7.89856176e-03 9.36462780e-01 5.12721283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.41, Y:180.40, Z:51.26 [[ 6.75375799e-01 -6.91344292e-01 2.56730599e-01 4.23413947e+02] [ 6.48561608e-01 7.22509728e-01 2.39473451e-01 1.80395080e+02] [-3.51048959e-01 4.77103686e-03 9.36344950e-01 5.12645021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.43, Y:180.41, Z:51.25 [[ 6.74230785e-01 -6.92008395e-01 2.57948115e-01 4.23433445e+02] [ 6.49889375e-01 7.21852820e-01 2.37849337e-01 1.80411808e+02] [-3.50794312e-01 7.27239419e-03 9.36424296e-01 5.12544103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.45, Y:180.43, Z:51.24 [[ 6.73661247e-01 -6.91775606e-01 2.60051985e-01 4.23452424e+02] [ 6.51039214e-01 7.22020098e-01 2.34168572e-01 1.80429469e+02] [-3.49754866e-01 1.15537476e-02 9.36770006e-01 5.12432929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.380385723 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:423.47, Y:180.45, Z:51.23 [[ 6.71309050e-01 -6.93455041e-01 2.61656772e-01 4.23472908e+02] [ 6.53676805e-01 7.20337429e-01 2.31992722e-01 1.80446261e+02] [-3.49357689e-01 1.53001484e-02 9.36864510e-01 5.12325052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.50, Y:180.45, Z:51.23 [[ 6.70726892e-01 -7.00739500e-01 2.43083505e-01 4.23503970e+02] [ 6.53579642e-01 7.13335654e-01 2.52954339e-01 1.80453902e+02] [-3.50655228e-01 -1.07888480e-02 9.36442477e-01 5.12322575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.440385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:423.52, Y:180.47, Z:51.22 [[ 6.70704194e-01 -6.97717426e-01 2.51686865e-01 4.23519473e+02] [ 6.55105023e-01 7.16362865e-01 2.40128413e-01 1.80474125e+02] [-3.47840902e-01 3.82619632e-03 9.37545768e-01 5.12178314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4703857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.52, Y:180.50, Z:51.19 [[ 6.68208824e-01 -6.90322251e-01 2.77402518e-01 4.23522300e+02] [ 6.54264663e-01 7.22760635e-01 2.22609111e-01 1.80497658e+02] [-3.54167643e-01 3.27452928e-02 9.34608488e-01 5.11929589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.55, Y:180.50, Z:51.19 [[ 6.67616498e-01 -6.97501149e-01 2.60346613e-01 4.23554632e+02] [ 6.54405646e-01 7.16525720e-01 2.41545324e-01 1.80504456e+02] [-3.55023185e-01 9.11265020e-03 9.34813082e-01 5.11912718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.58, Y:180.52, Z:51.18 [[ 6.67562063e-01 -6.97502901e-01 2.60481468e-01 4.23575487e+02] [ 6.54338630e-01 7.16524516e-01 2.41730377e-01 1.80520537e+02] [-3.55248997e-01 9.07305760e-03 9.34727677e-01 5.11818413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.62, Y:180.53, Z:51.19 [[ 6.72904043e-01 -7.03382287e-01 2.29027308e-01 4.23619703e+02] [ 6.53817412e-01 7.10349350e-01 2.60627308e-01 1.80529937e+02] [-3.46010031e-01 -2.56351273e-02 9.37880535e-01 5.11939821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.60, Y:180.56, Z:51.15 [[ 6.70054496e-01 -6.84882383e-01 2.86291974e-01 4.23600989e+02] [ 6.52383258e-01 7.27323516e-01 2.13064751e-01 1.80564857e+02] [-3.54151180e-01 4.40070965e-02 9.34152192e-01 5.11497413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.66, Y:180.56, Z:51.17 [[ 6.73513444e-01 -7.01335002e-01 2.33471318e-01 4.23657433e+02] [ 6.52932266e-01 7.12535498e-01 2.56851361e-01 1.80563788e+02] [-3.46495452e-01 -2.05518876e-02 9.37826488e-01 5.11698844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.66, Y:180.59, Z:51.15 [[ 6.73539139e-01 -6.92111480e-01 2.59473946e-01 4.23662921e+02] [ 6.52378599e-01 7.21667301e-01 2.31513434e-01 1.80589607e+02] [-3.47486967e-01 1.33418905e-02 9.37589890e-01 5.11473603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.69, Y:180.60, Z:51.14 [[ 6.73439882e-01 -6.93572180e-01 2.55805310e-01 4.23687612e+02] [ 6.52561113e-01 7.20335910e-01 2.35117356e-01 1.80603673e+02] [-3.47336608e-01 8.59119359e-03 9.37701164e-01 5.11385734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.70, Y:180.62, Z:51.13 [[ 6.71792099e-01 -6.93529127e-01 2.60216688e-01 4.23704638e+02] [ 6.53133000e-01 7.20310843e-01 2.33601316e-01 1.80621075e+02] [-3.49446219e-01 1.30245878e-02 9.36865893e-01 5.11251058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.71, Y:180.64, Z:51.10 [[ 6.68321218e-01 -6.90866866e-01 2.75771141e-01 4.23714614e+02] [ 6.53637920e-01 7.22382240e-01 2.25657637e-01 1.80639483e+02] [-3.55111559e-01 2.94426881e-02 9.34360160e-01 5.11021252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.76, Y:180.65, Z:51.11 [[ 6.69354487e-01 -7.01037034e-01 2.45991153e-01 4.23755220e+02] [ 6.54784830e-01 7.13094268e-01 2.50506273e-01 1.80647338e+02] [-3.51029055e-01 -6.60622262e-03 9.36341263e-01 5.11093375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.76, Y:180.67, Z:51.09 [[ 6.67461005e-01 -6.94938138e-01 2.67501013e-01 4.23760824e+02] [ 6.55228477e-01 7.18787394e-01 2.32422729e-01 1.80670236e+02] [-3.53795775e-01 2.01411730e-02 9.35105814e-01 5.10864781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.79, Y:180.68, Z:51.08 [[ 6.67301719e-01 -6.98697026e-01 2.57935809e-01 4.23788694e+02] [ 6.56013164e-01 7.15365491e-01 2.40621994e-01 1.80680439e+02] [-3.52640248e-01 8.64181573e-03 9.35719068e-01 5.10807600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.82, Y:180.69, Z:51.07 [[ 6.68657313e-01 -6.99370359e-01 2.52544054e-01 4.23816036e+02] [ 6.55853296e-01 7.14752150e-01 2.42869962e-01 1.80693948e+02] [-3.50362458e-01 3.23507408e-03 9.36608607e-01 5.10739180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.83, Y:180.71, Z:51.06 [[ 6.69263676e-01 -6.96996711e-01 2.57452360e-01 4.23833980e+02] [ 6.55280838e-01 7.17009846e-01 2.37705500e-01 1.80713065e+02] [-3.50275828e-01 9.61594141e-03 9.36597234e-01 5.10608498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.920385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:423.85, Y:180.73, Z:51.04 [[ 6.69642925e-01 -6.94782048e-01 2.62404764e-01 4.23851504e+02] [ 6.54211426e-01 7.19070092e-01 2.34404807e-01 1.80728371e+02] [-3.51547669e-01 1.47006745e-02 9.36054553e-01 5.10438971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.87, Y:180.74, Z:51.04 [[ 6.69896567e-01 -6.95535283e-01 2.59748456e-01 4.23873337e+02] [ 6.53181759e-01 7.18430051e-01 2.39189992e-01 1.80742686e+02] [-3.52976176e-01 9.43039893e-03 9.35584784e-01 5.10366485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.90, Y:180.76, Z:51.03 [[ 6.70782324e-01 -6.95266304e-01 2.58177925e-01 4.23895738e+02] [ 6.52223666e-01 7.18720245e-01 2.40926337e-01 1.80758083e+02] [-3.53065665e-01 6.78062375e-03 9.35573973e-01 5.10260142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.92, Y:180.77, Z:51.02 [[ 6.73169239e-01 -6.92845046e-01 2.58474211e-01 4.23918709e+02] [ 6.49410443e-01 7.21067191e-01 2.41512285e-01 1.80771244e+02] [-3.53707863e-01 5.27721111e-03 9.35341060e-01 5.10177757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.93, Y:180.79, Z:51.00 [[ 6.72892481e-01 -6.89496286e-01 2.67974964e-01 4.23932599e+02] [ 6.48720595e-01 7.24106335e-01 2.34161495e-01 1.80789962e+02] [-3.55495850e-01 1.62753689e-02 9.34536149e-01 5.09989675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.96, Y:180.80, Z:50.99 [[ 6.74369217e-01 -6.90781896e-01 2.60857302e-01 4.23958090e+02] [ 6.46845639e-01 7.23044402e-01 2.42481982e-01 1.80801139e+02] [-3.56113575e-01 5.21202334e-03 9.34428144e-01 5.09913839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.98, Y:180.81, Z:50.98 [[ 6.75427998e-01 -6.90841681e-01 2.57943386e-01 4.23984107e+02] [ 6.45601869e-01 7.23005926e-01 2.45887491e-01 1.80814427e+02] [-3.56363924e-01 4.49436203e-04 9.34347126e-01 5.09829159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.01, Y:180.83, Z:50.98 [[ 6.76225742e-01 -6.91153164e-01 2.55002060e-01 4.24008708e+02] [ 6.45339798e-01 7.22702979e-01 2.47461007e-01 1.80829891e+02] [-3.55324206e-01 -2.77652546e-03 9.34739001e-01 5.09752809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.03, Y:180.85, Z:50.96 [[ 6.75498044e-01 -6.89988692e-01 2.60034608e-01 4.24026809e+02] [ 6.45678745e-01 7.23811448e-01 2.43302172e-01 1.80847143e+02] [-3.56091774e-01 3.54867758e-03 9.34444250e-01 5.09626325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:424.06, Y:180.86, Z:50.96 [[ 6.75786613e-01 -6.92003366e-01 2.53857825e-01 4.24055414e+02] [ 6.46061706e-01 7.21885484e-01 2.47962942e-01 1.80858148e+02] [-3.54847469e-01 -3.56221773e-03 9.34917421e-01 5.09585204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:180.88, Z:50.95 [[ 6.75401770e-01 -6.90569777e-01 2.58738928e-01 4.24073156e+02] [ 6.46501261e-01 7.23258190e-01 2.42762663e-01 1.80875158e+02] [-3.54779607e-01 3.31271136e-03 9.34944093e-01 5.09476317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.09, Y:180.89, Z:50.93 [[ 6.73121685e-01 -6.90709744e-01 2.64248458e-01 4.24090357e+02] [ 6.47140047e-01 7.23083391e-01 2.41578495e-01 1.80891369e+02] [-3.57934292e-01 8.39403561e-03 9.33709046e-01 5.09325082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:180.91, Z:50.93 [[ 6.74886601e-01 -6.92172266e-01 2.55784343e-01 4.24116383e+02] [ 6.46203262e-01 7.21729226e-01 2.48048924e-01 1.80907400e+02] [-3.56299622e-01 -2.11621828e-03 9.34369360e-01 5.09296647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:180.93, Z:50.91 [[ 6.73808513e-01 -6.87098418e-01 2.71804804e-01 4.24123806e+02] [ 6.45644460e-01 7.26372126e-01 2.35641180e-01 1.80930017e+02] [-3.59340115e-01 1.67122326e-02 9.33057010e-01 5.09058701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:180.94, Z:50.91 [[ 6.76198685e-01 -6.93425714e-01 2.48829497e-01 4.24158562e+02] [ 6.45004380e-01 7.20430951e-01 2.54850143e-01 1.80941434e+02] [-3.55984113e-01 -1.18332158e-02 9.34417084e-01 5.09125273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:424.16, Y:180.97, Z:50.88 [[ 6.73745821e-01 -6.87092968e-01 2.71973936e-01 4.24159021e+02] [ 6.46035145e-01 7.26355561e-01 2.34619243e-01 1.80966348e+02] [-3.58755013e-01 1.76309868e-02 9.33265230e-01 5.08836551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:180.98, Z:50.89 [[ 6.75631884e-01 -6.94849418e-01 2.46385559e-01 4.24196658e+02] [ 6.46420147e-01 7.19034908e-01 2.55205398e-01 1.80977159e+02] [-3.54489140e-01 -1.31563144e-02 9.34967572e-01 5.08921561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.21, Y:181.00, Z:50.88 [[ 6.73623940e-01 -6.92515369e-01 2.58172910e-01 4.24208752e+02] [ 6.48596099e-01 7.21392343e-01 2.42726572e-01 1.80999198e+02] [-3.54335842e-01 3.94351272e-03 9.35109919e-01 5.08755530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:181.02, Z:50.87 [[ 6.73446684e-01 -6.92714329e-01 2.58101573e-01 4.24228127e+02] [ 6.48780110e-01 7.21201332e-01 2.42802406e-01 1.81017448e+02] [-3.54335904e-01 3.93669147e-03 9.35109924e-01 5.08651236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.25, Y:181.03, Z:50.85 [[ 6.72258138e-01 -6.93888306e-01 2.58046534e-01 4.24245626e+02] [ 6.50005551e-01 7.20068899e-01 2.42885908e-01 1.81034601e+02] [-3.54346975e-01 4.44965098e-03 9.35103429e-01 5.08548332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:424.26, Y:181.05, Z:50.84 [[ 6.71279437e-01 -6.94852416e-01 2.58000073e-01 4.24263539e+02] [ 6.51031789e-01 7.19135595e-01 2.42902462e-01 1.81052779e+02] [-3.54318399e-01 4.91082121e-03 9.35111949e-01 5.08443703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.28, Y:181.07, Z:50.83 [[ 6.69660678e-01 -6.96494439e-01 2.57779119e-01 4.24281430e+02] [ 6.52832872e-01 7.17539545e-01 2.42788474e-01 1.81070981e+02] [-3.54067533e-01 5.70078868e-03 9.35202482e-01 5.08337171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.30, Y:181.09, Z:50.82 [[ 6.69026083e-01 -6.97095906e-01 2.57801083e-01 4.24300442e+02] [ 6.53417173e-01 7.16953508e-01 2.42947867e-01 1.81088952e+02] [-3.54189354e-01 5.91319471e-03 9.35155033e-01 5.08238355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.32, Y:181.11, Z:50.81 [[ 6.68096468e-01 -6.97788897e-01 2.58336534e-01 4.24319905e+02] [ 6.53919625e-01 7.16276730e-01 2.43591401e-01 1.81106514e+02] [-3.55015823e-01 6.18877496e-03 9.34839807e-01 5.08146504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:181.13, Z:50.80 [[ 6.67876470e-01 -6.96876225e-01 2.61351389e-01 4.24337306e+02] [ 6.54760574e-01 7.17097821e-01 2.38870899e-01 1.81126851e+02] [-3.53877962e-01 1.15863323e-02 9.35219838e-01 5.08021595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:181.14, Z:50.79 [[ 6.67118893e-01 -6.99610790e-01 2.55924063e-01 4.24359017e+02] [ 6.54200104e-01 7.14521309e-01 2.47954679e-01 1.81143445e+02] [-3.56334966e-01 2.01029709e-03 9.34356116e-01 5.07931640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.700385723 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:424.37, Y:181.17, Z:50.78 [[ 6.68861178e-01 -6.94060357e-01 2.66279825e-01 4.24369843e+02] [ 6.53862169e-01 7.19692904e-01 2.33466032e-01 1.81165975e+02] [-3.53679218e-01 1.79539387e-02 9.35194454e-01 5.07786053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.40, Y:181.18, Z:50.78 [[ 6.68500596e-01 -7.02070709e-01 2.45364368e-01 4.24403834e+02] [ 6.52575712e-01 7.11984786e-01 2.59273226e-01 1.81177176e+02] [-3.56723835e-01 -1.32054789e-02 9.34116546e-01 5.07801391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:181.20, Z:50.76 [[ 6.68235930e-01 -6.93806671e-01 2.68501480e-01 4.24407239e+02] [ 6.51556018e-01 7.19998809e-01 2.38906824e-01 1.81201302e+02] [-3.59075894e-01 1.52976315e-02 9.33182986e-01 5.07578280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.43, Y:181.22, Z:50.75 [[ 6.66443205e-01 -6.97859735e-01 2.62383774e-01 4.24430887e+02] [ 6.52126284e-01 7.16213540e-01 2.48534655e-01 1.81217089e+02] [-3.61365140e-01 5.47312399e-03 9.32408323e-01 5.07534649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.45, Y:181.24, Z:50.74 [[ 6.65503564e-01 -6.98709328e-01 2.62507679e-01 4.24449788e+02] [ 6.52938479e-01 7.15381949e-01 2.48797126e-01 1.81235166e+02] [-3.61630128e-01 5.82599008e-03 9.32303442e-01 5.07434192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8503857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:424.47, Y:181.25, Z:50.74 [[ 6.64870375e-01 -7.02213063e-01 2.54645239e-01 4.24474514e+02] [ 6.54217299e-01 7.11960277e-01 2.55171100e-01 1.81251062e+02] [-3.60481775e-01 -3.06238478e-03 9.32761230e-01 5.07383349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.49, Y:181.27, Z:50.72 [[ 6.63008746e-01 -6.99433588e-01 2.66855877e-01 4.24486301e+02] [ 6.55400685e-01 7.14584064e-01 2.44580371e-01 1.81272652e+02] [-3.61758683e-01 1.27385995e-02 9.32184737e-01 5.07201291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.50, Y:181.29, Z:50.71 [[ 6.62067238e-01 -7.00321602e-01 2.66864436e-01 4.24504365e+02] [ 6.55958332e-01 7.13719024e-01 2.45609082e-01 1.81289475e+02] [-3.62471571e-01 1.24422245e-02 9.31911773e-01 5.07099815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.53, Y:181.31, Z:50.70 [[ 6.61651352e-01 -7.01995240e-01 2.63477080e-01 4.24525472e+02] [ 6.55908821e-01 7.12144957e-01 2.50266216e-01 1.81305595e+02] [-3.63319566e-01 7.22796077e-03 9.31636544e-01 5.07024539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.54, Y:181.32, Z:50.69 [[ 6.61638089e-01 -7.01948713e-01 2.63634301e-01 4.24543665e+02] [ 6.55775860e-01 7.12191539e-01 2.50482001e-01 1.81323882e+02] [-3.63583637e-01 7.15657782e-03 9.31534070e-01 5.06919304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.56, Y:181.34, Z:50.68 [[ 6.61896232e-01 -7.01795443e-01 2.63394256e-01 4.24562331e+02] [ 6.55639598e-01 7.12344611e-01 2.50403420e-01 1.81341981e+02] [-3.63359458e-01 6.95062371e-03 9.31623096e-01 5.06815626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:181.36, Z:50.66 [[ 6.60169945e-01 -7.00960232e-01 2.69871075e-01 4.24576148e+02] [ 6.56145319e-01 7.13062839e-01 2.47011553e-01 1.81362082e+02] [-3.65580310e-01 1.40050388e-02 9.30674431e-01 5.06649460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.060385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:424.60, Y:181.38, Z:50.66 [[ 6.62903655e-01 -7.03083829e-01 2.57355540e-01 4.24603400e+02] [ 6.54927850e-01 7.11106307e-01 2.55729020e-01 1.81375561e+02] [-3.62806086e-01 -9.74391775e-04 9.31864150e-01 5.06624778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.62, Y:181.39, Z:50.65 [[ 6.63446687e-01 -7.00897081e-01 2.61881226e-01 4.24618941e+02] [ 6.54200631e-01 7.13248813e-01 2.51590275e-01 1.81394515e+02] [-3.63125362e-01 4.40612877e-03 9.31729874e-01 5.06521765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.63, Y:181.42, Z:50.63 [[ 6.60446835e-01 -7.00703769e-01 2.69859607e-01 4.24632219e+02] [ 6.56149807e-01 7.13306908e-01 2.46293901e-01 1.81415574e+02] [-3.65071787e-01 1.44043017e-02 9.30867932e-01 5.06345249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.65, Y:181.43, Z:50.63 [[ 6.59576710e-01 -7.03882569e-01 2.63643494e-01 4.24654485e+02] [ 6.56913897e-01 7.10287635e-01 2.52894459e-01 1.81431176e+02] [-3.65270716e-01 6.38777960e-03 9.30879423e-01 5.06276842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.68, Y:181.45, Z:50.62 [[ 6.59760994e-01 -7.06388908e-01 2.56378902e-01 4.24678697e+02] [ 6.58232228e-01 7.07823828e-01 2.56350857e-01 1.81447660e+02] [-3.62554498e-01 -3.73439989e-04 9.31962497e-01 5.06240561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.69, Y:181.47, Z:50.61 [[ 6.59137369e-01 -7.04835951e-01 2.62191174e-01 4.24693774e+02] [ 6.59161236e-01 7.09322756e-01 2.49735246e-01 1.81468150e+02] [-3.62000546e-01 8.21642560e-03 9.32141671e-01 5.06097883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.71, Y:181.49, Z:50.59 [[ 6.56229308e-01 -7.04960194e-01 2.69061740e-01 4.24707026e+02] [ 6.60821697e-01 7.09058990e-01 2.46069164e-01 1.81487731e+02] [-3.64249611e-01 1.63240380e-02 9.31158282e-01 5.05925246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.73, Y:181.50, Z:50.58 [[ 6.56329144e-01 -7.05593883e-01 2.67150383e-01 4.24725161e+02] [ 6.61814030e-01 7.08438495e-01 2.45187866e-01 1.81504723e+02] [-3.62262674e-01 1.58799289e-02 9.31940762e-01 5.05833062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.76, Y:181.52, Z:50.59 [[ 6.56890489e-01 -7.11249401e-01 2.50238235e-01 4.24758969e+02] [ 6.60302993e-01 7.02888365e-01 2.64476661e-01 1.81517075e+02] [-3.63998411e-01 -8.49914760e-03 9.31360790e-01 5.05864277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.330385723 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:424.77, Y:181.54, Z:50.57 [[ 6.57302441e-01 -7.05761772e-01 2.64298738e-01 4.24769082e+02] [ 6.60066601e-01 7.08377085e-01 2.50027974e-01 1.81540967e+02] [-3.63683356e-01 1.01107723e-02 9.31467761e-01 5.05682072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:424.79, Y:181.56, Z:50.56 [[ 6.56879385e-01 -7.06914365e-01 2.62262376e-01 4.24788220e+02] [ 6.60325592e-01 7.07261240e-01 2.52490891e-01 1.81557966e+02] [-3.63977452e-01 7.32249760e-03 9.31378975e-01 5.05578062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.81, Y:181.58, Z:50.55 [[ 6.57959172e-01 -7.05609122e-01 2.63069371e-01 4.24806239e+02] [ 6.59333089e-01 7.08556056e-01 2.51452168e-01 1.81577614e+02] [-3.63826340e-01 8.00508056e-03 9.31432399e-01 5.05482616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.420385723 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:424.82, Y:181.60, Z:50.54 [[ 6.58287360e-01 -7.05236850e-01 2.63246535e-01 4.24824516e+02] [ 6.58807667e-01 7.08930089e-01 2.51774874e-01 1.81595449e+02] [-3.64184309e-01 7.68861814e-03 9.31295160e-01 5.05385347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.84, Y:181.62, Z:50.53 [[ 6.58438310e-01 -7.04899270e-01 2.63772651e-01 4.24843656e+02] [ 6.58552571e-01 7.09261120e-01 2.51509789e-01 1.81615030e+02] [-3.64372753e-01 8.10447726e-03 9.31217920e-01 5.05276097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.87, Y:181.63, Z:50.52 [[ 6.58590629e-01 -7.06091866e-01 2.60178130e-01 4.24866054e+02] [ 6.58822188e-01 7.08108353e-01 2.54039140e-01 1.81633073e+02] [-3.63609278e-01 4.10332787e-03 9.31542514e-01 5.05200696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:181.65, Z:50.51 [[ 6.56578898e-01 -7.05372110e-01 2.67122326e-01 4.24878237e+02] [ 6.60240237e-01 7.08715496e-01 2.48606467e-01 1.81653875e+02] [-3.64673800e-01 1.31351472e-02 9.31042688e-01 5.05072386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.90, Y:181.67, Z:50.50 [[ 6.55419697e-01 -7.09057934e-01 2.60118948e-01 4.24901611e+02] [ 6.61324800e-01 7.05136693e-01 2.55796312e-01 1.81670505e+02] [-3.64793820e-01 4.36916954e-03 9.31078074e-01 5.05000887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.92, Y:181.69, Z:50.49 [[ 6.53938696e-01 -7.08180105e-01 2.66167469e-01 4.24915290e+02] [ 6.62574316e-01 7.05918610e-01 2.50348142e-01 1.81690522e+02] [-3.65184143e-01 1.26433916e-02 9.30849444e-01 5.04861949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:181.71, Z:50.48 [[ 6.51331372e-01 -7.11047430e-01 2.64913186e-01 4.24934163e+02] [ 6.65425922e-01 7.03026680e-01 2.50921959e-01 1.81708384e+02] [-3.64658451e-01 1.28467569e-02 9.31052724e-01 5.04783249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.95, Y:181.73, Z:50.47 [[ 6.47930712e-01 -7.14900988e-01 2.62873296e-01 4.24952173e+02] [ 6.68898682e-01 6.99119795e-01 2.52598626e-01 1.81725983e+02] [-3.64362933e-01 1.21691935e-02 9.31177515e-01 5.04693122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.660385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:424.97, Y:181.74, Z:50.46 [[ 6.47837584e-01 -7.15952240e-01 2.60228467e-01 4.24970841e+02] [ 6.70944622e-01 6.98036662e-01 2.50156217e-01 1.81743866e+02] [-3.60748914e-01 1.25382914e-02 9.32578690e-01 5.04588541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.99, Y:181.76, Z:50.45 [[ 6.44102369e-01 -7.18757023e-01 2.61764169e-01 4.24989946e+02] [ 6.72242007e-01 6.95158642e-01 2.54647100e-01 1.81764243e+02] [-3.64997016e-01 1.19500698e-02 9.30931992e-01 5.04481749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.00, Y:181.78, Z:50.44 [[ 6.41882309e-01 -7.19468889e-01 2.65238796e-01 4.25003334e+02] [ 6.74624159e-01 6.94290688e-01 2.50684434e-01 1.81784719e+02] [-3.64512477e-01 1.80265968e-02 9.31024004e-01 5.04375672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.03, Y:181.80, Z:50.43 [[ 6.41214797e-01 -7.21691407e-01 2.60777870e-01 4.25025195e+02] [ 6.75362316e-01 6.92096900e-01 2.54730493e-01 1.81802624e+02] [-3.64320363e-01 1.27825846e-02 9.31185953e-01 5.04283796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:425.04, Y:181.82, Z:50.42 [[ 6.40229514e-01 -7.20842082e-01 2.65504921e-01 4.25037300e+02] [ 6.76432892e-01 6.92821590e-01 2.49873544e-01 1.81823793e+02] [-3.64066907e-01 1.96198436e-02 9.31166123e-01 5.04169164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:425.05, Y:181.85, Z:50.40 [[ 6.37645151e-01 -7.20535884e-01 2.72464128e-01 4.25047524e+02] [ 6.76807972e-01 6.92932960e-01 2.48545533e-01 1.81845865e+02] [-3.67885350e-01 2.59220396e-02 9.29509773e-01 5.03995133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.07, Y:181.86, Z:50.39 [[ 6.38037891e-01 -7.23433617e-01 2.63726090e-01 4.25071426e+02] [ 6.76605116e-01 6.90235377e-01 2.56477372e-01 1.81863254e+02] [-3.67577430e-01 1.47961402e-02 9.29875211e-01 5.03933852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.10, Y:181.88, Z:50.39 [[ 6.39544800e-01 -7.25209536e-01 2.55056029e-01 4.25096012e+02] [ 6.76468766e-01 6.88507533e-01 2.61433328e-01 1.81881941e+02] [-3.65201940e-01 5.33911135e-03 9.30913013e-01 5.03890600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.11, Y:181.91, Z:50.38 [[ 6.40602943e-01 -7.21939781e-01 2.61592856e-01 4.25108450e+02] [ 6.75541600e-01 6.91826706e-01 2.54988934e-01 1.81906918e+02] [-3.65063579e-01 1.33701952e-02 9.30886578e-01 5.03752673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.12, Y:181.93, Z:50.36 [[ 6.39563278e-01 -7.19039966e-01 2.71919733e-01 4.25117819e+02] [ 6.75479193e-01 6.94510919e-01 2.47754805e-01 1.81929545e+02] [-3.66996831e-01 2.52212468e-02 9.29880216e-01 5.03581410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.14, Y:181.95, Z:50.35 [[ 6.40948360e-01 -7.20757663e-01 2.63995437e-01 4.25138148e+02] [ 6.73982136e-01 6.93046299e-01 2.55802477e-01 1.81947161e+02] [-3.67332657e-01 1.39720305e-02 9.29984678e-01 5.03528124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.16, Y:181.97, Z:50.35 [[ 6.42995398e-01 -7.21633675e-01 2.56518532e-01 4.25160561e+02] [ 6.73734369e-01 6.92244232e-01 2.58611530e-01 1.81966507e+02] [-3.64196263e-01 6.53932786e-03 9.31299264e-01 5.03482497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.020385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:425.17, Y:181.99, Z:50.33 [[ 6.44003568e-01 -7.16990865e-01 2.66802368e-01 4.25167298e+02] [ 6.72432157e-01 6.96831328e-01 2.49521731e-01 1.81991898e+02] [-3.64821051e-01 1.87136072e-02 9.30889576e-01 5.03307095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.19, Y:182.01, Z:50.33 [[ 6.46149477e-01 -7.19098420e-01 2.55711391e-01 4.25191258e+02] [ 6.71791296e-01 6.94882392e-01 2.56583156e-01 1.82009853e+02] [-3.62197885e-01 5.99361397e-03 9.32081954e-01 5.03267716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.21, Y:182.03, Z:50.32 [[ 6.48254276e-01 -7.18613972e-01 2.51714823e-01 4.25208187e+02] [ 6.71247678e-01 6.95404244e-01 2.56592074e-01 1.82031356e+02] [-3.59434206e-01 2.62608157e-03 9.33166735e-01 5.03194539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.22, Y:182.05, Z:50.31 [[ 6.48847953e-01 -7.15575040e-01 2.58744460e-01 4.25220879e+02] [ 6.71076911e-01 6.98428167e-01 2.48704392e-01 1.82053560e+02] [-3.58681075e-01 1.22660968e-02 9.33379574e-01 5.03063110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:182.08, Z:50.30 [[ 6.48323996e-01 -7.15527456e-01 2.60185425e-01 4.25235544e+02] [ 6.71097003e-01 6.98455068e-01 2.48574596e-01 1.82075301e+02] [-3.59589777e-01 1.34527839e-02 9.33013513e-01 5.02962881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.25, Y:182.09, Z:50.29 [[ 6.47643167e-01 -7.16225372e-01 2.59960660e-01 4.25252609e+02] [ 6.71425012e-01 6.97750729e-01 2.49664521e-01 1.82094897e+02] [-3.60203805e-01 1.28505683e-02 9.32785121e-01 5.02855935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.27, Y:182.12, Z:50.27 [[ 6.47998647e-01 -7.14786183e-01 2.63017997e-01 4.25266837e+02] [ 6.71527437e-01 6.99123303e-01 2.45514784e-01 1.82115164e+02] [-3.59372586e-01 1.75305531e-02 9.33029487e-01 5.02745205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.29, Y:182.13, Z:50.27 [[ 6.48437928e-01 -7.17818897e-01 2.53504014e-01 4.25288431e+02] [ 6.70971001e-01 6.96214223e-01 2.55115017e-01 1.82133730e+02] [-3.59619481e-01 4.66758878e-03 9.33087372e-01 5.02680935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.30, Y:182.16, Z:50.25 [[ 6.48612999e-01 -7.14139081e-01 2.63261374e-01 4.25299542e+02] [ 6.71099604e-01 6.99775511e-01 2.44825560e-01 1.82157513e+02] [-3.59063363e-01 1.78775632e-02 9.33141948e-01 5.02537432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.32, Y:182.18, Z:50.25 [[ 6.48446544e-01 -7.15640131e-01 2.59569418e-01 4.25316509e+02] [ 6.69941724e-01 6.98389021e-01 2.51854843e-01 1.82176657e+02] [-3.61517864e-01 1.05819813e-02 9.32305130e-01 5.02451119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:182.20, Z:50.23 [[ 6.48722999e-01 -7.15330915e-01 2.59730924e-01 4.25333206e+02] [ 6.69509067e-01 6.98709382e-01 2.52116658e-01 1.82196596e+02] [-3.61823273e-01 1.03383342e-02 9.32189379e-01 5.02341966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:182.22, Z:50.22 [[ 6.48780898e-01 -7.15178757e-01 2.60005177e-01 4.25347678e+02] [ 6.69183807e-01 6.98867918e-01 2.52540424e-01 1.82218028e+02] [-3.62320823e-01 1.01478509e-02 9.31998199e-01 5.02244338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.37, Y:182.24, Z:50.21 [[ 6.48653972e-01 -7.15306115e-01 2.59971512e-01 4.25366696e+02] [ 6.69307132e-01 6.98737286e-01 2.52575075e-01 1.82236565e+02] [-3.62320284e-01 1.01669614e-02 9.31998200e-01 5.02139679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.38, Y:182.26, Z:50.20 [[ 6.48666422e-01 -7.13265431e-01 2.65488792e-01 4.25377911e+02] [ 6.70242876e-01 7.00631080e-01 2.44725513e-01 1.82257735e+02] [-3.60563948e-01 1.91967485e-02 9.32536929e-01 5.01990301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.40, Y:182.27, Z:50.20 [[ 6.48267880e-01 -7.18465909e-01 2.52102150e-01 4.25404768e+02] [ 6.70265726e-01 6.95561047e-01 2.58725119e-01 1.82273614e+02] [-3.61237612e-01 1.25224629e-03 9.32472959e-01 5.01959849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.41, Y:182.30, Z:50.18 [[ 6.47617783e-01 -7.16596822e-01 2.58998460e-01 4.25414972e+02] [ 6.70953948e-01 6.97406290e-01 2.51883439e-01 1.82297166e+02] [-3.61126027e-01 1.06518447e-02 9.32456182e-01 5.01831471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.43, Y:182.32, Z:50.17 [[ 6.47228189e-01 -7.16936157e-01 2.59033237e-01 4.25432179e+02] [ 6.71281573e-01 6.97055257e-01 2.51982181e-01 1.82317433e+02] [-3.61215616e-01 1.07942680e-02 9.32419842e-01 5.01726326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.45, Y:182.34, Z:50.16 [[ 6.47356789e-01 -7.16848381e-01 2.58954796e-01 4.25447374e+02] [ 6.71157103e-01 6.97148070e-01 2.52056961e-01 1.82338366e+02] [-3.61216461e-01 1.06285660e-02 9.32421419e-01 5.01630597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.47, Y:182.36, Z:50.15 [[ 6.48090435e-01 -7.16100172e-01 2.59189762e-01 4.25465804e+02] [ 6.71225358e-01 6.97892996e-01 2.49803694e-01 1.82359531e+02] [-3.59771188e-01 1.20793564e-02 9.32962369e-01 5.01511143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5903857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.48, Y:182.38, Z:50.14 [[ 6.47765807e-01 -7.16798599e-01 2.58068263e-01 4.25480046e+02] [ 6.71240370e-01 6.97205672e-01 2.51675616e-01 1.82379531e+02] [-3.60327386e-01 1.01989781e-02 9.32770152e-01 5.01406857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.50, Y:182.40, Z:50.13 [[ 6.48156833e-01 -7.16162718e-01 2.58850692e-01 4.25497551e+02] [ 6.70344090e-01 6.97861366e-01 2.52246535e-01 1.82398993e+02] [-3.61291461e-01 1.00237163e-02 9.32399059e-01 5.01315800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.51, Y:182.42, Z:50.12 [[ 6.49286260e-01 -7.14926704e-01 2.59436236e-01 4.25513488e+02] [ 6.68741354e-01 6.99138220e-01 2.52963933e-01 1.82418773e+02] [-3.62232459e-01 9.24973407e-03 9.32041892e-01 5.01216745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.53, Y:182.44, Z:50.11 [[ 6.50089321e-01 -7.14044774e-01 2.59853682e-01 4.25531075e+02] [ 6.67599139e-01 7.00045978e-01 2.53469954e-01 1.82438758e+02] [-3.62898421e-01 8.69998424e-03 9.31788091e-01 5.01117928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.55, Y:182.46, Z:50.10 [[ 6.52244077e-01 -7.12021552e-01 2.60005720e-01 4.25547529e+02] [ 6.65307687e-01 7.02117898e-01 2.53763944e-01 1.82459312e+02] [-3.63240067e-01 7.46777458e-03 9.31665652e-01 5.01015001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.57, Y:182.48, Z:50.09 [[ 6.53630020e-01 -7.10736297e-01 2.60041753e-01 4.25565511e+02] [ 6.63852437e-01 7.03427195e-01 2.53949057e-01 1.82478261e+02] [-3.63411253e-01 6.64062407e-03 9.31605154e-01 5.00912924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:182.50, Z:50.08 [[ 6.56208752e-01 -7.08506656e-01 2.59631263e-01 4.25582307e+02] [ 6.61547631e-01 7.05684395e-01 2.53701134e-01 1.82497606e+02] [-3.62966673e-01 5.27754203e-03 9.31787176e-01 5.00813220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.60, Y:182.52, Z:50.07 [[ 6.57137682e-01 -7.07698454e-01 2.59485966e-01 4.25600159e+02] [ 6.60692913e-01 7.06498649e-01 2.53662243e-01 1.82516602e+02] [-3.62842861e-01 4.74952072e-03 9.31838237e-01 5.00706639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.62, Y:182.53, Z:50.06 [[ 6.57773686e-01 -7.07131144e-01 2.59421132e-01 4.25617236e+02] [ 6.60047516e-01 7.07069230e-01 2.53752597e-01 1.82534548e+02] [-3.62865065e-01 4.31849287e-03 9.31831688e-01 5.00609074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.860385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.64, Y:182.55, Z:50.05 [[ 6.58444930e-01 -7.06827309e-01 2.58544832e-01 4.25635356e+02] [ 6.60024851e-01 7.07374343e-01 2.52959948e-01 1.82552700e+02] [-3.61686979e-01 4.08581899e-03 9.32290639e-01 5.00495232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.65, Y:182.57, Z:50.04 [[ 6.58455692e-01 -7.06868925e-01 2.58403609e-01 4.25653791e+02] [ 6.60061991e-01 7.07333317e-01 2.52977760e-01 1.82570627e+02] [-3.61599599e-01 3.98775498e-03 9.32324958e-01 5.00408714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.67, Y:182.59, Z:50.03 [[ 6.57390877e-01 -7.08237131e-01 2.57366278e-01 4.25672725e+02] [ 6.61894151e-01 7.05959183e-01 2.52027309e-01 1.82588397e+02] [-3.60185186e-01 4.66878071e-03 9.32869141e-01 5.00302283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.69, Y:182.61, Z:50.02 [[ 6.56217789e-01 -7.09561471e-01 2.56711381e-01 4.25692008e+02] [ 6.63502971e-01 7.04623848e-01 2.51533379e-01 1.82606286e+02] [-3.59363356e-01 5.26808616e-03 9.33182847e-01 5.00198801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.980385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.72, Y:182.62, Z:50.01 [[ 6.54517558e-01 -7.13663476e-01 2.49582071e-01 4.25716952e+02] [ 6.66949262e-01 7.00488677e-01 2.53957273e-01 1.82622373e+02] [-3.56069444e-01 2.39083731e-04 9.34459466e-01 5.00110620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.73, Y:182.64, Z:50.00 [[ 6.52694774e-01 -7.11427134e-01 2.60501373e-01 4.25727560e+02] [ 6.68248996e-01 7.02610395e-01 2.44503400e-01 1.82643080e+02] [-3.56977325e-01 1.44936895e-02 9.34000601e-01 4.99966904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.75, Y:182.66, Z:49.99 [[ 6.50999879e-01 -7.13763543e-01 2.58342334e-01 4.25747916e+02] [ 6.70302194e-01 7.00261059e-01 2.45620477e-01 1.82658791e+02] [-3.56222018e-01 1.32685322e-02 9.34307134e-01 4.99880198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.77, Y:182.67, Z:49.98 [[ 6.48997346e-01 -7.18225590e-01 2.50907246e-01 4.25773408e+02] [ 6.71306916e-01 6.95805020e-01 2.55347604e-01 1.82673893e+02] [-3.57979705e-01 2.71585211e-03 9.33725417e-01 4.99808114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.79, Y:182.69, Z:49.97 [[ 6.48155526e-01 -7.17315243e-01 2.55642830e-01 4.25790711e+02] [ 6.72008457e-01 6.96689701e-01 2.51053967e-01 1.82693009e+02] [-3.58188564e-01 9.07212801e-03 9.33605189e-01 4.99691284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:182.71, Z:49.97 [[ 6.49537295e-01 -7.21383971e-01 2.40221709e-01 4.25823947e+02] [ 6.72289535e-01 6.92483228e-01 2.61713125e-01 1.82706155e+02] [-3.55145158e-01 -8.49389409e-03 9.34772577e-01 4.99687346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:182.73, Z:49.94 [[ 6.47791496e-01 -7.12105054e-01 2.70689065e-01 4.25822763e+02] [ 6.72191264e-01 7.01491552e-01 2.36787897e-01 1.82732522e+02] [-3.58503951e-01 2.85656385e-02 9.33091058e-01 4.99435155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.85, Y:182.74, Z:49.94 [[ 6.48800479e-01 -7.16553983e-01 2.56141226e-01 4.25851554e+02] [ 6.70855864e-01 6.97481336e-01 2.51936890e-01 1.82743632e+02] [-3.59180107e-01 8.37706906e-03 9.33230666e-01 4.99390873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2203857229999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:425.87, Y:182.76, Z:49.93 [[ 6.50909745e-01 -7.14491035e-01 2.56552265e-01 4.25866893e+02] [ 6.69635210e-01 6.99580218e-01 2.49351569e-01 1.82759422e+02] [-3.57638350e-01 9.49106376e-03 9.33811935e-01 4.99276416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:182.78, Z:49.92 [[ 6.51078940e-01 -7.15667121e-01 2.52817696e-01 4.25891414e+02] [ 6.68677044e-01 6.98435155e-01 2.55067334e-01 1.82777819e+02] [-3.59120071e-01 2.98442035e-03 9.33286595e-01 4.99196070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.91, Y:182.79, Z:49.91 [[ 6.53886847e-01 -7.11887426e-01 2.56219210e-01 4.25909816e+02] [ 6.65694204e-01 7.02271473e-01 2.52321233e-01 1.82794338e+02] [-3.59559755e-01 5.57410757e-03 9.33105413e-01 4.99091079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.93, Y:182.81, Z:49.90 [[ 6.55956135e-01 -7.09884182e-01 2.56487812e-01 4.25931066e+02] [ 6.63417768e-01 7.04304489e-01 2.52650058e-01 1.82810185e+02] [-3.59997797e-01 4.43121622e-03 9.32942630e-01 4.98990675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3403857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.95, Y:182.83, Z:49.89 [[ 6.56594643e-01 -7.09545304e-01 2.55790808e-01 4.25950526e+02] [ 6.63256210e-01 7.04647796e-01 2.52116410e-01 1.82826357e+02] [-3.59130443e-01 4.11655762e-03 9.33278297e-01 4.98879573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.97, Y:182.84, Z:49.88 [[ 6.56984729e-01 -7.08011479e-01 2.59018940e-01 4.25969200e+02] [ 6.63307492e-01 7.06143131e-01 2.47760066e-01 1.82844724e+02] [-3.58321416e-01 9.03462402e-03 9.33554572e-01 4.98769013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.00, Y:182.86, Z:49.87 [[ 6.56251020e-01 -7.11228083e-01 2.51970657e-01 4.25996481e+02] [ 6.63490486e-01 7.02960694e-01 2.56176967e-01 1.82855902e+02] [-3.59325721e-01 -9.36262125e-04 9.33211739e-01 4.98703360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.01, Y:182.87, Z:49.86 [[ 6.55422494e-01 -7.10752858e-01 2.55444180e-01 4.26014459e+02] [ 6.64580921e-01 7.03426945e-01 2.52037165e-01 1.82873861e+02] [-3.58822455e-01 4.57250177e-03 9.33394632e-01 4.98584406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.04, Y:182.89, Z:49.85 [[ 6.53770309e-01 -7.12312713e-01 2.55333081e-01 4.26036230e+02] [ 6.66238651e-01 7.01842140e-01 2.52078699e-01 1.82887454e+02] [-3.58762378e-01 5.31119826e-03 9.33413814e-01 4.98484580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:182.90, Z:49.84 [[ 6.52581151e-01 -7.13373375e-01 2.55413917e-01 4.26057040e+02] [ 6.67323121e-01 7.00759745e-01 2.52221395e-01 1.82903924e+02] [-3.58911819e-01 5.84868457e-03 9.33353148e-01 4.98380198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.08, Y:182.92, Z:49.83 [[ 6.50183169e-01 -7.15697592e-01 2.55027064e-01 4.26080163e+02] [ 6.69906941e-01 6.98375151e-01 2.51985790e-01 1.82918359e+02] [-3.58450187e-01 7.00748048e-03 9.33522554e-01 4.98279760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.10, Y:182.93, Z:49.82 [[ 6.48914196e-01 -7.16882097e-01 2.54932199e-01 4.26100742e+02] [ 6.71158179e-01 6.97153559e-01 2.52038915e-01 1.82934819e+02] [-3.58409075e-01 7.54820099e-03 9.33534123e-01 4.98176822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:182.95, Z:49.81 [[ 6.47392485e-01 -7.18372438e-01 2.54605600e-01 4.26123080e+02] [ 6.72824071e-01 6.95609779e-01 2.51862669e-01 1.82949659e+02] [-3.58037344e-01 8.25077721e-03 9.33670812e-01 4.98077549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.14, Y:182.97, Z:49.80 [[ 6.46578516e-01 -7.19178519e-01 2.54398273e-01 4.26142318e+02] [ 6.73708320e-01 6.94772427e-01 2.51810197e-01 1.82965874e+02] [-3.57845390e-01 8.57517008e-03 9.33741476e-01 4.97975343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.16, Y:182.98, Z:49.79 [[ 6.45212450e-01 -7.20542736e-01 2.54006022e-01 4.26163489e+02] [ 6.75280109e-01 6.93348975e-01 2.51523305e-01 1.82981197e+02] [-3.57348106e-01 9.23924599e-03 9.33925569e-01 4.97870185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.19, Y:183.00, Z:49.77 [[ 6.45053573e-01 -7.20672700e-01 2.54040839e-01 4.26186528e+02] [ 6.75268055e-01 6.93216472e-01 2.51920578e-01 1.82998020e+02] [-3.57657577e-01 9.04339466e-03 9.33809014e-01 4.97746508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.20, Y:183.02, Z:49.77 [[ 6.43599952e-01 -7.21354892e-01 2.55785501e-01 4.26201748e+02] [ 6.77101190e-01 6.92446019e-01 2.49103371e-01 1.83015796e+02] [-3.56809587e-01 1.28697495e-02 9.34088480e-01 4.97654163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.22, Y:183.03, Z:49.76 [[ 6.41507183e-01 -7.24165934e-01 2.53085431e-01 4.26222851e+02] [ 6.79391663e-01 6.89538456e-01 2.50925658e-01 1.83030752e+02] [-3.56223950e-01 1.09735195e-02 9.34336170e-01 4.97569791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:183.05, Z:49.75 [[ 6.42637226e-01 -7.26243938e-01 2.44104769e-01 4.26253748e+02] [ 6.79403602e-01 6.87436430e-01 2.56596767e-01 1.83047032e+02] [-3.54158358e-01 9.47024689e-04 9.35184988e-01 4.97512202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.26, Y:183.07, Z:49.73 [[ 6.38479503e-01 -7.22938719e-01 2.64014267e-01 4.26256116e+02] [ 6.82487767e-01 6.90385186e-01 2.39955712e-01 1.83068803e+02] [-3.55744813e-01 2.69797038e-02 9.34193622e-01 4.97317771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.28, Y:183.08, Z:49.73 [[ 6.36934067e-01 -7.28127244e-01 2.53270036e-01 4.26282109e+02] [ 6.83498754e-01 6.85318184e-01 2.51333325e-01 1.83082580e+02] [-3.56573202e-01 1.30269969e-02 9.34176562e-01 4.97265733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.30, Y:183.10, Z:49.72 [[ 6.35841352e-01 -7.29121207e-01 2.53156159e-01 4.26301476e+02] [ 6.84552069e-01 6.84252092e-01 2.51371320e-01 1.83098903e+02] [-3.56502791e-01 1.34662921e-02 9.34197206e-01 4.97167969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:426.32, Y:183.12, Z:49.71 [[ 6.35756132e-01 -7.29340700e-01 2.52737578e-01 4.26320515e+02] [ 6.84916621e-01 6.84017106e-01 2.51017571e-01 1.83116733e+02] [-3.55954158e-01 1.35182076e-02 9.34405638e-01 4.97064079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:183.13, Z:49.70 [[ 6.36640284e-01 -7.28679095e-01 2.52420137e-01 4.26340083e+02] [ 6.84266450e-01 6.84731412e-01 2.50843216e-01 1.83133752e+02] [-3.55624204e-01 1.30257347e-02 9.34538258e-01 4.96962049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.940385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:426.36, Y:183.15, Z:49.69 [[ 6.37329997e-01 -7.28086653e-01 2.52389184e-01 4.26359213e+02] [ 6.83583772e-01 6.85369590e-01 2.50961654e-01 1.83151152e+02] [-3.55701702e-01 1.25837602e-02 9.34514820e-01 4.96866152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:426.38, Y:183.17, Z:49.68 [[ 6.38148756e-01 -7.27244365e-01 2.52748490e-01 4.26378665e+02] [ 6.82509060e-01 6.86272666e-01 2.51418401e-01 1.83169199e+02] [-3.56296995e-01 1.20607945e-02 9.34294915e-01 4.96764380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.40, Y:183.19, Z:49.67 [[ 6.41726227e-01 -7.24002718e-01 2.52997062e-01 4.26397724e+02] [ 6.78875334e-01 6.89722343e-01 2.51816145e-01 1.83185890e+02] [-3.56813300e-01 1.01564403e-02 9.34120504e-01 4.96677946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.42, Y:183.20, Z:49.66 [[ 6.43473839e-01 -7.22460951e-01 2.52965595e-01 4.26417099e+02] [ 6.77206518e-01 6.91349805e-01 2.51846736e-01 1.83203937e+02] [-3.56837148e-01 9.25316358e-03 9.34120779e-01 4.96577151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.44, Y:183.22, Z:49.65 [[ 6.47832243e-01 -7.19726276e-01 2.49614648e-01 4.26439944e+02] [ 6.73171974e-01 6.94251228e-01 2.54665910e-01 1.83220400e+02] [-3.56585023e-01 3.05279709e-03 9.34257888e-01 4.96505849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.46, Y:183.24, Z:49.64 [[ 6.50162103e-01 -7.16125391e-01 2.53877262e-01 4.26457417e+02] [ 6.70660742e-01 6.97937055e-01 2.51193226e-01 1.83240278e+02] [-3.57076196e-01 6.94919655e-03 9.34049409e-01 4.96374858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.48, Y:183.26, Z:49.63 [[ 6.54813995e-01 -7.12558099e-01 2.51951559e-01 4.26479536e+02] [ 6.66006266e-01 7.01610498e-01 2.53334487e-01 1.83257461e+02] [-3.57287400e-01 1.91434973e-03 9.33992532e-01 4.96282026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:426.49, Y:183.28, Z:49.61 [[ 6.56168749e-01 -7.08764747e-01 2.59027232e-01 4.26492440e+02] [ 6.64175009e-01 7.05380062e-01 2.47609626e-01 1.83275938e+02] [-3.58209618e-01 9.56571506e-03 9.33592184e-01 4.96143201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:183.29, Z:49.61 [[ 6.60109685e-01 -7.10642780e-01 2.43396885e-01 4.26526256e+02] [ 6.61502189e-01 7.03474000e-01 2.59883021e-01 1.83289728e+02] [-3.55907373e-01 -1.05437271e-02 9.34461755e-01 4.96128057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:183.31, Z:49.59 [[ 6.61187170e-01 -7.02277616e-01 2.63889515e-01 4.26528687e+02] [ 6.59930078e-01 7.11744421e-01 2.40649480e-01 1.83311737e+02] [-3.56824633e-01 1.50342795e-02 9.34050401e-01 4.95903975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.56, Y:183.32, Z:49.59 [[ 6.63165645e-01 -7.04825031e-01 2.51859095e-01 4.26556221e+02] [ 6.58387821e-01 7.09380438e-01 2.51604594e-01 1.83322745e+02] [-3.56001131e-01 -1.03456253e-03 9.34484952e-01 4.95852653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.58, Y:183.34, Z:49.57 [[ 6.62983791e-01 -7.05007316e-01 2.51827672e-01 4.26575002e+02] [ 6.58570868e-01 7.09199348e-01 2.51636041e-01 1.83341574e+02] [-3.56001271e-01 -9.84247679e-04 9.34484953e-01 4.95747920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.61, Y:183.35, Z:49.58 [[ 6.65589111e-01 -7.09058378e-01 2.32867669e-01 4.26608095e+02] [ 6.58417831e-01 7.04791844e-01 2.64110613e-01 1.83353872e+02] [-3.51393077e-01 -2.24649225e-02 9.35958457e-01 4.95791670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.61, Y:183.38, Z:49.55 [[ 6.64053091e-01 -6.97753656e-01 2.68650939e-01 4.26606108e+02] [ 6.56770747e-01 7.16073642e-01 2.36412191e-01 1.83379955e+02] [-3.57331327e-01 1.94518312e-02 9.33775106e-01 4.95466702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.65, Y:183.39, Z:49.56 [[ 6.66288454e-01 -7.07371322e-01 2.35977773e-01 4.26652316e+02] [ 6.56195949e-01 7.06507256e-01 2.65055417e-01 1.83386148e+02] [-3.54212610e-01 -2.17557057e-02 9.34911823e-01 4.95570794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.65, Y:183.41, Z:49.53 [[ 6.64819866e-01 -6.97255890e-01 2.68046208e-01 4.26651913e+02] [ 6.56206914e-01 7.16578401e-01 2.36448476e-01 1.83409631e+02] [-3.56941216e-01 1.86981308e-02 9.33939692e-01 4.95257874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.420385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:426.68, Y:183.42, Z:49.52 [[ 6.64648845e-01 -7.03466474e-01 2.51747557e-01 4.26682215e+02] [ 6.56766893e-01 7.10725092e-01 2.52045812e-01 1.83420234e+02] [-3.56229084e-01 -2.18249715e-03 9.34396103e-01 4.95232821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.70, Y:183.43, Z:49.51 [[ 6.64617797e-01 -7.03701003e-01 2.51173412e-01 4.26704819e+02] [ 6.57181141e-01 7.10492936e-01 2.51620223e-01 1.83433062e+02] [-3.55522338e-01 -2.16484927e-03 9.34665277e-01 4.95128583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.73, Y:183.45, Z:49.50 [[ 6.64478520e-01 -7.03981250e-01 2.50756247e-01 4.26725903e+02] [ 6.57617538e-01 7.10215579e-01 2.51262823e-01 1.83448626e+02] [-3.54975309e-01 -2.05704266e-03 9.34873413e-01 4.95026259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.75, Y:183.46, Z:49.49 [[ 6.64373864e-01 -7.04329890e-01 2.50053546e-01 4.26747321e+02] [ 6.58203400e-01 7.09870061e-01 2.50704568e-01 1.83464515e+02] [-3.54084247e-01 -1.97546821e-03 9.35211443e-01 4.94923080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.77, Y:183.48, Z:49.48 [[ 6.66186423e-01 -7.02907175e-01 2.49233129e-01 4.26767912e+02] [ 6.56941562e-01 7.11275946e-01 2.50028623e-01 1.83480789e+02] [-3.53020443e-01 -2.83407286e-03 9.35611316e-01 4.94822253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.78, Y:183.50, Z:49.47 [[ 6.67628130e-01 -7.01652552e-01 2.48910379e-01 4.26784724e+02] [ 6.55669212e-01 7.12510131e-01 2.49854354e-01 1.83498737e+02] [-3.52662111e-01 -3.60692304e-03 9.35743782e-01 4.94714409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6003857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:426.80, Y:183.52, Z:49.46 [[ 6.70311555e-01 -6.99644522e-01 2.47345836e-01 4.26801901e+02] [ 6.54101147e-01 7.14475778e-01 2.48346638e-01 1.83517090e+02] [-3.50476973e-01 -4.68042537e-03 9.36559654e-01 4.94609891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:426.82, Y:183.54, Z:49.45 [[ 6.70429784e-01 -6.99718374e-01 2.46815927e-01 4.26819506e+02] [ 6.54360247e-01 7.14403494e-01 2.47871570e-01 1.83536017e+02] [-3.49766452e-01 -4.67395230e-03 9.36825268e-01 4.94504629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.660385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:426.84, Y:183.56, Z:49.44 [[ 6.69400449e-01 -7.00991004e-01 2.45997258e-01 4.26837319e+02] [ 6.55975725e-01 7.13158339e-01 2.47186230e-01 1.83555304e+02] [-3.48710319e-01 -4.09834384e-03 9.37221594e-01 4.94396782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.86, Y:183.57, Z:49.43 [[ 6.67849094e-01 -7.02524111e-01 2.45840315e-01 4.26856160e+02] [ 6.57614116e-01 7.11651784e-01 2.47174862e-01 1.83574051e+02] [-3.48599000e-01 -3.40744615e-03 9.37265772e-01 4.94298427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7203857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:426.87, Y:183.59, Z:49.42 [[ 6.63970555e-01 -7.06094536e-01 2.46117064e-01 4.26874351e+02] [ 6.61259457e-01 7.08115646e-01 2.47604852e-01 1.83591874e+02] [-3.49111777e-01 -1.65509476e-03 9.37079627e-01 4.94206560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.89, Y:183.61, Z:49.41 [[ 6.62125182e-01 -7.07864919e-01 2.46003048e-01 4.26891887e+02] [ 6.63152206e-01 7.06347376e-01 2.47593488e-01 1.83610346e+02] [-3.49026352e-01 -8.00419035e-04 9.37112568e-01 4.94105214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.780385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:426.91, Y:183.63, Z:49.40 [[ 6.58426636e-01 -7.11255822e-01 2.46149386e-01 4.26909258e+02] [ 6.66693776e-01 7.02932612e-01 2.47800629e-01 1.83629342e+02] [-3.49276071e-01 9.47729686e-04 9.37019385e-01 4.93996384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.93, Y:183.65, Z:49.39 [[ 6.56930514e-01 -7.12817135e-01 2.45629868e-01 4.26927708e+02] [ 6.68501263e-01 7.01347958e-01 2.47420903e-01 1.83648509e+02] [-3.48637866e-01 1.66553633e-03 9.37256029e-01 4.93892144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:183.67, Z:49.38 [[ 6.55499379e-01 -7.14112078e-01 2.45691888e-01 4.26944679e+02] [ 6.69804923e-01 7.00027795e-01 2.47633705e-01 1.83666518e+02] [-3.48829370e-01 2.24189591e-03 9.37183570e-01 4.93787723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.870385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:426.96, Y:183.68, Z:49.37 [[ 6.52748438e-01 -7.16756678e-01 2.45314780e-01 4.26962144e+02] [ 6.72747868e-01 6.97314053e-01 2.47312387e-01 1.83684726e+02] [-3.48324249e-01 3.60222059e-03 9.37367186e-01 4.93668221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.98, Y:183.70, Z:49.36 [[ 6.52068238e-01 -7.17041907e-01 2.46288278e-01 4.26981337e+02] [ 6.72636780e-01 6.97020435e-01 2.48439682e-01 1.83703521e+02] [-3.49809626e-01 3.66292823e-03 9.36813647e-01 4.93591809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.00, Y:183.72, Z:49.35 [[ 6.51261312e-01 -7.17347617e-01 2.47529999e-01 4.26999481e+02] [ 6.72443128e-01 6.96705416e-01 2.49843559e-01 1.83721795e+02] [-3.51680172e-01 3.73640270e-03 9.36112758e-01 4.93497060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:183.74, Z:49.34 [[ 6.51240361e-01 -7.17261148e-01 2.47835506e-01 4.27017331e+02] [ 6.72213300e-01 6.96794893e-01 2.50212224e-01 1.83740413e+02] [-3.52158022e-01 3.65002436e-03 9.35933441e-01 4.93396853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:427.04, Y:183.76, Z:49.33 [[ 6.52436217e-01 -7.15888755e-01 2.48656940e-01 4.27035864e+02] [ 6.70380584e-01 6.98208697e-01 2.51186164e-01 1.83758790e+02] [-3.53435788e-01 2.81183436e-03 9.35454562e-01 4.93296585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.05, Y:183.78, Z:49.32 [[ 6.52951256e-01 -7.15284945e-01 2.49042377e-01 4.27053790e+02] [ 6.69533531e-01 6.98828861e-01 2.51720228e-01 1.83777391e+02] [-3.54089690e-01 2.38118313e-03 9.35208438e-01 4.93192817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.07, Y:183.80, Z:49.31 [[ 6.53877410e-01 -7.14405312e-01 2.49137278e-01 4.27071700e+02] [ 6.68499955e-01 6.99729827e-01 2.51964244e-01 1.83795881e+02] [-3.54333378e-01 1.79453169e-03 9.35117446e-01 4.93083412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.09, Y:183.81, Z:49.30 [[ 6.53588900e-01 -7.14556257e-01 2.49461230e-01 4.27089237e+02] [ 6.68480105e-01 6.99575757e-01 2.52444272e-01 1.83813136e+02] [-3.54902663e-01 1.76509539e-03 9.34901591e-01 4.92982976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.10, Y:183.83, Z:49.28 [[ 6.49853021e-01 -7.14514192e-01 2.59153469e-01 4.27096489e+02] [ 6.70060208e-01 6.99514059e-01 2.48393636e-01 1.83831979e+02] [-3.58762273e-01 1.22290731e-02 9.33348853e-01 4.92802768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.13, Y:183.85, Z:49.28 [[ 6.51676487e-01 -7.19424972e-01 2.40302863e-01 4.27133060e+02] [ 6.69735729e-01 6.94492161e-01 2.62934766e-01 1.83845373e+02] [-3.56050291e-01 -1.04089918e-02 9.34408820e-01 4.92835854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.15, Y:183.87, Z:49.27 [[ 6.50830262e-01 -7.16689281e-01 2.50552280e-01 4.27145558e+02] [ 6.70246191e-01 6.97387233e-01 2.53813103e-01 1.83866634e+02] [-3.56637091e-01 2.74246309e-03 9.34238976e-01 4.92675948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.16, Y:183.88, Z:49.26 [[ 6.49074458e-01 -7.18061860e-01 2.51176259e-01 4.27163841e+02] [ 6.71418650e-01 6.95971029e-01 2.54600322e-01 1.83883281e+02] [-3.57630180e-01 3.38985890e-03 9.33857143e-01 4.92576206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.18, Y:183.90, Z:49.25 [[ 6.48430541e-01 -7.18542549e-01 2.51464587e-01 4.27182971e+02] [ 6.71798735e-01 6.95473622e-01 2.54956664e-01 1.83901184e+02] [-3.58084198e-01 3.61190408e-03 9.33682313e-01 4.92474691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.19, Y:183.92, Z:49.23 [[ 6.43886293e-01 -7.19055617e-01 2.61475546e-01 4.27188915e+02] [ 6.73770166e-01 6.94807320e-01 2.51548309e-01 1.83919581e+02] [-3.62552348e-01 1.42059135e-02 9.31855132e-01 4.92291105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.23, Y:183.93, Z:49.23 [[ 6.48863594e-01 -7.21791184e-01 2.40818444e-01 4.27226375e+02] [ 6.71190893e-01 6.92027030e-01 2.65709192e-01 1.83933999e+02] [-3.58439425e-01 -1.07738750e-02 9.33490815e-01 4.92325077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:183.96, Z:49.21 [[ 6.50862980e-01 -7.16300646e-01 2.51576561e-01 4.27237008e+02] [ 6.69212251e-01 6.97788613e-01 2.55432995e-01 1.83956820e+02] [-3.58514079e-01 2.10623629e-03 9.33521944e-01 4.92149406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:183.98, Z:49.20 [[ 6.52025190e-01 -7.15328036e-01 2.51334345e-01 4.27253759e+02] [ 6.68204214e-01 6.98787298e-01 2.55341811e-01 1.83975246e+02] [-3.58282404e-01 1.45337557e-03 9.33612129e-01 4.92048732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.27, Y:183.99, Z:49.19 [[ 6.53819793e-01 -7.13620784e-01 2.51525458e-01 4.27270432e+02] [ 6.66275707e-01 7.00532053e-01 2.55600323e-01 1.83994746e+02] [-3.58603349e-01 4.68751847e-04 9.33489914e-01 4.91935179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.29, Y:184.01, Z:49.18 [[ 6.54752613e-01 -7.12888712e-01 2.51174641e-01 4.27288036e+02] [ 6.65569876e-01 7.01277179e-01 2.55395886e-01 1.84012650e+02] [-3.58211888e-01 -4.68493268e-05 9.33640317e-01 4.91842111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.31, Y:184.03, Z:49.17 [[ 6.55706856e-01 -7.11971349e-01 2.51287319e-01 4.27306989e+02] [ 6.64519089e-01 7.02208262e-01 2.55573742e-01 1.84031076e+02] [-3.58417213e-01 -5.96234758e-04 9.33561324e-01 4.91745329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.32, Y:184.05, Z:49.16 [[ 6.56009535e-01 -7.11695441e-01 2.51278908e-01 4.27324569e+02] [ 6.64169170e-01 7.02487622e-01 2.55715574e-01 1.84049794e+02] [-3.58511931e-01 -8.60151240e-04 9.33524748e-01 4.91640642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.34, Y:184.07, Z:49.15 [[ 6.57045582e-01 -7.10680538e-01 2.51444382e-01 4.27340161e+02] [ 6.62959395e-01 7.03513209e-01 2.56035165e-01 1.84068734e+02] [-3.58853652e-01 -1.52935856e-03 9.33392585e-01 4.91528930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:184.09, Z:49.14 [[ 6.57408375e-01 -7.10332365e-01 2.51479940e-01 4.27358180e+02] [ 6.62548524e-01 7.03864198e-01 2.56134034e-01 1.84087907e+02] [-3.58948020e-01 -1.76699641e-03 9.33355879e-01 4.91422881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.38, Y:184.11, Z:49.13 [[ 6.57764882e-01 -7.10053723e-01 2.51334580e-01 4.27376518e+02] [ 6.62249895e-01 7.04144578e-01 2.56135686e-01 1.84106453e+02] [-3.58845979e-01 -2.03076020e-03 9.33394579e-01 4.91320658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.40, Y:184.12, Z:49.12 [[ 6.57693350e-01 -7.10176716e-01 2.51174222e-01 4.27395955e+02] [ 6.62387208e-01 7.04020402e-01 2.56121963e-01 1.84124355e+02] [-3.58723631e-01 -2.07512040e-03 9.33441509e-01 4.91222222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.41, Y:184.14, Z:49.11 [[ 6.57524265e-01 -7.10466073e-01 2.50798327e-01 4.27414591e+02] [ 6.62787203e-01 7.03728534e-01 2.55889183e-01 1.84142795e+02] [-3.58294522e-01 -2.02742520e-03 9.33606408e-01 4.91121892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.43, Y:184.16, Z:49.10 [[ 6.56469406e-01 -7.11352849e-01 2.51047893e-01 4.27432747e+02] [ 6.63580029e-01 7.02833103e-01 2.56295092e-01 1.84161523e+02] [-3.58761013e-01 -1.65951862e-03 9.33427974e-01 4.91008728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.45, Y:184.18, Z:49.09 [[ 6.55286440e-01 -7.12365232e-01 2.51267703e-01 4.27451433e+02] [ 6.64518895e-01 7.01807869e-01 2.56671683e-01 1.84180114e+02] [-3.59185634e-01 -1.22133743e-03 9.33265337e-01 4.90903676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.47, Y:184.20, Z:49.08 [[ 6.52477208e-01 -7.14824226e-01 2.51594553e-01 4.27471586e+02] [ 6.66966484e-01 6.99304172e-01 2.57156341e-01 1.84197884e+02] [-3.59762703e-01 1.64829685e-05 9.33043835e-01 4.90804981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.49, Y:184.22, Z:49.07 [[ 6.50792490e-01 -7.16261151e-01 2.51871194e-01 4.27490724e+02] [ 6.68340060e-01 6.97831982e-01 2.57588991e-01 1.84215759e+02] [-3.60264762e-01 6.98628410e-04 9.32849834e-01 4.90706922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.51, Y:184.23, Z:49.06 [[ 6.47435558e-01 -7.19065492e-01 2.52531221e-01 4.27510120e+02] [ 6.71030532e-01 6.94938988e-01 2.58414064e-01 1.84233377e+02] [-3.61310427e-01 2.14970603e-03 9.32443110e-01 4.90613660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:184.25, Z:49.05 [[ 6.45600873e-01 -7.20585255e-01 2.52896033e-01 4.27528856e+02] [ 6.72460589e-01 6.93360312e-01 2.58936738e-01 1.84251843e+02] [-3.61934067e-01 2.89283129e-03 9.32199208e-01 4.90513937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:184.27, Z:49.04 [[ 6.43983981e-01 -7.21928609e-01 2.53187116e-01 4.27547704e+02] [ 6.73729590e-01 6.91958499e-01 2.59387500e-01 1.84270538e+02] [-3.62454234e-01 3.53825721e-03 9.31994855e-01 4.90410510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.56, Y:184.29, Z:49.03 [[ 6.38337897e-01 -7.25908344e-01 2.56089450e-01 4.27559849e+02] [ 6.77962023e-01 6.87745736e-01 2.59563668e-01 1.84289018e+02] [-3.64543859e-01 7.92959554e-03 9.31152456e-01 4.90286893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.59, Y:184.31, Z:49.02 [[ 6.38792946e-01 -7.27848275e-01 2.49360101e-01 4.27587319e+02] [ 6.78130479e-01 6.85738175e-01 2.64390259e-01 1.84305789e+02] [-3.63431735e-01 2.08051725e-04 9.31620809e-01 4.90230628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.60, Y:184.33, Z:49.01 [[ 6.37882739e-01 -7.27142047e-01 2.53712544e-01 4.27602756e+02] [ 6.79005112e-01 6.86458424e-01 2.60243906e-01 1.84325753e+02] [-3.63397400e-01 6.26701884e-03 9.31613146e-01 4.90105976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.62, Y:184.34, Z:49.00 [[ 6.37141227e-01 -7.27857545e-01 2.53524065e-01 4.27620715e+02] [ 6.79790704e-01 6.85696999e-01 2.60200355e-01 1.84344443e+02] [-3.63229482e-01 6.55892914e-03 9.31676620e-01 4.90002196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:184.36, Z:48.99 [[ 6.36513495e-01 -7.28617258e-01 2.52917895e-01 4.27638277e+02] [ 6.80786453e-01 6.84886719e-01 2.59730606e-01 1.84364261e+02] [-3.62464310e-01 6.86104111e-03 9.31972398e-01 4.89893751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.67, Y:184.38, Z:48.99 [[ 6.37090638e-01 -7.33951152e-01 2.35438368e-01 4.27666067e+02] [ 6.82112853e-01 6.79092860e-01 2.71210145e-01 1.84379909e+02] [-3.58939513e-01 -1.21899078e-02 9.33281218e-01 4.89924107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:184.40, Z:48.97 [[ 6.38108533e-01 -7.27205601e-01 2.52961488e-01 4.27673460e+02] [ 6.81263188e-01 6.86348461e-01 2.54570734e-01 1.84404848e+02] [-3.58744992e-01 9.88959213e-03 9.33383215e-01 4.89716166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.68, Y:184.43, Z:48.95 [[ 6.37902058e-01 -7.23487673e-01 2.63906331e-01 4.27683817e+02] [ 6.80026919e-01 6.90007706e-01 2.47896663e-01 1.84425727e+02] [-3.61447582e-01 2.13296176e-02 9.32148429e-01 4.89528724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.71, Y:184.44, Z:48.95 [[ 6.39074139e-01 -7.26595157e-01 2.52277075e-01 4.27707952e+02] [ 6.78655092e-01 6.87045398e-01 2.59607180e-01 1.84442841e+02] [-3.61955123e-01 5.30088614e-03 9.32180449e-01 4.89492211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.73, Y:184.46, Z:48.95 [[ 6.40969519e-01 -7.29519379e-01 2.38662003e-01 4.27734235e+02] [ 6.78509282e-01 6.83887564e-01 2.68184552e-01 1.84460737e+02] [-3.58863804e-01 -9.96373885e-03 9.33336753e-01 4.89489544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.73, Y:184.49, Z:48.92 [[ 6.39190890e-01 -7.21917806e-01 2.65084303e-01 4.27732010e+02] [ 6.78064183e-01 6.91665871e-01 2.48650935e-01 1.84486637e+02] [-3.62855303e-01 2.08087590e-02 9.31613131e-01 4.89218319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.76, Y:184.50, Z:48.92 [[ 6.38918088e-01 -7.26967128e-01 2.51599824e-01 4.27758914e+02] [ 6.78200685e-01 6.86663992e-01 2.61794562e-01 1.84501435e+02] [-3.63080581e-01 3.36989159e-03 9.31751649e-01 4.89183753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.78, Y:184.52, Z:48.91 [[ 6.41648320e-01 -7.27067721e-01 2.44253888e-01 4.27781245e+02] [ 6.76438686e-01 6.86540732e-01 2.66631822e-01 1.84520402e+02] [-3.61549634e-01 -5.86108139e-03 9.32334441e-01 4.89147122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.79, Y:184.54, Z:48.90 [[ 6.43432594e-01 -7.22856545e-01 2.51938310e-01 4.27793513e+02] [ 6.74614681e-01 6.90992105e-01 2.59663133e-01 1.84543153e+02] [-3.61786579e-01 2.88555972e-03 9.32256480e-01 4.89011640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.81, Y:184.56, Z:48.89 [[ 6.44342236e-01 -7.22099427e-01 2.51784633e-01 4.27811263e+02] [ 6.73814805e-01 6.91785239e-01 2.59628180e-01 1.84562629e+02] [-3.61658252e-01 2.36681112e-03 9.32307732e-01 4.88915426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.82, Y:184.58, Z:48.88 [[ 6.43631506e-01 -7.19239602e-01 2.61596788e-01 4.27820125e+02] [ 6.72838966e-01 6.94654242e-01 2.54446871e-01 1.84584154e+02] [-3.64727585e-01 1.22424897e-02 9.31033786e-01 4.88756483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.85, Y:184.60, Z:48.88 [[ 6.45082546e-01 -7.23977465e-01 2.44387274e-01 4.27851285e+02] [ 6.72737916e-01 6.89774336e-01 2.67647274e-01 1.84600163e+02] [-3.62342665e-01 -8.24599906e-03 9.32008475e-01 4.88764065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:184.62, Z:48.86 [[ 6.44967603e-01 -7.21412997e-01 2.52150905e-01 4.27864506e+02] [ 6.72995505e-01 6.92501878e-01 2.59842642e-01 1.84622862e+02] [-3.62068835e-01 2.10633942e-03 9.32148981e-01 4.88623600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.87, Y:184.65, Z:48.84 [[ 6.42808730e-01 -7.18543382e-01 2.65503946e-01 4.27869031e+02] [ 6.73042855e-01 6.95284150e-01 2.52177052e-01 1.84645197e+02] [-3.65800837e-01 1.65939229e-02 9.30545211e-01 4.88432525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:184.66, Z:48.84 [[ 6.42830422e-01 -7.22776479e-01 2.53699056e-01 4.27891923e+02] [ 6.73514378e-01 6.91078149e-01 2.62277286e-01 1.84661712e+02] [-3.64893727e-01 2.27014351e-03 9.31046408e-01 4.88380470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.92, Y:184.68, Z:48.84 [[ 6.46031852e-01 -7.25208068e-01 2.38151433e-01 4.27923563e+02] [ 6.73464067e-01 6.88394790e-01 2.69367340e-01 1.84679259e+02] [-3.59289574e-01 -1.36334490e-02 9.33126536e-01 4.88376062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.92, Y:184.71, Z:48.81 [[ 6.43084896e-01 -7.17649932e-01 2.67245941e-01 4.27918773e+02] [ 6.74092719e-01 6.96080481e-01 2.47125413e-01 1.84705210e+02] [-3.63374219e-01 2.12259222e-02 9.31401437e-01 4.88098776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.96, Y:184.72, Z:48.81 [[ 6.45696316e-01 -7.24974053e-01 2.39768408e-01 4.27956303e+02] [ 6.74735870e-01 6.88709904e-01 2.65349155e-01 1.84719453e+02] [-3.57502130e-01 -9.55462670e-03 9.33863446e-01 4.88143987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.97, Y:184.74, Z:48.80 [[ 6.42894831e-01 -7.25084548e-01 2.46857518e-01 4.27968858e+02] [ 6.77307672e-01 6.88659408e-01 2.58848484e-01 1.84741806e+02] [-3.57687788e-01 7.86138339e-04 9.33840901e-01 4.87999331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.98, Y:184.76, Z:48.79 [[ 6.42475773e-01 -7.23601580e-01 2.52241224e-01 4.27983359e+02] [ 6.78354350e-01 6.90156774e-01 2.52029766e-01 1.84762361e+02] [-3.56455126e-01 9.18591323e-03 9.34267286e-01 4.87863410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:184.78, Z:48.78 [[ 6.39183162e-01 -7.26824040e-01 2.51339810e-01 4.28000117e+02] [ 6.80710120e-01 6.86775212e-01 2.54899080e-01 1.84780357e+02] [-3.57880731e-01 8.16235207e-03 9.33731631e-01 4.87765694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.640385723 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:428.02, Y:184.80, Z:48.76 [[ 6.37124299e-01 -7.28142142e-01 2.52748192e-01 4.28023441e+02] [ 6.82706740e-01 6.85336467e-01 2.53427374e-01 1.84801012e+02] [-3.57748704e-01 1.10881564e-02 9.33752064e-01 4.87643764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.04, Y:184.82, Z:48.76 [[ 6.33509538e-01 -7.32381439e-01 2.49565809e-01 4.28038071e+02] [ 6.86416852e-01 6.80829468e-01 2.55544791e-01 1.84818803e+02] [-3.57068019e-01 9.41611507e-03 9.34030924e-01 4.87585566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.05, Y:184.84, Z:48.75 [[ 6.28755572e-01 -7.36007934e-01 2.50915828e-01 4.28053163e+02] [ 6.90059873e-01 6.76866164e-01 2.56260744e-01 1.84839717e+02] [-3.58446374e-01 1.20215738e-02 9.33472913e-01 4.87464589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.07, Y:184.86, Z:48.74 [[ 6.27711529e-01 -7.37653218e-01 2.48688491e-01 4.28071932e+02] [ 6.91219214e-01 6.75104417e-01 2.57779022e-01 1.84859539e+02] [-3.58042224e-01 1.00873997e-02 9.33650904e-01 4.87366060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.07, Y:184.88, Z:48.71 [[ 6.24590559e-01 -7.33918567e-01 2.66927276e-01 4.28072158e+02] [ 6.91721172e-01 6.78562127e-01 2.47134094e-01 1.84883308e+02] [-3.62503040e-01 3.02816266e-02 9.31490509e-01 4.87144878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:428.10, Y:184.90, Z:48.71 [[ 6.24287427e-01 -7.39560800e-01 2.51624784e-01 4.28098297e+02] [ 6.91500046e-01 6.73013176e-01 2.62451806e-01 1.84897664e+02] [-3.63445863e-01 1.01531874e-02 9.31559991e-01 4.87121360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:428.13, Y:184.92, Z:48.71 [[ 6.27179893e-01 -7.41146642e-01 2.39472415e-01 4.28126234e+02] [ 6.90964726e-01 6.71337844e-01 2.68091864e-01 1.84915876e+02] [-3.59462279e-01 -2.67483527e-03 9.33155783e-01 4.87106160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.12, Y:184.94, Z:48.69 [[ 6.25666540e-01 -7.34902745e-01 2.61647350e-01 4.28124838e+02] [ 6.90357460e-01 6.77803739e-01 2.52959817e-01 1.84944207e+02] [-3.63246416e-01 2.23617062e-02 9.31424713e-01 4.86866856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.16, Y:184.96, Z:48.69 [[ 6.28022577e-01 -7.40329720e-01 2.39790634e-01 4.28158586e+02] [ 6.89951303e-01 6.72236559e-01 2.68449638e-01 1.84959933e+02] [-3.59937276e-01 -3.14857336e-03 9.32971191e-01 4.86886436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.16, Y:184.99, Z:48.67 [[ 6.28605116e-01 -7.32237034e-01 2.62077344e-01 4.28156698e+02] [ 6.88171487e-01 6.80679548e-01 2.51187894e-01 1.84986402e+02] [-3.62319767e-01 2.24561600e-02 9.31783294e-01 4.86659002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.18, Y:185.00, Z:48.66 [[ 6.29382977e-01 -7.35554629e-01 2.50672010e-01 4.28180171e+02] [ 6.87317888e-01 6.77425657e-01 2.62085102e-01 1.85003046e+02] [-3.62589561e-01 7.33945521e-03 9.31920030e-01 4.86610428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.20, Y:185.02, Z:48.65 [[ 6.31021090e-01 -7.34026877e-01 2.51031728e-01 4.28195144e+02] [ 6.85469539e-01 6.79090656e-01 2.62616437e-01 1.85024904e+02] [-3.63240824e-01 6.35809296e-03 9.31673590e-01 4.86505979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.21, Y:185.05, Z:48.64 [[ 6.31791422e-01 -7.33389201e-01 2.50957923e-01 4.28211848e+02] [ 6.84752661e-01 6.79783603e-01 2.62693824e-01 1.85045216e+02] [-3.63253895e-01 5.87640070e-03 9.31671657e-01 4.86400305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.23, Y:185.07, Z:48.63 [[ 6.32884179e-01 -7.32437574e-01 2.50983698e-01 4.28229207e+02] [ 6.83992406e-01 6.80809113e-01 2.62017824e-01 1.85066363e+02] [-3.62783688e-01 5.84400798e-03 9.31855055e-01 4.86292048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.25, Y:185.09, Z:48.62 [[ 6.34608796e-01 -7.31212857e-01 2.50198789e-01 4.28245158e+02] [ 6.82431583e-01 6.82137198e-01 2.62632781e-01 1.85086555e+02] [-3.62710367e-01 4.07448235e-03 9.31893013e-01 4.86198196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0903857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:428.26, Y:185.11, Z:48.61 [[ 6.35303757e-01 -7.30490869e-01 2.50543863e-01 4.28261339e+02] [ 6.81685442e-01 6.82910826e-01 2.62560017e-01 1.85105640e+02] [-3.62896811e-01 3.98673898e-03 9.31820804e-01 4.86100102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.120385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.28, Y:185.13, Z:48.60 [[ 6.35311797e-01 -7.30463149e-01 2.50604286e-01 4.28278342e+02] [ 6.81606096e-01 6.82940835e-01 2.62687924e-01 1.85125346e+02] [-3.63031748e-01 3.92467179e-03 9.31768505e-01 4.85996138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.29, Y:185.14, Z:48.59 [[ 6.35566634e-01 -7.30249541e-01 2.50580651e-01 4.28293995e+02] [ 6.81326422e-01 6.83170544e-01 2.62816124e-01 1.85144967e+02] [-3.63110674e-01 3.69005908e-03 9.31738709e-01 4.85891339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.31, Y:185.16, Z:48.58 [[ 6.35777276e-01 -7.30114595e-01 2.50439481e-01 4.28311610e+02] [ 6.81213666e-01 6.83315430e-01 2.62731734e-01 1.85164433e+02] [-3.62953435e-01 3.56393118e-03 9.31800463e-01 4.85790194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.210385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:428.33, Y:185.18, Z:48.57 [[ 6.35862589e-01 -7.30192277e-01 2.49996014e-01 4.28327768e+02] [ 6.81415979e-01 6.83232815e-01 2.62421768e-01 1.85182681e+02] [-3.62423829e-01 3.48709379e-03 9.32006871e-01 4.85681407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.35, Y:185.20, Z:48.56 [[ 6.36552788e-01 -7.29450213e-01 2.50405543e-01 4.28345449e+02] [ 6.80427479e-01 6.84027231e-01 2.62916706e-01 1.85202838e+02] [-3.63068857e-01 3.02245037e-03 9.31757409e-01 4.85592326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.36, Y:185.22, Z:48.55 [[ 6.36936182e-01 -7.29047262e-01 2.50604051e-01 4.28362865e+02] [ 6.79853862e-01 6.84458104e-01 2.63278996e-01 1.85222533e+02] [-3.63470805e-01 2.68221338e-03 9.31601728e-01 4.85484528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.300385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:428.38, Y:185.24, Z:48.54 [[ 6.36794641e-01 -7.29371411e-01 2.50019861e-01 4.28379949e+02] [ 6.80379732e-01 6.84112417e-01 2.62818607e-01 1.85241510e+02] [-3.62734070e-01 2.74696565e-03 9.31888646e-01 4.85366611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:185.26, Z:48.53 [[ 6.37380931e-01 -7.28820402e-01 2.50132705e-01 4.28397964e+02] [ 6.79681229e-01 6.84700985e-01 2.63093116e-01 1.85260095e+02] [-3.63013740e-01 2.31996940e-03 9.31780898e-01 4.85274379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.42, Y:185.28, Z:48.52 [[ 6.37632376e-01 -7.28746804e-01 2.49705925e-01 4.28416432e+02] [ 6.79750677e-01 6.84779629e-01 2.62708730e-01 1.85278836e+02] [-3.62441679e-01 2.22617986e-03 9.32003795e-01 4.85164808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.43, Y:185.30, Z:48.51 [[ 6.37785365e-01 -7.28668857e-01 2.49542633e-01 4.28433631e+02] [ 6.79671449e-01 6.84863081e-01 2.62696178e-01 1.85296578e+02] [-3.62321061e-01 2.06322544e-03 9.32051067e-01 4.85063953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:185.32, Z:48.50 [[ 6.38020850e-01 -7.28588332e-01 2.49175514e-01 4.28452491e+02] [ 6.79708665e-01 6.84949033e-01 2.62375594e-01 1.85315182e+02] [-3.61836323e-01 1.96565652e-03 9.32239568e-01 4.84962004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.46, Y:185.33, Z:48.48 [[ 6.34545542e-01 -7.27720321e-01 2.60336494e-01 4.28458999e+02] [ 6.81474540e-01 6.85706883e-01 2.55731348e-01 1.85334467e+02] [-3.64615424e-01 1.51395062e-02 9.31035116e-01 4.84775650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.48, Y:185.35, Z:48.47 [[ 6.34255492e-01 -7.30726627e-01 2.52504588e-01 4.28481486e+02] [ 6.82264106e-01 6.82641543e-01 2.61756020e-01 1.85349913e+02] [-3.63642215e-01 6.25462328e-03 9.31517697e-01 4.84692051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.51, Y:185.37, Z:48.46 [[ 6.35351181e-01 -7.33287614e-01 2.42111860e-01 4.28507295e+02] [ 6.81626588e-01 6.79884579e-01 2.70448061e-01 1.85365453e+02] [-3.62924333e-01 -6.79961317e-03 9.31793804e-01 4.84642574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.53, Y:185.38, Z:48.46 [[ 6.38110431e-01 -7.31807430e-01 2.39317705e-01 4.28529930e+02] [ 6.81662769e-01 6.81477495e-01 2.66316154e-01 1.85383397e+02] [-3.57981770e-01 -6.80514580e-03 9.33703777e-01 4.84566391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.570385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:428.54, Y:185.40, Z:48.44 [[ 6.38071294e-01 -7.29675788e-01 2.45841958e-01 4.28543620e+02] [ 6.81377506e-01 6.83792635e-01 2.61060006e-01 1.85403393e+02] [-3.58594085e-01 9.36284380e-04 9.33493120e-01 4.84424374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.57, Y:185.42, Z:48.43 [[ 6.38250195e-01 -7.30313433e-01 2.43472746e-01 4.28566425e+02] [ 6.80562734e-01 6.83103686e-01 2.64959844e-01 1.85419600e+02] [-3.59820864e-01 -3.41219457e-03 9.33015168e-01 4.84324136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.59, Y:185.44, Z:48.42 [[ 6.38023282e-01 -7.30041232e-01 2.44879748e-01 4.28586257e+02] [ 6.80844405e-01 6.83401727e-01 2.63463426e-01 1.85437308e+02] [-3.59690407e-01 -1.37079371e-03 9.33070701e-01 4.84217223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.61, Y:185.45, Z:48.41 [[ 6.39249707e-01 -7.29934815e-01 2.41981357e-01 4.28608562e+02] [ 6.80660597e-01 6.83505963e-01 2.63667878e-01 1.85454835e+02] [-3.57856065e-01 -3.84243886e-03 9.33768854e-01 4.84141835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.63, Y:185.47, Z:48.40 [[ 6.39287331e-01 -7.28537237e-01 2.46059350e-01 4.28625350e+02] [ 6.80654632e-01 6.85004735e-01 2.59764866e-01 1.85473513e+02] [-3.57800197e-01 1.41704883e-03 9.33797093e-01 4.84025593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:185.49, Z:48.39 [[ 6.39468246e-01 -7.28283484e-01 2.46340273e-01 4.28646707e+02] [ 6.80212829e-01 6.85274983e-01 2.60208964e-01 1.85490240e+02] [-3.58316717e-01 1.16844426e-03 9.33599360e-01 4.83927913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.67, Y:185.51, Z:48.38 [[ 6.39395435e-01 -7.28186399e-01 2.46815814e-01 4.28666457e+02] [ 6.79857733e-01 6.85378406e-01 2.60863763e-01 1.85507783e+02] [-3.59119673e-01 1.00454092e-03 9.33290979e-01 4.83827887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.69, Y:185.52, Z:48.38 [[ 6.40668317e-01 -7.28534577e-01 2.42448918e-01 4.28692526e+02] [ 6.78330169e-01 6.84984069e-01 2.65828908e-01 1.85522405e+02] [-3.59739197e-01 -5.84774317e-03 9.33034573e-01 4.83768202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.70, Y:185.54, Z:48.36 [[ 6.40668448e-01 -7.24983176e-01 2.52870193e-01 4.28704165e+02] [ 6.77957010e-01 6.88732831e-01 2.56946259e-01 1.85542654e+02] [-3.60441719e-01 6.81775959e-03 9.32756820e-01 4.83606170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.73, Y:185.56, Z:48.35 [[ 6.43134797e-01 -7.24483381e-01 2.47994887e-01 4.28726429e+02] [ 6.76087789e-01 6.89292231e-01 2.60348846e-01 1.85555838e+02] [-3.59559361e-01 2.26912392e-04 9.33122186e-01 4.83525489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.870385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:428.75, Y:185.57, Z:48.34 [[ 6.43162292e-01 -7.25615933e-01 2.44589010e-01 4.28747686e+02] [ 6.76454975e-01 6.88091451e-01 2.62562035e-01 1.85573066e+02] [-3.58818803e-01 -3.41654757e-03 9.33400982e-01 4.83429660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.900385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:428.77, Y:185.59, Z:48.33 [[ 6.45281958e-01 -7.23244419e-01 2.46025821e-01 4.28768579e+02] [ 6.74684256e-01 6.90588826e-01 2.60553696e-01 1.85589488e+02] [-3.58346689e-01 -2.14085125e-03 9.33586133e-01 4.83320035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.930385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:428.79, Y:185.61, Z:48.32 [[ 6.45783824e-01 -7.23099379e-01 2.45133719e-01 4.28787753e+02] [ 6.74834395e-01 6.90740095e-01 2.59762701e-01 1.85606734e+02] [-3.57157936e-01 -2.32588551e-03 9.34041112e-01 4.83197045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:185.62, Z:48.31 [[ 6.46277450e-01 -7.22363736e-01 2.46000185e-01 4.28808615e+02] [ 6.73633100e-01 6.91507381e-01 2.60837093e-01 1.85624636e+02] [-3.58530200e-01 -2.85926448e-03 9.33513749e-01 4.83115122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.990385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:428.83, Y:185.64, Z:48.30 [[ 6.46437323e-01 -7.22197396e-01 2.46068504e-01 4.28831015e+02] [ 6.73367823e-01 6.91680213e-01 2.61063705e-01 1.85639745e+02] [-3.58740243e-01 -3.06670985e-03 9.33432394e-01 4.83015583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.020385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:428.85, Y:185.66, Z:48.29 [[ 6.46239749e-01 -7.22444701e-01 2.45861425e-01 4.28851582e+02] [ 6.73658615e-01 6.91422021e-01 2.60997432e-01 1.85656787e+02] [-3.58550215e-01 -3.04024752e-03 9.33505490e-01 4.82916818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.050385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:428.87, Y:185.67, Z:48.28 [[ 6.45472440e-01 -7.23221633e-01 2.45592751e-01 4.28873734e+02] [ 6.74539689e-01 6.90610642e-01 2.60869986e-01 1.85671368e+02] [-3.58275785e-01 -2.72232802e-03 9.33611831e-01 4.82820283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.080385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:428.89, Y:185.69, Z:48.27 [[ 6.45285197e-01 -7.23406462e-01 2.45540436e-01 4.28891925e+02] [ 6.74718714e-01 6.90417134e-01 2.60919219e-01 1.85690743e+02] [-3.58275973e-01 -2.69658210e-03 9.33611834e-01 4.82714884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.110385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:428.91, Y:185.71, Z:48.26 [[ 6.44756399e-01 -7.23845834e-01 2.45634677e-01 4.28911181e+02] [ 6.75093352e-01 6.89956985e-01 2.61167238e-01 1.85707315e+02] [-3.58522178e-01 -2.56291018e-03 9.33517691e-01 4.82614174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.140385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:428.93, Y:185.72, Z:48.25 [[ 6.44183906e-01 -7.24370028e-01 2.45591447e-01 4.28931077e+02] [ 6.75647326e-01 6.89407490e-01 2.61185763e-01 1.85724613e+02] [-3.58507721e-01 -2.31846014e-03 9.33523882e-01 4.82508943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.170385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:428.95, Y:185.74, Z:48.24 [[ 6.43726631e-01 -7.25134054e-01 2.44533490e-01 4.28953035e+02] [ 6.76839894e-01 6.88604834e-01 2.60213643e-01 1.85739517e+02] [-3.57076717e-01 -1.99643009e-03 9.34072927e-01 4.82406251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.200385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:428.97, Y:185.76, Z:48.23 [[ 6.43554886e-01 -7.25446557e-01 2.44058193e-01 4.28972201e+02] [ 6.77309482e-01 6.88275786e-01 2.59862095e-01 1.85757211e+02] [-3.56495406e-01 -1.93259263e-03 9.34295077e-01 4.82306726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:428.99, Y:185.78, Z:48.22 [[ 6.45205763e-01 -7.23963043e-01 2.44104559e-01 4.28988606e+02] [ 6.75643843e-01 6.89832786e-01 2.60069463e-01 1.85776346e+02] [-3.56672008e-01 -2.87057388e-03 9.34225261e-01 4.82211972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.260385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:429.01, Y:185.80, Z:48.21 [[ 6.45187608e-01 -7.24136365e-01 2.43638000e-01 4.29005337e+02] [ 6.75996123e-01 6.89651070e-01 2.59635596e-01 1.85795922e+02] [-3.56036784e-01 -2.81532573e-03 9.34467700e-01 4.82106578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.290385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:429.02, Y:185.82, Z:48.20 [[ 6.44575404e-01 -7.25083776e-01 2.42437760e-01 4.29019981e+02] [ 6.77437921e-01 6.88656502e-01 2.58515156e-01 1.85816609e+02] [-3.54401485e-01 -2.39597933e-03 9.35090288e-01 4.81998280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.320385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:429.04, Y:185.84, Z:48.19 [[ 6.43388590e-01 -7.26454359e-01 2.41485374e-01 4.29035563e+02] [ 6.79264432e-01 6.87212660e-01 2.57562791e-01 1.85836347e+02] [-3.53059419e-01 -1.68053542e-03 9.35599392e-01 4.81879977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.05, Y:185.86, Z:48.18 [[ 6.40303188e-01 -7.28857354e-01 2.42443365e-01 4.29053405e+02] [ 6.81385701e-01 6.84665416e-01 2.58740788e-01 1.85855351e+02] [-3.54577713e-01 -4.75109495e-04 9.35026427e-01 4.81803019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.07, Y:185.87, Z:48.17 [[ 6.38370048e-01 -7.30430191e-01 2.42807368e-01 4.29072438e+02] [ 6.82881554e-01 6.82987286e-01 2.59231847e-01 1.85874425e+02] [-3.55185113e-01 3.22826157e-04 9.34795930e-01 4.81707685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.09, Y:185.89, Z:48.16 [[ 6.36925042e-01 -7.31683276e-01 2.42829314e-01 4.29090189e+02] [ 6.84157567e-01 6.81644152e-01 2.59402532e-01 1.85892947e+02] [-3.55323676e-01 9.13544385e-04 9.34742880e-01 4.81614741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.11, Y:185.91, Z:48.15 [[ 6.34054810e-01 -7.34178290e-01 2.42810084e-01 4.29107139e+02] [ 6.86812036e-01 6.78952960e-01 2.59445766e-01 1.85912483e+02] [-3.55336073e-01 2.26205227e-03 9.34735876e-01 4.81499205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.12, Y:185.93, Z:48.14 [[ 6.31827230e-01 -7.36318061e-01 2.42136460e-01 4.29124406e+02] [ 6.89317177e-01 6.76627324e-01 2.58876986e-01 1.85932219e+02] [-3.54451945e-01 3.34329186e-03 9.35068255e-01 4.81387248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.14, Y:185.95, Z:48.13 [[ 6.30993884e-01 -7.37116789e-01 2.41879222e-01 4.29141514e+02] [ 6.90218732e-01 6.75755362e-01 2.58752378e-01 1.85951790e+02] [-3.54181903e-01 3.67840243e-03 9.35169316e-01 4.81275851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:185.97, Z:48.12 [[ 6.30606723e-01 -7.37644462e-01 2.41279523e-01 4.29158093e+02] [ 6.90965210e-01 6.75178356e-01 2.58265883e-01 1.85970541e+02] [-3.53415110e-01 3.85155400e-03 9.35458671e-01 4.81177449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.560385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:429.18, Y:185.99, Z:48.11 [[ 6.30130687e-01 -7.37839298e-01 2.41926616e-01 4.29175875e+02] [ 6.90874385e-01 6.74965177e-01 2.59064848e-01 1.85989064e+02] [-3.54440266e-01 3.89619141e-03 9.35070541e-01 4.81086383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5903857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:429.19, Y:186.01, Z:48.10 [[ 6.30069474e-01 -7.37741335e-01 2.42384366e-01 4.29194311e+02] [ 6.90561729e-01 6.75072774e-01 2.59617505e-01 1.86008166e+02] [-3.55157651e-01 3.80430209e-03 9.34798679e-01 4.80992755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.620385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:429.21, Y:186.03, Z:48.09 [[ 6.30514854e-01 -7.37017868e-01 2.43424900e-01 4.29212195e+02] [ 6.89308543e-01 6.75865182e-01 2.60883093e-01 1.86027320e+02] [-3.56797915e-01 3.30419804e-03 9.34175749e-01 4.80887710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.650385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:429.23, Y:186.05, Z:48.08 [[ 6.31015063e-01 -7.36592454e-01 2.43416408e-01 4.29229415e+02] [ 6.88796387e-01 6.76330431e-01 2.61030045e-01 1.86046278e+02] [-3.56902686e-01 2.95045228e-03 9.34136911e-01 4.80781931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.680385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:429.25, Y:186.06, Z:48.07 [[ 6.31633367e-01 -7.36141800e-01 2.43175946e-01 4.29246212e+02] [ 6.88350212e-01 6.76822436e-01 2.60931746e-01 1.86064818e+02] [-3.56669701e-01 2.57701685e-03 9.34226998e-01 4.80674761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.710385723 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:429.26, Y:186.08, Z:48.05 [[ 6.32668297e-01 -7.35627239e-01 2.42040062e-01 4.29263714e+02] [ 6.88235975e-01 6.77382904e-01 2.59776142e-01 1.86083685e+02] [-3.55052206e-01 2.22854827e-03 9.34843818e-01 4.80548678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.740385723 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:429.28, Y:186.10, Z:48.05 [[ 6.32552797e-01 -7.35307554e-01 2.43310008e-01 4.29282689e+02] [ 6.87317606e-01 6.77730777e-01 2.61295812e-01 1.86102199e+02] [-3.57031466e-01 1.94785543e-03 9.34090327e-01 4.80463755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.770385723 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:429.30, Y:186.12, Z:48.04 [[ 6.31618836e-01 -7.35991604e-01 2.43667816e-01 4.29299687e+02] [ 6.87843348e-01 6.76987016e-01 2.61839852e-01 1.86120218e+02] [-3.57671881e-01 2.22230320e-03 9.33844681e-01 4.80355782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.800385723 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:429.32, Y:186.14, Z:48.03 [[ 6.30607884e-01 -7.36716349e-01 2.44095716e-01 4.29317998e+02] [ 6.88420156e-01 6.76196945e-01 2.62364975e-01 1.86139284e+02] [-3.58345344e-01 2.59098971e-03 9.33585508e-01 4.80252509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:429.34, Y:186.16, Z:48.02 [[ 6.29291915e-01 -7.37533398e-01 2.45022801e-01 4.29337679e+02] [ 6.88855955e-01 6.75304191e-01 2.63517974e-01 1.86157628e+02] [-3.59818231e-01 2.95568536e-03 9.33017741e-01 4.80165357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.860385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:429.33, Y:186.18, Z:47.99 [[ 6.23667556e-01 -7.33475323e-01 2.70282685e-01 4.29334898e+02] [ 6.90035253e-01 6.79041668e-01 2.50507011e-01 1.86179985e+02] [-3.67273917e-01 3.02714854e-02 9.29620088e-01 4.79863508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.39, Y:186.19, Z:48.01 [[ 6.27149193e-01 -7.46958412e-01 2.20764629e-01 4.29389627e+02] [ 6.90558554e-01 6.64325615e-01 2.86007624e-01 1.86189087e+02] [-3.60295399e-01 -2.69185475e-02 9.32449794e-01 4.80077783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.920385723 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:429.39, Y:186.22, Z:47.97 [[ 6.25701575e-01 -7.36010084e-01 2.58431219e-01 4.29386246e+02] [ 6.90776284e-01 6.76700724e-01 2.54763135e-01 1.86218063e+02] [-3.62388830e-01 1.91124622e-02 9.31831020e-01 4.79721948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.950385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:429.41, Y:186.23, Z:47.97 [[ 6.24245996e-01 -7.41679139e-01 2.45415956e-01 4.29411359e+02] [ 6.92513256e-01 6.70741884e-01 2.65576196e-01 1.86233447e+02] [-3.61583085e-01 4.16892539e-03 9.32330571e-01 4.79680290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:186.25, Z:47.96 [[ 6.22738136e-01 -7.42233970e-01 2.47559991e-01 4.29425840e+02] [ 6.94122447e-01 6.70092415e-01 2.63002250e-01 1.86254419e+02] [-3.61097276e-01 8.05541581e-03 9.32493361e-01 4.79558936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.010385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:429.45, Y:186.27, Z:47.96 [[ 6.23496265e-01 -7.46724990e-01 2.31633756e-01 4.29452987e+02] [ 6.95265435e-01 6.65073544e-01 2.72549366e-01 1.86271045e+02] [-3.57572906e-01 -8.88656762e-03 9.33842945e-01 4.79576375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.46, Y:186.29, Z:47.94 [[ 6.23490065e-01 -7.43016194e-01 2.43283940e-01 4.29463779e+02] [ 6.95110214e-01 6.69251479e-01 2.62534280e-01 1.86293228e+02] [-3.57885358e-01 5.42163626e-03 9.33749793e-01 4.79421504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.48, Y:186.31, Z:47.93 [[ 6.23647688e-01 -7.42868335e-01 2.43331458e-01 4.29481059e+02] [ 6.94871551e-01 6.69417164e-01 2.62743580e-01 1.86312042e+02] [-3.58074140e-01 5.22468163e-03 9.33678538e-01 4.79322526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.50, Y:186.33, Z:47.92 [[ 6.24315492e-01 -7.42219310e-01 2.43599391e-01 4.29497296e+02] [ 6.94039785e-01 6.70139803e-01 2.63099640e-01 1.86331150e+02] [-3.58523281e-01 4.81048760e-03 9.33508391e-01 4.79224854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:186.35, Z:47.91 [[ 6.24304715e-01 -7.42097793e-01 2.43996902e-01 4.29515728e+02] [ 6.93876501e-01 6.70273035e-01 2.63190918e-01 1.86352153e+02] [-3.58857944e-01 4.99238611e-03 9.33378837e-01 4.79110801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.53, Y:186.37, Z:47.90 [[ 6.25161289e-01 -7.41079299e-01 2.44897602e-01 4.29531623e+02] [ 6.92833348e-01 6.71397296e-01 2.63073417e-01 1.86371293e+02] [-3.59381852e-01 5.20990890e-03 9.33176051e-01 4.79007189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:186.39, Z:47.89 [[ 6.26137236e-01 -7.40346277e-01 2.44621240e-01 4.29548583e+02] [ 6.91481790e-01 6.72216499e-01 2.64533389e-01 1.86390998e+02] [-3.60284743e-01 3.51692834e-03 9.32835749e-01 4.78908548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.57, Y:186.41, Z:47.88 [[ 6.26717897e-01 -7.39694454e-01 2.45105676e-01 4.29565050e+02] [ 6.90520256e-01 6.72936030e-01 2.65214773e-01 1.86409658e+02] [-3.61118337e-01 3.03558956e-03 9.32515057e-01 4.78807408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:186.43, Z:47.87 [[ 6.27824705e-01 -7.37885044e-01 2.47713146e-01 4.29580671e+02] [ 6.89846518e-01 6.74895935e-01 2.61968050e-01 1.86431124e+02] [-3.60482901e-01 6.41403759e-03 9.32743769e-01 4.78683274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.280385723 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:429.60, Y:186.45, Z:47.86 [[ 6.27356989e-01 -7.38556219e-01 2.46896579e-01 4.29599008e+02] [ 6.90337653e-01 6.74167546e-01 2.62549131e-01 1.86451888e+02] [-3.60356954e-01 5.72997271e-03 9.32796888e-01 4.78579704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.62, Y:186.47, Z:47.85 [[ 6.28182509e-01 -7.39046398e-01 2.43304660e-01 4.29619000e+02] [ 6.88621321e-01 6.73653779e-01 2.68311874e-01 1.86469169e+02] [-3.62198027e-01 -1.00404976e-03 9.32100628e-01 4.78500288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.63, Y:186.49, Z:47.84 [[ 6.28418662e-01 -7.37960824e-01 2.45975219e-01 4.29633920e+02] [ 6.88097839e-01 6.74841469e-01 2.66665249e-01 1.86489471e+02] [-3.62782785e-01 1.67759741e-03 9.31872221e-01 4.78394130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.65, Y:186.51, Z:47.82 [[ 6.28656171e-01 -7.35489505e-01 2.52678861e-01 4.29646685e+02] [ 6.88909152e-01 6.77430424e-01 2.57860817e-01 1.86512154e+02] [-3.60826273e-01 1.19669860e-02 9.32556268e-01 4.78243355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:186.53, Z:47.82 [[ 6.27251250e-01 -7.41466825e-01 2.38291454e-01 4.29672611e+02] [ 6.89176566e-01 6.70948739e-01 2.73611862e-01 1.86527386e+02] [-3.62755470e-01 -7.39849641e-03 9.31854995e-01 4.78212781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.68, Y:186.55, Z:47.81 [[ 6.26645903e-01 -7.39639384e-01 2.45455686e-01 4.29684564e+02] [ 6.90003459e-01 6.72999023e-01 2.66397339e-01 1.86548069e+02] [-3.62229400e-01 2.42847127e-03 9.32085814e-01 4.78078856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:186.57, Z:47.79 [[ 6.25889022e-01 -7.38666805e-01 2.50268421e-01 4.29698745e+02] [ 6.92069422e-01 6.73973673e-01 2.58455805e-01 1.86570992e+02] [-3.59587050e-01 1.14384706e-02 9.33041433e-01 4.77940671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:186.59, Z:47.79 [[ 6.24719717e-01 -7.43459027e-01 2.38734057e-01 4.29723298e+02] [ 6.92217340e-01 6.68768246e-01 2.71264057e-01 1.86586941e+02] [-3.61331468e-01 -4.20815136e-03 9.32427939e-01 4.77905956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.520385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:429.74, Y:186.61, Z:47.78 [[ 6.24017880e-01 -7.42160678e-01 2.44538776e-01 4.29736135e+02] [ 6.92938247e-01 6.70212418e-01 2.65804252e-01 1.86607919e+02] [-3.61162388e-01 3.58366446e-03 9.32496052e-01 4.77775620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.75, Y:186.63, Z:47.77 [[ 6.22644594e-01 -7.43158498e-01 2.45008483e-01 4.29752630e+02] [ 6.93788206e-01 6.69102721e-01 2.66382196e-01 1.86628658e+02] [-3.61900035e-01 4.12256213e-03 9.32207793e-01 4.77671010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.77, Y:186.65, Z:47.76 [[ 6.21607203e-01 -7.43807256e-01 2.45673059e-01 4.29768929e+02] [ 6.94145901e-01 6.68379689e-01 2.67264026e-01 1.86648184e+02] [-3.62995804e-01 4.39970332e-03 9.31780387e-01 4.77583277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.79, Y:186.67, Z:47.75 [[ 6.21079148e-01 -7.44252952e-01 2.45658779e-01 4.29786152e+02] [ 6.94604892e-01 6.67881934e-01 2.67315856e-01 1.86667957e+02] [-3.63021675e-01 4.61148527e-03 9.31769284e-01 4.77480983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.80, Y:186.69, Z:47.74 [[ 6.20562833e-01 -7.44714370e-01 2.45565219e-01 4.29803439e+02] [ 6.95195522e-01 6.67364741e-01 2.67072066e-01 1.86687786e+02] [-3.62773974e-01 4.98084224e-03 9.31863850e-01 4.77371507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.82, Y:186.71, Z:47.72 [[ 6.20190476e-01 -7.44516459e-01 2.47101226e-01 4.29818785e+02] [ 6.96327669e-01 6.67549268e-01 2.63639437e-01 1.86710101e+02] [-3.61236142e-01 8.55675279e-03 9.32435109e-01 4.77246654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:186.73, Z:47.72 [[ 6.20061711e-01 -7.45985457e-01 2.42959200e-01 4.29837824e+02] [ 6.95971407e-01 6.65957281e-01 2.68560423e-01 1.86729186e+02] [-3.62142618e-01 2.56862028e-03 9.32119159e-01 4.77173742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:186.75, Z:47.69 [[ 6.15975872e-01 -7.41288798e-01 2.66579523e-01 4.29838668e+02] [ 6.96193362e-01 6.70609138e-01 2.56121431e-01 1.86753478e+02] [-3.68630612e-01 2.78262725e-02 9.29159389e-01 4.76879557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:186.77, Z:47.68 [[ 6.15151266e-01 -7.46924268e-01 2.52374837e-01 4.29864922e+02] [ 6.96213658e-01 6.64845492e-01 2.70678804e-01 1.86768186e+02] [-3.69966840e-01 9.19839926e-03 9.28999422e-01 4.76842165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.88, Y:186.79, Z:47.68 [[ 6.13736910e-01 -7.49198652e-01 2.49054985e-01 4.29883759e+02] [ 6.97491805e-01 6.62319818e-01 2.73564692e-01 1.86788148e+02] [-3.69908351e-01 5.81706236e-03 9.29050038e-01 4.76758286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.90, Y:186.81, Z:47.67 [[ 6.12923998e-01 -7.50391226e-01 2.47461474e-01 4.29901335e+02] [ 6.98513612e-01 6.60976613e-01 2.74205491e-01 1.86807921e+02] [-3.69327642e-01 4.78808202e-03 9.29286913e-01 4.76666752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.91, Y:186.83, Z:47.66 [[ 6.10394323e-01 -7.52123647e-01 2.48452793e-01 4.29914177e+02] [ 7.00389771e-01 6.58988559e-01 2.74204755e-01 1.86826802e+02] [-3.69963428e-01 6.64076867e-03 9.29022584e-01 4.76562641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.93, Y:186.85, Z:47.65 [[ 6.10427830e-01 -7.52616185e-01 2.46873939e-01 4.29933911e+02] [ 7.01228637e-01 6.58430063e-01 2.73401263e-01 1.86848066e+02] [-3.68315439e-01 6.22333591e-03 9.29680057e-01 4.76468304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.910385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:429.95, Y:186.87, Z:47.64 [[ 6.08877450e-01 -7.54869786e-01 2.43802906e-01 4.29951152e+02] [ 7.02842457e-01 6.55864475e-01 2.75416541e-01 1.86867768e+02] [-3.67805290e-01 3.66011252e-03 9.29895624e-01 4.76385930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.96, Y:186.89, Z:47.63 [[ 6.08028303e-01 -7.53515930e-01 2.50030650e-01 4.29963761e+02] [ 7.03101970e-01 6.57339346e-01 2.71205834e-01 1.86890846e+02] [-3.68712901e-01 1.08962193e-02 9.29479462e-01 4.76251469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.99, Y:186.91, Z:47.63 [[ 6.11479088e-01 -7.56151853e-01 2.33083034e-01 4.29992950e+02] [ 7.03268554e-01 6.54368728e-01 2.77875707e-01 1.86908559e+02] [-3.62638479e-01 -5.99521500e-03 9.31910613e-01 4.76287837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:186.93, Z:47.61 [[ 6.11440260e-01 -7.52161018e-01 2.45753153e-01 4.30003234e+02] [ 7.03578159e-01 6.58900712e-01 2.66134603e-01 1.86932044e+02] [-3.62103002e-01 1.01811400e-02 9.32082486e-01 4.76121618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.01, Y:186.95, Z:47.59 [[ 6.06795891e-01 -7.52429774e-01 2.56219012e-01 4.30009962e+02] [ 7.04742623e-01 6.58364298e-01 2.64375278e-01 1.86954142e+02] [-3.67609280e-01 2.01466265e-02 9.29762083e-01 4.75924183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.03, Y:186.97, Z:47.59 [[ 6.05859937e-01 -7.56853306e-01 2.45166902e-01 4.30033353e+02] [ 7.05513645e-01 6.53548272e-01 2.74089680e-01 1.86971685e+02] [-3.67674085e-01 6.90863849e-03 9.29929050e-01 4.75877268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:186.99, Z:47.58 [[ 6.05746288e-01 -7.59348259e-01 2.37616615e-01 4.30054694e+02] [ 7.06090289e-01 6.50682811e-01 2.79371409e-01 1.86992213e+02] [-3.66753239e-01 -1.44940995e-03 9.30317129e-01 4.75839540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.07, Y:187.01, Z:47.57 [[ 6.05925765e-01 -7.56996408e-01 2.44561663e-01 4.30066912e+02] [ 7.06315496e-01 6.53374109e-01 2.72434752e-01 1.87014664e+02] [-3.66022387e-01 7.66245704e-03 9.30574500e-01 4.75709985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:187.03, Z:47.57 [[ 6.08348101e-01 -7.58198077e-01 2.34623665e-01 4.30091229e+02] [ 7.05860731e-01 6.52018300e-01 2.76826238e-01 1.87034238e+02] [-3.62868044e-01 -2.79508453e-03 9.31836343e-01 4.75707623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:187.06, Z:47.55 [[ 6.05259429e-01 -7.53924451e-01 2.55458307e-01 4.30088786e+02] [ 7.07958261e-01 6.56547026e-01 2.60271213e-01 1.87061314e+02] [-3.63945223e-01 2.33222125e-02 9.31128321e-01 4.75452494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:187.08, Z:47.54 [[ 6.03652483e-01 -7.57515129e-01 2.48544784e-01 4.30106367e+02] [ 7.08608448e-01 6.52662074e-01 2.68153471e-01 1.87081655e+02] [-3.65346065e-01 1.42494251e-02 9.30762702e-01 4.75356454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:187.10, Z:47.54 [[ 6.07153656e-01 -7.61190174e-01 2.27934108e-01 4.30138633e+02] [ 7.07960815e-01 6.48473053e-01 2.79775239e-01 1.87099461e+02] [-3.60771289e-01 -8.49814236e-03 9.32615601e-01 4.75404412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.13, Y:187.13, Z:47.51 [[ 6.02625929e-01 -7.54110154e-01 2.61074446e-01 4.30128403e+02] [ 7.09589807e-01 6.56046820e-01 2.57069786e-01 1.87127213e+02] [-3.65135996e-01 3.03388471e-02 9.30459703e-01 4.75072637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.300385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:430.15, Y:187.14, Z:47.50 [[ 6.03846719e-01 -7.58984669e-01 2.43539344e-01 4.30151747e+02] [ 7.09343647e-01 6.51037382e-01 2.70151658e-01 1.87144117e+02] [-3.63594184e-01 9.62289467e-03 9.31507740e-01 4.75023504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.17, Y:187.17, Z:47.50 [[ 6.05622588e-01 -7.58913778e-01 2.39313933e-01 4.30170301e+02] [ 7.07370057e-01 6.51185185e-01 2.74928096e-01 1.87166893e+02] [-3.64484408e-01 2.78084521e-03 9.31205339e-01 4.74959689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.18, Y:187.19, Z:47.48 [[ 6.06746166e-01 -7.56022096e-01 2.45539569e-01 4.30181451e+02] [ 7.06775346e-01 6.54460822e-01 2.68606856e-01 1.87189615e+02] [-3.63768746e-01 1.05651337e-02 9.31429373e-01 4.74834359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:187.21, Z:47.48 [[ 6.07529463e-01 -7.58343432e-01 2.36269316e-01 4.30203693e+02] [ 7.06046288e-01 6.51853911e-01 2.76740164e-01 1.87208562e+02] [-3.63877163e-01 -1.31072940e-03 9.31446022e-01 4.74785751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.22, Y:187.23, Z:47.48 [[ 6.12154976e-01 -7.55783210e-01 2.32503818e-01 4.30224639e+02] [ 7.03214190e-01 6.54793747e-01 2.77010743e-01 1.87231836e+02] [-3.61602114e-01 -6.07352047e-03 9.32312728e-01 4.74763289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.23, Y:187.26, Z:47.46 [[ 6.12886987e-01 -7.50548429e-01 2.47076095e-01 4.30232150e+02] [ 7.02937006e-01 6.60701427e-01 2.63349938e-01 1.87257579e+02] [-3.60900411e-01 1.22751802e-02 9.32523573e-01 4.74594010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4803857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.24, Y:187.28, Z:47.44 [[ 6.11055040e-01 -7.49589009e-01 2.54417092e-01 4.30236546e+02] [ 7.03155700e-01 6.61609354e-01 2.60470967e-01 1.87279908e+02] [-3.63570902e-01 1.97327311e-02 9.31357514e-01 4.74417736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.510385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:430.26, Y:187.30, Z:47.44 [[ 6.10669857e-01 -7.53725524e-01 2.42858314e-01 4.30258309e+02] [ 7.01917315e-01 6.57183558e-01 2.74630396e-01 1.87295112e+02] [-3.66598430e-01 2.75795119e-03 9.30375185e-01 4.74367605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.29, Y:187.32, Z:47.44 [[ 6.16938597e-01 -7.53080981e-01 2.28595283e-01 4.30287612e+02] [ 6.99117070e-01 6.57797819e-01 2.80245165e-01 1.87316136e+02] [-3.61416782e-01 -1.30791945e-02 9.32312632e-01 4.74370741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.29, Y:187.34, Z:47.42 [[ 6.18575366e-01 -7.45515258e-01 2.48136084e-01 4.30291621e+02] [ 6.99193030e-01 6.66356568e-01 2.59032879e-01 1.87343707e+02] [-3.58460072e-01 1.32636622e-02 9.33450830e-01 4.74169099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:187.36, Z:47.41 [[ 6.19164893e-01 -7.48705533e-01 2.36801310e-01 4.30315506e+02] [ 6.97292791e-01 6.62892309e-01 2.72683978e-01 1.87360782e+02] [-3.61133770e-01 -3.71649978e-03 9.32506616e-01 4.74131963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.630385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:430.33, Y:187.38, Z:47.40 [[ 6.21307704e-01 -7.44897183e-01 2.43115042e-01 4.30326983e+02] [ 6.95522659e-01 6.67170683e-01 2.66704913e-01 1.87383660e+02] [-3.60866967e-01 3.38620376e-03 9.32611155e-01 4.73985116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.33, Y:187.41, Z:47.38 [[ 6.20487285e-01 -7.41969464e-01 2.53922910e-01 4.30332707e+02] [ 6.96661208e-01 6.70189676e-01 2.55947180e-01 1.87407509e+02] [-3.60081505e-01 1.80862701e-02 9.32745516e-01 4.73817901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:187.42, Z:47.38 [[ 6.21619808e-01 -7.47077803e-01 2.35507050e-01 4.30359591e+02] [ 6.94875472e-01 6.64700229e-01 2.74447963e-01 1.87421496e+02] [-3.61575571e-01 -6.95421768e-03 9.32316870e-01 4.73793046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.37, Y:187.44, Z:47.36 [[ 6.20765627e-01 -7.44498038e-01 2.45708583e-01 4.30368349e+02] [ 6.94516535e-01 6.67611764e-01 2.68218782e-01 1.87442459e+02] [-3.63726298e-01 4.14767333e-03 9.31496633e-01 4.73635535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.39, Y:187.46, Z:47.35 [[ 6.23289640e-01 -7.42938061e-01 2.44034963e-01 4.30387162e+02] [ 6.93637475e-01 6.69351618e-01 2.66149327e-01 1.87463075e+02] [-3.61077663e-01 3.38367751e-03 9.32529609e-01 4.73528749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:187.48, Z:47.35 [[ 6.23596319e-01 -7.44865682e-01 2.37282000e-01 4.30408239e+02] [ 6.92201844e-01 6.67173768e-01 2.75201328e-01 1.87479076e+02] [-3.63296350e-01 -7.36749725e-03 9.31644504e-01 4.73457437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.42, Y:187.50, Z:47.33 [[ 6.23951105e-01 -7.40755450e-01 2.48930477e-01 4.30419516e+02] [ 6.91091167e-01 6.71751367e-01 2.66726638e-01 1.87502286e+02] [-3.64798600e-01 5.60927337e-03 9.31069556e-01 4.73288729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.44, Y:187.52, Z:47.32 [[ 6.24470033e-01 -7.42484345e-01 2.42392607e-01 4.30441290e+02] [ 6.90552619e-01 6.69856784e-01 2.72816732e-01 1.87518847e+02] [-3.64930485e-01 -2.98102341e-03 9.31029997e-01 4.73211908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.45, Y:187.54, Z:47.31 [[ 6.23777158e-01 -7.40267769e-01 2.50810062e-01 4.30454781e+02] [ 6.90113836e-01 6.72285625e-01 2.67908440e-01 1.87538731e+02] [-3.66939983e-01 5.97232906e-03 9.30225446e-01 4.73060756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:187.55, Z:47.31 [[ 6.27090265e-01 -7.43908234e-01 2.30994242e-01 4.30487515e+02] [ 6.89954871e-01 6.68106454e-01 2.78560663e-01 1.87553368e+02] [-3.61552315e-01 -1.53070775e-02 9.32226162e-01 4.73066205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.50, Y:187.58, Z:47.29 [[ 6.25996860e-01 -7.41971714e-01 2.40012306e-01 4.30501479e+02] [ 6.90283881e-01 6.70414902e-01 2.72125015e-01 1.87575118e+02] [-3.62816890e-01 -4.67277856e-03 9.31848737e-01 4.72921098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.52, Y:187.59, Z:47.28 [[ 6.25818409e-01 -7.40253585e-01 2.45715180e-01 4.30517299e+02] [ 6.91127950e-01 6.72316735e-01 2.65202496e-01 1.87593558e+02] [-3.61515526e-01 3.85202456e-03 9.32358132e-01 4.72782938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.55, Y:187.61, Z:47.27 [[ 6.26122996e-01 -7.43667461e-01 2.34368730e-01 4.30546852e+02] [ 6.90464620e-01 6.68454690e-01 2.76454223e-01 1.87607319e+02] [-3.62254886e-01 -1.12710303e-02 9.32010923e-01 4.72737164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.56, Y:187.63, Z:47.26 [[ 6.27337178e-01 -7.41095625e-01 2.39218185e-01 4.30564554e+02] [ 6.89991521e-01 6.71383599e-01 2.70473223e-01 1.87627190e+02] [-3.61053688e-01 -4.61938877e-03 9.32533590e-01 4.72623267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:187.64, Z:47.27 [[ 6.32005818e-01 -7.43076036e-01 2.20015114e-01 4.30599608e+02] [ 6.89190361e-01 6.68753429e-01 2.78900516e-01 1.87642306e+02] [-3.54380151e-01 -2.46344532e-02 9.34776900e-01 4.72667975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.61, Y:187.66, Z:47.25 [[ 6.34855400e-01 -7.35224419e-01 2.37494578e-01 4.30609638e+02] [ 6.87385523e-01 6.77819602e-01 2.60886431e-01 1.87663664e+02] [-3.52788555e-01 -2.37482470e-03 9.35700056e-01 4.72489748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.63, Y:187.68, Z:47.24 [[ 6.36829152e-01 -7.33452052e-01 2.37690383e-01 4.30627586e+02] [ 6.86049142e-01 6.79737848e-01 2.59409007e-01 1.87681424e+02] [-3.51831218e-01 -2.13193406e-03 9.36061028e-01 4.72379577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:187.70, Z:47.21 [[ 6.36927432e-01 -7.26637932e-01 2.57528178e-01 4.30634715e+02] [ 6.85035790e-01 6.86685389e-01 2.43288188e-01 1.87703881e+02] [-3.53623263e-01 2.14590978e-02 9.35141751e-01 4.72134312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:187.71, Z:47.23 [[ 6.40481862e-01 -7.39127200e-01 2.08504118e-01 4.30688723e+02] [ 6.83924457e-01 6.72458498e-01 2.82925620e-01 1.87709231e+02] [-3.49328387e-01 -3.86076625e-02 9.36204639e-01 4.72325383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.70, Y:187.73, Z:47.21 [[ 6.41397845e-01 -7.30109146e-01 2.35689285e-01 4.30696868e+02] [ 6.83097021e-01 6.83316708e-01 2.57792040e-01 1.87732464e+02] [-3.49266753e-01 -4.34861010e-03 9.37013247e-01 4.72089825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2303857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.72, Y:187.75, Z:47.20 [[ 6.41781844e-01 -7.29909157e-01 2.35263017e-01 4.30718190e+02] [ 6.83155602e-01 6.83530886e-01 2.57067990e-01 1.87750332e+02] [-3.48445818e-01 -4.26032071e-03 9.37319242e-01 4.71990283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:187.77, Z:47.19 [[ 6.41892924e-01 -7.28941540e-01 2.37944751e-01 4.30735276e+02] [ 6.82854463e-01 6.84574801e-01 2.55082582e-01 1.87766780e+02] [-3.48831271e-01 -1.25406867e-03 9.37184705e-01 4.71883759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.77, Y:187.78, Z:47.18 [[ 6.41055977e-01 -7.32296137e-01 2.29759880e-01 4.30766007e+02] [ 6.84126900e-01 6.80906984e-01 2.61411676e-01 1.87780755e+02] [-3.47875867e-01 -1.03946029e-02 9.37482978e-01 4.71835072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:187.80, Z:47.17 [[ 6.40572549e-01 -7.30444489e-01 2.36891659e-01 4.30783164e+02] [ 6.84380197e-01 6.82970614e-01 2.55293727e-01 1.87800310e+02] [-3.48267938e-01 -1.41019273e-03 9.37393970e-01 4.71698557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.81, Y:187.81, Z:47.16 [[ 6.40068118e-01 -7.31317174e-01 2.35558901e-01 4.30806846e+02] [ 6.85256759e-01 6.82034345e-01 2.55445349e-01 1.87812741e+02] [-3.47470831e-01 -2.08409462e-03 9.37688476e-01 4.71614260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:187.83, Z:47.15 [[ 6.39896353e-01 -7.32284235e-01 2.33007419e-01 4.30831246e+02] [ 6.85582917e-01 6.80981158e-01 2.57372740e-01 1.87830247e+02] [-3.47143662e-01 -4.94597165e-03 9.37798921e-01 4.71532567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.85, Y:187.85, Z:47.14 [[ 6.38969365e-01 -7.31727196e-01 2.37262433e-01 4.30845207e+02] [ 6.86121604e-01 6.81597546e-01 2.54287101e-01 1.87848048e+02] [-3.47786279e-01 3.09213403e-04 9.37573788e-01 4.71417741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.88, Y:187.86, Z:47.14 [[ 6.40422661e-01 -7.32869164e-01 2.29698941e-01 4.30875340e+02] [ 6.85517716e-01 6.80315254e-01 2.59300245e-01 1.87862456e+02] [-3.46300847e-01 -8.59905984e-03 9.38084101e-01 4.71350514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.89, Y:187.88, Z:47.12 [[ 6.39208153e-01 -7.31137203e-01 2.38435165e-01 4.30886504e+02] [ 6.86143381e-01 6.82226974e-01 2.52534388e-01 1.87880990e+02] [-3.47304187e-01 2.17867098e-03 9.37749996e-01 4.71207481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.93, Y:187.89, Z:47.12 [[ 6.41450515e-01 -7.35441865e-01 2.18326591e-01 4.30926535e+02] [ 6.86467583e-01 6.77296230e-01 2.64635739e-01 1.87891777e+02] [-3.42495979e-01 -1.98766043e-02 9.39309015e-01 4.71236555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.94, Y:187.91, Z:47.11 [[ 6.41607999e-01 -7.31630116e-01 2.30340073e-01 4.30939688e+02] [ 6.86963483e-01 6.81693906e-01 2.51743106e-01 1.87912330e+02] [-3.41204262e-01 -3.28517145e-03 9.39983436e-01 4.71084854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:187.93, Z:47.09 [[ 6.37524335e-01 -7.29281627e-01 2.48417049e-01 4.30947609e+02] [ 6.88637973e-01 6.83986905e-01 2.40706575e-01 1.87929348e+02] [-3.45456891e-01 1.76131143e-02 9.38269319e-01 4.70864257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.98, Y:187.94, Z:47.09 [[ 6.36430587e-01 -7.35813038e-01 2.31376924e-01 4.30978417e+02] [ 6.90082198e-01 6.77178709e-01 2.55373368e-01 1.87942402e+02] [-3.44590580e-01 -2.85832595e-03 9.38748721e-01 4.70858687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:187.96, Z:47.08 [[ 6.35806384e-01 -7.36363224e-01 2.31342699e-01 4.30996434e+02] [ 6.90625799e-01 6.76581168e-01 2.55487630e-01 1.87961375e+02] [-3.44653808e-01 -2.66942997e-03 9.38726066e-01 4.70763638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.04, Y:187.97, Z:47.10 [[ 6.38955192e-01 -7.45326318e-01 1.90328513e-01 4.31038772e+02] [ 6.92868601e-01 6.65105280e-01 2.78510447e-01 1.87974876e+02] [-3.34169665e-01 -4.60830454e-02 9.41385674e-01 4.70961324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:431.01, Y:188.01, Z:47.04 [[ 6.33765454e-01 -7.26850659e-01 2.64630815e-01 4.31007484e+02] [ 6.93023248e-01 6.85511630e-01 2.23142517e-01 1.88013694e+02] [-3.43598787e-01 4.19752885e-02 9.38177994e-01 4.70366516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.710385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:431.04, Y:188.02, Z:47.04 [[ 6.32051432e-01 -7.39978571e-01 2.30092811e-01 4.31044451e+02] [ 6.94881375e-01 6.72629851e-01 2.54379557e-01 1.88023462e+02] [-3.43002714e-01 -8.93754687e-04 9.39333987e-01 4.70448540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.740385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:431.06, Y:188.04, Z:47.04 [[ 6.28467536e-01 -7.45314940e-01 2.22562794e-01 4.31064809e+02] [ 6.98654363e-01 6.66667997e-01 2.59684160e-01 1.88041913e+02] [-3.41921975e-01 -7.70859692e-03 9.39696728e-01 4.70434372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.770385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:431.08, Y:188.06, Z:47.02 [[ 6.27675177e-01 -7.41827160e-01 2.36043083e-01 4.31077875e+02] [ 6.97831680e-01 6.70557714e-01 2.51760399e-01 1.88064908e+02] [-3.45043212e-01 6.69458743e-03 9.38562925e-01 4.70247071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.800385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:431.10, Y:188.08, Z:47.02 [[ 6.25498864e-01 -7.45038572e-01 2.31665056e-01 4.31098688e+02] [ 6.99595196e-01 6.67018950e-01 2.56227015e-01 1.88083622e+02] [-3.45423991e-01 1.80205348e-03 9.38445000e-01 4.70186779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.12, Y:188.10, Z:47.01 [[ 6.24675927e-01 -7.45905300e-01 2.31095802e-01 4.31115233e+02] [ 7.00694198e-01 6.66048485e-01 2.55748033e-01 1.88103996e+02] [-3.44684822e-01 2.16784850e-03 9.38715971e-01 4.70085661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:188.12, Z:47.00 [[ 6.23164181e-01 -7.47297978e-01 2.30677556e-01 4.31130508e+02] [ 7.02292381e-01 6.64483073e-01 2.55436210e-01 1.88124244e+02] [-3.44168295e-01 2.82439358e-03 9.38903727e-01 4.69971550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:188.14, Z:46.99 [[ 6.22971216e-01 -7.47482079e-01 2.30602268e-01 4.31148422e+02] [ 7.02463538e-01 6.64275998e-01 2.55504163e-01 1.88144117e+02] [-3.44168334e-01 2.81794606e-03 9.38903732e-01 4.69870769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:188.16, Z:46.98 [[ 6.22367055e-01 -7.48219861e-01 2.29839702e-01 4.31165244e+02] [ 7.03505524e-01 6.63443545e-01 2.54799216e-01 1.88163711e+02] [-3.43131501e-01 3.11486184e-03 9.39282211e-01 4.69769126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.18, Y:188.18, Z:46.97 [[ 6.21704248e-01 -7.48905007e-01 2.29401654e-01 4.31182807e+02] [ 7.04357305e-01 6.62668742e-01 2.54462030e-01 1.88183762e+02] [-3.42585194e-01 3.38060621e-03 9.39480685e-01 4.69666013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:188.20, Z:46.96 [[ 6.21136279e-01 -7.49518196e-01 2.28937104e-01 4.31201607e+02] [ 7.05142239e-01 6.61973927e-01 2.54096325e-01 1.88202812e+02] [-3.42000212e-01 3.60477640e-03 9.39692961e-01 4.69578024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:188.22, Z:46.95 [[ 6.21943379e-01 -7.48919597e-01 2.28704767e-01 4.31220137e+02] [ 7.04541117e-01 6.62653329e-01 2.53992875e-01 1.88220903e+02] [-3.41772217e-01 3.16272524e-03 9.39777500e-01 4.69496362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:188.24, Z:46.94 [[ 6.22924930e-01 -7.48250545e-01 2.28222818e-01 4.31236645e+02] [ 7.03998008e-01 6.63410579e-01 2.53521615e-01 1.88239974e+02] [-3.41103118e-01 2.74347504e-03 9.40021881e-01 4.69399551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.25, Y:188.26, Z:46.93 [[ 6.23939036e-01 -7.47499942e-01 2.27912080e-01 4.31253351e+02] [ 7.03287934e-01 6.64258026e-01 2.53273283e-01 1.88260416e+02] [-3.40714193e-01 2.26072745e-03 9.40164203e-01 4.69293729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:188.28, Z:46.92 [[ 6.26096401e-01 -7.45771047e-01 2.27659488e-01 4.31268459e+02] [ 7.01494671e-01 6.66201232e-01 2.53142541e-01 1.88279923e+02] [-3.40453409e-01 1.21028378e-03 9.40260608e-01 4.69184029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:188.30, Z:46.91 [[ 6.26885344e-01 -7.45128240e-01 2.27593214e-01 4.31286009e+02] [ 7.00801471e-01 6.66920746e-01 2.53167962e-01 1.88299510e+02] [-3.40429234e-01 7.90374246e-04 9.40269808e-01 4.69082581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:188.32, Z:46.90 [[ 6.28292572e-01 -7.44169674e-01 2.26847836e-01 4.31304869e+02] [ 7.00028566e-01 6.67990621e-01 2.52484729e-01 1.88318622e+02] [-3.39423705e-01 1.65685383e-04 9.40633574e-01 4.68989955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:188.34, Z:46.89 [[ 6.28517933e-01 -7.44020006e-01 2.26714443e-01 4.31322947e+02] [ 6.99869759e-01 6.68157340e-01 2.52483840e-01 1.88337040e+02] [-3.39333947e-01 -2.00381709e-05 9.40665973e-01 4.68902111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:188.35, Z:46.90 [[ 6.30516243e-01 -7.47804955e-01 2.07935126e-01 4.31352623e+02] [ 7.00602053e-01 6.63627653e-01 2.62211940e-01 1.88352775e+02] [-3.34074888e-01 -1.96491110e-02 9.42341701e-01 4.68979731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.250385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:431.35, Y:188.38, Z:46.86 [[ 6.30072943e-01 -7.38064031e-01 2.41390913e-01 4.31351378e+02] [ 6.97993542e-01 6.74517282e-01 2.40481707e-01 1.88379473e+02] [-3.40313241e-01 1.69682818e-02 9.40159016e-01 4.68639317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:431.38, Y:188.40, Z:46.86 [[ 6.30473843e-01 -7.42132135e-01 2.27470059e-01 4.31377046e+02] [ 6.97494658e-01 6.70252589e-01 2.53500826e-01 1.88395778e+02] [-3.40593505e-01 -1.16648874e-03 9.40209925e-01 4.68610333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.310385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:431.39, Y:188.42, Z:46.85 [[ 6.31472992e-01 -7.41075351e-01 2.28142903e-01 4.31393759e+02] [ 6.96044168e-01 6.71419324e-01 2.54398524e-01 1.88415864e+02] [-3.41708029e-01 -1.84826038e-03 9.39804345e-01 4.68503969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3403857229999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:431.41, Y:188.44, Z:46.84 [[ 6.31672436e-01 -7.40868292e-01 2.28263240e-01 4.31411748e+02] [ 6.95720742e-01 6.71647152e-01 2.54681669e-01 1.88435048e+02] [-3.41997928e-01 -2.06791958e-03 9.39698431e-01 4.68404998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:188.45, Z:46.84 [[ 6.32682221e-01 -7.44855916e-01 2.11902979e-01 4.31439996e+02] [ 6.96870034e-01 6.66949477e-01 2.63724385e-01 1.88452697e+02] [-3.37765249e-01 -1.91848939e-02 9.41034843e-01 4.68434878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.45, Y:188.47, Z:46.83 [[ 6.32465402e-01 -7.41710680e-01 2.23277367e-01 4.31451335e+02] [ 6.97298292e-01 6.70706679e-01 2.52839164e-01 1.88474928e+02] [-3.37287129e-01 -4.22109710e-03 9.41392360e-01 4.68288089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.47, Y:188.49, Z:46.82 [[ 6.31767924e-01 -7.43278500e-01 2.20014459e-01 4.31472769e+02] [ 6.98425741e-01 6.68944951e-01 2.54389735e-01 1.88494355e+02] [-3.36259982e-01 -7.05151280e-03 9.41742800e-01 4.68218916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.460385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:431.49, Y:188.52, Z:46.81 [[ 6.30812332e-01 -7.43163358e-01 2.23123340e-01 4.31488678e+02] [ 6.99269812e-01 6.69104527e-01 2.51636367e-01 1.88515495e+02] [-3.36299765e-01 -2.71190705e-03 9.41751089e-01 4.68101154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.49, Y:188.54, Z:46.78 [[ 6.26098248e-01 -7.38065518e-01 2.51515954e-01 4.31486502e+02] [ 6.99947795e-01 6.74131516e-01 2.35838470e-01 1.88540723e+02] [-3.43619074e-01 2.83899844e-02 9.38679893e-01 4.67776803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.52, Y:188.55, Z:46.78 [[ 6.24314556e-01 -7.46887310e-01 2.28890107e-01 4.31517456e+02] [ 7.01655180e-01 6.64950159e-01 2.55971277e-01 1.88553947e+02] [-3.43382211e-01 7.95335012e-04 9.39195413e-01 4.67796419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.53, Y:188.57, Z:46.77 [[ 6.21311082e-01 -7.49479863e-01 2.28588000e-01 4.31534278e+02] [ 7.04483774e-01 6.62023768e-01 2.55787300e-01 1.88573285e+02] [-3.43038120e-01 2.11305258e-03 9.39319106e-01 4.67696988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.55, Y:188.59, Z:46.76 [[ 6.19800622e-01 -7.50780171e-01 2.28421373e-01 4.31551567e+02] [ 7.05914258e-01 6.60546270e-01 2.55663228e-01 1.88592791e+02] [-3.42829768e-01 2.78567596e-03 9.39393416e-01 4.67595638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.57, Y:188.61, Z:46.75 [[ 6.16688202e-01 -7.53327987e-01 2.28457011e-01 4.31568176e+02] [ 7.08561339e-01 6.57632253e-01 2.55852786e-01 1.88612631e+02] [-3.42981763e-01 4.09441089e-03 9.39333139e-01 4.67491242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.59, Y:188.63, Z:46.74 [[ 6.15153378e-01 -7.54551194e-01 2.28558128e-01 4.31585189e+02] [ 7.09774276e-01 6.56224495e-01 2.56105230e-01 1.88632759e+02] [-3.43229949e-01 4.68068196e-03 9.39239742e-01 4.67388075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.60, Y:188.65, Z:46.73 [[ 6.12518473e-01 -7.56551469e-01 2.29021820e-01 4.31601355e+02] [ 7.11666290e-01 6.53909246e-01 2.56775758e-01 1.88653547e+02] [-3.44023563e-01 5.70721423e-03 9.38943670e-01 4.67285265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.63, Y:188.67, Z:46.73 [[ 6.13994463e-01 -7.59799001e-01 2.13813651e-01 4.31631281e+02] [ 7.12388019e-01 6.50080962e-01 2.64382402e-01 1.88672392e+02] [-3.39873669e-01 -1.00110473e-02 9.40417816e-01 4.67297979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.63, Y:188.70, Z:46.70 [[ 6.10387928e-01 -7.53734139e-01 2.43539369e-01 4.31626624e+02] [ 7.13501305e-01 6.56715142e-01 2.44215296e-01 1.88698163e+02] [-3.44009397e-01 2.46995894e-02 9.38641287e-01 4.67012920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.65, Y:188.71, Z:46.70 [[ 6.08296680e-01 -7.59835896e-01 2.29400436e-01 4.31650994e+02] [ 7.14886161e-01 6.50073747e-01 2.57569214e-01 1.88713891e+02] [-3.44837536e-01 7.31669999e-03 9.38633869e-01 4.66993616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.67, Y:188.73, Z:46.69 [[ 6.08860177e-01 -7.61147855e-01 2.23479817e-01 4.31673751e+02] [ 7.14787135e-01 6.48578229e-01 2.61582936e-01 1.88733265e+02] [-3.44047434e-01 4.73065161e-04 9.38952150e-01 4.66940025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.69, Y:188.75, Z:46.68 [[ 6.08987358e-01 -7.60556037e-01 2.25141982e-01 4.31689410e+02] [ 7.14853193e-01 6.49266274e-01 2.59688694e-01 1.88754519e+02] [-3.43684900e-01 2.79633295e-03 9.39080865e-01 4.66849416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.70, Y:188.78, Z:46.67 [[ 6.08261589e-01 -7.57417622e-01 2.37352870e-01 4.31698286e+02] [ 7.14674811e-01 6.52716759e-01 2.51397589e-01 1.88777645e+02] [-3.45337160e-01 1.67146211e-02 9.38329829e-01 4.66667616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.71, Y:188.80, Z:46.66 [[ 6.07262559e-01 -7.58564560e-01 2.36245620e-01 4.31711213e+02] [ 7.15115873e-01 6.51424963e-01 2.53485317e-01 1.88798010e+02] [-3.46181272e-01 1.50108507e-02 9.38047548e-01 4.66561294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.73, Y:188.82, Z:46.65 [[ 6.06976872e-01 -7.60628060e-01 2.30269476e-01 4.31730582e+02] [ 7.15207308e-01 6.49144900e-01 2.59016227e-01 1.88816508e+02] [-3.46493266e-01 7.47355260e-03 9.38022688e-01 4.66486338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.75, Y:188.84, Z:46.64 [[ 6.06391600e-01 -7.61124096e-01 2.30172409e-01 4.31746464e+02] [ 7.15721863e-01 6.48561175e-01 2.59057171e-01 1.88836999e+02] [-3.46455543e-01 7.64933329e-03 9.38035204e-01 4.66389354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.76, Y:188.86, Z:46.63 [[ 6.06127338e-01 -7.61276541e-01 2.30364232e-01 4.31762708e+02] [ 7.15749356e-01 6.48382383e-01 2.59428496e-01 1.88856212e+02] [-3.46860938e-01 7.63634658e-03 9.37885481e-01 4.66296670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.78, Y:188.88, Z:46.62 [[ 6.06049772e-01 -7.61426626e-01 2.30072093e-01 4.31779370e+02] [ 7.16005210e-01 6.48205766e-01 2.59163701e-01 1.88876238e+02] [-3.46468199e-01 7.66671583e-03 9.38030388e-01 4.66203047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.80, Y:188.90, Z:46.61 [[ 6.05519488e-01 -7.61953631e-01 2.29723343e-01 4.31795553e+02] [ 7.16654361e-01 6.47584017e-01 2.58923671e-01 1.88897490e+02] [-3.46052996e-01 7.84890676e-03 9.38182135e-01 4.66101579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.81, Y:188.92, Z:46.60 [[ 6.05253639e-01 -7.62244433e-01 2.29459056e-01 4.31811501e+02] [ 7.17015641e-01 6.47241108e-01 2.58780831e-01 1.88917465e+02] [-3.45769581e-01 7.89769227e-03 9.38286216e-01 4.65999991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.83, Y:188.94, Z:46.59 [[ 6.06196313e-01 -7.61161776e-01 2.30561881e-01 4.31828483e+02] [ 7.16363561e-01 6.48498091e-01 2.57436350e-01 1.88939387e+02] [-3.45469649e-01 9.10916353e-03 9.38385712e-01 4.65882699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.84, Y:188.96, Z:46.58 [[ 6.04596790e-01 -7.62842681e-01 2.29202456e-01 4.31841745e+02] [ 7.18015694e-01 6.46525482e-01 2.57795004e-01 1.88958639e+02] [-3.44842261e-01 8.70892845e-03 9.38620248e-01 4.65799385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.150385723 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:431.86, Y:188.98, Z:46.57 [[ 6.04062265e-01 -7.62976134e-01 2.30165591e-01 4.31860296e+02] [ 7.18010379e-01 6.46360072e-01 2.58224232e-01 1.88979581e+02] [-3.45788774e-01 9.27776906e-03 9.38266512e-01 4.65694735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.87, Y:189.00, Z:46.56 [[ 6.02421442e-01 -7.64251216e-01 2.30235717e-01 4.31874357e+02] [ 7.19194047e-01 6.44845295e-01 2.58716966e-01 1.88999622e+02] [-3.46191175e-01 9.72750905e-03 9.38113557e-01 4.65606615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.89, Y:189.02, Z:46.55 [[ 6.01580348e-01 -7.65093200e-01 2.29637716e-01 4.31891736e+02] [ 7.19794677e-01 6.43854207e-01 2.59513745e-01 1.89020194e+02] [-3.46405411e-01 9.17363668e-03 9.38040050e-01 4.65515011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.91, Y:189.04, Z:46.54 [[ 6.00570584e-01 -7.65737107e-01 2.30133995e-01 4.31906842e+02] [ 7.20224059e-01 6.43084110e-01 2.60230921e-01 1.89040537e+02] [-3.47263989e-01 9.46100389e-03 9.37719687e-01 4.65429252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.91, Y:189.06, Z:46.52 [[ 5.98155521e-01 -7.63169686e-01 2.44503584e-01 4.31913932e+02] [ 7.20120432e-01 6.45743775e-01 2.53853382e-01 1.89063554e+02] [-3.51619873e-01 2.42282244e-02 9.35829289e-01 4.65226379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.93, Y:189.08, Z:46.51 [[ 5.96038710e-01 -7.64668863e-01 2.44988543e-01 4.31927199e+02] [ 7.19372984e-01 6.44074996e-01 2.60134408e-01 1.89084304e+02] [-3.56707677e-01 2.11879616e-02 9.33975751e-01 4.65093105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.97, Y:189.10, Z:46.52 [[ 6.00827650e-01 -7.71921802e-01 2.07708611e-01 4.31969445e+02] [ 7.18465058e-01 6.35376488e-01 2.83027700e-01 1.89098707e+02] [-3.50448420e-01 -2.08194880e-02 9.36350604e-01 4.65241107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.96, Y:189.13, Z:46.49 [[ 5.98907426e-01 -7.61346430e-01 2.48317355e-01 4.31959665e+02] [ 7.18104864e-01 6.47822323e-01 2.54266872e-01 1.89128725e+02] [-3.54450701e-01 2.60355826e-02 9.34712175e-01 4.64893728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.99, Y:189.14, Z:46.50 [[ 6.03095615e-01 -7.67941846e-01 2.15733631e-01 4.31994867e+02] [ 7.17439250e-01 6.40433044e-01 2.74092026e-01 1.89144350e+02] [-3.48649682e-01 -1.05279249e-02 9.37193983e-01 4.64988947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.00, Y:189.17, Z:46.48 [[ 6.03524618e-01 -7.63447372e-01 2.30013359e-01 4.32001918e+02] [ 7.17670290e-01 6.45822304e-01 2.60505098e-01 1.89168284e+02] [-3.47429690e-01 7.85251446e-03 9.37673157e-01 4.64824263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.02, Y:189.19, Z:46.47 [[ 6.02534877e-01 -7.62619411e-01 2.35294189e-01 4.32015286e+02] [ 7.18182487e-01 6.46691882e-01 2.56911513e-01 1.89190016e+02] [-3.48088549e-01 1.41860188e-02 9.37354319e-01 4.64681687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.04, Y:189.21, Z:46.47 [[ 6.02506819e-01 -7.65868642e-01 2.24567934e-01 4.32037916e+02] [ 7.18846227e-01 6.42993208e-01 2.64234436e-01 1.89208083e+02] [-3.46764525e-01 2.22676218e-03 9.37949575e-01 4.64659163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.05, Y:189.23, Z:46.45 [[ 6.01792821e-01 -7.64830664e-01 2.29955335e-01 4.32050618e+02] [ 7.19070132e-01 6.44175898e-01 2.60721226e-01 1.89229452e+02] [-3.47539273e-01 8.45385105e-03 9.37627317e-01 4.64544563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:432.07, Y:189.25, Z:46.44 [[ 6.00692498e-01 -7.65546522e-01 2.30449659e-01 4.32065283e+02] [ 7.19608513e-01 6.43319765e-01 2.61348939e-01 1.89251192e+02] [-3.48327592e-01 8.84318983e-03 9.37331151e-01 4.64442952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:432.08, Y:189.27, Z:46.44 [[ 6.00828688e-01 -7.65579639e-01 2.29984139e-01 4.32080404e+02] [ 7.19776768e-01 6.43281849e-01 2.60978672e-01 1.89271232e+02] [-3.47744580e-01 8.73376703e-03 9.37548627e-01 4.64353029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.10, Y:189.29, Z:46.43 [[ 6.00737139e-01 -7.65631074e-01 2.30052056e-01 4.32097055e+02] [ 7.19779495e-01 6.43220800e-01 2.61121584e-01 1.89291577e+02] [-3.47897066e-01 8.72131896e-03 9.37492171e-01 4.64251095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.11, Y:189.31, Z:46.42 [[ 6.00729148e-01 -7.65654197e-01 2.29995960e-01 4.32112873e+02] [ 7.19768730e-01 6.43194589e-01 2.61215804e-01 1.89311291e+02] [-3.47933134e-01 8.62395287e-03 9.37479686e-01 4.64156910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.13, Y:189.33, Z:46.41 [[ 6.00187626e-01 -7.65904790e-01 2.30574644e-01 4.32128419e+02] [ 7.19758949e-01 6.42894853e-01 2.61979510e-01 1.89332813e+02] [-3.48886613e-01 8.72130320e-03 9.37124362e-01 4.64051470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.15, Y:189.35, Z:46.40 [[ 6.00168686e-01 -7.65935828e-01 2.30520837e-01 4.32145064e+02] [ 7.19757235e-01 6.42859084e-01 2.62071977e-01 1.89353397e+02] [-3.48922731e-01 8.63164667e-03 9.37111745e-01 4.63953504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:432.16, Y:189.37, Z:46.38 [[ 6.00777429e-01 -7.65605414e-01 2.30032238e-01 4.32160315e+02] [ 7.19547726e-01 6.43256748e-01 2.61671218e-01 1.89374715e+02] [-3.48306691e-01 8.31301263e-03 9.37343770e-01 4.63848089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.18, Y:189.39, Z:46.38 [[ 6.01275671e-01 -7.65341814e-01 2.29607220e-01 4.32176405e+02] [ 7.19382880e-01 6.43573881e-01 2.61344472e-01 1.89394519e+02] [-3.47787062e-01 8.03543066e-03 9.37539115e-01 4.63750040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.19, Y:189.41, Z:46.36 [[ 6.01702605e-01 -7.65064913e-01 2.29411540e-01 4.32193465e+02] [ 7.19143147e-01 6.43905647e-01 2.61187005e-01 1.89414924e+02] [-3.47544399e-01 7.82283561e-03 9.37630894e-01 4.63648812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.21, Y:189.44, Z:46.35 [[ 6.01509149e-01 -7.65239561e-01 2.29336344e-01 4.32211076e+02] [ 7.19304906e-01 6.43698155e-01 2.61253016e-01 1.89435020e+02] [-3.47544525e-01 7.81667810e-03 9.37630899e-01 4.63547628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:432.23, Y:189.46, Z:46.34 [[ 6.02869997e-01 -7.64044572e-01 2.29746945e-01 4.32227263e+02] [ 7.17803325e-01 6.45125007e-01 2.61862773e-01 1.89455657e+02] [-3.48290330e-01 7.04391215e-03 9.37360245e-01 4.63442974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.24, Y:189.48, Z:46.33 [[ 6.03497827e-01 -7.63562562e-01 2.29701082e-01 4.32243890e+02] [ 7.17248749e-01 6.45699544e-01 2.61966278e-01 1.89476041e+02] [-3.48345526e-01 6.65673407e-03 9.37342564e-01 4.63340932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.26, Y:189.50, Z:46.32 [[ 6.04908045e-01 -7.62491591e-01 2.29549191e-01 4.32260445e+02] [ 7.16108719e-01 6.46970971e-01 2.61948210e-01 1.89496186e+02] [-3.48244970e-01 5.92759746e-03 9.37384822e-01 4.63236214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.28, Y:189.51, Z:46.31 [[ 6.05914815e-01 -7.61670070e-01 2.29621300e-01 4.32276809e+02] [ 7.15141255e-01 6.47942981e-01 2.62188632e-01 1.89514951e+02] [-3.48482743e-01 5.34768802e-03 9.37299941e-01 4.63138603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.29, Y:189.53, Z:46.30 [[ 6.08409407e-01 -7.59629850e-01 2.29783560e-01 4.32294618e+02] [ 7.12867232e-01 6.50342526e-01 2.62440295e-01 1.89534662e+02] [-3.48795503e-01 4.13402583e-03 9.37189739e-01 4.63037416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.31, Y:189.55, Z:46.29 [[ 6.09636504e-01 -7.58612425e-01 2.29892413e-01 4.32311367e+02] [ 7.11675036e-01 6.51533063e-01 2.62722877e-01 1.89553977e+02] [-3.49087347e-01 3.44323538e-03 9.37083864e-01 4.62937963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.33, Y:189.57, Z:46.28 [[ 6.12744684e-01 -7.56083312e-01 2.29960818e-01 4.32328195e+02] [ 7.08904087e-01 6.54472553e-01 2.62908109e-01 1.89573168e+02] [-3.49283477e-01 1.92461737e-03 9.37015127e-01 4.62834314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.34, Y:189.60, Z:46.26 [[ 6.12393349e-01 -7.51877157e-01 2.44243990e-01 4.32336397e+02] [ 7.07498357e-01 6.59093659e-01 2.55032593e-01 1.89595121e+02] [-3.52732846e-01 1.66219579e-02 9.35576427e-01 4.62626456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.37, Y:189.61, Z:46.26 [[ 6.14947626e-01 -7.55369188e-01 2.26399661e-01 4.32365631e+02] [ 7.06145085e-01 6.55279621e-01 2.68268032e-01 1.89610560e+02] [-3.50996490e-01 -5.09978094e-03 9.36362887e-01 4.62612813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.39, Y:189.63, Z:46.25 [[ 6.20683207e-01 -7.52153456e-01 2.21399040e-01 4.32387649e+02] [ 7.03174192e-01 6.58909815e-01 2.67177679e-01 1.89629752e+02] [-3.46840615e-01 -1.01506081e-02 9.37869156e-01 4.62544163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.40, Y:189.65, Z:46.24 [[ 6.22777342e-01 -7.48095281e-01 2.29132785e-01 4.32401637e+02] [ 7.01436309e-01 6.63590166e-01 2.60067676e-01 1.89651824e+02] [-3.46605664e-01 -1.24220060e-03 9.38010112e-01 4.62398700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.43, Y:189.67, Z:46.23 [[ 6.28324225e-01 -7.45370089e-01 2.22782626e-01 4.32428228e+02] [ 6.97529069e-01 6.66578865e-01 2.62917884e-01 1.89669665e+02] [-3.44473317e-01 -9.80031861e-03 9.38744954e-01 4.62332302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.44, Y:189.69, Z:46.22 [[ 6.28076690e-01 -7.41619988e-01 2.35625690e-01 4.32438322e+02] [ 6.96898684e-01 6.70802537e-01 2.53685200e-01 1.89692412e+02] [-3.46196325e-01 4.87347262e-03 9.38149430e-01 4.62162975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.46, Y:189.71, Z:46.21 [[ 6.27678843e-01 -7.43800660e-01 2.29738653e-01 4.32456519e+02] [ 6.97038200e-01 6.68395644e-01 2.59586229e-01 1.89707680e+02] [-3.46636723e-01 -2.80016677e-03 9.37995278e-01 4.62105622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.48, Y:189.73, Z:46.20 [[ 6.27837454e-01 -7.44262564e-01 2.27801156e-01 4.32475860e+02] [ 6.96902624e-01 6.67866086e-01 2.61307526e-01 1.89725494e+02] [-3.46622076e-01 -5.30342892e-03 9.37989878e-01 4.62016493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.290385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:432.49, Y:189.74, Z:46.19 [[ 6.28031471e-01 -7.43431035e-01 2.29971231e-01 4.32491959e+02] [ 6.97214109e-01 6.68810394e-01 2.58040973e-01 1.89744199e+02] [-3.45642818e-01 -1.71866487e-03 9.38364582e-01 4.61906814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.52, Y:189.76, Z:46.18 [[ 6.27007565e-01 -7.45933676e-01 2.24598449e-01 4.32515722e+02] [ 6.97671142e-01 6.65960769e-01 2.64104585e-01 1.89760041e+02] [-3.46578260e-01 -8.89971630e-03 9.37978840e-01 4.61828918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.54, Y:189.78, Z:46.17 [[ 6.27108464e-01 -7.45952065e-01 2.24255414e-01 4.32537027e+02] [ 6.98395454e-01 6.65953850e-01 2.62200800e-01 1.89779465e+02] [-3.44932985e-01 -7.80937961e-03 9.38594827e-01 4.61731259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.55, Y:189.80, Z:46.16 [[ 6.26263002e-01 -7.44807162e-01 2.30340931e-01 4.32550940e+02] [ 6.99152217e-01 6.67279725e-01 2.56756589e-01 1.89797599e+02] [-3.44935979e-01 2.46220821e-04 9.38626182e-01 4.61590408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.57, Y:189.81, Z:46.15 [[ 6.26418616e-01 -7.46592234e-01 2.24053014e-01 4.32573820e+02] [ 6.99904873e-01 6.65254720e-01 2.59941006e-01 1.89814848e+02] [-3.43122262e-01 -6.01608912e-03 9.39271484e-01 4.61518359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.59, Y:189.83, Z:46.14 [[ 6.26362541e-01 -7.46083556e-01 2.25896645e-01 4.32591107e+02] [ 7.00103023e-01 6.65843740e-01 2.57891201e-01 1.89833376e+02] [-3.42820251e-01 -3.38246405e-03 9.39394930e-01 4.61409246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.61, Y:189.85, Z:46.13 [[ 6.25287308e-01 -7.46461168e-01 2.27621414e-01 4.32609345e+02] [ 7.00606361e-01 6.65427053e-01 2.57599621e-01 1.89849946e+02] [-3.43753560e-01 -1.60076344e-03 9.39058533e-01 4.61297286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.63, Y:189.87, Z:46.12 [[ 6.24536222e-01 -7.47763399e-01 2.25398327e-01 4.32628920e+02] [ 7.01336780e-01 6.63953658e-01 2.59407520e-01 1.89866414e+02] [-3.43629493e-01 -3.92925570e-03 9.39097084e-01 4.61211500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.65, Y:189.88, Z:46.11 [[ 6.22482192e-01 -7.49530512e-01 2.25210864e-01 4.32649682e+02] [ 7.03270822e-01 6.61963000e-01 2.59258823e-01 1.89881264e+02] [-3.43403658e-01 -2.99977128e-03 9.39183118e-01 4.61113369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.560385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.67, Y:189.90, Z:46.10 [[ 6.21246629e-01 -7.50641472e-01 2.24922225e-01 4.32669325e+02] [ 7.04551372e-01 6.60705296e-01 2.58990108e-01 1.89898611e+02] [-3.43016021e-01 -2.42746948e-03 9.39326417e-01 4.61013389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.69, Y:189.92, Z:46.09 [[ 6.19871945e-01 -7.51710771e-01 2.25143704e-01 4.32688628e+02] [ 7.05540091e-01 6.59490058e-01 2.59395535e-01 1.89916536e+02] [-3.43470452e-01 -1.94410537e-03 9.39161471e-01 4.60923956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.72, Y:189.93, Z:46.09 [[ 6.19418356e-01 -7.56038109e-01 2.11488247e-01 4.32721547e+02] [ 7.07639358e-01 6.54344409e-01 2.66608203e-01 1.89931858e+02] [-3.39952114e-01 -1.54846073e-02 9.40315260e-01 4.60920316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.72, Y:189.95, Z:46.06 [[ 6.15311417e-01 -7.50082123e-01 2.42422501e-01 4.32721544e+02] [ 7.09414950e-01 6.60995446e-01 2.44571971e-01 1.89954309e+02] [-3.43689233e-01 2.14902207e-02 9.38837516e-01 4.60636351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.75, Y:189.97, Z:46.06 [[ 6.14358960e-01 -7.56993247e-01 2.22540542e-01 4.32752935e+02] [ 7.09335886e-01 6.53406686e-01 2.64390438e-01 1.89965852e+02] [-3.45551254e-01 -4.57464205e-03 9.38388727e-01 4.60648944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.77, Y:189.98, Z:46.05 [[ 6.13688180e-01 -7.56342709e-01 2.26566824e-01 4.32769875e+02] [ 7.09747051e-01 6.54175467e-01 2.61368670e-01 1.89984800e+02] [-3.45898745e-01 4.06271915e-04 9.38271759e-01 4.60537704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.79, Y:190.00, Z:46.04 [[ 6.14454206e-01 -7.55527787e-01 2.27208697e-01 4.32787898e+02] [ 7.08544548e-01 6.55116582e-01 2.62272544e-01 1.90003295e+02] [-3.47002380e-01 -1.66983856e-04 9.37864234e-01 4.60443957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.80, Y:190.02, Z:46.03 [[ 6.15356394e-01 -7.54723214e-01 2.27440936e-01 4.32804599e+02] [ 7.07562943e-01 6.56043005e-01 2.62606660e-01 1.90023588e+02] [-3.47406378e-01 -6.67909712e-04 9.37714436e-01 4.60337142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.800385723 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:432.82, Y:190.04, Z:46.02 [[ 6.16726149e-01 -7.53701933e-01 2.27117267e-01 4.32821140e+02] [ 7.06557027e-01 6.57215017e-01 2.62384431e-01 1.90043704e+02] [-3.47024531e-01 -1.34803847e-03 9.37855084e-01 4.60244222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.84, Y:190.06, Z:46.01 [[ 6.18304327e-01 -7.52663163e-01 2.26269579e-01 4.32837881e+02] [ 7.05751129e-01 6.58402605e-01 2.61574758e-01 1.90063573e+02] [-3.45854164e-01 -2.04279377e-03 9.38286057e-01 4.60146711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.85, Y:190.08, Z:46.00 [[ 6.18776555e-01 -7.52332223e-01 2.26079192e-01 4.32854062e+02] [ 7.05411393e-01 6.58779683e-01 2.61541768e-01 1.90083322e+02] [-3.45702678e-01 -2.35707659e-03 9.38341144e-01 4.60049315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.87, Y:190.11, Z:45.99 [[ 6.18589908e-01 -7.51320631e-01 2.29921367e-01 4.32868575e+02] [ 7.06394984e-01 6.59924660e-01 2.55940560e-01 1.90105356e+02] [-3.44024203e-01 4.09305289e-03 9.38951860e-01 4.59923701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.89, Y:190.13, Z:45.99 [[ 6.17898952e-01 -7.53335104e-01 2.25137971e-01 4.32888985e+02] [ 7.06644587e-01 6.57633032e-01 2.61098111e-01 1.90125314e+02] [-3.44752539e-01 -2.23972070e-03 9.38690935e-01 4.59850045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.90, Y:190.14, Z:45.98 [[ 6.17574089e-01 -7.54259143e-01 2.22924628e-01 4.32904141e+02] [ 7.06215287e-01 6.56547552e-01 2.64962791e-01 1.90144557e+02] [-3.46211227e-01 -6.20137385e-03 9.38136093e-01 4.59774221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9803857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.92, Y:190.17, Z:45.97 [[ 6.17158044e-01 -7.53625736e-01 2.26195045e-01 4.32918126e+02] [ 7.06600628e-01 6.57301034e-01 2.62051336e-01 1.90165364e+02] [-3.46166868e-01 -1.89752939e-03 9.38171039e-01 4.59657201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.93, Y:190.19, Z:45.96 [[ 6.15738993e-01 -7.54945196e-01 2.25661790e-01 4.32934944e+02] [ 7.08179734e-01 6.55786681e-01 2.61582290e-01 1.90185152e+02] [-3.45466289e-01 -1.25730961e-03 9.38430318e-01 4.59560600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.99, Y:190.20, Z:45.98 [[ 6.20721397e-01 -7.62487276e-01 1.82532467e-01 4.32986375e+02] [ 7.09838545e-01 6.45397946e-01 2.82118293e-01 1.90201424e+02] [-3.32917688e-01 -4.55482805e-02 9.41855173e-01 4.59791608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.95, Y:190.24, Z:45.92 [[ 6.12930468e-01 -7.44659844e-01 2.64193031e-01 4.32947671e+02] [ 7.10972057e-01 6.65654669e-01 2.26765507e-01 1.90235689e+02] [-3.44724491e-01 4.88423742e-02 9.37432370e-01 4.59171342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.99, Y:190.24, Z:45.93 [[ 6.11364796e-01 -7.58620125e-01 2.25230088e-01 4.32989170e+02] [ 7.12172559e-01 6.51532912e-01 2.61371595e-01 1.90244609e+02] [-3.45026567e-01 6.09295762e-04 9.38592722e-01 4.59266262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.01, Y:190.26, Z:45.92 [[ 6.09797099e-01 -7.59709814e-01 2.25806325e-01 4.33005477e+02] [ 7.13029735e-01 6.50261293e-01 2.62200017e-01 1.90263620e+02] [-3.46029038e-01 1.11781429e-03 9.38223137e-01 4.59176247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.160385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:433.02, Y:190.28, Z:45.91 [[ 6.09415720e-01 -7.59985350e-01 2.25908715e-01 4.33022822e+02] [ 7.13255491e-01 6.49939041e-01 2.62384922e-01 1.90283960e+02] [-3.46235590e-01 1.22913485e-03 9.38146793e-01 4.59076812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.04, Y:190.30, Z:45.90 [[ 6.09144565e-01 -7.60176219e-01 2.25997822e-01 4.33039951e+02] [ 7.13364568e-01 6.49715782e-01 2.62641193e-01 1.90304270e+02] [-3.46487941e-01 1.23238279e-03 9.38053617e-01 4.58974772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.08, Y:190.32, Z:45.90 [[ 6.12639858e-01 -7.62865201e-01 2.06661776e-01 4.33075834e+02] [ 7.12805723e-01 6.46259342e-01 2.72501127e-01 1.90322989e+02] [-3.41438730e-01 -1.96353549e-02 9.39698913e-01 4.59032378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.07, Y:190.35, Z:45.88 [[ 6.11861740e-01 -7.55291934e-01 2.34860184e-01 4.33072222e+02] [ 7.12732635e-01 6.55234504e-01 2.50359614e-01 1.90347483e+02] [-3.42983093e-01 1.42070491e-02 9.39234134e-01 4.58770710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.09, Y:190.37, Z:45.86 [[ 6.09078945e-01 -7.58027041e-01 2.33276324e-01 4.33087526e+02] [ 7.13583906e-01 6.52137575e-01 2.55958183e-01 1.90366496e+02] [-3.46151481e-01 1.05634909e-02 9.38119164e-01 4.58647731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.11, Y:190.38, Z:45.86 [[ 6.09652302e-01 -7.59083789e-01 2.28289010e-01 4.33105742e+02] [ 7.13510606e-01 6.50974319e-01 2.59104324e-01 1.90383986e+02] [-3.45292175e-01 4.92308241e-03 9.38482327e-01 4.58575174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3403857229999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:433.13, Y:190.40, Z:45.85 [[ 6.09639682e-01 -7.60523144e-01 2.23481554e-01 4.33125086e+02] [ 7.14621357e-01 6.49309949e-01 2.60217038e-01 1.90403147e+02] [-3.43009876e-01 1.06605915e-03 9.39331192e-01 4.58491190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.14, Y:190.42, Z:45.84 [[ 6.09501544e-01 -7.60404131e-01 2.24261958e-01 4.33141457e+02] [ 7.14105714e-01 6.49449580e-01 2.61281980e-01 1.90422760e+02] [-3.44326731e-01 8.94975292e-04 9.38849456e-01 4.58399376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.16, Y:190.44, Z:45.83 [[ 6.09226028e-01 -7.61949252e-01 2.19720242e-01 4.33162100e+02] [ 7.14133190e-01 6.47617649e-01 2.65716329e-01 1.90441931e+02] [-3.44757065e-01 -4.97178607e-03 9.38678778e-01 4.58331243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.430385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:433.17, Y:190.46, Z:45.82 [[ 6.09776458e-01 -7.59144613e-01 2.27754537e-01 4.33173851e+02] [ 7.14511146e-01 6.50891521e-01 2.56542493e-01 1.90464740e+02] [-3.42996348e-01 6.29958221e-03 9.39315613e-01 4.58192091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.460385723 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:433.19, Y:190.48, Z:45.81 [[ 6.08740858e-01 -7.61131452e-01 2.23860406e-01 4.33192927e+02] [ 7.16264687e-01 6.48587654e-01 2.57485831e-01 1.90484831e+02] [-3.41173660e-01 3.60115786e-03 9.39993386e-01 4.58107066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.21, Y:190.50, Z:45.80 [[ 6.08457790e-01 -7.62358111e-01 2.20429646e-01 4.33211243e+02] [ 7.15452030e-01 6.47150581e-01 2.63295497e-01 1.90501338e+02] [-3.43376632e-01 -2.49735880e-03 9.39194470e-01 4.58035043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.23, Y:190.52, Z:45.79 [[ 6.08720427e-01 -7.60648892e-01 2.25549784e-01 4.33225021e+02] [ 7.15685469e-01 6.49147465e-01 2.57685618e-01 1.90522742e+02] [-3.42423350e-01 4.56420310e-03 9.39534681e-01 4.57914818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.24, Y:190.54, Z:45.78 [[ 6.08363939e-01 -7.61827941e-01 2.22511811e-01 4.33243770e+02] [ 7.16142608e-01 6.47778193e-01 2.59852223e-01 1.90542689e+02] [-3.42100983e-01 1.26546668e-03 9.39662341e-01 4.57830736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.26, Y:190.56, Z:45.77 [[ 6.08200861e-01 -7.62038049e-01 2.22237989e-01 4.33260868e+02] [ 7.16424933e-01 6.47530996e-01 2.59690057e-01 1.90563009e+02] [-3.41799690e-01 1.27312015e-03 9.39771968e-01 4.57735651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.28, Y:190.58, Z:45.76 [[ 6.08048835e-01 -7.62078394e-01 2.22515475e-01 4.33277516e+02] [ 7.16291745e-01 6.47483678e-01 2.60174986e-01 1.90582596e+02] [-3.42348874e-01 1.18690102e-03 9.39572158e-01 4.57643343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.30, Y:190.60, Z:45.76 [[ 6.07576586e-01 -7.62325786e-01 2.22957595e-01 4.33295360e+02] [ 7.16343433e-01 6.47192203e-01 2.60757240e-01 1.90602351e+02] [-3.43078384e-01 1.28421569e-03 9.39305900e-01 4.57550826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:433.31, Y:190.62, Z:45.75 [[ 6.07302290e-01 -7.62488101e-01 2.23149782e-01 4.33313583e+02] [ 7.16377597e-01 6.47000992e-01 2.61137618e-01 1.90622292e+02] [-3.43492457e-01 1.27003087e-03 9.39154577e-01 4.57458284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.700385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:433.33, Y:190.64, Z:45.74 [[ 6.07106034e-01 -7.62666711e-01 2.23073422e-01 4.33330934e+02] [ 7.16543921e-01 6.46790453e-01 2.61202833e-01 1.90642638e+02] [-3.43492465e-01 1.26408831e-03 9.39154582e-01 4.57357129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.35, Y:190.66, Z:45.73 [[ 6.06361899e-01 -7.63172552e-01 2.23367195e-01 4.33348167e+02] [ 7.16903308e-01 6.46193122e-01 2.61694663e-01 1.90661750e+02] [-3.44056529e-01 1.45100824e-03 9.38947815e-01 4.57268191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:190.68, Z:45.72 [[ 6.06338580e-01 -7.63352864e-01 2.22813673e-01 4.33365387e+02] [ 7.17308453e-01 6.45979985e-01 2.61110019e-01 1.90682202e+02] [-3.43252254e-01 1.50505303e-03 9.39242048e-01 4.57168130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.38, Y:190.70, Z:45.71 [[ 6.07084580e-01 -7.62826959e-01 2.22583340e-01 4.33381786e+02] [ 7.16790154e-01 6.46601748e-01 2.60994358e-01 1.90701515e+02] [-3.43016309e-01 1.09989603e-03 9.39328804e-01 4.57072319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.40, Y:190.72, Z:45.69 [[ 6.07471425e-01 -7.61304418e-01 2.26702560e-01 4.33398969e+02] [ 7.15667871e-01 6.48378958e-01 2.59661751e-01 1.90722534e+02] [-3.44670808e-01 4.50664467e-03 9.38712802e-01 4.56935333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8503857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:433.42, Y:190.74, Z:45.69 [[ 6.07950530e-01 -7.62277009e-01 2.22103390e-01 4.33416582e+02] [ 7.15363495e-01 6.47249844e-01 2.63292062e-01 1.90741851e+02] [-3.44457870e-01 -1.18389093e-03 9.38801030e-01 4.56885643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.880385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:433.43, Y:190.76, Z:45.68 [[ 6.07624655e-01 -7.62298994e-01 2.22918198e-01 4.33432972e+02] [ 7.15986994e-01 6.47224737e-01 2.61653902e-01 1.90762291e+02] [-3.43736678e-01 6.19169042e-04 9.39065873e-01 4.56775370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.45, Y:190.78, Z:45.67 [[ 6.07564300e-01 -7.62120908e-01 2.23690285e-01 4.33450048e+02] [ 7.15410663e-01 6.47434589e-01 2.62709033e-01 1.90782736e+02] [-3.45040874e-01 4.17785695e-04 9.38587567e-01 4.56683085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.940385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:433.47, Y:190.80, Z:45.66 [[ 6.07325584e-01 -7.62285574e-01 2.23777431e-01 4.33465379e+02] [ 7.15490637e-01 6.47240714e-01 2.62968833e-01 1.90802207e+02] [-3.45295212e-01 4.02956339e-04 9.38494035e-01 4.56586469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.48, Y:190.82, Z:45.65 [[ 6.06628889e-01 -7.62749808e-01 2.24085078e-01 4.33482207e+02] [ 7.15828694e-01 6.46693391e-01 2.63395023e-01 1.90822645e+02] [-3.45818842e-01 6.23498279e-04 9.38301092e-01 4.56488506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.50, Y:190.84, Z:45.64 [[ 6.05985848e-01 -7.63183748e-01 2.24347317e-01 4.33499278e+02] [ 7.16120281e-01 6.46181075e-01 2.63859360e-01 1.90842498e+02] [-3.46342166e-01 7.64625591e-04 9.38107947e-01 4.56392917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.52, Y:190.86, Z:45.63 [[ 6.05244743e-01 -7.63674181e-01 2.24678765e-01 4.33515428e+02] [ 7.16439804e-01 6.45601170e-01 2.64410924e-01 1.90861941e+02] [-3.46976669e-01 9.35488838e-04 9.37873294e-01 4.56296116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.53, Y:190.88, Z:45.61 [[ 6.03060768e-01 -7.62670587e-01 2.33776144e-01 4.33526465e+02] [ 7.16416113e-01 6.46715326e-01 2.61738877e-01 1.90883044e+02] [-3.50807158e-01 9.63654827e-03 9.36398139e-01 4.56125134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.55, Y:190.90, Z:45.61 [[ 6.04507044e-01 -7.66133987e-01 2.18197037e-01 4.33551882e+02] [ 7.16672388e-01 6.42638320e-01 2.70918212e-01 1.90900953e+02] [-3.47781427e-01 -7.39617602e-03 9.37546466e-01 4.56128288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.56, Y:190.92, Z:45.60 [[ 6.04592929e-01 -7.64119101e-01 2.24920854e-01 4.33564283e+02] [ 7.16705363e-01 6.45074416e-01 2.64976266e-01 1.90922812e+02] [-3.47564115e-01 9.99205412e-04 9.37655687e-01 4.55994086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.58, Y:190.94, Z:45.59 [[ 6.04695416e-01 -7.64029758e-01 2.24948846e-01 4.33580059e+02] [ 7.16538048e-01 6.45180462e-01 2.65170507e-01 1.90942380e+02] [-3.47730759e-01 8.37017077e-04 9.37594059e-01 4.55895718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.59, Y:190.97, Z:45.57 [[ 6.04122706e-01 -7.59912227e-01 2.39935751e-01 4.33589146e+02] [ 7.14856338e-01 6.49840602e-01 2.58239440e-01 1.90965072e+02] [-3.52159301e-01 1.55112835e-02 9.35811534e-01 4.55665301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.62, Y:190.98, Z:45.57 [[ 6.05401589e-01 -7.66643568e-01 2.13884444e-01 4.33619176e+02] [ 7.15962266e-01 6.41941212e-01 2.74425792e-01 1.90979688e+02] [-3.47688008e-01 -1.30046197e-02 9.37520095e-01 4.55745260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.63, Y:191.00, Z:45.56 [[ 6.05598418e-01 -7.63623179e-01 2.23897736e-01 4.33629187e+02] [ 7.16460924e-01 6.45662040e-01 2.64204984e-01 1.91002446e+02] [-3.46315319e-01 4.11857854e-04 9.38118079e-01 4.55587960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.270385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:433.65, Y:191.02, Z:45.55 [[ 6.04449988e-01 -7.64676167e-01 2.23406740e-01 4.33645192e+02] [ 7.17739838e-01 6.44414105e-01 2.63780186e-01 1.91022230e+02] [-3.45672876e-01 9.05986841e-04 9.38354646e-01 4.55475212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.66, Y:191.04, Z:45.54 [[ 6.03341497e-01 -7.65364916e-01 2.24043709e-01 4.33661261e+02] [ 7.18137361e-01 6.43595465e-01 2.64695311e-01 1.91041838e+02] [-3.46782019e-01 1.19249268e-03 9.37944993e-01 4.55389045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.68, Y:191.06, Z:45.53 [[ 6.02080529e-01 -7.66226911e-01 2.24489105e-01 4.33677885e+02] [ 7.18838008e-01 6.42567983e-01 2.65289098e-01 1.91061695e+02] [-3.47521157e-01 1.64590092e-03 9.37670697e-01 4.55290092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.69, Y:191.08, Z:45.52 [[ 5.98905639e-01 -7.68406943e-01 2.25527838e-01 4.33693718e+02] [ 7.20652934e-01 6.39955355e-01 2.66676756e-01 1.91081997e+02] [-3.49244019e-01 2.81308552e-03 9.37027589e-01 4.55189063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.71, Y:191.10, Z:45.50 [[ 5.95811266e-01 -7.68788899e-01 2.32319960e-01 4.33705134e+02] [ 7.22080017e-01 6.39418004e-01 2.64092911e-01 1.91103117e+02] [-3.51581263e-01 1.04040693e-02 9.36099552e-01 4.55020908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.73, Y:191.12, Z:45.50 [[ 5.95188855e-01 -7.72438436e-01 2.21560577e-01 4.33728432e+02] [ 7.23339544e-01 6.35088808e-01 2.71002048e-01 1.91121511e+02] [-3.50043041e-01 -1.03387235e-03 9.36733047e-01 4.54977920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.74, Y:191.14, Z:45.48 [[ 5.92595200e-01 -7.71942040e-01 2.30079153e-01 4.33738113e+02] [ 7.25380005e-01 6.35609381e-01 2.64243379e-01 1.91143868e+02] [-3.50221041e-01 1.03054594e-02 9.36610389e-01 4.54802539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.76, Y:191.16, Z:45.48 [[ 5.93795191e-01 -7.74506866e-01 2.18051337e-01 4.33762908e+02] [ 7.25371658e-01 6.32558196e-01 2.71488651e-01 1.91161247e+02] [-3.48199985e-01 -3.04039559e-03 9.37415344e-01 4.54792232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.78, Y:191.18, Z:45.47 [[ 5.93032081e-01 -7.73238661e-01 2.24532681e-01 4.33775778e+02] [ 7.26000558e-01 6.34094100e-01 2.66172617e-01 1.91183450e+02] [-3.48189807e-01 5.16195038e-03 9.37409843e-01 4.54656458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.79, Y:191.20, Z:45.45 [[ 5.91460674e-01 -7.74401582e-01 2.24669669e-01 4.33790634e+02] [ 7.27125789e-01 6.32668327e-01 2.66493668e-01 1.91203761e+02] [-3.48514502e-01 5.74258555e-03 9.37285797e-01 4.54537672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.80, Y:191.23, Z:45.44 [[ 5.90163052e-01 -7.73441475e-01 2.31291712e-01 4.33801970e+02] [ 7.27275594e-01 6.33740624e-01 2.63520459e-01 1.91225227e+02] [-3.50396607e-01 1.26927789e-02 9.36515409e-01 4.54383336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.83, Y:191.24, Z:45.44 [[ 5.92428888e-01 -7.77726157e-01 2.10166688e-01 4.33832128e+02] [ 7.27006409e-01 6.28506951e-01 2.76479101e-01 1.91242186e+02] [-3.47116253e-01 -1.10016770e-02 9.37757575e-01 4.54417956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.84, Y:191.27, Z:45.42 [[ 5.91988761e-01 -7.72117552e-01 2.31049329e-01 4.33835961e+02] [ 7.26880796e-01 6.35334610e-01 2.60757055e-01 1.91267493e+02] [-3.48128734e-01 1.35800737e-02 9.37348370e-01 4.54205368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.86, Y:191.29, Z:45.42 [[ 5.92151053e-01 -7.73919919e-01 2.24510780e-01 4.33857653e+02] [ 7.26489584e-01 6.33262865e-01 2.66816470e-01 1.91285535e+02] [-3.48668920e-01 5.10908960e-03 9.37232032e-01 4.54156222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.88, Y:191.30, Z:45.41 [[ 5.91925612e-01 -7.75598042e-01 2.19252701e-01 4.33877849e+02] [ 7.26247025e-01 6.31224196e-01 2.72252225e-01 1.91304217e+02] [-3.49555903e-01 -1.92144291e-03 9.36913539e-01 4.54088503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.89, Y:191.33, Z:45.40 [[ 5.91753931e-01 -7.74105107e-01 2.24919029e-01 4.33888650e+02] [ 7.26115211e-01 6.33040990e-01 2.68357607e-01 1.91327080e+02] [-3.50119958e-01 4.51545985e-03 9.36693987e-01 4.53960334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.91, Y:191.35, Z:45.39 [[ 5.92068286e-01 -7.74617511e-01 2.22312519e-01 4.33906406e+02] [ 7.26100346e-01 6.32427832e-01 2.69839442e-01 1.91347797e+02] [-3.49618981e-01 1.65782120e-03 9.36890506e-01 4.53874654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.92, Y:191.37, Z:45.37 [[ 5.91370249e-01 -7.71298566e-01 2.35329027e-01 4.33915542e+02] [ 7.25066332e-01 6.36300506e-01 2.63439709e-01 1.91370220e+02] [-3.52930649e-01 1.48387480e-02 9.35531811e-01 4.53702734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.94, Y:191.39, Z:45.37 [[ 5.90286169e-01 -7.77240659e-01 2.17851319e-01 4.33942941e+02] [ 7.26693129e-01 6.29187607e-01 2.75753607e-01 1.91387523e+02] [-3.51396265e-01 -4.46248372e-03 9.36216188e-01 4.53703386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.95, Y:191.41, Z:45.36 [[ 5.90029409e-01 -7.74668736e-01 2.27494278e-01 4.33953132e+02] [ 7.27439890e-01 6.32313336e-01 2.66478987e-01 1.91409678e+02] [-3.50280606e-01 8.25797351e-03 9.36608404e-01 4.53565641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.97, Y:191.43, Z:45.34 [[ 5.86348371e-01 -7.77131252e-01 2.28610160e-01 4.33968840e+02] [ 7.28505315e-01 6.29289921e-01 2.70692080e-01 1.91429502e+02] [-3.54225344e-01 7.82385630e-03 9.35127367e-01 4.53449632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.98, Y:191.45, Z:45.33 [[ 5.85309185e-01 -7.76260235e-01 2.34164911e-01 4.33980082e+02] [ 7.28553535e-01 6.30266423e-01 2.68279673e-01 1.91451139e+02] [-3.55841123e-01 1.35751168e-02 9.34447865e-01 4.53296772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.00, Y:191.47, Z:45.32 [[ 5.85412247e-01 -7.78174378e-01 2.27457991e-01 4.34000188e+02] [ 7.28539894e-01 6.28023425e-01 2.73525503e-01 1.91470366e+02] [-3.55699484e-01 5.58704126e-03 9.34583684e-01 4.53225423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.01, Y:191.49, Z:45.31 [[ 5.84206391e-01 -7.76409660e-01 2.36412633e-01 4.34009799e+02] [ 7.28485700e-01 6.30047984e-01 2.68976065e-01 1.91492024e+02] [-3.57786918e-01 1.50856862e-02 9.33681393e-01 4.53060439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.03, Y:191.51, Z:45.30 [[ 5.84645441e-01 -7.78069952e-01 2.29775669e-01 4.34029511e+02] [ 7.28070567e-01 6.28140777e-01 2.74503941e-01 1.91510109e+02] [-3.57914735e-01 6.80542427e-03 9.33729473e-01 4.52986386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.06, Y:191.53, Z:45.30 [[ 5.87507502e-01 -7.79299338e-01 2.18007973e-01 4.34055723e+02] [ 7.27323832e-01 6.26624273e-01 2.79896525e-01 1.91529989e+02] [-3.54732264e-01 -5.87891368e-03 9.34949442e-01 4.52962858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.06, Y:191.55, Z:45.28 [[ 5.88112734e-01 -7.74284097e-01 2.33682583e-01 4.34059577e+02] [ 7.26175438e-01 6.32732952e-01 2.68920517e-01 1.91553747e+02] [-3.56079551e-01 1.15389711e-02 9.34384399e-01 4.52775554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.08, Y:191.57, Z:45.27 [[ 5.89872807e-01 -7.75249719e-01 2.25915791e-01 4.34080555e+02] [ 7.25028727e-01 6.31652081e-01 2.74497713e-01 1.91574075e+02] [-3.55504455e-01 1.87670133e-03 9.34672703e-01 4.52699803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.10, Y:191.59, Z:45.26 [[ 5.90570731e-01 -7.74956121e-01 2.25098253e-01 4.34095994e+02] [ 7.25145098e-01 6.32012501e-01 2.73358346e-01 1.91594318e+02] [-3.54105633e-01 1.79145656e-03 9.35203717e-01 4.52612535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.11, Y:191.62, Z:45.25 [[ 5.90890102e-01 -7.74190262e-01 2.26888355e-01 4.34110549e+02] [ 7.24893536e-01 6.32941404e-01 2.71872287e-01 1.91615556e+02] [-3.54087911e-01 3.82325849e-03 9.35204327e-01 4.52496045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.13, Y:191.64, Z:45.24 [[ 5.91374268e-01 -7.73884634e-01 2.26669471e-01 4.34126940e+02] [ 7.24126932e-01 6.33320943e-01 2.73028880e-01 1.91636284e+02] [-3.54847378e-01 2.67521452e-03 9.34920415e-01 4.52399993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.14, Y:191.66, Z:45.23 [[ 5.91540544e-01 -7.73634480e-01 2.27089136e-01 4.34144047e+02] [ 7.23670308e-01 6.33627074e-01 2.73528823e-01 1.91656221e+02] [-3.55501153e-01 2.53427643e-03 9.34672407e-01 4.52303436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.16, Y:191.68, Z:45.22 [[ 5.91892391e-01 -7.73639817e-01 2.26152232e-01 4.34162028e+02] [ 7.23433100e-01 6.33624227e-01 2.74162157e-01 1.91677155e+02] [-3.55398294e-01 1.33151580e-03 9.34714010e-01 4.52214817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.18, Y:191.70, Z:45.21 [[ 5.92470714e-01 -7.72939928e-01 2.27029341e-01 4.34178132e+02] [ 7.23125492e-01 6.34474582e-01 2.73004628e-01 1.91697754e+02] [-3.55060524e-01 2.42345744e-03 9.34840174e-01 4.52111747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.19, Y:191.72, Z:45.20 [[ 5.93484988e-01 -7.72145645e-01 2.27082963e-01 4.34193879e+02] [ 7.22592284e-01 6.35440437e-01 2.72168776e-01 1.91718368e+02] [-3.54451632e-01 2.56031415e-03 9.35070845e-01 4.51996592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.21, Y:191.74, Z:45.19 [[ 5.95357102e-01 -7.71718340e-01 2.23608420e-01 4.34212412e+02] [ 7.21729781e-01 6.35963165e-01 2.73234288e-01 1.91738667e+02] [-3.53066630e-01 -1.28711790e-03 9.35597295e-01 4.51926326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.23, Y:191.76, Z:45.18 [[ 5.97271488e-01 -7.69618756e-01 2.25729351e-01 4.34227307e+02] [ 7.20522632e-01 6.38502764e-01 2.70483560e-01 1.91760195e+02] [-3.52298036e-01 1.09098748e-03 9.35887228e-01 4.51809515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.24, Y:191.78, Z:45.17 [[ 5.98073742e-01 -7.69148407e-01 2.25207741e-01 4.34244184e+02] [ 7.20193944e-01 6.39069821e-01 2.70019346e-01 1.91779969e+02] [-3.51608420e-01 7.01771093e-04 9.36146904e-01 4.51716605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.26, Y:191.80, Z:45.16 [[ 5.99295946e-01 -7.67229316e-01 2.28480952e-01 4.34257762e+02] [ 7.20045404e-01 6.41347357e-01 2.64968269e-01 1.91802337e+02] [-3.49827078e-01 5.72225019e-03 9.36796814e-01 4.51599289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.440385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:434.28, Y:191.82, Z:45.16 [[ 6.00417323e-01 -7.69961351e-01 2.16005917e-01 4.34284069e+02] [ 7.19086616e-01 6.38011541e-01 2.75419158e-01 1.91820906e+02] [-3.49876375e-01 -1.00394696e-02 9.36742084e-01 4.51568483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4703857229999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:434.28, Y:191.85, Z:45.13 [[ 5.97947835e-01 -7.62854401e-01 2.45990953e-01 4.34279229e+02] [ 7.18327660e-01 6.46176914e-01 2.57799863e-01 1.91846007e+02] [-3.55617435e-01 2.25512354e-02 9.34359504e-01 4.51289461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.500385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:434.32, Y:191.86, Z:45.14 [[ 6.00178875e-01 -7.70759398e-01 2.13811291e-01 4.34316827e+02] [ 7.19089020e-01 6.36994610e-01 2.77756816e-01 1.91860027e+02] [-3.50280316e-01 -1.29544213e-02 9.36555328e-01 4.51369389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.530385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:434.33, Y:191.88, Z:45.12 [[ 5.99471757e-01 -7.67596286e-01 2.26780851e-01 4.34326769e+02] [ 7.18609943e-01 6.40932497e-01 2.69824543e-01 1.91883192e+02] [-3.52467534e-01 1.21478191e-03 9.35823253e-01 4.51203156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.560385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.35, Y:191.90, Z:45.12 [[ 5.99306618e-01 -7.70408825e-01 2.17489817e-01 4.34348981e+02] [ 7.19739215e-01 6.37497242e-01 2.74904944e-01 1.91900961e+02] [-3.50438353e-01 -8.21640244e-03 9.36549759e-01 4.51166831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5903857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:434.36, Y:191.92, Z:45.10 [[ 5.96899110e-01 -7.67794422e-01 2.32815761e-01 4.34357058e+02] [ 7.21141176e-01 6.40611040e-01 2.63766752e-01 1.91924515e+02] [-3.51662987e-01 1.04508922e-02 9.36068332e-01 4.50972828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.620385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:434.38, Y:191.94, Z:45.09 [[ 5.96766531e-01 -7.70399512e-01 2.24397637e-01 4.34379044e+02] [ 7.21312158e-01 6.37561331e-01 2.70599926e-01 1.91942940e+02] [-3.51537307e-01 3.75764682e-04 9.36173798e-01 4.50909459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.650385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:434.40, Y:191.96, Z:45.09 [[ 5.97481142e-01 -7.72520811e-01 2.15006702e-01 4.34402313e+02] [ 7.21661888e-01 6.34916196e-01 2.75836081e-01 1.91960978e+02] [-3.49600350e-01 -9.64471460e-03 9.36849281e-01 4.50883052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.680385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:434.41, Y:191.98, Z:45.08 [[ 5.97456433e-01 -7.70260230e-01 2.23035848e-01 4.34414179e+02] [ 7.21421860e-01 6.37729607e-01 2.69910075e-01 1.91982278e+02] [-3.50137560e-01 -3.56574328e-04 9.36698224e-01 4.50752450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.43, Y:192.01, Z:45.06 [[ 5.95527721e-01 -7.69658452e-01 2.30157773e-01 4.34428569e+02] [ 7.22744989e-01 6.38396796e-01 2.64743671e-01 1.92005081e+02] [-3.50694189e-01 8.68318214e-03 9.36449779e-01 4.50606090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.740385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:434.45, Y:192.02, Z:45.06 [[ 5.96140723e-01 -7.73342196e-01 2.15773231e-01 4.34454293e+02] [ 7.23326860e-01 6.33949266e-01 2.73690668e-01 1.92020844e+02] [-3.48445824e-01 -7.08357942e-03 9.37302156e-01 4.50602867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.770385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:434.47, Y:192.04, Z:45.05 [[ 5.96920285e-01 -7.71157674e-01 2.21363989e-01 4.34468144e+02] [ 7.23571859e-01 6.36643458e-01 2.66699965e-01 1.92040794e+02] [-3.46597661e-01 9.74134113e-04 9.38013386e-01 4.50482883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.800385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:434.49, Y:192.06, Z:45.04 [[ 5.97822917e-01 -7.70114460e-01 2.22556687e-01 4.34486247e+02] [ 7.23051552e-01 6.37901076e-01 2.65101244e-01 1.92061382e+02] [-3.46127452e-01 2.43635866e-03 9.38184338e-01 4.50367794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.830385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:434.51, Y:192.08, Z:45.03 [[ 5.99700042e-01 -7.69224937e-01 2.20573926e-01 4.34506072e+02] [ 7.22165581e-01 6.38977952e-01 2.64922726e-01 1.92081499e+02] [-3.44727043e-01 4.16727369e-04 9.38702878e-01 4.50278267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.52, Y:192.10, Z:45.02 [[ 5.99140365e-01 -7.69409780e-01 2.21448444e-01 4.34519835e+02] [ 7.22235625e-01 6.38754712e-01 2.65269899e-01 1.92099861e+02] [-3.45552491e-01 1.00405090e-03 9.38398885e-01 4.50183353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.54, Y:192.12, Z:45.01 [[ 6.00079552e-01 -7.69020730e-01 2.20253602e-01 4.34539521e+02] [ 7.21592340e-01 6.39223537e-01 2.65890512e-01 1.92118545e+02] [-3.45266602e-01 -6.22147240e-04 9.38504441e-01 4.50094784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.56, Y:192.14, Z:45.00 [[ 6.00394668e-01 -7.68860136e-01 2.19955299e-01 4.34558395e+02] [ 7.21495964e-01 6.39416466e-01 2.65688080e-01 1.92137768e+02] [-3.44920013e-01 -8.20846309e-04 9.38631723e-01 4.50000085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.950385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:434.58, Y:192.16, Z:44.99 [[ 6.01443462e-01 -7.67696931e-01 2.21149689e-01 4.34578956e+02] [ 7.20844717e-01 6.40812831e-01 2.64086746e-01 1.92158005e+02] [-3.44454143e-01 5.81337958e-04 9.38802964e-01 4.49888192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.60, Y:192.18, Z:44.98 [[ 6.00466266e-01 -7.68727013e-01 2.20224982e-01 4.34596308e+02] [ 7.21353712e-01 6.39576673e-01 2.65688732e-01 1.92175272e+02] [-3.45092867e-01 -6.77012543e-04 9.38568301e-01 4.49814799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.61, Y:192.19, Z:44.97 [[ 6.00460361e-01 -7.68791043e-01 2.20017471e-01 4.34613017e+02] [ 7.21252049e-01 6.39499075e-01 2.66151114e-01 1.92193830e+02] [-3.45315562e-01 -1.12514203e-03 9.38485960e-01 4.49719475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:192.21, Z:44.96 [[ 6.02029373e-01 -7.68662073e-01 2.16146367e-01 4.34636689e+02] [ 7.20399024e-01 6.39629530e-01 2.68140469e-01 1.92212346e+02] [-3.44363008e-01 -5.71680684e-03 9.38819172e-01 4.49634242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.65, Y:192.23, Z:44.95 [[ 6.01328228e-01 -7.66654322e-01 2.25045579e-01 4.34646111e+02] [ 7.20578297e-01 6.42042696e-01 2.61816909e-01 1.92232300e+02] [-3.45211935e-01 4.72506188e-03 9.38512863e-01 4.49494402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:192.25, Z:44.94 [[ 6.01501767e-01 -7.68085417e-01 2.19637014e-01 4.34667406e+02] [ 7.20570648e-01 6.40345109e-01 2.65962560e-01 1.92250132e+02] [-3.44925451e-01 -1.71296425e-03 9.38628520e-01 4.49420131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:192.27, Z:44.93 [[ 6.03242971e-01 -7.66488966e-01 2.20437253e-01 4.34688121e+02] [ 7.20773589e-01 6.42255516e-01 2.60755223e-01 1.92268943e+02] [-3.41443043e-01 1.58659471e-03 9.39901128e-01 4.49301315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.160385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:434.71, Y:192.28, Z:44.92 [[ 6.03246786e-01 -7.67907353e-01 2.15433547e-01 4.34708852e+02] [ 7.20743622e-01 6.40544440e-01 2.65012172e-01 1.92284798e+02] [-3.41499556e-01 -4.59538581e-03 9.39870702e-01 4.49235068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.190385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:434.73, Y:192.30, Z:44.91 [[ 6.03483880e-01 -7.67263893e-01 2.17056043e-01 4.34725658e+02] [ 7.20705145e-01 6.41326975e-01 2.63218169e-01 1.92304578e+02] [-3.41161693e-01 -2.41451458e-03 9.40001527e-01 4.49126626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2203857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:434.74, Y:192.32, Z:44.90 [[ 6.03951393e-01 -7.66939960e-01 2.16900468e-01 4.34744716e+02] [ 7.20372746e-01 6.41713170e-01 2.63186845e-01 1.92322524e+02] [-3.41036395e-01 -2.70287615e-03 9.40046207e-01 4.49031771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.250385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:434.76, Y:192.34, Z:44.89 [[ 6.04196880e-01 -7.66849692e-01 2.16535631e-01 4.34761880e+02] [ 7.20380398e-01 6.41820365e-01 2.62904358e-01 1.92340901e+02] [-3.40585104e-01 -2.85796886e-03 9.40209349e-01 4.48942312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.280385723 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:434.78, Y:192.36, Z:44.89 [[ 6.04154643e-01 -7.67689394e-01 2.13658985e-01 4.34782365e+02] [ 7.20809679e-01 6.40797462e-01 2.64219642e-01 1.92359052e+02] [-3.39750752e-01 -5.62205909e-03 9.40498708e-01 4.48850677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.310385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:434.80, Y:192.38, Z:44.87 [[ 6.05240936e-01 -7.65533426e-01 2.18270434e-01 4.34797724e+02] [ 7.20395297e-01 6.43395935e-01 2.58983178e-01 1.92378339e+02] [-3.38694590e-01 4.93772981e-04 9.40896238e-01 4.48730648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3403857229999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:434.82, Y:192.40, Z:44.87 [[ 6.05211550e-01 -7.66509637e-01 2.14899876e-01 4.34816794e+02] [ 7.20626449e-01 6.42224626e-01 2.61237537e-01 1.92397277e+02] [-3.38255082e-01 -3.24144046e-03 9.41048879e-01 4.48652937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.83, Y:192.42, Z:44.86 [[ 6.04637385e-01 -7.66901064e-01 2.15119482e-01 4.34832779e+02] [ 7.20887685e-01 6.41757689e-01 2.61663933e-01 1.92417051e+02] [-3.38724930e-01 -3.13481140e-03 9.40880223e-01 4.48555522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.400385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:434.86, Y:192.44, Z:44.86 [[ 6.04126386e-01 -7.71326222e-01 2.00217804e-01 4.34857576e+02] [ 7.22111457e-01 6.36137115e-01 2.71817246e-01 1.92435661e+02] [-3.37025746e-01 -1.96324000e-02 9.41290718e-01 4.48565777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:192.46, Z:44.84 [[ 6.03808521e-01 -7.68251278e-01 2.12615249e-01 4.34868879e+02] [ 7.22516675e-01 6.40135507e-01 2.61143999e-01 1.92461752e+02] [-3.36726781e-01 -4.06290890e-03 9.41593632e-01 4.48415459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.460385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:434.87, Y:192.48, Z:44.82 [[ 6.01651834e-01 -7.64235668e-01 2.32290582e-01 4.34872433e+02] [ 7.21654265e-01 6.44738838e-01 2.52045538e-01 1.92483898e+02] [-3.42388950e-01 1.59898288e-02 9.39422233e-01 4.48195050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.490385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:434.89, Y:192.50, Z:44.81 [[ 5.98686126e-01 -7.69164665e-01 2.23518772e-01 4.34892186e+02] [ 7.22792156e-01 6.39037708e-01 2.63063315e-01 1.92501227e+02] [-3.45175930e-01 4.06525766e-03 9.38529196e-01 4.48124127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.520385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.92, Y:192.52, Z:44.81 [[ 5.98962818e-01 -7.72388129e-01 2.11329413e-01 4.34919049e+02] [ 7.23687582e-01 6.35089517e-01 2.70069599e-01 1.92520254e+02] [-3.42811647e-01 -8.82517669e-03 9.39362705e-01 4.48109691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:192.54, Z:44.80 [[ 5.98205631e-01 -7.71303035e-01 2.17351447e-01 4.34930795e+02] [ 7.24422218e-01 6.36467375e-01 2.64805081e-01 1.92541121e+02] [-3.42582067e-01 -9.53673300e-04 9.39487423e-01 4.47975118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.580385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:434.95, Y:192.56, Z:44.79 [[ 5.96722784e-01 -7.72663883e-01 2.16592806e-01 4.34946384e+02] [ 7.26183186e-01 6.34815310e-01 2.63946024e-01 1.92561521e+02] [-3.41437989e-01 -2.16552544e-04 9.39904279e-01 4.47865759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.610385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:434.96, Y:192.58, Z:44.77 [[ 5.95067087e-01 -7.74180458e-01 2.15730805e-01 4.34962181e+02] [ 7.28120612e-01 6.32964708e-01 2.63051426e-01 1.92581363e+02] [-3.40199260e-01 5.44800202e-04 9.40353214e-01 4.47749219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.98, Y:192.60, Z:44.77 [[ 5.93171520e-01 -7.75571697e-01 2.15953908e-01 4.34978570e+02] [ 7.29443859e-01 6.31258283e-01 2.63485554e-01 1.92601752e+02] [-3.40674631e-01 1.23412625e-03 9.40180447e-01 4.47666824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.00, Y:192.62, Z:44.76 [[ 5.92173576e-01 -7.76315016e-01 2.16021877e-01 4.34995481e+02] [ 7.30181408e-01 6.30343063e-01 2.63633714e-01 1.92622270e+02] [-3.40830703e-01 1.61823905e-03 9.40123297e-01 4.47568788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.01, Y:192.64, Z:44.75 [[ 5.89876571e-01 -7.77962286e-01 2.16380018e-01 4.35011360e+02] [ 7.31719154e-01 6.28306139e-01 2.64231860e-01 1.92641896e+02] [-3.41515315e-01 2.46522034e-03 9.39872977e-01 4.47477366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7303857229999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:435.03, Y:192.66, Z:44.74 [[ 5.88984584e-01 -7.78623247e-01 2.16432435e-01 4.35027840e+02] [ 7.32361418e-01 6.27485556e-01 2.64402404e-01 1.92662332e+02] [-3.41678085e-01 2.77782458e-03 9.39812944e-01 4.47381791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.04, Y:192.68, Z:44.73 [[ 5.88268759e-01 -7.79146825e-01 2.16495015e-01 4.35044576e+02] [ 7.32836417e-01 6.26834377e-01 2.64630780e-01 1.92683191e+02] [-3.41892750e-01 2.98141041e-03 9.39734249e-01 4.47281854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.06, Y:192.70, Z:44.71 [[ 5.85950418e-01 -7.78774226e-01 2.23992884e-01 4.35055334e+02] [ 7.33178522e-01 6.27220384e-01 2.62761955e-01 1.92704448e+02] [-3.45125141e-01 1.02612939e-02 9.38500582e-01 4.47113170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.08, Y:192.72, Z:44.71 [[ 5.87704875e-01 -7.81094808e-01 2.10935727e-01 4.35080736e+02] [ 7.32791028e-01 6.24397114e-01 2.70454346e-01 1.92722399e+02] [-3.42958145e-01 -4.37552909e-03 9.39340495e-01 4.47105605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.09, Y:192.74, Z:44.70 [[ 5.88027910e-01 -7.79265788e-01 2.16721041e-01 4.35093967e+02] [ 7.32720716e-01 6.26687347e-01 2.65298550e-01 1.92744058e+02] [-3.42554417e-01 2.79304439e-03 9.39493837e-01 4.46976552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.11, Y:192.76, Z:44.69 [[ 5.88487847e-01 -7.79014124e-01 2.16377100e-01 4.35110880e+02] [ 7.32549684e-01 6.27001229e-01 2.65029094e-01 1.92764700e+02] [-3.42130115e-01 2.54057535e-03 9.39649153e-01 4.46877655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.13, Y:192.78, Z:44.68 [[ 5.89641736e-01 -7.79636198e-01 2.10926580e-01 4.35129357e+02] [ 7.31051848e-01 6.26207849e-01 2.70974031e-01 1.92783016e+02] [-3.43345043e-01 -5.57933178e-03 9.39192766e-01 4.46812191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.940385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:435.14, Y:192.81, Z:44.66 [[ 5.89605265e-01 -7.76829144e-01 2.21138220e-01 4.35139706e+02] [ 7.32022783e-01 6.29654163e-01 2.60150498e-01 1.92807353e+02] [-3.41333089e-01 8.49211193e-03 9.39904041e-01 4.46643338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.16, Y:192.83, Z:44.66 [[ 5.89154999e-01 -7.78743658e-01 2.15533529e-01 4.35160167e+02] [ 7.31709634e-01 6.27341900e-01 2.66539214e-01 1.92828389e+02] [-3.42778936e-01 6.75049012e-04 9.39415853e-01 4.46583605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.17, Y:192.85, Z:44.64 [[ 5.87147641e-01 -7.78582453e-01 2.21510750e-01 4.35171110e+02] [ 7.32259027e-01 6.27505250e-01 2.64639148e-01 1.92849593e+02] [-3.45042555e-01 6.82099504e-03 9.38562257e-01 4.46441266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.20, Y:192.87, Z:44.64 [[ 5.88852423e-01 -7.80139413e-01 2.11270728e-01 4.35195184e+02] [ 7.32090779e-01 6.25592414e-01 2.69587133e-01 1.92868792e+02] [-3.42484912e-01 -4.07768405e-03 9.39514480e-01 4.46408858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.21, Y:192.89, Z:44.63 [[ 5.88419645e-01 -7.79155117e-01 2.16054684e-01 4.35208315e+02] [ 7.32557256e-01 6.26827660e-01 2.65418446e-01 1.92890532e+02] [-3.42231192e-01 2.09499846e-03 9.39613443e-01 4.46283262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.22, Y:192.91, Z:44.62 [[ 5.88336571e-01 -7.79362800e-01 2.15531215e-01 4.35222826e+02] [ 7.32953499e-01 6.26569388e-01 2.64933898e-01 1.92910958e+02] [-3.41524886e-01 2.10405678e-03 9.39870377e-01 4.46189761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.24, Y:192.93, Z:44.61 [[ 5.87911652e-01 -7.79625196e-01 2.15741613e-01 4.35239065e+02] [ 7.33115825e-01 6.26242481e-01 2.65257500e-01 1.92932026e+02] [-3.41907994e-01 2.21561559e-03 9.39730821e-01 4.46090232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.26, Y:192.95, Z:44.60 [[ 5.87182087e-01 -7.80045514e-01 2.16208679e-01 4.35255097e+02] [ 7.33299130e-01 6.25718318e-01 2.65986791e-01 1.92953080e+02] [-3.42767534e-01 2.36295671e-03 9.39417284e-01 4.45995924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.27, Y:192.97, Z:44.59 [[ 5.85052519e-01 -7.80175624e-01 2.21448744e-01 4.35266431e+02] [ 7.34372628e-01 6.25503426e-01 2.63519083e-01 1.92974219e+02] [-3.44108113e-01 8.45339299e-03 9.38891978e-01 4.45851674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.29, Y:192.99, Z:44.58 [[ 5.86115215e-01 -7.82580893e-01 2.09847806e-01 4.35290487e+02] [ 7.34716116e-01 6.22537377e-01 2.69517055e-01 1.92992954e+02] [-3.41557000e-01 -3.78948150e-03 9.39853422e-01 4.45828819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:193.02, Z:44.57 [[ 5.85029087e-01 -7.82004308e-01 2.14965650e-01 4.35303075e+02] [ 7.35805656e-01 6.23264584e-01 2.64823139e-01 1.93015005e+02] [-3.41073311e-01 3.24370188e-03 9.40031103e-01 4.45703282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:193.04, Z:44.56 [[ 5.83102251e-01 -7.81966388e-01 2.20273315e-01 4.35316277e+02] [ 7.36266171e-01 6.23262556e-01 2.63544895e-01 1.93036600e+02] [-3.43371359e-01 8.50616861e-03 9.39161197e-01 4.45562207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.34, Y:193.06, Z:44.55 [[ 5.83819615e-01 -7.84013209e-01 2.10897952e-01 4.35339052e+02] [ 7.36470812e-01 6.20741947e-01 2.68868328e-01 1.93055454e+02] [-3.41709526e-01 -1.65041735e-03 9.39804169e-01 4.45541986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:193.08, Z:44.54 [[ 5.83372007e-01 -7.83112207e-01 2.15435313e-01 4.35352196e+02] [ 7.36647056e-01 6.21869651e-01 2.65761646e-01 1.93077679e+02] [-3.42093872e-01 3.66188413e-03 9.39658647e-01 4.45432239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.37, Y:193.10, Z:44.53 [[ 5.83756098e-01 -7.82929146e-01 2.15059925e-01 4.35367929e+02] [ 7.36561676e-01 6.22101355e-01 2.65455838e-01 1.93099569e+02] [-3.41622183e-01 3.44343457e-03 9.39831063e-01 4.45335655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:193.12, Z:44.52 [[ 5.82687728e-01 -7.82600992e-01 2.19113440e-01 4.35380871e+02] [ 7.36638473e-01 6.22479990e-01 2.64352837e-01 1.93120682e+02] [-3.43276525e-01 7.37223543e-03 9.39205450e-01 4.45198428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:193.14, Z:44.51 [[ 5.82558373e-01 -7.83367244e-01 2.16706030e-01 4.35396982e+02] [ 7.36680760e-01 6.21543338e-01 2.66430735e-01 1.93140563e+02] [-3.43405300e-01 4.43170756e-03 9.39176853e-01 4.45106643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.42, Y:193.16, Z:44.51 [[ 5.84228656e-01 -7.83945461e-01 2.10015218e-01 4.35415186e+02] [ 7.36374506e-01 6.20824772e-01 2.68940867e-01 1.93161505e+02] [-3.41217622e-01 -2.47310847e-03 9.39981073e-01 4.45060870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.43, Y:193.18, Z:44.49 [[ 5.83397099e-01 -7.83307023e-01 2.14657711e-01 4.35427774e+02] [ 7.36973429e-01 6.21626012e-01 2.65426573e-01 1.93183306e+02] [-3.41347316e-01 3.34793699e-03 9.39931275e-01 4.44945635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.44, Y:193.20, Z:44.48 [[ 5.83197989e-01 -7.83464081e-01 2.14625579e-01 4.35444551e+02] [ 7.37131224e-01 6.21427793e-01 2.65452553e-01 1.93204134e+02] [-3.41346840e-01 3.39582126e-03 9.39931276e-01 4.44844716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.47, Y:193.22, Z:44.48 [[ 5.84072015e-01 -7.85850166e-01 2.03222532e-01 4.35470450e+02] [ 7.37567809e-01 6.18357218e-01 2.71344942e-01 1.93224492e+02] [-3.38900587e-01 -8.59458931e-03 9.40782932e-01 4.44822533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.48, Y:193.25, Z:44.47 [[ 5.84084633e-01 -7.82651808e-01 2.15177342e-01 4.35480133e+02] [ 7.37731894e-01 6.22430247e-01 2.61404362e-01 1.93248110e+02] [-3.38521483e-01 6.06091724e-03 9.40939143e-01 4.44664305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.49, Y:193.27, Z:44.45 [[ 5.81629619e-01 -7.81686914e-01 2.25105652e-01 4.35486267e+02] [ 7.38784108e-01 6.23428051e-01 2.55999037e-01 1.93269669e+02] [-3.40448275e-01 1.74078556e-02 9.40102090e-01 4.44504909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:193.29, Z:44.45 [[ 5.82410037e-01 -7.86128827e-01 2.06881647e-01 4.35516002e+02] [ 7.38567056e-01 6.18049343e-01 2.69320837e-01 1.93288904e+02] [-3.39583940e-01 -4.05919013e-03 9.40566994e-01 4.44509792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.53, Y:193.31, Z:44.44 [[ 5.82280331e-01 -7.83937985e-01 2.15385354e-01 4.35527357e+02] [ 7.38550213e-01 6.20810457e-01 2.62940981e-01 1.93312513e+02] [-3.39842903e-01 5.96753800e-03 9.40463285e-01 4.44365767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.54, Y:193.33, Z:44.42 [[ 5.82814779e-01 -7.82580312e-01 2.18849238e-01 4.35543470e+02] [ 7.37837158e-01 6.22479183e-01 2.60990413e-01 1.93334941e+02] [-3.40475054e-01 9.36602977e-03 9.40206900e-01 4.44237400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:193.36, Z:44.41 [[ 5.80622363e-01 -7.82747992e-01 2.24016190e-01 4.35553251e+02] [ 7.38599240e-01 6.22164240e-01 2.59582013e-01 1.93356468e+02] [-3.42562162e-01 1.47390656e-02 9.39379543e-01 4.44100383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.57, Y:193.37, Z:44.41 [[ 5.80398999e-01 -7.86264941e-01 2.11953872e-01 4.35574204e+02] [ 7.39353486e-01 6.17887838e-01 2.67527650e-01 1.93374152e+02] [-3.41311332e-01 1.43605418e-03 9.39949208e-01 4.44085390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.59, Y:193.40, Z:44.39 [[ 5.80347460e-01 -7.84798112e-01 2.17459764e-01 4.35589420e+02] [ 7.39159409e-01 6.19704645e-01 2.63836165e-01 1.93396310e+02] [-3.41818950e-01 7.62078257e-03 9.39734925e-01 4.43942197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:193.42, Z:44.39 [[ 5.81837614e-01 -7.84122890e-01 2.15908047e-01 4.35608976e+02] [ 7.37918893e-01 6.20585451e-01 2.65234623e-01 1.93416739e+02] [-3.41965932e-01 4.99914731e-03 9.39699053e-01 4.43853347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.62, Y:193.44, Z:44.37 [[ 5.82300609e-01 -7.83155656e-01 2.18158704e-01 4.35624654e+02] [ 7.37332005e-01 6.21785220e-01 2.64054265e-01 1.93440428e+02] [-3.42443449e-01 7.09643527e-03 9.39511642e-01 4.43739535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:193.46, Z:44.36 [[ 5.79840739e-01 -7.81889434e-01 2.28983910e-01 4.35630588e+02] [ 7.38206167e-01 6.23121231e-01 2.58401985e-01 1.93463240e+02] [-3.44726517e-01 1.92053363e-02 9.38506677e-01 4.43570800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:193.48, Z:44.36 [[ 5.81499488e-01 -7.86559902e-01 2.07802468e-01 4.35660885e+02] [ 7.37795623e-01 6.17491621e-01 2.72693450e-01 1.93480100e+02] [-3.42806016e-01 -5.25535008e-03 9.39391514e-01 4.43599426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:193.50, Z:44.35 [[ 5.81849240e-01 -7.83428230e-01 2.18384227e-01 4.35669998e+02] [ 7.37566995e-01 6.21438912e-01 2.64213182e-01 1.93503250e+02] [-3.42704522e-01 7.34075915e-03 9.39414564e-01 4.43454795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.68, Y:193.52, Z:44.34 [[ 5.82058914e-01 -7.84801235e-01 2.12824910e-01 4.35683126e+02] [ 7.38455016e-01 6.19742501e-01 2.65713044e-01 1.93522779e+02] [-3.40428567e-01 2.50097647e-03 9.40267056e-01 4.43406529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:193.54, Z:44.33 [[ 5.82542061e-01 -7.84382732e-01 2.13045714e-01 4.35698441e+02] [ 7.38114823e-01 6.20271556e-01 2.65423633e-01 1.93544011e+02] [-3.40339911e-01 2.63176958e-03 9.40298792e-01 4.43303532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.71, Y:193.56, Z:44.32 [[ 5.83251330e-01 -7.83979509e-01 2.12588840e-01 4.35713457e+02] [ 7.37831214e-01 6.20782504e-01 2.65017324e-01 1.93564609e+02] [-3.39739584e-01 2.28297541e-03 9.40516775e-01 4.43205449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:193.59, Z:44.31 [[ 5.83802702e-01 -7.83572219e-01 2.12577004e-01 4.35729365e+02] [ 7.37379272e-01 6.21297488e-01 2.65068370e-01 1.93586302e+02] [-3.39773770e-01 2.00224542e-03 9.40505065e-01 4.43113718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:193.61, Z:44.30 [[ 5.83760267e-01 -7.83548363e-01 2.12781376e-01 4.35745109e+02] [ 7.37202790e-01 6.21327950e-01 2.65487525e-01 1.93605943e+02] [-3.40229332e-01 1.88195603e-03 9.40340609e-01 4.43022879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.77, Y:193.63, Z:44.30 [[ 5.83997547e-01 -7.84780953e-01 2.07522822e-01 4.35768857e+02] [ 7.37626382e-01 6.19763843e-01 2.67955405e-01 1.93627886e+02] [-3.38901440e-01 -3.41099128e-03 9.40815699e-01 4.42954497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.140385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:435.77, Y:193.65, Z:44.28 [[ 5.81358639e-01 -7.83499133e-01 2.19433914e-01 4.35773603e+02] [ 7.39255516e-01 6.21292305e-01 2.59802146e-01 1.93649887e+02] [-3.39887358e-01 1.11795100e-02 9.40399704e-01 4.42791596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.79, Y:193.67, Z:44.27 [[ 5.80894676e-01 -7.85612321e-01 2.13013277e-01 4.35793395e+02] [ 7.39195665e-01 6.18712226e-01 2.66054412e-01 1.93668887e+02] [-3.40809543e-01 2.90889958e-03 9.40127860e-01 4.42736128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.81, Y:193.69, Z:44.26 [[ 5.80315186e-01 -7.86089310e-01 2.12832991e-01 4.35809465e+02] [ 7.39745792e-01 6.18105082e-01 2.65936592e-01 1.93690085e+02] [-3.40603065e-01 3.11526661e-03 9.40202025e-01 4.42634087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.83, Y:193.71, Z:44.25 [[ 5.79166465e-01 -7.86819244e-01 2.13264350e-01 4.35825026e+02] [ 7.40272055e-01 6.17173871e-01 2.66634015e-01 1.93711148e+02] [-3.41413959e-01 3.44815894e-03 9.39906708e-01 4.42534023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:193.73, Z:44.24 [[ 5.78633043e-01 -7.87097861e-01 2.13683782e-01 4.35841958e+02] [ 7.40322522e-01 6.16818116e-01 2.67316247e-01 1.93731903e+02] [-3.42208074e-01 3.51690277e-03 9.39617617e-01 4.42444596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.290385723 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:435.86, Y:193.75, Z:44.23 [[ 5.79990928e-01 -7.86076282e-01 2.13762959e-01 4.35862880e+02] [ 7.39384236e-01 6.18120949e-01 2.66903437e-01 1.93753546e+02] [-3.41937825e-01 3.25138997e-03 9.39716954e-01 4.42334602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.320385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:435.87, Y:193.77, Z:44.22 [[ 5.78498823e-01 -7.86456307e-01 2.16392212e-01 4.35870868e+02] [ 7.40817974e-01 6.17600198e-01 2.64118771e-01 1.93774571e+02] [-3.41361746e-01 7.51484150e-03 9.39901955e-01 4.42225100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.89, Y:193.79, Z:44.21 [[ 5.79407723e-01 -7.86672261e-01 2.13151223e-01 4.35888955e+02] [ 7.39966254e-01 6.17363562e-01 2.67043396e-01 1.93794655e+02] [-3.41667430e-01 2.99770610e-03 9.39816142e-01 4.42144685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.91, Y:193.82, Z:44.20 [[ 5.81369642e-01 -7.85498019e-01 2.12137225e-01 4.35910145e+02] [ 7.39138136e-01 6.18860154e-01 2.65870129e-01 1.93816045e+02] [-3.40123735e-01 2.22989114e-03 9.40378048e-01 4.42043279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:193.84, Z:44.19 [[ 5.81732369e-01 -7.84076096e-01 2.16361100e-01 4.35919224e+02] [ 7.38488920e-01 6.20630952e-01 2.63536214e-01 1.93836183e+02] [-3.40912842e-01 6.47272901e-03 9.40072624e-01 4.41935563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:193.86, Z:44.19 [[ 5.83954041e-01 -7.84270487e-01 2.09564983e-01 4.35945299e+02] [ 7.37174928e-01 6.20416353e-01 2.67687646e-01 1.93856634e+02] [-3.39957062e-01 -1.83123181e-03 9.40439175e-01 4.41859243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:193.88, Z:44.17 [[ 5.83864613e-01 -7.81907962e-01 2.18453777e-01 4.35951588e+02] [ 7.36672263e-01 6.23344684e-01 2.62212476e-01 1.93877314e+02] [-3.41198023e-01 7.83225216e-03 9.39958810e-01 4.41728785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.97, Y:193.90, Z:44.17 [[ 5.84472426e-01 -7.83052188e-01 2.12652896e-01 4.35970316e+02] [ 7.36112405e-01 6.21955834e-01 2.67038326e-01 1.93895358e+02] [-3.41365655e-01 4.59896408e-04 9.39930465e-01 4.41658404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.99, Y:193.92, Z:44.16 [[ 5.85823039e-01 -7.81914242e-01 2.13123170e-01 4.35987291e+02] [ 7.34662371e-01 6.23385961e-01 2.67695993e-01 1.93915049e+02] [-3.42173301e-01 -2.48906889e-04 9.39636829e-01 4.41560380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.00, Y:193.94, Z:44.14 [[ 5.84795465e-01 -7.79390437e-01 2.24866207e-01 4.35997606e+02] [ 7.33692951e-01 6.26440689e-01 2.63185707e-01 1.93936024e+02] [-3.45989765e-01 1.10729436e-02 9.38172944e-01 4.41369232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5903857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:436.02, Y:193.95, Z:44.13 [[ 5.85643228e-01 -7.81139581e-01 2.16432357e-01 4.36018703e+02] [ 7.33168724e-01 6.24355873e-01 2.69524333e-01 1.93952499e+02] [-3.45666938e-01 8.36334288e-04 9.38356898e-01 4.41295437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:193.97, Z:44.13 [[ 5.87902789e-01 -7.81840765e-01 2.07594147e-01 4.36043012e+02] [ 7.32070647e-01 6.23405790e-01 2.74659406e-01 1.93972185e+02] [-3.44155313e-01 -9.49944897e-03 9.38864677e-01 4.41257982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:193.99, Z:44.12 [[ 5.89304190e-01 -7.80297600e-01 2.09418785e-01 4.36057158e+02] [ 7.31779176e-01 6.25375504e-01 2.70933048e-01 1.93992539e+02] [-3.42373785e-01 -6.41367452e-03 9.39541940e-01 4.41174308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.07, Y:194.01, Z:44.11 [[ 5.90738542e-01 -7.78215745e-01 2.13092068e-01 4.36073384e+02] [ 7.30514277e-01 6.27990689e-01 2.68284524e-01 1.94012609e+02] [-3.42603076e-01 -2.81921084e-03 9.39476016e-01 4.41053201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:194.03, Z:44.09 [[ 5.91696517e-01 -7.74927853e-01 2.22220733e-01 4.36087264e+02] [ 7.28614615e-01 6.32023652e-01 2.63944779e-01 1.94032667e+02] [-3.44986920e-01 5.73806756e-03 9.38589953e-01 4.40878856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.11, Y:194.05, Z:44.08 [[ 5.91811685e-01 -7.76665592e-01 2.15753301e-01 4.36107077e+02] [ 7.28327317e-01 6.29908209e-01 2.69731287e-01 1.94050902e+02] [-3.45395785e-01 -2.49110485e-03 9.38453806e-01 4.40802757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:194.07, Z:44.08 [[ 5.94059413e-01 -7.78084768e-01 2.04150699e-01 4.36131442e+02] [ 7.27987420e-01 6.27985037e-01 2.75080188e-01 1.94069545e+02] [-3.42239289e-01 -1.47948344e-02 9.39496345e-01 4.40793862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.14, Y:194.09, Z:44.05 [[ 5.93266025e-01 -7.72916344e-01 2.25023886e-01 4.36138652e+02] [ 7.26664143e-01 6.34466915e-01 2.63459592e-01 1.94092080e+02] [-3.46402435e-01 7.21516437e-03 9.38058258e-01 4.40546873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.17, Y:194.11, Z:44.06 [[ 5.94941619e-01 -7.76703154e-01 2.06825243e-01 4.36168047e+02] [ 7.27364947e-01 6.29756596e-01 2.72666211e-01 1.94108227e+02] [-3.42030268e-01 -1.17830447e-02 9.39615057e-01 4.40570329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:194.13, Z:44.05 [[ 5.95380218e-01 -7.75442407e-01 2.10265236e-01 4.36183445e+02] [ 7.26330638e-01 6.31353298e-01 2.71729309e-01 1.94127594e+02] [-3.43462080e-01 -9.06017250e-03 9.39122843e-01 4.40460984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.17, Y:194.15, Z:44.00 [[ 5.88148954e-01 -7.66333018e-01 2.58485036e-01 4.36165190e+02] [ 7.26278331e-01 6.41080103e-01 2.48064686e-01 1.94152572e+02] [-3.55809773e-01 4.18330949e-02 9.33621657e-01 4.40023359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:194.16, Z:44.05 [[ 5.95251456e-01 -7.85636161e-01 1.68675803e-01 4.36243823e+02] [ 7.27160997e-01 6.15993540e-01 3.02966738e-01 1.94157347e+02] [-3.41924830e-01 -5.76869266e-02 9.37955025e-01 4.40464359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:194.19, Z:44.01 [[ 5.94832774e-01 -7.75160717e-01 2.12837577e-01 4.36236662e+02] [ 7.27080962e-01 6.31743168e-01 2.68800753e-01 1.94185910e+02] [-3.42822469e-01 -5.14134700e-03 9.39386141e-01 4.40145355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:194.20, Z:44.00 [[ 5.93258179e-01 -7.76303927e-01 2.13065594e-01 4.36256142e+02] [ 7.28130379e-01 6.30342052e-01 2.69249046e-01 1.94203531e+02] [-3.43323295e-01 -4.59466712e-03 9.39206050e-01 4.40043655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:194.22, Z:43.99 [[ 5.91072135e-01 -7.76933796e-01 2.16812378e-01 4.36274780e+02] [ 7.29975144e-01 6.29581454e-01 2.66014066e-01 1.94223556e+02] [-3.43176370e-01 1.03414530e-03 9.39270413e-01 4.39922285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:194.24, Z:43.97 [[ 5.88033721e-01 -7.75617470e-01 2.29420757e-01 4.36284703e+02] [ 7.29789606e-01 6.31073581e-01 2.62970087e-01 1.94244407e+02] [-3.48745572e-01 1.27936052e-02 9.37130114e-01 4.39712945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.32, Y:194.26, Z:43.98 [[ 5.89035942e-01 -7.82664797e-01 2.01177722e-01 4.36319864e+02] [ 7.31934500e-01 6.22229694e-01 2.77672641e-01 1.94259935e+02] [-3.42503354e-01 -1.63102499e-02 9.39375020e-01 4.39798476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.32, Y:194.28, Z:43.95 [[ 5.85976027e-01 -7.78138960e-01 2.26123540e-01 4.36322190e+02] [ 7.32158023e-01 6.27995743e-01 2.63753628e-01 1.94280107e+02] [-3.47241594e-01 1.10048609e-02 9.37711133e-01 4.39531308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:194.29, Z:43.97 [[ 5.88667813e-01 -7.84353007e-01 1.95603086e-01 4.36358574e+02] [ 7.32092001e-01 6.19885382e-01 2.82459582e-01 1.94293908e+02] [-3.42799516e-01 -2.30754096e-02 9.39125134e-01 4.39669301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.37, Y:194.32, Z:43.95 [[ 5.88596349e-01 -7.80005547e-01 2.12475140e-01 4.36367040e+02] [ 7.32128983e-01 6.25766246e-01 2.69079465e-01 1.94316905e+02] [-3.42843246e-01 -2.81998305e-03 9.39388395e-01 4.39482876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.190385723 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:436.38, Y:194.34, Z:43.94 [[ 5.87439715e-01 -7.81184417e-01 2.11342113e-01 4.36383872e+02] [ 7.33013502e-01 6.24289064e-01 2.70100667e-01 1.94336694e+02] [-3.42937002e-01 -3.75123626e-03 9.39350915e-01 4.39385631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:194.36, Z:43.93 [[ 5.87901425e-01 -7.79248699e-01 2.17125262e-01 4.36397042e+02] [ 7.33263944e-01 6.26701114e-01 2.63760692e-01 1.94358743e+02] [-3.41607820e-01 4.14483913e-03 9.39833452e-01 4.39250017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.42, Y:194.38, Z:43.92 [[ 5.87832591e-01 -7.80613429e-01 2.12357057e-01 4.36415775e+02] [ 7.33538170e-01 6.25013045e-01 2.66983983e-01 1.94379135e+02] [-3.41137214e-01 -1.16987925e-03 9.40012783e-01 4.39175352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:194.40, Z:43.91 [[ 5.87056532e-01 -7.82427063e-01 2.07779979e-01 4.36434824e+02] [ 7.33398644e-01 6.22694400e-01 2.72723511e-01 1.94398946e+02] [-3.42769685e-01 -7.71856369e-03 9.39387762e-01 4.39105882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.310385723 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:436.45, Y:194.42, Z:43.90 [[ 5.86372501e-01 -7.80971752e-01 2.15059092e-01 4.36445939e+02] [ 7.34573139e-01 6.24561436e-01 2.65189208e-01 1.94421486e+02] [-3.41422896e-01 2.47697367e-03 9.39906523e-01 4.38974011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3403857229999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:436.47, Y:194.44, Z:43.89 [[ 5.83908436e-01 -7.84561854e-01 2.08599223e-01 4.36466432e+02] [ 7.35765549e-01 6.20025330e-01 2.72429162e-01 1.94440812e+02] [-3.43074331e-01 -5.59356380e-03 9.39291603e-01 4.38905655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.48, Y:194.46, Z:43.88 [[ 5.82905548e-01 -7.84235317e-01 2.12593722e-01 4.36479993e+02] [ 7.36165398e-01 6.20462568e-01 2.70345536e-01 1.94461846e+02] [-3.43920964e-01 -1.08177100e-03 9.38997977e-01 4.38800495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.50, Y:194.48, Z:43.87 [[ 5.81386480e-01 -7.85301345e-01 2.12818136e-01 4.36495647e+02] [ 7.37155067e-01 6.19113497e-01 2.70741364e-01 1.94482668e+02] [-3.44372137e-01 -5.25400894e-04 9.38833082e-01 4.38702491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.51, Y:194.50, Z:43.86 [[ 5.81182321e-01 -7.85474095e-01 2.12738232e-01 4.36512186e+02] [ 7.37316049e-01 6.18894307e-01 2.70804137e-01 1.94503757e+02] [-3.44372115e-01 -5.31264510e-04 9.38833087e-01 4.38602777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.53, Y:194.52, Z:43.85 [[ 5.78776801e-01 -7.87263378e-01 2.12682368e-01 4.36526797e+02] [ 7.39190823e-01 6.16616729e-01 2.70888791e-01 1.94524953e+02] [-3.44404331e-01 4.28706445e-04 9.38821321e-01 4.38505183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.54, Y:194.55, Z:43.84 [[ 5.76378024e-01 -7.88896792e-01 2.13143675e-01 4.36541685e+02] [ 7.40690470e-01 6.14524209e-01 2.71546726e-01 1.94546722e+02] [-3.45204289e-01 1.35992316e-03 9.38526584e-01 4.38398490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.56, Y:194.57, Z:43.83 [[ 5.75351308e-01 -7.89682469e-01 2.13008146e-01 4.36556705e+02] [ 7.41529786e-01 6.13513358e-01 2.71541778e-01 1.94567473e+02] [-3.45115124e-01 1.71996790e-03 9.38558785e-01 4.38301108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.550385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.57, Y:194.59, Z:43.82 [[ 5.74092602e-01 -7.90493156e-01 2.13396941e-01 4.36571056e+02] [ 7.42186401e-01 6.12467048e-01 2.72109282e-01 1.94588337e+02] [-3.45799120e-01 2.16438206e-03 9.38306072e-01 4.38199896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.59, Y:194.61, Z:43.81 [[ 5.73699002e-01 -7.90709738e-01 2.13652908e-01 4.36586736e+02] [ 7.42272360e-01 6.12187091e-01 2.72504512e-01 1.94609507e+02] [-3.46267524e-01 2.25308174e-03 9.38133107e-01 4.38102999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.60, Y:194.63, Z:43.80 [[ 5.73460920e-01 -7.90737698e-01 2.14187924e-01 4.36602181e+02] [ 7.41991926e-01 6.12151270e-01 2.73347408e-01 1.94629675e+02] [-3.47261510e-01 2.17165381e-03 9.37765817e-01 4.38006938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:194.65, Z:43.79 [[ 5.73129289e-01 -7.90849001e-01 2.14664099e-01 4.36618439e+02] [ 7.41861115e-01 6.12007368e-01 2.74023847e-01 1.94650706e+02] [-3.48087496e-01 2.19985537e-03 9.37459469e-01 4.37912284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:194.67, Z:43.77 [[ 5.69689876e-01 -7.89065733e-01 2.29844981e-01 4.36621118e+02] [ 7.42205402e-01 6.14054977e-01 2.68454143e-01 1.94672729e+02] [-3.52965419e-01 1.76565788e-02 9.35469753e-01 4.37688695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.66, Y:194.69, Z:43.78 [[ 5.74874167e-01 -7.93559948e-01 1.99455011e-01 4.36658574e+02] [ 7.40566452e-01 6.08268945e-01 2.85605008e-01 1.94690034e+02] [-3.47966985e-01 -1.64772510e-02 9.37361978e-01 4.37782134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.66, Y:194.72, Z:43.75 [[ 5.73227732e-01 -7.87961941e-01 2.24779772e-01 4.36657478e+02] [ 7.40351325e-01 6.15613818e-01 2.69999154e-01 1.94715073e+02] [-3.51126591e-01 1.16449996e-02 9.36255580e-01 4.37513862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.68, Y:194.73, Z:43.75 [[ 5.73986591e-01 -7.90205841e-01 2.14741990e-01 4.36679766e+02] [ 7.39965800e-01 6.12841471e-01 2.77265117e-01 1.94734031e+02] [-3.50699312e-01 -2.44731217e-04 9.36488085e-01 4.37464947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.70, Y:194.75, Z:43.75 [[ 5.77183162e-01 -7.90685238e-01 2.04148113e-01 4.36704070e+02] [ 7.39073728e-01 6.12116095e-01 2.81218616e-01 1.94753773e+02] [-3.47317754e-01 -1.14341426e-02 9.37677790e-01 4.37455031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.71, Y:194.78, Z:43.73 [[ 5.77389847e-01 -7.87978784e-01 2.13799909e-01 4.36714380e+02] [ 7.38923491e-01 6.15702392e-01 2.73683465e-01 1.94776215e+02] [-3.47293879e-01 -4.02782826e-05 9.37756344e-01 4.37308200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.73, Y:194.80, Z:43.72 [[ 5.77199580e-01 -7.88174812e-01 2.13590991e-01 4.36730166e+02] [ 7.39170015e-01 6.15451432e-01 2.73582208e-01 1.94796016e+02] [-3.47085486e-01 -3.14796149e-05 9.37833495e-01 4.37210045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.75, Y:194.82, Z:43.71 [[ 5.76691373e-01 -7.88648980e-01 2.13213151e-01 4.36746563e+02] [ 7.39813045e-01 6.14843683e-01 2.73210365e-01 1.94816631e+02] [-3.46559834e-01 1.79809972e-04 9.38027851e-01 4.37107897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.76, Y:194.84, Z:43.70 [[ 5.75661670e-01 -7.88867093e-01 2.15179810e-01 4.36761964e+02] [ 7.41196848e-01 6.14550794e-01 2.70101006e-01 1.94838282e+02] [-3.45312718e-01 4.00380076e-03 9.38479140e-01 4.36985121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.78, Y:194.86, Z:43.69 [[ 5.74358543e-01 -7.91075861e-01 2.10502365e-01 4.36781201e+02] [ 7.41603629e-01 6.11714614e-01 2.75371182e-01 1.94857857e+02] [-3.46606868e-01 -2.05247317e-03 9.38008244e-01 4.36912101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.80, Y:194.88, Z:43.68 [[ 5.73272464e-01 -7.91102609e-01 2.13343254e-01 4.36795733e+02] [ 7.42225988e-01 6.11681844e-01 2.73762497e-01 1.94878821e+02] [-3.47072421e-01 1.40840613e-03 9.37837273e-01 4.36799518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:194.90, Z:43.67 [[ 5.73025300e-01 -7.90502967e-01 2.16210697e-01 4.36810989e+02] [ 7.42657647e-01 6.12434914e-01 2.70893144e-01 1.94899480e+02] [-3.46556814e-01 5.34190242e-03 9.38013773e-01 4.36690141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:194.92, Z:43.66 [[ 5.71328676e-01 -7.93495122e-01 2.09640253e-01 4.36832206e+02] [ 7.43560930e-01 6.08571851e-01 2.77051340e-01 1.94919539e+02] [-3.47420044e-01 -2.40707350e-03 9.37706521e-01 4.36623558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:194.94, Z:43.65 [[ 5.70449269e-01 -7.93210737e-01 2.13082984e-01 4.36846037e+02] [ 7.44422630e-01 6.08942597e-01 2.73904842e-01 1.94939469e+02] [-3.47019567e-01 2.37497853e-03 9.37854882e-01 4.36510031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.86, Y:194.96, Z:43.64 [[ 5.69804729e-01 -7.93718088e-01 2.12918220e-01 4.36862596e+02] [ 7.45000835e-01 6.08280190e-01 2.73804613e-01 1.94959845e+02] [-3.46837609e-01 2.60908813e-03 9.37921567e-01 4.36407970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:194.98, Z:43.63 [[ 5.69351080e-01 -7.94139536e-01 2.12559978e-01 4.36878482e+02] [ 7.45559316e-01 6.07729225e-01 2.73507759e-01 1.94979214e+02] [-3.46382236e-01 2.75413397e-03 9.38089421e-01 4.36313431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.90, Y:195.00, Z:43.62 [[ 5.69269107e-01 -7.94382113e-01 2.11871996e-01 4.36895322e+02] [ 7.46116458e-01 6.07411690e-01 2.72692629e-01 1.94998032e+02] [-3.45315674e-01 2.84569388e-03 9.38482279e-01 4.36221816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:195.02, Z:43.61 [[ 5.68939488e-01 -7.94682428e-01 2.11631040e-01 4.36911996e+02] [ 7.46525167e-01 6.07018086e-01 2.72450395e-01 1.95018467e+02] [-3.44975411e-01 2.98010953e-03 9.38606992e-01 4.36127822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:195.04, Z:43.60 [[ 5.68863274e-01 -7.94963101e-01 2.10780083e-01 4.36928633e+02] [ 7.47166014e-01 6.06650194e-01 2.71511492e-01 1.95039242e+02] [-3.43711396e-01 3.03479830e-03 9.39070427e-01 4.36027482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.94, Y:195.06, Z:43.59 [[ 5.68663236e-01 -7.95143333e-01 2.10639986e-01 4.36943800e+02] [ 7.47366076e-01 6.06413919e-01 2.71488687e-01 1.95059475e+02] [-3.43607439e-01 3.03954431e-03 9.39108454e-01 4.35929485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.96, Y:195.08, Z:43.58 [[ 5.68706120e-01 -7.95046326e-01 2.10890230e-01 4.36959199e+02] [ 7.47114121e-01 6.06541635e-01 2.71896550e-01 1.95080478e+02] [-3.44084059e-01 2.92983695e-03 9.38934277e-01 4.35829451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:195.10, Z:43.57 [[ 5.68526535e-01 -7.95182947e-01 2.10859339e-01 4.36975161e+02] [ 7.47217850e-01 6.06362597e-01 2.72010818e-01 1.95101352e+02] [-3.44155580e-01 2.91249401e-03 9.38908118e-01 4.35737190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:195.12, Z:43.58 [[ 5.68007855e-01 -7.99620418e-01 1.94869865e-01 4.36998491e+02] [ 7.49022225e-01 6.00360343e-01 2.80237695e-01 1.95120208e+02] [-3.41075922e-01 -1.32153525e-02 9.39942855e-01 4.35767950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:195.15, Z:43.55 [[ 5.67575426e-01 -7.92230672e-01 2.24117602e-01 4.36999005e+02] [ 7.47358069e-01 6.09957202e-01 2.63454225e-01 1.95145982e+02] [-3.45418663e-01 1.79659544e-02 9.38276703e-01 4.35484706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:195.16, Z:43.55 [[ 5.67091722e-01 -7.95917618e-01 2.11948401e-01 4.37021795e+02] [ 7.47344617e-01 6.05396881e-01 2.73807670e-01 1.95164048e+02] [-3.46241249e-01 3.12443367e-03 9.38140307e-01 4.35453730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:195.19, Z:43.54 [[ 5.66605489e-01 -7.96093790e-01 2.12586214e-01 4.37037000e+02] [ 7.47203799e-01 6.05164820e-01 2.74703519e-01 1.95185780e+02] [-3.47339463e-01 3.19670556e-03 9.37734013e-01 4.35361967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.05, Y:195.21, Z:43.53 [[ 5.66424570e-01 -7.96152535e-01 2.12848179e-01 4.37052670e+02] [ 7.47079795e-01 6.05087887e-01 2.75209792e-01 1.95207135e+02] [-3.47900829e-01 3.12898573e-03 9.37526119e-01 4.35261056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4803857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.07, Y:195.23, Z:43.52 [[ 5.66430892e-01 -7.96252988e-01 2.12455229e-01 4.37067512e+02] [ 7.47312282e-01 6.04955961e-01 2.74868401e-01 1.95227911e+02] [-3.47390842e-01 3.07644853e-03 9.37715382e-01 4.35167680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:195.25, Z:43.51 [[ 5.66329743e-01 -7.96500345e-01 2.11796654e-01 4.37081892e+02] [ 7.47847574e-01 6.04629899e-01 2.74128970e-01 1.95250098e+02] [-3.46402408e-01 3.14422462e-03 9.38080746e-01 4.35061319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:195.27, Z:43.50 [[ 5.65927169e-01 -7.96841390e-01 2.11589789e-01 4.37097274e+02] [ 7.48248983e-01 6.04179842e-01 2.74025871e-01 1.95271894e+02] [-3.46193441e-01 3.24315886e-03 9.38157547e-01 4.34961822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.11, Y:195.29, Z:43.49 [[ 5.65844764e-01 -7.97005945e-01 2.11190028e-01 4.37111448e+02] [ 7.48554350e-01 6.03962810e-01 2.73670075e-01 1.95293555e+02] [-3.45667599e-01 3.23243504e-03 9.38351460e-01 4.34854954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.13, Y:195.31, Z:43.49 [[ 5.65608277e-01 -8.00779465e-01 1.97077461e-01 4.37133037e+02] [ 7.50299931e-01 5.98867062e-01 2.80014744e-01 1.95313652e+02] [-3.42253257e-01 -1.05114513e-02 9.39548944e-01 4.34859770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.14, Y:195.34, Z:43.47 [[ 5.66031335e-01 -7.98979689e-01 2.03076303e-01 4.37144392e+02] [ 7.51005107e-01 6.01355186e-01 2.72696295e-01 1.95336573e+02] [-3.39999789e-01 -1.84330675e-03 9.40423706e-01 4.34739556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.15, Y:195.36, Z:43.46 [[ 5.64400041e-01 -7.97114524e-01 2.14618336e-01 4.37152269e+02] [ 7.51132918e-01 6.03736865e-01 2.67022730e-01 1.95359489e+02] [-3.42420698e-01 1.04992574e-02 9.39488069e-01 4.34562072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.17, Y:195.38, Z:43.44 [[ 5.63274032e-01 -7.96858553e-01 2.18492134e-01 4.37166706e+02] [ 7.50631110e-01 6.04022361e-01 2.67787088e-01 1.95381171e+02] [-3.45362566e-01 1.31694804e-02 9.38376930e-01 4.34421020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.18, Y:195.40, Z:43.44 [[ 5.60566221e-01 -8.01532789e-01 2.08112229e-01 4.37184470e+02] [ 7.52671021e-01 5.97946931e-01 2.75582658e-01 1.95399247e+02] [-3.45328605e-01 2.15771410e-03 9.38479355e-01 4.34391090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.20, Y:195.42, Z:43.43 [[ 5.58757222e-01 -8.02319355e-01 2.09938133e-01 4.37198601e+02] [ 7.53586171e-01 5.96879326e-01 2.75395993e-01 1.95421512e+02] [-3.46263267e-01 4.32697425e-03 9.38127405e-01 4.34278513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.21, Y:195.44, Z:43.42 [[ 5.57886228e-01 -8.03134394e-01 2.09136562e-01 4.37214216e+02] [ 7.54055612e-01 5.95787856e-01 2.76472357e-01 1.95442787e+02] [-3.46645483e-01 3.46047743e-03 9.37989837e-01 4.34185443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.23, Y:195.46, Z:43.41 [[ 5.58466988e-01 -8.02114852e-01 2.11486142e-01 4.37231161e+02] [ 7.53163736e-01 5.97147470e-01 2.75969720e-01 1.95464371e+02] [-3.47647826e-01 5.16371420e-03 9.37610967e-01 4.34069622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.25, Y:195.48, Z:43.41 [[ 5.57366086e-01 -8.06113470e-01 1.98806742e-01 4.37252347e+02] [ 7.54841800e-01 5.91711291e-01 2.83004602e-01 1.95483698e+02] [-3.45770016e-01 -7.66952862e-03 9.38287949e-01 4.34075514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.26, Y:195.51, Z:43.39 [[ 5.57372170e-01 -8.03841209e-01 2.07787333e-01 4.37263414e+02] [ 7.54867845e-01 5.94837119e-01 2.76302985e-01 1.95508051e+02] [-3.45703344e-01 2.84838229e-03 9.38339536e-01 4.33944468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.27, Y:195.53, Z:43.37 [[ 5.56919610e-01 -7.99187246e-01 2.26142198e-01 4.37268000e+02] [ 7.53496271e-01 6.00694834e-01 2.67224786e-01 1.95531410e+02] [-3.49405091e-01 2.15745796e-02 9.36723342e-01 4.33721697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.30, Y:195.55, Z:43.38 [[ 5.57651454e-01 -8.05083931e-01 2.02150238e-01 4.37295843e+02] [ 7.54095928e-01 5.93141359e-01 2.81997623e-01 1.95548500e+02] [-3.46935422e-01 -4.81571329e-03 9.37876656e-01 4.33768431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.31, Y:195.57, Z:43.36 [[ 5.60895536e-01 -8.01608556e-01 2.06929748e-01 4.37309228e+02] [ 7.52406539e-01 5.97848948e-01 2.76515888e-01 1.95572985e+02] [-3.45370234e-01 5.98767922e-04 9.38466325e-01 4.33648764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.32, Y:195.59, Z:43.35 [[ 5.61055567e-01 -7.99929467e-01 2.12907254e-01 4.37318403e+02] [ 7.51833855e-01 6.00056079e-01 2.73273777e-01 1.95593897e+02] [-3.46356038e-01 6.74910790e-03 9.38078858e-01 4.33515310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.33, Y:195.62, Z:43.33 [[ 5.64026166e-01 -7.95736287e-01 2.20631469e-01 4.37328849e+02] [ 7.48881947e-01 6.05497061e-01 2.69349473e-01 1.95617169e+02] [-3.47922856e-01 1.33067736e-02 9.37428726e-01 4.33343310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.35, Y:195.64, Z:43.33 [[ 5.65063173e-01 -7.97397087e-01 2.11805325e-01 4.37349044e+02] [ 7.48141100e-01 6.03449585e-01 2.75922983e-01 1.95637032e+02] [-3.47834018e-01 2.54635313e-03 9.37552672e-01 4.33278594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.36, Y:195.66, Z:43.32 [[ 5.66381905e-01 -7.96597719e-01 2.11290351e-01 4.37364483e+02] [ 7.47473540e-01 6.04506660e-01 2.75417874e-01 1.95658702e+02] [-3.47123674e-01 1.94224665e-03 9.37817350e-01 4.33174465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.38, Y:195.68, Z:43.31 [[ 5.68833966e-01 -7.95179362e-01 2.10042141e-01 4.37379577e+02] [ 7.46497492e-01 6.06373532e-01 2.73957357e-01 1.95680646e+02] [-3.45209232e-01 9.59682125e-04 9.38525261e-01 4.33071217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.39, Y:195.70, Z:43.30 [[ 5.69399867e-01 -7.94856586e-01 2.09730302e-01 4.37394711e+02] [ 7.46241447e-01 6.06796983e-01 2.73717235e-01 1.95702094e+02] [-3.44829661e-01 6.54886945e-04 9.38665050e-01 4.32968527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.41, Y:195.72, Z:43.29 [[ 5.69765751e-01 -7.94675442e-01 2.09422851e-01 4.37408482e+02] [ 7.46134329e-01 6.07034390e-01 2.73482747e-01 1.95723130e+02] [-3.44456895e-01 4.36475428e-04 9.38802033e-01 4.32875527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.42, Y:195.74, Z:43.28 [[ 5.66643211e-01 -7.97109296e-01 2.08643816e-01 4.37420431e+02] [ 7.48232229e-01 6.03834931e-01 2.74830688e-01 1.95743197e+02] [-3.45056521e-01 3.83084105e-04 9.38581830e-01 4.32785848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.44, Y:195.76, Z:43.27 [[ 5.67873562e-01 -7.96476358e-01 2.07713815e-01 4.37440489e+02] [ 7.47517435e-01 6.04669056e-01 2.74941844e-01 1.95764739e+02] [-3.44582796e-01 -8.62506156e-04 9.38755534e-01 4.32691246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.45, Y:195.79, Z:43.26 [[ 5.65055750e-01 -7.98010910e-01 2.09500807e-01 4.37454256e+02] [ 7.49546585e-01 6.02638701e-01 2.73873170e-01 1.95785614e+02] [-3.44807072e-01 2.27700469e-03 9.38670815e-01 4.32590108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.47, Y:195.81, Z:43.25 [[ 5.63092178e-01 -7.99392121e-01 2.09521922e-01 4.37469511e+02] [ 7.50984693e-01 6.00801767e-01 2.73969392e-01 1.95806645e+02] [-3.44890115e-01 3.07773395e-03 9.38638022e-01 4.32493832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.49, Y:195.83, Z:43.24 [[ 5.62893555e-01 -7.99552232e-01 2.09444681e-01 4.37485739e+02] [ 7.51133562e-01 6.00588704e-01 2.74028431e-01 1.95827930e+02] [-3.44890153e-01 3.07209182e-03 9.38638027e-01 4.32393595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.50, Y:195.85, Z:43.23 [[ 5.59212119e-01 -8.02183177e-01 2.09246163e-01 4.37501811e+02] [ 7.53981219e-01 5.97060373e-01 2.73918297e-01 1.95849062e+02] [-3.44665242e-01 4.58924578e-03 9.38714445e-01 4.32297170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.52, Y:195.87, Z:43.22 [[ 5.57548849e-01 -8.03371213e-01 2.09126697e-01 4.37518006e+02] [ 7.55244724e-01 5.95455730e-01 2.73930430e-01 1.95869804e+02] [-3.44593513e-01 5.21223867e-03 9.38737527e-01 4.32204695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.53, Y:195.89, Z:43.21 [[ 5.56074443e-01 -8.04402078e-01 2.09089719e-01 4.37533915e+02] [ 7.56302056e-01 5.94057498e-01 2.74049064e-01 1.95890606e+02] [-3.44656952e-01 5.74330399e-03 9.38711138e-01 4.32114497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.55, Y:195.91, Z:43.20 [[ 5.54656378e-01 -8.05350035e-01 2.09207130e-01 4.37548227e+02] [ 7.57197121e-01 5.92766836e-01 2.74372007e-01 1.95911734e+02] [-3.44976554e-01 6.22885303e-03 9.38590634e-01 4.32027373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.56, Y:195.93, Z:43.19 [[ 5.53184609e-01 -8.05768720e-01 2.11479452e-01 4.37558005e+02] [ 7.57736848e-01 5.92168229e-01 2.74174502e-01 1.95933814e+02] [-3.46152650e-01 8.57665852e-03 9.38139000e-01 4.31905478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.58, Y:195.95, Z:43.18 [[ 5.53967249e-01 -8.06258139e-01 2.07528556e-01 4.37575485e+02] [ 7.57383954e-01 5.91550204e-01 2.76474054e-01 1.95954202e+02] [-3.45673015e-01 4.02122691e-03 9.38346416e-01 4.31824840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.59, Y:195.98, Z:43.17 [[ 5.54056969e-01 -8.05972708e-01 2.08395945e-01 4.37590054e+02] [ 7.57403438e-01 5.91930392e-01 2.75605593e-01 1.95976059e+02] [-3.45486480e-01 5.13860560e-03 9.38409658e-01 4.31714512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.61, Y:196.00, Z:43.16 [[ 5.55897625e-01 -8.04894035e-01 2.07661798e-01 4.37606030e+02] [ 7.57002732e-01 5.93396331e-01 2.73546445e-01 1.95997291e+02] [-3.43401651e-01 5.13672889e-03 9.39174595e-01 4.31614798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.62, Y:196.02, Z:43.15 [[ 5.56128176e-01 -8.05692584e-01 2.03913980e-01 4.37623077e+02] [ 7.56672738e-01 5.92333780e-01 2.76743675e-01 1.96018722e+02] [-3.43755465e-01 3.91194697e-04 9.39059118e-01 4.31525174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.63, Y:196.04, Z:43.14 [[ 5.56469840e-01 -8.02722301e-01 2.14425334e-01 4.37630844e+02] [ 7.55995501e-01 5.96236591e-01 2.70134651e-01 1.96041787e+02] [-3.44691340e-01 1.17828019e-02 9.38642129e-01 4.31365172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.65, Y:196.06, Z:43.13 [[ 5.56353505e-01 -8.04797496e-01 2.06813363e-01 4.37651816e+02] [ 7.55720748e-01 5.93544941e-01 2.76749985e-01 1.96062091e+02] [-3.45480721e-01 2.32232478e-03 9.38422974e-01 4.31301117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.66, Y:196.08, Z:43.12 [[ 5.55344656e-01 -8.03767137e-01 2.13426105e-01 4.37663566e+02] [ 7.55707519e-01 5.94873378e-01 2.73919348e-01 1.96084758e+02] [-3.47128878e-01 9.16806621e-03 9.37772621e-01 4.31160877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.68, Y:196.11, Z:43.11 [[ 5.55186319e-01 -8.04868073e-01 2.09655757e-01 4.37682847e+02] [ 7.55665096e-01 5.93436195e-01 2.77134886e-01 1.96105649e+02] [-3.47474337e-01 4.56804082e-03 9.37678366e-01 4.31078120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.70, Y:196.13, Z:43.10 [[ 5.54606566e-01 -8.05112567e-01 2.10250591e-01 4.37697488e+02] [ 7.55980739e-01 5.93098174e-01 2.76997614e-01 1.96126907e+02] [-3.47713502e-01 5.32070195e-03 9.37585735e-01 4.30970187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.71, Y:196.15, Z:43.09 [[ 5.54208659e-01 -8.05444135e-01 2.10029779e-01 4.37711981e+02] [ 7.55980975e-01 5.92652771e-01 2.77948663e-01 1.96147806e+02] [-3.48346851e-01 4.73696074e-03 9.37353739e-01 4.30863545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.800385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:437.73, Y:196.17, Z:43.08 [[ 5.54144005e-01 -8.05526777e-01 2.09883381e-01 4.37727385e+02] [ 7.56275421e-01 5.92538154e-01 2.77391464e-01 1.96169656e+02] [-3.47810163e-01 5.01482508e-03 9.37551568e-01 4.30762780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.75, Y:196.19, Z:43.07 [[ 5.54336095e-01 -8.06737080e-01 2.04662597e-01 4.37745803e+02] [ 7.56645984e-01 5.90910494e-01 2.79842176e-01 1.96189798e+02] [-3.46696336e-01 -2.69487151e-04 9.37977387e-01 4.30692119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.76, Y:196.21, Z:43.06 [[ 5.54991856e-01 -8.06138900e-01 2.05241599e-01 4.37762592e+02] [ 7.56843190e-01 5.91724963e-01 2.77578735e-01 1.96212245e+02] [-3.45213593e-01 1.28176880e-03 9.38523272e-01 4.30591441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.78, Y:196.23, Z:43.05 [[ 5.55917710e-01 -8.06727628e-01 2.00364751e-01 4.37781889e+02] [ 7.57188219e-01 5.90915681e-01 2.78360664e-01 1.96233071e+02] [-3.42959911e-01 -3.03179421e-03 9.39345148e-01 4.30539374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.80, Y:196.25, Z:43.05 [[ 5.57023881e-01 -8.05947179e-01 2.00433383e-01 4.37796754e+02] [ 7.57102837e-01 5.91983490e-01 2.76316562e-01 1.96254930e+02] [-3.41349808e-01 -2.16624067e-03 9.39933836e-01 4.30474989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:437.80, Y:196.28, Z:43.03 [[ 5.56194548e-01 -8.02502716e-01 2.15956050e-01 4.37803119e+02] [ 7.56748882e-01 5.96468763e-01 2.67499801e-01 1.96279035e+02] [-3.43480355e-01 1.46425687e-02 9.39045708e-01 4.30265520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.82, Y:196.30, Z:43.03 [[ 5.58129051e-01 -8.04301970e-01 2.03937008e-01 4.37824859e+02] [ 7.57184741e-01 5.94213111e-01 2.71260110e-01 1.96298457e+02] [-3.39357085e-01 3.01984290e-03 9.40652779e-01 4.30256560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.84, Y:196.32, Z:43.01 [[ 5.57600428e-01 -8.03817763e-01 2.07264970e-01 4.37840925e+02] [ 7.56040916e-01 5.94858905e-01 2.73029333e-01 1.96319916e+02] [-3.42759241e-01 4.45952459e-03 9.39412697e-01 4.30116157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.86, Y:196.34, Z:43.01 [[ 5.58191580e-01 -8.04869570e-01 2.01512123e-01 4.37858645e+02] [ 7.55910559e-01 5.93448442e-01 2.76438371e-01 1.96339307e+02] [-3.42083888e-01 -1.98042967e-03 9.39667330e-01 4.30077160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.87, Y:196.36, Z:43.00 [[ 5.58472173e-01 -8.03310184e-01 2.06885428e-01 4.37871197e+02] [ 7.55511729e-01 5.95548447e-01 2.72990980e-01 1.96361701e+02] [-3.42506729e-01 3.84650145e-03 9.39507501e-01 4.29953657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.89, Y:196.38, Z:42.99 [[ 5.58399326e-01 -8.03373394e-01 2.06836608e-01 4.37886772e+02] [ 7.55541737e-01 5.95463610e-01 2.73092977e-01 1.96382585e+02] [-3.42559305e-01 3.77875548e-03 9.39488608e-01 4.29855374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.91, Y:196.40, Z:42.97 [[ 5.58993958e-01 -8.03226427e-01 2.05798596e-01 4.37905164e+02] [ 7.55587370e-01 5.95665453e-01 2.72525953e-01 1.96404752e+02] [-3.41487161e-01 3.15845874e-03 9.39881132e-01 4.29740903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.92, Y:196.43, Z:42.96 [[ 5.58279517e-01 -8.03078254e-01 2.08300982e-01 4.37916660e+02] [ 7.56106487e-01 5.95839508e-01 2.70699576e-01 1.96425193e+02] [-3.41506897e-01 6.37169526e-03 9.39857670e-01 4.29642593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.94, Y:196.45, Z:42.96 [[ 5.58223958e-01 -8.03880297e-01 2.05335046e-01 4.37935085e+02] [ 7.56611808e-01 5.94779383e-01 2.71617486e-01 1.96445371e+02] [-3.40476997e-01 3.73553261e-03 9.40245426e-01 4.29555170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.96, Y:196.47, Z:42.95 [[ 5.59273246e-01 -8.04290398e-01 2.00824281e-01 4.37957743e+02] [ 7.56552625e-01 5.94236000e-01 2.72968317e-01 1.96467292e+02] [-3.38882814e-01 -7.29739201e-04 9.40828309e-01 4.29472716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.97, Y:196.49, Z:42.94 [[ 5.60094583e-01 -8.02413406e-01 2.05977632e-01 4.37972547e+02] [ 7.56098136e-01 5.96745645e-01 2.68719639e-01 1.96490026e+02] [-3.38540496e-01 5.23088908e-03 9.40937283e-01 4.29351616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.98, Y:196.51, Z:42.92 [[ 5.58929078e-01 -8.01516708e-01 2.12530593e-01 4.37979320e+02] [ 7.56113833e-01 5.97853759e-01 2.66200589e-01 1.96510307e+02] [-3.40426433e-01 1.19100714e-02 9.40195721e-01 4.29228141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.01, Y:196.53, Z:42.92 [[ 5.61322304e-01 -8.03453998e-01 1.98441286e-01 4.38008577e+02] [ 7.55574317e-01 5.95356924e-01 2.73235402e-01 1.96530657e+02] [-3.37675470e-01 -3.43598614e-03 9.41256326e-01 4.29197370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.01, Y:196.55, Z:42.90 [[ 5.60731281e-01 -8.00110793e-01 2.13080150e-01 4.38011285e+02] [ 7.55267131e-01 5.99718366e-01 2.64403939e-01 1.96552981e+02] [-3.39340524e-01 1.26728739e-02 9.40578230e-01 4.29028575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.03, Y:196.57, Z:42.90 [[ 5.61301322e-01 -8.02018114e-01 2.04224804e-01 4.38033014e+02] [ 7.54981342e-01 5.97295359e-01 2.70631536e-01 1.96571892e+02] [-3.39033922e-01 2.28007793e-03 9.40771386e-01 4.28968198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.05, Y:196.59, Z:42.89 [[ 5.62084624e-01 -8.01497695e-01 2.04113499e-01 4.38048965e+02] [ 7.54419945e-01 5.97994977e-01 2.70652090e-01 1.96591183e+02] [-3.38985874e-01 1.85791618e-03 9.40789629e-01 4.28877019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.07, Y:196.61, Z:42.88 [[ 5.63562674e-01 -8.00658846e-01 2.03328615e-01 4.38070149e+02] [ 7.53470617e-01 5.99120247e-01 2.70807973e-01 1.96613667e+02] [-3.38643089e-01 5.84871891e-04 9.40914723e-01 4.28772070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:438.08, Y:196.64, Z:42.86 [[ 5.62349360e-01 -7.98222509e-01 2.15879653e-01 4.38079579e+02] [ 7.53002361e-01 6.02213032e-01 2.65192210e-01 1.96636876e+02] [-3.41687931e-01 1.34272189e-02 9.39717547e-01 4.28607817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.10, Y:196.66, Z:42.85 [[ 5.61402139e-01 -8.00954369e-01 2.08085889e-01 4.38100552e+02] [ 7.53556017e-01 5.98709258e-01 2.71478460e-01 1.96656718e+02] [-3.42024807e-01 4.39578527e-03 9.39680642e-01 4.28546037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:438.12, Y:196.68, Z:42.85 [[ 5.61245255e-01 -8.03280159e-01 1.99360856e-01 4.38120370e+02] [ 7.54239002e-01 5.95582257e-01 2.76415092e-01 1.96675465e+02] [-3.40774547e-01 -4.77092591e-03 9.40132941e-01 4.28526124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.13, Y:196.70, Z:42.83 [[ 5.61558951e-01 -7.99646063e-01 2.12644582e-01 4.38132022e+02] [ 7.52865946e-01 6.00408916e-01 2.69633086e-01 1.96697925e+02] [-3.43284739e-01 8.67799104e-03 9.39191291e-01 4.28341434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.15, Y:196.72, Z:42.83 [[ 5.62587868e-01 -8.00438078e-01 2.06866560e-01 4.38151347e+02] [ 7.51984094e-01 5.99414125e-01 2.74267440e-01 1.96716892e+02] [-3.43532841e-01 1.26082852e-03 9.39139818e-01 4.28272424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.16, Y:196.74, Z:42.81 [[ 5.63488148e-01 -7.98009183e-01 2.13687744e-01 4.38163328e+02] [ 7.50583992e-01 6.02597068e-01 2.71109654e-01 1.96738772e+02] [-3.45115601e-01 7.62352277e-03 9.38529224e-01 4.28124299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.19, Y:196.76, Z:42.81 [[ 5.65324502e-01 -8.00146395e-01 2.00434413e-01 4.38189386e+02] [ 7.50222157e-01 5.99764398e-01 2.78297290e-01 1.96758370e+02] [-3.42891998e-01 -6.95793929e-03 9.39349064e-01 4.28099606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.670385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:438.20, Y:196.78, Z:42.79 [[ 5.65892246e-01 -7.96706295e-01 2.12191059e-01 4.38200341e+02] [ 7.49487971e-01 6.04335982e-01 2.70269870e-01 1.96780383e+02] [-3.43560399e-01 6.09102242e-03 9.39110830e-01 4.27933290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.22, Y:196.80, Z:42.79 [[ 5.64843978e-01 -8.00999579e-01 1.98370752e-01 4.38223394e+02] [ 7.50967128e-01 5.98604565e-01 2.78784770e-01 1.96796034e+02] [-3.42052121e-01 -8.49998482e-03 9.39642537e-01 4.27945611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.24, Y:196.82, Z:42.78 [[ 5.62927793e-01 -8.00665317e-01 2.05054506e-01 4.38237339e+02] [ 7.52656902e-01 5.99111573e-01 2.73080412e-01 1.96816461e+02] [-3.41496542e-01 6.11135883e-04 9.39882832e-01 4.27820798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.25, Y:196.84, Z:42.76 [[ 5.60766306e-01 -7.99890748e-01 2.13812865e-01 4.38249476e+02] [ 7.53212365e-01 6.00063052e-01 2.69435459e-01 1.96838076e+02] [-3.43820131e-01 9.95616693e-03 9.38982743e-01 4.27637801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.27, Y:196.86, Z:42.76 [[ 5.60992673e-01 -8.03902202e-01 1.97556248e-01 4.38274459e+02] [ 7.54360884e-01 5.94721611e-01 2.77931398e-01 1.96855432e+02] [-3.40920632e-01 -6.88877196e-03 9.40066842e-01 4.27649012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.29, Y:196.88, Z:42.75 [[ 5.60389284e-01 -8.03094239e-01 2.02493197e-01 4.38292463e+02] [ 7.55187528e-01 5.95852001e-01 2.73225529e-01 1.96877112e+02] [-3.40081825e-01 -1.92321812e-04 9.40395829e-01 4.27509134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.32, Y:196.90, Z:42.75 [[ 5.60078580e-01 -8.05195464e-01 1.94864694e-01 4.38315819e+02] [ 7.56437270e-01 5.92965820e-01 2.76032957e-01 1.96896019e+02] [-3.37808588e-01 -7.19722901e-03 9.41187313e-01 4.27475169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.32, Y:196.92, Z:42.73 [[ 5.58373306e-01 -8.00632133e-01 2.17272730e-01 4.38316510e+02] [ 7.56672866e-01 5.98886841e-01 2.62260798e-01 1.96919885e+02] [-3.40096201e-01 1.79649501e-02 9.40219036e-01 4.27265011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.34, Y:196.94, Z:42.72 [[ 5.57936610e-01 -8.04402361e-01 2.04067589e-01 4.38340516e+02] [ 7.56795919e-01 5.94080324e-01 2.72632548e-01 1.96936960e+02] [-3.40538805e-01 2.32583922e-03 9.40227586e-01 4.27231284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.36, Y:196.96, Z:42.71 [[ 5.57360574e-01 -8.04689141e-01 2.04510579e-01 4.38358205e+02] [ 7.56862827e-01 5.93691265e-01 2.73293510e-01 1.96955579e+02] [-3.41332465e-01 2.46342749e-03 9.39939402e-01 4.27142693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.38, Y:196.98, Z:42.71 [[ 5.56929811e-01 -8.04920904e-01 2.04771883e-01 4.38375334e+02] [ 7.56925324e-01 5.93376817e-01 2.73802860e-01 1.96975784e+02] [-3.41896533e-01 2.50804905e-03 9.39734255e-01 4.27050056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.39, Y:196.99, Z:42.70 [[ 5.57757320e-01 -8.04821380e-01 2.02902238e-01 4.38393412e+02] [ 7.55677088e-01 5.93516019e-01 2.76931172e-01 1.96992712e+02] [-3.43305856e-01 -1.13181576e-03 9.39222981e-01 4.26981877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.41, Y:197.02, Z:42.69 [[ 5.57078412e-01 -8.04393801e-01 2.06432208e-01 4.38408886e+02] [ 7.56028277e-01 5.94088796e-01 2.74735776e-01 1.97015856e+02] [-3.43634817e-01 3.01921694e-03 9.39098502e-01 4.26860551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.43, Y:197.04, Z:42.68 [[ 5.57300908e-01 -8.04460566e-01 2.05569687e-01 4.38425239e+02] [ 7.55953478e-01 5.94002445e-01 2.75128033e-01 1.97036671e+02] [-3.43438550e-01 2.07201764e-03 9.39172864e-01 4.26765482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.44, Y:197.06, Z:42.67 [[ 5.58546945e-01 -8.03667625e-01 2.05289209e-01 4.38441833e+02] [ 7.55184881e-01 5.95076606e-01 2.74917493e-01 1.97057081e+02] [-3.43105095e-01 1.47698074e-03 9.39295860e-01 4.26661185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:438.46, Y:197.08, Z:42.66 [[ 5.58902410e-01 -8.03492677e-01 2.05006378e-01 4.38458506e+02] [ 7.55076705e-01 5.95313297e-01 2.74702109e-01 1.97077900e+02] [-3.42764155e-01 1.26387012e-03 9.39420639e-01 4.26562600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.48, Y:197.10, Z:42.65 [[ 5.59518175e-01 -8.02968748e-01 2.05379166e-01 4.38475259e+02] [ 7.54276011e-01 5.96020541e-01 2.75367416e-01 1.97097965e+02] [-3.43521631e-01 8.39504167e-04 9.39144390e-01 4.26479502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.49, Y:197.12, Z:42.64 [[ 5.59552438e-01 -8.02912737e-01 2.05504762e-01 4.38491856e+02] [ 7.54122276e-01 5.96096113e-01 2.75624776e-01 1.97118989e+02] [-3.43803233e-01 7.49203229e-04 9.39041413e-01 4.26379226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.51, Y:197.14, Z:42.63 [[ 5.59806586e-01 -8.02828419e-01 2.05141697e-01 4.38508691e+02] [ 7.54148568e-01 5.96209848e-01 2.75306656e-01 1.97139980e+02] [-3.43331507e-01 5.88838136e-04 9.39214102e-01 4.26282226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.52, Y:197.16, Z:42.62 [[ 5.59599051e-01 -8.02993760e-01 2.05060780e-01 4.38524680e+02] [ 7.54302579e-01 5.95987149e-01 2.75366915e-01 1.97161480e+02] [-3.43331504e-01 5.82810442e-04 9.39214107e-01 4.26182414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.54, Y:197.18, Z:42.61 [[ 5.59740295e-01 -8.02964938e-01 2.04787966e-01 4.38541046e+02] [ 7.54347988e-01 5.96026085e-01 2.75158171e-01 1.97182588e+02] [-3.43001333e-01 4.64274640e-04 9.39334802e-01 4.26086462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.300385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:438.56, Y:197.20, Z:42.60 [[ 5.59877506e-01 -8.03053959e-01 2.04062535e-01 4.38557521e+02] [ 7.54736563e-01 5.95906176e-01 2.74351144e-01 1.97202738e+02] [-3.41920897e-01 4.10422039e-04 9.39728648e-01 4.25972344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.330385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:438.57, Y:197.22, Z:42.59 [[ 5.59465698e-01 -8.03369501e-01 2.03949938e-01 4.38573398e+02] [ 7.55066425e-01 5.95480645e-01 2.74367447e-01 1.97223368e+02] [-3.41866680e-01 4.96575349e-04 9.39748332e-01 4.25874039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.59, Y:197.24, Z:42.58 [[ 5.59467072e-01 -8.03281177e-01 2.04293774e-01 4.38590283e+02] [ 7.54742764e-01 5.95599897e-01 2.74998405e-01 1.97244819e+02] [-3.42578394e-01 3.36695363e-04 9.39489186e-01 4.25788689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.61, Y:197.26, Z:42.57 [[ 5.59295065e-01 -8.03448722e-01 2.04105810e-01 4.38606534e+02] [ 7.54951361e-01 5.95373867e-01 2.74915262e-01 1.97264499e+02] [-3.42399581e-01 3.31208952e-04 9.39554372e-01 4.25697110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.62, Y:197.29, Z:42.56 [[ 5.58764035e-01 -8.03761108e-01 2.04330209e-01 4.38623394e+02] [ 7.55148035e-01 5.94951975e-01 2.75288200e-01 1.97285355e+02] [-3.42832610e-01 4.78409926e-04 9.39396387e-01 4.25599208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.64, Y:197.31, Z:42.55 [[ 5.58354426e-01 -8.03986994e-01 2.04561114e-01 4.38638918e+02] [ 7.55211623e-01 5.94646665e-01 2.75773001e-01 1.97305250e+02] [-3.43359490e-01 5.07855158e-04 9.39203920e-01 4.25506153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.65, Y:197.33, Z:42.54 [[ 5.57779256e-01 -8.04357125e-01 2.04675149e-01 4.38654375e+02] [ 7.55523204e-01 5.94145722e-01 2.75999184e-01 1.97325453e+02] [-3.43608775e-01 6.90205023e-04 9.39112631e-01 4.25411799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:438.67, Y:197.35, Z:42.53 [[ 5.57526190e-01 -8.04582280e-01 2.04479588e-01 4.38669327e+02] [ 7.55799126e-01 5.93840745e-01 2.75900074e-01 1.97345214e+02] [-3.43412622e-01 7.23977136e-04 9.39184352e-01 4.25314536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.69, Y:197.37, Z:42.52 [[ 5.57407232e-01 -8.04761593e-01 2.04097908e-01 4.38685072e+02] [ 7.56145609e-01 5.93597654e-01 2.75473488e-01 1.97366625e+02] [-3.42842522e-01 7.76822781e-04 9.39392571e-01 4.25212714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.70, Y:197.39, Z:42.51 [[ 5.58054557e-01 -8.04498458e-01 2.03365050e-01 4.38700178e+02] [ 7.56161635e-01 5.93954526e-01 2.74659067e-01 1.97387153e+02] [-3.41752387e-01 5.02104733e-04 9.39789899e-01 4.25114031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.72, Y:197.41, Z:42.50 [[ 5.58352926e-01 -8.04395079e-01 2.02954593e-01 4.38715594e+02] [ 7.56226686e-01 5.94094608e-01 2.74176580e-01 1.97408075e+02] [-3.41120521e-01 3.92383225e-04 9.40019487e-01 4.25016351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.73, Y:197.43, Z:42.49 [[ 5.59408015e-01 -8.03803611e-01 2.02391768e-01 4.38730674e+02] [ 7.55811208e-01 5.94894737e-01 2.73586677e-01 1.97429133e+02] [-3.40311756e-01 -7.66131617e-05 9.40312662e-01 4.24924553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.75, Y:197.45, Z:42.48 [[ 5.59314118e-01 -8.03891564e-01 2.02301929e-01 4.38745616e+02] [ 7.55923310e-01 5.94775881e-01 2.73535373e-01 1.97450540e+02] [-3.40217087e-01 -6.74520174e-05 9.40346920e-01 4.24829686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.76, Y:197.47, Z:42.47 [[ 5.58737799e-01 -8.04188467e-01 2.02714039e-01 4.38760882e+02] [ 7.55976686e-01 5.94374385e-01 2.74259623e-01 1.97472222e+02] [-3.41044459e-01 7.86942531e-06 9.40047168e-01 4.24729438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.78, Y:197.49, Z:42.46 [[ 5.58539127e-01 -8.04444487e-01 2.02245178e-01 4.38775719e+02] [ 7.56417750e-01 5.94027831e-01 2.73793942e-01 1.97492570e+02] [-3.40391292e-01 5.72127663e-05 9.40283875e-01 4.24639654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.79, Y:197.51, Z:42.45 [[ 5.57355374e-01 -8.05316950e-01 2.02038604e-01 4.38790805e+02] [ 7.57421787e-01 5.92844257e-01 2.73583486e-01 1.97513997e+02] [-3.40098845e-01 5.45213924e-04 9.40389536e-01 4.24537704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.81, Y:197.54, Z:42.44 [[ 5.56800923e-01 -8.05799831e-01 2.01641673e-01 4.38806082e+02] [ 7.58070564e-01 5.92187547e-01 2.73208582e-01 1.97535315e+02] [-3.39561117e-01 7.35825939e-04 9.40583705e-01 4.24432777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.810385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:438.82, Y:197.56, Z:42.43 [[ 5.55547474e-01 -8.06931130e-01 2.00572073e-01 4.38821620e+02] [ 7.59736231e-01 5.90644069e-01 2.71919921e-01 1.97556458e+02] [-3.37887355e-01 1.31744554e-03 9.41185635e-01 4.24323226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:438.84, Y:197.58, Z:42.42 [[ 5.54654512e-01 -8.07518570e-01 2.00679176e-01 4.38837281e+02] [ 7.60248956e-01 5.89840055e-01 2.72231950e-01 1.97577953e+02] [-3.38200971e-01 1.57145446e-03 9.41072598e-01 4.24233017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.85, Y:197.60, Z:42.41 [[ 5.54114782e-01 -8.07830772e-01 2.00913545e-01 4.38852539e+02] [ 7.60404662e-01 5.89412168e-01 2.72723389e-01 1.97599096e+02] [-3.38735233e-01 1.65553501e-03 9.40880280e-01 4.24145636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.87, Y:197.62, Z:42.41 [[ 5.52221796e-01 -8.09055618e-01 2.01196659e-01 4.38867430e+02] [ 7.61544409e-01 5.87727331e-01 2.73178876e-01 1.97620675e+02] [-3.39265680e-01 2.36486125e-03 9.40687624e-01 4.24050682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.88, Y:197.64, Z:42.40 [[ 5.50586315e-01 -8.10015345e-01 2.01816379e-01 4.38883288e+02] [ 7.62202881e-01 5.86401706e-01 2.74189367e-01 1.97642465e+02] [-3.40443063e-01 2.86011199e-03 9.40260783e-01 4.23961453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.90, Y:197.66, Z:42.39 [[ 5.49574236e-01 -8.10646160e-01 2.02041982e-01 4.38898802e+02] [ 7.62703928e-01 5.85527863e-01 2.74663139e-01 1.97663882e+02] [-3.40955829e-01 3.15042890e-03 9.40074038e-01 4.23870728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.91, Y:197.69, Z:42.38 [[ 5.47759314e-01 -8.11697998e-01 2.02746380e-01 4.38913429e+02] [ 7.63418415e-01 5.84065549e-01 2.75789337e-01 1.97685496e+02] [-3.42274829e-01 3.71414206e-03 9.39592543e-01 4.23775759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.93, Y:197.71, Z:42.37 [[ 5.47144323e-01 -8.12131155e-01 2.02672340e-01 4.38928378e+02] [ 7.63854883e-01 5.83462037e-01 2.75858241e-01 1.97707011e+02] [-3.42284688e-01 3.87798580e-03 9.39588289e-01 4.23682959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.94, Y:197.73, Z:42.36 [[ 5.46646176e-01 -8.12436066e-01 2.02794469e-01 4.38943073e+02] [ 7.64058200e-01 5.83036797e-01 2.76194063e-01 1.97728332e+02] [-3.42626656e-01 3.96634844e-03 9.39463274e-01 4.23580446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.080385723 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:438.95, Y:197.75, Z:42.34 [[ 5.46801282e-01 -8.09809788e-01 2.12641638e-01 4.38951396e+02] [ 7.63767466e-01 5.86500750e-01 2.69585106e-01 1.97751193e+02] [-3.43027137e-01 1.49992837e-02 9.39205731e-01 4.23374468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.110385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:438.98, Y:197.77, Z:42.34 [[ 5.47105026e-01 -8.14755342e-01 1.91963075e-01 4.38975361e+02] [ 7.65012448e-01 5.79767852e-01 2.80401841e-01 1.97769406e+02] [-3.39752918e-01 -6.55511434e-03 9.40491885e-01 4.23394364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.99, Y:197.79, Z:42.33 [[ 5.47652622e-01 -8.12217140e-01 2.00947564e-01 4.38985309e+02] [ 7.64574773e-01 5.83344580e-01 2.74106764e-01 1.97791976e+02] [-3.39855884e-01 3.52414982e-03 9.40470924e-01 4.23277106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.00, Y:197.81, Z:42.32 [[ 5.47763949e-01 -8.12189958e-01 2.00753901e-01 4.39001017e+02] [ 7.64608712e-01 5.83382874e-01 2.73930539e-01 1.97813081e+02] [-3.39600020e-01 3.44890807e-03 9.40563624e-01 4.23183205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.200385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:439.02, Y:197.83, Z:42.31 [[ 5.47984400e-01 -8.12071543e-01 2.00631271e-01 4.39015419e+02] [ 7.64479715e-01 5.83548753e-01 2.73937252e-01 1.97833686e+02] [-3.39534775e-01 3.26519594e-03 9.40587835e-01 4.23082545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.03, Y:197.86, Z:42.30 [[ 5.48374406e-01 -8.11656761e-01 2.01243168e-01 4.39030619e+02] [ 7.63711866e-01 5.84127091e-01 2.74844916e-01 1.97855927e+02] [-3.40631320e-01 2.97387749e-03 9.40192246e-01 4.22993144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.04, Y:197.88, Z:42.29 [[ 5.48548902e-01 -8.11591379e-01 2.01031183e-01 4.39044478e+02] [ 7.63685130e-01 5.84218671e-01 2.74724530e-01 1.97877308e+02] [-3.40410230e-01 2.82468610e-03 9.40272778e-01 4.22896302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.06, Y:197.90, Z:42.28 [[ 5.48135125e-01 -8.11905947e-01 2.00889568e-01 4.39059683e+02] [ 7.64064629e-01 5.83780683e-01 2.74600360e-01 1.97898534e+02] [-3.40225114e-01 2.97451042e-03 9.40339313e-01 4.22799502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.07, Y:197.92, Z:42.26 [[ 5.45465022e-01 -8.11740086e-01 2.08676647e-01 4.39070272e+02] [ 7.64604725e-01 5.83919829e-01 2.72795251e-01 1.97920896e+02] [-3.43289272e-01 1.07548827e-02 9.39168147e-01 4.22632417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.09, Y:197.94, Z:42.26 [[ 5.44188119e-01 -8.13714062e-01 2.04276079e-01 4.39088321e+02] [ 7.65221178e-01 5.81237384e-01 2.76766423e-01 1.97941547e+02] [-3.43941624e-01 5.70338305e-03 9.38973711e-01 4.22550256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.11, Y:197.96, Z:42.25 [[ 5.43230230e-01 -8.16912195e-01 1.93792110e-01 4.39110834e+02] [ 7.66660818e-01 5.76742983e-01 2.82132456e-01 1.97962250e+02] [-3.42245684e-01 -4.69006126e-03 9.39598795e-01 4.22544523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.12, Y:197.99, Z:42.24 [[ 5.42005810e-01 -8.15756873e-01 2.01916880e-01 4.39121291e+02] [ 7.67497107e-01 5.78372256e-01 2.76466497e-01 1.97985406e+02] [-3.42312567e-01 5.12417342e-03 9.39572163e-01 4.22410508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.14, Y:198.01, Z:42.23 [[ 5.41207082e-01 -8.16292117e-01 2.01896198e-01 4.39135825e+02] [ 7.68015099e-01 5.77614496e-01 2.76612187e-01 1.98006536e+02] [-3.42414518e-01 5.35485385e-03 9.39533727e-01 4.22315483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.15, Y:198.03, Z:42.21 [[ 5.38682181e-01 -8.15998646e-01 2.09684806e-01 4.39146100e+02] [ 7.68438542e-01 5.77905627e-01 2.74822294e-01 1.98029724e+02] [-3.45432649e-01 1.30880135e-02 9.38352273e-01 4.22141750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.17, Y:198.05, Z:42.21 [[ 5.38449777e-01 -8.19516628e-01 1.96123265e-01 4.39167831e+02] [ 7.69889211e-01 5.73055358e-01 2.80852559e-01 1.98049078e+02] [-3.42552830e-01 -2.31812056e-04 9.39498539e-01 4.22139133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.18, Y:198.07, Z:42.20 [[ 5.38207066e-01 -8.18406984e-01 2.01353329e-01 4.39179947e+02] [ 7.70424405e-01 5.74602457e-01 2.76185179e-01 1.98071771e+02] [-3.41729997e-01 6.48270347e-03 9.39775816e-01 4.22013918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:439.19, Y:198.09, Z:42.18 [[ 5.37064177e-01 -8.17548375e-01 2.07790100e-01 4.39191435e+02] [ 7.70757302e-01 5.75700176e-01 2.72951441e-01 1.98094731e+02] [-3.42775804e-01 1.35632962e-02 9.39319320e-01 4.21847224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.21, Y:198.12, Z:42.18 [[ 5.37909824e-01 -8.17946080e-01 2.04003019e-01 4.39210363e+02] [ 7.70494682e-01 5.75217810e-01 2.74704236e-01 1.98116942e+02] [-3.42039423e-01 9.41713401e-03 9.39638415e-01 4.21752388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.620385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:439.22, Y:198.14, Z:42.17 [[ 5.36583906e-01 -8.18872814e-01 2.03776903e-01 4.39222688e+02] [ 7.71548151e-01 5.73889325e-01 2.74525943e-01 1.98138685e+02] [-3.41747221e-01 9.91748924e-03 9.39739581e-01 4.21654109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.650385723 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:439.24, Y:198.16, Z:42.15 [[ 5.36735673e-01 -8.18384147e-01 2.05334375e-01 4.39237549e+02] [ 7.71393628e-01 5.74555242e-01 2.73565613e-01 1.98161092e+02] [-3.41857702e-01 1.15612048e-02 9.39680611e-01 4.21537865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.680385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:439.25, Y:198.18, Z:42.15 [[ 5.36481379e-01 -8.18969265e-01 2.03659210e-01 4.39252593e+02] [ 7.71445661e-01 5.73758199e-01 2.75087480e-01 1.98182095e+02] [-3.42139333e-01 9.53270373e-03 9.39600875e-01 4.21450755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.27, Y:198.20, Z:42.15 [[ 5.36114761e-01 -8.21863198e-01 1.92670304e-01 4.39269524e+02] [ 7.72473637e-01 5.69682622e-01 2.80617515e-01 1.98202252e+02] [-3.40390132e-01 -1.61046210e-03 9.40282917e-01 4.21455220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.740385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:439.28, Y:198.22, Z:42.13 [[ 5.35889635e-01 -8.20294036e-01 1.99849928e-01 4.39279241e+02] [ 7.72841888e-01 5.71898453e-01 2.75041045e-01 1.98224702e+02] [-3.39908393e-01 7.06075073e-03 9.40432044e-01 4.21304604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.29, Y:198.25, Z:42.12 [[ 5.36551390e-01 -8.19695364e-01 2.00529588e-01 4.39292903e+02] [ 7.71807753e-01 5.72761647e-01 2.76146500e-01 1.98247737e+02] [-3.41211662e-01 6.60350216e-03 9.39963295e-01 4.21224917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.29, Y:198.27, Z:42.09 [[ 5.32899026e-01 -8.15655437e-01 2.25221749e-01 4.39290332e+02] [ 7.71154804e-01 5.77701203e-01 2.67547358e-01 1.98271539e+02] [-3.48337332e-01 3.11051067e-02 9.36853017e-01 4.20934247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.32, Y:198.29, Z:42.09 [[ 5.33797159e-01 -8.20832750e-01 2.03209717e-01 4.39317995e+02] [ 7.69993330e-01 5.71149741e-01 2.84426167e-01 1.98290003e+02] [-3.49529490e-01 4.64424741e-03 9.36913852e-01 4.20943294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.860385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:439.33, Y:198.31, Z:42.09 [[ 5.34371900e-01 -8.20430418e-01 2.03323885e-01 4.39332091e+02] [ 7.69583573e-01 5.71728564e-01 2.84372244e-01 1.98311142e+02] [-3.49553712e-01 4.51418544e-03 9.36905452e-01 4.20856424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:439.35, Y:198.33, Z:42.08 [[ 5.35233999e-01 -8.20239858e-01 2.01819579e-01 4.39348226e+02] [ 7.68769001e-01 5.72015954e-01 2.85992957e-01 1.98334245e+02] [-3.50026841e-01 2.07948211e-03 9.36737363e-01 4.20773402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.37, Y:198.36, Z:42.07 [[ 5.37440565e-01 -8.18602455e-01 2.02602222e-01 4.39365882e+02] [ 7.67523724e-01 5.74354998e-01 2.84646569e-01 1.98357180e+02] [-3.49377979e-01 2.52139873e-03 9.36978479e-01 4.20671934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.38, Y:198.38, Z:42.07 [[ 5.38266282e-01 -8.20683255e-01 1.91698734e-01 4.39383256e+02] [ 7.67818907e-01 5.71314641e-01 2.89920175e-01 1.98378167e+02] [-3.47452927e-01 -8.86434229e-03 9.37655527e-01 4.20677657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.38, Y:198.40, Z:42.04 [[ 5.36681270e-01 -8.15806837e-01 2.15481830e-01 4.39383866e+02] [ 7.67497182e-01 5.78083774e-01 2.77068992e-01 1.98404027e+02] [-3.50601327e-01 1.66839588e-02 9.36376183e-01 4.20416381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.41, Y:198.42, Z:42.05 [[ 5.38032710e-01 -8.20464680e-01 1.93283501e-01 4.39408916e+02] [ 7.68403476e-01 5.71662950e-01 2.87676156e-01 1.98423498e+02] [-3.46521141e-01 -6.25946778e-03 9.38021278e-01 4.20456127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.42, Y:198.45, Z:42.03 [[ 5.37856742e-01 -8.18347987e-01 2.02525794e-01 4.39417048e+02] [ 7.68928673e-01 5.74700738e-01 2.80120970e-01 1.98446677e+02] [-3.45628156e-01 5.06293752e-03 9.38357898e-01 4.20313118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:439.43, Y:198.47, Z:42.02 [[ 5.36768918e-01 -8.19230442e-01 2.01843037e-01 4.39429924e+02] [ 7.70187081e-01 5.73437470e-01 2.79251372e-01 1.98468829e+02] [-3.44515586e-01 5.56344282e-03 9.38764113e-01 4.20199787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.45, Y:198.49, Z:42.01 [[ 5.36600858e-01 -8.18696721e-01 2.04438739e-01 4.39446563e+02] [ 7.70134034e-01 5.74165806e-01 2.77897819e-01 1.98492092e+02] [-3.44895767e-01 8.32502259e-03 9.38604072e-01 4.20070189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.46, Y:198.51, Z:42.00 [[ 5.36402890e-01 -8.18863627e-01 2.04289747e-01 4.39461665e+02] [ 7.70290139e-01 5.73928591e-01 2.77955167e-01 1.98513103e+02] [-3.44855103e-01 8.26642228e-03 9.38619531e-01 4.19973894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:439.47, Y:198.53, Z:41.99 [[ 5.32927245e-01 -8.21725178e-01 2.01881856e-01 4.39473774e+02] [ 7.72644061e-01 5.69842698e-01 2.79822183e-01 1.98533453e+02] [-3.44977835e-01 6.85795145e-03 9.38585778e-01 4.19910859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.49, Y:198.56, Z:41.98 [[ 5.31949329e-01 -8.22338274e-01 2.01964539e-01 4.39488173e+02] [ 7.73228195e-01 5.68953244e-01 2.80018508e-01 1.98556351e+02] [-3.45178316e-01 7.20901872e-03 9.38509435e-01 4.19824842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.50, Y:198.58, Z:41.97 [[ 5.30559066e-01 -8.23261308e-01 2.01861083e-01 4.39500679e+02] [ 7.74204510e-01 5.67610357e-01 2.80046174e-01 1.98579352e+02] [-3.45129621e-01 7.70072404e-03 9.38523438e-01 4.19715037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.250385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:439.51, Y:198.60, Z:41.96 [[ 5.30165636e-01 -8.23674303e-01 2.01208948e-01 4.39514275e+02] [ 7.74910478e-01 5.67009003e-01 2.79310835e-01 1.98600674e+02] [-3.44148443e-01 7.83791514e-03 9.38882536e-01 4.19594695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.53, Y:198.62, Z:41.95 [[ 5.30267910e-01 -8.23657255e-01 2.01009128e-01 4.39527942e+02] [ 7.74928772e-01 5.67035472e-01 2.79206325e-01 1.98624268e+02] [-3.43949621e-01 7.71360183e-03 9.38956420e-01 4.19511314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.54, Y:198.65, Z:41.94 [[ 5.30125725e-01 -8.23739746e-01 2.01046132e-01 4.39541895e+02] [ 7.74935489e-01 5.66916290e-01 2.79429611e-01 1.98646110e+02] [-3.44153604e-01 7.66495771e-03 9.38882072e-01 4.19412045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3403857229999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:439.55, Y:198.67, Z:41.93 [[ 5.30051270e-01 -8.23834335e-01 2.00854771e-01 4.39554122e+02] [ 7.75069838e-01 5.66779500e-01 2.79334469e-01 1.98667857e+02] [-3.43965693e-01 7.61488443e-03 9.38951338e-01 4.19287505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.58, Y:198.69, Z:41.92 [[ 5.33026843e-01 -8.22446184e-01 1.98657139e-01 4.39576559e+02] [ 7.73326883e-01 5.68826086e-01 2.80004314e-01 1.98692554e+02] [-3.43289842e-01 4.37709083e-03 9.39219317e-01 4.19215364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:439.58, Y:198.72, Z:41.90 [[ 5.31018938e-01 -8.20159779e-01 2.12971417e-01 4.39579034e+02] [ 7.73895036e-01 5.71777430e-01 2.72317908e-01 1.98716361e+02] [-3.45116445e-01 2.02115564e-02 9.38342226e-01 4.19042995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.60, Y:198.74, Z:41.90 [[ 5.31149143e-01 -8.23909028e-01 1.97622116e-01 4.39596503e+02] [ 7.73894614e-01 5.66715253e-01 2.82702935e-01 1.98735618e+02] [-3.44916968e-01 2.78126977e-03 9.38629080e-01 4.19047741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.460385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:439.61, Y:198.76, Z:41.89 [[ 5.32571551e-01 -8.21546001e-01 2.03542899e-01 4.39611159e+02] [ 7.73122059e-01 5.70066590e-01 2.78040221e-01 1.98758838e+02] [-3.44455838e-01 9.28719393e-03 9.38756584e-01 4.18870278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.62, Y:198.78, Z:41.88 [[ 5.32106949e-01 -8.22398914e-01 2.01301321e-01 4.39623781e+02] [ 7.72597928e-01 5.68884403e-01 2.81891785e-01 1.98780773e+02] [-3.46344679e-01 5.52840590e-03 9.38091040e-01 4.18848206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:439.64, Y:198.80, Z:41.87 [[ 5.31679982e-01 -8.22596702e-01 2.01621088e-01 4.39637866e+02] [ 7.72836097e-01 5.68593805e-01 2.81825215e-01 1.98801971e+02] [-3.46468994e-01 5.97922953e-03 9.38042369e-01 4.18735905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.550385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:439.65, Y:198.82, Z:41.86 [[ 5.31168265e-01 -8.22968213e-01 2.01453702e-01 4.39651734e+02] [ 7.73253967e-01 5.68054569e-01 2.81766408e-01 1.98824256e+02] [-3.46321494e-01 6.10950007e-03 9.38095996e-01 4.18632527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:439.68, Y:198.85, Z:41.86 [[ 5.33942429e-01 -8.22695895e-01 1.95133152e-01 4.39677795e+02] [ 7.72049376e-01 5.68480667e-01 2.84199741e-01 1.98848507e+02] [-3.44739385e-01 -1.09387172e-03 9.38697800e-01 4.18583054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.610385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:439.67, Y:198.87, Z:41.84 [[ 5.30967478e-01 -8.19860055e-01 2.14249920e-01 4.39672809e+02] [ 7.74009479e-01 5.72147793e-01 2.71212516e-01 1.98871398e+02] [-3.44938927e-01 2.18264429e-02 9.38371325e-01 4.18386427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:439.69, Y:198.89, Z:41.83 [[ 5.30712564e-01 -8.22970043e-01 2.02643735e-01 4.39694560e+02] [ 7.74502935e-01 5.68010352e-01 2.78405180e-01 1.98892629e+02] [-3.44222862e-01 9.19504017e-03 9.38842944e-01 4.18349923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:439.71, Y:198.91, Z:41.82 [[ 5.31865243e-01 -8.22466200e-01 2.01664854e-01 4.39712618e+02] [ 7.72619519e-01 5.68784355e-01 2.82034459e-01 1.98913979e+02] [-3.46667624e-01 5.80587658e-03 9.37970069e-01 4.18245523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.73, Y:198.93, Z:41.82 [[ 5.31491503e-01 -8.23624132e-01 1.97889039e-01 4.39726520e+02] [ 7.73518665e-01 5.67129560e-01 2.82900931e-01 1.98934606e+02] [-3.45232758e-01 2.71142436e-03 9.38513181e-01 4.18188501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7303857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:439.74, Y:198.96, Z:41.81 [[ 5.31194067e-01 -8.23128315e-01 2.00730268e-01 4.39739391e+02] [ 7.73407308e-01 5.67828250e-01 2.81801731e-01 1.98955577e+02] [-3.45939301e-01 5.55484850e-03 9.38240451e-01 4.18059224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.75, Y:198.98, Z:41.80 [[ 5.31159184e-01 -8.23063803e-01 2.01086789e-01 4.39754941e+02] [ 7.73127564e-01 5.67922505e-01 2.82378821e-01 1.98977947e+02] [-3.46617500e-01 5.47763531e-03 9.37990567e-01 4.17977047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:439.77, Y:199.00, Z:41.79 [[ 5.31273322e-01 -8.23024551e-01 2.00945877e-01 4.39770095e+02] [ 7.73092761e-01 5.67980688e-01 2.82357081e-01 1.98998190e+02] [-3.46520187e-01 5.34101836e-03 9.38027310e-01 4.17875725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.820385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:439.79, Y:199.02, Z:41.78 [[ 5.31097276e-01 -8.23251253e-01 2.00482063e-01 4.39785420e+02] [ 7.73545166e-01 5.67651210e-01 2.81780019e-01 1.99019031e+02] [-3.45779640e-01 5.42933022e-03 9.38300039e-01 4.17756703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8503857229999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:439.80, Y:199.04, Z:41.77 [[ 5.30863330e-01 -8.23518059e-01 2.00005328e-01 4.39800184e+02] [ 7.74010769e-01 5.67263546e-01 2.81281707e-01 1.99041320e+02] [-3.45096297e-01 5.48413400e-03 9.38551261e-01 4.17661533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.82, Y:199.06, Z:41.76 [[ 5.30746458e-01 -8.23592622e-01 2.00008478e-01 4.39815267e+02] [ 7.74025395e-01 5.67155821e-01 2.81458634e-01 1.99063653e+02] [-3.45243227e-01 5.42846867e-03 9.38497547e-01 4.17580266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.83, Y:199.09, Z:41.75 [[ 5.30396954e-01 -8.23897730e-01 1.99678747e-01 4.39830225e+02] [ 7.74456881e-01 5.66711689e-01 2.81166145e-01 1.99085081e+02] [-3.44812428e-01 5.51291324e-03 9.38655420e-01 4.17482157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.84, Y:199.11, Z:41.73 [[ 5.30092877e-01 -8.22016793e-01 2.08062332e-01 4.39842401e+02] [ 7.73536534e-01 5.69306913e-01 2.78443657e-01 1.99108472e+02] [-3.47336685e-01 1.33428159e-02 9.37645560e-01 4.17311435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:439.86, Y:199.13, Z:41.73 [[ 5.30918672e-01 -8.25043682e-01 1.93463917e-01 4.39863856e+02] [ 7.74120068e-01 5.65066257e-01 2.85373869e-01 1.99126609e+02] [-3.44765839e-01 -1.74601474e-03 9.38687098e-01 4.17302249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.000385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:439.87, Y:199.15, Z:41.71 [[ 5.30438673e-01 -8.21035681e-01 2.11033707e-01 4.39869372e+02] [ 7.73139196e-01 5.70643288e-01 2.76806829e-01 1.99150177e+02] [-3.47693252e-01 1.63293835e-02 9.37466135e-01 4.17106817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:439.90, Y:199.17, Z:41.71 [[ 5.30444899e-01 -8.25917330e-01 1.91020346e-01 4.39895584e+02] [ 7.73762878e-01 5.63765013e-01 2.88894477e-01 1.99168891e+02] [-3.46293543e-01 -5.43814879e-03 9.38110446e-01 4.17130035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:439.91, Y:199.19, Z:41.70 [[ 5.29861925e-01 -8.24206598e-01 1.99824484e-01 4.39906258e+02] [ 7.74457605e-01 5.66264414e-01 2.82063879e-01 1.99192317e+02] [-3.45632405e-01 5.30068160e-03 9.38355020e-01 4.16993536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.92, Y:199.21, Z:41.69 [[ 5.29148047e-01 -8.24775877e-01 1.99366742e-01 4.39921286e+02] [ 7.75234056e-01 5.65432552e-01 2.81599338e-01 1.99212503e+02] [-3.44984786e-01 5.54814827e-03 9.38591879e-01 4.16902847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.93, Y:199.24, Z:41.68 [[ 5.28508331e-01 -8.23893343e-01 2.04642868e-01 4.39933551e+02] [ 7.76717503e-01 5.66583021e-01 2.75124701e-01 1.99235969e+02] [-3.42620584e-01 1.35440007e-02 9.39376227e-01 4.16774565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.96, Y:199.25, Z:41.68 [[ 5.28804248e-01 -8.29561627e-01 1.79425680e-01 4.39964754e+02] [ 7.76302136e-01 5.58197789e-01 2.92865538e-01 1.99252532e+02] [-3.43105030e-01 -1.55800021e-02 9.39167824e-01 4.16796438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:439.96, Y:199.28, Z:41.65 [[ 5.28221293e-01 -8.21165333e-01 2.16031852e-01 4.39957310e+02] [ 7.75508228e-01 5.70171207e-01 2.71093680e-01 1.99278441e+02] [-3.45787873e-01 2.43370248e-02 9.37997045e-01 4.16525561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.210385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:439.98, Y:199.30, Z:41.65 [[ 5.29632683e-01 -8.24455683e-01 1.99404235e-01 4.39982764e+02] [ 7.74459830e-01 5.65907298e-01 2.82773586e-01 1.99295241e+02] [-3.45978602e-01 4.66443656e-03 9.38230809e-01 4.16469547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.240385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:440.00, Y:199.32, Z:41.64 [[ 5.30484249e-01 -8.23908922e-01 1.99400477e-01 4.39997139e+02] [ 7.73812222e-01 5.66706667e-01 2.82945576e-01 1.99315322e+02] [-3.46122965e-01 4.20035488e-03 9.38179754e-01 4.16371572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.01, Y:199.34, Z:41.63 [[ 5.31457917e-01 -8.23274474e-01 1.99428240e-01 4.40012609e+02] [ 7.73092456e-01 5.67631163e-01 2.83059918e-01 1.99337245e+02] [-3.46237690e-01 3.74203334e-03 9.38139361e-01 4.16292744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.03, Y:199.36, Z:41.62 [[ 5.33097459e-01 -8.22296780e-01 1.99085670e-01 4.40028935e+02] [ 7.72161288e-01 5.69051008e-01 2.82750590e-01 1.99356809e+02] [-3.45794801e-01 2.99262673e-03 9.38305387e-01 4.16203917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:440.05, Y:199.38, Z:41.61 [[ 5.33825736e-01 -8.20416516e-01 2.04809239e-01 4.40046588e+02] [ 7.71024129e-01 5.71707780e-01 2.80485305e-01 1.99377133e+02] [-3.47205813e-01 8.18259083e-03 9.37753256e-01 4.16060515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.07, Y:199.40, Z:41.60 [[ 5.33380152e-01 -8.22861534e-01 1.95970684e-01 4.40065881e+02] [ 7.71763081e-01 5.68241032e-01 2.85453809e-01 1.99395772e+02] [-3.46247543e-01 -1.01245715e-03 9.38142641e-01 4.16037486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.08, Y:199.42, Z:41.59 [[ 5.32884270e-01 -8.22305202e-01 1.99620912e-01 4.40080898e+02] [ 7.71769712e-01 5.69039781e-01 2.83840165e-01 1.99417201e+02] [-3.46995484e-01 2.80741506e-03 9.37862598e-01 4.15930026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.420385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:440.10, Y:199.44, Z:41.58 [[ 5.31950687e-01 -8.22927763e-01 1.99545391e-01 4.40097263e+02] [ 7.72408769e-01 5.68137533e-01 2.83909208e-01 1.99435692e+02] [-3.47005996e-01 3.10491186e-03 9.37857771e-01 4.15819415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.450385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:440.11, Y:199.46, Z:41.57 [[ 5.31745311e-01 -8.23185806e-01 1.99027771e-01 4.40113397e+02] [ 7.72927160e-01 5.67762951e-01 2.83246954e-01 1.99456215e+02] [-3.46165466e-01 3.21873032e-03 9.38167954e-01 4.15706168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.13, Y:199.48, Z:41.56 [[ 5.32040419e-01 -8.22922072e-01 1.99329518e-01 4.40130914e+02] [ 7.72423836e-01 5.68146617e-01 2.83850030e-01 1.99477160e+02] [-3.46834846e-01 2.94718198e-03 9.37921587e-01 4.15628376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.510385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:440.15, Y:199.50, Z:41.55 [[ 5.32273367e-01 -8.22851293e-01 1.98999527e-01 4.40147579e+02] [ 7.72456170e-01 5.68249916e-01 2.83555108e-01 1.99497585e+02] [-3.46405151e-01 2.78958012e-03 9.38080855e-01 4.15517639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.540385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:440.17, Y:199.52, Z:41.54 [[ 5.33419043e-01 -8.22224544e-01 1.98521846e-01 4.40165137e+02] [ 7.71972575e-01 5.69158719e-01 2.83048929e-01 1.99516995e+02] [-3.45720216e-01 2.26973157e-03 9.38334898e-01 4.15408243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.18, Y:199.54, Z:41.53 [[ 5.33982040e-01 -8.21880414e-01 1.98433279e-01 4.40181259e+02] [ 7.71586033e-01 5.69656766e-01 2.83100976e-01 1.99538298e+02] [-3.45714007e-01 1.93750980e-03 9.38337930e-01 4.15327869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.20, Y:199.56, Z:41.52 [[ 5.35136171e-01 -8.22651513e-01 1.92025432e-01 4.40202442e+02] [ 7.71940256e-01 5.68532173e-01 2.84393056e-01 1.99557619e+02] [-3.43129014e-01 -3.95684967e-03 9.39279949e-01 4.15244188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.630385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:440.21, Y:199.58, Z:41.51 [[ 5.34973120e-01 -8.20653355e-01 2.00827864e-01 4.40212941e+02] [ 7.72822946e-01 5.71377669e-01 2.76174317e-01 1.99579589e+02] [-3.41391937e-01 7.45854486e-03 9.39891438e-01 4.15078759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.660385723 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:440.24, Y:199.60, Z:41.50 [[ 5.36664344e-01 -8.18996721e-01 2.03065884e-01 4.40235012e+02] [ 7.70175843e-01 5.73757090e-01 2.78625148e-01 1.99598556e+02] [-3.44703573e-01 6.86825611e-03 9.38686462e-01 4.14958037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.690385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:440.25, Y:199.62, Z:41.49 [[ 5.34743432e-01 -8.22256445e-01 1.94791687e-01 4.40252754e+02] [ 7.72342453e-01 5.69117004e-01 2.82122262e-01 1.99615683e+02] [-3.42836109e-01 -4.17137184e-04 9.39395140e-01 4.14897378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.27, Y:199.64, Z:41.48 [[ 5.32792129e-01 -8.22157747e-01 2.00472409e-01 4.40265695e+02] [ 7.72595051e-01 5.69237152e-01 2.81186684e-01 1.99637705e+02] [-3.45296154e-01 5.06993892e-03 9.38480081e-01 4.14796851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.29, Y:199.66, Z:41.47 [[ 5.32145864e-01 -8.23666418e-01 1.95944918e-01 4.40287942e+02] [ 7.73218279e-01 5.67074433e-01 2.83831078e-01 1.99656717e+02] [-3.44897481e-01 4.68658439e-04 9.38640244e-01 4.14713454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.780385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:440.31, Y:199.68, Z:41.46 [[ 5.32557375e-01 -8.23854952e-01 1.94024898e-01 4.40305857e+02] [ 7.74179879e-01 5.66800663e-01 2.81749044e-01 1.99675641e+02] [-3.42093785e-01 1.62640741e-04 9.39665800e-01 4.14600586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.810385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:440.32, Y:199.69, Z:41.45 [[ 5.32592114e-01 -8.23352944e-01 1.96049918e-01 4.40323175e+02] [ 7.74158920e-01 5.67524327e-01 2.80346402e-01 1.99694432e+02] [-3.42087133e-01 2.46350997e-03 9.39665007e-01 4.14507301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.34, Y:199.72, Z:41.44 [[ 5.32759628e-01 -8.23187936e-01 1.96287547e-01 4.40339651e+02] [ 7.73832902e-01 5.67764264e-01 2.80760362e-01 1.99715290e+02] [-3.42563597e-01 2.31597613e-03 9.39491787e-01 4.14422098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.36, Y:199.73, Z:41.43 [[ 5.33423943e-01 -8.22748563e-01 1.96325493e-01 4.40356890e+02] [ 7.73280288e-01 5.68402225e-01 2.80992005e-01 1.99733784e+02] [-3.42777615e-01 1.92677057e-03 9.39414602e-01 4.14324195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.37, Y:199.75, Z:41.42 [[ 5.34576241e-01 -8.22002832e-01 1.96315019e-01 4.40374849e+02] [ 7.72464492e-01 5.69481672e-01 2.81050234e-01 1.99753489e+02] [-3.42821893e-01 1.40360313e-03 9.39399372e-01 4.14230152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.930385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:440.39, Y:199.77, Z:41.41 [[ 5.35127027e-01 -8.21837682e-01 1.95504193e-01 4.40391458e+02] [ 7.72646910e-01 5.69720472e-01 2.80063094e-01 1.99772787e+02] [-3.41549146e-01 1.18637978e-03 9.39863168e-01 4.14125601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.41, Y:199.79, Z:41.40 [[ 5.35548330e-01 -8.21367778e-01 1.96323612e-01 4.40407787e+02] [ 7.71693383e-01 5.70398332e-01 2.81309556e-01 1.99794239e+02] [-3.43041265e-01 8.46769643e-04 9.39319953e-01 4.14041092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.44, Y:199.81, Z:41.41 [[ 5.37112249e-01 -8.24664020e-01 1.77312400e-01 4.40437729e+02] [ 7.72299352e-01 5.65313423e-01 2.89783445e-01 1.99812234e+02] [-3.39211060e-01 -1.87079868e-02 9.40524252e-01 4.14082944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.43, Y:199.84, Z:41.38 [[ 5.34953464e-01 -8.17272724e-01 2.14219714e-01 4.40432163e+02] [ 7.71629082e-01 5.75875369e-01 2.70103905e-01 1.99836844e+02] [-3.44112411e-01 2.08051418e-02 9.38697925e-01 4.13765328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.46, Y:199.86, Z:41.37 [[ 5.34596671e-01 -8.21879619e-01 1.96774721e-01 4.40457355e+02] [ 7.71855301e-01 5.69660443e-01 2.82358592e-01 1.99855650e+02] [-3.44159547e-01 9.33648619e-04 9.38910717e-01 4.13746531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:440.48, Y:199.88, Z:41.37 [[ 5.33233300e-01 -8.22816583e-01 1.96558182e-01 4.40475753e+02] [ 7.72909265e-01 5.68305198e-01 2.82206432e-01 1.99875146e+02] [-3.43909169e-01 1.43977256e-03 9.39001816e-01 4.13655541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.50, Y:199.90, Z:41.37 [[ 5.34288390e-01 -8.25042542e-01 1.83958474e-01 4.40500921e+02] [ 7.73903915e-01 5.64972733e-01 2.86144267e-01 1.99895685e+02] [-3.40012716e-01 -1.05173764e-02 9.40362025e-01 4.13650707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.51, Y:199.92, Z:41.35 [[ 5.35059554e-01 -8.22402447e-01 1.93301551e-01 4.40511347e+02] [ 7.73976488e-01 5.68905534e-01 2.78041166e-01 1.99918941e+02] [-3.38632057e-01 8.42273591e-04 9.40918498e-01 4.13503046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.51, Y:199.94, Z:41.33 [[ 5.33234204e-01 -8.19573663e-01 2.09667105e-01 4.40512755e+02] [ 7.73580801e-01 5.72705005e-01 2.71259510e-01 1.99940479e+02] [-3.42394551e-01 1.75495987e-02 9.39392348e-01 4.13286566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.53, Y:199.96, Z:41.33 [[ 5.34322325e-01 -8.22483599e-01 1.94988158e-01 4.40533932e+02] [ 7.73127586e-01 5.68788259e-01 2.80630811e-01 1.99960181e+02] [-3.41721214e-01 8.03416312e-04 9.39801025e-01 4.13250511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.55, Y:199.98, Z:41.32 [[ 5.34400857e-01 -8.22526045e-01 1.94593498e-01 4.40548283e+02] [ 7.73317069e-01 5.68726981e-01 2.80232639e-01 1.99982757e+02] [-3.41169217e-01 7.25911630e-04 9.40001616e-01 4.13154689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.56, Y:200.00, Z:41.31 [[ 5.33150343e-01 -8.23267240e-01 1.94889107e-01 4.40561722e+02] [ 7.73887104e-01 5.67652935e-01 2.80836065e-01 2.00004375e+02] [-3.41832506e-01 1.09432259e-03 9.39760257e-01 4.13061814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:440.57, Y:200.03, Z:41.29 [[ 5.31600825e-01 -8.22566140e-01 2.01954221e-01 4.40572003e+02] [ 7.76198665e-01 5.68545342e-01 2.72528579e-01 2.00028504e+02] [-3.38992913e-01 1.18801795e-02 9.40713913e-01 4.12924133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.60, Y:200.05, Z:41.29 [[ 5.26832911e-01 -8.29446205e-01 1.85650416e-01 4.40595753e+02] [ 7.78886363e-01 5.58557912e-01 2.85217623e-01 2.00048223e+02] [-3.40269184e-01 -5.66145298e-03 9.40311029e-01 4.12917794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.60, Y:200.07, Z:41.28 [[ 5.23969899e-01 -8.28927203e-01 1.95793867e-01 4.40603261e+02] [ 7.80677837e-01 5.59315300e-01 2.78762460e-01 2.00070904e+02] [-3.40584292e-01 6.78879435e-03 9.40189477e-01 4.12769168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.62, Y:200.09, Z:41.27 [[ 5.19893682e-01 -8.32209492e-01 1.92712017e-01 4.40619554e+02] [ 7.83690742e-01 5.54434759e-01 2.80055208e-01 2.00093661e+02] [-3.39910843e-01 5.42769005e-03 9.40442002e-01 4.12686263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.63, Y:200.12, Z:41.26 [[ 5.17308979e-01 -8.33194700e-01 1.95391945e-01 4.40630834e+02] [ 7.85181578e-01 5.52904211e-01 2.78902891e-01 2.00116103e+02] [-3.40413440e-01 9.13918587e-03 9.40231442e-01 4.12569636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.440385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:440.64, Y:200.14, Z:41.24 [[ 5.12422880e-01 -8.34041688e-01 2.04443770e-01 4.40637087e+02] [ 7.87533045e-01 5.51341900e-01 2.75343084e-01 2.00139811e+02] [-3.42366027e-01 1.99141287e-02 9.39355594e-01 4.12385380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.66, Y:200.16, Z:41.24 [[ 5.12471855e-01 -8.38694475e-01 1.84293722e-01 4.40662488e+02] [ 7.87791144e-01 5.44597457e-01 2.87747673e-01 2.00159977e+02] [-3.41698275e-01 -2.27762150e-03 9.39806949e-01 4.12417034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.500385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:440.67, Y:200.18, Z:41.23 [[ 5.11266296e-01 -8.37371218e-01 1.93432725e-01 4.40669924e+02] [ 7.89310373e-01 5.46549641e-01 2.79772452e-01 2.00184139e+02] [-3.39993985e-01 9.64023154e-03 9.40378199e-01 4.12270668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.68, Y:200.21, Z:41.21 [[ 5.11236685e-01 -8.35866704e-01 1.99909741e-01 4.40681740e+02] [ 7.88050041e-01 5.48730865e-01 2.79054781e-01 2.00207592e+02] [-3.42949245e-01 1.48758390e-02 9.39236139e-01 4.12138087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.560385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:440.70, Y:200.23, Z:41.21 [[ 5.11715853e-01 -8.37451763e-01 1.91889111e-01 4.40701319e+02] [ 7.88113662e-01 5.46475202e-01 2.83269675e-01 2.00228554e+02] [-3.42087330e-01 6.27684642e-03 9.39647200e-01 4.12077869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.71, Y:200.25, Z:41.20 [[ 5.12588553e-01 -8.35350622e-01 1.98600891e-01 4.40710814e+02] [ 7.86608372e-01 5.49587280e-01 2.81426884e-01 2.00253448e+02] [-3.44238646e-01 1.19649241e-02 9.38805941e-01 4.11952033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.73, Y:200.27, Z:41.19 [[ 5.13191737e-01 -8.36412019e-01 1.92481625e-01 4.40726210e+02] [ 7.86465455e-01 5.48076094e-01 2.84753723e-01 2.00273975e+02] [-3.43666014e-01 5.24689040e-03 9.39077282e-01 4.11903694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.74, Y:200.30, Z:41.17 [[ 5.14169672e-01 -8.33730583e-01 2.01302916e-01 4.40735552e+02] [ 7.85009216e-01 5.52007304e-01 2.81155591e-01 2.00299223e+02] [-3.45528695e-01 1.34629666e-02 9.38311606e-01 4.11728287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.76, Y:200.32, Z:41.17 [[ 5.17173724e-01 -8.34393897e-01 1.90573252e-01 4.40756491e+02] [ 7.83674095e-01 5.51167318e-01 2.86477747e-01 2.00320227e+02] [-3.44073032e-01 1.18855704e-03 9.38942137e-01 4.11702946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.76, Y:200.34, Z:41.15 [[ 5.17026109e-01 -8.31455130e-01 2.03387239e-01 4.40763608e+02] [ 7.83042254e-01 5.55402186e-01 2.79952210e-01 2.00344481e+02] [-3.45729418e-01 1.45181999e-02 9.38221931e-01 4.11528874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.79, Y:200.36, Z:41.15 [[ 5.19484089e-01 -8.34451050e-01 1.83923154e-01 4.40790491e+02] [ 7.82910187e-01 5.51049146e-01 2.88784484e-01 2.00364674e+02] [-3.42327213e-01 -6.02363414e-03 9.39561491e-01 4.11549958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.80, Y:200.39, Z:41.14 [[ 5.21811826e-01 -8.30360326e-01 1.95484392e-01 4.40795588e+02] [ 7.81747298e-01 5.57186554e-01 2.80025547e-01 2.00388358e+02] [-3.41443379e-01 6.69875360e-03 9.39878474e-01 4.11404553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.800385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:440.80, Y:200.41, Z:41.12 [[ 5.19461908e-01 -8.30085542e-01 2.02774057e-01 4.40802757e+02] [ 7.82957770e-01 5.57425623e-01 2.76140914e-01 2.00410793e+02] [-3.42252036e-01 1.53188373e-02 9.39483303e-01 4.11240747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.82, Y:200.43, Z:41.12 [[ 5.20628425e-01 -8.31223063e-01 1.94972466e-01 4.40821756e+02] [ 7.81335349e-01 5.55919576e-01 2.83669699e-01 2.00431120e+02] [-3.44181807e-01 4.65237075e-03 9.38891495e-01 4.11198398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.860385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:440.84, Y:200.45, Z:41.11 [[ 5.20087947e-01 -8.31614586e-01 1.94745239e-01 4.40836431e+02] [ 7.81845428e-01 5.55331939e-01 2.83415181e-01 2.00451490e+02] [-3.43840449e-01 4.85985518e-03 9.39015510e-01 4.11097707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.85, Y:200.47, Z:41.10 [[ 5.20292991e-01 -8.31224581e-01 1.95859384e-01 4.40851636e+02] [ 7.80795015e-01 5.55918062e-01 2.85156541e-01 2.00473966e+02] [-3.45910896e-01 4.56108078e-03 9.38256281e-01 4.11015347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.87, Y:200.50, Z:41.09 [[ 5.20372317e-01 -8.31184912e-01 1.95816992e-01 4.40866102e+02] [ 7.80710830e-01 5.55978431e-01 2.85269319e-01 2.00495519e+02] [-3.45981578e-01 4.43018994e-03 9.38230846e-01 4.10919839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.88, Y:200.52, Z:41.08 [[ 5.20742175e-01 -8.30958763e-01 1.95793569e-01 4.40880246e+02] [ 7.80417788e-01 5.56318336e-01 2.85408453e-01 2.00517442e+02] [-3.46086207e-01 4.17656559e-03 9.38193420e-01 4.10819277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.89, Y:200.54, Z:41.07 [[ 5.21130889e-01 -8.30794332e-01 1.95456836e-01 4.40894041e+02] [ 7.80354047e-01 5.56565512e-01 2.85100670e-01 2.00538125e+02] [-3.45644555e-01 3.95076769e-03 9.38357199e-01 4.10725805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.91, Y:200.56, Z:41.06 [[ 5.21155330e-01 -8.30771035e-01 1.95490690e-01 4.40908624e+02] [ 7.80282052e-01 5.56600720e-01 2.85228959e-01 2.00559275e+02] [-3.45770216e-01 3.88928456e-03 9.38311159e-01 4.10628017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.92, Y:200.58, Z:41.05 [[ 5.21214816e-01 -8.30793427e-01 1.95236770e-01 4.40923513e+02] [ 7.80413193e-01 5.56567547e-01 2.84934754e-01 2.00580488e+02] [-3.45384371e-01 3.85313550e-03 9.38453403e-01 4.10532861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.94, Y:200.60, Z:41.04 [[ 5.21205738e-01 -8.30811235e-01 1.95185224e-01 4.40938185e+02] [ 7.80393816e-01 5.56541618e-01 2.85038454e-01 2.00602249e+02] [-3.45441850e-01 3.75766430e-03 9.38432634e-01 4.10433652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.95, Y:200.62, Z:41.03 [[ 5.20859164e-01 -8.30988700e-01 1.95354836e-01 4.40952798e+02] [ 7.80426209e-01 5.56276508e-01 2.85466951e-01 2.00624240e+02] [-3.45891116e-01 3.77195643e-03 9.38267077e-01 4.10333044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.130385723 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:440.97, Y:200.65, Z:41.02 [[ 5.20994115e-01 -8.29676409e-01 2.00504836e-01 4.40968469e+02] [ 7.80115975e-01 5.58169123e-01 2.82606256e-01 2.00647821e+02] [-3.46387352e-01 9.18082920e-03 9.38046649e-01 4.10190229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:440.98, Y:200.67, Z:41.02 [[ 5.19552261e-01 -8.32352692e-01 1.93014104e-01 4.40984141e+02] [ 7.81488339e-01 5.54242800e-01 2.86515088e-01 2.00666876e+02] [-3.45458282e-01 1.97870924e-03 9.38432022e-01 4.10154924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.00, Y:200.69, Z:41.01 [[ 5.16895290e-01 -8.33532781e-01 1.95044513e-01 4.40998735e+02] [ 7.83123829e-01 5.52445895e-01 2.85518128e-01 2.00688813e+02] [-3.45740260e-01 5.16103021e-03 9.38316064e-01 4.10053117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.01, Y:200.71, Z:40.99 [[ 5.15388614e-01 -8.34516986e-01 1.94822938e-01 4.41013908e+02] [ 7.84229036e-01 5.50952633e-01 2.85369962e-01 2.00710685e+02] [-3.45484291e-01 5.70937608e-03 9.38407165e-01 4.09949486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.03, Y:200.73, Z:40.98 [[ 5.11795944e-01 -8.36734320e-01 1.94783442e-01 4.41028137e+02] [ 7.86556185e-01 5.47563079e-01 2.85489127e-01 2.00732972e+02] [-3.45534772e-01 7.09594341e-03 9.38379118e-01 4.09843947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.280385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:441.04, Y:200.75, Z:40.97 [[ 5.10142905e-01 -8.37773050e-01 1.94654908e-01 4.41042334e+02] [ 7.87670395e-01 5.45964465e-01 2.85478812e-01 2.00754657e+02] [-3.45441117e-01 7.68891773e-03 9.38408928e-01 4.09743428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.06, Y:200.78, Z:40.96 [[ 5.07883939e-01 -8.39125556e-01 1.94736245e-01 4.41056011e+02] [ 7.89009355e-01 5.43871241e-01 2.85776682e-01 2.00776868e+02] [-3.45713961e-01 8.50733163e-03 9.38301382e-01 4.09645641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.07, Y:200.80, Z:40.95 [[ 5.06479978e-01 -8.39597212e-01 1.96353136e-01 4.41069188e+02] [ 7.89642757e-01 5.43108739e-01 2.85477170e-01 2.00799083e+02] [-3.46326940e-01 1.04603606e-02 9.38055559e-01 4.09531275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:441.08, Y:200.82, Z:40.94 [[ 5.05761309e-01 -8.40717751e-01 1.93388630e-01 4.41084533e+02] [ 7.90229717e-01 5.41419715e-01 2.87056940e-01 2.00821915e+02] [-3.46038282e-01 7.63914822e-03 9.38189294e-01 4.09440753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:441.10, Y:200.84, Z:40.93 [[ 5.08391335e-01 -8.38837514e-01 1.94653221e-01 4.41096885e+02] [ 7.88595308e-01 5.44322032e-01 2.86061123e-01 2.00844488e+02] [-3.45912838e-01 8.07162033e-03 9.38231932e-01 4.09340927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:441.11, Y:200.87, Z:40.92 [[ 5.08937306e-01 -8.38566150e-01 1.94395552e-01 4.41110357e+02] [ 7.88410327e-01 5.44743589e-01 2.85768400e-01 2.00867014e+02] [-3.45531438e-01 7.82526094e-03 9.38374547e-01 4.09235813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.460385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:441.12, Y:200.89, Z:40.91 [[ 5.09927324e-01 -8.38101050e-01 1.93805971e-01 4.41124220e+02] [ 7.88159642e-01 5.45465111e-01 2.85082780e-01 2.00889552e+02] [-3.44642572e-01 7.37854567e-03 9.38704988e-01 4.09131812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:441.14, Y:200.91, Z:40.90 [[ 5.12671245e-01 -8.36522548e-01 1.93386197e-01 4.41136583e+02] [ 7.86627319e-01 5.47897526e-01 2.84650245e-01 2.00912216e+02] [-3.44072167e-01 6.19087018e-03 9.38922796e-01 4.09036831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.15, Y:200.93, Z:40.89 [[ 5.13723544e-01 -8.35847021e-01 1.93514542e-01 4.41150271e+02] [ 7.85808557e-01 5.48932877e-01 2.84916846e-01 2.00934514e+02] [-3.44373391e-01 5.69689135e-03 9.38815484e-01 4.08939359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.16, Y:200.96, Z:40.88 [[ 5.15358323e-01 -8.34785420e-01 1.93750100e-01 4.41163324e+02] [ 7.84481569e-01 5.50553743e-01 2.85445695e-01 2.00956717e+02] [-3.44955747e-01 4.88656810e-03 9.38606230e-01 4.08846362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.18, Y:200.98, Z:40.87 [[ 5.14677867e-01 -8.34565672e-01 1.96486212e-01 4.41175169e+02] [ 7.84434121e-01 5.50858048e-01 2.84988633e-01 2.00979002e+02] [-3.46077742e-01 7.45314725e-03 9.38176235e-01 4.08726005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.610385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:441.19, Y:201.00, Z:40.87 [[ 5.16217578e-01 -8.34829506e-01 1.91256657e-01 4.41190968e+02] [ 7.84083228e-01 5.50504959e-01 2.86631789e-01 2.00999870e+02] [-3.44576413e-01 1.99676849e-03 9.38756150e-01 4.08659812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.640385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:441.20, Y:201.02, Z:40.85 [[ 5.16862017e-01 -8.34080549e-01 1.92777832e-01 4.41203774e+02] [ 7.84123181e-01 5.51626771e-01 2.84356717e-01 2.01022209e+02] [-3.43517820e-01 4.18838030e-03 9.39136819e-01 4.08544296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.22, Y:201.04, Z:40.85 [[ 5.17813689e-01 -8.33383022e-01 1.93240065e-01 4.41217491e+02] [ 7.83063767e-01 5.52683979e-01 2.85221944e-01 2.01043650e+02] [-3.44499813e-01 3.62746641e-03 9.38779378e-01 4.08456453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.23, Y:201.07, Z:40.84 [[ 5.18419560e-01 -8.33073760e-01 1.92948882e-01 4.41231918e+02] [ 7.82845473e-01 5.53151812e-01 2.84914088e-01 2.01066087e+02] [-3.44084474e-01 3.34412295e-03 9.38932741e-01 4.08356360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.25, Y:201.09, Z:40.83 [[ 5.19555147e-01 -8.32357475e-01 1.92985705e-01 4.41245689e+02] [ 7.81994320e-01 5.54232267e-01 2.85151675e-01 2.01087737e+02] [-3.44307033e-01 2.76170464e-03 9.38853045e-01 4.08258498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.26, Y:201.11, Z:40.82 [[ 5.20468602e-01 -8.31712177e-01 1.93306205e-01 4.41259501e+02] [ 7.81104706e-01 5.55202302e-01 2.85702366e-01 2.01109941e+02] [-3.44946186e-01 2.29327563e-03 9.38619662e-01 4.08159281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.27, Y:201.13, Z:40.81 [[ 5.20890753e-01 -8.31493755e-01 1.93108670e-01 4.41273655e+02] [ 7.80911217e-01 5.55530362e-01 2.85593572e-01 2.01130773e+02] [-3.44747000e-01 2.03767560e-03 9.38693429e-01 4.08065979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:441.29, Y:201.15, Z:40.80 [[ 5.21811947e-01 -8.31052116e-01 1.92521875e-01 4.41289293e+02] [ 7.80729347e-01 5.56191972e-01 2.84801997e-01 2.01152133e+02] [-3.43764423e-01 1.69439310e-03 9.39054392e-01 4.07968466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8503857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:441.31, Y:201.17, Z:40.79 [[ 5.21748152e-01 -8.31541024e-01 1.90573848e-01 4.41306121e+02] [ 7.81064127e-01 5.55463343e-01 2.85305632e-01 2.01173353e+02] [-3.43100124e-01 -7.28965997e-06 9.39298837e-01 4.07886342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:441.32, Y:201.20, Z:40.78 [[ 5.22420375e-01 -8.30374474e-01 1.93791602e-01 4.41317536e+02] [ 7.80921990e-01 5.57192416e-01 2.82307381e-01 2.01195487e+02] [-3.42400054e-01 3.85299614e-03 9.39546357e-01 4.07755740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.910385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:441.33, Y:201.22, Z:40.77 [[ 5.22430919e-01 -8.30897318e-01 1.91508698e-01 4.41333678e+02] [ 7.80943222e-01 5.56424231e-01 2.83760039e-01 2.01216232e+02] [-3.42335535e-01 1.31240177e-03 9.39576851e-01 4.07668439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:441.35, Y:201.24, Z:40.76 [[ 5.22288772e-01 -8.31005918e-01 1.91425188e-01 4.41348611e+02] [ 7.81038242e-01 5.56262110e-01 2.83816366e-01 2.01238428e+02] [-3.42335659e-01 1.27629141e-03 9.39576856e-01 4.07568627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:441.37, Y:201.26, Z:40.75 [[ 5.21767024e-01 -8.32258056e-01 1.87365155e-01 4.41368384e+02] [ 7.81561643e-01 5.54381294e-01 2.86046812e-01 2.01260441e+02] [-3.41936501e-01 -2.81237523e-03 9.39718852e-01 4.07489325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.38, Y:201.28, Z:40.73 [[ 5.21342359e-01 -8.30336076e-01 1.96835327e-01 4.41378861e+02] [ 7.82406512e-01 5.57190544e-01 2.78170357e-01 2.01283914e+02] [-3.40649666e-01 8.98325184e-03 9.40147386e-01 4.07334024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.030385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:441.40, Y:201.30, Z:40.73 [[ 5.22589504e-01 -8.31237830e-01 1.89588716e-01 4.41397194e+02] [ 7.81908077e-01 5.55916356e-01 2.82093539e-01 2.01301535e+02] [-3.39882289e-01 8.21825256e-04 9.40467625e-01 4.07259754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:441.41, Y:201.32, Z:40.72 [[ 5.23933236e-01 -8.29996026e-01 1.91312731e-01 4.41413756e+02] [ 7.80922475e-01 5.57765408e-01 2.81172257e-01 2.01324278e+02] [-3.40079479e-01 2.08492040e-03 9.40394386e-01 4.07167301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.43, Y:201.34, Z:40.71 [[ 5.26192855e-01 -8.29004928e-01 1.89398812e-01 4.41429993e+02] [ 7.79403996e-01 5.59240393e-01 2.82452817e-01 2.01343930e+02] [-3.40074243e-01 -1.00646270e-03 9.40398052e-01 4.07078467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.44, Y:201.37, Z:40.70 [[ 5.26796103e-01 -8.28557871e-01 1.89677937e-01 4.41444940e+02] [ 7.79126410e-01 5.59902965e-01 2.81905493e-01 2.01365156e+02] [-3.39776254e-01 -7.23625348e-04 9.40506020e-01 4.06977059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:441.46, Y:201.39, Z:40.69 [[ 5.27607449e-01 -8.28055886e-01 1.89614949e-01 4.41461361e+02] [ 7.78561390e-01 5.60644375e-01 2.81992989e-01 2.01385396e+02] [-3.39812509e-01 -1.15472298e-03 9.40492491e-01 4.06879470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.180385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:441.48, Y:201.41, Z:40.68 [[ 5.27791827e-01 -8.28186749e-01 1.88527175e-01 4.41478844e+02] [ 7.79220015e-01 5.60451014e-01 2.80554503e-01 2.01405016e+02] [-3.38011768e-01 -1.17022604e-03 9.41141156e-01 4.06782514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.210385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:441.49, Y:201.43, Z:40.67 [[ 5.27599035e-01 -8.28383584e-01 1.88201745e-01 4.41494672e+02] [ 7.79539305e-01 5.60160084e-01 2.80248376e-01 2.01426119e+02] [-3.37576260e-01 -1.14811564e-03 9.41297483e-01 4.06684939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.240385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:441.51, Y:201.45, Z:40.66 [[ 5.27343627e-01 -8.28593278e-01 1.87994359e-01 4.41510015e+02] [ 7.79807586e-01 5.59849911e-01 2.80121771e-01 2.01446313e+02] [-3.37355642e-01 -1.12100285e-03 9.41376606e-01 4.06594750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:441.53, Y:201.47, Z:40.65 [[ 5.26529812e-01 -8.28949023e-01 1.88705787e-01 4.41527814e+02] [ 7.79777073e-01 5.59323369e-01 2.81256263e-01 2.01466217e+02] [-3.38694661e-01 -9.41361112e-04 9.40895871e-01 4.06512046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.55, Y:201.49, Z:40.64 [[ 5.25267920e-01 -8.29722600e-01 1.88822722e-01 4.41545248e+02] [ 7.80469748e-01 5.58175691e-01 2.81614757e-01 2.01485186e+02] [-3.39058381e-01 -5.52775602e-04 9.40765172e-01 4.06422275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.56, Y:201.51, Z:40.63 [[ 5.24427479e-01 -8.30200730e-01 1.89057047e-01 4.41561152e+02] [ 7.80824668e-01 5.57464496e-01 2.82039313e-01 2.01505955e+02] [-3.39541835e-01 -2.88760056e-04 9.40590910e-01 4.06325336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.58, Y:201.53, Z:40.62 [[ 5.23556695e-01 -8.30764533e-01 1.88993856e-01 4.41578776e+02] [ 7.81391182e-01 5.56624011e-01 2.82130345e-01 2.01525178e+02] [-3.39582402e-01 -3.30981296e-05 9.40576308e-01 4.06237743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.59, Y:201.55, Z:40.61 [[ 5.22974067e-01 -8.31154334e-01 1.88893086e-01 4.41594589e+02] [ 7.81832680e-01 5.56041763e-01 2.82055346e-01 2.01546031e+02] [-3.39463968e-01 1.75156691e-04 9.40619043e-01 4.06142742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:441.61, Y:201.57, Z:40.60 [[ 5.21952570e-01 -8.31902660e-01 1.88423670e-01 4.41611585e+02] [ 7.82816980e-01 5.54921306e-01 2.81531383e-01 2.01566750e+02] [-3.38767015e-01 5.55219568e-04 9.40870130e-01 4.06044342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.63, Y:201.59, Z:40.59 [[ 5.21265852e-01 -8.32274126e-01 1.88684103e-01 4.41626426e+02] [ 7.83004991e-01 5.54363875e-01 2.82106147e-01 2.01586704e+02] [-3.39389297e-01 6.88293008e-04 9.40645752e-01 4.05947740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.64, Y:201.61, Z:40.59 [[ 5.19115491e-01 -8.33659725e-01 1.88495546e-01 4.41644129e+02] [ 7.84553094e-01 5.52276265e-01 2.81899575e-01 2.01607106e+02] [-3.39109938e-01 1.54632731e-03 9.40745480e-01 4.05852101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.510385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:441.66, Y:201.63, Z:40.57 [[ 5.17065534e-01 -8.34974702e-01 1.88309532e-01 4.41660037e+02] [ 7.85989539e-01 5.50283512e-01 2.81795141e-01 2.01628302e+02] [-3.38915444e-01 2.30276731e-03 9.40814019e-01 4.05746180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.68, Y:201.65, Z:40.57 [[ 5.14375496e-01 -8.36662401e-01 1.88185749e-01 4.41676705e+02] [ 7.87787794e-01 5.47708960e-01 2.81789435e-01 2.01647780e+02] [-3.38833646e-01 3.30485543e-03 9.40840496e-01 4.05662380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.69, Y:201.67, Z:40.56 [[ 5.12976622e-01 -8.37586717e-01 1.87892195e-01 4.41691878e+02] [ 7.88864074e-01 5.46291159e-01 2.81530536e-01 2.01668281e+02] [-3.38450083e-01 3.80281906e-03 9.40976663e-01 4.05571252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.71, Y:201.69, Z:40.55 [[ 5.10472655e-01 -8.39074541e-01 1.88073343e-01 4.41708539e+02] [ 7.90318034e-01 5.43995841e-01 2.81897022e-01 2.01688965e+02] [-3.38843731e-01 4.73703365e-03 9.40830743e-01 4.05472392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.72, Y:201.71, Z:40.54 [[ 5.09665407e-01 -8.39608216e-01 1.87880859e-01 4.41723101e+02] [ 7.90924135e-01 5.43169620e-01 2.81790307e-01 2.01709496e+02] [-3.38644631e-01 4.98073413e-03 9.40901167e-01 4.05381094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.74, Y:201.73, Z:40.53 [[ 5.08765230e-01 -8.40144088e-01 1.87925123e-01 4.41738790e+02] [ 7.91437009e-01 5.42337533e-01 2.81952942e-01 2.01730685e+02] [-3.38799945e-01 5.28304350e-03 9.40843604e-01 4.05281489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.75, Y:201.75, Z:40.52 [[ 5.09576485e-01 -8.39709615e-01 1.87668776e-01 4.41753892e+02] [ 7.91048422e-01 5.43013711e-01 2.81741911e-01 2.01752335e+02] [-3.38488110e-01 4.88603652e-03 9.40957983e-01 4.05182545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.77, Y:201.77, Z:40.51 [[ 5.10005328e-01 -8.39469321e-01 1.87578848e-01 4.41768692e+02] [ 7.90777141e-01 5.43387425e-01 2.81782931e-01 2.01774375e+02] [-3.38476114e-01 4.62226911e-03 9.40963631e-01 4.05081559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:441.78, Y:201.80, Z:40.50 [[ 5.10210046e-01 -8.39423880e-01 1.87225155e-01 4.41783204e+02] [ 7.90854788e-01 5.43458803e-01 2.81427138e-01 2.01796608e+02] [-3.37985819e-01 4.48095744e-03 9.41140535e-01 4.04978917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.80, Y:201.82, Z:40.49 [[ 5.11266694e-01 -8.38713949e-01 1.87524076e-01 4.41796926e+02] [ 7.89875636e-01 5.44558138e-01 2.82051262e-01 2.01818955e+02] [-3.38678090e-01 3.91728286e-03 9.40894153e-01 4.04883861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.81, Y:201.84, Z:40.48 [[ 5.11577951e-01 -8.38512002e-01 1.87578312e-01 4.41811329e+02] [ 7.89568817e-01 5.44870673e-01 2.82306631e-01 2.01841093e+02] [-3.38923419e-01 3.68413803e-03 9.40806751e-01 4.04788918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8403857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:441.83, Y:201.86, Z:40.47 [[ 5.12216313e-01 -8.38118616e-01 1.87594336e-01 4.41825423e+02] [ 7.89077927e-01 5.45477909e-01 2.82506418e-01 2.01861971e+02] [-3.39102454e-01 3.32215390e-03 9.40743583e-01 4.04700902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.84, Y:201.88, Z:40.46 [[ 5.14531563e-01 -8.36593098e-01 1.88067166e-01 4.41839163e+02] [ 7.87163150e-01 5.47820096e-01 2.83314876e-01 2.01884219e+02] [-3.40046242e-01 2.26509714e-03 9.40405988e-01 4.04626196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.85, Y:201.91, Z:40.45 [[ 5.15112805e-01 -8.36233282e-01 1.88076303e-01 4.41852728e+02] [ 7.86741661e-01 5.48370315e-01 2.83421165e-01 2.01906339e+02] [-3.40141673e-01 1.97359105e-03 9.40372132e-01 4.04529469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.87, Y:201.93, Z:40.44 [[ 5.16146701e-01 -8.35537113e-01 1.88335646e-01 4.41865087e+02] [ 7.85798077e-01 5.49432183e-01 2.83981794e-01 2.01929125e+02] [-3.40754993e-01 1.41752247e-03 9.40151065e-01 4.04426341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.88, Y:201.95, Z:40.43 [[ 5.16710780e-01 -8.35215238e-01 1.88216566e-01 4.41878492e+02] [ 7.85453507e-01 5.49922089e-01 2.83986767e-01 2.01950837e+02] [-3.40694523e-01 1.09633789e-03 9.40173410e-01 4.04328792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.89, Y:201.97, Z:40.42 [[ 5.16490121e-01 -8.35373019e-01 1.88121969e-01 4.41892648e+02] [ 7.85645606e-01 5.49682258e-01 2.83919703e-01 2.01973503e+02] [-3.40586168e-01 1.15547617e-03 9.40212597e-01 4.04233298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.91, Y:202.00, Z:40.41 [[ 5.15935334e-01 -8.35722334e-01 1.88092825e-01 4.41907145e+02] [ 7.85967797e-01 5.49150745e-01 2.84056475e-01 2.01995929e+02] [-3.40683655e-01 1.28013139e-03 9.40177115e-01 4.04136229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:441.92, Y:202.02, Z:40.40 [[ 5.15451545e-01 -8.36148030e-01 1.87526471e-01 4.41920575e+02] [ 7.86662472e-01 5.48501937e-01 2.83386274e-01 2.02017266e+02] [-3.39811507e-01 1.44814493e-03 9.40492447e-01 4.04047482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.93, Y:202.04, Z:40.39 [[ 5.14601196e-01 -8.36698567e-01 1.87406290e-01 4.41933232e+02] [ 7.87285728e-01 5.47660838e-01 2.83282172e-01 2.02038520e+02] [-3.39656873e-01 1.76495304e-03 9.40547763e-01 4.03946886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.95, Y:202.06, Z:40.38 [[ 5.14455927e-01 -8.36808926e-01 1.87312362e-01 4.41947364e+02] [ 7.87411325e-01 5.47492190e-01 2.83259083e-01 2.02060579e+02] [-3.39585784e-01 1.76756113e-03 9.40573427e-01 4.03847450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.96, Y:202.08, Z:40.38 [[ 5.14707012e-01 -8.36628658e-01 1.87427801e-01 4.41960651e+02] [ 7.87088560e-01 5.47768306e-01 2.83622078e-01 2.02082329e+02] [-3.39953367e-01 1.54000585e-03 9.40441033e-01 4.03752355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.170385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:441.97, Y:202.10, Z:40.36 [[ 5.14472504e-01 -8.36862215e-01 1.87028543e-01 4.41974439e+02] [ 7.87526782e-01 5.47411112e-01 2.83094759e-01 2.02103935e+02] [-3.39292810e-01 1.64551763e-03 9.40679372e-01 4.03638178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.99, Y:202.13, Z:40.36 [[ 5.15825845e-01 -8.35844358e-01 1.87850757e-01 4.41988339e+02] [ 7.85928093e-01 5.48965798e-01 2.84523436e-01 2.02126803e+02] [-3.40940950e-01 8.72645379e-04 9.40084309e-01 4.03554348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.00, Y:202.15, Z:40.35 [[ 5.16400810e-01 -8.35432704e-01 1.88102100e-01 4.42003118e+02] [ 7.85286365e-01 5.49592531e-01 2.85084856e-01 2.02149187e+02] [-3.41548721e-01 4.95963974e-04 9.39863940e-01 4.03455391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.02, Y:202.17, Z:40.34 [[ 5.17464208e-01 -8.34782797e-01 1.88065083e-01 4.42018204e+02] [ 7.84549563e-01 5.50579404e-01 2.85209226e-01 2.02171096e+02] [-3.41632517e-01 -3.91876638e-05 9.39833614e-01 4.03356426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.03, Y:202.19, Z:40.33 [[ 5.17527017e-01 -8.34828030e-01 1.87691094e-01 4.42031828e+02] [ 7.84737934e-01 5.50510805e-01 2.84823154e-01 2.02191947e+02] [-3.41104328e-01 -1.15355907e-04 9.40025438e-01 4.03256726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.05, Y:202.21, Z:40.32 [[ 5.17619306e-01 -8.34861298e-01 1.87288194e-01 4.42046184e+02] [ 7.84951424e-01 5.50460341e-01 2.84331981e-01 2.02213902e+02] [-3.40472490e-01 -1.63588361e-04 9.40254464e-01 4.03154514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.06, Y:202.24, Z:40.30 [[ 5.17578228e-01 -8.34623926e-01 1.88456043e-01 4.42060336e+02] [ 7.85459139e-01 5.50816767e-01 2.82231874e-01 2.02236740e+02] [-3.39362223e-01 1.94744854e-03 9.40653756e-01 4.03049178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.08, Y:202.26, Z:40.30 [[ 5.17102794e-01 -8.35637996e-01 1.85239956e-01 4.42075887e+02] [ 7.85508950e-01 5.49277254e-01 2.85079266e-01 2.02257256e+02] [-3.39971161e-01 -1.90764147e-03 9.40433927e-01 4.02971838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.09, Y:202.28, Z:40.29 [[ 5.16627066e-01 -8.35527290e-01 1.87057806e-01 4.42088988e+02] [ 7.85632802e-01 5.49448949e-01 2.84406317e-01 2.02278336e+02] [-3.40407954e-01 2.67472315e-05 9.40277844e-01 4.02871039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.440385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:442.10, Y:202.30, Z:40.28 [[ 5.15958721e-01 -8.35964345e-01 1.86949758e-01 4.42103726e+02] [ 7.86122472e-01 5.48783697e-01 2.84337673e-01 2.02299677e+02] [-3.40291136e-01 2.58903829e-04 9.40320092e-01 4.02771445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4703857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:442.12, Y:202.32, Z:40.27 [[ 5.14922236e-01 -8.36568398e-01 1.87105337e-01 4.42118865e+02] [ 7.86614575e-01 5.47862217e-01 2.84753406e-01 2.02321578e+02] [-3.40723645e-01 5.53924815e-04 9.40163332e-01 4.02679395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.13, Y:202.34, Z:40.26 [[ 5.14236401e-01 -8.37036368e-01 1.86898484e-01 4.42133256e+02] [ 7.87160289e-01 5.47146733e-01 2.84621033e-01 2.02343521e+02] [-3.40499050e-01 7.56569481e-04 9.40244556e-01 4.02581550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.15, Y:202.36, Z:40.25 [[ 5.13521773e-01 -8.37481404e-01 1.86869704e-01 4.42147530e+02] [ 7.87582043e-01 5.46465012e-01 2.84763965e-01 2.02364683e+02] [-3.40602280e-01 9.42726804e-04 9.40206997e-01 4.02487535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:442.16, Y:202.39, Z:40.24 [[ 5.12308069e-01 -8.38246879e-01 1.86768877e-01 4.42162870e+02] [ 7.88424625e-01 5.45289092e-01 2.84686523e-01 2.02386696e+02] [-3.40480621e-01 1.40597868e-03 9.40250483e-01 4.02389411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.18, Y:202.41, Z:40.23 [[ 5.11841677e-01 -8.38564943e-01 1.86619758e-01 4.42177876e+02] [ 7.88780255e-01 5.44799550e-01 2.84638647e-01 2.02408676e+02] [-3.40358351e-01 1.51205739e-03 9.40294585e-01 4.02288140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.19, Y:202.43, Z:40.22 [[ 5.11151086e-01 -8.39106785e-01 1.86076251e-01 4.42192541e+02] [ 7.89591547e-01 5.43963870e-01 2.83986790e-01 2.02429769e+02] [-3.39514000e-01 1.76407853e-03 9.40599347e-01 4.02185645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.21, Y:202.45, Z:40.21 [[ 5.11145775e-01 -8.39896555e-01 1.82493216e-01 4.42208308e+02] [ 7.89311557e-01 5.42739792e-01 2.87090203e-01 2.02449205e+02] [-3.40172403e-01 -2.70093928e-03 9.40359209e-01 4.02111902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.22, Y:202.47, Z:40.20 [[ 5.10026694e-01 -8.39292565e-01 1.88310281e-01 4.42220336e+02] [ 7.90638059e-01 5.43654864e-01 2.81657324e-01 2.02473809e+02] [-3.38768698e-01 5.23252165e-03 9.40855138e-01 4.01972505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.24, Y:202.49, Z:40.19 [[ 5.09385374e-01 -8.40343656e-01 1.85335049e-01 4.42235708e+02] [ 7.91124119e-01 5.42049237e-01 2.83381815e-01 2.02494517e+02] [-3.38598832e-01 2.27247562e-03 9.40928088e-01 4.01889640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.25, Y:202.52, Z:40.18 [[ 5.07608687e-01 -8.41461560e-01 1.85137422e-01 4.42250267e+02] [ 7.92387752e-01 5.40308884e-01 2.83174788e-01 2.02516309e+02] [-3.38312093e-01 2.95864302e-03 9.41029317e-01 4.01792291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:442.24, Y:202.54, Z:40.15 [[ 5.01730837e-01 -8.38372244e-01 2.13068411e-01 4.42243932e+02] [ 7.92614503e-01 5.44219384e-01 2.74931833e-01 2.02538737e+02] [-3.46451177e-01 3.09393338e-02 9.37557646e-01 4.01477209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.29, Y:202.56, Z:40.17 [[ 5.04672990e-01 -8.48575996e-01 1.58820505e-01 4.42294095e+02] [ 7.93748812e-01 5.28437213e-01 3.01192521e-01 2.02556797e+02] [-3.39511408e-01 -2.59401428e-02 9.40244177e-01 4.01726855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.28, Y:202.58, Z:40.13 [[ 5.00766836e-01 -8.39404465e-01 2.11264574e-01 4.42275678e+02] [ 7.93290009e-01 5.42711443e-01 2.75962409e-01 2.02583688e+02] [-3.46299780e-01 2.94012534e-02 9.37663068e-01 4.01306974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.30, Y:202.60, Z:40.13 [[ 5.00625441e-01 -8.45164422e-01 1.87273243e-01 4.42303938e+02] [ 7.93380133e-01 5.34499363e-01 2.91304645e-01 2.02602168e+02] [-3.46297751e-01 2.74435443e-03 9.38120641e-01 4.01317920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.33, Y:202.62, Z:40.14 [[ 5.03303185e-01 -8.48684891e-01 1.62541872e-01 4.42334839e+02] [ 7.93651304e-01 5.28409597e-01 3.01497770e-01 2.02624204e+02] [-3.41765287e-01 -2.27432194e-02 9.39510104e-01 4.01417346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.34, Y:202.65, Z:40.12 [[ 5.03328160e-01 -8.43637733e-01 1.86912118e-01 4.42335322e+02] [ 7.93468881e-01 5.36897563e-01 2.86614971e-01 2.02649950e+02] [-3.42151865e-01 4.04756299e-03 9.39635950e-01 4.01206085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.35, Y:202.67, Z:40.11 [[ 5.03979308e-01 -8.42849975e-01 1.88702880e-01 4.42348207e+02] [ 7.92760516e-01 5.38122328e-01 2.86278055e-01 2.02672320e+02] [-3.42834685e-01 5.31797684e-03 9.39380699e-01 4.01098981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.36, Y:202.69, Z:40.10 [[ 5.03726061e-01 -8.43689013e-01 1.85604161e-01 4.42364320e+02] [ 7.92603761e-01 5.36830220e-01 2.89123839e-01 2.02693811e+02] [-3.43568529e-01 1.47134340e-03 9.39126457e-01 4.01018256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:442.38, Y:202.72, Z:40.09 [[ 5.05018528e-01 -8.42406879e-01 1.87901404e-01 4.42376965e+02] [ 7.91417898e-01 5.38833946e-01 2.88644573e-01 2.02715293e+02] [-3.44403829e-01 2.93767667e-03 9.38817007e-01 4.00912785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.39, Y:202.74, Z:40.08 [[ 5.07493884e-01 -8.39842518e-01 1.92651245e-01 4.42387758e+02] [ 7.90456966e-01 5.42767863e-01 2.83867633e-01 2.02738656e+02] [-3.42969012e-01 8.22143054e-03 9.39310739e-01 4.00782643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.41, Y:202.76, Z:40.07 [[ 5.08677837e-01 -8.41275559e-01 1.83036312e-01 4.42407402e+02] [ 7.89003994e-01 5.40591060e-01 2.91948632e-01 2.02759414e+02] [-3.44557043e-01 -4.09141765e-03 9.38756467e-01 4.00729276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.42, Y:202.78, Z:40.06 [[ 5.10998959e-01 -8.38843984e-01 1.87672149e-01 4.42417234e+02] [ 7.87598145e-01 5.44371831e-01 2.88701355e-01 2.02781725e+02] [-3.44338826e-01 2.84144221e-04 9.38845404e-01 4.00611611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.43, Y:202.80, Z:40.05 [[ 5.11586358e-01 -8.38489711e-01 1.87655010e-01 4.42431110e+02] [ 7.87184163e-01 5.44917428e-01 2.88801125e-01 2.02804247e+02] [-3.44413258e-01 -2.76634447e-05 9.38818144e-01 4.00507863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.45, Y:202.83, Z:40.04 [[ 5.12175377e-01 -8.38107307e-01 1.87756557e-01 4.42445231e+02] [ 7.86651948e-01 5.45505259e-01 2.89141357e-01 2.02826735e+02] [-3.44753674e-01 -3.92021647e-04 9.38693108e-01 4.00404803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.46, Y:202.85, Z:40.03 [[ 5.12420824e-01 -8.37874197e-01 1.88126895e-01 4.42458789e+02] [ 7.86124121e-01 5.45862981e-01 2.89900798e-01 2.02848835e+02] [-3.45591906e-01 -6.60115753e-04 9.38384675e-01 4.00305842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.47, Y:202.87, Z:40.02 [[ 5.12078368e-01 -8.37985223e-01 1.88564341e-01 4.42472296e+02] [ 7.85923059e-01 5.45692477e-01 2.90765654e-01 2.02870623e+02] [-3.46555464e-01 -6.97738065e-04 9.38029223e-01 4.00205947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.49, Y:202.89, Z:40.01 [[ 5.11558741e-01 -8.38263459e-01 1.88737986e-01 4.42485980e+02] [ 7.86090400e-01 5.45265130e-01 2.91114789e-01 2.02893513e+02] [-3.46943133e-01 -5.57196386e-04 9.37886002e-01 4.00102403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.50, Y:202.92, Z:40.00 [[ 5.10171844e-01 -8.39085696e-01 1.88838249e-01 4.42499445e+02] [ 7.86839497e-01 5.43999249e-01 2.91459129e-01 2.02915920e+02] [-3.47287052e-01 -1.08848717e-04 9.37758867e-01 4.00000375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.51, Y:202.94, Z:39.99 [[ 5.09313516e-01 -8.39562302e-01 1.89036725e-01 4.42512477e+02] [ 7.87163515e-01 5.43263408e-01 2.91956282e-01 2.02937426e+02] [-3.47812223e-01 1.05532333e-04 9.37564209e-01 3.99900196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.52, Y:202.96, Z:39.98 [[ 5.07295423e-01 -8.40683271e-01 1.89480850e-01 4.42524484e+02] [ 7.88074220e-01 5.41526504e-01 2.92725244e-01 2.02959460e+02] [-3.48698118e-01 8.26796427e-04 9.37234730e-01 3.99796020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.54, Y:202.98, Z:39.97 [[ 5.05884234e-01 -8.41485458e-01 1.89692820e-01 4.42538251e+02] [ 7.88778616e-01 5.40278119e-01 2.93134524e-01 2.02981799e+02] [-3.49155319e-01 1.33350602e-03 9.37063917e-01 3.99699836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.55, Y:203.00, Z:39.96 [[ 5.03295630e-01 -8.43081632e-01 1.89491084e-01 4.42551942e+02] [ 7.90530312e-01 5.37780568e-01 2.93008340e-01 2.03003693e+02] [-3.48934572e-01 2.32862847e-03 9.37144195e-01 3.99611643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.57, Y:203.03, Z:39.95 [[ 5.01907848e-01 -8.43967546e-01 1.89228152e-01 4.42565450e+02] [ 7.91589589e-01 5.36386505e-01 2.92703672e-01 2.03025815e+02] [-3.48531827e-01 2.88076507e-03 9.37292520e-01 3.99512117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.58, Y:203.05, Z:39.94 [[ 4.99847272e-01 -8.45374635e-01 1.88399659e-01 4.42578160e+02] [ 7.93497778e-01 5.34160803e-01 2.91605063e-01 2.03048563e+02] [-3.47151237e-01 3.73671596e-03 9.37801715e-01 3.99402682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.59, Y:203.07, Z:39.93 [[ 4.98632168e-01 -8.46352596e-01 1.87225116e-01 4.42590360e+02] [ 7.95137464e-01 5.32605848e-01 2.89978317e-01 2.03070203e+02] [-3.45141093e-01 4.27718716e-03 9.38541066e-01 3.99300483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.59, Y:203.09, Z:39.91 [[ 4.94346080e-01 -8.46448448e-01 1.97855952e-01 4.42591252e+02] [ 7.96411917e-01 5.32241229e-01 2.87136435e-01 2.03090857e+02] [-3.48353285e-01 1.56300670e-02 9.37232997e-01 3.99109136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.62, Y:203.11, Z:39.92 [[ 4.95850820e-01 -8.50396808e-01 1.75946678e-01 4.42622342e+02] [ 7.96858790e-01 5.26094102e-01 2.97053975e-01 2.03113371e+02] [-3.45178262e-01 -7.08980011e-03 9.38510364e-01 3.99150391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.63, Y:203.14, Z:39.90 [[ 4.94349737e-01 -8.48848401e-01 1.87282485e-01 4.42629262e+02] [ 7.97790837e-01 5.28601817e-01 2.90017066e-01 2.03137778e+02] [-3.45178385e-01 6.04239044e-03 9.38517646e-01 3.99003856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.63, Y:203.16, Z:39.88 [[ 4.89066691e-01 -8.50336514e-01 1.94271938e-01 4.42634452e+02] [ 7.99898985e-01 5.26049531e-01 2.88848584e-01 2.03161011e+02] [-3.47815160e-01 1.41317048e-02 9.37456617e-01 3.98847587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.640385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:442.66, Y:203.18, Z:39.88 [[ 4.90347035e-01 -8.52811792e-01 1.79643624e-01 4.42659125e+02] [ 7.99922663e-01 5.22216837e-01 2.95657419e-01 2.03181973e+02] [-3.45953059e-01 -1.27373274e-03 9.38250957e-01 3.98835922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.67, Y:203.21, Z:39.87 [[ 4.88965009e-01 -8.51871850e-01 1.87690094e-01 4.42667421e+02] [ 8.00639530e-01 5.23689993e-01 2.91075823e-01 2.03207227e+02] [-3.46250724e-01 7.94621583e-03 9.38108359e-01 3.98713489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.67, Y:203.23, Z:39.86 [[ 4.84705745e-01 -8.52711189e-01 1.94792115e-01 4.42672109e+02] [ 8.01926640e-01 5.22152578e-01 2.90293558e-01 2.03229216e+02] [-3.49247770e-01 1.55020308e-02 9.36902173e-01 3.98556647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.70, Y:203.25, Z:39.86 [[ 4.87253740e-01 -8.54611122e-01 1.79509394e-01 4.42696695e+02] [ 8.01117292e-01 5.19267156e-01 2.97611668e-01 2.03252704e+02] [-3.47555574e-01 -1.20431911e-03 9.37658612e-01 3.98552120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.70, Y:203.28, Z:39.84 [[ 4.87162664e-01 -8.52794193e-01 1.88187679e-01 4.42704387e+02] [ 8.01180495e-01 5.22179959e-01 2.92297631e-01 2.03277336e+02] [-3.47537557e-01 8.37580513e-03 9.37628654e-01 3.98414807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:442.71, Y:203.30, Z:39.83 [[ 4.88476884e-01 -8.50918972e-01 1.93202582e-01 4.42712738e+02] [ 8.00917910e-01 5.25105417e-01 2.87740860e-01 2.03302567e+02] [-3.46295879e-01 1.41846497e-02 9.38018102e-01 3.98287043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.73, Y:203.32, Z:39.82 [[ 4.88926865e-01 -8.53007288e-01 1.82562557e-01 4.42732373e+02] [ 7.99849961e-01 5.21897848e-01 2.96416390e-01 2.03323816e+02] [-3.48124347e-01 1.09671836e-03 9.37447725e-01 3.98237944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.74, Y:203.35, Z:39.81 [[ 4.91895774e-01 -8.50174320e-01 1.87728989e-01 4.42740737e+02] [ 7.98495656e-01 5.26463769e-01 2.91959907e-01 2.03347409e+02] [-3.47049326e-01 6.28693812e-03 9.37825805e-01 3.98120413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.75, Y:203.37, Z:39.80 [[ 4.91132881e-01 -8.49684459e-01 1.91897925e-01 4.42748720e+02] [ 7.98351815e-01 5.27191598e-01 2.91038483e-01 2.03370386e+02] [-3.48457850e-01 1.02634883e-02 9.37268258e-01 3.97984901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.77, Y:203.39, Z:39.79 [[ 4.95991685e-01 -8.48838866e-01 1.82933943e-01 4.42767551e+02] [ 7.95720134e-01 5.28650652e-01 2.95563796e-01 2.03394190e+02] [-3.47594185e-01 -1.03296354e-03 9.37644504e-01 3.97936474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.77, Y:203.42, Z:39.78 [[ 4.95590939e-01 -8.46498899e-01 1.94497394e-01 4.42770744e+02] [ 7.95433921e-01 5.32274727e-01 2.89773173e-01 2.03417543e+02] [-3.48818719e-01 1.11008657e-02 9.37124470e-01 3.97764176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.79, Y:203.44, Z:39.77 [[ 4.98480346e-01 -8.47069642e-01 1.84364764e-01 4.42787626e+02] [ 7.94052449e-01 5.31481523e-01 2.94971353e-01 2.03440413e+02] [-3.47847744e-01 -6.42130171e-04 9.37550817e-01 3.97709275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.80, Y:203.46, Z:39.76 [[ 4.99503461e-01 -8.45204334e-01 1.90068216e-01 4.42795843e+02] [ 7.94130369e-01 5.34405340e-01 2.89426828e-01 2.03463613e+02] [-3.46198279e-01 6.36923998e-03 9.38139747e-01 3.97589226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.82, Y:203.49, Z:39.75 [[ 5.00780767e-01 -8.47030855e-01 1.78205933e-01 4.42816014e+02] [ 7.93194915e-01 5.31490717e-01 2.97253166e-01 2.03486235e+02] [-3.46497403e-01 -7.50662871e-03 9.38020896e-01 3.97548216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:442.83, Y:203.51, Z:39.74 [[ 5.02761053e-01 -8.44414928e-01 1.84918236e-01 4.42825886e+02] [ 7.92309725e-01 5.35689588e-01 2.92030763e-01 2.03511240e+02] [-3.45653909e-01 -3.09177072e-04 9.38362020e-01 3.97427205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.84, Y:203.54, Z:39.73 [[ 5.01678916e-01 -8.44846712e-01 1.85882485e-01 4.42837356e+02] [ 7.93540348e-01 5.35004516e-01 2.89937725e-01 2.03535182e+02] [-3.44400903e-01 2.04960834e-03 9.38820439e-01 3.97327075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.85, Y:203.56, Z:39.72 [[ 5.02127286e-01 -8.44530307e-01 1.86109508e-01 4.42849915e+02] [ 7.93003840e-01 5.35504974e-01 2.90481209e-01 2.03556376e+02] [-3.44982752e-01 1.72701314e-03 9.38607436e-01 3.97226023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.86, Y:203.58, Z:39.71 [[ 5.01879364e-01 -8.44771753e-01 1.85681958e-01 4.42862978e+02] [ 7.93473355e-01 5.35123637e-01 2.89901240e-01 2.03578157e+02] [-3.44263183e-01 1.83823661e-03 9.38871387e-01 3.97134169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:442.88, Y:203.60, Z:39.71 [[ 5.01329728e-01 -8.46234030e-01 1.80434115e-01 4.42878662e+02] [ 7.94839490e-01 5.32806908e-01 2.90425522e-01 2.03600772e+02] [-3.41904503e-01 -2.18278738e-03 9.39732167e-01 3.97066887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:442.89, Y:203.62, Z:39.69 [[ 5.01698124e-01 -8.44326319e-01 1.88180925e-01 4.42888456e+02] [ 7.94220740e-01 5.35799257e-01 2.86587811e-01 2.03623507e+02] [-3.42800831e-01 5.67662609e-03 9.39390955e-01 3.96920592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:442.90, Y:203.65, Z:39.69 [[ 5.01205117e-01 -8.46128439e-01 1.81273539e-01 4.42904925e+02] [ 7.95160853e-01 5.32978415e-01 2.89228678e-01 2.03645645e+02] [-3.41339493e-01 -8.21271785e-04 9.39939719e-01 3.96857918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.92, Y:203.67, Z:39.67 [[ 5.02263510e-01 -8.44470904e-01 1.86011449e-01 4.42916762e+02] [ 7.94332158e-01 5.35588168e-01 2.86673572e-01 2.03667565e+02] [-3.41713022e-01 3.76920082e-03 9.39796789e-01 3.96733715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.93, Y:203.69, Z:39.67 [[ 5.03615187e-01 -8.44179388e-01 1.83665195e-01 4.42931576e+02] [ 7.93803264e-01 5.36059596e-01 2.87256834e-01 2.03688883e+02] [-3.40951788e-01 1.12712756e-03 9.40080107e-01 3.96652583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.94, Y:203.71, Z:39.66 [[ 5.04170864e-01 -8.43899606e-01 1.83426265e-01 4.42944955e+02] [ 7.93611175e-01 5.36500385e-01 2.86964526e-01 2.03710364e+02] [-3.40577512e-01 8.89980521e-04 9.40216021e-01 3.96563579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:442.96, Y:203.73, Z:39.65 [[ 5.05628557e-01 -8.43172723e-01 1.82755357e-01 4.42959430e+02] [ 7.93188949e-01 5.37642664e-01 2.85992409e-01 2.03732941e+02] [-3.39398075e-01 3.53600621e-04 9.40642771e-01 3.96469002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.390385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:442.98, Y:203.76, Z:39.64 [[ 5.06832234e-01 -8.43861657e-01 1.76120954e-01 4.42978284e+02] [ 7.93288303e-01 5.36525493e-01 2.87809075e-01 2.03755933e+02] [-3.37364425e-01 -6.15622391e-03 9.41353996e-01 3.96422518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.99, Y:203.78, Z:39.63 [[ 5.07966166e-01 -8.41502964e-01 1.83965040e-01 4.42987219e+02] [ 7.92077320e-01 5.40250750e-01 2.84152506e-01 2.03778871e+02] [-3.38502427e-01 1.37467656e-03 9.40964514e-01 3.96292878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.00, Y:203.80, Z:39.62 [[ 5.07597727e-01 -8.41132554e-01 1.86656302e-01 4.42999877e+02] [ 7.91602737e-01 5.40818336e-01 2.84395208e-01 2.03801800e+02] [-3.40161218e-01 3.39927836e-03 9.40360990e-01 3.96166722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.02, Y:203.82, Z:39.61 [[ 5.10059947e-01 -8.40471748e-01 1.82882727e-01 4.43017505e+02] [ 7.90397137e-01 5.41854014e-01 2.85773675e-01 2.03819934e+02] [-3.39280439e-01 -1.21172190e-03 9.40684493e-01 3.96091304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.04, Y:203.84, Z:39.60 [[ 5.10403862e-01 -8.40639386e-01 1.81144473e-01 4.43035086e+02] [ 7.90182961e-01 5.41585301e-01 2.86873229e-01 2.03840845e+02] [-3.39262119e-01 -3.28392754e-03 9.40686149e-01 3.96007995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.05, Y:203.86, Z:39.59 [[ 5.10342832e-01 -8.40369390e-01 1.82563639e-01 4.43049113e+02] [ 7.90020435e-01 5.42010439e-01 2.86517707e-01 2.03862511e+02] [-3.39732109e-01 -1.99325255e-03 9.40520133e-01 3.95909234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.04, Y:203.89, Z:39.56 [[ 5.05228294e-01 -8.34826704e-01 2.18652110e-01 4.43037708e+02] [ 7.89232988e-01 5.49460850e-01 2.74233596e-01 2.03886014e+02] [-3.49078303e-01 3.40168866e-02 9.36475942e-01 3.95585029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.10, Y:203.90, Z:39.59 [[ 5.11606334e-01 -8.46739431e-01 1.45915372e-01 4.43099968e+02] [ 7.89065206e-01 5.30219953e-01 3.10230402e-01 2.03900539e+02] [-3.40051555e-01 -4.35790957e-02 9.39396510e-01 3.95869547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.07, Y:203.93, Z:39.54 [[ 5.06319861e-01 -8.33271973e-01 2.22031568e-01 4.43067504e+02] [ 7.87644926e-01 5.51690801e-01 2.74322310e-01 2.03930107e+02] [-3.51077866e-01 3.59872035e-02 9.35654452e-01 3.95371238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.13, Y:203.94, Z:39.57 [[ 5.10948101e-01 -8.46766317e-01 1.48050138e-01 4.43129189e+02] [ 7.88201939e-01 5.30230241e-01 3.12399736e-01 2.03942969e+02] [-3.43030235e-01 -4.29266458e-02 9.38342987e-01 3.95650470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.10, Y:203.97, Z:39.52 [[ 5.05795842e-01 -8.33701479e-01 2.21613201e-01 4.43099342e+02] [ 7.87878493e-01 5.51069209e-01 2.74900359e-01 2.03972890e+02] [-3.51309048e-01 3.55608165e-02 9.35583979e-01 3.95168131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.14, Y:203.99, Z:39.52 [[ 5.05171698e-01 -8.43102097e-01 1.84337761e-01 4.43137437e+02] [ 7.88308072e-01 5.37722769e-01 2.99039475e-01 2.03986239e+02] [-3.51243420e-01 -5.75133476e-03 9.36266512e-01 3.95217222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.15, Y:204.01, Z:39.51 [[ 5.05264917e-01 -8.43170813e-01 1.83767090e-01 4.43152182e+02] [ 7.88519858e-01 5.37612201e-01 2.98679685e-01 2.04009061e+02] [-3.50633423e-01 -6.00836675e-03 9.36493514e-01 3.95121104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.17, Y:204.03, Z:39.50 [[ 5.04190811e-01 -8.43263942e-01 1.86272786e-01 4.43165229e+02] [ 7.88875692e-01 5.37489675e-01 2.97959717e-01 2.04030086e+02] [-3.51378384e-01 -3.28247826e-03 9.36227780e-01 3.95010302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.19, Y:204.05, Z:39.50 [[ 5.05238540e-01 -8.44161026e-01 1.79237778e-01 4.43187545e+02] [ 7.88789917e-01 5.35984148e-01 3.00884464e-01 2.04051235e+02] [-3.50063546e-01 -1.06374754e-02 9.36665553e-01 3.94954021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.23, Y:204.07, Z:39.51 [[ 5.11362157e-01 -8.47502552e-01 1.42296065e-01 4.43229692e+02] [ 7.89488999e-01 5.28699944e-01 3.11742665e-01 2.04073265e+02] [-3.39434625e-01 -4.70722231e-02 9.39451085e-01 3.95133844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.19, Y:204.10, Z:39.45 [[ 5.03053885e-01 -8.31838303e-01 2.34482038e-01 4.43186073e+02] [ 7.88567299e-01 5.52815206e-01 2.69363997e-01 2.04103264e+02] [-3.53692526e-01 4.94002623e-02 9.34056321e-01 3.94514571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.23, Y:204.12, Z:39.46 [[ 5.04086479e-01 -8.44526879e-01 1.80751690e-01 4.43233222e+02] [ 7.88271655e-01 5.35412492e-01 3.03251153e-01 2.04116046e+02] [-3.52880463e-01 -1.03833726e-02 9.35610798e-01 3.94638635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.25, Y:204.14, Z:39.46 [[ 5.05030280e-01 -8.45090703e-01 1.75402739e-01 4.43254110e+02] [ 7.88778393e-01 5.34411841e-01 3.03698255e-01 2.04138117e+02] [-3.50389873e-01 -1.50229240e-02 9.36483448e-01 3.94590038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.27, Y:204.16, Z:39.45 [[ 5.05140181e-01 -8.43861715e-01 1.80916567e-01 4.43267337e+02] [ 7.89347021e-01 5.36501460e-01 2.98491983e-01 2.04161765e+02] [-3.48947958e-01 -7.97434090e-03 9.37108175e-01 3.94479499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.31, Y:204.18, Z:39.46 [[ 5.08642979e-01 -8.48307223e-01 1.47163773e-01 4.43307438e+02] [ 7.91238622e-01 5.27952960e-01 3.08556503e-01 2.04181821e+02] [-3.39446259e-01 -4.05034374e-02 9.39753004e-01 3.94639152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.29, Y:204.21, Z:39.42 [[ 5.02710818e-01 -8.39228158e-01 2.07311199e-01 4.43286770e+02] [ 7.92421898e-01 5.43213921e-01 2.77463823e-01 2.04208927e+02] [-3.45469782e-01 2.47938686e-02 9.38102283e-01 3.94192865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.31, Y:204.23, Z:39.42 [[ 5.01408218e-01 -8.44374210e-01 1.88737895e-01 4.43312056e+02] [ 7.93212046e-01 5.35734471e-01 2.89487870e-01 2.04227762e+02] [-3.45549488e-01 4.55757492e-03 9.38389461e-01 3.94155732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.34, Y:204.25, Z:39.41 [[ 5.00491107e-01 -8.48297181e-01 1.72917738e-01 4.43337068e+02] [ 7.94504794e-01 5.29395346e-01 2.97494034e-01 2.04246722e+02] [-3.43905196e-01 -1.15091464e-02 9.38933840e-01 3.94149876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.36, Y:204.27, Z:39.42 [[ 5.02069122e-01 -8.49979736e-01 1.59565176e-01 4.43363614e+02] [ 7.96000594e-01 5.26309197e-01 2.98967698e-01 2.04271488e+02] [-3.38097104e-01 -2.30884747e-02 9.40827971e-01 3.94192851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.37, Y:204.30, Z:39.40 [[ 4.99210319e-01 -8.47312613e-01 1.81246773e-01 4.43367584e+02] [ 7.97652506e-01 5.31091114e-01 2.85819363e-01 2.04295325e+02] [-3.38436902e-01 1.88796722e-03 9.40987194e-01 3.94004076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.38, Y:204.32, Z:39.39 [[ 4.97650952e-01 -8.48282475e-01 1.80998264e-01 4.43382234e+02] [ 7.98779311e-01 5.29538226e-01 2.85553636e-01 2.04316395e+02] [-3.38075645e-01 2.47162967e-03 9.41115694e-01 3.93913210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.40, Y:204.34, Z:39.38 [[ 4.94876301e-01 -8.49987554e-01 1.80606216e-01 4.43397627e+02] [ 8.00770364e-01 5.26790772e-01 2.85058427e-01 2.04338172e+02] [-3.37437803e-01 3.55544550e-03 9.41341111e-01 3.93816362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.41, Y:204.36, Z:39.37 [[ 4.94335867e-01 -8.49896724e-01 1.82503722e-01 4.43410257e+02] [ 8.01423307e-01 5.26910808e-01 2.82994141e-01 2.04359309e+02] [-3.36678977e-01 6.36858218e-03 9.41597954e-01 3.93714102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.43, Y:204.38, Z:39.36 [[ 4.91715715e-01 -8.52443790e-01 1.77637945e-01 4.43429386e+02] [ 8.02468076e-01 5.22817646e-01 2.87587719e-01 2.04380669e+02] [-3.38024618e-01 1.13737878e-03 9.41136581e-01 3.93642299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.44, Y:204.40, Z:39.35 [[ 4.90929274e-01 -8.52131533e-01 1.81274101e-01 4.43442465e+02] [ 8.02523294e-01 5.23305623e-01 2.86544216e-01 2.04401999e+02] [-3.39035118e-01 4.80374452e-03 9.40761454e-01 3.93537700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.46, Y:204.42, Z:39.34 [[ 4.91082990e-01 -8.52044187e-01 1.81268314e-01 4.43457168e+02] [ 8.02388166e-01 5.23449008e-01 2.86660717e-01 2.04423617e+02] [-3.39132317e-01 4.67334795e-03 9.40727076e-01 3.93444711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.47, Y:204.45, Z:39.33 [[ 4.91994385e-01 -8.50668739e-01 1.85213990e-01 4.43469353e+02] [ 8.02610921e-01 5.25609080e-01 2.82047521e-01 2.04446145e+02] [-3.37279164e-01 9.88897408e-03 9.41352736e-01 3.93328089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.49, Y:204.47, Z:39.33 [[ 4.92798901e-01 -8.52243465e-01 1.75585648e-01 4.43490934e+02] [ 8.01470271e-01 5.23141260e-01 2.89773407e-01 2.04466566e+02] [-3.38813590e-01 -2.07333947e-03 9.40851239e-01 3.93279753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.50, Y:204.49, Z:39.32 [[ 4.93675803e-01 -8.50623953e-01 1.80895249e-01 4.43501581e+02] [ 8.00905814e-01 5.25763522e-01 2.86570403e-01 2.04488513e+02] [-3.38871772e-01 3.40718282e-03 9.40826399e-01 3.93161958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.51, Y:204.51, Z:39.30 [[ 4.96079781e-01 -8.48381390e-01 1.84807652e-01 4.43512891e+02] [ 7.99860259e-01 5.29332647e-01 2.82896650e-01 2.04510211e+02] [-3.37828976e-01 7.48098849e-03 9.41177782e-01 3.93040149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.53, Y:204.53, Z:39.30 [[ 4.97115728e-01 -8.49657070e-01 1.75951176e-01 4.43533902e+02] [ 7.98757626e-01 5.27324257e-01 2.89681520e-01 2.04530037e+02] [-3.38913274e-01 -3.46289614e-03 9.40811246e-01 3.92996981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.55, Y:204.55, Z:39.29 [[ 4.97124872e-01 -8.48623433e-01 1.80845600e-01 4.43545884e+02] [ 7.98680172e-01 5.28994204e-01 2.86836391e-01 2.04552878e+02] [-3.39082357e-01 1.84429087e-03 9.40754885e-01 3.92878192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.530385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:443.56, Y:204.58, Z:39.28 [[ 4.96516807e-01 -8.48985527e-01 1.80816579e-01 4.43560640e+02] [ 7.99014736e-01 5.28412367e-01 2.86977040e-01 2.04575242e+02] [-3.39185070e-01 1.98618755e-03 9.40717569e-01 3.92779561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.58, Y:204.60, Z:39.27 [[ 4.95694201e-01 -8.49473882e-01 1.80779928e-01 4.43575461e+02] [ 7.99491849e-01 5.27625996e-01 2.87095092e-01 2.04597365e+02] [-3.39263972e-01 2.22070634e-03 9.40688591e-01 3.92684968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.59, Y:204.62, Z:39.26 [[ 4.93476757e-01 -8.50735596e-01 1.80913340e-01 4.43590154e+02] [ 8.00690368e-01 5.25585438e-01 2.87497621e-01 2.04618298e+02] [-3.39669877e-01 2.98217507e-03 9.40539995e-01 3.92596739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.61, Y:204.64, Z:39.25 [[ 4.92239543e-01 -8.51463224e-01 1.80860751e-01 4.43605023e+02] [ 8.01457769e-01 5.24403139e-01 2.87518335e-01 2.04640661e+02] [-3.39655234e-01 3.42436011e-03 9.40543777e-01 3.92501599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.62, Y:204.66, Z:39.23 [[ 4.88406555e-01 -8.51955825e-01 1.88759926e-01 4.43615838e+02] [ 8.03107323e-01 5.23462368e-01 2.84615139e-01 2.04663374e+02] [-3.41288243e-01 1.25865790e-02 9.39874413e-01 3.92323233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.64, Y:204.68, Z:39.23 [[ 4.88021851e-01 -8.55467936e-01 1.73231877e-01 4.43637551e+02] [ 8.04682805e-01 5.17850623e-01 2.90372719e-01 2.04683720e+02] [-3.38112786e-01 -2.31151938e-03 9.41102758e-01 3.92331880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.65, Y:204.71, Z:39.22 [[ 4.87473911e-01 -8.54504697e-01 1.79418251e-01 4.43647338e+02] [ 8.05354192e-01 5.19417276e-01 2.85675198e-01 2.04706008e+02] [-3.37303738e-01 5.23603392e-03 9.41381311e-01 3.92207091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:443.66, Y:204.73, Z:39.21 [[ 4.87207316e-01 -8.54812344e-01 1.78675369e-01 4.43661736e+02] [ 8.06064064e-01 5.18909477e-01 2.84593885e-01 2.04727259e+02] [-3.35990708e-01 5.36757082e-03 9.41850006e-01 3.92110166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.68, Y:204.75, Z:39.20 [[ 4.86860538e-01 -8.55046939e-01 1.78498038e-01 4.43676025e+02] [ 8.06369588e-01 5.18521911e-01 2.84434730e-01 2.04749703e+02] [-3.35760189e-01 5.45534324e-03 9.41931704e-01 3.92013046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.69, Y:204.77, Z:39.19 [[ 4.86753517e-01 -8.54764608e-01 1.80134613e-01 4.43689103e+02] [ 8.06887726e-01 5.18954170e-01 2.82167977e-01 2.04770968e+02] [-3.34668808e-01 8.00215280e-03 9.42301838e-01 3.91906535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.70, Y:204.79, Z:39.18 [[ 4.86665329e-01 -8.54554492e-01 1.81365593e-01 4.43703043e+02] [ 8.07328325e-01 5.19265554e-01 2.80328844e-01 2.04794509e+02] [-3.33733178e-01 9.99525084e-03 9.42614588e-01 3.91797640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.72, Y:204.82, Z:39.17 [[ 4.86913782e-01 -8.54298939e-01 1.81901873e-01 4.43715703e+02] [ 8.07559879e-01 5.19663751e-01 2.78920469e-01 2.04817150e+02] [-3.32809271e-01 1.10864341e-02 9.42928990e-01 3.91705454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.74, Y:204.84, Z:39.17 [[ 4.86413964e-01 -8.57083944e-01 1.69730873e-01 4.43736771e+02] [ 8.06421672e-01 5.15158417e-01 2.90337548e-01 2.04838149e+02] [-3.36281939e-01 -4.34958292e-03 9.41751315e-01 3.91653467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.75, Y:204.86, Z:39.15 [[ 4.87777381e-01 -8.54744274e-01 1.77441405e-01 4.43746790e+02] [ 8.05867082e-01 5.19033825e-01 2.84924788e-01 2.04861692e+02] [-3.35635923e-01 4.01432046e-03 9.41983234e-01 3.91544463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.76, Y:204.88, Z:39.15 [[ 4.88172953e-01 -8.54383157e-01 1.78091522e-01 4.43760507e+02] [ 8.05506231e-01 5.19625016e-01 2.84867609e-01 2.04884174e+02] [-3.35926897e-01 4.38916918e-03 9.41877835e-01 3.91455851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9803857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.77, Y:204.91, Z:39.13 [[ 4.86517233e-01 -8.55283412e-01 1.78301056e-01 4.43772725e+02] [ 8.06281106e-01 5.18137161e-01 2.85385108e-01 2.04906538e+02] [-3.36469552e-01 4.91599983e-03 9.41681514e-01 3.91342162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.79, Y:204.93, Z:39.12 [[ 4.86748332e-01 -8.55236323e-01 1.77895738e-01 4.43788030e+02] [ 8.06503821e-01 5.18214672e-01 2.84614021e-01 2.04929710e+02] [-3.35600430e-01 4.93819263e-03 9.41991489e-01 3.91249604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.79, Y:204.95, Z:39.11 [[ 4.84259029e-01 -8.55160853e-01 1.84913789e-01 4.43794642e+02] [ 8.07297643e-01 5.18210917e-01 2.82361402e-01 2.04951737e+02] [-3.37288761e-01 1.25444077e-02 9.41317656e-01 3.91114915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.82, Y:204.97, Z:39.11 [[ 4.86153499e-01 -8.57347100e-01 1.69147054e-01 4.43820129e+02] [ 8.06794928e-01 5.14718551e-01 2.90080605e-01 2.04973698e+02] [-3.35762892e-01 -4.55671556e-03 9.41935516e-01 3.91124174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.82, Y:205.00, Z:39.09 [[ 4.83861019e-01 -8.54992640e-01 1.86724666e-01 4.43821917e+02] [ 8.07390193e-01 5.18438336e-01 2.81678483e-01 2.04997485e+02] [-3.37638255e-01 1.44664266e-02 9.41164774e-01 3.90915596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.85, Y:205.02, Z:39.09 [[ 4.85491900e-01 -8.57891435e-01 1.68285178e-01 4.43847162e+02] [ 8.07372572e-01 5.13806980e-01 2.90089498e-01 2.05018666e+02] [-3.35331395e-01 -4.96726455e-03 9.42087142e-01 3.90935503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.86, Y:205.04, Z:39.08 [[ 4.85244953e-01 -8.56187276e-01 1.77427967e-01 4.43855486e+02] [ 8.07472515e-01 5.16640388e-01 2.84729428e-01 2.05042459e+02] [-3.35448167e-01 5.10468841e-03 9.42044834e-01 3.90803025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.87, Y:205.07, Z:39.07 [[ 4.85014461e-01 -8.56249467e-01 1.77757768e-01 4.43869357e+02] [ 8.07286492e-01 5.16537772e-01 2.85442203e-01 2.05065291e+02] [-3.36228336e-01 5.05784888e-03 9.41766916e-01 3.90705903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2203857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:443.88, Y:205.09, Z:39.06 [[ 4.85428870e-01 -8.56052623e-01 1.77574544e-01 4.43882328e+02] [ 8.07113864e-01 5.16866273e-01 2.85335708e-01 2.05086878e+02] [-3.36044674e-01 4.81268654e-03 9.41833751e-01 3.90618986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.90, Y:205.11, Z:39.05 [[ 4.85628493e-01 -8.56002990e-01 1.77267731e-01 4.43896526e+02] [ 8.07199091e-01 5.16949382e-01 2.84943792e-01 2.05109573e+02] [-3.35551182e-01 4.71352757e-03 9.42010184e-01 3.90523853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.91, Y:205.13, Z:39.04 [[ 4.86015410e-01 -8.55836099e-01 1.77012975e-01 4.43910120e+02] [ 8.07098803e-01 5.17227644e-01 2.84722825e-01 2.05131309e+02] [-3.35232076e-01 4.48728010e-03 9.42124896e-01 3.90427848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.92, Y:205.15, Z:39.02 [[ 4.83986393e-01 -8.54902703e-01 1.86811508e-01 4.43916348e+02] [ 8.07168047e-01 5.18591568e-01 2.82032852e-01 2.05154211e+02] [-3.37989521e-01 1.42882173e-02 9.41041408e-01 3.90242244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.94, Y:205.18, Z:39.02 [[ 4.84645271e-01 -8.57228082e-01 1.74008556e-01 4.43938435e+02] [ 8.07096092e-01 5.14936708e-01 2.88853051e-01 2.05175489e+02] [-3.37216340e-01 4.50360641e-04 9.41427075e-01 3.90209351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.95, Y:205.20, Z:39.01 [[ 4.85296647e-01 -8.57033306e-01 1.73150445e-01 4.43952289e+02] [ 8.07319929e-01 5.15260977e-01 2.87646759e-01 2.05198242e+02] [-3.35740521e-01 1.93797187e-04 9.41954492e-01 3.90147896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.96, Y:205.22, Z:39.00 [[ 4.83920518e-01 -8.56890721e-01 1.77649164e-01 4.43963247e+02] [ 8.07708843e-01 5.15473801e-01 2.86169854e-01 2.05220692e+02] [-3.36789782e-01 5.00533660e-03 9.41566561e-01 3.90037541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.98, Y:205.24, Z:38.99 [[ 4.82773837e-01 -8.57541266e-01 1.77629950e-01 4.43976829e+02] [ 8.08376653e-01 5.14386808e-01 2.86240109e-01 2.05243533e+02] [-3.36833208e-01 5.40266846e-03 9.41548831e-01 3.89935974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:443.99, Y:205.27, Z:38.98 [[ 4.81877001e-01 -8.58084040e-01 1.77443898e-01 4.43990361e+02] [ 8.08996323e-01 5.13477908e-01 2.86121281e-01 2.05265897e+02] [-3.36629626e-01 5.67619686e-03 9.41620027e-01 3.89836373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.00, Y:205.29, Z:38.97 [[ 4.80994798e-01 -8.58519205e-01 1.77732322e-01 4.44004222e+02] [ 8.09229533e-01 5.12747570e-01 2.86770801e-01 2.05288649e+02] [-3.37330056e-01 5.89098071e-03 9.41368010e-01 3.89740593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.02, Y:205.31, Z:38.96 [[ 4.80874657e-01 -8.58551113e-01 1.77903206e-01 4.44017331e+02] [ 8.09098478e-01 5.12694980e-01 2.87234244e-01 2.05310460e+02] [-3.37815360e-01 5.81754505e-03 9.41194421e-01 3.89648223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.03, Y:205.33, Z:38.96 [[ 4.81082511e-01 -8.58409501e-01 1.78024564e-01 4.44028611e+02] [ 8.08840868e-01 5.12933740e-01 2.87533353e-01 2.05332752e+02] [-3.38136168e-01 5.66627566e-03 9.41080138e-01 3.89550253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.04, Y:205.36, Z:38.94 [[ 4.80916751e-01 -8.57804092e-01 1.81359365e-01 4.44038469e+02] [ 8.09272635e-01 5.13881535e-01 2.84611262e-01 2.05357018e+02] [-3.37337934e-01 9.89484759e-03 9.41331616e-01 3.89407496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.06, Y:205.38, Z:38.94 [[ 4.82664791e-01 -8.58271091e-01 1.74371540e-01 4.44056660e+02] [ 8.08145832e-01 5.13194624e-01 2.89018326e-01 2.05378753e+02] [-3.37542610e-01 1.41866359e-03 9.41309181e-01 3.89360028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.06, Y:205.40, Z:38.92 [[ 4.82393543e-01 -8.55448721e-01 1.88424931e-01 4.44060117e+02] [ 8.07139955e-01 5.17665079e-01 2.83809723e-01 2.05401635e+02] [-3.40325671e-01 1.51773127e-02 9.40185134e-01 3.89155612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.08, Y:205.42, Z:38.91 [[ 4.82176713e-01 -8.57823755e-01 1.77887673e-01 4.44080116e+02] [ 8.07267756e-01 5.13930699e-01 2.90162037e-01 2.05422947e+02] [-3.40329824e-01 3.69360528e-03 9.40298872e-01 3.89104520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.10, Y:205.45, Z:38.91 [[ 4.85261654e-01 -8.58469900e-01 1.65983608e-01 4.44102130e+02] [ 8.07159738e-01 5.12802495e-01 2.92449584e-01 2.05445839e+02] [-3.36175974e-01 -7.93928322e-03 9.41765726e-01 3.89105309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.11, Y:205.47, Z:38.90 [[ 4.86895982e-01 -8.55551415e-01 1.75966129e-01 4.44108375e+02] [ 8.06653812e-01 5.17708423e-01 2.85109832e-01 2.05471013e+02] [-3.35025267e-01 3.12491700e-03 9.42203962e-01 3.88954049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.760385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:444.12, Y:205.49, Z:38.88 [[ 4.86718183e-01 -8.55734012e-01 1.75569674e-01 4.44121053e+02] [ 8.07009622e-01 5.17406445e-01 2.84650734e-01 2.05493530e+02] [-3.34426196e-01 3.14172843e-03 9.42416707e-01 3.88832363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.14, Y:205.52, Z:38.88 [[ 4.86199882e-01 -8.56060411e-01 1.75414499e-01 4.44135347e+02] [ 8.07379930e-01 5.16865489e-01 2.84583407e-01 2.05516830e+02] [-3.34286289e-01 3.26172676e-03 9.42465935e-01 3.88763110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.15, Y:205.54, Z:38.87 [[ 4.85540838e-01 -8.56448941e-01 1.75343399e-01 4.44150040e+02] [ 8.07768921e-01 5.16220364e-01 2.84650498e-01 2.05539222e+02] [-3.34304450e-01 3.42750668e-03 9.42458905e-01 3.88672538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8503857229999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:444.17, Y:205.56, Z:38.87 [[ 4.83316849e-01 -8.60313254e-01 1.62067665e-01 4.44171944e+02] [ 8.07373547e-01 5.09602627e-01 2.97410688e-01 2.05556837e+02] [-3.38456465e-01 -1.28944511e-02 9.40893700e-01 3.88655688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.17, Y:205.59, Z:38.84 [[ 4.81848884e-01 -8.55645256e-01 1.88925515e-01 4.44169811e+02] [ 8.09881839e-01 5.17189888e-01 2.76777936e-01 2.05585625e+02] [-3.34534094e-01 1.96422041e-02 9.42178924e-01 3.88433253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.19, Y:205.61, Z:38.84 [[ 4.80835956e-01 -8.59990562e-01 1.70918157e-01 4.44192723e+02] [ 8.09989382e-01 5.10309690e-01 2.88965780e-01 2.05605105e+02] [-3.35729036e-01 -5.03244518e-04 9.41958471e-01 3.88417513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.20, Y:205.63, Z:38.83 [[ 4.79995729e-01 -8.58616089e-01 1.79951418e-01 4.44200378e+02] [ 8.11276076e-01 5.12502606e-01 2.81375563e-01 2.05629679e+02] [-3.33819156e-01 1.09312120e-02 9.42573753e-01 3.88272793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.21, Y:205.65, Z:38.81 [[ 4.77092038e-01 -8.59079387e-01 1.85380133e-01 4.44210551e+02] [ 8.11342487e-01 5.11608187e-01 2.82808118e-01 2.05652003e+02] [-3.37796619e-01 1.54812767e-02 9.41091799e-01 3.88117686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.000385723 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:444.23, Y:205.67, Z:38.81 [[ 4.78119849e-01 -8.61933652e-01 1.68735860e-01 4.44234191e+02] [ 8.11741294e-01 5.07018531e-01 2.89841822e-01 2.05672745e+02] [-3.35376628e-01 -1.60926269e-03 9.42082761e-01 3.88136034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:444.23, Y:205.70, Z:38.79 [[ 4.75064302e-01 -8.58748155e-01 1.92003946e-01 4.44232162e+02] [ 8.11501752e-01 5.11927454e-01 2.81771519e-01 2.05698812e+02] [-3.40262863e-01 2.19519483e-02 9.40074091e-01 3.87890352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.26, Y:205.72, Z:38.79 [[ 4.77241024e-01 -8.63148608e-01 1.64971167e-01 4.44262571e+02] [ 8.11244086e-01 5.04902853e-01 2.94883268e-01 2.05719680e+02] [-3.37822495e-01 -6.89850890e-03 9.41184558e-01 3.87943020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.28, Y:205.74, Z:38.79 [[ 4.79806976e-01 -8.61592555e-01 1.65660906e-01 4.44275677e+02] [ 8.10799616e-01 5.07570166e-01 2.91507306e-01 2.05743482e+02] [-3.35245058e-01 -5.54944053e-03 9.42114619e-01 3.87888894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.28, Y:205.77, Z:38.76 [[ 4.79274800e-01 -8.56681840e-01 1.90766588e-01 4.44275503e+02] [ 8.09558706e-01 5.15464885e-01 2.80910401e-01 2.05769470e+02] [-3.38984317e-01 1.98034762e-02 9.40583572e-01 3.87630767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.30, Y:205.79, Z:38.77 [[ 4.82282144e-01 -8.60904869e-01 1.62008459e-01 4.44303934e+02] [ 8.09633681e-01 5.08666474e-01 2.92833949e-01 2.05789608e+02] [-3.34510444e-01 -1.00610800e-02 9.42338335e-01 3.87706930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.31, Y:205.81, Z:38.76 [[ 4.83209855e-01 -8.57890257e-01 1.74735638e-01 4.44310054e+02] [ 8.09340083e-01 5.13817922e-01 2.84534309e-01 2.05813823e+02] [-3.33881514e-01 3.93077372e-03 9.42606856e-01 3.87553864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.32, Y:205.84, Z:38.75 [[ 4.84754627e-01 -8.57129772e-01 1.74188132e-01 4.44322781e+02] [ 8.08780287e-01 5.15089994e-01 2.83825204e-01 2.05837545e+02] [-3.32997596e-01 3.29434689e-03 9.42921921e-01 3.87457450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:444.33, Y:205.86, Z:38.74 [[ 4.86157230e-01 -8.56301802e-01 1.74351291e-01 4.44334643e+02] [ 8.07742021e-01 5.16469086e-01 2.84275415e-01 2.05861169e+02] [-3.33472602e-01 2.62831634e-03 9.42756128e-01 3.87354966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.35, Y:205.88, Z:38.73 [[ 4.86875765e-01 -8.55905434e-01 1.74292505e-01 4.44347551e+02] [ 8.07289308e-01 5.17127457e-01 2.84364497e-01 2.05883429e+02] [-3.33520558e-01 2.25429368e-03 9.42740132e-01 3.87266244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.36, Y:205.91, Z:38.72 [[ 4.87345671e-01 -8.55584662e-01 1.74553958e-01 4.44361375e+02] [ 8.06762903e-01 5.17659109e-01 2.84890620e-01 2.05905900e+02] [-3.34107491e-01 1.98344790e-03 9.42532891e-01 3.87182850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.38, Y:205.93, Z:38.71 [[ 4.87053694e-01 -8.55744478e-01 1.74585475e-01 4.44375130e+02] [ 8.06847332e-01 5.17394850e-01 2.85131466e-01 2.05928794e+02] [-3.34329303e-01 1.98949103e-03 9.42454221e-01 3.87089794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.39, Y:205.95, Z:38.70 [[ 4.86731017e-01 -8.55866058e-01 1.74889131e-01 4.44387379e+02] [ 8.06733179e-01 5.17193776e-01 2.85818433e-01 2.05951577e+02] [-3.35073866e-01 1.97216784e-03 9.42189798e-01 3.86999055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.40, Y:205.98, Z:38.69 [[ 4.86447296e-01 -8.55887659e-01 1.75571477e-01 4.44399585e+02] [ 8.06322706e-01 5.17158157e-01 2.87038559e-01 2.05975061e+02] [-3.36470982e-01 1.93813729e-03 9.41691840e-01 3.86904428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.41, Y:206.00, Z:38.68 [[ 4.86136461e-01 -8.56041201e-01 1.75683818e-01 4.44412065e+02] [ 8.06352726e-01 5.16903949e-01 2.87411880e-01 2.05997261e+02] [-3.36848070e-01 1.94173112e-03 9.41557012e-01 3.86811373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.42, Y:206.02, Z:38.66 [[ 4.85050466e-01 -8.53594276e-01 1.90007518e-01 4.44418150e+02] [ 8.05885201e-01 5.20679837e-01 2.81853775e-01 2.06021950e+02] [-3.39521852e-01 1.64109426e-02 9.40454992e-01 3.86599105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.43, Y:206.04, Z:38.65 [[ 4.83631286e-01 -8.55605918e-01 1.84497406e-01 4.44431895e+02] [ 8.06415578e-01 5.17523171e-01 2.86118302e-01 2.06043397e+02] [-3.40286195e-01 1.04058200e-02 9.40264338e-01 3.86504100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.45, Y:206.07, Z:38.64 [[ 4.83319929e-01 -8.56705065e-01 1.80161810e-01 4.44447020e+02] [ 8.06772172e-01 5.15771408e-01 2.88268133e-01 2.06066452e+02] [-3.39883080e-01 6.02380094e-03 9.40448407e-01 3.86414032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:444.48, Y:206.09, Z:38.65 [[ 4.86140663e-01 -8.60861871e-01 1.50280054e-01 4.44476791e+02] [ 8.07948650e-01 5.08296132e-01 2.98083916e-01 2.06088534e+02] [-3.32995848e-01 -2.34921455e-02 9.42635605e-01 3.86517228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.48, Y:206.11, Z:38.63 [[ 4.86327850e-01 -8.56442677e-01 1.73179567e-01 4.44478109e+02] [ 8.08065830e-01 5.16238513e-01 2.83773524e-01 2.06114872e+02] [-3.32437719e-01 1.93352271e-03 9.43123229e-01 3.86327826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.49, Y:206.14, Z:38.62 [[ 4.87287590e-01 -8.54653408e-01 1.79215951e-01 4.44492440e+02] [ 8.07017460e-01 5.19144985e-01 2.81445028e-01 2.06139179e+02] [-3.33577015e-01 7.48573209e-03 9.42693131e-01 3.86177063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.51, Y:206.16, Z:38.62 [[ 4.87041308e-01 -8.56739975e-01 1.69668439e-01 4.44507888e+02] [ 8.07917188e-01 5.15745551e-01 2.85090064e-01 2.06159357e+02] [-3.31753797e-01 -1.77259013e-03 9.43364339e-01 3.86161164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.52, Y:206.18, Z:38.60 [[ 4.88185066e-01 -8.55566903e-01 1.72280630e-01 4.44519167e+02] [ 8.07496642e-01 5.17691123e-01 2.82745600e-01 2.06182728e+02] [-3.31095930e-01 1.08385088e-03 9.43596477e-01 3.86040885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.53, Y:206.20, Z:38.59 [[ 4.88877633e-01 -8.55249504e-01 1.71892254e-01 4.44531987e+02] [ 8.07316392e-01 5.18215888e-01 2.82298668e-01 2.06204167e+02] [-3.30513093e-01 7.61930336e-04 9.43801099e-01 3.85947661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.55, Y:206.23, Z:38.58 [[ 4.89817261e-01 -8.54728466e-01 1.71808904e-01 4.44546020e+02] [ 8.06784424e-01 5.19075249e-01 2.82240639e-01 2.06226924e+02] [-3.30420858e-01 3.66410376e-04 9.43833631e-01 3.85849744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.56, Y:206.25, Z:38.58 [[ 4.90407643e-01 -8.54407298e-01 1.71722196e-01 4.44561171e+02] [ 8.06428965e-01 5.19603856e-01 2.82283824e-01 2.06248981e+02] [-3.30412875e-01 4.76078788e-05 9.43836495e-01 3.85766715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.57, Y:206.27, Z:38.57 [[ 4.90073048e-01 -8.54539565e-01 1.72019010e-01 4.44574748e+02] [ 8.06332259e-01 5.19386303e-01 2.82959639e-01 2.06270188e+02] [-3.31144524e-01 3.35838452e-05 9.43580046e-01 3.85680772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.59, Y:206.29, Z:38.56 [[ 4.88675149e-01 -8.55234422e-01 1.72541827e-01 4.44588233e+02] [ 8.06730887e-01 5.18241142e-01 2.83921457e-01 2.06292841e+02] [-3.32237677e-01 4.49460669e-04 9.43195592e-01 3.85582934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:444.61, Y:206.32, Z:38.54 [[ 4.89836748e-01 -8.54149825e-01 1.74608236e-01 4.44606340e+02] [ 8.06203617e-01 5.20020706e-01 2.82159870e-01 2.06316700e+02] [-3.31806702e-01 2.55751790e-03 9.43343931e-01 3.85448828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.62, Y:206.34, Z:38.54 [[ 4.87780731e-01 -8.55447151e-01 1.74011868e-01 4.44619371e+02] [ 8.07601575e-01 5.17881820e-01 2.82095936e-01 2.06339558e+02] [-3.31435748e-01 2.93129658e-03 9.43473239e-01 3.85363398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.63, Y:206.36, Z:38.52 [[ 4.84715749e-01 -8.55458056e-01 1.82324319e-01 4.44628082e+02] [ 8.08555938e-01 5.17735741e-01 2.79619380e-01 2.06361614e+02] [-3.33598467e-01 1.18834930e-02 9.42640358e-01 3.85214619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:444.65, Y:206.38, Z:38.51 [[ 4.85114632e-01 -8.56783432e-01 1.74888379e-01 4.44648275e+02] [ 8.08116425e-01 5.15666265e-01 2.84668486e-01 2.06383637e+02] [-3.34083279e-01 3.23332373e-03 9.42538014e-01 3.85140043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.66, Y:206.41, Z:38.50 [[ 4.83009965e-01 -8.58181536e-01 1.73855760e-01 4.44660320e+02] [ 8.09685420e-01 5.13335139e-01 2.84423198e-01 2.06406979e+02] [-3.33333008e-01 3.38923487e-03 9.42803065e-01 3.85048860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.68, Y:206.43, Z:38.50 [[ 4.82630595e-01 -8.59994499e-01 1.65762391e-01 4.44677834e+02] [ 8.10789061e-01 5.10287644e-01 2.86753587e-01 2.06427506e+02] [-3.31193008e-01 -3.99772118e-03 9.43554561e-01 3.85018587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.69, Y:206.45, Z:38.49 [[ 4.83571841e-01 -8.58646874e-01 1.69952409e-01 4.44692641e+02] [ 8.10564519e-01 5.12567038e-01 2.83302300e-01 2.06451441e+02] [-3.30368637e-01 7.60378148e-04 9.43851676e-01 3.84895898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.70, Y:206.47, Z:38.48 [[ 4.83450804e-01 -8.58079401e-01 1.73133079e-01 4.44701609e+02] [ 8.11015446e-01 5.13493714e-01 2.80317949e-01 2.06472964e+02] [-3.29437806e-01 4.89366292e-03 9.44164596e-01 3.84797560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.71, Y:206.50, Z:38.46 [[ 4.83219069e-01 -8.56736572e-01 1.80282495e-01 4.44712343e+02] [ 8.10425730e-01 5.15621123e-01 2.78109681e-01 2.06496181e+02] [-3.31224197e-01 1.17176717e-02 9.43479320e-01 3.84622611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.73, Y:206.52, Z:38.46 [[ 4.84389028e-01 -8.59561174e-01 1.62855327e-01 4.44733791e+02] [ 8.11426323e-01 5.11005850e-01 2.83655326e-01 2.06515580e+02] [-3.27039130e-01 -5.25442903e-03 9.44996190e-01 3.84638603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.74, Y:206.54, Z:38.44 [[ 4.84102879e-01 -8.56935923e-01 1.76932831e-01 4.44742645e+02] [ 8.10392896e-01 5.15353437e-01 2.78700896e-01 2.06540030e+02] [-3.30011752e-01 8.46520299e-03 9.43938867e-01 3.84448682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.77, Y:206.56, Z:38.45 [[ 4.84769840e-01 -8.59649460e-01 1.61248281e-01 4.44765563e+02] [ 8.10910988e-01 5.10827553e-01 2.85444531e-01 2.06559004e+02] [-3.27752302e-01 -7.61689708e-03 9.44732984e-01 3.84476054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.78, Y:206.58, Z:38.44 [[ 4.85479438e-01 -8.57990228e-01 1.67816816e-01 4.44775922e+02] [ 8.10156180e-01 5.13664651e-01 2.82481133e-01 2.06581076e+02] [-3.28567617e-01 -1.18095124e-03 9.44479712e-01 3.84361071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.79, Y:206.60, Z:38.43 [[ 4.84389369e-01 -8.58194321e-01 1.69910117e-01 4.44790081e+02] [ 8.10511749e-01 5.13323823e-01 2.82080410e-01 2.06604851e+02] [-3.29298717e-01 1.07739438e-03 9.44225182e-01 3.84251088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.80, Y:206.63, Z:38.42 [[ 4.84362009e-01 -8.58124962e-01 1.70337880e-01 4.44804609e+02] [ 8.10022460e-01 5.13440312e-01 2.83271356e-01 2.06626298e+02] [-3.30540556e-01 7.71625335e-04 9.43791473e-01 3.84156591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.82, Y:206.65, Z:38.40 [[ 4.84902112e-01 -8.57327467e-01 1.72799180e-01 4.44821327e+02] [ 8.09000842e-01 5.14766772e-01 2.83783030e-01 2.06649854e+02] [-3.32246263e-01 2.18769123e-03 9.43190137e-01 3.84029286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.83, Y:206.67, Z:38.40 [[ 4.83681729e-01 -8.58127331e-01 1.72248276e-01 4.44833591e+02] [ 8.09476918e-01 5.13434248e-01 2.84837485e-01 2.06670260e+02] [-3.32864995e-01 1.66031643e-03 9.42973032e-01 3.83962389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.84, Y:206.69, Z:38.38 [[ 4.83087158e-01 -8.56417133e-01 1.82144152e-01 4.44844627e+02] [ 8.08575696e-01 5.16170831e-01 2.82441175e-01 2.06693641e+02] [-3.35904960e-01 1.08336303e-02 9.41833579e-01 3.83776078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.87, Y:206.71, Z:38.38 [[ 4.84021557e-01 -8.59624836e-01 1.63610128e-01 4.44868216e+02] [ 8.09260589e-01 5.10863506e-01 2.90027200e-01 2.06712721e+02] [-3.32897028e-01 -7.97618836e-03 9.42929451e-01 3.83809456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.88, Y:206.74, Z:38.36 [[ 4.85447524e-01 -8.56319414e-01 1.76232126e-01 4.44879624e+02] [ 8.08072920e-01 5.16424032e-01 2.83415552e-01 2.06737988e+02] [-3.33704745e-01 4.82503109e-03 9.42665297e-01 3.83630076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.89, Y:206.76, Z:38.35 [[ 4.85949387e-01 -8.56500540e-01 1.73954069e-01 4.44893244e+02] [ 8.08119736e-01 5.16139257e-01 2.83800564e-01 2.06760001e+02] [-3.32859860e-01 2.66300588e-03 9.42972546e-01 3.83537074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.91, Y:206.78, Z:38.35 [[ 4.86589795e-01 -8.57344573e-01 1.67900729e-01 4.44907067e+02] [ 8.08744819e-01 5.14735959e-01 2.84567586e-01 2.06779542e+02] [-3.30397018e-01 -2.67883833e-03 9.43838246e-01 3.83491229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.92, Y:206.80, Z:38.33 [[ 4.87458227e-01 -8.54634926e-01 1.78839649e-01 4.44917911e+02] [ 8.07859651e-01 5.19160103e-01 2.78990273e-01 2.06803464e+02] [-3.31281242e-01 8.48123191e-03 9.43493936e-01 3.83296030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.94, Y:206.82, Z:38.33 [[ 4.88365221e-01 -8.57686016e-01 1.60854312e-01 4.44940031e+02] [ 8.08969155e-01 5.14093224e-01 2.85091326e-01 2.06821832e+02] [-3.27212955e-01 -9.10251160e-03 9.44906782e-01 3.83318434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.95, Y:206.85, Z:38.32 [[ 4.88215173e-01 -8.56457485e-01 1.67709636e-01 4.44950004e+02] [ 8.09044875e-01 5.16215359e-01 2.81012620e-01 2.06845928e+02] [-3.27249652e-01 -1.51000328e-03 9.44936710e-01 3.83191007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.97, Y:206.87, Z:38.31 [[ 4.88545926e-01 -8.56353778e-01 1.67275480e-01 4.44965496e+02] [ 8.09128000e-01 5.16386892e-01 2.80457587e-01 2.06866779e+02] [-3.26549780e-01 -1.66913681e-03 9.45178531e-01 3.83094075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.98, Y:206.89, Z:38.30 [[ 4.88179328e-01 -8.56582136e-01 1.67176517e-01 4.44980276e+02] [ 8.09363431e-01 5.16008172e-01 2.80475315e-01 2.06889125e+02] [-3.26514594e-01 -1.61569193e-03 9.45190780e-01 3.82998612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.00, Y:206.91, Z:38.29 [[ 4.87614502e-01 -8.56831717e-01 1.67545537e-01 4.44995156e+02] [ 8.09347360e-01 5.15593824e-01 2.81282527e-01 2.06910378e+02] [-3.27397235e-01 -1.55490130e-03 9.44885513e-01 3.82908547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.01, Y:206.93, Z:38.28 [[ 4.86876469e-01 -8.57177735e-01 1.67921515e-01 4.45009641e+02] [ 8.09449886e-01 5.15018822e-01 2.82039883e-01 2.06932624e+02] [-3.28241049e-01 -1.39453170e-03 9.44592965e-01 3.82812678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.02, Y:206.95, Z:38.27 [[ 4.86005334e-01 -8.57610456e-01 1.68235314e-01 4.45024232e+02] [ 8.09657284e-01 5.14298400e-01 2.82758269e-01 2.06953550e+02] [-3.29019601e-01 -1.20907948e-03 9.44322318e-01 3.82725313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.04, Y:206.98, Z:38.26 [[ 4.85094516e-01 -8.58041155e-01 1.68667386e-01 4.45040416e+02] [ 8.09823264e-01 5.13580008e-01 2.83587477e-01 2.06975237e+02] [-3.29953923e-01 -9.75957161e-04 9.43996534e-01 3.82635810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.05, Y:207.00, Z:38.25 [[ 4.85065436e-01 -8.57961871e-01 1.69153629e-01 4.45054673e+02] [ 8.09387489e-01 5.13712119e-01 2.84590498e-01 2.06997491e+02] [-3.31064066e-01 -1.13418307e-03 9.43607598e-01 3.82536720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.07, Y:207.02, Z:38.24 [[ 4.85625605e-01 -8.57660736e-01 1.69073456e-01 4.45068299e+02] [ 8.09049335e-01 5.14213945e-01 2.84645732e-01 2.07020226e+02] [-3.31069397e-01 -1.44248883e-03 9.43605306e-01 3.82442722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.08, Y:207.04, Z:38.23 [[ 4.87391079e-01 -8.56699962e-01 1.68864179e-01 4.45080588e+02] [ 8.08090441e-01 5.15810384e-01 2.84481083e-01 2.07043066e+02] [-3.30816830e-01 -2.19601303e-03 9.43692430e-01 3.82347044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.09, Y:207.07, Z:38.22 [[ 4.88005997e-01 -8.56336129e-01 1.68933658e-01 4.45092779e+02] [ 8.07597786e-01 5.16412572e-01 2.84787417e-01 2.07066134e+02] [-3.31113219e-01 -2.54751939e-03 9.43587593e-01 3.82248175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.10, Y:207.09, Z:38.21 [[ 4.88914271e-01 -8.55862723e-01 1.68706356e-01 4.45104297e+02] [ 8.07169939e-01 5.17194578e-01 2.84581198e-01 2.07089739e+02] [-3.30816452e-01 -2.96110972e-03 9.43690472e-01 3.82149818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.12, Y:207.11, Z:38.21 [[ 4.89031752e-01 -8.55869436e-01 1.68331384e-01 4.45117553e+02] [ 8.07333502e-01 5.17182935e-01 2.84138046e-01 2.07113045e+02] [-3.30243188e-01 -3.05296055e-03 9.43890945e-01 3.82054831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.13, Y:207.14, Z:38.20 [[ 4.88707334e-01 -8.56047915e-01 1.68365999e-01 4.45130575e+02] [ 8.07435946e-01 5.16887561e-01 2.84384322e-01 2.07135376e+02] [-3.30472897e-01 -3.03594438e-03 9.43810600e-01 3.81957890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.14, Y:207.16, Z:38.19 [[ 4.86961264e-01 -8.57122172e-01 1.67959252e-01 4.45144132e+02] [ 8.08746218e-01 5.15107550e-01 2.83890414e-01 2.07156899e+02] [-3.29845847e-01 -2.40722521e-03 9.44031738e-01 3.81867105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.16, Y:207.18, Z:38.18 [[ 4.84188225e-01 -8.58770515e-01 1.67555855e-01 4.45157118e+02] [ 8.10683311e-01 5.12358631e-01 2.83339378e-01 2.07178464e+02] [-3.29172192e-01 -1.35485544e-03 9.44268941e-01 3.81776991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.17, Y:207.20, Z:38.17 [[ 4.82151876e-01 -8.59922508e-01 1.67519700e-01 4.45170385e+02] [ 8.11888378e-01 5.10424226e-01 2.83380260e-01 2.07201470e+02] [-3.29191177e-01 -6.25025919e-04 9.44263088e-01 3.81676834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.18, Y:207.22, Z:38.16 [[ 4.76535828e-01 -8.62804021e-01 1.68768556e-01 4.45181582e+02] [ 8.14862662e-01 5.05532979e-01 2.83611087e-01 2.07224245e+02] [-3.30018857e-01 2.37235088e-03 9.43971359e-01 3.81555115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.20, Y:207.25, Z:38.15 [[ 4.75362598e-01 -8.63946322e-01 1.66214180e-01 4.45196995e+02] [ 8.15885286e-01 5.03583616e-01 2.84138596e-01 2.07247511e+02] [-3.29183233e-01 5.42842897e-04 9.44265908e-01 3.81492494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.21, Y:207.27, Z:38.14 [[ 4.70851149e-01 -8.66012949e-01 1.68287752e-01 4.45209682e+02] [ 8.17737675e-01 5.00010249e-01 2.85122511e-01 2.07270442e+02] [-3.31065387e-01 3.36497321e-03 9.43601816e-01 3.81397498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.22, Y:207.29, Z:38.13 [[ 4.67337753e-01 -8.67742391e-01 1.69170231e-01 4.45222394e+02] [ 8.18987860e-01 4.96993725e-01 2.86803280e-01 2.07293883e+02] [-3.32947908e-01 4.51436524e-03 9.42934415e-01 3.81309758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.23, Y:207.32, Z:38.12 [[ 4.66200593e-01 -8.68304119e-01 1.69425394e-01 4.45234669e+02] [ 8.19365215e-01 4.96008783e-01 2.87429875e-01 2.07316036e+02] [-3.33613028e-01 4.82129557e-03 9.42697779e-01 3.81218854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2203857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:445.25, Y:207.34, Z:38.11 [[ 4.65207191e-01 -8.68763714e-01 1.69799524e-01 4.45246369e+02] [ 8.19593762e-01 4.95200488e-01 2.88171029e-01 2.07338262e+02] [-3.34437341e-01 5.10739525e-03 9.42404149e-01 3.81128218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.26, Y:207.36, Z:38.10 [[ 4.64909395e-01 -8.68818330e-01 1.70334860e-01 4.45257242e+02] [ 8.19294356e-01 4.95104639e-01 2.89185329e-01 2.07362137e+02] [-3.35583094e-01 5.10941351e-03 9.41996752e-01 3.81032080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.27, Y:207.39, Z:38.09 [[ 4.66054540e-01 -8.68201418e-01 1.70351004e-01 4.45268372e+02] [ 8.18559085e-01 4.96190963e-01 2.89405515e-01 2.07386539e+02] [-3.35788907e-01 4.56360754e-03 9.41926209e-01 3.80932969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.28, Y:207.41, Z:38.08 [[ 4.67159231e-01 -8.67644073e-01 1.70164671e-01 4.45280315e+02] [ 8.18008921e-01 4.97169303e-01 2.89282025e-01 2.07409353e+02] [-3.35594486e-01 4.05545073e-03 9.41997821e-01 3.80836981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.29, Y:207.43, Z:38.07 [[ 4.70672222e-01 -8.65815255e-01 1.69798716e-01 4.45291618e+02] [ 8.16237446e-01 5.00356685e-01 2.88789923e-01 2.07432761e+02] [-3.34998644e-01 2.67067551e-03 9.42214825e-01 3.80738986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.30, Y:207.46, Z:38.06 [[ 4.72210671e-01 -8.65052749e-01 1.69413171e-01 4.45303086e+02] [ 8.15589753e-01 5.01676850e-01 2.88329141e-01 2.07455093e+02] [-3.34410582e-01 2.01954933e-03 9.42425320e-01 3.80649956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.31, Y:207.48, Z:38.05 [[ 4.75551555e-01 -8.63223432e-01 1.69399011e-01 4.45313876e+02] [ 8.13617551e-01 5.04821608e-01 2.88412248e-01 2.07478645e+02] [-3.34480492e-01 6.71115452e-04 9.42402435e-01 3.80546919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.32, Y:207.50, Z:38.04 [[ 4.77624079e-01 -8.62162071e-01 1.68972784e-01 4.45324155e+02] [ 8.12680672e-01 5.06632541e-01 2.87877742e-01 2.07501544e+02] [-3.33804381e-01 -1.76425906e-04 9.42642352e-01 3.80448625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.34, Y:207.52, Z:38.03 [[ 4.77989766e-01 -8.61977371e-01 1.68881011e-01 4.45337129e+02] [ 8.12503306e-01 5.06946626e-01 2.87825463e-01 2.07524845e+02] [-3.33712695e-01 -3.61245779e-04 9.42674762e-01 3.80346997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.35, Y:207.55, Z:38.03 [[ 4.78092711e-01 -8.61909838e-01 1.68934283e-01 4.45350051e+02] [ 8.12332284e-01 5.07061309e-01 2.88106040e-01 2.07548047e+02] [-3.33981468e-01 -5.10625984e-04 9.42579502e-01 3.80259540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.36, Y:207.57, Z:38.02 [[ 4.77671871e-01 -8.62066635e-01 1.69324245e-01 4.45362680e+02] [ 8.12194584e-01 5.06794694e-01 2.88962100e-01 2.07571335e+02] [-3.34917214e-01 -5.04832689e-04 9.42247422e-01 3.80165664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.37, Y:207.59, Z:38.01 [[ 4.77342437e-01 -8.62196434e-01 1.69592177e-01 4.45374681e+02] [ 8.12099633e-01 5.06573823e-01 2.89615518e-01 2.07593662e+02] [-3.35616425e-01 -5.20032560e-04 9.41998591e-01 3.80076041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.38, Y:207.62, Z:37.99 [[ 4.73329487e-01 -8.62650358e-01 1.78307477e-01 4.45378264e+02] [ 8.12699121e-01 5.05738517e-01 2.89393662e-01 2.07617346e+02] [-3.39822505e-01 7.93177662e-03 9.40456141e-01 3.79912146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.40, Y:207.64, Z:37.99 [[ 4.75525294e-01 -8.64779405e-01 1.61345205e-01 4.45404697e+02] [ 8.12337778e-01 5.02051608e-01 2.96734758e-01 2.07639895e+02] [-3.37613728e-01 -1.00380775e-02 9.41231219e-01 3.79917650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.42, Y:207.66, Z:37.99 [[ 4.73388881e-01 -8.67410616e-01 1.53302935e-01 4.45420795e+02] [ 8.14736644e-01 4.97328612e-01 2.98108123e-01 2.07663332e+02] [-3.34824087e-01 -1.62195522e-02 9.42141050e-01 3.79889360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.42, Y:207.69, Z:37.96 [[ 4.71182122e-01 -8.62156583e-01 1.86208043e-01 4.45416176e+02] [ 8.14489297e-01 5.06315468e-01 2.83287543e-01 2.07690444e+02] [-3.38518233e-01 1.81844328e-02 9.40784105e-01 3.79611466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.44, Y:207.71, Z:37.96 [[ 4.70312801e-01 -8.65838064e-01 1.70676059e-01 4.45436453e+02] [ 8.15119404e-01 5.00321126e-01 2.91991656e-01 2.07710192e+02] [-3.38210328e-01 1.79395363e-03 9.41068837e-01 3.79580337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.45, Y:207.73, Z:37.95 [[ 4.67963100e-01 -8.68865549e-01 1.61502923e-01 4.45449498e+02] [ 8.17402348e-01 4.95013337e-01 2.94644189e-01 2.07731979e+02] [-3.35952286e-01 -5.86973976e-03 9.41860716e-01 3.79530865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.46, Y:207.76, Z:37.94 [[ 4.69104778e-01 -8.65441542e-01 1.75930793e-01 4.45456392e+02] [ 8.16558511e-01 5.00927664e-01 2.86886167e-01 2.07757277e+02] [-3.36411808e-01 9.07811422e-03 9.41671218e-01 3.79358027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.47, Y:207.78, Z:37.93 [[ 4.69159594e-01 -8.66746594e-01 1.69232437e-01 4.45471449e+02] [ 8.16841394e-01 4.98743744e-01 2.89870341e-01 2.07779400e+02] [-3.35647750e-01 2.24060820e-03 9.41984908e-01 3.79287996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.48, Y:207.80, Z:37.92 [[ 4.68965211e-01 -8.66893185e-01 1.69020228e-01 4.45484190e+02] [ 8.17080170e-01 4.98488752e-01 2.89635909e-01 2.07802341e+02] [-3.35338078e-01 2.27391169e-03 9.42095113e-01 3.79193472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.50, Y:207.83, Z:37.91 [[ 4.68824084e-01 -8.67004053e-01 1.68842975e-01 4.45495685e+02] [ 8.17237793e-01 4.98296008e-01 2.89522848e-01 2.07825141e+02] [-3.35151263e-01 2.24957646e-03 9.42161648e-01 3.79100109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.51, Y:207.85, Z:37.90 [[ 4.68822134e-01 -8.67045191e-01 1.68637018e-01 4.45508495e+02] [ 8.17369636e-01 4.98224552e-01 2.89273529e-01 2.07848567e+02] [-3.34832325e-01 2.22094474e-03 9.42275109e-01 3.79003278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.53, Y:207.87, Z:37.91 [[ 4.69650124e-01 -8.70948996e-01 1.44487397e-01 4.45533098e+02] [ 8.19356255e-01 4.90939590e-01 2.96029807e-01 2.07869994e+02] [-3.28761447e-01 -2.06437830e-02 9.44187347e-01 3.79064545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.52, Y:207.90, Z:37.87 [[ 4.69943421e-01 -8.62379511e-01 1.88294346e-01 4.45523526e+02] [ 8.17047380e-01 5.05707270e-01 2.76936339e-01 2.07897242e+02] [-3.34046044e-01 2.37009919e-02 9.42258724e-01 3.78731181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.55, Y:207.92, Z:37.87 [[ 4.70016979e-01 -8.66295205e-01 1.69164586e-01 4.45546642e+02] [ 8.16135344e-01 4.99530089e-01 2.90504374e-01 2.07916375e+02] [-3.36165347e-01 1.51920990e-03 9.41801758e-01 3.78729392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.56, Y:207.94, Z:37.86 [[ 4.69985768e-01 -8.66223840e-01 1.69616144e-01 4.45559549e+02] [ 8.15744772e-01 4.99654134e-01 2.91386707e-01 2.07940019e+02] [-3.37155520e-01 1.41587768e-03 9.41447901e-01 3.78634502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.58, Y:207.96, Z:37.87 [[ 4.69508788e-01 -8.69875166e-01 1.51257044e-01 4.45579695e+02] [ 8.17527664e-01 4.93009497e-01 2.97640984e-01 2.07960987e+02] [-3.33481660e-01 -1.60882401e-02 9.42619304e-01 3.78670119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.59, Y:207.99, Z:37.85 [[ 4.70954117e-01 -8.66427397e-01 1.65848681e-01 4.45585132e+02] [ 8.16995475e-01 4.99302951e-01 2.88470028e-01 2.07985964e+02] [-3.32747071e-01 -3.58525137e-04 9.43016043e-01 3.78509428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.59, Y:208.01, Z:37.83 [[ 4.72072429e-01 -8.62361290e-01 1.82977124e-01 4.45591603e+02] [ 8.15106705e-01 5.06039859e-01 2.82001279e-01 2.08010961e+02] [-3.35780705e-01 1.60208524e-02 9.41803934e-01 3.78290497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.61, Y:208.03, Z:37.83 [[ 4.72619334e-01 -8.64975947e-01 1.68664093e-01 4.45612262e+02] [ 8.14746596e-01 5.01813304e-01 2.90467542e-01 2.08031290e+02] [-3.35885323e-01 1.37919060e-04 9.41902878e-01 3.78258302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.62, Y:208.05, Z:37.82 [[ 4.74030996e-01 -8.64202420e-01 1.68667698e-01 4.45624692e+02] [ 8.13884966e-01 5.03144073e-01 2.90580977e-01 2.08054844e+02] [-3.35984936e-01 -4.68286250e-04 9.41867243e-01 3.78157596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.64, Y:208.08, Z:37.81 [[ 4.74756343e-01 -8.63857845e-01 1.68392510e-01 4.45637328e+02] [ 8.13619685e-01 5.03735010e-01 2.90299927e-01 2.08077598e+02] [-3.35603072e-01 -8.14270853e-04 9.42003140e-01 3.78060232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.66, Y:208.10, Z:37.81 [[ 4.74961908e-01 -8.66291895e-01 1.54756386e-01 4.45655440e+02] [ 8.14990983e-01 4.99355362e-01 2.93996463e-01 2.08098795e+02] [-3.31965184e-01 -1.35120622e-02 9.43194858e-01 3.78054102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.240385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:445.66, Y:208.12, Z:37.79 [[ 4.75810158e-01 -8.64006504e-01 1.64613045e-01 4.45664741e+02] [ 8.14498276e-01 5.03471147e-01 2.88286946e-01 2.08123467e+02] [-3.31959715e-01 -3.09281653e-03 9.43288494e-01 3.77915666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:445.67, Y:208.15, Z:37.77 [[ 4.77733517e-01 -8.60460425e-01 1.77139902e-01 4.45673341e+02] [ 8.12540265e-01 5.09444636e-01 2.83274567e-01 2.08146406e+02] [-3.33989527e-01 8.60354749e-03 9.42537519e-01 3.77732040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.69, Y:208.17, Z:37.77 [[ 4.79599565e-01 -8.61529511e-01 1.66586792e-01 4.45693740e+02] [ 8.11997100e-01 5.07699656e-01 2.87926674e-01 2.08167175e+02] [-3.32633383e-01 -2.82151606e-03 9.43051998e-01 3.77677644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.71, Y:208.19, Z:37.77 [[ 4.79965468e-01 -8.63253357e-01 1.56290727e-01 4.45711481e+02] [ 8.12869355e-01 5.04614456e-01 2.90873964e-01 2.08188681e+02] [-3.29964486e-01 -1.25655155e-02 9.43909713e-01 3.77654273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.72, Y:208.21, Z:37.75 [[ 4.80345581e-01 -8.61053140e-01 1.66900010e-01 4.45719561e+02] [ 8.12064610e-01 5.08511095e-01 2.86299730e-01 2.08212608e+02] [-3.31389788e-01 -1.98921905e-03 9.43491840e-01 3.77502649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.73, Y:208.24, Z:37.74 [[ 4.82538462e-01 -8.58812377e-01 1.72040502e-01 4.45732986e+02] [ 8.10189514e-01 5.12286650e-01 2.84877764e-01 2.08235110e+02] [-3.32790602e-01 1.92093225e-03 9.42998794e-01 3.77365727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.75, Y:208.26, Z:37.73 [[ 4.83088508e-01 -8.61077362e-01 1.58654562e-01 4.45754635e+02] [ 8.10608351e-01 5.08336367e-01 2.90703011e-01 2.08255556e+02] [-3.30967666e-01 -1.18285707e-02 9.43567957e-01 3.77346225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.76, Y:208.28, Z:37.72 [[ 4.83447517e-01 -8.58280578e-01 1.72142230e-01 4.45762228e+02] [ 8.09942430e-01 5.13176268e-01 2.83977778e-01 2.08278699e+02] [-3.32071919e-01 2.13694454e-03 9.43251650e-01 3.77179040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.78, Y:208.30, Z:37.71 [[ 4.83205240e-01 -8.59647795e-01 1.65886601e-01 4.45779070e+02] [ 8.10125745e-01 5.10866618e-01 2.87596204e-01 2.08301137e+02] [-3.31977369e-01 -4.57898620e-03 9.43276237e-01 3.77108871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.79, Y:208.32, Z:37.70 [[ 4.81865665e-01 -8.60046078e-01 1.67708752e-01 4.45791718e+02] [ 8.10813119e-01 5.10211503e-01 2.86821040e-01 2.08322544e+02] [-3.32246244e-01 -2.22875503e-03 9.43190048e-01 3.77000658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.81, Y:208.34, Z:37.69 [[ 4.82827526e-01 -8.60551447e-01 1.62261480e-01 4.45810753e+02] [ 8.10770714e-01 5.09304387e-01 2.88547901e-01 2.08344411e+02] [-3.30950798e-01 -7.76201320e-03 9.43616088e-01 3.76939832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.82, Y:208.37, Z:37.68 [[ 4.82141060e-01 -8.60401741e-01 1.65072236e-01 4.45823582e+02] [ 8.11270966e-01 5.09598472e-01 2.86616151e-01 2.08367434e+02] [-3.30725594e-01 -4.27110229e-03 9.43717298e-01 3.76830980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6003857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:445.84, Y:208.39, Z:37.68 [[ 4.80948897e-01 -8.61222946e-01 1.64265630e-01 4.45839274e+02] [ 8.12564666e-01 5.08213214e-01 2.85408468e-01 2.08389664e+02] [-3.29282285e-01 -3.79044113e-03 9.44223919e-01 3.76750898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.85, Y:208.41, Z:37.66 [[ 4.79977893e-01 -8.61169914e-01 1.67354720e-01 4.45851989e+02] [ 8.13074004e-01 5.08317187e-01 2.83768042e-01 2.08409949e+02] [-3.29441781e-01 -1.30614477e-04 9.44175882e-01 3.76629924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.87, Y:208.43, Z:37.66 [[ 4.78828136e-01 -8.63135545e-01 1.60376583e-01 4.45870342e+02] [ 8.13685096e-01 5.04917614e-01 2.88053412e-01 2.08431010e+02] [-3.29606100e-01 -7.43204344e-03 9.44089288e-01 3.76565287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.88, Y:208.45, Z:37.65 [[ 4.78022084e-01 -8.62958861e-01 1.63697562e-01 4.45883921e+02] [ 8.14558981e-01 5.05266014e-01 2.84955998e-01 2.08451756e+02] [-3.28616118e-01 -2.87394098e-03 9.44459204e-01 3.76462335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.90, Y:208.47, Z:37.64 [[ 4.77276467e-01 -8.63431818e-01 1.63378913e-01 4.45898674e+02] [ 8.15218434e-01 5.04458877e-01 2.84499818e-01 2.08473945e+02] [-3.28064138e-01 -2.59556698e-03 9.44651885e-01 3.76369714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.91, Y:208.50, Z:37.63 [[ 4.76655074e-01 -8.63855155e-01 1.62954630e-01 4.45914272e+02] [ 8.15855568e-01 5.03734556e-01 2.83956317e-01 2.08495126e+02] [-3.27383006e-01 -2.40177684e-03 9.44888670e-01 3.76286158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:445.93, Y:208.52, Z:37.62 [[ 4.75745090e-01 -8.64346754e-01 1.63007050e-01 4.45928355e+02] [ 8.16306926e-01 5.02891829e-01 2.84152794e-01 2.08517721e+02] [-3.27581458e-01 -2.12051243e-03 9.44820561e-01 3.76191715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.94, Y:208.54, Z:37.61 [[ 4.75236473e-01 -8.64660033e-01 1.62829122e-01 4.45941989e+02] [ 8.16679659e-01 5.02353473e-01 2.84034016e-01 2.08539319e+02] [-3.27390637e-01 -2.00409249e-03 9.44886953e-01 3.76106069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.96, Y:208.56, Z:37.60 [[ 4.74207265e-01 -8.65194627e-01 1.62989962e-01 4.45957178e+02] [ 8.17112174e-01 5.01433344e-01 2.84415710e-01 2.08560843e+02] [-3.27803546e-01 -1.69091344e-03 9.44744397e-01 3.76012046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.97, Y:208.58, Z:37.59 [[ 4.73300970e-01 -8.65741957e-01 1.62717721e-01 4.45972628e+02] [ 8.17791712e-01 5.00488643e-01 2.84126441e-01 2.08582852e+02] [-3.27418552e-01 -1.40811649e-03 9.44878357e-01 3.75916100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.99, Y:208.61, Z:37.58 [[ 4.72621364e-01 -8.66105400e-01 1.62758968e-01 4.45986983e+02] [ 8.18084646e-01 4.99859833e-01 2.84389977e-01 2.08605589e+02] [-3.27668366e-01 -1.25816628e-03 9.44791966e-01 3.75820426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.00, Y:208.63, Z:37.57 [[ 4.71530122e-01 -8.66717495e-01 1.62665694e-01 4.46001753e+02] [ 8.18721924e-01 4.98798467e-01 2.84419586e-01 2.08627140e+02] [-3.27648830e-01 -9.34432053e-04 9.44799117e-01 3.75734702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.01, Y:208.65, Z:37.56 [[ 4.70609120e-01 -8.67178515e-01 1.62875657e-01 4.46014894e+02] [ 8.19046475e-01 4.97996965e-01 2.84889268e-01 2.08649731e+02] [-3.28161435e-01 -6.68754784e-04 9.44621419e-01 3.75645689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.03, Y:208.67, Z:37.56 [[ 4.70197756e-01 -8.67329577e-01 1.63258921e-01 4.46027519e+02] [ 8.18907191e-01 4.97733828e-01 2.85748227e-01 2.08673204e+02] [-3.29097377e-01 -6.64270244e-04 9.44295756e-01 3.75552038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.04, Y:208.70, Z:37.55 [[ 4.69946059e-01 -8.67426178e-01 1.63470266e-01 4.46039560e+02] [ 8.18814496e-01 4.97565413e-01 2.86306621e-01 2.08696245e+02] [-3.29687009e-01 -6.96844489e-04 9.44090033e-01 3.75454206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.050385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:446.05, Y:208.72, Z:37.54 [[ 4.70354470e-01 -8.67220308e-01 1.63387915e-01 4.46051605e+02] [ 8.18580122e-01 4.97923740e-01 2.86353859e-01 2.08719987e+02] [-3.29686603e-01 -9.41717904e-04 9.44089962e-01 3.75360034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.06, Y:208.74, Z:37.53 [[ 4.70390900e-01 -8.67188605e-01 1.63451292e-01 4.46063043e+02] [ 8.18440539e-01 4.97978703e-01 2.86657105e-01 2.08743102e+02] [-3.29981037e-01 -1.06573002e-03 9.43986959e-01 3.75271709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.08, Y:208.77, Z:37.52 [[ 4.69974574e-01 -8.67415550e-01 1.63444682e-01 4.46075618e+02] [ 8.18615381e-01 4.97583401e-01 2.86844239e-01 2.08766831e+02] [-3.30140514e-01 -1.01116849e-03 9.43931257e-01 3.75178824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.09, Y:208.79, Z:37.51 [[ 4.68695522e-01 -8.68075789e-01 1.63612141e-01 4.46087604e+02] [ 8.19139999e-01 4.96431260e-01 2.87342419e-01 2.08790730e+02] [-3.30657178e-01 -6.54856208e-04 9.43750710e-01 3.75089408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.10, Y:208.81, Z:37.50 [[ 4.68037011e-01 -8.68422106e-01 1.63659412e-01 4.46100105e+02] [ 8.19409559e-01 4.95825356e-01 2.87619873e-01 2.08814073e+02] [-3.30921942e-01 -5.12659093e-04 9.43657992e-01 3.74997561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.11, Y:208.84, Z:37.49 [[ 4.66841692e-01 -8.69028081e-01 1.63856732e-01 4.46111023e+02] [ 8.19860201e-01 4.94762730e-01 2.88165044e-01 2.08837615e+02] [-3.31493719e-01 -1.87843615e-04 9.43457407e-01 3.74904123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:446.12, Y:208.86, Z:37.48 [[ 4.66656390e-01 -8.69152600e-01 1.63724069e-01 4.46122893e+02] [ 8.20036059e-01 4.94543965e-01 2.88040153e-01 2.08860300e+02] [-3.31319598e-01 -1.56137751e-04 9.43518574e-01 3.74813871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:446.13, Y:208.88, Z:37.47 [[ 4.66195882e-01 -8.69392857e-01 1.63760370e-01 4.46134469e+02] [ 8.20231677e-01 4.94121501e-01 2.88208151e-01 2.08884177e+02] [-3.31483628e-01 -4.00102901e-05 9.43460970e-01 3.74712509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.15, Y:208.91, Z:37.46 [[ 4.65572712e-01 -8.69738703e-01 1.63696787e-01 4.46146161e+02] [ 8.20570772e-01 4.93512489e-01 2.88286371e-01 2.08907654e+02] [-3.31520223e-01 1.06530575e-04 9.43448107e-01 3.74615792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.16, Y:208.93, Z:37.45 [[ 4.65149234e-01 -8.69960356e-01 1.63722841e-01 4.46158057e+02] [ 8.20720000e-01 4.93121641e-01 2.88530290e-01 2.08931492e+02] [-3.31745190e-01 1.60966898e-04 9.43369017e-01 3.74517490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.17, Y:208.95, Z:37.44 [[ 4.64306418e-01 -8.70429606e-01 1.63621063e-01 4.46170216e+02] [ 8.21210892e-01 4.92292746e-01 2.88548995e-01 2.08954515e+02] [-3.31711050e-01 3.92249342e-04 9.43380955e-01 3.74424745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.18, Y:208.98, Z:37.43 [[ 4.64107225e-01 -8.70574287e-01 1.63416324e-01 4.46183091e+02] [ 8.21420853e-01 4.92036846e-01 2.88387804e-01 2.08977751e+02] [-3.31469859e-01 3.90712905e-04 9.43465728e-01 3.74331961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.20, Y:209.00, Z:37.42 [[ 4.64102847e-01 -8.70604850e-01 1.63265868e-01 4.46195145e+02] [ 8.21476119e-01 4.91982826e-01 2.88322535e-01 2.08999792e+02] [-3.31339000e-01 3.07702380e-04 9.43511724e-01 3.74244737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.20, Y:209.02, Z:37.41 [[ 4.65409709e-01 -8.69692267e-01 1.64405485e-01 4.46204878e+02] [ 8.21491318e-01 4.93589540e-01 2.85519494e-01 2.09021931e+02] [-3.29462923e-01 2.17413357e-03 9.44166011e-01 3.74147453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.23, Y:209.05, Z:37.41 [[ 4.65245649e-01 -8.72997689e-01 1.46360929e-01 4.46229460e+02] [ 8.22904780e-01 4.87482721e-01 2.91870382e-01 2.09046794e+02] [-3.26150593e-01 -1.53503172e-02 9.45193186e-01 3.74148375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.23, Y:209.07, Z:37.39 [[ 4.63580423e-01 -8.68784626e-01 1.74087520e-01 4.46225045e+02] [ 8.22804239e-01 4.94997986e-01 2.79231407e-01 2.09072546e+02] [-3.28764926e-01 1.37937356e-02 9.44311049e-01 3.73906677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.24, Y:209.09, Z:37.39 [[ 4.62378531e-01 -8.71835564e-01 1.61582314e-01 4.46243713e+02] [ 8.23600074e-01 4.89797944e-01 2.85973587e-01 2.09093272e+02] [-3.28464629e-01 8.51158349e-04 9.44515888e-01 3.73877222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.26, Y:209.12, Z:37.38 [[ 4.61406551e-01 -8.72315228e-01 1.61771869e-01 4.46256155e+02] [ 8.23955417e-01 4.88942577e-01 2.86413384e-01 2.09116628e+02] [-3.28939911e-01 1.13979595e-03 9.44350166e-01 3.73783994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.27, Y:209.14, Z:37.37 [[ 4.60608363e-01 -8.72764099e-01 1.61625380e-01 4.46268133e+02] [ 8.24454086e-01 4.88140328e-01 2.86346784e-01 2.09140791e+02] [-3.28809059e-01 1.35898124e-03 9.44395445e-01 3.73689854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.30, Y:209.17, Z:37.38 [[ 4.62169343e-01 -8.76063158e-01 1.37523966e-01 4.46296959e+02] [ 8.25653412e-01 4.81684837e-01 2.93728040e-01 2.09165000e+02] [-3.23567523e-01 -2.22049632e-02 9.45944500e-01 3.73751136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.30, Y:209.19, Z:37.36 [[ 4.61842778e-01 -8.72927062e-01 1.57161040e-01 4.46299087e+02] [ 8.25985515e-01 4.87850356e-01 2.82400352e-01 2.09191532e+02] [-3.23185979e-01 -6.11820564e-04 9.46335273e-01 3.73583023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.29, Y:209.22, Z:37.33 [[ 4.58803982e-01 -8.68135544e-01 1.89313453e-01 4.46290194e+02] [ 8.25145445e-01 4.95321564e-01 2.71645989e-01 2.09215180e+02] [-3.29596574e-01 3.15788714e-02 9.43593595e-01 3.73293480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.32, Y:209.23, Z:37.33 [[ 4.57641643e-01 -8.74268104e-01 1.61924086e-01 4.46317701e+02] [ 8.25603833e-01 4.85439031e-01 2.87623465e-01 2.09234888e+02] [-3.30064293e-01 2.05667073e-03 9.43956213e-01 3.73313592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.33, Y:209.26, Z:37.32 [[ 4.57409701e-01 -8.74415058e-01 1.61785882e-01 4.46329785e+02] [ 8.25773841e-01 4.85174278e-01 2.87582134e-01 2.09257342e+02] [-3.29960497e-01 2.05569078e-03 9.43992502e-01 3.73224396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.34, Y:209.28, Z:37.31 [[ 4.57087891e-01 -8.74613665e-01 1.61621771e-01 4.46341538e+02] [ 8.26055908e-01 4.84815743e-01 2.87376640e-01 2.09279824e+02] [-3.29700315e-01 2.15223633e-03 9.44083190e-01 3.73130005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.35, Y:209.30, Z:37.30 [[ 4.57166482e-01 -8.74614191e-01 1.61396483e-01 4.46354134e+02] [ 8.26158274e-01 4.84815049e-01 2.87083393e-01 2.09302599e+02] [-3.29334653e-01 2.09413520e-03 9.44210941e-01 3.73037966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.37, Y:209.33, Z:37.29 [[ 4.57907750e-01 -8.74242765e-01 1.61307409e-01 4.46366128e+02] [ 8.25750760e-01 4.85485957e-01 2.87122044e-01 2.09325660e+02] [-3.29326852e-01 1.72430609e-03 9.44214410e-01 3.72943286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.38, Y:209.35, Z:37.29 [[ 4.58515836e-01 -8.73900577e-01 1.61434230e-01 4.46378416e+02] [ 8.25239628e-01 4.86102754e-01 2.87547682e-01 2.09348253e+02] [-3.29761709e-01 1.37675761e-03 9.44063197e-01 3.72850589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.39, Y:209.37, Z:37.28 [[ 4.59349311e-01 -8.73429250e-01 1.61615458e-01 4.46390808e+02] [ 8.24589857e-01 4.86950077e-01 2.87977759e-01 2.09371604e+02] [-3.30226858e-01 9.84082245e-04 9.43901083e-01 3.72754067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.40, Y:209.39, Z:37.26 [[ 4.57816420e-01 -8.72461449e-01 1.70924388e-01 4.46395468e+02] [ 8.24258864e-01 4.88583058e-01 2.86153666e-01 2.09394395e+02] [-3.33168802e-01 9.88009520e-03 9.42815429e-01 3.72576340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.42, Y:209.42, Z:37.26 [[ 4.60416567e-01 -8.74647058e-01 1.51687539e-01 4.46421273e+02] [ 8.24151188e-01 4.84658900e-01 2.93053868e-01 2.09416806e+02] [-3.29835419e-01 -9.91339040e-03 9.43986399e-01 3.72600264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.43, Y:209.44, Z:37.25 [[ 4.60104676e-01 -8.73105371e-01 1.61216309e-01 4.46428983e+02] [ 8.24342413e-01 4.87531267e-01 2.87702710e-01 2.09439676e+02] [-3.29792773e-01 5.24079159e-04 9.44053204e-01 3.72471938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.44, Y:209.46, Z:37.24 [[ 4.59575378e-01 -8.73343154e-01 1.61437941e-01 4.46442153e+02] [ 8.24411076e-01 4.87105061e-01 2.88227405e-01 2.09462845e+02] [-3.30358669e-01 6.29007698e-04 9.43855261e-01 3.72379491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.45, Y:209.49, Z:37.23 [[ 4.59232874e-01 -8.73487284e-01 1.61632708e-01 4.46454348e+02] [ 8.24374912e-01 4.86846548e-01 2.88767107e-01 2.09485141e+02] [-3.30924722e-01 6.34600994e-04 9.43656943e-01 3.72284365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.47, Y:209.51, Z:37.22 [[ 4.58972122e-01 -8.73604599e-01 1.61739286e-01 4.46466465e+02] [ 8.24396315e-01 4.86635963e-01 2.89060815e-01 2.09507938e+02] [-3.31233010e-01 6.66415963e-04 9.43548753e-01 3.72183351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.48, Y:209.53, Z:37.21 [[ 4.59083176e-01 -8.73595393e-01 1.61473612e-01 4.46479555e+02] [ 8.24487383e-01 4.86652621e-01 2.88772890e-01 2.09531201e+02] [-3.30852223e-01 5.62180171e-04 9.43682410e-01 3.72083916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.49, Y:209.55, Z:37.20 [[ 4.59092536e-01 -8.73606020e-01 1.61389482e-01 4.46492391e+02] [ 8.24483141e-01 4.86633642e-01 2.88816981e-01 2.09553200e+02] [-3.30849805e-01 4.69186736e-04 9.43683308e-01 3.71992002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.51, Y:209.58, Z:37.19 [[ 4.60281392e-01 -8.72944209e-01 1.61584183e-01 4.46505701e+02] [ 8.23622656e-01 4.87820053e-01 2.89270316e-01 2.09575666e+02] [-3.31340853e-01 -6.13495731e-05 9.43511121e-01 3.71895882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.52, Y:209.60, Z:37.18 [[ 4.61331164e-01 -8.72420889e-01 1.61416698e-01 4.46518097e+02] [ 8.23102215e-01 4.88755050e-01 2.89173383e-01 2.09598365e+02] [-3.31174126e-01 -5.42251278e-04 9.43569502e-01 3.71801966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.53, Y:209.62, Z:37.17 [[ 4.64213733e-01 -8.70928775e-01 1.61210045e-01 4.46531264e+02] [ 8.21613977e-01 4.91406449e-01 2.88912055e-01 2.09621157e+02] [-3.30841478e-01 -1.66451769e-03 9.43684876e-01 3.71702730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.54, Y:209.64, Z:37.16 [[ 4.65468276e-01 -8.70290301e-01 1.61040605e-01 4.46544027e+02] [ 8.20975855e-01 4.92534127e-01 2.88805780e-01 2.09643714e+02] [-3.30662863e-01 -2.21948009e-03 9.43746335e-01 3.71604759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.56, Y:209.67, Z:37.15 [[ 4.68223236e-01 -8.68864484e-01 1.60752947e-01 4.46557241e+02] [ 8.19579210e-01 4.95038820e-01 2.88490008e-01 2.09665293e+02] [-3.30237671e-01 -3.32795160e-03 9.43891946e-01 3.71509606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.57, Y:209.69, Z:37.14 [[ 4.69307108e-01 -8.68353105e-01 1.60354996e-01 4.46570500e+02] [ 8.19251801e-01 4.95932389e-01 2.87884617e-01 2.09687163e+02] [-3.29510737e-01 -3.73517817e-03 9.44144440e-01 3.71422799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.58, Y:209.71, Z:37.13 [[ 4.70121213e-01 -8.68006208e-01 1.59847644e-01 4.46584485e+02] [ 8.19168781e-01 4.96537080e-01 2.87077407e-01 2.09709438e+02] [-3.28555254e-01 -4.01897871e-03 9.44476200e-01 3.71326666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.60, Y:209.73, Z:37.12 [[ 4.69898681e-01 -8.68142061e-01 1.59764173e-01 4.46597548e+02] [ 8.19296485e-01 4.96299468e-01 2.87123854e-01 2.09732965e+02] [-3.28555169e-01 -4.02489489e-03 9.44476205e-01 3.71230218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:446.61, Y:209.76, Z:37.11 [[ 4.69769981e-01 -8.68233391e-01 1.59646311e-01 4.46611943e+02] [ 8.19403529e-01 4.96139442e-01 2.87094951e-01 2.09755231e+02] [-3.28472254e-01 -4.05383963e-03 9.44504920e-01 3.71137724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.63, Y:209.78, Z:37.10 [[ 4.69094324e-01 -8.68552152e-01 1.59898949e-01 4.46625620e+02] [ 8.19510868e-01 4.95582093e-01 2.87750461e-01 2.09777578e+02] [-3.29169338e-01 -3.94318119e-03 9.44262675e-01 3.71046450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.64, Y:209.80, Z:37.10 [[ 4.67733265e-01 -8.69276460e-01 1.59950083e-01 4.46639515e+02] [ 8.20173174e-01 4.94313557e-01 2.88045260e-01 2.09799118e+02] [-3.29456458e-01 -3.54158276e-03 9.44164128e-01 3.70955946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:446.65, Y:209.82, Z:37.09 [[ 4.66659105e-01 -8.69843254e-01 1.60006229e-01 4.46652948e+02] [ 8.20698939e-01 4.93317824e-01 2.88254708e-01 2.09821507e+02] [-3.29670338e-01 -3.19974132e-03 9.44090690e-01 3.70858663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.67, Y:209.84, Z:37.08 [[ 4.64920284e-01 -8.70841375e-01 1.59638433e-01 4.46668321e+02] [ 8.21917850e-01 4.91557317e-01 2.87788901e-01 2.09843447e+02] [-3.29089922e-01 -2.58921965e-03 9.44295038e-01 3.70770380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:446.68, Y:209.87, Z:37.07 [[ 4.63822910e-01 -8.71415025e-01 1.59700227e-01 4.46682220e+02] [ 8.22416284e-01 4.90541156e-01 2.88098648e-01 2.09865699e+02] [-3.29393025e-01 -2.28668678e-03 9.44190133e-01 3.70677586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.70, Y:209.89, Z:37.06 [[ 4.61974000e-01 -8.72402205e-01 1.59669708e-01 4.46695921e+02] [ 8.23409139e-01 4.88785782e-01 2.88246161e-01 2.09887207e+02] [-3.29510870e-01 -1.68873530e-03 9.44150271e-01 3.70589635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.71, Y:209.91, Z:37.05 [[ 4.60857401e-01 -8.73019269e-01 1.59523705e-01 4.46708330e+02] [ 8.24106589e-01 4.87683935e-01 2.88119263e-01 2.09909280e+02] [-3.29330817e-01 -1.31735836e-03 9.44213682e-01 3.70497522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.72, Y:209.93, Z:37.04 [[ 4.58516862e-01 -8.74263250e-01 1.59455501e-01 4.46722190e+02] [ 8.25428985e-01 4.85451891e-01 2.88103197e-01 2.09932106e+02] [-3.29286012e-01 -4.80981044e-04 9.44230105e-01 3.70402993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.74, Y:209.95, Z:37.03 [[ 4.56785681e-01 -8.75243336e-01 1.59046988e-01 4.46735311e+02] [ 8.26653877e-01 4.83682839e-01 2.87566132e-01 2.09953805e+02] [-3.28618639e-01 1.20717993e-04 9.44462691e-01 3.70314436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.75, Y:209.98, Z:37.02 [[ 4.55997951e-01 -8.75661298e-01 1.59006794e-01 4.46748563e+02] [ 8.27084651e-01 4.82925623e-01 2.87600111e-01 2.09977101e+02] [-3.28628741e-01 3.67017479e-04 9.44459113e-01 3.70218467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7303857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:446.76, Y:210.00, Z:37.01 [[ 4.54569244e-01 -8.75639906e-01 1.63161141e-01 4.46759620e+02] [ 8.28495756e-01 4.82923432e-01 2.83513211e-01 2.10001633e+02] [-3.27049820e-01 6.30192697e-03 9.44986085e-01 3.70096142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.77, Y:210.02, Z:37.00 [[ 4.53326191e-01 -8.76999061e-01 1.59273385e-01 4.46774321e+02] [ 8.29235947e-01 4.80484742e-01 2.85485826e-01 2.10024615e+02] [-3.26899232e-01 2.65701469e-03 9.45055465e-01 3.70017081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.79, Y:210.05, Z:36.99 [[ 4.52107869e-01 -8.78471905e-01 1.54549627e-01 4.46788220e+02] [ 8.29170673e-01 4.77784337e-01 2.90169127e-01 2.10046227e+02] [-3.28746817e-01 -3.03972693e-03 9.44413199e-01 3.69944730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.80, Y:210.07, Z:36.98 [[ 4.51369320e-01 -8.78102081e-01 1.58752863e-01 4.46797643e+02] [ 8.29656338e-01 4.78469651e-01 2.87640667e-01 2.10068824e+02] [-3.28536296e-01 1.87814650e-03 9.44489479e-01 3.69833434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.81, Y:210.09, Z:36.97 [[ 4.50255468e-01 -8.78645105e-01 1.58911272e-01 4.46810509e+02] [ 8.30096399e-01 4.77470243e-01 2.88031483e-01 2.10092344e+02] [-3.28952856e-01 2.22392449e-03 9.44343726e-01 3.69745463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.82, Y:210.12, Z:36.97 [[ 4.50138868e-01 -8.78621559e-01 1.59371126e-01 4.46822516e+02] [ 8.29710772e-01 4.77514083e-01 2.89068048e-01 2.10115330e+02] [-3.30083376e-01 2.11117647e-03 9.43949420e-01 3.69669411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.83, Y:210.14, Z:36.96 [[ 4.50189826e-01 -8.78597200e-01 1.59361477e-01 4.46834247e+02] [ 8.29652271e-01 4.77559222e-01 2.89161372e-01 2.10138330e+02] [-3.30160915e-01 2.03710375e-03 9.43922465e-01 3.69582324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.85, Y:210.16, Z:36.95 [[ 4.50758778e-01 -8.78263060e-01 1.59594870e-01 4.46845602e+02] [ 8.29103462e-01 4.78174668e-01 2.89717856e-01 2.10162895e+02] [-3.30762715e-01 1.72779237e-03 9.43712372e-01 3.69491340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.87, Y:210.19, Z:36.95 [[ 4.51347278e-01 -8.81336082e-01 1.39758166e-01 4.46867807e+02] [ 8.30163436e-01 4.72154804e-01 2.96476829e-01 2.10185914e+02] [-3.27283217e-01 -1.77918903e-02 9.44758776e-01 3.69530886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.86, Y:210.21, Z:36.92 [[ 4.51088722e-01 -8.74678993e-01 1.77357335e-01 4.46859237e+02] [ 8.28726783e-01 4.84271475e-01 2.80522828e-01 2.10212953e+02] [-3.31256523e-01 2.04400897e-02 9.43319309e-01 3.69225202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.030385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:446.88, Y:210.23, Z:36.92 [[ 4.50131313e-01 -8.78555975e-01 1.59753559e-01 4.46879144e+02] [ 8.29138573e-01 4.77636402e-01 2.90504206e-01 2.10234203e+02] [-3.31528321e-01 1.69279818e-03 9.43443749e-01 3.69211079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.89, Y:210.26, Z:36.91 [[ 4.48059725e-01 -8.79553807e-01 1.60086174e-01 4.46891354e+02] [ 8.29946327e-01 4.75793487e-01 2.91220967e-01 2.10258816e+02] [-3.32312469e-01 2.37854530e-03 9.43166351e-01 3.69145649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.92, Y:210.28, Z:36.93 [[ 4.48974871e-01 -8.84685201e-01 1.25513587e-01 4.46923905e+02] [ 8.32434000e-01 4.65176501e-01 3.01105396e-01 2.10283527e+02] [-3.24769459e-01 -3.07069798e-02 9.45294600e-01 3.69288711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.91, Y:210.31, Z:36.90 [[ 4.45821178e-01 -8.80730109e-01 1.59868544e-01 4.46913825e+02] [ 8.33889261e-01 4.73567784e-01 2.83482369e-01 2.10311944e+02] [-3.25380050e-01 6.93021814e-03 9.45557928e-01 3.69029792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.91, Y:210.34, Z:36.87 [[ 4.42030197e-01 -8.76718135e-01 1.89669760e-01 4.46906697e+02] [ 8.33132981e-01 4.79633679e-01 2.75392394e-01 2.10336645e+02] [-3.32413511e-01 3.62883786e-02 9.42435362e-01 3.68718220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.93, Y:210.36, Z:36.87 [[ 4.38851651e-01 -8.84280224e-01 1.59554737e-01 4.46932183e+02] [ 8.35080944e-01 4.66923286e-01 2.90899401e-01 2.10357973e+02] [-3.31736410e-01 5.57943790e-03 9.43355619e-01 3.68748532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.94, Y:210.38, Z:36.87 [[ 4.37535649e-01 -8.84943398e-01 1.59492128e-01 4.46942888e+02] [ 8.35755405e-01 4.65660211e-01 2.90987064e-01 2.10381898e+02] [-3.31776219e-01 5.97919392e-03 9.43339170e-01 3.68651926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.96, Y:210.41, Z:36.87 [[ 4.36551131e-01 -8.89375011e-01 1.35776290e-01 4.46964744e+02] [ 8.38286144e-01 4.56896007e-01 2.97527107e-01 2.10407087e+02] [-3.26648819e-01 -1.60664128e-02 9.45009217e-01 3.68727998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:446.95, Y:210.44, Z:36.84 [[ 4.35312226e-01 -8.82103102e-01 1.79992729e-01 4.46948756e+02] [ 8.37368527e-01 4.70143246e-01 2.78889365e-01 2.10436492e+02] [-3.30631540e-01 2.93162960e-02 9.43304479e-01 3.68387876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.97, Y:210.46, Z:36.84 [[ 4.33893637e-01 -8.87382608e-01 1.55847424e-01 4.46970309e+02] [ 8.38064524e-01 4.61016157e-01 2.91739538e-01 2.10458628e+02] [-3.30732772e-01 4.02626805e-03 9.43715859e-01 3.68408477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.98, Y:210.49, Z:36.83 [[ 4.35655793e-01 -8.85739053e-01 1.60219723e-01 4.46976649e+02] [ 8.37156786e-01 4.64113885e-01 2.89424978e-01 2.10485217e+02] [-3.30715204e-01 8.03935976e-03 9.43696362e-01 3.68282769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.99, Y:210.51, Z:36.82 [[ 4.35801014e-01 -8.85916857e-01 1.58835761e-01 4.46986609e+02] [ 8.36989981e-01 4.63800143e-01 2.90408675e-01 2.10508987e+02] [-3.30945989e-01 6.38354509e-03 9.43628106e-01 3.68197832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.99, Y:210.54, Z:36.81 [[ 4.36525504e-01 -8.85509107e-01 1.59119786e-01 4.46992775e+02] [ 8.36336648e-01 4.64582867e-01 2.91039122e-01 2.10535506e+02] [-3.31642120e-01 6.03170955e-03 9.43385988e-01 3.68102251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.00, Y:210.56, Z:36.80 [[ 4.35546696e-01 -8.84623751e-01 1.66552981e-01 4.46995899e+02] [ 8.35761033e-01 4.66129924e-01 2.90217832e-01 2.10559928e+02] [-3.34368916e-01 1.27950737e-02 9.42355408e-01 3.67963596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:447.01, Y:210.59, Z:36.79 [[ 4.38553314e-01 -8.85874320e-01 1.51319794e-01 4.47012045e+02] [ 8.35076209e-01 4.63913484e-01 2.95689034e-01 2.10586235e+02] [-3.32142615e-01 -3.31184525e-03 9.43223365e-01 3.67946561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.02, Y:210.61, Z:36.78 [[ 4.38901083e-01 -8.84342738e-01 1.59071561e-01 4.47017060e+02] [ 8.34978884e-01 4.66812095e-01 2.91370437e-01 2.10611910e+02] [-3.31927859e-01 4.93859444e-03 9.43291846e-01 3.67823504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.02, Y:210.64, Z:36.77 [[ 4.37565707e-01 -8.84979088e-01 1.59211387e-01 4.47020822e+02] [ 8.35397203e-01 4.65601858e-01 2.92106869e-01 2.10638978e+02] [-3.32637589e-01 5.18879862e-03 9.43040461e-01 3.67727454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.03, Y:210.67, Z:36.76 [[ 4.36929245e-01 -8.85597622e-01 1.57510914e-01 4.47028966e+02] [ 8.36215030e-01 4.64433444e-01 2.91626472e-01 2.10666266e+02] [-3.31417046e-01 4.29285952e-03 9.43474596e-01 3.67636288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.04, Y:210.69, Z:36.75 [[ 4.35780782e-01 -8.85996394e-01 1.58447151e-01 4.47037262e+02] [ 8.36976133e-01 4.63654042e-01 2.90681754e-01 2.10690743e+02] [-3.31007648e-01 5.94296171e-03 9.43609357e-01 3.67538294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6003857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.04, Y:210.72, Z:36.74 [[ 4.32354852e-01 -8.87701488e-01 1.58288819e-01 4.47043174e+02] [ 8.38861407e-01 4.60363258e-01 2.90477557e-01 2.10716931e+02] [-3.30727716e-01 7.19300010e-03 9.43698807e-01 3.67447269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.05, Y:210.74, Z:36.74 [[ 4.30124526e-01 -8.88827142e-01 1.58048105e-01 4.47052752e+02] [ 8.40166188e-01 4.58173184e-01 2.90169107e-01 2.10742372e+02] [-3.30323581e-01 7.97782456e-03 9.43834035e-01 3.67352206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.06, Y:210.77, Z:36.73 [[ 4.27367401e-01 -8.91943016e-01 1.47630490e-01 4.47064654e+02] [ 8.42912529e-01 4.52147781e-01 2.91651937e-01 2.10769385e+02] [-3.26887706e-01 -2.02940685e-04 9.45063165e-01 3.67313056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.06, Y:210.79, Z:36.71 [[ 4.26813647e-01 -8.88562482e-01 1.68186882e-01 4.47061024e+02] [ 8.43172386e-01 4.58237983e-01 2.81208605e-01 2.10793982e+02] [-3.26941033e-01 2.17868640e-02 9.44793572e-01 3.67127979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.09, Y:210.82, Z:36.72 [[ 4.24162908e-01 -8.95031065e-01 1.37859422e-01 4.47085008e+02] [ 8.45133023e-01 4.45922204e-01 2.94794099e-01 2.10820318e+02] [-3.25324454e-01 -8.53117260e-03 9.45563969e-01 3.67153742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.09, Y:210.85, Z:36.70 [[ 4.23803623e-01 -8.92693368e-01 1.53261345e-01 4.47086961e+02] [ 8.45107550e-01 4.50600346e-01 2.87667441e-01 2.10848005e+02] [-3.25858432e-01 7.60781624e-03 9.45387965e-01 3.67004951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.09, Y:210.88, Z:36.69 [[ 4.25586230e-01 -8.90689131e-01 1.59841272e-01 4.47091066e+02] [ 8.44167343e-01 4.54400864e-01 2.84431630e-01 2.10875049e+02] [-3.25972173e-01 1.38825973e-02 9.45277428e-01 3.66888680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.810385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.11, Y:210.90, Z:36.69 [[ 4.30146071e-01 -8.91708147e-01 1.40822362e-01 4.47111875e+02] [ 8.42418616e-01 4.52554151e-01 2.92447629e-01 2.10901115e+02] [-3.24507678e-01 -7.16381930e-03 9.45855934e-01 3.66885260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.09, Y:210.93, Z:36.66 [[ 4.29160972e-01 -8.83765781e-01 1.86491031e-01 4.47093484e+02] [ 8.40677776e-01 4.66332489e-01 2.75308712e-01 2.10928636e+02] [-3.30275245e-01 3.86271109e-02 9.43093955e-01 3.66599963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.12, Y:210.95, Z:36.66 [[ 4.32566543e-01 -8.87667864e-01 1.57898538e-01 4.47115664e+02] [ 8.38543062e-01 4.60439666e-01 2.91274522e-01 2.10949927e+02] [-3.31257782e-01 6.40911020e-03 9.43518524e-01 3.66586027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.15, Y:210.97, Z:36.66 [[ 4.37819454e-01 -8.89909667e-01 1.27964489e-01 4.47147164e+02] [ 8.38095570e-01 4.55495090e-01 3.00199999e-01 2.10974734e+02] [-3.25438077e-01 -2.41869280e-02 9.45253961e-01 3.66634429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.12, Y:211.01, Z:36.63 [[ 4.37591085e-01 -8.79185146e-01 1.88540505e-01 4.47120391e+02] [ 8.35786197e-01 4.75033802e-01 2.75325844e-01 2.11005033e+02] [-3.31625505e-01 3.70994170e-02 9.42681366e-01 3.66314352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.15, Y:211.02, Z:36.63 [[ 4.38142550e-01 -8.84847440e-01 1.58354394e-01 4.47146723e+02] [ 8.35067683e-01 4.65863530e-01 2.92631400e-01 2.11023796e+02] [-3.32705682e-01 4.02236942e-03 9.43022137e-01 3.66303508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.16, Y:211.05, Z:36.62 [[ 4.39605796e-01 -8.84084139e-01 1.58562225e-01 4.47155671e+02] [ 8.34051032e-01 4.67315752e-01 2.93214708e-01 2.11048887e+02] [-3.33325099e-01 3.35010225e-03 9.42806001e-01 3.66211132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.17, Y:211.07, Z:36.61 [[ 4.39876812e-01 -8.83913146e-01 1.58763792e-01 4.47165881e+02] [ 8.33663610e-01 4.67640687e-01 2.93797846e-01 2.11071764e+02] [-3.33936187e-01 3.12073564e-03 9.42590518e-01 3.66114619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.18, Y:211.10, Z:36.60 [[ 4.40711489e-01 -8.83473343e-01 1.58896935e-01 4.47175215e+02] [ 8.33058380e-01 4.68473544e-01 2.94187481e-01 2.11095982e+02] [-3.34345808e-01 2.71862037e-03 9.42446545e-01 3.66023083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.19, Y:211.12, Z:36.59 [[ 4.40658470e-01 -8.83488913e-01 1.58957396e-01 4.47186570e+02] [ 8.33004552e-01 4.68444355e-01 2.94386315e-01 2.11119695e+02] [-3.34549740e-01 2.68841076e-03 9.42374259e-01 3.65929236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.20, Y:211.14, Z:36.58 [[ 4.40135296e-01 -8.83808804e-01 1.58628242e-01 4.47197602e+02] [ 8.33484744e-01 4.67839768e-01 2.93988322e-01 2.11142286e+02] [-3.34042067e-01 2.81958308e-03 9.42553949e-01 3.65834438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.21, Y:211.17, Z:36.57 [[ 4.39722508e-01 -8.84066022e-01 1.58339461e-01 4.47209611e+02] [ 8.33915682e-01 4.67352625e-01 2.93540728e-01 2.11165366e+02] [-3.33509747e-01 2.96529388e-03 9.42741988e-01 3.65739670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.22, Y:211.19, Z:36.56 [[ 4.39687507e-01 -8.84175903e-01 1.57822271e-01 4.47221217e+02] [ 8.34297899e-01 4.67144887e-01 2.92784340e-01 2.11188959e+02] [-3.32598725e-01 2.93717277e-03 9.43063869e-01 3.65639531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.23, Y:211.21, Z:36.55 [[ 4.40823530e-01 -8.83698365e-01 1.57327095e-01 4.47232315e+02] [ 8.34038970e-01 4.68050352e-01 2.92075101e-01 2.11211750e+02] [-3.31743291e-01 2.46335149e-03 9.43366483e-01 3.65546732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.24, Y:211.24, Z:36.55 [[ 4.40875609e-01 -8.83634895e-01 1.57537517e-01 4.47243928e+02] [ 8.33804174e-01 4.68170616e-01 2.92552344e-01 2.11235146e+02] [-3.32263897e-01 2.37624600e-03 9.43183469e-01 3.65454237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.26, Y:211.26, Z:36.54 [[ 4.41029562e-01 -8.83473978e-01 1.58008403e-01 4.47256582e+02] [ 8.33253027e-01 4.68475254e-01 2.93632983e-01 2.11258119e+02] [-3.33440126e-01 2.16015399e-03 9.42768803e-01 3.65364900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.27, Y:211.28, Z:36.53 [[ 4.40800248e-01 -8.83603843e-01 1.57922103e-01 4.47269279e+02] [ 8.33374350e-01 4.68230294e-01 2.93679391e-01 2.11281764e+02] [-3.33440151e-01 2.15428143e-03 9.42768808e-01 3.65267576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.28, Y:211.30, Z:36.52 [[ 4.40371539e-01 -8.83796594e-01 1.58039517e-01 4.47282096e+02] [ 8.33432523e-01 4.67866136e-01 2.94094387e-01 2.11304203e+02] [-3.33860955e-01 2.20447558e-03 9.42619755e-01 3.65177681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.30, Y:211.33, Z:36.51 [[ 4.38859473e-01 -8.84539049e-01 1.58091854e-01 4.47296031e+02] [ 8.34155311e-01 4.66458194e-01 2.94281620e-01 2.11326251e+02] [-3.34046824e-01 2.72488262e-03 9.42552542e-01 3.65091379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.32, Y:211.35, Z:36.51 [[ 4.39166375e-01 -8.87012825e-01 1.42622379e-01 4.47318492e+02] [ 8.35330041e-01 4.61588923e-01 2.98595697e-01 2.11349419e+02] [-3.30691123e-01 -1.19964316e-02 9.43662793e-01 3.65068112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.31, Y:211.38, Z:36.49 [[ 4.36140048e-01 -8.83110565e-01 1.72909195e-01 4.47313944e+02] [ 8.35645543e-01 4.68754287e-01 2.86296953e-01 2.11375090e+02] [-3.33883790e-01 1.96252314e-02 9.42409924e-01 3.64852237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.34, Y:211.40, Z:36.48 [[ 4.33919702e-01 -8.86950706e-01 1.58215482e-01 4.47335032e+02] [ 8.36521468e-01 4.61843025e-01 2.94843781e-01 2.11395656e+02] [-3.34582616e-01 4.41212149e-03 9.42356093e-01 3.64797960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.35, Y:211.42, Z:36.47 [[ 4.32998280e-01 -8.87390987e-01 1.58271052e-01 4.47347970e+02] [ 8.36877661e-01 4.60994167e-01 2.95161243e-01 2.11418298e+02] [-3.34885458e-01 4.64919705e-03 9.42247375e-01 3.64704738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.36, Y:211.44, Z:36.46 [[ 4.32868789e-01 -8.87415364e-01 1.58488433e-01 4.47360916e+02] [ 8.36682642e-01 4.60948049e-01 2.95785484e-01 2.11440323e+02] [-3.35539517e-01 4.56821658e-03 9.42015055e-01 3.64617582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.530385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.37, Y:211.46, Z:36.45 [[ 4.32909517e-01 -8.87435196e-01 1.58265986e-01 4.47373368e+02] [ 8.36817979e-01 4.60910225e-01 2.95461393e-01 2.11463364e+02] [-3.35149250e-01 4.53177415e-03 9.42154150e-01 3.64514716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.39, Y:211.49, Z:36.44 [[ 4.34512034e-01 -8.86599619e-01 1.58557272e-01 4.47385521e+02] [ 8.35658842e-01 4.62522183e-01 2.96222096e-01 2.11486783e+02] [-3.35966653e-01 3.78772077e-03 9.41866265e-01 3.64426771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.40, Y:211.51, Z:36.43 [[ 4.36810333e-01 -8.85511096e-01 1.58325085e-01 4.47397818e+02] [ 8.34576141e-01 4.64609580e-01 2.96007775e-01 2.11509135e+02] [-3.35677521e-01 2.83508366e-03 9.41972699e-01 3.64332754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.42, Y:211.53, Z:36.43 [[ 4.39662656e-01 -8.86409454e-01 1.44827583e-01 4.47420325e+02] [ 8.34598405e-01 4.62783025e-01 2.98793198e-01 2.11533394e+02] [-3.31876862e-01 -1.04953414e-02 9.43264330e-01 3.64306644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.43, Y:211.56, Z:36.42 [[ 4.43347084e-01 -8.84260479e-01 1.46720035e-01 4.47434639e+02] [ 8.33271806e-01 4.66907223e-01 2.96067125e-01 2.11558449e+02] [-3.30305102e-01 -9.00282776e-03 9.43831282e-01 3.64220867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.44, Y:211.58, Z:36.40 [[ 4.44315784e-01 -8.79962373e-01 1.68076488e-01 4.47436572e+02] [ 8.32363823e-01 4.74867568e-01 2.85781839e-01 2.11583852e+02] [-3.31291339e-01 1.29234061e-02 9.43440001e-01 3.64046730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.44, Y:211.61, Z:36.39 [[ 4.41968273e-01 -8.80275809e-01 1.72564613e-01 4.47442307e+02] [ 8.32517446e-01 4.74156493e-01 2.86514087e-01 2.11605373e+02] [-3.34034051e-01 1.70329145e-02 9.42407095e-01 3.63908134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.46, Y:211.63, Z:36.39 [[ 4.41282253e-01 -8.83509685e-01 1.57100636e-01 4.47462215e+02] [ 8.33095706e-01 4.68411684e-01 2.94180285e-01 2.11625287e+02] [-3.33498904e-01 1.06332689e-03 9.42749888e-01 3.63856093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.49, Y:211.65, Z:36.38 [[ 4.40988483e-01 -8.86326680e-01 1.41259244e-01 4.47487282e+02] [ 8.34697238e-01 4.62858303e-01 2.98400257e-01 2.11648275e+02] [-3.29863123e-01 -1.36823758e-02 9.43929612e-01 3.63838844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.48, Y:211.67, Z:36.36 [[ 4.38640159e-01 -8.81487075e-01 1.74858076e-01 4.47481078e+02] [ 8.34503059e-01 4.71739657e-01 2.84721513e-01 2.11672212e+02] [-3.33465823e-01 2.10293093e-02 9.42527620e-01 3.63622457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.51, Y:211.69, Z:36.36 [[ 4.36211509e-01 -8.86637488e-01 1.53601705e-01 4.47505587e+02] [ 8.35704134e-01 4.62464344e-01 2.96184622e-01 2.11692154e+02] [-3.33643701e-01 -8.33561002e-04 9.42698884e-01 3.63580543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:211.71, Z:36.35 [[ 4.33880678e-01 -8.87262480e-01 1.56565798e-01 4.47518661e+02] [ 8.37193809e-01 4.61251024e-01 2.93860543e-01 2.11714491e+02] [-3.32947569e-01 3.57550568e-03 9.42938562e-01 3.63469204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:211.74, Z:36.34 [[ 4.32778015e-01 -8.87852221e-01 1.56274196e-01 4.47531939e+02] [ 8.37941289e-01 4.60112003e-01 2.93515487e-01 2.11736960e+02] [-3.32502011e-01 3.92155092e-03 9.43094393e-01 3.63375097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.56, Y:211.76, Z:36.33 [[ 4.33991855e-01 -8.89755480e-01 1.41372753e-01 4.47557923e+02] [ 8.38433459e-01 4.56309635e-01 2.98011495e-01 2.11760350e+02] [-3.29667111e-01 -1.08029151e-02 9.44035430e-01 3.63349060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.55, Y:211.78, Z:36.31 [[ 4.32297755e-01 -8.84995282e-01 1.72921955e-01 4.47551374e+02] [ 8.37881398e-01 4.65108963e-01 2.85706869e-01 2.11784985e+02] [-3.33276782e-01 2.13776512e-02 9.42586645e-01 3.63138581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.58, Y:211.80, Z:36.31 [[ 4.33119995e-01 -8.89207064e-01 1.47369830e-01 4.47578058e+02] [ 8.37818300e-01 4.57470893e-01 2.97961202e-01 2.11803976e+02] [-3.32366613e-01 -5.58381358e-03 9.43133742e-01 3.63141590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.58, Y:211.83, Z:36.30 [[ 4.34194046e-01 -8.85523805e-01 1.65297072e-01 4.47581682e+02] [ 8.36622675e-01 4.64434371e-01 2.90453464e-01 2.11828504e+02] [-3.33973098e-01 1.21781137e-02 9.42503933e-01 3.62975281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.040385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.60, Y:211.85, Z:36.29 [[ 4.35238345e-01 -8.86673855e-01 1.56131539e-01 4.47599656e+02] [ 8.36512065e-01 4.62387834e-01 2.94015402e-01 2.11849092e+02] [-3.32889094e-01 2.63913935e-03 9.42962293e-01 3.62893721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.61, Y:211.87, Z:36.28 [[ 4.35347786e-01 -8.86495229e-01 1.56839136e-01 4.47613318e+02] [ 8.35778691e-01 4.62731441e-01 2.95556413e-01 2.11871953e+02] [-3.34583749e-01 2.41297798e-03 9.42362930e-01 3.62806411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.63, Y:211.89, Z:36.27 [[ 4.35429920e-01 -8.86525711e-01 1.56438323e-01 4.47625991e+02] [ 8.36000975e-01 4.62673500e-01 2.95017969e-01 2.11894412e+02] [-3.33920881e-01 2.32294034e-03 9.42598244e-01 3.62712420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.64, Y:211.92, Z:36.26 [[ 4.35436480e-01 -8.86131600e-01 1.58637511e-01 4.47638552e+02] [ 8.36856202e-01 4.63396709e-01 2.91436420e-01 2.11917617e+02] [-3.31763122e-01 5.85473624e-03 9.43344557e-01 3.62605761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:211.94, Z:36.25 [[ 4.34035878e-01 -8.87971593e-01 1.52050342e-01 4.47655564e+02] [ 8.37293887e-01 4.59897151e-01 2.95691659e-01 2.11940632e+02] [-3.32493313e-01 -1.02996698e-03 9.43105050e-01 3.62526924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:211.96, Z:36.24 [[ 4.32249648e-01 -8.88298579e-01 1.55196252e-01 4.47667567e+02] [ 8.38550379e-01 4.59253535e-01 2.93120203e-01 2.11962393e+02] [-3.31652687e-01 3.43877115e-03 9.43395288e-01 3.62427325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.68, Y:211.98, Z:36.23 [[ 4.29542617e-01 -8.89639995e-01 1.55028448e-01 4.47682822e+02] [ 8.40055449e-01 4.56641126e-01 2.92892001e-01 2.11984172e+02] [-3.31360803e-01 4.42289537e-03 9.43493750e-01 3.62332574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.70, Y:212.01, Z:36.22 [[ 4.28129712e-01 -8.90345496e-01 1.54886566e-01 4.47696158e+02] [ 8.40822036e-01 4.55259603e-01 2.92842960e-01 2.12005689e+02] [-3.31245006e-01 4.85726566e-03 9.43532274e-01 3.62242348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.71, Y:212.03, Z:36.22 [[ 4.26674645e-01 -8.91098246e-01 1.54572517e-01 4.47709803e+02] [ 8.41797741e-01 4.53778484e-01 2.92338247e-01 2.12028044e+02] [-3.30643782e-01 5.38547800e-03 9.43740264e-01 3.62153046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.72, Y:212.05, Z:36.21 [[ 4.24484551e-01 -8.92137316e-01 1.54608778e-01 4.47723981e+02] [ 8.42804080e-01 4.51723258e-01 2.92621568e-01 2.12049444e+02] [-3.30899001e-01 6.09157418e-03 9.43646514e-01 3.62058402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.74, Y:212.07, Z:36.20 [[ 4.23012765e-01 -8.92840756e-01 1.54581973e-01 4.47739489e+02] [ 8.43539670e-01 4.50324166e-01 2.92658452e-01 2.12071363e+02] [-3.30909392e-01 6.59776542e-03 9.43639467e-01 3.61973834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.75, Y:212.10, Z:36.19 [[ 4.22241541e-01 -8.92265664e-01 1.59918938e-01 4.47751816e+02] [ 8.43984091e-01 4.51334914e-01 2.89806229e-01 2.12095728e+02] [-3.30761147e-01 1.26008108e-02 9.43630374e-01 3.61869532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:212.12, Z:36.18 [[ 4.21157727e-01 -8.93772682e-01 1.54261346e-01 4.47767303e+02] [ 8.44212887e-01 4.48471750e-01 2.93560372e-01 2.12118922e+02] [-3.31558097e-01 6.59419734e-03 9.43411758e-01 3.61793075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.430385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.78, Y:212.14, Z:36.17 [[ 4.21155709e-01 -8.94256780e-01 1.51435400e-01 4.47782255e+02] [ 8.43939612e-01 4.47542506e-01 2.95756044e-01 2.12141123e+02] [-3.32255625e-01 3.24298591e-03 9.43183801e-01 3.61703022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:212.16, Z:36.16 [[ 4.21418602e-01 -8.93518176e-01 1.55021390e-01 4.47792811e+02] [ 8.43654051e-01 4.48976717e-01 2.94393870e-01 2.12163950e+02] [-3.32647268e-01 6.72137083e-03 9.43027369e-01 3.61609410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.81, Y:212.19, Z:36.15 [[ 4.22378792e-01 -8.92960817e-01 1.55618558e-01 4.47806131e+02] [ 8.42631035e-01 4.50090796e-01 2.95620051e-01 2.12187265e+02] [-3.34019603e-01 6.26538660e-03 9.42545304e-01 3.61519021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.82, Y:212.21, Z:36.14 [[ 4.23041192e-01 -8.92587200e-01 1.55962306e-01 4.47818841e+02] [ 8.41926638e-01 4.50836443e-01 2.96489524e-01 2.12210916e+02] [-3.34956245e-01 5.88153819e-03 9.42215326e-01 3.61424298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.83, Y:212.23, Z:36.13 [[ 4.25680589e-01 -8.91216873e-01 1.56615841e-01 4.47831395e+02] [ 8.39949535e-01 4.53552896e-01 2.97950583e-01 2.12232952e+02] [-3.36572155e-01 4.71762268e-03 9.41645862e-01 3.61344716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.84, Y:212.26, Z:36.13 [[ 4.28068026e-01 -8.90005855e-01 1.56994724e-01 4.47844137e+02] [ 8.38370018e-01 4.55933853e-01 2.98764181e-01 2.12256607e+02] [-3.37481080e-01 3.72827691e-03 9.41324929e-01 3.61256447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.86, Y:212.28, Z:36.12 [[ 4.28799143e-01 -8.89626657e-01 1.57148675e-01 4.47856314e+02] [ 8.37785035e-01 4.56676388e-01 2.99270633e-01 2.12279473e+02] [-3.38005222e-01 3.32981784e-03 9.41138344e-01 3.61159352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.87, Y:212.30, Z:36.11 [[ 4.30645794e-01 -8.88680616e-01 1.57451465e-01 4.47868074e+02] [ 8.36493552e-01 4.58519991e-01 3.00063252e-01 2.12302618e+02] [-3.38855039e-01 2.48615803e-03 9.40835311e-01 3.61067690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:212.33, Z:36.10 [[ 4.31341779e-01 -8.88279038e-01 1.57811979e-01 4.47879669e+02] [ 8.35785584e-01 4.59299260e-01 3.00843228e-01 2.12325756e+02] [-3.39715658e-01 2.13072370e-03 9.40525774e-01 3.60969826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.89, Y:212.35, Z:36.09 [[ 4.32275304e-01 -8.87765546e-01 1.58146759e-01 4.47892467e+02] [ 8.34928999e-01 4.60293060e-01 3.01701616e-01 2.12348696e+02] [-3.40634155e-01 1.62315767e-03 9.40194521e-01 3.60879646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:212.37, Z:36.08 [[ 4.32348154e-01 -8.87744501e-01 1.58065731e-01 4.47905779e+02] [ 8.34881126e-01 4.60334079e-01 3.01771506e-01 2.12371190e+02] [-3.40659037e-01 1.49574224e-03 9.40185717e-01 3.60790719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.92, Y:212.39, Z:36.07 [[ 4.31858217e-01 -8.88037322e-01 1.57759928e-01 4.47917552e+02] [ 8.35322204e-01 4.59768543e-01 3.01412843e-01 2.12394174e+02] [-3.40198906e-01 1.61275761e-03 9.40352117e-01 3.60690554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.93, Y:212.42, Z:36.06 [[ 4.31205581e-01 -8.88411758e-01 1.57436637e-01 4.47929020e+02] [ 8.35862478e-01 4.59043929e-01 3.01019250e-01 2.12417065e+02] [-3.39699374e-01 1.79419695e-03 9.40532358e-01 3.60589037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.820385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.94, Y:212.44, Z:36.05 [[ 4.28701121e-01 -8.89568342e-01 1.57745091e-01 4.47941841e+02] [ 8.36846700e-01 4.56794323e-01 3.01706063e-01 2.12440247e+02] [-3.40445224e-01 2.66673163e-03 9.40260569e-01 3.60489091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.95, Y:212.46, Z:36.04 [[ 4.27036130e-01 -8.90288250e-01 1.58199168e-01 4.47954579e+02] [ 8.37219463e-01 4.55386607e-01 3.02797967e-01 2.12463281e+02] [-3.41619254e-01 3.14175045e-03 9.39833184e-01 3.60392700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.880385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.97, Y:212.49, Z:36.03 [[ 4.25056320e-01 -8.91216608e-01 1.58303764e-01 4.47967427e+02] [ 8.38055738e-01 4.53562193e-01 3.03222552e-01 2.12485715e+02] [-3.42037577e-01 3.78071557e-03 9.39678670e-01 3.60291641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.98, Y:212.51, Z:36.02 [[ 4.24679664e-01 -8.91345162e-01 1.58590618e-01 4.47979915e+02] [ 8.37912403e-01 4.53309475e-01 3.03995599e-01 2.12509620e+02] [-3.42855636e-01 3.78429711e-03 9.39380483e-01 3.60206056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.99, Y:212.53, Z:36.01 [[ 4.24487727e-01 -8.91381108e-01 1.58902140e-01 4.47991983e+02] [ 8.37652266e-01 4.53239369e-01 3.04815937e-01 2.12533167e+02] [-3.43727873e-01 3.71411379e-03 9.39061955e-01 3.60104093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9703857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.98, Y:212.56, Z:35.98 [[ 4.19642132e-01 -8.88145595e-01 1.87344291e-01 4.47984240e+02] [ 8.37121350e-01 4.58473270e-01 2.98379132e-01 2.12556187e+02] [-3.50896462e-01 3.16174511e-02 9.35880340e-01 3.59816065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.000385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:448.01, Y:212.58, Z:35.98 [[ 4.19633567e-01 -8.93534198e-01 1.59700681e-01 4.48010441e+02] [ 8.37147823e-01 4.48987616e-01 3.12399813e-01 2.12575340e+02] [-3.50843544e-01 2.59962949e-03 9.36430483e-01 3.59797089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.030385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:448.04, Y:212.60, Z:35.99 [[ 4.24673504e-01 -8.96136020e-01 1.28812453e-01 4.48043981e+02] [ 8.37900546e-01 4.42925066e-01 3.18967180e-01 2.12599254e+02] [-3.42892243e-01 -2.75248854e-02 9.38971400e-01 3.59885885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.02, Y:212.63, Z:35.95 [[ 4.20250050e-01 -8.88292174e-01 1.85275226e-01 4.48023041e+02] [ 8.37274411e-01 4.58310496e-01 2.98199681e-01 2.12626351e+02] [-3.49802024e-01 2.98077754e-02 9.36349316e-01 3.59537183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0903857229999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:448.05, Y:212.65, Z:35.95 [[ 4.19704666e-01 -8.93106035e-01 1.61893802e-01 4.48047259e+02] [ 8.37407367e-01 4.49815574e-01 3.10507410e-01 2.12645626e+02] [-3.50138396e-01 5.24965305e-03 9.36683268e-01 3.59485143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.120385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:448.08, Y:212.67, Z:35.96 [[ 4.24223560e-01 -8.96390521e-01 1.28523947e-01 4.48081646e+02] [ 8.37982260e-01 4.42390303e-01 3.19494213e-01 2.12669314e+02] [-3.43249332e-01 -2.78361850e-02 9.38831744e-01 3.59578281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.08, Y:212.70, Z:35.94 [[ 4.25124010e-01 -8.91185774e-01 1.58295583e-01 4.48079950e+02] [ 8.37655328e-01 4.53626806e-01 3.04230624e-01 2.12696292e+02] [-3.42933124e-01 3.26139547e-03 9.39354159e-01 3.59404453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:212.72, Z:35.93 [[ 4.24889320e-01 -8.91313819e-01 1.58204746e-01 4.48092342e+02] [ 8.37774379e-01 4.53375206e-01 3.04277855e-01 2.12720144e+02] [-3.42933166e-01 3.25547176e-03 9.39354164e-01 3.59307786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.210385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:448.09, Y:212.74, Z:35.90 [[ 4.20819518e-01 -8.88761545e-01 1.81697137e-01 4.48088676e+02] [ 8.37476557e-01 4.57605363e-01 2.98714492e-01 2.12742927e+02] [-3.48631538e-01 2.64622045e-02 9.36886227e-01 3.59042218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.11, Y:212.76, Z:35.90 [[ 4.23084337e-01 -8.92102851e-01 1.58594281e-01 4.48113555e+02] [ 8.36062965e-01 4.51831426e-01 3.11202635e-01 2.12762206e+02] [-3.49282639e-01 9.29844059e-04 9.37016955e-01 3.59025163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.14, Y:212.79, Z:35.91 [[ 4.29053541e-01 -8.93375391e-01 1.33392163e-01 4.48142517e+02] [ 8.35619834e-01 4.48641176e-01 3.16955184e-01 2.12785658e+02] [-3.43005178e-01 -2.45256067e-02 9.39013281e-01 3.59088482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.13, Y:212.81, Z:35.88 [[ 4.25311816e-01 -8.86619049e-01 1.81704490e-01 4.48125793e+02] [ 8.34900538e-01 4.61857676e-01 2.99380326e-01 2.12811912e+02] [-3.49357913e-01 2.43751868e-02 9.36672247e-01 3.58754123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.17, Y:212.83, Z:35.89 [[ 4.30442084e-01 -8.92519175e-01 1.34644475e-01 4.48168077e+02] [ 8.34650632e-01 4.50365275e-01 3.17063783e-01 2.12831701e+02] [-3.43624702e-01 -2.40964994e-02 9.38797861e-01 3.58890721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.16, Y:212.86, Z:35.86 [[ 4.28729947e-01 -8.85395851e-01 1.79624106e-01 4.48157813e+02] [ 8.33804694e-01 4.64328777e-01 2.98610982e-01 2.12859310e+02] [-3.47793566e-01 2.17479522e-02 9.37318869e-01 3.58564937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.18, Y:212.88, Z:35.85 [[ 4.28535791e-01 -8.89639303e-01 1.57794130e-01 4.48181479e+02] [ 8.34713896e-01 4.56663862e-01 3.07751247e-01 2.12879469e+02] [-3.45846482e-01 -1.69471484e-04 9.38291097e-01 3.58546645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.21, Y:212.90, Z:35.86 [[ 4.31279090e-01 -8.91751082e-01 1.37034137e-01 4.48206852e+02] [ 8.35370470e-01 4.52066463e-01 3.12717271e-01 2.12901955e+02] [-3.40814503e-01 -2.03941482e-02 9.39909333e-01 3.58591525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.20, Y:212.93, Z:35.83 [[ 4.28447320e-01 -8.85483326e-01 1.79867100e-01 4.48195450e+02] [ 8.34772569e-01 4.64090970e-01 2.96267329e-01 2.12928006e+02] [-3.45814477e-01 2.32131782e-02 9.38015723e-01 3.58279780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4803857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.24, Y:212.95, Z:35.84 [[ 4.31540310e-01 -8.92051548e-01 1.34227410e-01 4.48236219e+02] [ 8.35129165e-01 4.51317258e-01 3.14439201e-01 2.12947813e+02] [-3.41075122e-01 -2.35959652e-02 9.39739853e-01 3.58414499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.23, Y:212.97, Z:35.81 [[ 4.28152479e-01 -8.86610584e-01 1.74948929e-01 4.48225609e+02] [ 8.35087615e-01 4.62153054e-01 2.98401124e-01 2.12974594e+02] [-3.45418776e-01 1.83365028e-02 9.38269493e-01 3.58126758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:212.99, Z:35.82 [[ 4.29728038e-01 -8.92092365e-01 1.39660398e-01 4.48259447e+02] [ 8.35793688e-01 4.51513562e-01 3.12385043e-01 2.12994469e+02] [-3.41734876e-01 -1.75133322e-02 9.39633204e-01 3.58216836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:213.02, Z:35.81 [[ 4.28697539e-01 -8.89727400e-01 1.56855268e-01 4.48262737e+02] [ 8.36407024e-01 4.56490814e-01 3.03380005e-01 2.13020045e+02] [-3.41528492e-01 1.13658640e-03 9.39870734e-01 3.58059812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.27, Y:213.04, Z:35.80 [[ 4.26787790e-01 -8.90726581e-01 1.56391625e-01 4.48274725e+02] [ 8.37715945e-01 4.54535851e-01 3.02703084e-01 2.13042764e+02] [-3.40711283e-01 1.82177768e-03 9.40166210e-01 3.57963396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.630385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:448.29, Y:213.06, Z:35.79 [[ 4.25388592e-01 -8.91465477e-01 1.55993104e-01 4.48286691e+02] [ 8.38746631e-01 4.53082481e-01 3.02027078e-01 2.13064196e+02] [-3.39924455e-01 2.35981693e-03 9.40449784e-01 3.57859755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.30, Y:213.09, Z:35.78 [[ 4.24050100e-01 -8.92137511e-01 1.55795293e-01 4.48299585e+02] [ 8.39557153e-01 4.51755040e-01 3.01763435e-01 2.13087831e+02] [-3.39595789e-01 2.83623756e-03 9.40567199e-01 3.57783172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.690385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:448.31, Y:213.11, Z:35.77 [[ 4.22502291e-01 -8.92867183e-01 1.55820433e-01 4.48310956e+02] [ 8.40239714e-01 4.50307865e-01 3.02026570e-01 2.13110700e+02] [-3.39836780e-01 3.31959791e-03 9.40478572e-01 3.57676648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7203857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:448.31, Y:213.13, Z:35.75 [[ 4.18693908e-01 -8.91958490e-01 1.70603234e-01 4.48312916e+02] [ 8.40768341e-01 4.51738613e-01 2.98397088e-01 2.13134554e+02] [-3.43225884e-01 1.85007553e-02 9.39070665e-01 3.57477030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.34, Y:213.16, Z:35.75 [[ 4.21450480e-01 -8.95836868e-01 1.40910608e-01 4.48343455e+02] [ 8.40686874e-01 4.44219333e-01 3.09701090e-01 2.13156956e+02] [-3.40036870e-01 -1.20619739e-02 9.40334747e-01 3.57547539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.35, Y:213.18, Z:35.74 [[ 4.21453234e-01 -8.93413298e-01 1.55530869e-01 4.48348171e+02] [ 8.40871725e-01 4.49221627e-01 3.01885197e-01 2.13182473e+02] [-3.39576079e-01 3.55101697e-03 9.40571888e-01 3.57400580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.36, Y:213.20, Z:35.73 [[ 4.22128446e-01 -8.93126141e-01 1.55348873e-01 4.48360052e+02] [ 8.40611873e-01 4.49794844e-01 3.01755327e-01 2.13204572e+02] [-3.39380693e-01 3.20859933e-03 9.40643636e-01 3.57310643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.37, Y:213.23, Z:35.72 [[ 4.22420364e-01 -8.92978429e-01 1.55404512e-01 4.48371880e+02] [ 8.40380463e-01 4.50089166e-01 3.01960959e-01 2.13227779e+02] [-3.39590510e-01 3.04445804e-03 9.40568454e-01 3.57218249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.38, Y:213.25, Z:35.71 [[ 4.22985864e-01 -8.92718590e-01 1.55359188e-01 4.48383307e+02] [ 8.40057020e-01 4.50606326e-01 3.02089627e-01 2.13250019e+02] [-3.39686858e-01 2.73093443e-03 9.40534625e-01 3.57128842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.39, Y:213.27, Z:35.70 [[ 4.23192283e-01 -8.92593521e-01 1.55515587e-01 4.48394922e+02] [ 8.39780003e-01 4.50854864e-01 3.02488742e-01 2.13274048e+02] [-3.40114450e-01 2.58797818e-03 9.40380489e-01 3.57034942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.41, Y:213.30, Z:35.69 [[ 4.23499813e-01 -8.92412292e-01 1.55718369e-01 4.48406445e+02] [ 8.39365533e-01 4.51214828e-01 3.03101767e-01 2.13297178e+02] [-3.40754180e-01 2.34108984e-03 9.40149514e-01 3.56947215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.42, Y:213.32, Z:35.69 [[ 4.23437141e-01 -8.92397658e-01 1.55972459e-01 4.48418794e+02] [ 8.39136183e-01 4.51244045e-01 3.03692738e-01 2.13320988e+02] [-3.41396332e-01 2.28734917e-03 9.39916652e-01 3.56854243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.43, Y:213.34, Z:35.68 [[ 4.23564692e-01 -8.92285795e-01 1.56265838e-01 4.48431023e+02] [ 8.38730856e-01 4.51466124e-01 3.04481346e-01 2.13344597e+02] [-3.42233113e-01 2.09743236e-03 9.39612738e-01 3.56759350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.44, Y:213.37, Z:35.66 [[ 4.24094747e-01 -8.91041456e-01 1.61829447e-01 4.48439708e+02] [ 8.39005428e-01 4.53842737e-01 3.00161059e-01 2.13368862e+02] [-3.40901066e-01 8.47905594e-03 9.40060939e-01 3.56642484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.46, Y:213.39, Z:35.66 [[ 4.24547162e-01 -8.92918135e-01 1.49856305e-01 4.48458096e+02] [ 8.38219338e-01 4.50190780e-01 3.07760625e-01 2.13391835e+02] [-3.42268970e-01 -5.04644748e-03 9.39588466e-01 3.56578071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.080385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:448.47, Y:213.42, Z:35.64 [[ 4.24329853e-01 -8.91998441e-01 1.55829901e-01 4.48466826e+02] [ 8.38496595e-01 4.52035826e-01 3.04281240e-01 2.13415437e+02] [-3.41859089e-01 1.54722755e-03 9.39749950e-01 3.56444586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.48, Y:213.44, Z:35.64 [[ 4.26192511e-01 -8.91160109e-01 1.55542929e-01 4.48479164e+02] [ 8.37726787e-01 4.53688301e-01 3.03942027e-01 2.13438318e+02] [-3.41429017e-01 7.64662365e-04 9.39907252e-01 3.56367188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.140385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.49, Y:213.46, Z:35.63 [[ 4.26797926e-01 -8.90891751e-01 1.55420133e-01 4.48491376e+02] [ 8.37492901e-01 4.54215406e-01 3.03799287e-01 2.13461405e+02] [-3.41246497e-01 5.02352689e-04 9.39973710e-01 3.56270997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.50, Y:213.48, Z:35.62 [[ 4.28264016e-01 -8.90245524e-01 1.55089780e-01 4.48503701e+02] [ 8.36961187e-01 4.55480947e-01 3.03369542e-01 2.13483512e+02] [-3.40713817e-01 -1.18132373e-04 9.40167050e-01 3.56177258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.52, Y:213.51, Z:35.61 [[ 4.29609050e-01 -8.89664125e-01 1.54705557e-01 4.48515978e+02] [ 8.36571933e-01 4.56615090e-01 3.02737609e-01 2.13505326e+02] [-3.39975682e-01 -6.36489746e-04 9.40434012e-01 3.56085573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.53, Y:213.53, Z:35.60 [[ 4.30101981e-01 -8.89454960e-01 1.54538539e-01 4.48528107e+02] [ 8.36425187e-01 4.57022031e-01 3.02528958e-01 2.13528086e+02] [-3.39713399e-01 -8.58377583e-04 9.40528612e-01 3.55985801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.54, Y:213.55, Z:35.59 [[ 4.30049392e-01 -8.89566014e-01 1.54044884e-01 4.48540155e+02] [ 8.36815175e-01 4.56805808e-01 3.01776103e-01 2.13551173e+02] [-3.38818363e-01 -8.71532998e-04 9.40851400e-01 3.55887584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.54, Y:213.57, Z:35.57 [[ 4.27072125e-01 -8.86425640e-01 1.78490853e-01 4.48535916e+02] [ 8.36392810e-01 4.62274012e-01 2.94533201e-01 2.13571387e+02] [-3.43593464e-01 2.35015465e-02 9.38824376e-01 3.55656448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.58, Y:213.59, Z:35.58 [[ 4.30371340e-01 -8.93691867e-01 1.26867477e-01 4.48581436e+02] [ 8.37274926e-01 4.47753438e-01 3.13827271e-01 2.13591873e+02] [-3.37270229e-01 -2.88393057e-02 9.40966039e-01 3.55789136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.58, Y:213.62, Z:35.56 [[ 4.30866619e-01 -8.89637844e-01 1.51322383e-01 4.48582729e+02] [ 8.37190758e-01 4.56656964e-01 3.00958555e-01 2.13618500e+02] [-3.36846540e-01 -2.98729393e-03 9.41554823e-01 3.55612266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.59, Y:213.64, Z:35.55 [[ 4.29208498e-01 -8.89724837e-01 1.55466329e-01 4.48593768e+02] [ 8.37536687e-01 4.56495247e-01 3.00240549e-01 2.13641679e+02] [-3.38101114e-01 1.34295936e-03 9.41108832e-01 3.55491342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.61, Y:213.66, Z:35.54 [[ 4.30049812e-01 -8.90148828e-01 1.50639380e-01 4.48609973e+02] [ 8.37327560e-01 4.55654214e-01 3.02095673e-01 2.13664214e+02] [-3.37549577e-01 -3.78168282e-03 9.41300155e-01 3.55424961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.60, Y:213.69, Z:35.51 [[ 4.24363472e-01 -8.86173542e-01 1.86043268e-01 4.48599039e+02] [ 8.37115044e-01 4.62273079e-01 2.92475647e-01 2.13685590e+02] [-3.45186974e-01 3.16236377e-02 9.38001012e-01 3.55131922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.65, Y:213.71, Z:35.54 [[ 4.30102129e-01 -8.95156729e-01 1.17075143e-01 4.48654953e+02] [ 8.37850691e-01 4.44089650e-01 3.17475356e-01 2.13705849e+02] [-3.36182061e-01 -3.84553370e-02 9.41011588e-01 3.55358207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.65, Y:213.73, Z:35.51 [[ 4.29488767e-01 -8.90164070e-01 1.52142458e-01 4.48651243e+02] [ 8.38449024e-01 4.55639338e-01 2.98991685e-01 2.13732055e+02] [-3.35473744e-01 -8.49874284e-04 9.42049173e-01 3.55133372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.530385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:448.65, Y:213.75, Z:35.49 [[ 4.25024345e-01 -8.88228639e-01 1.74367975e-01 4.48649808e+02] [ 8.39025317e-01 4.58872643e-01 2.92356656e-01 2.13753014e+02] [-3.39692248e-01 2.20404495e-02 9.40278361e-01 3.54899111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.69, Y:213.77, Z:35.50 [[ 4.26969043e-01 -8.94431113e-01 1.33005337e-01 4.48687759e+02] [ 8.39727745e-01 4.46753903e-01 3.08655577e-01 2.13774056e+02] [-3.35491804e-01 -2.00981046e-02 9.41828708e-01 3.54986556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.70, Y:213.80, Z:35.49 [[ 4.26856536e-01 -8.92163512e-01 1.47776068e-01 4.48695023e+02] [ 8.40223387e-01 4.51695855e-01 2.99992524e-01 2.13797954e+02] [-3.34392221e-01 -3.88886121e-03 9.42425976e-01 3.54852341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.71, Y:213.82, Z:35.47 [[ 4.27084879e-01 -8.91055969e-01 1.53680732e-01 4.48706967e+02] [ 8.39964803e-01 4.53888712e-01 2.97395641e-01 2.13821380e+02] [-3.34750110e-01 2.07322405e-03 9.42304656e-01 3.54727426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.73, Y:213.84, Z:35.47 [[ 4.26125794e-01 -8.92597283e-01 1.47264724e-01 4.48725333e+02] [ 8.40787556e-01 4.50838042e-01 2.99702095e-01 2.13842613e+02] [-3.33905815e-01 -3.89244561e-03 9.42598406e-01 3.54688425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.680385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:448.73, Y:213.86, Z:35.45 [[ 4.23183211e-01 -8.92738848e-01 1.54703972e-01 4.48733307e+02] [ 8.41647057e-01 4.50554697e-01 2.97709082e-01 2.13864702e+02] [-3.35479064e-01 4.22065720e-03 9.42038207e-01 3.54548177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:448.75, Y:213.89, Z:35.45 [[ 4.23041676e-01 -8.94037988e-01 1.47417154e-01 4.48754190e+02] [ 8.41929121e-01 4.47980237e-01 3.00780756e-01 2.13886692e+02] [-3.34949393e-01 -3.12800022e-03 9.42230927e-01 3.54503691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.740385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:448.76, Y:213.91, Z:35.44 [[ 4.22123668e-01 -8.93804181e-01 1.51412335e-01 4.48764604e+02] [ 8.42460295e-01 4.48454869e-01 2.98578102e-01 2.13908864e+02] [-3.34771954e-01 1.52199694e-03 9.42297948e-01 3.54399233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.78, Y:213.93, Z:35.43 [[ 4.21004839e-01 -8.94432268e-01 1.50817254e-01 4.48778791e+02] [ 8.43499770e-01 4.47199169e-01 2.97524859e-01 2.13929725e+02] [-3.33561185e-01 1.95491426e-03 9.42726426e-01 3.54310557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.79, Y:213.95, Z:35.42 [[ 4.20712287e-01 -8.94576919e-01 1.50775690e-01 4.48793287e+02] [ 8.43641367e-01 4.46909477e-01 2.97558674e-01 2.13951913e+02] [-3.33572206e-01 2.01401867e-03 9.42722402e-01 3.54216738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.81, Y:213.98, Z:35.41 [[ 4.20838006e-01 -8.94481474e-01 1.50990942e-01 4.48806166e+02] [ 8.43312447e-01 4.47101236e-01 2.98202282e-01 2.13975228e+02] [-3.34244654e-01 1.83768652e-03 9.42484554e-01 3.54122122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.82, Y:214.00, Z:35.40 [[ 4.22204889e-01 -8.93681550e-01 1.51908919e-01 4.48818610e+02] [ 8.41739772e-01 4.48700417e-01 3.00236728e-01 2.13997389e+02] [-3.36477619e-01 1.10636489e-03 9.41690813e-01 3.54035268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.83, Y:214.02, Z:35.39 [[ 4.21677957e-01 -8.93502601e-01 1.54404672e-01 4.48828891e+02] [ 8.42265707e-01 4.49037583e-01 2.98251116e-01 2.14020416e+02] [-3.35821649e-01 4.28383877e-03 9.41915850e-01 3.53914290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.84, Y:214.04, Z:35.38 [[ 4.23608936e-01 -8.93335503e-01 1.50023826e-01 4.48844727e+02] [ 8.41519468e-01 4.49389699e-01 2.99823087e-01 2.14042129e+02] [-3.35261770e-01 -7.59768367e-04 9.42124710e-01 3.53844503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.86, Y:214.07, Z:35.38 [[ 4.25763456e-01 -8.93511828e-01 1.42695807e-01 4.48863745e+02] [ 8.41604064e-01 4.48973207e-01 3.00209358e-01 2.14066378e+02] [-3.32307207e-01 -7.72480292e-03 9.43139570e-01 3.53792865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9803857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:448.87, Y:214.09, Z:35.37 [[ 4.25977007e-01 -8.92335862e-01 1.49265863e-01 4.48874228e+02] [ 8.41407247e-01 4.51370953e-01 2.97149975e-01 2.14089407e+02] [-3.32531854e-01 -9.85677792e-04 9.43091509e-01 3.53689799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.010385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:448.89, Y:214.11, Z:35.36 [[ 4.26835866e-01 -8.92797091e-01 1.43960059e-01 4.48891010e+02] [ 8.41765825e-01 4.50421255e-01 2.97575184e-01 2.14112884e+02] [-3.30516929e-01 -5.83510354e-03 9.43782025e-01 3.53612334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.90, Y:214.14, Z:35.35 [[ 4.27529758e-01 -8.91352893e-01 1.50692817e-01 4.48900971e+02] [ 8.41033014e-01 4.53309785e-01 2.95251942e-01 2.14136159e+02] [-3.31484201e-01 5.08642951e-04 9.43460633e-01 3.53502760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.91, Y:214.16, Z:35.33 [[ 4.28592409e-01 -8.88879067e-01 1.61872022e-01 4.48907260e+02] [ 8.39794874e-01 4.58009710e-01 2.91499014e-01 2.14158369e+02] [-3.33246329e-01 1.10050299e-02 9.42775569e-01 3.53330395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.93, Y:214.18, Z:35.33 [[ 4.28305719e-01 -8.91119104e-01 1.49869789e-01 4.48925667e+02] [ 8.39966128e-01 4.53766770e-01 2.97577927e-01 2.14181146e+02] [-3.33183305e-01 -1.56878174e-03 9.42860766e-01 3.53281629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.94, Y:214.20, Z:35.32 [[ 4.29676977e-01 -8.91630010e-01 1.42736195e-01 4.48943280e+02] [ 8.40057782e-01 4.52683988e-01 2.98965099e-01 2.14204900e+02] [-3.31180644e-01 -8.55176856e-03 9.43528616e-01 3.53233878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.160385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:448.95, Y:214.23, Z:35.30 [[ 4.29914333e-01 -8.89263574e-01 1.56153650e-01 4.48947425e+02] [ 8.39519466e-01 4.57367765e-01 2.93294721e-01 2.14227215e+02] [-3.32235958e-01 5.00242492e-03 9.43183039e-01 3.53047243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.190385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:448.97, Y:214.25, Z:35.30 [[ 4.30471817e-01 -8.90251304e-01 1.48817440e-01 4.48965056e+02] [ 8.39628459e-01 4.55463128e-01 2.95934773e-01 2.14249480e+02] [-3.31237174e-01 -2.44022145e-03 9.43544371e-01 3.52978803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2203857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:448.98, Y:214.27, Z:35.29 [[ 4.30465149e-01 -8.90344252e-01 1.48279695e-01 4.48977992e+02] [ 8.40027450e-01 4.55281282e-01 2.95081069e-01 2.14272225e+02] [-3.30232703e-01 -2.46310243e-03 9.43896337e-01 3.52882791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.99, Y:214.30, Z:35.28 [[ 4.30035112e-01 -8.90689494e-01 1.47451784e-01 4.48993693e+02] [ 8.40578189e-01 4.54604005e-01 2.94556460e-01 2.14295879e+02] [-3.29390515e-01 -2.72486656e-03 9.44189845e-01 3.52809507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.01, Y:214.32, Z:35.27 [[ 4.30106368e-01 -8.91447518e-01 1.42582730e-01 4.49012454e+02] [ 8.41253011e-01 4.53070969e-01 2.94991641e-01 2.14318714e+02] [-3.27569662e-01 -6.92963249e-03 9.44801618e-01 3.52746744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.01, Y:214.34, Z:35.25 [[ 4.26209011e-01 -8.88914608e-01 1.67859163e-01 4.49008206e+02] [ 8.41234312e-01 4.57697620e-01 2.87815429e-01 2.14340443e+02] [-3.32672079e-01 1.85393583e-02 9.42860319e-01 3.52500335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.04, Y:214.36, Z:35.25 [[ 4.24896581e-01 -8.93667282e-01 1.44297209e-01 4.49037016e+02] [ 8.41957938e-01 4.48692423e-01 2.99636348e-01 2.14360802e+02] [-3.32520265e-01 -5.82227944e-03 9.43078138e-01 3.52516006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.370385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:449.06, Y:214.39, Z:35.25 [[ 4.26461206e-01 -8.94542277e-01 1.33884109e-01 4.49059100e+02] [ 8.42874459e-01 4.46728623e-01 2.99993641e-01 2.14385584e+02] [-3.28166859e-01 -1.50881540e-02 9.44499265e-01 3.52483445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.06, Y:214.41, Z:35.23 [[ 4.26167249e-01 -8.92060859e-01 1.50362563e-01 4.49064133e+02] [ 8.42534756e-01 4.51911803e-01 2.93105624e-01 2.14409176e+02] [-3.29418672e-01 1.77366745e-03 9.44182288e-01 3.52327632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.08, Y:214.43, Z:35.22 [[ 4.25664942e-01 -8.91513301e-01 1.54962550e-01 4.49075994e+02] [ 8.42153854e-01 4.52955345e-01 2.92589033e-01 2.14432686e+02] [-3.31038130e-01 5.95741519e-03 9.43598572e-01 3.52192821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.10, Y:214.45, Z:35.22 [[ 4.27513773e-01 -8.92953194e-01 1.40948812e-01 4.49097581e+02] [ 8.41817717e-01 4.50064824e-01 2.97967425e-01 2.14452976e+02] [-3.29507066e-01 -8.73197074e-03 9.44112730e-01 3.52184403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.11, Y:214.48, Z:35.21 [[ 4.28215705e-01 -8.91617761e-01 1.47136257e-01 4.49108962e+02] [ 8.41666322e-01 4.52783706e-01 2.94252812e-01 2.14475677e+02] [-3.28981933e-01 -2.16404235e-03 9.44333736e-01 3.52058122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.12, Y:214.50, Z:35.20 [[ 4.28307509e-01 -8.91626078e-01 1.46818306e-01 4.49122368e+02] [ 8.41823254e-01 4.52766888e-01 2.93829463e-01 2.14498457e+02] [-3.28460479e-01 -2.25430155e-03 9.44515025e-01 3.51963929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.14, Y:214.52, Z:35.19 [[ 4.28474526e-01 -8.91577166e-01 1.46627887e-01 4.49136198e+02] [ 8.41835723e-01 4.52862536e-01 2.93646283e-01 2.14521534e+02] [-3.28210598e-01 -2.38335869e-03 9.44601568e-01 3.51871339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.15, Y:214.54, Z:35.18 [[ 4.29150913e-01 -8.91254888e-01 1.46609069e-01 4.49151201e+02] [ 8.41430882e-01 4.53494472e-01 2.93831302e-01 2.14542921e+02] [-3.28364986e-01 -2.73657301e-03 9.44546953e-01 3.51786234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.16, Y:214.57, Z:35.17 [[ 4.29011244e-01 -8.91311430e-01 1.46674087e-01 4.49164207e+02] [ 8.41403629e-01 4.53383240e-01 2.94080894e-01 2.14566117e+02] [-3.28617234e-01 -2.75190113e-03 9.44459179e-01 3.51691430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.18, Y:214.59, Z:35.16 [[ 4.28518765e-01 -8.91500144e-01 1.46966529e-01 4.49177308e+02] [ 8.41321811e-01 4.53012258e-01 2.94885578e-01 2.14587356e+02] [-3.29468174e-01 -2.71785768e-03 9.44162770e-01 3.51594722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.19, Y:214.61, Z:35.15 [[ 4.27558243e-01 -8.91924202e-01 1.47190921e-01 4.49191454e+02] [ 8.41571357e-01 4.52178292e-01 2.95452947e-01 2.14609715e+02] [-3.30078173e-01 -2.45167995e-03 9.43950417e-01 3.51504701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.700385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:449.20, Y:214.63, Z:35.14 [[ 4.26996367e-01 -8.92192369e-01 1.47196734e-01 4.49204502e+02] [ 8.41776368e-01 4.51649499e-01 2.95677656e-01 2.14632680e+02] [-3.30282679e-01 -2.34655237e-03 9.43879148e-01 3.51409245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7303857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:449.22, Y:214.66, Z:35.13 [[ 4.26592720e-01 -8.92181736e-01 1.48426416e-01 4.49217596e+02] [ 8.42410799e-01 4.51676494e-01 2.93823742e-01 2.14656231e+02] [-3.29184899e-01 -3.07053077e-04 9.44265433e-01 3.51305222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.760385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:449.23, Y:214.68, Z:35.12 [[ 4.26690773e-01 -8.92694702e-01 1.45021217e-01 4.49231134e+02] [ 8.42412875e-01 4.50645260e-01 2.95397017e-01 2.14679210e+02] [-3.29052476e-01 -3.87544155e-03 9.44303685e-01 3.51217384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.24, Y:214.70, Z:35.11 [[ 4.27258969e-01 -8.91979216e-01 1.47725599e-01 4.49240695e+02] [ 8.42230842e-01 4.52075123e-01 2.93726562e-01 2.14703847e+02] [-3.28781056e-01 -1.07825235e-03 9.44405556e-01 3.51115687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.25, Y:214.73, Z:35.10 [[ 4.27708581e-01 -8.92291967e-01 1.44500572e-01 4.49251714e+02] [ 8.42392034e-01 4.51439968e-01 2.94240745e-01 2.14726800e+02] [-3.27781987e-01 -4.12316094e-03 9.44744393e-01 3.51036460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.26, Y:214.75, Z:35.09 [[ 4.27211354e-01 -8.92374358e-01 1.45459495e-01 4.49261207e+02] [ 8.42875251e-01 4.51288394e-01 2.93087183e-01 2.14749952e+02] [-3.27187669e-01 -2.60596387e-03 9.44955787e-01 3.50939572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.27, Y:214.77, Z:35.08 [[ 4.26133623e-01 -8.92904648e-01 1.45366518e-01 4.49271773e+02] [ 8.43451845e-01 4.50240114e-01 2.93040656e-01 2.14774653e+02] [-3.27107201e-01 -2.26481884e-03 9.44984524e-01 3.50844656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.28, Y:214.80, Z:35.08 [[ 4.25181504e-01 -8.93432441e-01 1.44910879e-01 4.49282733e+02] [ 8.44256759e-01 4.49193354e-01 2.92328336e-01 2.14799177e+02] [-3.26268622e-01 -1.95061202e-03 9.45275082e-01 3.50751047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.29, Y:214.82, Z:35.07 [[ 4.24687361e-01 -8.93704057e-01 1.44684841e-01 4.49293801e+02] [ 8.44625761e-01 4.48653163e-01 2.92091875e-01 2.14822482e+02] [-3.25957005e-01 -1.84318340e-03 9.45382797e-01 3.50659260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.31, Y:214.85, Z:35.06 [[ 4.23265542e-01 -8.94402778e-01 1.44533565e-01 4.49305276e+02] [ 8.45429557e-01 4.47260353e-01 2.91902453e-01 2.14847022e+02] [-3.25722498e-01 -1.35930194e-03 9.45464440e-01 3.50567826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.32, Y:214.87, Z:35.05 [[ 4.21986146e-01 -8.94985591e-01 1.44666806e-01 4.49315796e+02] [ 8.45877769e-01 4.46093897e-01 2.92388499e-01 2.14870435e+02] [-3.26218473e-01 -1.01346049e-03 9.45293859e-01 3.50473771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.33, Y:214.89, Z:35.04 [[ 4.20134105e-01 -8.95795503e-01 1.45043959e-01 4.49326064e+02] [ 8.46430786e-01 4.44466221e-01 2.93265585e-01 2.14894801e+02] [-3.27173133e-01 -4.41201890e-04 9.44964310e-01 3.50383283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.34, Y:214.92, Z:35.03 [[ 4.18988005e-01 -8.96291769e-01 1.45293209e-01 4.49336438e+02] [ 8.46705125e-01 4.43464813e-01 2.93988760e-01 2.14918491e+02] [-3.27932131e-01 -1.57259274e-04 9.44701272e-01 3.50293948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.35, Y:214.94, Z:35.02 [[ 4.18385992e-01 -8.96582728e-01 1.45232822e-01 4.49348002e+02] [ 8.47005077e-01 4.42876293e-01 2.94011886e-01 2.14942623e+02] [-3.27926152e-01 2.48273539e-06 9.44703360e-01 3.50200493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.36, Y:214.97, Z:35.01 [[ 4.18312295e-01 -8.96653266e-01 1.45009465e-01 4.49359228e+02] [ 8.47160885e-01 4.42733463e-01 2.93778004e-01 2.14965840e+02] [-3.27617550e-01 -4.46039242e-05 9.44810425e-01 3.50109635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.150385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:449.37, Y:214.99, Z:35.00 [[ 4.18479224e-01 -8.96603393e-01 1.44836097e-01 4.49369666e+02] [ 8.47188815e-01 4.42834435e-01 2.93545184e-01 2.14988529e+02] [-3.27332019e-01 -1.39039759e-04 9.44909377e-01 3.50005571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:215.01, Z:34.99 [[ 4.18787451e-01 -8.96337851e-01 1.45586838e-01 4.49380474e+02] [ 8.46338755e-01 4.43371508e-01 2.95182008e-01 2.15013118e+02] [-3.29131862e-01 -4.02736955e-04 9.44283885e-01 3.49929711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:215.04, Z:34.98 [[ 4.19019792e-01 -8.96221520e-01 1.45634475e-01 4.49391071e+02] [ 8.46104666e-01 4.43606389e-01 2.95500027e-01 2.15036107e+02] [-3.29437868e-01 -5.98350990e-04 9.44177067e-01 3.49839208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:215.06, Z:34.98 [[ 4.18461560e-01 -8.98164512e-01 1.34871914e-01 4.49404375e+02] [ 8.47351877e-01 4.39536121e-01 2.97997979e-01 2.15058715e+02] [-3.26932287e-01 -1.04167299e-02 9.44990355e-01 3.49813472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.42, Y:215.08, Z:34.97 [[ 4.19508696e-01 -8.97670193e-01 1.34909892e-01 4.49416827e+02] [ 8.47467629e-01 4.40556522e-01 2.96156327e-01 2.15082846e+02] [-3.25286140e-01 -9.90838786e-03 9.45563721e-01 3.49738240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:215.11, Z:34.95 [[ 4.20213304e-01 -8.93286741e-01 1.59560579e-01 4.49418319e+02] [ 8.45733549e-01 4.49270334e-01 2.87907851e-01 2.15107792e+02] [-3.28870101e-01 1.39630253e-02 9.44271937e-01 3.49490722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.44, Y:215.13, Z:34.95 [[ 4.19367091e-01 -8.96050316e-01 1.45688276e-01 4.49436976e+02] [ 8.45716119e-01 4.43951470e-01 2.96093462e-01 2.15129018e+02] [-3.29993165e-01 -9.60930301e-04 9.43982832e-01 3.49458158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.45, Y:215.15, Z:34.94 [[ 4.18574878e-01 -8.96422638e-01 1.45676100e-01 4.49448643e+02] [ 8.46053105e-01 4.43199598e-01 2.96257085e-01 2.15152700e+02] [-3.30135146e-01 -7.56056120e-04 9.43933374e-01 3.49364494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.46, Y:215.18, Z:34.93 [[ 4.17109370e-01 -8.97137290e-01 1.45480089e-01 4.49461165e+02] [ 8.46876939e-01 4.41751740e-01 2.96065618e-01 2.15176393e+02] [-3.29877589e-01 -2.88011201e-04 9.44023672e-01 3.49270117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.47, Y:215.20, Z:34.92 [[ 4.15897059e-01 -8.97727563e-01 1.45309528e-01 4.49473625e+02] [ 8.47547813e-01 4.40551038e-01 2.95934939e-01 2.15199781e+02] [-3.29685215e-01 7.83021184e-05 9.44090914e-01 3.49175009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.49, Y:215.22, Z:34.91 [[ 4.13376867e-01 -8.98949431e-01 1.44946497e-01 4.49486949e+02] [ 8.49022378e-01 4.38051402e-01 2.95418299e-01 2.15221401e+02] [-3.29060128e-01 9.43728838e-04 9.44308499e-01 3.49091706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.50, Y:215.24, Z:34.90 [[ 4.11689230e-01 -8.99719640e-01 1.44970847e-01 4.49499412e+02] [ 8.49780101e-01 4.36465701e-01 2.95586658e-01 2.15244820e+02] [-3.29219924e-01 1.50349666e-03 9.44252075e-01 3.48996344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.51, Y:215.27, Z:34.89 [[ 4.09063568e-01 -9.00896512e-01 1.45094699e-01 4.49512181e+02] [ 8.50864466e-01 4.34027594e-01 2.96056935e-01 2.15266929e+02] [-3.29691763e-01 2.34981745e-03 9.44085706e-01 3.48905275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.52, Y:215.29, Z:34.88 [[ 4.07838275e-01 -9.01471022e-01 1.44975645e-01 4.49524283e+02] [ 8.51518224e-01 4.32830671e-01 2.95929593e-01 2.15290102e+02] [-3.29521859e-01 2.75798939e-03 9.44143918e-01 3.48815843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.54, Y:215.31, Z:34.87 [[ 4.06568402e-01 -9.02091528e-01 1.44682445e-01 4.49536295e+02] [ 8.52306984e-01 4.31533250e-01 2.95553480e-01 2.15312573e+02] [-3.29051576e-01 3.15115215e-03 9.44306693e-01 3.48725856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.55, Y:215.34, Z:34.86 [[ 4.06577944e-01 -9.02113052e-01 1.44521338e-01 4.49548138e+02] [ 8.52392386e-01 4.31488644e-01 2.95372257e-01 2.15336831e+02] [-3.28818484e-01 3.09704347e-03 9.44388063e-01 3.48632647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.56, Y:215.36, Z:34.85 [[ 4.06626387e-01 -9.02084970e-01 1.44560328e-01 4.49559583e+02] [ 8.52259712e-01 4.31548198e-01 2.95667949e-01 2.15360850e+02] [-3.29102362e-01 2.97655348e-03 9.44289561e-01 3.48536051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.660385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:449.57, Y:215.38, Z:34.84 [[ 4.07489233e-01 -9.01747682e-01 1.44234681e-01 4.49570987e+02] [ 8.52056611e-01 4.32254988e-01 2.95220524e-01 2.15383532e+02] [-3.28560584e-01 2.59692854e-03 9.44479327e-01 3.48437412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.690385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:449.58, Y:215.41, Z:34.83 [[ 4.07512603e-01 -9.01737701e-01 1.44231052e-01 4.49582664e+02] [ 8.51997785e-01 4.32276252e-01 2.95359132e-01 2.15407595e+02] [-3.28684124e-01 2.52196800e-03 9.44436545e-01 3.48341102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.59, Y:215.43, Z:34.83 [[ 4.08280963e-01 -9.01291315e-01 1.44846888e-01 4.49594054e+02] [ 8.51009793e-01 4.33208574e-01 2.96837774e-01 2.15432075e+02] [-3.30286221e-01 2.07290748e-03 9.43878549e-01 3.48266544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.60, Y:215.46, Z:34.82 [[ 4.08373985e-01 -9.01268857e-01 1.44724344e-01 4.49604939e+02] [ 8.50998275e-01 4.33255847e-01 2.96801797e-01 2.15455196e+02] [-3.30200885e-01 1.95403429e-03 9.43908660e-01 3.48180822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.62, Y:215.48, Z:34.81 [[ 4.08143462e-01 -9.01341534e-01 1.44921890e-01 4.49615482e+02] [ 8.50866140e-01 4.33104752e-01 2.97400547e-01 2.15479278e+02] [-3.30825825e-01 1.92704067e-03 9.43689865e-01 3.48083752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.62, Y:215.50, Z:34.80 [[ 4.06693537e-01 -9.01443779e-01 1.48322221e-01 4.49623518e+02] [ 8.51079635e-01 4.32862658e-01 2.97142011e-01 2.15503781e+02] [-3.32059968e-01 5.38828650e-03 9.43242887e-01 3.47956714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8403857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:449.64, Y:215.53, Z:34.79 [[ 4.07030722e-01 -9.02439861e-01 1.41167589e-01 4.49638250e+02] [ 8.51310638e-01 4.30812464e-01 2.99450861e-01 2.15527311e+02] [-3.31053151e-01 -1.70822962e-03 9.43610562e-01 3.47901169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:449.65, Y:215.55, Z:34.78 [[ 4.06859326e-01 -9.01919555e-01 1.44936554e-01 4.49647068e+02] [ 8.51290843e-01 4.31898637e-01 2.97938698e-01 2.15551360e+02] [-3.31314638e-01 2.16402345e-03 9.43517847e-01 3.47803796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.66, Y:215.58, Z:34.77 [[ 4.05646673e-01 -9.02442179e-01 1.45082359e-01 4.49657693e+02] [ 8.51674236e-01 4.30803704e-01 2.98427823e-01 2.15575988e+02] [-3.31815872e-01 2.50665421e-03 9.43340842e-01 3.47709155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.67, Y:215.60, Z:34.76 [[ 4.04873938e-01 -9.02811471e-01 1.44943236e-01 4.49668167e+02] [ 8.52092378e-01 4.30028028e-01 2.98352936e-01 2.15599319e+02] [-3.31686107e-01 2.70969801e-03 9.43385915e-01 3.47616124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.68, Y:215.62, Z:34.75 [[ 4.03674161e-01 -9.03404079e-01 1.44596824e-01 4.49678170e+02] [ 8.52904967e-01 4.28779021e-01 2.97828253e-01 2.15623864e+02] [-3.31059343e-01 3.10177971e-03 9.43604838e-01 3.47517550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.69, Y:215.65, Z:34.74 [[ 4.03440772e-01 -9.03522255e-01 1.44509790e-01 4.49689906e+02] [ 8.53015374e-01 4.28529988e-01 2.97870479e-01 2.15648096e+02] [-3.31059385e-01 3.09597666e-03 9.43604842e-01 3.47421340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.70, Y:215.67, Z:34.73 [[ 4.01005595e-01 -9.03297347e-01 1.52474311e-01 4.49695213e+02] [ 8.53220344e-01 4.28871935e-01 2.96789333e-01 2.15672339e+02] [-3.33480970e-01 1.10800004e-02 9.42691719e-01 3.47256221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.71, Y:215.70, Z:34.73 [[ 4.00829193e-01 -9.05906799e-01 1.36633929e-01 4.49713990e+02] [ 8.54320606e-01 4.23457600e-01 3.01363507e-01 2.15696252e+02] [-3.30865925e-01 -4.06610991e-03 9.43669013e-01 3.47262228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.72, Y:215.72, Z:34.71 [[ 3.99417064e-01 -9.05390562e-01 1.43992844e-01 4.49718714e+02] [ 8.55193336e-01 4.24557021e-01 2.97314134e-01 2.15720727e+02] [-3.30318584e-01 4.38938240e-03 9.43859294e-01 3.47134947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.72, Y:215.74, Z:34.70 [[ 3.96596849e-01 -9.05048310e-01 1.53618020e-01 4.49722559e+02] [ 8.55300202e-01 4.25081718e-01 2.96255122e-01 2.15744582e+02] [-3.33425409e-01 1.38956754e-02 9.42674072e-01 3.46953116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.74, Y:215.77, Z:34.70 [[ 3.98120452e-01 -9.07389525e-01 1.34700987e-01 4.49743056e+02] [ 8.55890505e-01 4.20264440e-01 3.01378905e-01 2.15768374e+02] [-3.30078096e-01 -4.69580980e-03 9.43941947e-01 3.46986471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.75, Y:215.79, Z:34.69 [[ 3.98090681e-01 -9.06003594e-01 1.43809935e-01 4.49748013e+02] [ 8.55828152e-01 4.23243893e-01 2.97359684e-01 2.15792395e+02] [-3.30275619e-01 4.70047229e-03 9.43872831e-01 3.46857106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.76, Y:215.82, Z:34.68 [[ 3.98863143e-01 -9.05633192e-01 1.44002483e-01 4.49756409e+02] [ 8.55253645e-01 4.24039662e-01 2.97878445e-01 2.15817478e+02] [-3.30831372e-01 4.34591580e-03 9.43679880e-01 3.46761429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.77, Y:215.84, Z:34.67 [[ 3.99310230e-01 -9.05416312e-01 1.44127172e-01 4.49765841e+02] [ 8.54853840e-01 4.24505299e-01 2.98362470e-01 2.15840973e+02] [-3.31324995e-01 4.06848024e-03 9.43507920e-01 3.46666213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.77, Y:215.87, Z:34.65 [[ 3.99298546e-01 -9.03554657e-01 1.55401588e-01 4.49768474e+02] [ 8.53544113e-01 4.28239416e-01 2.96771714e-01 2.15866387e+02] [-3.34698550e-01 1.41415961e-02 9.42219134e-01 3.46479349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:449.79, Y:215.89, Z:34.65 [[ 4.00931514e-01 -9.06196570e-01 1.34393817e-01 4.49789985e+02] [ 8.53986095e-01 4.22801965e-01 3.03226397e-01 2.15888802e+02] [-3.31604691e-01 -6.80256754e-03 9.43393902e-01 3.46517068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.79, Y:215.91, Z:34.64 [[ 4.01931305e-01 -9.04276156e-01 1.43999517e-01 4.49793993e+02] [ 8.53580824e-01 4.26938032e-01 2.98535916e-01 2.15914707e+02] [-3.31437781e-01 2.92429604e-03 9.43472546e-01 3.46395334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.79, Y:215.94, Z:34.61 [[ 3.99858448e-01 -9.01849405e-01 1.63648627e-01 4.49789655e+02] [ 8.52603392e-01 4.31506509e-01 2.94736474e-01 2.15939406e+02] [-3.36423362e-01 2.16745050e-02 9.41461384e-01 3.46143971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.82, Y:215.96, Z:34.63 [[ 4.02691300e-01 -9.06761980e-01 1.24989713e-01 4.49822133e+02] [ 8.53297769e-01 4.21297349e-01 3.07231933e-01 2.15962865e+02] [-3.31244071e-01 -1.70661832e-02 9.43390752e-01 3.46278677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.82, Y:215.99, Z:34.61 [[ 4.02757332e-01 -9.04003351e-01 1.43403183e-01 4.49822017e+02] [ 8.53534959e-01 4.27518383e-01 2.97835705e-01 2.15989086e+02] [-3.30551972e-01 2.44411597e-03 9.43784626e-01 3.46110008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.83, Y:216.01, Z:34.60 [[ 4.02309534e-01 -9.04271925e-01 1.42966167e-01 4.49831862e+02] [ 8.54056850e-01 4.26949375e-01 2.97155059e-01 2.16012781e+02] [-3.29748293e-01 2.55292105e-03 9.44065435e-01 3.46019453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.84, Y:216.04, Z:34.59 [[ 4.02390967e-01 -9.03081886e-01 1.50082034e-01 4.49840383e+02] [ 8.53501597e-01 4.29368008e-01 2.95259441e-01 2.16038837e+02] [-3.31083877e-01 9.28552357e-03 9.43555640e-01 3.45855543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.85, Y:216.06, Z:34.58 [[ 4.00778790e-01 -9.05524590e-01 1.39289548e-01 4.49852683e+02] [ 8.54621811e-01 4.24292779e-01 2.99327911e-01 2.16061529e+02] [-3.30148333e-01 -9.24392555e-04 9.43928612e-01 3.45843410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.86, Y:216.09, Z:34.57 [[ 4.00066215e-01 -9.05243022e-01 1.43115666e-01 4.49861029e+02] [ 8.54816289e-01 4.24882549e-01 2.97932763e-01 2.16086331e+02] [-3.30508904e-01 3.14476973e-03 9.43797635e-01 3.45730982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.87, Y:216.11, Z:34.56 [[ 3.99409362e-01 -9.05563596e-01 1.42922130e-01 4.49870356e+02] [ 8.55220677e-01 4.24197643e-01 2.97748138e-01 2.16111453e+02] [-3.30257105e-01 3.30656690e-03 9.43885222e-01 3.45640114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5903857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.88, Y:216.13, Z:34.55 [[ 3.98761128e-01 -9.05911128e-01 1.42529262e-01 4.49880752e+02] [ 8.55798568e-01 4.23453511e-01 2.97146320e-01 2.16134886e+02] [-3.29542674e-01 3.48593659e-03 9.44134246e-01 3.45531607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.620385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.89, Y:216.16, Z:34.55 [[ 3.98680368e-01 -9.05986195e-01 1.42277822e-01 4.49890492e+02] [ 8.55981854e-01 4.23293254e-01 2.96846573e-01 2.16159458e+02] [-3.29164139e-01 3.44033328e-03 9.44266453e-01 3.45457886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.650385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.90, Y:216.18, Z:34.54 [[ 3.98430970e-01 -9.06107018e-01 1.42207011e-01 4.49900813e+02] [ 8.56119499e-01 4.23034196e-01 2.96818922e-01 2.16183682e+02] [-3.29108137e-01 3.48434407e-03 9.44285812e-01 3.45362884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:449.91, Y:216.21, Z:34.53 [[ 3.98502444e-01 -9.06172595e-01 1.41587537e-01 4.49909529e+02] [ 8.56560601e-01 4.22894203e-01 2.95743857e-01 2.16208398e+02] [-3.27871527e-01 3.42365561e-03 9.44716116e-01 3.45266414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.92, Y:216.23, Z:34.52 [[ 3.98564407e-01 -9.06220424e-01 1.41106191e-01 4.49919657e+02] [ 8.56880926e-01 4.22792287e-01 2.94960607e-01 2.16232803e+02] [-3.26957936e-01 3.35040469e-03 9.45032953e-01 3.45165973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.93, Y:216.26, Z:34.51 [[ 3.98799789e-01 -9.06095016e-01 1.41246416e-01 4.49930451e+02] [ 8.56569531e-01 4.23062516e-01 2.95477152e-01 2.16257459e+02] [-3.27486439e-01 3.15115010e-03 9.44850625e-01 3.45086297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.94, Y:216.28, Z:34.50 [[ 3.98575139e-01 -9.06170252e-01 1.41397786e-01 4.49939516e+02] [ 8.56461369e-01 4.22901608e-01 2.96020529e-01 2.16282158e+02] [-3.28042348e-01 3.11531760e-03 9.44657881e-01 3.45003768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.95, Y:216.31, Z:34.49 [[ 3.98027690e-01 -9.06390726e-01 1.41526712e-01 4.49949805e+02] [ 8.56559735e-01 4.22427883e-01 2.96412050e-01 2.16306387e+02] [-3.28449963e-01 3.24587895e-03 9.44515795e-01 3.44898836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.830385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:449.96, Y:216.33, Z:34.48 [[ 3.97879258e-01 -9.06461871e-01 1.41488419e-01 4.49958931e+02] [ 8.56586076e-01 4.22275510e-01 2.96553011e-01 2.16330985e+02] [-3.28561092e-01 3.20471703e-03 9.44477283e-01 3.44815889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.97, Y:216.35, Z:34.47 [[ 3.98021158e-01 -9.06438569e-01 1.41238375e-01 4.49968423e+02] [ 8.56700840e-01 4.22326121e-01 2.96149149e-01 2.16354395e+02] [-3.28089666e-01 3.12540757e-03 9.44641415e-01 3.44730167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.98, Y:216.38, Z:34.46 [[ 3.98153527e-01 -9.06369254e-01 1.41310100e-01 4.49978971e+02] [ 8.56535229e-01 4.22475637e-01 2.96414807e-01 2.16379020e+02] [-3.28361342e-01 3.01847790e-03 9.44547361e-01 3.44633060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.99, Y:216.40, Z:34.45 [[ 3.99500364e-01 -9.05781551e-01 1.41277179e-01 4.49987492e+02] [ 8.55857579e-01 4.23737963e-01 2.96570301e-01 2.16403821e+02] [-3.28492411e-01 2.43320117e-03 9.44503476e-01 3.44546212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.00, Y:216.43, Z:34.45 [[ 4.00390154e-01 -9.05362165e-01 1.41446370e-01 4.49997262e+02] [ 8.55246836e-01 4.24635378e-01 2.97048220e-01 2.16427725e+02] [-3.28999352e-01 2.03637784e-03 9.44327951e-01 3.44454393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9803857229999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:450.01, Y:216.45, Z:34.43 [[ 4.02049036e-01 -9.04664936e-01 1.41201725e-01 4.50007085e+02] [ 8.54645255e-01 4.26121308e-01 2.96651512e-01 2.16452035e+02] [-3.28539285e-01 1.40892986e-03 9.44489255e-01 3.44346026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.010385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:450.02, Y:216.48, Z:34.43 [[ 4.03067601e-01 -9.04123091e-01 1.41767227e-01 4.50017876e+02] [ 8.53577817e-01 4.27271206e-01 2.98067488e-01 2.16476909e+02] [-3.30062753e-01 8.68012327e-04 9.43958593e-01 3.44267937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.040385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:450.03, Y:216.50, Z:34.42 [[ 4.04134267e-01 -9.03572244e-01 1.42241673e-01 4.50028615e+02] [ 8.52564851e-01 4.28435642e-01 2.99292626e-01 2.16500736e+02] [-3.31373912e-01 3.15844772e-04 9.43499460e-01 3.44179179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:450.04, Y:216.52, Z:34.41 [[ 4.04357517e-01 -9.03472162e-01 1.42242933e-01 4.50038908e+02] [ 8.52377280e-01 4.28646751e-01 2.99524516e-01 2.16524140e+02] [-3.31584033e-01 1.29654739e-04 9.43425679e-01 3.44090674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1003857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:450.03, Y:216.55, Z:34.39 [[ 4.01168491e-01 -9.01493192e-01 1.62400329e-01 4.50034720e+02] [ 8.51897567e-01 4.32340963e-01 2.95553425e-01 2.16548132e+02] [-3.36651715e-01 1.97817238e-02 9.41421429e-01 3.43856638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.130385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:450.07, Y:216.57, Z:34.40 [[ 4.05117254e-01 -9.06156340e-01 1.21493616e-01 4.50069646e+02] [ 8.52581668e-01 4.22418056e-01 3.07680819e-01 2.16571594e+02] [-3.30128022e-01 -2.10635783e-02 9.43701126e-01 3.43951941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.160385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:450.03, Y:216.60, Z:34.35 [[ 3.97217845e-01 -8.96331964e-01 1.96994908e-01 4.50031589e+02] [ 8.50865787e-01 4.40125663e-01 2.86909067e-01 2.16595599e+02] [-3.43868282e-01 5.36508259e-02 9.37483970e-01 3.43462700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.11, Y:216.62, Z:34.39 [[ 4.06349679e-01 -9.09899288e-01 8.34459351e-02 4.50112046e+02] [ 8.51511156e-01 4.10223332e-01 3.26566333e-01 2.16617539e+02] [-3.31373944e-01 -6.16449801e-02 9.41483513e-01 3.43917619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.09, Y:216.65, Z:34.36 [[ 4.06494087e-01 -9.02511275e-01 1.42253139e-01 4.50093849e+02] [ 8.51227777e-01 4.30665452e-01 2.99897551e-01 2.16646675e+02] [-3.31924433e-01 -8.16757812e-04 9.43305626e-01 3.43603164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:450.10, Y:216.67, Z:34.35 [[ 4.06027088e-01 -9.02664231e-01 1.42615882e-01 4.50104787e+02] [ 8.51039002e-01 4.30344802e-01 3.00891957e-01 2.16669213e+02] [-3.32978411e-01 -7.98607084e-04 9.42934113e-01 3.43507075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.12, Y:216.69, Z:34.34 [[ 4.05330904e-01 -9.02973723e-01 1.42637001e-01 4.50116244e+02] [ 8.51307009e-01 4.29695350e-01 3.01061925e-01 2.16692660e+02] [-3.33141464e-01 -6.01823695e-04 9.42876664e-01 3.43414469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:450.13, Y:216.72, Z:34.33 [[ 4.05122071e-01 -9.03065534e-01 1.42649039e-01 4.50127204e+02] [ 8.51314519e-01 4.29502320e-01 3.01316024e-01 2.16715166e+02] [-3.33376209e-01 -6.30573289e-04 9.42793671e-01 3.43323936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3403857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:450.14, Y:216.74, Z:34.32 [[ 4.06106188e-01 -9.02649254e-01 1.42485399e-01 4.50137899e+02] [ 8.50951476e-01 4.30375728e-01 3.01095198e-01 2.16737619e+02] [-3.33105613e-01 -1.02846259e-03 9.42888961e-01 3.43225818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.15, Y:216.76, Z:34.31 [[ 4.06937016e-01 -9.02340190e-01 1.42071976e-01 4.50148932e+02] [ 8.50879408e-01 4.31022468e-01 3.00372878e-01 2.16761358e+02] [-3.32274733e-01 -1.34672374e-03 9.43181684e-01 3.43127811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.400385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:450.16, Y:216.78, Z:34.30 [[ 4.09909143e-01 -9.01132055e-01 1.41193181e-01 4.50159175e+02] [ 8.50176780e-01 4.33537982e-01 2.98737779e-01 2.16784275e+02] [-3.30414796e-01 -2.41618274e-03 9.43832731e-01 3.43019267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.17, Y:216.81, Z:34.29 [[ 4.11181891e-01 -9.00603659e-01 1.40863414e-01 4.50169991e+02] [ 8.49821071e-01 4.34631684e-01 2.98160102e-01 2.16807844e+02] [-3.29747781e-01 -2.88933695e-03 9.44064644e-01 3.42922046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.18, Y:216.83, Z:34.28 [[ 4.13025563e-01 -8.99787471e-01 1.40685433e-01 4.50181692e+02] [ 8.49011670e-01 4.36313237e-01 2.98009973e-01 2.16830020e+02] [-3.29528557e-01 -3.64216253e-03 9.44138584e-01 3.42830366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.19, Y:216.85, Z:34.27 [[ 4.14185098e-01 -8.97691810e-01 1.50333360e-01 4.50187568e+02] [ 8.49610117e-01 4.40557801e-01 2.89950812e-01 2.16854210e+02] [-3.26517003e-01 7.63143844e-03 9.45160520e-01 3.42701042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.21, Y:216.88, Z:34.27 [[ 4.12563130e-01 -9.01644936e-01 1.29723060e-01 4.50211287e+02] [ 8.49548125e-01 4.32232188e-01 3.02395964e-01 2.16876809e+02] [-3.28724271e-01 -1.45514429e-02 9.44313830e-01 3.42678021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.22, Y:216.90, Z:34.25 [[ 4.11690143e-01 -9.00464521e-01 1.40267150e-01 4.50217752e+02] [ 8.49859673e-01 4.34916760e-01 2.97633918e-01 2.16900488e+02] [-3.29013318e-01 -3.32555620e-03 9.44319426e-01 3.42547116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.22, Y:216.92, Z:34.23 [[ 4.07025215e-01 -8.99336117e-01 1.59765525e-01 4.50218567e+02] [ 8.49861790e-01 4.36970010e-01 2.94605073e-01 2.16922628e+02] [-3.34761726e-01 1.58669214e-02 9.42169214e-01 3.42338869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.25, Y:216.94, Z:34.24 [[ 4.08569245e-01 -9.04630166e-01 1.21307194e-01 4.50254060e+02] [ 8.50976223e-01 4.25603012e-01 3.07736161e-01 2.16944422e+02] [-3.30016121e-01 -2.25019925e-02 9.43707063e-01 3.42441398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:450.25, Y:216.97, Z:34.22 [[ 4.06511645e-01 -9.00549763e-01 1.54137623e-01 4.50247127e+02] [ 8.50632550e-01 4.34617663e-01 2.95857656e-01 2.16969503e+02] [-3.33425476e-01 1.08448966e-02 9.42714082e-01 3.42188852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.26, Y:216.99, Z:34.21 [[ 4.06434016e-01 -9.02399865e-01 1.43128871e-01 4.50264111e+02] [ 8.50690041e-01 4.30899185e-01 3.01085283e-01 2.16990869e+02] [-3.33373433e-01 -6.12995873e-04 9.42794664e-01 3.42124915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.29, Y:217.01, Z:34.21 [[ 4.08679081e-01 -9.04245274e-01 1.23781638e-01 4.50287843e+02] [ 8.51336311e-01 4.26571306e-01 3.05390581e-01 2.17014673e+02] [-3.28949684e-01 -1.94269387e-02 9.44147605e-01 3.42145211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7303857229999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:450.28, Y:217.04, Z:34.19 [[ 4.06926345e-01 -8.99500535e-01 1.59090343e-01 4.50279467e+02] [ 8.51209978e-01 4.36592664e-01 2.91253189e-01 2.17039992e+02] [-3.31440076e-01 1.69006914e-02 9.43324887e-01 3.41863623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.32, Y:217.06, Z:34.20 [[ 4.10545205e-01 -9.03805475e-01 1.20782030e-01 4.50315538e+02] [ 8.50842637e-01 4.27339236e-01 3.05692631e-01 2.17061579e+02] [-3.27901573e-01 -2.27341429e-02 9.44438308e-01 3.41974830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.790385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:450.32, Y:217.09, Z:34.18 [[ 4.10530277e-01 -9.01188542e-01 1.39011167e-01 4.50317825e+02] [ 8.51223397e-01 4.33415803e-01 2.95921394e-01 2.17085903e+02] [-3.26930605e-01 -3.15513413e-03 9.45043081e-01 3.41804245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:450.33, Y:217.11, Z:34.17 [[ 4.10807998e-01 -9.00039941e-01 1.45481593e-01 4.50326600e+02] [ 8.50706151e-01 4.35796928e-01 2.93904888e-01 2.17110552e+02] [-3.27926569e-01 3.02360759e-03 9.44698377e-01 3.41674703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.35, Y:217.13, Z:34.16 [[ 4.11969230e-01 -9.01359636e-01 1.33537110e-01 4.50345244e+02] [ 8.50373376e-01 4.32964359e-01 2.99010009e-01 2.17133055e+02] [-3.27332362e-01 -9.62652077e-03 9.44860230e-01 3.41639989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.36, Y:217.16, Z:34.15 [[ 4.12229074e-01 -9.00395012e-01 1.39125887e-01 4.50355658e+02] [ 8.50107349e-01 4.35054536e-01 2.96723854e-01 2.17156835e+02] [-3.27696026e-01 -4.04626048e-03 9.44774546e-01 3.41524373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.37, Y:217.18, Z:34.14 [[ 4.11992031e-01 -9.00517176e-01 1.39037344e-01 4.50367075e+02] [ 8.50222288e-01 4.34801559e-01 2.96765338e-01 2.17181236e+02] [-3.27695938e-01 -4.05230585e-03 9.44774550e-01 3.41428905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.38, Y:217.20, Z:34.13 [[ 4.11829654e-01 -9.00581273e-01 1.39103224e-01 4.50379543e+02] [ 8.50166046e-01 4.34668310e-01 2.97121448e-01 2.17204626e+02] [-3.28045775e-01 -4.10258492e-03 9.44652920e-01 3.41339245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.39, Y:217.23, Z:34.13 [[ 4.10702759e-01 -9.01047080e-01 1.39418090e-01 4.50392958e+02] [ 8.50341866e-01 4.33704232e-01 2.98025754e-01 2.17227429e+02] [-3.29001451e-01 -3.84696027e-03 9.44321580e-01 3.41252894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.40, Y:217.25, Z:34.12 [[ 4.10052463e-01 -9.01340749e-01 1.39433971e-01 4.50404978e+02] [ 8.50558811e-01 4.33094705e-01 2.98292951e-01 2.17250458e+02] [-3.29251707e-01 -3.71896717e-03 9.44234867e-01 3.41162852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.42, Y:217.27, Z:34.11 [[ 4.08856524e-01 -9.01875230e-01 1.39489827e-01 4.50417760e+02] [ 8.51036902e-01 4.31983625e-01 2.98540347e-01 2.17272805e+02] [-3.29503465e-01 -3.34917794e-03 9.44148426e-01 3.41070833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.43, Y:217.30, Z:34.10 [[ 4.06872848e-01 -9.02765409e-01 1.39531721e-01 4.50430741e+02] [ 8.51902583e-01 4.30124855e-01 2.98755081e-01 2.17295593e+02] [-3.29721814e-01 -2.68789740e-03 9.44074309e-01 3.40970797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.44, Y:217.32, Z:34.09 [[ 4.05691524e-01 -9.03335157e-01 1.39283817e-01 4.50442907e+02] [ 8.52610197e-01 4.28929113e-01 2.98455470e-01 2.17318547e+02] [-3.29348203e-01 -2.32605213e-03 9.44205672e-01 3.40884080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.46, Y:217.34, Z:34.08 [[ 4.03877587e-01 -9.04205571e-01 1.38907094e-01 4.50457335e+02] [ 8.53769416e-01 4.27094253e-01 2.97772200e-01 2.17341266e+02] [-3.28573703e-01 -1.66888889e-03 9.44476859e-01 3.40790720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.47, Y:217.36, Z:34.07 [[ 4.03433725e-01 -9.04451351e-01 1.38596473e-01 4.50469593e+02] [ 8.54182149e-01 4.26573903e-01 2.97334092e-01 2.17364440e+02] [-3.28045859e-01 -1.56796704e-03 9.44660498e-01 3.40698025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.48, Y:217.39, Z:34.06 [[ 4.03051820e-01 -9.04672527e-01 1.38263697e-01 4.50482401e+02] [ 8.54585478e-01 4.26104928e-01 2.96847185e-01 2.17387421e+02] [-3.27464336e-01 -1.48665062e-03 9.44862370e-01 3.40599760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.49, Y:217.41, Z:34.05 [[ 4.02964657e-01 -9.04755668e-01 1.37973427e-01 4.50494428e+02] [ 8.54811749e-01 4.25928256e-01 2.96448974e-01 2.17410974e+02] [-3.26980671e-01 -1.51715259e-03 9.45029809e-01 3.40504850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.51, Y:217.43, Z:34.04 [[ 4.02414327e-01 -9.05025609e-01 1.37809132e-01 4.50507757e+02] [ 8.55139686e-01 4.25354779e-01 2.96326561e-01 2.17433203e+02] [-3.26800899e-01 -1.39999534e-03 9.45092172e-01 3.40414206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.52, Y:217.46, Z:34.03 [[ 4.01554818e-01 -9.05391781e-01 1.37911030e-01 4.50519949e+02] [ 8.55406912e-01 4.24575526e-01 2.96672609e-01 2.17456001e+02] [-3.27158590e-01 -1.16026716e-03 9.44968736e-01 3.40320847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.53, Y:217.48, Z:34.01 [[ 3.98815209e-01 -9.04422609e-01 1.51545945e-01 4.50527216e+02] [ 8.55441825e-01 4.26456246e-01 2.93861114e-01 2.17479759e+02] [-3.30402350e-01 1.24424580e-02 9.43758164e-01 3.40127525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:450.55, Y:217.50, Z:34.02 [[ 3.98267539e-01 -9.08500061e-01 1.26533029e-01 4.50553559e+02] [ 8.56531865e-01 4.17702462e-01 3.03113540e-01 2.17500500e+02] [-3.28231827e-01 -1.23407122e-02 9.44516582e-01 3.40185227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:450.56, Y:217.53, Z:34.00 [[ 3.97609754e-01 -9.07055399e-01 1.38408764e-01 4.50560083e+02] [ 8.56633374e-01 4.21011286e-01 2.98209256e-01 2.17525030e+02] [-3.28763967e-01 -5.34252872e-06 9.44412121e-01 3.40045292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.57, Y:217.55, Z:34.00 [[ 3.96806820e-01 -9.07390955e-01 1.38513544e-01 4.50573750e+02] [ 8.56828754e-01 4.20287551e-01 2.98668481e-01 2.17546763e+02] [-3.29224597e-01 1.68697241e-04 9.44251628e-01 3.39957169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.59, Y:217.57, Z:33.99 [[ 3.96415617e-01 -9.07557939e-01 1.38539692e-01 4.50586035e+02] [ 8.56941691e-01 4.19926808e-01 2.98851828e-01 2.17569291e+02] [-3.29401880e-01 2.50905949e-04 9.44189779e-01 3.39865390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.60, Y:217.59, Z:33.98 [[ 3.97242916e-01 -9.07254148e-01 1.38159242e-01 4.50599839e+02] [ 8.56852982e-01 4.20582817e-01 2.98182934e-01 2.17592159e+02] [-3.28635107e-01 -6.89000376e-05 9.44456967e-01 3.39771116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.61, Y:217.61, Z:33.97 [[ 3.98006864e-01 -9.06950185e-01 1.37956146e-01 4.50611749e+02] [ 8.56607986e-01 4.21237686e-01 2.97962364e-01 2.17614700e+02] [-3.28349349e-01 -4.16729273e-04 9.44556262e-01 3.39677234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.63, Y:217.64, Z:33.96 [[ 3.99883902e-01 -9.06202024e-01 1.37443650e-01 4.50625264e+02] [ 8.56157654e-01 4.22843607e-01 2.96980396e-01 2.17637521e+02] [-3.27241405e-01 -1.08424656e-03 9.44940150e-01 3.39575168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.64, Y:217.66, Z:33.95 [[ 4.01151274e-01 -9.05821465e-01 1.36253915e-01 4.50638920e+02] [ 8.56564479e-01 4.23657019e-01 2.94638801e-01 2.17660534e+02] [-3.24615078e-01 -1.48446659e-03 9.45845044e-01 3.39478387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.65, Y:217.68, Z:33.94 [[ 4.01681591e-01 -9.05648791e-01 1.35838755e-01 4.50650513e+02] [ 8.56610794e-01 4.24025116e-01 2.93973891e-01 2.17682557e+02] [-3.23836143e-01 -1.72295624e-03 9.46111613e-01 3.39382320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.66, Y:217.71, Z:33.93 [[ 4.02181212e-01 -9.05465957e-01 1.35579026e-01 4.50663770e+02] [ 8.56568388e-01 4.24414547e-01 2.93535159e-01 2.17705350e+02] [-3.23327804e-01 -1.92161806e-03 9.46285073e-01 3.39284546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.630385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:450.68, Y:217.73, Z:33.92 [[ 4.02300493e-01 -9.05400878e-01 1.35659738e-01 4.50676138e+02] [ 8.56360914e-01 4.24552623e-01 2.93940565e-01 2.17728102e+02] [-3.23728743e-01 -2.07873748e-03 9.46147652e-01 3.39196433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.69, Y:217.75, Z:33.91 [[ 4.01276013e-01 -9.05802716e-01 1.36011030e-01 4.50689812e+02] [ 8.56470914e-01 4.23695757e-01 2.94855015e-01 2.17750860e+02] [-3.24707770e-01 -1.82875374e-03 9.45812624e-01 3.39106424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.70, Y:217.77, Z:33.90 [[ 4.00622854e-01 -9.06056577e-01 1.36245398e-01 4.50702305e+02] [ 8.56486283e-01 4.23153041e-01 2.95588823e-01 2.17774491e+02] [-3.25472852e-01 -1.72732301e-03 9.45549808e-01 3.39011581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.72, Y:217.80, Z:33.89 [[ 3.99527945e-01 -9.06485637e-01 1.36606042e-01 4.50715277e+02] [ 8.56596060e-01 4.22234068e-01 2.96583180e-01 2.17797885e+02] [-3.26528117e-01 -1.47707155e-03 9.45186335e-01 3.38924286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.73, Y:217.82, Z:33.88 [[ 3.99520408e-01 -9.06496832e-01 1.36553792e-01 4.50726375e+02] [ 8.56568678e-01 4.22209703e-01 2.96696928e-01 2.17820778e+02] [-3.26609162e-01 -1.56877658e-03 9.45158185e-01 3.38832368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.74, Y:217.84, Z:33.87 [[ 3.99760450e-01 -9.06402543e-01 1.36477149e-01 4.50737005e+02] [ 8.56457324e-01 4.22411435e-01 2.96731244e-01 2.17844523e+02] [-3.26607463e-01 -1.73456142e-03 9.45158482e-01 3.38735855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.75, Y:217.87, Z:33.86 [[ 4.00280303e-01 -9.06215180e-01 1.36197384e-01 4.50747167e+02] [ 8.56389736e-01 4.22812132e-01 2.96355396e-01 2.17868147e+02] [-3.26147665e-01 -1.98718579e-03 9.45316747e-01 3.38641910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:217.89, Z:33.85 [[ 4.01949568e-01 -9.05595233e-01 1.35402429e-01 4.50756213e+02] [ 8.56290148e-01 4.24135441e-01 2.94747875e-01 2.17892824e+02] [-3.24351239e-01 -2.53001501e-03 9.45933334e-01 3.38540104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.870385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:450.77, Y:217.92, Z:33.84 [[ 4.02997182e-01 -9.05211580e-01 1.34852760e-01 4.50766033e+02] [ 8.56218356e-01 4.24951075e-01 2.93780039e-01 2.17916584e+02] [-3.23238918e-01 -2.92911870e-03 9.46312856e-01 3.38446717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.77, Y:217.94, Z:33.83 [[ 4.03434103e-01 -9.05084764e-01 1.34396778e-01 4.50774978e+02] [ 8.56382609e-01 4.25220076e-01 2.92910760e-01 2.17940741e+02] [-3.22257275e-01 -3.07512646e-03 9.46647132e-01 3.38349276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.930385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:450.79, Y:217.96, Z:33.83 [[ 4.02986201e-01 -9.05317514e-01 1.34172724e-01 4.50785348e+02] [ 8.56754279e-01 4.24725290e-01 2.92541508e-01 2.17964802e+02] [-3.21829500e-01 -2.93713557e-03 9.46793085e-01 3.38257366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.79, Y:217.99, Z:33.82 [[ 4.01459418e-01 -9.06061921e-01 1.33724089e-01 4.50794524e+02] [ 8.57794435e-01 4.23138118e-01 2.91792462e-01 2.17988305e+02] [-3.20965797e-01 -2.43505254e-03 9.47087656e-01 3.38167719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.80, Y:218.01, Z:33.81 [[ 3.99976922e-01 -9.06729332e-01 1.33642739e-01 4.50804793e+02] [ 8.58517777e-01 4.21708557e-01 2.91734672e-01 2.18012489e+02] [-3.20882671e-01 -1.95246877e-03 9.47116941e-01 3.38074090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.82, Y:218.04, Z:33.80 [[ 3.96331152e-01 -9.08307636e-01 1.33786607e-01 4.50815569e+02] [ 8.60000891e-01 4.18302081e-01 2.92270143e-01 2.18037299e+02] [-3.21434419e-01 -7.79161312e-04 9.46931522e-01 3.37981291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.83, Y:218.06, Z:33.79 [[ 3.92512980e-01 -9.09965387e-01 1.33778006e-01 4.50825389e+02] [ 8.61678965e-01 4.14683944e-01 2.92483483e-01 2.18061229e+02] [-3.21625437e-01 4.70130286e-04 9.46866864e-01 3.37899406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.84, Y:218.09, Z:33.78 [[ 3.90341384e-01 -9.10875007e-01 1.33941499e-01 4.50835849e+02] [ 8.62466866e-01 4.12680740e-01 2.92994048e-01 2.18085743e+02] [-3.22156032e-01 1.15240283e-03 9.46685884e-01 3.37808915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.85, Y:218.11, Z:33.77 [[ 3.87092707e-01 -9.12248055e-01 1.34025081e-01 4.50846867e+02] [ 8.63779729e-01 4.09632365e-01 2.93403997e-01 2.18109951e+02] [-3.22558237e-01 2.19360065e-03 9.46547079e-01 3.37721065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.86, Y:218.13, Z:33.76 [[ 3.85451877e-01 -9.12952975e-01 1.33954156e-01 4.50858240e+02] [ 8.64501584e-01 4.08055959e-01 2.93474609e-01 2.18134508e+02] [-3.22589309e-01 2.68324127e-03 9.46535228e-01 3.37631028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.87, Y:218.16, Z:33.75 [[ 3.83358750e-01 -9.13851349e-01 1.33834901e-01 4.50869237e+02] [ 8.65464435e-01 4.06035193e-01 2.93439490e-01 2.18159183e+02] [-3.22501753e-01 3.33675063e-03 9.46562985e-01 3.37540766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.88, Y:218.18, Z:33.75 [[ 3.82649908e-01 -9.14165203e-01 1.33719967e-01 4.50879242e+02] [ 8.65804370e-01 4.05326700e-01 2.93416186e-01 2.18183676e+02] [-3.22431141e-01 3.49965524e-03 9.46586453e-01 3.37450193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.89, Y:218.21, Z:33.74 [[ 3.82888384e-01 -9.14068460e-01 1.33698678e-01 4.50888948e+02] [ 8.65638291e-01 4.05546353e-01 2.93602630e-01 2.18206818e+02] [-3.22593915e-01 3.31765861e-03 9.46531647e-01 3.37359536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.260385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:450.90, Y:218.23, Z:33.73 [[ 3.83381859e-01 -9.13873238e-01 1.33619069e-01 4.50899719e+02] [ 8.65449291e-01 4.05987811e-01 2.93549694e-01 2.18231436e+02] [-3.22514923e-01 3.09890057e-03 9.46559307e-01 3.37264023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.91, Y:218.25, Z:33.72 [[ 3.84610355e-01 -9.13369938e-01 1.33529892e-01 4.50909557e+02] [ 8.64903637e-01 4.07122501e-01 2.93586390e-01 2.18254821e+02] [-3.22516006e-01 2.57412356e-03 9.46560510e-01 3.37182347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.92, Y:218.28, Z:33.71 [[ 3.85298086e-01 -9.13071638e-01 1.33587308e-01 4.50920485e+02] [ 8.64503319e-01 4.07792863e-01 2.93834973e-01 2.18279193e+02] [-3.22768331e-01 2.27261852e-03 9.46475272e-01 3.37094671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.93, Y:218.30, Z:33.70 [[ 3.87042398e-01 -9.12301312e-01 1.33807689e-01 4.50929349e+02] [ 8.63443786e-01 4.09516753e-01 2.94551961e-01 2.18303072e+02] [-3.23516631e-01 1.53131975e-03 9.46221245e-01 3.37007440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.94, Y:218.33, Z:33.69 [[ 3.87791019e-01 -9.11951777e-01 1.34022690e-01 4.50938814e+02] [ 8.62870229e-01 4.10295679e-01 2.95148139e-01 2.18327334e+02] [-3.24149801e-01 1.18839088e-03 9.46005018e-01 3.36912339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.94, Y:218.35, Z:33.67 [[ 3.87746776e-01 -9.09436676e-01 1.50257677e-01 4.50938234e+02] [ 8.61439428e-01 4.15526049e-01 2.91993518e-01 2.18351584e+02] [-3.27985593e-01 1.62183423e-02 9.44543496e-01 3.36708018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.97, Y:218.38, Z:33.68 [[ 3.91950987e-01 -9.12438507e-01 1.17602699e-01 4.50968329e+02] [ 8.60825118e-01 4.08837743e-01 3.03037649e-01 2.18375585e+02] [-3.24583642e-01 -1.75405486e-02 9.45694342e-01 3.36803383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.97, Y:218.40, Z:33.66 [[ 3.92788704e-01 -9.09807870e-01 1.34039825e-01 4.50970052e+02] [ 8.60414685e-01 4.15028882e-01 2.95698490e-01 2.18399708e+02] [-3.24659212e-01 -8.17192345e-04 9.45830708e-01 3.36646404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.98, Y:218.43, Z:33.65 [[ 3.94591631e-01 -9.08771706e-01 1.35762411e-01 4.50980036e+02] [ 8.59865555e-01 4.17293082e-01 2.94104932e-01 2.18425312e+02] [-3.23926956e-01 6.86076140e-04 9.46081845e-01 3.36541734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.99, Y:218.45, Z:33.65 [[ 3.95496161e-01 -9.08934209e-01 1.31990114e-01 4.50992648e+02] [ 8.59334676e-01 4.16923043e-01 2.96174087e-01 2.18449547e+02] [-3.24232480e-01 -3.71203291e-03 9.45970148e-01 3.36465282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:451.00, Y:218.47, Z:33.64 [[ 3.97039363e-01 -9.08057095e-01 1.33386865e-01 4.51002582e+02] [ 8.58896233e-01 4.18839197e-01 2.94738848e-01 2.18474128e+02] [-3.23507349e-01 -2.45744911e-03 9.46222466e-01 3.36357200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.01, Y:218.50, Z:33.63 [[ 3.97367222e-01 -9.07904472e-01 1.33449471e-01 4.51012957e+02] [ 8.58609803e-01 4.19168542e-01 2.95104964e-01 2.18498210e+02] [-3.23864937e-01 -2.68401538e-03 9.46099519e-01 3.36267863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.02, Y:218.52, Z:33.62 [[ 3.97279286e-01 -9.07909886e-01 1.33674258e-01 4.51024494e+02] [ 8.58365650e-01 4.19156145e-01 2.95831941e-01 2.18522269e+02] [-3.24619130e-01 -2.78651115e-03 9.45840714e-01 3.36174173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.04, Y:218.55, Z:33.61 [[ 3.96377357e-01 -9.08326283e-01 1.33522866e-01 4.51035645e+02] [ 8.58840265e-01 4.18254566e-01 2.95730480e-01 2.18545382e+02] [-3.24466316e-01 -2.54605219e-03 9.45893825e-01 3.36089699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.05, Y:218.57, Z:33.60 [[ 3.95656971e-01 -9.08662496e-01 1.33371772e-01 4.51046382e+02] [ 8.59267892e-01 4.17524941e-01 2.95519229e-01 2.18569350e+02] [-3.24213282e-01 -2.32216146e-03 9.45981160e-01 3.35995076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.06, Y:218.59, Z:33.59 [[ 3.94390409e-01 -9.09244711e-01 1.33155029e-01 4.51056618e+02] [ 8.59968473e-01 4.16257473e-01 2.95269270e-01 2.18592598e+02] [-3.23898797e-01 -1.94224120e-03 9.46089740e-01 3.35905580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:451.07, Y:218.62, Z:33.58 [[ 3.93606938e-01 -9.09563094e-01 1.33298748e-01 4.51067614e+02] [ 8.60123844e-01 4.15562067e-01 2.95795778e-01 2.18616226e+02] [-3.24438826e-01 -1.77383893e-03 9.45905017e-01 3.35810042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.08, Y:218.64, Z:33.57 [[ 3.91930848e-01 -9.10310150e-01 1.33137678e-01 4.51079581e+02] [ 8.60957712e-01 4.13924942e-01 2.95665285e-01 2.18640036e+02] [-3.24256116e-01 -1.25443505e-03 9.45968497e-01 3.35725058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.09, Y:218.66, Z:33.56 [[ 3.91695068e-01 -9.10424330e-01 1.33050789e-01 4.51090621e+02] [ 8.61065020e-01 4.13673724e-01 2.95704382e-01 2.18664622e+02] [-3.24256079e-01 -1.26056805e-03 9.45968502e-01 3.35629631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.10, Y:218.69, Z:33.55 [[ 3.90843303e-01 -9.10826919e-01 1.32799988e-01 4.51101622e+02] [ 8.61607751e-01 4.12787216e-01 2.95362148e-01 2.18688311e+02] [-3.23841932e-01 -1.01881892e-03 9.46110652e-01 3.35537586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.11, Y:218.71, Z:33.54 [[ 3.89729534e-01 -9.11386260e-01 1.32234546e-01 4.51112727e+02] [ 8.62549268e-01 4.11551526e-01 2.94336717e-01 2.18712511e+02] [-3.22675769e-01 -6.52900700e-04 9.46509335e-01 3.35442404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.12, Y:218.74, Z:33.53 [[ 3.89220093e-01 -9.11636171e-01 1.32012161e-01 4.51123329e+02] [ 8.62902577e-01 4.10997802e-01 2.94074734e-01 2.18736494e+02] [-3.22345873e-01 -5.46161542e-04 9.46621804e-01 3.35345895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.13, Y:218.76, Z:33.52 [[ 3.88035869e-01 -9.12197686e-01 1.31618939e-01 4.51134819e+02] [ 8.63487282e-01 4.09750119e-01 2.94099564e-01 2.18761515e+02] [-3.22207818e-01 -4.69900077e-04 9.46668845e-01 3.35249492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:451.15, Y:218.78, Z:33.52 [[ 3.87300834e-01 -9.12396992e-01 1.32400128e-01 4.51145255e+02] [ 8.64140599e-01 4.09305151e-01 2.92797402e-01 2.18784573e+02] [-3.21339523e-01 1.01164769e-03 9.46963509e-01 3.35159226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9803857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:451.16, Y:218.81, Z:33.51 [[ 3.86596927e-01 -9.12850399e-01 1.31327702e-01 4.51157338e+02] [ 8.64525797e-01 4.08294127e-01 2.93071752e-01 2.18808557e+02] [-3.21150995e-01 2.35546991e-04 9.47027974e-01 3.35071789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.17, Y:218.83, Z:33.50 [[ 3.85604840e-01 -9.13284785e-01 1.31224270e-01 4.51168744e+02] [ 8.64983303e-01 4.07321318e-01 2.93075469e-01 2.18831930e+02] [-3.21111809e-01 4.95483039e-04 9.47041161e-01 3.34991558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.18, Y:218.86, Z:33.49 [[ 3.85293509e-01 -9.13377414e-01 1.31493774e-01 4.51179439e+02] [ 8.64824280e-01 4.07113551e-01 2.93832473e-01 2.18856260e+02] [-3.21912841e-01 5.07263512e-04 9.46769172e-01 3.34897121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.070385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:451.19, Y:218.88, Z:33.48 [[ 3.84916803e-01 -9.13494972e-01 1.31780087e-01 4.51189875e+02] [ 8.64652305e-01 4.06849701e-01 2.94702753e-01 2.18880674e+02] [-3.22824172e-01 5.07914653e-04 9.46458819e-01 3.34800712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1003857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:451.20, Y:218.90, Z:33.47 [[ 3.84941074e-01 -9.13424393e-01 1.32197759e-01 4.51199850e+02] [ 8.64178867e-01 4.07008299e-01 2.95870125e-01 2.18904146e+02] [-3.24060574e-01 3.49945526e-04 9.46036269e-01 3.34720614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.130385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:451.21, Y:218.93, Z:33.46 [[ 3.85008615e-01 -9.13345914e-01 1.32542852e-01 4.51210947e+02] [ 8.63777765e-01 4.07184471e-01 2.96797539e-01 2.18928863e+02] [-3.25048211e-01 2.17959116e-04 9.45697422e-01 3.34629289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.160385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:451.22, Y:218.95, Z:33.45 [[ 3.85165311e-01 -9.13284712e-01 1.32509313e-01 4.51221234e+02] [ 8.63659709e-01 4.07321777e-01 2.96952652e-01 2.18952727e+02] [-3.25176246e-01 6.70943626e-05 9.45653427e-01 3.34541453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.190385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:451.23, Y:218.98, Z:33.44 [[ 3.85805017e-01 -9.13003441e-01 1.32586597e-01 4.51230685e+02] [ 8.63232092e-01 4.07951774e-01 2.97330970e-01 2.18976945e+02] [-3.25553136e-01 -2.58774293e-04 9.45523711e-01 3.34444701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2203857229999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:451.24, Y:219.00, Z:33.43 [[ 3.86731244e-01 -9.12649934e-01 1.32321743e-01 4.51240575e+02] [ 8.62985275e-01 4.08741572e-01 2.96962529e-01 2.19001537e+02] [-3.25108230e-01 -6.52972223e-04 9.45676590e-01 3.34349840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.250385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:451.25, Y:219.03, Z:33.43 [[ 3.86799051e-01 -9.12678290e-01 1.31927383e-01 4.51250956e+02] [ 8.63242968e-01 4.08678134e-01 2.96300121e-01 2.19025948e+02] [-3.24342524e-01 -7.23219820e-04 9.45939429e-01 3.34259777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.280385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:451.26, Y:219.05, Z:33.42 [[ 3.87067974e-01 -9.12600084e-01 1.31679424e-01 4.51261119e+02] [ 8.63270576e-01 4.08852414e-01 2.95979081e-01 2.19049569e+02] [-3.23947985e-01 -8.89051011e-04 9.46074475e-01 3.34166100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.310385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:451.27, Y:219.07, Z:33.41 [[ 3.86847184e-01 -9.12708193e-01 1.31578919e-01 4.51271639e+02] [ 8.63408872e-01 4.08611071e-01 2.95908961e-01 2.19074213e+02] [-3.23843135e-01 -8.65142042e-04 9.46110393e-01 3.34074096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3403857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:451.28, Y:219.10, Z:33.40 [[ 3.87525521e-01 -9.11263970e-01 1.39362651e-01 4.51276630e+02] [ 8.63941932e-01 4.11744295e-01 2.89949952e-01 2.19097164e+02] [-3.21602721e-01 8.03823223e-03 9.46840576e-01 3.33952751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.370385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:451.30, Y:219.12, Z:33.39 [[ 3.85225303e-01 -9.14752202e-01 1.21777978e-01 4.51297771e+02] [ 8.63909133e-01 4.03873288e-01 3.00910912e-01 2.19121972e+02] [-3.24441792e-01 -1.07133896e-02 9.45844991e-01 3.33938739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.400385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:451.30, Y:219.15, Z:33.38 [[ 3.84477292e-01 -9.13688887e-01 1.31718755e-01 4.51303618e+02] [ 8.64146514e-01 4.06414246e-01 2.96779824e-01 2.19147263e+02] [-3.24696805e-01 -2.80800463e-04 9.45818115e-01 3.33806654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.430385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:451.31, Y:219.17, Z:33.37 [[ 3.83268497e-01 -9.14173680e-01 1.31877756e-01 4.51314224e+02] [ 8.64459480e-01 4.05322689e-01 2.97360599e-01 2.19171688e+02] [-3.25292280e-01 3.40264786e-05 9.45613521e-01 3.33714649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.460385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:451.32, Y:219.20, Z:33.36 [[ 3.81874626e-01 -9.14722141e-01 1.32118036e-01 4.51323216e+02] [ 8.64771209e-01 4.04083216e-01 2.98140087e-01 2.19195201e+02] [-3.26102019e-01 3.99739648e-04 9.45334498e-01 3.33624336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.490385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:451.33, Y:219.22, Z:33.35 [[ 3.81222940e-01 -9.14965796e-01 1.32312745e-01 4.51333620e+02] [ 8.64833525e-01 4.03531021e-01 2.98706697e-01 2.19219943e+02] [-3.26698708e-01 5.54652782e-04 9.45128376e-01 3.33527615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:451.34, Y:219.24, Z:33.34 [[ 3.79844648e-01 -9.15535143e-01 1.32338371e-01 4.51343555e+02] [ 8.65335390e-01 4.02236883e-01 2.98998582e-01 2.19244586e+02] [-3.26975084e-01 9.44064561e-04 9.45032488e-01 3.33438380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.550385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:451.35, Y:219.27, Z:33.33 [[ 3.79134831e-01 -9.15829532e-01 1.32336879e-01 4.51353207e+02] [ 8.65565577e-01 4.01565770e-01 2.99234298e-01 2.19267640e+02] [-3.27189567e-01 1.09610178e-03 9.44958087e-01 3.33348198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.580385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:451.36, Y:219.29, Z:33.33 [[ 3.77582153e-01 -9.16531327e-01 1.31916811e-01 4.51362061e+02] [ 8.66592443e-01 3.99959533e-01 2.98412315e-01 2.19291787e+02] [-3.26265621e-01 1.64294734e-03 9.45276703e-01 3.33254796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.610385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:451.37, Y:219.32, Z:33.31 [[ 3.75776879e-01 -9.17349667e-01 1.31382363e-01 4.51371434e+02] [ 8.67803847e-01 3.98076003e-01 2.97408775e-01 2.19316315e+02] [-3.25128007e-01 2.25477861e-03 9.45667328e-01 3.33142224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.38, Y:219.34, Z:33.31 [[ 3.74941618e-01 -9.17762830e-01 1.30882281e-01 4.51382222e+02] [ 8.68445035e-01 3.97121819e-01 2.96812200e-01 2.19341545e+02] [-3.24379414e-01 2.37682056e-03 9.45924070e-01 3.33055489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.670385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:451.39, Y:219.37, Z:33.30 [[ 3.75358926e-01 -9.17350896e-01 1.32563228e-01 4.51389347e+02] [ 8.68421077e-01 3.98057873e-01 2.95626052e-01 2.19365345e+02] [-3.23960661e-01 4.15482391e-03 9.46061429e-01 3.32958941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:451.40, Y:219.39, Z:33.29 [[ 3.75956773e-01 -9.17405157e-01 1.30477134e-01 4.51398797e+02] [ 8.68336007e-01 3.97949433e-01 2.96021668e-01 2.19389720e+02] [-3.23495106e-01 2.00664247e-03 9.46227716e-01 3.32872344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7303857229999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:451.41, Y:219.41, Z:33.28 [[ 3.76205896e-01 -9.17312689e-01 1.30409183e-01 4.51408344e+02] [ 8.68237108e-01 3.98163248e-01 2.96024245e-01 2.19414839e+02] [-3.23470939e-01 1.86002562e-03 9.46236277e-01 3.32777061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.760385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:451.42, Y:219.44, Z:33.27 [[ 3.77586942e-01 -9.16739351e-01 1.30449471e-01 4.51416662e+02] [ 8.67519821e-01 3.99483853e-01 2.96347788e-01 2.19439320e+02] [-3.23786136e-01 1.27044666e-03 9.46129444e-01 3.32690171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:451.43, Y:219.46, Z:33.26 [[ 3.78018948e-01 -9.16534150e-01 1.30640069e-01 4.51426293e+02] [ 8.67083582e-01 3.99955167e-01 2.96988093e-01 2.19464084e+02] [-3.24449899e-01 1.00873244e-03 9.45902345e-01 3.32596106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.820385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:451.43, Y:219.49, Z:33.25 [[ 3.79248744e-01 -9.15992648e-01 1.30873449e-01 4.51434089e+02] [ 8.66245969e-01 4.01194806e-01 2.97759380e-01 2.19488421e+02] [-3.25251151e-01 4.43726903e-04 9.45627565e-01 3.32509402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8503857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:451.43, Y:219.51, Z:33.23 [[ 3.75667441e-01 -9.15601415e-01 1.43345814e-01 4.51430813e+02] [ 8.66141038e-01 4.01891593e-01 2.97124301e-01 2.19510834e+02] [-3.29656908e-01 1.25377669e-02 9.44017546e-01 3.32328749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:451.46, Y:219.54, Z:33.24 [[ 3.80592880e-01 -9.17380912e-01 1.16453094e-01 4.51459041e+02] [ 8.65209632e-01 3.97710091e-01 3.05350579e-01 2.19537499e+02] [-3.26437363e-01 -1.54579181e-02 9.45092430e-01 3.32394790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.46, Y:219.56, Z:33.22 [[ 3.81150885e-01 -9.15137432e-01 1.31329673e-01 4.51460356e+02] [ 8.64865254e-01 4.03141775e-01 2.99140105e-01 2.19562248e+02] [-3.26698785e-01 -4.35044242e-04 9.45128412e-01 3.32249672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:451.47, Y:219.59, Z:33.22 [[ 3.82531353e-01 -9.14552946e-01 1.31387491e-01 4.51467572e+02] [ 8.64155756e-01 4.04464986e-01 2.99404250e-01 2.19586707e+02] [-3.26962679e-01 -9.92256280e-04 9.45036731e-01 3.32158295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.48, Y:219.61, Z:33.21 [[ 3.84282552e-01 -9.13939991e-01 1.30539698e-01 4.51476386e+02] [ 8.63464464e-01 4.05842312e-01 2.99534867e-01 2.19610152e+02] [-3.26735427e-01 -2.38963284e-03 9.45112824e-01 3.32072138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:451.49, Y:219.63, Z:33.20 [[ 3.85571752e-01 -9.13919380e-01 1.26829775e-01 4.51485458e+02] [ 8.62760211e-01 4.05837945e-01 3.01563228e-01 2.19634688e+02] [-3.27076814e-01 -6.85057923e-03 9.44972924e-01 3.31990193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.49, Y:219.66, Z:33.19 [[ 3.84095660e-01 -9.13791597e-01 1.32119040e-01 4.51492307e+02] [ 8.63894834e-01 4.06183273e-01 2.97826904e-01 2.19662283e+02] [-3.25816266e-01 -2.57065240e-04 9.45433073e-01 3.31867237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.50, Y:219.69, Z:33.18 [[ 3.83734979e-01 -9.14140762e-01 1.30744533e-01 4.51500870e+02] [ 8.63988414e-01 4.05393636e-01 2.98630241e-01 2.19687335e+02] [-3.25993077e-01 -1.63310787e-03 9.45370746e-01 3.31778279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:451.51, Y:219.71, Z:33.17 [[ 3.83088431e-01 -9.14408101e-01 1.30771096e-01 4.51508335e+02] [ 8.64166515e-01 4.04790745e-01 2.98932582e-01 2.19711774e+02] [-3.26281304e-01 -1.50961120e-03 9.45271512e-01 3.31686236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.120385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:451.52, Y:219.74, Z:33.16 [[ 3.81255119e-01 -9.15172699e-01 1.30780221e-01 4.51516468e+02] [ 8.64922887e-01 4.03060914e-01 2.99082428e-01 2.19737243e+02] [-3.26424468e-01 -9.11900268e-04 9.45222849e-01 3.31590889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.150385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:451.53, Y:219.76, Z:33.15 [[ 3.80012202e-01 -9.15689719e-01 1.30778688e-01 4.51525248e+02] [ 8.65386095e-01 4.01885569e-01 2.99324065e-01 2.19760951e+02] [-3.26646036e-01 -5.72738669e-04 9.45146570e-01 3.31501166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.53, Y:219.79, Z:33.14 [[ 3.78472566e-01 -9.16323880e-01 1.30801620e-01 4.51534632e+02] [ 8.65993582e-01 4.00437936e-01 2.99507222e-01 2.19786087e+02] [-3.26823550e-01 -8.19030644e-05 9.45085372e-01 3.31405580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:451.54, Y:219.81, Z:33.13 [[ 3.75089568e-01 -9.17713353e-01 1.30805264e-01 4.51542839e+02] [ 8.67376043e-01 3.97241944e-01 2.99762637e-01 2.19810179e+02] [-3.27057512e-01 1.01951479e-03 9.45003886e-01 3.31317342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.55, Y:219.83, Z:33.12 [[ 3.71065182e-01 -9.19392935e-01 1.30488547e-01 4.51551682e+02] [ 8.69360381e-01 3.93332840e-01 2.99168524e-01 2.19834976e+02] [-3.26378859e-01 2.43055028e-03 9.45235914e-01 3.31223838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.56, Y:219.86, Z:33.12 [[ 3.66678257e-01 -9.22099787e-01 1.23608411e-01 4.51561019e+02] [ 8.71366483e-01 3.86941284e-01 3.01656916e-01 2.19857218e+02] [-3.25986976e-01 -2.90280582e-03 9.45369804e-01 3.31166661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.57, Y:219.88, Z:33.10 [[ 3.67586463e-01 -9.19645566e-01 1.38319286e-01 4.51566231e+02] [ 8.71479814e-01 3.92551059e-01 2.93984011e-01 2.19883264e+02] [-3.24658475e-01 1.24779224e-02 9.45749003e-01 3.31007115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.58, Y:219.91, Z:33.10 [[ 3.61584992e-01 -9.24273065e-01 1.22374817e-01 4.51578487e+02] [ 8.73471153e-01 3.81724521e-01 3.02216040e-01 2.19905765e+02] [-3.26043614e-01 -2.38591219e-03 9.45351717e-01 3.30965531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.360385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:451.58, Y:219.93, Z:33.08 [[ 3.61949462e-01 -9.22529556e-01 1.33909690e-01 4.51582837e+02] [ 8.74217892e-01 3.85787335e-01 2.94807071e-01 2.19931205e+02] [-3.23628899e-01 1.03609868e-02 9.46127363e-01 3.30807498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.60, Y:219.96, Z:33.08 [[ 3.60519351e-01 -9.24558852e-01 1.23356096e-01 4.51598327e+02] [ 8.74251153e-01 3.81038789e-01 3.00822808e-01 2.19956228e+02] [-3.25131848e-01 -6.08234900e-04 9.45668500e-01 3.30771375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.60, Y:219.98, Z:33.06 [[ 3.57122652e-01 -9.24600571e-01 1.32579015e-01 4.51597893e+02] [ 8.75086653e-01 3.80823017e-01 2.98658970e-01 2.19979812e+02] [-3.26629394e-01 9.36024294e-03 9.45106145e-01 3.30641422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.61, Y:220.00, Z:33.06 [[ 3.56714631e-01 -9.25364143e-01 1.28280453e-01 4.51609116e+02] [ 8.75016130e-01 3.79048565e-01 3.01112866e-01 2.20003344e+02] [-3.27263571e-01 4.83610066e-03 9.44920720e-01 3.30563893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4803857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.62, Y:220.03, Z:33.05 [[ 3.56154741e-01 -9.25757483e-01 1.26991664e-01 4.51618119e+02] [ 8.75108791e-01 3.78101048e-01 3.02033445e-01 2.20029645e+02] [-3.27625403e-01 3.56087847e-03 9.44800993e-01 3.30469812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.510385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:451.63, Y:220.05, Z:33.04 [[ 3.56267900e-01 -9.25841644e-01 1.26057267e-01 4.51628269e+02] [ 8.75190332e-01 3.77901947e-01 3.02046355e-01 2.20054723e+02] [-3.27284380e-01 2.71468106e-03 9.44921989e-01 3.30372766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.540385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:451.64, Y:220.08, Z:33.03 [[ 3.58545612e-01 -9.25066817e-01 1.25285387e-01 4.51640155e+02] [ 8.74641116e-01 3.79801172e-01 3.01254026e-01 2.20081389e+02] [-3.26263640e-01 1.56644147e-03 9.45277517e-01 3.30285439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.65, Y:220.11, Z:33.02 [[ 3.59105626e-01 -9.24234531e-01 1.29744675e-01 4.51647222e+02] [ 8.74532018e-01 3.81777014e-01 2.99065312e-01 2.20106473e+02] [-3.25940023e-01 6.06983588e-03 9.45370963e-01 3.30190482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6003857229999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:451.65, Y:220.13, Z:33.01 [[ 3.56774433e-01 -9.24246886e-01 1.35940053e-01 4.51648230e+02] [ 8.74389680e-01 3.81608584e-01 2.99695805e-01 2.20129695e+02] [-3.28868806e-01 1.19407791e-02 9.44300125e-01 3.30058749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.67, Y:220.16, Z:33.00 [[ 3.60097626e-01 -9.24885827e-01 1.22130696e-01 4.51667767e+02] [ 8.73467002e-01 3.80234408e-01 3.04100626e-01 2.20155798e+02] [-3.27696652e-01 -2.82878018e-03 9.44778758e-01 3.30040645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.67, Y:220.18, Z:32.99 [[ 3.58456533e-01 -9.23666226e-01 1.35460758e-01 4.51666305e+02] [ 8.73388466e-01 3.83054189e-01 3.00769142e-01 2.20179382e+02] [-3.29699109e-01 1.04971997e-02 9.44027704e-01 3.29877723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.690385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.68, Y:220.20, Z:32.98 [[ 3.60481130e-01 -9.23403530e-01 1.31830486e-01 4.51676090e+02] [ 8.72093582e-01 3.83790670e-01 3.03574547e-01 2.20203460e+02] [-3.30917119e-01 5.53562465e-03 9.43643586e-01 3.29785427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7203857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.69, Y:220.23, Z:32.97 [[ 3.60334608e-01 -9.23803822e-01 1.29404287e-01 4.51688027e+02] [ 8.72173722e-01 3.82853356e-01 3.04526365e-01 2.20227970e+02] [-3.30865485e-01 3.13163081e-03 9.43672731e-01 3.29698308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.70, Y:220.25, Z:32.97 [[ 3.64210857e-01 -9.23106236e-01 1.23390960e-01 4.51703086e+02] [ 8.71506817e-01 3.84530855e-01 3.04322015e-01 2.20252095e+02] [-3.28369181e-01 -3.30131935e-03 9.44543690e-01 3.29657556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.71, Y:220.28, Z:32.95 [[ 3.63137123e-01 -9.22177210e-01 1.33118836e-01 4.51706051e+02] [ 8.71361396e-01 3.86715633e-01 3.01960821e-01 2.20278575e+02] [-3.29940522e-01 6.34143147e-03 9.43980423e-01 3.29506937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.72, Y:220.30, Z:32.94 [[ 3.63903675e-01 -9.22316431e-01 1.30025058e-01 4.51717831e+02] [ 8.70967611e-01 3.86425248e-01 3.03464905e-01 2.20302918e+02] [-3.30135634e-01 2.81562022e-03 9.43929307e-01 3.29423154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.73, Y:220.33, Z:32.94 [[ 3.67282801e-01 -9.21839845e-01 1.23752354e-01 4.51732442e+02] [ 8.70254602e-01 3.87550535e-01 3.04074844e-01 2.20328699e+02] [-3.28268598e-01 -3.98540482e-03 9.44576013e-01 3.29380607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.870385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.74, Y:220.35, Z:32.93 [[ 3.68273482e-01 -9.20553598e-01 1.30214119e-01 4.51739165e+02] [ 8.69949068e-01 3.90608767e-01 3.01020615e-01 2.20354001e+02] [-3.27968387e-01 2.42174120e-03 9.44685595e-01 3.29266380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.74, Y:220.38, Z:32.91 [[ 3.69187951e-01 -9.19009968e-01 1.38278467e-01 4.51742930e+02] [ 8.68803655e-01 3.94120458e-01 2.99748685e-01 2.20378199e+02] [-3.29970403e-01 9.47323491e-03 9.43943744e-01 3.29100433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.930385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.76, Y:220.40, Z:32.91 [[ 3.71911004e-01 -9.20254830e-01 1.21709708e-01 4.51762470e+02] [ 8.68729624e-01 3.91253120e-01 3.03693658e-01 2.20402013e+02] [-3.27094858e-01 -7.21418407e-03 9.44963973e-01 3.29097600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.77, Y:220.43, Z:32.90 [[ 3.74122559e-01 -9.18292058e-01 1.29506785e-01 4.51769099e+02] [ 8.67923653e-01 3.95903602e-01 2.99948113e-01 2.20426578e+02] [-3.26712172e-01 1.84646176e-04 9.45123866e-01 3.28973167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.990385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.77, Y:220.45, Z:32.88 [[ 3.77002479e-01 -9.15894718e-01 1.37862239e-01 4.51774316e+02] [ 8.66168515e-01 4.01354845e-01 2.97769026e-01 2.20449596e+02] [-3.28056756e-01 7.15226955e-03 9.44630939e-01 3.28821241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.020385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:451.79, Y:220.47, Z:32.88 [[ 3.79588715e-01 -9.17018479e-01 1.22431683e-01 4.51792201e+02] [ 8.65966944e-01 3.98753132e-01 3.01823114e-01 2.20472042e+02] [-3.25597390e-01 -8.54685733e-03 9.45469878e-01 3.28822360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.80, Y:220.50, Z:32.87 [[ 3.81702030e-01 -9.15626222e-01 1.26222747e-01 4.51802120e+02] [ 8.64821798e-01 4.01990784e-01 3.00810019e-01 2.20497390e+02] [-3.26169922e-01 -5.65961133e-03 9.45294214e-01 3.28719387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.080385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.81, Y:220.52, Z:32.86 [[ 3.83236656e-01 -9.15222668e-01 1.24487482e-01 4.51813835e+02] [ 8.63705509e-01 4.02857900e-01 3.02850301e-01 2.20521347e+02] [-3.27326227e-01 -8.54281276e-03 9.44872776e-01 3.28637158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.110385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:451.82, Y:220.55, Z:32.85 [[ 3.83622523e-01 -9.14417231e-01 1.29131280e-01 4.51822918e+02] [ 8.63740085e-01 4.04756648e-01 3.00208465e-01 2.20546625e+02] [-3.26782537e-01 -3.63086615e-03 9.45092583e-01 3.28504249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.140385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:451.84, Y:220.57, Z:32.84 [[ 3.87380519e-01 -9.13166912e-01 1.26738015e-01 4.51835715e+02] [ 8.62122112e-01 4.07518904e-01 3.01120919e-01 2.20568078e+02] [-3.26621796e-01 -7.38473255e-03 9.45126271e-01 3.28432859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.170385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.85, Y:220.59, Z:32.83 [[ 3.87780780e-01 -9.12606046e-01 1.29523245e-01 4.51846700e+02] [ 8.61972795e-01 4.08814112e-01 2.99789798e-01 2.20594708e+02] [-3.26540913e-01 -4.60720813e-03 9.45171840e-01 3.28344093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.86, Y:220.62, Z:32.83 [[ 3.90127321e-01 -9.11711201e-01 1.28776396e-01 4.51858693e+02] [ 8.60996946e-01 4.10786078e-01 2.99898411e-01 2.20618580e+02] [-3.26320291e-01 -6.12247963e-03 9.45239432e-01 3.28251519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2303857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.87, Y:220.64, Z:32.82 [[ 3.92632146e-01 -9.10371739e-01 1.30626549e-01 4.51869443e+02] [ 8.60389000e-01 4.13767632e-01 2.97535067e-01 2.20641880e+02] [-3.24916554e-01 -4.43218616e-03 9.45732303e-01 3.28153889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.87, Y:220.67, Z:32.79 [[ 3.90753703e-01 -9.08944211e-01 1.45368376e-01 4.51874380e+02] [ 8.59065685e-01 4.16825058e-01 2.97090928e-01 2.20667057e+02] [-3.30632261e-01 8.79160328e-03 9.43718717e-01 3.27940166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.90, Y:220.69, Z:32.79 [[ 3.91779810e-01 -9.11297591e-01 1.26669968e-01 4.51897908e+02] [ 8.59546449e-01 4.11632055e-01 3.02884390e-01 2.20689993e+02] [-3.28159234e-01 -9.78526802e-03 9.44571737e-01 3.27926334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.320385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.91, Y:220.71, Z:32.79 [[ 3.92288610e-01 -9.12761619e-01 1.13911693e-01 4.51914905e+02] [ 8.60978766e-01 4.07947226e-01 3.03800307e-01 2.20713462e+02] [-3.23767219e-01 -2.11018509e-02 9.45901422e-01 3.27934706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.92, Y:220.74, Z:32.78 [[ 3.90870425e-01 -9.11547101e-01 1.27680045e-01 4.51921097e+02] [ 8.61519949e-01 4.11145234e-01 2.97897591e-01 2.20737655e+02] [-3.24042728e-01 -6.44045267e-03 9.46020524e-01 3.27793369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.93, Y:220.76, Z:32.76 [[ 3.89188853e-01 -9.10179142e-01 1.41795510e-01 4.51928987e+02] [ 8.61301764e-01 4.14145648e-01 2.94351242e-01 2.20761838e+02] [-3.26636354e-01 7.57050061e-03 9.45119770e-01 3.27601458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.410385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.95, Y:220.79, Z:32.76 [[ 3.88040866e-01 -9.13336462e-01 1.23453611e-01 4.51952548e+02] [ 8.62663425e-01 4.07083547e-01 3.00157962e-01 2.20786996e+02] [-3.24401144e-01 -9.97464039e-03 9.45867012e-01 3.27586098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.440385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:451.96, Y:220.81, Z:32.74 [[ 3.85104756e-01 -9.12549590e-01 1.37650186e-01 4.51956375e+02] [ 8.63316487e-01 4.08936126e-01 2.95729416e-01 2.20811068e+02] [-3.26157891e-01 4.94887052e-03 9.45302353e-01 3.27422900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4703857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:451.98, Y:220.83, Z:32.74 [[ 3.83667086e-01 -9.15156368e-01 1.23646227e-01 4.51978727e+02] [ 8.64529468e-01 4.03013308e-01 3.00281654e-01 2.20833311e+02] [-3.24635743e-01 -8.31238078e-03 9.45802590e-01 3.27407496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.99, Y:220.86, Z:32.73 [[ 3.81543466e-01 -9.15186567e-01 1.29838865e-01 4.51987844e+02] [ 8.65313395e-01 4.03028204e-01 2.97994958e-01 2.20858938e+02] [-3.25049707e-01 -1.34671973e-03 9.45695974e-01 3.27286075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.00, Y:220.88, Z:32.72 [[ 3.79701018e-01 -9.15873861e-01 1.30392516e-01 4.52001674e+02] [ 8.66030592e-01 4.01466084e-01 2.98020130e-01 2.20882618e+02] [-3.25297019e-01 -2.34638983e-04 9.45611862e-01 3.27196345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.01, Y:220.90, Z:32.72 [[ 3.78391518e-01 -9.17565816e-01 1.22036195e-01 4.52014157e+02] [ 8.67108824e-01 3.97508029e-01 3.00182701e-01 2.20904355e+02] [-3.23947752e-01 -7.76792639e-03 9.46043082e-01 3.27174441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.02, Y:220.93, Z:32.71 [[ 3.77588176e-01 -9.17266478e-01 1.26686137e-01 4.52024837e+02] [ 8.67596111e-01 3.98266074e-01 2.97760178e-01 2.20928122e+02] [-3.23580220e-01 -2.51832299e-03 9.46197389e-01 3.27068040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.03, Y:220.95, Z:32.68 [[ 3.76099368e-01 -9.14137832e-01 1.51331724e-01 4.52026592e+02] [ 8.66147757e-01 4.04866288e-01 2.93038140e-01 2.20951999e+02] [-3.29146363e-01 2.08641742e-02 9.44048388e-01 3.26802019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.05, Y:220.97, Z:32.68 [[ 3.75792034e-01 -9.17425541e-01 1.30807962e-01 4.52048695e+02] [ 8.66340993e-01 3.97907480e-01 3.01865733e-01 2.20974970e+02] [-3.28988800e-01 -1.14438084e-04 9.44333816e-01 3.26779719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.07, Y:221.00, Z:32.69 [[ 3.77500859e-01 -9.20059084e-01 1.04806404e-01 4.52073400e+02] [ 8.67521247e-01 3.90971242e-01 3.07487194e-01 2.20997805e+02] [-3.23882677e-01 -2.51548976e-02 9.45762784e-01 3.26869631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.07, Y:221.02, Z:32.67 [[ 3.77771875e-01 -9.17234956e-01 1.26366319e-01 4.52074079e+02] [ 8.67523015e-01 3.98336037e-01 2.97879540e-01 2.21021994e+02] [-3.23561786e-01 -2.90482242e-03 9.46202586e-01 3.26700091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.08, Y:221.05, Z:32.64 [[ 3.76832654e-01 -9.13952821e-01 1.50623343e-01 4.52076117e+02] [ 8.66279001e-01 4.05305814e-01 2.92040905e-01 2.21046292e+02] [-3.27960126e-01 2.04312897e-02 9.44470602e-01 3.26436382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.11, Y:221.07, Z:32.66 [[ 3.77500356e-01 -9.20008962e-01 1.05247287e-01 4.52109059e+02] [ 8.67868352e-01 3.91144341e-01 3.06285208e-01 2.21067499e+02] [-3.22952017e-01 -2.42819857e-02 9.46103789e-01 3.26592661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.800385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:452.11, Y:221.09, Z:32.64 [[ 3.77639874e-01 -9.17343222e-01 1.25974361e-01 4.52111465e+02] [ 8.67777931e-01 3.98085792e-01 2.97471283e-01 2.21091069e+02] [-3.23031869e-01 -3.01924757e-03 9.46383271e-01 3.26421093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.830385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:452.12, Y:221.11, Z:32.63 [[ 3.77246810e-01 -9.17514158e-01 1.25907167e-01 4.52123157e+02] [ 8.67968186e-01 3.97692356e-01 2.97442461e-01 2.21114693e+02] [-3.22979987e-01 -2.92580430e-03 9.46401272e-01 3.26331080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.14, Y:221.14, Z:32.62 [[ 3.77010235e-01 -9.17609310e-01 1.25922345e-01 4.52137138e+02] [ 8.67972243e-01 3.97472595e-01 2.97724238e-01 2.21138042e+02] [-3.23245213e-01 -2.94798514e-03 9.46310647e-01 3.26238829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.890385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:452.15, Y:221.16, Z:32.61 [[ 3.76672356e-01 -9.17761964e-01 1.25820956e-01 4.52150854e+02] [ 8.68131274e-01 3.97120212e-01 2.97730799e-01 2.21161289e+02] [-3.23212047e-01 -2.91785442e-03 9.46322069e-01 3.26146490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.16, Y:221.18, Z:32.61 [[ 3.76283290e-01 -9.17907573e-01 1.25922883e-01 4.52162248e+02] [ 8.68118025e-01 3.96783677e-01 2.98217719e-01 2.21184759e+02] [-3.23700448e-01 -2.89841989e-03 9.46155177e-01 3.26052005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.17, Y:221.21, Z:32.60 [[ 3.76190349e-01 -9.17932897e-01 1.26015944e-01 4.52174745e+02] [ 8.67984682e-01 3.96724468e-01 2.98684264e-01 2.21207709e+02] [-3.24165720e-01 -2.98222827e-03 9.45995609e-01 3.25958986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.19, Y:221.23, Z:32.59 [[ 3.76176234e-01 -9.17926125e-01 1.26107377e-01 4.52186522e+02] [ 8.67818843e-01 3.96739286e-01 2.99146110e-01 2.21231328e+02] [-3.24625781e-01 -3.09329926e-03 9.45837478e-01 3.25868251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.20, Y:221.25, Z:32.58 [[ 3.76297610e-01 -9.17879976e-01 1.26081161e-01 4.52198510e+02] [ 8.67706325e-01 3.96844900e-01 2.99332357e-01 2.21254882e+02] [-3.24785842e-01 -3.23662999e-03 9.45782047e-01 3.25780241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.21, Y:221.28, Z:32.57 [[ 3.76770801e-01 -9.17692155e-01 1.26035207e-01 4.52212230e+02] [ 8.67460963e-01 3.97276795e-01 2.99470578e-01 2.21277663e+02] [-3.24892663e-01 -3.50114692e-03 9.45744416e-01 3.25694124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.22, Y:221.30, Z:32.56 [[ 3.77818798e-01 -9.17275137e-01 1.25933633e-01 4.52224801e+02] [ 8.67019055e-01 3.98234389e-01 2.99478428e-01 2.21299696e+02] [-3.24855220e-01 -3.96172021e-03 9.45755461e-01 3.25604600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.24, Y:221.32, Z:32.55 [[ 3.78105452e-01 -9.17182441e-01 1.25748307e-01 4.52236309e+02] [ 8.67027727e-01 3.98446526e-01 2.99170998e-01 2.21323854e+02] [-3.24498362e-01 -4.09091653e-03 9.45877412e-01 3.25506121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.25, Y:221.35, Z:32.54 [[ 3.79781001e-01 -9.16546728e-01 1.25333500e-01 4.52249347e+02] [ 8.66615894e-01 3.99899760e-01 2.98424320e-01 2.21346982e+02] [-3.23640671e-01 -4.71988401e-03 9.46168293e-01 3.25412306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.26, Y:221.37, Z:32.53 [[ 3.81858059e-01 -9.15763875e-01 1.24743530e-01 4.52262256e+02] [ 8.66224090e-01 4.01680406e-01 2.97167761e-01 2.21369985e+02] [-3.22242532e-01 -5.42005403e-03 9.46641629e-01 3.25315954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.27, Y:221.39, Z:32.52 [[ 3.82697783e-01 -9.15442941e-01 1.24525614e-01 4.52273515e+02] [ 8.65981151e-01 4.02406225e-01 2.96893712e-01 2.21393272e+02] [-3.21899135e-01 -5.78373056e-03 9.46756302e-01 3.25225915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.29, Y:221.42, Z:32.51 [[ 3.84112590e-01 -9.14885857e-01 1.24263379e-01 4.52286244e+02] [ 8.65536311e-01 4.03662994e-01 2.96484540e-01 2.21416550e+02] [-3.21410040e-01 -6.32897804e-03 9.46918967e-01 3.25132021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.30, Y:221.44, Z:32.50 [[ 3.84595894e-01 -9.14693254e-01 1.24186354e-01 4.52298095e+02] [ 8.65313779e-01 4.04095068e-01 2.96545510e-01 2.21440755e+02] [-3.21431271e-01 -6.59002184e-03 9.46909980e-01 3.25039109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.31, Y:221.46, Z:32.50 [[ 3.85157688e-01 -9.14435846e-01 1.24340818e-01 4.52311575e+02] [ 8.64832898e-01 4.04671716e-01 2.97161338e-01 2.21463462e+02] [-3.22052192e-01 -6.91994451e-03 9.46696625e-01 3.24955538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.32, Y:221.49, Z:32.49 [[ 3.84926475e-01 -9.14505461e-01 1.24544657e-01 4.52323288e+02] [ 8.64682546e-01 4.04513951e-01 2.97812958e-01 2.21487023e+02] [-3.22731628e-01 -6.94450070e-03 9.46465039e-01 3.24862837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.34, Y:221.51, Z:32.48 [[ 3.84402393e-01 -9.14681986e-01 1.24866588e-01 4.52336583e+02] [ 8.64517795e-01 4.04115021e-01 2.98831110e-01 2.21510576e+02] [-3.23795897e-01 -6.92200595e-03 9.46101635e-01 3.24773907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:452.35, Y:221.53, Z:32.47 [[ 3.83807893e-01 -9.14908484e-01 1.25035864e-01 4.52347983e+02] [ 8.64530238e-01 4.03603237e-01 2.99486052e-01 2.21533762e+02] [-3.24467209e-01 -6.84782551e-03 9.45872157e-01 3.24685655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.36, Y:221.56, Z:32.46 [[ 3.82905672e-01 -9.15264880e-01 1.25193631e-01 4.52360997e+02] [ 8.64687709e-01 4.02797479e-01 3.00115571e-01 2.21557328e+02] [-3.25112921e-01 -6.66256020e-03 9.45651732e-01 3.24596667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.37, Y:221.58, Z:32.45 [[ 3.82091775e-01 -9.15605360e-01 1.25190660e-01 4.52372518e+02] [ 8.64995329e-01 4.02026579e-01 3.00262735e-01 2.21581532e+02] [-3.25252142e-01 -6.43858536e-03 9.45605409e-01 3.24504326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.39, Y:221.61, Z:32.44 [[ 3.80937411e-01 -9.16095703e-01 1.25121346e-01 4.52385540e+02] [ 8.65481734e-01 4.00912901e-01 3.00350151e-01 2.21605182e+02] [-3.25312244e-01 -6.12436946e-03 9.45586821e-01 3.24411236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.40, Y:221.63, Z:32.43 [[ 3.80323877e-01 -9.16366467e-01 1.25004988e-01 4.52396465e+02] [ 8.65777670e-01 4.00295625e-01 3.00320561e-01 2.21628065e+02] [-3.25242641e-01 -5.99255260e-03 9.45611608e-01 3.24320872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.41, Y:221.65, Z:32.42 [[ 3.78756038e-01 -9.17039781e-01 1.24827497e-01 4.52408279e+02] [ 8.66577202e-01 3.98758128e-01 3.00059842e-01 2.21651526e+02] [-3.24942791e-01 -5.47681363e-03 9.45717816e-01 3.24222133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.42, Y:221.68, Z:32.41 [[ 3.78549705e-01 -9.17134604e-01 1.24756720e-01 4.52418675e+02] [ 8.66652506e-01 3.98539747e-01 3.00132478e-01 2.21675428e+02] [-3.24982393e-01 -5.49433700e-03 9.45704106e-01 3.24128714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.43, Y:221.70, Z:32.40 [[ 3.78800595e-01 -9.17042261e-01 1.24673977e-01 4.52428602e+02] [ 8.66540363e-01 3.98749691e-01 3.00177420e-01 2.21699763e+02] [-3.24989090e-01 -5.67235162e-03 9.45700754e-01 3.24035336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.44, Y:221.72, Z:32.39 [[ 3.78640583e-01 -9.17120525e-01 1.24584314e-01 4.52438904e+02] [ 8.66610528e-01 3.98569151e-01 3.00214630e-01 2.21724668e+02] [-3.24988464e-01 -5.70736412e-03 9.45700759e-01 3.23940665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.45, Y:221.75, Z:32.39 [[ 3.78495953e-01 -9.17208418e-01 1.24376572e-01 4.52448517e+02] [ 8.66822820e-01 3.98367137e-01 2.99869676e-01 2.21747871e+02] [-3.24590530e-01 -5.68700784e-03 9.45837537e-01 3.23850101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.46, Y:221.77, Z:32.38 [[ 3.78318202e-01 -9.17335318e-01 1.23980858e-01 4.52458374e+02] [ 8.67228330e-01 3.98075659e-01 2.99083254e-01 2.21772582e+02] [-3.23713394e-01 -5.62892662e-03 9.46138443e-01 3.23756146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.47, Y:221.80, Z:32.37 [[ 3.78313525e-01 -9.17341322e-01 1.23950702e-01 4.52467918e+02] [ 8.67179104e-01 3.98060504e-01 2.99246113e-01 2.21797008e+02] [-3.23850704e-01 -5.72139320e-03 9.46090898e-01 3.23653145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.48, Y:221.82, Z:32.36 [[ 3.78141466e-01 -9.17417319e-01 1.23913251e-01 4.52477696e+02] [ 8.67205127e-01 3.97884778e-01 2.99404361e-01 2.21821161e+02] [-3.23981943e-01 -5.75899739e-03 9.46045736e-01 3.23561195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.49, Y:221.85, Z:32.35 [[ 3.78008269e-01 -9.17472278e-01 1.23912745e-01 4.52487303e+02] [ 8.67177759e-01 3.97757191e-01 2.99653053e-01 2.21845683e+02] [-3.24210554e-01 -5.81695531e-03 9.45967061e-01 3.23463956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.50, Y:221.87, Z:32.34 [[ 3.77995127e-01 -9.17464036e-01 1.24013817e-01 4.52496644e+02] [ 8.66997171e-01 3.97774435e-01 3.00152301e-01 2.21870042e+02] [-3.24708468e-01 -5.93647864e-03 9.45795522e-01 3.23367727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.820385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.51, Y:221.89, Z:32.33 [[ 3.77578735e-01 -9.17615968e-01 1.24158099e-01 4.52506456e+02] [ 8.66948611e-01 3.97424060e-01 3.00756084e-01 2.21894057e+02] [-3.25322001e-01 -5.92041035e-03 9.45584763e-01 3.23274902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.52, Y:221.92, Z:32.32 [[ 3.77774973e-01 -9.17548140e-01 1.24062406e-01 4.52516993e+02] [ 8.66879340e-01 3.97578386e-01 3.00751785e-01 2.21918321e+02] [-3.25278772e-01 -6.06936046e-03 9.45598691e-01 3.23187615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.880385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.53, Y:221.94, Z:32.31 [[ 3.77528049e-01 -9.17654091e-01 1.24030408e-01 4.52527051e+02] [ 8.66931968e-01 3.97333600e-01 3.00923534e-01 2.21943345e+02] [-3.25425160e-01 -6.08114918e-03 9.45548246e-01 3.23096807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.54, Y:221.97, Z:32.30 [[ 3.77827394e-01 -9.17537964e-01 1.23978001e-01 4.52536809e+02] [ 8.66767153e-01 3.97598532e-01 3.01048353e-01 2.21968193e+02] [-3.25516764e-01 -6.28425633e-03 9.45515386e-01 3.23002592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.55, Y:221.99, Z:32.29 [[ 3.78926689e-01 -9.17114942e-01 1.23752772e-01 4.52545687e+02] [ 8.66426488e-01 3.98565884e-01 3.00749690e-01 2.21993132e+02] [-3.25145667e-01 -6.73940495e-03 9.45639929e-01 3.22905626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9703857229999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:452.55, Y:222.02, Z:32.28 [[ 3.80105545e-01 -9.16678801e-01 1.23368352e-01 4.52554601e+02] [ 8.66206437e-01 3.99560047e-01 3.00063623e-01 2.22018344e+02] [-3.24355027e-01 -7.19338591e-03 9.45908067e-01 3.22805144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.000385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.56, Y:222.04, Z:32.27 [[ 3.80138561e-01 -9.16665046e-01 1.23368833e-01 4.52564131e+02] [ 8.66104179e-01 3.99589436e-01 3.00319553e-01 2.22042554e+02] [-3.24589319e-01 -7.31278104e-03 9.45826780e-01 3.22714615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.57, Y:222.07, Z:32.26 [[ 3.78703516e-01 -9.17248203e-01 1.23447891e-01 4.52574150e+02] [ 8.66572094e-01 3.98256095e-01 3.00740567e-01 2.22067218e+02] [-3.25017619e-01 -6.91501244e-03 9.45682679e-01 3.22622849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.060385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:452.58, Y:222.09, Z:32.25 [[ 3.77264651e-01 -9.17850452e-01 1.23377193e-01 4.52584249e+02] [ 8.67179861e-01 3.96873195e-01 3.00816814e-01 2.22091342e+02] [-3.25069950e-01 -6.49733360e-03 9.45667654e-01 3.22530570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0903857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:452.59, Y:222.12, Z:32.24 [[ 3.73239319e-01 -9.18237793e-01 1.32407581e-01 4.52590815e+02] [ 8.69605722e-01 3.95997033e-01 2.94910560e-01 2.22116340e+02] [-3.23231031e-01 5.07017421e-03 9.46306501e-01 3.22402591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:452.61, Y:222.14, Z:32.24 [[ 3.70634854e-01 -9.21713499e-01 1.14341724e-01 4.52610533e+02] [ 8.69603431e-01 3.87621402e-01 3.05842317e-01 2.22138345e+02] [-3.26220292e-01 -1.39238668e-02 9.45191223e-01 3.22402572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.150385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:452.62, Y:222.16, Z:32.23 [[ 3.65813815e-01 -9.22428490e-01 1.23717149e-01 4.52616916e+02] [ 8.71463377e-01 3.86157793e-01 3.02380128e-01 2.22162594e+02] [-3.26698386e-01 -2.79986375e-03 9.45124503e-01 3.22270669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.63, Y:222.19, Z:32.22 [[ 3.63484167e-01 -9.23360923e-01 1.23627936e-01 4.52627137e+02] [ 8.72437934e-01 3.83927530e-01 3.02409827e-01 2.22187041e+02] [-3.26697585e-01 -2.06348310e-03 9.45126674e-01 3.22176921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:452.64, Y:222.21, Z:32.21 [[ 3.59980353e-01 -9.24797325e-01 1.23142408e-01 4.52636854e+02] [ 8.74278931e-01 3.80459144e-01 3.01475026e-01 2.22211043e+02] [-3.25653953e-01 -8.64273821e-04 9.45488634e-01 3.22082310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.65, Y:222.24, Z:32.20 [[ 3.58578166e-01 -9.25398850e-01 1.22713766e-01 4.52646532e+02] [ 8.75217642e-01 3.78994486e-01 3.00594843e-01 2.22235002e+02] [-3.24677962e-01 -3.85494608e-04 9.45824546e-01 3.21991186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.270385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.66, Y:222.26, Z:32.19 [[ 3.56015361e-01 -9.26428677e-01 1.22404943e-01 4.52656716e+02] [ 8.76489990e-01 3.76470045e-01 3.00059334e-01 2.22259544e+02] [-3.24065366e-01 4.60974981e-04 9.46034580e-01 3.21892616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.67, Y:222.28, Z:32.18 [[ 3.54867543e-01 -9.26913735e-01 1.22065376e-01 4.52666267e+02] [ 8.77200641e-01 3.75273619e-01 2.99480794e-01 2.22282925e+02] [-3.23400776e-01 7.99812764e-04 9.46261749e-01 3.21807416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.68, Y:222.31, Z:32.17 [[ 3.53945149e-01 -9.27330453e-01 1.21577394e-01 4.52676532e+02] [ 8.77972378e-01 3.74241970e-01 2.98508714e-01 2.22307349e+02] [-3.22315584e-01 1.08588247e-03 9.46631652e-01 3.21716555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.69, Y:222.33, Z:32.16 [[ 3.53702286e-01 -9.27452489e-01 1.21353096e-01 4.52686638e+02] [ 8.78203382e-01 3.73939407e-01 2.98208215e-01 2.22331792e+02] [-3.21952656e-01 1.09577240e-03 9.46755136e-01 3.21627981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.70, Y:222.36, Z:32.15 [[ 3.54139354e-01 -9.27306321e-01 1.21195320e-01 4.52695872e+02] [ 8.78095201e-01 3.74302344e-01 2.98071424e-01 2.22356120e+02] [-3.21767208e-01 8.62207323e-04 9.46818420e-01 3.21539070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.68, Y:222.37, Z:32.12 [[ 3.49507550e-01 -9.24589300e-01 1.51588586e-01 4.52682532e+02] [ 8.77176682e-01 3.79760900e-01 2.93841330e-01 2.22374408e+02] [-3.29249968e-01 3.02702093e-02 9.43757476e-01 3.21237887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.450385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:452.73, Y:222.40, Z:32.15 [[ 3.59574972e-01 -9.29111714e-01 8.63554388e-02 4.52731689e+02] [ 8.76337043e-01 3.68035679e-01 3.10778257e-01 2.22404420e+02] [-3.20529602e-01 -3.60716134e-02 9.46551432e-01 3.21518300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4803857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:452.72, Y:222.43, Z:32.13 [[ 3.61683385e-01 -9.24463310e-01 1.20634643e-01 4.52724611e+02] [ 8.75411979e-01 3.81266460e-01 2.97135919e-01 2.22430354e+02] [-3.20685199e-01 -1.86411328e-03 9.47183999e-01 3.21273316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.73, Y:222.45, Z:32.12 [[ 3.63513403e-01 -9.23735218e-01 1.20711443e-01 4.52734440e+02] [ 8.74495774e-01 3.83022755e-01 2.97574715e-01 2.22454723e+02] [-3.21115474e-01 -2.61075059e-03 9.47036449e-01 3.21184568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.540385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:452.74, Y:222.48, Z:32.11 [[ 3.66686545e-01 -9.22470584e-01 1.20784930e-01 4.52743923e+02] [ 8.73016604e-01 3.86048399e-01 2.98007790e-01 2.22479614e+02] [-3.21532249e-01 -3.82819785e-03 9.46890890e-01 3.21101884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.75, Y:222.50, Z:32.10 [[ 3.67705576e-01 -9.22069083e-01 1.20752707e-01 4.52753777e+02] [ 8.72535553e-01 3.87001648e-01 2.98180204e-01 2.22504738e+02] [-3.21674244e-01 -4.28149333e-03 9.46840720e-01 3.21008308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6003857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:452.76, Y:222.53, Z:32.09 [[ 3.69463918e-01 -9.21386041e-01 1.20599244e-01 4.52763773e+02] [ 8.71860771e-01 3.88616806e-01 2.98053309e-01 2.22529189e+02] [-3.21489051e-01 -4.97419327e-03 9.46900231e-01 3.20922543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.77, Y:222.55, Z:32.08 [[ 3.69814816e-01 -9.21272509e-01 1.20390887e-01 4.52773931e+02] [ 8.71831961e-01 3.88883365e-01 2.97789793e-01 2.22553450e+02] [-3.21163563e-01 -5.16645461e-03 9.47009648e-01 3.20833334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.78, Y:222.58, Z:32.07 [[ 3.70637481e-01 -9.20988287e-01 1.20035133e-01 4.52784123e+02] [ 8.71746597e-01 3.89551433e-01 2.97165866e-01 2.22577391e+02] [-3.20446140e-01 -5.50058922e-03 9.47250767e-01 3.20749658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.79, Y:222.60, Z:32.07 [[ 3.70276467e-01 -9.21127643e-01 1.20079991e-01 4.52793719e+02] [ 8.71808895e-01 3.89222672e-01 2.97413790e-01 2.22601110e+02] [-3.20693918e-01 -5.43852308e-03 9.47167268e-01 3.20659698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.80, Y:222.63, Z:32.06 [[ 3.70172386e-01 -9.21197766e-01 1.19862759e-01 4.52803764e+02] [ 8.71991076e-01 3.89056408e-01 2.97097082e-01 2.22625456e+02] [-3.20318542e-01 -5.45787946e-03 9.47294169e-01 3.20570106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.81, Y:222.65, Z:32.05 [[ 3.68942859e-01 -9.21690745e-01 1.19863829e-01 4.52814249e+02] [ 8.72425780e-01 3.87891541e-01 2.97343927e-01 2.22650362e+02] [-3.20553311e-01 -5.13062426e-03 9.47216581e-01 3.20478154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.82, Y:222.67, Z:32.04 [[ 3.68041006e-01 -9.22069220e-01 1.19725400e-01 4.52824726e+02] [ 8.72857963e-01 3.86994046e-01 2.97244990e-01 2.22674566e+02] [-3.20413473e-01 -4.89507688e-03 9.47265140e-01 3.20389857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.84, Y:222.70, Z:32.03 [[ 3.65397933e-01 -9.23104455e-01 1.19843715e-01 4.52835141e+02] [ 8.73762873e-01 3.84527490e-01 2.97786923e-01 2.22698926e+02] [-3.20971638e-01 -4.09573769e-03 9.47079951e-01 3.20298157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.85, Y:222.72, Z:32.02 [[ 3.64133689e-01 -9.23621950e-01 1.19704429e-01 4.52845046e+02] [ 8.74341766e-01 3.83286499e-01 2.97687650e-01 2.22722483e+02] [-3.20831939e-01 -3.73552034e-03 9.47128773e-01 3.20210804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.86, Y:222.75, Z:32.01 [[ 3.62200907e-01 -9.24398996e-01 1.19570061e-01 4.52856164e+02] [ 8.75199001e-01 3.81414047e-01 2.97573576e-01 2.22747219e+02] [-3.20682415e-01 -3.13382112e-03 9.47181592e-01 3.20121132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.87, Y:222.77, Z:32.00 [[ 3.60873720e-01 -9.24907664e-01 1.19649369e-01 4.52866430e+02] [ 8.75585744e-01 3.80181636e-01 2.98012634e-01 2.22771694e+02] [-3.21122662e-01 -2.78164645e-03 9.47033526e-01 3.20027931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.930385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:452.88, Y:222.79, Z:31.99 [[ 3.59250333e-01 -9.25552430e-01 1.19548723e-01 4.52876501e+02] [ 8.76265406e-01 3.78612449e-01 2.98012671e-01 2.22794897e+02] [-3.21088986e-01 -2.30474060e-03 9.47046224e-01 3.19940971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.89, Y:222.82, Z:31.98 [[ 3.57872432e-01 -9.26121182e-01 1.19276483e-01 4.52886195e+02] [ 8.77011382e-01 3.77221403e-01 2.97582004e-01 2.22820023e+02] [-3.20590639e-01 -1.88956215e-03 9.47215958e-01 3.19845049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.990385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:452.87, Y:222.84, Z:31.95 [[ 3.49678423e-01 -9.23388538e-01 1.58362271e-01 4.52865870e+02] [ 8.76318959e-01 3.82154408e-01 2.93296934e-01 2.22837692e+02] [-3.31345867e-01 3.62162506e-02 9.42814032e-01 3.19483424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:452.89, Y:222.86, Z:31.95 [[ 3.48682308e-01 -9.28500266e-01 1.27702405e-01 4.52891102e+02] [ 8.76020039e-01 3.71303784e-01 3.07770031e-01 2.22860630e+02] [-3.33180942e-01 4.55590088e-03 9.42851899e-01 3.19501478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.94, Y:222.89, Z:31.98 [[ 3.57205084e-01 -9.31904691e-01 6.29140328e-02 4.52943775e+02] [ 8.77670222e-01 3.57933438e-01 3.18714033e-01 2.22893809e+02] [-3.19530138e-01 -5.86284995e-02 9.45760641e-01 3.19838495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:452.93, Y:222.92, Z:31.95 [[ 3.57297080e-01 -9.26338163e-01 1.19316405e-01 4.52925674e+02] [ 8.77248048e-01 3.76689389e-01 2.97558343e-01 2.22919527e+02] [-3.20584872e-01 -1.64664338e-03 9.47218364e-01 3.19486604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.92, Y:222.94, Z:31.93 [[ 3.52210711e-01 -9.25879589e-01 1.36728203e-01 4.52919866e+02] [ 8.76758685e-01 3.77523273e-01 2.97943598e-01 2.22940417e+02] [-3.27477975e-01 1.49387127e-02 9.44740711e-01 3.19260096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.95, Y:222.97, Z:31.94 [[ 3.56441348e-01 -9.28944851e-01 1.00055134e-01 4.52954113e+02] [ 8.77180832e-01 3.69593906e-01 3.06519384e-01 2.22969314e+02] [-3.21719372e-01 -2.14897363e-02 9.46591167e-01 3.19385894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.94, Y:222.99, Z:31.91 [[ 3.53254825e-01 -9.25805244e-01 1.34520177e-01 4.52942906e+02] [ 8.76370957e-01 3.77798720e-01 2.98734117e-01 2.22992490e+02] [-3.27391163e-01 1.23603084e-02 9.44808049e-01 3.19086122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.96, Y:223.02, Z:31.91 [[ 3.52326623e-01 -9.28081990e-01 1.20539502e-01 4.52958738e+02] [ 8.76555522e-01 3.72371660e-01 3.04942229e-01 2.23016059e+02] [-3.27896885e-01 -1.77969932e-03 9.44711843e-01 3.19058634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.98, Y:223.04, Z:31.91 [[ 3.56342798e-01 -9.28853978e-01 1.01242770e-01 4.52983701e+02] [ 8.77110552e-01 3.69885528e-01 3.06368694e-01 2.23044782e+02] [-3.22020016e-01 -2.03711763e-02 9.46513669e-01 3.19109335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.98, Y:223.07, Z:31.89 [[ 3.56616816e-01 -9.26585759e-01 1.19428966e-01 4.52983722e+02] [ 8.77181863e-01 3.76079712e-01 2.98523081e-01 2.23070348e+02] [-3.21522047e-01 -1.69742813e-03 9.46900572e-01 3.18929122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.99, Y:223.09, Z:31.88 [[ 3.57263314e-01 -9.26388902e-01 1.19023219e-01 4.52992023e+02] [ 8.77235548e-01 3.76563061e-01 2.97755024e-01 2.23094938e+02] [-3.20656697e-01 -1.96554794e-03 9.47193443e-01 3.18827250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.320385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:453.00, Y:223.12, Z:31.87 [[ 3.57716613e-01 -9.26250798e-01 1.18736197e-01 4.53001190e+02] [ 8.77249323e-01 3.76901439e-01 2.97285940e-01 2.23119148e+02] [-3.20113183e-01 -2.18287145e-03 9.47376792e-01 3.18734891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.01, Y:223.14, Z:31.87 [[ 3.59084743e-01 -9.25730278e-01 1.18665917e-01 4.53009947e+02] [ 8.76684999e-01 3.78174523e-01 2.97333893e-01 2.23143067e+02] [-3.20127414e-01 -2.73543492e-03 9.47370549e-01 3.18650975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.00, Y:223.16, Z:31.84 [[ 3.55544895e-01 -9.23991977e-01 1.40807150e-01 4.53003449e+02] [ 8.75567392e-01 3.81981769e-01 2.95756100e-01 2.23164443e+02] [-3.27062028e-01 1.81315779e-02 9.44828914e-01 3.18394076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.04, Y:223.19, Z:31.86 [[ 3.59966768e-01 -9.28037685e-01 9.57600197e-02 4.53038805e+02] [ 8.76332734e-01 3.71546556e-01 3.06584567e-01 2.23191661e+02] [-3.20101337e-01 -2.64426157e-02 9.47014214e-01 3.18568163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.04, Y:223.22, Z:31.84 [[ 3.60385291e-01 -9.25229857e-01 1.18626110e-01 4.53036780e+02] [ 8.76029177e-01 3.79392065e-01 2.97715538e-01 2.23217156e+02] [-3.20461109e-01 -3.37236695e-03 9.47255670e-01 3.18372081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.05, Y:223.24, Z:31.83 [[ 3.60780803e-01 -9.25052766e-01 1.18804852e-01 4.53045062e+02] [ 8.75603509e-01 3.79821201e-01 2.98419755e-01 2.23241858e+02] [-3.21178622e-01 -3.63817330e-03 9.47011646e-01 3.18276967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.03, Y:223.26, Z:31.79 [[ 3.54555479e-01 -9.22355338e-01 1.53463491e-01 4.53029527e+02] [ 8.74410711e-01 3.85207168e-01 2.94993808e-01 2.23261625e+02] [-3.31204350e-01 2.95984488e-02 9.43094698e-01 3.17943131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.06, Y:223.29, Z:31.80 [[ 3.54827020e-01 -9.27623625e-01 1.16671317e-01 4.53058796e+02] [ 8.74584858e-01 3.73436957e-01 3.09267142e-01 2.23285984e+02] [-3.30452889e-01 -7.69737159e-03 9.43791099e-01 3.18003589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.09, Y:223.32, Z:31.82 [[ 3.60175313e-01 -9.29378839e-01 8.08004777e-02 4.53093053e+02] [ 8.76076588e-01 3.66734364e-01 3.13042680e-01 2.23316635e+02] [-3.20567554e-01 -4.19628384e-02 9.46295706e-01 3.18176434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.08, Y:223.34, Z:31.79 [[ 3.59735162e-01 -9.25482813e-01 1.18626203e-01 4.53084359e+02] [ 8.76051786e-01 3.78774028e-01 2.98435091e-01 2.23342822e+02] [-3.21129073e-01 -3.43489841e-03 9.47029208e-01 3.17915046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.09, Y:223.37, Z:31.78 [[ 3.58688467e-01 -9.25892211e-01 1.18601005e-01 4.53093258e+02] [ 8.76417886e-01 3.77774490e-01 2.98627064e-01 2.23367438e+02] [-3.21300907e-01 -3.17004156e-03 9.46971847e-01 3.17823159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.10, Y:223.39, Z:31.77 [[ 3.58850537e-01 -9.25874209e-01 1.18250753e-01 4.53102141e+02] [ 8.76610972e-01 3.77817673e-01 2.98005050e-01 2.23391552e+02] [-3.20592414e-01 -3.27936482e-03 9.47211566e-01 3.17732834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.10, Y:223.41, Z:31.75 [[ 3.54782406e-01 -9.24954726e-01 1.36338549e-01 4.53098126e+02] [ 8.76327482e-01 3.79806198e-01 2.96306255e-01 2.23413822e+02] [-3.25852097e-01 1.43529715e-02 9.45311802e-01 3.17501137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.13, Y:223.44, Z:31.76 [[ 3.58465720e-01 -9.28363976e-01 9.81970252e-02 4.53130022e+02] [ 8.77513647e-01 3.70974562e-01 3.03887599e-01 2.23440773e+02] [-3.18546898e-01 -2.27640575e-02 9.47633722e-01 3.17622964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.13, Y:223.47, Z:31.74 [[ 3.57963726e-01 -9.26351292e-01 1.17197506e-01 4.53130702e+02] [ 8.77852406e-01 3.76648662e-01 2.95822480e-01 2.23465891e+02] [-3.18177820e-01 -3.01160437e-03 9.48026268e-01 3.17449874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.14, Y:223.49, Z:31.74 [[ 3.57298899e-01 -9.26588820e-01 1.17348432e-01 4.53140645e+02] [ 8.77888830e-01 3.76064783e-01 2.96456542e-01 2.23490484e+02] [-3.18823930e-01 -2.90471810e-03 9.47809509e-01 3.17360583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.15, Y:223.52, Z:31.73 [[ 3.56626037e-01 -9.26818566e-01 1.17580676e-01 4.53151044e+02] [ 8.77846665e-01 3.75498963e-01 2.97297429e-01 2.23515581e+02] [-3.19692199e-01 -2.80619949e-03 9.47517295e-01 3.17274364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.13, Y:223.53, Z:31.69 [[ 3.48970071e-01 -9.23983818e-01 1.56441023e-01 4.53132402e+02] [ 8.76779904e-01 3.80853794e-01 2.93610948e-01 2.23534431e+02] [-3.30872922e-01 3.47029119e-02 9.43037018e-01 3.16917781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.19, Y:223.56, Z:31.73 [[ 3.56428076e-01 -9.31305353e-01 7.50291016e-02 4.53191633e+02] [ 8.77694290e-01 3.61275753e-01 3.14853241e-01 2.23564858e+02] [-3.20330704e-01 -4.63699208e-02 9.46170212e-01 3.17291205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.18, Y:223.59, Z:31.70 [[ 3.56935300e-01 -9.26645149e-01 1.18008301e-01 4.53180158e+02] [ 8.77214781e-01 3.75924650e-01 2.98621643e-01 2.23591062e+02] [-3.21078526e-01 -3.06997980e-03 9.47047599e-01 3.17010934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.19, Y:223.62, Z:31.69 [[ 3.58370961e-01 -9.26100598e-01 1.17931914e-01 4.53188623e+02] [ 8.76620881e-01 3.77258934e-01 2.98682990e-01 2.23615161e+02] [-3.21101364e-01 -3.65773171e-03 9.47037769e-01 3.16926093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.20, Y:223.64, Z:31.68 [[ 3.59529139e-01 -9.25684118e-01 1.17676301e-01 4.53197374e+02] [ 8.76325986e-01 3.78275045e-01 2.98262900e-01 2.23639691e+02] [-3.20611237e-01 -4.11140259e-03 9.47201948e-01 3.16837159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.19, Y:223.66, Z:31.66 [[ 3.56700063e-01 -9.24119236e-01 1.36998914e-01 4.53193651e+02] [ 8.75587425e-01 3.81832384e-01 2.95889661e-01 2.23662572e+02] [-3.25747949e-01 1.44106653e-02 9.45346818e-01 3.16601365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.23, Y:223.69, Z:31.67 [[ 3.60591356e-01 -9.27690597e-01 9.67679181e-02 4.53225279e+02] [ 8.76525660e-01 3.72504390e-01 3.04865950e-01 2.23689601e+02] [-3.18867750e-01 -2.51124631e-02 9.47466476e-01 3.16734995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.21, Y:223.71, Z:31.64 [[ 3.56960476e-01 -9.23307064e-01 1.41715503e-01 4.53207923e+02] [ 8.75537346e-01 3.83581669e-01 2.93767697e-01 2.23713038e+02] [-3.25597259e-01 1.92137585e-02 9.45313311e-01 3.16371199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.24, Y:223.74, Z:31.66 [[ 3.60085344e-01 -9.28466049e-01 9.10458183e-02 4.53244542e+02] [ 8.77294090e-01 3.70193889e-01 3.05469418e-01 2.23740110e+02] [-3.17322589e-01 -3.01211022e-02 9.47839171e-01 3.16571245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.24, Y:223.77, Z:31.64 [[ 3.58066532e-01 -9.26395223e-01 1.16534326e-01 4.53240465e+02] [ 8.77851049e-01 3.76534679e-01 2.95971573e-01 2.23765714e+02] [-3.18065867e-01 -3.67773426e-03 9.48061485e-01 3.16368723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.130385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:453.25, Y:223.79, Z:31.63 [[ 3.56478176e-01 -9.27024934e-01 1.16396230e-01 4.53250054e+02] [ 8.78546657e-01 3.74985931e-01 2.95873829e-01 2.23790826e+02] [-3.17929365e-01 -3.21304438e-03 9.48108957e-01 3.16281405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.26, Y:223.82, Z:31.62 [[ 3.53314351e-01 -9.28213600e-01 1.16569647e-01 4.53258832e+02] [ 8.79561293e-01 3.72040899e-01 2.96576300e-01 2.23815011e+02] [-3.18654831e-01 -2.25451345e-03 9.47868143e-01 3.16197277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.27, Y:223.84, Z:31.61 [[ 3.51650731e-01 -9.28844123e-01 1.16577696e-01 4.53267531e+02] [ 8.80160036e-01 3.70466630e-01 2.96770598e-01 2.23839332e+02] [-3.18841772e-01 -1.75256864e-03 9.47806337e-01 3.16110811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.26, Y:223.86, Z:31.58 [[ 3.45566701e-01 -9.26702119e-01 1.47671384e-01 4.53256939e+02] [ 8.79564696e-01 3.74709090e-01 2.93187727e-01 2.23862191e+02] [-3.27031498e-01 2.85706207e-02 9.44581452e-01 3.15785275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.30, Y:223.89, Z:31.61 [[ 3.47432597e-01 -9.33686418e-01 8.67194464e-02 4.53298817e+02] [ 8.81780820e-01 3.56771760e-01 3.08506884e-01 2.23888944e+02] [-3.18987737e-01 -3.07178034e-02 9.47260915e-01 3.16051023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.29, Y:223.91, Z:31.58 [[ 3.46763959e-01 -9.30688908e-01 1.16502847e-01 4.53293368e+02] [ 8.81952735e-01 3.65811504e-01 2.97222673e-01 2.23914477e+02] [-3.19239926e-01 -3.16106322e-04 9.47673873e-01 3.15834207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.30, Y:223.94, Z:31.57 [[ 3.45436251e-01 -9.31212586e-01 1.16262277e-01 4.53301400e+02] [ 8.82626053e-01 3.64476495e-01 2.96863832e-01 2.23939460e+02] [-3.18818204e-01 6.85853480e-05 9.47815883e-01 3.15749297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.31, Y:223.96, Z:31.57 [[ 3.44167662e-01 -9.31704617e-01 1.16082417e-01 4.53308706e+02] [ 8.83242757e-01 3.63216598e-01 2.96573660e-01 2.23964600e+02] [-3.18482109e-01 4.57890385e-04 9.47928762e-01 3.15654817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.32, Y:223.99, Z:31.56 [[ 3.43376120e-01 -9.32040924e-01 1.15726208e-01 4.53317026e+02] [ 8.83818876e-01 3.62352404e-01 2.95913721e-01 2.23989585e+02] [-3.17737368e-01 6.71301158e-04 9.48178525e-01 3.15565093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.32, Y:224.01, Z:31.55 [[ 3.42363268e-01 -9.32452176e-01 1.15413745e-01 4.53324807e+02] [ 8.84433129e-01 3.61292177e-01 2.95374346e-01 2.24014191e+02] [-3.17120535e-01 9.50413379e-04 9.48384765e-01 3.15473705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.33, Y:224.04, Z:31.54 [[ 3.41639665e-01 -9.32757319e-01 1.15091800e-01 4.53332888e+02] [ 8.84984352e-01 3.60502976e-01 2.94686785e-01 2.24040047e+02] [-3.16362192e-01 1.17774745e-03 9.48637748e-01 3.15386327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.33, Y:224.07, Z:31.52 [[ 3.39588000e-01 -9.31529462e-01 1.30126287e-01 4.53333647e+02] [ 8.84325619e-01 3.63334853e-01 2.93182510e-01 2.24065139e+02] [-3.20387561e-01 1.55127476e-02 9.47159525e-01 3.15169667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.34, Y:224.09, Z:31.51 [[ 3.37709136e-01 -9.32981859e-01 1.24488517e-01 4.53342008e+02] [ 8.84283877e-01 3.59796201e-01 2.97638572e-01 2.24090301e+02] [-3.22481884e-01 9.56792386e-03 9.46527279e-01 3.15074633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.37, Y:224.12, Z:31.52 [[ 3.39669849e-01 -9.35968298e-01 9.26700584e-02 4.53367523e+02] [ 8.85711262e-01 3.51460866e-01 3.03299884e-01 2.24117402e+02] [-3.16448976e-01 -2.09429117e-02 9.48378321e-01 3.15198376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.36, Y:224.14, Z:31.49 [[ 3.37802671e-01 -9.32463760e-01 1.28065188e-01 4.53357488e+02] [ 8.84862816e-01 3.60997732e-01 2.94445978e-01 2.24144185e+02] [-3.20791446e-01 1.38554847e-02 9.47048507e-01 3.14908994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.38, Y:224.17, Z:31.50 [[ 3.38412680e-01 -9.35189783e-01 1.04388355e-01 4.53377503e+02] [ 8.85499475e-01 3.54022115e-01 3.00930261e-01 2.24168784e+02] [-3.18382692e-01 -9.40278208e-03 9.47915634e-01 3.14973537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.37, Y:224.19, Z:31.48 [[ 3.36699514e-01 -9.33236087e-01 1.25314977e-01 4.53373548e+02] [ 8.85044384e-01 3.59090024e-01 2.96227603e-01 2.24194635e+02] [-3.21449648e-01 1.11696268e-02 9.46860794e-01 3.14760830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.39, Y:224.22, Z:31.48 [[ 3.38203805e-01 -9.35014215e-01 1.06614275e-01 4.53389602e+02] [ 8.85592088e-01 3.54539942e-01 3.00046801e-01 2.24220759e+02] [-3.18347043e-01 -7.06021159e-03 9.47947949e-01 3.14788030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.39, Y:224.25, Z:31.47 [[ 3.38591802e-01 -9.33833649e-01 1.15370309e-01 4.53393222e+02] [ 8.85430414e-01 3.57703664e-01 2.96750858e-01 2.24245813e+02] [-3.18384319e-01 1.67497291e-03 9.47960242e-01 3.14662620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.40, Y:224.27, Z:31.46 [[ 3.39163788e-01 -9.33645105e-01 1.15216073e-01 4.53399466e+02] [ 8.85307909e-01 3.58196549e-01 2.96521733e-01 2.24271550e+02] [-3.18116064e-01 1.43226671e-03 9.48050694e-01 3.14568875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7303857229999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:453.41, Y:224.30, Z:31.44 [[ 3.40530300e-01 -9.32414270e-01 1.21007206e-01 4.53407615e+02] [ 8.84689139e-01 3.61328266e-01 2.94562407e-01 2.24298511e+02] [-3.18377515e-01 6.74633597e-03 9.47940001e-01 3.14423717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.41, Y:224.32, Z:31.43 [[ 3.38640757e-01 -9.33059024e-01 1.21339586e-01 4.53411549e+02] [ 8.85375836e-01 3.59641317e-01 2.94563664e-01 2.24323523e+02] [-3.18484014e-01 7.67987553e-03 9.47897121e-01 3.14325753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.42, Y:224.35, Z:31.42 [[ 3.36441362e-01 -9.33268787e-01 1.25763994e-01 4.53415032e+02] [ 8.85356477e-01 3.58979837e-01 2.95427464e-01 2.24347512e+02] [-3.20859969e-01 1.19519487e-02 9.47051230e-01 3.14188599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.44, Y:224.38, Z:31.43 [[ 3.39339429e-01 -9.36305674e-01 9.04457677e-02 4.53443189e+02] [ 8.86274123e-01 3.50458329e-01 3.02815354e-01 2.24375394e+02] [-3.15225207e-01 -2.25974457e-02 9.48747819e-01 3.14317958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.44, Y:224.40, Z:31.41 [[ 3.38981527e-01 -9.33842733e-01 1.14145846e-01 4.53439098e+02] [ 8.86208177e-01 3.57681340e-01 2.94447154e-01 2.24400939e+02] [-3.15795174e-01 1.34483675e-03 9.48826433e-01 3.14143726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.45, Y:224.43, Z:31.41 [[ 3.38419800e-01 -9.34054268e-01 1.14081832e-01 4.53447634e+02] [ 8.86430643e-01 3.57128044e-01 2.94449105e-01 2.24425949e+02] [-3.15773265e-01 1.47822475e-03 9.48833526e-01 3.14054904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.45, Y:224.45, Z:31.40 [[ 3.38197720e-01 -9.34138651e-01 1.14049479e-01 4.53454415e+02] [ 8.86461725e-01 3.56907342e-01 2.94623081e-01 2.24450626e+02] [-3.15923903e-01 1.45964384e-03 9.48783409e-01 3.13967104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.46, Y:224.48, Z:31.39 [[ 3.38313630e-01 -9.34094852e-01 1.14064436e-01 4.53462585e+02] [ 8.86345802e-01 3.57022369e-01 2.94832406e-01 2.24475821e+02] [-3.16124988e-01 1.35471251e-03 9.48716584e-01 3.13873477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.47, Y:224.50, Z:31.38 [[ 3.39192460e-01 -9.33795904e-01 1.13902080e-01 4.53469790e+02] [ 8.86085615e-01 3.57804767e-01 2.94665967e-01 2.24501015e+02] [-3.15912580e-01 9.78520526e-04 9.48787797e-01 3.13792079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.48, Y:224.53, Z:31.37 [[ 3.39552415e-01 -9.33653819e-01 1.13994313e-01 4.53478444e+02] [ 8.85780778e-01 3.58175887e-01 2.95131238e-01 2.24526640e+02] [-3.16380421e-01 7.61446491e-04 9.48632094e-01 3.13699438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.49, Y:224.55, Z:31.36 [[ 3.41357357e-01 -9.32976133e-01 1.14152050e-01 4.53485939e+02] [ 8.84845254e-01 3.59938237e-01 2.95792734e-01 2.24552572e+02] [-3.17055248e-01 3.58733735e-05 9.48407069e-01 3.13610096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.49, Y:224.58, Z:31.35 [[ 3.44541169e-01 -9.31832133e-01 1.13930941e-01 4.53492365e+02] [ 8.83743094e-01 3.62887890e-01 2.95483542e-01 2.24577015e+02] [-3.16685218e-01 -1.12056283e-03 9.48530030e-01 3.13516412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.50, Y:224.60, Z:31.34 [[ 3.46067269e-01 -9.31287017e-01 1.13762635e-01 4.53500645e+02] [ 8.83268294e-01 3.64282441e-01 2.95187100e-01 2.24602356e+02] [-3.16345645e-01 -1.67166473e-03 9.48642524e-01 3.13425822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.120385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:453.51, Y:224.63, Z:31.33 [[ 3.48459402e-01 -9.30393245e-01 1.13773705e-01 4.53508432e+02] [ 8.82231949e-01 3.66553847e-01 2.95474305e-01 2.24628093e+02] [-3.16611486e-01 -2.58600224e-03 9.48551780e-01 3.13327894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.52, Y:224.65, Z:31.32 [[ 3.49440601e-01 -9.30042641e-01 1.13630768e-01 4.53517074e+02] [ 8.81899653e-01 3.67439346e-01 2.95366433e-01 2.24652407e+02] [-3.16455793e-01 -3.00208877e-03 9.48602508e-01 3.13240327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:224.68, Z:31.32 [[ 3.50694268e-01 -9.29569842e-01 1.13637313e-01 4.53526060e+02] [ 8.81349874e-01 3.68629580e-01 2.95524335e-01 2.24677816e+02] [-3.16600584e-01 -3.48445821e-03 9.48552544e-01 3.13151911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:224.70, Z:31.31 [[ 3.51138395e-01 -9.29407946e-01 1.13590041e-01 4.53534755e+02] [ 8.81134094e-01 3.69035169e-01 2.95661550e-01 2.24701462e+02] [-3.16708914e-01 -3.73006388e-03 9.48515446e-01 3.13067848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.54, Y:224.73, Z:31.30 [[ 3.51615733e-01 -9.29207844e-01 1.13750427e-01 4.53543592e+02] [ 8.80737214e-01 3.69536220e-01 2.96217727e-01 2.24726596e+02] [-3.17282738e-01 -3.97057922e-03 9.48322677e-01 3.12974225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.55, Y:224.75, Z:31.29 [[ 3.51361640e-01 -9.29304901e-01 1.13742685e-01 4.53553068e+02] [ 8.80760082e-01 3.69291943e-01 2.96454278e-01 2.24751206e+02] [-3.17500671e-01 -3.98264485e-03 9.48249684e-01 3.12886629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.56, Y:224.78, Z:31.28 [[ 3.50716031e-01 -9.29537655e-01 1.13833269e-01 4.53563146e+02] [ 8.80838388e-01 3.68706825e-01 2.96949510e-01 2.24775318e+02] [-3.17996854e-01 -3.87624049e-03 9.48083844e-01 3.12797494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.57, Y:224.80, Z:31.27 [[ 3.50348862e-01 -9.29668160e-01 1.13898143e-01 4.53573273e+02] [ 8.80832071e-01 3.68377809e-01 2.97376282e-01 2.24799523e+02] [-3.18418810e-01 -3.86030505e-03 9.47942277e-01 3.12703873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.58, Y:224.82, Z:31.26 [[ 3.50818710e-01 -9.29480825e-01 1.13980828e-01 4.53584030e+02] [ 8.80473826e-01 3.68847245e-01 2.97854916e-01 2.24823230e+02] [-3.18891947e-01 -4.13594189e-03 9.47782053e-01 3.12610261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.59, Y:224.85, Z:31.25 [[ 3.51318983e-01 -9.29330793e-01 1.13662873e-01 4.53593842e+02] [ 8.80507207e-01 3.69222482e-01 2.97290796e-01 2.24847243e+02] [-3.18248379e-01 -4.36292106e-03 9.47997328e-01 3.12520035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.60, Y:224.87, Z:31.24 [[ 3.51087414e-01 -9.29424157e-01 1.13614981e-01 4.53603432e+02] [ 8.80599417e-01 3.68987761e-01 2.97309098e-01 2.24872496e+02] [-3.18248795e-01 -4.33219636e-03 9.47997330e-01 3.12426872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.450385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:453.61, Y:224.90, Z:31.23 [[ 3.51528239e-01 -9.29301159e-01 1.13257469e-01 4.53613347e+02] [ 8.80707555e-01 3.69295190e-01 2.96606247e-01 2.24896697e+02] [-3.17461968e-01 -4.51876267e-03 9.48260239e-01 3.12315756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.62, Y:224.92, Z:31.22 [[ 3.53235803e-01 -9.28673164e-01 1.13095635e-01 4.53624646e+02] [ 8.80102713e-01 3.70862952e-01 2.96445416e-01 2.24921171e+02] [-3.17243884e-01 -5.17935914e-03 9.48329844e-01 3.12235993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.64, Y:224.94, Z:31.21 [[ 3.54750300e-01 -9.28144999e-01 1.12690216e-01 4.53636166e+02] [ 8.79816476e-01 3.72174646e-01 2.95650133e-01 2.24943971e+02] [-3.16346634e-01 -5.73526408e-03 9.48626330e-01 3.12147420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.65, Y:224.97, Z:31.21 [[ 3.55633697e-01 -9.27809567e-01 1.12668016e-01 4.53646800e+02] [ 8.79436728e-01 3.73004472e-01 2.95734180e-01 2.24968209e+02] [-3.16410675e-01 -6.08864835e-03 9.48602769e-01 3.12065211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.66, Y:224.99, Z:31.20 [[ 3.56282925e-01 -9.27567755e-01 1.12607893e-01 4.53657025e+02] [ 8.79146120e-01 3.73600081e-01 2.95846377e-01 2.24991835e+02] [-3.16487878e-01 -6.40622049e-03 9.48574923e-01 3.11974857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.67, Y:225.02, Z:31.19 [[ 3.57527890e-01 -9.27092110e-01 1.12578988e-01 4.53669146e+02] [ 8.78625144e-01 3.74770394e-01 2.95913851e-01 2.25015914e+02] [-3.16530668e-01 -6.88272475e-03 9.48557307e-01 3.11881270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.68, Y:225.04, Z:31.18 [[ 3.58208340e-01 -9.26846151e-01 1.12441084e-01 4.53681837e+02] [ 8.78401058e-01 3.75372400e-01 2.95816063e-01 2.25039598e+02] [-3.16383259e-01 -7.19541331e-03 9.48604164e-01 3.11788924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.69, Y:225.06, Z:31.17 [[ 3.58490090e-01 -9.26756308e-01 1.12283578e-01 4.53693174e+02] [ 8.78358356e-01 3.75590814e-01 2.95665587e-01 2.25063566e+02] [-3.16182628e-01 -7.36796407e-03 9.48669731e-01 3.11697091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.71, Y:225.09, Z:31.16 [[ 3.58702106e-01 -9.26674215e-01 1.12284009e-01 4.53706072e+02] [ 8.78180835e-01 3.75789725e-01 2.95940036e-01 2.25086108e+02] [-3.16435178e-01 -7.54864958e-03 9.48584101e-01 3.11610418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.72, Y:225.11, Z:31.15 [[ 3.58329039e-01 -9.26816360e-01 1.12301977e-01 4.53717329e+02] [ 8.78265287e-01 3.75440346e-01 2.96132796e-01 2.25110537e+02] [-3.16623414e-01 -7.48205261e-03 9.48521815e-01 3.11519292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.73, Y:225.13, Z:31.14 [[ 3.58117104e-01 -9.26878736e-01 1.12463102e-01 4.53729906e+02] [ 8.78096408e-01 3.75285042e-01 2.96829642e-01 2.25133404e+02] [-3.17330804e-01 -7.54632600e-03 9.48284880e-01 3.11429442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.74, Y:225.16, Z:31.13 [[ 3.57813047e-01 -9.26980600e-01 1.12591255e-01 4.53743169e+02] [ 8.78040057e-01 3.75033827e-01 2.97313450e-01 2.25156597e+02] [-3.17829329e-01 -7.52299958e-03 9.48118095e-01 3.11344069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.75, Y:225.18, Z:31.13 [[ 3.57893373e-01 -9.26966490e-01 1.12452036e-01 4.53754334e+02] [ 8.78058693e-01 3.75066488e-01 2.97217195e-01 2.25179360e+02] [-3.17687370e-01 -7.63257663e-03 9.48164795e-01 3.11260664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8403857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:453.77, Y:225.20, Z:31.12 [[ 3.57345605e-01 -9.27248301e-01 1.11869146e-01 4.53767491e+02] [ 8.78825774e-01 3.74373985e-01 2.95819842e-01 2.25202741e+02] [-3.16179344e-01 -7.39643147e-03 9.48670604e-01 3.11157666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.78, Y:225.23, Z:31.11 [[ 3.56785548e-01 -9.27457791e-01 1.11920148e-01 4.53778519e+02] [ 8.78912118e-01 3.73856242e-01 2.96217823e-01 2.25226812e+02] [-3.16571574e-01 -7.31826355e-03 9.48540395e-01 3.11081948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.79, Y:225.25, Z:31.10 [[ 3.55252966e-01 -9.28071118e-01 1.11710919e-01 4.53790988e+02] [ 8.79663227e-01 3.72339991e-01 2.95897852e-01 2.25249977e+02] [-3.16208693e-01 -6.85060241e-03 9.48664921e-01 3.10987006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.80, Y:225.27, Z:31.09 [[ 3.54020869e-01 -9.28560003e-01 1.11559601e-01 4.53801758e+02] [ 8.80222378e-01 3.71125264e-01 2.95761058e-01 2.25272783e+02] [-3.16034475e-01 -6.50832948e-03 9.48725383e-01 3.10900358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.81, Y:225.30, Z:31.08 [[ 3.52599278e-01 -9.29124346e-01 1.11362912e-01 4.53813385e+02] [ 8.80910301e-01 3.69717372e-01 2.95476067e-01 2.25297125e+02] [-3.15706810e-01 -6.08391182e-03 9.48837286e-01 3.10811671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.83, Y:225.32, Z:31.07 [[ 3.49005739e-01 -9.30512697e-01 1.11090571e-01 4.53826623e+02] [ 8.82520453e-01 3.66226544e-01 2.95018251e-01 2.25320010e+02] [-3.15202544e-01 -4.92336161e-03 9.49011653e-01 3.10730280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.84, Y:225.34, Z:31.06 [[ 3.46744528e-01 -9.31366775e-01 1.11014244e-01 4.53837551e+02] [ 8.83405905e-01 3.64057654e-01 2.95052592e-01 2.25344706e+02] [-3.15217766e-01 -4.23723257e-03 9.49009908e-01 3.10637537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.85, Y:225.37, Z:31.05 [[ 3.43024823e-01 -9.32744399e-01 1.11003860e-01 4.53850027e+02] [ 8.84777116e-01 3.60525213e-01 2.95281265e-01 2.25368020e+02] [-3.15441636e-01 -3.07512816e-03 9.48939997e-01 3.10549275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.86, Y:225.39, Z:31.05 [[ 3.38824848e-01 -9.34249964e-01 1.11241755e-01 4.53862184e+02] [ 8.86060017e-01 3.56614375e-01 2.96182096e-01 2.25390340e+02] [-3.16378521e-01 -1.78698247e-03 9.48631350e-01 3.10464028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.87, Y:225.41, Z:31.04 [[ 3.36574627e-01 -9.35055232e-01 1.11306930e-01 4.53873297e+02] [ 8.86790391e-01 3.54500357e-01 2.96533808e-01 2.25414438e+02] [-3.16733835e-01 -1.09983942e-03 9.48513821e-01 3.10374352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.89, Y:225.44, Z:31.03 [[ 3.33276906e-01 -9.36245257e-01 1.11226451e-01 4.53885338e+02] [ 8.88028410e-01 3.51347142e-01 2.96581742e-01 2.25437934e+02] [-3.16752345e-01 -7.15973245e-05 9.48508275e-01 3.10282917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.90, Y:225.46, Z:31.02 [[ 3.31660789e-01 -9.36822400e-01 1.11197622e-01 4.53895632e+02] [ 8.88575431e-01 3.49805152e-01 2.96766001e-01 2.25461900e+02] [-3.16914538e-01 3.81828841e-04 9.48454021e-01 3.10191630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.91, Y:225.49, Z:31.01 [[ 3.28996731e-01 -9.37760160e-01 1.11207166e-01 4.53907791e+02] [ 8.89467528e-01 3.47281558e-01 2.97057296e-01 2.25485084e+02] [-3.17188695e-01 1.18428346e-03 9.48361708e-01 3.10105430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.92, Y:225.51, Z:31.00 [[ 3.27776579e-01 -9.38201503e-01 1.11087598e-01 4.53918281e+02] [ 8.89960778e-01 3.46086150e-01 2.96975067e-01 2.25509500e+02] [-3.17068333e-01 1.52213408e-03 9.48401474e-01 3.10018143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.93, Y:225.53, Z:30.99 [[ 3.26541337e-01 -9.38650863e-01 1.10929309e-01 4.53929626e+02] [ 8.90487192e-01 3.44863895e-01 2.96818891e-01 2.25532453e+02] [-3.16864822e-01 1.85749169e-03 9.48468890e-01 3.09935424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.94, Y:225.56, Z:30.98 [[ 3.25931908e-01 -9.38871616e-01 1.10853418e-01 4.53939657e+02] [ 8.90707397e-01 3.44261757e-01 2.96857164e-01 2.25555890e+02] [-3.16873357e-01 1.98273760e-03 9.48465784e-01 3.09849984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.95, Y:225.58, Z:30.98 [[ 3.25229358e-01 -9.39125034e-01 1.10770187e-01 4.53950106e+02] [ 8.90990380e-01 3.43568754e-01 2.96810805e-01 2.25579619e+02] [-3.16799632e-01 2.16358380e-03 9.48490017e-01 3.09756424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.96, Y:225.60, Z:30.97 [[ 3.25046565e-01 -9.39220948e-01 1.10493172e-01 4.53959917e+02] [ 8.91261395e-01 3.43306445e-01 2.96300206e-01 2.25604344e+02] [-3.16224378e-01 2.16693397e-03 9.48681953e-01 3.09660682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.380385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:453.97, Y:225.63, Z:30.96 [[ 3.25258906e-01 -9.39186384e-01 1.10161615e-01 4.53970362e+02] [ 8.91429859e-01 3.43401840e-01 2.95682234e-01 2.25627718e+02] [-3.15530429e-01 2.02807255e-03 9.48913292e-01 3.09564161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.98, Y:225.65, Z:30.95 [[ 3.26561039e-01 -9.38751431e-01 1.10016534e-01 4.53981118e+02] [ 8.91018772e-01 3.44591718e-01 2.95536963e-01 2.25651112e+02] [-3.15346534e-01 1.51593918e-03 9.48975377e-01 3.09475974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.99, Y:225.68, Z:30.94 [[ 3.27049947e-01 -9.38585595e-01 1.09979149e-01 4.53990808e+02] [ 8.90800626e-01 3.45044147e-01 2.95666673e-01 2.25675495e+02] [-3.15456142e-01 1.27172463e-03 9.48939305e-01 3.09387170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.00, Y:225.70, Z:30.93 [[ 3.29106472e-01 -9.37874526e-01 1.09910435e-01 4.54001475e+02] [ 8.90028333e-01 3.46974247e-01 2.95733728e-01 2.25700011e+02] [-3.15497221e-01 4.95517172e-04 9.48926371e-01 3.09291045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:454.01, Y:225.72, Z:30.92 [[ 3.30159798e-01 -9.37535193e-01 1.09646110e-01 4.54011502e+02] [ 8.89820286e-01 3.47890437e-01 2.95283088e-01 2.25724572e+02] [-3.14983120e-01 7.47282185e-05 9.49097270e-01 3.09204140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.02, Y:225.75, Z:30.91 [[ 3.31001036e-01 -9.37251066e-01 1.09538825e-01 4.54021171e+02] [ 8.89530890e-01 3.48655067e-01 2.95253181e-01 2.25748983e+02] [-3.14917625e-01 -2.90940788e-04 9.49118963e-01 3.09109442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.03, Y:225.77, Z:30.90 [[ 3.33804052e-01 -9.36271493e-01 1.09409994e-01 4.54031672e+02] [ 8.88526373e-01 3.51274764e-01 2.95172704e-01 2.25773047e+02] [-3.14794758e-01 -1.31617970e-03 9.49158853e-01 3.09014447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5903857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:454.04, Y:225.80, Z:30.89 [[ 3.35052856e-01 -9.35840233e-01 1.09282398e-01 4.54041034e+02] [ 8.88099311e-01 3.52419854e-01 2.95092971e-01 2.25796470e+02] [-3.14673161e-01 -1.81811989e-03 9.49198344e-01 3.08926912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:454.05, Y:225.82, Z:30.88 [[ 3.37620668e-01 -9.34938981e-01 1.09093481e-01 4.54051177e+02] [ 8.87243176e-01 3.54797930e-01 2.94818546e-01 2.25820636e+02] [-3.14343492e-01 -2.74438818e-03 9.49305345e-01 3.08826638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.06, Y:225.84, Z:30.87 [[ 3.39908956e-01 -9.34117713e-01 1.09022936e-01 4.54061621e+02] [ 8.86358817e-01 3.56946965e-01 2.94884575e-01 2.25844969e+02] [-3.14372311e-01 -3.60046776e-03 9.49292941e-01 3.08725623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.07, Y:225.87, Z:30.86 [[ 3.41289437e-01 -9.33616804e-01 1.09000844e-01 4.54073090e+02] [ 8.85765287e-01 3.58248998e-01 2.95088991e-01 2.25867981e+02] [-3.14549483e-01 -4.16159169e-03 9.49231955e-01 3.08636384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:454.08, Y:225.89, Z:30.85 [[ 3.41560938e-01 -9.33527122e-01 1.08918495e-01 4.54083909e+02] [ 8.85667358e-01 3.58480637e-01 2.95101616e-01 2.25892820e+02] [-3.14530534e-01 -4.32962906e-03 9.49237482e-01 3.08546734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.09, Y:225.92, Z:30.85 [[ 3.41901609e-01 -9.33386065e-01 1.09058441e-01 4.54094734e+02] [ 8.85303621e-01 3.58844802e-01 2.95749737e-01 2.25915867e+02] [-3.15183738e-01 -4.56747777e-03 9.49019678e-01 3.08463930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.10, Y:225.94, Z:30.84 [[ 3.42266950e-01 -9.33269763e-01 1.08907684e-01 4.54104760e+02] [ 8.85238969e-01 3.59144697e-01 2.95579184e-01 2.25940710e+02] [-3.14968732e-01 -4.75765971e-03 9.49090124e-01 3.08372404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.12, Y:225.96, Z:30.83 [[ 3.42750784e-01 -9.33107975e-01 1.08772268e-01 4.54115005e+02] [ 8.85103768e-01 3.59561543e-01 2.95477268e-01 2.25964040e+02] [-3.14822520e-01 -5.00032094e-03 9.49137386e-01 3.08279395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.12, Y:225.99, Z:30.82 [[ 3.41759250e-01 -9.33481365e-01 1.08688343e-01 4.54124526e+02] [ 8.85513321e-01 3.58594854e-01 2.95424931e-01 2.25988464e+02] [-3.14748749e-01 -4.71922704e-03 9.49163292e-01 3.08183610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.13, Y:226.01, Z:30.81 [[ 3.39538594e-01 -9.34303074e-01 1.08587795e-01 4.54134674e+02] [ 8.86380638e-01 3.56456638e-01 2.95411628e-01 2.26013045e+02] [-3.14710832e-01 -4.05352925e-03 9.49178941e-01 3.08095496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.14, Y:226.04, Z:30.80 [[ 3.38446023e-01 -9.34690283e-01 1.08666298e-01 4.54143758e+02] [ 8.86625996e-01 3.55442886e-01 2.95896433e-01 2.26037074e+02] [-3.15196183e-01 -3.79860631e-03 9.49018934e-01 3.08009129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.15, Y:226.06, Z:30.79 [[ 3.36960701e-01 -9.35191001e-01 1.08973746e-01 4.54152698e+02] [ 8.86791771e-01 3.54127114e-01 2.96975323e-01 2.26062503e+02] [-3.16319208e-01 -3.43199206e-03 9.48646605e-01 3.07921501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.16, Y:226.09, Z:30.78 [[ 3.35920378e-01 -9.35550422e-01 1.09100445e-01 4.54161166e+02] [ 8.86964978e-01 3.53178687e-01 2.97586866e-01 2.26088086e+02] [-3.16939470e-01 -3.19721845e-03 9.48440378e-01 3.07828610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.17, Y:226.11, Z:30.77 [[ 3.33760333e-01 -9.36300643e-01 1.09293850e-01 4.54168286e+02] [ 8.87487495e-01 3.51189966e-01 2.98381559e-01 2.26112517e+02] [-3.17757749e-01 -2.59100320e-03 9.48168392e-01 3.07738671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.18, Y:226.14, Z:30.76 [[ 3.32465842e-01 -9.36779169e-01 1.09138689e-01 4.54176833e+02] [ 8.88054049e-01 3.49914086e-01 2.98194801e-01 2.26138056e+02] [-3.17531842e-01 -2.21853031e-03 9.48245015e-01 3.07643099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.19, Y:226.16, Z:30.76 [[ 3.29710363e-01 -9.37801169e-01 1.08720024e-01 4.54185099e+02] [ 8.89422211e-01 3.47170263e-01 2.97322955e-01 2.26162688e+02] [-3.16574174e-01 -1.33245545e-03 9.48566823e-01 3.07552692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.19, Y:226.19, Z:30.75 [[ 3.26606030e-01 -9.38931687e-01 1.08331842e-01 4.54194225e+02] [ 8.90886059e-01 3.44103442e-01 2.96504388e-01 2.26187061e+02] [-3.15674725e-01 -3.28792981e-04 9.48867409e-01 3.07466854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.20, Y:226.21, Z:30.74 [[ 3.24884029e-01 -9.39553732e-01 1.08116383e-01 4.54203380e+02] [ 8.91658134e-01 3.42401445e-01 2.96153716e-01 2.26212373e+02] [-3.15271535e-01 1.87239741e-04 9.49001488e-01 3.07382305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.130385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:454.21, Y:226.24, Z:30.73 [[ 3.21547836e-01 -9.40702460e-01 1.08101205e-01 4.54210918e+02] [ 8.92794783e-01 3.39230617e-01 2.96378246e-01 2.26238152e+02] [-3.15474984e-01 1.21240828e-03 9.48933119e-01 3.07287327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.160385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:454.22, Y:226.26, Z:30.72 [[ 3.19675812e-01 -9.41341251e-01 1.08092666e-01 4.54218495e+02] [ 8.93387786e-01 3.37451628e-01 2.96622088e-01 2.26262709e+02] [-3.15698654e-01 1.74576060e-03 9.48857899e-01 3.07195287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.23, Y:226.29, Z:30.71 [[ 3.16464510e-01 -9.42406511e-01 1.08259789e-01 4.54226226e+02] [ 8.94301389e-01 3.34458417e-01 2.97258461e-01 2.26288181e+02] [-3.16346707e-01 2.74512649e-03 9.48639671e-01 3.07105573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.23, Y:226.31, Z:30.70 [[ 3.14381885e-01 -9.43076521e-01 1.08492881e-01 4.54234882e+02] [ 8.94709249e-01 3.32559114e-01 2.98160686e-01 2.26313229e+02] [-3.17268639e-01 3.33326536e-03 9.48329848e-01 3.07014724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.24, Y:226.34, Z:30.69 [[ 3.10857143e-01 -9.44229697e-01 1.08619129e-01 4.54243190e+02] [ 8.95724756e-01 3.29257912e-01 2.98774814e-01 2.26338337e+02] [-3.17875760e-01 4.41655723e-03 9.48122089e-01 3.06926611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.25, Y:226.36, Z:30.68 [[ 3.09612847e-01 -9.44651485e-01 1.08505564e-01 4.54251304e+02] [ 8.96183384e-01 3.28041203e-01 2.98737864e-01 2.26362310e+02] [-3.17797462e-01 4.74780264e-03 9.48146735e-01 3.06843959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.26, Y:226.39, Z:30.68 [[ 3.08412541e-01 -9.45065943e-01 1.08314673e-01 4.54258132e+02] [ 8.96736426e-01 3.26839935e-01 2.98394770e-01 2.26386929e+02] [-3.17404295e-01 5.10102350e-03 9.48276591e-01 3.06757311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.27, Y:226.41, Z:30.67 [[ 3.08181974e-01 -9.45150046e-01 1.08237061e-01 4.54267305e+02] [ 8.96815690e-01 3.26596661e-01 2.98422920e-01 2.26412362e+02] [-3.17404299e-01 5.10012979e-03 9.48276594e-01 3.06664261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:454.27, Y:226.44, Z:30.66 [[ 3.08928169e-01 -9.44907997e-01 1.08223210e-01 4.54273738e+02] [ 8.96491969e-01 3.27301303e-01 2.98623522e-01 2.26437886e+02] [-3.17593352e-01 4.76802104e-03 9.48215023e-01 3.06571021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.28, Y:226.46, Z:30.65 [[ 3.09671071e-01 -9.44679028e-01 1.08098850e-01 4.54281270e+02] [ 8.96273165e-01 3.27966274e-01 2.98550729e-01 2.26462708e+02] [-3.17487390e-01 4.43357478e-03 9.48252129e-01 3.06482008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.29, Y:226.49, Z:30.64 [[ 3.11449993e-01 -9.44111765e-01 1.07943865e-01 4.54287811e+02] [ 8.95734488e-01 3.29604021e-01 2.98363731e-01 2.26488249e+02] [-3.17267441e-01 3.76366095e-03 9.48328638e-01 3.06388869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.29, Y:226.51, Z:30.63 [[ 3.13424128e-01 -9.43503668e-01 1.07546013e-01 4.54294207e+02] [ 8.95367361e-01 3.31348143e-01 2.97532683e-01 2.26513064e+02] [-3.16358350e-01 3.03926822e-03 9.48634892e-01 3.06296272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.30, Y:226.54, Z:30.62 [[ 3.14225292e-01 -9.43266315e-01 1.07289911e-01 4.54302225e+02] [ 8.95271892e-01 3.32026086e-01 2.97063826e-01 2.26538876e+02] [-3.15833350e-01 2.70867457e-03 9.48810813e-01 3.06205210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.31, Y:226.56, Z:30.61 [[ 3.16253980e-01 -9.42609315e-01 1.07103217e-01 4.54309575e+02] [ 8.94660857e-01 3.33891998e-01 2.96813215e-01 2.26564636e+02] [-3.15539808e-01 1.95269519e-03 9.48910331e-01 3.06112914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.32, Y:226.59, Z:30.60 [[ 3.17146717e-01 -9.42305243e-01 1.07139114e-01 4.54317266e+02] [ 8.94215295e-01 3.34751276e-01 2.97187803e-01 2.26588748e+02] [-3.15906580e-01 1.55329829e-03 9.48789028e-01 3.06025811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.32, Y:226.61, Z:30.59 [[ 3.18926433e-01 -9.41678576e-01 1.07365683e-01 4.54324853e+02] [ 8.93262382e-01 3.36512622e-01 2.98063035e-01 2.26614237e+02] [-3.16809482e-01 8.45545746e-04 9.48488818e-01 3.05938293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:454.33, Y:226.64, Z:30.58 [[ 3.19500351e-01 -9.41478838e-01 1.07411000e-01 4.54333222e+02] [ 8.92916745e-01 3.37071648e-01 2.98466732e-01 2.26639529e+02] [-3.17205315e-01 5.48855372e-04 9.48356730e-01 3.05847257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.34, Y:226.66, Z:30.58 [[ 3.20648156e-01 -9.41077470e-01 1.07507930e-01 4.54340471e+02] [ 8.92309118e-01 3.38191059e-01 2.99017133e-01 2.26664233e+02] [-3.17756508e-01 5.10136119e-05 9.48172347e-01 3.05759856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.35, Y:226.69, Z:30.57 [[ 3.21129844e-01 -9.40902869e-01 1.07598398e-01 4.54348915e+02] [ 8.91977671e-01 3.38676477e-01 2.99456306e-01 2.26689714e+02] [-3.18200344e-01 -1.88988013e-04 9.48023473e-01 3.05667290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.36, Y:226.71, Z:30.56 [[ 3.21764542e-01 -9.40659328e-01 1.07831387e-01 4.54357196e+02] [ 8.91408598e-01 3.39351950e-01 3.00384695e-01 2.26714134e+02] [-3.19152457e-01 -5.31318620e-04 9.47703238e-01 3.05581347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.37, Y:226.74, Z:30.55 [[ 3.21938370e-01 -9.40576949e-01 1.08030963e-01 4.54365695e+02] [ 8.91049586e-01 3.39579898e-01 3.01191183e-01 2.26739306e+02] [-3.19978627e-01 -7.04053538e-04 9.47424500e-01 3.05493246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.37, Y:226.76, Z:30.54 [[ 3.22356307e-01 -9.40464893e-01 1.07759906e-01 4.54374532e+02] [ 8.91094078e-01 3.39889622e-01 3.00709810e-01 2.26764474e+02] [-3.19433493e-01 -9.11489093e-04 9.47608259e-01 3.05406519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.38, Y:226.79, Z:30.53 [[ 3.22816363e-01 -9.40364842e-01 1.07254646e-01 4.54382273e+02] [ 8.91373056e-01 3.40165768e-01 2.99568565e-01 2.26789653e+02] [-3.18188105e-01 -1.10173346e-03 9.48026960e-01 3.05309629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.39, Y:226.81, Z:30.52 [[ 3.23055053e-01 -9.40324010e-01 1.06893352e-01 4.54390498e+02] [ 8.91576226e-01 3.40278161e-01 2.98835418e-01 2.26814349e+02] [-3.17375592e-01 -1.23672059e-03 9.48299111e-01 3.05212879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.40, Y:226.84, Z:30.51 [[ 3.23491758e-01 -9.40231429e-01 1.06385817e-01 4.54398666e+02] [ 8.91861222e-01 3.40533177e-01 2.97692320e-01 2.26839919e+02] [-3.16127575e-01 -1.41962720e-03 9.48715627e-01 3.05117987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.880385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:454.41, Y:226.86, Z:30.50 [[ 3.23264829e-01 -9.40327869e-01 1.06223116e-01 4.54406817e+02] [ 8.92022266e-01 3.40266772e-01 2.97514370e-01 2.26864101e+02] [-3.15905250e-01 -1.42254769e-03 9.48789676e-01 3.05030418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.41, Y:226.89, Z:30.49 [[ 3.21995184e-01 -9.40758366e-01 1.06267583e-01 4.54413798e+02] [ 8.92350991e-01 3.39075963e-01 2.97887900e-01 2.26888741e+02] [-3.16273317e-01 -1.09048668e-03 9.48667487e-01 3.04940135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.42, Y:226.91, Z:30.49 [[ 3.19686748e-01 -9.41532705e-01 1.06379264e-01 4.54421662e+02] [ 8.92979918e-01 3.36921344e-01 2.98447439e-01 2.26914786e+02] [-3.16839470e-01 -4.15144745e-04 9.48479087e-01 3.04853243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.43, Y:226.94, Z:30.48 [[ 3.18309266e-01 -9.41991189e-01 1.06450978e-01 4.54430407e+02] [ 8.93303481e-01 3.35637596e-01 2.98925234e-01 2.26940195e+02] [-3.17313887e-01 -5.76427709e-05 9.48320565e-01 3.04764113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.42, Y:226.96, Z:30.45 [[ 3.10740483e-01 -9.42663479e-01 1.21761726e-01 4.54423700e+02] [ 8.93413456e-01 3.33397490e-01 3.01095516e-01 2.26960517e+02] [-3.24426801e-01 1.52209982e-02 9.45788334e-01 3.04549797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.46, Y:226.99, Z:30.47 [[ 3.15437863e-01 -9.44797738e-01 8.86351423e-02 4.54455378e+02] [ 8.93796342e-01 3.27184869e-01 3.06721634e-01 2.26990469e+02] [-3.18789983e-01 -1.75298509e-02 9.47663258e-01 3.04663497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.45, Y:227.02, Z:30.45 [[ 3.14043230e-01 -9.43365639e-01 1.06949155e-01 4.54454108e+02] [ 8.94128456e-01 3.31752790e-01 3.00789611e-01 2.27016256e+02] [-3.19235264e-01 1.16534168e-03 9.47674780e-01 3.04490084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.46, Y:227.04, Z:30.44 [[ 3.13061138e-01 -9.43709766e-01 1.06792334e-01 4.54461892e+02] [ 8.94546870e-01 3.30771632e-01 3.00626056e-01 2.27041191e+02] [-3.19027620e-01 1.41641237e-03 9.47744360e-01 3.04397493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.47, Y:227.07, Z:30.43 [[ 3.11550155e-01 -9.44245595e-01 1.06474211e-01 4.54468530e+02] [ 8.95320173e-01 3.29236684e-01 3.00008323e-01 2.27065476e+02] [-3.18336753e-01 1.86086935e-03 9.47975869e-01 3.04305453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.48, Y:227.09, Z:30.42 [[ 3.10859534e-01 -9.44491800e-01 1.06308936e-01 4.54476829e+02] [ 8.95674233e-01 3.28528625e-01 2.99727561e-01 2.27090392e+02] [-3.18015752e-01 2.04500517e-03 9.48083224e-01 3.04217868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.48, Y:227.12, Z:30.41 [[ 3.09294956e-01 -9.45030509e-01 1.06084721e-01 4.54484295e+02] [ 8.96363741e-01 3.26972629e-01 2.99367574e-01 2.27116406e+02] [-3.17598291e-01 2.49761666e-03 9.48222067e-01 3.04134459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.49, Y:227.14, Z:30.40 [[ 3.08124016e-01 -9.45407598e-01 1.06132298e-01 4.54490496e+02] [ 8.96624463e-01 3.25878323e-01 2.99779738e-01 2.27142018e+02] [-3.18000258e-01 2.79147803e-03 9.48086517e-01 3.04045174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.50, Y:227.17, Z:30.40 [[ 3.07617347e-01 -9.45592549e-01 1.05954234e-01 4.54498011e+02] [ 8.96895024e-01 3.25340480e-01 2.99554483e-01 2.27166922e+02] [-3.17727688e-01 2.88166942e-03 9.48177627e-01 3.03955654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.50, Y:227.19, Z:30.39 [[ 3.06989964e-01 -9.45832761e-01 1.05629307e-01 4.54504527e+02] [ 8.97372792e-01 3.24640075e-01 2.98882745e-01 2.27193239e+02] [-3.16984598e-01 3.03486323e-03 9.48425830e-01 3.03863652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.51, Y:227.22, Z:30.38 [[ 3.06711881e-01 -9.45931160e-01 1.05555973e-01 4.54512252e+02] [ 8.97453390e-01 3.24353208e-01 2.98952185e-01 2.27218986e+02] [-3.17025605e-01 3.03937872e-03 9.48412109e-01 3.03770682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.52, Y:227.25, Z:30.37 [[ 3.06244258e-01 -9.46074030e-01 1.05633254e-01 4.54518123e+02] [ 8.97438460e-01 3.23935722e-01 2.99449258e-01 2.27245657e+02] [-3.17519550e-01 3.09472884e-03 9.48246676e-01 3.03680892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.52, Y:227.27, Z:30.36 [[ 3.06041401e-01 -9.46104067e-01 1.05951668e-01 4.54523762e+02] [ 8.97074196e-01 3.23848499e-01 3.00632727e-01 2.27272221e+02] [-3.18742134e-01 3.04044708e-03 9.47836593e-01 3.03597030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.53, Y:227.30, Z:30.35 [[ 3.05678416e-01 -9.46217039e-01 1.05990665e-01 4.54530516e+02] [ 8.97062960e-01 3.23518043e-01 3.01021797e-01 2.27297661e+02] [-3.19121846e-01 3.06443372e-03 9.47708741e-01 3.03509545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.54, Y:227.32, Z:30.34 [[ 3.05558678e-01 -9.46251598e-01 1.06027393e-01 4.54537314e+02] [ 8.96970887e-01 3.23417489e-01 3.01403975e-01 2.27322628e+02] [-3.19495106e-01 3.00688437e-03 9.47583155e-01 3.03420003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.54, Y:227.35, Z:30.33 [[ 3.05593111e-01 -9.46262296e-01 1.05832501e-01 4.54542715e+02] [ 8.97084540e-01 3.23386920e-01 3.01098370e-01 2.27348195e+02] [-3.19142881e-01 2.92711316e-03 9.47702091e-01 3.03331910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.55, Y:227.37, Z:30.32 [[ 3.05368320e-01 -9.46380865e-01 1.05420334e-01 4.54547870e+02] [ 8.97520400e-01 3.23039519e-01 3.00170953e-01 2.27374093e+02] [-3.18130980e-01 2.95420087e-03 9.48042168e-01 3.03240235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.55, Y:227.40, Z:30.32 [[ 3.05074240e-01 -9.46506388e-01 1.05144495e-01 4.54554658e+02] [ 8.97823069e-01 3.22671293e-01 2.99661431e-01 2.27398732e+02] [-3.17558569e-01 2.98216975e-03 9.48233970e-01 3.03152530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.56, Y:227.43, Z:30.31 [[ 3.03819815e-01 -9.46915202e-01 1.05095770e-01 4.54560529e+02] [ 8.98219224e-01 3.21466261e-01 2.99769358e-01 2.27425199e+02] [-3.17640907e-01 3.32317009e-03 9.48205258e-01 3.03062410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.57, Y:227.45, Z:30.30 [[ 3.03223625e-01 -9.47130611e-01 1.04876299e-01 4.54567702e+02] [ 8.98561877e-01 3.20829759e-01 2.99424145e-01 2.27450659e+02] [-3.17241212e-01 3.44536974e-03 9.48338623e-01 3.02975918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.56, Y:227.47, Z:30.28 [[ 2.98399227e-01 -9.46562231e-01 1.22384007e-01 4.54559334e+02] [ 8.98260281e-01 3.21859820e-01 2.99223535e-01 2.27472481e+02] [-3.22624191e-01 2.06446206e-02 9.46301977e-01 3.02755948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:227.50, Z:30.29 [[ 3.00759663e-01 -9.49876360e-01 8.53142750e-02 4.54588239e+02] [ 8.99333585e-01 3.12249351e-01 3.06103651e-01 2.27502083e+02] [-3.17399949e-01 -1.53376381e-02 9.48167722e-01 3.02865717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:227.53, Z:30.27 [[ 3.00399103e-01 -9.48049162e-01 1.04705137e-01 4.54586993e+02] [ 8.99471443e-01 3.18096432e-01 2.99609385e-01 2.27528477e+02] [-3.17350757e-01 4.17689001e-03 9.48299030e-01 3.02701562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.58, Y:227.55, Z:30.25 [[ 2.96302381e-01 -9.47511510e-01 1.20111773e-01 4.54582803e+02] [ 8.98984776e-01 3.19150453e-01 2.99948930e-01 2.27551336e+02] [-3.22538790e-01 1.91030731e-02 9.46363462e-01 3.02508320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.61, Y:227.58, Z:30.26 [[ 2.99409057e-01 -9.50062048e-01 8.79563692e-02 4.54610116e+02] [ 8.99522376e-01 3.11810638e-01 3.05996114e-01 2.27579680e+02] [-3.18141026e-01 -1.24992855e-02 9.47960999e-01 3.02585790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.750385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:454.61, Y:227.61, Z:30.24 [[ 2.99124887e-01 -9.48472507e-01 1.04518929e-01 4.54608817e+02] [ 8.99884408e-01 3.16828839e-01 2.99712426e-01 2.27605209e+02] [-3.17383607e-01 4.40350886e-03 9.48287011e-01 3.02425596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.60, Y:227.63, Z:30.22 [[ 2.95433239e-01 -9.46413117e-01 1.30466137e-01 4.54598881e+02] [ 8.98572555e-01 3.21649963e-01 2.98510746e-01 2.27625200e+02] [-3.24478914e-01 2.90432936e-02 9.45446943e-01 3.02175913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.62, Y:227.65, Z:30.22 [[ 2.96503106e-01 -9.49169074e-01 1.05659724e-01 4.54617359e+02] [ 8.97931678e-01 3.14745487e-01 3.07658870e-01 2.27649899e+02] [-3.25276206e-01 3.65340307e-03 9.45611994e-01 3.02166061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8403857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:454.63, Y:227.68, Z:30.22 [[ 3.00565680e-01 -9.49111643e-01 9.40604127e-02 4.54633544e+02] [ 8.98098734e-01 3.14842729e-01 3.07071198e-01 2.27678284e+02] [-3.21059086e-01 -7.81952592e-03 9.47026884e-01 3.02150370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.64, Y:227.70, Z:30.20 [[ 3.02546124e-01 -9.47746648e-01 1.01203428e-01 4.54636578e+02] [ 8.97514368e-01 3.19021397e-01 3.04455755e-01 2.27704185e+02] [-3.20832981e-01 -1.28037769e-03 9.47134921e-01 3.02028809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.65, Y:227.73, Z:30.20 [[ 3.06375943e-01 -9.47000495e-01 9.65600574e-02 4.54649353e+02] [ 8.98407807e-01 3.21193056e-01 2.99496968e-01 2.27731661e+02] [-3.14638197e-01 -5.00835652e-03 9.49198463e-01 3.02002040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.66, Y:227.76, Z:30.19 [[ 3.09150444e-01 -9.45504716e-01 1.02209762e-01 4.54657221e+02] [ 8.96351277e-01 3.25605373e-01 3.00891225e-01 2.27758117e+02] [-3.17774120e-01 -1.40480470e-03 9.48165405e-01 3.01862217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.66, Y:227.78, Z:30.17 [[ 3.07159675e-01 -9.44774244e-01 1.14256558e-01 4.54656283e+02] [ 8.96365204e-01 3.27548558e-01 2.98732931e-01 2.27781377e+02] [-3.19659750e-01 1.06568932e-02 9.47472467e-01 3.01714943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.67, Y:227.81, Z:30.17 [[ 3.07871361e-01 -9.45696820e-01 1.04272479e-01 4.54669144e+02] [ 8.96191790e-01 3.25049677e-01 3.01965201e-01 2.27807094e+02] [-3.19461266e-01 4.81702293e-04 9.47599212e-01 3.01665724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.020385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:454.68, Y:227.83, Z:30.16 [[ 3.07797708e-01 -9.45493424e-01 1.06314425e-01 4.54676267e+02] [ 8.95915371e-01 3.25633449e-01 3.02156426e-01 2.27831636e+02] [-3.20306447e-01 2.24567235e-03 9.47311320e-01 3.01557177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.69, Y:227.86, Z:30.15 [[ 3.10972424e-01 -9.45786094e-01 9.37273438e-02 4.54693632e+02] [ 8.95754366e-01 3.24620683e-01 3.03719490e-01 2.27858668e+02] [-3.17679505e-01 -1.04917089e-02 9.48140104e-01 3.01527482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.080385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:454.70, Y:227.88, Z:30.14 [[ 3.11545048e-01 -9.44858017e-01 1.00910904e-01 4.54698073e+02] [ 8.96082333e-01 3.27467108e-01 2.99669395e-01 2.27884767e+02] [-3.16190032e-01 -2.93603831e-03 9.48691332e-01 3.01420765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.71, Y:227.91, Z:30.14 [[ 3.13284986e-01 -9.44753126e-01 9.64056497e-02 4.54709762e+02] [ 8.96170440e-01 3.27700933e-01 2.99149864e-01 2.27910368e+02] [-3.14214991e-01 -7.32326768e-03 9.49323606e-01 3.01380593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.70, Y:227.93, Z:30.11 [[ 3.09145613e-01 -9.41527396e-01 1.33996841e-01 4.54695526e+02] [ 8.94547535e-01 3.35716981e-01 2.95091202e-01 2.27931091e+02] [-3.22821465e-01 2.86403933e-02 9.46026442e-01 3.01053557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.170385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:454.74, Y:227.96, Z:30.13 [[ 3.13546160e-01 -9.46962543e-01 7.03615539e-02 4.54739503e+02] [ 8.96131826e-01 3.19594041e-01 3.07908102e-01 2.27959425e+02] [-3.14064573e-01 -3.34901755e-02 9.48810757e-01 3.01271848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.72, Y:227.98, Z:30.10 [[ 3.11732423e-01 -9.42663000e-01 1.19203045e-01 4.54723671e+02] [ 8.94948662e-01 3.33441040e-01 2.96452297e-01 2.27983202e+02] [-3.19201799e-01 1.42668128e-02 9.47579374e-01 3.00962519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.74, Y:228.01, Z:30.09 [[ 3.11613201e-01 -9.44663118e-01 1.02512468e-01 4.54740769e+02] [ 8.95085733e-01 3.28033602e-01 3.02019017e-01 2.28008995e+02] [-3.18933760e-01 -2.35566527e-03 9.47774080e-01 3.00927847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.75, Y:228.03, Z:30.09 [[ 3.12238875e-01 -9.44884336e-01 9.84910017e-02 4.54752154e+02] [ 8.95328386e-01 3.27346966e-01 3.02044775e-01 2.28034337e+02] [-3.17638107e-01 -6.12833120e-03 9.48192215e-01 3.00862248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.76, Y:228.06, Z:30.08 [[ 3.13045561e-01 -9.44908931e-01 9.56534829e-02 4.54764267e+02] [ 8.95895548e-01 3.27226268e-01 3.00489828e-01 2.28060386e+02] [-3.15235855e-01 -8.37147736e-03 9.48976435e-01 3.00803438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.77, Y:228.09, Z:30.07 [[ 3.14145206e-01 -9.43393489e-01 1.06402608e-01 4.54770194e+02] [ 8.95203478e-01 3.31671060e-01 2.97665990e-01 2.28086197e+02] [-3.16106822e-01 1.74164107e-03 9.48722005e-01 3.00660432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.78, Y:228.11, Z:30.06 [[ 3.13485155e-01 -9.44110937e-01 1.01890120e-01 4.54781158e+02] [ 8.95787497e-01 3.29620504e-01 2.98186325e-01 2.28110245e+02] [-3.15106043e-01 -2.20509082e-03 9.49053907e-01 3.00598623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.79, Y:228.13, Z:30.06 [[ 3.14634740e-01 -9.44436058e-01 9.51078975e-02 4.54793919e+02] [ 8.96223927e-01 3.28584524e-01 2.98018261e-01 2.28134587e+02] [-3.12710175e-01 -8.52892461e-03 9.49810299e-01 3.00566839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.80, Y:228.16, Z:30.05 [[ 3.14761185e-01 -9.43707517e-01 1.01693258e-01 4.54799924e+02] [ 8.96363777e-01 3.30776447e-01 2.95159146e-01 2.28160072e+02] [-3.12181639e-01 -1.75048929e-03 9.50020821e-01 3.00450304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.80, Y:228.18, Z:30.02 [[ 3.13979243e-01 -9.41583977e-01 1.21805785e-01 4.54799225e+02] [ 8.95293473e-01 3.36331886e-01 2.92113779e-01 2.28183340e+02] [-3.16016824e-01 1.73342610e-02 9.48595220e-01 3.00221496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.82, Y:228.21, Z:30.02 [[ 3.12799591e-01 -9.44553675e-01 9.98737747e-02 4.54817945e+02] [ 8.95489451e-01 3.28325378e-01 3.00501396e-01 2.28206520e+02] [-3.16630792e-01 -4.56080186e-03 9.48537896e-01 3.00213494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.84, Y:228.23, Z:30.03 [[ 3.14941439e-01 -9.45647888e-01 8.10059450e-02 4.54839886e+02] [ 8.96336223e-01 3.24407824e-01 3.02226636e-01 2.28232689e+02] [-3.12078942e-01 -2.25751286e-02 9.49787923e-01 3.00273513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.84, Y:228.26, Z:30.01 [[ 3.14945117e-01 -9.43657024e-01 1.01592297e-01 4.54840302e+02] [ 8.96139363e-01 3.30918548e-01 2.95680836e-01 2.28257117e+02] [-3.12640073e-01 -2.08237934e-03 9.49869385e-01 3.00108023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.85, Y:228.28, Z:30.00 [[ 3.14518385e-01 -9.43803086e-01 1.01557470e-01 4.54849828e+02] [ 8.96266917e-01 3.30502250e-01 2.95759828e-01 2.28281512e+02] [-3.12704011e-01 -1.99930313e-03 9.49848517e-01 3.00018685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.86, Y:228.31, Z:29.99 [[ 3.14056187e-01 -9.43962291e-01 1.01508150e-01 4.54859440e+02] [ 8.96384096e-01 3.30047601e-01 2.95912375e-01 2.28305287e+02] [-3.12832645e-01 -1.94282081e-03 9.49806276e-01 2.99935429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.87, Y:228.33, Z:29.99 [[ 3.13234252e-01 -9.44224394e-01 1.01610028e-01 4.54870906e+02] [ 8.96496366e-01 3.29298080e-01 2.96406884e-01 2.28329356e+02] [-3.13334597e-01 -1.75176769e-03 9.49641175e-01 2.99852851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.88, Y:228.35, Z:29.98 [[ 3.12243360e-01 -9.44536435e-01 1.01759552e-01 4.54881808e+02] [ 8.96583534e-01 3.28403019e-01 2.97135363e-01 2.28353165e+02] [-3.14073321e-01 -1.54260546e-03 9.49397477e-01 2.99763723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:454.89, Y:228.38, Z:29.97 [[ 3.11228350e-01 -9.44889926e-01 1.01587112e-01 4.54891438e+02] [ 8.97070859e-01 3.27385851e-01 2.96786757e-01 2.28377886e+02] [-3.13689000e-01 -1.23761467e-03 9.49524976e-01 2.99665106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.90, Y:228.40, Z:29.96 [[ 3.09840987e-01 -9.45329043e-01 1.01742634e-01 4.54901992e+02] [ 8.97285400e-01 3.26116847e-01 2.97534389e-01 2.28401696e+02] [-3.14447887e-01 -8.96168585e-04 9.49274314e-01 2.99584826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.90, Y:228.42, Z:29.93 [[ 3.05971472e-01 -9.43552312e-01 1.26848310e-01 4.54897151e+02] [ 8.96562000e-01 3.30391026e-01 2.94988730e-01 2.28423758e+02] [-3.20246841e-01 2.34692383e-02 9.47043376e-01 2.99302692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.770385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:454.93, Y:228.45, Z:29.93 [[ 3.06591226e-01 -9.46927847e-01 9.65891934e-02 4.54927222e+02] [ 8.97706220e-01 3.21395809e-01 3.01377300e-01 2.28449845e+02] [-3.16425920e-01 -5.69091638e-03 9.48600153e-01 2.99333866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.800385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:454.94, Y:228.47, Z:29.93 [[ 3.03492321e-01 -9.48604877e-01 8.96727313e-02 4.54938986e+02] [ 8.99806969e-01 3.16288168e-01 3.00514915e-01 2.28472661e+02] [-3.13432338e-01 -1.05158206e-02 9.49552309e-01 2.99324440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.94, Y:228.50, Z:29.92 [[ 3.02270861e-01 -9.47829042e-01 1.01254298e-01 4.54943168e+02] [ 9.00145557e-01 3.18775949e-01 2.96849912e-01 2.28497424e+02] [-3.13640403e-01 1.41452760e-03 9.49540782e-01 2.99200009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:454.95, Y:228.52, Z:29.91 [[ 2.99074223e-01 -9.48855920e-01 1.01128894e-01 4.54954190e+02] [ 9.01267228e-01 3.15700316e-01 2.96733372e-01 2.28521854e+02] [-3.13483641e-01 2.39885546e-03 9.49590571e-01 2.99097595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.96, Y:228.55, Z:29.90 [[ 2.97769212e-01 -9.49268423e-01 1.01108638e-01 4.54964231e+02] [ 9.01627832e-01 3.14455037e-01 2.96960070e-01 2.28547272e+02] [-3.13688938e-01 2.73679635e-03 9.49521859e-01 2.99015804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.98, Y:228.57, Z:29.89 [[ 2.95636095e-01 -9.49938018e-01 1.01079483e-01 4.54975775e+02] [ 9.02268867e-01 3.12420459e-01 2.97160476e-01 2.28571158e+02] [-3.13863332e-01 3.34950823e-03 9.49462263e-01 2.98926407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.99, Y:228.60, Z:29.88 [[ 2.94635227e-01 -9.50250748e-01 1.01062347e-01 4.54985796e+02] [ 9.02521873e-01 3.11465313e-01 2.97394734e-01 2.28596122e+02] [-3.14076984e-01 3.58801375e-03 9.49390738e-01 2.98836153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.00, Y:228.62, Z:29.88 [[ 2.94451856e-01 -9.50324116e-01 1.00906785e-01 4.54995934e+02] [ 9.02655032e-01 3.11241644e-01 2.97224718e-01 2.28619474e+02] [-3.13866211e-01 3.56564717e-03 9.49460525e-01 2.98752428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.00, Y:228.64, Z:29.87 [[ 2.94413430e-01 -9.50342299e-01 1.00847647e-01 4.55004932e+02] [ 9.02646327e-01 3.11186886e-01 2.97308476e-01 2.28644580e+02] [-3.13927286e-01 3.49814994e-03 9.49440584e-01 2.98656576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.01, Y:228.67, Z:29.86 [[ 2.95488291e-01 -9.50036141e-01 1.00588270e-01 4.55014454e+02] [ 9.02482546e-01 3.12124806e-01 2.96822100e-01 2.28668932e+02] [-3.13387817e-01 3.07170262e-03 9.49620262e-01 2.98561176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.02, Y:228.69, Z:29.85 [[ 2.96465157e-01 -9.49741090e-01 1.00500111e-01 4.55023274e+02] [ 9.02161852e-01 3.13025199e-01 2.96848812e-01 2.28692763e+02] [-3.13388582e-01 2.66203694e-03 9.49621246e-01 2.98475282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:455.03, Y:228.72, Z:29.84 [[ 2.98976380e-01 -9.48969961e-01 1.00345095e-01 4.55033658e+02] [ 9.01436000e-01 3.15361430e-01 2.96581028e-01 2.28717482e+02] [-3.13091459e-01 1.78395897e-03 9.49721304e-01 2.98383994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.04, Y:228.74, Z:29.83 [[ 2.99873492e-01 -9.48708424e-01 1.00140976e-01 4.55042900e+02] [ 9.01264136e-01 3.16149227e-01 2.96264448e-01 2.28741599e+02] [-3.12728069e-01 1.41161564e-03 9.49841651e-01 2.98299806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.05, Y:228.77, Z:29.82 [[ 3.01614979e-01 -9.48146797e-01 1.00230014e-01 4.55053441e+02] [ 9.00501287e-01 3.17831873e-01 2.96783310e-01 2.28766682e+02] [-3.13250438e-01 7.42964899e-04 9.49670265e-01 2.98209597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.06, Y:228.79, Z:29.81 [[ 3.02387065e-01 -9.47903365e-01 1.00206154e-01 4.55062305e+02] [ 9.00174666e-01 3.18557771e-01 2.96995819e-01 2.28790956e+02] [-3.13444785e-01 3.95347304e-04 9.49606345e-01 2.98124250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.07, Y:228.81, Z:29.80 [[ 3.03701404e-01 -9.47483589e-01 1.00201326e-01 4.55071879e+02] [ 8.99653009e-01 3.19804366e-01 2.97236657e-01 2.28814805e+02] [-3.13671677e-01 -1.24765543e-04 9.49531497e-01 2.98035137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.250385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:455.08, Y:228.84, Z:29.79 [[ 3.04256395e-01 -9.47329232e-01 9.99768608e-02 4.55081270e+02] [ 8.99650093e-01 3.20261156e-01 2.96753269e-01 2.28839366e+02] [-3.13141751e-01 -3.44887814e-04 9.49706336e-01 2.97938604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.09, Y:228.86, Z:29.79 [[ 3.06021868e-01 -9.46750476e-01 1.00070735e-01 4.55091303e+02] [ 8.98859726e-01 3.21966569e-01 2.97302408e-01 2.28863613e+02] [-3.13690628e-01 -1.03148457e-03 9.49524684e-01 2.97855760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.10, Y:228.89, Z:29.78 [[ 3.07222423e-01 -9.46379333e-01 9.99026562e-02 4.55101473e+02] [ 8.98540149e-01 3.23054006e-01 2.97088724e-01 2.28888531e+02] [-3.13432582e-01 -1.50577011e-03 9.49609261e-01 2.97769144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.11, Y:228.91, Z:29.77 [[ 3.07502425e-01 -9.46308566e-01 9.97113669e-02 4.55110826e+02] [ 8.98559379e-01 3.23260425e-01 2.96805897e-01 2.28913117e+02] [-3.13102701e-01 -1.67194899e-03 9.49717802e-01 2.97680545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.12, Y:228.94, Z:29.76 [[ 3.08022072e-01 -9.46156621e-01 9.95492480e-02 4.55121378e+02] [ 8.98464690e-01 3.23703506e-01 2.96609577e-01 2.28937384e+02] [-3.12863556e-01 -1.92081228e-03 9.49796139e-01 2.97592427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.13, Y:228.96, Z:29.75 [[ 3.08827910e-01 -9.45947165e-01 9.90418216e-02 4.55131789e+02] [ 8.98648566e-01 3.24313176e-01 2.95384019e-01 2.28961134e+02] [-3.11538243e-01 -2.21903810e-03 9.50231024e-01 2.97511895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.14, Y:228.98, Z:29.74 [[ 3.08840144e-01 -9.45961926e-01 9.88625342e-02 4.55140986e+02] [ 8.98755480e-01 3.24269645e-01 2.95106397e-01 2.28984636e+02] [-3.11217534e-01 -2.28745762e-03 9.50335948e-01 2.97425240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.15, Y:229.01, Z:29.73 [[ 3.09044842e-01 -9.45936637e-01 9.84640282e-02 4.55152008e+02] [ 8.99036096e-01 3.24342677e-01 2.94169892e-01 2.29008643e+02] [-3.10202165e-01 -2.38897250e-03 9.50667613e-01 2.97339385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.16, Y:229.03, Z:29.72 [[ 3.08748936e-01 -9.45523447e-01 1.03244888e-01 4.55159753e+02] [ 8.99730673e-01 3.25538885e-01 2.90704575e-01 2.29033984e+02] [-3.08478218e-01 3.13786450e-03 9.51226231e-01 2.97223282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.18, Y:229.06, Z:29.72 [[ 3.08776839e-01 -9.46536903e-01 9.34063948e-02 4.55175544e+02] [ 8.99233631e-01 3.22513576e-01 2.95573798e-01 2.29058489e+02] [-3.09896338e-01 -7.27217146e-03 9.50742539e-01 2.97181826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.18, Y:229.08, Z:29.71 [[ 3.09368541e-01 -9.45858118e-01 9.82014555e-02 4.55183844e+02] [ 8.98952838e-01 3.24568894e-01 2.94174825e-01 2.29082477e+02] [-3.10120784e-01 -2.72995917e-03 9.50693245e-01 2.97073267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.19, Y:229.11, Z:29.70 [[ 3.09227149e-01 -9.45903601e-01 9.82087007e-02 4.55193314e+02] [ 8.98930378e-01 3.24436146e-01 2.94389815e-01 2.29107825e+02] [-3.10326838e-01 -2.75053856e-03 9.50625946e-01 2.96981620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.20, Y:229.13, Z:29.69 [[ 3.10436418e-01 -9.45496328e-01 9.83154320e-02 4.55204165e+02] [ 8.98304563e-01 3.25616436e-01 2.94996354e-01 2.29132479e+02] [-3.10931090e-01 -3.26041039e-03 9.50426866e-01 2.96893170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.21, Y:229.16, Z:29.68 [[ 3.11050447e-01 -9.45291828e-01 9.83411397e-02 4.55214285e+02] [ 8.97969166e-01 3.26206441e-01 2.95365428e-01 2.29155637e+02] [-3.11286038e-01 -3.56623709e-03 9.50309573e-01 2.96803416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.22, Y:229.18, Z:29.67 [[ 3.11125083e-01 -9.45286047e-01 9.81604424e-02 4.55223965e+02] [ 8.98055932e-01 3.26222217e-01 2.95084069e-01 2.29180552e+02] [-3.10960970e-01 -3.65448787e-03 9.50415656e-01 2.96715948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.23, Y:229.20, Z:29.66 [[ 3.11533888e-01 -9.45164321e-01 9.80359325e-02 4.55234733e+02] [ 8.97956677e-01 3.26572242e-01 2.94998943e-01 2.29204118e+02] [-3.10838290e-01 -3.87014751e-03 9.50454933e-01 2.96633505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.24, Y:229.23, Z:29.65 [[ 3.11157938e-01 -9.45305221e-01 9.78712292e-02 4.55244016e+02] [ 8.98182636e-01 3.26164859e-01 2.94761661e-01 2.29228774e+02] [-3.10561893e-01 -3.81119222e-03 9.50545520e-01 2.96547688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.25, Y:229.25, Z:29.65 [[ 3.09585753e-01 -9.45821946e-01 9.78647415e-02 4.55254602e+02] [ 8.98635599e-01 3.24668032e-01 2.95033438e-01 2.29252287e+02] [-3.10822654e-01 -3.39340858e-03 9.50461868e-01 2.96462477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.26, Y:229.28, Z:29.64 [[ 3.08136579e-01 -9.46297723e-01 9.78389929e-02 4.55264251e+02] [ 8.99076162e-01 3.23282560e-01 2.95212536e-01 2.29277017e+02] [-3.10988591e-01 -3.00107471e-03 9.50408907e-01 2.96375618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.28, Y:229.30, Z:29.63 [[ 3.06178048e-01 -9.46932679e-01 9.78442851e-02 4.55275525e+02] [ 8.99644632e-01 3.21422586e-01 2.95511518e-01 2.29301303e+02] [-3.11278877e-01 -2.45405375e-03 9.50315442e-01 2.96290438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.29, Y:229.33, Z:29.62 [[ 3.04871380e-01 -9.47365513e-01 9.77344752e-02 4.55285447e+02] [ 9.00118001e-01 3.20147095e-01 2.95454601e-01 2.29326154e+02] [-3.11192908e-01 -2.10309127e-03 9.50344438e-01 2.96204169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.880385723 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:455.30, Y:229.35, Z:29.61 [[ 3.03109837e-01 -9.47973676e-01 9.73156561e-02 4.55295444e+02] [ 9.01074712e-01 3.18344841e-01 2.94484167e-01 2.29350070e+02] [-3.10143176e-01 -1.57237118e-03 9.50688560e-01 2.96113071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.30, Y:229.38, Z:29.60 [[ 3.03592208e-01 -9.47822818e-01 9.72814320e-02 4.55303337e+02] [ 9.00864543e-01 3.18792433e-01 2.94642935e-01 2.29376217e+02] [-3.10281882e-01 -1.81390656e-03 9.50642869e-01 2.96027522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.31, Y:229.40, Z:29.59 [[ 3.03633340e-01 -9.47816260e-01 9.72169343e-02 4.55310693e+02] [ 9.00827503e-01 3.18811334e-01 2.94735718e-01 2.29401213e+02] [-3.10349167e-01 -1.91590223e-03 9.50620705e-01 2.95933486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.32, Y:229.43, Z:29.58 [[ 3.03972223e-01 -9.47721748e-01 9.70792246e-02 4.55317228e+02] [ 9.00771045e-01 3.19090980e-01 2.94605620e-01 2.29425514e+02] [-3.10181258e-01 -2.10577040e-03 9.50675104e-01 2.95844668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.32, Y:229.45, Z:29.58 [[ 3.03719744e-01 -9.47819648e-01 9.69135298e-02 4.55324793e+02] [ 9.00954840e-01 3.18800183e-01 2.94358320e-01 2.29450773e+02] [-3.09894650e-01 -2.08771989e-03 9.50768609e-01 2.95756442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.33, Y:229.48, Z:29.57 [[ 3.02368230e-01 -9.48251427e-01 9.69158624e-02 4.55331617e+02] [ 9.01311862e-01 3.17515661e-01 2.94653580e-01 2.29475001e+02] [-3.10177982e-01 -1.74246519e-03 9.50676908e-01 2.95668573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.34, Y:229.50, Z:29.56 [[ 3.00240037e-01 -9.48934966e-01 9.68418898e-02 4.55339364e+02] [ 9.02019406e-01 3.15469760e-01 2.94685972e-01 2.29500798e+02] [-3.10188511e-01 -1.12326328e-03 9.50674406e-01 2.95574034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.35, Y:229.52, Z:29.55 [[ 2.99024417e-01 -9.49327758e-01 9.67533284e-02 4.55347036e+02] [ 9.02427717e-01 3.14286737e-01 2.94699955e-01 2.29524992e+02] [-3.10175135e-01 -8.09596946e-04 9.50679089e-01 2.95485893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.36, Y:229.55, Z:29.54 [[ 2.97723572e-01 -9.49745235e-01 9.66677940e-02 4.55355282e+02] [ 9.02869429e-01 3.13023606e-01 2.94691393e-01 2.29550530e+02] [-3.10141048e-01 -4.58178163e-04 9.50690444e-01 2.95395486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.36, Y:229.58, Z:29.53 [[ 2.97486209e-01 -9.49828020e-01 9.65851289e-02 4.55363671e+02] [ 9.02947672e-01 3.12772309e-01 2.94718485e-01 2.29576270e+02] [-3.10141029e-01 -4.63367468e-04 9.50690448e-01 2.95303364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.180385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:455.37, Y:229.60, Z:29.52 [[ 2.95195897e-01 -9.50558221e-01 9.64284711e-02 4.55371378e+02] [ 9.03786766e-01 3.10546327e-01 2.94500359e-01 2.29602160e+02] [-3.09885245e-01 2.15478387e-04 9.50773942e-01 2.95218021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.38, Y:229.63, Z:29.51 [[ 2.93014108e-01 -9.51227070e-01 9.64872765e-02 4.55378538e+02] [ 9.04336064e-01 3.08490488e-01 2.94974410e-01 2.29627692e+02] [-3.10353051e-01 8.25260058e-04 9.50621009e-01 2.95128551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.38, Y:229.65, Z:29.50 [[ 2.91213480e-01 -9.51749717e-01 9.67842191e-02 4.55384996e+02] [ 9.04493371e-01 3.06872632e-01 2.96177193e-01 2.29652974e+02] [-3.11586988e-01 1.28989349e-03 9.50216757e-01 2.95042075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.39, Y:229.68, Z:29.49 [[ 2.90632848e-01 -9.51907099e-01 9.69815577e-02 4.55392529e+02] [ 9.04374501e-01 3.06383713e-01 2.97045085e-01 2.29678229e+02] [-3.12472895e-01 1.37658880e-03 9.49925679e-01 2.94947461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.40, Y:229.70, Z:29.49 [[ 2.90187255e-01 -9.52053376e-01 9.68799631e-02 4.55400153e+02] [ 9.04534950e-01 3.05928589e-01 2.97025627e-01 2.29703888e+02] [-3.12422601e-01 1.43826136e-03 9.49942130e-01 2.94856958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.41, Y:229.73, Z:29.48 [[ 2.89459508e-01 -9.52297040e-01 9.66619905e-02 4.55407041e+02] [ 9.04913214e-01 3.05168451e-01 2.96655173e-01 2.29728082e+02] [-3.12002033e-01 1.60105215e-03 9.50080085e-01 2.94769648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.41, Y:229.75, Z:29.47 [[ 2.88197255e-01 -9.52703736e-01 9.64257917e-02 4.55414262e+02] [ 9.05492430e-01 3.03894370e-01 2.96195327e-01 2.29753367e+02] [-3.11489650e-01 1.95014416e-03 9.50247544e-01 2.94673919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.42, Y:229.78, Z:29.46 [[ 2.87542515e-01 -9.52898666e-01 9.64543181e-02 4.55421657e+02] [ 9.05572719e-01 3.03281812e-01 2.96577465e-01 2.29778401e+02] [-3.11861111e-01 2.06776901e-03 9.50125451e-01 2.94581099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.43, Y:229.80, Z:29.45 [[ 2.85866779e-01 -9.53391866e-01 9.65615551e-02 4.55428386e+02] [ 9.05888818e-01 3.01724422e-01 2.97199970e-01 2.29804521e+02] [-3.12483013e-01 2.51443503e-03 9.49920020e-01 2.94486378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.44, Y:229.83, Z:29.44 [[ 2.85023644e-01 -9.53645533e-01 9.65490563e-02 4.55435760e+02] [ 9.06072830e-01 3.00920112e-01 2.97454389e-01 2.29828961e+02] [-3.12719602e-01 2.69894282e-03 9.49841653e-01 2.94401968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4803857229999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:455.44, Y:229.85, Z:29.43 [[ 2.83454420e-01 -9.54129108e-01 9.63910608e-02 4.55443115e+02] [ 9.06657244e-01 2.99378969e-01 2.97228657e-01 2.29853027e+02] [-3.12451970e-01 3.14287687e-03 9.49928360e-01 2.94311949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.45, Y:229.88, Z:29.42 [[ 2.82883865e-01 -9.54277598e-01 9.65970204e-02 4.55450649e+02] [ 9.06519655e-01 2.98904361e-01 2.98124637e-01 2.29877798e+02] [-3.13366933e-01 3.23244799e-03 9.49626620e-01 2.94233714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:229.90, Z:29.41 [[ 2.82582611e-01 -9.54370866e-01 9.65573271e-02 4.55458279e+02] [ 9.06574404e-01 2.98606195e-01 2.98256920e-01 2.29903514e+02] [-3.13480331e-01 3.25418212e-03 9.49589118e-01 2.94138232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:229.93, Z:29.40 [[ 2.83224180e-01 -9.54190612e-01 9.64590104e-02 4.55464765e+02] [ 9.06386796e-01 2.99184768e-01 2.98247299e-01 2.29928378e+02] [-3.13443839e-01 2.95832661e-03 9.49602131e-01 2.94044111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.47, Y:229.95, Z:29.39 [[ 2.83847939e-01 -9.54012691e-01 9.63853399e-02 4.55472041e+02] [ 9.06186897e-01 2.99754273e-01 2.98282893e-01 2.29954260e+02] [-3.13457583e-01 2.67614767e-03 9.49598432e-01 2.93947948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.48, Y:229.98, Z:29.39 [[ 2.85270164e-01 -9.53589347e-01 9.63757778e-02 4.55479085e+02] [ 9.05654113e-01 3.01102760e-01 2.98542719e-01 2.29979905e+02] [-3.13706170e-01 2.11778915e-03 9.49517748e-01 2.93855363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.49, Y:230.01, Z:29.38 [[ 2.86384853e-01 -9.53250512e-01 9.64218741e-02 4.55486703e+02] [ 9.05151234e-01 3.02176656e-01 2.98982461e-01 2.30005294e+02] [-3.14141624e-01 1.65233020e-03 9.49374694e-01 2.93772543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.49, Y:230.03, Z:29.37 [[ 2.86930075e-01 -9.53076304e-01 9.65230048e-02 4.55494845e+02] [ 9.04764503e-01 3.02727085e-01 2.99595572e-01 2.30031019e+02] [-3.14757568e-01 1.36760873e-03 9.49171114e-01 2.93680975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.50, Y:230.06, Z:29.36 [[ 2.88091549e-01 -9.52717025e-01 9.66101947e-02 4.55502406e+02] [ 9.04196220e-01 3.03857692e-01 3.00166120e-01 2.30056798e+02] [-3.15329124e-01 8.79250486e-04 9.48981965e-01 2.93588973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.750385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:455.51, Y:230.08, Z:29.35 [[ 2.88601283e-01 -9.52574485e-01 9.64942973e-02 4.55509476e+02] [ 9.04066387e-01 3.04304875e-01 3.00104167e-01 2.30081787e+02] [-3.15235258e-01 6.26803208e-04 9.49013351e-01 2.93494767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.52, Y:230.11, Z:29.34 [[ 2.90272479e-01 -9.52065977e-01 9.65000699e-02 4.55516220e+02] [ 9.03424490e-01 3.05892751e-01 3.00422728e-01 2.30106987e+02] [-3.15540930e-01 -2.39237005e-05 9.48911967e-01 2.93400966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:455.52, Y:230.13, Z:29.33 [[ 2.90710571e-01 -9.51939268e-01 9.64312901e-02 4.55523903e+02] [ 9.03262464e-01 3.06286734e-01 3.00508500e-01 2.30132593e+02] [-3.15601466e-01 -2.58232938e-04 9.48891800e-01 2.93307752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:455.53, Y:230.16, Z:29.32 [[ 2.91411302e-01 -9.51702179e-01 9.66561752e-02 4.55530695e+02] [ 9.02676752e-01 3.07022122e-01 3.01516330e-01 2.30157407e+02] [-3.16629333e-01 -6.15983924e-04 9.48549148e-01 2.93221742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:230.18, Z:29.31 [[ 2.91535949e-01 -9.51659362e-01 9.67018587e-02 4.55538200e+02] [ 9.02492048e-01 3.07154511e-01 3.01934116e-01 2.30183454e+02] [-3.17040840e-01 -7.51990666e-04 9.48411588e-01 2.93136827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:230.21, Z:29.30 [[ 2.91386971e-01 -9.51714420e-01 9.66089837e-02 4.55544815e+02] [ 9.02546734e-01 3.06983780e-01 3.01944286e-01 2.30209101e+02] [-3.17022122e-01 -7.88508254e-04 9.48417816e-01 2.93041832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.55, Y:230.23, Z:29.29 [[ 2.90832147e-01 -9.51902317e-01 9.64294684e-02 4.55552513e+02] [ 9.02830531e-01 3.06400908e-01 3.01687780e-01 2.30234785e+02] [-3.16723373e-01 -6.81036570e-04 9.48517707e-01 2.92948781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:455.56, Y:230.26, Z:29.28 [[ 2.88789337e-01 -9.52545524e-01 9.62171718e-02 4.55559240e+02] [ 9.03629706e-01 3.04396156e-01 3.01324302e-01 2.30260267e+02] [-3.16313252e-01 -7.45506489e-05 9.48654795e-01 2.92849424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.57, Y:230.29, Z:29.28 [[ 2.87516062e-01 -9.52938717e-01 9.61369633e-02 4.55567066e+02] [ 9.04026471e-01 3.03162884e-01 3.01377515e-01 2.30286023e+02] [-3.16339462e-01 2.59483344e-04 9.48646024e-01 2.92758771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.57, Y:230.31, Z:29.27 [[ 2.85640064e-01 -9.53535217e-01 9.58141144e-02 4.55573727e+02] [ 9.04891802e-01 3.01280468e-01 3.00667435e-01 2.30310479e+02] [-3.15563909e-01 8.18741379e-04 9.48903973e-01 2.92666467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.58, Y:230.34, Z:29.26 [[ 2.84029981e-01 -9.54060693e-01 9.53685656e-02 4.55580754e+02] [ 9.05820179e-01 2.99610548e-01 2.99538517e-01 2.30336300e+02] [-3.14351353e-01 1.30885192e-03 9.49305806e-01 2.92574746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.59, Y:230.36, Z:29.25 [[ 2.83035232e-01 -9.54358339e-01 9.53478839e-02 4.55587924e+02] [ 9.06053099e-01 2.98659985e-01 2.99783248e-01 2.30360855e+02] [-3.14577240e-01 1.54102463e-03 9.49230628e-01 2.92486077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.110385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:455.59, Y:230.39, Z:29.24 [[ 2.81954673e-01 -9.54684016e-01 9.52889883e-02 4.55594913e+02] [ 9.06366418e-01 2.97615746e-01 2.99874614e-01 2.30386539e+02] [-3.14645004e-01 1.81569020e-03 9.49207683e-01 2.92398737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.60, Y:230.41, Z:29.23 [[ 2.81351632e-01 -9.54836942e-01 9.55388563e-02 4.55601905e+02] [ 9.06165351e-01 2.97124247e-01 3.00967671e-01 2.30411263e+02] [-3.15761962e-01 1.89625578e-03 9.48836544e-01 2.92320544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.61, Y:230.44, Z:29.22 [[ 2.79984747e-01 -9.55205639e-01 9.58682877e-02 4.55608142e+02] [ 9.06116956e-01 2.95934451e-01 3.02282754e-01 2.30436629e+02] [-3.17112920e-01 2.23332064e-03 9.48385158e-01 2.92233472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.62, Y:230.46, Z:29.21 [[ 2.78897793e-01 -9.55520731e-01 9.58965746e-02 4.55615193e+02] [ 9.06329367e-01 2.94913286e-01 3.02643739e-01 2.30461869e+02] [-3.17463541e-01 2.50721081e-03 9.48267164e-01 2.92145173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.62, Y:230.49, Z:29.21 [[ 2.76345410e-01 -9.56245909e-01 9.60571555e-02 4.55621798e+02] [ 9.06826074e-01 2.92546070e-01 3.03452250e-01 2.30488204e+02] [-3.18276116e-01 3.24949695e-03 9.47992487e-01 2.92059445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.63, Y:230.51, Z:29.20 [[ 2.75243875e-01 -9.56546664e-01 9.62252034e-02 4.55629171e+02] [ 9.06864670e-01 2.91558157e-01 3.04286563e-01 2.30514200e+02] [-3.19119539e-01 3.51022467e-03 9.47707971e-01 2.91966498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.290385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:455.64, Y:230.54, Z:29.19 [[ 2.72701493e-01 -9.57258285e-01 9.63870908e-02 4.55635293e+02] [ 9.07343332e-01 2.89203189e-01 3.05105872e-01 2.30540371e+02] [-3.19940578e-01 4.25335722e-03 9.47428064e-01 2.91868176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.64, Y:230.57, Z:29.18 [[ 2.70429109e-01 -9.57883650e-01 9.65764525e-02 4.55641155e+02] [ 9.07700972e-01 2.87114662e-01 3.06013262e-01 2.30566273e+02] [-3.20853616e-01 4.90764603e-03 9.47116082e-01 2.91785516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.65, Y:230.59, Z:29.17 [[ 2.68912370e-01 -9.58328567e-01 9.63975922e-02 4.55648122e+02] [ 9.08260717e-01 2.85618473e-01 3.05752446e-01 2.30592232e+02] [-3.20544237e-01 5.33353119e-03 9.47218531e-01 2.91692037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.64, Y:230.62, Z:29.14 [[ 2.64996303e-01 -9.56766511e-01 1.19894963e-01 4.55641769e+02] [ 9.08218156e-01 2.89428832e-01 3.02275922e-01 2.30616458e+02] [-3.23908539e-01 2.87887808e-02 9.45650287e-01 2.91441360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.67, Y:230.64, Z:29.15 [[ 2.65867276e-01 -9.60118490e-01 8.65278939e-02 4.55667104e+02] [ 9.08373205e-01 2.79563700e-01 3.10969868e-01 2.30643641e+02] [-3.22757978e-01 -4.07709147e-03 9.46472749e-01 2.91504246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.66, Y:230.67, Z:29.13 [[ 2.62784222e-01 -9.58998355e-01 1.06144278e-01 4.55662120e+02] [ 9.09204460e-01 2.82945731e-01 3.05432421e-01 2.30669905e+02] [-3.22942260e-01 1.62440295e-02 9.46279255e-01 2.91319010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.67, Y:230.70, Z:29.12 [[ 2.61530849e-01 -9.60029048e-01 9.97288444e-02 4.55671616e+02] [ 9.09439543e-01 2.79713598e-01 3.07701188e-01 2.30695658e+02] [-3.23297592e-01 1.02240018e-02 9.46242113e-01 2.91249938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.69, Y:230.72, Z:29.13 [[ 2.61973226e-01 -9.62035212e-01 7.65393952e-02 4.55687628e+02] [ 9.10306630e-01 2.72665152e-01 3.11441092e-01 2.30721550e+02] [-3.20486923e-01 -1.19149086e-02 9.47178002e-01 2.91313364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.68, Y:230.75, Z:29.10 [[ 2.60821252e-01 -9.58179297e-01 1.17748504e-01 4.55675426e+02] [ 9.09834187e-01 2.84755656e-01 3.01854217e-01 2.30747275e+02] [-3.22760014e-01 2.84016194e-02 9.46054608e-01 2.90988679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:230.77, Z:29.11 [[ 2.62710324e-01 -9.61900032e-01 7.57074326e-02 4.55699895e+02] [ 9.09692974e-01 2.73076558e-01 3.12870398e-01 2.30774021e+02] [-3.21623971e-01 -1.33237640e-02 9.46773732e-01 2.91128815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.69, Y:230.80, Z:29.10 [[ 2.63188318e-01 -9.59934254e-01 9.62192147e-02 4.55694960e+02] [ 9.09293670e-01 2.80149940e-01 3.07735330e-01 2.30799731e+02] [-3.22361491e-01 6.49917895e-03 9.46594332e-01 2.90953285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:230.83, Z:29.09 [[ 2.63200548e-01 -9.59934071e-01 9.61875781e-02 4.55701417e+02] [ 9.09233087e-01 2.80152521e-01 3.07911934e-01 2.30825142e+02] [-3.22522349e-01 6.41433849e-03 9.46540116e-01 2.90864990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.71, Y:230.85, Z:29.08 [[ 2.63466787e-01 -9.59859175e-01 9.62061194e-02 4.55706062e+02] [ 9.09026740e-01 2.80413150e-01 3.08283718e-01 2.30850750e+02] [-3.22886417e-01 6.23141443e-03 9.46417208e-01 2.90775142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:230.88, Z:29.06 [[ 2.62042106e-01 -9.58254393e-01 1.14378553e-01 4.55702945e+02] [ 9.08775325e-01 2.84903642e-01 3.04889035e-01 2.30876015e+02] [-3.24748124e-01 2.40506420e-02 9.45494697e-01 2.90554180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.72, Y:230.90, Z:29.07 [[ 2.64068855e-01 -9.61293504e-01 7.86284834e-02 4.55724579e+02] [ 9.08872146e-01 2.75295717e-01 3.13310854e-01 2.30902458e+02] [-3.22829773e-01 -1.12724000e-02 9.46389915e-01 2.90656684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.72, Y:230.93, Z:29.05 [[ 2.64088742e-01 -9.59714853e-01 9.59402756e-02 4.55722499e+02] [ 9.08907438e-01 2.80915631e-01 3.08177997e-01 2.30927434e+02] [-3.22714125e-01 5.81449034e-03 9.46478624e-01 2.90501515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.73, Y:230.95, Z:29.04 [[ 2.64596232e-01 -9.59569560e-01 9.59952820e-02 4.55727069e+02] [ 9.08594897e-01 2.81416771e-01 3.08642048e-01 2.30954175e+02] [-3.23178197e-01 5.55530026e-03 9.46321823e-01 2.90405227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.72, Y:230.98, Z:29.02 [[ 2.63221384e-01 -9.57902239e-01 1.14620256e-01 4.55721250e+02] [ 9.08198796e-01 2.86115400e-01 3.05471645e-01 2.30979522e+02] [-3.25406593e-01 2.36913089e-02 9.45277352e-01 2.90176816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.74, Y:231.01, Z:29.02 [[ 2.63926229e-01 -9.59986037e-01 9.36469662e-02 4.55738094e+02] [ 9.08336964e-01 2.80031008e-01 3.10655107e-01 2.31006238e+02] [-3.24448619e-01 3.07296996e-03 9.45898330e-01 2.90166324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.860385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:455.75, Y:231.03, Z:29.02 [[ 2.66066188e-01 -9.60745969e-01 7.85873154e-02 4.55751832e+02] [ 9.08767975e-01 2.77187837e-01 3.11941775e-01 2.31032499e+02] [-3.21480251e-01 -1.15795236e-02 9.46845480e-01 2.90177551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:455.75, Y:231.06, Z:29.00 [[ 2.66475061e-01 -9.59084608e-01 9.56439023e-02 4.55749508e+02] [ 9.08162257e-01 2.83080911e-01 3.08393438e-01 2.31057861e+02] [-3.22850363e-01 4.68102203e-03 9.46438446e-01 2.90042534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.76, Y:231.08, Z:29.00 [[ 2.66339370e-01 -9.59108796e-01 9.57792074e-02 4.55755980e+02] [ 9.07941576e-01 2.82999756e-01 3.09116861e-01 2.31083062e+02] [-3.23582193e-01 4.63193436e-03 9.46188729e-01 2.89954834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.76, Y:231.11, Z:28.99 [[ 2.66626809e-01 -9.59012137e-01 9.59472004e-02 4.55761589e+02] [ 9.07556766e-01 2.83330234e-01 3.09943053e-01 2.31109722e+02] [-3.24423892e-01 4.43840358e-03 9.45901390e-01 2.89866712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.77, Y:231.14, Z:28.98 [[ 2.66731859e-01 -9.58989428e-01 9.58821811e-02 4.55768414e+02] [ 9.07496495e-01 2.83409022e-01 3.10047477e-01 2.31135987e+02] [-3.24506128e-01 4.31320330e-03 9.45873760e-01 2.89777555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.010385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:455.76, Y:231.16, Z:28.96 [[ 2.63704445e-01 -9.57944530e-01 1.13146997e-01 4.55760781e+02] [ 9.07154829e-01 2.86162912e-01 3.08514027e-01 2.31158897e+02] [-3.27917799e-01 2.12853249e-02 9.44466438e-01 2.89555058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.040385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:455.78, Y:231.18, Z:28.95 [[ 2.63833287e-01 -9.59983791e-01 9.39314526e-02 4.55777872e+02] [ 9.07098930e-01 2.80046135e-01 3.14238274e-01 2.31184272e+02] [-3.27968790e-01 2.29860337e-03 9.44685762e-01 2.89532481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.070385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:455.79, Y:231.21, Z:28.95 [[ 2.66274419e-01 -9.60356507e-01 8.25427918e-02 4.55789670e+02] [ 9.07320179e-01 2.78631219e-01 3.14856692e-01 2.31210960e+02] [-3.25373672e-01 -8.94554229e-03 9.45543204e-01 2.89516394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.79, Y:231.24, Z:28.94 [[ 2.66689766e-01 -9.59275708e-01 9.30950352e-02 4.55791717e+02] [ 9.06800291e-01 2.82469800e-01 3.12928179e-01 2.31236342e+02] [-3.26480936e-01 9.63862211e-04 9.45203295e-01 2.89388641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.81, Y:231.26, Z:28.93 [[ 2.71314150e-01 -9.58527593e-01 8.72552938e-02 4.55805132e+02] [ 9.06124855e-01 2.84941522e-01 3.12643689e-01 2.31264547e+02] [-3.24540259e-01 -5.76046614e-03 9.45854343e-01 2.89339755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.80, Y:231.29, Z:28.92 [[ 2.68961825e-01 -9.57769231e-01 1.01674171e-01 4.55801580e+02] [ 9.06421033e-01 2.87399895e-01 3.09519323e-01 2.31287604e+02] [-3.25669230e-01 8.91072545e-03 9.45441776e-01 2.89162598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.81, Y:231.31, Z:28.91 [[ 2.70091080e-01 -9.58182748e-01 9.45337463e-02 4.55811256e+02] [ 9.06094196e-01 2.86153110e-01 3.11624302e-01 2.31311409e+02] [-3.25644155e-01 1.48953452e-03 9.45491230e-01 2.89078821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:455.82, Y:231.34, Z:28.90 [[ 2.70772583e-01 -9.58063388e-01 9.37910050e-02 4.55817730e+02] [ 9.05964111e-01 2.86555748e-01 3.11632529e-01 2.31336057e+02] [-3.25440068e-01 5.89739779e-04 9.45562486e-01 2.88974326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.250385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:455.83, Y:231.36, Z:28.89 [[ 2.71925056e-01 -9.57970422e-01 9.13752381e-02 4.55827185e+02] [ 9.05637654e-01 2.86858784e-01 3.12301901e-01 2.31362358e+02] [-3.25387774e-01 -2.16985570e-03 9.45578177e-01 2.88888396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.85, Y:231.39, Z:28.89 [[ 2.76520283e-01 -9.57366608e-01 8.35805618e-02 4.55845309e+02] [ 9.05309679e-01 2.88685229e-01 3.11568971e-01 2.31390810e+02] [-3.22414202e-01 -1.04888483e-02 9.46540578e-01 2.88857505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.85, Y:231.41, Z:28.87 [[ 2.76496347e-01 -9.56310358e-01 9.49750981e-02 4.55848307e+02] [ 9.05209164e-01 2.92352558e-01 3.08425603e-01 2.31414774e+02] [-3.22716811e-01 6.93776627e-04 9.46495314e-01 2.88727034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.86, Y:231.44, Z:28.86 [[ 2.75688004e-01 -9.56535192e-01 9.50607748e-02 4.55857913e+02] [ 9.05253098e-01 2.91615625e-01 3.08993778e-01 2.31439688e+02] [-3.23284630e-01 8.68182860e-04 9.46301376e-01 2.88632065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.87, Y:231.46, Z:28.85 [[ 2.75185122e-01 -9.56667439e-01 9.51869728e-02 4.55866182e+02] [ 9.05141673e-01 2.91181310e-01 3.09728908e-01 2.31463524e+02] [-3.24024228e-01 9.24908758e-04 9.46048331e-01 2.88544826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.88, Y:231.49, Z:28.85 [[ 2.74482563e-01 -9.56823337e-01 9.56473995e-02 4.55875211e+02] [ 9.04729826e-01 2.90668165e-01 3.11409635e-01 2.31487648e+02] [-3.25765660e-01 1.05854009e-03 9.45449953e-01 2.88453968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.88, Y:231.51, Z:28.83 [[ 2.70631458e-01 -9.57106898e-01 1.03464967e-01 4.55875181e+02] [ 9.04316589e-01 2.89604471e-01 3.13593301e-01 2.31508248e+02] [-3.30106228e-01 8.69687370e-03 9.43903725e-01 2.88299691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.90, Y:231.53, Z:28.83 [[ 2.72862162e-01 -9.58573048e-01 8.17554379e-02 4.55897171e+02] [ 9.04814813e-01 2.84574423e-01 3.16745249e-01 2.31534743e+02] [-3.26888966e-01 -1.24542622e-02 9.44980685e-01 2.88312035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.90, Y:231.56, Z:28.82 [[ 2.74930838e-01 -9.56657750e-01 9.60155401e-02 4.55903142e+02] [ 9.04329389e-01 2.91212776e-01 3.12063256e-01 2.31562137e+02] [-3.26498684e-01 1.03386210e-03 9.45197091e-01 2.88160437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.91, Y:231.59, Z:28.81 [[ 2.74469855e-01 -9.56836620e-01 9.55509354e-02 4.55912337e+02] [ 9.04763252e-01 2.90624663e-01 3.11353117e-01 2.31586745e+02] [-3.25683522e-01 9.93930233e-04 9.45478321e-01 2.88061315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:455.91, Y:231.61, Z:28.79 [[ 2.70287914e-01 -9.57460073e-01 1.01067563e-01 4.55912130e+02] [ 9.05035623e-01 2.88481094e-01 3.12552684e-01 2.31607617e+02] [-3.28412796e-01 6.99053163e-03 9.44508427e-01 2.87922336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.93, Y:231.64, Z:28.79 [[ 2.72982759e-01 -9.58140534e-01 8.62967600e-02 4.55934976e+02] [ 9.04974907e-01 2.86190782e-01 3.14825752e-01 2.31636208e+02] [-3.26344651e-01 -7.84560004e-03 9.45218290e-01 2.87900724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.94, Y:231.66, Z:28.78 [[ 2.71807895e-01 -9.57588214e-01 9.56309603e-02 4.55939698e+02] [ 9.05273526e-01 2.88135140e-01 3.12182613e-01 2.31661185e+02] [-3.26497031e-01 1.71847787e-03 9.45196665e-01 2.87772036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.95, Y:231.69, Z:28.77 [[ 2.69669377e-01 -9.58193149e-01 9.56259240e-02 4.55950892e+02] [ 9.05807047e-01 2.86112523e-01 3.12495150e-01 2.31685590e+02] [-3.26790486e-01 2.34826359e-03 9.45093892e-01 2.87675216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.96, Y:231.71, Z:28.76 [[ 2.68179737e-01 -9.58621625e-01 9.55207276e-02 4.55961818e+02] [ 9.06267278e-01 2.84669852e-01 3.12478313e-01 2.31709173e+02] [-3.26740340e-01 2.76695795e-03 9.45110096e-01 2.87579290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.97, Y:231.73, Z:28.75 [[ 2.67641845e-01 -9.58773474e-01 9.55053317e-02 4.55971215e+02] [ 9.06343784e-01 2.84157051e-01 3.12723065e-01 2.31733565e+02] [-3.26969093e-01 2.86288553e-03 9.45030696e-01 2.87482251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.98, Y:231.76, Z:28.74 [[ 2.66621603e-01 -9.59068611e-01 9.53956025e-02 4.55981737e+02] [ 9.06670618e-01 2.83156562e-01 3.12683150e-01 2.31758363e+02] [-3.26896485e-01 3.12430719e-03 9.45054986e-01 2.87384786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.99, Y:231.78, Z:28.73 [[ 2.66535295e-01 -9.59101106e-01 9.53100495e-02 4.55991277e+02] [ 9.06689718e-01 2.83047137e-01 3.12726836e-01 2.31782438e+02] [-3.26913891e-01 3.06390239e-03 9.45049163e-01 2.87295431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.00, Y:231.81, Z:28.72 [[ 2.65544220e-01 -9.59372654e-01 9.53434796e-02 4.56002909e+02] [ 9.06838955e-01 2.82122572e-01 3.13129310e-01 2.31806599e+02] [-3.27306245e-01 3.31150313e-03 9.44912513e-01 2.87203425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.01, Y:231.83, Z:28.71 [[ 2.64951681e-01 -9.59533666e-01 9.53716452e-02 4.56014036e+02] [ 9.06864266e-01 2.81573245e-01 3.13550173e-01 2.31830979e+02] [-3.27716051e-01 3.41349151e-03 9.44770098e-01 2.87107953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.02, Y:231.86, Z:28.70 [[ 2.64850177e-01 -9.59567812e-01 9.53100164e-02 4.56023184e+02] [ 9.06855573e-01 2.81457569e-01 3.13679147e-01 2.31855640e+02] [-3.27822138e-01 3.35444205e-03 9.44733504e-01 2.87014136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.03, Y:231.88, Z:28.69 [[ 2.65766910e-01 -9.59322262e-01 9.52299653e-02 4.56034358e+02] [ 9.06570371e-01 2.82297896e-01 3.13748404e-01 2.31879439e+02] [-3.27869047e-01 2.94872119e-03 9.44718579e-01 2.86925360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.04, Y:231.90, Z:28.68 [[ 2.66438525e-01 -9.59152633e-01 9.50617587e-02 4.56043943e+02] [ 9.06478506e-01 2.82876704e-01 3.13492405e-01 2.31903920e+02] [-3.27577823e-01 2.64498696e-03 9.44820498e-01 2.86837680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.06, Y:231.93, Z:28.67 [[ 2.67808994e-01 -9.58786050e-01 9.49086531e-02 4.56055444e+02] [ 9.06151864e-01 2.84121320e-01 3.13311149e-01 2.31928635e+02] [-3.27363931e-01 2.09410924e-03 9.44896011e-01 2.86744319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.06, Y:231.95, Z:28.67 [[ 2.68705628e-01 -9.58552043e-01 9.47378788e-02 4.56064958e+02] [ 9.05982407e-01 2.84912403e-01 3.13082739e-01 2.31953502e+02] [-3.27098096e-01 1.70375746e-03 9.44988853e-01 2.86653178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.08, Y:231.98, Z:28.66 [[ 2.70839174e-01 -9.57960618e-01 9.46445825e-02 4.56075734e+02] [ 9.05346483e-01 2.86898368e-01 3.13108722e-01 2.31976695e+02] [-3.27099201e-01 8.84032461e-04 9.44989593e-01 2.86563006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.09, Y:232.00, Z:28.65 [[ 2.73049745e-01 -9.57363783e-01 9.43314550e-02 4.56087189e+02] [ 9.04958169e-01 2.88885068e-01 3.12403794e-01 2.32001013e+02] [-3.26335027e-01 6.42443865e-05 9.45254170e-01 2.86467076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.10, Y:232.03, Z:28.64 [[ 2.74364274e-01 -9.57018057e-01 9.40249115e-02 4.56096736e+02] [ 9.04829128e-01 2.90027996e-01 3.11717840e-01 2.32025069e+02] [-3.25589458e-01 -4.47760232e-04 9.45511134e-01 2.86376342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.11, Y:232.05, Z:28.63 [[ 2.77074567e-01 -9.56249910e-01 9.38924634e-02 4.56107948e+02] [ 9.04091602e-01 2.92547582e-01 3.11503271e-01 2.32048807e+02] [-3.25342988e-01 -1.42224629e-03 9.45595007e-01 2.86277220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.12, Y:232.07, Z:28.62 [[ 2.78185121e-01 -9.55949096e-01 9.36715722e-02 4.56117215e+02] [ 9.03913831e-01 2.93526526e-01 3.11098000e-01 2.32072590e+02] [-3.24888943e-01 -1.87180526e-03 9.45750322e-01 2.86188831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.13, Y:232.10, Z:28.61 [[ 2.79719398e-01 -9.55513379e-01 9.35480712e-02 4.56129645e+02] [ 9.03494041e-01 2.94937439e-01 3.10982998e-01 2.32096901e+02] [-3.24739244e-01 -2.46785219e-03 9.45800367e-01 2.86099961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.14, Y:232.12, Z:28.61 [[ 2.78147101e-01 -9.56889853e-01 8.36420909e-02 4.56140423e+02] [ 9.04342085e-01 2.90227109e-01 3.12943474e-01 2.32119907e+02] [-3.23727637e-01 -1.14032571e-02 9.46081594e-01 2.86088583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.15, Y:232.15, Z:28.59 [[ 2.79654290e-01 -9.54886911e-01 9.99223023e-02 4.56148068e+02] [ 9.03056573e-01 2.96949657e-01 3.10338086e-01 2.32145376e+02] [-3.26009670e-01 3.44811487e-03 9.45360146e-01 2.85894491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.16, Y:232.17, Z:28.58 [[ 2.79305866e-01 -9.55616740e-01 9.37276851e-02 4.56161012e+02] [ 9.03157082e-01 2.94601494e-01 3.12277514e-01 2.32170451e+02] [-3.26029936e-01 -2.57011868e-03 9.45355952e-01 2.85832399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.270385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.17, Y:232.19, Z:28.57 [[ 2.78002120e-01 -9.56027631e-01 9.34130138e-02 4.56172559e+02] [ 9.03840859e-01 2.93268493e-01 3.11553033e-01 2.32194749e+02] [-3.25248402e-01 -2.18190511e-03 9.45626098e-01 2.85739718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.300385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.18, Y:232.22, Z:28.56 [[ 2.76714985e-01 -9.56418531e-01 9.32330986e-02 4.56181554e+02] [ 9.04348051e-01 2.91993630e-01 3.11278531e-01 2.32219372e+02] [-3.24936026e-01 -1.82026292e-03 9.45734247e-01 2.85641227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.19, Y:232.24, Z:28.55 [[ 2.74083824e-01 -9.57222002e-01 9.27582689e-02 4.56191832e+02] [ 9.05629825e-01 2.89352911e-01 3.10015345e-01 2.32242927e+02] [-3.23593384e-01 -9.65536559e-04 9.46195746e-01 2.85547152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.360385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.20, Y:232.27, Z:28.55 [[ 2.73612612e-01 -9.57371625e-01 9.26051331e-02 4.56199935e+02] [ 9.05887471e-01 2.88857823e-01 3.09724148e-01 2.32268532e+02] [-3.23270828e-01 -8.54603302e-04 9.46306104e-01 2.85456997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.390385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:456.21, Y:232.29, Z:28.54 [[ 2.73372834e-01 -9.57474059e-01 9.22535695e-02 4.56206916e+02] [ 9.06286955e-01 2.88518181e-01 3.08870870e-01 2.32294681e+02] [-3.22352678e-01 -8.28698589e-04 9.46619282e-01 2.85368206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.420385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:456.21, Y:232.32, Z:28.53 [[ 2.72574685e-01 -9.57741163e-01 9.18417396e-02 4.56214245e+02] [ 9.06926706e-01 2.87630826e-01 3.07818872e-01 2.32320719e+02] [-3.21227320e-01 -6.09905796e-04 9.47001920e-01 2.85279295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.22, Y:232.35, Z:28.52 [[ 2.70726750e-01 -9.58298021e-01 9.14982530e-02 4.56221010e+02] [ 9.07792814e-01 2.85770714e-01 3.06997242e-01 2.32346447e+02] [-3.20342371e-01 -5.09089538e-05 9.47301833e-01 2.85190130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.23, Y:232.37, Z:28.51 [[ 2.69658454e-01 -9.58609599e-01 9.13890270e-02 4.56228009e+02] [ 9.08132493e-01 2.84723706e-01 3.06965448e-01 2.32370792e+02] [-3.20280647e-01 2.17517014e-04 9.47322680e-01 2.85102591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.23, Y:232.40, Z:28.50 [[ 2.67534609e-01 -9.59229676e-01 9.11244314e-02 4.56234946e+02] [ 9.08987892e-01 2.82626394e-01 3.06371235e-01 2.32395892e+02] [-3.19634550e-01 8.66096345e-04 9.47540503e-01 2.85009315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.24, Y:232.42, Z:28.49 [[ 2.66513286e-01 -9.59542151e-01 9.08269236e-02 4.56241709e+02] [ 9.09546574e-01 2.81562712e-01 3.05691787e-01 2.32421013e+02] [-3.18897630e-01 1.14039468e-03 9.47788479e-01 2.84917971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.25, Y:232.45, Z:28.48 [[ 2.64618355e-01 -9.60101452e-01 9.04562224e-02 4.56248022e+02] [ 9.10459568e-01 2.79646645e-01 3.04731242e-01 2.32446406e+02] [-3.17868687e-01 1.71925324e-03 9.48133188e-01 2.84826788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6003857229999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.26, Y:232.47, Z:28.47 [[ 2.63955568e-01 -9.60285313e-01 9.04410053e-02 4.56255225e+02] [ 9.10562276e-01 2.79013825e-01 3.05004307e-01 2.32471381e+02] [-3.18125448e-01 1.84458243e-03 9.48046833e-01 2.84736215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.26, Y:232.50, Z:28.47 [[ 2.63237956e-01 -9.60514490e-01 9.00982474e-02 4.56261990e+02] [ 9.11094591e-01 2.78222579e-01 3.04136225e-01 2.32496988e+02] [-3.17194617e-01 2.02782787e-03 9.48358299e-01 2.84652341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.27, Y:232.52, Z:28.46 [[ 2.63069607e-01 -9.60584683e-01 8.98412396e-02 4.56269006e+02] [ 9.11350855e-01 2.77980250e-01 3.03589527e-01 2.32522744e+02] [-3.16597540e-01 2.01171309e-03 9.48557827e-01 2.84563916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.28, Y:232.55, Z:28.45 [[ 2.63057607e-01 -9.60618058e-01 8.95189502e-02 4.56275210e+02] [ 9.11641926e-01 2.77865334e-01 3.02819838e-01 2.32548103e+02] [-3.15768417e-01 1.95016628e-03 9.48834287e-01 2.84471100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.28, Y:232.57, Z:28.44 [[ 2.63575620e-01 -9.60480051e-01 8.94760605e-02 4.56281144e+02] [ 9.11438550e-01 2.78343699e-01 3.02992664e-01 2.32572762e+02] [-3.15923507e-01 1.69045177e-03 9.48783158e-01 2.84379240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.29, Y:232.60, Z:28.43 [[ 2.63875672e-01 -9.60409223e-01 8.93518560e-02 4.56288550e+02] [ 9.11408442e-01 2.78588974e-01 3.02857781e-01 2.32598506e+02] [-3.15759848e-01 1.51923540e-03 9.48837926e-01 2.84288438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.30, Y:232.62, Z:28.42 [[ 2.64402029e-01 -9.60252153e-01 8.94839065e-02 4.56296167e+02] [ 9.10988266e-01 2.79131266e-01 3.03621666e-01 2.32623552e+02] [-3.16531114e-01 1.24060430e-03 9.48581317e-01 2.84202718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.810385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.30, Y:232.65, Z:28.41 [[ 2.64417969e-01 -9.60255328e-01 8.94026960e-02 4.56303796e+02] [ 9.10989316e-01 2.79120688e-01 3.03628239e-01 2.32648803e+02] [-3.16514776e-01 1.16013856e-03 9.48586870e-01 2.84118477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.31, Y:232.67, Z:28.40 [[ 2.64305055e-01 -9.60307418e-01 8.91767940e-02 4.56310631e+02] [ 9.11194288e-01 2.78941562e-01 3.03177464e-01 2.32673059e+02] [-3.16018682e-01 1.12604885e-03 9.48752299e-01 2.84028949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.870385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.32, Y:232.70, Z:28.39 [[ 2.64041947e-01 -9.60390738e-01 8.90588594e-02 4.56318147e+02] [ 9.11321585e-01 2.78654496e-01 3.03058807e-01 2.32698064e+02] [-3.15871523e-01 1.14102347e-03 9.48801285e-01 2.83936274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:232.72, Z:28.38 [[ 2.64098989e-01 -9.60383331e-01 8.89695512e-02 4.56325933e+02] [ 9.11311465e-01 2.78680419e-01 3.03065402e-01 2.32723239e+02] [-3.15853032e-01 1.03970582e-03 9.48807558e-01 2.83845519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:232.75, Z:28.38 [[ 2.64581788e-01 -9.60275645e-01 8.86970255e-02 4.56333556e+02] [ 9.11404446e-01 2.79051995e-01 3.02443252e-01 2.32748179e+02] [-3.15179971e-01 8.17886887e-04 9.49031568e-01 2.83758038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.34, Y:232.77, Z:28.37 [[ 2.64349814e-01 -9.60347629e-01 8.86092970e-02 4.56341127e+02] [ 9.11471751e-01 2.78804197e-01 3.02468953e-01 2.32774184e+02] [-3.15179986e-01 8.07259447e-04 9.49031572e-01 2.83666442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.990385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.35, Y:232.80, Z:28.36 [[ 2.64179542e-01 -9.60414629e-01 8.83906648e-02 4.56348741e+02] [ 9.11695788e-01 2.78573325e-01 3.02006114e-01 2.32800065e+02] [-3.14674372e-01 8.01559923e-04 9.49199346e-01 2.83574735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.36, Y:232.82, Z:28.35 [[ 2.64088304e-01 -9.60461336e-01 8.81554842e-02 4.56356376e+02] [ 9.11904042e-01 2.78412363e-01 3.01525413e-01 2.32824230e+02] [-3.14147078e-01 7.60007436e-04 9.49374023e-01 2.83483511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.36, Y:232.85, Z:28.34 [[ 2.63882362e-01 -9.60537554e-01 8.79414957e-02 4.56364436e+02] [ 9.12130621e-01 2.78149284e-01 3.01082557e-01 2.32849412e+02] [-3.13661967e-01 7.63754821e-04 9.49534406e-01 2.83395081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.37, Y:232.88, Z:28.33 [[ 2.63043389e-01 -9.60776625e-01 8.78433369e-02 4.56372668e+02] [ 9.12390496e-01 2.77321767e-01 3.01058501e-01 2.32875411e+02] [-3.13610840e-01 9.55977155e-04 9.49551119e-01 2.83310416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.110385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:456.38, Y:232.90, Z:28.32 [[ 2.62608698e-01 -9.60898962e-01 8.78057859e-02 4.56380324e+02] [ 9.12456923e-01 2.76897394e-01 3.01247732e-01 2.32900871e+02] [-3.13781827e-01 1.00872241e-03 9.49494575e-01 2.83217570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.140385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:456.39, Y:232.93, Z:28.31 [[ 2.62431525e-01 -9.60972758e-01 8.75274435e-02 4.56387586e+02] [ 9.12742451e-01 2.76641214e-01 3.00617458e-01 2.32925733e+02] [-3.13098886e-01 9.98515353e-04 9.49720006e-01 2.83131357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.39, Y:232.95, Z:28.30 [[ 2.62268620e-01 -9.61037145e-01 8.73085140e-02 4.56394734e+02] [ 9.12986914e-01 2.76417413e-01 3.00080505e-01 2.32950707e+02] [-3.12522105e-01 1.00983074e-03 9.49909951e-01 2.83037077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.40, Y:232.98, Z:28.30 [[ 2.62313295e-01 -9.61040864e-01 8.71331876e-02 4.56402085e+02] [ 9.13082868e-01 2.76404801e-01 2.99800037e-01 2.32975129e+02] [-3.12204118e-01 9.18285249e-04 9.50014603e-01 2.82954348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.40, Y:232.99, Z:28.28 [[ 2.59808955e-01 -9.61500476e-01 8.95329112e-02 4.56402784e+02] [ 9.12351137e-01 2.74788634e-01 3.03490707e-01 2.32994847e+02] [-3.16409086e-01 2.83584991e-03 9.48618600e-01 2.82837917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.42, Y:233.03, Z:28.28 [[ 2.62767334e-01 -9.61454420e-01 8.09859636e-02 4.56420177e+02] [ 9.12814862e-01 2.74910820e-01 3.01981901e-01 2.33025042e+02] [-3.12605751e-01 -5.42578764e-03 9.49867467e-01 2.82815104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.42, Y:233.05, Z:28.27 [[ 2.62863330e-01 -9.60896931e-01 8.70629535e-02 4.56424482e+02] [ 9.12811411e-01 2.76905694e-01 3.00164229e-01 2.33050512e+02] [-3.12535114e-01 5.69888678e-04 9.49906036e-01 2.82702758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.43, Y:233.08, Z:28.26 [[ 2.62974545e-01 -9.60854885e-01 8.71910510e-02 4.56431894e+02] [ 9.12515864e-01 2.77051815e-01 3.00927051e-01 2.33076143e+02] [-3.13303666e-01 4.27062736e-04 9.49652900e-01 2.82616799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.44, Y:233.10, Z:28.25 [[ 2.63536629e-01 -9.60707896e-01 8.71136245e-02 4.56438055e+02] [ 9.12343203e-01 2.77561368e-01 3.00981006e-01 2.33101261e+02] [-3.13334206e-01 1.58003560e-04 9.49642907e-01 2.82533041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.380385723 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:456.44, Y:233.13, Z:28.24 [[ 2.64004090e-01 -9.60611444e-01 8.67611353e-02 4.56443809e+02] [ 9.12548474e-01 2.77895038e-01 3.00049381e-01 2.33126883e+02] [-3.12341359e-01 -4.05222783e-05 9.49969933e-01 2.82437270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.410385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:456.45, Y:233.15, Z:28.24 [[ 2.64449915e-01 -9.60498990e-01 8.66483322e-02 4.56450532e+02] [ 9.12455345e-01 2.78283346e-01 2.99972703e-01 2.33152367e+02] [-3.12236266e-01 -2.65021802e-04 9.50004444e-01 2.82353213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.46, Y:233.18, Z:28.23 [[ 2.65137488e-01 -9.60340993e-01 8.62976839e-02 4.56456667e+02] [ 9.12586209e-01 2.78827700e-01 2.99067761e-01 2.33177200e+02] [-3.11269215e-01 -5.39998677e-04 9.50321622e-01 2.82272397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4703857229999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:456.46, Y:233.20, Z:28.22 [[ 2.64591035e-01 -9.60543122e-01 8.57233595e-02 4.56463313e+02] [ 9.13342635e-01 2.78130821e-01 2.97402887e-01 2.33202325e+02] [-3.09510606e-01 -3.95338449e-04 9.50895909e-01 2.82177324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.47, Y:233.23, Z:28.21 [[ 2.63762775e-01 -9.60770929e-01 8.57229288e-02 4.56470127e+02] [ 9.13481758e-01 2.77343062e-01 2.97711109e-01 2.33227694e+02] [-3.09806838e-01 -2.18776366e-04 9.50799493e-01 2.82091309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.530385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:456.48, Y:233.25, Z:28.20 [[ 2.62900581e-01 -9.61016305e-01 8.56209466e-02 4.56477260e+02] [ 9.13788519e-01 2.76491703e-01 2.97561559e-01 2.33252125e+02] [-3.09634991e-01 1.03313427e-05 9.50855495e-01 2.82012010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.48, Y:233.28, Z:28.19 [[ 2.61832202e-01 -9.61318121e-01 8.55065382e-02 4.56484710e+02] [ 9.14163005e-01 2.75440337e-01 2.97386317e-01 2.33277975e+02] [-3.09434806e-01 3.01599539e-04 9.50920612e-01 2.81925809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.49, Y:233.30, Z:28.18 [[ 2.59999518e-01 -9.61826271e-01 8.53842845e-02 4.56492190e+02] [ 9.14736327e-01 2.73659573e-01 2.97267371e-01 2.33303673e+02] [-3.09285794e-01 8.14733532e-04 9.50968787e-01 2.81841534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.50, Y:233.33, Z:28.18 [[ 2.57413009e-01 -9.62508512e-01 8.55330743e-02 4.56498884e+02] [ 9.15176407e-01 2.71247121e-01 2.98122699e-01 2.33328169e+02] [-3.10146236e-01 1.53719055e-03 9.50687619e-01 2.81758853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.51, Y:233.35, Z:28.17 [[ 2.56257959e-01 -9.62820281e-01 8.54924864e-02 4.56506175e+02] [ 9.15479178e-01 2.70136418e-01 2.98201595e-01 2.33354131e+02] [-3.10209177e-01 1.85005911e-03 9.50666526e-01 2.81670096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.680385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:456.51, Y:233.38, Z:28.16 [[ 2.55392936e-01 -9.63054218e-01 8.54460149e-02 4.56513445e+02] [ 9.15673263e-01 2.69299847e-01 2.98362311e-01 2.33380108e+02] [-3.10349681e-01 2.04100480e-03 9.50620277e-01 2.81580972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.52, Y:233.41, Z:28.15 [[ 2.53866452e-01 -9.63454787e-01 8.54792248e-02 4.56520016e+02] [ 9.15952081e-01 2.67859897e-01 2.98802377e-01 2.33406126e+02] [-3.10779037e-01 2.43897462e-03 9.50479059e-01 2.81489466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.53, Y:233.43, Z:28.14 [[ 2.52968857e-01 -9.63685198e-01 8.55429488e-02 4.56526521e+02] [ 9.16013883e-01 2.67027937e-01 2.99357056e-01 2.33431913e+02] [-3.11328321e-01 2.63051647e-03 9.50298773e-01 2.81399379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.53, Y:233.46, Z:28.13 [[ 2.52427412e-01 -9.63839013e-01 8.54093623e-02 4.56532635e+02] [ 9.16220360e-01 2.66471288e-01 2.99221165e-01 2.33456808e+02] [-3.11160175e-01 2.72217248e-03 9.50353585e-01 2.81311381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.54, Y:233.48, Z:28.12 [[ 2.52325709e-01 -9.63877825e-01 8.52717702e-02 4.56538502e+02] [ 9.16322471e-01 2.66331262e-01 2.99033087e-01 2.33482619e+02] [-3.10941900e-01 2.68270344e-03 9.50425135e-01 2.81219496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.55, Y:233.51, Z:28.11 [[ 2.52026767e-01 -9.63972860e-01 8.50813341e-02 4.56545079e+02] [ 9.16534094e-01 2.65986888e-01 2.98690861e-01 2.33507710e+02] [-3.10560403e-01 2.70185148e-03 9.50549808e-01 2.81131206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.55, Y:233.53, Z:28.10 [[ 2.51866440e-01 -9.64028573e-01 8.49247091e-02 4.56551917e+02] [ 9.16676925e-01 2.65785080e-01 2.98432080e-01 2.33533409e+02] [-3.10268773e-01 2.68349588e-03 9.50645090e-01 2.81043387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.56, Y:233.56, Z:28.09 [[ 2.52206350e-01 -9.63942950e-01 8.48878489e-02 4.56557648e+02] [ 9.16523659e-01 2.66097362e-01 2.98624474e-01 2.33559240e+02] [-3.10445389e-01 2.48673326e-03 9.50587964e-01 2.80949835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.56, Y:233.58, Z:28.09 [[ 2.52548169e-01 -9.63860801e-01 8.48043579e-02 4.56563133e+02] [ 9.16424443e-01 2.66396532e-01 2.98662230e-01 2.33584690e+02] [-3.10460403e-01 2.29018690e-03 9.50583554e-01 2.80859026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.57, Y:233.61, Z:28.08 [[ 2.52335012e-01 -9.63923587e-01 8.47252068e-02 4.56569820e+02] [ 9.16509996e-01 2.66169142e-01 2.98602438e-01 2.33610287e+02] [-3.10381169e-01 2.30364916e-03 9.50609396e-01 2.80769710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.58, Y:233.64, Z:28.07 [[ 2.51645311e-01 -9.64111250e-01 8.46412164e-02 4.56576590e+02] [ 9.16697536e-01 2.65487366e-01 2.98633700e-01 2.33636358e+02] [-3.10387283e-01 2.44062431e-03 9.50607058e-01 2.80677752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.58, Y:233.66, Z:28.06 [[ 2.50868015e-01 -9.64316756e-01 8.46075277e-02 4.56583492e+02] [ 9.16852617e-01 2.64738352e-01 2.98822495e-01 2.33662183e+02] [-3.10558397e-01 2.60762698e-03 9.50550726e-01 2.80588569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.59, Y:233.69, Z:28.05 [[ 2.50068289e-01 -9.64525752e-01 8.45927023e-02 4.56590453e+02] [ 9.16979767e-01 2.63974220e-01 2.99108205e-01 2.33687649e+02] [-3.10827859e-01 2.77231944e-03 9.50462181e-01 2.80507071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.60, Y:233.71, Z:28.04 [[ 2.49617153e-01 -9.64652461e-01 8.44802096e-02 4.56596749e+02] [ 9.17132882e-01 2.63510167e-01 2.99047937e-01 2.33712442e+02] [-3.10738722e-01 2.83208363e-03 9.50491150e-01 2.80421905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.60, Y:233.74, Z:28.03 [[ 2.49265028e-01 -9.64743274e-01 8.44829021e-02 4.56603014e+02] [ 9.17128178e-01 2.63177164e-01 2.99355451e-01 2.33738108e+02] [-3.11035128e-01 2.86280503e-03 9.50394104e-01 2.80328907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.61, Y:233.76, Z:28.02 [[ 2.48819208e-01 -9.64875469e-01 8.42871888e-02 4.56608839e+02] [ 9.17386629e-01 2.62691353e-01 2.98990010e-01 2.33764553e+02] [-3.10629642e-01 2.92948244e-03 9.50526509e-01 2.80238059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.61, Y:233.79, Z:28.02 [[ 2.48866681e-01 -9.64881175e-01 8.40814691e-02 4.56614782e+02] [ 9.17519556e-01 2.62671432e-01 2.98599368e-01 2.33789727e+02] [-3.10198709e-01 2.83495863e-03 9.50667515e-01 2.80152264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.62, Y:233.82, Z:28.01 [[ 2.49032862e-01 -9.64851959e-01 8.39245530e-02 4.56621148e+02] [ 9.17570687e-01 2.62780061e-01 2.98346568e-01 2.33815266e+02] [-3.09913970e-01 2.70861000e-03 9.50760745e-01 2.80065736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.63, Y:233.84, Z:28.00 [[ 2.49438497e-01 -9.64756019e-01 8.38227890e-02 4.56627149e+02] [ 9.17477144e-01 2.63134208e-01 2.98322107e-01 2.33840876e+02] [-3.09864691e-01 2.49247507e-03 9.50777398e-01 2.79976948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.63, Y:233.87, Z:27.99 [[ 2.50604028e-01 -9.64458443e-01 8.37707194e-02 4.56631918e+02] [ 9.17114312e-01 2.64226788e-01 2.98472014e-01 2.33866691e+02] [-3.09998321e-01 2.02903690e-03 9.50734939e-01 2.79884549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.64, Y:233.89, Z:27.98 [[ 2.51954069e-01 -9.64104522e-01 8.37950983e-02 4.56637079e+02] [ 9.16603283e-01 2.65518783e-01 2.98894960e-01 2.33892369e+02] [-3.10415155e-01 1.49906082e-03 9.50599908e-01 2.79794221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.64, Y:233.92, Z:27.97 [[ 2.52836657e-01 -9.63874823e-01 8.37791770e-02 4.56643407e+02] [ 9.16266214e-01 2.66353288e-01 2.99185814e-01 2.33917079e+02] [-3.10692533e-01 1.11888830e-03 9.50509810e-01 2.79711507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.65, Y:233.94, Z:27.96 [[ 2.54930177e-01 -9.63342524e-01 8.35570884e-02 4.56648756e+02] [ 9.15890062e-01 2.68274152e-01 2.98620785e-01 2.33943689e+02] [-3.10090307e-01 4.01657329e-04 9.50707021e-01 2.79631725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.65, Y:233.97, Z:27.95 [[ 2.55830383e-01 -9.63102105e-01 8.35772159e-02 4.56654668e+02] [ 9.15502002e-01 2.69136277e-01 2.99034695e-01 2.33969162e+02] [-3.10494605e-01 1.29480302e-05 9.50575142e-01 2.79545947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.66, Y:234.00, Z:27.95 [[ 2.57730712e-01 -9.62578519e-01 8.37703711e-02 4.56659179e+02] [ 9.14624376e-01 2.71002014e-01 3.00033599e-01 2.33995558e+02] [-3.11507836e-01 -7.09449643e-04 9.50243319e-01 2.79454115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.67, Y:234.02, Z:27.94 [[ 2.58724356e-01 -9.62314426e-01 8.37415893e-02 4.56665241e+02] [ 9.14268254e-01 2.71936902e-01 3.00273011e-01 2.34021149e+02] [-3.11729479e-01 -1.12566477e-03 9.50170230e-01 2.79364130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.67, Y:234.05, Z:27.93 [[ 2.61040116e-01 -9.61689710e-01 8.37314701e-02 4.56670420e+02] [ 9.13511556e-01 2.74133192e-01 3.00578826e-01 2.34046150e+02] [-3.12017140e-01 -1.97346627e-03 9.50074424e-01 2.79279347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.68, Y:234.07, Z:27.92 [[ 2.62143897e-01 -9.61398436e-01 8.36278969e-02 4.56676702e+02] [ 9.13227212e-01 2.75149515e-01 3.00514233e-01 2.34072248e+02] [-3.11924089e-01 -2.40670092e-03 9.50103979e-01 2.79192228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.68, Y:234.10, Z:27.91 [[ 2.64658321e-01 -9.60720847e-01 8.34950738e-02 4.56681817e+02] [ 9.12562957e-01 2.77496940e-01 3.00373598e-01 2.34098586e+02] [-3.11744805e-01 -3.30186054e-03 9.50160131e-01 2.79101660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.69, Y:234.12, Z:27.90 [[ 2.65953748e-01 -9.60376445e-01 8.33407901e-02 4.56688119e+02] [ 9.12273793e-01 2.78680207e-01 3.00156407e-01 2.34124594e+02] [-3.11488571e-01 -3.79810264e-03 9.50242308e-01 2.79011698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.69, Y:234.15, Z:27.89 [[ 2.68087554e-01 -9.59788729e-01 8.32745956e-02 4.56692762e+02] [ 9.11624604e-01 2.80685966e-01 3.00259838e-01 2.34150358e+02] [-3.11560019e-01 -4.58075557e-03 9.50215434e-01 2.78920359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.70, Y:234.18, Z:27.88 [[ 2.68727372e-01 -9.59617364e-01 8.31872200e-02 4.56698903e+02] [ 9.11481020e-01 2.81267012e-01 3.00151992e-01 2.34176476e+02] [-3.11428885e-01 -4.83548406e-03 9.50257159e-01 2.78833599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.70, Y:234.20, Z:27.87 [[ 2.69005081e-01 -9.59542535e-01 8.31528132e-02 4.56704188e+02] [ 9.11331758e-01 2.81518940e-01 3.00368961e-01 2.34202720e+02] [-3.11625886e-01 -5.02097719e-03 9.50191611e-01 2.78745000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.71, Y:234.23, Z:27.87 [[ 2.68482390e-01 -9.59698996e-01 8.30364017e-02 4.56710463e+02] [ 9.11521181e-01 2.80986646e-01 3.00292594e-01 2.34228370e+02] [-3.11522621e-01 -4.93383453e-03 9.50225928e-01 2.78656912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.72, Y:234.25, Z:27.86 [[ 2.66813342e-01 -9.60184561e-01 8.28024786e-02 4.56716108e+02] [ 9.12194992e-01 2.79330901e-01 2.99790835e-01 2.34253196e+02] [-3.10983822e-01 -4.45618808e-03 9.50404759e-01 2.78569155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.70, Y:234.27, Z:27.83 [[ 2.60824279e-01 -9.58483938e-01 1.15235572e-01 4.56701354e+02] [ 9.11277034e-01 2.83846472e-01 2.98337640e-01 2.34272770e+02] [-3.18661047e-01 2.71978304e-02 9.47478451e-01 2.78251486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.75, Y:234.30, Z:27.85 [[ 2.62799568e-01 -9.63665622e-01 4.78012195e-02 4.56745932e+02] [ 9.13779017e-01 2.64488250e-01 3.08308083e-01 2.34304665e+02] [-3.09748762e-01 -3.73434799e-02 9.50084822e-01 2.78540048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:456.74, Y:234.33, Z:27.83 [[ 2.62045338e-01 -9.61527075e-01 8.24495267e-02 4.56736132e+02] [ 9.13771385e-01 2.74692873e-01 2.99275262e-01 2.34330198e+02] [-3.10409565e-01 -3.08366897e-03 9.50597914e-01 2.78314431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.74, Y:234.36, Z:27.82 [[ 2.59745709e-01 -9.62145387e-01 8.25131555e-02 4.56741203e+02] [ 9.14239597e-01 2.72525764e-01 2.99826062e-01 2.34356902e+02] [-3.10963223e-01 -2.44173878e-03 9.50418809e-01 2.78227148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.75, Y:234.38, Z:27.81 [[ 2.59493993e-01 -9.62220916e-01 8.24243740e-02 4.56748359e+02] [ 9.14311096e-01 2.72258917e-01 2.99850467e-01 2.34383020e+02] [-3.10963162e-01 -2.44787536e-03 9.50418813e-01 2.78135548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.75, Y:234.41, Z:27.80 [[ 2.58593831e-01 -9.62469592e-01 8.23499536e-02 4.56754761e+02] [ 9.14555345e-01 2.71380305e-01 2.99902070e-01 2.34408609e+02] [-3.10994778e-01 -2.23923496e-03 9.50408982e-01 2.78046980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.76, Y:234.43, Z:27.80 [[ 2.56581306e-01 -9.63022801e-01 8.21773536e-02 4.56760798e+02] [ 9.15229791e-01 2.69414759e-01 2.99616618e-01 2.34433924e+02] [-3.10677427e-01 -1.66486105e-03 9.50513948e-01 2.77961813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.77, Y:234.46, Z:27.79 [[ 2.55560428e-01 -9.63307765e-01 8.20183972e-02 4.56767527e+02] [ 9.15618962e-01 2.68395572e-01 2.99342167e-01 2.34460056e+02] [-3.10372009e-01 -1.40241280e-03 9.50614143e-01 2.77876135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.77, Y:234.49, Z:27.78 [[ 2.53281797e-01 -9.63930890e-01 8.17653350e-02 4.56773031e+02] [ 9.16464572e-01 2.66151646e-01 2.98757411e-01 2.34485728e+02] [-3.09743476e-01 -7.34781227e-04 9.50819878e-01 2.77791782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:456.78, Y:234.51, Z:27.77 [[ 2.51773004e-01 -9.64336220e-01 8.16456281e-02 4.56778824e+02] [ 9.16933794e-01 2.64680091e-01 2.98624960e-01 2.34511751e+02] [-3.09584837e-01 -3.22067620e-04 9.50871771e-01 2.77704214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.78, Y:234.54, Z:27.76 [[ 2.50335875e-01 -9.64708641e-01 8.16650910e-02 4.56784701e+02] [ 9.17192935e-01 2.63319645e-01 2.99031580e-01 2.34537716e+02] [-3.09982372e-01 4.43123065e-05 9.50742303e-01 2.77609572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.060385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:456.79, Y:234.56, Z:27.75 [[ 2.47368531e-01 -9.65497719e-01 8.13816011e-02 4.56789693e+02] [ 9.18253476e-01 2.60409840e-01 2.98324101e-01 2.34563483e+02] [-3.09223808e-01 9.32943442e-04 9.50988836e-01 2.77517597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.80, Y:234.59, Z:27.74 [[ 2.45488945e-01 -9.65975035e-01 8.14089050e-02 4.56795136e+02] [ 9.18613257e-01 2.58631317e-01 2.98763328e-01 2.34590315e+02] [-3.09652808e-01 1.44020516e-03 9.50848602e-01 2.77443341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.80, Y:234.62, Z:27.74 [[ 2.44371608e-01 -9.66273311e-01 8.12305729e-02 4.56800843e+02] [ 9.19029095e-01 2.57512968e-01 2.98450322e-01 2.34615845e+02] [-3.09302507e-01 1.72047466e-03 9.50962144e-01 2.77360949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.80, Y:234.64, Z:27.72 [[ 2.41521554e-01 -9.66464831e-01 8.72529019e-02 4.56801551e+02] [ 9.19097410e-01 2.56674732e-01 2.98961592e-01 2.34641528e+02] [-3.11331480e-01 7.98824779e-03 9.50267803e-01 2.77220403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.81, Y:234.67, Z:27.72 [[ 2.41116046e-01 -9.67149172e-01 8.05327925e-02 4.56810850e+02] [ 9.19242861e-01 2.54204823e-01 3.00620145e-01 2.34667853e+02] [-3.11216348e-01 1.54485383e-03 9.50337834e-01 2.77163227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.82, Y:234.69, Z:27.71 [[ 2.42032242e-01 -9.67319651e-01 7.55849632e-02 4.56819703e+02] [ 9.19527831e-01 2.53540069e-01 3.00309841e-01 2.34694878e+02] [-3.09659428e-01 -3.18218696e-03 9.50842212e-01 2.77120177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.82, Y:234.72, Z:27.70 [[ 2.41245883e-01 -9.66796753e-01 8.42879694e-02 4.56819397e+02] [ 9.19594444e-01 2.55487118e-01 2.98449981e-01 2.34720476e+02] [-3.10074964e-01 5.51091904e-03 9.50696138e-01 2.76982527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.83, Y:234.75, Z:27.69 [[ 2.42085275e-01 -9.67163046e-01 7.73974364e-02 4.56828050e+02] [ 9.19735623e-01 2.54153728e-01 2.99152581e-01 2.34747519e+02] [-3.09000169e-01 -1.23525549e-03 9.51061181e-01 2.76942777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.83, Y:234.77, Z:27.68 [[ 2.42114288e-01 -9.66882478e-01 8.07399869e-02 4.56832246e+02] [ 9.19744612e-01 2.55213723e-01 2.98221067e-01 2.34773771e+02] [-3.08950677e-01 2.05658665e-03 9.51075838e-01 2.76841655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.84, Y:234.80, Z:27.68 [[ 2.42139657e-01 -9.66883235e-01 8.06547976e-02 4.56837750e+02] [ 9.19734081e-01 2.55211603e-01 2.98255357e-01 2.34798774e+02] [-3.08962144e-01 1.96151629e-03 9.51072314e-01 2.76754881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.84, Y:234.83, Z:27.67 [[ 2.43260561e-01 -9.66627330e-01 8.03486452e-02 4.56842529e+02] [ 9.19730766e-01 2.56181999e-01 2.97432516e-01 2.34825328e+02] [-3.08090276e-01 1.54552026e-03 9.51355871e-01 2.76670148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.84, Y:234.85, Z:27.65 [[ 2.41912707e-01 -9.65964994e-01 9.15962524e-02 4.56840747e+02] [ 9.19418724e-01 2.58371223e-01 2.96502144e-01 2.34849202e+02] [-3.10076528e-01 1.24876733e-02 9.50629584e-01 2.76511634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.86, Y:234.88, Z:27.65 [[ 2.45798803e-01 -9.66984499e-01 6.72601461e-02 4.56859141e+02] [ 9.19393518e-01 2.54558769e-01 2.99858953e-01 2.34878291e+02] [-3.07080620e-01 -1.18664295e-02 9.51609521e-01 2.76541217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:234.90, Z:27.64 [[ 2.45934943e-01 -9.66012659e-01 7.95961453e-02 4.56858383e+02] [ 9.19714631e-01 2.58494204e-01 2.95475454e-01 2.34904473e+02] [-3.06008171e-01 5.38000470e-04 9.52028734e-01 2.76402259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:234.93, Z:27.63 [[ 2.48021549e-01 -9.65512742e-01 7.91862103e-02 4.56863552e+02] [ 9.19562514e-01 2.60355742e-01 2.94312200e-01 2.34930425e+02] [-3.04778764e-01 -1.79097125e-04 9.52423159e-01 2.76317569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.87, Y:234.96, Z:27.62 [[ 2.48868150e-01 -9.65312904e-01 7.89660817e-02 4.56869767e+02] [ 9.19493318e-01 2.61095233e-01 2.93872961e-01 2.34955679e+02] [-3.04297029e-01 -5.26835872e-04 9.52577052e-01 2.76235039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.88, Y:234.98, Z:27.61 [[ 2.51328983e-01 -9.64658019e-01 7.91748001e-02 4.56875812e+02] [ 9.18491389e-01 2.63501402e-01 2.94856879e-01 2.34981069e+02] [-3.05298723e-01 -1.38470720e-03 9.52255623e-01 2.76147308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.88, Y:235.01, Z:27.60 [[ 2.50727617e-01 -9.63958592e-01 8.89915424e-02 4.56876158e+02] [ 9.18125789e-01 2.65930847e-01 2.93812560e-01 2.35005122e+02] [-3.06888738e-01 8.03850707e-03 9.51711451e-01 2.76000733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.89, Y:235.03, Z:27.59 [[ 2.51439293e-01 -9.64432260e-01 8.15395436e-02 4.56886635e+02] [ 9.17696582e-01 2.64330002e-01 2.96584951e-01 2.35030862e+02] [-3.07589442e-01 2.55450097e-04 9.51519138e-01 2.75931034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.90, Y:235.06, Z:27.59 [[ 2.55292472e-01 -9.64609373e-01 6.59887167e-02 4.56902809e+02] [ 9.17411848e-01 2.63218052e-01 2.98448923e-01 2.35058203e+02] [-3.05256050e-01 -1.56529328e-02 9.52141654e-01 2.75945755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.90, Y:235.08, Z:27.58 [[ 2.56424978e-01 -9.63297363e-01 7.94003879e-02 4.56902429e+02] [ 9.17119386e-01 2.68422523e-01 2.94688619e-01 2.35082680e+02] [-3.05185622e-01 -2.74588754e-03 9.52288925e-01 2.75805368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:456.91, Y:235.11, Z:27.57 [[ 2.58220705e-01 -9.62978194e-01 7.74278047e-02 4.56912223e+02] [ 9.16492816e-01 2.69525694e-01 2.95629529e-01 2.35109423e+02] [-3.05553573e-01 -5.37563841e-03 9.52159712e-01 2.75725671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.92, Y:235.14, Z:27.56 [[ 2.58516225e-01 -9.62772616e-01 7.89825996e-02 4.56919162e+02] [ 9.16376223e-01 2.70283543e-01 2.95298873e-01 2.35135447e+02] [-3.05653365e-01 -3.96177350e-03 9.52134615e-01 2.75633371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.92, Y:235.16, Z:27.54 [[ 2.56557293e-01 -9.61704395e-01 9.64521224e-02 4.56917351e+02] [ 9.15443382e-01 2.73797913e-01 2.94954433e-01 2.35158691e+02] [-3.10067364e-01 1.26237465e-02 9.50630775e-01 2.75423607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.94, Y:235.19, Z:27.55 [[ 2.58316967e-01 -9.64138289e-01 6.09073474e-02 4.56944756e+02] [ 9.16221113e-01 2.64491873e-01 3.00969967e-01 2.35186409e+02] [-3.06286167e-01 -2.19410513e-02 9.51686595e-01 2.75522673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.92, Y:235.21, Z:27.51 [[ 2.53471698e-01 -9.60361369e-01 1.16009225e-01 4.56922049e+02] [ 9.14146935e-01 2.77025373e-01 2.95960004e-01 2.35205593e+02] [-3.16366053e-01 3.10319927e-02 9.48129493e-01 2.75127076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:235.23, Z:27.52 [[ 2.55634236e-01 -9.63988531e-01 7.33297258e-02 4.56953245e+02] [ 9.14106746e-01 2.65705104e-01 3.06283618e-01 2.35233001e+02] [-3.14737977e-01 -1.12653816e-02 9.49111741e-01 2.75196992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.870385723 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:456.97, Y:235.26, Z:27.52 [[ 2.59108785e-01 -9.64101957e-01 5.80521756e-02 4.56970347e+02] [ 9.14469533e-01 2.64224153e-01 3.06481761e-01 2.35258444e+02] [-3.10818453e-01 -2.63251709e-02 9.50104665e-01 2.75224254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.97, Y:235.28, Z:27.51 [[ 2.59230492e-01 -9.62905450e-01 7.49176024e-02 4.56969523e+02] [ 9.13906842e-01 2.69646599e-01 3.03422143e-01 2.35282980e+02] [-3.12368112e-01 -1.01885619e-02 9.49906499e-01 2.75063871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.98, Y:235.31, Z:27.50 [[ 2.60874849e-01 -9.62094880e-01 7.94843141e-02 4.56976138e+02] [ 9.13807184e-01 2.72651179e-01 3.01027849e-01 2.35307018e+02] [-3.11288844e-01 -5.89725725e-03 9.50297047e-01 2.74952604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:235.33, Z:27.46 [[ 2.57011979e-01 -9.58960000e-01 1.19752081e-01 4.56960201e+02] [ 9.11824389e-01 2.81681944e-01 2.98716531e-01 2.35326420e+02] [-3.20189204e-01 3.24191416e-02 9.46798750e-01 2.74591578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.01, Y:235.36, Z:27.49 [[ 2.60413236e-01 -9.64773030e-01 3.73891272e-02 4.57014512e+02] [ 9.14656199e-01 2.58916099e-01 3.10429526e-01 2.35357400e+02] [-3.09174682e-01 -4.66417604e-02 9.49860812e-01 2.74929344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.00, Y:235.38, Z:27.47 [[ 2.61075267e-01 -9.62096777e-01 7.88003631e-02 4.57004286e+02] [ 9.14338557e-01 2.72639550e-01 2.99420572e-01 2.35382089e+02] [-3.09555662e-01 -6.12109535e-03 9.50861622e-01 2.74677062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.01, Y:235.41, Z:27.46 [[ 2.61327883e-01 -9.62033101e-01 7.87403945e-02 4.57014745e+02] [ 9.14231957e-01 2.72860252e-01 2.99545009e-01 2.35406228e+02] [-3.09657337e-01 -6.29247811e-03 9.50827397e-01 2.74583899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.02, Y:235.43, Z:27.45 [[ 2.61392780e-01 -9.62015806e-01 7.87362927e-02 4.57023518e+02] [ 9.14102696e-01 2.72918369e-01 2.99886355e-01 2.35431052e+02] [-3.09983994e-01 -6.41507051e-03 9.50720133e-01 2.74497496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.03, Y:235.46, Z:27.44 [[ 2.61663345e-01 -9.61930028e-01 7.88854596e-02 4.57034770e+02] [ 9.13709954e-01 2.73215349e-01 3.00811393e-01 2.35455900e+02] [-3.10912230e-01 -6.63288577e-03 9.50415483e-01 2.74406505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.04, Y:235.48, Z:27.43 [[ 2.61409255e-01 -9.62006212e-01 7.87987916e-02 4.57043517e+02] [ 9.13778588e-01 2.72946819e-01 3.00846681e-01 2.35479650e+02] [-3.10924256e-01 -6.63945832e-03 9.50411503e-01 2.74319122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.06, Y:235.50, Z:27.42 [[ 2.60938686e-01 -9.62126043e-01 7.88953722e-02 4.57055218e+02] [ 9.13675041e-01 2.72525091e-01 3.01542691e-01 2.35503955e+02] [-3.11623044e-01 -6.59942112e-03 9.50182891e-01 2.74239582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.06, Y:235.53, Z:27.41 [[ 2.60290741e-01 -9.62295156e-01 7.89731801e-02 4.57064315e+02] [ 9.13640596e-01 2.71929678e-01 3.02183903e-01 2.35529062e+02] [-3.12265257e-01 -6.50256873e-03 9.49972697e-01 2.74149694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.07, Y:235.55, Z:27.41 [[ 2.59624604e-01 -9.62467070e-01 7.90708819e-02 4.57073216e+02] [ 9.13572384e-01 2.71322725e-01 3.02934776e-01 2.35553646e+02] [-3.13018474e-01 -6.41234734e-03 9.49725390e-01 2.74060757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.08, Y:235.58, Z:27.40 [[ 2.58116392e-01 -9.62639814e-01 8.18566891e-02 4.57083288e+02] [ 9.13710346e-01 2.70763526e-01 3.03019003e-01 2.35577719e+02] [-3.13861963e-01 -3.42086806e-03 9.49462462e-01 2.73957645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:235.60, Z:27.39 [[ 2.56277060e-01 -9.63534559e-01 7.69624719e-02 4.57097465e+02] [ 9.13652709e-01 2.67460318e-01 3.06110612e-01 2.35602618e+02] [-3.15532561e-01 -8.13215677e-03 9.48879904e-01 2.73889338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.320385723 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:457.10, Y:235.63, Z:27.38 [[ 2.55427672e-01 -9.62915016e-01 8.68986542e-02 4.57101317e+02] [ 9.14266590e-01 2.69795434e-01 3.02203617e-01 2.35626302e+02] [-3.14441261e-01 2.25736980e-03 9.49274248e-01 2.73758028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.12, Y:235.65, Z:27.37 [[ 2.52633269e-01 -9.64846086e-01 7.24462642e-02 4.57118985e+02] [ 9.14188083e-01 2.62551846e-01 3.08750186e-01 2.35650308e+02] [-3.16917309e-01 -1.17710573e-02 9.48380125e-01 2.73727158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.12, Y:235.68, Z:27.36 [[ 2.51057391e-01 -9.64680050e-01 7.97658274e-02 4.57124215e+02] [ 9.14403099e-01 2.63390314e-01 3.07396351e-01 2.35675304e+02] [-3.17548673e-01 -4.23600615e-03 9.48232512e-01 2.73604191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.13, Y:235.70, Z:27.35 [[ 2.48280846e-01 -9.65380135e-01 7.99863543e-02 4.57134625e+02] [ 9.14725348e-01 2.60824129e-01 3.08623252e-01 2.35698572e+02] [-3.18801128e-01 -3.45969655e-03 9.47815315e-01 2.73512344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.440385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:457.14, Y:235.72, Z:27.33 [[ 2.46156290e-01 -9.64481253e-01 9.58279366e-02 4.57135710e+02] [ 9.14781526e-01 2.63861432e-01 3.05862557e-01 2.35723296e+02] [-3.20283999e-01 1.23716336e-02 9.47240784e-01 2.73296276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.16, Y:235.75, Z:27.34 [[ 2.43194107e-01 -9.67708042e-01 6.63157068e-02 4.57159344e+02] [ 9.15747258e-01 2.51600145e-01 3.13216103e-01 2.35747032e+02] [-3.19786783e-01 -1.54438837e-02 9.47363658e-01 2.73381920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.16, Y:235.77, Z:27.32 [[ 2.41531035e-01 -9.67085917e-01 8.00474119e-02 4.57161317e+02] [ 9.16113163e-01 2.54445626e-01 3.09829142e-01 2.35771182e+02] [-3.19999114e-01 -1.50086565e-03 9.47416653e-01 2.73229915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.17, Y:235.80, Z:27.31 [[ 2.40066049e-01 -9.67447392e-01 8.00864320e-02 4.57170000e+02] [ 9.16328983e-01 2.53069772e-01 3.10317396e-01 2.35796532e+02] [-3.20483211e-01 -1.11115237e-03 9.47253544e-01 2.73133230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.18, Y:235.82, Z:27.30 [[ 2.37760225e-01 -9.68011144e-01 8.01529793e-02 4.57179934e+02] [ 9.16710948e-01 2.50906794e-01 3.10945042e-01 2.35820804e+02] [-3.21109193e-01 -4.53249530e-04 9.47042069e-01 2.73037978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.19, Y:235.85, Z:27.29 [[ 2.36637249e-01 -9.68282821e-01 8.01947061e-02 4.57188066e+02] [ 9.16816363e-01 2.49856649e-01 3.11479391e-01 2.35845980e+02] [-3.21637324e-01 -1.83807624e-04 9.46862925e-01 2.72945707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:457.20, Y:235.87, Z:27.29 [[ 2.35624098e-01 -9.68491583e-01 8.06556764e-02 4.57196128e+02] [ 9.16298628e-01 2.49046288e-01 3.13644338e-01 2.35870939e+02] [-3.23848898e-01 2.52133055e-06 9.46108816e-01 2.72852625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.20, Y:235.90, Z:27.28 [[ 2.35802666e-01 -9.68428571e-01 8.08900866e-02 4.57202225e+02] [ 9.15786952e-01 2.49291133e-01 3.14941564e-01 2.35895952e+02] [-3.25163590e-01 -1.85974635e-04 9.45657763e-01 2.72760028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:235.92, Z:27.27 [[ 2.36091846e-01 -9.68340759e-01 8.10975640e-02 4.57208216e+02] [ 9.15325359e-01 2.49631793e-01 3.16011797e-01 2.35921138e+02] [-3.26251634e-01 -3.77151631e-04 9.45282883e-01 2.72659720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:235.95, Z:27.26 [[ 2.36276351e-01 -9.68303571e-01 8.10042043e-02 4.57214108e+02] [ 9.15281313e-01 2.49775733e-01 3.16025636e-01 2.35946950e+02] [-3.26241636e-01 -5.27749511e-04 9.45286262e-01 2.72563359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:235.97, Z:27.25 [[ 2.36476859e-01 -9.68260975e-01 8.09282401e-02 4.57219654e+02] [ 9.15208734e-01 2.49940423e-01 3.16105612e-01 2.35972891e+02] [-3.26299966e-01 -6.85430029e-04 9.45266027e-01 2.72461916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.23, Y:236.00, Z:27.24 [[ 2.36229025e-01 -9.68329099e-01 8.08369030e-02 4.57226328e+02] [ 9.15272744e-01 2.49676349e-01 3.16128969e-01 2.35999104e+02] [-3.26299942e-01 -6.91024073e-04 9.45266031e-01 2.72369032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.23, Y:236.02, Z:27.23 [[ 2.37222641e-01 -9.68092546e-01 8.07603995e-02 4.57231420e+02] [ 9.15002995e-01 2.50590483e-01 3.16186541e-01 2.36024776e+02] [-3.26335621e-01 -1.11059876e-03 9.45253315e-01 2.72263870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.24, Y:236.05, Z:27.22 [[ 2.37282551e-01 -9.68082308e-01 8.07071041e-02 4.57236433e+02] [ 9.14933402e-01 2.50629500e-01 3.16356956e-01 2.36049394e+02] [-3.26487153e-01 -1.22436012e-03 9.45200846e-01 2.72174183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.24, Y:236.08, Z:27.21 [[ 2.37022541e-01 -9.68141177e-01 8.07649487e-02 4.57240527e+02] [ 9.14799054e-01 2.50401951e-01 3.16925155e-01 2.36075160e+02] [-3.27051993e-01 -1.23470678e-03 9.45005539e-01 2.72072875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:236.10, Z:27.20 [[ 2.36590147e-01 -9.68247065e-01 8.07633832e-02 4.57245950e+02] [ 9.14779633e-01 2.49992409e-01 3.17304298e-01 2.36099882e+02] [-3.27419188e-01 -1.19037245e-03 9.44878436e-01 2.71980260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:236.13, Z:27.19 [[ 2.35367934e-01 -9.68537931e-01 8.08468491e-02 4.57251728e+02] [ 9.14852584e-01 2.48864429e-01 3.17979946e-01 2.36125351e+02] [-3.28095544e-01 -8.79334008e-04 9.44644135e-01 2.71889511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.26, Y:236.15, Z:27.18 [[ 2.34086876e-01 -9.68842439e-01 8.09176257e-02 4.57257897e+02] [ 9.14942723e-01 2.47677247e-01 3.18646819e-01 2.36151085e+02] [-3.28760016e-01 -5.56045562e-04 9.44413333e-01 2.71796301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.26, Y:236.18, Z:27.17 [[ 2.32628163e-01 -9.69189895e-01 8.09634858e-02 4.57264136e+02] [ 9.15112673e-01 2.46314677e-01 3.19214467e-01 2.36176662e+02] [-3.29321930e-01 -1.67563083e-04 9.44217686e-01 2.71704839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:236.20, Z:27.16 [[ 2.30028083e-01 -9.69796127e-01 8.11329316e-02 4.57270073e+02] [ 9.15382468e-01 2.43916212e-01 3.20280845e-01 2.36202721e+02] [-3.30396761e-01 5.94074380e-04 9.43841951e-01 2.71603814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:236.23, Z:27.15 [[ 2.28125460e-01 -9.70239067e-01 8.12091565e-02 4.57275593e+02] [ 9.15606807e-01 2.42146386e-01 3.20981780e-01 2.36227551e+02] [-3.31093566e-01 1.13154036e-03 9.43597250e-01 2.71503192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:236.25, Z:27.14 [[ 2.27173461e-01 -9.70482189e-01 8.09724642e-02 4.57281923e+02] [ 9.16066982e-01 2.41168805e-01 3.20404262e-01 2.36253358e+02] [-3.30474662e-01 1.38885561e-03 9.43813842e-01 2.71410968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:236.28, Z:27.13 [[ 2.26306045e-01 -9.70689998e-01 8.09104577e-02 4.57287789e+02] [ 9.16236187e-01 2.40329770e-01 3.20550856e-01 2.36278065e+02] [-3.30600702e-01 1.59049277e-03 9.43769382e-01 2.71317261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:236.30, Z:27.12 [[ 2.25473574e-01 -9.70904083e-01 8.06655431e-02 4.57293868e+02] [ 9.16679137e-01 2.39461884e-01 3.19933378e-01 2.36303556e+02] [-3.29940946e-01 1.80789811e-03 9.43999843e-01 2.71217857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:236.33, Z:27.11 [[ 2.24564720e-01 -9.71119714e-01 8.06051401e-02 4.57300354e+02] [ 9.16853279e-01 2.38584184e-01 3.20090069e-01 2.36329457e+02] [-3.30076888e-01 2.02215018e-03 9.43951884e-01 2.71117399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:236.35, Z:27.10 [[ 2.23867038e-01 -9.71284080e-01 8.05654146e-02 4.57306551e+02] [ 9.16944614e-01 2.37912920e-01 3.20327984e-01 2.36354082e+02] [-3.30297025e-01 2.16314580e-03 9.43874566e-01 2.71029815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:236.38, Z:27.09 [[ 2.23125581e-01 -9.71459274e-01 8.05099661e-02 4.57313182e+02] [ 9.17082230e-01 2.37194963e-01 3.20466431e-01 2.36379974e+02] [-3.30416645e-01 2.33000064e-03 9.43832301e-01 2.70935652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:236.41, Z:27.08 [[ 2.22082410e-01 -9.71713015e-01 8.03319365e-02 4.57319987e+02] [ 9.17463353e-01 2.36150467e-01 3.20146768e-01 2.36405942e+02] [-3.30061206e-01 2.60264210e-03 9.43955945e-01 2.70844538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:236.43, Z:27.08 [[ 2.21474931e-01 -9.71855448e-01 8.02860120e-02 4.57326252e+02] [ 9.17541973e-01 2.35562340e-01 3.20354665e-01 2.36430317e+02] [-3.30250787e-01 2.71525860e-03 9.43889318e-01 2.70753196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:236.46, Z:27.07 [[ 2.20957017e-01 -9.71978695e-01 8.02210244e-02 4.57333108e+02] [ 9.17640435e-01 2.35052177e-01 3.20447352e-01 2.36456179e+02] [-3.30324126e-01 2.80896460e-03 9.43863381e-01 2.70659230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.34, Y:236.48, Z:27.06 [[ 2.20406986e-01 -9.72100795e-01 8.02546296e-02 4.57339460e+02] [ 9.17585473e-01 2.34545651e-01 3.20975446e-01 2.36482266e+02] [-3.30843860e-01 2.89525185e-03 9.43681068e-01 2.70560919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.35, Y:236.51, Z:27.05 [[ 2.20082150e-01 -9.72179118e-01 8.01973211e-02 4.57345934e+02] [ 9.17611407e-01 2.34220573e-01 3.21138644e-01 2.36507841e+02] [-3.30988146e-01 2.91309352e-03 9.43630416e-01 2.70470034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.35, Y:236.53, Z:27.04 [[ 2.20109780e-01 -9.72176704e-01 8.01507420e-02 4.57352254e+02] [ 9.17536237e-01 2.34231852e-01 3.21345132e-01 2.36532463e+02] [-3.31178108e-01 2.81000366e-03 9.43564076e-01 2.70377520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:236.56, Z:27.03 [[ 2.19974893e-01 -9.72213969e-01 8.00689968e-02 4.57358842e+02] [ 9.17566675e-01 2.34077544e-01 3.21370659e-01 2.36558043e+02] [-3.31183398e-01 2.77516684e-03 9.43562322e-01 2.70286176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.37, Y:236.58, Z:27.02 [[ 2.20467807e-01 -9.72124425e-01 7.98000602e-02 4.57366110e+02] [ 9.17711238e-01 2.34451888e-01 3.20684262e-01 2.36583939e+02] [-3.30454278e-01 2.53285634e-03 9.43818603e-01 2.70188955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.37, Y:236.61, Z:27.01 [[ 2.20704894e-01 -9.72080969e-01 7.96739590e-02 4.57372466e+02] [ 9.17705239e-01 2.34633738e-01 3.20568408e-01 2.36609065e+02] [-3.30312647e-01 2.36619316e-03 9.43868612e-01 2.70101581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.38, Y:236.63, Z:27.00 [[ 2.22483663e-01 -9.71675755e-01 7.96696055e-02 4.57378951e+02] [ 9.17156957e-01 2.36312136e-01 3.20904488e-01 2.36633773e+02] [-3.30642005e-01 1.67352701e-03 9.43754769e-01 2.70015885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:236.66, Z:26.99 [[ 2.23518839e-01 -9.71454250e-01 7.94730698e-02 4.57385272e+02] [ 9.17055224e-01 2.37223748e-01 3.20522400e-01 2.36659306e+02] [-3.30225747e-01 1.23839903e-03 9.43901172e-01 2.69925689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:236.68, Z:26.98 [[ 2.24516050e-01 -9.71234818e-01 7.93440128e-02 4.57391154e+02] [ 9.16867401e-01 2.38122375e-01 3.20393358e-01 2.36684236e+02] [-3.30070769e-01 8.14487823e-04 9.43955838e-01 2.69834085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:236.71, Z:26.97 [[ 2.26318855e-01 -9.70844561e-01 7.89975560e-02 4.57396658e+02] [ 9.16819230e-01 2.39709855e-01 3.19345714e-01 2.36709271e+02] [-3.28971542e-01 1.52522304e-04 9.44339823e-01 2.69738921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:236.74, Z:26.96 [[ 2.26518181e-01 -9.70818079e-01 7.87513281e-02 4.57403323e+02] [ 9.17039358e-01 2.39817131e-01 3.18632328e-01 2.36735213e+02] [-3.28219942e-01 4.20518326e-05 9.44601328e-01 2.69645677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:457.41, Y:236.76, Z:26.96 [[ 2.25306042e-01 -9.71105318e-01 7.86870255e-02 4.57410949e+02] [ 9.17350254e-01 2.38651005e-01 3.18612946e-01 2.36761491e+02] [-3.28185464e-01 3.98141072e-04 9.44613224e-01 2.69562189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.42, Y:236.79, Z:26.95 [[ 2.23808415e-01 -9.71448208e-01 7.87284690e-02 4.57417306e+02] [ 9.17516190e-01 2.37250373e-01 3.19180672e-01 2.36786994e+02] [-3.28745851e-01 7.99324449e-04 9.44418089e-01 2.69474937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.42, Y:236.81, Z:26.94 [[ 2.22578337e-01 -9.71727885e-01 7.87642107e-02 4.57423664e+02] [ 9.17622689e-01 2.36100997e-01 3.19726321e-01 2.36812594e+02] [-3.29283291e-01 1.11167401e-03 9.44230522e-01 2.69386492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:236.84, Z:26.93 [[ 2.19877806e-01 -9.72349819e-01 7.86738800e-02 4.57429115e+02] [ 9.18271916e-01 2.33521046e-01 3.19757112e-01 2.36838269e+02] [-3.29287777e-01 1.93652231e-03 9.44227626e-01 2.69294670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:236.86, Z:26.92 [[ 2.18796521e-01 -9.72607298e-01 7.85055877e-02 4.57434631e+02] [ 9.18645631e-01 2.32443790e-01 3.19468448e-01 2.36864506e+02] [-3.28965480e-01 2.22023030e-03 9.44339337e-01 2.69199492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.44, Y:236.89, Z:26.91 [[ 2.16625485e-01 -9.73116450e-01 7.82162033e-02 4.57439777e+02] [ 9.19457326e-01 2.30295632e-01 3.18688166e-01 2.36888980e+02] [-3.28133546e-01 2.88048267e-03 9.44626952e-01 2.69104813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:236.92, Z:26.90 [[ 2.15095686e-01 -9.73484098e-01 7.78624238e-02 4.57446107e+02] [ 9.20253206e-01 2.28730067e-01 3.17516288e-01 2.36915075e+02] [-3.26906535e-01 3.35676130e-03 9.45050713e-01 2.69009631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:236.94, Z:26.89 [[ 2.13067749e-01 -9.73959207e-01 7.74957936e-02 4.57452629e+02] [ 9.21136950e-01 2.26688625e-01 3.16415845e-01 2.36940754e+02] [-3.25743540e-01 3.96622719e-03 9.45449848e-01 2.68915524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:236.97, Z:26.88 [[ 2.08121866e-01 -9.75069551e-01 7.69718084e-02 4.57459666e+02] [ 9.22915745e-01 2.21830080e-01 3.14671167e-01 2.36965245e+02] [-3.23900936e-01 5.54854327e-03 9.46074731e-01 2.68821090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:236.99, Z:26.87 [[ 2.05146952e-01 -9.75716239e-01 7.67629471e-02 4.57465794e+02] [ 9.23774822e-01 2.18943114e-01 3.14171914e-01 2.36990282e+02] [-3.23349357e-01 6.46026720e-03 9.46257607e-01 2.68734587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:237.02, Z:26.86 [[ 2.00583083e-01 -9.76658254e-01 7.68445246e-02 4.57470541e+02] [ 9.24547429e-01 2.14654101e-01 3.14858171e-01 2.37015894e+02] [-3.24003824e-01 7.89118504e-03 9.46022860e-01 2.68642020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:237.04, Z:26.85 [[ 1.98961015e-01 -9.76989735e-01 7.68477280e-02 4.57475840e+02] [ 9.24765596e-01 2.13123123e-01 3.15257241e-01 2.37041731e+02] [-3.24381116e-01 8.34223453e-03 9.45889687e-01 2.68548327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:237.07, Z:26.85 [[ 1.97599638e-01 -9.77282360e-01 7.66392284e-02 4.57480722e+02] [ 9.25236726e-01 2.11762557e-01 3.14791392e-01 2.37066863e+02] [-3.23869394e-01 8.70676372e-03 9.46061736e-01 2.68461952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:237.09, Z:26.84 [[ 1.95834875e-01 -9.77633307e-01 7.66930219e-02 4.57484582e+02] [ 9.25439687e-01 2.10114153e-01 3.15298950e-01 2.37092334e+02] [-3.24361045e-01 9.22823575e-03 9.45888340e-01 2.68374760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:237.12, Z:26.83 [[ 1.95335003e-01 -9.77730285e-01 7.67315237e-02 4.57489848e+02] [ 9.25349309e-01 2.09659085e-01 3.15866624e-01 2.37118062e+02] [-3.24919826e-01 9.30365437e-03 9.45695802e-01 2.68285299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:237.15, Z:26.82 [[ 1.95275066e-01 -9.77760874e-01 7.64939318e-02 4.57493886e+02] [ 9.25582690e-01 2.09519372e-01 3.15274988e-01 2.37145072e+02] [-3.24290508e-01 9.23611513e-03 9.45912449e-01 2.68199453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:237.17, Z:26.81 [[ 1.95482309e-01 -9.77737160e-01 7.62673746e-02 4.57498320e+02] [ 9.25739212e-01 2.09636904e-01 3.14736842e-01 2.37170719e+02] [-3.23718362e-01 9.07821469e-03 9.46109935e-01 2.68107669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:237.20, Z:26.80 [[ 1.95816335e-01 -9.77689928e-01 7.60155726e-02 4.57500581e+02] [ 9.25949561e-01 2.09864407e-01 3.13965510e-01 2.37197912e+02] [-3.22913880e-01 8.90701078e-03 9.46386439e-01 2.68013520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:237.22, Z:26.79 [[ 1.96178743e-01 -9.77632679e-01 7.58171909e-02 4.57505165e+02] [ 9.26031530e-01 2.10139636e-01 3.13539375e-01 2.37224309e+02] [-3.22458536e-01 8.69934893e-03 9.46543615e-01 2.67922552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:237.25, Z:26.78 [[ 1.94512820e-01 -9.77681377e-01 7.93970263e-02 4.57506200e+02] [ 9.25828210e-01 2.09729794e-01 3.14413008e-01 2.37248700e+02] [-3.24047664e-01 1.23506460e-02 9.45960133e-01 2.67802178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:237.28, Z:26.78 [[ 1.97003541e-01 -9.77830945e-01 7.09665270e-02 4.57514052e+02] [ 9.26071790e-01 2.09360090e-01 3.13941703e-01 2.37276313e+02] [-3.21839471e-01 3.87247143e-03 9.46786332e-01 2.67760301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:237.30, Z:26.76 [[ 1.97098168e-01 -9.77492672e-01 7.52355470e-02 4.57515518e+02] [ 9.26362225e-01 2.10810755e-01 3.12108721e-01 2.37302578e+02] [-3.20944450e-01 8.17931163e-03 9.47062701e-01 2.67646373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.330385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:457.52, Y:237.33, Z:26.75 [[ 1.96671933e-01 -9.77630441e-01 7.45578416e-02 4.57518002e+02] [ 9.27321753e-01 2.10168826e-01 3.09682792e-01 2.37328829e+02] [-3.18425059e-01 8.23319500e-03 9.47912283e-01 2.67549301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:237.36, Z:26.75 [[ 1.94893261e-01 -9.78029247e-01 7.39960079e-02 4.57522887e+02] [ 9.28393982e-01 2.08285202e-01 3.07736719e-01 2.37355162e+02] [-3.16387785e-01 8.72163576e-03 9.48589850e-01 2.67459981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.53, Y:237.38, Z:26.74 [[ 1.92278964e-01 -9.78581312e-01 7.35351398e-02 4.57527901e+02] [ 9.29487363e-01 2.05642633e-01 3.06209652e-01 2.37381336e+02] [-3.14773002e-01 9.47230842e-03 9.49119715e-01 2.67371767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.53, Y:237.41, Z:26.73 [[ 1.84349384e-01 -9.80054820e-01 7.42149151e-02 4.57529382e+02] [ 9.31083390e-01 1.98324001e-01 3.06188361e-01 2.37406120e+02] [-3.14799978e-01 1.26546389e-02 9.49073672e-01 2.67282868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:237.43, Z:26.71 [[ 1.77335755e-01 -9.79772605e-01 9.27236332e-02 4.57520818e+02] [ 9.30296899e-01 1.97625579e-01 3.09017494e-01 2.37427080e+02] [-3.21091437e-01 3.14606578e-02 9.46525497e-01 2.67063958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4803857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.55, Y:237.46, Z:26.72 [[ 1.77100640e-01 -9.82954631e-01 4.93513535e-02 4.57550412e+02] [ 9.31129952e-01 1.83584042e-01 3.15109366e-01 2.37458495e+02] [-3.18798332e-01 -9.85354697e-03 9.47771350e-01 2.67214643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.55, Y:237.49, Z:26.71 [[ 1.75704967e-01 -9.81979424e-01 6.96001173e-02 4.57546092e+02] [ 9.31461314e-01 1.88713883e-01 3.11073772e-01 2.37487676e+02] [-3.18602552e-01 1.01726098e-02 9.47833810e-01 2.67056826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.55, Y:237.51, Z:26.69 [[ 1.74395344e-01 -9.81879393e-01 7.41560688e-02 4.57547517e+02] [ 9.31603155e-01 1.88917852e-01 3.10524729e-01 2.37513471e+02] [-3.18907238e-01 1.49299608e-02 9.47668333e-01 2.66949066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:237.54, Z:26.68 [[ 1.69556180e-01 -9.81684805e-01 8.68656724e-02 4.57537230e+02] [ 9.31355410e-01 1.88432214e-01 3.11561232e-01 2.37536184e+02] [-3.22223219e-01 2.80756815e-02 9.46247300e-01 2.66777360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:237.57, Z:26.68 [[ 1.73797825e-01 -9.83073778e-01 5.79677827e-02 4.57560292e+02] [ 9.31565693e-01 1.83209207e-01 3.14037811e-01 2.37567874e+02] [-3.19342569e-01 -5.78290983e-04 9.47639166e-01 2.66840196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:237.59, Z:26.67 [[ 1.74446798e-01 -9.81884514e-01 7.39669966e-02 4.57555689e+02] [ 9.31685334e-01 1.88902610e-01 3.10287355e-01 2.37594012e+02] [-3.18638907e-01 1.47853304e-02 9.47760857e-01 2.66693169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:237.62, Z:26.66 [[ 1.74193274e-01 -9.81936320e-01 7.38767000e-02 4.57561936e+02] [ 9.31732681e-01 1.88633577e-01 3.10308853e-01 2.37620312e+02] [-3.18639159e-01 1.47796208e-02 9.47760861e-01 2.66600241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:237.65, Z:26.65 [[ 1.75558790e-01 -9.81711880e-01 7.36267390e-02 4.57560801e+02] [ 9.31712851e-01 1.89839403e-01 3.09632305e-01 2.37646864e+02] [-3.17946968e-01 1.42403063e-02 9.48001550e-01 2.66513992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:237.67, Z:26.64 [[ 1.75393247e-01 -9.81758808e-01 7.33951730e-02 4.57563303e+02] [ 9.31966865e-01 1.89599371e-01 3.09014306e-01 2.37673433e+02] [-3.17293195e-01 1.42028469e-02 9.48221128e-01 2.66417309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.56, Y:237.70, Z:26.63 [[ 1.74679631e-01 -9.81936780e-01 7.27130477e-02 4.57562208e+02] [ 9.32976754e-01 1.88668482e-01 3.06526639e-01 2.37700045e+02] [-3.14708441e-01 1.42956230e-02 9.49080730e-01 2.66333009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:237.73, Z:26.62 [[ 1.73295666e-01 -9.82203802e-01 7.24175597e-02 4.57564917e+02] [ 9.33559407e-01 1.87246565e-01 3.05623230e-01 2.37726939e+02] [-3.13744238e-01 1.46429128e-02 9.49394617e-01 2.66240658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.57, Y:237.75, Z:26.62 [[ 1.72206360e-01 -9.82406831e-01 7.22619383e-02 4.57567460e+02] [ 9.33856454e-01 1.86158512e-01 3.05380308e-01 2.37753155e+02] [-3.13459875e-01 1.48938461e-02 9.49484639e-01 2.66153851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.57, Y:237.78, Z:26.61 [[ 1.70493945e-01 -9.82702877e-01 7.22970996e-02 4.57566561e+02] [ 9.34055776e-01 1.84547705e-01 3.05748185e-01 2.37781313e+02] [-3.13801885e-01 1.54013093e-02 9.49363564e-01 2.66067419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.870385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.56, Y:237.80, Z:26.59 [[ 1.66596568e-01 -9.82833754e-01 7.92678679e-02 4.57560738e+02] [ 9.33642506e-01 1.83089562e-01 3.07879657e-01 2.37804145e+02] [-3.17107638e-01 2.27161566e-02 9.48117462e-01 2.65925057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:237.83, Z:26.59 [[ 1.69065280e-01 -9.83767308e-01 6.01565855e-02 4.57570136e+02] [ 9.33560092e-01 1.79410659e-01 3.10285948e-01 2.37834793e+02] [-3.16041904e-01 3.70120695e-03 9.48738012e-01 2.65925191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:237.86, Z:26.58 [[ 1.71641532e-01 -9.82437530e-01 7.31825463e-02 4.57568949e+02] [ 9.33252286e-01 1.85943279e-01 3.07352026e-01 2.37863358e+02] [-3.15561967e-01 1.55434060e-02 9.48777660e-01 2.65791686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.57, Y:237.89, Z:26.57 [[ 1.73466440e-01 -9.82162863e-01 7.25638064e-02 4.57568081e+02] [ 9.32830981e-01 1.87486490e-01 3.07693316e-01 2.37890387e+02] [-3.15809681e-01 1.43153027e-02 9.48714561e-01 2.65707626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.57, Y:237.92, Z:26.56 [[ 1.74248989e-01 -9.82020476e-01 7.26159397e-02 4.57570727e+02] [ 9.32485930e-01 1.88254748e-01 3.08269590e-01 2.37916759e+02] [-3.16397345e-01 1.39976775e-02 9.48523476e-01 2.65615756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.020385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.57, Y:237.94, Z:26.55 [[ 1.74666081e-01 -9.81946712e-01 7.26114026e-02 4.57573087e+02] [ 9.32281138e-01 1.88654820e-01 3.08644193e-01 2.37942964e+02] [-3.16770642e-01 1.37845695e-02 9.48401996e-01 2.65523960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:237.97, Z:26.55 [[ 1.75130660e-01 -9.83072387e-01 5.38324642e-02 4.57579582e+02] [ 9.32942326e-01 1.83172627e-01 3.09945810e-01 2.37971145e+02] [-3.14559801e-01 -4.05842985e-03 9.49228982e-01 2.65529746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.57, Y:238.00, Z:26.53 [[ 1.76658005e-01 -9.80163297e-01 8.98435312e-02 4.57566145e+02] [ 9.31906482e-01 1.95937472e-01 3.05219292e-01 2.37997551e+02] [-3.16768462e-01 2.98063381e-02 9.48034453e-01 2.65281772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:238.02, Z:26.52 [[ 1.77349484e-01 -9.81470881e-01 7.25401332e-02 4.57573128e+02] [ 9.31559545e-01 1.91188167e-01 3.09263478e-01 2.38024329e+02] [-3.17401913e-01 1.27277354e-02 9.48205690e-01 2.65234455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:238.05, Z:26.51 [[ 1.77408940e-01 -9.81464922e-01 7.24753425e-02 4.57575455e+02] [ 9.31512851e-01 1.91225581e-01 3.09380972e-01 2.38049793e+02] [-3.17505711e-01 1.26247626e-02 9.48172315e-01 2.65145383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:238.08, Z:26.51 [[ 1.76822865e-01 -9.81566513e-01 7.25317525e-02 4.57577946e+02] [ 9.31424371e-01 1.90695271e-01 3.09974120e-01 2.38076886e+02] [-3.18091678e-01 1.27473302e-02 9.47974256e-01 2.65051895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:238.10, Z:26.50 [[ 1.75312098e-01 -9.81827043e-01 7.26727339e-02 4.57576889e+02] [ 9.31365513e-01 1.89320787e-01 3.10991833e-01 2.38103756e+02] [-3.19098651e-01 1.31642474e-02 9.47630072e-01 2.64957527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:238.13, Z:26.49 [[ 1.73815096e-01 -9.82098515e-01 7.26004047e-02 4.57579616e+02] [ 9.31622801e-01 1.87879080e-01 3.11095496e-01 2.38130554e+02] [-3.19166522e-01 1.35630990e-02 9.47601590e-01 2.64859784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:238.16, Z:26.48 [[ 1.70035813e-01 -9.82734419e-01 7.29443864e-02 4.57579283e+02] [ 9.32484181e-01 1.84395824e-01 3.10598507e-01 2.38156305e+02] [-3.18686484e-01 1.52066169e-02 9.47738194e-01 2.64761179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:238.18, Z:26.47 [[ 1.67002174e-01 -9.83374469e-01 7.13086837e-02 4.57583947e+02] [ 9.33119688e-01 1.80997020e-01 3.10689115e-01 2.38183777e+02] [-3.18430403e-01 1.46537791e-02 9.47832974e-01 2.64665751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:238.21, Z:26.46 [[ 1.62429106e-01 -9.84079855e-01 7.21361585e-02 4.57585457e+02] [ 9.34108776e-01 1.76910169e-01 3.10070294e-01 2.38210983e+02] [-3.17895549e-01 1.70185782e-02 9.47972989e-01 2.64570512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:238.24, Z:26.45 [[ 1.60650350e-01 -9.84642708e-01 6.83388866e-02 4.57591086e+02] [ 9.33825148e-01 1.74050455e-01 3.12533251e-01 2.38237276e+02] [-3.19628001e-01 1.36079947e-02 9.47445388e-01 2.64489733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.380385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.59, Y:238.26, Z:26.44 [[ 1.58770444e-01 -9.84400485e-01 7.58131304e-02 4.57591432e+02] [ 9.34459154e-01 1.74614407e-01 3.10315805e-01 2.38264919e+02] [-3.18713094e-01 2.15752956e-02 9.47605651e-01 2.64373352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:238.29, Z:26.43 [[ 1.56520268e-01 -9.85020940e-01 7.23543604e-02 4.57594174e+02] [ 9.34504931e-01 1.71408245e-01 3.11961132e-01 2.38290959e+02] [-3.19690382e-01 1.87872664e-02 9.47335790e-01 2.64296319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:238.32, Z:26.42 [[ 1.55231415e-01 -9.85218814e-01 7.24368442e-02 4.57597419e+02] [ 9.34527818e-01 1.70223642e-01 3.12540667e-01 2.38317189e+02] [-3.20251409e-01 1.91781160e-02 9.47138446e-01 2.64198910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:238.34, Z:26.41 [[ 1.53256980e-01 -9.85540637e-01 7.22630741e-02 4.57597671e+02] [ 9.34994414e-01 1.68287802e-01 3.12193307e-01 2.38343749e+02] [-3.19840185e-01 1.97197674e-02 9.47266271e-01 2.64098028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:238.37, Z:26.40 [[ 1.52215457e-01 -9.85722304e-01 7.19860696e-02 4.57600911e+02] [ 9.35451945e-01 1.67194518e-01 3.11409138e-01 2.38370482e+02] [-3.18998609e-01 1.99382246e-02 9.47545437e-01 2.64001278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:238.40, Z:26.39 [[ 1.51804197e-01 -9.85916113e-01 7.01776616e-02 4.57604630e+02] [ 9.35633478e-01 1.66226270e-01 3.11382118e-01 2.38396067e+02] [-3.18662018e-01 1.83914572e-02 9.47689967e-01 2.63916557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:238.42, Z:26.38 [[ 1.50029419e-01 -9.86017241e-01 7.25339449e-02 4.57603987e+02] [ 9.36063548e-01 1.65276704e-01 3.10594020e-01 2.38424216e+02] [-3.18239230e-01 2.12981414e-02 9.47771165e-01 2.63812240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:238.45, Z:26.37 [[ 1.49283643e-01 -9.86194341e-01 7.16597167e-02 4.57607420e+02] [ 9.36104778e-01 1.64298723e-01 3.10988382e-01 2.38450779e+02] [-3.18468582e-01 2.06555245e-02 9.47708347e-01 2.63725783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:238.48, Z:26.36 [[ 1.48871876e-01 -9.86255926e-01 7.16687703e-02 4.57610655e+02] [ 9.36022254e-01 1.63920561e-01 3.11436013e-01 2.38477442e+02] [-3.18903598e-01 2.07195006e-02 9.47560656e-01 2.63633468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:238.50, Z:26.35 [[ 1.49248150e-01 -9.86118154e-01 7.27734582e-02 4.57610053e+02] [ 9.35976411e-01 1.64625295e-01 3.11201977e-01 2.38502491e+02] [-3.18862271e-01 2.16679209e-02 9.47553351e-01 2.63539189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:238.53, Z:26.35 [[ 1.48107544e-01 -9.86558857e-01 6.90346061e-02 4.57615696e+02] [ 9.36069360e-01 1.62367541e-01 3.12107248e-01 2.38530401e+02] [-3.19121149e-01 1.83957414e-02 9.47535376e-01 2.63451046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:238.56, Z:26.34 [[ 1.48692479e-01 -9.86319225e-01 7.11683440e-02 4.57616132e+02] [ 9.36490281e-01 1.63564162e-01 3.10213990e-01 2.38556347e+02] [-3.17610613e-01 2.05219751e-02 9.47999128e-01 2.63355178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:238.58, Z:26.33 [[ 1.48808004e-01 -9.86313024e-01 7.10126472e-02 4.57620144e+02] [ 9.36587045e-01 1.63617441e-01 3.09893595e-01 2.38582420e+02] [-3.17270997e-01 2.03948781e-02 9.48115586e-01 2.63262929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:238.61, Z:26.30 [[ 1.48201574e-01 -9.84522128e-01 9.35546539e-02 4.57611858e+02] [ 9.35141647e-01 1.70289177e-01 3.10663317e-01 2.38606188e+02] [-3.21786255e-01 4.14460604e-02 9.45904768e-01 2.63017847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:238.64, Z:26.31 [[ 1.49648078e-01 -9.87542583e-01 4.86322943e-02 4.57636365e+02] [ 9.35928262e-01 1.57343478e-01 3.15089382e-01 2.38635584e+02] [-3.18816156e-01 -1.63618160e-03 9.47815162e-01 2.63123920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:238.66, Z:26.28 [[ 1.48670388e-01 -9.83568623e-01 1.02420115e-01 4.57612593e+02] [ 9.34205899e-01 1.73657580e-01 3.11612553e-01 2.38659255e+02] [-3.24278359e-01 4.93539160e-02 9.44673349e-01 2.62787470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:238.69, Z:26.30 [[ 1.50843329e-01 -9.87738825e-01 4.02281391e-02 4.57647115e+02] [ 9.34849712e-01 1.55760549e-01 3.19052765e-01 2.38688281e+02] [-3.21406761e-01 -1.05197171e-02 9.46882796e-01 2.62961778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:238.71, Z:26.28 [[ 1.51292562e-01 -9.85911167e-01 7.13423597e-02 4.57637342e+02] [ 9.35194451e-01 1.66140569e-01 3.12743747e-01 2.38714759e+02] [-3.20190413e-01 1.94031760e-02 9.47154484e-01 2.62808530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:238.74, Z:26.27 [[ 1.51136732e-01 -9.85940495e-01 7.12672996e-02 4.57642513e+02] [ 9.35259603e-01 1.65966588e-01 3.12641276e-01 2.38740533e+02] [-3.20073685e-01 1.94018455e-02 9.47193964e-01 2.62724598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:238.77, Z:26.26 [[ 1.51598845e-01 -9.85877901e-01 7.11516348e-02 4.57646622e+02] [ 9.35219396e-01 1.66366008e-01 3.12549250e-01 2.38765798e+02] [-3.19972612e-01 1.91602834e-02 9.47233029e-01 2.62634650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:238.79, Z:26.25 [[ 1.51828640e-01 -9.85854229e-01 7.09894537e-02 4.57651677e+02] [ 9.35355222e-01 1.66522210e-01 3.12059229e-01 2.38791934e+02] [-3.19466231e-01 1.90208281e-02 9.47406742e-01 2.62541307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.66, Y:238.82, Z:26.25 [[ 1.52642482e-01 -9.85748332e-01 7.07142027e-02 4.57655765e+02] [ 9.35498561e-01 1.67190855e-01 3.11271041e-01 2.38817278e+02] [-3.18657677e-01 1.86398505e-02 9.47686573e-01 2.62451665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.66, Y:238.84, Z:26.24 [[ 1.52733198e-01 -9.85739608e-01 7.06398976e-02 4.57660916e+02] [ 9.35502279e-01 1.67252369e-01 3.11226818e-01 2.38842968e+02] [-3.18603291e-01 1.85491182e-02 9.47706639e-01 2.62366234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.67, Y:238.87, Z:26.23 [[ 1.52843963e-01 -9.85718462e-01 7.06953783e-02 4.57666312e+02] [ 9.35255405e-01 1.67388240e-01 3.11895023e-01 2.38868322e+02] [-3.19274258e-01 1.84469633e-02 9.47482801e-01 2.62276934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.67, Y:238.89, Z:26.22 [[ 1.51657097e-01 -9.85885162e-01 7.09265242e-02 4.57671426e+02] [ 9.35020692e-01 1.66361028e-01 3.13145834e-01 2.38894027e+02] [-3.20525241e-01 1.88269797e-02 9.47052857e-01 2.62191324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:238.92, Z:26.21 [[ 1.51026569e-01 -9.85995610e-01 7.07363599e-02 4.57677535e+02] [ 9.35279038e-01 1.65693656e-01 3.12727891e-01 2.38918742e+02] [-3.20068893e-01 1.89280141e-02 9.47205170e-01 2.62109996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:238.94, Z:26.20 [[ 1.48524588e-01 -9.86396030e-01 7.04508279e-02 4.57684514e+02] [ 9.36062140e-01 1.63207372e-01 3.11690591e-01 2.38944789e+02] [-3.18948456e-01 1.96526362e-02 9.47568286e-01 2.62022950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.69, Y:238.97, Z:26.19 [[ 1.46949612e-01 -9.86644519e-01 7.02737814e-02 4.57690684e+02] [ 9.36454472e-01 1.61648448e-01 3.11324271e-01 2.38970206e+02] [-3.18526034e-01 2.00592160e-02 9.47701849e-01 2.61932265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.70, Y:239.00, Z:26.18 [[ 1.45660373e-01 -9.86857484e-01 6.99668632e-02 4.57696665e+02] [ 9.36992170e-01 1.60307086e-01 3.10398634e-01 2.38995544e+02] [-3.17535399e-01 2.03456223e-02 9.48028125e-01 2.61847010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.250385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:457.75, Y:239.01, Z:26.17 [[ 1.82976060e-01 -9.80786852e-01 6.76528774e-02 4.57751850e+02] [ 9.33719920e-01 1.94909083e-01 3.00295788e-01 2.39007725e+02] [-3.07712321e-01 8.22189929e-03 9.51443917e-01 2.61726978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.280385723 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:457.92, Y:238.99, Z:26.14 [[ 2.67426864e-01 -9.61285412e-01 6.64321423e-02 4.57916786e+02] [ 9.15006538e-01 2.74955086e-01 2.95233360e-01 2.38989939e+02] [-3.02069378e-01 -1.81674872e-02 9.53112813e-01 2.61421988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.310385723 meters Centerline goodness : 0.989705 Centerline is valid? [True, True] Translation: X:457.92, Y:239.02, Z:26.13 [[ 2.44423872e-01 -9.65789249e-01 8.66492825e-02 4.57918522e+02] [ 9.18034758e-01 2.59253619e-01 2.99999574e-01 2.39019200e+02] [-3.12200503e-01 6.21999569e-03 9.49995872e-01 2.61347231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3403857229999 meters Centerline goodness : 0.873388 Centerline is valid? [True, False] Translation: X:458.30, Y:237.99, Z:26.63 [[ 9.74385975e-01 -2.24703472e-01 8.96222352e-03 4.58301960e+02] [ 2.24717348e-01 9.74423830e-01 -5.59483700e-04 2.37986253e+02] [-8.60728624e-03 2.55912017e-03 9.99959682e-01 2.66339181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 17356.25 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%| | 0/28909 [00:00